diff --git a/.gitattributes b/.gitattributes
index 7463cab74d73e4ee436063cbb7d55ce94c9d2ccd..637f2e9ef5a787b6beadbbc226d83c1635d82646 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -485,3 +485,12 @@ assets/expansion_batch04/t3_analytical/wyatt_eclipseaf4/model.glb filter=lfs dif
 assets/expansion_batch04/t3_analytical/wyatt_eclipseaf4/model.blend filter=lfs diff=lfs merge=lfs -text
 assets/expansion_batch03/t3_analytical/camag_tlcscanner/model.glb filter=lfs diff=lfs merge=lfs -text
 assets/expansion_batch03/t3_analytical/camag_tlcscanner/model.blend filter=lfs diff=lfs merge=lfs -text
+assets/labware/furniture/asecos_cs_195_105/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/furniture/asecos_g90_205_140/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/furniture/asecos_q90_195_120/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/racks/mn_702503_vial_rack_23mm/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/sbs/corning_96_wellplate_360ul_flat/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb filter=lfs diff=lfs merge=lfs -text
+assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/CITATION.cff b/CITATION.cff
index 55953d020c6a83f7057bb4eac58b4120561f4fd2..e5f10e7536312cba4f012d80fd50abe09b693b6d 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -2,8 +2,8 @@ cff-version: 1.2.0
 title: "ChemLab-Assets: Simulation-Ready Chemistry Laboratory Instruments with Executable Behaviour Contracts"
 message: "If you use these assets, please cite the release."
 type: dataset
-version: "1.4.0"
-date-released: "2026-10-21"
+version: "1.5.0"
+date-released: "2026-10-25"
 license: CC-BY-NC-4.0
 repository-code: "https://github.com/mbzuai-nlp/ChemLab-Assets"
 url: "https://huggingface.co/datasets/MBZUAI/ChemLab-Assets"
diff --git a/LICENSE b/LICENSE
index c9f50871a39c8c643a1b7b95a6fdaad9b271caba..5fd0ad800afe418e66d929672220b8ee2816ff59 100644
--- a/LICENSE
+++ b/LICENSE
@@ -21,5 +21,6 @@ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
 
 This licence covers the code in this repository: scripts/, tests/, examples/,
-tools/, skills/chemistry-lab-assets/scripts/ and the website and explorer
-sources. 3D models, asset contracts and data are covered by LICENSE-ASSETS.md.
+tools/, skills/chemistry-lab-assets/scripts/, chemlab/ (the agent command line
+with its configs and tests) and the website and explorer sources. 3D models,
+asset contracts and data are covered by LICENSE-ASSETS.md.
diff --git a/LICENSES/Opentrons-Apache-2.0.txt b/LICENSES/Opentrons-Apache-2.0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d645695673349e3947e8e5ae42332d0ac3164cd7
--- /dev/null
+++ b/LICENSES/Opentrons-Apache-2.0.txt
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
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+      the terms of any separate license agreement you may have executed
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+
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diff --git a/NOTICE.md b/NOTICE.md
index 74c798a4e3dd2690460fb8e943bc1a32f866572a..ab26af727af7f1878cc5833a683621dcc0e01a7a 100644
--- a/NOTICE.md
+++ b/NOTICE.md
@@ -1,6 +1,6 @@
 # NOTICE
 
-ChemLab-Assets, release 1.4.0 (October 2026). Copyright (c) 2026 Zirui Song, Jiadong Zhang, Jiahao Zhang, Xiaosong Ma, Xiaojun Chang, Xiuying Chen.
+ChemLab-Assets, release 1.5.0 (October 2026). Copyright (c) 2026 Zirui Song, Jiadong Zhang, Jiahao Zhang, Xiaosong Ma, Xiaojun Chang, Xiuying Chen.
 
 * Code: MIT (`LICENSE`). Assets and data: CC BY-NC 4.0 (`LICENSE-ASSETS.md`).
 * Third-party data keep their own terms. This file lists the sources behind every data file that needs attribution.
@@ -37,7 +37,8 @@ The following files are distributed under the terms of their source instead of C
 * `assets/reactions/spectral_library/nmr.json`: NMR peak lists from HMDB via PubChem; HMDB permits non-commercial use with citation (Wishart et al., Nucleic Acids Res. 2022).
 
 **Licence texts of open-source data and code** used to build some libraries are in `LICENSES/`
-(CoolProp, OPERA, chemicals, XrayDB, openpoly, teMatDb, Biopython, srsinst-rga, KiMoPack (GPL-3.0), COGNI (CC0)).
+(CoolProp, OPERA, chemicals, XrayDB, openpoly, teMatDb, Biopython, srsinst-rga, KiMoPack (GPL-3.0), COGNI (CC0), Opentrons
+labware definitions (Apache-2.0)).
 Libraries that already carry their source's licence file next to the data: `assets/reactions/cem_libertyblue_peptide_library/LICENSE`
 (Peptimizer, MIT), `assets/reactions/jasco_j1500_cd_library/LICENSE` (PCDDB, MIT), `assets/reactions/laboao_cvdltf12p50_thermo_library/LICENSE.txt` (Cantera, BSD-3-Clause).
 
@@ -448,3 +449,47 @@ stated licence), the record carries a licence flag. Each line below summarises o
 * `assets/expansion_batch05/t5_automation/newera_ne1000/syringe_templates.json` (updated in 1.4.0): 61 records; every record cites its source (see its source fields). Main sources: webbook.nist.gov; pubchem.ncbi.nlm.nih.gov; doi:10.1088/0026-1394/38/4/3. Licence notes found in the records: CC0.
 * `assets/reactions/antonpaar_dma5002_density_library/templates.json` (updated in 1.4.0): 69 records; every record cites its source (see its source fields). Main sources: pubchem.ncbi.nlm.nih.gov; nlm.nih.gov; chemicalsafety.ilo.org; ilo.org; iapws.org; doi:10.1088/0026-1394/38/4/3. Licence notes found in the records: COPYRIGHT.
 * `assets/reactions/antonpaar_monowave400_thermophysical_library/templates.json` (updated in 1.4.0): 86 records; every record cites its source (see its source fields). Main sources: webbook.nist.gov; pubchem.ncbi.nlm.nih.gov; cem.com; cdc.gov; doi:10.1088/0026-1394/38/4/3. Licence notes found in the records: CC0, UNKNOWN LICENCE, COPYRIGHT.
+
+## Labware and storage furniture added in release 1.5.0
+
+Release 1.5.0 adds `assets/labware/`: containers, consumables, racks, tools and storage furniture, each modelled on one
+specific commercial product, with a contract, geometry, grasp frames and interior volume, plus `assets/labware/catalog.json`.
+
+* Dimensions, capacities and masses come from the manufacturers' catalogues and data sheets (facts, cited per asset in the
+  `sources` of its contract). No manufacturer drawing, photo or text is reproduced.
+* SBS-format plates, tip racks and reservoirs follow the Opentrons labware definitions (Apache-2.0; licence text in
+  `LICENSES/Opentrons-Apache-2.0.txt`).
+* The safety signs and GHS pictograms on the storage furniture are public-domain images from Wikimedia Commons; each file's
+  source page and licence are recorded in `assets/labware/_textures/signs/LICENCES.json`. Colours are RAL Classic
+  approximations (values cited in the contracts).
+* `catalog.json` also lists 27 reused types from LabUtopia (MIT licence) and the Matterix simulation framework, marked
+  `external`. Their 3D files are not part of this release.
+
+
+## Data added or updated in release 1.5.0
+
+Release 1.5.0 (2026-10-25) added the labware catalog, safety and storage data for the substance table, IR reference standards, and added, extended or rebuilt template libraries. Every record in these files cites its source in its own
+source fields; where a source is not permissively licensed (CC BY-SA, CC BY-NC / NC-ND, publisher rights reserved or no
+stated licence), the record carries a licence flag. Each line below summarises one file.
+
+* `assets/labware/_textures/signs/LICENCES.json` (added in 1.5.0): 11 records; every record cites its source (see its source fields). Main sources: commons.wikimedia.org; upload.wikimedia.org; thumb.wikimedia.org; unece.org; iso.org. Licence notes found in the records: PUBLIC DOMAIN.
+* `assets/labware/catalog.json` (added in 1.5.0): 96 records; every record cites its source (see its source fields). Main sources: en.wikipedia.org; commons.wikimedia.org; asecos-configurator.com; dwk.com; parkesscientific.com; practicalmachinist.com. Licence notes found in the records: PUBLIC DOMAIN.
+* `assets/reactions/agilent_hs8697_headspace_library/templates.json` (updated in 1.5.0): 136 records; every record cites its source (see its source fields). Main sources: henrys-law.org; doi:10.5194/acp-23-10901-2023.
+* `assets/reactions/alicat_mc_gas_property_library/templates.json` (updated in 1.5.0): 136 records; every record cites its source (see its source fields). Main sources: alicat.com; webbook.nist.gov; doi.or; doi:10.18434/t4d303; doi:10.6028/nist.ir.8209; doi:10.1021/je050186n; doi:10.1021/ie0300880. Licence notes found in the records: COPYRIGHT.
+* `assets/reactions/biotage_extrahera_spe_library/templates.json` (updated in 1.5.0): 127 records; every record cites its source (see its source fields). Main sources: pubchem.ncbi.nlm.nih.gov; biotage.com; creativecommons.org; nlm.nih.gov; ebi.ac.uk; doi:10.1016/j.mex.2024.102728; doi:10.1186/s12199-020-00918-w. Licence notes found in the records: NONCOMMERCIAL, COPYRIGHT, ALL RIGHTS RESERVED, CC0, PUBLIC DOMAIN, CC BY NC.
+* `assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json` (updated in 1.5.0): 101 records; every record cites its source (see its source fields). Main sources: doi:10.3390/pharmaceutics16101346; doi:10.3390/pharmaceutics16101280; doi:10.1016/j.ijpx.2026.100572; doi:10.1021/acs.molpharmaceut.3c00125. Licence notes found in the records: CC BY NC ND, CC0, COPYRIGHT.
+* `assets/reactions/ika_rv10_evaporation_library/templates.json` (updated in 1.5.0): 81 records; every record cites its source (see its source fields). Main sources: pubchem.ncbi.nlm.nih.gov; webbook.nist.gov; nlm.nih.gov. Licence notes found in the records: CC0.
+* `assets/reactions/ir_reference_standards.json` (added in 1.5.0): 14 records; every record cites its source (see its source fields). Main sources: webbook.nist.gov; tsapps.nist.gov. Licence notes found in the records: PUBLIC DOMAIN.
+* `assets/reactions/magritek_spinsolve80_nmr_library/templates.json` (updated in 1.5.0): 129 records; every record cites its source (see its source fields). Main sources: hmdb.ca; pubchem.ncbi.nlm.nih.gov.
+* `assets/reactions/metrohm_899_water_library/templates.json` (updated in 1.5.0): 111 records; every record cites its source (see its source fields). Main sources: ciaaw.org; pubchem.ncbi.nlm.nih.gov; srd.nist.gov; tsapps.nist.gov. Licence notes found in the records: PUBLIC DOMAIN, CC0.
+* `assets/reactions/metrohm_omnis_acidbase_library/templates.json` (updated in 1.5.0): 103 records; every record cites its source (see its source fields). Main sources: srd.nist.gov; raw.githubusercontent.com; tsapps.nist.gov; pubchem.ncbi.nlm.nih.gov. Licence notes found in the records: PUBLIC DOMAIN, CC0, CC BY NC.
+* `assets/reactions/rigaku_miniflex600_xrd_library/templates.json` (updated in 1.5.0): 86 records; every record cites its source (see its source fields). Main sources: rruff.net; pubchem.ncbi.nlm.nih.gov; crystallography.net; doi:10.1007/s002690050246; doi:10.1107/s0108768103009017; doi:10.1103/physrevb.59.750; doi:10.1107/s0567740878005907. Licence notes found in the records: CC0.
+* `assets/reactions/sciex_pa800_mobility_library/templates.json` (updated in 1.5.0): 427 records; every record cites its source (see its source fields). Main sources: raw.githubusercontent.com; pubchem.ncbi.nlm.nih.gov. Licence notes found in the records: PUBLIC DOMAIN.
+* `assets/reactions/spectral_library/compounds.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/spectral_library/gc_retention.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/spectral_library/hplc_uv.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/spectral_library/ir_spectra.json` (updated in 1.5.0): 4 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/spectral_library/ms_ei.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/spectral_library/nmr.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: nmrshiftdb.nmr.uni-koeln.de.
+* `assets/reactions/spectral_library/uv_vis.json` (updated in 1.5.0): 209 records; every record cites its source (see its source fields). Main sources: see the file.
+* `assets/reactions/substances.json` (updated in 1.5.0): 239 records; every record cites its source (see its source fields). Main sources: pubchem.ncbi.nlm.nih.gov; gbiosciences.com.
diff --git a/README.md b/README.md
index f7bd2dfd85c8de97e7ab059a83eb7fc34fab5488..0abb05c92ab27a7216db19fc0d3c39d9ef364645 100644
--- a/README.md
+++ b/README.md
@@ -29,8 +29,8 @@ configs:
 
 # ChemLab-Assets
 
-**203 simulation-ready chemistry laboratory instruments**<br>
-part-level geometry · working joints · front-panel menus · executable behaviour models · machine-readable contracts
+**203 simulation-ready chemistry laboratory instruments, for robots and LLM agents**<br>
+part-level geometry · working joints · front-panel menus · executable behaviour models · machine-readable contracts · an agent command line
 
 <a href="https://mbzuai-nlp.github.io/ChemLab-Assets/"><img alt="Website" src="https://img.shields.io/badge/website-project%20page-0a6bc2"></a>
 <a href="https://github.com/mbzuai-nlp/ChemLab-Assets"><img alt="GitHub" src="https://img.shields.io/badge/GitHub-code-15202a?logo=github"></a>
@@ -44,38 +44,140 @@ Mohamed bin Zayed University of Artificial Intelligence (MBZUAI)
 
 </div>
 
+<video controls preload="none" width="100%" poster="https://huggingface.co/datasets/MBZUAI/ChemLab-Assets/resolve/main/media/video/chemlab_assets_1_5_0_poster.jpg" src="https://huggingface.co/datasets/MBZUAI/ChemLab-Assets/resolve/main/media/video/chemlab_assets_1_5_0.mp4"></video>
+
 ## News
 
-- **[2026-10-21] v1.4.0:** working front-panel menus for 106 instruments; step through a menu and preview the screen after each step.
-- **[2026-10-17] v1.3.0:** 5 new instruments (203 in total); 44 instruments rebuilt with more realistic 3D models.
-- **[2026-10-16] v1.2:** 103 built-in reactions, now including light- and current-driven ones; richer reference data; instrument request form.
-- **[2026-10-15] v1.1:** real reference data for 17 more instruments, a shared table of 200 compounds, 38 built-in reactions.
-- **[2026-10-14] v1.0:** 198 simulation-ready laboratory instruments.
+- **[2026-10-25] v1.5.0:** chemlab, a command line that lets LLM agents run all 203 instruments; plus labware, storage and reagents.
+- **[2026-10-21] v1.4.0:** front-panel menus for 106 instruments, with a tool that shows the screen after each step.
+- **[2026-10-17] v1.3.0:** 5 new instruments (203 in total) and more detailed 3D models for 44 others.
+- **[2026-10-16] v1.2:** 103 built-in reactions, including light- and current-driven ones; an instrument request form.
+- **[2026-10-15] v1.1:** real reference data for 17 more instruments and a shared table of 200 compounds.
+- **[2026-10-14] v1.0:** first release, 198 simulation-ready laboratory instruments.
 
 ## Overview
 
 Agents that work in a chemistry lab need more than meshes. They need to know that a fume-hood sash travels 673 mm and
 stops at 457 mm, that moving a balance's draft-shield door restarts its stability check, and which quantities a policy
-may observe and which are hidden ground truth kept for evaluation. ChemLab-Assets ships that knowledge with the geometry.
+may observe and which are hidden ground truth kept for evaluation. ChemLab-Assets ships that knowledge with the geometry,
+for robots that operate the instruments by hand and for LLM agents that run them from a command line.
 
 Each asset is one specific commercial instrument, chosen from a survey of 200 instruments and modules used in university
 chemistry teaching and research, and built from published brochures, manuals and papers. The models reproduce documented
-behaviour; they are not manufacturer CAD and have not been calibrated against physical units.
+behaviour.
 
 This dataset holds everything: models, contracts, runtimes, tests and the catalog. The code is mirrored on [GitHub](https://github.com/mbzuai-nlp/ChemLab-Assets); see also the [Project website](https://mbzuai-nlp.github.io/ChemLab-Assets/).
 
+## Two ways to use ChemLab
+
+Each instrument runs on one behaviour model. A robot can work it by hand, or an LLM agent can work it from a shell, and
+the instrument behaves the same either way.
+
+| | Embodied mode | Agentic mode |
+|---|---|---|
+| **Who acts** | a robot in a 3D simulator | an LLM agent in a shell |
+| **How it acts** | opens doors and lids, presses keys, turns knobs, taps touchscreens, grasps bottles and plates | `chemlab` commands |
+| **What it sees** | camera images, including the instrument screens | text replies, readings and screenshots of the screens |
+| **What you need** | a simulator: Isaac Sim / Isaac Lab, or any URDF loader | Python on Linux, no GPU |
+
+### Embodied mode: robots operate the instruments
+
+Every instrument is a 3D model with working joints (doors, lids, sashes, keys, knobs), grasp and place points, and
+colliders. On the 106 instruments with a front panel, the screen is drawn by the instrument's own menu engine, so a
+robot sees the result of what it pressed. All 203 instruments were converted to USD and run in NVIDIA Isaac Sim through
+the Matterix framework, where a robot arm pressed a key or tapped the screen on 97 front panels.
+
+<p align="center"><img src="media/figs/joints_motion.webp" width="820" alt="Four instruments at the start and end of a joint move: the Esco fume-hood sash raised, the IKA RV 10 lift raised with its glassware, the Rigaku XtaLAB Synergy-R doors opened and its goniometer turned, and the Quantos doors opened"></p>
+<p align="center"><sub>Joints of the shipped models, start (top) and end (bottom): (1) Esco fume-hood sash up 450 mm; (2) IKA RV 10 lift up
+140 mm, glassware included; (3) Rigaku XtaLAB Synergy-R doors open, goniometer turned (omega 69°, kappa −63°, phi 180°)
+and detector moved; (4) Quantos front and side doors open.</sub></p>
+
+New in 1.5.0, the lab has its supplies: 62 models of specific products, from DURAN screw-cap bottles, vials, tubes,
+well plates and Opentrons tip racks to a reagent shelf, safety cabinets, a refrigerator and a desiccator. Caps are
+separate parts, and every container records its grasp points and inside volume. A table of 239 substances gives their
+hazard codes and storage classes.
+
+<p align="center"><img src="media/figs/isaac_storage_lab.webp" width="820" alt="The storage room of our Isaac Sim lab: safety cabinets and refrigerators, the robot bench with a reagent shelf, the robot at the shelf, and gas cylinders"></p>
+<p align="center"><sub>The storage room of our Isaac Sim lab, furnished with these models: (1) safety cabinets and refrigerators; (2) the robot's
+bench with the reagent shelf; (3) the robot reaching into the shelf; (4) gas cylinders by a cylinder stand.</sub></p>
+
+The instruments' behaviour models run inside the scene, so the balance reading, the hotplate temperature, the reaction
+and the powder dose all come from them. Two robot workflows in our Isaac Sim lab:
+
+<p align="center"><img src="media/figs/isaac_workflow_esterification.webp" width="820" alt="Four key frames of a robot esterification in Isaac Sim: acetic acid (amber) pouring onto ethanol (blue) in the reaction beaker, the balance reading 191.8 g, the beaker on the IKA hotplate, and the hotplate after heating at 300 rpm"></p>
+
+**Esterification.** (1) The robot pours 50 mL of ethanol and then 40 mL of acetic acid into the reaction beaker; 89.3 mL
+arrive. The liquids are simulated as particles and tinted so they show up (ethanol blue, acetic acid amber; both are
+really colourless). (2) The OHAUS balance reads 191.8 g. (3) The robot sets the beaker on the IKA hotplate. (4) The
+hotplate heats with a 70 °C set point and stirs at 300 rpm; after 200 s the liquid is at 77 °C and 1.91 g of ethyl
+acetate has formed.
+
+<p align="center"><img src="media/figs/isaac_workflow_quantos.webp" width="820" alt="Four key frames of robot powder dosing with the Quantos in Isaac Sim: the dosing head going into its holder, a vial on the weighing pan, the finished dose, and the vial back in the rack"></p>
+
+**Powder dosing with the Quantos.** (1) The robot slides a potassium bromide dosing head into the Quantos. (2) It sets an
+empty vial on the weighing pan. (3) The Quantos closes its doors and doses 50.000 mg, exactly the target. (4) The robot
+puts the vial back in the rack.
+
+The robot scenes were built with Matterix, which is not part of this release. ChemLab-Assets ships the instruments,
+labware and behaviour models they load.
+
+### Agentic mode: chemlab, a command line for LLM agents
+
+`chemlab` puts the whole lab behind one shell command. An agent lists the instruments, reads their help, sets them up,
+runs them and reads the results, as a person would at the bench. Time in the lab moves only when the agent waits.
+
+<p align="center"><img src="media/figs/chemlab_tour.webp" width="820" alt="A chemlab session: list the lab, set a hotplate to 80 °C, start heating, wait 600 s, read 80.2 °C, and an out-of-range set point refused with a fix"></p>
+
+* **Plain commands for each kind of instrument.** `chemlab run` gives each of 30 instrument classes (balances, temperature
+  control, pipetting, chromatography and more) one set of verbs, with units, range checks and named positions.
+  `chemlab call` reaches every capability in an instrument's contract.
+* **Errors that say what to do.** Each error says what is wrong, how to fix it and whether the instrument changed.
+* **A stocked lab.** The default lab starts with all 203 instruments ready, 97 containers on shelves and in cabinets
+  (solvents, buffers, certified standards, plates, gas cylinders) and 189 items already loaded in the instruments.
+  `chemlab list --inventory` shows what is where.
+* **Ready for evaluation.** An agent sees only what the instrument shows; true values are kept for evaluators. Its shell
+  runs in a sandbox that reaches nothing but `chemlab`. The basic commands (list, describe, call, read, wait, screen and
+  more) also work as MCP tools.
+
+**A complete task.** 276 tasks come with automatic checkers. Each gives the agent an instruction in plain words; the checker
+then reads the instrument's own state, so writing the right answer is not enough. Below, an agent verifies a water-activity
+meter against a certified standard. The meter is still warming up, nothing has been measured, and the chamber lever is
+open. The agent fixes each problem from the error message alone.
+
+<p align="center"><img src="media/figs/chemlab_task.webp" width="820" alt="A complete chemlab task: the AQUALAB 4TE verification, three refused commands each fixed from the error message, the standard measured at aw 0.8821, verification passed, and the checker's PASS"></p>
+
+**Screens as images.** An agent can also work the front panel like a person, with keys and knobs only. A gesture reports
+only whether the instrument accepted it, so the agent looks at the display to see what happened. `chemlab screen` saves
+the display as a PNG for a vision-language model to read.
+
+<p align="center"><img src="media/figs/chemlab_panel.webp" width="820" alt="A chemlab session that sets an IKA hotplate by turning its knobs, then saves its LCD as plate.png showing 80.2 °C and 240 rpm"></p>
+
+**Try it.**
+
+```bash
+cd ChemLab-Assets/chemlab
+python -m chemlab.gserve --only ika_plate_rctdigital mt_xpr204e --shell    # a sandboxed shell with two instruments
+python -m chemlab.tasks list                                               # the 276 tasks
+python -m chemlab.tasks shell pm04_recover_aw_verify                       # do a task yourself; the checker runs when you exit
+python -m chemlab.tasks run pm04_recover_aw_verify --solution my_agent.sh  # or score your agent's commands
+```
+
+The full command reference is in [`chemlab/README.md`](chemlab/README.md).
+
 ## At a glance
 
 | | |
 |---|---|
 | **Instruments** | 203 commercial models from 119 manufacturers, in 16 capability domains |
-| **Geometry** | GLB, URDF with primitive collision proxies, 15,323 per-part OBJ meshes, Blender sources |
-| **Articulation** | 1,327 joints (891 prismatic, 405 revolute, 31 continuous): doors, sashes, lids, keys and knobs |
-| **Contracts** | 15,299 components, 7,769 typed state slots, 6,823 capabilities with JSON-Schema arguments and declared errors |
-| **Interfaces** | 663 readouts (displays, LEDs) and 2,547 interface points (place, grasp, ports) |
+| **Geometry** | GLB, URDF with primitive collision proxies, 15,326 per-part OBJ meshes, Blender sources |
+| **Articulation** | 1,330 joints (892 prismatic, 407 revolute, 31 continuous): doors, sashes, lids, keys and knobs |
+| **Contracts** | 15,302 components, 7,769 typed state slots, 6,823 capabilities with JSON-Schema arguments and declared errors |
+| **Interfaces** | 663 readouts (displays, LEDs) and 2,548 interface points (place, grasp, ports) |
 | **Behaviour** | a Python runtime per instrument: time-stepped process models behind `describe` / `read` / `invoke` / `poll`, agent and evaluator views, seeded noise |
 | **Front panels** | 106 instruments with working keys, knobs, touchscreens and menus; `examples/preview_menu.py` shows the screen after each step |
-| **Provenance** | 3,615 cited sources; raw third-party documents are not redistributed |
+| **Agent interface** | `chemlab`: a command line for LLM agents over all 203 instruments, with plain verbs for 30 instrument classes, a sandbox, MCP tools and 276 tasks with checkers |
+| **Lab supplies** | 62 labware and furniture models of specific products, 239 substances with hazard and storage data, a default inventory of 97 stored containers and 189 items loaded in instruments |
+| **Provenance** | 3,617 cited sources; raw third-party documents are not redistributed |
 | **Simulation** | all 203 converted to USD and stepped in NVIDIA Isaac Lab through the Matterix framework |
 
 ## Gallery
@@ -84,6 +186,9 @@ This dataset holds everything: models, contracts, runtimes, tests and the catalo
 <tr><td align="center" width="25%"><img src="media/thumb/esco_efa5uduvw.webp" width="190" alt="Chemical fume hood"><br><sub><b>Chemical fume hood</b><br>Esco Lifesciences Frontier Acela EFA-5UDUVW-9</sub></td><td align="center" width="25%"><img src="media/thumb/agilent_7890b_ssl_fid.webp" width="190" alt="Gas chromatograph (S/SL inlet + FID)"><br><sub><b>Gas chromatograph (S/SL inlet + FID)</b><br>Agilent 7890B</sub></td><td align="center" width="25%"><img src="media/thumb/mt_xpr204e.webp" width="190" alt="Analytical balance"><br><sub><b>Analytical balance</b><br>METTLER TOLEDO XPR204E</sub></td><td align="center" width="25%"><img src="media/thumb/brooks_preciseflex_400.webp" width="190" alt="Lab sample-transfer robot arm"><br><sub><b>Lab sample-transfer robot arm</b><br>Brooks Automation PreciseFlex 400</sub></td></tr>
 <tr><td align="center" width="25%"><img src="media/thumb/ika_rv10_digital_v.webp" width="190" alt="Rotary evaporator"><br><sub><b>Rotary evaporator</b><br>IKA RV 10 digital V</sub></td><td align="center" width="25%"><img src="media/thumb/thermo_orbitrapexploris.webp" width="190" alt="High-resolution Orbitrap mass spectrometer"><br><sub><b>High-resolution Orbitrap mass spectrometer</b><br>Thermo Fisher Scientific Orbitrap Exploris 120</sub></td><td align="center" width="25%"><img src="media/thumb/jeol_jsmit200.webp" width="190" alt="Scanning electron microscope"><br><sub><b>Scanning electron microscope</b><br>JEOL JSM-IT200 LA</sub></td><td align="center" width="25%"><img src="media/thumb/buchi_lyovapor_l250_pro.webp" width="190" alt="Freeze dryer"><br><sub><b>Freeze dryer</b><br>BUCHI Lyovapor L-250 Pro</sub></td></tr>
 <tr><td align="center" width="25%"><img src="media/thumb/opentrons_flex_single_5_1000ul.webp" width="190" alt="Automated liquid-handling robot"><br><sub><b>Automated liquid-handling robot</b><br>Opentrons Flex (1-channel 5–1000 µL)</sub></td><td align="center" width="25%"><img src="media/thumb/magritek_spinsolve80.webp" width="190" alt="Benchtop NMR spectrometer"><br><sub><b>Benchtop NMR spectrometer</b><br>Magritek Spinsolve 80 Carbon</sub></td><td align="center" width="25%"><img src="media/thumb/inert_purelab_he_2gb.webp" width="190" alt="Inert-atmosphere glovebox"><br><sub><b>Inert-atmosphere glovebox</b><br>Inert PureLab HE 2GB</sub></td><td align="center" width="25%"><img src="media/thumb/park_nx10.webp" width="190" alt="Atomic force microscope"><br><sub><b>Atomic force microscope</b><br>Park Systems NX10</sub></td></tr>
+<tr><td align="center" width="25%"><img src="media/thumb/rigaku_xtalabsynergy.webp" width="190" alt="Single-crystal X-ray diffractometer"><br><sub><b>Single-crystal X-ray diffractometer</b><br>Rigaku Oxford Diffraction XtaLAB Synergy-R</sub></td><td align="center" width="25%"><img src="media/thumb/mt_quantos_q2_xpe206dr.webp" width="190" alt="Automated powder dosing system"><br><sub><b>Automated powder dosing system</b><br>METTLER TOLEDO Quantos Q2 + XPE206DR</sub></td><td align="center" width="25%"><img src="media/thumb/jeol_jem1400flash.webp" width="190" alt="Transmission electron microscope"><br><sub><b>Transmission electron microscope</b><br>JEOL JEM-1400Flash</sub></td><td align="center" width="25%"><img src="media/thumb/bd_facsariaiii.webp" width="190" alt="Flow cytometer & cell sorter"><br><sub><b>Flow cytometer & cell sorter</b><br>BD Biosciences FACSAria III</sub></td></tr>
+<tr><td align="center" width="25%"><img src="media/thumb/antonpaar_monowave400.webp" width="190" alt="Microwave synthesis reactor"><br><sub><b>Microwave synthesis reactor</b><br>Anton Paar Monowave 400</sub></td><td align="center" width="25%"><img src="media/thumb/agilent_gc8890b.webp" width="190" alt="Gas chromatograph"><br><sub><b>Gas chromatograph</b><br>Agilent 8890B GC</sub></td><td align="center" width="25%"><img src="media/thumb/evident_bx53p.webp" width="190" alt="Polarizing microscope"><br><sub><b>Polarizing microscope</b><br>Evident / Olympus BX53-P</sub></td><td align="center" width="25%"><img src="media/thumb/kratos_axissupra.webp" width="190" alt="X-ray photoelectron spectrometer"><br><sub><b>X-ray photoelectron spectrometer</b><br>Kratos / Shimadzu AXIS Supra+</sub></td></tr>
+<tr><td align="center" width="25%"><img src="media/thumb/teledyne_atomxxyz.webp" width="190" alt="Purge-and-trap autosampler"><br><sub><b>Purge-and-trap autosampler</b><br>Teledyne Tekmar Atomx XYZ</sub></td><td align="center" width="25%"><img src="media/thumb/antonpaar_saxspace.webp" width="190" alt="Small-angle X-ray scattering system"><br><sub><b>Small-angle X-ray scattering system</b><br>Anton Paar SAXSpace</sub></td><td align="center" width="25%"><img src="media/thumb/cytiva_nanoassemblrignite.webp" width="190" alt="Microfluidic nanoparticle formulation system"><br><sub><b>Microfluidic nanoparticle formulation system</b><br>Cytiva / Precision NanoSystems NanoAssemblr Ignite</sub></td><td align="center" width="25%"><img src="media/thumb/eppendorf_cryocubef570n.webp" width="190" alt="Ultra-low temperature freezer"><br><sub><b>Ultra-low temperature freezer</b><br>Eppendorf CryoCube F570n</sub></td></tr>
 </table>
 
 Browse all 203 in 3D, with joint sliders and part-by-part annotations, in the [3D explorer](https://huggingface.co/spaces/MBZUAI/ChemLab-Assets-Explorer).
@@ -117,12 +222,11 @@ to see what happened. `panel.capture` returns the image of a display, as a camer
 `panel_ui.json` describes its screens and menus and cites the manufacturer's documents for each of them.
 
 **Checked in Isaac Sim.** All 106 front panels were checked in Isaac Sim through the Matterix framework: the rendered
-screen matches the menu engine; keys, knobs and touchscreens drive the menu in each simulated copy separately; and a robot
+screen matches the menu engine, and keys, knobs and touchscreens drive the menu in each simulated copy separately. A robot
 arm pressed a key or tapped the screen on 97 of them.
 
 <table>
 <tr><td align="center" width="50%"><img src="media/figs/isaac_panel_aqualab_screen.webp" width="380" alt="The AquaLab 4TE screen rendered in Isaac Sim, rectified, and drawn by the menu engine"><br><sub>AquaLab 4TE: the screen rendered in Isaac Sim (top), rectified (bottom left) and drawn by the menu engine (bottom right).</sub></td><td align="center" width="50%"><img src="media/figs/isaac_panel_xpr204e_screen.webp" width="380" alt="The XPR204E terminal rendered in Isaac Sim next to the menu engine's image"><br><sub>Mettler Toledo XPR204E terminal: the same comparison on a touchscreen.</sub></td></tr>
-<tr><td align="center" width="50%"><img src="media/figs/isaac_panel_julabo_press.webp" width="380" alt="A robot arm pressing a key of the JULABO CORIO CD-200F in Isaac Sim"><br><sub>A robot arm presses a key on the JULABO CORIO CD-200F.</sub></td><td align="center" width="50%"><img src="media/figs/isaac_panel_xpr204e_touch.webp" width="380" alt="A robot arm tapping the XPR204E touchscreen in Isaac Sim"><br><sub>A robot arm taps the XPR204E touchscreen.</sub></td></tr>
 </table>
 
 ## Instruments by domain
@@ -324,7 +428,7 @@ arm pressed a key or tapped the screen on 97 of them.
 | CHEM-171 | Respirometric BOD system | WTW (Xylem) | OxiTop-i | Biochemical & Wet-Chemistry Assays | 30 | 46 | 39 |
 | CHEM-172 | Segmented continuous-flow analyzer | SEAL Analytical | AA500 | Biochemical & Wet-Chemistry Assays | 11 | 29 | 40 |
 | CHEM-173 | Multi-mode microplate reader | BMG LABTECH | CLARIOstar Plus | Biochemical & Wet-Chemistry Assays | 5 | 22 | 37 |
-| CHEM-174 | Automated powder dosing system | METTLER TOLEDO | Quantos Q2 + XPE206DR | Automation & Gas/Liquid Supply | 3 | 51 | 43 |
+| CHEM-174 | Automated powder dosing system | METTLER TOLEDO | Quantos Q2 + XPE206DR | Automation & Gas/Liquid Supply | 6 | 51 | 43 |
 | CHEM-175 | Automated liquid-handling robot | Opentrons | Flex (1-channel 5–1000 µL) | Automation & Gas/Liquid Supply | 4 | 33 | 41 |
 | CHEM-176 | Automated microplate heat sealer | Azenta Life Sciences | Automated Roll Heat Sealer (a4S) | Automation & Gas/Liquid Supply | 1 | 35 | 29 |
 | CHEM-177 | Automated tube decapper/recapper | Azenta Life Sciences | IntelliXcap S1 46-0001 | Automation & Gas/Liquid Supply | 5 | 16 | 11 |
@@ -423,6 +527,8 @@ hood.show()
 For Isaac Lab, convert `model.urdf` with the Isaac Lab URDF importer. GLB files keep the Z-up asset frame; rotate −90° about
 X in Y-up viewers (the catalog's `glb_up` column says which files need it).
 
+**4. Run the lab as an agent.** Start `chemlab` as shown in [Agentic mode](#agentic-mode-chemlab-a-command-line-for-llm-agents).
+
 ## What an asset contains
 
 ```text
@@ -465,22 +571,12 @@ validator is `skills/chemistry-lab-assets/scripts/asset_tool.py`.
 * **Trademarks.** Product and company names identify the modelled instrument only. This project is not affiliated
   with or endorsed by any manufacturer.
 * **Limits.** 787 capabilities are declared but marked unsupported. Contracts do not claim robot-contact or
-  real-hardware validation for any capability; the robot presses shown above were made in simulation. Treat the assets as documented, testable behaviour models for embodied-AI research, not
-  as certified digital twins.
+  real-hardware validation for any capability; the robot actions shown above were made in simulation, and `chemlab` drives
+  the behaviour models, not real instruments. Treat the assets as documented, testable behaviour models for embodied-AI
+  and agent research, not as certified digital twins.
 * **Build records.** Contracts list the files of the original build (validation logs, review records, cached source
   documents). Those are not part of the release; `release_manifest.json` says which artifacts ship.
 
-## To-Do List
-
-- [x] Real reference data for every instrument that measures samples (v1.1)
-- [x] Shared compound table linked to the instruments (v1.1)
-- [x] About 100 built-in chemical reactions, including light- and current-driven ones (v1.2)
-- [x] Working front-panel menus for the 106 instruments that have a menu on the device (v1.4.0)
-- [ ] At least 50 reference compounds for the FVS-6000 VCD spectrometer (40 now)
-- [ ] Calibrated reaction rates
-- [ ] Data recorded on the exact instrument models
-- [ ] Validation with real robots and hardware
-
 ## Citation
 
 ```bibtex
@@ -491,6 +587,6 @@ validator is `skills/chemistry-lab-assets/scripts/asset_tool.py`.
                   Ma, Xiaosong and Chang, Xiaojun and Chen, Xiuying},
   year         = {2026},
   howpublished = {\url{https://huggingface.co/datasets/MBZUAI/ChemLab-Assets}},
-  note         = {Dataset, release 1.4.0}
+  note         = {Dataset, release 1.5.0}
 }
 ```
diff --git a/assets/basic40_batch02/t1_thermal/binder_vd56/asset.contract.json b/assets/basic40_batch02/t1_thermal/binder_vd56/asset.contract.json
index 2da4dbae2038952e2f739b828b3d0722e18ae248..fc8be1d373ce7157c1933ce4a900254ed83a0adc 100644
--- a/assets/basic40_batch02/t1_thermal/binder_vd56/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/binder_vd56/asset.contract.json
@@ -482,7 +482,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/build_reactions.py",
       "format": "py",
       "status": "available",
-      "sha256": "70463f5a8f62d60834aee35632d9dc908bf07404ad5b73a40b1985d297de85c0"
+      "sha256": "4d4cddc816ab5e7b49df8836f37a05a677ec5d2f7d8dfcb14e92a9a850bb7939"
     },
     "reaction_templates_species_catalog": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/species_catalog.py",
@@ -500,7 +500,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "0b550e4fd04d3cf59973879b29b45c4b2301d7216bcd77eedda13c69311372ce"
+      "sha256": "6166f13da9c20cb29271827b63a38e69a467e5d17d13c6efe233a95ee2ea3f9c"
     },
     "reaction_templates_matterix_log": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/matterix_test_chemsim_reactions.log",
@@ -572,7 +572,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/validate_r3.py",
       "format": "py",
       "status": "available",
-      "sha256": "c72bb3d21a9f4b401f4cc5aa36998a595e44c1491a1a0a1ac45133a1627c2e9a"
+      "sha256": "0e4b5e5862f4a4866b6ee14d5ea5c34749acb62f00570276bf5fc899254c8c3e"
     },
     "reaction_templates_fetch_round3": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/fetch_sources_r3.py",
diff --git a/assets/basic40_batch02/t1_thermal/carbolite_tf1/asset.contract.json b/assets/basic40_batch02/t1_thermal/carbolite_tf1/asset.contract.json
index 1a5403a01a28be8125c47a8608fef09f367ca76c..d2002f8ee74b850a56d7061f99fd7c7099933011 100644
--- a/assets/basic40_batch02/t1_thermal/carbolite_tf1/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/carbolite_tf1/asset.contract.json
@@ -422,7 +422,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/build_reactions.py",
       "format": "py",
       "status": "available",
-      "sha256": "70463f5a8f62d60834aee35632d9dc908bf07404ad5b73a40b1985d297de85c0"
+      "sha256": "4d4cddc816ab5e7b49df8836f37a05a677ec5d2f7d8dfcb14e92a9a850bb7939"
     },
     "reaction_templates_species_catalog": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/species_catalog.py",
@@ -440,7 +440,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "0b550e4fd04d3cf59973879b29b45c4b2301d7216bcd77eedda13c69311372ce"
+      "sha256": "6166f13da9c20cb29271827b63a38e69a467e5d17d13c6efe233a95ee2ea3f9c"
     },
     "reaction_templates_matterix_log": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/matterix_test_chemsim_reactions.log",
@@ -512,7 +512,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/validate_r3.py",
       "format": "py",
       "status": "available",
-      "sha256": "c72bb3d21a9f4b401f4cc5aa36998a595e44c1491a1a0a1ac45133a1627c2e9a"
+      "sha256": "0e4b5e5862f4a4866b6ee14d5ea5c34749acb62f00570276bf5fc899254c8c3e"
     },
     "reaction_templates_fetch_round3": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/fetch_sources_r3.py",
diff --git a/assets/basic40_batch02/t1_thermal/miele_plw6111/asset.contract.json b/assets/basic40_batch02/t1_thermal/miele_plw6111/asset.contract.json
index 8be775828dc853b5271df5ab5e41b9c69bb248e8..516b41f847da486dcd6c1ed4032afafb837f6b9f 100644
--- a/assets/basic40_batch02/t1_thermal/miele_plw6111/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/miele_plw6111/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.miele_plw6111",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "Miele PLW 6111 DP SC CL H14 10958380 实验室玻璃器皿清洗机",
   "category": "环境与公用系统",
   "asset_kind": "instrument",
@@ -560,7 +560,7 @@
       "path": "tests/test_panel_ui_miele_plw6111.py",
       "format": "py",
       "status": "available",
-      "sha256": "06714ac83c4d205c3f03ffdbe86cded4ac13235fc5c6801fe749982feb6c6b00"
+      "sha256": "d58a2f38c4c96deff3003e3dc0d083604bca9a330acc777a55398d64e11b8120"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -572,7 +572,7 @@
       "path": "outputs/panel_ui/miele_plw6111/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "68e2397b88655b7c189e4174c74bf40bb1ed79b7e6bfc44dc5f0b0dc0617c4ad"
+      "sha256": "6816f637cdf32dca20de357346fdc9d88c1bea561393fa3f2c298e7cde538a1a"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/miele_plw6111/run_panel_validation.py",
@@ -584,7 +584,7 @@
       "path": "outputs/panel_ui/miele_plw6111/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "8a67378da468b87b7f613c4c6eaa2c599ced2fc7891e9561b270460f8cafc0b5"
+      "sha256": "c903b79a33881224a78a6f8c9a90aaab780bca4de88caffe53e3530d3eaaad64"
     },
     "panel_ui_patch_library_py": {
       "path": "outputs/panel_ui/basic40_thermal_panel_lib.py",
@@ -5923,8 +5923,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6080,6 +6080,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -6221,8 +6226,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6283,12 +6288,13 @@
       },
       "preconditions": [
         {
-          "description_zh": "程序停止且已注册同步场景适配器",
+          "description_zh": "程序停止（program.running为false）且程序状态不是running/interrupted/malfunction/power_fail（中断、故障或断电时门与篮架被锁，返回BUSY），并已注册同步场景适配器",
           "state_ids": [
-            "program.running"
+            "program.running",
+            "programme.status"
           ],
           "enforced_by": "adapter",
-          "check": "not program.running and scene_adapter is not None"
+          "check": "not program.running and programme.status not in ('running', 'interrupted', 'malfunction', 'power_fail') and scene_adapter is not None"
         }
       ],
       "state_effects": [
@@ -6372,6 +6378,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {},
@@ -6521,8 +6532,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6583,12 +6594,13 @@
       },
       "preconditions": [
         {
-          "description_zh": "程序停止且已注册同步场景适配器",
+          "description_zh": "程序停止（program.running为false）且程序状态不是running/interrupted/malfunction/power_fail（中断、故障或断电时门与篮架被锁，返回BUSY），并已注册同步场景适配器",
           "state_ids": [
-            "program.running"
+            "program.running",
+            "programme.status"
           ],
           "enforced_by": "adapter",
-          "check": "not program.running and scene_adapter is not None"
+          "check": "not program.running and programme.status not in ('running', 'interrupted', 'malfunction', 'power_fail') and scene_adapter is not None"
         },
         {
           "description_zh": "三层篮架均归位",
@@ -6682,6 +6694,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {},
@@ -6831,8 +6848,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6920,12 +6937,13 @@
       },
       "preconditions": [
         {
-          "description_zh": "程序停止且已注册同步场景适配器",
+          "description_zh": "程序停止（program.running为false）且程序状态不是running/interrupted/malfunction/power_fail（中断、故障或断电时门与篮架被锁，返回BUSY），并已注册同步场景适配器",
           "state_ids": [
-            "program.running"
+            "program.running",
+            "programme.status"
           ],
           "enforced_by": "adapter",
-          "check": "not program.running and scene_adapter is not None"
+          "check": "not program.running and programme.status not in ('running', 'interrupted', 'malfunction', 'power_fail') and scene_adapter is not None"
         },
         {
           "description_zh": "门已全开",
@@ -7026,6 +7044,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -7178,8 +7201,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7366,6 +7389,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -7559,8 +7587,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7764,6 +7792,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {},
@@ -7953,8 +7986,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8269,8 +8302,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8467,6 +8500,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -8478,8 +8516,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8488,8 +8526,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8660,6 +8698,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -8671,8 +8714,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8681,8 +8724,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8867,6 +8910,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {},
@@ -8876,8 +8924,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8886,8 +8934,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9068,8 +9116,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9078,8 +9126,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9260,8 +9308,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9270,8 +9318,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9459,8 +9507,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9469,8 +9517,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9658,8 +9706,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9668,8 +9716,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9862,6 +9910,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -9874,8 +9927,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9884,8 +9937,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10092,6 +10145,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -10107,8 +10165,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10117,8 +10175,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10299,6 +10357,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -10310,8 +10373,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10320,8 +10383,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10554,6 +10617,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -10566,8 +10634,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10576,8 +10644,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10862,8 +10930,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10872,8 +10940,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11081,8 +11149,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11091,8 +11159,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11292,8 +11360,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11302,8 +11370,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11486,6 +11554,11 @@
           "code": "DEVICE_ERROR",
           "meaning_zh": "外部场景回调异常，可能已产生部分外部效果。",
           "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "程序运行、中断、故障或断电时设备忙（门与篮架锁定，程序与设置不能改）：先结束或复位程序",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
@@ -11497,8 +11570,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11507,8 +11580,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11683,8 +11756,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11693,8 +11766,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11895,8 +11968,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11905,8 +11978,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12195,8 +12268,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12205,8 +12278,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12484,8 +12557,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12494,8 +12567,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12704,8 +12777,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12714,8 +12787,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12869,8 +12942,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12879,8 +12952,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13065,8 +13138,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13075,8 +13148,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13261,8 +13334,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13271,8 +13344,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame and the MP.CON 3 commands): the seven key procedures of the menu survey (Universal run, another programme by P+, interrupt / resume / cancel, fault reset STOP + START 5 s then P2, P1, History print, parameter change behind the password, PRG pages during a run with a power failu",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:56.760006+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:25:36.745430+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_miele_plw6111.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13906,6 +13979,7 @@
     "Scene controls require a synchronous adapter; no robot grasp, contact simulation or physical hardware connection.",
     "API truth filtering is implemented for session metadata, observations, responses and logs; it is not a Python introspection or filesystem security sandbox. Do not give agents the trusted host or debug output files.",
     "Request deduplication is in-memory only. No operation/poll/cancel objects; start/stop are synchronous commands controlling subsequent host evolution.",
+    "前面板几何（2026-10-20）：按操作说明p.28图7.1重建MP.CON 3控制条——中间4:3 TFT（80.5×61 mm）与A–H八个静态Touch-on-Glass触摸区（p.29：触摸感应、背光、不移动），尺寸位置为图示比例的估计；电源开关位置手册与数据表都未给出，按工程假设做成右下前板的0/I翘板（±12°转动关节）。原三个示意键网格（<、OK、>）已删除。触摸键没有关节：Matterix按触摸区包围盒做接触区；按键背光LED未单独建模。",
     "前面板层（panel.*）：按panel_ui.json（操作说明PLW 6011/6111页码证据）实现MP.CON 3彩色显示（Fig. 1–6的待机/运行画面、PRG探头与警告页、结束/中断/取消/故障窗口）、A–H八个触摸键与电源开关，以及菜单（标准程序查看与复制、客户程序C01–C20、程序选择、History查看与打印、Settings参数P1.01–P2.07与日期时间、USER/ADMIN密码）；每个面板动作都调用本运行层的同名能力。",
     "面板假设（手册未写）：显示320×240、13行×26字符；P2为上/增、P1为下/减；密码4位逐位输入，在一次菜单访问内有效；STOP在子菜单中退回一级、按住5 s退出菜单；拒绝提示（close door!、ON PRINT、no cold water）显示3 s；结束/取消窗口在开门、选择或启动程序时消失；P2.04的0–7依次为English、Italiano、Deutsch、Francais、Espanol、Portugues、Nederlands、Polski（译文为自写译文，不是手册原文：self-written translation, not from the manual；参数标签保持英文）；宿主未配置水热模型视为无水源。",
     "面板背后的MP.CON 3功能已在运行层实现：18个标准程序按程序总表（p.35–38）逐阶段运行（有温度的阶段以7500 W加热到目标再计保持时间、无温度阶段只计时、干燥阶段计时后冷却120 s）、DRY、中断/继续（重复阶段）/取消、断电后自动重启（重复当前阶段并记power fail）、故障复位（评测者注入警告表中的故障）、A0（65 °C以上，仅湿阶段）与最高温度、循环计数、200条批次记录、RS 232记录输出（打印20 s为假设）与程序结束打印、按键/结束/报警蜂鸣音量、20个客户程序（9阶段：激活、温度、时间）、程序激活、实时钟。",
@@ -13914,7 +13988,6 @@
     "P2.07字体（2026-10-19同步审计）：字体只决定显示能画的字符表（欧洲/＋日文/＋西里尔）；仿真的全部文字（P2.04八种语言、用户名字符）都在欧洲表内，故该设定只保存、显示于菜单与settings.values，不改变任何已画文字；手册没有日文或西里尔文字，不画这两张表。",
     "面板手势以发出手势的会话身份调用背后的命令（2026-10-19同步修正）；运行归启动它的调用者：程序（面板或原有washing.start）由其启动者拥有，另一调用者的programme.interrupt / resume / cancel（含STOP键）、washing.stop被拒（ACCESS_DENIED，状态不变，面板与直接调用相同，负责人规则2026-10-19），消息行显示access denied 3 s（文字为假设：真机没有调用者概念）；开门（门锁本身起作用）与电源开关（硬开关：按断电处理，power fail后来电继续）不属此规则，不被拒；评测者不受限。",
     "原有命令的新状态下语义：断电时若面板程序在运行则进入power_fail（来电自动继续）；washing.stop取消面板程序（记NO DISINFECTION）；中断、故障或断电暂停时其余原有命令返回BUSY；开门清除结束窗口；program.phase增加drain值（Drain程序）。由washing.configure_program/washing.start启动的宿主计时程序行为不变，面板显示为HOST TIMER。",
-    "前面板几何（2026-10-20）：按操作说明p.28图7.1重建MP.CON 3控制条——中间4:3 TFT（80.5×61 mm）与A–H八个静态Touch-on-Glass触摸区（p.29：触摸感应、背光、不移动），尺寸位置为图示比例的估计；电源开关位置手册与数据表都未给出，按工程假设做成右下前板的0/I翘板（±12°转动关节）。原三个示意键网格（<、OK、>）已删除。触摸键没有关节：Matterix按触摸区包围盒做接触区；按键背光LED未单独建模。",
     "前面板几何（2026-10-20）：按操作说明p.28图7.1重建MP.CON 3控制条——中间4:3 TFT（80.5×61 mm）与A–H八个静态Touch-on-Glass触摸区（p.29：触摸感应、背光、不移动），尺寸位置为图示比例的估计；电源开关位置手册与数据表都未给出，按工程假设做成右下前板的0/I横向翘板（绕竖直轴±12°转动关节）。原三个示意键网格（<、OK、>）已删除。触摸键没有关节：Matterix按触摸区包围盒做接触区；按键背光LED未单独建模。"
   ],
   "extensions": {
@@ -14718,6 +14791,33 @@
         "tests_changed": [],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "door_precondition_busy",
+        "capability_ids": [
+          "door.open",
+          "door.close",
+          "basket.set_position",
+          "thermal.set_temperature",
+          "washing.configure_program",
+          "washing.start",
+          "programme.select",
+          "programme.set_drying",
+          "programme.start",
+          "programmes.copy",
+          "programmes.set_block",
+          "programmes.delete",
+          "programmes.set_active",
+          "history.print"
+        ],
+        "what_zh": "door.open（及door.close、basket.set_position）的前提只写program.running为false，而程序中断时program.running为false、运行层却返回BUSY（中断、故障、断电时门被锁）。前提改为同时要求programme.status不是running/interrupted/malfunction/power_fail；这些命令及其他在程序运行/中断/故障/断电时返回BUSY的命令（温度、洗涤配置与启动、程序选择/干燥/启动、程序库编辑、打印）的错误表补上BUSY（原来未声明）。行为不变。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B W3）：合同文字与运行层一致。",
+        "tests_changed": [
+          "tests/test_panel_ui_miele_plw6111.py::DeviceFunctions::test_door_refused_busy_while_interrupted_and_busy_declared（新增）",
+          "tests/test_basic40_templates_thermal.py：miele 1.3.0→1.3.1、multiwave 1.3.0→1.3.1"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
       {
         "date": "2026-10-20",
         "id": "panel_geometry_control_strip",
diff --git a/assets/basic40_batch02/t1_thermal/multiwave_7101/asset.contract.json b/assets/basic40_batch02/t1_thermal/multiwave_7101/asset.contract.json
index 3a94900c26f3f0d67aa4f74dfee487618fbd9ba3..436617fdde65f852aa8ffda477a0c50307ba6473 100644
--- a/assets/basic40_batch02/t1_thermal/multiwave_7101/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/multiwave_7101/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.multiwave_7101",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "微波酸消解仪 Anton Paar Multiwave 7101（24×8 mL架）",
   "category": "消解与固体前处理",
   "asset_kind": "instrument",
@@ -734,7 +734,7 @@
       "path": "scripts/basic40_templates/multiwave_7101.py",
       "format": "py",
       "status": "available",
-      "sha256": "b4855534f8c6f94424201ba20d6589fb2717ab8ee0d31a259d397574fe1a30fe"
+      "sha256": "b531d33472be3a6512c27b009106752df127c3900a9165a5fb85aa534c619809"
     },
     "template_validation": {
       "path": "outputs/basic40_batch02/t1_thermal/multiwave_7101/templates/output_template_validation.json",
@@ -824,7 +824,7 @@
       "path": "outputs/panel_ui/multiwave_7101/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "3e0b3c6ebafef75ddddfcb6688eb97a5a95431afe792a20174dbb756b674414c"
+      "sha256": "9624cc50064849c105293ed3e0465fe667c4e71d7d33c307ef49602c868f1ffb"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/multiwave_7101/run_panel_validation.py",
@@ -836,7 +836,7 @@
       "path": "outputs/panel_ui/multiwave_7101/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "d3fa710f0db13276ab17446ab0ef57ef76c69bec84db35c68fe3c6264328b5ca"
+      "sha256": "2904dd554f98adf6638a5e5097d027cdc7a94a689473f02b02d8f14fb1db3ce2"
     },
     "panel_ui_patch_library_py": {
       "path": "outputs/panel_ui/basic40_thermal_panel_lib.py",
@@ -6354,8 +6354,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6605,8 +6605,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6862,8 +6862,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7114,8 +7114,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7380,8 +7380,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7622,8 +7622,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7916,8 +7916,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8775,8 +8775,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -9028,8 +9028,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -9044,7 +9044,7 @@
       ]
     },
     "digestion.evaluate": {
-      "function_zh": "对照方法温窗、升温与保持时间检查已运行的显示温度历史，并按证书/EPA回收率表列出消解液中预期的分析元素。",
+      "function_zh": "对照方法温窗、升温与保持时间检查已运行的显示温度历史，并按证书/EPA回收率表列出消解液中预期的分析元素；设定点按运行中加热时用过的最高设定（程序平台）判断，加热之前按当前设定。",
       "kind": "analysis",
       "visibility": "agent",
       "component_ids": [
@@ -9543,8 +9543,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -9706,8 +9706,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9716,8 +9716,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9940,8 +9940,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9950,8 +9950,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10149,8 +10149,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10159,8 +10159,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10358,8 +10358,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10368,8 +10368,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10610,8 +10610,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10620,8 +10620,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10817,8 +10817,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10827,8 +10827,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11032,8 +11032,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11042,8 +11042,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11255,8 +11255,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11265,8 +11265,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11447,8 +11447,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11457,8 +11457,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11690,8 +11690,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11700,8 +11700,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11885,8 +11885,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11895,8 +11895,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12091,8 +12091,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12101,8 +12101,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12297,8 +12297,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12307,8 +12307,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12568,8 +12568,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12578,8 +12578,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12864,8 +12864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12874,8 +12874,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13084,8 +13084,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13094,8 +13094,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13249,8 +13249,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13259,8 +13259,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13445,8 +13445,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13455,8 +13455,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13637,8 +13637,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13647,8 +13647,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13825,8 +13825,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13835,8 +13835,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14040,8 +14040,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14050,8 +14050,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14260,8 +14260,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14270,8 +14270,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14467,8 +14467,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14477,8 +14477,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14669,8 +14669,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14679,8 +14679,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14868,8 +14868,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14878,8 +14878,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15116,8 +15116,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15126,8 +15126,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15343,8 +15343,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15353,8 +15353,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and choice-list rectangles of the frame, panel.switch, panel.capture, panel.frame and the method / run commands): the survey key procedures (find and run a pre-installed method with the ramp checked on the set value, create a method with the Step Editor, Step Editing during a run, finish a ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:41:58.529459+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:28:23.482540+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_multiwave_7101.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17391,6 +17391,20 @@
         "why_zh": "负责人一致性检查规则2、6（2026-10-19）：描述旧运行层的验证文件须标为已被取代；拒绝提示文字须标为假设。",
         "tests_changed": [],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "evaluate_run_setpoint",
+        "capability_ids": [
+          "digestion.evaluate"
+        ],
+        "what_zh": "digestion.evaluate原来拿评估时的当前设定点（运行结束、安全冷却后回到环境温度298.15 K）对照方法温窗，每个已完成的消解管都报“setpoint ... outside method window”、method_conformant为false。现在宿主步进钩子记下加热期间用过的最高设定点（程序平台；升温段与运行后的安全冷却都低于它），按它判断setpoint_K与setpoint_in_window；尚未加热时仍按当前设定点。Rack 24缩量等其他偏差照旧报告。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D1）：应按本次运行的程序判断，而不是运行后的环境设定点。",
+        "tests_changed": [
+          "tests/test_basic40_templates_thermal.py::Multiwave7101TemplateTests::test_evaluate_judges_the_runs_setpoint_not_the_post_run_one（新增）",
+          "tests/test_basic40_templates_thermal.py::Multiwave7101TemplateTests::test_schemas_lint_and_capabilities_are_additive：版本1.3.0→1.3.1"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t1_thermal/nabertherm_l9/asset.contract.json b/assets/basic40_batch02/t1_thermal/nabertherm_l9/asset.contract.json
index a30ae61fbb12a4e9de6734c0c7fc1fb8331ff364..25b5a840330a3f0db79df4d14dc6e16edaea9a41 100644
--- a/assets/basic40_batch02/t1_thermal/nabertherm_l9/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/nabertherm_l9/asset.contract.json
@@ -314,7 +314,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/build_reactions.py",
       "format": "py",
       "status": "available",
-      "sha256": "70463f5a8f62d60834aee35632d9dc908bf07404ad5b73a40b1985d297de85c0"
+      "sha256": "4d4cddc816ab5e7b49df8836f37a05a677ec5d2f7d8dfcb14e92a9a850bb7939"
     },
     "reaction_templates_species_catalog": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/species_catalog.py",
@@ -332,7 +332,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "0b550e4fd04d3cf59973879b29b45c4b2301d7216bcd77eedda13c69311372ce"
+      "sha256": "6166f13da9c20cb29271827b63a38e69a467e5d17d13c6efe233a95ee2ea3f9c"
     },
     "reaction_templates_matterix_log": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/matterix_test_chemsim_reactions.log",
@@ -404,7 +404,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/validate_r3.py",
       "format": "py",
       "status": "available",
-      "sha256": "c72bb3d21a9f4b401f4cc5aa36998a595e44c1491a1a0a1ac45133a1627c2e9a"
+      "sha256": "0e4b5e5862f4a4866b6ee14d5ea5c34749acb62f00570276bf5fc899254c8c3e"
     },
     "reaction_templates_fetch_round3": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/fetch_sources_r3.py",
diff --git a/assets/basic40_batch02/t1_thermal/parr_4591/asset.contract.json b/assets/basic40_batch02/t1_thermal/parr_4591/asset.contract.json
index 6113fd329a33eb5cd652d7044d8f36428358c7d3..28a4dd58ac454ac6ad83735091ae773538a5c9f3 100644
--- a/assets/basic40_batch02/t1_thermal/parr_4591/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/parr_4591/asset.contract.json
@@ -596,7 +596,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/build_reactions.py",
       "format": "py",
       "status": "available",
-      "sha256": "70463f5a8f62d60834aee35632d9dc908bf07404ad5b73a40b1985d297de85c0"
+      "sha256": "4d4cddc816ab5e7b49df8836f37a05a677ec5d2f7d8dfcb14e92a9a850bb7939"
     },
     "reaction_templates_species_catalog": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/species_catalog.py",
@@ -614,7 +614,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "0b550e4fd04d3cf59973879b29b45c4b2301d7216bcd77eedda13c69311372ce"
+      "sha256": "6166f13da9c20cb29271827b63a38e69a467e5d17d13c6efe233a95ee2ea3f9c"
     },
     "reaction_templates_matterix_log": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/matterix_test_chemsim_reactions.log",
@@ -686,7 +686,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/validate_r3.py",
       "format": "py",
       "status": "available",
-      "sha256": "c72bb3d21a9f4b401f4cc5aa36998a595e44c1491a1a0a1ac45133a1627c2e9a"
+      "sha256": "0e4b5e5862f4a4866b6ee14d5ea5c34749acb62f00570276bf5fc899254c8c3e"
     },
     "reaction_templates_fetch_round3": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/fetch_sources_r3.py",
diff --git a/assets/basic40_batch02/t1_thermal/radleys_mya4/asset.contract.json b/assets/basic40_batch02/t1_thermal/radleys_mya4/asset.contract.json
index 019634df150a2a93f4d158effa83ea841fe37818..b65a9d407c6d2a1e847893312570734c718f2ff2 100644
--- a/assets/basic40_batch02/t1_thermal/radleys_mya4/asset.contract.json
+++ b/assets/basic40_batch02/t1_thermal/radleys_mya4/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.radleys_mya4",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.3",
   "name_zh": "独立温区并行反应工作站 Radleys Mya 4",
   "category": "反应与分子合成",
   "asset_kind": "instrument",
@@ -638,7 +638,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/build_reactions.py",
       "format": "py",
       "status": "available",
-      "sha256": "70463f5a8f62d60834aee35632d9dc908bf07404ad5b73a40b1985d297de85c0"
+      "sha256": "4d4cddc816ab5e7b49df8836f37a05a677ec5d2f7d8dfcb14e92a9a850bb7939"
     },
     "reaction_templates_species_catalog": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/species_catalog.py",
@@ -656,7 +656,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "0b550e4fd04d3cf59973879b29b45c4b2301d7216bcd77eedda13c69311372ce"
+      "sha256": "6166f13da9c20cb29271827b63a38e69a467e5d17d13c6efe233a95ee2ea3f9c"
     },
     "reaction_templates_matterix_log": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/matterix_test_chemsim_reactions.log",
@@ -728,7 +728,7 @@
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/validate_r3.py",
       "format": "py",
       "status": "available",
-      "sha256": "c72bb3d21a9f4b401f4cc5aa36998a595e44c1491a1a0a1ac45133a1627c2e9a"
+      "sha256": "0e4b5e5862f4a4866b6ee14d5ea5c34749acb62f00570276bf5fc899254c8c3e"
     },
     "reaction_templates_fetch_round3": {
       "path": "outputs/basic40_batch02/t1_thermal/reaction_templates/fetch_sources_r3.py",
@@ -764,7 +764,7 @@
       "path": "tests/test_panel_ui_radleys_mya4.py",
       "format": "py",
       "status": "available",
-      "sha256": "9e522fcf615ef4673c38602925fe66e6e04198d6def9a151bc4eb45ead91c8b3"
+      "sha256": "670ec97fa91002fa37f399ca8dfd1812f4c0c8437b27db77edabfb8e38e8628d"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -776,7 +776,7 @@
       "path": "outputs/panel_ui/radleys_mya4/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "3bced27ecb30eae31465ab30ca855ae9728b77da3491e25c64b4da2976054654"
+      "sha256": "e70b0d2d3fb9193dd618e49fc0259ac0125ce34f5785ca05054848f0a6c0214b"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/radleys_mya4/run_panel_validation.py",
@@ -788,7 +788,7 @@
       "path": "outputs/panel_ui/radleys_mya4/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "e4dc8795f97c6896d005ba94de38c983ca9e0bf80f7f83bff1be9fcc62862a50"
+      "sha256": "893fc08fbc9ad5af6cf89680c8dba7aaa61a34d8acd735fa04868356c83e1e0e"
     },
     "panel_ui_patch_library_py": {
       "path": "outputs/panel_ui/basic40_thermal_panel_lib.py",
@@ -9604,8 +9604,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -9714,6 +9714,12 @@
           "state_ids": [],
           "enforced_by": "runtime",
           "check": "本区温程未运行；目标须符合当前探头模式及全部区目标跨度<=200K。"
+        },
+        {
+          "description_zh": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。",
+          "state_ids": [],
+          "enforced_by": "runtime",
+          "check": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。"
         }
       ],
       "state_effects": [
@@ -10185,8 +10191,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -10291,6 +10297,12 @@
           "state_ids": [],
           "enforced_by": "runtime",
           "check": "启用需宿主确认冷源可用、2..5L/min且5..35°C；低于环境的目标另受冷源最低可达温度限制。"
+        },
+        {
+          "description_zh": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。",
+          "state_ids": [],
+          "enforced_by": "runtime",
+          "check": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。"
         }
       ],
       "state_effects": [
@@ -10822,8 +10834,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -10936,6 +10948,12 @@
           "state_ids": [],
           "enforced_by": "runtime",
           "check": "本区温程未运行；目标须符合当前探头模式及全部区目标跨度<=200K。"
+        },
+        {
+          "description_zh": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。",
+          "state_ids": [],
+          "enforced_by": "runtime",
+          "check": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。"
         }
       ],
       "state_effects": [
@@ -11407,8 +11425,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -12009,8 +12027,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -12601,8 +12619,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -13228,8 +13246,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -13361,6 +13379,12 @@
           "state_ids": [],
           "enforced_by": "runtime",
           "check": "本区温程未运行；目标须符合当前探头模式及全部区目标跨度<=200K。"
+        },
+        {
+          "description_zh": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。",
+          "state_ids": [],
+          "enforced_by": "runtime",
+          "check": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。"
         }
       ],
       "state_effects": [
@@ -14093,8 +14117,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -14195,6 +14219,12 @@
           "state_ids": [],
           "enforced_by": "runtime",
           "check": "启用需宿主确认冷源可用、2..5L/min且5..35°C；低于环境的目标另受冷源最低可达温度限制。"
+        },
+        {
+          "description_zh": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。",
+          "state_ids": [],
+          "enforced_by": "runtime",
+          "check": "目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。"
         }
       ],
       "state_effects": [
@@ -14977,8 +15007,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -15603,8 +15633,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests of the asset rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -16479,8 +16509,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16489,8 +16519,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16701,8 +16731,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16711,8 +16741,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16920,8 +16950,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16930,8 +16960,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17144,8 +17174,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17154,8 +17184,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17365,8 +17395,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17375,8 +17405,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17588,8 +17618,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17598,8 +17628,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17833,7 +17863,8 @@
       ],
       "example_arguments": {
         "zone_index": 0,
-        "max_tb_C": 120
+        "max_tb_C": 120,
+        "max_tr_C": 115
       },
       "verification": [
         {
@@ -17841,8 +17872,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17851,8 +17882,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18077,8 +18108,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18087,8 +18118,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18294,8 +18325,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18304,8 +18335,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18511,8 +18542,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18521,8 +18552,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18782,8 +18813,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18792,8 +18823,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19003,8 +19034,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19013,8 +19044,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19224,8 +19255,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19234,8 +19265,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19464,8 +19495,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19474,8 +19505,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19676,8 +19707,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19686,8 +19717,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19888,8 +19919,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19898,8 +19929,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20128,8 +20159,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20138,8 +20169,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20328,8 +20359,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20338,8 +20369,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20516,8 +20547,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20526,8 +20557,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20704,8 +20735,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20714,8 +20745,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20900,8 +20931,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20910,8 +20941,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21122,8 +21153,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21132,8 +21163,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21343,8 +21374,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21353,8 +21384,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21523,8 +21554,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21533,8 +21564,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21745,8 +21776,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21755,8 +21786,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21925,8 +21956,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21935,8 +21966,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22129,8 +22160,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22139,8 +22170,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22363,8 +22394,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22373,8 +22404,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22699,8 +22730,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22709,8 +22740,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23060,8 +23091,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23070,8 +23101,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23275,8 +23306,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23285,8 +23316,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23435,8 +23466,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23445,8 +23476,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch on the widget, dialog, keyboard and keypad rectangles of the frame, panel.switch for the station switch, panel.capture, panel.frame and the pad commands): the seven key procedures of the menu survey (Manual run with stored data, profile with ramp / Pause / Skip, safety limits with refusals and the T9 trip, USB export = no",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:11.608359+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:54:49.680693+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_radleys_mya4.py）经会话API执行；不跨层借用验证结果"
         },
@@ -24358,7 +24389,8 @@
     "面板背后的控制板功能已在运行层实现：实验（名称唯一、≤17字符、未保存星号）、Manual运行（温控与搅拌任一开即开始，两者都关即结束）、Profile运行（最多10步，From→To线性升降，Time/Value结束条件，Pause/Skip/Stop）、安全限值（T3/T4/T5/T6/T9跳闸，温控关、搅拌继续）、冷却水中断T1、7天限制Z18/Z17、评测者注入的硬件故障（YZ/RZ/RS）、错误日志、实验库与Share文件、存储间隔与曲线数据、Demo模式（不驱动反应站，显示设定值）、时钟、PID增益、网络设定、服务导出。",
     "温度控制（2026-10-19）：所选温控选项（A–D）的PID增益驱动Peltier功率：Tb控温为块PID；Tr控温为反应PID给出块设定（Tr设定 + 偏差，限于(Tb−Tr)max）、块PID跟随（串级）；每0.25 s采样一次（假设）并保持到下次采样；增益单位手册未写：块kp = 0.625×P W/K（出厂32对应原有的20 W/K）、ti = 200 s / I、td = D s，反应kp = 2×P K/K、ti = 1 s / I、td = D s，按出厂选项A重现原有升温（无超调）选定；Tr设定范围按说明书p.161为−20/−25..175 °C（宣传册“至少−20..150 °C”是保证值，不是本配置的上限）。",
     "未实现：U盘（USB导出被拒绝并显示无U盘，本配置没有U盘）、上置搅拌器与扭矩曲线（标准磁力搅拌配置）；面板不含3D联动（屏幕纹理属于后续Matterix步骤），反应站开关没有网格（几何目标为空）。",
-    "原有命令在新状态下的语义：某区有控制板实验运行时，该区的原有温控、搅拌、探头、程序命令返回BUSY；断电结束运行中的实验（记contact lost），上电清除红色错误。不经控制板的原有用法不变。"
+    "原有命令在新状态下的语义：某区有控制板实验运行时，该区的原有温控、搅拌、探头、程序命令返回BUSY；断电结束运行中的实验（记contact lost），上电清除红色错误。不经控制板的原有用法不变。",
+    "直接接口（1.2.3）：thermal.*的目标受本区控制板安全限值约束（说明书p.101）；运行中的超温跳闸（T3–T6、T9）只在控制板实验中模拟，直接接口启用的温控没有跳闸。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -25324,6 +25356,37 @@
         "why_zh": "负责人一致性检查规则2、6（2026-10-19）：描述旧运行层的验证文件须标为已被取代；拒绝提示文字须标为假设。版本保持1.2.1：本轮没有新增能力，输入模式未变（液温上限175 °C在原模式范围内由运行层检查）。",
         "tests_changed": [],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "set_limits_example",
+        "capability_ids": [
+          "pad.set_limits"
+        ],
+        "what_zh": "pad.set_limits的合同示例由{zone_index: 0, max_tb_C: 120}改为{zone_index: 0, max_tb_C: 120, max_tr_C: 115}：出厂限值下Max Tr为175 °C，只把Max Tb降到120 °C会使Max Tr高于Max Tb，运行层按说明书p.105（Max Tr不能高于Max Tb）拒绝（INVALID_ARGUMENT），原示例在任何出厂状态都不能执行。运行层规则不变：说明书只写不能输入高于Max Tb的Max Tr，没写把Max Tb降到当前Max Tr以下时真机是拒绝还是一并调低Max Tr，运行层拒绝（假设，限值保持不变）。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F6）：合同示例必须能从出厂状态直接调用。版本1.2.1→1.2.2。",
+        "tests_changed": [
+          "tests/test_panel_ui_radleys_mya4.py::DeviceFunctions::test_set_limits_contract_example_from_factory_limits（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "pad_limits_bound_direct_setpoints",
+        "capability_ids": [
+          "thermal.set_temperature",
+          "thermal.set_probe_mode",
+          "thermal.configure_program",
+          "thermal.set_enabled",
+          "thermal.start_program"
+        ],
+        "what_zh": "控制板的区安全限值（pad.set_limits：Min/Max Tb、Min/Max Tr）原来只约束控制板实验，直接接口thermal.set_temperature等不受限。按说明书p.101（为某区设了安全限值后，手动或程序模式都不能输入限值外的值），直接接口的目标也须在本区限值内：块模式用Min/Max Tb、液模式用Min/Max Tr，温程各段、切换探头模式时的现有目标、启用温控与启动温程时的目标同样检查；超出时PRECONDITION_FAILED，消息写明限值。出厂限值为全范围，默认行为不变；运行中的超温跳闸仍只用于控制板实验（直接接口无跳闸，写入限制）。版本1.2.2→1.2.3。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B RX1，安全真实性）：按说明书决定，限值同样约束直接设定。",
+        "tests_changed": [
+          "tests/test_panel_ui_radleys_mya4.py::DeviceFunctions::test_pad_safety_limits_bound_the_direct_setpoints（新增）",
+          "tests/test_basic40_templates_thermal.py：PANEL_VERSIONS radleys_mya4 1.2.2→1.2.3"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t2_vacuum/biotage_extrahera/asset.contract.json b/assets/basic40_batch02/t2_vacuum/biotage_extrahera/asset.contract.json
index 87d7f5672077439df03733a63c2401ad0f5d6a25..df801288c8fc95663b75559cb30a611bfc2bd238 100644
--- a/assets/basic40_batch02/t2_vacuum/biotage_extrahera/asset.contract.json
+++ b/assets/basic40_batch02/t2_vacuum/biotage_extrahera/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.biotage_extrahera_classic",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "Biotage Extrahera Classic 自动固相萃取工作站",
   "category": "萃取纯化与干燥",
   "asset_kind": "instrument",
@@ -356,7 +356,7 @@
       "path": "assets/reactions/biotage_extrahera_spe_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "286dd9bd2e7347344f45db632358c8a7e0299b611e25d370e97f080e67802be9"
+      "sha256": "43397a925cd32cd2e96714fa2618e7570b7d751fe26bc566795362f7ad656445"
     },
     "template_library_readme": {
       "path": "assets/reactions/biotage_extrahera_spe_library/说明.md",
@@ -380,7 +380,7 @@
       "path": "outputs/basic40_batch02/t2_vacuum/biotage_extrahera/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "96b7369b5ddac094331c4509e0baaa9b1e7ec112279b2b10cb2a86c64c75cfaa"
+      "sha256": "892c105f68e23be1d89f81e809b7f4295d99d130e015ce3120fa019fecdc2345"
     },
     "template_runtime_validation": {
       "path": "outputs/basic40_batch02/t2_vacuum/biotage_extrahera/templates/runtime_template_validation.json",
@@ -464,7 +464,7 @@
       "path": "tests/test_panel_ui_biotage_extrahera.py",
       "format": "py",
       "status": "available",
-      "sha256": "6ba7bbac82d9f5ea21fef6cfa5e86354225558388f59aaeab04c24ea5e058e6b"
+      "sha256": "2382005181655987fc9eda46d4e47431c6a87c40b8177e973b6c1ee79471da0a"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -476,7 +476,7 @@
       "path": "outputs/panel_ui/biotage_extrahera/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "f51b67d47488c4bf1915c8517b554022e89237561f075c0dc511503cf56099c1"
+      "sha256": "adf1db4d6284ef0d2609afdd20c4101037c47ca2d27ec26ce3a15af3ba33f3f0"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/biotage_extrahera/run_panel_validation.py",
@@ -488,7 +488,7 @@
       "path": "outputs/panel_ui/biotage_extrahera/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "0c33a68f9e4eb3d659257c2950cfe59babf5adcafa63896680ac7f12429d51cd"
+      "sha256": "41d464932da610e19d55550a9598e988bb4bcba0f157377b839f84a357d18510"
     },
     "panel_ui_common_py": {
       "path": "outputs/panel_ui/_g03_vacuum_common.py",
@@ -9869,49 +9869,18 @@
     },
     "mains_switch": {
       "name_zh": "主电源开关",
-      "function_zh": "开关机：关机提示“可以安全断电”后断电；上电后启动画面。机身右侧电源插座正上方的翘板（I在上）；硬开关，任何会话都可拨动（panel.switch）",
-      "physical_meaning_zh": "开关机：关机提示“可以安全断电”后断电；上电后启动画面。机身右侧电源插座正上方的翘板（I在上）；硬开关，任何会话都可拨动（panel.switch）",
+      "function_zh": "开关机：关机提示“可以安全断电”后断电；上电后启动画面",
+      "physical_meaning_zh": "开关机：关机提示“可以安全断电”后断电；上电后启动画面",
       "parent": "root",
-      "geometry_status": "bound",
-      "geometry": [
-        {
-          "artifact_id": "model_blend",
-          "selector": "extrahera__mains_switch",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_blend",
-          "selector": "extrahera__mains_switch__paddle",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_blend",
-          "selector": "extrahera__mains_switch__on_mark",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_blend",
-          "selector": "extrahera__mains_switch__off_mark",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_mains_switch_obj",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:mains_switch",
-          "role": "both"
-        }
-      ],
+      "geometry_status": "absent",
+      "geometry": [],
       "capability_ids": [
         "panel.switch"
       ],
       "passive_reason": null,
       "properties": {
         "manual_item": {
-          "value": "p.47（开关机步骤）；p.52 图102（电源插座与保险丝座在机身右侧）；开关本身手册无图",
+          "value": "p.47 (位置手册未写)",
           "unit": "1",
           "meaning_zh": "手册中的位置与页码",
           "evidence": "documented",
@@ -9921,86 +9890,14 @@
           "uncertainty": null
         },
         "geometry_evidence": {
-          "value": "右侧后立柱上电源入口（图102的IEC插座+两只T4A-250VAC保险丝座）正上方的翘板开关：翘板10.5×16.5 mm、框15×21 mm、I在上；手册未画开关，位置、尺寸与翻转角为假设；高度按图102旁侧玻璃条纹带估计",
+          "value": "模型没有此部件的网格；几何目标为空",
           "unit": "1",
-          "meaning_zh": "几何来源与证据",
+          "meaning_zh": "几何绑定说明",
           "evidence": "assumption",
           "source_ids": [
-            "extrahera_user_manual",
-            "engineering_assumption"
-          ],
-          "uncertainty": null
-        },
-        "position": {
-          "value": [
-            0.18243,
-            0.234,
-            0.565
-          ],
-          "unit": "m",
-          "meaning_zh": "翘板转轴中心（资产坐标：+X右、+Y后、+Z上）",
-          "evidence": "assumption",
-          "source_ids": [
-            "engineering_assumption",
             "geometry_manifest"
           ],
           "uncertainty": null
-        },
-        "throw": {
-          "value": [
-            -0.15,
-            0.15
-          ],
-          "unit": "rad",
-          "meaning_zh": "翘板绕+Y的转角：-0.15 rad为I（开，上半压入），+0.15 rad为O（关）；假设",
-          "evidence": "assumption",
-          "source_ids": [
-            "engineering_assumption"
-          ],
-          "uncertainty": null
-        },
-        "model_bbox": {
-          "value": {
-            "min": [
-              0.18093,
-              0.22875,
-              0.55675
-            ],
-            "max": [
-              0.18433,
-              0.23925,
-              0.57325
-            ],
-            "dimensions": [
-              0.0034,
-              0.0105,
-              0.0165
-            ]
-          },
-          "unit": "m",
-          "meaning_zh": "翘板模型包围盒（资产坐标，0 rad）；非实物CAD",
-          "evidence": "assumption",
-          "source_ids": [
-            "engineering_assumption",
-            "geometry_manifest"
-          ],
-          "uncertainty": null
-        },
-        "mass": {
-          "value": null,
-          "unit": "kg",
-          "meaning_zh": "部件质量未知；不套用整机75kg。",
-          "evidence": "unknown",
-          "source_ids": [],
-          "uncertainty": null
-        },
-        "actuator_force": {
-          "value": null,
-          "unit": "N",
-          "meaning_zh": "拨动力未知。",
-          "evidence": "unknown",
-          "source_ids": [],
-          "uncertainty": null
         }
       }
     }
@@ -15121,8 +15018,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15131,8 +15028,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15330,8 +15227,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15340,8 +15237,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15525,8 +15422,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15535,8 +15432,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15720,8 +15617,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15730,8 +15627,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15966,8 +15863,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15976,8 +15873,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16187,8 +16084,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16197,8 +16094,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16370,8 +16267,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16380,8 +16277,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16560,8 +16457,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16570,8 +16467,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16755,8 +16652,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16765,8 +16662,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16963,8 +16860,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16973,8 +16870,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17163,8 +17060,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17173,8 +17070,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17410,8 +17307,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17420,8 +17317,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17651,8 +17548,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17661,8 +17558,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17826,8 +17723,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17836,8 +17733,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18030,8 +17927,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18040,8 +17937,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18260,8 +18157,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18270,8 +18167,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18484,8 +18381,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18494,8 +18391,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18690,8 +18587,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18700,8 +18597,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18902,8 +18799,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18912,8 +18809,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19092,8 +18989,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19102,8 +18999,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19281,8 +19178,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19291,8 +19188,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19463,8 +19360,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19473,8 +19370,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19657,8 +19554,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19667,8 +19564,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19990,8 +19887,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20000,8 +19897,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20348,8 +20245,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20358,8 +20255,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20575,8 +20472,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20585,8 +20482,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20747,8 +20644,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20757,8 +20654,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the device commands): the seven key procedures of the menu survey done only with panel gestures (create an SPE method, prepare and run it, prime an inlet, pause and resume, apply pressure in Manual Control, shut down, abort / restore / re-initialize), each checked on the ru",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:05.550471+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:50:48.083974+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biotage_extrahera.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21309,6 +21206,7 @@
     "官方主/日文来源真空不等号冲突；以用户主来源记录并保留冲突，未得真实兼容性验证。",
     "SPE/SLE/PPT不重复计数；当前一个CHEM-031类型，未实现这三种耗材化学差异。",
     "2026-10 输出模板：已发表绝对回收率仅在宿主声明的吸附剂与文献一致时使用（中位数，推导）；logP/pKa 的电离与保留推理为推导启发式；分析物质量记账（单次通过）仍为假设（synthetic）。",
+    "主电源翘板与右侧电源入口（2026-10-20）：插座位置与保险丝座按手册p.52图102；开关本身手册无图，位置、尺寸与翻转角为假设；背面rear_ports原有的POWER DATA接口块保留未改（手册称电源插座在右侧）；翘板只在URDF/Matterix中是转动关节，Blender场景适配器不驱动它。",
     "被拒的操作（另一agent运行的暂停/继续/中止/停止、运行中开电动门、删除其报告）显示对话框“This run was started by another user. It can be viewed, not changed.”（文字为假设，真实软件没有调用者概念）。",
     "前面板层（panel.*）：按panel_ui.json（用户手册P/N 414158页码证据）实现12英寸触摸屏（非GLP软件）与主电源开关：主菜单、方法管理与方法编辑器（SLE/SPE/PPT/PLD/Filtration/Filtration+/Hydro DME+，各操作开关、步骤、高级压力梯度）、数据管理库（溶剂/样品类型/萃取介质/样品板架/吸头，复制、删除、溶剂锁定、吸液高度调节）、Prepare Run（3号位列/位置、1/2号位吸头、5号位溶剂瓶分配与灌注、6号位储液槽、报告名、门）、运行视图（暂停/取消暂停/继续/中止/Restore、计划暂停与吸头用完暂停、蓝/红闪烁报警与触摸消音）、维护（报警声、照明、仪器类型Set+Yes、PPT/PLD模式、移液泵校准、Manual Control、冲洗进液管、重新初始化）、系统管理（校准提醒）、报告、About与关机；每个面板动作调用本运行层的命令。",
     "面板假设（手册未写）：屏幕1280×800像素；启动画面30 s；主菜单、About与运行结束视图的布局与文字；方法每个操作最多3步、压力梯度最多3步，参数范围与预定义条目参数值；拒绝提示文字；报警时第一次触摸只消音。GLP软件（登录、用户、审计、堵塞检测、网络、邮件、备份、样品信息）未安装；无U盘，导出/导入/导出日志显示无U盘提示。",
@@ -21318,8 +21216,7 @@
     "溶剂吸头（p.33-34）：每种溶剂一组，用后放回并重复使用；“Dispose solvent tips after each step?”与PPT/PLD（先加溶剂）“Dispose solvent tips?”在该步/溶剂加载后丢弃该组（10 s，假设），下次使用该溶剂取新组：Prepare Run所需吸头数与run.state/报告的solvent_tips_disposed随之变化。起始样品体积（>0时）须覆盖上样量（加预处理分入样品板的溶剂），否则拒绝运行（NOT_ENOUGH_SAMPLE，检查与提示文字为假设），4号位显示橙色“Not enough sample”。Filtration的“Collection plate height”在收集排液时显示于manual.state.lifter_height_pct，不改变集总液体平衡。",
     "归属（agent会话；面板手势以其会话身份执行）：运行属于启动它的身份（面板Run、run.start、method.start），只有它能poll/cancel；其他agent不能暂停/继续/中止/Restore（run.control）、停止（method.stop）、开门或删除其报告；主电源开关是硬开关（负责人澄清10-19，物理动作）：任何人都可以关断，运行按断电中止（Aborted (power off)）；评测者会话不受限。",
     "面板不含3D联动：屏幕纹理（render()）与触摸/开关关节触发手势属于后续Matterix步骤；本版本只在过程层与会话API层验证（panel_ui_validation）。",
-    "功能扩展（v1.2.0）：状态method.phase的取值新增pretreatment、conditioning、equilibration、collection四个阶段，用于面板运行的过程步骤；原有取值与含义不变。",
-    "主电源翘板与右侧电源入口（2026-10-20）：插座位置与保险丝座按手册p.52图102；开关本身手册无图，位置、尺寸与翻转角为假设；背面rear_ports原有的POWER DATA接口块保留未改（手册称电源插座在右侧）；翘板只在URDF/Matterix中是转动关节，Blender场景适配器不驱动它。"
+    "功能扩展（v1.2.0）：状态method.phase的取值新增pretreatment、conditioning、equilibration、collection四个阶段，用于面板运行的过程步骤；原有取值与含义不变。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -22408,6 +22305,20 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-20",
+        "id": "panel_parts_geometry",
+        "capability_ids": [
+          "panel.switch",
+          "panel.touch"
+        ],
+        "what_zh": "3D模型：新增右侧电源入口power_entry（手册p.52图102：IEC插座、两只T4A-250VAC保险丝座，按照片比例约39×31 mm，右侧后立柱）与其正上方的主电源翘板mains_switch（URDF转动关节mains_switch_joint，绕+Y ±0.15 rad，-0.15 rad=I开）；mains_switch由absent改为bound；URDF由全固定改为含一个转动关节，Matterix因此能生成关节资产；其余网格不变（collection_carousel仅浮点差≤7.5e-9 m）。verify_scene：URDF静态检查允许此翘板，新增mains_switch_rocker检查（34→35项）；panel_ui.json中mains_switch的假设文字随之更新。",
+        "why_zh": "3D面板推广：资产没有任何活动关节，Matterix无法生成关节模型，GPU面板检查无法加载；主电源开关没有几何。几何改动，版本1.2.2→1.3.0。",
+        "tests_changed": [
+          "outputs/basic40_batch02/t2_vacuum/biotage_extrahera/verify_scene.py: urdf_static_unknown_dynamics允许mains_switch_joint；新增mains_switch_rocker"
+        ],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_refusal_text_and_history",
@@ -22488,18 +22399,17 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-20",
-        "id": "panel_parts_geometry",
+        "date": "2026-10-22",
+        "id": "prime_unassigned_inlet_state_refusal",
         "capability_ids": [
-          "panel.switch",
-          "panel.touch"
+          "run.prime"
         ],
-        "what_zh": "3D模型：新增右侧电源入口power_entry（手册p.52图102：IEC插座、两只T4A-250VAC保险丝座，按照片比例约39×31 mm，右侧后立柱）与其正上方的主电源翘板mains_switch（URDF转动关节mains_switch_joint，绕+Y ±0.15 rad，-0.15 rad=I开）；mains_switch由absent改为bound；URDF由全固定改为含一个转动关节，Matterix因此能生成关节资产；其余网格不变（collection_carousel仅浮点差≤7.5e-9 m）。verify_scene：URDF静态检查允许此翘板，新增mains_switch_rocker检查（34→35项）；panel_ui.json中mains_switch的假设文字随之更新。",
-        "why_zh": "3D面板推广：资产没有任何活动关节，Matterix无法生成关节模型，GPU面板检查无法加载；主电源开关没有几何。几何改动，版本1.2.2→1.3.0。",
+        "what_zh": "run.prime对没有分配溶剂瓶的进液口原来返回INVALID_ARGUMENT（参数类错误码，而参数本身合法，问题在状态）。现在返回声明过的状态错误码PRECONDITION_FAILED，error.message写明“该进液口未分配溶剂瓶（Prepare Run：run.setup的bottles分区）”；_ExhRefused可带原因说明。拒绝时状态不变；超范围的volume_m3仍是INVALID_ARGUMENT。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B EV3）：无溶剂时灌注给出参数类错误码，智能体会误以为参数写错。",
         "tests_changed": [
-          "outputs/basic40_batch02/t2_vacuum/biotage_extrahera/verify_scene.py: urdf_static_unknown_dynamics允许mains_switch_joint；新增mains_switch_rocker"
+          "tests/test_panel_ui_biotage_extrahera.py::FixRoundB::test_prime_without_an_assigned_bottle_is_a_state_refusal（新增）"
         ],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/asset.contract.json b/assets/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/asset.contract.json
index 1e60e63804d7fa17f5d336aa6d55baa8652146d8..726092163a806f6e8820aacafa6535a40e15bb1f 100644
--- a/assets/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/asset.contract.json
+++ b/assets/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/asset.contract.json
@@ -332,7 +332,7 @@
       "path": "assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "c15a3d974634744d3cc579d1b761bd9f48c2c036ddec10feba8f729e02d04d07"
+      "sha256": "afe051f65e15169c20a46633cbd5c63d164757c9fe8d41a7847edd4b875d7f9d"
     },
     "template_library_readme": {
       "path": "assets/reactions/buchi_lyovapor_l250_formulation_library/说明.md",
@@ -356,7 +356,7 @@
       "path": "outputs/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "60a1f865da7aef3c694c110916d80dc5174b203c7acc8134d16bd3e697d9dbfa"
+      "sha256": "d33d2a95abe9d579d1b7af7454a79b8a37ada66b8dedccf4e50ec9ad0859c484"
     },
     "template_runtime_validation": {
       "path": "outputs/basic40_batch02/t2_vacuum/buchi_lyovapor_l250/templates/runtime_template_validation.json",
diff --git a/assets/basic40_batch02/t2_vacuum/ika_rv10/asset.contract.json b/assets/basic40_batch02/t2_vacuum/ika_rv10/asset.contract.json
index 27fca6dc6e0c23ee9fb07078b2c7d7205a054d35..65036407b1a0137ee0e9d268e3edd784735ef62f 100644
--- a/assets/basic40_batch02/t2_vacuum/ika_rv10/asset.contract.json
+++ b/assets/basic40_batch02/t2_vacuum/ika_rv10/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ika_rv10_digital_v",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "IKA RV 10 digital V 旋转蒸发仪",
   "category": "萃取纯化与干燥",
   "asset_kind": "instrument",
@@ -434,7 +434,7 @@
       "path": "assets/reactions/ika_rv10_evaporation_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "a7825973ac92b2249f41b3e1b60ac0574c272054cf02dbd080c47150a497bee1"
+      "sha256": "14e31187e44cf58bef1ac663df96fe3a20932f6ffd4a78df08a3bddba8ed88d5"
     },
     "template_library_readme": {
       "path": "assets/reactions/ika_rv10_evaporation_library/说明.md",
@@ -458,7 +458,7 @@
       "path": "outputs/basic40_batch02/t2_vacuum/ika_rv10/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "10a04892cd533d652c3edac506ed86eec365071af7f40e13cd1e497c1c6f8658"
+      "sha256": "13e95a92aff6b61fe5d487fb525ea11b86e1bce77cab1618a32fa5d670cfbbe5"
     },
     "template_runtime_validation": {
       "path": "outputs/basic40_batch02/t2_vacuum/ika_rv10/templates/runtime_template_validation.json",
@@ -518,7 +518,7 @@
       "path": "tests/test_panel_ui_ika_rv10.py",
       "format": "py",
       "status": "available",
-      "sha256": "8f43ad53fc14c51e7431c415ca4027994436d61bd839f7550cc8d772a4989287"
+      "sha256": "d385ad53e35bf83881280629780bfeb71ec7629e548c60b167beac08fb461c55"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -530,7 +530,7 @@
       "path": "outputs/panel_ui/ika_rv10/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "31d656f58a022df8e755238112137b85835c0878860a0c250556416d50601856"
+      "sha256": "109d305ae20a5ca6ab39187559e1110e6762a23234b5b0d67c1aae7cb5d88839"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/ika_rv10/run_panel_validation.py",
@@ -542,7 +542,7 @@
       "path": "outputs/panel_ui/ika_rv10/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "b22a4761ca17d17bc64f2d31d1b634aba99ea90c68380847630d775ce21d61fe"
+      "sha256": "18fc38e27a64554503c3bc689d85af3db5c03b83351c7dcc1f4094c45f0f3810"
     },
     "panel_ui_common_py": {
       "path": "outputs/panel_ui/_g03_vacuum_common.py",
@@ -3601,8 +3601,8 @@
     },
     "bath_display": {
       "name_zh": "加热浴温度显示（近似）",
-      "function_zh": "显示浴温（大字三位、一位小数）、SET标签与设定温度（小字，转动设定旋钮后闪烁3 s）、°C与加热符号（数据表p.1照片的HB digital面板布局，白字黑底）",
-      "physical_meaning_zh": "显示浴温（大字三位、一位小数）、SET标签与设定温度（小字，转动设定旋钮后闪烁3 s）、°C与加热符号（数据表p.1照片的HB digital面板布局，白字黑底）",
+      "function_zh": "显示浴温；转动设定旋钮时短暂显示设定温度；加热点",
+      "physical_meaning_zh": "显示浴温；转动设定旋钮时短暂显示设定温度；加热点",
       "parent": "bath_control",
       "geometry_status": "absent",
       "geometry": [],
@@ -3623,7 +3623,7 @@
           "uncertainty": null
         },
         "geometry_evidence": {
-          "value": "显示窗为display链接中的bath_lcd（0.052×0.039 m，约4:3，在旋钮左侧；数据表p.1照片按148 mm面板宽估计），由display部件绑定网格；本部件不单独成链接",
+          "value": "模型没有此部件的网格；几何目标为空",
           "unit": "1",
           "meaning_zh": "几何绑定说明",
           "evidence": "assumption",
@@ -6901,7 +6901,7 @@
       ]
     },
     "vacuum.set_pressure": {
-      "function_zh": "压力设定归外部真空源；本仪器无内部泵或压力控制驱动。",
+      "function_zh": "不支持：压力设定归外接真空控制器/真空泵（本仪器无内部泵或压力控制驱动），本仪器上调用返回UNSUPPORTED；外部腔体抽气由vacuum.start/vacuum.stop表示。",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -6909,7 +6909,7 @@
         "vacuum_seal",
         "woulff_bottle"
       ],
-      "availability": "declared",
+      "availability": "unsupported",
       "input_schema": {
         "type": "object",
         "properties": {
@@ -6930,11 +6930,11 @@
         "additionalProperties": false
       },
       "implementation": {
-        "process": "declared",
+        "process": "absent",
         "scene": "absent",
         "robot": "absent",
         "hardware": "absent",
-        "host": "declared"
+        "host": "absent"
       },
       "binding": null,
       "preconditions": [],
@@ -7227,8 +7227,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7237,8 +7237,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8320,8 +8320,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8330,8 +8330,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8519,8 +8519,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8529,8 +8529,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8729,8 +8729,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8739,8 +8739,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8921,8 +8921,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8931,8 +8931,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9121,8 +9121,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9131,8 +9131,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9407,8 +9407,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9417,8 +9417,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9688,8 +9688,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9698,8 +9698,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9968,8 +9968,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9978,8 +9978,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10202,8 +10202,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10212,8 +10212,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10380,8 +10380,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10390,8 +10390,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.turn / panel.switch / panel.capture / panel.frame and the device commands): the five key procedures of the menu survey done only with panel gestures (switch on and start the rotation at 120 rpm, lower the flask with M, 30 min timer with its end behaviour, interval operation with the 200 rpm limit, lower end stop),",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:41.537348+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:28:50.203641+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ika_rv10.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11552,6 +11552,22 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-21",
+        "id": "hb_digital_display_photo",
+        "capability_ids": [
+          "panel.turn",
+          "panel.switch",
+          "panel.capture",
+          "panel.frame"
+        ],
+        "what_zh": "3D模型：加热浴控制面上的显示窗bath_lcd由0.078×0.026 m横条改为约4:3的0.052×0.039 m，按照片放在面板高度12%–78%处、旋钮左侧，贴在面板前表面上（原来浮在面板前约3 mm）；HB digital标签移到照片中面板顶部右侧的标签条位置，屏上示意文字随屏移动；其他部件不变（浮点噪声的网格与URDF/清单保留原文件）。面板规格：浴温显示改为160×120的白色七段黑底：上方大字浴温（三位、一位小数，°C）、左上加热符号（加热时亮），下方SET标签与小字设定温度（转动旋钮后新设定值闪烁3 s，之后常显设定值）；原为三位橙色整数，转动旋钮时临时替换为设定值。",
+        "why_zh": "屏幕审计G6：没有浴温显示窗的手册图。复查找到同系列资料：datasheet__rv10_digital_dry_ice_asynt p.1照片（RV 10 digital + HB 10 digital）中HB digital面板的显示窗约4:3、黑底白字，浴温大字带一位小数，下方SET与设定值。几何与规格结构变化，版本1.2.2→1.3.0。",
+        "tests_changed": [
+          "tests/test_panel_ui_ika_rv10.py::test_bath_panel_set_temperature_and_heating：浴温（temp，一位小数）与设定值（set）分开检查"
+        ],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_run_ownership",
@@ -11588,20 +11604,17 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-21",
-        "id": "hb_digital_display_photo",
+        "date": "2026-10-22",
+        "id": "set_pressure_unsupported",
         "capability_ids": [
-          "panel.turn",
-          "panel.switch",
-          "panel.capture",
-          "panel.frame"
+          "vacuum.set_pressure"
         ],
-        "what_zh": "3D模型：加热浴控制面上的显示窗bath_lcd由0.078×0.026 m横条改为约4:3的0.052×0.039 m，按照片放在面板高度12%–78%处、旋钮左侧，贴在面板前表面上（原来浮在面板前约3 mm）；HB digital标签移到照片中面板顶部右侧的标签条位置，屏上示意文字随屏移动；其他部件不变（浮点噪声的网格与URDF/清单保留原文件）。面板规格：浴温显示改为160×120的白色七段黑底：上方大字浴温（三位、一位小数，°C）、左上加热符号（加热时亮），下方SET标签与小字设定温度（转动旋钮后新设定值闪烁3 s，之后常显设定值）；原为三位橙色整数，转动旋钮时临时替换为设定值。",
-        "why_zh": "屏幕审计G6：没有浴温显示窗的手册图。复查找到同系列资料：datasheet__rv10_digital_dry_ice_asynt p.1照片（RV 10 digital + HB 10 digital）中HB digital面板的显示窗约4:3、黑底白字，浴温大字带一位小数，下方SET与设定值。几何与规格结构变化，版本1.2.2→1.3.0。",
+        "what_zh": "vacuum.set_pressure对agent可见，标为declared（计划实现）却没有实现，调用总是UNSUPPORTED。本仪器（旋转蒸发仪驱动部）没有真空泵或压力控制器，压力设定属于外接真空控制器：改为unsupported（运行层元数据与合同一致），说明写明原因与替代（外部腔体抽气由vacuum.start/vacuum.stop表示）。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B EV5）：可见性/可用性须与实现一致。",
         "tests_changed": [
-          "tests/test_panel_ui_ika_rv10.py::test_bath_panel_set_temperature_and_heating：浴温（temp，一位小数）与设定值（set）分开检查"
+          "tests/test_panel_ui_ika_rv10.py::FixRoundB::test_set_pressure_is_unsupported（新增）"
         ],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t3_analytical/agilent_gc8890b/asset.contract.json b/assets/basic40_batch02/t3_analytical/agilent_gc8890b/asset.contract.json
index 548aa1fb78dc026cafc2258da1a0d4c261e48d62..9f4a48b5b8cd759459ff8986b53222300f2503dd 100644
--- a/assets/basic40_batch02/t3_analytical/agilent_gc8890b/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/agilent_gc8890b/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.agilent_gc8890b",
-  "asset_version": "1.5.1",
+  "asset_version": "1.6.0",
   "name_zh": "Agilent 8890B GC 气相色谱仪（单S/SL + FID迁移配置）",
   "category": "色谱与电泳分离",
   "asset_kind": "instrument",
@@ -578,19 +578,19 @@
       "path": "assets/reactions/spectral_library/gc_retention.json",
       "format": "json",
       "status": "available",
-      "sha256": "d269f7f4c21dcc4355ca06b79c1d9699906cbee0fa13c744946fb42f1aa9ceb4"
+      "sha256": "3618aa998d6cf2ca887b06c3862e23a1c202a09ea7cf4d1348ed9ee89755bffb"
     },
     "template_library_compounds": {
       "path": "assets/reactions/spectral_library/compounds.json",
       "format": "json",
       "status": "available",
-      "sha256": "cba42645f54cfb2a3812e2d5f17302845e0840eaf23e410f6274963314748c88"
+      "sha256": "2512032f937a7f48cd338aaf9aa9903152d091598d77d03a5a189bd9b55c3cd2"
     },
     "template_module": {
       "path": "scripts/basic40_templates/agilent_gc8890b.py",
       "format": "py",
       "status": "available",
-      "sha256": "d5c85cd7e9db1ebf0fcf3c36abf5534abc4913e28af2a50bfb585b04b3a1f93e"
+      "sha256": "a2b4e0f8f3ff71074947b2d74ab0c3235e3903b88d3222ed29fb5929d8dd4dee"
     },
     "template_common": {
       "path": "scripts/basic40_templates/_analytical_common.py",
@@ -602,13 +602,13 @@
       "path": "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "3314f7a4ad51b8d97c6b87f5a4bc4d2a7f26d2d4f8afe3aa8f67170ea492c065"
+      "sha256": "048c830b796a7a93a43e2ad91582665ad594a2635866f4112580ac9c337bac88"
     },
     "template_validator": {
       "path": "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/templates/validate_templates.py",
       "format": "py",
       "status": "available",
-      "sha256": "7bba81cab5b3ba661d87629be8101bf3b122a54d76a5db0a1a93b72b699387ba"
+      "sha256": "cbce865cec15d51e17437bbd698f699948d3ee7d3762a0cd957fe5509c875ea4"
     },
     "template_test_log": {
       "path": "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/templates/template_tests.txt",
@@ -638,7 +638,7 @@
       "path": "tests/test_panel_ui_agilent_gc8890b.py",
       "format": "py",
       "status": "available",
-      "sha256": "ed9a4ec150c9b179aeaa3d53681518a0565c6de1eedd29d5ead88f3788c5648e"
+      "sha256": "0ad768da58238fe09e5b0e12cb6ab32dab9882e683ebfb6fd80c3c704aca0496"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -650,7 +650,7 @@
       "path": "outputs/panel_ui/agilent_gc8890b/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "8087d189efe63b0f3f318c1d896b0dde1e8d78a4d72d5b2c851d60e3aa20d6b1"
+      "sha256": "db17c5b1a44891bff7a7190f3da52284b17231b474cb2d7156c158dfe826d788"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/agilent_gc8890b/run_panel_validation.py",
@@ -662,7 +662,7 @@
       "path": "outputs/panel_ui/agilent_gc8890b/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "22f96c3211b4d4445ad06c43a9f839057a12fcfc8b6907a217cc2d7387e81324"
+      "sha256": "1af600019c1dbf09922d6e9668a7cd0d4152069ef32f6402be7d7865f17317d2"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/agilent_gc8890b/build_panel_spec.py",
@@ -1614,7 +1614,8 @@
         "legacy.rt38",
         "run.prep",
         "run.start",
-        "run.stop"
+        "run.stop",
+        "chromatography.set_oven_program"
       ],
       "passive_reason": null,
       "properties": {
@@ -5444,8 +5445,8 @@
     },
     "control_panel": {
       "name_zh": "控制面板",
-      "function_zh": "提供仪器参数与状态的人机交互区域。；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为右列面板（浅灰，2026-10-20起去掉7890B键盘与文字）与Smart ID键门（静态，键未建模）",
-      "physical_meaning_zh": "把接触操作转换为离散命令；面板整体不作为独立可搬物。；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为右列面板与Smart ID键门",
+      "function_zh": "提供仪器参数与状态的人机交互区域。；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为右列面板（浅灰，2026-10-20起去掉7890B键盘与文字）与Smart ID键门（静态，键未建模）；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为7890B键盘区几何保留",
+      "physical_meaning_zh": "把接触操作转换为离散命令；面板整体不作为独立可搬物。；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为右列面板与Smart ID键门；8890B：没有键盘，全部操作在触摸屏上（display组件）；网格为7890B键盘区几何保留",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
@@ -5462,7 +5463,6 @@
       ],
       "capability_ids": [
         "thermal.set_temperature",
-        "chromatography.set_oven_program",
         "chromatography.set_carrier",
         "chromatography.set_injection_mode",
         "chromatography.set_split_ratio",
@@ -5581,8 +5581,8 @@
     },
     "display": {
       "name_zh": "状态显示屏",
-      "function_zh": "呈现参数、运行状态与提示。；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格为8890触摸屏（2026-10-20：右列顶上，玻璃152.5×91.5 mm）",
-      "physical_meaning_zh": "属于可见观测界面，显示值与传感真值及系统隐藏状态应区分。；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格为8890触摸屏（2026-10-20）",
+      "function_zh": "呈现参数、运行状态与提示。；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格为8890触摸屏（2026-10-20：右列顶上，玻璃152.5×91.5 mm）；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格沿用7890B的显示屏几何",
+      "physical_meaning_zh": "属于可见观测界面，显示值与传感真值及系统隐藏状态应区分。；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格为8890触摸屏（2026-10-20）；8890B：触摸屏（导航标签、Home/Method/Diagnostics/Maintenance/Logs/Settings视图与状态/控制托盘），panel.touch点按/拖动，panel.capture为屏幕特写相机，panel.frame给评测者结构化画面；网格沿用7890B的显示屏几何",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
@@ -5617,6 +5617,7 @@
         "run.start",
         "run.stop",
         "method.configure",
+        "chromatography.set_oven_program",
         "method.event_save",
         "method.event_delete",
         "settings.configure",
@@ -5768,7 +5769,7 @@
     },
     "start_key": {
       "name_zh": "启动键",
-      "function_zh": "请求开始当前方法运行。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）",
+      "function_zh": "请求开始当前方法运行。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）；8890B：没有物理Start键，Start是状态/控制托盘上的触摸按钮（panel.touch，调用run.start）；网格为7890B几何保留",
       "physical_meaning_zh": "触发运行状态跃迁及时间原点；不能自动代表已注入样品。；8890B：没有物理Start键，Start是状态/控制托盘上的触摸按钮（panel.touch，调用run.start）；网格为7890B几何保留",
       "parent": "root",
       "geometry_status": "absent",
@@ -5792,7 +5793,7 @@
     },
     "stop_key": {
       "name_zh": "停止键",
-      "function_zh": "请求停止当前分析运行。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）",
+      "function_zh": "请求停止当前分析运行。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）；8890B：没有物理Stop键，Stop是状态/控制托盘上的触摸按钮（panel.touch，调用run.stop）；网格为7890B几何保留",
       "physical_meaning_zh": "终止运行阶段而非瞬时消除余热或剩余气体。；8890B：没有物理Stop键，Stop是状态/控制托盘上的触摸按钮（panel.touch，调用run.stop）；网格为7890B几何保留",
       "parent": "root",
       "geometry_status": "absent",
@@ -5816,7 +5817,7 @@
     },
     "parameter_keys": {
       "name_zh": "参数输入键组",
-      "function_zh": "选择参数并输入设定值。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）",
+      "function_zh": "选择参数并输入设定值。；8890B：本机无此部件（7890B代理遗留的组件标识，几何已去掉；旧API见能力）；8890B：没有参数键，设定在触摸屏方法编辑器中输入（屏幕键盘）；网格为7890B几何保留",
       "physical_meaning_zh": "命令改变控制目标，实际温度和流量仍需经历动态响应。；8890B：没有参数键，设定在触摸屏方法编辑器中输入（屏幕键盘）；网格为7890B几何保留",
       "parent": "root",
       "geometry_status": "absent",
@@ -7296,201 +7297,27 @@
       "function_zh": "绿=就绪，黄=未就绪（含维护/诊断进行中），红=故障；panel.capture可拍摄（status_led显示）。",
       "physical_meaning_zh": "绿=就绪，黄=未就绪（含维护/诊断进行中），红=故障；panel.capture可拍摄（status_led显示）。（手册p.31 Figure 15）",
       "parent": "root",
-      "geometry_status": "bound",
-      "geometry": [
-        {
-          "artifact_id": "model_blend",
-          "selector": "GC7890B__status_indicator__light_bar",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_status_indicator",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:status_indicator",
-          "role": "visual"
-        }
-      ],
+      "geometry_status": "absent",
+      "geometry": [],
       "capability_ids": [
         "panel.capture",
         "panel.frame"
       ],
       "passive_reason": null,
-      "properties": {
-        "simulation_mass": {
-          "value": 0.002,
-          "unit": "kg",
-          "meaning_zh": "仿真质量预算（49 kg整机分配；去掉的7890B键与门把手的份额移到触摸屏），仅用于仿真。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "simulation_inertia": {
-          "value": {
-            "ixx": 2.1666667560736354e-09,
-            "iyy": 1.9416668763384282e-07,
-            "izz": 1.9333335433776234e-07,
-            "ixy": 0.0,
-            "ixz": 0.0,
-            "iyz": 0.0
-          },
-          "unit": "kg*m^2",
-          "meaning_zh": "Ixx=m(dy²+dz²)/12等，非对角项0；坐标轴位于分件包围盒中心。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "simulation_center_of_mass": {
-          "value": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "unit": "m",
-          "meaning_zh": "分件本地包围盒中心作为仿真质心。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "proxy_dimensions": {
-          "value": [
-            0.03400000184774399,
-            0.0020000000949949026,
-            0.003000000026077032
-          ],
-          "unit": "m",
-          "meaning_zh": "状态灯条包围盒（照片估计34×3 mm）",
-          "evidence": "photo_estimate",
-          "source_ids": [
-            "gc_operation_manual"
-          ],
-          "uncertainty": null
-        },
-        "geometry_evidence": {
-          "value": "右列正面、触摸屏下方约33 mm、靠右的一条横向灯带（手册p.31图15、p.12图1）；尺寸按图估计",
-          "unit": "1",
-          "meaning_zh": "几何来源与证据",
-          "evidence": "photo_estimate",
-          "source_ids": [
-            "gc_operation_manual"
-          ],
-          "uncertainty": null
-        }
-      }
+      "properties": {}
     },
     "oven_door_button": {
       "name_zh": "柱温箱门按钮",
       "function_zh": "按下释放柱温箱门（门弹开约0.2 rad为假设，随后用手打开，lid.set_angle）；门已开时无作用。",
       "physical_meaning_zh": "按下释放柱温箱门（门弹开约0.2 rad为假设，随后用手打开，lid.set_angle）；门已开时无作用。（手册p.12 Figure 1, p.18）",
       "parent": "root",
-      "geometry_status": "bound",
-      "geometry": [
-        {
-          "artifact_id": "model_blend",
-          "selector": "GC7890B__oven_door_button__button",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_oven_door_button",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:oven_door_button",
-          "role": "both"
-        }
-      ],
+      "geometry_status": "absent",
+      "geometry": [],
       "capability_ids": [
         "panel.press"
       ],
       "passive_reason": null,
-      "properties": {
-        "simulation_mass": {
-          "value": 0.005,
-          "unit": "kg",
-          "meaning_zh": "仿真质量预算（49 kg整机分配；去掉的7890B键与门把手的份额移到触摸屏），仅用于仿真。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "simulation_inertia": {
-          "value": {
-            "ixx": 2.8166667673736835e-07,
-            "iyy": 4.800000083446503e-07,
-            "izz": 2.8166667673736835e-07,
-            "ixy": 0.0,
-            "ixz": 0.0,
-            "iyz": 0.0
-          },
-          "unit": "kg*m^2",
-          "meaning_zh": "Ixx=m(dy²+dz²)/12等，非对角项0；坐标轴位于分件包围盒中心。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "simulation_center_of_mass": {
-          "value": [
-            0.0,
-            0.0,
-            0.0
-          ],
-          "unit": "m",
-          "meaning_zh": "分件本地包围盒中心作为仿真质心。",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry"
-          ],
-          "uncertainty": null
-        },
-        "proxy_dimensions": {
-          "value": [
-            0.024000000208616257,
-            0.010000000707805157,
-            0.024000000208616257
-          ],
-          "unit": "m",
-          "meaning_zh": "按钮包围盒（Φ24 mm，凸出10 mm）",
-          "evidence": "photo_estimate",
-          "source_ids": [
-            "gc_operation_manual"
-          ],
-          "uncertainty": null
-        },
-        "geometry_evidence": {
-          "value": "炉门右端下方底边上的圆形黑色按钮（手册p.12图1，在7890B门把手原位置），低于炉门下沿以免开门相碰；Φ24 mm为照片估计，沿+Y压入2 mm与弹簧回位为假设",
-          "unit": "1",
-          "meaning_zh": "几何来源与证据",
-          "evidence": "photo_estimate",
-          "source_ids": [
-            "gc_operation_manual"
-          ],
-          "uncertainty": null
-        },
-        "joint_travel": {
-          "value": 0.002,
-          "unit": "m",
-          "meaning_zh": "按钮压入行程（弹簧回位）；假设",
-          "evidence": "assumption",
-          "source_ids": [
-            "assumption"
-          ],
-          "uncertainty": null
-        }
-      }
+      "properties": {}
     }
   },
   "state_slots": {
@@ -8058,7 +7885,7 @@
                   "minimum": 0
                 },
                 "minItems": 2,
-                "maxItems": 3601
+                "maxItems": 10801
               },
               "fid_current_A": {
                 "type": "array",
@@ -8068,7 +7895,7 @@
                   "minimum": 0
                 },
                 "minItems": 2,
-                "maxItems": 3601
+                "maxItems": 10801
               },
               "retention_time_s": {
                 "type": "array",
@@ -8144,6 +7971,74 @@
                 "x-unit": "K",
                 "minimum": 0
               },
+              "oven_program": {
+                "anyOf": [
+                  {
+                    "type": "object",
+                    "properties": {
+                      "initial_temperature_K": {
+                        "type": "number",
+                        "x-unit": "K",
+                        "minimum": 302.15,
+                        "maximum": 723.15
+                      },
+                      "initial_hold_s": {
+                        "type": "number",
+                        "x-unit": "s",
+                        "minimum": 0,
+                        "maximum": 59999.4
+                      },
+                      "ramps": {
+                        "type": "array",
+                        "items": {
+                          "type": "object",
+                          "properties": {
+                            "rate_K_s": {
+                              "type": "number",
+                              "x-unit": "K/s",
+                              "maximum": 2.0,
+                              "exclusiveMinimum": 0
+                            },
+                            "final_temperature_K": {
+                              "type": "number",
+                              "x-unit": "K",
+                              "minimum": 302.15,
+                              "maximum": 723.15
+                            },
+                            "final_hold_s": {
+                              "type": "number",
+                              "x-unit": "s",
+                              "minimum": 0,
+                              "maximum": 59999.4
+                            }
+                          },
+                          "required": [
+                            "rate_K_s",
+                            "final_temperature_K",
+                            "final_hold_s"
+                          ],
+                          "additionalProperties": false
+                        },
+                        "maxItems": 32
+                      }
+                    },
+                    "required": [
+                      "initial_temperature_K",
+                      "initial_hold_s",
+                      "ramps"
+                    ],
+                    "additionalProperties": false
+                  },
+                  {
+                    "type": "null"
+                  }
+                ]
+              },
+              "oven_final_setpoint_K": {
+                "type": "number",
+                "x-unit": "K",
+                "minimum": 0
+              },
               "inlet_temperature_K": {
                 "type": "number",
                 "x-unit": "K",
@@ -8224,6 +8119,8 @@
               "measurement_duration_s",
               "run_duration_s",
               "oven_temperature_K",
+              "oven_program",
+              "oven_final_setpoint_K",
               "inlet_temperature_K",
               "fid_temperature_K",
               "column_model",
@@ -11059,7 +10956,7 @@
                       "minimum": 0
                     },
                     "minItems": 2,
-                    "maxItems": 3601
+                    "maxItems": 10801
                   },
                   "fid_current_A": {
                     "type": "array",
@@ -11069,7 +10966,7 @@
                       "minimum": 0
                     },
                     "minItems": 2,
-                    "maxItems": 3601
+                    "maxItems": 10801
                   },
                   "retention_time_s": {
                     "type": "array",
@@ -11145,6 +11042,74 @@
                     "x-unit": "K",
                     "minimum": 0
                   },
+                  "oven_program": {
+                    "anyOf": [
+                      {
+                        "type": "object",
+                        "properties": {
+                          "initial_temperature_K": {
+                            "type": "number",
+                            "x-unit": "K",
+                            "minimum": 302.15,
+                            "maximum": 723.15
+                          },
+                          "initial_hold_s": {
+                            "type": "number",
+                            "x-unit": "s",
+                            "minimum": 0,
+                            "maximum": 59999.4
+                          },
+                          "ramps": {
+                            "type": "array",
+                            "items": {
+                              "type": "object",
+                              "properties": {
+                                "rate_K_s": {
+                                  "type": "number",
+                                  "x-unit": "K/s",
+                                  "maximum": 2.0,
+                                  "exclusiveMinimum": 0
+                                },
+                                "final_temperature_K": {
+                                  "type": "number",
+                                  "x-unit": "K",
+                                  "minimum": 302.15,
+                                  "maximum": 723.15
+                                },
+                                "final_hold_s": {
+                                  "type": "number",
+                                  "x-unit": "s",
+                                  "minimum": 0,
+                                  "maximum": 59999.4
+                                }
+                              },
+                              "required": [
+                                "rate_K_s",
+                                "final_temperature_K",
+                                "final_hold_s"
+                              ],
+                              "additionalProperties": false
+                            },
+                            "maxItems": 32
+                          }
+                        },
+                        "required": [
+                          "initial_temperature_K",
+                          "initial_hold_s",
+                          "ramps"
+                        ],
+                        "additionalProperties": false
+                      },
+                      {
+                        "type": "null"
+                      }
+                    ]
+                  },
+                  "oven_final_setpoint_K": {
+                    "type": "number",
+                    "x-unit": "K",
+                    "minimum": 0
+                  },
                   "inlet_temperature_K": {
                     "type": "number",
                     "x-unit": "K",
@@ -11225,6 +11190,8 @@
                   "measurement_duration_s",
                   "run_duration_s",
                   "oven_temperature_K",
+                  "oven_program",
+                  "oven_final_setpoint_K",
                   "inlet_temperature_K",
                   "fid_temperature_K",
                   "column_model",
@@ -11277,11 +11244,12 @@
           "check": "AgilentGC8890BSession.invoke: Returns an instantaneous arbitrary fixture; does not run the legacy injection/transport simulation."
         },
         {
-          "description_zh": "模板样品瓶（宿主 register_template_sample 登记）：FID 设定值 ≥ 423.15 K（gc_runtime 点火下限），否则拒绝；按当前炉温/进样口/FID 设定值等温运行。",
+          "description_zh": "模板样品瓶（宿主 register_template_sample 登记）：FID 设定值 ≥ 423.15 K（gc_runtime 点火下限），否则拒绝；按当前进样口/FID 设定值运行，柱温箱按设定值等温，或在Active Method有升温段时按柱温程序（chromatography.set_oven_program / method.configure）。",
           "state_ids": [
             "thermal.fid.setpoint_k",
             "thermal.oven.setpoint_k",
-            "thermal.inlet.setpoint_k"
+            "thermal.inlet.setpoint_k",
+            "gc.method"
           ],
           "enforced_by": "runtime",
           "check": "AgilentGC8890B._chromatogram -> scripts.basic40_templates.agilent_gc8890b.chromatogram returns None -> PRECONDITION_FAILED"
@@ -11440,8 +11408,8 @@
         "template_runtime_code"
       ]
     },
-    "chromatography.set_oven_program": {
-      "function_zh": "chromatography.set_oven_program（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
+    "chromatography.set_carrier": {
+      "function_zh": "chromatography.set_carrier（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -11568,8 +11536,8 @@
         "catalog"
       ]
     },
-    "chromatography.set_carrier": {
-      "function_zh": "chromatography.set_carrier（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
+    "chromatography.set_injection_mode": {
+      "function_zh": "chromatography.set_injection_mode（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -11696,8 +11664,8 @@
         "catalog"
       ]
     },
-    "chromatography.set_injection_mode": {
-      "function_zh": "chromatography.set_injection_mode（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
+    "chromatography.set_split_ratio": {
+      "function_zh": "chromatography.set_split_ratio（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -11824,8 +11792,8 @@
         "catalog"
       ]
     },
-    "chromatography.set_split_ratio": {
-      "function_zh": "chromatography.set_split_ratio（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
+    "chromatography.select_detector": {
+      "function_zh": "chromatography.select_detector（未实现时返回unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -11952,8 +11920,8 @@
         "catalog"
       ]
     },
-    "chromatography.select_detector": {
-      "function_zh": "chromatography.select_detector（未实现时返回unsupported）",
+    "chromatography.set_valve_timing": {
+      "function_zh": "chromatography.set_valve_timing（未实现时返回unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -12080,8 +12048,8 @@
         "catalog"
       ]
     },
-    "chromatography.set_valve_timing": {
-      "function_zh": "chromatography.set_valve_timing（未实现时返回unsupported）",
+    "chromatography.calibrate": {
+      "function_zh": "chromatography.calibrate（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -12208,8 +12176,8 @@
         "catalog"
       ]
     },
-    "chromatography.calibrate": {
-      "function_zh": "chromatography.calibrate（未实现时返回unsupported）；触摸终端层的对应功能见method.configure / calibration.zero（本占位能力保持unsupported）",
+    "thermal.enable_cryogenic": {
+      "function_zh": "thermal.enable_cryogenic（未实现时返回unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -12336,8 +12304,8 @@
         "catalog"
       ]
     },
-    "thermal.enable_cryogenic": {
-      "function_zh": "thermal.enable_cryogenic（未实现时返回unsupported）",
+    "robot.load_sample": {
+      "function_zh": "robot.load_sample（未实现时返回unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -12464,136 +12432,8 @@
         "catalog"
       ]
     },
-    "robot.load_sample": {
-      "function_zh": "robot.load_sample（未实现时返回unsupported）",
-      "kind": "device_command",
-      "visibility": "agent",
-      "component_ids": [
-        "control_panel"
-      ],
-      "availability": "unsupported",
-      "input_schema": {
-        "type": "object",
-        "properties": {},
-        "required": [],
-        "additionalProperties": false
-      },
-      "output_schema": {
-        "type": "object",
-        "properties": {},
-        "required": [],
-        "additionalProperties": false
-      },
-      "implementation": {
-        "process": "absent",
-        "scene": "absent",
-        "robot": "absent",
-        "hardware": "absent",
-        "host": "absent"
-      },
-      "binding": null,
-      "preconditions": [],
-      "state_effects": [],
-      "observes": [],
-      "model_effects": {
-        "mode": "none",
-        "description_zh": "仅逻辑设定或返回合成数据，不产生可见几何变化。",
-        "binding_ids": []
-      },
-      "execution": {
-        "mode": "synchronous",
-        "time_domain": "simulation",
-        "completion_criterion": "明确返回unsupported，无操作。",
-        "completion_state_ids": [],
-        "timeout_s": null,
-        "cancellation": "unsupported",
-        "retry": "safe_repeat",
-        "resources": [
-          "per-instance lock"
-        ],
-        "partial_failure_zh": "输入及前提拒绝无状态副作用；外部场景callback失败可能有外部副作用，过程状态未提交；内存去重不保证重启。"
-      },
-      "errors": [
-        {
-          "code": "UNSUPPORTED",
-          "meaning_zh": "UNSUPPORTED；见运行模块验证分支，错误不得包含私有样品真值。",
-          "side_effects": "none"
-        }
-      ],
-      "example_arguments": {},
-      "verification": [
-        {
-          "id": "contract_runtime_validation_contract",
-          "layer": "contract",
-          "status": "passed",
-          "method": "Execute all 39 migrated legacy API rows plus six public capabilities, all ten unsupported entries, and validate actual result against contract input/output JSON schemas; read boundary checked.",
-          "environment": "{'python': '3.12.5 (main, Aug  6 2024, 19:08:49) [Clang 15.0.0 (clang-1500.3.9.4)]', 'platform': 'macOS-arm64'}",
-          "checked_at": "2026-09-09T22:37:06.988220+00:00",
-          "evidence_artifact_id": "contract_runtime_validation",
-          "evidence_note": "实际入口的输入示例和实际返回均匹配合同schema；unsupported项验证拒绝，没有升级其实现层。"
-        },
-        {
-          "id": "process_check",
-          "layer": "process",
-          "status": "not_run",
-          "method": "此层没有执行验证，不从其他层推断通过。",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "此层没有执行验证，不从其他层推断通过。"
-        },
-        {
-          "id": "scene_check",
-          "layer": "scene",
-          "status": "not_run",
-          "method": "此层没有执行验证，不从其他层推断通过。",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "此层没有执行验证，不从其他层推断通过。"
-        },
-        {
-          "id": "host_check",
-          "layer": "host",
-          "status": "not_run",
-          "method": "此层没有执行验证，不从其他层推断通过。",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "此层没有执行验证，不从其他层推断通过。"
-        },
-        {
-          "id": "robot_check",
-          "layer": "robot",
-          "status": "not_run",
-          "method": "此层没有执行验证，不从其他层推断通过。",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "此层没有执行验证，不从其他层推断通过。"
-        },
-        {
-          "id": "hardware_check",
-          "layer": "hardware",
-          "status": "not_run",
-          "method": "此层没有执行验证，不从其他层推断通过。",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "此层没有执行验证，不从其他层推断通过。"
-        }
-      ],
-      "limitations": [
-        "合成教学响应，非实机标定、真实浓度、接触求解或机器人执行。",
-        "API可见性过滤不隔离受信Python宿主的内存反射/文件访问。"
-      ],
-      "source_ids": [
-        "runtime",
-        "catalog"
-      ]
-    },
-    "hardware.connect": {
-      "function_zh": "hardware.connect（未实现时返回unsupported）",
+    "hardware.connect": {
+      "function_zh": "hardware.connect（未实现时返回unsupported）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -33196,8 +33036,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33206,8 +33046,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33444,8 +33284,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33454,8 +33294,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33698,8 +33538,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33708,8 +33548,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33944,18 +33784,333 @@
           "code": "SUPPLY_CONNECTED",
           "meaning_zh": "Pressure sensors are zeroed with the supply line disconnected.",
           "side_effects": "none"
-        },
-        {
-          "code": "ACCESS_DENIED",
-          "meaning_zh": "评测者能力，agent会话无权调用；或另一会话的运行、测试或维护进行中（停止、重启/关机或修改被拒）。",
-          "side_effects": "none"
+        },
+        {
+          "code": "ACCESS_DENIED",
+          "meaning_zh": "评测者能力，agent会话无权调用；或另一会话的运行、测试或维护进行中（停止、重启/关机或修改被拒）。",
+          "side_effects": "none"
+        }
+      ],
+      "example_arguments": {
+        "component": "inlet",
+        "settings": {
+          "split_ratio": 50.0
+        }
+      },
+      "verification": [
+        {
+          "id": "process_terminal_check",
+          "layer": "process",
+          "status": "passed",
+          "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
+          "evidence_artifact_id": "panel_ui_validation",
+          "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
+        },
+        {
+          "id": "host_session_check",
+          "layer": "host",
+          "status": "passed",
+          "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
+          "evidence_artifact_id": "panel_ui_validation",
+          "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
+        },
+        {
+          "id": "scene_check",
+          "layer": "scene",
+          "status": "not_run",
+          "method": "本层未独立验证",
+          "environment": null,
+          "checked_at": null,
+          "evidence_artifact_id": null,
+          "evidence_note": "不跨层借用验证结果"
+        },
+        {
+          "id": "robot_check",
+          "layer": "robot",
+          "status": "not_run",
+          "method": "本层未独立验证",
+          "environment": null,
+          "checked_at": null,
+          "evidence_artifact_id": null,
+          "evidence_note": "不跨层借用验证结果"
+        },
+        {
+          "id": "hardware_check",
+          "layer": "hardware",
+          "status": "not_run",
+          "method": "本层未独立验证",
+          "environment": null,
+          "checked_at": null,
+          "evidence_artifact_id": null,
+          "evidence_note": "不跨层借用验证结果"
+        }
+      ],
+      "limitations": [
+        "触摸终端最小设备模型，非Agilent固件；传感器误差默认0（理想）。"
+      ],
+      "source_ids": [
+        "runtime",
+        "gc_operation_manual"
+      ]
+    },
+    "chromatography.set_oven_program": {
+      "function_zh": "设置Active Method的柱温箱程序：初始温度（即柱温箱设定点，同thermal.set_temperature）与初始保持时间，然后最多32段升温（速率、终温、终温保持时间；速率≤120 °C/min；p.90-91）；未给出的段速率为0，空列表即等温运行（p.91：Rate 1为0）。与触摸屏方法编辑同一检查（含配置的柱温箱最高温度）；运行（run.start）与模板样品瓶的chromatography.measure都按该程序升温",
+      "kind": "configuration",
+      "visibility": "agent",
+      "component_ids": [
+        "display",
+        "oven_heater"
+      ],
+      "availability": "implemented",
+      "input_schema": {
+        "type": "object",
+        "properties": {
+          "initial_temperature_K": {
+            "type": "number",
+            "x-unit": "K",
+            "minimum": 302.15,
+            "maximum": 723.15
+          },
+          "initial_hold_s": {
+            "type": "number",
+            "x-unit": "s",
+            "minimum": 0,
+            "maximum": 59999.4
+          },
+          "ramps": {
+            "type": "array",
+            "maxItems": 32,
+            "items": {
+              "type": "object",
+              "additionalProperties": false,
+              "required": [
+                "rate_K_s",
+                "final_temperature_K",
+                "final_hold_s"
+              ],
+              "properties": {
+                "rate_K_s": {
+                  "type": "number",
+                  "x-unit": "K/s",
+                  "exclusiveMinimum": 0,
+                  "maximum": 2.0
+                },
+                "final_temperature_K": {
+                  "type": "number",
+                  "x-unit": "K",
+                  "minimum": 302.15,
+                  "maximum": 723.15
+                },
+                "final_hold_s": {
+                  "type": "number",
+                  "x-unit": "s",
+                  "minimum": 0,
+                  "maximum": 59999.4
+                }
+              }
+            }
+          }
+        },
+        "required": [
+          "initial_temperature_K",
+          "initial_hold_s",
+          "ramps"
+        ],
+        "additionalProperties": false
+      },
+      "output_schema": {
+        "type": "object",
+        "properties": {
+          "initial_temperature_K": {
+            "type": "number",
+            "x-unit": "K",
+            "minimum": 0
+          },
+          "ramps": {
+            "type": "integer",
+            "x-unit": "1",
+            "minimum": 0,
+            "maximum": 32
+          },
+          "run_length_s": {
+            "type": "number",
+            "x-unit": "s",
+            "minimum": 0
+          }
+        },
+        "required": [
+          "initial_temperature_K",
+          "ramps",
+          "run_length_s"
+        ],
+        "additionalProperties": false
+      },
+      "implementation": {
+        "process": "verified",
+        "scene": "not_applicable",
+        "robot": "absent",
+        "hardware": "absent",
+        "host": "verified"
+      },
+      "binding": {
+        "backend": "composite",
+        "artifact_id": "runtime",
+        "entrypoint": "scripts.basic40_runtime_analytical.AgilentGC8890BSession.invoke",
+        "invocation": "device.invoke(instance_id=\"gc8890b_01\", capability_id='chromatography.set_oven_program', arguments={\"initial_temperature_K\": 313.15, \"initial_hold_s\": 60.0, \"ramps\": [{\"rate_K_s\": 0.16666666666666666, \"final_temperature_K\": 573.15, \"final_hold_s\": 300.0}]}, request_id=\"unique_request_id\")"
+      },
+      "preconditions": [
+        {
+          "description_zh": "Power on and start-up finished; runs, tests and maintenance procedures exclude each other as on the instrument.",
+          "state_ids": [
+            "power.enabled"
+          ],
+          "enforced_by": "runtime",
+          "check": "AgilentGC8890BSession._invoke_once（终端命令：_g8_gate供电、启动完成、运行/测试/维护互斥）"
+        }
+      ],
+      "state_effects": [
+        {
+          "state_id": "gc.method",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "gc.status",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "gc.actuals",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "gc.logs",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "thermal.oven.setpoint_k",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "thermal.inlet.setpoint_k",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "thermal.fid.setpoint_k",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        },
+        {
+          "state_id": "thermal.cooling_damper_open",
+          "description_zh": "由终端命令同步提交",
+          "timing": "immediate"
+        }
+      ],
+      "observes": [
+        "gc.method",
+        "gc.status",
+        "gc.actuals",
+        "gc.logs",
+        "thermal.oven.setpoint_k",
+        "thermal.inlet.setpoint_k"
+      ],
+      "model_effects": {
+        "mode": "none",
+        "description_zh": "只改变运行层状态；屏幕由panel.capture渲染",
+        "binding_ids": []
+      },
+      "execution": {
+        "mode": "synchronous",
+        "time_domain": "simulation",
+        "completion_criterion": "同步提交；升温、运行、测试、维护、计划等随时间的部分由宿主host_step推进，状态见gc.status/gc.run/gc.diagnostics/gc.maintenance。",
+        "completion_state_ids": [
+          "gc.method",
+          "gc.status",
+          "gc.actuals"
+        ],
+        "timeout_s": null,
+        "cancellation": "unsupported",
+        "retry": "same_request_id",
+        "resources": [
+          "per-instance lock"
+        ],
+        "partial_failure_zh": "参数或前提拒绝不提交状态（候选副本）；场景回调异常时过程状态不提交，外部副作用未知。"
+      },
+      "errors": [
+        {
+          "code": "UNKNOWN_INSTANCE",
+          "meaning_zh": "UNKNOWN_INSTANCE；见运行模块验证分支，错误不得包含私有样品真值。",
+          "side_effects": "none"
+        },
+        {
+          "code": "INVALID_ARGUMENT",
+          "meaning_zh": "INVALID_ARGUMENT；见运行模块验证分支，错误不得包含私有样品真值。",
+          "side_effects": "none"
+        },
+        {
+          "code": "PRECONDITION_FAILED",
+          "meaning_zh": "PRECONDITION_FAILED；见运行模块验证分支，错误不得包含私有样品真值。",
+          "side_effects": "none"
+        },
+        {
+          "code": "REQUEST_CONFLICT",
+          "meaning_zh": "REQUEST_CONFLICT；见运行模块验证分支，错误不得包含私有样品真值。",
+          "side_effects": "none"
+        },
+        {
+          "code": "DEVICE_ERROR",
+          "meaning_zh": "DEVICE_ERROR；见运行模块验证分支，错误不得包含私有样品真值。",
+          "side_effects": "unknown"
+        },
+        {
+          "code": "BUSY",
+          "meaning_zh": "A run, test, maintenance or start-up is in progress.",
+          "side_effects": "none"
+        },
+        {
+          "code": "GAS_NOT_FLOWING",
+          "meaning_zh": "Flow sensors are zeroed with the gas connected and flowing.",
+          "side_effects": "none"
+        },
+        {
+          "code": "LOCKED",
+          "meaning_zh": "The column configuration is locked (Column ID lock).",
+          "side_effects": "none"
+        },
+        {
+          "code": "NOT_FOUND",
+          "meaning_zh": "The entry does not exist.",
+          "side_effects": "none"
+        },
+        {
+          "code": "NOT_READY",
+          "meaning_zh": "The GC is not ready (see the status tray and Diagnostics).",
+          "side_effects": "none"
+        },
+        {
+          "code": "SUPPLY_CONNECTED",
+          "meaning_zh": "Pressure sensors are zeroed with the supply line disconnected.",
+          "side_effects": "none"
         }
       ],
       "example_arguments": {
-        "component": "inlet",
-        "settings": {
-          "split_ratio": 50.0
-        }
+        "initial_temperature_K": 313.15,
+        "initial_hold_s": 60.0,
+        "ramps": [
+          {
+            "rate_K_s": 0.16666666666666666,
+            "final_temperature_K": 573.15,
+            "final_hold_s": 300.0
+          }
+        ]
       },
       "verification": [
         {
@@ -33963,8 +34118,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -33973,8 +34128,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -34232,8 +34387,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -34242,8 +34397,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -34448,8 +34603,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -34458,8 +34613,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35088,8 +35243,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35098,8 +35253,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35307,8 +35462,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35317,8 +35472,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35538,8 +35693,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35548,8 +35703,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35826,8 +35981,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -35836,8 +35991,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36064,8 +36219,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36074,8 +36229,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36298,8 +36453,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36308,8 +36463,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36514,8 +36669,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36524,8 +36679,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36769,8 +36924,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -36779,8 +36934,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37010,8 +37165,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37020,8 +37175,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37269,8 +37424,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37279,8 +37434,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37516,8 +37671,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37526,8 +37681,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37758,8 +37913,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37768,8 +37923,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -37992,8 +38147,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38002,8 +38157,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38203,8 +38358,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38213,8 +38368,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38432,8 +38587,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38442,8 +38597,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38641,8 +38796,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38651,8 +38806,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38905,8 +39060,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -38915,8 +39070,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39116,8 +39271,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39126,8 +39281,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39350,8 +39505,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39360,8 +39515,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39584,8 +39739,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39594,8 +39749,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39877,8 +40032,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -39887,8 +40042,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40089,8 +40244,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40099,8 +40254,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40250,8 +40405,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40260,8 +40415,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40472,6 +40627,11 @@
           "description_zh": "手势调用的命令改变的量",
           "timing": "immediate"
         },
+        {
+          "state_id": "thermal.cooling_damper_open",
+          "description_zh": "手势调用的命令改变的量",
+          "timing": "immediate"
+        },
         {
           "state_id": "thermal.fid.setpoint_k",
           "description_zh": "手势调用的命令改变的量",
@@ -40559,8 +40719,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40569,8 +40729,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40783,6 +40943,11 @@
           "description_zh": "手势调用的命令改变的量",
           "timing": "immediate"
         },
+        {
+          "state_id": "thermal.cooling_damper_open",
+          "description_zh": "手势调用的命令改变的量",
+          "timing": "immediate"
+        },
         {
           "state_id": "thermal.fid.setpoint_k",
           "description_zh": "手势调用的命令改变的量",
@@ -40871,8 +41036,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -40881,8 +41046,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -41119,6 +41284,11 @@
           "description_zh": "手势调用的命令改变的量",
           "timing": "immediate"
         },
+        {
+          "state_id": "thermal.cooling_damper_open",
+          "description_zh": "手势调用的命令改变的量",
+          "timing": "immediate"
+        },
         {
           "state_id": "thermal.fid.setpoint_k",
           "description_zh": "手势调用的命令改变的量",
@@ -41208,8 +41378,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -41218,8 +41388,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.touch / panel.switch / panel.press / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (start-up, on-the-fly oven setpoint, isothermal run, manual injection run with Prep Run, clearing a shutdown, gas saver, DHCP with restart, shut-down through maintenance mode) done only with pa",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:39.100716+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T05:38:55.700694+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_gc8890b.py）经会话API执行；不跨层借用验证结果"
         },
@@ -41783,12 +41953,14 @@
     "按CHEM-096三表第101行采用Agilent 8890B GC。遵用户要求不重建几何：迁移旧7890B单S/SL+单FID模型，保留GC7890B内部对象稳定ID及外置手动针筒/样品瓶；2026-10-20起前面板为8890B（触摸屏、状态灯、柱温箱门按钮、Smart ID键门；去掉7890B键盘、VFD、起停键与门把手），共50分件；不具备第二进样口、四检测器实装、ALS、MS、LN2、辅助阀箱。机身58×51×49cm与清单一致。炉温环境+4至450°C、LN2选件-80至450°C与7890B名义范围相同，修正的是旧代码统一0至450°C假区间；最大升温按8890B更新135°C/min（仅特定温区和供电条件峰值）。S/SL400°C与FID450°C独立限幅。4–5min冷却为用户审查目标，不是当前8890B厂家更快的冷却指标。清单最多4检测器容量予以保留，官方当前PDF另述5检测器/特定配置4检测器的版本差异单列，不替换硬要求。",
     "真实部件质量、材料密度、惯量、摩擦、阻尼、流阻、热容、噪声、标定曲线、故障率等未提供则null。URDF使用旧工程分配质量及包围盒惯量，仅为仿真假设。",
     "本批教学样品槽是机身外侧样品瓶占位；开炉门装样/闭门measure只是统一任务流程，真实GC进样由隔垫进样口完成；legacy过程保留吸样和插针/注射语义。",
-    "LN2低温、辅助阀时序、第二进样口/多检测器、真实响应/浓度校准与厂家通信未实现；以unsupported或明确配置边界登记。炉程序多段升温、分流比与载气模式已在触摸终端层实现（method.configure；旧占位能力保持unsupported）。",
+    "LN2低温、辅助阀时序、第二进样口/多检测器、真实响应/浓度校准与厂家通信未实现；以unsupported或明确配置边界登记。炉程序多段升温、分流比与载气模式已在触摸终端层实现（method.configure；炉程序另有chromatography.set_oven_program，1.6.0起模板样品的运行也按炉程序计算；载气、进样模式、分流比的旧占位能力保持unsupported）。",
     "GLB、OBJ为交换网格，原生可操作关节以model.blend和URDF为准。GLB按本项目要求Z向上，标准Y向上消费者须显式处理该约定。",
     "没有机器人抓放、碰撞动力学引擎加载、真实硬件控制或实机标定证据；相应验证not_run。",
     "代理API的输入/输出过滤有测试边界；受信宿主依然能够读取debug质量账本和内部对象，不是文件系统安全隔离。",
     "原资产15视觉/内部组件没有碰撞体，延续原简化且不补造几何；碰撞代理范围详见geometry_manifest。单个Blender模型组只绑定一个实例，不声称多个场景实体隔离已验证。",
     "2026-10 模板路径：模板样品瓶用 NIST 保留指数换算的指纹跑 gc_runtime 传质；色谱柱标定、FID 灵敏度与流路参数仍是假设（见 extensions.chemistry_lab.output_templates）。",
+    "面板3D部件（2026-10-20）：触摸屏（外框187×118 mm、玻璃152.5×91.5 mm＝7英寸按800×480比例的假设）、状态灯条、柱温箱门按钮（Φ24 mm，2 mm行程）按手册图估计；电源开关沿用迁移模型的翘板（位置与8890一致）；机身按8890比例降低（2026-10-21），触摸屏外框0.372-0.49 m，左侧悬伸在炉门上方，总高即公布的49 cm（图1）。Matterix触摸、按键与开关经PanelTouch / PanelInput发panel.*，Isaac/GPU场景未核对。",
+    "机身比例与柱温箱（2026-10-21）：迁移的7890B代理机身在底座顶0.036 m以上按z→0.036+0.7713(z−0.036)压低（右列顶0.482→0.38 m，炉门顶0.4565→0.360 m，机身顶0.4905→0.386 m）；炉内风扇、加热器、柱架与色谱柱等比缩小0.771以保持圆形。柱温箱内腔现为0.278×0.238×0.168 m（宽×高×深，z 0.066-0.304 m）；真实7890/8890柱温箱28×31×16 cm（7890B规格书p.7“カラムオーブン 寸法 28 x 31 x 16 cm”；本地8890手册无场地准备/规格页）。真实高度的内腔连同本模型的底/顶隔热层（1.6/1.7 cm）需0.342 m，炉门只有0.325 m（0.0355-0.3603 m，真实8890约0.354 m，图1）；若把内腔做到0.31 m，炉顶上的进样口/检测器与顶盖须升高约6 cm（炉上机身顶0.447 m，高出0.38 m右列，与图1不符），故未改：内腔高度为真实的77%。",
     "前面板层（panel.*，panel_ui.json）：8890触摸屏（800×480为假设分辨率）、状态指示灯、电源开关与柱温箱门按钮；导航标签、Home（流路/状态/图形）、Method、Diagnostics、Maintenance、Logs、Settings视图、状态/控制托盘（Prep Run/Start/Stop）、屏幕键盘与对话框按操作手册（PDF页码证据）实现；每个面板操作调用本运行层的命令，没有第二份仪器逻辑。",
     "触摸终端设备层为最小模型：方法（柱温程序最多32段、分流/不分流与省气、色谱柱恒流/恒压及程序（可压缩Poiseuille关系）、FID点火与Lit offset、重新点火与停机、模拟输出、运行表）、运行控制、就绪与状态托盘、停机与Setpoint Action、诊断测试、EMF计数与维护流程、日志、配置、仪器计划与时钟表、传感器置零、系统设置与节能；非Agilent固件。传感器误差参数默认0（理想），只由评测者sensor.configure_error设定；真实容差留待sim-to-real任务。",
     "面板运行使用已装虚拟样品瓶的即时合成色谱（Start即进样），信号随运行时间显示；手动进样不增加EMF进样计数（手册p.130）。chromatography.set_oven_program等旧占位能力保持unsupported不变，相应功能由终端命令（method.configure、method.event_save等）提供。",
@@ -41796,10 +41968,9 @@
     "面板假设（手册未写）：启动30 s后显示Power on successful；拒绝提示文字为自拟；状态托盘展开以对话框显示（含未就绪原因）；5x7点阵字体，图标以文字代替。手势不推进仿真时钟；启动、升温、运行、测试、维护、计划与节能由host_step推进。",
     "语言：所选语言被保存并在gc.settings中报告；Deutsch / Español / Français只翻译主要标签（早先面板工作的自译）；其他语言保持英文（我们的手册没有屏幕译文，不再自行翻译）。色谱柱Min / Max / Max Program Temp只保存并显示：手册p.177未写它们限制柱温程序。",
     "EPC误差模型属于设备：压力/流量传感器误差（偏移减已存零点）作用于实际输送的气体——控制器把读数保持在设定值，屏幕显示设定值，真实柱前压、柱流量、分流/吹扫与检测器气体随误差偏离（过程真值）；模板色谱本身只依赖温区设定。静电计漏电流同时进入实时信号与记录的色谱（直接chromatography.measure）。Slow Cool Down Mode使柱温箱冷却导热减半（假设）；Fast Peaks设定模拟输出带宽（一阶滤波，1.6 Hz / 8 Hz，p.186）。面板手势以发起会话身份执行。",
+    "面板不含3D联动：屏幕纹理（render()）与按键/开关关节触发手势属于后续Matterix步骤；本版本只在过程层与会话API层验证（panel_ui_validation）。",
     "Deutsch / Español / Français主要标签为自拟翻译（self-written translation, not from the manual）：我们的手册没有屏幕译文；之后新增的拒绝提示保持英文。",
-    "运行、诊断测试与维护流程属于启动它的调用者（run.start、tools.column_compensation、diagnostics.start_test、maintenance.start；触摸屏手势按发出手势的会话身份）：进行中时其他会话的Stop、取消测试、维护继续/中止、触摸屏Restart与Shut Down（新能力system.shutdown）以及运行中的方法/设定值修改在触摸屏与直接路径都被拒（ACCESS_DENIED，状态不变），屏幕弹出提示窗（GC没有调用者概念，文字为假设）；评估者不受限。电源开关（power.set即此开关）是硬开关：任何人都可操作，运行如断电般结束。",
-    "面板3D部件（2026-10-20）：触摸屏（外框187×118 mm、玻璃152.5×91.5 mm＝7英寸按800×480比例的假设）、状态灯条、柱温箱门按钮（Φ24 mm，2 mm行程）按手册图估计；电源开关沿用迁移模型的翘板（位置与8890一致）；机身按8890比例降低（2026-10-21），触摸屏外框0.372-0.49 m，左侧悬伸在炉门上方，总高即公布的49 cm（图1）。Matterix触摸、按键与开关经PanelTouch / PanelInput发panel.*，Isaac/GPU场景未核对。",
-    "机身比例与柱温箱（2026-10-21）：迁移的7890B代理机身在底座顶0.036 m以上按z→0.036+0.7713(z−0.036)压低（右列顶0.482→0.38 m，炉门顶0.4565→0.360 m，机身顶0.4905→0.386 m）；炉内风扇、加热器、柱架与色谱柱等比缩小0.771以保持圆形。柱温箱内腔现为0.278×0.238×0.168 m（宽×高×深，z 0.066-0.304 m）；真实7890/8890柱温箱28×31×16 cm（7890B规格书p.7“カラムオーブン 寸法 28 x 31 x 16 cm”；本地8890手册无场地准备/规格页）。真实高度的内腔连同本模型的底/顶隔热层（1.6/1.7 cm）需0.342 m，炉门只有0.325 m（0.0355-0.3603 m，真实8890约0.354 m，图1）；若把内腔做到0.31 m，炉顶上的进样口/检测器与顶盖须升高约6 cm（炉上机身顶0.447 m，高出0.38 m右列，与图1不符），故未改：内腔高度为真实的77%。"
+    "运行、诊断测试与维护流程属于启动它的调用者（run.start、tools.column_compensation、diagnostics.start_test、maintenance.start；触摸屏手势按发出手势的会话身份）：进行中时其他会话的Stop、取消测试、维护继续/中止、触摸屏Restart与Shut Down（新能力system.shutdown）以及运行中的方法/设定值修改在触摸屏与直接路径都被拒（ACCESS_DENIED，状态不变），屏幕弹出提示窗（GC没有调用者概念，文字为假设）；评估者不受限。电源开关（power.set即此开关）是硬开关：任何人都可操作，运行如断电般结束。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -41898,7 +42069,7 @@
     },
     "chemistry_lab.runtime_metadata": {
       "asset_type_id": "instrument.agilent_gc8890b",
-      "asset_version": "1.3.0",
+      "asset_version": "1.6.0",
       "catalog_id": "CHEM-096",
       "model": "Agilent | 8890B GC",
       "capabilities": {
@@ -42329,7 +42500,7 @@
                           "minimum": 0
                         },
                         "minItems": 2,
-                        "maxItems": 3601
+                        "maxItems": 10801
                       },
                       "fid_current_A": {
                         "type": "array",
@@ -42339,7 +42510,7 @@
                           "minimum": 0
                         },
                         "minItems": 2,
-                        "maxItems": 3601
+                        "maxItems": 10801
                       },
                       "retention_time_s": {
                         "type": "array",
@@ -42415,6 +42586,74 @@
                         "x-unit": "K",
                         "minimum": 0
                       },
+                      "oven_program": {
+                        "anyOf": [
+                          {
+                            "type": "object",
+                            "properties": {
+                              "initial_temperature_K": {
+                                "type": "number",
+                                "x-unit": "K",
+                                "minimum": 302.15,
+                                "maximum": 723.15
+                              },
+                              "initial_hold_s": {
+                                "type": "number",
+                                "x-unit": "s",
+                                "minimum": 0,
+                                "maximum": 59999.4
+                              },
+                              "ramps": {
+                                "type": "array",
+                                "items": {
+                                  "type": "object",
+                                  "properties": {
+                                    "rate_K_s": {
+                                      "type": "number",
+                                      "x-unit": "K/s",
+                                      "maximum": 2.0,
+                                      "exclusiveMinimum": 0
+                                    },
+                                    "final_temperature_K": {
+                                      "type": "number",
+                                      "x-unit": "K",
+                                      "minimum": 302.15,
+                                      "maximum": 723.15
+                                    },
+                                    "final_hold_s": {
+                                      "type": "number",
+                                      "x-unit": "s",
+                                      "minimum": 0,
+                                      "maximum": 59999.4
+                                    }
+                                  },
+                                  "required": [
+                                    "rate_K_s",
+                                    "final_temperature_K",
+                                    "final_hold_s"
+                                  ],
+                                  "additionalProperties": false
+                                },
+                                "maxItems": 32
+                              }
+                            },
+                            "required": [
+                              "initial_temperature_K",
+                              "initial_hold_s",
+                              "ramps"
+                            ],
+                            "additionalProperties": false
+                          },
+                          {
+                            "type": "null"
+                          }
+                        ]
+                      },
+                      "oven_final_setpoint_K": {
+                        "type": "number",
+                        "x-unit": "K",
+                        "minimum": 0
+                      },
                       "inlet_temperature_K": {
                         "type": "number",
                         "x-unit": "K",
@@ -42495,6 +42734,8 @@
                       "measurement_duration_s",
                       "run_duration_s",
                       "oven_temperature_K",
+                      "oven_program",
+                      "oven_final_setpoint_K",
                       "inlet_temperature_K",
                       "fid_temperature_K",
                       "column_model",
@@ -42536,7 +42777,7 @@
           "preconditions": [
             "Power enabled; door closed; registered virtual sample loaded.",
             "Returns an instantaneous arbitrary fixture; does not run the legacy injection/transport simulation.",
-            "Template-backed vial only: FID setpoint >= 423.15 K (gc_runtime ignition minimum); the run uses the current oven/inlet/FID setpoints isothermally."
+            "Template-backed vial only: FID setpoint >= 423.15 K (gc_runtime ignition minimum); the run uses the current inlet/FID setpoints and the oven setpoint isothermally, or the Active Method oven program when it has ramps (chromatography.set_oven_program / method.configure oven)."
           ],
           "scene_required": false,
           "availability": "implemented",
@@ -42555,31 +42796,137 @@
         "chromatography.set_oven_program": {
           "input_schema": {
             "type": "object",
-            "properties": {},
-            "required": [],
+            "properties": {
+              "initial_temperature_K": {
+                "type": "number",
+                "x-unit": "K",
+                "minimum": 302.15,
+                "maximum": 723.15
+              },
+              "initial_hold_s": {
+                "type": "number",
+                "x-unit": "s",
+                "minimum": 0,
+                "maximum": 59999.4
+              },
+              "ramps": {
+                "type": "array",
+                "maxItems": 32,
+                "items": {
+                  "type": "object",
+                  "additionalProperties": false,
+                  "required": [
+                    "rate_K_s",
+                    "final_temperature_K",
+                    "final_hold_s"
+                  ],
+                  "properties": {
+                    "rate_K_s": {
+                      "type": "number",
+                      "x-unit": "K/s",
+                      "exclusiveMinimum": 0,
+                      "maximum": 2.0
+                    },
+                    "final_temperature_K": {
+                      "type": "number",
+                      "x-unit": "K",
+                      "minimum": 302.15,
+                      "maximum": 723.15
+                    },
+                    "final_hold_s": {
+                      "type": "number",
+                      "x-unit": "s",
+                      "minimum": 0,
+                      "maximum": 59999.4
+                    }
+                  }
+                }
+              }
+            },
+            "required": [
+              "initial_temperature_K",
+              "initial_hold_s",
+              "ramps"
+            ],
             "additionalProperties": false
           },
           "output_schema": {
             "type": "object",
-            "properties": {},
-            "required": [],
+            "properties": {
+              "initial_temperature_K": {
+                "type": "number",
+                "x-unit": "K",
+                "minimum": 0
+              },
+              "ramps": {
+                "type": "integer",
+                "x-unit": "1",
+                "minimum": 0,
+                "maximum": 32
+              },
+              "run_length_s": {
+                "type": "number",
+                "x-unit": "s",
+                "minimum": 0
+              }
+            },
+            "required": [
+              "initial_temperature_K",
+              "ramps",
+              "run_length_s"
+            ],
             "additionalProperties": false
           },
           "example_arguments": [
-            {}
+            {
+              "initial_temperature_K": 313.15,
+              "initial_hold_s": 60.0,
+              "ramps": [
+                {
+                  "rate_K_s": 0.16666666666666666,
+                  "final_temperature_K": 573.15,
+                  "final_hold_s": 300.0
+                }
+              ]
+            }
+          ],
+          "state_ids": [
+            "gc.method",
+            "gc.status",
+            "gc.actuals",
+            "gc.logs",
+            "thermal.oven.setpoint_k",
+            "thermal.inlet.setpoint_k",
+            "thermal.fid.setpoint_k",
+            "thermal.cooling_damper_open"
           ],
-          "availability": "unsupported",
-          "state_ids": [],
           "component_ids": [
-            "control_panel"
+            "display"
+          ],
+          "preconditions": [
+            "Power on and start-up finished; runs, tests and maintenance procedures exclude each other as on the instrument."
           ],
-          "preconditions": [],
           "scene_required": false,
-          "invocation": null,
+          "availability": "implemented",
+          "visibility": "agent",
+          "kind": "configuration",
+          "description_zh": "设置Active Method的柱温箱程序：初始温度（即柱温箱设定点，同thermal.set_temperature）与初始保持时间，然后最多32段升温（速率、终温、终温保持时间；速率≤120 °C/min；p.90-91）；未给出的段速率为0，空列表即等温运行（p.91：Rate 1为0）。与触摸屏方法编辑同一检查（含配置的柱温箱最高温度）；运行（run.start）与模板样品瓶的chromatography.measure都按该程序升温",
+          "invocation": "AgilentGC8890B.invoke(instance_id=..., capability_id='chromatography.set_oven_program', arguments=..., request_id=...)",
           "errors": [
-            "UNSUPPORTED"
+            "UNKNOWN_INSTANCE",
+            "INVALID_ARGUMENT",
+            "PRECONDITION_FAILED",
+            "ACCESS_DENIED",
+            "REQUEST_CONFLICT",
+            "BUSY",
+            "GAS_NOT_FLOWING",
+            "LOCKED",
+            "NOT_FOUND",
+            "NOT_READY",
+            "SUPPLY_CONNECTED"
           ],
-          "rejection_side_effects": "none"
+          "rejection_side_effects": "none",
+          "scene_failure_side_effects": "unknown"
         },
         "chromatography.set_carrier": {
           "input_schema": {
@@ -45638,6 +45985,7 @@
             "lid.angle_rad",
             "lid.closed",
             "power.enabled",
+            "thermal.cooling_damper_open",
             "thermal.fid.setpoint_k",
             "thermal.inlet.setpoint_k",
             "thermal.oven.setpoint_k"
@@ -45727,6 +46075,7 @@
             "lid.angle_rad",
             "lid.closed",
             "power.enabled",
+            "thermal.cooling_damper_open",
             "thermal.fid.setpoint_k",
             "thermal.inlet.setpoint_k",
             "thermal.oven.setpoint_k"
@@ -45841,6 +46190,7 @@
             "lid.angle_rad",
             "lid.closed",
             "power.enabled",
+            "thermal.cooling_damper_open",
             "thermal.fid.setpoint_k",
             "thermal.inlet.setpoint_k",
             "thermal.oven.setpoint_k"
@@ -46305,7 +46655,7 @@
                       "minimum": 0
                     },
                     "minItems": 2,
-                    "maxItems": 3601
+                    "maxItems": 10801
                   },
                   "fid_current_A": {
                     "type": "array",
@@ -46315,7 +46665,7 @@
                       "minimum": 0
                     },
                     "minItems": 2,
-                    "maxItems": 3601
+                    "maxItems": 10801
                   },
                   "retention_time_s": {
                     "type": "array",
@@ -46391,6 +46741,74 @@
                     "x-unit": "K",
                     "minimum": 0
                   },
+                  "oven_program": {
+                    "anyOf": [
+                      {
+                        "type": "object",
+                        "properties": {
+                          "initial_temperature_K": {
+                            "type": "number",
+                            "x-unit": "K",
+                            "minimum": 302.15,
+                            "maximum": 723.15
+                          },
+                          "initial_hold_s": {
+                            "type": "number",
+                            "x-unit": "s",
+                            "minimum": 0,
+                            "maximum": 59999.4
+                          },
+                          "ramps": {
+                            "type": "array",
+                            "items": {
+                              "type": "object",
+                              "properties": {
+                                "rate_K_s": {
+                                  "type": "number",
+                                  "x-unit": "K/s",
+                                  "maximum": 2.0,
+                                  "exclusiveMinimum": 0
+                                },
+                                "final_temperature_K": {
+                                  "type": "number",
+                                  "x-unit": "K",
+                                  "minimum": 302.15,
+                                  "maximum": 723.15
+                                },
+                                "final_hold_s": {
+                                  "type": "number",
+                                  "x-unit": "s",
+                                  "minimum": 0,
+                                  "maximum": 59999.4
+                                }
+                              },
+                              "required": [
+                                "rate_K_s",
+                                "final_temperature_K",
+                                "final_hold_s"
+                              ],
+                              "additionalProperties": false
+                            },
+                            "maxItems": 32
+                          }
+                        },
+                        "required": [
+                          "initial_temperature_K",
+                          "initial_hold_s",
+                          "ramps"
+                        ],
+                        "additionalProperties": false
+                      },
+                      {
+                        "type": "null"
+                      }
+                    ]
+                  },
+                  "oven_final_setpoint_K": {
+                    "type": "number",
+                    "x-unit": "K",
+                    "minimum": 0
+                  },
                   "inlet_temperature_K": {
                     "type": "number",
                     "x-unit": "K",
@@ -46471,6 +46889,8 @@
                   "measurement_duration_s",
                   "run_duration_s",
                   "oven_temperature_K",
+                  "oven_program",
+                  "oven_final_setpoint_K",
                   "inlet_temperature_K",
                   "fid_temperature_K",
                   "column_model",
@@ -46864,13 +47284,14 @@
         "Rejected preconditions leave process/scene unchanged. An external scene callback that fails can have unknown external side effects; process does not commit.",
         "Template-backed vials (host register_template_sample) run gc_runtime transport with spectral_library fingerprints; the legacy fixture path is unchanged and remains the default.",
         "8890B touch terminal: Active Method (oven program with up to 32 ramps, SSL split / splitless with gas saver, column 1 constant / ramped flow or pressure from the compressible Poiseuille relation, FID with Flame On, Lit offset and reignition, analog out 1, run table), Prep Run / Start / Stop, readiness, shutdowns and setpoint actions, diagnostic tests, EMF counters, maintenance procedures, logs, configuration, instrument schedule and clock table, sensor zeroing and system settings follow the 8890/8850 operation manual as a minimal device model, not Agilent firmware.",
-        "A panel run uses the instant synthetic chromatogram of the loaded virtual vial (the injection at Start); the signal follows run time. Manual injections do not increment EMF injection counters (p.130). Sensor error parameters are evaluator settings, 0 (ideal) by default.",
+        "A panel run uses the instant synthetic chromatogram of the loaded virtual vial (the injection at Start), computed along the Active Method oven program when it has ramps (1.6.0; isothermal at the oven setpoint otherwise); the signal follows run time. Manual injections do not increment EMF injection counters (p.130). Sensor error parameters are evaluator settings, 0 (ideal) by default.",
         "Absent hardware: ALS, valves, cryo, MSD, a second inlet / detector, sequences (enabled only from the Browser Interface), USB storage; Browser Interface, data system and network services are not simulated (network settings are kept). Pulsed SSL modes are not modelled.",
         "EPC sensor errors (pressure / flow offsets less the stored zeros) act on the gas really delivered: the controllers hold their readings at the setpoints, so the screen shows the setpoints while the true head pressure, column / split / purge / detector gas flows differ (the process truth); the template chromatogram itself depends only on the zone setpoints.  The electrometer leakage is part of the live and the recorded FID signal.  Slow Cool Down Mode halves the oven cooling conductance (assumption); Fast Peaks sets the analog output filter (first order, 1.6 Hz / 8 Hz, p.186).",
         "Language: the selection is stored and reported in gc.settings; Deutsch / Espanol / Francais translate the main labels (our translations from the earlier panel work); the other languages keep English texts (our manuals contain no translated screen texts).  Column Min / Max / Max Program Temp are stored and reported; the manual does not state that they limit the oven program, so they do not."
       ],
       "terminal_capabilities": [
         "calibration.zero",
+        "chromatography.set_oven_program",
         "clock.set",
         "diagnostics.cancel_test",
         "diagnostics.resolve",
@@ -47553,10 +47974,10 @@
         "assets/reactions/spectral_library/gc_retention.json",
         "assets/reactions/spectral_library/compounds.json"
       ],
-      "n_records": 177,
+      "n_records": 186,
       "runtime_usable": {
-        "nonpolar_fingerprints": 173,
-        "polar_fingerprints": 150
+        "nonpolar_fingerprints": 182,
+        "polar_fingerprints": 159
       },
       "evidence": "retention_index: measured_literature (NIST WebBook); model_fingerprint: derived (alkane calibration of the model column and FID carbon sensitivity are assumptions)",
       "sources": [
@@ -47578,11 +47999,13 @@
         "FID sensitivity 15 C/kg carbon",
         "gc_runtime default split/flow/liner/band-broadening parameters",
         "delta_h fallback where NIST has no enthalpy of vaporization: Trouton rule (menthol, camphor, water) or 60 kJ/mol (lactic acid, aspirin, ibuprofen)",
-        "n-alkane retention index I = 100 n by definition for column classes without NIST rows"
+        "n-alkane retention index I = 100 n by definition for column classes without NIST rows",
+        "C8-C20 n-alkane enthalpy of vaporization: homologous-series fit of all NIST WebBook values (derived; gc_retention.json gc_model.alkane_delta_vap_series)",
+        "template oven-program runs: model oven setpoint follows the Active Method program each 0.5 s step; sub-simulation capped at 3 h"
       ],
       "limitations": [
         "保留指数是 NIST 实测文献值；k_ref/ΔH/响应是换算指纹，模型柱（30 m×0.25 mm×0.25 µm）的烷烃标定与 FID 碳灵敏度是假设，不是 Agilent 色谱柱证书。",
-        "按当前炉温设定值等温运行；无程序升温、压力/流量控制、柱流失、噪声、基线漂移与检测器饱和；峰面积不是校准定量。",
+        "柱温箱按设定值等温运行，或（1.6.0起）在Active Method有升温段时按柱温程序（初始温度/保持与最多32段升温）运行，模板子模拟最长3 h（假设）；无压力/流量控制、柱流失、噪声、基线漂移与检测器饱和；峰面积不是校准定量。",
         "乙酸与乙酸乙酯在非极性模型柱上几乎共流出（RI 610 vs 612）；无该柱指纹的物质不能登记（非极性柱缺 27 种：甘油、过氧化氢、氨、硫酸、氯化氢（盐酸溶质）、氧气、氢气、一氧化碳、马来酸（顺丁烯二酸）、琥珀酸（丁二酸）、甘氨酸、柠檬酸、硼酸、肼、硝酸、尿素、蔗糖、二乙醇胺、三乙醇胺、乙二胺、二氧化硫、氮气、乙二胺四乙酸（EDTA）、八氟环丁烷（RC318）、1,1,1,2,3,3-六氟丙烷（R236ea）、1,1,1,3,3,3-六氟丙烷（R236fa）、2,5-二甲基对苯醌）。"
       ],
       "rebuild": [
@@ -47612,6 +48035,7 @@
       ],
       "terminal_commands": [
         "calibration.zero",
+        "chromatography.set_oven_program",
         "clock.set",
         "diagnostics.cancel_test",
         "diagnostics.resolve",
@@ -47723,6 +48147,57 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/agilent_gc8890b/contract_runtime_validation.json: superseded；outputs/basic40_batch02/t3_analytical/agilent_gc8890b/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-20",
+        "id": "panel_parts_geometry",
+        "capability_ids": [
+          "panel.touch",
+          "panel.press",
+          "panel.switch",
+          "panel.capture",
+          "panel.frame"
+        ],
+        "what_zh": "3D模型前面板由迁移的7890B改为8890：去掉键盘列的VFD与文字、47个参数键、Start/Stop键（链接start_key、stop_key、parameter_keys）与炉门门把手oven_handle；右列面板改浅灰并加Smart ID键门；display改为右列顶上的触摸屏（外框+玻璃）；新增status_indicator灯条与oven_door_button（URDF棱柱关节）。去掉部件的仿真质量份额移到触摸屏，总和仍49 kg；status_indicator、oven_door_button由absent改为bound，被去掉的4个组件改为absent（保留旧API），删除scene_start_key/scene_stop_key模型绑定，补触摸屏、状态灯、门按钮绑定。verify_geometry_blender.py按新部件数检查（GLB组件数、门按钮代替start_key、已删除复制件跳过哈希）。",
+        "why_zh": "3D面板推广：8890B资产沿用7890B代理的键盘与VFD，Matterix无法显示8890触摸屏、状态灯，也无法按柱温箱门按钮。几何改动，版本1.3.0→1.4.0。",
+        "tests_changed": [
+          "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/verify_geometry_blender.py: 组件数与GLB节点检查随前面板更新"
+        ],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
+      {
+        "date": "2026-10-21",
+        "id": "body_proportions_8890",
+        "capability_ids": [
+          "panel.touch",
+          "panel.press",
+          "panel.switch",
+          "panel.capture"
+        ],
+        "what_zh": "3D模型：迁移的7890B代理机身降低到8890比例（新脚本lower_body_8890.py：底座顶以上z按0.7713压缩，箱体与竖直圆柱缩短，倾斜件与面板铭牌整体平移，炉内件等比缩小；铰链与进样垫滑块原点随之移动）；build_8890_front.py把触摸屏改到右列顶前方0.372-0.49 m（左侧悬伸在炉门上方、不在炉门旋转范围内），状态灯在右列顶下33 mm，Smart ID门在右列顶下58-185 mm；总高由0.60 m降到公布的0.49 m。verify_geometry_blender.py的名义尺寸检查改为总高0.49 m含触摸屏（机身顶0.386 m）；分件包围盒、仿真质心与惯量随之更新。",
+        "why_zh": "K1刚体转换审核：模型0.60 m高，高于公布的49 cm；手册图1显示49 cm含触摸屏，机身更矮（原因是7890B代理机身）。几何改动，版本1.4.0→1.5.0。",
+        "tests_changed": [
+          "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/verify_geometry_blender.py: nominal_body_dimensions_and_bench_plane（总高0.49 m含触摸屏，机身顶0.386 m）"
+        ],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
+      {
+        "date": "2026-10-21",
+        "id": "oven_interior_check",
+        "capability_ids": [],
+        "what_zh": "核对柱温箱内腔：真实28×31×16 cm（7890B规格书p.7），模型0.278×0.238×0.168 m；真实高度的内腔放不进现在0.325 m的炉门而不抬高炉顶上的机身，故保留1.5.0几何，只在限制中记录量得的数字。",
+        "why_zh": "负责人要求（2026-10-21）：内腔能放进新炉门就按真实尺寸重建，否则记录数字。无几何改动，版本1.5.0→1.5.1。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
       {
         "date": "2026-10-19",
         "id": "epc_errors_act_on_delivered_gas",
@@ -47770,55 +48245,35 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/agilent_gc8890b/contract_runtime_validation.json: superseded；outputs/basic40_batch02/t3_analytical/agilent_gc8890b/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
-      },
-      {
-        "date": "2026-10-20",
-        "id": "panel_parts_geometry",
+        "date": "2026-10-23",
+        "id": "alkane_standard_c8_c20",
         "capability_ids": [
-          "panel.touch",
-          "panel.press",
-          "panel.switch",
-          "panel.capture",
-          "panel.frame"
+          "template.read",
+          "chromatography.measure"
         ],
-        "what_zh": "3D模型前面板由迁移的7890B改为8890：去掉键盘列的VFD与文字、47个参数键、Start/Stop键（链接start_key、stop_key、parameter_keys）与炉门门把手oven_handle；右列面板改浅灰并加Smart ID键门；display改为右列顶上的触摸屏（外框+玻璃）；新增status_indicator灯条与oven_door_button（URDF棱柱关节）。去掉部件的仿真质量份额移到触摸屏，总和仍49 kg；status_indicator、oven_door_button由absent改为bound，被去掉的4个组件改为absent（保留旧API），删除scene_start_key/scene_stop_key模型绑定，补触摸屏、状态灯、门按钮绑定。verify_geometry_blender.py按新部件数检查（GLB组件数、门按钮代替start_key、已删除复制件跳过哈希）。",
-        "why_zh": "3D面板推广：8890B资产沿用7890B代理的键盘与VFD，Matterix无法显示8890触摸屏、状态灯，也无法按柱温箱门按钮。几何改动，版本1.3.0→1.4.0。",
+        "what_zh": "共享GC模板库gc_retention.json原来只有C8、C9、C10、C12正构烷烃，默认实验室的Supelco 04070 C8–C20保留指数标准中C11、C13–C20无法登记为模板样品。按库的构建规则（compounds_list.py→fetch_sources.py→build_library.py）新增正十一烷、十三至二十烷9个化合物：保留指数按Kováts定义I=100n（正构烷烃在任何固定相上都如此，故极性柱也用定义值），汽化焓取NIST WebBook，FID响应ECN=碳数。重型烷烃的NIST汽化焓表噪声大（C17只有304 K一个值，C20在368 K为110 kJ/mol），而模型用ΔH决定k的温度依赖，离群值会使程序升温下C16/C17、C19/C20出峰次序颠倒；因此对C8–C20正构烷烃新增规则：本化合物最接近373 K的NIST值与该同系物系列拟合（全部C8–C20 NIST数据300–480 K，ΔvapH=a+bn+c(T−373)+dn(T−373)，迭代3×MAD剔除）相差超过3 kJ/mol时改用拟合值（C16–C20），原有200个化合物的记录全部不变（verify_rebuild.py核对）。模板验证脚本独立重算该拟合。8890B模板峰表的相对阈值由1e-3降为1e-6（1e-3时稀溶液标准的分析物全被溶剂峰掩盖：40 mg/L烷烃约为己烷峰顶的3e-5；FID线性范围≥1e7且模型信号无噪声）。8890B模板路径仍为等温（无程序升温，见限制）：纯烷烃混合物在170–190 °C等温出13个峰且按碳数顺序；含己烷溶剂时一次等温运行不能全部分开（100 °C：C8–C13；170 °C：13个全出峰但C8/C9在溶剂拖尾中）。版本1.5.1→1.5.2。",
+        "why_zh": "修正轮C D-1（负责人）：默认实验室备有真实的C8–C20正构烷烃保留指数标准，GC须能看到全部13个峰。",
         "tests_changed": [
-          "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/verify_geometry_blender.py: 组件数与GLB节点检查随前面板更新"
+          "tests/test_gc_alkane_standard.py（新增：库记录、7890B指纹、8890B等温注射、7890B程序升温注射）"
         ],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "backup": "备份见项目备份目录chemlab_findings_fix_D1_20261023/"
       },
       {
-        "date": "2026-10-21",
-        "id": "body_proportions_8890",
+        "date": "2026-10-23",
+        "id": "oven_program_template_path",
         "capability_ids": [
-          "panel.touch",
-          "panel.press",
-          "panel.switch",
-          "panel.capture"
+          "chromatography.set_oven_program",
+          "chromatography.measure",
+          "run.start",
+          "method.configure"
         ],
-        "what_zh": "3D模型：迁移的7890B代理机身降低到8890比例（新脚本lower_body_8890.py：底座顶以上z按0.7713压缩，箱体与竖直圆柱缩短，倾斜件与面板铭牌整体平移，炉内件等比缩小；铰链与进样垫滑块原点随之移动）；build_8890_front.py把触摸屏改到右列顶前方0.372-0.49 m（左侧悬伸在炉门上方、不在炉门旋转范围内），状态灯在右列顶下33 mm，Smart ID门在右列顶下58-185 mm；总高由0.60 m降到公布的0.49 m。verify_geometry_blender.py的名义尺寸检查改为总高0.49 m含触摸屏（机身顶0.386 m）；分件包围盒、仿真质心与惯量随之更新。",
-        "why_zh": "K1刚体转换审核：模型0.60 m高，高于公布的49 cm；手册图1显示49 cm含触摸屏，机身更矮（原因是7890B代理机身）。几何改动，版本1.4.0→1.5.0。",
+        "what_zh": "模板路径原来只能等温：按柱温箱设定点等温计算色谱，柱温程序不起作用（真机8890B按Active Method的柱温程序升温）。现在模板样品瓶的运行（chromatography.measure与Start后的运行）在Active Method有升温段时按程序计算：初始温度与保持，然后最多32段（速率≤120 °C/min、终温302.15–723.15 K、保持≤999.99 min；手册p.90-91），每步把模型柱温箱设定点设为程序值，各谱带按柱温箱实际温度下的保留因子迁移（与7890B固件在同一gc_runtime过程上的做法相同；程序值与运行层_g8_program同一语义）；模板子模拟最长3 h（假设，计算量）。Rate 1为0时仍按原来的等温路径（旧的等温方法不变）。新实现原占位能力chromatography.set_oven_program（一次设置初始温度/保持与升温段，同触摸屏方法编辑的检查），输出增加oven_program与oven_final_setpoint_K。同时共享GC库的C8–C20正构烷烃全部用同系物拟合的汽化焓（C11/C12在高温等温时的合并消失）。Supelco 04070标准（己烷中）按40 °C 1 min、10 °C/min至300 °C、保持5 min：溶剂峰197 s加13个烷烃峰按碳数顺序（420…1322 s）。版本1.5.2→1.6.0（合同多了一个已实现能力：次版本）。",
+        "why_zh": "修正轮C D-2（负责人）：只能等温是保真度缺口；真实8890B运行柱温程序。",
         "tests_changed": [
-          "outputs/basic40_batch02/t3_analytical/agilent_gc8890b/verify_geometry_blender.py: nominal_body_dimensions_and_bench_plane（总高0.49 m含触摸屏，机身顶0.386 m）"
+          "tests/test_gc_alkane_standard.py（8890B程序升温注射、程序语义与_g8_program一致、烷烃汽化焓全部用系列拟合）",
+          "tests/test_panel_ui_agilent_gc8890b.py::FixRoundD2::test_set_oven_program_shows_on_the_method_screen（新增）"
         ],
-        "backup": "备份见项目备份目录geometry_20261020/"
-      },
-      {
-        "date": "2026-10-21",
-        "id": "oven_interior_check",
-        "capability_ids": [],
-        "what_zh": "核对柱温箱内腔：真实28×31×16 cm（7890B规格书p.7），模型0.278×0.238×0.168 m；真实高度的内腔放不进现在0.325 m的炉门而不抬高炉顶上的机身，故保留1.5.0几何，只在限制中记录量得的数字。",
-        "why_zh": "负责人要求（2026-10-21）：内腔能放进新炉门就按真实尺寸重建，否则记录数字。无几何改动，版本1.5.0→1.5.1。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "backup": "备份见项目备份目录chemlab_findings_fix_D2_20261023/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json b/assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json
index 7595c45abc57da17cbffbf8840e4467f723d636b..365e3b5beef6f277a64ecaeac304998b198511a9 100644
--- a/assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json
@@ -254,13 +254,13 @@
       "path": "assets/reactions/spectral_library/hplc_uv.json",
       "format": "json",
       "status": "available",
-      "sha256": "27abf66bcb30d46faea0a8c6a3c4753a975bac5de48a8a30c38da0a09f8516f9"
+      "sha256": "38dc4f770bd5e99592d6f9b0ffdbf7405852b1f2662f6d4bb341a214ccfc8d27"
     },
     "template_library_uv_vis": {
       "path": "assets/reactions/spectral_library/uv_vis.json",
       "format": "json",
       "status": "available",
-      "sha256": "24cc40dc67dffb934b40b50c8f0f13f00e97f7ad1fed9900a3b9fa138bf6099d"
+      "sha256": "2824911510e3c81956498fbea5c3d68669537d552a23b24214f1b73dd5792650"
     },
     "template_module": {
       "path": "scripts/basic40_templates/agilent_hplc1260.py",
@@ -278,7 +278,7 @@
       "path": "outputs/basic40_batch02/t3_analytical/agilent_hplc1260/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "e01742e21511f84cfd4558f2fe26d57ce9bc90e6a675420c5a4dce7e2acee0f5"
+      "sha256": "c74f312cb5e1ff4c8d1a3dfe15f2ac1b6afe90d3832b354810a9f533a3fc5464"
     },
     "template_validator": {
       "path": "outputs/basic40_batch02/t3_analytical/agilent_hplc1260/templates/validate_templates.py",
diff --git a/assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json b/assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json
index e95496fe2f0240f3fc9264e88842066aa937a51a..cdd2c94042078a03179380d3684278a9172e8c04 100644
--- a/assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.agilent_hs8697",
-  "asset_version": "1.4.0",
+  "asset_version": "1.4.1",
   "name_zh": "CHEM-108 Agilent 8697 顶空自动进样器（48 位托盘）",
   "category": "分析进样与接口",
   "asset_kind": "instrument",
@@ -1034,19 +1034,19 @@
       "path": "assets/reactions/agilent_hs8697_headspace_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "fbde9e3b467299aff4f4030f387449ebde607958ce82cf6dcfabe76cd1c18231"
+      "sha256": "a7c417d0352c472e6d9baa1fe99ce4aad92b82ca529021ea294527d17d724a13"
     },
     "template_library_henry_readme": {
       "path": "assets/reactions/agilent_hs8697_headspace_library/说明.md",
       "format": "md",
       "status": "available",
-      "sha256": "f2d1a7d8746a4e0c2c674392e2b93d55320c738c94f7fb099274eb7094341187"
+      "sha256": "cb55e0a6d74cfe677a8edbd61aa297aefb65113844ee6ca0d324dd85397353ed"
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     "template_library_gc_retention": {
       "path": "assets/reactions/spectral_library/gc_retention.json",
       "format": "json",
       "status": "available",
-      "sha256": "d269f7f4c21dcc4355ca06b79c1d9699906cbee0fa13c744946fb42f1aa9ceb4"
+      "sha256": "3618aa998d6cf2ca887b06c3862e23a1c202a09ea7cf4d1348ed9ee89755bffb"
     },
     "template_module": {
       "path": "scripts/basic40_templates/agilent_hs8697.py",
@@ -1058,7 +1058,7 @@
       "path": "scripts/basic40_templates/agilent_gc8890b.py",
       "format": "py",
       "status": "available",
-      "sha256": "d5c85cd7e9db1ebf0fcf3c36abf5534abc4913e28af2a50bfb585b04b3a1f93e"
+      "sha256": "a2b4e0f8f3ff71074947b2d74ab0c3235e3903b88d3222ed29fb5929d8dd4dee"
     },
     "template_common": {
       "path": "scripts/basic40_templates/_analytical_common.py",
@@ -1088,7 +1088,7 @@
       "path": "outputs/basic40_batch02/t3_analytical/agilent_hs8697/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "32d3dc712e390db56c84af5f6001d7c58f2a70eecec877be094adcb0c7e6e1e0"
+      "sha256": "a45a10b8848c6190706adfc8c9a5c22b742c0b841e56605ff4176eeb1fb02c1e"
     },
     "template_validator": {
       "path": "outputs/basic40_batch02/t3_analytical/agilent_hs8697/templates/validate_templates.py",
@@ -1124,7 +1124,7 @@
       "path": "tests/test_panel_ui_agilent_hs8697.py",
       "format": "py",
       "status": "available",
-      "sha256": "bd2106e20259fde4ede0350dbf74ec697c35be5a877a26f9ed3ecc81211226b9"
+      "sha256": "61e5711c0d698ec98df6bdf7bb29b424a3bf8faf1eeb067a09af32b1a5806c84"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -1136,7 +1136,7 @@
       "path": "outputs/panel_ui/agilent_hs8697/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a971242efe32010ba9d038bddc704198916b0b421d64506103b20d364aa49e14"
+      "sha256": "e335624b7be731b61bb9874fb6b09961e5622dea263fc0dcc765865387afdd80"
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     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/agilent_hs8697/run_panel_validation.py",
@@ -1148,7 +1148,7 @@
       "path": "outputs/panel_ui/agilent_hs8697/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "91c4e3b3de1083a8fbc0477f888dd015de8229b56cca877cdd2c3d018ad4549f"
+      "sha256": "2e38b1b0ce4bcb3ce82d48c835c61734903bf3525774f5d08e54b0de81b0b369"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/agilent_hs8697/build_panel_spec.py",
@@ -16660,8 +16660,8 @@
           "layer": "process",
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           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
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-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16670,8 +16670,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16955,8 +16955,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16965,8 +16965,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17190,8 +17190,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17200,8 +17200,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17359,6 +17359,21 @@
           "state_id": "manipulator.position_slot",
           "description_zh": "由终端命令同步提交",
           "timing": "immediate"
+        },
+        {
+          "state_id": "measurement.count",
+          "description_zh": "序列按GC周期进样（经measure）时随宿主时钟更新：进样计数、最近的色谱图与进样记录",
+          "timing": "on_step"
+        },
+        {
+          "state_id": "measurement.chromatogram",
+          "description_zh": "序列按GC周期进样（经measure）时随宿主时钟更新：进样计数、最近的色谱图与进样记录",
+          "timing": "on_step"
+        },
+        {
+          "state_id": "injection.log",
+          "description_zh": "序列按GC周期进样（经measure）时随宿主时钟更新：进样计数、最近的色谱图与进样记录",
+          "timing": "on_step"
         }
       ],
       "observes": [
@@ -17476,8 +17491,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17486,8 +17501,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17715,8 +17730,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17725,8 +17740,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17978,8 +17993,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17988,8 +18003,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18222,8 +18237,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18232,8 +18247,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18453,8 +18468,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18463,8 +18478,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18684,8 +18699,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18694,8 +18709,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18941,8 +18956,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18951,8 +18966,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19193,8 +19208,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19203,8 +19218,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19442,8 +19457,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19452,8 +19467,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19702,8 +19717,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19712,8 +19727,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19948,8 +19963,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19958,8 +19973,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20179,8 +20194,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20189,8 +20204,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20413,8 +20428,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20423,8 +20438,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20687,8 +20702,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20697,8 +20712,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20903,8 +20918,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20913,8 +20928,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21066,8 +21081,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21076,8 +21091,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21360,8 +21375,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21370,8 +21385,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21657,8 +21672,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21667,8 +21682,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21984,8 +21999,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21994,8 +22009,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22212,8 +22227,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -22222,8 +22237,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the seven key procedures of the menu survey (park and load, method temperatures, vial size and shaking, User Vial Leak Test, Stop prompt of a running sequence, tray calibration, EPC flow sensor zero) done only with panel gestures, each c",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.047270+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:26:51.400509+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_agilent_hs8697.py）经会话API执行；不跨层借用验证结果"
         },
@@ -23744,14 +23759,14 @@
     "机械手只更新几何和位置状态；没有规划、逆运动学、抓取力或真实机器人控制。",
     "API 的代理可见性依赖受信宿主身份与进程隔离；不防止受信 Python 宿主反射、文件读取或内存访问。",
     "2026-10 模板路径：顶空分配用 Sander (2023) 实测 Henry 常数；定量环体积、GC 传输方法与完全平衡仍是假设（见 extensions.chemistry_lab.output_templates）。",
+    "面板3D部件：状态灯条、Park按钮（Φ20 mm）、托盘1白色LED与On/Standby翘板按手册图估计位置与大小，行程/转角为假设；只建一个托盘架LED（面板规格只有一个rack_led）；宿主GC触摸屏的顶空页面没有几何（8697无屏幕，3D中应由GC资产的触摸屏显示）；Isaac/GPU场景未核对。",
+    "本资产scene_adapter.py要求运行层公开状态集合与导出元数据完全相等，面板轮后运行层公开状态已变，Blender场景验证（verify_scene.py）在原样资产上即失败；几何改动在放宽此检查的副本上通过。",
     "前面板层（panel.*，panel_ui.json）：Park按钮与灯、状态灯、托盘架LED、On/Standby开关，以及宿主GC触摸屏的顶空页面（Home状态与样品瓶、Method > Headspace、Diagnostics、Maintenance、Logs、Settings > Configuration / Calibration / Service Mode / Scheduler > Headspace与Stop提示），按8697操作手册（PDF页码证据）实现；每个面板操作调用本运行层的命令。",
     "顶空终端设备层为最小模型：方法参数、加热区一阶趋近、停放、序列引擎（按GC周期进炉、平衡、加压与动态检漏、充环、经measure进样、回盘与吹扫、序列动作、Stop提示）、诊断测试、托盘与EPC校准、出厂复位、EMF与日志；非Agilent固件。传感器误差与样品瓶漏率默认0，由评测者/宿主设定。时间来自宿主时钟，事件由host_update()推进。",
     "顶空页面属于宿主GC触摸屏，由本资产面板绘制（gc_touch）；GC页面在GC资产中，HS页面上的Prep Run与Start经受信宿主钩子register_gc_control转发给已连接的GC资产（gc.run_control，显示GC自己的应答）。序列只能由浏览器界面或数据系统创建，sequence.start代替它们。原有thermal.*.actual_k槽仍为null（原语义），实际温度见hs.zones。pressure.set、shaking.set占位能力保持unsupported，功能由hs.method.configure提供。",
     "顶空设备模型（_hs_extraction，每次萃取）：加热后的自然瓶压（大气压×T炉/T环境+分析物分压，不含溶剂蒸气）、加压方式与压力/流量/体积、压力平衡期间的瓶漏、Default / Custom充环到终压（Default为初始绝对压的2/3或5/6并降低到能扫过配置的定量环，不低于1 psi，p.91）、按安装定量环计的扫过分数、定量环温度、EPC传感器误差（控制器把读数保持在设定值，误差作用于样品瓶）、振荡缩短的平衡趋近（时间常数180 s/(1+振荡档/3)，假设）、萃取耗竭与排气（萃取间假设重新平衡）、浓缩萃取累积；模板样品瓶的进样量按此计算，固定合成夹具瓶保持原形；加压与充环时间计入序列时序；hs.transfer报告最近一次萃取。吹扫流量只决定吹扫步骤（不建模残留）。",
     "未仿真：条码阅读器（显示无阅读器）、参数递增（只在浏览器界面）、冷却板（除非配置）、XL托盘、真实流动动态与样品间残留。面板不含3D联动（后续Matterix步骤）。",
-    "序列、诊断测试与托盘校准属于启动它的调用者（sequence.start、diagnostics.start_test、calibration.tray；触摸屏手势按发出手势的会话身份）：进行中时其他会话的Stop提示（停止运行/序列）、暂停、取消测试、校准步骤以及序列中的方法/配置/温度修改在触摸屏与直接路径都被拒（ACCESS_DENIED，状态不变），触摸屏弹出提示窗（顶空进样器没有调用者概念，文字为假设）；评估者不受限。On/Standby开关（power.set即此开关）与Park按钮为物理操作，不拒绝。",
-    "面板3D部件：状态灯条、Park按钮（Φ20 mm）、托盘1白色LED与On/Standby翘板按手册图估计位置与大小，行程/转角为假设；只建一个托盘架LED（面板规格只有一个rack_led）；宿主GC触摸屏的顶空页面没有几何（8697无屏幕，3D中应由GC资产的触摸屏显示）；Isaac/GPU场景未核对。",
-    "本资产scene_adapter.py要求运行层公开状态集合与导出元数据完全相等，面板轮后运行层公开状态已变，Blender场景验证（verify_scene.py）在原样资产上即失败；几何改动在放宽此检查的副本上通过。"
+    "序列、诊断测试与托盘校准属于启动它的调用者（sequence.start、diagnostics.start_test、calibration.tray；触摸屏手势按发出手势的会话身份）：进行中时其他会话的Stop提示（停止运行/序列）、暂停、取消测试、校准步骤以及序列中的方法/配置/温度修改在触摸屏与直接路径都被拒（ACCESS_DENIED，状态不变），触摸屏弹出提示窗（顶空进样器没有调用者概念，文字为假设）；评估者不受限。On/Standby开关（power.set即此开关）与Park按钮为物理操作，不拒绝。"
   ],
   "extensions": {
     "chemistry_lab.catalog": {
@@ -24209,7 +24224,7 @@
     },
     "chemistry_lab.runtime_metadata": {
       "asset_type_id": "instrument.agilent_hs8697",
-      "asset_version": "1.3.1",
+      "asset_version": "1.4.1",
       "catalog_id": "CHEM-108",
       "model": "Agilent 8697, 48-position tray",
       "capabilities": {
@@ -32243,6 +32258,15 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/agilent_hs8697/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
       {
         "date": "2026-10-19",
         "id": "headspace_amount_follows_the_method",
@@ -32288,13 +32312,17 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/agilent_hs8697/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
+        "date": "2026-10-22",
+        "id": "sequence_start_effects",
+        "capability_ids": [
+          "sequence.start"
+        ],
+        "what_zh": "sequence.start的状态效果没有列出序列进样（经measure）改变的measurement.count、measurement.chromatogram与injection.log；补为on_step效果（随宿主时钟在GC周期中更新）。行为不变。版本1.4.0→1.4.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B SI2）：合同效果须完整。",
+        "tests_changed": [
+          "tests/test_panel_ui_agilent_hs8697.py::SequenceEngine::test_sequence_start_declares_its_measurement_effects（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       },
       {
         "date": "2026-10-20",
diff --git a/assets/basic40_batch02/t3_analytical/eppendorf_5910ri/asset.contract.json b/assets/basic40_batch02/t3_analytical/eppendorf_5910ri/asset.contract.json
index ed17455908e812db6e2c051efae22261374312d8..31cd7f84d115e5559846c240e517a2b82f41792c 100644
--- a/assets/basic40_batch02/t3_analytical/eppendorf_5910ri/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/eppendorf_5910ri/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.eppendorf_5910ri",
-  "asset_version": "1.2.2",
+  "asset_version": "1.2.3",
   "name_zh": "CHEM-010 冷冻多用途离心机 Eppendorf 5910 Ri",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -380,7 +380,7 @@
       "path": "outputs/panel_ui/eppendorf_5910ri/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "d1781a002e01d8a6c2441e117665b642e1f08142506219817c8e1aad38e194a6"
+      "sha256": "8d9126f35027319125516db6d93f3789341e4d0dc02cdb318f8f415414bae764"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/eppendorf_5910ri/run_panel_validation.py",
@@ -392,7 +392,7 @@
       "path": "outputs/panel_ui/eppendorf_5910ri/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "df9202c544820f60084dc5c730761ad83ccc61ead3c382ad63176bdcb642039b"
+      "sha256": "2b451af0fad62e4fa1a99a1303b9503d4475ff00ef55e47a350288164bfdae91"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/eppendorf_5910ri/build_panel_spec.py",
@@ -7326,8 +7326,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7336,8 +7336,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7670,8 +7670,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7680,8 +7680,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8013,8 +8013,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8023,8 +8023,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8373,8 +8373,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8383,8 +8383,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8722,8 +8722,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8732,8 +8732,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8982,8 +8982,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8992,8 +8992,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9260,8 +9260,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9270,8 +9270,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9615,8 +9615,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9625,8 +9625,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9976,8 +9976,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9986,8 +9986,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10248,8 +10248,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10258,8 +10258,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10673,8 +10673,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10683,8 +10683,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10948,8 +10948,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10958,8 +10958,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11289,8 +11289,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11299,8 +11299,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11582,8 +11582,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11592,8 +11592,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11888,8 +11888,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11898,8 +11898,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12156,8 +12156,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12166,8 +12166,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12434,8 +12434,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12444,8 +12444,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12669,8 +12669,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12679,8 +12679,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12849,8 +12849,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12859,8 +12859,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13201,8 +13201,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13211,8 +13211,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13579,8 +13579,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13589,8 +13589,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.touch / panel.capture / panel.frame and the terminal commands): the six key procedures of the menu survey (10 min / 4 °C / 4000 x g run, gentle ramps, stop early and open, Short Spin press and hold, Fast Temp with the confirmation, save the current parameters as a program) done only with panel gestures, each check",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:16.964569+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:45:13.440668+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_eppendorf_5910ri.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14698,7 +14698,7 @@
     },
     "chemistry_lab.runtime_metadata": {
       "asset_type_id": "instrument.eppendorf_5910ri",
-      "asset_version": "1.2.2",
+      "asset_version": "1.2.3",
       "catalog_id": "CHEM-010",
       "model": "Eppendorf 5910 Ri",
       "state_slots": {
@@ -19298,6 +19298,15 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/eppendorf_5910ri/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
       {
         "date": "2026-10-19",
         "id": "callers_own_panel_runs",
@@ -19352,13 +19361,24 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/eppendorf_5910ri/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "centrifuge.measure",
+          "centrifuge.set_method",
+          "rotor.select",
+          "sample.load",
+          "sample.unload",
+          "lid.set_angle",
+          "centrifuge.stop",
+          "centrifuge.get_curve"
+        ],
+        "what_zh": "CHEM-010直接能力的前置条件不满足时原来只返回笼统的PRECONDITION_FAILED；方法转速超过转子工作转速上限时也一样，而上限只在宿主转子档案里，智能体看不到。centrifuge.measure合同没有更细的错误码（ROTOR_LIMIT只声明在终端run.start等命令上），故错误码不变，error.message改为指明原因：关机、盖未开到60°、换转子前须卸管、未装转子、槽位不存在/已占/为空、未知样品、样品已在别的槽、盖未关、当前转子未设方法、少于两管、无运行、无曲线、盖锁住；超速时写明方法转速与该转子的上限（rad/s与rpm）。拒绝时状态不变。版本1.2.2→1.2.3。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B AG1）：转速上限对智能体不可见，启动时只得到笼统错误。",
+        "tests_changed": [
+          "tests/test_basic40_analytical.py::TestEppendorf5910RiRuntime::test_fix_round_b_refusals_name_the_cause_and_the_rotor_speed_limit（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json b/assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json
index 8376c2d5f7a9c7962ba9062209d746e3ee382704..c4d2556efbc00c24fe4c14a5f0a37ff7ff99d31c 100644
--- a/assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.hach_dr6000",
-  "asset_version": "1.4.0",
+  "asset_version": "1.4.1",
   "name_zh": "Hach DR6000 紫外可见分光光度计",
   "category": "分子光谱与结构",
   "asset_kind": "instrument",
@@ -290,7 +290,7 @@
       "path": "assets/reactions/spectral_library/uv_vis.json",
       "format": "json",
       "status": "available",
-      "sha256": "24cc40dc67dffb934b40b50c8f0f13f00e97f7ad1fed9900a3b9fa138bf6099d"
+      "sha256": "2824911510e3c81956498fbea5c3d68669537d552a23b24214f1b73dd5792650"
     },
     "template_library_photochemcad": {
       "path": "assets/reactions/jasco_fp8350_fluorescence_library/templates.json",
@@ -326,13 +326,13 @@
       "path": "outputs/basic40_batch02/t3_analytical/hach_dr6000/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "5e9a14ad887fc890efd1a0ba374387293ff9ba6794227ba653692d3e7120db8a"
+      "sha256": "6a7dce13b0dcf80f6bf69feba2405b85584ccf94be6e6fb8601008f849148a1c"
     },
     "template_validation_hach": {
       "path": "outputs/basic40_batch02/t3_analytical/hach_dr6000/templates/output_template_validation_hach.json",
       "format": "json",
       "status": "available",
-      "sha256": "6bc89f87cf257cf5e169b97dcbf80a73c74f7b5b4710d1de6e2ce6f768e4187c"
+      "sha256": "5808b85488a6515e52b53f14defa0d6307c54b04609f0218299204a47f5481d8"
     },
     "template_validator": {
       "path": "outputs/basic40_batch02/t3_analytical/hach_dr6000/templates/validate_templates.py",
@@ -374,7 +374,7 @@
       "path": "tests/test_panel_ui_hach_dr6000.py",
       "format": "py",
       "status": "available",
-      "sha256": "4a8a1ca3493d52025a84cf3231c9b3fd08a6b2632db3f92b6b0a24e088d4787e"
+      "sha256": "0f81ce952f4612f0cfab70cfc2d78eb32bf1bd1dd1bf828ec9b3a4fbf97b8f87"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -386,7 +386,7 @@
       "path": "outputs/panel_ui/hach_dr6000/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c278a014252fdb10998d780d7e11826e737f6b3c27cc35352e3031c92532a157"
+      "sha256": "01e2025395d6824ca083f961a44e28d073082b254edfbcaea814c8bc53f20a18"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/hach_dr6000/run_panel_validation.py",
@@ -398,7 +398,7 @@
       "path": "outputs/panel_ui/hach_dr6000/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "91bf8ec3aea01c6ddf8a454c7928bae2207fcf669f412980717637e20143ade9"
+      "sha256": "c5a9f0be9138819b95d89dd7d7059b23f2319700088810ea41b7c3ed0a19a444"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/hach_dr6000/build_panel_spec.py",
@@ -6908,8 +6908,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6918,8 +6918,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7230,8 +7230,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7240,8 +7240,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7788,8 +7788,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7798,8 +7798,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8095,8 +8095,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8105,8 +8105,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8454,8 +8454,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8464,8 +8464,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8846,8 +8846,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8856,8 +8856,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9143,8 +9143,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9153,8 +9153,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9470,8 +9470,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9480,8 +9480,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9824,8 +9824,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9834,8 +9834,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10504,8 +10504,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10514,8 +10514,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10815,8 +10815,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10825,8 +10825,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11146,8 +11146,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11156,8 +11156,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11472,8 +11472,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11482,8 +11482,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11800,8 +11800,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11810,8 +11810,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12096,8 +12096,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12106,8 +12106,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12573,8 +12573,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12583,8 +12583,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12868,8 +12868,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12878,8 +12878,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13174,8 +13174,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13184,8 +13184,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13482,8 +13482,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13492,8 +13492,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13873,8 +13873,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13883,8 +13883,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14201,8 +14201,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14211,8 +14211,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14509,8 +14509,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14519,8 +14519,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14809,8 +14809,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14819,8 +14819,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15107,8 +15107,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15117,8 +15117,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15428,8 +15428,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15438,8 +15438,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15721,8 +15721,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15731,8 +15731,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16001,8 +16001,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16011,8 +16011,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16310,8 +16310,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16320,8 +16320,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16633,8 +16633,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16643,8 +16643,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16848,8 +16848,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16858,8 +16858,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17013,8 +17013,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17023,8 +17023,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17362,8 +17362,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17372,8 +17372,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17709,8 +17709,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17719,8 +17719,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18086,8 +18086,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18096,8 +18096,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18401,8 +18401,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18411,8 +18411,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18737,8 +18737,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -18747,8 +18747,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19056,8 +19056,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19066,8 +19066,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19391,8 +19391,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19401,8 +19401,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19747,8 +19747,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -19757,8 +19757,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20048,8 +20048,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20058,8 +20058,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20333,8 +20333,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -20343,8 +20343,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the public API (panel.switch / panel.press / panel.touch / panel.capture / panel.frame and the terminal commands): the eight key procedures of the menu survey (switch on through startup and self-check to the Main Menu, a stored program with Zero / Read, a single wavelength reading, a wavelength scan with store, a time course with Mark, a dilution fac",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:17.170001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:38:55.294798+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_hach_dr6000.py）经会话API执行；不跨层借用验证结果"
         },
@@ -21113,7 +21113,7 @@
     },
     "chemistry_lab.runtime_metadata": {
       "asset_type_id": "instrument.hach_dr6000",
-      "asset_version": "1.3.0",
+      "asset_version": "1.4.1",
       "catalog_id": "CHEM-071",
       "model": "Hach DR6000",
       "capabilities": {
@@ -28177,6 +28177,28 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/hach_dr6000/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-21",
+        "id": "touch_window_7in_wvga",
+        "capability_ids": [
+          "panel.capture",
+          "panel.frame",
+          "panel.touch"
+        ],
+        "what_zh": "3D模型：触摸屏部件由185×146 mm的整块屏（上面建模了假菜单：6个白色按钮块、蓝色标题条、UV-VIS / SPECTRUM标题与SCAN/BLANK/READ/METHOD/SETUP/DATA标签）改为真实的7英寸WVGA窗口：素深色玻璃152.4×91.44 mm（5:3，与800×480画面同比例）在162×106×7 mm黑框中（玻璃高出框面0.5 mm，左右与下边框约5 mm、上边框约9.6 mm，按手册图1）；框中心与倾角（0.10 rad）不变；display_readout读数文字保留（运行层场景绑定目标），移到玻璃中心。碰撞盒随屏框改为0.162×0.106×0.007 m。其余部件与URDF不变（重建后网格逐字节相同）。",
+        "why_zh": "屏幕审计SCR G2：面板画面（800×480）放在185×146 mm部件上只占76%，上下露出蓝色条（letterbox 24%），且整块部件都印着假界面；数据表写明7英寸WVGA。几何改动，版本1.3.0→1.4.0（运行层DR6000_ASSET_VERSION同步）。场景验证脚本verify_scene.py（2026-09-09）在新旧模型上都停在spectroscopy.measure（10-19运行层就绪/灯预热规则后过时），scene_validation.json保留09-09记录；几何静态审计audit_geometry.py 198项通过。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
       {
         "date": "2026-10-19",
         "id": "direct_measure_device_readiness",
@@ -28217,26 +28239,22 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同2处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t3_analytical/hach_dr6000/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
-      },
-      {
-        "date": "2026-10-21",
-        "id": "touch_window_7in_wvga",
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
         "capability_ids": [
-          "panel.capture",
-          "panel.frame",
-          "panel.touch"
+          "spectroscopy.measure",
+          "spectroscopy.set_scan",
+          "spectroscopy.set_wavelength",
+          "spectroscopy.set_mode",
+          "sample.load",
+          "sample.unload"
         ],
-        "what_zh": "3D模型：触摸屏部件由185×146 mm的整块屏（上面建模了假菜单：6个白色按钮块、蓝色标题条、UV-VIS / SPECTRUM标题与SCAN/BLANK/READ/METHOD/SETUP/DATA标签）改为真实的7英寸WVGA窗口：素深色玻璃152.4×91.44 mm（5:3，与800×480画面同比例）在162×106×7 mm黑框中（玻璃高出框面0.5 mm，左右与下边框约5 mm、上边框约9.6 mm，按手册图1）；框中心与倾角（0.10 rad）不变；display_readout读数文字保留（运行层场景绑定目标），移到玻璃中心。碰撞盒随屏框改为0.162×0.106×0.007 m。其余部件与URDF不变（重建后网格逐字节相同）。",
-        "why_zh": "屏幕审计SCR G2：面板画面（800×480）放在185×146 mm部件上只占76%，上下露出蓝色条（letterbox 24%），且整块部件都印着假界面；数据表写明7英寸WVGA。几何改动，版本1.3.0→1.4.0（运行层DR6000_ASSET_VERSION同步）。场景验证脚本verify_scene.py（2026-09-09）在新旧模型上都停在spectroscopy.measure（10-19运行层就绪/灯预热规则后过时），scene_validation.json保留09-09记录；几何静态审计audit_geometry.py 198项通过。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "what_zh": "CHEM-071直接能力的前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（通用消息）。合同对这些情形没有更细的错误码，故错误码不变，error.message改为指明原因：仪器关机、盖子开度不足60°、已有比色皿、未知sample_id、无比色皿、盖子未关、扫描范围不含样品参考谱的波长、验证套件滤光片占着适配器。拒绝时状态不变。版本1.4.0→1.4.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B S3）：每种前置条件失败都是同一个笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_panel_ui_hach_dr6000.py::FixRoundB::test_precondition_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json b/assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json
index a0b07d466d17287d308b5b3016149df44c86f2f3..d4201939f09004015ce1e04c33d8f2e7df6062de 100644
--- a/assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json
+++ b/assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.jasco_ftir4700",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.2",
   "name_zh": "JASCO FT/IR-4700 傅里叶变换红外光谱仪",
   "category": "分子光谱与结构",
   "asset_kind": "instrument",
@@ -332,13 +332,13 @@
       "path": "assets/reactions/spectral_library/ir_spectra.json",
       "format": "json",
       "status": "available",
-      "sha256": "95c5fa7b8257fce1a9101247066df5a96c83436f9fd662d51b7de4a206911c72"
+      "sha256": "030d65280fdda6f9d838d5e367006d79c25d67219466331018556598fc8c5241"
     },
     "template_module": {
       "path": "scripts/basic40_templates/jasco_ftir4700.py",
       "format": "py",
       "status": "available",
-      "sha256": "f72624b671b583d2152fce6664c68d1aefd44de936e7d2880889f6d3262a64f1"
+      "sha256": "eb7274d5dee0f5cc547f257bdae26e62fe15cc8df86e5f2b6dfbfb33f90f215b"
     },
     "template_common": {
       "path": "scripts/basic40_templates/_analytical_common.py",
@@ -362,7 +362,7 @@
       "path": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "298b92dcb140492d2c520fdd07d4e28ffa3cfcbef042bbb0bda38814796a5cf6"
+      "sha256": "1aa60938a0cd499bc497390381339a48f66f1f15dace08eef4f0c346edc400c1"
     },
     "template_validator": {
       "path": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/validate_templates.py",
@@ -386,7 +386,25 @@
       "path": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/overlay_check.json",
       "format": "json",
       "status": "available",
-      "sha256": "9256b9ac34d8fd04b5c9f540d0912bc9bd1b0cd3da6adcd1a4e445dc1e6234da"
+      "sha256": "8e65cd5353fe8f920d985957ad8e2ae8dcb26322d1da58197f4f3a5ed1ea8ed4"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "696bae17231557049c2ee6305a67e0169b4fc0e1132a02829d6d3ec09ff5887d"
+    },
+    "template_reference_standards": {
+      "path": "assets/reactions/ir_reference_standards.json",
+      "format": "json",
+      "status": "available",
+      "sha256": "94fb2b2bf6d0322398db12145a3748601c7d254e94bca687bde2c384034afea6"
+    },
+    "template_standards_builder": {
+      "path": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/build_reference_standards.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "eb992be3a93797ad23dae2cc8c15fe6aa0446b10e026247ab7502b42ce082160"
     }
   },
   "sources": {
@@ -443,6 +461,12 @@
       "reference": "scripts/basic40_templates/jasco_ftir4700.py",
       "locator": "validate_sample, select_spectrum, spectrum (Gaussian broadening + resampling), template_read, extend_metadata",
       "note": "模板路径实现：读取公开数据库，按本仪器方法变换；旧的合成夹具路径保持默认不变。"
+    },
+    "ir_reference_standards": {
+      "kind": "measurement",
+      "reference": "NIST Chemistry WebBook IR, CAS 9003-53-6 (PNNL / IARPA optical constants, public domain); NIST SRM 1921b certificate",
+      "locator": "assets/reactions/ir_reference_standards.json standards.polystyrene (spectra, certified_bands, band_check); raw references/spectral_raw/polystyrene/",
+      "note": "https://webbook.nist.gov/cgi/cbook.cgi?JCAMP=C9003536&Index=0&Type=IR ; https://tsapps.nist.gov/srmext/certificates/1921b.pdf ；聚苯乙烯薄膜波数标准（宣传册p.4标准样品）。"
     }
   },
   "components": {
@@ -3050,12 +3074,12 @@
               "effective_resolution_m_inv": {
                 "type": "number",
                 "x-unit": "m^-1",
-                "minimum": 400
+                "minimum": 100
               },
               "point_spacing_m_inv": {
                 "type": "number",
                 "x-unit": "m^-1",
-                "minimum": 400
+                "minimum": 100
               },
               "scan_count": {
                 "type": "integer",
@@ -5215,12 +5239,12 @@
                   "effective_resolution_m_inv": {
                     "type": "number",
                     "x-unit": "m^-1",
-                    "minimum": 400
+                    "minimum": 100
                   },
                   "point_spacing_m_inv": {
                     "type": "number",
                     "x-unit": "m^-1",
-                    "minimum": 400
+                    "minimum": 100
                   },
                   "scan_count": {
                     "type": "integer",
@@ -6194,6 +6218,53 @@
             },
             "minItems": 1
           },
+          "certified_bands": {
+            "anyOf": [
+              {
+                "type": "object",
+                "properties": {
+                  "band_minimum_m_inv": {
+                    "type": "array",
+                    "items": {
+                      "type": "array",
+                      "items": {
+                        "type": "number",
+                        "x-unit": "m^-1",
+                        "minimum": 0
+                      },
+                      "minItems": 2,
+                      "maxItems": 2
+                    }
+                  },
+                  "centroid_m_inv": {
+                    "type": "array",
+                    "items": {
+                      "type": "array",
+                      "items": {
+                        "type": "number",
+                        "x-unit": "m^-1",
+                        "minimum": 0
+                      },
+                      "minItems": 2,
+                      "maxItems": 2
+                    }
+                  },
+                  "source": {
+                    "type": "string"
+                  }
+                },
+                "required": [
+                  "band_minimum_m_inv",
+                  "centroid_m_inv",
+                  "source"
+                ],
+                "additionalProperties": false
+              },
+              {
+                "type": "null"
+              }
+            ]
+          },
           "template_source": {
             "type": "array",
             "items": {
@@ -6232,6 +6303,7 @@
           "name_zh",
           "cas",
           "spectra",
+          "certified_bands",
           "template_source",
           "library_sha256",
           "evidence",
@@ -6764,7 +6836,8 @@
     "原生Blender默认空槽，ATR/透射附件/样品三对象由运行层显隐；GLB以scale=0保留三节点，显现需宿主恢复scale=1。URDF三组件保留空link定位，不激活visual/collision以防替代件互穿；完整分件OBJ与collision_proxies仍交付。URDF附件切换适配器尚未实现。",
     "读状态与即时合成测量不推进宿主世界时间；没有真实采集时长模型、故障概率、校准曲线或噪声模型。",
     "宿主身份过滤限定Python协议入口；受信任宿主及可读工作区文件不构成对不可信代理的进程级安全隔离。",
-    "2026-10 模板路径：NIST 透射红外谱（非 ATR）按方法分辨率展宽；绝对吸光度、ATR 校正、噪声与背景仍是假设/未建模。"
+    "2026-10 模板路径：NIST 透射红外谱（非 ATR）按方法分辨率展宽；绝对吸光度、ATR 校正、噪声与背景仍是假设/未建模。",
+    "参考标准（1.1.2）：聚苯乙烯薄膜模板是PNNL液相光学常数谱（吸收极大），不是SRM 1921b薄膜本身的透射谱；与认证谱带极小相差0.0–2.1 cm⁻¹（544/1028/1069/2849 cm⁻¹带1–2 cm⁻¹），用于波数校验时以template.read给出的认证值为准；吸光度仍由宿主设定峰值（默认1.0），未按38 µm厚度换算。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -7006,6 +7079,41 @@
       "tests": "tests/test_basic40_templates_analytical.py",
       "test_log": "outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/template_tests.txt",
       "patched_at": "2026-10-14"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "method.configure",
+          "accessory.install",
+          "sample.load",
+          "sample.unload",
+          "background.acquire",
+          "measure"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息为通用句）。合同没有更细的错误码，故错误码不变，error.message改为指明原因：电源关闭、盖子开度不足60°、样品未卸载就换附件、未装附件、气体样品需透射附件、未知sample_id、已有样品、无样品、盖子未关、背景须在无样品时采集、无有效背景（电源/附件/方法改变后须重采）。拒绝时状态不变。版本1.1.0→1.1.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B S3）：每种前置条件失败都是同一个笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_basic40_analytical.py::TestJascoFTIR4700Runtime::test_fix_round_b_precondition_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
+      {
+        "date": "2026-10-23",
+        "id": "polystyrene_film_standard",
+        "capability_ids": [
+          "template.read",
+          "measure"
+        ],
+        "what_zh": "宣传册p.4的标准样品聚苯乙烯薄膜（波数校验）原来没有模板，无法测量。新增参考标准库assets/reactions/ir_reference_standards.json（构建脚本templates/build_reference_standards.py）：polystyrene = NIST WebBook CAS 9003-53-6的PNNL/IARPA光学常数谱（OWNER=Public domain；虚部k块×波数→吸收系数形状，与共享库同一规则，1 cm⁻¹网格）+ NIST SRM 1921b证书的认证谱带位置（质心法13条、谱带极小法14条，真空、23 °C，U(k=4)）；参考谱吸收极大与认证谱带极小相差0.0–2.1 cm⁻¹（中位0.2），实测位置不平移。模板模块合并参考标准，按记录网格展宽与重采样，输出点距=max(网格, 有效分辨率/2, 范围/900)（≤901点）；template.read增加certified_bands（非标准物质为null）；measure输出的有效分辨率与点距下限由400 m⁻¹降为100 m⁻¹（1 cm⁻¹网格）。宿主以register_template_sample(sample_id, substance_id=\"polystyrene\", phase=\"solid\")登记薄膜后，agent可sample.load装载。原始文件缓存在references/spectral_raw/polystyrene/（不随资产发布）。版本1.1.1→1.1.2。",
+        "why_zh": "默认实验室审计（运行层修改2，修正轮C C-2）：标准柜中的聚苯乙烯薄膜卡无法测量。",
+        "tests_changed": [
+          "tests/test_basic40_templates_analytical.py::TestFTIR4700Templates::test_fix_round_c_polystyrene_film_standard（新增）",
+          "tests/test_basic40_analytical.py::TestJascoFTIR4700Runtime::test_fix_round_b_precondition_refusals_name_the_cause（版本断言改为≥1.1.1）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_C_20261023/"
+      }
+    ]
   }
 }
diff --git a/assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json b/assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json
index 402e55e10644a2f5a3109ab57ab0191f0359ab38..f805e38e70d5377419a14eecd190d9eb6045d54e 100644
--- a/assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.gamry_reference620",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "Gamry Reference 620 电化学工作站",
   "category": "电化学与定量分析",
   "asset_kind": "instrument",
@@ -320,7 +320,7 @@
       "path": "scripts/basic40_templates/gamry_ref620.py",
       "format": "py",
       "status": "available",
-      "sha256": "adf1940e5b9f750d8c81c3f5be1aeaa0f028aa8e5e08b336087f4792b458e7f9"
+      "sha256": "7fd4ca11f289cbe6a267bd7ffe004f6f473f0319b92104b449ec8aa446fc9653"
     },
     "template_common_module": {
       "path": "scripts/basic40_templates/_echem_common.py",
@@ -356,7 +356,7 @@
       "path": "outputs/basic40_batch02/t4_measure/gamry_ref620/templates/patch_contract_templates.py",
       "format": "py",
       "status": "available",
-      "sha256": "020a70aaa4b56658f18cee3f3f0611b37a90805592f4b46a0ab33bc712552bb9"
+      "sha256": "9f219a9924fb409f4c4cf05e23c59dca6f59c73515728e789ac3ea5d88e3a0cd"
     },
     "pine_diffusion_library": {
       "path": "assets/expansion_batch04/t4_measure/pine_wavevortex10/diffusion_library.json",
@@ -374,7 +374,7 @@
       "path": "outputs/basic40_batch02/t4_measure/gamry_ref620/templates/template_runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "6f1685601ebb1a5775168214c513ff360357efd69bbde363ce19fffb4d89e43c"
+      "sha256": "edbd3b87cfa1419d94960b829b4a8bedeea7220347261a9e233f27a0c4bdad6c"
     },
     "reaction_templates_library": {
       "path": "assets/reactions/reaction_templates.json",
@@ -4571,7 +4571,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -4581,7 +4581,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -4698,7 +4698,7 @@
         "backend": "composite",
         "artifact_id": "runtime",
         "entrypoint": "scripts.basic40_runtime_measure.GamryReference620Session.invoke",
-        "invocation": "basic40_runtime_measure.GamryReference620Session.invoke(instance_id=..., capability_id='template.read', arguments={\"substance_id\": \"redox_fe3_fe2\"}, request_id=...)；扩展实现见 scripts/basic40_templates/gamry_ref620.py"
+        "invocation": "basic40_runtime_measure.GamryReference620Session.invoke(instance_id=..., capability_id='template.read', arguments={\"substance_id\": \"redox_fep3_to_fep2\"}, request_id=...)；扩展实现见 scripts/basic40_templates/gamry_ref620.py"
       },
       "preconditions": [
         {
@@ -4757,7 +4757,7 @@
         }
       ],
       "example_arguments": {
-        "substance_id": "redox_fe3_fe2"
+        "substance_id": "redox_fep3_to_fep2"
       },
       "verification": [
         {
@@ -4766,7 +4766,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -4776,7 +4776,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -5213,7 +5213,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -5223,7 +5223,7 @@
           "status": "passed",
           "method": "unittest MeasureBLibraryTests, GamryTemplateTests in tests/test_basic40_templates_measure_b.py: template-backed results vs public library values, provenance/evidence fields, truth filtering, legacy behaviour unchanged",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\", \"executable\": \"$CONDA_PREFIX/bin/python\"}",
-          "checked_at": "2026-10-14T18:40:41.813777+00:00",
+          "checked_at": "2026-10-21T23:01:54.081562+00:00",
           "evidence_artifact_id": "template_runtime_validation",
           "evidence_note": "12 tests, failures=0, errors=0; only the Python process/host API layer is evidenced."
         },
@@ -6296,6 +6296,22 @@
         "conversion": "I = |commanded current|",
         "assumptions_zh": "运行层只给命令电流、无电池模型：按理想恒电流仪计；电位模式无电流，不驱动反应"
       }
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "template_read_example",
+        "capability_ids": [
+          "template.read"
+        ],
+        "what_zh": "template.read的合同示例由{\"substance_id\": \"redox_fe3_fe2\"}改为库内条目{\"substance_id\": \"redox_fep3_to_fep2\"}（Fe³⁺/Fe²⁺电对）：原示例不在公开库中，按示例调用在任何状态下都返回INVALID_ARGUMENT。运行层逻辑不变。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F5）：合同示例必须可以直接调用。版本1.1.0→1.1.1。",
+        "tests_changed": [
+          "tests/test_basic40_measure.py::GamryReference620RuntimeTests::test_template_read_examples_resolve（新增：运行层describe与合同中的template.read示例都成功）",
+          "chemlab/tests_generic/test_contract_examples.py（新增：所有合同的template.read示例在新实验室中都成功）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json b/assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json
index a28c63837248658c316e629f67b41962045f2549..593137ebbbb50ab6449aca0d2202d5a08225878f 100644
--- a/assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.magritek_spinsolve80",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "核磁共振结构光谱仪 — Magritek Spinsolve 80 Carbon",
   "category": "molecular_spectroscopy_structure",
   "asset_kind": "instrument",
@@ -386,19 +386,19 @@
       "path": "assets/reactions/magritek_spinsolve80_nmr_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "e34d0088859392b4362b731124df862f072bb68c9e43f62e8126c10d19243779"
+      "sha256": "fc73cb7283a846887157cdc2467e70c120ca5b0c042d8bf24abd9193723375ce"
     },
     "template_library_readme": {
       "path": "assets/reactions/magritek_spinsolve80_nmr_library/说明.md",
       "format": "md",
       "status": "available",
-      "sha256": "00d9cf0d228895f5ea66ad284061e251e55ca96195567567d472d797de5109c1"
+      "sha256": "ea7a312c4f0ed2057ca2aeaa5f961909fce793cdfae1573102df299085eb5d48"
     },
     "template_shared_nmr": {
       "path": "assets/reactions/spectral_library/nmr.json",
       "format": "json",
       "status": "available",
-      "sha256": "2a91ef8eaf444e7287e118413e3b3f1e467eb02fc12582e8724ce101eabef778"
+      "sha256": "10f7348f7126b41c0e7789f374e9054327b76341bdae566d71a8ca0c760e1101"
     },
     "template_module": {
       "path": "scripts/basic40_templates/magritek_spinsolve80.py",
@@ -422,7 +422,7 @@
       "path": "outputs/basic40_batch02/t4_measure/magritek_spinsolve80/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "295b68d09a3998b633f74e24ceaf26d91d5f2cf36741423ae2f02b82545590a5"
+      "sha256": "531082bd22de5fc3f1408c9a65f033ce077bc73b721d05a05b5a293d7032c3ac"
     },
     "template_tests": {
       "path": "tests/test_basic40_templates_measure_a.py",
@@ -435,6 +435,12 @@
       "format": "log",
       "status": "available",
       "sha256": "aa54feb8ee6fc099994af23189483b0b8d2a2f0092118c97a76c697905669a47"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/basic40_batch02/t4_measure/magritek_spinsolve80/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "ce9fd7e7cfd5dcd1914d366a6ccb80bda3fc1a7730e770b586bbea568bdb9bec"
     }
   },
   "sources": {
@@ -7215,6 +7221,23 @@
         "n_failed": 0
       },
       "tests": "tests/test_basic40_templates_measure_a.py"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "sample.insert",
+          "acquisition.start",
+          "nmr.integrate"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（通用消息）。合同只声明这一个前置条件错误码，故错误码不变，error.message改为指明原因：已有样品管、宿主未准备该样品、谱仪关机、磁体中无样品管、未配置采集、样品无该核的信号、信号超出谱宽（需更多点数或更短采集时间）、扫描太短不推进时钟、尚无谱图、积分范围不在谱内或min≥max。拒绝时状态不变。版本1.1.0→1.1.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B S3）：每种前置条件失败都是同一个笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_basic40_measure.py::MagritekSpinsolve80RuntimeTests::test_fix_round_b_precondition_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json b/assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json
index 002d88de876bea3ed423bb780fb9b39108d05d32..92e78135fcc5f9352f85e470c013ce80f4f21d08 100644
--- a/assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json
@@ -296,7 +296,7 @@
       "path": "assets/reactions/metrohm_899_water_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "1086f1348101ac33dc913c08d463de3261c815604bea3a94d84d28f5566c2378"
+      "sha256": "99400aee4ee27668b5ea14e3111fa87e60f89e660f22c27875d03c13fcb8921f"
     },
     "template_module": {
       "path": "scripts/basic40_templates/metrohm_899.py",
diff --git a/assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json b/assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json
index ee11e98a61e7a9419538e5ac4e04990efe6ab254..28099bfdcd94b4b7136d4e1f314878533ece82af 100644
--- a/assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.metrohm_914",
-  "asset_version": "1.2.3",
+  "asset_version": "1.2.4",
   "name_zh": "CHEM-005 多参数电化学水质测定仪 — Metrohm 914 pH/DO/Conductometer",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -248,7 +248,7 @@
       "path": "assets/reactions/metrohm_omnis_acidbase_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "64480d3db43a3f1cb950b22c3d16dce4ad8d239958773f34fc9d7b73e2e2375b"
+      "sha256": "7f7afdf99072437d47f889042e6a0072cae19c433dda9b441bef2aba9a79700b"
     },
     "template_module": {
       "path": "scripts/basic40_templates/metrohm_914.py",
@@ -278,7 +278,7 @@
       "path": "outputs/basic40_batch02/t4_measure/metrohm_omnis/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "1b4a2feb620ea9cd27a4166c21b440647d3f5bb1ef1e66b1c78266275fcc1cb6"
+      "sha256": "036a7fca75440a4c28b0ee413c02464c463bd7c4652064270936e692e0063cb8"
     },
     "template_fetch_script": {
       "path": "outputs/basic40_batch02/t4_measure/metrohm_914/templates/fetch_sources.py",
@@ -344,7 +344,7 @@
       "path": "outputs/panel_ui/metrohm_914/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "6f286ece31057720357f9af2514acd455032bec3cfc3db73a433fc29cb22d759"
+      "sha256": "029c63c9a045329496f11af00a1c569e0f299eb5d0bae8161af8fc9faf740dc2"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/metrohm_914/run_panel_validation.py",
@@ -362,7 +362,7 @@
       "path": "outputs/panel_ui/metrohm_914/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "7a450654d445e7ae4136d843e84dca3f139f7a41af5cfab1a07aac1e1045955b"
+      "sha256": "a53b4501878f7ae464083f672bfb6a0222bb762bf4dbcb740a83a31ac2ba4b3e"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/metrohm_914/home.png",
@@ -1973,16 +1973,6 @@
           "artifact_id": "model_blend",
           "selector": "metrohm_914__key_label_PWR",
           "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_key_onoff",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:key_onoff",
-          "role": "both"
         }
       ],
       "capability_ids": [
@@ -2001,7 +1991,7 @@
           "uncertainty": null
         },
         "geometry_evidence": {
-          "value": "独立连杆key_onoff（模型中的On/Off键帽与标签），URDF移动关节key_onoff_joint沿-Z按入键盘",
+          "value": "模型中的按键与标签（非独立可动关节）",
           "unit": "1",
           "meaning_zh": "几何绑定说明",
           "evidence": "assumption",
@@ -2009,33 +1999,6 @@
             "geometry_manifest"
           ],
           "uncertainty": null
-        },
-        "joint_origin": {
-          "value": [
-            -0.024,
-            -0.016063,
-            0.033503
-          ],
-          "unit": "m",
-          "meaning_zh": "键帽中心＝关节原点（资产坐标）",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
-        },
-        "press_travel": {
-          "value": [
-            0,
-            0.0015
-          ],
-          "unit": "m",
-          "meaning_zh": "沿[0, 0, -1]按入键盘的行程0..1.5 mm；薄膜键实际行程未知，为假设",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
         }
       }
     },
@@ -2055,16 +2018,6 @@
           "artifact_id": "model_blend",
           "selector": "metrohm_914__key_label_CAL",
           "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_key_cal",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:key_cal",
-          "role": "both"
         }
       ],
       "capability_ids": [
@@ -2087,7 +2040,7 @@
           "uncertainty": null
         },
         "geometry_evidence": {
-          "value": "独立连杆key_cal（模型中的CAL键帽与标签），URDF移动关节key_cal_joint沿-Z按入键盘",
+          "value": "模型中的按键与标签（非独立可动关节）",
           "unit": "1",
           "meaning_zh": "几何绑定说明",
           "evidence": "assumption",
@@ -2095,33 +2048,6 @@
             "geometry_manifest"
           ],
           "uncertainty": null
-        },
-        "joint_origin": {
-          "value": [
-            0.0,
-            -0.016063,
-            0.033503
-          ],
-          "unit": "m",
-          "meaning_zh": "键帽中心＝关节原点（资产坐标）",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
-        },
-        "press_travel": {
-          "value": [
-            0,
-            0.0015
-          ],
-          "unit": "m",
-          "meaning_zh": "沿[0, 0, -1]按入键盘的行程0..1.5 mm；薄膜键实际行程未知，为假设",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
         }
       }
     },
@@ -2141,16 +2067,6 @@
           "artifact_id": "model_blend",
           "selector": "metrohm_914__key_label_BACK",
           "role": "visual"
-        },
-        {
-          "artifact_id": "mesh_key_back",
-          "selector": "all",
-          "role": "visual"
-        },
-        {
-          "artifact_id": "model_urdf",
-          "selector": "link:key_back",
-          "role": "both"
         }
       ],
       "capability_ids": [
@@ -2169,7 +2085,7 @@
           "uncertainty": null
         },
         "geometry_evidence": {
-          "value": "独立连杆key_back（模型中的BACK键帽与标签），URDF移动关节key_back_joint沿-Z按入键盘",
+          "value": "模型中的按键与标签（非独立可动关节）",
           "unit": "1",
           "meaning_zh": "几何绑定说明",
           "evidence": "assumption",
@@ -2177,33 +2093,6 @@
             "geometry_manifest"
           ],
           "uncertainty": null
-        },
-        "joint_origin": {
-          "value": [
-            0.024,
-            -0.016063,
-            0.033503
-          ],
-          "unit": "m",
-          "meaning_zh": "键帽中心＝关节原点（资产坐标）",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
-        },
-        "press_travel": {
-          "value": [
-            0,
-            0.0015
-          ],
-          "unit": "m",
-          "meaning_zh": "沿[0, 0, -1]按入键盘的行程0..1.5 mm；薄膜键实际行程未知，为假设",
-          "evidence": "assumption",
-          "source_ids": [
-            "geometry_manifest"
-          ],
-          "uncertainty": null
         }
       }
     },
@@ -4782,8 +4671,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -5114,8 +5003,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -5375,8 +5264,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -5701,8 +5590,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -5974,8 +5863,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -6156,8 +6045,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -6331,7 +6220,7 @@
       },
       "preconditions": [
         {
-          "description_zh": "供电、选中且安装槽、当前新鲜读数稳定、未记录；宿主明确标定匹配槽与已知标准值；标准值在该槽规格范围内。",
+          "description_zh": "供电、选中且安装槽、当前新鲜读数稳定、未记录；宿主明确标定匹配槽与已知标准值，输入的标准值与池中标准值之差不超过识别容差（pH 0.002，即0.001 pH显示的两个数字，其他缓冲系列的值如4.00对NIST 4.005仍算不同标准；电导与溶解氧相对0.5%；手册p.55、p.88–99缓冲表），校准用输入值；标准值在该槽规格范围内；拒绝时消息写明原因。",
           "state_ids": [
             "acquisition.running",
             "power.enabled",
@@ -6568,8 +6457,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -6743,8 +6632,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -6910,8 +6799,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -7187,8 +7076,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -7464,8 +7353,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Metrohm914RuntimeTests and Metrohm914TemplateTests rerun on the runtime with the meter firmware",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入固件与面板后仍全部通过；CHEM-005运行时的能力集不变"
         }
@@ -8452,8 +8341,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8462,8 +8351,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8815,8 +8704,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8825,8 +8714,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9081,8 +8970,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9091,8 +8980,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9338,8 +9227,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9348,8 +9237,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9599,8 +9488,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9609,8 +9498,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10026,8 +9915,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10036,8 +9925,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10281,8 +10170,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10291,8 +10180,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10530,8 +10419,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10540,8 +10429,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10793,8 +10682,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10803,8 +10692,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11056,8 +10945,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11066,8 +10955,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11305,8 +11194,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11315,8 +11204,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11565,8 +11454,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11575,8 +11464,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11919,8 +11808,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11929,8 +11818,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12186,8 +12075,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12196,8 +12085,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12443,8 +12332,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12453,8 +12342,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12716,8 +12605,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12726,8 +12615,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13055,8 +12944,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13065,8 +12954,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13344,8 +13233,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13354,8 +13243,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13578,8 +13467,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13588,8 +13477,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the meter firmware commands): the six key procedures of the menu survey done only with key presses (two-buffer pH calibration with buffer recognition and the 912-181 same-buffer message, buffer type NIST, measure and save, cell constant, DO 100 % / 0 % calibration with phase-angle errors,",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.258330+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:47:31.190713+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_914.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14198,6 +14087,7 @@
     "真值隔离只对应实现并测试的会话 API 边界；共享文件系统、进程沙箱与外部部署安全隔离未验证。",
     "硬件、机器人及物理接触求解验证均为 not_run；未有证据的场景能力不得标为 verified。",
     "宿主可用host_step_template以公开标准生成样本：NIST pH(S)(T)、KCl电导率κ(T)、Benson–Krause溶解氧及共享pKa表理想电荷平衡pH；校准须使用证书值。legacy显式样本路径不变。",
+    "三个薄膜键（On/Off、CAL、BACK，2026-10-21）是URDF移动关节，沿-Z按入键盘，行程0..1.5 mm为假设；OK与四个方向键仍是键盘网格的一部分（无关节）。",
     "Meter firmware (Metrohm914DeviceRuntime): the two-channel display, measuring modes, calibrations, sensors, measured values, reports, configuration and user rights follow the 912/913/914 operating manual as a minimal device model; it is not Metrohm firmware.",
     "One measuring model (_ks_meter) for every path: the CHEM-005 measurement.* / electrochemistry.reading / records, the device channels, stored values and files.  Temperature: the physical probe of the channel (Pt1000 unless the trusted host sets an NTC with R(25 °C) / B) read with the sensor record's Temp. sensor / R(25 °C) / B value plus its temperature offset (manual temperature: the entered value).  pH from the electrode potential with the sensor's slope and pH(0); conductivity is the conductance times the stored cell constant with a linear temperature compensation (DIN EN 27888 approximated by 1.91 %/°C); salinity by PSS-78; DO through an O2 Lumitrode phase angle (Stern-Volmer, 53° / 22° at 0 % / 100 %, the sample's oxygen at standard air pressure) and the Benson-Krause saturation with the compensation entries (no barometer: Auto = 1013.25 mbar).  A CHEM-005 single-point offset adds to the meter value; a panel calibration replaces it and marks probe.<channel>.calibrated.  The 100 % DO calibration standard has 100 (p - pw) / (1013.25 - pw) % at the entered air pressure and temperature.  DO signal intensity = 4 x LED intensity x (1 - cap wear) % sets the 3-colour sensor status (thresholds assumed), shown with Signal intensity DO on.",
     "Phase-angle errors and cap wear of the DO sensor and the physical temperature probes are trusted-host parameters (set_sensor_errors, set_temperature_probe), ideal / Pt1000 by default; pH asymmetry comes from the host's reference potential. Realistic sensor tolerances are a later sim-to-real task.",
@@ -14206,8 +14096,7 @@
     "面板假设（手册未写之处）：13行×26字符的5x7字体加大号数值，颜色近似；选择列表上键为上一项；编辑器小写字母、数字与符号，按住OK为大写；带选择值（off/Auto/DIN/auto）的数值参数在编辑器中提供该项；超范围输入显示Invalid input；Temperature输入值把CHEM-005温度设为手动（Auto回到传感器温度，两个通道共用）；校准中BACK取消；限内结果显示时即存储，超限时OK接受、BACK或30 s拒绝；未印出文字的消息为假设。",
     "面板不含3D联动：屏幕纹理（render()）与按键关节触发手势属于后续Matterix步骤；本版本只在过程层与会话API层验证（panel_ui_validation）。",
     "德语、西班牙语、法语与葡萄牙语菜单文字为自拟翻译（self-written translation, not from the manual）：我们的说明书没有译文；之后新增的拒绝消息在所有语言下保持英文。",
-    "采集（acquisition.start）、测量值记录（REC）与校准（CAL）属于启动它的调用者：进行中时其他会话的停止、关机与校准步骤在面板与直接路径都被拒（ACCESS_DENIED，状态不变），显示屏显示3 s消息“Started by other user”（仪器本身没有调用者概念，文字为假设）；评估者不受限。",
-    "三个薄膜键（On/Off、CAL、BACK，2026-10-21）是URDF移动关节，沿-Z按入键盘，行程0..1.5 mm为假设；OK与四个方向键仍是键盘网格的一部分（无关节）。"
+    "采集（acquisition.start）、测量值记录（REC）与校准（CAL）属于启动它的调用者：进行中时其他会话的停止、关机与校准步骤在面板与直接路径都被拒（ACCESS_DENIED，状态不变），显示屏显示3 s消息“Started by other user”（仪器本身没有调用者概念，文字为假设）；评估者不受限。"
   ],
   "extensions": {
     "chemistry_lab.catalog": {
@@ -14506,6 +14395,28 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同6处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t4_measure/metrohm_914/runtime_validation.json: superseded；outputs/basic40_batch02/t4_measure/metrohm_914/templates/template_runtime_validation.json: home paths 2 superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-21",
+        "id": "key_press_axis",
+        "capability_ids": [
+          "panel.press"
+        ],
+        "what_zh": "3D模型：On/Off、CAL、BACK三个键从keypad.obj的子组改为独立连杆key_onoff/key_cal/key_back（各自OBJ，键帽中心为原点），URDF移动关节key_*_joint沿[0, 0, -1]按入键盘、行程0..1.5 mm；网格、材质与位置不变（probe_ph仅浮点差）。validate_exports的URDF检查允许这三个关节。",
+        "why_zh": "GPU运行b4：Matterix转换器把这三个子组键的按压方向按整机顶点质心定号，平放的914其质心（探头与面板覆膜顶点多）高于顶面键帽0.8 mm，关节轴成了+Z（向键盘外），从上按不动。在URDF中给出正确的关节后转换器保留它。修正，版本1.2.2→1.2.3。",
+        "tests_changed": [
+          "outputs/basic40_batch02/t4_measure/metrohm_914/validate_exports.py: URDF检查允许key_*_joint（-Z，0..1.5 mm）"
+        ],
+        "backup": "备份见项目备份目录geometry_20261020/"
+      },
       {
         "date": "2026-10-19",
         "id": "one_measuring_model",
@@ -14549,26 +14460,17 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同6处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t4_measure/metrohm_914/runtime_validation.json: superseded；outputs/basic40_batch02/t4_measure/metrohm_914/templates/template_runtime_validation.json: home paths 2 superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
-      },
-      {
-        "date": "2026-10-21",
-        "id": "key_press_axis",
+        "date": "2026-10-22",
+        "id": "calibrate_standard_tolerance",
         "capability_ids": [
-          "panel.press"
+          "electrochemistry.calibrate"
         ],
-        "what_zh": "3D模型：On/Off、CAL、BACK三个键从keypad.obj的子组改为独立连杆key_onoff/key_cal/key_back（各自OBJ，键帽中心为原点），URDF移动关节key_*_joint沿[0, 0, -1]按入键盘、行程0..1.5 mm；网格、材质与位置不变（probe_ph仅浮点差）。validate_exports的URDF检查允许这三个关节。",
-        "why_zh": "GPU运行b4：Matterix转换器把这三个子组键的按压方向按整机顶点质心定号，平放的914其质心（探头与面板覆膜顶点多）高于顶面键帽0.8 mm，关节轴成了+Z（向键盘外），从上按不动。在URDF中给出正确的关节后转换器保留它。修正，版本1.2.2→1.2.3。",
+        "what_zh": "electrochemistry.calibrate原来要求输入的标准值与宿主放入池中的标准值浮点完全相等（6.864对6.865被拒），拒绝时只有统一的PRECONDITION_FAILED消息。现在按仪表的分辨率识别标准（手册p.55与p.88–99：缓冲液识别把读数归到所选缓冲系列的一项）：pH相差不超过0.002（0.001 pH显示的两个数字；其他缓冲系列的值如名义4.00对NIST 4.005仍算不同标准而被拒）、电导与溶解氧标准相对0.5%以内即接受，校准用输入值；错误码仍为PRECONDITION_FAILED，消息写明原因（运行中、未通电、通道未选/未装、池中无标准、标准值不符及容差、读数未稳定）。版本1.2.3→1.2.4。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PM1）：校准不应要求浮点相等。",
         "tests_changed": [
-          "outputs/basic40_batch02/t4_measure/metrohm_914/validate_exports.py: URDF检查允许key_*_joint（-Z，0..1.5 mm）"
+          "tests/test_basic40_measure.py::Metrohm914RuntimeTests::test_calibration_standard_matches_within_buffer_recognition_tolerance（新增）"
         ],
-        "backup": "备份见项目备份目录geometry_20261020/"
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json b/assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json
index bdbc88e8abeaffe3e3fa4e5fcb04e1514bab7e08..5c2bdeb03a14804802f49673087f0af9ece7a46b 100644
--- a/assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json
@@ -338,7 +338,7 @@
       "path": "assets/reactions/metrohm_omnis_acidbase_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "64480d3db43a3f1cb950b22c3d16dce4ad8d239958773f34fc9d7b73e2e2375b"
+      "sha256": "7f7afdf99072437d47f889042e6a0072cae19c433dda9b441bef2aba9a79700b"
     },
     "template_module": {
       "path": "scripts/basic40_templates/metrohm_omnis.py",
@@ -362,7 +362,7 @@
       "path": "outputs/basic40_batch02/t4_measure/metrohm_omnis/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "1b4a2feb620ea9cd27a4166c21b440647d3f5bb1ef1e66b1c78266275fcc1cb6"
+      "sha256": "036a7fca75440a4c28b0ee413c02464c463bd7c4652064270936e692e0063cb8"
     },
     "template_fetch_script": {
       "path": "outputs/basic40_batch02/t4_measure/metrohm_omnis/templates/fetch_sources.py",
diff --git a/assets/basic40_batch02/t4_measure/mt_xpr204e/asset.contract.json b/assets/basic40_batch02/t4_measure/mt_xpr204e/asset.contract.json
index 60fd32ada0a40f85f74c686d2cfed7692c1a9141..40c819b16f59ff6fc87e57b90ff287b8622156a7 100644
--- a/assets/basic40_batch02/t4_measure/mt_xpr204e/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/mt_xpr204e/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.mt_xpr204e",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "CHEM-001 分析天平（METTLER TOLEDO XPR204E）",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -56,13 +56,13 @@
       "path": "outputs/basic40_batch02/t4_measure/mt_xpr204e/runtime_metadata.json",
       "format": "json",
       "status": "available",
-      "sha256": "78cbf07717aaa7f58bf7e80024e86d56fcb8f9b26ca94175b1895327201f47c2"
+      "sha256": "881d5b751044b4ede81d06dd634867bc3ffb6382ce9fdc7a5545446def6d599e"
     },
     "runtime_validation": {
       "path": "outputs/basic40_batch02/t4_measure/mt_xpr204e/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "d01718e0515860b40bf9e1f2c1359bcd0c5fe08f603a39fe66bc04b106806c08"
+      "sha256": "3ac8108ea4ce9f64c5bb83b0140dd5b7be42620bae750c45695705bac6b96405"
     },
     "runtime_review": {
       "path": "outputs/basic40_batch02/t4_measure/mt_xpr204e/runtime_review.md",
@@ -80,7 +80,7 @@
       "path": "outputs/basic40_batch02/t4_measure/mt_xpr204e/filter_experiments.json",
       "format": "json",
       "status": "available",
-      "sha256": "8e5da595ffa67a945916e703ab978acbe52009287bd25ee0e66c1b47568b6d4a"
+      "sha256": "f0b3575e1ca4f3dda555fdb17e9994bed2bcf5b80a7a0e0db2129f3bd01818e9"
     },
     "scene_adapter": {
       "path": "outputs/basic40_batch02/t4_measure/mt_xpr204e/scene_adapter.py",
@@ -242,7 +242,7 @@
       "path": "tests/test_panel_ui_mt_xpr204e.py",
       "format": "py",
       "status": "available",
-      "sha256": "56790cd5ac9e07d6eb52220844074f9b0272e378b7d9e12ca15b1c902084531b"
+      "sha256": "47cf0296561e02cd938da19847b0d34ecc70f39e7ee148cc166a042720fe6a7e"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -254,7 +254,7 @@
       "path": "outputs/panel_ui/mt_xpr204e/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "cc7e98fd64fa91c9848db4a9e95e621038ce959f517f9824e8b18a3172d9d1a3"
+      "sha256": "b80ddbd49ec0336c4014658077448b4a0ddbb2137659726298a5c03ded76caa4"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/mt_xpr204e/run_panel_validation.py",
@@ -266,7 +266,7 @@
       "path": "outputs/panel_ui/mt_xpr204e/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "b30215f5170c8ef92ba3c3ef98f7db0ed3c6b15b4986b4d409a0b7576d4c4287"
+      "sha256": "8512d554b31a0809736a4270522b7b912e22f87e485e12fb5e0ce991b51370f4"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/mt_xpr204e/build_panel_spec.py",
@@ -9231,9 +9231,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -9241,9 +9241,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -9502,9 +9502,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -9512,9 +9512,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -9726,9 +9726,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -9736,9 +9736,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -9961,9 +9961,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -9971,9 +9971,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -10187,9 +10187,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -10197,9 +10197,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -10480,9 +10480,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -10490,9 +10490,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -10707,9 +10707,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -10717,9 +10717,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -10989,9 +10989,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -10999,9 +10999,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -11250,9 +11250,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "host_interface_check",
@@ -11260,9 +11260,9 @@
           "status": "passed",
           "method": "unittest runtime inputs, state transitions, noise window, two instances, API truth filtering, request retry and scene callback failure",
           "environment": "{\"python\": \"3.12.14\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-20T16:21:58.133329+00:00",
+          "checked_at": "2026-10-21T23:32:18.377460+00:00",
           "evidence_artifact_id": "runtime_validation",
-          "evidence_note": "27项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
+          "evidence_note": "28项测试通过；CHEM-001九个能力的输出、声明效果、拒绝不变、两实例、去重与真值过滤（终端层另见panel_ui_validation）。"
         },
         {
           "id": "scene_interface_check",
@@ -11553,7 +11553,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -11930,7 +11930,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -12318,7 +12318,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -12697,7 +12697,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -13008,7 +13008,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -13836,7 +13836,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -14110,7 +14110,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -14392,7 +14392,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -14670,7 +14670,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -14932,7 +14932,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -15271,7 +15271,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -15543,7 +15543,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -15821,7 +15821,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -16141,7 +16141,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -16413,7 +16413,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -16700,7 +16700,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -16964,7 +16964,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -17441,7 +17441,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -17713,7 +17713,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -18070,7 +18070,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -19041,7 +19041,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -20128,7 +20128,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -20400,7 +20400,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -20679,7 +20679,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -21071,7 +21071,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -21443,7 +21443,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -21730,7 +21730,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -22002,7 +22002,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -22400,7 +22400,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -22769,7 +22769,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -23136,7 +23136,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -23408,7 +23408,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -23698,7 +23698,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -23976,7 +23976,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -24269,7 +24269,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -24555,7 +24555,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -24928,7 +24928,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -25252,7 +25252,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -25524,7 +25524,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -26135,7 +26135,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -26739,7 +26739,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -27018,7 +27018,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -27413,7 +27413,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -27845,7 +27845,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -28230,7 +28230,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -28652,7 +28652,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -28917,7 +28917,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -29302,7 +29302,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -29557,7 +29557,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -29829,7 +29829,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -30304,7 +30304,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -30595,7 +30595,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -30864,7 +30864,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -31364,7 +31364,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -31882,7 +31882,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -32178,7 +32178,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -32418,7 +32418,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.touch / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (zero, tare, weigh and complete, internal adjustment, leveling, create and run a method, standby, external adjustment), each checked on the runtime state and on the structured frame; the terminal functions through the touch screen (units, tolerance profiles, doors, date / time / language / keyboard layout, screen / StatusLight / sound, users / groups / login / rights, blocking, IDs / statistics / exclusion, method clone / lock / delete, itemized methods and tasks, piece counting, density, sensitivity / repeatability / eccentricity tests, automation, preset tare and immediate capture); refusals shown as device messages (forced leveling, rights, locked method, method in use, absent printer / storage / devices, service-only items); time-outs (automatic standby, automatic logout, 40 s stability limit, no menu time-out); panel = direct commands (same runtime state); render determinism and the evidence PNGs; every terminal command once (output schema, changed slots within declared effects, refusals without side effects); device-model checks through the commands the panel calls (scheduled adjustment with as found / as left and blocking, start after leveling, test planning and weight reminders with StatusLight, custom unit and tolerance-profile indicator, user language, automatic zero / result / tare / completion, density of liquids, tare variants of the routine tests); contract entries. Process layer only.",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-20T16:22:16.744522+00:00",
+          "checked_at": "2026-10-21T23:36:37.486997+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_xpr204e.py），不跨层借用验证结果"
         },
@@ -33197,6 +33197,7 @@
     "URDF pan_joint为fixed安装装配；Blender pan q=0..0.08m仅独立拆卸姿态演示和显隐，不是URDF prismatic副，也未求解自由体脱离。",
     "能力过程和宿主通过运行测试；机器人、真实硬件、接触求解与未列出的场景验证均为not_run。",
     "终端几何（2026-10-20）：7英寸TFT显示区部件mt_xpr204e__terminal_display__tft为152.4×91.4 mm（5:3，对应面板规格假设的800×480像素），在终端黑色玻璃窗上部，顶面倾角约12.3°（p.143侧视图估计：前高26 mm、后高54 mm、深128 mm、宽195 mm）；六个触摸键为键条上的静态触摸区部件（电容键，不移动：Matterix按其包围盒做接触区），位置按p.17终端图比例；StatusLight为终端前面150×3 mm灯条。PX的LCD、四个物理键与水平泡已删除（XPR204E没有这些部件）；后部保护开关仍是PX几何保留，XPR204E没有此开关。",
+    "稳定检测（1.3.1）：STABLE要求窗口内显示值变化不超过N个分度，且读数已到达输入（输入与滤波读数之差不超过max(0.5 d, 4s)、窗口平均输入与读数之差不超过max(0.5 d, 4s/√n)，连续保持一个稳定窗口；s为稳健噪声估计）。低通时间常数为工程假设（Very stable 0.25 s … Very unstable 4 s），因此大载荷在Very unstable环境下要约1 min才稳定，可能超过置零/去皮/记录的40 s等待（显示The weight did not become stable.）；这是本模型的沉降，不是厂家的稳定时间。",
     "前面板层（panel.*，panel_ui.json）：XPR终端7英寸触摸屏（800×480为假设）、StatusLight与六个触摸键（左门、待机、去皮、置零、Home、右门）；主称量屏、天平菜单、方法与结果面板、设置树、方法/测试向导、屏幕键盘（含按Keyboard layout切换的布局）、日期时间选择与对话框按手册（PDF页码证据）实现；每个面板操作调用本运行层的同名命令，没有第二份仪器逻辑。",
     "终端设备层为最小模型：天平设置、容差配置（环境=五档滤波，数值释放=稳定保持时间倍数，显示可读性，零点漂移补偿，允许单位）、方法/任务/结果（ID、SmartTrac、统计、排除、分项、计件、密度）、测试砝码、例行测试（偏载、重复性、灵敏度）与内部/外部调整流程、用户/组/登录/权限/锁定、日期时间语言格式、电动门、待机与自动注销、调平辅助、消息与StatusLight、历史与复位。传感器误差参数（量程、量程温度系数、零点偏移、零点漂移、内部砝码误差）由可信宿主设定，默认0（理想），调整按模型修正（在执行时的称量单元温度下）；称量单元温度为宿主输入（set_environment temperature_c，默认20 °C），“温度变化后启动”在距上次调整变化1 °C时启动内部调整（p.129）；真实容差留待sim-to-real任务。偏载位置不建模，偏载测试各位置读数相同。时区：显示的日期时间与新时间戳为本地时间（时钟继续走，按区的标准时差平移，不建模夏令时）。天平再校准与服务提醒需要服务校准到期日，仿真天平没有，故不会到期。面板手势以发起会话身份执行。",
     "不可用（需要仿真中不存在的硬件或服务）：打印与标签、结果导出、导入/导出、软件更新、条码枪、ErgoSens/脚踏开关、以太网/蓝牙/LabX/MT-SICS/Web服务与文件服务器；设置可保存，操作显示设备的“未连接/未找到设备”响应。仅服务人员可用的GWP Approved模式与复位密码请求只显示设备响应。",
@@ -35909,7 +35910,7 @@
     "chemistry_lab.runtime_metadata": {
       "catalog_id": "CHEM-001",
       "model": "METTLER TOLEDO XPR204E target / PX224E geometry family",
-      "asset_version": "1.3.0",
+      "asset_version": "1.3.1",
       "state_slots": {
         "power.enabled": {
           "unit": "1",
@@ -48367,6 +48368,26 @@
         ],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "stable_only_when_settled",
+        "capability_ids": [
+          "balance.reading",
+          "balance.request",
+          "balance.tare",
+          "balance.zero",
+          "task.add_result",
+          "panel.touch",
+          "panel.press"
+        ],
+        "what_zh": "稳定检测器增加“读数已到达输入”的判据：原来只要求1.5 s（×数值释放系数）窗口内显示值的变化不超过N个分度（Standard为256 d），低通读数仍在逼近新载荷时（例：Standard下0.7531 g显示0.7463 g，差68 d）balance.stable就已为真，负载变化后也会短暂保持为真。现在还要求：当前输入力与滤波读数之差不超过max(0.5 d, 4s)，窗口内输入的时间平均与滤波读数之差不超过max(0.5 d, 4s/√n)（s为输入噪声的稳健估计：相邻输入差的中位数×1.4826/√2，无噪声时为0；载荷阶跃不计为噪声；n为窗口内有效样本数），且该判据须连续保持一个稳定窗口。稳定时显示值与稳定后的读数相差不超过1个分度。0.5 d按MT-SICS稳定判据（以分度表示的容差在观测时间内保持；USTB/I100示例为0.5–1 d）；噪声项使规定的白噪声实验仍能达到稳定（假设）。",
+        "why_zh": "负责人发现F8（2026-10-22）：stable标志只应在读数满足天平稳定判据时升起。XPR操作手册只给环境与数值释放的档位（p.80），没有数值判据，因此用运行层自己的低通沉降模型与MT-SICS的判据形式。修正版本1.3.0→1.3.1。",
+        "tests_changed": [
+          "tests/test_panel_ui_mt_xpr204e.py::StableMeansSettled::test_stable_reading_is_within_readability_of_settled_value（新增：五种环境×两种称量模式）",
+          "tests/test_basic40_measure.py::FilteredAnalyticalBalanceTests::test_stable_only_once_the_reading_has_settled（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
+      },
       {
         "date": "2026-10-20",
         "id": "panel_geometry_terminal_and_draft_shield",
diff --git a/assets/basic40_batch02/t4_measure/rigaku_miniflex600/asset.contract.json b/assets/basic40_batch02/t4_measure/rigaku_miniflex600/asset.contract.json
index b9a34d41dc362537910329c58d833c5f35f30c8b..7a7f30f5d3cbc37050cf6e216ae7772fc1c7fed4 100644
--- a/assets/basic40_batch02/t4_measure/rigaku_miniflex600/asset.contract.json
+++ b/assets/basic40_batch02/t4_measure/rigaku_miniflex600/asset.contract.json
@@ -380,13 +380,13 @@
       "path": "assets/reactions/rigaku_miniflex600_xrd_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "8a8f0a0418a541e570dbd55c999a6cfd191284cdd4eb8af7d572cc88ae9864e5"
+      "sha256": "dbc871d8e0dcabd5d30694d517b1010494c1ca0254b998ebffb0a55773bfdc3a"
     },
     "template_library_readme": {
       "path": "assets/reactions/rigaku_miniflex600_xrd_library/说明.md",
       "format": "md",
       "status": "available",
-      "sha256": "451a289ff2014d82ea7bf3f0bc1d550273d1745d424c6980dce2de0ddf1c14a3"
+      "sha256": "6099bbf9175fc846558d4c2236740f1c8c1bc1c10c08b0e08827f8de7e928e92"
     },
     "template_module": {
       "path": "scripts/basic40_templates/rigaku_miniflex600.py",
@@ -410,7 +410,7 @@
       "path": "outputs/basic40_batch02/t4_measure/rigaku_miniflex600/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "f104368c5eb62434ba9f16678881cb41e1fe1a03b28315f22e3b6bb9690f2fac"
+      "sha256": "7d4f84f2b61004d58259041f7afe77ae1884c4081d421347e44763b9e37fd5c7"
     },
     "template_tests": {
       "path": "tests/test_basic40_templates_measure_a.py",
diff --git a/assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json b/assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json
index 1dc196b2ca88a6a65149a69c2659602185929c9c..7925b156f17576e87f4bef98e86587d12a348939 100644
--- a/assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json
+++ b/assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.alicat_mc_1slpm_rev6",
-  "asset_version": "1.4.0",
+  "asset_version": "1.4.1",
   "name_zh": "气体质量流量控制器（Alicat MC，1 SLPM，标准精度，Rev6）",
   "category": "自动化与气液供给",
   "asset_kind": "instrument",
@@ -230,7 +230,7 @@
       "path": "assets/reactions/alicat_mc_gas_property_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "f7f7a2a02241ceddb3836b0a832357ce973d1b437503fc4b2a512a669e4acfcf"
+      "sha256": "4ec4dcbd8de37adedc04d8e899edc87119cd9b78c37509cb9a51453b13a805a6"
     },
     "template_readme": {
       "path": "assets/reactions/alicat_mc_gas_property_library/说明.md",
@@ -242,7 +242,7 @@
       "path": "scripts/basic40_templates/alicat_mc.py",
       "format": "py",
       "status": "available",
-      "sha256": "15832e5a599cd97a6febb175c6f4124f89dba68db8bd4c94c2310439a22afc2e"
+      "sha256": "af3cc5a01df9025aafe446ff9a6d165d58a08537cc9be4418ac9dbca2f7170b1"
     },
     "template_tests": {
       "path": "tests/test_basic40_templates_automation.py",
@@ -260,7 +260,7 @@
       "path": "outputs/basic40_batch02/t5_automation/alicat_mc/templates/output_template_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "936bfde34eea7f58586460bd9bc490ab80eeae70a0e409540b146e0f733d3363"
+      "sha256": "9f67c4df0aa56967dc6a14f399bfbb902bce2bb996863459732e08a2d4ec7688"
     },
     "template_raw_fetch_metadata": {
       "path": "references/basic40_templates/alicat_mc/raw/fetch_metadata.json",
@@ -296,7 +296,7 @@
       "path": "assets/basic40_batch02/t5_automation/alicat_mc/panel_ui.json",
       "format": "json",
       "status": "available",
-      "sha256": "3a6a53ce80ed51509ae9a32b28e5000999e33733fe3d900237d3b5f0926a212e"
+      "sha256": "4ba6f4b39f301bbee6e4904a6eb71c11027df0c6a2f1d5c601a0b121c4cad3d0"
     },
     "panel_engine": {
       "path": "scripts/asset_runtime/_panel_ui.py",
@@ -308,7 +308,7 @@
       "path": "tests/test_panel_ui_alicat_mc_1slpm_rev6.py",
       "format": "py",
       "status": "available",
-      "sha256": "7d98e44caeb9b18ff0398fddbbb3e6e282d9c16ae0b49793b830d4f276d2e9e0"
+      "sha256": "4fbc76d2a26d200582ad67cd6f7ab2635852205b3aba8f6f18f50005b4903e52"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -320,7 +320,7 @@
       "path": "outputs/panel_ui/alicat_mc_1slpm_rev6/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "4f82ec1bdc1ecc86ee18ea039b4028e8b79345a0cf62d75ff0dfc5e4b27930f2"
+      "sha256": "abc4f312efa868f8c7cfbb3502adad00f234a2826f8c59958b920509828d6862"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/alicat_mc_1slpm_rev6/run_panel_validation.py",
@@ -332,13 +332,13 @@
       "path": "outputs/panel_ui/alicat_mc_1slpm_rev6/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "738fbb1aa07f222dea1b20c660c93f10c9baf7978cd37b1b413f6af14c673afa"
+      "sha256": "fef62de07d48a42584f2aa6590a365158f4e3a60347ad2559ec31fb6b3722d60"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/alicat_mc_1slpm_rev6/build_panel_spec.py",
       "format": "py",
       "status": "available",
-      "sha256": "a356f4ddc5d1fc69d1854c1eb4f36dffd828515740997bac721f6557b703d3c8"
+      "sha256": "655f123f32da3f070e530a4eb587f55977ad120ab5856aa2d6dc11ac3870c462"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/alicat_mc_1slpm_rev6/home.png",
@@ -1666,7 +1666,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['gas.reference_temperature_K'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['gas.reference_temperature_k'])"
       },
       "write_via": null,
       "sampling": {
@@ -1697,7 +1697,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['gas.reference_pressure_Pa'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['gas.reference_pressure_pa'])"
       },
       "write_via": null,
       "sampling": {
@@ -1722,7 +1722,7 @@
         "maximum": 1.6666666666666667e-05
       },
       "unit": "m^3/s",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "标准体积流量目标；0为关闭目标，正目标范围0.01–100%FS。",
       "origin": "setpoint",
       "access": "read_write",
@@ -1894,7 +1894,7 @@
         ]
       },
       "unit": "m^3/s",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "合成标准体积流量观测；quality=estimated，不是独立实测。",
       "origin": "derived",
       "access": "read_only",
@@ -2022,7 +2022,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['measurement.pressure_Pa'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['measurement.pressure_pa'])"
       },
       "write_via": null,
       "sampling": {
@@ -2060,7 +2060,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['measurement.temperature_K'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['measurement.temperature_k'])"
       },
       "write_via": null,
       "sampling": {
@@ -2090,7 +2090,7 @@
         ]
       },
       "unit": "m^3",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "本累计区间已积分的标准体积当前值；不代表宿主已完成气体库存转移。",
       "origin": "derived",
       "access": "read_only",
@@ -2128,7 +2128,7 @@
         ]
       },
       "unit": "m^3/s",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "归零且宿主确认平衡时计算max(0.006|Q|,0.001FS)；是规格界限表达，不是实测误差。",
       "origin": "derived",
       "access": "read_only",
@@ -2195,7 +2195,7 @@
         ]
       },
       "unit": "m^3/s",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "宿主合成过程的标准体积流量真值，限debug/evaluator。",
       "origin": "process_truth",
       "access": "read_only",
@@ -2233,7 +2233,7 @@
         ]
       },
       "unit": "m^3",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "宿主合成过程的积分标准体积真值，限debug/evaluator。",
       "origin": "process_truth",
       "access": "read_only",
@@ -2279,7 +2279,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.upstream_pressure_Pa'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.upstream_pressure_pa'])"
       },
       "write_via": null,
       "sampling": {
@@ -2317,7 +2317,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.downstream_pressure_Pa'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.downstream_pressure_pa'])"
       },
       "write_via": null,
       "sampling": {
@@ -2355,7 +2355,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.temperature_K'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['truth.temperature_k'])"
       },
       "write_via": null,
       "sampling": {
@@ -2995,7 +2995,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['setpoint.analog_input_V'])"
+        "accessor": "AlicatMCSession.read(instance_id=..., state_ids=['setpoint.analog_input_v'])"
       },
       "write_via": null,
       "sampling": {
@@ -3027,7 +3027,7 @@
         ]
       },
       "unit": "m^3",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "总量器批量（标准体积；null为-NONE-）",
       "origin": "setpoint",
       "access": "read_write",
@@ -3069,7 +3069,7 @@
         ]
       },
       "unit": "m^3",
-      "reference_conditions": "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa",
+      "reference_conditions": "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa",
       "meaning_zh": "批量剩余（标准体积，示值）；0为-DONE-",
       "origin": "derived",
       "access": "read_only",
@@ -3722,7 +3722,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4026,7 +4026,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4077,20 +4077,20 @@
       "output_schema": {
         "type": "object",
         "properties": {
-          "gas.reference_temperature_K": {
+          "gas.reference_temperature_k": {
             "type": "number",
             "x-unit": "K",
             "minimum": 0
           },
-          "gas.reference_pressure_Pa": {
+          "gas.reference_pressure_pa": {
             "type": "number",
             "x-unit": "Pa",
             "minimum": 0
           }
         },
         "required": [
-          "gas.reference_temperature_K",
-          "gas.reference_pressure_Pa"
+          "gas.reference_temperature_k",
+          "gas.reference_pressure_pa"
         ],
         "additionalProperties": false
       },
@@ -4317,7 +4317,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4351,7 +4351,7 @@
             "minimum": 0,
             "maximum": 1.6666666666666667e-05,
             "x-unit": "m^3/s",
-            "x-reference-conditions": "gas.reference_temperature_K, gas.reference_pressure_Pa",
+            "x-reference-conditions": "gas.reference_temperature_k, gas.reference_pressure_pa",
             "description": "0 stops the target; positive values must be >= 0.0001 full scale"
           }
         },
@@ -4592,7 +4592,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4834,7 +4834,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -5090,7 +5090,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -5160,7 +5160,7 @@
               }
             ]
           },
-          "measurement.pressure_Pa": {
+          "measurement.pressure_pa": {
             "anyOf": [
               {
                 "type": "number",
@@ -5172,7 +5172,7 @@
               }
             ]
           },
-          "measurement.temperature_K": {
+          "measurement.temperature_k": {
             "anyOf": [
               {
                 "type": "number",
@@ -5216,8 +5216,8 @@
           "measurement.standard_flow_m3_s",
           "measurement.actual_flow_m3_s",
           "measurement.mass_flow_kg_s",
-          "measurement.pressure_Pa",
-          "measurement.temperature_K",
+          "measurement.pressure_pa",
+          "measurement.temperature_k",
           "measurement.total_standard_volume_m3",
           "measurement.standard_accuracy_bound_m3_s",
           "measurement.accuracy_conditions_met"
@@ -5373,7 +5373,7 @@
           "status": "passed",
           "method": "TestAlicatMCRuntime and the template tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6245,7 +6245,7 @@
               }
             ]
           },
-          "measurement.pressure_Pa": {
+          "measurement.pressure_pa": {
             "anyOf": [
               {
                 "type": "number",
@@ -6257,7 +6257,7 @@
               }
             ]
           },
-          "measurement.temperature_K": {
+          "measurement.temperature_k": {
             "anyOf": [
               {
                 "type": "number",
@@ -6375,8 +6375,8 @@
           "measurement.actual_flow_m3_s",
           "measurement.mass_flow_kg_s",
           "measurement.total_standard_volume_m3",
-          "measurement.pressure_Pa",
-          "measurement.temperature_K",
+          "measurement.pressure_pa",
+          "measurement.temperature_k",
           "reference_temperature_K",
           "reference_pressure_Pa",
           "viscosity_actual_Pa_s",
@@ -7537,7 +7537,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7547,7 +7547,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7794,7 +7794,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7804,7 +7804,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8025,7 +8025,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8035,7 +8035,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8256,7 +8256,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8266,7 +8266,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8613,7 +8613,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8623,7 +8623,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8907,7 +8907,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8917,7 +8917,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9410,12 +9410,12 @@
               }
             ]
           },
-          "gas.reference_temperature_K": {
+          "gas.reference_temperature_k": {
             "type": "number",
             "x-unit": "K",
             "minimum": 0
           },
-          "gas.reference_pressure_Pa": {
+          "gas.reference_pressure_pa": {
             "type": "number",
             "x-unit": "Pa",
             "minimum": 0
@@ -9424,8 +9424,8 @@
         "required": [
           "device.settings",
           "gas.selected_id",
-          "gas.reference_temperature_K",
-          "gas.reference_pressure_Pa"
+          "gas.reference_temperature_k",
+          "gas.reference_pressure_pa"
         ],
         "additionalProperties": false
       },
@@ -9628,7 +9628,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9638,7 +9638,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9975,7 +9975,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9985,7 +9985,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10190,7 +10190,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10200,7 +10200,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10350,7 +10350,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10360,7 +10360,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10593,7 +10593,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10603,7 +10603,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10797,7 +10797,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10807,7 +10807,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10989,7 +10989,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10999,7 +10999,7 @@
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other operator functions of the menus done only with panel gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (a 5x7 dot reader that knows only the 22 x 10 text grid ",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:25.269598+00:00",
+          "checked_at": "2026-10-21T22:48:59.528173+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_alicat_mc_1slpm_rev6.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11672,7 +11672,6 @@
     "URDF碰撞体只采用盒、柱、球基元；文件结构或Blender姿态验证不等于物理接触、稳定放置、碰撞或摩擦性能验证。",
     "3D模型中的显示屏和流向标识不与运行观测自动同步（屏幕画面由panel.capture按前面板层渲染）。GLB/OBJ为场景交换输出；本批未声称任何引擎中的物理求解兼容性。",
     "整机搬运的attach/release由宿主约束事件负责；事件在合同中声明，未实现抓取、附着、释放或机器人动作。",
-    "合同稳定状态ID使用小写；真实运行API保留温度K和压力Pa后缀。请按runtime_state_id_map映射或使用read_binding，不能直接把规范ID当作真实API参数。",
     "模板路径中仍属假设/合成：一阶动态tau、理想Poiseuille层流元件（ΔP∝μ·Q，用于宿主声明的错气情形）、无传感器噪声/漂移/阀容量；混气性质为混合规则派生，非Alicat内部REFPROP数值。",
     "前面板（panel.*）：按操作手册（MC系列固件9v，Rev.4）实现单色背光LCD、上下各三个软键与标志背光键；主显示、总量器、主菜单、CONTROL/SETUP/ABOUT列表、选项列表、逐位数值输入、Gas Select类别与气体表、COMPOSER混气、确认画面和LCK锁定；每个面板动作都调用本运行层的能力（没有第二份仪器逻辑）。",
     "面板背后的设备功能已在运行层实现：自动归零（零设定保持延时后、宿主确认无流与平衡时）、设定来源串口/模拟（0–5 V输入，超限按限值）、上电设定值、设定值上下限、质量或体积流量控制、设定值斜坡（delta/time、升/降、上电与零设定选项）、批量给气（达到批量后阀关闭）与总量计时器、工程单位、流量/压力平均（一阶滞后）、零带、背光、对比度、屏幕倒置、COMPOSER混气（库纯气体按Dalton/Wilke求物性）、Recent列表、LCK锁定与Factory Restore。",
@@ -11850,51 +11849,6 @@
       "configuration_addition": null,
       "configuration_note_zh": "没有用表外型号替代，也未新增厂家配置；局部视觉重建假设只用于建模。"
     },
-    "chemistry_lab.runtime_state_id_map": {
-      "contract_to_runtime": {
-        "power.enabled": "power.enabled",
-        "gas.selected_id": "gas.selected_id",
-        "gas.reference_temperature_k": "gas.reference_temperature_K",
-        "gas.reference_pressure_pa": "gas.reference_pressure_Pa",
-        "flow.setpoint_m3_s": "flow.setpoint_m3_s",
-        "flow.zeroed": "flow.zeroed",
-        "ports.upstream_node_id": "ports.upstream_node_id",
-        "ports.downstream_node_id": "ports.downstream_node_id",
-        "simulation.dynamic_model_configured": "simulation.dynamic_model_configured",
-        "measurement.standard_flow_m3_s": "measurement.standard_flow_m3_s",
-        "measurement.actual_flow_m3_s": "measurement.actual_flow_m3_s",
-        "measurement.mass_flow_kg_s": "measurement.mass_flow_kg_s",
-        "measurement.pressure_pa": "measurement.pressure_Pa",
-        "measurement.temperature_k": "measurement.temperature_K",
-        "measurement.total_standard_volume_m3": "measurement.total_standard_volume_m3",
-        "measurement.standard_accuracy_bound_m3_s": "measurement.standard_accuracy_bound_m3_s",
-        "measurement.accuracy_conditions_met": "measurement.accuracy_conditions_met",
-        "truth.standard_flow_m3_s": "truth.standard_flow_m3_s",
-        "truth.total_standard_volume_m3": "truth.total_standard_volume_m3",
-        "truth.upstream_pressure_pa": "truth.upstream_pressure_Pa",
-        "truth.downstream_pressure_pa": "truth.downstream_pressure_Pa",
-        "truth.temperature_k": "truth.temperature_K",
-        "truth.equilibrium": "truth.equilibrium",
-        "truth.no_flow": "truth.no_flow",
-        "truth.response_time_constant_s": "truth.response_time_constant_s",
-        "device.settings": "device.settings",
-        "flow.active_setpoint_m3_s": "flow.active_setpoint_m3_s",
-        "flow.ramp_rate_m3_s2": "flow.ramp_rate_m3_s2",
-        "setpoint.analog_input_v": "setpoint.analog_input_V",
-        "totalizer.batch_size_m3": "totalizer.batch_size_m3",
-        "totalizer.batch_remaining_m3": "totalizer.batch_remaining_m3",
-        "totalizer.elapsed_s": "totalizer.elapsed_s",
-        "display.backlight_on": "display.backlight_on",
-        "display.locked": "display.locked",
-        "gas.user_mixes": "gas.user_mixes",
-        "gas.recent_ids": "gas.recent_ids",
-        "valve.drive_percent": "valve.drive_percent",
-        "valve.drive_setpoint_percent": "valve.drive_setpoint_percent",
-        "device.alarms": "device.alarms",
-        "truth.adc_fault": "truth.adc_fault"
-      },
-      "note_zh": "schema要求稳定ID小写；真实API温度K/压力Pa拼写保留。此处是可审查映射，不声称实现了自动别名路由。输出schema保持真实response.result键。"
-    },
     "chemistry_lab.host_api": {
       "scope_zh": "可信宿主入口，不作为面向agent的设备invoke能力。",
       "definitions": {
@@ -13322,6 +13276,15 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同8处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/alicat_mc/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
       {
         "date": "2026-10-19",
         "id": "valve_drive_control",
@@ -13357,13 +13320,22 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同8处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/alicat_mc/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
+        "date": "2026-10-22",
+        "id": "slot_ids_equal_contract",
+        "capability_ids": [
+          "gas.set_reference_conditions",
+          "flow.read",
+          "flow.read_template",
+          "device.factory_restore",
+          "panel.press"
+        ],
+        "what_zh": "运行层8个状态槽改用合同ID（小写）：gas.reference_temperature_k、gas.reference_pressure_pa、measurement.pressure_pa、measurement.temperature_k、truth.upstream_pressure_pa、truth.downstream_pressure_pa、truth.temperature_k、setpoint.analog_input_v。此前运行层的describe与read用K/Pa/V大写后缀，与合同不一致，按合同ID读取被拒。gas.set_reference_conditions、flow.read、flow.read_template与device.factory_restore结果中的同名键随之改为小写（output_schema同步），panel_ui.json中的状态引用同步（build_panel_spec.py重新生成）；chemistry_lab.runtime_state_id_map扩展删除（两边ID已相同）。能力参数名（temperature_K、pressure_Pa等）与宿主API不变。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F2）：运行层与合同的状态槽ID必须相同；合同schema只允许小写ID，因此改运行层。版本1.4.0→1.4.1（模板模块CONTRACT_ASSET_VERSION同步）。",
+        "tests_changed": [
+          "tests/test_basic40_automation.py::TestAlicatMCRuntime::test_slot_ids_equal_contract（新增：describe、完整read与合同的槽ID相同）；其余测试的槽ID改为小写",
+          "tests/test_panel_ui_alicat_mc_1slpm_rev6.py: 槽ID改为小写"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t5_automation/alicat_mc/panel_ui.json b/assets/basic40_batch02/t5_automation/alicat_mc/panel_ui.json
index d6bc743e01f2a4ff5f57568eced925c4ead312fc..f0d7a23659efa80a0fa85d6e88a012b211fa4f62 100644
--- a/assets/basic40_batch02/t5_automation/alicat_mc/panel_ui.json
+++ b/assets/basic40_batch02/t5_automation/alicat_mc/panel_ui.json
@@ -8980,7 +8980,7 @@
          "max": 99.99,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_temperature_K",
+          "state": "gas.reference_temperature_k",
           "scale": 1.0,
           "offset": -273.15
          },
@@ -8993,7 +8993,7 @@
             "offset": 273.15
            },
            "pressure_Pa": {
-            "state": "gas.reference_pressure_Pa"
+            "state": "gas.reference_pressure_pa"
            }
           }
          },
@@ -9009,7 +9009,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_temperature_K",
+             "state": "gas.reference_temperature_k",
              "scale": 1.0,
              "offset": -273.15
             },
@@ -9090,7 +9090,7 @@
          "max": 211.99,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_temperature_K",
+          "state": "gas.reference_temperature_k",
           "scale": 1.8,
           "offset": -459.67
          },
@@ -9103,7 +9103,7 @@
             "offset": 255.37222222222223
            },
            "pressure_Pa": {
-            "state": "gas.reference_pressure_Pa"
+            "state": "gas.reference_pressure_pa"
            }
           }
          },
@@ -9119,7 +9119,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_temperature_K",
+             "state": "gas.reference_temperature_k",
              "scale": 1.8,
              "offset": -459.67
             },
@@ -9201,7 +9201,7 @@
          "max": 373.15,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_temperature_K",
+          "state": "gas.reference_temperature_k",
           "scale": 1.0,
           "offset": 0.0
          },
@@ -9214,7 +9214,7 @@
             "offset": -0.0
            },
            "pressure_Pa": {
-            "state": "gas.reference_pressure_Pa"
+            "state": "gas.reference_pressure_pa"
            }
           }
          },
@@ -9230,7 +9230,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_temperature_K",
+             "state": "gas.reference_temperature_k",
              "scale": 1.0,
              "offset": 0.0
             },
@@ -9312,7 +9312,7 @@
          "max": 671.67,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_temperature_K",
+          "state": "gas.reference_temperature_k",
           "scale": 1.8,
           "offset": 0.0
          },
@@ -9325,7 +9325,7 @@
             "offset": -0.0
            },
            "pressure_Pa": {
-            "state": "gas.reference_pressure_Pa"
+            "state": "gas.reference_pressure_pa"
            }
           }
          },
@@ -9341,7 +9341,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_temperature_K",
+             "state": "gas.reference_temperature_k",
              "scale": 1.8,
              "offset": 0.0
             },
@@ -9423,7 +9423,7 @@
          "max": 29.39,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.00014503773773021683
          },
          "write": {
@@ -9434,7 +9434,7 @@
             "scale": 6894.757293168
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9450,7 +9450,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.00014503773773021683
             },
             "fmt": {
@@ -9530,7 +9530,7 @@
          "max": 202650.0,
          "step": 1.0,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 1.0
          },
          "write": {
@@ -9541,7 +9541,7 @@
             "scale": 1.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9557,7 +9557,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 1.0
             },
             "fmt": {
@@ -9639,7 +9639,7 @@
          "max": 2026.5,
          "step": 0.1,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.01
          },
          "write": {
@@ -9650,7 +9650,7 @@
             "scale": 100.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9666,7 +9666,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.01
             },
             "fmt": {
@@ -9747,7 +9747,7 @@
          "max": 202.65,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.001
          },
          "write": {
@@ -9758,7 +9758,7 @@
             "scale": 1000.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9774,7 +9774,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.001
             },
             "fmt": {
@@ -9855,7 +9855,7 @@
          "max": 0.2026,
          "step": 0.0001,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 1e-06
          },
          "write": {
@@ -9866,7 +9866,7 @@
             "scale": 1000000.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9882,7 +9882,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 1e-06
             },
             "fmt": {
@@ -9963,7 +9963,7 @@
          "max": 2026.5,
          "step": 0.1,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.01
          },
          "write": {
@@ -9974,7 +9974,7 @@
             "scale": 100.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -9990,7 +9990,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.01
             },
             "fmt": {
@@ -10071,7 +10071,7 @@
          "max": 2.0265,
          "step": 0.0001,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 1e-05
          },
          "write": {
@@ -10082,7 +10082,7 @@
             "scale": 99999.99999999999
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -10098,7 +10098,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 1e-05
             },
             "fmt": {
@@ -10179,7 +10179,7 @@
          "max": 2.0,
          "step": 0.001,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 9.869232667160129e-06
          },
          "write": {
@@ -10190,7 +10190,7 @@
             "scale": 101325.0
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -10206,7 +10206,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 9.869232667160129e-06
             },
             "fmt": {
@@ -10286,7 +10286,7 @@
          "max": 1520.0,
          "step": 0.1,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.007500616827041697
          },
          "write": {
@@ -10297,7 +10297,7 @@
             "scale": 133.32236842105263
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -10313,7 +10313,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.007500616827041697
             },
             "fmt": {
@@ -10394,7 +10394,7 @@
          "max": 1519.9,
          "step": 0.1,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.007500615758456563
          },
          "write": {
@@ -10405,7 +10405,7 @@
             "scale": 133.322387415
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -10421,7 +10421,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.007500615758456563
             },
             "fmt": {
@@ -10502,7 +10502,7 @@
          "max": 59.84,
          "step": 0.01,
          "read": {
-          "state": "gas.reference_pressure_Pa",
+          "state": "gas.reference_pressure_pa",
           "scale": 0.0002952998016471232
          },
          "write": {
@@ -10513,7 +10513,7 @@
             "scale": 3386.3890000000006
            },
            "temperature_K": {
-            "state": "gas.reference_temperature_K"
+            "state": "gas.reference_temperature_k"
            }
           }
          },
@@ -10529,7 +10529,7 @@
           "parts": [
            {
             "src": {
-             "state": "gas.reference_pressure_Pa",
+             "state": "gas.reference_pressure_pa",
              "scale": 0.0002952998016471232
             },
             "fmt": {
@@ -24029,14 +24029,14 @@
          "cases": [
           {
            "when": {
-            "state": "measurement.pressure_Pa",
+            "state": "measurement.pressure_pa",
             "eq": null
            },
            "text": "+----  "
           },
           {
            "src": {
-            "state": "measurement.pressure_Pa",
+            "state": "measurement.pressure_pa",
             "scale": {
              "state": "device.settings",
              "path": "units_pressure",
@@ -24083,14 +24083,14 @@
          "cases": [
           {
            "when": {
-            "state": "measurement.temperature_K",
+            "state": "measurement.temperature_k",
             "eq": null
            },
            "text": "  +----"
           },
           {
            "src": {
-            "state": "measurement.temperature_K",
+            "state": "measurement.temperature_k",
             "scale": {
              "state": "device.settings",
              "path": "units_temperature",
@@ -24949,14 +24949,14 @@
             "cases": [
              {
               "when": {
-               "state": "measurement.pressure_Pa",
+               "state": "measurement.pressure_pa",
                "eq": null
               },
               "text": "+----"
              },
              {
               "src": {
-               "state": "measurement.pressure_Pa",
+               "state": "measurement.pressure_pa",
                "scale": {
                 "state": "device.settings",
                 "path": "units_pressure",
@@ -25009,14 +25009,14 @@
             "cases": [
              {
               "when": {
-               "state": "measurement.temperature_K",
+               "state": "measurement.temperature_k",
                "eq": null
               },
               "text": "+----"
              },
              {
               "src": {
-               "state": "measurement.temperature_K",
+               "state": "measurement.temperature_k",
                "scale": {
                 "state": "device.settings",
                 "path": "units_temperature",
@@ -45027,7 +45027,7 @@
  "unsupported": [
   {
    "item": "Control: Absolute Pressure",
-   "reason": "needs a process volume / pressure model downstream of the valve; the host gives both pressures as boundaries in this asset (lead decision pending: build a host volume model or accept)",
+   "reason": "needs a process volume / pressure model downstream of the valve; the host gives both pressures as boundaries in this asset (assumption: no downstream volume model)",
    "behavior": "listed; SET is refused by the runtime (UNSUPPORTED) and the setting stays"
   },
   {
diff --git a/assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json b/assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json
index f1acaaab593d01baa6eae56cac3a611afb532b47..51b60f5b1b47a950e80380e67617e2d6f6a163a5 100644
--- a/assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json
+++ b/assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.azenta_automated_roll_heat_sealer_a4s",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "自动微孔板热封膜机",
   "category": "自动化与气液供给",
   "asset_kind": "instrument",
@@ -248,7 +248,7 @@
       "path": "assets/basic40_batch02/t5_automation/azenta_heat_sealer/panel_ui.json",
       "format": "json",
       "status": "available",
-      "sha256": "e75f9f2ae3791fffbc511afce1cfe0e5f56926ebb22f6a5b50641c77ba580b37"
+      "sha256": "960b13235eddd3d8361cf96f413e726269b243c3b48727625d667908e4f47aca"
     },
     "panel_engine": {
       "path": "scripts/asset_runtime/_panel_ui.py",
@@ -260,7 +260,7 @@
       "path": "tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py",
       "format": "py",
       "status": "available",
-      "sha256": "dae31e4dc4e3a51d96ec951c9072be75227a2372343335430b7ab01bd498c937"
+      "sha256": "325720bff6ae9e1f67890d47ef1e502e4d240b19c4e9fbb8d4fc8b02d90965f6"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -272,7 +272,7 @@
       "path": "outputs/panel_ui/azenta_automated_roll_heat_sealer_a4s/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "5f7ade9d7eb4d40bb98134ef06992c1fab9662080a109fc11f367bca9a8dab82"
+      "sha256": "5d3e72975fed93a7ab4d3a5c0725e7d51c01b71ff04c4ae0a3b8f21db0ec08b1"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/azenta_automated_roll_heat_sealer_a4s/run_panel_validation.py",
@@ -284,13 +284,13 @@
       "path": "outputs/panel_ui/azenta_automated_roll_heat_sealer_a4s/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "abdf93dc3ce9d369468320043863223be5b44002ed1d4821764c667998075154"
+      "sha256": "87c00a1a4d241dc645bf2a0a09723ad9393e6e335bcd2ce51cc83a4828774ce8"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/azenta_automated_roll_heat_sealer_a4s/build_panel_spec.py",
       "format": "py",
       "status": "available",
-      "sha256": "1bc67ab75096ddce754b38b9f404c56ad7d1f42a1353ff92d0a54f1e3c0df544"
+      "sha256": "5ec996dd8f542c511f5e0fc8c6865d49b307662856ddd8e2e91b16bc7fcbbade"
     },
     "panel_ui_common_py": {
       "path": "outputs/panel_ui/_g01_common.py",
@@ -3472,7 +3472,7 @@
       "read_binding": {
         "backend": "process",
         "artifact_id": "runtime",
-        "accessor": "AzentaHeatSealerSession.read(instance_id=..., state_ids=['power_saving.hold_temperature_K'])"
+        "accessor": "AzentaHeatSealerSession.read(instance_id=..., state_ids=['power_saving.hold_temperature_k'])"
       },
       "write_via": null,
       "sampling": {
@@ -3903,7 +3903,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4153,7 +4153,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4418,7 +4418,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4655,7 +4655,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -4975,7 +4975,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -5213,7 +5213,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -5465,7 +5465,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -5498,7 +5498,7 @@
       "output_schema": {
         "type": "object",
         "properties": {
-          "measurement.temperature_K": {
+          "measurement.temperature_k": {
             "anyOf": [
               {
                 "type": "number",
@@ -5553,7 +5553,7 @@
           }
         },
         "required": [
-          "measurement.temperature_K",
+          "measurement.temperature_k",
           "thermal.target_reached",
           "film.remaining_seals",
           "plate.simulated_sealed",
@@ -5716,7 +5716,7 @@
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -6055,7 +6055,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6065,7 +6065,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6345,7 +6345,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6355,7 +6355,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6453,7 +6453,7 @@
             "x-unit": "s",
             "maximum": 43200
           },
-          "power_saving.hold_temperature_K": {
+          "power_saving.hold_temperature_k": {
             "anyOf": [
               {
                 "type": "number",
@@ -6472,7 +6472,7 @@
         "required": [
           "power_saving.enabled",
           "power_saving.idle_time_s",
-          "power_saving.hold_temperature_K"
+          "power_saving.hold_temperature_k"
         ],
         "additionalProperties": false
       },
@@ -6610,7 +6610,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6620,7 +6620,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6800,7 +6800,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -6810,7 +6810,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7012,7 +7012,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7022,7 +7022,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7218,7 +7218,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7228,7 +7228,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7409,7 +7409,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7419,7 +7419,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7624,7 +7624,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7634,7 +7634,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7929,7 +7929,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -7939,7 +7939,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8022,7 +8022,7 @@
               }
             ]
           },
-          "thermal.setpoint_K": {
+          "thermal.setpoint_k": {
             "anyOf": [
               {
                 "type": "number",
@@ -8051,7 +8051,7 @@
         },
         "required": [
           "protocol.current",
-          "thermal.setpoint_K",
+          "thermal.setpoint_k",
           "configuration.press_time_s"
         ],
         "additionalProperties": false
@@ -8194,7 +8194,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8204,7 +8204,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8447,7 +8447,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8457,7 +8457,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8646,7 +8646,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8656,7 +8656,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8853,7 +8853,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -8863,7 +8863,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9109,7 +9109,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9119,7 +9119,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9418,7 +9418,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9428,7 +9428,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9752,7 +9752,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9762,7 +9762,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9980,7 +9980,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -9990,7 +9990,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10153,7 +10153,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10163,7 +10163,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10417,7 +10417,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10427,7 +10427,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10630,7 +10630,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10640,7 +10640,7 @@
           "status": "passed",
           "method": "Executed the touch-screen unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame and the new device commands): the eight key procedures of the menu survey and the other screen functions (security levels, red lock, Administrator, delete, close door, warnings) done only with gestures, each checked on the runtime state and the structured frame; panel and dire",
           "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:15.074204+00:00",
+          "checked_at": "2026-10-21T22:49:00.644484+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py）经会话API执行；不跨层借用验证结果"
         },
@@ -10805,7 +10805,7 @@
       "implementation": "lumped",
       "equations": [
         "供电开启且T、Tset、r均非null时：T_next=T+sign(Tset-T)*min(abs(Tset-T),r*dt)。否则不自行补温度或速率。",
-        "measurement.temperature_K=T（仅供电时），quality=estimated；未供电或无T时null。",
+        "measurement.temperature_k=T（仅供电时），quality=estimated；未供电或无T时null。",
         "thermal.target_reached=power.enabled and T,Tset已配置 and abs(T-Tset)<=1e-9 K；1e-9仅为数值比较容差。"
       ],
       "parameters": {
@@ -11065,7 +11065,7 @@
   "limitations": [
     "温度100–195°C、时间0.1–10s、板高3–60mm、膜宽75–85mm来自CHEM-176三表；SI接口采用K、s、m。",
     "热初始值和热速率没有缺省值；温度推进只采用宿主明确给定且附证据的线性接近设定值模型，无热容、功率、冷却曲线或PID推断。",
-    "measurement.temperature_K为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。",
+    "measurement.temperature_k为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。",
     "压合q=0..0.074m、压头底z=.105-q、板顶z=.028+height和接触q=.077-height均是几何假设，非厂家行程或接触力学。",
     "一卷最多5000次是上限；宿主须提供实际剩余次数，默认null。每次已接受封膜消耗1次膜配额；取消或失败不退回膜。未推断膜长度或实际进给距离。",
     "film_roll_position_id与plate_adapter_id引用宿主装载的兼容配置；真实位置坐标和厂家适配器枚举未知，不生成任意假坐标。",
@@ -11178,7 +11178,7 @@
       "remaining_boundaries": [
         "温度100–195°C、时间0.1–10s、板高3–60mm、膜宽75–85mm来自CHEM-176三表；SI接口采用K、s、m。",
         "热初始值和热速率没有缺省值；温度推进只采用宿主明确给定且附证据的线性接近设定值模型，无热容、功率、冷却曲线或PID推断。",
-        "measurement.temperature_K为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。",
+        "measurement.temperature_k为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。",
         "压合q=0..0.074m、压头底z=.105-q、板顶z=.028+height和接触q=.077-height均是几何假设，非厂家行程或接触力学。",
         "一卷最多5000次是上限；宿主须提供实际剩余次数，默认null。每次已接受封膜消耗1次膜配额；取消或失败不退回膜。未推断膜长度或实际进给距离。",
         "film_roll_position_id与plate_adapter_id引用宿主装载的兼容配置；真实位置坐标和厂家适配器枚举未知，不生成任意假坐标。",
@@ -12024,6 +12024,15 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同0处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/azenta_heat_sealer/runtime_validation.json: superseded；outputs/basic40_batch02/t5_automation/azenta_heat_sealer/runtime_final_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
       {
         "date": "2026-10-19",
         "id": "panel_gesture_caller",
@@ -12073,13 +12082,22 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同0处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/azenta_heat_sealer/runtime_validation.json: superseded；outputs/basic40_batch02/t5_automation/azenta_heat_sealer/runtime_final_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
+        "date": "2026-10-22",
+        "id": "slot_ids_equal_contract",
+        "capability_ids": [
+          "thermal.set_temperature",
+          "sealing.read",
+          "power_saving.configure",
+          "protocol.select",
+          "panel.touch"
+        ],
+        "what_zh": "运行层5个状态槽改用合同ID（小写）：thermal.setpoint_k、measurement.temperature_k、power_saving.hold_temperature_k、truth.temperature_k、truth.thermal_rate_k_s。此前运行层内部用K大写后缀，靠一层包装让describe与显式read/write接受小写ID，而不带state_ids的read仍返回大写标签，代理describe中看不到read返回的三个温度槽；现删除包装，describe、read、write与合同用同一组ID。sealing.read、power_saving.configure与protocol.select结果中的同名键随之为小写；panel_ui.json中的状态引用同步（build_panel_spec.py重新生成）；Matterix读数表（温度显示）同步。能力参数名（temperature_K、hold_temperature_K等）与宿主API不变。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F2）：运行层与合同的状态槽ID必须相同、代理describe须列出全部代理槽；合同schema只允许小写ID，因此改运行层。版本1.2.1→1.2.2。",
+        "tests_changed": [
+          "tests/test_basic40_automation.py::TestAzentaHeatSealerRuntime::test_slot_ids_equal_contract（新增：describe、完整read与合同的槽ID相同）；其余测试的槽ID改为小写",
+          "tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py: 槽ID改为小写"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t5_automation/azenta_heat_sealer/panel_ui.json b/assets/basic40_batch02/t5_automation/azenta_heat_sealer/panel_ui.json
index dd94c267a4d1d96c69d4a31417c16f33c3f8765c..b663e65463de544b1838b0c12dacb6ba867b9696 100644
--- a/assets/basic40_batch02/t5_automation/azenta_heat_sealer/panel_ui.json
+++ b/assets/basic40_batch02/t5_automation/azenta_heat_sealer/panel_ui.json
@@ -116,13 +116,13 @@
       "cases": [
        {
         "when": {
-         "state": "thermal.setpoint_K",
+         "state": "thermal.setpoint_k",
          "eq": null
         },
         "const": 175
        },
        {
-        "state": "thermal.setpoint_K",
+        "state": "thermal.setpoint_k",
         "offset": -273.15,
         "round": "nearest"
        }
@@ -201,7 +201,7 @@
      "id": "hold",
      "type": "enum",
      "read": {
-      "state": "power_saving.hold_temperature_K",
+      "state": "power_saving.hold_temperature_k",
       "map": {
        "null": "off",
        "323.15": "50",
@@ -2193,14 +2193,14 @@
          "cases": [
           {
            "when": {
-            "state": "thermal.setpoint_K",
+            "state": "thermal.setpoint_k",
             "eq": null
            },
            "text": "---°C"
           },
           {
            "src": {
-            "state": "thermal.setpoint_K",
+            "state": "thermal.setpoint_k",
             "offset": -273.15,
             "round": "nearest"
            },
@@ -2644,11 +2644,11 @@
            "when": {
             "any": [
              {
-              "state": "measurement.temperature_K",
+              "state": "measurement.temperature_k",
               "eq": null
              },
              {
-              "state": "thermal.setpoint_K",
+              "state": "thermal.setpoint_k",
               "eq": null
              }
             ]
@@ -2657,10 +2657,10 @@
           },
           {
            "when": {
-            "state": "measurement.temperature_K",
+            "state": "measurement.temperature_k",
             "lt": {
              "src": {
-              "state": "thermal.setpoint_K"
+              "state": "thermal.setpoint_k"
              }
             }
            },
@@ -2683,11 +2683,11 @@
            "when": {
             "any": [
              {
-              "state": "measurement.temperature_K",
+              "state": "measurement.temperature_k",
               "eq": null
              },
              {
-              "state": "thermal.setpoint_K",
+              "state": "thermal.setpoint_k",
               "eq": null
              }
             ]
@@ -2696,10 +2696,10 @@
           },
           {
            "when": {
-            "state": "measurement.temperature_K",
+            "state": "measurement.temperature_k",
             "lt": {
              "src": {
-              "state": "thermal.setpoint_K"
+              "state": "thermal.setpoint_k"
              }
             }
            },
@@ -2794,7 +2794,7 @@
                 "state": "power_saving.idle_time_s"
                },
                "hold_temperature_K": {
-                "state": "power_saving.hold_temperature_K"
+                "state": "power_saving.hold_temperature_k"
                }
               }
              }
diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json b/assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json
index 5859e122cc1f1e6110d3d676312bce706f225456..1e66cc8ab49076fe1f3ff3f6e654240719d08754 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.mt_quantos_q2_xpe206dr",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.2",
   "name_zh": "自动粉末定量分配仪 — METTLER TOLEDO Quantos Q2 + XPE206DR",
   "category": "自动化与气液供给",
   "asset_kind": "instrument",
@@ -20,19 +20,19 @@
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend",
       "format": "blend",
       "status": "available",
-      "sha256": "61ab65358da8b3c5efd2c2b3db7337faf62faca906a8a246c3126990fc508293"
+      "sha256": "2b2872ae87a3f5dc291b7b87c9415ca20d7dbc51f31726fc78aaf2f170db0265"
     },
     "model_glb": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/model.glb",
       "format": "glb",
       "status": "available",
-      "sha256": "72221c5301bb1e2a5c89cc11755917c9b55fd30f193d8c706b50bb26ef618d43"
+      "sha256": "e53dc6145036e9c8899f0300fa6f9e3e75268d2e737ff371e6379ab1471eb13a"
     },
     "model_urdf": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/model.urdf",
       "format": "urdf",
       "status": "available",
-      "sha256": "5723110c4d09f97abf2e4c4202e0c6247cd6e7876ed7c44f543da56803eeaf9f"
+      "sha256": "6e1a29fc6031b03c4d2aea9edc907635db66f12427fc28d9824133452a766586"
     },
     "materials": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/materials.mtl",
@@ -44,25 +44,25 @@
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/geometry_manifest.json",
       "format": "json",
       "status": "available",
-      "sha256": "1a0f2081d5c1d169c356cfddccb77ef8918b3dece6cfc03aa52f40d6cc82a641"
+      "sha256": "2ed167cd46256081a10fede95a171c7aab80b253a9439ad120fe6e535757d1a5"
     },
     "collision_proxies": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/collision_proxies.json",
       "format": "json",
       "status": "available",
-      "sha256": "f8cfe14e5c200ae986a78b494dadb49b19a85f8c4faea8a71fcd698a0c59a409"
+      "sha256": "1ea225f7d6659313a5a71d1bc4a8950a1147bd3a4d8d40e56683b76226c0770b"
     },
     "optional_autosampler_glb": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.glb",
       "format": "glb",
       "status": "available",
-      "sha256": "18f919eae0f411c1ccee011da577815d593eef3c5e3051f4b90bb7517950ef23"
+      "sha256": "fdbf519b74900b3d5ef721738be470eac131cd65a14a7f1b63ee30b486601520"
     },
     "optional_autosampler_urdf": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.urdf",
       "format": "urdf",
       "status": "available",
-      "sha256": "3a02a99af1c80d586359733e15e305d115a53d4a8c789abbd74c536a58e22335"
+      "sha256": "49f0622f191bbd18841b5adf441d5b6d9d5bc8290a9bc7ecb697d79f6db3ef3f"
     },
     "runtime_code": {
       "path": "scripts/basic40_runtime_automation.py",
@@ -116,37 +116,37 @@
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_runtime_scene.py",
       "format": "py",
       "status": "available",
-      "sha256": "8c5651858df434040488ebd85b98648482401a371578ba8de868b9425ba34e24"
+      "sha256": "f3d31924dd681dce43a58272c3969a7365986e1c1814fb21bf31e07b293bbe04"
     },
     "runtime_scene_validation": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/runtime_scene_validation.json",
       "format": "json",
-      "status": "planned",
-      "sha256": null
+      "status": "available",
+      "sha256": "e5129c6126a7c9a4df9041a123f4166d946829b58d3e89386c0f00c8523d0020"
     },
     "geometry_builder": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/build_geometry.py",
       "format": "py",
       "status": "available",
-      "sha256": "152ded84e3557d51adc6784f990744f6774878883e92a4e926cc84cbf49fda2b"
+      "sha256": "265807ae86f4177f7a891919eb9fc01905f7803a4e2b6e96115a8db5535cf5f6"
     },
     "geometry_exporter": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/geometry_export_fragment.py",
       "format": "py",
       "status": "available",
-      "sha256": "723a74bbe73cd178e3a3a442bc2807ac5da0ea242f5afac59341c02b7e3e4318"
+      "sha256": "e1145913271f45cf4a0e98577ff9f786bb288bb51fb621779f58eed38a1fa69c"
     },
     "geometry_verifier": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_geometry.py",
       "format": "py",
       "status": "available",
-      "sha256": "930f28b3b4111e1cf925bb838bae786243588fbcecf760eb944fcba8a9315058"
+      "sha256": "8be681dc59134a36baad39eda066597b686f0100281f5c9c0510dc2a12305738"
     },
     "geometry_validation": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/geometry_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a055992dcdf6d324ac9f51b190678c6c8a75f64cc5026ed3132b4defe6e77604"
+      "sha256": "0cdb17954e5992b994d12a1c72bf1887ef251c145d3169a06e0f9726a6858fdd"
     },
     "source_evidence": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/source_evidence.json",
@@ -218,25 +218,25 @@
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_closed.png",
       "format": "png",
       "status": "available",
-      "sha256": "569982e7707f2cc373ee69052a932bd47e7795bbd5ea364a7539911bbada34a2"
+      "sha256": "c5a203441176d2e30f30ed5143421f9f4997f077a3cf19bf06e469b1beca61e5"
     },
     "preview_open": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_door_open.png",
       "format": "png",
       "status": "available",
-      "sha256": "57fb68257df0ecc8fc6699dbe69907e94c13e236d434c10e4f35fa199fd20361"
+      "sha256": "150e85cdbc55d4fa50c5a856f4f964f890fe5c04875462662eb7fe1d4b8b75bb"
     },
     "preview_rear": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_rear.png",
       "format": "png",
       "status": "available",
-      "sha256": "9813cc3fba147f75863b1c6ce2e7364a55b5d39dc82d9c64dfeb74844cd01923"
+      "sha256": "b770171d324eef0c4d41409b7cfb5dbaae33184a4218e92156e2cfb43a450ceb"
     },
     "preview_optional": {
       "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_optional_autosampler.png",
       "format": "png",
       "status": "available",
-      "sha256": "7ecd8f46f807690330a9ccf6da86be7a32a3b52cb97a60d4955517a762878912"
+      "sha256": "eb49747fa922a007a49a94ea128b06763a6836a88a8b4bf7897b69c44be73a1d"
     },
     "mesh_balance_base": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/balance_base.obj",
@@ -254,7 +254,7 @@
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_shield.obj",
       "format": "obj",
       "status": "available",
-      "sha256": "41084f31c26a5d9ce517ef31ac3d9a16e79885496f2f7d32a31ec03546c947ba"
+      "sha256": "2bcb3e943b346daa5a39e823d4a5e4cf3d97d587ef08c0ebaaf2a1342002e2c1"
     },
     "mesh_power_data_panel": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/power_data_panel.obj",
@@ -266,19 +266,19 @@
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door.obj",
       "format": "obj",
       "status": "available",
-      "sha256": "b6b1e95c85ed7d1af87b82a4b1afbf0126eb34b587d25e9887094757e9e47b9c"
+      "sha256": "7073a573c99f5c737ad6d7d919c4c189c9dce761448ead6c805253568f0a2495"
     },
     "mesh_draft_cover": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_cover.obj",
       "format": "obj",
       "status": "available",
-      "sha256": "9f378568b6f22b6533e06e6db4a7770688d04d2de37794824cf40ecb46143fdc"
+      "sha256": "6508f3b63bd8877003d55f051f6e77cc7e5681c5ab8035477916ae860d2c4f60"
     },
     "mesh_head_slot": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/head_slot.obj",
       "format": "obj",
       "status": "available",
-      "sha256": "1ec84d1dd36ceb7f375a7109912cee0fb0a5e1de0bdda6c4e26b50e55e5f813b"
+      "sha256": "b74a68e4473fac18542b1b55f4d0a00e409f327667bce4537699d81b5afd539b"
     },
     "mesh_dosing_head": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/dosing_head.obj",
@@ -308,7 +308,7 @@
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_instrument.obj",
       "format": "obj",
       "status": "available",
-      "sha256": "7c2bf2f84c61d00bbd472e1d19518b11719b07f8fe99082d27aafba92022f041"
+      "sha256": "fa1310ada449f09ea113689d1c09d132bbfd41a00a46eba260decf859993f945"
     },
     "mesh_autosampler_base": {
       "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_base.obj",
@@ -362,7 +362,7 @@
       "path": "outputs/panel_ui/mt_quantos_q2_xpe206dr/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "ea0e9e779bad289f8697bab3f3cc5843c632cef1d3aca1c9f11dc5563b06b687"
+      "sha256": "4c900cea1bb1a604ca2fa4bbee08e32e2ad8e9ee567f7bdd53a7f772625f85fb"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/mt_quantos_q2_xpe206dr/run_panel_validation.py",
@@ -374,7 +374,7 @@
       "path": "outputs/panel_ui/mt_quantos_q2_xpe206dr/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "7238a276be7bc3cfb76730cb9dde39dfcab773b09d3e9e2df06e7d4243536ba8"
+      "sha256": "971435e38f76accd11a066c0721529fabaa62b88bf72de00252d39215d4c1578"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/mt_quantos_q2_xpe206dr/build_panel_spec.py",
@@ -411,6 +411,48 @@
       "format": "png",
       "status": "available",
       "sha256": "2527864f72dc2ea88be04d5167c6ac3ff5ebe9f099f978f0a8b50b3c3b5b37bb"
+    },
+    "doors_head_support_verifier": {
+      "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_doors_head_support.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "78922adfeba424970832773c315e2c43323f6d12c758332589f6f58f41a811f1"
+    },
+    "doors_head_support_validation": {
+      "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/doors_head_support_validation.json",
+      "format": "json",
+      "status": "available",
+      "sha256": "305e28891d574b78abd99bd1bdbdfbcf91f9c70ab9383bd57ae7eaf1e99abe6f"
+    },
+    "preview_open_side": {
+      "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_door_open_side.png",
+      "format": "png",
+      "status": "available",
+      "sha256": "96cb62878a72fa911cdcb51bc65cc21d06cf320f181ba8031a33d634a19ac4be"
+    },
+    "preview_half_side": {
+      "path": "outputs/basic40_batch02/t5_automation/mt_quantos_q2/preview_door_half_side.png",
+      "format": "png",
+      "status": "available",
+      "sha256": "3eaf6eb3cb5726e2496f872d84c320ba8b9c1d033d823aae04b0794666eebed2"
+    },
+    "mesh_draft_door_lever": {
+      "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door_lever.obj",
+      "format": "obj",
+      "status": "available",
+      "sha256": "706588418bd8e6c00fb0d0353552ca7ca9afef9612da2d02ec34ac797c7296e4"
+    },
+    "mesh_side_door_left": {
+      "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_left.obj",
+      "format": "obj",
+      "status": "available",
+      "sha256": "4ce674156e1bbd0fd777f8fae366c42958fdf469e1e44652e8ce463cff4f39fa"
+    },
+    "mesh_side_door_right": {
+      "path": "assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_right.obj",
+      "format": "obj",
+      "status": "available",
+      "sha256": "4afe8295ca757db387b43b841f76da65f6aa4a8053f5c4fee230d4da17aafdd9"
     }
   },
   "sources": {
@@ -969,9 +1011,9 @@
       }
     },
     "draft_shield": {
-      "name_zh": "固定防风罩与导轨",
-      "function_zh": "围护称量空间并支撑滑门。",
-      "physical_meaning_zh": "静态包络与玻璃外观，未求解空气扰动。",
+      "name_zh": "防风罩固定框与导轨",
+      "function_zh": "支承三扇玻璃门并围住称量室。",
+      "physical_meaning_zh": "静态导轨、后立柱与前门下导槽（说明书p.67-68）；玻璃门本身见draft_door与side_door_left/right。",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
@@ -1007,12 +1049,17 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_shield__front_glass",
+          "selector": "quantos__draft_shield__front_guide_rail_base",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_shield__front_guide_rail_lip_-0.1491",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_shield__left_glass",
+          "selector": "quantos__draft_shield__front_guide_rail_lip_-0.1399",
           "role": "visual"
         },
         {
@@ -1021,10 +1068,8 @@
           "role": "collision"
         }
       ],
-      "capability_ids": [
-        "door.set_side"
-      ],
-      "passive_reason": null,
+      "capability_ids": [],
+      "passive_reason": "无独立主动API；承担上述容纳、支撑、连接或静态显示功能。",
       "properties": {
         "mass": {
           "value": null,
@@ -1053,8 +1098,8 @@
         "authored_dimensions": {
           "value": [
             0.20600000023841858,
-            0.26624999940395355,
-            0.4035000205039978
+            0.2727000042796135,
+            0.41050001978874207
           ],
           "unit": "m",
           "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
@@ -1069,12 +1114,12 @@
           "value": [
             [
               -0.10300000011920929,
-              -0.14124999940395355,
-              0.0625
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               0.10300000011920929,
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@@ -1089,8 +1134,8 @@
         "uniform_box_centre": {
           "value": [
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-            -0.008124999701976776,
-            0.2642500102519989
+            -0.013349998742341995,
+            0.26075001060962677
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           "unit": "m",
           "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
@@ -1103,9 +1148,9 @@
         },
         "uniform_box_inertia_per_mass": {
           "value": [
-            0.019475110727444327,
-            0.017104022220412924,
-            0.009443755190069477
+            0.02023962988172157,
+            0.017578855528732173,
+            0.009733441036027473
           ],
           "unit": "m^2",
           "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
@@ -1292,9 +1337,9 @@
       }
     },
     "draft_door": {
-      "name_zh": "右侧展示滑门",
-      "function_zh": "允许宿主装载并在投料时保持关闭。",
-      "physical_meaning_zh": "沿 +Y 滑移的展示关节；行程是显式几何假设。",
+      "name_zh": "前门（防风罩大前门）",
+      "function_zh": "关闭时围住称量室前方，去皮与投料时须关闭；打开后从前方取放容器与投料头（说明书p.20-21、p.33）。",
+      "physical_meaning_zh": "上挂玻璃门（190×400 mm），挂在左右杠杆端部的铰销上；开门时滑过前上沿导向滚轮并翻到顶玻璃上方（宣传册p.10侧视图）；关闭时落在下导槽（说明书p.67-68），上沿两颗拆门按钮（p.26）。front_door_joint是front_door_lever_joint的mimic（×−0.51264），与图纸三个开启位置的下沿偏差9–19 mm。",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
@@ -1305,12 +1350,17 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_door__handle",
+          "selector": "quantos__draft_door__top_bar",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door__release_button_-0.06",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_door__bottom_strip",
+          "selector": "quantos__draft_door__release_button_0.06",
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@@ -1350,9 +1400,9 @@
         },
         "authored_dimensions": {
           "value": [
-            0.014749996364116669,
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-            0.39399997889995575
+            0.22699999809265137,
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           "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
@@ -1366,14 +1416,14 @@
         "authored_bbox": {
           "value": [
             [
-              0.09975000470876694,
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-              0.06599999964237213
+              -0.11349999904632568,
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@@ -1386,9 +1436,9 @@
         },
         "uniform_box_centre": {
           "value": [
-            0.10712500289082527,
             0.0,
-            0.26299998909235
+            -0.14675000309944153,
+            0.2659999951720238
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           "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
@@ -1401,9 +1451,9 @@
         },
         "uniform_box_inertia_per_mass": {
           "value": [
-            0.018144665281097132,
-            0.012954462147158919,
-            0.005226463532728455
+            0.01429602009288472,
+            0.01857708254555862,
+            0.0043071040696700535
           ],
           "unit": "m^2",
           "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
@@ -1423,39 +1473,74 @@
             "geometry_manifest"
           ],
           "uncertainty": null
+        },
+        "door_length": {
+          "value": 0.407,
+          "unit": "m",
+          "meaning_zh": "铰销到门下沿（图纸读数约410 mm；模型407 mm落在下导槽里）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "open_tilt": {
+          "value": 1.3526301702956054,
+          "unit": "rad",
+          "meaning_zh": "全开时门相对竖直的倾角（图纸第三个开启位置，门搁在前上沿导向上）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
         }
       }
     },
     "draft_cover": {
-      "name_zh": "闭合顶部翻盖",
-      "function_zh": "Closed visual reconstruction only. Documented open height668mm/overhead476mm retained as envelope evidence; multi-link articulation absent/unbound.",
-      "physical_meaning_zh": "Closed visual reconstruction only. Documented open height668mm/overhead476mm retained as envelope evidence; multi-link articulation absent/unbound.",
+      "name_zh": "顶玻璃、前门导向与杠杆支座",
+      "function_zh": "封住称量室顶部，支承前门杠杆与导向。",
+      "physical_meaning_zh": "静态：称量室顶玻璃（说明书p.50）、前上沿导向滚轮（图纸高452 mm）、杠杆支座与枢轴、立柱顶盖（总高495 mm，宣传册p.10）。",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_cover__front_header",
+          "selector": "quantos__draft_cover__top_glass",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_cover__column_cap",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_cover__guide_roller_-0.0985",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_cover__guide_roller_0.0985",
           "role": "visual"
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         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_cover__top_panel",
+          "selector": "quantos__draft_cover__lever_bracket_-0.1025",
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           "artifact_id": "model_blend",
-          "selector": "quantos__draft_cover__rear_hinge_cap",
+          "selector": "quantos__draft_cover__pivot_axle_-0.1025",
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           "artifact_id": "model_blend",
-          "selector": "quantos__draft_cover__hinge_pin_-0.1055",
+          "selector": "quantos__draft_cover__lever_bracket_0.1025",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__draft_cover__hinge_pin_0.1055",
+          "selector": "quantos__draft_cover__pivot_axle_0.1025",
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@@ -1493,9 +1578,9 @@
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+            0.228006511926651,
+            0.3010000139474869,
+            0.050999999046325684
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           "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
@@ -1509,12 +1594,12 @@
         "authored_bbox": {
           "value": [
             [
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-              -0.14249999821186066,
-              0.4560000002384186
+              -0.1140032559633255,
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@@ -1530,8 +1615,8 @@
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-            0.007750004529953003,
-            0.4755000025033951
+            0.007500000298023224,
+            0.46950000524520874
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           "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
@@ -1544,9 +1629,9 @@
         },
         "uniform_box_inertia_per_mass": {
           "value": [
-            0.007651771137416367,
-            0.004087083172202115,
-            0.011485354250729088
+            0.007766834024926043,
+            0.0045489974486402724,
+            0.011882331489778778
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           "unit": "m^2",
           "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
@@ -1570,9 +1655,9 @@
       }
     },
     "head_slot": {
-      "name_zh": "投料头槽位与垂直导向",
-      "function_zh": "容纳一个宿主确认兼容的装粉投料头。",
-      "physical_meaning_zh": "单槽位空间配合；不实现换头机械或接触装配。",
+      "name_zh": "投料头支架（开放式）",
+      "function_zh": "容纳一个宿主确认兼容的投料头：头沿+Y滑入支架到底，再下压进定位销（说明书p.21）；锁定见head.set_lock（p.22）。",
+      "physical_meaning_zh": "开放式支架：背板、上下两对叉臂与四颗定位销（说明书p.11第15项、p.21照片第1项；尺寸按头的外形拟合，非厂家CAD）；头的出粉体落在下叉臂上（间隙0.5 mm），头所在空间没有实体；另含投料单元驱动壳与垂直导向。",
       "parent": "root",
       "geometry_status": "bound",
       "geometry": [
@@ -1598,12 +1683,47 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__head_slot__slot_receiver",
+          "selector": "quantos__head_slot__support_back_plate",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__head_slot__slot_dark_recess",
+          "selector": "quantos__head_slot__upper_arm_-0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__holding_pin_upper_-0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__upper_arm_0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__holding_pin_upper_0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__lower_arm_-0.0065",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__holding_pin_lower_-0.0065",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__lower_arm_0.0065",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__head_slot__holding_pin_lower_0.0065",
           "role": "visual"
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@@ -1651,7 +1771,7 @@
         "authored_dimensions": {
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@@ -1667,7 +1787,7 @@
           "value": [
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+              -0.04999999701976776,
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@@ -1687,7 +1807,7 @@
         "uniform_box_centre": {
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             0.3149999901652336
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@@ -1701,9 +1821,9 @@
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           "value": [
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+            0.007917082192599826,
             0.007081498855114036,
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+            0.003117083286345005
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           "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
@@ -2394,7 +2514,7 @@
         },
         "uniform_box_inertia_per_mass": {
           "value": [
-            0.001548333373082181,
+            0.0015483333730821813,
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             0.0044593335609038704
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@@ -2548,12 +2668,17 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_glass",
+          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_base",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_lip_-0.1491",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_shield__left_glass",
+          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_lip_-0.1399",
           "role": "visual"
         },
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@@ -2608,37 +2733,117 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_door__handle",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door__top_bar",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door__release_button_-0.06",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door__release_button_0.06",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__hub_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__arm_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__tip_pin_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__hub_0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__arm_0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_door_lever__tip_pin_0.111",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_door__bottom_strip",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_left__glass",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__front_header",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_left__handle",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__top_panel",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_left__bottom_strip",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__rear_hinge_cap",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_right__glass",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_-0.1055",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_right__handle",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_0.1055",
+          "selector": "quantos__autosampler_instrument__quantos__side_door_right__bottom_strip",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__top_glass",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__column_cap",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__guide_roller_-0.0985",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__guide_roller_0.0985",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__lever_bracket_-0.1025",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__pivot_axle_-0.1025",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__lever_bracket_0.1025",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__draft_cover__pivot_axle_0.1025",
           "role": "visual"
         },
         {
@@ -2663,12 +2868,47 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__head_slot__slot_receiver",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__support_back_plate",
           "role": "visual"
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__head_slot__slot_dark_recess",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__upper_arm_-0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__holding_pin_upper_-0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__upper_arm_0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__holding_pin_upper_0.013",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__lower_arm_-0.0065",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__holding_pin_lower_-0.0065",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__head_slot__lower_arm_0.0065",
+          "role": "visual"
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+          "selector": "quantos__autosampler_instrument__quantos__head_slot__holding_pin_lower_0.0065",
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         {
@@ -4183,12 +4423,17 @@
         },
         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_glass",
+          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_base",
+          "role": "visual"
+        },
+        {
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-          "selector": "quantos__autosampler_instrument__quantos__draft_shield__left_glass",
+          "selector": "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_lip_-0.1399",
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@@ -4243,267 +4488,382 @@
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-          "selector": "quantos__autosampler_instrument__quantos__draft_door__handle",
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         {
           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_door__bottom_strip",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__front_header",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__top_panel",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_instrument__quantos__draft_cover__rear_hinge_cap",
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-          "selector": "quantos__autosampler_instrument__quantos__terminal__display_screen",
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-          "selector": "quantos__autosampler_instrument__top_height_trim",
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-          "selector": "quantos__autosampler_base__base_disc",
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-          "selector": "quantos__autosampler_base__lower_ring",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_carousel__carrier_ring",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_-0.024",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_carousel__pocket_01",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_-0.016",
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           "artifact_id": "model_blend",
-          "selector": "quantos__autosampler_carousel__position_01",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_-0.008",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.0",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.008",
+          "role": "visual"
+        },
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+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.016",
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+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.024",
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+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.032",
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+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.04",
+          "role": "visual"
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+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.048",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__balance_pan__grid_0.056",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__housing",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__display_bezel",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__display_screen",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__ui_0",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__ui_1",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__ui_2",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__ui_3",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__ui_4",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__quantos__terminal__brand",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_instrument__top_height_trim",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_base__base_disc",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_base__lower_ring",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_carousel__carrier_ring",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_carousel__pocket_01",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__autosampler_carousel__position_01",
           "role": "visual"
         },
         {
@@ -5570,6 +5930,479 @@
           "uncertainty": null
         }
       }
+    },
+    "draft_door_lever": {
+      "name_zh": "前门提升杠杆（左右）",
+      "function_zh": "由门电机转动，抬起或放下前门（前门键、与投料联动，p.12-13、p.65）。",
+      "physical_meaning_zh": "两根198 mm杠杆，枢轴在前平面后198 mm、高466 mm，0–159°（front_door_lever_joint，宣传册p.10侧视图读数）；opening_m=杠杆角×0.198 m。",
+      "parent": "root",
+      "geometry_status": "bound",
+      "geometry": [
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__hub_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__arm_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__tip_pin_-0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__hub_0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__arm_0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__draft_door_lever__tip_pin_0.111",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_urdf",
+          "selector": "link[@name=\"draft_door_lever\"]/collision",
+          "role": "collision"
+        }
+      ],
+      "capability_ids": [
+        "door.set_opening"
+      ],
+      "passive_reason": null,
+      "properties": {
+        "mass": {
+          "value": null,
+          "unit": "kg",
+          "meaning_zh": "本部件质量未知，未套用整机值。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "centre_of_mass": {
+          "value": null,
+          "unit": "m",
+          "meaning_zh": "真实质心未知。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "inertia": {
+          "value": null,
+          "unit": "kg*m^2",
+          "meaning_zh": "真实部件惯量张量未知，未知质量不能生成数值惯量。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "authored_dimensions": {
+          "value": [
+            0.23000000417232513,
+            0.20999999716877937,
+            0.015999972820281982
+          ],
+          "unit": "m",
+          "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "authored_bbox": {
+          "value": [
+            [
+              -0.11500000208616257,
+              -0.148499995470047,
+              0.4580000042915344
+            ],
+            [
+              0.11500000208616257,
+              0.061500001698732376,
+              0.4739999771118164
+            ]
+          ],
+          "unit": "m",
+          "meaning_zh": "零姿态装配坐标中的作者包围盒[min,max]。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_centre": {
+          "value": [
+            0.0,
+            -0.04349999688565731,
+            0.4659999907016754
+          ],
+          "unit": "m",
+          "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_inertia_per_mass": {
+          "value": [
+            0.0036963331617614254,
+            0.0044296667541266115,
+            0.008083333394179744
+          ],
+          "unit": "m^2",
+          "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "configuration": {
+          "value": "base_q2_xpe206dr",
+          "unit": "1",
+          "meaning_zh": "主机或独立可选自动进样器配置归属。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "lever_length": {
+          "value": 0.198,
+          "unit": "m",
+          "meaning_zh": "杠杆枢轴到门上沿铰销的长度（宣传册p.10侧视图读数，195-198 mm）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "lever_open_angle": {
+          "value": 2.775073510670984,
+          "unit": "rad",
+          "meaning_zh": "杠杆全开角159°（图纸：杠杆端在后方水平线上方21°）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "open_envelope": {
+          "value": [
+            0.668,
+            0.476
+          ],
+          "unit": "m",
+          "meaning_zh": "开门包络：高668 mm（杠杆竖直时的端部）、水平476 mm（宣传册p.10）。",
+          "evidence": "documented",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        }
+      }
+    },
+    "side_door_left": {
+      "name_zh": "左侧门",
+      "function_zh": "从左侧取放容器与投料头；去皮与投料时须关闭（说明书p.20-21、p.25）。",
+      "physical_meaning_zh": "玻璃侧门（250×392 mm）沿+Y后滑（side_door_left_joint），Doorway 100 %行程0.16 m为图纸估计；内部电机与右侧门同时驱动，可拉手柄单独脱开（说明书p.25-26，未建模）。",
+      "parent": "root",
+      "geometry_status": "bound",
+      "geometry": [
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_left__glass",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_left__handle",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_left__bottom_strip",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_urdf",
+          "selector": "link[@name=\"side_door_left\"]/collision",
+          "role": "collision"
+        }
+      ],
+      "capability_ids": [
+        "door.set_side"
+      ],
+      "passive_reason": null,
+      "properties": {
+        "mass": {
+          "value": null,
+          "unit": "kg",
+          "meaning_zh": "本部件质量未知，未套用整机值。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "centre_of_mass": {
+          "value": null,
+          "unit": "m",
+          "meaning_zh": "真实质心未知。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "inertia": {
+          "value": null,
+          "unit": "kg*m^2",
+          "meaning_zh": "真实部件惯量张量未知，未知质量不能生成数值惯量。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "authored_dimensions": {
+          "value": [
+            0.01600000262260437,
+            0.2499999925494194,
+            0.39399997889995575
+          ],
+          "unit": "m",
+          "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "authored_bbox": {
+          "value": [
+            [
+              -0.11949999630451202,
+              -0.13699999451637268,
+              0.06599999964237213
+            ],
+            [
+              -0.10349999368190765,
+              0.11299999803304672,
+              0.4599999785423279
+            ]
+          ],
+          "unit": "m",
+          "meaning_zh": "零姿态装配坐标中的作者包围盒[min,max]。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_centre": {
+          "value": [
+            -0.11149999499320984,
+            -0.011999998241662979,
+            0.26299998909235
+          ],
+          "unit": "m",
+          "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_inertia_per_mass": {
+          "value": [
+            0.01814466497065628,
+            0.012957665288090744,
+            0.005229666363219425
+          ],
+          "unit": "m^2",
+          "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "configuration": {
+          "value": "base_q2_xpe206dr",
+          "unit": "1",
+          "meaning_zh": "主机或独立可选自动进样器配置归属。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "travel": {
+          "value": 0.16,
+          "unit": "m",
+          "meaning_zh": "Doorway 100 %时侧门后滑行程：图纸估计（宣传册p.10侧视图称量室深162 mm）；说明书p.25-26、p.71没有数值。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        }
+      }
+    },
+    "side_door_right": {
+      "name_zh": "右侧门",
+      "function_zh": "从右侧取放容器与投料头；去皮与投料时须关闭（说明书p.20-21、p.25）。",
+      "physical_meaning_zh": "玻璃侧门（250×392 mm）沿+Y后滑（side_door_right_joint），Doorway 100 %行程0.16 m为图纸估计；内部电机与左侧门同时驱动，可拉手柄单独脱开（说明书p.25-26，未建模）。",
+      "parent": "root",
+      "geometry_status": "bound",
+      "geometry": [
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_right__glass",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_right__handle",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_blend",
+          "selector": "quantos__side_door_right__bottom_strip",
+          "role": "visual"
+        },
+        {
+          "artifact_id": "model_urdf",
+          "selector": "link[@name=\"side_door_right\"]/collision",
+          "role": "collision"
+        }
+      ],
+      "capability_ids": [
+        "door.set_side"
+      ],
+      "passive_reason": null,
+      "properties": {
+        "mass": {
+          "value": null,
+          "unit": "kg",
+          "meaning_zh": "本部件质量未知，未套用整机值。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "centre_of_mass": {
+          "value": null,
+          "unit": "m",
+          "meaning_zh": "真实质心未知。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "inertia": {
+          "value": null,
+          "unit": "kg*m^2",
+          "meaning_zh": "真实部件惯量张量未知，未知质量不能生成数值惯量。",
+          "evidence": "unknown",
+          "source_ids": [],
+          "uncertainty": null
+        },
+        "authored_dimensions": {
+          "value": [
+            0.01600000262260437,
+            0.2499999925494194,
+            0.39399997889995575
+          ],
+          "unit": "m",
+          "meaning_zh": "作者网格AABB尺寸，不构成厂家部件尺寸。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "authored_bbox": {
+          "value": [
+            [
+              0.10349999368190765,
+              -0.13699999451637268,
+              0.06599999964237213
+            ],
+            [
+              0.11949999630451202,
+              0.11299999803304672,
+              0.4599999785423279
+            ]
+          ],
+          "unit": "m",
+          "meaning_zh": "零姿态装配坐标中的作者包围盒[min,max]。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_centre": {
+          "value": [
+            0.11149999499320984,
+            -0.011999998241662979,
+            0.26299998909235
+          ],
+          "unit": "m",
+          "meaning_zh": "均质盒近似的几何中心，不能当作实测质心。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "uniform_box_inertia_per_mass": {
+          "value": [
+            0.01814466497065628,
+            0.012957665288090744,
+            0.005229666363219425
+          ],
+          "unit": "m^2",
+          "meaning_zh": "[Ixx/m,Iyy/m,Izz/m]：以该部件AABB为均质盒；惯量需乘有证据的部件质量。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest",
+            "geometry_assumption"
+          ],
+          "uncertainty": null
+        },
+        "configuration": {
+          "value": "base_q2_xpe206dr",
+          "unit": "1",
+          "meaning_zh": "主机或独立可选自动进样器配置归属。",
+          "evidence": "assumption",
+          "source_ids": [
+            "geometry_manifest"
+          ],
+          "uncertainty": null
+        },
+        "travel": {
+          "value": 0.16,
+          "unit": "m",
+          "meaning_zh": "Doorway 100 %时侧门后滑行程：图纸估计（宣传册p.10侧视图称量室深162 mm）；说明书p.25-26、p.71没有数值。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        }
+      }
     }
   },
   "state_slots": {
@@ -5904,7 +6737,7 @@
       "origin": "scene",
       "visibility": "agent",
       "access": "read_write",
-      "reference_conditions": "quantos__door_slide.location.y=q; +Y opening from authored closed pose; host-configured geometric upper bound",
+      "reference_conditions": "front door: q = path of the door top hinge pin along the lever arc; quantos__front_door_lever.rotation_euler.x=-q/0.198, quantos__front_door_hinge follows as mimic (x-0.51264); 0 = closed, full open 0.5495 m; host-configured upper bound",
       "write_via": {
         "capability_id": "door.set_opening",
         "fixed_arguments": {},
@@ -5921,9 +6754,10 @@
         "accessor": "QuantosQ2Session.read(instance_id=..., state_ids=['scene.door_opening_m'])"
       },
       "component_ids": [
-        "draft_door"
+        "draft_door",
+        "draft_door_lever"
       ],
-      "meaning_zh": "门沿根坐标+Y的绝对位移；唯一权威为宿主确认后的运行状态。",
+      "meaning_zh": "前门开度：门上沿铰销沿杠杆圆弧走过的距离（m），0为关，全开0.5495 m（杠杆159°）；唯一权威为宿主场景确认后的运行状态。宿主配置的行程应取0.5495 m（更小的行程只把门开到一部分）。",
       "source_ids": [
         "runtime_code",
         "simulation_assumption"
@@ -6854,7 +7688,8 @@
     },
     "door.side_opening_fraction": {
       "component_ids": [
-        "draft_shield"
+        "side_door_left",
+        "side_door_right"
       ],
       "value_schema": {
         "type": "number",
@@ -6864,7 +7699,7 @@
       },
       "unit": "1",
       "reference_conditions": null,
-      "meaning_zh": "侧门开启比例（按Doorway设置）；侧门无独立几何。",
+      "meaning_zh": "侧门开启比例（按Doorway设置，p.71）：两扇侧门沿+Y后滑比例×0.16 m（Doorway 100 %行程为图纸估计）。",
       "origin": "setpoint",
       "access": "read_only",
       "visibility": "agent",
@@ -7687,8 +8522,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -7950,8 +8785,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8211,8 +9046,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8442,8 +9277,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8703,8 +9538,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -8722,11 +9557,12 @@
       ]
     },
     "door.set_opening": {
-      "function_zh": "设置门展示滑移位置并等待宿主场景确认。",
+      "function_zh": "设置前门开度（门上沿铰销沿杠杆圆弧的行程，0为关）并等待宿主场景确认。",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
-        "draft_door"
+        "draft_door",
+        "draft_door_lever"
       ],
       "availability": "implemented",
       "input_schema": {
@@ -8830,9 +9666,10 @@
       "model_effects": {
         "mode": "host_required",
         "binding_ids": [
-          "door_slide"
+          "front_door_lever",
+          "front_door"
         ],
-        "description_zh": "scene_adapter(instance_id,{scene.door_opening_m:q})返回True后提交，apply_quantos_q2_scene_patch映射quantos__door_slide.location.y=q。"
+        "description_zh": "scene_adapter(instance_id,{scene.door_opening_m:q})返回True后提交；apply_quantos_q2_scene_patch把前门杠杆转到q/0.198 rad（front_door_lever_joint），门板按mimic（×−0.51264）跟随；q=门上沿铰销沿杠杆圆弧的行程，全开0.5495 m。"
       },
       "execution": {
         "mode": "synchronous",
@@ -8932,16 +9769,6 @@
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "真实运行接口测试；host/process范围见runtime_validation，场景仅合成回调，不能支撑Blender求值。"
         },
-        {
-          "id": "scene_interface_check",
-          "layer": "scene",
-          "status": "passed",
-          "method": "Load saved native BLEND, invoke actual runtime door API and compare dependency-graph evaluated world transforms at four q states plus a rotated/transformed instance; parse GLB/OBJ/MTL/URDF exports.",
-          "environment": "{\"blender_version\": \"5.2.1 LTS\", \"mode\": \"background\", \"loaded_file\": \"assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend\"}",
-          "checked_at": "2026-09-10T15:07:09.003386+00:00",
-          "evidence_artifact_id": "geometry_validation",
-          "evidence_note": "实际Session调用后检查Blender评估后的门/玻璃世界姿态。"
-        },
         {
           "id": "robot_interface_check",
           "layer": "robot",
@@ -8967,10 +9794,20 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
+        },
+        {
+          "id": "scene_interface_check",
+          "layer": "scene",
+          "status": "passed",
+          "method": "Load saved native BLEND, invoke the runtime door APIs (door.set_opening through the confirmed scene adapter; door.set_side mirrored by the host bridge) and compare dependency-graph evaluated world transforms of the front-door glass (lever + mimic hinge) at four q states plus a rotated/transformed instance and of both side-door glasses; parse GLB/OBJ/MTL/URDF exports.",
+          "environment": "{\"blender_version\": \"5.2.1 LTS\", \"mode\": \"background\", \"loaded_file\": \"assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend\"}",
+          "checked_at": "2026-10-23T09:19:24.181883+00:00",
+          "evidence_artifact_id": "geometry_validation",
+          "evidence_note": "Blender：运行层门命令→场景桥→求值后的门玻璃世界位姿（前门杠杆+mimic、两扇侧门）；verify_geometry.py"
         }
       ],
       "limitations": [
@@ -9230,8 +10067,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -9731,8 +10568,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -10029,8 +10866,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -10351,8 +11188,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -10700,8 +11537,8 @@
           "layer": "host",
           "status": "passed",
           "method": "the existing runtime tests rerun on the runtime with the panel hookup",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "panel_ui_validation.runtime_regression：原有运行层测试在加入面板与新设备功能后仍全部通过"
         }
@@ -11080,8 +11917,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11090,8 +11927,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11373,8 +12210,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11383,8 +12220,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11649,8 +12486,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11659,8 +12496,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11861,8 +12698,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -11871,8 +12708,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12067,8 +12904,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12077,8 +12914,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12278,8 +13115,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12288,8 +13125,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12514,8 +13351,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12524,8 +13361,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12770,8 +13607,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -12780,8 +13617,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13027,8 +13864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13037,8 +13874,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13251,8 +14088,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13261,8 +14098,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13470,8 +14307,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13480,8 +14317,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13690,8 +14527,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -13700,8 +14537,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14022,8 +14859,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14032,8 +14869,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14228,8 +15065,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14238,8 +15075,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14447,8 +15284,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14457,8 +15294,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14659,8 +15496,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14669,8 +15506,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14895,8 +15732,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -14905,8 +15742,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15120,8 +15957,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15130,8 +15967,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15320,8 +16157,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15330,8 +16167,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15375,11 +16212,12 @@
       ]
     },
     "door.set_side": {
-      "function_zh": "侧门开/关（侧门键），开启宽度按用户设置Doorway（p.25、p.71）；侧门无独立几何。",
+      "function_zh": "左右侧门开/关（侧门键，内部电机同时驱动两扇），开启宽度按用户设置Doorway（p.25、p.71）：两扇侧门沿+Y后滑Doorway×0.16 m（行程为图纸估计）。",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
-        "draft_shield"
+        "side_door_left",
+        "side_door_right"
       ],
       "availability": "implemented",
       "input_schema": {
@@ -15412,7 +16250,7 @@
       "implementation": {
         "process": "verified",
         "host": "verified",
-        "scene": "absent",
+        "scene": "verified",
         "robot": "absent",
         "hardware": "absent"
       },
@@ -15466,9 +16304,12 @@
         "door.side_opening_fraction"
       ],
       "model_effects": {
-        "mode": "none",
-        "binding_ids": [],
-        "description_zh": "只改变运行层状态；终端画面由panel.capture渲染。"
+        "mode": "coupled",
+        "binding_ids": [
+          "side_door_left_slide",
+          "side_door_right_slide"
+        ],
+        "description_zh": "两扇侧门的平移关节跟随door.side_opening_fraction（宿主把该状态镜像到场景：apply_quantos_q2_scene_patch，位置=比例×0.16 m）。"
       },
       "execution": {
         "mode": "synchronous",
@@ -15552,8 +16393,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15562,21 +16403,11 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
-        {
-          "id": "scene_not_run",
-          "layer": "scene",
-          "status": "not_run",
-          "method": "本层未独立验证",
-          "environment": null,
-          "checked_at": null,
-          "evidence_artifact_id": null,
-          "evidence_note": "不跨层借用验证结果"
-        },
         {
           "id": "robot_not_run",
           "layer": "robot",
@@ -15596,6 +16427,16 @@
           "checked_at": null,
           "evidence_artifact_id": null,
           "evidence_note": "不跨层借用验证结果"
+        },
+        {
+          "id": "scene_side_doors_check",
+          "layer": "scene",
+          "status": "passed",
+          "method": "Load saved native BLEND, invoke the runtime door APIs (door.set_opening through the confirmed scene adapter; door.set_side mirrored by the host bridge) and compare dependency-graph evaluated world transforms of the front-door glass (lever + mimic hinge) at four q states plus a rotated/transformed instance and of both side-door glasses; parse GLB/OBJ/MTL/URDF exports.",
+          "environment": "{\"blender_version\": \"5.2.1 LTS\", \"mode\": \"background\", \"loaded_file\": \"assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend\"}",
+          "checked_at": "2026-10-23T09:19:24.181883+00:00",
+          "evidence_artifact_id": "geometry_validation",
+          "evidence_note": "Blender：运行层门命令→场景桥→求值后的门玻璃世界位姿（前门杠杆+mimic、两扇侧门）；verify_geometry.py"
         }
       ],
       "limitations": [
@@ -15773,8 +16614,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15783,8 +16624,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15989,8 +16830,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -15999,8 +16840,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16204,8 +17045,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16214,8 +17055,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16432,8 +17273,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16442,8 +17283,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16641,8 +17482,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16651,8 +17492,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16840,8 +17681,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -16850,8 +17691,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17064,8 +17905,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17074,8 +17915,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17300,8 +18141,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17310,8 +18151,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17479,8 +18320,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17489,8 +18330,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17730,8 +18571,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17740,8 +18581,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17942,8 +18783,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17952,8 +18793,8 @@
           "layer": "host",
           "status": "passed",
           "method": "Executed the terminal unittest suite through the session API (panel.press on the hardware keys and SmartSens, panel.touch on the screen, panel.switch on the head height handle, panel.capture, panel.frame and the new instrument commands): the seven key procedures of the menu survey and the other terminal functions (function keys, info fields, unit and resolution, sample counter, head data, tapper, ",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:54:19.849284+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-23T09:23:32.541161+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_quantos_q2_xpe206dr.py）经会话API执行；不跨层借用验证结果"
         },
@@ -17998,26 +18839,96 @@
     }
   },
   "model_bindings": {
-    "door_slide": {
+    "front_door_lever": {
+      "component_id": "draft_door_lever",
+      "artifact_id": "model_blend",
+      "target": "quantos__front_door_lever",
+      "channel": "joint",
+      "attribute": "rotation_euler.x",
+      "unit": "rad",
+      "limits": [
+        -2.775073510670984,
+        0.0
+      ],
+      "state_id": "scene.door_opening_m",
+      "mapping_zh": "rotation_euler.x=-q/0.198（URDF front_door_lever_joint，轴-X，0–2.775 rad）；scene_adapter确认后由apply_quantos_q2_scene_patch写入；无驱动器/动画/约束覆盖。",
+      "authority": "host",
+      "direction": "host_to_both",
+      "sync_status": "verified",
+      "source_ids": [
+        "runtime_code",
+        "geometry_manifest",
+        "manufacturer_primary",
+        "operating_manual_terminal"
+      ]
+    },
+    "front_door": {
       "component_id": "draft_door",
       "artifact_id": "model_blend",
-      "target": "quantos__door_slide",
+      "target": "quantos__front_door_hinge",
       "channel": "joint",
-      "attribute": "location.y",
-      "unit": "m",
+      "attribute": "rotation_euler.x",
+      "unit": "rad",
       "limits": [
-        0,
-        0.12
+        0.0,
+        1.4226136845103732
       ],
       "state_id": "scene.door_opening_m",
-      "mapping_zh": "QuantosQ2Runtime以scene.door_opening_m为唯一权威；scene_adapter确认后，apply_quantos_q2_scene_patch写quantos__door_slide.location.y=q。+Y为向后开门，0为作者关闭姿态；无驱动器/动画/约束覆盖。",
+      "mapping_zh": "rotation_euler.x=0.51264×q/0.198（URDF front_door_joint，front_door_lever_joint的mimic，multiplier −0.51264）；与杠杆同一次桥接写入。",
       "authority": "host",
       "direction": "host_to_both",
       "sync_status": "verified",
       "source_ids": [
         "runtime_code",
         "geometry_manifest",
-        "geometry_assumption"
+        "manufacturer_primary",
+        "operating_manual_terminal"
+      ]
+    },
+    "side_door_left_slide": {
+      "component_id": "side_door_left",
+      "artifact_id": "model_blend",
+      "target": "quantos__side_door_left_slide",
+      "channel": "joint",
+      "attribute": "location.y",
+      "unit": "m",
+      "limits": [
+        0.0,
+        0.16
+      ],
+      "state_id": "door.side_opening_fraction",
+      "mapping_zh": "location.y=door.side_opening_fraction×0.16（URDF side_door_left_joint，+Y）；运行层door.set_side为权威，宿主经apply_quantos_q2_scene_patch镜像到场景。",
+      "authority": "process",
+      "direction": "process_to_scene",
+      "sync_status": "verified",
+      "source_ids": [
+        "runtime_code",
+        "geometry_manifest",
+        "manufacturer_primary",
+        "operating_manual_terminal"
+      ]
+    },
+    "side_door_right_slide": {
+      "component_id": "side_door_right",
+      "artifact_id": "model_blend",
+      "target": "quantos__side_door_right_slide",
+      "channel": "joint",
+      "attribute": "location.y",
+      "unit": "m",
+      "limits": [
+        0.0,
+        0.16
+      ],
+      "state_id": "door.side_opening_fraction",
+      "mapping_zh": "location.y=door.side_opening_fraction×0.16（URDF side_door_right_joint，+Y）；运行层door.set_side为权威，宿主经apply_quantos_q2_scene_patch镜像到场景。",
+      "authority": "process",
+      "direction": "process_to_scene",
+      "sync_status": "verified",
+      "source_ids": [
+        "runtime_code",
+        "geometry_manifest",
+        "manufacturer_primary",
+        "operating_manual_terminal"
       ]
     }
   },
@@ -18027,7 +18938,7 @@
       "medium": "mechanical",
       "direction": "bidirectional",
       "frame": "quantos__port_head_slot；作者位置/方向详见geometry_manifest.ports.head_slot",
-      "meaning_zh": "投料头的单槽装配参考口；同一时刻绑定一个宿主head_id。",
+      "meaning_zh": "投料头的单槽装配参考口（开放式支架内，头沿+Y滑入、下压3 mm进定位销，说明书p.21）；同一时刻绑定一个宿主head_id。",
       "connection_constraints": [
         "宿主确认自由流动粉末头兼容性和装载；不是气路入口。",
         "门开且空闲；换头不自动产生接触或机械动作。"
@@ -18081,7 +18992,7 @@
       "medium": "mechanical",
       "direction": "bidirectional",
       "frame": "quantos__port_sample_access；作者位置/方向详见geometry_manifest.ports.sample_access",
-      "meaning_zh": "经展示滑门装入或移出样品容器的空间通道。",
+      "meaning_zh": "经前门（打开后）装入或移出样品容器与投料头的空间通道（前平面，高0.20 m）。",
       "connection_constraints": [
         "装卸须门开、设备空闲并由宿主确认容器放置或移出。",
         "空间标记不证明接触避碰或机器人抓取，attach/release由外部宿主约束处理。"
@@ -18108,6 +19019,28 @@
         "接口位置为作者外观近似；连接器、协议、引脚和通信速率未获本配置数值证据。",
         "运行API是仿真适配器，不代表该物理端口已实现硬件通信。"
       ]
+    },
+    "side_access_left": {
+      "component_id": "side_door_left",
+      "medium": "mechanical",
+      "direction": "bidirectional",
+      "frame": "quantos__port_side_access_left；作者位置/方向详见geometry_manifest.ports.side_access_left",
+      "meaning_zh": "经左侧门（后滑打开后，净深约0.17 m）取放容器与投料头的空间通道。",
+      "connection_constraints": [
+        "装卸须门开、设备空闲并由宿主确认容器或投料头放置或移出。",
+        "空间标记不证明接触避碰或机器人抓取，attach/release由外部宿主约束处理。"
+      ]
+    },
+    "side_access_right": {
+      "component_id": "side_door_right",
+      "medium": "mechanical",
+      "direction": "bidirectional",
+      "frame": "quantos__port_side_access_right；作者位置/方向详见geometry_manifest.ports.side_access_right",
+      "meaning_zh": "经右侧门（后滑打开后，净深约0.17 m）取放容器与投料头的空间通道。",
+      "connection_constraints": [
+        "装卸须门开、设备空闲并由宿主确认容器或投料头放置或移出。",
+        "空间标记不证明接触避碰或机器人抓取，attach/release由外部宿主约束处理。"
+      ]
     }
   },
   "mechanisms": {
@@ -18263,42 +19196,79 @@
     },
     "door_kinematics": {
       "component_ids": [
-        "draft_door"
+        "draft_door",
+        "draft_door_lever"
       ],
       "state_ids": [
         "scene.door_opening_m",
         "balance.tared",
         "dosing.status"
       ],
-      "meaning_zh": "宿主确认的展示滑移关节与运行前提同步。",
+      "meaning_zh": "前门：左右杠杆抬起的上挂玻璃门，门在前上沿导向上滑过（宣传册p.10侧视图）；宿主确认的场景开度与运行前提同步。",
       "implementation": "lumped",
       "equations": [
-        "door.location.y=q_m; q>=0 and q<=host_configured_travel",
-        "运行时不能开门；开门使去皮失效；这些是本模拟器前提。"
+        "lever_angle=q/0.198 (rad, 0..2.775); door_angle=-0.51264*lever_angle (mimic, about -X at the hinge pin)",
+        "q>=0 and q<=host_configured_travel<=0.5495 m",
+        "投料运行时不能开门；开门使去皮失效（说明书p.33、p.91）；这些是本模拟器前提。"
       ],
       "parameters": {
-        "authored_travel": {
-          "value": 0.12,
+        "lever_length": {
+          "value": 0.198,
+          "unit": "m",
+          "meaning_zh": "杠杆长（图纸读数）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "lever_pivot": {
+          "value": [
+            0.0,
+            0.0535,
+            0.466
+          ],
           "unit": "m",
-          "meaning_zh": "作者几何展示行程，厂家门行程未知。",
+          "meaning_zh": "杠杆枢轴（前平面后198 mm、高466 mm，图纸读数）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "lever_open_angle": {
+          "value": 2.775073510670984,
+          "unit": "rad",
+          "meaning_zh": "全开杠杆角159°（图纸）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        },
+        "door_mimic": {
+          "value": -0.51264,
+          "unit": "1",
+          "meaning_zh": "门铰角/杠杆角：线性近似导向运动，两端精确，中间偏差≤1.4°（图纸三位置下沿偏差9–19 mm）。",
           "evidence": "assumption",
           "source_ids": [
-            "geometry_manifest",
-            "geometry_assumption"
+            "geometry_manifest"
           ],
           "uncertainty": null
         },
-        "hardware_travel": {
-          "value": null,
+        "authored_travel": {
+          "value": 0.5494645551128549,
           "unit": "m",
-          "meaning_zh": "厂家实际行程未知。",
-          "evidence": "unknown",
-          "source_ids": [],
+          "meaning_zh": "前门几何全行程：全开时门上沿铰销的圆弧行程（杠杆长×全开角，图纸推算）；宿主配置的行程应取此值。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
           "uncertainty": null
         },
         "actuator_velocity": {
           "value": null,
-          "unit": "m/s",
+          "unit": "rad/s",
           "meaning_zh": "真实门速度未知；URDF零velocity仅禁用驱动。",
           "evidence": "unknown",
           "source_ids": [],
@@ -18306,8 +19276,8 @@
         },
         "actuator_force": {
           "value": null,
-          "unit": "N",
-          "meaning_zh": "真实门驱动力未知；URDF零effort仅禁用驱动。",
+          "unit": "N*m",
+          "meaning_zh": "真实门驱动力矩未知；URDF零effort仅禁用驱动。",
           "evidence": "unknown",
           "source_ids": [],
           "uncertainty": null
@@ -18316,10 +19286,49 @@
       "source_ids": [
         "runtime_code",
         "geometry_manifest",
-        "geometry_assumption"
+        "manufacturer_primary",
+        "operating_manual_terminal"
+      ],
+      "limitations": [
+        "杠杆与门由宣传册p.10侧视图读数（无厂家CAD、无行程数值）；门速度与关门碰撞未建模。",
+        "模拟器中关节自碰撞关闭；扫掠检查见doors_head_support_validation。"
+      ]
+    },
+    "side_door_kinematics": {
+      "component_ids": [
+        "side_door_left",
+        "side_door_right"
+      ],
+      "state_ids": [
+        "door.side_opening_fraction",
+        "balance.tared"
+      ],
+      "meaning_zh": "左右侧门沿+Y后滑，内部电机同时驱动（说明书p.25-26）；开启宽度按Doorway（p.71）。",
+      "implementation": "lumped",
+      "equations": [
+        "side_door_y=door.side_opening_fraction*0.16 m (both doors)",
+        "fraction=Doorway%/100 when opened (door.set_side or linked procedures, p.65)"
+      ],
+      "parameters": {
+        "travel": {
+          "value": 0.16,
+          "unit": "m",
+          "meaning_zh": "Doorway 100 %行程：图纸估计（p.10侧视图称量室深162 mm）。",
+          "evidence": "photo_estimate",
+          "source_ids": [
+            "manufacturer_primary"
+          ],
+          "uncertainty": null
+        }
+      },
+      "source_ids": [
+        "runtime_code",
+        "geometry_manifest",
+        "manufacturer_primary",
+        "operating_manual_terminal"
       ],
       "limitations": [
-        "未验证接触、关门碰撞或真实机械执行。"
+        "说明书没有侧门行程数值；单扇脱开电机（p.26）未建模，两扇总是一起动。"
       ]
     }
   },
@@ -18328,11 +19337,11 @@
     "范围1 mg–5 g仅适用于宿主明确确认的自由流动粉末；无默认物料、库存、允许偏差、速率、天平容量或读数精度。",
     "碳酸钙10 mg典型22 s、RSD 1.15%；50 mg RSD 0.26%；1000 mg典型71 s仅作为清单资料，不计算任意粉末速率、RSD或随机误差。",
     "投料采用显式宿主速率与理想闭环连续停止模型，实际读数为estimated理想质量代理；没有粉体流变、扬尘、残留、天平动态或真实误差模型。",
-    "门为宿主确认的展示滑移关节，几何行程由宿主带证据配置；不声称是原厂门行程、速度或安全互锁认证。",
+    "前门为杠杆抬起的上挂玻璃门（说明书p.25-26、p.67-68；宣传册p.10侧视图）：scene.door_opening_m为门上沿铰销沿杠杆圆弧走过的距离（杠杆转角=开度/0.198 m，全开0.5495 m，图纸推算），宿主带证据配置行程并经场景回调确认；左右侧门沿+Y后滑，Doorway 100 %行程0.16 m为图纸估计（说明书未给数值）；不声称原厂门速度或安全互锁认证。",
     "attach/release仅在外部约束回调明确确认后登记；没有机器人规划、接触抓取或硬件驱动。",
     "只有可信宿主管理库存、物质转移账本、身份和时间；API过滤不是Python或共享文件系统隔离。请求去重仅当前内存有效。",
     "Internal gears, valves and powder flow are not resolved geometry.",
-    "Glass thickness, door travel, ports and replaceable head/container details are visual/kinematic assumptions.",
+    "Front-door kinematics and side-door travel are read from the brochure p.10 drawing (no maker CAD or travel figure); glass thickness, ports and replaceable head/container details are visual assumptions.",
     "Collision primitives do not prove contact, powder dynamics or robotic grasping.",
     "Optional autosampler is separately visualized; its indexing/runtime automation is absent.",
     "Main model displays one illustrative vial; its dimensions/capacity are not manufacturer compatibility limits.",
@@ -18572,26 +19581,32 @@
     "chemistry_lab.geometry_contract": {
       "root_object": "quantos__root",
       "mechanical_joint": {
-        "id": "door_slide",
-        "target": "quantos__door_slide",
-        "type": "prismatic",
+        "id": "front_door_lever_joint",
+        "target": "quantos__front_door_lever",
+        "type": "revolute",
         "axis": [
+          -1,
           0,
-          1,
           0
         ],
-        "limit_m": [
+        "origin_m": [
+          0.0,
+          0.0535,
+          0.466
+        ],
+        "limit_rad": [
           0,
-          0.12
+          2.775073510670984
         ],
-        "actual_hardware_travel_m": null,
-        "q_unit": "m",
+        "q_unit": "rad",
+        "lever_length_m": 0.198,
+        "travel_m": 0.5494645551128549,
         "state_slot": "scene.door_opening_m",
-        "mapping": "quantos__door_slide.location.y = scene.door_opening_m",
+        "mapping": "quantos__front_door_lever.rotation_euler.x = -scene.door_opening_m / 0.198; quantos__front_door_hinge.rotation_euler.x = 0.51264 * scene.door_opening_m / 0.198 (door follows as mimic)",
         "authority": "host",
         "driver": "absent",
         "animation_writer": "absent",
-        "evidence": "authored geometry travel assumption, not a manufacturer specification"
+        "evidence": "brochure 30084648A p.10 side view (closed and three open positions of the lever-lifted front door); manual p.25-26, p.67-68"
       },
       "dimension_evidence": {
         "source": "BR_Quantos_Powder_EN.pdf, brochure 30084648A, printed page 10",
@@ -18604,8 +19619,8 @@
         ],
         "base_plan_length_m": 0.481,
         "base_side_total_depth_m": 0.542,
-        "top_cover_fully_open_envelope_height_m": 0.668,
-        "top_cover_fully_open_horizontal_span_m": 0.476,
+        "front_door_fully_open_envelope_height_m": 0.668,
+        "front_door_fully_open_horizontal_span_m": 0.476,
         "optional_qs30_envelope_m": [
           0.431,
           0.618,
@@ -18614,7 +19629,43 @@
         "optional_instrument_sub_length_m": 0.347,
         "optional_terminal_width_m": 0.194,
         "optional_cover_platform_height_m": 0.207,
-        "note": "481 is the plan-view dimension and 542 is the side-view full depth including the extended rear feature; not interchangeable. Open-cover envelope is documented but articulated multi-link cover not implemented."
+        "front_door_drawing_reading": {
+          "scale_px_per_mm": 0.585,
+          "lever_pivot_from_front_plane_m": 0.198,
+          "lever_pivot_height_m": 0.466,
+          "lever_length_m": 0.198,
+          "door_length_hinge_to_lower_edge_m": 0.407,
+          "guide_height_m": 0.452,
+          "lever_open_angle_deg": 159,
+          "door_open_tilt_deg": 77.5,
+          "open_positions_read": [
+            {
+              "lever_deg": 63,
+              "lower_edge_m": [
+                -0.084,
+                0.289
+              ]
+            },
+            {
+              "lever_deg": 92,
+              "lower_edge_m": [
+                -0.074,
+                0.358
+              ]
+            },
+            {
+              "lever_deg": 159,
+              "lower_edge_m": [
+                -0.019,
+                0.441
+              ]
+            }
+          ],
+          "note": "Side view, three drawn open positions of the lever-lifted front door (668 mm = lever tip at 92 deg; 476 mm = door lower edge forward to lever tip rear). Lower-edge coordinates are (from the front plane, +rear; height)."
+        },
+        "side_door_travel_m": 0.16,
+        "side_door_travel_evidence": "drawing estimate: p.10 side view, weighing-chamber depth from the front glass to the dosing-unit column 162 mm; manual p.25-26 and p.71 (Doorway 25-100 %) give no number",
+        "note": "481 is the plan-view dimension and 542 is the side-view full depth including the extended rear feature; not interchangeable. The 668/476 open envelope is the lever-lifted front door (before 2026-10-23 it was read as a top cover)."
       },
       "ports": {
         "head_slot": {
@@ -18668,19 +19719,51 @@
         "sample_access": {
           "component_id": "draft_door",
           "position_m": [
-            0.104,
-            -0.025,
-            0.157
+            0,
+            -0.15,
+            0.2
           ],
           "direction": [
-            1,
             0,
+            -1,
             0
           ],
           "medium": "sample_container_access",
           "object": "quantos__port_sample_access",
           "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
         },
+        "side_access_left": {
+          "component_id": "side_door_left",
+          "position_m": [
+            -0.11,
+            -0.06,
+            0.2
+          ],
+          "direction": [
+            -1,
+            0,
+            0
+          ],
+          "medium": "sample_container_access",
+          "object": "quantos__port_side_access_left",
+          "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
+        },
+        "side_access_right": {
+          "component_id": "side_door_right",
+          "position_m": [
+            0.11,
+            -0.06,
+            0.2
+          ],
+          "direction": [
+            1,
+            0,
+            0
+          ],
+          "medium": "sample_container_access",
+          "object": "quantos__port_side_access_right",
+          "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
+        },
         "power_inlet": {
           "component_id": "power_data_panel",
           "position_m": [
@@ -18716,7 +19799,112 @@
       },
       "mass_policy": "Unknown whole-assembly and component masses stay null. Inertials are omitted from URDF. Unit-mass uniform-box coefficients are supplied for a host to multiply by evidence-backed masses; coefficients do not assert mass.",
       "inertia_policy": "Ixx/m=(dy²+dz²)/12, Iyy/m=(dx²+dz²)/12, Izz/m=(dx²+dy²)/12 about authored AABB centre; off-diagonal zero under uniform-box assumption. All actual I values null.",
-      "optional_autosampler_installed": false
+      "optional_autosampler_installed": false,
+      "mechanical_joints": [
+        {
+          "id": "front_door_lever_joint",
+          "component": "draft_door_lever",
+          "parent": "base_link",
+          "target": "quantos__front_door_lever",
+          "type": "revolute",
+          "axis": [
+            -1,
+            0,
+            0
+          ],
+          "origin_m": [
+            0.0,
+            0.0535,
+            0.466
+          ],
+          "limit": [
+            0,
+            2.775073510670984
+          ],
+          "q_unit": "rad",
+          "state_slot": "scene.door_opening_m",
+          "scale_rad_per_state_unit": 5.05050505050505,
+          "evidence": "drawing (brochure p.10): pivot, lever length 198 mm, fully open 159 deg"
+        },
+        {
+          "id": "front_door_joint",
+          "component": "draft_door",
+          "parent": "draft_door_lever",
+          "target": "quantos__front_door_hinge",
+          "type": "revolute",
+          "axis": [
+            -1,
+            0,
+            0
+          ],
+          "origin_m": [
+            0.0,
+            -0.14450000000000002,
+            0.466
+          ],
+          "limit": [
+            -1.4226136845103732,
+            0
+          ],
+          "q_unit": "rad",
+          "mimic": {
+            "joint": "front_door_lever_joint",
+            "multiplier": -0.51264,
+            "offset": 0.0
+          },
+          "evidence": "door guided at the front top edge (drawing): world tilt 77.5 deg at lever 159 deg; linear mimic exact at both ends, max 1.4 deg off between"
+        },
+        {
+          "id": "side_door_left_joint",
+          "component": "side_door_left",
+          "parent": "base_link",
+          "target": "quantos__side_door_left_slide",
+          "type": "prismatic",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "origin_m": [
+            0,
+            0,
+            0
+          ],
+          "limit": [
+            0,
+            0.16
+          ],
+          "q_unit": "m",
+          "state_slot": "door.side_opening_fraction",
+          "scale_m_per_state_unit": 0.16,
+          "evidence": "drawing estimate (p.10 chamber depth 162 mm); manual gives no travel"
+        },
+        {
+          "id": "side_door_right_joint",
+          "component": "side_door_right",
+          "parent": "base_link",
+          "target": "quantos__side_door_right_slide",
+          "type": "prismatic",
+          "axis": [
+            0,
+            1,
+            0
+          ],
+          "origin_m": [
+            0,
+            0,
+            0
+          ],
+          "limit": [
+            0,
+            0.16
+          ],
+          "q_unit": "m",
+          "state_slot": "door.side_opening_fraction",
+          "scale_m_per_state_unit": 0.16,
+          "evidence": "drawing estimate (p.10 chamber depth 162 mm); manual gives no travel"
+        }
+      ]
     },
     "chemistry_lab.source_evidence": {
       "evidence_artifact_id": "source_evidence",
@@ -18896,6 +20084,15 @@
       ]
     },
     "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-19",
+        "id": "contract_hygiene_sweep",
+        "capability_ids": [],
+        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同0处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/mt_quantos_q2/runtime_validation.json: superseded",
+        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
+        "tests_changed": [],
+        "backup": "备份见项目备份目录sync_20261019/"
+      },
       {
         "date": "2026-10-19",
         "id": "panel_gesture_caller",
@@ -18975,13 +20172,33 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-19",
-        "id": "contract_hygiene_sweep",
-        "capability_ids": [],
-        "what_zh": "合同卫生：验证记录与证据JSON中的绝对家目录路径改为~（合同0处）；描述旧运行层的运行验证记录标为superseded（指向当前panel_ui_validation）；相关文件的sha256已刷新。变更文件：outputs/basic40_batch02/t5_automation/mt_quantos_q2/runtime_validation.json: superseded",
-        "why_zh": "一致性清扫Rule 6（合同卫生：无个人路径、旧证据标为已取代、引用哈希最新）。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录sync_20261019/"
+        "date": "2026-10-22",
+        "id": "dose_residue_below_resolution",
+        "capability_ids": [
+          "dosing.start",
+          "dosing.poll"
+        ],
+        "what_zh": "宿主步进的投料累计在某些目标上差几个ulp到不了目标（例如5e-7 kg/s、1 s步长投20 mg，40步后为1.999999999999999e-05 kg，差1e-20 kg）；下一步的转移量低于质量的数值分辨率，host_step抛出“Mass change below numerical resolution”并丢掉这一步，此后运行层时钟落后于实验室时钟、每一步都因时钟不一致失败，dosing.status永远是running。现在目标在数值分辨率内即算达到（分辨率取目标的1e-12倍与所涉质量的数个ulp中较大者，合同的完成判据“理想观测达到目标即停止”），投料以succeeded结束；转移量低于分辨率的一步不转移任何粉末但时钟照常推进，绝不抛错或丢步；投料头剩余量低于分辨率按缺料（SOURCE_DEPLETED）结束。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层（dosing类）发现的真实缺陷（负责人追加Q1）：20 mg投料永不结束，且实验室时钟与运行层脱节。",
+        "tests_changed": [
+          "tests/test_basic40_automation.py::TestQuantosQ2Runtime::test_dose_sum_residue_below_resolution_finishes_and_keeps_the_clock（新增：1 mg–123 mg共11个目标含20 mg，及低于分辨率的一步）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
+      {
+        "date": "2026-10-23",
+        "id": "real_doors_head_support",
+        "capability_ids": [
+          "door.set_opening",
+          "door.set_side"
+        ],
+        "what_zh": "原来唯一的门是右侧一块沿+Y滑移0.12 m的玻璃（作者假设），前玻璃与左侧玻璃固定，宣传册p.10的开门包络被当成顶盖；投料头槽是实心盒（slot_receiver）与下驱动盒，装上的头与它们相交约6 mm。现在：大前门（说明书p.25）按宣传册p.10侧视图（闭合与三个开启位置，0.585 px/mm读数）建为左右杠杆抬起的上挂玻璃门：杠杆枢轴在前平面后198 mm、高466 mm，杠杆长198 mm，全开159°（front_door_lever_joint）；门长407 mm，作为杠杆的mimic关节（front_door_joint，×−0.51264，全开时门倾77.5°，与图纸三个开启位置的下沿偏差9–19 mm）；关闭时门落在下导槽（p.67-68），上沿两颗拆门按钮（p.26）。door.set_opening的opening_m改为门上沿铰销沿杠杆圆弧走过的距离（杠杆角=opening_m/0.198 m，全开0.5495 m）。左右侧门各一个沿+Y的平移关节（side_door_left_joint、side_door_right_joint），Doorway 100 %行程0.16 m为图纸估计（p.10侧视图称量室深162 mm；说明书p.25-26、p.71没有数值），door.set_side经door.side_opening_fraction驱动两扇（内部电机同时带动，p.25-26）。顶部改为称量室顶玻璃（p.50）、前门导向滚轮与杠杆支座；head_slot换成开放式投料头支架（说明书p.11第15项、p.21照片）：背板、上下两对叉臂与四颗定位销，头沿+Y滑入到底再下压3 mm落在下叉臂上（间隙0.5 mm）；head_slot端口、出粉口与容器座位置不变。",
+        "why_zh": "负责人（机器人取放需要真实门与开放头支架）：门按说明书与图纸，侧门用真实行程（说明书无数值，取图纸估计0.16 m，小于MAT-B希望的0.20 m），实心头槽换成开放支架。版本1.2.1→1.2.2（无新能力；opening_m由滑移位移改为杠杆圆弧行程，范围0–0.5495 m；宿主配置的行程应取0.5495 m）。",
+        "tests_changed": [
+          "tests/test_basic40_automation.py::TestQuantosQ2Runtime::test_scene_bridge_target_and_authority_guards（改为杠杆+mimic前门与两扇侧门）",
+          "tests/test_basic40_automation.py::TestQuantosQ2Runtime::test_doors_and_head_support_geometry（新增：关节、mimic、行程、开放支架、verify_doors_head_support）"
+        ],
+        "backup": "备份见项目备份目录quantos_doors_20261023/"
       }
     ]
   }
diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/collision_proxies.json b/assets/basic40_batch02/t5_automation/mt_quantos_q2/collision_proxies.json
index 1fbc4079827bb16326b9fde0c2cf0b8299de2d30..368f23f9142449219ad95bcf28228b6d7414e0a3 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/collision_proxies.json
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/collision_proxies.json
@@ -353,14 +353,14 @@
       {
         "shape": "box",
         "dimensions_m": [
-          0.192,
-          0.0025,
-          0.392
+          0.2,
+          0.01,
+          0.002
         ],
         "origin_m": [
           0,
-          -0.14,
-          0.264
+          -0.1445,
+          0.0565
         ],
         "rpy_rad": [
           0,
@@ -372,14 +372,33 @@
       {
         "shape": "box",
         "dimensions_m": [
-          0.0025,
-          0.25,
-          0.392
+          0.2,
+          0.0012,
+          0.004
         ],
         "origin_m": [
-          -0.101,
-          0.0,
-          0.264
+          0,
+          -0.1491,
+          0.0595
+        ],
+        "rpy_rad": [
+          0,
+          0,
+          0
+        ],
+        "evidence": "authored primitive proxy; not contact-validated"
+      },
+      {
+        "shape": "box",
+        "dimensions_m": [
+          0.2,
+          0.0012,
+          0.004
+        ],
+        "origin_m": [
+          0,
+          -0.1399,
+          0.0595
         ],
         "rpy_rad": [
           0,
@@ -557,14 +576,14 @@
       {
         "shape": "box",
         "dimensions_m": [
-          0.0025,
-          0.25,
-          0.392
+          0.19,
+          0.003,
+          0.4
         ],
         "origin_m": [
-          0.101,
-          0.0,
-          0.264
+          0,
+          -0.1445,
+          0.259
         ],
         "rpy_rad": [
           0,
@@ -576,14 +595,14 @@
       {
         "shape": "box",
         "dimensions_m": [
-          0.013,
-          0.026,
-          0.045
+          0.227,
+          0.008,
+          0.014
         ],
         "origin_m": [
-          0.108,
-          -0.103,
-          0.106
+          0,
+          -0.1445,
+          0.466
         ],
         "rpy_rad": [
           0,
@@ -593,60 +612,51 @@
         "evidence": "authored primitive proxy; not contact-validated"
       },
       {
-        "shape": "box",
-        "dimensions_m": [
-          0.004,
-          0.25,
-          0.006
-        ],
+        "shape": "cylinder",
+        "radius_m": 0.004,
+        "length_m": 0.004,
         "origin_m": [
-          0.102,
-          0,
-          0.069
+          -0.06,
+          -0.151,
+          0.466
         ],
         "rpy_rad": [
-          0,
+          1.5707963267948966,
           0,
           0
         ],
         "evidence": "authored primitive proxy; not contact-validated"
-      }
-    ],
-    "draft_cover": [
+      },
       {
-        "shape": "box",
-        "dimensions_m": [
-          0.218,
-          0.019,
-          0.022
-        ],
+        "shape": "cylinder",
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@@ -1968,32 +2861,38 @@
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@@ -12882,7 +13766,7 @@
         "shape": "box",
         "dimensions_m": [
           0.001,
-          0.004574984449732133,
+          0.004574984449732134,
           0.062
         ],
         "origin_m": [
@@ -12901,7 +13785,7 @@
         "shape": "box",
         "dimensions_m": [
           0.001,
-          0.004574984449732133,
+          0.004574984449732134,
           0.062
         ],
         "origin_m": [
@@ -12920,7 +13804,7 @@
         "shape": "box",
         "dimensions_m": [
           0.001,
-          0.004574984449732133,
+          0.004574984449732134,
           0.062
         ],
         "origin_m": [
@@ -12939,7 +13823,7 @@
         "shape": "box",
         "dimensions_m": [
           0.001,
-          0.004574984449732133,
+          0.004574984449732134,
           0.062
         ],
         "origin_m": [
@@ -12976,7 +13860,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -12995,7 +13879,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13014,7 +13898,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13033,7 +13917,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13052,7 +13936,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13071,7 +13955,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13090,7 +13974,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13109,7 +13993,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13128,7 +14012,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13147,7 +14031,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13166,7 +14050,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13185,7 +14069,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13204,7 +14088,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13223,7 +14107,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13242,7 +14126,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13261,7 +14145,7 @@
         "shape": "box",
         "dimensions_m": [
           0.0025,
-          0.08473666850373429,
+          0.0847366685037343,
           0.114
         ],
         "origin_m": [
@@ -13280,7 +14164,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13299,7 +14183,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13318,7 +14202,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13337,7 +14221,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13356,7 +14240,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13375,7 +14259,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13394,7 +14278,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13413,7 +14297,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13432,7 +14316,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13451,7 +14335,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13470,7 +14354,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13489,7 +14373,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13508,7 +14392,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13527,7 +14411,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13546,7 +14430,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
@@ -13565,7 +14449,7 @@
         "shape": "box",
         "dimensions_m": [
           0.073,
-          0.05669002470320253,
+          0.056690024703202536,
           0.003
         ],
         "origin_m": [
diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/geometry_manifest.json b/assets/basic40_batch02/t5_automation/mt_quantos_q2/geometry_manifest.json
index e1439d4a2da4fb8948d00a39b43c07b4556bafdd..fe02b8355feb4ac61ce460b47f4d67325c91edbb 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/geometry_manifest.json
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/geometry_manifest.json
@@ -24,8 +24,8 @@
     ],
     "base_plan_length_m": 0.481,
     "base_side_total_depth_m": 0.542,
-    "top_cover_fully_open_envelope_height_m": 0.668,
-    "top_cover_fully_open_horizontal_span_m": 0.476,
+    "front_door_fully_open_envelope_height_m": 0.668,
+    "front_door_fully_open_horizontal_span_m": 0.476,
     "optional_qs30_envelope_m": [
       0.431,
       0.618,
@@ -34,7 +34,43 @@
     "optional_instrument_sub_length_m": 0.347,
     "optional_terminal_width_m": 0.194,
     "optional_cover_platform_height_m": 0.207,
-    "note": "481 is the plan-view dimension and 542 is the side-view full depth including the extended rear feature; not interchangeable. Open-cover envelope is documented but articulated multi-link cover not implemented."
+    "front_door_drawing_reading": {
+      "scale_px_per_mm": 0.585,
+      "lever_pivot_from_front_plane_m": 0.198,
+      "lever_pivot_height_m": 0.466,
+      "lever_length_m": 0.198,
+      "door_length_hinge_to_lower_edge_m": 0.407,
+      "guide_height_m": 0.452,
+      "lever_open_angle_deg": 159,
+      "door_open_tilt_deg": 77.5,
+      "open_positions_read": [
+        {
+          "lever_deg": 63,
+          "lower_edge_m": [
+            -0.084,
+            0.289
+          ]
+        },
+        {
+          "lever_deg": 92,
+          "lower_edge_m": [
+            -0.074,
+            0.358
+          ]
+        },
+        {
+          "lever_deg": 159,
+          "lower_edge_m": [
+            -0.019,
+            0.441
+          ]
+        }
+      ],
+      "note": "Side view, three drawn open positions of the lever-lifted front door (668 mm = lever tip at 92 deg; 476 mm = door lower edge forward to lever tip rear). Lower-edge coordinates are (from the front plane, +rear; height)."
+    },
+    "side_door_travel_m": 0.16,
+    "side_door_travel_evidence": "drawing estimate: p.10 side view, weighing-chamber depth from the front glass to the dosing-unit column 162 mm; manual p.25-26 and p.71 (Doorway 25-100 %) give no number",
+    "note": "481 is the plan-view dimension and 542 is the side-view full depth including the extended rear feature; not interchangeable. The 668/476 open envelope is the lever-lifted front door (before 2026-10-23 it was read as a top cover)."
   },
   "components": {
     "balance_base": {
@@ -142,7 +178,7 @@
       "note": "No component-specific mass or verified dimensions are supplied."
     },
     "draft_shield": {
-      "name_zh": "固定防风罩与导轨",
+      "name_zh": "固定防风罩框、导轨与前门下导槽",
       "objects": [
         "quantos__draft_shield__lower_rail_-0.099",
         "quantos__draft_shield__top_rail_-0.099",
@@ -150,8 +186,9 @@
         "quantos__draft_shield__lower_rail_0.099",
         "quantos__draft_shield__top_rail_0.099",
         "quantos__draft_shield__rear_upright_0.099",
-        "quantos__draft_shield__front_glass",
-        "quantos__draft_shield__left_glass"
+        "quantos__draft_shield__front_guide_rail_base",
+        "quantos__draft_shield__front_guide_rail_lip_-0.1491",
+        "quantos__draft_shield__front_guide_rail_lip_-0.1399"
       ],
       "parent_target": "quantos__root",
       "mesh": "meshes/draft_shield.obj",
@@ -159,19 +196,19 @@
       "bbox_m": [
         [
           -0.10300000011920929,
-          -0.14124999940395355,
-          0.0625
+          -0.14970000088214874,
+          0.05550000071525574
         ],
         [
           0.10300000011920929,
-          0.125,
+          0.12300000339746475,
           0.4660000205039978
         ]
       ],
       "authored_dimensions_m": [
         0.20600000023841858,
-        0.26624999940395355,
-        0.4035000205039978
+        0.2727000042796135,
+        0.41050001978874207
       ],
       "mass_kg": null,
       "centre_of_mass_m": null,
@@ -179,13 +216,13 @@
       "uniform_bbox_approximation": {
         "centre_m": [
           0.0,
-          -0.008124999701976776,
-          0.2642500102519989
+          -0.013349998742341995,
+          0.26075001060962677
         ],
         "inertia_per_mass_m2": [
-          0.019475110727444327,
-          0.017104022220412924,
-          0.009443755190069477
+          0.02023962988172157,
+          0.017578855528732173,
+          0.009733441036027473
         ],
         "evidence": "assumption derived only from authored mesh AABB"
       },
@@ -245,30 +282,126 @@
       "note": "No component-specific mass or verified dimensions are supplied."
     },
     "draft_door": {
-      "name_zh": "右侧展示滑门",
+      "name_zh": "前门（大前门，杠杆抬起）",
       "objects": [
         "quantos__draft_door__glass",
-        "quantos__draft_door__handle",
-        "quantos__draft_door__bottom_strip"
+        "quantos__draft_door__top_bar",
+        "quantos__draft_door__release_button_-0.06",
+        "quantos__draft_door__release_button_0.06"
       ],
-      "parent_target": "quantos__door_slide",
+      "parent_target": "quantos__front_door_hinge",
       "mesh": "meshes/draft_door.obj",
       "configuration": "base_q2_xpe206dr",
       "bbox_m": [
         [
-          0.09975000470876694,
-          -0.125,
+          -0.11349999904632568,
+          -0.15299999713897705,
+          0.05900000035762787
+        ],
+        [
+          0.11349999904632568,
+          -0.140500009059906,
+          0.4729999899864197
+        ]
+      ],
+      "authored_dimensions_m": [
+        0.22699999809265137,
+        0.012499988079071045,
+        0.4139999896287918
+      ],
+      "mass_kg": null,
+      "centre_of_mass_m": null,
+      "inertia_kg_m2": null,
+      "uniform_bbox_approximation": {
+        "centre_m": [
+          0.0,
+          -0.14675000309944153,
+          0.2659999951720238
+        ],
+        "inertia_per_mass_m2": [
+          0.01429602009288472,
+          0.01857708254555862,
+          0.0043071040696700535
+        ],
+        "evidence": "assumption derived only from authored mesh AABB"
+      },
+      "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
+      "note": "Large front door (manual p.25): glass 190 x 400 mm hung from the lever tips (front_door_joint, mimic of front_door_lever_joint); closed in the lower guide rail (p.67-68), two release buttons on the top bar (p.26). Door length and open pose from the brochure p.10 side view."
+    },
+    "draft_door_lever": {
+      "name_zh": "前门提升杠杆（左右）",
+      "objects": [
+        "quantos__draft_door_lever__hub_-0.111",
+        "quantos__draft_door_lever__arm_-0.111",
+        "quantos__draft_door_lever__tip_pin_-0.111",
+        "quantos__draft_door_lever__hub_0.111",
+        "quantos__draft_door_lever__arm_0.111",
+        "quantos__draft_door_lever__tip_pin_0.111"
+      ],
+      "parent_target": "quantos__front_door_lever",
+      "mesh": "meshes/draft_door_lever.obj",
+      "configuration": "base_q2_xpe206dr",
+      "bbox_m": [
+        [
+          -0.11500000208616257,
+          -0.148499995470047,
+          0.4580000042915344
+        ],
+        [
+          0.11500000208616257,
+          0.061500001698732376,
+          0.4739999771118164
+        ]
+      ],
+      "authored_dimensions_m": [
+        0.23000000417232513,
+        0.20999999716877937,
+        0.015999972820281982
+      ],
+      "mass_kg": null,
+      "centre_of_mass_m": null,
+      "inertia_kg_m2": null,
+      "uniform_bbox_approximation": {
+        "centre_m": [
+          0.0,
+          -0.04349999688565731,
+          0.4659999907016754
+        ],
+        "inertia_per_mass_m2": [
+          0.0036963331617614254,
+          0.0044296667541266115,
+          0.008083333394179744
+        ],
+        "evidence": "assumption derived only from authored mesh AABB"
+      },
+      "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
+      "note": "Two lever arms (pivot on the column top sides, length 198 mm) lift the front door by its top hinge pins; driven joint front_door_lever_joint, 0-159 deg (brochure p.10)."
+    },
+    "side_door_left": {
+      "name_zh": "左侧门",
+      "objects": [
+        "quantos__side_door_left__glass",
+        "quantos__side_door_left__handle",
+        "quantos__side_door_left__bottom_strip"
+      ],
+      "parent_target": "quantos__side_door_left_slide",
+      "mesh": "meshes/side_door_left.obj",
+      "configuration": "base_q2_xpe206dr",
+      "bbox_m": [
+        [
+          -0.11949999630451202,
+          -0.13699999451637268,
           0.06599999964237213
         ],
         [
-          0.1145000010728836,
-          0.125,
+          -0.10349999368190765,
+          0.11299999803304672,
           0.4599999785423279
         ]
       ],
       "authored_dimensions_m": [
-        0.014749996364116669,
-        0.25,
+        0.01600000262260437,
+        0.2499999925494194,
         0.39399997889995575
       ],
       "mass_kg": null,
@@ -276,48 +409,97 @@
       "inertia_kg_m2": null,
       "uniform_bbox_approximation": {
         "centre_m": [
-          0.10712500289082527,
-          0.0,
+          -0.11149999499320984,
+          -0.011999998241662979,
+          0.26299998909235
+        ],
+        "inertia_per_mass_m2": [
+          0.01814466497065628,
+          0.012957665288090744,
+          0.005229666363219425
+        ],
+        "evidence": "assumption derived only from authored mesh AABB"
+      },
+      "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
+      "note": "Side door (manual p.25): glass 250 x 392 mm sliding +Y; travel 160 mm at Doorway 100 % is a drawing estimate (brochure p.10), the manual gives no number."
+    },
+    "side_door_right": {
+      "name_zh": "右侧门",
+      "objects": [
+        "quantos__side_door_right__glass",
+        "quantos__side_door_right__handle",
+        "quantos__side_door_right__bottom_strip"
+      ],
+      "parent_target": "quantos__side_door_right_slide",
+      "mesh": "meshes/side_door_right.obj",
+      "configuration": "base_q2_xpe206dr",
+      "bbox_m": [
+        [
+          0.10349999368190765,
+          -0.13699999451637268,
+          0.06599999964237213
+        ],
+        [
+          0.11949999630451202,
+          0.11299999803304672,
+          0.4599999785423279
+        ]
+      ],
+      "authored_dimensions_m": [
+        0.01600000262260437,
+        0.2499999925494194,
+        0.39399997889995575
+      ],
+      "mass_kg": null,
+      "centre_of_mass_m": null,
+      "inertia_kg_m2": null,
+      "uniform_bbox_approximation": {
+        "centre_m": [
+          0.11149999499320984,
+          -0.011999998241662979,
           0.26299998909235
         ],
         "inertia_per_mass_m2": [
-          0.018144665281097132,
-          0.012954462147158919,
-          0.005226463532728455
+          0.01814466497065628,
+          0.012957665288090744,
+          0.005229666363219425
         ],
         "evidence": "assumption derived only from authored mesh AABB"
       },
       "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
-      "note": "Single +Y display slide with authored 120 mm travel. The manufacturer front/top multi-link cover is a different, unimplemented mechanism."
+      "note": "Side door (manual p.25): glass 250 x 392 mm sliding +Y; travel 160 mm at Doorway 100 % is a drawing estimate (brochure p.10), the manual gives no number."
     },
     "draft_cover": {
-      "name_zh": "闭合顶部翻盖",
+      "name_zh": "顶玻璃、前门导向与杠杆支座",
       "objects": [
-        "quantos__draft_cover__front_header",
-        "quantos__draft_cover__top_panel",
-        "quantos__draft_cover__rear_hinge_cap",
-        "quantos__draft_cover__hinge_pin_-0.1055",
-        "quantos__draft_cover__hinge_pin_0.1055"
+        "quantos__draft_cover__top_glass",
+        "quantos__draft_cover__column_cap",
+        "quantos__draft_cover__guide_roller_-0.0985",
+        "quantos__draft_cover__guide_roller_0.0985",
+        "quantos__draft_cover__lever_bracket_-0.1025",
+        "quantos__draft_cover__pivot_axle_-0.1025",
+        "quantos__draft_cover__lever_bracket_0.1025",
+        "quantos__draft_cover__pivot_axle_0.1025"
       ],
       "parent_target": "quantos__root",
       "mesh": "meshes/draft_cover.obj",
       "configuration": "base_q2_xpe206dr",
       "bbox_m": [
         [
-          -0.10899999737739563,
-          -0.14249999821186066,
-          0.4560000002384186
+          -0.1140032559633255,
+          -0.14300000667572021,
+          0.4440000057220459
         ],
         [
-          0.10899999737739563,
+          0.1140032559633255,
           0.15800000727176666,
           0.4950000047683716
         ]
       ],
       "authored_dimensions_m": [
-        0.21799999475479126,
-        0.3005000054836273,
-        0.039000004529953
+        0.228006511926651,
+        0.3010000139474869,
+        0.050999999046325684
       ],
       "mass_kg": null,
       "centre_of_mass_m": null,
@@ -325,28 +507,35 @@
       "uniform_bbox_approximation": {
         "centre_m": [
           0.0,
-          0.007750004529953003,
-          0.4755000025033951
+          0.007500000298023224,
+          0.46950000524520874
         ],
         "inertia_per_mass_m2": [
-          0.007651771137416367,
-          0.004087083172202115,
-          0.011485354250729088
+          0.007766834024926043,
+          0.0045489974486402724,
+          0.011882331489778778
         ],
         "evidence": "assumption derived only from authored mesh AABB"
       },
       "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
-      "note": "Closed visual reconstruction only. Documented open height668mm/overhead476mm retained as envelope evidence; multi-link articulation absent/unbound."
+      "note": "Static: chamber top glass, front-door guide rollers at the front top edge (drawing 452 mm), lever pivot brackets, column cap (495 mm, p.10)."
     },
     "head_slot": {
-      "name_zh": "投料头槽位与垂直导向",
+      "name_zh": "投料头支架（开放式）与垂直导向",
       "objects": [
         "quantos__head_slot__vertical_guide_-0.052",
         "quantos__head_slot__vertical_guide_0.052",
         "quantos__head_slot__drive_housing",
         "quantos__head_slot__lower_drive",
-        "quantos__head_slot__slot_receiver",
-        "quantos__head_slot__slot_dark_recess",
+        "quantos__head_slot__support_back_plate",
+        "quantos__head_slot__upper_arm_-0.013",
+        "quantos__head_slot__holding_pin_upper_-0.013",
+        "quantos__head_slot__upper_arm_0.013",
+        "quantos__head_slot__holding_pin_upper_0.013",
+        "quantos__head_slot__lower_arm_-0.0065",
+        "quantos__head_slot__holding_pin_lower_-0.0065",
+        "quantos__head_slot__lower_arm_0.0065",
+        "quantos__head_slot__holding_pin_lower_0.0065",
         "quantos__head_slot__q2_label"
       ],
       "parent_target": "quantos__root",
@@ -355,7 +544,7 @@
       "bbox_m": [
         [
           -0.05849999934434891,
-          -0.060499999672174454,
+          -0.04999999701976776,
           0.18150000274181366
         ],
         [
@@ -366,7 +555,7 @@
       ],
       "authored_dimensions_m": [
         0.11699999868869781,
-        0.16450000181794167,
+        0.15399999916553497,
         0.2669999748468399
       ],
       "mass_kg": null,
@@ -375,18 +564,18 @@
       "uniform_bbox_approximation": {
         "centre_m": [
           0.0,
-          0.02175000123679638,
+          0.027000002562999725,
           0.3149999901652336
         ],
         "inertia_per_mass_m2": [
-          0.008195769763859663,
+          0.007917082192599826,
           0.007081498855114036,
-          0.003395770857604842
+          0.003117083286345005
         ],
         "evidence": "assumption derived only from authored mesh AABB"
       },
       "geometry_evidence": "manufacturer envelope where specifically labelled, otherwise drawing_referenced_visual_approximation",
-      "note": "No component-specific mass or verified dimensions are supplied."
+      "note": "Open dosing head support after the manual p.11 (item 15) and p.21 photos: back plate, upper and lower fork arms, four holding pins; sizes fitted around the head (not maker CAD)."
     },
     "dosing_head": {
       "name_zh": "装粉加样头",
@@ -587,7 +776,7 @@
           0.028999999864026904
         ],
         "inertia_per_mass_m2": [
-          0.001548333373082181,
+          0.0015483333730821813,
           0.0033616668488706176,
           0.0044593335609038704
         ],
@@ -623,8 +812,9 @@
         "quantos__autosampler_instrument__quantos__draft_shield__lower_rail_0.099",
         "quantos__autosampler_instrument__quantos__draft_shield__top_rail_0.099",
         "quantos__autosampler_instrument__quantos__draft_shield__rear_upright_0.099",
-        "quantos__autosampler_instrument__quantos__draft_shield__front_glass",
-        "quantos__autosampler_instrument__quantos__draft_shield__left_glass",
+        "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_base",
+        "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_lip_-0.1491",
+        "quantos__autosampler_instrument__quantos__draft_shield__front_guide_rail_lip_-0.1399",
         "quantos__autosampler_instrument__quantos__power_data_panel__handle_support_-0.099",
         "quantos__autosampler_instrument__quantos__power_data_panel__handle_support_0.099",
         "quantos__autosampler_instrument__quantos__power_data_panel__handle_vertical_-0.06",
@@ -635,19 +825,42 @@
         "quantos__autosampler_instrument__quantos__power_data_panel__power_socket",
         "quantos__autosampler_instrument__quantos__power_data_panel__data_socket",
         "quantos__autosampler_instrument__quantos__draft_door__glass",
-        "quantos__autosampler_instrument__quantos__draft_door__handle",
-        "quantos__autosampler_instrument__quantos__draft_door__bottom_strip",
-        "quantos__autosampler_instrument__quantos__draft_cover__front_header",
-        "quantos__autosampler_instrument__quantos__draft_cover__top_panel",
-        "quantos__autosampler_instrument__quantos__draft_cover__rear_hinge_cap",
-        "quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_-0.1055",
-        "quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_0.1055",
+        "quantos__autosampler_instrument__quantos__draft_door__top_bar",
+        "quantos__autosampler_instrument__quantos__draft_door__release_button_-0.06",
+        "quantos__autosampler_instrument__quantos__draft_door__release_button_0.06",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__hub_-0.111",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__arm_-0.111",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__tip_pin_-0.111",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__hub_0.111",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__arm_0.111",
+        "quantos__autosampler_instrument__quantos__draft_door_lever__tip_pin_0.111",
+        "quantos__autosampler_instrument__quantos__side_door_left__glass",
+        "quantos__autosampler_instrument__quantos__side_door_left__handle",
+        "quantos__autosampler_instrument__quantos__side_door_left__bottom_strip",
+        "quantos__autosampler_instrument__quantos__side_door_right__glass",
+        "quantos__autosampler_instrument__quantos__side_door_right__handle",
+        "quantos__autosampler_instrument__quantos__side_door_right__bottom_strip",
+        "quantos__autosampler_instrument__quantos__draft_cover__top_glass",
+        "quantos__autosampler_instrument__quantos__draft_cover__column_cap",
+        "quantos__autosampler_instrument__quantos__draft_cover__guide_roller_-0.0985",
+        "quantos__autosampler_instrument__quantos__draft_cover__guide_roller_0.0985",
+        "quantos__autosampler_instrument__quantos__draft_cover__lever_bracket_-0.1025",
+        "quantos__autosampler_instrument__quantos__draft_cover__pivot_axle_-0.1025",
+        "quantos__autosampler_instrument__quantos__draft_cover__lever_bracket_0.1025",
+        "quantos__autosampler_instrument__quantos__draft_cover__pivot_axle_0.1025",
         "quantos__autosampler_instrument__quantos__head_slot__vertical_guide_-0.052",
         "quantos__autosampler_instrument__quantos__head_slot__vertical_guide_0.052",
         "quantos__autosampler_instrument__quantos__head_slot__drive_housing",
         "quantos__autosampler_instrument__quantos__head_slot__lower_drive",
-        "quantos__autosampler_instrument__quantos__head_slot__slot_receiver",
-        "quantos__autosampler_instrument__quantos__head_slot__slot_dark_recess",
+        "quantos__autosampler_instrument__quantos__head_slot__support_back_plate",
+        "quantos__autosampler_instrument__quantos__head_slot__upper_arm_-0.013",
+        "quantos__autosampler_instrument__quantos__head_slot__holding_pin_upper_-0.013",
+        "quantos__autosampler_instrument__quantos__head_slot__upper_arm_0.013",
+        "quantos__autosampler_instrument__quantos__head_slot__holding_pin_upper_0.013",
+        "quantos__autosampler_instrument__quantos__head_slot__lower_arm_-0.0065",
+        "quantos__autosampler_instrument__quantos__head_slot__holding_pin_lower_-0.0065",
+        "quantos__autosampler_instrument__quantos__head_slot__lower_arm_0.0065",
+        "quantos__autosampler_instrument__quantos__head_slot__holding_pin_lower_0.0065",
         "quantos__autosampler_instrument__quantos__head_slot__q2_label",
         "quantos__autosampler_instrument__quantos__dosing_head__powder_bottle",
         "quantos__autosampler_instrument__quantos__dosing_head__bottle_cap",
@@ -1073,19 +1286,51 @@
     "sample_access": {
       "component_id": "draft_door",
       "position_m": [
-        0.104,
-        -0.025,
-        0.157
+        0,
+        -0.15,
+        0.2
       ],
       "direction": [
-        1,
         0,
+        -1,
         0
       ],
       "medium": "sample_container_access",
       "object": "quantos__port_sample_access",
       "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
     },
+    "side_access_left": {
+      "component_id": "side_door_left",
+      "position_m": [
+        -0.11,
+        -0.06,
+        0.2
+      ],
+      "direction": [
+        -1,
+        0,
+        0
+      ],
+      "medium": "sample_container_access",
+      "object": "quantos__port_side_access_left",
+      "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
+    },
+    "side_access_right": {
+      "component_id": "side_door_right",
+      "position_m": [
+        0.11,
+        -0.06,
+        0.2
+      ],
+      "direction": [
+        1,
+        0,
+        0
+      ],
+      "medium": "sample_container_access",
+      "object": "quantos__port_side_access_right",
+      "evidence": "drawing-referenced visual location estimate; not mating CAD or verified connector standard"
+    },
     "power_inlet": {
       "component_id": "power_data_panel",
       "position_m": [
@@ -1120,34 +1365,145 @@
     }
   },
   "mechanical_joint": {
-    "id": "door_slide",
-    "target": "quantos__door_slide",
-    "type": "prismatic",
+    "id": "front_door_lever_joint",
+    "target": "quantos__front_door_lever",
+    "type": "revolute",
     "axis": [
+      -1,
       0,
-      1,
       0
     ],
-    "limit_m": [
+    "origin_m": [
+      0.0,
+      0.0535,
+      0.466
+    ],
+    "limit_rad": [
       0,
-      0.12
+      2.775073510670984
     ],
-    "actual_hardware_travel_m": null,
-    "q_unit": "m",
+    "q_unit": "rad",
+    "lever_length_m": 0.198,
+    "travel_m": 0.5494645551128549,
     "state_slot": "scene.door_opening_m",
-    "mapping": "quantos__door_slide.location.y = scene.door_opening_m",
+    "mapping": "quantos__front_door_lever.rotation_euler.x = -scene.door_opening_m / 0.198; quantos__front_door_hinge.rotation_euler.x = 0.51264 * scene.door_opening_m / 0.198 (door follows as mimic)",
     "authority": "host",
     "driver": "absent",
     "animation_writer": "absent",
-    "evidence": "authored geometry travel assumption, not a manufacturer specification"
+    "evidence": "brochure 30084648A p.10 side view (closed and three open positions of the lever-lifted front door); manual p.25-26, p.67-68"
   },
+  "mechanical_joints": [
+    {
+      "id": "front_door_lever_joint",
+      "component": "draft_door_lever",
+      "parent": "base_link",
+      "target": "quantos__front_door_lever",
+      "type": "revolute",
+      "axis": [
+        -1,
+        0,
+        0
+      ],
+      "origin_m": [
+        0.0,
+        0.0535,
+        0.466
+      ],
+      "limit": [
+        0,
+        2.775073510670984
+      ],
+      "q_unit": "rad",
+      "state_slot": "scene.door_opening_m",
+      "scale_rad_per_state_unit": 5.05050505050505,
+      "evidence": "drawing (brochure p.10): pivot, lever length 198 mm, fully open 159 deg"
+    },
+    {
+      "id": "front_door_joint",
+      "component": "draft_door",
+      "parent": "draft_door_lever",
+      "target": "quantos__front_door_hinge",
+      "type": "revolute",
+      "axis": [
+        -1,
+        0,
+        0
+      ],
+      "origin_m": [
+        0.0,
+        -0.14450000000000002,
+        0.466
+      ],
+      "limit": [
+        -1.4226136845103732,
+        0
+      ],
+      "q_unit": "rad",
+      "mimic": {
+        "joint": "front_door_lever_joint",
+        "multiplier": -0.51264,
+        "offset": 0.0
+      },
+      "evidence": "door guided at the front top edge (drawing): world tilt 77.5 deg at lever 159 deg; linear mimic exact at both ends, max 1.4 deg off between"
+    },
+    {
+      "id": "side_door_left_joint",
+      "component": "side_door_left",
+      "parent": "base_link",
+      "target": "quantos__side_door_left_slide",
+      "type": "prismatic",
+      "axis": [
+        0,
+        1,
+        0
+      ],
+      "origin_m": [
+        0,
+        0,
+        0
+      ],
+      "limit": [
+        0,
+        0.16
+      ],
+      "q_unit": "m",
+      "state_slot": "door.side_opening_fraction",
+      "scale_m_per_state_unit": 0.16,
+      "evidence": "drawing estimate (p.10 chamber depth 162 mm); manual gives no travel"
+    },
+    {
+      "id": "side_door_right_joint",
+      "component": "side_door_right",
+      "parent": "base_link",
+      "target": "quantos__side_door_right_slide",
+      "type": "prismatic",
+      "axis": [
+        0,
+        1,
+        0
+      ],
+      "origin_m": [
+        0,
+        0,
+        0
+      ],
+      "limit": [
+        0,
+        0.16
+      ],
+      "q_unit": "m",
+      "state_slot": "door.side_opening_fraction",
+      "scale_m_per_state_unit": 0.16,
+      "evidence": "drawing estimate (p.10 chamber depth 162 mm); manual gives no travel"
+    }
+  ],
   "mass_policy": "Unknown whole-assembly and component masses stay null. Inertials are omitted from URDF. Unit-mass uniform-box coefficients are supplied for a host to multiply by evidence-backed masses; coefficients do not assert mass.",
   "inertia_policy": "Ixx/m=(dy²+dz²)/12, Iyy/m=(dx²+dz²)/12, Izz/m=(dx²+dy²)/12 about authored AABB centre; off-diagonal zero under uniform-box assumption. All actual I values null.",
   "mesh_frame": "SI meters, right-handed, Z-up, object mesh vertices baked in each link zero-pose assembly frame",
   "glb_coordinate_note": "export_yup=False intentionally preserves +Z coordinates. glTF convention normally expects +Y up; consumer must use declared +Z frame without applying a second automatic Y-up conversion.",
   "limitations": [
     "Internal gears, valves and powder flow are not resolved geometry.",
-    "Glass thickness, door travel, ports and replaceable head/container details are visual/kinematic assumptions.",
+    "Front-door kinematics and side-door travel are read from the brochure p.10 drawing (no maker CAD or travel figure); glass thickness, ports and replaceable head/container details are visual assumptions.",
     "Collision primitives do not prove contact, powder dynamics or robotic grasping.",
     "Optional autosampler is separately visualized; its indexing/runtime automation is absent.",
     "Main model displays one illustrative vial; its dimensions/capacity are not manufacturer compatibility limits."
diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_instrument.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_instrument.obj
index 4e1b9869d86b05d8e506693e1e2ff77724385beb..bcceadb5033a01df3c6defa8647e807b69101583 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_instrument.obj
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/autosampler_instrument.obj
@@ -11596,104 +11596,104 @@ f 6219 6230 6181 6170
 f 6253 6205 6182 6229
 f 6195 6206 6255 6242
 f 6243 6254 6231 6218
-o quantos__autosampler_instrument__quantos__draft_shield__front_glass
-usemtl quantos_glass
-v -0.095700003 -0.102949999 0.068000004
-v -0.095700003 -0.103249997 0.068300009
-v -0.096000001 -0.102949999 0.068300009
-v -0.095700003 -0.103099801 0.068040088
-v -0.095849805 -0.102949999 0.068040088
-v -0.095843464 -0.103093460 0.068079010
-v -0.095849805 -0.103209920 0.068300009
-v -0.095700003 -0.103209920 0.068150207
-v -0.095843464 -0.103170991 0.068156540
-v -0.095959924 -0.102949999 0.068150207
-v -0.095959924 -0.103099801 0.068300009
-v -0.095920995 -0.103093460 0.068156540
-v -0.095700003 -0.103249997 0.459699988
-v -0.095700003 -0.102949999 0.459999979
-v -0.096000001 -0.102949999 0.459699988
-v -0.095700003 -0.103209920 0.459849775
-v -0.095849805 -0.103209920 0.459699988
-v -0.095843464 -0.103170991 0.459843457
-v -0.095849805 -0.102949999 0.459959924
-v -0.095700003 -0.103099801 0.459959924
-v -0.095843464 -0.103093460 0.459921002
-v -0.095959924 -0.103099801 0.459699988
-v -0.095959924 -0.102949999 0.459849775
-v -0.095920995 -0.103093460 0.459843457
-v -0.095700003 -0.101049997 0.068000004
-v -0.096000001 -0.101049997 0.068300009
-v -0.095700003 -0.100749999 0.068300009
-v -0.095849805 -0.101049997 0.068040088
-v -0.095700003 -0.100900196 0.068040088
-v -0.095843464 -0.100906536 0.068079010
-v -0.095959924 -0.100900196 0.068300009
-v -0.095959924 -0.101049997 0.068150207
-v -0.095920995 -0.100906536 0.068156540
-v -0.095700003 -0.100790076 0.068150207
-v -0.095849805 -0.100790076 0.068300009
-v -0.095843464 -0.100829005 0.068156540
-v -0.095700003 -0.101049997 0.459999979
-v -0.095700003 -0.100749999 0.459699988
-v -0.096000001 -0.101049997 0.459699988
-v -0.095700003 -0.100900196 0.459959924
-v -0.095849805 -0.101049997 0.459959924
-v -0.095843464 -0.100906536 0.459921002
-v -0.095849805 -0.100790076 0.459699988
-v -0.095700003 -0.100790076 0.459849775
-v -0.095843464 -0.100829005 0.459843457
-v -0.095959924 -0.101049997 0.459849775
-v -0.095959924 -0.100900196 0.459699988
-v -0.095920995 -0.100906536 0.459843457
-v 0.095700003 -0.102949999 0.068000004
-v 0.096000001 -0.102949999 0.068300009
-v 0.095700003 -0.103249997 0.068300009
-v 0.095849805 -0.102949999 0.068040088
-v 0.095700003 -0.103099801 0.068040088
-v 0.095843464 -0.103093460 0.068079010
-v 0.095959924 -0.103099801 0.068300009
-v 0.095959924 -0.102949999 0.068150207
-v 0.095920995 -0.103093460 0.068156540
-v 0.095700003 -0.103209920 0.068150207
-v 0.095849805 -0.103209920 0.068300009
-v 0.095843464 -0.103170991 0.068156540
-v 0.095700003 -0.102949999 0.459999979
-v 0.095700003 -0.103249997 0.459699988
-v 0.096000001 -0.102949999 0.459699988
-v 0.095700003 -0.103099801 0.459959924
-v 0.095849805 -0.102949999 0.459959924
-v 0.095843464 -0.103093460 0.459921002
-v 0.095849805 -0.103209920 0.459699988
-v 0.095700003 -0.103209920 0.459849775
-v 0.095843464 -0.103170991 0.459843457
-v 0.095959924 -0.102949999 0.459849775
-v 0.095959924 -0.103099801 0.459699988
-v 0.095920995 -0.103093460 0.459843457
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 usemtl quantos_black
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 o quantos__autosampler_instrument__quantos__power_data_panel__handle_support_0.099
 usemtl quantos_black
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+usemtl quantos_black
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 o quantos__autosampler_instrument__quantos__power_data_panel__power_socket
 usemtl quantos_silver
 v -0.043000001 0.252000004 0.113498926
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 o quantos__autosampler_instrument__quantos__power_data_panel__data_socket
 usemtl quantos_silver
 v 0.005000001 0.248999998 0.102500007
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-o quantos__autosampler_instrument__quantos__draft_door__glass
-usemtl quantos_glass
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 f 7900 7904 7905 7902
 f 7898 7903 7905 7904
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 f 7981 7933 7910 7957
 f 7923 7934 7983 7970
 f 7971 7982 7959 7946
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 f 7996 8000 8001 7998
 f 7994 7999 8001 8000
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 f 8077 8029 8006 8053
 f 8019 8030 8079 8066
 f 8067 8078 8055 8042
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+o quantos__autosampler_instrument__quantos__draft_door__top_bar
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-o quantos__autosampler_instrument__quantos__draft_cover__front_header
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-o quantos__autosampler_instrument__quantos__draft_cover__top_panel
-usemtl quantos_housing
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-o quantos__autosampler_instrument__quantos__draft_cover__rear_hinge_cap
-usemtl quantos_housing
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-o quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_-0.1055
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 f 8475 8481 8479 8473
 f 8483 8477 8478 8484
@@ -16468,296 +16412,296 @@ f 8732 8735 8741 8738
 f 8738 8741 8747 8744
 f 8744 8747 8753 8750
 f 8750 8753 8759 8756
-o quantos__autosampler_instrument__quantos__draft_cover__hinge_pin_0.1055
+o quantos__autosampler_instrument__quantos__draft_door_lever__hub_-0.111
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 f 8762 8768 8769 8763
 f 8763 8769 8767 8761
 f 8771 8765 8766 8772
@@ -17000,360 +16944,492 @@ f 9020 9023 9029 9026
 f 9026 9029 9035 9032
 f 9032 9035 9041 9038
 f 9038 9041 9047 9044
-o quantos__autosampler_instrument__quantos__head_slot__vertical_guide_-0.052
+o quantos__autosampler_instrument__quantos__draft_door_lever__arm_-0.111
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-o quantos__autosampler_instrument__quantos__head_slot__drive_housing
-usemtl quantos_housing
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-o quantos__autosampler_instrument__quantos__head_slot__lower_drive
-usemtl quantos_black
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-o quantos__autosampler_instrument__quantos__head_slot__slot_receiver
-usemtl quantos_silver
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-v 0.022456421 0.016456423 0.264973283
-v 0.023232805 0.016498689 0.263500005
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-v 0.022973262 0.016456423 0.264456421
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-v 0.022498686 0.017232807 0.263500005
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-o quantos__autosampler_instrument__quantos__head_slot__slot_dark_recess
-usemtl quantos_black
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-o quantos__autosampler_instrument__quantos__head_slot__q2_label
-usemtl quantos_brand_blue
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-o quantos__autosampler_instrument__quantos__balance_pan__grid_0.048
-usemtl quantos_rail
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-o quantos__autosampler_instrument__quantos__balance_pan__grid_0.056
-usemtl quantos_rail
-v 0.055500001 -0.046400003 0.068499997
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-o quantos__autosampler_instrument__quantos__terminal__housing
-usemtl quantos_housing
-v -0.097000003 -0.308999985 0.003000000
-v 0.097000003 -0.308999985 0.003000000
-v 0.097000003 -0.182999998 0.003000000
-v -0.097000003 -0.182999998 0.003000000
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-v 0.097000003 -0.182999998 0.055000000
-v -0.097000003 -0.182999998 0.055000000
-f 13933 13936 13935 13934
-f 13933 13934 13938 13937
-f 13934 13935 13939 13938
-f 13935 13936 13940 13939
-f 13936 13933 13937 13940
-f 13937 13938 13939 13940
-o quantos__autosampler_instrument__quantos__terminal__display_bezel
-usemtl quantos_black
-v -0.085000001 -0.294390023 0.024520466
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-v -0.086000003 -0.294657648 0.025483985
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-v -0.085499354 -0.295492470 0.025252098
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-o quantos__autosampler_instrument__quantos__terminal__display_screen
-usemtl quantos_screen
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-o quantos__autosampler_instrument__quantos__terminal__ui_0
-usemtl quantos_screen_text
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-o quantos__autosampler_instrument__quantos__terminal__ui_3
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 o quantos__autosampler_instrument__quantos__terminal__ui_4
 usemtl quantos_screen_text
 v -0.044617999 -0.278964579 0.030858742
@@ -37578,123 +44906,123 @@ v -0.043111399 -0.278400987 0.030984161
 v -0.043111399 -0.278409004 0.031013066
 v -0.043111399 -0.278956532 0.030829838
 v -0.043111399 -0.278964579 0.030858742
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 o quantos__autosampler_instrument__quantos__terminal__brand
 usemtl quantos_black
 v -0.015032567 -0.192690760 0.054134801
@@ -39405,1251 +46733,1251 @@ v -0.015490726 -0.195594832 0.053296980
 v -0.015490726 -0.195602864 0.053325884
 v -0.015305001 -0.195605770 0.053293943
 v -0.015305001 -0.195613801 0.053322848
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 o quantos__autosampler_instrument__top_height_trim
 usemtl quantos_housing
 v -0.104799993 0.151699990 0.495000005
@@ -40748,101 +48076,101 @@ v 0.104947329 0.194395632 0.495895654
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 v 0.104899868 0.194473282 0.495799989
 v 0.104895644 0.194447324 0.495895654
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_cover.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_cover.obj
index ebda286f2502deae80f5aa52dfdd377b536e6222..2c5717ec162c9199da96a656882e9140d7ff1532 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_cover.obj
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_cover.obj
@@ -1,103 +1,103 @@
 # CHEM-174, SI meters, Z-up. Zero-pose link assembly coordinates.
 mtllib materials.mtl
-o quantos__draft_cover__front_header
-usemtl quantos_housing
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-v -0.107000001 -0.142499998 0.458000004
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-v 0.107998677 -0.123767197 0.476000011
-v 0.107956417 -0.124026738 0.476956427
+o quantos__draft_cover__top_glass
+usemtl quantos_glass
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+v 0.095343463 0.080920994 0.449843466
 f 1 4 6 5
 f 4 8 9 6
 f 2 7 9 8
@@ -196,104 +196,104 @@ f 51 62 13 2
 f 85 37 14 61
 f 27 38 87 74
 f 75 86 63 50
-o quantos__draft_cover__top_panel
+o quantos__draft_cover__column_cap
 usemtl quantos_housing
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@@ -392,492 +392,360 @@ f 147 158 109 98
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door.obj
index b54aca266ea51f7330e06133fbd974814aab4567..7774c06c4cadedbf4aa4ec2cd54f0b77fa5e4c11 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door.obj
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door.obj
@@ -2,102 +2,102 @@
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 f 1 4 6 5
 f 4 8 9 6
 f 2 7 9 8
@@ -196,104 +196,104 @@ f 51 62 13 2
 f 85 37 14 61
 f 27 38 87 74
 f 75 86 63 50
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 f 97 100 102 101
 f 100 104 105 102
 f 98 103 105 104
@@ -392,199 +392,1067 @@ f 147 158 109 98
 f 181 133 110 157
 f 123 134 183 170
 f 171 182 159 146
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door_lever.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door_lever.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f849ac575e275a86cfe3aa303baf41ba3f1f713
--- /dev/null
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_door_lever.obj
@@ -0,0 +1,2522 @@
+# CHEM-174, SI meters, Z-up. Zero-pose link assembly coordinates.
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_shield.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_shield.obj
index 90b1bd36694de3bea1ea7e769b31cc6801fbf384..5d12f6ff2dfa2a4990142aafcbf33f232f64e410 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_shield.obj
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/draft_shield.obj
@@ -1176,104 +1176,104 @@ f 531 542 493 482
 f 565 517 494 541
 f 507 518 567 554
 f 555 566 543 530
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@@ -1372,104 +1372,104 @@ f 627 638 589 578
 f 661 613 590 637
 f 603 614 663 650
 f 651 662 639 626
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/head_slot.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/head_slot.obj
index b3484ece8f347ce686753cd6aabb9e7e0a778b9a..c6e989ccf337d99363c8c082012f5d81e59e87f6 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/head_slot.obj
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/head_slot.obj
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 v -0.054000001 0.083000004 0.228499994
 v -0.056000002 0.083000004 0.230499998
 v -0.054000001 0.085000001 0.230499998
@@ -1310,30 +1310,30 @@ v -0.054956425 0.084473267 0.252456427
 v -0.055732809 0.083000004 0.252498686
 v -0.055732809 0.083998688 0.251500010
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-v 0.055473268 -0.025956426 0.229543567
-v 0.054000001 -0.026732810 0.229501307
-v 0.054998688 -0.026732810 0.230499998
-v 0.054956425 -0.026473269 0.229543567
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 v 0.054000001 0.083000004 0.228499994
 v 0.054000001 0.085000001 0.230499998
 v 0.056000002 0.083000004 0.230499998
@@ -1456,104 +1456,104 @@ f 723 734 685 674
 f 757 709 686 733
 f 699 710 759 746
 f 747 758 735 722
-o quantos__head_slot__slot_receiver
+o quantos__head_slot__support_back_plate
 usemtl quantos_silver
-v -0.021499999 -0.055500001 0.224500000
-v -0.021499999 -0.057500001 0.226500005
-v -0.023499999 -0.055500001 0.226500005
-v -0.021499997 -0.056498691 0.224767193
-v -0.022498686 -0.055500001 0.224767193
-v -0.022456421 -0.056456424 0.225026742
-v -0.022498686 -0.057232808 0.226500005
-v -0.021499997 -0.057232808 0.225501314
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-v -0.023232805 -0.056498691 0.226500005
-v -0.022973262 -0.056456424 0.225543588
-v -0.021499999 -0.057500001 0.263500005
-v -0.021499999 -0.055500001 0.265500009
-v -0.023499999 -0.055500001 0.263500005
-v -0.021499997 -0.057232808 0.264498681
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-v -0.021499997 -0.056498691 0.265232801
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 f 769 772 774 773
 f 772 776 777 774
 f 770 775 777 776
@@ -1652,104 +1652,104 @@ f 819 830 781 770
 f 853 805 782 829
 f 795 806 855 842
 f 843 854 831 818
-o quantos__head_slot__slot_dark_recess
-usemtl quantos_black
-v -0.015500000 -0.059500001 0.236000001
-v -0.015500000 -0.060500000 0.237000003
-v -0.016500000 -0.059500001 0.237000003
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-v -0.016236633 -0.059978213 0.236521780
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-v -0.015999343 -0.060366403 0.261000007
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-v -0.015999343 -0.059500001 0.261866391
-v -0.015500000 -0.059999343 0.261866391
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-v -0.016366404 -0.058000658 0.237000003
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-v -0.015999343 -0.057633597 0.237000003
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-v 0.015999343 -0.059500001 0.261866391
-v 0.015978212 -0.059978213 0.261736631
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-v 0.015999343 -0.058499999 0.236133590
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-v 0.016366404 -0.058499999 0.236500651
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-v 0.015999343 -0.057633597 0.261000007
-v 0.015978212 -0.057763368 0.261478215
+o quantos__head_slot__upper_arm_-0.013
+usemtl quantos_silver
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 o quantos__head_slot__q2_label
 usemtl quantos_brand_blue
 v -0.028001998 -0.029014999 0.363999993
@@ -2702,640 +4010,640 @@ v -0.021953998 -0.028984999 0.365301996
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_left.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08ff793ba59bcdc44943e4b894f3a5a868df8c7e
--- /dev/null
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_left.obj
@@ -0,0 +1,590 @@
+# CHEM-174, SI meters, Z-up. Zero-pose link assembly coordinates.
+mtllib materials.mtl
+o quantos__side_door_left__glass
+usemtl quantos_glass
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_right.obj b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0c985b6617ff59436fef0affe6297cc04a3efe6
--- /dev/null
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/meshes/side_door_right.obj
@@ -0,0 +1,590 @@
+# CHEM-174, SI meters, Z-up. Zero-pose link assembly coordinates.
+mtllib materials.mtl
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend b/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend
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--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.blend
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--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.urdf
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/model.urdf
@@ -4,7 +4,7 @@
   <link name="base_link" />
   <link name="balance_base">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/balance_base.obj" scale="1 1 1" />
       </geometry>
@@ -59,7 +59,7 @@
   </joint>
   <link name="feet">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/feet.obj" scale="1 1 1" />
       </geometry>
@@ -108,7 +108,7 @@
   </joint>
   <link name="draft_shield">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/draft_shield.obj" scale="1 1 1" />
       </geometry>
@@ -150,15 +150,21 @@
       </geometry>
     </collision>
     <collision name="draft_shield_proxy_06">
-      <origin xyz="0 -0.14 0.264" rpy="0 0 0" />
+      <origin xyz="0 -0.1445 0.0565" rpy="0 0 0" />
       <geometry>
-        <box size="0.192 0.0025 0.392" />
+        <box size="0.2 0.01 0.002" />
       </geometry>
     </collision>
     <collision name="draft_shield_proxy_07">
-      <origin xyz="-0.101 0.0 0.264" rpy="0 0 0" />
+      <origin xyz="0 -0.1491 0.0595" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.0012 0.004" />
+      </geometry>
+    </collision>
+    <collision name="draft_shield_proxy_08">
+      <origin xyz="0 -0.1399 0.0595" rpy="0 0 0" />
       <geometry>
-        <box size="0.0025 0.25 0.392" />
+        <box size="0.2 0.0012 0.004" />
       </geometry>
     </collision>
   </link>
@@ -169,7 +175,7 @@
   </joint>
   <link name="power_data_panel">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/power_data_panel.obj" scale="1 1 1" />
       </geometry>
@@ -236,61 +242,206 @@
   </joint>
   <link name="draft_door">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 0.1445 -0.466" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/draft_door.obj" scale="1 1 1" />
       </geometry>
     </visual>
     <collision name="draft_door_proxy_00">
-      <origin xyz="0.101 0.0 0.264" rpy="0 0 0" />
+      <origin xyz="0 2.775557562e-17 -0.207" rpy="0 0 0" />
       <geometry>
-        <box size="0.0025 0.25 0.392" />
+        <box size="0.19 0.003 0.4" />
       </geometry>
     </collision>
     <collision name="draft_door_proxy_01">
-      <origin xyz="0.108 -0.103 0.106" rpy="0 0 0" />
+      <origin xyz="0 2.775557562e-17 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.013 0.026 0.045" />
+        <box size="0.227 0.008 0.014" />
       </geometry>
     </collision>
     <collision name="draft_door_proxy_02">
-      <origin xyz="0.102 0 0.069" rpy="0 0 0" />
+      <origin xyz="-0.06 -0.0065 0" rpy="1.5707963267948966 0 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.004" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_proxy_03">
+      <origin xyz="0.06 -0.0065 0" rpy="1.5707963267948966 0 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.004" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_door_joint" type="revolute">
+    <parent link="draft_door_lever" />
+    <child link="draft_door" />
+    <origin xyz="0 -0.198 0" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit lower="-1.422613685" upper="0" effort="0" velocity="0" />
+    <mimic joint="front_door_lever_joint" multiplier="-0.51264" offset="0" />
+    <!--0 effort and velocity disable actuation; not measured values. Physical actuator maxima remain null. door guided at the front top edge (drawing): world tilt 77.5 deg at lever 159 deg; linear mimic exact at both ends, max 1.4 deg off between-->
+  </joint>
+  <link name="draft_door_lever">
+    <visual>
+      <origin xyz="-0 -0.0535 -0.466" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/draft_door_lever.obj" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision name="draft_door_lever_proxy_00">
+      <origin xyz="-0.111 0 0" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.005" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_lever_proxy_01">
+      <origin xyz="-0.111 -0.099 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.005 0.198 0.01" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_lever_proxy_02">
+      <origin xyz="-0.111 -0.198 0" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.008" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_lever_proxy_03">
+      <origin xyz="0.111 0 0" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.005" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_lever_proxy_04">
+      <origin xyz="0.111 -0.099 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.005 0.198 0.01" />
+      </geometry>
+    </collision>
+    <collision name="draft_door_lever_proxy_05">
+      <origin xyz="0.111 -0.198 0" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.008" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_door_lever_joint" type="revolute">
+    <parent link="base_link" />
+    <child link="draft_door_lever" />
+    <origin xyz="0 0.0535 0.466" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="2.775073511" effort="0" velocity="0" />
+    <!--0 effort and velocity disable actuation; not measured values. Physical actuator maxima remain null. drawing (brochure p.10): pivot, lever length 198 mm, fully open 159 deg-->
+  </joint>
+  <link name="side_door_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/side_door_left.obj" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision name="side_door_left_proxy_00">
+      <origin xyz="-0.105 -0.012 0.264" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.25 0.392" />
+      </geometry>
+    </collision>
+    <collision name="side_door_left_proxy_01">
+      <origin xyz="-0.113 -0.103 0.106" rpy="0 0 0" />
+      <geometry>
+        <box size="0.013 0.026 0.045" />
+      </geometry>
+    </collision>
+    <collision name="side_door_left_proxy_02">
+      <origin xyz="-0.1055 -0.012 0.069" rpy="0 0 0" />
       <geometry>
         <box size="0.004 0.25 0.006" />
       </geometry>
     </collision>
   </link>
-  <joint name="door_slide" type="prismatic">
+  <joint name="side_door_left_joint" type="prismatic">
     <parent link="base_link" />
-    <child link="draft_door" />
+    <child link="side_door_left" />
     <origin xyz="0 0 0" rpy="0 0 0" />
     <axis xyz="0 1 0" />
-    <limit lower="0" upper="0.12" effort="0" velocity="0" />
-    <!--0 effort and velocity disable actuation; not measured values. Physical actuator maxima remain null. Travel is authored visualization limit.-->
+    <limit lower="0" upper="0.16" effort="0" velocity="0" />
+    <!--0 effort and velocity disable actuation; not measured values. Physical actuator maxima remain null. drawing estimate (p.10 chamber depth 162 mm); manual gives no travel-->
   </joint>
-  <link name="draft_cover">
+  <link name="side_door_right">
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/side_door_right.obj" scale="1 1 1" />
+      </geometry>
+    </visual>
+    <collision name="side_door_right_proxy_00">
+      <origin xyz="0.105 -0.012 0.264" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.25 0.392" />
+      </geometry>
+    </collision>
+    <collision name="side_door_right_proxy_01">
+      <origin xyz="0.113 -0.103 0.106" rpy="0 0 0" />
+      <geometry>
+        <box size="0.013 0.026 0.045" />
+      </geometry>
+    </collision>
+    <collision name="side_door_right_proxy_02">
+      <origin xyz="0.1055 -0.012 0.069" rpy="0 0 0" />
+      <geometry>
+        <box size="0.004 0.25 0.006" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="side_door_right_joint" type="prismatic">
+    <parent link="base_link" />
+    <child link="side_door_right" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" />
+    <limit lower="0" upper="0.16" effort="0" velocity="0" />
+    <!--0 effort and velocity disable actuation; not measured values. Physical actuator maxima remain null. drawing estimate (p.10 chamber depth 162 mm); manual gives no travel-->
+  </joint>
+  <link name="draft_cover">
+    <visual>
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/draft_cover.obj" scale="1 1 1" />
       </geometry>
     </visual>
     <collision name="draft_cover_proxy_00">
-      <origin xyz="0 -0.133 0.467" rpy="0 0 0" />
+      <origin xyz="0 -0.02775 0.447" rpy="0 0 0" />
       <geometry>
-        <box size="0.218 0.019 0.022" />
+        <box size="0.191 0.2175 0.006" />
       </geometry>
     </collision>
     <collision name="draft_cover_proxy_01">
-      <origin xyz="0 -0.008 0.483" rpy="0 0 0" />
+      <origin xyz="0 0.135 0.49" rpy="0 0 0" />
       <geometry>
-        <box size="0.211 0.236 0.009" />
+        <box size="0.211 0.046 0.01" />
       </geometry>
     </collision>
     <collision name="draft_cover_proxy_02">
-      <origin xyz="0 0.135 0.49" rpy="0 0 0" />
+      <origin xyz="-0.0985 -0.14 0.452" rpy="0 1.5707963267948966 0" />
       <geometry>
-        <box size="0.211 0.046 0.01" />
+        <cylinder radius="0.003" length="0.004" />
+      </geometry>
+    </collision>
+    <collision name="draft_cover_proxy_03">
+      <origin xyz="0.0985 -0.14 0.452" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.004" />
+      </geometry>
+    </collision>
+    <collision name="draft_cover_proxy_04">
+      <origin xyz="-0.1025 0.0535 0.469" rpy="0 0 0" />
+      <geometry>
+        <box size="0.011 0.03 0.014" />
+      </geometry>
+    </collision>
+    <collision name="draft_cover_proxy_05">
+      <origin xyz="0.1025 0.0535 0.469" rpy="0 0 0" />
+      <geometry>
+        <box size="0.011 0.03 0.014" />
       </geometry>
     </collision>
   </link>
@@ -301,7 +452,7 @@
   </joint>
   <link name="head_slot">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/head_slot.obj" scale="1 1 1" />
       </geometry>
@@ -325,15 +476,63 @@
       </geometry>
     </collision>
     <collision name="head_slot_proxy_03">
-      <origin xyz="0 0.029 0.241" rpy="0 0 0" />
+      <origin xyz="0 0.03375 0.241" rpy="0 0 0" />
       <geometry>
-        <box size="0.112 0.112 0.025" />
+        <box size="0.112 0.1025 0.025" />
       </geometry>
     </collision>
     <collision name="head_slot_proxy_04">
-      <origin xyz="0 -0.039 0.245" rpy="0 0 0" />
+      <origin xyz="0 -0.0185 0.227" rpy="0 0 0" />
+      <geometry>
+        <box size="0.033 0.002 0.048" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_05">
+      <origin xyz="-0.013 -0.03425 0.2335" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0315 0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_06">
+      <origin xyz="-0.013 -0.0475 0.2365" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_07">
+      <origin xyz="0.013 -0.03425 0.2335" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0315 0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_08">
+      <origin xyz="0.013 -0.0475 0.2365" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_09">
+      <origin xyz="-0.0065 -0.03175 0.208" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0265 0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_10">
+      <origin xyz="-0.0065 -0.0425 0.211" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_11">
+      <origin xyz="0.0065 -0.03175 0.208" rpy="0 0 0" />
       <geometry>
-        <box size="0.047 0.037 0.041" />
+        <box size="0.003 0.0265 0.003" />
+      </geometry>
+    </collision>
+    <collision name="head_slot_proxy_12">
+      <origin xyz="0.0065 -0.0425 0.211" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
       </geometry>
     </collision>
   </link>
@@ -344,7 +543,7 @@
   </joint>
   <link name="dosing_head">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/dosing_head.obj" scale="1 1 1" />
       </geometry>
@@ -381,7 +580,7 @@
   </joint>
   <link name="balance_pan">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/balance_pan.obj" scale="1 1 1" />
       </geometry>
@@ -424,7 +623,7 @@
   </joint>
   <link name="sample_container">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/sample_container.obj" scale="1 1 1" />
       </geometry>
@@ -432,97 +631,97 @@
     <collision name="sample_container_proxy_00">
       <origin xyz="0.0154 -0.031 0.111" rpy="0 0 0.0" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_01">
-      <origin xyz="0.014227744800673816 -0.025106675141577616 0.111" rpy="0 0 0.39269908169872414" />
+      <origin xyz="0.0142277448 -0.02510667514 0.111" rpy="0 0 0.39269908169872414" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_02">
-      <origin xyz="0.010889444430272833 -0.02011055556972717 0.111" rpy="0 0 0.7853981633974483" />
+      <origin xyz="0.01088944443 -0.02011055557 0.111" rpy="0 0 0.7853981633974483" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_03">
-      <origin xyz="0.005893324858422384 -0.016772255199326184 0.111" rpy="0 0 1.1780972450961724" />
+      <origin xyz="0.005893324858 -0.0167722552 0.111" rpy="0 0 1.1780972450961724" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_04">
-      <origin xyz="9.42978035343462e-19 -0.0156 0.111" rpy="0 0 1.5707963267948966" />
+      <origin xyz="9.429780353e-19 -0.0156 0.111" rpy="0 0 1.5707963267948966" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_05">
-      <origin xyz="-0.005893324858422382 -0.016772255199326184 0.111" rpy="0 0 1.9634954084936207" />
+      <origin xyz="-0.005893324858 -0.0167722552 0.111" rpy="0 0 1.9634954084936207" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_06">
-      <origin xyz="-0.010889444430272831 -0.020110555569727167 0.111" rpy="0 0 2.356194490192345" />
+      <origin xyz="-0.01088944443 -0.02011055557 0.111" rpy="0 0 2.356194490192345" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_07">
-      <origin xyz="-0.014227744800673816 -0.025106675141577616 0.111" rpy="0 0 2.748893571891069" />
+      <origin xyz="-0.0142277448 -0.02510667514 0.111" rpy="0 0 2.748893571891069" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_08">
-      <origin xyz="-0.0154 -0.030999999999999996 0.111" rpy="0 0 3.141592653589793" />
+      <origin xyz="-0.0154 -0.031 0.111" rpy="0 0 3.141592653589793" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_09">
-      <origin xyz="-0.014227744800673818 -0.03689332485842238 0.111" rpy="0 0 3.5342917352885173" />
+      <origin xyz="-0.0142277448 -0.03689332486 0.111" rpy="0 0 3.5342917352885173" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_10">
-      <origin xyz="-0.010889444430272835 -0.04188944443027283 0.111" rpy="0 0 3.9269908169872414" />
+      <origin xyz="-0.01088944443 -0.04188944443 0.111" rpy="0 0 3.9269908169872414" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_11">
-      <origin xyz="-0.0058933248584223915 -0.04522774480067381 0.111" rpy="0 0 4.319689898685965" />
+      <origin xyz="-0.005893324858 -0.0452277448 0.111" rpy="0 0 4.319689898685965" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_12">
-      <origin xyz="-2.828934106030386e-18 -0.0464 0.111" rpy="0 0 4.71238898038469" />
+      <origin xyz="-2.828934106e-18 -0.0464 0.111" rpy="0 0 4.71238898038469" />
       <geometry>
-        <box size="0.0012 0.005887806074437877 0.084" />
+        <box size="0.0012 0.0058878060744378775 0.084" />
       </geometry>
     </collision>
     <collision name="sample_container_proxy_13">
-      <origin xyz="0.005893324858422386 -0.04522774480067381 0.111" rpy="0 0 5.105088062083414" />
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diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.glb b/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.glb
index 20095fae301f4c928b57a9213ae9878966d70c92..10dee2ce833daec1adc298771f397ee27b1e89a1 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.glb
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.glb
@@ -1,3 +1,3 @@
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-size 3604528
+oid sha256:fdbf519b74900b3d5ef721738be470eac131cd65a14a7f1b63ee30b486601520
+size 3930420
diff --git a/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.urdf b/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.urdf
index b65c7e8f14a0790d40c2da29f76191b36373c98c..acee720bbc0b9ec7cacd7318aa4974c79628764b 100644
--- a/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.urdf
+++ b/assets/basic40_batch02/t5_automation/mt_quantos_q2/optional_autosampler.urdf
@@ -4,7 +4,7 @@
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@@ -29,105 +29,105 @@
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+        <box size="0.073 0.056690024703202536 0.003" />
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-      <origin xyz="0.12657211383239197 -0.05157211383239203 0.2055" rpy="0 0 5.497787143782138" />
+      <origin xyz="0.1265721138 -0.05157211383 0.2055" rpy="0 0 5.497787143782138" />
       <geometry>
-        <box size="0.073 0.05669002470320253 0.003" />
+        <box size="0.073 0.056690024703202536 0.003" />
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+        <box size="0.073 0.056690024703202536 0.003" />
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@@ -523,19 +523,19 @@
   </joint>
   <link name="autosampler_instrument">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/autosampler_instrument.obj" scale="1 1 1" />
       </geometry>
     </visual>
     <collision name="autosampler_instrument_proxy_00">
-      <origin xyz="0 0.07150000000000001 0.033" rpy="0 0 0" />
+      <origin xyz="0 0.0715 0.033" rpy="0 0 0" />
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     <collision name="autosampler_instrument_proxy_01">
-      <origin xyz="0 0.07150000000000001 0.012" rpy="0 0 0" />
+      <origin xyz="0 0.0715 0.012" rpy="0 0 0" />
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         <box size="0.208 0.341 0.01" />
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@@ -643,204 +643,354 @@
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     <collision name="autosampler_instrument_proxy_19">
-      <origin xyz="0 -0.10200000000000001 0.264" rpy="0 0 0" />
+      <origin xyz="0 -0.1065 0.0565" rpy="0 0 0" />
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-        <box size="0.192 0.0025 0.392" />
+        <box size="0.2 0.01 0.002" />
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     <collision name="autosampler_instrument_proxy_20">
-      <origin xyz="-0.101 0.038 0.264" rpy="0 0 0" />
+      <origin xyz="0 -0.1111 0.0595" rpy="0 0 0" />
       <geometry>
-        <box size="0.0025 0.25 0.392" />
+        <box size="0.2 0.0012 0.004" />
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     <collision name="autosampler_instrument_proxy_21">
-      <origin xyz="-0.05742 0.27299999999999996 0.21" rpy="1.5707963267948966 0 0" />
+      <origin xyz="0 -0.1019 0.0595" rpy="0 0 0" />
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-        <cylinder radius="0.006" length="0.06" />
+        <box size="0.2 0.0012 0.004" />
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     <collision name="autosampler_instrument_proxy_22">
-      <origin xyz="0.05742 0.27299999999999996 0.21" rpy="1.5707963267948966 0 0" />
+      <origin xyz="-0.05742 0.273 0.21" rpy="1.5707963267948966 0 0" />
       <geometry>
         <cylinder radius="0.006" length="0.06" />
       </geometry>
     </collision>
     <collision name="autosampler_instrument_proxy_23">
+      <origin xyz="0.05742 0.273 0.21" rpy="1.5707963267948966 0 0" />
+      <geometry>
+        <cylinder radius="0.006" length="0.06" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_24">
       <origin xyz="-0.06 0.303 0.252" rpy="0 0 0" />
       <geometry>
         <box size="0.012 0.012 0.102" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_24">
+    <collision name="autosampler_instrument_proxy_25">
       <origin xyz="0.06 0.303 0.252" rpy="0 0 0" />
       <geometry>
         <box size="0.012 0.012 0.102" />
       </geometry>
     </collision>
-    <collision name="autosampler_instrument_proxy_25">
+    <collision name="autosampler_instrument_proxy_26">
       <origin xyz="0 0.303 0.207" rpy="0 0 0" />
       <geometry>
         <box size="0.12 0.012 0.012" />
       </geometry>
     </collision>
-    <collision name="autosampler_instrument_proxy_26">
+    <collision name="autosampler_instrument_proxy_27">
       <origin xyz="0 0.303 0.297" rpy="0 0 0" />
       <geometry>
         <box size="0.12 0.012 0.012" />
       </geometry>
     </collision>
-    <collision name="autosampler_instrument_proxy_27">
+    <collision name="autosampler_instrument_proxy_28">
       <origin xyz="0 0.247 0.103" rpy="0 0 0" />
       <geometry>
         <box size="0.124 0.003 0.049" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_28">
+    <collision name="autosampler_instrument_proxy_29">
       <origin xyz="-0.043 0.25 0.108" rpy="1.5707963267948966 0 0" />
       <geometry>
         <cylinder radius="0.006" length="0.004" />
       </geometry>
     </collision>
-    <collision name="autosampler_instrument_proxy_29">
+    <collision name="autosampler_instrument_proxy_30">
       <origin xyz="0.014 0.25 0.108" rpy="0 0 0" />
       <geometry>
         <box size="0.02 0.004 0.011" />
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-    <collision name="autosampler_instrument_proxy_30">
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-      <geometry>
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-      </geometry>
-    </collision>
     <collision name="autosampler_instrument_proxy_31">
-      <origin xyz="0.108 -0.065 0.106" rpy="0 0 0" />
+      <origin xyz="0 -0.1065 0.259" rpy="0 0 0" />
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     </collision>
     <collision name="autosampler_instrument_proxy_32">
-      <origin xyz="0.102 0.038 0.069" rpy="0 0 0" />
+      <origin xyz="0 -0.1065 0.466" rpy="0 0 0" />
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-      <origin xyz="0 -0.095 0.467" rpy="0 0 0" />
+      <origin xyz="-0.06 -0.113 0.466" rpy="1.5707963267948966 0 0" />
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+        <cylinder radius="0.004" length="0.004" />
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     </collision>
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-      <origin xyz="0 0.03 0.483" rpy="0 0 0" />
+      <origin xyz="0.06 -0.113 0.466" rpy="1.5707963267948966 0 0" />
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+        <cylinder radius="0.004" length="0.004" />
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     </collision>
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+        <cylinder radius="0.008" length="0.005" />
       </geometry>
     </collision>
     <collision name="autosampler_instrument_proxy_36">
+      <origin xyz="-0.111 -0.0075 0.466" rpy="0 0 0" />
+      <geometry>
+        <box size="0.005 0.198 0.01" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_37">
+      <origin xyz="-0.111 -0.1065 0.466" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.008" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_38">
+      <origin xyz="0.111 0.0915 0.466" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.005" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_39">
+      <origin xyz="0.111 -0.0075 0.466" rpy="0 0 0" />
+      <geometry>
+        <box size="0.005 0.198 0.01" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_40">
+      <origin xyz="0.111 -0.1065 0.466" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.008" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_41">
+      <origin xyz="-0.105 0.026 0.264" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.25 0.392" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_42">
+      <origin xyz="-0.113 -0.065 0.106" rpy="0 0 0" />
+      <geometry>
+        <box size="0.013 0.026 0.045" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_43">
+      <origin xyz="-0.1055 0.026 0.069" rpy="0 0 0" />
+      <geometry>
+        <box size="0.004 0.25 0.006" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_44">
+      <origin xyz="0.105 0.026 0.264" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.25 0.392" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_45">
+      <origin xyz="0.113 -0.065 0.106" rpy="0 0 0" />
+      <geometry>
+        <box size="0.013 0.026 0.045" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_46">
+      <origin xyz="0.1055 0.026 0.069" rpy="0 0 0" />
+      <geometry>
+        <box size="0.004 0.25 0.006" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_47">
+      <origin xyz="0 0.01025 0.447" rpy="0 0 0" />
+      <geometry>
+        <box size="0.191 0.2175 0.006" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_48">
+      <origin xyz="0 0.173 0.49" rpy="0 0 0" />
+      <geometry>
+        <box size="0.211 0.046 0.01" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_49">
+      <origin xyz="-0.0985 -0.102 0.452" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.004" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_50">
+      <origin xyz="0.0985 -0.102 0.452" rpy="0 1.5707963267948966 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.004" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_51">
+      <origin xyz="-0.1025 0.0915 0.469" rpy="0 0 0" />
+      <geometry>
+        <box size="0.011 0.03 0.014" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_52">
+      <origin xyz="0.1025 0.0915 0.469" rpy="0 0 0" />
+      <geometry>
+        <box size="0.011 0.03 0.014" />
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+    </collision>
+    <collision name="autosampler_instrument_proxy_53">
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       <geometry>
         <cylinder radius="0.0045" length="0.267" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_37">
+    <collision name="autosampler_instrument_proxy_54">
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         <cylinder radius="0.0045" length="0.267" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_38">
+    <collision name="autosampler_instrument_proxy_55">
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+    <collision name="autosampler_instrument_proxy_56">
+      <origin xyz="0 0.07175 0.241" rpy="0 0 0" />
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+        <box size="0.112 0.1025 0.025" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_40">
-      <origin xyz="0 -0.0010000000000000009 0.245" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_57">
+      <origin xyz="0 0.0195 0.227" rpy="0 0 0" />
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-      <origin xyz="0 -0.018000000000000002 0.278" rpy="0.4188790204786391 0 0" />
+    <collision name="autosampler_instrument_proxy_58">
+      <origin xyz="-0.013 0.00375 0.2335" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0315 0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_59">
+      <origin xyz="-0.013 -0.0095 0.2365" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_60">
+      <origin xyz="0.013 0.00375 0.2335" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0315 0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_61">
+      <origin xyz="0.013 -0.0095 0.2365" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_62">
+      <origin xyz="-0.0065 0.00625 0.208" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0265 0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_63">
+      <origin xyz="-0.0065 -0.0045 0.211" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_64">
+      <origin xyz="0.0065 0.00625 0.208" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.0265 0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_65">
+      <origin xyz="0.0065 -0.0045 0.211" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0012" length="0.003" />
+      </geometry>
+    </collision>
+    <collision name="autosampler_instrument_proxy_66">
+      <origin xyz="0 -0.018 0.278" rpy="0.4188790204786391 0 0" />
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+    <collision name="autosampler_instrument_proxy_67">
+      <origin xyz="0 -0.0048 0.2483" rpy="0.4188790204786391 0 0" />
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-      <origin xyz="0 0.006999999999999999 0.225" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_68">
+      <origin xyz="0 0.007 0.225" rpy="0 0 0" />
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-    <collision name="autosampler_instrument_proxy_44">
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+    <collision name="autosampler_instrument_proxy_69">
+      <origin xyz="0 0.007 0.205" rpy="0 0 0" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_45">
-      <origin xyz="0 0.003999999999999997 0.066" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_70">
+      <origin xyz="0 0.004 0.066" rpy="0 0 0" />
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-    <collision name="autosampler_instrument_proxy_46">
-      <origin xyz="-0.061 0.003999999999999997 0.07" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_71">
+      <origin xyz="-0.061 0.004 0.07" rpy="0 0 0" />
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-    <collision name="autosampler_instrument_proxy_47">
-      <origin xyz="0.061 0.003999999999999997 0.07" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_72">
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-    <collision name="autosampler_instrument_proxy_48">
-      <origin xyz="0 -0.047999999999999994 0.07" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_73">
+      <origin xyz="0 -0.048 0.07" rpy="0 0 0" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_49">
-      <origin xyz="0 0.055999999999999994 0.07" rpy="0 0 0" />
+    <collision name="autosampler_instrument_proxy_74">
+      <origin xyz="0 0.056 0.07" rpy="0 0 0" />
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         <box size="0.128 0.003 0.005" />
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     </collision>
-    <collision name="autosampler_instrument_proxy_50">
+    <collision name="autosampler_instrument_proxy_75">
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-    <collision name="autosampler_instrument_proxy_51">
+    <collision name="autosampler_instrument_proxy_76">
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-    <collision name="autosampler_instrument_proxy_52">
+    <collision name="autosampler_instrument_proxy_77">
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       <geometry>
         <box size="0.21 0.043 0.001" />
@@ -854,7 +1004,7 @@
   </joint>
   <link name="autosampler_vials">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="-0 -0 -0" rpy="0 0 0" />
       <geometry>
         <mesh filename="meshes/autosampler_vials.obj" scale="1 1 1" />
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@@ -862,97 +1012,97 @@
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       <origin xyz="0.192 0.075 0.124" rpy="0 0 0.0" />
       <geometry>
-        <box size="0.001 0.004574984449732133 0.062" />
+        <box size="0.001 0.004574984449732134 0.062" />
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+      <origin xyz="0.1910865544 0.07959220119 0.124" rpy="0 0 0.39269908169872414" />
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+        <box size="0.001 0.004574984449732134 0.062" />
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+      <origin xyz="0.1884852814 0.08348528137 0.124" rpy="0 0 0.7853981633974483" />
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+        <box size="0.001 0.004574984449732134 0.062" />
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+      <origin xyz="0.1845922012 0.08608655439 0.124" rpy="0 0 1.1780972450961724" />
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diff --git a/assets/basic40_batch02/t5_automation/ziath_dp5/asset.contract.json b/assets/basic40_batch02/t5_automation/ziath_dp5/asset.contract.json
index 951b07ebfd417cb9b25587129f5402620117924d..788021399d37eaec5af0d8da2d01f280de5459a6 100644
--- a/assets/basic40_batch02/t5_automation/ziath_dp5/asset.contract.json
+++ b/assets/basic40_batch02/t5_automation/ziath_dp5/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ziath_dp5_mirage_2023",
-  "asset_version": "1.0.1",
+  "asset_version": "1.0.2",
   "name_zh": "样品管二维条码读架仪",
   "category": "自动化与气液供给",
   "asset_kind": "instrument",
@@ -255,6 +255,12 @@
       "format": "obj",
       "status": "available",
       "sha256": "f1f401fa4b3a88d274fe2c3f64c02d4ddce039a91c77c10dbea4cb4ddfc047f7"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/basic40_batch02/t5_automation/ziath_dp5/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "70be2ab9391cab0be5caf550a2d3284f114341056ec5ccad30d9c2e2613aaf61"
     }
   },
   "sources": {
@@ -4456,6 +4462,24 @@
     "chemistry_lab.output_templates": {
       "status": "not_applicable",
       "reason_zh": "只读取宿主提供的二维条码身份与孔位映射，无化学过程或成分测量，没有物质相关读数。"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "configuration.set",
+          "acquisition.start",
+          "scene.set_rack_lift",
+          "results.export"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息为“Operation not permitted…: 错误码”）。合同没有更细的错误码，故错误码不变，error.message改为指明原因：读码器关机；已装架的孔数与configuration.set的rack_format不符（给出两者）；架上无架；架未落座（scene.set_rack_lift lift_m=0）；配置的架型与已装架不符；无扫描结果可导出。拒绝时状态不变。版本1.0.1→1.0.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B LW3）：架型不符等情形只返回笼统错误。",
+        "tests_changed": [
+          "tests/test_basic40_automation.py::TestZiathDP5Runtime::test_fix_round_b_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t1_thermal/metrohm_909uv/asset.contract.json b/assets/expansion_batch03/t1_thermal/metrohm_909uv/asset.contract.json
index a232d469f3eb295bacefe5ffc7e1dc00103eb367..149272799e1d864f28b83eb55c7deab139f2c6da 100644
--- a/assets/expansion_batch03/t1_thermal/metrohm_909uv/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/metrohm_909uv/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.metrohm_909uv",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "Metrohm909UV紫外消解仪",
   "category": "消解与固体前处理",
   "asset_kind": "instrument",
@@ -1514,13 +1514,13 @@
       "path": "scripts/asset_runtime/metrohm_909uv.py",
       "format": "py",
       "status": "available",
-      "sha256": "5807fb5ccebfd77c0c5b94c5c13f36124b99f63218187d6edb2ebbf0be4001d2"
+      "sha256": "f1223a056f0b18ca847f3c5b40de91ca23c6486ae615d1222db36a1466fecfc3"
     },
     "runtime_tests": {
       "path": "tests/test_asset_metrohm_909uv.py",
       "format": "py",
       "status": "available",
-      "sha256": "c325d78968a43211403fe6efb20b4409992094d5c2e42fd5cb5e7a87e02b1573"
+      "sha256": "06570cb4078a50eff70cf3ee1c2ea222da976901fe51d654f5149251f077b2a0"
     },
     "oh_rate_library": {
       "path": "assets/reactions/metrohm_909uv_digestion_library/templates.json",
@@ -1574,7 +1574,7 @@
       "path": "outputs/panel_ui/metrohm_909uv/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "2501bf03d6b7ae8ec13c6364c79255bf29aa552e1fbb6d1f55bac352aba12d24"
+      "sha256": "dfa521eddfaceed866076c13fb04bd694a366ba3a30b63a6cac017ea3635612f"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/metrohm_909uv/run_panel_validation.py",
@@ -1586,7 +1586,7 @@
       "path": "outputs/panel_ui/metrohm_909uv/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "52f3afe0b3a204ecba1a4bd1af6b2416b717bc748a78aabccd1d8f9353dd5400"
+      "sha256": "c34ac4d0cccc171e9a2576dbfdebda1a85ce9c4a745cea83e4c14dae3cfdb2ab"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/metrohm_909uv/build_panel_spec.py",
@@ -11695,13 +11695,15 @@
             "type": "number",
             "x-unit": "K",
             "minimum": 353.15,
-            "maximum": 373.15
+            "maximum": 373.15,
+            "description": "whole degrees Celsius: temperature_K - 273.15 is an integer (the panel sets 1 degC steps); other values are refused (INVALID_ARGUMENT)"
           },
           "duration_s": {
             "type": "number",
             "x-unit": "s",
             "minimum": 60,
-            "maximum": 59940
+            "maximum": 59940,
+            "multipleOf": 60
           }
         },
         "required": [
@@ -12052,7 +12054,8 @@
             "type": "number",
             "x-unit": "K",
             "minimum": 353.15,
-            "maximum": 373.15
+            "maximum": 373.15,
+            "description": "whole degrees Celsius: temperature_K - 273.15 is an integer (the panel sets 1 degC steps); other values are refused (INVALID_ARGUMENT)"
           }
         },
         "required": [
@@ -16595,8 +16598,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -16799,8 +16802,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17009,8 +17012,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17239,8 +17242,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17449,8 +17452,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17774,8 +17777,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18088,8 +18091,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18316,8 +18319,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18488,8 +18491,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey (set Sample Temp. and Rad. Time digit by digit, start a digestion, cancel it, check the lamp hours and ignitions, configure a new UV lamp in Lamp setup with SET held at switch-on, acknowledge an error) done only with panel gestures and checked on the runtime state and the display frame; QUIT restoring a value, out-of-range values not saved, parameters changed during digestion, contrast, Dev. busy cooling, Lamp exhausted with a short lifetime, counters refused during the lamp service life, mains switch gate and On LED; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_metrohm_909uv.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:49:55.750802+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:29:40.986911+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_metrohm_909uv.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -19433,6 +19436,20 @@
           "tests/test_panel_ui_metrohm_909uv.py::MoreBehaviour::test_mains_switch_gate_and_led: 照射中关电源开关改为接受并按断电结束"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "schema_grids",
+        "capability_ids": [
+          "method.configure",
+          "thermal.set_temperature"
+        ],
+        "what_zh": "运行层强制的整摄氏度与整分钟网格原来只在运行层拒绝（INVALID_ARGUMENT），模式里看不到：method.configure的duration_s加multipleOf 60；温度（K）的整摄氏度条件无法用multipleOf表达（273.15偏移），在method.configure与thermal.set_temperature的temperature_K模式里用description写明。行为不变。版本1.2.1→1.2.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D6）：网格须在合同模式中声明。",
+        "tests_changed": [
+          "tests/test_asset_metrohm_909uv.py::FixRoundB::test_grids_in_schemas_match_the_runtime（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t1_thermal/scp_digiprepms/asset.contract.json b/assets/expansion_batch03/t1_thermal/scp_digiprepms/asset.contract.json
index fd4305f7891f8c0fb05384bde574efdc55de966f..9809b8b59b1a1d92206297020143ab069cd52f3e 100644
--- a/assets/expansion_batch03/t1_thermal/scp_digiprepms/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/scp_digiprepms/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.scp_digiprepms",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "SCP SCIENCE DigiPREP MS 010-500-205 石墨块消解仪",
   "category": "消解与固体前处理",
   "asset_kind": "instrument",
@@ -350,7 +350,7 @@
       "path": "outputs/expansion_batch03/t1_thermal/scp_digiprepms/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "aa0bd08cc8ac1a5d7a85ad22a02f6aac6bf4603c83c13802c74ca3b311b23257"
+      "sha256": "99b737cb641b589f1f7445aacbe704f8b7c7cba7f313c0deb7904d6572f31621"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t1_thermal/scp_digiprepms/scene_validation.json",
@@ -1808,13 +1808,13 @@
       "path": "scripts/asset_runtime/scp_digiprepms.py",
       "format": "py",
       "status": "available",
-      "sha256": "6cf06e51c8fffa167a716ed610cdc369bf8d9a218d418d812323016e48412f87"
+      "sha256": "64c1720da2c948f428f679e69801f286642a81db8091b8333c19bea990c45cf0"
     },
     "runtime_tests": {
       "path": "tests/test_asset_scp_digiprepms.py",
       "format": "py",
       "status": "available",
-      "sha256": "c17cdbb40fc7cc535e99de7394949ad35dcf4b25af9c1dbe741d0f039f573ab4"
+      "sha256": "fc00eea2712c2f7344d7ab3601715a773f792b786f1fc7ad1575de748bb65e65"
     },
     "digestion_library": {
       "path": "assets/reactions/scp_digiprepms_digestion_library/templates.json",
@@ -1845,6 +1845,12 @@
       "format": "json",
       "status": "available",
       "sha256": null
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t1_thermal/scp_digiprepms/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "a157282b99a04a7d04cf62ef14972f7856dc2a91815415ab2dcefc659377fa98"
     }
   },
   "sources": {
@@ -14174,8 +14180,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -14268,7 +14274,7 @@
       ]
     },
     "method.configure": {
-      "function_zh": "严格递增时间节点的线性温度程序及达温保温时间",
+      "function_zh": "严格递增时间节点的线性温度程序及达温保温时间；未运行时可改，周期结束或停止之后设新方法即开始新周期（时间与保温计时清零）",
       "kind": "configuration",
       "visibility": "agent",
       "component_ids": [
@@ -14455,8 +14461,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -14546,7 +14552,7 @@
       ]
     },
     "sample.configure": {
-      "function_zh": "宿主初始化最多48管、每管50mL有限样品；不是机器人装管",
+      "function_zh": "宿主初始化最多48管、每管50mL有限样品；不是机器人装管；不需先有方法；未运行且块与管都不高于50 °C时可再次调用换管（取下原管，原管显热计入散热）",
       "kind": "configuration",
       "visibility": "evaluator",
       "component_ids": [
@@ -14806,8 +14812,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -15055,8 +15061,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -15139,7 +15145,7 @@
       ]
     },
     "thermal.set_temperature": {
-      "function_zh": "未运行时改为恒温程序目标；不瞬时加热",
+      "function_zh": "未运行时改恒温程序（单节点）的目标温度，保温与超时不变；已配置的程序有升温斜坡（多个节点）时拒绝RAMP_PROGRAM（改用method.configure）；周期结束或停止之后即开始新周期；不瞬时加热",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -15289,8 +15295,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -15549,8 +15555,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -15819,8 +15825,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -15904,7 +15910,7 @@
       ]
     },
     "acquisition.start": {
-      "function_zh": "运行热程序；完成不等于消解完全",
+      "function_zh": "运行热程序；完成不等于消解完全；周期succeeded/failed之后再启动为同一方法的新周期，cancelled之后为续跑",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -16131,8 +16137,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -16363,8 +16369,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -16617,8 +16623,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -16913,8 +16919,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -17160,8 +17166,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -17393,8 +17399,8 @@
           "side_effects": "none"
         },
         {
-          "code": "CYCLE_ALREADY_STARTED",
-          "meaning_zh": "CYCLE_ALREADY_STARTED",
+          "code": "RAMP_PROGRAM",
+          "meaning_zh": "thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序",
           "side_effects": "none"
         },
         {
@@ -18221,7 +18227,8 @@
     "Program completion is not complete dissolution; all reaction,volatilization,blank kinetics explicitly synthetic.",
     "No integral display/buttons,optional controller/probe remain host boundary; physical probe/cable or robot attachment not built.",
     "Cancellation freezes chemistry while sensible cooling continues; not validated safe-state or post-stop acid behavior.",
-    "No factory UI,hardware,safety approval or file/process isolation; Matterixack differs from native operation completion."
+    "No factory UI,hardware,safety approval or file/process isolation; Matterixack differs from native operation completion.",
+    "周期（1.0.1）：周期结束或停止后可设新方法开始新周期；同一组管子可多次加热（账本连续）；换管由宿主sample.configure完成（块与管≤50 °C），不是机器人动作。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -18452,6 +18459,24 @@
         "ReactionKinetics has no pressure input; gas reactants act only through their ledger amounts. Light- and current-driven templates (levels 4/5) act only through the container's ReactionDrives (photon flux / wavelength / cell current), set by the host or coupled from an instrument runtime.",
         "One template = one overall stoichiometry; side reactions, equilibria (except an optional max_conversion cap) and speciation are not modelled."
       ]
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "cycles_and_constant_setpoint",
+        "capability_ids": [
+          "method.configure",
+          "thermal.set_temperature",
+          "acquisition.start",
+          "sample.configure"
+        ],
+        "what_zh": "原来一个实验室只能跑一个周期：周期结束后method.configure返回CYCLE_ALREADY_STARTED、thermal.set_temperature与acquisition.start返回PRECONDITION_FAILED，没有复位；登记管子必须先有方法；thermal.set_temperature把升温程序悄悄换成恒温程序。现在：未运行时可设新方法，周期结束（succeeded/failed）或停止（cancelled）后设新方法即开始新周期（周期时间与保温计时清零，管子留在块里、账本继续）；succeeded/failed之后再按启动为同一方法的新周期，cancelled之后为续跑；thermal.set_temperature只改恒温（单节点）程序，对有升温斜坡的程序拒绝并返回新码RAMP_PROGRAM（改用method.configure），CYCLE_ALREADY_STARTED不再使用；宿主登记管子不再需要先有方法，未运行且块与管都不高于50 °C时可再次登记换管（原管带走的显热计入散热，能量账本不变）。说明书p.2：控制器存12个程序、每个3段升温/保温，可反复运行。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D2）：一个周期后无法再用，且恒温设定静默替换升温程序。",
+        "tests_changed": [
+          "tests/test_asset_scp_digiprepms.py::FixRoundB（新增4个测试：周期结束后新方法与新周期、停止后续跑或新程序、升温程序拒绝RAMP_PROGRAM、无方法登记管子与冷块换管）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t1_thermal/specac_atlasmanual/asset.contract.json b/assets/expansion_batch03/t1_thermal/specac_atlasmanual/asset.contract.json
index d9cbba7d73ffdc295ba8dd4d224f15d97bd4caad..3f76e3f1580f98c57a58edfaa1e2a70fdbaab42d 100644
--- a/assets/expansion_batch03/t1_thermal/specac_atlasmanual/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/specac_atlasmanual/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.specac_atlasmanual",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "Specac Atlas Manual15T液压粉末压片机",
   "category": "消解与固体前处理",
   "asset_kind": "instrument",
@@ -386,7 +386,7 @@
       "path": "outputs/expansion_batch03/t1_thermal/specac_atlasmanual/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "689a6b683d68f90d83b53ae62aaed28989583f9411b0f26ede25bfd4777b2909"
+      "sha256": "76e34d4a4ed3ddf8825ba7b7e656053cd2ab1e885875598e38342b430ff1caf7"
     },
     "output_runtime_validation_initial_float_tolerance": {
       "path": "outputs/expansion_batch03/t1_thermal/specac_atlasmanual/runtime_validation_initial_float_tolerance.json",
@@ -1310,19 +1310,25 @@
       "path": "scripts/asset_runtime/specac_atlasmanual.py",
       "format": "py",
       "status": "available",
-      "sha256": "b56896b49f7fac5c05f532d5657efc585c99b212c0528110986b7b62fef32446"
+      "sha256": "5db56883a09ce7710ec854c49259842fcfb97a59008038d63ee4de3c7f6ec6d4"
     },
     "runtime_tests": {
       "path": "tests/test_asset_specac_atlasmanual.py",
       "format": "py",
       "status": "available",
-      "sha256": "b28f715a7656137ad9f2275f9abeae7c42bcbea47b6f8e5c027789f58191db98"
+      "sha256": "67e57559a6a910365067f9495bf7bb814ea4c46c785fda21ab3afdd5a39ec281"
     },
     "compaction_library": {
       "path": "assets/reactions/specac_atlasmanual_compaction_library/templates.json",
       "format": "json",
       "status": "available",
       "sha256": "a25359ea9ca050d81ea5351f051f323bb033a7a9fe520a179b5b51ddc251b7c2"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t1_thermal/specac_atlasmanual/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "173d1020a52fa875749d8d98d65e7a03f31929116d1ec1c80727704ede3822d8"
     }
   },
   "sources": {
@@ -14698,6 +14704,29 @@
         "energy_balance"
       ],
       "note_zh": "桥接回执非完整原生异步生命周期；手动行程来自显式API非机器人接触；模型未标定"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "press_refusal_messages",
+        "capability_ids": [
+          "acquisition.start",
+          "pump.stroke",
+          "acquisition.stop",
+          "guard.set_raised",
+          "screw.set_position",
+          "relief.set_limit",
+          "vacuum.set",
+          "method.configure",
+          "product.collect"
+        ],
+        "what_zh": "多种压机条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息即错误码）。合同没有更细的错误码，故错误码不变，error.message改为指明第一个未满足的条件：宿主未配置、未设方法、未装模具/样品、护罩未放下、泄压阀未关、顶丝仍在移动或过低、模具需要真空；启动时方法目标载荷超过泄压阀限值或模具最大载荷（给出两者的N值，方法目标载荷原来不在智能体可读槽中，现在拒绝消息里可见）；以及压制已结束、无压制进行、带载时不能抬护罩/转顶丝/改泄压限值、取样前须泄压并抬起前护罩。拒绝时状态不变。describe的asset_version改用运行层常量ASSET_VERSION。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B P2）：几种压机条件都返回同一个笼统错误，智能体无从得知哪一条不满足。",
+        "tests_changed": [
+          "tests/test_asset_specac_atlasmanual.py::FixRoundB::test_press_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t1_thermal/ta_dsc2500/asset.contract.json b/assets/expansion_batch03/t1_thermal/ta_dsc2500/asset.contract.json
index c7f7491a2169b7b83992093c45ff59959f16b659..578f39a7d661055e6be2804678983a626597609d 100644
--- a/assets/expansion_batch03/t1_thermal/ta_dsc2500/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/ta_dsc2500/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ta_dsc2500",
-  "asset_version": "1.1.1",
+  "asset_version": "1.1.2",
   "name_zh": "TA Instruments DSC 2500 差示扫描量热仪",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -4274,7 +4274,7 @@
       "path": "outputs/expansion_batch03/t1_thermal/ta_dsc2500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "126fe6e10509c7c9f1665c298ad3ca1fdc703eeacbc9f169fca6597f3613abd8"
+      "sha256": "e48d0ad23244883a1da2f4fceea7b8cd7be7669bc1324b3990c71fef984dff2b"
     },
     "scene_adapter_py": {
       "path": "outputs/expansion_batch03/t1_thermal/ta_dsc2500/scene_adapter.py",
@@ -4400,13 +4400,13 @@
       "path": "scripts/asset_runtime/ta_dsc2500.py",
       "format": "py",
       "status": "available",
-      "sha256": "fca6400610634af491031ed8b6ad6c1865737b1f41ba905bc76dbf6967452cd4"
+      "sha256": "09985004a5358f954ee0226b0d301d24a2b052f171c19c837079f39c09d06c43"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ta_dsc2500.py",
       "format": "py",
       "status": "available",
-      "sha256": "017a7284e46628a226708dd443aa7571f8d9eff5b4aca321888885a005e8b95e"
+      "sha256": "7cc2bec44bc9c70371a13b513bb7d2a351787078ba0b5d23a9e42f52769fe3e0"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t1_thermal/ta_dsc2500/说明.md",
@@ -4442,7 +4442,7 @@
       "path": "outputs/panel_ui/ta_dsc2500/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "fabb9cdee0c5dcbbd997355c599717cb5f21f55a1f1c79e180c26fb4aaa76cca"
+      "sha256": "cd3fcbf189ff77049c6a2c22e9c825dfc93a308d37ce8f08f8a4c7fe1db606c0"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ta_dsc2500/build_panel_spec.py",
@@ -4466,7 +4466,7 @@
       "path": "outputs/panel_ui/ta_dsc2500/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "4b14b108b61f6c97b1baf071815099828be5e19509b8fe3088c49fadf076e1ad"
+      "sha256": "756c2e5bcaab19264bb5d0fc46c88c301f4d706c7e689137885c370c298ea5af"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/ta_dsc2500/home.png",
@@ -37905,7 +37905,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -38396,7 +38396,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -38792,7 +38792,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -39218,7 +39218,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -39604,7 +39604,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -40000,7 +40000,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -40594,7 +40594,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -41267,7 +41267,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -41878,7 +41878,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -42502,7 +42502,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -43093,7 +43093,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -43598,7 +43598,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -44014,7 +44014,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -44555,7 +44555,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -45181,7 +45181,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -45786,7 +45786,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -46350,7 +46350,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -46723,7 +46723,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -47187,7 +47187,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -48017,7 +48017,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -48469,7 +48469,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -49103,7 +49103,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -49749,7 +49749,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -50130,7 +50130,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -54504,7 +54504,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -55127,7 +55127,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -55730,7 +55730,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -56334,7 +56334,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -56800,7 +56800,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -57203,7 +57203,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -57834,7 +57834,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -58465,7 +58465,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:20.503102+00:00",
+          "checked_at": "2026-10-22T10:59:08.053200+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -58802,8 +58802,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (fill the LN2 dewar, reset the autosampler, start an experiment, find IP address and serial number, open / close the AutoLid) with the touch-screen steps done only by gestures and the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Step, system info, LN Pump installed and not installed; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.216079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:59:12.410046+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dsc2500.py），不跨层借用验证结果"
         },
@@ -59162,8 +59162,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (fill the LN2 dewar, reset the autosampler, start an experiment, find IP address and serial number, open / close the AutoLid) with the touch-screen steps done only by gestures and the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Step, system info, LN Pump installed and not installed; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.216079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:59:12.410046+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dsc2500.py），不跨层借用验证结果"
         },
@@ -59370,8 +59370,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (fill the LN2 dewar, reset the autosampler, start an experiment, find IP address and serial number, open / close the AutoLid) with the touch-screen steps done only by gestures and the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Step, system info, LN Pump installed and not installed; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.216079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:59:12.410046+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dsc2500.py），不跨层借用验证结果"
         },
@@ -59523,8 +59523,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (fill the LN2 dewar, reset the autosampler, start an experiment, find IP address and serial number, open / close the AutoLid) with the touch-screen steps done only by gestures and the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Step, system info, LN Pump installed and not installed; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.216079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:59:12.410046+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dsc2500.py），不跨层借用验证结果"
         },
@@ -59894,7 +59894,7 @@
       "equations": [
         "Ef=Cf*(Tf-Tamb); Es=(Csample_pan+m*Cp)*(Ts-Tamb)+m*Lf*f(Ts); Er=Cref*(Tr-Tamb). f=clip((Ts-(Tm-width/2))/width,0,1). Tm/Lf from explicit measured source; Cp/pan/G/width engineering inputs. Reversible equilibrium mushy interval is not nucleation, supercooling or Tg kinetics.",
         "Cf*dTf/dt=Pheat-Pcool-Gambient*(Tf-Tamb)-Gs*(Tf-Ts)-Gr*(Tf-Tr); dEs/dt=Gs*(Tf-Ts); Cr*dTr/dt=Gr*(Tf-Tr). All three are solved together by monotone implicit enthalpy inversion and a scalar furnace residual each<=0.01s. Equal/opposite pan fluxes conserve energy for arbitrarily stiff accepted capacities/conductances.",
-        "Pcommand=Kcontroller*(Tcontrol-Tf) with Tcontrol=(Tprogram*temperature_gain_correction+temperature_zero_k-temperature_offset_k)/temperature_gain: the controller holds the device reading (same affine map as the indicated temperatures) at the program temperature, so sensor errors and the stored temperature calibration move the cell; identity with the default zero errors and no calibration. Bounded by explicit heating/cooling powers. FACS Pcool<=Gfacs*max(Tf-Tamb,0), so it cannot extract heat below ambient. External RCS/LN2P use explicit engineering power but distinct manufacturer temperature domains; no OEM full-range cooling-rate curve or external hardware geometry is claimed.",
+        "Pcommand=Kcontroller*(Tcontrol-Tf)+G_ambient*(Tcontrol-T_ambient) (1.1.2: feed-forward of the steady ambient loss, so the cell settles on the set point instead of the proportional droop G(T-Ta)/K, about 0.2 K at 400 K) with Tcontrol=(Tprogram*temperature_gain_correction+temperature_zero_k-temperature_offset_k)/temperature_gain: the controller holds the device reading (same affine map as the indicated temperatures) at the program temperature, so sensor errors and the stored temperature calibration move the cell; identity with the default zero errors and no calibration. Bounded by explicit heating/cooling powers. FACS Pcool<=Gfacs*max(Tf-Tamb,0), so it cannot extract heat below ambient. External RCS/LN2P use explicit engineering power but distinct manufacturer temperature domains; no OEM full-range cooling-rate curve or external hardware geometry is claimed.",
         "Program targets use actual elapsed host time, piecewise linear ramps then holds, with optional A*sin(2*pi*t/period). Combined |ramp|+A*omega must respect explicit engineering program-rate limit. Actual furnace never becomes target instantaneously.",
         "Independent sample/reference heatflow gain/offset and first-order observations give calibrated qobs_s-qobs_r, endothermic positive. No direct latent-fraction or true enthalpy is returned to agents; no random noise or certified accuracy is fabricated.",
         "analysis.integrate uses externally supplied observed times/heatflows/temperatures/baseline/measured mass: DeltaH_obs=trapz(qobs-baseline,time)/mass. Peak temperature is the sampled heatflow peak, not an extrapolated onset or certified melting temperature. Partial windows remain partial.",
@@ -62252,6 +62252,20 @@
           "tests/test_panel_ui_ta_dsc2500.py: 新增test_power_switch_is_a_hard_switch"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "controller_feed_forward",
+        "capability_ids": [
+          "thermal.set_temperature",
+          "acquisition.start"
+        ],
+        "what_zh": "炉温控制器是纯比例控制（P=K(T设−T炉)），稳态时要用偏差来供给环境散热G(T−Ta)，炉温低于设定约G(T−Ta)/K（400 K时约0.2 K），0.1 K的等待条件永远达不到。现在加入环境散热的前馈（P=K(T设−T炉)+G(T设−Ta)，G为工程参数ambient_conductance_w_k），稳态时炉温等于设定点；升温斜坡中的滞后与动态不变。版本1.1.1→1.1.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA3）：控制器偏差是模型缺陷（真实仪器的PID控制无稳态偏差）。",
+        "tests_changed": [
+          "tests/test_asset_ta_dsc2500.py::FixRoundB::test_cell_settles_on_the_set_point（新增：400/500/320 K稳态偏差<1e-6 K）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t1_thermal/ta_tga5500/asset.contract.json b/assets/expansion_batch03/t1_thermal/ta_tga5500/asset.contract.json
index b6a2f8a0700147f3b66d2aa204b920522938428c..4c5c30f99ae9aa67a804f181fda6057b92ac6ce1 100644
--- a/assets/expansion_batch03/t1_thermal/ta_tga5500/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/ta_tga5500/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ta_tga5500",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "TA Instruments TGA 5500 热重分析仪",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -2882,7 +2882,7 @@
       "path": "outputs/expansion_batch03/t1_thermal/ta_tga5500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "bc46cf4473ad677a58804359a7bdeb50dc82929b60d5583b5835a598ce2dfe33"
+      "sha256": "c639974519cedc9d4bfe85599d64ecebbda73ab55d8bd152eee03e24b27b4979"
     },
     "scalar_references_svg": {
       "path": "outputs/expansion_batch03/t1_thermal/ta_tga5500/scalar_references.svg",
@@ -3008,13 +3008,13 @@
       "path": "scripts/asset_runtime/ta_tga5500.py",
       "format": "py",
       "status": "available",
-      "sha256": "abccf303874b361958814ae038b6bb8171326c814475c188a3ce43734fb11a9f"
+      "sha256": "6edef7c6c3297578e31f3ea97965523764255b7a1ef869862b725c6c482b1953"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ta_tga5500.py",
       "format": "py",
       "status": "available",
-      "sha256": "301692dfa0f45dc28483c35324cc276fe72e6060191da19c5cf235957bdfa469"
+      "sha256": "a9b4612016f74c92c2e0463021705a10e042cd6c6a968e1cb74bb1f1c45c7f3a"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t1_thermal/ta_tga5500/说明.md",
@@ -3050,7 +3050,7 @@
       "path": "outputs/panel_ui/ta_tga5500/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "988e0a407cac0cc6af738bbad01d39647ae7ccb0ed06eb3cfcf5d2c63826b919"
+      "sha256": "bd2061cbfb7e92b3d0a1ccf00003657a92b15caa6d20c1af0be27c16930ee17f"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ta_tga5500/build_panel_spec.py",
@@ -3074,7 +3074,7 @@
       "path": "outputs/panel_ui/ta_tga5500/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "4b81d602157b2af2599db9b94c7a2221ac3701c73fb9f218d5b15faaf0f63ad6"
+      "sha256": "247a9c9670fb5dad4effb954ea956b090ab1fea744dbf317ed99f3491e05c18d"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/ta_tga5500/home.png",
@@ -24055,7 +24055,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -24602,7 +24602,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -25039,7 +25039,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -25467,7 +25467,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -25866,7 +25866,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -26275,7 +26275,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -26903,7 +26903,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -27523,7 +27523,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -28243,7 +28243,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -28880,7 +28880,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -29523,7 +29523,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -30160,7 +30160,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -30809,7 +30809,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -31426,7 +31426,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -32046,7 +32046,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -32474,7 +32474,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -32941,7 +32941,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -33348,7 +33348,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -33877,7 +33877,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -34534,7 +34534,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -35165,7 +35165,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -35727,7 +35727,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -36101,7 +36101,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -36617,7 +36617,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -37130,7 +37130,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -37775,7 +37775,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -38442,7 +38442,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -38824,7 +38824,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -39469,7 +39469,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -39663,7 +39663,7 @@
       "example_arguments": {
         "position": 2,
         "sample": {
-          "reference_id": "pending_verified_tga_curve",
+          "reference_id": "fsri_abs_n2_10k_r1",
           "mass_kg": 1e-05,
           "pan_material": "ceramic",
           "heat_capacity_j_kg_k": 1000.0,
@@ -39995,7 +39995,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -40403,7 +40403,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -41053,7 +41053,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -41703,7 +41703,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:44:40.777160+00:00",
+          "checked_at": "2026-10-22T11:16:05.064520+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "触屏功能新增命令；不跨层借用验证结果"
         },
@@ -46117,8 +46117,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the four key procedures of the menu survey (tare the pan, pan to front, start / stop a run, open / close the furnace) done only by gestures with the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Segment, air cool and gas switch, system info; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:45.770079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:16:25.898162+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_tga5500.py），不跨层借用验证结果"
         },
@@ -46462,8 +46462,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the four key procedures of the menu survey (tare the pan, pan to front, start / stop a run, open / close the furnace) done only by gestures with the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Segment, air cool and gas switch, system info; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:45.770079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:16:25.898162+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_tga5500.py），不跨层借用验证结果"
         },
@@ -46670,8 +46670,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the four key procedures of the menu survey (tare the pan, pan to front, start / stop a run, open / close the furnace) done only by gestures with the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Segment, air cool and gas switch, system info; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:45.770079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:16:25.898162+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_tga5500.py），不跨层借用验证结果"
         },
@@ -46823,8 +46823,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the four key procedures of the menu survey (tare the pan, pan to front, start / stop a run, open / close the furnace) done only by gestures with the TRIOS / hands-on steps as direct calls, each checked on the runtime state and the structured frame; signals, chart, active method and Next Segment, air cool and gas switch, system info; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; power gate and dark screen; no time-outs; touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:44:45.770079+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:16:25.898162+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_tga5500.py），不跨层借用验证结果"
         },
@@ -53631,6 +53631,20 @@
           "tests/test_panel_ui_ta_tga5500.py: 新增test_power_switch_is_a_hard_switch"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "tray_example_and_gas_messages",
+        "capability_ids": [
+          "tray.place",
+          "gas.set_open"
+        ],
+        "what_zh": "tray.place的合同示例仍带占位参考pending_verified_tga_curve（INVALID_REFERENCE）：示例改用与sample.load相同的真实参考fsri_abs_n2_10k_r1。gas.set_open打开时样品或天平吹扫流量为0、未通电、急停锁定或气源用尽都只返回NO_GAS且消息只有代码（流量为0时尤其误导）：错误码保持NO_GAS（合同没有更具体的码），消息写明原因（例如“the balance purge flow is 0: set both flows with gas.set_flow first”）。版本1.2.1→1.2.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA1示例、TA7误导性错误码）。",
+        "tests_changed": [
+          "tests/test_asset_ta_tga5500.py::FixRoundB（新增2个测试：tray.place示例可直接执行、gas.set_open拒绝消息写明原因）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t1_thermal/thinky_are310s/asset.contract.json b/assets/expansion_batch03/t1_thermal/thinky_are310s/asset.contract.json
index d83efa7fa5c608a5c07445dd67063d86ab6f9c1f..c20b76e2ce8e99f0b5db0a7a65e96dec433e5b23 100644
--- a/assets/expansion_batch03/t1_thermal/thinky_are310s/asset.contract.json
+++ b/assets/expansion_batch03/t1_thermal/thinky_are310s/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.thinky_are310s",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "THINKY ARE-310S-UL行星离心混合脱泡机",
   "category": "消解与固体前处理",
   "asset_kind": "instrument",
@@ -1070,13 +1070,13 @@
       "path": "scripts/asset_runtime/thinky_are310s.py",
       "format": "py",
       "status": "available",
-      "sha256": "5856433b8a34587742b7feea7ad04ef31eeeb9e4cb8864ec35eb59dcb543c7ce"
+      "sha256": "b4a59895a9b43835b80c7dc3a10a4bde6336aeb5fe896d543f5be4751dbdc6ae"
     },
     "runtime_tests": {
       "path": "tests/test_asset_thinky_are310s.py",
       "format": "py",
       "status": "available",
-      "sha256": "ce61682e3015fbc07953a8820eff1bcccd56682ee7ba9e928bd535da49ffcb6a"
+      "sha256": "a1555d4007e21b3afab4e0494ce24897e0f5bd9002c7c017f8184b2fb7ddc15a"
     },
     "liquid_cp_library": {
       "path": "assets/reactions/thinky_are310s_mixing_library/templates.json",
@@ -1112,7 +1112,7 @@
       "path": "outputs/panel_ui/thinky_are310s/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "5430792733abbb96c972490ba627f3d340949a5153de083d414efe344178f6ee"
+      "sha256": "f963602152b5a620f2a6cbb6930844dd993c44b6420033978a2bb6942ee10957"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/thinky_are310s/build_panel_spec.py",
@@ -1130,7 +1130,7 @@
       "path": "outputs/panel_ui/thinky_are310s/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "ef9520d17bade091cb6a27a22883c16696339e624ba7c4820946955792575e52"
+      "sha256": "f0752cf3d89ea403dab13d6319d8078bc774a00740c8d661544fe02391659653"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/thinky_are310s/home.png",
@@ -11490,8 +11490,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -11715,8 +11715,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -11930,8 +11930,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -12192,8 +12192,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -12401,8 +12401,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -12768,8 +12768,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -12964,8 +12964,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -13165,8 +13165,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -13447,8 +13447,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -13717,8 +13717,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -13925,8 +13925,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -14078,8 +14078,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (hands-on steps: container, balance dial, closing the lid, taking the product out, as direct calls), each checked on the runtime state and on the TIME / SPEED indicators and lamps of the structured frame; the SETUP field cycles of STD and STEP mode, UP / DOWN steps and holding, the 30-minute blank; panel and direct capability calls compared for identical runtime state; keys locked during operation; Err1b / Err2 and their clearing; the manual 5-4 errors injected by the evaluator (run stopped, ErrX shown, START refused, key acknowledgement after the remedy); caller rules (another agent cannot stop the run on the panel or directly; the starter polls and cancels its own run); power gate and power-up recall of the memory; render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:50.910581+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:46:29.319788+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thinky_are310s.py）与运行层测试test_panel_conditions_memories；不跨层借用验证结果"
         },
@@ -14814,6 +14814,24 @@
           "tests/test_panel_ui_thinky_are310s.py::TestRules::test_keys_locked_during_operation：运转中I/O开关拨到O被接受（断电）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "start_refusal_messages",
+        "capability_ids": [
+          "acquisition.start",
+          "mixing.toggle",
+          "balance.set",
+          "acquisition.stop",
+          "product.collect",
+          "lid.set_open"
+        ],
+        "what_zh": "旋转配平不对（配平标尺与杯+适配器+样品总质量之差超过容差）时启动只返回笼统的PRECONDITION_FAILED，与关机、开盖、未装杯等其他原因无法区分。合同没有IMBALANCE类错误码，故错误码不变，error.message改为指明原因：宿主未配置、未设程序、未装杯、关机、显示Err、转子仍在转、样品已到参考数据温度上限、盖未关、杯空、旋转配平与所装容器不符（按手册5-4 Err2调配平标尺；消息不给出质量数值）；balance.set、acquisition.stop、product.collect、lid.set_open的拒绝也说明原因。拒绝时状态不变。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B AG2）：配平错误只得到笼统错误。",
+        "tests_changed": [
+          "tests/test_asset_thinky_are310s.py::FixRoundB::test_wrong_counterbalance_names_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t2_vacuum/pilodist_pilodist104/asset.contract.json b/assets/expansion_batch03/t2_vacuum/pilodist_pilodist104/asset.contract.json
index eb5b8277cf336ccbe383d80c0e470d8d94cdd5b0..88bc59fa7f22d97f3973b4e84533061136b9f991 100644
--- a/assets/expansion_batch03/t2_vacuum/pilodist_pilodist104/asset.contract.json
+++ b/assets/expansion_batch03/t2_vacuum/pilodist_pilodist104/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.pilodist_pilodist104",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "PILODIST104高效实验室精馏装置6L90板规格",
   "category": "萃取纯化与干燥",
   "asset_kind": "instrument",
@@ -362,7 +362,7 @@
       "path": "outputs/expansion_batch03/t2_vacuum/pilodist_pilodist104/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "84eb77cd9088c488dc1e20014114762f04fbf971eb65ff6177938e4677faa8cc"
+      "sha256": "dba32896178db1f84401830f913cc92444d2f6eb69e60f5bfdd909161ad973ee"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t2_vacuum/pilodist_pilodist104/scene_validation.json",
@@ -1814,13 +1814,13 @@
       "path": "scripts/asset_runtime/pilodist_pilodist104.py",
       "format": "py",
       "status": "available",
-      "sha256": "6cee45018779df6a4cc102146ecd1ce50a0454a868c0c804385f9b7f770c9dd5"
+      "sha256": "411a63ca7df684b962ea062b1124774cb12026c814233e6aad33535ca0633979"
     },
     "runtime_tests": {
       "path": "tests/test_asset_pilodist_pilodist104.py",
       "format": "py",
       "status": "available",
-      "sha256": "c47234c9dd530b6b0d94d48288e21018786bcc7bd5dc7729d5ee0e3c3019f28b"
+      "sha256": "c2988e0b8395f8b578ab14086f9e2db0a32da3c078dd5be19ac9252a2a5e0906"
     },
     "vle_library": {
       "path": "assets/reactions/pilodist_pilodist104_vle_library/templates.json",
@@ -1833,6 +1833,12 @@
       "format": "usda",
       "status": "available",
       "sha256": "b635e0d5ae24bc45e1f03638dbc4d98f7d980f75deabc9c23911f61045884043"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t2_vacuum/pilodist_pilodist104/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "db0df611b42d7ace848006550ce58bb0bd7b14a4974cd8ee0341e56083fcdc91"
     }
   },
   "sources": {
@@ -18727,6 +18733,21 @@
         "native_async_envelope"
       ],
       "note_zh": "原生异步另测；Matterixack不是分馏完成"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "fraction_select_without_charge",
+        "capability_ids": [
+          "fraction.select"
+        ],
+        "what_zh": "fraction.select在尚未装料时原来返回RECEIVER_FULL（接收瓶已满），与实际原因不符。现在返回声明过的状态错误码PRECONDITION_FAILED，error.message写明“锅中尚无料液（sample.configure）”；接收瓶已到切割体积时仍为RECEIVER_FULL并说明是哪个接收瓶。拒绝时状态不变。describe的asset_version改用运行层常量ASSET_VERSION。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B EV4）：错误码误导（未装料却报接收瓶满）。",
+        "tests_changed": [
+          "tests/test_asset_pilodist_pilodist104.py::FixRoundB::test_fraction_select_without_charge_is_a_precondition（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t2_vacuum/sft_sft110/asset.contract.json b/assets/expansion_batch03/t2_vacuum/sft_sft110/asset.contract.json
index 3384f6307246afe2160103adf6ddc07020d90ba4..82e72a52aad16f0ed5eb83897e9508c04ad8e121 100644
--- a/assets/expansion_batch03/t2_vacuum/sft_sft110/asset.contract.json
+++ b/assets/expansion_batch03/t2_vacuum/sft_sft110/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.sft_sft110",
-  "asset_version": "1.1.2",
+  "asset_version": "1.1.3",
   "name_zh": "SFT110超临界流体萃取仪100mL配置",
   "category": "萃取纯化与干燥",
   "asset_kind": "instrument",
@@ -1532,13 +1532,13 @@
       "path": "scripts/asset_runtime/sft_sft110.py",
       "format": "py",
       "status": "available",
-      "sha256": "3f1dd82a7503ceedb2231b8d8183e9eb75cbc46e8f675b1f8d92f41bddf3a3c5"
+      "sha256": "af743c6942dd23996c9048377e91742c7f06eab684b923db167e652347023b03"
     },
     "runtime_tests": {
       "path": "tests/test_asset_sft_sft110.py",
       "format": "py",
       "status": "available",
-      "sha256": "01b5f7b16cd71083047a7622fcfda39b9a85c2d56b08f9ca9d4e87962f14115e"
+      "sha256": "8642af1f5f12d3dbe43fd4373852f00e4ca32537b8d748dc128ece3a41305a91"
     },
     "solubility_library": {
       "path": "assets/reactions/sft_sft110_solubility_library/templates.json",
@@ -1586,7 +1586,7 @@
       "path": "outputs/panel_ui/sft_sft110/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "3fc910bcf03025b62890f92f79a4f3a6a6542cd05713d5d8df31da6969b477bd"
+      "sha256": "f7ea911a56d5ef0c19fee902e35884986288547a0a8e6855d2cf17eb37c25297"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/sft_sft110/build_panel_spec.py",
@@ -1604,7 +1604,7 @@
       "path": "outputs/panel_ui/sft_sft110/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "280ece6dcdc3bc353cfb446c567f44bf3ba2a0c965ae074d8937f0595f5899f9"
+      "sha256": "8f885b00691b3d8992bed5930c96fbd5f4b7bec6db9244860cd1d01db7955f96"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/sft_sft110/home.png",
@@ -15666,7 +15666,7 @@
       ]
     },
     "pressure.vent": {
-      "function_zh": "宿主受控减压回收；不是急停或安全释放保证",
+      "function_zh": "宿主受控减压回收；不是急停或安全释放保证；本周期还没萃取时的放气（如预热残压）结束后回到idle（standby），之后照常开始萃取，该放气操作的poll为succeeded；萃取停止后的放气结束为succeeded/depressurized（周期结束）",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -15736,12 +15736,12 @@
         {
           "state_id": "cycle.phase",
           "timing": "immediate",
-          "description_zh": "宿主受控减压回收；不是急停或安全释放保证"
+          "description_zh": "宿主受控减压回收；不是急停或安全释放保证；本周期还没萃取时的放气（如预热残压）结束后回到idle（standby），之后照常开始萃取，该放气操作的poll为succeeded；萃取停止后的放气结束为succeeded/depressurized（周期结束）"
         },
         {
           "state_id": "cycle.stage",
           "timing": "immediate",
-          "description_zh": "宿主受控减压回收；不是急停或安全释放保证"
+          "description_zh": "宿主受控减压回收；不是急停或安全释放保证；本周期还没萃取时的放气（如预热残压）结束后回到idle（standby），之后照常开始萃取，该放气操作的poll为succeeded；萃取停止后的放气结束为succeeded/depressurized（周期结束）"
         },
         {
           "state_id": "power.enabled",
@@ -16848,8 +16848,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -17048,8 +17048,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -17640,8 +17640,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -18000,8 +18000,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -18228,8 +18228,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -18398,8 +18398,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the SFT-110 front-panel unittest suite (approximate panel: data sheet only) through the session API (panel.press / panel.switch / panel.capture / panel.frame): the static-extraction procedure with keys only (pump pressure set point with a held key, pumping to it and holding, STOP), oven and restrictor set points, heater switches; panel = direct commands (evaluator state after 60 s); refusals (no set points, outside the measured isotherm with a sample loaded, power off); set-point time-out; HI alarm; render determinism; caller rules (a run started by the RUN key belongs to the caller; another agent's keys, switches and direct commands cannot stop, switch off or change it; the refused gesture shows dEnY on the operated display); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:13.371218+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:52:35.335736+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_sft_sft110.py），不跨层借用验证结果"
         },
@@ -19240,6 +19240,20 @@
           "tests/test_panel_ui_sft_sft110.py::CallerRules::test_refusal_is_shown_on_the_operated_display（新增）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "vent_before_first_run",
+        "capability_ids": [
+          "pressure.vent",
+          "acquisition.start"
+        ],
+        "what_zh": "pressure.vent与萃取共用周期状态：本周期还没萃取时放气（开机预热使密闭容器出现残压>1 Pa时可放气），放气结束把周期记为succeeded/depressurized，之后acquisition.start永远被拒。现在本周期首次萃取之前的放气结束后回到idle（standby，周期时间清零），可照常开始萃取，该放气操作poll为succeeded；萃取停止后的放气仍以succeeded/depressurized结束周期。版本1.1.2→1.1.3。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B EV2）：首次运行前放气不应结束周期。",
+        "tests_changed": [
+          "tests/test_asset_sft_sft110.py::FixRoundB（新增2个测试：首次运行前放气后可萃取、萃取停止后放气照旧结束周期）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/asset.contract.json b/assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/asset.contract.json
index cd9b42d03d30f31f9d3995fea4f0fcfbb99e2eeb..88e011b15d1075da0f7912f8e2c2fc50352b63f3 100644
--- a/assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/asset.contract.json
+++ b/assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.tuttnauer_3870elvd",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "立式高压蒸汽灭菌器Tuttnauer 3870ELV-D（85 L，冷却选件）",
   "category": "灭菌与真空/压力",
   "asset_kind": "instrument",
@@ -722,7 +722,7 @@
       "path": "outputs/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "4ec4784cbf8db923e9e542c8118f2c8291de98bf77bd62bad7e13e65c96fd531"
+      "sha256": "09a73565edfce36d00c773a9d812883d8abbc04fe3816ffb87e82dc93bf6d243"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/scene_validation.json",
@@ -788,13 +788,13 @@
       "path": "scripts/asset_runtime/tuttnauer_3870elvd.py",
       "format": "py",
       "status": "available",
-      "sha256": "da0b7cc913d82df482185496a5f612bf95b8aa0b4904b72902850c3d605dab7a"
+      "sha256": "dfdeeb41429b6af6a39baa9812f1a3aed416e2cf4d8b0258b135794ad0b0b187"
     },
     "runtime_tests": {
       "path": "tests/test_asset_tuttnauer_3870elvd.py",
       "format": "py",
       "status": "available",
-      "sha256": "3cc972b9dc4436dce27147eb9279ad8b97371b739405c029fc27d9dab606d678"
+      "sha256": "558f534383f74f984fbfe3e385bd9d6a26056bdfe7bcb28ff4796b7584b7e97e"
     },
     "panel_ui": {
       "path": "assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/panel_ui.json",
@@ -824,7 +824,7 @@
       "path": "outputs/panel_ui/tuttnauer_3870elvd/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "747000181c0a3d27b97e5e029364f5796c8dc4aac044d1ab1beb6b211d64c0ad"
+      "sha256": "c90fab74732a44d88eb190691bd4694fbde49f5c8242d8efd984a2e34bc1c685"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/tuttnauer_3870elvd/build_panel_spec.py",
@@ -842,7 +842,7 @@
       "path": "outputs/panel_ui/tuttnauer_3870elvd/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "c4f1bdab13429c710240643cafd80d9817d6ad458372144b297f37f54e8bdf45"
+      "sha256": "e268a52ce748f08ae9e619133b522ca42b51fe4aadb5b3b6cef4b71937bf06ed"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/tuttnauer_3870elvd/home.png",
@@ -4377,8 +4377,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -4616,8 +4616,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -4846,8 +4846,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5035,8 +5035,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5383,8 +5383,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5620,8 +5620,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5834,8 +5834,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6022,8 +6022,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6262,8 +6262,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6581,8 +6581,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6874,8 +6874,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7190,8 +7190,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7369,8 +7369,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7559,8 +7559,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7714,8 +7714,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7856,8 +7856,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8172,8 +8172,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8423,8 +8423,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9420,8 +9420,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -9756,8 +9756,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -9941,8 +9941,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -10123,8 +10123,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -10380,8 +10380,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -10565,8 +10565,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -10749,8 +10749,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -10927,8 +10927,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): IAPWS-IF97 verification values and latent heat, liquid cycle with two 700 ml bottles (heating time, hold, load lag, F0, biological indicator), 134 C solids cycle pressure, liquid + cooling cycle without boiling, boil-over / burst / deformation under fast exhaust, residual air and Low Heat, lid interlock, water supply / heater / gasket / power faults, the 200-record ring, program limits, panel keys, waste bags and load notes, water and load ledgers, purity of read / describe, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence; the ELV-D controller functions (programme list with the door rule, air pulses, F0 mode, drying, forced cooling and the cooling exhaust rate, multiple cycles, clock, timed start, users and codes, USB export). Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T12:23:53.086036+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:22:31.059123+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_tuttnauer_3870elvd.py的ElvdController等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -11278,8 +11278,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with held keys / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (programme selection with the door open after UP opened it, start after the door was closed, stop and acknowledgement with Cancelled by user, UP + DOWN to SELECT USER and code 0001 to the MAIN MENU, Custom 1 sterilisation time and F0 mode on the CONFIGURE PARAMETER screen with Set / Exit, date and time, a timed start that begins the cycle at the set time, history export to USB), each checked on the runtime state and the structured frame; system parameters and the screen saver; the history list, printer functions (device message), version information; a new user, a code already in use and a wrong code; cycle parameters of a fixed programme refused; panel = direct commands (same runtime state before and after stepping); refusals as messages; power off; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:23:56.785063+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:22:34.588210+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_tuttnauer_3870elvd.py）经会话API调用；不跨层借用验证结果"
         },
@@ -11471,8 +11471,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with held keys / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (programme selection with the door open after UP opened it, start after the door was closed, stop and acknowledgement with Cancelled by user, UP + DOWN to SELECT USER and code 0001 to the MAIN MENU, Custom 1 sterilisation time and F0 mode on the CONFIGURE PARAMETER screen with Set / Exit, date and time, a timed start that begins the cycle at the set time, history export to USB), each checked on the runtime state and the structured frame; system parameters and the screen saver; the history list, printer functions (device message), version information; a new user, a code already in use and a wrong code; cycle parameters of a fixed programme refused; panel = direct commands (same runtime state before and after stepping); refusals as messages; power off; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:23:56.785063+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:22:34.588210+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_tuttnauer_3870elvd.py）经会话API调用；不跨层借用验证结果"
         },
@@ -11614,8 +11614,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with held keys / panel.capture / panel.frame): the eight key procedures of the menu survey done only with panel gestures (programme selection with the door open after UP opened it, start after the door was closed, stop and acknowledgement with Cancelled by user, UP + DOWN to SELECT USER and code 0001 to the MAIN MENU, Custom 1 sterilisation time and F0 mode on the CONFIGURE PARAMETER screen with Set / Exit, date and time, a timed start that begins the cycle at the set time, history export to USB), each checked on the runtime state and the structured frame; system parameters and the screen saver; the history list, printer functions (device message), version information; a new user, a code already in use and a wrong code; cycle parameters of a fixed programme refused; panel = direct commands (same runtime state before and after stepping); refusals as messages; power off; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:23:56.785063+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:22:34.588210+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_tuttnauer_3870elvd.py）经会话API调用；不跨层借用验证结果"
         },
@@ -13016,6 +13016,20 @@
           "tests/test_asset_tuttnauer_3870elvd.py: 调用辅助接受cycle.start的accepted状态（须带operation_id）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "lid_lock_end_temperature",
+        "capability_ids": [
+          "lid.set",
+          "cycle.start"
+        ],
+        "what_zh": "门锁（lid.locked）按手册9.1第4点与p.16：任一温度传感器（腔温传感器1或参考负载传感器2）高于程序结束温度0.5 K以上时锁住，不论结束温度是否低于100 °C；原实现用max(结束温度, 100 °C)且要求腔内正压，结束温度80 °C的液体周期在腔温约111 °C（干燥段）、负载约101 °C时就放开了顶盖。现在要等两个传感器都降到结束温度才放开（屏上DOOR_LOCKED_HOT，对应手册Temp2 High）。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B W2，安全真实性）：合同lid.set前提写明腔温不得高于结束温度。",
+        "tests_changed": [
+          "tests/test_asset_tuttnauer_3870elvd.py::FixRoundB::test_lid_stays_locked_down_to_an_end_temperature_below_100_c（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t3_analytical/jena_contraa800/asset.contract.json b/assets/expansion_batch03/t3_analytical/jena_contraa800/asset.contract.json
index 30a042a7b482d909fdc4e2d300aacbd1644b2ff1..55aed69a6c4266d4304516a7499eecf3e3732377 100644
--- a/assets/expansion_batch03/t3_analytical/jena_contraa800/asset.contract.json
+++ b/assets/expansion_batch03/t3_analytical/jena_contraa800/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.jena_contraa800",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "Analytik Jena contrAA 800 D 原子吸收光谱仪",
   "category": "元素与质谱分析",
   "asset_kind": "instrument",
@@ -518,13 +518,13 @@
       "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "1ef63df67d2c0a08af0a90d0ca0a38335fc6217b003a75d8e4cc197226bb4965"
+      "sha256": "8d6876a20dd3304b643417ab976063a2c3e9e00c5f85d54b48afa83d63d03cbe"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a5da3d8d981ba302fe50c8d4af9196b98f65e89a617dfcaec4974e859387397a"
+      "sha256": "e02a82f27157865ad6484d4074aa7bf4688c13609c5cb7cb0544bc65acc35512"
     },
     "output_runtime_verify_py": {
       "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/runtime_verify.py",
@@ -632,7 +632,7 @@
       "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a5da3d8d981ba302fe50c8d4af9196b98f65e89a617dfcaec4974e859387397a"
+      "sha256": "e02a82f27157865ad6484d4074aa7bf4688c13609c5cb7cb0544bc65acc35512"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/scene_validation.json",
@@ -6092,19 +6092,25 @@
       "path": "scripts/asset_runtime/jena_contraa800.py",
       "format": "py",
       "status": "available",
-      "sha256": "d4cf734d0c50ebeccbf922ae84fe7e7d61bc9df60b0b15c8c806e48452fa94c8"
+      "sha256": "559b939d33681d946f5f82bfc108c9f3065146d1364b7da4a9b75ff05e45561c"
     },
     "runtime_tests": {
       "path": "tests/test_asset_jena_contraa800.py",
       "format": "py",
       "status": "available",
-      "sha256": "a5fb2bb00dd1935c2f39072c6d249c794f0b9542a2c2ee3cfe7de9bdfef45dc2"
+      "sha256": "25ec2909282f117e7097a71d14b4e4424720cb379b81feec5df0dd813be8d7ad"
     },
     "matterix_snapshot": {
       "path": "assets/expansion_batch03/t3_analytical/jena_contraa800/matterix_snapshot.usda",
       "format": "usda",
       "status": "available",
       "sha256": "fea0244ddb1e7d495810b2f01720a7ab1640e9f5447fd55063430a0589a37406"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t3_analytical/jena_contraa800/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "ed20a9ad57c6a054a263d17822ea29c6386470373d52f4276aecb71403efdb95"
     }
   },
   "sources": {
@@ -31959,7 +31965,7 @@
       ]
     },
     "records.list": {
-      "function_zh": "实例256结果/32标线为工程内存边界，不宣称厂家容量",
+      "function_zh": "列出结果记录ID与已拟合标线ID（curve_ids，1.1.1起；可用于calibration.select/calibration.read）；实例256结果/32标线为工程内存边界，不宣称厂家容量",
       "kind": "query",
       "visibility": "agent",
       "component_ids": [
@@ -31998,13 +32004,20 @@
             "x-unit": "1",
             "minimum": 0,
             "maximum": 32
+          },
+          "curve_ids": {
+            "type": "array",
+            "items": {
+              "type": "string"
+            }
           }
         },
         "required": [
           "capacity",
           "count",
           "record_ids",
-          "curve_count"
+          "curve_count",
+          "curve_ids"
         ],
         "additionalProperties": false
       },
@@ -40014,6 +40027,21 @@
       "unimplemented_menu_keys": [],
       "robot_contact": "not_run",
       "meaning": "原机PC软件菜单未实现；本机可见开关和simulation_only控件各自标证据，不宣称ASpect CS完整GUI"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "records_list_curve_ids",
+        "capability_ids": [
+          "records.list"
+        ],
+        "what_zh": "records.list原来只给curve_count，不列出标线ID（其他分析类成员如Multi X、ONH836、ICP都列出curve_ids），智能体无从知道可以calibration.select/read哪条。现在输出增加curve_ids（已拟合标线ID，按拟合顺序），其余字段不变（输出模式为增量扩展）。describe的asset_version原来写死为1.0.1、与合同1.1.0不符，改用运行层常量ASSET_VERSION。版本1.1.0→1.1.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B QA3）：records.list缺标线ID，与同类成员不一致。",
+        "tests_changed": [
+          "tests/test_asset_jena_contraa800.py::FixRoundB::test_records_list_names_the_curves（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t3_analytical/shimadzu_tocl/asset.contract.json b/assets/expansion_batch03/t3_analytical/shimadzu_tocl/asset.contract.json
index d65139cfed795bd83dd5fe10fd0844610b81d6e8..8731ba5581a025d46a687452c43b92a5eae14784 100644
--- a/assets/expansion_batch03/t3_analytical/shimadzu_tocl/asset.contract.json
+++ b/assets/expansion_batch03/t3_analytical/shimadzu_tocl/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.shimadzu_tocl",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "Shimadzu TOC-L CSH 总有机碳分析仪",
   "category": "元素与质谱分析",
   "asset_kind": "instrument",
@@ -494,13 +494,13 @@
       "path": "outputs/expansion_batch03/t3_analytical/shimadzu_tocl/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "6f577b955d84bfdc17e2d694f68e4950ee9d11ed20b265770b8197a510299e9f"
+      "sha256": "bd87ad19484c4bc0ced407dd5220a01a0c95603cad36aa106e5d3d80244fa7ae"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch03/t3_analytical/shimadzu_tocl/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "75d56d178e3de8fc4c7ae2c75725b3e44932cdcf94947af95c7de2ba117a6c0a"
+      "sha256": "d39621e1d4aaa2a8d7e1b44e412fef17aa4c16b39420aac993b6db64b1f77b80"
     },
     "output_runtime_verify_py": {
       "path": "outputs/expansion_batch03/t3_analytical/shimadzu_tocl/runtime_verify.py",
@@ -590,7 +590,7 @@
       "path": "outputs/expansion_batch03/t3_analytical/shimadzu_tocl/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "75d56d178e3de8fc4c7ae2c75725b3e44932cdcf94947af95c7de2ba117a6c0a"
+      "sha256": "d39621e1d4aaa2a8d7e1b44e412fef17aa4c16b39420aac993b6db64b1f77b80"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t3_analytical/shimadzu_tocl/scene_validation.json",
@@ -19496,13 +19496,13 @@
       "path": "scripts/asset_runtime/shimadzu_tocl.py",
       "format": "py",
       "status": "available",
-      "sha256": "6972c151d6d44c17a660d4058862a62218429a0188489cc6b32e8105da506589"
+      "sha256": "9463fcd21e89b44112eea8b8e2bff04ef8521d24b38bf1a2f16f436a3f59d2c9"
     },
     "runtime_tests": {
       "path": "tests/test_asset_shimadzu_tocl.py",
       "format": "py",
       "status": "available",
-      "sha256": "41211d20d45a5096aef2b6ef70e28661207b2a765991b36ef8bf53f35c7155e5"
+      "sha256": "4450a6f582becfaa8df5cc4ce4f6b92cbc425309caa4e019adbb74285978ae61"
     },
     "matterix_snapshot": {
       "path": "assets/expansion_batch03/t3_analytical/shimadzu_tocl/matterix_snapshot.usda",
@@ -19538,7 +19538,7 @@
       "path": "outputs/panel_ui/shimadzu_tocl/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "98358a82450723b45b4e42c01287a7fb4b5385792c8426f66fa3a59531338c28"
+      "sha256": "4344514b33417e82c6b8dd575373d5c0cc393d27915a64e0f59b45086c163c1a"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/shimadzu_tocl/build_panel_spec.py",
@@ -19556,7 +19556,7 @@
       "path": "outputs/panel_ui/shimadzu_tocl/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "ec8b60f92e4518beadf4b2804ad2a5da819b974873d738f7992972529cfbe4c8"
+      "sha256": "a164283e82be1f198a2b7772fc70bd6c6db83384827aff93136017395f233268"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/shimadzu_tocl/home.png",
@@ -38100,7 +38100,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -38110,7 +38110,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -38636,7 +38636,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -38646,7 +38646,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -39089,7 +39089,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -39099,7 +39099,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -39532,7 +39532,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -39542,7 +39542,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -40028,7 +40028,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -40038,7 +40038,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -40488,7 +40488,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -40498,7 +40498,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -41029,7 +41029,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -41039,7 +41039,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -41553,7 +41553,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -41563,7 +41563,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -42018,7 +42018,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -42028,7 +42028,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -42577,7 +42577,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -42587,7 +42587,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -43279,7 +43279,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -43289,7 +43289,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -43744,7 +43744,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -43754,7 +43754,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -44271,7 +44271,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -44281,7 +44281,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -45141,7 +45141,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -45151,7 +45151,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -45777,7 +45777,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -45787,7 +45787,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -46212,7 +46212,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -46222,7 +46222,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -46631,7 +46631,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -46641,7 +46641,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -47198,7 +47198,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -47208,7 +47208,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -47653,7 +47653,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -47663,7 +47663,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48073,7 +48073,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48083,7 +48083,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48504,7 +48504,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48514,7 +48514,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48954,7 +48954,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -48964,7 +48964,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -49825,7 +49825,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -49835,7 +49835,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -50265,7 +50265,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -50275,7 +50275,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -50693,7 +50693,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -50703,7 +50703,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -51551,7 +51551,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -51561,7 +51561,7 @@
           "status": "passed",
           "method": "63 independent CHEM-080 unittest cases, tracked29 capability checks, actual2000 complete-result and60 full-curve stores, real process scene states",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"numpy\": \"2.3.1\"}",
-          "checked_at": "2026-10-19T13:13:11.578159+00:00",
+          "checked_at": "2026-10-21T22:37:53.565652+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "有条件模型与身份隔离；非实机精密度/NDIR实机校准验证"
         },
@@ -52953,8 +52953,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -53159,8 +53159,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -53352,8 +53352,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -53625,8 +53625,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -53887,8 +53887,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -54050,8 +54050,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -54230,8 +54230,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -54494,8 +54494,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -54660,8 +54660,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -54864,8 +54864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -55099,8 +55099,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -55311,8 +55311,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -55513,8 +55513,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -55716,8 +55716,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -56023,8 +56023,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -56265,8 +56265,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -56485,8 +56485,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -56649,8 +56649,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame) on the TOC-L CSH standalone panel (SSI Virtual Advisor, shutdown / start-up note, brochure; member-only manual): the eight key procedures of the menu survey (carrier gas flow check, bubble removal, TC catalyst regeneration, TC blank check, needle rinse without the ASI-L, syringe washes, start-up, shutdown) done only with key and switch gestures, each checked on the runtime state, on the structured frame and on the rendered pixels (every TFT text row equals the row drawn alone from the frame text); analyses started / stopped from the panel, residue removal, Conditions and Measurement Conditions entries, Maintenance items and counters, calibration curves, measurement log, unsupported keys and options; panel and direct capability calls compared for identical runtime state; refusals; render determinism; capture files; contract entries; sweep 1.3.0: STOP / power key of another agent refused with Run of another user, main switch never refused, the error-list Error!! codes and messages by evaluator fault injection (error screen until power cycle, refused analyses / maintenance). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T13:13:13.718778+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
+          "checked_at": "2026-10-21T22:48:49.681401+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_shimadzu_tocl.py），不跨层借用验证结果"
         },
@@ -58176,6 +58176,17 @@
         "why_zh": "同步审计规则4与疑点：理由须属于可接受类别；疑点经资料核对未确认。",
         "tests_changed": [],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "agent_read_hides_evaluator_slots",
+        "capability_ids": [],
+        "what_zh": "运行层read()对代理只返回合同中visibility为agent的状态槽：此前代理会话的读数含评测者槽fault.injected（会告诉代理评测者注入了哪些故障）；现按状态槽可见性统一过滤（truth.ledger与fault.injected），代理按id读取这两个槽得ACCESS_DENIED，评测者读数不变。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F1）：代理读数不得包含评测者槽。",
+        "tests_changed": [
+          "tests/test_asset_shimadzu_tocl.py::test_agent_read_contains_only_contract_agent_slots（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t4_measure/antonpaar_abbematadvanced/asset.contract.json b/assets/expansion_batch03/t4_measure/antonpaar_abbematadvanced/asset.contract.json
index 4d3bdc241127e7e29940f601160084ee2b84239d..972c3fe460393dbceb869c6726d78e433e17a464 100644
--- a/assets/expansion_batch03/t4_measure/antonpaar_abbematadvanced/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/antonpaar_abbematadvanced/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.antonpaar_abbematadvanced",
-  "asset_version": "1.1.2",
+  "asset_version": "1.1.3",
   "name_zh": "Anton Paar Abbemat Advanced 5201数字折射仪",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -314,7 +314,7 @@
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_abbematadvanced/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "e2c8bcde4fb1412865f49da7515906cc8304229fcc62b55cc9a0142117302f6f"
+      "sha256": "31de00ffd8b74e961c28262dce02ca604c12c8237052041e8cb037e846f57211"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_abbematadvanced/scene_validation.json",
@@ -356,13 +356,13 @@
       "path": "scripts/asset_runtime/antonpaar_abbematadvanced.py",
       "format": "py",
       "status": "available",
-      "sha256": "d5292c785d3fb6a574c97802d9cbbd575a1b8bf723342937042c6abaef9bee15"
+      "sha256": "5a9d81cc71de07feed9fa19cbb89b0bf89f49dab8092d52e9ef5cd070ad21148"
     },
     "runtime_tests": {
       "path": "tests/test_asset_antonpaar_abbematadvanced.py",
       "format": "py",
       "status": "available",
-      "sha256": "12cc1269e542e7116dad3dd8895543519b405d03e4d602016c028751a2b4a2aa"
+      "sha256": "c5c8a6462af7c4957e45da11dcb6d0feb52b49a0a2f28ad59c85fac7ce8b846f"
     },
     "refractive_library": {
       "path": "assets/reactions/antonpaar_abbematadvanced_refractive_library/templates.json",
@@ -902,7 +902,7 @@
       "path": "outputs/panel_ui/antonpaar_abbematadvanced/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "6294db394fed6f1add6bbcf2d59f9120c6f504204907cef8d0b65c2fb187fe87"
+      "sha256": "7ce257106ccc804b3852c73626a9ef041881810cff78c9c6337bf1076f544144"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/antonpaar_abbematadvanced/run_panel_validation.py",
@@ -914,7 +914,7 @@
       "path": "outputs/panel_ui/antonpaar_abbematadvanced/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "028220f09d0f3378044145cfe8b8f206081cc2a208323b8f912ca2f1091b735a"
+      "sha256": "38724b28bf02c374b618caf5ebabaa1848049abd84c8e771ff0803fb26cc71f2"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/antonpaar_abbematadvanced/build_panel_spec.py",
@@ -7590,7 +7590,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7600,7 +7600,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7781,7 +7781,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7791,7 +7791,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7974,7 +7974,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7984,7 +7984,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8214,7 +8214,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8224,7 +8224,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8406,7 +8406,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8416,7 +8416,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8642,7 +8642,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8652,7 +8652,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8840,7 +8840,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8850,7 +8850,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9024,7 +9024,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9034,7 +9034,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9239,7 +9239,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9249,7 +9249,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9482,7 +9482,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9492,7 +9492,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:07.884067+00:00",
+          "checked_at": "2026-10-22T11:42:00.184583+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -10134,8 +10134,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -10411,8 +10411,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -10693,8 +10693,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -10966,8 +10966,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -11289,8 +11289,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -11565,8 +11565,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -11847,8 +11847,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -12182,8 +12182,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -12467,8 +12467,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -12761,8 +12761,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -13043,8 +13043,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -13794,8 +13794,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -14093,8 +14093,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -14467,8 +14467,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -14817,8 +14817,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -15096,8 +15096,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -15369,8 +15369,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -15643,8 +15643,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -15979,8 +15979,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -16279,8 +16279,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -16568,8 +16568,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -16836,8 +16836,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -17145,8 +17145,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -17522,8 +17522,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -17798,8 +17798,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -18092,8 +18092,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -18370,8 +18370,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -18673,8 +18673,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -18968,8 +18968,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -19263,8 +19263,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -19551,8 +19551,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -19853,8 +19853,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -20119,8 +20119,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -20462,8 +20462,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -20748,8 +20748,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -21053,8 +21053,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -21329,8 +21329,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -21630,8 +21630,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -21943,8 +21943,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -22200,8 +22200,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (measure a sample, sample name and temperature by Quick Settings, method temperature and accuracy, temperature scan, change a result field, log in), each checked on the runtime state and the structured frame; the device functions through the touch screen (message list and limits, favorites, sample list mode with templates, method management and visibility, data memory details / filter / statistics / d",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:07.511455+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:59.823073+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_abbematadvanced.py），不跨层借用验证结果"
         },
@@ -22778,6 +22778,21 @@
           "tests/test_panel_ui_antonpaar_abbematadvanced.py::CallerRules::test_another_agent_cannot_stop_a_panel_run_but_the_switch_is_physical（断电断言改为物理开关）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "acquisition.start",
+          "cleaning.start",
+          "sample.configure"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息即错误码）。合同没有更细的错误码，故错误码不变，error.message改为指明原因：仪器关机、盖未关（采集）或未打开（加样/清洗）、棱镜上无样品、棱镜温度未在0.05 K内到达设定点、折射率超出1.26–1.72测量范围、浓度模式下没有覆盖该读数的校准（基质/温度/折射率范围）、温度超出样品液态范围或参考只在某一温度；宿主sample.configure同样说明棱镜上仍有样品/清洗液。拒绝时状态不变。版本1.1.2→1.1.3。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PM5）：常见拒绝只给笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_asset_antonpaar_abbematadvanced.py::AntonpaarAbbematadvancedTests::test_fix_round_b_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t4_measure/antonpaar_autosorb6100/asset.contract.json b/assets/expansion_batch03/t4_measure/antonpaar_autosorb6100/asset.contract.json
index 5f8388093871615e84df96a240524f95b7222a3f..149fb0789ef291f84b355a4495ff6f5910e8b56a 100644
--- a/assets/expansion_batch03/t4_measure/antonpaar_autosorb6100/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/antonpaar_autosorb6100/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.antonpaar_autosorb6100",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "Anton Paar Autosorb 6100 气体物理吸附比表面积与孔径分析仪",
   "category": "颗粒孔隙与界面",
   "asset_kind": "instrument",
@@ -2234,7 +2234,7 @@
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_autosorb6100/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "f18dd943d2cf1e75b3bcd4b570d6a7c364107dbaf9c85c826b38fcfce83324a9"
+      "sha256": "bf74b063be440af4e90cf4361daf4472d9eba5f5540ea30ab401ce84a7590e52"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_autosorb6100/scene_validation.json",
@@ -2408,19 +2408,25 @@
       "path": "scripts/asset_runtime/antonpaar_autosorb6100.py",
       "format": "py",
       "status": "available",
-      "sha256": "457a8cd88ff72a315d38e46be1cc1d35ca25ae68fa9a8087591fe40397c59a06"
+      "sha256": "3d0891d82c0bdff71e34d820a26af1ffd5d3cf1132b132e3d3eee1409e6764a5"
     },
     "runtime_tests": {
       "path": "tests/test_asset_antonpaar_autosorb6100.py",
       "format": "py",
       "status": "available",
-      "sha256": "4b8e134d1ca96ed7eb14d4bc5690b0865d7d738761df2595abab75ca7839cccb"
+      "sha256": "55463ecf30a200d81188d83b46fedf3e5874c0b423d96481813b7ec61a96934e"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t4_measure/antonpaar_autosorb6100/template_library说明.md",
       "format": "md",
       "status": "available",
       "sha256": "1eb830ca76c8442506b6555dc1f6bdcc5cc9395801dd9fc094756ec776ed4762"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t4_measure/antonpaar_autosorb6100/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "fd4965af24c44f53c713bb7bbc889c1c7d55ac325dcb862a0d97f722240fc227"
     }
   },
   "sources": {
@@ -32276,7 +32282,7 @@
       ]
     },
     "sample.backfill": {
-      "function_zh": "杜瓦放下后用有限N2回填至环境压力，step完成后才能拆管",
+      "function_zh": "杜瓦放下后用有限N2回填至环境压力，step完成后才能拆管；升温样品仍在脱附时超出环境压力的气体经放空阀排出，压力回到环境压力且样品余下的吸附量最多再使压力升高10 Pa时才结束",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -33542,7 +33548,8 @@
     "Current unknown-branch source curves do not generate a claimed BJH/DFT distribution; separate BJH analysis accepts explicitly identified desorption data.",
     "0.35–2.5nm micropore DFT kernel and full500nm performance unavailable; empirical errors/precision/repeatability/probabilistic faults not calibrated.",
     "Ideal77K bath and manifold+heater block energy only; gas/sample thermal transients, sorbate/volatile full enthalpy, cryogenic trapwater heat, pump and supply-bottle energy not solved.",
-    "Local geometries/travel/part masses/inertias unknown; robot/sealing/contact/hardware and filesystem truth isolation not_run."
+    "Local geometries/travel/part masses/inertias unknown; robot/sealing/contact/hardware and filesystem truth isolation not_run.",
+    "回填（1.0.1）：超出环境压力的气体经放空阀排出（模型假设，速率按回填导率），排出的N2计入pumped_mol。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -33606,6 +33613,22 @@
         "robot.load"
       ],
       "boundaries": "two-env process lockstep, actual8joint transforms and independently inspected power lamp;3analysis6degas;robot/hardware not_run"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "backfill_vents_excess",
+        "capability_ids": [
+          "sample.backfill",
+          "acquisition.stop"
+        ],
+        "what_zh": "回填原来只从N2源补气到环境压力：一次在高吸附量时取消的测量，放下杜瓦后样品升温仍在脱附，压力冲过环境压力（约105–110 kPa），回填永远结束不了，该站一直BUSY、样品管因PRESSURE_ACCESS_INTERLOCK拆不下来，也没有放空。现在回填时压力高于环境压力10 Pa以上就经放空阀排出多余气体（记入N2账本的排出项pumped_mol），低于环境压力才从N2源补气；压力回到环境压力±10 Pa、且样品余下的吸附量最多再使压力升高10 Pa时回填结束，样品管可在30 Pa的拆管窗口内取下。放空阀为模型假设（手册未述）。版本1.0.0→1.0.1；describe的asset_version改用运行层常量。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PS2）：取消的测量之后回填必须能结束、样品管能取下。",
+        "tests_changed": [
+          "tests/test_asset_antonpaar_autosorb6100.py::FixRoundB::test_backfill_after_a_cancelled_run_finishes（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t4_measure/antonpaar_dma5002/asset.contract.json b/assets/expansion_batch03/t4_measure/antonpaar_dma5002/asset.contract.json
index 2d4dc84c1cbe20cefa67f071e54209a20e876e6b..b0730e1c23ba1611599c43cf3c311cb83253ebf0 100644
--- a/assets/expansion_batch03/t4_measure/antonpaar_dma5002/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/antonpaar_dma5002/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.antonpaar_dma5002",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "Anton Paar DMA 5002振动管液体密度计",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -296,7 +296,7 @@
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_dma5002/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "8dd3553579177ffa7c830770a87063105f2258e0c75a5d18c9f5aa1f13f563e7"
+      "sha256": "127bfb968c22385c5d576a5627cefda77ca2f0e91ea51098d533198d9139f9ec"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/antonpaar_dma5002/scene_validation.json",
@@ -344,13 +344,13 @@
       "path": "scripts/asset_runtime/antonpaar_dma5002.py",
       "format": "py",
       "status": "available",
-      "sha256": "90539470f0d0a85b7f1407b05c635a476de671d30aceb483ffb2dfb1027686aa"
+      "sha256": "f93a999fcb55e9ff94c3ba6c94a4a5884930bb78fb135b12fc7abbe99c258d7c"
     },
     "runtime_tests": {
       "path": "tests/test_asset_antonpaar_dma5002.py",
       "format": "py",
       "status": "available",
-      "sha256": "c1eb35477192f3d49622107489d29a32e1e4dc8c342bc6846c170f7bb79e537e"
+      "sha256": "663280ca5f19cf39067c7585660d8926bd84b14258e7f72c5fe26d89ac2b5fb1"
     },
     "density_library": {
       "path": "assets/reactions/antonpaar_dma5002_density_library/templates.json",
@@ -908,7 +908,7 @@
       "path": "outputs/panel_ui/antonpaar_dma5002/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "fe0ecda0c2fd18412a40f79342115589f435b8a3eb25a818f9597b8fd867bdf1"
+      "sha256": "fc3d519c079984ea5a88433aaae448a9acf18c894dea3b60699a2c6199452fdc"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/antonpaar_dma5002/run_panel_validation.py",
@@ -920,7 +920,7 @@
       "path": "outputs/panel_ui/antonpaar_dma5002/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "04b7f1fc374d610aed936b35bf838cdf878e47d037736a479e1c7bc426692852"
+      "sha256": "2d54ad1d81b8c37a519f65763d30f4f770c579783bec846310700878315beb94"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/antonpaar_dma5002/build_panel_spec.py",
@@ -7747,7 +7747,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7757,7 +7757,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7939,7 +7939,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7949,7 +7949,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8129,7 +8129,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8139,7 +8139,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8364,7 +8364,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8374,7 +8374,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8560,7 +8560,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8570,7 +8570,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8744,7 +8744,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8754,7 +8754,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8959,7 +8959,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8969,7 +8969,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9179,7 +9179,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9189,7 +9189,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9373,7 +9373,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9383,7 +9383,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:43:31.451158+00:00",
+          "checked_at": "2026-10-22T11:41:08.390364+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -10105,8 +10105,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -10372,8 +10372,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -10644,8 +10644,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -10907,8 +10907,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -11220,8 +11220,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -11486,8 +11486,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -11758,8 +11758,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -12083,8 +12083,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -12358,8 +12358,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -12642,8 +12642,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -12914,8 +12914,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -13743,8 +13743,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -14032,8 +14032,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -14444,8 +14444,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -14786,8 +14786,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -15055,8 +15055,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -15318,8 +15318,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -15582,8 +15582,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -15908,8 +15908,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -16198,8 +16198,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -16477,8 +16477,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -16735,8 +16735,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -17035,8 +17035,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -17402,8 +17402,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -17668,8 +17668,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -17952,8 +17952,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -18220,8 +18220,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -18513,8 +18513,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -18798,8 +18798,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -19075,8 +19075,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -19367,8 +19367,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -19623,8 +19623,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -19975,8 +19975,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -20251,8 +20251,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -20515,8 +20515,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -20783,8 +20783,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -21078,8 +21078,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -21344,8 +21344,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -21635,8 +21635,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -21938,8 +21938,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -22185,8 +22185,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -22474,8 +22474,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -22729,8 +22729,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.switch / panel.touch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (perform a measurement, measuring temperature / timeout / FillingCheck / delay / precision class of a method, water check, air / water adjustment at 20 °C with the air pump, temperature scan, U-View camera window), each checked on the runtime state and the structured frame; the DMA M functions through the touch screen (auto air check before each measurement, repeated mode, temperature table scan, spec",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:31.082546+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:41:08.038363+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与设备层测试套件（tests/test_panel_ui_antonpaar_dma5002.py），不跨层借用验证结果"
         },
@@ -23344,6 +23344,22 @@
           "tests/test_panel_ui_antonpaar_dma5002.py::BrokenTube（新增）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "acquisition.start",
+          "cleaning.start",
+          "calibration.check",
+          "sample.configure"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息即错误码）。合同没有更细的错误码，故错误码不变，error.message改为指明原因：仪器关机、测量池未充样、池温未在0.05 K内到达设定点、设定点超出样品液态范围或密度参考只在某一温度、无测量结果可校核、参考温度与测量温度差超过0.05 K；宿主sample.configure同样说明池内仍有样品/清洗液。拒绝时状态不变。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PM5）：常见拒绝只给笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_asset_antonpaar_dma5002.py::AntonpaarDma5002Tests::test_fix_round_b_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t4_measure/biolin_sigma700/asset.contract.json b/assets/expansion_batch03/t4_measure/biolin_sigma700/asset.contract.json
index b34aafbde4caae8585c49d4dcef917ad520c3711..4f098f8a6c6dfdb66c9de66172ffe5f8f30f7a3e 100644
--- a/assets/expansion_batch03/t4_measure/biolin_sigma700/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/biolin_sigma700/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.biolin_sigma700",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "Biolin Scientific Sigma700 力学式表面张力仪",
   "category": "颗粒孔隙与界面",
   "asset_kind": "instrument",
@@ -1082,7 +1082,7 @@
       "path": "outputs/expansion_batch03/t4_measure/biolin_sigma700/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "6318b186d3d8e91288c596f109494e96b9c11d2d5348c38be83286401bdf53d1"
+      "sha256": "5592eaa4239ae6f994289db51a377a4ee7dfd2579a5c2f6b39deb4369577ee26"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/biolin_sigma700/scene_validation.json",
@@ -1298,19 +1298,25 @@
       "path": "scripts/asset_runtime/biolin_sigma700.py",
       "format": "py",
       "status": "available",
-      "sha256": "42292cfca531e8a84d3bccfc67b60d19d9a82971f5e221561b2611ab8cb6759e"
+      "sha256": "9454a7f5efb919d81fb732107e33d32b582774c0ea1172534cc04e72a2341c94"
     },
     "runtime_tests": {
       "path": "tests/test_asset_biolin_sigma700.py",
       "format": "py",
       "status": "available",
-      "sha256": "0902cb05d0343854f068d8132724bcbce281a2925e0d8f4af86aac271cb5b629"
+      "sha256": "d383bdcb316ace972e5e9d694d856cc67a35b87548fcdf77f1edad854a8758f3"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t4_measure/biolin_sigma700/说明.md",
       "format": "md",
       "status": "available",
       "sha256": "19f6f9e7e8785161861272e74901758dcab8f517ffc57f56e0c4a58d49f7961d"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t4_measure/biolin_sigma700/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "740a793f7351d16f665f0761c5b44c88311f488a18ba727d802fac48f8fd19f4"
     }
   },
   "sources": {
@@ -11193,6 +11199,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -11591,6 +11602,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -11929,6 +11945,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -12267,6 +12288,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -12623,6 +12649,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -12989,6 +13020,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -13322,6 +13358,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -13787,6 +13828,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -14167,6 +14213,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -14505,6 +14556,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -14833,6 +14889,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -14975,7 +15036,7 @@
       ]
     },
     "balance.tare": {
-      "function_zh": "空中探针去皮，不扣除后续浮力",
+      "function_zh": "空中探针去皮，不扣除后续浮力；读数稳定前（开机后力传感器读数从零建立，未稳定到半个0.1 µN分辨率内）拒绝FORCE_NOT_SETTLED",
       "kind": "device_command",
       "visibility": "agent",
       "component_ids": [
@@ -15163,6 +15224,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -15518,6 +15584,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -15923,6 +15994,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -16335,6 +16411,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -16741,6 +16822,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -17068,6 +17154,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -17486,6 +17577,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -17826,6 +17922,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -18212,6 +18313,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -18614,6 +18720,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -18888,6 +18999,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -19160,6 +19276,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -19432,6 +19553,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -19704,6 +19830,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -19976,6 +20107,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -20248,6 +20384,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -20520,6 +20661,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -20792,6 +20938,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -21064,6 +21215,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -21336,6 +21492,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -21608,6 +21769,11 @@
           "meaning_zh": "PROBE_NOT_IN_AIR",
           "side_effects": "none"
         },
+        {
+          "code": "FORCE_NOT_SETTLED",
+          "meaning_zh": "FORCE_NOT_SETTLED",
+          "side_effects": "none"
+        },
         {
           "code": "INVALID_CALIBRATION",
           "meaning_zh": "INVALID_CALIBRATION",
@@ -22430,7 +22596,8 @@
     "Ring/plate exchange geometry represents host manual placement; no automatic probe changer",
     "Sample liquid mesh is nominal30mL appearance, not quantitative dynamic volume display",
     "Stage travel0–0.109m is a local collision-limited scene envelope; OEM stroke unknown, manufacturer speed limits retained",
-    "No deployment filesystem/process truth isolation claim"
+    "No deployment filesystem/process truth isolation claim",
+    "去皮（1.0.1）：开机后力读数从零按传感器时间常数建立，稳定到半个0.1 µN分辨率之前去皮返回FORCE_NOT_SETTLED；原厂软件的稳定判据未取得，此为模型假设。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -22495,6 +22662,22 @@
         "surface_energy.measure"
       ],
       "boundaries": "two-env finiteforce/volume/solute/heat lockstep; actual7joint worldtransforms andpowerlamp; ringHuhMason andhardware not_run"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "tare_after_settling",
+        "capability_ids": [
+          "balance.tare",
+          "power.set"
+        ],
+        "what_zh": "balance.tare原来在开机后立即接受：力传感器读数尚未建立（一阶滤波从零开始，时间常数sensor_tau_s），去皮记下未稳定的零点，之后乙醇读成522 mN/m（应为22.45 mN/m）。现在开机重新启动力传感器电子线路（读数从零建立），读数未稳定到半个0.1 µN分辨率以内（开机后至少一个计算步）时去皮被拒，新错误码FORCE_NOT_SETTLED（状态不变）；例中开机后等约1–2 s即可去皮。版本1.0.0→1.0.1；describe的asset_version改用运行层常量。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PS1）：去皮须等力读数稳定。",
+        "tests_changed": [
+          "tests/test_asset_biolin_sigma700.py::FixRoundB（新增2个测试：未稳定时拒绝去皮且状态不变、稳定后去皮与乙醇表面张力）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t4_measure/biolin_thetaflex/asset.contract.json b/assets/expansion_batch03/t4_measure/biolin_thetaflex/asset.contract.json
index 27bae2501fa1c9b1b2e00bb128af46d8d8c4497d..ea5a89100f64f9e23a507cdf9e4e7a80c9015127 100644
--- a/assets/expansion_batch03/t4_measure/biolin_thetaflex/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/biolin_thetaflex/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.biolin_thetaflex",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "Biolin Scientific Theta Flex 光学接触角测量仪",
   "category": "颗粒孔隙与界面",
   "asset_kind": "instrument",
@@ -1472,7 +1472,7 @@
       "path": "outputs/expansion_batch03/t4_measure/biolin_thetaflex/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a9f9ccc1f5da5bfbe5e003940e89606d3cc44f457781a76b23fe14cf116b8e06"
+      "sha256": "a3f38f856a1ae1c34af7d0e96036542d69272a439845d7c1c121641aa3223bdf"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/biolin_thetaflex/scene_validation.json",
@@ -1736,19 +1736,25 @@
       "path": "scripts/asset_runtime/biolin_thetaflex.py",
       "format": "py",
       "status": "available",
-      "sha256": "5499c997732f50a5a60cbb36a544c1e78b6ac914673c37fecfd16099a9217219"
+      "sha256": "fe3a8b8096ce4be05b8d61b1a5f9f81ffcb1a0afcb8afb79facb2070f4861d25"
     },
     "runtime_tests": {
       "path": "tests/test_asset_biolin_thetaflex.py",
       "format": "py",
       "status": "available",
-      "sha256": "d17434bed71a5fb7bab2cb4889e0816c6bbf91f1cfe13bdc7550d5c78b7d3061"
+      "sha256": "865d24382201c301e5021841b003cb359d5aadd3a6af15c04ac1e4f681a903d3"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t4_measure/biolin_thetaflex/说明.md",
       "format": "md",
       "status": "available",
       "sha256": "69948f538708c5a25466b026b5dfdd5968da157742315d60699e72476bc3ffa8"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t4_measure/biolin_thetaflex/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "537a879abe4cf90145bcdbe723a5a0c08f269264b7ff23ec3630cc1ecd3a8076"
     }
   },
   "sources": {
@@ -20151,7 +20157,7 @@
         }
       ],
       "example_arguments": {
-        "position_m": 0.01
+        "position_m": 0.016
       },
       "verification": [
         {
@@ -41454,6 +41460,22 @@
         "topography.roughness"
       ],
       "boundaries": "two-env opticalimaging/finitevolume/dynamicpinning lockstep; actual8joint worldtransforms andmeasurementlamp; OEMaccuracy3009fps/hardware not_run"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "dispenser_example_height",
+        "capability_ids": [
+          "dispenser.move",
+          "liquid.transfer"
+        ],
+        "what_zh": "dispenser.move示例把针降到0.010 m，低于liquid.transfer要求的0.014 m（NEEDLE_POSITION），照示例接着滴液必然被拒。示例改为0.016 m（静态滴液区间0.014–0.024 m内，0.024 m为针接触液滴的动态模式位置）。describe的asset_version改用运行层常量。版本1.1.0→1.1.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PS4）：合同示例须能连起来执行。",
+        "tests_changed": [
+          "tests/test_asset_biolin_thetaflex.py::FixRoundB::test_dispenser_example_allows_the_transfer_example（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t4_measure/biorad_miniprotean/asset.contract.json b/assets/expansion_batch03/t4_measure/biorad_miniprotean/asset.contract.json
index a9b38b6462bc3b784ed8b5c262a01bd44aa08f46..8326bea1d19c673e9bc6795d05f14f307c6af3f8 100644
--- a/assets/expansion_batch03/t4_measure/biorad_miniprotean/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/biorad_miniprotean/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.biorad_miniprotean",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "Bio-Rad Mini-PROTEAN Tetra垂直电泳槽（电极模块，可加陪伴模块运行1–4块胶）+ PowerPac Basic电源",
   "category": "生化与湿化学分析",
   "asset_kind": "instrument",
@@ -974,7 +974,7 @@
       "path": "outputs/expansion_batch03/t4_measure/biorad_miniprotean/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "2152e1f1a35917222f0db3f875444bb53882d84ce4395a6340ee8581fd65bd5a"
+      "sha256": "ee9c3a5eaa3866288bf19f52e545a31877ae21b42916db70086703388db2a82d"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/biorad_miniprotean/scene_validation.json",
@@ -1040,13 +1040,13 @@
       "path": "scripts/asset_runtime/biorad_miniprotean.py",
       "format": "py",
       "status": "available",
-      "sha256": "a491be965c60d7a4b4d31f6d86d8da8cb3059811b471c1ef9e4b7849215d7a11"
+      "sha256": "37f135f44611a1ce0f598ee9501adcc06e9542b3cbe117cf19870dae1ebf78c4"
     },
     "runtime_tests": {
       "path": "tests/test_asset_biorad_miniprotean.py",
       "format": "py",
       "status": "available",
-      "sha256": "0c6d20cab956300055e467a1ab5d5d21e4261ce52abf8eb2a59b69d9baa1a0da"
+      "sha256": "8cc6f1cfe6e531f66764babc8fc72075521f6394a08023da8a4131d06789f0f1"
     },
     "panel_ui": {
       "path": "assets/expansion_batch03/t4_measure/biorad_miniprotean/panel_ui.json",
@@ -1076,7 +1076,7 @@
       "path": "outputs/panel_ui/biorad_miniprotean/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "427df926be0e12c31e07c11c341556ff4fe130bcb3f6970686f651114cc1eaaf"
+      "sha256": "064592b43ab00d0dfb6e412e62b99271492484253519ac087f379b6d940b06f4"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/biorad_miniprotean/run_panel_validation.py",
@@ -1088,7 +1088,7 @@
       "path": "outputs/panel_ui/biorad_miniprotean/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "aa1ecf8441d4d472d864087e042e2c7afca5d493b9ad26901a5d80125c5d5269"
+      "sha256": "7f3d885279e236882b9f4d82754f18da4dcfe344eae6b785bf6bd163cafdb765"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/biorad_miniprotean/home.png",
@@ -7324,8 +7324,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7645,8 +7645,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7957,8 +7957,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8426,8 +8426,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8887,8 +8887,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9356,8 +9356,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_biorad_miniprotean.py），不跨层借用验证结果；Matterix场景未针对此能力重跑"
         },
@@ -9703,8 +9703,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10103,8 +10103,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10275,8 +10275,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10462,8 +10462,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10738,8 +10738,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10994,8 +10994,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11178,8 +11178,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11379,8 +11379,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11573,8 +11573,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11794,8 +11794,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12063,8 +12063,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12311,8 +12311,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12568,8 +12568,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12769,8 +12769,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13031,8 +13031,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13284,8 +13284,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13495,8 +13495,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13744,8 +13744,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13884,8 +13884,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -14070,8 +14070,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -14280,8 +14280,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -14566,8 +14566,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -14724,8 +14724,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -15065,8 +15065,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -15312,8 +15312,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): template libraries (UniProt masses of BSA and lysozyme, insulin chains and disulfides, >= 100 gel types, Ferguson fit rms < 1.5 mm); the manufacturer data (TGX SDS-PAGE start / final current per gel, run time and buffer temperature at 100 / 200 / 300 V within 10 % of Tables 3.1-3.2, hand-cast Tris-HCl 200 V 35-45 min, 700 / ~1000 mL buffer for 2 / 4 gels with the per-gel current unchanged, Precision Plus bands within 3.5 mm of the chart positions on 4-20 / 7.5 / 12 % and Any kD gels); electrophoresis physics (reducing vs non-reducing chains, peptides at the front and run-off on an overrun, reversed polarity, overload broadening, smile with power and concentrated buffer, native PAGE with a basic protein staying in the well, well overflow, dye front and prestained markers observable); power supply (CV / CC crossover / 75 W limit, timer, keys, display accuracy, E1 / E2 / E9 / E7 / E5), cell rules (taped cassette, missing buffer dam, open companion module heating, lid interlock with leads), cold buffer warming; host clock and purity of reads, step partition invariance, charge / energy / protein / buffer conservation, pure rejections, cancellation and gel removal, instance isolation, truth redaction for agents, request idempotency and run ownership, queries and unsupported capabilities, and the declared immediate and on_step effects against with/without-call runs from 14 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:17.602038+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:23:52.979084+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -16598,8 +16598,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the four key procedures of the menu survey (timed constant-voltage run, pause and edit, power-failure detection, stop and power down) done only with panel gestures on the PowerPac Basic (the Tetra cell set up by its robot skills), each checked on the runtime state, on the structured frame and on the captured pixels (a seven-segment reader that knows only the spec geometry, LED colours); held scroll keys, dE9, firmware version at switch-on, error codes E1 / E2 / E5 / E7 / E9 and their keys; panel and direct capability calls compared for identical runtime state and run records; refusals (power off, mains out of range, limit edit while running, untimed time edit, chords, a foreign run, unknown inputs, frame access) leave the state unchanged; time-outs (Pfd / dE9 messages, lamp test and version, no menu time-out); render determinism; capture files; contract entries of the panel capabilities. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:55:41.943483+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:23:53.921330+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biorad_miniprotean.py），不跨层借用验证结果"
         },
@@ -16975,8 +16975,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the four key procedures of the menu survey (timed constant-voltage run, pause and edit, power-failure detection, stop and power down) done only with panel gestures on the PowerPac Basic (the Tetra cell set up by its robot skills), each checked on the runtime state, on the structured frame and on the captured pixels (a seven-segment reader that knows only the spec geometry, LED colours); held scroll keys, dE9, firmware version at switch-on, error codes E1 / E2 / E5 / E7 / E9 and their keys; panel and direct capability calls compared for identical runtime state and run records; refusals (power off, mains out of range, limit edit while running, untimed time edit, chords, a foreign run, unknown inputs, frame access) leave the state unchanged; time-outs (Pfd / dE9 messages, lamp test and version, no menu time-out); render determinism; capture files; contract entries of the panel capabilities. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:55:41.943483+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:23:53.921330+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biorad_miniprotean.py），不跨层借用验证结果"
         },
@@ -17194,8 +17194,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the four key procedures of the menu survey (timed constant-voltage run, pause and edit, power-failure detection, stop and power down) done only with panel gestures on the PowerPac Basic (the Tetra cell set up by its robot skills), each checked on the runtime state, on the structured frame and on the captured pixels (a seven-segment reader that knows only the spec geometry, LED colours); held scroll keys, dE9, firmware version at switch-on, error codes E1 / E2 / E5 / E7 / E9 and their keys; panel and direct capability calls compared for identical runtime state and run records; refusals (power off, mains out of range, limit edit while running, untimed time edit, chords, a foreign run, unknown inputs, frame access) leave the state unchanged; time-outs (Pfd / dE9 messages, lamp test and version, no menu time-out); render determinism; capture files; contract entries of the panel capabilities. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:55:41.943483+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:23:53.921330+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biorad_miniprotean.py），不跨层借用验证结果"
         },
@@ -17349,8 +17349,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the four key procedures of the menu survey (timed constant-voltage run, pause and edit, power-failure detection, stop and power down) done only with panel gestures on the PowerPac Basic (the Tetra cell set up by its robot skills), each checked on the runtime state, on the structured frame and on the captured pixels (a seven-segment reader that knows only the spec geometry, LED colours); held scroll keys, dE9, firmware version at switch-on, error codes E1 / E2 / E5 / E7 / E9 and their keys; panel and direct capability calls compared for identical runtime state and run records; refusals (power off, mains out of range, limit edit while running, untimed time edit, chords, a foreign run, unknown inputs, frame access) leave the state unchanged; time-outs (Pfd / dE9 messages, lamp test and version, no menu time-out); render determinism; capture files; contract entries of the panel capabilities. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:55:41.943483+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:23:53.921330+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_biorad_miniprotean.py），不跨层借用验证结果"
         },
@@ -18596,6 +18596,20 @@
           "tests/test_panel_ui_biorad_miniprotean.py::Rules.test_foreign_run_and_session_rules：另一agent的停止键返回accepted=false并显示LOC，显示模式键可用，拔引线不被拒"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "gel_inspect_lane_sample_ids",
+        "capability_ids": [
+          "gel.inspect",
+          "sample.load"
+        ],
+        "what_zh": "gel.inspect的lanes[].sample_id原来恒为null（代码写死）；现在胶记下每个泳道用移液器直接加入的样品ID，同一泳道加过不同样品时按加样顺序用“+”连接，溢流进相邻孔的部分不算加样（这些泳道有条带但sample_id仍为null）。版本1.2.1→1.2.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B C1）：sample.load之后条带都在，但评测读数说不出是哪份样品。",
+        "tests_changed": [
+          "tests/test_asset_biorad_miniprotean.py::FixRoundB::test_inspect_names_the_sample_loaded_in_each_lane（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t4_measure/mt_mp70/asset.contract.json b/assets/expansion_batch03/t4_measure/mt_mp70/asset.contract.json
index ec77e5262908f92e5edc20dcbdf47b124ef0b807..aaa874fd1e33d64a0a7b2e1cb3fe881a8c9ac743 100644
--- a/assets/expansion_batch03/t4_measure/mt_mp70/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/mt_mp70/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.mt_mp70",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "METTLER TOLEDO MP70自动熔点仪",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -356,13 +356,13 @@
       "path": "scripts/asset_runtime/mt_mp70.py",
       "format": "py",
       "status": "available",
-      "sha256": "cab18bc2ebbd922ac67d8fa3a19fa6544c631b0d68b951400a5dd4bf6b9a643a"
+      "sha256": "a7ec887264ec712de3856f2a023f0e4998b1229609649569998b018e2bbf2942"
     },
     "runtime_tests": {
       "path": "tests/test_asset_mt_mp70.py",
       "format": "py",
       "status": "available",
-      "sha256": "1c3757119c72ae09784586512ab97e28177d77523b3533802abc97d78cc3eed6"
+      "sha256": "ad38300e6cbd84ceca6516373f34521394bafc584edd1027c1da0f42fdea9bdc"
     },
     "thermal_library": {
       "path": "assets/reactions/mt_mp70_thermal_library/templates.json",
@@ -1094,7 +1094,7 @@
       "path": "outputs/panel_ui/mt_mp70/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "ac5b9691706f6fdcdbd34de74ca3fb0aa58cf009c9dd4607c009273f815dde34"
+      "sha256": "d3603536cff971c62d9d24853798d3a103b6677f5f4472fc2cfa7f2c74c547be"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/mt_mp70/run_panel_validation.py",
@@ -1106,7 +1106,7 @@
       "path": "outputs/panel_ui/mt_mp70/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "2b0fb3d8e1ff734a81cfc061bb37f57194767ebbff9bfc619078880a1918a96f"
+      "sha256": "ec604fd7e10a13935bf9f65adbe1e92c5ac6eef52f758ababf6b6ad0147a8783"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/mt_mp70/build_panel_spec.py",
@@ -10776,8 +10776,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -11090,8 +11090,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -11356,8 +11356,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -11625,8 +11625,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -11880,8 +11880,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -12135,8 +12135,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -12431,8 +12431,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -12696,8 +12696,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -12970,8 +12970,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -13246,8 +13246,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -13511,8 +13511,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -13877,8 +13877,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -14153,8 +14153,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -14422,8 +14422,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -14691,8 +14691,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -14991,8 +14991,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -15262,8 +15262,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -15575,8 +15575,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -15838,8 +15838,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -16112,8 +16112,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -16380,8 +16380,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -16649,8 +16649,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -16932,8 +16932,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17187,8 +17187,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17469,8 +17469,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -17725,8 +17725,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18010,8 +18010,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18275,8 +18275,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18543,8 +18543,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -18799,8 +18799,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -19061,8 +19061,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -19340,8 +19340,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -19662,8 +19662,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -19913,8 +19913,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -20177,8 +20177,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -20494,8 +20494,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -20831,8 +20831,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -21048,8 +21048,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -21209,8 +21209,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the five key procedures of the menu survey (start up and log in, run an analysis with a method, run a manual method, stop an analysis, shut down) done only with panel gestures and checked on the runtime state and the structured frame; lock / unlock and Reset on a locked instrument, screen saver, refused and forced shut-down, Info key, direct / indirect shortcuts, manual Set, melting range, results include / exclude, statistics, select analysis, diagram, calibration analyses and temperature adjustment with an injected sensor offset (re-calibration passes), furnace power off / set temperature / inside view, Setup settings, users, calibration substances, maintenance; panel and direct commands compared; refusals as the device message; render determinism; slot schemas; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:48:02.852886+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:43:22.900666+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板与终端测试套件（tests/test_panel_ui_mt_mp70.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -21767,6 +21767,23 @@
           "tests/test_panel_ui_mt_mp70.py::SyncAuditFixes::test_mains_supply_is_a_hard_power_cut（新增）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "precondition_refusal_messages",
+        "capability_ids": [
+          "acquisition.start",
+          "method.configure",
+          "method.select",
+          "sample.configure",
+          "sample.unload"
+        ],
+        "what_zh": "前置条件不满足时原来只返回笼统的PRECONDITION_FAILED（消息即错误码）。合同没有更细的错误码，故错误码不变，error.message改为指明原因：仪器关机、未选方法、未插毛细管、毛细管已测过须更换、方法起始温度未低于每个样品熔点至少1 K、20个方法位已满、无此存储方法；宿主sample.configure/sample.unload同样说明通道占用/为空、炉温高于50 °C或距熔点不足1 K、物质无运行时熔点参考。拒绝时状态不变。版本1.2.1→1.2.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PM5）：常见拒绝只给笼统错误，智能体无从得知该做什么。",
+        "tests_changed": [
+          "tests/test_asset_mt_mp70.py::FixRoundB::test_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch03/t4_measure/surface_dvsresolution/asset.contract.json b/assets/expansion_batch03/t4_measure/surface_dvsresolution/asset.contract.json
index 7a6efdb200a658251c1f587cc0a5f09c96289a43..3e15d10da33e155684c0786264b64479246ab1ed 100644
--- a/assets/expansion_batch03/t4_measure/surface_dvsresolution/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/surface_dvsresolution/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.surface_dvsresolution",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "Surface Measurement Systems DVS Resolution 动态蒸气吸附仪（低质量天平）",
   "category": "颗粒孔隙与界面",
   "asset_kind": "instrument",
@@ -3002,7 +3002,7 @@
       "path": "outputs/expansion_batch03/t4_measure/surface_dvsresolution/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "84e25343327c8aa990e69e673e72fb7ccca4f30a8faed656e3432e925d32b180"
+      "sha256": "7b4646842ae3b1ad86cf0544071799cdfe4423d567f8fdeb28aef5f0ee8338a4"
     },
     "scene_adapter": {
       "path": "outputs/expansion_batch03/t4_measure/surface_dvsresolution/scene_adapter.py",
@@ -3080,19 +3080,25 @@
       "path": "scripts/asset_runtime/surface_dvsresolution.py",
       "format": "py",
       "status": "available",
-      "sha256": "f07031474a5c392e5d3b88865304b3c2d0497fad0191432e9d603e76533357f8"
+      "sha256": "1140e0042a7834bcb906a4956b0ca6ea3c2c961eb5eabb5eff45272dc60a1547"
     },
     "runtime_tests": {
       "path": "tests/test_asset_surface_dvsresolution.py",
       "format": "py",
       "status": "available",
-      "sha256": "004254353ac22352e83071a5cfed662d79072e4f2e43cd6c6fd9e55ab093c5d0"
+      "sha256": "edf890771bb00e8515ebdc5f411e0eef1bde883aee8e86d6c621b3cfe7c8fb23"
     },
     "library_readme": {
       "path": "assets/expansion_batch03/t4_measure/surface_dvsresolution/说明.md",
       "format": "md",
       "status": "available",
       "sha256": "a55127a92795e3cba691cf76eb40af29c9c90490b588cba6a1af3da0460c2d4f"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch03/t4_measure/surface_dvsresolution/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "8eade7c802ca4d4da5f90f06e8636e08a1c846c2a003c0573983c672bc94b9db"
     }
   },
   "sources": {
@@ -33709,7 +33715,7 @@
       "component_ids": [
         "balance"
       ],
-      "function_zh": "以当前观测值去皮；不声明原厂精度认证",
+      "function_zh": "以当前观测值去皮；不声明原厂精度认证。去皮把秤盘上现有的一切（含样品）记为零点和质量变化的基准：带样品去皮后mass.indicated_kg是相对去皮时的质量变化，±150 mg质量变化范围以去皮点为中心（宣传册p.6 Ultrabalance Mass change ±150 mg）；要读样品绝对质量须在装样前空盘去皮",
       "kind": "device_command",
       "visibility": "agent",
       "example_arguments": {},
@@ -42100,7 +42106,8 @@
     "Waterphase/thermal model is lumped, notfullgasline condensation, reservoir bath or dual-reference-pan driftcancellation",
     "Sampleaccess313.15K and thermalfloors/trips are simulationguards,notOEMsafetycertification",
     "Shared low-level Runtime object is a trustedhost interface; registered Session filters agenttruth and operationowner; nofilesystem/processsandboxisolation claim",
-    "No robot/hardware, organic-solvent module, certifiednoise/fault, panunhooktrajectory or active second-reference-channel implementation"
+    "No robot/hardware, organic-solvent module, certifiednoise/fault, panunhooktrajectory or active second-reference-channel implementation",
+    "去皮（1.1.1）：带样品去皮时读数为相对去皮点的质量变化（±150 mg范围以去皮点为中心）；绝对质量需装样前空盘去皮。原厂去皮流程未取得（无操作手册）。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -43490,6 +43497,21 @@
         "Actual fluid sealing, full gas line thermodynamics, contact/robot/hardware; organic/high-temperature humidified accessories and dual-sample operation",
         "Matterix outer async poll/cancel envelope and distinct principal forwarding; native adapter uses successful dispatch plus per-env local operation IDs; standalone runtime Session protocol is separately validated"
       ]
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "tare_with_sample_documented",
+        "capability_ids": [
+          "balance.tare"
+        ],
+        "what_zh": "带样品去皮原来被接受但合同没有说明（示例依赖t=0时读数为0）。按设计保留并写明：去皮把秤盘上现有的一切（含样品）记为零点与质量变化基准，带样品去皮后mass.indicated_kg是相对去皮时的质量变化，±150 mg的质量变化范围（BALANCE_CHANGE_RANGE）以去皮点为中心（宣传册PDF p.6 Ultrabalance Low Mass: Mass change ±150 mg）；要读样品的绝对质量须在装样前空盘去皮。没有本机操作手册（只有宣传册），原厂软件的去皮流程未取得。行为不变；版本1.1.0→1.1.1；describe的asset_version改用运行层常量。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PS3）：带样品去皮须拒绝或写明，选择写明（变化量测量是DVS的设计）。",
+        "tests_changed": [
+          "tests/test_asset_surface_dvsresolution.py::FixRoundB::test_tare_with_the_sample_on_the_pan_is_documented（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch03/t4_measure/thermo_ibrightfl1500/asset.contract.json b/assets/expansion_batch03/t4_measure/thermo_ibrightfl1500/asset.contract.json
index f9799e284ea264c2c63c109b98ca2e7f65c83cd1..2eb5f919081a80f42a9b8e11769bb87bd856d897 100644
--- a/assets/expansion_batch03/t4_measure/thermo_ibrightfl1500/asset.contract.json
+++ b/assets/expansion_batch03/t4_measure/thermo_ibrightfl1500/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.thermo_ibrightfl1500",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "Thermo Fisher Invitrogen iBright FL1500凝胶与印迹成像系统（产品册配置）",
   "category": "生化与湿化学分析",
   "asset_kind": "instrument",
@@ -668,7 +668,7 @@
       "path": "outputs/expansion_batch03/t4_measure/thermo_ibrightfl1500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b9c6b7a40d03c4e14bf19c3432cae960cd061a2370a26cf57c90b745a44c61f1"
+      "sha256": "cc234486033123d29deb41dc10acfa0c11786f4285bd6b6c442118d9446bf24c"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch03/t4_measure/thermo_ibrightfl1500/scene_validation.json",
@@ -734,13 +734,13 @@
       "path": "scripts/asset_runtime/thermo_ibrightfl1500.py",
       "format": "py",
       "status": "available",
-      "sha256": "75d1016c00b52ad9ab23d49e23a2e69580a4cae1c79ea3665c6616dcb9f30d35"
+      "sha256": "fb5011152aa4eb2a8c04f521e3d89d895695c94c66588b9b5d9e19ed3bd75546"
     },
     "runtime_tests": {
       "path": "tests/test_asset_thermo_ibrightfl1500.py",
       "format": "py",
       "status": "available",
-      "sha256": "98bbe9dad695250fa96997c83e9c847dd121059c79330b49829cf0324973384c"
+      "sha256": "b34f85c0ba32d0485299ab78d83f31ef458e10760ee9bb62b6b0619a63fd3a59"
     },
     "panel_ui": {
       "path": "assets/expansion_batch03/t4_measure/thermo_ibrightfl1500/panel_ui.json",
@@ -770,7 +770,7 @@
       "path": "outputs/panel_ui/thermo_ibrightfl1500/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b9183727c2f72bcb31ed6354384fc723c3bfbd7a740cca36512ff16b3f18811f"
+      "sha256": "52b15adfc3c028084e67b108ea30ac242ec36aef9b0ae6fa0c8a1c682a5cdb1e"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/thermo_ibrightfl1500/build_panel_spec.py",
@@ -788,7 +788,7 @@
       "path": "outputs/panel_ui/thermo_ibrightfl1500/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "56a4bcf75883a81798f60e2413b2b8640a275d5b5dc3071de466d01b206342f1"
+      "sha256": "f0e0d9c5a291ea839de639256d942da07cbbaf61ca2596b430c37590beccc8f2"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/thermo_ibrightfl1500/home.png",
@@ -4964,8 +4964,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5299,8 +5299,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5624,8 +5624,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -5837,8 +5837,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6083,8 +6083,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6339,8 +6339,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6737,8 +6737,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6959,8 +6959,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7148,8 +7148,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7435,8 +7435,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7658,8 +7658,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7959,8 +7959,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8221,8 +8221,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8478,8 +8478,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9078,8 +9078,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9562,8 +9562,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9770,8 +9770,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9971,8 +9971,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10275,8 +10275,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10425,8 +10425,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10611,8 +10611,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10781,8 +10781,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10949,8 +10949,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11107,8 +11107,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11451,8 +11451,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11700,8 +11700,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12435,8 +12435,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -12639,8 +12639,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -12817,8 +12817,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -13050,8 +13050,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -13331,8 +13331,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -13540,8 +13540,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -13709,8 +13709,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -13889,8 +13889,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -14063,8 +14063,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -14363,8 +14363,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -14655,8 +14655,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -14852,8 +14852,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -15085,8 +15085,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -15505,8 +15505,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -15724,8 +15724,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -15927,8 +15927,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -16179,8 +16179,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -16351,8 +16351,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -16587,8 +16587,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -16802,8 +16802,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -16849,7 +16849,7 @@
         }
       ],
       "limitations": [
-        "约2 min暗场曝光（工程值）找出额外暗电荷超过正常像元5σ的像元（评测者sensor.configure_error设置的热像元；默认没有，图为空），存入像元图；之后的拍摄把图中的像元校正为正常暗值，新出现的热像元要再做一次Pixel Mapping。"
+        "约2 min暗场曝光（工程值）找出额外暗电荷超过正常像元5σ的像元（评测者设置的CCD热像元；默认没有，图为空），存入像元图；之后的拍摄把图中的像元校正为正常暗值，新出现的热像元要再做一次Pixel Mapping。"
       ],
       "source_ids": [
         "manufacturer_user_guide"
@@ -17089,8 +17089,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -17271,8 +17271,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -17473,8 +17473,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the runtime API (every successful call validated against its declared output schema with asset_tool.validate_value and checked for undeclared immediate state changes and for not advancing the clock; every rejection code collected and compared with the declared errors): fluorophore library (FPbase coefficients and spectra), optics (22.5 x 18.0 cm field, object-side NA of the 25 mm f/0.95 lens, optical vs digital zoom); CCD cooling before capture; fluorescence 2-fold dilution series linear and quantified from 3 standards within 5 %; Smart Exposure to 65-95 % of full scale in three channels; saturation flags and binning (charge summed over b x b pixels); FL1500 filter sets (EX3/EX4 crosstalk, channel mismatch, at most 4 dyes); chemiluminescent HRP series with Smart Range HDR (no saturation, linear) and first-order substrate decay; visible Coomassie gel (inverted, growing with the stained mass, molar mass from a marker lane); nucleic-acid gel with SYBR Safe (linear, unbound stain background); automatic alignment / optical zoom on drawer close and the camera lock; faults (LED failure, smudged glass, filter wheel jam, blocked drawer, mains loss during a capture); host clock and pure reads, exact step-partition independence (records, images bit-identical), energy / exposure / LED ledgers, pure rejections, cancellation, instance isolation, truth redaction, image ownership and request idempotency, queries and export, and the declared immediate and on_step effects against with/without-call runs from 13 scenario states. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:39:06.466809+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"numpy\": \"2.3.1\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:51:02.943361+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "运行层测试套件（tests/test_asset_thermo_ibrightfl1500.py的AppCommands等）实际调用；面板调用另见panel_ui_validation"
         },
@@ -17864,8 +17864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (power-up and profile creation / sign-in with a wrong PIN, a chemiluminescent blot with a Region of Interest drawn on the live view, Smart Exposure, + preset and Smart Range HDR, a fluorescent blot with two dyes chosen from the dye list and a per-dye exposure change, export to the USB drive after renaming, analysis with the sensitivity dial and the table equal to image.analyze, instrument diagnostics with the drawer cycling), each checked on the runtime state, the structured frame and rendered pixels; the gallery (list / thumbnails, selection, filter, delete), image adjust, camera, routines, trans light and lock, custom dye and false colour, band excision, settings / users / security mode / file naming / network / logs / SAE; panel = direct commands (same runtime state and bit-identical images); refusals shown as the device message; the 20 min sleep time-out; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:39:16.555769+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:51:12.079789+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_ibrightfl1500.py）经会话API调用；不跨层借用验证结果"
         },
@@ -18280,8 +18280,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (power-up and profile creation / sign-in with a wrong PIN, a chemiluminescent blot with a Region of Interest drawn on the live view, Smart Exposure, + preset and Smart Range HDR, a fluorescent blot with two dyes chosen from the dye list and a per-dye exposure change, export to the USB drive after renaming, analysis with the sensitivity dial and the table equal to image.analyze, instrument diagnostics with the drawer cycling), each checked on the runtime state, the structured frame and rendered pixels; the gallery (list / thumbnails, selection, filter, delete), image adjust, camera, routines, trans light and lock, custom dye and false colour, band excision, settings / users / security mode / file naming / network / logs / SAE; panel = direct commands (same runtime state and bit-identical images); refusals shown as the device message; the 20 min sleep time-out; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:39:16.555769+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:51:12.079789+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_ibrightfl1500.py）经会话API调用；不跨层借用验证结果"
         },
@@ -18472,8 +18472,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (power-up and profile creation / sign-in with a wrong PIN, a chemiluminescent blot with a Region of Interest drawn on the live view, Smart Exposure, + preset and Smart Range HDR, a fluorescent blot with two dyes chosen from the dye list and a per-dye exposure change, export to the USB drive after renaming, analysis with the sensitivity dial and the table equal to image.analyze, instrument diagnostics with the drawer cycling), each checked on the runtime state, the structured frame and rendered pixels; the gallery (list / thumbnails, selection, filter, delete), image adjust, camera, routines, trans light and lock, custom dye and false colour, band excision, settings / users / security mode / file naming / network / logs / SAE; panel = direct commands (same runtime state and bit-identical images); refusals shown as the device message; the 20 min sleep time-out; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:39:16.555769+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:51:12.079789+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_ibrightfl1500.py）经会话API调用；不跨层借用验证结果"
         },
@@ -18613,8 +18613,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (power-up and profile creation / sign-in with a wrong PIN, a chemiluminescent blot with a Region of Interest drawn on the live view, Smart Exposure, + preset and Smart Range HDR, a fluorescent blot with two dyes chosen from the dye list and a per-dye exposure change, export to the USB drive after renaming, analysis with the sensitivity dial and the table equal to image.analyze, instrument diagnostics with the drawer cycling), each checked on the runtime state, the structured frame and rendered pixels; the gallery (list / thumbnails, selection, filter, delete), image adjust, camera, routines, trans light and lock, custom dye and false colour, band excision, settings / users / security mode / file naming / network / logs / SAE; panel = direct commands (same runtime state and bit-identical images); refusals shown as the device message; the 20 min sleep time-out; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:39:16.555769+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:51:12.079789+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_ibrightfl1500.py）经会话API调用；不跨层借用验证结果"
         },
@@ -19837,6 +19837,19 @@
           "tests/test_panel_ui_thermo_ibrightfl1500.py: 新增SyncAuditFixes.test_pixel_mapping_corrects_hot_pixels"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "agent_texts_name_no_hidden_ids",
+        "capability_ids": [
+          "service.pixel_mapping"
+        ],
+        "what_zh": "agent会话的describe里service.pixel_mapping的限制文字写着评测者能力的ID（sensor.configure_error），向agent暴露了评测用的故障注入能力；改为“评测者设置的CCD热像元”，行为不变。新测试检查agent的describe中不出现任何非agent能力或状态槽的ID。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B IM1，可见性缺陷）：运行层不得向agent导出隐藏ID（通用层的过滤只是兜底）。",
+        "tests_changed": [
+          "tests/test_asset_thermo_ibrightfl1500.py::FixRoundB::test_agent_describe_names_no_hidden_capability_or_slot（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t1_thermal/lakeshore_8604vsm/asset.contract.json b/assets/expansion_batch04/t1_thermal/lakeshore_8604vsm/asset.contract.json
index a1036a7227c0c73d82e986da274470d533906026..cafe54637b00c36f044493d46735c2e626ca41fc 100644
--- a/assets/expansion_batch04/t1_thermal/lakeshore_8604vsm/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/lakeshore_8604vsm/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.lakeshore_8604vsm",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "Lake Shore 8604 振动样品磁强计",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -1442,7 +1442,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/lakeshore_8604vsm/independent_runtime_review.json",
       "format": "json",
       "status": "available",
-      "sha256": "712ff26f299dadb0fa866ee61a36df12b53d786a2d86115e2b6c49c23a448d70"
+      "sha256": "8afc404d1585982da261023fa01e308f867dacfd7dfd0af069b92fd8b5898bdf"
     },
     "independent_runtime_review_py": {
       "path": "outputs/expansion_batch04/t1_thermal/lakeshore_8604vsm/independent_runtime_review.py",
@@ -1754,13 +1754,19 @@
       "path": "scripts/asset_runtime/lakeshore_8604vsm.py",
       "format": "py",
       "status": "available",
-      "sha256": "f3871e3cd7cc746896aaa1e12b9ee214ac9fed5f7d1203271de27bd61728a880"
+      "sha256": "e6f483ece943a9301f2ef8d546e10262062273a95ee8b28ceb30499c95c44e5b"
     },
     "runtime_tests": {
       "path": "tests/test_asset_lakeshore_8604vsm.py",
       "format": "py",
       "status": "available",
-      "sha256": "b397f15f6984d421e2635f767764c221cb3b4016be141c05ba05d8f3f859eae9"
+      "sha256": "bf1639b289d74fb9dc62b30023e8f7991b46712b1c17ec1ab11980d69df074c9"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t1_thermal/lakeshore_8604vsm/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "2ddc360a3de6b150faee632ea1aa604805f82fdf1525bf467da4d2d8a3081454"
     }
   },
   "sources": {
@@ -26563,6 +26569,22 @@
         "full 50000-point endurance",
         "runtime-to-Blender binding and sample-dimension mesh rebuilding"
       ]
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "start_refusal_codes",
+        "capability_ids": [
+          "calibration.start",
+          "acquisition.start"
+        ],
+        "what_zh": "calibration.start / acquisition.start在关机、未配置磁体或线圈、样品振动关闭时原来都返回NOT_CONFIGURED且无原因。现在关机返回合同已声明的POWER_OFF；未配置磁体/线圈、振动关闭、未配置测量方法仍为NOT_CONFIGURED（合同没有更细的码），error.message写明原因（振动关闭时提示vibration.configure enabled=true）。拒绝时状态不变。describe的asset_version改用运行层常量ASSET_VERSION。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA8）：振动关闭时校准返回NOT_CONFIGURED，错误码误导。",
+        "tests_changed": [
+          "tests/test_asset_lakeshore_8604vsm.py::FixRoundB::test_calibration_refusals_name_the_cause（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/asset.contract.json b/assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/asset.contract.json
index a52984b67857fa4fd941aaf006b66767279ee9f2..fa70a7683b4296984a4becbee694e55ecfd7e18d 100644
--- a/assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.mt_rc1mxhfcal",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "METTLER TOLEDO RC1mx + HFCal 热流式反应量热系统（标准转矩搅拌器）",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -1694,13 +1694,13 @@
       "path": "scripts/asset_runtime/mt_rc1mxhfcal.py",
       "format": "py",
       "status": "available",
-      "sha256": "17afbf6ee4d340911d9d02f4472a0d4b764deed0d6561a478fefef6e533ca899"
+      "sha256": "c6f52f770fc1ef2a35c0fa8b8709be5064d9f29734c726a5d849d40f029da5e8"
     },
     "runtime_tests": {
       "path": "tests/test_asset_mt_rc1mxhfcal.py",
       "format": "py",
       "status": "available",
-      "sha256": "cf764f98a37445266c6eb0b2fe74185d109b2f47902dd59d30c50f2463ece965"
+      "sha256": "98f5186d306e7c68f7655f6aff1dd418d2e25f14942cbc2792455708a6fc4818"
     },
     "reaction_templates_library": {
       "path": "assets/reactions/reaction_templates.json",
@@ -1748,7 +1748,7 @@
       "path": "outputs/panel_ui/mt_rc1mxhfcal/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "24e2dbfa7489c6c8232f06cb3374af2b460088df3f38d348bbcab3cb93e3c09b"
+      "sha256": "b1a56d03b578356ce288310a2ce0520ed6a900127b5bb90018e828c4276916d3"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/mt_rc1mxhfcal/run_panel_validation.py",
@@ -1760,7 +1760,7 @@
       "path": "outputs/panel_ui/mt_rc1mxhfcal/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "53d3e4a34312f56f900f5e21eed952b81cd8be5648cdac1c43977de355a4e374"
+      "sha256": "0b3fc9d3419240b11a9259f1acfb0f7727ff8ce3939800c2f88072daea1a955e"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/mt_rc1mxhfcal/build_panel_spec.py",
@@ -11844,7 +11844,7 @@
       ]
     },
     "experiment.id": {
-      "meaning_zh": "当前实验ID；无为null",
+      "meaning_zh": "当前实验ID；没有进行中的实验时为最近结束的实验ID（experiment.running区分），供experiment.data / calorimetry.evaluate使用；从未开始过实验为null",
       "component_ids": [
         "touch_display"
       ],
@@ -25004,8 +25004,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -25199,8 +25199,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -25404,8 +25404,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -25605,8 +25605,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -25779,8 +25779,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -26141,8 +26141,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -26527,8 +26527,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -26741,8 +26741,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -26903,8 +26903,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.press / panel.capture / panel.frame): the eight key procedures of the menu survey (turn on, select the reactor type, set T safe, start an experiment, change Tj, Tr and the stirrer speed, end an experiment) done only with panel gestures and checked on the runtime state and the structured frame; manipulation warning (acknowledge / decline); all safety values and R safe; refusals as the device message with the state unchanged; emergency programs (safeguard button and reset, Tr max -> A with the cause persisting, stirrer off with R min > 0 -> B1 after 3 min); Notes, Graph, Experiment & Export, Info, Tools and Dose / Charge; a second agent cannot stop the first agent's experiment, the ON/OFF power button is a hard switch open to all; RC1e table 5.6 hardware faults by evaluator fault injection (B2 on oil level too high, A / B1 / C by cause, reset refused while the cause persists); power-off gate; panel and direct commands compared; render determinism; slot schemas; contract entries.  The 1.0.0 runtime suite (tests/test_asset_mt_rc1mxhfcal.py) was run on the 1.1.0 runtime as well.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:26:11.144111+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:56:09.846512+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_mt_rc1mxhfcal.py：经面板与直接调用），不跨层借用验证结果"
         },
@@ -28311,6 +28311,21 @@
           "tests/test_panel_ui_mt_rc1mxhfcal.py::HardwareFaults（新增2个）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "last_experiment_id_readable",
+        "capability_ids": [
+          "experiment.end",
+          "experiment.data",
+          "calorimetry.evaluate"
+        ],
+        "what_zh": "experiment.end原来把experiment.id清成null，而experiment.data与calorimetry.evaluate需要实验ID：没有记下experiment.start返回值的调用者结束实验后就找不到数据。现在没有进行中的实验时experiment.id给出最近结束的实验ID（experiment.running区分进行中与已结束；从未开始过为null），新实验开始后变为新ID。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B RX4）：结束后最后一个ID须仍可读。",
+        "tests_changed": [
+          "tests/test_asset_mt_rc1mxhfcal.py::FixRoundB::test_last_experiment_id_stays_readable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t1_thermal/netzsch_lfa467/asset.contract.json b/assets/expansion_batch04/t1_thermal/netzsch_lfa467/asset.contract.json
index 6b62b4d9d330b368710781574e7862f61002aff1..66a4cc47072ac6cac3b587fa42a281f5b18313b3 100644
--- a/assets/expansion_batch04/t1_thermal/netzsch_lfa467/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/netzsch_lfa467/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.netzsch_lfa467",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.2",
   "name_zh": "NETZSCH LFA467 HyperFlash 闪光法热扩散仪",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -1778,7 +1778,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/example_setup_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "fe863e99023959492d4cbc55481a1c9d76fa43444cb033ecdbeddac67f91b4e5"
+      "sha256": "3752ccb4b5b6dbc574894583a6c9dd86dfd0658f3b1898aff9d82cabe1048704"
     },
     "example_sic_2mhz_csv": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/example_sic_2mhz.csv",
@@ -2024,13 +2024,13 @@
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/physics_independent_trace.json",
       "format": "json",
       "status": "available",
-      "sha256": "6121713297ee521d07f0aed96f163ca8038ce8fdf57ec6075788625deb11d7b9"
+      "sha256": "a0ab77cc670a191217a547682f636bcffea7e3fcf13a883634ea6e9442a3cf6f"
     },
     "physics_independent_validation": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/physics_independent_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "2f6abc546ac8bbdd57f9a6054e97b1d6077c9e91c1c5b56b13a42f682892cf95"
+      "sha256": "21b2b3d16800c3bad7aeb0db934701d0ca1b5df14bfeedc2c41ab55ac1154d9d"
     },
     "plot_references_py": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/plot_references.py",
@@ -2234,7 +2234,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/runtime_reaudit.json",
       "format": "json",
       "status": "available",
-      "sha256": "01e3061218f1e75fc9a4b0109a779a11a28249d980352897b5d5e4b10b9ec99f"
+      "sha256": "95fc59dbf82b114178eb88c8c263a285e37406d26296ac5602cd0fcd3dcacc6f"
     },
     "runtime_reaudit_py": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/runtime_reaudit.py",
@@ -2246,7 +2246,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "1b66601beb81469f1753112ed900e6d98c322fc81df66d788bf0bb5a08e9d23a"
+      "sha256": "56b99681cec67abdffb1f42cb16fe1a9e67bf660d5b2be2a056393228e75ba5b"
     },
     "scene_adapter_py": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/scene_adapter.py",
@@ -2324,7 +2324,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/thermal_equation_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a960eeafb53b473c2c000905511ecddcb1cfa281c481012b47a1dd8cb66de631"
+      "sha256": "4bbe35c2605c7b6ed04149690fe347048fec172244da60555f295b685891c5aa"
     },
     "transcribe_nsrds_elements_py": {
       "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/transcribe_nsrds_elements.py",
@@ -2420,19 +2420,25 @@
       "path": "scripts/asset_runtime/netzsch_lfa467.py",
       "format": "py",
       "status": "available",
-      "sha256": "d38456ac0b400bf20b6cb70c6c35471a8aabdf543d81825fe45ce4671bc6fbe2"
+      "sha256": "812722b4e21c9736861d84e47ba3f33e7d705ac7e1ec16b73d1c315de14414df"
     },
     "runtime_tests": {
       "path": "tests/test_asset_netzsch_lfa467.py",
       "format": "py",
       "status": "available",
-      "sha256": "dc35950544e3ecfd24ee28171ea3f252bdf97df4716d289403fdc8dc83c9bb8e"
+      "sha256": "d96ad29d9ba8c46b95b0d4413f98fc2548802f5f422aa39af5ea68d5ff000d23"
     },
     "library_readme": {
       "path": "assets/expansion_batch04/t1_thermal/netzsch_lfa467/说明.md",
       "format": "md",
       "status": "available",
       "sha256": "30fb6073e1967262f0d6d2990336b5a67ffbf701d57dc820c83a6c3d125a841d"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t1_thermal/netzsch_lfa467/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "e8bd919f19d8afb9d783aa8210d7b8199e73ec550206ad26c63e2ad988b85d9a"
     }
   },
   "sources": {
@@ -44510,7 +44516,7 @@
         "kappa=alpha*rho*Cp. Slab finite volumes C=rho*Cp*A*dx and intercell G=kappa*A/dx; furnace finite Cf. Half-cell Robin face G=h*A/(1+h*dx/(2*kappa)); rear surface=(Tlast+h*dx/(2*kappa)*Tf)/(1+h*dx/(2*kappa)).",
         "Front absorbed power enters first cell by fraction1/(1+hfront*dx/(2*kappa)), remainder enters furnace via face Robin path; surface direct temperature includes Pabs/(2*kappa*A/dx+hfront*A). Uniform absorption is assumed over disk front face.",
         "Capacity-scaled symmetric thermal graph is diagonalized; exact constant-power propagator gives temperatures, stored energy, heat-loss integral and internally timed rear observations. Every ungrounded connected component has an explicit sqrt(C)-weighted null mode, preserving uniform equilibrium even for thin/high-alpha stiff limits.",
-        "Controller predicts next fixed10ms-grid furnace state and uses bounded P=K*(target_end-Tfree_end)/(1+K*dTf_end/dP). None cooler has no negative heater; passive/forced heat goes to ambient. LN2 cooling consumes exactly removedQ/(latent*efficiency), in an independent furnace tank.",
+        "Controller predicts next fixed10ms-grid furnace state and uses bounded P=(G_amb*(target_end-Tamb)+K*(target_end-Tfree_end))/(1+K*dTf_end/dP) (1.1.2: feed-forward of the steady ambient loss, so a held set point has no proportional droop). None cooler has no negative heater; passive/forced heat goes to ambient. LN2 cooling consumes exactly removedQ/(latent*efficiency), in an independent furnace tank.",
         "Optical budget<=10J: loaded=remaining+emitted+recovered; emitted=absorbed+reflected. Finite10..1500us rectangular pulse is1us-grid input; partial cancellation keeps consumed energy. Sample mass is unchanged by ideal heat diffusion; removal exports remaining sensible energy.",
         "IR first-order detector dy/dt=(gain*rear_delta+offset-y)/tau is propagated by exact modal convolution, then delta-temperature calibration ycorrected=Tamb+(ydelta-zero)*gain, quantization and range checked. Thermal and pulse observations have explicit internal timestamps up to2MHz; acquisition is not an instantaneous0.1s-host sample.",
         "Three finite gas branches consume Qref*Pref/(R*Tref)*dt and exhaust accounting. Two independent detector/furnace LN2 inventories use explicit latent and efficiency. Residual sub-nanosecond resource quantities are exhausted at the event-clock resolution and recorded, not replenished.",
@@ -45108,7 +45114,9 @@
     "Alpha interpolated only inside the real reference domain (single-temperature references: explicit record-declared constant-alpha band), sampled at equilibrated baseline and held fixed during small temperature-rise shot. Library alpha is measured/evaluated for 15 materials and derived alpha=k/(rho*cp) for 45; the record evidence level is appended to every acquisition evidence string. Unknown density/Cp/absorptance/face losses and detector response are engineering inputs.",
     "Finite gas exhaust is tracked per three branches; chamber mixing, pressure/vacuum and gas enthalpy not solved. Detector cooling is ideal regulated cold-front-end supplied by finite explicit LN2 budget; no empirical cooldown model.",
     "Only none/LN2 furnace cooling implemented. Independent detector and furnace LN2 inventories; no artificial clipping to ambient. No comparative heat-capacity calibration.",
-    "SamplerXY/head paths are engineering geometry proxies, not a reconstruction of proprietary mechanics. Static scene specimen represents slot1; alternate loaded slots and dimensions lack dynamic geometry replacement."
+    "SamplerXY/head paths are engineering geometry proxies, not a reconstruction of proprietary mechanics. Static scene specimen represents slot1; alternate loaded slots and dimensions lack dynamic geometry replacement.",
+    "宿主时钟（1.1.1）：温控关闭的空闲区间按零功率一次精确传播；到达目标后的保持区间按10 ms控制周期仿射映射的幂一次推进（功率界保证不限幅、不变号时），与逐周期计算只差浮点舍入；斜坡、采集、运动与功率可能限幅时仍逐周期计算。",
+    "控制器（1.1.2）：比例控制加环境散热前馈，保持的设定点无稳态偏差；采集内的平衡按整周期跳跃推进，平衡结束时刻与逐周期计算相同；示例样品与炉体热交换时间常数约230 s，远离当前温度开始采集时平衡需数十分钟，宜先预热。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -45269,6 +45277,38 @@
         "Microsecond cancellation is runtime-tested; this scene advances at0.1s host steps.",
         "Matterix outer asynchronous poll/cancel and principal forwarding; standalone Session tested separately."
       ]
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "idle_and_hold_clock_cost",
+        "capability_ids": [
+          "sim.step",
+          "thermal.set_temperature",
+          "thermal.disable"
+        ],
+        "what_zh": "宿主推进时间的代价：原来不论步长，每模拟1 s都要按10 ms控制周期逐段计算（约68 ms墙钟/模拟秒）。现在温控关闭且无采集时，一次step按恒定零功率精确传播整段区间（模态解析解）；温控开、已到达目标温度、无运动且无采集时，一个10 ms周期的采样控制加精确传播是(温度场, 探测器状态)的仿射映射，同时给出该周期的加热量与环境散热，N个周期用该映射的二进制幂一次算出；只有在闭环特征分解给出的功率界保证整个窗口内功率不触及限幅且不变号时才这样做（LN2冷却同样适用），气体与冷却剂必须够用到窗口结束，否则仍逐周期计算。升温/降温斜坡与采集照旧逐周期。结果与逐周期计算一致：十个场景（空闲、断气、环境温度保持、升温后保持、1 s步长、保持后闪光采集、LN2冷却保持、高温保持加风冷、关温控后冷却）在模型自身容差内相同（节点温度atol 1e-10 K + rtol 1e-9，账本rtol 1e-9，守恒残差不大于原值或2e-8 J加1e-9×最大能流，探测器读数差不超过一个量化步1e-7 K），空闲一小时由约4 min降到约0.01 s。describe的asset_version原为1.0.0，改为与合同一致。",
+        "why_zh": "chemlab通用层发现（RUNTIME_FINDINGS F4）：闲置或稳态区间应当廉价，且结果不变。版本1.1.0→1.1.1。",
+        "tests_changed": [
+          "tests/test_asset_netzsch_lfa467.py::LfaClockCostTests（新增：空闲一步精确、保持跳过控制周期、斜坡仍逐周期，均与step(0.01)逐周期结果比较）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_20261022/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "feed_forward_and_equilibration_jump",
+        "capability_ids": [
+          "thermal.set_temperature",
+          "method.configure",
+          "acquisition.start"
+        ],
+        "what_zh": "炉温控制器原为比例控制（P=K(T设−T炉,自由)/(1+K·dT/dP)），稳态要靠偏差供给环境散热，50 °C时炉温低于设定约0.083 K，示例平衡容差0.05 K永远达不到（TIMEOUT）。现在加入环境散热前馈（G_amb(T设−Ta)，G_amb为模型的环境导率），保持的设定点没有比例偏差（单元测试：50 °C保持后偏差<1e-6 K）；1.1.1的保持跳跃映射同步加入前馈。采集内的平衡阶段（目标已到达、无运动）原来逐个10 ms控制周期计算（约150 ms墙钟/模拟秒）：现在用与保持跳跃相同的一周期仿射映射整周期推进，窗口内每个周期的平衡判据（炉温、样品平均温度与样品温差在方法容差内）由闭环特征分解给出，跳跃停在平衡驻留完成前一周期、超时之前，判据离容差1e-9 K以内的周期逐周期计算，因此平衡结束时刻与逐周期计算同一纳秒，状态在模型容差内相同（单元测试比较1 s与10 ms步长）；功率可能限幅时仍逐周期。50 °C采集的平衡约0.3 ms墙钟/模拟秒（升温斜坡仍逐周期）。示例样品与炉体的热交换时间常数约230 s：从室温直接在50 °C开始采集，0.05 K的平衡约需24 min（示例方法超时1000 s不够），可先用thermal.set_temperature预热。版本1.1.1→1.1.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA2）：修正偏差，并让采集中的平衡与F4的空闲/保持一样廉价、同样精确。",
+        "tests_changed": [
+          "tests/test_asset_netzsch_lfa467.py::FixRoundB（新增：保持无偏差、带前馈的保持跳跃与逐周期一致、采集平衡跳跃与逐周期同一结束时刻与状态）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t1_thermal/signatone_quadpro2/asset.contract.json b/assets/expansion_batch04/t1_thermal/signatone_quadpro2/asset.contract.json
index 388cece023f5bbddcb68c54e094e51574cd1028b..2a59abaa6fc0d7aa4382363efad1ce07c50e42bf 100644
--- a/assets/expansion_batch04/t1_thermal/signatone_quadpro2/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/signatone_quadpro2/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.signatone_quadpro2",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "Signatone QuadPro2-DAC0 自动四探针面电阻测绘系统",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -1682,13 +1682,13 @@
       "path": "scripts/asset_runtime/signatone_quadpro2.py",
       "format": "py",
       "status": "available",
-      "sha256": "d79e711a287d825abe9a1427aa05057f41ce0609a1ba3bca9eccfab316beeec1"
+      "sha256": "488c06d94a99868bec0f61c3c7036d2004b7811b73679cfd5cd906ccbee1a377"
     },
     "runtime_tests": {
       "path": "tests/test_asset_signatone_quadpro2.py",
       "format": "py",
       "status": "available",
-      "sha256": "3f85814eb2220a70aec474e38778bc3757c931f8d446e6c4a7b5f758419285ee"
+      "sha256": "83470954ff578ce1e0d36d4b4a93bd3b4cd8e85b29af4ed72b8df6a0f738b0c6"
     },
     "runtime_k2450": {
       "path": "scripts/asset_runtime/signatone_quadpro2_k2450.py",
@@ -1724,7 +1724,7 @@
       "path": "outputs/panel_ui/signatone_quadpro2/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "faaa2dfda034c92f8b3f484653a9851deca3d9fe1eede4b18c4a7c7515a91994"
+      "sha256": "08b69f6e3ab24f7657529cfc156f933cbc0575fdaeec718593c96adf8826f188"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/signatone_quadpro2/build_panel_spec.py",
@@ -1742,7 +1742,7 @@
       "path": "outputs/panel_ui/signatone_quadpro2/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "55596aa0f0e37a3946b1b7f2a7724a0c8a0e200d7afefc4561240e932a81dd4a"
+      "sha256": "c89adbc876f7207586b31760563dc01845c548a9916b6b6681987f9938183e77"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/signatone_quadpro2/home.png",
@@ -15917,14 +15917,14 @@
           "x_m": {
             "type": "number",
             "x-unit": "m",
-            "minimum": -0.15,
-            "maximum": 0.15
+            "minimum": -0.13,
+            "maximum": 0.13
           },
           "y_m": {
             "type": "number",
             "x-unit": "m",
-            "minimum": -0.15,
-            "maximum": 0.15
+            "minimum": -0.13,
+            "maximum": 0.13
           }
         },
         "required": [
@@ -26229,8 +26229,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -26782,8 +26782,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -27300,8 +27300,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -27865,8 +27865,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -28448,8 +28448,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -29013,8 +29013,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -29636,8 +29636,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -30246,8 +30246,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -30863,8 +30863,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -31408,8 +31408,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -31930,8 +31930,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -32493,8 +32493,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -33010,8 +33010,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -33523,8 +33523,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -34151,8 +34151,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -34744,8 +34744,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -35359,8 +35359,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -35978,8 +35978,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -36493,8 +36493,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -36947,8 +36947,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Keithley 2450 front-panel unittest suite through the session API (panel.press / panel.turn / panel.touch / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey with gestures only (QuickSet ohmmeter 4-wire, source current / measure voltage with keypad entries, 4-wire sense, output-off state, display digits, the QuadPro2 map driving the 2450 in remote), each checked on the 2450 state, on the probe-network reading and on the frame; panel = direct smu.* commands (state, readings, energy ledger); remote control (read-only panel, prompt, local control ends the job, OUTPUT key); refusals as the device popup or dialog; popup and dimmer timing; buffers, calculations, trigger methods, templates and TriggerFlow blocks, sweep, configuration lists, setups and macros with autoexec, communication, system settings and resets, graph / histogram / reading table, help; render determinism and captures; caller rules (another agent's OUTPUT key, remote-dialog Yes and direct commands cannot end a map it does not own, the hard POWER switch is never refused; the refused gesture opens an Access Denied dialog); access mode (the password prompt in Protected / Lockout, OUTPUT always active); remote interface (outside Full the QuadPro2 software logs in before it takes the 2450, reads allowed); source delay (set and auto) and the plant's voltage input response on the 2450 readings; graph draw style and X / Y axis methods; then the 46 QuadPro2 runtime tests on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:53:31.715614+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:23:25.567621+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_signatone_quadpro2.py），不跨层借用验证结果"
         },
@@ -38243,6 +38243,19 @@
           "tests/test_panel_ui_signatone_quadpro2.py::AccessMode（两项先smu.remote_login再作图）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "stage_move_schema_travel",
+        "capability_ids": [
+          "stage.move"
+        ],
+        "what_zh": "stage.move的输入模式允许±150 mm，运行层却在超过±130 mm时拒绝（STAGE_TRAVEL_OR_CLEARANCE）。数据表没有给出XY行程（只写自动XY台、最大300 mm晶圆）；本资产的几何与运行层用±130 mm（限制中已写明是结构代理的安全域），所以模式改为±130 mm；测绘点列表仍允许±150 mm（超出行程的点按STAGE_TRAVEL排除并说明原因）。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA6）：合同模式与运行层一致，按资料选±130 mm。",
+        "tests_changed": [
+          "tests/test_asset_signatone_quadpro2.py::FixRoundB::test_stage_move_schema_matches_the_travel（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t1_thermal/ta_dma850/asset.contract.json b/assets/expansion_batch04/t1_thermal/ta_dma850/asset.contract.json
index d2b43860c52b468a57980cff4a9af6898cedf998..04c5a5525c83bb7271e73a47aa406e4c34e7b67e 100644
--- a/assets/expansion_batch04/t1_thermal/ta_dma850/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/ta_dma850/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ta_dma850",
-  "asset_version": "1.2.1",
+  "asset_version": "1.2.2",
   "name_zh": "TA Instruments DMA 850 动态机械分析仪",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -2096,7 +2096,7 @@
       "path": "outputs/expansion_batch04/t1_thermal/ta_dma850/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "1ce14b78ebb8e9ae0dccfca0583887373abcc3943341a09a51b8c14f8e41b910"
+      "sha256": "23069dd5d79838660711cf99dcdf537d62e31cc248c240aba26db6b46908b01b"
     },
     "scalar_reference_values_svg": {
       "path": "outputs/expansion_batch04/t1_thermal/ta_dma850/scalar_reference_values.svg",
@@ -2240,13 +2240,13 @@
       "path": "scripts/asset_runtime/ta_dma850.py",
       "format": "py",
       "status": "available",
-      "sha256": "f76626c8d2dfc7f6a32358d8c486d56460c27c0b1609e11eb366c682259a1f1b"
+      "sha256": "93510eead1be65d4f6b8c37239bed6ded7c2ea6461bd9be40b7f056ad63558df"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ta_dma850.py",
       "format": "py",
       "status": "available",
-      "sha256": "9f62c785dc7e2039e2d6ba4c6f0cd270c22ebcb336afb8a2a0942d39030047f8"
+      "sha256": "0f2a9794ce801c8aedad72115cdd52e7e9766156d6168d5401ebd0bb1dfc68d1"
     },
     "library_readme": {
       "path": "assets/expansion_batch04/t1_thermal/ta_dma850/说明.md",
@@ -2282,7 +2282,7 @@
       "path": "outputs/panel_ui/ta_dma850/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "11094488fa0e331d8bcc4eacf774329ceb325cfa4c5743d4b30829e6eaa49f77"
+      "sha256": "2a3ca3b897379d65649a3b980f95d5b69b4e4cad61b27e038f658a89d7c8cbde"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ta_dma850/build_panel_spec.py",
@@ -2306,7 +2306,7 @@
       "path": "outputs/panel_ui/ta_dma850/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "69d0220b956021600dfbc7f45d1492c9ce5738b84b96e619b9471bb3a7ff2947"
+      "sha256": "babd3b9be18066e1f7c1fedcc869c90b08deecfda8da81bb8b7133a445939c3c"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/ta_dma850/home.png",
@@ -17232,7 +17232,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -18001,7 +18001,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -18497,7 +18497,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -18985,7 +18985,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -19444,7 +19444,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -20089,7 +20089,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -20546,7 +20546,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -20987,7 +20987,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -21721,7 +21721,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -22377,7 +22377,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -23037,7 +23037,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -23702,7 +23702,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -24379,7 +24379,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -25038,7 +25038,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -25696,7 +25696,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -26327,7 +26327,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -26883,7 +26883,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -27350,7 +27350,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -27998,7 +27998,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -28664,7 +28664,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -29324,7 +29324,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -30059,7 +30059,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -30492,7 +30492,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -31807,7 +31807,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -32299,7 +32299,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -32896,7 +32896,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -33560,7 +33560,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -34246,7 +34246,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -34687,7 +34687,7 @@
           "status": "passed",
           "method": "Execute the complete current unittest suite, collect all actual successful capability calls and actual state snapshots, then independently validate every actual input/return and state with skills/chemistry-lab-assets/scripts/asset_tool.py.validate_value. Its returned error lists are explicitly checked; strict JSON serialization is also required. Counts are computed from actual execution, not metadata examples. Physical/permission/owner/atomic/conservation regressions are in the executed test suite.",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:52:55.787629+00:00",
+          "checked_at": "2026-10-22T11:53:43.873729+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "过程校验不能替代场景/实机"
         },
@@ -39804,8 +39804,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (power on, mount and measure, remove the sample, shut down, re-tighten at low temperature) with the touch-screen steps done only by gestures and the hands-on steps (TRIOS clamp calibration, sample, screws, manual furnace) as direct calls, each checked on the runtime state and the structured frame; motor modes, set temperature and rate, clamp position and preload force; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; keypad range; power gate and dark screen; no time-outs; signals, settings, cooling accessory, touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:52:58.865945+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:53:48.612137+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dma850.py），不跨层借用验证结果"
         },
@@ -40109,8 +40109,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (power on, mount and measure, remove the sample, shut down, re-tighten at low temperature) with the touch-screen steps done only by gestures and the hands-on steps (TRIOS clamp calibration, sample, screws, manual furnace) as direct calls, each checked on the runtime state and the structured frame; motor modes, set temperature and rate, clamp position and preload force; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; keypad range; power gate and dark screen; no time-outs; signals, settings, cooling accessory, touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:52:58.865945+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:53:48.612137+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dma850.py），不跨层借用验证结果"
         },
@@ -40439,8 +40439,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (power on, mount and measure, remove the sample, shut down, re-tighten at low temperature) with the touch-screen steps done only by gestures and the hands-on steps (TRIOS clamp calibration, sample, screws, manual furnace) as direct calls, each checked on the runtime state and the structured frame; motor modes, set temperature and rate, clamp position and preload force; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; keypad range; power gate and dark screen; no time-outs; signals, settings, cooling accessory, touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:52:58.865945+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:53:48.612137+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dma850.py），不跨层借用验证结果"
         },
@@ -40647,8 +40647,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (power on, mount and measure, remove the sample, shut down, re-tighten at low temperature) with the touch-screen steps done only by gestures and the hands-on steps (TRIOS clamp calibration, sample, screws, manual furnace) as direct calls, each checked on the runtime state and the structured frame; motor modes, set temperature and rate, clamp position and preload force; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; keypad range; power gate and dark screen; no time-outs; signals, settings, cooling accessory, touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:52:58.865945+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:53:48.612137+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dma850.py），不跨层借用验证结果"
         },
@@ -40800,8 +40800,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.touch / panel.capture / panel.frame): the five key procedures of the menu survey (power on, mount and measure, remove the sample, shut down, re-tighten at low temperature) with the touch-screen steps done only by gestures and the hands-on steps (TRIOS clamp calibration, sample, screws, manual furnace) as direct calls, each checked on the runtime state and the structured frame; motor modes, set temperature and rate, clamp position and preload force; panel and direct capability calls compared for identical runtime state; refusals shown as the device dialog with the state unchanged; keypad range; power gate and dark screen; no time-outs; signals, settings, cooling accessory, touch calibration and the unsupported items; render determinism and capture files; contract entries. Process layer only; approximate spec.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:52:58.865945+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:53:48.612137+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ta_dma850.py），不跨层借用验证结果"
         },
@@ -47728,6 +47728,19 @@
           "tests/test_panel_ui_ta_dma850.py: 新增test_power_switch_is_a_hard_switch"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "clamp_refusal_codes",
+        "capability_ids": [
+          "clamp.set"
+        ],
+        "what_zh": "clamp.set在炉体未完全打开或仪器关机时原来也返回CLAMP_UNDER_LOAD（夹具受载），误导。现在：关机→NOT_READY（“仪器关机”），炉体未完全打开→NOT_READY（“先完全打开炉体furnace.set opened=true”），只有夹具确实受力/应变时才是CLAMP_UNDER_LOAD（“先卸载”）；error.message写明原因。三者都是合同已声明的错误码。拒绝时状态不变。版本1.2.1→1.2.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B TA5）：炉体没打开时报“夹具受载”，错误码误导。",
+        "tests_changed": [
+          "tests/test_asset_ta_dma850.py::FixRoundB::test_clamp_refusals_use_the_right_code（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t1_thermal/zwick_mflow/asset.contract.json b/assets/expansion_batch04/t1_thermal/zwick_mflow/asset.contract.json
index 7a2f2fb91df329ba897bdadbe3700608fb8c90f9..3a6b1e7604f400a9cb20a16c66df9c74c1e1cefd 100644
--- a/assets/expansion_batch04/t1_thermal/zwick_mflow/asset.contract.json
+++ b/assets/expansion_batch04/t1_thermal/zwick_mflow/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.zwick_mflow",
-  "asset_version": "1.1.2",
+  "asset_version": "1.1.3",
   "name_zh": "ZwickRoell Mflow 熔体流动速率仪",
   "category": "热学力学与输运",
   "asset_kind": "instrument",
@@ -1244,13 +1244,13 @@
       "path": "scripts/asset_runtime/zwick_mflow.py",
       "format": "py",
       "status": "available",
-      "sha256": "80c7902c8fc7d907e6f24199239840baf6af212485f89226c7b69999182837d6"
+      "sha256": "32373021f8bfcf9a02b9c2a499024c23c31df659c2a1593339ade4a85fd3af40"
     },
     "runtime_tests": {
       "path": "tests/test_asset_zwick_mflow.py",
       "format": "py",
       "status": "available",
-      "sha256": "83c6b0238dc9f6b34769676834a7dbfb6f3a62264fb9dfa63e113de8e4707d41"
+      "sha256": "e4858f3b7fc1b05ef5329ea23a13d6e1312b6c77ec0638c03c512324b536c643"
     },
     "panel_ui": {
       "path": "assets/expansion_batch04/t1_thermal/zwick_mflow/panel_ui.json",
@@ -1280,7 +1280,7 @@
       "path": "outputs/panel_ui/zwick_mflow/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "826cada69b057d2c1480ff965e5dd17be5045d4f3d6b4af80b88a840039ce592"
+      "sha256": "8a9769799e148937b9d0e36b170ec7b9526f51d30f8f922734965d771dbf01e0"
     },
     "panel_ui_spec_builder_py": {
       "path": "outputs/panel_ui/zwick_mflow/build_panel_spec.py",
@@ -1298,7 +1298,7 @@
       "path": "outputs/panel_ui/zwick_mflow/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "73e132f1e770bf82763ded06e044d1e6cbe272d1148bc8d6d402977be11388c3"
+      "sha256": "a5e9ca47899d486bb45d37dd7c06be67eb8ee2eff600957d06bc3fcd9a4b7fd0"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/zwick_mflow/home.png",
@@ -7980,7 +7980,7 @@
       ]
     },
     "weight.total_load_kg": {
-      "meaning_zh": "当前放在活塞上的总载荷（含0.325kg活塞）；未配置为null",
+      "meaning_zh": "宿主备好的总试验载荷（含0.325kg活塞）；装料后预热期内只有活塞压在料上，预热结束时砝码放上；未配置为null",
       "component_ids": [
         "test_weight"
       ],
@@ -11898,7 +11898,7 @@
       "component_ids": [
         "test_weight"
       ],
-      "function_zh": "宿主手动在活塞上放/换砝码，设定总试验载荷（含0.325kg活塞，不重复加算）；砝码势能变化计入宿主功",
+      "function_zh": "宿主手动放/换砝码，设定总试验载荷（含0.325kg活塞，不重复加算）；装料后的预热期内只有活塞压在料上，预热时间到时砝码放上活塞（ISO 1133-1；手册砝码支架/提升装置使预热期不受载）；砝码势能变化计入宿主功",
       "kind": "device_command",
       "visibility": "evaluator",
       "example_arguments": {
@@ -26664,8 +26664,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -27087,8 +27087,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -27518,8 +27518,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -27935,8 +27935,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -28344,8 +28344,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -28864,8 +28864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -29379,8 +29379,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -29919,8 +29919,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -30337,8 +30337,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -30699,8 +30699,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the Mflow front-panel unittest suite (approximate panel: product information only) through the session API (panel.touch / panel.press / panel.switch / panel.capture / panel.frame): the stand-alone test with the touch setup (user density), a parameter set saved and loaded, START, the live MVR value and graph, the stored results and the USB export; the lift / cleaning / preload options and testXpert III checked as absent; panel = direct commands for START / CUT / STOP; refusals as messages; power off; status light; render determinism; caller rules (a test started with START belongs to the agent who pressed it; another agent's keys and direct commands cannot stop, cut, re-temper or read it (evaluator-started tests too), the hard power switch and weighing segments are never refused; refusals shown in the title bar); then the runtime suite on the same runtime. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:03:26.703176+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:41:08.059207+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_zwick_mflow.py），不跨层借用验证结果"
         },
@@ -31846,6 +31846,22 @@
           "tests/test_asset_zwick_mflow.py::test49_evaluator_started_operation_is_protected（原test49_panel_started_operation_visible_to_operators）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "test_weight_after_preheat",
+        "capability_ids": [
+          "weight.configure",
+          "sample.load",
+          "piston.insert",
+          "acquisition.start"
+        ],
+        "what_zh": "试验砝码原来从活塞插入起就压在料上，预热期间料柱在全试验载荷下流出（合同示例的料在预热中就耗尽）。现在按ISO 1133-1与本资产的设定（未选预热位活塞保持装置；产品资料PDF p.6砝码提升单元、p.10砝码支架：使砝码在预热位不压料，以减少预热期提前流出）：装料后预热期内只有活塞0.325 kg压在料上，方法预热时间（无方法时ISO默认5 min）一到，宿主备好的砝码即放上活塞；预热结束是步进事件，砝码势能变化按m g x计入宿主功，能量账本闭合。weight.total_load_kg表示宿主备好的总载荷。版本1.1.2→1.1.3。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B M1，真实性）：试验载荷应在预热之后施加。",
+        "tests_changed": [
+          "tests/test_asset_zwick_mflow.py::FixRoundB::test_test_weight_goes_on_after_the_preheat（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/asset.contract.json b/assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/asset.contract.json
index c3b22259d381b10436832381e5e9db7b59dd327e..beebbaa6123f422836edf76486668b9000f9e5f2 100644
--- a/assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/asset.contract.json
+++ b/assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.inficon_ul1000fab",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "氦质谱检漏仪INFICON UL1000 Fab（移动式，干式涡旋泵，230 V 50 Hz）",
   "category": "环境与公用系统",
   "asset_kind": "instrument",
@@ -782,7 +782,7 @@
       "path": "outputs/expansion_batch04/t2_vacuum/inficon_ul1000fab/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "2ed2e4d6ac6f16d57a5120ee7d6a0593476a254408673646d98846ccacf24448"
+      "sha256": "ff2881f1355e2d45fcbee161bc9c6f6de17436b37248c558a9bce1e77e5baf31"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch04/t2_vacuum/inficon_ul1000fab/scene_validation.json",
@@ -848,13 +848,13 @@
       "path": "scripts/asset_runtime/inficon_ul1000fab.py",
       "format": "py",
       "status": "available",
-      "sha256": "16cda8d23058c0bbd0b7ed138b18403db5ba8bc8c0a7dc70529c3cf051695361"
+      "sha256": "5f1d606118699f2c8c8428c45fb1b8df1aed18b8a6a50afdb1a12a6c9c25dd2a"
     },
     "runtime_tests": {
       "path": "tests/test_asset_inficon_ul1000fab.py",
       "format": "py",
       "status": "available",
-      "sha256": "d9369acb6f3f2476757ef97d7b971a07203c2e3ca07036a0bfaccb2a9a374968"
+      "sha256": "b3a388493bbb9b728f3408187d16725ce3638941862b07ce7b07a62b9eb56fad"
     },
     "panel_ui": {
       "path": "assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/panel_ui.json",
@@ -884,7 +884,7 @@
       "path": "outputs/panel_ui/inficon_ul1000fab/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "8677c76ed6035ed0ee12d3c84ad22f924b410266dc4763e10dce24b500985925"
+      "sha256": "d6627b410b71f362363e82f39d48f6764489e21bd205ebb5131966718513ca9c"
     },
     "panel_ui_spec_build_py": {
       "path": "outputs/panel_ui/inficon_ul1000fab/build_panel_spec.py",
@@ -902,7 +902,7 @@
       "path": "outputs/panel_ui/inficon_ul1000fab/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "3d7e7e00059891c93877d77504a5dc0f4eb8894eaa770c2628ef52daaac54e08"
+      "sha256": "e47a525f4d4b3a9693d79c9fbf16d7a1277f7d461ff46536af84d0c0eb8cae52"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/inficon_ul1000fab/home.png",
@@ -5639,8 +5639,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6085,8 +6085,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6523,8 +6523,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -6985,8 +6985,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7185,8 +7185,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7378,8 +7378,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -7838,8 +7838,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8304,8 +8304,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8649,8 +8649,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -8979,8 +8979,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9455,8 +9455,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -9800,8 +9800,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10138,8 +10138,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10523,8 +10523,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10694,8 +10694,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -10982,8 +10982,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11160,8 +11160,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11349,8 +11349,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11508,8 +11508,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -11650,8 +11650,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12118,8 +12118,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -12434,8 +12434,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the unittest suite through the session API (every successful call validated against its declared output schema, checked for undeclared immediate state changes and for not advancing the clock; every rejection checked to leave all slots unchanged and to return a declared error code; every implemented capability called successfully; the errors each command can raise, found by a static scan of the runtime source, are all declared): run-up, evacuation and autoranging (GROSS / FINE / ULTRA thresholds, volume and outgassing effects), maximum evacuation time and W76, response time of sprayed leaks against volume and leak path, detection limit as a display floor, ZERO / I-ZERO / auto zero, internal and external calibration with temperature drift and W80 / W81, O-ring permeation, sniffer mode (air-helium background, distance law, sniffed object, W62 / W63), molecular-flow leak-rate conversion, vent and part exchange, helium and total-gas ledgers, atomic rejections, two instances, agent / evaluator isolation, idempotent request ids, exact step-partition independence. Only the process layer is claimed here; host-layer verification comes from the actual Matterix host run.",
-          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
-          "checked_at": "2026-10-19T11:13:12.981021+00:00",
+          "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"executable\": \"$CONDA_PREFIX/envs/matterix/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\", \"native_scene_run\": false}",
+          "checked_at": "2026-10-22T10:19:53.158996+00:00",
           "evidence_artifact_id": "runtime_validation",
           "evidence_note": "不跨层借用验证结果"
         },
@@ -13660,8 +13660,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -13874,8 +13874,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -14068,8 +14068,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -14410,8 +14410,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -14606,8 +14606,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -15023,8 +15023,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -15423,8 +15423,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -15622,8 +15622,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -15802,8 +15802,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -16243,8 +16243,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -16584,8 +16584,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -16963,8 +16963,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -17156,8 +17156,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -17294,8 +17294,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press on START / STOP / ZERO / MENU, the eight softkeys and the mains switch, panel.capture / panel.frame): the key procedures of the menu survey (start-up and measurement with ZERO, hold and venting, automatic internal and external calibration, trigger level 1 by numerical entry, sniffer mode, vent delay, RS232 control location, warnings and errors with OK / Menu / Restart) done only with panel keys and checked on the runtime state, the structured frame and the rendered pixels; every menu page (View, Mode, Trigger & Alarms, Settings with vacuum, zero, mass, interfaces, miscellaneous, parameter sets, monitoring functions, Information, Access Control with CAL access, Menu-PIN and Device-PIN, purge); panel and direct capability calls compared for identical runtime state; refusals and locks; help messages that time out; render determinism; capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:13:08.856090+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:19:49.139395+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_inficon_ul1000fab.py），不跨层借用验证结果"
         },
@@ -18712,6 +18712,20 @@
         "why_zh": "一致性扫尾规则4（手册中没有的语言文字须标为假设）。",
         "tests_changed": [],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "recorder_p1_chart_end",
+        "capability_ids": [
+          "measure.start",
+          "menu.configure"
+        ],
+        "what_zh": "记录仪输出p1/p2按TPR265特性曲线计算，曲线下端为1e-4 mbar（1.5 V，附录图11-1）：入口无被测件时抽空后p1趋近0 Pa（约90 s后下溢到5e-324 Pa），原来log10(0)使read()抛出数学域错误（RUNTIME_EXCEPTION）；现在低于曲线下端的压力按曲线下端输出1.5 V。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B W1）：measure.start后入口空着等待90 s再read必然崩溃。",
+        "tests_changed": [
+          "tests/test_asset_inficon_ul1000fab.py::FixRoundB::test_read_after_evacuating_an_empty_inlet（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t3_analytical/jasco_j1500/asset.contract.json b/assets/expansion_batch04/t3_analytical/jasco_j1500/asset.contract.json
index 3183faed8a0f82b3a521909bccf497a808eb9f29..11f8a672c84424ee0fb7103dedb9847883f87f48 100644
--- a/assets/expansion_batch04/t3_analytical/jasco_j1500/asset.contract.json
+++ b/assets/expansion_batch04/t3_analytical/jasco_j1500/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.jasco_j1500",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "JASCO J-1500 150W标准PMT电子圆二色光谱仪",
   "category": "分子光谱与结构",
   "asset_kind": "instrument",
@@ -416,13 +416,13 @@
       "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "9b7b28eaf73c6ab32d816883a08d584147dacffb7c7892079e5b5380d86003d3"
+      "sha256": "2f33c1fb28ee9381494752d24e99da7989e84b9ef84876708f903638f08fe94d"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "489e36bef50c4171a8ee2c60711d091a5396740b84113640fa0d2d7b1e4331a8"
+      "sha256": "41ebd49af2ff0d9bc0f7a163b38e0a7f06b4f95811e9dc9186086d27a46397d8"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/scene_adapter.py",
@@ -494,7 +494,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "489e36bef50c4171a8ee2c60711d091a5396740b84113640fa0d2d7b1e4331a8"
+      "sha256": "41ebd49af2ff0d9bc0f7a163b38e0a7f06b4f95811e9dc9186086d27a46397d8"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/scene_validation.json",
@@ -1394,13 +1394,13 @@
       "path": "scripts/asset_runtime/jasco_j1500.py",
       "format": "py",
       "status": "available",
-      "sha256": "fdee1fe92489fbc709de8440ada234c9dfd1abf1fb77bf2137c18da97bc87f1a"
+      "sha256": "7087495a3ac16f21b359a7f47a79357d300189d946c24954b392414d45a3eb8e"
     },
     "runtime_tests": {
       "path": "tests/test_asset_jasco_j1500.py",
       "format": "py",
       "status": "available",
-      "sha256": "d1938483aab12d3a60eb35088e25fe00e6ea665d99ccb1384142da912a96c66a"
+      "sha256": "5876f1697b0a667a90da1adc3fdb735c74759c8c85ae894539edabd6f41b5c48"
     },
     "cd_library": {
       "path": "assets/reactions/jasco_j1500_cd_library/templates.json",
@@ -1425,6 +1425,12 @@
       "format": "usda",
       "status": "available",
       "sha256": "a9ddfcc1f18d191dad9b8efc34cffbede46f9840bb2e8ebb87e0cd9f0e14d5e1"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t3_analytical/jasco_j1500/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "52fb0cff00c62999da518d48b652ec5ce4b6f445eef1e8b1ba7e42fcbeff4494"
     }
   },
   "sources": {
@@ -11018,7 +11024,7 @@
       ]
     },
     "method.configure": {
-      "function_zh": "波长/扫描/带宽/DIT/累积；修改使空白失效",
+      "function_zh": "波长/扫描/带宽/DIT/累积；修改使空白失效；设置按仪器硬件范围163–950 nm接受，但仿真只覆盖CD模板数据175–240 nm：扫描端点加带宽高斯±3σ超出175–240 nm时acquisition.start返回TEMPLATE_RANGE",
       "kind": "configuration",
       "visibility": "agent",
       "component_ids": [
@@ -17920,7 +17926,8 @@
     "拟合是非负参考组合，不是SELCON3/BeStSel，不足以独立识别未知分子或验证构象。",
     "N2单区空气示踪不求解真实三路管网、氧/臭氧化学、UV光热或能量守恒；气体标准温压由宿主明确指定。",
     "真实组件质量/惯量/摩擦未知；外观近似，内部光学元件仅功能拓扑，不作raytrace。",
-    "独立遥测板是simulation_only，不是本机内置屏幕；机器人接触、真实样品转移、USB驱动与原厂GUI未实现。"
+    "独立遥测板是simulation_only，不是本机内置屏幕；机器人接触、真实样品转移、USB驱动与原厂GUI未实现。",
+    "模板范围（1.0.1）：仿真只覆盖CD模板数据175–240 nm；扫描端点加带宽高斯±3σ超出时acquisition.start返回TEMPLATE_RANGE（method.configure按硬件范围163–950 nm接受）。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -18033,6 +18040,22 @@
         "dynamic_cell_and_liquid_mesh"
       ],
       "verification": "output_matterix_scene_validation"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "template_range_stated",
+        "capability_ids": [
+          "method.configure",
+          "acquisition.start"
+        ],
+        "what_zh": "method.configure按仪器硬件范围（163–950 nm）接受扫描设置，但孪生体只有175–240 nm的CD模板数据，超出时到acquisition.start才返回TEMPLATE_RANGE，合同没有说明。按设计保留（设置只检查硬件范围，单元测试test_hardware_range_not_template_range），在method.configure的说明与限制中写明模板范围与带宽±3σ的条件。describe的asset_version改用运行层常量。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B S2）：在设置时检查或在合同中写明范围，选择写明。",
+        "tests_changed": [
+          "tests/test_asset_jasco_j1500.py::FixRoundB::test_template_range_is_stated（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t3_analytical/jena_multix/asset.contract.json b/assets/expansion_batch04/t3_analytical/jena_multix/asset.contract.json
index c923ab080845e9a5ed20f01083334530066e7b37..fc0099f436b3b5eb0f07d95b77a76aae936f17b5 100644
--- a/assets/expansion_batch04/t3_analytical/jena_multix/asset.contract.json
+++ b/assets/expansion_batch04/t3_analytical/jena_multix/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.jena_multix",
-  "asset_version": "1.2.0",
+  "asset_version": "1.2.1",
   "name_zh": "Analytik Jena multi X 2500 总有机卤素分析仪",
   "category": "元素与质谱分析",
   "asset_kind": "instrument",
@@ -62,7 +62,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/blender_states.json",
       "format": "json",
       "status": "available",
-      "sha256": "94e10f298f81ad48e50cc36559008a40564fc914ccd1ab3a510c6a7a8aab3334"
+      "sha256": "1d8caf61c20ff9f37858c157f3c6024b0109461ec376a235f94acff7edec2066"
     },
     "output_blender_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/blender_validation.json",
@@ -578,7 +578,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_metadata.json",
       "format": "json",
       "status": "available",
-      "sha256": "188916852a0c8947af8982b9f1fa3aa5b1743570ea5cf0dd0f24a61d93f8ef79"
+      "sha256": "2c2b4794db56d0a7d4380a6e6f0d95315be99e96fb7ab4e08986fd692929c93d"
     },
     "output_runtime_scene_preflight_json": {
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_scene_preflight.json",
@@ -596,13 +596,13 @@
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "d793e510dfe2908b1dd15bd23b8189815d560edede9a4c52a2e71637a273b511"
+      "sha256": "e0621ace98390146fcdf16bf9d362fd0da759a95ffe4dc6b9cfded3bb6b92ee3"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "53acbc355b60f8871ff8e102cd690d7f7a3ef7561b813532dd98623d05d4383b"
+      "sha256": "d441c80e879b18109c16ed6548edacee5b6a1776dc5868707622923345217535"
     },
     "output_runtime_verify_py": {
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_verify.py",
@@ -782,7 +782,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "53acbc355b60f8871ff8e102cd690d7f7a3ef7561b813532dd98623d05d4383b"
+      "sha256": "d441c80e879b18109c16ed6548edacee5b6a1776dc5868707622923345217535"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t3_analytical/jena_multix/scene_validation.json",
@@ -22376,19 +22376,25 @@
       "path": "scripts/asset_runtime/jena_multix.py",
       "format": "py",
       "status": "available",
-      "sha256": "5314643926848496152368fa3138dd25822cecc511ba7e5b051bf36fcde05bff"
+      "sha256": "1d353d985579243da4b3fda1cb40b96c6900886d9b109d730f7ee1c9db2ba018"
     },
     "runtime_tests": {
       "path": "tests/test_asset_jena_multix.py",
       "format": "py",
       "status": "available",
-      "sha256": "5ee4a48230c7ad50de27c9f6f281592aacbc90d93287894c288aa52d54ceed89"
+      "sha256": "41538ca37307ca545992aa989a6f9fb069727241f126fad9b994fe725ada9b8e"
     },
     "matterix_snapshot": {
       "path": "assets/expansion_batch04/t3_analytical/jena_multix/matterix_snapshot.usda",
       "format": "usda",
       "status": "available",
       "sha256": "a5329bd5d137da107ed8b00f24f2b6a6f8bbc37049737b6727a00d19d1c43c76"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t3_analytical/jena_multix/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "216df7d321f8810d203f0f8a118c257d9cb92040ea96c5751f80272770457f41"
     }
   },
   "sources": {
@@ -42248,7 +42254,7 @@
         "temperature_k": 1223.15,
         "feeding_s": 0.4,
         "combustion_s": 0.6,
-        "integration_s": 12.0,
+        "integration_s": 60.0,
         "window_s": 0.2
       },
       "verification": [
@@ -57331,6 +57337,22 @@
       "unimplemented_menu_keys": [],
       "robot_contact": "not_run",
       "meaning": "原机multiWin菜单与3个后部电源翘板实际操作未实现；ABD PORT/STOP两键按原厂行为各自取证"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "example_integration_60s",
+        "capability_ids": [
+          "method.configure",
+          "calibration.fit"
+        ],
+        "what_zh": "method.configure示例的积分时间12 s对库中AOX标样太短：aox_linear_100等标样在全量时终点未分辨，calibration.fit返回INVALID_STANDARD_OBSERVATION。合同示例改为60 s（运行层单元测试的短夹具仍用12 s）。describe的asset_version原为1.1.0（与合同1.2.0不一致），改为1.2.1。版本1.2.0→1.2.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B QA1）：示例方法须能完成标样校准。",
+        "tests_changed": [
+          "tests/test_asset_jena_multix.py::FixRoundB::test_contract_example_integration_resolves_the_standards（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t3_analytical/sciex_pa800/asset.contract.json b/assets/expansion_batch04/t3_analytical/sciex_pa800/asset.contract.json
index 14195f564b9449d215b04b96a6ad3532aff53a15..33d7ec91bbf74cfb06c3e5f6d731830667b52e81 100644
--- a/assets/expansion_batch04/t3_analytical/sciex_pa800/asset.contract.json
+++ b/assets/expansion_batch04/t3_analytical/sciex_pa800/asset.contract.json
@@ -194,7 +194,7 @@
       "path": "assets/reactions/sciex_pa800_mobility_library/templates.json",
       "format": "json",
       "status": "available",
-      "sha256": "e3e23dd0a4f3a9f297096a4f04eead42eec125ef146873ed9c2670dc6c3c489c"
+      "sha256": "a922d130f0c4b1ec75c5291c42598784985da8450bb5a696b04a8a8a6d3f1c8a"
     },
     "measurement_library_notes": {
       "path": "assets/reactions/sciex_pa800_mobility_library/说明.md",
diff --git a/assets/expansion_batch04/t3_analytical/stanford_rga100/asset.contract.json b/assets/expansion_batch04/t3_analytical/stanford_rga100/asset.contract.json
index 23e0e4afcfd96f25f2f62fc3085f63d14b4eb443..9cf0bc5bf3b6d0dde4a3e70a5b9c4bdecb33c750 100644
--- a/assets/expansion_batch04/t3_analytical/stanford_rga100/asset.contract.json
+++ b/assets/expansion_batch04/t3_analytical/stanford_rga100/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.stanford_rga100",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "Stanford Research Systems RGA100 残余气体质谱分析仪",
   "category": "元素与质谱分析",
   "asset_kind": "instrument",
@@ -68,7 +68,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/blender_states.json",
       "format": "json",
       "status": "available",
-      "sha256": "7b4caf3787eb36adff513f0f542dcddcca8e2c3f0a7647e3060c016c337bb168"
+      "sha256": "62fb5bcf0924aa2904e69747c16860e0effdd2bb15954f31259c8698599e331d"
     },
     "output_blender_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/blender_validation.json",
@@ -614,13 +614,13 @@
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "1bd0da4cf1b7bba72c32de3b1bc0ad0e27b0d4e2178e15e00128b98f581de601"
+      "sha256": "035a500522135b5546b8ac23a1d27729ab8408a75d48087ec093397a78840c57"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a3470b82bb0d32a874e4c84e518c65fac3a04c443cfc284afccc41c034e4f290"
+      "sha256": "f6a024f4513ac263d2fa146efa9a6517b9d2a594208c3659e38fc22c4d2f277c"
     },
     "output_runtime_verify_py": {
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/runtime_verify.py",
@@ -818,7 +818,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "a3470b82bb0d32a874e4c84e518c65fac3a04c443cfc284afccc41c034e4f290"
+      "sha256": "f6a024f4513ac263d2fa146efa9a6517b9d2a594208c3659e38fc22c4d2f277c"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/scene_validation.json",
@@ -15836,19 +15836,25 @@
       "path": "scripts/asset_runtime/stanford_rga100.py",
       "format": "py",
       "status": "available",
-      "sha256": "17565b3913eb6804a26421c7060148655f1673a618904d0f3bb8ee796694ca48"
+      "sha256": "0c29439cd10ec0223587964966b1444bfd2813e01efeaf0665a104b38d38b197"
     },
     "runtime_tests": {
       "path": "tests/test_asset_stanford_rga100.py",
       "format": "py",
       "status": "available",
-      "sha256": "2e53dc4df12ed29aa6b93ca8785f99b8c7588cd4458285d2b3d3f830cc6d4428"
+      "sha256": "cddb04db0f957b8907e57c1028599f2176c6f3fa1a70319c632ebfd12c2a86cb"
     },
     "matterix_snapshot": {
       "path": "assets/expansion_batch04/t3_analytical/stanford_rga100/matterix_snapshot.usda",
       "format": "usda",
       "status": "available",
       "sha256": "4201863c4956fa382ecc34e513ff827bfb80ffa8e4de57f108e71908d6672694"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t3_analytical/stanford_rga100/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "81eea4eb0f2c5d8fef9551c03f6a958ca6dfe36a13c8a8b7634d4082045663e7"
     }
   },
   "sources": {
@@ -45766,7 +45772,8 @@
     "Degas has actualsource400V and1–20mA emission over60s, then constant20mA to1–20minutes. Its8W electron-beam power is not whole-system input power or an independent arbitrary1–10W setting. Finite desorption mol/J, thermal capacity and heat rejection are host assumptions. Cancellation retains released gases, pumping and heat and restores pre-degas normal emission only if safe. The scene demonstrates early degassing and cancellation instead of mislabeling an accelerated complete manufacturer cycle.",
     "Normal emission0–3.5mA and ion energy8/12V are separate from the400V/20mA degas exception. Overpressure at1e-4Torr stops emission and running acquisitions, preserving partial observations and inventories. Opening host valves and finite pumping are external operations. Cold power-off ECU withdrawal is host-supported engineering motion, not an OEM motor. Cold323.15K example is an engineering threshold; source ECU operating70C and probe bake300C withoutECU are distinct, and bake is not implemented.",
     "Eight visible source LEDs have limited modeled semantics. Power requires explicit24V supply within22–26V. Filament also lights during degas, EM is false for standardFC. Overpressure and declared-host filament integrity are modeled, not full filament aging/Thoria diagnostics. Error covers this model only. RS232activity is null because high-level API traffic does not establish native TX/RX. No scan-busy impersonation of theRS232LED. External six numeric regions are simulation-only and hidden in product views, not an original LCD.",
-    "All physical motion, gas transport, heat and acquisition windows advance only in step. Parameter and host-transfer actions are atomic at the command boundary; pure read/describe do not advance time. Session role checks, same-request deduplication and owner-bound operation receipts are process-local guarantees, not OS isolation, persistence or physical robot/hardware evidence. Scene,geometry,light-material and native bridge evidence must come from separate actual reports."
+    "All physical motion, gas transport, heat and acquisition windows advance only in step. Parameter and host-transfer actions are atomic at the command boundary; pure read/describe do not advance time. Session role checks, same-request deduplication and owner-bound operation receipts are process-local guarantees, not OS isolation, persistence or physical robot/hardware evidence. Scene,geometry,light-material and native bridge evidence must come from separate actual reports.",
+    "物种反演结果（1.0.1）：无值的物种行在quality中写明原因（calibration_missing_or_signature、record_quality:<记录级原因>或not_inferred）；未建立反演矩阵（缺空白、缺曲线、暗扫描等）时matrix_rank为0、condition_number为null。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -45904,6 +45911,23 @@
       "unimplemented_menu_keys": [],
       "robot_contact": "not_run",
       "meaning": "原厂后两locking knobs为静态锁紧件，不伪造控制关节；无原厂LCD。七状态灯映射有限模型，RS232原生TX/RX未知不绑定"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "species_quality_reasons",
+        "capability_ids": [
+          "result.read",
+          "records.read",
+          "scan.start"
+        ],
+        "what_zh": "样品记录中候选物种没有反演值时，原来species[].quality为空列表（只有记录级quality写了原因），matrix_rank为0而不说明。现在每个无值的物种行写明原因：自身缺少匹配的校准曲线为calibration_missing_or_signature，阻止联合反演的记录级原因写成record_quality:<原因>（如record_quality:filament_off_dark_scan），其他情形为not_inferred；未建立反演矩阵时matrix_rank仍为0（写入限制）。有值的行不变。describe的asset_version与协议版本分开。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B QA2）：候选物种无曲线时值为null、quality为空，看不出原因。",
+        "tests_changed": [
+          "tests/test_asset_stanford_rga100.py::FixRoundB（新增2项）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t3_analytical/ultrafast_helios/asset.contract.json b/assets/expansion_batch04/t3_analytical/ultrafast_helios/asset.contract.json
index d1c3d82e88ddd43bac445d07fee75eb2410d73e6..f5454997e3dc9f51e850c7dfee2a943bfa402597 100644
--- a/assets/expansion_batch04/t3_analytical/ultrafast_helios/asset.contract.json
+++ b/assets/expansion_batch04/t3_analytical/ultrafast_helios/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ultrafast_helios",
-  "asset_version": "1.0.1",
+  "asset_version": "1.0.2",
   "name_zh": "Ultrafast Systems HELIOS 飞秒瞬态吸收光谱仪",
   "category": "分子光谱与结构",
   "asset_kind": "instrument",
@@ -428,13 +428,13 @@
       "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "806b85a5d353bddb9ea0846efbb331c7e73d9f424378af2ec56337bbc90e655a"
+      "sha256": "04dd2bc7118b27189d285a24fb0ca4f06dca957dcee6c2fbd89bfbc67538b510"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b3490826e64a316b3494b767e1a845fca500d746fba00d9d974ef154fdc1b949"
+      "sha256": "75030897d4d0ccec3d8be6df8c75fc016830dd0e24024c0f175d1acaf9001d94"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/scene_adapter.py",
@@ -506,7 +506,7 @@
       "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b3490826e64a316b3494b767e1a845fca500d746fba00d9d974ef154fdc1b949"
+      "sha256": "75030897d4d0ccec3d8be6df8c75fc016830dd0e24024c0f175d1acaf9001d94"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/scene_validation.json",
@@ -2642,13 +2642,13 @@
       "path": "scripts/asset_runtime/ultrafast_helios.py",
       "format": "py",
       "status": "available",
-      "sha256": "75cd0768db1e90c00d5bcb78b7c28ef3cfe0ef04c66e77bd54b5b225326e4049"
+      "sha256": "9e7b3b21406ad087f27e599c957b575837a107051404a5e48eb7fd97af5063d0"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ultrafast_helios.py",
       "format": "py",
       "status": "available",
-      "sha256": "751bda92cd56f358b7beb84399766cc2a8abc376b04068033740dae68f74df20"
+      "sha256": "e300afc23a277cbbe78aaf12ec176973c7050c4145fdb02b6515c47f6f110540"
     },
     "ta_library": {
       "path": "assets/reactions/ultrafast_helios_ta_library/templates.json",
@@ -2667,6 +2667,12 @@
       "format": "usda",
       "status": "available",
       "sha256": "c255751951cf8a287365c501067bc9a323309f2ba3ee02e1ccc62b2430141996"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t3_analytical/ultrafast_helios/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "ac0ff4a9d96b6e51fa5ec7abcfa0de21e61737f5025e630be965dcbe89abbc85"
     }
   },
   "sources": {
@@ -12829,9 +12835,17 @@
         "wavelength_step_m": 2e-09,
         "delay_sequence_s": [
           -2e-12,
+          -1e-12,
           0.0,
+          5e-13,
+          1e-12,
+          2e-12,
+          5e-12,
+          1e-11,
           2e-11,
+          5e-11,
           1e-10,
+          2e-10,
           5e-10,
           1e-09
         ],
@@ -19325,6 +19339,23 @@
         "native_async_envelope"
       ],
       "verification": "output_matterix_scene_validation"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "example_method_delays",
+        "capability_ids": [
+          "method.configure",
+          "kinetics.fit"
+        ],
+        "what_zh": "method.configure的示例只有6个延迟点，而kinetics.fit至少需要12个点，按示例采集的数据不能直接拟合。示例改为14个延迟点（−2 ps到1 ns，近零点加密、之后按对数间隔），其余参数不变（20次平均，事件数280）；交付时按旧示例生成的输出样例不重算。describe的asset_version改用运行层常量（原写死1.0.1）。版本1.0.1→1.0.2。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B S4）：示例须能直接用于动力学拟合。",
+        "tests_changed": [
+          "tests/test_asset_ultrafast_helios.py::FixRoundB::test_example_method_feeds_kinetics_fit（新增）",
+          "tests/test_asset_ultrafast_helios.py::HeliosTests::test_exposure_and_volume、test_scan_axis_and_shape：脉冲与点数按示例延迟数计算"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t4_measure/aqualab_4te/asset.contract.json b/assets/expansion_batch04/t4_measure/aqualab_4te/asset.contract.json
index da32a37aa82eb9b07891a983900b986fa6d8a3ce..b2fba950282d75d851966b01fe37a325f910da7b 100644
--- a/assets/expansion_batch04/t4_measure/aqualab_4te/asset.contract.json
+++ b/assets/expansion_batch04/t4_measure/aqualab_4te/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.aqualab_4te",
-  "asset_version": "1.3.0",
+  "asset_version": "1.3.1",
   "name_zh": "AQUALAB 4TE水活度仪",
   "category": "基础计量与样品处理",
   "asset_kind": "instrument",
@@ -350,7 +350,7 @@
       "path": "outputs/expansion_batch04/t4_measure/aqualab_4te/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "7cd6ffa36e96e3be179ca18032f4b00902a58f8cde02d18f96af872a02d340c8"
+      "sha256": "a567a04a6d5472c45508a2df26794740f93f17a4c3987a4277464d617d75452e"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t4_measure/aqualab_4te/scene_validation.json",
@@ -404,13 +404,13 @@
       "path": "scripts/asset_runtime/aqualab_4te.py",
       "format": "py",
       "status": "available",
-      "sha256": "72754498fc47cd95a8ca2b82794d7548e3379a9d2f4b20e3d6c95a0440f964e8"
+      "sha256": "2425df0599dd77a564dfa94b462f2625c1fd4d95fca8365c6ca44fe061661cc3"
     },
     "runtime_tests": {
       "path": "tests/test_asset_aqualab_4te.py",
       "format": "py",
       "status": "available",
-      "sha256": "7e81f4988c691a4665f20867515f2aae7c6572eade6a3791d1d6ec66230f1895"
+      "sha256": "a576a30f602e2ee8da551b386f683c85cd3dae395ad550ee27d121b7484abda5"
     },
     "water_activity_library": {
       "path": "assets/reactions/aqualab_4te_water_activity_library/templates.json",
@@ -950,7 +950,7 @@
       "path": "outputs/panel_ui/aqualab_4te/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "1e44561691fa3d5ff1547454ba781b2637110dc32d26e859a3453265142dc746"
+      "sha256": "6402db32e841df65d7082a6765970c50821d17187c6644d8eee0419fbf2e9919"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/aqualab_4te/build_panel_spec.py",
@@ -968,7 +968,7 @@
       "path": "outputs/panel_ui/aqualab_4te/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "d484e99f9efefd369063f091c888db5cb4c3e47cc20fffa00cd6fd14d0c9bc44"
+      "sha256": "8ba341ea776de771c9f730666d3d2d8778d7ebe67700ebdbefee7b6c914c4c89"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/aqualab_4te/home.png",
@@ -7181,7 +7181,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7191,7 +7191,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7369,7 +7369,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7379,7 +7379,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7562,7 +7562,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7572,7 +7572,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7760,7 +7760,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7770,7 +7770,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -7998,7 +7998,7 @@
       ],
       "example_arguments": {
         "substance_id": "sodium_chloride",
-        "record_index": 0,
+        "record_index": 1,
         "mass_kg": 0.003,
         "volume_m3": 3e-06,
         "matrix_id": "salt",
@@ -8013,7 +8013,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8023,7 +8023,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8203,7 +8203,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8213,7 +8213,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8415,7 +8415,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8425,7 +8425,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8602,7 +8602,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8612,7 +8612,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8790,7 +8790,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -8800,7 +8800,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9027,7 +9027,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9037,7 +9037,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9241,7 +9241,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9251,7 +9251,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9414,7 +9414,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9424,7 +9424,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9638,7 +9638,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9648,7 +9648,7 @@
           "status": "passed",
           "method": "实际运行层回归",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\"}",
-          "checked_at": "2026-10-19T11:47:33.358952+00:00",
+          "checked_at": "2026-10-22T11:19:24.166074+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "只标记真实执行的验证"
         },
@@ -9923,8 +9923,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -10130,8 +10130,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -10329,8 +10329,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -10537,8 +10537,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -10725,8 +10725,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -10896,8 +10896,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -11113,8 +11113,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -11325,8 +11325,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -11542,8 +11542,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -11751,8 +11751,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -11942,8 +11942,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -12149,8 +12149,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -12351,8 +12351,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -12612,8 +12612,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -12807,8 +12807,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -13014,8 +13014,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -13228,8 +13228,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -13421,8 +13421,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -13599,8 +13599,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -13875,8 +13875,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -14147,8 +14147,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -14354,8 +14354,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -14511,8 +14511,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.capture / panel.frame): the six key procedures of the menu survey done only with panel gestures (a reading started by the lever with model selection and the SAVE icon, chamber temperature, Custom mode, linear offset with a standard, viewing stored readings, the sample-lid temperature difference), each checked on the runtime state and on the structured frame; the other options (Temp Eq, ISO 18787 / Low-Emitting / Continuous with CANCEL and the lever, date / time, regional formatting with degF and 24 h, autosave off with the annotation grid, continuous beeps and AUDIO OFF, detailed serial print, diagnostics, about, Data delete with its reminder, %Moisture model selection and calibration New / Edit / Defaults / Delete, factory defaults, administrator password, users, access locks and log-in); the 1.1.0 device commands directly (results, refusals without side effects, BUSY during a reading, settings through a power cycle); panel = direct commands; refusals shown as the instrument messages; no menu time-out; sample too hot warning and the < symbol; render determinism and the evidence PNGs; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:41.269001+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:19:31.931928+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_aqualab_4te.py：直接命令与面板手势），只标记真实执行的验证"
         },
@@ -14944,17 +14944,18 @@
         "backup": "备份见项目备份目录sync_20261019/"
       },
       {
-        "date": "2026-10-21",
-        "id": "display_window_fig24",
+        "date": "2026-10-22",
+        "id": "sample_example_and_start_messages",
         "capability_ids": [
-          "panel.capture",
-          "panel.frame",
-          "panel.press"
-        ],
-        "what_zh": "3D模型：显示窗口按手册p.28(24)图24/25与64×128规格改为2:1的64×32 mm（原66×19.5 mm，宽高比3.4），约与按键排同宽，屏框77×38 mm、中心在斜面上38 mm（下缘在UP键之上，上缘到斜面转向顶面处）；液晶改为素灰玻璃，去掉烤在贴图上的蓝色假界面（TEST-TOAST、10:47AM、0:00(0)、两个方框）与读数区假数字（贴图screen_ui/display_result删除），只有面板画面显示内容；按键与其他部件不变。面板规格：测量页按图25画出（Measurement页签下划线、Configuration/Data两个页签框、右上时间、aw与温度结果双倍字号、Dew与按键图标在下方），用引擎已有的静态部件（widgets）画在文本行之上，帧文本不变。",
-        "why_zh": "用户报告“AQUALAB 4TE的菜单不对，好像是两个白色和蓝色的菜单叠在一起”：面板画面只盖住屏幕中间59%，两侧露出烤在贴图上的蓝色假界面。几何改动，版本1.2.1→1.3.0。",
-        "tests_changed": [],
-        "backup": "备份见项目备份目录geometry_20261020/"
+          "sample.configure",
+          "acquisition.start"
+        ],
+        "what_zh": "sample.configure示例选的是NaCl模板的第0条记录（3.2091 mol/kg，aw 0.8838），而模板（template.read与库的代表值）给出的是0.9002（2.8535 mol/kg，records[1]），示例读数与引用模板不一致。示例改为record_index 1，读数与模板代表值0.9002一致。acquisition.start被拒时原来只有PRECONDITION_FAILED：错误码不变，消息写明原因（未通电、故障、无样品杯、抽屉盖开、未锁紧、块设定点与样品参考温度差超过0.05 K）。版本1.3.0→1.3.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B PM2示例、PM5误导性错误码）。",
+        "tests_changed": [
+          "tests/test_asset_aqualab_4te.py::FixRoundB（新增2个测试：示例读数等于模板代表值、启动拒绝消息写明原因）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t4_measure/ch_chi440c/asset.contract.json b/assets/expansion_batch04/t4_measure/ch_chi440c/asset.contract.json
index 98bf2bff7696cb9be16302f14d8917cc5f487ce5..ff45d0eff2f5ace49298febf1ef6d7200ff6c6a9 100644
--- a/assets/expansion_batch04/t4_measure/ch_chi440c/asset.contract.json
+++ b/assets/expansion_batch04/t4_measure/ch_chi440c/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ch_chi440c",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "CH Instruments CHI440C 电化学石英晶体微天平",
   "category": "电化学与定量分析",
   "asset_kind": "instrument",
@@ -1046,7 +1046,7 @@
       "path": "outputs/expansion_batch04/t4_measure/ch_chi440c/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "ca87dfdfd77841bfe2940fc7130d5de81120d95a4ad503018e23ba7d8474536e"
+      "sha256": "bd011bc2c8abeaa6bc794838b3c2a1ec0090457a0464387e5547f917cff76885"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch04/t4_measure/ch_chi440c/scene_validation.json",
@@ -1160,19 +1160,25 @@
       "path": "scripts/asset_runtime/ch_chi440c.py",
       "format": "py",
       "status": "available",
-      "sha256": "5c5a312d5546a5f0e199c545e1d650331aff61714f3dcaa7d14dc73179ca7bbc"
+      "sha256": "4c23b5e213eeb55d30b99435f9af91f208e611045779793b3ca725f2d9ac8893"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ch_chi440c.py",
       "format": "py",
       "status": "available",
-      "sha256": "5b4a31acdb5861f6d4f956045f61e1e4bb30b1d7622969a2e2fb748fb6237814"
+      "sha256": "608e752d4dd8a7dc06e0f5f6f60bfb8bc1fa1ead6c459bb5fc4f37a243f13457"
     },
     "library_readme": {
       "path": "assets/expansion_batch04/t4_measure/ch_chi440c/qcm_material_library说明.md",
       "format": "md",
       "status": "available",
       "sha256": "dc497facc7d20b24f02c495102ea8857cac8aa095d008e3a98799f30deac1c03"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t4_measure/ch_chi440c/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "9ac8cd9fb6a2378985a6ce05e004d7012ea67784d0683f6334aadebeabfafb77"
     }
   },
   "sources": {
@@ -9601,7 +9607,7 @@
       ]
     },
     "current.a": {
-      "meaning_zh": "区间平均电流；来源=derived。",
+      "meaning_zh": "区间平均电流；符号：阴极（还原）电流为正、阳极（氧化）电流为负（CHI软件的阴极为正约定，系统设置可改，手册p.113；Gamry、Pine资产用IUPAC约定，阳极为正）；来源=derived。",
       "component_ids": [
         "controller"
       ],
@@ -10186,7 +10192,7 @@
       ]
     },
     "method.configure": {
-      "function_zh": "电位/电流台阶或仅QCM；采样≥1ms",
+      "function_zh": "电位/电流台阶或仅QCM；采样≥1ms；电流台阶current_a的符号：正值为阴极（还原）电流、负值为阳极（氧化）电流（CHI阴极为正约定）",
       "kind": "configuration",
       "visibility": "agent",
       "component_ids": [
@@ -14913,7 +14919,8 @@
     "Adsorption affinity/site capacity are explicit hypotheses, not validated for all materials.",
     "No viscoelastic/liquid correction, QCM-D or motional resistance, temperature/noise/drift calibration.",
     "Continuous electrical limits±10V,±250mA;350mA peak, general CV and pulse suites unsupported.",
-    "Measured thickness/film distribution/crystal stress, screw/contact physics, robot and hardware not_run."
+    "Measured thickness/film distribution/crystal stress, screw/contact physics, robot and hardware not_run.",
+    "电流符号（1.0.1）：阴极（还原）电流为正、阳极（氧化）电流为负（CHI阴极为正约定，手册p.113可在系统设置中改）；与IUPAC约定的Gamry/Pine资产符号相反。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -15016,6 +15023,22 @@
         "voltammetry.full_suite"
       ],
       "boundaries": "two-env runtime lockstep, actual lid and LED; finite mass/charge and observed frequency; robot/hardware not_run"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "current_sign_convention",
+        "capability_ids": [
+          "method.configure",
+          "acquisition.start"
+        ],
+        "what_zh": "电流符号约定原来没有写明：本孪生体按CHI软件的“阴极为正”约定（系统设置中可选电流极性，手册p.113），阴极（还原）电流为正、阳极（氧化）电流为负；Gamry Reference 620与Pine资产用IUPAC约定（阳极为正），跨仪器比较时须换号。写入current.a的含义、method.configure的电流台阶说明与限制。行为不变。describe的asset_version改用运行层常量。版本1.0.0→1.0.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B EC1）：电流符号须在合同中写明。",
+        "tests_changed": [
+          "tests/test_asset_ch_chi440c.py::FixRoundB::test_positive_current_is_cathodic_and_stated（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t4_measure/seal_aa500/asset.contract.json b/assets/expansion_batch04/t4_measure/seal_aa500/asset.contract.json
index 4d950895ed7fad10327e931e7b25fb53c9626b41..f499e7c217920a9a94a21692a8ce67fe39c3a9d2 100644
--- a/assets/expansion_batch04/t4_measure/seal_aa500/asset.contract.json
+++ b/assets/expansion_batch04/t4_measure/seal_aa500/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.seal_aa500",
-  "asset_version": "1.0.0",
+  "asset_version": "1.0.1",
   "name_zh": "分段连续流动分析仪SEAL AA500（4通道营养盐：NOx、氨、磷酸盐、硅酸盐；带AS2 XY进样器）",
   "category": "生化与湿化学分析",
   "asset_kind": "instrument",
@@ -1310,7 +1310,7 @@
       "path": "outputs/expansion_batch04/t4_measure/seal_aa500/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "38f497db8add5b4131af162ddd181288716ab2a864e7cd28b4d108f423ec1783"
+      "sha256": "601078245de63f06886bc884047744d97a78e218a3face5afc1da72d9966b548"
     },
     "scene_validation": {
       "path": "outputs/expansion_batch04/t4_measure/seal_aa500/scene_validation.json",
@@ -1382,13 +1382,13 @@
       "path": "scripts/asset_runtime/seal_aa500.py",
       "format": "py",
       "status": "available",
-      "sha256": "2401a4fde674a23f7cd1522ef18335fc34ec9ea3b2921d593b4cc5cfa9e84c74"
+      "sha256": "90b439a3fe0899c40aa9e2e5cf346d2df1363e6350aba48262db2521fbe0efdb"
     },
     "runtime_tests": {
       "path": "tests/test_asset_seal_aa500.py",
       "format": "py",
       "status": "available",
-      "sha256": "06b0ea7ca08e5c85b0db7277095df94073f03568e0a7afb151ebdb7932129105"
+      "sha256": "c9b69a714a844adf9e9eb5251ae8b738e4b4d6b0610e191e50c72c2a55a7bfb5"
     },
     "reaction_templates_library": {
       "path": "assets/reactions/reaction_templates.json",
@@ -1407,6 +1407,12 @@
       "format": "json",
       "status": "available",
       "sha256": null
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t4_measure/seal_aa500/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "c94b68ae2fdd445321969a37b793ccbed8edb098c7717227857494b505b4ba85"
     }
   },
   "sources": {
@@ -9984,7 +9990,7 @@
       },
       "preconditions": [
         {
-          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；ID唯一；组分存在、体积足够、组分体积之和不超过终体积；agent只能用自己的样品/标准与自己装的管（ACCESS_DENIED）；被拒时状态不变。",
+          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；ID唯一；组分存在、体积足够、组分体积之和不超过终体积；agent不能用另一个agent的样品/标准与它装的管（ACCESS_DENIED）；评测者/宿主提供的与实验室准备后交给实验室的（宿主release_to_lab）任何调用者可用；被拒时状态不变。",
           "state_ids": [
             "plant.configured",
             "samples.available"
@@ -10223,7 +10229,7 @@
       },
       "preconditions": [
         {
-          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；架位为空、位号在架容量内；样品/标准体积足够；进样针不在该位；agent只能用自己的样品/标准与自己装的管（ACCESS_DENIED）；被拒时状态不变。",
+          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；架位为空、位号在架容量内；样品/标准体积足够；进样针不在该位；agent不能用另一个agent的样品/标准与它装的管（ACCESS_DENIED）；评测者/宿主提供的与实验室准备后交给实验室的（宿主release_to_lab）任何调用者可用；被拒时状态不变。",
           "state_ids": [
             "plant.configured",
             "sampler.contents",
@@ -10461,7 +10467,7 @@
       },
       "preconditions": [
         {
-          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；架位有管；进样针不在该管；运行中未进样的杯不能取下；agent只能用自己的样品/标准与自己装的管（ACCESS_DENIED）；被拒时状态不变。",
+          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；架位有管；进样针不在该管；运行中未进样的杯不能取下；agent不能用另一个agent的样品/标准与它装的管（ACCESS_DENIED）；评测者/宿主提供的与实验室准备后交给实验室的（宿主release_to_lab）任何调用者可用；被拒时状态不变。",
           "state_ids": [
             "plant.configured",
             "sampler.contents",
@@ -15270,7 +15276,7 @@
       },
       "preconditions": [
         {
-          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；已通电；无程序或运行；泵在流动；各杯架位有管；进样+清洗+移动时间对应通量不超过120样/h；agent只能用自己的样品/标准与自己装的管（ACCESS_DENIED）；被拒时状态不变。",
+          "description_zh": "已声明实验室条件（否则PLANT_REQUIRED）；已通电；无程序或运行；泵在流动；各杯架位有管；进样+清洗+移动时间对应通量不超过120样/h；agent不能用另一个agent的样品/标准与它装的管（ACCESS_DENIED）；评测者/宿主提供的与实验室准备后交给实验室的（宿主release_to_lab）任何调用者可用；被拒时状态不变。",
           "state_ids": [
             "plant.configured",
             "power.on",
@@ -19452,7 +19458,8 @@
     "检测：比尔–朗伯定律线性，光度计输出在满量程3 AU截止（超过时结果标DETECTOR_SATURATED、不给浓度）；高吸光度区的非线性由二次校准吸收；试剂过量消耗引起的显色非线性未建模；LED预热漂移按双光束补偿95 %；噪声与漂移为工程值（用EPA MDL/精密度做仿真复核）。",
     "干扰：砷酸盐按磷酸盐等摩尔响应、高铁使磷酸盐沉淀损失、余氯降低镉效率、样品色度/浊度与盐度折射率空白叠加；硫化物、表面活性剂等其它干扰未建模。",
     "样品、标准、试剂、清洗水与废液是过程数据，场景中没有液体几何；进样针、压板、泵滚轮、泵盖与检测器盖按运行层状态运动。",
-    "厂家照片中AA500机身上看不到显示屏（曲线与结果由宿主电脑上的AACE软件显示），因此不建读数区；主机正面绿色电源指示灯按运行层lamp.power点亮；泵滚轮转动、压板升降、泵盖与4个检测器罩开合、进样器XY臂与进样针升降均为运行层状态镜像。"
+    "厂家照片中AA500机身上看不到显示屏（曲线与结果由宿主电脑上的AACE软件显示），因此不建读数区；主机正面绿色电源指示灯按运行层lamp.power点亮；泵滚轮转动、压板升降、泵盖与4个检测器罩开合、进样器XY臂与进样针升降均为运行层状态镜像。",
+    "调用者规则（1.0.1）：agent不能用另一个agent的样品、标准与它装的采样杯（ACCESS_DENIED）；评测者/宿主提供的物品与经宿主release_to_lab交给实验室的准备物品（例如chemlab默认实验室的操作员装的校准杯）任何调用者可用。"
   ],
   "extensions": {
     "chemistry_lab.catalog_selection": {
@@ -19775,6 +19782,24 @@
         "ReactionKinetics has no pressure input; gas reactants act only through their ledger amounts. Light- and current-driven templates (levels 4/5) act only through the container's ReactionDrives (photon flux / wavelength / cell current), set by the host or coupled from an instrument runtime.",
         "One template = one overall stoichiometry; side reactions, equilibria (except an optional max_conversion cap) and speciation are not modelled."
       ]
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-23",
+        "id": "release_setup_items_to_lab",
+        "capability_ids": [
+          "sampler.load",
+          "sampler.unload",
+          "run.start",
+          "standard.prepare"
+        ],
+        "what_zh": "实验室准备经agent级操作员会话（chemlab_operator）装的标准与采样杯原来归该操作员所有，agent用它们run.start被拒（ACCESS_DENIED：另一个调用者的杯）。新增可信宿主方法release_to_lab(principal=None)：准备结束时把该主体（默认：此前所有调用者）装的样品、标准与采样杯交给实验室，任何调用者可用，如同实验员放上托盘的杯；之后agent自己装的仍归自己（他人不能用）。评测者/宿主装的本来就属实验室。不开放评测者数据（真值槽、故障与评测者能力仍隐藏）。前置条件文字相应更新。describe的asset_version改用运行层常量。版本1.0.0→1.0.1。",
+        "why_zh": "默认实验室审计（运行层修改3，修正轮C C-3）：实验室准备装好的校准杯agent不能用，只能自己重配重装。",
+        "tests_changed": [
+          "tests/test_asset_seal_aa500.py::FixRoundC::test_setup_loaded_cups_released_to_the_lab（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_C_20261023/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t5_automation/fujifilm_dmp2850/asset.contract.json b/assets/expansion_batch04/t5_automation/fujifilm_dmp2850/asset.contract.json
index b433992a0bbc9c83337999c8efc2d6ac66b352fc..f864e127ef24b4a43bafae0f9268dc1541ac0288 100644
--- a/assets/expansion_batch04/t5_automation/fujifilm_dmp2850/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/fujifilm_dmp2850/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.fujifilm_dmp2850",
-  "asset_version": "1.1.0",
+  "asset_version": "1.1.1",
   "name_zh": "FUJIFILM Dimatix DMP-2850 S（SAMBA 12喷嘴）",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -368,13 +368,13 @@
       "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "ae9cfb9fc20d0c22bba7bc7a446b280e6e019449e04703c2370ad9bf2dab20db"
+      "sha256": "8a4ab9bfab80435eef7e4f4cff13027be1d20764f9fb502d1854a449110aade9"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "dfc8ae55f28aaa42f7c75440655f4c334ccf390d44fb6e77fb0b07dde62c99fa"
+      "sha256": "dc160bee79f7b01e080199bc8c74449a1997c901dde962713300041fcb2db2af"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/scene_adapter.py",
@@ -452,7 +452,7 @@
       "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "dfc8ae55f28aaa42f7c75440655f4c334ccf390d44fb6e77fb0b07dde62c99fa"
+      "sha256": "dc160bee79f7b01e080199bc8c74449a1997c901dde962713300041fcb2db2af"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/scene_validation.json",
@@ -1286,13 +1286,13 @@
       "path": "scripts/asset_runtime/fujifilm_dmp2850.py",
       "format": "py",
       "status": "available",
-      "sha256": "f87904cec7816208800b69739326037fd915faa437c35efad65e03709d884b60"
+      "sha256": "1dd2117ae20d7de4c78a114c3256d76a4bca32b4870b7a26ec06cc6ce985086d"
     },
     "runtime_tests": {
       "path": "tests/test_asset_fujifilm_dmp2850.py",
       "format": "py",
       "status": "available",
-      "sha256": "eb5783fb0526f1a389be58aef5fc060b79be829fe0358c3bf01bd12dbc2297d0"
+      "sha256": "d03b1cd831ccd7900d5daf17dbe70822eff7ac0c75b8b382762215b0a9da70e9"
     },
     "solvent_library": {
       "path": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
@@ -1305,6 +1305,12 @@
       "format": "usda",
       "status": "available",
       "sha256": "7b0edf1e793ac22efbbad259d4c0d403bfc93ec2013b610672695d2b690b4793"
+    },
+    "contract_fixes_patch_py": {
+      "path": "outputs/expansion_batch04/t5_automation/fujifilm_dmp2850/patch_contract_fixes.py",
+      "format": "py",
+      "status": "available",
+      "sha256": "556a5fe4369ba0f0bbf6d53111ee1fe9e9e17e04c1bd3e16bc2c3347268fa9fe"
     }
   },
   "sources": {
@@ -17267,6 +17273,22 @@
         "dynamic_deposit_mesh"
       ],
       "verification": "output_matterix_scene_validation"
-    }
+    },
+    "chemistry_lab.fixes": [
+      {
+        "date": "2026-10-22",
+        "id": "older_operations_pollable",
+        "capability_ids": [
+          "acquisition.start",
+          "acquisition.stop"
+        ],
+        "what_zh": "poll原来只接受最近一次操作：同一调用者较早的、已结束的打印/清洗作业在新作业开始后返回ACCESS_DENIED。现在运行层在作业结束时（步进中、停止后或新作业开始前）保存其最终记录（状态与printing.measure摘要），poll较早的本人作业返回该冻结记录；对已结束的较早作业cancel只返回记录、不影响当前作业；他人或不存在的作业仍为ACCESS_DENIED。describe的asset_version改用运行层常量ASSET_VERSION（原来写死）。版本1.1.0→1.1.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D4）：已结束的较早操作必须仍可查询。",
+        "tests_changed": [
+          "tests/test_asset_fujifilm_dmp2850.py::FixRoundB::test_older_operation_stays_pollable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      }
+    ]
   }
 }
diff --git a/assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json b/assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json
index aca6c4ced0c34d2bed74d844a7793232f1baca90..4cc5076ea87b06ffd013c31388fc043e0188ce4a 100644
--- a/assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.laboao_cvdltf12p50",
-  "asset_version": "1.1.2",
+  "asset_version": "1.1.3",
   "name_zh": "LABOAO CVD-LTF12P50单温区化学气相沉积系统",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -536,13 +536,13 @@
       "path": "outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "50057bdef8bfc7a06467958ec30bc39fa52bfea716e1f8444408d0b77a2de08d"
+      "sha256": "b1da03ba99b77a8dc9d3011321777bb5e77dd4f863c55ebdef7e573c18393041"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "fcbb9d1ee8a4ad66107c87ae3713e0d4ebeb8fd306594371a640ef9b1341fcf4"
+      "sha256": "9496c20e1962b29e4a7e2b49b73bce3ab7027ceea30d5c73f478a3a8dad527d0"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/scene_adapter.py",
@@ -632,7 +632,7 @@
       "path": "outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "fcbb9d1ee8a4ad66107c87ae3713e0d4ebeb8fd306594371a640ef9b1341fcf4"
+      "sha256": "9496c20e1962b29e4a7e2b49b73bce3ab7027ceea30d5c73f478a3a8dad527d0"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/scene_validation.json",
@@ -2228,13 +2228,13 @@
       "path": "scripts/asset_runtime/laboao_cvdltf12p50.py",
       "format": "py",
       "status": "available",
-      "sha256": "bdd56decd9cc9699b5e5ae13c3979518018b46986d2b19eb1ea481135ff873b3"
+      "sha256": "0fde34d41137d77209b89ffb51bfe0bbdcd0b7a49152b06716e3bac144a364b7"
     },
     "runtime_tests": {
       "path": "tests/test_asset_laboao_cvdltf12p50.py",
       "format": "py",
       "status": "available",
-      "sha256": "53a4b1891c8062906ecc307e8f99e4996d51daa2f0eebd5adef4911cc89746ec"
+      "sha256": "c877b9098696228285fb8e6e616e046bf0bcf63bdd668b661a61564cc34bea49"
     },
     "thermo_library": {
       "path": "assets/reactions/laboao_cvdltf12p50_thermo_library/templates.json",
@@ -2312,7 +2312,7 @@
       "path": "outputs/panel_ui/laboao_cvdltf12p50/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "e154c86bce6edf7aae6a8fae62ac2236b9740ce45b0f649c3de66bfad8c44a88"
+      "sha256": "e8b79cc53be5290210fb76187ed396ff7078857b80cc574013694a358b5cc874"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/laboao_cvdltf12p50/run_panel_validation.py",
@@ -2324,7 +2324,7 @@
       "path": "outputs/panel_ui/laboao_cvdltf12p50/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "d527c025345b4864779c5af895e539145b8bd2beb01015d78386f3a976a2faf5"
+      "sha256": "ddae375543c76a3e01d02f36dfc6a7043ed82b6540a586e06f40688704359d2d"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/laboao_cvdltf12p50/build_panel_spec.py",
@@ -2453,6 +2453,12 @@
       "reference": "assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/panel_ui.json",
       "locator": "inputs / displays / screens / bindings",
       "note": "front-panel spec generated by outputs/panel_ui/laboao_cvdltf12p50/build_panel_spec.py"
+    },
+    "nist_fluid_cylinder_content": {
+      "kind": "publication",
+      "reference": "https://webbook.nist.gov/chemistry/fluid/",
+      "locator": "NIST Chemistry WebBook SRD 69, isothermal properties at 288.15 K and 201.01 bar abs (N2, Ar, CH4, H2); tables and query URLs in outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json",
+      "note": "gas.install cap: content of one full 50 L water-capacity cylinder at 200 bar gauge, 15 C = density x 50 L (N2 400.1, Ar 447.7, CH4 525.1, H2 372.2 mol)"
     }
   },
   "components": {
@@ -16129,7 +16135,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -16139,7 +16145,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -16183,7 +16189,7 @@
       ]
     },
     "gas.install": {
-      "function_zh": "三路有限气源和未知满量程显式赋值",
+      "function_zh": "三路有限气源和未知满量程显式赋值；每路初始量不超过该气体一只满瓶（50 L水容积、200 bar表压、15 °C）的含量：N2 400.1、Ar 447.7、CH4 525.1、H2 372.2 mol（NIST WebBook SRD 69密度），超过则INVALID_ARGUMENT",
       "kind": "configuration",
       "visibility": "evaluator",
       "component_ids": [
@@ -16215,7 +16221,7 @@
               "type": "number",
               "x-unit": "mol",
               "minimum": 1e-08,
-              "maximum": 100
+              "maximum": 525.1
             },
             "minItems": 3,
             "maxItems": 3
@@ -16792,7 +16798,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -16802,7 +16808,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -17418,7 +17424,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -17428,7 +17434,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -18018,7 +18024,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -18028,7 +18034,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -18708,7 +18714,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -18718,7 +18724,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -19283,7 +19289,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -19293,7 +19299,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -19879,7 +19885,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -19889,7 +19895,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -20485,7 +20491,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -20495,7 +20501,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -21092,7 +21098,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -21102,7 +21108,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -21714,7 +21720,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -21724,7 +21730,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -22292,7 +22298,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -22302,7 +22308,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -22909,7 +22915,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -22919,7 +22925,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -23514,7 +23520,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -23524,7 +23530,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -23838,7 +23844,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -23848,7 +23854,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -24303,7 +24309,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -24313,7 +24319,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -24882,7 +24888,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -25460,7 +25466,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -26040,7 +26046,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -26645,7 +26651,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -27229,7 +27235,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -27825,7 +27831,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "仪器检查verify_runtime.py与测试FrontPanelCommands（tests/test_asset_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -28107,7 +28113,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -28117,7 +28123,7 @@
           "status": "passed",
           "method": "Actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:43:23.743113+00:00",
+          "checked_at": "2026-10-22T19:13:13.096862+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际入口/schema/有限元素及炉区能量账本，不是实机标定"
         },
@@ -28462,8 +28468,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.turn / panel.capture / panel.frame) on the approximate panel (product page only): switch-on and PV / SV, the parameter list (control mode, curve, steps, segment target / ramp / hold, PV correction, run mode), fixed-mode SV keys, run / stop by R/S and the green / red buttons, the MFC selectors and flow displays, the vacuum controller (pump, solenoid delay lamp, A/M, set value) and the valves; panel and direct capability calls compared for identical runtime state; refusals shown as Err with the state unchanged; time-outs (start display, parameter list, Err); caller rules (a cycle started with R/S or the green button belongs to the caller; another agent's R/S, red button and pump and the direct stop commands refused with the state unchanged, vent valve, furnace lid and mains rocker not refused); render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:43.053988+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T19:13:08.942569+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -28800,8 +28806,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.turn / panel.capture / panel.frame) on the approximate panel (product page only): switch-on and PV / SV, the parameter list (control mode, curve, steps, segment target / ramp / hold, PV correction, run mode), fixed-mode SV keys, run / stop by R/S and the green / red buttons, the MFC selectors and flow displays, the vacuum controller (pump, solenoid delay lamp, A/M, set value) and the valves; panel and direct capability calls compared for identical runtime state; refusals shown as Err with the state unchanged; time-outs (start display, parameter list, Err); caller rules (a cycle started with R/S or the green button belongs to the caller; another agent's R/S, red button and pump and the direct stop commands refused with the state unchanged, vent valve, furnace lid and mains rocker not refused); render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:43.053988+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T19:13:08.942569+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -29152,8 +29158,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.turn / panel.capture / panel.frame) on the approximate panel (product page only): switch-on and PV / SV, the parameter list (control mode, curve, steps, segment target / ramp / hold, PV correction, run mode), fixed-mode SV keys, run / stop by R/S and the green / red buttons, the MFC selectors and flow displays, the vacuum controller (pump, solenoid delay lamp, A/M, set value) and the valves; panel and direct capability calls compared for identical runtime state; refusals shown as Err with the state unchanged; time-outs (start display, parameter list, Err); caller rules (a cycle started with R/S or the green button belongs to the caller; another agent's R/S, red button and pump and the direct stop commands refused with the state unchanged, vent valve, furnace lid and mains rocker not refused); render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:43.053988+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T19:13:08.942569+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -29370,8 +29376,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.turn / panel.capture / panel.frame) on the approximate panel (product page only): switch-on and PV / SV, the parameter list (control mode, curve, steps, segment target / ramp / hold, PV correction, run mode), fixed-mode SV keys, run / stop by R/S and the green / red buttons, the MFC selectors and flow displays, the vacuum controller (pump, solenoid delay lamp, A/M, set value) and the valves; panel and direct capability calls compared for identical runtime state; refusals shown as Err with the state unchanged; time-outs (start display, parameter list, Err); caller rules (a cycle started with R/S or the green button belongs to the caller; another agent's R/S, red button and pump and the direct stop commands refused with the state unchanged, vent valve, furnace lid and mains rocker not refused); render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:43.053988+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T19:13:08.942569+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -29523,8 +29529,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press / panel.switch / panel.turn / panel.capture / panel.frame) on the approximate panel (product page only): switch-on and PV / SV, the parameter list (control mode, curve, steps, segment target / ramp / hold, PV correction, run mode), fixed-mode SV keys, run / stop by R/S and the green / red buttons, the MFC selectors and flow displays, the vacuum controller (pump, solenoid delay lamp, A/M, set value) and the valves; panel and direct capability calls compared for identical runtime state; refusals shown as Err with the state unchanged; time-outs (start display, parameter list, Err); caller rules (a cycle started with R/S or the green button belongs to the caller; another agent's R/S, red button and pump and the direct stop commands refused with the state unchanged, vent valve, furnace lid and mains rocker not refused); render determinism and capture files; contract entries. Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python3\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:42:43.053988+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T19:13:08.942569+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_laboao_cvdltf12p50.py），不跨层借用验证结果"
         },
@@ -31159,6 +31165,19 @@
           "tests/test_panel_ui_laboao_cvdltf12p50.py::CallerRules::test_hand_actions_are_not_refused（新增）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-23",
+        "id": "gas_install_cylinder_cap",
+        "capability_ids": [
+          "gas.install"
+        ],
+        "what_zh": "gas.install每路initial_mol上限原为100 mol，低于一只满瓶。现按该气体一只满瓶（50 L水容积、200 bar表压充装、15 °C）的含量设上限：N2 400.1、Ar 447.7、CH4 525.1、H2 372.2 mol（NIST WebBook SRD 69在288.15 K、201.01 bar绝压下的密度×50 L）；模式最大值525.1 mol，某路超过所选气体的满瓶含量时拒绝（INVALID_ARGUMENT，消息给出上限）。来源表与查询URL存于outputs/…/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json。版本1.1.2→1.1.3。",
+        "why_zh": "默认实验室审计（DEFAULT_WORLD_AUDIT运行层修改1，修正轮C C-1）：真实50 L、200 bar气瓶约含400–525 mol，旧上限100 mol装不下一只满瓶。",
+        "tests_changed": [
+          "tests/test_asset_laboao_cvdltf12p50.py::FixRoundC::test_full_cylinder_cap_per_gas（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_C_20261023/"
       }
     ]
   }
diff --git a/assets/expansion_batch04/t5_automation/ossila_dipcoater/asset.contract.json b/assets/expansion_batch04/t5_automation/ossila_dipcoater/asset.contract.json
index b7c8d4e321ddde0f3651681be59457e8a52d78eb..d234e2cd62b85ef83cb147efc4e782b91fda82e7 100644
--- a/assets/expansion_batch04/t5_automation/ossila_dipcoater/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/ossila_dipcoater/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ossila_dipcoater",
-  "asset_version": "1.3.1",
+  "asset_version": "1.3.2",
   "name_zh": "Ossila Dip Coater V2 L2006A2（手册2.0.A）",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -332,13 +332,13 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_dipcoater/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "1fcda443003045ff92666d2bf02f2ed82a69efcd544a6d326af60d305c01cb1a"
+      "sha256": "37a0ffd03344f83a6dca9aef3135cc4668f007822a99a8ed8bc81d3f70bcdfe8"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_dipcoater/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c4ed6dbf771f94bbef2e9edc866f4e5dccbd79b45c3e76d6ed3a9ef962695592"
+      "sha256": "212523c7505d6fddd9462a3d56713c634199e77d0e391bce123178e31992c91a"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_dipcoater/scene_adapter.py",
@@ -398,7 +398,7 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_dipcoater/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c4ed6dbf771f94bbef2e9edc866f4e5dccbd79b45c3e76d6ed3a9ef962695592"
+      "sha256": "212523c7505d6fddd9462a3d56713c634199e77d0e391bce123178e31992c91a"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_dipcoater/scene_validation.json",
@@ -1088,13 +1088,13 @@
       "path": "scripts/asset_runtime/ossila_dipcoater.py",
       "format": "py",
       "status": "available",
-      "sha256": "f5fd978944689539f67e77b766df10cfa542860a2ed0f4892f298cf78f046f49"
+      "sha256": "dd57e92387e5d0045b2043c371ca4ee5765780af3457f460c003cc37adb6f6b8"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ossila_dipcoater.py",
       "format": "py",
       "status": "available",
-      "sha256": "918342fb68cde79e4b9006a5229e679ca75219d5b4935ba4bda9530bfed5aafc"
+      "sha256": "c911a800aebc58374e92b94a5975af48506fa5acd8261aaec7bc796386f28687"
     },
     "solvent_library": {
       "path": "assets/reactions/ossila_dipcoater_film_library/templates.json",
@@ -1136,7 +1136,7 @@
       "path": "outputs/panel_ui/ossila_dipcoater/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c8cba3e3a722b07596dd0b2cc1ed09580381883e010e8d66ccc54ee363266119"
+      "sha256": "a9b42a505e0f9c39b4a66068c0c2f1df76a7b33288f3b0558b455f9a5a12fd40"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/ossila_dipcoater/run_panel_validation.py",
@@ -1148,7 +1148,7 @@
       "path": "outputs/panel_ui/ossila_dipcoater/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "ffd651f6129fe941ed4498e55ecacb86cb980db27d64558fc3238c713875d9c6"
+      "sha256": "1b239c2bf9f50be2687cc8847714720d05af4458656bc1efc051f55003d76409"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ossila_dipcoater/build_panel_spec.py",
@@ -8009,7 +8009,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -8019,7 +8019,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -8350,7 +8350,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -8360,7 +8360,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -8714,7 +8714,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -8724,7 +8724,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9033,7 +9033,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9043,7 +9043,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9325,7 +9325,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
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           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9335,7 +9335,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
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           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9611,7 +9611,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
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           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9621,7 +9621,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
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           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9908,7 +9908,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
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           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -9918,7 +9918,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10224,7 +10224,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10234,7 +10234,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10515,7 +10515,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10525,7 +10525,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10820,7 +10820,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10830,7 +10830,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11099,7 +11099,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11109,7 +11109,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11409,7 +11409,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11419,7 +11419,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11709,7 +11709,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11719,7 +11719,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11952,7 +11952,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11962,7 +11962,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12260,7 +12260,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12270,7 +12270,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12557,7 +12557,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12567,7 +12567,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12782,7 +12782,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12792,7 +12792,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13036,7 +13036,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13046,7 +13046,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13398,7 +13398,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13408,7 +13408,7 @@
           "status": "passed",
           "method": "28 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:10:23.447046+00:00",
+          "checked_at": "2026-10-22T10:37:36.334443+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13838,8 +13838,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -14180,8 +14180,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -14551,8 +14551,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -14873,8 +14873,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -15180,8 +15180,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -15461,8 +15461,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -15817,8 +15817,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -16159,8 +16159,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -16417,8 +16417,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -16618,8 +16618,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch, panel.capture, panel.frame), the host stepping the clock, placing the bath and clamping the substrate: the six key procedures of the menu survey (start-up and homing, coating length, substrate position and solution height with the dip travel they give, speed units and drying gap with its reset at switch-off, manual jog with Return, a program entered on the Immersion and Withdrawal pages and run to Coating Completed), settings warnings, default page / program, brightness, About, Free Motion, Operation Stopped and Crash Detected, refusals, power, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_dipcoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:09:56.706473+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:38:03.886385+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_dipcoater.py），不跨层借用验证结果"
         },
@@ -17426,6 +17426,20 @@
         ],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "older_operations_pollable",
+        "capability_ids": [
+          "acquisition.start",
+          "acquisition.stop"
+        ],
+        "what_zh": "poll原来只接受最近一次操作：同一调用者较早的、已结束的操作在新操作开始后返回ACCESS_DENIED。现在运行层在操作结束时（步进中、停止后或新操作开始前）保存其最终记录（状态与测量摘要），poll较早的本人操作返回该冻结记录；对已结束的较早操作cancel只返回记录、不影响当前操作；他人或不存在的操作仍为ACCESS_DENIED。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D4）：已结束的较早操作必须仍可查询。",
+        "tests_changed": [
+          "tests/test_asset_ossila_dipcoater.py::FixRoundB::test_older_operation_stays_pollable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_hard_power_switch",
diff --git a/assets/expansion_batch04/t5_automation/ossila_doctorblade/asset.contract.json b/assets/expansion_batch04/t5_automation/ossila_doctorblade/asset.contract.json
index 6e0b63467a1641d7dc3b87f965ba127d5a6835b5..0811b2ce5f7fc2790c1e8153e8009cd21e9f81b8 100644
--- a/assets/expansion_batch04/t5_automation/ossila_doctorblade/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/ossila_doctorblade/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ossila_doctorblade",
-  "asset_version": "1.3.1",
+  "asset_version": "1.3.2",
   "name_zh": "Ossila Doctor Blade Coater（100mm数字刮刀＋8mm玻璃台）",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -332,13 +332,13 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_doctorblade/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "d1b9281adba609b45a704d48aac89da3036c65fabd3cd688efe6dcd84414095b"
+      "sha256": "13b844e12a4aa821ddba29d331c670fe2ecd70323a46aa8a098d914eba1443b1"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_doctorblade/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c104a2b68eeeb263d7670d06b409561fcff5bb7d7022bcd0896faeabc12bb40b"
+      "sha256": "02430e95cf5708cb8236eb1a9e734b50c26ee150dc94a77f97d53470aee91ecd"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_doctorblade/scene_adapter.py",
@@ -398,7 +398,7 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_doctorblade/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "c104a2b68eeeb263d7670d06b409561fcff5bb7d7022bcd0896faeabc12bb40b"
+      "sha256": "02430e95cf5708cb8236eb1a9e734b50c26ee150dc94a77f97d53470aee91ecd"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_doctorblade/scene_validation.json",
@@ -1346,13 +1346,13 @@
       "path": "scripts/asset_runtime/ossila_doctorblade.py",
       "format": "py",
       "status": "available",
-      "sha256": "3b209642d121f52266922718e77c8cd0367b2eae70db46f18017cd788f6dd03e"
+      "sha256": "096c2fe7252ec9197ae6d0ecc09d3ef3d8d1e9184f29765df7c688f5ce7e3433"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ossila_doctorblade.py",
       "format": "py",
       "status": "available",
-      "sha256": "23700eca05296db4568b4a238ce2f576fa23319b5df516f5f4c602ea0b67e11b"
+      "sha256": "a793a92590ea82e3e165969a1c27f776cf496c956c0e0d301fcc3d6989d99be6"
     },
     "solvent_library": {
       "path": "assets/reactions/ossila_doctorblade_film_library/templates.json",
@@ -1382,7 +1382,7 @@
       "path": "tests/test_panel_ui_ossila_doctorblade.py",
       "format": "py",
       "status": "available",
-      "sha256": "b4ea1561f2bd17ef6338e6f7f591a3ae5c16e6d86f92020a5dd07e64daab3402"
+      "sha256": "bd369df7b1522f7a59713b10c64b6bf3ca7da2c310f5965f900e5aed3ee52530"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -1394,7 +1394,7 @@
       "path": "outputs/panel_ui/ossila_doctorblade/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "195de006b7dc7e481a3b2dcef9f55bbffec48917e11e05707ab2a8ed8a758a5a"
+      "sha256": "1d817d12b6b7f8f0d9950e2cdd006f9353c72474549d7825ef4f84953209418d"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/ossila_doctorblade/run_panel_validation.py",
@@ -1406,7 +1406,7 @@
       "path": "outputs/panel_ui/ossila_doctorblade/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "6e9a9ae321ec6b01d2b1622c1d6a745e9487a70f784008d057ff70ff6f767726"
+      "sha256": "e798a99793878f845bbda652563105fa5c17d0e23ca2c3f48925eed9f117cd6d"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ossila_doctorblade/build_panel_spec.py",
@@ -10563,7 +10563,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10573,7 +10573,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10637,7 +10637,8 @@
             "type": "number",
             "x-unit": "m/s",
             "minimum": 5e-05,
-            "maximum": 0.25
+            "maximum": 0.25,
+            "multipleOf": 1e-05
           }
         },
         "required": [
@@ -10851,7 +10852,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -10861,7 +10862,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11194,7 +11195,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -11204,7 +11205,7 @@
           "status": "passed",
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@@ -11500,7 +11501,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
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@@ -11510,7 +11511,7 @@
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@@ -11792,7 +11793,7 @@
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           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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@@ -11802,7 +11803,7 @@
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@@ -12078,7 +12079,7 @@
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@@ -12088,7 +12089,7 @@
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@@ -12370,7 +12371,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
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@@ -12380,7 +12381,7 @@
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           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
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@@ -12445,7 +12446,8 @@
             "type": "number",
             "x-unit": "m/s",
             "minimum": 5e-05,
-            "maximum": 0.25
+            "maximum": 0.25,
+            "multipleOf": 1e-05
           }
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@@ -12682,7 +12684,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
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@@ -12692,7 +12694,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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         },
@@ -12762,13 +12764,15 @@
             "type": "number",
             "x-unit": "m",
             "minimum": 0,
-            "maximum": 0.01
+            "maximum": 0.01,
+            "multipleOf": 1e-06
           },
           "right_m": {
             "type": "number",
             "x-unit": "m",
             "minimum": 0,
-            "maximum": 0.01
+            "maximum": 0.01,
+            "multipleOf": 1e-06
           }
         },
         "required": [
@@ -13004,7 +13008,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13014,7 +13018,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13306,7 +13310,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13316,7 +13320,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13575,7 +13579,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13585,7 +13589,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13874,7 +13878,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -13884,7 +13888,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -14159,7 +14163,7 @@
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -14169,7 +14173,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
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@@ -14411,7 +14415,7 @@
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           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
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-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -14421,7 +14425,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -14708,7 +14712,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -14718,7 +14722,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -14994,7 +14998,7 @@
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           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -15004,7 +15008,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -15269,7 +15273,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15279,7 +15283,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -15494,7 +15498,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
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@@ -15504,7 +15508,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15748,7 +15752,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15758,7 +15762,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16091,7 +16095,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16101,7 +16105,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:24.089324+00:00",
+          "checked_at": "2026-10-22T12:37:25.335750+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16159,7 +16163,8 @@
             "type": "integer",
             "minimum": 5,
             "maximum": 100,
-            "x-unit": "1"
+            "x-unit": "1",
+            "multipleOf": 5
           },
           "home_reference": {
             "type": "string",
@@ -16179,7 +16184,8 @@
             "type": "number",
             "x-unit": "m/s",
             "minimum": 5e-05,
-            "maximum": 0.25
+            "maximum": 0.25,
+            "multipleOf": 1e-06
           }
         },
         "required": [],
@@ -16421,8 +16427,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -16724,8 +16730,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -17065,8 +17071,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -17406,8 +17412,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -17481,19 +17487,22 @@
             "type": "number",
             "x-unit": "m",
             "minimum": 0,
-            "maximum": 0.29
+            "maximum": 0.29,
+            "multipleOf": 1e-05
           },
           "speed_m_s": {
             "type": "number",
             "x-unit": "m/s",
             "minimum": 0,
-            "maximum": 0.25
+            "maximum": 0.25,
+            "multipleOf": 1e-05
           },
           "delay_s": {
             "type": "number",
             "x-unit": "s",
             "minimum": 0,
-            "maximum": 999.99
+            "maximum": 999.99,
+            "multipleOf": 0.01
           }
         },
         "required": [
@@ -17767,8 +17776,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -18075,8 +18084,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -18433,8 +18442,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -18744,8 +18753,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -19020,8 +19029,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -19384,8 +19393,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -19730,8 +19739,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -19990,8 +19999,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -20192,8 +20201,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, fixing the substrate, setting the gap and filling the reservoir: the six key procedures of the menu survey (start-up and homing, stop mode SOFT, jog with the home offset, a three-step program with a delay step run to the end, the blade gap on the two micrometer gauges, emergency stop and reset), home reference FRONT with coating towards the back, brightness / temperature / Info, program and step keys, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_doctorblade.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:18:22.302413+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:28.165943+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_doctorblade.py），不跨层借用验证结果"
         },
@@ -21036,6 +21045,37 @@
         ],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "older_operations_pollable",
+        "capability_ids": [
+          "acquisition.start",
+          "acquisition.stop"
+        ],
+        "what_zh": "poll原来只接受最近一次操作：同一调用者较早的、已结束的操作在新操作开始后返回ACCESS_DENIED。现在运行层在操作结束时（步进中、停止后或新操作开始前）保存其最终记录（状态与测量摘要），poll较早的本人操作返回该冻结记录；对已结束的较早操作cancel只返回记录、不影响当前操作；他人或不存在的操作仍为ACCESS_DENIED。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D4）：已结束的较早操作必须仍可查询。",
+        "tests_changed": [
+          "tests/test_asset_ossila_doctorblade.py::FixRoundB::test_older_operation_stays_pollable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "schema_grids",
+        "capability_ids": [
+          "gap.set",
+          "method.configure",
+          "stage.move_to",
+          "settings.configure",
+          "program.set_step"
+        ],
+        "what_zh": "运行层按面板分辨率强制的网格写进输入模式（multipleOf）：gap.set两端1 µm，method.configure与stage.move_to速度0.01 mm/s，settings.configure手动速度0.001 mm/s与亮度5 %，program.set_step长度0.01 mm、速度0.01 mm/s、延时0.01 s；原来只有运行层拒绝（INVALID_ARGUMENT），模式里看不到。行为不变。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D6）：网格须在合同模式中声明。",
+        "tests_changed": [
+          "tests/test_asset_ossila_doctorblade.py::FixRoundB::test_schema_grids_match_the_runtime（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_hard_power_switch",
diff --git a/assets/expansion_batch04/t5_automation/ossila_slotdie/asset.contract.json b/assets/expansion_batch04/t5_automation/ossila_slotdie/asset.contract.json
index 6bd5f41c0129e715363e6fe45b6a41402101a1ef..b137422a314157446dd150a41b35932942a9766e 100644
--- a/assets/expansion_batch04/t5_automation/ossila_slotdie/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/ossila_slotdie/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ossila_slotdie",
-  "asset_version": "1.3.1",
+  "asset_version": "1.3.2",
   "name_zh": "Ossila Slot-Die Coater V2 L2005A2（100mm标准模头/5mL注射器）",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -344,13 +344,13 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_slotdie/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "c66c9fcea73fd77ef16755f2fecd94583d103718686cf1c7ec098ea72949c1e5"
+      "sha256": "cdf1dfc7ff81c41f9fa3f12e61d8fb7a234796f5fa42fa69057e26029486c74a"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_slotdie/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b7b461765fcf45e4a7159da18b07e3c61b79c1e799cdafa97339c14ad1f38a37"
+      "sha256": "42f171447d7b703aa13c2e6aea983e7c4bbb0f3e355a4306135d17b2f1c6dbd7"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_slotdie/scene_adapter.py",
@@ -410,7 +410,7 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_slotdie/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b7b461765fcf45e4a7159da18b07e3c61b79c1e799cdafa97339c14ad1f38a37"
+      "sha256": "42f171447d7b703aa13c2e6aea983e7c4bbb0f3e355a4306135d17b2f1c6dbd7"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_slotdie/scene_validation.json",
@@ -1484,13 +1484,13 @@
       "path": "scripts/asset_runtime/ossila_slotdie.py",
       "format": "py",
       "status": "available",
-      "sha256": "0fd8053573125908569f19cad2b8f2169c5eb7a11d9425c8581a584e147c0d10"
+      "sha256": "cc3a58ff61008d366cb8c573e2363652c58864eb95b95bbea40a06e241bc162f"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ossila_slotdie.py",
       "format": "py",
       "status": "available",
-      "sha256": "08e5a5972b97833f6707b7d8c29520db09ab17757c84f656ff573458703f05d2"
+      "sha256": "fad1d5374b57944702ef0104f2215b427f04849715558e02ca3081732c6b05f4"
     },
     "solvent_library": {
       "path": "assets/reactions/ossila_slotdie_film_library/templates.json",
@@ -1520,7 +1520,7 @@
       "path": "tests/test_panel_ui_ossila_slotdie.py",
       "format": "py",
       "status": "available",
-      "sha256": "581e48318f6e38105b3b72df390971cea8f13a12c9d5cea9b1ea8b6e48b1c7be"
+      "sha256": "0bf6b6917de718a7c0584c2c3d794ae35d3d95d0f01ce3790631cbb790ec5991"
     },
     "panel_engine_tests": {
       "path": "tests/test_panel_ui_engine.py",
@@ -1532,7 +1532,7 @@
       "path": "outputs/panel_ui/ossila_slotdie/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "75935795e1e9a08db5f24e96dc7904feb968914396f8bdb48c9b26e5bf6c1f5c"
+      "sha256": "ee9cb804e9345294686f28ae8394f58ab7dab875561a7160b58900070d14e8ec"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/ossila_slotdie/run_panel_validation.py",
@@ -1544,7 +1544,7 @@
       "path": "outputs/panel_ui/ossila_slotdie/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "d927b8b632489a98eacd553ac714d32265c2238966398f926fcba5f40343c09a"
+      "sha256": "4f4d4e7f8dd0fb7534d3f3399135a662178eaad859c528ae385c594f8114c846"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ossila_slotdie/build_panel_spec.py",
@@ -12151,7 +12151,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12161,7 +12161,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12485,7 +12485,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12495,7 +12495,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12863,7 +12863,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12873,7 +12873,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13199,7 +13199,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13209,7 +13209,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13536,7 +13536,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13546,7 +13546,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13867,7 +13867,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13877,7 +13877,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14189,7 +14189,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14199,7 +14199,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14531,7 +14531,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14541,7 +14541,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14883,7 +14883,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14893,7 +14893,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15232,7 +15232,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15242,7 +15242,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15531,7 +15531,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15541,7 +15541,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15863,7 +15863,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15873,7 +15873,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16190,7 +16190,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16200,7 +16200,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16456,7 +16456,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16466,7 +16466,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16799,7 +16799,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -16809,7 +16809,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17115,7 +17115,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17125,7 +17125,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17425,7 +17425,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17435,7 +17435,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17650,7 +17650,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17660,7 +17660,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17904,7 +17904,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -17914,7 +17914,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18273,7 +18273,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18283,7 +18283,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18620,7 +18620,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18630,7 +18630,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18945,7 +18945,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -18955,7 +18955,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -19255,7 +19255,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -19265,7 +19265,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -19571,7 +19571,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -19581,7 +19581,7 @@
           "status": "passed",
           "method": "30 actual unittests, schema negative controls, every capability input/output and final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:21.777573+00:00",
+          "checked_at": "2026-10-22T12:37:33.550056+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -19975,8 +19975,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -20341,8 +20341,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -20737,8 +20737,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -21133,8 +21133,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -21556,8 +21556,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -21894,8 +21894,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -22238,8 +22238,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -22609,8 +22609,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -22922,8 +22922,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -23265,8 +23265,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -23571,8 +23571,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -23993,8 +23993,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -24399,8 +24399,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -24661,8 +24661,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -24864,8 +24864,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press with hold times, panel.switch for the power switch and the emergency stop, panel.capture, panel.frame), the host stepping the clock, placing the substrate, setting the head gap and installing the filled syringe: the seven key procedures of the menu survey (power on and home, hotplate on at 100 C with the Heater LED, signed temperature offset, syringe size with Cust diameter, manual stage jog and syringe priming / retraction, a two-step program with corrected length and rate, run with delay icon and progress bar and Stop), the warnings (speed not set, travel exceeded, Motor Stalled), Stage Home, height gauges, emergency stop, refusals and power, time-outs, panel = direct capability (identical evaluator state), method.configure shown on the panel, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_slotdie.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T11:47:17.912192+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T12:37:39.487610+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_slotdie.py），不跨层借用验证结果"
         },
@@ -26029,6 +26029,20 @@
         ],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "older_operations_pollable",
+        "capability_ids": [
+          "acquisition.start",
+          "acquisition.stop"
+        ],
+        "what_zh": "poll原来只接受最近一次操作：同一调用者较早的、已结束的操作在新操作开始后返回ACCESS_DENIED。现在运行层在操作结束时（步进中、停止后或新操作开始前）保存其最终记录（状态与测量摘要），poll较早的本人操作返回该冻结记录；对已结束的较早操作cancel只返回记录、不影响当前操作；他人或不存在的操作仍为ACCESS_DENIED。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D4）：已结束的较早操作必须仍可查询。",
+        "tests_changed": [
+          "tests/test_asset_ossila_slotdie.py::FixRoundB::test_older_operation_stays_pollable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_hard_power_switch",
diff --git a/assets/expansion_batch04/t5_automation/ossila_spincoater/asset.contract.json b/assets/expansion_batch04/t5_automation/ossila_spincoater/asset.contract.json
index 913909c7d74a7a2a2916a5c0ad7ec1723259812f..ec78cb32a33fafa57b357393e98d24303f3d7785 100644
--- a/assets/expansion_batch04/t5_automation/ossila_spincoater/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/ossila_spincoater/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.ossila_spincoater",
-  "asset_version": "1.2.2",
+  "asset_version": "1.2.3",
   "name_zh": "Ossila Spin Coater Standard V3 L2001A3旋涂机",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -320,7 +320,7 @@
       "path": "outputs/expansion_batch04/t5_automation/ossila_spincoater/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "9dcb8f8805d593fe902c48dc077c3d0a6ca5b5248f5f98f0f507c48295ed4131"
+      "sha256": "368d550e19d5236b380fd5da56ab76f1598db8b7468dd9201105cd3dd01b7566"
     },
     "output_scene_adapter": {
       "path": "outputs/expansion_batch04/t5_automation/ossila_spincoater/scene_adapter.py",
@@ -1058,13 +1058,13 @@
       "path": "scripts/asset_runtime/ossila_spincoater.py",
       "format": "py",
       "status": "available",
-      "sha256": "5a9e2236d39947c15702bd05783d995a567463235b67689c01c99e52a381ef74"
+      "sha256": "d8a671104d2dc6a11c07c379eeabc9593cd47ef7d82d42333edc1e4d934eda09"
     },
     "runtime_tests": {
       "path": "tests/test_asset_ossila_spincoater.py",
       "format": "py",
       "status": "available",
-      "sha256": "d3984ad5c73e0bcec604816c2aba51a5280828bf642e41b93cc4dfa97c78b853"
+      "sha256": "07cc3fec7a94955177a35b7d93184d0e23d65cbcbf95c879fcd04caf287928fe"
     },
     "solvent_library": {
       "path": "assets/reactions/ossila_spincoater_film_library/templates.json",
@@ -1100,7 +1100,7 @@
       "path": "outputs/panel_ui/ossila_spincoater/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "9414b9bc26630e3df0fd106f6db687dd0a1551513ef322d1c64bc9c5cb3094e5"
+      "sha256": "3b01d23586cf7044ca0ca033ed59b8f72fe022312f4937659fa5bc2b3957ed97"
     },
     "panel_ui_runner_py": {
       "path": "outputs/panel_ui/ossila_spincoater/run_panel_validation.py",
@@ -1112,7 +1112,7 @@
       "path": "outputs/panel_ui/ossila_spincoater/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "85aba25979db7d3d425ae6a72d59caabb79416bf4a0ceb5c13fcd6565c082b53"
+      "sha256": "ebcf818d6257668e40534d1824869280f78aee28289d6dcc2150f97e82d3720d"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/ossila_spincoater/build_panel_spec.py",
@@ -6765,7 +6765,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -6775,7 +6775,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7043,7 +7043,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7053,7 +7053,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7354,7 +7354,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7364,7 +7364,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7609,7 +7609,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7619,7 +7619,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7858,7 +7858,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -7868,7 +7868,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8122,7 +8122,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8132,7 +8132,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8405,7 +8405,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8415,7 +8415,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8668,7 +8668,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8678,7 +8678,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8883,7 +8883,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -8893,7 +8893,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9140,7 +9140,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9150,7 +9150,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9394,7 +9394,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9404,7 +9404,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9603,7 +9603,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9613,7 +9613,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9841,7 +9841,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -9851,7 +9851,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -10152,7 +10152,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -10162,7 +10162,7 @@
           "status": "passed",
           "method": "unittest plus all actual capability output schemas and final state schemas",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:51.109473+00:00",
+          "checked_at": "2026-10-22T10:37:05.386398+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力返回schema与33项过程/协议测试；不代表厂家物理标定"
         },
@@ -10468,8 +10468,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -10777,8 +10777,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -11100,8 +11100,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -11406,8 +11406,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -11696,8 +11696,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -11934,8 +11934,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -12117,8 +12117,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.press, panel.switch, panel.capture, panel.frame), the host stepping the clock, moving the lid and placing the substrate: the five key procedures of the menu survey (user profile, program, a 2-step recipe entered with the cursor and the Value keys, a run with the running page, an abort with STOPPING), value and cursor limits, the program store per user, lid warning and forced stop, unprogrammed programs not starting, keys ignored while running, power switch, panel = direct capability (identical evaluator state), method.configure stored in the selected program, render determinism and capture files, contract entries; then the instrument test suite (tests/test_asset_ossila_spincoater.py). Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:08:49.176704+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T10:37:08.640464+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_ossila_spincoater.py），不跨层借用验证结果"
         },
@@ -12799,6 +12799,20 @@
         ],
         "backup": "备份见项目备份目录sync_20261019/"
       },
+      {
+        "date": "2026-10-22",
+        "id": "older_operations_pollable",
+        "capability_ids": [
+          "acquisition.start",
+          "acquisition.stop"
+        ],
+        "what_zh": "poll原来只接受最近一次操作：同一调用者较早的、已结束的操作在新操作开始后返回ACCESS_DENIED。现在运行层在操作结束时（步进中、停止后或新操作开始前）保存其最终记录（状态与测量摘要），poll较早的本人操作返回该冻结记录；对已结束的较早操作cancel只返回记录、不影响当前操作；他人或不存在的操作仍为ACCESS_DENIED。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B D4）：已结束的较早操作必须仍可查询。",
+        "tests_changed": [
+          "tests/test_asset_ossila_spincoater.py::FixRoundB::test_older_operation_stays_pollable（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
+      },
       {
         "date": "2026-10-19",
         "id": "sweep_hard_power_switch",
diff --git a/assets/expansion_batch04/t5_automation/thermo_process11/asset.contract.json b/assets/expansion_batch04/t5_automation/thermo_process11/asset.contract.json
index 30a3a4b1198b51a0e191c1b229055df2f87ed959..7d32805ca63a95389c74f9326a0930ffc2313de3 100644
--- a/assets/expansion_batch04/t5_automation/thermo_process11/asset.contract.json
+++ b/assets/expansion_batch04/t5_automation/thermo_process11/asset.contract.json
@@ -1,7 +1,7 @@
 {
   "schema_version": "1.0.0",
   "asset_type_id": "instrument.thermo_process11",
-  "asset_version": "1.4.0",
+  "asset_version": "1.4.1",
   "name_zh": "Thermo Scientific Process11（标准350℃双螺杆）",
   "category": "薄膜与功能材料制备",
   "asset_kind": "instrument",
@@ -368,13 +368,13 @@
       "path": "outputs/expansion_batch04/t5_automation/thermo_process11/runtime_tests.log",
       "format": "log",
       "status": "available",
-      "sha256": "0f73ccbc9b0870df2f2fbf9bcc5436682cce182ac1a8d91c7bcf33a0b7ad606c"
+      "sha256": "d4b23837d2b64c25a8e0ac2ff40d7561dcbdab3d9946ea7acbadacb37e0a4dbc"
     },
     "output_runtime_validation_json": {
       "path": "outputs/expansion_batch04/t5_automation/thermo_process11/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "901e795da07aaa2c9b2a3a34d80e90215d910cb9be28987434daeabe56698afc"
+      "sha256": "de69ea82b103640841d1cab6eceda97ac1757238f76b685a4cc9d0e4d27d9e47"
     },
     "output_scene_adapter_py": {
       "path": "outputs/expansion_batch04/t5_automation/thermo_process11/scene_adapter.py",
@@ -440,7 +440,7 @@
       "path": "outputs/expansion_batch04/t5_automation/thermo_process11/runtime_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "901e795da07aaa2c9b2a3a34d80e90215d910cb9be28987434daeabe56698afc"
+      "sha256": "de69ea82b103640841d1cab6eceda97ac1757238f76b685a4cc9d0e4d27d9e47"
     },
     "output_scene_validation": {
       "path": "outputs/expansion_batch04/t5_automation/thermo_process11/scene_validation.json",
@@ -1670,13 +1670,13 @@
       "path": "scripts/asset_runtime/thermo_process11.py",
       "format": "py",
       "status": "available",
-      "sha256": "8945b57b7c03a28f1de76a1fc1799672b49ee26c1215bf52d87fc9b046f46694"
+      "sha256": "4b2a87a71b03111faf9781e9265a6104f46a2a2f4eea46128ba87e25bdf2baba"
     },
     "runtime_tests": {
       "path": "tests/test_asset_thermo_process11.py",
       "format": "py",
       "status": "available",
-      "sha256": "0d739f9a9d18281a40064695980416bc296a4606d625a16e4c4d2e042ed729eb"
+      "sha256": "7072264c8a2f091792f4cf3b5415053baa08f5b48bbbed9be9e32dce3f29a490"
     },
     "solvent_library": {
       "path": "assets/reactions/thermo_process11_extrusion_library/templates.json",
@@ -1718,7 +1718,7 @@
       "path": "outputs/panel_ui/thermo_process11/panel_ui_validation.json",
       "format": "json",
       "status": "available",
-      "sha256": "b7851b698c8d02c99240401ce60eb62aafae1c9258f9da6a080ade13c668b85a"
+      "sha256": "e464345c84c924efe241cc0e9f2e52aface7551cd6362d52fa3414b480a52906"
     },
     "panel_ui_builder_py": {
       "path": "outputs/panel_ui/thermo_process11/build_panel_spec.py",
@@ -1736,7 +1736,7 @@
       "path": "outputs/panel_ui/thermo_process11/patch_contract.py",
       "format": "py",
       "status": "available",
-      "sha256": "68cb4fae9eeeff58a5628844b791de2b6bc7c36bd5a956ba10ea8684e40e89a3"
+      "sha256": "4b4ed67663f345edaac7d93a8f400091ce812606d8f5d766a6e739276f5a01f8"
     },
     "panel_render_home_png": {
       "path": "outputs/panel_ui/thermo_process11/home.png",
@@ -12106,7 +12106,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12116,7 +12116,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12160,7 +12160,7 @@
       ]
     },
     "method.configure": {
-      "function_zh": "宿主配置显式参数或单次有限装料",
+      "function_zh": "宿主配置显式参数或单次有限装料；螺杆转动（drive.enabled）或运行中时返回BUSY：先停螺杆再改方法",
       "kind": "configuration",
       "visibility": "agent",
       "component_ids": [
@@ -12523,7 +12523,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12533,7 +12533,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12961,7 +12961,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -12971,7 +12971,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13360,7 +13360,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13370,7 +13370,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13753,7 +13753,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -13763,7 +13763,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14148,7 +14148,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14158,7 +14158,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14518,7 +14518,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14528,7 +14528,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14906,7 +14906,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -14916,7 +14916,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15313,7 +15313,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15323,7 +15323,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -15696,7 +15696,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
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@@ -15706,7 +15706,7 @@
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@@ -16095,7 +16095,7 @@
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@@ -16105,7 +16105,7 @@
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@@ -16473,7 +16473,7 @@
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
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@@ -16483,7 +16483,7 @@
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
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@@ -16854,7 +16854,7 @@
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           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -16864,7 +16864,7 @@
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -17247,7 +17247,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -17257,7 +17257,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -17652,7 +17652,7 @@
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           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -17662,7 +17662,7 @@
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           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18008,7 +18008,7 @@
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           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18018,7 +18018,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18369,7 +18369,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18379,7 +18379,7 @@
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18616,7 +18616,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18626,7 +18626,7 @@
           "status": "passed",
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18932,7 +18932,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -18942,7 +18942,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -19305,7 +19305,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -19315,7 +19315,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -19671,7 +19671,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -19681,7 +19681,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -20037,7 +20037,7 @@
           "status": "passed",
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           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -20047,7 +20047,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -20532,7 +20532,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
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@@ -20542,7 +20542,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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@@ -20930,7 +20930,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
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           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -20940,7 +20940,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际能力schema错误返回值/负对照和物理协议单测，不证明实机标定"
         },
@@ -21324,8 +21324,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -21335,7 +21335,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -21718,8 +21718,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -21729,7 +21729,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -22153,8 +22153,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -22164,7 +22164,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -22553,8 +22553,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -22564,7 +22564,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -22945,8 +22945,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -22956,7 +22956,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -23339,8 +23339,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -23350,7 +23350,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -23723,8 +23723,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -23734,7 +23734,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -24184,8 +24184,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -24195,7 +24195,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -24619,8 +24619,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -24630,7 +24630,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -25013,8 +25013,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -25024,7 +25024,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -25407,8 +25407,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -25418,7 +25418,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -25797,8 +25797,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -25808,7 +25808,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -26178,8 +26178,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -26189,7 +26189,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -26579,8 +26579,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -26590,7 +26590,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -26982,8 +26982,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -26993,7 +26993,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -27413,8 +27413,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -27424,7 +27424,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -27829,8 +27829,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -27840,7 +27840,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -28329,8 +28329,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -28340,7 +28340,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -28850,8 +28850,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -28861,7 +28861,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -29093,8 +29093,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -29104,7 +29104,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -29280,8 +29280,8 @@
           "layer": "process",
           "status": "passed",
           "method": "Executed the front-panel unittest suite through the session API (panel.touch / panel.switch / panel.capture / panel.frame): the seven key procedures of the menu survey done only with panel gestures (isolator on and intro screen, zone setpoint through the temperature input box and Heating On; setpoint RPM and Extruder On with the torque unit cycle; feeder rate and Start Feeder from the Overview with the refusal while the extruder is off; a recipe created in the Recipe Editor; the recipe written to the PLC after YES; one zone and the following zones / all zones with the -10/+5 keys and the 280 C limit; pressure probe tare refused while the die pressure is high, then done), each checked on the runtime state and the structured frame; feeder overview / feeding mode / set-up / test run stopped on leaving / max-output wizard; temperature profile, process and temperature trends (navigation, Pause, LOG CLR); emergency stop, Mute/Reset, alarm viewer and summary; time & date and HMI/PLC sync; Engineering and Print Screen refused with the device message; panel = direct commands (same runtime state before and after stepping); power off and rejected gestures; render determinism and the evidence PNGs; contract entries.  Process layer only.",
-          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:55.018951+00:00",
+          "environment": "{\"python\": \"3.12.14\", \"executable\": \"$CONDA_PREFIX/bin/python\", \"platform\": \"Linux-x86_64\", \"conda_env\": \"base\"}",
+          "checked_at": "2026-10-22T11:31:59.771892+00:00",
           "evidence_artifact_id": "panel_ui_validation",
           "evidence_note": "前面板测试套件（tests/test_panel_ui_thermo_process11.py）经会话API以面板手势调用；不跨层借用验证结果"
         },
@@ -29291,7 +29291,7 @@
           "status": "passed",
           "method": "actual unittests (protocol + full real-data template library v3), schema negative controls, every capability input/output incl. library-driven material instance, final state returned-error validation",
           "environment": "{\"python\": \"3.12.14 (main, Sep  2 2026, 23:27:36) [GCC 15.3.0]\", \"platform\": \"Linux-x86_64\", \"conda\": \"matterix\"}",
-          "checked_at": "2026-10-19T12:24:41.662856+00:00",
+          "checked_at": "2026-10-22T11:31:56.923476+00:00",
           "evidence_artifact_id": "output_runtime_validation",
           "evidence_note": "实际调用的输入/输出schema与状态槽检查（verify_runtime.py的HMI实例）"
         },
@@ -30373,6 +30373,19 @@
           "tests/test_panel_ui_thermo_process11.py: 新增SyncAuditFixes的增益、堆密度/最大产量计算与拒绝/断电测试；原有测试不变（默认真实堆密度=设定堆密度，前馈精确）"
         ],
         "backup": "备份见项目备份目录sync_20261019/"
+      },
+      {
+        "date": "2026-10-22",
+        "id": "method_busy_stated",
+        "capability_ids": [
+          "method.configure"
+        ],
+        "what_zh": "method.configure在螺杆转动（drive.enabled）或运行中时返回BUSY，合同没有说明；功能说明写明“螺杆转动或运行中时返回BUSY：先停螺杆再改方法”。行为不变。版本1.4.0→1.4.1。",
+        "why_zh": "chemlab编译层发现（RUNTIME_FINDINGS_B FO3）：合同须说明BUSY条件。",
+        "tests_changed": [
+          "tests/test_asset_thermo_process11.py::FixRoundB::test_method_configure_busy_while_screws_turn_is_stated（新增）"
+        ],
+        "backup": "备份见项目备份目录chemlab_findings_fix_B_20261022/"
       }
     ]
   }
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+{
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+ "signs": {
+  "iso7010_w021_flammable": {
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+   "usage_terms": "Public domain",
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+   "licence": "Public domain",
+   "usage_terms": "Public domain",
+   "artist": "<a rel=\"nofollow\" class=\"external text\" href=\"https://www.iso.org/\">ISO</a>",
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+   "usage_terms": "Public domain",
+   "artist": "Unknown author<span style=\"display: none;\">Unknown author</span>",
+   "credit": "EPS file flamme.eps from <a rel=\"nofollow\" class=\"external text\" href=\"http://www.unece.org/trans/danger/publi/ghs/pictograms.html\">UNECE web site</a> converted with ImageMagick <i>convert</i> and wit",
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+   "licence": "Public domain",
+   "usage_terms": "Public domain",
+   "artist": "Unknown author<span style=\"display: none;\">Unknown author</span>",
+   "credit": "EPS file rondflam.eps from <a rel=\"nofollow\" class=\"external text\" href=\"http://www.unece.org/trans/danger/publi/ghs/pictograms.html\">UNECE web site</a> converted with ImageMagick <i>convert</i> and w",
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+  "ghs04_gas_cylinder": {
+   "file": "ghs04_gas_cylinder.png",
+   "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg",
+   "source_file": "https://upload.wikimedia.org/wikipedia/commons/6/6a/GHS-pictogram-bottle.svg?utm_source=commons.wikimedia.org&utm_campaign=imageinfo&utm_content=original",
+   "rendered_png": "https://thumb.wikimedia.org/wikipedia/commons/thumb/6/6a/GHS-pictogram-bottle.svg/960px-GHS-pictogram-bottle.svg.png",
+   "licence": "Public domain",
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+    },
+    {
+      "contract_path": "racks/mn_702503_vial_rack_23mm/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.mn_702503_vial_rack_23mm",
+      "asset_version": "1.0.0",
+      "name_zh": "MACHEREY-NAGEL 顶空瓶架 702503（36 位，孔径 23.1 mm，PP 蓝）",
+      "category": "labware.rack.vial",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/biorad_hardshell_pcr_plate_96/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.biorad_hardshell_pcr_plate_96",
+      "asset_version": "1.0.0",
+      "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+      "category": "labware.sbs.pcr_plate",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/corning_96_wellplate_360ul_flat/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.corning_96_wellplate_360ul_flat",
+      "asset_version": "1.0.0",
+      "name_zh": "Corning 96 孔平底板 360 µL",
+      "category": "labware.sbs.plate",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/nest_12_reservoir_15ml/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.nest_12_reservoir_15ml",
+      "asset_version": "1.0.0",
+      "name_zh": "NEST 12 槽储液槽 15 mL",
+      "category": "labware.sbs.reservoir",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/nest_96_wellplate_2ml_deep/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.nest_96_wellplate_2ml_deep",
+      "asset_version": "1.0.0",
+      "name_zh": "NEST 96 深孔板 2 mL",
+      "category": "labware.sbs.deepwell",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/opentrons_flex_tiprack_1000ul/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.opentrons_flex_tiprack_1000ul",
+      "asset_version": "1.0.0",
+      "name_zh": "Opentrons Flex 96 吸头盒 1000 µL（满盒）",
+      "category": "labware.sbs.tiprack",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/opentrons_flex_tiprack_200ul/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.opentrons_flex_tiprack_200ul",
+      "asset_version": "1.0.0",
+      "name_zh": "Opentrons Flex 96 吸头盒 200 µL（满盒）",
+      "category": "labware.sbs.tiprack",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/opentrons_flex_tiprack_50ul/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.opentrons_flex_tiprack_50ul",
+      "asset_version": "1.0.0",
+      "name_zh": "Opentrons Flex 96 吸头盒 50 µL（满盒）",
+      "category": "labware.sbs.tiprack",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "sbs/sbs_plate_carrier/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.sbs_plate_carrier",
+      "asset_version": "1.0.0",
+      "name_zh": "SBS 板托架（带机器人抓手柱）",
+      "category": "labware.sbs.carrier",
+      "asset_kind": "accessory",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "tools/bochem_spatula_3340/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.bochem_spatula_3340",
+      "asset_version": "1.0.0",
+      "name_zh": "Bochem 3340 微量药匙（18/10 不锈钢，150 mm，Ø9 mm 匙头 + 平铲）",
+      "category": "labware.tool.spatula",
+      "asset_kind": "tool",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    },
+    {
+      "contract_path": "tools/globe_weighing_boat_3620/asset.contract.json",
+      "schema_version": "1.0.0",
+      "asset_type_id": "labware.globe_weighing_boat_3620",
+      "asset_version": "1.0.0",
+      "name_zh": "Globe Scientific 3620 防静电方形称量舟（41×41×8 mm，PS）",
+      "category": "labware.tool.weighing_boat",
+      "asset_kind": "passive",
+      "coverage": "full",
+      "component_count": 1,
+      "capabilities": {},
+      "state_slots": {},
+      "static_only": true
+    }
+  ],
+  "errors": [],
+  "validation_scope": "仅检查合同结构、引用、声明一致性及可选文件完整性；不执行 API，不验证入口存在、实际返回字段、场景对象、动力学正确性或验证证据内容真实性。"
+}
diff --git a/assets/labware/catalog.json b/assets/labware/catalog.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be074879941ba12ebdae43349e7c0452f243255
--- /dev/null
+++ b/assets/labware/catalog.json
@@ -0,0 +1,35458 @@
+{
+ "schema_version": "1.0.0",
+ "generated_at": "2026-10-23T09:40:18Z",
+ "generator": "scripts/labware/build_labware.py",
+ "description_zh": "实验室容器、耗材、器具与存放家具目录：新建资产（assets/labware/，几何+合同+抓取坐标+内腔）与复用资产（LabUtopia MIT / Matterix）。chemlab 的 configs/inventory_default.json 用 type id 引用这里的类型，用 place id 引用 places。",
+ "conventions": {
+  "units": "SI (m, kg, m3, rad)",
+  "up_axis": "+Z",
+  "front": "-Y",
+  "origin": "footprint centre, base at z = 0",
+  "quaternion": "(x, y, z, w)",
+  "frames": "TCP target positions in the asset frame (closed state); rot (1,0,0,0) = top-down",
+  "frame_names": [
+   "grasp",
+   "pre_grasp",
+   "post_grasp",
+   "place",
+   "pre_place",
+   "cap_grasp",
+   "cap_seat",
+   "pour_lip",
+   "sbs_grasp",
+   "handle_<door>"
+  ]
+ },
+ "robot_constraints": {
+  "gripper": "Franka Hand",
+  "max_open_m": 0.08,
+  "max_grasp_width_m": 0.074,
+  "hand_above_tcp_m": 0.037,
+  "approach": "top-down",
+  "source": "robot set-up constraints, 2026-10-22"
+ },
+ "types": {
+  "labware.azenta_seal_roll_4ti0520": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/azenta_seal_roll_4ti0520",
+   "contract": "assets/labware/consumables/azenta_seal_roll_4ti0520/asset.contract.json",
+   "manifest": "assets/labware/consumables/azenta_seal_roll_4ti0520/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/azenta_seal_roll_4ti0520/model.glb",
+   "model_urdf": "assets/labware/consumables/azenta_seal_roll_4ti0520/model.urdf",
+   "model_blend": null,
+   "name_zh": "Azenta a4S 封板膜卷（可剥离透明膜 4ti-0520 型，宽 80 mm）",
+   "name_en": "Azenta peelable clear seal roll for the a4S (4ti-0520 type), 80 mm wide",
+   "size_m": [
+    0.082,
+    0.126,
+    0.126
+   ],
+   "total_mass_kg": 0.64396,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "a4s_manual",
+     "kind": "manufacturer",
+     "reference": "Azenta a4S Automated Roll Heat Sealer user manual 347598 (references/manuals/azenta_automated_roll_heat_sealer_a4s/)",
+     "locator": "p.16 seal roll supports: <265 mm and <140 mm roll diameter; p.30: seal rolls 75-85 mm wide; p.41 seal profiles incl. 4ti-0520 Peel Seal (175 C, 3 s)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "a4s_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/azenta_heat_sealer (film_roll part: O126 x 80 mm mesh)",
+     "locator": "meshes/film_roll.obj, model.urdf link film_roll",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.azenta_seal_roll_4ti0520",
+   "family": "seal_roll",
+   "labware_class": "seal_roll",
+   "fits": [
+    "a4s_seal_roll"
+   ],
+   "maker": "Azenta (4titude)",
+   "model": "Clear peelable heat seal, roll format, for the a4S (seal profile 4ti-0520)",
+   "catalogue_no": "4ti-0520 (seal profile in the a4S, manual p.41; roll catalogue variant not verified)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.126,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.1,
+     "note_zh": "卷径 126 mm、宽 80 mm 都超出 Franka 张开宽度",
+     "finger_contact_z_m": [
+      0.054,
+      0.072
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "diameter_m": 0.12599998699999998,
+    "width_m": 0.082000002,
+    "source_id": "a4s_asset"
+   },
+   "franka_grasp_ok": false,
+   "stands_upright": false,
+   "reused_from": "instrument.azenta_heat_sealer:film_roll",
+   "instrument_fit": {
+    "instrument.azenta_heat_sealer": {
+     "slot": "roll_support (small roll < 140 mm)",
+     "roll_width_range_m": [
+      0.075,
+      0.085
+     ]
+    }
+   },
+   "empty_mass_kg": 0.643962
+  },
+  "labware.biorad_tgx_gel_4_20_10well": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/biorad_tgx_gel_4_20_10well",
+   "contract": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/asset.contract.json",
+   "manifest": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.glb",
+   "model_urdf": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.urdf",
+   "model_blend": null,
+   "name_zh": "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %（10 孔，4561094）",
+   "name_en": "Bio-Rad Mini-PROTEAN TGX precast gel 4-20 %, 10-well, 50 uL",
+   "size_m": [
+    0.1,
+    0.085,
+    0.0085
+   ],
+   "total_mass_kg": 0.05028,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "protean_gels_manual",
+     "kind": "manufacturer",
+     "reference": "Bio-Rad Mini-PROTEAN Precast Gels instruction manual 1658100 (references/manuals/biorad_miniprotean/other__mini-protean_precast_gels_manual_1658100.pdf)",
+     "locator": "p.8 1.4 Specifications: gel 7.2 x 8.6 cm, 1.0 mm thick; cassette 8.5 x 10 cm, styrene copolymer; 10-well comb 50 uL",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.biorad_tgx_gel_4_20_10well",
+   "family": "gel",
+   "labware_class": "precast_gel_mini",
+   "fits": [
+    "mini_protean_gel",
+    "protean_gel_slot"
+   ],
+   "maker": "Bio-Rad",
+   "model": "Mini-PROTEAN TGX Precast Gel, 4-20 %, 10-well, 50 uL",
+   "catalogue_no": "4561094",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.085,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.04125,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0085
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.1,
+     0.085,
+     0.0055
+    ],
+    "source_id": "protean_gels_manual"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "instrument_fit": {
+    "instrument.biorad_miniprotean": {
+     "slot": "gel_1..gel_4",
+     "slot_radius_m": 0.05,
+     "item_half_width_m": 0.05
+    }
+   },
+   "gel": {
+    "size_m": [
+     0.086,
+     0.072,
+     0.001
+    ],
+    "wells": 10,
+    "well_volume_m3": 5e-08,
+    "percent": "4-20"
+   },
+   "nominal_capacity_m3": 5e-07,
+   "nominal_capacity_evidence": "10 wells x 50 uL (catalogue)",
+   "storage_note_zh": "2–8 °C 保存",
+   "empty_mass_kg": 0.05028
+  },
+  "labware.brand_ps_macro_cuvette_759005": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/brand_ps_macro_cuvette_759005",
+   "contract": "assets/labware/consumables/brand_ps_macro_cuvette_759005/asset.contract.json",
+   "manifest": "assets/labware/consumables/brand_ps_macro_cuvette_759005/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/brand_ps_macro_cuvette_759005/model.glb",
+   "model_urdf": "assets/labware/consumables/brand_ps_macro_cuvette_759005/model.urdf",
+   "model_blend": null,
+   "name_zh": "BRAND PS 一次性比色皿（10 mm，2.5–4.5 mL，759005）",
+   "name_en": "BRAND macro PS cuvette 10 mm 2.5-4.5 mL",
+   "size_m": [
+    0.0125,
+    0.0125,
+    0.045
+   ],
+   "total_mass_kg": 0.00253,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "brand_759005",
+     "kind": "manufacturer",
+     "reference": "BRAND macro PS cuvette 759005 (Fisher 10549301, https://fishersci.co.uk/shop/products/polystyrene-macro-cuvette/10549301; VWR listing)",
+     "locator": "12.5 x 12.5 x 45 mm, light path 10 mm, 2.5-4.5 mL, 340-900 nm, window 10 x 35 mm, 100 per pack",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.brand_ps_macro_cuvette_759005",
+   "family": "cuvette",
+   "labware_class": "cuvette_10mm",
+   "fits": [
+    "cuvette_12p5",
+    "cell_holder_12p5"
+   ],
+   "maker": "BRAND",
+   "model": "Macro cuvette, PS, 10 mm, 2.5-4.5 mL, 340-900 nm",
+   "catalogue_no": "759005",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.049,
+     "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+     "finger_contact_z_m": [
+      0.003,
+      0.021
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "optical_axis": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.015
+     ],
+     "rot_xyzw": [
+      0,
+      0.70710678,
+      0,
+      0.70710678
+     ],
+     "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+    }
+   },
+   "nominal_capacity_m3": 4.5e-06,
+   "nominal_capacity_evidence": "documented",
+   "brim_capacity_m3": 4.62e-06,
+   "interior": {
+    "shape": "box",
+    "size_m": [
+     0.01,
+     0.0105
+    ],
+    "radius_m": 0.005,
+    "floor_m": 0.001,
+    "height_m": 0.045,
+    "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+   },
+   "light_path_m": 0.01,
+   "outer": {
+    "size_m": [
+     0.0125,
+     0.0125,
+     0.045
+    ],
+    "source_id": "brand_759005"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "empty_mass_kg": 0.002532
+  },
+  "labware.cytiva_series_s_sensor_chip_cm5": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5",
+   "contract": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/asset.contract.json",
+   "manifest": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.glb",
+   "model_urdf": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.urdf",
+   "model_blend": null,
+   "name_zh": "Cytiva Series S 传感芯片 CM5（含保护套，BR100530）",
+   "name_en": "Cytiva Series S Sensor Chip CM5 in its sheath",
+   "size_m": [
+    0.022,
+    0.07,
+    0.0044
+   ],
+   "total_mass_kg": 0.00652,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "biacore_handbook",
+     "kind": "manufacturer",
+     "reference": "Biacore T200 Instrument Handbook (references/manuals/cytiva_biacoret200/operating_manual__biacore_t200_instrument_handbook.pdf)",
+     "locator": "p.21 sensor chip port; p.29 sensor chip = gold-coated glass slide on a supporting frame, normally in a protective sheath; p.30 Sensor Chip CM5 general-purpose chip",
+     "licence": "facts"
+    },
+    {
+     "source_id": "cytiva_cm5",
+     "kind": "manufacturer",
+     "reference": "Cytiva Series S Sensor Chip CM5, BR100530 (3 pack) / 29104988 (1) / 29149603 (10) (https://www.cytivalifesciences.com/en/us/products/items/sensor-chip-cm5-p-05858)",
+     "locator": "Series S chip for Biacore T200; carboxymethylated dextran on gold",
+     "licence": "facts"
+    },
+    {
+     "source_id": "biacore_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/expansion_batch04/t4_measure/cytiva_biacoret200 (sensor_chip_port 90 x 40 x 60 mm) + Matterix slot sensor_chip_slot (port r 12 mm, insert +Y)",
+     "locator": "geometry_manifest.json components.sensor_chip_port; slots_index",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+   "family": "sensor_chip",
+   "labware_class": "spr_chip",
+   "fits": [
+    "spr_sensor_chip",
+    "biacore_chip_port"
+   ],
+   "maker": "Cytiva",
+   "model": "Series S Sensor Chip CM5",
+   "catalogue_no": "BR100530 (3) / 29104988 (1) / 29149603 (10)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0022
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.022,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.0392,
+     "note_zh": "沿 X 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0044
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.022,
+     0.07,
+     0.004
+    ],
+    "source_id": "consumable_assumption"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.cytiva_biacoret200": {
+     "slot": "sensor_chip_slot",
+     "slot_radius_m": 0.012,
+     "item_half_width_m": 0.011,
+     "insert_axis": [
+      0,
+      1,
+      0
+     ]
+    }
+   },
+   "insert_direction_zh": "沿 +Y（窗口端朝前插入）",
+   "storage_note_zh": "2–8 °C 干燥保存",
+   "empty_mass_kg": 0.006518
+  },
+  "labware.elementar_tin_capsule_11x8": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/elementar_tin_capsule_11x8",
+   "contract": "assets/labware/consumables/elementar_tin_capsule_11x8/asset.contract.json",
+   "manifest": "assets/labware/consumables/elementar_tin_capsule_11x8/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/elementar_tin_capsule_11x8/model.glb",
+   "model_urdf": "assets/labware/consumables/elementar_tin_capsule_11x8/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/consumables/elementar_tin_capsule_11x8/model_solid.urdf",
+   "name_zh": "Elementar 锡囊 11 × 8 mm（0.5 mL，200006458）",
+   "name_en": "Elementar tin capsule 11 x 8 mm, 0.5 mL",
+   "size_m": [
+    0.008,
+    0.008,
+    0.011
+   ],
+   "total_mass_kg": 0.00028,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "elementar_capsule",
+     "kind": "manufacturer",
+     "reference": "Elementar tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs, SKU 200006458 (former S05 003 400) (https://portal.elementar.com/us/tin-capsules-11-x-8-mm-v-0-5-ml-100-pcs-package.html)",
+     "locator": "11 mm high x 8 mm diameter, 0.5 mL, for solids",
+     "licence": "facts"
+    },
+    {
+     "source_id": "varioel_asset",
+     "kind": "code",
+     "reference": "Matterix slots_index instrument.elementar_varioel sample_mount (port r 4 mm)",
+     "locator": "slot radius 0.004 m",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.elementar_tin_capsule_11x8",
+   "family": "capsule",
+   "labware_class": "tin_capsule",
+   "fits": [
+    "tin_capsule",
+    "varioel_carousel"
+   ],
+   "maker": "Elementar",
+   "model": "Tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs",
+   "catalogue_no": "200006458 (former S05 003 400)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.004
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.008,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.041,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.013
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.004
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 5e-07,
+   "nominal_capacity_evidence": "documented (Elementar: V 0.5 mL)",
+   "brim_capacity_m3": 5.146e-07,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.00388,
+    "floor_m": 0.00012,
+    "height_m": 0.011,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.00012
+     ],
+     [
+      0.00388,
+      0.00012
+     ],
+     [
+      0.00388,
+      0.011
+     ]
+    ],
+    "nominal_fill_height_m": 0.010692
+   },
+   "outer": {
+    "diameter_m": 0.008,
+    "height_body_m": 0.011,
+    "source_id": "elementar_capsule"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.elementar_varioel": {
+     "slot": "sample_mount",
+     "slot_radius_m": 0.004,
+     "item_radius_m": 0.004
+    }
+   },
+   "empty_mass_kg": 0.000279
+  },
+  "labware.falcon_352052_tube_12x75": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/falcon_352052_tube_12x75",
+   "contract": "assets/labware/consumables/falcon_352052_tube_12x75/asset.contract.json",
+   "manifest": "assets/labware/consumables/falcon_352052_tube_12x75/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/falcon_352052_tube_12x75/model.glb",
+   "model_urdf": "assets/labware/consumables/falcon_352052_tube_12x75/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/consumables/falcon_352052_tube_12x75/model_solid.urdf",
+   "name_zh": "Falcon 352052 圆底聚苯乙烯管 5 mL（12 × 75 mm，无盖）",
+   "name_en": "Falcon 352052 5 mL polystyrene round-bottom tube 12 x 75 mm",
+   "size_m": [
+    0.0128,
+    0.0128,
+    0.075
+   ],
+   "total_mass_kg": 0.0022,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "facsaria_guide",
+     "kind": "manufacturer",
+     "reference": "BD FACSAria III User's Guide (references/manuals/bd_facsariaiii/operating_manual__facsaria_iii_users_guide_*.pdf); tech specs 2018",
+     "locator": "guide p.286: 5-mL polystyrene test tubes 12 x 75 mm (BD Falcon), uncapped, 125 per bag, 352052; tech specs p.3: 12 x 75 mm sample tubes",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.falcon_352052_tube_12x75",
+   "family": "tube",
+   "labware_class": "tube_12x75",
+   "fits": [
+    "tube_12x75",
+    "facs_sample_tube"
+   ],
+   "maker": "Corning (BD Falcon)",
+   "model": "5 mL polystyrene round-bottom test tube, 12 x 75 mm, uncapped, 125/bag",
+   "catalogue_no": "352052",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.042
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0128,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.079,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.033,
+      0.051
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.042
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 5e-06,
+   "nominal_capacity_evidence": "documented (5-mL test tube, FACSAria guide p.286)",
+   "brim_capacity_m3": 6.1509e-06,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0052,
+    "floor_m": 0.0008,
+    "height_m": 0.075,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0008
+     ],
+     [
+      0.00129,
+      0.00096
+     ],
+     [
+      0.00256,
+      0.00147
+     ],
+     [
+      0.00365,
+      0.0023
+     ],
+     [
+      0.00449,
+      0.00338
+     ],
+     [
+      0.00502,
+      0.00464
+     ],
+     [
+      0.0052,
+      0.006
+     ],
+     [
+      0.0052,
+      0.006
+     ],
+     [
+      0.0052,
+      0.075
+     ]
+    ],
+    "nominal_fill_height_m": 0.061452
+   },
+   "outer": {
+    "diameter_m": 0.0128,
+    "height_body_m": 0.075,
+    "source_id": "facsaria_guide"
+   },
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.bd_facsariaiii": {
+     "slot": "sample_tube_seat",
+     "slot_radius_m": 0.02,
+     "item_radius_m": 0.006
+    }
+   },
+   "empty_mass_kg": 0.002204
+  },
+  "labware.gelpak_ad1135_case": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/gelpak_ad1135_case",
+   "contract": "assets/labware/consumables/gelpak_ad1135_case/asset.contract.json",
+   "manifest": "assets/labware/consumables/gelpak_ad1135_case/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/gelpak_ad1135_case/model.glb",
+   "model_urdf": "assets/labware/consumables/gelpak_ad1135_case/model.urdf",
+   "model_blend": null,
+   "name_zh": "Gel-Pak AD-1135 透明翻盖样品盒（3.5 × 4.5 × 0.5 in）",
+   "name_en": "Gel-Pak AD-1135 clear hinged box 3.5 x 4.5 x 0.5 in",
+   "size_m": [
+    0.1143,
+    0.0889,
+    0.0127
+   ],
+   "total_mass_kg": 0.03082,
+   "links": [
+    "body",
+    "lid"
+   ],
+   "joints": {
+    "lid": {
+     "type": "revolute",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_rad": [
+      0.0,
+      2.96706
+     ],
+     "note_zh": "正方向 = 绕 −X 边铰链向上翻开"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "gelpak_ad1135",
+     "kind": "manufacturer",
+     "reference": "Gel-Pak AD series hinged box AD-1135 (Ted Pella listing https://www.tedpella.com/storage-boxes-bags_html/gel-pak-boxes.aspx; Fisher 3.5 x 4.5 x 0.5 in hinged box)",
+     "locator": "3.5 x 4.5 x 0.5 in (89 x 114 x 12.7 mm), clear hinged box, gel-coated floor",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.gelpak_ad1135_case",
+   "family": "case",
+   "labware_class": "reference_case",
+   "fits": [
+    "reference_case"
+   ],
+   "maker": "Gel-Pak (Delphon)",
+   "model": "AD series hinged box AD-1135, 3.5 x 4.5 x 0.5 in",
+   "catalogue_no": "AD-1135",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0889,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.04335,
+     "note_zh": "沿 Y 夹 89 mm 边：超出 Franka 张开宽度",
+     "finger_contact_z_m": [
+      0.0,
+      0.0127
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "lid_tab": {
+     "link": "base_link",
+     "pos_m": [
+      0.05715,
+      0.0,
+      0.0127
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "翻盖自由边（+X）：向上推开"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.1143,
+     0.0889,
+     0.0127
+    ],
+    "source_id": "gelpak_ad1135"
+   },
+   "closure": {
+    "type": "hinged_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "open_rad": 2.96706,
+    "rule_zh": "推 lid_tab 翻开；翻盖不脱离盒底"
+   },
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "contents_note_zh": "盒内标准件只记账（蓝宝石盘 / Ag、Cu 箔 / 石英控制片 / 假电解池）；取出放入仪器由宿主或宽口夹爪完成",
+   "empty_mass_kg": 0.030818
+  },
+  "labware.hellma_100_10_40_quartz_cuvette": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette",
+   "contract": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/asset.contract.json",
+   "manifest": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.glb",
+   "model_urdf": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.urdf",
+   "model_blend": null,
+   "part_body_urdf": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/body.urdf",
+   "part_lid_urdf": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/lid.urdf",
+   "name_zh": "Hellma 100-QS 石英比色皿（10 mm，3.5 mL，PTFE 盖，100-10-40）",
+   "name_en": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid",
+   "size_m": [
+    0.0125,
+    0.0125,
+    0.047
+   ],
+   "total_mass_kg": 0.00824,
+   "links": [
+    "body",
+    "lid"
+   ],
+   "joints": {
+    "lid": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_m": [
+      0.0,
+      0.02
+     ],
+     "note_zh": "盖为塞入式：提起即取下（touch + intent）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "hellma_100_10_40",
+     "kind": "manufacturer",
+     "reference": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid, cat. 100-10-40 (https://analytics-shop.com/us/hl100-10-40)",
+     "locator": "external 12.5 x 12.5 x 45 mm, internal width 9.5 mm, light path 10 mm, 200-2500 nm, PTFE lid",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.008,
+    "rule_zh": "抓盖提起 ≥ clear_lift_m 即取下；放回对准后压下",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   },
+   "type_id": "labware.hellma_100_10_40_quartz_cuvette",
+   "family": "cuvette",
+   "labware_class": "cuvette_10mm",
+   "fits": [
+    "cuvette_12p5",
+    "cell_holder_12p5"
+   ],
+   "maker": "Hellma",
+   "model": "Macro cell type 100-QS, HP quartz, 10 mm, 3500 uL, PTFE lid",
+   "catalogue_no": "100-10-40",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.014
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.051,
+     "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+     "finger_contact_z_m": [
+      0.005,
+      0.023
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.014
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "optical_axis": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.015
+     ],
+     "rot_xyzw": [
+      0,
+      0.70710678,
+      0,
+      0.70710678
+     ],
+     "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+    }
+   },
+   "nominal_capacity_m3": 3.5e-06,
+   "nominal_capacity_evidence": "documented",
+   "brim_capacity_m3": 4.1325e-06,
+   "interior": {
+    "shape": "box",
+    "size_m": [
+     0.01,
+     0.0095
+    ],
+    "radius_m": 0.00475,
+    "floor_m": 0.0015,
+    "height_m": 0.045,
+    "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+   },
+   "light_path_m": 0.01,
+   "outer": {
+    "size_m": [
+     0.0125,
+     0.0125,
+     0.045
+    ],
+    "source_id": "hellma_100_10_40"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "empty_mass_kg": 0.008243
+  },
+  "labware.mt_quantos_head_container": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/mt_quantos_head_container",
+   "contract": "assets/labware/consumables/mt_quantos_head_container/asset.contract.json",
+   "manifest": "assets/labware/consumables/mt_quantos_head_container/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/mt_quantos_head_container/model.glb",
+   "model_urdf": "assets/labware/consumables/mt_quantos_head_container/model.urdf",
+   "model_blend": null,
+   "name_zh": "Quantos 加样头存放容器（随头附带的塑料容器，开口放置）",
+   "name_en": "Quantos dosing-head storage container (supplied with each head)",
+   "size_m": [
+    0.07,
+    0.07,
+    0.06
+   ],
+   "total_mass_kg": 0.02163,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "quantos_manual",
+     "kind": "manufacturer",
+     "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+     "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "quantos_assumption",
+     "kind": "assumption",
+     "reference": "head mass, head-container size",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.mt_quantos_head_container",
+   "family": "head_container",
+   "labware_class": "quantos_head_container",
+   "fits": [
+    "bottle",
+    "jar"
+   ],
+   "maker": "METTLER TOLEDO (supplied with each dosing head)",
+   "model": "Plastic container delivered with Quantos dosing heads (manual p.27, p.94)",
+   "catalogue_no": null,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.036
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.07,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.073,
+     "note_zh": "杯外径 70 mm（≤74 mm，可抓）",
+     "finger_contact_z_m": [
+      0.027,
+      0.045
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.036
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "head_seat": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0195,
+      0.0015
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "加样头在杯中的位置（头坐标原点）"
+    }
+   },
+   "empty_mass_kg": 0.02163,
+   "franka_grasp_ok": true,
+   "stands_upright": true,
+   "holds": "labware.mt_quantos_qh016_bnmw",
+   "storage_place_zh": "台面阶梯架 bench_shelf（T2 后层），每杯一个加样头",
+   "slots": [
+    {
+     "name": "head",
+     "kind": "holder",
+     "part": "body",
+     "position_m": [
+      0.0,
+      0.0195,
+      0.0015
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "fits": [
+      "quantos_powder_head"
+     ],
+     "note_zh": "加样头原点（出粉口下端）放到杯底这里；头上部约 50 mm 露出杯口供俯抓"
+    }
+   ]
+  },
+  "labware.mt_quantos_qh016_bnmw": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/mt_quantos_qh016_bnmw",
+   "contract": "assets/labware/consumables/mt_quantos_qh016_bnmw/asset.contract.json",
+   "manifest": "assets/labware/consumables/mt_quantos_qh016_bnmw/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/mt_quantos_qh016_bnmw/model.glb",
+   "model_urdf": "assets/labware/consumables/mt_quantos_qh016_bnmw/model.urdf",
+   "model_blend": null,
+   "name_zh": "METTLER TOLEDO Quantos 粉末加样头 QH016-BNMW（16 mL，11141503）",
+   "name_en": "METTLER TOLEDO Quantos powder dosing head QH016-BNMW, 16 mL",
+   "size_m": [
+    0.026,
+    0.05891,
+    0.1123
+   ],
+   "total_mass_kg": 0.05207,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "quantos_manual",
+     "kind": "manufacturer",
+     "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+     "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "quantos_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+     "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+     "licence": "project"
+    },
+    {
+     "source_id": "quantos_assumption",
+     "kind": "assumption",
+     "reference": "head mass, head-container size",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.mt_quantos_qh016_bnmw",
+   "family": "dosing_head",
+   "labware_class": "quantos_powder_head",
+   "fits": [
+    "quantos_head_slot",
+    "quantos_head_container"
+   ],
+   "maker": "METTLER TOLEDO",
+   "model": "Quantos powder dosing head QH016-BNMW (16 mL, DIN 18 mm container thread)",
+   "catalogue_no": "11141503",
+   "nominal_capacity_m3": 1.6e-05,
+   "nominal_capacity_evidence": "documented (manual p.102: volume 16 mL)",
+   "dosing": {
+    "target_range_kg": [
+     1e-07,
+     0.00025
+    ],
+    "min_dose_kg": 1e-07,
+    "recommended_dosings": 250,
+    "typical_offset_kg_at_50mg": 2e-07,
+    "typical_sd_kg_at_50mg": 2e-07,
+    "source_id": "quantos_manual"
+   },
+   "rfid_zh": "头内 RFID 存物质名、批号、装填量与剩余量（手册 p.28）；运行层 head.set_content / head.select 对应",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.0793
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.026,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.1163,
+     "note_zh": "俯抓倾斜的粉末瓶上部（宽 26 mm），手指沿 X 合拢；手掌碰撞面高于瓶顶",
+     "finger_contact_z_m": [
+      0.0703,
+      0.0883
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.0793
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "instrument_seat": {
+     "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+     "pos_m": [
+      0.0,
+      -0.031,
+      0.2
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "头原点（出粉口下端）装好后在 Quantos 坐标中的位置 = 实例 powder_outlet 端口"
+    },
+    "insert_pre": {
+     "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+     "pos_m": [
+      0.0,
+      -0.061,
+      0.203
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "插入前：在支架前方 30 mm、高 3 mm；沿 +Y 滑入到底，再下压 3 mm 进定位销（手册 p.21）"
+    }
+   },
+   "empty_mass_kg": 0.05207,
+   "franka_grasp_ok": true,
+   "stands_upright": false,
+   "storage_note_zh": "存放在随头附带的塑料容器中（labware.mt_quantos_head_container，手册 p.94）；吸湿粉末（如 KBr）长期存放放干燥柜",
+   "instrument_fit": {
+    "instrument.mt_quantos_q2_xpe206dr": {
+     "slot": "head_slot",
+     "seat_pose_m": [
+      0.0,
+      -0.031,
+      0.2
+     ],
+     "insert_direction": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "press_down_m": 0.003,
+     "head_slot_port_inside_head": true,
+     "outlet_above_container_seat_xy": true,
+     "ok": true,
+     "collision_free_against_instrument_proxies": true,
+     "proxy_overlaps": [],
+     "insertion_path_clear": true,
+     "insertion_path_hits_m": [],
+     "note_zh": "安装位与仪器接口一致（head_slot 端口在头内、出粉口在样品座正上方）。仪器 1.2.2 起 head_slot 是开放式投料头支架（背板、上下叉臂、四颗定位销；说明书 p.11、p.21）：装好的头与支架代理不相交，沿 +Y 滑入（高 3 mm）再下压 3 mm 的路径也不相交；头的出粉体落在下叉臂上。仿真里仍按 touch + intent 把头运动学挂接到 seat_pose。",
+     "method": "OBB separating-axis test of the head's collision proxies at the installed pose and along the manual's insertion path against the instrument's head_slot proxies"
+    }
+   }
+  },
+  "labware.rigaku_glass_holder_0p2mm": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/rigaku_glass_holder_0p2mm",
+   "contract": "assets/labware/consumables/rigaku_glass_holder_0p2mm/asset.contract.json",
+   "manifest": "assets/labware/consumables/rigaku_glass_holder_0p2mm/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/rigaku_glass_holder_0p2mm/model.glb",
+   "model_urdf": "assets/labware/consumables/rigaku_glass_holder_0p2mm/model.urdf",
+   "model_blend": null,
+   "name_zh": "XRD 玻璃样品板（0.2 mm 槽，MiniFlex 标准平板样品架）",
+   "name_en": "XRD glass sample holder plate, 0.2 mm well (MiniFlex standard stage)",
+   "size_m": [
+    0.05,
+    0.035,
+    0.002
+   ],
+   "total_mass_kg": 0.00884,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "miniflex_docs",
+     "kind": "manufacturer",
+     "reference": "Rigaku MiniFlex brochure rev0723 and MiniFlex 600 SOPs (references/manuals/rigaku_miniflex600_external_cooling/)",
+     "locator": "brochure p.6: various sample holders (glass 0.2 mm / 0.5 mm, zero-background, air-sensitive); Boise State SOP p.4: standard plate-type sample holder; UNT quick guide p.1: glass holder on the standard stage",
+     "licence": "facts"
+    },
+    {
+     "source_id": "glass_holder_dims",
+     "kind": "manufacturer",
+     "reference": "Machined Quartz glass XRD sample holder 50 x 35 x 2 mm, O15 x 0.2 mm well (https://machinedquartz.com/?p=7266)",
+     "locator": "rectangular 50 x 35 mm, 2 mm thick, round reception O15 mm, depth 0.2 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.rigaku_glass_holder_0p2mm",
+   "family": "xrd_holder",
+   "labware_class": "xrd_flat_holder",
+   "fits": [
+    "xrd_flat_holder",
+    "miniflex_standard_stage"
+   ],
+   "maker": "Rigaku (holder type) / Machined Quartz (published footprint)",
+   "model": "Glass sample holder, 0.2 mm deep well (MiniFlex standard plate-type holder)",
+   "catalogue_no": "Rigaku glass holder 0.2 mm (outer size per Machined Quartz 50 x 35 x 2 mm, O15 x 0.2 mm well)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.035,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.038,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.002
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.05,
+     0.035,
+     0.002
+    ],
+    "source_id": "glass_holder_dims"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.rigaku_miniflex600_external_cooling": {
+     "slot": "sample_holder (standard stage)",
+     "slot_radius_m": 0.03,
+     "item_half_diagonal_m": 0.0305
+    }
+   },
+   "well": {
+    "diameter_m": 0.015,
+    "depth_m": 0.0002
+   },
+   "nominal_capacity_m3": 3.5e-08,
+   "nominal_capacity_evidence": "computed: O15 x 0.2 mm well",
+   "empty_mass_kg": 0.008838
+  },
+  "labware.sigma_ir_polystyrene_card_z804290": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290",
+   "contract": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/asset.contract.json",
+   "manifest": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.glb",
+   "model_urdf": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.urdf",
+   "model_blend": null,
+   "name_zh": "红外聚苯乙烯校准膜卡（38 µm，2 × 3 in 卡，Ø19 mm 窗，Z804290）",
+   "name_en": "Polystyrene IR calibration film 38 um on 2 x 3 in card (Sigma-Aldrich Z804290)",
+   "size_m": [
+    0.0762,
+    0.0508,
+    0.0009
+   ],
+   "total_mass_kg": 0.0025,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "ftir_manual",
+     "kind": "manufacturer",
+     "reference": "JASCO FT/IR-4000/6000 operation manual and FT/IR-4000/6000 brochure LFT1309 (references/manuals/jasco_ftir4700/)",
+     "locator": "operation manual p.25 and p.30: the supplied polystyrene film is inserted into the sample holder; brochure p.4: standard sample = polystyrene film",
+     "licence": "facts"
+    },
+    {
+     "source_id": "sigma_z804290",
+     "kind": "manufacturer",
+     "reference": "Sigma-Aldrich Z804290 polystyrene IR calibration films (https://perfqws.sigmaaldrich.com/MY/en/product/aldrich/z804290)",
+     "locator": "38 um certified film (+ 76 um film) mounted on 2 x 3 in cardstock holders with a 19 mm aperture, for the universal slide holder",
+     "licence": "facts"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.sigma_ir_polystyrene_card_z804290",
+   "family": "ir_standard",
+   "labware_class": "ir_film_card",
+   "fits": [
+    "ir_film_card",
+    "ftir_slide_holder"
+   ],
+   "maker": "Sigma-Aldrich",
+   "model": "Polystyrene IR calibration films (38 um certified + 76 um), 2 x 3 in cardstock holders, 19 mm aperture",
+   "catalogue_no": "Z804290",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0508,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.03745,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0009
+     ],
+     "franka_blocked_reason": "flat item lying on the bench: no finger clearance under it (stand it in a holder or use a wider / suction gripper)"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.0762,
+     0.0508,
+     0.0008
+    ],
+    "source_id": "sigma_z804290"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "instrument_fit": {
+    "instrument.jasco_ftir4700": {
+     "slot": "accessory (slide holder in the sample compartment)",
+     "slot_radius_m": 0.0755,
+     "item_half_width_m": 0.0381
+    }
+   },
+   "film": {
+    "thickness_m": 3.8e-05,
+    "aperture_diameter_m": 0.019,
+    "bands_cm-1": [
+     3060.0,
+     2849.5,
+     1601.2,
+     1028.3,
+     906.7
+    ]
+   },
+   "empty_mass_kg": 0.0025
+  },
+  "labware.ta_tzero_pan_lid": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/consumables/ta_tzero_pan_lid",
+   "contract": "assets/labware/consumables/ta_tzero_pan_lid/asset.contract.json",
+   "manifest": "assets/labware/consumables/ta_tzero_pan_lid/geometry_manifest.json",
+   "model_glb": "assets/labware/consumables/ta_tzero_pan_lid/model.glb",
+   "model_urdf": "assets/labware/consumables/ta_tzero_pan_lid/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/consumables/ta_tzero_pan_lid/model_solid.urdf",
+   "part_body_urdf": "assets/labware/consumables/ta_tzero_pan_lid/parts/body.urdf",
+   "part_lid_urdf": "assets/labware/consumables/ta_tzero_pan_lid/parts/lid.urdf",
+   "name_zh": "TA Tzero 铝坩埚 + 盖（901683.901 / 901671.901）",
+   "name_en": "TA Instruments Tzero aluminum pan + Tzero lid",
+   "size_m": [
+    0.0062,
+    0.0062,
+    0.002
+   ],
+   "total_mass_kg": 3e-05,
+   "links": [
+    "body",
+    "lid"
+   ],
+   "joints": {
+    "lid": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_m": [
+      0.0,
+      0.01
+     ],
+     "note_zh": "未压合时可提起；压合（crimp）由 Tzero 压机完成，宿主记录"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "dsc_guide",
+     "kind": "manufacturer",
+     "reference": "TA Instruments DSC Q Series Getting Started Guide rev N (references/manuals/ta_dsc2500/); UCSB DSC2500 quick start",
+     "locator": "p.64 consumables: Tzero aluminum pans 901683.901, Tzero aluminum lids 901671.901 (pkg of 100); quick start p.1: Tzero pans for solids",
+     "licence": "facts"
+    },
+    {
+     "source_id": "dsc_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/expansion_batch03/t1_thermal/ta_dsc2500 (sample_pan cylinder r 3.1 mm x 2.5 mm incl. rim; Matterix slot `sample` r 3 mm)",
+     "locator": "geometry_manifest.json components.sample_pan / sample_pan_rim",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.ta_tzero_pan_lid",
+   "family": "dsc_pan",
+   "labware_class": "dsc_pan",
+   "fits": [
+    "dsc_pan",
+    "dsc2500_sample_platform"
+   ],
+   "maker": "TA Instruments",
+   "model": "Tzero aluminum pan + Tzero aluminum lid",
+   "catalogue_no": "901683.901 + 901671.901",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0062,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.038,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.01
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 2e-08,
+   "nominal_capacity_evidence": "assumption (sample ~5 mg; Tzero pan volume not published)",
+   "brim_capacity_m3": 4.81e-08,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.003,
+    "floor_m": 0.0001,
+    "height_m": 0.0018,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0001
+     ],
+     [
+      0.003,
+      0.0001
+     ],
+     [
+      0.003,
+      0.0018
+     ]
+    ],
+    "nominal_fill_height_m": 0.000807
+   },
+   "outer": {
+    "diameter_m": 0.0062,
+    "height_body_m": 0.0018,
+    "source_id": "dsc_asset"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.ta_dsc2500": {
+     "slot": "sample / reference",
+     "slot_radius_m": 0.003,
+     "item_radius_m": 0.0031
+    }
+   },
+   "empty_mass_kg": 3.1e-05,
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.002,
+    "rule_zh": "未压合：盖可提起/放回；压合后由宿主标记为 sealed（不可再分）",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   }
+  },
+  "labware.agilent_hs_vial_20ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/agilent_hs_vial_20ml",
+   "contract": "assets/labware/containers/agilent_hs_vial_20ml/asset.contract.json",
+   "manifest": "assets/labware/containers/agilent_hs_vial_20ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/agilent_hs_vial_20ml/model.glb",
+   "model_urdf": "assets/labware/containers/agilent_hs_vial_20ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/agilent_hs_vial_20ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/agilent_hs_vial_20ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/agilent_hs_vial_20ml/parts/cap.urdf",
+   "name_zh": "Agilent 20 mL 螺口顶空瓶（22.75×75 mm，18 mm 磁性螺旋盖）",
+   "name_en": "Agilent 5188-2753 20 mL screw-top headspace vial",
+   "size_m": [
+    0.02275,
+    0.02275,
+    0.0775
+   ],
+   "total_mass_kg": 0.02262,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "agilent_5188_2753",
+     "kind": "manufacturer",
+     "reference": "Agilent 5188-2753 headspace vial, screw top, 20 mL (https://www.agilent.com/store/es_ES/Prod-5188-2753/5188-2753); also Crawford Scientific listing",
+     "locator": "vial size 22.75 x 75 mm, 18 mm screw cap, round bottom",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "quantos_manual",
+     "kind": "manufacturer",
+     "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+     "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "quantos_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+     "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.agilent_hs_vial_20ml",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "vial",
+    "headspace_vial_20ml"
+   ],
+   "maker": "Agilent",
+   "model": "Headspace vial, screw top, 20 mL, 22.75 x 75 mm",
+   "catalogue_no": "5188-2753",
+   "nominal_capacity_m3": 1.9999999999999998e-05,
+   "brim_capacity_m3": 2.1544e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "agilent_5188_2753",
+   "outer": {
+    "diameter_m": 0.02275,
+    "height_body_m": 0.075,
+    "height_with_cap_m": 0.0775,
+    "source_id": "agilent_5188_2753"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.01018,
+    "floor_m": 0.002,
+    "height_m": 0.075,
+    "body_top_m": 0.06484,
+    "neck_radius_m": 0.0063,
+    "nominal_fill_height_m": 0.06426,
+    "volume_table_m_ml": [
+     [
+      0.002,
+      0.0
+     ],
+     [
+      0.00565,
+      0.938
+     ],
+     [
+      0.0093,
+      2.125
+     ],
+     [
+      0.01295,
+      3.312
+     ],
+     [
+      0.0166,
+      4.499
+     ],
+     [
+      0.02025,
+      5.686
+     ],
+     [
+      0.0239,
+      6.874
+     ],
+     [
+      0.02755,
+      8.061
+     ],
+     [
+      0.0312,
+      9.248
+     ],
+     [
+      0.03485,
+      10.435
+     ],
+     [
+      0.0385,
+      11.622
+     ],
+     [
+      0.04215,
+      12.809
+     ],
+     [
+      0.0458,
+      13.997
+     ],
+     [
+      0.04945,
+      15.184
+     ],
+     [
+      0.0531,
+      16.371
+     ],
+     [
+      0.05675,
+      17.558
+     ],
+     [
+      0.0604,
+      18.745
+     ],
+     [
+      0.06405,
+      19.932
+     ],
+     [
+      0.0677,
+      20.634
+     ],
+     [
+      0.07135,
+      21.089
+     ],
+     [
+      0.075,
+      21.544
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.002
+     ],
+     [
+      0.0068,
+      0.002
+     ],
+     [
+      0.01018,
+      0.0046
+     ],
+     [
+      0.01018,
+      0.06424
+     ],
+     [
+      0.0063,
+      0.0665
+     ],
+     [
+      0.0063,
+      0.075
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "18 mm screw",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0021,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0021,
+    "cap_seat_z_m": 0.067,
+    "clear_lift_m": 0.01,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0445
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.02275,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.0815,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.0355,
+      0.0535
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0445
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.07225
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0205,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00525
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1575
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.067
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.009,
+      0.0,
+      0.075
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "steel"
+   },
+   "empty_mass_kg": 0.02262,
+   "mass_body_kg": 0.01612,
+   "mass_cap_kg": 0.00651,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "顶空进样瓶（HS 8697）",
+   "instrument_fit": {
+    "instrument.mt_quantos_q2_xpe206dr": {
+     "slot": "container_seat (balance pan)",
+     "limits_source": "quantos_manual p.103 (QB1/QB3/QB7 column)",
+     "limits": {
+      "height_m": [
+       0.031,
+       0.178
+      ],
+      "min_opening_m": 0.006,
+      "max_diameter_m": 0.1,
+      "platform_m": [
+       0.078,
+       0.073
+      ]
+     },
+     "vial_height_open_m": 0.075,
+     "vial_opening_m": 0.0126,
+     "vial_diameter_m": 0.02275,
+     "seat_z_m": 0.069,
+     "outlet_z_m": 0.2,
+     "outlet_gap_open_vial_m": 0.056,
+     "note_zh": "开盖后上机；出粉口在瓶口正上方（实例 powder_outlet 与 container_seat 同 XY）；Quantos 用头高调节把出粉口降到瓶口上 0.5–1 mm（手册 p.23），实例未建该运动",
+     "ok": true
+    }
+   }
+  },
+  "labware.agilent_vial_2ml_screw": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/agilent_vial_2ml_screw",
+   "contract": "assets/labware/containers/agilent_vial_2ml_screw/asset.contract.json",
+   "manifest": "assets/labware/containers/agilent_vial_2ml_screw/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/agilent_vial_2ml_screw/model.glb",
+   "model_urdf": "assets/labware/containers/agilent_vial_2ml_screw/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/agilent_vial_2ml_screw/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/agilent_vial_2ml_screw/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/agilent_vial_2ml_screw/parts/cap.urdf",
+   "name_zh": "Agilent 2 mL 螺口样品瓶（12×32 mm，9 mm 螺纹盖）",
+   "name_en": "Agilent 5182-0715 2 mL screw-top vial 12 x 32 mm",
+   "size_m": [
+    0.0118,
+    0.0118,
+    0.032
+   ],
+   "total_mass_kg": 0.00219,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "agilent_5182_0715",
+     "kind": "manufacturer",
+     "reference": "Agilent 5182-0715 screw top vial, 2 mL, clear (https://www.agilent.com/store/en/Prod-5182-0715/5182-0715)",
+     "locator": "vial size 12 x 32 mm, 12 mm cap (9 mm thread)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.agilent_vial_2ml_screw",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "vial",
+    "vial_12x32"
+   ],
+   "maker": "Agilent",
+   "model": "Screw top vial 2 mL, clear, 12 x 32 mm",
+   "catalogue_no": "5182-0715",
+   "nominal_capacity_m3": 2e-06,
+   "brim_capacity_m3": 2.121e-06,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "agilent_5182_0715",
+   "outer": {
+    "diameter_m": 0.0116,
+    "height_body_m": 0.0305,
+    "height_with_cap_m": 0.032,
+    "source_id": "agilent_5182_0715"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0051,
+    "floor_m": 0.001,
+    "height_m": 0.0305,
+    "body_top_m": 0.02445,
+    "neck_radius_m": 0.0033,
+    "nominal_fill_height_m": 0.02697,
+    "volume_table_m_ml": [
+     [
+      0.001,
+      0.0
+     ],
+     [
+      0.00247,
+      0.115
+     ],
+     [
+      0.00395,
+      0.235
+     ],
+     [
+      0.00542,
+      0.356
+     ],
+     [
+      0.0069,
+      0.476
+     ],
+     [
+      0.00838,
+      0.597
+     ],
+     [
+      0.00985,
+      0.717
+     ],
+     [
+      0.01132,
+      0.838
+     ],
+     [
+      0.0128,
+      0.959
+     ],
+     [
+      0.01428,
+      1.079
+     ],
+     [
+      0.01575,
+      1.2
+     ],
+     [
+      0.01722,
+      1.32
+     ],
+     [
+      0.0187,
+      1.441
+     ],
+     [
+      0.02018,
+      1.561
+     ],
+     [
+      0.02165,
+      1.682
+     ],
+     [
+      0.02312,
+      1.802
+     ],
+     [
+      0.0246,
+      1.915
+     ],
+     [
+      0.02608,
+      1.969
+     ],
+     [
+      0.02755,
+      2.02
+     ],
+     [
+      0.02902,
+      2.07
+     ],
+     [
+      0.0305,
+      2.121
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.001
+     ],
+     [
+      0.00449,
+      0.001
+     ],
+     [
+      0.0051,
+      0.00161
+     ],
+     [
+      0.0051,
+      0.0241
+     ],
+     [
+      0.0033,
+      0.025
+     ],
+     [
+      0.0033,
+      0.0305
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "9 mm short thread",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0015,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0015,
+    "cap_seat_z_m": 0.0255,
+    "clear_lift_m": 0.007,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      -0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0116,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.036,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      -0.01,
+      0.008
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      -0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.02875
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0118,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00325
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.112
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0255
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0047,
+      0.0,
+      0.0305
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.00219,
+   "mass_body_kg": 0.00196,
+   "mass_cap_kg": 0.00024,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "自动进样瓶；装样后放样品架或仪器托盘"
+  },
+  "labware.duran_gl45_1000ml_amber": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_1000ml_amber",
+   "contract": "assets/labware/containers/duran_gl45_1000ml_amber/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_1000ml_amber/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_1000ml_amber/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_1000ml_amber/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_1000ml_amber/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_1000ml_amber/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_1000ml_amber/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 1000 mL（棕色，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 1000 mL, amber, PP screw cap",
+   "size_m": [
+    0.101,
+    0.101,
+    0.23
+   ],
+   "total_mass_kg": 0.50819,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_amber",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+     "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_1000ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 1000 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 54 5",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001291885,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.101,
+    "height_body_m": 0.225,
+    "height_with_cap_m": 0.23,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.048,
+    "floor_m": 0.004,
+    "height_m": 0.225,
+    "body_top_m": 0.16335,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.14232,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.01505,
+      78.823
+     ],
+     [
+      0.0261,
+      158.806
+     ],
+     [
+      0.03715,
+      238.788
+     ],
+     [
+      0.0482,
+      318.77
+     ],
+     [
+      0.05925,
+      398.753
+     ],
+     [
+      0.0703,
+      478.735
+     ],
+     [
+      0.08135,
+      558.718
+     ],
+     [
+      0.0924,
+      638.7
+     ],
+     [
+      0.10345,
+      718.683
+     ],
+     [
+      0.1145,
+      798.665
+     ],
+     [
+      0.12555,
+      878.648
+     ],
+     [
+      0.1366,
+      958.63
+     ],
+     [
+      0.14765,
+      1038.612
+     ],
+     [
+      0.1587,
+      1118.595
+     ],
+     [
+      0.16975,
+      1191.005
+     ],
+     [
+      0.1808,
+      1236.601
+     ],
+     [
+      0.19185,
+      1260.661
+     ],
+     [
+      0.2029,
+      1271.82
+     ],
+     [
+      0.21395,
+      1281.852
+     ],
+     [
+      0.225,
+      1291.885
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0452,
+      0.004
+     ],
+     [
+      0.048,
+      0.0068
+     ],
+     [
+      0.048,
+      0.1621
+     ],
+     [
+      0.017,
+      0.1965
+     ],
+     [
+      0.017,
+      0.225
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.203,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.234,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.188,
+      0.206
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2165
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.31
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.203
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.225
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.50819,
+   "mass_body_kg": 0.4809,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  },
+  "labware.duran_gl45_1000ml_clear": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_1000ml_clear",
+   "contract": "assets/labware/containers/duran_gl45_1000ml_clear/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_1000ml_clear/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_1000ml_clear/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_1000ml_clear/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_1000ml_clear/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_1000ml_clear/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_1000ml_clear/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 1000 mL（透明，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 1000 mL, clear, PP screw cap",
+   "size_m": [
+    0.101,
+    0.101,
+    0.23
+   ],
+   "total_mass_kg": 0.50819,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_1000ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 1000 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 54 5",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001291885,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.101,
+    "height_body_m": 0.225,
+    "height_with_cap_m": 0.23,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.048,
+    "floor_m": 0.004,
+    "height_m": 0.225,
+    "body_top_m": 0.16335,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.14232,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.01505,
+      78.823
+     ],
+     [
+      0.0261,
+      158.806
+     ],
+     [
+      0.03715,
+      238.788
+     ],
+     [
+      0.0482,
+      318.77
+     ],
+     [
+      0.05925,
+      398.753
+     ],
+     [
+      0.0703,
+      478.735
+     ],
+     [
+      0.08135,
+      558.718
+     ],
+     [
+      0.0924,
+      638.7
+     ],
+     [
+      0.10345,
+      718.683
+     ],
+     [
+      0.1145,
+      798.665
+     ],
+     [
+      0.12555,
+      878.648
+     ],
+     [
+      0.1366,
+      958.63
+     ],
+     [
+      0.14765,
+      1038.612
+     ],
+     [
+      0.1587,
+      1118.595
+     ],
+     [
+      0.16975,
+      1191.005
+     ],
+     [
+      0.1808,
+      1236.601
+     ],
+     [
+      0.19185,
+      1260.661
+     ],
+     [
+      0.2029,
+      1271.82
+     ],
+     [
+      0.21395,
+      1281.852
+     ],
+     [
+      0.225,
+      1291.885
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0452,
+      0.004
+     ],
+     [
+      0.048,
+      0.0068
+     ],
+     [
+      0.048,
+      0.1621
+     ],
+     [
+      0.017,
+      0.1965
+     ],
+     [
+      0.017,
+      0.225
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.203,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.234,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.188,
+      0.206
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2165
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.31
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.203
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.225
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.50819,
+   "mass_body_kg": 0.4809,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  },
+  "labware.duran_gl45_100ml_amber": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_100ml_amber",
+   "contract": "assets/labware/containers/duran_gl45_100ml_amber/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_100ml_amber/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_100ml_amber/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_100ml_amber/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_100ml_amber/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_100ml_amber/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_100ml_amber/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 100 mL（棕色，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 100 mL, amber, PP screw cap",
+   "size_m": [
+    0.058,
+    0.058,
+    0.105
+   ],
+   "total_mass_kg": 0.1566,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_amber",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+     "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_100ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 100 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 24 5",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "brim_capacity_m3": 0.000163256,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.056,
+    "height_body_m": 0.1,
+    "height_with_cap_m": 0.105,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0258,
+    "floor_m": 0.004,
+    "height_m": 0.1,
+    "body_top_m": 0.0676,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.05211,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0088,
+      9.425
+     ],
+     [
+      0.0136,
+      19.463
+     ],
+     [
+      0.0184,
+      29.5
+     ],
+     [
+      0.0232,
+      39.538
+     ],
+     [
+      0.028,
+      49.576
+     ],
+     [
+      0.0328,
+      59.613
+     ],
+     [
+      0.0376,
+      69.651
+     ],
+     [
+      0.0424,
+      79.688
+     ],
+     [
+      0.0472,
+      89.726
+     ],
+     [
+      0.052,
+      99.764
+     ],
+     [
+      0.0568,
+      109.801
+     ],
+     [
+      0.0616,
+      119.839
+     ],
+     [
+      0.0664,
+      129.877
+     ],
+     [
+      0.0712,
+      137.1
+     ],
+     [
+      0.076,
+      141.466
+     ],
+     [
+      0.0808,
+      145.824
+     ],
+     [
+      0.0856,
+      150.182
+     ],
+     [
+      0.0904,
+      154.54
+     ],
+     [
+      0.0952,
+      158.898
+     ],
+     [
+      0.1,
+      163.256
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.023,
+      0.004
+     ],
+     [
+      0.0258,
+      0.0068
+     ],
+     [
+      0.0258,
+      0.0665
+     ],
+     [
+      0.017,
+      0.0715
+     ],
+     [
+      0.017,
+      0.1
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.078,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.109,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.063,
+      0.081
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0915
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.185
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.078
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.1
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.1566,
+   "mass_body_kg": 0.12931,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  },
+  "labware.duran_gl45_100ml_clear": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_100ml_clear",
+   "contract": "assets/labware/containers/duran_gl45_100ml_clear/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_100ml_clear/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_100ml_clear/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_100ml_clear/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_100ml_clear/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_100ml_clear/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_100ml_clear/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 100 mL（透明，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 100 mL, clear, PP screw cap",
+   "size_m": [
+    0.058,
+    0.058,
+    0.105
+   ],
+   "total_mass_kg": 0.1566,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_100ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 100 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 24 5",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "brim_capacity_m3": 0.000163256,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.056,
+    "height_body_m": 0.1,
+    "height_with_cap_m": 0.105,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0258,
+    "floor_m": 0.004,
+    "height_m": 0.1,
+    "body_top_m": 0.0676,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.05211,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0088,
+      9.425
+     ],
+     [
+      0.0136,
+      19.463
+     ],
+     [
+      0.0184,
+      29.5
+     ],
+     [
+      0.0232,
+      39.538
+     ],
+     [
+      0.028,
+      49.576
+     ],
+     [
+      0.0328,
+      59.613
+     ],
+     [
+      0.0376,
+      69.651
+     ],
+     [
+      0.0424,
+      79.688
+     ],
+     [
+      0.0472,
+      89.726
+     ],
+     [
+      0.052,
+      99.764
+     ],
+     [
+      0.0568,
+      109.801
+     ],
+     [
+      0.0616,
+      119.839
+     ],
+     [
+      0.0664,
+      129.877
+     ],
+     [
+      0.0712,
+      137.1
+     ],
+     [
+      0.076,
+      141.466
+     ],
+     [
+      0.0808,
+      145.824
+     ],
+     [
+      0.0856,
+      150.182
+     ],
+     [
+      0.0904,
+      154.54
+     ],
+     [
+      0.0952,
+      158.898
+     ],
+     [
+      0.1,
+      163.256
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.023,
+      0.004
+     ],
+     [
+      0.0258,
+      0.0068
+     ],
+     [
+      0.0258,
+      0.0665
+     ],
+     [
+      0.017,
+      0.0715
+     ],
+     [
+      0.017,
+      0.1
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.078,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.109,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.063,
+      0.081
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0915
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.185
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.078
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.1
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.1566,
+   "mass_body_kg": 0.12931,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  },
+  "labware.duran_gl45_250ml_amber": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_250ml_amber",
+   "contract": "assets/labware/containers/duran_gl45_250ml_amber/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_250ml_amber/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_250ml_amber/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_250ml_amber/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_250ml_amber/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_250ml_amber/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_250ml_amber/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 250 mL（棕色，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 250 mL, amber, PP screw cap",
+   "size_m": [
+    0.07,
+    0.07,
+    0.143
+   ],
+   "total_mass_kg": 0.24577,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_amber",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+     "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_250ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 250 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 36 5",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000356213,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.07,
+    "height_body_m": 0.138,
+    "height_with_cap_m": 0.143,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0325,
+    "floor_m": 0.004,
+    "height_m": 0.138,
+    "body_top_m": 0.0965,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.07957,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0107,
+      21.455
+     ],
+     [
+      0.0174,
+      43.688
+     ],
+     [
+      0.0241,
+      65.92
+     ],
+     [
+      0.0308,
+      88.153
+     ],
+     [
+      0.0375,
+      110.386
+     ],
+     [
+      0.0442,
+      132.618
+     ],
+     [
+      0.0509,
+      154.851
+     ],
+     [
+      0.0576,
+      177.084
+     ],
+     [
+      0.0643,
+      199.316
+     ],
+     [
+      0.071,
+      221.549
+     ],
+     [
+      0.0777,
+      243.782
+     ],
+     [
+      0.0844,
+      266.014
+     ],
+     [
+      0.0911,
+      288.247
+     ],
+     [
+      0.0978,
+      309.778
+     ],
+     [
+      0.1045,
+      324.191
+     ],
+     [
+      0.1112,
+      331.881
+     ],
+     [
+      0.1179,
+      337.964
+     ],
+     [
+      0.1246,
+      344.047
+     ],
+     [
+      0.1313,
+      350.13
+     ],
+     [
+      0.138,
+      356.213
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0297,
+      0.004
+     ],
+     [
+      0.0325,
+      0.0068
+     ],
+     [
+      0.0325,
+      0.09525
+     ],
+     [
+      0.017,
+      0.1095
+     ],
+     [
+      0.017,
+      0.138
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.116,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1295
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.223
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.116
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.138
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.24577,
+   "mass_body_kg": 0.21848,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  },
+  "labware.duran_gl45_250ml_clear": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_250ml_clear",
+   "contract": "assets/labware/containers/duran_gl45_250ml_clear/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_250ml_clear/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_250ml_clear/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_250ml_clear/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_250ml_clear/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_250ml_clear/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_250ml_clear/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 250 mL（透明，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 250 mL, clear, PP screw cap",
+   "size_m": [
+    0.07,
+    0.07,
+    0.143
+   ],
+   "total_mass_kg": 0.24577,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_250ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 250 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 36 5",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000356213,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.07,
+    "height_body_m": 0.138,
+    "height_with_cap_m": 0.143,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0325,
+    "floor_m": 0.004,
+    "height_m": 0.138,
+    "body_top_m": 0.0965,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.07957,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0107,
+      21.455
+     ],
+     [
+      0.0174,
+      43.688
+     ],
+     [
+      0.0241,
+      65.92
+     ],
+     [
+      0.0308,
+      88.153
+     ],
+     [
+      0.0375,
+      110.386
+     ],
+     [
+      0.0442,
+      132.618
+     ],
+     [
+      0.0509,
+      154.851
+     ],
+     [
+      0.0576,
+      177.084
+     ],
+     [
+      0.0643,
+      199.316
+     ],
+     [
+      0.071,
+      221.549
+     ],
+     [
+      0.0777,
+      243.782
+     ],
+     [
+      0.0844,
+      266.014
+     ],
+     [
+      0.0911,
+      288.247
+     ],
+     [
+      0.0978,
+      309.778
+     ],
+     [
+      0.1045,
+      324.191
+     ],
+     [
+      0.1112,
+      331.881
+     ],
+     [
+      0.1179,
+      337.964
+     ],
+     [
+      0.1246,
+      344.047
+     ],
+     [
+      0.1313,
+      350.13
+     ],
+     [
+      0.138,
+      356.213
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0297,
+      0.004
+     ],
+     [
+      0.0325,
+      0.0068
+     ],
+     [
+      0.0325,
+      0.09525
+     ],
+     [
+      0.017,
+      0.1095
+     ],
+     [
+      0.017,
+      0.138
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.116,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1295
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.223
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.116
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.138
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.24577,
+   "mass_body_kg": 0.21848,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  },
+  "labware.duran_gl45_500ml_amber": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_500ml_amber",
+   "contract": "assets/labware/containers/duran_gl45_500ml_amber/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_500ml_amber/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_500ml_amber/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_500ml_amber/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_500ml_amber/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_500ml_amber/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_500ml_amber/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 500 mL（棕色，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 500 mL, amber, PP screw cap",
+   "size_m": [
+    0.086,
+    0.086,
+    0.181
+   ],
+   "total_mass_kg": 0.35769,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_amber",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+     "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_500ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 500 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 44 5",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000704908,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.086,
+    "height_body_m": 0.176,
+    "height_with_cap_m": 0.181,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0405,
+    "floor_m": 0.004,
+    "height_m": 0.176,
+    "body_top_m": 0.1241,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.10122,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0126,
+      43.341
+     ],
+     [
+      0.0212,
+      87.657
+     ],
+     [
+      0.0298,
+      131.973
+     ],
+     [
+      0.0384,
+      176.289
+     ],
+     [
+      0.047,
+      220.604
+     ],
+     [
+      0.0556,
+      264.92
+     ],
+     [
+      0.0642,
+      309.236
+     ],
+     [
+      0.0728,
+      353.552
+     ],
+     [
+      0.0814,
+      397.867
+     ],
+     [
+      0.09,
+      442.183
+     ],
+     [
+      0.0986,
+      486.499
+     ],
+     [
+      0.1072,
+      530.815
+     ],
+     [
+      0.1158,
+      575.131
+     ],
+     [
+      0.1244,
+      619.158
+     ],
+     [
+      0.133,
+      652.261
+     ],
+     [
+      0.1416,
+      671.708
+     ],
+     [
+      0.1502,
+      681.484
+     ],
+     [
+      0.1588,
+      689.292
+     ],
+     [
+      0.1674,
+      697.1
+     ],
+     [
+      0.176,
+      704.908
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0377,
+      0.004
+     ],
+     [
+      0.0405,
+      0.0068
+     ],
+     [
+      0.0405,
+      0.12285
+     ],
+     [
+      0.017,
+      0.1475
+     ],
+     [
+      0.017,
+      0.176
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.185,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.139,
+      0.157
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.261
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.176
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.35769,
+   "mass_body_kg": 0.33041,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  },
+  "labware.duran_gl45_500ml_clear": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/duran_gl45_500ml_clear",
+   "contract": "assets/labware/containers/duran_gl45_500ml_clear/asset.contract.json",
+   "manifest": "assets/labware/containers/duran_gl45_500ml_clear/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/duran_gl45_500ml_clear/model.glb",
+   "model_urdf": "assets/labware/containers/duran_gl45_500ml_clear/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/duran_gl45_500ml_clear/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/duran_gl45_500ml_clear/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/duran_gl45_500ml_clear/parts/cap.urdf",
+   "name_zh": "DURAN GL45 试剂瓶 500 mL（透明，蓝色 PP 螺旋盖）",
+   "name_en": "DURAN GL 45 laboratory bottle 500 mL, clear, PP screw cap",
+   "size_m": [
+    0.086,
+    0.086,
+    0.181
+   ],
+   "total_mass_kg": 0.35769,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      7.853982
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_gl45_clear",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+     "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+     "licence": "facts (catalogue dimensions)"
+    },
+    {
+     "source_id": "gl45_thread",
+     "kind": "publication",
+     "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+     "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "duran_gl45_cap",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+     "locator": "dimensions (O x H) 58 x 27 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.duran_gl45_500ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 500 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 44 5",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000704908,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.086,
+    "height_body_m": 0.176,
+    "height_with_cap_m": 0.181,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0405,
+    "floor_m": 0.004,
+    "height_m": 0.176,
+    "body_top_m": 0.1241,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.10122,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0126,
+      43.341
+     ],
+     [
+      0.0212,
+      87.657
+     ],
+     [
+      0.0298,
+      131.973
+     ],
+     [
+      0.0384,
+      176.289
+     ],
+     [
+      0.047,
+      220.604
+     ],
+     [
+      0.0556,
+      264.92
+     ],
+     [
+      0.0642,
+      309.236
+     ],
+     [
+      0.0728,
+      353.552
+     ],
+     [
+      0.0814,
+      397.867
+     ],
+     [
+      0.09,
+      442.183
+     ],
+     [
+      0.0986,
+      486.499
+     ],
+     [
+      0.1072,
+      530.815
+     ],
+     [
+      0.1158,
+      575.131
+     ],
+     [
+      0.1244,
+      619.158
+     ],
+     [
+      0.133,
+      652.261
+     ],
+     [
+      0.1416,
+      671.708
+     ],
+     [
+      0.1502,
+      681.484
+     ],
+     [
+      0.1588,
+      689.292
+     ],
+     [
+      0.1674,
+      697.1
+     ],
+     [
+      0.176,
+      704.908
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0377,
+      0.004
+     ],
+     [
+      0.0405,
+      0.0068
+     ],
+     [
+      0.0405,
+      0.12285
+     ],
+     [
+      0.017,
+      0.1475
+     ],
+     [
+      0.017,
+      0.176
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.185,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.139,
+      0.157
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.261
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.176
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.35769,
+   "mass_body_kg": 0.33041,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  },
+  "labware.eppendorf_safelock_1p5ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/eppendorf_safelock_1p5ml",
+   "contract": "assets/labware/containers/eppendorf_safelock_1p5ml/asset.contract.json",
+   "manifest": "assets/labware/containers/eppendorf_safelock_1p5ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/eppendorf_safelock_1p5ml/model.glb",
+   "model_urdf": "assets/labware/containers/eppendorf_safelock_1p5ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/eppendorf_safelock_1p5ml/model_solid.urdf",
+   "name_zh": "Eppendorf Safe-Lock 1.5 mL 微量离心管（翻盖）",
+   "name_en": "Eppendorf Safe-Lock Tube 1.5 mL",
+   "size_m": [
+    0.0124,
+    0.0184,
+    0.0401
+   ],
+   "total_mass_kg": 0.00122,
+   "links": [
+    "body",
+    "lid"
+   ],
+   "joints": {
+    "lid": {
+     "type": "revolute",
+     "axis": [
+      -1,
+      0,
+      0
+     ],
+     "limits_rad": [
+      0.0,
+      1.570796
+     ],
+     "note_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "eppendorf_safelock_15",
+     "kind": "manufacturer",
+     "reference": "Eppendorf Tubes Snap Cap - Technical Data Sheet (document 0012 595 671-00/2026-03), https://www.eppendorf.com/product-media/doc/en/17238493/Consumables_Technical-data_Eppendorf-Tubes-snap-caps.pdf",
+     "locator": "p. 6 'Safe-Lock Tubes 1.5 mL' drawing: length 38.9 mm (37.8 inner), OD 10.8 mm (top 20 mm), cone OD 10.7 -> tip, rim 2 mm, lid span 37.2 mm, closed approx. 41 mm high / 20 mm wide, lid opens to 90 deg (approx. 59 mm high)",
+     "licence": "facts (drawing dimensions only; no figure copied)"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.eppendorf_safelock_1p5ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "microtube_1p5ml"
+   ],
+   "maker": "Eppendorf",
+   "model": "Safe-Lock Tubes 1.5 mL, PP, colourless",
+   "catalogue_no": "0030120086",
+   "nominal_capacity_m3": 1.5e-06,
+   "brim_capacity_m3": 1.9818e-06,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "eppendorf_safelock_15",
+   "outer": {
+    "diameter_m": 0.0108,
+    "height_body_m": 0.0389,
+    "height_closed_m": 0.041,
+    "source_id": "eppendorf_safelock_15"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0046,
+    "floor_m": 0.0012,
+    "height_m": 0.0389,
+    "body_top_m": 0.036899999999999995,
+    "nominal_fill_height_m": 0.03205,
+    "volume_table_m_ml": [
+     [
+      0.0012,
+      0.0
+     ],
+     [
+      0.00497,
+      0.0397
+     ],
+     [
+      0.00874,
+      0.1286
+     ],
+     [
+      0.01251,
+      0.2672
+     ],
+     [
+      0.01628,
+      0.4665
+     ],
+     [
+      0.02005,
+      0.7111
+     ],
+     [
+      0.02382,
+      0.9577
+     ],
+     [
+      0.02759,
+      1.2054
+     ],
+     [
+      0.03136,
+      1.4542
+     ],
+     [
+      0.03513,
+      1.704
+     ],
+     [
+      0.0389,
+      1.9818
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0012
+     ],
+     [
+      0.002,
+      0.0028
+     ],
+     [
+      0.00455,
+      0.0169
+     ],
+     [
+      0.0046,
+      0.0359
+     ],
+     [
+      0.0052,
+      0.0389
+     ]
+    ]
+   },
+   "closure": {
+    "type": "hinged_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     -1,
+     0,
+     0
+    ],
+    "open_rad": 1.570796,
+    "rule_zh": "开盖 = 推舌片（lid_tab）向上，盖关节转到 open_rad；关盖 = 压回 0。翻盖不脱离管身。"
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0269
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0108,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.0639,
+     "note_zh": "俯抓管上段（外径 10.8 mm）；手指沿 Y 合拢会碰铰链，宜沿 X 合拢（yaw 90°）",
+     "finger_contact_z_m": [
+      0.0179,
+      0.0359
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0269
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "lid_tab": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.0107,
+      0.0395
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "翻盖舌片：向上推（+Z）即开盖"
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0063,
+      0.0389
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖铰链原点（关闭位）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "lid": "pp"
+   },
+   "empty_mass_kg": 0.001225,
+   "mass_evidence": "computed from modelled volume x PP density",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "放在管架或冰箱的管盒中（锥底不能自立）"
+  },
+  "labware.falcon_tube_15ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/falcon_tube_15ml",
+   "contract": "assets/labware/containers/falcon_tube_15ml/asset.contract.json",
+   "manifest": "assets/labware/containers/falcon_tube_15ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/falcon_tube_15ml/model.glb",
+   "model_urdf": "assets/labware/containers/falcon_tube_15ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/falcon_tube_15ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/falcon_tube_15ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/falcon_tube_15ml/parts/cap.urdf",
+   "name_zh": "Falcon 15 mL 锥底离心管（352096，PE 螺旋盖）",
+   "name_en": "Corning Falcon 352096 15 mL conical tube",
+   "size_m": [
+    0.0205,
+    0.0205,
+    0.12
+   ],
+   "total_mass_kg": 0.00558,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      9.424778
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "falcon_352096",
+     "kind": "manufacturer",
+     "reference": "Corning Falcon 352096 15 mL PP conical centrifuge tube (Corning page for the racked version 352097: https://ecatalog.corning.com/life-sciences/b2b/SE/en/p/352097)",
+     "locator": "approx. 17 mm O.D. x 120 mm length",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.falcon_tube_15ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "conical_15ml"
+   ],
+   "maker": "Corning (Falcon)",
+   "model": "15 mL PP conical centrifuge tube",
+   "catalogue_no": "352096",
+   "nominal_capacity_m3": 1.4999999999999999e-05,
+   "brim_capacity_m3": 1.72e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "falcon_352096",
+   "outer": {
+    "diameter_m": 0.017,
+    "height_body_m": 0.1105,
+    "height_with_cap_m": 0.12,
+    "source_id": "falcon_352096"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0076,
+    "floor_m": 0.0012,
+    "height_m": 0.1105,
+    "body_top_m": 0.1014,
+    "neck_radius_m": 0.0072,
+    "nominal_fill_height_m": 0.09743,
+    "volume_table_m_ml": [
+     [
+      0.0012,
+      0.0
+     ],
+     [
+      0.00666,
+      0.043
+     ],
+     [
+      0.01213,
+      0.235
+     ],
+     [
+      0.0176,
+      0.686
+     ],
+     [
+      0.02306,
+      1.506
+     ],
+     [
+      0.02852,
+      2.497
+     ],
+     [
+      0.03399,
+      3.489
+     ],
+     [
+      0.03945,
+      4.481
+     ],
+     [
+      0.04492,
+      5.472
+     ],
+     [
+      0.05038,
+      6.464
+     ],
+     [
+      0.05585,
+      7.456
+     ],
+     [
+      0.06131,
+      8.447
+     ],
+     [
+      0.06678,
+      9.439
+     ],
+     [
+      0.07224,
+      10.431
+     ],
+     [
+      0.07771,
+      11.422
+     ],
+     [
+      0.08318,
+      12.414
+     ],
+     [
+      0.08864,
+      13.406
+     ],
+     [
+      0.0941,
+      14.397
+     ],
+     [
+      0.09957,
+      15.389
+     ],
+     [
+      0.10503,
+      16.31
+     ],
+     [
+      0.1105,
+      17.2
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0012
+     ],
+     [
+      0.0006,
+      0.0012
+     ],
+     [
+      0.0076,
+      0.02245
+     ],
+     [
+      0.0076,
+      0.10095
+     ],
+     [
+      0.0072,
+      0.1015
+     ],
+     [
+      0.0072,
+      0.1105
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "Falcon 15 mL",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.5,
+    "pitch_m": 0.003,
+    "detach_after_rad": 9.424778,
+    "lift_at_detach_m": 0.0045,
+    "cap_seat_z_m": 0.1075,
+    "clear_lift_m": 0.005,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.087
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.017,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.124,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.078,
+      0.096
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.087
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11375
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0205,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00625
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1075
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0083,
+      0.0,
+      0.1105
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00558,
+   "mass_body_kg": 0.00428,
+   "mass_cap_kg": 0.0013,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "锥底管不能自立：放在管架中"
+  },
+  "labware.falcon_tube_50ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/falcon_tube_50ml",
+   "contract": "assets/labware/containers/falcon_tube_50ml/asset.contract.json",
+   "manifest": "assets/labware/containers/falcon_tube_50ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/falcon_tube_50ml/model.glb",
+   "model_urdf": "assets/labware/containers/falcon_tube_50ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/falcon_tube_50ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/falcon_tube_50ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/falcon_tube_50ml/parts/cap.urdf",
+   "name_zh": "Falcon 50 mL 锥底离心管（352070，螺旋盖）",
+   "name_en": "Corning Falcon 352070 50 mL conical tube",
+   "size_m": [
+    0.0345,
+    0.0345,
+    0.115
+   ],
+   "total_mass_kg": 0.0123,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      9.424778
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "falcon_352070",
+     "kind": "manufacturer",
+     "reference": "Corning Falcon 352070 50 mL PP conical centrifuge tube (listing https://www.capitolscientific.com/Falcon-a-Corning-Brand-352070-Falcon-a-Corning-Brand-352070-High-Clarity-50mL-Polypropylene-Co)",
+     "locator": "approx. 30 mm O.D. x 115 mm length",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.falcon_tube_50ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "conical_50ml"
+   ],
+   "maker": "Corning (Falcon)",
+   "model": "50 mL PP conical centrifuge tube",
+   "catalogue_no": "352070",
+   "nominal_capacity_m3": 4.9999999999999996e-05,
+   "brim_capacity_m3": 5.2355e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "falcon_352070",
+   "outer": {
+    "diameter_m": 0.0295,
+    "height_body_m": 0.1035,
+    "height_with_cap_m": 0.115,
+    "source_id": "falcon_352070"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.01365,
+    "floor_m": 0.0014,
+    "height_m": 0.1035,
+    "body_top_m": 0.0935,
+    "neck_radius_m": 0.0136,
+    "nominal_fill_height_m": 0.09945,
+    "volume_table_m_ml": [
+     [
+      0.0014,
+      0.0
+     ],
+     [
+      0.0065,
+      0.124
+     ],
+     [
+      0.01161,
+      0.716
+     ],
+     [
+      0.01672,
+      2.148
+     ],
+     [
+      0.02182,
+      4.742
+     ],
+     [
+      0.02692,
+      7.729
+     ],
+     [
+      0.03203,
+      10.715
+     ],
+     [
+      0.03714,
+      13.699
+     ],
+     [
+      0.04224,
+      16.681
+     ],
+     [
+      0.04734,
+      19.662
+     ],
+     [
+      0.05245,
+      22.642
+     ],
+     [
+      0.05756,
+      25.62
+     ],
+     [
+      0.06266,
+      28.596
+     ],
+     [
+      0.06777,
+      31.571
+     ],
+     [
+      0.07287,
+      34.544
+     ],
+     [
+      0.07798,
+      37.516
+     ],
+     [
+      0.08308,
+      40.486
+     ],
+     [
+      0.08818,
+      43.455
+     ],
+     [
+      0.09329,
+      46.422
+     ],
+     [
+      0.0984,
+      49.388
+     ],
+     [
+      0.1035,
+      52.355
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0014
+     ],
+     [
+      0.0009,
+      0.0014
+     ],
+     [
+      0.01365,
+      0.02055
+     ],
+     [
+      0.0136,
+      0.0935
+     ],
+     [
+      0.0136,
+      0.1035
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "Falcon 50 mL",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.5,
+    "pitch_m": 0.0035,
+    "detach_after_rad": 9.424778,
+    "lift_at_detach_m": 0.00525,
+    "cap_seat_z_m": 0.1015,
+    "clear_lift_m": 0.004,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.082
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0295,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.119,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.073,
+      0.091
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.082
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10825
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0345,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.195
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1015
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0148,
+      0.0,
+      0.1035
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.0123,
+   "mass_body_kg": 0.00889,
+   "mass_cap_kg": 0.00342,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "锥底管不能自立：放在管架中"
+  },
+  "labware.gas_cylinder_10l_200bar": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/gas_cylinder_10l_200bar",
+   "contract": "assets/labware/containers/gas_cylinder_10l_200bar/asset.contract.json",
+   "manifest": "assets/labware/containers/gas_cylinder_10l_200bar/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/gas_cylinder_10l_200bar/model.glb",
+   "model_urdf": "assets/labware/containers/gas_cylinder_10l_200bar/model.urdf",
+   "model_blend": null,
+   "name_zh": "10 L / 200 bar 钢瓶（Ø140×850 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+   "name_en": "Steel gas cylinder 10 L 200 bar with DIN 477 valve and Linde REDLINE C 200/2 regulator",
+   "size_m": [
+    0.19,
+    0.22,
+    0.985
+   ],
+   "total_mass_kg": 19.63,
+   "links": [
+    "body",
+    "valve",
+    "handwheel",
+    "regulator",
+    "regulator_knob"
+   ],
+   "joints": {
+    "handwheel": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      12.566371
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+    },
+    "regulator_knob": {
+     "type": "revolute",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_rad": [
+      0.0,
+      31.415927
+     ],
+     "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "rama_10l_cylinder",
+     "kind": "manufacturer",
+     "reference": "PWENT / Rama Cylinders steel gas cylinder 10 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/product_tag/10-liter/)",
+     "locator": "10 L / 200 bar / 140 mm diameter / 850 mm length / 14.9 kg",
+     "licence": "facts"
+    },
+    {
+     "source_id": "linde_c200_2",
+     "kind": "manufacturer",
+     "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+     "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cylinder_assumption",
+     "kind": "assumption",
+     "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "labware.gas_cylinder_10l_200bar",
+   "family": "gas_cylinder",
+   "labware_class": "gas_cylinder_10l",
+   "fits": [
+    "gas_cylinder_10l",
+    "gas_cylinder"
+   ],
+   "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+   "model": "Steel seamless cylinder 10 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+   "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+   "water_capacity_m3": 0.01,
+   "service_pressure_pa": 20000000.0,
+   "nominal_capacity_m3": 0.01,
+   "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 82 mol，考虑压缩因子约 78 mol）",
+   "frames": {
+    "handwheel": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.969
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+    },
+    "regulator_knob": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.15,
+      0.905
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0,
+      0,
+      0.70710678
+     ],
+     "note_zh": "减压器旋钮，从前（−Y）接近"
+    },
+    "outlet": {
+     "link": "base_link",
+     "pos_m": [
+      0.1,
+      -0.095,
+      0.905
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "减压器出口（6 mm 卡套）"
+    }
+   },
+   "empty_mass_kg": 19.63,
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+  },
+  "labware.gas_cylinder_50l_200bar": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/gas_cylinder_50l_200bar",
+   "contract": "assets/labware/containers/gas_cylinder_50l_200bar/asset.contract.json",
+   "manifest": "assets/labware/containers/gas_cylinder_50l_200bar/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/gas_cylinder_50l_200bar/model.glb",
+   "model_urdf": "assets/labware/containers/gas_cylinder_50l_200bar/model.urdf",
+   "model_blend": null,
+   "name_zh": "50 L / 200 bar 钢瓶（Ø229×1500 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+   "name_en": "Steel gas cylinder 50 L 200 bar with DIN 477 valve and Linde REDLINE C 200/2 regulator",
+   "size_m": [
+    0.229,
+    0.2645,
+    1.635
+   ],
+   "total_mass_kg": 58.73,
+   "links": [
+    "body",
+    "valve",
+    "handwheel",
+    "regulator",
+    "regulator_knob"
+   ],
+   "joints": {
+    "handwheel": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      12.566371
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+    },
+    "regulator_knob": {
+     "type": "revolute",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_rad": [
+      0.0,
+      31.415927
+     ],
+     "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "rama_50l_cylinder",
+     "kind": "manufacturer",
+     "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+     "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+     "licence": "facts"
+    },
+    {
+     "source_id": "linde_c200_2",
+     "kind": "manufacturer",
+     "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+     "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cylinder_assumption",
+     "kind": "assumption",
+     "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "labware.gas_cylinder_50l_200bar",
+   "family": "gas_cylinder",
+   "labware_class": "gas_cylinder_50l",
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder"
+   ],
+   "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+   "model": "Steel seamless cylinder 50 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+   "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+   "water_capacity_m3": 0.05,
+   "service_pressure_pa": 20000000.0,
+   "nominal_capacity_m3": 0.05,
+   "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 410 mol，考虑压缩因子约 390 mol）",
+   "frames": {
+    "handwheel": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      1.619
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+    },
+    "regulator_knob": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.15,
+      1.555
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0,
+      0,
+      0.70710678
+     ],
+     "note_zh": "减压器旋钮，从前（−Y）接近"
+    },
+    "outlet": {
+     "link": "base_link",
+     "pos_m": [
+      0.1,
+      -0.095,
+      1.555
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "减压器出口（6 mm 卡套）"
+    }
+   },
+   "empty_mass_kg": 58.73,
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+  },
+  "labware.hach_tl2300_sample_cell_25mm": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/hach_tl2300_sample_cell_25mm",
+   "contract": "assets/labware/containers/hach_tl2300_sample_cell_25mm/asset.contract.json",
+   "manifest": "assets/labware/containers/hach_tl2300_sample_cell_25mm/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model.glb",
+   "model_urdf": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/cap.urdf",
+   "name_zh": "Hach TL2300 样品池（Ø25 × 95 mm 硼硅玻璃，内衬螺旋盖）",
+   "name_en": "Hach TL23 round sample cell 95 x 25 mm with rubber-lined screw cap",
+   "size_m": [
+    0.027,
+    0.027,
+    0.104
+   ],
+   "total_mass_kg": 0.02272,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "tl23_datasheet",
+     "kind": "manufacturer",
+     "reference": "Hach TL23 series benchtop turbidimeter data sheet DOC052.53.25013 (references/manuals/hach_tl2300epa/)",
+     "locator": "p.3: sample cell = round cells 95 x 25 mm borosilicate glass with rubber-lined screw caps; 25 mm cell: 20 mL minimum sample",
+     "licence": "facts"
+    },
+    {
+     "source_id": "tl2300_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/expansion_batch03/t4_measure/hach_tl2300epa (sample_cell + cell_cap parts; Matterix slot `cell` hole r 12.5 mm)",
+     "locator": "geometry_manifest.json components.sample_cell / cell_cap",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.hach_tl2300_sample_cell_25mm",
+   "family": "vial",
+   "labware_class": "turbidity_cell",
+   "fits": [
+    "turbidity_cell_25mm",
+    "tl2300_cell"
+   ],
+   "maker": "Hach",
+   "model": "Round sample cell 95 x 25 mm, borosilicate, rubber-lined screw cap (TL23 series)",
+   "catalogue_no": "TL23 sample cell (data sheet DOC052.53.25013 p.3)",
+   "nominal_capacity_m3": 1.9999999999999998e-05,
+   "brim_capacity_m3": 3.6508e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "tl23_datasheet",
+   "outer": {
+    "diameter_m": 0.025,
+    "height_body_m": 0.095,
+    "height_with_cap_m": 0.104,
+    "source_id": "tl23_datasheet"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0113,
+    "floor_m": 0.0015,
+    "height_m": 0.095,
+    "body_top_m": 0.0823,
+    "neck_radius_m": 0.0102,
+    "nominal_fill_height_m": 0.0515,
+    "volume_table_m_ml": [
+     [
+      0.0015,
+      0.0
+     ],
+     [
+      0.00618,
+      1.817
+     ],
+     [
+      0.01085,
+      3.692
+     ],
+     [
+      0.01552,
+      5.567
+     ],
+     [
+      0.0202,
+      7.443
+     ],
+     [
+      0.02488,
+      9.318
+     ],
+     [
+      0.02955,
+      11.193
+     ],
+     [
+      0.03423,
+      13.069
+     ],
+     [
+      0.0389,
+      14.944
+     ],
+     [
+      0.04358,
+      16.82
+     ],
+     [
+      0.04825,
+      18.695
+     ],
+     [
+      0.05293,
+      20.57
+     ],
+     [
+      0.0576,
+      22.446
+     ],
+     [
+      0.06228,
+      24.321
+     ],
+     [
+      0.06695,
+      26.196
+     ],
+     [
+      0.07163,
+      28.072
+     ],
+     [
+      0.0763,
+      29.947
+     ],
+     [
+      0.08098,
+      31.823
+     ],
+     [
+      0.08565,
+      33.452
+     ],
+     [
+      0.09032,
+      34.98
+     ],
+     [
+      0.095,
+      36.508
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0015
+     ],
+     [
+      0.00999,
+      0.0015
+     ],
+     [
+      0.0113,
+      0.00281
+     ],
+     [
+      0.0113,
+      0.0817
+     ],
+     [
+      0.0102,
+      0.083
+     ],
+     [
+      0.0102,
+      0.095
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "cell screw cap (rubber-lined)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0021,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0021,
+    "cap_seat_z_m": 0.091,
+    "clear_lift_m": 0.006,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.071
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.025,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.108,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.062,
+      0.08
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.071
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0975
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.027,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0065
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.184
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.091
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0118,
+      0.0,
+      0.095
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.02272,
+   "mass_body_kg": 0.02078,
+   "mass_cap_kg": 0.00194,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "样品或 StablCal 密封标准（同规格）；放在架上或标准物质柜",
+   "instrument_fit": {
+    "instrument.hach_tl2300epa": {
+     "slot": "cell",
+     "slot_radius_m": 0.0125,
+     "item_radius_m": 0.0125
+    }
+   }
+  },
+  "labware.nalgene_nm_hdpe_1000ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/nalgene_nm_hdpe_1000ml",
+   "contract": "assets/labware/containers/nalgene_nm_hdpe_1000ml/asset.contract.json",
+   "manifest": "assets/labware/containers/nalgene_nm_hdpe_1000ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model.glb",
+   "model_urdf": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/cap.urdf",
+   "name_zh": "Nalgene 窄口 HDPE 试剂瓶 1 L（38-430 盖）",
+   "name_en": "Nalgene narrow-mouth HDPE bottle 1000 mL",
+   "size_m": [
+    0.092,
+    0.092,
+    0.217
+   ],
+   "total_mass_kg": 0.10124,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "nalgene_nm_1000",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific Nalgene narrow-mouth natural HDPE packaging bottle with closure 1000 mL, cat. 312089-0032 (https://www.thermofisher.com/order/catalog/product/mx/en/312089-0032)",
+     "locator": "diameter 92 mm, height 217 mm, inner neck 27 mm, 38-430 closure",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.nalgene_nm_hdpe_1000ml",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "hdpe_bottle"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Narrow-mouth natural HDPE packaging bottle 1000 mL, 38-430 closure",
+   "catalogue_no": "312089-0032",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001115506,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_nm_1000",
+   "outer": {
+    "diameter_m": 0.092,
+    "height_body_m": 0.205,
+    "height_with_cap_m": 0.217,
+    "source_id": "nalgene_nm_1000"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0446,
+    "floor_m": 0.0018,
+    "height_m": 0.205,
+    "body_top_m": 0.16825,
+    "neck_radius_m": 0.0135,
+    "nominal_fill_height_m": 0.16199,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.01196,
+      62.416
+     ],
+     [
+      0.02212,
+      125.907
+     ],
+     [
+      0.03228,
+      189.398
+     ],
+     [
+      0.04244,
+      252.889
+     ],
+     [
+      0.0526,
+      316.38
+     ],
+     [
+      0.06276,
+      379.871
+     ],
+     [
+      0.07292,
+      443.363
+     ],
+     [
+      0.08308,
+      506.854
+     ],
+     [
+      0.09324,
+      570.345
+     ],
+     [
+      0.1034,
+      633.836
+     ],
+     [
+      0.11356,
+      697.327
+     ],
+     [
+      0.12372,
+      760.818
+     ],
+     [
+      0.13388,
+      824.31
+     ],
+     [
+      0.14404,
+      887.801
+     ],
+     [
+      0.1542,
+      951.292
+     ],
+     [
+      0.16436,
+      1014.783
+     ],
+     [
+      0.17452,
+      1070.486
+     ],
+     [
+      0.18468,
+      1099.383
+     ],
+     [
+      0.19484,
+      1109.689
+     ],
+     [
+      0.205,
+      1115.506
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0418,
+      0.0018
+     ],
+     [
+      0.0446,
+      0.0046
+     ],
+     [
+      0.0446,
+      0.16755
+     ],
+     [
+      0.0135,
+      0.193
+     ],
+     [
+      0.0135,
+      0.205
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "38-430",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.198,
+    "clear_lift_m": 0.009,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.2445,
+     "note_zh": "瓶身外径 92 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+     "finger_contact_z_m": [
+      0.1985,
+      0.2165
+     ],
+     "holds": "cap_closed_only"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0095
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.297
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.198
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0185,
+      0.0,
+      0.205
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.10124,
+   "mass_body_kg": 0.09426,
+   "mass_cap_kg": 0.00697,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "水溶液、碱液"
+  },
+  "labware.nalgene_nm_hdpe_500ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/nalgene_nm_hdpe_500ml",
+   "contract": "assets/labware/containers/nalgene_nm_hdpe_500ml/asset.contract.json",
+   "manifest": "assets/labware/containers/nalgene_nm_hdpe_500ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/nalgene_nm_hdpe_500ml/model.glb",
+   "model_urdf": "assets/labware/containers/nalgene_nm_hdpe_500ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/nalgene_nm_hdpe_500ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/nalgene_nm_hdpe_500ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/nalgene_nm_hdpe_500ml/parts/cap.urdf",
+   "name_zh": "Nalgene 窄口 HDPE 试剂瓶 500 mL（28 mm 盖）",
+   "name_en": "Nalgene narrow-mouth HDPE bottle 500 mL",
+   "size_m": [
+    0.073,
+    0.073,
+    0.17
+   ],
+   "total_mass_kg": 0.05805,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "nalgene_nm_500",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific Nalgene narrow-mouth HDPE lab quality bottle with closure 500 mL, cat. 2002-0016 (https://www.thermofisher.com/order/catalog/product/2002-0016)",
+     "locator": "diameter 73 mm, height 170 mm, inner neck 21 mm, 28 mm closure (PP)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.nalgene_nm_hdpe_500ml",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "hdpe_bottle"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Narrow-mouth HDPE lab quality bottle 500 mL, 28 mm PP closure",
+   "catalogue_no": "2002-0016",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000529149,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_nm_500",
+   "outer": {
+    "diameter_m": 0.073,
+    "height_body_m": 0.16,
+    "height_with_cap_m": 0.17,
+    "source_id": "nalgene_nm_500"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0351,
+    "floor_m": 0.0018,
+    "height_m": 0.16,
+    "body_top_m": 0.12875,
+    "neck_radius_m": 0.0105,
+    "nominal_fill_height_m": 0.13161,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.00971,
+      29.774
+     ],
+     [
+      0.01762,
+      60.389
+     ],
+     [
+      0.02553,
+      91.005
+     ],
+     [
+      0.03344,
+      121.62
+     ],
+     [
+      0.04135,
+      152.236
+     ],
+     [
+      0.04926,
+      182.851
+     ],
+     [
+      0.05717,
+      213.467
+     ],
+     [
+      0.06508,
+      244.082
+     ],
+     [
+      0.07299,
+      274.697
+     ],
+     [
+      0.0809,
+      305.313
+     ],
+     [
+      0.08881,
+      335.928
+     ],
+     [
+      0.09672,
+      366.544
+     ],
+     [
+      0.10463,
+      397.159
+     ],
+     [
+      0.11254,
+      427.775
+     ],
+     [
+      0.12045,
+      458.39
+     ],
+     [
+      0.12836,
+      488.993
+     ],
+     [
+      0.13627,
+      511.674
+     ],
+     [
+      0.14418,
+      522.608
+     ],
+     [
+      0.15209,
+      526.409
+     ],
+     [
+      0.16,
+      529.149
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0323,
+      0.0018
+     ],
+     [
+      0.0351,
+      0.0046
+     ],
+     [
+      0.0351,
+      0.12805
+     ],
+     [
+      0.0105,
+      0.149
+     ],
+     [
+      0.0105,
+      0.16
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "28 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.008,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.137
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.174,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.128,
+      0.146
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.137
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0315,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.008
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.25
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.014,
+      0.0,
+      0.16
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.05805,
+   "mass_body_kg": 0.05498,
+   "mass_cap_kg": 0.00306,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "水溶液、碱液（HDPE 耐碱）"
+  },
+  "labware.nalgene_wm_hdpe_1000ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/nalgene_wm_hdpe_1000ml",
+   "contract": "assets/labware/containers/nalgene_wm_hdpe_1000ml/asset.contract.json",
+   "manifest": "assets/labware/containers/nalgene_wm_hdpe_1000ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model.glb",
+   "model_urdf": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/cap.urdf",
+   "name_zh": "Nalgene 广口 HDPE 粉末瓶 1 L（63 mm 螺旋盖）",
+   "name_en": "Nalgene wide-mouth HDPE bottle 1 L (powder jar)",
+   "size_m": [
+    0.091,
+    0.091,
+    0.199
+   ],
+   "total_mass_kg": 0.11136,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "nalgene_wm_1000",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 1000 mL, cat. 312189-0032 (https://www.thermofisher.com/order/catalog/product/312189-0032)",
+     "locator": "diameter 91 mm, height 199 mm, closure 63 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.nalgene_wm_hdpe_1000ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 1000 mL, 63 mm closure",
+   "catalogue_no": "312189-0032",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001062719,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_1000",
+   "outer": {
+    "diameter_m": 0.091,
+    "height_body_m": 0.188,
+    "height_with_cap_m": 0.199,
+    "source_id": "nalgene_wm_1000"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0439,
+    "floor_m": 0.002,
+    "height_m": 0.188,
+    "body_top_m": 0.1676,
+    "neck_radius_m": 0.0275,
+    "nominal_fill_height_m": 0.16735,
+    "volume_table_m_ml": [
+     [
+      0.002,
+      0.0
+     ],
+     [
+      0.0113,
+      55.249
+     ],
+     [
+      0.0206,
+      111.556
+     ],
+     [
+      0.0299,
+      167.863
+     ],
+     [
+      0.0392,
+      224.169
+     ],
+     [
+      0.0485,
+      280.476
+     ],
+     [
+      0.0578,
+      336.783
+     ],
+     [
+      0.0671,
+      393.09
+     ],
+     [
+      0.0764,
+      449.397
+     ],
+     [
+      0.0857,
+      505.704
+     ],
+     [
+      0.095,
+      562.011
+     ],
+     [
+      0.1043,
+      618.318
+     ],
+     [
+      0.1136,
+      674.625
+     ],
+     [
+      0.1229,
+      730.932
+     ],
+     [
+      0.1322,
+      787.239
+     ],
+     [
+      0.1415,
+      843.546
+     ],
+     [
+      0.1508,
+      899.853
+     ],
+     [
+      0.1601,
+      956.16
+     ],
+     [
+      0.1694,
+      1010.863
+     ],
+     [
+      0.1787,
+      1040.623
+     ],
+     [
+      0.188,
+      1062.719
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.002
+     ],
+     [
+      0.0411,
+      0.002
+     ],
+     [
+      0.0439,
+      0.0048
+     ],
+     [
+      0.0439,
+      0.1668
+     ],
+     [
+      0.0275,
+      0.176
+     ],
+     [
+      0.0275,
+      0.188
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "63 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.179,
+    "clear_lift_m": 0.011,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.226,
+     "note_zh": "瓶身外径 91 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+     "finger_contact_z_m": [
+      0.18,
+      0.198
+     ],
+     "holds": "cap_closed_only"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.279
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.179
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0315,
+      0.0,
+      0.188
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.11136,
+   "mass_body_kg": 0.09681,
+   "mass_cap_kg": 0.01456,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "大包装固体试剂"
+  },
+  "labware.nalgene_wm_hdpe_250ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/nalgene_wm_hdpe_250ml",
+   "contract": "assets/labware/containers/nalgene_wm_hdpe_250ml/asset.contract.json",
+   "manifest": "assets/labware/containers/nalgene_wm_hdpe_250ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/nalgene_wm_hdpe_250ml/model.glb",
+   "model_urdf": "assets/labware/containers/nalgene_wm_hdpe_250ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/nalgene_wm_hdpe_250ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/nalgene_wm_hdpe_250ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/nalgene_wm_hdpe_250ml/parts/cap.urdf",
+   "name_zh": "Nalgene 广口 HDPE 粉末瓶 250 mL（43 mm 螺旋盖）",
+   "name_en": "Nalgene wide-mouth HDPE bottle 250 mL (powder jar)",
+   "size_m": [
+    0.061,
+    0.061,
+    0.131
+   ],
+   "total_mass_kg": 0.04024,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      12.566371
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "nalgene_wm_250",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 250 mL, cat. 312189-0008 (listing https://www.calpaclab.com/nalgene-312189-0008-8-ounce-250ml-wide-mouth-hdpe-bottles-nalgene/ng-312189-0008)",
+     "locator": "OD 61 mm, height 131 mm, neck ID 33 mm, closure 43-415",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.nalgene_wm_hdpe_250ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 250 mL, 43-415 closure",
+   "catalogue_no": "312189-0008",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000282747,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_250",
+   "outer": {
+    "diameter_m": 0.061,
+    "height_body_m": 0.118,
+    "height_with_cap_m": 0.131,
+    "source_id": "nalgene_wm_250"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0293,
+    "floor_m": 0.0015,
+    "height_m": 0.118,
+    "body_top_m": 0.098,
+    "neck_radius_m": 0.0165,
+    "nominal_fill_height_m": 0.09445,
+    "volume_table_m_ml": [
+     [
+      0.0015,
+      0.0
+     ],
+     [
+      0.00732,
+      15.012
+     ],
+     [
+      0.01315,
+      30.722
+     ],
+     [
+      0.01897,
+      46.432
+     ],
+     [
+      0.0248,
+      62.142
+     ],
+     [
+      0.03062,
+      77.852
+     ],
+     [
+      0.03645,
+      93.562
+     ],
+     [
+      0.04228,
+      109.273
+     ],
+     [
+      0.0481,
+      124.983
+     ],
+     [
+      0.05392,
+      140.693
+     ],
+     [
+      0.05975,
+      156.403
+     ],
+     [
+      0.06557,
+      172.113
+     ],
+     [
+      0.0714,
+      187.823
+     ],
+     [
+      0.07722,
+      203.534
+     ],
+     [
+      0.08305,
+      219.244
+     ],
+     [
+      0.08888,
+      234.954
+     ],
+     [
+      0.0947,
+      250.664
+     ],
+     [
+      0.10052,
+      265.107
+     ],
+     [
+      0.10635,
+      272.783
+     ],
+     [
+      0.11218,
+      277.765
+     ],
+     [
+      0.118,
+      282.747
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0015
+     ],
+     [
+      0.0265,
+      0.0015
+     ],
+     [
+      0.0293,
+      0.0043
+     ],
+     [
+      0.0293,
+      0.0974
+     ],
+     [
+      0.0165,
+      0.106
+     ],
+     [
+      0.0165,
+      0.118
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "43-415",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 2.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 12.566371,
+    "lift_at_detach_m": 0.0084,
+    "cap_seat_z_m": 0.114,
+    "clear_lift_m": 0.006,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.098
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.061,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.135,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.089,
+      0.107
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.098
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1225
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0465,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0085
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.211
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.114
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0205,
+      0.0,
+      0.118
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.04024,
+   "mass_body_kg": 0.0328,
+   "mass_cap_kg": 0.00744,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "固体试剂（盐、标准物质粉末）"
+  },
+  "labware.nalgene_wm_hdpe_500ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/nalgene_wm_hdpe_500ml",
+   "contract": "assets/labware/containers/nalgene_wm_hdpe_500ml/asset.contract.json",
+   "manifest": "assets/labware/containers/nalgene_wm_hdpe_500ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/nalgene_wm_hdpe_500ml/model.glb",
+   "model_urdf": "assets/labware/containers/nalgene_wm_hdpe_500ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/nalgene_wm_hdpe_500ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/nalgene_wm_hdpe_500ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/nalgene_wm_hdpe_500ml/parts/cap.urdf",
+   "name_zh": "Nalgene 广口 HDPE 粉末瓶 500 mL（53 mm 盖）",
+   "name_en": "Nalgene wide-mouth HDPE bottle 500 mL (powder jar)",
+   "size_m": [
+    0.073,
+    0.073,
+    0.168
+   ],
+   "total_mass_kg": 0.06774,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      12.566371
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "nalgene_wm_500",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 500 mL, cat. 312189-0016 (https://www.thermofisher.com/order/catalog/product/312189-0016); economy version 2189-0016",
+     "locator": "diameter 73 mm, height 168 mm, inner neck 44 mm, 53-415 closure",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.nalgene_wm_hdpe_500ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 500 mL, 53-415 closure",
+   "catalogue_no": "312189-0016",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.0005519,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_500",
+   "outer": {
+    "diameter_m": 0.073,
+    "height_body_m": 0.155,
+    "height_with_cap_m": 0.168,
+    "source_id": "nalgene_wm_500"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0351,
+    "floor_m": 0.0018,
+    "height_m": 0.155,
+    "body_top_m": 0.1342,
+    "neck_radius_m": 0.022,
+    "nominal_fill_height_m": 0.1312,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.00946,
+      28.806
+     ],
+     [
+      0.01712,
+      58.454
+     ],
+     [
+      0.02478,
+      88.102
+     ],
+     [
+      0.03244,
+      117.75
+     ],
+     [
+      0.0401,
+      147.398
+     ],
+     [
+      0.04776,
+      177.045
+     ],
+     [
+      0.05542,
+      206.693
+     ],
+     [
+      0.06308,
+      236.341
+     ],
+     [
+      0.07074,
+      265.989
+     ],
+     [
+      0.0784,
+      295.637
+     ],
+     [
+      0.08606,
+      325.285
+     ],
+     [
+      0.09372,
+      354.932
+     ],
+     [
+      0.10138,
+      384.58
+     ],
+     [
+      0.10904,
+      414.228
+     ],
+     [
+      0.1167,
+      443.876
+     ],
+     [
+      0.12436,
+      473.524
+     ],
+     [
+      0.13202,
+      503.172
+     ],
+     [
+      0.13968,
+      527.482
+     ],
+     [
+      0.14734,
+      540.253
+     ],
+     [
+      0.155,
+      551.9
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0323,
+      0.0018
+     ],
+     [
+      0.0351,
+      0.0046
+     ],
+     [
+      0.0351,
+      0.1335
+     ],
+     [
+      0.022,
+      0.143
+     ],
+     [
+      0.022,
+      0.155
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "53-415",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 2.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 12.566371,
+    "lift_at_detach_m": 0.0084,
+    "cap_seat_z_m": 0.15,
+    "clear_lift_m": 0.007,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.172,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.126,
+      0.144
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.159
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.057,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.009
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.248
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.15
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0255,
+      0.0,
+      0.155
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.06774,
+   "mass_body_kg": 0.05631,
+   "mass_cap_kg": 0.01143,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "约 500 g 固体试剂"
+  },
+  "labware.norell_nmr_tube_5mm_7in": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/norell_nmr_tube_5mm_7in",
+   "contract": "assets/labware/containers/norell_nmr_tube_5mm_7in/asset.contract.json",
+   "manifest": "assets/labware/containers/norell_nmr_tube_5mm_7in/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/norell_nmr_tube_5mm_7in/model.glb",
+   "model_urdf": "assets/labware/containers/norell_nmr_tube_5mm_7in/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/norell_nmr_tube_5mm_7in/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/norell_nmr_tube_5mm_7in/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/norell_nmr_tube_5mm_7in/parts/cap.urdf",
+   "name_zh": "Norell 5 mm × 7 in NMR 管（S-5-500-7，带盖）",
+   "name_en": "Norell S-5-500-7 NMR tube 5 mm x 7 in with cap",
+   "size_m": [
+    0.0068,
+    0.0068,
+    0.1835
+   ],
+   "total_mass_kg": 0.00246,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      1.570796
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "spinsolve_brochure",
+     "kind": "manufacturer",
+     "reference": "Magritek Spinsolve 80 brochure 2026 (references/manuals/magritek_spinsolve80/datasheet__spinsolve80_brochure_2026.pdf)",
+     "locator": "p.8 specifications: standard 5 mm OD NMR sample tubes, 7 in long; minimum sample volume 250 uL",
+     "licence": "facts"
+    },
+    {
+     "source_id": "norell_s5_500_7",
+     "kind": "manufacturer",
+     "reference": "Norell S-5-500-7 NMR tube (Sigma-Aldrich NORS55007, https://b2b.sigmaaldrich.com/US/en/product/aldrich/nors55007)",
+     "locator": "OD 5 mm, ID 4.2 mm, length 7 in (178 mm), with cap",
+     "licence": "facts"
+    },
+    {
+     "source_id": "spinsolve_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/basic40_batch02/t4_measure/magritek_spinsolve80 (sample_tube part O5 x 180 mm; Matterix slot sample_port r 5 mm)",
+     "locator": "geometry_manifest.json components.sample_tube; slots_index sample_port",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.norell_nmr_tube_5mm_7in",
+   "family": "tube",
+   "labware_class": "nmr_tube",
+   "fits": [
+    "nmr_tube_5mm",
+    "spinsolve_sample_port"
+   ],
+   "maker": "Norell",
+   "model": "Standard Series 500 MHz NMR tube, 5 mm x 7 in",
+   "catalogue_no": "S-5-500-7 (Sigma NORS55007)",
+   "nominal_capacity_m3": 6e-07,
+   "brim_capacity_m3": 2.445e-06,
+   "nominal_capacity_evidence": "typical NMR fill 0.6 mL (Spinsolve minimum 0.25 mL, brochure p.8)",
+   "nominal_source_id": "spinsolve_brochure",
+   "outer": {
+    "diameter_m": 0.005,
+    "height_body_m": 0.178,
+    "height_with_cap_m": 0.1835,
+    "source_id": "norell_s5_500_7"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0021,
+    "floor_m": 0.0005,
+    "height_m": 0.178,
+    "body_top_m": 0.17,
+    "neck_radius_m": 0.0021,
+    "nominal_fill_height_m": 0.04483,
+    "volume_table_m_ml": [
+     [
+      0.0005,
+      0.0
+     ],
+     [
+      0.00938,
+      0.109
+     ],
+     [
+      0.01825,
+      0.232
+     ],
+     [
+      0.02712,
+      0.355
+     ],
+     [
+      0.036,
+      0.478
+     ],
+     [
+      0.04488,
+      0.601
+     ],
+     [
+      0.05375,
+      0.724
+     ],
+     [
+      0.06262,
+      0.847
+     ],
+     [
+      0.0715,
+      0.969
+     ],
+     [
+      0.08037,
+      1.092
+     ],
+     [
+      0.08925,
+      1.215
+     ],
+     [
+      0.09812,
+      1.338
+     ],
+     [
+      0.107,
+      1.461
+     ],
+     [
+      0.11588,
+      1.584
+     ],
+     [
+      0.12475,
+      1.707
+     ],
+     [
+      0.13362,
+      1.83
+     ],
+     [
+      0.1425,
+      1.953
+     ],
+     [
+      0.15137,
+      2.076
+     ],
+     [
+      0.16025,
+      2.199
+     ],
+     [
+      0.16912,
+      2.322
+     ],
+     [
+      0.178,
+      2.445
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0005
+     ],
+     [
+      0.0005,
+      0.0005
+     ],
+     [
+      0.0021,
+      0.0023
+     ],
+     [
+      0.0021,
+      0.17
+     ],
+     [
+      0.0021,
+      0.178
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "push-on PE cap",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 0.25,
+    "pitch_m": null,
+    "detach_after_rad": 1.570796,
+    "lift_at_detach_m": 0.0,
+    "cap_seat_z_m": 0.1705,
+    "clear_lift_m": 0.0095,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1505
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.005,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.1875,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.1415,
+      0.1595
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1505
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.177
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0065
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1705
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0025,
+      0.0,
+      0.178
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00246,
+   "mass_body_kg": 0.00231,
+   "mass_cap_kg": 0.00015,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "放在 NMR 管架；样品 0.3–0.5 mL（Spinsolve 手册：最少 250 µL）",
+   "instrument_fit": {
+    "instrument.magritek_spinsolve80": {
+     "slot": "sample_port",
+     "slot_radius_m": 0.005,
+     "item_radius_m": 0.0025
+    }
+   }
+  },
+  "labware.sciex_universal_vial_2ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/sciex_universal_vial_2ml",
+   "contract": "assets/labware/containers/sciex_universal_vial_2ml/asset.contract.json",
+   "manifest": "assets/labware/containers/sciex_universal_vial_2ml/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/sciex_universal_vial_2ml/model.glb",
+   "model_urdf": "assets/labware/containers/sciex_universal_vial_2ml/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/sciex_universal_vial_2ml/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/sciex_universal_vial_2ml/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/sciex_universal_vial_2ml/parts/cap.urdf",
+   "name_zh": "SCIEX PA 800 Plus 通用样品瓶（A62251）+ 盖（A62250）",
+   "name_en": "SCIEX universal vial A62251 with universal vial cap A62250",
+   "size_m": [
+    0.0125,
+    0.0125,
+    0.0335
+   ],
+   "total_mass_kg": 0.00096,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      1.570796
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "pa800_brochure",
+     "kind": "manufacturer",
+     "reference": "SCIEX PA 800 Plus brochure (references/manuals/sciex_pa800/datasheet__pa800plus_brochure.pdf) and system overview guide",
+     "locator": "brochure p.10 accessories: Universal vials (100 pack) A62251, universal vial caps A62250, SDS-MW analysis kit 390953; overview guide p.21: buffer trays 36 universal vials, sample tray 48 universal vials",
+     "licence": "facts"
+    },
+    {
+     "source_id": "sciex_a62251",
+     "kind": "manufacturer",
+     "reference": "SCIEX Universal Vials 100 pack A62251 / Universal Vial Caps A62250 (https://us-store.sciex.com/USD/capillary-electrophoresis/Universal-Vials-100-Pack-zidA62251)",
+     "locator": "polymethylpentene vial, single use; caps sold separately",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pa800_asset",
+     "kind": "code",
+     "reference": "Chemistry-Sim assets/expansion_batch04/t3_analytical/sciex_pa800 + Matterix slots_index (BI_/BO_/SI_/SO_ holes r 6 mm)",
+     "locator": "slot radius 0.006 m",
+     "licence": "project"
+    },
+    {
+     "source_id": "consumable_assumption",
+     "kind": "assumption",
+     "reference": "consumable sizes not published by the maker",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.sciex_universal_vial_2ml",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "ce_universal_vial",
+    "pa800_tray_hole"
+   ],
+   "maker": "SCIEX",
+   "model": "Universal vial (polymethylpentene) + universal vial cap",
+   "catalogue_no": "A62251 (vials, 100) / A62250 (caps, 100)",
+   "nominal_capacity_m3": 2e-06,
+   "brim_capacity_m3": 2.346e-06,
+   "nominal_capacity_evidence": "assumption (2 mL class vial; not published)",
+   "nominal_source_id": "consumable_assumption",
+   "outer": {
+    "diameter_m": 0.0115,
+    "height_body_m": 0.031,
+    "height_with_cap_m": 0.0335,
+    "source_id": "pa800_asset"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.00505,
+    "floor_m": 0.001,
+    "height_m": 0.031,
+    "body_top_m": 0.02438,
+    "neck_radius_m": 0.0048,
+    "nominal_fill_height_m": 0.02622,
+    "volume_table_m_ml": [
+     [
+      0.001,
+      0.0
+     ],
+     [
+      0.0025,
+      0.115
+     ],
+     [
+      0.004,
+      0.235
+     ],
+     [
+      0.0055,
+      0.355
+     ],
+     [
+      0.007,
+      0.475
+     ],
+     [
+      0.0085,
+      0.595
+     ],
+     [
+      0.01,
+      0.716
+     ],
+     [
+      0.0115,
+      0.836
+     ],
+     [
+      0.013,
+      0.956
+     ],
+     [
+      0.0145,
+      1.076
+     ],
+     [
+      0.016,
+      1.196
+     ],
+     [
+      0.0175,
+      1.316
+     ],
+     [
+      0.019,
+      1.437
+     ],
+     [
+      0.0205,
+      1.557
+     ],
+     [
+      0.022,
+      1.677
+     ],
+     [
+      0.0235,
+      1.797
+     ],
+     [
+      0.025,
+      1.912
+     ],
+     [
+      0.0265,
+      2.02
+     ],
+     [
+      0.028,
+      2.129
+     ],
+     [
+      0.0295,
+      2.237
+     ],
+     [
+      0.031,
+      2.346
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.001
+     ],
+     [
+      0.00445,
+      0.001
+     ],
+     [
+      0.00505,
+      0.0016
+     ],
+     [
+      0.00505,
+      0.02403
+     ],
+     [
+      0.0048,
+      0.0245
+     ],
+     [
+      0.0048,
+      0.031
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "push-on cap",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 0.25,
+    "pitch_m": null,
+    "detach_after_rad": 1.570796,
+    "lift_at_detach_m": 0.0,
+    "cap_seat_z_m": 0.025,
+    "clear_lift_m": 0.008,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0115,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.0375,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      -0.0085,
+      0.0095
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.02925
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.025
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0055,
+      0.0,
+      0.031
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00096,
+   "mass_body_kg": 0.00072,
+   "mass_cap_kg": 0.00023,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "CE 缓冲液 / 样品；SDS-MW 试剂盒的液体分装进这些瓶",
+   "instrument_fit": {
+    "instrument.sciex_pa800": {
+     "slot": "BI_F1..SO_* tray holes",
+     "slot_radius_m": 0.006,
+     "item_radius_m": 0.00575
+    }
+   }
+  },
+  "labware.winchester_2500ml_amber": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/containers/winchester_2500ml_amber",
+   "contract": "assets/labware/containers/winchester_2500ml_amber/asset.contract.json",
+   "manifest": "assets/labware/containers/winchester_2500ml_amber/geometry_manifest.json",
+   "model_glb": "assets/labware/containers/winchester_2500ml_amber/model.glb",
+   "model_urdf": "assets/labware/containers/winchester_2500ml_amber/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/containers/winchester_2500ml_amber/model_solid.urdf",
+   "part_body_urdf": "assets/labware/containers/winchester_2500ml_amber/parts/body.urdf",
+   "part_cap_urdf": "assets/labware/containers/winchester_2500ml_amber/parts/cap.urdf",
+   "name_zh": "2.5 L 棕色玻璃溶剂瓶（Winchester，黑色内衬螺旋盖）",
+   "name_en": "Winchester solvent bottle 2.5 L, amber glass",
+   "size_m": [
+    0.1329,
+    0.1329,
+    0.297
+   ],
+   "total_mass_kg": 1.19888,
+   "links": [
+    "body",
+    "cap"
+   ],
+   "joints": {
+    "cap": {
+     "type": "revolute",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_rad": [
+      0.0,
+      6.283185
+     ],
+     "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "winchester_25l",
+     "kind": "manufacturer",
+     "reference": "Philip Harris / Findel 'Winchester Bottle - Amber Glass - 2.5L', product FE00001092 (https://www.philipharris.co.uk/product/fe00001092)",
+     "locator": "product dimensions: 297 mm height x 132.9 mm width",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "wall_assumption",
+     "kind": "assumption",
+     "reference": "wall and bottom thicknesses of containers / caps",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "neck_profile_estimate",
+     "kind": "photo",
+     "reference": "product photographs of the same catalogue items (vendor pages)",
+     "locator": "shoulder / neck / collar proportions",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "closure_turns",
+     "kind": "assumption",
+     "reference": "screw-cap release angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.winchester_2500ml_amber",
+   "family": "solvent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "solvent_bottle"
+   ],
+   "maker": "Philip Harris (Findel Education)",
+   "model": "Winchester bottle, amber glass, 2.5 L",
+   "catalogue_no": "FE00001092",
+   "nominal_capacity_m3": 0.0025,
+   "brim_capacity_m3": 0.002978191,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "winchester_25l",
+   "outer": {
+    "diameter_m": 0.1329,
+    "height_body_m": 0.292,
+    "height_with_cap_m": 0.297,
+    "source_id": "winchester_25l"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.06295,
+    "floor_m": 0.006,
+    "height_m": 0.292,
+    "body_top_m": 0.22804,
+    "neck_radius_m": 0.014,
+    "nominal_fill_height_m": 0.20694,
+    "volume_table_m_ml": [
+     [
+      0.006,
+      0.0
+     ],
+     [
+      0.0203,
+      176.496
+     ],
+     [
+      0.0346,
+      354.52
+     ],
+     [
+      0.0489,
+      532.543
+     ],
+     [
+      0.0632,
+      710.567
+     ],
+     [
+      0.0775,
+      888.59
+     ],
+     [
+      0.0918,
+      1066.614
+     ],
+     [
+      0.1061,
+      1244.637
+     ],
+     [
+      0.1204,
+      1422.661
+     ],
+     [
+      0.1347,
+      1600.684
+     ],
+     [
+      0.149,
+      1778.708
+     ],
+     [
+      0.1633,
+      1956.731
+     ],
+     [
+      0.1776,
+      2134.755
+     ],
+     [
+      0.1919,
+      2312.778
+     ],
+     [
+      0.2062,
+      2490.802
+     ],
+     [
+      0.2205,
+      2668.825
+     ],
+     [
+      0.2348,
+      2831.124
+     ],
+     [
+      0.2491,
+      2922.292
+     ],
+     [
+      0.2634,
+      2959.067
+     ],
+     [
+      0.2777,
+      2969.386
+     ],
+     [
+      0.292,
+      2978.191
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.006
+     ],
+     [
+      0.06015,
+      0.006
+     ],
+     [
+      0.06295,
+      0.0088
+     ],
+     [
+      0.06295,
+      0.22629
+     ],
+     [
+      0.014,
+      0.2685
+     ],
+     [
+      0.014,
+      0.292
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "38 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.275,
+    "clear_lift_m": 0.019,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.264
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.301,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.255,
+      0.273
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.264
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.286
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.011
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.377
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.275
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.019,
+      0.0,
+      0.292
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "soda_lime_glass",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 1.19888,
+   "mass_body_kg": 1.19237,
+   "mass_cap_kg": 0.00652,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "2.5 L 溶剂（乙醇、丙酮、甲醇等易燃液体放易燃品柜）"
+  },
+  "labware.mn_702503_vial_rack_23mm": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/racks/mn_702503_vial_rack_23mm",
+   "contract": "assets/labware/racks/mn_702503_vial_rack_23mm/asset.contract.json",
+   "manifest": "assets/labware/racks/mn_702503_vial_rack_23mm/geometry_manifest.json",
+   "model_glb": "assets/labware/racks/mn_702503_vial_rack_23mm/model.glb",
+   "model_urdf": "assets/labware/racks/mn_702503_vial_rack_23mm/model.urdf",
+   "model_blend": null,
+   "name_zh": "MACHEREY-NAGEL 顶空瓶架 702503（36 位，孔径 23.1 mm，PP 蓝）",
+   "name_en": "MACHEREY-NAGEL vial rack 702503, 36 positions, max. vial O 23.1 mm",
+   "size_m": [
+    0.323,
+    0.091,
+    0.03
+   ],
+   "total_mass_kg": 0.13889,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "mn_702503",
+     "kind": "manufacturer",
+     "reference": "MACHEREY-NAGEL vial rack REF 702503 product page (https://www.mn-net.com/Vial-racks-max.-diameter-23.1-mm-36-pos.-stackable-if-empty-702503)",
+     "locator": "Technical data: positions 36, alpha-numerical index, dimensions L x W x H 323 x 91 x 30 mm, polypropylene (PP), blue, stackable (only when empty), maximal vial diameter 23 mm / for headspace vials with a diameter of 23.1 mm, 5 pieces per pack; product photo 6506_702503 (3 rows x 12 holes, raised rim, stacking pins at the corners and mid sides)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "dwk_064088",
+     "kind": "manufacturer",
+     "reference": "DWK Life Sciences WHEATON 36-Position Rack for 23.1 mm Open ID, cat. 064088 (https://www.thermofisher.com/order/catalog/product/kr/en/064088; Fisher 11571325)",
+     "locator": "36 positions, 23.1 mm open ID, for 6/10/20 mL headspace 23 mm OD vials; 12.6 x 3.5 x 1.12 in (320 x 89 x 28 mm)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "restek_22643",
+     "kind": "manufacturer",
+     "reference": "Restek vial storage rack cat. 22643 (https://www.restek.com/p/22643)",
+     "locator": "polypropylene rack for 6, 10 or 20 mL headspace vials, holds up to 36, autoclavable 121 C 20 min",
+     "licence": "facts"
+    },
+    {
+     "source_id": "franka_finger",
+     "kind": "code",
+     "reference": "franka_description (Franka Emika, Apache-2.0): meshes/collision/finger.stl, hand.stl, panda_arm_hand.urdf (copy shipped with the Isaac Sim URDF importer)",
+     "locator": "finger.stl: last 19 mm 17.8 mm wide (x) x 16.4 mm thick (closing axis); base part 21 x 26.2 mm from 24 mm above the tip; length 53.9 mm; panda_finger_joint 0..0.04 m; hand_tcp 0.1034 m -> fingertip end 8.9 mm below the TCP; hand.stl 63 x 204 x 92 mm, lowest point 37 mm above the TCP",
+     "licence": "Apache-2.0"
+    },
+    {
+     "source_id": "rack_assumption",
+     "kind": "assumption",
+     "reference": "MN 702503 details not in the data sheet",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.mn_702503_vial_rack_23mm",
+   "family": "rack",
+   "labware_class": "vial_rack",
+   "fits": [
+    "bench"
+   ],
+   "maker": "MACHEREY-NAGEL",
+   "model": "Vial rack, max. diameter 23.1 mm, 36 positions, stackable if empty (blue PP)",
+   "catalogue_no": "702503",
+   "also_sold_as": [
+    "DWK WHEATON 064088",
+    "Restek 22643 (36-position rack for 6/10/20 mL headspace vials)"
+   ],
+   "holds": "labware.agilent_hs_vial_20ml",
+   "positions_total": 36,
+   "grid": {
+    "rows": [
+     "A",
+     "B",
+     "C"
+    ],
+    "columns": 12,
+    "pitch_x_m": 0.02642,
+    "pitch_y_m": 0.02833,
+    "hole_diameter_m": 0.0231,
+    "pitch_evidence": "assumption (not published)"
+   },
+   "frames": {
+    "slot_A01": {
+     "link": "base_link",
+     "pos_m": [
+      -0.14529,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A01 位：瓶底中心"
+    },
+    "slot_A02": {
+     "link": "base_link",
+     "pos_m": [
+      -0.11888,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A02 位：瓶底中心"
+    },
+    "slot_A03": {
+     "link": "base_link",
+     "pos_m": [
+      -0.09246,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A03 位：瓶底中心"
+    },
+    "slot_A04": {
+     "link": "base_link",
+     "pos_m": [
+      -0.06604,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A04 位：瓶底中心"
+    },
+    "slot_A05": {
+     "link": "base_link",
+     "pos_m": [
+      -0.03962,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A05 位：瓶底中心"
+    },
+    "slot_A06": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01321,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A06 位：瓶底中心"
+    },
+    "slot_A07": {
+     "link": "base_link",
+     "pos_m": [
+      0.01321,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A07 位：瓶底中心"
+    },
+    "slot_A08": {
+     "link": "base_link",
+     "pos_m": [
+      0.03963,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A08 位：瓶底中心"
+    },
+    "slot_A09": {
+     "link": "base_link",
+     "pos_m": [
+      0.06604,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A09 位：瓶底中心"
+    },
+    "slot_A10": {
+     "link": "base_link",
+     "pos_m": [
+      0.09246,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A10 位：瓶底中心"
+    },
+    "slot_A11": {
+     "link": "base_link",
+     "pos_m": [
+      0.11888,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A11 位：瓶底中心"
+    },
+    "slot_A12": {
+     "link": "base_link",
+     "pos_m": [
+      0.14529,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A12 位：瓶底中心"
+    },
+    "slot_C01": {
+     "link": "base_link",
+     "pos_m": [
+      -0.14529,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C01 位：瓶底中心"
+    },
+    "slot_C02": {
+     "link": "base_link",
+     "pos_m": [
+      -0.11888,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C02 位：瓶底中心"
+    },
+    "slot_C03": {
+     "link": "base_link",
+     "pos_m": [
+      -0.09246,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C03 位：瓶底中心"
+    },
+    "slot_C04": {
+     "link": "base_link",
+     "pos_m": [
+      -0.06604,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C04 位：瓶底中心"
+    },
+    "slot_C05": {
+     "link": "base_link",
+     "pos_m": [
+      -0.03962,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C05 位：瓶底中心"
+    },
+    "slot_C06": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01321,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C06 位：瓶底中心"
+    },
+    "slot_C07": {
+     "link": "base_link",
+     "pos_m": [
+      0.01321,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C07 位：瓶底中心"
+    },
+    "slot_C08": {
+     "link": "base_link",
+     "pos_m": [
+      0.03963,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C08 位：瓶底中心"
+    },
+    "slot_C09": {
+     "link": "base_link",
+     "pos_m": [
+      0.06604,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C09 位：瓶底中心"
+    },
+    "slot_C10": {
+     "link": "base_link",
+     "pos_m": [
+      0.09246,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C10 位：瓶底中心"
+    },
+    "slot_C11": {
+     "link": "base_link",
+     "pos_m": [
+      0.11888,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C11 位：瓶底中心"
+    },
+    "slot_C12": {
+     "link": "base_link",
+     "pos_m": [
+      0.14529,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C12 位：瓶底中心"
+    }
+   },
+   "seat_z_m": 0.002,
+   "deck_top_m": 0.022,
+   "franka_grasp_ok": false,
+   "franka_blocked_reason": "91 mm wide (> 74 mm grip): the rack stays on the bench; the robot moves the vials",
+   "storage": {
+    "place_ids": [
+     "vial_rack_20ml"
+    ],
+    "min_pitch_m": 0.0264,
+    "expected_positions": [
+     "A01",
+     "A02",
+     "A03",
+     "A04",
+     "A05",
+     "A06",
+     "A07",
+     "A08",
+     "A09",
+     "A10",
+     "A11",
+     "A12",
+     "C01",
+     "C02",
+     "C03",
+     "C04",
+     "C05",
+     "C06",
+     "C07",
+     "C08",
+     "C09",
+     "C10",
+     "C11",
+     "C12"
+    ],
+    "robot_rows": [
+     "A",
+     "C"
+    ],
+    "manual_only_rows": [
+     "B"
+    ],
+    "required_free_above_vial_top_m": 0.25,
+    "note_zh": "A、C 两行 24 位给机器人；B 行留空（手指沿 Y 合拢时会碰到 B 行的瓶）"
+   },
+   "robot_access": {
+    "gripper": "Franka Hand",
+    "approach": "top-down",
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "approach_open_width_m": 0.031,
+    "max_grasp_width_m": 0.074,
+    "vial_diameter_m": 0.02275,
+    "vial_height_with_cap_m": 0.0775,
+    "finger_tip_m": {
+     "width": 0.0178,
+     "thick": 0.0165,
+     "z0": 0.0,
+     "z1": 0.019
+    },
+    "finger_base_m": {
+     "width": 0.021,
+     "thick": 0.0262,
+     "z0": 0.024,
+     "z1": 0.0539
+    },
+    "tip_below_tcp_m": 0.0089,
+    "min_finger_gap_rows_A_C_m": 0.00359,
+    "nearest_vial_m": [
+     -0.14529,
+     0.02833
+    ],
+    "hand_bottom_above_vial_tops_m": 0.004,
+    "min_finger_gap_if_row_B_filled_m": -0.01137,
+    "fingertip_end_above_deck_m": 0.0156,
+    "free_space_above_vial_tops_m": 0.25,
+    "note_zh": "手指尺寸取 franka_description 碰撞网格；A、C 行全部装满时，手指与最近的瓶最小间隙见 min_finger_gap_rows_A_C_m；若 B 行也放瓶，手指会压到 B 行（间隙为负）。手掌底面高于瓶盖顶。架上方需 ≥0.25 m 空间（放在台面或开放层板上）。",
+    "source_ids": [
+     "franka_finger",
+     "robot_access"
+    ]
+   },
+   "slots": [
+    {
+     "name": "A01",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.14529,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.14529,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A02",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.11888,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.11888,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A03",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.09246,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.09246,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A04",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.06604,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.06604,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A05",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.03962,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.03962,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A06",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.01321,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.01321,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A07",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.01321,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.01321,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A08",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.03963,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.03963,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A09",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.06604,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.06604,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A10",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.09246,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.09246,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A11",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.11888,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.11888,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "A12",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.14529,
+      -0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.14529,
+      -0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C01",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.14529,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.14529,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C02",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.11888,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.11888,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C03",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.09246,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.09246,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C04",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.06604,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.06604,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C05",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.03962,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.03962,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C06",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      -0.01321,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      -0.01321,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C07",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.01321,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.01321,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C08",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.03963,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.03963,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C09",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.06604,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.06604,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C10",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.09246,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.09246,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C11",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.11888,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.11888,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    },
+    {
+     "name": "C12",
+     "place_id": "vial_rack_20ml",
+     "part": "body",
+     "kind": "storage",
+     "position_m": [
+      0.14529,
+      0.02833,
+      0.002
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.01155,
+     "moves_with": "body",
+     "headroom_m": null,
+     "required_free_above_vial_top_m": 0.25,
+     "fits": [
+      "headspace_vial_20ml",
+      "vial"
+     ],
+     "access": [
+      "franka_top_down"
+     ],
+     "vial_grasp_tcp_m": [
+      0.14529,
+      0.02833,
+      0.0465
+     ],
+     "vial_grasp_rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "approach_open_width_m": 0.031,
+     "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+    }
+   ]
+  },
+  "labware.biorad_hardshell_pcr_plate_96": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/biorad_hardshell_pcr_plate_96",
+   "contract": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/asset.contract.json",
+   "manifest": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb",
+   "model_urdf": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.urdf",
+   "model_blend": null,
+   "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+   "name_en": "Bio-Rad 96 Well Plate 200 µL PCR",
+   "size_m": [
+    0.12776,
+    0.08548,
+    0.01606
+   ],
+   "total_mass_kg": 0.03895,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "ot_biorad_pcr",
+     "kind": "code",
+     "reference": "Opentrons labware definition biorad_96_wellplate_200ul_pcr v1 (Apache-2.0; brandId hsp9601); local copy references/labware/opentrons/",
+     "locator": "127.76 x 85.48 x 16.06 mm; wells d 5.46 mm, depth 14.81 mm, bottom z 1.25 mm, 200 uL",
+     "licence": "Apache-2.0 (Opentrons)"
+    },
+    {
+     "source_id": "ansi_slas_1_2004",
+     "kind": "publication",
+     "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+     "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+     "licence": "facts"
+    },
+    {
+     "source_id": "plate_ps_mass",
+     "kind": "assumption",
+     "reference": "mass of SBS polystyrene / polypropylene labware",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "cfx_flier",
+     "kind": "manufacturer",
+     "reference": "Bio-Rad CFX Opus 96 flier bulletin 7299 (references/manuals/biorad_cfxopus/datasheet__cfx_opus_96_flier_bulletin_7299.pdf)",
+     "locator": "p.2 ordering: HSP9655 Hard-Shell 96-well PCR plates, pkg of 50, low profile, thin wall, skirted, white shell / white wells",
+     "licence": "facts"
+    }
+   ],
+   "type_id": "labware.biorad_hardshell_pcr_plate_96",
+   "family": "pcr_plate",
+   "labware_class": "sbs_pcr_plate",
+   "fits": [
+    "sbs",
+    "sbs_pcr_plate"
+   ],
+   "opentrons_load_name": "biorad_96_wellplate_200ul_pcr",
+   "maker": "Bio-Rad",
+   "model": "Bio-Rad 96 Well Plate 200 µL PCR",
+   "catalogue_no": "HSP9655 (white wells, CFX Opus flier p.2) / HSP9601 (Opentrons definition)",
+   "footprint_m": [
+    0.12776,
+    0.08548
+   ],
+   "height_m": 0.016059999999999998,
+   "wells": {
+    "A1": {
+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "B1": {
+     "pos_m": [
+      -0.0495,
+      0.0225,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "C1": {
+     "pos_m": [
+      -0.0495,
+      0.0135,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "D1": {
+     "pos_m": [
+      -0.0495,
+      0.0045,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "E1": {
+     "pos_m": [
+      -0.0495,
+      -0.0045,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "F1": {
+     "pos_m": [
+      -0.0495,
+      -0.0135,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "G1": {
+     "pos_m": [
+      -0.0495,
+      -0.0225,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "H1": {
+     "pos_m": [
+      -0.0495,
+      -0.0315,
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+     "yaw_free": false,
+     "finger_axis": [
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 8.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
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+     "note_zh": "放置时 TCP（= sbs_grasp）"
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+     "note_zh": "A1 孔口中心"
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+   "model_urdf": "assets/labware/sbs/corning_96_wellplate_360ul_flat/model.urdf",
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+   "name_en": "Corning 96 Well Plate 360 µL Flat",
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+     "locator": "engineering value",
+     "licence": "n/a"
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+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
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+   "opentrons_load_name": "corning_96_wellplate_360ul_flat",
+   "maker": "Corning",
+   "model": "Corning 96 Well Plate 360 µL Flat",
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+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10122
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+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
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+    "a1": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0315,
+      0.01422
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   }
+  },
+  "labware.nest_12_reservoir_15ml": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/nest_12_reservoir_15ml",
+   "contract": "assets/labware/sbs/nest_12_reservoir_15ml/asset.contract.json",
+   "manifest": "assets/labware/sbs/nest_12_reservoir_15ml/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/nest_12_reservoir_15ml/model.glb",
+   "model_urdf": "assets/labware/sbs/nest_12_reservoir_15ml/model.urdf",
+   "model_blend": null,
+   "name_zh": "NEST 12 槽储液槽 15 mL",
+   "name_en": "NEST 12 Well Reservoir 15 mL",
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+    0.08548,
+    0.0314
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+   "total_mass_kg": 0.0677,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
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+     "source_id": "ot_nest_12_reservoir",
+     "kind": "code",
+     "reference": "Opentrons labware definition nest_12_reservoir_15ml v1 (Apache-2.0); local copy references/labware/opentrons/",
+     "locator": "127.76 x 85.48 x 31.4 mm; 12 troughs 8.2 x 71.2 mm, depth 26.85 mm, bottom z 4.55 mm, 15 mL; NEST 360102",
+     "licence": "Apache-2.0 (Opentrons)"
+    },
+    {
+     "source_id": "ansi_slas_1_2004",
+     "kind": "publication",
+     "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+     "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+     "licence": "facts"
+    },
+    {
+     "source_id": "plate_ps_mass",
+     "kind": "assumption",
+     "reference": "mass of SBS polystyrene / polypropylene labware",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
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+   ],
+   "type_id": "labware.nest_12_reservoir_15ml",
+   "family": "reservoir",
+   "labware_class": "sbs_reservoir",
+   "fits": [
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+    "sbs_reservoir"
+   ],
+   "opentrons_load_name": "nest_12_reservoir_15ml",
+   "maker": "NEST",
+   "model": "NEST 12 Well Reservoir 15 mL",
+   "catalogue_no": "360102",
+   "footprint_m": [
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
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+    "A3": {
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
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+    "A4": {
+     "pos_m": [
+      -0.0225,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A5": {
+     "pos_m": [
+      -0.0135,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
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+    "A6": {
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
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+    "A7": {
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
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+    "A8": {
+     "pos_m": [
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A9": {
+     "pos_m": [
+      0.0225,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A10": {
+     "pos_m": [
+      0.0315,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A11": {
+     "pos_m": [
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A12": {
+     "pos_m": [
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
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+   "n_wells": 12,
+   "well_volume_m3": 1.5e-05,
+   "nominal_capacity_m3": 0.00018,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_nest_12_reservoir",
+   "stands_upright": true,
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+     "pos_m": [
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+      0.0,
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+      0.0,
+      0.0,
+      0.0
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+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
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+      1.0,
+      0.0
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
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+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08548,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1184
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+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
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+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1184
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0495,
+      4e-05,
+      0.0314
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   }
+  },
+  "labware.nest_96_wellplate_2ml_deep": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/nest_96_wellplate_2ml_deep",
+   "contract": "assets/labware/sbs/nest_96_wellplate_2ml_deep/asset.contract.json",
+   "manifest": "assets/labware/sbs/nest_96_wellplate_2ml_deep/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/nest_96_wellplate_2ml_deep/model.glb",
+   "model_urdf": "assets/labware/sbs/nest_96_wellplate_2ml_deep/model.urdf",
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+   "name_zh": "NEST 96 深孔板 2 mL",
+   "name_en": "NEST 96 Deep Well Plate 2mL",
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+    0.0853,
+    0.041
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+   "total_mass_kg": 0.12753,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
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+     "kind": "code",
+     "reference": "Opentrons labware definition nest_96_wellplate_2ml_deep v1 (Apache-2.0); local copy references/labware/opentrons/",
+     "locator": "127.6 x 85.3 x 41 mm; square wells 8.2 x 8.2 mm, depth 38 mm, bottom z 3 mm, 2000 uL; NEST 503001/503501",
+     "licence": "Apache-2.0 (Opentrons)"
+    },
+    {
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+     "kind": "publication",
+     "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+     "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+     "licence": "facts"
+    },
+    {
+     "source_id": "plate_ps_mass",
+     "kind": "assumption",
+     "reference": "mass of SBS polystyrene / polypropylene labware",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
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+   ],
+   "type_id": "labware.nest_96_wellplate_2ml_deep",
+   "family": "deepwell",
+   "labware_class": "sbs_deepwell",
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+    "sbs_deepwell"
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+   "maker": "NEST",
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+     "shape": "rectangular",
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+     "shape": "rectangular",
+     "size_m": [
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+     "shape": "rectangular",
+     "size_m": [
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+    "D1": {
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "E1": {
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+      -0.0045,
+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "G1": {
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "H1": {
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+      0.0315,
+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "B2": {
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+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "C2": {
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+      0.0135,
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 2.0000000000000003e-06
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+    "D2": {
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+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "F2": {
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+     "shape": "rectangular",
+     "size_m": [
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+     "shape": "rectangular",
+     "size_m": [
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+     "shape": "rectangular",
+     "size_m": [
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "B3": {
+     "pos_m": [
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+      0.0225,
+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "C3": {
+     "pos_m": [
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+      0.0135,
+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0082
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+     "volume_m3": 2.0000000000000003e-06
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+    "D3": {
+     "pos_m": [
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+     "depth_m": 0.038,
+     "shape": "rectangular",
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+     "volume_m3": 2.0000000000000003e-06
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+    "E3": {
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+     "depth_m": 0.038,
+     "shape": "rectangular",
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+     "volume_m3": 2.0000000000000003e-06
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+    "F3": {
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+      0.003
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+     "depth_m": 0.038,
+     "shape": "rectangular",
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+     "volume_m3": 2.0000000000000003e-06
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+     "yaw_free": false,
+     "finger_axis": [
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+      1.0,
+      0.0
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.30 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
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+     "rot_xyzw": [
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+      0.0,
+      0.0,
+      0.0
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+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0,
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+      0,
+      1
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+     "note_zh": "A1 孔口中心"
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+  },
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+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
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+     "licence": "Apache-2.0 (Opentrons)"
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+     "licence": "facts"
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+   "well_volume_m3": 1.0000000000000002e-06,
+   "nominal_capacity_m3": null,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
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+     "yaw_free": false,
+     "finger_axis": [
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+      1.0,
+      0.0
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
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+     "rot_xyzw": [
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+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0,
+      0.186
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+      0.0,
+      0.0,
+      0.0
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+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
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+      0.099
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+     "rot_xyzw": [
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+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "tip_length_m": 0.09559999999999999,
+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 1.0000000000000002e-06,
+   "grip_force_n": 16
+  },
+  "labware.opentrons_flex_tiprack_200ul": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/opentrons_flex_tiprack_200ul",
+   "contract": "assets/labware/sbs/opentrons_flex_tiprack_200ul/asset.contract.json",
+   "manifest": "assets/labware/sbs/opentrons_flex_tiprack_200ul/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb",
+   "model_urdf": "assets/labware/sbs/opentrons_flex_tiprack_200ul/model.urdf",
+   "model_blend": null,
+   "name_zh": "Opentrons Flex 96 吸头盒 200 µL（满盒）",
+   "name_en": "Opentrons Flex 96 Tip Rack 200 µL",
+   "size_m": [
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+    0.08575,
+    0.1
+   ],
+   "total_mass_kg": 0.09378,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "ot_flex_tiprack_200",
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+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
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+      0.0,
+      0.0
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+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0,
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+      0.0,
+      0.0
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+    "place": {
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+      0.0,
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+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0,
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+      0.0,
+      0.0,
+      0.0
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+     "rot_xyzw": [
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+      0,
+      0,
+      1
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+     "note_zh": "A1 孔口中心"
+    }
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+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 2.0000000000000002e-07,
+   "grip_force_n": 16
+  },
+  "labware.opentrons_flex_tiprack_50ul": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/opentrons_flex_tiprack_50ul",
+   "contract": "assets/labware/sbs/opentrons_flex_tiprack_50ul/asset.contract.json",
+   "manifest": "assets/labware/sbs/opentrons_flex_tiprack_50ul/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb",
+   "model_urdf": "assets/labware/sbs/opentrons_flex_tiprack_50ul/model.urdf",
+   "model_blend": null,
+   "name_zh": "Opentrons Flex 96 吸头盒 50 µL（满盒）",
+   "name_en": "Opentrons Flex 96 Tip Rack 50 µL",
+   "size_m": [
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+    0.08575,
+    0.1
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+   "total_mass_kg": 0.09363,
+   "links": [
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+   "joints": {},
+   "sources": [
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+     "kind": "code",
+     "reference": "Opentrons labware definition opentrons_flex_96_tiprack_50ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+     "locator": "127.75 x 85.75 x 99 mm; tip length 57.9 mm, overlap 10.5 mm; wells d 5.58 mm from z 1.5 mm; gripHeightFromLabwareBottom 23.9 mm, gripForce 16 N",
+     "licence": "Apache-2.0 (Opentrons)"
+    },
+    {
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+     "kind": "publication",
+     "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+     "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+     "licence": "facts"
+    },
+    {
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+     "kind": "assumption",
+     "reference": "mass of SBS polystyrene / polypropylene labware",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    }
+   ],
+   "type_id": "labware.opentrons_flex_tiprack_50ul",
+   "family": "tiprack",
+   "labware_class": "sbs_tiprack",
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+    "sbs_tiprack"
+   ],
+   "opentrons_load_name": "opentrons_flex_96_tiprack_50ul",
+   "maker": "Opentrons",
+   "model": "Opentrons Flex 96 Tip Rack 50 µL",
+   "catalogue_no": null,
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+     "volume_m3": 5.0000000000000004e-08
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+    "F12": {
+     "pos_m": [
+      0.0495,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "G12": {
+     "pos_m": [
+      0.0495,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "H12": {
+     "pos_m": [
+      0.0495,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 5.0000000000000004e-08,
+   "nominal_capacity_m3": null,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_flex_tiprack_50",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.04949,
+      0.0315,
+      0.099
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "tip_length_m": 0.0579,
+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 5.0000000000000004e-08,
+   "grip_force_n": 16
+  },
+  "labware.sbs_plate_carrier": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/sbs/sbs_plate_carrier",
+   "contract": "assets/labware/sbs/sbs_plate_carrier/asset.contract.json",
+   "manifest": "assets/labware/sbs/sbs_plate_carrier/geometry_manifest.json",
+   "model_glb": "assets/labware/sbs/sbs_plate_carrier/model.glb",
+   "model_urdf": "assets/labware/sbs/sbs_plate_carrier/model.urdf",
+   "model_blend": null,
+   "name_zh": "SBS 板托架（带机器人抓手柱）",
+   "name_en": "SBS plate carrier with robot handle (design)",
+   "size_m": [
+    0.18176,
+    0.09448,
+    0.13
+   ],
+   "total_mass_kg": 0.4823,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "ansi_slas_1_2004",
+     "kind": "publication",
+     "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+     "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+     "licence": "facts"
+    },
+    {
+     "source_id": "thermo_75006449",
+     "kind": "manufacturer",
+     "reference": "Thermo Scientific microtitre (microplate) carrier 75006449 with metal handle (listing https://www.djblabcare.co.uk/djb/product/203/Accessories-75006449-Microtitre_carrier_for_4_microtitre_plates)",
+     "locator": "carrier for microplates with a carrying handle (centrifuge accessory)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "carrier_design",
+     "kind": "assumption",
+     "reference": "SBS plate carrier with a robot handle (project design)",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "labware.sbs_plate_carrier",
+   "family": "carrier",
+   "labware_class": "sbs_carrier",
+   "fits": [
+    "sbs_carrier"
+   ],
+   "maker": "project design (closest real: Thermo Scientific 75006449)",
+   "model": "SBS plate carrier with 30 mm handle post",
+   "catalogue_no": null,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.03,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "抓手柱（30×30 mm），手指沿 Y 合拢；手掌在 TCP 上方 37 mm，高于满载吸头盒（102 mm）",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "plate_seat": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.003
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "SBS 板件底面中心放在这里（托盘内腔）"
+    }
+   },
+   "pocket_m": [
+    0.12876,
+    0.08648
+   ],
+   "seat_z_m": 0.003,
+   "accepts": [
+    "sbs_plate",
+    "sbs_tiprack",
+    "sbs_reservoir"
+   ],
+   "franka_grasp_ok": true,
+   "max_payload_height_m": 0.102,
+   "usage_zh": "Franka 抓 grasp（柱）→ 托架连同板件一起移动；在仪器板位处由宿主/场景把板件从托架转到板位（touch + intent），或使用宽口板夹爪。",
+   "slots": [
+    {
+     "name": "plate_seat",
+     "kind": "plate_slot",
+     "part": "body",
+     "position_m": [
+      0.0,
+      0.0,
+      0.003
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.01,
+     "radius_m": 0.06,
+     "moves_with": "body",
+     "fits": [
+      "sbs"
+     ],
+     "note_zh": "SBS 板件底面中心"
+    }
+   ]
+  },
+  "labware.bochem_spatula_3340": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/tools/bochem_spatula_3340",
+   "contract": "assets/labware/tools/bochem_spatula_3340/asset.contract.json",
+   "manifest": "assets/labware/tools/bochem_spatula_3340/geometry_manifest.json",
+   "model_glb": "assets/labware/tools/bochem_spatula_3340/model.glb",
+   "model_urdf": "assets/labware/tools/bochem_spatula_3340/model.urdf",
+   "model_blend": null,
+   "name_zh": "Bochem 3340 微量药匙（18/10 不锈钢，150 mm，Ø9 mm 匙头 + 平铲）",
+   "name_en": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm",
+   "size_m": [
+    0.15,
+    0.009,
+    0.0035
+   ],
+   "total_mass_kg": 0.00855,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "bochem_3340",
+     "kind": "manufacturer",
+     "reference": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm (Fisher UK listing https://fishersci.co.uk/shop/products/18-10-stainless-steel-micro-spoon-spatulas-6/p-8000566)",
+     "locator": "length 150 mm, spoon 9 mm, blade 40 mm (blade width 5 mm)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "spatula_assumption",
+     "kind": "assumption",
+     "reference": "spatula rod diameter, spoon depth, blade thickness",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "labware.bochem_spatula_3340",
+   "family": "spatula",
+   "labware_class": "spatula",
+   "fits": [
+    "spatula",
+    "tool_holder"
+   ],
+   "maker": "Bochem",
+   "model": "Micro spoon spatula, 18/10 stainless steel, 150 mm (spoon O9 mm, blade 40 mm)",
+   "catalogue_no": "3340",
+   "spoon_capacity_level_m3": 1.06e-07,
+   "spoon_capacity_heaped_m3": 1.696e-07,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0035,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.03875,
+     "note_zh": "俯抓杆中部（Ø3.5 mm），手指沿 Y 合拢；平放时 TCP 贴近台面",
+     "finger_contact_z_m": [
+      0.0,
+      0.0035
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "spoon": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0705,
+      0.0,
+      0.0025
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "匙头中心（取粉点）"
+    },
+    "blade_tip": {
+     "link": "base_link",
+     "pos_m": [
+      0.075,
+      0.0,
+      0.0004
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "平铲端"
+    }
+   },
+   "empty_mass_kg": 0.00855,
+   "franka_grasp_ok": true,
+   "stands_upright": false,
+   "powder_note_zh": "一匙平/堆取量 ≈ spoon_capacity × 粉末堆密度；转移量由宿主账本记录（powder handling）"
+  },
+  "labware.globe_weighing_boat_3620": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/tools/globe_weighing_boat_3620",
+   "contract": "assets/labware/tools/globe_weighing_boat_3620/asset.contract.json",
+   "manifest": "assets/labware/tools/globe_weighing_boat_3620/geometry_manifest.json",
+   "model_glb": "assets/labware/tools/globe_weighing_boat_3620/model.glb",
+   "model_urdf": "assets/labware/tools/globe_weighing_boat_3620/model.urdf",
+   "model_blend": null,
+   "name_zh": "Globe Scientific 3620 防静电方形称量舟（41×41×8 mm，PS）",
+   "name_en": "Globe Scientific 3620 antistatic square weighing boat 41 x 41 x 8 mm",
+   "size_m": [
+    0.041,
+    0.041,
+    0.00826
+   ],
+   "total_mass_kg": 0.0013,
+   "links": [
+    "body"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "globe_3620",
+     "kind": "manufacturer",
+     "reference": "Globe Scientific 3620 antistatic square polystyrene weighing dish (listing https://www.calpaclab.com/weighing-boat-plastic-square-antistatic-41x41x8mm-polystyrene-white-20ml/gsci-3620); same size as Heathrow HS1421A / Sigma Z708542",
+     "locator": "41 x 41 x 8 mm, 20 mL, PS, antistatic",
+     "licence": "facts"
+    },
+    {
+     "source_id": "pp_hdpe_density",
+     "kind": "assumption",
+     "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "boat_assumption",
+     "kind": "assumption",
+     "reference": "weighing boat floor size and wall thickness",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "labware.globe_weighing_boat_3620",
+   "family": "weighing_boat",
+   "labware_class": "weighing_boat",
+   "fits": [
+    "weighing_boat",
+    "balance_pan"
+   ],
+   "maker": "Globe Scientific",
+   "model": "Weighing boat, square, antistatic PS, 41 x 41 x 8 mm, 20 mL",
+   "catalogue_no": "3620",
+   "nominal_capacity_m3": 1.0435e-05,
+   "catalogue_capacity_label_m3": 2e-05,
+   "brim_capacity_m3": 1.0435e-05,
+   "nominal_capacity_evidence": "computed from the documented rim size and depth (the catalogue label says 20 mL, more than the 13.4 mL of a 41 x 41 x 8 mm box: label kept separately)",
+   "interior": {
+    "shape": "frustum_square",
+    "top_m": 0.041,
+    "bottom_m": 0.031,
+    "floor_m": 0.0005,
+    "height_m": 0.008,
+    "radius_m": 0.0155
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.041,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.042,
+     "note_zh": "俯抓两侧壁（41 mm），手指沿 Y 合拢；装粉后保持水平",
+     "finger_contact_z_m": [
+      0.0,
+      0.008
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "empty_mass_kg": 0.001297,
+   "franka_grasp_ok": true,
+   "stands_upright": true,
+   "powder_note_zh": "粉末量由宿主账本记录；称量舟放在天平秤盘（SPX2201 敞开秤盘）上读数"
+  },
+  "labutopia.beaker_50ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker 50ml",
+   "note_zh": "低型烧杯，约 52 x 81 mm",
+   "size_m": [
+    0.0519,
+    0.0482,
+    0.0814
+   ],
+   "empty_mass_kg": 0.05,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0407
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1314
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1614
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1314
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2614
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2614
+    ]
+   },
+   "grasp_height_m": 0.0407,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/beaker_1",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 4.9999999999999996e-05,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.0216,
+    "floor_m": 0.004,
+    "height_m": 0.0814,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_100ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker 100ml",
+   "note_zh": "低型烧杯，约 65 x 99 mm",
+   "size_m": [
+    0.0649,
+    0.0603,
+    0.0994
+   ],
+   "empty_mass_kg": 0.07,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0694
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1494
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1794
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1494
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2794
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2794
+    ]
+   },
+   "grasp_height_m": 0.0694,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/beaker_2",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.02765,
+    "floor_m": 0.004,
+    "height_m": 0.0994,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_150ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker 150ml",
+   "note_zh": "低型烧杯，约 75 x 118 mm",
+   "size_m": [
+    0.0747,
+    0.0693,
+    0.1175
+   ],
+   "empty_mass_kg": 0.09,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0875
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1675
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1975
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1675
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2975
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2975
+    ]
+   },
+   "grasp_height_m": 0.0875,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/beaker_3",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 0.00015,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.03215,
+    "floor_m": 0.004,
+    "height_m": 0.1175,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_250ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker 250ml",
+   "note_zh": "低型烧杯，约 84 x 136 mm",
+   "size_m": [
+    0.0844,
+    0.0783,
+    0.1356
+   ],
+   "empty_mass_kg": 0.11,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.1056
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1856
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2156
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1856
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3156
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3156
+    ]
+   },
+   "grasp_height_m": 0.1056,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/beaker_4",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 0.00025,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.03665,
+    "floor_m": 0.004,
+    "height_m": 0.1356,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": false,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_600ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker 600ml",
+   "note_zh": "低型烧杯，约 110 x 154 mm",
+   "size_m": [
+    0.1104,
+    0.1025,
+    0.1537
+   ],
+   "empty_mass_kg": 0.2,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.1237
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.2037
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2337
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.2037
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3337
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3337
+    ]
+   },
+   "grasp_height_m": 0.1237,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/beaker_5",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 0.0006,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.04875,
+    "floor_m": 0.004,
+    "height_m": 0.1537,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": false,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_wide_500ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker wide 500ml",
+   "note_zh": "宽口低型烧杯，约 111 x 90 mm",
+   "size_m": [
+    0.1107,
+    0.1107,
+    0.0904
+   ],
+   "empty_mass_kg": 0.18,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0604
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1404
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1704
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1404
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2704
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2704
+    ]
+   },
+   "grasp_height_m": 0.0604,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/beaker2",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 0.0005,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.05285,
+    "floor_m": 0.004,
+    "height_m": 0.0904,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": false,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_wide_1000ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker wide 1000ml",
+   "note_zh": "宽口低型烧杯，约 155 x 127 mm",
+   "size_m": [
+    0.1549,
+    0.1549,
+    0.1266
+   ],
+   "empty_mass_kg": 0.35,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0966
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1766
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2066
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1766
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3066
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3066
+    ]
+   },
+   "grasp_height_m": 0.0966,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/beaker1",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 0.001,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.07495,
+    "floor_m": 0.004,
+    "height_m": 0.1266,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": false,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.erlenmeyer_100ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "erlenmeyer 100ml",
+   "note_zh": "锥形瓶，约 77 x 97 mm",
+   "size_m": [
+    0.0771,
+    0.0771,
+    0.0975
+   ],
+   "empty_mass_kg": 0.08,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0675
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1475
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1775
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1475
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2775
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2775
+    ]
+   },
+   "grasp_height_m": 0.0675,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/conical_bottle01",
+   "family": "open_vessel",
+   "labware_class": "erlenmeyer",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.03605,
+    "floor_m": 0.004,
+    "height_m": 0.0975,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.erlenmeyer_250ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "erlenmeyer 250ml",
+   "note_zh": "锥形瓶，约 93 x 165 mm",
+   "size_m": [
+    0.0926,
+    0.0926,
+    0.1645
+   ],
+   "empty_mass_kg": 0.14,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.1345
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.2145
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2445
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.2145
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3445
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3445
+    ]
+   },
+   "grasp_height_m": 0.1345,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/conical_bottle02",
+   "family": "open_vessel",
+   "labware_class": "erlenmeyer",
+   "nominal_capacity_m3": 0.00025,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.0438,
+    "floor_m": 0.004,
+    "height_m": 0.1645,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.erlenmeyer_500ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "erlenmeyer 500ml",
+   "note_zh": "锥形瓶，约 113 x 197 mm",
+   "size_m": [
+    0.1133,
+    0.1133,
+    0.1966
+   ],
+   "empty_mass_kg": 0.22,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.1666
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.2466
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2766
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.2466
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3766
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3766
+    ]
+   },
+   "grasp_height_m": 0.1666,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/conical_bottle04",
+   "family": "open_vessel",
+   "labware_class": "erlenmeyer",
+   "nominal_capacity_m3": 0.0005,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.05415,
+    "floor_m": 0.004,
+    "height_m": 0.1966,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.erlenmeyer_1000ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "erlenmeyer 1000ml",
+   "note_zh": "锥形瓶，约 141 x 234 mm",
+   "size_m": [
+    0.1411,
+    0.1411,
+    0.2338
+   ],
+   "empty_mass_kg": 0.32,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.2038
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.2838
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.3138
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.2838
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.4138
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.4138
+    ]
+   },
+   "grasp_height_m": 0.2038,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/conical_bottle03",
+   "family": "open_vessel",
+   "labware_class": "erlenmeyer",
+   "nominal_capacity_m3": 0.001,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.06805,
+    "floor_m": 0.004,
+    "height_m": 0.2338,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.erlenmeyer_wide_1000ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "erlenmeyer wide 1000ml",
+   "note_zh": "宽底锥形瓶，约 160 x 197 mm",
+   "size_m": [
+    0.1602,
+    0.1602,
+    0.1966
+   ],
+   "empty_mass_kg": 0.34,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.1666
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.2466
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.2766
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.2466
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.3766
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.3766
+    ]
+   },
+   "grasp_height_m": 0.1666,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/conical_bottle03",
+   "family": "open_vessel",
+   "labware_class": "erlenmeyer",
+   "nominal_capacity_m3": 0.001,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.0776,
+    "floor_m": 0.004,
+    "height_m": 0.1966,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.graduated_cylinder_500ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "graduated cylinder 500ml",
+   "note_zh": "量筒，约 117 x 272 mm",
+   "size_m": [
+    0.1172,
+    0.1172,
+    0.2723
+   ],
+   "empty_mass_kg": 0.3,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.2423
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.3223
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.3523
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.3223
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.4523
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.4523
+    ]
+   },
+   "grasp_height_m": 0.2423,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/graduated_cylinder_03",
+   "family": "open_vessel",
+   "labware_class": "cylinder",
+   "nominal_capacity_m3": 0.0005,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.0561,
+    "floor_m": 0.004,
+    "height_m": 0.2723,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": false,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.glass_rod": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "glass rod",
+   "note_zh": "玻璃搅拌棒，250 mm，平放",
+   "size_m": [
+    0.25,
+    0.0172,
+    0.006
+   ],
+   "empty_mass_kg": 0.02,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.012
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.056
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.086
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.056
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.186
+    ]
+   },
+   "grasp_height_m": 0.012,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/glass_rod",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.beaker_opaque_100ml": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "beaker opaque 100ml",
+   "note_zh": "不透明烧杯（示教用），约 65 x 90 mm",
+   "size_m": [
+    0.0649,
+    0.0603,
+    0.0904
+   ],
+   "empty_mass_kg": 0.07,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0604
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1404
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1704
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1404
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2704
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2704
+    ]
+   },
+   "grasp_height_m": 0.0604,
+   "category": "labware",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/target_beaker",
+   "family": "open_vessel",
+   "labware_class": "beaker",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+   "interior": {
+    "shape": "cylinder_estimate",
+    "radius_m": 0.02765,
+    "floor_m": 0.004,
+    "height_m": 0.0904,
+    "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"
+   },
+   "franka_grasp_ok": true,
+   "closure": null,
+   "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.test_tube_rack": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "test tube rack",
+   "note_zh": "试管架带 8 支试管（试管与架固连）",
+   "size_m": [
+    0.0855,
+    0.2856,
+    0.193
+   ],
+   "empty_mass_kg": 0.6,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0965
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.243
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.273
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.243
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.373
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.373
+    ]
+   },
+   "grasp_height_m": 0.0965,
+   "category": "prop",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/test_tube_rack",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.placement_pad": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "placement pad",
+   "note_zh": "150 mm 放置垫",
+   "size_m": [
+    0.15,
+    0.15,
+    0.005
+   ],
+   "empty_mass_kg": 0.2,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0025
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.055
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.085
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.055
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.185
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.185
+    ]
+   },
+   "grasp_height_m": 0.0025,
+   "category": "prop",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/target_plat",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.hotplate_prop": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "hotplate prop",
+   "note_zh": "示教加热台（无过程模型，按钮为独立刚体）",
+   "size_m": [
+    0.2544,
+    0.18,
+    0.0894
+   ],
+   "empty_mass_kg": 3.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.0447
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.1394
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1694
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.1394
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.2694
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.2694
+    ]
+   },
+   "grasp_height_m": 0.0447,
+   "category": "prop",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/heat_device",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.lab_bench": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "lab bench",
+   "note_zh": "1.5 x 4.5 m 实验台，带抽屉柜",
+   "size_m": [
+    1.5,
+    4.5,
+    0.8569
+   ],
+   "empty_mass_kg": 80.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.4284
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.9069
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.9369
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.9069
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     1.0369
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     1.0369
+    ]
+   },
+   "grasp_height_m": 0.4284,
+   "category": "prop",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_003/lab_003.usd /World/table",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.lab_bench_green": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "lab bench green",
+   "note_zh": "1.56 x 3.4 m 实验台，绿色台面",
+   "size_m": [
+    1.5609,
+    3.3852,
+    1.0062
+   ],
+   "empty_mass_kg": 60.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.5031
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     1.0562
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     1.0862
+    ],
+    "place": [
+     0.0,
+     0.0,
+     1.0562
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     1.1862
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     1.1862
+    ]
+   },
+   "grasp_height_m": 0.5031,
+   "category": "prop",
+   "source_detail": "LabUtopia assets/chemistry_lab/hard_task/Scene1_hard.usd /World/table_hard",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.drying_oven_generic": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "drying oven generic",
+   "note_zh": "通用干燥箱，门关节 0 到 120 度，带按钮",
+   "size_m": [
+    0.5764,
+    0.7409,
+    0.63
+   ],
+   "empty_mass_kg": 30.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.315
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.68
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.71
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.68
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     0.81
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     0.81
+    ]
+   },
+   "grasp_height_m": 0.315,
+   "category": "appliance",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/DryingBox_01",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.drying_cabinet_generic": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "drying cabinet generic",
+   "note_zh": "大号通用干燥柜，门关节",
+   "size_m": [
+    1.1311,
+    0.962,
+    1.01
+   ],
+   "empty_mass_kg": 60.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.505
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     1.06
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     1.09
+    ],
+    "place": [
+     0.0,
+     0.0,
+     1.06
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     1.19
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     1.19
+    ]
+   },
+   "grasp_height_m": 0.505,
+   "category": "appliance",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/DryingBox_02",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "labutopia.muffle_furnace_generic": {
+   "source": "labutopia",
+   "licence": "MIT (LabUtopia)",
+   "reused": true,
+   "name_en": "muffle furnace generic",
+   "note_zh": "通用马弗炉，门关节 -100 到 0 度",
+   "size_m": [
+    0.5545,
+    0.6439,
+    0.842
+   ],
+   "empty_mass_kg": 40.0,
+   "mass_evidence": "LabUtopia index value (not weighed)",
+   "frames_index": {
+    "grasp": [
+     0.0,
+     0.0,
+     0.421
+    ],
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.892
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.922
+    ],
+    "place": [
+     0.0,
+     0.0,
+     0.892
+    ],
+    "pre_place": [
+     0.0,
+     0.0,
+     1.022
+    ],
+    "post_place": [
+     0.0,
+     0.0,
+     1.022
+    ]
+   },
+   "grasp_height_m": 0.421,
+   "category": "appliance",
+   "source_detail": "LabUtopia assets/chemistry_lab/lab_001/lab_001.usd /World/MuffleFurnace",
+   "external": "LabUtopia (MIT licence)",
+   "files_included": false
+  },
+  "matterix.gc_sample_vial": {
+   "source": "matterix (Chemistry-Sim accessory)",
+   "licence": "project",
+   "reused": true,
+   "size_m": [
+    0.026,
+    0.026,
+    0.049
+   ],
+   "empty_mass_kg": 0.004,
+   "frames_index": {
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.0745
+    ],
+    "grasp": [
+     0.0,
+     0.0,
+     0.0
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.1045
+    ]
+   },
+   "note_zh": "Chemistry-Sim GC 附件（已在 Matterix 中转换）；origin 在包围盒中心（base_offset = −bbox_min z）",
+   "family": "vial",
+   "external": "Matterix simulation framework (converted Chemistry-Sim GC accessory)",
+   "files_included": false
+  },
+  "matterix.gc_syringe": {
+   "source": "matterix (Chemistry-Sim accessory)",
+   "licence": "project",
+   "reused": true,
+   "size_m": [
+    0.018,
+    0.014,
+    0.1515
+   ],
+   "empty_mass_kg": 0.006,
+   "frames_index": {
+    "pre_grasp": [
+     0.0,
+     0.0,
+     0.127
+    ],
+    "grasp": [
+     0.0,
+     0.0,
+     0.0013
+    ],
+    "post_grasp": [
+     0.0,
+     0.0,
+     0.157
+    ]
+   },
+   "note_zh": "Chemistry-Sim GC 附件（已在 Matterix 中转换）；origin 在包围盒中心（base_offset = −bbox_min z）",
+   "family": "syringe",
+   "external": "Matterix simulation framework (converted Chemistry-Sim GC accessory)",
+   "files_included": false
+  },
+  "matterix.beaker500ml": {
+   "source": "matterix",
+   "licence": "Matterix (BSD-3-Clause)",
+   "reused": true,
+   "family": "open_vessel",
+   "nominal_capacity_m3": 0.0005,
+   "note_zh": "Matterix 自带资产（matterix_assets/labware/beakers.py / infrastructure）",
+   "external": "Matterix simulation framework",
+   "files_included": false
+  },
+  "matterix.table_thorlabs_75x90": {
+   "source": "matterix",
+   "licence": "Matterix (BSD-3-Clause)",
+   "reused": true,
+   "family": "furniture",
+   "nominal_capacity_m3": null,
+   "note_zh": "Matterix 自带资产（matterix_assets/labware/beakers.py / infrastructure）",
+   "external": "Matterix simulation framework",
+   "files_included": false
+  }
+ },
+ "furniture": {
+  "furniture.asecos_cs_195_105": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_cs_195_105",
+   "contract": "assets/labware/furniture/asecos_cs_195_105/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_cs_195_105/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_cs_195_105/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_cs_195_105/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（有毒品，可上锁，通风，2 层 × 6 位）",
+   "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (toxics_cabinet, 2 shelves)",
+   "size_m": [
+    1.055,
+    0.563,
+    1.95
+   ],
+   "total_mass_kg": 75.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_cs_195_105",
+     "kind": "manufacturer",
+     "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+     "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_cs_30496040",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+     "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "public_domain_signs",
+     "kind": "publication",
+     "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+     "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+     "licence": "public domain"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 2 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "toxics_cabinet"
+    ],
+    "min_pitch_m": 0.229,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06"
+    ],
+    "note_zh": "2 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 1004 warning yellow",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496040"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w016_toxic",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs06_skull",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w016_toxic",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs06_skull",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "toxics_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.085,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    }
+   ]
+  },
+  "furniture.asecos_cs_195_105_consumables": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_cs_195_105_consumables",
+   "contract": "assets/labware/furniture/asecos_cs_195_105_consumables/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_cs_195_105_consumables/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_cs_195_105_consumables/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_cs_195_105_consumables/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（耗材柜，4 层 × 8 位）",
+   "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (consumables_cabinet, 4 shelves)",
+   "size_m": [
+    1.055,
+    0.563,
+    1.95
+   ],
+   "total_mass_kg": 75.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_cs_195_105",
+     "kind": "manufacturer",
+     "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+     "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_cs_30496040",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+     "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "asecos_cs_30496041",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+     "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_consumables",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 4 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "consumables_cabinet"
+    ],
+    "min_pitch_m": 0.224,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496041"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-07",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-08",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-07",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-08",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      0.73125
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3463,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-01",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-02",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-03",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-04",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-05",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-06",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-07",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-08",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      1.1025
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.3462,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-01",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-02",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-03",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-04",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-05",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-06",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-07",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S4-08",
+     "place_id": "consumables_cabinet",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      1.47375
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.4213,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    }
+   ]
+  },
+  "furniture.asecos_cs_195_105_oxidizers": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_cs_195_105_oxidizers",
+   "contract": "assets/labware/furniture/asecos_cs_195_105_oxidizers/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_cs_195_105_oxidizers/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_cs_195_105_oxidizers/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_cs_195_105_oxidizers/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（氧化剂柜，1 层 × 6 位）",
+   "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (oxidizers_cabinet, 1 shelves)",
+   "size_m": [
+    1.055,
+    0.563,
+    1.95
+   ],
+   "total_mass_kg": 75.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_cs_195_105",
+     "kind": "manufacturer",
+     "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+     "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_cs_30496040",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+     "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "public_domain_signs",
+     "kind": "publication",
+     "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+     "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+     "licence": "public domain"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_oxidizers",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 1 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "oxidizers_cabinet"
+    ],
+    "min_pitch_m": 0.229,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06"
+    ],
+    "note_zh": "1 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 1004 warning yellow",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496040"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w028_oxidizing",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs03_flame_over_circle",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w028_oxidizing",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs03_flame_over_circle",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "oxidizers_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.535,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+    }
+   ]
+  },
+  "furniture.asecos_cs_195_105_standards": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_cs_195_105_standards",
+   "contract": "assets/labware/furniture/asecos_cs_195_105_standards/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_cs_195_105_standards/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_cs_195_105_standards/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_cs_195_105_standards/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（标准物质柜，3 层 × 8 位）",
+   "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (standards_cabinet, 3 shelves)",
+   "size_m": [
+    1.055,
+    0.563,
+    1.95
+   ],
+   "total_mass_kg": 75.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_cs_195_105",
+     "kind": "manufacturer",
+     "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+     "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_cs_30496040",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+     "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "asecos_cs_30496041",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+     "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_standards",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 3 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "standards_cabinet"
+    ],
+    "min_pitch_m": 0.224,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08"
+    ],
+    "note_zh": "3 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496041"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-07",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S1-08",
+     "place_id": "standards_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      0.36
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-07",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S2-08",
+     "place_id": "standards_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      0.81
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.425,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-01",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      -0.12,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-02",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      -0.12,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-03",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      -0.12,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-04",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      -0.12,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-05",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.3375,
+      0.11,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-06",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.1125,
+      0.11,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-07",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.1125,
+      0.11,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    },
+    {
+     "name": "S3-08",
+     "place_id": "standards_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.3375,
+      0.11,
+      1.26
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.635,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "sbs",
+      "box"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+    }
+   ]
+  },
+  "furniture.asecos_g90_205_140": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_g90_205_140",
+   "contract": "assets/labware/furniture/asecos_g90_205_140/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_g90_205_140/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_g90_205_140/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_g90_205_140/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos G-ULTIMATE-90 可燃气体钢瓶柜 G90.205.140（4 × 50 L）",
+   "name_en": "asecos gas cylinder cabinet G-ULTIMATE-90, G90.205.140",
+   "size_m": [
+    1.398,
+    0.658,
+    2.05
+   ],
+   "total_mass_kg": 690.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      3.141593
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 180.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      3.141593
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 180.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_g90_205_140",
+     "kind": "manufacturer",
+     "reference": "asecos gas cylinder cabinet G-ULTIMATE-90, model G90.205.140 (ID 30641-001-30642), listings Fisher Scientific 15185564 (https://fishersci.dk/shop/products/g-ultimate-90-gas-cylinders-storage-cabinet/15185564) and LabFriend (https://www.labfriend.com.my/asecos-gas-cylinder-cabinet-g-ultimate-90-wd)",
+     "locator": "external 1398 x 615 x 2050 mm, internal 1245 x 400 x 1858 mm, 4 x 50 L or 8 x 10 L cylinders, 707.5 kg (another listing 690 kg), EN 14470-2 type G90, two wing doors",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "rama_50l_cylinder",
+     "kind": "manufacturer",
+     "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+     "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+     "licence": "facts"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "G90 door leaves, cylinder positions and door mass",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_g90_30641001",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30641-001, model G90.205.140 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30641001-product-data-sheet_IN.pdf)",
+     "locator": "p.1: body and doors RAL 7035 light grey; 690 kg without interior; 2 doors, door opening angle 180 deg; depth with open doors 1337 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "public_domain_signs",
+     "kind": "publication",
+     "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+     "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+     "licence": "public domain"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.622,
+      -0.2475,
+      0.1
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      3.141593
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "mass_kg": 56.897,
+     "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.58,
+       -0.095,
+       0.9
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.58
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.622,
+      -0.2475,
+      0.1
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      3.141593
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "mass_kg": 56.897,
+     "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.58,
+       -0.095,
+       0.9
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.58
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_g90_205_140",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Gas cylinder cabinet G-ULTIMATE-90, model G90.205.140",
+   "catalogue_no": "G90.205.140 (ID 30641-001-30642)",
+   "storage": {
+    "place_ids": [
+     "gas_cabinet_flammable"
+    ],
+    "min_pitch_m": 0.24,
+    "headroom_m": 1.6,
+    "expected_positions": [
+     "G1",
+     "G2",
+     "G3",
+     "G4"
+    ],
+    "note_zh": "4 位 G1..G4（50 L 钢瓶；8 × 10 L 时可两两并放）；Franka 不可达（房间设施）"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7035 light grey",
+     "doors": "RAL 7035 light grey",
+     "source_id": "asecos_g90_30641001"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w029_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs04_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w029_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs04_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "G1",
+     "place_id": "gas_cabinet_flammable",
+     "part": "floor",
+     "kind": "storage",
+     "position_m": [
+      -0.45,
+      -0.0475,
+      0.09
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "carcass",
+     "headroom_m": 1.858,
+     "fits": [
+      "gas_cylinder_50l",
+      "gas_cylinder_10l"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "气瓶底中心（柜内地板）"
+    },
+    {
+     "name": "G2",
+     "place_id": "gas_cabinet_flammable",
+     "part": "floor",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      -0.0475,
+      0.09
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "carcass",
+     "headroom_m": 1.858,
+     "fits": [
+      "gas_cylinder_50l",
+      "gas_cylinder_10l"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "气瓶底中心（柜内地板）"
+    },
+    {
+     "name": "G3",
+     "place_id": "gas_cabinet_flammable",
+     "part": "floor",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      -0.0475,
+      0.09
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "carcass",
+     "headroom_m": 1.858,
+     "fits": [
+      "gas_cylinder_50l",
+      "gas_cylinder_10l"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "气瓶底中心（柜内地板）"
+    },
+    {
+     "name": "G4",
+     "place_id": "gas_cabinet_flammable",
+     "part": "floor",
+     "kind": "storage",
+     "position_m": [
+      0.45,
+      -0.0475,
+      0.09
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "carcass",
+     "headroom_m": 1.858,
+     "fits": [
+      "gas_cylinder_50l",
+      "gas_cylinder_10l"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "气瓶底中心（柜内地板）"
+    }
+   ]
+  },
+  "furniture.asecos_q90_195_120": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_q90_195_120",
+   "contract": "assets/labware/furniture/asecos_q90_195_120/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_q90_195_120/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_q90_195_120/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_q90_195_120/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos Q-CLASSIC-90 易燃品安全柜 Q90.195.120（EN 14470-1 type 90，两扇门，3 层隔板）",
+   "name_en": "asecos safety storage cabinet Q-CLASSIC-90, Q90.195.120 (EN 14470-1 type 90)",
+   "size_m": [
+    1.193,
+    0.658,
+    1.953
+   ],
+   "total_mass_kg": 460.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.56207
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 89.5°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.56207
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 89.5°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_q90_195_120",
+     "kind": "manufacturer",
+     "reference": "asecos safety storage cabinet Q-CLASSIC-90, model Q90.195.120, product data sheet ID 34192-041 (https://asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_34192041-product-data-sheet_IN.pdf); 3-shelf version listed by LabFriend (https://www.labfriend.com.my/asecos-q-classic-90-safety-storage-cabinet-1200x615x1955mm-3-shelves)",
+     "locator": "data sheet p.1: external 1193 x 615 x 1953 mm, internal 1050 x 522 x 1647 mm, 460 kg, 2 wing doors, opening angle 89.5 deg, depth with open doors 1165 mm, interior grid 32 mm, transport base 90 mm, RAL 7016 body / RAL 7035 doors; p.2 drawing (door leaves); listing: 3 height-adjustable shelves (75 kg each) + bottom collecting sump",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "asecos cabinet door leaves, shelf heights and door mass",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_q90_30001041",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30001-041, model Q90.195.120 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30001041-product-data-sheet_IN.pdf)",
+     "locator": "p.1 colouring: body RAL 7016 anthracite grey, wing doors RAL 7035 light grey",
+     "licence": "facts"
+    },
+    {
+     "source_id": "public_domain_signs",
+     "kind": "publication",
+     "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+     "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+     "licence": "public domain"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.547,
+      -0.2775,
+      0.15
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.56207
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "mass_kg": 25.704,
+     "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.505,
+       -0.065,
+       0.85
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.505
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.547,
+      -0.2775,
+      0.15
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.56207
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "mass_kg": 25.704,
+     "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.505,
+       -0.065,
+       0.85
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.505
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_q90_195_120",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Q-CLASSIC-90 safety storage cabinet, model Q90.195.120 (3 shelves + bottom sump)",
+   "catalogue_no": "Q90.195.120 (data sheet ID 34192-041 for .MM)",
+   "storage": {
+    "place_ids": [
+     "flammables_cabinet"
+    ],
+    "min_pitch_m": 0.17,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06"
+    ],
+    "note_zh": "3 层 × 6 位（S1 最低隔板）；底部集液槽不放容器；Franka 固定基座不可达（房间家具）"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "source_id": "asecos_q90_30001041"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs02_flame",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs02_flame",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "iso7010_p003_no_open_flame",
+      "licence": "Public domain"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.4375,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.2625,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0875,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.0875,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.2625,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.4375,
+      -0.0165,
+      0.598
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.4375,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.2625,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.0875,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.0875,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.2625,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.4375,
+      -0.0165,
+      0.998
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.375,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-01",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.4375,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-02",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.2625,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-03",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.0875,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-04",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.0875,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-05",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.2625,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    },
+    {
+     "name": "S3-06",
+     "place_id": "flammables_cabinet",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.4375,
+      -0.0165,
+      1.398
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.08,
+     "moves_with": "carcass",
+     "headroom_m": 0.447,
+     "fits": [
+      "bottle",
+      "solvent_bottle",
+      "gl45_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint",
+      "door_right_joint"
+     ],
+     "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+    }
+   ]
+  },
+  "furniture.asecos_sl_196_120": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/asecos_sl_196_120",
+   "contract": "assets/labware/furniture/asecos_sl_196_120/asset.contract.json",
+   "manifest": "assets/labware/furniture/asecos_sl_196_120/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/asecos_sl_196_120/model.glb",
+   "model_urdf": "assets/labware/furniture/asecos_sl_196_120/model.urdf",
+   "model_blend": null,
+   "name_zh": "asecos SL-CLASSIC 酸碱柜 SL.196.120.MV（左酸右碱两隔间）",
+   "name_en": "asecos cabinet for acids and alkalis SL-CLASSIC, SL.196.120.MV",
+   "size_m": [
+    1.197,
+    0.646,
+    1.965
+   ],
+   "total_mass_kg": 215.0,
+   "links": [
+    "carcass",
+    "door_left",
+    "door_right"
+   ],
+   "joints": {
+    "door_left": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+    },
+    "door_right": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "asecos_sl_196_120",
+     "kind": "manufacturer",
+     "reference": "asecos cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV, product data sheet ID 30606-005 (https://www.asecos-configurator.com/EN/IT/download/DAT_EXT_30606005-product-data-sheet_IN.pdf); pull-out trays per Fisher Scientific listing 15231035",
+     "locator": "p.1: external 1197 x 603 x 1965 mm, internal (per compartment) 485 x 570 x 1869 mm, 215 kg, 2 doors, depth with open doors 1153 mm, two hermetically separated compartments (acids / bases), laboratory white",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "cabinet_assumption",
+     "kind": "assumption",
+     "reference": "SL-CLASSIC door leaves, compartment walls, trays and door mass",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "asecos_sl_30606005",
+     "kind": "manufacturer",
+     "reference": "asecos product data sheet ID 30606-005, model SL.196.120.MV",
+     "locator": "p.1: body and doors laboratory white (sim. RAL 9016)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "public_domain_signs",
+     "kind": "publication",
+     "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+     "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+     "licence": "public domain"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.5935,
+      -0.2815,
+      0.03
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "mass_kg": 13.111,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+     "handle": {
+      "pos_m": [
+       -0.0435,
+       -0.3365,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.55,
+       -0.055,
+       0.97
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.55
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.5935,
+      -0.2815,
+      0.03
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "mass_kg": 13.111,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+     "handle": {
+      "pos_m": [
+       0.0435,
+       -0.3365,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.55,
+       -0.055,
+       0.97
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.55
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门（酸隔间）拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门（碱隔间）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_sl_196_120",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV (laboratory white)",
+   "catalogue_no": "SL.196.120.MV (ID 30606-005)",
+   "storage": {
+    "place_ids": [
+     "acids_cabinet",
+     "bases_cabinet"
+    ],
+    "min_pitch_m": 0.15,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "A:S1-01",
+     "A:S1-02",
+     "A:S1-03",
+     "A:S1-04",
+     "A:S1-05",
+     "A:S1-06",
+     "A:S2-01",
+     "A:S2-02",
+     "A:S2-03",
+     "A:S2-04",
+     "A:S2-05",
+     "A:S2-06",
+     "B:S1-01",
+     "B:S1-02",
+     "B:S1-03",
+     "B:S1-04",
+     "B:S1-05",
+     "B:S1-06",
+     "B:S2-01",
+     "B:S2-02",
+     "B:S2-03",
+     "B:S2-04",
+     "B:S2-05",
+     "B:S2-06"
+    ],
+    "note_zh": "槽位名 A:S1-01..A:S2-06 = acids_cabinet 的 S1-01..S2-06；B:... = bases_cabinet；Franka 固定基座不可达（房间家具）"
+   },
+   "appearance": {
+    "body": {
+     "body": "laboratory white (sim. RAL 9016)",
+     "doors": "laboratory white (sim. RAL 9016)",
+     "source_id": "asecos_sl_30606005"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w023_corrosive",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs05_corrosion",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w023_corrosive",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs05_corrosion",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "A:S1-01",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.446,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S1-02",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.296,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S1-03",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.146,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S1-04",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.446,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S1-05",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.296,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S1-06",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_1",
+     "kind": "storage",
+     "position_m": [
+      -0.146,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-01",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.446,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-02",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.296,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-03",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.146,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-04",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.446,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-05",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.296,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "A:S2-06",
+     "place_id": "acids_cabinet",
+     "part": "acid_tray_2",
+     "kind": "storage",
+     "position_m": [
+      -0.146,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_left_joint"
+     ],
+     "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-01",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.146,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-02",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.296,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-03",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.446,
+      -0.1315,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-04",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.146,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-05",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.296,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S1-06",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_1",
+     "kind": "storage",
+     "position_m": [
+      0.446,
+      0.1385,
+      0.11
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 0.465,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-01",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.146,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-02",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.296,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-03",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.446,
+      -0.1315,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-04",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.146,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-05",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.296,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    },
+    {
+     "name": "B:S2-06",
+     "place_id": "bases_cabinet",
+     "part": "base_tray_2",
+     "kind": "storage",
+     "position_m": [
+      0.446,
+      0.1385,
+      0.6
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "carcass",
+     "headroom_m": 1.319,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "solvent_bottle",
+      "jar"
+     ],
+     "access": [
+      "door_right_joint"
+     ],
+     "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+    }
+   ]
+  },
+  "furniture.belart_secador_2_vertical": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/belart_secador_2_vertical",
+   "contract": "assets/labware/furniture/belart_secador_2_vertical/asset.contract.json",
+   "manifest": "assets/labware/furniture/belart_secador_2_vertical/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/belart_secador_2_vertical/model.glb",
+   "model_urdf": "assets/labware/furniture/belart_secador_2_vertical/model.urdf",
+   "model_blend": null,
+   "name_zh": "Bel-Art Secador 2.0 立式干燥柜（透明，2 层隔板，左开门）",
+   "name_en": "Bel-Art Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (F42072-1000)",
+   "size_m": [
+    0.314,
+    0.374,
+    0.414
+   ],
+   "total_mass_kg": 10.7243,
+   "links": [
+    "carcass",
+    "door"
+   ],
+   "joints": {
+    "door": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.745329
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 100.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "belart_secador_2",
+     "kind": "manufacturer",
+     "reference": "SP Bel-Art F42072-1000 Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (https://www.belart.com/bel-art-f42072-1000-secador-clear-2-0-vertical-desiccator-cabinet-2-shelves-13-4-x-16-3-x-12-4.html); product family page https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/; NIST listing https://www.nist.gov/node/412726",
+     "locator": "34.1 x 41.4 x 31.4 cm (13.4 x 16.3 x 12.4 in: depth x height x width), internal volume 1.2 ft3 (NIST: 33.1 L), 2 perforated shelves, desiccant space under the bottom shelf, side-swinging door opening to the left, door seal + tab latches, Durastar copolyester",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "secador_assumption",
+     "kind": "assumption",
+     "reference": "Secador wall / door thickness, shelf heights, door opening angle",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "secador_hygrometer",
+     "kind": "manufacturer",
+     "reference": "SP Bel-Art Secador vertical desiccator cabinets product page (https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/)",
+     "locator": "hygrometer dial in the door shows relative humidity",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.155,
+      -0.1605,
+      0.002
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.745329
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.31,
+      0.01,
+      0.41
+     ],
+     "mass_kg": 1.525,
+     "mass_note_zh": "门板 310×410×10 mm × 1200 kg/m3",
+     "handle": {
+      "pos_m": [
+       0.125,
+       -0.1955,
+       0.22
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.1,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       0.28,
+       -0.035,
+       0.218
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.28
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      0.125,
+      -0.1955,
+      0.22
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "侧开门（左铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.belart_secador_2_vertical",
+   "family": "storage_furniture",
+   "maker": "SP Bel-Art (SP Industries)",
+   "model": "Secador 2.0 vertical desiccator cabinet, clear, 2 shelves",
+   "catalogue_no": "F42072-1000",
+   "storage": {
+    "place_ids": [
+     "desiccator"
+    ],
+    "min_pitch_m": 0.085,
+    "headroom_m": 0.15,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06"
+    ],
+    "note_zh": "2 层 × 6 位 = 12 位（S1 下层、S2 上层）；适合 100/250 mL 瓶、样品瓶、称量舟；放取须先开门，柜内无俯视空间"
+   },
+   "appearance": {
+    "body": {
+     "body": "clear (F42072-1000)",
+     "doors": "clear",
+     "hygrometer": "dial in the door (decal)",
+     "source_id": "secador_hygrometer"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "hygrometer",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.09,
+      -0.0855,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      -0.0855,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.09,
+      -0.0855,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.09,
+      0.0645,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      0.0645,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "desiccator",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.09,
+      0.0645,
+      0.072
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.09,
+      -0.0855,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      -0.0855,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.09,
+      -0.0855,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.09,
+      0.0645,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      0.0645,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "desiccator",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.09,
+      0.0645,
+      0.237
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.04,
+     "moves_with": "carcass",
+     "headroom_m": 0.161,
+     "fits": [
+      "bottle",
+      "vial",
+      "jar",
+      "weighing_boat"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+    }
+   ]
+  },
+  "furniture.denios_cylinder_stand_x4": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/denios_cylinder_stand_x4",
+   "contract": "assets/labware/furniture/denios_cylinder_stand_x4/asset.contract.json",
+   "manifest": "assets/labware/furniture/denios_cylinder_stand_x4/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/denios_cylinder_stand_x4/model.glb",
+   "model_urdf": "assets/labware/furniture/denios_cylinder_stand_x4/model.urdf",
+   "model_blend": null,
+   "name_zh": "DENIOS 气瓶架 115873W × 4（8 个 Ø230 mm 气瓶位，链条固定）",
+   "name_en": "DENIOS gas cylinder stand 115873W x 4 (8 cylinders, O <= 230 mm)",
+   "size_m": [
+    2.236,
+    0.41,
+    1.005
+   ],
+   "total_mass_kg": 160.56202,
+   "links": [
+    "stands"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "denios_115873",
+     "kind": "manufacturer",
+     "reference": "DENIOS steel gas cylinder stand for 2 gas cylinders max. O 230 mm, for wall mounting, item 115873W (https://denios.co.uk/gas-cylinder-stand-galvanized-for-2-x-o-230-mm-gas-cylinders-115873/Gas Cylinder Handling)",
+     "locator": "560 x 410 x 1005 mm (W x D x H), blue powder-coated steel, securing chain, load 150 kg, can be joined to further stands",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "stand_assumption",
+     "kind": "assumption",
+     "reference": "stand tube sections and chain height",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "denios_blue",
+     "kind": "manufacturer",
+     "reference": "DENIOS 115873W listing (blue powder-coated steel)",
+     "locator": "finish: blue powder coating",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "type_id": "furniture.denios_cylinder_stand_x4",
+   "family": "storage_furniture",
+   "maker": "DENIOS",
+   "model": "Steel gas cylinder stand for 2 cylinders O<=230 mm, wall mounting (x4)",
+   "catalogue_no": "115873W",
+   "storage": {
+    "place_ids": [
+     "cylinder_rack"
+    ],
+    "min_pitch_m": 0.24,
+    "headroom_m": null,
+    "expected_positions": [
+     "C1",
+     "C2",
+     "C3",
+     "C4",
+     "C5",
+     "C6",
+     "C7",
+     "C8"
+    ],
+    "note_zh": "8 位 C1..C8（每架 2 位，间距 0.28 m）；Franka 不可达（房间设施）"
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，地面 z=0；+Y 为墙侧"
+    }
+   },
+   "appearance": {
+    "body": {
+     "body": "blue powder coating",
+     "source_id": "denios_blue"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "C1",
+     "place_id": "cylinder_rack",
+     "part": "stand_1",
+     "kind": "storage",
+     "position_m": [
+      -0.98,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C2",
+     "place_id": "cylinder_rack",
+     "part": "stand_1",
+     "kind": "storage",
+     "position_m": [
+      -0.7,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C3",
+     "place_id": "cylinder_rack",
+     "part": "stand_2",
+     "kind": "storage",
+     "position_m": [
+      -0.42,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C4",
+     "place_id": "cylinder_rack",
+     "part": "stand_2",
+     "kind": "storage",
+     "position_m": [
+      -0.14,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C5",
+     "place_id": "cylinder_rack",
+     "part": "stand_3",
+     "kind": "storage",
+     "position_m": [
+      0.14,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C6",
+     "place_id": "cylinder_rack",
+     "part": "stand_3",
+     "kind": "storage",
+     "position_m": [
+      0.42,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C7",
+     "place_id": "cylinder_rack",
+     "part": "stand_4",
+     "kind": "storage",
+     "position_m": [
+      0.7,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    },
+    {
+     "name": "C8",
+     "place_id": "cylinder_rack",
+     "part": "stand_4",
+     "kind": "storage",
+     "position_m": [
+      0.98,
+      0.0205,
+      0.004
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.05,
+     "radius_m": 0.115,
+     "moves_with": "stands",
+     "headroom_m": 1.0,
+     "fits": [
+      "gas_cylinder_50l"
+     ],
+     "access": [],
+     "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+    }
+   ]
+  },
+  "furniture.duran_desiccator_dn250": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/duran_desiccator_dn250",
+   "contract": "assets/labware/furniture/duran_desiccator_dn250/asset.contract.json",
+   "manifest": "assets/labware/furniture/duran_desiccator_dn250/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/duran_desiccator_dn250/model.glb",
+   "model_urdf": "assets/labware/furniture/duran_desiccator_dn250/model.urdf",
+   "model_blend": null,
+   "model_solid_urdf": "assets/labware/furniture/duran_desiccator_dn250/model_solid.urdf",
+   "part_body_urdf": "assets/labware/furniture/duran_desiccator_dn250/parts/body.urdf",
+   "part_lid_urdf": "assets/labware/furniture/duran_desiccator_dn250/parts/lid.urdf",
+   "name_zh": "DURAN 玻璃干燥器 DN 250（旋钮盖，瓷板）",
+   "name_en": "DURAN desiccator DN 250 with knob lid (247816604) and porcelain plate",
+   "size_m": [
+    0.32,
+    0.32,
+    0.357
+   ],
+   "total_mass_kg": 7.90093,
+   "links": [
+    "body",
+    "lid"
+   ],
+   "joints": {
+    "lid": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      0,
+      1
+     ],
+     "limits_m": [
+      0.0,
+      0.15
+     ],
+     "note_zh": "正方向 = 竖直上提；实际操作为侧推 + 提起，按 touch + intent：抓住盖钮上提超过 clear_lift 即为独立刚体（parts/lid.urdf）"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "duran_desiccator_250",
+     "kind": "manufacturer",
+     "reference": "DWK DURAN desiccator with knobbed lid, DN 250, cat. 247816604 = bottom 247706605 + lid 244106608 (https://www.dwk.com/duran-desiccator-with-knobbed-lid; faust.ch article 247816604); porcelain plate DN 250 DU297256609",
+     "locator": "DN 250: flange inner 274 mm, flange outer 320 +/- 2 mm, height (complete) 357 mm; knob lid height 122 mm",
+     "licence": "facts"
+    },
+    {
+     "source_id": "iso3585",
+     "kind": "publication",
+     "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+     "locator": "Table 1: density 2.23 g/cm3",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "desiccator_assumption",
+     "kind": "assumption",
+     "reference": "DN 250 desiccator bottom / lid profile, plate, knob",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "furniture.duran_desiccator_dn250",
+   "family": "storage_furniture",
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "Desiccator with knobbed lid DN 250 (bottom 247706605 + lid 244106608) + porcelain plate DU297256609",
+   "catalogue_no": "247816604",
+   "storage": {
+    "place_ids": [
+     "desiccator_glass"
+    ],
+    "min_pitch_m": 0.07,
+    "headroom_m": 0.1,
+    "expected_positions": [
+     "P1-01",
+     "P1-02",
+     "P1-03",
+     "P1-04",
+     "P1-05",
+     "P1-06"
+    ],
+    "note_zh": "瓷板 1 层 × 6 位（与 清单原 desiccator 位置名 P1-01..06 相同）；默认实验室的 desiccator 位改为 Secador 柜，此玻璃干燥器可作 desiccator_glass"
+   },
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.13,
+    "rule_zh": "开盖 = 抓盖钮（lid_grasp）上提 ≥ clear_lift_m → 盖为独立刚体；盖回 = 盖对准 lid_seat 放下",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   },
+   "frames": {
+    "lid_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3395
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.04,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖钮中心（Ø40 mm）"
+    },
+    "lid_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.457
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "lid_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.235
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "盖 link 原点（法兰面中心）盖好时在底座坐标中的位置"
+    }
+   },
+   "mass_note_zh": "盖 2.67 kg（Franka 负载 3 kg 以内）",
+   "slots": [
+    {
+     "name": "P1-01",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      0.072,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    },
+    {
+     "name": "P1-02",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      -0.06235,
+      0.036,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    },
+    {
+     "name": "P1-03",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      -0.06235,
+      -0.036,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    },
+    {
+     "name": "P1-04",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      -0.0,
+      -0.072,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    },
+    {
+     "name": "P1-05",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      0.06235,
+      -0.036,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    },
+    {
+     "name": "P1-06",
+     "place_id": "desiccator_glass",
+     "part": "plate",
+     "kind": "storage",
+     "position_m": [
+      0.06235,
+      0.036,
+      0.114
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.02,
+     "radius_m": 0.03,
+     "moves_with": "body",
+     "headroom_m": 0.193,
+     "fits": [
+      "vial",
+      "weighing_boat",
+      "crucible",
+      "bottle_small"
+     ],
+     "access": [
+      "lid_joint"
+     ],
+     "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+    }
+   ]
+  },
+  "furniture.liebherr_lguex1500": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/liebherr_lguex1500",
+   "contract": "assets/labware/furniture/liebherr_lguex1500/asset.contract.json",
+   "manifest": "assets/labware/furniture/liebherr_lguex1500/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/liebherr_lguex1500/model.glb",
+   "model_urdf": "assets/labware/furniture/liebherr_lguex1500/model.urdf",
+   "model_blend": null,
+   "name_zh": "Liebherr MediLine LGUex 1500 实验室冷冻柜（−26 °C，3 抽屉，防爆内腔）",
+   "name_en": "Liebherr MediLine laboratory freezer LGUex 1500",
+   "size_m": [
+    0.6,
+    0.658,
+    0.82
+   ],
+   "total_mass_kg": 50.61852,
+   "links": [
+    "carcass",
+    "door",
+    "drawer_1",
+    "drawer_2",
+    "drawer_3"
+   ],
+   "joints": {
+    "door": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    },
+    "drawer_1": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_m": [
+      0.0,
+      0.3
+     ],
+     "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+    },
+    "drawer_2": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_m": [
+      0.0,
+      0.3
+     ],
+     "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+    },
+    "drawer_3": {
+     "type": "prismatic",
+     "axis": [
+      0,
+      -1,
+      0
+     ],
+     "limits_m": [
+      0.0,
+      0.3
+     ],
+     "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "liebherr_lguex1500",
+     "kind": "manufacturer",
+     "reference": "Liebherr MediLine LGUex 1500 laboratory freezer (listings https://ssllc.com/product/Liebherr-mediline-A135965, https://sydneycommercialkitchens.com.au/catering-equipment/freezers-medical/Liebherr)",
+     "locator": "external 600 x 615 x 820 mm, 129 L, 3 drawers + basket, down to -26 C, explosion-protected interior",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "freezer_assumption",
+     "kind": "assumption",
+     "reference": "LGUex 1500 door, interior and drawer geometry",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "liebherr_white",
+     "kind": "manufacturer",
+     "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+     "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.298,
+      -0.2375,
+      0.005
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.596,
+      0.07,
+      0.81
+     ],
+     "mass_kg": 6.706,
+     "mass_note_zh": "门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg",
+     "handle": {
+      "pos_m": [
+       -0.263,
+       -0.3425,
+       0.62
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       -0.561,
+       -0.105,
+       0.615
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.561
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      -0.263,
+      -0.3425,
+      0.62
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "冷冻门（右铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.liebherr_lguex1500",
+   "family": "storage_furniture",
+   "maker": "Liebherr",
+   "model": "MediLine LGUex 1500 laboratory freezer (3 drawers + basket)",
+   "catalogue_no": "LGUex 1500",
+   "storage": {
+    "place_ids": [
+     "freezer_m20c"
+    ],
+    "min_pitch_m": 0.095,
+    "headroom_m": 0.12,
+    "expected_positions": [
+     "D1-01",
+     "D1-02",
+     "D1-03",
+     "D1-04",
+     "D1-05",
+     "D1-06",
+     "D1-07",
+     "D1-08",
+     "D2-01",
+     "D2-02",
+     "D2-03",
+     "D2-04",
+     "D2-05",
+     "D2-06",
+     "D2-07",
+     "D2-08",
+     "D3-01",
+     "D3-02",
+     "D3-03",
+     "D3-04",
+     "D3-05",
+     "D3-06",
+     "D3-07",
+     "D3-08"
+    ],
+    "note_zh": "3 抽屉 × 8 位（D1 最低）；−20 °C 存放；Franka 不可达（房间设施）"
+   },
+   "temperature_range_c": [
+    -26,
+    -9
+   ],
+   "appearance": {
+    "body": {
+     "body": "white painted steel",
+     "doors": "white",
+     "controller": "electronic controller with digital display (decal)",
+     "source_id": "liebherr_white"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "controller_panel",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "D1-01",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      -0.1075,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-02",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      -0.1075,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-03",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      -0.1075,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-04",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      -0.1075,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-05",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      0.0925,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-06",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      0.0925,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-07",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      0.0925,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D1-08",
+     "place_id": "freezer_m20c",
+     "part": "drawer_1",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      0.0925,
+      0.143
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_1",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_1_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-01",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      -0.1075,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-02",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      -0.1075,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-03",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      -0.1075,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-04",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      -0.1075,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-05",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      0.0925,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-06",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      0.0925,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-07",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      0.0925,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D2-08",
+     "place_id": "freezer_m20c",
+     "part": "drawer_2",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      0.0925,
+      0.343
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_2",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_2_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-01",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      -0.1075,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-02",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      -0.1075,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-03",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      -0.1075,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-04",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      -0.1075,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-05",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      -0.15,
+      0.0925,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-06",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      -0.05,
+      0.0925,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-07",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      0.05,
+      0.0925,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    },
+    {
+     "name": "D3-08",
+     "place_id": "freezer_m20c",
+     "part": "drawer_3",
+     "kind": "storage",
+     "position_m": [
+      0.15,
+      0.0925,
+      0.543
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.045,
+     "moves_with": "drawer_3",
+     "headroom_m": 0.147,
+     "fits": [
+      "vial",
+      "tube",
+      "tube_box",
+      "bottle_small"
+     ],
+     "access": [
+      "door_joint",
+      "drawer_3_joint"
+     ],
+     "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+    }
+   ]
+  },
+  "furniture.liebherr_lkv3910": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/liebherr_lkv3910",
+   "contract": "assets/labware/furniture/liebherr_lkv3910/asset.contract.json",
+   "manifest": "assets/labware/furniture/liebherr_lkv3910/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/liebherr_lkv3910/model.glb",
+   "model_urdf": "assets/labware/furniture/liebherr_lkv3910/model.urdf",
+   "model_blend": null,
+   "name_zh": "Liebherr LKv 3910 MediLine 实验室冷藏柜（+3…+16 °C，360 L，防爆内腔）",
+   "name_en": "Liebherr laboratory refrigerator LKv 3910 MediLine",
+   "size_m": [
+    0.597,
+    0.658,
+    1.84
+   ],
+   "total_mass_kg": 75.75942,
+   "links": [
+    "carcass",
+    "door"
+   ],
+   "joints": {
+    "door": {
+     "type": "revolute",
+     "axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "limits_rad": [
+      0.0,
+      1.919862
+     ],
+     "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+    }
+   },
+   "sources": [
+    {
+     "source_id": "liebherr_lkv3910",
+     "kind": "manufacturer",
+     "reference": "Liebherr laboratory refrigerator LKv 3910 MediLine (Reagecon listing https://www.reagecon.com/zh-cn/liebherr-laboratory-refrigerator-lkv-3910-3-16-c-9698683; Remma https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910)",
+     "locator": "external 597 x 615 x 1840 mm, internal 440 x 435 x 1635 mm, 360 L gross, +3...+16 C, 5 height-adjustable shelves (45 kg each), spark-free interior",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "fridge_assumption",
+     "kind": "assumption",
+     "reference": "LKv 3910 wall / door split, shelf heights, door mass, hinge side",
+     "locator": "engineering value",
+     "licence": "n/a"
+    },
+    {
+     "source_id": "liebherr_white",
+     "kind": "manufacturer",
+     "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+     "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.2965,
+      -0.2075,
+      0.005
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.593,
+      0.1,
+      1.83
+     ],
+     "mass_kg": 16.129,
+     "mass_note_zh": "门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg",
+     "handle": {
+      "pos_m": [
+       -0.2615,
+       -0.3425,
+       1.1
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.3,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       -0.558,
+       -0.135,
+       1.095
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.558
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      -0.2615,
+      -0.3425,
+      1.1
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "冷藏门（右铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.liebherr_lkv3910",
+   "family": "storage_furniture",
+   "maker": "Liebherr",
+   "model": "LKv 3910 MediLine laboratory refrigerator (spark-free interior)",
+   "catalogue_no": "LKv 3910",
+   "storage": {
+    "place_ids": [
+     "fridge_4c"
+    ],
+    "min_pitch_m": 0.1,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位（S1 最低）；2–8 °C 存放；Franka 固定基座不可达（房间家具）"
+   },
+   "temperature_range_c": [
+    3,
+    16
+   ],
+   "appearance": {
+    "body": {
+     "body": "white painted steel",
+     "doors": "white",
+     "controller": "electronic controller with digital display (decal)",
+     "source_id": "liebherr_white"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "controller_panel",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      -0.0975,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      -0.0975,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      -0.0975,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      -0.0975,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      0.1125,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      0.1125,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-07",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      0.1125,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S1-08",
+     "place_id": "fridge_4c",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      0.1125,
+      0.19
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      -0.0975,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      -0.0975,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      -0.0975,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      -0.0975,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      0.1125,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      0.1125,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-07",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      0.1125,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S2-08",
+     "place_id": "fridge_4c",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      0.1125,
+      0.55
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-01",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      -0.0975,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-02",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      -0.0975,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-03",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      -0.0975,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-04",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      -0.0975,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-05",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      0.1125,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-06",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      0.1125,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-07",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      0.1125,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S3-08",
+     "place_id": "fridge_4c",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      0.1125,
+      0.91
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.355,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-01",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      -0.0975,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-02",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      -0.0975,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-03",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      -0.0975,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-04",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      -0.0975,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-05",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.165,
+      0.1125,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-06",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.055,
+      0.1125,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-07",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.055,
+      0.1125,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    },
+    {
+     "name": "S4-08",
+     "place_id": "fridge_4c",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.165,
+      0.1125,
+      1.27
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.05,
+     "moves_with": "carcass",
+     "headroom_m": 0.495,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "vial",
+      "tube_rack",
+      "jar"
+     ],
+     "access": [
+      "door_joint"
+     ],
+     "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+    }
+   ]
+  },
+  "furniture.metro_super_erecta_1848_4shelf": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/metro_super_erecta_1848_4shelf",
+   "contract": "assets/labware/furniture/metro_super_erecta_1848_4shelf/asset.contract.json",
+   "manifest": "assets/labware/furniture/metro_super_erecta_1848_4shelf/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/metro_super_erecta_1848_4shelf/model.glb",
+   "model_urdf": "assets/labware/furniture/metro_super_erecta_1848_4shelf/model.urdf",
+   "model_blend": null,
+   "name_zh": "Metro Super Erecta 镀铬线网架（1848NC × 4 层，74P 立柱）",
+   "name_en": "Metro Super Erecta chrome wire shelving, 1848NC shelves x 4, 74P posts",
+   "size_m": [
+    1.219,
+    0.457,
+    1.88
+   ],
+   "total_mass_kg": 50.15219,
+   "links": [
+    "rack"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "metro_super_erecta",
+     "kind": "manufacturer",
+     "reference": "Metro Super Erecta chrome wire shelving: shelf 1848NC (48 x 18 in) and posts 74P (74 in); listing https://www.katom.com/index.php/001-1848NC.html",
+     "locator": "shelf 48 in L x 18 in W (1219 x 457 mm), post 74 in (1880 mm), 4-shelf unit",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "rack_assumption",
+     "kind": "assumption",
+     "reference": "shelf heights and wire-shelf thickness",
+     "locator": "engineering value",
+     "licence": "n/a"
+    }
+   ],
+   "type_id": "furniture.metro_super_erecta_1848_4shelf",
+   "family": "storage_furniture",
+   "maker": "InterMetro (Metro)",
+   "model": "Super Erecta chrome wire shelving, 4 x 1848NC shelves on 74P posts",
+   "catalogue_no": "1848NC + 74P",
+   "storage": {
+    "place_ids": [
+     "reagent_shelf_a"
+    ],
+    "min_pitch_m": 0.15,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位；房间开放架，Franka 不可达"
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，地面 z=0"
+    }
+   },
+   "slots": [
+    {
+     "name": "S1-01",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.5325,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-02",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.3804,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-03",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.2283,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-04",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      -0.0762,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-05",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.0759,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-06",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.228,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-07",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.3801,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S1-08",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_1",
+     "kind": "storage",
+     "position_m": [
+      0.5322,
+      0.0,
+      0.141
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-01",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.5325,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-02",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.3804,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-03",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.2283,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-04",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      -0.0762,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-05",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.0759,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-06",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.228,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-07",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.3801,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S2-08",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_2",
+     "kind": "storage",
+     "position_m": [
+      0.5322,
+      0.0,
+      0.591
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-01",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.5325,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-02",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.3804,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-03",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.2283,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-04",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      -0.0762,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-05",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.0759,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-06",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.228,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-07",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.3801,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S3-08",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_3",
+     "kind": "storage",
+     "position_m": [
+      0.5322,
+      0.0,
+      1.041
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.42,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-01",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.5325,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-02",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.3804,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-03",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.2283,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-04",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      -0.0762,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-05",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.0759,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-06",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.228,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-07",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.3801,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    },
+    {
+     "name": "S4-08",
+     "place_id": "reagent_shelf_a",
+     "part": "shelf_4",
+     "kind": "storage",
+     "position_m": [
+      0.5322,
+      0.0,
+      1.491
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.07,
+     "moves_with": "rack",
+     "headroom_m": 0.35,
+     "fits": [
+      "bottle",
+      "gl45_bottle",
+      "jar",
+      "box"
+     ],
+     "access": [],
+     "note_zh": "每层一排 8 位（0.152 m）"
+    }
+   ]
+  },
+  "furniture.trippnt_step_shelf_2tier": {
+   "source": "chemistry_sim",
+   "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)",
+   "reused": false,
+   "dir": "assets/labware/furniture/trippnt_step_shelf_2tier",
+   "contract": "assets/labware/furniture/trippnt_step_shelf_2tier/asset.contract.json",
+   "manifest": "assets/labware/furniture/trippnt_step_shelf_2tier/geometry_manifest.json",
+   "model_glb": "assets/labware/furniture/trippnt_step_shelf_2tier/model.glb",
+   "model_urdf": "assets/labware/furniture/trippnt_step_shelf_2tier/model.urdf",
+   "model_blend": null,
+   "name_zh": "台面阶梯试剂架（两层 × 5 位，TrippNT 24 in PVC 阶梯架 + 前托盘）",
+   "name_en": "Bench reagent step shelf, 2 tiers x 5 (TrippNT 24 in PVC step shelf + front tray)",
+   "size_m": [
+    0.61,
+    0.379,
+    0.279
+   ],
+   "total_mass_kg": 5.6297,
+   "links": [
+    "shelf"
+   ],
+   "joints": {},
+   "sources": [
+    {
+     "source_id": "trippnt_step_shelf",
+     "kind": "manufacturer",
+     "reference": "TrippNT bottomless PVC step shelf 24 in, Weber Scientific TNT24W10-8 (https://weberscientific.com/step-shelves-workstation), Avantor 11376-388 / supplier no. 50123 (https://avantorsciences.com/ca/en/product/10053831/step-shelf-pvc-trippnt)",
+     "locator": "24 in (610 mm) wide, 10 in (254 mm) high, 9 in (229 mm) deep; 1 in (25 mm) safety lip; chemically resistant PVC; for reagent bottles",
+     "licence": "facts"
+    },
+    {
+     "source_id": "inventory_places",
+     "kind": "code",
+     "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+     "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+     "licence": "project"
+    },
+    {
+     "source_id": "robot_access",
+     "kind": "code",
+     "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+     "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+     "licence": "project"
+    },
+    {
+     "source_id": "trippnt_white",
+     "kind": "manufacturer",
+     "reference": "TrippNT 24 in step shelf 50123, white PVC (VWR 'Step shelves, white PVC' https://b2b-uk.vwr.com/store/product/39705954/null; Avantor 16117910 'Step Shelf, White PVC, TrippNT')",
+     "locator": "material: white PVC",
+     "licence": "facts"
+    },
+    {
+     "source_id": "ral_srgb",
+     "kind": "publication",
+     "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+     "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+     "licence": "facts"
+    }
+   ],
+   "type_id": "furniture.trippnt_step_shelf_2tier",
+   "family": "storage_furniture",
+   "maker": "TrippNT (distributed by Weber Scientific / Avantor)",
+   "model": "Step shelf, bottomless, PVC, 24 in + matching front tray (project addition)",
+   "catalogue_no": "Weber TNT24W10-8 / Avantor 11376-388 (supplier no. 50123)",
+   "storage": {
+    "place_ids": [
+     "bench_shelf"
+    ],
+    "min_pitch_m": 0.11,
+    "headroom_m": 0.48,
+    "expected_positions": [
+     "T1-01",
+     "T1-02",
+     "T1-03",
+     "T1-04",
+     "T1-05",
+     "T2-01",
+     "T2-02",
+     "T2-03",
+     "T2-04",
+     "T2-05"
+    ],
+    "note_zh": "两层 × 5 位；T1 前层（台面 z=0.006），T2 后层（z=0.254）；顶部敞开，headroom_m=1.0 表示上方无遮挡（仅受房间限制）"
+   },
+   "tiers": {
+    "T1": {
+     "surface_z_m": 0.006,
+     "y_m": -0.1145,
+     "depth_m": 0.15
+    },
+    "T2": {
+     "surface_z_m": 0.254,
+     "y_m": 0.075,
+     "depth_m": 0.229
+    }
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，台面高 z=0"
+    }
+   },
+   "appearance": {
+    "body": {
+     "body": "white PVC",
+     "source_id": "trippnt_white"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   },
+   "slots": [
+    {
+     "name": "T1-01",
+     "place_id": "bench_shelf",
+     "part": "front_tray",
+     "kind": "storage",
+     "position_m": [
+      -0.24,
+      -0.1095,
+      0.006
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T1-02",
+     "place_id": "bench_shelf",
+     "part": "front_tray",
+     "kind": "storage",
+     "position_m": [
+      -0.12,
+      -0.1095,
+      0.006
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T1-03",
+     "place_id": "bench_shelf",
+     "part": "front_tray",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      -0.1095,
+      0.006
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T1-04",
+     "place_id": "bench_shelf",
+     "part": "front_tray",
+     "kind": "storage",
+     "position_m": [
+      0.12,
+      -0.1095,
+      0.006
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T1-05",
+     "place_id": "bench_shelf",
+     "part": "front_tray",
+     "kind": "storage",
+     "position_m": [
+      0.24,
+      -0.1095,
+      0.006
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T2-01",
+     "place_id": "bench_shelf",
+     "part": "step_top",
+     "kind": "storage",
+     "position_m": [
+      -0.24,
+      0.075,
+      0.254
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T2-02",
+     "place_id": "bench_shelf",
+     "part": "step_top",
+     "kind": "storage",
+     "position_m": [
+      -0.12,
+      0.075,
+      0.254
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T2-03",
+     "place_id": "bench_shelf",
+     "part": "step_top",
+     "kind": "storage",
+     "position_m": [
+      0.0,
+      0.075,
+      0.254
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T2-04",
+     "place_id": "bench_shelf",
+     "part": "step_top",
+     "kind": "storage",
+     "position_m": [
+      0.12,
+      0.075,
+      0.254
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    },
+    {
+     "name": "T2-05",
+     "place_id": "bench_shelf",
+     "part": "step_top",
+     "kind": "storage",
+     "position_m": [
+      0.24,
+      0.075,
+      0.254
+     ],
+     "insert_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "capture_m": 0.03,
+     "radius_m": 0.055,
+     "moves_with": "shelf",
+     "headroom_m": 1.0,
+     "fits": [
+      "bottle",
+      "jar",
+      "gl45_bottle",
+      "powder_jar",
+      "vial_rack"
+     ],
+     "access": [],
+     "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+    }
+   ]
+  }
+ },
+ "places": {
+  "bench_shelf": {
+   "furniture": "furniture.trippnt_step_shelf_2tier",
+   "positions": "T1-01..T1-05, T2-01..T2-05",
+   "slot_prefix": "",
+   "reach": "franka_bench"
+  },
+  "desiccator": {
+   "furniture": "furniture.belart_secador_2_vertical",
+   "positions": "S1-01..S1-06, S2-01..S2-06",
+   "slot_prefix": "",
+   "reach": "franka_bench"
+  },
+  "desiccator_glass": {
+   "furniture": "furniture.duran_desiccator_dn250",
+   "positions": "P1-01..P1-06",
+   "slot_prefix": "",
+   "reach": "franka_bench"
+  },
+  "flammables_cabinet": {
+   "furniture": "furniture.asecos_q90_195_120",
+   "positions": "S1-01..S3-06",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "acids_cabinet": {
+   "furniture": "furniture.asecos_sl_196_120",
+   "positions": "S1-01..S2-06",
+   "slot_prefix": "A:",
+   "reach": "room"
+  },
+  "bases_cabinet": {
+   "furniture": "furniture.asecos_sl_196_120",
+   "positions": "S1-01..S2-06",
+   "slot_prefix": "B:",
+   "reach": "room"
+  },
+  "toxics_cabinet": {
+   "furniture": "furniture.asecos_cs_195_105",
+   "positions": "S1-01..S2-06",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "fridge_4c": {
+   "furniture": "furniture.liebherr_lkv3910",
+   "positions": "S1-01..S4-08",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "cylinder_rack": {
+   "furniture": "furniture.denios_cylinder_stand_x4",
+   "positions": "C1..C8",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "oxidizers_cabinet": {
+   "furniture": "furniture.asecos_cs_195_105_oxidizers",
+   "positions": "S1-01..S1-06",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "standards_cabinet": {
+   "furniture": "furniture.asecos_cs_195_105_standards",
+   "positions": "S1-01..S3-08",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "consumables_cabinet": {
+   "furniture": "furniture.asecos_cs_195_105_consumables",
+   "positions": "S1-01..S4-08",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "gas_cabinet_flammable": {
+   "furniture": "furniture.asecos_g90_205_140",
+   "positions": "G1..G4",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "freezer_m20c": {
+   "furniture": "furniture.liebherr_lguex1500",
+   "positions": "D1-01..D3-08",
+   "slot_prefix": "",
+   "reach": "room"
+  },
+  "reagent_shelf_a": {
+   "furniture": "furniture.metro_super_erecta_1848_4shelf",
+   "positions": "S1-01..S4-08",
+   "slot_prefix": "",
+   "reach": "room"
+  }
+ },
+ "inventory_type_map": {
+  "bottle_gl45_1000ml_clear": {
+   "type": "labware.duran_gl45_1000ml_clear",
+   "status": "exact"
+  },
+  "bottle_gl45_500ml_clear": {
+   "type": "labware.duran_gl45_500ml_clear",
+   "status": "exact"
+  },
+  "bottle_gl45_2500ml_amber": {
+   "type": "labware.winchester_2500ml_amber",
+   "status": "substitute",
+   "note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  "bottle_hdpe_500ml": {
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "status": "exact"
+  },
+  "bottle_hdpe_1000ml": {
+   "type": "labware.nalgene_nm_hdpe_1000ml",
+   "status": "exact"
+  },
+  "jar_hdpe_500g": {
+   "type": "labware.nalgene_wm_hdpe_500ml",
+   "status": "exact"
+  },
+  "bottle_glass_crm_unit": {
+   "type": "labware.duran_gl45_100ml_amber",
+   "status": "substitute",
+   "note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  "plate_96_flat_ps": {
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "status": "exact",
+   "carrier": "labware.sbs_plate_carrier"
+  },
+  "box_microplates_96_flat_ps": {
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "status": "packaging_of",
+   "count": 25,
+   "note": "sleeve of 25 plates; sleeve not modelled"
+  },
+  "tiprack_flex_1000ul": {
+   "type": "labware.opentrons_flex_tiprack_1000ul",
+   "status": "exact",
+   "carrier": "labware.sbs_plate_carrier"
+  },
+  "tiprack_flex_200ul": {
+   "type": "labware.opentrons_flex_tiprack_200ul",
+   "status": "exact",
+   "carrier": "labware.sbs_plate_carrier"
+  },
+  "bag_tubes_1p5ml": {
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "status": "packaging_of",
+   "count": 500,
+   "note": "bag of 500 tubes; bag not modelled"
+  },
+  "bag_tubes_conical_15ml": {
+   "type": "labware.falcon_tube_15ml",
+   "status": "packaging_of",
+   "count": 50,
+   "note": "bag of 50; bag not modelled"
+  },
+  "bag_tubes_conical_50ml": {
+   "type": "labware.falcon_tube_50ml",
+   "status": "packaging_of",
+   "count": 25,
+   "note": "bag of 25; bag not modelled"
+  },
+  "box_vials_2ml_screw": {
+   "type": "labware.agilent_vial_2ml_screw",
+   "status": "packaging_of",
+   "count": 100,
+   "note": "Agilent 5182-0715 is sold 100/pk"
+  },
+  "box_vials_2ml_crimp": {
+   "type": "labware.agilent_vial_2ml_screw",
+   "status": "substitute",
+   "count": 100,
+   "note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"
+  },
+  "box_vials_20ml_headspace": {
+   "type": "labware.agilent_hs_vial_20ml",
+   "status": "packaging_of",
+   "count": 100,
+   "note": "Agilent 5188-2753 is sold 100/pk"
+  },
+  "cylinder_50l_200bar": {
+   "type": "labware.gas_cylinder_50l_200bar",
+   "status": "exact"
+  },
+  "cylinder_10l_200bar": {
+   "type": "labware.gas_cylinder_10l_200bar",
+   "status": "exact"
+  },
+  "cylinder_10l_co2_liquefied": {
+   "type": "labware.gas_cylinder_10l_200bar",
+   "status": "substitute",
+   "note": "same 10 L steel shell; liquefied CO2 at ~57 bar (20 C) is a ledger property, no dip tube modelled"
+  },
+  "cylinder_10l_acetylene": {
+   "type": "labware.gas_cylinder_10l_200bar",
+   "status": "substitute",
+   "note": "acetylene cylinders hold a porous mass + acetone at ~19 bar and are wider; shape of the 10 L cylinder stands in until a sourced model is built"
+  },
+  "vial_bead_standard": {
+   "type": "labware.agilent_vial_2ml_screw",
+   "status": "substitute",
+   "note": "small reagent vial stands in"
+  },
+  "vial_protein_ladder": {
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "status": "substitute",
+   "note": "ladders ship in 0.5-1.5 mL tubes"
+  },
+  "vial_crm_metal_shot": {
+   "type": "labware.agilent_hs_vial_20ml",
+   "status": "substitute",
+   "note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  "ampoule_box_crm": {
+   "type": "labware.hach_tl2300_sample_cell_25mm",
+   "status": "packaging_of",
+   "note": "box of sealed standards; the unit depends on the record (per_record_units); the box itself is not modelled",
+   "per_record_units": {
+    "turbidity_stablcal_kit": {
+     "type": "labware.hach_tl2300_sample_cell_25mm",
+     "status": "exact",
+     "count": 6,
+     "note": "StablCal standards are sealed 95 x 25 mm cells (TL23 data sheet p.3)"
+    },
+    "aw_standard_0_760": {
+     "type": "labware.agilent_hs_vial_20ml",
+     "status": "substitute",
+     "count": 5,
+     "note": "METER verification standards are small sealed vials emptied into a disposable sample cup"
+    },
+    "aw_standard_0_250": {
+     "type": "labware.agilent_hs_vial_20ml",
+     "status": "substitute",
+     "count": 5,
+     "note": "as aw_standard_0_760"
+    },
+    "osmolality_cal_400": {
+     "type": "labware.agilent_vial_2ml_screw",
+     "status": "substitute",
+     "count": 12,
+     "note": "Knauer calibration solution: 12 small vials per box (K7400S brochure p.11)"
+    }
+   }
+  },
+  "xrd_holder_zero_background": {
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "status": "substitute",
+   "note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  "ir_film_card": {
+   "type": "labware.sigma_ir_polystyrene_card_z804290",
+   "status": "exact"
+  },
+  "case_reference_plate": {
+   "type": "labware.gelpak_ad1135_case",
+   "status": "exact",
+   "note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  "box_pcr_plates_96_skirted": {
+   "type": "labware.biorad_hardshell_pcr_plate_96",
+   "status": "packaging_of",
+   "count": 50,
+   "note": "HSP9655 pkg of 50 (CFX Opus flier p.2)"
+  },
+  "bag_tubes_12x75mm_ps": {
+   "type": "labware.falcon_352052_tube_12x75",
+   "status": "packaging_of",
+   "count": 125,
+   "note": "125 per bag (FACSAria guide p.286)"
+  },
+  "box_dsc_pans_tzero": {
+   "type": "labware.ta_tzero_pan_lid",
+   "status": "packaging_of",
+   "count": 100,
+   "note": "pkg of 100 pans + 100 lids (DSC guide p.64)"
+  },
+  "box_tin_capsules": {
+   "type": "labware.elementar_tin_capsule_11x8",
+   "status": "packaging_of",
+   "count": 100,
+   "note": "100 pcs package (Elementar 200006458)"
+  },
+  "box_cuvettes_ps_10mm": {
+   "type": "labware.brand_ps_macro_cuvette_759005",
+   "status": "packaging_of",
+   "count": 100,
+   "note": "pack of 100"
+  },
+  "cuvette_quartz_10mm_case": {
+   "type": "labware.hellma_100_10_40_quartz_cuvette",
+   "status": "packaging_of",
+   "count": 4,
+   "note": "cuvette case not modelled"
+  },
+  "box_nmr_tubes_5mm": {
+   "type": "labware.norell_nmr_tube_5mm_7in",
+   "status": "packaging_of",
+   "count": 25
+  },
+  "box_gels_precast_10well": {
+   "type": "labware.biorad_tgx_gel_4_20_10well",
+   "status": "packaging_of",
+   "count": 10,
+   "note": "box of 10 gels (4561094)"
+  },
+  "roll_heat_seal_film": {
+   "type": "labware.azenta_seal_roll_4ti0520",
+   "status": "exact",
+   "note": "mesh reused from the a4S asset's film_roll part"
+  },
+  "box_sensor_chips_spr": {
+   "type": "labware.cytiva_series_s_sensor_chip_cm5",
+   "status": "packaging_of",
+   "count": 3,
+   "note": "BR100530 = pack of 3"
+  },
+  "kit_ce_reagents": {
+   "type": "labware.sciex_universal_vial_2ml",
+   "status": "packaging_of",
+   "note": "SDS-MW kit 390953 (box not modelled); its liquids are run from PA 800 universal vials (A62251 + caps A62250)"
+  },
+  "quantos_dosing_head": {
+   "type": "labware.mt_quantos_qh016_bnmw",
+   "status": "exact",
+   "note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part"
+  },
+  "quantos_head_container": {
+   "type": "labware.mt_quantos_head_container",
+   "status": "exact",
+   "note": "plastic container supplied with each head (manual p.27/p.94); holds one head upright on the bench shelf"
+  },
+  "quantos_target_vial": {
+   "type": "labware.agilent_hs_vial_20ml",
+   "status": "exact",
+   "note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"
+  },
+  "vial_rack_20ml": {
+   "type": "labware.mn_702503_vial_rack_23mm",
+   "status": "exact",
+   "note": "MACHEREY-NAGEL 702503 36-position rack for 23.1 mm headspace vials (20 mL Agilent vials); robot slots A01-A12 and C01-C12 (fingers close along Y), row B stays empty; needs >= 0.25 m free above the vial tops (bench top)"
+  },
+  "in_instrument_item": {
+   "type": null,
+   "status": "not_applicable",
+   "note": "items already inside instruments are not spawned on shelves"
+  }
+ },
+ "sources_licences": {
+  "duran_gl45_clear": "facts (catalogue dimensions)",
+  "duran_gl45_amber": "facts",
+  "gl45_thread": "facts",
+  "duran_gl45_cap": "facts",
+  "iso3585": "facts",
+  "winchester_25l": "facts",
+  "nalgene_wm_250": "facts",
+  "nalgene_wm_1000": "facts",
+  "nalgene_nm_500": "facts",
+  "nalgene_nm_1000": "facts",
+  "nalgene_wm_500": "facts",
+  "rama_10l_cylinder": "facts",
+  "agilent_5182_0715": "facts",
+  "agilent_5188_2753": "facts",
+  "falcon_352096": "facts",
+  "falcon_352070": "facts",
+  "eppendorf_safelock_15": "facts (drawing dimensions only; no figure copied)",
+  "pp_hdpe_density": "n/a",
+  "wall_assumption": "n/a",
+  "neck_profile_estimate": "n/a",
+  "closure_turns": "n/a",
+  "ansi_slas_1_2004": "facts",
+  "ot_corning_96_flat": "Apache-2.0 (Opentrons)",
+  "ot_nest_96_deep": "Apache-2.0 (Opentrons)",
+  "ot_flex_tiprack_50": "Apache-2.0 (Opentrons)",
+  "ot_flex_tiprack_200": "Apache-2.0 (Opentrons)",
+  "ot_flex_tiprack_1000": "Apache-2.0 (Opentrons)",
+  "ot_nest_12_reservoir": "Apache-2.0 (Opentrons)",
+  "thermo_75006449": "facts",
+  "plate_ps_mass": "n/a",
+  "globe_3620": "facts",
+  "bochem_3340": "facts",
+  "rama_50l_cylinder": "facts",
+  "linde_c200_2": "facts",
+  "asecos_q90_195_120": "facts",
+  "asecos_sl_196_120": "facts",
+  "asecos_cs_195_105": "facts",
+  "liebherr_lkv3910": "facts",
+  "duran_desiccator_250": "facts",
+  "denios_wh230_s2": "facts",
+  "trippnt_step_shelf": "facts",
+  "asecos_g90_205_140": "facts",
+  "liebherr_lguex1500": "facts",
+  "metro_super_erecta": "facts",
+  "inventory_places": "project",
+  "robot_access": "project"
+ }
+}
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/asset.contract.json b/assets/labware/consumables/azenta_seal_roll_4ti0520/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b691c4c48b782632c180c386740f498b8038c8a
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/asset.contract.json
@@ -0,0 +1,249 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.azenta_seal_roll_4ti0520",
+ "asset_version": "1.0.0",
+ "name_zh": "Azenta a4S 封板膜卷（可剥离透明膜 4ti-0520 型，宽 80 mm）",
+ "category": "labware.consumable.seal_roll",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "a4S 自动封膜机用的封板膜卷：几何直接取自 a4S 实例的 film_roll 部件（Ø126×80 mm）；规格符合手册（卷宽 75–85 mm，p.30；小卷支架 <140 mm，p.16）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/azenta_seal_roll_4ti0520/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "f3d810ddeb41aa849c994b371fb97005a2502b5d2bc618ca200478f43f78deae"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/azenta_seal_roll_4ti0520/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a61e2a0cb32f2b0d61eed978d86043fde51b4ef076bc7b3f813831cce32d865e"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/azenta_seal_roll_4ti0520/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9f0d98afc948ef8176a55cca953ac75392be64e59a02809326f7e5e86d351e64"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/azenta_seal_roll_4ti0520/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "13ac08b1311bce9ad0f3ce3d97158fc488cb3058740dfa698ccd0fac2d97cbd9"
+  }
+ },
+ "sources": {
+  "a4s_manual": {
+   "kind": "manufacturer",
+   "reference": "Azenta a4S Automated Roll Heat Sealer user manual 347598 (references/manuals/azenta_automated_roll_heat_sealer_a4s/)",
+   "locator": "p.16 seal roll supports: <265 mm and <140 mm roll diameter; p.30: seal rolls 75-85 mm wide; p.41 seal profiles incl. 4ti-0520 Peel Seal (175 C, 3 s)",
+   "note": "Roll format the a4S takes."
+  },
+  "a4s_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/azenta_heat_sealer (film_roll part: O126 x 80 mm mesh)",
+   "locator": "meshes/film_roll.obj, model.urdf link film_roll",
+   "note": "Reused roll mesh."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "膜卷",
+   "function_zh": "a4S 封板用的膜材",
+   "physical_meaning_zh": "PET/PP 复合膜卷绕在纸芯上（实例网格复用）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "azenta_seal_roll_4ti0520__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "roll_diameter_m": {
+     "value": 0.12599998699999998,
+     "unit": "m",
+     "meaning_zh": "卷径（实例网格）",
+     "evidence": "documented",
+     "source_ids": [
+      "a4s_asset"
+     ],
+     "uncertainty": null
+    },
+    "roll_width_m": {
+     "value": 0.082000002,
+     "unit": "m",
+     "meaning_zh": "卷宽（实例网格；手册范围 75–85 mm）",
+     "evidence": "documented",
+     "source_ids": [
+      "a4s_manual"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.643962,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（膜卷体积（扣 Ø76 mm 纸芯）× 约 1000 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "几何复用 a4S 实例的 film_roll 网格；卷宽 80 mm、卷径 126 mm 在手册范围内（宽 75–85 mm、小卷 <140 mm）。",
+  "膜型号按 a4S 内置封膜程序 4ti-0520（Peel Seal）；对应卷装货号未核实。",
+  "Franka 无法抓取（直径与宽度都 >74 mm）：换卷是人工/宿主步骤。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.azenta_seal_roll_4ti0520",
+   "family": "seal_roll",
+   "labware_class": "seal_roll",
+   "fits": [
+    "a4s_seal_roll"
+   ],
+   "maker": "Azenta (4titude)",
+   "model": "Clear peelable heat seal, roll format, for the a4S (seal profile 4ti-0520)",
+   "catalogue_no": "4ti-0520 (seal profile in the a4S, manual p.41; roll catalogue variant not verified)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.126,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.1,
+     "note_zh": "卷径 126 mm、宽 80 mm 都超出 Franka 张开宽度",
+     "finger_contact_z_m": [
+      0.054,
+      0.072
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.213
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "diameter_m": 0.12599998699999998,
+    "width_m": 0.082000002,
+    "source_id": "a4s_asset"
+   },
+   "franka_grasp_ok": false,
+   "stands_upright": false,
+   "reused_from": "instrument.azenta_heat_sealer:film_roll",
+   "instrument_fit": {
+    "instrument.azenta_heat_sealer": {
+     "slot": "roll_support (small roll < 140 mm)",
+     "roll_width_range_m": [
+      0.075,
+      0.085
+     ]
+    }
+   },
+   "empty_mass_kg": 0.643962
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/collision_proxies.json b/assets/labware/consumables/azenta_seal_roll_4ti0520/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea9efbe43cc391095c19dd5dd646587760550d13
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/collision_proxies.json
@@ -0,0 +1,37 @@
+{
+ "asset_type_id": "labware.azenta_seal_roll_4ti0520",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.063,
+      0.082
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rpy_rad": [
+      0.0,
+      1.570796,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/geometry_manifest.json b/assets/labware/consumables/azenta_seal_roll_4ti0520/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b296a8382984d315a8741fccbdb310065e634d6
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/geometry_manifest.json
@@ -0,0 +1,266 @@
+{
+ "asset_type_id": "labware.azenta_seal_roll_4ti0520",
+ "catalog_id": null,
+ "name_zh": "Azenta a4S 封板膜卷（可剥离透明膜 4ti-0520 型，宽 80 mm）",
+ "name_en": "Azenta peelable clear seal roll for the a4S (4ti-0520 type), 80 mm wide",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.082,
+  0.126,
+  0.126
+ ],
+ "bounds_m": [
+  [
+   -0.041,
+   -0.063,
+   0.0
+  ],
+  [
+   0.041,
+   0.063,
+   0.126
+  ]
+ ],
+ "total_mass_kg": 0.64396,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "a4s_manual",
+   "kind": "manufacturer",
+   "reference": "Azenta a4S Automated Roll Heat Sealer user manual 347598 (references/manuals/azenta_automated_roll_heat_sealer_a4s/)",
+   "locator": "p.16 seal roll supports: <265 mm and <140 mm roll diameter; p.30: seal rolls 75-85 mm wide; p.41 seal profiles incl. 4ti-0520 Peel Seal (175 C, 3 s)",
+   "note": "Roll format the a4S takes.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "a4s_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/azenta_heat_sealer (film_roll part: O126 x 80 mm mesh)",
+   "locator": "meshes/film_roll.obj, model.urdf link film_roll",
+   "note": "Reused roll mesh.",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "膜卷",
+   "function_zh": "a4S 封板用的膜材",
+   "physical_meaning_zh": "PET/PP 复合膜卷绕在纸芯上（实例网格复用）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.643962,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "膜卷体积（扣 Ø76 mm 纸芯）× 约 1000 kg/m3",
+   "material": "pet_film",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "网格来自 azenta_heat_sealer/meshes/film_roll.obj",
+   "objects": [
+    "azenta_seal_roll_4ti0520__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "azenta_seal_roll_4ti0520__body",
+     "rgba_srgb": [
+      0.92,
+      0.94,
+      0.96,
+      0.8
+     ],
+     "hex": "#EBF0F5",
+     "rgba_linear": [
+      0.82757,
+      0.8689,
+      0.91141,
+      0.8
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.063,
+      0.082
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.063
+     ],
+     "rpy_rad": [
+      0.0,
+      1.570796,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "azenta_seal_roll_4ti0520__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.azenta_seal_roll_4ti0520",
+  "family": "seal_roll",
+  "labware_class": "seal_roll",
+  "fits": [
+   "a4s_seal_roll"
+  ],
+  "maker": "Azenta (4titude)",
+  "model": "Clear peelable heat seal, roll format, for the a4S (seal profile 4ti-0520)",
+  "catalogue_no": "4ti-0520 (seal profile in the a4S, manual p.41; roll catalogue variant not verified)",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.063
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.126,
+    "franka_ok": false,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.1,
+    "note_zh": "卷径 126 mm、宽 80 mm 都超出 Franka 张开宽度",
+    "finger_contact_z_m": [
+     0.054,
+     0.072
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.213
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.213
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.063
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.213
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "outer": {
+   "diameter_m": 0.12599998699999998,
+   "width_m": 0.082000002,
+   "source_id": "a4s_asset"
+  },
+  "franka_grasp_ok": false,
+  "stands_upright": false,
+  "reused_from": "instrument.azenta_heat_sealer:film_roll",
+  "instrument_fit": {
+   "instrument.azenta_heat_sealer": {
+    "slot": "roll_support (small roll < 140 mm)",
+    "roll_width_range_m": [
+     0.075,
+     0.085
+    ]
+   }
+  },
+  "empty_mass_kg": 0.643962
+ },
+ "limitations_zh": [
+  "几何复用 a4S 实例的 film_roll 网格；卷宽 80 mm、卷径 126 mm 在手册范围内（宽 75–85 mm、小卷 <140 mm）。",
+  "膜型号按 a4S 内置封膜程序 4ti-0520（Peel Seal）；对应卷装货号未核实。",
+  "Franka 无法抓取（直径与宽度都 >74 mm）：换卷是人工/宿主步骤。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.mtl b/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a44a82536627d3ff5e2a3f1e41b9f2bf51957b5
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.mtl
@@ -0,0 +1,6 @@
+newmtl azenta_seal_roll_4ti0520__body
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.800
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.obj b/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fa89927cebbc4215ca35748f8f4e11c8a554838
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/meshes/azenta_seal_roll_4ti0520__body.obj
@@ -0,0 +1,2488 @@
+mtllib azenta_seal_roll_4ti0520__body.mtl
+usemtl azenta_seal_roll_4ti0520__body
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diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/model.glb b/assets/labware/consumables/azenta_seal_roll_4ti0520/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7000b4df346cc7f39bd2647b924f3a9bd6e6f28e
Binary files /dev/null and b/assets/labware/consumables/azenta_seal_roll_4ti0520/model.glb differ
diff --git a/assets/labware/consumables/azenta_seal_roll_4ti0520/model.urdf b/assets/labware/consumables/azenta_seal_roll_4ti0520/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..22370ed180e80e570ded78d208d5837b30f84b21
--- /dev/null
+++ b/assets/labware/consumables/azenta_seal_roll_4ti0520/model.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="azenta_seal_roll_4ti0520">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.063" rpy="0 0 0" />
+      <mass value="0.643962" />
+      <inertia ixx="0.00170392" ixy="0" ixz="0" iyy="0.00121279" iyz="0" izz="0.00121279" />
+    </inertial>
+    <visual name="azenta_seal_roll_4ti0520__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/azenta_seal_roll_4ti0520__body.obj" />
+      </geometry>
+      <material name="mat_azenta_seal_roll_4ti0520__body">
+        <color rgba="0.82757 0.86890 0.91141 0.800" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.063" rpy="0 1.5708 0" />
+      <geometry>
+        <cylinder radius="0.063" length="0.082" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/asset.contract.json b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..c956e8a9aeffa0361f0f688cd0f8e938744384dc
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/asset.contract.json
@@ -0,0 +1,257 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.biorad_tgx_gel_4_20_10well",
+ "asset_version": "1.0.0",
+ "name_zh": "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %（10 孔，4561094）",
+ "category": "labware.consumable.gel",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Mini-PROTEAN Tetra 电泳槽用 TGX 预制胶卡盒（卡盒 8.5×10 cm，手册 p.8）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "803067db6e8353ca0fe8a9a1e9dc596fc2586db69b16130f9956ad95645f8a50"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "72a43aa80352ad1b12503aef1ada7ddd38faf3215697d3f122ecf585a0a62c4d"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "8e75f214da699952866e22b45862d9e1fa0175e331633172bc3565bd34716b14"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/biorad_tgx_gel_4_20_10well/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "cd4182b1dde76826287a16b12cb1669ab50e4a5fc5972a469adbf6bae6340011"
+  }
+ },
+ "sources": {
+  "protean_gels_manual": {
+   "kind": "manufacturer",
+   "reference": "Bio-Rad Mini-PROTEAN Precast Gels instruction manual 1658100 (references/manuals/biorad_miniprotean/other__mini-protean_precast_gels_manual_1658100.pdf)",
+   "locator": "p.8 1.4 Specifications: gel 7.2 x 8.6 cm, 1.0 mm thick; cassette 8.5 x 10 cm, styrene copolymer; 10-well comb 50 uL",
+   "note": "Mini-PROTEAN TGX 4-20 % 10-well precast gel (cat. 4561094)."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "ps 平板件 100.0×85.0×5.5 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "biorad_tgx_gel_4_20_10well__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.1,
+      0.085,
+      0.0055
+     ],
+     "unit": "m",
+     "meaning_zh": "外形",
+     "evidence": "documented",
+     "source_ids": [
+      "protean_gels_manual"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.05028,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ps 密度 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "卡盒 8.5×10 cm、胶 7.2×8.6 cm×1.0 mm 按手册 p.8；卡盒厚 5.5 mm、梳子与孔位为假设；平放时 8.5 cm 方向沿 Y。",
+  "上电泳槽时竖直插入电极组件（Matterix 槽位 gel_1..4，沿 −Z 插入）；拔梳、加样由宿主/移液器记录。",
+  "10 cm 宽超出 Franka 可抓宽度：沿 Y 夹 8.5 cm 边也超出；需宽口夹爪或竖放在架上从短边抓取（franka_ok=false）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.biorad_tgx_gel_4_20_10well",
+   "family": "gel",
+   "labware_class": "precast_gel_mini",
+   "fits": [
+    "mini_protean_gel",
+    "protean_gel_slot"
+   ],
+   "maker": "Bio-Rad",
+   "model": "Mini-PROTEAN TGX Precast Gel, 4-20 %, 10-well, 50 uL",
+   "catalogue_no": "4561094",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.085,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.04125,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0085
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.1,
+     0.085,
+     0.0055
+    ],
+    "source_id": "protean_gels_manual"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "instrument_fit": {
+    "instrument.biorad_miniprotean": {
+     "slot": "gel_1..gel_4",
+     "slot_radius_m": 0.05,
+     "item_half_width_m": 0.05
+    }
+   },
+   "gel": {
+    "size_m": [
+     0.086,
+     0.072,
+     0.001
+    ],
+    "wells": 10,
+    "well_volume_m3": 5e-08,
+    "percent": "4-20"
+   },
+   "nominal_capacity_m3": 5e-07,
+   "nominal_capacity_evidence": "10 wells x 50 uL (catalogue)",
+   "storage_note_zh": "2–8 °C 保存",
+   "empty_mass_kg": 0.05028
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/collision_proxies.json b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..670e9df0c3d30c4d106f1dc7d4da3d14fcb390ad
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/collision_proxies.json
@@ -0,0 +1,236 @@
+{
+ "asset_type_id": "labware.biorad_tgx_gel_4_20_10well",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1,
+      0.085,
+      0.0055
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00275
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.004,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0405,
+      0.007
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0315,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0245,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0175,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0105,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0035,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0035,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0105,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0175,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0245,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0315,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/geometry_manifest.json b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc63782b4d2705f71dcd2ee2c39ab8f7523a797
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/geometry_manifest.json
@@ -0,0 +1,479 @@
+{
+ "asset_type_id": "labware.biorad_tgx_gel_4_20_10well",
+ "catalog_id": null,
+ "name_zh": "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %（10 孔，4561094）",
+ "name_en": "Bio-Rad Mini-PROTEAN TGX precast gel 4-20 %, 10-well, 50 uL",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.1,
+  0.085,
+  0.0085
+ ],
+ "bounds_m": [
+  [
+   -0.05,
+   -0.0425,
+   0.0
+  ],
+  [
+   0.05,
+   0.0425,
+   0.0085
+  ]
+ ],
+ "total_mass_kg": 0.05028,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "protean_gels_manual",
+   "kind": "manufacturer",
+   "reference": "Bio-Rad Mini-PROTEAN Precast Gels instruction manual 1658100 (references/manuals/biorad_miniprotean/other__mini-protean_precast_gels_manual_1658100.pdf)",
+   "locator": "p.8 1.4 Specifications: gel 7.2 x 8.6 cm, 1.0 mm thick; cassette 8.5 x 10 cm, styrene copolymer; 10-well comb 50 uL",
+   "note": "Mini-PROTEAN TGX 4-20 % 10-well precast gel (cat. 4561094).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "ps 平板件 100.0×85.0×5.5 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.05028,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ps 密度 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "biorad_tgx_gel_4_20_10well__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "biorad_tgx_gel_4_20_10well__body",
+     "rgba_srgb": [
+      0.8,
+      0.88,
+      0.92,
+      0.55
+     ],
+     "hex": "#CCE0EB",
+     "rgba_linear": [
+      0.60383,
+      0.74841,
+      0.82757,
+      0.55
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1,
+      0.085,
+      0.0055
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00275
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.004,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0405,
+      0.007
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0315,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0245,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0175,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0105,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      -0.0035,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0035,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0105,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0175,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0245,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0055,
+      0.008,
+      0.0004
+     ],
+     "origin_m": [
+      0.0315,
+      0.0305,
+      0.0057
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "biorad_tgx_gel_4_20_10well__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.biorad_tgx_gel_4_20_10well",
+  "family": "gel",
+  "labware_class": "precast_gel_mini",
+  "fits": [
+   "mini_protean_gel",
+   "protean_gel_slot"
+  ],
+  "maker": "Bio-Rad",
+  "model": "Mini-PROTEAN TGX Precast Gel, 4-20 %, 10-well, 50 uL",
+  "catalogue_no": "4561094",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.085,
+    "franka_ok": false,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.04125,
+    "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.0085
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "outer": {
+   "size_m": [
+    0.1,
+    0.085,
+    0.0055
+   ],
+   "source_id": "protean_gels_manual"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "instrument_fit": {
+   "instrument.biorad_miniprotean": {
+    "slot": "gel_1..gel_4",
+    "slot_radius_m": 0.05,
+    "item_half_width_m": 0.05
+   }
+  },
+  "gel": {
+   "size_m": [
+    0.086,
+    0.072,
+    0.001
+   ],
+   "wells": 10,
+   "well_volume_m3": 5e-08,
+   "percent": "4-20"
+  },
+  "nominal_capacity_m3": 5e-07,
+  "nominal_capacity_evidence": "10 wells x 50 uL (catalogue)",
+  "storage_note_zh": "2–8 °C 保存",
+  "empty_mass_kg": 0.05028
+ },
+ "limitations_zh": [
+  "卡盒 8.5×10 cm、胶 7.2×8.6 cm×1.0 mm 按手册 p.8；卡盒厚 5.5 mm、梳子与孔位为假设；平放时 8.5 cm 方向沿 Y。",
+  "上电泳槽时竖直插入电极组件（Matterix 槽位 gel_1..4，沿 −Z 插入）；拔梳、加样由宿主/移液器记录。",
+  "10 cm 宽超出 Franka 可抓宽度：沿 Y 夹 8.5 cm 边也超出；需宽口夹爪或竖放在架上从短边抓取（franka_ok=false）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.mtl b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ef6f4deb597f6629ed91521d694f8fe5e41fb15d
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.mtl
@@ -0,0 +1,6 @@
+newmtl biorad_tgx_gel_4_20_10well__body
+Kd 0.8000 0.8800 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.obj b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..07a79869c765d35b76db9a4df6c34b88fe4e18b5
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/meshes/biorad_tgx_gel_4_20_10well__body.obj
@@ -0,0 +1,244 @@
+mtllib biorad_tgx_gel_4_20_10well__body.mtl
+usemtl biorad_tgx_gel_4_20_10well__body
+# https://github.com/mikedh/trimesh
+v -0.05000000 -0.04250000 0.00000000
+v -0.05000000 -0.04250000 0.00550000
+v -0.05000000 0.04250000 0.00000000
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diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.glb b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5ae2fedde8444af34cac785fbb64294e5de8507c
Binary files /dev/null and b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.glb differ
diff --git a/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.urdf b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f90394c1ffec04259dfa32faa5a77fe0fdf03d63
--- /dev/null
+++ b/assets/labware/consumables/biorad_tgx_gel_4_20_10well/model.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="biorad_tgx_gel_4_20_10well">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="4.83671e-19 0.000924028 0.00284604" rpy="0 0 0" />
+      <mass value="0.0502803" />
+      <inertia ixx="3.05757e-05" ixy="0" ixz="0" iyy="4.2203e-05" iyz="0" izz="7.21732e-05" />
+    </inertial>
+    <visual name="biorad_tgx_gel_4_20_10well__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/biorad_tgx_gel_4_20_10well__body.obj" />
+      </geometry>
+      <material name="mat_biorad_tgx_gel_4_20_10well__body">
+        <color rgba="0.60383 0.74841 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00275" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1 0.085 0.0055" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.0405 0.007" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.004 0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0315 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0245 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0175 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0105 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0035 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0035 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0105 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0175 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0245 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0315 0.0305 0.0057" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0055 0.008 0.0004" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/asset.contract.json b/assets/labware/consumables/brand_ps_macro_cuvette_759005/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d669d36d6175d23c88c9db515e48752b44eb09fe
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/asset.contract.json
@@ -0,0 +1,276 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.brand_ps_macro_cuvette_759005",
+ "asset_version": "1.0.0",
+ "name_zh": "BRAND PS 一次性比色皿（10 mm，2.5–4.5 mL，759005）",
+ "category": "labware.consumable.cuvette",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "一次性可见光比色皿 BRAND 759005：12.5×12.5×45 mm、光程 10 mm、2.5–4.5 mL、100 个/包。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/brand_ps_macro_cuvette_759005/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "c368ee555cbf7d52547b283b6bca396f57a556b43c624b4239f81eec9b704aa8"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/brand_ps_macro_cuvette_759005/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "26a44ec2ca89d7a2d2f4ed7876c040afe4dcecb13cec67351b4f38971df9a6ab"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/brand_ps_macro_cuvette_759005/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "c78af082cfdc921a634fc707fd1173bb5ff9b8b482c04bdba0b1041bed258070"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/brand_ps_macro_cuvette_759005/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "82b062772b9655c57889e43a369bb875e3276816cddbc3c6e5cb0d6775cc91ea"
+  }
+ },
+ "sources": {
+  "brand_759005": {
+   "kind": "manufacturer",
+   "reference": "BRAND macro PS cuvette 759005 (Fisher 10549301, https://fishersci.co.uk/shop/products/polystyrene-macro-cuvette/10549301; VWR listing)",
+   "locator": "12.5 x 12.5 x 45 mm, light path 10 mm, 2.5-4.5 mL, 340-900 nm, window 10 x 35 mm, 100 per pack",
+   "note": "Disposable visible-range cuvette. accessed 2026-10-22."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "比色皿",
+   "function_zh": "盛放样品；光程 10 mm（沿 X）",
+   "physical_meaning_zh": "ps 方形比色皿 12.5×12.5×45 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "brand_ps_macro_cuvette_759005__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.0125,
+      0.0125,
+      0.045
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 12.5×12.5×45 mm",
+     "evidence": "documented",
+     "source_ids": [
+      "brand_759005"
+     ],
+     "uncertainty": null
+    },
+    "light_path_m": {
+     "value": 0.01,
+     "unit": "m",
+     "meaning_zh": "光程 10 mm",
+     "evidence": "documented",
+     "source_ids": [
+      "brand_759005"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.002532,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ps 密度 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形与光程按目录；内腔 10×10.5 mm（壁厚约 1 mm）与底厚 1 mm 为假设（使满口 ≥ 目录上限 4.5 mL）。",
+  "PS 只用于 340–900 nm（可见区）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.brand_ps_macro_cuvette_759005",
+   "family": "cuvette",
+   "labware_class": "cuvette_10mm",
+   "fits": [
+    "cuvette_12p5",
+    "cell_holder_12p5"
+   ],
+   "maker": "BRAND",
+   "model": "Macro cuvette, PS, 10 mm, 2.5-4.5 mL, 340-900 nm",
+   "catalogue_no": "759005",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.049,
+     "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+     "finger_contact_z_m": [
+      0.003,
+      0.021
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.132
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "optical_axis": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.015
+     ],
+     "rot_xyzw": [
+      0,
+      0.70710678,
+      0,
+      0.70710678
+     ],
+     "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+    }
+   },
+   "nominal_capacity_m3": 4.5e-06,
+   "nominal_capacity_evidence": "documented",
+   "brim_capacity_m3": 4.62e-06,
+   "interior": {
+    "shape": "box",
+    "size_m": [
+     0.01,
+     0.0105
+    ],
+    "radius_m": 0.005,
+    "floor_m": 0.001,
+    "height_m": 0.045,
+    "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+   },
+   "light_path_m": 0.01,
+   "outer": {
+    "size_m": [
+     0.0125,
+     0.0125,
+     0.045
+    ],
+    "source_id": "brand_759005"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "empty_mass_kg": 0.002532
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/collision_proxies.json b/assets/labware/consumables/brand_ps_macro_cuvette_759005/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ced22f49c6d29c58466643a3c93fe872ccb65c9
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/collision_proxies.json
@@ -0,0 +1,110 @@
+{
+ "asset_type_id": "labware.brand_ps_macro_cuvette_759005",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.001
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.044
+     ],
+     "origin_m": [
+      -0.005625,
+      0.0,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.044
+     ],
+     "origin_m": [
+      0.005625,
+      0.0,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.001,
+      0.044
+     ],
+     "origin_m": [
+      0.0,
+      -0.00575,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.001,
+      0.044
+     ],
+     "origin_m": [
+      0.0,
+      0.00575,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/geometry_manifest.json b/assets/labware/consumables/brand_ps_macro_cuvette_759005/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e492bc1fd7e0c8d8a2c628a814d061875873fec8
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/geometry_manifest.json
@@ -0,0 +1,362 @@
+{
+ "asset_type_id": "labware.brand_ps_macro_cuvette_759005",
+ "catalog_id": null,
+ "name_zh": "BRAND PS 一次性比色皿（10 mm，2.5–4.5 mL，759005）",
+ "name_en": "BRAND macro PS cuvette 10 mm 2.5-4.5 mL",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0125,
+  0.0125,
+  0.045
+ ],
+ "bounds_m": [
+  [
+   -0.00625,
+   -0.00625,
+   0.0
+  ],
+  [
+   0.00625,
+   0.00625,
+   0.045
+  ]
+ ],
+ "total_mass_kg": 0.00253,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "brand_759005",
+   "kind": "manufacturer",
+   "reference": "BRAND macro PS cuvette 759005 (Fisher 10549301, https://fishersci.co.uk/shop/products/polystyrene-macro-cuvette/10549301; VWR listing)",
+   "locator": "12.5 x 12.5 x 45 mm, light path 10 mm, 2.5-4.5 mL, 340-900 nm, window 10 x 35 mm, 100 per pack",
+   "note": "Disposable visible-range cuvette. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "比色皿",
+   "function_zh": "盛放样品；光程 10 mm（沿 X）",
+   "physical_meaning_zh": "ps 方形比色皿 12.5×12.5×45 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.002532,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ps 密度 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "brand_ps_macro_cuvette_759005__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "brand_ps_macro_cuvette_759005__body",
+     "rgba_srgb": [
+      0.92,
+      0.94,
+      0.96,
+      0.45
+     ],
+     "hex": "#EBF0F5",
+     "rgba_linear": [
+      0.82757,
+      0.8689,
+      0.91141,
+      0.45
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.001
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.044
+     ],
+     "origin_m": [
+      -0.005625,
+      0.0,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.044
+     ],
+     "origin_m": [
+      0.005625,
+      0.0,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.001,
+      0.044
+     ],
+     "origin_m": [
+      0.0,
+      -0.00575,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.001,
+      0.044
+     ],
+     "origin_m": [
+      0.0,
+      0.00575,
+      0.023
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "brand_ps_macro_cuvette_759005__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.brand_ps_macro_cuvette_759005",
+  "family": "cuvette",
+  "labware_class": "cuvette_10mm",
+  "fits": [
+   "cuvette_12p5",
+   "cell_holder_12p5"
+  ],
+  "maker": "BRAND",
+  "model": "Macro cuvette, PS, 10 mm, 2.5-4.5 mL, 340-900 nm",
+  "catalogue_no": "759005",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.012
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0125,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.049,
+    "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+    "finger_contact_z_m": [
+     0.003,
+     0.021
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.132
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.132
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.012
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.132
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "optical_axis": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.015
+    ],
+    "rot_xyzw": [
+     0,
+     0.70710678,
+     0,
+     0.70710678
+    ],
+    "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+   }
+  },
+  "nominal_capacity_m3": 4.5e-06,
+  "nominal_capacity_evidence": "documented",
+  "brim_capacity_m3": 4.62e-06,
+  "interior": {
+   "shape": "box",
+   "size_m": [
+    0.01,
+    0.0105
+   ],
+   "radius_m": 0.005,
+   "floor_m": 0.001,
+   "height_m": 0.045,
+   "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+  },
+  "light_path_m": 0.01,
+  "outer": {
+   "size_m": [
+    0.0125,
+    0.0125,
+    0.045
+   ],
+   "source_id": "brand_759005"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "empty_mass_kg": 0.002532
+ },
+ "limitations_zh": [
+  "外形与光程按目录；内腔 10×10.5 mm（壁厚约 1 mm）与底厚 1 mm 为假设（使满口 ≥ 目录上限 4.5 mL）。",
+  "PS 只用于 340–900 nm（可见区）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.mtl b/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..10c0341dfa73a9de1d59c056efcfc85a58312c5e
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.mtl
@@ -0,0 +1,6 @@
+newmtl brand_ps_macro_cuvette_759005__body
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.450
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.obj b/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b53fe6b9eb2742eac432a01d98b0140b7cb40245
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/meshes/brand_ps_macro_cuvette_759005__body.obj
@@ -0,0 +1,104 @@
+mtllib brand_ps_macro_cuvette_759005__body.mtl
+usemtl brand_ps_macro_cuvette_759005__body
+# https://github.com/mikedh/trimesh
+v -0.00625000 -0.00625000 0.00000000
+v -0.00625000 -0.00625000 0.00100000
+v -0.00625000 0.00625000 0.00000000
+v -0.00625000 0.00625000 0.00100000
+v 0.00625000 -0.00625000 0.00000000
+v 0.00625000 -0.00625000 0.00100000
+v 0.00625000 0.00625000 0.00000000
+v 0.00625000 0.00625000 0.00100000
+v -0.00625000 -0.00625000 0.00100000
+v -0.00625000 -0.00625000 0.04500000
+v -0.00625000 0.00625000 0.00100000
+v -0.00625000 0.00625000 0.04500000
+v -0.00500000 -0.00625000 0.00100000
+v -0.00500000 -0.00625000 0.04500000
+v -0.00500000 0.00625000 0.00100000
+v -0.00500000 0.00625000 0.04500000
+v 0.00500000 -0.00625000 0.00100000
+v 0.00500000 -0.00625000 0.04500000
+v 0.00500000 0.00625000 0.00100000
+v 0.00500000 0.00625000 0.04500000
+v 0.00625000 -0.00625000 0.00100000
+v 0.00625000 -0.00625000 0.04500000
+v 0.00625000 0.00625000 0.00100000
+v 0.00625000 0.00625000 0.04500000
+v -0.00500000 -0.00625000 0.00100000
+v -0.00500000 -0.00625000 0.04500000
+v -0.00500000 -0.00525000 0.00100000
+v -0.00500000 -0.00525000 0.04500000
+v 0.00500000 -0.00625000 0.00100000
+v 0.00500000 -0.00625000 0.04500000
+v 0.00500000 -0.00525000 0.00100000
+v 0.00500000 -0.00525000 0.04500000
+v -0.00500000 0.00525000 0.00100000
+v -0.00500000 0.00525000 0.04500000
+v -0.00500000 0.00625000 0.00100000
+v -0.00500000 0.00625000 0.04500000
+v 0.00500000 0.00525000 0.00100000
+v 0.00500000 0.00525000 0.04500000
+v 0.00500000 0.00625000 0.00100000
+v 0.00500000 0.00625000 0.04500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.glb b/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bd4750f3b9db859ad3466270a60101421baab691
Binary files /dev/null and b/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.glb differ
diff --git a/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.urdf b/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a9be4ff3ba386870ea31cecc2404e06ef6a6770
--- /dev/null
+++ b/assets/labware/consumables/brand_ps_macro_cuvette_759005/model.urdf
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<robot name="brand_ps_macro_cuvette_759005">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.287e-19 -2.287e-19 0.021542" rpy="0 0 0" />
+      <mass value="0.00253181" />
+      <inertia ixx="4.6021e-07" ixy="0" ixz="0" iyy="4.6021e-07" iyz="0" izz="6.59326e-08" />
+    </inertial>
+    <visual name="brand_ps_macro_cuvette_759005__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/brand_ps_macro_cuvette_759005__body.obj" />
+      </geometry>
+      <material name="mat_brand_ps_macro_cuvette_759005__body">
+        <color rgba="0.82757 0.86890 0.91141 0.450" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0005" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0125 0.0125 0.001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.005625 0 0.023" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.044" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.005625 0 0.023" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.044" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.00575 0.023" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.001 0.044" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.00575 0.023" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.001 0.044" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/asset.contract.json b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..765e8d350b5964c3ca0104b0c9887a551f01c439
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/asset.contract.json
@@ -0,0 +1,262 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+ "asset_version": "1.0.0",
+ "name_zh": "Cytiva Series S 传感芯片 CM5（含保护套，BR100530）",
+ "category": "labware.consumable.sensor_chip",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Biacore T200 用 Series S Sensor Chip CM5：金膜玻片装在支撑框与保护套内（手册 p.29–30），沿箭头方向插入芯片口。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "2a6cbe12c7b0739d9d0a00d692f6fe2b469d520446181a551f4e68d4f38e377a"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "79c6514ed30de5a7b2917b2459e90edcc229ef4c374710ed8e747c8f522fe7ef"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "205b8801ecfc7a4fdf57c5396aa5adfa55bc4a5aca77dfffc0737c0d2cace70d"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "6a06f8117f5c9b79034737fb2bb16e521cbf4c9e5d73a6361235e694a92fcf19"
+  }
+ },
+ "sources": {
+  "biacore_handbook": {
+   "kind": "manufacturer",
+   "reference": "Biacore T200 Instrument Handbook (references/manuals/cytiva_biacoret200/operating_manual__biacore_t200_instrument_handbook.pdf)",
+   "locator": "p.21 sensor chip port; p.29 sensor chip = gold-coated glass slide on a supporting frame, normally in a protective sheath; p.30 Sensor Chip CM5 general-purpose chip",
+   "note": "Chip the Biacore T200 docks."
+  },
+  "cytiva_cm5": {
+   "kind": "manufacturer",
+   "reference": "Cytiva Series S Sensor Chip CM5, BR100530 (3 pack) / 29104988 (1) / 29149603 (10) (https://www.cytivalifesciences.com/en/us/products/items/sensor-chip-cm5-p-05858)",
+   "locator": "Series S chip for Biacore T200; carboxymethylated dextran on gold",
+   "note": "Chip and sheath dimensions are not published (assumption below). accessed 2026-10-22."
+  },
+  "biacore_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch04/t4_measure/cytiva_biacoret200 (sensor_chip_port 90 x 40 x 60 mm) + Matterix slot sensor_chip_slot (port r 12 mm, insert +Y)",
+   "locator": "geometry_manifest.json components.sensor_chip_port; slots_index",
+   "note": "Port the chip cassette must fit."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Cytiva Series S 传感芯片 CM5",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "ps 平板件 22.0×70.0×4.0 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "cytiva_series_s_sensor_chip_cm5__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.022,
+      0.07,
+      0.004
+     ],
+     "unit": "m",
+     "meaning_zh": "外形",
+     "evidence": "assumption",
+     "source_ids": [
+      "consumable_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.006518,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ps 密度 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "芯片与保护套外形 Cytiva 未公布：22×70×4 mm 为按 Biacore 实例芯片口（r 12 mm，沿 +Y 插入）选的假设；金膜窗口位置为示意。",
+  "插入/对接（dock）由仪器 chip.dock 能力与宿主完成；芯片表面状态只在运行层记录。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+   "family": "sensor_chip",
+   "labware_class": "spr_chip",
+   "fits": [
+    "spr_sensor_chip",
+    "biacore_chip_port"
+   ],
+   "maker": "Cytiva",
+   "model": "Series S Sensor Chip CM5",
+   "catalogue_no": "BR100530 (3) / 29104988 (1) / 29149603 (10)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0022
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.022,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.0392,
+     "note_zh": "沿 X 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0044
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1022
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.022,
+     0.07,
+     0.004
+    ],
+    "source_id": "consumable_assumption"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.cytiva_biacoret200": {
+     "slot": "sensor_chip_slot",
+     "slot_radius_m": 0.012,
+     "item_half_width_m": 0.011,
+     "insert_axis": [
+      0,
+      1,
+      0
+     ]
+    }
+   },
+   "insert_direction_zh": "沿 +Y（窗口端朝前插入）",
+   "storage_note_zh": "2–8 °C 干燥保存",
+   "empty_mass_kg": 0.006518
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/collision_proxies.json b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ba7a18ec81b2ae5a8655ce9cf407d2e05fc8bd
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/collision_proxies.json
@@ -0,0 +1,56 @@
+{
+ "asset_type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.022,
+      0.07,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.012,
+      0.0004
+     ],
+     "origin_m": [
+      0.0,
+      -0.02,
+      0.0042
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/geometry_manifest.json b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d5f62d5f431dd94aeaa86149d34aca1b364cea0
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/geometry_manifest.json
@@ -0,0 +1,308 @@
+{
+ "asset_type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+ "catalog_id": null,
+ "name_zh": "Cytiva Series S 传感芯片 CM5（含保护套，BR100530）",
+ "name_en": "Cytiva Series S Sensor Chip CM5 in its sheath",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.022,
+  0.07,
+  0.0044
+ ],
+ "bounds_m": [
+  [
+   -0.011,
+   -0.035,
+   0.0
+  ],
+  [
+   0.011,
+   0.035,
+   0.0044
+  ]
+ ],
+ "total_mass_kg": 0.00652,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "biacore_handbook",
+   "kind": "manufacturer",
+   "reference": "Biacore T200 Instrument Handbook (references/manuals/cytiva_biacoret200/operating_manual__biacore_t200_instrument_handbook.pdf)",
+   "locator": "p.21 sensor chip port; p.29 sensor chip = gold-coated glass slide on a supporting frame, normally in a protective sheath; p.30 Sensor Chip CM5 general-purpose chip",
+   "note": "Chip the Biacore T200 docks.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "cytiva_cm5",
+   "kind": "manufacturer",
+   "reference": "Cytiva Series S Sensor Chip CM5, BR100530 (3 pack) / 29104988 (1) / 29149603 (10) (https://www.cytivalifesciences.com/en/us/products/items/sensor-chip-cm5-p-05858)",
+   "locator": "Series S chip for Biacore T200; carboxymethylated dextran on gold",
+   "note": "Chip and sheath dimensions are not published (assumption below). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "biacore_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch04/t4_measure/cytiva_biacoret200 (sensor_chip_port 90 x 40 x 60 mm) + Matterix slot sensor_chip_slot (port r 12 mm, insert +Y)",
+   "locator": "geometry_manifest.json components.sensor_chip_port; slots_index",
+   "note": "Port the chip cassette must fit.",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "Cytiva Series S 传感芯片 CM5",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "ps 平板件 22.0×70.0×4.0 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.006518,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ps 密度 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "cytiva_series_s_sensor_chip_cm5__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "cytiva_series_s_sensor_chip_cm5__body",
+     "rgba_srgb": [
+      0.2,
+      0.22,
+      0.26,
+      1.0
+     ],
+     "hex": "#333842",
+     "rgba_linear": [
+      0.0331,
+      0.03968,
+      0.05497,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.022,
+      0.07,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.012,
+      0.0004
+     ],
+     "origin_m": [
+      0.0,
+      -0.02,
+      0.0042
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "cytiva_series_s_sensor_chip_cm5__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.cytiva_series_s_sensor_chip_cm5",
+  "family": "sensor_chip",
+  "labware_class": "spr_chip",
+  "fits": [
+   "spr_sensor_chip",
+   "biacore_chip_port"
+  ],
+  "maker": "Cytiva",
+  "model": "Series S Sensor Chip CM5",
+  "catalogue_no": "BR100530 (3) / 29104988 (1) / 29149603 (10)",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0022
+    ],
+    "rot_xyzw": [
+     0.70710678,
+     0.70710678,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.022,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.0392,
+    "note_zh": "沿 X 方向夹两侧边（平放件：指尖贴台面捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.0044
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1022
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1022
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0022
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1022
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "outer": {
+   "size_m": [
+    0.022,
+    0.07,
+    0.004
+   ],
+   "source_id": "consumable_assumption"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "instrument_fit": {
+   "instrument.cytiva_biacoret200": {
+    "slot": "sensor_chip_slot",
+    "slot_radius_m": 0.012,
+    "item_half_width_m": 0.011,
+    "insert_axis": [
+     0,
+     1,
+     0
+    ]
+   }
+  },
+  "insert_direction_zh": "沿 +Y（窗口端朝前插入）",
+  "storage_note_zh": "2–8 °C 干燥保存",
+  "empty_mass_kg": 0.006518
+ },
+ "limitations_zh": [
+  "芯片与保护套外形 Cytiva 未公布：22×70×4 mm 为按 Biacore 实例芯片口（r 12 mm，沿 +Y 插入）选的假设；金膜窗口位置为示意。",
+  "插入/对接（dock）由仪器 chip.dock 能力与宿主完成；芯片表面状态只在运行层记录。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.mtl b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55abb4266d56937a7cd8254ce3bd0a581d4c2a60
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.mtl
@@ -0,0 +1,6 @@
+newmtl cytiva_series_s_sensor_chip_cm5__body
+Kd 0.2000 0.2200 0.2600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.obj b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1755ac22e5632ee414f61d4e1be1f1f54e890da2
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/meshes/cytiva_series_s_sensor_chip_cm5__body.obj
@@ -0,0 +1,44 @@
+mtllib cytiva_series_s_sensor_chip_cm5__body.mtl
+usemtl cytiva_series_s_sensor_chip_cm5__body
+# https://github.com/mikedh/trimesh
+v -0.01100000 -0.03500000 0.00000000
+v -0.01100000 -0.03500000 0.00400000
+v -0.01100000 0.03500000 0.00000000
+v -0.01100000 0.03500000 0.00400000
+v 0.01100000 -0.03500000 0.00000000
+v 0.01100000 -0.03500000 0.00400000
+v 0.01100000 0.03500000 0.00000000
+v 0.01100000 0.03500000 0.00400000
+v -0.00500000 -0.02600000 0.00400000
+v -0.00500000 -0.02600000 0.00440000
+v -0.00500000 -0.01400000 0.00400000
+v -0.00500000 -0.01400000 0.00440000
+v 0.00500000 -0.02600000 0.00400000
+v 0.00500000 -0.02600000 0.00440000
+v 0.00500000 -0.01400000 0.00400000
+v 0.00500000 -0.01400000 0.00440000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.glb b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0b6302a773c83973a3357ab70b9e065577d18ed6
Binary files /dev/null and b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.glb differ
diff --git a/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.urdf b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..77cd15dadc786ca50428a68fd1c47555d3720885
--- /dev/null
+++ b/assets/labware/consumables/cytiva_series_s_sensor_chip_cm5/model.urdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot name="cytiva_series_s_sensor_chip_cm5">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -0.000154639 0.00201701" rpy="0 0 0" />
+      <mass value="0.0065184" />
+      <inertia ixx="2.6722e-06" ixy="0" ixz="0" iyy="2.73425e-07" iyz="0" izz="2.92459e-06" />
+    </inertial>
+    <visual name="cytiva_series_s_sensor_chip_cm5__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/cytiva_series_s_sensor_chip_cm5__body.obj" />
+      </geometry>
+      <material name="mat_cytiva_series_s_sensor_chip_cm5__body">
+        <color rgba="0.03310 0.03968 0.05497 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <box size="0.022 0.07 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.02 0.0042" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.012 0.0004" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/asset.contract.json b/assets/labware/consumables/elementar_tin_capsule_11x8/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df401aac814d6ccac9685368a8f5524ce3872bf
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/asset.contract.json
@@ -0,0 +1,282 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.elementar_tin_capsule_11x8",
+ "asset_version": "1.0.0",
+ "name_zh": "Elementar 锡囊 11 × 8 mm（0.5 mL，200006458）",
+ "category": "labware.consumable.capsule",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "vario EL cube CHNS 分析用锡囊：Elementar 200006458（11×8 mm，0.5 mL，100 个/包）；进样盘位 r 4 mm。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/elementar_tin_capsule_11x8/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "4e803e87dfee6b308204f7bcfb1bb7997db7a1c98e37f34880d5a21a97430db8"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/elementar_tin_capsule_11x8/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "372c19ba852052e55aa48cde1da8efcaa86d82dc5d7f58c1bb980204266b6d87"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/elementar_tin_capsule_11x8/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "71aa6788fd74a35995976c8b0894a41d384ef78e496125e5c24377010cdf41e0"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/elementar_tin_capsule_11x8/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "fc6322e6d276ec890c8157168f1307eb6ed490e7b8a2c4c205e91ce6e424d7ae"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/consumables/elementar_tin_capsule_11x8/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "e64929d5ec4590e6ef5dad9c206a63151ba6599473bdd1d33f005ffd0009bfe0"
+  }
+ },
+ "sources": {
+  "elementar_capsule": {
+   "kind": "manufacturer",
+   "reference": "Elementar tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs, SKU 200006458 (former S05 003 400) (https://portal.elementar.com/us/tin-capsules-11-x-8-mm-v-0-5-ml-100-pcs-package.html)",
+   "locator": "11 mm high x 8 mm diameter, 0.5 mL, for solids",
+   "note": "Tin capsule for CHNS combustion (vario EL cube carousel). accessed 2026-10-22."
+  },
+  "varioel_asset": {
+   "kind": "code",
+   "reference": "Matterix slots_index instrument.elementar_varioel sample_mount (port r 4 mm)",
+   "locator": "slot radius 0.004 m",
+   "note": "Carousel position size the capsule must fit."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Elementar 锡囊 11 × 8 mm",
+   "function_zh": "盛放样品",
+   "physical_meaning_zh": "tin 外壳",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "elementar_tin_capsule_11x8__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.008,
+     "unit": "m",
+     "meaning_zh": "外径",
+     "evidence": "documented",
+     "source_ids": [
+      "elementar_capsule"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.011,
+     "unit": "m",
+     "meaning_zh": "高度",
+     "evidence": "documented",
+     "source_ids": [
+      "elementar_capsule"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.000279,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × tin 密度）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "Ø8×11 mm 与 0.5 mL 按 Elementar 目录；锡箔厚 0.12 mm 为假设（碰撞壁 0.8 mm）。",
+  "实际使用时称样后把锡囊捏扁折叠成小块再放入自动进样盘；折叠由宿主记账（不模拟变形）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.elementar_tin_capsule_11x8",
+   "family": "capsule",
+   "labware_class": "tin_capsule",
+   "fits": [
+    "tin_capsule",
+    "varioel_carousel"
+   ],
+   "maker": "Elementar",
+   "model": "Tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs",
+   "catalogue_no": "200006458 (former S05 003 400)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.004
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.008,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.041,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.013
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.004
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.104
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 5e-07,
+   "nominal_capacity_evidence": "documented (Elementar: V 0.5 mL)",
+   "brim_capacity_m3": 5.146e-07,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.00388,
+    "floor_m": 0.00012,
+    "height_m": 0.011,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.00012
+     ],
+     [
+      0.00388,
+      0.00012
+     ],
+     [
+      0.00388,
+      0.011
+     ]
+    ],
+    "nominal_fill_height_m": 0.010692
+   },
+   "outer": {
+    "diameter_m": 0.008,
+    "height_body_m": 0.011,
+    "source_id": "elementar_capsule"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.elementar_varioel": {
+     "slot": "sample_mount",
+     "slot_radius_m": 0.004,
+     "item_radius_m": 0.004
+    }
+   },
+   "empty_mass_kg": 0.000279
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/collision_proxies.json b/assets/labware/consumables/elementar_tin_capsule_11x8/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ed5e561e27f721868a19f55f94bef9c59d0745
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/collision_proxies.json
@@ -0,0 +1,271 @@
+{
+ "asset_type_id": "labware.elementar_tin_capsule_11x8",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.004,
+      0.0004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0036,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.003118,
+      0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0018,
+      0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0,
+      0.0036,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0018,
+      0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.003118,
+      0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0036,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.003118,
+      -0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0018,
+      -0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0,
+      -0.0036,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0018,
+      -0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.003118,
+      -0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ],
+   "solid_primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.004,
+      0.011
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/geometry_manifest.json b/assets/labware/consumables/elementar_tin_capsule_11x8/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..86dad295cce70387617017c6951b7dd497e6e39e
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/geometry_manifest.json
@@ -0,0 +1,512 @@
+{
+ "asset_type_id": "labware.elementar_tin_capsule_11x8",
+ "catalog_id": null,
+ "name_zh": "Elementar 锡囊 11 × 8 mm（0.5 mL，200006458）",
+ "name_en": "Elementar tin capsule 11 x 8 mm, 0.5 mL",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.008,
+  0.008,
+  0.011
+ ],
+ "bounds_m": [
+  [
+   -0.004,
+   -0.004,
+   0.0
+  ],
+  [
+   0.004,
+   0.004,
+   0.011
+  ]
+ ],
+ "total_mass_kg": 0.00028,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "elementar_capsule",
+   "kind": "manufacturer",
+   "reference": "Elementar tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs, SKU 200006458 (former S05 003 400) (https://portal.elementar.com/us/tin-capsules-11-x-8-mm-v-0-5-ml-100-pcs-package.html)",
+   "locator": "11 mm high x 8 mm diameter, 0.5 mL, for solids",
+   "note": "Tin capsule for CHNS combustion (vario EL cube carousel). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "varioel_asset",
+   "kind": "code",
+   "reference": "Matterix slots_index instrument.elementar_varioel sample_mount (port r 4 mm)",
+   "locator": "slot radius 0.004 m",
+   "note": "Carousel position size the capsule must fit.",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "Elementar 锡囊 11 × 8 mm",
+   "function_zh": "盛放样品",
+   "physical_meaning_zh": "tin 外壳",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.000279,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模体积 × tin 密度",
+   "material": "tin",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "elementar_tin_capsule_11x8__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "elementar_tin_capsule_11x8__body",
+     "rgba_srgb": [
+      0.8,
+      0.8,
+      0.78,
+      1.0
+     ],
+     "hex": "#CCCCC7",
+     "rgba_linear": [
+      0.60383,
+      0.60383,
+      0.57048,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.004,
+      0.0004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0036,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.003118,
+      0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0018,
+      0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0,
+      0.0036,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0018,
+      0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.003118,
+      0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0036,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.003118,
+      -0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0018,
+      -0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      -0.0,
+      -0.0036,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.0018,
+      -0.003118,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0008,
+      0.002262,
+      0.011
+     ],
+     "origin_m": [
+      0.003118,
+      -0.0018,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "elementar_tin_capsule_11x8__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.elementar_tin_capsule_11x8",
+  "family": "capsule",
+  "labware_class": "tin_capsule",
+  "fits": [
+   "tin_capsule",
+   "varioel_carousel"
+  ],
+  "maker": "Elementar",
+  "model": "Tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs",
+  "catalogue_no": "200006458 (former S05 003 400)",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.004
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.008,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.041,
+    "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.013
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.104
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.104
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.004
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.104
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "nominal_capacity_m3": 5e-07,
+  "nominal_capacity_evidence": "documented (Elementar: V 0.5 mL)",
+  "brim_capacity_m3": 5.146e-07,
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.00388,
+   "floor_m": 0.00012,
+   "height_m": 0.011,
+   "profile_rz_m": [
+    [
+     0.0,
+     0.00012
+    ],
+    [
+     0.00388,
+     0.00012
+    ],
+    [
+     0.00388,
+     0.011
+    ]
+   ],
+   "nominal_fill_height_m": 0.010692
+  },
+  "outer": {
+   "diameter_m": 0.008,
+   "height_body_m": 0.011,
+   "source_id": "elementar_capsule"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "instrument_fit": {
+   "instrument.elementar_varioel": {
+    "slot": "sample_mount",
+    "slot_radius_m": 0.004,
+    "item_radius_m": 0.004
+   }
+  },
+  "empty_mass_kg": 0.000279
+ },
+ "limitations_zh": [
+  "Ø8×11 mm 与 0.5 mL 按 Elementar 目录；锡箔厚 0.12 mm 为假设（碰撞壁 0.8 mm）。",
+  "实际使用时称样后把锡囊捏扁折叠成小块再放入自动进样盘；折叠由宿主记账（不模拟变形）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.mtl b/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..47b7cc366391e8231f1b85a89ff4c0dc708c98e3
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.mtl
@@ -0,0 +1,6 @@
+newmtl elementar_tin_capsule_11x8__body
+Kd 0.8000 0.8000 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.obj b/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba76fd9976e7bc19adea5a280eebfc6627620a30
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/meshes/elementar_tin_capsule_11x8__body.obj
@@ -0,0 +1,582 @@
+mtllib elementar_tin_capsule_11x8__body.mtl
+usemtl elementar_tin_capsule_11x8__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.00400000 0.00000000 0.00000000
+v 0.00400000 0.00000000 0.01100000
+v 0.00388000 0.00000000 0.01100000
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+v 0.00396578 0.00052210 0.00000000
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+v 0.00384681 0.00050644 0.01100000
+v 0.00384681 0.00050644 0.00012000
+v 0.00386370 0.00103528 0.00000000
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+v 0.00374779 0.00100422 0.01100000
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+v 0.00358465 0.00148481 0.01100000
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+v 0.00346410 0.00200000 0.01100000
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+v 0.00317341 0.00243505 0.00000000
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+v 0.00274357 0.00274357 0.01100000
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+v 0.00243505 0.00317341 0.01100000
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+v 0.00194000 0.00336018 0.01100000
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diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/model.glb b/assets/labware/consumables/elementar_tin_capsule_11x8/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..072adfd652feea4f470dff6cdac1cda2f64ab533
Binary files /dev/null and b/assets/labware/consumables/elementar_tin_capsule_11x8/model.glb differ
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/model.urdf b/assets/labware/consumables/elementar_tin_capsule_11x8/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..aa7b7319e2ee6663c19224e98281d23af75911fa
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/model.urdf
@@ -0,0 +1,103 @@
+<?xml version="1.0"?>
+<robot name="elementar_tin_capsule_11x8">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="9.01221e-19 -9.01221e-19 0.004695" rpy="0 0 0" />
+      <mass value="0.000278795" />
+      <inertia ixx="4.29809e-09" ixy="0" ixz="0" iyy="4.29809e-09" iyz="0" izz="2.97382e-09" />
+    </inertial>
+    <visual name="elementar_tin_capsule_11x8__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/elementar_tin_capsule_11x8__body.obj" />
+      </geometry>
+      <material name="mat_elementar_tin_capsule_11x8__body">
+        <color rgba="0.60383 0.60383 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0036 0 0.0055" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00311769 0.0018 0.0055" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0018 0.00311769 0.0055" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="2.20436e-19 0.0036 0.0055" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0018 0.00311769 0.0055" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00311769 0.0018 0.0055" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0036 4.40873e-19 0.0055" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00311769 -0.0018 0.0055" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0018 -0.00311769 0.0055" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-6.61309e-19 -0.0036 0.0055" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0018 -0.00311769 0.0055" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00311769 -0.0018 0.0055" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.0008 0.00226195 0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/elementar_tin_capsule_11x8/model_solid.urdf b/assets/labware/consumables/elementar_tin_capsule_11x8/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3e0965c8e4e2b51276aeaf1604506c779521bcb7
--- /dev/null
+++ b/assets/labware/consumables/elementar_tin_capsule_11x8/model_solid.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="elementar_tin_capsule_11x8">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="9.01221e-19 -9.01221e-19 0.004695" rpy="0 0 0" />
+      <mass value="0.000278795" />
+      <inertia ixx="4.29809e-09" ixy="0" ixz="0" iyy="4.29809e-09" iyz="0" izz="2.97382e-09" />
+    </inertial>
+    <visual name="elementar_tin_capsule_11x8__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/elementar_tin_capsule_11x8__body.obj" />
+      </geometry>
+      <material name="mat_elementar_tin_capsule_11x8__body">
+        <color rgba="0.60383 0.60383 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0055" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.011" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/asset.contract.json b/assets/labware/consumables/falcon_352052_tube_12x75/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..571d6baa315488b344bbda3554079c9061d1b982
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/asset.contract.json
@@ -0,0 +1,300 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.falcon_352052_tube_12x75",
+ "asset_version": "1.0.0",
+ "name_zh": "Falcon 352052 圆底聚苯乙烯管 5 mL（12 × 75 mm，无盖）",
+ "category": "labware.consumable.tube",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "FACSAria III 上样管：BD Falcon 5 mL 聚苯乙烯圆底管 12×75 mm（无盖，125 支/袋，352052；BD 用户指南 p.286）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/falcon_352052_tube_12x75/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "1ddd1bde474ec32903f822edb46a0470966a0ab62d54b422760fe18914d3b92f"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/falcon_352052_tube_12x75/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b497857a1ccd032bebab1eca390e473488ac733799f9533f8cb52d3ed9b9940b"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/falcon_352052_tube_12x75/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "606d29b0934e73a4acd203bf50a64afdfccf061a5b98a20c7f6a470ceddaffd6"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/falcon_352052_tube_12x75/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a85fff3f4eb2ee06e1cf24d44137cc5dee2684df7319c5f623df291b95c6a210"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/consumables/falcon_352052_tube_12x75/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "613672710568bd87d161b48ccd0eb29120cf94894af0a6d8e24dc2dca449a590"
+  }
+ },
+ "sources": {
+  "facsaria_guide": {
+   "kind": "manufacturer",
+   "reference": "BD FACSAria III User's Guide (references/manuals/bd_facsariaiii/operating_manual__facsaria_iii_users_guide_*.pdf); tech specs 2018",
+   "locator": "guide p.286: 5-mL polystyrene test tubes 12 x 75 mm (BD Falcon), uncapped, 125 per bag, 352052; tech specs p.3: 12 x 75 mm sample tubes",
+   "note": "Sample tube the FACSAria III takes."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Falcon 352052 圆底聚苯乙烯管 5 mL",
+   "function_zh": "盛放样品",
+   "physical_meaning_zh": "ps 外壳",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "falcon_352052_tube_12x75__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0128,
+     "unit": "m",
+     "meaning_zh": "外径",
+     "evidence": "documented",
+     "source_ids": [
+      "facsaria_guide"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.075,
+     "unit": "m",
+     "meaning_zh": "高度",
+     "evidence": "documented",
+     "source_ids": [
+      "facsaria_guide"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.002204,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × ps 密度）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "12×75 mm 与 5 mL 按 BD 指南 p.286；壁厚 0.8 mm 为假设。",
+  "圆底管不能自立：放管架或仪器管座；无盖（上机前不加盖）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.falcon_352052_tube_12x75",
+   "family": "tube",
+   "labware_class": "tube_12x75",
+   "fits": [
+    "tube_12x75",
+    "facs_sample_tube"
+   ],
+   "maker": "Corning (BD Falcon)",
+   "model": "5 mL polystyrene round-bottom test tube, 12 x 75 mm, uncapped, 125/bag",
+   "catalogue_no": "352052",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.042
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0128,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.079,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.033,
+      0.051
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.042
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 5e-06,
+   "nominal_capacity_evidence": "documented (5-mL test tube, FACSAria guide p.286)",
+   "brim_capacity_m3": 6.1509e-06,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0052,
+    "floor_m": 0.0008,
+    "height_m": 0.075,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0008
+     ],
+     [
+      0.00129,
+      0.00096
+     ],
+     [
+      0.00256,
+      0.00147
+     ],
+     [
+      0.00365,
+      0.0023
+     ],
+     [
+      0.00449,
+      0.00338
+     ],
+     [
+      0.00502,
+      0.00464
+     ],
+     [
+      0.0052,
+      0.006
+     ],
+     [
+      0.0052,
+      0.006
+     ],
+     [
+      0.0052,
+      0.075
+     ]
+    ],
+    "nominal_fill_height_m": 0.061452
+   },
+   "outer": {
+    "diameter_m": 0.0128,
+    "height_body_m": 0.075,
+    "source_id": "facsaria_guide"
+   },
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.bd_facsariaiii": {
+     "slot": "sample_tube_seat",
+     "slot_radius_m": 0.02,
+     "item_radius_m": 0.006
+    }
+   },
+   "empty_mass_kg": 0.002204
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/collision_proxies.json b/assets/labware/consumables/falcon_352052_tube_12x75/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f0132bdc9899d6308a08fb047572c0ee9fb7ff
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/collision_proxies.json
@@ -0,0 +1,1567 @@
+{
+ "asset_type_id": "labware.falcon_352052_tube_12x75",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
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+      0.0008
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+      0.0004
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+}
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diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/geometry_manifest.json b/assets/labware/consumables/falcon_352052_tube_12x75/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fa2092f1712947accf7565ba97a4da47553b885
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/geometry_manifest.json
@@ -0,0 +1,1824 @@
+{
+ "asset_type_id": "labware.falcon_352052_tube_12x75",
+ "catalog_id": null,
+ "name_zh": "Falcon 352052 圆底聚苯乙烯管 5 mL（12 × 75 mm，无盖）",
+ "name_en": "Falcon 352052 5 mL polystyrene round-bottom tube 12 x 75 mm",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0128,
+  0.0128,
+  0.075
+ ],
+ "bounds_m": [
+  [
+   -0.0064,
+   -0.0064,
+   0.0
+  ],
+  [
+   0.0064,
+   0.0064,
+   0.075
+  ]
+ ],
+ "total_mass_kg": 0.0022,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "facsaria_guide",
+   "kind": "manufacturer",
+   "reference": "BD FACSAria III User's Guide (references/manuals/bd_facsariaiii/operating_manual__facsaria_iii_users_guide_*.pdf); tech specs 2018",
+   "locator": "guide p.286: 5-mL polystyrene test tubes 12 x 75 mm (BD Falcon), uncapped, 125 per bag, 352052; tech specs p.3: 12 x 75 mm sample tubes",
+   "note": "Sample tube the FACSAria III takes.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
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+     "rpy_rad": [
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+      0.380506,
+      4.18879
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.003619,
+      0.001077
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+     "origin_m": [
+      -0.0,
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+      0.074649
+     ],
+     "rpy_rad": [
+      0.0,
+      0.380506,
+      4.712389
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.003619,
+      0.001077
+     ],
+     "origin_m": [
+      0.002914,
+      -0.005048,
+      0.074649
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+     "rpy_rad": [
+      0.0,
+      0.380506,
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+    },
+    {
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+     "size_m": [
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+      0.003619,
+      0.001077
+     ],
+     "origin_m": [
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+     ],
+     "rpy_rad": [
+      0.0,
+      0.380506,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "falcon_352052_tube_12x75__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.falcon_352052_tube_12x75",
+  "family": "tube",
+  "labware_class": "tube_12x75",
+  "fits": [
+   "tube_12x75",
+   "facs_sample_tube"
+  ],
+  "maker": "Corning (BD Falcon)",
+  "model": "5 mL polystyrene round-bottom test tube, 12 x 75 mm, uncapped, 125/bag",
+  "catalogue_no": "352052",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.042
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0128,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.079,
+    "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+    "finger_contact_z_m": [
+     0.033,
+     0.051
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.162
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.162
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.042
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.162
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "nominal_capacity_m3": 5e-06,
+  "nominal_capacity_evidence": "documented (5-mL test tube, FACSAria guide p.286)",
+  "brim_capacity_m3": 6.1509e-06,
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0052,
+   "floor_m": 0.0008,
+   "height_m": 0.075,
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0008
+    ],
+    [
+     0.00129,
+     0.00096
+    ],
+    [
+     0.00256,
+     0.00147
+    ],
+    [
+     0.00365,
+     0.0023
+    ],
+    [
+     0.00449,
+     0.00338
+    ],
+    [
+     0.00502,
+     0.00464
+    ],
+    [
+     0.0052,
+     0.006
+    ],
+    [
+     0.0052,
+     0.006
+    ],
+    [
+     0.0052,
+     0.075
+    ]
+   ],
+   "nominal_fill_height_m": 0.061452
+  },
+  "outer": {
+   "diameter_m": 0.0128,
+   "height_body_m": 0.075,
+   "source_id": "facsaria_guide"
+  },
+  "stands_upright": false,
+  "franka_grasp_ok": true,
+  "instrument_fit": {
+   "instrument.bd_facsariaiii": {
+    "slot": "sample_tube_seat",
+    "slot_radius_m": 0.02,
+    "item_radius_m": 0.006
+   }
+  },
+  "empty_mass_kg": 0.002204
+ },
+ "limitations_zh": [
+  "12×75 mm 与 5 mL 按 BD 指南 p.286；壁厚 0.8 mm 为假设。",
+  "圆底管不能自立：放管架或仪器管座；无盖（上机前不加盖）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.mtl b/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..09a12875ea0069ca237948e0003d5d202b220318
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.mtl
@@ -0,0 +1,6 @@
+newmtl falcon_352052_tube_12x75__body
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.450
diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.obj b/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1fc32618c6a31f87834768f7001733e577ef852a
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/meshes/falcon_352052_tube_12x75__body.obj
@@ -0,0 +1,2166 @@
+mtllib falcon_352052_tube_12x75__body.mtl
+usemtl falcon_352052_tube_12x75__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.00148442 0.00000000 0.00018653
+v 0.00295082 0.00000000 0.00077576
+v 0.00421250 0.00000000 0.00172743
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+v 0.00579187 0.00000000 0.00443341
+v 0.00600000 0.00000000 0.00600000
+v 0.00600000 0.00000000 0.07400000
+v 0.00640000 0.00000000 0.07500000
+v 0.00520000 0.00000000 0.07500000
+v 0.00520000 0.00000000 0.00600000
+v 0.00501962 0.00000000 0.00464229
+v 0.00449101 0.00000000 0.00337877
+v 0.00365083 0.00000000 0.00229711
+v 0.00255738 0.00000000 0.00147233
+v 0.00128650 0.00000000 0.00096166
+v 0.00000000 0.00000000 0.00080000
+v 0.00147172 0.00019376 0.00018653
+v 0.00292557 0.00038516 0.00077576
+v 0.00417646 0.00054984 0.00172743
+v 0.00513760 0.00067638 0.00297551
+v 0.00574232 0.00075599 0.00443341
+v 0.00594867 0.00078316 0.00600000
+v 0.00594867 0.00078316 0.07400000
+v 0.00634525 0.00083537 0.07500000
+v 0.00515551 0.00067874 0.07500000
+v 0.00515551 0.00067874 0.00600000
+v 0.00497668 0.00065519 0.00464229
+v 0.00445259 0.00058619 0.00337877
+v 0.00361960 0.00047653 0.00229711
+v 0.00253550 0.00033380 0.00147233
+v 0.00127549 0.00016792 0.00096166
+v 0.00143384 0.00038420 0.00018653
+v 0.00285027 0.00076373 0.00077576
+v 0.00406896 0.00109027 0.00172743
+v 0.00500537 0.00134118 0.00297551
+v 0.00559452 0.00149905 0.00443341
+v 0.00579555 0.00155291 0.00600000
+v 0.00579555 0.00155291 0.07400000
+v 0.00618193 0.00165644 0.07500000
+v 0.00502281 0.00134586 0.07500000
+v 0.00502281 0.00134586 0.00600000
+v 0.00484858 0.00129917 0.00464229
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+v 0.00352643 0.00094490 0.00229711
+v 0.00247024 0.00066190 0.00147233
+v 0.00124266 0.00033297 0.00096166
+v 0.00137143 0.00056806 0.00018653
+v 0.00272620 0.00112923 0.00077576
+v 0.00389184 0.00161205 0.00172743
+v 0.00478748 0.00198304 0.00297551
+v 0.00535099 0.00221645 0.00443341
+v 0.00554328 0.00229610 0.00600000
+v 0.00554328 0.00229610 0.07400000
+v 0.00591283 0.00244917 0.07500000
+v 0.00480417 0.00198995 0.07500000
+v 0.00480417 0.00198995 0.00600000
+v 0.00463753 0.00192093 0.00464229
+v 0.00414915 0.00171864 0.00337877
+v 0.00337293 0.00139711 0.00229711
+v 0.00236271 0.00097867 0.00147233
+v 0.00118857 0.00049232 0.00096166
+v 0.00128555 0.00074221 0.00018653
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+v 0.00364813 0.00210625 0.00172743
+v 0.00448769 0.00259097 0.00297551
+v 0.00501591 0.00289594 0.00443341
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diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/model.glb b/assets/labware/consumables/falcon_352052_tube_12x75/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..bf1db4796746379278b06aabcb827605629c232e
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diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/model.urdf b/assets/labware/consumables/falcon_352052_tube_12x75/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5d788b3c5d863549342ad1ffed21d58cf4670edc
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/model.urdf
@@ -0,0 +1,535 @@
+<?xml version="1.0"?>
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+    <visual name="falcon_352052_tube_12x75__body">
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diff --git a/assets/labware/consumables/falcon_352052_tube_12x75/model_solid.urdf b/assets/labware/consumables/falcon_352052_tube_12x75/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d455b944780bab357568c562ba37f847f8d82066
--- /dev/null
+++ b/assets/labware/consumables/falcon_352052_tube_12x75/model_solid.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
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+  </joint>
+</robot>
diff --git a/assets/labware/consumables/gelpak_ad1135_case/asset.contract.json b/assets/labware/consumables/gelpak_ad1135_case/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1b0a672523a04a51b91d3ba64eb67f79f7fcc1
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/asset.contract.json
@@ -0,0 +1,309 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.gelpak_ad1135_case",
+ "asset_version": "1.0.0",
+ "name_zh": "Gel-Pak AD-1135 透明翻盖样品盒（3.5 × 4.5 × 0.5 in）",
+ "category": "labware.consumable.case",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "放平板标准件的翻盖盒（蓝宝石盘、XPS 金属箔、石英控制片、假电解池等）：Gel-Pak AD-1135，89×114×12.7 mm，底面带凝胶。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/gelpak_ad1135_case/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "ecea6a13bd9ff4faa77bf8c19a1ab089259db65e4102004a3bd047dbcf52a028"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/gelpak_ad1135_case/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "f8ca080aff22cad2ebc424819bcbb343f0e3cc735153dcf80c7440a9a05e819c"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/gelpak_ad1135_case/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "121154a210fcc401ac98a45af9474931364cde91a123c56c3c7903e19478b7d8"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/gelpak_ad1135_case/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "01bf27ad5587f3980e44cda858e575236f254a4b380d049173bd49737bb77333"
+  }
+ },
+ "sources": {
+  "gelpak_ad1135": {
+   "kind": "manufacturer",
+   "reference": "Gel-Pak AD series hinged box AD-1135 (Ted Pella listing https://www.tedpella.com/storage-boxes-bags_html/gel-pak-boxes.aspx; Fisher 3.5 x 4.5 x 0.5 in hinged box)",
+   "locator": "3.5 x 4.5 x 0.5 in (89 x 114 x 12.7 mm), clear hinged box, gel-coated floor",
+   "note": "Case for flat reference items (sapphire disc, XPS foils, quartz plate, dummy cell). accessed 2026-10-22."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "盒底",
+   "function_zh": "承放标准件（凝胶面固定）",
+   "physical_meaning_zh": "透明 PS 盒底",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gelpak_ad1135_case__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.1143,
+      0.0889,
+      0.0127
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 4.5×3.5×0.5 in",
+     "evidence": "documented",
+     "source_ids": [
+      "gelpak_ad1135"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.01675,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ps 密度 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "lid": {
+   "name_zh": "翻盖",
+   "function_zh": "盖住标准件",
+   "physical_meaning_zh": "透明 PS 翻盖，铰链在 −X 边",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:lid",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gelpak_ad1135_case__lid",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.014068,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ps 密度 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_lid": {
+   "component_id": "lid",
+   "artifact_id": "model_urdf",
+   "target": "lid_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    2.96706
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 绕 −X 边铰链向上翻开",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "consumable_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形按 Gel-Pak AD-1135 目录；壁厚、盖高分配与铰链为假设。",
+  "89 mm 短边超出 Franka 可抓宽度（franka_ok=false）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.gelpak_ad1135_case",
+   "family": "case",
+   "labware_class": "reference_case",
+   "fits": [
+    "reference_case"
+   ],
+   "maker": "Gel-Pak (Delphon)",
+   "model": "AD series hinged box AD-1135, 3.5 x 4.5 x 0.5 in",
+   "catalogue_no": "AD-1135",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0889,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.04335,
+     "note_zh": "沿 Y 夹 89 mm 边：超出 Franka 张开宽度",
+     "finger_contact_z_m": [
+      0.0,
+      0.0127
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "lid_tab": {
+     "link": "base_link",
+     "pos_m": [
+      0.05715,
+      0.0,
+      0.0127
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "翻盖自由边（+X）：向上推开"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.1143,
+     0.0889,
+     0.0127
+    ],
+    "source_id": "gelpak_ad1135"
+   },
+   "closure": {
+    "type": "hinged_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "open_rad": 2.96706,
+    "rule_zh": "推 lid_tab 翻开；翻盖不脱离盒底"
+   },
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "contents_note_zh": "盒内标准件只记账（蓝宝石盘 / Ag、Cu 箔 / 石英控制片 / 假电解池）；取出放入仪器由宿主或宽口夹爪完成",
+   "empty_mass_kg": 0.030818
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/gelpak_ad1135_case/collision_proxies.json b/assets/labware/consumables/gelpak_ad1135_case/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fc06ff5940e41691216c601a55b306d8be72b5
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/collision_proxies.json
@@ -0,0 +1,212 @@
+{
+ "asset_type_id": "labware.gelpak_ad1135_case",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0889,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0078
+     ],
+     "origin_m": [
+      0.0,
+      -0.04385,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0078
+     ],
+     "origin_m": [
+      0.0,
+      0.04385,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0078
+     ],
+     "origin_m": [
+      -0.05655,
+      0.0,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0078
+     ],
+     "origin_m": [
+      0.05655,
+      0.0,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "lid": {
+   "origin_m": [
+    -0.05715,
+    0,
+    0.009
+   ],
+   "parent": "body",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0889,
+      0.0012
+     ],
+     "origin_m": [
+      0.05715,
+      0.0,
+      0.0031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0025
+     ],
+     "origin_m": [
+      0.05715,
+      -0.04385,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0025
+     ],
+     "origin_m": [
+      0.05715,
+      0.04385,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0025
+     ],
+     "origin_m": [
+      0.0006,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0025
+     ],
+     "origin_m": [
+      0.1137,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/gelpak_ad1135_case/geometry_manifest.json b/assets/labware/consumables/gelpak_ad1135_case/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0167d99b9056bc68b43165e6d8c7f9246d1f267a
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/geometry_manifest.json
@@ -0,0 +1,522 @@
+{
+ "asset_type_id": "labware.gelpak_ad1135_case",
+ "catalog_id": null,
+ "name_zh": "Gel-Pak AD-1135 透明翻盖样品盒（3.5 × 4.5 × 0.5 in）",
+ "name_en": "Gel-Pak AD-1135 clear hinged box 3.5 x 4.5 x 0.5 in",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.1143,
+  0.0889,
+  0.0127
+ ],
+ "bounds_m": [
+  [
+   -0.05715,
+   -0.04445,
+   0.0
+  ],
+  [
+   0.05715,
+   0.04445,
+   0.0127
+  ]
+ ],
+ "total_mass_kg": 0.03082,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "gelpak_ad1135",
+   "kind": "manufacturer",
+   "reference": "Gel-Pak AD series hinged box AD-1135 (Ted Pella listing https://www.tedpella.com/storage-boxes-bags_html/gel-pak-boxes.aspx; Fisher 3.5 x 4.5 x 0.5 in hinged box)",
+   "locator": "3.5 x 4.5 x 0.5 in (89 x 114 x 12.7 mm), clear hinged box, gel-coated floor",
+   "note": "Case for flat reference items (sapphire disc, XPS foils, quartz plate, dummy cell). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "盒底",
+   "function_zh": "承放标准件（凝胶面固定）",
+   "physical_meaning_zh": "透明 PS 盒底",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.01675,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ps 密度 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "gelpak_ad1135_case__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gelpak_ad1135_case__body",
+     "rgba_srgb": [
+      0.88,
+      0.92,
+      0.95,
+      0.5
+     ],
+     "hex": "#E0EBF2",
+     "rgba_linear": [
+      0.74841,
+      0.82757,
+      0.89001,
+      0.5
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0889,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0078
+     ],
+     "origin_m": [
+      0.0,
+      -0.04385,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0078
+     ],
+     "origin_m": [
+      0.0,
+      0.04385,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0078
+     ],
+     "origin_m": [
+      -0.05655,
+      0.0,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0078
+     ],
+     "origin_m": [
+      0.05655,
+      0.0,
+      0.0051
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "lid",
+   "name_zh": "翻盖",
+   "function_zh": "盖住标准件",
+   "physical_meaning_zh": "透明 PS 翻盖，铰链在 −X 边",
+   "parent": "body",
+   "origin_m": [
+    -0.05715,
+    0.0,
+    0.009
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "limits": [
+     0.0,
+     2.96706
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "consumable_assumption"
+    ],
+    "note_zh": "正方向 = 绕 −X 边铰链向上翻开"
+   },
+   "mass_kg": 0.014068,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ps 密度 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "gelpak_ad1135_case__lid"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gelpak_ad1135_case__lid",
+     "rgba_srgb": [
+      0.88,
+      0.92,
+      0.95,
+      0.5
+     ],
+     "hex": "#E0EBF2",
+     "rgba_linear": [
+      0.74841,
+      0.82757,
+      0.89001,
+      0.5
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0889,
+      0.0012
+     ],
+     "origin_m": [
+      0.05715,
+      0.0,
+      0.0031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0025
+     ],
+     "origin_m": [
+      0.05715,
+      -0.04385,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.1143,
+      0.0012,
+      0.0025
+     ],
+     "origin_m": [
+      0.05715,
+      0.04385,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0025
+     ],
+     "origin_m": [
+      0.0006,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0865,
+      0.0025
+     ],
+     "origin_m": [
+      0.1137,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "gelpak_ad1135_case__root",
+ "joint_definitions": {
+  "lid": {
+   "type": "revolute",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "limits_rad": [
+    0.0,
+    2.96706
+   ],
+   "accessor": "joint[lid_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 绕 −X 边铰链向上翻开"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.gelpak_ad1135_case",
+  "family": "case",
+  "labware_class": "reference_case",
+  "fits": [
+   "reference_case"
+  ],
+  "maker": "Gel-Pak (Delphon)",
+  "model": "AD series hinged box AD-1135, 3.5 x 4.5 x 0.5 in",
+  "catalogue_no": "AD-1135",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0889,
+    "franka_ok": false,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.04335,
+    "note_zh": "沿 Y 夹 89 mm 边：超出 Franka 张开宽度",
+    "finger_contact_z_m": [
+     0.0,
+     0.0127
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "lid_tab": {
+    "link": "base_link",
+    "pos_m": [
+     0.05715,
+     0.0,
+     0.0127
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "翻盖自由边（+X）：向上推开"
+   }
+  },
+  "outer": {
+   "size_m": [
+    0.1143,
+    0.0889,
+    0.0127
+   ],
+   "source_id": "gelpak_ad1135"
+  },
+  "closure": {
+   "type": "hinged_lid",
+   "link": "lid",
+   "joint": "lid_joint",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "open_rad": 2.96706,
+   "rule_zh": "推 lid_tab 翻开；翻盖不脱离盒底"
+  },
+  "franka_grasp_ok": false,
+  "stands_upright": true,
+  "contents_note_zh": "盒内标准件只记账（蓝宝石盘 / Ag、Cu 箔 / 石英控制片 / 假电解池）；取出放入仪器由宿主或宽口夹爪完成",
+  "empty_mass_kg": 0.030818
+ },
+ "limitations_zh": [
+  "外形按 Gel-Pak AD-1135 目录；壁厚、盖高分配与铰链为假设。",
+  "89 mm 短边超出 Franka 可抓宽度（franka_ok=false）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.mtl b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..26a27e65b0f22bf674b00d56623743f659e56980
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.mtl
@@ -0,0 +1,6 @@
+newmtl gelpak_ad1135_case__body
+Kd 0.8800 0.9200 0.9500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.500
diff --git a/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.obj b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cc60685850dce00cdf82a0cef723bb37aa650458
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__body.obj
@@ -0,0 +1,104 @@
+mtllib gelpak_ad1135_case__body.mtl
+usemtl gelpak_ad1135_case__body
+# https://github.com/mikedh/trimesh
+v -0.05715000 -0.04445000 0.00000000
+v -0.05715000 -0.04445000 0.00120000
+v -0.05715000 0.04445000 0.00000000
+v -0.05715000 0.04445000 0.00120000
+v 0.05715000 -0.04445000 0.00000000
+v 0.05715000 -0.04445000 0.00120000
+v 0.05715000 0.04445000 0.00000000
+v 0.05715000 0.04445000 0.00120000
+v -0.05715000 -0.04445000 0.00120000
+v -0.05715000 -0.04445000 0.00900000
+v -0.05715000 -0.04325000 0.00120000
+v -0.05715000 -0.04325000 0.00900000
+v 0.05715000 -0.04445000 0.00120000
+v 0.05715000 -0.04445000 0.00900000
+v 0.05715000 -0.04325000 0.00120000
+v 0.05715000 -0.04325000 0.00900000
+v -0.05715000 0.04325000 0.00120000
+v -0.05715000 0.04325000 0.00900000
+v -0.05715000 0.04445000 0.00120000
+v -0.05715000 0.04445000 0.00900000
+v 0.05715000 0.04325000 0.00120000
+v 0.05715000 0.04325000 0.00900000
+v 0.05715000 0.04445000 0.00120000
+v 0.05715000 0.04445000 0.00900000
+v -0.05715000 -0.04325000 0.00120000
+v -0.05715000 -0.04325000 0.00900000
+v -0.05715000 0.04325000 0.00120000
+v -0.05715000 0.04325000 0.00900000
+v -0.05595000 -0.04325000 0.00120000
+v -0.05595000 -0.04325000 0.00900000
+v -0.05595000 0.04325000 0.00120000
+v -0.05595000 0.04325000 0.00900000
+v 0.05595000 -0.04325000 0.00120000
+v 0.05595000 -0.04325000 0.00900000
+v 0.05595000 0.04325000 0.00120000
+v 0.05595000 0.04325000 0.00900000
+v 0.05715000 -0.04325000 0.00120000
+v 0.05715000 -0.04325000 0.00900000
+v 0.05715000 0.04325000 0.00120000
+v 0.05715000 0.04325000 0.00900000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.mtl b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e53aa5a055bfd17d4c8189f9dde438456a742bb6
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.mtl
@@ -0,0 +1,6 @@
+newmtl gelpak_ad1135_case__lid
+Kd 0.8800 0.9200 0.9500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.500
diff --git a/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.obj b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c908a61748eb7444796282cd14617e75285f753c
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/meshes/gelpak_ad1135_case__lid.obj
@@ -0,0 +1,104 @@
+mtllib gelpak_ad1135_case__lid.mtl
+usemtl gelpak_ad1135_case__lid
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.04445000 0.00250000
+v 0.00000000 -0.04445000 0.00370000
+v 0.00000000 0.04445000 0.00250000
+v 0.00000000 0.04445000 0.00370000
+v 0.11430000 -0.04445000 0.00250000
+v 0.11430000 -0.04445000 0.00370000
+v 0.11430000 0.04445000 0.00250000
+v 0.11430000 0.04445000 0.00370000
+v 0.00000000 -0.04445000 0.00000000
+v 0.00000000 -0.04445000 0.00250000
+v 0.00000000 -0.04325000 0.00000000
+v 0.00000000 -0.04325000 0.00250000
+v 0.11430000 -0.04445000 0.00000000
+v 0.11430000 -0.04445000 0.00250000
+v 0.11430000 -0.04325000 0.00000000
+v 0.11430000 -0.04325000 0.00250000
+v 0.00000000 0.04325000 0.00000000
+v 0.00000000 0.04325000 0.00250000
+v 0.00000000 0.04445000 0.00000000
+v 0.00000000 0.04445000 0.00250000
+v 0.11430000 0.04325000 0.00000000
+v 0.11430000 0.04325000 0.00250000
+v 0.11430000 0.04445000 0.00000000
+v 0.11430000 0.04445000 0.00250000
+v 0.00000000 -0.04325000 0.00000000
+v 0.00000000 -0.04325000 0.00250000
+v 0.00000000 0.04325000 0.00000000
+v 0.00000000 0.04325000 0.00250000
+v 0.00120000 -0.04325000 0.00000000
+v 0.00120000 -0.04325000 0.00250000
+v 0.00120000 0.04325000 0.00000000
+v 0.00120000 0.04325000 0.00250000
+v 0.11310000 -0.04325000 0.00000000
+v 0.11310000 -0.04325000 0.00250000
+v 0.11310000 0.04325000 0.00000000
+v 0.11310000 0.04325000 0.00250000
+v 0.11430000 -0.04325000 0.00000000
+v 0.11430000 -0.04325000 0.00250000
+v 0.11430000 0.04325000 0.00000000
+v 0.11430000 0.04325000 0.00250000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/consumables/gelpak_ad1135_case/model.glb b/assets/labware/consumables/gelpak_ad1135_case/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..0029a4e187d56c9350a259c2054b235d27e88f5a
Binary files /dev/null and b/assets/labware/consumables/gelpak_ad1135_case/model.glb differ
diff --git a/assets/labware/consumables/gelpak_ad1135_case/model.urdf b/assets/labware/consumables/gelpak_ad1135_case/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..78a4b910246fe509aa386c6c75e80f3e4476cc5e
--- /dev/null
+++ b/assets/labware/consumables/gelpak_ad1135_case/model.urdf
@@ -0,0 +1,109 @@
+<?xml version="1.0"?>
+<robot name="gelpak_ad1135_case">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -6.39517e-18 0.00166036" rpy="0 0 0" />
+      <mass value="0.0167501" />
+      <inertia ixx="1.11447e-05" ixy="0" ixz="0" iyy="1.83491e-05" iyz="0" izz="2.92676e-05" />
+    </inertial>
+    <visual name="gelpak_ad1135_case__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gelpak_ad1135_case__body.obj" />
+      </geometry>
+      <material name="mat_gelpak_ad1135_case__body">
+        <color rgba="0.74841 0.82757 0.89001 0.500" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0889 0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.04385 0.0051" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0012 0.0078" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.04385 0.0051" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0012 0.0078" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.05655 0 0.0051" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0012 0.0865 0.0078" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.05655 0 0.0051" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0012 0.0865 0.0078" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="0.05715 1.46112e-18 0.00293364" rpy="0 0 0" />
+      <mass value="0.0140682" />
+      <inertia ixx="9.2814e-06" ixy="0" ixz="0" iyy="1.53322e-05" iyz="0" izz="2.45816e-05" />
+    </inertial>
+    <visual name="gelpak_ad1135_case__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gelpak_ad1135_case__lid.obj" />
+      </geometry>
+      <material name="mat_gelpak_ad1135_case__lid">
+        <color rgba="0.74841 0.82757 0.89001 0.500" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.05715 0 0.0031" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0889 0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.05715 -0.04385 0.00125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0012 0.0025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.05715 0.04385 0.00125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1143 0.0012 0.0025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0006 0 0.00125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0012 0.0865 0.0025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.1137 0 0.00125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0012 0.0865 0.0025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="revolute">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="-0.05715 0 0.009" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="2.96706" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/asset.contract.json b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6946a27704cb6625e5c6b45c112e2dfb4fabb19
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/asset.contract.json
@@ -0,0 +1,356 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.hellma_100_10_40_quartz_cuvette",
+ "asset_version": "1.0.0",
+ "name_zh": "Hellma 100-QS 石英比色皿（10 mm，3.5 mL，PTFE 盖，100-10-40）",
+ "category": "labware.consumable.cuvette",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "石英比色皿 Hellma 100-10-40：12.5 mm 方形标准外形，适配 JASCO FP-8350 / J-1500 / Hach DR6000 等 12.5 mm 池架。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "fbc93f75c6f75332a077afd6597b531f19fa3b62b6467e11b6be8c2a2763fb61"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "bde2ba987da3e0a823305c0b7c0763eece10a374962666f6da807c5fd351d4e8"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "f08e63f263117faedf3e15eebc6e03d31150fcdbccc258e6de5404ba42803c28"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "5dfa64a8e015bc20fbaaa89d081e4ad82d1fcf9e241d114ec33afe374c7214b2"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "064d670b8667f7115dcc7318a46f49d81060cd04d31a4afdf1bcb3bfda1f915b"
+  },
+  "part_lid_urdf": {
+   "path": "assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/lid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a8d521cdc6b046f89df64ff45dc176326bbcb8e1a3c1c9725e68beca7b1a6b83"
+  }
+ },
+ "sources": {
+  "hellma_100_10_40": {
+   "kind": "manufacturer",
+   "reference": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid, cat. 100-10-40 (https://analytics-shop.com/us/hl100-10-40)",
+   "locator": "external 12.5 x 12.5 x 45 mm, internal width 9.5 mm, light path 10 mm, 200-2500 nm, PTFE lid",
+   "note": "Quartz cuvette for UV-vis / fluorescence cell holders (12.5 mm square standard). accessed 2026-10-22."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "比色皿",
+   "function_zh": "盛放样品；光程 10 mm（沿 X）",
+   "physical_meaning_zh": "fused_silica 方形比色皿 12.5×12.5×45 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "hellma_100_10_40_quartz_cuvette__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.0125,
+      0.0125,
+      0.045
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 12.5×12.5×45 mm",
+     "evidence": "documented",
+     "source_ids": [
+      "hellma_100_10_40"
+     ],
+     "uncertainty": null
+    },
+    "light_path_m": {
+     "value": 0.01,
+     "unit": "m",
+     "meaning_zh": "光程 10 mm",
+     "evidence": "documented",
+     "source_ids": [
+      "hellma_100_10_40"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.006377,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × fused_silica 密度 2200 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "lid": {
+   "name_zh": "PTFE 盖",
+   "function_zh": "防挥发/防尘",
+   "physical_meaning_zh": "PTFE 塞式盖",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:lid",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "hellma_100_10_40_quartz_cuvette__lid",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.001865,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × ptfe 密度 2200 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_lid": {
+   "component_id": "lid",
+   "artifact_id": "model_urdf",
+   "target": "lid_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.02
+   ],
+   "state_id": null,
+   "mapping_zh": "盖为塞入式：提起即取下（touch + intent）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "consumable_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形 12.5×12.5×45 mm、内宽 9.5 mm、光程 10 mm 按目录；底厚 1.5 mm、盖尺寸为假设。",
+  "适配 12.5 mm 方形样品池架（UV-vis / 荧光 / CD）；装到具体仪器样品池由宿主或 Matterix 槽位决定。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.008,
+    "rule_zh": "抓盖提起 ≥ clear_lift_m 即取下；放回对准后压下",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   },
+   "type_id": "labware.hellma_100_10_40_quartz_cuvette",
+   "family": "cuvette",
+   "labware_class": "cuvette_10mm",
+   "fits": [
+    "cuvette_12p5",
+    "cell_holder_12p5"
+   ],
+   "maker": "Hellma",
+   "model": "Macro cell type 100-QS, HP quartz, 10 mm, 3500 uL, PTFE lid",
+   "catalogue_no": "100-10-40",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.014
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.051,
+     "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+     "finger_contact_z_m": [
+      0.005,
+      0.023
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.014
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.134
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "optical_axis": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.015
+     ],
+     "rot_xyzw": [
+      0,
+      0.70710678,
+      0,
+      0.70710678
+     ],
+     "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+    }
+   },
+   "nominal_capacity_m3": 3.5e-06,
+   "nominal_capacity_evidence": "documented",
+   "brim_capacity_m3": 4.1325e-06,
+   "interior": {
+    "shape": "box",
+    "size_m": [
+     0.01,
+     0.0095
+    ],
+    "radius_m": 0.00475,
+    "floor_m": 0.0015,
+    "height_m": 0.045,
+    "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+   },
+   "light_path_m": 0.01,
+   "outer": {
+    "size_m": [
+     0.0125,
+     0.0125,
+     0.045
+    ],
+    "source_id": "hellma_100_10_40"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "empty_mass_kg": 0.008243
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/collision_proxies.json b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e150965fb956526a5ebb70c9ae1e5eab0174883
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/collision_proxies.json
@@ -0,0 +1,158 @@
+{
+ "asset_type_id": "labware.hellma_100_10_40_quartz_cuvette",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.0435
+     ],
+     "origin_m": [
+      -0.005625,
+      0.0,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.0435
+     ],
+     "origin_m": [
+      0.005625,
+      0.0,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.0015,
+      0.0435
+     ],
+     "origin_m": [
+      0.0,
+      -0.0055,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.0015,
+      0.0435
+     ],
+     "origin_m": [
+      0.0,
+      0.0055,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "lid": {
+   "origin_m": [
+    0,
+    0,
+    0.045
+   ],
+   "parent": "body",
+   "joint": "prismatic",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0097,
+      0.0092,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.003
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/geometry_manifest.json b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd5bcef78adec7554a8ca1fd4ee6506b42c366a
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/geometry_manifest.json
@@ -0,0 +1,497 @@
+{
+ "asset_type_id": "labware.hellma_100_10_40_quartz_cuvette",
+ "catalog_id": null,
+ "name_zh": "Hellma 100-QS 石英比色皿（10 mm，3.5 mL，PTFE 盖，100-10-40）",
+ "name_en": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0125,
+  0.0125,
+  0.047
+ ],
+ "bounds_m": [
+  [
+   -0.00625,
+   -0.00625,
+   0.0
+  ],
+  [
+   0.00625,
+   0.00625,
+   0.047
+  ]
+ ],
+ "total_mass_kg": 0.00824,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "hellma_100_10_40",
+   "kind": "manufacturer",
+   "reference": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid, cat. 100-10-40 (https://analytics-shop.com/us/hl100-10-40)",
+   "locator": "external 12.5 x 12.5 x 45 mm, internal width 9.5 mm, light path 10 mm, 200-2500 nm, PTFE lid",
+   "note": "Quartz cuvette for UV-vis / fluorescence cell holders (12.5 mm square standard). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "比色皿",
+   "function_zh": "盛放样品；光程 10 mm（沿 X）",
+   "physical_meaning_zh": "fused_silica 方形比色皿 12.5×12.5×45 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.006377,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × fused_silica 密度 2200 kg/m3",
+   "material": "fused_silica",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "hellma_100_10_40_quartz_cuvette__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "hellma_100_10_40_quartz_cuvette__body",
+     "rgba_srgb": [
+      0.9,
+      0.95,
+      0.98,
+      0.3
+     ],
+     "hex": "#E6F2FA",
+     "rgba_linear": [
+      0.78741,
+      0.89001,
+      0.9551,
+      0.3
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.0435
+     ],
+     "origin_m": [
+      -0.005625,
+      0.0,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.00125,
+      0.0125,
+      0.0435
+     ],
+     "origin_m": [
+      0.005625,
+      0.0,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.0015,
+      0.0435
+     ],
+     "origin_m": [
+      0.0,
+      -0.0055,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.01,
+      0.0015,
+      0.0435
+     ],
+     "origin_m": [
+      0.0,
+      0.0055,
+      0.02325
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "lid",
+   "name_zh": "PTFE 盖",
+   "function_zh": "防挥发/防尘",
+   "physical_meaning_zh": "PTFE 塞式盖",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.045
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "prismatic",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     0.02
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "consumable_assumption"
+    ],
+    "note_zh": "盖为塞入式：提起即取下（touch + intent）"
+   },
+   "mass_kg": 0.001865,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × ptfe 密度 2200 kg/m3",
+   "material": "ptfe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "hellma_100_10_40_quartz_cuvette__lid"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "hellma_100_10_40_quartz_cuvette__lid",
+     "rgba_srgb": [
+      0.96,
+      0.96,
+      0.96,
+      1.0
+     ],
+     "hex": "#F5F5F5",
+     "rgba_linear": [
+      0.91141,
+      0.91141,
+      0.91141,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0097,
+      0.0092,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.003
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0125,
+      0.0125,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "hellma_100_10_40_quartz_cuvette__root",
+ "joint_definitions": {
+  "lid": {
+   "type": "prismatic",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_m": [
+    0.0,
+    0.02
+   ],
+   "accessor": "joint[lid_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "盖为塞入式：提起即取下（touch + intent）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "part_body_urdf": "parts/body.urdf",
+  "part_lid_urdf": "parts/lid.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "closure": {
+   "type": "lift_off_lid",
+   "link": "lid",
+   "joint": "lid_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "clear_lift_m": 0.008,
+   "rule_zh": "抓盖提起 ≥ clear_lift_m 即取下；放回对准后压下",
+   "parts": {
+    "body": "parts/body.urdf",
+    "lid": "parts/lid.urdf"
+   }
+  },
+  "type_id": "labware.hellma_100_10_40_quartz_cuvette",
+  "family": "cuvette",
+  "labware_class": "cuvette_10mm",
+  "fits": [
+   "cuvette_12p5",
+   "cell_holder_12p5"
+  ],
+  "maker": "Hellma",
+  "model": "Macro cell type 100-QS, HP quartz, 10 mm, 3500 uL, PTFE lid",
+  "catalogue_no": "100-10-40",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.014
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0125,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.051,
+    "note_zh": "俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）",
+    "finger_contact_z_m": [
+     0.005,
+     0.023
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.134
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.134
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.014
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.134
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "optical_axis": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.015
+    ],
+    "rot_xyzw": [
+     0,
+     0.70710678,
+     0,
+     0.70710678
+    ],
+    "note_zh": "光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）"
+   }
+  },
+  "nominal_capacity_m3": 3.5e-06,
+  "nominal_capacity_evidence": "documented",
+  "brim_capacity_m3": 4.1325e-06,
+  "interior": {
+   "shape": "box",
+   "size_m": [
+    0.01,
+    0.0095
+   ],
+   "radius_m": 0.00475,
+   "floor_m": 0.0015,
+   "height_m": 0.045,
+   "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"
+  },
+  "light_path_m": 0.01,
+  "outer": {
+   "size_m": [
+    0.0125,
+    0.0125,
+    0.045
+   ],
+   "source_id": "hellma_100_10_40"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "empty_mass_kg": 0.008243
+ },
+ "limitations_zh": [
+  "外形 12.5×12.5×45 mm、内宽 9.5 mm、光程 10 mm 按目录；底厚 1.5 mm、盖尺寸为假设。",
+  "适配 12.5 mm 方形样品池架（UV-vis / 荧光 / CD）；装到具体仪器样品池由宿主或 Matterix 槽位决定。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.mtl b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0de92697b4d6d618e654fb153caf71fb0e722db9
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.mtl
@@ -0,0 +1,6 @@
+newmtl hellma_100_10_40_quartz_cuvette__body
+Kd 0.9000 0.9500 0.9800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.300
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.obj b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..53ad3f819b50b6a80346098cc7d9630494d4371b
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__body.obj
@@ -0,0 +1,104 @@
+mtllib hellma_100_10_40_quartz_cuvette__body.mtl
+usemtl hellma_100_10_40_quartz_cuvette__body
+# https://github.com/mikedh/trimesh
+v -0.00625000 -0.00625000 0.00000000
+v -0.00625000 -0.00625000 0.00150000
+v -0.00625000 0.00625000 0.00000000
+v -0.00625000 0.00625000 0.00150000
+v 0.00625000 -0.00625000 0.00000000
+v 0.00625000 -0.00625000 0.00150000
+v 0.00625000 0.00625000 0.00000000
+v 0.00625000 0.00625000 0.00150000
+v -0.00625000 -0.00625000 0.00150000
+v -0.00625000 -0.00625000 0.04500000
+v -0.00625000 0.00625000 0.00150000
+v -0.00625000 0.00625000 0.04500000
+v -0.00500000 -0.00625000 0.00150000
+v -0.00500000 -0.00625000 0.04500000
+v -0.00500000 0.00625000 0.00150000
+v -0.00500000 0.00625000 0.04500000
+v 0.00500000 -0.00625000 0.00150000
+v 0.00500000 -0.00625000 0.04500000
+v 0.00500000 0.00625000 0.00150000
+v 0.00500000 0.00625000 0.04500000
+v 0.00625000 -0.00625000 0.00150000
+v 0.00625000 -0.00625000 0.04500000
+v 0.00625000 0.00625000 0.00150000
+v 0.00625000 0.00625000 0.04500000
+v -0.00500000 -0.00625000 0.00150000
+v -0.00500000 -0.00625000 0.04500000
+v -0.00500000 -0.00475000 0.00150000
+v -0.00500000 -0.00475000 0.04500000
+v 0.00500000 -0.00625000 0.00150000
+v 0.00500000 -0.00625000 0.04500000
+v 0.00500000 -0.00475000 0.00150000
+v 0.00500000 -0.00475000 0.04500000
+v -0.00500000 0.00475000 0.00150000
+v -0.00500000 0.00475000 0.04500000
+v -0.00500000 0.00625000 0.00150000
+v -0.00500000 0.00625000 0.04500000
+v 0.00500000 0.00475000 0.00150000
+v 0.00500000 0.00475000 0.04500000
+v 0.00500000 0.00625000 0.00150000
+v 0.00500000 0.00625000 0.04500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.mtl b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3fc54d14e5f9ea9fd3224216c6e17e7afd2ead58
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.mtl
@@ -0,0 +1,6 @@
+newmtl hellma_100_10_40_quartz_cuvette__lid
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.obj b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.obj
new file mode 100644
index 0000000000000000000000000000000000000000..24abd9bf2504adaccd9c8415edb8f2867d35e08a
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/meshes/hellma_100_10_40_quartz_cuvette__lid.obj
@@ -0,0 +1,44 @@
+mtllib hellma_100_10_40_quartz_cuvette__lid.mtl
+usemtl hellma_100_10_40_quartz_cuvette__lid
+# https://github.com/mikedh/trimesh
+v -0.00485000 -0.00460000 -0.00600000
+v -0.00485000 -0.00460000 0.00000000
+v -0.00485000 0.00460000 -0.00600000
+v -0.00485000 0.00460000 0.00000000
+v 0.00485000 -0.00460000 -0.00600000
+v 0.00485000 -0.00460000 0.00000000
+v 0.00485000 0.00460000 -0.00600000
+v 0.00485000 0.00460000 0.00000000
+v -0.00625000 -0.00625000 0.00000000
+v -0.00625000 -0.00625000 0.00200000
+v -0.00625000 0.00625000 0.00000000
+v -0.00625000 0.00625000 0.00200000
+v 0.00625000 -0.00625000 0.00000000
+v 0.00625000 -0.00625000 0.00200000
+v 0.00625000 0.00625000 0.00000000
+v 0.00625000 0.00625000 0.00200000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.glb b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a9edba8c89691c280b91fc9fab9936779e61f6c9
Binary files /dev/null and b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.glb differ
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.urdf b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a1e7cff309c18deaae8f925af66f740557e54425
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/model.urdf
@@ -0,0 +1,91 @@
+<?xml version="1.0"?>
+<robot name="hellma_100_10_40_quartz_cuvette">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.42679e-19 0 0.0214308" rpy="0 0 0" />
+      <mass value="0.00637725" />
+      <inertia ixx="1.1592e-06" ixy="0" ixz="0" iyy="1.1592e-06" iyz="0" izz="1.66074e-07" />
+    </inertial>
+    <visual name="hellma_100_10_40_quartz_cuvette__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hellma_100_10_40_quartz_cuvette__body.obj" />
+      </geometry>
+      <material name="mat_hellma_100_10_40_quartz_cuvette__body">
+        <color rgba="0.78741 0.89001 0.95510 0.300" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0125 0.0125 0.0015" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.005625 0 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.005625 0 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0055 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.0015 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.0055 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.0015 0.0435" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="0 -4.06466e-20 -0.00152584" rpy="0 0 0" />
+      <mass value="0.00186547" />
+      <inertia ixx="3.42391e-08" ixy="0" ixz="0" iyy="3.42391e-08" iyz="0" izz="4.85799e-08" />
+    </inertial>
+    <visual name="hellma_100_10_40_quartz_cuvette__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hellma_100_10_40_quartz_cuvette__lid.obj" />
+      </geometry>
+      <material name="mat_hellma_100_10_40_quartz_cuvette__lid">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.003" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0097 0.0092 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.001" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0125 0.0125 0.002" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="prismatic">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0 0.045" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.02" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/body.urdf b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..32cbfa1e4f13e2b57f75224176fad4e38457db9d
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/body.urdf
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot name="hellma_100_10_40_quartz_cuvette__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.42679e-19 0 0.0214308" rpy="0 0 0" />
+      <mass value="0.00637725" />
+      <inertia ixx="1.1592e-06" ixy="0" ixz="0" iyy="1.1592e-06" iyz="0" izz="1.66074e-07" />
+    </inertial>
+    <visual name="hellma_100_10_40_quartz_cuvette__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hellma_100_10_40_quartz_cuvette__body.obj" />
+      </geometry>
+      <material name="mat_hellma_100_10_40_quartz_cuvette__body">
+        <color rgba="0.78741 0.89001 0.95510 0.300" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0125 0.0125 0.0015" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.005625 0 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.005625 0 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00125 0.0125 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0055 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.0015 0.0435" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.0055 0.02325" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.0015 0.0435" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/lid.urdf b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/lid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ca26957ae72914075cd72f9f2981c646ecb73d92
--- /dev/null
+++ b/assets/labware/consumables/hellma_100_10_40_quartz_cuvette/parts/lid.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="hellma_100_10_40_quartz_cuvette__lid">
+  <link name="lid">
+    <inertial>
+      <origin xyz="0 -4.06466e-20 -0.00152584" rpy="0 0 0" />
+      <mass value="0.00186547" />
+      <inertia ixx="3.42391e-08" ixy="0" ixz="0" iyy="3.42391e-08" iyz="0" izz="4.85799e-08" />
+    </inertial>
+    <visual name="hellma_100_10_40_quartz_cuvette__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hellma_100_10_40_quartz_cuvette__lid.obj" />
+      </geometry>
+      <material name="mat_hellma_100_10_40_quartz_cuvette__lid">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.003" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0097 0.0092 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.001" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0125 0.0125 0.002" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/consumables/mt_quantos_head_container/asset.contract.json b/assets/labware/consumables/mt_quantos_head_container/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..933cb8e72e6b3058337c6aed3d71f46f92497d4e
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/asset.contract.json
@@ -0,0 +1,238 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.mt_quantos_head_container",
+ "asset_version": "1.0.0",
+ "name_zh": "Quantos 加样头存放容器（随头附带的塑料容器，开口放置）",
+ "category": "labware.consumable.head_container",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "每个 Quantos 加样头随附的塑料容器（手册 p.27 运输/存放，p.94 防吸潮存放）。Mettler 附件表（p.107–110）没有加样头架，所以加样头放在各自容器里、容器放在台面阶梯架上（机器人俯抓可达）。容器尺寸未公布，按头的外形取假设。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/mt_quantos_head_container/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "1049a6c08a0979113619d78ff7600ba63d9f160fa203a77e4586dc3fd0c04748"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/mt_quantos_head_container/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "240bd9b28f1f6febc85fd54ae444a55c3492cd61e777a5bb5b1dc0bfd3ff82cd"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/mt_quantos_head_container/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "fe86695a90803612faba0bf4691972a0943aad749a72d1a4640276e11145674e"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/mt_quantos_head_container/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a72bb8b56cb675be23ace05e611d787a4320a82583d3f015cf969325e9f680ba"
+  }
+ },
+ "sources": {
+  "quantos_manual": {
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits."
+  },
+  "quantos_assumption": {
+   "kind": "assumption",
+   "reference": "head mass, head-container size",
+   "locator": "engineering value",
+   "note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "存放容器",
+   "function_zh": "竖直容纳一个加样头（出粉口朝下）",
+   "physical_meaning_zh": "PP 开口杯（盖在默认实验室里取下，便于机器人取放）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "mt_quantos_head_container__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "size_m": {
+     "value": [
+      0.07,
+      0.06
+     ],
+     "unit": "m",
+     "meaning_zh": "外径 × 高（假设：厂家未公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "quantos_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.021635,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × PP 900 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "容器为 Mettler 随头附带的实物（手册 p.27/p.94），尺寸未公布：Ø70×60 mm 为按加样头外形取的假设。",
+  "实际容器带盖；默认实验室里盖已取下（机器人直接取头），吸湿粉末长期存放仍应盖好或放干燥柜。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.mt_quantos_head_container",
+   "family": "head_container",
+   "labware_class": "quantos_head_container",
+   "fits": [
+    "bottle",
+    "jar"
+   ],
+   "maker": "METTLER TOLEDO (supplied with each dosing head)",
+   "model": "Plastic container delivered with Quantos dosing heads (manual p.27, p.94)",
+   "catalogue_no": null,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.036
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.07,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.073,
+     "note_zh": "杯外径 70 mm（≤74 mm，可抓）",
+     "finger_contact_z_m": [
+      0.027,
+      0.045
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.036
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.147
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "head_seat": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0195,
+      0.0015
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "加样头在杯中的位置（头坐标原点）"
+    }
+   },
+   "empty_mass_kg": 0.02163,
+   "franka_grasp_ok": true,
+   "stands_upright": true,
+   "holds": "labware.mt_quantos_qh016_bnmw",
+   "storage_place_zh": "台面阶梯架 bench_shelf（T2 后层），每杯一个加样头"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_head_container/collision_proxies.json b/assets/labware/consumables/mt_quantos_head_container/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..e294af1f3f1dbe4813684e36920b9c03daf669ce
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/collision_proxies.json
@@ -0,0 +1,325 @@
+{
+ "asset_type_id": "labware.mt_quantos_head_container",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.034,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.034,
+      0.0,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.031412,
+      0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.024042,
+      0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.013011,
+      0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.0,
+      0.034,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.013011,
+      0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.024042,
+      0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.031412,
+      0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.034,
+      0.0,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.031412,
+      -0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.024042,
+      -0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.013011,
+      -0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
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+      -0.034,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.013011,
+      -0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.024042,
+      -0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.031412,
+      -0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_head_container/geometry_manifest.json b/assets/labware/consumables/mt_quantos_head_container/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..36977a94fd06fd295f1e04dc53ac5accaf459b40
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/geometry_manifest.json
@@ -0,0 +1,571 @@
+{
+ "asset_type_id": "labware.mt_quantos_head_container",
+ "catalog_id": null,
+ "name_zh": "Quantos 加样头存放容器（随头附带的塑料容器，开口放置）",
+ "name_en": "Quantos dosing-head storage container (supplied with each head)",
+ "created_at": "2026-10-23T08:29:58Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.07,
+  0.07,
+  0.06
+ ],
+ "bounds_m": [
+  [
+   -0.035,
+   -0.035,
+   0.0
+  ],
+  [
+   0.035,
+   0.035,
+   0.06
+  ]
+ ],
+ "total_mass_kg": 0.02163,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "quantos_manual",
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "quantos_assumption",
+   "kind": "assumption",
+   "reference": "head mass, head-container size",
+   "locator": "engineering value",
+   "note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "存放容器",
+   "function_zh": "竖直容纳一个加样头（出粉口朝下）",
+   "physical_meaning_zh": "PP 开口杯（盖在默认实验室里取下，便于机器人取放）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.021635,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模体积 × PP 900 kg/m3",
+   "material": "pp",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "mt_quantos_head_container__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "mt_quantos_head_container__body",
+     "rgba_srgb": [
+      0.93,
+      0.93,
+      0.9,
+      0.8
+     ],
+     "hex": "#EDEDE6",
+     "rgba_linear": [
+      0.84809,
+      0.84809,
+      0.78741,
+      0.8
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.034,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.034,
+      0.0,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.031412,
+      0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.024042,
+      0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.013011,
+      0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.0,
+      0.034,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.013011,
+      0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.024042,
+      0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.031412,
+      0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.034,
+      0.0,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.031412,
+      -0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.024042,
+      -0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.013011,
+      -0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      -0.0,
+      -0.034,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.013011,
+      -0.031412,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.024042,
+      -0.024042,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.014844,
+      0.058
+     ],
+     "origin_m": [
+      0.031412,
+      -0.013011,
+      0.031
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "mt_quantos_head_container__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "head",
+   "kind": "holder",
+   "part": "body",
+   "position_m": [
+    0.0,
+    0.0195,
+    0.0015
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "fits": [
+    "quantos_powder_head"
+   ],
+   "note_zh": "加样头原点（出粉口下端）放到杯底这里；头上部约 50 mm 露出杯口供俯抓"
+  }
+ ],
+ "labware": {
+  "type_id": "labware.mt_quantos_head_container",
+  "family": "head_container",
+  "labware_class": "quantos_head_container",
+  "fits": [
+   "bottle",
+   "jar"
+  ],
+  "maker": "METTLER TOLEDO (supplied with each dosing head)",
+  "model": "Plastic container delivered with Quantos dosing heads (manual p.27, p.94)",
+  "catalogue_no": null,
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.036
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.07,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.073,
+    "note_zh": "杯外径 70 mm（≤74 mm，可抓）",
+    "finger_contact_z_m": [
+     0.027,
+     0.045
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.147
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.147
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.036
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.147
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "head_seat": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0195,
+     0.0015
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "加样头在杯中的位置（头坐标原点）"
+   }
+  },
+  "empty_mass_kg": 0.02163,
+  "franka_grasp_ok": true,
+  "stands_upright": true,
+  "holds": "labware.mt_quantos_qh016_bnmw",
+  "storage_place_zh": "台面阶梯架 bench_shelf（T2 后层），每杯一个加样头"
+ },
+ "limitations_zh": [
+  "容器为 Mettler 随头附带的实物（手册 p.27/p.94），尺寸未公布：Ø70×60 mm 为按加样头外形取的假设。",
+  "实际容器带盖；默认实验室里盖已取下（机器人直接取头），吸湿粉末长期存放仍应盖好或放干燥柜。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.mtl b/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d9ffda7e71844fecf87db80c90a86a45416967b
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.mtl
@@ -0,0 +1,6 @@
+newmtl mt_quantos_head_container__body
+Kd 0.9300 0.9300 0.9000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.800
diff --git a/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.obj b/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c2973cc3e8ce9ce1cca196ec4cd4d98986ce6b
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/meshes/mt_quantos_head_container__body.obj
@@ -0,0 +1,870 @@
+mtllib mt_quantos_head_container__body.mtl
+usemtl mt_quantos_head_container__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.03200000 0.00000000 0.00000000
+v 0.03500000 0.00000000 0.00300000
+v 0.03500000 0.00000000 0.06000000
+v 0.03350000 0.00000000 0.06000000
+v 0.03350000 0.00000000 0.00350000
+v 0.03150000 0.00000000 0.00150000
+v 0.00000000 0.00000000 0.00150000
+v 0.03172624 0.00417684 0.00000000
+v 0.03470057 0.00456842 0.00300000
+v 0.03470057 0.00456842 0.06000000
+v 0.03321340 0.00437263 0.06000000
+v 0.03321340 0.00437263 0.00350000
+v 0.03123051 0.00411158 0.00150000
+v 0.03090963 0.00828221 0.00000000
+v 0.03380740 0.00905867 0.00300000
+v 0.03380740 0.00905867 0.06000000
+v 0.03235852 0.00867044 0.06000000
+v 0.03235852 0.00867044 0.00350000
+v 0.03042666 0.00815280 0.00150000
+v 0.02956415 0.01224587 0.00000000
+v 0.03233578 0.01339392 0.00300000
+v 0.03233578 0.01339392 0.06000000
+v 0.03094996 0.01281989 0.06000000
+v 0.03094996 0.01281989 0.00350000
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+v 0.02771281 0.01600000 0.00000000
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+v 0.02901185 0.01675000 0.00350000
+v 0.02727980 0.01575000 0.00150000
+v 0.02538731 0.01948037 0.00000000
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+v 0.02657734 0.02039351 0.06000000
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+v 0.02499063 0.01917599 0.00150000
+v 0.02262742 0.02262742 0.00000000
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+v 0.02474874 0.02474874 0.06000000
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+v 0.02227386 0.02227386 0.00150000
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+v 0.02130665 0.02776737 0.06000000
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+v 0.02039351 0.02657734 0.00350000
+v 0.01917599 0.02499063 0.00150000
+v 0.01600000 0.02771281 0.00000000
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+v 0.01750000 0.03031089 0.06000000
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+v 0.01675000 0.02901185 0.00350000
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+v 0.01339392 0.03233578 0.06000000
+v 0.01281989 0.03094996 0.06000000
+v 0.01281989 0.03094996 0.00350000
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+v 0.00905867 0.03380740 0.06000000
+v 0.00867044 0.03235852 0.06000000
+v 0.00867044 0.03235852 0.00350000
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+f 286 2 3
+f 286 3 287
+f 287 3 4
+f 287 4 288
+f 288 4 5
+f 288 5 289
+f 289 5 6
+f 289 6 290
+f 290 6 7
+f 290 7 8
+
diff --git a/assets/labware/consumables/mt_quantos_head_container/model.glb b/assets/labware/consumables/mt_quantos_head_container/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4c90d5be1dd5ccb7254e539f766c1fbd33e09c1d
Binary files /dev/null and b/assets/labware/consumables/mt_quantos_head_container/model.glb differ
diff --git a/assets/labware/consumables/mt_quantos_head_container/model.urdf b/assets/labware/consumables/mt_quantos_head_container/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0db8aaf6a8916a75a0b94bfc7b9d5a89026f6d45
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_head_container/model.urdf
@@ -0,0 +1,127 @@
+<?xml version="1.0"?>
+<robot name="mt_quantos_head_container">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="1.46816e-18 0 0.0242633" rpy="0 0 0" />
+      <mass value="0.021635" />
+      <inertia ixx="1.53248e-05" ixy="0" ixz="0" iyy="1.53248e-05" iyz="0" izz="1.76686e-05" />
+    </inertial>
+    <visual name="mt_quantos_head_container__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/mt_quantos_head_container__body.obj" />
+      </geometry>
+      <material name="mat_mt_quantos_head_container__body">
+        <color rgba="0.84809 0.84809 0.78741 0.800" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.034" length="0.0015" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.034 0 0.031" rpy="0 0 0" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0314119 0.0130112 0.031" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0240416 0.0240416 0.031" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0130112 0.0314119 0.031" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="2.0819e-18 0.034 0.031" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0130112 0.0314119 0.031" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0240416 0.0240416 0.031" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0314119 0.0130112 0.031" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.034 4.1638e-18 0.031" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0314119 -0.0130112 0.031" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0240416 -0.0240416 0.031" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0130112 -0.0314119 0.031" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-6.2457e-18 -0.034 0.031" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0130112 -0.0314119 0.031" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0240416 -0.0240416 0.031" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0314119 -0.0130112 0.031" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.002 0.014844 0.058" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/asset.contract.json b/assets/labware/consumables/mt_quantos_qh016_bnmw/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3c5c2a922e4159b9c4e2ec67ac273121d67fb73
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/asset.contract.json
@@ -0,0 +1,330 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.mt_quantos_qh016_bnmw",
+ "asset_version": "1.0.0",
+ "name_zh": "METTLER TOLEDO Quantos 粉末加样头 QH016-BNMW（16 mL，11141503）",
+ "category": "labware.consumable.dosing_head",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Quantos 粉末加样头 QH016-BNMW（零件号 11141503）：16 mL 粉末容器（DIN 18 mm 螺纹）、目标 0.1–250 mg、建议 250 次加样（手册 p.102、p.107）。几何直接取自 mt_quantos_q2 实例的 dosing_head 部件（4 个网格对象 + 4 个碰撞基元），原点移到出粉口下端。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/mt_quantos_qh016_bnmw/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "a9cd72c135649134cdda09a565593d2430f038b97c28705dfddfc3c5cfea58ff"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/mt_quantos_qh016_bnmw/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "156917c662226d7bf8858bbffd5013f0ba1eb1cb21c14dca4151dfc9784418bb"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/mt_quantos_qh016_bnmw/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "ef1d9ff1a98a2e10f6772c0263918a0ddfd344ef964d9860174504ccf1205d67"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/mt_quantos_qh016_bnmw/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9cfecd7819bb2b9bc21a2e83dc60cd53e08091d39f91980f9341679cfb28f3da"
+  }
+ },
+ "sources": {
+  "quantos_manual": {
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits."
+  },
+  "quantos_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+   "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+   "note": "Reused head geometry and the instrument interfaces for the fit check (authored geometry; the asset marks its part sizes as not maker CAD)."
+  },
+  "quantos_assumption": {
+   "kind": "assumption",
+   "reference": "head mass, head-container size",
+   "locator": "engineering value",
+   "note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "加样头（含粉末瓶）",
+   "function_zh": "装粉并按质量目标出粉；RFID 记录物质与剩余量",
+   "physical_meaning_zh": "塑料机身 + 钢制计量销 + 琥珀色粉末瓶（倒装在头上）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "mt_quantos_qh016_bnmw__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "volume_m3": {
+     "value": 1.6e-05,
+     "unit": "m3",
+     "meaning_zh": "粉末容器容积 16 mL",
+     "evidence": "documented",
+     "source_ids": [
+      "quantos_manual"
+     ],
+     "uncertainty": null
+    },
+    "container_thread": {
+     "value": "DIN 18 mm",
+     "unit": "1",
+     "meaning_zh": "粉末容器螺纹",
+     "evidence": "documented",
+     "source_ids": [
+      "quantos_manual"
+     ],
+     "uncertainty": null
+    },
+    "authored_size_m": {
+     "value": [
+      0.026,
+      0.0589,
+      0.1123
+     ],
+     "unit": "m",
+     "meaning_zh": "复用网格外形（作者几何）",
+     "evidence": "assumption",
+     "source_ids": [
+      "quantos_asset"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.052068,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（网格体积 43.4 cm3 × 1200 kg/m3（Mettler 未公布质量））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "powder_outlet": {
+   "component_id": "body",
+   "medium": "mechanical",
+   "direction": "out",
+   "frame": "frame:instrument_seat",
+   "meaning_zh": "出粉口（装在 Quantos 上时位于样品容器正上方）",
+   "connection_constraints": [
+    "加样由 Quantos 运行层 dosing.* 完成；粉末量由宿主账本记录（头减少 = 容器增加）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "几何复用 Quantos 实例的 dosing_head 作者网格与碰撞基元（非厂家 CAD）；容积、螺纹、加样范围与零件号按 Mettler 手册。",
+  "质量为按体积估计的假设；粉末质量由账本记录，不计入空头质量。",
+  "插入按手册是水平滑入支架再下压（不是竖直插入）；锁紧由仪器在开始加样或写头数据时完成（手册 p.22）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.mt_quantos_qh016_bnmw",
+   "family": "dosing_head",
+   "labware_class": "quantos_powder_head",
+   "fits": [
+    "quantos_head_slot",
+    "quantos_head_container"
+   ],
+   "maker": "METTLER TOLEDO",
+   "model": "Quantos powder dosing head QH016-BNMW (16 mL, DIN 18 mm container thread)",
+   "catalogue_no": "11141503",
+   "nominal_capacity_m3": 1.6e-05,
+   "nominal_capacity_evidence": "documented (manual p.102: volume 16 mL)",
+   "dosing": {
+    "target_range_kg": [
+     1e-07,
+     0.00025
+    ],
+    "min_dose_kg": 1e-07,
+    "recommended_dosings": 250,
+    "typical_offset_kg_at_50mg": 2e-07,
+    "typical_sd_kg_at_50mg": 2e-07,
+    "source_id": "quantos_manual"
+   },
+   "rfid_zh": "头内 RFID 存物质名、批号、装填量与剩余量（手册 p.28）；运行层 head.set_content / head.select 对应",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.0793
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.026,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.1163,
+     "note_zh": "俯抓倾斜的粉末瓶上部（宽 26 mm），手指沿 X 合拢；手掌碰撞面高于瓶顶",
+     "finger_contact_z_m": [
+      0.0703,
+      0.0883
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.0793
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.02558,
+      0.1993
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "instrument_seat": {
+     "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+     "pos_m": [
+      0.0,
+      -0.031,
+      0.2
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "头原点（出粉口下端）装好后在 Quantos 坐标中的位置 = 实例 powder_outlet 端口"
+    },
+    "insert_pre": {
+     "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+     "pos_m": [
+      0.0,
+      -0.061,
+      0.203
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "插入前：在支架前方 30 mm、高 3 mm；沿 +Y 滑入到底，再下压 3 mm 进定位销（手册 p.21）"
+    }
+   },
+   "empty_mass_kg": 0.05207,
+   "franka_grasp_ok": true,
+   "stands_upright": false,
+   "storage_note_zh": "存放在随头附带的塑料容器中（labware.mt_quantos_head_container，手册 p.94）；吸湿粉末（如 KBr）长期存放放干燥柜",
+   "instrument_fit": {
+    "instrument.mt_quantos_q2_xpe206dr": {
+     "slot": "head_slot",
+     "seat_pose_m": [
+      0.0,
+      -0.031,
+      0.2
+     ],
+     "insert_direction": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "press_down_m": 0.003,
+     "head_slot_port_inside_head": true,
+     "outlet_above_container_seat_xy": true,
+     "ok": true,
+     "collision_free_against_instrument_proxies": true,
+     "proxy_overlaps": [],
+     "insertion_path_clear": true,
+     "insertion_path_hits_m": [],
+     "note_zh": "安装位与仪器接口一致（head_slot 端口在头内、出粉口在样品座正上方）。仪器 1.2.2 起 head_slot 是开放式投料头支架（背板、上下叉臂、四颗定位销；说明书 p.11、p.21）：装好的头与支架代理不相交，沿 +Y 滑入（高 3 mm）再下压 3 mm 的路径也不相交；头的出粉体落在下叉臂上。仿真里仍按 touch + intent 把头运动学挂接到 seat_pose。",
+     "method": "OBB separating-axis test of the head's collision proxies at the installed pose and along the manual's insertion path against the instrument's head_slot proxies"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/collision_proxies.json b/assets/labware/consumables/mt_quantos_qh016_bnmw/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8ed0e6f7d1b24cad27e89c739a603b85745f770
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/collision_proxies.json
@@ -0,0 +1,88 @@
+{
+ "asset_type_id": "labware.mt_quantos_qh016_bnmw",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.012,
+      0.065
+     ],
+     "origin_m": [
+      0.0,
+      -0.025,
+      0.078
+     ],
+     "rpy_rad": [
+      0.418879,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.013,
+      0.008
+     ],
+     "origin_m": [
+      0.0,
+      -0.0118,
+      0.0483
+     ],
+     "rpy_rad": [
+      0.418879,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.004,
+      0.01
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/geometry_manifest.json b/assets/labware/consumables/mt_quantos_qh016_bnmw/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e78ea276218d6d7017aa36928f9006a15dc8916
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/geometry_manifest.json
@@ -0,0 +1,424 @@
+{
+ "asset_type_id": "labware.mt_quantos_qh016_bnmw",
+ "catalog_id": null,
+ "name_zh": "METTLER TOLEDO Quantos 粉末加样头 QH016-BNMW（16 mL，11141503）",
+ "name_en": "METTLER TOLEDO Quantos powder dosing head QH016-BNMW, 16 mL",
+ "created_at": "2026-10-23T09:24:36Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.026,
+  0.05891,
+  0.1123
+ ],
+ "bounds_m": [
+  [
+   -0.013,
+   -0.04891,
+   0.0
+  ],
+  [
+   0.013,
+   0.01,
+   0.1123
+  ]
+ ],
+ "total_mass_kg": 0.05207,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "quantos_manual",
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "quantos_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+   "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+   "note": "Reused head geometry and the instrument interfaces for the fit check (authored geometry; the asset marks its part sizes as not maker CAD).",
+   "licence": "project"
+  },
+  {
+   "source_id": "quantos_assumption",
+   "kind": "assumption",
+   "reference": "head mass, head-container size",
+   "locator": "engineering value",
+   "note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "加样头（含粉末瓶）",
+   "function_zh": "装粉并按质量目标出粉；RFID 记录物质与剩余量",
+   "physical_meaning_zh": "塑料机身 + 钢制计量销 + 琥珀色粉末瓶（倒装在头上）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.052068,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "网格体积 43.4 cm3 × 1200 kg/m3（Mettler 未公布质量）",
+   "material": "pp_pom_steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "网格与碰撞基元复用 mt_quantos_q2 的 dosing_head 部件（作者几何，非厂家 CAD）",
+   "objects": [
+    "mt_quantos_qh016_bnmw__body",
+    "mt_quantos_qh016_bnmw__body__outlet_body",
+    "mt_quantos_qh016_bnmw__body__bottle_cap",
+    "mt_quantos_qh016_bnmw__body__powder_bottle"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "mt_quantos_qh016_bnmw__body",
+     "rgba_srgb": [
+      0.06,
+      0.07,
+      0.08,
+      1.0
+     ],
+     "hex": "#0F1214",
+     "rgba_linear": [
+      0.0049,
+      0.00598,
+      0.00719,
+      1.0
+     ]
+    },
+    {
+     "object": "mt_quantos_qh016_bnmw__body__outlet_body",
+     "rgba_srgb": [
+      0.7,
+      0.74,
+      0.78,
+      1.0
+     ],
+     "hex": "#B2BDC7",
+     "rgba_linear": [
+      0.44799,
+      0.50708,
+      0.57048,
+      1.0
+     ]
+    },
+    {
+     "object": "mt_quantos_qh016_bnmw__body__bottle_cap",
+     "rgba_srgb": [
+      0.06,
+      0.07,
+      0.08,
+      1.0
+     ],
+     "hex": "#0F1214",
+     "rgba_linear": [
+      0.0049,
+      0.00598,
+      0.00719,
+      1.0
+     ]
+    },
+    {
+     "object": "mt_quantos_qh016_bnmw__body__powder_bottle",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.1,
+      0.85
+     ],
+     "hex": "#8C4C1A",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.01002,
+      0.85
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.012,
+      0.065
+     ],
+     "origin_m": [
+      0.0,
+      -0.025,
+      0.078
+     ],
+     "rpy_rad": [
+      0.418879,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.013,
+      0.008
+     ],
+     "origin_m": [
+      0.0,
+      -0.0118,
+      0.0483
+     ],
+     "rpy_rad": [
+      0.418879,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.004,
+      0.01
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "mt_quantos_qh016_bnmw__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.mt_quantos_qh016_bnmw",
+  "family": "dosing_head",
+  "labware_class": "quantos_powder_head",
+  "fits": [
+   "quantos_head_slot",
+   "quantos_head_container"
+  ],
+  "maker": "METTLER TOLEDO",
+  "model": "Quantos powder dosing head QH016-BNMW (16 mL, DIN 18 mm container thread)",
+  "catalogue_no": "11141503",
+  "nominal_capacity_m3": 1.6e-05,
+  "nominal_capacity_evidence": "documented (manual p.102: volume 16 mL)",
+  "dosing": {
+   "target_range_kg": [
+    1e-07,
+    0.00025
+   ],
+   "min_dose_kg": 1e-07,
+   "recommended_dosings": 250,
+   "typical_offset_kg_at_50mg": 2e-07,
+   "typical_sd_kg_at_50mg": 2e-07,
+   "source_id": "quantos_manual"
+  },
+  "rfid_zh": "头内 RFID 存物质名、批号、装填量与剩余量（手册 p.28）；运行层 head.set_content / head.select 对应",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.02558,
+     0.0793
+    ],
+    "rot_xyzw": [
+     0.70710678,
+     0.70710678,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.026,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.1163,
+    "note_zh": "俯抓倾斜的粉末瓶上部（宽 26 mm），手指沿 X 合拢；手掌碰撞面高于瓶顶",
+    "finger_contact_z_m": [
+     0.0703,
+     0.0883
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.02558,
+     0.1993
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.02558,
+     0.1993
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.02558,
+     0.0793
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.02558,
+     0.1993
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "instrument_seat": {
+    "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+    "pos_m": [
+     0.0,
+     -0.031,
+     0.2
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "头原点（出粉口下端）装好后在 Quantos 坐标中的位置 = 实例 powder_outlet 端口"
+   },
+   "insert_pre": {
+    "link": "instrument:instrument.mt_quantos_q2_xpe206dr",
+    "pos_m": [
+     0.0,
+     -0.061,
+     0.203
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "插入前：在支架前方 30 mm、高 3 mm；沿 +Y 滑入到底，再下压 3 mm 进定位销（手册 p.21）"
+   }
+  },
+  "empty_mass_kg": 0.05207,
+  "franka_grasp_ok": true,
+  "stands_upright": false,
+  "storage_note_zh": "存放在随头附带的塑料容器中（labware.mt_quantos_head_container，手册 p.94）；吸湿粉末（如 KBr）长期存放放干燥柜",
+  "instrument_fit": {
+   "instrument.mt_quantos_q2_xpe206dr": {
+    "slot": "head_slot",
+    "seat_pose_m": [
+     0.0,
+     -0.031,
+     0.2
+    ],
+    "insert_direction": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "press_down_m": 0.003,
+    "head_slot_port_inside_head": true,
+    "outlet_above_container_seat_xy": true,
+    "ok": true,
+    "collision_free_against_instrument_proxies": true,
+    "proxy_overlaps": [],
+    "insertion_path_clear": true,
+    "insertion_path_hits_m": [],
+    "note_zh": "安装位与仪器接口一致（head_slot 端口在头内、出粉口在样品座正上方）。仪器 1.2.2 起 head_slot 是开放式投料头支架（背板、上下叉臂、四颗定位销；说明书 p.11、p.21）：装好的头与支架代理不相交，沿 +Y 滑入（高 3 mm）再下压 3 mm 的路径也不相交；头的出粉体落在下叉臂上。仿真里仍按 touch + intent 把头运动学挂接到 seat_pose。",
+    "method": "OBB separating-axis test of the head's collision proxies at the installed pose and along the manual's insertion path against the instrument's head_slot proxies"
+   }
+  }
+ },
+ "limitations_zh": [
+  "几何复用 Quantos 实例的 dosing_head 作者网格与碰撞基元（非厂家 CAD）；容积、螺纹、加样范围与零件号按 Mettler 手册。",
+  "质量为按体积估计的假设；粉末质量由账本记录，不计入空头质量。",
+  "插入按手册是水平滑入支架再下压（不是竖直插入）；锁紧由仪器在开始加样或写头数据时完成（手册 p.22）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.mtl b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4ca5518e163df82d6a09b06034f56a9abb7c9c6a
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.mtl
@@ -0,0 +1,6 @@
+newmtl mt_quantos_qh016_bnmw__body
+Kd 0.0600 0.0700 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.obj b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70d60826a137c29d52f41d327ac02b34cbb5ad11
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body.obj
@@ -0,0 +1,864 @@
+mtllib mt_quantos_qh016_bnmw__body.mtl
+usemtl mt_quantos_qh016_bnmw__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00349893 0.00000000
+v 0.00000000 0.00400000 0.00050000
+v 0.00000000 0.00385324 0.00014645
+v 0.00000000 0.00349893 0.00999999
+v 0.00000000 0.00400000 0.00950000
+v 0.00000000 0.00385324 0.00985354
+v 0.00045670 0.00346899 0.00000000
+v 0.00052211 0.00396578 0.00050000
+v 0.00050295 0.00382028 0.00014645
+v 0.00045670 0.00346899 0.00999999
+v 0.00052211 0.00396578 0.00950000
+v 0.00050295 0.00382028 0.00985354
+v 0.00090559 0.00337971 0.00000000
+v 0.00103528 0.00386370 0.00050000
+v 0.00099729 0.00372194 0.00014645
+v 0.00090559 0.00337971 0.00999999
+v 0.00103528 0.00386370 0.00950000
+v 0.00099729 0.00372194 0.00985354
+v 0.00133898 0.00323259 0.00000000
+v 0.00153073 0.00369552 0.00050000
+v 0.00147457 0.00355993 0.00014645
+v 0.00133898 0.00323259 0.00999999
+v 0.00153073 0.00369552 0.00950000
+v 0.00147457 0.00355993 0.00985354
+v 0.00174946 0.00303016 0.00000000
+v 0.00200000 0.00346410 0.00050000
+v 0.00192662 0.00333700 0.00014645
+v 0.00174946 0.00303016 0.00999999
+v 0.00200000 0.00346410 0.00950000
+v 0.00192662 0.00333700 0.00985354
+v 0.00213001 0.00277589 0.00000000
+v 0.00243505 0.00317341 0.00050000
+v 0.00234570 0.00305698 0.00014645
+v 0.00213001 0.00277589 0.00999999
+v 0.00243505 0.00317341 0.00950000
+v 0.00234570 0.00305698 0.00985354
+v 0.00247411 0.00247411 0.00000000
+v 0.00282843 0.00282843 0.00050000
+v 0.00272465 0.00272465 0.00014645
+v 0.00247411 0.00247411 0.00999999
+v 0.00282843 0.00282843 0.00950000
+v 0.00272465 0.00272465 0.00985354
+v 0.00277589 0.00213001 0.00000000
+v 0.00317341 0.00243505 0.00050000
+v 0.00305698 0.00234570 0.00014645
+v 0.00277589 0.00213001 0.00999999
+v 0.00317341 0.00243505 0.00950000
+v 0.00305698 0.00234570 0.00985354
+v 0.00303016 0.00174946 0.00000000
+v 0.00346410 0.00200000 0.00050000
+v 0.00333700 0.00192662 0.00014645
+v 0.00303016 0.00174946 0.00999999
+v 0.00346410 0.00200000 0.00950000
+v 0.00333700 0.00192662 0.00985354
+v 0.00323259 0.00133898 0.00000000
+v 0.00369552 0.00153073 0.00050000
+v 0.00355993 0.00147457 0.00014645
+v 0.00323259 0.00133898 0.00999999
+v 0.00369552 0.00153073 0.00950000
+v 0.00355993 0.00147457 0.00985354
+v 0.00337970 0.00090559 0.00000000
+v 0.00386370 0.00103528 0.00050000
+v 0.00372194 0.00099729 0.00014645
+v 0.00337970 0.00090559 0.00999999
+v 0.00386370 0.00103528 0.00950000
+v 0.00372194 0.00099729 0.00985354
+v 0.00346899 0.00045670 0.00000000
+v 0.00396578 0.00052211 0.00050000
+v 0.00382027 0.00050295 0.00014645
+v 0.00346899 0.00045670 0.00999999
+v 0.00396578 0.00052211 0.00950000
+v 0.00382027 0.00050295 0.00985354
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diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.mtl b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a363a9b0dc6df314c972dbb71fc5760bbe654558
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.mtl
@@ -0,0 +1,6 @@
+newmtl mt_quantos_qh016_bnmw__body__bottle_cap
+Kd 0.0600 0.0700 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.obj b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fc84675eb1883f9c8250514a437a8ea9dda05d0
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__bottle_cap.obj
@@ -0,0 +1,864 @@
+mtllib mt_quantos_qh016_bnmw__body__bottle_cap.mtl
+usemtl mt_quantos_qh016_bnmw__body__bottle_cap
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diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.mtl b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..06267610f87bce116ea7a53bf9d22b4bc792a6a7
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.mtl
@@ -0,0 +1,6 @@
+newmtl mt_quantos_qh016_bnmw__body__outlet_body
+Kd 0.7000 0.7400 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.obj b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2bbb8a9b978106fd71169c2d956c47b48cbc16fc
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__outlet_body.obj
@@ -0,0 +1,864 @@
+mtllib mt_quantos_qh016_bnmw__body__outlet_body.mtl
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diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.mtl b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58591c6e30aefb0e08eb59e3e92addad8c5a0d62
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.mtl
@@ -0,0 +1,6 @@
+newmtl mt_quantos_qh016_bnmw__body__powder_bottle
+Kd 0.5500 0.3000 0.1000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.850
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.obj b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06b4d8d16505c5091d08491af7e6584e80670131
--- /dev/null
+++ b/assets/labware/consumables/mt_quantos_qh016_bnmw/meshes/mt_quantos_qh016_bnmw__body__powder_bottle.obj
@@ -0,0 +1,864 @@
+mtllib mt_quantos_qh016_bnmw__body__powder_bottle.mtl
+usemtl mt_quantos_qh016_bnmw__body__powder_bottle
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diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/model.glb b/assets/labware/consumables/mt_quantos_qh016_bnmw/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..04822cd6676aa89132d178f6d7a097853c9eac85
Binary files /dev/null and b/assets/labware/consumables/mt_quantos_qh016_bnmw/model.glb differ
diff --git a/assets/labware/consumables/mt_quantos_qh016_bnmw/model.urdf b/assets/labware/consumables/mt_quantos_qh016_bnmw/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83cd0303e108ef863609d92f0ac58223ee191e96
--- /dev/null
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+      <material name="mat_mt_quantos_qh016_bnmw__body__outlet_body">
+        <color rgba="0.44799 0.50708 0.57048 1.000" />
+      </material>
+    </visual>
+    <visual name="mt_quantos_qh016_bnmw__body__bottle_cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/mt_quantos_qh016_bnmw__body__bottle_cap.obj" />
+      </geometry>
+      <material name="mat_mt_quantos_qh016_bnmw__body__bottle_cap">
+        <color rgba="0.00490 0.00598 0.00719 1.000" />
+      </material>
+    </visual>
+    <visual name="mt_quantos_qh016_bnmw__body__powder_bottle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/mt_quantos_qh016_bnmw__body__powder_bottle.obj" />
+      </geometry>
+      <material name="mat_mt_quantos_qh016_bnmw__body__powder_bottle">
+        <color rgba="0.26327 0.07324 0.01002 0.850" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.025 0.078" rpy="0.418879 0 0" />
+      <geometry>
+        <cylinder radius="0.012" length="0.065" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0118 0.0483" rpy="0.418879 0 0" />
+      <geometry>
+        <cylinder radius="0.013" length="0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.025" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.005" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.004" length="0.01" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/asset.contract.json b/assets/labware/consumables/rigaku_glass_holder_0p2mm/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3fb05905d1554a8e513555b2fc5e8a1ae64a953
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/asset.contract.json
@@ -0,0 +1,250 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.rigaku_glass_holder_0p2mm",
+ "asset_version": "1.0.0",
+ "name_zh": "XRD 玻璃样品板（0.2 mm 槽，MiniFlex 标准平板样品架）",
+ "category": "labware.consumable.xrd_holder",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "MiniFlex 600 标准平板型样品架（Boise State SOP p.4；手册列出玻璃 0.2/0.5 mm 与零背景硅板，brochure p.6）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/rigaku_glass_holder_0p2mm/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "7ab02e0d43fbb39f89f7d99d9afa21bfea47158beaa25f6a225ea2913d47a453"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/rigaku_glass_holder_0p2mm/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b426ddf39291b718c0ce0bb9b81e84e111a84eb3cc53b2d079b453e82ea98a46"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/rigaku_glass_holder_0p2mm/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "5e418fd26d6849f16b860d63c3aed6d78f29f539a5d9b2c79e273d54ae5719fa"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/rigaku_glass_holder_0p2mm/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "7fb6b51e3607d504db62c0ddd20c34c854f52116d812314c54f4c75302d4dfb5"
+  }
+ },
+ "sources": {
+  "miniflex_docs": {
+   "kind": "manufacturer",
+   "reference": "Rigaku MiniFlex brochure rev0723 and MiniFlex 600 SOPs (references/manuals/rigaku_miniflex600_external_cooling/)",
+   "locator": "brochure p.6: various sample holders (glass 0.2 mm / 0.5 mm, zero-background, air-sensitive); Boise State SOP p.4: standard plate-type sample holder; UNT quick guide p.1: glass holder on the standard stage",
+   "note": "Holder type the MiniFlex standard stage takes."
+  },
+  "glass_holder_dims": {
+   "kind": "manufacturer",
+   "reference": "Machined Quartz glass XRD sample holder 50 x 35 x 2 mm, O15 x 0.2 mm well (https://machinedquartz.com/?p=7266)",
+   "locator": "rectangular 50 x 35 mm, 2 mm thick, round reception O15 mm, depth 0.2 mm",
+   "note": "Closest published footprint for a 0.2 mm glass plate holder; Rigaku does not publish its outer size. accessed 2026-10-22."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "XRD 玻璃样品板",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "soda_lime_glass 平板件 50.0×35.0×2.0 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "rigaku_glass_holder_0p2mm__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.05,
+      0.035,
+      0.002
+     ],
+     "unit": "m",
+     "meaning_zh": "外形",
+     "evidence": "documented",
+     "source_ids": [
+      "glass_holder_dims"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.008838,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × soda_lime_glass 密度 2500 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "Rigaku 不公布玻璃样品板外形：50×35×2 mm、Ø15×0.2 mm 槽取最接近的公开规格（Machined Quartz）；与 MiniFlex 标准样品台（槽位 r 30 mm）匹配为假设。",
+  "清单类型名为 zero_background：零背景硅板外形同样未公布，暂以 0.2 mm 玻璃板代表（材料差异只影响背景，不影响几何）。",
+  "装粉、压平由宿主记录；平放薄板：Franka 需指尖贴台面捏取。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.rigaku_glass_holder_0p2mm",
+   "family": "xrd_holder",
+   "labware_class": "xrd_flat_holder",
+   "fits": [
+    "xrd_flat_holder",
+    "miniflex_standard_stage"
+   ],
+   "maker": "Rigaku (holder type) / Machined Quartz (published footprint)",
+   "model": "Glass sample holder, 0.2 mm deep well (MiniFlex standard plate-type holder)",
+   "catalogue_no": "Rigaku glass holder 0.2 mm (outer size per Machined Quartz 50 x 35 x 2 mm, O15 x 0.2 mm well)",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.035,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.038,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.002
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.05,
+     0.035,
+     0.002
+    ],
+    "source_id": "glass_holder_dims"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.rigaku_miniflex600_external_cooling": {
+     "slot": "sample_holder (standard stage)",
+     "slot_radius_m": 0.03,
+     "item_half_diagonal_m": 0.0305
+    }
+   },
+   "well": {
+    "diameter_m": 0.015,
+    "depth_m": 0.0002
+   },
+   "nominal_capacity_m3": 3.5e-08,
+   "nominal_capacity_evidence": "computed: O15 x 0.2 mm well",
+   "empty_mass_kg": 0.008838
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/collision_proxies.json b/assets/labware/consumables/rigaku_glass_holder_0p2mm/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..079b2aaec921856892395780e8ae4246a966ef24
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/collision_proxies.json
@@ -0,0 +1,55 @@
+{
+ "asset_type_id": "labware.rigaku_glass_holder_0p2mm",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.035,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0075,
+      0.0002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0019
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/geometry_manifest.json b/assets/labware/consumables/rigaku_glass_holder_0p2mm/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..61300f04e4bf0275c434e73f57c80d49a92f68dc
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/geometry_manifest.json
@@ -0,0 +1,291 @@
+{
+ "asset_type_id": "labware.rigaku_glass_holder_0p2mm",
+ "catalog_id": null,
+ "name_zh": "XRD 玻璃样品板（0.2 mm 槽，MiniFlex 标准平板样品架）",
+ "name_en": "XRD glass sample holder plate, 0.2 mm well (MiniFlex standard stage)",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.05,
+  0.035,
+  0.002
+ ],
+ "bounds_m": [
+  [
+   -0.025,
+   -0.0175,
+   0.0
+  ],
+  [
+   0.025,
+   0.0175,
+   0.002
+  ]
+ ],
+ "total_mass_kg": 0.00884,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "miniflex_docs",
+   "kind": "manufacturer",
+   "reference": "Rigaku MiniFlex brochure rev0723 and MiniFlex 600 SOPs (references/manuals/rigaku_miniflex600_external_cooling/)",
+   "locator": "brochure p.6: various sample holders (glass 0.2 mm / 0.5 mm, zero-background, air-sensitive); Boise State SOP p.4: standard plate-type sample holder; UNT quick guide p.1: glass holder on the standard stage",
+   "note": "Holder type the MiniFlex standard stage takes.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "glass_holder_dims",
+   "kind": "manufacturer",
+   "reference": "Machined Quartz glass XRD sample holder 50 x 35 x 2 mm, O15 x 0.2 mm well (https://machinedquartz.com/?p=7266)",
+   "locator": "rectangular 50 x 35 mm, 2 mm thick, round reception O15 mm, depth 0.2 mm",
+   "note": "Closest published footprint for a 0.2 mm glass plate holder; Rigaku does not publish its outer size. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "XRD 玻璃样品板",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "soda_lime_glass 平板件 50.0×35.0×2.0 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.008838,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × soda_lime_glass 密度 2500 kg/m3",
+   "material": "soda_lime_glass",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "rigaku_glass_holder_0p2mm__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "rigaku_glass_holder_0p2mm__body",
+     "rgba_srgb": [
+      0.86,
+      0.93,
+      0.96,
+      0.5
+     ],
+     "hex": "#DBEDF5",
+     "rgba_linear": [
+      0.71057,
+      0.84809,
+      0.91141,
+      0.5
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.035,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0075,
+      0.0002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0019
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "rigaku_glass_holder_0p2mm__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.rigaku_glass_holder_0p2mm",
+  "family": "xrd_holder",
+  "labware_class": "xrd_flat_holder",
+  "fits": [
+   "xrd_flat_holder",
+   "miniflex_standard_stage"
+  ],
+  "maker": "Rigaku (holder type) / Machined Quartz (published footprint)",
+  "model": "Glass sample holder, 0.2 mm deep well (MiniFlex standard plate-type holder)",
+  "catalogue_no": "Rigaku glass holder 0.2 mm (outer size per Machined Quartz 50 x 35 x 2 mm, O15 x 0.2 mm well)",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.001
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.035,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.038,
+    "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.002
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.001
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "outer": {
+   "size_m": [
+    0.05,
+    0.035,
+    0.002
+   ],
+   "source_id": "glass_holder_dims"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "instrument_fit": {
+   "instrument.rigaku_miniflex600_external_cooling": {
+    "slot": "sample_holder (standard stage)",
+    "slot_radius_m": 0.03,
+    "item_half_diagonal_m": 0.0305
+   }
+  },
+  "well": {
+   "diameter_m": 0.015,
+   "depth_m": 0.0002
+  },
+  "nominal_capacity_m3": 3.5e-08,
+  "nominal_capacity_evidence": "computed: O15 x 0.2 mm well",
+  "empty_mass_kg": 0.008838
+ },
+ "limitations_zh": [
+  "Rigaku 不公布玻璃样品板外形：50×35×2 mm、Ø15×0.2 mm 槽取最接近的公开规格（Machined Quartz）；与 MiniFlex 标准样品台（槽位 r 30 mm）匹配为假设。",
+  "清单类型名为 zero_background：零背景硅板外形同样未公布，暂以 0.2 mm 玻璃板代表（材料差异只影响背景，不影响几何）。",
+  "装粉、压平由宿主记录；平放薄板：Franka 需指尖贴台面捏取。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.mtl b/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..04f695234659c583f428ff1e2c1f1e2a4421b647
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.mtl
@@ -0,0 +1,6 @@
+newmtl rigaku_glass_holder_0p2mm__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.500
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.obj b/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a26c81e67b2643712fd03dfaabf88d5e141a119e
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/meshes/rigaku_glass_holder_0p2mm__body.obj
@@ -0,0 +1,218 @@
+mtllib rigaku_glass_holder_0p2mm__body.mtl
+usemtl rigaku_glass_holder_0p2mm__body
+# https://github.com/mikedh/trimesh
+v -0.02500000 -0.01750000 0.00000000
+v -0.02500000 -0.01750000 0.00200000
+v -0.02500000 0.01750000 0.00000000
+v -0.02500000 0.01750000 0.00200000
+v 0.02500000 -0.01750000 0.00000000
+v 0.02500000 -0.01750000 0.00200000
+v 0.02500000 0.01750000 0.00000000
+v 0.02500000 0.01750000 0.00200000
+v 0.00000000 0.00000000 0.00180000
+v 0.00750000 0.00000000 0.00180000
+v 0.00750000 0.00000000 0.00200000
+v 0.00000000 0.00000000 0.00200000
+v 0.00735589 0.00146318 0.00180000
+v 0.00735589 0.00146318 0.00200000
+v 0.00692910 0.00287013 0.00180000
+v 0.00692910 0.00287013 0.00200000
+v 0.00623602 0.00416678 0.00180000
+v 0.00623602 0.00416678 0.00200000
+v 0.00530330 0.00530330 0.00180000
+v 0.00530330 0.00530330 0.00200000
+v 0.00416678 0.00623602 0.00180000
+v 0.00416678 0.00623602 0.00200000
+v 0.00287013 0.00692910 0.00180000
+v 0.00287013 0.00692910 0.00200000
+v 0.00146318 0.00735589 0.00180000
+v 0.00146318 0.00735589 0.00200000
+v 0.00000000 0.00750000 0.00180000
+v 0.00000000 0.00750000 0.00200000
+v -0.00146318 0.00735589 0.00180000
+v -0.00146318 0.00735589 0.00200000
+v -0.00287013 0.00692910 0.00180000
+v -0.00287013 0.00692910 0.00200000
+v -0.00416678 0.00623602 0.00180000
+v -0.00416678 0.00623602 0.00200000
+v -0.00530330 0.00530330 0.00180000
+v -0.00530330 0.00530330 0.00200000
+v -0.00623602 0.00416678 0.00180000
+v -0.00623602 0.00416678 0.00200000
+v -0.00692910 0.00287013 0.00180000
+v -0.00692910 0.00287013 0.00200000
+v -0.00735589 0.00146318 0.00180000
+v -0.00735589 0.00146318 0.00200000
+v -0.00750000 0.00000000 0.00180000
+v -0.00750000 0.00000000 0.00200000
+v -0.00735589 -0.00146318 0.00180000
+v -0.00735589 -0.00146318 0.00200000
+v -0.00692910 -0.00287013 0.00180000
+v -0.00692910 -0.00287013 0.00200000
+v -0.00623602 -0.00416678 0.00180000
+v -0.00623602 -0.00416678 0.00200000
+v -0.00530330 -0.00530330 0.00180000
+v -0.00530330 -0.00530330 0.00200000
+v -0.00416678 -0.00623602 0.00180000
+v -0.00416678 -0.00623602 0.00200000
+v -0.00287013 -0.00692910 0.00180000
+v -0.00287013 -0.00692910 0.00200000
+v -0.00146318 -0.00735589 0.00180000
+v -0.00146318 -0.00735589 0.00200000
+v -0.00000000 -0.00750000 0.00180000
+v -0.00000000 -0.00750000 0.00200000
+v 0.00146318 -0.00735589 0.00180000
+v 0.00146318 -0.00735589 0.00200000
+v 0.00287013 -0.00692910 0.00180000
+v 0.00287013 -0.00692910 0.00200000
+v 0.00416678 -0.00623602 0.00180000
+v 0.00416678 -0.00623602 0.00200000
+v 0.00530330 -0.00530330 0.00180000
+v 0.00530330 -0.00530330 0.00200000
+v 0.00623602 -0.00416678 0.00180000
+v 0.00623602 -0.00416678 0.00200000
+v 0.00692910 -0.00287013 0.00180000
+v 0.00692910 -0.00287013 0.00200000
+v 0.00735589 -0.00146318 0.00180000
+v 0.00735589 -0.00146318 0.00200000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 9 13
+f 10 13 11
+f 11 13 14
+f 11 14 12
+f 13 9 15
+f 13 15 14
+f 14 15 16
+f 14 16 12
+f 15 9 17
+f 15 17 16
+f 16 17 18
+f 16 18 12
+f 17 9 19
+f 17 19 18
+f 18 19 20
+f 18 20 12
+f 19 9 21
+f 19 21 20
+f 20 21 22
+f 20 22 12
+f 21 9 23
+f 21 23 22
+f 22 23 24
+f 22 24 12
+f 23 9 25
+f 23 25 24
+f 24 25 26
+f 24 26 12
+f 25 9 27
+f 25 27 26
+f 26 27 28
+f 26 28 12
+f 27 9 29
+f 27 29 28
+f 28 29 30
+f 28 30 12
+f 29 9 31
+f 29 31 30
+f 30 31 32
+f 30 32 12
+f 31 9 33
+f 31 33 32
+f 32 33 34
+f 32 34 12
+f 33 9 35
+f 33 35 34
+f 34 35 36
+f 34 36 12
+f 35 9 37
+f 35 37 36
+f 36 37 38
+f 36 38 12
+f 37 9 39
+f 37 39 38
+f 38 39 40
+f 38 40 12
+f 39 9 41
+f 39 41 40
+f 40 41 42
+f 40 42 12
+f 41 9 43
+f 41 43 42
+f 42 43 44
+f 42 44 12
+f 43 9 45
+f 43 45 44
+f 44 45 46
+f 44 46 12
+f 45 9 47
+f 45 47 46
+f 46 47 48
+f 46 48 12
+f 47 9 49
+f 47 49 48
+f 48 49 50
+f 48 50 12
+f 49 9 51
+f 49 51 50
+f 50 51 52
+f 50 52 12
+f 51 9 53
+f 51 53 52
+f 52 53 54
+f 52 54 12
+f 53 9 55
+f 53 55 54
+f 54 55 56
+f 54 56 12
+f 55 9 57
+f 55 57 56
+f 56 57 58
+f 56 58 12
+f 57 9 59
+f 57 59 58
+f 58 59 60
+f 58 60 12
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+f 59 61 60
+f 60 61 62
+f 60 62 12
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+f 61 63 62
+f 62 63 64
+f 62 64 12
+f 63 9 65
+f 63 65 64
+f 64 65 66
+f 64 66 12
+f 65 9 67
+f 65 67 66
+f 66 67 68
+f 66 68 12
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+f 67 69 68
+f 68 69 70
+f 68 70 12
+f 69 9 71
+f 69 71 70
+f 70 71 72
+f 70 72 12
+f 71 9 73
+f 71 73 72
+f 72 73 74
+f 72 74 12
+f 73 9 10
+f 73 10 74
+f 74 10 11
+f 74 11 12
+
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.glb b/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..676113409b47dcf0dd81a8e5614a0cdb0f03bb5f
Binary files /dev/null and b/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.glb differ
diff --git a/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.urdf b/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3d58a91f369682d8032fb2bd36733089ec2cf5dc
--- /dev/null
+++ b/assets/labware/consumables/rigaku_glass_holder_0p2mm/model.urdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot name="rigaku_glass_holder_0p2mm">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="4.22888e-19 3.07111e-19 0.00100894" rpy="0 0 0" />
+      <mass value="0.00883779" />
+      <inertia ixx="9.05137e-07" ixy="0" ixz="0" iyy="1.84415e-06" iyz="0" izz="2.7434e-06" />
+    </inertial>
+    <visual name="rigaku_glass_holder_0p2mm__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/rigaku_glass_holder_0p2mm__body.obj" />
+      </geometry>
+      <material name="mat_rigaku_glass_holder_0p2mm__body">
+        <color rgba="0.71057 0.84809 0.91141 0.500" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.001" rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.035 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.0019" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0075" length="0.0002" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/asset.contract.json b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..489caaedafa5c82560ccc45d9fccb0fc81cdb968
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/asset.contract.json
@@ -0,0 +1,255 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.sigma_ir_polystyrene_card_z804290",
+ "asset_version": "1.0.0",
+ "name_zh": "红外聚苯乙烯校准膜卡（38 µm，2 × 3 in 卡，Ø19 mm 窗，Z804290）",
+ "category": "labware.consumable.ir_standard",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "FT/IR-4700 波数检查标准：聚苯乙烯膜（仪器附带，操作手册 p.25/p.30），这里用通用 2×3 in 片夹规格的 Sigma Z804290 膜卡。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "8beb0c835f5c783eb9bce0696bd3433ec2970f5d3fd6b44a70a549e7c4940c46"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "29266ec334a8e69f4fffa0e1b9f7105e971a73656e57fe461e5323ab6eaf6b64"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "d42a21a1b74363a351a325152ae4c5531ea8178f6e0592d347787170ccc47db0"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/sigma_ir_polystyrene_card_z804290/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "21b0287e975ebdb0bcef0344abdbb4e13d4be776175d50c324909efafeca6a11"
+  }
+ },
+ "sources": {
+  "ftir_manual": {
+   "kind": "manufacturer",
+   "reference": "JASCO FT/IR-4000/6000 operation manual and FT/IR-4000/6000 brochure LFT1309 (references/manuals/jasco_ftir4700/)",
+   "locator": "operation manual p.25 and p.30: the supplied polystyrene film is inserted into the sample holder; brochure p.4: standard sample = polystyrene film",
+   "note": "Wavenumber check standard of the FT/IR-4700."
+  },
+  "sigma_z804290": {
+   "kind": "manufacturer",
+   "reference": "Sigma-Aldrich Z804290 polystyrene IR calibration films (https://perfqws.sigmaaldrich.com/MY/en/product/aldrich/z804290)",
+   "locator": "38 um certified film (+ 76 um film) mounted on 2 x 3 in cardstock holders with a 19 mm aperture, for the universal slide holder",
+   "note": "Card format standard for the FTIR slide holder. accessed 2026-10-22."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "红外聚苯乙烯校准膜卡",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "cardstock 平板件 76.2×50.8×0.8 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "sigma_ir_polystyrene_card_z804290__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.0762,
+      0.0508,
+      0.0008
+     ],
+     "unit": "m",
+     "meaning_zh": "外形",
+     "evidence": "documented",
+     "source_ids": [
+      "sigma_z804290"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.0025,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（体积 × cardstock 密度 800 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "2×3 in 卡与 Ø19 mm 窗按目录；卡厚 0.8 mm 为假设；膜只建一层示意。",
+  "平放薄卡：Franka 俯抓需指尖贴台面，或把卡立放在卡架上（franka_ok=false）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.sigma_ir_polystyrene_card_z804290",
+   "family": "ir_standard",
+   "labware_class": "ir_film_card",
+   "fits": [
+    "ir_film_card",
+    "ftir_slide_holder"
+   ],
+   "maker": "Sigma-Aldrich",
+   "model": "Polystyrene IR calibration films (38 um certified + 76 um), 2 x 3 in cardstock holders, 19 mm aperture",
+   "catalogue_no": "Z804290",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0508,
+     "franka_ok": false,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.03745,
+     "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.0009
+     ],
+     "franka_blocked_reason": "flat item lying on the bench: no finger clearance under it (stand it in a holder or use a wider / suction gripper)"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10045
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "outer": {
+    "size_m": [
+     0.0762,
+     0.0508,
+     0.0008
+    ],
+    "source_id": "sigma_z804290"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "instrument_fit": {
+    "instrument.jasco_ftir4700": {
+     "slot": "accessory (slide holder in the sample compartment)",
+     "slot_radius_m": 0.0755,
+     "item_half_width_m": 0.0381
+    }
+   },
+   "film": {
+    "thickness_m": 3.8e-05,
+    "aperture_diameter_m": 0.019,
+    "bands_cm-1": [
+     3060.0,
+     2849.5,
+     1601.2,
+     1028.3,
+     906.7
+    ]
+   },
+   "empty_mass_kg": 0.0025
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/collision_proxies.json b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..3235e051ddc371d29027afcbb629ac082537b2bb
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/collision_proxies.json
@@ -0,0 +1,55 @@
+{
+ "asset_type_id": "labware.sigma_ir_polystyrene_card_z804290",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0,
+    0,
+    0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0762,
+      0.0508,
+      0.0008
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0004
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0095,
+      0.0001
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00085
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/geometry_manifest.json b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f125fa548a951908eb9430ca28b1018b08e1a855
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/geometry_manifest.json
@@ -0,0 +1,296 @@
+{
+ "asset_type_id": "labware.sigma_ir_polystyrene_card_z804290",
+ "catalog_id": null,
+ "name_zh": "红外聚苯乙烯校准膜卡（38 µm，2 × 3 in 卡，Ø19 mm 窗，Z804290）",
+ "name_en": "Polystyrene IR calibration film 38 um on 2 x 3 in card (Sigma-Aldrich Z804290)",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0762,
+  0.0508,
+  0.0009
+ ],
+ "bounds_m": [
+  [
+   -0.0381,
+   -0.0254,
+   0.0
+  ],
+  [
+   0.0381,
+   0.0254,
+   0.0009
+  ]
+ ],
+ "total_mass_kg": 0.0025,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ftir_manual",
+   "kind": "manufacturer",
+   "reference": "JASCO FT/IR-4000/6000 operation manual and FT/IR-4000/6000 brochure LFT1309 (references/manuals/jasco_ftir4700/)",
+   "locator": "operation manual p.25 and p.30: the supplied polystyrene film is inserted into the sample holder; brochure p.4: standard sample = polystyrene film",
+   "note": "Wavenumber check standard of the FT/IR-4700.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "sigma_z804290",
+   "kind": "manufacturer",
+   "reference": "Sigma-Aldrich Z804290 polystyrene IR calibration films (https://perfqws.sigmaaldrich.com/MY/en/product/aldrich/z804290)",
+   "locator": "38 um certified film (+ 76 um film) mounted on 2 x 3 in cardstock holders with a 19 mm aperture, for the universal slide holder",
+   "note": "Card format standard for the FTIR slide holder. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "红外聚苯乙烯校准膜卡",
+   "function_zh": "承载样品/标准",
+   "physical_meaning_zh": "cardstock 平板件 76.2×50.8×0.8 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.0025,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "体积 × cardstock 密度 800 kg/m3",
+   "material": "cardstock",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "sigma_ir_polystyrene_card_z804290__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "sigma_ir_polystyrene_card_z804290__body",
+     "rgba_srgb": [
+      0.95,
+      0.93,
+      0.85,
+      1.0
+     ],
+     "hex": "#F2EDD9",
+     "rgba_linear": [
+      0.89001,
+      0.84809,
+      0.69207,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.0762,
+      0.0508,
+      0.0008
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0004
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0095,
+      0.0001
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00085
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "sigma_ir_polystyrene_card_z804290__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.sigma_ir_polystyrene_card_z804290",
+  "family": "ir_standard",
+  "labware_class": "ir_film_card",
+  "fits": [
+   "ir_film_card",
+   "ftir_slide_holder"
+  ],
+  "maker": "Sigma-Aldrich",
+  "model": "Polystyrene IR calibration films (38 um certified + 76 um), 2 x 3 in cardstock holders, 19 mm aperture",
+  "catalogue_no": "Z804290",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00045
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0508,
+    "franka_ok": false,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.03745,
+    "note_zh": "沿 Y 方向夹两侧边（平放件：指尖贴台面捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.0009
+    ],
+    "franka_blocked_reason": "flat item lying on the bench: no finger clearance under it (stand it in a holder or use a wider / suction gripper)"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10045
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10045
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00045
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10045
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "outer": {
+   "size_m": [
+    0.0762,
+    0.0508,
+    0.0008
+   ],
+   "source_id": "sigma_z804290"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "instrument_fit": {
+   "instrument.jasco_ftir4700": {
+    "slot": "accessory (slide holder in the sample compartment)",
+    "slot_radius_m": 0.0755,
+    "item_half_width_m": 0.0381
+   }
+  },
+  "film": {
+   "thickness_m": 3.8e-05,
+   "aperture_diameter_m": 0.019,
+   "bands_cm-1": [
+    3060.0,
+    2849.5,
+    1601.2,
+    1028.3,
+    906.7
+   ]
+  },
+  "empty_mass_kg": 0.0025
+ },
+ "limitations_zh": [
+  "2×3 in 卡与 Ø19 mm 窗按目录；卡厚 0.8 mm 为假设；膜只建一层示意。",
+  "平放薄卡：Franka 俯抓需指尖贴台面，或把卡立放在卡架上（franka_ok=false）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.mtl b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8b19ecc8b5ebb6332f64116fdd9960a699580f52
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.mtl
@@ -0,0 +1,6 @@
+newmtl sigma_ir_polystyrene_card_z804290__body
+Kd 0.9500 0.9300 0.8500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.obj b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e153069e1f4d18b29bdcb88e51c6762278e4aa75
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/meshes/sigma_ir_polystyrene_card_z804290__body.obj
@@ -0,0 +1,218 @@
+mtllib sigma_ir_polystyrene_card_z804290__body.mtl
+usemtl sigma_ir_polystyrene_card_z804290__body
+# https://github.com/mikedh/trimesh
+v -0.03810000 -0.02540000 0.00000000
+v -0.03810000 -0.02540000 0.00080000
+v -0.03810000 0.02540000 0.00000000
+v -0.03810000 0.02540000 0.00080000
+v 0.03810000 -0.02540000 0.00000000
+v 0.03810000 -0.02540000 0.00080000
+v 0.03810000 0.02540000 0.00000000
+v 0.03810000 0.02540000 0.00080000
+v 0.00000000 0.00000000 0.00080000
+v 0.00950000 0.00000000 0.00080000
+v 0.00950000 0.00000000 0.00090000
+v 0.00000000 0.00000000 0.00090000
+v 0.00931746 0.00185336 0.00080000
+v 0.00931746 0.00185336 0.00090000
+v 0.00877686 0.00363549 0.00080000
+v 0.00877686 0.00363549 0.00090000
+v 0.00789896 0.00527792 0.00080000
+v 0.00789896 0.00527792 0.00090000
+v 0.00671751 0.00671751 0.00080000
+v 0.00671751 0.00671751 0.00090000
+v 0.00527792 0.00789896 0.00080000
+v 0.00527792 0.00789896 0.00090000
+v 0.00363549 0.00877686 0.00080000
+v 0.00363549 0.00877686 0.00090000
+v 0.00185336 0.00931746 0.00080000
+v 0.00185336 0.00931746 0.00090000
+v 0.00000000 0.00950000 0.00080000
+v 0.00000000 0.00950000 0.00090000
+v -0.00185336 0.00931746 0.00080000
+v -0.00185336 0.00931746 0.00090000
+v -0.00363549 0.00877686 0.00080000
+v -0.00363549 0.00877686 0.00090000
+v -0.00527792 0.00789896 0.00080000
+v -0.00527792 0.00789896 0.00090000
+v -0.00671751 0.00671751 0.00080000
+v -0.00671751 0.00671751 0.00090000
+v -0.00789896 0.00527792 0.00080000
+v -0.00789896 0.00527792 0.00090000
+v -0.00877686 0.00363549 0.00080000
+v -0.00877686 0.00363549 0.00090000
+v -0.00931746 0.00185336 0.00080000
+v -0.00931746 0.00185336 0.00090000
+v -0.00950000 0.00000000 0.00080000
+v -0.00950000 0.00000000 0.00090000
+v -0.00931746 -0.00185336 0.00080000
+v -0.00931746 -0.00185336 0.00090000
+v -0.00877686 -0.00363549 0.00080000
+v -0.00877686 -0.00363549 0.00090000
+v -0.00789896 -0.00527792 0.00080000
+v -0.00789896 -0.00527792 0.00090000
+v -0.00671751 -0.00671751 0.00080000
+v -0.00671751 -0.00671751 0.00090000
+v -0.00527792 -0.00789896 0.00080000
+v -0.00527792 -0.00789896 0.00090000
+v -0.00363549 -0.00877686 0.00080000
+v -0.00363549 -0.00877686 0.00090000
+v -0.00185336 -0.00931746 0.00080000
+v -0.00185336 -0.00931746 0.00090000
+v -0.00000000 -0.00950000 0.00080000
+v -0.00000000 -0.00950000 0.00090000
+v 0.00185336 -0.00931746 0.00080000
+v 0.00185336 -0.00931746 0.00090000
+v 0.00363549 -0.00877686 0.00080000
+v 0.00363549 -0.00877686 0.00090000
+v 0.00527792 -0.00789896 0.00080000
+v 0.00527792 -0.00789896 0.00090000
+v 0.00671751 -0.00671751 0.00080000
+v 0.00671751 -0.00671751 0.00090000
+v 0.00789896 -0.00527792 0.00080000
+v 0.00789896 -0.00527792 0.00090000
+v 0.00877686 -0.00363549 0.00080000
+v 0.00877686 -0.00363549 0.00090000
+v 0.00931746 -0.00185336 0.00080000
+v 0.00931746 -0.00185336 0.00090000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 9 13
+f 10 13 11
+f 11 13 14
+f 11 14 12
+f 13 9 15
+f 13 15 14
+f 14 15 16
+f 14 16 12
+f 15 9 17
+f 15 17 16
+f 16 17 18
+f 16 18 12
+f 17 9 19
+f 17 19 18
+f 18 19 20
+f 18 20 12
+f 19 9 21
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+f 20 21 22
+f 20 22 12
+f 21 9 23
+f 21 23 22
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+f 22 24 12
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+f 23 25 24
+f 24 25 26
+f 24 26 12
+f 25 9 27
+f 25 27 26
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+f 26 28 12
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+f 34 35 36
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+f 36 38 12
+f 37 9 39
+f 37 39 38
+f 38 39 40
+f 38 40 12
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+f 40 42 12
+f 41 9 43
+f 41 43 42
+f 42 43 44
+f 42 44 12
+f 43 9 45
+f 43 45 44
+f 44 45 46
+f 44 46 12
+f 45 9 47
+f 45 47 46
+f 46 47 48
+f 46 48 12
+f 47 9 49
+f 47 49 48
+f 48 49 50
+f 48 50 12
+f 49 9 51
+f 49 51 50
+f 50 51 52
+f 50 52 12
+f 51 9 53
+f 51 53 52
+f 52 53 54
+f 52 54 12
+f 53 9 55
+f 53 55 54
+f 54 55 56
+f 54 56 12
+f 55 9 57
+f 55 57 56
+f 56 57 58
+f 56 58 12
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+f 58 59 60
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+f 60 61 62
+f 60 62 12
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+f 61 63 62
+f 62 63 64
+f 62 64 12
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+f 63 65 64
+f 64 65 66
+f 64 66 12
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+f 66 68 12
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+f 70 71 72
+f 70 72 12
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+f 73 9 10
+f 73 10 74
+f 74 10 11
+f 74 11 12
+
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.glb b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..906e88b5347a2e56966ba74f3e8d442e809a3b67
Binary files /dev/null and b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.glb differ
diff --git a/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.urdf b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a96bc4027092fa93e195be88bf7272685812886
--- /dev/null
+++ b/assets/labware/consumables/sigma_ir_polystyrene_card_z804290/model.urdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot name="sigma_ir_polystyrene_card_z804290">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="2.84004e-19 -2.61946e-19 0.000404057" rpy="0 0 0" />
+      <mass value="0.00249995" />
+      <inertia ixx="5.37792e-07" ixy="0" ixz="0" iyy="1.20982e-06" iyz="0" izz="1.74727e-06" />
+    </inertial>
+    <visual name="sigma_ir_polystyrene_card_z804290__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sigma_ir_polystyrene_card_z804290__body.obj" />
+      </geometry>
+      <material name="mat_sigma_ir_polystyrene_card_z804290__body">
+        <color rgba="0.89001 0.84809 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0004" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0762 0.0508 0.0008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.00085" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0095" length="0.0001" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/asset.contract.json b/assets/labware/consumables/ta_tzero_pan_lid/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ed2f23ef7ecfd19086e74ef4e0b545d1617534
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/asset.contract.json
@@ -0,0 +1,362 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.ta_tzero_pan_lid",
+ "asset_version": "1.0.0",
+ "name_zh": "TA Tzero 铝坩埚 + 盖（901683.901 / 901671.901）",
+ "category": "labware.consumable.dsc_pan",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DSC 2500 Fusion 池用 Tzero 铝坩埚与盖（TA 零件 901683.901 / 901671.901，入门指南 p.64）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "af066a6fb9d7272c2bdd442f041854cea3f66da65c43543062f4ed061116eb85"
+  },
+  "model_urdf": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "bde8f56d02a164871a786a222588ac070507893cd02a51379a6748749c3ce275"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e3fe3f9a7acd77bb1550287c992daffbff8bee07eb2a6e954f1cad33953d33ec"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "19c0321cbb5c464e043709ab09c54bee876a21f54974ceee4e11229ad72fdcef"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "10f3e2b0b4ae2aa4145d515d557f6b489c6709d9b17a0a04f09a468c97e4ede7"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b52e4249d150c335fafff71566aa594d90c1357733c0feb7778ad698f4c5c72c"
+  },
+  "part_lid_urdf": {
+   "path": "assets/labware/consumables/ta_tzero_pan_lid/parts/lid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "30f7cf8fd5223c778302c21ed9020cdd57bff64b61780ae290302ab2fdbd60f1"
+  }
+ },
+ "sources": {
+  "dsc_guide": {
+   "kind": "manufacturer",
+   "reference": "TA Instruments DSC Q Series Getting Started Guide rev N (references/manuals/ta_dsc2500/); UCSB DSC2500 quick start",
+   "locator": "p.64 consumables: Tzero aluminum pans 901683.901, Tzero aluminum lids 901671.901 (pkg of 100); quick start p.1: Tzero pans for solids",
+   "note": "Pans the DSC 2500 Fusion cell takes."
+  },
+  "dsc_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch03/t1_thermal/ta_dsc2500 (sample_pan cylinder r 3.1 mm x 2.5 mm incl. rim; Matterix slot `sample` r 3 mm)",
+   "locator": "geometry_manifest.json components.sample_pan / sample_pan_rim",
+   "note": "Reused pan dimensions (photo estimate in that asset; TA does not publish them)."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "TA Tzero 铝坩埚 + 盖",
+   "function_zh": "盛放样品",
+   "physical_meaning_zh": "aluminium 外壳",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "ta_tzero_pan_lid__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0062,
+     "unit": "m",
+     "meaning_zh": "外径",
+     "evidence": "documented",
+     "source_ids": [
+      "dsc_asset"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.0018,
+     "unit": "m",
+     "meaning_zh": "高度",
+     "evidence": "documented",
+     "source_ids": [
+      "dsc_asset"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 1.6e-05,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × aluminium 密度）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "lid": {
+   "name_zh": "Tzero 盖（901671.901）",
+   "function_zh": "盖住样品，压机压合",
+   "physical_meaning_zh": "铝盖；压合后与盘不可分（宿主记录压合状态）",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:lid",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "ta_tzero_pan_lid__lid",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.5e-05,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（铝盖体积 × 2700 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_lid": {
+   "component_id": "lid",
+   "artifact_id": "model_urdf",
+   "target": "lid_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.01
+   ],
+   "state_id": null,
+   "mapping_zh": "未压合时可提起；压合（crimp）由 Tzero 压机完成，宿主记录",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "consumable_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "零件号按 TA 手册 p.64；盘径 6.2 mm 取自 DSC2500 实例的 sample_pan 部件（照片估计，TA 不公布尺寸），高 1.8 mm、壁厚 0.1 mm 为假设。",
+  "盖为可提起的独立刚体；压合（crimp）由 Tzero 压机完成，属宿主动作。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.ta_tzero_pan_lid",
+   "family": "dsc_pan",
+   "labware_class": "dsc_pan",
+   "fits": [
+    "dsc_pan",
+    "dsc2500_sample_platform"
+   ],
+   "maker": "TA Instruments",
+   "model": "Tzero aluminum pan + Tzero aluminum lid",
+   "catalogue_no": "901683.901 + 901671.901",
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0062,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.038,
+     "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+     "finger_contact_z_m": [
+      0.0,
+      0.01
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.101
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "nominal_capacity_m3": 2e-08,
+   "nominal_capacity_evidence": "assumption (sample ~5 mg; Tzero pan volume not published)",
+   "brim_capacity_m3": 4.81e-08,
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.003,
+    "floor_m": 0.0001,
+    "height_m": 0.0018,
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0001
+     ],
+     [
+      0.003,
+      0.0001
+     ],
+     [
+      0.003,
+      0.0018
+     ]
+    ],
+    "nominal_fill_height_m": 0.000807
+   },
+   "outer": {
+    "diameter_m": 0.0062,
+    "height_body_m": 0.0018,
+    "source_id": "dsc_asset"
+   },
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "instrument_fit": {
+    "instrument.ta_dsc2500": {
+     "slot": "sample / reference",
+     "slot_radius_m": 0.003,
+     "item_radius_m": 0.0031
+    }
+   },
+   "empty_mass_kg": 3.1e-05,
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.002,
+    "rule_zh": "未压合：盖可提起/放回；压合后由宿主标记为 sealed（不可再分）",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/collision_proxies.json b/assets/labware/consumables/ta_tzero_pan_lid/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b0bf3f9c96b387d1d707e073faa0fe558f0cd5
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/collision_proxies.json
@@ -0,0 +1,516 @@
+{
+ "asset_type_id": "labware.ta_tzero_pan_lid",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0029,
+      0.0004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.002894,
+      0.0,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.002506,
+      0.001447,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.001447,
+      0.002506,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.0,
+      0.002894,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.001447,
+      0.002506,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.002506,
+      0.001447,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.002894,
+      0.0,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.002506,
+      -0.001447,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.001447,
+      -0.002506,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      -0.0,
+      -0.002894,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.001447,
+      -0.002506,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.000283
+     ],
+     "origin_m": [
+      0.002506,
+      -0.001447,
+      0.000206
+     ],
+     "rpy_rad": [
+      0.0,
+      0.785398,
+      5.759587
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.0016
+     ],
+     "origin_m": [
+      0.00295,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.0016
+     ],
+     "origin_m": [
+      0.002555,
+      0.001475,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.0016
+     ],
+     "origin_m": [
+      0.001475,
+      0.002555,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.0016
+     ],
+     "origin_m": [
+      0.0,
+      0.00295,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0003,
+      0.001753,
+      0.0016
+     ],
+     "origin_m": [
+      -0.001475,
+      0.002555,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
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+   "origin_m": [
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+   "parent": "body",
+   "joint": "prismatic",
+   "primitives": [
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+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/geometry_manifest.json b/assets/labware/consumables/ta_tzero_pan_lid/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd052c0edac0ecd3ac10a9cf3645716b69eb5a60
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/geometry_manifest.json
@@ -0,0 +1,844 @@
+{
+ "asset_type_id": "labware.ta_tzero_pan_lid",
+ "catalog_id": null,
+ "name_zh": "TA Tzero 铝坩埚 + 盖（901683.901 / 901671.901）",
+ "name_en": "TA Instruments Tzero aluminum pan + Tzero lid",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0062,
+  0.0062,
+  0.002
+ ],
+ "bounds_m": [
+  [
+   -0.0031,
+   -0.0031,
+   0.0
+  ],
+  [
+   0.0031,
+   0.0031,
+   0.002
+  ]
+ ],
+ "total_mass_kg": 3e-05,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "dsc_guide",
+   "kind": "manufacturer",
+   "reference": "TA Instruments DSC Q Series Getting Started Guide rev N (references/manuals/ta_dsc2500/); UCSB DSC2500 quick start",
+   "locator": "p.64 consumables: Tzero aluminum pans 901683.901, Tzero aluminum lids 901671.901 (pkg of 100); quick start p.1: Tzero pans for solids",
+   "note": "Pans the DSC 2500 Fusion cell takes.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "dsc_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch03/t1_thermal/ta_dsc2500 (sample_pan cylinder r 3.1 mm x 2.5 mm incl. rim; Matterix slot `sample` r 3 mm)",
+   "locator": "geometry_manifest.json components.sample_pan / sample_pan_rim",
+   "note": "Reused pan dimensions (photo estimate in that asset; TA does not publish them).",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "TA Tzero 铝坩埚 + 盖",
+   "function_zh": "盛放样品",
+   "physical_meaning_zh": "aluminium 外壳",
+   "parent": "root",
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+   "joint": null,
+   "mass_kg": 1.6e-05,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模体积 × aluminium 密度",
+   "material": "aluminium",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "ta_tzero_pan_lid__body"
+   ],
+   "detachable": false,
+   "appearance": [
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+      5.759587
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+    }
+   ]
+  },
+  {
+   "id": "lid",
+   "name_zh": "Tzero 盖（901671.901）",
+   "function_zh": "盖住样品，压机压合",
+   "physical_meaning_zh": "铝盖；压合后与盘不可分（宿主记录压合状态）",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0018
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
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+   "joint": {
+    "type": "prismatic",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     0.01
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "consumable_assumption"
+    ],
+    "note_zh": "未压合时可提起；压合（crimp）由 Tzero 压机完成，宿主记录"
+   },
+   "mass_kg": 1.5e-05,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "铝盖体积 × 2700 kg/m3",
+   "material": "aluminium",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "ta_tzero_pan_lid__lid"
+   ],
+   "detachable": true,
+   "appearance": [
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+     "rgba_srgb": [
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+      0.83,
+      0.85,
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+      0.69207,
+      1.0
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+   ],
+   "collisions": [
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+     "size_m": [
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+     "origin_m": [
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+      0.0,
+      0.0001
+     ],
+     "rpy_rad": [
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+      0.0,
+      0.0
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+    }
+   ]
+  }
+ ],
+ "root_object": "ta_tzero_pan_lid__root",
+ "joint_definitions": {
+  "lid": {
+   "type": "prismatic",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_m": [
+    0.0,
+    0.01
+   ],
+   "accessor": "joint[lid_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "未压合时可提起；压合（crimp）由 Tzero 压机完成，宿主记录"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_lid_urdf": "parts/lid.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.ta_tzero_pan_lid",
+  "family": "dsc_pan",
+  "labware_class": "dsc_pan",
+  "fits": [
+   "dsc_pan",
+   "dsc2500_sample_platform"
+  ],
+  "maker": "TA Instruments",
+  "model": "Tzero aluminum pan + Tzero aluminum lid",
+  "catalogue_no": "901683.901 + 901671.901",
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
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+     0.0
+    ],
+    "width_m": 0.0062,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.038,
+    "note_zh": "俯抓外壁；小件贴近台面时指尖会触台（捏取）",
+    "finger_contact_z_m": [
+     0.0,
+     0.01
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.001
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.101
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "nominal_capacity_m3": 2e-08,
+  "nominal_capacity_evidence": "assumption (sample ~5 mg; Tzero pan volume not published)",
+  "brim_capacity_m3": 4.81e-08,
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.003,
+   "floor_m": 0.0001,
+   "height_m": 0.0018,
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0001
+    ],
+    [
+     0.003,
+     0.0001
+    ],
+    [
+     0.003,
+     0.0018
+    ]
+   ],
+   "nominal_fill_height_m": 0.000807
+  },
+  "outer": {
+   "diameter_m": 0.0062,
+   "height_body_m": 0.0018,
+   "source_id": "dsc_asset"
+  },
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "instrument_fit": {
+   "instrument.ta_dsc2500": {
+    "slot": "sample / reference",
+    "slot_radius_m": 0.003,
+    "item_radius_m": 0.0031
+   }
+  },
+  "empty_mass_kg": 3.1e-05,
+  "closure": {
+   "type": "lift_off_lid",
+   "link": "lid",
+   "joint": "lid_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "clear_lift_m": 0.002,
+   "rule_zh": "未压合：盖可提起/放回；压合后由宿主标记为 sealed（不可再分）",
+   "parts": {
+    "body": "parts/body.urdf",
+    "lid": "parts/lid.urdf"
+   }
+  }
+ },
+ "limitations_zh": [
+  "零件号按 TA 手册 p.64；盘径 6.2 mm 取自 DSC2500 实例的 sample_pan 部件（照片估计，TA 不公布尺寸），高 1.8 mm、壁厚 0.1 mm 为假设。",
+  "盖为可提起的独立刚体；压合（crimp）由 Tzero 压机完成，属宿主动作。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.mtl b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90ca85595dd5747a472728ba4a848785802df044
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.mtl
@@ -0,0 +1,6 @@
+newmtl ta_tzero_pan_lid__body
+Kd 0.8200 0.8300 0.8500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.obj b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92633aaf3fe87c4d8937a416246718c7d3d0ae6a
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__body.obj
@@ -0,0 +1,726 @@
+mtllib ta_tzero_pan_lid__body.mtl
+usemtl ta_tzero_pan_lid__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.mtl b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7198bf0eb3befa6425a5a0b176a60a2593c98f25
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.mtl
@@ -0,0 +1,6 @@
+newmtl ta_tzero_pan_lid__lid
+Kd 0.8200 0.8300 0.8500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.obj b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8d24b6f56224f0a2161c07fe96a0c8ae439eb720
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/meshes/ta_tzero_pan_lid__lid.obj
@@ -0,0 +1,198 @@
+mtllib ta_tzero_pan_lid__lid.mtl
+usemtl ta_tzero_pan_lid__lid
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/consumables/ta_tzero_pan_lid/model.glb b/assets/labware/consumables/ta_tzero_pan_lid/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ddad7f30ce6883cb17c76908bf6016e62b3195c1
Binary files /dev/null and b/assets/labware/consumables/ta_tzero_pan_lid/model.glb differ
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/model.urdf b/assets/labware/consumables/ta_tzero_pan_lid/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf39398ac7aa1dcbb8c45448e159f9f7dabb18e6
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/model.urdf
@@ -0,0 +1,205 @@
+<?xml version="1.0"?>
+<robot name="ta_tzero_pan_lid">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="3.20613e-19 -1.83207e-19 0.000546217" rpy="0 0 0" />
+      <mass value="1.5873e-05" />
+      <inertia ixx="5.51323e-11" ixy="0" ixz="0" iyy="5.51323e-11" iyz="0" izz="1.01693e-10" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ta_tzero_pan_lid__body.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__body">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0029" length="0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00289393 0 0.000206066" rpy="0 0.785398 0" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00250622 0.00144697 0.000206066" rpy="0 0.785398 0.523599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00144697 0.00250622 0.000206066" rpy="0 0.785398 1.0472" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.77202e-19 0.00289393 0.000206066" rpy="0 0.785398 1.5708" />
+      <geometry>
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+    </collision>
+    <collision>
+      <origin xyz="-0.00144697 0.00250622 0.000206066" rpy="0 0.785398 2.0944" />
+      <geometry>
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+    </collision>
+    <collision>
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+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00289393 3.54405e-19 0.000206066" rpy="0 0.785398 3.14159" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00250622 -0.00144697 0.000206066" rpy="0 0.785398 3.66519" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00144697 -0.00250622 0.000206066" rpy="0 0.785398 4.18879" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-5.31607e-19 -0.00289393 0.000206066" rpy="0 0.785398 4.71239" />
+      <geometry>
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+    </collision>
+    <collision>
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+      </geometry>
+    </collision>
+    <collision>
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+      </geometry>
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+        <box size="0.0003 0.00175301 0.0016" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.00295 3.61271e-19 0.001" rpy="0 0 3.14159" />
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+        <box size="0.0003 0.00175301 0.0016" />
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+    </collision>
+    <collision>
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+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001475 -0.00255477 0.001" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-5.41906e-19 -0.00295 0.001" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.001475 -0.00255477 0.001" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00255477 -0.001475 0.001" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="-1.55752e-19 -3.93593e-20 0.0001" rpy="0 0 0" />
+      <mass value="1.51702e-05" />
+      <inertia ixx="4.55612e-11" ixy="0" ixz="0" iyy="4.55612e-11" iyz="0" izz="9.10213e-11" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ta_tzero_pan_lid__lid.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__lid">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0001" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.0002" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="prismatic">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0 0.0018" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.01" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/model_solid.urdf b/assets/labware/consumables/ta_tzero_pan_lid/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..24dbe900f7e19d866094a8cead20bed98ffed680
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="ta_tzero_pan_lid">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="3.20613e-19 -1.83207e-19 0.000546217" rpy="0 0 0" />
+      <mass value="1.5873e-05" />
+      <inertia ixx="5.51323e-11" ixy="0" ixz="0" iyy="5.51323e-11" iyz="0" izz="1.01693e-10" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ta_tzero_pan_lid__body.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__body">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0009" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0031" length="0.0018" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="-1.55752e-19 -3.93593e-20 0.0001" rpy="0 0 0" />
+      <mass value="1.51702e-05" />
+      <inertia ixx="4.55612e-11" ixy="0" ixz="0" iyy="4.55612e-11" iyz="0" izz="9.10213e-11" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/ta_tzero_pan_lid__lid.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__lid">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0001" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.0002" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="prismatic">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0 0.0018" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.01" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/parts/body.urdf b/assets/labware/consumables/ta_tzero_pan_lid/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6955f0838e8878bad497ff7291f04505a482d176
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/parts/body.urdf
@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot name="ta_tzero_pan_lid__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="3.20613e-19 -1.83207e-19 0.000546217" rpy="0 0 0" />
+      <mass value="1.5873e-05" />
+      <inertia ixx="5.51323e-11" ixy="0" ixz="0" iyy="5.51323e-11" iyz="0" izz="1.01693e-10" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/ta_tzero_pan_lid__body.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__body">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0029" length="0.0004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00289393 0 0.000206066" rpy="0 0.785398 0" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00250622 0.00144697 0.000206066" rpy="0 0.785398 0.523599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00144697 0.00250622 0.000206066" rpy="0 0.785398 1.0472" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.77202e-19 0.00289393 0.000206066" rpy="0 0.785398 1.5708" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00144697 0.00250622 0.000206066" rpy="0 0.785398 2.0944" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00250622 0.00144697 0.000206066" rpy="0 0.785398 2.61799" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00289393 3.54405e-19 0.000206066" rpy="0 0.785398 3.14159" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00250622 -0.00144697 0.000206066" rpy="0 0.785398 3.66519" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00144697 -0.00250622 0.000206066" rpy="0 0.785398 4.18879" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-5.31607e-19 -0.00289393 0.000206066" rpy="0 0.785398 4.71239" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00144697 -0.00250622 0.000206066" rpy="0 0.785398 5.23599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00250622 -0.00144697 0.000206066" rpy="0 0.785398 5.75959" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.000282843" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00295 0 0.001" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00255477 0.001475 0.001" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.001475 0.00255477 0.001" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.80635e-19 0.00295 0.001" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001475 0.00255477 0.001" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00255477 0.001475 0.001" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00295 3.61271e-19 0.001" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00255477 -0.001475 0.001" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.001475 -0.00255477 0.001" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-5.41906e-19 -0.00295 0.001" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.001475 -0.00255477 0.001" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00255477 -0.001475 0.001" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.0003 0.00175301 0.0016" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/consumables/ta_tzero_pan_lid/parts/lid.urdf b/assets/labware/consumables/ta_tzero_pan_lid/parts/lid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..815ca771b9ec6fd8ce62eac72614196e7d3de5ec
--- /dev/null
+++ b/assets/labware/consumables/ta_tzero_pan_lid/parts/lid.urdf
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<robot name="ta_tzero_pan_lid__lid">
+  <link name="lid">
+    <inertial>
+      <origin xyz="-1.55752e-19 -3.93593e-20 0.0001" rpy="0 0 0" />
+      <mass value="1.51702e-05" />
+      <inertia ixx="4.55612e-11" ixy="0" ixz="0" iyy="4.55612e-11" iyz="0" izz="9.10213e-11" />
+    </inertial>
+    <visual name="ta_tzero_pan_lid__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/ta_tzero_pan_lid__lid.obj" />
+      </geometry>
+      <material name="mat_ta_tzero_pan_lid__lid">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0001" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.003" length="0.0002" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/agilent_hs_vial_20ml/asset.contract.json b/assets/labware/containers/agilent_hs_vial_20ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..188d981a3e33f5678bbb2cfe15d32abee66ab330
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/asset.contract.json
@@ -0,0 +1,728 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.agilent_hs_vial_20ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Agilent 20 mL 螺口顶空瓶（22.75×75 mm，18 mm 磁性螺旋盖）",
+ "category": "labware.container.vial",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Agilent 5188-2753 20 mL 螺口顶空瓶：22.75×75 mm、18 mm 螺旋盖、圆底。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "21a630e4720c88af7c2a832504591e53d7440a467906676db549516cd0c85a5b"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "d4273fdd529dd028cdc4ea8d7caf50860d3bbf2f787a8c4f9277a1d100d8d246"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "b96b9ccd1f5eaf384c93154186b5cc39a392e94bbe66193bb66745e87df517cd"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "ca9c665fafad3cbf9d5bade4689d48e02450757df29a957fbc794d9c03fee709"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "7abb99a74ef10607c21bfe51736ed2da759679c9f696da66074d65ca20c6556d"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b9b63d921193666ca5785ec2001bc874dd81bc3e4ce1b7b81abfe6aba803fca6"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/agilent_hs_vial_20ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "66bee1a846043d1caa55402587461f96084dc9db243ef3f7af6d9bd2b01613f1"
+  }
+ },
+ "sources": {
+  "agilent_5188_2753": {
+   "kind": "manufacturer",
+   "reference": "Agilent 5188-2753 headspace vial, screw top, 20 mL (https://www.agilent.com/store/es_ES/Prod-5188-2753/5188-2753); also Crawford Scientific listing",
+   "locator": "vial size 22.75 x 75 mm, 18 mm screw cap, round bottom",
+   "note": "20 mL screw-top headspace vial (fits the HS 8697 headspace sampler). accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "quantos_manual": {
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits."
+  },
+  "quantos_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+   "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+   "note": "Reused head geometry and the instrument interfaces for the fit check (authored geometry; the asset marks its part sizes as not maker CAD)."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 22.8 mm、本体高 75.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "agilent_hs_vial_20ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.02275,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5188_2753"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.0775,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5188_2753"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 1.9999999999999998e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5188_2753"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 2.1544e-05,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0012,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.016118,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 7.2 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "steel 螺旋盖 Ø20.5×10.5 mm；18 mm screw 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "agilent_hs_vial_20ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0205,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.006506,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 0.83 cm3 × steel 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0021,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 20.5 mm、高 10.5 mm（磁性钢盖 + 隔垫）与颈部尺寸为假设；22.75×75 mm 为瓶身（目录）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.agilent_hs_vial_20ml",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "vial",
+    "headspace_vial_20ml"
+   ],
+   "maker": "Agilent",
+   "model": "Headspace vial, screw top, 20 mL, 22.75 x 75 mm",
+   "catalogue_no": "5188-2753",
+   "nominal_capacity_m3": 1.9999999999999998e-05,
+   "brim_capacity_m3": 2.1544e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "agilent_5188_2753",
+   "outer": {
+    "diameter_m": 0.02275,
+    "height_body_m": 0.075,
+    "height_with_cap_m": 0.0775,
+    "source_id": "agilent_5188_2753"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.01018,
+    "floor_m": 0.002,
+    "height_m": 0.075,
+    "body_top_m": 0.06484,
+    "neck_radius_m": 0.0063,
+    "nominal_fill_height_m": 0.06426,
+    "volume_table_m_ml": [
+     [
+      0.002,
+      0.0
+     ],
+     [
+      0.00565,
+      0.938
+     ],
+     [
+      0.0093,
+      2.125
+     ],
+     [
+      0.01295,
+      3.312
+     ],
+     [
+      0.0166,
+      4.499
+     ],
+     [
+      0.02025,
+      5.686
+     ],
+     [
+      0.0239,
+      6.874
+     ],
+     [
+      0.02755,
+      8.061
+     ],
+     [
+      0.0312,
+      9.248
+     ],
+     [
+      0.03485,
+      10.435
+     ],
+     [
+      0.0385,
+      11.622
+     ],
+     [
+      0.04215,
+      12.809
+     ],
+     [
+      0.0458,
+      13.997
+     ],
+     [
+      0.04945,
+      15.184
+     ],
+     [
+      0.0531,
+      16.371
+     ],
+     [
+      0.05675,
+      17.558
+     ],
+     [
+      0.0604,
+      18.745
+     ],
+     [
+      0.06405,
+      19.932
+     ],
+     [
+      0.0677,
+      20.634
+     ],
+     [
+      0.07135,
+      21.089
+     ],
+     [
+      0.075,
+      21.544
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.002
+     ],
+     [
+      0.0068,
+      0.002
+     ],
+     [
+      0.01018,
+      0.0046
+     ],
+     [
+      0.01018,
+      0.06424
+     ],
+     [
+      0.0063,
+      0.0665
+     ],
+     [
+      0.0063,
+      0.075
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "18 mm screw",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0021,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0021,
+    "cap_seat_z_m": 0.067,
+    "clear_lift_m": 0.01,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0445
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.02275,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.0815,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.0355,
+      0.0535
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0445
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1645
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.07225
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0205,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00525
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1575
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.067
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.009,
+      0.0,
+      0.075
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "steel"
+   },
+   "empty_mass_kg": 0.02262,
+   "mass_body_kg": 0.01612,
+   "mass_cap_kg": 0.00651,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "顶空进样瓶（HS 8697）",
+   "instrument_fit": {
+    "instrument.mt_quantos_q2_xpe206dr": {
+     "slot": "container_seat (balance pan)",
+     "limits_source": "quantos_manual p.103 (QB1/QB3/QB7 column)",
+     "limits": {
+      "height_m": [
+       0.031,
+       0.178
+      ],
+      "min_opening_m": 0.006,
+      "max_diameter_m": 0.1,
+      "platform_m": [
+       0.078,
+       0.073
+      ]
+     },
+     "vial_height_open_m": 0.075,
+     "vial_opening_m": 0.0126,
+     "vial_diameter_m": 0.02275,
+     "seat_z_m": 0.069,
+     "outlet_z_m": 0.2,
+     "outlet_gap_open_vial_m": 0.056,
+     "note_zh": "开盖后上机；出粉口在瓶口正上方（实例 powder_outlet 与 container_seat 同 XY）；Quantos 用头高调节把出粉口降到瓶口上 0.5–1 mm（手册 p.23），实例未建该运动",
+     "ok": true
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/agilent_hs_vial_20ml/collision_proxies.json b/assets/labware/containers/agilent_hs_vial_20ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..4817b2c451d66178ebf59fe81ebb06cdcad4a06b
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/collision_proxies.json
@@ -0,0 +1,1182 @@
+{
+ "asset_type_id": "labware.agilent_hs_vial_20ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.009171,
+      0.0,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.007943,
+      0.004586,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.004586,
+      0.007943,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.0,
+      0.009171,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.004586,
+      0.007943,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.007943,
+      0.004586,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.009171,
+      0.0,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.007943,
+      -0.004586,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.004586,
+      -0.007943,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      -0.0,
+      -0.009171,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.004586,
+      -0.007943,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.004651
+     ],
+     "origin_m": [
+      0.007943,
+      -0.004586,
+      0.002944
+     ],
+     "rpy_rad": [
+      0.0,
+      0.812008,
+      5.759587
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.060838
+     ],
+     "origin_m": [
+      0.010625,
+      0.0,
+      0.034419
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.060838
+     ],
+     "origin_m": [
+      0.009202,
+      0.005312,
+      0.034419
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.006432,
+      0.060838
+     ],
+     "origin_m": [
+      0.005313,
+      0.009202,
+      0.034419
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diff --git a/assets/labware/containers/agilent_hs_vial_20ml/geometry_manifest.json b/assets/labware/containers/agilent_hs_vial_20ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..07bec3e31d17b63ef1535a333c6361ccea4c1f52
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/geometry_manifest.json
@@ -0,0 +1,1726 @@
+{
+ "asset_type_id": "labware.agilent_hs_vial_20ml",
+ "catalog_id": null,
+ "name_zh": "Agilent 20 mL 螺口顶空瓶（22.75×75 mm，18 mm 磁性螺旋盖）",
+ "name_en": "Agilent 5188-2753 20 mL screw-top headspace vial",
+ "created_at": "2026-10-23T09:24:36Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.02275,
+  0.02275,
+  0.0775
+ ],
+ "bounds_m": [
+  [
+   -0.01138,
+   -0.01138,
+   0.0
+  ],
+  [
+   0.01138,
+   0.01138,
+   0.0775
+  ]
+ ],
+ "total_mass_kg": 0.02262,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "agilent_5188_2753",
+   "kind": "manufacturer",
+   "reference": "Agilent 5188-2753 headspace vial, screw top, 20 mL (https://www.agilent.com/store/es_ES/Prod-5188-2753/5188-2753); also Crawford Scientific listing",
+   "locator": "vial size 22.75 x 75 mm, 18 mm screw cap, round bottom",
+   "note": "20 mL screw-top headspace vial (fits the HS 8697 headspace sampler). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "quantos_manual",
+   "kind": "manufacturer",
+   "reference": "METTLER TOLEDO Quantos operating instructions (references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf, local copy, page references only)",
+   "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+   "note": "Real-model data for the dosing head, its storage and the target container limits.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "quantos_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
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+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 22.8 mm、本体高 75.0 mm；内腔为 LiquidContents 的计数区",
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+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0027,
+      0.005089,
+      0.0085
+     ],
+     "origin_m": [
+      -0.0,
+      -0.00765,
+      0.07075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0027,
+      0.005089,
+      0.0085
+     ],
+     "origin_m": [
+      0.003825,
+      -0.006625,
+      0.07075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0027,
+      0.005089,
+      0.0085
+     ],
+     "origin_m": [
+      0.006625,
+      -0.003825,
+      0.07075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  },
+  {
+   "id": "cap",
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "steel 螺旋盖 Ø20.5×10.5 mm；18 mm screw 螺纹",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.067
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     6.283185
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.006506,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 0.83 cm3 × steel 密度计算",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "agilent_hs_vial_20ml__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "agilent_hs_vial_20ml__cap",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.74,
+      1.0
+     ],
+     "hex": "#B2B5BD",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.50708,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01025,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00975
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.009951,
+      0.0,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.008618,
+      0.004976,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.004976,
+      0.008618,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.0,
+      0.009951,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.004976,
+      0.008618,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.008618,
+      0.004976,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.009951,
+      0.0,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.008618,
+      -0.004976,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.004976,
+      -0.008618,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      -0.0,
+      -0.009951,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.004976,
+      -0.008618,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000597,
+      0.005796,
+      0.009
+     ],
+     "origin_m": [
+      0.008618,
+      -0.004976,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "agilent_hs_vial_20ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.agilent_hs_vial_20ml",
+  "family": "vial",
+  "labware_class": "vial",
+  "fits": [
+   "vial",
+   "headspace_vial_20ml"
+  ],
+  "maker": "Agilent",
+  "model": "Headspace vial, screw top, 20 mL, 22.75 x 75 mm",
+  "catalogue_no": "5188-2753",
+  "nominal_capacity_m3": 1.9999999999999998e-05,
+  "brim_capacity_m3": 2.1544e-05,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "agilent_5188_2753",
+  "outer": {
+   "diameter_m": 0.02275,
+   "height_body_m": 0.075,
+   "height_with_cap_m": 0.0775,
+   "source_id": "agilent_5188_2753"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.01018,
+   "floor_m": 0.002,
+   "height_m": 0.075,
+   "body_top_m": 0.06484,
+   "neck_radius_m": 0.0063,
+   "nominal_fill_height_m": 0.06426,
+   "volume_table_m_ml": [
+    [
+     0.002,
+     0.0
+    ],
+    [
+     0.00565,
+     0.938
+    ],
+    [
+     0.0093,
+     2.125
+    ],
+    [
+     0.01295,
+     3.312
+    ],
+    [
+     0.0166,
+     4.499
+    ],
+    [
+     0.02025,
+     5.686
+    ],
+    [
+     0.0239,
+     6.874
+    ],
+    [
+     0.02755,
+     8.061
+    ],
+    [
+     0.0312,
+     9.248
+    ],
+    [
+     0.03485,
+     10.435
+    ],
+    [
+     0.0385,
+     11.622
+    ],
+    [
+     0.04215,
+     12.809
+    ],
+    [
+     0.0458,
+     13.997
+    ],
+    [
+     0.04945,
+     15.184
+    ],
+    [
+     0.0531,
+     16.371
+    ],
+    [
+     0.05675,
+     17.558
+    ],
+    [
+     0.0604,
+     18.745
+    ],
+    [
+     0.06405,
+     19.932
+    ],
+    [
+     0.0677,
+     20.634
+    ],
+    [
+     0.07135,
+     21.089
+    ],
+    [
+     0.075,
+     21.544
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.002
+    ],
+    [
+     0.0068,
+     0.002
+    ],
+    [
+     0.01018,
+     0.0046
+    ],
+    [
+     0.01018,
+     0.06424
+    ],
+    [
+     0.0063,
+     0.0665
+    ],
+    [
+     0.0063,
+     0.075
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "18 mm screw",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0021,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0021,
+   "cap_seat_z_m": 0.067,
+   "clear_lift_m": 0.01,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0445
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.02275,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.0815,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.0355,
+     0.0535
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1645
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1645
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0445
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1645
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.07225
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0205,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00525
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1575
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.067
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.009,
+     0.0,
+     0.075
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "steel"
+  },
+  "empty_mass_kg": 0.02262,
+  "mass_body_kg": 0.01612,
+  "mass_cap_kg": 0.00651,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "顶空进样瓶（HS 8697）",
+  "instrument_fit": {
+   "instrument.mt_quantos_q2_xpe206dr": {
+    "slot": "container_seat (balance pan)",
+    "limits_source": "quantos_manual p.103 (QB1/QB3/QB7 column)",
+    "limits": {
+     "height_m": [
+      0.031,
+      0.178
+     ],
+     "min_opening_m": 0.006,
+     "max_diameter_m": 0.1,
+     "platform_m": [
+      0.078,
+      0.073
+     ]
+    },
+    "vial_height_open_m": 0.075,
+    "vial_opening_m": 0.0126,
+    "vial_diameter_m": 0.02275,
+    "seat_z_m": 0.069,
+    "outlet_z_m": 0.2,
+    "outlet_gap_open_vial_m": 0.056,
+    "note_zh": "开盖后上机；出粉口在瓶口正上方（实例 powder_outlet 与 container_seat 同 XY）；Quantos 用头高调节把出粉口降到瓶口上 0.5–1 mm（手册 p.23），实例未建该运动",
+    "ok": true
+   }
+  }
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 20.5 mm、高 10.5 mm（磁性钢盖 + 隔垫）与颈部尺寸为假设；22.75×75 mm 为瓶身（目录）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.mtl b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bb167c7fa7a7dd2e6e8504f04919f654dedcc094
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl agilent_hs_vial_20ml__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.obj b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f2b8047e86b1c4e8b9360b6abbc0d94b4e137171
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__body.obj
@@ -0,0 +1,2886 @@
+mtllib agilent_hs_vial_20ml__body.mtl
+usemtl agilent_hs_vial_20ml__body
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diff --git a/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.mtl b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bc6c43ac2ad6f4bf2400d653d3ead69a2afa39b4
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl agilent_hs_vial_20ml__cap
+Kd 0.7000 0.7100 0.7400
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.obj b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed81259897756bcdca799ecc6c66ae77db7fa50a
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/meshes/agilent_hs_vial_20ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib agilent_hs_vial_20ml__cap.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..47d2f8cdd0da58d0626332af56923b7a06677276
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diff --git a/assets/labware/containers/agilent_hs_vial_20ml/model_solid.urdf b/assets/labware/containers/agilent_hs_vial_20ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..faa529d0343c90478994338da39062417195709e
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/model_solid.urdf
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diff --git a/assets/labware/containers/agilent_hs_vial_20ml/parts/body.urdf b/assets/labware/containers/agilent_hs_vial_20ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..84bd38969a6d79f2187f9acb51864a575660bcdb
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
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diff --git a/assets/labware/containers/agilent_hs_vial_20ml/parts/cap.urdf b/assets/labware/containers/agilent_hs_vial_20ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7fc625db2b4ff74e85acd9ee2574b6a4f48c1a7b
--- /dev/null
+++ b/assets/labware/containers/agilent_hs_vial_20ml/parts/cap.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="agilent_hs_vial_20ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.33077e-18 -6.65385e-19 0.00762731" rpy="0 0 0" />
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+    </inertial>
+    <visual name="agilent_hs_vial_20ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/agilent_hs_vial_20ml__cap.obj" />
+      </geometry>
+      <material name="mat_agilent_hs_vial_20ml__cap">
+        <color rgba="0.44799 0.46236 0.50708 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00975" rpy="0 0 0" />
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+</robot>
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/asset.contract.json b/assets/labware/containers/agilent_vial_2ml_screw/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..185b51560c8fb68b7c1005644d41cd77f9087fa3
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/asset.contract.json
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+{
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+ "asset_type_id": "labware.agilent_vial_2ml_screw",
+ "asset_version": "1.0.0",
+ "name_zh": "Agilent 2 mL 螺口样品瓶（12×32 mm，9 mm 螺纹盖）",
+ "category": "labware.container.vial",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Agilent 5182-0715 2 mL 螺口样品瓶，12×32 mm、12 mm 盖（9 mm 螺纹）。与 Matterix 现有 GC 样品瓶（chemsim/sample_vial）不同：这是螺口版本。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
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+ "artifacts": {
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+   "status": "available",
+   "sha256": "9f5ffffc380ef71c3b128ea23520d084b2b2787d9342dddceaf2a471c87bad2b"
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+   "sha256": "ca839f5f541ce737f54143b42242e896f5b903256f88ca29693fa9c5d9f26a40"
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+   "format": "urdf",
+   "status": "available",
+   "sha256": "f9f2861af61e3451a81ebc8b17a6eed98cc398a9c31d0c17c9d43046a4b778d5"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/agilent_vial_2ml_screw/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "ac39358b68e5294c24e453f3278fd0781d226b1d70408a68dfca2ce10d8e7ac9"
+  }
+ },
+ "sources": {
+  "agilent_5182_0715": {
+   "kind": "manufacturer",
+   "reference": "Agilent 5182-0715 screw top vial, 2 mL, clear (https://www.agilent.com/store/en/Prod-5182-0715/5182-0715)",
+   "locator": "vial size 12 x 32 mm, 12 mm cap (9 mm thread)",
+   "note": "Standard 2 mL autosampler screw vial. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 11.6 mm、本体高 30.5 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "agilent_vial_2ml_screw__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0116,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5182_0715"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.032,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5182_0715"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 2e-06,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5182_0715"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 2.121e-06,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0007,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.001959,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 0.9 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø11.8×6.5 mm；9 mm short thread 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "agilent_vial_2ml_screw__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0118,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "agilent_5182_0715"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.000236,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 0.26 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0015,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "12×32 mm 为带盖外形；瓶身外径 11.6 mm、盖高 6.5 mm、颈部尺寸为按标准 9 mm 短螺纹瓶的假设。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.agilent_vial_2ml_screw",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "vial",
+    "vial_12x32"
+   ],
+   "maker": "Agilent",
+   "model": "Screw top vial 2 mL, clear, 12 x 32 mm",
+   "catalogue_no": "5182-0715",
+   "nominal_capacity_m3": 2e-06,
+   "brim_capacity_m3": 2.121e-06,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "agilent_5182_0715",
+   "outer": {
+    "diameter_m": 0.0116,
+    "height_body_m": 0.0305,
+    "height_with_cap_m": 0.032,
+    "source_id": "agilent_5182_0715"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0051,
+    "floor_m": 0.001,
+    "height_m": 0.0305,
+    "body_top_m": 0.02445,
+    "neck_radius_m": 0.0033,
+    "nominal_fill_height_m": 0.02697,
+    "volume_table_m_ml": [
+     [
+      0.001,
+      0.0
+     ],
+     [
+      0.00247,
+      0.115
+     ],
+     [
+      0.00395,
+      0.235
+     ],
+     [
+      0.00542,
+      0.356
+     ],
+     [
+      0.0069,
+      0.476
+     ],
+     [
+      0.00838,
+      0.597
+     ],
+     [
+      0.00985,
+      0.717
+     ],
+     [
+      0.01132,
+      0.838
+     ],
+     [
+      0.0128,
+      0.959
+     ],
+     [
+      0.01428,
+      1.079
+     ],
+     [
+      0.01575,
+      1.2
+     ],
+     [
+      0.01722,
+      1.32
+     ],
+     [
+      0.0187,
+      1.441
+     ],
+     [
+      0.02018,
+      1.561
+     ],
+     [
+      0.02165,
+      1.682
+     ],
+     [
+      0.02312,
+      1.802
+     ],
+     [
+      0.0246,
+      1.915
+     ],
+     [
+      0.02608,
+      1.969
+     ],
+     [
+      0.02755,
+      2.02
+     ],
+     [
+      0.02902,
+      2.07
+     ],
+     [
+      0.0305,
+      2.121
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.001
+     ],
+     [
+      0.00449,
+      0.001
+     ],
+     [
+      0.0051,
+      0.00161
+     ],
+     [
+      0.0051,
+      0.0241
+     ],
+     [
+      0.0033,
+      0.025
+     ],
+     [
+      0.0033,
+      0.0305
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "9 mm short thread",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0015,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0015,
+    "cap_seat_z_m": 0.0255,
+    "clear_lift_m": 0.007,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      -0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0116,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.036,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      -0.01,
+      0.008
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      -0.001
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.119
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.02875
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0118,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00325
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.112
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0255
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0047,
+      0.0,
+      0.0305
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.00219,
+   "mass_body_kg": 0.00196,
+   "mass_cap_kg": 0.00024,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "自动进样瓶；装样后放样品架或仪器托盘"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/collision_proxies.json b/assets/labware/containers/agilent_vial_2ml_screw/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7d49b634f04f02cf3d2d1544006b3c7aab9868
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/collision_proxies.json
@@ -0,0 +1,966 @@
+{
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diff --git a/assets/labware/containers/agilent_vial_2ml_screw/geometry_manifest.json b/assets/labware/containers/agilent_vial_2ml_screw/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd97a7de83b395866e1cc0fbaac2d68501a58b55
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/geometry_manifest.json
@@ -0,0 +1,1476 @@
+{
+ "asset_type_id": "labware.agilent_vial_2ml_screw",
+ "catalog_id": null,
+ "name_zh": "Agilent 2 mL 螺口样品瓶（12×32 mm，9 mm 螺纹盖）",
+ "name_en": "Agilent 5182-0715 2 mL screw-top vial 12 x 32 mm",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
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+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0118,
+  0.0118,
+  0.032
+ ],
+ "bounds_m": [
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+   -0.0059,
+   -0.0059,
+   0.0
+  ],
+  [
+   0.0059,
+   0.0059,
+   0.032
+  ]
+ ],
+ "total_mass_kg": 0.00219,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "agilent_5182_0715",
+   "kind": "manufacturer",
+   "reference": "Agilent 5182-0715 screw top vial, 2 mL, clear (https://www.agilent.com/store/en/Prod-5182-0715/5182-0715)",
+   "locator": "vial size 12 x 32 mm, 12 mm cap (9 mm thread)",
+   "note": "Standard 2 mL autosampler screw vial. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 11.6 mm、本体高 30.5 mm；内腔为 LiquidContents 的计数区",
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+   "joint": null,
+   "mass_kg": 0.001959,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 0.9 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
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+   ],
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+  {
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+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø11.8×6.5 mm；9 mm short thread 螺纹",
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+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
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+   "mass_evidence": "assumption",
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+      0.0048,
+      0.002771,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      0.002771,
+      0.0048,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      0.0,
+      0.005542,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.002771,
+      0.0048,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.0048,
+      0.002771,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.005542,
+      0.0,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.0048,
+      -0.002771,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.002771,
+      -0.0048,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      -0.0,
+      -0.005542,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      0.002771,
+      -0.0048,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000716,
+      0.003336,
+      0.0053
+     ],
+     "origin_m": [
+      0.0048,
+      -0.002771,
+      0.00265
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "agilent_vial_2ml_screw__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.agilent_vial_2ml_screw",
+  "family": "vial",
+  "labware_class": "vial",
+  "fits": [
+   "vial",
+   "vial_12x32"
+  ],
+  "maker": "Agilent",
+  "model": "Screw top vial 2 mL, clear, 12 x 32 mm",
+  "catalogue_no": "5182-0715",
+  "nominal_capacity_m3": 2e-06,
+  "brim_capacity_m3": 2.121e-06,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "agilent_5182_0715",
+  "outer": {
+   "diameter_m": 0.0116,
+   "height_body_m": 0.0305,
+   "height_with_cap_m": 0.032,
+   "source_id": "agilent_5182_0715"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0051,
+   "floor_m": 0.001,
+   "height_m": 0.0305,
+   "body_top_m": 0.02445,
+   "neck_radius_m": 0.0033,
+   "nominal_fill_height_m": 0.02697,
+   "volume_table_m_ml": [
+    [
+     0.001,
+     0.0
+    ],
+    [
+     0.00247,
+     0.115
+    ],
+    [
+     0.00395,
+     0.235
+    ],
+    [
+     0.00542,
+     0.356
+    ],
+    [
+     0.0069,
+     0.476
+    ],
+    [
+     0.00838,
+     0.597
+    ],
+    [
+     0.00985,
+     0.717
+    ],
+    [
+     0.01132,
+     0.838
+    ],
+    [
+     0.0128,
+     0.959
+    ],
+    [
+     0.01428,
+     1.079
+    ],
+    [
+     0.01575,
+     1.2
+    ],
+    [
+     0.01722,
+     1.32
+    ],
+    [
+     0.0187,
+     1.441
+    ],
+    [
+     0.02018,
+     1.561
+    ],
+    [
+     0.02165,
+     1.682
+    ],
+    [
+     0.02312,
+     1.802
+    ],
+    [
+     0.0246,
+     1.915
+    ],
+    [
+     0.02608,
+     1.969
+    ],
+    [
+     0.02755,
+     2.02
+    ],
+    [
+     0.02902,
+     2.07
+    ],
+    [
+     0.0305,
+     2.121
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.001
+    ],
+    [
+     0.00449,
+     0.001
+    ],
+    [
+     0.0051,
+     0.00161
+    ],
+    [
+     0.0051,
+     0.0241
+    ],
+    [
+     0.0033,
+     0.025
+    ],
+    [
+     0.0033,
+     0.0305
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "9 mm short thread",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0015,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0015,
+   "cap_seat_z_m": 0.0255,
+   "clear_lift_m": 0.007,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     -0.001
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0116,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.036,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     -0.01,
+     0.008
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.119
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.119
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     -0.001
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.119
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.02875
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0118,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00325
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.112
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0255
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0047,
+     0.0,
+     0.0305
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.00219,
+  "mass_body_kg": 0.00196,
+  "mass_cap_kg": 0.00024,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "自动进样瓶；装样后放样品架或仪器托盘"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "12×32 mm 为带盖外形；瓶身外径 11.6 mm、盖高 6.5 mm、颈部尺寸为按标准 9 mm 短螺纹瓶的假设。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.mtl b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8577604b5aea59c31259811f0ae26282087eb99
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.mtl
@@ -0,0 +1,6 @@
+newmtl agilent_vial_2ml_screw__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.obj b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..887818c50f4f1f08ec1c3fa1f518afb38481a51d
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__body.obj
@@ -0,0 +1,1926 @@
+mtllib agilent_vial_2ml_screw__body.mtl
+usemtl agilent_vial_2ml_screw__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.00493000 0.00000000 0.00000000
+v 0.00580000 0.00000000 0.00087000
+v 0.00580000 0.00000000 0.02445000
+v 0.00470000 0.00000000 0.02500000
+v 0.00470000 0.00000000 0.03050000
+v 0.00330000 0.00000000 0.03050000
+v 0.00330000 0.00000000 0.02500000
+v 0.00510000 0.00000000 0.02410000
+v 0.00510000 0.00000000 0.00160900
+v 0.00449100 0.00000000 0.00100000
+v 0.00000000 0.00000000 0.00100000
+v 0.00490626 0.00048322 0.00000000
+v 0.00577207 0.00056850 0.00087000
+v 0.00577207 0.00056850 0.02445000
+v 0.00467737 0.00046068 0.02500000
+v 0.00467737 0.00046068 0.03050000
+v 0.00328411 0.00032346 0.03050000
+v 0.00328411 0.00032346 0.02500000
+v 0.00507544 0.00049989 0.02410000
+v 0.00507544 0.00049989 0.00160900
+v 0.00446937 0.00044019 0.00100000
+v 0.00483527 0.00096180 0.00000000
+v 0.00568855 0.00113152 0.00087000
+v 0.00568855 0.00113152 0.02445000
+v 0.00460969 0.00091692 0.02500000
+v 0.00460969 0.00091692 0.03050000
+v 0.00323659 0.00064380 0.03050000
+v 0.00323659 0.00064380 0.02500000
+v 0.00500200 0.00099496 0.02410000
+v 0.00500200 0.00099496 0.00160900
+v 0.00440471 0.00087615 0.00100000
+v 0.00471772 0.00143110 0.00000000
+v 0.00555025 0.00168365 0.00087000
+v 0.00555025 0.00168365 0.02445000
+v 0.00449762 0.00136434 0.02500000
+v 0.00449762 0.00136434 0.03050000
+v 0.00315790 0.00095794 0.03050000
+v 0.00315790 0.00095794 0.02500000
+v 0.00488040 0.00148045 0.02410000
+v 0.00488040 0.00148045 0.00160900
+v 0.00429762 0.00130367 0.00100000
+v 0.00455473 0.00188663 0.00000000
+v 0.00535850 0.00221956 0.00087000
+v 0.00535850 0.00221956 0.02445000
+v 0.00434223 0.00179861 0.02500000
+v 0.00434223 0.00179861 0.03050000
+v 0.00304880 0.00126286 0.03050000
+v 0.00304880 0.00126286 0.02500000
+v 0.00471179 0.00195169 0.02410000
+v 0.00471179 0.00195169 0.00160900
+v 0.00414914 0.00171863 0.00100000
+v 0.00434787 0.00232399 0.00000000
+v 0.00511514 0.00273410 0.00087000
+v 0.00511514 0.00273410 0.02445000
+v 0.00414503 0.00221556 0.02500000
+v 0.00414503 0.00221556 0.03050000
+v 0.00291034 0.00155561 0.03050000
+v 0.00291034 0.00155561 0.02500000
+v 0.00449780 0.00240412 0.02410000
+v 0.00449780 0.00240412 0.00160900
+v 0.00396071 0.00211704 0.00100000
+v 0.00409915 0.00273896 0.00000000
+v 0.00482252 0.00322231 0.00087000
+v 0.00482252 0.00322231 0.02445000
+v 0.00390791 0.00261118 0.02500000
+v 0.00390791 0.00261118 0.03050000
+v 0.00274385 0.00183338 0.03050000
+v 0.00274385 0.00183338 0.02500000
+v 0.00424050 0.00283341 0.02410000
+v 0.00424050 0.00283341 0.00160900
+v 0.00373413 0.00249507 0.00100000
+v 0.00381094 0.00312756 0.00000000
+v 0.00448346 0.00367948 0.00087000
+v 0.00448346 0.00367948 0.02445000
+v 0.00363315 0.00298165 0.02500000
+v 0.00363315 0.00298165 0.03050000
+v 0.00255093 0.00209350 0.03050000
+v 0.00255093 0.00209350 0.02500000
+v 0.00394235 0.00323541 0.02410000
+v 0.00394235 0.00323541 0.00160900
+v 0.00347159 0.00284906 0.00100000
+v 0.00348604 0.00348604 0.00000000
+v 0.00410122 0.00410122 0.00087000
+v 0.00410122 0.00410122 0.02445000
+v 0.00332340 0.00332340 0.02500000
+v 0.00332340 0.00332340 0.03050000
+v 0.00233345 0.00233345 0.03050000
+v 0.00233345 0.00233345 0.02500000
+v 0.00360624 0.00360624 0.02410000
+v 0.00360624 0.00360624 0.00160900
+v 0.00317562 0.00317562 0.00100000
+v 0.00312756 0.00381094 0.00000000
+v 0.00367948 0.00448346 0.00087000
+v 0.00367948 0.00448346 0.02445000
+v 0.00298165 0.00363315 0.02500000
+v 0.00298165 0.00363315 0.03050000
+v 0.00209350 0.00255093 0.03050000
+v 0.00209350 0.00255093 0.02500000
+v 0.00323541 0.00394235 0.02410000
+v 0.00323541 0.00394235 0.00160900
+v 0.00284906 0.00347159 0.00100000
+v 0.00273896 0.00409915 0.00000000
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diff --git a/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.mtl b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..107ec117db557f829bd0037eeb3a646bcd486b83
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.mtl
@@ -0,0 +1,6 @@
+newmtl agilent_vial_2ml_screw__cap
+Kd 0.1000 0.3200 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.obj b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..70fc04c643610770f280cc26836a94fa59c125a6
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/meshes/agilent_vial_2ml_screw__cap.obj
@@ -0,0 +1,582 @@
+mtllib agilent_vial_2ml_screw__cap.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..933569165b0945c623df8b3cd1581b3ac590ccdc
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diff --git a/assets/labware/containers/agilent_vial_2ml_screw/model.urdf b/assets/labware/containers/agilent_vial_2ml_screw/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..13d1249fadcfe49db5881b53604657a66e759ee6
--- /dev/null
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diff --git a/assets/labware/containers/agilent_vial_2ml_screw/model_solid.urdf b/assets/labware/containers/agilent_vial_2ml_screw/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5115cbdd2cd4b3e63a5cee50d3f1bd5b57f916c4
--- /dev/null
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+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="5.25043e-19 5.25043e-19 0.00426966" rpy="0 0 0" />
+      <mass value="0.000236318" />
+      <inertia ixx="3.57411e-09" ixy="0" ixz="0" iyy="3.57411e-09" iyz="0" izz="5.48415e-09" />
+    </inertial>
+    <visual name="agilent_vial_2ml_screw__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/agilent_vial_2ml_screw__cap.obj" />
+      </geometry>
+      <material name="mat_agilent_vial_2ml_screw__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00325" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0059" length="0.0065" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.0255" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="6.283185" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/parts/body.urdf b/assets/labware/containers/agilent_vial_2ml_screw/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a96884d1a89efb5d037c7c3e68cf62ae050c55b8
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/parts/body.urdf
@@ -0,0 +1,241 @@
+<?xml version="1.0"?>
+<robot name="agilent_vial_2ml_screw__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.13947e-19 3.13947e-19 0.0150216" rpy="0 0 0" />
+      <mass value="0.00195852" />
+      <inertia ixx="1.73788e-07" ixy="0" ixz="0" iyy="1.73788e-07" iyz="0" izz="4.39231e-08" />
+    </inertial>
+    <visual name="agilent_vial_2ml_screw__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/agilent_vial_2ml_screw__body.obj" />
+      </geometry>
+      <material name="mat_agilent_vial_2ml_screw__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0005" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.005539" length="0.001" />
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+    <collision>
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+      <origin xyz="2.44929e-19 0.004 0.02775" rpy="0 0 1.5708" />
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+      <origin xyz="-0.002 0.0034641 0.02775" rpy="0 0 2.0944" />
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+        <box size="0.0014 0.00265779 0.0055" />
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+    <collision>
+      <origin xyz="-0.004 4.89859e-19 0.02775" rpy="0 0 3.14159" />
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+    <collision>
+      <origin xyz="-0.0034641 -0.002 0.02775" rpy="0 0 3.66519" />
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+      <origin xyz="-7.34788e-19 -0.004 0.02775" rpy="0 0 4.71239" />
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+      <origin xyz="0.0034641 -0.002 0.02775" rpy="0 0 5.75959" />
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/agilent_vial_2ml_screw/parts/cap.urdf b/assets/labware/containers/agilent_vial_2ml_screw/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4c0847d078c752c8c51588a162c2698e363c8029
--- /dev/null
+++ b/assets/labware/containers/agilent_vial_2ml_screw/parts/cap.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="agilent_vial_2ml_screw__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="5.25043e-19 5.25043e-19 0.00426966" rpy="0 0 0" />
+      <mass value="0.000236318" />
+      <inertia ixx="3.57411e-09" ixy="0" ixz="0" iyy="3.57411e-09" iyz="0" izz="5.48415e-09" />
+    </inertial>
+    <visual name="agilent_vial_2ml_screw__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/agilent_vial_2ml_screw__cap.obj" />
+      </geometry>
+      <material name="mat_agilent_vial_2ml_screw__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0059" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0059" length="0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00554213 0 0.00265" rpy="0 0 0" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00479962 0.00277106 0.00265" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00277106 0.00479962 0.00265" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="3.39357e-19 0.00554213 0.00265" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.00277106 0.00479962 0.00265" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.00479962 0.00277106 0.00265" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
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+    <collision>
+      <origin xyz="-0.00554213 6.78715e-19 0.00265" rpy="0 0 3.14159" />
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+      <origin xyz="-0.00479962 -0.00277106 0.00265" rpy="0 0 3.66519" />
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+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.00277106 -0.00479962 0.00265" rpy="0 0 4.18879" />
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+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="-1.01807e-18 -0.00554213 0.00265" rpy="0 0 4.71239" />
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+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="0.00277106 -0.00479962 0.00265" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+    <collision>
+      <origin xyz="0.00479962 -0.00277106 0.00265" rpy="0 0 5.75959" />
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+        <box size="0.000715744 0.00333637 0.0053" />
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+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/asset.contract.json b/assets/labware/containers/duran_gl45_1000ml_amber/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..1211a52929a191ec2325bca0ce3ac93d74fcf4f4
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/asset.contract.json
@@ -0,0 +1,719 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_1000ml_amber",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 1000 mL（棕色，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 1000 mL（amber），带蓝色 PP 螺旋盖；外径 101 mm、带盖高 230 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "7fb01ef3ce697f0507c43ff8ff61efbb5d34db3e571524c1751d694fc3068c49"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "86e48c4847bcabe151c9693135b42c948549c9fd949eeea3dd7f61436b979c33"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "db62ee13cb6450e031667529d311df68113e7fb7b410cda06f60583dc5819c71"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e7ace2beee4fc30a343463622bbc179c30ba4b98e6547ff430e0ab47137ebc56"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "daeb2abc9ae8263a0f8a758f9aa289d11298c30d1b9044f30f5f4c19e7758dbe"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "0854bacfb7f276052576a901a4f4f181301c84eb3567333abe65887624db7add"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_amber/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "f6159e76d9387b73ddc3f8fe2727bf5698620c17e2c417cb43e40b908de29a60"
+  }
+ },
+ "sources": {
+  "duran_gl45_amber": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22."
+  },
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 101.0 mm、本体高 225.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_1000ml_amber__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.101,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.23,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.001,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.001291885,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.480905,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 215.7 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_1000ml_amber__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_1000ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 1000 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 54 5",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001291885,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.101,
+    "height_body_m": 0.225,
+    "height_with_cap_m": 0.23,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.048,
+    "floor_m": 0.004,
+    "height_m": 0.225,
+    "body_top_m": 0.16335,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.14232,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.01505,
+      78.823
+     ],
+     [
+      0.0261,
+      158.806
+     ],
+     [
+      0.03715,
+      238.788
+     ],
+     [
+      0.0482,
+      318.77
+     ],
+     [
+      0.05925,
+      398.753
+     ],
+     [
+      0.0703,
+      478.735
+     ],
+     [
+      0.08135,
+      558.718
+     ],
+     [
+      0.0924,
+      638.7
+     ],
+     [
+      0.10345,
+      718.683
+     ],
+     [
+      0.1145,
+      798.665
+     ],
+     [
+      0.12555,
+      878.648
+     ],
+     [
+      0.1366,
+      958.63
+     ],
+     [
+      0.14765,
+      1038.612
+     ],
+     [
+      0.1587,
+      1118.595
+     ],
+     [
+      0.16975,
+      1191.005
+     ],
+     [
+      0.1808,
+      1236.601
+     ],
+     [
+      0.19185,
+      1260.661
+     ],
+     [
+      0.2029,
+      1271.82
+     ],
+     [
+      0.21395,
+      1281.852
+     ],
+     [
+      0.225,
+      1291.885
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0452,
+      0.004
+     ],
+     [
+      0.048,
+      0.0068
+     ],
+     [
+      0.048,
+      0.1621
+     ],
+     [
+      0.017,
+      0.1965
+     ],
+     [
+      0.017,
+      0.225
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.203,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.234,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.188,
+      0.206
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2165
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.31
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.203
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.225
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.50819,
+   "mass_body_kg": 0.4809,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/collision_proxies.json b/assets/labware/containers/duran_gl45_1000ml_amber/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4fca0bbd01fe16ceee02a5557b529b9d5d86e7d
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_1000ml_amber",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0493,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
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+}
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diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/geometry_manifest.json b/assets/labware/containers/duran_gl45_1000ml_amber/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba620ac5b4c5b3345a246ce66c62fcfef23dfd15
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/geometry_manifest.json
@@ -0,0 +1,2083 @@
+{
+ "asset_type_id": "labware.duran_gl45_1000ml_amber",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 1000 mL（棕色，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 1000 mL, amber, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.101,
+  0.101,
+  0.23
+ ],
+ "bounds_m": [
+  [
+   -0.0505,
+   -0.0505,
+   0.0
+  ],
+  [
+   0.0505,
+   0.0505,
+   0.23
+  ]
+ ],
+ "total_mass_kg": 0.50819,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_amber",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 101.0 mm、本体高 225.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.480905,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 215.7 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "duran_gl45_1000ml_amber__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "duran_gl45_1000ml_amber__body",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.08,
+      0.72
+     ],
+     "hex": "#8C4C14",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.00719,
+      0.72
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0493,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
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+     "shape": "box",
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+      0.0025,
+      0.021418,
+      0.16135
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+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.203
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     7.853982
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.027284,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 30.32 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "duran_gl45_1000ml_amber__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "duran_gl45_1000ml_amber__cap",
+     "rgba_srgb": [
+      0.1,
+      0.32,
+      0.78,
+      1.0
+     ],
+     "hex": "#1A52C7",
+     "rgba_linear": [
+      0.01002,
+      0.08354,
+      0.57048,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.029,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0255
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.0,
+      0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.0,
+      -0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "duran_gl45_1000ml_amber__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    7.853982
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.duran_gl45_1000ml_amber",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "gl45_bottle"
+  ],
+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "DURAN GL 45 laboratory bottle, amber, 1000 mL, PP screw cap + pouring ring",
+  "catalogue_no": "21806 54 5",
+  "nominal_capacity_m3": 0.001,
+  "brim_capacity_m3": 0.001291885,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "duran_gl45_amber",
+  "outer": {
+   "diameter_m": 0.101,
+   "height_body_m": 0.225,
+   "height_with_cap_m": 0.23,
+   "source_id": "duran_gl45_amber"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.048,
+   "floor_m": 0.004,
+   "height_m": 0.225,
+   "body_top_m": 0.16335,
+   "neck_radius_m": 0.017,
+   "nominal_fill_height_m": 0.14232,
+   "volume_table_m_ml": [
+    [
+     0.004,
+     0.0
+    ],
+    [
+     0.01505,
+     78.823
+    ],
+    [
+     0.0261,
+     158.806
+    ],
+    [
+     0.03715,
+     238.788
+    ],
+    [
+     0.0482,
+     318.77
+    ],
+    [
+     0.05925,
+     398.753
+    ],
+    [
+     0.0703,
+     478.735
+    ],
+    [
+     0.08135,
+     558.718
+    ],
+    [
+     0.0924,
+     638.7
+    ],
+    [
+     0.10345,
+     718.683
+    ],
+    [
+     0.1145,
+     798.665
+    ],
+    [
+     0.12555,
+     878.648
+    ],
+    [
+     0.1366,
+     958.63
+    ],
+    [
+     0.14765,
+     1038.612
+    ],
+    [
+     0.1587,
+     1118.595
+    ],
+    [
+     0.16975,
+     1191.005
+    ],
+    [
+     0.1808,
+     1236.601
+    ],
+    [
+     0.19185,
+     1260.661
+    ],
+    [
+     0.2029,
+     1271.82
+    ],
+    [
+     0.21395,
+     1281.852
+    ],
+    [
+     0.225,
+     1291.885
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.004
+    ],
+    [
+     0.0452,
+     0.004
+    ],
+    [
+     0.048,
+     0.0068
+    ],
+    [
+     0.048,
+     0.1621
+    ],
+    [
+     0.017,
+     0.1965
+    ],
+    [
+     0.017,
+     0.225
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.203,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.197
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06308,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.234,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.188,
+     0.206
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.197
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2165
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.31
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.203
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.225
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.50819,
+  "mass_body_kg": 0.4809,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.mtl b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..358cc694ef65c88dde3fb558b05471fe1efc13c9
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_1000ml_amber__body
+Kd 0.5500 0.3000 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.720
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.obj b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1c473a6018373f771210b474a650c67883baa86
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_1000ml_amber__body.mtl
+usemtl duran_gl45_1000ml_amber__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.04650000 0.00000000 0.00000000
+v 0.05050000 0.00000000 0.00400000
+v 0.05050000 0.00000000 0.16335000
+v 0.02500000 0.00000000 0.19650000
+v 0.02500000 0.00000000 0.20250000
+v 0.02250000 0.00000000 0.20250000
+v 0.02250000 0.00000000 0.22500000
+v 0.01700000 0.00000000 0.22500000
+v 0.01700000 0.00000000 0.19650000
+v 0.04800000 0.00000000 0.16210000
+v 0.04800000 0.00000000 0.00680000
+v 0.04520000 0.00000000 0.00400000
+v 0.00000000 0.00000000 0.00400000
+v 0.04627609 0.00455780 0.00000000
+v 0.05025683 0.00494987 0.00400000
+v 0.05025683 0.00494987 0.16335000
+v 0.02487962 0.00245043 0.19650000
+v 0.02487962 0.00245043 0.20250000
+v 0.02239166 0.00220539 0.20250000
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diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.mtl b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9073b8787e18eeb031188e86b189e35c59aecc08
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_1000ml_amber__cap
+Kd 0.1000 0.3200 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.obj b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67518f4b0bce27063decb212693f17cfa4a6af93
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/meshes/duran_gl45_1000ml_amber__cap.obj
@@ -0,0 +1,582 @@
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Binary files /dev/null and b/assets/labware/containers/duran_gl45_1000ml_amber/model.glb differ
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/model.urdf b/assets/labware/containers/duran_gl45_1000ml_amber/model.urdf
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index 0000000000000000000000000000000000000000..a9724d68449e51763599d326fc45bb764ab80bec
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+    <collision>
+      <origin xyz="-0.0100072 -0.0241596 0.012" rpy="0 0 4.31969" />
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+        <box size="0.00569967 0.0122993 0.024" />
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+    </collision>
+    <collision>
+      <origin xyz="-4.80371e-18 -0.0261502 0.012" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
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+    </collision>
+    <collision>
+      <origin xyz="0.018491 -0.018491 0.012" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.203" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/model_solid.urdf b/assets/labware/containers/duran_gl45_1000ml_amber/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a73384060fdafcfc3344982696ba3ed58e0af7ad
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_amber">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.102638" rpy="0 0 0" />
+      <mass value="0.480905" />
+      <inertia ixx="0.00243763" ixy="0" ixz="0" iyy="0.00243763" iyz="0" izz="0.000817618" />
+    </inertial>
+    <visual name="duran_gl45_1000ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_1000ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.1125" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0505" length="0.225" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_1000ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_1000ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.203" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/parts/body.urdf b/assets/labware/containers/duran_gl45_1000ml_amber/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..eaa47d9844c3f40ed0a8a82d36b074bd00e50a3f
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_amber__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.102638" rpy="0 0 0" />
+      <mass value="0.480905" />
+      <inertia ixx="0.00243763" ixy="0" ixz="0" iyy="0.00243763" iyz="0" izz="0.000817618" />
+    </inertial>
+    <visual name="duran_gl45_1000ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_1000ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0493" length="0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.04925 0 0.082675" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0025 0.0214178 0.16135" />
+      </geometry>
+    </collision>
+    <collision>
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+    </collision>
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diff --git a/assets/labware/containers/duran_gl45_1000ml_amber/parts/cap.urdf b/assets/labware/containers/duran_gl45_1000ml_amber/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..115dea41d2dbf9141539ec01d0429a58a480ae4e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_amber/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_amber__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_1000ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_1000ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0261502 0 0.012" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 0.0100072 0.012" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 0.018491 0.012" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 0.0241596 0.012" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.60124e-18 0.0261502 0.012" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 0.0241596 0.012" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 0.018491 0.012" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 0.0100072 0.012" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0261502 3.20247e-18 0.012" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 -0.0100072 0.012" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 -0.018491 0.012" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 -0.0241596 0.012" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.80371e-18 -0.0261502 0.012" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 -0.0241596 0.012" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 -0.018491 0.012" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/asset.contract.json b/assets/labware/containers/duran_gl45_1000ml_clear/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..3265cbc39987768069d6ce3c1075e3982fdc358f
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/asset.contract.json
@@ -0,0 +1,713 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_1000ml_clear",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 1000 mL（透明，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 1000 mL（clear），带蓝色 PP 螺旋盖；外径 101 mm、带盖高 230 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "f58e7b7d3c09f37a2862934157ae359c893b79a78cb0434a80c8e463865f9c22"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b18fb978418ed0e64a8efe4da9cfeb998271865a85bdb1932a5de1ed0f50b99a"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "4785187aa79229e3230ad8c21f8db9a05e79885b50e84497e0bf8a37a7c6a43a"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9279aa64a64cf067705271a94671e6a4f9aec776048a1f979199768684a1e260"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "83b76eea5f296ed23841b87668a904c1f958d60932dafb89256b0d4d19f8d696"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "adb8e4966447ffcc9299ae03b37ba8fac6d6cb42800e9fa59a4b0103f91b54f5"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_1000ml_clear/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c1bc1a1681f9da3889d6a89ad0700702efb26bd6796fe2acff0aec2bbeab78e0"
+  }
+ },
+ "sources": {
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 101.0 mm、本体高 225.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_1000ml_clear__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.101,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.23,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.001,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.001291885,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.480905,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 215.7 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_1000ml_clear__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_1000ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 1000 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 54 5",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001291885,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.101,
+    "height_body_m": 0.225,
+    "height_with_cap_m": 0.23,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.048,
+    "floor_m": 0.004,
+    "height_m": 0.225,
+    "body_top_m": 0.16335,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.14232,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.01505,
+      78.823
+     ],
+     [
+      0.0261,
+      158.806
+     ],
+     [
+      0.03715,
+      238.788
+     ],
+     [
+      0.0482,
+      318.77
+     ],
+     [
+      0.05925,
+      398.753
+     ],
+     [
+      0.0703,
+      478.735
+     ],
+     [
+      0.08135,
+      558.718
+     ],
+     [
+      0.0924,
+      638.7
+     ],
+     [
+      0.10345,
+      718.683
+     ],
+     [
+      0.1145,
+      798.665
+     ],
+     [
+      0.12555,
+      878.648
+     ],
+     [
+      0.1366,
+      958.63
+     ],
+     [
+      0.14765,
+      1038.612
+     ],
+     [
+      0.1587,
+      1118.595
+     ],
+     [
+      0.16975,
+      1191.005
+     ],
+     [
+      0.1808,
+      1236.601
+     ],
+     [
+      0.19185,
+      1260.661
+     ],
+     [
+      0.2029,
+      1271.82
+     ],
+     [
+      0.21395,
+      1281.852
+     ],
+     [
+      0.225,
+      1291.885
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0452,
+      0.004
+     ],
+     [
+      0.048,
+      0.0068
+     ],
+     [
+      0.048,
+      0.1621
+     ],
+     [
+      0.017,
+      0.1965
+     ],
+     [
+      0.017,
+      0.225
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.203,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.234,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.188,
+      0.206
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.197
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.317
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2165
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.31
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.203
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.225
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.50819,
+   "mass_body_kg": 0.4809,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/collision_proxies.json b/assets/labware/containers/duran_gl45_1000ml_clear/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a6deba6098dc3f5d8acabea21a834e797dc9d4
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_1000ml_clear",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0493,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      0.04925,
+      0.0,
+      0.082675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      0.045501,
+      0.018847,
+      0.082675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      0.034825,
+      0.034825,
+      0.082675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      0.018847,
+      0.045501,
+      0.082675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      0.0,
+      0.04925,
+      0.082675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      -0.018847,
+      0.045501,
+      0.082675
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.021418,
+      0.16135
+     ],
+     "origin_m": [
+      -0.034825,
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+      0.082675
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+     "rpy_rad": [
+      0.0,
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+      2.356194
+     ]
+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+      2.748894
+     ]
+    },
+    {
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diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/geometry_manifest.json b/assets/labware/containers/duran_gl45_1000ml_clear/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f975fc014233e76bf34dab05c7525110a51237
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/geometry_manifest.json
@@ -0,0 +1,2075 @@
+{
+ "asset_type_id": "labware.duran_gl45_1000ml_clear",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 1000 mL（透明，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 1000 mL, clear, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.101,
+  0.101,
+  0.23
+ ],
+ "bounds_m": [
+  [
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+   -0.0505,
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+  ],
+  [
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+   0.0505,
+   0.23
+  ]
+ ],
+ "total_mass_kg": 0.50819,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 101.0 mm、本体高 225.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
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+   "rpy_rad": [
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+   ],
+   "joint": null,
+   "mass_kg": 0.480905,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 215.7 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "duran_gl45_1000ml_clear__body"
+   ],
+   "detachable": false,
+   "appearance": [
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+   "collisions": [
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+     0.21395,
+     1281.852
+    ],
+    [
+     0.225,
+     1291.885
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.004
+    ],
+    [
+     0.0452,
+     0.004
+    ],
+    [
+     0.048,
+     0.0068
+    ],
+    [
+     0.048,
+     0.1621
+    ],
+    [
+     0.017,
+     0.1965
+    ],
+    [
+     0.017,
+     0.225
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.203,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.197
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06308,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.234,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.188,
+     0.206
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.197
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.317
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2165
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.31
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.203
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.225
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.50819,
+  "mass_body_kg": 0.4809,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.mtl b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4636232ff7f39cd49b13b0643bd2a2703cb4e2a3
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_1000ml_clear__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.obj b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb247efe82da53eee51939ca80120f743b053b9
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_1000ml_clear__body.mtl
+usemtl duran_gl45_1000ml_clear__body
+# https://github.com/mikedh/trimesh
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+v 0.04453702 0.02380554 0.00400000
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diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.mtl b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..24bfdae40872fd9b389709205e32e4b0fcddc2fe
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_1000ml_clear__cap
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+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.obj b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d85b829a3507b999898f8a85d4af47e6c346d736
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/meshes/duran_gl45_1000ml_clear__cap.obj
@@ -0,0 +1,582 @@
+mtllib duran_gl45_1000ml_clear__cap.mtl
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index 0000000000000000000000000000000000000000..168c0959bee58593231fd69a50cb6614ae62391a
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diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/model.urdf b/assets/labware/containers/duran_gl45_1000ml_clear/model.urdf
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index 0000000000000000000000000000000000000000..94b6520c537fc8213b5c35dfd99443eec8c202a0
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+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+    <axis xyz="0 0 1" />
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diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/model_solid.urdf b/assets/labware/containers/duran_gl45_1000ml_clear/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..72ee15ab7919049d9c0ee09104ef18a9355d0813
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_clear">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.102638" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_1000ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_1000ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.1125" rpy="0 0 0" />
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+        <cylinder radius="0.0505" length="0.225" />
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+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_1000ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
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+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
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+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.203" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/parts/body.urdf b/assets/labware/containers/duran_gl45_1000ml_clear/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..73f4b70b39f91481d33c47be26ba8a425c787c66
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_clear__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.102638" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_1000ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_1000ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
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+      <origin xyz="0 0 0.002" rpy="0 0 0" />
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diff --git a/assets/labware/containers/duran_gl45_1000ml_clear/parts/cap.urdf b/assets/labware/containers/duran_gl45_1000ml_clear/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1c9e45b2474d019fc67261ef169a7e5640579df
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_1000ml_clear/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_1000ml_clear__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_1000ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_1000ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_1000ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
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diff --git a/assets/labware/containers/duran_gl45_100ml_amber/asset.contract.json b/assets/labware/containers/duran_gl45_100ml_amber/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d67847add4bde6e6105840f230ee894328860af
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/asset.contract.json
@@ -0,0 +1,719 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_100ml_amber",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 100 mL（棕色，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 100 mL（amber），带蓝色 PP 螺旋盖；外径 56 mm、带盖高 105 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "03380618e6431f0689beb7b64192e5e56c61a5e78521f7b9487323ef99a82bdd"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "9fd58932593bdf42e5cb15196eaf61227cdad380cea1ee62afa1723655e363cc"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "7646b5b9a48c9aad3636d9c0846e7fb7aad2c6e62667f69dd771d1cdcdec8abb"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "2e7024c9522a8c36afe30bea1adf386010d13c8a2efdc35ced7fa767bf9240ca"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "dde250a24bc9f9f9cae89dde2eea0b9243e4f9b5f869fd737f5e06f5648f4f30"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "873a780a9e2d45739d6552915552a97bb5d442afc8536370e35454c46a970e0c"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_amber/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "25e0d9ed9c8ed673761cb18874682c4bf36dee9dfcf4e41870feae909e01cb7d"
+  }
+ },
+ "sources": {
+  "duran_gl45_amber": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22."
+  },
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 56.0 mm、本体高 100.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_100ml_amber__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.056,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.105,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 9.999999999999999e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000163256,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0022,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.129314,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 58.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_100ml_amber__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_100ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 100 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 24 5",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "brim_capacity_m3": 0.000163256,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.056,
+    "height_body_m": 0.1,
+    "height_with_cap_m": 0.105,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0258,
+    "floor_m": 0.004,
+    "height_m": 0.1,
+    "body_top_m": 0.0676,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.05211,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0088,
+      9.425
+     ],
+     [
+      0.0136,
+      19.463
+     ],
+     [
+      0.0184,
+      29.5
+     ],
+     [
+      0.0232,
+      39.538
+     ],
+     [
+      0.028,
+      49.576
+     ],
+     [
+      0.0328,
+      59.613
+     ],
+     [
+      0.0376,
+      69.651
+     ],
+     [
+      0.0424,
+      79.688
+     ],
+     [
+      0.0472,
+      89.726
+     ],
+     [
+      0.052,
+      99.764
+     ],
+     [
+      0.0568,
+      109.801
+     ],
+     [
+      0.0616,
+      119.839
+     ],
+     [
+      0.0664,
+      129.877
+     ],
+     [
+      0.0712,
+      137.1
+     ],
+     [
+      0.076,
+      141.466
+     ],
+     [
+      0.0808,
+      145.824
+     ],
+     [
+      0.0856,
+      150.182
+     ],
+     [
+      0.0904,
+      154.54
+     ],
+     [
+      0.0952,
+      158.898
+     ],
+     [
+      0.1,
+      163.256
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.023,
+      0.004
+     ],
+     [
+      0.0258,
+      0.0068
+     ],
+     [
+      0.0258,
+      0.0665
+     ],
+     [
+      0.017,
+      0.0715
+     ],
+     [
+      0.017,
+      0.1
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.078,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.109,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.063,
+      0.081
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0915
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.185
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.078
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.1
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.1566,
+   "mass_body_kg": 0.12931,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/collision_proxies.json b/assets/labware/containers/duran_gl45_100ml_amber/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5cc0d7d5c6d01e89773051cb13c37bf778e910c
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_100ml_amber",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0268,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0022,
+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.0269,
+      0.0,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0022,
+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.024852,
+      0.010294,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0022,
+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.019021,
+      0.019021,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
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+}
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diff --git a/assets/labware/containers/duran_gl45_100ml_amber/geometry_manifest.json b/assets/labware/containers/duran_gl45_100ml_amber/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0e973d0ae0709f65a82543007bcefa1ade93f9
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/geometry_manifest.json
@@ -0,0 +1,2083 @@
+{
+ "asset_type_id": "labware.duran_gl45_100ml_amber",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 100 mL（棕色，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 100 mL, amber, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.058,
+  0.058,
+  0.105
+ ],
+ "bounds_m": [
+  [
+   -0.029,
+   -0.029,
+   0.0
+  ],
+  [
+   0.029,
+   0.029,
+   0.105
+  ]
+ ],
+ "total_mass_kg": 0.1566,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_amber",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 56.0 mm、本体高 100.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.129314,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 58.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "duran_gl45_100ml_amber__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "duran_gl45_100ml_amber__body",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.08,
+      0.72
+     ],
+     "hex": "#8C4C14",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.00719,
+      0.72
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0268,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+      0.011875,
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+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
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+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
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+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "duran_gl45_100ml_amber__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "duran_gl45_100ml_amber__cap",
+     "rgba_srgb": [
+      0.1,
+      0.32,
+      0.78,
+      1.0
+     ],
+     "hex": "#1A52C7",
+     "rgba_linear": [
+      0.01002,
+      0.08354,
+      0.57048,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.029,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0255
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.0,
+      0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.0,
+      -0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "duran_gl45_100ml_amber__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    7.853982
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.duran_gl45_100ml_amber",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "gl45_bottle"
+  ],
+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "DURAN GL 45 laboratory bottle, amber, 100 mL, PP screw cap + pouring ring",
+  "catalogue_no": "21806 24 5",
+  "nominal_capacity_m3": 9.999999999999999e-05,
+  "brim_capacity_m3": 0.000163256,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "duran_gl45_amber",
+  "outer": {
+   "diameter_m": 0.056,
+   "height_body_m": 0.1,
+   "height_with_cap_m": 0.105,
+   "source_id": "duran_gl45_amber"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0258,
+   "floor_m": 0.004,
+   "height_m": 0.1,
+   "body_top_m": 0.0676,
+   "neck_radius_m": 0.017,
+   "nominal_fill_height_m": 0.05211,
+   "volume_table_m_ml": [
+    [
+     0.004,
+     0.0
+    ],
+    [
+     0.0088,
+     9.425
+    ],
+    [
+     0.0136,
+     19.463
+    ],
+    [
+     0.0184,
+     29.5
+    ],
+    [
+     0.0232,
+     39.538
+    ],
+    [
+     0.028,
+     49.576
+    ],
+    [
+     0.0328,
+     59.613
+    ],
+    [
+     0.0376,
+     69.651
+    ],
+    [
+     0.0424,
+     79.688
+    ],
+    [
+     0.0472,
+     89.726
+    ],
+    [
+     0.052,
+     99.764
+    ],
+    [
+     0.0568,
+     109.801
+    ],
+    [
+     0.0616,
+     119.839
+    ],
+    [
+     0.0664,
+     129.877
+    ],
+    [
+     0.0712,
+     137.1
+    ],
+    [
+     0.076,
+     141.466
+    ],
+    [
+     0.0808,
+     145.824
+    ],
+    [
+     0.0856,
+     150.182
+    ],
+    [
+     0.0904,
+     154.54
+    ],
+    [
+     0.0952,
+     158.898
+    ],
+    [
+     0.1,
+     163.256
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.004
+    ],
+    [
+     0.023,
+     0.004
+    ],
+    [
+     0.0258,
+     0.0068
+    ],
+    [
+     0.0258,
+     0.0665
+    ],
+    [
+     0.017,
+     0.0715
+    ],
+    [
+     0.017,
+     0.1
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.078,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.072
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.109,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.063,
+     0.081
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.072
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0915
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.185
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.078
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.1
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.1566,
+  "mass_body_kg": 0.12931,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.mtl b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..77de566f58e8de9ac123af9e7d055729c191e7d3
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_100ml_amber__body
+Kd 0.5500 0.3000 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.720
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.obj b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a2258c88528147bf7e761f1eb963ff985d2e4288
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_100ml_amber__body.mtl
+usemtl duran_gl45_100ml_amber__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.02400000 0.00000000 0.00000000
+v 0.02800000 0.00000000 0.00400000
+v 0.02800000 0.00000000 0.06760000
+v 0.02500000 0.00000000 0.07150000
+v 0.02500000 0.00000000 0.07750000
+v 0.02250000 0.00000000 0.07750000
+v 0.02250000 0.00000000 0.10000000
+v 0.01700000 0.00000000 0.10000000
+v 0.01700000 0.00000000 0.07150000
+v 0.02580000 0.00000000 0.06650000
+v 0.02580000 0.00000000 0.00680000
+v 0.02300000 0.00000000 0.00400000
+v 0.00000000 0.00000000 0.00400000
+v 0.02388443 0.00235241 0.00000000
+v 0.02786517 0.00274448 0.00400000
+v 0.02786517 0.00274448 0.06760000
+v 0.02487962 0.00245043 0.07150000
+v 0.02487962 0.00245043 0.07750000
+v 0.02239166 0.00220539 0.07750000
+v 0.02239166 0.00220539 0.10000000
+v 0.01691814 0.00166629 0.10000000
+v 0.01691814 0.00166629 0.07150000
+v 0.02567577 0.00252884 0.06650000
+v 0.02567577 0.00252884 0.00680000
+v 0.02288925 0.00225439 0.00400000
+v 0.02353885 0.00468217 0.00000000
+v 0.02746199 0.00546253 0.00400000
+v 0.02746199 0.00546253 0.06760000
+v 0.02451963 0.00487726 0.07150000
+v 0.02451963 0.00487726 0.07750000
+v 0.02206767 0.00438953 0.07750000
+v 0.02206767 0.00438953 0.10000000
+v 0.01667335 0.00331654 0.10000000
+v 0.01667335 0.00331654 0.07150000
+v 0.02530426 0.00503333 0.06650000
+v 0.02530426 0.00503333 0.00680000
+v 0.02255806 0.00448708 0.00400000
+v 0.02296657 0.00696683 0.00000000
+v 0.02679433 0.00812797 0.00400000
+v 0.02679433 0.00812797 0.06760000
+v 0.02392351 0.00725712 0.07150000
+v 0.02392351 0.00725712 0.07750000
+v 0.02153116 0.00653141 0.07750000
+v 0.02153116 0.00653141 0.10000000
+v 0.01626799 0.00493484 0.10000000
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diff --git a/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.mtl b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5e4a27c6edda234088d901456521b3c3f6a3cc42
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_100ml_amber__cap
+Kd 0.1000 0.3200 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.obj b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b104e55aff6435a15d6b0a190015a02cc70d27d4
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/meshes/duran_gl45_100ml_amber__cap.obj
@@ -0,0 +1,582 @@
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Binary files /dev/null and b/assets/labware/containers/duran_gl45_100ml_amber/model.glb differ
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/model.urdf b/assets/labware/containers/duran_gl45_100ml_amber/model.urdf
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index 0000000000000000000000000000000000000000..bdc4dc5bf640312b20a3f7ccd041daa5beb040e5
--- /dev/null
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+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.078" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/model_solid.urdf b/assets/labware/containers/duran_gl45_100ml_amber/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3fc866b4603be5e705637dc55086dcb422175100
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_amber">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.82587e-18 2.43449e-18 0.0508604" rpy="0 0 0" />
+      <mass value="0.129314" />
+      <inertia ixx="0.000141556" ixy="0" ixz="0" iyy="0.000141556" iyz="0" izz="6.75881e-05" />
+    </inertial>
+    <visual name="duran_gl45_100ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_100ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.028" length="0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_100ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_100ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.078" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_amber/parts/body.urdf b/assets/labware/containers/duran_gl45_100ml_amber/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..98fc7aa0eb74781c16eb5a559aeb56dce04fb1d9
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_amber__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.82587e-18 2.43449e-18 0.0508604" rpy="0 0 0" />
+      <mass value="0.129314" />
+      <inertia ixx="0.000141556" ixy="0" ixz="0" iyy="0.000141556" iyz="0" izz="6.75881e-05" />
+    </inertial>
+    <visual name="duran_gl45_100ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_100ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0268" length="0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0269 0 0.0348" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0022 0.0118752 0.0656" />
+      </geometry>
+    </collision>
+    <collision>
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+    </collision>
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+    </collision>
+    <collision>
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diff --git a/assets/labware/containers/duran_gl45_100ml_amber/parts/cap.urdf b/assets/labware/containers/duran_gl45_100ml_amber/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dcf8e46ec4d61f3e3a4414438cd7c53b04ee7c5b
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_amber/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_amber__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_100ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_100ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
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+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
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+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 0.0100072 0.012" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 0.018491 0.012" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 0.0241596 0.012" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.60124e-18 0.0261502 0.012" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 0.0241596 0.012" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 0.018491 0.012" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 0.0100072 0.012" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0261502 3.20247e-18 0.012" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 -0.0100072 0.012" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 -0.018491 0.012" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 -0.0241596 0.012" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.80371e-18 -0.0261502 0.012" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 -0.0241596 0.012" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 -0.018491 0.012" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/asset.contract.json b/assets/labware/containers/duran_gl45_100ml_clear/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d887e2be4eec04a8d5d7c4d1d1e876e82e80e3
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/asset.contract.json
@@ -0,0 +1,713 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_100ml_clear",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 100 mL（透明，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 100 mL（clear），带蓝色 PP 螺旋盖；外径 56 mm、带盖高 105 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "5d9453cbce2515b85c5dd88b821cc1fa8f1a64f34819c4ef371f48530fd056f6"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "6a7240083d06acef20990e42e550201f3af330ed6b87ede860979001ff84fa65"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1a5af03c7b42723b116b92e8d73b92bf6b6c13b2ade54e60ab0beb0f1e3afa2b"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "b76d9dfef30f40dcf50342a399c694b1e821c8f0c957c0a8a3cb6d859f2a8192"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "fac9564a42a0325c6a05146eb6ef76f356d3ef4cd9bdedd36f6f3d6f2b8f35b2"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "48211207d0277ed33a0440f63bee6fced70975e1237bfa6cb5985d12b3b79fa8"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_100ml_clear/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "916c1804fe26ea577b863e194c9d48974e580915916b113d8d2620a55fad0727"
+  }
+ },
+ "sources": {
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 56.0 mm、本体高 100.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_100ml_clear__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.056,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.105,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 9.999999999999999e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000163256,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0022,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.129314,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 58.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_100ml_clear__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_100ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 100 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 24 5",
+   "nominal_capacity_m3": 9.999999999999999e-05,
+   "brim_capacity_m3": 0.000163256,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.056,
+    "height_body_m": 0.1,
+    "height_with_cap_m": 0.105,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0258,
+    "floor_m": 0.004,
+    "height_m": 0.1,
+    "body_top_m": 0.0676,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.05211,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0088,
+      9.425
+     ],
+     [
+      0.0136,
+      19.463
+     ],
+     [
+      0.0184,
+      29.5
+     ],
+     [
+      0.0232,
+      39.538
+     ],
+     [
+      0.028,
+      49.576
+     ],
+     [
+      0.0328,
+      59.613
+     ],
+     [
+      0.0376,
+      69.651
+     ],
+     [
+      0.0424,
+      79.688
+     ],
+     [
+      0.0472,
+      89.726
+     ],
+     [
+      0.052,
+      99.764
+     ],
+     [
+      0.0568,
+      109.801
+     ],
+     [
+      0.0616,
+      119.839
+     ],
+     [
+      0.0664,
+      129.877
+     ],
+     [
+      0.0712,
+      137.1
+     ],
+     [
+      0.076,
+      141.466
+     ],
+     [
+      0.0808,
+      145.824
+     ],
+     [
+      0.0856,
+      150.182
+     ],
+     [
+      0.0904,
+      154.54
+     ],
+     [
+      0.0952,
+      158.898
+     ],
+     [
+      0.1,
+      163.256
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.023,
+      0.004
+     ],
+     [
+      0.0258,
+      0.0068
+     ],
+     [
+      0.0258,
+      0.0665
+     ],
+     [
+      0.017,
+      0.0715
+     ],
+     [
+      0.017,
+      0.1
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.078,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.109,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.063,
+      0.081
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.072
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.192
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0915
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.185
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.078
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.1
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.1566,
+   "mass_body_kg": 0.12931,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/collision_proxies.json b/assets/labware/containers/duran_gl45_100ml_clear/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9789cabd925322b408e05bf764fb5562ceed87d3
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_100ml_clear",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0268,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0022,
+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.0269,
+      0.0,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0022,
+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.024852,
+      0.010294,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
+      0.019021,
+      0.019021,
+      0.0348
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
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+      0.011875,
+      0.0656
+     ],
+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+      1.178097
+     ]
+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/geometry_manifest.json b/assets/labware/containers/duran_gl45_100ml_clear/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..379dacc5c889ed8ccbf184b8c80f9597bd7443f6
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/geometry_manifest.json
@@ -0,0 +1,2075 @@
+{
+ "asset_type_id": "labware.duran_gl45_100ml_clear",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 100 mL（透明，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 100 mL, clear, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.058,
+  0.058,
+  0.105
+ ],
+ "bounds_m": [
+  [
+   -0.029,
+   -0.029,
+   0.0
+  ],
+  [
+   0.029,
+   0.029,
+   0.105
+  ]
+ ],
+ "total_mass_kg": 0.1566,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
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+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 56.0 mm、本体高 100.0 mm；内腔为 LiquidContents 的计数区",
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+   "mass_kg": 0.129314,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 58.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
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+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.078,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.072
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.109,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.063,
+     0.081
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.072
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.192
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0915
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.185
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.078
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.1
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.1566,
+  "mass_body_kg": 0.12931,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.mtl b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..32906716d3c3632336d4bf8345df6346543f8c1c
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_100ml_clear__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.obj b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b5002c2b84427181971d277a9768d94a53efea7
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_100ml_clear__body.mtl
+usemtl duran_gl45_100ml_clear__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
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diff --git a/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.mtl b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7e7162dcce9050f8a7802eee8f4e89a816753490
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_100ml_clear__cap
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+Ka 0 0 0
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+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.obj b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbd08d694732af6b2991e3a4ddc003d9505eab5e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/meshes/duran_gl45_100ml_clear__cap.obj
@@ -0,0 +1,582 @@
+mtllib duran_gl45_100ml_clear__cap.mtl
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diff --git a/assets/labware/containers/duran_gl45_100ml_clear/model.urdf b/assets/labware/containers/duran_gl45_100ml_clear/model.urdf
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index 0000000000000000000000000000000000000000..4567321a00840476b3ce77ed5f108b19287f1df4
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+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+    <origin xyz="0 0 0.078" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/model_solid.urdf b/assets/labware/containers/duran_gl45_100ml_clear/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8fcb03917b2420205439256c37a07cd6ad323511
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_clear">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.82587e-18 2.43449e-18 0.0508604" rpy="0 0 0" />
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+      <inertia ixx="0.000141556" ixy="0" ixz="0" iyy="0.000141556" iyz="0" izz="6.75881e-05" />
+    </inertial>
+    <visual name="duran_gl45_100ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_100ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.028" length="0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+  <link name="cap">
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+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
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+    <visual name="duran_gl45_100ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_100ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
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+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.078" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/parts/body.urdf b/assets/labware/containers/duran_gl45_100ml_clear/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5a0519a3dcdcb9e53bd72a2e8f0f1f51ed44edea
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_clear__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.82587e-18 2.43449e-18 0.0508604" rpy="0 0 0" />
+      <mass value="0.129314" />
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+    </inertial>
+    <visual name="duran_gl45_100ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_100ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0268" length="0.004" />
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+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_100ml_clear/parts/cap.urdf b/assets/labware/containers/duran_gl45_100ml_clear/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..27676ce53bd6e8811cf65042786d73d2a19078a4
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_100ml_clear/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_100ml_clear__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_100ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_100ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_100ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
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+    <collision>
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+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/asset.contract.json b/assets/labware/containers/duran_gl45_250ml_amber/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..62fb100696b6408ef0c973821ed582ba178033d2
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/asset.contract.json
@@ -0,0 +1,719 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_250ml_amber",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 250 mL（棕色，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 250 mL（amber），带蓝色 PP 螺旋盖；外径 70 mm、带盖高 143 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "8ec303b3337da24f1e9e18b6db76c2e5f2bead361fa33ad2da8d07d93b982aa8"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "78daa624cc45b0f727e9599b0e853876dc510e05587954130e20814eab72978d"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "3c30415fb056caaf29c097b509d03f17f4a27239cc7b0a74656b40ebba3bf9c5"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "18657c27fe9864e199a5d097236750d11b859c200100686d659cbbed00197556"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "404e8b4dbb10b46860817afb10ce70d585d35fa3a51c444085b53a657c955243"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "40cf5f71f771d7e74c764ace1ecdd6f10bbf109e14bd1387b87e0d28b086498e"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_amber/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "be84f73e330b91fecae50e4637105cb60c5605b84066919806520150fedb82b1"
+  }
+ },
+ "sources": {
+  "duran_gl45_amber": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22."
+  },
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 70.0 mm、本体高 138.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_250ml_amber__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.07,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.143,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.00025,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000356213,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.218485,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 98.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_250ml_amber__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_250ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 250 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 36 5",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000356213,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.07,
+    "height_body_m": 0.138,
+    "height_with_cap_m": 0.143,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0325,
+    "floor_m": 0.004,
+    "height_m": 0.138,
+    "body_top_m": 0.0965,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.07957,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0107,
+      21.455
+     ],
+     [
+      0.0174,
+      43.688
+     ],
+     [
+      0.0241,
+      65.92
+     ],
+     [
+      0.0308,
+      88.153
+     ],
+     [
+      0.0375,
+      110.386
+     ],
+     [
+      0.0442,
+      132.618
+     ],
+     [
+      0.0509,
+      154.851
+     ],
+     [
+      0.0576,
+      177.084
+     ],
+     [
+      0.0643,
+      199.316
+     ],
+     [
+      0.071,
+      221.549
+     ],
+     [
+      0.0777,
+      243.782
+     ],
+     [
+      0.0844,
+      266.014
+     ],
+     [
+      0.0911,
+      288.247
+     ],
+     [
+      0.0978,
+      309.778
+     ],
+     [
+      0.1045,
+      324.191
+     ],
+     [
+      0.1112,
+      331.881
+     ],
+     [
+      0.1179,
+      337.964
+     ],
+     [
+      0.1246,
+      344.047
+     ],
+     [
+      0.1313,
+      350.13
+     ],
+     [
+      0.138,
+      356.213
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0297,
+      0.004
+     ],
+     [
+      0.0325,
+      0.0068
+     ],
+     [
+      0.0325,
+      0.09525
+     ],
+     [
+      0.017,
+      0.1095
+     ],
+     [
+      0.017,
+      0.138
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.116,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1295
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.223
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.116
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.138
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.24577,
+   "mass_body_kg": 0.21848,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/collision_proxies.json b/assets/labware/containers/duran_gl45_250ml_amber/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..daa1f69d4066413eccc21a6fef643a3de6c6d300
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_250ml_amber",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0338,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.03375,
+      0.0,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.031181,
+      0.012916,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.023865,
+      0.023865,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.012916,
+      0.031181,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
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+}
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diff --git a/assets/labware/containers/duran_gl45_250ml_amber/geometry_manifest.json b/assets/labware/containers/duran_gl45_250ml_amber/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d325b83dd5d1c83ceb669197802a0d02b55f1ff0
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/geometry_manifest.json
@@ -0,0 +1,2083 @@
+{
+ "asset_type_id": "labware.duran_gl45_250ml_amber",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 250 mL（棕色，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 250 mL, amber, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.07,
+  0.07,
+  0.143
+ ],
+ "bounds_m": [
+  [
+   -0.035,
+   -0.035,
+   0.0
+  ],
+  [
+   0.035,
+   0.035,
+   0.143
+  ]
+ ],
+ "total_mass_kg": 0.24577,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_amber",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 70.0 mm、本体高 138.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.218485,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 98.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "duran_gl45_250ml_amber__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "duran_gl45_250ml_amber__body",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.08,
+      0.72
+     ],
+     "hex": "#8C4C14",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.00719,
+      0.72
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0338,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+      0.0025,
+      0.014844,
+      0.0945
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+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
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+    "source_ids": [
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+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
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+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 30.32 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
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+    {
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+     "rgba_srgb": [
+      0.1,
+      0.32,
+      0.78,
+      1.0
+     ],
+     "hex": "#1A52C7",
+     "rgba_linear": [
+      0.01002,
+      0.08354,
+      0.57048,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.029,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0255
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.0,
+      0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.0,
+      -0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "duran_gl45_250ml_amber__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    7.853982
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.duran_gl45_250ml_amber",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "gl45_bottle"
+  ],
+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "DURAN GL 45 laboratory bottle, amber, 250 mL, PP screw cap + pouring ring",
+  "catalogue_no": "21806 36 5",
+  "nominal_capacity_m3": 0.00025,
+  "brim_capacity_m3": 0.000356213,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "duran_gl45_amber",
+  "outer": {
+   "diameter_m": 0.07,
+   "height_body_m": 0.138,
+   "height_with_cap_m": 0.143,
+   "source_id": "duran_gl45_amber"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0325,
+   "floor_m": 0.004,
+   "height_m": 0.138,
+   "body_top_m": 0.0965,
+   "neck_radius_m": 0.017,
+   "nominal_fill_height_m": 0.07957,
+   "volume_table_m_ml": [
+    [
+     0.004,
+     0.0
+    ],
+    [
+     0.0107,
+     21.455
+    ],
+    [
+     0.0174,
+     43.688
+    ],
+    [
+     0.0241,
+     65.92
+    ],
+    [
+     0.0308,
+     88.153
+    ],
+    [
+     0.0375,
+     110.386
+    ],
+    [
+     0.0442,
+     132.618
+    ],
+    [
+     0.0509,
+     154.851
+    ],
+    [
+     0.0576,
+     177.084
+    ],
+    [
+     0.0643,
+     199.316
+    ],
+    [
+     0.071,
+     221.549
+    ],
+    [
+     0.0777,
+     243.782
+    ],
+    [
+     0.0844,
+     266.014
+    ],
+    [
+     0.0911,
+     288.247
+    ],
+    [
+     0.0978,
+     309.778
+    ],
+    [
+     0.1045,
+     324.191
+    ],
+    [
+     0.1112,
+     331.881
+    ],
+    [
+     0.1179,
+     337.964
+    ],
+    [
+     0.1246,
+     344.047
+    ],
+    [
+     0.1313,
+     350.13
+    ],
+    [
+     0.138,
+     356.213
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.004
+    ],
+    [
+     0.0297,
+     0.004
+    ],
+    [
+     0.0325,
+     0.0068
+    ],
+    [
+     0.0325,
+     0.09525
+    ],
+    [
+     0.017,
+     0.1095
+    ],
+    [
+     0.017,
+     0.138
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.116,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06308,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.147,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.101,
+     0.119
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1295
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.223
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.116
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.138
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.24577,
+  "mass_body_kg": 0.21848,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.mtl b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a29197167b425519ccfc90966a9a4c3cf5400010
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_250ml_amber__body
+Kd 0.5500 0.3000 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.720
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.obj b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..73d0ebda6941ac48be51fa8d7a58eb6393bc2198
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_250ml_amber__body.mtl
+usemtl duran_gl45_250ml_amber__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.03100000 0.00000000 0.00000000
+v 0.03500000 0.00000000 0.00400000
+v 0.03500000 0.00000000 0.09650000
+v 0.02500000 0.00000000 0.10950000
+v 0.02500000 0.00000000 0.11550000
+v 0.02250000 0.00000000 0.11550000
+v 0.02250000 0.00000000 0.13800000
+v 0.01700000 0.00000000 0.13800000
+v 0.01700000 0.00000000 0.10950000
+v 0.03250000 0.00000000 0.09525000
+v 0.03250000 0.00000000 0.00680000
+v 0.02970000 0.00000000 0.00400000
+v 0.00000000 0.00000000 0.00400000
+v 0.03085073 0.00303853 0.00000000
+v 0.03483147 0.00343060 0.00400000
+v 0.03483147 0.00343060 0.09650000
+v 0.02487962 0.00245043 0.10950000
+v 0.02487962 0.00245043 0.11550000
+v 0.02239166 0.00220539 0.11550000
+v 0.02239166 0.00220539 0.13800000
+v 0.01691814 0.00166629 0.13800000
+v 0.01691814 0.00166629 0.10950000
+v 0.03234350 0.00318556 0.09525000
+v 0.03234350 0.00318556 0.00680000
+v 0.02955699 0.00291111 0.00400000
+v 0.03040434 0.00604780 0.00000000
+v 0.03432748 0.00682816 0.00400000
+v 0.03432748 0.00682816 0.09650000
+v 0.02451963 0.00487726 0.10950000
+v 0.02451963 0.00487726 0.11550000
+v 0.02206767 0.00438953 0.11550000
+v 0.02206767 0.00438953 0.13800000
+v 0.01667335 0.00331654 0.13800000
+v 0.01667335 0.00331654 0.10950000
+v 0.03187552 0.00634044 0.09525000
+v 0.03187552 0.00634044 0.00680000
+v 0.02912932 0.00579418 0.00400000
+v 0.02966515 0.00899882 0.00000000
+v 0.03349291 0.01015996 0.00400000
+v 0.03349291 0.01015996 0.09650000
+v 0.02392351 0.00725712 0.10950000
+v 0.02392351 0.00725712 0.11550000
+v 0.02153116 0.00653141 0.11550000
+v 0.02153116 0.00653141 0.13800000
+v 0.01626799 0.00493484 0.13800000
+v 0.01626799 0.00493484 0.10950000
+v 0.03110056 0.00943425 0.09525000
+v 0.03110056 0.00943425 0.00680000
+v 0.02842113 0.00862145 0.00400000
+v 0.02864027 0.01186319 0.00000000
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diff --git a/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.mtl b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1a19be07c09f45715d7c16618bc2da6d137ec040
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_250ml_amber__cap
+Kd 0.1000 0.3200 0.7800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.obj b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b2626fecaaf8c0932dd3bea736b771a1f3fda2d
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/meshes/duran_gl45_250ml_amber__cap.obj
@@ -0,0 +1,582 @@
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diff --git a/assets/labware/containers/duran_gl45_250ml_amber/model.glb b/assets/labware/containers/duran_gl45_250ml_amber/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..16860f1de304d4157bcc55ba8091979c7109db92
Binary files /dev/null and b/assets/labware/containers/duran_gl45_250ml_amber/model.glb differ
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/model.urdf b/assets/labware/containers/duran_gl45_250ml_amber/model.urdf
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index 0000000000000000000000000000000000000000..8cba8be84b921323e8d74f6c29af377d5fee39c1
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/model.urdf
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+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.116" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/model_solid.urdf b/assets/labware/containers/duran_gl45_250ml_amber/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4b446a7d3a4d0c202d5e691d5b1ac9194a030fca
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_amber">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.20448e-19 2.88179e-18 0.0661266" rpy="0 0 0" />
+      <mass value="0.218485" />
+      <inertia ixx="0.00043595" ixy="0" ixz="0" iyy="0.00043595" iyz="0" izz="0.000178429" />
+    </inertial>
+    <visual name="duran_gl45_250ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_250ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.069" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.035" length="0.138" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_250ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_250ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.116" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_amber/parts/body.urdf b/assets/labware/containers/duran_gl45_250ml_amber/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..99d84481e1fb32e839fb01ea622c5a07521845ef
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_amber__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.20448e-19 2.88179e-18 0.0661266" rpy="0 0 0" />
+      <mass value="0.218485" />
+      <inertia ixx="0.00043595" ixy="0" ixz="0" iyy="0.00043595" iyz="0" izz="0.000178429" />
+    </inertial>
+    <visual name="duran_gl45_250ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_250ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0338" length="0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03375 0 0.04925" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0025 0.014844 0.0945" />
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+    </collision>
+    <collision>
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+    </collision>
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diff --git a/assets/labware/containers/duran_gl45_250ml_amber/parts/cap.urdf b/assets/labware/containers/duran_gl45_250ml_amber/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a3f78be1ec71275bba2f324676dda426b2d5223d
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_amber/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_amber__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_250ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_250ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
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+    </collision>
+    <collision>
+      <origin xyz="0.018491 0.018491 0.012" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 0.0241596 0.012" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.60124e-18 0.0261502 0.012" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 0.0241596 0.012" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 0.018491 0.012" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 0.0100072 0.012" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0261502 3.20247e-18 0.012" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 -0.0100072 0.012" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 -0.018491 0.012" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 -0.0241596 0.012" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.80371e-18 -0.0261502 0.012" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 -0.0241596 0.012" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 -0.018491 0.012" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/asset.contract.json b/assets/labware/containers/duran_gl45_250ml_clear/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd11d4bcef119b086fd736726c1ae5a399c78aa
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/asset.contract.json
@@ -0,0 +1,713 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_250ml_clear",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 250 mL（透明，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 250 mL（clear），带蓝色 PP 螺旋盖；外径 70 mm、带盖高 143 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "6ca296aa91b4795f0ba7830aa559811a4a6c3bbc83285a5a3cf336123c5bb447"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "e590e245fd0f85d4c5c16a309e25825af728d8b60319c9190dddae4829c9408a"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "c1d2490833d6677b5b63336158f7179dccfcf9f7419b4a7d3950163ff7ef856f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "53966d00b4b53f812f03ff3871b0170fd01b1b2f54c2a62eada71e3e01213ad2"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "ab0d6a9b9a277982399cb23c9c3638f2f53b9787e668dd6e004c1596ad762544"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a2f499229a7c58ba9852ecce2103ce3a00a00fc3c559cef973b4a259d9deda02"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_250ml_clear/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "f55f0d2854a82d8adef40e31f012101a39061469466aa1de1eb2200d345f737b"
+  }
+ },
+ "sources": {
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 70.0 mm、本体高 138.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_250ml_clear__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.07,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.143,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.00025,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000356213,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.218485,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 98.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_250ml_clear__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_250ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 250 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 36 5",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000356213,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.07,
+    "height_body_m": 0.138,
+    "height_with_cap_m": 0.143,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0325,
+    "floor_m": 0.004,
+    "height_m": 0.138,
+    "body_top_m": 0.0965,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.07957,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0107,
+      21.455
+     ],
+     [
+      0.0174,
+      43.688
+     ],
+     [
+      0.0241,
+      65.92
+     ],
+     [
+      0.0308,
+      88.153
+     ],
+     [
+      0.0375,
+      110.386
+     ],
+     [
+      0.0442,
+      132.618
+     ],
+     [
+      0.0509,
+      154.851
+     ],
+     [
+      0.0576,
+      177.084
+     ],
+     [
+      0.0643,
+      199.316
+     ],
+     [
+      0.071,
+      221.549
+     ],
+     [
+      0.0777,
+      243.782
+     ],
+     [
+      0.0844,
+      266.014
+     ],
+     [
+      0.0911,
+      288.247
+     ],
+     [
+      0.0978,
+      309.778
+     ],
+     [
+      0.1045,
+      324.191
+     ],
+     [
+      0.1112,
+      331.881
+     ],
+     [
+      0.1179,
+      337.964
+     ],
+     [
+      0.1246,
+      344.047
+     ],
+     [
+      0.1313,
+      350.13
+     ],
+     [
+      0.138,
+      356.213
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0297,
+      0.004
+     ],
+     [
+      0.0325,
+      0.0068
+     ],
+     [
+      0.0325,
+      0.09525
+     ],
+     [
+      0.017,
+      0.1095
+     ],
+     [
+      0.017,
+      0.138
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.116,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.23
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1295
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.223
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.116
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.138
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.24577,
+   "mass_body_kg": 0.21848,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/collision_proxies.json b/assets/labware/containers/duran_gl45_250ml_clear/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..6481f3fbf346ce699ae154e793286857544658e2
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_250ml_clear",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0338,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.03375,
+      0.0,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.031181,
+      0.012916,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
+      0.023865,
+      0.023865,
+      0.04925
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.014844,
+      0.0945
+     ],
+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+      1.178097
+     ]
+    },
+    {
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+     "origin_m": [
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+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/geometry_manifest.json b/assets/labware/containers/duran_gl45_250ml_clear/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8940e65e856fbff323f7019479c251a75a7b1443
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/geometry_manifest.json
@@ -0,0 +1,2075 @@
+{
+ "asset_type_id": "labware.duran_gl45_250ml_clear",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 250 mL（透明，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 250 mL, clear, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.07,
+  0.07,
+  0.143
+ ],
+ "bounds_m": [
+  [
+   -0.035,
+   -0.035,
+   0.0
+  ],
+  [
+   0.035,
+   0.035,
+   0.143
+  ]
+ ],
+ "total_mass_kg": 0.24577,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 70.0 mm、本体高 138.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
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+   "mass_kg": 0.218485,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 98.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
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+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.116,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06308,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.147,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.101,
+     0.119
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.23
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1295
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.223
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.116
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.138
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.24577,
+  "mass_body_kg": 0.21848,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.mtl b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a181de9547277896f5a5f7c8c5ffee502869e14
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_250ml_clear__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.obj b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..585fc297fa574749ae2ccdcdd3fcbc3ef72be83b
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_250ml_clear__body.mtl
+usemtl duran_gl45_250ml_clear__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.mtl b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5103de3cf610a413f74e849778228546e06f7b4
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_250ml_clear__cap
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diff --git a/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.obj b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e50971d5befda5c2586a6123ac13e7045a56e4c3
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/meshes/duran_gl45_250ml_clear__cap.obj
@@ -0,0 +1,582 @@
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index 0000000000000000000000000000000000000000..cfb3ecac3d8b20da2f8f1247a6b0e40561b95c43
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diff --git a/assets/labware/containers/duran_gl45_250ml_clear/model.urdf b/assets/labware/containers/duran_gl45_250ml_clear/model.urdf
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index 0000000000000000000000000000000000000000..8f1ce015335b71802cca9f63163aec4d9d666e83
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+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+    <axis xyz="0 0 1" />
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diff --git a/assets/labware/containers/duran_gl45_250ml_clear/model_solid.urdf b/assets/labware/containers/duran_gl45_250ml_clear/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..996f5ef833707d01a6bc5fa388d47b3a7a4ed007
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_clear">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.20448e-19 2.88179e-18 0.0661266" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_250ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_250ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.069" rpy="0 0 0" />
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+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_250ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
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+    </visual>
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+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
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+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.116" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/parts/body.urdf b/assets/labware/containers/duran_gl45_250ml_clear/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cb85775a3ecdcc82565749e13ba0440cd2949ec7
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_clear__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.20448e-19 2.88179e-18 0.0661266" rpy="0 0 0" />
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+    <visual name="duran_gl45_250ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_250ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
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+      <origin xyz="0 0 0.002" rpy="0 0 0" />
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+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_250ml_clear/parts/cap.urdf b/assets/labware/containers/duran_gl45_250ml_clear/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..560eb304cc274901fc41b44cb6402a5174650ae2
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_250ml_clear/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_250ml_clear__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_250ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_250ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_250ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.003" />
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+    <collision>
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+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
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+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_amber/asset.contract.json b/assets/labware/containers/duran_gl45_500ml_amber/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..e40dd63021d666211ed5072447f3db73e2b8c1aa
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/asset.contract.json
@@ -0,0 +1,719 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_500ml_amber",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 500 mL（棕色，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 500 mL（amber），带蓝色 PP 螺旋盖；外径 86 mm、带盖高 181 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "d7c078ddb25a211165e36e4fd33e94e0b5e4554d63353e548b3455d8a783349d"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "036f72f5b01eed29b607b288281f275228efb1743694f71d522cceed122572d2"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "70e5512f743814fd10de43874af997c50da67eba10154be809eee8a56fb65d5b"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "397766302e95ec768032021b586f9d1613d83227cf03801400af711d3083465c"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c393f6edce418889b1c7ff3db0b185d67376f9346649e249f22f01a34f95a303"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "dde530210d3ff73850c4f2b3f92631aa7e24803a18cf711ee5b7d501d79510ff"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_amber/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "4989f24f2a4209ed9c3c7105af8c1509a97c053413f9874d084c109223d00087"
+  }
+ },
+ "sources": {
+  "duran_gl45_amber": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22."
+  },
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 86.0 mm、本体高 176.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_500ml_amber__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.086,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.181,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.0005,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_amber"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000704908,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.330405,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 148.2 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_500ml_amber__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_500ml_amber",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN GL 45 laboratory bottle, amber, 500 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21806 44 5",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000704908,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_amber",
+   "outer": {
+    "diameter_m": 0.086,
+    "height_body_m": 0.176,
+    "height_with_cap_m": 0.181,
+    "source_id": "duran_gl45_amber"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0405,
+    "floor_m": 0.004,
+    "height_m": 0.176,
+    "body_top_m": 0.1241,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.10122,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0126,
+      43.341
+     ],
+     [
+      0.0212,
+      87.657
+     ],
+     [
+      0.0298,
+      131.973
+     ],
+     [
+      0.0384,
+      176.289
+     ],
+     [
+      0.047,
+      220.604
+     ],
+     [
+      0.0556,
+      264.92
+     ],
+     [
+      0.0642,
+      309.236
+     ],
+     [
+      0.0728,
+      353.552
+     ],
+     [
+      0.0814,
+      397.867
+     ],
+     [
+      0.09,
+      442.183
+     ],
+     [
+      0.0986,
+      486.499
+     ],
+     [
+      0.1072,
+      530.815
+     ],
+     [
+      0.1158,
+      575.131
+     ],
+     [
+      0.1244,
+      619.158
+     ],
+     [
+      0.133,
+      652.261
+     ],
+     [
+      0.1416,
+      671.708
+     ],
+     [
+      0.1502,
+      681.484
+     ],
+     [
+      0.1588,
+      689.292
+     ],
+     [
+      0.1674,
+      697.1
+     ],
+     [
+      0.176,
+      704.908
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0377,
+      0.004
+     ],
+     [
+      0.0405,
+      0.0068
+     ],
+     [
+      0.0405,
+      0.12285
+     ],
+     [
+      0.017,
+      0.1475
+     ],
+     [
+      0.017,
+      0.176
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.185,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.139,
+      0.157
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.261
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.176
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.35769,
+   "mass_body_kg": 0.33041,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_500ml_amber/collision_proxies.json b/assets/labware/containers/duran_gl45_500ml_amber/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a9a3f9d9b430139e38d59c7f30745c93908b8e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_500ml_amber",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0418,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.04175,
+      0.0,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.038572,
+      0.015977,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.029522,
+      0.029522,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.015977,
+      0.038572,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.0,
+      0.04175,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+}
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/geometry_manifest.json b/assets/labware/containers/duran_gl45_500ml_amber/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..240ffdf894ce8a5a7ebf13991b4dd2e8efc0d15a
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/geometry_manifest.json
@@ -0,0 +1,2083 @@
+{
+ "asset_type_id": "labware.duran_gl45_500ml_amber",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 500 mL（棕色，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 500 mL, amber, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.086,
+  0.086,
+  0.181
+ ],
+ "bounds_m": [
+  [
+   -0.043,
+   -0.043,
+   0.0
+  ],
+  [
+   0.043,
+   0.043,
+   0.181
+  ]
+ ],
+ "total_mass_kg": 0.35769,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_amber",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+   "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+   "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 86.0 mm、本体高 176.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.330405,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 148.2 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "duran_gl45_500ml_amber__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "duran_gl45_500ml_amber__body",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.08,
+      0.72
+     ],
+     "hex": "#8C4C14",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.00719,
+      0.72
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0418,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+      0.018237,
+      0.1221
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+   "geometry_evidence": "documented",
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+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.0,
+      0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02615,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      -0.0,
+      -0.02615,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.010007,
+      -0.02416,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.018491,
+      -0.018491,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0057,
+      0.012299,
+      0.024
+     ],
+     "origin_m": [
+      0.02416,
+      -0.010007,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "duran_gl45_500ml_amber__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    7.853982
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.duran_gl45_500ml_amber",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "gl45_bottle"
+  ],
+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "DURAN GL 45 laboratory bottle, amber, 500 mL, PP screw cap + pouring ring",
+  "catalogue_no": "21806 44 5",
+  "nominal_capacity_m3": 0.0005,
+  "brim_capacity_m3": 0.000704908,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "duran_gl45_amber",
+  "outer": {
+   "diameter_m": 0.086,
+   "height_body_m": 0.176,
+   "height_with_cap_m": 0.181,
+   "source_id": "duran_gl45_amber"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0405,
+   "floor_m": 0.004,
+   "height_m": 0.176,
+   "body_top_m": 0.1241,
+   "neck_radius_m": 0.017,
+   "nominal_fill_height_m": 0.10122,
+   "volume_table_m_ml": [
+    [
+     0.004,
+     0.0
+    ],
+    [
+     0.0126,
+     43.341
+    ],
+    [
+     0.0212,
+     87.657
+    ],
+    [
+     0.0298,
+     131.973
+    ],
+    [
+     0.0384,
+     176.289
+    ],
+    [
+     0.047,
+     220.604
+    ],
+    [
+     0.0556,
+     264.92
+    ],
+    [
+     0.0642,
+     309.236
+    ],
+    [
+     0.0728,
+     353.552
+    ],
+    [
+     0.0814,
+     397.867
+    ],
+    [
+     0.09,
+     442.183
+    ],
+    [
+     0.0986,
+     486.499
+    ],
+    [
+     0.1072,
+     530.815
+    ],
+    [
+     0.1158,
+     575.131
+    ],
+    [
+     0.1244,
+     619.158
+    ],
+    [
+     0.133,
+     652.261
+    ],
+    [
+     0.1416,
+     671.708
+    ],
+    [
+     0.1502,
+     681.484
+    ],
+    [
+     0.1588,
+     689.292
+    ],
+    [
+     0.1674,
+     697.1
+    ],
+    [
+     0.176,
+     704.908
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.004
+    ],
+    [
+     0.0377,
+     0.004
+    ],
+    [
+     0.0405,
+     0.0068
+    ],
+    [
+     0.0405,
+     0.12285
+    ],
+    [
+     0.017,
+     0.1475
+    ],
+    [
+     0.017,
+     0.176
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "GL45",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.25,
+   "pitch_m": 0.004,
+   "detach_after_rad": 7.853982,
+   "lift_at_detach_m": 0.005,
+   "cap_seat_z_m": 0.154,
+   "clear_lift_m": 0.024,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.148
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06308,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.185,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.139,
+     0.157
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.148
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1675
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.261
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.154
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.176
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.35769,
+  "mass_body_kg": 0.33041,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.mtl b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..348eb74bbb928afb0a13040488b4dade4b922ba8
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_500ml_amber__body
+Kd 0.5500 0.3000 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.720
diff --git a/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.obj b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35ca34848b2a383a37916c3a95e22b22ed030592
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_500ml_amber__body.mtl
+usemtl duran_gl45_500ml_amber__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.03900000 0.00000000 0.00000000
+v 0.04300000 0.00000000 0.00400000
+v 0.04300000 0.00000000 0.12410000
+v 0.02500000 0.00000000 0.14750000
+v 0.02500000 0.00000000 0.15350000
+v 0.02250000 0.00000000 0.15350000
+v 0.02250000 0.00000000 0.17600000
+v 0.01700000 0.00000000 0.17600000
+v 0.01700000 0.00000000 0.14750000
+v 0.04050000 0.00000000 0.12285000
+v 0.04050000 0.00000000 0.00680000
+v 0.03770000 0.00000000 0.00400000
+v 0.00000000 0.00000000 0.00400000
+v 0.03881220 0.00382267 0.00000000
+v 0.04279294 0.00421474 0.00400000
+v 0.04279294 0.00421474 0.12410000
+v 0.02487962 0.00245043 0.14750000
+v 0.02487962 0.00245043 0.15350000
+v 0.02239166 0.00220539 0.15350000
+v 0.02239166 0.00220539 0.17600000
+v 0.01691814 0.00166629 0.17600000
+v 0.01691814 0.00166629 0.14750000
+v 0.04030498 0.00396969 0.12285000
+v 0.04030498 0.00396969 0.00680000
+v 0.03751846 0.00369525 0.00400000
+v 0.03825063 0.00760852 0.00000000
+v 0.04217377 0.00838888 0.00400000
+v 0.04217377 0.00838888 0.12410000
+v 0.02451963 0.00487726 0.14750000
+v 0.02451963 0.00487726 0.15350000
+v 0.02206767 0.00438953 0.15350000
+v 0.02206767 0.00438953 0.17600000
+v 0.01667335 0.00331654 0.17600000
+v 0.01667335 0.00331654 0.14750000
+v 0.03972180 0.00790116 0.12285000
+v 0.03972180 0.00790116 0.00680000
+v 0.03697561 0.00735491 0.00400000
+v 0.03732067 0.01132110 0.00000000
+v 0.04114843 0.01248224 0.00400000
+v 0.04114843 0.01248224 0.12410000
+v 0.02392351 0.00725712 0.14750000
+v 0.02392351 0.00725712 0.15350000
+v 0.02153116 0.00653141 0.15350000
+v 0.02153116 0.00653141 0.17600000
+v 0.01626799 0.00493484 0.17600000
+v 0.01626799 0.00493484 0.14750000
+v 0.03875608 0.01175653 0.12285000
+v 0.03875608 0.01175653 0.00680000
+v 0.03607665 0.01094373 0.00400000
+v 0.03603130 0.01492465 0.00000000
+v 0.03972682 0.01645539 0.00400000
+v 0.03972682 0.01645539 0.12410000
+v 0.02309699 0.00956709 0.14750000
+v 0.02309699 0.00956709 0.15350000
+v 0.02078729 0.00861038 0.15350000
+v 0.02078729 0.00861038 0.17600000
+v 0.01570595 0.00650562 0.17600000
+v 0.01570595 0.00650562 0.14750000
+v 0.03741712 0.01549868 0.12285000
+v 0.03741712 0.01549868 0.00680000
+v 0.03483026 0.01442717 0.00400000
+v 0.03439493 0.01838447 0.00000000
+v 0.03792261 0.02027006 0.00400000
+v 0.03792261 0.02027006 0.12410000
+v 0.02204803 0.01178492 0.14750000
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.mtl b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..45553017e12d27673a62db4a9e4bc5c866ddbc5e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_500ml_amber__cap
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.obj b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..854b45aa18ea486d373acab2a8e917cc6f17825e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/meshes/duran_gl45_500ml_amber__cap.obj
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/model.glb b/assets/labware/containers/duran_gl45_500ml_amber/model.glb
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/model.urdf b/assets/labware/containers/duran_gl45_500ml_amber/model.urdf
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index 0000000000000000000000000000000000000000..ab2acac11f552f0e61c5e01b408006724528224c
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/model.urdf
@@ -0,0 +1,541 @@
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/model_solid.urdf b/assets/labware/containers/duran_gl45_500ml_amber/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..146b0b857cb785144cc930f6ee3957cec2f78a42
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_amber">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.85843e-18 3.81124e-18 0.0814477" rpy="0 0 0" />
+      <mass value="0.330405" />
+      <inertia ixx="0.00105653" ixy="0" ixz="0" iyy="0.00105653" iyz="0" izz="0.00040728" />
+    </inertial>
+    <visual name="duran_gl45_500ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_500ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.088" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.043" length="0.176" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_500ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_500ml_amber__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.154" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_amber/parts/body.urdf b/assets/labware/containers/duran_gl45_500ml_amber/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8835e84073d2c49f511d5e3fde4d642e2fafa0b5
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_amber__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.85843e-18 3.81124e-18 0.0814477" rpy="0 0 0" />
+      <mass value="0.330405" />
+      <inertia ixx="0.00105653" ixy="0" ixz="0" iyy="0.00105653" iyz="0" izz="0.00040728" />
+    </inertial>
+    <visual name="duran_gl45_500ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_500ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_amber__body">
+        <color rgba="0.26327 0.07324 0.00719 0.720" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0418" length="0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.04175 0 0.06305" rpy="0 0 0" />
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+        <box size="0.0025 0.0182369 0.1221" />
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+    </collision>
+    <collision>
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+    </collision>
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diff --git a/assets/labware/containers/duran_gl45_500ml_amber/parts/cap.urdf b/assets/labware/containers/duran_gl45_500ml_amber/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..56f37f66968596e2e886fa1cc26ecefe6fcac2ea
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_amber/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_amber__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+    </inertial>
+    <visual name="duran_gl45_500ml_amber__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_500ml_amber__cap.obj" />
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+      <material name="mat_duran_gl45_500ml_amber__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
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+      <origin xyz="1.60124e-18 0.0261502 0.012" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 0.0241596 0.012" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 0.018491 0.012" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 0.0100072 0.012" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0261502 3.20247e-18 0.012" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0241596 -0.0100072 0.012" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.018491 -0.018491 0.012" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0100072 -0.0241596 0.012" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.80371e-18 -0.0261502 0.012" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0100072 -0.0241596 0.012" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.018491 -0.018491 0.012" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0241596 -0.0100072 0.012" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/asset.contract.json b/assets/labware/containers/duran_gl45_500ml_clear/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6f8e2d89e6ae4605f528683a2d14453f35ac1c6
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/asset.contract.json
@@ -0,0 +1,713 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.duran_gl45_500ml_clear",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN GL45 试剂瓶 500 mL（透明，蓝色 PP 螺旋盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN Original GL 45 试剂瓶 500 mL（clear），带蓝色 PP 螺旋盖；外径 86 mm、带盖高 181 mm（目录）。盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "ff1fd1491f9220ee74a727e23c8d03edff5e237b1f78bea023aac2e82937f329"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "da3c711ed9e9daaf943f6584a227224ba4fcc0a6832135dcccb3f27eb43c4d18"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a7cd9f00ea41f3898d1ca490ec7f3aace2b9b734b1a1e4a63766431a1170065c"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1f001e9b81e62d8ffe01457dfd0fa9800565ba0659f57295a15a7c2a2cfe755c"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c680818211e81199e47290baf0df605ed5827a50124b97d82eec9b8fa5e2192f"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "363ec9b2b5a0ef830072fad66cba16733d810101c57da9b8821871cceac55c2e"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/duran_gl45_500ml_clear/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "69bfa93f387f2a7b2f8c245bfcea0a26426559845ba4546ae12f18e7e5a8201c"
+  }
+ },
+ "sources": {
+  "duran_gl45_clear": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download)."
+  },
+  "gl45_thread": {
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22."
+  },
+  "duran_gl45_cap": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 86.0 mm、本体高 176.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_500ml_clear__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.086,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.181,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.0005,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_clear"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000704908,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0025,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.330405,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 148.2 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø58.0×27.0 mm；GL45 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_gl45_500ml_clear__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.058,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_gl45_cap"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.027284,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 30.32 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    7.853982
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 7.853982,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.004,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "documented",
+     "source_ids": [
+      "gl45_thread"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.duran_gl45_500ml_clear",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "gl45_bottle"
+   ],
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "DURAN Original GL 45 laboratory bottle, clear, 500 mL, PP screw cap + pouring ring",
+   "catalogue_no": "21801 44 5",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000704908,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "duran_gl45_clear",
+   "outer": {
+    "diameter_m": 0.086,
+    "height_body_m": 0.176,
+    "height_with_cap_m": 0.181,
+    "source_id": "duran_gl45_clear"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0405,
+    "floor_m": 0.004,
+    "height_m": 0.176,
+    "body_top_m": 0.1241,
+    "neck_radius_m": 0.017,
+    "nominal_fill_height_m": 0.10122,
+    "volume_table_m_ml": [
+     [
+      0.004,
+      0.0
+     ],
+     [
+      0.0126,
+      43.341
+     ],
+     [
+      0.0212,
+      87.657
+     ],
+     [
+      0.0298,
+      131.973
+     ],
+     [
+      0.0384,
+      176.289
+     ],
+     [
+      0.047,
+      220.604
+     ],
+     [
+      0.0556,
+      264.92
+     ],
+     [
+      0.0642,
+      309.236
+     ],
+     [
+      0.0728,
+      353.552
+     ],
+     [
+      0.0814,
+      397.867
+     ],
+     [
+      0.09,
+      442.183
+     ],
+     [
+      0.0986,
+      486.499
+     ],
+     [
+      0.1072,
+      530.815
+     ],
+     [
+      0.1158,
+      575.131
+     ],
+     [
+      0.1244,
+      619.158
+     ],
+     [
+      0.133,
+      652.261
+     ],
+     [
+      0.1416,
+      671.708
+     ],
+     [
+      0.1502,
+      681.484
+     ],
+     [
+      0.1588,
+      689.292
+     ],
+     [
+      0.1674,
+      697.1
+     ],
+     [
+      0.176,
+      704.908
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.004
+     ],
+     [
+      0.0377,
+      0.004
+     ],
+     [
+      0.0405,
+      0.0068
+     ],
+     [
+      0.0405,
+      0.12285
+     ],
+     [
+      0.017,
+      0.1475
+     ],
+     [
+      0.017,
+      0.176
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "GL45",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.25,
+    "pitch_m": 0.004,
+    "detach_after_rad": 7.853982,
+    "lift_at_detach_m": 0.005,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.024,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06308,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.185,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.139,
+      0.157
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.148
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.268
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.058,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.261
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0225,
+      0.0,
+      0.176
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.35769,
+   "mass_body_kg": 0.33041,
+   "mass_cap_kg": 0.02728,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/collision_proxies.json b/assets/labware/containers/duran_gl45_500ml_clear/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53f5aa568c3307089be0dd33f0248c854a321ad
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.duran_gl45_500ml_clear",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0418,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.04175,
+      0.0,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0025,
+      0.018237,
+      0.1221
+     ],
+     "origin_m": [
+      0.038572,
+      0.015977,
+      0.06305
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
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+     "size_m": [
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+     "origin_m": [
+      0.029522,
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+     "rpy_rad": [
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+      0.0,
+      0.785398
+     ]
+    },
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+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/geometry_manifest.json b/assets/labware/containers/duran_gl45_500ml_clear/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b3d0257cb93c985d83c3630c66a1200b440fbe0
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/geometry_manifest.json
@@ -0,0 +1,2075 @@
+{
+ "asset_type_id": "labware.duran_gl45_500ml_clear",
+ "catalog_id": null,
+ "name_zh": "DURAN GL45 试剂瓶 500 mL（透明，蓝色 PP 螺旋盖）",
+ "name_en": "DURAN GL 45 laboratory bottle 500 mL, clear, PP screw cap",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.086,
+  0.086,
+  0.181
+ ],
+ "bounds_m": [
+  [
+   -0.043,
+   -0.043,
+   0.0
+  ],
+  [
+   0.043,
+   0.043,
+   0.181
+  ]
+ ],
+ "total_mass_kg": 0.35769,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_gl45_clear",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+   "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+   "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, accessed 2026-10-22 (dwk.com 403 to direct download).",
+   "licence": "facts (catalogue dimensions)"
+  },
+  {
+   "source_id": "gl45_thread",
+   "kind": "publication",
+   "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+   "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+   "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "duran_gl45_cap",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+   "locator": "dimensions (O x H) 58 x 27 mm",
+   "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 86.0 mm、本体高 176.0 mm；内腔为 LiquidContents 的计数区",
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+   "mass_kg": 0.330405,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 148.2 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
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+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 30.32 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
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+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.25 圈（7.854 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
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+  "meshes_dir": "meshes",
+  "model_blend": null,
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+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
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+ "labware": {
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+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
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+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "DURAN Original GL 45 laboratory bottle, clear, 500 mL, PP screw cap + pouring ring",
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+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "duran_gl45_clear",
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+  },
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+    "yaw_free": true,
+    "hand_bottom_z_m": 0.185,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.139,
+     0.157
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.148
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.268
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1675
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.058,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.261
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.154
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0225,
+     0.0,
+     0.176
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.35769,
+  "mass_body_kg": 0.33041,
+  "mass_cap_kg": 0.02728,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "试剂/缓冲液/标准溶液/溶剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.mtl b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..511ab2f6d37be9b6e0c74373d9904abb54db5e2b
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_500ml_clear__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.obj b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a6f768e8576f2caf50e079db1b547ed675bd7f7a
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__body.obj
@@ -0,0 +1,2310 @@
+mtllib duran_gl45_500ml_clear__body.mtl
+usemtl duran_gl45_500ml_clear__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.mtl b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5fce43af1382dbd5be5a849b89b296ab3d880beb
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.mtl
@@ -0,0 +1,6 @@
+newmtl duran_gl45_500ml_clear__cap
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+Ka 0 0 0
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+Ns 40
+d 1.000
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.obj b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a47bb6b30145071b3f55155548ccd877d34349c8
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/meshes/duran_gl45_500ml_clear__cap.obj
@@ -0,0 +1,582 @@
+mtllib duran_gl45_500ml_clear__cap.mtl
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diff --git a/assets/labware/containers/duran_gl45_500ml_clear/model.urdf b/assets/labware/containers/duran_gl45_500ml_clear/model.urdf
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+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
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+    <visual name="duran_gl45_500ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
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+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.154" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/model_solid.urdf b/assets/labware/containers/duran_gl45_500ml_clear/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83d652a23eaf7c3e557e45c6552ba54b4ccc9b5e
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_clear">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.85843e-18 3.81124e-18 0.0814477" rpy="0 0 0" />
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+      <inertia ixx="0.00105653" ixy="0" ixz="0" iyy="0.00105653" iyz="0" izz="0.00040728" />
+    </inertial>
+    <visual name="duran_gl45_500ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_500ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.088" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.043" length="0.176" />
+      </geometry>
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+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+  <link name="cap">
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+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
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+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
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+    <visual name="duran_gl45_500ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_gl45_500ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0135" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.027" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.154" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="7.853982" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/parts/body.urdf b/assets/labware/containers/duran_gl45_500ml_clear/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9c0a841135df7ff7be10ff277b7669f19baaca59
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/parts/body.urdf
@@ -0,0 +1,409 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_clear__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.85843e-18 3.81124e-18 0.0814477" rpy="0 0 0" />
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+      <inertia ixx="0.00105653" ixy="0" ixz="0" iyy="0.00105653" iyz="0" izz="0.00040728" />
+    </inertial>
+    <visual name="duran_gl45_500ml_clear__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_500ml_clear__body.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_clear__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0418" length="0.004" />
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+      <origin xyz="0.0139654 -0.0139654 0.16475" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0055 0.00954259 0.0225" />
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+      <geometry>
+        <box size="0.0055 0.00954259 0.0225" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/duran_gl45_500ml_clear/parts/cap.urdf b/assets/labware/containers/duran_gl45_500ml_clear/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..583a6752284e98e180a4772768632cfdca35960c
--- /dev/null
+++ b/assets/labware/containers/duran_gl45_500ml_clear/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="duran_gl45_500ml_clear__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.7463e-18 2.3284e-18 0.0155196" rpy="0 0 0" />
+      <mass value="0.0272838" />
+      <inertia ixx="9.30604e-06" ixy="0" ixz="0" iyy="9.30604e-06" iyz="0" izz="1.52971e-05" />
+    </inertial>
+    <visual name="duran_gl45_500ml_clear__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_gl45_500ml_clear__cap.obj" />
+      </geometry>
+      <material name="mat_duran_gl45_500ml_clear__cap">
+        <color rgba="0.01002 0.08354 0.57048 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0255" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.029" length="0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0261502 0 0.012" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00569967 0.0122993 0.024" />
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+      <origin xyz="0.0241596 0.0100072 0.012" rpy="0 0 0.392699" />
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+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/asset.contract.json b/assets/labware/containers/eppendorf_safelock_1p5ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..201018db8d3ea2ea6bc5fb4e1b85f1ce5df9097a
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/asset.contract.json
@@ -0,0 +1,477 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.eppendorf_safelock_1p5ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Eppendorf Safe-Lock 1.5 mL 微量离心管（翻盖）",
+ "category": "labware.container.tube",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Eppendorf Safe-Lock 1.5 mL PP 管（0030120086）：长 38.9 mm、上段外径 10.8 mm、管口 2 mm 边沿、铰链翻盖；尺寸按 Eppendorf 技术数据表第 6 页图。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/eppendorf_safelock_1p5ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "4f7a9ba4e6e504b625bb677a10b52228560b75c81771bc8393ad968b3899c22c"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/eppendorf_safelock_1p5ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "d6b3030db50975178a46dbc270edc1c780d2682a051530c6ca3cea3acf767491"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/eppendorf_safelock_1p5ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e0dbf440330a55346212cd5524f14aa8de5d5fce002c378592ef71bf43a1cb09"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/eppendorf_safelock_1p5ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "398223c8d04d96f1d99fd9dd85cc6b8395b2950043c4ab2d73f0d8103dafd39c"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/eppendorf_safelock_1p5ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "85fc92787a372366cc4681db20db2c7071ba934a06f6c5a0abb8c057b6d9abc0"
+  }
+ },
+ "sources": {
+  "eppendorf_safelock_15": {
+   "kind": "manufacturer",
+   "reference": "Eppendorf Tubes Snap Cap - Technical Data Sheet (document 0012 595 671-00/2026-03), https://www.eppendorf.com/product-media/doc/en/17238493/Consumables_Technical-data_Eppendorf-Tubes-snap-caps.pdf",
+   "locator": "p. 6 'Safe-Lock Tubes 1.5 mL' drawing: length 38.9 mm (37.8 inner), OD 10.8 mm (top 20 mm), cone OD 10.7 -> tip, rim 2 mm, lid span 37.2 mm, closed approx. 41 mm high / 20 mm wide, lid opens to 90 deg (approx. 59 mm high)",
+   "note": "Safe-Lock 1.5 mL tube (cat. 0030120086, PP); values read from the data-sheet drawing."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "管身",
+   "function_zh": "盛放样品（≤1.5 mL）",
+   "physical_meaning_zh": "PP 锥底管；上段外径 10.8 mm",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "eppendorf_safelock_1p5ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0108,
+     "unit": "m",
+     "meaning_zh": "上段外径（数据表图）",
+     "evidence": "documented",
+     "source_ids": [
+      "eppendorf_safelock_15"
+     ],
+     "uncertainty": null
+    },
+    "length_m": {
+     "value": 0.0389,
+     "unit": "m",
+     "meaning_zh": "管长（数据表图）",
+     "evidence": "documented",
+     "source_ids": [
+      "eppendorf_safelock_15"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 1.5e-06,
+     "unit": "m3",
+     "meaning_zh": "标称容量",
+     "evidence": "documented",
+     "source_ids": [
+      "eppendorf_safelock_15"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.000789,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × PP 密度）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "lid": {
+   "name_zh": "翻盖（Safe-Lock）",
+   "function_zh": "密封管口；向上翻开 90°",
+   "physical_meaning_zh": "PP 翻盖，铰链在 +Y 侧管沿；带推开用的舌片（−Y 侧）",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:lid",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "eppendorf_safelock_1p5ml__lid",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.000436,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模体积 × PP 密度）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "lid"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "open"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "翻盖状态（由场景按盖关节角记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "eppendorf_safelock_15"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_lid": {
+   "component_id": "lid",
+   "artifact_id": "model_urdf",
+   "target": "lid_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.570796
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "eppendorf_safelock_15"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:grasp",
+   "meaning_zh": "管口：移液进出",
+   "connection_constraints": [
+    "翻盖须为 open"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "被动容器；翻盖开合由机器人推舌片（touch + intent）。",
+  "锥底管不能自立，需要管架（未建模）。",
+  "外形按 Eppendorf 数据表图；壁厚、盖厚为假设。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.eppendorf_safelock_1p5ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "microtube_1p5ml"
+   ],
+   "maker": "Eppendorf",
+   "model": "Safe-Lock Tubes 1.5 mL, PP, colourless",
+   "catalogue_no": "0030120086",
+   "nominal_capacity_m3": 1.5e-06,
+   "brim_capacity_m3": 1.9818e-06,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "eppendorf_safelock_15",
+   "outer": {
+    "diameter_m": 0.0108,
+    "height_body_m": 0.0389,
+    "height_closed_m": 0.041,
+    "source_id": "eppendorf_safelock_15"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0046,
+    "floor_m": 0.0012,
+    "height_m": 0.0389,
+    "body_top_m": 0.036899999999999995,
+    "nominal_fill_height_m": 0.03205,
+    "volume_table_m_ml": [
+     [
+      0.0012,
+      0.0
+     ],
+     [
+      0.00497,
+      0.0397
+     ],
+     [
+      0.00874,
+      0.1286
+     ],
+     [
+      0.01251,
+      0.2672
+     ],
+     [
+      0.01628,
+      0.4665
+     ],
+     [
+      0.02005,
+      0.7111
+     ],
+     [
+      0.02382,
+      0.9577
+     ],
+     [
+      0.02759,
+      1.2054
+     ],
+     [
+      0.03136,
+      1.4542
+     ],
+     [
+      0.03513,
+      1.704
+     ],
+     [
+      0.0389,
+      1.9818
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0012
+     ],
+     [
+      0.002,
+      0.0028
+     ],
+     [
+      0.00455,
+      0.0169
+     ],
+     [
+      0.0046,
+      0.0359
+     ],
+     [
+      0.0052,
+      0.0389
+     ]
+    ]
+   },
+   "closure": {
+    "type": "hinged_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     -1,
+     0,
+     0
+    ],
+    "open_rad": 1.570796,
+    "rule_zh": "开盖 = 推舌片（lid_tab）向上，盖关节转到 open_rad；关盖 = 压回 0。翻盖不脱离管身。"
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0269
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0.70710678,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0108,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.0639,
+     "note_zh": "俯抓管上段（外径 10.8 mm）；手指沿 Y 合拢会碰铰链，宜沿 X 合拢（yaw 90°）",
+     "finger_contact_z_m": [
+      0.0179,
+      0.0359
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0269
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1274
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "lid_tab": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.0107,
+      0.0395
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "翻盖舌片：向上推（+Z）即开盖"
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0063,
+      0.0389
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖铰链原点（关闭位）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "lid": "pp"
+   },
+   "empty_mass_kg": 0.001225,
+   "mass_evidence": "computed from modelled volume x PP density",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "放在管架或冰箱的管盒中（锥底不能自立）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/collision_proxies.json b/assets/labware/containers/eppendorf_safelock_1p5ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9410ec83ff942a7764df920c59d1e2d58cec2eb
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/collision_proxies.json
@@ -0,0 +1,768 @@
+{
+ "asset_type_id": "labware.eppendorf_safelock_1p5ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0018,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0009,
+      0.003025,
+      0.016487
+     ],
+     "origin_m": [
+      0.003136,
+      0.0,
+      0.008947
+     ],
+     "rpy_rad": [
+      0.0,
+      0.217024,
+      0.0
+     ]
+    },
+    {
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+     "size_m": [
+      0.0009,
+      0.003025,
+      0.016487
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+      0.523599
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diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/geometry_manifest.json b/assets/labware/containers/eppendorf_safelock_1p5ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad26e44fdea91ee4d4d0c06607d709a6238de6cd
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/geometry_manifest.json
@@ -0,0 +1,1151 @@
+{
+ "asset_type_id": "labware.eppendorf_safelock_1p5ml",
+ "catalog_id": null,
+ "name_zh": "Eppendorf Safe-Lock 1.5 mL 微量离心管（翻盖）",
+ "name_en": "Eppendorf Safe-Lock Tube 1.5 mL",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0124,
+  0.0184,
+  0.0401
+ ],
+ "bounds_m": [
+  [
+   -0.0062,
+   -0.0122,
+   0.0
+  ],
+  [
+   0.0062,
+   0.0062,
+   0.0401
+  ]
+ ],
+ "total_mass_kg": 0.00122,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "eppendorf_safelock_15",
+   "kind": "manufacturer",
+   "reference": "Eppendorf Tubes Snap Cap - Technical Data Sheet (document 0012 595 671-00/2026-03), https://www.eppendorf.com/product-media/doc/en/17238493/Consumables_Technical-data_Eppendorf-Tubes-snap-caps.pdf",
+   "locator": "p. 6 'Safe-Lock Tubes 1.5 mL' drawing: length 38.9 mm (37.8 inner), OD 10.8 mm (top 20 mm), cone OD 10.7 -> tip, rim 2 mm, lid span 37.2 mm, closed approx. 41 mm high / 20 mm wide, lid opens to 90 deg (approx. 59 mm high)",
+   "note": "Safe-Lock 1.5 mL tube (cat. 0030120086, PP); values read from the data-sheet drawing.",
+   "licence": "facts (drawing dimensions only; no figure copied)"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "管身",
+   "function_zh": "盛放样品（≤1.5 mL）",
+   "physical_meaning_zh": "PP 锥底管；上段外径 10.8 mm",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
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+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.000789,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模体积 × PP 密度",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "eppendorf_safelock_1p5ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "eppendorf_safelock_1p5ml__body",
+     "rgba_srgb": [
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+      0.93,
+      0.92,
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+   "collisions": [
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+   "id": "lid",
+   "name_zh": "翻盖（Safe-Lock）",
+   "function_zh": "密封管口；向上翻开 90°",
+   "physical_meaning_zh": "PP 翻盖，铰链在 +Y 侧管沿；带推开用的舌片（−Y 侧）",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0063,
+    0.0389
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     -1,
+     0,
+     0
+    ],
+    "limits": [
+     0.0,
+     1.570796
+    ],
+    "evidence": "documented",
+    "source_ids": [
+     "eppendorf_safelock_15"
+    ],
+    "note_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）"
+   },
+   "mass_kg": 0.000436,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模体积 × PP 密度",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "eppendorf_safelock_1p5ml__lid"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "eppendorf_safelock_1p5ml__lid",
+     "rgba_srgb": [
+      0.92,
+      0.93,
+      0.92,
+      0.55
+     ],
+     "hex": "#EBEDEB",
+     "rgba_linear": [
+      0.82757,
+      0.84809,
+      0.82757,
+      0.55
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0062,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      -0.0063,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.008,
+      0.007,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      -0.015,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "eppendorf_safelock_1p5ml__root",
+ "joint_definitions": {
+  "lid": {
+   "type": "revolute",
+   "axis": [
+    -1,
+    0,
+    0
+   ],
+   "limits_rad": [
+    0.0,
+    1.570796
+   ],
+   "accessor": "joint[lid_joint]",
+   "state_id": null,
+   "range_evidence": "documented",
+   "note_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.eppendorf_safelock_1p5ml",
+  "family": "tube",
+  "labware_class": "tube",
+  "fits": [
+   "tube",
+   "microtube_1p5ml"
+  ],
+  "maker": "Eppendorf",
+  "model": "Safe-Lock Tubes 1.5 mL, PP, colourless",
+  "catalogue_no": "0030120086",
+  "nominal_capacity_m3": 1.5e-06,
+  "brim_capacity_m3": 1.9818e-06,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "eppendorf_safelock_15",
+  "outer": {
+   "diameter_m": 0.0108,
+   "height_body_m": 0.0389,
+   "height_closed_m": 0.041,
+   "source_id": "eppendorf_safelock_15"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0046,
+   "floor_m": 0.0012,
+   "height_m": 0.0389,
+   "body_top_m": 0.036899999999999995,
+   "nominal_fill_height_m": 0.03205,
+   "volume_table_m_ml": [
+    [
+     0.0012,
+     0.0
+    ],
+    [
+     0.00497,
+     0.0397
+    ],
+    [
+     0.00874,
+     0.1286
+    ],
+    [
+     0.01251,
+     0.2672
+    ],
+    [
+     0.01628,
+     0.4665
+    ],
+    [
+     0.02005,
+     0.7111
+    ],
+    [
+     0.02382,
+     0.9577
+    ],
+    [
+     0.02759,
+     1.2054
+    ],
+    [
+     0.03136,
+     1.4542
+    ],
+    [
+     0.03513,
+     1.704
+    ],
+    [
+     0.0389,
+     1.9818
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0012
+    ],
+    [
+     0.002,
+     0.0028
+    ],
+    [
+     0.00455,
+     0.0169
+    ],
+    [
+     0.0046,
+     0.0359
+    ],
+    [
+     0.0052,
+     0.0389
+    ]
+   ]
+  },
+  "closure": {
+   "type": "hinged_lid",
+   "link": "lid",
+   "joint": "lid_joint",
+   "axis": [
+    -1,
+    0,
+    0
+   ],
+   "open_rad": 1.570796,
+   "rule_zh": "开盖 = 推舌片（lid_tab）向上，盖关节转到 open_rad；关盖 = 压回 0。翻盖不脱离管身。"
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0269
+    ],
+    "rot_xyzw": [
+     0.70710678,
+     0.70710678,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0108,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.0639,
+    "note_zh": "俯抓管上段（外径 10.8 mm）；手指沿 Y 合拢会碰铰链，宜沿 X 合拢（yaw 90°）",
+    "finger_contact_z_m": [
+     0.0179,
+     0.0359
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1274
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1274
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0269
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1274
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "lid_tab": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.0107,
+     0.0395
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "翻盖舌片：向上推（+Z）即开盖"
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0063,
+     0.0389
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖铰链原点（关闭位）"
+   }
+  },
+  "materials": {
+   "body": "pp",
+   "lid": "pp"
+  },
+  "empty_mass_kg": 0.001225,
+  "mass_evidence": "computed from modelled volume x PP density",
+  "stands_upright": false,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "放在管架或冰箱的管盒中（锥底不能自立）"
+ },
+ "limitations_zh": [
+  "被动容器；翻盖开合由机器人推舌片（touch + intent）。",
+  "锥底管不能自立，需要管架（未建模）。",
+  "外形按 Eppendorf 数据表图；壁厚、盖厚为假设。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.mtl b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cae76f7d8ecc63b0c951849ff71e2cb8bd8e7417
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl eppendorf_safelock_1p5ml__body
+Kd 0.9200 0.9300 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.obj b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eba10897a9d233f7fa672149db85dc709f3cd2dd
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__body.obj
@@ -0,0 +1,1446 @@
+mtllib eppendorf_safelock_1p5ml__body.mtl
+usemtl eppendorf_safelock_1p5ml__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.mtl b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4416e9172748cdbbed396572a2813160275aa011
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.mtl
@@ -0,0 +1,6 @@
+newmtl eppendorf_safelock_1p5ml__lid
+Kd 0.9200 0.9300 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.obj b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42ab09cc7b7b84653904135fb9687ef7a84421b2
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/meshes/eppendorf_safelock_1p5ml__lid.obj
@@ -0,0 +1,412 @@
+mtllib eppendorf_safelock_1p5ml__lid.mtl
+usemtl eppendorf_safelock_1p5ml__lid
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diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/model.glb b/assets/labware/containers/eppendorf_safelock_1p5ml/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..450b59d962fa79e544fa294f096a5ff5962d83c3
Binary files /dev/null and b/assets/labware/containers/eppendorf_safelock_1p5ml/model.glb differ
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/model.urdf b/assets/labware/containers/eppendorf_safelock_1p5ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..bc93f466848c484f6ed2e979f5a8296ebdf1b029
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/model.urdf
@@ -0,0 +1,283 @@
+<?xml version="1.0"?>
+<robot name="eppendorf_safelock_1p5ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.0220953" rpy="0 0 0" />
+      <mass value="0.000788999" />
+      <inertia ixx="1.09603e-07" ixy="0" ixz="0" iyy="1.09603e-07" iyz="0" izz="2.02194e-08" />
+    </inertial>
+    <visual name="eppendorf_safelock_1p5ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/eppendorf_safelock_1p5ml__body.obj" />
+      </geometry>
+      <material name="mat_eppendorf_safelock_1p5ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0018" length="0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00313556 0 0.0089469" rpy="0 0.217024 0" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00271547 0.00156778 0.0089469" rpy="0 0.217024 0.523599" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00156778 0.00271547 0.0089469" rpy="0 0.217024 1.0472" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.91997e-19 0.00313556 0.0089469" rpy="0 0.217024 1.5708" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00156778 0.00271547 0.0089469" rpy="0 0.217024 2.0944" />
+      <geometry>
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+    <collision>
+      <origin xyz="-0.00271547 0.00156778 0.0089469" rpy="0 0.217024 2.61799" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00313556 3.83995e-19 0.0089469" rpy="0 0.217024 3.14159" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00271547 -0.00156778 0.0089469" rpy="0 0.217024 3.66519" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00156778 -0.00271547 0.0089469" rpy="0 0.217024 4.18879" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
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+    </collision>
+    <collision>
+      <origin xyz="-5.75992e-19 -0.00313556 0.0089469" rpy="0 0.217024 4.71239" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00156778 -0.00271547 0.0089469" rpy="0 0.217024 5.23599" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00271547 -0.00156778 0.0089469" rpy="0 0.217024 5.75959" />
+      <geometry>
+        <box size="0.0009 0.00302535 0.0164867" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.004925 0 0.0269011" rpy="0 0.00249999 0" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00426518 0.0024625 0.0269011" rpy="0 0.00249999 0.523599" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0024625 0.00426518 0.0269011" rpy="0 0.00249999 1.0472" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
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+    <collision>
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+      <geometry>
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+    </collision>
+    <collision>
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+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0024625 -0.00426518 0.0269011" rpy="0 0.00249999 4.18879" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-9.04708e-19 -0.004925 0.0269011" rpy="0 0.00249999 4.71239" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
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+    </collision>
+    <collision>
+      <origin xyz="0.0024625 -0.00426518 0.0269011" rpy="0 0.00249999 5.23599" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
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+    </collision>
+    <collision>
+      <origin xyz="0.00426518 -0.0024625 0.0269011" rpy="0 0.00249999 5.75959" />
+      <geometry>
+        <box size="0.0009 0.00305363 0.0200001" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0057 0 0.0379" rpy="0 0 0" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00493634 0.00285 0.0379" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00285 0.00493634 0.0379" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="3.49024e-19 0.0057 0.0379" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00285 0.00493634 0.0379" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00493634 0.00285 0.0379" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0057 6.98049e-19 0.0379" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.00493634 -0.00285 0.0379" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00285 -0.00493634 0.0379" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-1.04707e-18 -0.0057 0.0379" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00285 -0.00493634 0.0379" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00493634 -0.00285 0.0379" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.001 0.00350602 0.002" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="-8.89556e-20 -0.00750715 -0.000725275" rpy="0 0 0" />
+      <mass value="0.000435881" />
+      <inertia ixx="1.31e-08" ixy="0" ixz="0" iyy="6.38748e-09" iyz="0" izz="1.78828e-08" />
+    </inertial>
+    <visual name="eppendorf_safelock_1p5ml__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/eppendorf_safelock_1p5ml__lid.obj" />
+      </geometry>
+      <material name="mat_eppendorf_safelock_1p5ml__lid">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.0063 0.0006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0062" length="0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.015 0.0006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.008 0.007 0.0012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="revolute">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0.0063 0.0389" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.570796" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/eppendorf_safelock_1p5ml/model_solid.urdf b/assets/labware/containers/eppendorf_safelock_1p5ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b060014e50b4153bea28ffe2ca6a3e94c5e0ea6c
--- /dev/null
+++ b/assets/labware/containers/eppendorf_safelock_1p5ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="eppendorf_safelock_1p5ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.0220953" rpy="0 0 0" />
+      <mass value="0.000788999" />
+      <inertia ixx="1.09603e-07" ixy="0" ixz="0" iyy="1.09603e-07" iyz="0" izz="2.02194e-08" />
+    </inertial>
+    <visual name="eppendorf_safelock_1p5ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/eppendorf_safelock_1p5ml__body.obj" />
+      </geometry>
+      <material name="mat_eppendorf_safelock_1p5ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.01945" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0054" length="0.0389" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="-8.89556e-20 -0.00750715 -0.000725275" rpy="0 0 0" />
+      <mass value="0.000435881" />
+      <inertia ixx="1.31e-08" ixy="0" ixz="0" iyy="6.38748e-09" iyz="0" izz="1.78828e-08" />
+    </inertial>
+    <visual name="eppendorf_safelock_1p5ml__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/eppendorf_safelock_1p5ml__lid.obj" />
+      </geometry>
+      <material name="mat_eppendorf_safelock_1p5ml__lid">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.0063 0.0006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0062" length="0.0012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="revolute">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0.0063 0.0389" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit lower="0" upper="1.570796" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_15ml/asset.contract.json b/assets/labware/containers/falcon_tube_15ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..b14825155a2bd29dc294c1a86434a07ac7c4ae11
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/asset.contract.json
@@ -0,0 +1,691 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.falcon_tube_15ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Falcon 15 mL 锥底离心管（352096，PE 螺旋盖）",
+ "category": "labware.container.tube",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Corning Falcon 352096 15 mL PP 锥底离心管，约 17 mm 外径 × 120 mm 长。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/falcon_tube_15ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "5de1c22235941750f82f103afa02cfe4df175f6a728bdb0dcf67cc15702eacb5"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/falcon_tube_15ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "3955e5b5439520e90d4f834c75002f6c54f453cf9345dbf83689d6b66bbaeabe"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/falcon_tube_15ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "30bb415026d5ed43dc3c854244f8aa8456257c27253429636a9be017bb7ce0bf"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/falcon_tube_15ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "89d4c1e2c509d278f0687afeef482dacbb9752cd93788693f90ca2cfb1f5c72c"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/falcon_tube_15ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "779e043ac1a99354ca17f62b4d600f8474d426f34daf20f386de525338478ad6"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/falcon_tube_15ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c0c3da4fd7762b3d7515bff23529c71a8086e948aaceff032a623ebd2f3e1d7a"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/falcon_tube_15ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "fd6e2fd0baf2f716d46a8ee814766286f5efa83458af550be2bf0495d09f36ee"
+  }
+ },
+ "sources": {
+  "falcon_352096": {
+   "kind": "manufacturer",
+   "reference": "Corning Falcon 352096 15 mL PP conical centrifuge tube (Corning page for the racked version 352097: https://ecatalog.corning.com/life-sciences/b2b/SE/en/p/352097)",
+   "locator": "approx. 17 mm O.D. x 120 mm length",
+   "note": "15 mL conical tube with PE flat-top screw cap. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "管身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "pp 壳体；外径 17.0 mm、本体高 110.5 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "falcon_tube_15ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.017,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352096"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.12,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352096"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 1.4999999999999999e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352096"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 1.72e-05,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0009,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.004275,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 4.8 cm3 × pp 密度 900 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø20.5×12.5 mm；Falcon 15 mL 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "falcon_tube_15ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0205,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.5,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.0013,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 1.37 cm3 × pe 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    9.424778
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 9.424778,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.003,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "17×120 mm 按带盖外形；锥底高 22 mm、盖 Ø20.5×12.5 mm 为照片估计。",
+  "锥底管不能自立，需要管架（未建模；可用 LabUtopia test_tube_rack 或专用架）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.falcon_tube_15ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "conical_15ml"
+   ],
+   "maker": "Corning (Falcon)",
+   "model": "15 mL PP conical centrifuge tube",
+   "catalogue_no": "352096",
+   "nominal_capacity_m3": 1.4999999999999999e-05,
+   "brim_capacity_m3": 1.72e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "falcon_352096",
+   "outer": {
+    "diameter_m": 0.017,
+    "height_body_m": 0.1105,
+    "height_with_cap_m": 0.12,
+    "source_id": "falcon_352096"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0076,
+    "floor_m": 0.0012,
+    "height_m": 0.1105,
+    "body_top_m": 0.1014,
+    "neck_radius_m": 0.0072,
+    "nominal_fill_height_m": 0.09743,
+    "volume_table_m_ml": [
+     [
+      0.0012,
+      0.0
+     ],
+     [
+      0.00666,
+      0.043
+     ],
+     [
+      0.01213,
+      0.235
+     ],
+     [
+      0.0176,
+      0.686
+     ],
+     [
+      0.02306,
+      1.506
+     ],
+     [
+      0.02852,
+      2.497
+     ],
+     [
+      0.03399,
+      3.489
+     ],
+     [
+      0.03945,
+      4.481
+     ],
+     [
+      0.04492,
+      5.472
+     ],
+     [
+      0.05038,
+      6.464
+     ],
+     [
+      0.05585,
+      7.456
+     ],
+     [
+      0.06131,
+      8.447
+     ],
+     [
+      0.06678,
+      9.439
+     ],
+     [
+      0.07224,
+      10.431
+     ],
+     [
+      0.07771,
+      11.422
+     ],
+     [
+      0.08318,
+      12.414
+     ],
+     [
+      0.08864,
+      13.406
+     ],
+     [
+      0.0941,
+      14.397
+     ],
+     [
+      0.09957,
+      15.389
+     ],
+     [
+      0.10503,
+      16.31
+     ],
+     [
+      0.1105,
+      17.2
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0012
+     ],
+     [
+      0.0006,
+      0.0012
+     ],
+     [
+      0.0076,
+      0.02245
+     ],
+     [
+      0.0076,
+      0.10095
+     ],
+     [
+      0.0072,
+      0.1015
+     ],
+     [
+      0.0072,
+      0.1105
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "Falcon 15 mL",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.5,
+    "pitch_m": 0.003,
+    "detach_after_rad": 9.424778,
+    "lift_at_detach_m": 0.0045,
+    "cap_seat_z_m": 0.1075,
+    "clear_lift_m": 0.005,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.087
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.017,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.124,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.078,
+      0.096
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.087
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.207
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.11375
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0205,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00625
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1075
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0083,
+      0.0,
+      0.1105
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00558,
+   "mass_body_kg": 0.00428,
+   "mass_cap_kg": 0.0013,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "锥底管不能自立：放在管架中"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/falcon_tube_15ml/collision_proxies.json b/assets/labware/containers/falcon_tube_15ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a989969c13736d6351a3a41820a73c886cc73b4
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/collision_proxies.json
@@ -0,0 +1,1182 @@
+{
+ "asset_type_id": "labware.falcon_tube_15ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.002,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.004807,
+      0.022174
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diff --git a/assets/labware/containers/falcon_tube_15ml/geometry_manifest.json b/assets/labware/containers/falcon_tube_15ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..85064b76e10affbc0bf27fb170936d7859003e37
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/geometry_manifest.json
@@ -0,0 +1,1685 @@
+{
+ "asset_type_id": "labware.falcon_tube_15ml",
+ "catalog_id": null,
+ "name_zh": "Falcon 15 mL 锥底离心管（352096，PE 螺旋盖）",
+ "name_en": "Corning Falcon 352096 15 mL conical tube",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0205,
+  0.0205,
+  0.12
+ ],
+ "bounds_m": [
+  [
+   -0.01025,
+   -0.01025,
+   0.0
+  ],
+  [
+   0.01025,
+   0.01025,
+   0.12
+  ]
+ ],
+ "total_mass_kg": 0.00558,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "falcon_352096",
+   "kind": "manufacturer",
+   "reference": "Corning Falcon 352096 15 mL PP conical centrifuge tube (Corning page for the racked version 352097: https://ecatalog.corning.com/life-sciences/b2b/SE/en/p/352097)",
+   "locator": "approx. 17 mm O.D. x 120 mm length",
+   "note": "15 mL conical tube with PE flat-top screw cap. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "管身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "pp 壳体；外径 17.0 mm、本体高 110.5 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.004275,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 4.8 cm3 × pp 密度 900 kg/m3 计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "falcon_tube_15ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "falcon_tube_15ml__body",
+     "rgba_srgb": [
+      0.92,
+      0.93,
+      0.92,
+      0.55
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+     "hex": "#EBEDEB",
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+      0.55
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     ],
+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0,
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0011,
+      0.004694,
+      0.009
+     ],
+     "origin_m": [
+      -0.0,
+      -0.00775,
+      0.106
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0011,
+      0.004694,
+      0.009
+     ],
+     "origin_m": [
+      0.003875,
+      -0.006712,
+      0.106
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0011,
+      0.004694,
+      0.009
+     ],
+     "origin_m": [
+      0.006712,
+      -0.003875,
+      0.106
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  },
+  {
+   "id": "cap",
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø20.5×12.5 mm；Falcon 15 mL 螺纹",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.1075
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     9.424778
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.0013,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 1.37 cm3 × pe 密度计算",
+   "material": "pe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "falcon_tube_15ml__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "falcon_tube_15ml__cap",
+     "rgba_srgb": [
+      0.96,
+      0.96,
+      0.96,
+      1.0
+     ],
+     "hex": "#F5F5F5",
+     "rgba_linear": [
+      0.91141,
+      0.91141,
+      0.91141,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01025,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.01175
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005796,
+      0.011
+     ],
+     "origin_m": [
+      0.009588,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005796,
+      0.011
+     ],
+     "origin_m": [
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+      0.004794,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.011
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+     "origin_m": [
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+      0.0055
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.011
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+     "origin_m": [
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+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005796,
+      0.011
+     ],
+     "origin_m": [
+      -0.004794,
+      -0.008303,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001325,
+      0.005796,
+      0.011
+     ],
+     "origin_m": [
+      -0.0,
+      -0.009588,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001325,
+      0.005796,
+      0.011
+     ],
+     "origin_m": [
+      0.004794,
+      -0.008303,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001325,
+      0.005796,
+      0.011
+     ],
+     "origin_m": [
+      0.008303,
+      -0.004794,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "falcon_tube_15ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    9.424778
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.falcon_tube_15ml",
+  "family": "tube",
+  "labware_class": "tube",
+  "fits": [
+   "tube",
+   "conical_15ml"
+  ],
+  "maker": "Corning (Falcon)",
+  "model": "15 mL PP conical centrifuge tube",
+  "catalogue_no": "352096",
+  "nominal_capacity_m3": 1.4999999999999999e-05,
+  "brim_capacity_m3": 1.72e-05,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "falcon_352096",
+  "outer": {
+   "diameter_m": 0.017,
+   "height_body_m": 0.1105,
+   "height_with_cap_m": 0.12,
+   "source_id": "falcon_352096"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0076,
+   "floor_m": 0.0012,
+   "height_m": 0.1105,
+   "body_top_m": 0.1014,
+   "neck_radius_m": 0.0072,
+   "nominal_fill_height_m": 0.09743,
+   "volume_table_m_ml": [
+    [
+     0.0012,
+     0.0
+    ],
+    [
+     0.00666,
+     0.043
+    ],
+    [
+     0.01213,
+     0.235
+    ],
+    [
+     0.0176,
+     0.686
+    ],
+    [
+     0.02306,
+     1.506
+    ],
+    [
+     0.02852,
+     2.497
+    ],
+    [
+     0.03399,
+     3.489
+    ],
+    [
+     0.03945,
+     4.481
+    ],
+    [
+     0.04492,
+     5.472
+    ],
+    [
+     0.05038,
+     6.464
+    ],
+    [
+     0.05585,
+     7.456
+    ],
+    [
+     0.06131,
+     8.447
+    ],
+    [
+     0.06678,
+     9.439
+    ],
+    [
+     0.07224,
+     10.431
+    ],
+    [
+     0.07771,
+     11.422
+    ],
+    [
+     0.08318,
+     12.414
+    ],
+    [
+     0.08864,
+     13.406
+    ],
+    [
+     0.0941,
+     14.397
+    ],
+    [
+     0.09957,
+     15.389
+    ],
+    [
+     0.10503,
+     16.31
+    ],
+    [
+     0.1105,
+     17.2
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0012
+    ],
+    [
+     0.0006,
+     0.0012
+    ],
+    [
+     0.0076,
+     0.02245
+    ],
+    [
+     0.0076,
+     0.10095
+    ],
+    [
+     0.0072,
+     0.1015
+    ],
+    [
+     0.0072,
+     0.1105
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "Falcon 15 mL",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.5,
+   "pitch_m": 0.003,
+   "detach_after_rad": 9.424778,
+   "lift_at_detach_m": 0.0045,
+   "cap_seat_z_m": 0.1075,
+   "clear_lift_m": 0.005,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.087
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.017,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.124,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.078,
+     0.096
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.207
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.207
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.087
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.207
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.11375
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0205,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00625
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1075
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0083,
+     0.0,
+     0.1105
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "pp",
+   "cap": "pe"
+  },
+  "empty_mass_kg": 0.00558,
+  "mass_body_kg": 0.00428,
+  "mass_cap_kg": 0.0013,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": false,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "锥底管不能自立：放在管架中"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "17×120 mm 按带盖外形；锥底高 22 mm、盖 Ø20.5×12.5 mm 为照片估计。",
+  "锥底管不能自立，需要管架（未建模；可用 LabUtopia test_tube_rack 或专用架）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.mtl b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a729fa44bccceb9c6a2321fb59ea06b8c000a532
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl falcon_tube_15ml__body
+Kd 0.9200 0.9300 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.obj b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f34ab00d4043704b002e46ba4ee8d8bb5ffe40f8
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib falcon_tube_15ml__body.mtl
+usemtl falcon_tube_15ml__body
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diff --git a/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.mtl b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3f3955dbfd51f700e2facf70ff7fe3e26d7bf06c
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl falcon_tube_15ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.obj b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6a58c281d46d99bb6e17601156741406fac612b8
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/meshes/falcon_tube_15ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib falcon_tube_15ml__cap.mtl
+usemtl falcon_tube_15ml__cap
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diff --git a/assets/labware/containers/falcon_tube_15ml/model.urdf b/assets/labware/containers/falcon_tube_15ml/model.urdf
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+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="8.05667e-19 4.02834e-19 0.00775395" rpy="0 0 0" />
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+    </inertial>
+    <visual name="falcon_tube_15ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_15ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_15ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
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+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.1075" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="9.424778" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_15ml/model_solid.urdf b/assets/labware/containers/falcon_tube_15ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e1c59436592ba3d30d3bdb0067fac0992d49afba
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_15ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="4.64336e-19 4.64336e-19 0.0597185" rpy="0 0 0" />
+      <mass value="0.00427543" />
+      <inertia ixx="4.4533e-06" ixy="0" ixz="0" iyy="4.4533e-06" iyz="0" izz="2.05933e-07" />
+    </inertial>
+    <visual name="falcon_tube_15ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_15ml__body.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_15ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.05525" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0085" length="0.1105" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
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+      <origin xyz="8.05667e-19 4.02834e-19 0.00775395" rpy="0 0 0" />
+      <mass value="0.00130049" />
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+    </inertial>
+    <visual name="falcon_tube_15ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_15ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_15ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00625" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01025" length="0.0125" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.1075" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="9.424778" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_15ml/parts/body.urdf b/assets/labware/containers/falcon_tube_15ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..540b91de423b3cd8b58711b0361ab43381d6503a
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_15ml__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="4.64336e-19 4.64336e-19 0.0597185" rpy="0 0 0" />
+      <mass value="0.00427543" />
+      <inertia ixx="4.4533e-06" ixy="0" ixz="0" iyy="4.4533e-06" iyz="0" izz="2.05933e-07" />
+    </inertial>
+    <visual name="falcon_tube_15ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/falcon_tube_15ml__body.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_15ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.002" length="0.0015" />
+      </geometry>
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+    <collision>
+      <origin xyz="0.00688732 -0.00397639 0.100556" rpy="0 -1.10715 5.75959" />
+      <geometry>
+        <box size="0.002 0.00480664 0.000223607" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00775 0 0.106" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0067117 0.003875 0.106" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.003875 0.0067117 0.106" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="4.74551e-19 0.00775 0.106" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.003875 0.0067117 0.106" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0067117 0.003875 0.106" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00775 9.49101e-19 0.106" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0067117 -0.003875 0.106" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.003875 -0.0067117 0.106" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-1.42365e-18 -0.00775 0.106" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.003875 -0.0067117 0.106" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0067117 -0.003875 0.106" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.0011 0.00469354 0.009" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_15ml/parts/cap.urdf b/assets/labware/containers/falcon_tube_15ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b2de1199f362a94f8d8be30f290d57a837542306
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_15ml/parts/cap.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_15ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="8.05667e-19 4.02834e-19 0.00775395" rpy="0 0 0" />
+      <mass value="0.00130049" />
+      <inertia ixx="6.24777e-08" ixy="0" ixz="0" iyy="6.24777e-08" iyz="0" izz="9.10885e-08" />
+    </inertial>
+    <visual name="falcon_tube_15ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/falcon_tube_15ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_15ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.01175" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01025" length="0.0015" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00958769 0 0.0055" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00830319 0.00479385 0.0055" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00479385 0.00830319 0.0055" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="5.87077e-19 0.00958769 0.0055" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00479385 0.00830319 0.0055" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00830319 0.00479385 0.0055" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00958769 1.17415e-18 0.0055" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00830319 -0.00479385 0.0055" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00479385 -0.00830319 0.0055" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-1.76123e-18 -0.00958769 0.0055" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00479385 -0.00830319 0.0055" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00830319 -0.00479385 0.0055" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.00132461 0.00579624 0.011" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_50ml/asset.contract.json b/assets/labware/containers/falcon_tube_50ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2f2989f2228dc11f023179d50d8c7aa3b323a9
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/asset.contract.json
@@ -0,0 +1,687 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.falcon_tube_50ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Falcon 50 mL 锥底离心管（352070，螺旋盖）",
+ "category": "labware.container.tube",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Corning Falcon 352070 50 mL PP 锥底离心管，约 30 mm 外径 × 115 mm 长。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/falcon_tube_50ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "9694cdf42cdd9c777270e367b441e074d3efbe308b747d85fa60af68593b2950"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/falcon_tube_50ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "70649e00267f0dfb0ae2df798d3494041f611d491b205afeedf2d36cecdde667"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/falcon_tube_50ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "50fbf03c795e8949910cb2d1c9cad910541ca07e07b88ef49da06fed69b964f8"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/falcon_tube_50ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "b42bf62a71659cb66153f34f932fa1496311ffed22a033c8df9c7a54a2739885"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/falcon_tube_50ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "da7da34d0078e43dae1b51314ea57e0ea265814e4fb86b57b842434e1d05cd48"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/falcon_tube_50ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a003b3e95520df14853088727fbd2362e96069ffcc7906c0561c10e57c763634"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/falcon_tube_50ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b9f06d647df312947832bb86fc979b721e1e41a9f5ed87e19ae44c33c88ae70d"
+  }
+ },
+ "sources": {
+  "falcon_352070": {
+   "kind": "manufacturer",
+   "reference": "Corning Falcon 352070 50 mL PP conical centrifuge tube (listing https://www.capitolscientific.com/Falcon-a-Corning-Brand-352070-Falcon-a-Corning-Brand-352070-High-Clarity-50mL-Polypropylene-Co)",
+   "locator": "approx. 30 mm O.D. x 115 mm length",
+   "note": "50 mL conical tube with screw cap. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "管身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "pp 壳体；外径 29.5 mm、本体高 103.5 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "falcon_tube_50ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0295,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352070"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.115,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352070"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 4.9999999999999996e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "falcon_352070"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 5.2355e-05,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0011,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.008889,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 9.9 cm3 × pp 密度 900 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø34.5×13.5 mm；Falcon 50 mL 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "falcon_tube_50ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0345,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.5,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.003415,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 3.60 cm3 × pe 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    9.424778
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.5 圈（9.425 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 9.424778,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0035,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "30×115 mm 按带盖外形（管身外径取 29.5 mm）；锥底高 20 mm、盖 Ø34.5×13.5 mm 为照片估计。",
+  "锥底管不能自立，需要管架。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.falcon_tube_50ml",
+   "family": "tube",
+   "labware_class": "tube",
+   "fits": [
+    "tube",
+    "conical_50ml"
+   ],
+   "maker": "Corning (Falcon)",
+   "model": "50 mL PP conical centrifuge tube",
+   "catalogue_no": "352070",
+   "nominal_capacity_m3": 4.9999999999999996e-05,
+   "brim_capacity_m3": 5.2355e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "falcon_352070",
+   "outer": {
+    "diameter_m": 0.0295,
+    "height_body_m": 0.1035,
+    "height_with_cap_m": 0.115,
+    "source_id": "falcon_352070"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.01365,
+    "floor_m": 0.0014,
+    "height_m": 0.1035,
+    "body_top_m": 0.0935,
+    "neck_radius_m": 0.0136,
+    "nominal_fill_height_m": 0.09945,
+    "volume_table_m_ml": [
+     [
+      0.0014,
+      0.0
+     ],
+     [
+      0.0065,
+      0.124
+     ],
+     [
+      0.01161,
+      0.716
+     ],
+     [
+      0.01672,
+      2.148
+     ],
+     [
+      0.02182,
+      4.742
+     ],
+     [
+      0.02692,
+      7.729
+     ],
+     [
+      0.03203,
+      10.715
+     ],
+     [
+      0.03714,
+      13.699
+     ],
+     [
+      0.04224,
+      16.681
+     ],
+     [
+      0.04734,
+      19.662
+     ],
+     [
+      0.05245,
+      22.642
+     ],
+     [
+      0.05756,
+      25.62
+     ],
+     [
+      0.06266,
+      28.596
+     ],
+     [
+      0.06777,
+      31.571
+     ],
+     [
+      0.07287,
+      34.544
+     ],
+     [
+      0.07798,
+      37.516
+     ],
+     [
+      0.08308,
+      40.486
+     ],
+     [
+      0.08818,
+      43.455
+     ],
+     [
+      0.09329,
+      46.422
+     ],
+     [
+      0.0984,
+      49.388
+     ],
+     [
+      0.1035,
+      52.355
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0014
+     ],
+     [
+      0.0009,
+      0.0014
+     ],
+     [
+      0.01365,
+      0.02055
+     ],
+     [
+      0.0136,
+      0.0935
+     ],
+     [
+      0.0136,
+      0.1035
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "Falcon 50 mL",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.5,
+    "pitch_m": 0.0035,
+    "detach_after_rad": 9.424778,
+    "lift_at_detach_m": 0.00525,
+    "cap_seat_z_m": 0.1015,
+    "clear_lift_m": 0.004,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.082
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0295,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.119,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.073,
+      0.091
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.082
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.202
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10825
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0345,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00675
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.195
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1015
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0148,
+      0.0,
+      0.1035
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.0123,
+   "mass_body_kg": 0.00889,
+   "mass_cap_kg": 0.00342,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "锥底管不能自立：放在管架中"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/falcon_tube_50ml/collision_proxies.json b/assets/labware/containers/falcon_tube_50ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..51a3b3088814fe725e9f626c56c4f2f73154e419
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/collision_proxies.json
@@ -0,0 +1,1110 @@
+{
+ "asset_type_id": "labware.falcon_tube_50ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.002,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.007149,
+      0.023048
+     ],
+     "origin_m": [
+      0.00775,
+      0.0,
+      0.010815
+     ],
+     "rpy_rad": [
+      0.0,
+      0.586198,
+      0.0
+     ]
+    },
+    {
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+     "size_m": [
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+      0.007149,
+      0.023048
+     ],
+     "origin_m": [
+      0.006983,
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+      0.010815
+     ],
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+      0.448799
+     ]
+    },
+    {
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+     ],
+     "origin_m": [
+      0.004832,
+      0.006059,
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+      0.897598
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+     "origin_m": [
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+      1.346397
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+    {
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diff --git a/assets/labware/containers/falcon_tube_50ml/geometry_manifest.json b/assets/labware/containers/falcon_tube_50ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..842759a71ee43b690e77bdfdb1eac1c595962f51
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/geometry_manifest.json
@@ -0,0 +1,1609 @@
+{
+ "asset_type_id": "labware.falcon_tube_50ml",
+ "catalog_id": null,
+ "name_zh": "Falcon 50 mL 锥底离心管（352070，螺旋盖）",
+ "name_en": "Corning Falcon 352070 50 mL conical tube",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0345,
+  0.0345,
+  0.115
+ ],
+ "bounds_m": [
+  [
+   -0.01725,
+   -0.01725,
+   0.0
+  ],
+  [
+   0.01725,
+   0.01725,
+   0.115
+  ]
+ ],
+ "total_mass_kg": 0.0123,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "falcon_352070",
+   "kind": "manufacturer",
+   "reference": "Corning Falcon 352070 50 mL PP conical centrifuge tube (listing https://www.capitolscientific.com/Falcon-a-Corning-Brand-352070-Falcon-a-Corning-Brand-352070-High-Clarity-50mL-Polypropylene-Co)",
+   "locator": "approx. 30 mm O.D. x 115 mm length",
+   "note": "50 mL conical tube with screw cap. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "管身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "pp 壳体；外径 29.5 mm、本体高 103.5 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.008889,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 9.9 cm3 × pp 密度 900 kg/m3 计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "falcon_tube_50ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "falcon_tube_50ml__body",
+     "rgba_srgb": [
+      0.92,
+      0.93,
+      0.92,
+      0.55
+     ],
+     "hex": "#EBEDEB",
+     "rgba_linear": [
+      0.82757,
+      0.84809,
+      0.82757,
+      0.55
+     ]
+    }
+   ],
+   "collisions": [
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+      0.0015
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+     0.01672,
+     2.148
+    ],
+    [
+     0.02182,
+     4.742
+    ],
+    [
+     0.02692,
+     7.729
+    ],
+    [
+     0.03203,
+     10.715
+    ],
+    [
+     0.03714,
+     13.699
+    ],
+    [
+     0.04224,
+     16.681
+    ],
+    [
+     0.04734,
+     19.662
+    ],
+    [
+     0.05245,
+     22.642
+    ],
+    [
+     0.05756,
+     25.62
+    ],
+    [
+     0.06266,
+     28.596
+    ],
+    [
+     0.06777,
+     31.571
+    ],
+    [
+     0.07287,
+     34.544
+    ],
+    [
+     0.07798,
+     37.516
+    ],
+    [
+     0.08308,
+     40.486
+    ],
+    [
+     0.08818,
+     43.455
+    ],
+    [
+     0.09329,
+     46.422
+    ],
+    [
+     0.0984,
+     49.388
+    ],
+    [
+     0.1035,
+     52.355
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0014
+    ],
+    [
+     0.0009,
+     0.0014
+    ],
+    [
+     0.01365,
+     0.02055
+    ],
+    [
+     0.0136,
+     0.0935
+    ],
+    [
+     0.0136,
+     0.1035
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "Falcon 50 mL",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.5,
+   "pitch_m": 0.0035,
+   "detach_after_rad": 9.424778,
+   "lift_at_detach_m": 0.00525,
+   "cap_seat_z_m": 0.1015,
+   "clear_lift_m": 0.004,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.082
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0295,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.119,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.073,
+     0.091
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.202
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.202
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.082
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.202
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10825
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0345,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00675
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.195
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1015
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0148,
+     0.0,
+     0.1035
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "pp",
+   "cap": "pe"
+  },
+  "empty_mass_kg": 0.0123,
+  "mass_body_kg": 0.00889,
+  "mass_cap_kg": 0.00342,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": false,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "锥底管不能自立：放在管架中"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "30×115 mm 按带盖外形（管身外径取 29.5 mm）；锥底高 20 mm、盖 Ø34.5×13.5 mm 为照片估计。",
+  "锥底管不能自立，需要管架。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.mtl b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a099c0f29d467335fa1e2da8e6bffff62c962dd5
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl falcon_tube_50ml__body
+Kd 0.9200 0.9300 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.obj b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bf4a7de0d1978026b2a223401c733f4262c970ca
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__body.obj
@@ -0,0 +1,1734 @@
+mtllib falcon_tube_50ml__body.mtl
+usemtl falcon_tube_50ml__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.mtl b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fcace8c9196ffb24f642f67f24915ae0702b68
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl falcon_tube_50ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.obj b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..88e38bbf55c080e6205e700fad34189352a8411b
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/meshes/falcon_tube_50ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib falcon_tube_50ml__cap.mtl
+usemtl falcon_tube_50ml__cap
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/falcon_tube_50ml/model.glb b/assets/labware/containers/falcon_tube_50ml/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5b4da8e65fbe7e19e21b785adb959240115d5a57
Binary files /dev/null and b/assets/labware/containers/falcon_tube_50ml/model.glb differ
diff --git a/assets/labware/containers/falcon_tube_50ml/model.urdf b/assets/labware/containers/falcon_tube_50ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e694e30d2b340b26a1bdd2123e2178900e1682ce
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/model.urdf
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+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="6.13567e-19 0 0.00875029" rpy="0 0 0" />
+      <mass value="0.00341532" />
+      <inertia ixx="3.90627e-07" ixy="0" ixz="0" iyy="3.90627e-07" iyz="0" izz="6.77513e-07" />
+    </inertial>
+    <visual name="falcon_tube_50ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_50ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_50ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
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+      <origin xyz="0 0 0.0127" rpy="0 0 0" />
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+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.1015" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="9.424778" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_50ml/model_solid.urdf b/assets/labware/containers/falcon_tube_50ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..46398b8f0b5a9f1fb278d32b8721a63a87444a9d
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_50ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-8.9338e-19 -8.9338e-19 0.0550206" rpy="0 0 0" />
+      <mass value="0.00888864" />
+      <inertia ixx="8.58377e-06" ixy="0" ixz="0" iyy="8.58377e-06" iyz="0" izz="1.29798e-06" />
+    </inertial>
+    <visual name="falcon_tube_50ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_50ml__body.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_50ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.05175" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01475" length="0.1035" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="6.13567e-19 0 0.00875029" rpy="0 0 0" />
+      <mass value="0.00341532" />
+      <inertia ixx="3.90627e-07" ixy="0" ixz="0" iyy="3.90627e-07" iyz="0" izz="6.77513e-07" />
+    </inertial>
+    <visual name="falcon_tube_50ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/falcon_tube_50ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_50ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00675" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01725" length="0.0135" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.1015" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="9.424778" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_50ml/parts/body.urdf b/assets/labware/containers/falcon_tube_50ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..18c06de1d3f5480df399bcb2d0a7d0ab5bab75e3
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/parts/body.urdf
@@ -0,0 +1,277 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_50ml__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-8.9338e-19 -8.9338e-19 0.0550206" rpy="0 0 0" />
+      <mass value="0.00888864" />
+      <inertia ixx="8.58377e-06" ixy="0" ixz="0" iyy="8.58377e-06" iyz="0" izz="1.29798e-06" />
+    </inertial>
+    <visual name="falcon_tube_50ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/falcon_tube_50ml__body.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_50ml__body">
+        <color rgba="0.82757 0.84809 0.82757 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
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+      </geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00885356 0.011102 0.0985" rpy="0 0 0.897598" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0031598 0.013844 0.0985" rpy="0 0 1.3464" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0031598 0.013844 0.0985" rpy="0 0 1.7952" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00885356 0.011102 0.0985" rpy="0 0 2.24399" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0127938 0.00616115 0.0985" rpy="0 0 2.69279" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0142 1.739e-18 0.0985" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0127938 -0.00616115 0.0985" rpy="0 0 3.59039" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00885356 -0.011102 0.0985" rpy="0 0 4.03919" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0031598 -0.013844 0.0985" rpy="0 0 4.48799" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0031598 -0.013844 0.0985" rpy="0 0 4.93679" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00885356 -0.011102 0.0985" rpy="0 0 5.38559" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0127938 -0.00616115 0.0985" rpy="0 0 5.83439" />
+      <geometry>
+        <box size="0.0012 0.0071736 0.01" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/falcon_tube_50ml/parts/cap.urdf b/assets/labware/containers/falcon_tube_50ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b7a4efed7badfa1258e35dec29a4aedea4017045
--- /dev/null
+++ b/assets/labware/containers/falcon_tube_50ml/parts/cap.urdf
@@ -0,0 +1,109 @@
+<?xml version="1.0"?>
+<robot name="falcon_tube_50ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="6.13567e-19 0 0.00875029" rpy="0 0 0" />
+      <mass value="0.00341532" />
+      <inertia ixx="3.90627e-07" ixy="0" ixz="0" iyy="3.90627e-07" iyz="0" izz="6.77513e-07" />
+    </inertial>
+    <visual name="falcon_tube_50ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/falcon_tube_50ml__cap.obj" />
+      </geometry>
+      <material name="mat_falcon_tube_50ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0127" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01725" length="0.0016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0163892 0 0.00595" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0147662 0.00711101 0.00595" rpy="0 0 0.448799" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0102185 0.0128136 0.00595" rpy="0 0 0.897598" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00364694 0.0159783 0.00595" rpy="0 0 1.3464" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00364694 0.0159783 0.00595" rpy="0 0 1.7952" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0102185 0.0128136 0.00595" rpy="0 0 2.24399" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0147662 0.00711101 0.00595" rpy="0 0 2.69279" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0163892 2.0071e-18 0.00595" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0147662 -0.00711101 0.00595" rpy="0 0 3.59039" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0102185 -0.0128136 0.00595" rpy="0 0 4.03919" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00364694 -0.0159783 0.00595" rpy="0 0 4.48799" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00364694 -0.0159783 0.00595" rpy="0 0 4.93679" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0102185 -0.0128136 0.00595" rpy="0 0 5.38559" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0147662 -0.00711101 0.00595" rpy="0 0 5.83439" />
+      <geometry>
+        <box size="0.00172157 0.00836112 0.0119" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/asset.contract.json b/assets/labware/containers/gas_cylinder_10l_200bar/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..107c92687e1b853169c5261f5ea4a3f3086084b8
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/asset.contract.json
@@ -0,0 +1,415 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.gas_cylinder_10l_200bar",
+ "asset_version": "1.0.0",
+ "name_zh": "10 L / 200 bar 钢瓶（Ø140×850 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+ "category": "labware.container.gas_cylinder",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "欧洲常用 10 L、200 bar 无缝钢瓶（Rama / PWENT，ISO 9809-1）：直径 140 mm、长 850 mm、约 14.9 kg；装 DIN 477 瓶阀与 Linde REDLINE C 200/2 两级减压器（3.33 kg）。放在 cylinder_rack（DENIOS 气瓶架）上；气体量由宿主账本记录（清单的默认气源）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/gas_cylinder_10l_200bar/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "8dd252038665c33d2c6491c9fdaecb636822f475d52ef20c18fd2c214d77d4e0"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/gas_cylinder_10l_200bar/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "0548bf9e5b05a0b8db0a443cdf09dc1aa00868d8816b289d5fd2be759e875d63"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/gas_cylinder_10l_200bar/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "d1d4ada2e69e2d5a4a7ef64db316d66598979ad81db2fe1f3278e7d110c66018"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/gas_cylinder_10l_200bar/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "63210be636778b530b266e541a8b3be219810810de4b4052c218f7f1e516be2b"
+  }
+ },
+ "sources": {
+  "rama_10l_cylinder": {
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel gas cylinder 10 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/product_tag/10-liter/)",
+   "locator": "10 L / 200 bar / 140 mm diameter / 850 mm length / 14.9 kg",
+   "note": "Small lab gas cylinder. accessed 2026-10-22."
+  },
+  "linde_c200_2": {
+   "kind": "manufacturer",
+   "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+   "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+   "note": "Regulator mounted on the 50 L cylinder."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cylinder_assumption": {
+   "kind": "assumption",
+   "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+   "locator": "engineering value",
+   "note": "Shoulder from z 1.32 m to the neck at 1.50 m; brass valve 50 x 50 x 95 mm with O60 mm handwheel (2 turns from closed to open) and a side outlet to the regulator; regulator body O62 x 50 mm with two O50 gauges and an O45 adjusting knob (5 turns over its outlet range) laid out to the 178 x 150 mm drawing; valve mass 1.2 kg."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "钢瓶",
+   "function_zh": "储存压缩气体（200 bar）",
+   "physical_meaning_zh": "无缝钢瓶（ISO 9809-1）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_10l_200bar__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "diameter_m": {
+     "value": 0.14,
+     "unit": "m",
+     "meaning_zh": "外径",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_10l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "length_m": {
+     "value": 0.85,
+     "unit": "m",
+     "meaning_zh": "长度",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_10l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "water_capacity_m3": {
+     "value": 0.01,
+     "unit": "m3",
+     "meaning_zh": "水容积 10 L",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_10l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "working_pressure_pa": {
+     "value": 20000000.0,
+     "unit": "Pa",
+     "meaning_zh": "工作压力 200 bar",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_10l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 14.9,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（目录 14.9 kg（未注明是否含阀；按空瓶质量））",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_10l_cylinder"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "valve": {
+   "name_zh": "DIN 477 瓶阀",
+   "function_zh": "开关钢瓶；侧出口接减压器",
+   "physical_meaning_zh": "黄铜阀体",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:valve",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_10l_200bar__valve",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.2,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（黄铜阀 1.2 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "handwheel": {
+   "name_zh": "瓶阀手轮",
+   "function_zh": "逆时针（俯视）开阀",
+   "physical_meaning_zh": "手轮；转角对应阀开度（宿主记录）",
+   "parent": "valve",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:handwheel",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_10l_200bar__handwheel",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.12,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（手轮 0.12 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "regulator": {
+   "name_zh": "Linde REDLINE C 200/2 两级减压器",
+   "function_zh": "把 200 bar 降到工作压力（1–10 bar）",
+   "physical_meaning_zh": "镀铬黄铜，两只压力表，出口 6 mm 卡套",
+   "parent": "valve",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:regulator",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_10l_200bar__regulator",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "max_inlet_pressure_pa": {
+     "value": 23000000.0,
+     "unit": "Pa",
+     "meaning_zh": "最大进口压力 230 bar",
+     "evidence": "documented",
+     "source_ids": [
+      "linde_c200_2"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 3.33,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表最大 3.33 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "linde_c200_2"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "regulator_knob": {
+   "name_zh": "减压器调节旋钮",
+   "function_zh": "顺时针（从前看）升高出口压力",
+   "physical_meaning_zh": "调节弹簧预紧；转角对应出口设定压力（宿主记录）",
+   "parent": "regulator",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:regulator_knob",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_10l_200bar__regulator_knob",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.08,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（旋钮 0.08 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_handwheel": {
+   "component_id": "handwheel",
+   "artifact_id": "model_urdf",
+   "target": "handwheel_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    12.566371
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cylinder_assumption"
+   ]
+  },
+  "joint_regulator_knob": {
+   "component_id": "regulator_knob",
+   "artifact_id": "model_urdf",
+   "target": "regulator_knob_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    31.415927
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cylinder_assumption"
+   ]
+  }
+ },
+ "ports": {
+  "gas_outlet": {
+   "component_id": "regulator",
+   "medium": "gas",
+   "direction": "out",
+   "frame": "frame:outlet",
+   "meaning_zh": "减压后供气出口",
+   "connection_constraints": [
+    "瓶阀须打开；出口压力由减压器设定；流量与用量由宿主记账"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "钢瓶直径、长度、容积、工作压力与质量按目录；肩部轮廓、瓶阀与手轮为假设；减压器质量与外形按 Linde 数据表，布局为近似。",
+  "瓶阀开度与减压器设定只作为关节角给出，压力/流量过程由宿主记账；ISO 11117 护帽在装减压器时取下，未建模。",
+  "不在固定 Franka 可达范围内（房间设施）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.gas_cylinder_10l_200bar",
+   "family": "gas_cylinder",
+   "labware_class": "gas_cylinder_10l",
+   "fits": [
+    "gas_cylinder_10l",
+    "gas_cylinder"
+   ],
+   "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+   "model": "Steel seamless cylinder 10 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+   "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+   "water_capacity_m3": 0.01,
+   "service_pressure_pa": 20000000.0,
+   "nominal_capacity_m3": 0.01,
+   "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 82 mol，考虑压缩因子约 78 mol）",
+   "frames": {
+    "handwheel": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.969
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+    },
+    "regulator_knob": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.15,
+      0.905
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0,
+      0,
+      0.70710678
+     ],
+     "note_zh": "减压器旋钮，从前（−Y）接近"
+    },
+    "outlet": {
+     "link": "base_link",
+     "pos_m": [
+      0.1,
+      -0.095,
+      0.905
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "减压器出口（6 mm 卡套）"
+    }
+   },
+   "empty_mass_kg": 19.63,
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/collision_proxies.json b/assets/labware/containers/gas_cylinder_10l_200bar/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..647e88e647041a5b1e6eda767d64c7731c3b8000
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/collision_proxies.json
@@ -0,0 +1,275 @@
+{
+ "asset_type_id": "labware.gas_cylinder_10l_200bar",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.07,
+      0.76441
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.382205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.045852,
+      0.08559
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.807205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "valve": {
+   "origin_m": [
+    0,
+    0,
+    0.85
+   ],
+   "parent": "body",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.05,
+      0.095
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.04
+     ],
+     "origin_m": [
+      0.0,
+      -0.045,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "handwheel": {
+   "origin_m": [
+    0,
+    0,
+    0.107
+   ],
+   "parent": "valve",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.03,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "regulator": {
+   "origin_m": [
+    0,
+    -0.095,
+    0.055
+   ],
+   "parent": "valve",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.031,
+      0.05
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      -0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      -0.06,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.07,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      0.065,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "regulator_knob": {
+   "origin_m": [
+    0,
+    -0.04,
+    0
+   ],
+   "parent": "regulator",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0225,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/geometry_manifest.json b/assets/labware/containers/gas_cylinder_10l_200bar/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e9a12b17302dcacc8429241d45d9dc5e2ecb6e
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/geometry_manifest.json
@@ -0,0 +1,669 @@
+{
+ "asset_type_id": "labware.gas_cylinder_10l_200bar",
+ "catalog_id": null,
+ "name_zh": "10 L / 200 bar 钢瓶（Ø140×850 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+ "name_en": "Steel gas cylinder 10 L 200 bar with DIN 477 valve and Linde REDLINE C 200/2 regulator",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.19,
+  0.22,
+  0.985
+ ],
+ "bounds_m": [
+  [
+   -0.09,
+   -0.15,
+   0.0
+  ],
+  [
+   0.1,
+   0.07,
+   0.985
+  ]
+ ],
+ "total_mass_kg": 19.63,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "rama_10l_cylinder",
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel gas cylinder 10 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/product_tag/10-liter/)",
+   "locator": "10 L / 200 bar / 140 mm diameter / 850 mm length / 14.9 kg",
+   "note": "Small lab gas cylinder. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "linde_c200_2",
+   "kind": "manufacturer",
+   "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+   "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+   "note": "Regulator mounted on the 50 L cylinder.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cylinder_assumption",
+   "kind": "assumption",
+   "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+   "locator": "engineering value",
+   "note": "Shoulder from z 1.32 m to the neck at 1.50 m; brass valve 50 x 50 x 95 mm with O60 mm handwheel (2 turns from closed to open) and a side outlet to the regulator; regulator body O62 x 50 mm with two O50 gauges and an O45 adjusting knob (5 turns over its outlet range) laid out to the 178 x 150 mm drawing; valve mass 1.2 kg.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "钢瓶",
+   "function_zh": "储存压缩气体（200 bar）",
+   "physical_meaning_zh": "无缝钢瓶（ISO 9809-1）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 14.9,
+   "mass_evidence": "documented",
+   "mass_note_zh": "目录 14.9 kg（未注明是否含阀；按空瓶质量）",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "直径 140、长 850 mm 按目录；肩部轮廓为假设",
+   "objects": [
+    "gas_cylinder_10l_200bar__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_10l_200bar__body",
+     "rgba_srgb": [
+      0.45,
+      0.47,
+      0.5,
+      1.0
+     ],
+     "hex": "#737880",
+     "rgba_linear": [
+      0.17064,
+      0.18732,
+      0.21404,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.07,
+      0.76441
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.382205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.045852,
+      0.08559
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.807205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "valve",
+   "name_zh": "DIN 477 瓶阀",
+   "function_zh": "开关钢瓶；侧出口接减压器",
+   "physical_meaning_zh": "黄铜阀体",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.85
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 1.2,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "黄铜阀 1.2 kg（假设）",
+   "material": "brass",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_10l_200bar__valve"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_10l_200bar__valve",
+     "rgba_srgb": [
+      0.78,
+      0.65,
+      0.32,
+      1.0
+     ],
+     "hex": "#C7A652",
+     "rgba_linear": [
+      0.57048,
+      0.38006,
+      0.08354,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.05,
+      0.095
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.04
+     ],
+     "origin_m": [
+      0.0,
+      -0.045,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "handwheel",
+   "name_zh": "瓶阀手轮",
+   "function_zh": "逆时针（俯视）开阀",
+   "physical_meaning_zh": "手轮；转角对应阀开度（宿主记录）",
+   "parent": "valve",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.107
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     12.566371
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cylinder_assumption"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+   },
+   "mass_kg": 0.12,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "手轮 0.12 kg（假设）",
+   "material": "pa",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_10l_200bar__handwheel"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_10l_200bar__handwheel",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.1,
+      1.0
+     ],
+     "hex": "#1A1A1A",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01002,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.03,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "regulator",
+   "name_zh": "Linde REDLINE C 200/2 两级减压器",
+   "function_zh": "把 200 bar 降到工作压力（1–10 bar）",
+   "physical_meaning_zh": "镀铬黄铜，两只压力表，出口 6 mm 卡套",
+   "parent": "valve",
+   "origin_m": [
+    0.0,
+    -0.095,
+    0.055
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 3.33,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表最大 3.33 kg",
+   "material": "brass_chrome",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形约 178×150 mm 按数据表图；部件布局为近似",
+   "objects": [
+    "gas_cylinder_10l_200bar__regulator"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_10l_200bar__regulator",
+     "rgba_srgb": [
+      0.82,
+      0.83,
+      0.85,
+      1.0
+     ],
+     "hex": "#D1D4D9",
+     "rgba_linear": [
+      0.63828,
+      0.65593,
+      0.69207,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.031,
+      0.05
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      -0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      -0.06,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.07,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      0.065,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "regulator_knob",
+   "name_zh": "减压器调节旋钮",
+   "function_zh": "顺时针（从前看）升高出口压力",
+   "physical_meaning_zh": "调节弹簧预紧；转角对应出口设定压力（宿主记录）",
+   "parent": "regulator",
+   "origin_m": [
+    0.0,
+    -0.04,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "limits": [
+     0.0,
+     31.415927
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cylinder_assumption"
+    ],
+    "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+   },
+   "mass_kg": 0.08,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "旋钮 0.08 kg（假设）",
+   "material": "pa",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_10l_200bar__regulator_knob"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_10l_200bar__regulator_knob",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.1,
+      1.0
+     ],
+     "hex": "#1A1A1A",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01002,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0225,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "gas_cylinder_10l_200bar__root",
+ "joint_definitions": {
+  "handwheel": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    12.566371
+   ],
+   "accessor": "joint[handwheel_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+  },
+  "regulator_knob": {
+   "type": "revolute",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "limits_rad": [
+    0.0,
+    31.415927
+   ],
+   "accessor": "joint[regulator_knob_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.gas_cylinder_10l_200bar",
+  "family": "gas_cylinder",
+  "labware_class": "gas_cylinder_10l",
+  "fits": [
+   "gas_cylinder_10l",
+   "gas_cylinder"
+  ],
+  "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+  "model": "Steel seamless cylinder 10 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+  "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+  "water_capacity_m3": 0.01,
+  "service_pressure_pa": 20000000.0,
+  "nominal_capacity_m3": 0.01,
+  "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 82 mol，考虑压缩因子约 78 mol）",
+  "frames": {
+   "handwheel": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.969
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+   },
+   "regulator_knob": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.15,
+     0.905
+    ],
+    "rot_xyzw": [
+     0.70710678,
+     0,
+     0,
+     0.70710678
+    ],
+    "note_zh": "减压器旋钮，从前（−Y）接近"
+   },
+   "outlet": {
+    "link": "base_link",
+    "pos_m": [
+     0.1,
+     -0.095,
+     0.905
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "减压器出口（6 mm 卡套）"
+   }
+  },
+  "empty_mass_kg": 19.63,
+  "franka_grasp_ok": false,
+  "stands_upright": true,
+  "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+ },
+ "limitations_zh": [
+  "钢瓶直径、长度、容积、工作压力与质量按目录；肩部轮廓、瓶阀与手轮为假设；减压器质量与外形按 Linde 数据表，布局为近似。",
+  "瓶阀开度与减压器设定只作为关节角给出，压力/流量过程由宿主记账；ISO 11117 护帽在装减压器时取下，未建模。",
+  "不在固定 Franka 可达范围内（房间设施）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.mtl b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f0d22151e98d0b6e7f6cacf95dd13d85d6fd188c
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_10l_200bar__body
+Kd 0.4500 0.4700 0.5000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.obj b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2302cbf736343ff15640f1c0c65109ac8f9c2b71
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__body.obj
@@ -0,0 +1,1734 @@
+mtllib gas_cylinder_10l_200bar__body.mtl
+usemtl gas_cylinder_10l_200bar__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.mtl b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..96b62c76f6c9fd3d8987805a94bcbb833f06e883
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_10l_200bar__handwheel
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.obj b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4783e8da5baed8e6a03edc0d9d79b903b21b8d97
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__handwheel.obj
@@ -0,0 +1,392 @@
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.mtl b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a13ddbbb6f9521d33363a0d6bac86158ca575fe4
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_10l_200bar__regulator
+Kd 0.8200 0.8300 0.8500
+Ka 0 0 0
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+Ns 40
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.obj b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e35cc2010762009fd9772dcad96dc35762cd5af9
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator.obj
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+mtllib gas_cylinder_10l_200bar__regulator.mtl
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.mtl b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5785517ce32107bbda94a9257f749e134f3a3b93
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_10l_200bar__regulator_knob
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.obj b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74ed4401f6f0731e1c4398351b665efd11654b72
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__regulator_knob.obj
@@ -0,0 +1,198 @@
+mtllib gas_cylinder_10l_200bar__regulator_knob.mtl
+usemtl gas_cylinder_10l_200bar__regulator_knob
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.mtl b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c7428e177418799bef193029665b55de7eaab526
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_10l_200bar__valve
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.obj b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490b5e14453499b0ac83d1df15d1f46bc85b8716
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/meshes/gas_cylinder_10l_200bar__valve.obj
@@ -0,0 +1,218 @@
+mtllib gas_cylinder_10l_200bar__valve.mtl
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diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/model.glb b/assets/labware/containers/gas_cylinder_10l_200bar/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..38a1d005216d69d894c128b8eccd0795c48d6e2a
Binary files /dev/null and b/assets/labware/containers/gas_cylinder_10l_200bar/model.glb differ
diff --git a/assets/labware/containers/gas_cylinder_10l_200bar/model.urdf b/assets/labware/containers/gas_cylinder_10l_200bar/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..6e8bce3ab51590e9992d6a9c5fb4ed0571aa8e21
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_10l_200bar/model.urdf
@@ -0,0 +1,187 @@
+<?xml version="1.0"?>
+<robot name="gas_cylinder_10l_200bar">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.404712" rpy="0 0 0" />
+      <mass value="14.9" />
+      <inertia ixx="0.921441" ixy="0" ixz="0" iyy="0.921441" iyz="0" izz="0.0486733" />
+    </inertial>
+    <visual name="gas_cylinder_10l_200bar__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_10l_200bar__body.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_10l_200bar__body">
+        <color rgba="0.17064 0.18732 0.21404 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.382205" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.07" length="0.76441" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.807205" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0458515" length="0.0855895" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="valve">
+    <inertial>
+      <origin xyz="-1.05885e-19 -0.00224757 0.0478746" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0017125" ixy="0" ixz="0" iyy="0.0011525" iyz="0" izz="0.00106" />
+    </inertial>
+    <visual name="gas_cylinder_10l_200bar__valve">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_10l_200bar__valve.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_10l_200bar__valve">
+        <color rgba="0.57048 0.38006 0.08354 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.05 0.095" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.045 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="valve_joint" type="fixed">
+    <parent link="body" />
+    <child link="valve" />
+    <origin xyz="0 0 0.85" rpy="0 0 0" />
+  </joint>
+  <link name="handwheel">
+    <inertial>
+      <origin xyz="-1.03563e-18 -2.03726e-20 0.00520332" rpy="0 0 0" />
+      <mass value="0.12" />
+      <inertia ixx="4.176e-05" ixy="0" ixz="0" iyy="4.176e-05" iyz="0" izz="7.2e-05" />
+    </inertial>
+    <visual name="gas_cylinder_10l_200bar__handwheel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_10l_200bar__handwheel.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_10l_200bar__handwheel">
+        <color rgba="0.01002 0.01002 0.01002 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 -0.006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handwheel_joint" type="revolute">
+    <parent link="valve" />
+    <child link="handwheel" />
+    <origin xyz="0 0 0.107" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="12.566371" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="regulator">
+    <inertial>
+      <origin xyz="0.000809804 -5.87591e-20 0.0214371" rpy="0 0 0" />
+      <mass value="3.33" />
+      <inertia ixx="0.00411283" ixy="0" ixz="0" iyy="0.0134368" iyz="0" izz="0.0107115" />
+    </inertial>
+    <visual name="gas_cylinder_10l_200bar__regulator">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_10l_200bar__regulator.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_10l_200bar__regulator">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.031" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.04 0 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.04 0 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.06 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.016 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.065 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.07 0.016 0.016" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="regulator_joint" type="fixed">
+    <parent link="valve" />
+    <child link="regulator" />
+    <origin xyz="0 -0.095 0.055" rpy="0 0 0" />
+  </joint>
+  <link name="regulator_knob">
+    <inertial>
+      <origin xyz="-6.9794e-19 3.72235e-19 -3.10302e-19" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="1.95e-05" ixy="0" ixz="0" iyy="2.7e-05" iyz="0" izz="1.95e-05" />
+    </inertial>
+    <visual name="gas_cylinder_10l_200bar__regulator_knob">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_10l_200bar__regulator_knob.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_10l_200bar__regulator_knob">
+        <color rgba="0.01002 0.01002 0.01002 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.0225" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="regulator_knob_joint" type="revolute">
+    <parent link="regulator" />
+    <child link="regulator_knob" />
+    <origin xyz="0 -0.04 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="31.415927" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/asset.contract.json b/assets/labware/containers/gas_cylinder_50l_200bar/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..281ac835358329f46b0957ef563e1261a1766cf8
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/asset.contract.json
@@ -0,0 +1,415 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.gas_cylinder_50l_200bar",
+ "asset_version": "1.0.0",
+ "name_zh": "50 L / 200 bar 钢瓶（Ø229×1500 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+ "category": "labware.container.gas_cylinder",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "欧洲常用 50 L、200 bar 无缝钢瓶（Rama / PWENT，ISO 9809-1）：直径 229 mm、长 1500 mm、约 54.0 kg；装 DIN 477 瓶阀与 Linde REDLINE C 200/2 两级减压器（3.33 kg）。放在 cylinder_rack（DENIOS 气瓶架）上；气体量由宿主账本记录（清单的默认气源）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/gas_cylinder_50l_200bar/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "56d5ccc6946eccab26e85dd09bf19b11dfe58d8e0953866ee728839fabab88a5"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/gas_cylinder_50l_200bar/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a685e7b697686fcd94b667091b22a51763f21648565de8c1fbe4c7f1c8e42349"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/gas_cylinder_50l_200bar/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "460dee419dde4c43f290cf39b14569d8e5aea23b75de5ef43d2b54c795e35f6d"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/gas_cylinder_50l_200bar/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "3eebd99b846b373fe95115f3baae362cffdf4fd6b66fa117fb400a6a1c294fd3"
+  }
+ },
+ "sources": {
+  "rama_50l_cylinder": {
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+   "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+   "note": "Typical European 50 L industrial / lab gas cylinder; the listing does not say whether 54 kg is tare - used as the empty mass. accessed 2026-10-22."
+  },
+  "linde_c200_2": {
+   "kind": "manufacturer",
+   "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+   "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+   "note": "Regulator mounted on the 50 L cylinder."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cylinder_assumption": {
+   "kind": "assumption",
+   "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+   "locator": "engineering value",
+   "note": "Shoulder from z 1.32 m to the neck at 1.50 m; brass valve 50 x 50 x 95 mm with O60 mm handwheel (2 turns from closed to open) and a side outlet to the regulator; regulator body O62 x 50 mm with two O50 gauges and an O45 adjusting knob (5 turns over its outlet range) laid out to the 178 x 150 mm drawing; valve mass 1.2 kg."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "钢瓶",
+   "function_zh": "储存压缩气体（200 bar）",
+   "physical_meaning_zh": "无缝钢瓶（ISO 9809-1）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_50l_200bar__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "diameter_m": {
+     "value": 0.229,
+     "unit": "m",
+     "meaning_zh": "外径",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_50l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "length_m": {
+     "value": 1.5,
+     "unit": "m",
+     "meaning_zh": "长度",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_50l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "water_capacity_m3": {
+     "value": 0.05,
+     "unit": "m3",
+     "meaning_zh": "水容积 50 L",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_50l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "working_pressure_pa": {
+     "value": 20000000.0,
+     "unit": "Pa",
+     "meaning_zh": "工作压力 200 bar",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_50l_cylinder"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 54.0,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（目录 54.0 kg（未注明是否含阀；按空瓶质量））",
+     "evidence": "documented",
+     "source_ids": [
+      "rama_50l_cylinder"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "valve": {
+   "name_zh": "DIN 477 瓶阀",
+   "function_zh": "开关钢瓶；侧出口接减压器",
+   "physical_meaning_zh": "黄铜阀体",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:valve",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_50l_200bar__valve",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.2,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（黄铜阀 1.2 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "handwheel": {
+   "name_zh": "瓶阀手轮",
+   "function_zh": "逆时针（俯视）开阀",
+   "physical_meaning_zh": "手轮；转角对应阀开度（宿主记录）",
+   "parent": "valve",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:handwheel",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_50l_200bar__handwheel",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.12,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（手轮 0.12 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "regulator": {
+   "name_zh": "Linde REDLINE C 200/2 两级减压器",
+   "function_zh": "把 200 bar 降到工作压力（1–10 bar）",
+   "physical_meaning_zh": "镀铬黄铜，两只压力表，出口 6 mm 卡套",
+   "parent": "valve",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:regulator",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_50l_200bar__regulator",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "max_inlet_pressure_pa": {
+     "value": 23000000.0,
+     "unit": "Pa",
+     "meaning_zh": "最大进口压力 230 bar",
+     "evidence": "documented",
+     "source_ids": [
+      "linde_c200_2"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 3.33,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表最大 3.33 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "linde_c200_2"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "regulator_knob": {
+   "name_zh": "减压器调节旋钮",
+   "function_zh": "顺时针（从前看）升高出口压力",
+   "physical_meaning_zh": "调节弹簧预紧；转角对应出口设定压力（宿主记录）",
+   "parent": "regulator",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:regulator_knob",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "gas_cylinder_50l_200bar__regulator_knob",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "mass_kg": {
+     "value": 0.08,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（旋钮 0.08 kg（假设））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_handwheel": {
+   "component_id": "handwheel",
+   "artifact_id": "model_urdf",
+   "target": "handwheel_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    12.566371
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cylinder_assumption"
+   ]
+  },
+  "joint_regulator_knob": {
+   "component_id": "regulator_knob",
+   "artifact_id": "model_urdf",
+   "target": "regulator_knob_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    31.415927
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cylinder_assumption"
+   ]
+  }
+ },
+ "ports": {
+  "gas_outlet": {
+   "component_id": "regulator",
+   "medium": "gas",
+   "direction": "out",
+   "frame": "frame:outlet",
+   "meaning_zh": "减压后供气出口",
+   "connection_constraints": [
+    "瓶阀须打开；出口压力由减压器设定；流量与用量由宿主记账"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "钢瓶直径、长度、容积、工作压力与质量按目录；肩部轮廓、瓶阀与手轮为假设；减压器质量与外形按 Linde 数据表，布局为近似。",
+  "瓶阀开度与减压器设定只作为关节角给出，压力/流量过程由宿主记账；ISO 11117 护帽在装减压器时取下，未建模。",
+  "不在固定 Franka 可达范围内（房间设施）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.gas_cylinder_50l_200bar",
+   "family": "gas_cylinder",
+   "labware_class": "gas_cylinder_50l",
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder"
+   ],
+   "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+   "model": "Steel seamless cylinder 50 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+   "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+   "water_capacity_m3": 0.05,
+   "service_pressure_pa": 20000000.0,
+   "nominal_capacity_m3": 0.05,
+   "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 410 mol，考虑压缩因子约 390 mol）",
+   "frames": {
+    "handwheel": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      1.619
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.06,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+    },
+    "regulator_knob": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      -0.15,
+      1.555
+     ],
+     "rot_xyzw": [
+      0.70710678,
+      0,
+      0,
+      0.70710678
+     ],
+     "note_zh": "减压器旋钮，从前（−Y）接近"
+    },
+    "outlet": {
+     "link": "base_link",
+     "pos_m": [
+      0.1,
+      -0.095,
+      1.555
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "减压器出口（6 mm 卡套）"
+    }
+   },
+   "empty_mass_kg": 58.73,
+   "franka_grasp_ok": false,
+   "stands_upright": true,
+   "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/collision_proxies.json b/assets/labware/containers/gas_cylinder_50l_200bar/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..52c8df058418ecdab58c3a5b99a4dc0c72ab0904
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/collision_proxies.json
@@ -0,0 +1,275 @@
+{
+ "asset_type_id": "labware.gas_cylinder_50l_200bar",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.1145,
+      1.36
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.68
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.075,
+      0.14
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "valve": {
+   "origin_m": [
+    0,
+    0,
+    1.5
+   ],
+   "parent": "body",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.05,
+      0.095
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.04
+     ],
+     "origin_m": [
+      0.0,
+      -0.045,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "handwheel": {
+   "origin_m": [
+    0,
+    0,
+    0.107
+   ],
+   "parent": "valve",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.03,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "regulator": {
+   "origin_m": [
+    0,
+    -0.095,
+    0.055
+   ],
+   "parent": "valve",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.031,
+      0.05
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      -0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      -0.06,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.07,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      0.065,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "regulator_knob": {
+   "origin_m": [
+    0,
+    -0.04,
+    0
+   ],
+   "parent": "regulator",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0225,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/geometry_manifest.json b/assets/labware/containers/gas_cylinder_50l_200bar/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a4f0746adc2ee3658dc63dd7a1d52979c63d6c
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/geometry_manifest.json
@@ -0,0 +1,669 @@
+{
+ "asset_type_id": "labware.gas_cylinder_50l_200bar",
+ "catalog_id": null,
+ "name_zh": "50 L / 200 bar 钢瓶（Ø229×1500 mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+ "name_en": "Steel gas cylinder 50 L 200 bar with DIN 477 valve and Linde REDLINE C 200/2 regulator",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.229,
+  0.2645,
+  1.635
+ ],
+ "bounds_m": [
+  [
+   -0.1145,
+   -0.15,
+   0.0
+  ],
+  [
+   0.1145,
+   0.1145,
+   1.635
+  ]
+ ],
+ "total_mass_kg": 58.73,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "rama_50l_cylinder",
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+   "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+   "note": "Typical European 50 L industrial / lab gas cylinder; the listing does not say whether 54 kg is tare - used as the empty mass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "linde_c200_2",
+   "kind": "manufacturer",
+   "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+   "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+   "note": "Regulator mounted on the 50 L cylinder.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cylinder_assumption",
+   "kind": "assumption",
+   "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+   "locator": "engineering value",
+   "note": "Shoulder from z 1.32 m to the neck at 1.50 m; brass valve 50 x 50 x 95 mm with O60 mm handwheel (2 turns from closed to open) and a side outlet to the regulator; regulator body O62 x 50 mm with two O50 gauges and an O45 adjusting knob (5 turns over its outlet range) laid out to the 178 x 150 mm drawing; valve mass 1.2 kg.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "钢瓶",
+   "function_zh": "储存压缩气体（200 bar）",
+   "physical_meaning_zh": "无缝钢瓶（ISO 9809-1）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 54.0,
+   "mass_evidence": "documented",
+   "mass_note_zh": "目录 54.0 kg（未注明是否含阀；按空瓶质量）",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "直径 229、长 1500 mm 按目录；肩部轮廓为假设",
+   "objects": [
+    "gas_cylinder_50l_200bar__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_50l_200bar__body",
+     "rgba_srgb": [
+      0.45,
+      0.47,
+      0.5,
+      1.0
+     ],
+     "hex": "#737880",
+     "rgba_linear": [
+      0.17064,
+      0.18732,
+      0.21404,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.1145,
+      1.36
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.68
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.075,
+      0.14
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "valve",
+   "name_zh": "DIN 477 瓶阀",
+   "function_zh": "开关钢瓶；侧出口接减压器",
+   "physical_meaning_zh": "黄铜阀体",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    1.5
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 1.2,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "黄铜阀 1.2 kg（假设）",
+   "material": "brass",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_50l_200bar__valve"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_50l_200bar__valve",
+     "rgba_srgb": [
+      0.78,
+      0.65,
+      0.32,
+      1.0
+     ],
+     "hex": "#C7A652",
+     "rgba_linear": [
+      0.57048,
+      0.38006,
+      0.08354,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.05,
+      0.05,
+      0.095
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.01,
+      0.04
+     ],
+     "origin_m": [
+      0.0,
+      -0.045,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "handwheel",
+   "name_zh": "瓶阀手轮",
+   "function_zh": "逆时针（俯视）开阀",
+   "physical_meaning_zh": "手轮；转角对应阀开度（宿主记录）",
+   "parent": "valve",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.107
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     12.566371
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cylinder_assumption"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+   },
+   "mass_kg": 0.12,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "手轮 0.12 kg（假设）",
+   "material": "pa",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_50l_200bar__handwheel"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_50l_200bar__handwheel",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.1,
+      1.0
+     ],
+     "hex": "#1A1A1A",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01002,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.03,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      -0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "regulator",
+   "name_zh": "Linde REDLINE C 200/2 两级减压器",
+   "function_zh": "把 200 bar 降到工作压力（1–10 bar）",
+   "physical_meaning_zh": "镀铬黄铜，两只压力表，出口 6 mm 卡套",
+   "parent": "valve",
+   "origin_m": [
+    0.0,
+    -0.095,
+    0.055
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 3.33,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表最大 3.33 kg",
+   "material": "brass_chrome",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形约 178×150 mm 按数据表图；部件布局为近似",
+   "objects": [
+    "gas_cylinder_50l_200bar__regulator"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_50l_200bar__regulator",
+     "rgba_srgb": [
+      0.82,
+      0.83,
+      0.85,
+      1.0
+     ],
+     "hex": "#D1D4D9",
+     "rgba_linear": [
+      0.63828,
+      0.65593,
+      0.69207,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.031,
+      0.05
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      -0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.025,
+      0.03
+     ],
+     "origin_m": [
+      0.04,
+      0.0,
+      0.055
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      -0.06,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.07,
+      0.016,
+      0.016
+     ],
+     "origin_m": [
+      0.065,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "regulator_knob",
+   "name_zh": "减压器调节旋钮",
+   "function_zh": "顺时针（从前看）升高出口压力",
+   "physical_meaning_zh": "调节弹簧预紧；转角对应出口设定压力（宿主记录）",
+   "parent": "regulator",
+   "origin_m": [
+    0.0,
+    -0.04,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "limits": [
+     0.0,
+     31.415927
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cylinder_assumption"
+    ],
+    "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+   },
+   "mass_kg": 0.08,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "旋钮 0.08 kg（假设）",
+   "material": "pa",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "gas_cylinder_50l_200bar__regulator_knob"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "gas_cylinder_50l_200bar__regulator_knob",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.1,
+      1.0
+     ],
+     "hex": "#1A1A1A",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01002,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0225,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rpy_rad": [
+      1.570796,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "gas_cylinder_50l_200bar__root",
+ "joint_definitions": {
+  "handwheel": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    12.566371
+   ],
+   "accessor": "joint[handwheel_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"
+  },
+  "regulator_knob": {
+   "type": "revolute",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "limits_rad": [
+    0.0,
+    31.415927
+   ],
+   "accessor": "joint[regulator_knob_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.gas_cylinder_50l_200bar",
+  "family": "gas_cylinder",
+  "labware_class": "gas_cylinder_50l",
+  "fits": [
+   "gas_cylinder_50l",
+   "gas_cylinder"
+  ],
+  "maker": "Rama Cylinders (via PWENT) + Linde (regulator)",
+  "model": "Steel seamless cylinder 50 L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+  "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+  "water_capacity_m3": 0.05,
+  "service_pressure_pa": 20000000.0,
+  "nominal_capacity_m3": 0.05,
+  "contents_note_zh": "气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 410 mol，考虑压缩因子约 390 mol）",
+  "frames": {
+   "handwheel": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     1.619
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.06,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "瓶阀手轮（不在 Franka 可达范围）"
+   },
+   "regulator_knob": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     -0.15,
+     1.555
+    ],
+    "rot_xyzw": [
+     0.70710678,
+     0,
+     0,
+     0.70710678
+    ],
+    "note_zh": "减压器旋钮，从前（−Y）接近"
+   },
+   "outlet": {
+    "link": "base_link",
+    "pos_m": [
+     0.1,
+     -0.095,
+     1.555
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "减压器出口（6 mm 卡套）"
+   }
+  },
+  "empty_mass_kg": 58.73,
+  "franka_grasp_ok": false,
+  "stands_upright": true,
+  "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"
+ },
+ "limitations_zh": [
+  "钢瓶直径、长度、容积、工作压力与质量按目录；肩部轮廓、瓶阀与手轮为假设；减压器质量与外形按 Linde 数据表，布局为近似。",
+  "瓶阀开度与减压器设定只作为关节角给出，压力/流量过程由宿主记账；ISO 11117 护帽在装减压器时取下，未建模。",
+  "不在固定 Franka 可达范围内（房间设施）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.mtl b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75d49e1aff5bea490cfc35f16c23c8897a5c8d2c
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_50l_200bar__body
+Kd 0.4500 0.4700 0.5000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.obj b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..00d1224ebbce2ca606cdadb58776333700773192
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__body.obj
@@ -0,0 +1,1734 @@
+mtllib gas_cylinder_50l_200bar__body.mtl
+usemtl gas_cylinder_50l_200bar__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.mtl b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..58b589f92af75d16c1792f7b1b0e00c0761ced3a
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_50l_200bar__handwheel
+Kd 0.1000 0.1000 0.1000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.obj b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..76ec4e3135c1db3c9c8ac61e51d4663881b82b24
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__handwheel.obj
@@ -0,0 +1,392 @@
+mtllib gas_cylinder_50l_200bar__handwheel.mtl
+usemtl gas_cylinder_50l_200bar__handwheel
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
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+v 0.03000000 0.00000000 0.01200000
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.mtl b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9eec9109d8ff6150ab2d535fc1a23f578820bc46
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_50l_200bar__regulator
+Kd 0.8200 0.8300 0.8500
+Ka 0 0 0
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+Ns 40
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.obj b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.obj
new file mode 100644
index 0000000000000000000000000000000000000000..559c728247910dff7f05cc85cd168c046d55875e
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator.obj
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.mtl b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1cb5337c70291e0282bec5ae703e38db7c7459d9
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_50l_200bar__regulator_knob
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.obj b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.obj
new file mode 100644
index 0000000000000000000000000000000000000000..935b6cfaf6f851bdbdc99e430ffb4a34f039116a
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__regulator_knob.obj
@@ -0,0 +1,198 @@
+mtllib gas_cylinder_50l_200bar__regulator_knob.mtl
+usemtl gas_cylinder_50l_200bar__regulator_knob
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.mtl b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4a131a630ce3ac5207e94782aeadbcafc900b5e8
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.mtl
@@ -0,0 +1,6 @@
+newmtl gas_cylinder_50l_200bar__valve
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.obj b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4e3fea38d76c23ed31a58c794d5490b04f10c308
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/meshes/gas_cylinder_50l_200bar__valve.obj
@@ -0,0 +1,218 @@
+mtllib gas_cylinder_50l_200bar__valve.mtl
+usemtl gas_cylinder_50l_200bar__valve
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diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/model.glb b/assets/labware/containers/gas_cylinder_50l_200bar/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..74701eedd55bcd4f5e4c5545d9e808960ec2d6bf
Binary files /dev/null and b/assets/labware/containers/gas_cylinder_50l_200bar/model.glb differ
diff --git a/assets/labware/containers/gas_cylinder_50l_200bar/model.urdf b/assets/labware/containers/gas_cylinder_50l_200bar/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d7fc51a283fa1b8da5e0a913b917995ef880920b
--- /dev/null
+++ b/assets/labware/containers/gas_cylinder_50l_200bar/model.urdf
@@ -0,0 +1,187 @@
+<?xml version="1.0"?>
+<robot name="gas_cylinder_50l_200bar">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="2.46344e-18 0 0.715553" rpy="0 0 0" />
+      <mass value="54" />
+      <inertia ixx="10.361" ixy="0" ixz="0" iyy="10.361" iyz="0" izz="0.471969" />
+    </inertial>
+    <visual name="gas_cylinder_50l_200bar__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_50l_200bar__body.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_50l_200bar__body">
+        <color rgba="0.17064 0.18732 0.21404 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.68" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.1145" length="1.36" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 1.43" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.075" length="0.14" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="valve">
+    <inertial>
+      <origin xyz="-1.05885e-19 -0.00224757 0.0478746" rpy="0 0 0" />
+      <mass value="1.2" />
+      <inertia ixx="0.0017125" ixy="0" ixz="0" iyy="0.0011525" iyz="0" izz="0.00106" />
+    </inertial>
+    <visual name="gas_cylinder_50l_200bar__valve">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_50l_200bar__valve.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_50l_200bar__valve">
+        <color rgba="0.57048 0.38006 0.08354 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.05 0.095" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.045 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.01" length="0.04" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="valve_joint" type="fixed">
+    <parent link="body" />
+    <child link="valve" />
+    <origin xyz="0 0 1.5" rpy="0 0 0" />
+  </joint>
+  <link name="handwheel">
+    <inertial>
+      <origin xyz="-1.03563e-18 -2.03726e-20 0.00520332" rpy="0 0 0" />
+      <mass value="0.12" />
+      <inertia ixx="4.176e-05" ixy="0" ixz="0" iyy="4.176e-05" iyz="0" izz="7.2e-05" />
+    </inertial>
+    <visual name="gas_cylinder_50l_200bar__handwheel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_50l_200bar__handwheel.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_50l_200bar__handwheel">
+        <color rgba="0.01002 0.01002 0.01002 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 -0.006" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handwheel_joint" type="revolute">
+    <parent link="valve" />
+    <child link="handwheel" />
+    <origin xyz="0 0 0.107" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="12.566371" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="regulator">
+    <inertial>
+      <origin xyz="0.000809804 -5.87591e-20 0.0214371" rpy="0 0 0" />
+      <mass value="3.33" />
+      <inertia ixx="0.00411283" ixy="0" ixz="0" iyy="0.0134368" iyz="0" izz="0.0107115" />
+    </inertial>
+    <visual name="gas_cylinder_50l_200bar__regulator">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_50l_200bar__regulator.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_50l_200bar__regulator">
+        <color rgba="0.63828 0.65593 0.69207 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.031" length="0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.04 0 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.04 0 0.055" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.06 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.016 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.065 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.07 0.016 0.016" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="regulator_joint" type="fixed">
+    <parent link="valve" />
+    <child link="regulator" />
+    <origin xyz="0 -0.095 0.055" rpy="0 0 0" />
+  </joint>
+  <link name="regulator_knob">
+    <inertial>
+      <origin xyz="-6.9794e-19 3.72235e-19 -3.10302e-19" rpy="0 0 0" />
+      <mass value="0.08" />
+      <inertia ixx="1.95e-05" ixy="0" ixz="0" iyy="2.7e-05" iyz="0" izz="1.95e-05" />
+    </inertial>
+    <visual name="gas_cylinder_50l_200bar__regulator_knob">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/gas_cylinder_50l_200bar__regulator_knob.obj" />
+      </geometry>
+      <material name="mat_gas_cylinder_50l_200bar__regulator_knob">
+        <color rgba="0.01002 0.01002 0.01002 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      <geometry>
+        <cylinder radius="0.0225" length="0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="regulator_knob_joint" type="revolute">
+    <parent link="regulator" />
+    <child link="regulator_knob" />
+    <origin xyz="0 -0.04 0" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="31.415927" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/asset.contract.json b/assets/labware/containers/hach_tl2300_sample_cell_25mm/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec0162c6e7428de1859b039c2a85a8cc17e8d4a
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/asset.contract.json
@@ -0,0 +1,709 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.hach_tl2300_sample_cell_25mm",
+ "asset_version": "1.0.0",
+ "name_zh": "Hach TL2300 样品池（Ø25 × 95 mm 硼硅玻璃，内衬螺旋盖）",
+ "category": "labware.container.vial",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "TL2300 浊度仪样品池：Ø25×95 mm 硼硅玻璃圆池 + 内衬螺旋盖（TL23 数据表 p.3）；StablCal 密封标准用同规格样品池。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "8b4c9c4b15b9b555238d7b81012286c024bc49d98ffe2cdbe07135083bae2212"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "89e85b6a34ff1f82a817b03229ce30e9528fdeed62e850de9e47baf03abef1d8"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1b42c664a37b60aff366014d2c6104a8f829fa7e4c4d49d8a0dd14318a0256f4"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "79f2a32ab522175d45e0f8468bc6d20526da55ecee7a5d1e58886956ee3c5b11"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "42ec2cd88c9c945d892e99108658f172f9fa1cda4cef052df5544f8af37cb49e"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "a6700d3ef9a0b6da2a82a7fe0b8e24dd03e690bea364641a0523c3fc9d51fd52"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "00c3286e336ac558fea9a9c5abe71d721f8bc7a229e473bd7d2eb3426b02f0f3"
+  }
+ },
+ "sources": {
+  "tl23_datasheet": {
+   "kind": "manufacturer",
+   "reference": "Hach TL23 series benchtop turbidimeter data sheet DOC052.53.25013 (references/manuals/hach_tl2300epa/)",
+   "locator": "p.3: sample cell = round cells 95 x 25 mm borosilicate glass with rubber-lined screw caps; 25 mm cell: 20 mL minimum sample",
+   "note": "Cell the TL2300 takes (also the sealed StablCal standard format)."
+  },
+  "tl2300_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch03/t4_measure/hach_tl2300epa (sample_cell + cell_cap parts; Matterix slot `cell` hole r 12.5 mm)",
+   "locator": "geometry_manifest.json components.sample_cell / cell_cap",
+   "note": "Reused dimensions of the instrument asset's cell."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 25.0 mm、本体高 95.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "hach_tl2300_sample_cell_25mm__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.025,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "tl23_datasheet"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.104,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "tl23_datasheet"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 1.9999999999999998e-05,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "tl23_datasheet"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 3.6508e-05,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0012,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.020781,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 9.3 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø27.0×13.0 mm；cell screw cap (rubber-lined) 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "hach_tl2300_sample_cell_25mm__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.027,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "consumable_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.00194,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 2.16 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "consumable_assumption"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "consumable_assumption"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "consumable_assumption"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0021,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "consumable_assumption"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "consumable_assumption"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "95×25 mm 为目录值；盖尺寸（Ø27×13 mm）与壁厚为假设（TL2300 实例中的 cell_cap 只建了露出部分）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.hach_tl2300_sample_cell_25mm",
+   "family": "vial",
+   "labware_class": "turbidity_cell",
+   "fits": [
+    "turbidity_cell_25mm",
+    "tl2300_cell"
+   ],
+   "maker": "Hach",
+   "model": "Round sample cell 95 x 25 mm, borosilicate, rubber-lined screw cap (TL23 series)",
+   "catalogue_no": "TL23 sample cell (data sheet DOC052.53.25013 p.3)",
+   "nominal_capacity_m3": 1.9999999999999998e-05,
+   "brim_capacity_m3": 3.6508e-05,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "tl23_datasheet",
+   "outer": {
+    "diameter_m": 0.025,
+    "height_body_m": 0.095,
+    "height_with_cap_m": 0.104,
+    "source_id": "tl23_datasheet"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0113,
+    "floor_m": 0.0015,
+    "height_m": 0.095,
+    "body_top_m": 0.0823,
+    "neck_radius_m": 0.0102,
+    "nominal_fill_height_m": 0.0515,
+    "volume_table_m_ml": [
+     [
+      0.0015,
+      0.0
+     ],
+     [
+      0.00618,
+      1.817
+     ],
+     [
+      0.01085,
+      3.692
+     ],
+     [
+      0.01552,
+      5.567
+     ],
+     [
+      0.0202,
+      7.443
+     ],
+     [
+      0.02488,
+      9.318
+     ],
+     [
+      0.02955,
+      11.193
+     ],
+     [
+      0.03423,
+      13.069
+     ],
+     [
+      0.0389,
+      14.944
+     ],
+     [
+      0.04358,
+      16.82
+     ],
+     [
+      0.04825,
+      18.695
+     ],
+     [
+      0.05293,
+      20.57
+     ],
+     [
+      0.0576,
+      22.446
+     ],
+     [
+      0.06228,
+      24.321
+     ],
+     [
+      0.06695,
+      26.196
+     ],
+     [
+      0.07163,
+      28.072
+     ],
+     [
+      0.0763,
+      29.947
+     ],
+     [
+      0.08098,
+      31.823
+     ],
+     [
+      0.08565,
+      33.452
+     ],
+     [
+      0.09032,
+      34.98
+     ],
+     [
+      0.095,
+      36.508
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0015
+     ],
+     [
+      0.00999,
+      0.0015
+     ],
+     [
+      0.0113,
+      0.00281
+     ],
+     [
+      0.0113,
+      0.0817
+     ],
+     [
+      0.0102,
+      0.083
+     ],
+     [
+      0.0102,
+      0.095
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "cell screw cap (rubber-lined)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0021,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0021,
+    "cap_seat_z_m": 0.091,
+    "clear_lift_m": 0.006,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.071
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.025,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.108,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.062,
+      0.08
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.071
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.191
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0975
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.027,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0065
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.184
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.091
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0118,
+      0.0,
+      0.095
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.02272,
+   "mass_body_kg": 0.02078,
+   "mass_cap_kg": 0.00194,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "样品或 StablCal 密封标准（同规格）；放在架上或标准物质柜",
+   "instrument_fit": {
+    "instrument.hach_tl2300epa": {
+     "slot": "cell",
+     "slot_radius_m": 0.0125,
+     "item_radius_m": 0.0125
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/collision_proxies.json b/assets/labware/containers/hach_tl2300_sample_cell_25mm/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7301c698bc8cb991a46af23d46675c9f411f3c2
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/collision_proxies.json
@@ -0,0 +1,1254 @@
+{
+ "asset_type_id": "labware.hach_tl2300_sample_cell_25mm",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.011938,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.01175,
+      0.0,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.010856,
+      0.004497,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.008309,
+      0.008309,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.004497,
+      0.010856,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.0,
+      0.01175,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.004497,
+      0.010856,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.008309,
+      0.008309,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.010856,
+      0.004497,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.01175,
+      0.0,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.010856,
+      -0.004497,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.008309,
+      -0.008309,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.004497,
+      -0.010856,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      -0.0,
+      -0.01175,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
+     ],
+     "origin_m": [
+      0.004497,
+      -0.010856,
+      0.041619
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.005301,
+      0.081363
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diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/geometry_manifest.json b/assets/labware/containers/hach_tl2300_sample_cell_25mm/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9895e3f3a5c3b96aa509fbd75cab72babecc89
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/geometry_manifest.json
@@ -0,0 +1,1779 @@
+{
+ "asset_type_id": "labware.hach_tl2300_sample_cell_25mm",
+ "catalog_id": null,
+ "name_zh": "Hach TL2300 样品池（Ø25 × 95 mm 硼硅玻璃，内衬螺旋盖）",
+ "name_en": "Hach TL23 round sample cell 95 x 25 mm with rubber-lined screw cap",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
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+ "total_mass_kg": 0.02272,
+ "mass_evidence": "assumption",
+ "sources": [
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+   "source_id": "tl23_datasheet",
+   "kind": "manufacturer",
+   "reference": "Hach TL23 series benchtop turbidimeter data sheet DOC052.53.25013 (references/manuals/hach_tl2300epa/)",
+   "locator": "p.3: sample cell = round cells 95 x 25 mm borosilicate glass with rubber-lined screw caps; 25 mm cell: 20 mL minimum sample",
+   "note": "Cell the TL2300 takes (also the sealed StablCal standard format).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "tl2300_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch03/t4_measure/hach_tl2300epa (sample_cell + cell_cap parts; Matterix slot `cell` hole r 12.5 mm)",
+   "locator": "geometry_manifest.json components.sample_cell / cell_cap",
+   "note": "Reused dimensions of the instrument asset's cell.",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
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+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 25.0 mm、本体高 95.0 mm；内腔为 LiquidContents 的计数区",
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+   "mass_kg": 0.020781,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 9.3 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
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+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.005005,
+      0.012
+     ],
+     "origin_m": [
+      -0.00421,
+      -0.010163,
+      0.089
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.005005,
+      0.012
+     ],
+     "origin_m": [
+      -0.0,
+      -0.011,
+      0.089
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.005005,
+      0.012
+     ],
+     "origin_m": [
+      0.00421,
+      -0.010163,
+      0.089
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.005005,
+      0.012
+     ],
+     "origin_m": [
+      0.007778,
+      -0.007778,
+      0.089
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.005005,
+      0.012
+     ],
+     "origin_m": [
+      0.010163,
+      -0.00421,
+      0.089
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  },
+  {
+   "id": "cap",
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø27.0×13.0 mm；cell screw cap (rubber-lined) 螺纹",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.091
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     6.283185
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "consumable_assumption"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.00194,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 2.16 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "hach_tl2300_sample_cell_25mm__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "hach_tl2300_sample_cell_25mm__cap",
+     "rgba_srgb": [
+      0.08,
+      0.08,
+      0.09,
+      1.0
+     ],
+     "hex": "#141417",
+     "rgba_linear": [
+      0.00719,
+      0.00719,
+      0.00854,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0135,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.012931,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.011947,
+      0.004949,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.009144,
+      0.009144,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.004949,
+      0.011947,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.0,
+      0.012931,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.004949,
+      0.011947,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.009144,
+      0.009144,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.011947,
+      0.004949,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.012931,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.011947,
+      -0.004949,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.009144,
+      -0.009144,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.004949,
+      -0.011947,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      -0.0,
+      -0.012931,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.004949,
+      -0.011947,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.009144,
+      -0.009144,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001138,
+      0.005726,
+      0.011
+     ],
+     "origin_m": [
+      0.011947,
+      -0.004949,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "hach_tl2300_sample_cell_25mm__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.hach_tl2300_sample_cell_25mm",
+  "family": "vial",
+  "labware_class": "turbidity_cell",
+  "fits": [
+   "turbidity_cell_25mm",
+   "tl2300_cell"
+  ],
+  "maker": "Hach",
+  "model": "Round sample cell 95 x 25 mm, borosilicate, rubber-lined screw cap (TL23 series)",
+  "catalogue_no": "TL23 sample cell (data sheet DOC052.53.25013 p.3)",
+  "nominal_capacity_m3": 1.9999999999999998e-05,
+  "brim_capacity_m3": 3.6508e-05,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "tl23_datasheet",
+  "outer": {
+   "diameter_m": 0.025,
+   "height_body_m": 0.095,
+   "height_with_cap_m": 0.104,
+   "source_id": "tl23_datasheet"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0113,
+   "floor_m": 0.0015,
+   "height_m": 0.095,
+   "body_top_m": 0.0823,
+   "neck_radius_m": 0.0102,
+   "nominal_fill_height_m": 0.0515,
+   "volume_table_m_ml": [
+    [
+     0.0015,
+     0.0
+    ],
+    [
+     0.00618,
+     1.817
+    ],
+    [
+     0.01085,
+     3.692
+    ],
+    [
+     0.01552,
+     5.567
+    ],
+    [
+     0.0202,
+     7.443
+    ],
+    [
+     0.02488,
+     9.318
+    ],
+    [
+     0.02955,
+     11.193
+    ],
+    [
+     0.03423,
+     13.069
+    ],
+    [
+     0.0389,
+     14.944
+    ],
+    [
+     0.04358,
+     16.82
+    ],
+    [
+     0.04825,
+     18.695
+    ],
+    [
+     0.05293,
+     20.57
+    ],
+    [
+     0.0576,
+     22.446
+    ],
+    [
+     0.06228,
+     24.321
+    ],
+    [
+     0.06695,
+     26.196
+    ],
+    [
+     0.07163,
+     28.072
+    ],
+    [
+     0.0763,
+     29.947
+    ],
+    [
+     0.08098,
+     31.823
+    ],
+    [
+     0.08565,
+     33.452
+    ],
+    [
+     0.09032,
+     34.98
+    ],
+    [
+     0.095,
+     36.508
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0015
+    ],
+    [
+     0.00999,
+     0.0015
+    ],
+    [
+     0.0113,
+     0.00281
+    ],
+    [
+     0.0113,
+     0.0817
+    ],
+    [
+     0.0102,
+     0.083
+    ],
+    [
+     0.0102,
+     0.095
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "cell screw cap (rubber-lined)",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0021,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0021,
+   "cap_seat_z_m": 0.091,
+   "clear_lift_m": 0.006,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.071
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.025,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.108,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.062,
+     0.08
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.191
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.191
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.071
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.191
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0975
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.027,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0065
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.184
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.091
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0118,
+     0.0,
+     0.095
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.02272,
+  "mass_body_kg": 0.02078,
+  "mass_cap_kg": 0.00194,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "样品或 StablCal 密封标准（同规格）；放在架上或标准物质柜",
+  "instrument_fit": {
+   "instrument.hach_tl2300epa": {
+    "slot": "cell",
+    "slot_radius_m": 0.0125,
+    "item_radius_m": 0.0125
+   }
+  }
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "95×25 mm 为目录值；盖尺寸（Ø27×13 mm）与壁厚为假设（TL2300 实例中的 cell_cap 只建了露出部分）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.mtl b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..007f058d1ab178d4d4fdcea681f9ea29530e1157
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.mtl
@@ -0,0 +1,6 @@
+newmtl hach_tl2300_sample_cell_25mm__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.obj b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7637ed325f4fd42d5e4adabc9d06de7bb9c81b1a
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__body.obj
@@ -0,0 +1,1926 @@
+mtllib hach_tl2300_sample_cell_25mm__body.mtl
+usemtl hach_tl2300_sample_cell_25mm__body
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diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.mtl b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1b1d8728f355f5c22cd1eac0e8ff36c1e8c7ac1b
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.mtl
@@ -0,0 +1,6 @@
+newmtl hach_tl2300_sample_cell_25mm__cap
+Kd 0.0800 0.0800 0.0900
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.obj b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..be5b0ca258e9dc318830b031729d78b60ca48497
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/meshes/hach_tl2300_sample_cell_25mm__cap.obj
@@ -0,0 +1,582 @@
+mtllib hach_tl2300_sample_cell_25mm__cap.mtl
+usemtl hach_tl2300_sample_cell_25mm__cap
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diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/model.urdf b/assets/labware/containers/hach_tl2300_sample_cell_25mm/model.urdf
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+    <child link="body" />
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+    <dynamics damping="0.5" friction="0.0" />
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diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/model_solid.urdf b/assets/labware/containers/hach_tl2300_sample_cell_25mm/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c9b939aff142f7013d07e0f91a7cb2100492e483
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="hach_tl2300_sample_cell_25mm">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.18354e-18 9.46834e-19 0.0460839" rpy="0 0 0" />
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+      <inertia ixx="1.67111e-05" ixy="0" ixz="0" iyy="1.67111e-05" iyz="0" izz="2.16466e-06" />
+    </inertial>
+    <visual name="hach_tl2300_sample_cell_25mm__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hach_tl2300_sample_cell_25mm__body.obj" />
+      </geometry>
+      <material name="mat_hach_tl2300_sample_cell_25mm__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
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+    </visual>
+    <collision>
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+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+      <origin xyz="-5.11632e-19 1.02326e-18 0.00894301" rpy="0 0 0" />
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+    <visual name="hach_tl2300_sample_cell_25mm__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/hach_tl2300_sample_cell_25mm__cap.obj" />
+      </geometry>
+      <material name="mat_hach_tl2300_sample_cell_25mm__cap">
+        <color rgba="0.00719 0.00719 0.00854 1.000" />
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+      <geometry>
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+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.091" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="6.283185" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/body.urdf b/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a761ba6103839b5218481b4760efd56117a0f23c
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="hach_tl2300_sample_cell_25mm__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-1.18354e-18 9.46834e-19 0.0460839" rpy="0 0 0" />
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+    </inertial>
+    <visual name="hach_tl2300_sample_cell_25mm__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hach_tl2300_sample_cell_25mm__body.obj" />
+      </geometry>
+      <material name="mat_hach_tl2300_sample_cell_25mm__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
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+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00437901 -0.0105719 0.0819429" rpy="0 -0.785398 4.31969" />
+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.10203e-18 -0.0114429 0.0819429" rpy="0 -0.785398 4.71239" />
+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00437901 -0.0105719 0.0819429" rpy="0 -0.785398 5.10509" />
+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00809135 -0.00809135 0.0819429" rpy="0 -0.785398 5.49779" />
+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0105719 -0.00437901 0.0819429" rpy="0 -0.785398 5.89049" />
+      <geometry>
+        <box size="0.002 0.00530144 0.000989949" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.011 0 0.089" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0101627 0.00420952 0.089" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00777817 0.00777817 0.089" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00420952 0.0101627 0.089" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="6.73556e-19 0.011 0.089" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00420952 0.0101627 0.089" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00777817 0.00777817 0.089" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0101627 0.00420952 0.089" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.011 1.34711e-18 0.089" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0101627 -0.00420952 0.089" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00777817 -0.00777817 0.089" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00420952 -0.0101627 0.089" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.02067e-18 -0.011 0.089" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00420952 -0.0101627 0.089" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00777817 -0.00777817 0.089" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0101627 -0.00420952 0.089" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.0016 0.00500456 0.012" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/cap.urdf b/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c01969def6e92608efec9969daee0fd62074ad7
--- /dev/null
+++ b/assets/labware/containers/hach_tl2300_sample_cell_25mm/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="hach_tl2300_sample_cell_25mm__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-5.11632e-19 1.02326e-18 0.00894301" rpy="0 0 0" />
+      <mass value="0.0019401" />
+      <inertia ixx="1.45184e-07" ixy="0" ixz="0" iyy="1.45184e-07" iyz="0" izz="2.35722e-07" />
+    </inertial>
+    <visual name="hach_tl2300_sample_cell_25mm__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/hach_tl2300_sample_cell_25mm__cap.obj" />
+      </geometry>
+      <material name="mat_hach_tl2300_sample_cell_25mm__cap">
+        <color rgba="0.00719 0.00719 0.00854 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.012" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0135" length="0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0129312 0 0.0055" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0119469 0.00494856 0.0055" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00914374 0.00914374 0.0055" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00494856 0.0119469 0.0055" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="7.91808e-19 0.0129312 0.0055" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00494856 0.0119469 0.0055" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00914374 0.00914374 0.0055" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0119469 0.00494856 0.0055" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0129312 1.58362e-18 0.0055" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0119469 -0.00494856 0.0055" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00914374 -0.00914374 0.0055" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00494856 -0.0119469 0.0055" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.37542e-18 -0.0129312 0.0055" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00494856 -0.0119469 0.0055" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00914374 -0.00914374 0.0055" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0119469 -0.00494856 0.0055" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.0011376 0.00572555 0.011" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/asset.contract.json b/assets/labware/containers/nalgene_nm_hdpe_1000ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac5d4091735b53583fd59e9edb6878e1ccfe7ed
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/asset.contract.json
@@ -0,0 +1,696 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nalgene_nm_hdpe_1000ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Nalgene 窄口 HDPE 试剂瓶 1 L（38-430 盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Nalgene 312089-0032 窄口 HDPE 1 L 瓶：外径 92 mm、高 217 mm、瓶口内径 27 mm、38-430 盖；抓取点在瓶颈。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "3ffdf14c81c92c33fb8deec1b746fe60a7795e2d8784a73dcb0e1293768db8e8"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "35c65f48377e6da51f5da92840a19d40cf06956582d065be3cc2adf35b2e03dd"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "8fa8c13ea93f1a9fe5a96b8e8416a94476863935bc148ac1e2c095393dcfb18f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "33bbb1840e114fb12c12aa2f5e8ea599c17eba22ae27371186505f6956d689a1"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "7a643947963640349bf42057e495ed3707bad5ace91422e90f9c61a74f34c80b"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "f7e8f62222efd241cff4fa1932fa4c1a03ecfaefc7120af68a4f7efba0c45525"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "d4055cf383c4d2282c69859dadf7106a29c23bc03c2d1d3f18eb818843bc5ed8"
+  }
+ },
+ "sources": {
+  "nalgene_nm_1000": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene narrow-mouth natural HDPE packaging bottle with closure 1000 mL, cat. 312089-0032 (https://www.thermofisher.com/order/catalog/product/mx/en/312089-0032)",
+   "locator": "diameter 92 mm, height 217 mm, inner neck 27 mm, 38-430 closure",
+   "note": "Narrow-mouth HDPE 1 L reagent bottle. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 92.0 mm、本体高 205.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_nm_hdpe_1000ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.092,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_1000"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.217,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_1000"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.001,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_1000"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.001115506,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0014,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.094261,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 99.2 cm3 × hdpe 密度 950 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø42.0×19.0 mm；38-430 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_nm_hdpe_1000ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.042,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.006974,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 7.75 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 42 mm、高 19 mm 为 38-430 盖的典型尺寸（假设）；瓶身高 205 mm 由总高 217 mm 推得。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nalgene_nm_hdpe_1000ml",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "hdpe_bottle"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Narrow-mouth natural HDPE packaging bottle 1000 mL, 38-430 closure",
+   "catalogue_no": "312089-0032",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001115506,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_nm_1000",
+   "outer": {
+    "diameter_m": 0.092,
+    "height_body_m": 0.205,
+    "height_with_cap_m": 0.217,
+    "source_id": "nalgene_nm_1000"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0446,
+    "floor_m": 0.0018,
+    "height_m": 0.205,
+    "body_top_m": 0.16825,
+    "neck_radius_m": 0.0135,
+    "nominal_fill_height_m": 0.16199,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.01196,
+      62.416
+     ],
+     [
+      0.02212,
+      125.907
+     ],
+     [
+      0.03228,
+      189.398
+     ],
+     [
+      0.04244,
+      252.889
+     ],
+     [
+      0.0526,
+      316.38
+     ],
+     [
+      0.06276,
+      379.871
+     ],
+     [
+      0.07292,
+      443.363
+     ],
+     [
+      0.08308,
+      506.854
+     ],
+     [
+      0.09324,
+      570.345
+     ],
+     [
+      0.1034,
+      633.836
+     ],
+     [
+      0.11356,
+      697.327
+     ],
+     [
+      0.12372,
+      760.818
+     ],
+     [
+      0.13388,
+      824.31
+     ],
+     [
+      0.14404,
+      887.801
+     ],
+     [
+      0.1542,
+      951.292
+     ],
+     [
+      0.16436,
+      1014.783
+     ],
+     [
+      0.17452,
+      1070.486
+     ],
+     [
+      0.18468,
+      1099.383
+     ],
+     [
+      0.19484,
+      1109.689
+     ],
+     [
+      0.205,
+      1115.506
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0418,
+      0.0018
+     ],
+     [
+      0.0446,
+      0.0046
+     ],
+     [
+      0.0446,
+      0.16755
+     ],
+     [
+      0.0135,
+      0.193
+     ],
+     [
+      0.0135,
+      0.205
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "38-430",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.198,
+    "clear_lift_m": 0.009,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.2445,
+     "note_zh": "瓶身外径 92 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+     "finger_contact_z_m": [
+      0.1985,
+      0.2165
+     ],
+     "holds": "cap_closed_only"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2075
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0095
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.297
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.198
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0185,
+      0.0,
+      0.205
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.10124,
+   "mass_body_kg": 0.09426,
+   "mass_cap_kg": 0.00697,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "水溶液、碱液"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/collision_proxies.json b/assets/labware/containers/nalgene_nm_hdpe_1000ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..1602156235e6b3525497a6d025ffc3e3b4c9d6eb
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/collision_proxies.json
@@ -0,0 +1,1254 @@
+{
+ "asset_type_id": "labware.nalgene_nm_hdpe_1000ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0448,
+      0.0018
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0009
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.04525,
+      0.0,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.041806,
+      0.017316,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.031997,
+      0.031997,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.017316,
+      0.041806,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.0,
+      0.04525,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.017316,
+      0.041806,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.031997,
+      0.031997,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.041806,
+      0.017316,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.04525,
+      0.0,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.041806,
+      -0.017316,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
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+      -0.031997,
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+     "rpy_rad": [
+      0.0,
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+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
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+      -0.041806,
+      0.085125
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      -0.0,
+      -0.04525,
+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
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+      0.085125
+     ],
+     "rpy_rad": [
+      0.0,
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+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
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+     "origin_m": [
+      0.031997,
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+     "rpy_rad": [
+      0.0,
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+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.019509,
+      0.16625
+     ],
+     "origin_m": [
+      0.041806,
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+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.019509,
+      0.036997
+     ],
+     "origin_m": [
+      0.031581,
+      0.0,
+      0.179882
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.837981,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.019509,
+      0.036997
+     ],
+     "origin_m": [
+      0.029177,
+      0.012086,
+      0.179882
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.837981,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.019509,
+      0.036997
+     ],
+     "origin_m": [
+      0.022331,
+      0.022331,
+      0.179882
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.837981,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.002,
+      0.019509,
+      0.036997
+     ],
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+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/geometry_manifest.json b/assets/labware/containers/nalgene_nm_hdpe_1000ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e3552ec3b74dd02f453fe4252b001f4d5b1b08
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/geometry_manifest.json
@@ -0,0 +1,1764 @@
+{
+ "asset_type_id": "labware.nalgene_nm_hdpe_1000ml",
+ "catalog_id": null,
+ "name_zh": "Nalgene 窄口 HDPE 试剂瓶 1 L（38-430 盖）",
+ "name_en": "Nalgene narrow-mouth HDPE bottle 1000 mL",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.092,
+  0.092,
+  0.217
+ ],
+ "bounds_m": [
+  [
+   -0.046,
+   -0.046,
+   0.0
+  ],
+  [
+   0.046,
+   0.046,
+   0.217
+  ]
+ ],
+ "total_mass_kg": 0.10124,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "nalgene_nm_1000",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene narrow-mouth natural HDPE packaging bottle with closure 1000 mL, cat. 312089-0032 (https://www.thermofisher.com/order/catalog/product/mx/en/312089-0032)",
+   "locator": "diameter 92 mm, height 217 mm, inner neck 27 mm, 38-430 closure",
+   "note": "Narrow-mouth HDPE 1 L reagent bottle. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
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+     0.0,
+     6.283185
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.006974,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 7.75 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "nalgene_nm_hdpe_1000ml__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "nalgene_nm_hdpe_1000ml__cap",
+     "rgba_srgb": [
+      0.96,
+      0.96,
+      0.96,
+      1.0
+     ],
+     "hex": "#F5F5F5",
+     "rgba_linear": [
+      0.91141,
+      0.91141,
+      0.91141,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.021,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0175
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.020106,
+      0.0,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.018575,
+      0.007694,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.014217,
+      0.014217,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.007694,
+      0.018575,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.0,
+      0.020106,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.007694,
+      0.018575,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.014217,
+      0.014217,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.018575,
+      0.007694,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.020106,
+      0.0,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.018575,
+      -0.007694,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.014217,
+      -0.014217,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.007694,
+      -0.018575,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      -0.0,
+      -0.020106,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.007694,
+      -0.018575,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.014217,
+      -0.014217,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001789,
+      0.008906,
+      0.016
+     ],
+     "origin_m": [
+      0.018575,
+      -0.007694,
+      0.008
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "nalgene_nm_hdpe_1000ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nalgene_nm_hdpe_1000ml",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "hdpe_bottle"
+  ],
+  "maker": "Thermo Scientific (Nalgene)",
+  "model": "Narrow-mouth natural HDPE packaging bottle 1000 mL, 38-430 closure",
+  "catalogue_no": "312089-0032",
+  "nominal_capacity_m3": 0.001,
+  "brim_capacity_m3": 0.001115506,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "nalgene_nm_1000",
+  "outer": {
+   "diameter_m": 0.092,
+   "height_body_m": 0.205,
+   "height_with_cap_m": 0.217,
+   "source_id": "nalgene_nm_1000"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0446,
+   "floor_m": 0.0018,
+   "height_m": 0.205,
+   "body_top_m": 0.16825,
+   "neck_radius_m": 0.0135,
+   "nominal_fill_height_m": 0.16199,
+   "volume_table_m_ml": [
+    [
+     0.0018,
+     0.0
+    ],
+    [
+     0.01196,
+     62.416
+    ],
+    [
+     0.02212,
+     125.907
+    ],
+    [
+     0.03228,
+     189.398
+    ],
+    [
+     0.04244,
+     252.889
+    ],
+    [
+     0.0526,
+     316.38
+    ],
+    [
+     0.06276,
+     379.871
+    ],
+    [
+     0.07292,
+     443.363
+    ],
+    [
+     0.08308,
+     506.854
+    ],
+    [
+     0.09324,
+     570.345
+    ],
+    [
+     0.1034,
+     633.836
+    ],
+    [
+     0.11356,
+     697.327
+    ],
+    [
+     0.12372,
+     760.818
+    ],
+    [
+     0.13388,
+     824.31
+    ],
+    [
+     0.14404,
+     887.801
+    ],
+    [
+     0.1542,
+     951.292
+    ],
+    [
+     0.16436,
+     1014.783
+    ],
+    [
+     0.17452,
+     1070.486
+    ],
+    [
+     0.18468,
+     1099.383
+    ],
+    [
+     0.19484,
+     1109.689
+    ],
+    [
+     0.205,
+     1115.506
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0018
+    ],
+    [
+     0.0418,
+     0.0018
+    ],
+    [
+     0.0446,
+     0.0046
+    ],
+    [
+     0.0446,
+     0.16755
+    ],
+    [
+     0.0135,
+     0.193
+    ],
+    [
+     0.0135,
+     0.205
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "38-430",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0042,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0042,
+   "cap_seat_z_m": 0.198,
+   "clear_lift_m": 0.009,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.042,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.2445,
+    "note_zh": "瓶身外径 92 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+    "finger_contact_z_m": [
+     0.1985,
+     0.2165
+    ],
+    "holds": "cap_closed_only"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.3075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.3075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.3075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2075
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.042,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0095
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.297
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.198
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0185,
+     0.0,
+     0.205
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "hdpe",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.10124,
+  "mass_body_kg": 0.09426,
+  "mass_cap_kg": 0.00697,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "水溶液、碱液"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 42 mm、高 19 mm 为 38-430 盖的典型尺寸（假设）；瓶身高 205 mm 由总高 217 mm 推得。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.mtl b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..25c0ccc6f42f81b7f700792f8b710f1804a28867
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_nm_hdpe_1000ml__body
+Kd 0.9400 0.9400 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.obj b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8c598cf982b56fa75a636b24647ba67e4e7d0ba
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib nalgene_nm_hdpe_1000ml__body.mtl
+usemtl nalgene_nm_hdpe_1000ml__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.04200000 0.00000000 0.00000000
+v 0.04600000 0.00000000 0.00400000
+v 0.04600000 0.00000000 0.16825000
+v 0.01850000 0.00000000 0.19300000
+v 0.01850000 0.00000000 0.20500000
+v 0.01350000 0.00000000 0.20500000
+v 0.01350000 0.00000000 0.19300000
+v 0.04460000 0.00000000 0.16755000
+v 0.04460000 0.00000000 0.00460000
+v 0.04180000 0.00000000 0.00180000
+v 0.00000000 0.00000000 0.00180000
+v 0.04179776 0.00411672 0.00000000
+v 0.04577850 0.00450879 0.00400000
+v 0.04577850 0.00450879 0.16825000
+v 0.01841092 0.00181332 0.19300000
+v 0.01841092 0.00181332 0.20500000
+v 0.01343499 0.00132323 0.20500000
+v 0.01343499 0.00132323 0.19300000
+v 0.04438524 0.00437156 0.16755000
+v 0.04438524 0.00437156 0.00460000
+v 0.04159872 0.00409712 0.00180000
+v 0.04119298 0.00819379 0.00000000
+v 0.04511612 0.00897415 0.00400000
+v 0.04511612 0.00897415 0.16825000
+v 0.01814453 0.00360917 0.19300000
+v 0.01814453 0.00360917 0.20500000
+v 0.01324060 0.00263372 0.20500000
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diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.mtl b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..009bffbe8c6a20f1319a93bce21cfc745d90b97d
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_nm_hdpe_1000ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.obj b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2c75c74f12efe166955a761010ce636c506b089f
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/meshes/nalgene_nm_hdpe_1000ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib nalgene_nm_hdpe_1000ml__cap.mtl
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+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+    <axis xyz="0 0 1" />
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diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/model_solid.urdf b/assets/labware/containers/nalgene_nm_hdpe_1000ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..691f87a1e390026fc8c09df24b325ca0fb7c31a3
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_1000ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-7.11396e-18 -2.84558e-18 0.098344" rpy="0 0 0" />
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+    <visual name="nalgene_nm_hdpe_1000ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_nm_hdpe_1000ml__body.obj" />
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+      <material name="mat_nalgene_nm_hdpe_1000ml__body">
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+      <geometry>
+        <mesh filename="meshes/nalgene_nm_hdpe_1000ml__cap.obj" />
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+      <material name="mat_nalgene_nm_hdpe_1000ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
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+    <origin xyz="0 0 0.198" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="6.283185" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/body.urdf b/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b1eec90fbf8573d980d8ec7a2a777b5bb4554b47
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_1000ml__body">
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+    <visual name="nalgene_nm_hdpe_1000ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_nm_hdpe_1000ml__body.obj" />
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+      <material name="mat_nalgene_nm_hdpe_1000ml__body">
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+        <box size="0.005 0.00784613 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.93915e-18 -0.016 0.199" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.005 0.00784613 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00612293 -0.0147821 0.199" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.005 0.00784613 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0113137 -0.0113137 0.199" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.005 0.00784613 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0147821 -0.00612293 0.199" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.005 0.00784613 0.012" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/cap.urdf b/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4aa23ddc82d71f9a75433c7e313cafd49d31c588
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_1000ml/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_1000ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="2.27715e-18 0 0.0130807" rpy="0 0 0" />
+      <mass value="0.00697445" />
+      <inertia ixx="1.23506e-06" ixy="0" ixz="0" iyy="1.23506e-06" iyz="0" izz="2.05049e-06" />
+    </inertial>
+    <visual name="nalgene_nm_hdpe_1000ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_nm_hdpe_1000ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_nm_hdpe_1000ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0175" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.021" length="0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0201057 0 0.008" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0185752 0.00769412 0.008" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0142169 0.0142169 0.008" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00769412 0.0185752 0.008" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.23112e-18 0.0201057 0.008" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00769412 0.0185752 0.008" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0142169 0.0142169 0.008" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0185752 0.00769412 0.008" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0201057 2.46224e-18 0.008" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0185752 -0.00769412 0.008" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0142169 -0.0142169 0.008" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00769412 -0.0185752 0.008" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-3.69336e-18 -0.0201057 0.008" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00769412 -0.0185752 0.008" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0142169 -0.0142169 0.008" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0185752 -0.00769412 0.008" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00178862 0.00890642 0.016" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/asset.contract.json b/assets/labware/containers/nalgene_nm_hdpe_500ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..1111bab081293eea9017d3ce7e9fbd2581e32bd5
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/asset.contract.json
@@ -0,0 +1,696 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nalgene_nm_hdpe_500ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Nalgene 窄口 HDPE 试剂瓶 500 mL（28 mm 盖）",
+ "category": "labware.container.reagent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Nalgene 2002-0016 窄口 HDPE 瓶 500 mL：外径 73 mm、高 170 mm、瓶口内径 21 mm、28 mm 盖。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "88bfca8f88d622be4d709806cce8397c21b1a00edb8b08df3a411106c86befcd"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "314e13897e5febc92ba7f2e6bb13e149b106ec13076b31194e0e91ef61e5ec14"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "2834026e5ee5b638ad68d1f5c09bb4522dbc33a00980376f84799667fbcc9460"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "ce9b33801d5d9a5a21808a8ad934e03ee9062f0403bf45a9ea5a2b128be665d0"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "41fc47e6e7cb1c91536b6fd8a79161b370998d7b482110a8e6bc82fc2ae1371e"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "dfc7e584e668679f12a6c0770d36dcd736dfe8bb6af11d5ae8e2845e5eecb26a"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/nalgene_nm_hdpe_500ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c7c82ef1978197a69686e954db495c8bcd4fcf04b0be2db4e47709b42fbe7ef6"
+  }
+ },
+ "sources": {
+  "nalgene_nm_500": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene narrow-mouth HDPE lab quality bottle with closure 500 mL, cat. 2002-0016 (https://www.thermofisher.com/order/catalog/product/2002-0016)",
+   "locator": "diameter 73 mm, height 170 mm, inner neck 21 mm, 28 mm closure (PP)",
+   "note": "Narrow-mouth HDPE reagent bottle. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 73.0 mm、本体高 160.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_nm_hdpe_500ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.073,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_500"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.17,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_500"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.0005,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_nm_500"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000529149,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0014,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.054982,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 57.9 cm3 × hdpe 密度 950 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø31.5×16.0 mm；28 mm (SPI 400-type, assumed) 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_nm_hdpe_500ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0315,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.003064,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 3.40 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 31.5 mm、高 16 mm 为 28 mm 盖的典型尺寸（假设）；瓶身高 160 mm 由总高 170 mm 推得。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nalgene_nm_hdpe_500ml",
+   "family": "reagent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "hdpe_bottle"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Narrow-mouth HDPE lab quality bottle 500 mL, 28 mm PP closure",
+   "catalogue_no": "2002-0016",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.000529149,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_nm_500",
+   "outer": {
+    "diameter_m": 0.073,
+    "height_body_m": 0.16,
+    "height_with_cap_m": 0.17,
+    "source_id": "nalgene_nm_500"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0351,
+    "floor_m": 0.0018,
+    "height_m": 0.16,
+    "body_top_m": 0.12875,
+    "neck_radius_m": 0.0105,
+    "nominal_fill_height_m": 0.13161,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.00971,
+      29.774
+     ],
+     [
+      0.01762,
+      60.389
+     ],
+     [
+      0.02553,
+      91.005
+     ],
+     [
+      0.03344,
+      121.62
+     ],
+     [
+      0.04135,
+      152.236
+     ],
+     [
+      0.04926,
+      182.851
+     ],
+     [
+      0.05717,
+      213.467
+     ],
+     [
+      0.06508,
+      244.082
+     ],
+     [
+      0.07299,
+      274.697
+     ],
+     [
+      0.0809,
+      305.313
+     ],
+     [
+      0.08881,
+      335.928
+     ],
+     [
+      0.09672,
+      366.544
+     ],
+     [
+      0.10463,
+      397.159
+     ],
+     [
+      0.11254,
+      427.775
+     ],
+     [
+      0.12045,
+      458.39
+     ],
+     [
+      0.12836,
+      488.993
+     ],
+     [
+      0.13627,
+      511.674
+     ],
+     [
+      0.14418,
+      522.608
+     ],
+     [
+      0.15209,
+      526.409
+     ],
+     [
+      0.16,
+      529.149
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0323,
+      0.0018
+     ],
+     [
+      0.0351,
+      0.0046
+     ],
+     [
+      0.0351,
+      0.12805
+     ],
+     [
+      0.0105,
+      0.149
+     ],
+     [
+      0.0105,
+      0.16
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "28 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.154,
+    "clear_lift_m": 0.008,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.137
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.174,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.128,
+      0.146
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.137
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.257
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.162
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0315,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.008
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.25
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.154
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.014,
+      0.0,
+      0.16
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.05805,
+   "mass_body_kg": 0.05498,
+   "mass_cap_kg": 0.00306,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "水溶液、碱液（HDPE 耐碱）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/collision_proxies.json b/assets/labware/containers/nalgene_nm_hdpe_500ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fee5f4d46ffdb2887943b806975efdca4b27ff
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/collision_proxies.json
@@ -0,0 +1,1254 @@
+{
+ "asset_type_id": "labware.nalgene_nm_hdpe_500ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0353,
+      0.0018
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0009
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.12675
+     ],
+     "origin_m": [
+      0.03575,
+      0.0,
+      0.065375
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.12675
+     ],
+     "origin_m": [
+      0.033029,
+      0.013681,
+      0.065375
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.12675
+     ],
+     "origin_m": [
+      0.025279,
+      0.025279,
+      0.065375
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.12675
+     ],
+     "origin_m": [
+      0.013681,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
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+     "origin_m": [
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+      0.065375
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+     "rpy_rad": [
+      0.0,
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+     ]
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+}
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diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/geometry_manifest.json b/assets/labware/containers/nalgene_nm_hdpe_500ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f91b4729fce4304b1b23f2dd54f63ba0ec4739
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/geometry_manifest.json
@@ -0,0 +1,1764 @@
+{
+ "asset_type_id": "labware.nalgene_nm_hdpe_500ml",
+ "catalog_id": null,
+ "name_zh": "Nalgene 窄口 HDPE 试剂瓶 500 mL（28 mm 盖）",
+ "name_en": "Nalgene narrow-mouth HDPE bottle 500 mL",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.073,
+  0.073,
+  0.17
+ ],
+ "bounds_m": [
+  [
+   -0.0365,
+   -0.0365,
+   0.0
+  ],
+  [
+   0.0365,
+   0.0365,
+   0.17
+  ]
+ ],
+ "total_mass_kg": 0.05805,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "nalgene_nm_500",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene narrow-mouth HDPE lab quality bottle with closure 500 mL, cat. 2002-0016 (https://www.thermofisher.com/order/catalog/product/2002-0016)",
+   "locator": "diameter 73 mm, height 170 mm, inner neck 21 mm, 28 mm closure (PP)",
+   "note": "Narrow-mouth HDPE reagent bottle. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 73.0 mm、本体高 160.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.054982,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 57.9 cm3 × hdpe 密度 950 kg/m3 计算",
+   "material": "hdpe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "nalgene_nm_hdpe_500ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nalgene_nm_hdpe_500ml__body",
+     "rgba_srgb": [
+      0.94,
+      0.94,
+      0.92,
+      1.0
+     ],
+     "hex": "#F0F0EB",
+     "rgba_linear": [
+      0.8689,
+      0.8689,
+      0.82757,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0353,
+      0.0018
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0009
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
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+     "shape": "box",
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+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
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+   "geometry_evidence": "documented",
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+      0.0135
+     ],
+     "origin_m": [
+      -0.010734,
+      0.010734,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.014025,
+      0.005809,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.015181,
+      0.0,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.014025,
+      -0.005809,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.534292
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.010734,
+      -0.010734,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.005809,
+      -0.014025,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      -0.0,
+      -0.015181,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      0.005809,
+      -0.014025,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      0.010734,
+      -0.010734,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001139,
+      0.00668,
+      0.0135
+     ],
+     "origin_m": [
+      0.014025,
+      -0.005809,
+      0.00675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "nalgene_nm_hdpe_500ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nalgene_nm_hdpe_500ml",
+  "family": "reagent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "hdpe_bottle"
+  ],
+  "maker": "Thermo Scientific (Nalgene)",
+  "model": "Narrow-mouth HDPE lab quality bottle 500 mL, 28 mm PP closure",
+  "catalogue_no": "2002-0016",
+  "nominal_capacity_m3": 0.0005,
+  "brim_capacity_m3": 0.000529149,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "nalgene_nm_500",
+  "outer": {
+   "diameter_m": 0.073,
+   "height_body_m": 0.16,
+   "height_with_cap_m": 0.17,
+   "source_id": "nalgene_nm_500"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0351,
+   "floor_m": 0.0018,
+   "height_m": 0.16,
+   "body_top_m": 0.12875,
+   "neck_radius_m": 0.0105,
+   "nominal_fill_height_m": 0.13161,
+   "volume_table_m_ml": [
+    [
+     0.0018,
+     0.0
+    ],
+    [
+     0.00971,
+     29.774
+    ],
+    [
+     0.01762,
+     60.389
+    ],
+    [
+     0.02553,
+     91.005
+    ],
+    [
+     0.03344,
+     121.62
+    ],
+    [
+     0.04135,
+     152.236
+    ],
+    [
+     0.04926,
+     182.851
+    ],
+    [
+     0.05717,
+     213.467
+    ],
+    [
+     0.06508,
+     244.082
+    ],
+    [
+     0.07299,
+     274.697
+    ],
+    [
+     0.0809,
+     305.313
+    ],
+    [
+     0.08881,
+     335.928
+    ],
+    [
+     0.09672,
+     366.544
+    ],
+    [
+     0.10463,
+     397.159
+    ],
+    [
+     0.11254,
+     427.775
+    ],
+    [
+     0.12045,
+     458.39
+    ],
+    [
+     0.12836,
+     488.993
+    ],
+    [
+     0.13627,
+     511.674
+    ],
+    [
+     0.14418,
+     522.608
+    ],
+    [
+     0.15209,
+     526.409
+    ],
+    [
+     0.16,
+     529.149
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0018
+    ],
+    [
+     0.0323,
+     0.0018
+    ],
+    [
+     0.0351,
+     0.0046
+    ],
+    [
+     0.0351,
+     0.12805
+    ],
+    [
+     0.0105,
+     0.149
+    ],
+    [
+     0.0105,
+     0.16
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "28 mm (SPI 400-type, assumed)",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0042,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0042,
+   "cap_seat_z_m": 0.154,
+   "clear_lift_m": 0.008,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.137
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.073,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.174,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.128,
+     0.146
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.257
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.257
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.137
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.257
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.162
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0315,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.008
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.25
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.154
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.014,
+     0.0,
+     0.16
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "hdpe",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.05805,
+  "mass_body_kg": 0.05498,
+  "mass_cap_kg": 0.00306,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "水溶液、碱液（HDPE 耐碱）"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 31.5 mm、高 16 mm 为 28 mm 盖的典型尺寸（假设）；瓶身高 160 mm 由总高 170 mm 推得。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.mtl b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..71659da9efb0c707f43f123f552b221f5e9b0640
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_nm_hdpe_500ml__body
+Kd 0.9400 0.9400 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.obj b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..843ba7917277466dc82a200ad5cf1fadb41d9953
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib nalgene_nm_hdpe_500ml__body.mtl
+usemtl nalgene_nm_hdpe_500ml__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.03250000 0.00000000 0.00000000
+v 0.03650000 0.00000000 0.00400000
+v 0.03650000 0.00000000 0.12875000
+v 0.01400000 0.00000000 0.14900000
+v 0.01400000 0.00000000 0.16000000
+v 0.01050000 0.00000000 0.16000000
+v 0.01050000 0.00000000 0.14900000
+v 0.03510000 0.00000000 0.12805000
+v 0.03510000 0.00000000 0.00460000
+v 0.03230000 0.00000000 0.00180000
+v 0.00000000 0.00000000 0.00180000
+v 0.03234350 0.00318556 0.00000000
+v 0.03632424 0.00357763 0.00400000
+v 0.03632424 0.00357763 0.12875000
+v 0.01393259 0.00137224 0.14900000
+v 0.01393259 0.00137224 0.16000000
+v 0.01044944 0.00102918 0.16000000
+v 0.01044944 0.00102918 0.14900000
+v 0.03493098 0.00344040 0.12805000
+v 0.03493098 0.00344040 0.00460000
+v 0.03214447 0.00316595 0.00180000
+v 0.03187552 0.00634044 0.00000000
+v 0.03579866 0.00712080 0.00400000
+v 0.03579866 0.00712080 0.12875000
+v 0.01373099 0.00273126 0.14900000
+v 0.01373099 0.00273126 0.16000000
+v 0.01029825 0.00204845 0.16000000
+v 0.01029825 0.00204845 0.14900000
+v 0.03442556 0.00684767 0.12805000
+v 0.03442556 0.00684767 0.00460000
+v 0.03167936 0.00630142 0.00180000
+v 0.03110056 0.00943425 0.00000000
+v 0.03492832 0.01059539 0.00400000
+v 0.03492832 0.01059539 0.12875000
+v 0.01339716 0.00406399 0.14900000
+v 0.01339716 0.00406399 0.16000000
+v 0.01004787 0.00304799 0.16000000
+v 0.01004787 0.00304799 0.14900000
+v 0.03358861 0.01018899 0.12805000
+v 0.03358861 0.01018899 0.00460000
+v 0.03090917 0.00937620 0.00180000
+v 0.03002608 0.01243721 0.00000000
+v 0.03372160 0.01396795 0.00400000
+v 0.03372160 0.01396795 0.12875000
+v 0.01293431 0.00535757 0.14900000
+v 0.01293431 0.00535757 0.16000000
+v 0.00970074 0.00401818 0.16000000
+v 0.00970074 0.00401818 0.14900000
+v 0.03242817 0.01343219 0.12805000
+v 0.03242817 0.01343219 0.00460000
+v 0.02984131 0.01236067 0.00180000
+v 0.02866244 0.01532039 0.00000000
+v 0.03219013 0.01720598 0.00400000
+v 0.03219013 0.01720598 0.12875000
+v 0.01234690 0.00659955 0.14900000
+v 0.01234690 0.00659955 0.16000000
+v 0.00926017 0.00494967 0.16000000
+v 0.00926017 0.00494967 0.14900000
+v 0.03095544 0.01654603 0.12805000
+v 0.03095544 0.01654603 0.00460000
+v 0.02848606 0.01522611 0.00180000
+v 0.02702276 0.01805603 0.00000000
+v 0.03034864 0.02027831 0.00400000
+v 0.03034864 0.02027831 0.12875000
+v 0.01164057 0.00777798 0.14900000
+v 0.01164057 0.00777798 0.16000000
+v 0.00873043 0.00583349 0.16000000
+v 0.00873043 0.00583349 0.14900000
+v 0.02918458 0.01950052 0.12805000
+v 0.02918458 0.01950052 0.00460000
+v 0.02685647 0.01794492 0.00180000
+v 0.02512284 0.02061778 0.00000000
+v 0.02821488 0.02315535 0.00400000
+v 0.02821488 0.02315535 0.12875000
+v 0.01082215 0.00888151 0.14900000
+v 0.01082215 0.00888151 0.16000000
+v 0.00811661 0.00666113 0.16000000
+v 0.00811661 0.00666113 0.14900000
+v 0.02713267 0.02226720 0.12805000
+v 0.02713267 0.02226720 0.00460000
+v 0.02496824 0.02049090 0.00180000
+v 0.02298097 0.02298097 0.00000000
+v 0.02580940 0.02580940 0.00400000
+v 0.02580940 0.02580940 0.12875000
+v 0.00989949 0.00989949 0.14900000
+v 0.00989949 0.00989949 0.16000000
+v 0.00742462 0.00742462 0.16000000
+v 0.00742462 0.00742462 0.14900000
+v 0.02481945 0.02481945 0.12805000
+v 0.02481945 0.02481945 0.00460000
+v 0.02283955 0.02283955 0.00180000
+v 0.02061778 0.02512284 0.00000000
+v 0.02315535 0.02821488 0.00400000
+v 0.02315535 0.02821488 0.12875000
+v 0.00888151 0.01082215 0.14900000
+v 0.00888151 0.01082215 0.16000000
+v 0.00666113 0.00811661 0.16000000
+v 0.00666113 0.00811661 0.14900000
+v 0.02226720 0.02713267 0.12805000
+v 0.02226720 0.02713267 0.00460000
+v 0.02049090 0.02496824 0.00180000
+v 0.01805603 0.02702276 0.00000000
+v 0.02027831 0.03034864 0.00400000
+v 0.02027831 0.03034864 0.12875000
+v 0.00777798 0.01164057 0.14900000
+v 0.00777798 0.01164057 0.16000000
+v 0.00583349 0.00873043 0.16000000
+v 0.00583349 0.00873043 0.14900000
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diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.mtl b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6cfd6108377fc06fce6be9562e4b499675256a8f
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_nm_hdpe_500ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.obj b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..380442107af162f6347dd586f946087d9402a943
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/meshes/nalgene_nm_hdpe_500ml__cap.obj
@@ -0,0 +1,582 @@
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+      <origin xyz="-0.0151807 1.85909e-18 0.00675" rpy="0 0 3.14159" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0140251 -0.00580939 0.00675" rpy="0 0 3.53429" />
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+    </collision>
+    <collision>
+      <origin xyz="-2.78864e-18 -0.0151807 0.00675" rpy="0 0 4.71239" />
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+        <box size="0.00113868 0.00667981 0.0135" />
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+    </collision>
+    <collision>
+      <origin xyz="0.00580939 -0.0140251 0.00675" rpy="0 0 5.10509" />
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+        <box size="0.00113868 0.00667981 0.0135" />
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+    </collision>
+    <collision>
+      <origin xyz="0.0107343 -0.0107343 0.00675" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0140251 -0.00580939 0.00675" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.154" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="6.283185" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/model_solid.urdf b/assets/labware/containers/nalgene_nm_hdpe_500ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0e74fadc4c4ed632c1c6424bad44db161502ac84
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_500ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.04902e-18 2.43921e-18 0.0730582" rpy="0 0 0" />
+      <mass value="0.0549823" />
+      <inertia ixx="0.000141712" ixy="0" ixz="0" iyy="0.000141712" iyz="0" izz="4.88334e-05" />
+    </inertial>
+    <visual name="nalgene_nm_hdpe_500ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_nm_hdpe_500ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_nm_hdpe_500ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.08" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0365" length="0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="6.47858e-19 2.59143e-18 0.0113147" rpy="0 0 0" />
+      <mass value="0.0030643" />
+      <inertia ixx="3.18751e-07" ixy="0" ixz="0" iyy="3.18751e-07" iyz="0" izz="5.06759e-07" />
+    </inertial>
+    <visual name="nalgene_nm_hdpe_500ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_nm_hdpe_500ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_nm_hdpe_500ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.008" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.01575" length="0.016" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.154" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="6.283185" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/body.urdf b/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..62a799302174127cd579199351d251ed307aa49b
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_500ml__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-3.04902e-18 2.43921e-18 0.0730582" rpy="0 0 0" />
+      <mass value="0.0549823" />
+      <inertia ixx="0.000141712" ixy="0" ixz="0" iyy="0.000141712" iyz="0" izz="4.88334e-05" />
+    </inertial>
+    <visual name="nalgene_nm_hdpe_500ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_nm_hdpe_500ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_nm_hdpe_500ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0009" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0353" length="0.0018" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.03575 0 0.065375" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0015 0.0154802 0.12675" />
+      </geometry>
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+      <geometry>
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+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/cap.urdf b/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b519b5807c8c6ef26f68f45db0a893311e0c391
--- /dev/null
+++ b/assets/labware/containers/nalgene_nm_hdpe_500ml/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="nalgene_nm_hdpe_500ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="6.47858e-19 2.59143e-18 0.0113147" rpy="0 0 0" />
+      <mass value="0.0030643" />
+      <inertia ixx="3.18751e-07" ixy="0" ixz="0" iyy="3.18751e-07" iyz="0" izz="5.06759e-07" />
+    </inertial>
+    <visual name="nalgene_nm_hdpe_500ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_nm_hdpe_500ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_nm_hdpe_500ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.01475" rpy="0 0 0" />
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+    <collision>
+      <origin xyz="-0.0151807 1.85909e-18 0.00675" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0140251 -0.00580939 0.00675" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0107343 -0.0107343 0.00675" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00580939 -0.0140251 0.00675" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.78864e-18 -0.0151807 0.00675" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00580939 -0.0140251 0.00675" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0107343 -0.0107343 0.00675" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0140251 -0.00580939 0.00675" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00113868 0.00667981 0.0135" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/asset.contract.json b/assets/labware/containers/nalgene_wm_hdpe_1000ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..130b3adc00a3eff1ed43794410894675a9a977bc
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/asset.contract.json
@@ -0,0 +1,696 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nalgene_wm_hdpe_1000ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 1 L（63 mm 螺旋盖）",
+ "category": "labware.container.powder_jar",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Nalgene 312189-0032 广口 HDPE 1 L 瓶：外径 91 mm、高 199 mm、63 mm 盖；瓶身 91 mm 超出 Franka 张开宽度，只能在盖拧紧时抓盖搬运。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "69471d60fa4499f37f64d25a4e8a77b49b6b0ebb07e719e13f779bbd989eabaa"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "057128778c62034c3223839f97031ce390c5dc7038684c52e890b6f2d7378354"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "4f3b366c3963d08f23b9acfb0250c877b36cc08977a0e5e918d645ccc98c0c27"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "06c7861d578e846d01fb16cab4050ee2fe4bcdca643f84b93825fc0d46728df9"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "cf69c94067f3ff56509ab10bf67abfcbfa17b02c0490841499f8723c97807e53"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "d3274d8fc6a6e2ec259f6fa26a0855526fe776a932094f2e475bb6f3f245fd17"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c66676196627f28a9feef5c26c42d3167a6df5523c36a7f765ecf99bf4ef9d83"
+  }
+ },
+ "sources": {
+  "nalgene_wm_1000": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 1000 mL, cat. 312189-0032 (https://www.thermofisher.com/order/catalog/product/312189-0032)",
+   "locator": "diameter 91 mm, height 199 mm, closure 63 mm",
+   "note": "Wide-mouth HDPE 1 L bottle with 63 mm PP closure used as a large powder jar. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 91.0 mm、本体高 188.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_1000ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.091,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_1000"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.199,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_1000"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.001,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_1000"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.001062719,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0016,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.096807,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 101.9 cm3 × hdpe 密度 950 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø68.0×20.0 mm；63 mm (SPI 400-type, assumed) 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_1000ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.068,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.014557,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 16.17 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 68 mm、高 20 mm 与螺纹类型为假设；瓶身高 188 mm 由总高 199 mm 推得（盖露出 11 mm）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nalgene_wm_hdpe_1000ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 1000 mL, 63 mm closure",
+   "catalogue_no": "312189-0032",
+   "nominal_capacity_m3": 0.001,
+   "brim_capacity_m3": 0.001062719,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_1000",
+   "outer": {
+    "diameter_m": 0.091,
+    "height_body_m": 0.188,
+    "height_with_cap_m": 0.199,
+    "source_id": "nalgene_wm_1000"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0439,
+    "floor_m": 0.002,
+    "height_m": 0.188,
+    "body_top_m": 0.1676,
+    "neck_radius_m": 0.0275,
+    "nominal_fill_height_m": 0.16735,
+    "volume_table_m_ml": [
+     [
+      0.002,
+      0.0
+     ],
+     [
+      0.0113,
+      55.249
+     ],
+     [
+      0.0206,
+      111.556
+     ],
+     [
+      0.0299,
+      167.863
+     ],
+     [
+      0.0392,
+      224.169
+     ],
+     [
+      0.0485,
+      280.476
+     ],
+     [
+      0.0578,
+      336.783
+     ],
+     [
+      0.0671,
+      393.09
+     ],
+     [
+      0.0764,
+      449.397
+     ],
+     [
+      0.0857,
+      505.704
+     ],
+     [
+      0.095,
+      562.011
+     ],
+     [
+      0.1043,
+      618.318
+     ],
+     [
+      0.1136,
+      674.625
+     ],
+     [
+      0.1229,
+      730.932
+     ],
+     [
+      0.1322,
+      787.239
+     ],
+     [
+      0.1415,
+      843.546
+     ],
+     [
+      0.1508,
+      899.853
+     ],
+     [
+      0.1601,
+      956.16
+     ],
+     [
+      0.1694,
+      1010.863
+     ],
+     [
+      0.1787,
+      1040.623
+     ],
+     [
+      0.188,
+      1062.719
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.002
+     ],
+     [
+      0.0411,
+      0.002
+     ],
+     [
+      0.0439,
+      0.0048
+     ],
+     [
+      0.0439,
+      0.1668
+     ],
+     [
+      0.0275,
+      0.176
+     ],
+     [
+      0.0275,
+      0.188
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "63 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.179,
+    "clear_lift_m": 0.011,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.226,
+     "note_zh": "瓶身外径 91 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+     "finger_contact_z_m": [
+      0.18,
+      0.198
+     ],
+     "holds": "cap_closed_only"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.289
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.189
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.279
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.179
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0315,
+      0.0,
+      0.188
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.11136,
+   "mass_body_kg": 0.09681,
+   "mass_cap_kg": 0.01456,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "大包装固体试剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/collision_proxies.json b/assets/labware/containers/nalgene_wm_hdpe_1000ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..2404b32599f501d958dd9d601335a0f971406e2b
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/collision_proxies.json
@@ -0,0 +1,1254 @@
+{
+ "asset_type_id": "labware.nalgene_wm_hdpe_1000ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0443,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0016,
+      0.019297,
+      0.1656
+     ],
+     "origin_m": [
+      0.0447,
+      0.0,
+      0.0848
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
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+}
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/geometry_manifest.json b/assets/labware/containers/nalgene_wm_hdpe_1000ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf7930b63dc3426690449fb4f4b36792c4c37a4
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/geometry_manifest.json
@@ -0,0 +1,1764 @@
+{
+ "asset_type_id": "labware.nalgene_wm_hdpe_1000ml",
+ "catalog_id": null,
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 1 L（63 mm 螺旋盖）",
+ "name_en": "Nalgene wide-mouth HDPE bottle 1 L (powder jar)",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.091,
+  0.091,
+  0.199
+ ],
+ "bounds_m": [
+  [
+   -0.0455,
+   -0.0455,
+   0.0
+  ],
+  [
+   0.0455,
+   0.0455,
+   0.199
+  ]
+ ],
+ "total_mass_kg": 0.11136,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "nalgene_wm_1000",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 1000 mL, cat. 312189-0032 (https://www.thermofisher.com/order/catalog/product/312189-0032)",
+   "locator": "diameter 91 mm, height 199 mm, closure 63 mm",
+   "note": "Wide-mouth HDPE 1 L bottle with 63 mm PP closure used as a large powder jar. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 91.0 mm、本体高 188.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.096807,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 101.9 cm3 × hdpe 密度 950 kg/m3 计算",
+   "material": "hdpe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "nalgene_wm_hdpe_1000ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nalgene_wm_hdpe_1000ml__body",
+     "rgba_srgb": [
+      0.94,
+      0.94,
+      0.92,
+      1.0
+     ],
+     "hex": "#F0F0EB",
+     "rgba_linear": [
+      0.8689,
+      0.8689,
+      0.82757,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0443,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nalgene_wm_hdpe_1000ml",
+  "family": "powder_jar",
+  "labware_class": "jar",
+  "fits": [
+   "jar",
+   "powder_jar"
+  ],
+  "maker": "Thermo Scientific (Nalgene)",
+  "model": "Wide-mouth HDPE packaging bottle 1000 mL, 63 mm closure",
+  "catalogue_no": "312189-0032",
+  "nominal_capacity_m3": 0.001,
+  "brim_capacity_m3": 0.001062719,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "nalgene_wm_1000",
+  "outer": {
+   "diameter_m": 0.091,
+   "height_body_m": 0.188,
+   "height_with_cap_m": 0.199,
+   "source_id": "nalgene_wm_1000"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0439,
+   "floor_m": 0.002,
+   "height_m": 0.188,
+   "body_top_m": 0.1676,
+   "neck_radius_m": 0.0275,
+   "nominal_fill_height_m": 0.16735,
+   "volume_table_m_ml": [
+    [
+     0.002,
+     0.0
+    ],
+    [
+     0.0113,
+     55.249
+    ],
+    [
+     0.0206,
+     111.556
+    ],
+    [
+     0.0299,
+     167.863
+    ],
+    [
+     0.0392,
+     224.169
+    ],
+    [
+     0.0485,
+     280.476
+    ],
+    [
+     0.0578,
+     336.783
+    ],
+    [
+     0.0671,
+     393.09
+    ],
+    [
+     0.0764,
+     449.397
+    ],
+    [
+     0.0857,
+     505.704
+    ],
+    [
+     0.095,
+     562.011
+    ],
+    [
+     0.1043,
+     618.318
+    ],
+    [
+     0.1136,
+     674.625
+    ],
+    [
+     0.1229,
+     730.932
+    ],
+    [
+     0.1322,
+     787.239
+    ],
+    [
+     0.1415,
+     843.546
+    ],
+    [
+     0.1508,
+     899.853
+    ],
+    [
+     0.1601,
+     956.16
+    ],
+    [
+     0.1694,
+     1010.863
+    ],
+    [
+     0.1787,
+     1040.623
+    ],
+    [
+     0.188,
+     1062.719
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.002
+    ],
+    [
+     0.0411,
+     0.002
+    ],
+    [
+     0.0439,
+     0.0048
+    ],
+    [
+     0.0439,
+     0.1668
+    ],
+    [
+     0.0275,
+     0.176
+    ],
+    [
+     0.0275,
+     0.188
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "63 mm (SPI 400-type, assumed)",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0042,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0042,
+   "cap_seat_z_m": 0.179,
+   "clear_lift_m": 0.011,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.189
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.068,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.226,
+    "note_zh": "瓶身外径 91 mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取",
+    "finger_contact_z_m": [
+     0.18,
+     0.198
+    ],
+    "holds": "cap_closed_only"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.289
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.289
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.189
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.289
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.189
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.068,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.01
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.279
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.179
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0315,
+     0.0,
+     0.188
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "hdpe",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.11136,
+  "mass_body_kg": 0.09681,
+  "mass_cap_kg": 0.01456,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "大包装固体试剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 68 mm、高 20 mm 与螺纹类型为假设；瓶身高 188 mm 由总高 199 mm 推得（盖露出 11 mm）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.mtl b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a04ec5e72832d5fd9a3bdbbdac91a2b0a11639f5
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_1000ml__body
+Kd 0.9400 0.9400 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.obj b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aabacb2e35bdcbc5eec698ac3cc9780d2b9210af
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib nalgene_wm_hdpe_1000ml__body.mtl
+usemtl nalgene_wm_hdpe_1000ml__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.04150000 0.00000000 0.00000000
+v 0.04550000 0.00000000 0.00400000
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+v 0.04110000 0.00000000 0.00200000
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+v 0.03217336 0.03217336 0.00400000
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.mtl b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0319f365318d3d4104c8d7fe9aad6f499f3b04c2
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_1000ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.obj b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..33efc32e223a9302b392b8eb3ccc612607323053
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/meshes/nalgene_wm_hdpe_1000ml__cap.obj
@@ -0,0 +1,582 @@
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index 0000000000000000000000000000000000000000..1e217df8e4901a6590404d8da0272dd4a07820b5
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/model.urdf b/assets/labware/containers/nalgene_wm_hdpe_1000ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7e1e239e4e7816df7ccdc55ae9216baf2cf7afea
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/model.urdf
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/model_solid.urdf b/assets/labware/containers/nalgene_wm_hdpe_1000ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b14b92dce4f988182bd8a391e3ce2d37077d05ab
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/body.urdf b/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7afd7aa8fa1cfc839070367c12ce8fda136c30dc
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/cap.urdf b/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c589e7823f66b181332b30a8fae0b213021df74c
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_1000ml/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_1000ml__cap">
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+      <origin xyz="2.18202e-18 6.54605e-18 0.0152167" rpy="0 0 0" />
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+    <visual name="nalgene_wm_hdpe_1000ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_wm_hdpe_1000ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_1000ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/asset.contract.json b/assets/labware/containers/nalgene_wm_hdpe_250ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4c7c67301cb89c5394bf50292f85628f1603ef
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/asset.contract.json
@@ -0,0 +1,696 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nalgene_wm_hdpe_250ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 250 mL（43 mm 螺旋盖）",
+ "category": "labware.container.powder_jar",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Nalgene 312189-0008 广口 HDPE 瓶：外径 61 mm、高 131 mm、瓶口内径 33 mm、43-415 盖；用作粉末瓶。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
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+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/model.glb",
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+   "status": "available",
+   "sha256": "3112b91f07b7b0583dbc21737b42f5f02897fbd680b3a6d37223dfbfaac03599"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "08536f4b630d6e026b20fe270f61b6f201b5d377acb1f1264b7df35a53a5a0c5"
+  },
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+   "format": "json",
+   "status": "available",
+   "sha256": "213af9376461ae7b303a2b880041c9237b541550baf4fc4ace33bdd34a91b826"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9137a2f1a5dc7b08686a336eec9ff2210a152ba9d3af372dfc8f3054cb05c759"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "e1739f006faa9bfe9945ff359dd3a660fac7700204548470f0d277b598ca0c3b"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "79a670fa2751577ca7499ed4c59ed091885eb8e180d32ecf88b7f8c59e88e6dd"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_250ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "e6e7e26398ae2513203bfc2820bb2382e7466ac78e9fd03216be6542966a081a"
+  }
+ },
+ "sources": {
+  "nalgene_wm_250": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 250 mL, cat. 312189-0008 (listing https://www.calpaclab.com/nalgene-312189-0008-8-ounce-250ml-wide-mouth-hdpe-bottles-nalgene/ng-312189-0008)",
+   "locator": "OD 61 mm, height 131 mm, neck ID 33 mm, closure 43-415",
+   "note": "Wide-mouth HDPE bottle with PP screw closure used as a powder jar. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 61.0 mm、本体高 118.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_250ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.061,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_250"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.131,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_250"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.00025,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_250"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.000282747,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0012,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.032802,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 34.5 cm3 × hdpe 密度 950 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø46.5×17.0 mm；43-415 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_250ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0465,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 2.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.007438,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 8.26 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    12.566371
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 12.566371,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 46.5 mm、高 17 mm 为假设（43-415 盖的典型尺寸）；瓶身高 118 mm 由总高 131 mm 减盖露出部分推得。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nalgene_wm_hdpe_250ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 250 mL, 43-415 closure",
+   "catalogue_no": "312189-0008",
+   "nominal_capacity_m3": 0.00025,
+   "brim_capacity_m3": 0.000282747,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_250",
+   "outer": {
+    "diameter_m": 0.061,
+    "height_body_m": 0.118,
+    "height_with_cap_m": 0.131,
+    "source_id": "nalgene_wm_250"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0293,
+    "floor_m": 0.0015,
+    "height_m": 0.118,
+    "body_top_m": 0.098,
+    "neck_radius_m": 0.0165,
+    "nominal_fill_height_m": 0.09445,
+    "volume_table_m_ml": [
+     [
+      0.0015,
+      0.0
+     ],
+     [
+      0.00732,
+      15.012
+     ],
+     [
+      0.01315,
+      30.722
+     ],
+     [
+      0.01897,
+      46.432
+     ],
+     [
+      0.0248,
+      62.142
+     ],
+     [
+      0.03062,
+      77.852
+     ],
+     [
+      0.03645,
+      93.562
+     ],
+     [
+      0.04228,
+      109.273
+     ],
+     [
+      0.0481,
+      124.983
+     ],
+     [
+      0.05392,
+      140.693
+     ],
+     [
+      0.05975,
+      156.403
+     ],
+     [
+      0.06557,
+      172.113
+     ],
+     [
+      0.0714,
+      187.823
+     ],
+     [
+      0.07722,
+      203.534
+     ],
+     [
+      0.08305,
+      219.244
+     ],
+     [
+      0.08888,
+      234.954
+     ],
+     [
+      0.0947,
+      250.664
+     ],
+     [
+      0.10052,
+      265.107
+     ],
+     [
+      0.10635,
+      272.783
+     ],
+     [
+      0.11218,
+      277.765
+     ],
+     [
+      0.118,
+      282.747
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0015
+     ],
+     [
+      0.0265,
+      0.0015
+     ],
+     [
+      0.0293,
+      0.0043
+     ],
+     [
+      0.0293,
+      0.0974
+     ],
+     [
+      0.0165,
+      0.106
+     ],
+     [
+      0.0165,
+      0.118
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "43-415",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 2.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 12.566371,
+    "lift_at_detach_m": 0.0084,
+    "cap_seat_z_m": 0.114,
+    "clear_lift_m": 0.006,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.098
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.061,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.135,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.089,
+      0.107
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.098
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.218
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1225
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0465,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0085
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.211
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.114
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0205,
+      0.0,
+      0.118
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.04024,
+   "mass_body_kg": 0.0328,
+   "mass_cap_kg": 0.00744,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "固体试剂（盐、标准物质粉末）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/collision_proxies.json b/assets/labware/containers/nalgene_wm_hdpe_250ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d1503aa1a5d04ab8cd3b16b9196217dcf39e54d
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/collision_proxies.json
@@ -0,0 +1,1254 @@
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+}
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/geometry_manifest.json b/assets/labware/containers/nalgene_wm_hdpe_250ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98fc1bafd4a615d8262dd05cc23592a27c8a543
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/geometry_manifest.json
@@ -0,0 +1,1764 @@
+{
+ "asset_type_id": "labware.nalgene_wm_hdpe_250ml",
+ "catalog_id": null,
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 250 mL（43 mm 螺旋盖）",
+ "name_en": "Nalgene wide-mouth HDPE bottle 250 mL (powder jar)",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.061,
+  0.061,
+  0.131
+ ],
+ "bounds_m": [
+  [
+   -0.0305,
+   -0.0305,
+   0.0
+  ],
+  [
+   0.0305,
+   0.0305,
+   0.131
+  ]
+ ],
+ "total_mass_kg": 0.04024,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "nalgene_wm_250",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 250 mL, cat. 312189-0008 (listing https://www.calpaclab.com/nalgene-312189-0008-8-ounce-250ml-wide-mouth-hdpe-bottles-nalgene/ng-312189-0008)",
+   "locator": "OD 61 mm, height 131 mm, neck ID 33 mm, closure 43-415",
+   "note": "Wide-mouth HDPE bottle with PP screw closure used as a powder jar. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 61.0 mm、本体高 118.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.032802,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 34.5 cm3 × hdpe 密度 950 kg/m3 计算",
+   "material": "hdpe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "nalgene_wm_hdpe_250ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nalgene_wm_hdpe_250ml__body",
+     "rgba_srgb": [
+      0.94,
+      0.94,
+      0.92,
+      1.0
+     ],
+     "hex": "#F0F0EB",
+     "rgba_linear": [
+      0.8689,
+      0.8689,
+      0.82757,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0293,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
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+   "cap_seat_z_m": 0.114,
+   "clear_lift_m": 0.006,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.098
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.061,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.135,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.089,
+     0.107
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.218
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.218
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.098
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.218
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1225
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0465,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0085
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.211
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.114
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0205,
+     0.0,
+     0.118
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "hdpe",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.04024,
+  "mass_body_kg": 0.0328,
+  "mass_cap_kg": 0.00744,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "固体试剂（盐、标准物质粉末）"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 46.5 mm、高 17 mm 为假设（43-415 盖的典型尺寸）；瓶身高 118 mm 由总高 131 mm 减盖露出部分推得。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.mtl b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..51fb3ff8899731e49831065c163cfbff422e4e25
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_250ml__body
+Kd 0.9400 0.9400 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.obj b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57ba5ce5e52a43f5265c3a729acc6e259e25908e
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib nalgene_wm_hdpe_250ml__body.mtl
+usemtl nalgene_wm_hdpe_250ml__body
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.mtl b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e734ef1b770abf20287855a12a7ce710899f3a7a
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_250ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.obj b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3f2f5b02802b513b0f13b83f80162c3fd326bce
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/meshes/nalgene_wm_hdpe_250ml__cap.obj
@@ -0,0 +1,582 @@
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+usemtl nalgene_wm_hdpe_250ml__cap
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/model.glb b/assets/labware/containers/nalgene_wm_hdpe_250ml/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..792615ecdb58bc4575c0c4c9f54429965088c33f
Binary files /dev/null and b/assets/labware/containers/nalgene_wm_hdpe_250ml/model.glb differ
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/model.urdf b/assets/labware/containers/nalgene_wm_hdpe_250ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d74f3c83a0c8a9e1fda7000cd43a04f491fb7a52
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/model.urdf
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+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_250ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.0443e-18 2.0443e-18 0.0601728" rpy="0 0 0" />
+      <mass value="0.0328018" />
+      <inertia ixx="4.82324e-05" ixy="0" ixz="0" iyy="4.82324e-05" iyz="0" izz="2.03426e-05" />
+    </inertial>
+    <visual name="nalgene_wm_hdpe_250ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_250ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_250ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
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+      <geometry>
+        <cylinder radius="0.0293" length="0.0015" />
+      </geometry>
+    </collision>
+    <collision>
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+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
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+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+  <link name="cap">
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+    <visual name="nalgene_wm_hdpe_250ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_250ml__cap.obj" />
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+      <material name="mat_nalgene_wm_hdpe_250ml__cap">
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+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.114" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="12.566371" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/model_solid.urdf b/assets/labware/containers/nalgene_wm_hdpe_250ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b679f51ed62bb46e2a73e5946801a5ea786c7b7e
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_250ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.0443e-18 2.0443e-18 0.0601728" rpy="0 0 0" />
+      <mass value="0.0328018" />
+      <inertia ixx="4.82324e-05" ixy="0" ixz="0" iyy="4.82324e-05" iyz="0" izz="2.03426e-05" />
+    </inertial>
+    <visual name="nalgene_wm_hdpe_250ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_250ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_250ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.059" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0305" length="0.118" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
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+      <origin xyz="2.13514e-18 -1.06757e-18 0.0116039" rpy="0 0 0" />
+      <mass value="0.00743832" />
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+    </inertial>
+    <visual name="nalgene_wm_hdpe_250ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_250ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_250ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0085" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.02325" length="0.017" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.114" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="12.566371" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/body.urdf b/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8e04f67f285688ce49f73886160488e2169fb9e1
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_250ml__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.0443e-18 2.0443e-18 0.0601728" rpy="0 0 0" />
+      <mass value="0.0328018" />
+      <inertia ixx="4.82324e-05" ixy="0" ixz="0" iyy="4.82324e-05" iyz="0" izz="2.03426e-05" />
+    </inertial>
+    <visual name="nalgene_wm_hdpe_250ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_wm_hdpe_250ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_250ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0293" length="0.0015" />
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+    <collision>
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+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/cap.urdf b/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..b3ed16af15de9d1be7029396f079ed94582c23d1
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_250ml/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_250ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="2.13514e-18 -1.06757e-18 0.0116039" rpy="0 0 0" />
+      <mass value="0.00743832" />
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+    </inertial>
+    <visual name="nalgene_wm_hdpe_250ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_wm_hdpe_250ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_250ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.01575" rpy="0 0 0" />
+      <geometry>
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/asset.contract.json b/assets/labware/containers/nalgene_wm_hdpe_500ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..983d0e13ba7cd618d273653b735cdab380cb9d8e
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/asset.contract.json
@@ -0,0 +1,696 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nalgene_wm_hdpe_500ml",
+ "asset_version": "1.0.0",
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 500 mL（53 mm 盖）",
+ "category": "labware.container.powder_jar",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Nalgene 312189-0016 广口 HDPE 瓶 500 mL：外径 73 mm、高 168 mm、瓶口内径 44 mm、53-415 盖；用作 500 g 粉末瓶。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "1d55f1267322425179e877b9d5ef395b46a8af9373dee7b96de14c7178d482b3"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "42d0a0630262dd975d48a23c308525e4aa9c1c0747cb25f09eea041636611fec"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e4339f5c12af35587998946fdce30faf360d2987172fcb4dfc448269cf59b568"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9691f1445546634769a992ca7556b98752b32480846061ccb1f3cb289f905bc0"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "cf7df463a150b2f905b10e43cda740b85d74ae92fa2a725c9ecef0092224304f"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "e03a01df0aa69eb1090d72bcaa81cf01ad18a917e4bbec52b60da67a89989bb2"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/nalgene_wm_hdpe_500ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "ec0a145e870c1b32270ca2db23ced7287dd06292d529845b7160c77facfaee3b"
+  }
+ },
+ "sources": {
+  "nalgene_wm_500": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 500 mL, cat. 312189-0016 (https://www.thermofisher.com/order/catalog/product/312189-0016); economy version 2189-0016",
+   "locator": "diameter 73 mm, height 168 mm, inner neck 44 mm, 53-415 closure",
+   "note": "Wide-mouth HDPE jar for ~500 g of a solid reagent. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 73.0 mm、本体高 155.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_500ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.073,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_500"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.168,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_500"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.0005,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "nalgene_wm_500"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.0005519,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0014,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.056313,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 59.3 cm3 × hdpe 密度 950 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø57.0×18.0 mm；53-415 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nalgene_wm_hdpe_500ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.057,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 2.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.011427,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 12.70 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    12.566371
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 12.566371,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 57 mm、高 18 mm 为 53-415 盖的典型尺寸（假设）；瓶身高 155 mm 由总高 168 mm 推得。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nalgene_wm_hdpe_500ml",
+   "family": "powder_jar",
+   "labware_class": "jar",
+   "fits": [
+    "jar",
+    "powder_jar"
+   ],
+   "maker": "Thermo Scientific (Nalgene)",
+   "model": "Wide-mouth HDPE packaging bottle 500 mL, 53-415 closure",
+   "catalogue_no": "312189-0016",
+   "nominal_capacity_m3": 0.0005,
+   "brim_capacity_m3": 0.0005519,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "nalgene_wm_500",
+   "outer": {
+    "diameter_m": 0.073,
+    "height_body_m": 0.155,
+    "height_with_cap_m": 0.168,
+    "source_id": "nalgene_wm_500"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0351,
+    "floor_m": 0.0018,
+    "height_m": 0.155,
+    "body_top_m": 0.1342,
+    "neck_radius_m": 0.022,
+    "nominal_fill_height_m": 0.1312,
+    "volume_table_m_ml": [
+     [
+      0.0018,
+      0.0
+     ],
+     [
+      0.00946,
+      28.806
+     ],
+     [
+      0.01712,
+      58.454
+     ],
+     [
+      0.02478,
+      88.102
+     ],
+     [
+      0.03244,
+      117.75
+     ],
+     [
+      0.0401,
+      147.398
+     ],
+     [
+      0.04776,
+      177.045
+     ],
+     [
+      0.05542,
+      206.693
+     ],
+     [
+      0.06308,
+      236.341
+     ],
+     [
+      0.07074,
+      265.989
+     ],
+     [
+      0.0784,
+      295.637
+     ],
+     [
+      0.08606,
+      325.285
+     ],
+     [
+      0.09372,
+      354.932
+     ],
+     [
+      0.10138,
+      384.58
+     ],
+     [
+      0.10904,
+      414.228
+     ],
+     [
+      0.1167,
+      443.876
+     ],
+     [
+      0.12436,
+      473.524
+     ],
+     [
+      0.13202,
+      503.172
+     ],
+     [
+      0.13968,
+      527.482
+     ],
+     [
+      0.14734,
+      540.253
+     ],
+     [
+      0.155,
+      551.9
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0018
+     ],
+     [
+      0.0323,
+      0.0018
+     ],
+     [
+      0.0351,
+      0.0046
+     ],
+     [
+      0.0351,
+      0.1335
+     ],
+     [
+      0.022,
+      0.143
+     ],
+     [
+      0.022,
+      0.155
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "53-415",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 2.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 12.566371,
+    "lift_at_detach_m": 0.0084,
+    "cap_seat_z_m": 0.15,
+    "clear_lift_m": 0.007,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.172,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.126,
+      0.144
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.255
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.159
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.057,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.009
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.248
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.15
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0255,
+      0.0,
+      0.155
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "hdpe",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 0.06774,
+   "mass_body_kg": 0.05631,
+   "mass_cap_kg": 0.01143,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "约 500 g 固体试剂"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/collision_proxies.json b/assets/labware/containers/nalgene_wm_hdpe_500ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8d5dca709d8d95ef3ee651240fb9bcc9f0d7488
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/collision_proxies.json
@@ -0,0 +1,1254 @@
+{
+ "asset_type_id": "labware.nalgene_wm_hdpe_500ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0353,
+      0.0018
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0009
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      0.03575,
+      0.0,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      0.033029,
+      0.013681,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      0.025279,
+      0.025279,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      0.013681,
+      0.033029,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      0.0,
+      0.03575,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      -0.013681,
+      0.033029,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      -0.025279,
+      0.025279,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
+      0.1322
+     ],
+     "origin_m": [
+      -0.033029,
+      0.013681,
+      0.0681
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.01548,
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/geometry_manifest.json b/assets/labware/containers/nalgene_wm_hdpe_500ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..284df64a05036980ec9f2a689942dc24df9bf8e7
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/geometry_manifest.json
@@ -0,0 +1,1764 @@
+{
+ "asset_type_id": "labware.nalgene_wm_hdpe_500ml",
+ "catalog_id": null,
+ "name_zh": "Nalgene 广口 HDPE 粉末瓶 500 mL（53 mm 盖）",
+ "name_en": "Nalgene wide-mouth HDPE bottle 500 mL (powder jar)",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.073,
+  0.073,
+  0.168
+ ],
+ "bounds_m": [
+  [
+   -0.0365,
+   -0.0365,
+   0.0
+  ],
+  [
+   0.0365,
+   0.0365,
+   0.168
+  ]
+ ],
+ "total_mass_kg": 0.06774,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "nalgene_wm_500",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 500 mL, cat. 312189-0016 (https://www.thermofisher.com/order/catalog/product/312189-0016); economy version 2189-0016",
+   "locator": "diameter 73 mm, height 168 mm, inner neck 44 mm, 53-415 closure",
+   "note": "Wide-mouth HDPE jar for ~500 g of a solid reagent. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "hdpe 壳体；外径 73.0 mm、本体高 155.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.056313,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 59.3 cm3 × hdpe 密度 950 kg/m3 计算",
+   "material": "hdpe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "nalgene_wm_hdpe_500ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nalgene_wm_hdpe_500ml__body",
+     "rgba_srgb": [
+      0.94,
+      0.94,
+      0.92,
+      1.0
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+     "hex": "#F0F0EB",
+     "rgba_linear": [
+      0.8689,
+      0.8689,
+      0.82757,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0353,
+      0.0018
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0009
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+     "rpy_rad": [
+      0.0,
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+    {
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+    {
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+    },
+    {
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+    },
+    {
+     "shape": "box",
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+    }
+   ]
+  },
+  {
+   "id": "cap",
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø57.0×18.0 mm；53-415 螺纹",
+   "parent": "body",
+   "origin_m": [
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+    0.0,
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+   "rpy_rad": [
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+   "joint": {
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+    "axis": [
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+     0,
+     1
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+    "limits": [
+     0.0,
+     12.566371
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.011427,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 12.70 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "nalgene_wm_hdpe_500ml__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "nalgene_wm_hdpe_500ml__cap",
+     "rgba_srgb": [
+      0.96,
+      0.96,
+      0.96,
+      1.0
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+     "hex": "#F5F5F5",
+     "rgba_linear": [
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+      0.91141,
+      0.91141,
+      1.0
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+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
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+      0.0028
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+     "origin_m": [
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+    },
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+    },
+    {
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.012087,
+      0.0152
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+     "origin_m": [
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+      0.0076
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "nalgene_wm_hdpe_500ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    12.566371
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 2.0 圈（12.566 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nalgene_wm_hdpe_500ml",
+  "family": "powder_jar",
+  "labware_class": "jar",
+  "fits": [
+   "jar",
+   "powder_jar"
+  ],
+  "maker": "Thermo Scientific (Nalgene)",
+  "model": "Wide-mouth HDPE packaging bottle 500 mL, 53-415 closure",
+  "catalogue_no": "312189-0016",
+  "nominal_capacity_m3": 0.0005,
+  "brim_capacity_m3": 0.0005519,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "nalgene_wm_500",
+  "outer": {
+   "diameter_m": 0.073,
+   "height_body_m": 0.155,
+   "height_with_cap_m": 0.168,
+   "source_id": "nalgene_wm_500"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0351,
+   "floor_m": 0.0018,
+   "height_m": 0.155,
+   "body_top_m": 0.1342,
+   "neck_radius_m": 0.022,
+   "nominal_fill_height_m": 0.1312,
+   "volume_table_m_ml": [
+    [
+     0.0018,
+     0.0
+    ],
+    [
+     0.00946,
+     28.806
+    ],
+    [
+     0.01712,
+     58.454
+    ],
+    [
+     0.02478,
+     88.102
+    ],
+    [
+     0.03244,
+     117.75
+    ],
+    [
+     0.0401,
+     147.398
+    ],
+    [
+     0.04776,
+     177.045
+    ],
+    [
+     0.05542,
+     206.693
+    ],
+    [
+     0.06308,
+     236.341
+    ],
+    [
+     0.07074,
+     265.989
+    ],
+    [
+     0.0784,
+     295.637
+    ],
+    [
+     0.08606,
+     325.285
+    ],
+    [
+     0.09372,
+     354.932
+    ],
+    [
+     0.10138,
+     384.58
+    ],
+    [
+     0.10904,
+     414.228
+    ],
+    [
+     0.1167,
+     443.876
+    ],
+    [
+     0.12436,
+     473.524
+    ],
+    [
+     0.13202,
+     503.172
+    ],
+    [
+     0.13968,
+     527.482
+    ],
+    [
+     0.14734,
+     540.253
+    ],
+    [
+     0.155,
+     551.9
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0018
+    ],
+    [
+     0.0323,
+     0.0018
+    ],
+    [
+     0.0351,
+     0.0046
+    ],
+    [
+     0.0351,
+     0.1335
+    ],
+    [
+     0.022,
+     0.143
+    ],
+    [
+     0.022,
+     0.155
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "53-415",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 2.0,
+   "pitch_m": 0.0042,
+   "detach_after_rad": 12.566371,
+   "lift_at_detach_m": 0.0084,
+   "cap_seat_z_m": 0.15,
+   "clear_lift_m": 0.007,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.073,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.172,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.126,
+     0.144
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.255
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.255
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.255
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.159
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.057,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.009
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.248
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.15
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0255,
+     0.0,
+     0.155
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "hdpe",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 0.06774,
+  "mass_body_kg": 0.05631,
+  "mass_cap_kg": 0.01143,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "约 500 g 固体试剂"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "盖外径 57 mm、高 18 mm 为 53-415 盖的典型尺寸（假设）；瓶身高 155 mm 由总高 168 mm 推得。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.mtl b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..272979aee397eebca4b6bdfa974c39ef21665aa5
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_500ml__body
+Kd 0.9400 0.9400 0.9200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.obj b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d9f1c4b184865d41db8819c6ab73c24cad4a7c2f
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib nalgene_wm_hdpe_500ml__body.mtl
+usemtl nalgene_wm_hdpe_500ml__body
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.mtl b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..af028ea97f495b1243c633f19965aa99314f88f9
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl nalgene_wm_hdpe_500ml__cap
+Kd 0.9600 0.9600 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.obj b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..65c12edc902da46aef691e1cbce97fb03ed9e646
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/meshes/nalgene_wm_hdpe_500ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib nalgene_wm_hdpe_500ml__cap.mtl
+usemtl nalgene_wm_hdpe_500ml__cap
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/model.urdf b/assets/labware/containers/nalgene_wm_hdpe_500ml/model.urdf
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+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+  <link name="cap">
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+      <origin xyz="1.38982e-18 2.77964e-18 0.0126501" rpy="0 0 0" />
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+    <visual name="nalgene_wm_hdpe_500ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_500ml__cap.obj" />
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+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.15" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
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+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/model_solid.urdf b/assets/labware/containers/nalgene_wm_hdpe_500ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..abc5e352d0c5e9dbc0425c5dc39561b9f0a90bb0
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_500ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-5.95397e-18 4.76318e-18 0.0748002" rpy="0 0 0" />
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+    </inertial>
+    <visual name="nalgene_wm_hdpe_500ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_500ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_500ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0775" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0365" length="0.155" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
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+      <origin xyz="1.38982e-18 2.77964e-18 0.0126501" rpy="0 0 0" />
+      <mass value="0.0114273" />
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+    <visual name="nalgene_wm_hdpe_500ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nalgene_wm_hdpe_500ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_500ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.009" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0285" length="0.018" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.15" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="12.566371" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/body.urdf b/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd7015a324c37dc5b23e4724469f81f3d3423db4
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/body.urdf
@@ -0,0 +1,313 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_500ml__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="-5.95397e-18 4.76318e-18 0.0748002" rpy="0 0 0" />
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+    </inertial>
+    <visual name="nalgene_wm_hdpe_500ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_wm_hdpe_500ml__body.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_500ml__body">
+        <color rgba="0.86890 0.86890 0.82757 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0009" rpy="0 0 0" />
+      <geometry>
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+    <collision>
+      <origin xyz="-5.57985e-18 -0.0303753 0.137819" rpy="0 -0.896055 4.71239" />
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+    <collision>
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+    <collision>
+      <origin xyz="1.45427e-18 0.02375 0.149" rpy="0 0 1.5708" />
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+      <origin xyz="-0.00908873 0.0219421 0.149" rpy="0 0 1.9635" />
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+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0219421 0.00908873 0.149" rpy="0 0 2.74889" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.02375 2.90854e-18 0.149" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0219421 -0.00908873 0.149" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0167938 -0.0167938 0.149" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00908873 -0.0219421 0.149" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.3628e-18 -0.02375 0.149" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00908873 -0.0219421 0.149" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0167938 -0.0167938 0.149" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0219421 -0.00908873 0.149" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.0035 0.0108149 0.012" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/cap.urdf b/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..68bf12495e33e3490e2026b5fc6eece1f2081b2d
--- /dev/null
+++ b/assets/labware/containers/nalgene_wm_hdpe_500ml/parts/cap.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="nalgene_wm_hdpe_500ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="1.38982e-18 2.77964e-18 0.0126501" rpy="0 0 0" />
+      <mass value="0.0114273" />
+      <inertia ixx="3.40248e-06" ixy="0" ixz="0" iyy="3.40248e-06" iyz="0" izz="6.18788e-06" />
+    </inertial>
+    <visual name="nalgene_wm_hdpe_500ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/nalgene_wm_hdpe_500ml__cap.obj" />
+      </geometry>
+      <material name="mat_nalgene_wm_hdpe_500ml__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0166" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0285" length="0.0028" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0274335 0 0.0076" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0253453 0.0104984 0.0076" rpy="0 0 0.392699" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0193984 0.0193984 0.0076" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0104984 0.0253453 0.0076" rpy="0 0 1.1781" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.67982e-18 0.0274335 0.0076" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0104984 0.0253453 0.0076" rpy="0 0 1.9635" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0193984 0.0193984 0.0076" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0253453 0.0104984 0.0076" rpy="0 0 2.74889" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0274335 3.35964e-18 0.0076" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0253453 -0.0104984 0.0076" rpy="0 0 3.53429" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0193984 -0.0193984 0.0076" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.0104984 -0.0253453 0.0076" rpy="0 0 4.31969" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
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+    </collision>
+    <collision>
+      <origin xyz="-5.03946e-18 -0.0274335 0.0076" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0104984 -0.0253453 0.0076" rpy="0 0 5.10509" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0193984 -0.0193984 0.0076" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0253453 -0.0104984 0.0076" rpy="0 0 5.89049" />
+      <geometry>
+        <box size="0.00213296 0.0120873 0.0152" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/asset.contract.json b/assets/labware/containers/norell_nmr_tube_5mm_7in/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1f067623c680507fee2bcf63a9f881cbf36364f
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/asset.contract.json
@@ -0,0 +1,712 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.norell_nmr_tube_5mm_7in",
+ "asset_version": "1.0.0",
+ "name_zh": "Norell 5 mm × 7 in NMR 管（S-5-500-7，带盖）",
+ "category": "labware.container.tube",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Spinsolve 80 使用标准 5 mm 外径、7 in 长的 NMR 管（Magritek 资料 p.8）；Norell S-5-500-7：外径 5 mm、内径 4.2 mm、长 178 mm。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "3532d18ff078474a5ee32cbb069edbc1845bb9d98a4157ee38be3d9fddda4ede"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "befe73ab053e8d5874355d114dfe6190d7edd9aac04fbea07121a45626101992"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "52afa49ce2a0e3f9151e44762dd1b04ec1874d792a2f066b3ebf662ec344a96f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "94fa669670c6ccf46bbda86e001df2d6f8010490c7448f623f85238c7c10e1df"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "661db551de063677fb4a5292e0b1b9bdb4830297a1e2fd5c87fe3fbe600f99d9"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "4d84060b3fdeb179b8b9214972c91238ac4dd1474f35284dee3f58f74476da3e"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/norell_nmr_tube_5mm_7in/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "09a69dc21914578c54a9cffeae09d3979a50663354b41db974aec2a9580060d8"
+  }
+ },
+ "sources": {
+  "spinsolve_brochure": {
+   "kind": "manufacturer",
+   "reference": "Magritek Spinsolve 80 brochure 2026 (references/manuals/magritek_spinsolve80/datasheet__spinsolve80_brochure_2026.pdf)",
+   "locator": "p.8 specifications: standard 5 mm OD NMR sample tubes, 7 in long; minimum sample volume 250 uL",
+   "note": "Tube the Spinsolve takes."
+  },
+  "norell_s5_500_7": {
+   "kind": "manufacturer",
+   "reference": "Norell S-5-500-7 NMR tube (Sigma-Aldrich NORS55007, https://b2b.sigmaaldrich.com/US/en/product/aldrich/nors55007)",
+   "locator": "OD 5 mm, ID 4.2 mm, length 7 in (178 mm), with cap",
+   "note": "5 mm x 7 in NMR tube. accessed 2026-10-22."
+  },
+  "spinsolve_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t4_measure/magritek_spinsolve80 (sample_tube part O5 x 180 mm; Matterix slot sample_port r 5 mm)",
+   "locator": "geometry_manifest.json components.sample_tube; slots_index sample_port",
+   "note": "The instrument asset's own tube proxy (reuse check)."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "管身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "borosilicate_3_3 壳体；外径 5.0 mm、本体高 178.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "norell_nmr_tube_5mm_7in__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.005,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "norell_s5_500_7"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.1835,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "norell_s5_500_7"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 6e-07,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "spinsolve_brochure"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 2.445e-06,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0004,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.00231,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 1.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø6.8×13.0 mm；push-on PE cap 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "norell_nmr_tube_5mm_7in__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0068,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 0.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.00015,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 0.16 cm3 × pe 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.570796
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 1.570796,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": null,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "推入式 PE 盖：按 touch + intent 规则“转 1/4 圈 + 提起”即取下；盖尺寸为假设。",
+  "Spinsolve 实例中的 sample_tube 部件（Ø5×180 mm）与本管一致；装样还需转子（spinner，仪器侧，未单独建模）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.norell_nmr_tube_5mm_7in",
+   "family": "tube",
+   "labware_class": "nmr_tube",
+   "fits": [
+    "nmr_tube_5mm",
+    "spinsolve_sample_port"
+   ],
+   "maker": "Norell",
+   "model": "Standard Series 500 MHz NMR tube, 5 mm x 7 in",
+   "catalogue_no": "S-5-500-7 (Sigma NORS55007)",
+   "nominal_capacity_m3": 6e-07,
+   "brim_capacity_m3": 2.445e-06,
+   "nominal_capacity_evidence": "typical NMR fill 0.6 mL (Spinsolve minimum 0.25 mL, brochure p.8)",
+   "nominal_source_id": "spinsolve_brochure",
+   "outer": {
+    "diameter_m": 0.005,
+    "height_body_m": 0.178,
+    "height_with_cap_m": 0.1835,
+    "source_id": "norell_s5_500_7"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.0021,
+    "floor_m": 0.0005,
+    "height_m": 0.178,
+    "body_top_m": 0.17,
+    "neck_radius_m": 0.0021,
+    "nominal_fill_height_m": 0.04483,
+    "volume_table_m_ml": [
+     [
+      0.0005,
+      0.0
+     ],
+     [
+      0.00938,
+      0.109
+     ],
+     [
+      0.01825,
+      0.232
+     ],
+     [
+      0.02712,
+      0.355
+     ],
+     [
+      0.036,
+      0.478
+     ],
+     [
+      0.04488,
+      0.601
+     ],
+     [
+      0.05375,
+      0.724
+     ],
+     [
+      0.06262,
+      0.847
+     ],
+     [
+      0.0715,
+      0.969
+     ],
+     [
+      0.08037,
+      1.092
+     ],
+     [
+      0.08925,
+      1.215
+     ],
+     [
+      0.09812,
+      1.338
+     ],
+     [
+      0.107,
+      1.461
+     ],
+     [
+      0.11588,
+      1.584
+     ],
+     [
+      0.12475,
+      1.707
+     ],
+     [
+      0.13362,
+      1.83
+     ],
+     [
+      0.1425,
+      1.953
+     ],
+     [
+      0.15137,
+      2.076
+     ],
+     [
+      0.16025,
+      2.199
+     ],
+     [
+      0.16912,
+      2.322
+     ],
+     [
+      0.178,
+      2.445
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.0005
+     ],
+     [
+      0.0005,
+      0.0005
+     ],
+     [
+      0.0021,
+      0.0023
+     ],
+     [
+      0.0021,
+      0.17
+     ],
+     [
+      0.0021,
+      0.178
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "push-on PE cap",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 0.25,
+    "pitch_m": null,
+    "detach_after_rad": 1.570796,
+    "lift_at_detach_m": 0.0,
+    "cap_seat_z_m": 0.1705,
+    "clear_lift_m": 0.0095,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1505
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.005,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.1875,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.1415,
+      0.1595
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1505
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2705
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.177
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0068,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0065
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.2635
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1705
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0025,
+      0.0,
+      0.178
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "borosilicate_3_3",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00246,
+   "mass_body_kg": 0.00231,
+   "mass_cap_kg": 0.00015,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": false,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "放在 NMR 管架；样品 0.3–0.5 mL（Spinsolve 手册：最少 250 µL）",
+   "instrument_fit": {
+    "instrument.magritek_spinsolve80": {
+     "slot": "sample_port",
+     "slot_radius_m": 0.005,
+     "item_radius_m": 0.0025
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/collision_proxies.json b/assets/labware/containers/norell_nmr_tube_5mm_7in/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e3fc21c86048ebe814899bd4715e9871fd9b7e
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/collision_proxies.json
@@ -0,0 +1,750 @@
+{
+ "asset_type_id": "labware.norell_nmr_tube_5mm_7in",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.002,
+      0.0015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      0.00155,
+      0.0,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      0.001096,
+      0.001096,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      0.0,
+      0.00155,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      -0.001096,
+      0.001096,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      -0.00155,
+      0.0,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      -0.001096,
+      -0.001096,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      -0.0,
+      -0.00155,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.001393
+     ],
+     "origin_m": [
+      0.001096,
+      -0.001096,
+      0.001719
+     ],
+     "rpy_rad": [
+      0.0,
+      0.367174,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      0.00175,
+      0.0,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      0.001237,
+      0.001237,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      0.0,
+      0.00175,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      -0.001237,
+      0.001237,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      -0.00175,
+      0.0,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      -0.001237,
+      -0.001237,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.002121,
+      0.1679
+     ],
+     "origin_m": [
+      -0.0,
+      -0.00175,
+      0.08605
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
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diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/geometry_manifest.json b/assets/labware/containers/norell_nmr_tube_5mm_7in/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0660201005268ff6abfe4240f6342eb95c09cc4
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/geometry_manifest.json
@@ -0,0 +1,1280 @@
+{
+ "asset_type_id": "labware.norell_nmr_tube_5mm_7in",
+ "catalog_id": null,
+ "name_zh": "Norell 5 mm × 7 in NMR 管（S-5-500-7，带盖）",
+ "name_en": "Norell S-5-500-7 NMR tube 5 mm x 7 in with cap",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
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+  0.0068,
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+ "bounds_m": [
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+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "spinsolve_brochure",
+   "kind": "manufacturer",
+   "reference": "Magritek Spinsolve 80 brochure 2026 (references/manuals/magritek_spinsolve80/datasheet__spinsolve80_brochure_2026.pdf)",
+   "locator": "p.8 specifications: standard 5 mm OD NMR sample tubes, 7 in long; minimum sample volume 250 uL",
+   "note": "Tube the Spinsolve takes.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "norell_s5_500_7",
+   "kind": "manufacturer",
+   "reference": "Norell S-5-500-7 NMR tube (Sigma-Aldrich NORS55007, https://b2b.sigmaaldrich.com/US/en/product/aldrich/nors55007)",
+   "locator": "OD 5 mm, ID 4.2 mm, length 7 in (178 mm), with cap",
+   "note": "5 mm x 7 in NMR tube. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "spinsolve_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/basic40_batch02/t4_measure/magritek_spinsolve80 (sample_tube part O5 x 180 mm; Matterix slot sample_port r 5 mm)",
+   "locator": "geometry_manifest.json components.sample_tube; slots_index sample_port",
+   "note": "The instrument asset's own tube proxy (reuse check).",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
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+ ],
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+   "name_zh": "管身",
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+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 1.0 cm3 × borosilicate_3_3 密度 2230 kg/m3 计算",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+      -0.001237,
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.002121,
+      0.008
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+     "origin_m": [
+      0.0023,
+      0.0,
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+     "rpy_rad": [
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
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+      0.008
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+     "origin_m": [
+      0.001626,
+      0.001626,
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
+      0.002121,
+      0.008
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
+      0.002121,
+      0.008
+     ],
+     "origin_m": [
+      -0.001626,
+      0.001626,
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+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
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+      0.008
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
+      0.002121,
+      0.008
+     ],
+     "origin_m": [
+      -0.001626,
+      -0.001626,
+      0.174
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
+      0.002121,
+      0.008
+     ],
+     "origin_m": [
+      -0.0,
+      -0.0023,
+      0.174
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0004,
+      0.002121,
+      0.008
+     ],
+     "origin_m": [
+      0.001626,
+      -0.001626,
+      0.174
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    }
+   ]
+  },
+  {
+   "id": "cap",
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø6.8×13.0 mm；push-on PE cap 螺纹",
+   "parent": "body",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.17049999999999998
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "limits": [
+     0.0,
+     1.570796
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "closure_turns"
+    ],
+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+   },
+   "mass_kg": 0.00015,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 0.16 cm3 × pe 密度计算",
+   "material": "pe",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
+   "objects": [
+    "norell_nmr_tube_5mm_7in__cap"
+   ],
+   "detachable": true,
+   "appearance": [
+    {
+     "object": "norell_nmr_tube_5mm_7in__cap",
+     "rgba_srgb": [
+      0.96,
+      0.96,
+      0.96,
+      1.0
+     ],
+     "hex": "#F5F5F5",
+     "rgba_linear": [
+      0.91141,
+      0.91141,
+      0.91141,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0034,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.012
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.003208,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.002778,
+      0.001604,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.001604,
+      0.002778,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.0,
+      0.003208,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.001604,
+      0.002778,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.002778,
+      0.001604,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.617994
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.003208,
+      0.0,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.002778,
+      -0.001604,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.665191
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.001604,
+      -0.002778,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      -0.0,
+      -0.003208,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.001604,
+      -0.002778,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000384,
+      0.001923,
+      0.011
+     ],
+     "origin_m": [
+      0.002778,
+      -0.001604,
+      0.0055
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "norell_nmr_tube_5mm_7in__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    1.570796
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.norell_nmr_tube_5mm_7in",
+  "family": "tube",
+  "labware_class": "nmr_tube",
+  "fits": [
+   "nmr_tube_5mm",
+   "spinsolve_sample_port"
+  ],
+  "maker": "Norell",
+  "model": "Standard Series 500 MHz NMR tube, 5 mm x 7 in",
+  "catalogue_no": "S-5-500-7 (Sigma NORS55007)",
+  "nominal_capacity_m3": 6e-07,
+  "brim_capacity_m3": 2.445e-06,
+  "nominal_capacity_evidence": "typical NMR fill 0.6 mL (Spinsolve minimum 0.25 mL, brochure p.8)",
+  "nominal_source_id": "spinsolve_brochure",
+  "outer": {
+   "diameter_m": 0.005,
+   "height_body_m": 0.178,
+   "height_with_cap_m": 0.1835,
+   "source_id": "norell_s5_500_7"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.0021,
+   "floor_m": 0.0005,
+   "height_m": 0.178,
+   "body_top_m": 0.17,
+   "neck_radius_m": 0.0021,
+   "nominal_fill_height_m": 0.04483,
+   "volume_table_m_ml": [
+    [
+     0.0005,
+     0.0
+    ],
+    [
+     0.00938,
+     0.109
+    ],
+    [
+     0.01825,
+     0.232
+    ],
+    [
+     0.02712,
+     0.355
+    ],
+    [
+     0.036,
+     0.478
+    ],
+    [
+     0.04488,
+     0.601
+    ],
+    [
+     0.05375,
+     0.724
+    ],
+    [
+     0.06262,
+     0.847
+    ],
+    [
+     0.0715,
+     0.969
+    ],
+    [
+     0.08037,
+     1.092
+    ],
+    [
+     0.08925,
+     1.215
+    ],
+    [
+     0.09812,
+     1.338
+    ],
+    [
+     0.107,
+     1.461
+    ],
+    [
+     0.11588,
+     1.584
+    ],
+    [
+     0.12475,
+     1.707
+    ],
+    [
+     0.13362,
+     1.83
+    ],
+    [
+     0.1425,
+     1.953
+    ],
+    [
+     0.15137,
+     2.076
+    ],
+    [
+     0.16025,
+     2.199
+    ],
+    [
+     0.16912,
+     2.322
+    ],
+    [
+     0.178,
+     2.445
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.0005
+    ],
+    [
+     0.0005,
+     0.0005
+    ],
+    [
+     0.0021,
+     0.0023
+    ],
+    [
+     0.0021,
+     0.17
+    ],
+    [
+     0.0021,
+     0.178
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "push-on PE cap",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 0.25,
+   "pitch_m": null,
+   "detach_after_rad": 1.570796,
+   "lift_at_detach_m": 0.0,
+   "cap_seat_z_m": 0.1705,
+   "clear_lift_m": 0.0095,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1505
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.005,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.1875,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.1415,
+     0.1595
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2705
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2705
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1505
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2705
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.177
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0068,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0065
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.2635
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1705
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0025,
+     0.0,
+     0.178
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "borosilicate_3_3",
+   "cap": "pe"
+  },
+  "empty_mass_kg": 0.00246,
+  "mass_body_kg": 0.00231,
+  "mass_cap_kg": 0.00015,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": false,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "放在 NMR 管架；样品 0.3–0.5 mL（Spinsolve 手册：最少 250 µL）",
+  "instrument_fit": {
+   "instrument.magritek_spinsolve80": {
+    "slot": "sample_port",
+    "slot_radius_m": 0.005,
+    "item_radius_m": 0.0025
+   }
+  }
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "推入式 PE 盖：按 touch + intent 规则“转 1/4 圈 + 提起”即取下；盖尺寸为假设。",
+  "Spinsolve 实例中的 sample_tube 部件（Ø5×180 mm）与本管一致；装样还需转子（spinner，仪器侧，未单独建模）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.mtl b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..215e5ab267da84309cc9291afbbffc28dcc7919f
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.mtl
@@ -0,0 +1,6 @@
+newmtl norell_nmr_tube_5mm_7in__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.obj b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..08a946e690243f7c47722a34d8f35be54c375195
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__body.obj
@@ -0,0 +1,2502 @@
+mtllib norell_nmr_tube_5mm_7in__body.mtl
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diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.mtl b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9b5e6e83f0837c50cc765553f306f20e604c6118
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.mtl
@@ -0,0 +1,6 @@
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diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.obj b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..778a4a7205dfa27583309ff966f3f1f40bc7d7ce
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/meshes/norell_nmr_tube_5mm_7in__cap.obj
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Binary files /dev/null and b/assets/labware/containers/norell_nmr_tube_5mm_7in/model.glb differ
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/model.urdf b/assets/labware/containers/norell_nmr_tube_5mm_7in/model.urdf
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index 0000000000000000000000000000000000000000..ac6e28a60ccb55493ca2f3009cb5ece2730b0528
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diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/model_solid.urdf b/assets/labware/containers/norell_nmr_tube_5mm_7in/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d8f0e91e0eae4beba0e750504a19479a586dfa0
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="norell_nmr_tube_5mm_7in">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="1.33094e-19 -1.33094e-19 0.0882768" rpy="0 0 0" />
+      <mass value="0.0023099" />
+      <inertia ixx="6.10373e-06" ixy="0" ixz="0" iyy="6.10373e-06" iyz="0" izz="9.6246e-09" />
+    </inertial>
+    <visual name="norell_nmr_tube_5mm_7in__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/norell_nmr_tube_5mm_7in__body.obj" />
+      </geometry>
+      <material name="mat_norell_nmr_tube_5mm_7in__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.089" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0025" length="0.178" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="cap">
+    <inertial>
+      <origin xyz="-2.18945e-19 0 0.00849058" rpy="0 0 0" />
+      <mass value="0.000149547" />
+      <inertia ixx="2.68238e-09" ixy="0" ixz="0" iyy="2.68238e-09" iyz="0" izz="1.15251e-09" />
+    </inertial>
+    <visual name="norell_nmr_tube_5mm_7in__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/norell_nmr_tube_5mm_7in__cap.obj" />
+      </geometry>
+      <material name="mat_norell_nmr_tube_5mm_7in__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0065" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0034" length="0.013" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.1705" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.570796" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/body.urdf b/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a27e0a1d23196a0d87af263b36912337fd24d4a0
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/body.urdf
@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot name="norell_nmr_tube_5mm_7in__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="1.33094e-19 -1.33094e-19 0.0882768" rpy="0 0 0" />
+      <mass value="0.0023099" />
+      <inertia ixx="6.10373e-06" ixy="0" ixz="0" iyy="6.10373e-06" iyz="0" izz="9.6246e-09" />
+    </inertial>
+    <visual name="norell_nmr_tube_5mm_7in__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/norell_nmr_tube_5mm_7in__body.obj" />
+      </geometry>
+      <material name="mat_norell_nmr_tube_5mm_7in__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00075" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.002" length="0.0015" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00154999 0 0.00171923" rpy="0 0.367174 0" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00109601 0.00109601 0.00171923" rpy="0 0.367174 0.785398" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="9.49096e-20 0.00154999 0.00171923" rpy="0 0.367174 1.5708" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00109601 0.00109601 0.00171923" rpy="0 0.367174 2.35619" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00154999 1.89819e-19 0.00171923" rpy="0 0.367174 3.14159" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00109601 -0.00109601 0.00171923" rpy="0 0.367174 3.92699" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-2.84729e-19 -0.00154999 0.00171923" rpy="0 0.367174 4.71239" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00109601 -0.00109601 0.00171923" rpy="0 0.367174 5.49779" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.00139284" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00175 0 0.08605" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00123744 0.00123744 0.08605" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.07157e-19 0.00175 0.08605" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00123744 0.00123744 0.08605" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00175 2.14313e-19 0.08605" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00123744 -0.00123744 0.08605" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-3.2147e-19 -0.00175 0.08605" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00123744 -0.00123744 0.08605" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0015 0.00212058 0.1679" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0023 0 0.174" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00162635 0.00162635 0.174" rpy="0 0 0.785398" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.40834e-19 0.0023 0.174" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00162635 0.00162635 0.174" rpy="0 0 2.35619" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0023 2.81669e-19 0.174" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00162635 -0.00162635 0.174" rpy="0 0 3.92699" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-4.22503e-19 -0.0023 0.174" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00162635 -0.00162635 0.174" rpy="0 0 5.49779" />
+      <geometry>
+        <box size="0.0004 0.00212058 0.008" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/cap.urdf b/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3cc11d2d753b58bdedd38214f14d4b6c9b159005
--- /dev/null
+++ b/assets/labware/containers/norell_nmr_tube_5mm_7in/parts/cap.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="norell_nmr_tube_5mm_7in__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-2.18945e-19 0 0.00849058" rpy="0 0 0" />
+      <mass value="0.000149547" />
+      <inertia ixx="2.68238e-09" ixy="0" ixz="0" iyy="2.68238e-09" iyz="0" izz="1.15251e-09" />
+    </inertial>
+    <visual name="norell_nmr_tube_5mm_7in__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/norell_nmr_tube_5mm_7in__cap.obj" />
+      </geometry>
+      <material name="mat_norell_nmr_tube_5mm_7in__cap">
+        <color rgba="0.91141 0.91141 0.91141 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.012" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0034" length="0.002" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00320777 0 0.0055" rpy="0 0 0" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00277801 0.00160389 0.0055" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00160389 0.00277801 0.0055" rpy="0 0 1.0472" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.9642e-19 0.00320777 0.0055" rpy="0 0 1.5708" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00160389 0.00277801 0.0055" rpy="0 0 2.0944" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00277801 0.00160389 0.0055" rpy="0 0 2.61799" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00320777 3.92839e-19 0.0055" rpy="0 0 3.14159" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00277801 -0.00160389 0.0055" rpy="0 0 3.66519" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.00160389 -0.00277801 0.0055" rpy="0 0 4.18879" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-5.89259e-19 -0.00320777 0.0055" rpy="0 0 4.71239" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00160389 -0.00277801 0.0055" rpy="0 0 5.23599" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.00277801 -0.00160389 0.0055" rpy="0 0 5.75959" />
+      <geometry>
+        <box size="0.00038445 0.00192265 0.011" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/asset.contract.json b/assets/labware/containers/sciex_universal_vial_2ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a312e697f6f04b86c6bb0ff3ab79ebd9892079c
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/asset.contract.json
@@ -0,0 +1,716 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.sciex_universal_vial_2ml",
+ "asset_version": "1.0.0",
+ "name_zh": "SCIEX PA 800 Plus 通用样品瓶（A62251）+ 盖（A62250）",
+ "category": "labware.container.vial",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "PA 800 Plus 缓冲液托盘（36 位）与样品托盘（48 位）用的通用样品瓶与瓶盖（SCIEX A62251 / A62250，系统指南 p.21、资料 p.10）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "31db3145d108dfaec674a3e6339496146b1eb21680125688b41e82f33f2c73b3"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "272bb01527861123a7b39d83de193b26594bb99e9c31d8f214fe69b72f100dab"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "7a4b083e735c3d06c43cd377e1c2f449e962413810e44c55ac551314a86b17af"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "d2ccb093d0af1ca9eeeb9c8353ebc123482e49c21009c26beff3231bbbd70839"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "5b0b9599c76c4eca19a5a1c60ffe868b3b744209300ca7c6e3ebbb8ae4fd0ee2"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c9533609e9b45eede2b607ef14bdf714fad8b5b642420ddca83322cce63af2e3"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/sciex_universal_vial_2ml/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "52c639e0a6e80d3c4bad4feca7c440430a5537d0653ff1f1b5b5f5d8b6bcdbef"
+  }
+ },
+ "sources": {
+  "pa800_brochure": {
+   "kind": "manufacturer",
+   "reference": "SCIEX PA 800 Plus brochure (references/manuals/sciex_pa800/datasheet__pa800plus_brochure.pdf) and system overview guide",
+   "locator": "brochure p.10 accessories: Universal vials (100 pack) A62251, universal vial caps A62250, SDS-MW analysis kit 390953; overview guide p.21: buffer trays 36 universal vials, sample tray 48 universal vials",
+   "note": "Vials the PA 800 Plus trays take."
+  },
+  "sciex_a62251": {
+   "kind": "manufacturer",
+   "reference": "SCIEX Universal Vials 100 pack A62251 / Universal Vial Caps A62250 (https://us-store.sciex.com/USD/capillary-electrophoresis/Universal-Vials-100-Pack-zidA62251)",
+   "locator": "polymethylpentene vial, single use; caps sold separately",
+   "note": "No dimensions published on the store page. accessed 2026-10-22."
+  },
+  "pa800_asset": {
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch04/t3_analytical/sciex_pa800 + Matterix slots_index (BI_/BO_/SI_/SO_ holes r 6 mm)",
+   "locator": "slot radius 0.006 m",
+   "note": "Tray hole size the vial must fit."
+  },
+  "consumable_assumption": {
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "pp 壳体；外径 11.5 mm、本体高 31.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "sciex_universal_vial_2ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0115,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "pa800_asset"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.0335,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "pa800_asset"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 2e-06,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "consumable_assumption"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 2.346e-06,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0007,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.000722,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 0.8 cm3 × pp 密度 900 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pe 螺旋盖 Ø12.5×8.5 mm；push-on cap 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "sciex_universal_vial_2ml__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.0125,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 0.25,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.000234,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 0.25 cm3 × pe 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.570796
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 1.570796,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": null,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "SCIEX 不公布样品瓶外形：外径 11.5 mm、高 31 mm、容量 2 mL 为按 PA 800 托盘孔（r 6 mm）选的假设；材料按聚甲基戊烯（密度近似用 PP）。",
+  "推入式盖：按“转 1/4 圈 + 提起”取下（touch + intent）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.sciex_universal_vial_2ml",
+   "family": "vial",
+   "labware_class": "vial",
+   "fits": [
+    "ce_universal_vial",
+    "pa800_tray_hole"
+   ],
+   "maker": "SCIEX",
+   "model": "Universal vial (polymethylpentene) + universal vial cap",
+   "catalogue_no": "A62251 (vials, 100) / A62250 (caps, 100)",
+   "nominal_capacity_m3": 2e-06,
+   "brim_capacity_m3": 2.346e-06,
+   "nominal_capacity_evidence": "assumption (2 mL class vial; not published)",
+   "nominal_source_id": "consumable_assumption",
+   "outer": {
+    "diameter_m": 0.0115,
+    "height_body_m": 0.031,
+    "height_with_cap_m": 0.0335,
+    "source_id": "pa800_asset"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.00505,
+    "floor_m": 0.001,
+    "height_m": 0.031,
+    "body_top_m": 0.02438,
+    "neck_radius_m": 0.0048,
+    "nominal_fill_height_m": 0.02622,
+    "volume_table_m_ml": [
+     [
+      0.001,
+      0.0
+     ],
+     [
+      0.0025,
+      0.115
+     ],
+     [
+      0.004,
+      0.235
+     ],
+     [
+      0.0055,
+      0.355
+     ],
+     [
+      0.007,
+      0.475
+     ],
+     [
+      0.0085,
+      0.595
+     ],
+     [
+      0.01,
+      0.716
+     ],
+     [
+      0.0115,
+      0.836
+     ],
+     [
+      0.013,
+      0.956
+     ],
+     [
+      0.0145,
+      1.076
+     ],
+     [
+      0.016,
+      1.196
+     ],
+     [
+      0.0175,
+      1.316
+     ],
+     [
+      0.019,
+      1.437
+     ],
+     [
+      0.0205,
+      1.557
+     ],
+     [
+      0.022,
+      1.677
+     ],
+     [
+      0.0235,
+      1.797
+     ],
+     [
+      0.025,
+      1.912
+     ],
+     [
+      0.0265,
+      2.02
+     ],
+     [
+      0.028,
+      2.129
+     ],
+     [
+      0.0295,
+      2.237
+     ],
+     [
+      0.031,
+      2.346
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.001
+     ],
+     [
+      0.00445,
+      0.001
+     ],
+     [
+      0.00505,
+      0.0016
+     ],
+     [
+      0.00505,
+      0.02403
+     ],
+     [
+      0.0048,
+      0.0245
+     ],
+     [
+      0.0048,
+      0.031
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "push-on cap",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 0.25,
+    "pitch_m": null,
+    "detach_after_rad": 1.570796,
+    "lift_at_detach_m": 0.0,
+    "cap_seat_z_m": 0.025,
+    "clear_lift_m": 0.008,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0115,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.0375,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      -0.0085,
+      0.0095
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1205
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.02925
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0125,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00425
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1135
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.025
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.0055,
+      0.0,
+      0.031
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "pp",
+    "cap": "pe"
+   },
+   "empty_mass_kg": 0.00096,
+   "mass_body_kg": 0.00072,
+   "mass_cap_kg": 0.00023,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "CE 缓冲液 / 样品；SDS-MW 试剂盒的液体分装进这些瓶",
+   "instrument_fit": {
+    "instrument.sciex_pa800": {
+     "slot": "BI_F1..SO_* tray holes",
+     "slot_radius_m": 0.006,
+     "item_radius_m": 0.00575
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/collision_proxies.json b/assets/labware/containers/sciex_universal_vial_2ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..16cab7da09b47ef325bfb84b35c7bb8ef5a90c5a
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/collision_proxies.json
@@ -0,0 +1,966 @@
+{
+ "asset_type_id": "labware.sciex_universal_vial_2ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.005491,
+      0.001
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0005
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      0.005,
+      0.0,
+      0.012403
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      0.00433,
+      0.0025,
+      0.012403
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.523599
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      0.0025,
+      0.00433,
+      0.012403
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.047198
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      0.0,
+      0.005,
+      0.012403
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      -0.0025,
+      0.00433,
+      0.012403
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.094395
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0015,
+      0.003252,
+      0.023944
+     ],
+     "origin_m": [
+      -0.00433,
+      0.0025,
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+}
\ No newline at end of file
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/geometry_manifest.json b/assets/labware/containers/sciex_universal_vial_2ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c088e066f6d9500fa3b90bd9cdce10be181170a
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/geometry_manifest.json
@@ -0,0 +1,1500 @@
+{
+ "asset_type_id": "labware.sciex_universal_vial_2ml",
+ "catalog_id": null,
+ "name_zh": "SCIEX PA 800 Plus 通用样品瓶（A62251）+ 盖（A62250）",
+ "name_en": "SCIEX universal vial A62251 with universal vial cap A62250",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.0125,
+  0.0125,
+  0.0335
+ ],
+ "bounds_m": [
+  [
+   -0.00625,
+   -0.00625,
+   0.0
+  ],
+  [
+   0.00625,
+   0.00625,
+   0.0335
+  ]
+ ],
+ "total_mass_kg": 0.00096,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "pa800_brochure",
+   "kind": "manufacturer",
+   "reference": "SCIEX PA 800 Plus brochure (references/manuals/sciex_pa800/datasheet__pa800plus_brochure.pdf) and system overview guide",
+   "locator": "brochure p.10 accessories: Universal vials (100 pack) A62251, universal vial caps A62250, SDS-MW analysis kit 390953; overview guide p.21: buffer trays 36 universal vials, sample tray 48 universal vials",
+   "note": "Vials the PA 800 Plus trays take.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "sciex_a62251",
+   "kind": "manufacturer",
+   "reference": "SCIEX Universal Vials 100 pack A62251 / Universal Vial Caps A62250 (https://us-store.sciex.com/USD/capillary-electrophoresis/Universal-Vials-100-Pack-zidA62251)",
+   "locator": "polymethylpentene vial, single use; caps sold separately",
+   "note": "No dimensions published on the store page. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pa800_asset",
+   "kind": "code",
+   "reference": "Chemistry-Sim assets/expansion_batch04/t3_analytical/sciex_pa800 + Matterix slots_index (BI_/BO_/SI_/SO_ holes r 6 mm)",
+   "locator": "slot radius 0.006 m",
+   "note": "Tray hole size the vial must fit.",
+   "licence": "project"
+  },
+  {
+   "source_id": "consumable_assumption",
+   "kind": "assumption",
+   "reference": "consumable sizes not published by the maker",
+   "locator": "engineering value",
+   "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
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+     "size_m": [
+      0.000234,
+      0.003534,
+      0.007
+     ],
+     "origin_m": [
+      -0.003066,
+      -0.005311,
+      0.0035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.18879
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000234,
+      0.003534,
+      0.007
+     ],
+     "origin_m": [
+      -0.0,
+      -0.006133,
+      0.0035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000234,
+      0.003534,
+      0.007
+     ],
+     "origin_m": [
+      0.003066,
+      -0.005311,
+      0.0035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.235988
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.000234,
+      0.003534,
+      0.007
+     ],
+     "origin_m": [
+      0.005311,
+      -0.003066,
+      0.0035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.759587
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "sciex_universal_vial_2ml__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    1.570796
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 0.25 圈（1.571 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.sciex_universal_vial_2ml",
+  "family": "vial",
+  "labware_class": "vial",
+  "fits": [
+   "ce_universal_vial",
+   "pa800_tray_hole"
+  ],
+  "maker": "SCIEX",
+  "model": "Universal vial (polymethylpentene) + universal vial cap",
+  "catalogue_no": "A62251 (vials, 100) / A62250 (caps, 100)",
+  "nominal_capacity_m3": 2e-06,
+  "brim_capacity_m3": 2.346e-06,
+  "nominal_capacity_evidence": "assumption (2 mL class vial; not published)",
+  "nominal_source_id": "consumable_assumption",
+  "outer": {
+   "diameter_m": 0.0115,
+   "height_body_m": 0.031,
+   "height_with_cap_m": 0.0335,
+   "source_id": "pa800_asset"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.00505,
+   "floor_m": 0.001,
+   "height_m": 0.031,
+   "body_top_m": 0.02438,
+   "neck_radius_m": 0.0048,
+   "nominal_fill_height_m": 0.02622,
+   "volume_table_m_ml": [
+    [
+     0.001,
+     0.0
+    ],
+    [
+     0.0025,
+     0.115
+    ],
+    [
+     0.004,
+     0.235
+    ],
+    [
+     0.0055,
+     0.355
+    ],
+    [
+     0.007,
+     0.475
+    ],
+    [
+     0.0085,
+     0.595
+    ],
+    [
+     0.01,
+     0.716
+    ],
+    [
+     0.0115,
+     0.836
+    ],
+    [
+     0.013,
+     0.956
+    ],
+    [
+     0.0145,
+     1.076
+    ],
+    [
+     0.016,
+     1.196
+    ],
+    [
+     0.0175,
+     1.316
+    ],
+    [
+     0.019,
+     1.437
+    ],
+    [
+     0.0205,
+     1.557
+    ],
+    [
+     0.022,
+     1.677
+    ],
+    [
+     0.0235,
+     1.797
+    ],
+    [
+     0.025,
+     1.912
+    ],
+    [
+     0.0265,
+     2.02
+    ],
+    [
+     0.028,
+     2.129
+    ],
+    [
+     0.0295,
+     2.237
+    ],
+    [
+     0.031,
+     2.346
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.001
+    ],
+    [
+     0.00445,
+     0.001
+    ],
+    [
+     0.00505,
+     0.0016
+    ],
+    [
+     0.00505,
+     0.02403
+    ],
+    [
+     0.0048,
+     0.0245
+    ],
+    [
+     0.0048,
+     0.031
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "push-on cap",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 0.25,
+   "pitch_m": null,
+   "detach_after_rad": 1.570796,
+   "lift_at_detach_m": 0.0,
+   "cap_seat_z_m": 0.025,
+   "clear_lift_m": 0.008,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0005
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0115,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.0375,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     -0.0085,
+     0.0095
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1205
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1205
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0005
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1205
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.02925
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0125,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00425
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1135
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.025
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.0055,
+     0.0,
+     0.031
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "pp",
+   "cap": "pe"
+  },
+  "empty_mass_kg": 0.00096,
+  "mass_body_kg": 0.00072,
+  "mass_cap_kg": 0.00023,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "CE 缓冲液 / 样品；SDS-MW 试剂盒的液体分装进这些瓶",
+  "instrument_fit": {
+   "instrument.sciex_pa800": {
+    "slot": "BI_F1..SO_* tray holes",
+    "slot_radius_m": 0.006,
+    "item_radius_m": 0.00575
+   }
+  }
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "SCIEX 不公布样品瓶外形：外径 11.5 mm、高 31 mm、容量 2 mL 为按 PA 800 托盘孔（r 6 mm）选的假设；材料按聚甲基戊烯（密度近似用 PP）。",
+  "推入式盖：按“转 1/4 圈 + 提起”取下（touch + intent）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.mtl b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..11d398bee0ffc2c32f67c857331df718d1e184c7
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl sciex_universal_vial_2ml__body
+Kd 0.9300 0.9300 0.9300
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.600
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.obj b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..729290db65b0973d874a68a630b4c62cddc7fd31
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__body.obj
@@ -0,0 +1,1926 @@
+mtllib sciex_universal_vial_2ml__body.mtl
+usemtl sciex_universal_vial_2ml__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.00488750 0.00000000 0.00000000
+v 0.00575000 0.00000000 0.00086250
+v 0.00575000 0.00000000 0.02437500
+v 0.00550000 0.00000000 0.02450000
+v 0.00550000 0.00000000 0.03100000
+v 0.00480000 0.00000000 0.03100000
+v 0.00480000 0.00000000 0.02450000
+v 0.00505000 0.00000000 0.02402500
+v 0.00505000 0.00000000 0.00160375
+v 0.00444625 0.00000000 0.00100000
+v 0.00000000 0.00000000 0.00100000
+v 0.00486397 0.00047906 0.00000000
+v 0.00572231 0.00056360 0.00086250
+v 0.00572231 0.00056360 0.02437500
+v 0.00547352 0.00053909 0.02450000
+v 0.00547352 0.00053909 0.03100000
+v 0.00477689 0.00047048 0.03100000
+v 0.00477689 0.00047048 0.02450000
+v 0.00502568 0.00049499 0.02402500
+v 0.00502568 0.00049499 0.00160375
+v 0.00442484 0.00043581 0.00100000
+v 0.00479359 0.00095350 0.00000000
+v 0.00563952 0.00112177 0.00086250
+v 0.00563952 0.00112177 0.02437500
+v 0.00539432 0.00107300 0.02450000
+v 0.00539432 0.00107300 0.03100000
+v 0.00470777 0.00093643 0.03100000
+v 0.00470777 0.00093643 0.02450000
+v 0.00495297 0.00098521 0.02402500
+v 0.00495297 0.00098521 0.00160375
+v 0.00436082 0.00086742 0.00100000
+v 0.00467705 0.00141877 0.00000000
+v 0.00550241 0.00166914 0.00086250
+v 0.00550241 0.00166914 0.02437500
+v 0.00526317 0.00159657 0.02450000
+v 0.00526317 0.00159657 0.03100000
+v 0.00459331 0.00139337 0.03100000
+v 0.00459331 0.00139337 0.02450000
+v 0.00483255 0.00146594 0.02402500
+v 0.00483255 0.00146594 0.00160375
+v 0.00425480 0.00129068 0.00100000
+v 0.00451546 0.00187037 0.00000000
+v 0.00531231 0.00220043 0.00086250
+v 0.00531231 0.00220043 0.02437500
+v 0.00508134 0.00210476 0.02450000
+v 0.00508134 0.00210476 0.03100000
+v 0.00443462 0.00183688 0.03100000
+v 0.00443462 0.00183688 0.02450000
+v 0.00466559 0.00193255 0.02402500
+v 0.00466559 0.00193255 0.00160375
+v 0.00410780 0.00170151 0.00100000
+v 0.00431039 0.00230395 0.00000000
+v 0.00507105 0.00271053 0.00086250
+v 0.00507105 0.00271053 0.02437500
+v 0.00485057 0.00259268 0.02450000
+v 0.00485057 0.00259268 0.03100000
+v 0.00423322 0.00226270 0.03100000
+v 0.00423322 0.00226270 0.02450000
+v 0.00445370 0.00238055 0.02402500
+v 0.00445370 0.00238055 0.00160375
+v 0.00392124 0.00209595 0.00100000
+v 0.00406381 0.00271535 0.00000000
+v 0.00478095 0.00319453 0.00086250
+v 0.00478095 0.00319453 0.02437500
+v 0.00457308 0.00305564 0.02450000
+v 0.00457308 0.00305564 0.03100000
+v 0.00399105 0.00266674 0.03100000
+v 0.00399105 0.00266674 0.02450000
+v 0.00419892 0.00280563 0.02402500
+v 0.00419892 0.00280563 0.00160375
+v 0.00369692 0.00247020 0.00100000
+v 0.00377809 0.00310060 0.00000000
+v 0.00444481 0.00364776 0.00086250
+v 0.00444481 0.00364776 0.02437500
+v 0.00425156 0.00348916 0.02450000
+v 0.00425156 0.00348916 0.03100000
+v 0.00371045 0.00304509 0.03100000
+v 0.00371045 0.00304509 0.02450000
+v 0.00390370 0.00320369 0.02402500
+v 0.00390370 0.00320369 0.00160375
+v 0.00343700 0.00282067 0.00100000
+v 0.00345598 0.00345598 0.00000000
+v 0.00406586 0.00406586 0.00086250
+v 0.00406586 0.00406586 0.02437500
+v 0.00388909 0.00388909 0.02450000
+v 0.00388909 0.00388909 0.03100000
+v 0.00339411 0.00339411 0.03100000
+v 0.00339411 0.00339411 0.02450000
+v 0.00357089 0.00357089 0.02402500
+v 0.00357089 0.00357089 0.00160375
+v 0.00314397 0.00314397 0.00100000
+v 0.00310060 0.00377809 0.00000000
+v 0.00364776 0.00444481 0.00086250
+v 0.00364776 0.00444481 0.02437500
+v 0.00348916 0.00425156 0.02450000
+v 0.00348916 0.00425156 0.03100000
+v 0.00304509 0.00371045 0.03100000
+v 0.00304509 0.00371045 0.02450000
+v 0.00320369 0.00390370 0.02402500
+v 0.00320369 0.00390370 0.00160375
+v 0.00282067 0.00343700 0.00100000
+v 0.00271535 0.00406381 0.00000000
+v 0.00319453 0.00478095 0.00086250
+v 0.00319453 0.00478095 0.02437500
+v 0.00305564 0.00457308 0.02450000
+v 0.00305564 0.00457308 0.03100000
+v 0.00266674 0.00399105 0.03100000
+v 0.00266674 0.00399105 0.02450000
+v 0.00280563 0.00419892 0.02402500
+v 0.00280563 0.00419892 0.00160375
+v 0.00247020 0.00369692 0.00100000
+v 0.00230395 0.00431039 0.00000000
+v 0.00271053 0.00507105 0.00086250
+v 0.00271053 0.00507105 0.02437500
+v 0.00259268 0.00485057 0.02450000
+v 0.00259268 0.00485057 0.03100000
+v 0.00226270 0.00423322 0.03100000
+v 0.00226270 0.00423322 0.02450000
+v 0.00238055 0.00445370 0.02402500
+v 0.00238055 0.00445370 0.00160375
+v 0.00209595 0.00392124 0.00100000
+v 0.00187037 0.00451546 0.00000000
+v 0.00220043 0.00531231 0.00086250
+v 0.00220043 0.00531231 0.02437500
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+v 0.00210476 0.00508134 0.03100000
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+v 0.00183688 0.00443462 0.02450000
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+v 0.00170151 0.00410780 0.00100000
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+v 0.00166914 0.00550241 0.00086250
+v 0.00166914 0.00550241 0.02437500
+v 0.00159657 0.00526317 0.02450000
+v 0.00159657 0.00526317 0.03100000
+v 0.00139337 0.00459331 0.03100000
+v 0.00139337 0.00459331 0.02450000
+v 0.00146594 0.00483255 0.02402500
+v 0.00146594 0.00483255 0.00160375
+v 0.00129068 0.00425480 0.00100000
+v 0.00095350 0.00479359 0.00000000
+v 0.00112177 0.00563952 0.00086250
+v 0.00112177 0.00563952 0.02437500
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diff --git a/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.mtl b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b83343c889004b373f475f47d575afc74a86a97
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.mtl
@@ -0,0 +1,6 @@
+newmtl sciex_universal_vial_2ml__cap
+Kd 0.2000 0.3500 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.obj b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3b9ed8aa9d6cdf0846ee9646effa979b17f4c9c
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/meshes/sciex_universal_vial_2ml__cap.obj
@@ -0,0 +1,582 @@
+mtllib sciex_universal_vial_2ml__cap.mtl
+usemtl sciex_universal_vial_2ml__cap
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diff --git a/assets/labware/containers/sciex_universal_vial_2ml/model.glb b/assets/labware/containers/sciex_universal_vial_2ml/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a71d1c82fb6ec22a7dd058bf122306ac30962ce8
Binary files /dev/null and b/assets/labware/containers/sciex_universal_vial_2ml/model.glb differ
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/model.urdf b/assets/labware/containers/sciex_universal_vial_2ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9b599978d9301b2fc5c0b68dadbe7e52eb7f4ad8
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/model.urdf
@@ -0,0 +1,349 @@
+<?xml version="1.0"?>
+<robot name="sciex_universal_vial_2ml">
+  <link name="base_link" />
+  <link name="body">
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+    </inertial>
+    <visual name="sciex_universal_vial_2ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sciex_universal_vial_2ml__body.obj" />
+      </geometry>
+      <material name="mat_sciex_universal_vial_2ml__body">
+        <color rgba="0.84809 0.84809 0.84809 0.600" />
+      </material>
+    </visual>
+    <collision>
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+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
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+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.11815e-18 -1.11815e-18 0.00666351" rpy="0 0 0" />
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+    </inertial>
+    <visual name="sciex_universal_vial_2ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sciex_universal_vial_2ml__cap.obj" />
+      </geometry>
+      <material name="mat_sciex_universal_vial_2ml__cap">
+        <color rgba="0.03310 0.10048 0.60383 1.000" />
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+    </visual>
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+      <origin xyz="0 0 0.00775" rpy="0 0 0" />
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+      <geometry>
+        <box size="0.000234381 0.00353429 0.007" />
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+    </collision>
+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.025" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.570796" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/model_solid.urdf b/assets/labware/containers/sciex_universal_vial_2ml/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52b2fb04114002ac786f2413aed9dab7d4c68115
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot name="sciex_universal_vial_2ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 3.43787e-19 0.0140521" rpy="0 0 0" />
+      <mass value="0.000721825" />
+      <inertia ixx="6.57613e-08" ixy="0" ixz="0" iyy="6.57613e-08" iyz="0" izz="1.59102e-08" />
+    </inertial>
+    <visual name="sciex_universal_vial_2ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sciex_universal_vial_2ml__body.obj" />
+      </geometry>
+      <material name="mat_sciex_universal_vial_2ml__body">
+        <color rgba="0.84809 0.84809 0.84809 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0155" rpy="0 0 0" />
+      <geometry>
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+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
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+    <origin xyz="0 0 0" rpy="0 0 0" />
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+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sciex_universal_vial_2ml__cap.obj" />
+      </geometry>
+      <material name="mat_sciex_universal_vial_2ml__cap">
+        <color rgba="0.03310 0.10048 0.60383 1.000" />
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+      <geometry>
+        <cylinder radius="0.00625" length="0.0085" />
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+  </link>
+  <joint name="cap_joint" type="revolute">
+    <parent link="body" />
+    <child link="cap" />
+    <origin xyz="0 0 0.025" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.570796" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
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+</robot>
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/parts/body.urdf b/assets/labware/containers/sciex_universal_vial_2ml/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..772139abe4434661d62262e082d35f9f2d1805ba
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/parts/body.urdf
@@ -0,0 +1,241 @@
+<?xml version="1.0"?>
+<robot name="sciex_universal_vial_2ml__body">
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+    <visual name="sciex_universal_vial_2ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/sciex_universal_vial_2ml__body.obj" />
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+      <material name="mat_sciex_universal_vial_2ml__body">
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+      <origin xyz="0.00515 0 0.02775" rpy="0 0 0" />
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+      <origin xyz="3.15347e-19 0.00515 0.02775" rpy="0 0 1.5708" />
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+      <geometry>
+        <box size="0.0007 0.00311018 0.0065" />
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+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/containers/sciex_universal_vial_2ml/parts/cap.urdf b/assets/labware/containers/sciex_universal_vial_2ml/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5b03d0b3b3a3828f110d377bb232e0c04047a40b
--- /dev/null
+++ b/assets/labware/containers/sciex_universal_vial_2ml/parts/cap.urdf
@@ -0,0 +1,97 @@
+<?xml version="1.0"?>
+<robot name="sciex_universal_vial_2ml__cap">
+  <link name="cap">
+    <inertial>
+      <origin xyz="-1.11815e-18 -1.11815e-18 0.00666351" rpy="0 0 0" />
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+      <inertia ixx="4.46076e-09" ixy="0" ixz="0" iyy="4.46076e-09" iyz="0" izz="6.1006e-09" />
+    </inertial>
+    <visual name="sciex_universal_vial_2ml__cap">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/sciex_universal_vial_2ml__cap.obj" />
+      </geometry>
+      <material name="mat_sciex_universal_vial_2ml__cap">
+        <color rgba="0.03310 0.10048 0.60383 1.000" />
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00775" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.00625" length="0.0015" />
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+    <collision>
+      <origin xyz="0.00613281 0 0.0035" rpy="0 0 0" />
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+        <box size="0.000234381 0.00353429 0.007" />
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+    <collision>
+      <origin xyz="0.00531117 0.0030664 0.0035" rpy="0 0 0.523599" />
+      <geometry>
+        <box size="0.000234381 0.00353429 0.007" />
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+    <collision>
+      <origin xyz="0.0030664 0.00531117 0.0035" rpy="0 0 1.0472" />
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+        <box size="0.000234381 0.00353429 0.007" />
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+    <collision>
+      <origin xyz="3.75526e-19 0.00613281 0.0035" rpy="0 0 1.5708" />
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+      <origin xyz="-0.0030664 0.00531117 0.0035" rpy="0 0 2.0944" />
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+        <box size="0.000234381 0.00353429 0.007" />
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+  </link>
+</robot>
diff --git a/assets/labware/containers/winchester_2500ml_amber/asset.contract.json b/assets/labware/containers/winchester_2500ml_amber/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..89951bad3d4c2d5b800b23b5af1218a45dd9c122
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/asset.contract.json
@@ -0,0 +1,697 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.winchester_2500ml_amber",
+ "asset_version": "1.0.0",
+ "name_zh": "2.5 L 棕色玻璃溶剂瓶（Winchester，黑色内衬螺旋盖）",
+ "category": "labware.container.solvent_bottle",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "2.5 L 棕色 Winchester 溶剂瓶：高 297 mm、宽 132.9 mm（Philip Harris FE00001092）；抓取点在瓶颈。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "bf86cd1a8ffd7c773509d37bbc5243316043d55f025e22775625d8a9a3f4f275"
+  },
+  "model_urdf": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "2219d3c23e418b706717efc427e85a0cfb6f17643ab075b129a13ffb8ebfa375"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "d4c271af45b92f87e51eabe9ca52fb6ec2a129222bbd396dc840368767f33d39"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "f217de69361195ee32f83ca68ce1a663e807b58f03f1894b5871e806f5841349"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "8fc11433752e29c52df92d145cdc1ac54af0e7f2681c48d3401c3cc1337b2ba3"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "d863205d98a83cbec973b2aec4b26f9f0c7b9cdcf5783d134ac4f36f43d9170a"
+  },
+  "part_cap_urdf": {
+   "path": "assets/labware/containers/winchester_2500ml_amber/parts/cap.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b2a63fe80a5af16620e2227dd3df909e3f9a9c1408e5cb780074fee3706ae38a"
+  }
+ },
+ "sources": {
+  "winchester_25l": {
+   "kind": "manufacturer",
+   "reference": "Philip Harris / Findel 'Winchester Bottle - Amber Glass - 2.5L', product FE00001092 (https://www.philipharris.co.uk/product/fe00001092)",
+   "locator": "product dimensions: 297 mm height x 132.9 mm width",
+   "note": "2.5 L amber glass Winchester solvent bottle; listing gives height 297 mm and width (= body diameter) 132.9 mm; narrow screw mouth with black plastic lined cap. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "wall_assumption": {
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity)."
+  },
+  "neck_profile_estimate": {
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly."
+  },
+  "closure_turns": {
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "soda_lime_glass 壳体；外径 132.9 mm、本体高 292.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "winchester_2500ml_amber__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.1329,
+     "unit": "m",
+     "meaning_zh": "瓶身外径（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "winchester_25l"
+     ],
+     "uncertainty": null
+    },
+    "height_with_cap_m": {
+     "value": 0.297,
+     "unit": "m",
+     "meaning_zh": "带盖总高（目录或由目录推得）",
+     "evidence": "documented",
+     "source_ids": [
+      "winchester_25l"
+     ],
+     "uncertainty": null
+    },
+    "nominal_capacity_m3": {
+     "value": 0.0025,
+     "unit": "m3",
+     "meaning_zh": "标称容量（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "winchester_25l"
+     ],
+     "uncertainty": null
+    },
+    "brim_capacity_m3": {
+     "value": 0.002978191,
+     "unit": "m3",
+     "meaning_zh": "建模内腔到瓶口的满口容量（由壁厚假设计算）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "wall_thickness_m": {
+     "value": 0.0035,
+     "unit": "m",
+     "meaning_zh": "壁厚（假设，厂家不公布）",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 1.192366,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模壁厚体积 476.9 cm3 × soda_lime_glass 密度 2500 kg/m3 计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "cap": {
+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø42.0×22.0 mm；38 mm (SPI 400-type, assumed) 螺纹",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:cap",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "winchester_2500ml_amber__cap",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。",
+   "properties": {
+    "outer_diameter_m": {
+     "value": 0.042,
+     "unit": "m",
+     "meaning_zh": "盖外径",
+     "evidence": "assumption",
+     "source_ids": [
+      "wall_assumption"
+     ],
+     "uncertainty": null
+    },
+    "release_turns": {
+     "value": 1.0,
+     "unit": "1",
+     "meaning_zh": "拧下所需圈数",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.006517,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由建模体积 7.24 cm3 × pp 密度计算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {
+  "closure.state": {
+   "component_ids": [
+    "cap"
+   ],
+   "value_schema": {
+    "type": "string",
+    "enum": [
+     "closed",
+     "loosened",
+     "detached"
+    ]
+   },
+   "unit": "1",
+   "reference_conditions": null,
+   "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+   "origin": "scene",
+   "access": "read_only",
+   "visibility": "agent",
+   "read_binding": null,
+   "write_via": null,
+   "sampling": {
+    "mode": "instant",
+    "time_domain": "simulation",
+    "window_description": null
+   },
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "capabilities": {},
+ "model_bindings": {
+  "joint_cap": {
+   "component_id": "cap",
+   "artifact_id": "model_urdf",
+   "target": "cap_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    6.283185
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "closure_turns"
+   ]
+  }
+ },
+ "ports": {
+  "mouth": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:pour_lip",
+   "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+   "connection_constraints": [
+    "盖必须为 detached 状态才能倒出或加入",
+    "倾倒属于机器人技能，转移量由宿主账本记录"
+   ]
+  }
+ },
+ "mechanisms": {
+  "closure.thread": {
+   "component_ids": [
+    "body",
+    "cap"
+   ],
+   "state_ids": [
+    "closure.state"
+   ],
+   "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+   "implementation": "qualitative",
+   "equations": [
+    "state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+    "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"
+   ],
+   "parameters": {
+    "detach_after_rad": {
+     "value": 6.283185,
+     "unit": "rad",
+     "meaning_zh": "拧下所需累计转角",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": "±0.5 圈"
+    },
+    "thread_pitch_m": {
+     "value": 0.0042,
+     "unit": "m",
+     "meaning_zh": "螺距",
+     "evidence": "assumption",
+     "source_ids": [
+      "closure_turns"
+     ],
+     "uncertainty": null
+    }
+   },
+   "source_ids": [
+    "closure_turns"
+   ],
+   "limitations": [
+    "不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"
+   ]
+  }
+ },
+ "limitations": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "瓶口螺纹与盖尺寸（38 mm、Ø42×22 mm）为假设：清单只给出高 297 mm、宽 132.9 mm；玻璃按钠钙玻璃 2500 kg/m3。",
+  "满瓶约 2.5 kg 液体 + 瓶重，超出单手倾倒的舒适范围；Franka 负载 3 kg 以内可搬运但倾倒需慢速。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.winchester_2500ml_amber",
+   "family": "solvent_bottle",
+   "labware_class": "bottle",
+   "fits": [
+    "bottle",
+    "solvent_bottle"
+   ],
+   "maker": "Philip Harris (Findel Education)",
+   "model": "Winchester bottle, amber glass, 2.5 L",
+   "catalogue_no": "FE00001092",
+   "nominal_capacity_m3": 0.0025,
+   "brim_capacity_m3": 0.002978191,
+   "nominal_capacity_evidence": "documented",
+   "nominal_source_id": "winchester_25l",
+   "outer": {
+    "diameter_m": 0.1329,
+    "height_body_m": 0.292,
+    "height_with_cap_m": 0.297,
+    "source_id": "winchester_25l"
+   },
+   "interior": {
+    "shape": "revolved",
+    "radius_m": 0.06295,
+    "floor_m": 0.006,
+    "height_m": 0.292,
+    "body_top_m": 0.22804,
+    "neck_radius_m": 0.014,
+    "nominal_fill_height_m": 0.20694,
+    "volume_table_m_ml": [
+     [
+      0.006,
+      0.0
+     ],
+     [
+      0.0203,
+      176.496
+     ],
+     [
+      0.0346,
+      354.52
+     ],
+     [
+      0.0489,
+      532.543
+     ],
+     [
+      0.0632,
+      710.567
+     ],
+     [
+      0.0775,
+      888.59
+     ],
+     [
+      0.0918,
+      1066.614
+     ],
+     [
+      0.1061,
+      1244.637
+     ],
+     [
+      0.1204,
+      1422.661
+     ],
+     [
+      0.1347,
+      1600.684
+     ],
+     [
+      0.149,
+      1778.708
+     ],
+     [
+      0.1633,
+      1956.731
+     ],
+     [
+      0.1776,
+      2134.755
+     ],
+     [
+      0.1919,
+      2312.778
+     ],
+     [
+      0.2062,
+      2490.802
+     ],
+     [
+      0.2205,
+      2668.825
+     ],
+     [
+      0.2348,
+      2831.124
+     ],
+     [
+      0.2491,
+      2922.292
+     ],
+     [
+      0.2634,
+      2959.067
+     ],
+     [
+      0.2777,
+      2969.386
+     ],
+     [
+      0.292,
+      2978.191
+     ]
+    ],
+    "profile_rz_m": [
+     [
+      0.0,
+      0.006
+     ],
+     [
+      0.06015,
+      0.006
+     ],
+     [
+      0.06295,
+      0.0088
+     ],
+     [
+      0.06295,
+      0.22629
+     ],
+     [
+      0.014,
+      0.2685
+     ],
+     [
+      0.014,
+      0.292
+     ]
+    ],
+    "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+   },
+   "closure": {
+    "type": "screw_cap",
+    "thread": "38 mm (SPI 400-type, assumed)",
+    "link": "cap",
+    "joint": "cap_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "unscrew_sign": 1,
+    "turns": 1.0,
+    "pitch_m": 0.0042,
+    "detach_after_rad": 6.283185,
+    "lift_at_detach_m": 0.0042,
+    "cap_seat_z_m": 0.275,
+    "clear_lift_m": 0.019,
+    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+    "parts": {
+     "body": "parts/body.urdf",
+     "cap": "parts/cap.urdf"
+    }
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.264
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.073,
+     "franka_ok": true,
+     "yaw_free": true,
+     "hand_bottom_z_m": 0.301,
+     "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+     "finger_contact_z_m": [
+      0.255,
+      0.273
+     ],
+     "holds": "body"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.264
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.384
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "cap_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.286
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.042,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+    },
+    "cap_grasp_local": {
+     "link": "cap",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.011
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+    },
+    "cap_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.377
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "cap_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.275
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+    },
+    "pour_lip": {
+     "link": "body",
+     "pos_m": [
+      0.019,
+      0.0,
+      0.292
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+    }
+   },
+   "materials": {
+    "body": "soda_lime_glass",
+    "cap": "pp"
+   },
+   "empty_mass_kg": 1.19888,
+   "mass_body_kg": 1.19237,
+   "mass_cap_kg": 0.00652,
+   "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+   "stands_upright": true,
+   "franka_grasp_ok": true,
+   "storage_note_zh": "2.5 L 溶剂（乙醇、丙酮、甲醇等易燃液体放易燃品柜）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/containers/winchester_2500ml_amber/collision_proxies.json b/assets/labware/containers/winchester_2500ml_amber/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf5303708a8e8a63b720bd7b74f29f5a1a50cd4
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/collision_proxies.json
@@ -0,0 +1,1542 @@
+{
+ "asset_type_id": "labware.winchester_2500ml_amber",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.06525,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.003
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      0.0647,
+      0.0,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      0.059775,
+      0.02476,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.392699
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      0.04575,
+      0.04575,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.785398
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      0.02476,
+      0.059775,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.178097
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      0.0,
+      0.0647,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      -0.02476,
+      0.059775,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      1.963495
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      -0.04575,
+      0.04575,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.356194
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      -0.059775,
+      0.02476,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      2.748894
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      -0.0647,
+      0.0,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0035,
+      0.028182,
+      0.226045
+     ],
+     "origin_m": [
+      -0.059775,
+      -0.02476,
+      0.115022
+     ],
+     "rpy_rad": [
+      0.0,
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+}
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diff --git a/assets/labware/containers/winchester_2500ml_amber/geometry_manifest.json b/assets/labware/containers/winchester_2500ml_amber/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..428998d1e193f0ce5c5116fefda566ce6357d729
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/geometry_manifest.json
@@ -0,0 +1,2053 @@
+{
+ "asset_type_id": "labware.winchester_2500ml_amber",
+ "catalog_id": null,
+ "name_zh": "2.5 L 棕色玻璃溶剂瓶（Winchester，黑色内衬螺旋盖）",
+ "name_en": "Winchester solvent bottle 2.5 L, amber glass",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.1329,
+  0.1329,
+  0.297
+ ],
+ "bounds_m": [
+  [
+   -0.06645,
+   -0.06645,
+   0.0
+  ],
+  [
+   0.06645,
+   0.06645,
+   0.297
+  ]
+ ],
+ "total_mass_kg": 1.19888,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "winchester_25l",
+   "kind": "manufacturer",
+   "reference": "Philip Harris / Findel 'Winchester Bottle - Amber Glass - 2.5L', product FE00001092 (https://www.philipharris.co.uk/product/fe00001092)",
+   "locator": "product dimensions: 297 mm height x 132.9 mm width",
+   "note": "2.5 L amber glass Winchester solvent bottle; listing gives height 297 mm and width (= body diameter) 132.9 mm; narrow screw mouth with black plastic lined cap. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "wall_assumption",
+   "kind": "assumption",
+   "reference": "wall and bottom thicknesses of containers / caps",
+   "locator": "engineering value",
+   "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "neck_profile_estimate",
+   "kind": "photo",
+   "reference": "product photographs of the same catalogue items (vendor pages)",
+   "locator": "shoulder / neck / collar proportions",
+   "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "closure_turns",
+   "kind": "assumption",
+   "reference": "screw-cap release angle",
+   "locator": "engineering value",
+   "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶身",
+   "function_zh": "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+   "physical_meaning_zh": "soda_lime_glass 壳体；外径 132.9 mm、本体高 292.0 mm；内腔为 LiquidContents 的计数区",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 1.192366,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模壁厚体积 476.9 cm3 × soda_lime_glass 密度 2500 kg/m3 计算",
+   "material": "soda_lime_glass",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设",
+   "objects": [
+    "winchester_2500ml_amber__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "winchester_2500ml_amber__body",
+     "rgba_srgb": [
+      0.55,
+      0.3,
+      0.08,
+      0.72
+     ],
+     "hex": "#8C4C14",
+     "rgba_linear": [
+      0.26327,
+      0.07324,
+      0.00719,
+      0.72
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.06525,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.003
+     ],
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+   "name_zh": "螺旋盖",
+   "function_zh": "密封瓶口；拧松后整体取下，可放回再拧紧",
+   "physical_meaning_zh": "pp 螺旋盖 Ø42.0×22.0 mm；38 mm (SPI 400-type, assumed) 螺纹",
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+    "source_ids": [
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+    "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
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+   "mass_evidence": "assumption",
+   "mass_note_zh": "由建模体积 7.24 cm3 × pp 密度计算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外径与高度按目录值；顶厚/裙厚为假设",
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+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      -0.014398,
+      -0.014398,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      3.926991
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      -0.007792,
+      -0.018811,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.31969
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      -0.0,
+      -0.020361,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      0.007792,
+      -0.018811,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.105088
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      0.014398,
+      -0.014398,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.497787
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001277,
+      0.008906,
+      0.019
+     ],
+     "origin_m": [
+      0.018811,
+      -0.007792,
+      0.0095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      5.890486
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "winchester_2500ml_amber__root",
+ "joint_definitions": {
+  "cap": {
+   "type": "revolute",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_rad": [
+    0.0,
+    6.283185
+   ],
+   "accessor": "joint[cap_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 俯视逆时针 = 拧松；累计 1.0 圈（6.283 rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_cap_urdf": "parts/cap.urdf"
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.winchester_2500ml_amber",
+  "family": "solvent_bottle",
+  "labware_class": "bottle",
+  "fits": [
+   "bottle",
+   "solvent_bottle"
+  ],
+  "maker": "Philip Harris (Findel Education)",
+  "model": "Winchester bottle, amber glass, 2.5 L",
+  "catalogue_no": "FE00001092",
+  "nominal_capacity_m3": 0.0025,
+  "brim_capacity_m3": 0.002978191,
+  "nominal_capacity_evidence": "documented",
+  "nominal_source_id": "winchester_25l",
+  "outer": {
+   "diameter_m": 0.1329,
+   "height_body_m": 0.292,
+   "height_with_cap_m": 0.297,
+   "source_id": "winchester_25l"
+  },
+  "interior": {
+   "shape": "revolved",
+   "radius_m": 0.06295,
+   "floor_m": 0.006,
+   "height_m": 0.292,
+   "body_top_m": 0.22804,
+   "neck_radius_m": 0.014,
+   "nominal_fill_height_m": 0.20694,
+   "volume_table_m_ml": [
+    [
+     0.006,
+     0.0
+    ],
+    [
+     0.0203,
+     176.496
+    ],
+    [
+     0.0346,
+     354.52
+    ],
+    [
+     0.0489,
+     532.543
+    ],
+    [
+     0.0632,
+     710.567
+    ],
+    [
+     0.0775,
+     888.59
+    ],
+    [
+     0.0918,
+     1066.614
+    ],
+    [
+     0.1061,
+     1244.637
+    ],
+    [
+     0.1204,
+     1422.661
+    ],
+    [
+     0.1347,
+     1600.684
+    ],
+    [
+     0.149,
+     1778.708
+    ],
+    [
+     0.1633,
+     1956.731
+    ],
+    [
+     0.1776,
+     2134.755
+    ],
+    [
+     0.1919,
+     2312.778
+    ],
+    [
+     0.2062,
+     2490.802
+    ],
+    [
+     0.2205,
+     2668.825
+    ],
+    [
+     0.2348,
+     2831.124
+    ],
+    [
+     0.2491,
+     2922.292
+    ],
+    [
+     0.2634,
+     2959.067
+    ],
+    [
+     0.2777,
+     2969.386
+    ],
+    [
+     0.292,
+     2978.191
+    ]
+   ],
+   "profile_rz_m": [
+    [
+     0.0,
+     0.006
+    ],
+    [
+     0.06015,
+     0.006
+    ],
+    [
+     0.06295,
+     0.0088
+    ],
+    [
+     0.06295,
+     0.22629
+    ],
+    [
+     0.014,
+     0.2685
+    ],
+    [
+     0.014,
+     0.292
+    ]
+   ],
+   "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"
+  },
+  "closure": {
+   "type": "screw_cap",
+   "thread": "38 mm (SPI 400-type, assumed)",
+   "link": "cap",
+   "joint": "cap_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "unscrew_sign": 1,
+   "turns": 1.0,
+   "pitch_m": 0.0042,
+   "detach_after_rad": 6.283185,
+   "lift_at_detach_m": 0.0042,
+   "cap_seat_z_m": 0.275,
+   "clear_lift_m": 0.019,
+   "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+   "parts": {
+    "body": "parts/body.urdf",
+    "cap": "parts/cap.urdf"
+   }
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.264
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.073,
+    "franka_ok": true,
+    "yaw_free": true,
+    "hand_bottom_z_m": 0.301,
+    "note_zh": "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用",
+    "finger_contact_z_m": [
+     0.255,
+     0.273
+    ],
+    "holds": "body"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.384
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.384
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.264
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.384
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "cap_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.286
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.042,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖中心高度；夹住后绕 +Z 正向转动 = 拧松"
+   },
+   "cap_grasp_local": {
+    "link": "cap",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.011
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "同一抓取点，用盖自身坐标表示（盖已取下时）"
+   },
+   "cap_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.377
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "cap_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.275
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动"
+   },
+   "pour_lip": {
+    "link": "body",
+    "pos_m": [
+     0.019,
+     0.0,
+     0.292
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）"
+   }
+  },
+  "materials": {
+   "body": "soda_lime_glass",
+   "cap": "pp"
+  },
+  "empty_mass_kg": 1.19888,
+  "mass_body_kg": 1.19237,
+  "mass_cap_kg": 0.00652,
+  "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+  "stands_upright": true,
+  "franka_grasp_ok": true,
+  "storage_note_zh": "2.5 L 溶剂（乙醇、丙酮、甲醇等易燃液体放易燃品柜）"
+ },
+ "limitations_zh": [
+  "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+  "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+  "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+  "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+  "瓶口螺纹与盖尺寸（38 mm、Ø42×22 mm）为假设：清单只给出高 297 mm、宽 132.9 mm；玻璃按钠钙玻璃 2500 kg/m3。",
+  "满瓶约 2.5 kg 液体 + 瓶重，超出单手倾倒的舒适范围；Franka 负载 3 kg 以内可搬运但倾倒需慢速。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.mtl b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d3a55401605edf23027a1c5a8954d8e886ff7b86
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.mtl
@@ -0,0 +1,6 @@
+newmtl winchester_2500ml_amber__body
+Kd 0.5500 0.3000 0.0800
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.720
diff --git a/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.obj b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06cbbdca94344aa3dfdaf929d7a164ef2feb4b30
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__body.obj
@@ -0,0 +1,2310 @@
+mtllib winchester_2500ml_amber__body.mtl
+usemtl winchester_2500ml_amber__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.06245000 0.00000000 0.00000000
+v 0.06645000 0.00000000 0.00400000
+v 0.06645000 0.00000000 0.22804500
+v 0.02150000 0.00000000 0.26850000
+v 0.02150000 0.00000000 0.27450000
+v 0.01900000 0.00000000 0.27450000
+v 0.01900000 0.00000000 0.29200000
+v 0.01400000 0.00000000 0.29200000
+v 0.01400000 0.00000000 0.26850000
+v 0.06295000 0.00000000 0.22629500
+v 0.06295000 0.00000000 0.00880000
+v 0.06015000 0.00000000 0.00600000
+v 0.00000000 0.00000000 0.00600000
+v 0.06214929 0.00612117 0.00000000
+v 0.06613003 0.00651324 0.00400000
+v 0.06613003 0.00651324 0.22804500
+v 0.02139647 0.00210737 0.26850000
+v 0.02139647 0.00210737 0.27450000
+v 0.01890851 0.00186233 0.27450000
+v 0.01890851 0.00186233 0.29200000
+v 0.01393259 0.00137224 0.29200000
+v 0.01393259 0.00137224 0.26850000
+v 0.06264688 0.00617018 0.22629500
+v 0.06264688 0.00617018 0.00880000
+v 0.05986036 0.00589573 0.00600000
+v 0.06125004 0.01218339 0.00000000
+v 0.06517318 0.01296375 0.00400000
+v 0.06517318 0.01296375 0.22804500
+v 0.02108688 0.00419444 0.26850000
+v 0.02108688 0.00419444 0.27450000
+v 0.01863492 0.00370672 0.27450000
+v 0.01863492 0.00370672 0.29200000
+v 0.01373099 0.00273126 0.29200000
+v 0.01373099 0.00273126 0.26850000
+v 0.06174043 0.01228094 0.22629500
+v 0.06174043 0.01228094 0.00880000
+v 0.05899423 0.01173468 0.00600000
+v 0.05976092 0.01812828 0.00000000
+v 0.06358869 0.01928942 0.00400000
+v 0.06358869 0.01928942 0.22804500
+v 0.02057422 0.00624112 0.26850000
+v 0.02057422 0.00624112 0.27450000
+v 0.01818187 0.00551541 0.27450000
+v 0.01818187 0.00551541 0.29200000
+v 0.01339716 0.00406399 0.29200000
+v 0.01339716 0.00406399 0.26850000
+v 0.06023939 0.01827342 0.22629500
+v 0.06023939 0.01827342 0.00880000
+v 0.05755996 0.01746062 0.00600000
+v 0.05769628 0.02389858 0.00000000
+v 0.06139179 0.02542931 0.00400000
+v 0.06139179 0.02542931 0.22804500
+v 0.01986341 0.00822769 0.26850000
+v 0.01986341 0.00822769 0.27450000
+v 0.01755371 0.00727099 0.27450000
+v 0.01755371 0.00727099 0.29200000
+v 0.01293431 0.00535757 0.29200000
+v 0.01293431 0.00535757 0.26850000
+v 0.05815822 0.02408992 0.22629500
+v 0.05815822 0.02408992 0.00880000
+v 0.05557135 0.02301841 0.00600000
+v 0.05507598 0.02943873 0.00000000
+v 0.05860367 0.03132431 0.00400000
+v 0.05860367 0.03132431 0.22804500
+v 0.01896131 0.01013503 0.26850000
+v 0.01896131 0.01013503 0.27450000
+v 0.01675650 0.00895654 0.27450000
+v 0.01675650 0.00895654 0.29200000
+v 0.01234690 0.00659955 0.29200000
+v 0.01234690 0.00659955 0.26850000
+v 0.05551694 0.02967442 0.22629500
+v 0.05551694 0.02967442 0.00880000
+v 0.05304756 0.02835451 0.00600000
+v 0.05192528 0.03469536 0.00000000
+v 0.05525116 0.03691764 0.00400000
+v 0.05525116 0.03691764 0.22804500
+v 0.01787660 0.01194476 0.26850000
+v 0.01787660 0.01194476 0.27450000
+v 0.01579792 0.01055583 0.27450000
+v 0.01579792 0.01055583 0.29200000
+v 0.01164057 0.00777798 0.29200000
+v 0.01164057 0.00777798 0.26850000
+v 0.05234101 0.03497315 0.22629500
+v 0.05234101 0.03497315 0.00880000
+v 0.05001290 0.03341755 0.00600000
+v 0.04827450 0.03961786 0.00000000
+v 0.05136654 0.04215543 0.00400000
+v 0.05136654 0.04215543 0.22804500
+v 0.01661972 0.01363946 0.26850000
+v 0.01661972 0.01363946 0.27450000
+v 0.01468720 0.01205347 0.27450000
+v 0.01468720 0.01205347 0.29200000
+v 0.01082215 0.00888151 0.29200000
+v 0.01082215 0.00888151 0.26850000
+v 0.04866101 0.03993506 0.22629500
+v 0.04866101 0.03993506 0.00880000
+v 0.04649658 0.03815876 0.00600000
+v 0.04415882 0.04415882 0.00000000
+v 0.04698725 0.04698725 0.00400000
+v 0.04698725 0.04698725 0.22804500
+v 0.01520280 0.01520280 0.26850000
+v 0.01520280 0.01520280 0.27450000
+v 0.01343503 0.01343503 0.27450000
+v 0.01343503 0.01343503 0.29200000
+v 0.00989949 0.00989949 0.29200000
+v 0.00989949 0.00989949 0.26850000
+v 0.04451237 0.04451237 0.22629500
+v 0.04451237 0.04451237 0.00880000
+v 0.04253247 0.04253247 0.00600000
+v 0.03961786 0.04827450 0.00000000
+v 0.04215543 0.05136654 0.00400000
+v 0.04215543 0.05136654 0.22804500
+v 0.01363946 0.01661972 0.26850000
+v 0.01363946 0.01661972 0.27450000
+v 0.01205347 0.01468720 0.27450000
+v 0.01205347 0.01468720 0.29200000
+v 0.00888151 0.01082215 0.29200000
+v 0.00888151 0.01082215 0.26850000
+v 0.03993506 0.04866101 0.22629500
+v 0.03993506 0.04866101 0.00880000
+v 0.03815876 0.04649658 0.00600000
+v 0.03469536 0.05192528 0.00000000
+v 0.03691764 0.05525116 0.00400000
+v 0.03691764 0.05525116 0.22804500
+v 0.01194476 0.01787660 0.26850000
+v 0.01194476 0.01787660 0.27450000
+v 0.01055583 0.01579792 0.27450000
+v 0.01055583 0.01579792 0.29200000
+v 0.00777798 0.01164057 0.29200000
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diff --git a/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.mtl b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fdcb064ac62dfc75938cdb02263cb53d7dea59f4
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.mtl
@@ -0,0 +1,6 @@
+newmtl winchester_2500ml_amber__cap
+Kd 0.0800 0.0800 0.0900
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.obj b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a2d49f662fe7003608368b51b3324f73a70bd2d
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/meshes/winchester_2500ml_amber__cap.obj
@@ -0,0 +1,582 @@
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diff --git a/assets/labware/containers/winchester_2500ml_amber/model.glb b/assets/labware/containers/winchester_2500ml_amber/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5c87f80a32d6d8a78d2344b5a5ec11babea7728f
Binary files /dev/null and b/assets/labware/containers/winchester_2500ml_amber/model.glb differ
diff --git a/assets/labware/containers/winchester_2500ml_amber/model.urdf b/assets/labware/containers/winchester_2500ml_amber/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0d8924a633f3ee245710a8024957ca6303a66995
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/model.urdf
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+<?xml version="1.0"?>
+<robot name="winchester_2500ml_amber">
+  <link name="base_link" />
+  <link name="body">
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+    </inertial>
+    <visual name="winchester_2500ml_amber__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/winchester_2500ml_amber__body.obj" />
+      </geometry>
+      <material name="mat_winchester_2500ml_amber__body">
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+    </visual>
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diff --git a/assets/labware/containers/winchester_2500ml_amber/model_solid.urdf b/assets/labware/containers/winchester_2500ml_amber/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ee19bc1c121e3136194a77e4fbea88a71f728f77
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/model_solid.urdf
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
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diff --git a/assets/labware/containers/winchester_2500ml_amber/parts/body.urdf b/assets/labware/containers/winchester_2500ml_amber/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..749f3560f878eee3db59758c1bea6ff817c530d5
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/parts/body.urdf
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diff --git a/assets/labware/containers/winchester_2500ml_amber/parts/cap.urdf b/assets/labware/containers/winchester_2500ml_amber/parts/cap.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..526e82f9b2c9b7ca27d401d72b3b5bbb604c5ca0
--- /dev/null
+++ b/assets/labware/containers/winchester_2500ml_amber/parts/cap.urdf
@@ -0,0 +1,121 @@
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+        <box size="0.0012775 0.00890642 0.019" />
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/assets/labware/furniture/asecos_cs_195_105/asset.contract.json b/assets/labware/furniture/asecos_cs_195_105/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..706aa5878fa738a93b3dfdc6c6f1416dcdf8f3d4
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/asset.contract.json
@@ -0,0 +1,500 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_cs_195_105",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（有毒品，可上锁，通风，2 层 × 6 位）",
+ "category": "furniture.storage.toxics_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "asecos CS-CLASSIC CS.195.105：外形 1055×520×1950 mm，内部宽 996、高 1835 mm，两扇门，可上锁，适合非易燃化学品与有毒物质；隔板数可选（经销商列出 2/3/4/6 层配置）。清单位置 toxics_cabinet：2 层 × 6 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_cs_195_105/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "e61cdf9482f366ea38b5b793fd8b2e1cc586a3fbb1baffafb65305f9c7b42cae"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_cs_195_105/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "fc5c80ecf9a9e4996e1b90a918608256760e36c8f896f484a23c2731b06758e3"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_cs_195_105/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "2bdbfd412d7f2dc978efcf4376e229144d0d5d4b37f98865704b5b2e7ea4c13f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_cs_195_105/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "5c77715a799e0aa5e62d64574f6d24e9ebbc95f276033daefe0ebc77234a4b62"
+  }
+ },
+ "sources": {
+  "asecos_cs_195_105": {
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board."
+  },
+  "asecos_cs_30496040": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+   "note": "Variant used for the toxics and oxidizers cabinets."
+  },
+  "public_domain_signs": {
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.055,
+      0.52,
+      1.95
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_width_m": {
+     "value": 0.996,
+     "unit": "m",
+     "meaning_zh": "内部宽",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_height_m": {
+     "value": 1.835,
+     "unit": "m",
+     "meaning_zh": "内部高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 52.504176,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_30496040"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 toxics_cabinet 位置数（2 层 × 6）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 2 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "toxics_cabinet"
+    ],
+    "min_pitch_m": 0.229,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06"
+    ],
+    "note_zh": "2 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 1004 warning yellow",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496040"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w016_toxic",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs06_skull",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w016_toxic",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs06_skull",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105/collision_proxies.json b/assets/labware/furniture/asecos_cs_195_105/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d6103898337852d7e80e32df1bddc817e9162d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/collision_proxies.json
@@ -0,0 +1,312 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+     "origin_m": [
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+    {
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+   "solid_primitives": []
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+  "door_left": {
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+    0.06
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+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
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+     "shape": "box",
+     "size_m": [
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+      0.02,
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0,
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+    },
+    {
+     "shape": "cylinder",
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+      0.2
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+     "origin_m": [
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+      -0.055,
+      0.94
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+     "rpy_rad": [
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+      0.0,
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+    },
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+      -0.0375,
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105/geometry_manifest.json b/assets/labware/furniture/asecos_cs_195_105/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a517de49b1e85d5880fc0c2a22727eac9855fad
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/geometry_manifest.json
@@ -0,0 +1,1374 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105",
+ "catalog_id": null,
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（有毒品，可上锁，通风，2 层 × 6 位）",
+ "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (toxics_cabinet, 2 shelves)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.055,
+  0.563,
+  1.95
+ ],
+ "bounds_m": [
+  [
+   -0.5275,
+   -0.303,
+   0.0
+  ],
+  [
+   0.5275,
+   0.26,
+   1.95
+  ]
+ ],
+ "total_mass_kg": 75.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_cs_195_105",
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_cs_30496040",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+   "note": "Variant used for the toxics and oxidizers cabinets.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "public_domain_signs",
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).",
+   "licence": "public domain"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 52.504176,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105__carcass",
+    "asecos_cs_195_105__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
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+     "object": "asecos_cs_195_105__carcass",
+     "rgba_srgb": [
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+      0.2471,
+      0.2627,
+      1.0
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+     "rgba_linear": [
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+      0.04971,
+      0.05613,
+      1.0
+     ],
+     "ral": "RAL 7016",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105__carcass__shelves",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.72,
+      1.0
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+     "hex": "#B2B5B8",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.477,
+      1.0
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+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
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+      0.5,
+      0.06
+     ],
+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.055
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+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      1.835
+     ],
+     "origin_m": [
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+      0.245,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.3475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.7975
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door_left",
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    -0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+   },
+   "mass_kg": 11.247912,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105__door_left",
+    "asecos_cs_195_105__door_left__handle",
+    "asecos_cs_195_105__door_left__glass_panel",
+    "asecos_cs_195_105__door_left__decal_iso7010_w016_toxic",
+    "asecos_cs_195_105__door_left__decal_ghs06_skull"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105__door_left",
+     "rgba_srgb": [
+      0.8941,
+      0.6196,
+      0.0,
+      1.0
+     ],
+     "hex": "#E49E00",
+     "rgba_linear": [
+      0.77582,
+      0.34191,
+      0.0,
+      1.0
+     ],
+     "ral": "RAL 1004",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105__door_left__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "asecos_cs_195_105__door_left__glass_panel",
+     "rgba_srgb": [
+      0.55,
+      0.65,
+      0.72,
+      0.55
+     ],
+     "hex": "#8CA6B8",
+     "rgba_linear": [
+      0.26327,
+      0.38006,
+      0.477,
+      0.55
+     ],
+     "note_zh": "门上玻璃观察窗（WDFW 型）",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105__door_left__decal_iso7010_w016_toxic",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w016_toxic.png"
+    },
+    {
+     "object": "asecos_cs_195_105__door_left__decal_ghs06_skull",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs06_skull.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door_right",
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+   },
+   "mass_kg": 11.247912,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105__door_right",
+    "asecos_cs_195_105__door_right__handle",
+    "asecos_cs_195_105__door_right__glass_panel",
+    "asecos_cs_195_105__door_right__decal_iso7010_w016_toxic",
+    "asecos_cs_195_105__door_right__decal_ghs06_skull"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105__door_right",
+     "rgba_srgb": [
+      0.8941,
+      0.6196,
+      0.0,
+      1.0
+     ],
+     "hex": "#E49E00",
+     "rgba_linear": [
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+      0.34191,
+      0.0,
+      1.0
+     ],
+     "ral": "RAL 1004",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105__door_right__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "asecos_cs_195_105__door_right__glass_panel",
+     "rgba_srgb": [
+      0.55,
+      0.65,
+      0.72,
+      0.55
+     ],
+     "hex": "#8CA6B8",
+     "rgba_linear": [
+      0.26327,
+      0.38006,
+      0.477,
+      0.55
+     ],
+     "note_zh": "门上玻璃观察窗（WDFW 型）",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105__door_right__decal_iso7010_w016_toxic",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w016_toxic.png"
+    },
+    {
+     "object": "asecos_cs_195_105__door_right__decal_ghs06_skull",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs06_skull.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      -0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "asecos_cs_195_105__root",
+ "joint_definitions": {
+  "door_left": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.919862
+   ],
+   "accessor": "joint[door_left_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+  },
+  "door_right": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.919862
+   ],
+   "accessor": "joint[door_right_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "S1-01",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-02",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-03",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-04",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-05",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-06",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-01",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    -0.12,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-02",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    -0.12,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-03",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    -0.12,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-04",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-05",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S2-06",
+   "place_id": "toxics_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.085,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_cs_195_105",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 2 shelves",
+  "catalogue_no": "CS.195.105",
+  "storage": {
+   "place_ids": [
+    "toxics_cabinet"
+   ],
+   "min_pitch_m": 0.229,
+   "headroom_m": 0.25,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "note_zh": "2 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7016 anthracite grey",
+    "doors": "RAL 1004 warning yellow",
+    "glass_panels": "WDFW glass-paneled wing doors",
+    "source_id": "asecos_cs_30496040"
+   },
+   "labels": [
+    {
+     "door": "door_left",
+     "sign": "iso7010_w016_toxic",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "ghs06_skull",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w016_toxic",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W016.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "ghs06_skull",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-skull.svg"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 toxics_cabinet 位置数（2 层 × 6）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..84e4c84616b68e5a2e734a353f2f15e2117c379f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__carcass
+Kd 0.2157 0.2471 0.2627
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5033ded765b73d766b1a0c6cac04ffe173cc5757
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_cs_195_105__carcass.mtl
+usemtl asecos_cs_195_105__carcass
+# https://github.com/mikedh/trimesh
+v -0.52750000 -0.24000000 0.00000000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 0.26000000 0.00000000
+v -0.52750000 0.26000000 0.06000000
+v 0.52750000 -0.24000000 0.00000000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 0.26000000 0.00000000
+v 0.52750000 0.26000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 -0.24000000 1.95000000
+v -0.52750000 0.26000000 1.89500000
+v -0.52750000 0.26000000 1.95000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 -0.24000000 1.95000000
+v 0.52750000 0.26000000 1.89500000
+v 0.52750000 0.26000000 1.95000000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.52750000 0.26000000 0.06000000
+v -0.52750000 0.26000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+v 0.52750000 0.26000000 0.06000000
+v 0.52750000 0.26000000 1.89500000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.49800000 -0.24000000 0.06000000
+v -0.49800000 -0.24000000 1.89500000
+v -0.49800000 0.23000000 0.06000000
+v -0.49800000 0.23000000 1.89500000
+v 0.49800000 -0.24000000 0.06000000
+v 0.49800000 -0.24000000 1.89500000
+v 0.49800000 0.23000000 0.06000000
+v 0.49800000 0.23000000 1.89500000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0c4eeac6fb0ec26e074c13319222d9777d234347
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9f8e61116ffc5d4310b4c60f7402729e7fe0b927
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__carcass__shelves.obj
@@ -0,0 +1,44 @@
+mtllib asecos_cs_195_105__carcass__shelves.mtl
+usemtl asecos_cs_195_105__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.49600000 -0.23000000 0.33500000
+v -0.49600000 -0.23000000 0.36000000
+v -0.49600000 0.23000000 0.33500000
+v -0.49600000 0.23000000 0.36000000
+v 0.49600000 -0.23000000 0.33500000
+v 0.49600000 -0.23000000 0.36000000
+v 0.49600000 0.23000000 0.33500000
+v 0.49600000 0.23000000 0.36000000
+v -0.49600000 -0.23000000 0.78500000
+v -0.49600000 -0.23000000 0.81000000
+v -0.49600000 0.23000000 0.78500000
+v -0.49600000 0.23000000 0.81000000
+v 0.49600000 -0.23000000 0.78500000
+v 0.49600000 -0.23000000 0.81000000
+v 0.49600000 0.23000000 0.78500000
+v 0.49600000 0.23000000 0.81000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..69690dc956905b7509303d70b617378109a87cf0
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_left
+Kd 0.8941 0.6196 0.0000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eed87a5e1f69c6ba1cf63a2702b1291fe55b9048
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105__door_left.mtl
+usemtl asecos_cs_195_105__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
+v 0.52000000 -0.02000000 0.00000000
+v 0.52000000 -0.02000000 1.83000000
+v 0.52000000 0.00000000 0.00000000
+v 0.52000000 0.00000000 1.83000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d42f24154800efd999107b0362d9769d33d4fab
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105__door_left__decal_ghs06_skull
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs06_skull.png
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7725b6f822040da9f765a536a847dcec3407e57
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105__door_left__decal_ghs06_skull.mtl
+usemtl asecos_cs_195_105__door_left__decal_ghs06_skull
+v 0.195000 -0.020600 1.205000
+v 0.325000 -0.020600 1.205000
+v 0.325000 -0.020600 1.335000
+v 0.195000 -0.020600 1.335000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ca7fdd07d4ebc87e4fc9cfe2d02b6ef06376d46
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105__door_left__decal_iso7010_w016_toxic
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w016_toxic.png
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.obj
new file mode 100644
index 0000000000000000000000000000000000000000..315238967c09610756831bfd5294dd16c2f1ea4d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.mtl
+usemtl asecos_cs_195_105__door_left__decal_iso7010_w016_toxic
+v 0.175000 -0.020600 1.405000
+v 0.345000 -0.020600 1.405000
+v 0.345000 -0.020600 1.575000
+v 0.175000 -0.020600 1.575000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0075b1068159f68eb0238ef5482ef829e49370f3
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_left__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b97ac568b2e648f8b457e50116001530ea06861
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105__door_left__glass_panel.mtl
+usemtl asecos_cs_195_105__door_left__glass_panel
+# https://github.com/mikedh/trimesh
+v 0.13000000 -0.02120000 0.39000000
+v 0.13000000 -0.02120000 1.14000000
+v 0.13000000 -0.02020000 0.39000000
+v 0.13000000 -0.02020000 1.14000000
+v 0.39000000 -0.02120000 0.39000000
+v 0.39000000 -0.02120000 1.14000000
+v 0.39000000 -0.02020000 0.39000000
+v 0.39000000 -0.02020000 1.14000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..176d59c3d619e0e8c03036d72f347968db2a0937
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5256ee52f43020ee2415441822622676753424aa
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105__door_left__handle.mtl
+usemtl asecos_cs_195_105__door_left__handle
+# https://github.com/mikedh/trimesh
+v 0.48000000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 1.04000000
+v 0.48000000 -0.05500000 1.04000000
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+v 0.48784628 -0.05343928 1.04000000
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+v 0.48739104 -0.05193853 1.04000000
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+v 0.48665176 -0.05055544 1.04000000
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+v 0.48565685 -0.04934315 1.04000000
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+v 0.48444456 -0.04834824 1.04000000
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+v 0.48306147 -0.04760896 1.04000000
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+v 0.48156072 -0.04715372 1.04000000
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+v 0.48000000 -0.04700000 1.04000000
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+v 0.47843928 -0.04715372 1.04000000
+v 0.47693853 -0.04760896 0.84000000
+v 0.47693853 -0.04760896 1.04000000
+v 0.47555544 -0.04834824 0.84000000
+v 0.47555544 -0.04834824 1.04000000
+v 0.47434315 -0.04934315 0.84000000
+v 0.47434315 -0.04934315 1.04000000
+v 0.47334824 -0.05055544 0.84000000
+v 0.47334824 -0.05055544 1.04000000
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+v 0.47215372 -0.05343928 1.04000000
+v 0.47200000 -0.05500000 0.84000000
+v 0.47200000 -0.05500000 1.04000000
+v 0.47215372 -0.05656072 0.84000000
+v 0.47215372 -0.05656072 1.04000000
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+v 0.47260896 -0.05806147 1.04000000
+v 0.47334824 -0.05944456 0.84000000
+v 0.47334824 -0.05944456 1.04000000
+v 0.47434315 -0.06065685 0.84000000
+v 0.47434315 -0.06065685 1.04000000
+v 0.47555544 -0.06165176 0.84000000
+v 0.47555544 -0.06165176 1.04000000
+v 0.47693853 -0.06239104 0.84000000
+v 0.47693853 -0.06239104 1.04000000
+v 0.47843928 -0.06284628 0.84000000
+v 0.47843928 -0.06284628 1.04000000
+v 0.48000000 -0.06300000 0.84000000
+v 0.48000000 -0.06300000 1.04000000
+v 0.48156072 -0.06284628 0.84000000
+v 0.48156072 -0.06284628 1.04000000
+v 0.48306147 -0.06239104 0.84000000
+v 0.48306147 -0.06239104 1.04000000
+v 0.48444456 -0.06165176 0.84000000
+v 0.48444456 -0.06165176 1.04000000
+v 0.48565685 -0.06065685 0.84000000
+v 0.48565685 -0.06065685 1.04000000
+v 0.48665176 -0.05944456 0.84000000
+v 0.48665176 -0.05944456 1.04000000
+v 0.48739104 -0.05806147 0.84000000
+v 0.48739104 -0.05806147 1.04000000
+v 0.48784628 -0.05656072 0.84000000
+v 0.48784628 -0.05656072 1.04000000
+v 0.47400000 -0.05500000 0.84400000
+v 0.47400000 -0.05500000 0.85600000
+v 0.47400000 -0.02000000 0.84400000
+v 0.47400000 -0.02000000 0.85600000
+v 0.48600000 -0.05500000 0.84400000
+v 0.48600000 -0.05500000 0.85600000
+v 0.48600000 -0.02000000 0.84400000
+v 0.48600000 -0.02000000 0.85600000
+v 0.47400000 -0.05500000 1.02400000
+v 0.47400000 -0.05500000 1.03600000
+v 0.47400000 -0.02000000 1.02400000
+v 0.47400000 -0.02000000 1.03600000
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+v 0.48600000 -0.05500000 1.03600000
+v 0.48600000 -0.02000000 1.02400000
+v 0.48600000 -0.02000000 1.03600000
+f 2 1 5
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+f 3 6 4
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+f 7 1 9
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+f 14 15 16
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+f 15 1 17
+f 15 17 16
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+f 17 1 19
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+f 18 20 4
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+f 19 21 20
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diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..361233c46e96289e3b63219f5df50b1716fd7e91
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_right
+Kd 0.8941 0.6196 0.0000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0146912be941b56f71f58ec3d09074255681f524
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105__door_right.mtl
+usemtl asecos_cs_195_105__door_right
+# https://github.com/mikedh/trimesh
+v -0.52000000 -0.02000000 0.00000000
+v -0.52000000 -0.02000000 1.83000000
+v -0.52000000 0.00000000 0.00000000
+v -0.52000000 0.00000000 1.83000000
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+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..bd997ac50e142d8b62052214b7a9c5d9240da663
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105__door_right__decal_ghs06_skull
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs06_skull.png
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.obj
new file mode 100644
index 0000000000000000000000000000000000000000..57572b0929124f9e8b878afcd9047dba4cc58cfb
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105__door_right__decal_ghs06_skull.mtl
+usemtl asecos_cs_195_105__door_right__decal_ghs06_skull
+v -0.325000 -0.020600 1.205000
+v -0.195000 -0.020600 1.205000
+v -0.195000 -0.020600 1.335000
+v -0.325000 -0.020600 1.335000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f9cf736bbeb144cf793ad8bac9f0eb63847c4076
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105__door_right__decal_iso7010_w016_toxic
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w016_toxic.png
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f28ef67f1c59591ec03a4e3d53098d6a79236b7
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.mtl
+usemtl asecos_cs_195_105__door_right__decal_iso7010_w016_toxic
+v -0.345000 -0.020600 1.405000
+v -0.175000 -0.020600 1.405000
+v -0.175000 -0.020600 1.575000
+v -0.345000 -0.020600 1.575000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ee175fd94854d94a6027c62f4fcde1203955bf1
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_right__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f52587de9dd326cfb64d12864def456a2f81854d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105__door_right__glass_panel.mtl
+usemtl asecos_cs_195_105__door_right__glass_panel
+# https://github.com/mikedh/trimesh
+v -0.39000000 -0.02120000 0.39000000
+v -0.39000000 -0.02120000 1.14000000
+v -0.39000000 -0.02020000 0.39000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.mtl b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ff707b1ef5061f98bce1f8eec37a51884a673cab
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105__door_right__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.obj b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..62e900b86c7b4428d1575184b46acef1a8e2c332
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/asecos_cs_195_105__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105__door_right__handle.mtl
+usemtl asecos_cs_195_105__door_right__handle
+# https://github.com/mikedh/trimesh
+v -0.48000000 -0.05500000 0.84000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_ghs06_skull.png b/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_ghs06_skull.png
new file mode 100644
index 0000000000000000000000000000000000000000..a6747aebf9ef941a37a7b7f53b53308bdfc6390b
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_ghs06_skull.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daf33ed4111e0779658d6092e1341f170576b66bd97434cbb05eb220379fcbf0
+size 39999
diff --git a/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_iso7010_w016_toxic.png b/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_iso7010_w016_toxic.png
new file mode 100644
index 0000000000000000000000000000000000000000..ff274d7997945acfe3b58801edb27aca8b59e652
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/meshes/textures/label_iso7010_w016_toxic.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d25e873dcdd8e41c9578b3c25e3d2e7a274c1f7ccbd6b4fb4c9c0f3b0cd3e124
+size 53454
diff --git a/assets/labware/furniture/asecos_cs_195_105/model.glb b/assets/labware/furniture/asecos_cs_195_105/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..b709f6d84ca486893f797203a09a1610141759a9
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e61cdf9482f366ea38b5b793fd8b2e1cc586a3fbb1baffafb65305f9c7b42cae
+size 110040
diff --git a/assets/labware/furniture/asecos_cs_195_105/model.urdf b/assets/labware/furniture/asecos_cs_195_105/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2b863899edbecc7b2ac60cd4ed5a14f077de435d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105/model.urdf
@@ -0,0 +1,248 @@
+<?xml version="1.0"?>
+<robot name="asecos_cs_195_105">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="1.35215e-17 0.0757701 0.91612" rpy="0 0 0" />
+      <mass value="52.5042" />
+      <inertia ixx="17.7311" ixy="0" ixz="0" iyy="21.5071" iyz="0" izz="5.96371" />
+    </inertial>
+    <visual name="asecos_cs_195_105__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__carcass.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__carcass">
+        <color rgba="0.03820 0.04971 0.05613 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__carcass__shelves">
+        <color rgba="0.44799 0.46236 0.47700 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.01 0.03" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.01 1.9225" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.055" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.245 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.03 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 0.3475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 0.7975" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door_left">
+    <inertial>
+      <origin xyz="0.26 -0.0315 0.915" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105__door_left">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_left.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_left">
+        <color rgba="0.77582 0.34191 0.00000 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_left__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_left__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_left__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_left__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_left__decal_iso7010_w016_toxic">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_left__decal_iso7010_w016_toxic.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_left__decal_iso7010_w016_toxic">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w016_toxic.png" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_left__decal_ghs06_skull">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_left__decal_ghs06_skull.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_left__decal_ghs06_skull">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs06_skull.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.26 -0.0315 0.915" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_right">
+        <color rgba="0.77582 0.34191 0.00000 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_right__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_right__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_right__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_right__decal_iso7010_w016_toxic">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_right__decal_iso7010_w016_toxic.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_right__decal_iso7010_w016_toxic">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w016_toxic.png" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105__door_right__decal_ghs06_skull">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105__door_right__decal_ghs06_skull.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105__door_right__decal_ghs06_skull">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs06_skull.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/asset.contract.json b/assets/labware/furniture/asecos_cs_195_105_consumables/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3455946f9f6e6064f47ef9521feb0d8581bcfb
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/asset.contract.json
@@ -0,0 +1,495 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_cs_195_105_consumables",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（耗材柜，4 层 × 8 位）",
+ "category": "furniture.storage.consumables_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "asecos CS-CLASSIC CS.195.105：外形 1055×520×1950 mm，内部宽 996、高 1835 mm，两扇门，可上锁，适合非易燃化学品与有毒物质；隔板数可选（经销商列出 2/3/4/6 层配置）。清单位置 consumables_cabinet：4 层 × 8 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_consumables/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "bc9da86cf4fc5fea79586e6235f6e1c955da50609981dad80416640933809553"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_consumables/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "36de84289d499dcc078ab2f7ab1a288d9217adc393143efb6593bcd755d554b0"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_consumables/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "47a1a46847cf1717c53ece5928fe29f85d73a3a04496336aa4024d720ebb40e7"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_consumables/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "47d1f329bfcca27e17f334f8c04bfbdc2ea00cb1030325feb6107cedc83452cb"
+  }
+ },
+ "sources": {
+  "asecos_cs_195_105": {
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board."
+  },
+  "asecos_cs_30496040": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+   "note": "Mass; the modelled internal depth (470 mm) is 23 mm less than the data sheet's 493 mm (geometry kept unchanged in the 2026-10-23 appearance pass)."
+  },
+  "asecos_cs_30496041": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+   "note": "Variant used for the standards and consumables cabinets."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_consumables__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.055,
+      0.52,
+      1.95
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_width_m": {
+     "value": 0.996,
+     "unit": "m",
+     "meaning_zh": "内部宽",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_height_m": {
+     "value": 1.835,
+     "unit": "m",
+     "meaning_zh": "内部高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 52.504176,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_30496040"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_consumables__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_consumables__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 consumables_cabinet 位置数（4 层 × 8）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_consumables",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 4 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "consumables_cabinet"
+    ],
+    "min_pitch_m": 0.224,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496041"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/collision_proxies.json b/assets/labware/furniture/asecos_cs_195_105_consumables/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e655e7dab8b8f3d25c1197b270a900feeeb64a7
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/collision_proxies.json
@@ -0,0 +1,348 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_consumables",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.3475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.71875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      1.09
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      1.46125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      -0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/geometry_manifest.json b/assets/labware/furniture/asecos_cs_195_105_consumables/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c3fbb377d647bf1d1ca287319224f41f62726bf
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/geometry_manifest.json
@@ -0,0 +1,1965 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_consumables",
+ "catalog_id": null,
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（耗材柜，4 层 × 8 位）",
+ "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (consumables_cabinet, 4 shelves)",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.055,
+  0.563,
+  1.95
+ ],
+ "bounds_m": [
+  [
+   -0.5275,
+   -0.303,
+   0.0
+  ],
+  [
+   0.5275,
+   0.26,
+   1.95
+  ]
+ ],
+ "total_mass_kg": 75.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_cs_195_105",
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_cs_30496040",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+   "note": "Mass; the modelled internal depth (470 mm) is 23 mm less than the data sheet's 493 mm (geometry kept unchanged in the 2026-10-23 appearance pass).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "asecos_cs_30496041",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+   "note": "Variant used for the standards and consumables cabinets.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 52.504176,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105_consumables__carcass",
+    "asecos_cs_195_105_consumables__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105_consumables__carcass",
+     "rgba_srgb": [
+      0.2157,
+      0.2471,
+      0.2627,
+      1.0
+     ],
+     "hex": "#373F43",
+     "rgba_linear": [
+      0.0382,
+      0.04971,
+      0.05613,
+      1.0
+     ],
+     "ral": "RAL 7016",
+     "source_id": "asecos_cs_30496041"
+    },
+    {
+     "object": "asecos_cs_195_105_consumables__carcass__shelves",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.72,
+      1.0
+     ],
+     "hex": "#B2B5B8",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.477,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
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+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
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+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
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+   "geometry_evidence": "documented",
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+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-04",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    -0.12,
+    0.73125
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-05",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    0.11,
+    0.73125
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-06",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    0.11,
+    0.73125
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-07",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    0.11,
+    0.73125
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-08",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    0.11,
+    0.73125
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3463,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-01",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    -0.12,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-02",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    -0.12,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-03",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    -0.12,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-04",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    -0.12,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-05",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    0.11,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-06",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    0.11,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-07",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    0.11,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-08",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    0.11,
+    1.1025
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.3462,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-01",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    -0.12,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-02",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    -0.12,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-03",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    -0.12,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-04",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    -0.12,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-05",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    0.11,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-06",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    0.11,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-07",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    0.11,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S4-08",
+   "place_id": "consumables_cabinet",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    0.11,
+    1.47375
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.4213,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_cs_195_105_consumables",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 4 shelves",
+  "catalogue_no": "CS.195.105",
+  "storage": {
+   "place_ids": [
+    "consumables_cabinet"
+   ],
+   "min_pitch_m": 0.224,
+   "headroom_m": 0.25,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "note_zh": "4 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7016 anthracite grey",
+    "doors": "RAL 7035 light grey",
+    "glass_panels": "WDFW glass-paneled wing doors",
+    "source_id": "asecos_cs_30496041"
+   },
+   "labels": [],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 consumables_cabinet 位置数（4 层 × 8）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..89ef383c5ffa0e478302676c0390b480bc57881f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__carcass
+Kd 0.2157 0.2471 0.2627
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd3d1c74ab1ab55e09467c2d6cee30d26084f4f9
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_cs_195_105_consumables__carcass.mtl
+usemtl asecos_cs_195_105_consumables__carcass
+# https://github.com/mikedh/trimesh
+v -0.52750000 -0.24000000 0.00000000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 0.26000000 0.00000000
+v -0.52750000 0.26000000 0.06000000
+v 0.52750000 -0.24000000 0.00000000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 0.26000000 0.00000000
+v 0.52750000 0.26000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 -0.24000000 1.95000000
+v -0.52750000 0.26000000 1.89500000
+v -0.52750000 0.26000000 1.95000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 -0.24000000 1.95000000
+v 0.52750000 0.26000000 1.89500000
+v 0.52750000 0.26000000 1.95000000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.52750000 0.26000000 0.06000000
+v -0.52750000 0.26000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+v 0.52750000 0.26000000 0.06000000
+v 0.52750000 0.26000000 1.89500000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.49800000 -0.24000000 0.06000000
+v -0.49800000 -0.24000000 1.89500000
+v -0.49800000 0.23000000 0.06000000
+v -0.49800000 0.23000000 1.89500000
+v 0.49800000 -0.24000000 0.06000000
+v 0.49800000 -0.24000000 1.89500000
+v 0.49800000 0.23000000 0.06000000
+v 0.49800000 0.23000000 1.89500000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..280ad604508869d1cd1f1a253e5401e8a65e01af
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..40c7aa27c2a2f75b6d1d71a93ab0e326b8d21857
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__carcass__shelves.obj
@@ -0,0 +1,84 @@
+mtllib asecos_cs_195_105_consumables__carcass__shelves.mtl
+usemtl asecos_cs_195_105_consumables__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.49600000 -0.23000000 0.33500000
+v -0.49600000 -0.23000000 0.36000000
+v -0.49600000 0.23000000 0.33500000
+v -0.49600000 0.23000000 0.36000000
+v 0.49600000 -0.23000000 0.33500000
+v 0.49600000 -0.23000000 0.36000000
+v 0.49600000 0.23000000 0.33500000
+v 0.49600000 0.23000000 0.36000000
+v -0.49600000 -0.23000000 0.70625000
+v -0.49600000 -0.23000000 0.73125000
+v -0.49600000 0.23000000 0.70625000
+v -0.49600000 0.23000000 0.73125000
+v 0.49600000 -0.23000000 0.70625000
+v 0.49600000 -0.23000000 0.73125000
+v 0.49600000 0.23000000 0.70625000
+v 0.49600000 0.23000000 0.73125000
+v -0.49600000 -0.23000000 1.07750000
+v -0.49600000 -0.23000000 1.10250000
+v -0.49600000 0.23000000 1.07750000
+v -0.49600000 0.23000000 1.10250000
+v 0.49600000 -0.23000000 1.07750000
+v 0.49600000 -0.23000000 1.10250000
+v 0.49600000 0.23000000 1.07750000
+v 0.49600000 0.23000000 1.10250000
+v -0.49600000 -0.23000000 1.44875000
+v -0.49600000 -0.23000000 1.47375000
+v -0.49600000 0.23000000 1.44875000
+v -0.49600000 0.23000000 1.47375000
+v 0.49600000 -0.23000000 1.44875000
+v 0.49600000 -0.23000000 1.47375000
+v 0.49600000 0.23000000 1.44875000
+v 0.49600000 0.23000000 1.47375000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4fa02f23634fd0c9e4b70ee88a94a5983a9579c0
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_left
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6be4f6526c56507417005978b17531051c134fbe
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_consumables__door_left.mtl
+usemtl asecos_cs_195_105_consumables__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
+v 0.52000000 -0.02000000 0.00000000
+v 0.52000000 -0.02000000 1.83000000
+v 0.52000000 0.00000000 0.00000000
+v 0.52000000 0.00000000 1.83000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1237e331bf351ef4bb12f8ff2d78623fbe124d07
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_left__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cee5ec8497e1183ec264897d2aa97ac418124129
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_consumables__door_left__glass_panel.mtl
+usemtl asecos_cs_195_105_consumables__door_left__glass_panel
+# https://github.com/mikedh/trimesh
+v 0.13000000 -0.02120000 0.39000000
+v 0.13000000 -0.02120000 1.14000000
+v 0.13000000 -0.02020000 0.39000000
+v 0.13000000 -0.02020000 1.14000000
+v 0.39000000 -0.02120000 0.39000000
+v 0.39000000 -0.02120000 1.14000000
+v 0.39000000 -0.02020000 0.39000000
+v 0.39000000 -0.02020000 1.14000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d9808beca2cad2028368f3a2c6e64bd097f573c
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8959ea6a1ec2d43dd1cd3ba7c661133874e7082c
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_consumables__door_left__handle.mtl
+usemtl asecos_cs_195_105_consumables__door_left__handle
+# https://github.com/mikedh/trimesh
+v 0.48000000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 1.04000000
+v 0.48000000 -0.05500000 1.04000000
+v 0.48784628 -0.05343928 0.84000000
+v 0.48784628 -0.05343928 1.04000000
+v 0.48739104 -0.05193853 0.84000000
+v 0.48739104 -0.05193853 1.04000000
+v 0.48665176 -0.05055544 0.84000000
+v 0.48665176 -0.05055544 1.04000000
+v 0.48565685 -0.04934315 0.84000000
+v 0.48565685 -0.04934315 1.04000000
+v 0.48444456 -0.04834824 0.84000000
+v 0.48444456 -0.04834824 1.04000000
+v 0.48306147 -0.04760896 0.84000000
+v 0.48306147 -0.04760896 1.04000000
+v 0.48156072 -0.04715372 0.84000000
+v 0.48156072 -0.04715372 1.04000000
+v 0.48000000 -0.04700000 0.84000000
+v 0.48000000 -0.04700000 1.04000000
+v 0.47843928 -0.04715372 0.84000000
+v 0.47843928 -0.04715372 1.04000000
+v 0.47693853 -0.04760896 0.84000000
+v 0.47693853 -0.04760896 1.04000000
+v 0.47555544 -0.04834824 0.84000000
+v 0.47555544 -0.04834824 1.04000000
+v 0.47434315 -0.04934315 0.84000000
+v 0.47434315 -0.04934315 1.04000000
+v 0.47334824 -0.05055544 0.84000000
+v 0.47334824 -0.05055544 1.04000000
+v 0.47260896 -0.05193853 0.84000000
+v 0.47260896 -0.05193853 1.04000000
+v 0.47215372 -0.05343928 0.84000000
+v 0.47215372 -0.05343928 1.04000000
+v 0.47200000 -0.05500000 0.84000000
+v 0.47200000 -0.05500000 1.04000000
+v 0.47215372 -0.05656072 0.84000000
+v 0.47215372 -0.05656072 1.04000000
+v 0.47260896 -0.05806147 0.84000000
+v 0.47260896 -0.05806147 1.04000000
+v 0.47334824 -0.05944456 0.84000000
+v 0.47334824 -0.05944456 1.04000000
+v 0.47434315 -0.06065685 0.84000000
+v 0.47434315 -0.06065685 1.04000000
+v 0.47555544 -0.06165176 0.84000000
+v 0.47555544 -0.06165176 1.04000000
+v 0.47693853 -0.06239104 0.84000000
+v 0.47693853 -0.06239104 1.04000000
+v 0.47843928 -0.06284628 0.84000000
+v 0.47843928 -0.06284628 1.04000000
+v 0.48000000 -0.06300000 0.84000000
+v 0.48000000 -0.06300000 1.04000000
+v 0.48156072 -0.06284628 0.84000000
+v 0.48156072 -0.06284628 1.04000000
+v 0.48306147 -0.06239104 0.84000000
+v 0.48306147 -0.06239104 1.04000000
+v 0.48444456 -0.06165176 0.84000000
+v 0.48444456 -0.06165176 1.04000000
+v 0.48565685 -0.06065685 0.84000000
+v 0.48565685 -0.06065685 1.04000000
+v 0.48665176 -0.05944456 0.84000000
+v 0.48665176 -0.05944456 1.04000000
+v 0.48739104 -0.05806147 0.84000000
+v 0.48739104 -0.05806147 1.04000000
+v 0.48784628 -0.05656072 0.84000000
+v 0.48784628 -0.05656072 1.04000000
+v 0.47400000 -0.05500000 0.84400000
+v 0.47400000 -0.05500000 0.85600000
+v 0.47400000 -0.02000000 0.84400000
+v 0.47400000 -0.02000000 0.85600000
+v 0.48600000 -0.05500000 0.84400000
+v 0.48600000 -0.05500000 0.85600000
+v 0.48600000 -0.02000000 0.84400000
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diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4de8784d752ff9be5aacb661d0ced51512715c3d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_right
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..25790d3dd0fc9a19e566dc6cd4c212d68c281641
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_consumables__door_right.mtl
+usemtl asecos_cs_195_105_consumables__door_right
+# https://github.com/mikedh/trimesh
+v -0.52000000 -0.02000000 0.00000000
+v -0.52000000 -0.02000000 1.83000000
+v -0.52000000 0.00000000 0.00000000
+v -0.52000000 0.00000000 1.83000000
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+v 0.00000000 -0.02000000 1.83000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2c6ac0978ef0d7a302742aa53ce3f1797f3418a1
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_right__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a77c0fe44316c26262372a1e9053eb9f9184505f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_consumables__door_right__glass_panel.mtl
+usemtl asecos_cs_195_105_consumables__door_right__glass_panel
+# https://github.com/mikedh/trimesh
+v -0.39000000 -0.02120000 0.39000000
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+v -0.39000000 -0.02020000 0.39000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..362d9cdbc12ea5a8d963d2f3d728fd8f7bca7caa
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_consumables__door_right__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.obj b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d44668b9aeb9e06955d8635079afa0b64f6e74ed
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/meshes/asecos_cs_195_105_consumables__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_consumables__door_right__handle.mtl
+usemtl asecos_cs_195_105_consumables__door_right__handle
+# https://github.com/mikedh/trimesh
+v -0.48000000 -0.05500000 0.84000000
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diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/model.glb b/assets/labware/furniture/asecos_cs_195_105_consumables/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9376617ea77547808d0667a6c85bfd8f9e87554a
Binary files /dev/null and b/assets/labware/furniture/asecos_cs_195_105_consumables/model.glb differ
diff --git a/assets/labware/furniture/asecos_cs_195_105_consumables/model.urdf b/assets/labware/furniture/asecos_cs_195_105_consumables/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..34a9d6f5ffbbaa6555e1950d0f06250516066abd
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_consumables/model.urdf
@@ -0,0 +1,220 @@
+<?xml version="1.0"?>
+<robot name="asecos_cs_195_105_consumables">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="1.20883e-17 0.0677389 0.950052" rpy="0 0 0" />
+      <mass value="52.5042" />
+      <inertia ixx="17.7311" ixy="0" ixz="0" iyy="21.5071" iyz="0" izz="5.96371" />
+    </inertial>
+    <visual name="asecos_cs_195_105_consumables__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__carcass.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__carcass">
+        <color rgba="0.03820 0.04971 0.05613 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_consumables__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__carcass__shelves">
+        <color rgba="0.44799 0.46236 0.47700 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.01 0.03" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.01 1.9225" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.055" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.245 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.03 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 0.3475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 0.71875" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 1.09" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 1.46125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door_left">
+    <inertial>
+      <origin xyz="0.260571 -0.0102159 0.913548" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105_consumables__door_left">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_left.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_left">
+        <color rgba="0.59720 0.63076 0.60383 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_consumables__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_left__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_consumables__door_left__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_left__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_left__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.260571 -0.0102159 0.913548" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105_consumables__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_right">
+        <color rgba="0.59720 0.63076 0.60383 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_consumables__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_consumables__door_right__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_consumables__door_right__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_consumables__door_right__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/asset.contract.json b/assets/labware/furniture/asecos_cs_195_105_oxidizers/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d98a2967e21f341386854ca8658c48663bb7ea
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/asset.contract.json
@@ -0,0 +1,494 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_cs_195_105_oxidizers",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（氧化剂柜，1 层 × 6 位）",
+ "category": "furniture.storage.oxidizers_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "asecos CS-CLASSIC CS.195.105：外形 1055×520×1950 mm，内部宽 996、高 1835 mm，两扇门，可上锁，适合非易燃化学品与有毒物质；隔板数可选（经销商列出 2/3/4/6 层配置）。清单位置 oxidizers_cabinet：1 层 × 6 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_oxidizers/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "adfdbfa74f79fb29fb301857fc7db8ecff25121624a2e41a7147f1dc77055ebc"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_oxidizers/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "4feee31718030ef7257c39254dea76f3268962ec42727f0da2e681430f44c0c8"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_oxidizers/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "111284f07b50d554ff909602c722d96bf5cb8e04c4f2128813aa8721a13cbc5c"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_oxidizers/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1b8bdd4113ffb3d5cfeaa55d43c4653e171c4725096259c842e4ea6750c8019e"
+  }
+ },
+ "sources": {
+  "asecos_cs_195_105": {
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board."
+  },
+  "asecos_cs_30496040": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+   "note": "Variant used for the toxics and oxidizers cabinets."
+  },
+  "public_domain_signs": {
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_oxidizers__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.055,
+      0.52,
+      1.95
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_width_m": {
+     "value": 0.996,
+     "unit": "m",
+     "meaning_zh": "内部宽",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_height_m": {
+     "value": 1.835,
+     "unit": "m",
+     "meaning_zh": "内部高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 52.504176,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_30496040"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_oxidizers__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_oxidizers__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 oxidizers_cabinet 位置数（1 层 × 6）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_oxidizers",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 1 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "oxidizers_cabinet"
+    ],
+    "min_pitch_m": 0.229,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06"
+    ],
+    "note_zh": "1 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 1004 warning yellow",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496040"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w028_oxidizing",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs03_flame_over_circle",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w028_oxidizing",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs03_flame_over_circle",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/collision_proxies.json b/assets/labware/furniture/asecos_cs_195_105_oxidizers/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..f887dff9cc06a183005c3a20636c10b97635941e
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/collision_proxies.json
@@ -0,0 +1,294 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_oxidizers",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.3475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      -0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/geometry_manifest.json b/assets/labware/furniture/asecos_cs_195_105_oxidizers/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11b5e363c6988d76099dcf7e001f10aba21462c
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/geometry_manifest.json
@@ -0,0 +1,1158 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_oxidizers",
+ "catalog_id": null,
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（氧化剂柜，1 层 × 6 位）",
+ "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (oxidizers_cabinet, 1 shelves)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.055,
+  0.563,
+  1.95
+ ],
+ "bounds_m": [
+  [
+   -0.5275,
+   -0.303,
+   0.0
+  ],
+  [
+   0.5275,
+   0.26,
+   1.95
+  ]
+ ],
+ "total_mass_kg": 75.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_cs_195_105",
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_cs_30496040",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+   "note": "Variant used for the toxics and oxidizers cabinets.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "public_domain_signs",
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).",
+   "licence": "public domain"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 52.504176,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105_oxidizers__carcass",
+    "asecos_cs_195_105_oxidizers__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105_oxidizers__carcass",
+     "rgba_srgb": [
+      0.2157,
+      0.2471,
+      0.2627,
+      1.0
+     ],
+     "hex": "#373F43",
+     "rgba_linear": [
+      0.0382,
+      0.04971,
+      0.05613,
+      1.0
+     ],
+     "ral": "RAL 7016",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__carcass__shelves",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.72,
+      1.0
+     ],
+     "hex": "#B2B5B8",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.477,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.3475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door_left",
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    -0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+   },
+   "mass_kg": 11.247912,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105_oxidizers__door_left",
+    "asecos_cs_195_105_oxidizers__door_left__handle",
+    "asecos_cs_195_105_oxidizers__door_left__glass_panel",
+    "asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing",
+    "asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_left",
+     "rgba_srgb": [
+      0.8941,
+      0.6196,
+      0.0,
+      1.0
+     ],
+     "hex": "#E49E00",
+     "rgba_linear": [
+      0.77582,
+      0.34191,
+      0.0,
+      1.0
+     ],
+     "ral": "RAL 1004",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_left__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_left__glass_panel",
+     "rgba_srgb": [
+      0.55,
+      0.65,
+      0.72,
+      0.55
+     ],
+     "hex": "#8CA6B8",
+     "rgba_linear": [
+      0.26327,
+      0.38006,
+      0.477,
+      0.55
+     ],
+     "note_zh": "门上玻璃观察窗（WDFW 型）",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w028_oxidizing.png"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs03_flame_over_circle.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door_right",
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+   },
+   "mass_kg": 11.247912,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105_oxidizers__door_right",
+    "asecos_cs_195_105_oxidizers__door_right__handle",
+    "asecos_cs_195_105_oxidizers__door_right__glass_panel",
+    "asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing",
+    "asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_right",
+     "rgba_srgb": [
+      0.8941,
+      0.6196,
+      0.0,
+      1.0
+     ],
+     "hex": "#E49E00",
+     "rgba_linear": [
+      0.77582,
+      0.34191,
+      0.0,
+      1.0
+     ],
+     "ral": "RAL 1004",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_right__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_right__glass_panel",
+     "rgba_srgb": [
+      0.55,
+      0.65,
+      0.72,
+      0.55
+     ],
+     "hex": "#8CA6B8",
+     "rgba_linear": [
+      0.26327,
+      0.38006,
+      0.477,
+      0.55
+     ],
+     "note_zh": "门上玻璃观察窗（WDFW 型）",
+     "source_id": "asecos_cs_30496040"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w028_oxidizing.png"
+    },
+    {
+     "object": "asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs03_flame_over_circle.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      -0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "asecos_cs_195_105_oxidizers__root",
+ "joint_definitions": {
+  "door_left": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.919862
+   ],
+   "accessor": "joint[door_left_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+  },
+  "door_right": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.919862
+   ],
+   "accessor": "joint[door_right_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "S1-01",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-02",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-03",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    -0.12,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-04",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.3,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-05",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  },
+  {
+   "name": "S1-06",
+   "place_id": "oxidizers_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.3,
+    0.11,
+    0.36
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.535,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "3×2 位/层（0.300 × 0.23 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_cs_195_105_oxidizers",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 1 shelves",
+  "catalogue_no": "CS.195.105",
+  "storage": {
+   "place_ids": [
+    "oxidizers_cabinet"
+   ],
+   "min_pitch_m": 0.229,
+   "headroom_m": 0.25,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06"
+   ],
+   "note_zh": "1 层 × 6 位；可上锁、接通风；Franka 固定基座不可达"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7016 anthracite grey",
+    "doors": "RAL 1004 warning yellow",
+    "glass_panels": "WDFW glass-paneled wing doors",
+    "source_id": "asecos_cs_30496040"
+   },
+   "labels": [
+    {
+     "door": "door_left",
+     "sign": "iso7010_w028_oxidizing",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "ghs03_flame_over_circle",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w028_oxidizing",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W028.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "ghs03_flame_over_circle",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-rondflam.svg"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 oxidizers_cabinet 位置数（1 层 × 6）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4999a07b1eeee5aa5df6ad45a7d08f56bd6a5f7e
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__carcass
+Kd 0.2157 0.2471 0.2627
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..927508cfd0ef6124dcf347bdfaf2d36d310fece7
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_cs_195_105_oxidizers__carcass.mtl
+usemtl asecos_cs_195_105_oxidizers__carcass
+# https://github.com/mikedh/trimesh
+v -0.52750000 -0.24000000 0.00000000
+v -0.52750000 -0.24000000 0.06000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..55fd1143033e27cfab74d13120c6225544552b77
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e252bdb82be9fd03b6e40fb2a5b383ac17dbc390
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__carcass__shelves.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_oxidizers__carcass__shelves.mtl
+usemtl asecos_cs_195_105_oxidizers__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.49600000 -0.23000000 0.33500000
+v -0.49600000 -0.23000000 0.36000000
+v -0.49600000 0.23000000 0.33500000
+v -0.49600000 0.23000000 0.36000000
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+v 0.49600000 -0.23000000 0.36000000
+v 0.49600000 0.23000000 0.33500000
+v 0.49600000 0.23000000 0.36000000
+f 2 4 1
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..250b3c84db70e6c4960e22a295547564588942ff
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_left
+Kd 0.8941 0.6196 0.0000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..37a1a8d9069e0546df74025cd8656eefb7b19a2e
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_oxidizers__door_left.mtl
+usemtl asecos_cs_195_105_oxidizers__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4149e2ec02c59ad607a62e2e050bdf77438b5a5c
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs03_flame_over_circle.png
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e1a5dc231e35698f53dff83b02afa6625cab82fd
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.mtl
+usemtl asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle
+v 0.195000 -0.020600 1.205000
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+vt 0.000000 0.000000
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+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..56678448c6a3e3de0fceeb18283e9655c66bcbbb
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w028_oxidizing.png
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1be789842c98034febc5350f49e07cf8c6ae5e5
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.mtl
+usemtl asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing
+v 0.175000 -0.020600 1.405000
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+vt 0.000000 0.000000
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+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..18f7c01972afce71e780e8adc8ba9b6ac91a519b
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_left__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8e335cba95252ee6ef1874731100dfca8c2b865f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_oxidizers__door_left__glass_panel.mtl
+usemtl asecos_cs_195_105_oxidizers__door_left__glass_panel
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ee6932e2173dfcbb20055865b26ddc585b0ee653
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a4bdbeb8fead8d7726496f5fc0cc71d09ea259cd
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_oxidizers__door_left__handle.mtl
+usemtl asecos_cs_195_105_oxidizers__door_left__handle
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..210d5ab95626b6fc7b348a4e0f94661c8e20d6f7
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_right
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+Ka 0 0 0
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+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..054bbff84bb3e54cb60bb5f6f6dd9a359dcf5f7f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_oxidizers__door_right.mtl
+usemtl asecos_cs_195_105_oxidizers__door_right
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..751d9e4bf1c3d65c18645b6187879938e8bfd2a3
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs03_flame_over_circle.png
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..eafeee7d07d04f50cbd246a5c7efcfcc0ed47605
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.mtl
+usemtl asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle
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+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..51b8fa35d0e7ae2a7fdcab60c661f88516516d26
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing
+Kd 1 1 1
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+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w028_oxidizing.png
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68550d0907e06662b59a59e1e617c281873b106a
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.obj
@@ -0,0 +1,12 @@
+mtllib asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.mtl
+usemtl asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing
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diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c612f888c665e8e87423e4670e29c6740669dc3
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_right__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..acf50ac94043e3006e3d4cf8b5ce55f5cdf0b227
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_oxidizers__door_right__glass_panel.mtl
+usemtl asecos_cs_195_105_oxidizers__door_right__glass_panel
+# https://github.com/mikedh/trimesh
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+v -0.39000000 -0.02020000 0.39000000
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+
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3c172b9f35e134f052280cd1bf96ceb4fe086c22
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_oxidizers__door_right__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
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+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.obj b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b3d691bc44ccdb04232f33ea4baa0f10f5ae5aa6
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/asecos_cs_195_105_oxidizers__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_oxidizers__door_right__handle.mtl
+usemtl asecos_cs_195_105_oxidizers__door_right__handle
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_ghs03_flame_over_circle.png b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_ghs03_flame_over_circle.png
new file mode 100644
index 0000000000000000000000000000000000000000..494ff5ab44440d8561d5ebf8c0046a1ea28e2c28
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_ghs03_flame_over_circle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12199788b0ef3cecc2918b34fa8b5f209484d4e14612ed6d407fed39fa47d1ea
+size 29214
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_iso7010_w028_oxidizing.png b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_iso7010_w028_oxidizing.png
new file mode 100644
index 0000000000000000000000000000000000000000..ddf1bbb37e6226bb9078607a3cc55e53fb11a2b3
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/meshes/textures/label_iso7010_w028_oxidizing.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:874ca71a501fc14be95d4b66697d0526bbb7c5e548ab26a2fc2f856a04321b62
+size 38263
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.glb b/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..aee913958a0326db4c01dbb80d36883438315b78
Binary files /dev/null and b/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.glb differ
diff --git a/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.urdf b/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..a12152dcb6aad431a1e7694aaceb6ea29a3a2fa2
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_oxidizers/model.urdf
@@ -0,0 +1,242 @@
+<?xml version="1.0"?>
+<robot name="asecos_cs_195_105_oxidizers">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="0 0.0805448 0.923595" rpy="0 0 0" />
+      <mass value="52.5042" />
+      <inertia ixx="17.7311" ixy="0" ixz="0" iyy="21.5071" iyz="0" izz="5.96371" />
+    </inertial>
+    <visual name="asecos_cs_195_105_oxidizers__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__carcass.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__carcass">
+        <color rgba="0.03820 0.04971 0.05613 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__carcass__shelves">
+        <color rgba="0.44799 0.46236 0.47700 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.01 0.03" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.06" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.01 1.9225" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.5 0.055" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.245 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="1.055 0.03 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.51275 -0.005 0.9775" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0295 0.47 1.835" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -3.20924e-17 0.3475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.992 0.46 0.025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door_left">
+    <inertial>
+      <origin xyz="0.26 -0.0315 0.915" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105_oxidizers__door_left">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_left.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_left">
+        <color rgba="0.77582 0.34191 0.00000 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_left__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_left__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_left__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_left__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_left__decal_iso7010_w028_oxidizing">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w028_oxidizing.png" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_left__decal_ghs03_flame_over_circle">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs03_flame_over_circle.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.26 -0.0315 0.915" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105_oxidizers__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_right">
+        <color rgba="0.77582 0.34191 0.00000 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_right__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_right__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_right__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_right__decal_iso7010_w028_oxidizing">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w028_oxidizing.png" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_oxidizers__door_right__decal_ghs03_flame_over_circle">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs03_flame_over_circle.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/asset.contract.json b/assets/labware/furniture/asecos_cs_195_105_standards/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a78f63c23bb7925da96139d9e40e664d1118d5
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/asset.contract.json
@@ -0,0 +1,487 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_cs_195_105_standards",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（标准物质柜，3 层 × 8 位）",
+ "category": "furniture.storage.standards_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "asecos CS-CLASSIC CS.195.105：外形 1055×520×1950 mm，内部宽 996、高 1835 mm，两扇门，可上锁，适合非易燃化学品与有毒物质；隔板数可选（经销商列出 2/3/4/6 层配置）。清单位置 standards_cabinet：3 层 × 8 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_standards/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "ab452c43c2220115d91ba864902a61a34d27a8658559845542ece3dbe57262fa"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_standards/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "7b419e16d40d78e637c0477a0ac7298b94f8c209072a5af57f35bf27fbaed8af"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_standards/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a491c0b5eb01ba43df6b5ffd86645efabe182bbd75042ff7058ae16e0f9f96d9"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_cs_195_105_standards/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "741ac328e9b9c03f159f30706fa386ea274c1d4596ef9f9509b76955de711076"
+  }
+ },
+ "sources": {
+  "asecos_cs_195_105": {
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board."
+  },
+  "asecos_cs_30496040": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+   "note": "Mass; the modelled internal depth (470 mm) is 23 mm less than the data sheet's 493 mm (geometry kept unchanged in the 2026-10-23 appearance pass)."
+  },
+  "asecos_cs_30496041": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+   "note": "Variant used for the standards and consumables cabinets."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_standards__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.055,
+      0.52,
+      1.95
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_width_m": {
+     "value": 0.996,
+     "unit": "m",
+     "meaning_zh": "内部宽",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "inner_height_m": {
+     "value": 1.835,
+     "unit": "m",
+     "meaning_zh": "内部高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_195_105"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 52.504176,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_cs_30496040"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_standards__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_cs_195_105_standards__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 11.247912,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 standards_cabinet 位置数（3 层 × 8）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.522,
+      -0.24,
+      0.06
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "mass_kg": 11.248,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.295,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.48,
+       -0.055,
+       0.94
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.48
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_cs_195_105_standards",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 3 shelves",
+   "catalogue_no": "CS.195.105",
+   "storage": {
+    "place_ids": [
+     "standards_cabinet"
+    ],
+    "min_pitch_m": 0.224,
+    "headroom_m": 0.25,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08"
+    ],
+    "note_zh": "3 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "glass_panels": "WDFW glass-paneled wing doors",
+     "source_id": "asecos_cs_30496041"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/collision_proxies.json b/assets/labware/furniture/asecos_cs_195_105_standards/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37a6ea579351f9be472b71d93fd27495b826e6d
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/collision_proxies.json
@@ -0,0 +1,330 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_standards",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.3475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      0.7975
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.992,
+      0.46,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0,
+      1.2475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.522,
+    -0.24000000000000002,
+    0.06
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.52,
+      0.02,
+      1.83
+     ],
+     "origin_m": [
+      -0.26,
+      -0.01,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.48,
+      -0.0375,
+      1.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/geometry_manifest.json b/assets/labware/furniture/asecos_cs_195_105_standards/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a21ed7e5d4305da388d14e0675227dc4da7eb14
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/geometry_manifest.json
@@ -0,0 +1,1683 @@
+{
+ "asset_type_id": "furniture.asecos_cs_195_105_standards",
+ "catalog_id": null,
+ "name_zh": "asecos CS-CLASSIC 化学品柜 CS.195.105（标准物质柜，3 层 × 8 位）",
+ "name_en": "asecos chemical cabinet CS-CLASSIC, CS.195.105 (standards_cabinet, 3 shelves)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.055,
+  0.563,
+  1.95
+ ],
+ "bounds_m": [
+  [
+   -0.5275,
+   -0.303,
+   0.0
+  ],
+  [
+   0.5275,
+   0.26,
+   1.95
+  ]
+ ],
+ "total_mass_kg": 75.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_cs_195_105",
+   "kind": "manufacturer",
+   "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+   "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+   "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses",
+   "locator": "engineering value",
+   "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_cs_30496040",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+   "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+   "note": "Mass; the modelled internal depth (470 mm) is 23 mm less than the data sheet's 493 mm (geometry kept unchanged in the 2026-10-23 appearance pass).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "asecos_cs_30496041",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg",
+   "note": "Variant used for the standards and consumables cabinets.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 52.504176,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 22.5 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_cs_195_105_standards__carcass",
+    "asecos_cs_195_105_standards__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_cs_195_105_standards__carcass",
+     "rgba_srgb": [
+      0.2157,
+      0.2471,
+      0.2627,
+      1.0
+     ],
+     "hex": "#373F43",
+     "rgba_linear": [
+      0.0382,
+      0.04971,
+      0.05613,
+      1.0
+     ],
+     "ral": "RAL 7016",
+     "source_id": "asecos_cs_30496041"
+    },
+    {
+     "object": "asecos_cs_195_105_standards__carcass__shelves",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.72,
+      1.0
+     ],
+     "hex": "#B2B5B8",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.477,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.06
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.03
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.5,
+      0.055
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.9225
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.055,
+      0.03,
+      1.835
+     ],
+     "origin_m": [
+      0.0,
+      0.245,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0295,
+      0.47,
+      1.835
+     ],
+     "origin_m": [
+      -0.51275,
+      -0.005,
+      0.9775
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
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+   "geometry_evidence": "documented",
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+   "geometry_evidence": "documented",
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+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-05",
+   "place_id": "standards_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-06",
+   "place_id": "standards_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-07",
+   "place_id": "standards_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S2-08",
+   "place_id": "standards_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    0.11,
+    0.81
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.425,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-01",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    -0.12,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-02",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    -0.12,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-03",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    -0.12,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-04",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    -0.12,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-05",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.3375,
+    0.11,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-06",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.1125,
+    0.11,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-07",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.1125,
+    0.11,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  },
+  {
+   "name": "S3-08",
+   "place_id": "standards_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.3375,
+    0.11,
+    1.26
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.635,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "sbs",
+    "box"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "4×2 位/层（0.225 × 0.23 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.522,
+     -0.24,
+     0.06
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.52,
+     0.02,
+     1.83
+    ],
+    "mass_kg": 11.248,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.295,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.48,
+      -0.055,
+      0.94
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.48
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.295,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_cs_195_105_standards",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Chemical cabinet CS-CLASSIC, model CS.195.105, 3 shelves",
+  "catalogue_no": "CS.195.105",
+  "storage": {
+   "place_ids": [
+    "standards_cabinet"
+   ],
+   "min_pitch_m": 0.224,
+   "headroom_m": 0.25,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08"
+   ],
+   "note_zh": "3 层 × 8 位；可上锁、接通风；Franka 固定基座不可达"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7016 anthracite grey",
+    "doors": "RAL 7035 light grey",
+    "glass_panels": "WDFW glass-paneled wing doors",
+    "source_id": "asecos_cs_30496041"
+   },
+   "labels": [],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+  "锁与通风未建模；隔板数按清单的 standards_cabinet 位置数（3 层 × 8）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9c79b39316a52259d8ca6b7be3d71a52f88339cf
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__carcass
+Kd 0.2157 0.2471 0.2627
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b74a2e7f0353e5d3af17c207187eb84a5162287a
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_cs_195_105_standards__carcass.mtl
+usemtl asecos_cs_195_105_standards__carcass
+# https://github.com/mikedh/trimesh
+v -0.52750000 -0.24000000 0.00000000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 0.26000000 0.00000000
+v -0.52750000 0.26000000 0.06000000
+v 0.52750000 -0.24000000 0.00000000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 0.26000000 0.00000000
+v 0.52750000 0.26000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 -0.24000000 1.95000000
+v -0.52750000 0.26000000 1.89500000
+v -0.52750000 0.26000000 1.95000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 -0.24000000 1.95000000
+v 0.52750000 0.26000000 1.89500000
+v 0.52750000 0.26000000 1.95000000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.52750000 0.26000000 0.06000000
+v -0.52750000 0.26000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+v 0.52750000 0.26000000 0.06000000
+v 0.52750000 0.26000000 1.89500000
+v -0.52750000 -0.24000000 0.06000000
+v -0.52750000 -0.24000000 1.89500000
+v -0.52750000 0.23000000 0.06000000
+v -0.52750000 0.23000000 1.89500000
+v -0.49800000 -0.24000000 0.06000000
+v -0.49800000 -0.24000000 1.89500000
+v -0.49800000 0.23000000 0.06000000
+v -0.49800000 0.23000000 1.89500000
+v 0.49800000 -0.24000000 0.06000000
+v 0.49800000 -0.24000000 1.89500000
+v 0.49800000 0.23000000 0.06000000
+v 0.49800000 0.23000000 1.89500000
+v 0.52750000 -0.24000000 0.06000000
+v 0.52750000 -0.24000000 1.89500000
+v 0.52750000 0.23000000 0.06000000
+v 0.52750000 0.23000000 1.89500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0db43c85b8e280b03f85370780670e7e0579c18f
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..af9b73ac13bb641b644136418929657cf804219b
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__carcass__shelves.obj
@@ -0,0 +1,64 @@
+mtllib asecos_cs_195_105_standards__carcass__shelves.mtl
+usemtl asecos_cs_195_105_standards__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.49600000 -0.23000000 0.33500000
+v -0.49600000 -0.23000000 0.36000000
+v -0.49600000 0.23000000 0.33500000
+v -0.49600000 0.23000000 0.36000000
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+v 0.49600000 0.23000000 0.78500000
+v 0.49600000 0.23000000 0.81000000
+v -0.49600000 -0.23000000 1.23500000
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+v -0.49600000 0.23000000 1.26000000
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+v 0.49600000 -0.23000000 1.26000000
+v 0.49600000 0.23000000 1.23500000
+v 0.49600000 0.23000000 1.26000000
+f 2 4 1
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+f 2 8 4
+f 6 2 5
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+f 8 6 7
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+f 19 24 23
+f 23 22 21
+f 24 22 23
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..976aed5c4d95d1dfbe6c05650984a02e7e1fd5b1
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_left
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dbf85673dfdbdbf2e9796c6cb92124b10f9975f0
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_standards__door_left.mtl
+usemtl asecos_cs_195_105_standards__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
+v 0.52000000 -0.02000000 0.00000000
+v 0.52000000 -0.02000000 1.83000000
+v 0.52000000 0.00000000 0.00000000
+v 0.52000000 0.00000000 1.83000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3ae1e55f346701d212fbb4128b90b2dc00d35cd9
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_left__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f0a1a156d4d27b19786119d76cca18e4141cc9b4
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_standards__door_left__glass_panel.mtl
+usemtl asecos_cs_195_105_standards__door_left__glass_panel
+# https://github.com/mikedh/trimesh
+v 0.13000000 -0.02120000 0.39000000
+v 0.13000000 -0.02120000 1.14000000
+v 0.13000000 -0.02020000 0.39000000
+v 0.13000000 -0.02020000 1.14000000
+v 0.39000000 -0.02120000 0.39000000
+v 0.39000000 -0.02120000 1.14000000
+v 0.39000000 -0.02020000 0.39000000
+v 0.39000000 -0.02020000 1.14000000
+f 2 4 1
+f 5 2 1
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+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..90327326eb26ac8e4593bba7b023ec5f79ea9f1a
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c7764d904d5409f1ca7555b46fa3557b11790636
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_standards__door_left__handle.mtl
+usemtl asecos_cs_195_105_standards__door_left__handle
+# https://github.com/mikedh/trimesh
+v 0.48000000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 0.84000000
+v 0.48800000 -0.05500000 1.04000000
+v 0.48000000 -0.05500000 1.04000000
+v 0.48784628 -0.05343928 0.84000000
+v 0.48784628 -0.05343928 1.04000000
+v 0.48739104 -0.05193853 0.84000000
+v 0.48739104 -0.05193853 1.04000000
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+v 0.48665176 -0.05055544 1.04000000
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+v 0.48444456 -0.04834824 1.04000000
+v 0.48306147 -0.04760896 0.84000000
+v 0.48306147 -0.04760896 1.04000000
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+v 0.48156072 -0.04715372 1.04000000
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+v 0.48000000 -0.04700000 1.04000000
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+v 0.47843928 -0.04715372 1.04000000
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+v 0.47693853 -0.04760896 1.04000000
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+v 0.47334824 -0.05055544 0.84000000
+v 0.47334824 -0.05055544 1.04000000
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+v 0.47260896 -0.05806147 1.04000000
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+v 0.47334824 -0.05944456 1.04000000
+v 0.47434315 -0.06065685 0.84000000
+v 0.47434315 -0.06065685 1.04000000
+v 0.47555544 -0.06165176 0.84000000
+v 0.47555544 -0.06165176 1.04000000
+v 0.47693853 -0.06239104 0.84000000
+v 0.47693853 -0.06239104 1.04000000
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+v 0.47843928 -0.06284628 1.04000000
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+v 0.48306147 -0.06239104 1.04000000
+v 0.48444456 -0.06165176 0.84000000
+v 0.48444456 -0.06165176 1.04000000
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+v 0.48565685 -0.06065685 1.04000000
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+v 0.48665176 -0.05944456 1.04000000
+v 0.48739104 -0.05806147 0.84000000
+v 0.48739104 -0.05806147 1.04000000
+v 0.48784628 -0.05656072 0.84000000
+v 0.48784628 -0.05656072 1.04000000
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+v 0.48600000 -0.02000000 1.03600000
+f 2 1 5
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+f 77 82 81
+f 81 80 79
+f 82 80 81
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ab7ea9b27883bdb4a23d1be797e8a3ac8c4c4729
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_right
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e9d5c7f1071f5095296c8b45c3f7f9ba5749e2c9
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_standards__door_right.mtl
+usemtl asecos_cs_195_105_standards__door_right
+# https://github.com/mikedh/trimesh
+v -0.52000000 -0.02000000 0.00000000
+v -0.52000000 -0.02000000 1.83000000
+v -0.52000000 0.00000000 0.00000000
+v -0.52000000 0.00000000 1.83000000
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..705af29728c7a3a2bebb05eebd2306cf1413f098
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_right__glass_panel
+Kd 0.5500 0.6500 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..848f9f070b947281ea6d4151b63544d117207010
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__glass_panel.obj
@@ -0,0 +1,24 @@
+mtllib asecos_cs_195_105_standards__door_right__glass_panel.mtl
+usemtl asecos_cs_195_105_standards__door_right__glass_panel
+# https://github.com/mikedh/trimesh
+v -0.39000000 -0.02120000 0.39000000
+v -0.39000000 -0.02120000 1.14000000
+v -0.39000000 -0.02020000 0.39000000
+v -0.39000000 -0.02020000 1.14000000
+v -0.13000000 -0.02120000 0.39000000
+v -0.13000000 -0.02120000 1.14000000
+v -0.13000000 -0.02020000 0.39000000
+v -0.13000000 -0.02020000 1.14000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.mtl b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..326093774b9df6883df9cc2584ef5a258edbfe73
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_cs_195_105_standards__door_right__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.obj b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8ae307fe9880423c529a0254a328a0229d0c075
--- /dev/null
+++ b/assets/labware/furniture/asecos_cs_195_105_standards/meshes/asecos_cs_195_105_standards__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_cs_195_105_standards__door_right__handle.mtl
+usemtl asecos_cs_195_105_standards__door_right__handle
+# https://github.com/mikedh/trimesh
+v -0.48000000 -0.05500000 0.84000000
+v -0.47200000 -0.05500000 0.84000000
+v -0.47200000 -0.05500000 1.04000000
+v -0.48000000 -0.05500000 1.04000000
+v -0.47215372 -0.05343928 0.84000000
+v -0.47215372 -0.05343928 1.04000000
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diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/model.glb b/assets/labware/furniture/asecos_cs_195_105_standards/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..4edfed4ccdee4322c5064eaed74e51b05bfa8fb5
Binary files /dev/null and b/assets/labware/furniture/asecos_cs_195_105_standards/model.glb differ
diff --git a/assets/labware/furniture/asecos_cs_195_105_standards/model.urdf b/assets/labware/furniture/asecos_cs_195_105_standards/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..74c606e9fac6a874ec0ec8fc351b64fe442ace05
--- /dev/null
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+<?xml version="1.0"?>
+<robot name="asecos_cs_195_105_standards">
+  <link name="base_link" />
+  <link name="carcass">
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+      <origin xyz="0 0.0715297 0.934665" rpy="0 0 0" />
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+      <inertia ixx="17.7311" ixy="0" ixz="0" iyy="21.5071" iyz="0" izz="5.96371" />
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+    <visual name="asecos_cs_195_105_standards__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__carcass.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_standards__carcass">
+        <color rgba="0.03820 0.04971 0.05613 1.000" />
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+    </visual>
+    <visual name="asecos_cs_195_105_standards__carcass__shelves">
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+      <geometry>
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+      <material name="mat_asecos_cs_195_105_standards__carcass__shelves">
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+    <parent link="base_link" />
+    <child link="carcass" />
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+  <link name="door_left">
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+        <mesh filename="meshes/asecos_cs_195_105_standards__door_left.obj" />
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+    <visual name="asecos_cs_195_105_standards__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__door_left__handle.obj" />
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+      <material name="mat_asecos_cs_195_105_standards__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_standards__door_left__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__door_left__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_standards__door_left__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.260571 -0.0102159 0.913548" rpy="0 0 0" />
+      <mass value="11.2479" />
+      <inertia ixx="3.14273" ixy="0" ixz="0" iyy="3.39246" iyz="0" izz="0.257173" />
+    </inertial>
+    <visual name="asecos_cs_195_105_standards__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_standards__door_right">
+        <color rgba="0.59720 0.63076 0.60383 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_standards__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_standards__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_cs_195_105_standards__door_right__glass_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_cs_195_105_standards__door_right__glass_panel.obj" />
+      </geometry>
+      <material name="mat_asecos_cs_195_105_standards__door_right__glass_panel">
+        <color rgba="0.26327 0.38006 0.47700 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.26 -0.01 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.52 0.02 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.055 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 0.85" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.48 -0.0375 1.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.522 -0.24 0.06" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/asecos_g90_205_140/asset.contract.json b/assets/labware/furniture/asecos_g90_205_140/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb786bfa4f2cd0600482ec668a1df0e3e47b8bb
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/asset.contract.json
@@ -0,0 +1,503 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_g90_205_140",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos G-ULTIMATE-90 可燃气体钢瓶柜 G90.205.140（4 × 50 L）",
+ "category": "furniture.storage.gas_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "可燃气体钢瓶柜 asecos G90.205.140：外形 1398×615×2050 mm、内部 1245×400×1858 mm、可放 4 × 50 L 或 8 × 10 L 钢瓶，约 707.5 kg；清单位置 gas_cabinet_flammable：4 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_g90_205_140/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "f804668b75f66a716dd8fb2583a5830b450f08056e8ebf90ed401e9a0fe7b09d"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_g90_205_140/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c94c045c22264ee73b762e504bc2789a78875c76b1bfadae0b625a8b07ab70ad"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_g90_205_140/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "38b4ff2bacfcb75ba1446a94349e9c7807b84ff97e524fab2a3be621e0c5535f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_g90_205_140/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a81624243c6e7269736574e1fc01137da34bce3bc7348b577a781f3aa3a6e890"
+  }
+ },
+ "sources": {
+  "asecos_g90_205_140": {
+   "kind": "manufacturer",
+   "reference": "asecos gas cylinder cabinet G-ULTIMATE-90, model G90.205.140 (ID 30641-001-30642), listings Fisher Scientific 15185564 (https://fishersci.dk/shop/products/g-ultimate-90-gas-cylinders-storage-cabinet/15185564) and LabFriend (https://www.labfriend.com.my/asecos-gas-cylinder-cabinet-g-ultimate-90-wd)",
+   "locator": "external 1398 x 615 x 2050 mm, internal 1245 x 400 x 1858 mm, 4 x 50 L or 8 x 10 L cylinders, 707.5 kg (another listing 690 kg), EN 14470-2 type G90, two wing doors",
+   "note": "Ventilated fire-resistant cabinet for flammable gas cylinders. accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "rama_50l_cylinder": {
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+   "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+   "note": "Typical European 50 L industrial / lab gas cylinder; the listing does not say whether 54 kg is tare - used as the empty mass. accessed 2026-10-22."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "G90 door leaves, cylinder positions and door mass",
+   "locator": "engineering value",
+   "note": "Two wing doors 620 x 1900 x 60 mm (fire-resistant sandwich: 2 x 1.5 mm steel + 55 mm fire board at 450 kg/m3); 4 cylinder positions on the floor at 0.30 m pitch. (Door angle 180 deg and 690 kg from data sheet ID 30641-001.)"
+  },
+  "asecos_g90_30641001": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30641-001, model G90.205.140 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30641001-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body and doors RAL 7035 light grey; 690 kg without interior; 2 doors, door opening angle 180 deg; depth with open doors 1337 mm",
+   "note": "Gas cylinder cabinet colours, mass and door angle."
+  },
+  "public_domain_signs": {
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_g90_205_140__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.398,
+      0.615,
+      2.05
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_g90_205_140"
+     ],
+     "uncertainty": null
+    },
+    "inner_size_m": {
+     "value": [
+      1.245,
+      0.4,
+      1.858
+     ],
+     "unit": "m",
+     "meaning_zh": "内部 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_g90_205_140"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 576.2052,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 ID 30641-001：690 kg（无内部装备）减两扇门 113.8 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_g90_205_140"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_g90_205_140__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 56.8974,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_g90_205_140__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 56.8974,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    3.141593
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 180.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "asecos_g90_205_140"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    3.141593
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 180.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "asecos_g90_205_140"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部尺寸、质量（690 kg）、开门角（180°）按 asecos 数据表 ID 30641-001；门扇尺寸、门质量与瓶位为假设。",
+  "通风、气瓶固定架、管路穿板未建模。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.622,
+      -0.2475,
+      0.1
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      3.141593
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "mass_kg": 56.897,
+     "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.58,
+       -0.095,
+       0.9
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.58
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.622,
+      -0.2475,
+      0.1
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      3.141593
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "mass_kg": 56.897,
+     "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.58,
+       -0.095,
+       0.9
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.58
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_g90_205_140",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Gas cylinder cabinet G-ULTIMATE-90, model G90.205.140",
+   "catalogue_no": "G90.205.140 (ID 30641-001-30642)",
+   "storage": {
+    "place_ids": [
+     "gas_cabinet_flammable"
+    ],
+    "min_pitch_m": 0.24,
+    "headroom_m": 1.6,
+    "expected_positions": [
+     "G1",
+     "G2",
+     "G3",
+     "G4"
+    ],
+    "note_zh": "4 位 G1..G4（50 L 钢瓶；8 × 10 L 时可两两并放）；Franka 不可达（房间设施）"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7035 light grey",
+     "doors": "RAL 7035 light grey",
+     "source_id": "asecos_g90_30641001"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w029_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs04_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w029_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs04_gas_cylinder",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_g90_205_140/collision_proxies.json b/assets/labware/furniture/asecos_g90_205_140/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8784d96077506e5157c9c3561c9862f636ef56f
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/collision_proxies.json
@@ -0,0 +1,276 @@
+{
+ "asset_type_id": "furniture.asecos_g90_205_140",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.398,
+      0.555,
+      0.09
+     ],
+     "origin_m": [
+      0.0,
+      0.03,
+      0.045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.398,
+      0.555,
+      0.102
+     ],
+     "origin_m": [
+      0.0,
+      0.03,
+      1.999
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.398,
+      0.155,
+      1.858
+     ],
+     "origin_m": [
+      0.0,
+      0.23,
+      1.019
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0765,
+      0.4,
+      1.858
+     ],
+     "origin_m": [
+      -0.66075,
+      -0.0475,
+      1.019
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0765,
+      0.4,
+      1.858
+     ],
+     "origin_m": [
+      0.66075,
+      -0.0475,
+      1.019
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.622,
+    -0.2475,
+    0.1
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "origin_m": [
+      0.31,
+      -0.03,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.58,
+      -0.095,
+      0.9
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.58,
+      -0.0775,
+      0.81
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.58,
+      -0.0775,
+      0.99
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.622,
+    -0.2475,
+    0.1
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.62,
+      0.06,
+      1.9
+     ],
+     "origin_m": [
+      -0.31,
+      -0.03,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.58,
+      -0.095,
+      0.9
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.58,
+      -0.0775,
+      0.81
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.58,
+      -0.0775,
+      0.99
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_g90_205_140/geometry_manifest.json b/assets/labware/furniture/asecos_g90_205_140/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90c88a89ae25822ddf93ad965b310a60455b7a3
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/geometry_manifest.json
@@ -0,0 +1,1066 @@
+{
+ "asset_type_id": "furniture.asecos_g90_205_140",
+ "catalog_id": null,
+ "name_zh": "asecos G-ULTIMATE-90 可燃气体钢瓶柜 G90.205.140（4 × 50 L）",
+ "name_en": "asecos gas cylinder cabinet G-ULTIMATE-90, G90.205.140",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.398,
+  0.658,
+  2.05
+ ],
+ "bounds_m": [
+  [
+   -0.699,
+   -0.3505,
+   0.0
+  ],
+  [
+   0.699,
+   0.3075,
+   2.05
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+ ],
+ "total_mass_kg": 690.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_g90_205_140",
+   "kind": "manufacturer",
+   "reference": "asecos gas cylinder cabinet G-ULTIMATE-90, model G90.205.140 (ID 30641-001-30642), listings Fisher Scientific 15185564 (https://fishersci.dk/shop/products/g-ultimate-90-gas-cylinders-storage-cabinet/15185564) and LabFriend (https://www.labfriend.com.my/asecos-gas-cylinder-cabinet-g-ultimate-90-wd)",
+   "locator": "external 1398 x 615 x 2050 mm, internal 1245 x 400 x 1858 mm, 4 x 50 L or 8 x 10 L cylinders, 707.5 kg (another listing 690 kg), EN 14470-2 type G90, two wing doors",
+   "note": "Ventilated fire-resistant cabinet for flammable gas cylinders. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "rama_50l_cylinder",
+   "kind": "manufacturer",
+   "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+   "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+   "note": "Typical European 50 L industrial / lab gas cylinder; the listing does not say whether 54 kg is tare - used as the empty mass. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "G90 door leaves, cylinder positions and door mass",
+   "locator": "engineering value",
+   "note": "Two wing doors 620 x 1900 x 60 mm (fire-resistant sandwich: 2 x 1.5 mm steel + 55 mm fire board at 450 kg/m3); 4 cylinder positions on the floor at 0.30 m pitch. (Door angle 180 deg and 690 kg from data sheet ID 30641-001.)",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_g90_30641001",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30641-001, model G90.205.140 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30641001-product-data-sheet_IN.pdf)",
+   "locator": "p.1: body and doors RAL 7035 light grey; 690 kg without interior; 2 doors, door opening angle 180 deg; depth with open doors 1337 mm",
+   "note": "Gas cylinder cabinet colours, mass and door angle.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "public_domain_signs",
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).",
+   "licence": "public domain"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
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+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
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+    0.0,
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+   "rpy_rad": [
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+    0.0,
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+   "joint": null,
+   "mass_kg": 576.2052,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 ID 30641-001：690 kg（无内部装备）减两扇门 113.8 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+  },
+  {
+   "id": "door_left",
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
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+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 180.0°"
+   },
+   "mass_kg": 56.8974,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+    "asecos_g90_205_140__door_left__decal_iso7010_w021_flammable",
+    "asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder"
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w029_gas_cylinder.png"
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+     "source_id": "public_domain_signs",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs04_gas_cylinder.png"
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+   ],
+   "collisions": [
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+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
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+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 180.0°"
+   },
+   "mass_kg": 56.8974,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+    "asecos_g90_205_140__door_right__decal_iso7010_w021_flammable",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg)",
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+   "accessor": "joint[door_right_joint]",
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+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 180.0°"
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+  "model_urdf": "model.urdf",
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+   "place_id": "gas_cabinet_flammable",
+   "part": "floor",
+   "kind": "storage",
+   "position_m": [
+    -0.45,
+    -0.0475,
+    0.09
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "carcass",
+   "headroom_m": 1.858,
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder_10l"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "气瓶底中心（柜内地板）"
+  },
+  {
+   "name": "G2",
+   "place_id": "gas_cabinet_flammable",
+   "part": "floor",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    -0.0475,
+    0.09
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "carcass",
+   "headroom_m": 1.858,
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder_10l"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "气瓶底中心（柜内地板）"
+  },
+  {
+   "name": "G3",
+   "place_id": "gas_cabinet_flammable",
+   "part": "floor",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    -0.0475,
+    0.09
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "carcass",
+   "headroom_m": 1.858,
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder_10l"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "气瓶底中心（柜内地板）"
+  },
+  {
+   "name": "G4",
+   "place_id": "gas_cabinet_flammable",
+   "part": "floor",
+   "kind": "storage",
+   "position_m": [
+    0.45,
+    -0.0475,
+    0.09
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "carcass",
+   "headroom_m": 1.858,
+   "fits": [
+    "gas_cylinder_50l",
+    "gas_cylinder_10l"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "气瓶底中心（柜内地板）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.622,
+     -0.2475,
+     0.1
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     3.141593
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.62,
+     0.06,
+     1.9
+    ],
+    "mass_kg": 56.897,
+    "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.58,
+      -0.095,
+      0.9
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.58
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.622,
+     -0.2475,
+     0.1
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     3.141593
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.62,
+     0.06,
+     1.9
+    ],
+    "mass_kg": 56.897,
+    "mass_note_zh": "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.58,
+      -0.095,
+      0.9
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.58
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.3425,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.3425,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_g90_205_140",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Gas cylinder cabinet G-ULTIMATE-90, model G90.205.140",
+  "catalogue_no": "G90.205.140 (ID 30641-001-30642)",
+  "storage": {
+   "place_ids": [
+    "gas_cabinet_flammable"
+   ],
+   "min_pitch_m": 0.24,
+   "headroom_m": 1.6,
+   "expected_positions": [
+    "G1",
+    "G2",
+    "G3",
+    "G4"
+   ],
+   "note_zh": "4 位 G1..G4（50 L 钢瓶；8 × 10 L 时可两两并放）；Franka 不可达（房间设施）"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7035 light grey",
+    "doors": "RAL 7035 light grey",
+    "source_id": "asecos_g90_30641001"
+   },
+   "labels": [
+    {
+     "door": "door_left",
+     "sign": "iso7010_w029_gas_cylinder",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "iso7010_w021_flammable",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "ghs04_gas_cylinder",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w029_gas_cylinder",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W029.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w021_flammable",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "ghs04_gas_cylinder",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-bottle.svg"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部尺寸、质量（690 kg）、开门角（180°）按 asecos 数据表 ID 30641-001；门扇尺寸、门质量与瓶位为假设。",
+  "通风、气瓶固定架、管路穿板未建模。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4d2caa2eff5d06a1ac2260dbb56f74141874e27d
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_g90_205_140__carcass
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1e640e61221eb9e3899bc28231ad8d2fd0b79573
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_g90_205_140__carcass.mtl
+usemtl asecos_g90_205_140__carcass
+# https://github.com/mikedh/trimesh
+v -0.69900000 -0.24750000 0.00000000
+v -0.69900000 -0.24750000 0.09000000
+v -0.69900000 0.30750000 0.00000000
+v -0.69900000 0.30750000 0.09000000
+v 0.69900000 -0.24750000 0.00000000
+v 0.69900000 -0.24750000 0.09000000
+v 0.69900000 0.30750000 0.00000000
+v 0.69900000 0.30750000 0.09000000
+v -0.69900000 -0.24750000 1.94800000
+v -0.69900000 -0.24750000 2.05000000
+v -0.69900000 0.30750000 1.94800000
+v -0.69900000 0.30750000 2.05000000
+v 0.69900000 -0.24750000 1.94800000
+v 0.69900000 -0.24750000 2.05000000
+v 0.69900000 0.30750000 1.94800000
+v 0.69900000 0.30750000 2.05000000
+v -0.69900000 0.15250000 0.09000000
+v -0.69900000 0.15250000 1.94800000
+v -0.69900000 0.30750000 0.09000000
+v -0.69900000 0.30750000 1.94800000
+v 0.69900000 0.15250000 0.09000000
+v 0.69900000 0.15250000 1.94800000
+v 0.69900000 0.30750000 0.09000000
+v 0.69900000 0.30750000 1.94800000
+v -0.69900000 -0.24750000 0.09000000
+v -0.69900000 -0.24750000 1.94800000
+v -0.69900000 0.15250000 0.09000000
+v -0.69900000 0.15250000 1.94800000
+v -0.62250000 -0.24750000 0.09000000
+v -0.62250000 -0.24750000 1.94800000
+v -0.62250000 0.15250000 0.09000000
+v -0.62250000 0.15250000 1.94800000
+v 0.62250000 -0.24750000 0.09000000
+v 0.62250000 -0.24750000 1.94800000
+v 0.62250000 0.15250000 0.09000000
+v 0.62250000 0.15250000 1.94800000
+v 0.69900000 -0.24750000 0.09000000
+v 0.69900000 -0.24750000 1.94800000
+v 0.69900000 0.15250000 0.09000000
+v 0.69900000 0.15250000 1.94800000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..590d455dc8f8cbf17a18add00fb333be985295ab
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_g90_205_140__door_left
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..892a8d32de92095bbf4ecba675f0f7e3512a8aba
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_g90_205_140__door_left.mtl
+usemtl asecos_g90_205_140__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.06000000 0.00000000
+v 0.00000000 -0.06000000 1.90000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.90000000
+v 0.62000000 -0.06000000 0.00000000
+v 0.62000000 -0.06000000 1.90000000
+v 0.62000000 0.00000000 0.00000000
+v 0.62000000 0.00000000 1.90000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..243de056bd9d2a9582ac8a0e6387d83ee894e964
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs04_gas_cylinder.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a13a89b8a4e8f4e11134072c03a0016c75f180d2
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.mtl
+usemtl asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder
+v 0.245000 -0.060600 0.945000
+v 0.375000 -0.060600 0.945000
+v 0.375000 -0.060600 1.075000
+v 0.245000 -0.060600 1.075000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..351a29f62ff830919bb51a3ee136fbe3fd00b833
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_left__decal_iso7010_w021_flammable
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w021_flammable.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d71eb7a69ef353cb62087c9d853f7da75c910778
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.mtl
+usemtl asecos_g90_205_140__door_left__decal_iso7010_w021_flammable
+v 0.225000 -0.060600 1.145000
+v 0.395000 -0.060600 1.145000
+v 0.395000 -0.060600 1.315000
+v 0.225000 -0.060600 1.315000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b0be298155ace65dc910293df1b359112e7ae0dd
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w029_gas_cylinder.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20f254e1defa96fa10ee28f520cb4b6a92febbe2
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.mtl
+usemtl asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder
+v 0.225000 -0.060600 1.365000
+v 0.395000 -0.060600 1.365000
+v 0.395000 -0.060600 1.535000
+v 0.225000 -0.060600 1.535000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b5d3933edd10327e3e2a81a615c00ec5fe030d50
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_g90_205_140__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68f7f28ba659632bc1fdb5509ec420661af2a70b
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_g90_205_140__door_left__handle.mtl
+usemtl asecos_g90_205_140__door_left__handle
+# https://github.com/mikedh/trimesh
+v 0.58000000 -0.09500000 0.80000000
+v 0.58800000 -0.09500000 0.80000000
+v 0.58800000 -0.09500000 1.00000000
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+
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1ff1058a4f96ffd09c1dfb993f53a0858a89d2fb
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_g90_205_140__door_right
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..55e343c8881267afd075d32bab2e5a59f2389a5a
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_g90_205_140__door_right.mtl
+usemtl asecos_g90_205_140__door_right
+# https://github.com/mikedh/trimesh
+v -0.62000000 -0.06000000 0.00000000
+v -0.62000000 -0.06000000 1.90000000
+v -0.62000000 0.00000000 0.00000000
+v -0.62000000 0.00000000 1.90000000
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+f 2 4 1
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+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cf668fc20dcfed2971ecbed883f0310c2a106422
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs04_gas_cylinder.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ee61e910bd6ce7e5fd51e3925f8b9d6c0b86020c
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.mtl
+usemtl asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder
+v -0.375000 -0.060600 0.945000
+v -0.245000 -0.060600 0.945000
+v -0.245000 -0.060600 1.075000
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+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29c7193a743e449c5cce26503234e32564db9804
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_right__decal_iso7010_w021_flammable
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w021_flammable.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e163b0ff9ae43c7f79c19ea963a168f94f185414
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.mtl
+usemtl asecos_g90_205_140__door_right__decal_iso7010_w021_flammable
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+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..976ee779e4e6ce6b2196dff866486a1566ccf235
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w029_gas_cylinder.png
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68aecf3300e2789ff9dcabcd02ec0f8ce2c0fbcc
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.obj
@@ -0,0 +1,12 @@
+mtllib asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.mtl
+usemtl asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder
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+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.mtl b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..53d12b9724615d49d9dc1aef6d3856448a549d3b
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_g90_205_140__door_right__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.obj b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9ddb9bff334610511d70a02b5f3b546a1e7b281c
--- /dev/null
+++ b/assets/labware/furniture/asecos_g90_205_140/meshes/asecos_g90_205_140__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_g90_205_140__door_right__handle.mtl
+usemtl asecos_g90_205_140__door_right__handle
+# https://github.com/mikedh/trimesh
+v -0.58000000 -0.09500000 0.80000000
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+v -0.57200000 -0.09500000 1.00000000
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+<?xml version="1.0"?>
+<robot name="asecos_g90_205_140">
+  <link name="base_link" />
+  <link name="carcass">
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+    </collision>
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+    <parent link="base_link" />
+    <child link="carcass" />
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+  </joint>
+  <link name="door_left">
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+      <mass value="56.8974" />
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+    </inertial>
+    <visual name="asecos_g90_205_140__door_left">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_left.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_left">
+        <color rgba="0.59720 0.63076 0.60383 1.000" />
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+    </visual>
+    <visual name="asecos_g90_205_140__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_left__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_left__decal_iso7010_w029_gas_cylinder">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w029_gas_cylinder.png" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_left__decal_iso7010_w021_flammable">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_left__decal_iso7010_w021_flammable.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_left__decal_iso7010_w021_flammable">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w021_flammable.png" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder.obj" />
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+      <material name="mat_asecos_g90_205_140__door_left__decal_ghs04_gas_cylinder">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs04_gas_cylinder.png" />
+      </material>
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+      <origin xyz="0.31 -0.03 0.95" rpy="0 0 0" />
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+      </geometry>
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+    <collision>
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+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.622 -0.2475 0.1" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="3.141593" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.31 -0.0515 0.95" rpy="0 0 0" />
+      <mass value="56.8974" />
+      <inertia ixx="17.1669" ixy="0" ixz="0" iyy="18.9392" iyz="0" izz="1.87292" />
+    </inertial>
+    <visual name="asecos_g90_205_140__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_right">
+        <color rgba="0.59720 0.63076 0.60383 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_right__decal_iso7010_w029_gas_cylinder">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w029_gas_cylinder.png" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_right__decal_iso7010_w021_flammable">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_right__decal_iso7010_w021_flammable.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_right__decal_iso7010_w021_flammable">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w021_flammable.png" />
+      </material>
+    </visual>
+    <visual name="asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder.obj" />
+      </geometry>
+      <material name="mat_asecos_g90_205_140__door_right__decal_ghs04_gas_cylinder">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs04_gas_cylinder.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.31 -0.03 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.62 0.06 1.9" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.58 -0.095 0.9" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.58 -0.0775 0.81" rpy="0 0 0" />
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+    </collision>
+    <collision>
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+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.622 -0.2475 0.1" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="3.141593" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/asecos_q90_195_120/asset.contract.json b/assets/labware/furniture/asecos_q90_195_120/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..25efd99b9d9569df7505523b6c4712dec71d3721
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/asset.contract.json
@@ -0,0 +1,515 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_q90_195_120",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos Q-CLASSIC-90 易燃品安全柜 Q90.195.120（EN 14470-1 type 90，两扇门，3 层隔板）",
+ "category": "furniture.storage.flammables_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "易燃液体安全柜 asecos Q90.195.120：外形 1193×615×1953 mm、内部 1050×522×1647 mm、两扇翼门最大 89.5°、3 层可调隔板 + 底部集液槽。清单位置 flammables_cabinet：3 层 × 6 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_q90_195_120/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "f364f15095b70587a42c42f411c8d2539e31ce09317a267a9108bbbc345fdf5d"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_q90_195_120/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "8bafba98269f6fb9edfa54127950207de1ceff07852fd718aea4c0458e84b367"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_q90_195_120/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e85de75404686a943d0b1e2b679d13b8759216ae8492e1fd610818416147fa01"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_q90_195_120/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "bf374fe03e3842f2a0a1e4109d607c5ecf007180ee017efefb99c0bf3cfe04ec"
+  }
+ },
+ "sources": {
+  "asecos_q90_195_120": {
+   "kind": "manufacturer",
+   "reference": "asecos safety storage cabinet Q-CLASSIC-90, model Q90.195.120, product data sheet ID 34192-041 (https://asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_34192041-product-data-sheet_IN.pdf); 3-shelf version listed by LabFriend (https://www.labfriend.com.my/asecos-q-classic-90-safety-storage-cabinet-1200x615x1955mm-3-shelves)",
+   "locator": "data sheet p.1: external 1193 x 615 x 1953 mm, internal 1050 x 522 x 1647 mm, 460 kg, 2 wing doors, opening angle 89.5 deg, depth with open doors 1165 mm, interior grid 32 mm, transport base 90 mm, RAL 7016 body / RAL 7035 doors; p.2 drawing (door leaves); listing: 3 height-adjustable shelves (75 kg each) + bottom collecting sump",
+   "note": "EN 14470-1 type 90 cabinet for flammable liquids."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "asecos cabinet door leaves, shelf heights and door mass",
+   "locator": "engineering value",
+   "note": "Door leaf 545 x 1750 x 30 mm per wing (data-sheet drawing: 1007 mm between the open leaves, 551 mm swing depth); handle at 1.0 m on the meeting edges; 3 shelves at 0.40 m pitch above the bottom sump (32 mm interior grid allows this); door mass from a steel-skin (2 x 1 mm) + 25 mm fire-board (450 kg/m3) sandwich."
+  },
+  "asecos_q90_30001041": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30001-041, model Q90.195.120 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30001041-product-data-sheet_IN.pdf)",
+   "locator": "p.1 colouring: body RAL 7016 anthracite grey, wing doors RAL 7035 light grey",
+   "note": "Standard 3-shelf Q90.195.120 colours."
+  },
+  "public_domain_signs": {
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_q90_195_120__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.193,
+      0.615,
+      1.953
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_q90_195_120"
+     ],
+     "uncertainty": null
+    },
+    "inner_size_m": {
+     "value": [
+      1.05,
+      0.522,
+      1.647
+     ],
+     "unit": "m",
+     "meaning_zh": "内部 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_q90_195_120"
+     ],
+     "uncertainty": null
+    },
+    "fire_resistance_min": {
+     "value": 90,
+     "unit": "min",
+     "meaning_zh": "EN 14470-1 耐火 90 min",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_q90_195_120"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 408.592875,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表整机 460 kg（无内部装备）减两扇门 51.4 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_q90_195_120"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_q90_195_120__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 25.703563,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_q90_195_120__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 25.703563,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.56207
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 89.5°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "asecos_q90_195_120"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.56207
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 89.5°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "asecos_q90_195_120"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部尺寸、整机质量、门数与开门角按 asecos 数据表；门扇尺寸、隔板高度、门质量为按图纸比例的假设。",
+  "门的自闭、锁、通风管与热熔连杆未建模；门为被动铰链。",
+  "本数据表为 .MM（多隔间）版本；3 层隔板配置按经销商对 Q90.195.120 的描述。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.547,
+      -0.2775,
+      0.15
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.56207
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "mass_kg": 25.704,
+     "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+     "handle": {
+      "pos_m": [
+       -0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.505,
+       -0.065,
+       0.85
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.505
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.547,
+      -0.2775,
+      0.15
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.56207
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "mass_kg": 25.704,
+     "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+     "handle": {
+      "pos_m": [
+       0.042,
+       -0.3425,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.505,
+       -0.065,
+       0.85
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.505
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_q90_195_120",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Q-CLASSIC-90 safety storage cabinet, model Q90.195.120 (3 shelves + bottom sump)",
+   "catalogue_no": "Q90.195.120 (data sheet ID 34192-041 for .MM)",
+   "storage": {
+    "place_ids": [
+     "flammables_cabinet"
+    ],
+    "min_pitch_m": 0.17,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06"
+    ],
+    "note_zh": "3 层 × 6 位（S1 最低隔板）；底部集液槽不放容器；Franka 固定基座不可达（房间家具）"
+   },
+   "appearance": {
+    "body": {
+     "body": "RAL 7016 anthracite grey",
+     "doors": "RAL 7035 light grey",
+     "source_id": "asecos_q90_30001041"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs02_flame",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w021_flammable",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs02_flame",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "iso7010_p003_no_open_flame",
+      "licence": "Public domain"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_q90_195_120/collision_proxies.json b/assets/labware/furniture/asecos_q90_195_120/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4be43d22280199c2fc1c1b2fed6508447cda9e2
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/collision_proxies.json
@@ -0,0 +1,330 @@
+{
+ "asset_type_id": "furniture.asecos_q90_195_120",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.193,
+      0.585,
+      0.198
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.099
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.193,
+      0.585,
+      0.108
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      1.899
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.193,
+      0.063,
+      1.647
+     ],
+     "origin_m": [
+      0.0,
+      0.276,
+      1.0215
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0715,
+      0.522,
+      1.647
+     ],
+     "origin_m": [
+      -0.56075,
+      -0.0165,
+      1.0215
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0715,
+      0.522,
+      1.647
+     ],
+     "origin_m": [
+      0.56075,
+      -0.0165,
+      1.0215
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.046,
+      0.512,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0115,
+      0.5855
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.046,
+      0.512,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0115,
+      0.9855
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.046,
+      0.512,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0115,
+      1.3855
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.547,
+    -0.27749999999999997,
+    0.15
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "origin_m": [
+      0.2725,
+      -0.015,
+      0.875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.505,
+      -0.065,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.505,
+      -0.0475,
+      0.76
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.505,
+      -0.0475,
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+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_q90_195_120/geometry_manifest.json b/assets/labware/furniture/asecos_q90_195_120/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45585eaedbf2004a88bc6011a0329aded1a0dba
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/geometry_manifest.json
@@ -0,0 +1,1559 @@
+{
+ "asset_type_id": "furniture.asecos_q90_195_120",
+ "catalog_id": null,
+ "name_zh": "asecos Q-CLASSIC-90 易燃品安全柜 Q90.195.120（EN 14470-1 type 90，两扇门，3 层隔板）",
+ "name_en": "asecos safety storage cabinet Q-CLASSIC-90, Q90.195.120 (EN 14470-1 type 90)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.193,
+  0.658,
+  1.953
+ ],
+ "bounds_m": [
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+   -0.3505,
+   0.0
+  ],
+  [
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+   0.3075,
+   1.953
+  ]
+ ],
+ "total_mass_kg": 460.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_q90_195_120",
+   "kind": "manufacturer",
+   "reference": "asecos safety storage cabinet Q-CLASSIC-90, model Q90.195.120, product data sheet ID 34192-041 (https://asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_34192041-product-data-sheet_IN.pdf); 3-shelf version listed by LabFriend (https://www.labfriend.com.my/asecos-q-classic-90-safety-storage-cabinet-1200x615x1955mm-3-shelves)",
+   "locator": "data sheet p.1: external 1193 x 615 x 1953 mm, internal 1050 x 522 x 1647 mm, 460 kg, 2 wing doors, opening angle 89.5 deg, depth with open doors 1165 mm, interior grid 32 mm, transport base 90 mm, RAL 7016 body / RAL 7035 doors; p.2 drawing (door leaves); listing: 3 height-adjustable shelves (75 kg each) + bottom collecting sump",
+   "note": "EN 14470-1 type 90 cabinet for flammable liquids.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "asecos cabinet door leaves, shelf heights and door mass",
+   "locator": "engineering value",
+   "note": "Door leaf 545 x 1750 x 30 mm per wing (data-sheet drawing: 1007 mm between the open leaves, 551 mm swing depth); handle at 1.0 m on the meeting edges; 3 shelves at 0.40 m pitch above the bottom sump (32 mm interior grid allows this); door mass from a steel-skin (2 x 1 mm) + 25 mm fire-board (450 kg/m3) sandwich.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_q90_30001041",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30001-041, model Q90.195.120 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30001041-product-data-sheet_IN.pdf)",
+   "locator": "p.1 colouring: body RAL 7016 anthracite grey, wing doors RAL 7035 light grey",
+   "note": "Standard 3-shelf Q90.195.120 colours.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "public_domain_signs",
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).",
+   "licence": "public domain"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
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+    0.0,
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+   "rpy_rad": [
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+   "joint": null,
+   "mass_kg": 408.592875,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表整机 460 kg（无内部装备）减两扇门 51.4 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+    "asecos_q90_195_120__carcass__shelves"
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+    },
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+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.046,
+      0.512,
+      0.025
+     ],
+     "origin_m": [
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+      -0.0115,
+      0.5855
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
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+     "origin_m": [
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+    }
+   ]
+  },
+  {
+   "id": "door_left",
+   "name_zh": "左门",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
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+    0.15
+   ],
+   "rpy_rad": [
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+   ],
+   "joint": {
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+    "axis": [
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+    "limits": [
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+    "evidence": "documented",
+    "source_ids": [
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+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 89.5°"
+   },
+   "mass_kg": 25.703563,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+    "asecos_q90_195_120__door_left__handle",
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+    "asecos_q90_195_120__door_left__decal_ghs02_flame",
+    "asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame"
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+   "detachable": false,
+   "appearance": [
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+     "ral": "RAL 7035",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w021_flammable.png"
+    },
+    {
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+     "rgba_srgb": [
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg)",
+     "source_id": "public_domain_signs",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_P003.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_p003_no_open_flame.png"
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+   "collisions": [
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+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
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+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+     "shape": "box",
+     "size_m": [
+      0.545,
+      0.03,
+      1.75
+     ],
+     "origin_m": [
+      -0.2725,
+      -0.015,
+      0.875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.505,
+      -0.065,
+      0.85
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.505,
+      -0.0475,
+      0.76
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.505,
+      -0.0475,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "asecos_q90_195_120__root",
+ "joint_definitions": {
+  "door_left": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.56207
+   ],
+   "accessor": "joint[door_left_joint]",
+   "state_id": null,
+   "range_evidence": "documented",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 89.5°"
+  },
+  "door_right": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.56207
+   ],
+   "accessor": "joint[door_right_joint]",
+   "state_id": null,
+   "range_evidence": "documented",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 89.5°"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "S1-01",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.4375,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S1-02",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.2625,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S1-03",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.0875,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S1-04",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.0875,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S1-05",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.2625,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S1-06",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.4375,
+    -0.0165,
+    0.598
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-01",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.4375,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-02",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.2625,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-03",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.0875,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-04",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.0875,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-05",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.2625,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S2-06",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.4375,
+    -0.0165,
+    0.998
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.375,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-01",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.4375,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-02",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.2625,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-03",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    -0.0875,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-04",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.0875,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-05",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.2625,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  },
+  {
+   "name": "S3-06",
+   "place_id": "flammables_cabinet",
+   "part": "shelf_3",
+   "kind": "storage",
+   "position_m": [
+    0.4375,
+    -0.0165,
+    1.398
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.08,
+   "moves_with": "carcass",
+   "headroom_m": 0.447,
+   "fits": [
+    "bottle",
+    "solvent_bottle",
+    "gl45_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint",
+    "door_right_joint"
+   ],
+   "note_zh": "每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.547,
+     -0.2775,
+     0.15
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.56207
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.545,
+     0.03,
+     1.75
+    ],
+    "mass_kg": 25.704,
+    "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+    "handle": {
+     "pos_m": [
+      -0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.505,
+      -0.065,
+      0.85
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.505
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.547,
+     -0.2775,
+     0.15
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.56207
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.545,
+     0.03,
+     1.75
+    ],
+    "mass_kg": 25.704,
+    "mass_note_zh": "门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × 545×1750 mm",
+    "handle": {
+     "pos_m": [
+      0.042,
+      -0.3425,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.505,
+      -0.065,
+      0.85
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.505
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.042,
+     -0.3425,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.042,
+     -0.3425,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_q90_195_120",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Q-CLASSIC-90 safety storage cabinet, model Q90.195.120 (3 shelves + bottom sump)",
+  "catalogue_no": "Q90.195.120 (data sheet ID 34192-041 for .MM)",
+  "storage": {
+   "place_ids": [
+    "flammables_cabinet"
+   ],
+   "min_pitch_m": 0.17,
+   "headroom_m": 0.3,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06"
+   ],
+   "note_zh": "3 层 × 6 位（S1 最低隔板）；底部集液槽不放容器；Franka 固定基座不可达（房间家具）"
+  },
+  "appearance": {
+   "body": {
+    "body": "RAL 7016 anthracite grey",
+    "doors": "RAL 7035 light grey",
+    "source_id": "asecos_q90_30001041"
+   },
+   "labels": [
+    {
+     "door": "door_left",
+     "sign": "iso7010_w021_flammable",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "ghs02_flame",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w021_flammable",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W021.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "ghs02_flame",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-flamme.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "iso7010_p003_no_open_flame",
+     "licence": "Public domain"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部尺寸、整机质量、门数与开门角按 asecos 数据表；门扇尺寸、隔板高度、门质量为按图纸比例的假设。",
+  "门的自闭、锁、通风管与热熔连杆未建模；门为被动铰链。",
+  "本数据表为 .MM（多隔间）版本；3 层隔板配置按经销商对 Q90.195.120 的描述。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..590ff2c911b0e870ccf1a20b9f468e41ac60f7dd
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__carcass
+Kd 0.2157 0.2471 0.2627
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b104bef13e709d86c5488e957b57c4fbbf2da2
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass.obj
@@ -0,0 +1,104 @@
+mtllib asecos_q90_195_120__carcass.mtl
+usemtl asecos_q90_195_120__carcass
+# https://github.com/mikedh/trimesh
+v -0.59650000 -0.27750000 0.00000000
+v -0.59650000 -0.27750000 0.19800000
+v -0.59650000 0.30750000 0.00000000
+v -0.59650000 0.30750000 0.19800000
+v 0.59650000 -0.27750000 0.00000000
+v 0.59650000 -0.27750000 0.19800000
+v 0.59650000 0.30750000 0.00000000
+v 0.59650000 0.30750000 0.19800000
+v -0.59650000 -0.27750000 1.84500000
+v -0.59650000 -0.27750000 1.95300000
+v -0.59650000 0.30750000 1.84500000
+v -0.59650000 0.30750000 1.95300000
+v 0.59650000 -0.27750000 1.84500000
+v 0.59650000 -0.27750000 1.95300000
+v 0.59650000 0.30750000 1.84500000
+v 0.59650000 0.30750000 1.95300000
+v -0.59650000 0.24450000 0.19800000
+v -0.59650000 0.24450000 1.84500000
+v -0.59650000 0.30750000 0.19800000
+v -0.59650000 0.30750000 1.84500000
+v 0.59650000 0.24450000 0.19800000
+v 0.59650000 0.24450000 1.84500000
+v 0.59650000 0.30750000 0.19800000
+v 0.59650000 0.30750000 1.84500000
+v -0.59650000 -0.27750000 0.19800000
+v -0.59650000 -0.27750000 1.84500000
+v -0.59650000 0.24450000 0.19800000
+v -0.59650000 0.24450000 1.84500000
+v -0.52500000 -0.27750000 0.19800000
+v -0.52500000 -0.27750000 1.84500000
+v -0.52500000 0.24450000 0.19800000
+v -0.52500000 0.24450000 1.84500000
+v 0.52500000 -0.27750000 0.19800000
+v 0.52500000 -0.27750000 1.84500000
+v 0.52500000 0.24450000 0.19800000
+v 0.52500000 0.24450000 1.84500000
+v 0.59650000 -0.27750000 0.19800000
+v 0.59650000 -0.27750000 1.84500000
+v 0.59650000 0.24450000 0.19800000
+v 0.59650000 0.24450000 1.84500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a8802c1f58c388bdee027aa68d4ffe6c9876ff3f
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20c7541a6e542607240edbbb59a09db547ea9a7f
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__carcass__shelves.obj
@@ -0,0 +1,64 @@
+mtllib asecos_q90_195_120__carcass__shelves.mtl
+usemtl asecos_q90_195_120__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.52300000 -0.26750000 0.57300000
+v -0.52300000 -0.26750000 0.59800000
+v -0.52300000 0.24450000 0.57300000
+v -0.52300000 0.24450000 0.59800000
+v 0.52300000 -0.26750000 0.57300000
+v 0.52300000 -0.26750000 0.59800000
+v 0.52300000 0.24450000 0.57300000
+v 0.52300000 0.24450000 0.59800000
+v -0.52300000 -0.26750000 0.97300000
+v -0.52300000 -0.26750000 0.99800000
+v -0.52300000 0.24450000 0.97300000
+v -0.52300000 0.24450000 0.99800000
+v 0.52300000 -0.26750000 0.97300000
+v 0.52300000 -0.26750000 0.99800000
+v 0.52300000 0.24450000 0.97300000
+v 0.52300000 0.24450000 0.99800000
+v -0.52300000 -0.26750000 1.37300000
+v -0.52300000 -0.26750000 1.39800000
+v -0.52300000 0.24450000 1.37300000
+v -0.52300000 0.24450000 1.39800000
+v 0.52300000 -0.26750000 1.37300000
+v 0.52300000 -0.26750000 1.39800000
+v 0.52300000 0.24450000 1.37300000
+v 0.52300000 0.24450000 1.39800000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..524491ec06f8680fb807393a2e612e50216f571a
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__door_left
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f23c3d55e8618c797cb5ca86c033d3d22fe2899
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_q90_195_120__door_left.mtl
+usemtl asecos_q90_195_120__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.03000000 0.00000000
+v 0.00000000 -0.03000000 1.75000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.75000000
+v 0.54500000 -0.03000000 0.00000000
+v 0.54500000 -0.03000000 1.75000000
+v 0.54500000 0.00000000 0.00000000
+v 0.54500000 0.00000000 1.75000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a4f4c9e948b0107b6d2676fbe98bb610ff7f4688
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_q90_195_120__door_left__decal_ghs02_flame
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs02_flame.png
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.obj
new file mode 100644
index 0000000000000000000000000000000000000000..840cc0591ea8e4a0679706920f60809bb77d2dba
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_ghs02_flame.obj
@@ -0,0 +1,12 @@
+mtllib asecos_q90_195_120__door_left__decal_ghs02_flame.mtl
+usemtl asecos_q90_195_120__door_left__decal_ghs02_flame
+v 0.207500 -0.030600 1.115000
+v 0.337500 -0.030600 1.115000
+v 0.337500 -0.030600 1.245000
+v 0.207500 -0.030600 1.245000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5b2ea981aa02fec5ae59e559394f58b687be2ba8
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_p003_no_open_flame.png
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9b47c5015c95690922d504bbb742bc302939089a
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.obj
@@ -0,0 +1,12 @@
+mtllib asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame.mtl
+usemtl asecos_q90_195_120__door_left__decal_iso7010_p003_no_open_flame
+v 0.207500 -0.030600 0.895000
+v 0.337500 -0.030600 0.895000
+v 0.337500 -0.030600 1.025000
+v 0.207500 -0.030600 1.025000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f078c17d90ef44aa11bb301c6aaea366de700880
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_q90_195_120__door_left__decal_iso7010_w021_flammable
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w021_flammable.png
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a3b2a9616d581538458c4f2ed1743ec77114b928
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.obj
@@ -0,0 +1,12 @@
+mtllib asecos_q90_195_120__door_left__decal_iso7010_w021_flammable.mtl
+usemtl asecos_q90_195_120__door_left__decal_iso7010_w021_flammable
+v 0.187500 -0.030600 1.315000
+v 0.357500 -0.030600 1.315000
+v 0.357500 -0.030600 1.485000
+v 0.187500 -0.030600 1.485000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a9131162d4f76bdbec87ead04214983b21aea3fd
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fdafce39aebe68dbb3d61a1b0fbee39dc1e5accd
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_q90_195_120__door_left__handle.mtl
+usemtl asecos_q90_195_120__door_left__handle
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1bc37362df0869ccdef0d20eee399acf8ea3f80a
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__door_right
+Kd 0.7961 0.8157 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2ccb5411b8b14acca65a5c2c66c3adf305cfb0d1
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_q90_195_120__door_right.mtl
+usemtl asecos_q90_195_120__door_right
+# https://github.com/mikedh/trimesh
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+
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..882aa5f37b03dd70b017fc74d3b6b3b0d5933403
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_q90_195_120__door_right__decal_ghs02_flame
+Kd 1 1 1
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+Ns 20
+d 1
+map_Kd textures/label_ghs02_flame.png
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.obj
new file mode 100644
index 0000000000000000000000000000000000000000..60c053cb763f06fecd287a87708493b85ab4c9e4
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_ghs02_flame.obj
@@ -0,0 +1,12 @@
+mtllib asecos_q90_195_120__door_right__decal_ghs02_flame.mtl
+usemtl asecos_q90_195_120__door_right__decal_ghs02_flame
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+f 1/1 2/2 3/3
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diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..75855dbe4628c1007393ca4febc347e3cf14930e
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_q90_195_120__door_right__decal_iso7010_w021_flammable
+Kd 1 1 1
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+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w021_flammable.png
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d3aa15591f8fb940cdb6bd63aa352011b295578
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.obj
@@ -0,0 +1,12 @@
+mtllib asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.mtl
+usemtl asecos_q90_195_120__door_right__decal_iso7010_w021_flammable
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diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.mtl b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d14fb58bb3a64fef8dabbf8748397a4873fd7ce3
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_q90_195_120__door_right__handle
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+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.obj b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..03f27276f00ceb98fd4b2a100cee6ae6e3c64957
--- /dev/null
+++ b/assets/labware/furniture/asecos_q90_195_120/meshes/asecos_q90_195_120__door_right__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_q90_195_120__door_right__handle.mtl
+usemtl asecos_q90_195_120__door_right__handle
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+<?xml version="1.0"?>
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+  </link>
+  <joint name="door_left_joint" type="revolute">
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+    <origin xyz="-0.547 -0.2775 0.15" rpy="0 0 0" />
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+    <dynamics damping="0.5" friction="0.0" />
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+  <link name="door_right">
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+    <visual name="asecos_q90_195_120__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+    <visual name="asecos_q90_195_120__door_right__decal_iso7010_w021_flammable">
+      <origin xyz="0 0 0" rpy="0 0 0" />
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+        <mesh filename="meshes/asecos_q90_195_120__door_right__decal_iso7010_w021_flammable.obj" />
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+</robot>
diff --git a/assets/labware/furniture/asecos_sl_196_120/asset.contract.json b/assets/labware/furniture/asecos_sl_196_120/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a0df37c8a9a8d82302bcb1d07a5ae54c757d56
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/asset.contract.json
@@ -0,0 +1,507 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.asecos_sl_196_120",
+ "asset_version": "1.0.0",
+ "name_zh": "asecos SL-CLASSIC 酸碱柜 SL.196.120.MV（左酸右碱两隔间）",
+ "category": "furniture.storage.corrosives_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "酸碱柜 asecos SL.196.120.MV：外形 1197×603×1965 mm，两个密封隔间（每间内部 485×570×1869 mm），两扇门；左隔间放酸、右隔间放碱。清单位置 acids_cabinet（左）与 bases_cabinet（右）：各 2 层 × 6 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/asecos_sl_196_120/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "648708e0db6953a9fef0bf9b8b257542544caf324b08067a6a62f17b8a5ae53a"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/asecos_sl_196_120/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "c6a2b498a1cb67479fa8447bc4340b6cc82812d5dc6487a31084fff9c3881b90"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/asecos_sl_196_120/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1f0f5b6a691da42bd1ff7a37d8cd988582ea4c3e3b9d8b91273f4a27781fc818"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/asecos_sl_196_120/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "0e0d1f4eac25e08ae2e022f70b4328966ef995d00846be26b0a34cb5336c2031"
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+ },
+ "sources": {
+  "asecos_sl_196_120": {
+   "kind": "manufacturer",
+   "reference": "asecos cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV, product data sheet ID 30606-005 (https://www.asecos-configurator.com/EN/IT/download/DAT_EXT_30606005-product-data-sheet_IN.pdf); pull-out trays per Fisher Scientific listing 15231035",
+   "locator": "p.1: external 1197 x 603 x 1965 mm, internal (per compartment) 485 x 570 x 1869 mm, 215 kg, 2 doors, depth with open doors 1153 mm, two hermetically separated compartments (acids / bases), laboratory white",
+   "note": "Non-flammable acids and bases in separate compartments."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "cabinet_assumption": {
+   "kind": "assumption",
+   "reference": "SL-CLASSIC door leaves, compartment walls, trays and door mass",
+   "locator": "engineering value",
+   "note": "Two doors 590 x 1880 x 20 mm, each closing one compartment (485 mm wide inside); 2 tray levels per compartment as used by the default-lab inventory (the cabinet takes up to 4 pull-out trays per side); door mass from 1.2 mm steel + 8 mm insulation board (300 kg/m3); doors open 110 deg."
+  },
+  "asecos_sl_30606005": {
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30606-005, model SL.196.120.MV",
+   "locator": "p.1: body and doors laboratory white (sim. RAL 9016)",
+   "note": "Acid/base cabinet colour."
+  },
+  "public_domain_signs": {
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
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+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_sl_196_120__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      1.197,
+      0.603,
+      1.965
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_sl_196_120"
+     ],
+     "uncertainty": null
+    },
+    "compartment_inner_size_m": {
+     "value": [
+      0.485,
+      0.57,
+      1.869
+     ],
+     "unit": "m",
+     "meaning_zh": "每隔间内部 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_sl_196_120"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 188.778512,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（数据表 215 kg（无内部装备）减两扇门 26.2 kg）",
+     "evidence": "documented",
+     "source_ids": [
+      "asecos_sl_196_120"
+     ],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_left": {
+   "name_zh": "左门（酸隔间）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_left",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_sl_196_120__door_left",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 13.110744,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door_right": {
+   "name_zh": "右门（碱隔间）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door_right",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "asecos_sl_196_120__door_right",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 13.110744,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door_left": {
+   "component_id": "door_left",
+   "artifact_id": "model_urdf",
+   "target": "door_left_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  },
+  "joint_door_right": {
+   "component_id": "door_right",
+   "artifact_id": "model_urdf",
+   "target": "door_right_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "cabinet_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、隔间内部尺寸、质量、门数按 asecos 数据表；门扇尺寸、托盘高度、门质量与开门角为假设。",
+  "实际为抽拉托盘（每侧最多 4 层）；这里按清单的 2 层建为固定托盘。",
+  "通风、锁未建模。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door_left": {
+     "link": "door_left",
+     "joint": "door_left_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.5935,
+      -0.2815,
+      0.03
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "mass_kg": 13.111,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+     "handle": {
+      "pos_m": [
+       -0.0435,
+       -0.3365,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_left",
+      "pos_m": [
+       0.55,
+       -0.055,
+       0.97
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.55
+    },
+    "door_right": {
+     "link": "door_right",
+     "joint": "door_right_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.5935,
+      -0.2815,
+      0.03
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "mass_kg": 13.111,
+     "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+     "handle": {
+      "pos_m": [
+       0.0435,
+       -0.3365,
+       1.0
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door_right",
+      "pos_m": [
+       -0.55,
+       -0.055,
+       0.97
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.55
+    }
+   },
+   "frames": {
+    "handle_door_left": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "左门（酸隔间）拉手（关门位）"
+    },
+    "handle_door_right": {
+     "link": "base_link",
+     "pos_m": [
+      0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "右门（碱隔间）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.asecos_sl_196_120",
+   "family": "storage_furniture",
+   "maker": "asecos GmbH",
+   "model": "Cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV (laboratory white)",
+   "catalogue_no": "SL.196.120.MV (ID 30606-005)",
+   "storage": {
+    "place_ids": [
+     "acids_cabinet",
+     "bases_cabinet"
+    ],
+    "min_pitch_m": 0.15,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "A:S1-01",
+     "A:S1-02",
+     "A:S1-03",
+     "A:S1-04",
+     "A:S1-05",
+     "A:S1-06",
+     "A:S2-01",
+     "A:S2-02",
+     "A:S2-03",
+     "A:S2-04",
+     "A:S2-05",
+     "A:S2-06",
+     "B:S1-01",
+     "B:S1-02",
+     "B:S1-03",
+     "B:S1-04",
+     "B:S1-05",
+     "B:S1-06",
+     "B:S2-01",
+     "B:S2-02",
+     "B:S2-03",
+     "B:S2-04",
+     "B:S2-05",
+     "B:S2-06"
+    ],
+    "note_zh": "槽位名 A:S1-01..A:S2-06 = acids_cabinet 的 S1-01..S2-06；B:... = bases_cabinet；Franka 固定基座不可达（房间家具）"
+   },
+   "appearance": {
+    "body": {
+     "body": "laboratory white (sim. RAL 9016)",
+     "doors": "laboratory white (sim. RAL 9016)",
+     "source_id": "asecos_sl_30606005"
+    },
+    "labels": [
+     {
+      "door": "door_left",
+      "sign": "iso7010_w023_corrosive",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+     },
+     {
+      "door": "door_left",
+      "sign": "ghs05_corrosion",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "iso7010_w023_corrosive",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+     },
+     {
+      "door": "door_right",
+      "sign": "ghs05_corrosion",
+      "licence": "Public domain",
+      "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_sl_196_120/collision_proxies.json b/assets/labware/furniture/asecos_sl_196_120/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..facd5804a26f0b34be0cf76467319bf1605a798e
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/collision_proxies.json
@@ -0,0 +1,366 @@
+{
+ "asset_type_id": "furniture.asecos_sl_196_120",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      1.197,
+      0.583,
+      0.05
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      0.025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.197,
+      0.583,
+      0.046
+     ],
+     "origin_m": [
+      0.0,
+      0.01,
+      1.942
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.197,
+      0.013,
+      1.869
+     ],
+     "origin_m": [
+      0.0,
+      0.295,
+      0.9845
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.57,
+      1.869
+     ],
+     "origin_m": [
+      -0.5685,
+      0.0035,
+      0.9845
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.06,
+      0.57,
+      1.869
+     ],
+     "origin_m": [
+      0.5685,
+      0.0035,
+      0.9845
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.107,
+      0.57,
+      1.869
+     ],
+     "origin_m": [
+      0.0,
+      0.0035,
+      0.9845
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.481,
+      0.56,
+      0.025
+     ],
+     "origin_m": [
+      -0.296,
+      0.0085,
+      0.0975
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.481,
+      0.56,
+      0.025
+     ],
+     "origin_m": [
+      0.296,
+      0.0085,
+      0.0975
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.481,
+      0.56,
+      0.025
+     ],
+     "origin_m": [
+      -0.296,
+      0.0085,
+      0.5875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.481,
+      0.56,
+      0.025
+     ],
+     "origin_m": [
+      0.296,
+      0.0085,
+      0.5875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_left": {
+   "origin_m": [
+    -0.5935,
+    -0.2815,
+    0.03
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "origin_m": [
+      0.295,
+      -0.01,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      0.55,
+      -0.055,
+      0.97
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.55,
+      -0.0375,
+      0.88
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      0.55,
+      -0.0375,
+      1.06
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door_right": {
+   "origin_m": [
+    0.5935,
+    -0.2815,
+    0.03
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.59,
+      0.02,
+      1.88
+     ],
+     "origin_m": [
+      -0.295,
+      -0.01,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.55,
+      -0.055,
+      0.97
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.55,
+      -0.0375,
+      0.88
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.55,
+      -0.0375,
+      1.06
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_sl_196_120/geometry_manifest.json b/assets/labware/furniture/asecos_sl_196_120/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84bd01e0f244a4bd659f953434c50e0a1e3f37f
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/geometry_manifest.json
@@ -0,0 +1,1739 @@
+{
+ "asset_type_id": "furniture.asecos_sl_196_120",
+ "catalog_id": null,
+ "name_zh": "asecos SL-CLASSIC 酸碱柜 SL.196.120.MV（左酸右碱两隔间）",
+ "name_en": "asecos cabinet for acids and alkalis SL-CLASSIC, SL.196.120.MV",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.197,
+  0.646,
+  1.965
+ ],
+ "bounds_m": [
+  [
+   -0.5985,
+   -0.3445,
+   0.0
+  ],
+  [
+   0.5985,
+   0.3015,
+   1.965
+  ]
+ ],
+ "total_mass_kg": 215.0,
+ "mass_evidence": "assumption+documented",
+ "sources": [
+  {
+   "source_id": "asecos_sl_196_120",
+   "kind": "manufacturer",
+   "reference": "asecos cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV, product data sheet ID 30606-005 (https://www.asecos-configurator.com/EN/IT/download/DAT_EXT_30606005-product-data-sheet_IN.pdf); pull-out trays per Fisher Scientific listing 15231035",
+   "locator": "p.1: external 1197 x 603 x 1965 mm, internal (per compartment) 485 x 570 x 1869 mm, 215 kg, 2 doors, depth with open doors 1153 mm, two hermetically separated compartments (acids / bases), laboratory white",
+   "note": "Non-flammable acids and bases in separate compartments.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cabinet_assumption",
+   "kind": "assumption",
+   "reference": "SL-CLASSIC door leaves, compartment walls, trays and door mass",
+   "locator": "engineering value",
+   "note": "Two doors 590 x 1880 x 20 mm, each closing one compartment (485 mm wide inside); 2 tray levels per compartment as used by the default-lab inventory (the cabinet takes up to 4 pull-out trays per side); door mass from 1.2 mm steel + 8 mm insulation board (300 kg/m3); doors open 110 deg.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "asecos_sl_30606005",
+   "kind": "manufacturer",
+   "reference": "asecos product data sheet ID 30606-005, model SL.196.120.MV",
+   "locator": "p.1: body and doors laboratory white (sim. RAL 9016)",
+   "note": "Acid/base cabinet colour.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "public_domain_signs",
+   "kind": "publication",
+   "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+   "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+   "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).",
+   "licence": "public domain"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
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+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
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+    0.0,
+    0.0
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+   "rpy_rad": [
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+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 188.778512,
+   "mass_evidence": "documented",
+   "mass_note_zh": "数据表 215 kg（无内部装备）减两扇门 26.2 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
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+    "asecos_sl_196_120__carcass__shelves"
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+   "detachable": false,
+   "appearance": [
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+     "ral": "RAL 9016",
+     "source_id": "asecos_sl_30606005"
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+    {
+     "object": "asecos_sl_196_120__carcass__shelves",
+     "rgba_srgb": [
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+      0.72,
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+     "hex": "#B2B5B8",
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+      0.46236,
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+   "collisions": [
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+     "rpy_rad": [
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+    },
+    {
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0,
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+    },
+    {
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+     ],
+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     ],
+     "rpy_rad": [
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+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     ],
+     "origin_m": [
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+      0.0085,
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+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door_left",
+   "name_zh": "左门（酸隔间）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    -0.5935,
+    -0.2815,
+    0.03
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "limits": [
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+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
+   },
+   "mass_kg": 13.110744,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_sl_196_120__door_left",
+    "asecos_sl_196_120__door_left__handle",
+    "asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive",
+    "asecos_sl_196_120__door_left__decal_ghs05_corrosion"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_sl_196_120__door_left",
+     "rgba_srgb": [
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+     "ral": "RAL 9016",
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+      0.01002,
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+    },
+    {
+     "object": "asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive",
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+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_iso7010_w023_corrosive.png"
+    },
+    {
+     "object": "asecos_sl_196_120__door_left__decal_ghs05_corrosion",
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+      1.0,
+      1.0
+     ],
+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg)",
+     "source_id": "public_domain_signs",
+     "texture": "meshes/textures/label_ghs05_corrosion.png"
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+   ],
+   "collisions": [
+    {
+     "shape": "box",
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+    },
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+     "shape": "cylinder",
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+     "rpy_rad": [
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+    },
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+     "rpy_rad": [
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+    },
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+     "rpy_rad": [
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+    }
+   ]
+  },
+  {
+   "id": "door_right",
+   "name_zh": "右门（碱隔间）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
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+   ],
+   "rpy_rad": [
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+   "joint": {
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+    "axis": [
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+     0.0,
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+    ],
+    "limits": [
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+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "cabinet_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+   },
+   "mass_kg": 13.110744,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "asecos_sl_196_120__door_right",
+    "asecos_sl_196_120__door_right__handle",
+    "asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive",
+    "asecos_sl_196_120__door_right__decal_ghs05_corrosion"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "asecos_sl_196_120__door_right",
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+     "ral": "RAL 9016",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg)",
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+     "texture_licence": "Public domain (https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg)",
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+   "accessor": "joint[door_left_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 110.0°"
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+  "door_right": {
+   "type": "revolute",
+   "axis": [
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+   "limits_rad": [
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+   "accessor": "joint[door_right_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
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+ "artifacts": {
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+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
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+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
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+   "insert_axis": [
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+   "radius_m": 0.07,
+   "moves_with": "carcass",
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+   "fits": [
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+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
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+   "access": [
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+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S1-02",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
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+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
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+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S1-03",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
+   "position_m": [
+    -0.146,
+    -0.1315,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S1-04",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
+   "position_m": [
+    -0.446,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S1-05",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
+   "position_m": [
+    -0.296,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S1-06",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_1",
+   "kind": "storage",
+   "position_m": [
+    -0.146,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-01",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.446,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-02",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.296,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-03",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.146,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-04",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.446,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-05",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.296,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "A:S2-06",
+   "place_id": "acids_cabinet",
+   "part": "acid_tray_2",
+   "kind": "storage",
+   "position_m": [
+    -0.146,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_left_joint"
+   ],
+   "note_zh": "酸隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-01",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.146,
+    -0.1315,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-02",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.296,
+    -0.1315,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-03",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.446,
+    -0.1315,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-04",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.146,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-05",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.296,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S1-06",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_1",
+   "kind": "storage",
+   "position_m": [
+    0.446,
+    0.1385,
+    0.11
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 0.465,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-01",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.146,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-02",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.296,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-03",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.446,
+    -0.1315,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-04",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.146,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-05",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.296,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  },
+  {
+   "name": "B:S2-06",
+   "place_id": "bases_cabinet",
+   "part": "base_tray_2",
+   "kind": "storage",
+   "position_m": [
+    0.446,
+    0.1385,
+    0.6
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "carcass",
+   "headroom_m": 1.319,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "solvent_bottle",
+    "jar"
+   ],
+   "access": [
+    "door_right_joint"
+   ],
+   "note_zh": "碱隔间 3×2 位/层（0.15 × 0.27 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door_left": {
+    "link": "door_left",
+    "joint": "door_left_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.5935,
+     -0.2815,
+     0.03
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.59,
+     0.02,
+     1.88
+    ],
+    "mass_kg": 13.111,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+    "handle": {
+     "pos_m": [
+      -0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_left",
+     "pos_m": [
+      0.55,
+      -0.055,
+      0.97
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.55
+   },
+   "door_right": {
+    "link": "door_right",
+    "joint": "door_right_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.5935,
+     -0.2815,
+     0.03
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.59,
+     0.02,
+     1.88
+    ],
+    "mass_kg": 13.111,
+    "mass_note_zh": "门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm",
+    "handle": {
+     "pos_m": [
+      0.0435,
+      -0.3365,
+      1.0
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door_right",
+     "pos_m": [
+      -0.55,
+      -0.055,
+      0.97
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.55
+   }
+  },
+  "frames": {
+   "handle_door_left": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0435,
+     -0.3365,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "左门（酸隔间）拉手（关门位）"
+   },
+   "handle_door_right": {
+    "link": "base_link",
+    "pos_m": [
+     0.0435,
+     -0.3365,
+     1.0
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "右门（碱隔间）拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.asecos_sl_196_120",
+  "family": "storage_furniture",
+  "maker": "asecos GmbH",
+  "model": "Cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV (laboratory white)",
+  "catalogue_no": "SL.196.120.MV (ID 30606-005)",
+  "storage": {
+   "place_ids": [
+    "acids_cabinet",
+    "bases_cabinet"
+   ],
+   "min_pitch_m": 0.15,
+   "headroom_m": 0.3,
+   "expected_positions": [
+    "A:S1-01",
+    "A:S1-02",
+    "A:S1-03",
+    "A:S1-04",
+    "A:S1-05",
+    "A:S1-06",
+    "A:S2-01",
+    "A:S2-02",
+    "A:S2-03",
+    "A:S2-04",
+    "A:S2-05",
+    "A:S2-06",
+    "B:S1-01",
+    "B:S1-02",
+    "B:S1-03",
+    "B:S1-04",
+    "B:S1-05",
+    "B:S1-06",
+    "B:S2-01",
+    "B:S2-02",
+    "B:S2-03",
+    "B:S2-04",
+    "B:S2-05",
+    "B:S2-06"
+   ],
+   "note_zh": "槽位名 A:S1-01..A:S2-06 = acids_cabinet 的 S1-01..S2-06；B:... = bases_cabinet；Franka 固定基座不可达（房间家具）"
+  },
+  "appearance": {
+   "body": {
+    "body": "laboratory white (sim. RAL 9016)",
+    "doors": "laboratory white (sim. RAL 9016)",
+    "source_id": "asecos_sl_30606005"
+   },
+   "labels": [
+    {
+     "door": "door_left",
+     "sign": "iso7010_w023_corrosive",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+    },
+    {
+     "door": "door_left",
+     "sign": "ghs05_corrosion",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "iso7010_w023_corrosive",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:ISO_7010_W023.svg"
+    },
+    {
+     "door": "door_right",
+     "sign": "ghs05_corrosion",
+     "licence": "Public domain",
+     "source_page": "https://commons.wikimedia.org/wiki/File:GHS-pictogram-acid.svg"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、隔间内部尺寸、质量、门数按 asecos 数据表；门扇尺寸、托盘高度、门质量与开门角为假设。",
+  "实际为抽拉托盘（每侧最多 4 层）；这里按清单的 2 层建为固定托盘。",
+  "通风、锁未建模。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8df632f8737c0175ddc6f4412dcef322f9db2cf9
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_sl_196_120__carcass
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9d698b1bd5c186fca68fd9e464571283bd6a3a1f
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass.obj
@@ -0,0 +1,124 @@
+mtllib asecos_sl_196_120__carcass.mtl
+usemtl asecos_sl_196_120__carcass
+# https://github.com/mikedh/trimesh
+v -0.59850000 -0.28150000 0.00000000
+v -0.59850000 -0.28150000 0.05000000
+v -0.59850000 0.30150000 0.00000000
+v -0.59850000 0.30150000 0.05000000
+v 0.59850000 -0.28150000 0.00000000
+v 0.59850000 -0.28150000 0.05000000
+v 0.59850000 0.30150000 0.00000000
+v 0.59850000 0.30150000 0.05000000
+v -0.59850000 -0.28150000 1.91900000
+v -0.59850000 -0.28150000 1.96500000
+v -0.59850000 0.30150000 1.91900000
+v -0.59850000 0.30150000 1.96500000
+v 0.59850000 -0.28150000 1.91900000
+v 0.59850000 -0.28150000 1.96500000
+v 0.59850000 0.30150000 1.91900000
+v 0.59850000 0.30150000 1.96500000
+v -0.59850000 0.28850000 0.05000000
+v -0.59850000 0.28850000 1.91900000
+v -0.59850000 0.30150000 0.05000000
+v -0.59850000 0.30150000 1.91900000
+v 0.59850000 0.28850000 0.05000000
+v 0.59850000 0.28850000 1.91900000
+v 0.59850000 0.30150000 0.05000000
+v 0.59850000 0.30150000 1.91900000
+v -0.59850000 -0.28150000 0.05000000
+v -0.59850000 -0.28150000 1.91900000
+v -0.59850000 0.28850000 0.05000000
+v -0.59850000 0.28850000 1.91900000
+v -0.53850000 -0.28150000 0.05000000
+v -0.53850000 -0.28150000 1.91900000
+v -0.53850000 0.28850000 0.05000000
+v -0.53850000 0.28850000 1.91900000
+v 0.53850000 -0.28150000 0.05000000
+v 0.53850000 -0.28150000 1.91900000
+v 0.53850000 0.28850000 0.05000000
+v 0.53850000 0.28850000 1.91900000
+v 0.59850000 -0.28150000 0.05000000
+v 0.59850000 -0.28150000 1.91900000
+v 0.59850000 0.28850000 0.05000000
+v 0.59850000 0.28850000 1.91900000
+v -0.05350000 -0.28150000 0.05000000
+v -0.05350000 -0.28150000 1.91900000
+v -0.05350000 0.28850000 0.05000000
+v -0.05350000 0.28850000 1.91900000
+v 0.05350000 -0.28150000 0.05000000
+v 0.05350000 -0.28150000 1.91900000
+v 0.05350000 0.28850000 0.05000000
+v 0.05350000 0.28850000 1.91900000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+f 42 44 41
+f 45 42 41
+f 41 44 43
+f 43 45 41
+f 42 48 44
+f 46 42 45
+f 46 48 42
+f 44 48 43
+f 47 45 43
+f 43 48 47
+f 47 46 45
+f 48 46 47
+
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..0697b689f195e3f459deec6373dc680b1d0d57e7
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_sl_196_120__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f9a462e4b53bdefdd49f3a009ffefbb6cc850574
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__carcass__shelves.obj
@@ -0,0 +1,84 @@
+mtllib asecos_sl_196_120__carcass__shelves.mtl
+usemtl asecos_sl_196_120__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.53650000 -0.27150000 0.08500000
+v -0.53650000 -0.27150000 0.11000000
+v -0.53650000 0.28850000 0.08500000
+v -0.53650000 0.28850000 0.11000000
+v -0.05550000 -0.27150000 0.08500000
+v -0.05550000 -0.27150000 0.11000000
+v -0.05550000 0.28850000 0.08500000
+v -0.05550000 0.28850000 0.11000000
+v 0.05550000 -0.27150000 0.08500000
+v 0.05550000 -0.27150000 0.11000000
+v 0.05550000 0.28850000 0.08500000
+v 0.05550000 0.28850000 0.11000000
+v 0.53650000 -0.27150000 0.08500000
+v 0.53650000 -0.27150000 0.11000000
+v 0.53650000 0.28850000 0.08500000
+v 0.53650000 0.28850000 0.11000000
+v -0.53650000 -0.27150000 0.57500000
+v -0.53650000 -0.27150000 0.60000000
+v -0.53650000 0.28850000 0.57500000
+v -0.53650000 0.28850000 0.60000000
+v -0.05550000 -0.27150000 0.57500000
+v -0.05550000 -0.27150000 0.60000000
+v -0.05550000 0.28850000 0.57500000
+v -0.05550000 0.28850000 0.60000000
+v 0.05550000 -0.27150000 0.57500000
+v 0.05550000 -0.27150000 0.60000000
+v 0.05550000 0.28850000 0.57500000
+v 0.05550000 0.28850000 0.60000000
+v 0.53650000 -0.27150000 0.57500000
+v 0.53650000 -0.27150000 0.60000000
+v 0.53650000 0.28850000 0.57500000
+v 0.53650000 0.28850000 0.60000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e0015851870cb3e1d3de1741287e3231ba523dfe
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_sl_196_120__door_left
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3afe5096e2dedfd9a3812b6bd034597185af744
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left.obj
@@ -0,0 +1,24 @@
+mtllib asecos_sl_196_120__door_left.mtl
+usemtl asecos_sl_196_120__door_left
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.02000000 0.00000000
+v 0.00000000 -0.02000000 1.88000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.88000000
+v 0.59000000 -0.02000000 0.00000000
+v 0.59000000 -0.02000000 1.88000000
+v 0.59000000 0.00000000 0.00000000
+v 0.59000000 0.00000000 1.88000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ece8097a2b5a85faa1e00bb22e405c64af5b7ef1
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_sl_196_120__door_left__decal_ghs05_corrosion
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_ghs05_corrosion.png
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.obj
new file mode 100644
index 0000000000000000000000000000000000000000..edeb515cd41f211abace4dce33c52de208971ccc
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.obj
@@ -0,0 +1,12 @@
+mtllib asecos_sl_196_120__door_left__decal_ghs05_corrosion.mtl
+usemtl asecos_sl_196_120__door_left__decal_ghs05_corrosion
+v 0.230000 -0.020600 1.235000
+v 0.360000 -0.020600 1.235000
+v 0.360000 -0.020600 1.365000
+v 0.230000 -0.020600 1.365000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8807fd1725d9b412bac71d78bd0d4d2947167a97
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.mtl
@@ -0,0 +1,7 @@
+newmtl asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/label_iso7010_w023_corrosive.png
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3e07c6c82450cca4023f4a94443e0636fefdad70
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.obj
@@ -0,0 +1,12 @@
+mtllib asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.mtl
+usemtl asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive
+v 0.210000 -0.020600 1.435000
+v 0.380000 -0.020600 1.435000
+v 0.380000 -0.020600 1.605000
+v 0.210000 -0.020600 1.605000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8be651356fb3e070567c290793c4dec0a6431
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.mtl
@@ -0,0 +1,6 @@
+newmtl asecos_sl_196_120__door_left__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6f021986b5627932141aea6f6fd3d6513afff47
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_left__handle.obj
@@ -0,0 +1,238 @@
+mtllib asecos_sl_196_120__door_left__handle.mtl
+usemtl asecos_sl_196_120__door_left__handle
+# https://github.com/mikedh/trimesh
+v 0.55000000 -0.05500000 0.87000000
+v 0.55800000 -0.05500000 0.87000000
+v 0.55800000 -0.05500000 1.07000000
+v 0.55000000 -0.05500000 1.07000000
+v 0.55784628 -0.05343928 0.87000000
+v 0.55784628 -0.05343928 1.07000000
+v 0.55739104 -0.05193853 0.87000000
+v 0.55739104 -0.05193853 1.07000000
+v 0.55665176 -0.05055544 0.87000000
+v 0.55665176 -0.05055544 1.07000000
+v 0.55565685 -0.04934315 0.87000000
+v 0.55565685 -0.04934315 1.07000000
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b920b322f8bb9e784f35916cc42503675fbfd23b
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.mtl
@@ -0,0 +1,6 @@
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2fe5c87aca9cba716825d1237f87db46250f0bba
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right.obj
@@ -0,0 +1,24 @@
+mtllib asecos_sl_196_120__door_right.mtl
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..72c23cdf569665a9e1623a8317e8bbc592a96287
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.mtl
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a7d4c771605f17a78e7c8a597680266e133d5589
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.obj
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.mtl
new file mode 100644
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--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.mtl
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f475f7022069fae22421eb5f6569d0b76df0935c
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.obj
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.mtl b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..08a4eb3e56665f1d7c5a34888ea0f7de02c8ee39
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.mtl
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.obj b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..18de32572bdbed15f4b0d034d3ec380916dc65b8
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/asecos_sl_196_120__door_right__handle.obj
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+mtllib asecos_sl_196_120__door_right__handle.mtl
+usemtl asecos_sl_196_120__door_right__handle
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diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/textures/label_ghs05_corrosion.png b/assets/labware/furniture/asecos_sl_196_120/meshes/textures/label_ghs05_corrosion.png
new file mode 100644
index 0000000000000000000000000000000000000000..f55960a849bbd94b5c9e6f5bfab9a07ede01c3cb
--- /dev/null
+++ b/assets/labware/furniture/asecos_sl_196_120/meshes/textures/label_ghs05_corrosion.png
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+oid sha256:0b326d42aad117f006b65772e290ea4f66b1262addc20462d46740ecafd65649
+size 30255
diff --git a/assets/labware/furniture/asecos_sl_196_120/meshes/textures/label_iso7010_w023_corrosive.png b/assets/labware/furniture/asecos_sl_196_120/meshes/textures/label_iso7010_w023_corrosive.png
new file mode 100644
index 0000000000000000000000000000000000000000..abe27b097f902d0a9c49685bd17c06b22fe09c74
--- /dev/null
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+<?xml version="1.0"?>
+<robot name="asecos_sl_196_120">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="-1.01434e-16 0.0282997 0.929585" rpy="0 0 0" />
+      <mass value="188.779" />
+      <inertia ixx="66.09" ixy="0" ixz="0" iyy="83.2833" iyz="0" izz="27.8873" />
+    </inertial>
+    <visual name="asecos_sl_196_120__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__carcass.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__carcass">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__carcass__shelves">
+        <color rgba="0.44799 0.46236 0.47700 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.01 0.025" rpy="0 0 0" />
+      <geometry>
+        <box size="1.197 0.583 0.05" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.01 1.942" rpy="0 0 0" />
+      <geometry>
+        <box size="1.197 0.583 0.046" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.295 0.9845" rpy="0 0 0" />
+      <geometry>
+        <box size="1.197 0.013 1.869" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.5685 0.0035 0.9845" rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.57 1.869" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.5685 0.0035 0.9845" rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.57 1.869" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.0035 0.9845" rpy="0 0 0" />
+      <geometry>
+        <box size="0.107 0.57 1.869" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.296 0.0085 0.0975" rpy="0 0 0" />
+      <geometry>
+        <box size="0.481 0.56 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.296 0.0085 0.0975" rpy="0 0 0" />
+      <geometry>
+        <box size="0.481 0.56 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.296 0.0085 0.5875" rpy="0 0 0" />
+      <geometry>
+        <box size="0.481 0.56 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.296 0.0085 0.5875" rpy="0 0 0" />
+      <geometry>
+        <box size="0.481 0.56 0.025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door_left">
+    <inertial>
+      <origin xyz="0.295 -0.0315 0.94" rpy="0 0 0" />
+      <mass value="13.1107" />
+      <inertia ixx="3.86589" ixy="0" ixz="0" iyy="4.24187" iyz="0" izz="0.384657" />
+    </inertial>
+    <visual name="asecos_sl_196_120__door_left">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_left.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_left">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_left__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_left__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_left__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_left__decal_iso7010_w023_corrosive">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w023_corrosive.png" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_left__decal_ghs05_corrosion">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_left__decal_ghs05_corrosion.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_left__decal_ghs05_corrosion">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs05_corrosion.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.295 -0.01 0.94" rpy="0 0 0" />
+      <geometry>
+        <box size="0.59 0.02 1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.55 -0.055 0.97" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.55 -0.0375 0.88" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.55 -0.0375 1.06" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_left_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_left" />
+    <origin xyz="-0.5935 -0.2815 0.03" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="door_right">
+    <inertial>
+      <origin xyz="-0.295 -0.0315 0.94" rpy="0 0 0" />
+      <mass value="13.1107" />
+      <inertia ixx="3.86589" ixy="0" ixz="0" iyy="4.24187" iyz="0" izz="0.384657" />
+    </inertial>
+    <visual name="asecos_sl_196_120__door_right">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_right.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_right">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_right__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_right__handle.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_right__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_right__decal_iso7010_w023_corrosive">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_iso7010_w023_corrosive.png" />
+      </material>
+    </visual>
+    <visual name="asecos_sl_196_120__door_right__decal_ghs05_corrosion">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/asecos_sl_196_120__door_right__decal_ghs05_corrosion.obj" />
+      </geometry>
+      <material name="mat_asecos_sl_196_120__door_right__decal_ghs05_corrosion">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/label_ghs05_corrosion.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.295 -0.01 0.94" rpy="0 0 0" />
+      <geometry>
+        <box size="0.59 0.02 1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.55 -0.055 0.97" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.55 -0.0375 0.88" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.55 -0.0375 1.06" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_right_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door_right" />
+    <origin xyz="0.5935 -0.2815 0.03" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/belart_secador_2_vertical/asset.contract.json b/assets/labware/furniture/belart_secador_2_vertical/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2fe427f65e69f0497a0fa5e4fd0e616d38456e0
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/asset.contract.json
@@ -0,0 +1,346 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.belart_secador_2_vertical",
+ "asset_version": "1.0.0",
+ "name_zh": "Bel-Art Secador 2.0 立式干燥柜（透明，2 层隔板，左开门）",
+ "category": "furniture.storage.desiccator_cabinet",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "台面干燥柜 Bel-Art Secador 2.0 立式（F42072-1000）：宽 314、深 341、高 414 mm，两层带孔隔板，底层下方放干燥剂，侧开门向左打开。默认实验室的 desiccator 存放位；放在台面上 Franka 可达，机器人开门技能用它验证。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/belart_secador_2_vertical/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "18575361db4f25e20a0ed38fed682553be7e540104d7385812e6809751d8baad"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/belart_secador_2_vertical/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "75d45de0bffa462b890ba645cb7f0eabf07f5085084d29f257daac91165e70f2"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/belart_secador_2_vertical/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "3281111a59baad644979bcb2fa2c2620609a6aed83c2b6b95b626f2a0b3c5bf5"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/belart_secador_2_vertical/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "985969137aead71ec125d9756b5a1fec7bb898f59d5812bd3c516ab641b18e33"
+  }
+ },
+ "sources": {
+  "belart_secador_2": {
+   "kind": "manufacturer",
+   "reference": "SP Bel-Art F42072-1000 Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (https://www.belart.com/bel-art-f42072-1000-secador-clear-2-0-vertical-desiccator-cabinet-2-shelves-13-4-x-16-3-x-12-4.html); product family page https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/; NIST listing https://www.nist.gov/node/412726",
+   "locator": "34.1 x 41.4 x 31.4 cm (13.4 x 16.3 x 12.4 in: depth x height x width), internal volume 1.2 ft3 (NIST: 33.1 L), 2 perforated shelves, desiccant space under the bottom shelf, side-swinging door opening to the left, door seal + tab latches, Durastar copolyester",
+   "note": "Benchtop desiccator cabinet (the default lab's `desiccator` place). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "secador_assumption": {
+   "kind": "assumption",
+   "reference": "Secador wall / door thickness, shelf heights, door opening angle",
+   "locator": "engineering value",
+   "note": "Walls 12 mm and door 10 mm copolyester (gives ~34 L inside, matching the 1.2 ft3 listing); shelves split the inside height evenly above a 60 mm desiccant space; door opens 100 deg (not listed); copolyester density 1200 kg/m3."
+  },
+  "secador_hygrometer": {
+   "kind": "manufacturer",
+   "reference": "SP Bel-Art Secador vertical desiccator cabinets product page (https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/)",
+   "locator": "hygrometer dial in the door shows relative humidity",
+   "note": "Hygrometer dial decal (drawn here)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含两层隔板）",
+   "function_zh": "密封存放吸湿样品与标准物质",
+   "physical_meaning_zh": "透明共聚酯箱体；隔板带孔，底层下方为干燥剂空间",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "belart_secador_2_vertical__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.314,
+      0.341,
+      0.414
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高（目录 12.4×13.4×16.3 in）",
+     "evidence": "documented",
+     "source_ids": [
+      "belart_secador_2"
+     ],
+     "uncertainty": null
+    },
+    "internal_volume_m3": {
+     "value": 0.034,
+     "unit": "m3",
+     "meaning_zh": "内容积 1.2 ft3（目录）",
+     "evidence": "documented",
+     "source_ids": [
+      "belart_secador_2"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 9.199104,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（板件体积 × 共聚酯 1200 kg/m3（厂家未公布质量））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door": {
+   "name_zh": "侧开门（左铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "belart_secador_2_vertical__door",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "open_limit_rad": {
+     "value": 1.74533,
+     "unit": "rad",
+     "meaning_zh": "最大开门角（未公布，假设）",
+     "evidence": "assumption",
+     "source_ids": [
+      "secador_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 1.5252,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门板 310×410×10 mm × 1200 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door": {
+   "component_id": "door",
+   "artifact_id": "model_urdf",
+   "target": "door_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.745329
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 100.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "secador_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、隔板数、开门方向、内容积按 Bel-Art 目录；壁厚、门厚、隔板高度、最大开门角与质量为假设。",
+  "门的密封、卡扣、湿度计与挂锁环未建模；门是被动铰链（机器人拉手开门）。",
+  "柜内位置只能侧向取放；Franka 俯抓不适用于柜内物品。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      -1.0
+     ],
+     "hinge_origin_m": [
+      -0.155,
+      -0.1605,
+      0.002
+     ],
+     "hinge_side": "left",
+     "limits": [
+      0.0,
+      1.745329
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.31,
+      0.01,
+      0.41
+     ],
+     "mass_kg": 1.525,
+     "mass_note_zh": "门板 310×410×10 mm × 1200 kg/m3",
+     "handle": {
+      "pos_m": [
+       0.125,
+       -0.1955,
+       0.22
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.1,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       0.28,
+       -0.035,
+       0.218
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.28
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      0.125,
+      -0.1955,
+      0.22
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "侧开门（左铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.belart_secador_2_vertical",
+   "family": "storage_furniture",
+   "maker": "SP Bel-Art (SP Industries)",
+   "model": "Secador 2.0 vertical desiccator cabinet, clear, 2 shelves",
+   "catalogue_no": "F42072-1000",
+   "storage": {
+    "place_ids": [
+     "desiccator"
+    ],
+    "min_pitch_m": 0.085,
+    "headroom_m": 0.15,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06"
+    ],
+    "note_zh": "2 层 × 6 位 = 12 位（S1 下层、S2 上层）；适合 100/250 mL 瓶、样品瓶、称量舟；放取须先开门，柜内无俯视空间"
+   },
+   "appearance": {
+    "body": {
+     "body": "clear (F42072-1000)",
+     "doors": "clear",
+     "hygrometer": "dial in the door (decal)",
+     "source_id": "secador_hygrometer"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "hygrometer",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/belart_secador_2_vertical/collision_proxies.json b/assets/labware/furniture/belart_secador_2_vertical/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b21053bebd6391db86852e37088657d626e300f
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/collision_proxies.json
@@ -0,0 +1,229 @@
+{
+ "asset_type_id": "furniture.belart_secador_2_vertical",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.314,
+      0.331,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.005,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.314,
+      0.331,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.005,
+      0.408
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.29,
+      0.012,
+      0.39
+     ],
+     "origin_m": [
+      0.0,
+      0.1645,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.331,
+      0.39
+     ],
+     "origin_m": [
+      -0.151,
+      0.005,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.331,
+      0.39
+     ],
+     "origin_m": [
+      0.151,
+      0.005,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.286,
+      0.313,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      -0.001,
+      0.07
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.286,
+      0.313,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      -0.001,
+      0.235
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door": {
+   "origin_m": [
+    -0.155,
+    -0.1605,
+    0.002
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.31,
+      0.01,
+      0.41
+     ],
+     "origin_m": [
+      0.155,
+      -0.005,
+      0.205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.1
+     ],
+     "origin_m": [
+      0.28,
+      -0.035,
+      0.218
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.025,
+      0.012
+     ],
+     "origin_m": [
+      0.28,
+      -0.0225,
+      0.178
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.025,
+      0.012
+     ],
+     "origin_m": [
+      0.28,
+      -0.0225,
+      0.258
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/belart_secador_2_vertical/geometry_manifest.json b/assets/labware/furniture/belart_secador_2_vertical/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d8b0466151f0c631446f42ebed1a9b7cca1852
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/geometry_manifest.json
@@ -0,0 +1,977 @@
+{
+ "asset_type_id": "furniture.belart_secador_2_vertical",
+ "catalog_id": null,
+ "name_zh": "Bel-Art Secador 2.0 立式干燥柜（透明，2 层隔板，左开门）",
+ "name_en": "Bel-Art Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (F42072-1000)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.314,
+  0.374,
+  0.414
+ ],
+ "bounds_m": [
+  [
+   -0.157,
+   -0.2035,
+   0.0
+  ],
+  [
+   0.157,
+   0.1705,
+   0.414
+  ]
+ ],
+ "total_mass_kg": 10.7243,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "belart_secador_2",
+   "kind": "manufacturer",
+   "reference": "SP Bel-Art F42072-1000 Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (https://www.belart.com/bel-art-f42072-1000-secador-clear-2-0-vertical-desiccator-cabinet-2-shelves-13-4-x-16-3-x-12-4.html); product family page https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/; NIST listing https://www.nist.gov/node/412726",
+   "locator": "34.1 x 41.4 x 31.4 cm (13.4 x 16.3 x 12.4 in: depth x height x width), internal volume 1.2 ft3 (NIST: 33.1 L), 2 perforated shelves, desiccant space under the bottom shelf, side-swinging door opening to the left, door seal + tab latches, Durastar copolyester",
+   "note": "Benchtop desiccator cabinet (the default lab's `desiccator` place). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "secador_assumption",
+   "kind": "assumption",
+   "reference": "Secador wall / door thickness, shelf heights, door opening angle",
+   "locator": "engineering value",
+   "note": "Walls 12 mm and door 10 mm copolyester (gives ~34 L inside, matching the 1.2 ft3 listing); shelves split the inside height evenly above a 60 mm desiccant space; door opens 100 deg (not listed); copolyester density 1200 kg/m3.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "secador_hygrometer",
+   "kind": "manufacturer",
+   "reference": "SP Bel-Art Secador vertical desiccator cabinets product page (https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/)",
+   "locator": "hygrometer dial in the door shows relative humidity",
+   "note": "Hygrometer dial decal (drawn here).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含两层隔板）",
+   "function_zh": "密封存放吸湿样品与标准物质",
+   "physical_meaning_zh": "透明共聚酯箱体；隔板带孔，底层下方为干燥剂空间",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 9.199104,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "板件体积 × 共聚酯 1200 kg/m3（厂家未公布质量）",
+   "material": "copolyester",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形 314×341×414 mm 按目录；壁厚/隔板高度为假设",
+   "objects": [
+    "belart_secador_2_vertical__carcass",
+    "belart_secador_2_vertical__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "belart_secador_2_vertical__carcass",
+     "rgba_srgb": [
+      0.85,
+      0.92,
+      0.95,
+      0.4
+     ],
+     "hex": "#D9EBF2",
+     "rgba_linear": [
+      0.69207,
+      0.82757,
+      0.89001,
+      0.4
+     ]
+    },
+    {
+     "object": "belart_secador_2_vertical__carcass__shelves",
+     "rgba_srgb": [
+      0.8,
+      0.86,
+      0.9,
+      0.6
+     ],
+     "hex": "#CCDBE6",
+     "rgba_linear": [
+      0.60383,
+      0.71057,
+      0.78741,
+      0.6
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.314,
+      0.331,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.005,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.314,
+      0.331,
+      0.012
+     ],
+     "origin_m": [
+      0.0,
+      0.005,
+      0.408
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.29,
+      0.012,
+      0.39
+     ],
+     "origin_m": [
+      0.0,
+      0.1645,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.331,
+      0.39
+     ],
+     "origin_m": [
+      -0.151,
+      0.005,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.331,
+      0.39
+     ],
+     "origin_m": [
+      0.151,
+      0.005,
+      0.207
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.286,
+      0.313,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      -0.001,
+      0.07
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.286,
+      0.313,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      -0.001,
+      0.235
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door",
+   "name_zh": "侧开门（左铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    -0.155,
+    -0.1605,
+    0.002
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "limits": [
+     0.0,
+     1.745329
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "secador_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 100.0°"
+   },
+   "mass_kg": 1.5252,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门板 310×410×10 mm × 1200 kg/m3",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "belart_secador_2_vertical__door",
+    "belart_secador_2_vertical__door__handle",
+    "belart_secador_2_vertical__door__decal_hygrometer"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "belart_secador_2_vertical__door",
+     "rgba_srgb": [
+      0.85,
+      0.92,
+      0.95,
+      0.4
+     ],
+     "hex": "#D9EBF2",
+     "rgba_linear": [
+      0.69207,
+      0.82757,
+      0.89001,
+      0.4
+     ]
+    },
+    {
+     "object": "belart_secador_2_vertical__door__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "belart_secador_2_vertical__door__decal_hygrometer",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "project drawing (no maker artwork)",
+     "source_id": "project_drawing",
+     "texture": "meshes/textures/dial_hygrometer.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.31,
+      0.01,
+      0.41
+     ],
+     "origin_m": [
+      0.155,
+      -0.005,
+      0.205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.1
+     ],
+     "origin_m": [
+      0.28,
+      -0.035,
+      0.218
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.025,
+      0.012
+     ],
+     "origin_m": [
+      0.28,
+      -0.0225,
+      0.178
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.025,
+      0.012
+     ],
+     "origin_m": [
+      0.28,
+      -0.0225,
+      0.258
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "belart_secador_2_vertical__root",
+ "joint_definitions": {
+  "door": {
+   "type": "revolute",
+   "axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "limits_rad": [
+    0.0,
+    1.745329
+   ],
+   "accessor": "joint[door_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在左侧；最大 100.0°"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "S1-01",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.09,
+    -0.0855,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S1-02",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    -0.0855,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S1-03",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.09,
+    -0.0855,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S1-04",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    -0.09,
+    0.0645,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S1-05",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    0.0645,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S1-06",
+   "place_id": "desiccator",
+   "part": "shelf_1",
+   "kind": "storage",
+   "position_m": [
+    0.09,
+    0.0645,
+    0.072
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-01",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.09,
+    -0.0855,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-02",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    -0.0855,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-03",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.09,
+    -0.0855,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-04",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    -0.09,
+    0.0645,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-05",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    0.0645,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  },
+  {
+   "name": "S2-06",
+   "place_id": "desiccator",
+   "part": "shelf_2",
+   "kind": "storage",
+   "position_m": [
+    0.09,
+    0.0645,
+    0.237
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.04,
+   "moves_with": "carcass",
+   "headroom_m": 0.161,
+   "fits": [
+    "bottle",
+    "vial",
+    "jar",
+    "weighing_boat"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door": {
+    "link": "door",
+    "joint": "door_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     -1.0
+    ],
+    "hinge_origin_m": [
+     -0.155,
+     -0.1605,
+     0.002
+    ],
+    "hinge_side": "left",
+    "limits": [
+     0.0,
+     1.745329
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.31,
+     0.01,
+     0.41
+    ],
+    "mass_kg": 1.525,
+    "mass_note_zh": "门板 310×410×10 mm × 1200 kg/m3",
+    "handle": {
+     "pos_m": [
+      0.125,
+      -0.1955,
+      0.22
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.1,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door",
+     "pos_m": [
+      0.28,
+      -0.035,
+      0.218
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.28
+   }
+  },
+  "frames": {
+   "handle_door": {
+    "link": "base_link",
+    "pos_m": [
+     0.125,
+     -0.1955,
+     0.22
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "侧开门（左铰链）拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.belart_secador_2_vertical",
+  "family": "storage_furniture",
+  "maker": "SP Bel-Art (SP Industries)",
+  "model": "Secador 2.0 vertical desiccator cabinet, clear, 2 shelves",
+  "catalogue_no": "F42072-1000",
+  "storage": {
+   "place_ids": [
+    "desiccator"
+   ],
+   "min_pitch_m": 0.085,
+   "headroom_m": 0.15,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "note_zh": "2 层 × 6 位 = 12 位（S1 下层、S2 上层）；适合 100/250 mL 瓶、样品瓶、称量舟；放取须先开门，柜内无俯视空间"
+  },
+  "appearance": {
+   "body": {
+    "body": "clear (F42072-1000)",
+    "doors": "clear",
+    "hygrometer": "dial in the door (decal)",
+    "source_id": "secador_hygrometer"
+   },
+   "labels": [
+    {
+     "door": "door",
+     "decal": "hygrometer",
+     "licence": "project drawing"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、隔板数、开门方向、内容积按 Bel-Art 目录；壁厚、门厚、隔板高度、最大开门角与质量为假设。",
+  "门的密封、卡扣、湿度计与挂锁环未建模；门是被动铰链（机器人拉手开门）。",
+  "柜内位置只能侧向取放；Franka 俯抓不适用于柜内物品。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.mtl b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4882c05b15b318f1197cff62b61c85200ac19623
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl belart_secador_2_vertical__carcass
+Kd 0.8500 0.9200 0.9500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.400
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.obj b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..54e2d07b4fa24fddac372e81e0375d81c24dc282
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass.obj
@@ -0,0 +1,104 @@
+mtllib belart_secador_2_vertical__carcass.mtl
+usemtl belart_secador_2_vertical__carcass
+# https://github.com/mikedh/trimesh
+v -0.15700000 -0.16050000 0.00000000
+v -0.15700000 -0.16050000 0.01200000
+v -0.15700000 0.17050000 0.00000000
+v -0.15700000 0.17050000 0.01200000
+v 0.15700000 -0.16050000 0.00000000
+v 0.15700000 -0.16050000 0.01200000
+v 0.15700000 0.17050000 0.00000000
+v 0.15700000 0.17050000 0.01200000
+v -0.15700000 -0.16050000 0.40200000
+v -0.15700000 -0.16050000 0.41400000
+v -0.15700000 0.17050000 0.40200000
+v -0.15700000 0.17050000 0.41400000
+v 0.15700000 -0.16050000 0.40200000
+v 0.15700000 -0.16050000 0.41400000
+v 0.15700000 0.17050000 0.40200000
+v 0.15700000 0.17050000 0.41400000
+v -0.14500000 0.15850000 0.01200000
+v -0.14500000 0.15850000 0.40200000
+v -0.14500000 0.17050000 0.01200000
+v -0.14500000 0.17050000 0.40200000
+v 0.14500000 0.15850000 0.01200000
+v 0.14500000 0.15850000 0.40200000
+v 0.14500000 0.17050000 0.01200000
+v 0.14500000 0.17050000 0.40200000
+v -0.15700000 -0.16050000 0.01200000
+v -0.15700000 -0.16050000 0.40200000
+v -0.15700000 0.17050000 0.01200000
+v -0.15700000 0.17050000 0.40200000
+v -0.14500000 -0.16050000 0.01200000
+v -0.14500000 -0.16050000 0.40200000
+v -0.14500000 0.17050000 0.01200000
+v -0.14500000 0.17050000 0.40200000
+v 0.14500000 -0.16050000 0.01200000
+v 0.14500000 -0.16050000 0.40200000
+v 0.14500000 0.17050000 0.01200000
+v 0.14500000 0.17050000 0.40200000
+v 0.15700000 -0.16050000 0.01200000
+v 0.15700000 -0.16050000 0.40200000
+v 0.15700000 0.17050000 0.01200000
+v 0.15700000 0.17050000 0.40200000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
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+
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.mtl b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..1f66c363a5cdb6af6ff4e5a26609b037b062f1aa
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl belart_secador_2_vertical__carcass__shelves
+Kd 0.8000 0.8600 0.9000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.600
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.obj b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5f48586f7c59dae01bb2825ae12e536daebded01
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__carcass__shelves.obj
@@ -0,0 +1,44 @@
+mtllib belart_secador_2_vertical__carcass__shelves.mtl
+usemtl belart_secador_2_vertical__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.14300000 -0.15750000 0.06800000
+v -0.14300000 -0.15750000 0.07200000
+v -0.14300000 0.15550000 0.06800000
+v -0.14300000 0.15550000 0.07200000
+v 0.14300000 -0.15750000 0.06800000
+v 0.14300000 -0.15750000 0.07200000
+v 0.14300000 0.15550000 0.06800000
+v 0.14300000 0.15550000 0.07200000
+v -0.14300000 -0.15750000 0.23300000
+v -0.14300000 -0.15750000 0.23700000
+v -0.14300000 0.15550000 0.23300000
+v -0.14300000 0.15550000 0.23700000
+v 0.14300000 -0.15750000 0.23300000
+v 0.14300000 -0.15750000 0.23700000
+v 0.14300000 0.15550000 0.23300000
+v 0.14300000 0.15550000 0.23700000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
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+f 8 6 7
+f 10 12 9
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+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.mtl b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..33441d77ce3ecb58795e734defa7bad1d2e4b889
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.mtl
@@ -0,0 +1,6 @@
+newmtl belart_secador_2_vertical__door
+Kd 0.8500 0.9200 0.9500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.400
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.obj b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6f45519f69de1abc49006106b4c1ff34a6280796
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door.obj
@@ -0,0 +1,24 @@
+mtllib belart_secador_2_vertical__door.mtl
+usemtl belart_secador_2_vertical__door
+# https://github.com/mikedh/trimesh
+v 0.00000000 -0.01000000 0.00000000
+v 0.00000000 -0.01000000 0.41000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 0.41000000
+v 0.31000000 -0.01000000 0.00000000
+v 0.31000000 -0.01000000 0.41000000
+v 0.31000000 0.00000000 0.00000000
+v 0.31000000 0.00000000 0.41000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.mtl b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..188595e604de43f8b7dd9dcaeed2449daca83e45
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.mtl
@@ -0,0 +1,7 @@
+newmtl belart_secador_2_vertical__door__decal_hygrometer
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/dial_hygrometer.png
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.obj b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a0fb9a450a64ff3bcd6f7b05c33a724656aaebef
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__decal_hygrometer.obj
@@ -0,0 +1,12 @@
+mtllib belart_secador_2_vertical__door__decal_hygrometer.mtl
+usemtl belart_secador_2_vertical__door__decal_hygrometer
+v 0.125000 -0.010600 0.268000
+v 0.185000 -0.010600 0.268000
+v 0.185000 -0.010600 0.328000
+v 0.125000 -0.010600 0.328000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.mtl b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fb4d062f48aa573698ab5a1ef7b1be4454a2a059
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.mtl
@@ -0,0 +1,6 @@
+newmtl belart_secador_2_vertical__door__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.obj b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e626b479c167d6652d67d49b68af921362fcfee6
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/belart_secador_2_vertical__door__handle.obj
@@ -0,0 +1,238 @@
+mtllib belart_secador_2_vertical__door__handle.mtl
+usemtl belart_secador_2_vertical__door__handle
+# https://github.com/mikedh/trimesh
+v 0.28000000 -0.03500000 0.16800000
+v 0.28800000 -0.03500000 0.16800000
+v 0.28800000 -0.03500000 0.26800000
+v 0.28000000 -0.03500000 0.26800000
+v 0.28784628 -0.03343928 0.16800000
+v 0.28784628 -0.03343928 0.26800000
+v 0.28739104 -0.03193853 0.16800000
+v 0.28739104 -0.03193853 0.26800000
+v 0.28665176 -0.03055544 0.16800000
+v 0.28665176 -0.03055544 0.26800000
+v 0.28565685 -0.02934315 0.16800000
+v 0.28565685 -0.02934315 0.26800000
+v 0.28444456 -0.02834824 0.16800000
+v 0.28444456 -0.02834824 0.26800000
+v 0.28306147 -0.02760896 0.16800000
+v 0.28306147 -0.02760896 0.26800000
+v 0.28156072 -0.02715372 0.16800000
+v 0.28156072 -0.02715372 0.26800000
+v 0.28000000 -0.02700000 0.16800000
+v 0.28000000 -0.02700000 0.26800000
+v 0.27843928 -0.02715372 0.16800000
+v 0.27843928 -0.02715372 0.26800000
+v 0.27693853 -0.02760896 0.16800000
+v 0.27693853 -0.02760896 0.26800000
+v 0.27555544 -0.02834824 0.16800000
+v 0.27555544 -0.02834824 0.26800000
+v 0.27434315 -0.02934315 0.16800000
+v 0.27434315 -0.02934315 0.26800000
+v 0.27334824 -0.03055544 0.16800000
+v 0.27334824 -0.03055544 0.26800000
+v 0.27260896 -0.03193853 0.16800000
+v 0.27260896 -0.03193853 0.26800000
+v 0.27215372 -0.03343928 0.16800000
+v 0.27215372 -0.03343928 0.26800000
+v 0.27200000 -0.03500000 0.16800000
+v 0.27200000 -0.03500000 0.26800000
+v 0.27215372 -0.03656072 0.16800000
+v 0.27215372 -0.03656072 0.26800000
+v 0.27260896 -0.03806147 0.16800000
+v 0.27260896 -0.03806147 0.26800000
+v 0.27334824 -0.03944456 0.16800000
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+v 0.27434315 -0.04065685 0.16800000
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+v 0.27555544 -0.04165176 0.16800000
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+v 0.28739104 -0.03806147 0.16800000
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+v 0.28784628 -0.03656072 0.16800000
+v 0.28784628 -0.03656072 0.26800000
+v 0.27400000 -0.03500000 0.17200000
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+
diff --git a/assets/labware/furniture/belart_secador_2_vertical/meshes/textures/dial_hygrometer.png b/assets/labware/furniture/belart_secador_2_vertical/meshes/textures/dial_hygrometer.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bc8c5329d662778ed8d4e5ef13ef50d7948dd34
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/meshes/textures/dial_hygrometer.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a515012eb0c5a848ca9658b757c5b9f5408d102f79976b9d96e201227e1e3715
+size 7386
diff --git a/assets/labware/furniture/belart_secador_2_vertical/model.glb b/assets/labware/furniture/belart_secador_2_vertical/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..7f978e21c1e8517221a32c755748432bb0c447d2
Binary files /dev/null and b/assets/labware/furniture/belart_secador_2_vertical/model.glb differ
diff --git a/assets/labware/furniture/belart_secador_2_vertical/model.urdf b/assets/labware/furniture/belart_secador_2_vertical/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5cb7cf5690f38cb953799140e2f60c97bf10ad3e
--- /dev/null
+++ b/assets/labware/furniture/belart_secador_2_vertical/model.urdf
@@ -0,0 +1,143 @@
+<?xml version="1.0"?>
+<robot name="belart_secador_2_vertical">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="-7.66087e-18 0.0326779 0.201909" rpy="0 0 0" />
+      <mass value="9.1991" />
+      <inertia ixx="0.215379" ixy="0" ixz="0" iyy="0.206974" iyz="0" izz="0.159571" />
+    </inertial>
+    <visual name="belart_secador_2_vertical__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/belart_secador_2_vertical__carcass.obj" />
+      </geometry>
+      <material name="mat_belart_secador_2_vertical__carcass">
+        <color rgba="0.69207 0.82757 0.89001 0.400" />
+      </material>
+    </visual>
+    <visual name="belart_secador_2_vertical__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/belart_secador_2_vertical__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_belart_secador_2_vertical__carcass__shelves">
+        <color rgba="0.60383 0.71057 0.78741 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.005 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.314 0.331 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.005 0.408" rpy="0 0 0" />
+      <geometry>
+        <box size="0.314 0.331 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.1645 0.207" rpy="0 0 0" />
+      <geometry>
+        <box size="0.29 0.012 0.39" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.151 0.005 0.207" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.331 0.39" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.151 0.005 0.207" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.331 0.39" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.001 0.07" rpy="0 0 0" />
+      <geometry>
+        <box size="0.286 0.313 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.001 0.235" rpy="0 0 0" />
+      <geometry>
+        <box size="0.286 0.313 0.004" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door">
+    <inertial>
+      <origin xyz="0.155 -0.0215 0.205" rpy="0 0 0" />
+      <mass value="1.5252" />
+      <inertia ixx="0.0216005" ixy="0" ixz="0" iyy="0.0335798" iyz="0" izz="0.0124493" />
+    </inertial>
+    <visual name="belart_secador_2_vertical__door">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/belart_secador_2_vertical__door.obj" />
+      </geometry>
+      <material name="mat_belart_secador_2_vertical__door">
+        <color rgba="0.69207 0.82757 0.89001 0.400" />
+      </material>
+    </visual>
+    <visual name="belart_secador_2_vertical__door__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/belart_secador_2_vertical__door__handle.obj" />
+      </geometry>
+      <material name="mat_belart_secador_2_vertical__door__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="belart_secador_2_vertical__door__decal_hygrometer">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/belart_secador_2_vertical__door__decal_hygrometer.obj" />
+      </geometry>
+      <material name="mat_belart_secador_2_vertical__door__decal_hygrometer">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/dial_hygrometer.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0.155 -0.005 0.205" rpy="0 0 0" />
+      <geometry>
+        <box size="0.31 0.01 0.41" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.28 -0.035 0.218" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.1" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.28 -0.0225 0.178" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.025 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.28 -0.0225 0.258" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.025 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door" />
+    <origin xyz="-0.155 -0.1605 0.002" rpy="0 0 0" />
+    <axis xyz="0 0 -1" />
+    <limit lower="0" upper="1.745329" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/asset.contract.json b/assets/labware/furniture/denios_cylinder_stand_x4/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c7aa0916c97ab41ef61dad28aa654af7ee72dc
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/asset.contract.json
@@ -0,0 +1,194 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.denios_cylinder_stand_x4",
+ "asset_version": "1.0.0",
+ "name_zh": "DENIOS 气瓶架 115873W × 4（8 个 Ø230 mm 气瓶位，链条固定）",
+ "category": "furniture.storage.cylinder_rack",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "四个 DENIOS 115873W 落地靠墙气瓶架并排（每个 560×410×1005 mm，2 瓶 Ø≤230 mm，链条固定），共 8 位 C1..C8；清单位置 cylinder_rack。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/denios_cylinder_stand_x4/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "ee93458014962d73b4cee9e06a919a5df4b746120ad19c698e80cb81ae217936"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/denios_cylinder_stand_x4/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b850b654cde57f2e39ba347bb679bb7c43be077bb49a0b0e7526002e1644cab5"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/denios_cylinder_stand_x4/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "5ca3f98f4bf09f62c98ea2bf1500214d7e65164e1a64074cda37e7391fb27824"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/denios_cylinder_stand_x4/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "c712940fc3c8684fae6b8113486e9b9d9bea588cf9751176ec3f14cb8a07d103"
+  }
+ },
+ "sources": {
+  "denios_115873": {
+   "kind": "manufacturer",
+   "reference": "DENIOS steel gas cylinder stand for 2 gas cylinders max. O 230 mm, for wall mounting, item 115873W (https://denios.co.uk/gas-cylinder-stand-galvanized-for-2-x-o-230-mm-gas-cylinders-115873/Gas Cylinder Handling)",
+   "locator": "560 x 410 x 1005 mm (W x D x H), blue powder-coated steel, securing chain, load 150 kg, can be joined to further stands",
+   "note": "Four stands joined side by side give the 8 cylinder positions of the default lab's cylinder_rack. accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "stand_assumption": {
+   "kind": "assumption",
+   "reference": "stand tube sections and chain height",
+   "locator": "engineering value",
+   "note": "Base plate 4 mm, two 40 x 40 mm rear posts, cradle rail at 0.95 m with two half-ring cradles per stand; mass from steel volume."
+  },
+  "denios_blue": {
+   "kind": "manufacturer",
+   "reference": "DENIOS 115873W listing (blue powder-coated steel)",
+   "locator": "finish: blue powder coating",
+   "note": "Blue (RAL not published; RAL 5010 gentian blue sRGB used for display)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "stands": {
+   "name_zh": "气瓶架（4 个并排）",
+   "function_zh": "竖直固定 8 个气瓶",
+   "physical_meaning_zh": "钢制底板 + 后立柱 + 托架与链条（链条未建模）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:stands",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "denios_cylinder_stand_x4__stands",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "stand_size_m": {
+     "value": [
+      0.56,
+      0.41,
+      1.005
+     ],
+     "unit": "m",
+     "meaning_zh": "单架 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "denios_115873"
+     ],
+     "uncertainty": null
+    },
+    "max_cylinder_diameter_m": {
+     "value": 0.23,
+     "unit": "m",
+     "meaning_zh": "最大气瓶直径",
+     "evidence": "documented",
+     "source_ids": [
+      "denios_115873"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 160.562016,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（钢件体积 × 7850 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "单架外形与容量按 DENIOS 目录；管材截面、托架高度、质量为假设；链条未建模（气瓶由场景固定）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "furniture.denios_cylinder_stand_x4",
+   "family": "storage_furniture",
+   "maker": "DENIOS",
+   "model": "Steel gas cylinder stand for 2 cylinders O<=230 mm, wall mounting (x4)",
+   "catalogue_no": "115873W",
+   "storage": {
+    "place_ids": [
+     "cylinder_rack"
+    ],
+    "min_pitch_m": 0.24,
+    "headroom_m": null,
+    "expected_positions": [
+     "C1",
+     "C2",
+     "C3",
+     "C4",
+     "C5",
+     "C6",
+     "C7",
+     "C8"
+    ],
+    "note_zh": "8 位 C1..C8（每架 2 位，间距 0.28 m）；Franka 不可达（房间设施）"
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，地面 z=0；+Y 为墙侧"
+    }
+   },
+   "appearance": {
+    "body": {
+     "body": "blue powder coating",
+     "source_id": "denios_blue"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/collision_proxies.json b/assets/labware/furniture/denios_cylinder_stand_x4/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..239b874ae838770416c93d34e720032aa04e324b
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/collision_proxies.json
@@ -0,0 +1,452 @@
+{
+ "asset_type_id": "furniture.denios_cylinder_stand_x4",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "stands": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      -0.84,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -1.098,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -0.582,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      -0.84,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.98,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.7,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      -0.28,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -0.538,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -0.022,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      -0.28,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.42,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.14,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      0.28,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.022,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.538,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      0.28,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.14,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.42,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      0.84,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.582,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      1.098,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      0.84,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.7,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.98,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/geometry_manifest.json b/assets/labware/furniture/denios_cylinder_stand_x4/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e30f7783112ed4e9520a9b7e41f9ef476c736d
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/geometry_manifest.json
@@ -0,0 +1,827 @@
+{
+ "asset_type_id": "furniture.denios_cylinder_stand_x4",
+ "catalog_id": null,
+ "name_zh": "DENIOS 气瓶架 115873W × 4（8 个 Ø230 mm 气瓶位，链条固定）",
+ "name_en": "DENIOS gas cylinder stand 115873W x 4 (8 cylinders, O <= 230 mm)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  2.236,
+  0.41,
+  1.005
+ ],
+ "bounds_m": [
+  [
+   -1.118,
+   -0.205,
+   0.0
+  ],
+  [
+   1.118,
+   0.205,
+   1.005
+  ]
+ ],
+ "total_mass_kg": 160.56202,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "denios_115873",
+   "kind": "manufacturer",
+   "reference": "DENIOS steel gas cylinder stand for 2 gas cylinders max. O 230 mm, for wall mounting, item 115873W (https://denios.co.uk/gas-cylinder-stand-galvanized-for-2-x-o-230-mm-gas-cylinders-115873/Gas Cylinder Handling)",
+   "locator": "560 x 410 x 1005 mm (W x D x H), blue powder-coated steel, securing chain, load 150 kg, can be joined to further stands",
+   "note": "Four stands joined side by side give the 8 cylinder positions of the default lab's cylinder_rack. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "stand_assumption",
+   "kind": "assumption",
+   "reference": "stand tube sections and chain height",
+   "locator": "engineering value",
+   "note": "Base plate 4 mm, two 40 x 40 mm rear posts, cradle rail at 0.95 m with two half-ring cradles per stand; mass from steel volume.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "denios_blue",
+   "kind": "manufacturer",
+   "reference": "DENIOS 115873W listing (blue powder-coated steel)",
+   "locator": "finish: blue powder coating",
+   "note": "Blue (RAL not published; RAL 5010 gentian blue sRGB used for display).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "stands",
+   "name_zh": "气瓶架（4 个并排）",
+   "function_zh": "竖直固定 8 个气瓶",
+   "physical_meaning_zh": "钢制底板 + 后立柱 + 托架与链条（链条未建模）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 160.562016,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "钢件体积 × 7850 kg/m3",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "denios_cylinder_stand_x4__stands"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "denios_cylinder_stand_x4__stands",
+     "rgba_srgb": [
+      0.0745,
+      0.2667,
+      0.4863,
+      1.0
+     ],
+     "hex": "#13447C",
+     "rgba_linear": [
+      0.00651,
+      0.05781,
+      0.20156,
+      1.0
+     ],
+     "ral": "RAL 5010",
+     "source_id": "denios_blue"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      -0.84,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -1.098,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -0.582,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      -0.84,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.98,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.7,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
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+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      -0.538,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.04,
+      1.005
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      -0.28,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.42,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      -0.14,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      0.28,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.022,
+      0.183,
+      0.5025
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.538,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      0.28,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.14,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.42,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.41,
+      0.004
+     ],
+     "origin_m": [
+      0.84,
+      0.0,
+      0.002
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      0.582,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.04,
+      1.005
+     ],
+     "origin_m": [
+      1.098,
+      0.183,
+      0.5025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.556,
+      0.04,
+      0.04
+     ],
+     "origin_m": [
+      0.84,
+      0.183,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.7,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.2,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.98,
+      0.145,
+      0.95
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "denios_cylinder_stand_x4__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "C1",
+   "place_id": "cylinder_rack",
+   "part": "stand_1",
+   "kind": "storage",
+   "position_m": [
+    -0.98,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C2",
+   "place_id": "cylinder_rack",
+   "part": "stand_1",
+   "kind": "storage",
+   "position_m": [
+    -0.7,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C3",
+   "place_id": "cylinder_rack",
+   "part": "stand_2",
+   "kind": "storage",
+   "position_m": [
+    -0.42,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C4",
+   "place_id": "cylinder_rack",
+   "part": "stand_2",
+   "kind": "storage",
+   "position_m": [
+    -0.14,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C5",
+   "place_id": "cylinder_rack",
+   "part": "stand_3",
+   "kind": "storage",
+   "position_m": [
+    0.14,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C6",
+   "place_id": "cylinder_rack",
+   "part": "stand_3",
+   "kind": "storage",
+   "position_m": [
+    0.42,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C7",
+   "place_id": "cylinder_rack",
+   "part": "stand_4",
+   "kind": "storage",
+   "position_m": [
+    0.7,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  },
+  {
+   "name": "C8",
+   "place_id": "cylinder_rack",
+   "part": "stand_4",
+   "kind": "storage",
+   "position_m": [
+    0.98,
+    0.0205,
+    0.004
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.05,
+   "radius_m": 0.115,
+   "moves_with": "stands",
+   "headroom_m": 1.0,
+   "fits": [
+    "gas_cylinder_50l"
+   ],
+   "access": [],
+   "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"
+  }
+ ],
+ "labware": {
+  "type_id": "furniture.denios_cylinder_stand_x4",
+  "family": "storage_furniture",
+  "maker": "DENIOS",
+  "model": "Steel gas cylinder stand for 2 cylinders O<=230 mm, wall mounting (x4)",
+  "catalogue_no": "115873W",
+  "storage": {
+   "place_ids": [
+    "cylinder_rack"
+   ],
+   "min_pitch_m": 0.24,
+   "headroom_m": null,
+   "expected_positions": [
+    "C1",
+    "C2",
+    "C3",
+    "C4",
+    "C5",
+    "C6",
+    "C7",
+    "C8"
+   ],
+   "note_zh": "8 位 C1..C8（每架 2 位，间距 0.28 m）；Franka 不可达（房间设施）"
+  },
+  "frames": {
+   "place_reference": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "资产原点：占地中心，地面 z=0；+Y 为墙侧"
+   }
+  },
+  "appearance": {
+   "body": {
+    "body": "blue powder coating",
+    "source_id": "denios_blue"
+   },
+   "labels": [],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "单架外形与容量按 DENIOS 目录；管材截面、托架高度、质量为假设；链条未建模（气瓶由场景固定）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.mtl b/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8e3010a7018ed9ca42aa44b9405b7ae2be38a040
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.mtl
@@ -0,0 +1,6 @@
+newmtl denios_cylinder_stand_x4__stands
+Kd 0.0745 0.2667 0.4863
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.obj b/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed71c2686559c60e6200b9ffc8fb02b2376000cc
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/meshes/denios_cylinder_stand_x4__stands.obj
@@ -0,0 +1,484 @@
+mtllib denios_cylinder_stand_x4__stands.mtl
+usemtl denios_cylinder_stand_x4__stands
+# https://github.com/mikedh/trimesh
+v -1.11800000 -0.20500000 0.00000000
+v -1.11800000 -0.20500000 0.00400000
+v -1.11800000 0.20500000 0.00000000
+v -1.11800000 0.20500000 0.00400000
+v -0.56200000 -0.20500000 0.00000000
+v -0.56200000 -0.20500000 0.00400000
+v -0.56200000 0.20500000 0.00000000
+v -0.56200000 0.20500000 0.00400000
+v -1.11800000 0.16300000 0.00000000
+v -1.11800000 0.16300000 1.00500000
+v -1.11800000 0.20300000 0.00000000
+v -1.11800000 0.20300000 1.00500000
+v -1.07800000 0.16300000 0.00000000
+v -1.07800000 0.16300000 1.00500000
+v -1.07800000 0.20300000 0.00000000
+v -1.07800000 0.20300000 1.00500000
+v -0.60200000 0.16300000 0.00000000
+v -0.60200000 0.16300000 1.00500000
+v -0.60200000 0.20300000 0.00000000
+v -0.60200000 0.20300000 1.00500000
+v -0.56200000 0.16300000 0.00000000
+v -0.56200000 0.16300000 1.00500000
+v -0.56200000 0.20300000 0.00000000
+v -0.56200000 0.20300000 1.00500000
+v -1.11800000 0.16300000 0.93000000
+v -1.11800000 0.16300000 0.97000000
+v -1.11800000 0.20300000 0.93000000
+v -1.11800000 0.20300000 0.97000000
+v -0.56200000 0.16300000 0.93000000
+v -0.56200000 0.16300000 0.97000000
+v -0.56200000 0.20300000 0.93000000
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diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/model.glb b/assets/labware/furniture/denios_cylinder_stand_x4/model.glb
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index 0000000000000000000000000000000000000000..d53e41fe5c5890539c31821995dbeb86e1e55a37
Binary files /dev/null and b/assets/labware/furniture/denios_cylinder_stand_x4/model.glb differ
diff --git a/assets/labware/furniture/denios_cylinder_stand_x4/model.urdf b/assets/labware/furniture/denios_cylinder_stand_x4/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..52998b1c53a05457583c34586b53eb1088662464
--- /dev/null
+++ b/assets/labware/furniture/denios_cylinder_stand_x4/model.urdf
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+<?xml version="1.0"?>
+<robot name="denios_cylinder_stand_x4">
+  <link name="base_link" />
+  <link name="stands">
+    <inertial>
+      <origin xyz="-5.65413e-17 0.149654 0.499504" rpy="0 0 0" />
+      <mass value="160.562" />
+      <inertia ixx="15.7635" ixy="0" ixz="0" iyy="80.4111" iyz="0" izz="69.146" />
+    </inertial>
+    <visual name="denios_cylinder_stand_x4__stands">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/denios_cylinder_stand_x4__stands.obj" />
+      </geometry>
+      <material name="mat_denios_cylinder_stand_x4__stands">
+        <color rgba="0.00651 0.05781 0.20156 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.84 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.41 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-1.098 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.582 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
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+    </collision>
+    <collision>
+      <origin xyz="-0.84 0.183 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.04 0.04" />
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+    </collision>
+    <collision>
+      <origin xyz="-0.98 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.7 0.145 0.95" rpy="0 0 0" />
+      <geometry>
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+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.28 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.41 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.538 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.022 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.28 0.183 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.04 0.04" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.42 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.14 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.28 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.41 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.022 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.538 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.28 0.183 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.04 0.04" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.14 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.42 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.84 0 0.002" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.41 0.004" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.582 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.098 0.183 0.5025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 1.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.84 0.183 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.556 0.04 0.04" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.7 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.98 0.145 0.95" rpy="0 0 0" />
+      <geometry>
+        <box size="0.2 0.008 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="stands_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="stands" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/duran_desiccator_dn250/asset.contract.json b/assets/labware/furniture/duran_desiccator_dn250/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3cbf7f088277c29939f860f879c8c3ab56fbf14
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/asset.contract.json
@@ -0,0 +1,319 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.duran_desiccator_dn250",
+ "asset_version": "1.0.0",
+ "name_zh": "DURAN 玻璃干燥器 DN 250（旋钮盖，瓷板）",
+ "category": "furniture.storage.desiccator",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "DURAN 玻璃干燥器 DN 250（247816604 = 底 247706605 + 旋钮盖 244106608）：法兰内径 274、外径 320 mm，总高 357 mm，盖高 122 mm；盖为可整体取下的独立刚体（抓盖钮 + 上提），瓷板上 6 个位置。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "5387ca2ca34558465dc893f952499608ac764d3e2688e21b0035404dec2413b1"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b817e0681c914799161cca470140a0238a89486268ae9791becda2ffc71e3068"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a951bea6e29d22ff3d68175f64076fef166274c83315204f541d42740995b55a"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "1509bdad39f16fdb20ff7b00a0922be40e59430316a55a714b3f0cd3096cf353"
+  },
+  "model_solid_urdf": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/model_solid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "35355472780e855c54f5ebf6bd1c4ecb5d1916f5499181299ada319c428e4d1c"
+  },
+  "part_body_urdf": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/parts/body.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "fb9150846e6d930242080e51c29a307437b2e247e091f833594ca2fbfbca93fe"
+  },
+  "part_lid_urdf": {
+   "path": "assets/labware/furniture/duran_desiccator_dn250/parts/lid.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "12ee2a86c6218a7cdd1787115a52ce6f8649c7a0747afe069fdd7acc4acf5064"
+  }
+ },
+ "sources": {
+  "duran_desiccator_250": {
+   "kind": "manufacturer",
+   "reference": "DWK DURAN desiccator with knobbed lid, DN 250, cat. 247816604 = bottom 247706605 + lid 244106608 (https://www.dwk.com/duran-desiccator-with-knobbed-lid; faust.ch article 247816604); porcelain plate DN 250 DU297256609",
+   "locator": "DN 250: flange inner 274 mm, flange outer 320 +/- 2 mm, height (complete) 357 mm; knob lid height 122 mm",
+   "note": "Glass desiccator for hygroscopic solids and check standards. Plate diameter not listed: 235 mm assumed (fits the DN 250 bottom). accessed 2026-10-22."
+  },
+  "iso3585": {
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "desiccator_assumption": {
+   "kind": "assumption",
+   "reference": "DN 250 desiccator bottom / lid profile, plate, knob",
+   "locator": "engineering value",
+   "note": "Bowl and dome profiles scaled to the documented flange (O274 / O320 mm), complete height 357 mm and lid height 122 mm; glass 5 mm; porcelain plate O235 x 8 mm at 95 mm; knob O40 x 35 mm; glass density 2230 kg/m3, porcelain 2400 kg/m3."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "干燥器底（含瓷板）",
+   "function_zh": "下部放干燥剂，瓷板上放样品",
+   "physical_meaning_zh": "硼硅玻璃 3.3 碗体 + 瓷板 Ø235 mm（瓷板顶面 z=0.114 m）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_desiccator_dn250__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "flange_outer_diameter_m": {
+     "value": 0.32,
+     "unit": "m",
+     "meaning_zh": "法兰外径 320±2 mm",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_desiccator_250"
+     ],
+     "uncertainty": null
+    },
+    "flange_inner_diameter_m": {
+     "value": 0.274,
+     "unit": "m",
+     "meaning_zh": "法兰内径",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_desiccator_250"
+     ],
+     "uncertainty": null
+    },
+    "height_complete_m": {
+     "value": 0.357,
+     "unit": "m",
+     "meaning_zh": "总高（含盖）",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_desiccator_250"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 5.229108,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（玻璃体积 × 2230 + 瓷板体积 × 2400 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "lid": {
+   "name_zh": "旋钮盖",
+   "function_zh": "密封干燥器；抓盖钮取下/盖回",
+   "physical_meaning_zh": "硼硅玻璃 3.3 圆顶盖 + 顶部盖钮（法兰磨口）",
+   "parent": "body",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:lid",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "duran_desiccator_dn250__lid",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "height_m": {
+     "value": 0.122,
+     "unit": "m",
+     "meaning_zh": "盖高",
+     "evidence": "documented",
+     "source_ids": [
+      "duran_desiccator_250"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 2.67182,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（玻璃体积 × 2230 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_lid": {
+   "component_id": "lid",
+   "artifact_id": "model_urdf",
+   "target": "lid_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.15
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 竖直上提；实际操作为侧推 + 提起，按 touch + intent：抓住盖钮上提超过 clear_lift 即为独立刚体（parts/lid.urdf）",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "desiccator_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "法兰直径、总高、盖高按 DWK 表；碗体与盖的曲面、瓷板直径与高度、盖钮尺寸为按比例的假设。",
+  "磨口密封与真空未建模；盖按 touch + intent 上提取下（实际是侧推）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "furniture.duran_desiccator_dn250",
+   "family": "storage_furniture",
+   "maker": "DWK Life Sciences (DURAN)",
+   "model": "Desiccator with knobbed lid DN 250 (bottom 247706605 + lid 244106608) + porcelain plate DU297256609",
+   "catalogue_no": "247816604",
+   "storage": {
+    "place_ids": [
+     "desiccator_glass"
+    ],
+    "min_pitch_m": 0.07,
+    "headroom_m": 0.1,
+    "expected_positions": [
+     "P1-01",
+     "P1-02",
+     "P1-03",
+     "P1-04",
+     "P1-05",
+     "P1-06"
+    ],
+    "note_zh": "瓷板 1 层 × 6 位（与 清单原 desiccator 位置名 P1-01..06 相同）；默认实验室的 desiccator 位改为 Secador 柜，此玻璃干燥器可作 desiccator_glass"
+   },
+   "closure": {
+    "type": "lift_off_lid",
+    "link": "lid",
+    "joint": "lid_joint",
+    "axis": [
+     0,
+     0,
+     1
+    ],
+    "clear_lift_m": 0.13,
+    "rule_zh": "开盖 = 抓盖钮（lid_grasp）上提 ≥ clear_lift_m → 盖为独立刚体；盖回 = 盖对准 lid_seat 放下",
+    "parts": {
+     "body": "parts/body.urdf",
+     "lid": "parts/lid.urdf"
+    }
+   },
+   "frames": {
+    "lid_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.3395
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.04,
+     "franka_ok": true,
+     "yaw_free": true,
+     "note_zh": "盖钮中心（Ø40 mm）"
+    },
+    "lid_pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.457
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "lid_seat": {
+     "link": "body",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.235
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "盖 link 原点（法兰面中心）盖好时在底座坐标中的位置"
+    }
+   },
+   "mass_note_zh": "盖 2.67 kg（Franka 负载 3 kg 以内）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/duran_desiccator_dn250/collision_proxies.json b/assets/labware/furniture/duran_desiccator_dn250/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed4acf29b1c9fb1d525f1f7d20d110d238acdde0
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/collision_proxies.json
@@ -0,0 +1,3736 @@
+{
+ "asset_type_id": "furniture.duran_desiccator_dn250",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.095,
+      0.015
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.005,
+      0.030536,
+      0.073171
+     ],
+     "origin_m": [
+      0.085006,
+      0.0,
+      0.048329
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.068386,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.005,
+      0.030536,
+      0.073171
+     ],
+     "origin_m": [
+      0.080845,
+      0.026268,
+      0.048329
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.068386,
+      0.314159
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.005,
+      0.030536,
+      0.073171
+     ],
+     "origin_m": [
+      0.068771,
+      0.049965,
+      0.048329
+     ],
+     "rpy_rad": [
+      0.0,
+      -0.068386,
+      0.628319
+     ]
+    },
+    {
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+      0.030536,
+      0.073171
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+      0.049965,
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+      0.048329
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+     "rpy_rad": [
+      0.0,
+      -0.068386,
+      0.942478
+     ]
+    },
+    {
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+      0.030536,
+      0.073171
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+      1.256637
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+      1.570796
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/geometry_manifest.json b/assets/labware/furniture/duran_desiccator_dn250/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4fbd6bca78c9999dda3abbc712c6294efad13d7
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/geometry_manifest.json
@@ -0,0 +1,4181 @@
+{
+ "asset_type_id": "furniture.duran_desiccator_dn250",
+ "catalog_id": null,
+ "name_zh": "DURAN 玻璃干燥器 DN 250（旋钮盖，瓷板）",
+ "name_en": "DURAN desiccator DN 250 with knob lid (247816604) and porcelain plate",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.32,
+  0.32,
+  0.357
+ ],
+ "bounds_m": [
+  [
+   -0.16,
+   -0.16,
+   0.0
+  ],
+  [
+   0.16,
+   0.16,
+   0.357
+  ]
+ ],
+ "total_mass_kg": 7.90093,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "duran_desiccator_250",
+   "kind": "manufacturer",
+   "reference": "DWK DURAN desiccator with knobbed lid, DN 250, cat. 247816604 = bottom 247706605 + lid 244106608 (https://www.dwk.com/duran-desiccator-with-knobbed-lid; faust.ch article 247816604); porcelain plate DN 250 DU297256609",
+   "locator": "DN 250: flange inner 274 mm, flange outer 320 +/- 2 mm, height (complete) 357 mm; knob lid height 122 mm",
+   "note": "Glass desiccator for hygroscopic solids and check standards. Plate diameter not listed: 235 mm assumed (fits the DN 250 bottom). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "iso3585",
+   "kind": "publication",
+   "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+   "locator": "Table 1: density 2.23 g/cm3",
+   "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "desiccator_assumption",
+   "kind": "assumption",
+   "reference": "DN 250 desiccator bottom / lid profile, plate, knob",
+   "locator": "engineering value",
+   "note": "Bowl and dome profiles scaled to the documented flange (O274 / O320 mm), complete height 357 mm and lid height 122 mm; glass 5 mm; porcelain plate O235 x 8 mm at 95 mm; knob O40 x 35 mm; glass density 2230 kg/m3, porcelain 2400 kg/m3.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "干燥器底（含瓷板）",
+   "function_zh": "下部放干燥剂，瓷板上放样品",
+   "physical_meaning_zh": "硼硅玻璃 3.3 碗体 + 瓷板 Ø235 mm（瓷板顶面 z=0.114 m）",
+   "parent": "root",
+   "origin_m": [
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+   "joint": null,
+   "mass_kg": 5.229108,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "玻璃体积 × 2230 + 瓷板体积 × 2400 kg/m3",
+   "material": "borosilicate_3_3",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "duran_desiccator_dn250__body",
+    "duran_desiccator_dn250__body__porcelain_plate"
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+   "detachable": false,
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+      0.02748,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      2.827433
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.088926,
+      0.0,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.084574,
+      -0.02748,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      3.455752
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.071943,
+      -0.05227,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      3.769911
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.05227,
+      -0.071943,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      4.08407
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.02748,
+      -0.084574,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      4.39823
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      -0.0,
+      -0.088926,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      4.712389
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      0.02748,
+      -0.084574,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      5.026548
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      0.05227,
+      -0.071943,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      5.340708
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      0.071943,
+      -0.05227,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      5.654867
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.040715,
+      0.064257
+     ],
+     "origin_m": [
+      0.084574,
+      -0.02748,
+      0.065699
+     ],
+     "rpy_rad": [
+      0.0,
+      -1.20474,
+      5.969026
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.06,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.077
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "duran_desiccator_dn250__root",
+ "joint_definitions": {
+  "lid": {
+   "type": "prismatic",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "limits_m": [
+    0.0,
+    0.15
+   ],
+   "accessor": "joint[lid_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 竖直上提；实际操作为侧推 + 提起，按 touch + intent：抓住盖钮上提超过 clear_lift 即为独立刚体（parts/lid.urdf）"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null,
+  "model_solid_urdf": "model_solid.urdf",
+  "part_body_urdf": "parts/body.urdf",
+  "part_lid_urdf": "parts/lid.urdf"
+ },
+ "ports": [
+  {
+   "name": "P1-01",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    0.072,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  },
+  {
+   "name": "P1-02",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    -0.06235,
+    0.036,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  },
+  {
+   "name": "P1-03",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    -0.06235,
+    -0.036,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  },
+  {
+   "name": "P1-04",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    -0.0,
+    -0.072,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  },
+  {
+   "name": "P1-05",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    0.06235,
+    -0.036,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  },
+  {
+   "name": "P1-06",
+   "place_id": "desiccator_glass",
+   "part": "plate",
+   "kind": "storage",
+   "position_m": [
+    0.06235,
+    0.036,
+    0.114
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.02,
+   "radius_m": 0.03,
+   "moves_with": "body",
+   "headroom_m": 0.193,
+   "fits": [
+    "vial",
+    "weighing_boat",
+    "crucible",
+    "bottle_small"
+   ],
+   "access": [
+    "lid_joint"
+   ],
+   "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"
+  }
+ ],
+ "labware": {
+  "type_id": "furniture.duran_desiccator_dn250",
+  "family": "storage_furniture",
+  "maker": "DWK Life Sciences (DURAN)",
+  "model": "Desiccator with knobbed lid DN 250 (bottom 247706605 + lid 244106608) + porcelain plate DU297256609",
+  "catalogue_no": "247816604",
+  "storage": {
+   "place_ids": [
+    "desiccator_glass"
+   ],
+   "min_pitch_m": 0.07,
+   "headroom_m": 0.1,
+   "expected_positions": [
+    "P1-01",
+    "P1-02",
+    "P1-03",
+    "P1-04",
+    "P1-05",
+    "P1-06"
+   ],
+   "note_zh": "瓷板 1 层 × 6 位（与 清单原 desiccator 位置名 P1-01..06 相同）；默认实验室的 desiccator 位改为 Secador 柜，此玻璃干燥器可作 desiccator_glass"
+  },
+  "closure": {
+   "type": "lift_off_lid",
+   "link": "lid",
+   "joint": "lid_joint",
+   "axis": [
+    0,
+    0,
+    1
+   ],
+   "clear_lift_m": 0.13,
+   "rule_zh": "开盖 = 抓盖钮（lid_grasp）上提 ≥ clear_lift_m → 盖为独立刚体；盖回 = 盖对准 lid_seat 放下",
+   "parts": {
+    "body": "parts/body.urdf",
+    "lid": "parts/lid.urdf"
+   }
+  },
+  "frames": {
+   "lid_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.3395
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.04,
+    "franka_ok": true,
+    "yaw_free": true,
+    "note_zh": "盖钮中心（Ø40 mm）"
+   },
+   "lid_pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.457
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "lid_seat": {
+    "link": "body",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.235
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "盖 link 原点（法兰面中心）盖好时在底座坐标中的位置"
+   }
+  },
+  "mass_note_zh": "盖 2.67 kg（Franka 负载 3 kg 以内）"
+ },
+ "limitations_zh": [
+  "法兰直径、总高、盖高按 DWK 表；碗体与盖的曲面、瓷板直径与高度、盖钮尺寸为按比例的假设。",
+  "磨口密封与真空未建模；盖按 touch + intent 上提取下（实际是侧推）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.mtl b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f3e115b137b626dafc67d491a66ad09b51b7aecf
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.mtl
@@ -0,0 +1,6 @@
+newmtl duran_desiccator_dn250__body
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.obj b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c120de8ae77ddb3ec6879819964ad4e02fe61735
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body.obj
@@ -0,0 +1,3246 @@
+mtllib duran_desiccator_dn250__body.mtl
+usemtl duran_desiccator_dn250__body
+# https://github.com/mikedh/trimesh
+v 0.00000000 0.00000000 0.00000000
+v 0.09500000 0.00000000 0.00000000
+v 0.09800000 0.00000000 0.00600000
+v 0.09000000 0.00000000 0.01200000
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+v 0.12400000 0.00000000 0.09800000
+v 0.12800000 0.00000000 0.20000000
+v 0.16000000 0.00000000 0.22500000
+v 0.16000000 0.00000000 0.23500000
+v 0.13700000 0.00000000 0.23500000
+v 0.12300000 0.00000000 0.21500000
+v 0.12300000 0.00000000 0.20000000
+v 0.12100000 0.00000000 0.11000000
+v 0.11200000 0.00000000 0.10400000
+v 0.08000000 0.00000000 0.09600000
+v 0.08000000 0.00000000 0.01500000
+v 0.00000000 0.00000000 0.01500000
+v 0.09463850 0.00827980 0.00000000
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.mtl b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..42cfd1cd41aaa2d8a83099c92972037412318587
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.mtl
@@ -0,0 +1,6 @@
+newmtl duran_desiccator_dn250__body__porcelain_plate
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.obj b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68350d910bfb21ba0cebbd9b0fad72073cedc460
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__body__porcelain_plate.obj
@@ -0,0 +1,438 @@
+mtllib duran_desiccator_dn250__body__porcelain_plate.mtl
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.mtl b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..36f8b299a77ec7ebdd4aa0e24178d1ce2c42b96c
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.mtl
@@ -0,0 +1,6 @@
+newmtl duran_desiccator_dn250__lid
+Kd 0.8600 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.350
diff --git a/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.obj b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3a0a7b571ad0102a886ef62aa9ea93389369c417
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/meshes/duran_desiccator_dn250__lid.obj
@@ -0,0 +1,2598 @@
+mtllib duran_desiccator_dn250__lid.mtl
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/model.glb b/assets/labware/furniture/duran_desiccator_dn250/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..af8e4b71b6f7e63caf97ac715314d3fdc85f3662
Binary files /dev/null and b/assets/labware/furniture/duran_desiccator_dn250/model.glb differ
diff --git a/assets/labware/furniture/duran_desiccator_dn250/model.urdf b/assets/labware/furniture/duran_desiccator_dn250/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..7d3dac853c7d460e7f36dafa3f07f9d4aea7c1ba
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/model.urdf
@@ -0,0 +1,1282 @@
+<?xml version="1.0"?>
+<robot name="duran_desiccator_dn250">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -3.89697e-18 0.119977" rpy="0 0 0" />
+      <mass value="5.22911" />
+      <inertia ixx="0.0686865" ixy="0" ixz="0" iyy="0.0686865" iyz="0" izz="0.0892434" />
+    </inertial>
+    <visual name="duran_desiccator_dn250__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_desiccator_dn250__body.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <visual name="duran_desiccator_dn250__body__porcelain_plate">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_desiccator_dn250__body__porcelain_plate.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body__porcelain_plate">
+        <color rgba="0.89001 0.89001 0.84809 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0075" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.095" length="0.015" />
+      </geometry>
+    </collision>
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+    <collision>
+      <origin xyz="0 0 0.077" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.06" length="0.006" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="prismatic">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0 0.235" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.15" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/duran_desiccator_dn250/model_solid.urdf b/assets/labware/furniture/duran_desiccator_dn250/model_solid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..93ba31c6d9ab575bf309528aade771880de319f9
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/model_solid.urdf
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<robot name="duran_desiccator_dn250">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -3.89697e-18 0.119977" rpy="0 0 0" />
+      <mass value="5.22911" />
+      <inertia ixx="0.0686865" ixy="0" ixz="0" iyy="0.0686865" iyz="0" izz="0.0892434" />
+    </inertial>
+    <visual name="duran_desiccator_dn250__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_desiccator_dn250__body.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <visual name="duran_desiccator_dn250__body__porcelain_plate">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_desiccator_dn250__body__porcelain_plate.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body__porcelain_plate">
+        <color rgba="0.89001 0.89001 0.84809 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.1175" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.16" length="0.235" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="lid">
+    <inertial>
+      <origin xyz="-3.77048e-18 0 0.0397447" rpy="0 0 0" />
+      <mass value="2.67182" />
+      <inertia ixx="0.0261135" ixy="0" ixz="0" iyy="0.0261135" iyz="0" izz="0.0455991" />
+    </inertial>
+    <visual name="duran_desiccator_dn250__lid">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/duran_desiccator_dn250__lid.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__lid">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.061" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.16" length="0.122" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lid_joint" type="prismatic">
+    <parent link="body" />
+    <child link="lid" />
+    <origin xyz="0 0 0.235" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0.15" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/duran_desiccator_dn250/parts/body.urdf b/assets/labware/furniture/duran_desiccator_dn250/parts/body.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3003b4d9610f6111c8e315d49d530d62a587520b
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/parts/body.urdf
@@ -0,0 +1,688 @@
+<?xml version="1.0"?>
+<robot name="duran_desiccator_dn250__body">
+  <link name="body">
+    <inertial>
+      <origin xyz="0 -3.89697e-18 0.119977" rpy="0 0 0" />
+      <mass value="5.22911" />
+      <inertia ixx="0.0686865" ixy="0" ixz="0" iyy="0.0686865" iyz="0" izz="0.0892434" />
+    </inertial>
+    <visual name="duran_desiccator_dn250__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_desiccator_dn250__body.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body">
+        <color rgba="0.71057 0.84809 0.91141 0.350" />
+      </material>
+    </visual>
+    <visual name="duran_desiccator_dn250__body__porcelain_plate">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/duran_desiccator_dn250__body__porcelain_plate.obj" />
+      </geometry>
+      <material name="mat_duran_desiccator_dn250__body__porcelain_plate">
+        <color rgba="0.89001 0.89001 0.84809 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0075" rpy="0 0 0" />
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diff --git a/assets/labware/furniture/duran_desiccator_dn250/parts/lid.urdf b/assets/labware/furniture/duran_desiccator_dn250/parts/lid.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..1ab258b0e0682ebfb17980b684b798b7de8fe0d0
--- /dev/null
+++ b/assets/labware/furniture/duran_desiccator_dn250/parts/lid.urdf
@@ -0,0 +1,583 @@
+<?xml version="1.0"?>
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diff --git a/assets/labware/furniture/liebherr_lguex1500/asset.contract.json b/assets/labware/furniture/liebherr_lguex1500/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aaf71047a2be68b6173da78b95086d813c009f3
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/asset.contract.json
@@ -0,0 +1,498 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.liebherr_lguex1500",
+ "asset_version": "1.0.0",
+ "name_zh": "Liebherr MediLine LGUex 1500 实验室冷冻柜（−26 °C，3 抽屉，防爆内腔）",
+ "category": "furniture.storage.lab_freezer",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "台下式实验室冷冻柜 Liebherr LGUex 1500：外形 600×615×820 mm、129 L、3 个抽屉 + 网篮、最低 −26 °C；清单位置 freezer_m20c：3 抽屉 × 8 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
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+   "status": "available",
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+   "status": "available",
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+   "status": "available",
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+  "liebherr_lguex1500": {
+   "kind": "manufacturer",
+   "reference": "Liebherr MediLine LGUex 1500 laboratory freezer (listings https://ssllc.com/product/Liebherr-mediline-A135965, https://sydneycommercialkitchens.com.au/catering-equipment/freezers-medical/Liebherr)",
+   "locator": "external 600 x 615 x 820 mm, 129 L, 3 drawers + basket, down to -26 C, explosion-protected interior",
+   "note": "Under-bench lab freezer for the -20 C store. accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "freezer_assumption": {
+   "kind": "assumption",
+   "reference": "LGUex 1500 door, interior and drawer geometry",
+   "locator": "engineering value",
+   "note": "Door 70 mm (foam-insulated), interior 440 x 440 x 620 mm (~120 L of the 129 L gross), 3 drawers 420 x 400 x 150 mm pulling out 0.30 m; door hinge right, opens 110 deg; door mass from 2 x 0.6 mm steel + 60 mm PU foam + 1 kg; body mass not found (assumed 40 kg)."
+  },
+  "liebherr_white": {
+   "kind": "manufacturer",
+   "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+   "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+   "note": "White finish (no RAL code published; RAL 9016 sRGB used for display) and controller with digital display; the LGUex 1500 of the same MediLine series is taken as the same white."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lguex1500__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.6,
+      0.615,
+      0.82
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "liebherr_lguex1500"
+     ],
+     "uncertainty": null
+    },
+    "gross_volume_m3": {
+     "value": 0.129,
+     "unit": "m3",
+     "meaning_zh": "总容积 129 L",
+     "evidence": "documented",
+     "source_ids": [
+      "liebherr_lguex1500"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 40.0,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（厂家质量未取得：按同尺寸台下冷冻柜假设 40 kg）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door": {
+   "name_zh": "冷冻门（右铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lguex1500__door",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 6.706223,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "drawer_1": {
+   "name_zh": "抽屉 1",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:drawer_1",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lguex1500__drawer_1",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.3041,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（塑料体积 × 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "drawer_2": {
+   "name_zh": "抽屉 2",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:drawer_2",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lguex1500__drawer_2",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.3041,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（塑料体积 × 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "drawer_3": {
+   "name_zh": "抽屉 3",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:drawer_3",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lguex1500__drawer_3",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 1.3041,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（塑料体积 × 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door": {
+   "component_id": "door",
+   "artifact_id": "model_urdf",
+   "target": "door_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "freezer_assumption"
+   ]
+  },
+  "joint_drawer_1": {
+   "component_id": "drawer_1",
+   "artifact_id": "model_urdf",
+   "target": "drawer_1_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.3
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 向前（−Y）拉出；须先开门",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "freezer_assumption"
+   ]
+  },
+  "joint_drawer_2": {
+   "component_id": "drawer_2",
+   "artifact_id": "model_urdf",
+   "target": "drawer_2_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.3
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 向前（−Y）拉出；须先开门",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "freezer_assumption"
+   ]
+  },
+  "joint_drawer_3": {
+   "component_id": "drawer_3",
+   "artifact_id": "model_urdf",
+   "target": "drawer_3_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "m",
+   "limits": [
+    0.0,
+    0.3
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 向前（−Y）拉出；须先开门",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "freezer_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、容积、抽屉数与最低温度按经销商列出的 Liebherr 数据；内部尺寸、抽屉尺寸、门/柜质量与铰链侧为假设。",
+  "制冷与温控未建模。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.298,
+      -0.2375,
+      0.005
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.596,
+      0.07,
+      0.81
+     ],
+     "mass_kg": 6.706,
+     "mass_note_zh": "门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg",
+     "handle": {
+      "pos_m": [
+       -0.263,
+       -0.3425,
+       0.62
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.2,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       -0.561,
+       -0.105,
+       0.615
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.561
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      -0.263,
+      -0.3425,
+      0.62
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "冷冻门（右铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.liebherr_lguex1500",
+   "family": "storage_furniture",
+   "maker": "Liebherr",
+   "model": "MediLine LGUex 1500 laboratory freezer (3 drawers + basket)",
+   "catalogue_no": "LGUex 1500",
+   "storage": {
+    "place_ids": [
+     "freezer_m20c"
+    ],
+    "min_pitch_m": 0.095,
+    "headroom_m": 0.12,
+    "expected_positions": [
+     "D1-01",
+     "D1-02",
+     "D1-03",
+     "D1-04",
+     "D1-05",
+     "D1-06",
+     "D1-07",
+     "D1-08",
+     "D2-01",
+     "D2-02",
+     "D2-03",
+     "D2-04",
+     "D2-05",
+     "D2-06",
+     "D2-07",
+     "D2-08",
+     "D3-01",
+     "D3-02",
+     "D3-03",
+     "D3-04",
+     "D3-05",
+     "D3-06",
+     "D3-07",
+     "D3-08"
+    ],
+    "note_zh": "3 抽屉 × 8 位（D1 最低）；−20 °C 存放；Franka 不可达（房间设施）"
+   },
+   "temperature_range_c": [
+    -26,
+    -9
+   ],
+   "appearance": {
+    "body": {
+     "body": "white painted steel",
+     "doors": "white",
+     "controller": "electronic controller with digital display (decal)",
+     "source_id": "liebherr_white"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "controller_panel",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lguex1500/collision_proxies.json b/assets/labware/furniture/liebherr_lguex1500/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a4cc0fcbd9c407edc8106179b47bd5ccc5b1c11
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/collision_proxies.json
@@ -0,0 +1,499 @@
+{
+ "asset_type_id": "furniture.liebherr_lguex1500",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.545,
+      0.12
+     ],
+     "origin_m": [
+      0.0,
+      0.035,
+      0.06
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.545,
+      0.08
+     ],
+     "origin_m": [
+      0.0,
+      0.035,
+      0.78
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.105,
+      0.62
+     ],
+     "origin_m": [
+      0.0,
+      0.255,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.44,
+      0.62
+     ],
+     "origin_m": [
+      -0.26,
+      -0.0175,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.44,
+      0.62
+     ],
+     "origin_m": [
+      0.26,
+      -0.0175,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door": {
+   "origin_m": [
+    0.298,
+    -0.2375,
+    0.005
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.596,
+      0.07,
+      0.81
+     ],
+     "origin_m": [
+      -0.298,
+      -0.035,
+      0.405
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.561,
+      -0.105,
+      0.615
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.561,
+      -0.0875,
+      0.525
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.561,
+      -0.0875,
+      0.705
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "drawer_1": {
+   "origin_m": [
+    0.0,
+    0.1925,
+    0.13999999999999999
+   ],
+   "parent": "carcass",
+   "joint": "prismatic",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.4,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
+      0.0,
+      -0.0015,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
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+     "rpy_rad": [
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+     "shape": "box",
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    }
+   ],
+   "solid_primitives": []
+  },
+  "drawer_2": {
+   "origin_m": [
+    0.0,
+    0.1925,
+    0.33999999999999997
+   ],
+   "parent": "carcass",
+   "joint": "prismatic",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.4,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
+      0.0,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+      -0.2,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "origin_m": [
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    }
+   ],
+   "solid_primitives": []
+  },
+  "drawer_3": {
+   "origin_m": [
+    0.0,
+    0.1925,
+    0.54
+   ],
+   "parent": "carcass",
+   "joint": "prismatic",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
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+      0.4,
+      0.003
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+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.003,
+      0.15
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+     "origin_m": [
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+      -0.0015,
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+     "rpy_rad": [
+      0.0,
+      0.0,
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+    },
+    {
+     "shape": "box",
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+      0.15
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+     "origin_m": [
+      0.0,
+      -0.3985,
+      0.075
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.4,
+      0.15
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+     "origin_m": [
+      -0.2085,
+      -0.2,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.4,
+      0.15
+     ],
+     "origin_m": [
+      0.2085,
+      -0.2,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lguex1500/geometry_manifest.json b/assets/labware/furniture/liebherr_lguex1500/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e8f61bc77501ca377ba10d5f77b17ad81ae491
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/geometry_manifest.json
@@ -0,0 +1,1829 @@
+{
+ "asset_type_id": "furniture.liebherr_lguex1500",
+ "catalog_id": null,
+ "name_zh": "Liebherr MediLine LGUex 1500 实验室冷冻柜（−26 °C，3 抽屉，防爆内腔）",
+ "name_en": "Liebherr MediLine laboratory freezer LGUex 1500",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.6,
+  0.658,
+  0.82
+ ],
+ "bounds_m": [
+  [
+   -0.3,
+   -0.3505,
+   0.0
+  ],
+  [
+   0.3,
+   0.3075,
+   0.82
+  ]
+ ],
+ "total_mass_kg": 50.61852,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "liebherr_lguex1500",
+   "kind": "manufacturer",
+   "reference": "Liebherr MediLine LGUex 1500 laboratory freezer (listings https://ssllc.com/product/Liebherr-mediline-A135965, https://sydneycommercialkitchens.com.au/catering-equipment/freezers-medical/Liebherr)",
+   "locator": "external 600 x 615 x 820 mm, 129 L, 3 drawers + basket, down to -26 C, explosion-protected interior",
+   "note": "Under-bench lab freezer for the -20 C store. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "freezer_assumption",
+   "kind": "assumption",
+   "reference": "LGUex 1500 door, interior and drawer geometry",
+   "locator": "engineering value",
+   "note": "Door 70 mm (foam-insulated), interior 440 x 440 x 620 mm (~120 L of the 129 L gross), 3 drawers 420 x 400 x 150 mm pulling out 0.30 m; door hinge right, opens 110 deg; door mass from 2 x 0.6 mm steel + 60 mm PU foam + 1 kg; body mass not found (assumed 40 kg).",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "liebherr_white",
+   "kind": "manufacturer",
+   "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+   "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+   "note": "White finish (no RAL code published; RAL 9016 sRGB used for display) and controller with digital display; the LGUex 1500 of the same MediLine series is taken as the same white.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 40.0,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "厂家质量未取得：按同尺寸台下冷冻柜假设 40 kg",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lguex1500__carcass"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lguex1500__carcass",
+     "rgba_srgb": [
+      0.9686,
+      0.9843,
+      0.9608,
+      1.0
+     ],
+     "hex": "#F7FBF5",
+     "rgba_linear": [
+      0.93011,
+      0.96469,
+      0.9131,
+      1.0
+     ],
+     "ral": "RAL 9016",
+     "source_id": "liebherr_white"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.545,
+      0.12
+     ],
+     "origin_m": [
+      0.0,
+      0.035,
+      0.06
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.545,
+      0.08
+     ],
+     "origin_m": [
+      0.0,
+      0.035,
+      0.78
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.6,
+      0.105,
+      0.62
+     ],
+     "origin_m": [
+      0.0,
+      0.255,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.44,
+      0.62
+     ],
+     "origin_m": [
+      -0.26,
+      -0.0175,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.08,
+      0.44,
+      0.62
+     ],
+     "origin_m": [
+      0.26,
+      -0.0175,
+      0.43
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door",
+   "name_zh": "冷冻门（右铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    0.298,
+    -0.2375,
+    0.005
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "freezer_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+   },
+   "mass_kg": 6.706223,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lguex1500__door",
+    "liebherr_lguex1500__door__handle",
+    "liebherr_lguex1500__door__decal_controller_panel"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lguex1500__door",
+     "rgba_srgb": [
+      0.9686,
+      0.9843,
+      0.9608,
+      1.0
+     ],
+     "hex": "#F7FBF5",
+     "rgba_linear": [
+      0.93011,
+      0.96469,
+      0.9131,
+      1.0
+     ],
+     "ral": "RAL 9016",
+     "source_id": "liebherr_white"
+    },
+    {
+     "object": "liebherr_lguex1500__door__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
+     "object": "liebherr_lguex1500__door__decal_controller_panel",
+     "rgba_srgb": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "hex": "#FFFFFF",
+     "rgba_linear": [
+      1.0,
+      1.0,
+      1.0,
+      1.0
+     ],
+     "texture_licence": "project drawing (no maker artwork)",
+     "source_id": "project_drawing",
+     "texture": "meshes/textures/panel_liebherr_lguex1500.png"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.596,
+      0.07,
+      0.81
+     ],
+     "origin_m": [
+      -0.298,
+      -0.035,
+      0.405
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.2
+     ],
+     "origin_m": [
+      -0.561,
+      -0.105,
+      0.615
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.561,
+      -0.0875,
+      0.525
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.561,
+      -0.0875,
+      0.705
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "drawer_1",
+   "name_zh": "抽屉 1",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "origin_m": [
+    0.0,
+    0.1925,
+    0.13999999999999999
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "prismatic",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "limits": [
+     0.0,
+     0.3
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "freezer_assumption"
+    ],
+    "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+   },
+   "mass_kg": 1.3041,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "塑料体积 × 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lguex1500__drawer_1"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lguex1500__drawer_1",
+     "rgba_srgb": [
+      0.85,
+      0.9,
+      0.95,
+      0.6
+     ],
+     "hex": "#D9E6F2",
+     "rgba_linear": [
+      0.69207,
+      0.78741,
+      0.89001,
+      0.6
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.4,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
+      0.0,
+      -0.0015,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
+      0.0,
+      -0.3985,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.4,
+      0.15
+     ],
+     "origin_m": [
+      -0.2085,
+      -0.2,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.4,
+      0.15
+     ],
+     "origin_m": [
+      0.2085,
+      -0.2,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "drawer_2",
+   "name_zh": "抽屉 2",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "origin_m": [
+    0.0,
+    0.1925,
+    0.33999999999999997
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "prismatic",
+    "axis": [
+     0,
+     -1,
+     0
+    ],
+    "limits": [
+     0.0,
+     0.3
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "freezer_assumption"
+    ],
+    "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+   },
+   "mass_kg": 1.3041,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "塑料体积 × 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lguex1500__drawer_2"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lguex1500__drawer_2",
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+      0.95,
+      0.6
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+     "hex": "#D9E6F2",
+     "rgba_linear": [
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+      0.78741,
+      0.89001,
+      0.6
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+    }
+   ],
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+     "size_m": [
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+      0.003
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+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
+      0.0,
+      -0.0015,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
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+      -0.3985,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
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+      0.15
+     ],
+     "origin_m": [
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+      -0.2,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
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+      0.15
+     ],
+     "origin_m": [
+      0.2085,
+      -0.2,
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+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "drawer_3",
+   "name_zh": "抽屉 3",
+   "function_zh": "放冷冻样品；向前拉出",
+   "physical_meaning_zh": "透明塑料抽屉（被动滑轨）",
+   "parent": "carcass",
+   "origin_m": [
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+    0.54
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+   "rpy_rad": [
+    0.0,
+    0.0,
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+   "joint": {
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+    ],
+    "limits": [
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+     0.3
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "freezer_assumption"
+    ],
+    "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+   },
+   "mass_kg": 1.3041,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "塑料体积 × 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lguex1500__drawer_3"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lguex1500__drawer_3",
+     "rgba_srgb": [
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+      0.95,
+      0.6
+     ],
+     "hex": "#D9E6F2",
+     "rgba_linear": [
+      0.69207,
+      0.78741,
+      0.89001,
+      0.6
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.4,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.2,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.42,
+      0.003,
+      0.15
+     ],
+     "origin_m": [
+      0.0,
+      -0.0015,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+      -0.2,
+      0.075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.4,
+      0.15
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+     "origin_m": [
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+      -0.2,
+      0.075
+     ],
+     "rpy_rad": [
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+      0.0,
+      0.0
+     ]
+    }
+   ]
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+ ],
+ "root_object": "liebherr_lguex1500__root",
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+   "axis": [
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+    0.0,
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+   ],
+   "accessor": "joint[door_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+  },
+  "drawer_1": {
+   "type": "prismatic",
+   "axis": [
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+    -1,
+    0
+   ],
+   "limits_m": [
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+    0.3
+   ],
+   "accessor": "joint[drawer_1_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+  },
+  "drawer_2": {
+   "type": "prismatic",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "limits_m": [
+    0.0,
+    0.3
+   ],
+   "accessor": "joint[drawer_2_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+  },
+  "drawer_3": {
+   "type": "prismatic",
+   "axis": [
+    0,
+    -1,
+    0
+   ],
+   "limits_m": [
+    0.0,
+    0.3
+   ],
+   "accessor": "joint[drawer_3_joint]",
+   "state_id": null,
+   "range_evidence": "assumption",
+   "note_zh": "正方向 = 向前（−Y）拉出；须先开门"
+  }
+ },
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "D1-01",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
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+   ],
+   "insert_axis": [
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+    0.0,
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+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
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+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-02",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
+    -0.1075,
+    0.143
+   ],
+   "insert_axis": [
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+   ],
+   "capture_m": 0.03,
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+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-03",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    -0.1075,
+    0.143
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-04",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    -0.1075,
+    0.143
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-05",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    0.0925,
+    0.143
+   ],
+   "insert_axis": [
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+    0.0,
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+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-06",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
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+    0.143
+   ],
+   "insert_axis": [
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+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-07",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    0.0925,
+    0.143
+   ],
+   "insert_axis": [
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+    0.0,
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+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D1-08",
+   "place_id": "freezer_m20c",
+   "part": "drawer_1",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    0.0925,
+    0.143
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_1",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_1_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-01",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    -0.1075,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-02",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
+    -0.1075,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-03",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    -0.1075,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-04",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    -0.1075,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-05",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    0.0925,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-06",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
+    0.0925,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-07",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    0.0925,
+    0.343
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D2-08",
+   "place_id": "freezer_m20c",
+   "part": "drawer_2",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    0.0925,
+    0.343
+   ],
+   "insert_axis": [
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+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_2",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_2_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-01",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    -0.1075,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-02",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
+    -0.1075,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-03",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    -0.1075,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-04",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    -0.1075,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-05",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    -0.15,
+    0.0925,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-06",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    -0.05,
+    0.0925,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-07",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    0.05,
+    0.0925,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  },
+  {
+   "name": "D3-08",
+   "place_id": "freezer_m20c",
+   "part": "drawer_3",
+   "kind": "storage",
+   "position_m": [
+    0.15,
+    0.0925,
+    0.543
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.045,
+   "moves_with": "drawer_3",
+   "headroom_m": 0.147,
+   "fits": [
+    "vial",
+    "tube",
+    "tube_box",
+    "bottle_small"
+   ],
+   "access": [
+    "door_joint",
+    "drawer_3_joint"
+   ],
+   "note_zh": "抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door": {
+    "link": "door",
+    "joint": "door_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.298,
+     -0.2375,
+     0.005
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.596,
+     0.07,
+     0.81
+    ],
+    "mass_kg": 6.706,
+    "mass_note_zh": "门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg",
+    "handle": {
+     "pos_m": [
+      -0.263,
+      -0.3425,
+      0.62
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.2,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door",
+     "pos_m": [
+      -0.561,
+      -0.105,
+      0.615
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.561
+   }
+  },
+  "frames": {
+   "handle_door": {
+    "link": "base_link",
+    "pos_m": [
+     -0.263,
+     -0.3425,
+     0.62
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "冷冻门（右铰链）拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.liebherr_lguex1500",
+  "family": "storage_furniture",
+  "maker": "Liebherr",
+  "model": "MediLine LGUex 1500 laboratory freezer (3 drawers + basket)",
+  "catalogue_no": "LGUex 1500",
+  "storage": {
+   "place_ids": [
+    "freezer_m20c"
+   ],
+   "min_pitch_m": 0.095,
+   "headroom_m": 0.12,
+   "expected_positions": [
+    "D1-01",
+    "D1-02",
+    "D1-03",
+    "D1-04",
+    "D1-05",
+    "D1-06",
+    "D1-07",
+    "D1-08",
+    "D2-01",
+    "D2-02",
+    "D2-03",
+    "D2-04",
+    "D2-05",
+    "D2-06",
+    "D2-07",
+    "D2-08",
+    "D3-01",
+    "D3-02",
+    "D3-03",
+    "D3-04",
+    "D3-05",
+    "D3-06",
+    "D3-07",
+    "D3-08"
+   ],
+   "note_zh": "3 抽屉 × 8 位（D1 最低）；−20 °C 存放；Franka 不可达（房间设施）"
+  },
+  "temperature_range_c": [
+   -26,
+   -9
+  ],
+  "appearance": {
+   "body": {
+    "body": "white painted steel",
+    "doors": "white",
+    "controller": "electronic controller with digital display (decal)",
+    "source_id": "liebherr_white"
+   },
+   "labels": [
+    {
+     "door": "door",
+     "decal": "controller_panel",
+     "licence": "project drawing"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、容积、抽屉数与最低温度按经销商列出的 Liebherr 数据；内部尺寸、抽屉尺寸、门/柜质量与铰链侧为假设。",
+  "制冷与温控未建模。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..97f4bf307bab66f6106b74fd2cb059a8daabd823
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lguex1500__carcass
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..35b8628b33f46a849201d89e1e0e7d395d4d7a02
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__carcass.obj
@@ -0,0 +1,104 @@
+mtllib liebherr_lguex1500__carcass.mtl
+usemtl liebherr_lguex1500__carcass
+# https://github.com/mikedh/trimesh
+v -0.30000000 -0.23750000 0.00000000
+v -0.30000000 -0.23750000 0.12000000
+v -0.30000000 0.30750000 0.00000000
+v -0.30000000 0.30750000 0.12000000
+v 0.30000000 -0.23750000 0.00000000
+v 0.30000000 -0.23750000 0.12000000
+v 0.30000000 0.30750000 0.00000000
+v 0.30000000 0.30750000 0.12000000
+v -0.30000000 -0.23750000 0.74000000
+v -0.30000000 -0.23750000 0.82000000
+v -0.30000000 0.30750000 0.74000000
+v -0.30000000 0.30750000 0.82000000
+v 0.30000000 -0.23750000 0.74000000
+v 0.30000000 -0.23750000 0.82000000
+v 0.30000000 0.30750000 0.74000000
+v 0.30000000 0.30750000 0.82000000
+v -0.30000000 0.20250000 0.12000000
+v -0.30000000 0.20250000 0.74000000
+v -0.30000000 0.30750000 0.12000000
+v -0.30000000 0.30750000 0.74000000
+v 0.30000000 0.20250000 0.12000000
+v 0.30000000 0.20250000 0.74000000
+v 0.30000000 0.30750000 0.12000000
+v 0.30000000 0.30750000 0.74000000
+v -0.30000000 -0.23750000 0.12000000
+v -0.30000000 -0.23750000 0.74000000
+v -0.30000000 0.20250000 0.12000000
+v -0.30000000 0.20250000 0.74000000
+v -0.22000000 -0.23750000 0.12000000
+v -0.22000000 -0.23750000 0.74000000
+v -0.22000000 0.20250000 0.12000000
+v -0.22000000 0.20250000 0.74000000
+v 0.22000000 -0.23750000 0.12000000
+v 0.22000000 -0.23750000 0.74000000
+v 0.22000000 0.20250000 0.12000000
+v 0.22000000 0.20250000 0.74000000
+v 0.30000000 -0.23750000 0.12000000
+v 0.30000000 -0.23750000 0.74000000
+v 0.30000000 0.20250000 0.12000000
+v 0.30000000 0.20250000 0.74000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4eb29f24c41917858d0f24dca479392ede9fa7ce
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lguex1500__door
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b2100cd34fb030566921b16e06fbdc2b9bbc9259
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door.obj
@@ -0,0 +1,24 @@
+mtllib liebherr_lguex1500__door.mtl
+usemtl liebherr_lguex1500__door
+# https://github.com/mikedh/trimesh
+v -0.59600000 -0.07000000 0.00000000
+v -0.59600000 -0.07000000 0.81000000
+v -0.59600000 0.00000000 0.00000000
+v -0.59600000 0.00000000 0.81000000
+v 0.00000000 -0.07000000 0.00000000
+v 0.00000000 -0.07000000 0.81000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 0.81000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2dc07853dd865077c6caa7b5385c192c7ee29bf
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.mtl
@@ -0,0 +1,7 @@
+newmtl liebherr_lguex1500__door__decal_controller_panel
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/panel_liebherr_lguex1500.png
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fa8a22f3e4e343d40f3d55b1e7baccaa34d4522b
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__decal_controller_panel.obj
@@ -0,0 +1,12 @@
+mtllib liebherr_lguex1500__door__decal_controller_panel.mtl
+usemtl liebherr_lguex1500__door__decal_controller_panel
+v -0.572160 -0.070600 0.725000
+v -0.023840 -0.070600 0.725000
+v -0.023840 -0.070600 0.795000
+v -0.572160 -0.070600 0.795000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..72366fdefdda157af08caf7999fb663674234ba0
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lguex1500__door__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42f0a061531f8be79479e6913fe46bc42ad18eb7
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__door__handle.obj
@@ -0,0 +1,238 @@
+mtllib liebherr_lguex1500__door__handle.mtl
+usemtl liebherr_lguex1500__door__handle
+# https://github.com/mikedh/trimesh
+v -0.56100000 -0.10500000 0.51500000
+v -0.55300000 -0.10500000 0.51500000
+v -0.55300000 -0.10500000 0.71500000
+v -0.56100000 -0.10500000 0.71500000
+v -0.55315372 -0.10343928 0.51500000
+v -0.55315372 -0.10343928 0.71500000
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2a4a06e517a63e372440faea37cb3c8d24b4a95a
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.mtl
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+newmtl liebherr_lguex1500__drawer_1
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ca5c4d460a08afa8bb309c617f5a73b3cc1bfab4
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_1.obj
@@ -0,0 +1,104 @@
+mtllib liebherr_lguex1500__drawer_1.mtl
+usemtl liebherr_lguex1500__drawer_1
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5954a0480e4fd27bb0e3aedc8780961b387f63bd
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.mtl
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+newmtl liebherr_lguex1500__drawer_2
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d1201e477d539d0cf9ed174c4a7e01eaad137ac3
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_2.obj
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+mtllib liebherr_lguex1500__drawer_2.mtl
+usemtl liebherr_lguex1500__drawer_2
+# https://github.com/mikedh/trimesh
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.mtl b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e6b1e3ed5e2a3787984e091de698eeec10f6e79c
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lguex1500__drawer_3
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.obj b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7c681e2fdaeaa2ccdd6486b4ff39db07aa1eb749
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/liebherr_lguex1500__drawer_3.obj
@@ -0,0 +1,104 @@
+mtllib liebherr_lguex1500__drawer_3.mtl
+usemtl liebherr_lguex1500__drawer_3
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diff --git a/assets/labware/furniture/liebherr_lguex1500/meshes/textures/panel_liebherr_lguex1500.png b/assets/labware/furniture/liebherr_lguex1500/meshes/textures/panel_liebherr_lguex1500.png
new file mode 100644
index 0000000000000000000000000000000000000000..7485a7ced53a8950ca4005a5051b64faba1fc109
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/meshes/textures/panel_liebherr_lguex1500.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0b98a82bde443f062ffb33fa53183ac786c5546bd1f03d9dc302c143cca01b1f
+size 7234
diff --git a/assets/labware/furniture/liebherr_lguex1500/model.glb b/assets/labware/furniture/liebherr_lguex1500/model.glb
new file mode 100644
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Binary files /dev/null and b/assets/labware/furniture/liebherr_lguex1500/model.glb differ
diff --git a/assets/labware/furniture/liebherr_lguex1500/model.urdf b/assets/labware/furniture/liebherr_lguex1500/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..248cd48816f0825bbb07c026449b3e0199cf346b
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lguex1500/model.urdf
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+<?xml version="1.0"?>
+<robot name="liebherr_lguex1500">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="0 0.0775479 0.393791" rpy="0 0 0" />
+      <mass value="40" />
+      <inertia ixx="3.23142" ixy="0" ixz="0" iyy="3.44133" iyz="0" izz="2.19008" />
+    </inertial>
+    <visual name="liebherr_lguex1500__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__carcass.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__carcass">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.035 0.06" rpy="0 0 0" />
+      <geometry>
+        <box size="0.6 0.545 0.12" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.035 0.78" rpy="0 0 0" />
+      <geometry>
+        <box size="0.6 0.545 0.08" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.255 0.43" rpy="0 0 0" />
+      <geometry>
+        <box size="0.6 0.105 0.62" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.26 -0.0175 0.43" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.44 0.62" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.26 -0.0175 0.43" rpy="0 0 0" />
+      <geometry>
+        <box size="0.08 0.44 0.62" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door">
+    <inertial>
+      <origin xyz="-0.298 -0.0565 0.405" rpy="0 0 0" />
+      <mass value="6.70622" />
+      <inertia ixx="0.373799" ixy="0" ixz="0" iyy="0.565176" iyz="0" izz="0.205649" />
+    </inertial>
+    <visual name="liebherr_lguex1500__door">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__door.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__door">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="liebherr_lguex1500__door__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__door__handle.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__door__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="liebherr_lguex1500__door__decal_controller_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__door__decal_controller_panel.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__door__decal_controller_panel">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/panel_liebherr_lguex1500.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.298 -0.035 0.405" rpy="0 0 0" />
+      <geometry>
+        <box size="0.596 0.07 0.81" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.561 -0.105 0.615" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.2" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.561 -0.0875 0.525" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.561 -0.0875 0.705" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door" />
+    <origin xyz="0.298 -0.2375 0.005" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="drawer_1">
+    <inertial>
+      <origin xyz="2.32786e-16 -0.2 0.0451739" rpy="0 0 0" />
+      <mass value="1.3041" />
+      <inertia ixx="0.0198332" ixy="0" ixz="0" iyy="0.0216155" iyz="0" izz="0.0365583" />
+    </inertial>
+    <visual name="liebherr_lguex1500__drawer_1">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__drawer_1.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__drawer_1">
+        <color rgba="0.69207 0.78741 0.89001 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.2 0.0015" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.4 0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0015 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.3985 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="drawer_1_joint" type="prismatic">
+    <parent link="carcass" />
+    <child link="drawer_1" />
+    <origin xyz="0 0.1925 0.14" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.3" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="drawer_2">
+    <inertial>
+      <origin xyz="2.32786e-16 -0.2 0.0451739" rpy="0 0 0" />
+      <mass value="1.3041" />
+      <inertia ixx="0.0198332" ixy="0" ixz="0" iyy="0.0216155" iyz="0" izz="0.0365583" />
+    </inertial>
+    <visual name="liebherr_lguex1500__drawer_2">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__drawer_2.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__drawer_2">
+        <color rgba="0.69207 0.78741 0.89001 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.2 0.0015" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.4 0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0015 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.3985 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="drawer_2_joint" type="prismatic">
+    <parent link="carcass" />
+    <child link="drawer_2" />
+    <origin xyz="0 0.1925 0.34" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.3" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+  <link name="drawer_3">
+    <inertial>
+      <origin xyz="2.32786e-16 -0.2 0.0451739" rpy="0 0 0" />
+      <mass value="1.3041" />
+      <inertia ixx="0.0198332" ixy="0" ixz="0" iyy="0.0216155" iyz="0" izz="0.0365583" />
+    </inertial>
+    <visual name="liebherr_lguex1500__drawer_3">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lguex1500__drawer_3.obj" />
+      </geometry>
+      <material name="mat_liebherr_lguex1500__drawer_3">
+        <color rgba="0.69207 0.78741 0.89001 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.2 0.0015" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.4 0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0015 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.3985 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.42 0.003 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.2085 -0.2 0.075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.003 0.4 0.15" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="drawer_3_joint" type="prismatic">
+    <parent link="carcass" />
+    <child link="drawer_3" />
+    <origin xyz="0 0.1925 0.54" rpy="0 0 0" />
+    <axis xyz="0 -1 0" />
+    <limit lower="0" upper="0.3" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/liebherr_lkv3910/asset.contract.json b/assets/labware/furniture/liebherr_lkv3910/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c4ceed9a0109cee6e5df19fb3f19e1a83aa7ee
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/asset.contract.json
@@ -0,0 +1,370 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.liebherr_lkv3910",
+ "asset_version": "1.0.0",
+ "name_zh": "Liebherr LKv 3910 MediLine 实验室冷藏柜（+3…+16 °C，360 L，防爆内腔）",
+ "category": "furniture.storage.lab_refrigerator",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "实验室冷藏柜 Liebherr LKv 3910：外形 597×615×1840 mm、内部 440×435×1635 mm、5 层可调隔板（每层 45 kg）、内腔无火花；清单位置 fridge_4c：4 层 × 8 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/liebherr_lkv3910/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "2e2a812768e18eadacaa9ac262b3cb4b54ec3a641a8dd34d07ace28809348aa5"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/liebherr_lkv3910/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "05bb728e54a60d544b8084ad34492ee3189f9602c23e5be37c7b6b95b91da669"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/liebherr_lkv3910/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "c805270cbed8084120de631a400b71c9650c8822e9a255b768c1f5d46c75fda2"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/liebherr_lkv3910/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "22ca8a01c1cf64b7eaf61796056834034a4a4f7eb81f9b790071d97a626db195"
+  }
+ },
+ "sources": {
+  "liebherr_lkv3910": {
+   "kind": "manufacturer",
+   "reference": "Liebherr laboratory refrigerator LKv 3910 MediLine (Reagecon listing https://www.reagecon.com/zh-cn/liebherr-laboratory-refrigerator-lkv-3910-3-16-c-9698683; Remma https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910)",
+   "locator": "external 597 x 615 x 1840 mm, internal 440 x 435 x 1635 mm, 360 L gross, +3...+16 C, 5 height-adjustable shelves (45 kg each), spark-free interior",
+   "note": "Lab refrigerator for the 2-8 C store. accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "fridge_assumption": {
+   "kind": "assumption",
+   "reference": "LKv 3910 wall / door split, shelf heights, door mass, hinge side",
+   "locator": "engineering value",
+   "note": "Side walls 78.5 mm, back 80 mm, door 100 mm, base 130 mm, top 75 mm (external minus internal); hinge on the right as delivered (door hinge is reversible); door opens 110 deg; door mass: 2 x 0.6 mm steel skins + 90 mm PU foam (40 kg/m3) + 2 kg liner/handle; 4 of the 5 shelves carry the inventory's 4 x 8 positions at 0.36 m pitch."
+  },
+  "liebherr_white": {
+   "kind": "manufacturer",
+   "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+   "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+   "note": "White finish (no RAL code published; RAL 9016 sRGB used for display) and controller with digital display; the LGUex 1500 of the same MediLine series is taken as the same white."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "carcass": {
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:carcass",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lkv3910__carcass",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "outer_size_m": {
+     "value": [
+      0.597,
+      0.615,
+      1.84
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "liebherr_lkv3910"
+     ],
+     "uncertainty": null
+    },
+    "inner_size_m": {
+     "value": [
+      0.44,
+      0.435,
+      1.635
+     ],
+     "unit": "m",
+     "meaning_zh": "内部 宽×深×高",
+     "evidence": "documented",
+     "source_ids": [
+      "liebherr_lkv3910"
+     ],
+     "uncertainty": null
+    },
+    "temperature_range_c": {
+     "value": [
+      3,
+      16
+     ],
+     "unit": "degC",
+     "meaning_zh": "温度范围",
+     "evidence": "documented",
+     "source_ids": [
+      "liebherr_lkv3910"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 59.630242,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（钢外壳 0.6 mm + PU 发泡 40 kg/m3 + 压缩机/制冷系统约 25 kg（假设；厂家质量未取得））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  },
+  "door": {
+   "name_zh": "冷藏门（右铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:door",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "liebherr_lkv3910__door",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "mass_kg": {
+     "value": 16.129174,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {
+  "joint_door": {
+   "component_id": "door",
+   "artifact_id": "model_urdf",
+   "target": "door_joint",
+   "channel": "joint",
+   "attribute": "position",
+   "unit": "rad",
+   "limits": [
+    0.0,
+    1.919862
+   ],
+   "state_id": null,
+   "mapping_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°",
+   "authority": "none",
+   "direction": "none",
+   "sync_status": "unbound",
+   "source_ids": [
+    "fridge_assumption"
+   ]
+  }
+ },
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "外形、内部尺寸、温度范围、隔板数按经销商列出的 Liebherr LKv 3910 数据；墙厚分配、门质量、铰链侧（出厂右侧，可换）、隔板高度为假设。",
+  "制冷过程、温度控制与报警未建模（家具资产）；温度作为存放条件记录。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "doors": {
+    "door": {
+     "link": "door",
+     "joint": "door_joint",
+     "hinge_axis": [
+      0.0,
+      0.0,
+      1.0
+     ],
+     "hinge_origin_m": [
+      0.2965,
+      -0.2075,
+      0.005
+     ],
+     "hinge_side": "right",
+     "limits": [
+      0.0,
+      1.919862
+     ],
+     "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+     "leaf_size_m": [
+      0.593,
+      0.1,
+      1.83
+     ],
+     "mass_kg": 16.129,
+     "mass_note_zh": "门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg",
+     "handle": {
+      "pos_m": [
+       -0.2615,
+       -0.3425,
+       1.1
+      ],
+      "rot_xyzw": [
+       -0.5,
+       -0.5,
+       -0.5,
+       0.5
+      ],
+      "approach_axis": [
+       0.0,
+       1.0,
+       0.0
+      ],
+      "finger_axis": [
+       1.0,
+       0.0,
+       0.0
+      ],
+      "bar_diameter_m": 0.016,
+      "bar_length_m": 0.3,
+      "franka_ok": true,
+      "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+     },
+     "handle_local": {
+      "link": "door",
+      "pos_m": [
+       -0.558,
+       -0.135,
+       1.095
+      ]
+     },
+     "radius_handle_to_hinge_m": 0.558
+    }
+   },
+   "frames": {
+    "handle_door": {
+     "link": "base_link",
+     "pos_m": [
+      -0.2615,
+      -0.3425,
+      1.1
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "冷藏门（右铰链）拉手（关门位）"
+    }
+   },
+   "type_id": "furniture.liebherr_lkv3910",
+   "family": "storage_furniture",
+   "maker": "Liebherr",
+   "model": "LKv 3910 MediLine laboratory refrigerator (spark-free interior)",
+   "catalogue_no": "LKv 3910",
+   "storage": {
+    "place_ids": [
+     "fridge_4c"
+    ],
+    "min_pitch_m": 0.1,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位（S1 最低）；2–8 °C 存放；Franka 固定基座不可达（房间家具）"
+   },
+   "temperature_range_c": [
+    3,
+    16
+   ],
+   "appearance": {
+    "body": {
+     "body": "white painted steel",
+     "doors": "white",
+     "controller": "electronic controller with digital display (decal)",
+     "source_id": "liebherr_white"
+    },
+    "labels": [
+     {
+      "door": "door",
+      "decal": "controller_panel",
+      "licence": "project drawing"
+     }
+    ],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lkv3910/collision_proxies.json b/assets/labware/furniture/liebherr_lkv3910/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..c893103c29f91920c94dc25c4c071e84b23a2869
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/collision_proxies.json
@@ -0,0 +1,265 @@
+{
+ "asset_type_id": "furniture.liebherr_lkv3910",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "carcass": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.515,
+      0.13
+     ],
+     "origin_m": [
+      0.0,
+      0.05,
+      0.065
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.515,
+      0.075
+     ],
+     "origin_m": [
+      0.0,
+      0.05,
+      1.8025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.08,
+      1.635
+     ],
+     "origin_m": [
+      0.0,
+      0.2675,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0785,
+      0.435,
+      1.635
+     ],
+     "origin_m": [
+      -0.25925,
+      0.01,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0785,
+      0.435,
+      1.635
+     ],
+     "origin_m": [
+      0.25925,
+      0.01,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.1875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.5475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.9075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      1.2675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  },
+  "door": {
+   "origin_m": [
+    0.2965,
+    -0.2075,
+    0.005
+   ],
+   "parent": "carcass",
+   "joint": "revolute",
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.593,
+      0.1,
+      1.83
+     ],
+     "origin_m": [
+      -0.2965,
+      -0.05,
+      0.915
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.008,
+      0.3
+     ],
+     "origin_m": [
+      -0.558,
+      -0.135,
+      1.095
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.558,
+      -0.1175,
+      0.955
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.012,
+      0.035,
+      0.012
+     ],
+     "origin_m": [
+      -0.558,
+      -0.1175,
+      1.235
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lkv3910/geometry_manifest.json b/assets/labware/furniture/liebherr_lkv3910/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..01684eef7878d26969ca4b119aee39aabd107849
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/geometry_manifest.json
@@ -0,0 +1,1664 @@
+{
+ "asset_type_id": "furniture.liebherr_lkv3910",
+ "catalog_id": null,
+ "name_zh": "Liebherr LKv 3910 MediLine 实验室冷藏柜（+3…+16 °C，360 L，防爆内腔）",
+ "name_en": "Liebherr laboratory refrigerator LKv 3910 MediLine",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.597,
+  0.658,
+  1.84
+ ],
+ "bounds_m": [
+  [
+   -0.2985,
+   -0.3505,
+   0.0
+  ],
+  [
+   0.2985,
+   0.3075,
+   1.84
+  ]
+ ],
+ "total_mass_kg": 75.75942,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "liebherr_lkv3910",
+   "kind": "manufacturer",
+   "reference": "Liebherr laboratory refrigerator LKv 3910 MediLine (Reagecon listing https://www.reagecon.com/zh-cn/liebherr-laboratory-refrigerator-lkv-3910-3-16-c-9698683; Remma https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910)",
+   "locator": "external 597 x 615 x 1840 mm, internal 440 x 435 x 1635 mm, 360 L gross, +3...+16 C, 5 height-adjustable shelves (45 kg each), spark-free interior",
+   "note": "Lab refrigerator for the 2-8 C store. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "fridge_assumption",
+   "kind": "assumption",
+   "reference": "LKv 3910 wall / door split, shelf heights, door mass, hinge side",
+   "locator": "engineering value",
+   "note": "Side walls 78.5 mm, back 80 mm, door 100 mm, base 130 mm, top 75 mm (external minus internal); hinge on the right as delivered (door hinge is reversible); door opens 110 deg; door mass: 2 x 0.6 mm steel skins + 90 mm PU foam (40 kg/m3) + 2 kg liner/handle; 4 of the 5 shelves carry the inventory's 4 x 8 positions at 0.36 m pitch.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "liebherr_white",
+   "kind": "manufacturer",
+   "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+   "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+   "note": "White finish (no RAL code published; RAL 9016 sRGB used for display) and controller with digital display; the LGUex 1500 of the same MediLine series is taken as the same white.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "carcass",
+   "name_zh": "柜体（含隔板/托盘）",
+   "function_zh": "存放容器；通风与锁未建模",
+   "physical_meaning_zh": "钢制柜体与隔板",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 59.630242,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "钢外壳 0.6 mm + PU 发泡 40 kg/m3 + 压缩机/制冷系统约 25 kg（假设；厂家质量未取得）",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lkv3910__carcass",
+    "liebherr_lkv3910__carcass__shelves"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lkv3910__carcass",
+     "rgba_srgb": [
+      0.9686,
+      0.9843,
+      0.9608,
+      1.0
+     ],
+     "hex": "#F7FBF5",
+     "rgba_linear": [
+      0.93011,
+      0.96469,
+      0.9131,
+      1.0
+     ],
+     "ral": "RAL 9016",
+     "source_id": "liebherr_white"
+    },
+    {
+     "object": "liebherr_lkv3910__carcass__shelves",
+     "rgba_srgb": [
+      0.7,
+      0.71,
+      0.72,
+      1.0
+     ],
+     "hex": "#B2B5B8",
+     "rgba_linear": [
+      0.44799,
+      0.46236,
+      0.477,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.515,
+      0.13
+     ],
+     "origin_m": [
+      0.0,
+      0.05,
+      0.065
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.515,
+      0.075
+     ],
+     "origin_m": [
+      0.0,
+      0.05,
+      1.8025
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.597,
+      0.08,
+      1.635
+     ],
+     "origin_m": [
+      0.0,
+      0.2675,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0785,
+      0.435,
+      1.635
+     ],
+     "origin_m": [
+      -0.25925,
+      0.01,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0785,
+      0.435,
+      1.635
+     ],
+     "origin_m": [
+      0.25925,
+      0.01,
+      0.9475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.1875
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.5475
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      0.9075
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.436,
+      0.425,
+      0.005
+     ],
+     "origin_m": [
+      0.0,
+      0.015,
+      1.2675
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  },
+  {
+   "id": "door",
+   "name_zh": "冷藏门（右铰链）",
+   "function_zh": "关闭/打开存放空间；外侧竖直拉手",
+   "physical_meaning_zh": "被动门扇：绕竖直铰链轴转动，资产无执行器",
+   "parent": "carcass",
+   "origin_m": [
+    0.2965,
+    -0.2075,
+    0.005
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": {
+    "type": "revolute",
+    "axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "evidence": "assumption",
+    "source_ids": [
+     "fridge_assumption"
+    ],
+    "note_zh": "正方向 = 门向外（−Y）打开；铰链在右侧；最大 110.0°"
+   },
+   "mass_kg": 16.129174,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg",
+   "material": "",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "liebherr_lkv3910__door",
+    "liebherr_lkv3910__door__handle",
+    "liebherr_lkv3910__door__decal_controller_panel"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "liebherr_lkv3910__door",
+     "rgba_srgb": [
+      0.9686,
+      0.9843,
+      0.9608,
+      1.0
+     ],
+     "hex": "#F7FBF5",
+     "rgba_linear": [
+      0.93011,
+      0.96469,
+      0.9131,
+      1.0
+     ],
+     "ral": "RAL 9016",
+     "source_id": "liebherr_white"
+    },
+    {
+     "object": "liebherr_lkv3910__door__handle",
+     "rgba_srgb": [
+      0.1,
+      0.1,
+      0.11,
+      1.0
+     ],
+     "hex": "#1A1A1C",
+     "rgba_linear": [
+      0.01002,
+      0.01002,
+      0.01165,
+      1.0
+     ]
+    },
+    {
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+    0.91
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.355,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-01",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.165,
+    -0.0975,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-02",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.055,
+    -0.0975,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-03",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.055,
+    -0.0975,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-04",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.165,
+    -0.0975,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-05",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.165,
+    0.1125,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-06",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    -0.055,
+    0.1125,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-07",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.055,
+    0.1125,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  },
+  {
+   "name": "S4-08",
+   "place_id": "fridge_4c",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.165,
+    0.1125,
+    1.27
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.05,
+   "moves_with": "carcass",
+   "headroom_m": 0.495,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "vial",
+    "tube_rack",
+    "jar"
+   ],
+   "access": [
+    "door_joint"
+   ],
+   "note_zh": "4×2 位/层（0.11 × 0.21 m）"
+  }
+ ],
+ "labware": {
+  "doors": {
+   "door": {
+    "link": "door",
+    "joint": "door_joint",
+    "hinge_axis": [
+     0.0,
+     0.0,
+     1.0
+    ],
+    "hinge_origin_m": [
+     0.2965,
+     -0.2075,
+     0.005
+    ],
+    "hinge_side": "right",
+    "limits": [
+     0.0,
+     1.919862
+    ],
+    "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+    "leaf_size_m": [
+     0.593,
+     0.1,
+     1.83
+    ],
+    "mass_kg": 16.129,
+    "mass_note_zh": "门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg",
+    "handle": {
+     "pos_m": [
+      -0.2615,
+      -0.3425,
+      1.1
+     ],
+     "rot_xyzw": [
+      -0.5,
+      -0.5,
+      -0.5,
+      0.5
+     ],
+     "approach_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "finger_axis": [
+      1.0,
+      0.0,
+      0.0
+     ],
+     "bar_diameter_m": 0.016,
+     "bar_length_m": 0.3,
+     "franka_ok": true,
+     "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"
+    },
+    "handle_local": {
+     "link": "door",
+     "pos_m": [
+      -0.558,
+      -0.135,
+      1.095
+     ]
+    },
+    "radius_handle_to_hinge_m": 0.558
+   }
+  },
+  "frames": {
+   "handle_door": {
+    "link": "base_link",
+    "pos_m": [
+     -0.2615,
+     -0.3425,
+     1.1
+    ],
+    "rot_xyzw": [
+     -0.5,
+     -0.5,
+     -0.5,
+     0.5
+    ],
+    "approach_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "冷藏门（右铰链）拉手（关门位）"
+   }
+  },
+  "type_id": "furniture.liebherr_lkv3910",
+  "family": "storage_furniture",
+  "maker": "Liebherr",
+  "model": "LKv 3910 MediLine laboratory refrigerator (spark-free interior)",
+  "catalogue_no": "LKv 3910",
+  "storage": {
+   "place_ids": [
+    "fridge_4c"
+   ],
+   "min_pitch_m": 0.1,
+   "headroom_m": 0.3,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "note_zh": "4 层 × 8 位（S1 最低）；2–8 °C 存放；Franka 固定基座不可达（房间家具）"
+  },
+  "temperature_range_c": [
+   3,
+   16
+  ],
+  "appearance": {
+   "body": {
+    "body": "white painted steel",
+    "doors": "white",
+    "controller": "electronic controller with digital display (decal)",
+    "source_id": "liebherr_white"
+   },
+   "labels": [
+    {
+     "door": "door",
+     "decal": "controller_panel",
+     "licence": "project drawing"
+    }
+   ],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "外形、内部尺寸、温度范围、隔板数按经销商列出的 Liebherr LKv 3910 数据；墙厚分配、门质量、铰链侧（出厂右侧，可换）、隔板高度为假设。",
+  "制冷过程、温度控制与报警未建模（家具资产）；温度作为存放条件记录。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.mtl b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..fbd723ab96288a11866ac457aacc07768eee3ae5
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lkv3910__carcass
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.obj b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5ffff7b932c946c4187db7873b6232b6cf5c1e20
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass.obj
@@ -0,0 +1,104 @@
+mtllib liebherr_lkv3910__carcass.mtl
+usemtl liebherr_lkv3910__carcass
+# https://github.com/mikedh/trimesh
+v -0.29850000 -0.20750000 0.00000000
+v -0.29850000 -0.20750000 0.13000000
+v -0.29850000 0.30750000 0.00000000
+v -0.29850000 0.30750000 0.13000000
+v 0.29850000 -0.20750000 0.00000000
+v 0.29850000 -0.20750000 0.13000000
+v 0.29850000 0.30750000 0.00000000
+v 0.29850000 0.30750000 0.13000000
+v -0.29850000 -0.20750000 1.76500000
+v -0.29850000 -0.20750000 1.84000000
+v -0.29850000 0.30750000 1.76500000
+v -0.29850000 0.30750000 1.84000000
+v 0.29850000 -0.20750000 1.76500000
+v 0.29850000 -0.20750000 1.84000000
+v 0.29850000 0.30750000 1.76500000
+v 0.29850000 0.30750000 1.84000000
+v -0.29850000 0.22750000 0.13000000
+v -0.29850000 0.22750000 1.76500000
+v -0.29850000 0.30750000 0.13000000
+v -0.29850000 0.30750000 1.76500000
+v 0.29850000 0.22750000 0.13000000
+v 0.29850000 0.22750000 1.76500000
+v 0.29850000 0.30750000 0.13000000
+v 0.29850000 0.30750000 1.76500000
+v -0.29850000 -0.20750000 0.13000000
+v -0.29850000 -0.20750000 1.76500000
+v -0.29850000 0.22750000 0.13000000
+v -0.29850000 0.22750000 1.76500000
+v -0.22000000 -0.20750000 0.13000000
+v -0.22000000 -0.20750000 1.76500000
+v -0.22000000 0.22750000 0.13000000
+v -0.22000000 0.22750000 1.76500000
+v 0.22000000 -0.20750000 0.13000000
+v 0.22000000 -0.20750000 1.76500000
+v 0.22000000 0.22750000 0.13000000
+v 0.22000000 0.22750000 1.76500000
+v 0.29850000 -0.20750000 0.13000000
+v 0.29850000 -0.20750000 1.76500000
+v 0.29850000 0.22750000 0.13000000
+v 0.29850000 0.22750000 1.76500000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.mtl b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d12f801c8759c1a773b36a6be85ac958d66cb185
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lkv3910__carcass__shelves
+Kd 0.7000 0.7100 0.7200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.obj b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b454be08e2ef88cef3ca37c4c219a6b33df4197a
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__carcass__shelves.obj
@@ -0,0 +1,84 @@
+mtllib liebherr_lkv3910__carcass__shelves.mtl
+usemtl liebherr_lkv3910__carcass__shelves
+# https://github.com/mikedh/trimesh
+v -0.21800000 -0.19750000 0.18500000
+v -0.21800000 -0.19750000 0.19000000
+v -0.21800000 0.22750000 0.18500000
+v -0.21800000 0.22750000 0.19000000
+v 0.21800000 -0.19750000 0.18500000
+v 0.21800000 -0.19750000 0.19000000
+v 0.21800000 0.22750000 0.18500000
+v 0.21800000 0.22750000 0.19000000
+v -0.21800000 -0.19750000 0.54500000
+v -0.21800000 -0.19750000 0.55000000
+v -0.21800000 0.22750000 0.54500000
+v -0.21800000 0.22750000 0.55000000
+v 0.21800000 -0.19750000 0.54500000
+v 0.21800000 -0.19750000 0.55000000
+v 0.21800000 0.22750000 0.54500000
+v 0.21800000 0.22750000 0.55000000
+v -0.21800000 -0.19750000 0.90500000
+v -0.21800000 -0.19750000 0.91000000
+v -0.21800000 0.22750000 0.90500000
+v -0.21800000 0.22750000 0.91000000
+v 0.21800000 -0.19750000 0.90500000
+v 0.21800000 -0.19750000 0.91000000
+v 0.21800000 0.22750000 0.90500000
+v 0.21800000 0.22750000 0.91000000
+v -0.21800000 -0.19750000 1.26500000
+v -0.21800000 -0.19750000 1.27000000
+v -0.21800000 0.22750000 1.26500000
+v -0.21800000 0.22750000 1.27000000
+v 0.21800000 -0.19750000 1.26500000
+v 0.21800000 -0.19750000 1.27000000
+v 0.21800000 0.22750000 1.26500000
+v 0.21800000 0.22750000 1.27000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.mtl b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7aa6a1cb0cd2b1c5115deb9e87810c36e4a11667
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lkv3910__door
+Kd 0.9686 0.9843 0.9608
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.obj b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.obj
new file mode 100644
index 0000000000000000000000000000000000000000..64ce297b1faa37966f5d37ab3948e79fc110e37c
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door.obj
@@ -0,0 +1,24 @@
+mtllib liebherr_lkv3910__door.mtl
+usemtl liebherr_lkv3910__door
+# https://github.com/mikedh/trimesh
+v -0.59300000 -0.10000000 0.00000000
+v -0.59300000 -0.10000000 1.83000000
+v -0.59300000 0.00000000 0.00000000
+v -0.59300000 0.00000000 1.83000000
+v 0.00000000 -0.10000000 0.00000000
+v 0.00000000 -0.10000000 1.83000000
+v 0.00000000 0.00000000 0.00000000
+v 0.00000000 0.00000000 1.83000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.mtl b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..a0aa60d35a403fe39feceaa4af841740c001d395
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.mtl
@@ -0,0 +1,7 @@
+newmtl liebherr_lkv3910__door__decal_controller_panel
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.05 0.05 0.05
+Ns 20
+d 1
+map_Kd textures/panel_liebherr_lkv3910.png
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.obj b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.obj
new file mode 100644
index 0000000000000000000000000000000000000000..56e6f670fd78c469e1da765d91df1eecfcca61a2
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__decal_controller_panel.obj
@@ -0,0 +1,12 @@
+mtllib liebherr_lkv3910__door__decal_controller_panel.mtl
+usemtl liebherr_lkv3910__door__decal_controller_panel
+v -0.569280 -0.100600 1.745000
+v -0.023720 -0.100600 1.745000
+v -0.023720 -0.100600 1.815000
+v -0.569280 -0.100600 1.815000
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.mtl b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..3b1dcac1df2be31767e80b92db766f0526131d14
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.mtl
@@ -0,0 +1,6 @@
+newmtl liebherr_lkv3910__door__handle
+Kd 0.1000 0.1000 0.1100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.obj b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2d68b93104ad1c9f23515e53b6e25025a3e26f7e
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/liebherr_lkv3910__door__handle.obj
@@ -0,0 +1,238 @@
+mtllib liebherr_lkv3910__door__handle.mtl
+usemtl liebherr_lkv3910__door__handle
+# https://github.com/mikedh/trimesh
+v -0.55800000 -0.13500000 0.94500000
+v -0.55000000 -0.13500000 0.94500000
+v -0.55000000 -0.13500000 1.24500000
+v -0.55800000 -0.13500000 1.24500000
+v -0.55015372 -0.13343928 0.94500000
+v -0.55015372 -0.13343928 1.24500000
+v -0.55060896 -0.13193853 0.94500000
+v -0.55060896 -0.13193853 1.24500000
+v -0.55134824 -0.13055544 0.94500000
+v -0.55134824 -0.13055544 1.24500000
+v -0.55234315 -0.12934315 0.94500000
+v -0.55234315 -0.12934315 1.24500000
+v -0.55355544 -0.12834824 0.94500000
+v -0.55355544 -0.12834824 1.24500000
+v -0.55493853 -0.12760896 0.94500000
+v -0.55493853 -0.12760896 1.24500000
+v -0.55643928 -0.12715372 0.94500000
+v -0.55643928 -0.12715372 1.24500000
+v -0.55800000 -0.12700000 0.94500000
+v -0.55800000 -0.12700000 1.24500000
+v -0.55956072 -0.12715372 0.94500000
+v -0.55956072 -0.12715372 1.24500000
+v -0.56106147 -0.12760896 0.94500000
+v -0.56106147 -0.12760896 1.24500000
+v -0.56244456 -0.12834824 0.94500000
+v -0.56244456 -0.12834824 1.24500000
+v -0.56365685 -0.12934315 0.94500000
+v -0.56365685 -0.12934315 1.24500000
+v -0.56465176 -0.13055544 0.94500000
+v -0.56465176 -0.13055544 1.24500000
+v -0.56539104 -0.13193853 0.94500000
+v -0.56539104 -0.13193853 1.24500000
+v -0.56584628 -0.13343928 0.94500000
+v -0.56584628 -0.13343928 1.24500000
+v -0.56600000 -0.13500000 0.94500000
+v -0.56600000 -0.13500000 1.24500000
+v -0.56584628 -0.13656072 0.94500000
+v -0.56584628 -0.13656072 1.24500000
+v -0.56539104 -0.13806147 0.94500000
+v -0.56539104 -0.13806147 1.24500000
+v -0.56465176 -0.13944456 0.94500000
+v -0.56465176 -0.13944456 1.24500000
+v -0.56365685 -0.14065685 0.94500000
+v -0.56365685 -0.14065685 1.24500000
+v -0.56244456 -0.14165176 0.94500000
+v -0.56244456 -0.14165176 1.24500000
+v -0.56106147 -0.14239104 0.94500000
+v -0.56106147 -0.14239104 1.24500000
+v -0.55956072 -0.14284628 0.94500000
+v -0.55956072 -0.14284628 1.24500000
+v -0.55800000 -0.14300000 0.94500000
+v -0.55800000 -0.14300000 1.24500000
+v -0.55643928 -0.14284628 0.94500000
+v -0.55643928 -0.14284628 1.24500000
+v -0.55493853 -0.14239104 0.94500000
+v -0.55493853 -0.14239104 1.24500000
+v -0.55355544 -0.14165176 0.94500000
+v -0.55355544 -0.14165176 1.24500000
+v -0.55234315 -0.14065685 0.94500000
+v -0.55234315 -0.14065685 1.24500000
+v -0.55134824 -0.13944456 0.94500000
+v -0.55134824 -0.13944456 1.24500000
+v -0.55060896 -0.13806147 0.94500000
+v -0.55060896 -0.13806147 1.24500000
+v -0.55015372 -0.13656072 0.94500000
+v -0.55015372 -0.13656072 1.24500000
+v -0.56400000 -0.13500000 0.94900000
+v -0.56400000 -0.13500000 0.96100000
+v -0.56400000 -0.10000000 0.94900000
+v -0.56400000 -0.10000000 0.96100000
+v -0.55200000 -0.13500000 0.94900000
+v -0.55200000 -0.13500000 0.96100000
+v -0.55200000 -0.10000000 0.94900000
+v -0.55200000 -0.10000000 0.96100000
+v -0.56400000 -0.13500000 1.22900000
+v -0.56400000 -0.13500000 1.24100000
+v -0.56400000 -0.10000000 1.22900000
+v -0.56400000 -0.10000000 1.24100000
+v -0.55200000 -0.13500000 1.22900000
+v -0.55200000 -0.13500000 1.24100000
+v -0.55200000 -0.10000000 1.22900000
+v -0.55200000 -0.10000000 1.24100000
+f 2 1 5
+f 2 5 3
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+f 3 6 4
+f 5 1 7
+f 5 7 6
+f 6 7 8
+f 6 8 4
+f 7 1 9
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+
diff --git a/assets/labware/furniture/liebherr_lkv3910/meshes/textures/panel_liebherr_lkv3910.png b/assets/labware/furniture/liebherr_lkv3910/meshes/textures/panel_liebherr_lkv3910.png
new file mode 100644
index 0000000000000000000000000000000000000000..01558ad2ebf114452b7199e949da19448be10e53
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/meshes/textures/panel_liebherr_lkv3910.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31666ca17a4315172dec3248ccb7d665faec12c97dd0c3d05fc11237df8b038
+size 7158
diff --git a/assets/labware/furniture/liebherr_lkv3910/model.glb b/assets/labware/furniture/liebherr_lkv3910/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..07c2cad74dbd33e33f140b36caaf2105ceb0f9f5
Binary files /dev/null and b/assets/labware/furniture/liebherr_lkv3910/model.glb differ
diff --git a/assets/labware/furniture/liebherr_lkv3910/model.urdf b/assets/labware/furniture/liebherr_lkv3910/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..5c8fa4667066b507dd3a70cb4a23916e6dbc491f
--- /dev/null
+++ b/assets/labware/furniture/liebherr_lkv3910/model.urdf
@@ -0,0 +1,155 @@
+<?xml version="1.0"?>
+<robot name="liebherr_lkv3910">
+  <link name="base_link" />
+  <link name="carcass">
+    <inertial>
+      <origin xyz="-5.53055e-18 0.0982987 0.883665" rpy="0 0 0" />
+      <mass value="59.6302" />
+      <inertia ixx="18.1416" ixy="0" ixz="0" iyy="18.5947" iyz="0" izz="3.08902" />
+    </inertial>
+    <visual name="liebherr_lkv3910__carcass">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lkv3910__carcass.obj" />
+      </geometry>
+      <material name="mat_liebherr_lkv3910__carcass">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="liebherr_lkv3910__carcass__shelves">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lkv3910__carcass__shelves.obj" />
+      </geometry>
+      <material name="mat_liebherr_lkv3910__carcass__shelves">
+        <color rgba="0.44799 0.46236 0.47700 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.05 0.065" rpy="0 0 0" />
+      <geometry>
+        <box size="0.597 0.515 0.13" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.05 1.8025" rpy="0 0 0" />
+      <geometry>
+        <box size="0.597 0.515 0.075" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.2675 0.9475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.597 0.08 1.635" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.25925 0.01 0.9475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0785 0.435 1.635" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.25925 0.01 0.9475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.0785 0.435 1.635" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.015 0.1875" rpy="0 0 0" />
+      <geometry>
+        <box size="0.436 0.425 0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.015 0.5475" rpy="0 0 0" />
+      <geometry>
+        <box size="0.436 0.425 0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.015 0.9075" rpy="0 0 0" />
+      <geometry>
+        <box size="0.436 0.425 0.005" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.015 1.2675" rpy="0 0 0" />
+      <geometry>
+        <box size="0.436 0.425 0.005" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="carcass_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="carcass" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+  <link name="door">
+    <inertial>
+      <origin xyz="-0.2965 -0.0715 0.915" rpy="0 0 0" />
+      <mass value="16.1292" />
+      <inertia ixx="4.52873" ixy="0" ixz="0" iyy="4.9739" iyz="0" izz="0.500136" />
+    </inertial>
+    <visual name="liebherr_lkv3910__door">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lkv3910__door.obj" />
+      </geometry>
+      <material name="mat_liebherr_lkv3910__door">
+        <color rgba="0.93011 0.96469 0.91310 1.000" />
+      </material>
+    </visual>
+    <visual name="liebherr_lkv3910__door__handle">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lkv3910__door__handle.obj" />
+      </geometry>
+      <material name="mat_liebherr_lkv3910__door__handle">
+        <color rgba="0.01002 0.01002 0.01165 1.000" />
+      </material>
+    </visual>
+    <visual name="liebherr_lkv3910__door__decal_controller_panel">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/liebherr_lkv3910__door__decal_controller_panel.obj" />
+      </geometry>
+      <material name="mat_liebherr_lkv3910__door__decal_controller_panel">
+        <color rgba="1 1 1 1" />
+        <texture filename="meshes/textures/panel_liebherr_lkv3910.png" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.2965 -0.05 0.915" rpy="0 0 0" />
+      <geometry>
+        <box size="0.593 0.1 1.83" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.558 -0.135 1.095" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.008" length="0.3" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.558 -0.1175 0.955" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.558 -0.1175 1.235" rpy="0 0 0" />
+      <geometry>
+        <box size="0.012 0.035 0.012" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="door_joint" type="revolute">
+    <parent link="carcass" />
+    <child link="door" />
+    <origin xyz="0.2965 -0.2075 0.005" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="1.919862" effort="10" velocity="1" />
+    <dynamics damping="0.5" friction="0.0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/asset.contract.json b/assets/labware/furniture/metro_super_erecta_1848_4shelf/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..d93895e58e130165f5582e80b2a872909f02705b
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/asset.contract.json
@@ -0,0 +1,196 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.metro_super_erecta_1848_4shelf",
+ "asset_version": "1.0.0",
+ "name_zh": "Metro Super Erecta 镀铬线网架（1848NC × 4 层，74P 立柱）",
+ "category": "furniture.storage.open_rack",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "开放式试剂架 Metro Super Erecta：4 层 1848NC 线网板（1219×457 mm）+ 4 根 74P 立柱（1880 mm）；清单位置 reagent_shelf_a（房间里，Franka 不可达）：4 层 × 8 位。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/metro_super_erecta_1848_4shelf/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "e978e103777b6b753299c0f622144b309004305b9478cc9d8f3f3d465feb8355"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/metro_super_erecta_1848_4shelf/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "05f6019512a82f875c5633919c4ab655c006e3a60099776371c187f838e5d2d8"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/metro_super_erecta_1848_4shelf/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9272b69157f84dc44e25e9b62a6d68923b4b3064faa8ce44d5ef040be8c6c59c"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/metro_super_erecta_1848_4shelf/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9ce75bb7b85bc31cff35ef76a3bbc0820cd52c3dbcffd59cde28e69776c9baf0"
+  }
+ },
+ "sources": {
+  "metro_super_erecta": {
+   "kind": "manufacturer",
+   "reference": "Metro Super Erecta chrome wire shelving: shelf 1848NC (48 x 18 in) and posts 74P (74 in); listing https://www.katom.com/index.php/001-1848NC.html",
+   "locator": "shelf 48 in L x 18 in W (1219 x 457 mm), post 74 in (1880 mm), 4-shelf unit",
+   "note": "Open room reagent rack (out of the fixed arm's reach). accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "rack_assumption": {
+   "kind": "assumption",
+   "reference": "shelf heights and wire-shelf thickness",
+   "locator": "engineering value",
+   "note": "Shelves at 0.15 / 0.60 / 1.05 / 1.50 m (posts adjustable on 1 in grooves), wire shelf modelled as a 30 mm deep frame plate; chrome steel mass from the listed shelf weight not found -> steel volume."
+  }
+ },
+ "components": {
+  "rack": {
+   "name_zh": "线网架",
+   "function_zh": "开放存放试剂瓶",
+   "physical_meaning_zh": "镀铬钢线网板与立柱",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:rack",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "metro_super_erecta_1848_4shelf__rack",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "shelf_size_m": {
+     "value": [
+      1.219,
+      0.457
+     ],
+     "unit": "m",
+     "meaning_zh": "网板 48×18 in",
+     "evidence": "documented",
+     "source_ids": [
+      "metro_super_erecta"
+     ],
+     "uncertainty": null
+    },
+    "post_height_m": {
+     "value": 1.88,
+     "unit": "m",
+     "meaning_zh": "立柱 74 in",
+     "evidence": "documented",
+     "source_ids": [
+      "metro_super_erecta"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 50.152193,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（网板按 35 % 实心钢体积估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "网板与立柱尺寸按 Metro 目录；层高、网板厚度与质量为假设；线网按实心薄板建碰撞。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "furniture.metro_super_erecta_1848_4shelf",
+   "family": "storage_furniture",
+   "maker": "InterMetro (Metro)",
+   "model": "Super Erecta chrome wire shelving, 4 x 1848NC shelves on 74P posts",
+   "catalogue_no": "1848NC + 74P",
+   "storage": {
+    "place_ids": [
+     "reagent_shelf_a"
+    ],
+    "min_pitch_m": 0.15,
+    "headroom_m": 0.3,
+    "expected_positions": [
+     "S1-01",
+     "S1-02",
+     "S1-03",
+     "S1-04",
+     "S1-05",
+     "S1-06",
+     "S1-07",
+     "S1-08",
+     "S2-01",
+     "S2-02",
+     "S2-03",
+     "S2-04",
+     "S2-05",
+     "S2-06",
+     "S2-07",
+     "S2-08",
+     "S3-01",
+     "S3-02",
+     "S3-03",
+     "S3-04",
+     "S3-05",
+     "S3-06",
+     "S3-07",
+     "S3-08",
+     "S4-01",
+     "S4-02",
+     "S4-03",
+     "S4-04",
+     "S4-05",
+     "S4-06",
+     "S4-07",
+     "S4-08"
+    ],
+    "note_zh": "4 层 × 8 位；房间开放架，Franka 不可达"
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，地面 z=0"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/collision_proxies.json b/assets/labware/furniture/metro_super_erecta_1848_4shelf/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b19a9eb7a0f80a63381d6e89285c4c5a231f88
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/collision_proxies.json
@@ -0,0 +1,304 @@
+{
+ "asset_type_id": "furniture.metro_super_erecta_1848_4shelf",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "rack": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      -0.5968,
+      -0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      -0.5968,
+      0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      0.5968,
+      -0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      0.5968,
+      0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.485
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      1.485
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      1.485
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/geometry_manifest.json b/assets/labware/furniture/metro_super_erecta_1848_4shelf/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d031da3cf45062bdcc1b3935c391de88d2734102
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/geometry_manifest.json
@@ -0,0 +1,1372 @@
+{
+ "asset_type_id": "furniture.metro_super_erecta_1848_4shelf",
+ "catalog_id": null,
+ "name_zh": "Metro Super Erecta 镀铬线网架（1848NC × 4 层，74P 立柱）",
+ "name_en": "Metro Super Erecta chrome wire shelving, 1848NC shelves x 4, 74P posts",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  1.219,
+  0.457,
+  1.88
+ ],
+ "bounds_m": [
+  [
+   -0.6095,
+   -0.2285,
+   0.0
+  ],
+  [
+   0.6095,
+   0.2285,
+   1.88
+  ]
+ ],
+ "total_mass_kg": 50.15219,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "metro_super_erecta",
+   "kind": "manufacturer",
+   "reference": "Metro Super Erecta chrome wire shelving: shelf 1848NC (48 x 18 in) and posts 74P (74 in); listing https://www.katom.com/index.php/001-1848NC.html",
+   "locator": "shelf 48 in L x 18 in W (1219 x 457 mm), post 74 in (1880 mm), 4-shelf unit",
+   "note": "Open room reagent rack (out of the fixed arm's reach). accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "rack_assumption",
+   "kind": "assumption",
+   "reference": "shelf heights and wire-shelf thickness",
+   "locator": "engineering value",
+   "note": "Shelves at 0.15 / 0.60 / 1.05 / 1.50 m (posts adjustable on 1 in grooves), wire shelf modelled as a 30 mm deep frame plate; chrome steel mass from the listed shelf weight not found -> steel volume.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "rack",
+   "name_zh": "线网架",
+   "function_zh": "开放存放试剂瓶",
+   "physical_meaning_zh": "镀铬钢线网板与立柱",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 50.152193,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "网板按 35 % 实心钢体积估算",
+   "material": "steel",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "",
+   "objects": [
+    "metro_super_erecta_1848_4shelf__rack"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "metro_super_erecta_1848_4shelf__rack",
+     "rgba_srgb": [
+      0.8,
+      0.81,
+      0.83,
+      1.0
+     ],
+     "hex": "#CCCFD4",
+     "rgba_linear": [
+      0.60383,
+      0.62092,
+      0.65593,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      -0.5968,
+      -0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      -0.5968,
+      0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      0.5968,
+      -0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0127,
+      1.88
+     ],
+     "origin_m": [
+      0.5968,
+      0.2158,
+      0.94
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      0.135
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      0.585
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      -0.2085,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
+     "origin_m": [
+      0.0,
+      0.2085,
+      1.035
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.427,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      1.485
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      1.189,
+      0.008,
+      0.03
+     ],
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "access": [],
+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "place_id": "reagent_shelf_a",
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "note_zh": "每层一排 8 位（0.152 m）"
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+   "name": "S4-05",
+   "place_id": "reagent_shelf_a",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.0759,
+    0.0,
+    1.491
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "rack",
+   "headroom_m": 0.35,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "box"
+   ],
+   "access": [],
+   "note_zh": "每层一排 8 位（0.152 m）"
+  },
+  {
+   "name": "S4-06",
+   "place_id": "reagent_shelf_a",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.228,
+    0.0,
+    1.491
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "rack",
+   "headroom_m": 0.35,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "box"
+   ],
+   "access": [],
+   "note_zh": "每层一排 8 位（0.152 m）"
+  },
+  {
+   "name": "S4-07",
+   "place_id": "reagent_shelf_a",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.3801,
+    0.0,
+    1.491
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "rack",
+   "headroom_m": 0.35,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "box"
+   ],
+   "access": [],
+   "note_zh": "每层一排 8 位（0.152 m）"
+  },
+  {
+   "name": "S4-08",
+   "place_id": "reagent_shelf_a",
+   "part": "shelf_4",
+   "kind": "storage",
+   "position_m": [
+    0.5322,
+    0.0,
+    1.491
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.07,
+   "moves_with": "rack",
+   "headroom_m": 0.35,
+   "fits": [
+    "bottle",
+    "gl45_bottle",
+    "jar",
+    "box"
+   ],
+   "access": [],
+   "note_zh": "每层一排 8 位（0.152 m）"
+  }
+ ],
+ "labware": {
+  "type_id": "furniture.metro_super_erecta_1848_4shelf",
+  "family": "storage_furniture",
+  "maker": "InterMetro (Metro)",
+  "model": "Super Erecta chrome wire shelving, 4 x 1848NC shelves on 74P posts",
+  "catalogue_no": "1848NC + 74P",
+  "storage": {
+   "place_ids": [
+    "reagent_shelf_a"
+   ],
+   "min_pitch_m": 0.15,
+   "headroom_m": 0.3,
+   "expected_positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "note_zh": "4 层 × 8 位；房间开放架，Franka 不可达"
+  },
+  "frames": {
+   "place_reference": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "资产原点：占地中心，地面 z=0"
+   }
+  }
+ },
+ "limitations_zh": [
+  "网板与立柱尺寸按 Metro 目录；层高、网板厚度与质量为假设；线网按实心薄板建碰撞。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.mtl b/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b2e44c2b29cb9905237e7c44b6be9e75dde7fcd3
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.mtl
@@ -0,0 +1,6 @@
+newmtl metro_super_erecta_1848_4shelf__rack
+Kd 0.8000 0.8100 0.8300
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.obj b/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aae3a1a21bac25cbcdd1062862a3fc044633e23d
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/meshes/metro_super_erecta_1848_4shelf__rack.obj
@@ -0,0 +1,1020 @@
+mtllib metro_super_erecta_1848_4shelf__rack.mtl
+usemtl metro_super_erecta_1848_4shelf__rack
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diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.glb b/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..868e71cecc8b008b12375fc892ed11c340d79d1d
Binary files /dev/null and b/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.glb differ
diff --git a/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.urdf b/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..d36cc41086ccbbb13f9b40dc4ed627cfbee4d7fd
--- /dev/null
+++ b/assets/labware/furniture/metro_super_erecta_1848_4shelf/model.urdf
@@ -0,0 +1,121 @@
+<?xml version="1.0"?>
+<robot name="metro_super_erecta_1848_4shelf">
+  <link name="base_link" />
+  <link name="rack">
+    <inertial>
+      <origin xyz="6.33559e-17 -7.91948e-18 0.836963" rpy="0 0 0" />
+      <mass value="50.1522" />
+      <inertia ixx="15.6443" ixy="0" ixz="0" iyy="20.9818" iyz="0" izz="7.0832" />
+    </inertial>
+    <visual name="metro_super_erecta_1848_4shelf__rack">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/metro_super_erecta_1848_4shelf__rack.obj" />
+      </geometry>
+      <material name="mat_metro_super_erecta_1848_4shelf__rack">
+        <color rgba="0.60383 0.62092 0.65593 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.5968 -0.2158 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0127" length="1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.5968 0.2158 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0127" length="1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.5968 -0.2158 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0127" length="1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.5968 0.2158 0.94" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0127" length="1.88" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.135" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.427 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.2085 0.135" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.2085 0.135" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 0.585" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.427 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.2085 0.585" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.2085 0.585" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 1.035" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.427 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.2085 1.035" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.2085 1.035" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0 1.485" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.427 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.2085 1.485" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.2085 1.485" rpy="0 0 0" />
+      <geometry>
+        <box size="1.189 0.008 0.03" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rack_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="rack" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/asset.contract.json b/assets/labware/furniture/trippnt_step_shelf_2tier/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..81683185f2cb8abc3d4a13ebd9c0ecbc0be73307
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/asset.contract.json
@@ -0,0 +1,236 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "furniture.trippnt_step_shelf_2tier",
+ "asset_version": "1.0.0",
+ "name_zh": "台面阶梯试剂架（两层 × 5 位，TrippNT 24 in PVC 阶梯架 + 前托盘）",
+ "category": "furniture.storage.bench_shelf",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "机器人可达的台面试剂架：后层是 TrippNT 24 in 无底 PVC 阶梯架（宽 610 mm、高 254 mm、深 229 mm、四周 25 mm 挡边），前层是同宽的低托盘；后层在前层之后而不在其上方，顶部敞开，两层各 5 个位置、间距 0.12 m。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/furniture/trippnt_step_shelf_2tier/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "48d256106a3e0f10777d4a6455558c87fa3f6d7ecfe6243556a06ee7da2b8310"
+  },
+  "model_urdf": {
+   "path": "assets/labware/furniture/trippnt_step_shelf_2tier/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "b35c9ee59d8ffe1f1f621c8d1de4eb642b82900b1984099ca0c7fe0e1b7a6224"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/furniture/trippnt_step_shelf_2tier/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "131eb194b28052b1c4ff7e89d1c820aaa2b30e2b886198d062538ef6708e560c"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/furniture/trippnt_step_shelf_2tier/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "89bf0f31a977b0108ff0bec6f3a0da2561ac91c5998abb704837d54345ea3e0b"
+  }
+ },
+ "sources": {
+  "trippnt_step_shelf": {
+   "kind": "manufacturer",
+   "reference": "TrippNT bottomless PVC step shelf 24 in, Weber Scientific TNT24W10-8 (https://weberscientific.com/step-shelves-workstation), Avantor 11376-388 / supplier no. 50123 (https://avantorsciences.com/ca/en/product/10053831/step-shelf-pvc-trippnt)",
+   "locator": "24 in (610 mm) wide, 10 in (254 mm) high, 9 in (229 mm) deep; 1 in (25 mm) safety lip; chemically resistant PVC; for reagent bottles",
+   "note": "Closest real bench step shelf. Our asset adds a matching low front tray so both tiers belong to one asset (the product is a single bottomless step standing on the bench); see limitations. accessed 2026-10-22."
+  },
+  "inventory_places": {
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "trippnt_white": {
+   "kind": "manufacturer",
+   "reference": "TrippNT 24 in step shelf 50123, white PVC (VWR 'Step shelves, white PVC' https://b2b-uk.vwr.com/store/product/39705954/null; Avantor 16117910 'Step Shelf, White PVC, TrippNT')",
+   "locator": "material: white PVC",
+   "note": "White (RAL not published; RAL 9010 sRGB used for display)."
+  },
+  "ral_srgb": {
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes."
+  }
+ },
+ "components": {
+  "shelf": {
+   "name_zh": "阶梯架（前托盘 + 后层台阶）",
+   "function_zh": "存放试剂瓶；两层都从正上方可达",
+   "physical_meaning_zh": "PVC 板件；前层台面 z=0.006 m，后层台面 z=0.254 m",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:shelf",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "trippnt_step_shelf_2tier__shelf",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。",
+   "properties": {
+    "width_m": {
+     "value": 0.61,
+     "unit": "m",
+     "meaning_zh": "宽 24 in",
+     "evidence": "documented",
+     "source_ids": [
+      "trippnt_step_shelf"
+     ],
+     "uncertainty": null
+    },
+    "step_height_m": {
+     "value": 0.254,
+     "unit": "m",
+     "meaning_zh": "后层台面高 10 in",
+     "evidence": "documented",
+     "source_ids": [
+      "trippnt_step_shelf"
+     ],
+     "uncertainty": null
+    },
+    "step_depth_m": {
+     "value": 0.229,
+     "unit": "m",
+     "meaning_zh": "后层深 9 in",
+     "evidence": "documented",
+     "source_ids": [
+      "trippnt_step_shelf"
+     ],
+     "uncertainty": null
+    },
+    "lip_height_m": {
+     "value": 0.025,
+     "unit": "m",
+     "meaning_zh": "挡边 1 in",
+     "evidence": "documented",
+     "source_ids": [
+      "trippnt_step_shelf"
+     ],
+     "uncertainty": null
+    },
+    "front_tray_depth_m": {
+     "value": 0.15,
+     "unit": "m",
+     "meaning_zh": "前托盘深度（本资产补充，容纳 1 L GL45 瓶 Ø101 mm）",
+     "evidence": "assumption",
+     "source_ids": [
+      "robot_access"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 5.629697,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（PVC 板体积 × 1400 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "后层按 TrippNT 24 in 无底 PVC 阶梯架（宽 610、高 254、深 229 mm，25 mm 挡边）；产品本身是单层台阶，前层托盘是为“两层同属一个资产、上层在下层之后”而补的同宽 PVC 托盘（深 150 mm，非目录件）。",
+  "目录各渠道对深/高的标注不一致（Weber 24×10×8 in，Avantor 宽24/高10/深9 in）；采用 Avantor 的分项标注。",
+  "两层各 5 位、间距 0.12 m 按机器人约束（≥0.11 m、俯视无遮挡）排布；挡边 25 mm，放瓶需抬过挡边。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "furniture.trippnt_step_shelf_2tier",
+   "family": "storage_furniture",
+   "maker": "TrippNT (distributed by Weber Scientific / Avantor)",
+   "model": "Step shelf, bottomless, PVC, 24 in + matching front tray (project addition)",
+   "catalogue_no": "Weber TNT24W10-8 / Avantor 11376-388 (supplier no. 50123)",
+   "storage": {
+    "place_ids": [
+     "bench_shelf"
+    ],
+    "min_pitch_m": 0.11,
+    "headroom_m": 0.48,
+    "expected_positions": [
+     "T1-01",
+     "T1-02",
+     "T1-03",
+     "T1-04",
+     "T1-05",
+     "T2-01",
+     "T2-02",
+     "T2-03",
+     "T2-04",
+     "T2-05"
+    ],
+    "note_zh": "两层 × 5 位；T1 前层（台面 z=0.006），T2 后层（z=0.254）；顶部敞开，headroom_m=1.0 表示上方无遮挡（仅受房间限制）"
+   },
+   "tiers": {
+    "T1": {
+     "surface_z_m": 0.006,
+     "y_m": -0.1145,
+     "depth_m": 0.15
+    },
+    "T2": {
+     "surface_z_m": 0.254,
+     "y_m": 0.075,
+     "depth_m": 0.229
+    }
+   },
+   "frames": {
+    "place_reference": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "资产原点：占地中心，台面高 z=0"
+    }
+   },
+   "appearance": {
+    "body": {
+     "body": "white PVC",
+     "source_id": "trippnt_white"
+    },
+    "labels": [],
+    "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+    "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/collision_proxies.json b/assets/labware/furniture/trippnt_step_shelf_2tier/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..01524059e27d60ba83d6dd4434c8422b9b9aa437
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/collision_proxies.json
@@ -0,0 +1,254 @@
+{
+ "asset_type_id": "furniture.trippnt_step_shelf_2tier",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "shelf": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.15,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      -0.1145,
+      0.003
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.006,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.1865,
+      0.0125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.15,
+      0.025
+     ],
+     "origin_m": [
+      -0.302,
+      -0.1145,
+      0.0125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.15,
+      0.025
+     ],
+     "origin_m": [
+      0.302,
+      -0.1145,
+      0.0125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.229,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.075,
+      0.251
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.248
+     ],
+     "origin_m": [
+      -0.302,
+      0.075,
+      0.124
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.248
+     ],
+     "origin_m": [
+      0.302,
+      0.075,
+      0.124
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.598,
+      0.006,
+      0.248
+     ],
+     "origin_m": [
+      0.0,
+      -0.0365,
+      0.124
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.598,
+      0.006,
+      0.188
+     ],
+     "origin_m": [
+      0.0,
+      0.1865,
+      0.154
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.006,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      -0.0365,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.006,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      0.1865,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.025
+     ],
+     "origin_m": [
+      -0.302,
+      0.075,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.025
+     ],
+     "origin_m": [
+      0.302,
+      0.075,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/geometry_manifest.json b/assets/labware/furniture/trippnt_step_shelf_2tier/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a08e76fb0f2068ec77a830d416ac0bf873bc67a
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/geometry_manifest.json
@@ -0,0 +1,735 @@
+{
+ "asset_type_id": "furniture.trippnt_step_shelf_2tier",
+ "catalog_id": null,
+ "name_zh": "台面阶梯试剂架（两层 × 5 位，TrippNT 24 in PVC 阶梯架 + 前托盘）",
+ "name_en": "Bench reagent step shelf, 2 tiers x 5 (TrippNT 24 in PVC step shelf + front tray)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.61,
+  0.379,
+  0.279
+ ],
+ "bounds_m": [
+  [
+   -0.305,
+   -0.1895,
+   0.0
+  ],
+  [
+   0.305,
+   0.1895,
+   0.279
+  ]
+ ],
+ "total_mass_kg": 5.6297,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "trippnt_step_shelf",
+   "kind": "manufacturer",
+   "reference": "TrippNT bottomless PVC step shelf 24 in, Weber Scientific TNT24W10-8 (https://weberscientific.com/step-shelves-workstation), Avantor 11376-388 / supplier no. 50123 (https://avantorsciences.com/ca/en/product/10053831/step-shelf-pvc-trippnt)",
+   "locator": "24 in (610 mm) wide, 10 in (254 mm) high, 9 in (229 mm) deep; 1 in (25 mm) safety lip; chemically resistant PVC; for reagent bottles",
+   "note": "Closest real bench step shelf. Our asset adds a matching low front tray so both tiers belong to one asset (the product is a single bottomless step standing on the bench); see limitations. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "inventory_places",
+   "kind": "code",
+   "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+   "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+   "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+   "licence": "project"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "trippnt_white",
+   "kind": "manufacturer",
+   "reference": "TrippNT 24 in step shelf 50123, white PVC (VWR 'Step shelves, white PVC' https://b2b-uk.vwr.com/store/product/39705954/null; Avantor 16117910 'Step Shelf, White PVC, TrippNT')",
+   "locator": "material: white PVC",
+   "note": "White (RAL not published; RAL 9010 sRGB used for display).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "ral_srgb",
+   "kind": "publication",
+   "reference": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+   "note": "Display colours for the RAL codes.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "shelf",
+   "name_zh": "阶梯架（前托盘 + 后层台阶）",
+   "function_zh": "存放试剂瓶；两层都从正上方可达",
+   "physical_meaning_zh": "PVC 板件；前层台面 z=0.006 m，后层台面 z=0.254 m",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 5.629697,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "PVC 板体积 × 1400 kg/m3",
+   "material": "pvc",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "后层宽/高/深与 25 mm 挡边按 TrippNT/Avantor 目录；前托盘（深 150 mm）为本资产补充",
+   "objects": [
+    "trippnt_step_shelf_2tier__shelf"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "trippnt_step_shelf_2tier__shelf",
+     "rgba_srgb": [
+      0.9686,
+      0.9765,
+      0.9373,
+      1.0
+     ],
+     "hex": "#F7F9EF",
+     "rgba_linear": [
+      0.93011,
+      0.94731,
+      0.86316,
+      1.0
+     ],
+     "ral": "RAL 9010",
+     "source_id": "trippnt_white"
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.15,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      -0.1145,
+      0.003
+     ],
+     "rpy_rad": [
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+     "origin_m": [
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+     "rpy_rad": [
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+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.15,
+      0.025
+     ],
+     "origin_m": [
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+      -0.1145,
+      0.0125
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.15,
+      0.025
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+     "origin_m": [
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+     "rpy_rad": [
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+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+    {
+     "shape": "box",
+     "size_m": [
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+      0.248
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+     "origin_m": [
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+      0.075,
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+     "rpy_rad": [
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+      0.0,
+      0.0
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+    },
+    {
+     "shape": "box",
+     "size_m": [
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+      0.229,
+      0.248
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+     "origin_m": [
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+     "rpy_rad": [
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+    {
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+     "size_m": [
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+      0.006,
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+     "origin_m": [
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+      -0.0365,
+      0.124
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+     "rpy_rad": [
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+    },
+    {
+     "shape": "box",
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+     "origin_m": [
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+     "rpy_rad": [
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+    },
+    {
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+     "size_m": [
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+      0.006,
+      0.025
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+     "origin_m": [
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+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.61,
+      0.006,
+      0.025
+     ],
+     "origin_m": [
+      0.0,
+      0.1865,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.025
+     ],
+     "origin_m": [
+      -0.302,
+      0.075,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.229,
+      0.025
+     ],
+     "origin_m": [
+      0.302,
+      0.075,
+      0.2665
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "trippnt_step_shelf_2tier__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "T1-01",
+   "place_id": "bench_shelf",
+   "part": "front_tray",
+   "kind": "storage",
+   "position_m": [
+    -0.24,
+    -0.1095,
+    0.006
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T1-02",
+   "place_id": "bench_shelf",
+   "part": "front_tray",
+   "kind": "storage",
+   "position_m": [
+    -0.12,
+    -0.1095,
+    0.006
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T1-03",
+   "place_id": "bench_shelf",
+   "part": "front_tray",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    -0.1095,
+    0.006
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T1-04",
+   "place_id": "bench_shelf",
+   "part": "front_tray",
+   "kind": "storage",
+   "position_m": [
+    0.12,
+    -0.1095,
+    0.006
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T1-05",
+   "place_id": "bench_shelf",
+   "part": "front_tray",
+   "kind": "storage",
+   "position_m": [
+    0.24,
+    -0.1095,
+    0.006
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T2-01",
+   "place_id": "bench_shelf",
+   "part": "step_top",
+   "kind": "storage",
+   "position_m": [
+    -0.24,
+    0.075,
+    0.254
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T2-02",
+   "place_id": "bench_shelf",
+   "part": "step_top",
+   "kind": "storage",
+   "position_m": [
+    -0.12,
+    0.075,
+    0.254
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T2-03",
+   "place_id": "bench_shelf",
+   "part": "step_top",
+   "kind": "storage",
+   "position_m": [
+    0.0,
+    0.075,
+    0.254
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T2-04",
+   "place_id": "bench_shelf",
+   "part": "step_top",
+   "kind": "storage",
+   "position_m": [
+    0.12,
+    0.075,
+    0.254
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  },
+  {
+   "name": "T2-05",
+   "place_id": "bench_shelf",
+   "part": "step_top",
+   "kind": "storage",
+   "position_m": [
+    0.24,
+    0.075,
+    0.254
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.03,
+   "radius_m": 0.055,
+   "moves_with": "shelf",
+   "headroom_m": 1.0,
+   "fits": [
+    "bottle",
+    "jar",
+    "gl45_bottle",
+    "powder_jar",
+    "vial_rack"
+   ],
+   "access": [],
+   "note_zh": "0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）"
+  }
+ ],
+ "labware": {
+  "type_id": "furniture.trippnt_step_shelf_2tier",
+  "family": "storage_furniture",
+  "maker": "TrippNT (distributed by Weber Scientific / Avantor)",
+  "model": "Step shelf, bottomless, PVC, 24 in + matching front tray (project addition)",
+  "catalogue_no": "Weber TNT24W10-8 / Avantor 11376-388 (supplier no. 50123)",
+  "storage": {
+   "place_ids": [
+    "bench_shelf"
+   ],
+   "min_pitch_m": 0.11,
+   "headroom_m": 0.48,
+   "expected_positions": [
+    "T1-01",
+    "T1-02",
+    "T1-03",
+    "T1-04",
+    "T1-05",
+    "T2-01",
+    "T2-02",
+    "T2-03",
+    "T2-04",
+    "T2-05"
+   ],
+   "note_zh": "两层 × 5 位；T1 前层（台面 z=0.006），T2 后层（z=0.254）；顶部敞开，headroom_m=1.0 表示上方无遮挡（仅受房间限制）"
+  },
+  "tiers": {
+   "T1": {
+    "surface_z_m": 0.006,
+    "y_m": -0.1145,
+    "depth_m": 0.15
+   },
+   "T2": {
+    "surface_z_m": 0.254,
+    "y_m": 0.075,
+    "depth_m": 0.229
+   }
+  },
+  "frames": {
+   "place_reference": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "资产原点：占地中心，台面高 z=0"
+   }
+  },
+  "appearance": {
+   "body": {
+    "body": "white PVC",
+    "source_id": "trippnt_white"
+   },
+   "labels": [],
+   "colour_source": "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23",
+   "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"
+  }
+ },
+ "limitations_zh": [
+  "后层按 TrippNT 24 in 无底 PVC 阶梯架（宽 610、高 254、深 229 mm，25 mm 挡边）；产品本身是单层台阶，前层托盘是为“两层同属一个资产、上层在下层之后”而补的同宽 PVC 托盘（深 150 mm，非目录件）。",
+  "目录各渠道对深/高的标注不一致（Weber 24×10×8 in，Avantor 宽24/高10/深9 in）；采用 Avantor 的分项标注。",
+  "两层各 5 位、间距 0.12 m 按机器人约束（≥0.11 m、俯视无遮挡）排布；挡边 25 mm，放瓶需抬过挡边。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.mtl b/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29d9b0af54ee88cf180f8f4fbb39d0f9c5c9f671
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.mtl
@@ -0,0 +1,6 @@
+newmtl trippnt_step_shelf_2tier__shelf
+Kd 0.9686 0.9765 0.9373
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.obj b/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dda1c217572a27ec046b4c0731f9c59a20bc90de
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/meshes/trippnt_step_shelf_2tier__shelf.obj
@@ -0,0 +1,264 @@
+mtllib trippnt_step_shelf_2tier__shelf.mtl
+usemtl trippnt_step_shelf_2tier__shelf
+# https://github.com/mikedh/trimesh
+v -0.30500000 -0.18950000 0.00000000
+v -0.30500000 -0.18950000 0.00600000
+v -0.30500000 -0.03950000 0.00000000
+v -0.30500000 -0.03950000 0.00600000
+v 0.30500000 -0.18950000 0.00000000
+v 0.30500000 -0.18950000 0.00600000
+v 0.30500000 -0.03950000 0.00000000
+v 0.30500000 -0.03950000 0.00600000
+v -0.30500000 -0.18950000 0.00000000
+v -0.30500000 -0.18950000 0.02500000
+v -0.30500000 -0.18350000 0.00000000
+v -0.30500000 -0.18350000 0.02500000
+v 0.30500000 -0.18950000 0.00000000
+v 0.30500000 -0.18950000 0.02500000
+v 0.30500000 -0.18350000 0.00000000
+v 0.30500000 -0.18350000 0.02500000
+v -0.30500000 -0.18950000 0.00000000
+v -0.30500000 -0.18950000 0.02500000
+v -0.30500000 -0.03950000 0.00000000
+v -0.30500000 -0.03950000 0.02500000
+v -0.29900000 -0.18950000 0.00000000
+v -0.29900000 -0.18950000 0.02500000
+v -0.29900000 -0.03950000 0.00000000
+v -0.29900000 -0.03950000 0.02500000
+v 0.29900000 -0.18950000 0.00000000
+v 0.29900000 -0.18950000 0.02500000
+v 0.29900000 -0.03950000 0.00000000
+v 0.29900000 -0.03950000 0.02500000
+v 0.30500000 -0.18950000 0.00000000
+v 0.30500000 -0.18950000 0.02500000
+v 0.30500000 -0.03950000 0.00000000
+v 0.30500000 -0.03950000 0.02500000
+v -0.30500000 -0.03950000 0.24800000
+v -0.30500000 -0.03950000 0.25400000
+v -0.30500000 0.18950000 0.24800000
+v -0.30500000 0.18950000 0.25400000
+v 0.30500000 -0.03950000 0.24800000
+v 0.30500000 -0.03950000 0.25400000
+v 0.30500000 0.18950000 0.24800000
+v 0.30500000 0.18950000 0.25400000
+v -0.30500000 -0.03950000 0.00000000
+v -0.30500000 -0.03950000 0.24800000
+v -0.30500000 0.18950000 0.00000000
+v -0.30500000 0.18950000 0.24800000
+v -0.29900000 -0.03950000 0.00000000
+v -0.29900000 -0.03950000 0.24800000
+v -0.29900000 0.18950000 0.00000000
+v -0.29900000 0.18950000 0.24800000
+v 0.29900000 -0.03950000 0.00000000
+v 0.29900000 -0.03950000 0.24800000
+v 0.29900000 0.18950000 0.00000000
+v 0.29900000 0.18950000 0.24800000
+v 0.30500000 -0.03950000 0.00000000
+v 0.30500000 -0.03950000 0.24800000
+v 0.30500000 0.18950000 0.00000000
+v 0.30500000 0.18950000 0.24800000
+v -0.29900000 -0.03950000 0.00000000
+v -0.29900000 -0.03950000 0.24800000
+v -0.29900000 -0.03350000 0.00000000
+v -0.29900000 -0.03350000 0.24800000
+v 0.29900000 -0.03950000 0.00000000
+v 0.29900000 -0.03950000 0.24800000
+v 0.29900000 -0.03350000 0.00000000
+v 0.29900000 -0.03350000 0.24800000
+v -0.29900000 0.18350000 0.06000000
+v -0.29900000 0.18350000 0.24800000
+v -0.29900000 0.18950000 0.06000000
+v -0.29900000 0.18950000 0.24800000
+v 0.29900000 0.18350000 0.06000000
+v 0.29900000 0.18350000 0.24800000
+v 0.29900000 0.18950000 0.06000000
+v 0.29900000 0.18950000 0.24800000
+v -0.30500000 -0.03950000 0.25400000
+v -0.30500000 -0.03950000 0.27900000
+v -0.30500000 -0.03350000 0.25400000
+v -0.30500000 -0.03350000 0.27900000
+v 0.30500000 -0.03950000 0.25400000
+v 0.30500000 -0.03950000 0.27900000
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diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/model.glb b/assets/labware/furniture/trippnt_step_shelf_2tier/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5fe43330dd5e1d53a783811ac56ff2043ad3f108
Binary files /dev/null and b/assets/labware/furniture/trippnt_step_shelf_2tier/model.glb differ
diff --git a/assets/labware/furniture/trippnt_step_shelf_2tier/model.urdf b/assets/labware/furniture/trippnt_step_shelf_2tier/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..96420ad6845ef65238ce14808d0c4427e1e0c44f
--- /dev/null
+++ b/assets/labware/furniture/trippnt_step_shelf_2tier/model.urdf
@@ -0,0 +1,103 @@
+<?xml version="1.0"?>
+<robot name="trippnt_step_shelf_2tier">
+  <link name="base_link" />
+  <link name="shelf">
+    <inertial>
+      <origin xyz="-5.39241e-17 0.0350882 0.144118" rpy="0 0 0" />
+      <mass value="5.6297" />
+      <inertia ixx="0.103906" ixy="0" ixz="0" iyy="0.211086" iyz="0" izz="0.241955" />
+    </inertial>
+    <visual name="trippnt_step_shelf_2tier__shelf">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/trippnt_step_shelf_2tier__shelf.obj" />
+      </geometry>
+      <material name="mat_trippnt_step_shelf_2tier__shelf">
+        <color rgba="0.93011 0.94731 0.86316 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 -0.1145 0.003" rpy="0 0 0" />
+      <geometry>
+        <box size="0.61 0.15 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.1865 0.0125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.61 0.006 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.302 -0.1145 0.0125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.15 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.302 -0.1145 0.0125" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.15 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.075 0.251" rpy="0 0 0" />
+      <geometry>
+        <box size="0.61 0.229 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.302 0.075 0.124" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.229 0.248" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.302 0.075 0.124" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.229 0.248" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0365 0.124" rpy="0 0 0" />
+      <geometry>
+        <box size="0.598 0.006 0.248" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.1865 0.154" rpy="0 0 0" />
+      <geometry>
+        <box size="0.598 0.006 0.188" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.0365 0.2665" rpy="0 0 0" />
+      <geometry>
+        <box size="0.61 0.006 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.1865 0.2665" rpy="0 0 0" />
+      <geometry>
+        <box size="0.61 0.006 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.302 0.075 0.2665" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.229 0.025" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.302 0.075 0.2665" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.229 0.025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="shelf_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="shelf" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/asset.contract.json b/assets/labware/racks/mn_702503_vial_rack_23mm/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..4933804221b35fba0a036f0f817fb831763d7d80
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/asset.contract.json
@@ -0,0 +1,672 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.mn_702503_vial_rack_23mm",
+ "asset_version": "1.0.0",
+ "name_zh": "MACHEREY-NAGEL 顶空瓶架 702503（36 位，孔径 23.1 mm，PP 蓝）",
+ "category": "labware.rack.vial",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "MN 702503 顶空瓶架：36 位（3 行 × 12 列，字母数字索引），外形 323×91×30 mm，蓝色聚丙烯，空架可叠放；放 O23 mm 的 6/10/20 mL 顶空瓶（Agilent 20 mL 顶空瓶 O22.75 mm）。同款 36 位 23.1 mm 架另有 WHEATON 064088、Restek 22643。孔距厂家未公布：在 3 mm 边框内均分（26.42×28.33 mm，假设）。机器人（Franka 俯抓、手指沿 Y 合拢）只用 A、C 两行 24 位，B 行留空。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/racks/mn_702503_vial_rack_23mm/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "50f2166d961db5af16092ad143d9f0837a038dd26cf30eae07c7a527b8ca6370"
+  },
+  "model_urdf": {
+   "path": "assets/labware/racks/mn_702503_vial_rack_23mm/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "360225800ec833ad608df8acf83df0a8f96b992c985cd596f6a318af2628ac6d"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/racks/mn_702503_vial_rack_23mm/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a9b0fa80a19ed29ee770b8187c4d8651caa33eaea436feafc87b7a5cae2b9bf2"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/racks/mn_702503_vial_rack_23mm/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "fc8be6ce72dc623b098061361203fe1d9283e9c826e06b70a57d31240e66c93f"
+  }
+ },
+ "sources": {
+  "mn_702503": {
+   "kind": "manufacturer",
+   "reference": "MACHEREY-NAGEL vial rack REF 702503 product page (https://www.mn-net.com/Vial-racks-max.-diameter-23.1-mm-36-pos.-stackable-if-empty-702503)",
+   "locator": "Technical data: positions 36, alpha-numerical index, dimensions L x W x H 323 x 91 x 30 mm, polypropylene (PP), blue, stackable (only when empty), maximal vial diameter 23 mm / for headspace vials with a diameter of 23.1 mm, 5 pieces per pack; product photo 6506_702503 (3 rows x 12 holes, raised rim, stacking pins at the corners and mid sides)",
+   "note": "Real model of the bench rack for 20 mL headspace vials."
+  },
+  "dwk_064088": {
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences WHEATON 36-Position Rack for 23.1 mm Open ID, cat. 064088 (https://www.thermofisher.com/order/catalog/product/kr/en/064088; Fisher 11571325)",
+   "locator": "36 positions, 23.1 mm open ID, for 6/10/20 mL headspace 23 mm OD vials; 12.6 x 3.5 x 1.12 in (320 x 89 x 28 mm)",
+   "note": "Same rack design from a second supplier (corroborates the footprint and the hole size)."
+  },
+  "restek_22643": {
+   "kind": "manufacturer",
+   "reference": "Restek vial storage rack cat. 22643 (https://www.restek.com/p/22643)",
+   "locator": "polypropylene rack for 6, 10 or 20 mL headspace vials, holds up to 36, autoclavable 121 C 20 min",
+   "note": "Same 36-position headspace-vial rack class."
+  },
+  "franka_finger": {
+   "kind": "code",
+   "reference": "franka_description (Franka Emika, Apache-2.0): meshes/collision/finger.stl, hand.stl, panda_arm_hand.urdf (copy shipped with the Isaac Sim URDF importer)",
+   "locator": "finger.stl: last 19 mm 17.8 mm wide (x) x 16.4 mm thick (closing axis); base part 21 x 26.2 mm from 24 mm above the tip; length 53.9 mm; panda_finger_joint 0..0.04 m; hand_tcp 0.1034 m -> fingertip end 8.9 mm below the TCP; hand.stl 63 x 204 x 92 mm, lowest point 37 mm above the TCP",
+   "note": "Finger and hand sizes for the clearance check."
+  },
+  "rack_assumption": {
+   "kind": "assumption",
+   "reference": "MN 702503 details not in the data sheet",
+   "locator": "engineering value",
+   "note": "Hole pitch not published: 12 x 3 cells laid out evenly inside a 3 mm rim of the documented 323 x 91 mm footprint (26.42 x 28.33 mm); deck top 22 mm (3 mm thick) 4 mm below the rim top (26 mm), 2 mm floor, six 3 x 4 mm stacking pins on the rim (30 mm overall) after the product photo; mass = modelled PP volume x 905 kg/m3."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "瓶架（边框、孔板、底板）",
+   "function_zh": "竖直承放 36 个 O23 mm 顶空瓶；空架可叠放",
+   "physical_meaning_zh": "注塑聚丙烯托盘：3 行 × 12 列孔（O23.1 mm），孔板低于边框 4 mm，四角与长边中点有叠放销",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "mn_702503_vial_rack_23mm__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "size_m": {
+     "value": [
+      0.323,
+      0.091,
+      0.03
+     ],
+     "unit": "m",
+     "meaning_zh": "外形 L×W×H（MN 702503）",
+     "evidence": "documented",
+     "source_ids": [
+      "mn_702503"
+     ],
+     "uncertainty": null
+    },
+    "positions": {
+     "value": 36,
+     "unit": "1",
+     "meaning_zh": "孔位数（3 行 × 12 列，字母数字索引）",
+     "evidence": "documented",
+     "source_ids": [
+      "mn_702503"
+     ],
+     "uncertainty": null
+    },
+    "hole_diameter_m": {
+     "value": 0.0231,
+     "unit": "m",
+     "meaning_zh": "孔径（最大瓶径 23.1 mm）",
+     "evidence": "documented",
+     "source_ids": [
+      "mn_702503",
+      "dwk_064088"
+     ],
+     "uncertainty": null
+    },
+    "pitch_m": {
+     "value": [
+      0.02642,
+      0.02833
+     ],
+     "unit": "m",
+     "meaning_zh": "孔距 X×Y：厂家未公布，按外形在 3 mm 边框内均分",
+     "evidence": "assumption",
+     "source_ids": [
+      "rack_assumption"
+     ],
+     "uncertainty": null
+    },
+    "deck_top_m": {
+     "value": 0.022,
+     "unit": "m",
+     "meaning_zh": "孔板顶面高（照片估计：低于边框 4 mm）",
+     "evidence": "photo_estimate",
+     "source_ids": [
+      "mn_702503",
+      "rack_assumption"
+     ],
+     "uncertainty": null
+    },
+    "material": {
+     "value": "polypropylene, blue",
+     "unit": "1",
+     "meaning_zh": "材料与颜色",
+     "evidence": "documented",
+     "source_ids": [
+      "mn_702503"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.138886,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（建模 PP 体积 153 cm3 × 905 kg/m3（厂家未公布质量））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "孔距、孔板高度、底板和叠放销尺寸厂家未公布：孔距按外形均分（26.42×28.33 mm），其余按产品照片估计。",
+  "孔径 23.1 mm 与瓶径 22.75 mm 只差 0.35 mm：仿真里放瓶按 touch + intent 吸附到槽位（capture 10 mm），不靠接触求解插入。",
+  "机器人只用 A、C 两行（24 位）；B 行留空，否则手指沿 Y 合拢时会碰到 B 行的瓶。架子本身 91 mm 宽，不由机器人搬运。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.mn_702503_vial_rack_23mm",
+   "family": "rack",
+   "labware_class": "vial_rack",
+   "fits": [
+    "bench"
+   ],
+   "maker": "MACHEREY-NAGEL",
+   "model": "Vial rack, max. diameter 23.1 mm, 36 positions, stackable if empty (blue PP)",
+   "catalogue_no": "702503",
+   "also_sold_as": [
+    "DWK WHEATON 064088",
+    "Restek 22643 (36-position rack for 6/10/20 mL headspace vials)"
+   ],
+   "holds": "labware.agilent_hs_vial_20ml",
+   "positions_total": 36,
+   "grid": {
+    "rows": [
+     "A",
+     "B",
+     "C"
+    ],
+    "columns": 12,
+    "pitch_x_m": 0.02642,
+    "pitch_y_m": 0.02833,
+    "hole_diameter_m": 0.0231,
+    "pitch_evidence": "assumption (not published)"
+   },
+   "frames": {
+    "slot_A01": {
+     "link": "base_link",
+     "pos_m": [
+      -0.14529,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A01 位：瓶底中心"
+    },
+    "slot_A02": {
+     "link": "base_link",
+     "pos_m": [
+      -0.11888,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A02 位：瓶底中心"
+    },
+    "slot_A03": {
+     "link": "base_link",
+     "pos_m": [
+      -0.09246,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A03 位：瓶底中心"
+    },
+    "slot_A04": {
+     "link": "base_link",
+     "pos_m": [
+      -0.06604,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A04 位：瓶底中心"
+    },
+    "slot_A05": {
+     "link": "base_link",
+     "pos_m": [
+      -0.03962,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A05 位：瓶底中心"
+    },
+    "slot_A06": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01321,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A06 位：瓶底中心"
+    },
+    "slot_A07": {
+     "link": "base_link",
+     "pos_m": [
+      0.01321,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A07 位：瓶底中心"
+    },
+    "slot_A08": {
+     "link": "base_link",
+     "pos_m": [
+      0.03963,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A08 位：瓶底中心"
+    },
+    "slot_A09": {
+     "link": "base_link",
+     "pos_m": [
+      0.06604,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A09 位：瓶底中心"
+    },
+    "slot_A10": {
+     "link": "base_link",
+     "pos_m": [
+      0.09246,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A10 位：瓶底中心"
+    },
+    "slot_A11": {
+     "link": "base_link",
+     "pos_m": [
+      0.11888,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A11 位：瓶底中心"
+    },
+    "slot_A12": {
+     "link": "base_link",
+     "pos_m": [
+      0.14529,
+      -0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "A12 位：瓶底中心"
+    },
+    "slot_C01": {
+     "link": "base_link",
+     "pos_m": [
+      -0.14529,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C01 位：瓶底中心"
+    },
+    "slot_C02": {
+     "link": "base_link",
+     "pos_m": [
+      -0.11888,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C02 位：瓶底中心"
+    },
+    "slot_C03": {
+     "link": "base_link",
+     "pos_m": [
+      -0.09246,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C03 位：瓶底中心"
+    },
+    "slot_C04": {
+     "link": "base_link",
+     "pos_m": [
+      -0.06604,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C04 位：瓶底中心"
+    },
+    "slot_C05": {
+     "link": "base_link",
+     "pos_m": [
+      -0.03962,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C05 位：瓶底中心"
+    },
+    "slot_C06": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01321,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C06 位：瓶底中心"
+    },
+    "slot_C07": {
+     "link": "base_link",
+     "pos_m": [
+      0.01321,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C07 位：瓶底中心"
+    },
+    "slot_C08": {
+     "link": "base_link",
+     "pos_m": [
+      0.03963,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C08 位：瓶底中心"
+    },
+    "slot_C09": {
+     "link": "base_link",
+     "pos_m": [
+      0.06604,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C09 位：瓶底中心"
+    },
+    "slot_C10": {
+     "link": "base_link",
+     "pos_m": [
+      0.09246,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C10 位：瓶底中心"
+    },
+    "slot_C11": {
+     "link": "base_link",
+     "pos_m": [
+      0.11888,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C11 位：瓶底中心"
+    },
+    "slot_C12": {
+     "link": "base_link",
+     "pos_m": [
+      0.14529,
+      0.02833,
+      0.002
+     ],
+     "rot_xyzw": [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+     ],
+     "note_zh": "C12 位：瓶底中心"
+    }
+   },
+   "seat_z_m": 0.002,
+   "deck_top_m": 0.022,
+   "franka_grasp_ok": false,
+   "franka_blocked_reason": "91 mm wide (> 74 mm grip): the rack stays on the bench; the robot moves the vials",
+   "storage": {
+    "place_ids": [
+     "vial_rack_20ml"
+    ],
+    "min_pitch_m": 0.0264,
+    "expected_positions": [
+     "A01",
+     "A02",
+     "A03",
+     "A04",
+     "A05",
+     "A06",
+     "A07",
+     "A08",
+     "A09",
+     "A10",
+     "A11",
+     "A12",
+     "C01",
+     "C02",
+     "C03",
+     "C04",
+     "C05",
+     "C06",
+     "C07",
+     "C08",
+     "C09",
+     "C10",
+     "C11",
+     "C12"
+    ],
+    "robot_rows": [
+     "A",
+     "C"
+    ],
+    "manual_only_rows": [
+     "B"
+    ],
+    "required_free_above_vial_top_m": 0.25,
+    "note_zh": "A、C 两行 24 位给机器人；B 行留空（手指沿 Y 合拢时会碰到 B 行的瓶）"
+   },
+   "robot_access": {
+    "gripper": "Franka Hand",
+    "approach": "top-down",
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "approach_open_width_m": 0.031,
+    "max_grasp_width_m": 0.074,
+    "vial_diameter_m": 0.02275,
+    "vial_height_with_cap_m": 0.0775,
+    "finger_tip_m": {
+     "width": 0.0178,
+     "thick": 0.0165,
+     "z0": 0.0,
+     "z1": 0.019
+    },
+    "finger_base_m": {
+     "width": 0.021,
+     "thick": 0.0262,
+     "z0": 0.024,
+     "z1": 0.0539
+    },
+    "tip_below_tcp_m": 0.0089,
+    "min_finger_gap_rows_A_C_m": 0.00359,
+    "nearest_vial_m": [
+     -0.14529,
+     0.02833
+    ],
+    "hand_bottom_above_vial_tops_m": 0.004,
+    "min_finger_gap_if_row_B_filled_m": -0.01137,
+    "fingertip_end_above_deck_m": 0.0156,
+    "free_space_above_vial_tops_m": 0.25,
+    "note_zh": "手指尺寸取 franka_description 碰撞网格；A、C 行全部装满时，手指与最近的瓶最小间隙见 min_finger_gap_rows_A_C_m；若 B 行也放瓶，手指会压到 B 行（间隙为负）。手掌底面高于瓶盖顶。架上方需 ≥0.25 m 空间（放在台面或开放层板上）。",
+    "source_ids": [
+     "franka_finger",
+     "robot_access"
+    ]
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/collision_proxies.json b/assets/labware/racks/mn_702503_vial_rack_23mm/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..332c8e72a34be625aa1cc4e676af0565377a4ccf
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/collision_proxies.json
@@ -0,0 +1,518 @@
+{
+ "asset_type_id": "labware.mn_702503_vial_rack_23mm",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.323,
+      0.003,
+      0.026
+     ],
+     "origin_m": [
+      0.0,
+      -0.044,
+      0.013
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.323,
+      0.003,
+      0.026
+     ],
+     "origin_m": [
+      0.0,
+      0.044,
+      0.013
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.085,
+      0.026
+     ],
+     "origin_m": [
+      -0.16,
+      0.0,
+      0.013
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003,
+      0.085,
+      0.026
+     ],
+     "origin_m": [
+      0.16,
+      0.0,
+      0.013
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.317,
+      0.085,
+      0.002
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001658,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.157671,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.132083,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.105667,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.07925,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.052833,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      -0.026417,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.026417,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.052833,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.07925,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.105667,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.003317,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.132083,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.001658,
+      0.085,
+      0.003
+     ],
+     "origin_m": [
+      0.157671,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.317,
+      0.002617,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.041192,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.317,
+      0.005233,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      -0.014167,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.317,
+      0.005233,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.014167,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.317,
+      0.002617,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.041192,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      -0.1555,
+      -0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      -0.1555,
+      0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      0.1555,
+      -0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      0.1555,
+      0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      -0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0015,
+      0.004
+     ],
+     "origin_m": [
+      0.0,
+      0.044,
+      0.028
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/geometry_manifest.json b/assets/labware/racks/mn_702503_vial_rack_23mm/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8728a9dd5664562327ae46729fcb966fe1eddb
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/geometry_manifest.json
@@ -0,0 +1,2247 @@
+{
+ "asset_type_id": "labware.mn_702503_vial_rack_23mm",
+ "catalog_id": null,
+ "name_zh": "MACHEREY-NAGEL 顶空瓶架 702503（36 位，孔径 23.1 mm，PP 蓝）",
+ "name_en": "MACHEREY-NAGEL vial rack 702503, 36 positions, max. vial O 23.1 mm",
+ "created_at": "2026-10-23T09:38:51Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
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+  0.091,
+  0.03
+ ],
+ "bounds_m": [
+  [
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+   -0.0455,
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+  [
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+ ],
+ "total_mass_kg": 0.13889,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "mn_702503",
+   "kind": "manufacturer",
+   "reference": "MACHEREY-NAGEL vial rack REF 702503 product page (https://www.mn-net.com/Vial-racks-max.-diameter-23.1-mm-36-pos.-stackable-if-empty-702503)",
+   "locator": "Technical data: positions 36, alpha-numerical index, dimensions L x W x H 323 x 91 x 30 mm, polypropylene (PP), blue, stackable (only when empty), maximal vial diameter 23 mm / for headspace vials with a diameter of 23.1 mm, 5 pieces per pack; product photo 6506_702503 (3 rows x 12 holes, raised rim, stacking pins at the corners and mid sides)",
+   "note": "Real model of the bench rack for 20 mL headspace vials.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "dwk_064088",
+   "kind": "manufacturer",
+   "reference": "DWK Life Sciences WHEATON 36-Position Rack for 23.1 mm Open ID, cat. 064088 (https://www.thermofisher.com/order/catalog/product/kr/en/064088; Fisher 11571325)",
+   "locator": "36 positions, 23.1 mm open ID, for 6/10/20 mL headspace 23 mm OD vials; 12.6 x 3.5 x 1.12 in (320 x 89 x 28 mm)",
+   "note": "Same rack design from a second supplier (corroborates the footprint and the hole size).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "restek_22643",
+   "kind": "manufacturer",
+   "reference": "Restek vial storage rack cat. 22643 (https://www.restek.com/p/22643)",
+   "locator": "polypropylene rack for 6, 10 or 20 mL headspace vials, holds up to 36, autoclavable 121 C 20 min",
+   "note": "Same 36-position headspace-vial rack class.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "franka_finger",
+   "kind": "code",
+   "reference": "franka_description (Franka Emika, Apache-2.0): meshes/collision/finger.stl, hand.stl, panda_arm_hand.urdf (copy shipped with the Isaac Sim URDF importer)",
+   "locator": "finger.stl: last 19 mm 17.8 mm wide (x) x 16.4 mm thick (closing axis); base part 21 x 26.2 mm from 24 mm above the tip; length 53.9 mm; panda_finger_joint 0..0.04 m; hand_tcp 0.1034 m -> fingertip end 8.9 mm below the TCP; hand.stl 63 x 204 x 92 mm, lowest point 37 mm above the TCP",
+   "note": "Finger and hand sizes for the clearance check.",
+   "licence": "Apache-2.0"
+  },
+  {
+   "source_id": "rack_assumption",
+   "kind": "assumption",
+   "reference": "MN 702503 details not in the data sheet",
+   "locator": "engineering value",
+   "note": "Hole pitch not published: 12 x 3 cells laid out evenly inside a 3 mm rim of the documented 323 x 91 mm footprint (26.42 x 28.33 mm); deck top 22 mm (3 mm thick) 4 mm below the rim top (26 mm), 2 mm floor, six 3 x 4 mm stacking pins on the rim (30 mm overall) after the product photo; mass = modelled PP volume x 905 kg/m3.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "瓶架（边框、孔板、底板）",
+   "function_zh": "竖直承放 36 个 O23 mm 顶空瓶；空架可叠放",
+   "physical_meaning_zh": "注塑聚丙烯托盘：3 行 × 12 列孔（O23.1 mm），孔板低于边框 4 mm，四角与长边中点有叠放销",
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+   "joint": null,
+   "mass_kg": 0.138886,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "建模 PP 体积 153 cm3 × 905 kg/m3（厂家未公布质量）",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形 323×91×30 mm、36 位、孔径 23.1 mm 按 MN 数据；孔距、孔板高度、底板与叠放销为假设/照片估计",
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+ "joint_definitions": {},
+ "artifacts": {
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+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
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+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
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+   "fits": [
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+   "finger_axis": [
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+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
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+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
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+    "vial"
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+   "finger_axis": [
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+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
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+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.06604,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A05",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.03962,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.03962,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A06",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.01321,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.01321,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A07",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.01321,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.01321,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A08",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.03963,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.03963,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A09",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.06604,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.06604,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A10",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.09246,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.09246,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A11",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.11888,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.11888,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "A12",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.14529,
+    -0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.14529,
+    -0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C01",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.14529,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.14529,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C02",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.11888,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.11888,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C03",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.09246,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.09246,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C04",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.06604,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.06604,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C05",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.03962,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.03962,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C06",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    -0.01321,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    -0.01321,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C07",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.01321,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.01321,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C08",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.03963,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.03963,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C09",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.06604,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.06604,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C10",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.09246,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.09246,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C11",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.11888,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.11888,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  },
+  {
+   "name": "C12",
+   "place_id": "vial_rack_20ml",
+   "part": "body",
+   "kind": "storage",
+   "position_m": [
+    0.14529,
+    0.02833,
+    0.002
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.01155,
+   "moves_with": "body",
+   "headroom_m": null,
+   "required_free_above_vial_top_m": 0.25,
+   "fits": [
+    "headspace_vial_20ml",
+    "vial"
+   ],
+   "access": [
+    "franka_top_down"
+   ],
+   "vial_grasp_tcp_m": [
+    0.14529,
+    0.02833,
+    0.0465
+   ],
+   "vial_grasp_rot_xyzw": [
+    1.0,
+    0.0,
+    0.0,
+    0.0
+   ],
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"
+  }
+ ],
+ "labware": {
+  "type_id": "labware.mn_702503_vial_rack_23mm",
+  "family": "rack",
+  "labware_class": "vial_rack",
+  "fits": [
+   "bench"
+  ],
+  "maker": "MACHEREY-NAGEL",
+  "model": "Vial rack, max. diameter 23.1 mm, 36 positions, stackable if empty (blue PP)",
+  "catalogue_no": "702503",
+  "also_sold_as": [
+   "DWK WHEATON 064088",
+   "Restek 22643 (36-position rack for 6/10/20 mL headspace vials)"
+  ],
+  "holds": "labware.agilent_hs_vial_20ml",
+  "positions_total": 36,
+  "grid": {
+   "rows": [
+    "A",
+    "B",
+    "C"
+   ],
+   "columns": 12,
+   "pitch_x_m": 0.02642,
+   "pitch_y_m": 0.02833,
+   "hole_diameter_m": 0.0231,
+   "pitch_evidence": "assumption (not published)"
+  },
+  "frames": {
+   "slot_A01": {
+    "link": "base_link",
+    "pos_m": [
+     -0.14529,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A01 位：瓶底中心"
+   },
+   "slot_A02": {
+    "link": "base_link",
+    "pos_m": [
+     -0.11888,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A02 位：瓶底中心"
+   },
+   "slot_A03": {
+    "link": "base_link",
+    "pos_m": [
+     -0.09246,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A03 位：瓶底中心"
+   },
+   "slot_A04": {
+    "link": "base_link",
+    "pos_m": [
+     -0.06604,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A04 位：瓶底中心"
+   },
+   "slot_A05": {
+    "link": "base_link",
+    "pos_m": [
+     -0.03962,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A05 位：瓶底中心"
+   },
+   "slot_A06": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01321,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A06 位：瓶底中心"
+   },
+   "slot_A07": {
+    "link": "base_link",
+    "pos_m": [
+     0.01321,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A07 位：瓶底中心"
+   },
+   "slot_A08": {
+    "link": "base_link",
+    "pos_m": [
+     0.03963,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A08 位：瓶底中心"
+   },
+   "slot_A09": {
+    "link": "base_link",
+    "pos_m": [
+     0.06604,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A09 位：瓶底中心"
+   },
+   "slot_A10": {
+    "link": "base_link",
+    "pos_m": [
+     0.09246,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A10 位：瓶底中心"
+   },
+   "slot_A11": {
+    "link": "base_link",
+    "pos_m": [
+     0.11888,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A11 位：瓶底中心"
+   },
+   "slot_A12": {
+    "link": "base_link",
+    "pos_m": [
+     0.14529,
+     -0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "A12 位：瓶底中心"
+   },
+   "slot_C01": {
+    "link": "base_link",
+    "pos_m": [
+     -0.14529,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C01 位：瓶底中心"
+   },
+   "slot_C02": {
+    "link": "base_link",
+    "pos_m": [
+     -0.11888,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C02 位：瓶底中心"
+   },
+   "slot_C03": {
+    "link": "base_link",
+    "pos_m": [
+     -0.09246,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C03 位：瓶底中心"
+   },
+   "slot_C04": {
+    "link": "base_link",
+    "pos_m": [
+     -0.06604,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C04 位：瓶底中心"
+   },
+   "slot_C05": {
+    "link": "base_link",
+    "pos_m": [
+     -0.03962,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C05 位：瓶底中心"
+   },
+   "slot_C06": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01321,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C06 位：瓶底中心"
+   },
+   "slot_C07": {
+    "link": "base_link",
+    "pos_m": [
+     0.01321,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C07 位：瓶底中心"
+   },
+   "slot_C08": {
+    "link": "base_link",
+    "pos_m": [
+     0.03963,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C08 位：瓶底中心"
+   },
+   "slot_C09": {
+    "link": "base_link",
+    "pos_m": [
+     0.06604,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C09 位：瓶底中心"
+   },
+   "slot_C10": {
+    "link": "base_link",
+    "pos_m": [
+     0.09246,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C10 位：瓶底中心"
+   },
+   "slot_C11": {
+    "link": "base_link",
+    "pos_m": [
+     0.11888,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C11 位：瓶底中心"
+   },
+   "slot_C12": {
+    "link": "base_link",
+    "pos_m": [
+     0.14529,
+     0.02833,
+     0.002
+    ],
+    "rot_xyzw": [
+     0.0,
+     0.0,
+     0.0,
+     1.0
+    ],
+    "note_zh": "C12 位：瓶底中心"
+   }
+  },
+  "seat_z_m": 0.002,
+  "deck_top_m": 0.022,
+  "franka_grasp_ok": false,
+  "franka_blocked_reason": "91 mm wide (> 74 mm grip): the rack stays on the bench; the robot moves the vials",
+  "storage": {
+   "place_ids": [
+    "vial_rack_20ml"
+   ],
+   "min_pitch_m": 0.0264,
+   "expected_positions": [
+    "A01",
+    "A02",
+    "A03",
+    "A04",
+    "A05",
+    "A06",
+    "A07",
+    "A08",
+    "A09",
+    "A10",
+    "A11",
+    "A12",
+    "C01",
+    "C02",
+    "C03",
+    "C04",
+    "C05",
+    "C06",
+    "C07",
+    "C08",
+    "C09",
+    "C10",
+    "C11",
+    "C12"
+   ],
+   "robot_rows": [
+    "A",
+    "C"
+   ],
+   "manual_only_rows": [
+    "B"
+   ],
+   "required_free_above_vial_top_m": 0.25,
+   "note_zh": "A、C 两行 24 位给机器人；B 行留空（手指沿 Y 合拢时会碰到 B 行的瓶）"
+  },
+  "robot_access": {
+   "gripper": "Franka Hand",
+   "approach": "top-down",
+   "finger_axis": [
+    0.0,
+    1.0,
+    0.0
+   ],
+   "approach_open_width_m": 0.031,
+   "max_grasp_width_m": 0.074,
+   "vial_diameter_m": 0.02275,
+   "vial_height_with_cap_m": 0.0775,
+   "finger_tip_m": {
+    "width": 0.0178,
+    "thick": 0.0165,
+    "z0": 0.0,
+    "z1": 0.019
+   },
+   "finger_base_m": {
+    "width": 0.021,
+    "thick": 0.0262,
+    "z0": 0.024,
+    "z1": 0.0539
+   },
+   "tip_below_tcp_m": 0.0089,
+   "min_finger_gap_rows_A_C_m": 0.00359,
+   "nearest_vial_m": [
+    -0.14529,
+    0.02833
+   ],
+   "hand_bottom_above_vial_tops_m": 0.004,
+   "min_finger_gap_if_row_B_filled_m": -0.01137,
+   "fingertip_end_above_deck_m": 0.0156,
+   "free_space_above_vial_tops_m": 0.25,
+   "note_zh": "手指尺寸取 franka_description 碰撞网格；A、C 行全部装满时，手指与最近的瓶最小间隙见 min_finger_gap_rows_A_C_m；若 B 行也放瓶，手指会压到 B 行（间隙为负）。手掌底面高于瓶盖顶。架上方需 ≥0.25 m 空间（放在台面或开放层板上）。",
+   "source_ids": [
+    "franka_finger",
+    "robot_access"
+   ]
+  }
+ },
+ "limitations_zh": [
+  "孔距、孔板高度、底板和叠放销尺寸厂家未公布：孔距按外形均分（26.42×28.33 mm），其余按产品照片估计。",
+  "孔径 23.1 mm 与瓶径 22.75 mm 只差 0.35 mm：仿真里放瓶按 touch + intent 吸附到槽位（capture 10 mm），不靠接触求解插入。",
+  "机器人只用 A、C 两行（24 位）；B 行留空，否则手指沿 Y 合拢时会碰到 B 行的瓶。架子本身 91 mm 宽，不由机器人搬运。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.mtl b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4db881df8a654c7b4301db7c072c77657a7f83b0
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.mtl
@@ -0,0 +1,6 @@
+newmtl mn_702503_vial_rack_23mm__body
+Kd 0.0900 0.2000 0.6200
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.obj b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fcd449d03b795c3f45872a733b6720e9cfa1116d
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body.obj
@@ -0,0 +1,17594 @@
+mtllib mn_702503_vial_rack_23mm__body.mtl
+usemtl mn_702503_vial_rack_23mm__body
+# https://github.com/mikedh/trimesh
+
+o tmptzjh35il.stl
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diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.mtl b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd20a952a77abae03b6d3bd335bd67594ad3f7df
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.mtl
@@ -0,0 +1,6 @@
+newmtl mn_702503_vial_rack_23mm__body__frame
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diff --git a/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.obj b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3f35b41cdc01e42db43ddbf841db4ce28f5031b6
--- /dev/null
+++ b/assets/labware/racks/mn_702503_vial_rack_23mm/meshes/mn_702503_vial_rack_23mm__body__frame.obj
@@ -0,0 +1,1268 @@
+mtllib mn_702503_vial_rack_23mm__body__frame.mtl
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+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/asset.contract.json b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec36ec931d4afd76eb3dfa79364558bf552d442
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/asset.contract.json
@@ -0,0 +1,1363 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.biorad_hardshell_pcr_plate_96",
+ "asset_version": "1.0.0",
+ "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+ "category": "labware.sbs.pcr_plate",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）：按 Opentrons 定义 biorad_96_wellplate_200ul_pcr（Apache-2.0）建模，外形 127.76×85.48×16.06 mm，96 孔。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "7988b967cd005b42dfef9d6d686aeced9e127c24ae0cd65eae7a511d569a89e2"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "78959340d9879853fb505fc5a2f37414c7a59236604307942f6649bdd5e18b14"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "6c3e716709add326e23f76f07a417d988a2817c97995b427ca59b2f4eda11a53"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/biorad_hardshell_pcr_plate_96/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "6cc2420bd1bfc1db55d8b3912e69e418af4137d446ddffd6002caea6391dd556"
+  }
+ },
+ "sources": {
+  "ot_biorad_pcr": {
+   "kind": "code",
+   "reference": "Opentrons labware definition biorad_96_wellplate_200ul_pcr v1 (Apache-2.0; brandId hsp9601); local copy references/labware/opentrons/",
+   "locator": "127.76 x 85.48 x 16.06 mm; wells d 5.46 mm, depth 14.81 mm, bottom z 1.25 mm, 200 uL",
+   "note": "Same Hard-Shell low-profile skirted geometry as HSP9655 (white wells)."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "cfx_flier": {
+   "kind": "manufacturer",
+   "reference": "Bio-Rad CFX Opus 96 flier bulletin 7299 (references/manuals/biorad_cfxopus/datasheet__cfx_opus_96_flier_bulletin_7299.pdf)",
+   "locator": "p.2 ordering: HSP9655 Hard-Shell 96-well PCR plates, pkg of 50, low profile, thin wall, skirted, white shell / white wells",
+   "note": "Plate the CFX Opus 96 uses."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "biorad_hardshell_pcr_plate_96__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.12776,
+      0.08548
+     ],
+     "unit": "m",
+     "meaning_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_biorad_pcr",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.016059999999999998,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_biorad_pcr"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 2.0000000000000002e-07,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_biorad_pcr"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.038946,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由壁厚 ~1 mm 的材料体积 43.3 cm3 × 900 kg/m3 估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。",
+  "几何来自 Opentrons 的 HSP9601 定义；CFX Opus 资料列出的 HSP9655 是同一 Hard-Shell 低型裙边板的白孔版本。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.biorad_hardshell_pcr_plate_96",
+   "family": "pcr_plate",
+   "labware_class": "sbs_pcr_plate",
+   "fits": [
+    "sbs",
+    "sbs_pcr_plate"
+   ],
+   "opentrons_load_name": "biorad_96_wellplate_200ul_pcr",
+   "maker": "Bio-Rad",
+   "model": "Bio-Rad 96 Well Plate 200 µL PCR",
+   "catalogue_no": "HSP9655 (white wells, CFX Opus flier p.2) / HSP9601 (Opentrons definition)",
+   "footprint_m": [
+    0.12776,
+    0.08548
+   ],
+   "height_m": 0.016059999999999998,
+   "wells": {
+    "A1": {
+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "B1": {
+     "pos_m": [
+      -0.0495,
+      0.0225,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "C1": {
+     "pos_m": [
+      -0.0495,
+      0.0135,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
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+     "volume_m3": 2.0000000000000002e-07
+    },
+    "D1": {
+     "pos_m": [
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+      0.0045,
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+     ],
+     "depth_m": 0.01481,
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+     "volume_m3": 2.0000000000000002e-07
+    },
+    "E1": {
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+     "volume_m3": 2.0000000000000002e-07
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+    "E11": {
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+      -0.0045,
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+     "depth_m": 0.01481,
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+     "volume_m3": 2.0000000000000002e-07
+    },
+    "F11": {
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+      -0.0135,
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+    "A12": {
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+      0.0315,
+      0.00125
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+     "volume_m3": 2.0000000000000002e-07
+    },
+    "B12": {
+     "pos_m": [
+      0.0495,
+      0.0225,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "C12": {
+     "pos_m": [
+      0.0495,
+      0.0135,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "D12": {
+     "pos_m": [
+      0.0495,
+      0.0045,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "E12": {
+     "pos_m": [
+      0.0495,
+      -0.0045,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "F12": {
+     "pos_m": [
+      0.0495,
+      -0.0135,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "G12": {
+     "pos_m": [
+      0.0495,
+      -0.0225,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    },
+    "H12": {
+     "pos_m": [
+      0.0495,
+      -0.0315,
+      0.00125
+     ],
+     "depth_m": 0.01481,
+     "shape": "circular",
+     "diameter_m": 0.00546,
+     "volume_m3": 2.0000000000000002e-07
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 2.0000000000000002e-07,
+   "nominal_capacity_m3": 1.9200000000000003e-05,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_biorad_pcr",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00803
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08548,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 8.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00803
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08548,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 8.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10306
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00803
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10306
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.01606
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "instrument_fit": {
+    "instrument.biorad_cfxopus": {
+     "slot": "sample_block",
+     "slot_radius_m": 0.06,
+     "item": "96-well block, 9 mm pitch"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/collision_proxies.json b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba300a95f32e861833e3dce0782e80dd040c31a4
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.biorad_hardshell_pcr_plate_96",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12776,
+      0.08548,
+      0.01606
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00803
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/geometry_manifest.json b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef037c9cb8348d50e3ca5523135a52e0e4f81cd
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/geometry_manifest.json
@@ -0,0 +1,1358 @@
+{
+ "asset_type_id": "labware.biorad_hardshell_pcr_plate_96",
+ "catalog_id": null,
+ "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+ "name_en": "Bio-Rad 96 Well Plate 200 µL PCR",
+ "created_at": "2026-10-23T06:24:44Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12776,
+  0.08548,
+  0.01606
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04274,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04274,
+   0.01606
+  ]
+ ],
+ "total_mass_kg": 0.03895,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_biorad_pcr",
+   "kind": "code",
+   "reference": "Opentrons labware definition biorad_96_wellplate_200ul_pcr v1 (Apache-2.0; brandId hsp9601); local copy references/labware/opentrons/",
+   "locator": "127.76 x 85.48 x 16.06 mm; wells d 5.46 mm, depth 14.81 mm, bottom z 1.25 mm, 200 uL",
+   "note": "Same Hard-Shell low-profile skirted geometry as HSP9655 (white wells).",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "cfx_flier",
+   "kind": "manufacturer",
+   "reference": "Bio-Rad CFX Opus 96 flier bulletin 7299 (references/manuals/biorad_cfxopus/datasheet__cfx_opus_96_flier_bulletin_7299.pdf)",
+   "locator": "p.2 ordering: HSP9655 Hard-Shell 96-well PCR plates, pkg of 50, low profile, thin wall, skirted, white shell / white wells",
+   "note": "Plate the CFX Opus 96 uses.",
+   "licence": "facts"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": "root",
+   "origin_m": [
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+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
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+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.038946,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由壁厚 ~1 mm 的材料体积 43.3 cm3 × 900 kg/m3 估算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形与孔位/孔深/孔径来自 Opentrons 定义；壁厚为假设",
+   "objects": [
+    "biorad_hardshell_pcr_plate_96__body"
+   ],
+   "detachable": false,
+   "appearance": [
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+      0.95,
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+     "rgba_linear": [
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+      0.89001,
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+ "joint_definitions": {},
+ "artifacts": {
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+  "model_urdf": "model.urdf",
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+  "model": "Bio-Rad 96 Well Plate 200 µL PCR",
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+   "B7": {
+    "pos_m": [
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+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
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+   "C7": {
+    "pos_m": [
+     0.0045,
+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "D7": {
+    "pos_m": [
+     0.0045,
+     0.0045,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "E7": {
+    "pos_m": [
+     0.0045,
+     -0.0045,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "F7": {
+    "pos_m": [
+     0.0045,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "G7": {
+    "pos_m": [
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+     -0.0225,
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "H7": {
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+     -0.0315,
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
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+     0.0315,
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
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+   "B8": {
+    "pos_m": [
+     0.0135,
+     0.0225,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "C8": {
+    "pos_m": [
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+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D8": {
+    "pos_m": [
+     0.0135,
+     0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E8": {
+    "pos_m": [
+     0.0135,
+     -0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F8": {
+    "pos_m": [
+     0.0135,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G8": {
+    "pos_m": [
+     0.0135,
+     -0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H8": {
+    "pos_m": [
+     0.0135,
+     -0.0315,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A9": {
+    "pos_m": [
+     0.0225,
+     0.0315,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B9": {
+    "pos_m": [
+     0.0225,
+     0.0225,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C9": {
+    "pos_m": [
+     0.0225,
+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D9": {
+    "pos_m": [
+     0.0225,
+     0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E9": {
+    "pos_m": [
+     0.0225,
+     -0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F9": {
+    "pos_m": [
+     0.0225,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G9": {
+    "pos_m": [
+     0.0225,
+     -0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H9": {
+    "pos_m": [
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+     -0.0315,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "A10": {
+    "pos_m": [
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+     0.0315,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B10": {
+    "pos_m": [
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+     0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C10": {
+    "pos_m": [
+     0.0315,
+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D10": {
+    "pos_m": [
+     0.0315,
+     0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E10": {
+    "pos_m": [
+     0.0315,
+     -0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F10": {
+    "pos_m": [
+     0.0315,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G10": {
+    "pos_m": [
+     0.0315,
+     -0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H10": {
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+     0.0315,
+     -0.0315,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "A11": {
+    "pos_m": [
+     0.0405,
+     0.0315,
+     0.00125
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+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "B11": {
+    "pos_m": [
+     0.0405,
+     0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
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+   "C11": {
+    "pos_m": [
+     0.0405,
+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D11": {
+    "pos_m": [
+     0.0405,
+     0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E11": {
+    "pos_m": [
+     0.0405,
+     -0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F11": {
+    "pos_m": [
+     0.0405,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G11": {
+    "pos_m": [
+     0.0405,
+     -0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H11": {
+    "pos_m": [
+     0.0405,
+     -0.0315,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A12": {
+    "pos_m": [
+     0.0495,
+     0.0315,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B12": {
+    "pos_m": [
+     0.0495,
+     0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C12": {
+    "pos_m": [
+     0.0495,
+     0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D12": {
+    "pos_m": [
+     0.0495,
+     0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E12": {
+    "pos_m": [
+     0.0495,
+     -0.0045,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F12": {
+    "pos_m": [
+     0.0495,
+     -0.0135,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G12": {
+    "pos_m": [
+     0.0495,
+     -0.0225,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H12": {
+    "pos_m": [
+     0.0495,
+     -0.0315,
+     0.00125
+    ],
+    "depth_m": 0.01481,
+    "shape": "circular",
+    "diameter_m": 0.00546,
+    "volume_m3": 2.0000000000000002e-07
+   }
+  },
+  "n_wells": 96,
+  "well_volume_m3": 2.0000000000000002e-07,
+  "nominal_capacity_m3": 1.9200000000000003e-05,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_biorad_pcr",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00803
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08548,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 8.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00803
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08548,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 8.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10306
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00803
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10306
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0495,
+     0.0315,
+     0.01606
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  },
+  "instrument_fit": {
+   "instrument.biorad_cfxopus": {
+    "slot": "sample_block",
+    "slot_radius_m": 0.06,
+    "item": "96-well block, 9 mm pitch"
+   }
+  }
+ },
+ "limitations_zh": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。",
+  "几何来自 Opentrons 的 HSP9601 定义；CFX Opus 资料列出的 HSP9655 是同一 Hard-Shell 低型裙边板的白孔版本。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.mtl b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f8efd16e3a6139c8019100f2479ac43722fcb9ce
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.mtl
@@ -0,0 +1,6 @@
+newmtl biorad_hardshell_pcr_plate_96__body
+Kd 0.9500 0.9500 0.9500
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.obj b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..401ecc1bd792337ed5f6250a72c617b4d41542b7
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/meshes/biorad_hardshell_pcr_plate_96__body.obj
@@ -0,0 +1,11629 @@
+mtllib biorad_hardshell_pcr_plate_96__body.mtl
+usemtl biorad_hardshell_pcr_plate_96__body
+# https://github.com/mikedh/trimesh
+v -0.04500000 0.03150000 0.01606000
+v -0.04500000 0.03336396 0.01606000
+v -0.04697781 0.03254473 0.01606000
+v -0.04677000 0.03150000 0.01606000
+v -0.04677000 0.03150000 0.00125000
+v -0.04697781 0.03254473 0.00125000
+v -0.04950000 0.03150000 0.00125000
+v -0.04500000 0.03600000 0.01606000
+v -0.04756960 0.03343040 0.01606000
+v -0.04756960 0.03343040 0.00125000
+v -0.04763604 0.03600000 0.01606000
+v -0.04845527 0.03402219 0.01606000
+v -0.04845527 0.03402219 0.00125000
+v -0.04950000 0.03600000 0.01606000
+v -0.04950000 0.03423000 0.01606000
+v -0.04950000 0.03423000 0.00125000
+v -0.05136396 0.03600000 0.01606000
+v -0.05054473 0.03402219 0.01606000
+v -0.05054473 0.03402219 0.00125000
+v -0.05400000 0.03600000 0.01606000
+v -0.05143040 0.03343040 0.01606000
+v -0.05143040 0.03343040 0.00125000
+v -0.05400000 0.03336396 0.01606000
+v -0.05202219 0.03254473 0.01606000
+v -0.05202219 0.03254473 0.00125000
+v -0.05400000 0.03150000 0.01606000
+v -0.05223000 0.03150000 0.01606000
+v -0.05223000 0.03150000 0.00125000
+v -0.05400000 0.02963604 0.01606000
+v -0.05202219 0.03045527 0.01606000
+v -0.05202219 0.03045527 0.00125000
+v -0.05400000 0.02700000 0.01606000
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diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d7fdd9ecdd4919f3432af06b998f83e55e24a68b
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7988b967cd005b42dfef9d6d686aeced9e127c24ae0cd65eae7a511d569a89e2
+size 140676
diff --git a/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.urdf b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..0ccb7ffa93f0f07839e3679b7292c6e6bb48e72a
--- /dev/null
+++ b/assets/labware/sbs/biorad_hardshell_pcr_plate_96/model.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="biorad_hardshell_pcr_plate_96">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.00803" rpy="0 0 0" />
+      <mass value="0.0389458" />
+      <inertia ixx="2.45513e-05" ixy="0" ixz="0" iyy="5.38118e-05" iyz="0" izz="7.66889e-05" />
+    </inertial>
+    <visual name="biorad_hardshell_pcr_plate_96__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/biorad_hardshell_pcr_plate_96__body.obj" />
+      </geometry>
+      <material name="mat_biorad_hardshell_pcr_plate_96__body">
+        <color rgba="0.89001 0.89001 0.89001 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00803" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12776 0.08548 0.01606" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/asset.contract.json b/assets/labware/sbs/corning_96_wellplate_360ul_flat/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..91bc323915b1119ea1a5c2e2baecdb70a67b0665
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/asset.contract.json
@@ -0,0 +1,1349 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.corning_96_wellplate_360ul_flat",
+ "asset_version": "1.0.0",
+ "name_zh": "Corning 96 孔平底板 360 µL",
+ "category": "labware.sbs.plate",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Corning 96 孔平底板 360 µL：按 Opentrons 定义 corning_96_wellplate_360ul_flat（Apache-2.0）建模，外形 127.76×85.47×14.22 mm，96 孔。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/corning_96_wellplate_360ul_flat/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "6fb15f3591f4336e5977d3d561ef1a8a3be109f0944f7d127b6532dacc9d3003"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/corning_96_wellplate_360ul_flat/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "935210047ec201b25684a0fa508be8734f40acd9412e2f433a539cd58a976609"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/corning_96_wellplate_360ul_flat/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "991fd0e2a6eac36cf17f599b19cba57ea618695dc03164b110ffff084c87d0c6"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/corning_96_wellplate_360ul_flat/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "6124a59ad627cbeaa152a1a0e4286b98889d065c399a6d3d7b68bce204396f84"
+  }
+ },
+ "sources": {
+  "ot_corning_96_flat": {
+   "kind": "code",
+   "reference": "Opentrons labware definition corning_96_wellplate_360ul_flat v1 (shared-data/labware/definitions/2/corning_96_wellplate_360ul_flat/1.json, Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "dimensions 127.76 x 85.47 x 14.22 mm; wells circular d 6.86 mm, depth 10.67 mm, bottom z 3.55 mm, 360 uL; A1 x 14.38 y 74.24; brandId Corning 3650/3590/...",
+   "note": "Corning 96-well flat-bottom plate (e.g. Corning 3590), as used by the default Flex deck in chemlab."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "Corning 96 孔平底板 360 µL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PS 注塑件",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "corning_96_wellplate_360ul_flat__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.12776,
+      0.08547
+     ],
+     "unit": "m",
+     "meaning_zh": "Corning 96 孔平底板 360 µL外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_corning_96_flat",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.01422,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_corning_96_flat"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 3.6000000000000005e-07,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_corning_96_flat"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.042261,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由壁厚 ~1 mm 的材料体积 40.2 cm3 × 1050 kg/m3 估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ],
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+    "sbs_plate"
+   ],
+   "opentrons_load_name": "corning_96_wellplate_360ul_flat",
+   "maker": "Corning",
+   "model": "Corning 96 Well Plate 360 µL Flat",
+   "catalogue_no": "3650, 3916, 3915, 3361",
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "H8": {
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+      -0.0315,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "A9": {
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+     "depth_m": 0.01067,
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+     "volume_m3": 3.6000000000000005e-07
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+    "B9": {
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "C9": {
+     "pos_m": [
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "D9": {
+     "pos_m": [
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+      0.00451,
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "E9": {
+     "pos_m": [
+      0.0225,
+      -0.00449,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "F9": {
+     "pos_m": [
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+      -0.0135,
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "G9": {
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+     "volume_m3": 3.6000000000000005e-07
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+     "volume_m3": 3.6000000000000005e-07
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+     "volume_m3": 3.6000000000000005e-07
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+     "volume_m3": 3.6000000000000005e-07
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+    "A11": {
+     "pos_m": [
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+     "depth_m": 0.01067,
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+     "volume_m3": 3.6000000000000005e-07
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+     "pos_m": [
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+      0.0225,
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+     "depth_m": 0.01067,
+     "shape": "circular",
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+     "volume_m3": 3.6000000000000005e-07
+    },
+    "C11": {
+     "pos_m": [
+      0.0405,
+      0.01351,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "D11": {
+     "pos_m": [
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+      0.00451,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "E11": {
+     "pos_m": [
+      0.0405,
+      -0.00449,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "F11": {
+     "pos_m": [
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+      -0.0135,
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+     "depth_m": 0.01067,
+     "shape": "circular",
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+     "volume_m3": 3.6000000000000005e-07
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+    "G11": {
+     "pos_m": [
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+      -0.0225,
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+     "shape": "circular",
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+     "volume_m3": 3.6000000000000005e-07
+    },
+    "H11": {
+     "pos_m": [
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+      -0.0315,
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+     "depth_m": 0.01067,
+     "shape": "circular",
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+     "volume_m3": 3.6000000000000005e-07
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+    "A12": {
+     "pos_m": [
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+      0.0315,
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "B12": {
+     "pos_m": [
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+      0.0225,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "C12": {
+     "pos_m": [
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+      0.01351,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "D12": {
+     "pos_m": [
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+      0.00451,
+      0.00355
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+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "E12": {
+     "pos_m": [
+      0.0495,
+      -0.00449,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "F12": {
+     "pos_m": [
+      0.0495,
+      -0.0135,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "G12": {
+     "pos_m": [
+      0.0495,
+      -0.0225,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    },
+    "H12": {
+     "pos_m": [
+      0.0495,
+      -0.0315,
+      0.00355
+     ],
+     "depth_m": 0.01067,
+     "shape": "circular",
+     "diameter_m": 0.00686,
+     "volume_m3": 3.6000000000000005e-07
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 3.6000000000000005e-07,
+   "nominal_capacity_m3": 3.456000000000001e-05,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_corning_96_flat",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00711
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08547,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.47 mm），高度 7.1 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00711
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08547,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.47 mm），高度 7.1 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10122
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.00711
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.10122
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.01422
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/collision_proxies.json b/assets/labware/sbs/corning_96_wellplate_360ul_flat/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df33a5dd6221a75d02cd3b8bc146ead422a49c3
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.corning_96_wellplate_360ul_flat",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12776,
+      0.08547,
+      0.01422
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00711
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/geometry_manifest.json b/assets/labware/sbs/corning_96_wellplate_360ul_flat/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8380519b29fae3329d5e0dbc6c4b1de1b3930187
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/geometry_manifest.json
@@ -0,0 +1,1342 @@
+{
+ "asset_type_id": "labware.corning_96_wellplate_360ul_flat",
+ "catalog_id": null,
+ "name_zh": "Corning 96 孔平底板 360 µL",
+ "name_en": "Corning 96 Well Plate 360 µL Flat",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12776,
+  0.08547,
+  0.01422
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04274,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04274,
+   0.01422
+  ]
+ ],
+ "total_mass_kg": 0.04226,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_corning_96_flat",
+   "kind": "code",
+   "reference": "Opentrons labware definition corning_96_wellplate_360ul_flat v1 (shared-data/labware/definitions/2/corning_96_wellplate_360ul_flat/1.json, Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "dimensions 127.76 x 85.47 x 14.22 mm; wells circular d 6.86 mm, depth 10.67 mm, bottom z 3.55 mm, 360 uL; A1 x 14.38 y 74.24; brandId Corning 3650/3590/...",
+   "note": "Corning 96-well flat-bottom plate (e.g. Corning 3590), as used by the default Flex deck in chemlab.",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "Corning 96 孔平底板 360 µL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PS 注塑件",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.042261,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由壁厚 ~1 mm 的材料体积 40.2 cm3 × 1050 kg/m3 估算",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形与孔位/孔深/孔径来自 Opentrons 定义；壁厚为假设",
+   "objects": [
+    "corning_96_wellplate_360ul_flat__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "corning_96_wellplate_360ul_flat__body",
+     "rgba_srgb": [
+      0.9,
+      0.93,
+      0.96,
+      0.55
+     ],
+     "hex": "#E6EDF5",
+     "rgba_linear": [
+      0.78741,
+      0.84809,
+      0.91141,
+      0.55
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12776,
+      0.08547,
+      0.01422
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.00711
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "corning_96_wellplate_360ul_flat__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.corning_96_wellplate_360ul_flat",
+  "family": "plate",
+  "labware_class": "sbs_plate",
+  "fits": [
+   "sbs",
+   "sbs_plate"
+  ],
+  "opentrons_load_name": "corning_96_wellplate_360ul_flat",
+  "maker": "Corning",
+  "model": "Corning 96 Well Plate 360 µL Flat",
+  "catalogue_no": "3650, 3916, 3915, 3361",
+  "footprint_m": [
+   0.12776,
+   0.08547
+  ],
+  "height_m": 0.01422,
+  "wells": {
+   "A1": {
+    "pos_m": [
+     -0.0495,
+     0.0315,
+     0.00355
+    ],
+    "depth_m": 0.01067,
+    "shape": "circular",
+    "diameter_m": 0.00686,
+    "volume_m3": 3.6000000000000005e-07
+   },
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+     0.00355
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+    "shape": "circular",
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+    "volume_m3": 3.6000000000000005e-07
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+   "D10": {
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+    "shape": "circular",
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+   "C12": {
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+    "shape": "circular",
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+    "volume_m3": 3.6000000000000005e-07
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+   "D12": {
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+     0.00355
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+    "depth_m": 0.01067,
+    "shape": "circular",
+    "diameter_m": 0.00686,
+    "volume_m3": 3.6000000000000005e-07
+   },
+   "E12": {
+    "pos_m": [
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+     -0.00449,
+     0.00355
+    ],
+    "depth_m": 0.01067,
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+    "diameter_m": 0.00686,
+    "volume_m3": 3.6000000000000005e-07
+   },
+   "F12": {
+    "pos_m": [
+     0.0495,
+     -0.0135,
+     0.00355
+    ],
+    "depth_m": 0.01067,
+    "shape": "circular",
+    "diameter_m": 0.00686,
+    "volume_m3": 3.6000000000000005e-07
+   },
+   "G12": {
+    "pos_m": [
+     0.0495,
+     -0.0225,
+     0.00355
+    ],
+    "depth_m": 0.01067,
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+   },
+   "H12": {
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+     -0.0315,
+     0.00355
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+    "shape": "circular",
+    "diameter_m": 0.00686,
+    "volume_m3": 3.6000000000000005e-07
+   }
+  },
+  "n_wells": 96,
+  "well_volume_m3": 3.6000000000000005e-07,
+  "nominal_capacity_m3": 3.456000000000001e-05,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_corning_96_flat",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00711
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08547,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.47 mm），高度 7.1 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00711
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08547,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.47 mm），高度 7.1 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10122
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.00711
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.10122
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0495,
+     0.0315,
+     0.01422
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  }
+ },
+ "limitations_zh": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.mtl b/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..29f3445494346603a1fcbbb03dedbd90fde0b1af
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.mtl
@@ -0,0 +1,6 @@
+newmtl corning_96_wellplate_360ul_flat__body
+Kd 0.9000 0.9300 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.550
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.obj b/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a28e0e6907668d475d3436f6cf9eadefa8900cf3
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/meshes/corning_96_wellplate_360ul_flat__body.obj
@@ -0,0 +1,11629 @@
+mtllib corning_96_wellplate_360ul_flat__body.mtl
+usemtl corning_96_wellplate_360ul_flat__body
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diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.glb b/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..c5e09cb7a0829b47f447e7d7ee4bce6959158a47
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb15f3591f4336e5977d3d561ef1a8a3be109f0944f7d127b6532dacc9d3003
+size 140700
diff --git a/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.urdf b/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8172891f728a580257a06a3554f65d58db29e8b8
--- /dev/null
+++ b/assets/labware/sbs/corning_96_wellplate_360ul_flat/model.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="corning_96_wellplate_360ul_flat">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.00711" rpy="0 0 0" />
+      <mass value="0.042261" />
+      <inertia ixx="2.6439e-05" ixy="0" ixz="0" iyy="5.81963e-05" iyz="0" izz="8.3211e-05" />
+    </inertial>
+    <visual name="corning_96_wellplate_360ul_flat__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/corning_96_wellplate_360ul_flat__body.obj" />
+      </geometry>
+      <material name="mat_corning_96_wellplate_360ul_flat__body">
+        <color rgba="0.78741 0.84809 0.91141 0.550" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.00711" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12776 0.08547 0.01422" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/asset.contract.json b/assets/labware/sbs/nest_12_reservoir_15ml/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ee1563073ffc74cd1475a7a387fa8f9dec8f56
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/asset.contract.json
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+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nest_12_reservoir_15ml",
+ "asset_version": "1.0.0",
+ "name_zh": "NEST 12 槽储液槽 15 mL",
+ "category": "labware.sbs.reservoir",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "NEST 12 槽储液槽 15 mL：按 Opentrons 定义 nest_12_reservoir_15ml（Apache-2.0）建模，外形 127.76×85.48×31.40 mm，12 孔。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/nest_12_reservoir_15ml/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "574166ad8fc0261fae54b24752778ba48c42fe495e05266da471941e9bc24a1c"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/nest_12_reservoir_15ml/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "1026797073bafa5567d4a95d016703b1722278bb4078361a1647c2d23c637b25"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/nest_12_reservoir_15ml/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "2865828f2ee3c8a08be6780127b909776f1c13345553adca4126230d4603c247"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/nest_12_reservoir_15ml/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "afd5602f0efda6444f8180d9d58ebb54ff8dd7f6f0828275508bacd9c144cae0"
+  }
+ },
+ "sources": {
+  "ot_nest_12_reservoir": {
+   "kind": "code",
+   "reference": "Opentrons labware definition nest_12_reservoir_15ml v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.76 x 85.48 x 31.4 mm; 12 troughs 8.2 x 71.2 mm, depth 26.85 mm, bottom z 4.55 mm, 15 mL; NEST 360102",
+   "note": "NEST 12-well reservoir 15 mL, as used by the default Flex deck in chemlab."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "NEST 12 槽储液槽 15 mL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nest_12_reservoir_15ml__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.12776,
+      0.08548
+     ],
+     "unit": "m",
+     "meaning_zh": "NEST 12 槽储液槽 15 mL外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_12_reservoir",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.0314,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_12_reservoir"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 1.5e-05,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_12_reservoir"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.067701,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由壁厚 ~1 mm 的材料体积 75.2 cm3 × 900 kg/m3 估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "12 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nest_12_reservoir_15ml",
+   "family": "reservoir",
+   "labware_class": "sbs_reservoir",
+   "fits": [
+    "sbs",
+    "sbs_reservoir"
+   ],
+   "opentrons_load_name": "nest_12_reservoir_15ml",
+   "maker": "NEST",
+   "model": "NEST 12 Well Reservoir 15 mL",
+   "catalogue_no": "360102",
+   "footprint_m": [
+    0.12776,
+    0.08548
+   ],
+   "height_m": 0.0314,
+   "wells": {
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A2": {
+     "pos_m": [
+      -0.0405,
+      4e-05,
+      0.00455
+     ],
+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0712
+     ],
+     "volume_m3": 1.5e-05
+    },
+    "A3": {
+     "pos_m": [
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+      4e-05,
+      0.00455
+     ],
+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A4": {
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
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+    "A5": {
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
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+     "volume_m3": 1.5e-05
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
+    },
+    "A7": {
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
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+    "A8": {
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+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A9": {
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+      4e-05,
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 1.5e-05
+    },
+    "A10": {
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+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
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+      0.0712
+     ],
+     "volume_m3": 1.5e-05
+    },
+    "A11": {
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+      0.0405,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0712
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+     "volume_m3": 1.5e-05
+    },
+    "A12": {
+     "pos_m": [
+      0.0495,
+      4e-05,
+      0.00455
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+     "depth_m": 0.02685,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0712
+     ],
+     "volume_m3": 1.5e-05
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+   },
+   "n_wells": 12,
+   "well_volume_m3": 1.5e-05,
+   "nominal_capacity_m3": 0.00018,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_nest_12_reservoir",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
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+     "width_m": 0.08548,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
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+     "rot_xyzw": [
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+      0.0,
+      0.0,
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+     "width_m": 0.08548,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1184
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
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+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.1184
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0495,
+      4e-05,
+      0.0314
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/collision_proxies.json b/assets/labware/sbs/nest_12_reservoir_15ml/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8eadcfc19cd3c96baaae58cf942502abd2aff33
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.nest_12_reservoir_15ml",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12776,
+      0.08548,
+      0.0314
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0157
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/geometry_manifest.json b/assets/labware/sbs/nest_12_reservoir_15ml/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..07a8c5bb6808642c122e2adaf6245bd13d8c4156
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/geometry_manifest.json
@@ -0,0 +1,454 @@
+{
+ "asset_type_id": "labware.nest_12_reservoir_15ml",
+ "catalog_id": null,
+ "name_zh": "NEST 12 槽储液槽 15 mL",
+ "name_en": "NEST 12 Well Reservoir 15 mL",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12776,
+  0.08548,
+  0.0314
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04274,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04274,
+   0.0314
+  ]
+ ],
+ "total_mass_kg": 0.0677,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_nest_12_reservoir",
+   "kind": "code",
+   "reference": "Opentrons labware definition nest_12_reservoir_15ml v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.76 x 85.48 x 31.4 mm; 12 troughs 8.2 x 71.2 mm, depth 26.85 mm, bottom z 4.55 mm, 15 mL; NEST 360102",
+   "note": "NEST 12-well reservoir 15 mL, as used by the default Flex deck in chemlab.",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "NEST 12 槽储液槽 15 mL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.067701,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由壁厚 ~1 mm 的材料体积 75.2 cm3 × 900 kg/m3 估算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形与孔位/孔深/孔径来自 Opentrons 定义；壁厚为假设",
+   "objects": [
+    "nest_12_reservoir_15ml__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nest_12_reservoir_15ml__body",
+     "rgba_srgb": [
+      0.93,
+      0.93,
+      0.9,
+      0.85
+     ],
+     "hex": "#EDEDE6",
+     "rgba_linear": [
+      0.84809,
+      0.84809,
+      0.78741,
+      0.85
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12776,
+      0.08548,
+      0.0314
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0157
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "nest_12_reservoir_15ml__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nest_12_reservoir_15ml",
+  "family": "reservoir",
+  "labware_class": "sbs_reservoir",
+  "fits": [
+   "sbs",
+   "sbs_reservoir"
+  ],
+  "opentrons_load_name": "nest_12_reservoir_15ml",
+  "maker": "NEST",
+  "model": "NEST 12 Well Reservoir 15 mL",
+  "catalogue_no": "360102",
+  "footprint_m": [
+   0.12776,
+   0.08548
+  ],
+  "height_m": 0.0314,
+  "wells": {
+   "A1": {
+    "pos_m": [
+     -0.0495,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A2": {
+    "pos_m": [
+     -0.0405,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A3": {
+    "pos_m": [
+     -0.0315,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A4": {
+    "pos_m": [
+     -0.0225,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A5": {
+    "pos_m": [
+     -0.0135,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A6": {
+    "pos_m": [
+     -0.0045,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A7": {
+    "pos_m": [
+     0.0045,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A8": {
+    "pos_m": [
+     0.0135,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A9": {
+    "pos_m": [
+     0.0225,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A10": {
+    "pos_m": [
+     0.0315,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A11": {
+    "pos_m": [
+     0.0405,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   },
+   "A12": {
+    "pos_m": [
+     0.0495,
+     4e-05,
+     0.00455
+    ],
+    "depth_m": 0.02685,
+    "shape": "rectangular",
+    "size_m": [
+     0.0082,
+     0.0712
+    ],
+    "volume_m3": 1.5e-05
+   }
+  },
+  "n_wells": 12,
+  "well_volume_m3": 1.5e-05,
+  "nominal_capacity_m3": 0.00018,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_nest_12_reservoir",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.01
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08548,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.01
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08548,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.48 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1184
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.01
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.1184
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0495,
+     4e-05,
+     0.0314
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  }
+ },
+ "limitations_zh": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.5 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.mtl b/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c2e57d7d1416b2c0c5fecfbc3da064a7c613dd73
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.mtl
@@ -0,0 +1,6 @@
+newmtl nest_12_reservoir_15ml__body
+Kd 0.9300 0.9300 0.9000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.850
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.obj b/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b25450ac68a8ad1e00e1cebc86fbbdb42403130
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/meshes/nest_12_reservoir_15ml__body.obj
@@ -0,0 +1,779 @@
+mtllib nest_12_reservoir_15ml__body.mtl
+usemtl nest_12_reservoir_15ml__body
+# https://github.com/mikedh/trimesh
+v -0.04500000 0.00004000 0.03140000
+v -0.04500000 0.00454000 0.03140000
+v -0.04540000 0.00414000 0.03140000
+v -0.04540000 0.00004000 0.03140000
+v -0.04540000 0.00004000 0.00455000
+v -0.04540000 0.00414000 0.00455000
+v -0.04950000 0.00004000 0.00455000
+v -0.04950000 0.03764000 0.03140000
+v -0.04950000 0.03564000 0.03140000
+v -0.04950000 0.03564000 0.00455000
+v -0.05400000 0.00454000 0.03140000
+v -0.05360000 0.00414000 0.03140000
+v -0.05360000 0.00414000 0.00455000
+v -0.05400000 0.00004000 0.03140000
+v -0.05360000 0.00004000 0.03140000
+v -0.05360000 0.00004000 0.00455000
+v -0.05400000 -0.00446000 0.03140000
+v -0.05360000 -0.00406000 0.03140000
+v -0.05360000 -0.00406000 0.00455000
+v -0.04950000 -0.03756000 0.03140000
+v -0.04950000 -0.03556000 0.03140000
+v -0.04950000 -0.03556000 0.00455000
+v -0.04500000 -0.00446000 0.03140000
+v -0.04540000 -0.00406000 0.03140000
+v -0.04540000 -0.00406000 0.00455000
+v -0.03600000 0.00004000 0.03140000
+v -0.03600000 0.00454000 0.03140000
+v -0.03640000 0.00414000 0.03140000
+v -0.03640000 0.00004000 0.03140000
+v -0.03640000 0.00004000 0.00455000
+v -0.03640000 0.00414000 0.00455000
+v -0.04050000 0.00004000 0.00455000
+v -0.04050000 0.03764000 0.03140000
+v -0.04050000 0.03564000 0.03140000
+v -0.04050000 0.03564000 0.00455000
+v -0.04460000 0.00414000 0.03140000
+v -0.04460000 0.00414000 0.00455000
+v -0.04460000 0.00004000 0.03140000
+v -0.04460000 0.00004000 0.00455000
+v -0.04460000 -0.00406000 0.03140000
+v -0.04460000 -0.00406000 0.00455000
+v -0.04050000 -0.03756000 0.03140000
+v -0.04050000 -0.03556000 0.03140000
+v -0.04050000 -0.03556000 0.00455000
+v -0.03600000 -0.00446000 0.03140000
+v -0.03640000 -0.00406000 0.03140000
+v -0.03640000 -0.00406000 0.00455000
+v -0.02700000 0.00004000 0.03140000
+v -0.02700000 0.00454000 0.03140000
+v -0.02740000 0.00414000 0.03140000
+v -0.02740000 0.00004000 0.03140000
+v -0.02740000 0.00004000 0.00455000
+v -0.02740000 0.00414000 0.00455000
+v -0.03150000 0.00004000 0.00455000
+v -0.03150000 0.03764000 0.03140000
+v -0.03150000 0.03564000 0.03140000
+v -0.03150000 0.03564000 0.00455000
+v -0.03560000 0.00414000 0.03140000
+v -0.03560000 0.00414000 0.00455000
+v -0.03560000 0.00004000 0.03140000
+v -0.03560000 0.00004000 0.00455000
+v -0.03560000 -0.00406000 0.03140000
+v -0.03560000 -0.00406000 0.00455000
+v -0.03150000 -0.03756000 0.03140000
+v -0.03150000 -0.03556000 0.03140000
+v -0.03150000 -0.03556000 0.00455000
+v -0.02700000 -0.00446000 0.03140000
+v -0.02740000 -0.00406000 0.03140000
+v -0.02740000 -0.00406000 0.00455000
+v -0.01800000 0.00004000 0.03140000
+v -0.01800000 0.00454000 0.03140000
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diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/model.glb b/assets/labware/sbs/nest_12_reservoir_15ml/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..da4d7c3edd038898ee593c095439753a0f21ae6c
Binary files /dev/null and b/assets/labware/sbs/nest_12_reservoir_15ml/model.glb differ
diff --git a/assets/labware/sbs/nest_12_reservoir_15ml/model.urdf b/assets/labware/sbs/nest_12_reservoir_15ml/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e9b732211e04d549d896ec2f406c58354782d3ce
--- /dev/null
+++ b/assets/labware/sbs/nest_12_reservoir_15ml/model.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="nest_12_reservoir_15ml">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.0157" rpy="0 0 0" />
+      <mass value="0.0677013" />
+      <inertia ixx="4.67861e-05" ixy="0" ixz="0" iyy="9.76511e-05" iyz="0" izz="0.000133312" />
+    </inertial>
+    <visual name="nest_12_reservoir_15ml__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nest_12_reservoir_15ml__body.obj" />
+      </geometry>
+      <material name="mat_nest_12_reservoir_15ml__body">
+        <color rgba="0.84809 0.84809 0.78741 0.850" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0157" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12776 0.08548 0.0314" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/asset.contract.json b/assets/labware/sbs/nest_96_wellplate_2ml_deep/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b58b45620bd4a3f0dae03d251a597d430031f73
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/asset.contract.json
@@ -0,0 +1,1637 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.nest_96_wellplate_2ml_deep",
+ "asset_version": "1.0.0",
+ "name_zh": "NEST 96 深孔板 2 mL",
+ "category": "labware.sbs.deepwell",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "NEST 96 深孔板 2 mL：按 Opentrons 定义 nest_96_wellplate_2ml_deep（Apache-2.0）建模，外形 127.60×85.30×41.00 mm，96 孔。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/nest_96_wellplate_2ml_deep/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "1bb381a3043b839de9fcf7384c040bc82050ffdab9886f6c94e03fd72bf66298"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/nest_96_wellplate_2ml_deep/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "cd326eecdd7875aecd3fc294b72c5043cde42856eaf32c0331a0aacec695f784"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/nest_96_wellplate_2ml_deep/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "a24cd01ac886526aa45f9a5b586cacf6922f98f35721275df8444a5f34ab2f34"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/nest_96_wellplate_2ml_deep/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "6104f0163546ed61a6af9c4da3336c19fcf8bcbbb9d9b10b61ffb9dd2522a32d"
+  }
+ },
+ "sources": {
+  "ot_nest_96_deep": {
+   "kind": "code",
+   "reference": "Opentrons labware definition nest_96_wellplate_2ml_deep v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.6 x 85.3 x 41 mm; square wells 8.2 x 8.2 mm, depth 38 mm, bottom z 3 mm, 2000 uL; NEST 503001/503501",
+   "note": "NEST 96 deep-well plate 2 mL."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "NEST 96 深孔板 2 mL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "nest_96_wellplate_2ml_deep__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.1276,
+      0.0853
+     ],
+     "unit": "m",
+     "meaning_zh": "NEST 96 深孔板 2 mL外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_96_deep",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.041,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_96_deep"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 2.0000000000000003e-06,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_nest_96_deep"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.12753,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（由壁厚 ~1 mm 的材料体积 141.7 cm3 × 900 kg/m3 估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.3 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.nest_96_wellplate_2ml_deep",
+   "family": "deepwell",
+   "labware_class": "sbs_deepwell",
+   "fits": [
+    "sbs",
+    "sbs_deepwell"
+   ],
+   "opentrons_load_name": "nest_96_wellplate_2ml_deep",
+   "maker": "NEST",
+   "model": "NEST 96 Deep Well Plate 2mL",
+   "catalogue_no": "503001, 503501",
+   "footprint_m": [
+    0.1276,
+    0.0853
+   ],
+   "height_m": 0.041,
+   "wells": {
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+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.003
+     ],
+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0082
+     ],
+     "volume_m3": 2.0000000000000003e-06
+    },
+    "B1": {
+     "pos_m": [
+      -0.0495,
+      0.0225,
+      0.003
+     ],
+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0082
+     ],
+     "volume_m3": 2.0000000000000003e-06
+    },
+    "C1": {
+     "pos_m": [
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+      0.0135,
+      0.003
+     ],
+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
+      0.0082,
+      0.0082
+     ],
+     "volume_m3": 2.0000000000000003e-06
+    },
+    "D1": {
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+      0.0045,
+      0.003
+     ],
+     "depth_m": 0.038,
+     "shape": "rectangular",
+     "size_m": [
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+     "volume_m3": 2.0000000000000003e-06
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+    "E1": {
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+     "volume_m3": 2.0000000000000003e-06
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+     "volume_m3": 2.0000000000000003e-06
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+    "H5": {
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+    "E12": {
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+     "volume_m3": 2.0000000000000003e-06
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+    "G12": {
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+     "volume_m3": 2.0000000000000003e-06
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+     "depth_m": 0.038,
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+     "size_m": [
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+     "volume_m3": 2.0000000000000003e-06
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 2.0000000000000003e-06,
+   "nominal_capacity_m3": 0.00019200000000000003,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_nest_96_deep",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0,
+      0.01
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+     "rot_xyzw": [
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+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0853,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
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+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.30 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0853,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.30 mm），高度 10.0 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.128
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.01
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.128
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0495,
+      0.0315,
+      0.041
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/collision_proxies.json b/assets/labware/sbs/nest_96_wellplate_2ml_deep/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..111fd16c181b547e9a11b59ba44eb8f64665f43c
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.nest_96_wellplate_2ml_deep",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.1276,
+      0.0853,
+      0.041
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0205
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/geometry_manifest.json b/assets/labware/sbs/nest_96_wellplate_2ml_deep/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc108134d98295295bbc9c902a7b695fd001d86
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/geometry_manifest.json
@@ -0,0 +1,1630 @@
+{
+ "asset_type_id": "labware.nest_96_wellplate_2ml_deep",
+ "catalog_id": null,
+ "name_zh": "NEST 96 深孔板 2 mL",
+ "name_en": "NEST 96 Deep Well Plate 2mL",
+ "created_at": "2026-10-23T06:24:42Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.1276,
+  0.0853,
+  0.041
+ ],
+ "bounds_m": [
+  [
+   -0.0638,
+   -0.04265,
+   0.0
+  ],
+  [
+   0.0638,
+   0.04265,
+   0.041
+  ]
+ ],
+ "total_mass_kg": 0.12753,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_nest_96_deep",
+   "kind": "code",
+   "reference": "Opentrons labware definition nest_96_wellplate_2ml_deep v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.6 x 85.3 x 41 mm; square wells 8.2 x 8.2 mm, depth 38 mm, bottom z 3 mm, 2000 uL; NEST 503001/503501",
+   "note": "NEST 96 deep-well plate 2 mL.",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "NEST 96 深孔板 2 mL",
+   "function_zh": "盛放样品/试剂；SBS 标准外形可放入仪器板位",
+   "physical_meaning_zh": "PP 注塑件",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
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+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.12753,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "由壁厚 ~1 mm 的材料体积 141.7 cm3 × 900 kg/m3 估算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形与孔位/孔深/孔径来自 Opentrons 定义；壁厚为假设",
+   "objects": [
+    "nest_96_wellplate_2ml_deep__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "nest_96_wellplate_2ml_deep__body",
+     "rgba_srgb": [
+      0.93,
+      0.93,
+      0.9,
+      0.85
+     ],
+     "hex": "#EDEDE6",
+     "rgba_linear": [
+      0.84809,
+      0.84809,
+      0.78741,
+      0.85
+     ]
+    }
+   ],
+   "collisions": [
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+   ]
+  }
+ ],
+ "root_object": "nest_96_wellplate_2ml_deep__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.nest_96_wellplate_2ml_deep",
+  "family": "deepwell",
+  "labware_class": "sbs_deepwell",
+  "fits": [
+   "sbs",
+   "sbs_deepwell"
+  ],
+  "opentrons_load_name": "nest_96_wellplate_2ml_deep",
+  "maker": "NEST",
+  "model": "NEST 96 Deep Well Plate 2mL",
+  "catalogue_no": "503001, 503501",
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+    "volume_m3": 2.0000000000000003e-06
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+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.01
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.128
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0495,
+     0.0315,
+     0.041
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  }
+ },
+ "limitations_zh": [
+  "外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+  "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+  "短边 85.3 mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.mtl b/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8df60ce1e691fab5fb805bb7bceda4bb0b932ea2
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.mtl
@@ -0,0 +1,6 @@
+newmtl nest_96_wellplate_2ml_deep__body
+Kd 0.9300 0.9300 0.9000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.850
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.obj b/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6c357ab07a8b46bf5bce62ec781c81b8a3f63503
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/meshes/nest_96_wellplate_2ml_deep__body.obj
@@ -0,0 +1,5829 @@
+mtllib nest_96_wellplate_2ml_deep__body.mtl
+usemtl nest_96_wellplate_2ml_deep__body
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diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.glb b/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..870dc4d3bdf509faf1f24563e9deeaca97070c84
Binary files /dev/null and b/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.glb differ
diff --git a/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.urdf b/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..611d83efe124fa8fed176976a915455b207b77fa
--- /dev/null
+++ b/assets/labware/sbs/nest_96_wellplate_2ml_deep/model.urdf
@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<robot name="nest_96_wellplate_2ml_deep">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.0205" rpy="0 0 0" />
+      <mass value="0.12753" />
+      <inertia ixx="9.51911e-05" ixy="0" ixz="0" iyy="0.000190898" iyz="0" izz="0.00025036" />
+    </inertial>
+    <visual name="nest_96_wellplate_2ml_deep__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/nest_96_wellplate_2ml_deep__body.obj" />
+      </geometry>
+      <material name="mat_nest_96_wellplate_2ml_deep__body">
+        <color rgba="0.84809 0.84809 0.78741 0.850" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0205" rpy="0 0 0" />
+      <geometry>
+        <box size="0.1276 0.0853 0.041" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/asset.contract.json b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bfc591f97b34ca2fb7ac00abcd679f5b11b4398
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/asset.contract.json
@@ -0,0 +1,1354 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.opentrons_flex_tiprack_1000ul",
+ "asset_version": "1.0.0",
+ "name_zh": "Opentrons Flex 96 吸头盒 1000 µL（满盒）",
+ "category": "labware.sbs.tiprack",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Opentrons Flex 96 吸头盒 1000 µL（opentrons_flex_96_tiprack_1000ul）：外形 127.75×85.75×99 mm，吸头长 95.60 mm（含 96 支吸头）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "7d2c3a1e434b6a2dd52a9a4944946d64e6c9955ad963865a6f13acea20350a86"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "5e31726433eab26491177d3f0ba8c5d105d57d76663f71a32a58abaf9bee779a"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_1000ul/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "9821afff19048211e370dc34b58f34a7f0af0c95a0621024a8aa436219b5702f"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_1000ul/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "47d9f5eb5c655a6bb8f5fcd02a786f04b1cf8ee1acc20af89092210d9833ad33"
+  }
+ },
+ "sources": {
+  "ot_flex_tiprack_1000": {
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_1000ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 95.6 mm; wells d 5.47 mm; grip height 23.9 mm",
+   "note": "Opentrons Flex 96 tip rack 1000 uL (tips included)."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "opentrons_flex_tiprack_1000ul__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.12775,
+      0.08575
+     ],
+     "unit": "m",
+     "meaning_zh": "吸头盒外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_1000",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.099,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_1000"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 1.0000000000000002e-06,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_1000"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.100969,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.opentrons_flex_tiprack_1000ul",
+   "family": "tiprack",
+   "labware_class": "sbs_tiprack",
+   "fits": [
+    "sbs",
+    "sbs_tiprack"
+   ],
+   "opentrons_load_name": "opentrons_flex_96_tiprack_1000ul",
+   "maker": "Opentrons",
+   "model": "Opentrons Flex 96 Tip Rack 1000 µL",
+   "catalogue_no": null,
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+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G7": {
+     "pos_m": [
+      0.0045,
+      -0.0225,
+      0.0015
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+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H7": {
+     "pos_m": [
+      0.0045,
+      -0.0315,
+      0.0015
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+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "A8": {
+     "pos_m": [
+      0.0135,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "B8": {
+     "pos_m": [
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+      0.0225,
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+     "depth_m": 0.0975,
+     "shape": "circular",
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+    "C8": {
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+      0.0135,
+      0.0015
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+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "D8": {
+     "pos_m": [
+      0.0135,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "E8": {
+     "pos_m": [
+      0.0135,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "F8": {
+     "pos_m": [
+      0.0135,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G8": {
+     "pos_m": [
+      0.0135,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H8": {
+     "pos_m": [
+      0.0135,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "A9": {
+     "pos_m": [
+      0.0225,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "B9": {
+     "pos_m": [
+      0.0225,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "C9": {
+     "pos_m": [
+      0.0225,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "D9": {
+     "pos_m": [
+      0.0225,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "E9": {
+     "pos_m": [
+      0.0225,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "F9": {
+     "pos_m": [
+      0.0225,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G9": {
+     "pos_m": [
+      0.0225,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H9": {
+     "pos_m": [
+      0.0225,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "A10": {
+     "pos_m": [
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+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "B10": {
+     "pos_m": [
+      0.0315,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "C10": {
+     "pos_m": [
+      0.0315,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "D10": {
+     "pos_m": [
+      0.0315,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "E10": {
+     "pos_m": [
+      0.0315,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "F10": {
+     "pos_m": [
+      0.0315,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G10": {
+     "pos_m": [
+      0.0315,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H10": {
+     "pos_m": [
+      0.0315,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "A11": {
+     "pos_m": [
+      0.0405,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "B11": {
+     "pos_m": [
+      0.0405,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "C11": {
+     "pos_m": [
+      0.0405,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "D11": {
+     "pos_m": [
+      0.0405,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "E11": {
+     "pos_m": [
+      0.0405,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "F11": {
+     "pos_m": [
+      0.0405,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G11": {
+     "pos_m": [
+      0.0405,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H11": {
+     "pos_m": [
+      0.0405,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "A12": {
+     "pos_m": [
+      0.0495,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "B12": {
+     "pos_m": [
+      0.0495,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "C12": {
+     "pos_m": [
+      0.0495,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "D12": {
+     "pos_m": [
+      0.0495,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "E12": {
+     "pos_m": [
+      0.0495,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "F12": {
+     "pos_m": [
+      0.0495,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "G12": {
+     "pos_m": [
+      0.0495,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    },
+    "H12": {
+     "pos_m": [
+      0.0495,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00547,
+     "volume_m3": 1.0000000000000002e-06
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 1.0000000000000002e-06,
+   "nominal_capacity_m3": null,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_flex_tiprack_1000",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.04949,
+      0.0315,
+      0.099
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "tip_length_m": 0.09559999999999999,
+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 1.0000000000000002e-06,
+   "grip_force_n": 16
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/collision_proxies.json b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..32faeafe2b327bc1ad3fd0893a5936142607a475
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_1000ul",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12775,
+      0.08575,
+      0.099
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0495
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/geometry_manifest.json b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..7317b7535afc563e3a524873602efd9d7fc910b0
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/geometry_manifest.json
@@ -0,0 +1,1364 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_1000ul",
+ "catalog_id": null,
+ "name_zh": "Opentrons Flex 96 吸头盒 1000 µL（满盒）",
+ "name_en": "Opentrons Flex 96 Tip Rack 1000 µL",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12775,
+  0.08575,
+  0.1
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04288,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04288,
+   0.1
+  ]
+ ],
+ "total_mass_kg": 0.10097,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_flex_tiprack_1000",
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_1000ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 95.6 mm; wells d 5.47 mm; grip height 23.9 mm",
+   "note": "Opentrons Flex 96 tip rack 1000 uL (tips included).",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
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+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "A9": {
+    "pos_m": [
+     0.0225,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "B9": {
+    "pos_m": [
+     0.0225,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "C9": {
+    "pos_m": [
+     0.0225,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "D9": {
+    "pos_m": [
+     0.0225,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "E9": {
+    "pos_m": [
+     0.0225,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "F9": {
+    "pos_m": [
+     0.0225,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "G9": {
+    "pos_m": [
+     0.0225,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "H9": {
+    "pos_m": [
+     0.0225,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "A10": {
+    "pos_m": [
+     0.0315,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "B10": {
+    "pos_m": [
+     0.0315,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "C10": {
+    "pos_m": [
+     0.0315,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "D10": {
+    "pos_m": [
+     0.0315,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "E10": {
+    "pos_m": [
+     0.0315,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "F10": {
+    "pos_m": [
+     0.0315,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "G10": {
+    "pos_m": [
+     0.0315,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "H10": {
+    "pos_m": [
+     0.0315,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "A11": {
+    "pos_m": [
+     0.0405,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "B11": {
+    "pos_m": [
+     0.0405,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "C11": {
+    "pos_m": [
+     0.0405,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "D11": {
+    "pos_m": [
+     0.0405,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "E11": {
+    "pos_m": [
+     0.0405,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "F11": {
+    "pos_m": [
+     0.0405,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "G11": {
+    "pos_m": [
+     0.0405,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "H11": {
+    "pos_m": [
+     0.0405,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "A12": {
+    "pos_m": [
+     0.0495,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "B12": {
+    "pos_m": [
+     0.0495,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "C12": {
+    "pos_m": [
+     0.0495,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "D12": {
+    "pos_m": [
+     0.0495,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "E12": {
+    "pos_m": [
+     0.0495,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "F12": {
+    "pos_m": [
+     0.0495,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "G12": {
+    "pos_m": [
+     0.0495,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   },
+   "H12": {
+    "pos_m": [
+     0.0495,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00547,
+    "volume_m3": 1.0000000000000002e-06
+   }
+  },
+  "n_wells": 96,
+  "well_volume_m3": 1.0000000000000002e-06,
+  "nominal_capacity_m3": null,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_flex_tiprack_1000",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.04949,
+     0.0315,
+     0.099
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  },
+  "tip_length_m": 0.09559999999999999,
+  "tip_overlap_m": 0.0105,
+  "is_tiprack": true,
+  "tip_volume_m3": 1.0000000000000002e-06,
+  "grip_force_n": 16
+ },
+ "limitations_zh": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.mtl b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c972936b09c65e3b998ccc88358c9d9a7d19909d
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.mtl
@@ -0,0 +1,6 @@
+newmtl opentrons_flex_tiprack_1000ul__body
+Kd 0.1200 0.1200 0.1300
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.obj b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9e88da21b6d4b77d83e14dd7e5803c05332f2683
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body.obj
@@ -0,0 +1,8828 @@
+mtllib opentrons_flex_tiprack_1000ul__body.mtl
+usemtl opentrons_flex_tiprack_1000ul__body
+# https://github.com/mikedh/trimesh
+v -0.04499500 0.03150500 0.09900000
+v -0.04499500 0.03410308 0.09900000
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.mtl b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..5efdca70b65581c1194bcfc28f06035e1fd6a4d2
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.mtl
@@ -0,0 +1,6 @@
+newmtl opentrons_flex_tiprack_1000ul__body__tips
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.600
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.obj b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3bb6e225d54a39ed73963e159995486eb1a13dff
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/meshes/opentrons_flex_tiprack_1000ul__body__tips.obj
@@ -0,0 +1,20932 @@
+mtllib opentrons_flex_tiprack_1000ul__body__tips.mtl
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.glb b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5907064f6357fc8f9e90c2037453bb67f964bf25
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d2c3a1e434b6a2dd52a9a4944946d64e6c9955ad963865a6f13acea20350a86
+size 359088
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.urdf b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..f7f8c92cec142f097b24e276672640a29cbb792e
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_1000ul/model.urdf
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot name="opentrons_flex_tiprack_1000ul">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <mass value="0.100969" />
+      <inertia ixx="0.00014601" ixy="0" ixz="0" iyy="0.000221459" iyz="0" izz="0.000199188" />
+    </inertial>
+    <visual name="opentrons_flex_tiprack_1000ul__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_1000ul__body.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_1000ul__body">
+        <color rgba="0.01341 0.01341 0.01533 1.000" />
+      </material>
+    </visual>
+    <visual name="opentrons_flex_tiprack_1000ul__body__tips">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_1000ul__body__tips.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_1000ul__body__tips">
+        <color rgba="0.82757 0.86890 0.91141 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0495" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12775 0.08575 0.099" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/asset.contract.json b/assets/labware/sbs/opentrons_flex_tiprack_200ul/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d746db325c7d9be43bbe7b43fe2dfeb306c7294
--- /dev/null
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+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.opentrons_flex_tiprack_200ul",
+ "asset_version": "1.0.0",
+ "name_zh": "Opentrons Flex 96 吸头盒 200 µL（满盒）",
+ "category": "labware.sbs.tiprack",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Opentrons Flex 96 吸头盒 200 µL（opentrons_flex_96_tiprack_200ul）：外形 127.75×85.75×99 mm，吸头长 58.35 mm（含 96 支吸头）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "e94c3e6c3308bced1b8a99720bc1eed3f0b8c61e06ff09596cc25657a6a42afa"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_200ul/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "09a6f2b4f7a2f525eb2a6aa29a3f9dede194da67f46e0898d6ad9e8301d75c82"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_200ul/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "83000c3d6704c186099700038c10194e12107a61f7b2a5ec2574fa6d4f274105"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_200ul/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "b0b1fde7189552c067cfd421e11892d0c4b34e1de34060990f54217e48ffed2f"
+  }
+ },
+ "sources": {
+  "ot_flex_tiprack_200": {
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_200ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 58.35 mm; wells d 5.59 mm; grip height 23.9 mm",
+   "note": "Opentrons Flex 96 tip rack 200 uL (tips included)."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "opentrons_flex_tiprack_200ul__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
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+      0.08575
+     ],
+     "unit": "m",
+     "meaning_zh": "吸头盒外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_200",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.099,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_200"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 2.0000000000000002e-07,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_200"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.093784,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.opentrons_flex_tiprack_200ul",
+   "family": "tiprack",
+   "labware_class": "sbs_tiprack",
+   "fits": [
+    "sbs",
+    "sbs_tiprack"
+   ],
+   "opentrons_load_name": "opentrons_flex_96_tiprack_200ul",
+   "maker": "Opentrons",
+   "model": "Opentrons Flex 96 Tip Rack 200 µL",
+   "catalogue_no": null,
+   "footprint_m": [
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+    0.08575
+   ],
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+   "wells": {
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+   },
+   "n_wells": 96,
+   "well_volume_m3": 2.0000000000000002e-07,
+   "nominal_capacity_m3": null,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_flex_tiprack_200",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
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+      0.0239
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+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
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+      1.0,
+      0.0
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+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "grasp": {
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+     "yaw_free": false,
+     "finger_axis": [
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+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.04949,
+      0.0315,
+      0.099
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "tip_length_m": 0.05835,
+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 2.0000000000000002e-07,
+   "grip_force_n": 16
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/collision_proxies.json b/assets/labware/sbs/opentrons_flex_tiprack_200ul/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80392e25695aa205122431407c0959194df37ef
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_200ul",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12775,
+      0.08575,
+      0.099
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0495
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/geometry_manifest.json b/assets/labware/sbs/opentrons_flex_tiprack_200ul/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f40ac450f3e2f9df09ea41792a6de8d17bdfe1
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/geometry_manifest.json
@@ -0,0 +1,1364 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_200ul",
+ "catalog_id": null,
+ "name_zh": "Opentrons Flex 96 吸头盒 200 µL（满盒）",
+ "name_en": "Opentrons Flex 96 Tip Rack 200 µL",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12775,
+  0.08575,
+  0.1
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04288,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04288,
+   0.1
+  ]
+ ],
+ "total_mass_kg": 0.09378,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_flex_tiprack_200",
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_200ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 58.35 mm; wells d 5.59 mm; grip height 23.9 mm",
+   "note": "Opentrons Flex 96 tip rack 200 uL (tips included).",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.093784,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形、孔位、吸头长度按 Opentrons 定义；吸头外形为近似",
+   "objects": [
+    "opentrons_flex_tiprack_200ul__body",
+    "opentrons_flex_tiprack_200ul__body__tips"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "opentrons_flex_tiprack_200ul__body",
+     "rgba_srgb": [
+      0.12,
+      0.12,
+      0.13,
+      1.0
+     ],
+     "hex": "#1F1F21",
+     "rgba_linear": [
+      0.01341,
+      0.01341,
+      0.01533,
+      1.0
+     ]
+    },
+    {
+     "object": "opentrons_flex_tiprack_200ul__body__tips",
+     "rgba_srgb": [
+      0.92,
+      0.94,
+      0.96,
+      0.6
+     ],
+     "hex": "#EBF0F5",
+     "rgba_linear": [
+      0.82757,
+      0.8689,
+      0.91141,
+      0.6
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12775,
+      0.08575,
+      0.099
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0495
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "opentrons_flex_tiprack_200ul__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.opentrons_flex_tiprack_200ul",
+  "family": "tiprack",
+  "labware_class": "sbs_tiprack",
+  "fits": [
+   "sbs",
+   "sbs_tiprack"
+  ],
+  "opentrons_load_name": "opentrons_flex_96_tiprack_200ul",
+  "maker": "Opentrons",
+  "model": "Opentrons Flex 96 Tip Rack 200 µL",
+  "catalogue_no": null,
+  "footprint_m": [
+   0.12775,
+   0.08575
+  ],
+  "height_m": 0.099,
+  "wells": {
+   "A1": {
+    "pos_m": [
+     -0.04949,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B1": {
+    "pos_m": [
+     -0.04949,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C1": {
+    "pos_m": [
+     -0.04949,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D1": {
+    "pos_m": [
+     -0.04949,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E1": {
+    "pos_m": [
+     -0.04949,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F1": {
+    "pos_m": [
+     -0.04949,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G1": {
+    "pos_m": [
+     -0.04949,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H1": {
+    "pos_m": [
+     -0.04949,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A2": {
+    "pos_m": [
+     -0.0405,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B2": {
+    "pos_m": [
+     -0.0405,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C2": {
+    "pos_m": [
+     -0.0405,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D2": {
+    "pos_m": [
+     -0.0405,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E2": {
+    "pos_m": [
+     -0.0405,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F2": {
+    "pos_m": [
+     -0.0405,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G2": {
+    "pos_m": [
+     -0.0405,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H2": {
+    "pos_m": [
+     -0.0405,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A3": {
+    "pos_m": [
+     -0.03149,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B3": {
+    "pos_m": [
+     -0.03149,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C3": {
+    "pos_m": [
+     -0.03149,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D3": {
+    "pos_m": [
+     -0.03149,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E3": {
+    "pos_m": [
+     -0.03149,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F3": {
+    "pos_m": [
+     -0.03149,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G3": {
+    "pos_m": [
+     -0.03149,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H3": {
+    "pos_m": [
+     -0.03149,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A4": {
+    "pos_m": [
+     -0.0225,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B4": {
+    "pos_m": [
+     -0.0225,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C4": {
+    "pos_m": [
+     -0.0225,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D4": {
+    "pos_m": [
+     -0.0225,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E4": {
+    "pos_m": [
+     -0.0225,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F4": {
+    "pos_m": [
+     -0.0225,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G4": {
+    "pos_m": [
+     -0.0225,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H4": {
+    "pos_m": [
+     -0.0225,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A5": {
+    "pos_m": [
+     -0.0135,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B5": {
+    "pos_m": [
+     -0.0135,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C5": {
+    "pos_m": [
+     -0.0135,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D5": {
+    "pos_m": [
+     -0.0135,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E5": {
+    "pos_m": [
+     -0.0135,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F5": {
+    "pos_m": [
+     -0.0135,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G5": {
+    "pos_m": [
+     -0.0135,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
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+   "H5": {
+    "pos_m": [
+     -0.0135,
+     -0.0315,
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+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
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+   "A6": {
+    "pos_m": [
+     -0.00449,
+     0.0315,
+     0.0015
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+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
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+   "B6": {
+    "pos_m": [
+     -0.00449,
+     0.0225,
+     0.0015
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+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C6": {
+    "pos_m": [
+     -0.00449,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D6": {
+    "pos_m": [
+     -0.00449,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E6": {
+    "pos_m": [
+     -0.00449,
+     -0.00449,
+     0.0015
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+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F6": {
+    "pos_m": [
+     -0.00449,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G6": {
+    "pos_m": [
+     -0.00449,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H6": {
+    "pos_m": [
+     -0.00449,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A7": {
+    "pos_m": [
+     0.0045,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B7": {
+    "pos_m": [
+     0.0045,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C7": {
+    "pos_m": [
+     0.0045,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D7": {
+    "pos_m": [
+     0.0045,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E7": {
+    "pos_m": [
+     0.0045,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F7": {
+    "pos_m": [
+     0.0045,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G7": {
+    "pos_m": [
+     0.0045,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H7": {
+    "pos_m": [
+     0.0045,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A8": {
+    "pos_m": [
+     0.0135,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B8": {
+    "pos_m": [
+     0.0135,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C8": {
+    "pos_m": [
+     0.0135,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D8": {
+    "pos_m": [
+     0.0135,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E8": {
+    "pos_m": [
+     0.0135,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F8": {
+    "pos_m": [
+     0.0135,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G8": {
+    "pos_m": [
+     0.0135,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H8": {
+    "pos_m": [
+     0.0135,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A9": {
+    "pos_m": [
+     0.0225,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B9": {
+    "pos_m": [
+     0.0225,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C9": {
+    "pos_m": [
+     0.0225,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D9": {
+    "pos_m": [
+     0.0225,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E9": {
+    "pos_m": [
+     0.0225,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F9": {
+    "pos_m": [
+     0.0225,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G9": {
+    "pos_m": [
+     0.0225,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H9": {
+    "pos_m": [
+     0.0225,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A10": {
+    "pos_m": [
+     0.0315,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B10": {
+    "pos_m": [
+     0.0315,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C10": {
+    "pos_m": [
+     0.0315,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D10": {
+    "pos_m": [
+     0.0315,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E10": {
+    "pos_m": [
+     0.0315,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F10": {
+    "pos_m": [
+     0.0315,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G10": {
+    "pos_m": [
+     0.0315,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H10": {
+    "pos_m": [
+     0.0315,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A11": {
+    "pos_m": [
+     0.0405,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B11": {
+    "pos_m": [
+     0.0405,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C11": {
+    "pos_m": [
+     0.0405,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D11": {
+    "pos_m": [
+     0.0405,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E11": {
+    "pos_m": [
+     0.0405,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F11": {
+    "pos_m": [
+     0.0405,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G11": {
+    "pos_m": [
+     0.0405,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H11": {
+    "pos_m": [
+     0.0405,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "A12": {
+    "pos_m": [
+     0.0495,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "B12": {
+    "pos_m": [
+     0.0495,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "C12": {
+    "pos_m": [
+     0.0495,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "D12": {
+    "pos_m": [
+     0.0495,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "E12": {
+    "pos_m": [
+     0.0495,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "F12": {
+    "pos_m": [
+     0.0495,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "G12": {
+    "pos_m": [
+     0.0495,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   },
+   "H12": {
+    "pos_m": [
+     0.0495,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00559,
+    "volume_m3": 2.0000000000000002e-07
+   }
+  },
+  "n_wells": 96,
+  "well_volume_m3": 2.0000000000000002e-07,
+  "nominal_capacity_m3": null,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_flex_tiprack_200",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.04949,
+     0.0315,
+     0.099
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  },
+  "tip_length_m": 0.05835,
+  "tip_overlap_m": 0.0105,
+  "is_tiprack": true,
+  "tip_volume_m3": 2.0000000000000002e-07,
+  "grip_force_n": 16
+ },
+ "limitations_zh": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body.mtl b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..753371ed5355b123399df1de4463193d35d0a893
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body.mtl
@@ -0,0 +1,6 @@
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body.obj b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1addcb5593cb40234a08e03c9ee54eb9d36cc9bb
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.mtl b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..16b57ae0dfac9a224cf7b1dc6d410597918e9d76
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.mtl
@@ -0,0 +1,6 @@
+newmtl opentrons_flex_tiprack_200ul__body__tips
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
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+Ns 40
+d 0.600
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.obj b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e8db26ebbd7aa80a95e4dd0e2e9838a2ba12b345
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/meshes/opentrons_flex_tiprack_200ul__body__tips.obj
@@ -0,0 +1,20932 @@
+mtllib opentrons_flex_tiprack_200ul__body__tips.mtl
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb b/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..110d483b999a7e1f8e485399c98010b2dbb0b690
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e94c3e6c3308bced1b8a99720bc1eed3f0b8c61e06ff09596cc25657a6a42afa
+size 359076
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.urdf b/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..94680dbb49f9b9d5e062e70c0a474ee07a66d981
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_200ul/model.urdf
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot name="opentrons_flex_tiprack_200ul">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <mass value="0.0937836" />
+      <inertia ixx="0.000135619" ixy="0" ixz="0" iyy="0.000205699" iyz="0" izz="0.000185013" />
+    </inertial>
+    <visual name="opentrons_flex_tiprack_200ul__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_200ul__body.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_200ul__body">
+        <color rgba="0.01341 0.01341 0.01533 1.000" />
+      </material>
+    </visual>
+    <visual name="opentrons_flex_tiprack_200ul__body__tips">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_200ul__body__tips.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_200ul__body__tips">
+        <color rgba="0.82757 0.86890 0.91141 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0495" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12775 0.08575 0.099" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/asset.contract.json b/assets/labware/sbs/opentrons_flex_tiprack_50ul/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4a7acb509e09a2896d5bd8007e7c31e861fd67
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/asset.contract.json
@@ -0,0 +1,1354 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.opentrons_flex_tiprack_50ul",
+ "asset_version": "1.0.0",
+ "name_zh": "Opentrons Flex 96 吸头盒 50 µL（满盒）",
+ "category": "labware.sbs.tiprack",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "Opentrons Flex 96 吸头盒 50 µL（opentrons_flex_96_tiprack_50ul）：外形 127.75×85.75×99 mm，吸头长 57.90 mm（含 96 支吸头）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "3f5faaddd1045a08c2a58ee59ff34b7930b46648f127cec317fc45da3a0d07b7"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_50ul/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "0da8e42e480e3ef7b900231fbc1b1a3cbf76a2a2adcf957ac1e7a40c7cc262a3"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_50ul/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "96cecd6a407eba6fc5d58ac9785ead6d349008c551ac3f487b50e0905006d502"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/opentrons_flex_tiprack_50ul/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "4a69c10b284ac1249c128bc192ac9311e52c28c938f4702eb84a806921c7a8f4"
+  }
+ },
+ "sources": {
+  "ot_flex_tiprack_50": {
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_50ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 57.9 mm, overlap 10.5 mm; wells d 5.58 mm from z 1.5 mm; gripHeightFromLabwareBottom 23.9 mm, gripForce 16 N",
+   "note": "Opentrons Flex 96 tip rack 50 uL (tips included)."
+  },
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "plate_ps_mass": {
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "opentrons_flex_tiprack_50ul__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "footprint_m": {
+     "value": [
+      0.12775,
+      0.08575
+     ],
+     "unit": "m",
+     "meaning_zh": "吸头盒外形（Opentrons 定义 / ANSI SLAS 1-2004）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_50",
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "height_m": {
+     "value": 0.099,
+     "unit": "m",
+     "meaning_zh": "高度（Opentrons 定义）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_50"
+     ],
+     "uncertainty": null
+    },
+    "well_volume_m3": {
+     "value": 5.0000000000000004e-08,
+     "unit": "m3",
+     "meaning_zh": "单孔总液体体积（Opentrons totalLiquidVolume）",
+     "evidence": "documented",
+     "source_ids": [
+      "ot_flex_tiprack_50"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.093635,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "wells": {
+   "component_id": "body",
+   "medium": "liquid",
+   "direction": "bidirectional",
+   "frame": "frame:a1",
+   "meaning_zh": "96 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+   "connection_constraints": [
+    "孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.opentrons_flex_tiprack_50ul",
+   "family": "tiprack",
+   "labware_class": "sbs_tiprack",
+   "fits": [
+    "sbs",
+    "sbs_tiprack"
+   ],
+   "opentrons_load_name": "opentrons_flex_96_tiprack_50ul",
+   "maker": "Opentrons",
+   "model": "Opentrons Flex 96 Tip Rack 50 µL",
+   "catalogue_no": null,
+   "footprint_m": [
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+    0.08575
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+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "A9": {
+     "pos_m": [
+      0.0225,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "B9": {
+     "pos_m": [
+      0.0225,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "C9": {
+     "pos_m": [
+      0.0225,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "D9": {
+     "pos_m": [
+      0.0225,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "E9": {
+     "pos_m": [
+      0.0225,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "F9": {
+     "pos_m": [
+      0.0225,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "G9": {
+     "pos_m": [
+      0.0225,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "H9": {
+     "pos_m": [
+      0.0225,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "A10": {
+     "pos_m": [
+      0.0315,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "B10": {
+     "pos_m": [
+      0.0315,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "C10": {
+     "pos_m": [
+      0.0315,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "D10": {
+     "pos_m": [
+      0.0315,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "E10": {
+     "pos_m": [
+      0.0315,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "F10": {
+     "pos_m": [
+      0.0315,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "G10": {
+     "pos_m": [
+      0.0315,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "H10": {
+     "pos_m": [
+      0.0315,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "A11": {
+     "pos_m": [
+      0.0405,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "B11": {
+     "pos_m": [
+      0.0405,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "C11": {
+     "pos_m": [
+      0.0405,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "D11": {
+     "pos_m": [
+      0.0405,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "E11": {
+     "pos_m": [
+      0.0405,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "F11": {
+     "pos_m": [
+      0.0405,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "G11": {
+     "pos_m": [
+      0.0405,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "H11": {
+     "pos_m": [
+      0.0405,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "A12": {
+     "pos_m": [
+      0.0495,
+      0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "B12": {
+     "pos_m": [
+      0.0495,
+      0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "C12": {
+     "pos_m": [
+      0.0495,
+      0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "D12": {
+     "pos_m": [
+      0.0495,
+      0.00451,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "E12": {
+     "pos_m": [
+      0.0495,
+      -0.00449,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "F12": {
+     "pos_m": [
+      0.0495,
+      -0.0135,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "G12": {
+     "pos_m": [
+      0.0495,
+      -0.0225,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    },
+    "H12": {
+     "pos_m": [
+      0.0495,
+      -0.0315,
+      0.0015
+     ],
+     "depth_m": 0.0975,
+     "shape": "circular",
+     "diameter_m": 0.00558,
+     "volume_m3": 5.0000000000000004e-08
+    }
+   },
+   "n_wells": 96,
+   "well_volume_m3": 5.0000000000000004e-08,
+   "nominal_capacity_m3": null,
+   "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+   "nominal_source_id": "ot_flex_tiprack_50",
+   "stands_upright": true,
+   "franka_grasp_ok": false,
+   "frames": {
+    "sbs_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.08575,
+     "franka_ok": false,
+     "yaw_free": false,
+     "finger_axis": [
+      0.0,
+      1.0,
+      0.0
+     ],
+     "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.0239
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP（= sbs_grasp）"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.186
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    "a1": {
+     "link": "base_link",
+     "pos_m": [
+      -0.04949,
+      0.0315,
+      0.099
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "A1 孔口中心"
+    }
+   },
+   "tip_length_m": 0.0579,
+   "tip_overlap_m": 0.0105,
+   "is_tiprack": true,
+   "tip_volume_m3": 5.0000000000000004e-08,
+   "grip_force_n": 16
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/collision_proxies.json b/assets/labware/sbs/opentrons_flex_tiprack_50ul/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..655d6270c1da6f2188a7382847777d048ea433cf
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/collision_proxies.json
@@ -0,0 +1,38 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_50ul",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12775,
+      0.08575,
+      0.099
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0495
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/geometry_manifest.json b/assets/labware/sbs/opentrons_flex_tiprack_50ul/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd2b51a3fd8e927a53606d4c38ee4cb8001dc31
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/geometry_manifest.json
@@ -0,0 +1,1364 @@
+{
+ "asset_type_id": "labware.opentrons_flex_tiprack_50ul",
+ "catalog_id": null,
+ "name_zh": "Opentrons Flex 96 吸头盒 50 µL（满盒）",
+ "name_en": "Opentrons Flex 96 Tip Rack 50 µL",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.12775,
+  0.08575,
+  0.1
+ ],
+ "bounds_m": [
+  [
+   -0.06388,
+   -0.04288,
+   0.0
+  ],
+  [
+   0.06388,
+   0.04288,
+   0.1
+  ]
+ ],
+ "total_mass_kg": 0.09363,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ot_flex_tiprack_50",
+   "kind": "code",
+   "reference": "Opentrons labware definition opentrons_flex_96_tiprack_50ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+   "locator": "127.75 x 85.75 x 99 mm; tip length 57.9 mm, overlap 10.5 mm; wells d 5.58 mm from z 1.5 mm; gripHeightFromLabwareBottom 23.9 mm, gripForce 16 N",
+   "note": "Opentrons Flex 96 tip rack 50 uL (tips included).",
+   "licence": "Apache-2.0 (Opentrons)"
+  },
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "plate_ps_mass",
+   "kind": "assumption",
+   "reference": "mass of SBS polystyrene / polypropylene labware",
+   "locator": "engineering value",
+   "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "吸头盒（含吸头）",
+   "function_zh": "存放 96 支一次性吸头；移液器从孔位取头",
+   "physical_meaning_zh": "PP 盒体 + PP 吸头",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.093635,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算",
+   "material": "pp",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "外形、孔位、吸头长度按 Opentrons 定义；吸头外形为近似",
+   "objects": [
+    "opentrons_flex_tiprack_50ul__body",
+    "opentrons_flex_tiprack_50ul__body__tips"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "opentrons_flex_tiprack_50ul__body",
+     "rgba_srgb": [
+      0.12,
+      0.12,
+      0.13,
+      1.0
+     ],
+     "hex": "#1F1F21",
+     "rgba_linear": [
+      0.01341,
+      0.01341,
+      0.01533,
+      1.0
+     ]
+    },
+    {
+     "object": "opentrons_flex_tiprack_50ul__body__tips",
+     "rgba_srgb": [
+      0.92,
+      0.94,
+      0.96,
+      0.6
+     ],
+     "hex": "#EBF0F5",
+     "rgba_linear": [
+      0.82757,
+      0.8689,
+      0.91141,
+      0.6
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.12775,
+      0.08575,
+      0.099
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0495
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "opentrons_flex_tiprack_50ul__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.opentrons_flex_tiprack_50ul",
+  "family": "tiprack",
+  "labware_class": "sbs_tiprack",
+  "fits": [
+   "sbs",
+   "sbs_tiprack"
+  ],
+  "opentrons_load_name": "opentrons_flex_96_tiprack_50ul",
+  "maker": "Opentrons",
+  "model": "Opentrons Flex 96 Tip Rack 50 µL",
+  "catalogue_no": null,
+  "footprint_m": [
+   0.12775,
+   0.08575
+  ],
+  "height_m": 0.099,
+  "wells": {
+   "A1": {
+    "pos_m": [
+     -0.04949,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
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+   "B10": {
+    "pos_m": [
+     0.0315,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "C10": {
+    "pos_m": [
+     0.0315,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "D10": {
+    "pos_m": [
+     0.0315,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "E10": {
+    "pos_m": [
+     0.0315,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "F10": {
+    "pos_m": [
+     0.0315,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "G10": {
+    "pos_m": [
+     0.0315,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "H10": {
+    "pos_m": [
+     0.0315,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "A11": {
+    "pos_m": [
+     0.0405,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "B11": {
+    "pos_m": [
+     0.0405,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "C11": {
+    "pos_m": [
+     0.0405,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "D11": {
+    "pos_m": [
+     0.0405,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "E11": {
+    "pos_m": [
+     0.0405,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "F11": {
+    "pos_m": [
+     0.0405,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "G11": {
+    "pos_m": [
+     0.0405,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "H11": {
+    "pos_m": [
+     0.0405,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "A12": {
+    "pos_m": [
+     0.0495,
+     0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "B12": {
+    "pos_m": [
+     0.0495,
+     0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "C12": {
+    "pos_m": [
+     0.0495,
+     0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "D12": {
+    "pos_m": [
+     0.0495,
+     0.00451,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "E12": {
+    "pos_m": [
+     0.0495,
+     -0.00449,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "F12": {
+    "pos_m": [
+     0.0495,
+     -0.0135,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "G12": {
+    "pos_m": [
+     0.0495,
+     -0.0225,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   },
+   "H12": {
+    "pos_m": [
+     0.0495,
+     -0.0315,
+     0.0015
+    ],
+    "depth_m": 0.0975,
+    "shape": "circular",
+    "diameter_m": 0.00558,
+    "volume_m3": 5.0000000000000004e-08
+   }
+  },
+  "n_wells": 96,
+  "well_volume_m3": 5.0000000000000004e-08,
+  "nominal_capacity_m3": null,
+  "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+  "nominal_source_id": "ot_flex_tiprack_50",
+  "stands_upright": true,
+  "franka_grasp_ok": false,
+  "frames": {
+   "sbs_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.08575,
+    "franka_ok": false,
+    "yaw_free": false,
+    "finger_axis": [
+     0.0,
+     1.0,
+     0.0
+    ],
+    "note_zh": "SBS 夹持：手指沿 Y 夹短边（85.75 mm），高度 23.9 mm；宽于 Franka 张开 80 mm，供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运；Opentrons gripHeightFromLabwareBottom = 23.9 mm，gripForce 16 N"
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.0239
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP（= sbs_grasp）"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.186
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ]
+   },
+   "a1": {
+    "link": "base_link",
+    "pos_m": [
+     -0.04949,
+     0.0315,
+     0.099
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "A1 孔口中心"
+   }
+  },
+  "tip_length_m": 0.0579,
+  "tip_overlap_m": 0.0105,
+  "is_tiprack": true,
+  "tip_volume_m3": 5.0000000000000004e-08,
+  "grip_force_n": 16
+ },
+ "limitations_zh": [
+  "外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+  "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+  "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.mtl b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..2ec7bf42253c814378fd430b7cf4d3309450d75a
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.mtl
@@ -0,0 +1,6 @@
+newmtl opentrons_flex_tiprack_50ul__body
+Kd 0.1200 0.1200 0.1300
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.obj b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d6ab46e28f85fe998b06f3933e99eb647d375ef8
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body.obj
@@ -0,0 +1,8828 @@
+mtllib opentrons_flex_tiprack_50ul__body.mtl
+usemtl opentrons_flex_tiprack_50ul__body
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.mtl b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d87e30436ec9c92e14aca45a21382194980735c2
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.mtl
@@ -0,0 +1,6 @@
+newmtl opentrons_flex_tiprack_50ul__body__tips
+Kd 0.9200 0.9400 0.9600
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 0.600
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.obj b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.obj
new file mode 100644
index 0000000000000000000000000000000000000000..02aaf8e6adcb837ce28b2fb0ceb141cdd8096ae9
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/meshes/opentrons_flex_tiprack_50ul__body__tips.obj
@@ -0,0 +1,20932 @@
+mtllib opentrons_flex_tiprack_50ul__body__tips.mtl
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diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb b/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..ae150400a7583824577760657c787863e7d574e8
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f5faaddd1045a08c2a58ee59ff34b7930b46648f127cec317fc45da3a0d07b7
+size 359072
diff --git a/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.urdf b/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2c1209512669b9f45b5b4218711f5652ff96f546
--- /dev/null
+++ b/assets/labware/sbs/opentrons_flex_tiprack_50ul/model.urdf
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot name="opentrons_flex_tiprack_50ul">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0 0 0.05" rpy="0 0 0" />
+      <mass value="0.0936345" />
+      <inertia ixx="0.000135404" ixy="0" ixz="0" iyy="0.000205372" iyz="0" izz="0.000184719" />
+    </inertial>
+    <visual name="opentrons_flex_tiprack_50ul__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_50ul__body.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_50ul__body">
+        <color rgba="0.01341 0.01341 0.01533 1.000" />
+      </material>
+    </visual>
+    <visual name="opentrons_flex_tiprack_50ul__body__tips">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/opentrons_flex_tiprack_50ul__body__tips.obj" />
+      </geometry>
+      <material name="mat_opentrons_flex_tiprack_50ul__body__tips">
+        <color rgba="0.82757 0.86890 0.91141 0.600" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0495" rpy="0 0 0" />
+      <geometry>
+        <box size="0.12775 0.08575 0.099" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/sbs/sbs_plate_carrier/asset.contract.json b/assets/labware/sbs/sbs_plate_carrier/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc327aee59cc33a06896fe1f148bb89ccc5a7e3f
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/asset.contract.json
@@ -0,0 +1,265 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.sbs_plate_carrier",
+ "asset_version": "1.0.0",
+ "name_zh": "SBS 板托架（带机器人抓手柱）",
+ "category": "labware.sbs.carrier",
+ "asset_kind": "accessory",
+ "coverage": "full",
+ "description_zh": "SBS 板托架：按 ANSI/SLAS 外形的托盘 + +X 端 30 mm 抓手柱，使 Franka（最大 80 mm）能搬运孔板/吸头盒/储液槽。未找到带 ≤74 mm 机器人抓手的目录托架；最接近的实物是 Thermo Scientific 75006449 带提手的微孔板托架（离心机附件）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/sbs/sbs_plate_carrier/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "502f7618448724819942514e780380a22539278b7a6b8141b32c37bfde55438f"
+  },
+  "model_urdf": {
+   "path": "assets/labware/sbs/sbs_plate_carrier/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "fec19d5b213c85abbbc70cd040fe02561162ab52ebd8f953cc610afde862da00"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/sbs/sbs_plate_carrier/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "75450bc897f4c3fc9567466dcc2afa78816e87cc666a3c0734a1ba31e9285df2"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/sbs/sbs_plate_carrier/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "3704276403f141ea61c3c14b139528d06c22c4b2c95e1b21a8c73baca2f57132"
+  }
+ },
+ "sources": {
+  "ansi_slas_1_2004": {
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket."
+  },
+  "thermo_75006449": {
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific microtitre (microplate) carrier 75006449 with metal handle (listing https://www.djblabcare.co.uk/djb/product/203/Accessories-75006449-Microtitre_carrier_for_4_microtitre_plates)",
+   "locator": "carrier for microplates with a carrying handle (centrifuge accessory)",
+   "note": "Closest real product found to a handled SBS carrier; no catalogue carrier with a robot handle <= 74 mm was found, so the plate carrier is a design on the ANSI/SLAS footprint (see limitations)."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "carrier_design": {
+   "kind": "assumption",
+   "reference": "SBS plate carrier with a robot handle (project design)",
+   "locator": "engineering value",
+   "note": "Pocket = ANSI/SLAS footprint + 0.5 mm clearance per side, 4 mm walls 6 mm high, 3 mm floor, anodised aluminium; handle post 30 x 30 mm, 130 mm tall on a 45 mm arm at +X so the Franka hand (palm 37 mm above the TCP) clears a full Flex tip rack (102 mm) on the carrier."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "托架（托盘 + 抓手柱）",
+   "function_zh": "承托 SBS 板件；机器人抓柱搬运",
+   "physical_meaning_zh": "阳极氧化铝",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "sbs_plate_carrier__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "pocket_m": {
+     "value": [
+      0.12876,
+      0.08648
+     ],
+     "unit": "m",
+     "meaning_zh": "托盘内腔（ANSI/SLAS 外形 + 0.5 mm）",
+     "evidence": "documented",
+     "source_ids": [
+      "ansi_slas_1_2004"
+     ],
+     "uncertainty": null
+    },
+    "handle_post_m": {
+     "value": [
+      0.03,
+      0.03,
+      0.13
+     ],
+     "unit": "m",
+     "meaning_zh": "抓手柱尺寸（设计）",
+     "evidence": "assumption",
+     "source_ids": [
+      "carrier_design"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.482298,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（铝件体积 179 cm3 × 2700 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "设计件，不对应目录产品：托盘按 ANSI/SLAS 外形，抓手柱尺寸按 Franka 约束设计；最接近的实物（Thermo 75006449）是离心机用带提手托架。",
+  "托架外缘比 SBS 外形大 4.5 mm/边，不能直接放进仪器的 SBS 板位：板件从托架到板位的转移由宿主（touch + intent）或宽口板夹爪完成。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.sbs_plate_carrier",
+   "family": "carrier",
+   "labware_class": "sbs_carrier",
+   "fits": [
+    "sbs_carrier"
+   ],
+   "maker": "project design (closest real: Thermo Scientific 75006449)",
+   "model": "SBS plate carrier with 30 mm handle post",
+   "catalogue_no": null,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.03,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.147,
+     "note_zh": "抓手柱（30×30 mm），手指沿 Y 合拢；手掌在 TCP 上方 37 mm，高于满载吸头盒（102 mm）",
+     "finger_contact_z_m": [
+      0.101,
+      0.119
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.11
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.09838,
+      0.0,
+      0.217
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "plate_seat": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.003
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "SBS 板件底面中心放在这里（托盘内腔）"
+    }
+   },
+   "pocket_m": [
+    0.12876,
+    0.08648
+   ],
+   "seat_z_m": 0.003,
+   "accepts": [
+    "sbs_plate",
+    "sbs_tiprack",
+    "sbs_reservoir"
+   ],
+   "franka_grasp_ok": true,
+   "max_payload_height_m": 0.102,
+   "usage_zh": "Franka 抓 grasp（柱）→ 托架连同板件一起移动；在仪器板位处由宿主/场景把板件从托架转到板位（touch + intent），或使用宽口板夹爪。"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/sbs_plate_carrier/collision_proxies.json b/assets/labware/sbs/sbs_plate_carrier/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..6398bfd397db8dc2f61f6296dded49faf2748a04
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/collision_proxies.json
@@ -0,0 +1,146 @@
+{
+ "asset_type_id": "labware.sbs_plate_carrier",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.09448,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.004,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      -0.04524,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.004,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.04524,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.004,
+      0.08648,
+      0.006
+     ],
+     "origin_m": [
+      -0.06638,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.004,
+      0.08648,
+      0.006
+     ],
+     "origin_m": [
+      0.06638,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.045,
+      0.03,
+      0.009
+     ],
+     "origin_m": [
+      0.09088,
+      0.0,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.03,
+      0.03,
+      0.13
+     ],
+     "origin_m": [
+      0.09838,
+      0.0,
+      0.065
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/sbs_plate_carrier/geometry_manifest.json b/assets/labware/sbs/sbs_plate_carrier/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..799a7431d2c6ad8cfac3814d4ff9ac2588966719
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/geometry_manifest.json
@@ -0,0 +1,407 @@
+{
+ "asset_type_id": "labware.sbs_plate_carrier",
+ "catalog_id": null,
+ "name_zh": "SBS 板托架（带机器人抓手柱）",
+ "name_en": "SBS plate carrier with robot handle (design)",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.18176,
+  0.09448,
+  0.13
+ ],
+ "bounds_m": [
+  [
+   -0.06838,
+   -0.04724,
+   0.0
+  ],
+  [
+   0.11338,
+   0.04724,
+   0.13
+  ]
+ ],
+ "total_mass_kg": 0.4823,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "ansi_slas_1_2004",
+   "kind": "publication",
+   "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+   "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+   "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "thermo_75006449",
+   "kind": "manufacturer",
+   "reference": "Thermo Scientific microtitre (microplate) carrier 75006449 with metal handle (listing https://www.djblabcare.co.uk/djb/product/203/Accessories-75006449-Microtitre_carrier_for_4_microtitre_plates)",
+   "locator": "carrier for microplates with a carrying handle (centrifuge accessory)",
+   "note": "Closest real product found to a handled SBS carrier; no catalogue carrier with a robot handle <= 74 mm was found, so the plate carrier is a design on the ANSI/SLAS footprint (see limitations).",
+   "licence": "facts"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "carrier_design",
+   "kind": "assumption",
+   "reference": "SBS plate carrier with a robot handle (project design)",
+   "locator": "engineering value",
+   "note": "Pocket = ANSI/SLAS footprint + 0.5 mm clearance per side, 4 mm walls 6 mm high, 3 mm floor, anodised aluminium; handle post 30 x 30 mm, 130 mm tall on a 45 mm arm at +X so the Franka hand (palm 37 mm above the TCP) clears a full Flex tip rack (102 mm) on the carrier.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "托架（托盘 + 抓手柱）",
+   "function_zh": "承托 SBS 板件；机器人抓柱搬运",
+   "physical_meaning_zh": "阳极氧化铝",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.482298,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "铝件体积 179 cm3 × 2700 kg/m3",
+   "material": "aluminium",
+   "geometry_evidence": "assumption",
+   "geometry_note_zh": "设计件：托盘内腔按 ANSI/SLAS 外形 + 0.5 mm 间隙",
+   "objects": [
+    "sbs_plate_carrier__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "sbs_plate_carrier__body",
+     "rgba_srgb": [
+      0.75,
+      0.77,
+      0.8,
+      1.0
+     ],
+     "hex": "#BFC4CC",
+     "rgba_linear": [
+      0.52252,
+      0.55422,
+      0.60383,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.09448,
+      0.003
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0015
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.004,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      -0.04524,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.13676,
+      0.004,
+      0.006
+     ],
+     "origin_m": [
+      0.0,
+      0.04524,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.004,
+      0.08648,
+      0.006
+     ],
+     "origin_m": [
+      -0.06638,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.004,
+      0.08648,
+      0.006
+     ],
+     "origin_m": [
+      0.06638,
+      0.0,
+      0.006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.045,
+      0.03,
+      0.009
+     ],
+     "origin_m": [
+      0.09088,
+      0.0,
+      0.0045
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.03,
+      0.03,
+      0.13
+     ],
+     "origin_m": [
+      0.09838,
+      0.0,
+      0.065
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "sbs_plate_carrier__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [
+  {
+   "name": "plate_seat",
+   "kind": "plate_slot",
+   "part": "body",
+   "position_m": [
+    0.0,
+    0.0,
+    0.003
+   ],
+   "insert_axis": [
+    0.0,
+    0.0,
+    -1.0
+   ],
+   "capture_m": 0.01,
+   "radius_m": 0.06,
+   "moves_with": "body",
+   "fits": [
+    "sbs"
+   ],
+   "note_zh": "SBS 板件底面中心"
+  }
+ ],
+ "labware": {
+  "type_id": "labware.sbs_plate_carrier",
+  "family": "carrier",
+  "labware_class": "sbs_carrier",
+  "fits": [
+   "sbs_carrier"
+  ],
+  "maker": "project design (closest real: Thermo Scientific 75006449)",
+  "model": "SBS plate carrier with 30 mm handle post",
+  "catalogue_no": null,
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.09838,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.03,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.147,
+    "note_zh": "抓手柱（30×30 mm），手指沿 Y 合拢；手掌在 TCP 上方 37 mm，高于满载吸头盒（102 mm）",
+    "finger_contact_z_m": [
+     0.101,
+     0.119
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.09838,
+     0.0,
+     0.217
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.09838,
+     0.0,
+     0.217
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.09838,
+     0.0,
+     0.11
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.09838,
+     0.0,
+     0.217
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "plate_seat": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.003
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "SBS 板件底面中心放在这里（托盘内腔）"
+   }
+  },
+  "pocket_m": [
+   0.12876,
+   0.08648
+  ],
+  "seat_z_m": 0.003,
+  "accepts": [
+   "sbs_plate",
+   "sbs_tiprack",
+   "sbs_reservoir"
+  ],
+  "franka_grasp_ok": true,
+  "max_payload_height_m": 0.102,
+  "usage_zh": "Franka 抓 grasp（柱）→ 托架连同板件一起移动；在仪器板位处由宿主/场景把板件从托架转到板位（touch + intent），或使用宽口板夹爪。"
+ },
+ "limitations_zh": [
+  "设计件，不对应目录产品：托盘按 ANSI/SLAS 外形，抓手柱尺寸按 Franka 约束设计；最接近的实物（Thermo 75006449）是离心机用带提手托架。",
+  "托架外缘比 SBS 外形大 4.5 mm/边，不能直接放进仪器的 SBS 板位：板件从托架到板位的转移由宿主（touch + intent）或宽口板夹爪完成。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.mtl b/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..7064d2ad6ed67360459b42d25c8dd2aee48ce0b8
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.mtl
@@ -0,0 +1,6 @@
+newmtl sbs_plate_carrier__body
+Kd 0.7500 0.7700 0.8000
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.obj b/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3ffea1fb084fef2f9194fa967aa411b6812f3aca
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/meshes/sbs_plate_carrier__body.obj
@@ -0,0 +1,144 @@
+mtllib sbs_plate_carrier__body.mtl
+usemtl sbs_plate_carrier__body
+# https://github.com/mikedh/trimesh
+v -0.06838000 -0.04724000 0.00000000
+v -0.06838000 -0.04724000 0.00300000
+v -0.06838000 0.04724000 0.00000000
+v -0.06838000 0.04724000 0.00300000
+v 0.06838000 -0.04724000 0.00000000
+v 0.06838000 -0.04724000 0.00300000
+v 0.06838000 0.04724000 0.00000000
+v 0.06838000 0.04724000 0.00300000
+v -0.06838000 -0.04724000 0.00300000
+v -0.06838000 -0.04724000 0.00900000
+v -0.06838000 -0.04324000 0.00300000
+v -0.06838000 -0.04324000 0.00900000
+v 0.06838000 -0.04724000 0.00300000
+v 0.06838000 -0.04724000 0.00900000
+v 0.06838000 -0.04324000 0.00300000
+v 0.06838000 -0.04324000 0.00900000
+v -0.06838000 0.04324000 0.00300000
+v -0.06838000 0.04324000 0.00900000
+v -0.06838000 0.04724000 0.00300000
+v -0.06838000 0.04724000 0.00900000
+v 0.06838000 0.04324000 0.00300000
+v 0.06838000 0.04324000 0.00900000
+v 0.06838000 0.04724000 0.00300000
+v 0.06838000 0.04724000 0.00900000
+v -0.06838000 -0.04324000 0.00300000
+v -0.06838000 -0.04324000 0.00900000
+v -0.06838000 0.04324000 0.00300000
+v -0.06838000 0.04324000 0.00900000
+v -0.06438000 -0.04324000 0.00300000
+v -0.06438000 -0.04324000 0.00900000
+v -0.06438000 0.04324000 0.00300000
+v -0.06438000 0.04324000 0.00900000
+v 0.06438000 -0.04324000 0.00300000
+v 0.06438000 -0.04324000 0.00900000
+v 0.06438000 0.04324000 0.00300000
+v 0.06438000 0.04324000 0.00900000
+v 0.06838000 -0.04324000 0.00300000
+v 0.06838000 -0.04324000 0.00900000
+v 0.06838000 0.04324000 0.00300000
+v 0.06838000 0.04324000 0.00900000
+v 0.06838000 -0.01500000 0.00000000
+v 0.06838000 -0.01500000 0.00900000
+v 0.06838000 0.01500000 0.00000000
+v 0.06838000 0.01500000 0.00900000
+v 0.11338000 -0.01500000 0.00000000
+v 0.11338000 -0.01500000 0.00900000
+v 0.11338000 0.01500000 0.00000000
+v 0.11338000 0.01500000 0.00900000
+v 0.08338000 -0.01500000 0.00000000
+v 0.08338000 -0.01500000 0.13000000
+v 0.08338000 0.01500000 0.00000000
+v 0.08338000 0.01500000 0.13000000
+v 0.11338000 -0.01500000 0.00000000
+v 0.11338000 -0.01500000 0.13000000
+v 0.11338000 0.01500000 0.00000000
+v 0.11338000 0.01500000 0.13000000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+f 42 44 41
+f 45 42 41
+f 41 44 43
+f 43 45 41
+f 42 48 44
+f 46 42 45
+f 46 48 42
+f 44 48 43
+f 47 45 43
+f 43 48 47
+f 47 46 45
+f 48 46 47
+f 50 52 49
+f 53 50 49
+f 49 52 51
+f 51 53 49
+f 50 56 52
+f 54 50 53
+f 54 56 50
+f 52 56 51
+f 55 53 51
+f 51 56 55
+f 55 54 53
+f 56 54 55
+
diff --git a/assets/labware/sbs/sbs_plate_carrier/model.glb b/assets/labware/sbs/sbs_plate_carrier/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..677a1dd50423b33b32fc6db99ae0fcd0eb2ceb26
Binary files /dev/null and b/assets/labware/sbs/sbs_plate_carrier/model.glb differ
diff --git a/assets/labware/sbs/sbs_plate_carrier/model.urdf b/assets/labware/sbs/sbs_plate_carrier/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ee79789bd87b72ab98d8da22af22deb2f30ed41b
--- /dev/null
+++ b/assets/labware/sbs/sbs_plate_carrier/model.urdf
@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<robot name="sbs_plate_carrier">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="0.0706194 1.97578e-19 0.0435658" rpy="0 0 0" />
+      <mass value="0.482298" />
+      <inertia ixx="0.001038" ixy="0" ixz="0" iyy="0.00200703" iyz="0" izz="0.00168656" />
+    </inertial>
+    <visual name="sbs_plate_carrier__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/sbs_plate_carrier__body.obj" />
+      </geometry>
+      <material name="mat_sbs_plate_carrier__body">
+        <color rgba="0.52252 0.55422 0.60383 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0015" rpy="0 0 0" />
+      <geometry>
+        <box size="0.13676 0.09448 0.003" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 -0.04524 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.13676 0.004 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0 0.04524 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.13676 0.004 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.06638 0 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.004 0.08648 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.06638 0 0.006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.004 0.08648 0.006" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.09088 0 0.0045" rpy="0 0 0" />
+      <geometry>
+        <box size="0.045 0.03 0.009" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.09838 0 0.065" rpy="0 0 0" />
+      <geometry>
+        <box size="0.03 0.03 0.13" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/tools/bochem_spatula_3340/asset.contract.json b/assets/labware/tools/bochem_spatula_3340/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90a6ee2fb99adf07318b232f9b61e1279d60ef7
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/asset.contract.json
@@ -0,0 +1,281 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.bochem_spatula_3340",
+ "asset_version": "1.0.0",
+ "name_zh": "Bochem 3340 微量药匙（18/10 不锈钢，150 mm，Ø9 mm 匙头 + 平铲）",
+ "category": "labware.tool.spatula",
+ "asset_kind": "tool",
+ "coverage": "full",
+ "description_zh": "双头微量药匙 Bochem 3340：总长 150 mm、Ø9 mm 匙头、40 mm 平铲；平放在台面上（沿 X 轴）。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/tools/bochem_spatula_3340/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "df7a976904093939afc1b27517502868391a19a7259b287122e01bd4bbe217da"
+  },
+  "model_urdf": {
+   "path": "assets/labware/tools/bochem_spatula_3340/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "4dfaa4c1699ed35035583081bbb880673793ac720f7316cf41a17870aa5e2e6b"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/tools/bochem_spatula_3340/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "259ce65ae3b67db17d931ab91364991d4e56fdbd615faf50951ed655c023ea64"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/tools/bochem_spatula_3340/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "db526cd26dea16481d0d1a32a912c64856ffb6c3127dc52262341387ae7c9f38"
+  }
+ },
+ "sources": {
+  "bochem_3340": {
+   "kind": "manufacturer",
+   "reference": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm (Fisher UK listing https://fishersci.co.uk/shop/products/18-10-stainless-steel-micro-spoon-spatulas-6/p-8000566)",
+   "locator": "length 150 mm, spoon 9 mm, blade 40 mm (blade width 5 mm)",
+   "note": "Double-ended micro spoon spatula for powders. accessed 2026-10-22."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "spatula_assumption": {
+   "kind": "assumption",
+   "reference": "spatula rod diameter, spoon depth, blade thickness",
+   "locator": "engineering value",
+   "note": "Rod O3.5 mm, spoon bowl O9 x 2.5 mm deep, flat blade 40 x 5 x 0.8 mm; 18/10 stainless 7900 kg/m3."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "药匙",
+   "function_zh": "取粉末/固体（匙头）或刮平（平铲）",
+   "physical_meaning_zh": "18/10 不锈钢",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "bochem_spatula_3340__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "length_m": {
+     "value": 0.15,
+     "unit": "m",
+     "meaning_zh": "总长",
+     "evidence": "documented",
+     "source_ids": [
+      "bochem_3340"
+     ],
+     "uncertainty": null
+    },
+    "spoon_diameter_m": {
+     "value": 0.009,
+     "unit": "m",
+     "meaning_zh": "匙头直径",
+     "evidence": "documented",
+     "source_ids": [
+      "bochem_3340"
+     ],
+     "uncertainty": null
+    },
+    "blade_length_m": {
+     "value": 0.04,
+     "unit": "m",
+     "meaning_zh": "平铲长",
+     "evidence": "documented",
+     "source_ids": [
+      "bochem_3340"
+     ],
+     "uncertainty": null
+    },
+    "rod_diameter_m": {
+     "value": 0.0035,
+     "unit": "m",
+     "meaning_zh": "杆径",
+     "evidence": "assumption",
+     "source_ids": [
+      "spatula_assumption"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.008547,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（钢件体积 × 7900 kg/m3（匙头按 35 % 实心））",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {},
+ "mechanisms": {},
+ "limitations": [
+  "总长、匙头直径、平铲长度按目录；杆径、匙深、厚度为假设。",
+  "取粉量按匙头容积 × 堆密度由宿主计算，不模拟颗粒。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.bochem_spatula_3340",
+   "family": "spatula",
+   "labware_class": "spatula",
+   "fits": [
+    "spatula",
+    "tool_holder"
+   ],
+   "maker": "Bochem",
+   "model": "Micro spoon spatula, 18/10 stainless steel, 150 mm (spoon O9 mm, blade 40 mm)",
+   "catalogue_no": "3340",
+   "spoon_capacity_level_m3": 1.06e-07,
+   "spoon_capacity_heaped_m3": 1.696e-07,
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.0035,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.03875,
+     "note_zh": "俯抓杆中部（Ø3.5 mm），手指沿 Y 合拢；平放时 TCP 贴近台面",
+     "finger_contact_z_m": [
+      0.0,
+      0.0035
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      -0.01,
+      0.0,
+      0.10175
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    },
+    "spoon": {
+     "link": "base_link",
+     "pos_m": [
+      -0.0705,
+      0.0,
+      0.0025
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "匙头中心（取粉点）"
+    },
+    "blade_tip": {
+     "link": "base_link",
+     "pos_m": [
+      0.075,
+      0.0,
+      0.0004
+     ],
+     "rot_xyzw": [
+      0,
+      0,
+      0,
+      1
+     ],
+     "note_zh": "平铲端"
+    }
+   },
+   "empty_mass_kg": 0.00855,
+   "franka_grasp_ok": true,
+   "stands_upright": false,
+   "powder_note_zh": "一匙平/堆取量 ≈ spoon_capacity × 粉末堆密度；转移量由宿主账本记录（powder handling）"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/tools/bochem_spatula_3340/collision_proxies.json b/assets/labware/tools/bochem_spatula_3340/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb1f60562ce9a1efe5c84592d5e01e427e70ebd
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/collision_proxies.json
@@ -0,0 +1,90 @@
+{
+ "asset_type_id": "labware.bochem_spatula_3340",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.00175,
+      0.09
+     ],
+     "origin_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rpy_rad": [
+      0.0,
+      1.570796,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.005,
+      0.0008
+     ],
+     "origin_m": [
+      0.055,
+      0.0,
+      0.0004
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.0035,
+      0.0012
+     ],
+     "origin_m": [
+      0.036,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0045,
+      0.0025
+     ],
+     "origin_m": [
+      -0.0705,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/tools/bochem_spatula_3340/geometry_manifest.json b/assets/labware/tools/bochem_spatula_3340/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..653dee7422e2930b5a03a99dd43b9569b0ca77df
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/geometry_manifest.json
@@ -0,0 +1,329 @@
+{
+ "asset_type_id": "labware.bochem_spatula_3340",
+ "catalog_id": null,
+ "name_zh": "Bochem 3340 微量药匙（18/10 不锈钢，150 mm，Ø9 mm 匙头 + 平铲）",
+ "name_en": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.15,
+  0.009,
+  0.0035
+ ],
+ "bounds_m": [
+  [
+   -0.075,
+   -0.0045,
+   -0.0
+  ],
+  [
+   0.075,
+   0.0045,
+   0.0035
+  ]
+ ],
+ "total_mass_kg": 0.00855,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "bochem_3340",
+   "kind": "manufacturer",
+   "reference": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm (Fisher UK listing https://fishersci.co.uk/shop/products/18-10-stainless-steel-micro-spoon-spatulas-6/p-8000566)",
+   "locator": "length 150 mm, spoon 9 mm, blade 40 mm (blade width 5 mm)",
+   "note": "Double-ended micro spoon spatula for powders. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "spatula_assumption",
+   "kind": "assumption",
+   "reference": "spatula rod diameter, spoon depth, blade thickness",
+   "locator": "engineering value",
+   "note": "Rod O3.5 mm, spoon bowl O9 x 2.5 mm deep, flat blade 40 x 5 x 0.8 mm; 18/10 stainless 7900 kg/m3.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "药匙",
+   "function_zh": "取粉末/固体（匙头）或刮平（平铲）",
+   "physical_meaning_zh": "18/10 不锈钢",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.008547,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "钢件体积 × 7900 kg/m3（匙头按 35 % 实心）",
+   "material": "stainless_18_10",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "总长 150、匙头 Ø9、平铲 40×5 mm 按目录；杆径与厚度为假设",
+   "objects": [
+    "bochem_spatula_3340__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "bochem_spatula_3340__body",
+     "rgba_srgb": [
+      0.78,
+      0.79,
+      0.81,
+      1.0
+     ],
+     "hex": "#C7C9CF",
+     "rgba_linear": [
+      0.57048,
+      0.58702,
+      0.62092,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.00175,
+      0.09
+     ],
+     "origin_m": [
+      -0.01,
+      0.0,
+      0.00175
+     ],
+     "rpy_rad": [
+      0.0,
+      1.570796,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.04,
+      0.005,
+      0.0008
+     ],
+     "origin_m": [
+      0.055,
+      0.0,
+      0.0004
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.006,
+      0.0035,
+      0.0012
+     ],
+     "origin_m": [
+      0.036,
+      0.0,
+      0.001
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "cylinder",
+     "size_m": [
+      0.0045,
+      0.0025
+     ],
+     "origin_m": [
+      -0.0705,
+      0.0,
+      0.00125
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "bochem_spatula_3340__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.bochem_spatula_3340",
+  "family": "spatula",
+  "labware_class": "spatula",
+  "fits": [
+   "spatula",
+   "tool_holder"
+  ],
+  "maker": "Bochem",
+  "model": "Micro spoon spatula, 18/10 stainless steel, 150 mm (spoon O9 mm, blade 40 mm)",
+  "catalogue_no": "3340",
+  "spoon_capacity_level_m3": 1.06e-07,
+  "spoon_capacity_heaped_m3": 1.696e-07,
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01,
+     0.0,
+     0.00175
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.0035,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.03875,
+    "note_zh": "俯抓杆中部（Ø3.5 mm），手指沿 Y 合拢；平放时 TCP 贴近台面",
+    "finger_contact_z_m": [
+     0.0,
+     0.0035
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01,
+     0.0,
+     0.10175
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01,
+     0.0,
+     0.10175
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01,
+     0.0,
+     0.00175
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     -0.01,
+     0.0,
+     0.10175
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   },
+   "spoon": {
+    "link": "base_link",
+    "pos_m": [
+     -0.0705,
+     0.0,
+     0.0025
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "匙头中心（取粉点）"
+   },
+   "blade_tip": {
+    "link": "base_link",
+    "pos_m": [
+     0.075,
+     0.0,
+     0.0004
+    ],
+    "rot_xyzw": [
+     0,
+     0,
+     0,
+     1
+    ],
+    "note_zh": "平铲端"
+   }
+  },
+  "empty_mass_kg": 0.00855,
+  "franka_grasp_ok": true,
+  "stands_upright": false,
+  "powder_note_zh": "一匙平/堆取量 ≈ spoon_capacity × 粉末堆密度；转移量由宿主账本记录（powder handling）"
+ },
+ "limitations_zh": [
+  "总长、匙头直径、平铲长度按目录；杆径、匙深、厚度为假设。",
+  "取粉量按匙头容积 × 堆密度由宿主计算，不模拟颗粒。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.mtl b/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..030329e3eda4779f9a611cf9c9148aa9891666de
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.mtl
@@ -0,0 +1,6 @@
+newmtl bochem_spatula_3340__body
+Kd 0.7800 0.7900 0.8100
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.obj b/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..68a2d389efe307e2a19f291d40d2e8b7368b44a3
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/meshes/bochem_spatula_3340__body.obj
@@ -0,0 +1,816 @@
+mtllib bochem_spatula_3340__body.mtl
+usemtl bochem_spatula_3340__body
+# https://github.com/mikedh/trimesh
+v -0.05500000 0.00000000 0.00175000
+v -0.05500000 0.00000000 -0.00000000
+v 0.03500000 0.00000000 0.00000000
+v 0.03500000 0.00000000 0.00175000
+v -0.05500000 0.00034141 0.00003363
+v 0.03500000 0.00034141 0.00003363
+v -0.05500000 0.00066970 0.00013321
+v 0.03500000 0.00066970 0.00013321
+v -0.05500000 0.00097225 0.00029493
+v 0.03500000 0.00097225 0.00029493
+v -0.05500000 0.00123744 0.00051256
+v 0.03500000 0.00123744 0.00051256
+v -0.05500000 0.00145507 0.00077775
+v 0.03500000 0.00145507 0.00077775
+v -0.05500000 0.00161679 0.00108030
+v 0.03500000 0.00161679 0.00108030
+v -0.05500000 0.00171637 0.00140859
+v 0.03500000 0.00171637 0.00140859
+v -0.05500000 0.00175000 0.00175000
+v 0.03500000 0.00175000 0.00175000
+v -0.05500000 0.00171637 0.00209141
+v 0.03500000 0.00171637 0.00209141
+v -0.05500000 0.00161679 0.00241970
+v 0.03500000 0.00161679 0.00241970
+v -0.05500000 0.00145507 0.00272225
+v 0.03500000 0.00145507 0.00272225
+v -0.05500000 0.00123744 0.00298744
+v 0.03500000 0.00123744 0.00298744
+v -0.05500000 0.00097225 0.00320507
+v 0.03500000 0.00097225 0.00320507
+v -0.05500000 0.00066970 0.00336679
+v 0.03500000 0.00066970 0.00336679
+v -0.05500000 0.00034141 0.00346637
+v 0.03500000 0.00034141 0.00346637
+v -0.05500000 0.00000000 0.00350000
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diff --git a/assets/labware/tools/bochem_spatula_3340/model.glb b/assets/labware/tools/bochem_spatula_3340/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..1fc35c3633aa9ac11c8f3a71b218fdeb1507fb8c
Binary files /dev/null and b/assets/labware/tools/bochem_spatula_3340/model.glb differ
diff --git a/assets/labware/tools/bochem_spatula_3340/model.urdf b/assets/labware/tools/bochem_spatula_3340/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..925050871a8ed51083c0867464cd825be70c7845
--- /dev/null
+++ b/assets/labware/tools/bochem_spatula_3340/model.urdf
@@ -0,0 +1,49 @@
+<?xml version="1.0"?>
+<robot name="bochem_spatula_3340">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-0.00540394 7.49714e-21 0.00152897" rpy="0 0 0" />
+      <mass value="0.0085467" />
+      <inertia ixx="6.6415e-08" ixy="0" ixz="0" iyy="1.60338e-05" iyz="0" izz="1.60828e-05" />
+    </inertial>
+    <visual name="bochem_spatula_3340__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/bochem_spatula_3340__body.obj" />
+      </geometry>
+      <material name="mat_bochem_spatula_3340__body">
+        <color rgba="0.57048 0.58702 0.62092 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="-0.01 0 0.00175" rpy="0 1.5708 0" />
+      <geometry>
+        <cylinder radius="0.00175" length="0.09" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.055 0 0.0004" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.005 0.0008" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.036 0 0.001" rpy="0 0 0" />
+      <geometry>
+        <box size="0.006 0.0035 0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0705 0 0.00125" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.0045" length="0.0025" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/tools/globe_weighing_boat_3620/asset.contract.json b/assets/labware/tools/globe_weighing_boat_3620/asset.contract.json
new file mode 100644
index 0000000000000000000000000000000000000000..71d861560d8d57192d9832dd83a69beb278c0270
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/asset.contract.json
@@ -0,0 +1,271 @@
+{
+ "schema_version": "1.0.0",
+ "asset_type_id": "labware.globe_weighing_boat_3620",
+ "asset_version": "1.0.0",
+ "name_zh": "Globe Scientific 3620 防静电方形称量舟（41×41×8 mm，PS）",
+ "category": "labware.tool.weighing_boat",
+ "asset_kind": "passive",
+ "coverage": "full",
+ "description_zh": "小号防静电聚苯乙烯方形称量舟 Globe Scientific 3620（与 Heathrow HS1421A / Sigma Z708542 同尺寸）：口部 41×41 mm、深 8 mm，目录标称 20 mL。",
+ "coordinate_system": {
+  "status": "defined",
+  "length_unit": "m",
+  "angle_unit": "rad",
+  "handedness": "right",
+  "up_axis": "+Z",
+  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"
+ },
+ "artifacts": {
+  "model_glb": {
+   "path": "assets/labware/tools/globe_weighing_boat_3620/model.glb",
+   "format": "glb",
+   "status": "available",
+   "sha256": "72d2ef447483ec09c61352cfae1870ec9f26dba5495ebcc7856527b2cbd184b6"
+  },
+  "model_urdf": {
+   "path": "assets/labware/tools/globe_weighing_boat_3620/model.urdf",
+   "format": "urdf",
+   "status": "available",
+   "sha256": "2fc322e0fb116f90046891e8861d12a278b80b6b381b07df3d97e72871ab4cc3"
+  },
+  "geometry_manifest": {
+   "path": "assets/labware/tools/globe_weighing_boat_3620/geometry_manifest.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "e29eac0443e30e1c4924caa2415eb71abe29dbda1f0894cf884b81e9ddea1694"
+  },
+  "collision_proxies": {
+   "path": "assets/labware/tools/globe_weighing_boat_3620/collision_proxies.json",
+   "format": "json",
+   "status": "available",
+   "sha256": "60a5646f26d15dc8c6db2a20a6e49bc6a8dd92e79cc0f58f6dcee43039cec7e5"
+  }
+ },
+ "sources": {
+  "globe_3620": {
+   "kind": "manufacturer",
+   "reference": "Globe Scientific 3620 antistatic square polystyrene weighing dish (listing https://www.calpaclab.com/weighing-boat-plastic-square-antistatic-41x41x8mm-polystyrene-white-20ml/gsci-3620); same size as Heathrow HS1421A / Sigma Z708542",
+   "locator": "41 x 41 x 8 mm, 20 mL, PS, antistatic",
+   "note": "Small square weighing boat. accessed 2026-10-22."
+  },
+  "pp_hdpe_density": {
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %."
+  },
+  "robot_access": {
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout."
+  },
+  "boat_assumption": {
+   "kind": "assumption",
+   "reference": "weighing boat floor size and wall thickness",
+   "locator": "engineering value",
+   "note": "Floor 31 x 31 mm (walls taper from the 41 x 41 mm rim over 8 mm), PS sheet 0.5 mm visual / 1.2 mm collision; mass from the sheet volume x 1050 kg/m3."
+  }
+ },
+ "components": {
+  "body": {
+   "name_zh": "称量舟",
+   "function_zh": "称量粉末；放在天平秤盘上",
+   "physical_meaning_zh": "PS 薄片方舟（防静电）",
+   "parent": null,
+   "geometry_status": "bound",
+   "geometry": [
+    {
+     "artifact_id": "model_urdf",
+     "selector": "link:body",
+     "role": "both"
+    },
+    {
+     "artifact_id": "model_glb",
+     "selector": "globe_weighing_boat_3620__body",
+     "role": "visual"
+    }
+   ],
+   "capability_ids": [],
+   "passive_reason": "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。",
+   "properties": {
+    "rim_size_m": {
+     "value": [
+      0.041,
+      0.041
+     ],
+     "unit": "m",
+     "meaning_zh": "口部尺寸",
+     "evidence": "documented",
+     "source_ids": [
+      "globe_3620"
+     ],
+     "uncertainty": null
+    },
+    "depth_m": {
+     "value": 0.008,
+     "unit": "m",
+     "meaning_zh": "深度",
+     "evidence": "documented",
+     "source_ids": [
+      "globe_3620"
+     ],
+     "uncertainty": null
+    },
+    "catalogue_capacity_m3": {
+     "value": 2e-05,
+     "unit": "m3",
+     "meaning_zh": "目录标称容量 20 mL（大于几何容积，作标签保留）",
+     "evidence": "documented",
+     "source_ids": [
+      "globe_3620"
+     ],
+     "uncertainty": null
+    },
+    "mass_kg": {
+     "value": 0.001297,
+     "unit": "kg",
+     "meaning_zh": "该 link 的仿真质量（0.5 mm PS 片体积 × 1050 kg/m3）",
+     "evidence": "assumption",
+     "source_ids": [],
+     "uncertainty": null
+    }
+   }
+  }
+ },
+ "state_slots": {},
+ "capabilities": {},
+ "model_bindings": {},
+ "ports": {
+  "tray": {
+   "component_id": "body",
+   "medium": "mechanical",
+   "direction": "bidirectional",
+   "frame": "frame:grasp",
+   "meaning_zh": "舟内放粉末/固体",
+   "connection_constraints": [
+    "加入/倒出属于机器人技能（药匙）与宿主记账"
+   ]
+  }
+ },
+ "mechanisms": {},
+ "limitations": [
+  "口部尺寸与深度按目录；底面尺寸与壁厚为假设；碰撞壁加厚到 1.2 mm 便于物理稳定。",
+  "粉末不生成粒子，只记账。"
+ ],
+ "extensions": {
+  "chemistry_lab.labware": {
+   "type_id": "labware.globe_weighing_boat_3620",
+   "family": "weighing_boat",
+   "labware_class": "weighing_boat",
+   "fits": [
+    "weighing_boat",
+    "balance_pan"
+   ],
+   "maker": "Globe Scientific",
+   "model": "Weighing boat, square, antistatic PS, 41 x 41 x 8 mm, 20 mL",
+   "catalogue_no": "3620",
+   "nominal_capacity_m3": 1.0435e-05,
+   "catalogue_capacity_label_m3": 2e-05,
+   "brim_capacity_m3": 1.0435e-05,
+   "nominal_capacity_evidence": "computed from the documented rim size and depth (the catalogue label says 20 mL, more than the 13.4 mL of a 41 x 41 x 8 mm box: label kept separately)",
+   "interior": {
+    "shape": "frustum_square",
+    "top_m": 0.041,
+    "bottom_m": 0.031,
+    "floor_m": 0.0005,
+    "height_m": 0.008,
+    "radius_m": 0.0155
+   },
+   "frames": {
+    "grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "width_m": 0.041,
+     "franka_ok": true,
+     "yaw_free": false,
+     "hand_bottom_z_m": 0.042,
+     "note_zh": "俯抓两侧壁（41 mm），手指沿 Y 合拢；装粉后保持水平",
+     "finger_contact_z_m": [
+      0.0,
+      0.008
+     ]
+    },
+    "pre_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取前悬停点：竖直下降到 grasp"
+    },
+    "post_grasp": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "抓取后竖直抬起到此"
+    },
+    "place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.005
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+    },
+    "pre_place": {
+     "link": "base_link",
+     "pos_m": [
+      0.0,
+      0.0,
+      0.105
+     ],
+     "rot_xyzw": [
+      1.0,
+      0.0,
+      0.0,
+      0.0
+     ],
+     "note_zh": "放置前悬停点"
+    }
+   },
+   "empty_mass_kg": 0.001297,
+   "franka_grasp_ok": true,
+   "stands_upright": true,
+   "powder_note_zh": "粉末量由宿主账本记录；称量舟放在天平秤盘（SPX2201 敞开秤盘）上读数"
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/tools/globe_weighing_boat_3620/collision_proxies.json b/assets/labware/tools/globe_weighing_boat_3620/collision_proxies.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26035e88d1a065cabcb3e7f68be83faa72a00b4
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/collision_proxies.json
@@ -0,0 +1,110 @@
+{
+ "asset_type_id": "labware.globe_weighing_boat_3620",
+ "units": "m",
+ "frame": "link_local",
+ "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+ "components": {
+  "body": {
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "parent": "base_link",
+   "joint": null,
+   "primitives": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.031,
+      0.031,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      0.017491,
+      0.0,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      0.0,
+      0.017491,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      -0.017491,
+      0.0,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      -0.0,
+      -0.017491,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      4.712389
+     ]
+    }
+   ],
+   "solid_primitives": []
+  }
+ }
+}
\ No newline at end of file
diff --git a/assets/labware/tools/globe_weighing_boat_3620/geometry_manifest.json b/assets/labware/tools/globe_weighing_boat_3620/geometry_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fffc0a8cce0bd1f7beafebea5c5e050d585d5a0
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/geometry_manifest.json
@@ -0,0 +1,337 @@
+{
+ "asset_type_id": "labware.globe_weighing_boat_3620",
+ "catalog_id": null,
+ "name_zh": "Globe Scientific 3620 防静电方形称量舟（41×41×8 mm，PS）",
+ "name_en": "Globe Scientific 3620 antistatic square weighing boat 41 x 41 x 8 mm",
+ "created_at": "2026-10-23T06:24:43Z",
+ "builder": "scripts/labware/build_labware.py",
+ "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+ "coordinate_system": {
+  "unit": "m",
+  "angle_unit": "rad",
+  "up_axis": "+Z",
+  "back_axis": "+Y",
+  "handedness": "right",
+  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"
+ },
+ "overall_dimensions_m": [
+  0.041,
+  0.041,
+  0.00826
+ ],
+ "bounds_m": [
+  [
+   -0.0205,
+   -0.0205,
+   0.0
+  ],
+  [
+   0.0205,
+   0.0205,
+   0.00826
+  ]
+ ],
+ "total_mass_kg": 0.0013,
+ "mass_evidence": "assumption",
+ "sources": [
+  {
+   "source_id": "globe_3620",
+   "kind": "manufacturer",
+   "reference": "Globe Scientific 3620 antistatic square polystyrene weighing dish (listing https://www.calpaclab.com/weighing-boat-plastic-square-antistatic-41x41x8mm-polystyrene-white-20ml/gsci-3620); same size as Heathrow HS1421A / Sigma Z708542",
+   "locator": "41 x 41 x 8 mm, 20 mL, PS, antistatic",
+   "note": "Small square weighing boat. accessed 2026-10-22.",
+   "licence": "facts"
+  },
+  {
+   "source_id": "pp_hdpe_density",
+   "kind": "assumption",
+   "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+   "locator": "engineering value",
+   "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+   "licence": "n/a"
+  },
+  {
+   "source_id": "robot_access",
+   "kind": "code",
+   "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+   "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+   "note": "Used to place grasp frames and the bench-shelf slot layout.",
+   "licence": "project"
+  },
+  {
+   "source_id": "boat_assumption",
+   "kind": "assumption",
+   "reference": "weighing boat floor size and wall thickness",
+   "locator": "engineering value",
+   "note": "Floor 31 x 31 mm (walls taper from the 41 x 41 mm rim over 8 mm), PS sheet 0.5 mm visual / 1.2 mm collision; mass from the sheet volume x 1050 kg/m3.",
+   "licence": "n/a"
+  }
+ ],
+ "components": [
+  {
+   "id": "body",
+   "name_zh": "称量舟",
+   "function_zh": "称量粉末；放在天平秤盘上",
+   "physical_meaning_zh": "PS 薄片方舟（防静电）",
+   "parent": "root",
+   "origin_m": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "rpy_rad": [
+    0.0,
+    0.0,
+    0.0
+   ],
+   "joint": null,
+   "mass_kg": 0.001297,
+   "mass_evidence": "assumption",
+   "mass_note_zh": "0.5 mm PS 片体积 × 1050 kg/m3",
+   "material": "ps",
+   "geometry_evidence": "documented",
+   "geometry_note_zh": "口部 41×41 mm、深 8 mm 按目录；底面 31×31 mm 与壁厚为假设",
+   "objects": [
+    "globe_weighing_boat_3620__body"
+   ],
+   "detachable": false,
+   "appearance": [
+    {
+     "object": "globe_weighing_boat_3620__body",
+     "rgba_srgb": [
+      0.97,
+      0.97,
+      0.97,
+      1.0
+     ],
+     "hex": "#F7F7F7",
+     "rgba_linear": [
+      0.93311,
+      0.93311,
+      0.93311,
+      1.0
+     ]
+    }
+   ],
+   "collisions": [
+    {
+     "shape": "box",
+     "size_m": [
+      0.031,
+      0.031,
+      0.0012
+     ],
+     "origin_m": [
+      0.0,
+      0.0,
+      0.0006
+     ],
+     "rpy_rad": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      0.017491,
+      0.0,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      0.0
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      0.0,
+      0.017491,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      1.570796
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      -0.017491,
+      0.0,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      3.141593
+     ]
+    },
+    {
+     "shape": "box",
+     "size_m": [
+      0.0012,
+      0.0386,
+      0.009434
+     ],
+     "origin_m": [
+      -0.0,
+      -0.017491,
+      0.004318
+     ],
+     "rpy_rad": [
+      0.0,
+      0.558599,
+      4.712389
+     ]
+    }
+   ]
+  }
+ ],
+ "root_object": "globe_weighing_boat_3620__root",
+ "joint_definitions": {},
+ "artifacts": {
+  "model_glb": "model.glb",
+  "model_urdf": "model.urdf",
+  "meshes_dir": "meshes",
+  "model_blend": null
+ },
+ "ports": [],
+ "labware": {
+  "type_id": "labware.globe_weighing_boat_3620",
+  "family": "weighing_boat",
+  "labware_class": "weighing_boat",
+  "fits": [
+   "weighing_boat",
+   "balance_pan"
+  ],
+  "maker": "Globe Scientific",
+  "model": "Weighing boat, square, antistatic PS, 41 x 41 x 8 mm, 20 mL",
+  "catalogue_no": "3620",
+  "nominal_capacity_m3": 1.0435e-05,
+  "catalogue_capacity_label_m3": 2e-05,
+  "brim_capacity_m3": 1.0435e-05,
+  "nominal_capacity_evidence": "computed from the documented rim size and depth (the catalogue label says 20 mL, more than the 13.4 mL of a 41 x 41 x 8 mm box: label kept separately)",
+  "interior": {
+   "shape": "frustum_square",
+   "top_m": 0.041,
+   "bottom_m": 0.031,
+   "floor_m": 0.0005,
+   "height_m": 0.008,
+   "radius_m": 0.0155
+  },
+  "frames": {
+   "grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.005
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "width_m": 0.041,
+    "franka_ok": true,
+    "yaw_free": false,
+    "hand_bottom_z_m": 0.042,
+    "note_zh": "俯抓两侧壁（41 mm），手指沿 Y 合拢；装粉后保持水平",
+    "finger_contact_z_m": [
+     0.0,
+     0.008
+    ]
+   },
+   "pre_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.105
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取前悬停点：竖直下降到 grasp"
+   },
+   "post_grasp": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.105
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "抓取后竖直抬起到此"
+   },
+   "place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.005
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"
+   },
+   "pre_place": {
+    "link": "base_link",
+    "pos_m": [
+     0.0,
+     0.0,
+     0.105
+    ],
+    "rot_xyzw": [
+     1.0,
+     0.0,
+     0.0,
+     0.0
+    ],
+    "note_zh": "放置前悬停点"
+   }
+  },
+  "empty_mass_kg": 0.001297,
+  "franka_grasp_ok": true,
+  "stands_upright": true,
+  "powder_note_zh": "粉末量由宿主账本记录；称量舟放在天平秤盘（SPX2201 敞开秤盘）上读数"
+ },
+ "limitations_zh": [
+  "口部尺寸与深度按目录；底面尺寸与壁厚为假设；碰撞壁加厚到 1.2 mm 便于物理稳定。",
+  "粉末不生成粒子，只记账。"
+ ]
+}
\ No newline at end of file
diff --git a/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.mtl b/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..d0b66a008a215be6dc24df3fd091ed9cfc38da3d
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.mtl
@@ -0,0 +1,6 @@
+newmtl globe_weighing_boat_3620__body
+Kd 0.9700 0.9700 0.9700
+Ka 0 0 0
+Ks 0.1 0.1 0.1
+Ns 40
+d 1.000
diff --git a/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.obj b/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0f0e88e7e738975c1ca2dc27c15d6b13686f5e82
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/meshes/globe_weighing_boat_3620__body.obj
@@ -0,0 +1,104 @@
+mtllib globe_weighing_boat_3620__body.mtl
+usemtl globe_weighing_boat_3620__body
+# https://github.com/mikedh/trimesh
+v -0.01550000 -0.01550000 0.00000000
+v -0.01550000 -0.01550000 0.00050000
+v -0.01550000 0.01550000 0.00000000
+v -0.01550000 0.01550000 0.00050000
+v 0.01550000 -0.01550000 0.00000000
+v 0.01550000 -0.01550000 0.00050000
+v 0.01550000 0.01550000 0.00000000
+v 0.01550000 0.01550000 0.00050000
+v 0.01507600 -0.02000000 0.00026500
+v 0.02007600 -0.02000000 0.00826500
+v 0.01507600 0.02000000 0.00026500
+v 0.02007600 0.02000000 0.00826500
+v 0.01550000 -0.02000000 0.00000000
+v 0.02050000 -0.02000000 0.00800000
+v 0.01550000 0.02000000 0.00000000
+v 0.02050000 0.02000000 0.00800000
+v 0.02000000 0.01507600 0.00026500
+v 0.02000000 0.02007600 0.00826500
+v -0.02000000 0.01507600 0.00026500
+v -0.02000000 0.02007600 0.00826500
+v 0.02000000 0.01550000 0.00000000
+v 0.02000000 0.02050000 0.00800000
+v -0.02000000 0.01550000 0.00000000
+v -0.02000000 0.02050000 0.00800000
+v -0.01507600 0.02000000 0.00026500
+v -0.02007600 0.02000000 0.00826500
+v -0.01507600 -0.02000000 0.00026500
+v -0.02007600 -0.02000000 0.00826500
+v -0.01550000 0.02000000 0.00000000
+v -0.02050000 0.02000000 0.00800000
+v -0.01550000 -0.02000000 0.00000000
+v -0.02050000 -0.02000000 0.00800000
+v -0.02000000 -0.01507600 0.00026500
+v -0.02000000 -0.02007600 0.00826500
+v 0.02000000 -0.01507600 0.00026500
+v 0.02000000 -0.02007600 0.00826500
+v -0.02000000 -0.01550000 0.00000000
+v -0.02000000 -0.02050000 0.00800000
+v 0.02000000 -0.01550000 0.00000000
+v 0.02000000 -0.02050000 0.00800000
+f 2 4 1
+f 5 2 1
+f 1 4 3
+f 3 5 1
+f 2 8 4
+f 6 2 5
+f 6 8 2
+f 4 8 3
+f 7 5 3
+f 3 8 7
+f 7 6 5
+f 8 6 7
+f 10 12 9
+f 13 10 9
+f 9 12 11
+f 11 13 9
+f 10 16 12
+f 14 10 13
+f 14 16 10
+f 12 16 11
+f 15 13 11
+f 11 16 15
+f 15 14 13
+f 16 14 15
+f 18 20 17
+f 21 18 17
+f 17 20 19
+f 19 21 17
+f 18 24 20
+f 22 18 21
+f 22 24 18
+f 20 24 19
+f 23 21 19
+f 19 24 23
+f 23 22 21
+f 24 22 23
+f 26 28 25
+f 29 26 25
+f 25 28 27
+f 27 29 25
+f 26 32 28
+f 30 26 29
+f 30 32 26
+f 28 32 27
+f 31 29 27
+f 27 32 31
+f 31 30 29
+f 32 30 31
+f 34 36 33
+f 37 34 33
+f 33 36 35
+f 35 37 33
+f 34 40 36
+f 38 34 37
+f 38 40 34
+f 36 40 35
+f 39 37 35
+f 35 40 39
+f 39 38 37
+f 40 38 39
+
diff --git a/assets/labware/tools/globe_weighing_boat_3620/model.glb b/assets/labware/tools/globe_weighing_boat_3620/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..6a30448e6c6ee83df3dad045c56423e3596cebab
Binary files /dev/null and b/assets/labware/tools/globe_weighing_boat_3620/model.glb differ
diff --git a/assets/labware/tools/globe_weighing_boat_3620/model.urdf b/assets/labware/tools/globe_weighing_boat_3620/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e15dc6e44896dcd785133ca8a8fc519e446faea8
--- /dev/null
+++ b/assets/labware/tools/globe_weighing_boat_3620/model.urdf
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<robot name="globe_weighing_boat_3620">
+  <link name="base_link" />
+  <link name="body">
+    <inertial>
+      <origin xyz="-2.25898e-18 0 0.00262221" rpy="0 0 0" />
+      <mass value="0.00129698" />
+      <inertia ixx="1.89068e-07" ixy="0" ixz="0" iyy="1.89068e-07" iyz="0" izz="3.6337e-07" />
+    </inertial>
+    <visual name="globe_weighing_boat_3620__body">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="meshes/globe_weighing_boat_3620__body.obj" />
+      </geometry>
+      <material name="mat_globe_weighing_boat_3620__body">
+        <color rgba="0.93311 0.93311 0.93311 1.000" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.0006" rpy="0 0 0" />
+      <geometry>
+        <box size="0.031 0.031 0.0012" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="0.0174912 0 0.004318" rpy="0 0.558599 0" />
+      <geometry>
+        <box size="0.0012 0.0386 0.00943398" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="1.07103e-18 0.0174912 0.004318" rpy="0 0.558599 1.5708" />
+      <geometry>
+        <box size="0.0012 0.0386 0.00943398" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-0.0174912 2.14205e-18 0.004318" rpy="0 0.558599 3.14159" />
+      <geometry>
+        <box size="0.0012 0.0386 0.00943398" />
+      </geometry>
+    </collision>
+    <collision>
+      <origin xyz="-3.21308e-18 -0.0174912 0.004318" rpy="0 0.558599 4.71239" />
+      <geometry>
+        <box size="0.0012 0.0386 0.00943398" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="body_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="body" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </joint>
+</robot>
diff --git a/assets/labware/verification_report.json b/assets/labware/verification_report.json
new file mode 100644
index 0000000000000000000000000000000000000000..36c6fd67e56c992e6802cbd4ff6f1a47a4fa18f4
--- /dev/null
+++ b/assets/labware/verification_report.json
@@ -0,0 +1,8565 @@
+{
+ "checked_at": "2026-10-23T09:40:36Z",
+ "method": "scripts/labware/verify_labware.py",
+ "assets": [
+  {
+   "asset": "labware.azenta_seal_roll_4ti0520",
+   "dir": "assets/labware/consumables/azenta_seal_roll_4ti0520",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 1
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 1
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.041,
+        -0.063,
+        0.0
+       ],
+       [
+        0.041,
+        0.063,
+        0.126
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.biorad_tgx_gel_4_20_10well",
+   "dir": "assets/labware/consumables/biorad_tgx_gel_4_20_10well",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": true,
+       "collisions": 12
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 12
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.05,
+        -0.0425,
+        0.0
+       ],
+       [
+        0.05,
+        0.0425,
+        0.0085
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.brand_ps_macro_cuvette_759005",
+   "dir": "assets/labware/consumables/brand_ps_macro_cuvette_759005",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 5
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 5
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.00625,
+        -0.00625,
+        0.0
+       ],
+       [
+        0.00625,
+        0.00625,
+        0.045
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "interior_consistent",
+     "status": "passed",
+     "data": {
+      "brim_mL": 4.62,
+      "nominal_mL": 4.5,
+      "fill_h": null,
+      "lip": 0.045
+     }
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
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+   "asset": "labware.opentrons_flex_tiprack_1000ul",
+   "dir": "assets/labware/sbs/opentrons_flex_tiprack_1000ul",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 1
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 1
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 2,
+      "objects": 2
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.06388,
+        -0.04288,
+        0.0
+       ],
+       [
+        0.06388,
+        0.04288,
+        0.1
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 2,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.opentrons_flex_tiprack_200ul",
+   "dir": "assets/labware/sbs/opentrons_flex_tiprack_200ul",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 1
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 1
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 2,
+      "objects": 2
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.06388,
+        -0.04288,
+        0.0
+       ],
+       [
+        0.06388,
+        0.04288,
+        0.1
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 2,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.opentrons_flex_tiprack_50ul",
+   "dir": "assets/labware/sbs/opentrons_flex_tiprack_50ul",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 1
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 1
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 2,
+      "objects": 2
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.06388,
+        -0.04288,
+        0.0
+       ],
+       [
+        0.06388,
+        0.04288,
+        0.1
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 2,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.sbs_plate_carrier",
+   "dir": "assets/labware/sbs/sbs_plate_carrier",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": false,
+       "collisions": 7
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 7
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.06838,
+        -0.04724,
+        0.0
+       ],
+       [
+        0.11338,
+        0.04724,
+        0.13
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.bochem_spatula_3340",
+   "dir": "assets/labware/tools/bochem_spatula_3340",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": true,
+       "collisions": 4
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 4
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.075,
+        -0.0045,
+        0.0
+       ],
+       [
+        0.075,
+        0.0045,
+        0.0035
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  },
+  {
+   "asset": "labware.globe_weighing_boat_3620",
+   "dir": "assets/labware/tools/globe_weighing_boat_3620",
+   "status": "passed",
+   "checks": [
+    {
+     "id": "files",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "urdf_links_match_manifest",
+     "status": "passed",
+     "data": [
+      "base_link",
+      "body"
+     ]
+    },
+    {
+     "id": "urdf_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "watertight_or_collision",
+     "status": "passed",
+     "data": {
+      "body": {
+       "watertight": true,
+       "collisions": 5
+      }
+     }
+    },
+    {
+     "id": "collision_present",
+     "status": "passed",
+     "data": {
+      "body": 5
+     }
+    },
+    {
+     "id": "glb_loads",
+     "status": "passed",
+     "data": {
+      "geometries": 1,
+      "objects": 1
+     }
+    },
+    {
+     "id": "object_meshes_exist",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "envelope_closed",
+     "status": "passed",
+     "data": {
+      "bounds": [
+       [
+        -0.0205,
+        -0.0205,
+        0.0
+       ],
+       [
+        0.0205,
+        0.0205,
+        0.00826
+       ]
+      ]
+     }
+    },
+    {
+     "id": "envelope_joint_limits_above_floor",
+     "status": "passed",
+     "data": {}
+    },
+    {
+     "id": "frames_inside_bounds",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "grasp_width_flag_consistent",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "hand_clears_top",
+     "status": "passed",
+     "data": []
+    },
+    {
+     "id": "interior_consistent",
+     "status": "passed",
+     "data": {
+      "brim_mL": 10.435,
+      "nominal_mL": 10.434999999999999,
+      "fill_h": null,
+      "lip": 0.008
+     }
+    },
+    {
+     "id": "appearance_textures_licensed",
+     "status": "passed",
+     "data": {
+      "objects": 1,
+      "textured": 0,
+      "bad": []
+     }
+    },
+    {
+     "id": "contract_valid_check_files",
+     "status": "passed",
+     "data": []
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/assets/reactions/agilent_hs8697_headspace_library/templates.json b/assets/reactions/agilent_hs8697_headspace_library/templates.json
index 0a3c5caafadd5fff61f1ff34b9585fcbf2ab31bf..9809692634fdddc2c6a552bcbf5802aabb3dbc14 100644
--- a/assets/reactions/agilent_hs8697_headspace_library/templates.json
+++ b/assets/reactions/agilent_hs8697_headspace_library/templates.json
@@ -282,7 +282,8 @@
     "same_entry": false
    },
    "shared_ids": {
-    "spectral_library": "acetonitrile"
+    "spectral_library": "acetonitrile",
+    "substances": "acetonitrile"
    }
   },
   {
@@ -703,7 +704,8 @@
     "same_entry": true
    },
    "shared_ids": {
-    "spectral_library": "benzene"
+    "spectral_library": "benzene",
+    "substances": "benzene"
    }
   },
   {
@@ -4778,7 +4780,8 @@
     "same_entry": false
    },
    "shared_ids": {
-    "spectral_library": "hexane"
+    "spectral_library": "hexane",
+    "substances": "hexane"
    }
   },
   {
@@ -5113,7 +5116,8 @@
    },
    "teledyne_atomxxyz_selection": null,
    "shared_ids": {
-    "spectral_library": "imidazole"
+    "spectral_library": "imidazole",
+    "substances": "imidazole"
    }
   },
   {
@@ -6867,7 +6871,8 @@
     "same_entry": false
    },
    "shared_ids": {
-    "spectral_library": "nonane"
+    "spectral_library": "nonane",
+    "substances": "nonane"
    }
   },
   {
@@ -7138,7 +7143,8 @@
     "same_entry": false
    },
    "shared_ids": {
-    "spectral_library": "octane"
+    "spectral_library": "octane",
+    "substances": "octane"
    }
   },
   {
@@ -7938,7 +7944,8 @@
     "same_entry": true
    },
    "shared_ids": {
-    "spectral_library": "propan_2_ol"
+    "spectral_library": "propan_2_ol",
+    "substances": "propan_2_ol"
    }
   },
   {
@@ -8809,7 +8816,8 @@
     "same_entry": false
    },
    "shared_ids": {
-    "spectral_library": "tetrahydrofuran"
+    "spectral_library": "tetrahydrofuran",
+    "substances": "tetrahydrofuran"
    }
   },
   {
diff --git "a/assets/reactions/agilent_hs8697_headspace_library/\350\257\264\346\230\216.md" "b/assets/reactions/agilent_hs8697_headspace_library/\350\257\264\346\230\216.md"
index 5d6c6c38f5c0f9338617a063097b49bfcd57817f..51a3ac5dec1671b5cea260b04cbb5bfbeb9b43d2 100644
--- "a/assets/reactions/agilent_hs8697_headspace_library/\350\257\264\346\230\216.md"
+++ "b/assets/reactions/agilent_hs8697_headspace_library/\350\257\264\346\230\216.md"
@@ -171,7 +171,7 @@ teledyne_atomxxyz 的库取“第一条带温度系数的 M 条目”，有 40 
 
 ## 缺口与仍是假设的部分
 
-- spectral_library 里有 64 种化合物在 Sander 库中没有 M 类型实测值，未收录：menthol, lactic_acid, salicylic_acid, acetic_anhydride, benzyl_acetate, ethyl_lactate, methyl_benzoate, ethyl_benzoate, aspirin, cinnamaldehyde, vanillin, camphor, decane, dodecane, water, caffeine, paracetamol, ibuprofen, sulfuric_acid, hydrochloric_acid, maleic_acid, succinic_acid, propylene_glycol, isopentane, propylene_carbonate, diglyme, pgmea, gamma_butyrolactone, allyl_alcohol, furfuryl_alcohol, trimethyl_orthoformate, triethyl_orthoformate, glycine, citric_acid, boric_acid, hydrazine, hydroquinone, nitric_acid, urea, sucrose, oxalic_acid, phthalic_acid, tris, triethanolamine, mercaptoethanol_2, benzoquinone_1_4, edta, dichlorofluoromethane, hexafluoropropane_r236ea, hexafluoropropane_r236fa, dihydropyran, dimethylbenzoquinone_2_5, mephenesin, lawsone, phenazine, phenylacetic_acid, barbital, phenylacetone, dipropylene_glycol, hex_5_en_2_one, hexanedione_2_5, allyloxyethanol, ethoxyethoxyethanol, diethylene_glycol_diethyl_ether。
+- spectral_library 里有 73 种化合物在 Sander 库中没有 M 类型实测值，未收录：menthol, lactic_acid, salicylic_acid, acetic_anhydride, benzyl_acetate, ethyl_lactate, methyl_benzoate, ethyl_benzoate, aspirin, cinnamaldehyde, vanillin, camphor, decane, dodecane, undecane, tridecane, tetradecane, pentadecane, hexadecane, heptadecane, octadecane, nonadecane, icosane, water, caffeine, paracetamol, ibuprofen, sulfuric_acid, hydrochloric_acid, maleic_acid, succinic_acid, propylene_glycol, isopentane, propylene_carbonate, diglyme, pgmea, gamma_butyrolactone, allyl_alcohol, furfuryl_alcohol, trimethyl_orthoformate, triethyl_orthoformate, glycine, citric_acid, boric_acid, hydrazine, hydroquinone, nitric_acid, urea, sucrose, oxalic_acid, phthalic_acid, tris, triethanolamine, mercaptoethanol_2, benzoquinone_1_4, edta, dichlorofluoromethane, hexafluoropropane_r236ea, hexafluoropropane_r236fa, dihydropyran, dimethylbenzoquinone_2_5, mephenesin, lawsone, phenazine, phenylacetic_acid, barbital, phenylacetone, dipropylene_glycol, hex_5_en_2_one, hexanedione_2_5, allyloxyethanol, ethoxyethoxyethanol, diethylene_glycol_diethyl_ether。
 - 22 种没有温度系数，只能在 298.15 ± 0.5 K 使用（顶空炉温必须高于环境 5 K，所以实际上只能查询）：aniline, benzoic_acid, benzyl_alcohol, but_2_ene_1_4_diol, butanediol_1_4, butanoic_acid, butoxyethoxyethanol, butylamine, diethylamine, dimethylamine, ethoxyethanol_2, ethyl_acetoacetate, ethylene_glycol, eugenol, glycerol, imidazole, isobutyric_acid, isooctane, methyl_salicylate, methylamine, methylbutynol, propanoic_acid。
 - 温度系数多在 0–40 °C 测得，外推到 60–90 °C 的顶空炉温是近似；纯水、无限稀释，不含盐析、共溶剂与基质效应。
 - 定量环体积未知（合同中为 null），由可信宿主以 `evidence='assumption'` 声明；顶空加压稀释、平衡动力学、振荡均未建模。
diff --git a/assets/reactions/alicat_mc_gas_property_library/templates.json b/assets/reactions/alicat_mc_gas_property_library/templates.json
index c9b6522c407d5a0eb2e1ab637abdd171e942788b..150f6873312ba9f09c23ecd9f686598e5be407c2 100644
--- a/assets/reactions/alicat_mc_gas_property_library/templates.json
+++ b/assets/reactions/alicat_mc_gas_property_library/templates.json
@@ -1 +1 @@
-{"asset_type_id":"instrument.alicat_mc_1slpm_rev6","schema_version":"1.0.0","library":"alicat_mc_gas_property_library","generated_by":"outputs/basic40_batch02/t5_automation/alicat_mc/templates/build_library.py","accessed":"2026-10-14","licence":"NIST SRD 69 data: public NIST Standard Reference Data, cite NIST (Standard Reference Data Act; no copyright claimed by this project). 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Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7727379: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7727379&Action=Page","source_models":{"Equation of state":"Span, R. ; Lemmon, E.W. ; Jacobsen, R.T. ; Wagner, W. ; Yokozeki, A. , A Reference Equation of State for the Thermodynamic Properties of Nitrogen for Temperatures from 63.151 to 1000 K and Pressures to 2200 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 6, 1361-1433, https://doi.org/10.1063/1.1349047 . [ all data ] Span, R., Lemmon, E.W., Jacobsen, R.T, Wagner, W., and Yokozeki, A., \"A Reference Equation of State for the Thermodynamic Properties of Nitrogen for Temperatures from 63.151 to 1000 K and Pressures to 2200 MPa,\" J. Phys. Chem. Ref. Data, 29(6):1361-1433, 2000. see also: Int. J. Thermophys., 19(4):1121-1132, 1998. The uncertainty in density of the equation of state is 0.02% from the tr","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 0.5% in the dilute gas. Away from the dilute gas (pressures greater than 1 MPa and in the liquid), the uncertainties are as low as 1% between 270 and 300 K at pressures less than 100 MPa, and increase outside that range. The uncertainties are around 2% at temperatures of 180 K and higher. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C1333740: https://webbook.nist.gov/cgi/fluid.cgi?ID=C1333740&Action=Page","source_models":{"Equation of state":"Leachman, J.W. ; Jacobsen, R.T. ; Penoncello, S.G. ; Lemmon, E.W. , Fundamental Equations of State for Parahydrogen, Normal Hydrogen, and Orthohydrogen , J. Phys. Chem. Ref. Data , 2009, 38, 3, 721-748, https://doi.org/10.1063/1.3160306 . [ all data ] Leachman, J.W., Jacobsen, R.T, Penoncello, S.G., and Lemmon, E.W., \"Fundamental Equations of State for Parahydrogen, Normal Hydrogen, and Orthohydrogen,\" J. Phys. Chem. Ref. Data, 38(3):721-748, 2009. The uncertainty in density is 0.1% at temperatures from the triple point to 250 K and at pressures up to 40 MPa, except in the critical region, where an uncertainty of 0.2% in pressure is generally attained. In the region between 250 and 450 K and","Viscosity":"Muzny, C.D. ; Huber, M.L. ; Kazakov, A.F. , Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression , J. Chem. Eng. Data , 2013, 58, 4, 969-979, https://doi.org/10.1021/je301273j . [ all data ] Muzny, C.D., Huber, M.L., and Kazakov, A.F., \"Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression,\" J. Chem. Eng. Data, 58:969-979, 2013. The estimated uncertainty is 4% for the saturated liquid from the triple point to 31 K, with larger deviations as the critical region is approached. The estimated uncertainty is 4% for the supercritical fluid phase at pressures to 200 MPa. For the limited range of 200 K to 400 K at pressures up to 0.1 MPa, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782390: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782390&Action=Page","source_models":{"Equation of state":"Richardson, I.A. ; Leachman, J.W. ; Lemmon, E.W. , Fundamental Equation of State for Deuterium , J. Phys. Chem. Ref. Data , 2014, 43, 1, 013103, https://doi.org/10.1063/1.4864752 . [ all data ] Richardson, I.A., Leachman, J.W., and Lemmon, E.W., J. Phys. Chem. Ref. Data, 43(1), 013103, 2014. The uncertainty in density is 0.5% over the full temperature and pressure ranges of validity of the equation of state. The uncertainties in vapor pressure and saturated liquid density are 2% and 3%, respectively, while speed-of-sound values have an uncertainty of 1% in the liquid phase.","Viscosity":"Muzny, C.D. ; Huber, M.L. ; Kazakov, A.F. , Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression , J. Chem. Eng. Data , 2013, 58, 4, 969-979, https://doi.org/10.1021/je301273j . [ all data ] Muzny, C.D., Huber, M.L., and Kazakov, A.F., \"Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression,\" J. Chem. Eng. Data, 58:969-979, 2013. The uncertainties for deuterium are estimated to be approximately 5% in the gas and supercritical regions with larger deviations near the critical region and in the liquid 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782447: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782447&Action=Page","source_models":{"Equation of state":"Schmidt, R. ; Wagner, W. , A New Form of the Equation of State for Pure Substances and its Application to Oxygen , Fluid Phase Equilib. , 1985, 19, 3, 175-200, https://doi.org/10.1016/0378-3812(85)87016-3 . [ all data ] Schmidt, R. and Wagner, W., \"A New Form of the Equation of State for Pure Substances and its Application to Oxygen,\" Fluid Phase Equilib., 19:175-200, 1985. also published in: Stewart, R.B., Jacobsen, R.T, and Wagner, W., \"Thermodynamic Properties of Oxygen from the Triple Point to 300 K with Pressures to 80 MPa,\" J. Phys. Chem. Ref. Data, 20(5):917-1021, 1991. The uncertainties of the equation of state are 0.15% in vapor pressure, 0.1% in density, 2% in heat capacity, and 1%","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 1% in the dilute gas at temperatures above 200 K, and 5% in the dilute gas at lower temperatures. The uncertainty is around 2% between 270 and 300 K, and increases to 5% outside of this region. The uncertainty may be higher in the liquid near the triple 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":true},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782414: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782414&Action=Page","source_models":{"Equation of state":"de Reuck, K.M., \"International Thermodynamic Tables of the Fluid State-11 Fluorine,\" International Union of Pure and Applied Chemistry, Pergamon Press, Oxford, 1990. The uncertainties of the equation of state are 0.2% in density, 2% in heat capacity, and 1.5% in the speed of sound, except in the critical region.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Based on predicted values of Hanley, H.J.M., and Prydz, R., \"The Viscosity and Thermal Conductivity Coefficients of Gaseous and Liquid Fluorine,\" J. Phys. Chem. Ref. Data, 1(4):1101-1113, 1972. Estimated uncertainty for viscosity: 20%. Estimated uncertainty for thermal conductivity: 20%. The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C630080: https://webbook.nist.gov/cgi/fluid.cgi?ID=C630080&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The equation of state is valid from the triple point to 500 K with pressures to 100 MPa. At higher pressures, the deviations from the equation increase rapidly and it is not recommended to use the equation above 100 MPa. The uncertainties in the equation are 0.3% in density (approaching 1% near the critical point), 0.2% in vapor pressure, and 2% in heat capacities. The uncertainty in the speed of sound is unknown.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for gas phase viscosity at pressures to atmospheric is 1%, saturated liquid phase 2%. Estimated uncertainty for gas phase thermal conductivity at pressures to atmospheric is 2%, saturated liquid 5%. Upper temperature limit is 500 K. The Lennard-Jones parameters were obtained from fitting data of Vogel, E. Int. J. Thermophys., 33:741-757, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C124389: https://webbook.nist.gov/cgi/fluid.cgi?ID=C124389&Action=Page","source_models":{"Equation of state":"Span, R. ; Wagner, W. , A New Equation of State for Carbon Dioxide Covering the Fluid Region from the Triple-Point Temperature to 1100 K at Pressures up to 800 MPa , J. Phys. Chem. Ref. Data , 1996, 25, 6, 1509-1596, https://doi.org/10.1063/1.555991 . [ all data ] Span, R. and Wagner, W., \"A New Equation of State for Carbon Dioxide Covering the Fluid Region from the Triple-Point Temperature to 1100 K at Pressures up to 800 MPa,\" J. Phys. Chem. Ref. Data, 25(6):1509-1596, 1996. The estimated uncertainties at pressures up to 30 MPa and temperatures up to 523 K range from 0.03% to 0.05% in density, 0.03% (in the vapor) to 1% in the speed of sound (0.5% in the liquid) and 0.15% (in the vapor) to","Viscosity":"Laesecke, A. ; Muzny, C.D. , Reference Correlation for the Viscosity of Carbon Dioxide , J. Phys. Chem. Ref. Data , 2017, 46, 1, 013107, https://doi.org/10.1063/1.4977429 . [ all data 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C10024972: https://webbook.nist.gov/cgi/fluid.cgi?ID=C10024972&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density in the liquid and vapor phases between 220 and 300 K, 0.25% at temperatures above 300 K and at temperatures below 220 K, and 0.5% in the critical region, except very close to the critical point. The uncertainty in vapor pressure is 0.2%, that for heat capacities is 3%, and that for the speed of sound in the vapor phase is 0.05% above 220 K. The uncertainty in the liquid phase is not known but estimated to be within 5%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Richter, G.N. ; Sage, B.H. , Thermal Conductivity of Fluids. Nitrous Oxide , J. Chem. Eng. Data , 1963, 8, 2, 221-225, https://doi.org/10.1021/je60017a024 . [ all data ] VISCOSITY Uncertainty in viscosity estimated as The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th edition, New York, McGraw-Hill Book Company, 1987. Estimated uncertainty 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74828: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74828&Action=Page","source_models":{"Equation of state":"Setzmann, U. ; Wagner, W. , A New Equation of State and Tables of Thermodynamic Properties for Methane Covering the Range from the Melting Line to 625 K at Pressures up to 1000 MPa , J. Phys. Chem. Ref. Data , 1991, 20, 6, 1061-1155, https://doi.org/10.1063/1.555898 . [ all data ] Setzmann, U. and Wagner, W., \"A New Equation of State and Tables of Thermodynamic Properties for Methane Covering the Range from the Melting Line to 625 K at Pressures up to 1000 MPa,\" J. Phys. Chem. Ref. Data, 20(6):1061-1151, 1991. The uncertainties in density are 0.03% for pressures below 12 MPa and temperatures below 350 K and up to 0.07% for pressures less than 50 MPa. For the speed of sound, the uncertainty r","Viscosity":"Quinones-Cisneros, S.E., Huber, M.L., and Deiters, U.K., unpublished work, 2011. Detailed uncertainty analysis will be found in a future publication; however in general the estimated uncertainty in viscosity varies from less than 0.3% between 200-400 K for pressures less than 30 MPa, to less than 2% over the rest of the fluid surface up to 100 MPa, increasing up to 5% for 100 to 500 MPa, and 10% at 500 to 1000 MPa for temperatures to 625 K. Above uncertainties are valid when used with the equation of state of Setzmann, U. and Wagner, W., J. Phys. Chem. Ref. Data, 20(6):1061-1151, 1991. The use of other equations of state may result in larger 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74840: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74840&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , A Reference Equation of State for the Thermodynamic Properties of Ethane for Temperatures from the Melting Line to 675 K and Pressures up to 900 MPa , J. Phys. Chem. Ref. Data , 2006, 35, 1, 205-266, https://doi.org/10.1063/1.1859286 . [ all data ] B�cker, D. and Wagner, W., \"A Reference Equation of State for the Thermodynamic Properties of Ethane for Temperatures from the Melting Line to 675 K and Pressures up to 900 MPa,\" J. Phys. Chem. Ref. Data, 35(1):205-266, 2006. The uncertainties in the equation of state are 0.02% to 0.04% in density from the melting line up to temperatures of 520 K and pressures of 30 MPa. The uncertainties increase to 0.3% at higher temper","Viscosity":"Vogel, E. ; Span, R. ; Herrmann, S. , Reference Correlation for the Viscosity of Ethane , J. Phys. Chem. Ref. Data , 2015, 44, 4, 043101, https://doi.org/10.1063/1.4930838 . [ all data ] The viscosity in the limit of zero density has an expanded uncertainty (at 95% confidence) of 0.5% for 290"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C74840/species.html","references/basic40_templates/alicat_mc/raw/nist/C74840/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_ethylene","name":"Ethene","name_zh":"乙烯","kind":"pure","cas":"74-85-1","formula":"C2H4","nist_fluid_id":"C74851","shared_ids":{"substances":"ethylene"},"alicat":{"gas_select":"standard_mc","listed_name":"Ethylene/Ethene 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74851: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74851&Action=Page","source_models":{"Equation of state":"Smukala, J. ; Span, R. ; Wagner, W. , New Equation of State for Ethylene Covering the Fluid Region for Temperatures from the Melting Line to 450 K at Pressures up to 300 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 5, 1053-1122, https://doi.org/10.1063/1.1329318 . [ all data ] Smukala, J., Span, R., and Wagner, W., \"A New Equation of State for Ethylene Covering the Fluid Region for Temperatures from the Melting Line to 450 K at Pressures up to 300 MPa,\" J. Phys. Chem. Ref. Data, 29(5):1053-1122, 2000. The uncertainties in density of the equation of state range from 0.02% in the liquid and most of the vapor phase to 0.1% for supercritical states. At p>100 MPa, the uncertainty in density is 0.5%","Viscosity":"Holland, P.M. ; Eaton, B.E. ; Hanley, H.J.M. , A Correlation of the Viscosity and Thermal Conductivity Data of Gaseous and Liquid Ethylene , J. Phys. Chem. Ref. Data , 1983, 12, 4, 917-932, https://doi.org/10.1063/1.555701 . [ all data ] Holland, P.M., Eaton, B.E., and Hanley, H.J.M., \"A Correlation of the Viscosity and Thermal Conductivity Data of Gaseous and Liquid Ethylene,\" J. Phys. Chem. Ref. Data, 12(4):917-932, 1983. The uncertainty in viscosity is 5%, increasing to 10% in the dense liquid 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74986: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74986&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; McLinden, M.O. ; Wagner, W. , Thermodynamic Properties of Propane. III. A Reference Equation of State for Temperatures from the Melting Line to 650 K and Pressures up to 1000 MPa , J. Chem. Eng. Data , 2009, 54, 12, 3141-3180, https://doi.org/10.1021/je900217v . [ all data ] Lemmon, E.W., McLinden, M.O., and Wagner, W., \"Thermodynamic Properties of Propane. III. A Reference Equation of State for Temperatures from the Melting Line to 650 K and Pressures up to 1000 MPa,\" J. Chem. Eng. Data, 54:3141-3180, 2009. The uncertainties below 350 K in density are 0.01% in the liquid phase and 0.03% in the vapor phase (including saturated states for both phases). The liquid phase value al","Viscosity":"Vogel, E. ; Herrmann, S. , New Formulation for the Viscosity of Propane , J. Phys. Chem. Ref. Data , 2016, 45, 043103, https://doi.org/10.1063/1.4966928 . [ all data ] The viscosity at low pressures 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C115071: https://webbook.nist.gov/cgi/fluid.cgi?ID=C115071&Action=Page","source_models":{"Equation of state":"Lemmon, E.W., McLinden, M.O., Overhoff, U., and Wagner, W., \"A Reference Equation of State for Propylene for Temperatures from the Melting Line to 575 K and Pressures up to 1000 MPa,\" to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties below 400 K in density are 0.02% in the liquid and vapor phases (including saturated states for both phases) at pressures up to 30 MPa. At higher temperatures or higher pressures, the uncertainties increase to 0.1% in density. Near the critical point the uncertainties in density increase as the critical point is approached. However, in this same region, the uncertainty in pressure calculated from density and temperature is 0.1%. The 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74997: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74997&Action=Page","source_models":{"Equation of state":"Polt, A., Platzer, B., and Maurer, G., \"Parameter der Thermischen Zustandsgleichung von Bender fuer 14 Mehratomige Reine Stoffe,\" Chem. Tech. (Leipzig), 44(6):216-224, 1992. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for viscosity: 20%. Estimated uncertainty for thermal conductivity: 20%. The Lennard-Jones parameters were taken from fit of viscosity data of Titani, T., \"The Viscosity of Vapors of Organic Compounds. Part II,\" Bull. Chem. Soc. Jpn., 5:98, 1930."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C74997/species.html","references/basic40_templates/alicat_mc/raw/nist/C74997/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_cyclopropane","name":"Cyclopropane","name_zh":"环丙烷","kind":"pure","cas":"75-19-4","formula":"C3H6","nist_fluid_id":"C75194","shared_ids":{},"alicat":{"gas_select":"not_listed","listed_name":null,"group":null},"molar_mass_kg_mol":0.042079700000000005,"critical_temperature_K":398.3,"critical_pressure_Pa":5579700.0,"normal_boiling_point_K":241.67,"values_at_reference_conditions":{"stp_298.15K_101325Pa":{"density_kg_m3":1.7485108,"viscosity_Pa_s":8.8370709e-06,"compressibility_factor":0.983675669225907},"ntp_273.15K_101325Pa":{"density_kg_m3":1.9198845,"viscosity_Pa_s":8.0621225e-06,"compressibility_factor":0.9778646690424189}},"grid":{"temperature_K":[253.15,258.15,263.15,268.15,273.15,278.15,283.15,288.15,293.15,298.15,303.15,308.15,313.15,318.15,323.15,328.15,333.15,338.15,343.15],"pressure_Pa":[10000.0,75000.0,100000.0,101325.0,150000.0,200000.0,300000.0,450000.0,600000.0,800000.0,1000000.0,1200000.0],"density_kg_m3":[[null,null,null,null,0.18568656,0.18232513,0.17908423,0.17595744,0.17293874,0.17002259,0.16720379,0.1644775,0.1618392,0.15928467,0.15680995,0.15441133,0.15208533,0.14982867,0.14763829],[null,null,null,null,1.4126488,1.3858515,1.3601141,1.3353702,1.3115593,1.288626,1.2665195,1.2451933,1.2246044,1.204713,1.1854824,1.1668787,1.1488701,1.1314273,1.1145229],[null,null,null,null,1.8942061,1.8576023,1.8225014,1.7888038,1.7564195,1.7252666,1.6952703,1.6663625,1.6384804,1.6115667,1.5855683,1.5604362,1.5361253,1.5125936,1.4898021],[null,null,null,null,1.9198845,1.8827478,1.8471388,1.8129561,1.7801079,1.7485108,1.7180887,1.688772,1.6604971,1.6332055,1.6068431,1.5813604,1.5567111,1.5328527,1.5097455],[null,null,null,null,2.8744649,2.8167676,2.7616223,2.7088414,2.6582571,2.6097189,2.5630911,2.5182508,2.4750866,2.4334969,2.393389,2.3546779,2.3172855,2.2811401,2.2461752],[null,null,null,null,3.8789958,3.7980099,3.7208819,3.647299,3.5769854,3.5096963,3.4452135,3.3833416,3.3239048,3.2667444,3.2117168,3.1586912,3.1075484,3.0581794,3.0104844],[null,null,null,null,5.968689,5.8332442,5.7052864,5.5840885,5.4690259,5.359558,5.2552133,5.155578,5.0602872,4.9690169,4.8814782,4.7974125,4.7165873,4.6387923,4.5638374],[null,null,null,null,null,null,8.8717118,8.6597979,8.4609623,8.2737617,8.0969826,7.9295942,7.7707136,7.6195781,7.4755244,7.3379719,7.206409,7.080383,6.9594909],[null,null,null,null,null,null,null,null,11.672984,11.384477,11.115157,10.862725,10.625278,10.401221,10.189203,9.9880708,9.7968306,9.6146205,9.4406874],[null,null,null,null,null,null,null,null,null,null,15.47753,15.073088,14.698422,14.349569,14.023316,13.717018,13.428478,13.155842,12.897538],[null,null,null,null,null,null,null,null,null,null,null,null,19.15168,18.632078,18.153479,17.71003,17.29706,16.910778,16.548066],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,22.654801,22.027169,21.451212,20.919241,20.425176]],"viscosity_Pa_s":[[null,null,null,null,8.0893728e-06,8.2421823e-06,8.3948664e-06,8.5473985e-06,8.6997529e-06,8.8519048e-06,9.0038303e-06,9.1555067e-06,9.3069117e-06,9.4580246e-06,9.6088253e-06,9.7592946e-06,9.9094147e-06,1.0059168e-05,1.020854e-05],[null,null,null,null,8.0695884e-06,8.2244783e-06,8.3790839e-06,8.5333934e-06,8.6873939e-06,8.8410722e-06,8.9944146e-06,9.1474073e-06,9.3000367e-06,9.4522892e-06,9.6041514e-06,9.7556104e-06,9.9066535e-06,1.0057269e-05,1.0207444e-05],[null,null,null,null,8.0624905e-06,8.2181451e-06,8.3734573e-06,8.5284205e-06,8.6830267e-06,8.8372668e-06,8.991131e-06,9.1446089e-06,9.2976898e-06,9.4503626e-06,9.6026167e-06,9.7544411e-06,9.9058254e-06,1.0056759e-05,1.0207232e-05],[null,null,null,null,8.0621225e-06,8.217817e-06,8.3731661e-06,8.5281635e-06,8.6828013e-06,8.8370709e-06,8.9909624e-06,9.1444656e-06,9.2975701e-06,9.4502649e-06,9.6025395e-06,9.7543831e-06,9.9057851e-06,1.0056736e-05,1.0207224e-05],[null,null,null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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75194: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75194&Action=Page","source_models":{"Equation of state":"Polt, A., Platzer, B., and Maurer, G., \"Parameter der Thermischen Zustandsgleichung von Bender fuer 14 Mehratomige Reine Stoffe,\" Chem. Tech. (Leipzig), 44(6):216-224, 1992. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Experimental data unavailable. Estimated uncertainty for viscosity: gas phase 5%, liquid phase 30%. Estimated uncertainty for thermal conductivity: gas phase 5%, liquid phase 20%. The Lennard-Jones parameters were estimated with the method of 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C106978: https://webbook.nist.gov/cgi/fluid.cgi?ID=C106978&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , Reference Equations of State for the Thermodynamic Properties of Fluid Phase η-Butane and Isobutane , J. Phys. Chem. Ref. Data , 2006, 35, 2, 929-1019, https://doi.org/10.1063/1.1901687 . [ all data ] The uncertainties in density are 0.02% at temperatures below 340 K and pressures below 12 MPa (both liquid and vapor states), 0.1% at temperatures below 270 K and pressures above 12 MPa, 0.2% between 340 and 515 K at pressures less than 0.6 MPa, and 0.4% elsewhere. Above the upper pressure limit of 69 MPa as given in the original formulation, new data up to 200 MPa show that the uncertainty in density is 0.3%. In the critical region, deviations in pressure are 0.5%. At","Viscosity":"Herrmann, Sebastian ; Vogel, Eckhard , New Formulation for the Viscosity of n-Butane , Journal of Physical and Chemical Reference Data , 2018, 47, 1, 013104, https://doi.org/10.1063/1.5020802 . [ all data 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75285: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75285&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , Reference Equations of State for the Thermodynamic Properties of Fluid Phase η-Butane and Isobutane , J. Phys. Chem. Ref. Data , 2006, 35, 2, 929-1019, https://doi.org/10.1063/1.1901687 . [ all data ] The uncertainties in density are 0.02% at temperatures below 340 K and pressures below 12 MPa (both liquid and vapor states), 0.3% at temperatures below 300 K and pressures above 12 MPa, 0.1% in the vapor phase between 340 and 450 K, and 0.5% elsewhere. In the critical region, deviations in pressure are 0.5%. Uncertainties in heat capacities are typically 1-2%, rising to 5% in the critical region and at temperatures below 200 K. Uncertainties in the speed of sound are ","Viscosity":"Vogel, E. ; Küchenmeister, C. ; Bich, E. , Viscosity Correlation for Isobutane over Wide Ranges of the Fluid Region , Int. J. Thermophys. , 2000, 21, 2, 343-356, https://doi.org/10.1023/A:1006623310780 . [ all data ] Vogel, E., Kuechenmeister, C., and Bich, E., \"Viscosity Correlation for Isobutane over Wide Ranges of the Fluid Region,\" Int. J. Thermophys, 21(2):343-356, 2000. The uncertainty in viscosity varies from 0.4% in the dilute gas between room temperature and 600 K, to 3.0% over the rest of the fluid surface."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75285/species.html","references/basic40_templates/alicat_mc/raw/nist/C75285/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_neopentane","name":"2,2-Dimethylpropane","name_zh":"新戊烷","kind":"pure","cas":"463-82-1","formula":"C5H12","nist_fluid_id":"C463821","shared_ids":{},"alicat":{"gas_select":"not_listed","listed_name":null,"group":null},"molar_mass_kg_mol":0.0721488,"critical_temperature_K":433.74,"critical_pressure_Pa":3196000.0,"normal_boiling_point_K":282.65,"values_at_reference_conditions":{"stp_298.15K_101325Pa":{"density_kg_m3":3.0620988,"viscosity_Pa_s":6.8878705e-06,"compressibility_factor":0.9630692724619428},"ntp_273.15K_101325Pa":{"density_kg_m3":null,"viscosity_Pa_s":null,"compressibility_factor":null}},"grid":{"temperature_K":[253.15,258.15,263.15,268.15,273.15,278.15,283.15,288.15,293.15,298.15,303.15,308.15,313.15,318.15,323.15,328.15,333.15,338.15,343.15],"pressure_Pa":[10000.0,75000.0,100000.0,101325.0,150000.0,200000.0,300000.0,450000.0,600000.0,800000.0,1000000.0,1200000.0],"density_kg_m3":[[null,0.33808539,0.33153826,0.32524591,0.3191932,0.31336624,0.30775221,0.30233931,0.29711664,0.29207408,0.28720224,0.28249242,0.27793649,0.27352689,0.26925655,0.26511886,0.26110764,0.25721709,0.25344178],[null,null,null,null,null,2.423247,2.375305,2.3294757,2.2855989,2.2435328,2.2031512,2.1643412,2.127001,2.0910385,2.0563704,2.0229206,1.9906194,1.959403,1.9292128],[null,null,null,null,null,null,3.2046108,3.1403578,3.0790613,3.0204807,2.9644057,2.9106507,2.8590515,2.809461,2.7617475,2.7157919,2.6714865,2.6287332,2.5874425],[null,null,null,null,null,null,3.2491437,3.1838613,3.1215954,3.0620988,3.005156,2.950577,2.8981933,2.8478549,2.7994268,2.7527874,2.7078268,2.6644448,2.6225501],[null,null,null,null,null,null,null,null,null,4.6237521,4.532094,4.444742,4.3613304,4.2815419,4.2050985,4.1317551,4.0612935,3.9935191,3.9282569],[null,null,null,null,null,null,null,null,null,null,6.1668292,6.0398522,5.9193626,5.8047424,5.6954659,5.5910805,5.4911932,5.3954593,5.3035744],[null,null,null,null,null,null,null,null,null,null,null,null,null,9.0293396,8.8381781,8.6575926,8.4864697,8.3238782,8.1690287],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,13.395281,13.092612,12.809044],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null]],"viscosity_Pa_s":[[null,5.9914487e-06,6.1100905e-06,6.2283377e-06,6.3461759e-06,6.4635918e-06,6.5805724e-06,6.6971055e-06,6.8131797e-06,6.9287846e-06,7.0439105e-06,7.1585485e-06,7.2726908e-06,7.3863302e-06,7.4994606e-06,7.6120765e-06,7.7241733e-06,7.8357472e-06,7.9467951e-06],[null,null,null,null,null,6.4186748e-06,6.5397203e-06,6.6600135e-06,6.7795716e-06,6.8984093e-06,7.0165392e-06,7.1339723e-06,7.2507182e-06,7.3667858e-06,7.4821827e-06,7.5969164e-06,7.7109937e-06,7.8244211e-06,7.9372049e-06],[null,null,null,null,null,null,6.5260647e-06,6.6476559e-06,6.7684184e-06,6.8883754e-06,7.0075472e-06,7.1259515e-06,7.2436038e-06,7.3605181e-06,7.476707e-06,7.592182e-06,7.7069538e-06,7.8210322e-06,7.9344268e-06],[null,null,null,null,null,null,6.5253748e-06,6.6470323e-06,6.7678563e-06,6.8878705e-06,7.0070956e-06,7.1255496e-06,7.2432484e-06,7.3602061e-06,7.4764356e-06,7.5919487e-06,7.7067562e-06,7.8208681e-06,7.9342941e-06],[null,null,null,null,null,null,null,null,null,6.8712861e-06,6.992323e-06,7.1124712e-06,7.2317561e-06,7.3502003e-06,7.467824e-06,7.5846457e-06,7.7006825e-06,7.8159498e-06,7.9304624e-06],[null,null,null,null,null,null,null,null,null,null,6.9810637e-06,7.1026524e-06,7.2232969e-06,7.3430249e-06,7.4618612e-06,7.5798287e-06,7.696948e-06,7.8132386e-06,7.9287183e-06],[null,n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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C463821: https://webbook.nist.gov/cgi/fluid.cgi?ID=C463821&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density in the equation of state range from 0.2% in the liquid phase at pressures less than 10 MPa to 1% in the liquid phase at higher pressures (up to 200 MPa) and at temperatures above the critical point (up to 550 K). The uncertainty in density in the vapor phase is 0.5%. Uncertainties in other properties are 0.1% for vapor pressure, 2% for liquid phase heat capacities, 0.5% for vapor phase heat capacities, 1% for liquid phase sound speeds, and 0.02% for vapor phase sounds speeds from (250","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty in liquid viscosity Estimated uncertainty in thermal conductivity The Lennard-Jones parameters were taken from fitting data of Vogel, E., Holdt, B., and Strehlow, T., \"The Initial Density Dependence of Organic Vapors- Cyclohexane and Neopentane,\" Physica A, 148(1-2):46-60, 1988."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C463821/species.html","references/basic40_templates/alicat_mc/raw/nist/C463821/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_helium","name":"Helium","name_zh":"氦气","kind":"pure","cas":"7440-59-7","formula":"He","nist_fluid_id":"C7440597","shared_ids":{},"alicat":{"gas_select":"standard_mc","listed_name":"Helium 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440597: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440597&Action=Page","source_models":{"Equation of state":"Ortiz-Vega, D.O., Hall, K.R., Holste, J.C., Arp, V.D., Harvey, A.H., and Lemmon, E.W., final equation of state, to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties below 50 K in density are 0.25% at pressures up to 10 MPa. From 50 K to 200 K, the uncertainties decrease linearly from 0.2% at 50 K to 0.05% at 200 K for all pressures up to 50 MPa. Between 200 K and 500 K, the uncertainty is 0.03% up to pressures of 40 MPa and 0.1% between 40 MPa and 100 MPa. For all other states not listed here, the uncertainties increase to 0.5% in density. The uncertainties in the speed of sound are 0.01% for the vapor phase and 0.2% for the liquid phase. The uncertainty in vapor pressure is ","Viscosity":"Arp, V.D., McCarty, R.D., and Friend, D.G., \"Thermophysical Properties of Helium-4 from 0.8 to 1500 K with Pressures to 2000 MPa,\" NIST Technical Note 1334 (revised), 1998. The uncertainty in viscosity is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440019: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440019&Action=Page","source_models":{"Equation of state":"Thol, M., Beckm�ller, R., Weiss, R., Harvey, A.H., Lemmon, E.W., Jacobsen, R.T, and Span, R., \"Thermodynamic Properties for Neon for Temperatures from the Triple Point to 700 K at Pressures to 700 MPa,\" to be submitted to Int. J. Thermophys., 2018.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Kestin, J. ; Ro, S.T. ; Wakeham, W.A. , Viscosity of the Binary Gaseous Mixtures He-Ne and Ne-N 2 in the Temperature Range 25-700°C , J. Chem. Phys. , 1972, 56, 12, 5837-5842, https://doi.org/10.1063/1.1677125 . [ all data ] VISCOSITY Forster, S., \"Viscosity Measurements in Liquid Neon, Argon, and Nitrogen,\" Cryogenics, 3, 176, 1963. Slusar', V.P., Rudenko, N.S., and Tret'yakov, V.M., \"Experimental Study of the Viscosity 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440371: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440371&Action=Page","source_models":{"Equation of state":"Tegeler, Ch. ; Span, R. ; Wagner, W. , A New Equation of State for Argon Covering the Fluid Region for Temperatures from the Melting Line to 700 K at Pressures up to 1000 MPa , J. Phys. Chem. Ref. Data , 1999, 28, 3, 779-850, https://doi.org/10.1063/1.556037 . [ all data ] Tegeler, Ch., Span, R., and Wagner, W., \"A New Equation of State for Argon Covering the Fluid Region for Temperatures from the Melting Line to 700 K at Pressures up to 1000 MPa,\" J. Phys. Chem. Ref. Data, 28(3):779-850, 1999. The estimated uncertainty in density is less than 0.02% for pressures up to 12 MPa and temperatures up to 340 K with the exception of the critical region and less than 0.03% for pressures up to 30 MPa","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 0.5% in the dilute gas. Away from the dilute gas (pressures greater than 1 MPa and in the liquid), the uncertainties are as low as 1% between 270 and 300 K at pressures less than 100 MPa, and increase outside that range. The uncertainties are around 2% at temperatures of 180 K and higher. Below this 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7439909: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7439909&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The equation of state is valid from the triple point to 750 K with pressures to 200 MPa, although the uncertainties increase substantially above 100 MPa. The uncertainties in density are typically 0.2% below 100 MPa, increasing to 1% at pressures up to 200 MPa. The uncertainty in vapor pressure is 0.2% and the uncertainties in speed of sound are 0.01% in the vapor phase (including supercritical conditions) at low pressures, 1% below 20 MPa in the liquid phase, and 3% below 100 MPa at other state points. The limit","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Uncertainty of viscosity in the liquid phase is 30%, data unavailable. Uncertainty of viscosity in the gas phase at atmospheric pressure is 3%. Uncertainty of thermal conductivity is 4% at pressures to 50 MPa. The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th edition, New York, McGraw-Hill Book Company, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440633: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440633&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.2% in density up to 100 MPa, rising to 1% at higher pressures, 0.2% in vapor pressure, 1% in the speed of sound, and 2% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for gas-phase viscosity is 1%, for liquid to 60 MPa and temperatures above 170 K is 5%. Estimated uncertainty for gas-phase thermal conductivity is 5%, and 3% for the liquid at pressures to 50 MPa at temperatures 170 K to 235 K. The Lennard-Jones parameters were obtained by fitting data in Vogel, E., Ber. Bunsen-Ges. Phys. Chem., 88:997-1002, 1984."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C7440633/species.html","references/basic40_templates/alicat_mc/raw/nist/C7440633/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_ammonia","name":"Ammonia","name_zh":"氨","kind":"pure","cas":"7664-41-7","formula":"H3N","nist_fluid_id":"C7664417","shared_ids":{"spectral_library":"ammonia","substances":"ammonia"},"alicat":{"gas_select":"s_series_only","listed_name":"Ammonia 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7664417: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7664417&Action=Page","source_models":{"Equation of state":"Gao, K., Wu, J., Bell, I.H., and Lemmon, E.W., \"Thermodynamic Properties of Ammonia for Temperatures from the Melting Line to 725 K and Pressures to 1000 MPa,\" to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties in the vapor phase in density are 0.1% at temperatures between 410 K and 580 K with pressures below 100 MPa, and 0.05% at temperatures between 220 K and 400 K with pressures below 10 MPa. In the liquid phase, the uncertainty in density is 0.05% at temperatures between 190 K and 400 K with pressures below 200 MPa. The uncertainty in density is 1.5% at pressures between 200 MPa and 1000 MPa. In the critical region, the uncertainty in density is estimated to be 1%. The ","Viscosity":"Monogenidou, S.A., Assael, M.J., and Huber, M.L. \"Reference Correlation of the Viscosity of Ammonia from the Triple Point to 700 K and up to 50 MPa,\" accepted for publication in J. Phys. Chem. Ref. Data, 2018. The estimated uncertainty for pressures up to 50 MPa is 4%. The equation may be used up to 100 MPa but the uncertainty will be larger, especially at lower 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75694: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75694&Action=Page","source_models":{"Equation of state":"Jacobsen, R.T. ; Penoncello, S.G. ; Lemmon, E.W. , A Fundamental Equation for Trichlorofluoromethane (R-11) , Fluid Phase Equilib. , 1992, 80, 45-56, https://doi.org/10.1016/0378-3812(92)87054-Q . [ all data ] Jacobsen, R.T, Penoncello, S.G., and Lemmon, E.W., \"A Fundamental Equation for Trichlorofluoromethane (R-11),\" Fluid Phase Equilib., 80:45-56, 1992. The uncertainties of the equation of state are 0.1% in density for the liquid, and 0.25% for the vapor, 2% in heat capacity, and 1% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.2%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Richard, R.G. ; Shankland, I.R. , A Transient Hot-Wire Method for Measuring the Thermal Conductivity of Gases and Liquids , Int. J. Thermophys. , 1989, 10, 3, 673-686, https://doi.org/10.1007/BF00507988 . [ all data ] Assael, M.J. ; Polimatidou, S.K. ; Vogel, E. ; Wakeham, W.A. , Measurements of the Viscosity of R11, R12, R141b, and R152a in the Temperature Range 270-340 K at Pressures up to 20 MPa , Int. J. Thermophys. , 1994, 15, 4, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75718: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75718&Action=Page","source_models":{"Equation of state":"Marx, V., Pruss, A., and Wagner, W., \"Neue Zustandsgleichungen fuer R 12, R 22, R 11 und R 113. Beschreibung des thermodynamishchen Zustandsverhaltens bei Temperaturen bis 525 K und Druecken bis 200 MPa,\" Duesseldorf, VDI Verlag, Series 19 (Waermetechnik/Kaeltetechnik), No. 57, 1992. The uncertainties in density are 0.2% below the critical point temperature and increases to 1% in and above the critical region. The uncertainties for vapor pressures are 0.2% above 200 K and greater than 1% below 200 K. The uncertainties in heat capacities and sound speeds are 1% each.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Donaldson, A.B. , On the Estimation of Thermal Conductivity of Organic Vapors. Data for Some Freons , Ind. Eng. Chem. Fundam. , 1975, 14, 4, 325-328, https://doi.org/10.1021/i160056a008 . [ all data ] VISCOSITY The ECS parameters for viscosity were based on the data of: Assael, M.J., Polimatidou, S.K., Vogel, E., and Wakeham, W.A., \"Measurements of the Viscosity of R11, R12, R141b, and R152a in the Temperature Range 270-340 K at Pressur"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75718/species.html","references/basic40_templates/alicat_mc/raw/nist/C75718/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r13","name":"Chlorotrifluoromethane (R13)","name_zh":"R13 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75729: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75729&Action=Page","source_models":{"Equation of state":"Magee, J.W. ; Outcalt, S.L. ; Ely, J.F. , Molar Heat Capacity Cv, Vapor Pressure, and (P, ρ, T) Measurements from 92 to 350 K at Pressures to 35 MPa and a New Equation of State for Chlorotrifluoromethane (R13) , Int. J. Thermophys. , 2000, 21, 5, 1097-1121, https://doi.org/10.1023/A:1026446004383 . [ all data ] Magee, J.W., Outcalt, S.L., and Ely, J.F., \"Molar Heat Capacity C(v), Vapor Pressure, and (p, rho, T) Measurements from 92 to 350 K at Pressures to 35 MPa and a New Equation of State for Chlorotrifluoromethane (R13),\" Int. J. Thermophys., 21(5):1097-1121, 2000. The uncertainties of the equation of state are 0.15% in density and 2% in heat capacity, except in the critical region. The u","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Diller, D.E. ; Van Poolen, L.J. , Measurement of Viscosities of Saturated and Compressed Fluid Chlorotrifluoromethane (R13) , Cryogenics , 1989, 29, 11, 1063-1066, https://doi.org/10.1016/0011-2275(89)90261-0 . [ all data ] THERMAL CONDUCTIVITY The ECS parameters for thermal conductivity were based in part on the data of: Makita, T., Tanaka, Y., Morimoto, Y., Noguchi, M., and Kubota, H., \"Thermal Conductivity of Gaseous Fluorocarbo"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75729/species.html","references/basic40_templates/alicat_mc/raw/nist/C75729/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r14","name":"Tetrafluoromethane 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75730: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75730&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The uncertainties are 0.5% in density, 1% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Imaishi, N. ; Kestin, J. ; Paul, R. , Thermal Conductivity of Carbon Tetrafluoride with Argon and Helium , Int. J. Thermophys. , 1985, 6, 1, 3-20, https://doi.org/10.1007/BF00505789 . [ all data ] Kestin, J. ; Khalifa, H.E. ; Ro, S.T. ; Wakeham, W.A. , The Viscosity of Diffusion Coefficients of Eighteen Binary Gaseous Systems , Physica A: , 1977, 88, 2, 242-260, https://doi.org/10.1016/0378-4371(77)90003-6 . [ all data ] Millat, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75434: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75434&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The estimated uncertainty on fixed points is Tc","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Phillips, T.W. ; Murphy, K.P. , Liquid Viscosity of Halocarbons , J. Chem. Eng. Data , 1970, 15, 2, 304-307, https://doi.org/10.1021/je60045a018 . [ all data ] Estimated uncertainty for saturated liquid viscosity is 5%. THERMAL CONDUCTIVITY Tauscher, W., \"Thermal Conductivity of Liquid Refrigerants Measured by an Unsteady State Hot-Wire Method,\" Kalte technik, 19(9):288, 1967. Djalalian, W.H., \"Measurements of the Thermal 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75456: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75456&Action=Page","source_models":{"Equation of state":"Kamei, A. ; Beyerlein, S.W. ; Jacobsen, R.T. , Application of Nonlinear Regression in the Development of a Wide Range Formulation for HCFC-22 , Int. J. Thermophys. , 1995, 16, 5, 1155-1164, https://doi.org/10.1007/BF02081283 . [ all data ] The uncertainties of the equation of state are 0.1% in density, 1% in heat capacity, and 0.3% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.2%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Assael, M.J. ; Karagiannidis, E. , Measurements of the Thermal Conductivity of R22, R123, and R134a in the Temperature Range 250-340 K at Pressures Up to 30 MPa , Int. J. Thermophys. , 1993, 14, 2, 183-197, https://doi.org/10.1007/BF00507807 . [ all data ] Diller, D.E. ; Aragon, A.S. ; Laesecke, A. , Measurements of the Viscosities of Saturated and Compressed Liquid Chlorodifluoromethane (R22) , Int. J. Refrig. , 1993, 16, 1, 19-22, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75467: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75467&Action=Page","source_models":{"Equation of state":"Penoncello, S.G. ; Lemmon, E.W. ; Jacobsen, R.T. ; Shan, Z. , A Fundamental Equation for Trifluoromethane (R-23) , J. Phys. Chem. Ref. Data , 2003, 32, 4, 1473-1499, https://doi.org/10.1063/1.1559671 . [ all data ] The uncertainties of the equation of state are 0.1% in density, 0.5% in heat capacities and speed of sound, and 0.2% in vapor pressures. Uncertainties in the critical region will be higher.","Viscosity":"Shan, Z., Penoncello, S.G., and Jacobsen, R.T, \"A Generalized Model for Viscosity and Thermal Conductivity of Trifluoromethane (R-23),\" ASHRAE Transactions, 106:757-767, 2000. The uncertainty in viscosity is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75105: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75105&Action=Page","source_models":{"Equation of state":"Tillner-Roth, R. ; Yokozeki, A. , An International Standard Equation of State for Difluoroethane (R-32) for Temperatures from the Triple Point at 136.34 K to 435 K and Pressures up to 70 MPa , J. Phys. Chem. Ref. Data , 1997, 26, 6, 1273-1328, https://doi.org/10.1063/1.556002 . [ all data ] Tillner-Roth, R. and Yokozeki, A., \"An International Standard Equation of State for Difluoromethane (R-32) for Temperatures from the Triple Point at 136.34 K to 435 K and Pressures up to 70 MPa,\" J. Phys. Chem. Ref. Data, 26(6):1273-1328, 1997. The estimated uncertainties are 0.05% for density, 0.02% for the vapor pressure, and 0.5%-1% for the heat capacity and speed of sound in the liquid phase. In the 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C593533: https://webbook.nist.gov/cgi/fluid.cgi?ID=C593533&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density (except near the critical point), 0.25% in vapor pressure, 1% in heat capacities, 0.2% in the vapor phase speed of sound, and 3% in the liquid phase speed of sound. The liquid phase speed of sound uncertainty is an estimate and cannot be verified without experimental information. The uncertainties above 290 K in vapor pressure may be as high as 0.5%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Tomassini, F. ; Levi, A.C. ; Scoles, G. ; De Groot, J.J. ; Van Den Broeke, J.W. ; Van Den Meijdenberg, C.J.N. ; Beenakker, J.J.M. , Viscosity and Thermal Conductivity of Polar Gases in an Electric Field , Physica (Amsterdam) , 1970, 49, 2, 299-341, https://doi.org/10.1016/0031-8914(70)90177-1 . [ all data ] Dunlop, P.J. , Viscosities of a Series of Gaseous Fluorocarbons at 25 °C , J. Chem. Phys. , 1994, 100, 4, 3149-3151, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76142: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76142&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The uncertainty in density is 0.2% up to 400 K and 1% at higher temperatures. The vapor pressure uncertainty is 1.5%. In the liquid phase, the uncertainty in isobaric heat capacity is 3%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Kumagai, A. ; Yokoyama, C. , Revised Viscosities of Saturated Liquid Halocarbon Refrigerants from 273 to 353 K , Int. J. Thermophys. , 2000, 21, 4, 909-912, https://doi.org/10.1023/A:1006666308831 . [ all data ] THERMAL CONDUCTIVITY The ECS parameters for thermal conductivity were based in part on the data of: Keyes, F.G., \"Thermal Conductivity of Gases,\" Trans. ASME, 76:809-816, 1954. Fellows, B.R., Richard, R.G., and 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76153: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76153&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Thermodynamic Properties of R-227ea, R-365mfc, R-115, and R-13I1 , J. Chem. Eng. Data , 2015, 60, 12, 3745-3758, https://doi.org/10.1021/acs.jced.5b00684 . [ all data ] The uncertainties are 0.5% in density and vapor pressure, and 1% in sound speed and heat capacity.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Hahne, E. ; Gross, U. ; Song, Y.W. , The Thermal Conductivity of R115 in the Critical Region , Int. J. Thermophys. , 1989, 10, 3, 687-700, https://doi.org/10.1007/BF00507989 . [ all data ] Takahashi, M. ; Yokoyama, C. ; Takahashi, S. , Viscosities of Gaseous 1,2,2-Trichloro-1,1,2-Trifluoroethane(R113), 1,2-Dichloro-1,1,2,2-Tetrafluoroethane(R114) and Chloropentafluoroethane(R115) , Kagaku Kogaku Ronbunshu , 1985, 11, 2, 155-161, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76164: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76164&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation are 0.5% in density for liquid and vapor states and 1% in density or pressure for supercritical states. For vapor pressure, the uncertainty is 0.3%, that for vapor phase speed of sounds is 0.2%, and the uncertainty for heat capacities is 5%.","Viscosity":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] The estimated uncertainty in the liquid phase along the saturation boundary is 25 %, and of the vapor phase is 5 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C2837890: https://webbook.nist.gov/cgi/fluid.cgi?ID=C2837890&Action=Page","source_models":{"Equation of state":"de Vries, B., Tillner-Roth, R., and Baehr, H.D., \"Thermodynamic Properties of HCFC 124,\" 19th International Congress of Refrigeration, The Hague, The Netherlands, International Institute of Refrigeration, IVa:582-589, 1995. The uncertainties of the equation of state are 0.05% in density, 1% in heat capacity, and 1% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.1%.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Yata, J. ; Hori, M. ; Kurahashi, T. ; Minamiyama, T. , Thermal Conductivity of Alternative Fluorocarbons in Liquid Phase , Fluid Phase Equilib. , 1992, 80, 287-296, https://doi.org/10.1016/0378-3812(92)87075-X . [ all data ] Assael, M.J. ; Polimatidou, S.K. , Measurements of the Viscosity of Liquid R22, R124, and R125 in the Temperature Range 273-333 K , Int. J. Thermophys. , 1994, 15, 5, 779-790, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C354336: https://webbook.nist.gov/cgi/fluid.cgi?ID=C354336&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Jacobsen, R.T. , A New Functional Form and New Fitting Techniques for Equations of State with Application to Pentafluoroethane (HFC-125) , J. Phys. Chem. Ref. Data , 2005, 34, 1, 69-108, https://doi.org/10.1063/1.1797813 . [ all data ] The uncertainty in density is 0.1% at temperatures from the triple point to 400 K at pressures up to 60 MPa, except in the critical region, where an uncertainty of 0.2% in pressure is generally attained. In the limited region between 340 and 400 K and at pressures from 4 to 10 MPa, as well as for all states above 400 K, the uncertainty in density increases to 0.5%. At temperatures below 330 K and pressures below 30 MPa, the uncertainty in densit","Viscosity":"Huber, M.L. ; Laesecke, A. , Correlation for the Viscosity of Pentafluoroethane (R125) from the Triple Point to 500 K at Pressures up to 60 MPa , Ind. Eng. Chem. Res , 2006, 45, 12, 4447-4453, https://doi.org/10.1021/ie051367l . [ all data ] The estimated uncertainty in viscosity is 3.0% in the liquid phase, 0.8% in the vapor. DATA SOURCES FOR VISCOSITY The parameters for viscosity were based in part on the data of: Takahashi, M., Shibasaki-Kitakawa, N., and Yokoyama, C., \"Viscosity of Gaseous HFC-125 (Pentafluoroethane) Under High Pressures,\" Int. J. Thermophys., 20(2):445-453, 1999. Diller, D.E. and Peterson, S.M., \"Measurements of the Viscosities of Saturated and Compressed Fluid 1-Chloro"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C354336/species.html","references/basic40_templates/alicat_mc/raw/nist/C354336/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r134a","name":"Ethane, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C811972: https://webbook.nist.gov/cgi/fluid.cgi?ID=C811972&Action=Page","source_models":{"Equation of state":"Tillner-Roth, R. ; Baehr, H.D. , An International Standard Formulation for the Thermodynamic Properties of 1,1,1,2-Tetrafluoroethane (HFC-134a) for Temperatures from 170 K to 455 K and Pressures up to 70 MPa , J. Phys. Chem. Ref. Data , 1994, 23, 5, 657-729, https://doi.org/10.1063/1.555958 . [ all data ] The uncertainties are 0.05% for density, 0.02% for vapor pressure, 0.5-1% for heat capacity, 0.05% for vapor speed of sound, and 1% for liquid speed of sound, except in the critical region.","Viscosity":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] The uncertainty in viscosity is 1.5% along the saturated liquid line, 3% in the liquid phase, 0.5% in the dilute gas, 3-5% in the vapor phase, and 5% in the supercritical region, rising to 8% at pressures above 40 MPa. Below 200 K, the uncertainty is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75683: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75683&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density are 0.3% in the liquid phase below 370 K, 1% at higher temperatures in the liquid and supercritical regions, and 0.5% in the vapor phase. Uncertainties for other properties are 0.5% for vapor pressure, 2% for heat capacities and liquid sound speeds, and 0.2% for vapor sound speeds.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Perkins, R.A. ; Laesecke, A. ; Nieto de Castro, C.A. , Polarized Transient Hot Wire Thermal Conductivity Measurements , Fluid Phase Equilib. , 1992, 80, 275-286, https://doi.org/10.1016/0378-3812(92)87074-W . [ all data ] VISCOSITY The ECS parameters for viscosity were based in part on the data of: Kumagai, A. and Yokoyama, C., \"Revised Viscosities of Saturated Liquid Halocarbon Refrigerants from 273 to 353 K,\" Int. J. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C420462: https://webbook.nist.gov/cgi/fluid.cgi?ID=C420462&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Jacobsen, R.T. , An International Standard Formulation for the Thermodynamic Properties of 1,1,1-Trifluoroethane (HFC-143a) for Temperatures from 161 to 450 K and Pressures to 50 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 4, 521-552, https://doi.org/10.1063/1.1318909 . [ all data ] The estimated uncertainties of properties calculated with the equation of state are 0.1% in density, 0.5% in heat capacities, 0.02% in the speed of sound for the vapor at pressures less than 1 MPa, 0.5% in speed of sound elsewhere, and 0.1% in vapor pressure, except in the critical 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75376: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75376&Action=Page","source_models":{"Equation of state":"Outcalt, S.L. ; McLinden, M.O. , A Modified Benedict-Webb-Rubin Equation of State for the Thermodynamic Properties of R152a (1,1-Difluoroethane) , J. Phys. Chem. Ref. Data , 1996, 25, 2, 605-636, https://doi.org/10.1063/1.555979 . [ all data ] Outcalt, S.L. and McLinden, M.O., \"A Modified Benedict-Webb-Rubin Equation of State for the Thermodynamic Properties of R152a (1,1-Difluoroethane),\" J. Phys. Chem. Ref. Data, 25(2):605-636, 1996. The uncertainties of the equation of state are 0.1% in density, 2% in heat capacity, and 005% in the vapor speed of sound, except in the critical region. The uncertainty in vapor pressure is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76197: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76197&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainty in density is 0.2% for the liquid phase and 0.5% for the vapor phase. Above the critical temperature, the uncertainties are estimated to be 1% in density and 0.5% in pressure. Calculated vapor pressures have an uncertainty of 0.5%. The uncertainties for heat capacities and sound speeds are 1%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Grebenkov, A.J. ; Zhelezny, V.P. ; Klepatsky, P.M. ; Beljajeva, O.V. ; Chernjak, Yu.A. ; Kotelevsky, Yu.G. ; Timofejev, B.D. , Thermodynamic and Transport Properties of Some Alternative Ozone-Safe Refrigerants for Industrial Refrigeration Equipment: Study in Belarus and Ukraine , Int. J. Thermophys. , 1996, 17, 3, 535-549, https://doi.org/10.1007/BF01441501 . [ all data ] The estimated uncertainty for thermal conductivity 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C431890: https://webbook.nist.gov/cgi/fluid.cgi?ID=C431890&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Thermodynamic Properties of R-227ea, R-365mfc, R-115, and R-13I1 , J. Chem. Eng. Data , 2015, 60, 12, 3745-3758, https://doi.org/10.1021/acs.jced.5b00684 . [ all data ] The uncertainties in densities are 0.05 % in the liquid region up to 360 K, 0.3 % in the vapor phase, and 0.5 % in the supercritical region. For vapor pressures, the uncertainties are 0.1 % above 270 K and 0.4 % between 240 K and 270 K (with the higher value at the lower temperature). The uncertainty in heat capacities is 1 % (with increasing uncertainties in the critical region and at high temperatures). For sound speeds, the uncertainties are 0.05 % in the vapor phase up to pressures of 0.5 MPa and","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Laesecke, A. ; Hafer, R.F. , Viscosity of Fluorinated Propane Isomers. 2. Measurements of Three Compounds and Model Comparisons , J. Chem. Eng. Data , 1998, 43, 1, 84-92, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C431630: https://webbook.nist.gov/cgi/fluid.cgi?ID=C431630&Action=Page","source_models":{"Equation of state":"Rui, X. ; Pan, J. ; Wang, Y. , An Equation of State for Thermodynamic Properties of 1,1,1,2,3,3-Hexafluoropropane (R236ea) , Fluid Phase Equilib. , 2013, 341, 78-85, https://doi.org/10.1016/j.fluid.2012.12.026 . [ all data ] The uncertainties in density of the equation of state are estimated to be 0.1% in the compressed liquid region, and 0.5% in the vapor region. The uncertainties in vapor pressure are 0.2% at temperatures from 280 K to 370 K, and 0.4% at temperatures outside of this range. The uncertainty in speed of sound is 0.1% in the vapor region and 2% in the liquid region.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Laesecke, A. ; Defibaugh, D.R. , Viscosity of 1,1,1,2,3,3-Hexafluoropropane and 1,1,1,3,3,3-Hexafluoropropane at Saturated-Liquid Conditions from 262 K to 353 K , J. Chem. Eng. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C690391: https://webbook.nist.gov/cgi/fluid.cgi?ID=C690391&Action=Page","source_models":{"Equation of state":"Pan, J. ; Rui, X. ; Zhao, X. ; Qiu, L. , An Equation of State for the Thermodynamic Properties of 1,1,1,3,3,3-Hexafluoropropane (HFC-236fa) , Fluid Phase Equilib. , 2012, 321, 10-16, https://doi.org/10.1016/j.fluid.2012.02.012 . [ all data ] The uncertainties in density of the equation of state are estimated to be 0.1% in the compressed liquid region, and 0.5% in the vapor region. The uncertainties in vapor pressure are 0.2% at temperature from 280 K to 380 K, and 0.4% at temperature above 380 K. The uncertainty in speed of sound in the gas region is 0.1%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Meng, X. ; Zhang, J. ; Wu, J. , Compressed Liquid Viscosity of 1,1,1,3,3-Pentafluoropropane (R245fa) and 1,1,1,3,3,3-Hexafluoropropane (R236fa) , J. Chem. Eng. Data , 2011, 56, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C460731: https://webbook.nist.gov/cgi/fluid.cgi?ID=C460731&Action=Page","source_models":{"Equation of state":"Akasaka, R. ; Zhou, Y. ; Lemmon, E.W. , A Fundamental Equation of State for 1,1,1,3,3-Pentafluoropropane (R-245fa) , J. Phys. Chem. Ref. Data , 2015, 44, 1, 013104, https://doi.org/10.1063/1.4913493 . [ all data ] The estimated uncertainties are 0.1 % for vapor pressures, 0.1 % for saturated liquid densities, 0.1 % for liquid densities below 70 MPa, 0.2 % for densities at higher pressures, 0.3 % for vapor densities, 0.3 % for liquid sound speeds, and 0.1 % for vapor sound speeds. The uncertainties in the critical region are higher for all properties except vapor pressures.","Viscosity":"Perkins, R.A. ; Huber, M.L. ; Assael, M.J. , Measurements of the Thermal Conductivity of 1,1,1,3,3-Pentafluoropropane (R245fa) and Correlations for the Viscosity and Thermal Conductivity Surfaces , J. Chem. Eng. Data , 2016, 61, 9, 3286-3294, https://doi.org/10.1021/acs.jced.6b00350 . [ all data ] The estimated uncertainty for the dilute gas region is 2%, for the liquid phase at pressures to 40 MPa is 3%."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C460731/species.html","references/basic40_templates/alicat_mc/raw/nist/C460731/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_rc318","name":"Octafluorocyclobutane 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C115253: https://webbook.nist.gov/cgi/fluid.cgi?ID=C115253&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] VISCOSITY The ECS parameters for viscosity were based in part on the data of: Geller, V.Z., Karabanov, E.M., Gunchuk, B.V., Zakharzhevskiy, V.Y., and Lapardin, N.I., \"Study of 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C355259: https://webbook.nist.gov/cgi/fluid.cgi?ID=C355259&Action=Page","source_models":{"Equation of state":"Gao, K., Wu, J., and Lemmon, E.W., unpublished equation, 2017. The uncertainty of the equation of state in density is 1 % in the vapor phase region at temperatures between 338 K and 455 K. The uncertainty in vapor pressure is 0.2 % at temperatures between 260 K and 380 K. The uncertainty in saturated-liquid density is 0.2 % between 230 K and 360 K. The uncertainty in saturated-vapor density is generally less than 2 % between 230 K and 360 K. The uncertainty in sound speed is 0.4 % at temperatures between 255 K and 305 K.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] VISCOSITY Predictive model. Experimental data unavailable. Values based on estimation method of extended corresponding states; estimated uncertainty is approximately 20-50%. THERMAL CONDUCTIVITY Predictive model. Experimental data unavailable. Values based on estimation method of extended corresponding states; estimated uncertainty is approximately 20-50%. The parameters for C5F12 were used as estimated values. The 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7446095: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7446095&Action=Page","source_models":{"Equation of state":"Gao, K. ; Wu, J. ; Zhang, P. ; Lemmon, E.W. , A Helmholtz Energy Equation of State for Sulfur Dioxide , J. Chem. Eng. Data , 2016, 61, 8, 2859-2872, https://doi.org/10.1021/acs.jced.6b00195 . [ all data ] The equation of state is valid from the triple point temperature of 197.7 K to 523 K, with pressures up to 35 MPa and densities up to 25.3 mol/l. The uncertainties in density of the equation of state are 0.1 % in the liquid phase, 0.25 % in the vapor phase, and 1 % in the critical region. The uncertainty in vapor pressure is 0.2 % and the uncertainty in saturated liquid density is 0.2 % below 410 K. The uncertainty in isobaric heat capacity is 2 % between 200 K and 290 K. In the critical re","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Baker, C.B. ; De Haas, N. , Gas Thermal Conductivity Studies at High Temperature. III. Results for SO 2 , Phys. Fluids , 1964, 7, 9, 1400-1402, https://doi.org/10.1063/1.1711394 . [ all data ] Stewart, W.W. ; Maass, O. , Coefficient of Viscosity of Sulfur Dioxide Over a Low Temperature Range , Can. J. Res. , 1932, 6, 5, 453-457, https://doi.org/10.1139/cjr32-035 . [ all data ] The estimated uncertainty of thermal 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7783064: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7783064&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density are 0.1% in the liquid phase below the critical temperature, 0.4% in the vapor phase, 1% at supercritical temperatures up to 500 K, and 2.5% at higher temperatures. Uncertainties will be higher near the critical point. The uncertainty in vapor pressure is 0.25%, and the uncertainty in heat capacities is estimated to be 1%.","Viscosity":"Schmidt, K.A.G. ; Quiñones-Cisneros, S.E. ; Carroll, J.J. ; Kvamme, B. , Hydrogen Sulphide Viscosity Modeling , Energy Fuels , 2008, 22, 5, 3424-3434, https://doi.org/10.1021/ef700701h . [ all data ] Schmidt, K.A.G., Carroll, J.J., Quinones-Cisneros, S.E., and Kvamme, B., \"Hydrogen Sulphide Viscosity Model,\" proceedings of the 86th Annual GPA Convention, March 11-14, San Antonio, TX, 2007. See also: Schmidt, K.A.G., Quinones-Cisneros, S.E., Carroll, J.J., and Kvamme, B., \"Hydrogen Sulfide Viscosity Modeling,\" Energy & Fuels, 22, 3424-3434. The correlation agrees with available experimental data with an average absolute percent deviation of 1% over the temperature range 190-600 K at 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C2551624: https://webbook.nist.gov/cgi/fluid.cgi?ID=C2551624&Action=Page","source_models":{"Equation of state":"Guder, C. ; Wagner, W. , A Reference Equation of State for the Thermodynamic Properties of Sulfur Hexafluoride (SF 6 ) for Temperatures from the Melting Line to 625 K and Pressures up to 150 MPa , J. Phys. Chem. Ref. Data , 2009, 38, 1, 33-94, https://doi.org/10.1063/1.3037344 . [ all data ] The uncertainties in density are 0.02% for temperatures less than 340 K (","Viscosity":"Quiñones-Cisneros, S.E. ; Huber, M.L. ; Deiters, U.K. , Correlation for the Viscosity of Sulfur Hexafluoride (SF 6 ) from the Triple Point to 1000 K and Pressures to 50 MPa , J. Phys. Chem. Ref. Data , 2012, 41, 2, 023102, https://doi.org/10.1063/1.3702441 . [ all data ] In the low-pressure (less than 0.33 MPa) region from 300 K to 700 K the estimated uncertainty is 0.3%. In the region from 300 K to 425 K for pressures less than 20 MPa, the estimated uncertainty is less than 1%. Where there were data available for validation at temperatures from 230 K to 575 K for pressures up to 50 MPa, the estimated uncertainty is 2%. The correlation extrapolates in a physically reasonable manner and may 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C463581: https://webbook.nist.gov/cgi/fluid.cgi?ID=C463581&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density in the liquid phase below 450 K, 1% in density at temperatures between 450 and 500 K, 3% in density at temperatures above 500 K, 1% in density in the vapor phase and at supercritical conditions below 10 MPa and 450 K, 0.5% in vapor pressure, and 2% in isobaric heat capacity. There are no speed of sound data to ascertain its uncertainty.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Hirschfelder, J.O. ; Curtiss, C.F. ; Bird, R.B. , Molecular Theory of Gases and Liquids , John Wiley and Sons, Inc., New York, 1954, 1245, https://doi.org/10.1002/pol.1955.120178311 . [ all data ] VISCOSITY Estimated uncertainty in the gas phase is THERMAL CONDUCTIVITY Estimated uncertainty in the gas phase is difficult to assess due to lack of experimental data, estimated to be 25%; predictive values. Estimated uncertainty"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C463581/species.html","references/basic40_templates/alicat_mc/raw/nist/C463581/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"mix_air","name":"Air (dry)","name_zh":"Air (dry)","kind":"mixture","cas":null,"formula":null,"shared_ids":{},"alicat":{"gas_select":"standard_mc","listed_name":"Air","group":"Pure gases"},"composition_mole_fraction":{"gas_nitrogen":0.7812,"gas_argon":0.0092,"gas_oxygen":0.2096},"molar_mass_kg_mol":0.02895853816,"unit":{"composition_mole_fraction":"1","molar_mass_kg_mol":"kg/mol","density_kg_m3":"kg/m^3","viscosity_Pa_s":"Pa*s","compressibility_factor":"1"},"conditions":{"composition_basis":"mole fraction","notes":["Alicat lists 'Air' by name only; the dry-air composition is the Lemmon et al. 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Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7727379: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7727379&Action=Page","source_models":{"Equation of state":"Span, R. ; Lemmon, E.W. ; Jacobsen, R.T. ; Wagner, W. ; Yokozeki, A. , A Reference Equation of State for the Thermodynamic Properties of Nitrogen for Temperatures from 63.151 to 1000 K and Pressures to 2200 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 6, 1361-1433, https://doi.org/10.1063/1.1349047 . [ all data ] Span, R., Lemmon, E.W., Jacobsen, R.T, Wagner, W., and Yokozeki, A., \"A Reference Equation of State for the Thermodynamic Properties of Nitrogen for Temperatures from 63.151 to 1000 K and Pressures to 2200 MPa,\" J. Phys. Chem. Ref. Data, 29(6):1361-1433, 2000. see also: Int. J. Thermophys., 19(4):1121-1132, 1998. The uncertainty in density of the equation of state is 0.02% from the tr","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 0.5% in the dilute gas. Away from the dilute gas (pressures greater than 1 MPa and in the liquid), the uncertainties are as low as 1% between 270 and 300 K at pressures less than 100 MPa, and increase outside that range. The uncertainties are around 2% at temperatures of 180 K and higher. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C1333740: https://webbook.nist.gov/cgi/fluid.cgi?ID=C1333740&Action=Page","source_models":{"Equation of state":"Leachman, J.W. ; Jacobsen, R.T. ; Penoncello, S.G. ; Lemmon, E.W. , Fundamental Equations of State for Parahydrogen, Normal Hydrogen, and Orthohydrogen , J. Phys. Chem. Ref. Data , 2009, 38, 3, 721-748, https://doi.org/10.1063/1.3160306 . [ all data ] Leachman, J.W., Jacobsen, R.T, Penoncello, S.G., and Lemmon, E.W., \"Fundamental Equations of State for Parahydrogen, Normal Hydrogen, and Orthohydrogen,\" J. Phys. Chem. Ref. Data, 38(3):721-748, 2009. The uncertainty in density is 0.1% at temperatures from the triple point to 250 K and at pressures up to 40 MPa, except in the critical region, where an uncertainty of 0.2% in pressure is generally attained. In the region between 250 and 450 K and","Viscosity":"Muzny, C.D. ; Huber, M.L. ; Kazakov, A.F. , Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression , J. Chem. Eng. Data , 2013, 58, 4, 969-979, https://doi.org/10.1021/je301273j . [ all data ] Muzny, C.D., Huber, M.L., and Kazakov, A.F., \"Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression,\" J. Chem. Eng. Data, 58:969-979, 2013. The estimated uncertainty is 4% for the saturated liquid from the triple point to 31 K, with larger deviations as the critical region is approached. The estimated uncertainty is 4% for the supercritical fluid phase at pressures to 200 MPa. For the limited range of 200 K to 400 K at pressures up to 0.1 MPa, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782390: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782390&Action=Page","source_models":{"Equation of state":"Richardson, I.A. ; Leachman, J.W. ; Lemmon, E.W. , Fundamental Equation of State for Deuterium , J. Phys. Chem. Ref. Data , 2014, 43, 1, 013103, https://doi.org/10.1063/1.4864752 . [ all data ] Richardson, I.A., Leachman, J.W., and Lemmon, E.W., J. Phys. Chem. Ref. Data, 43(1), 013103, 2014. The uncertainty in density is 0.5% over the full temperature and pressure ranges of validity of the equation of state. The uncertainties in vapor pressure and saturated liquid density are 2% and 3%, respectively, while speed-of-sound values have an uncertainty of 1% in the liquid phase.","Viscosity":"Muzny, C.D. ; Huber, M.L. ; Kazakov, A.F. , Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression , J. Chem. Eng. Data , 2013, 58, 4, 969-979, https://doi.org/10.1021/je301273j . [ all data ] Muzny, C.D., Huber, M.L., and Kazakov, A.F., \"Correlation for the Viscosity of Normal Hydrogen Obtained from Symbolic Regression,\" J. Chem. Eng. Data, 58:969-979, 2013. The uncertainties for deuterium are estimated to be approximately 5% in the gas and supercritical regions with larger deviations near the critical region and in the liquid 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782447: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782447&Action=Page","source_models":{"Equation of state":"Schmidt, R. ; Wagner, W. , A New Form of the Equation of State for Pure Substances and its Application to Oxygen , Fluid Phase Equilib. , 1985, 19, 3, 175-200, https://doi.org/10.1016/0378-3812(85)87016-3 . [ all data ] Schmidt, R. and Wagner, W., \"A New Form of the Equation of State for Pure Substances and its Application to Oxygen,\" Fluid Phase Equilib., 19:175-200, 1985. also published in: Stewart, R.B., Jacobsen, R.T, and Wagner, W., \"Thermodynamic Properties of Oxygen from the Triple Point to 300 K with Pressures to 80 MPa,\" J. Phys. Chem. Ref. Data, 20(5):917-1021, 1991. The uncertainties of the equation of state are 0.15% in vapor pressure, 0.1% in density, 2% in heat capacity, and 1%","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 1% in the dilute gas at temperatures above 200 K, and 5% in the dilute gas at lower temperatures. The uncertainty is around 2% between 270 and 300 K, and increases to 5% outside of this region. The uncertainty may be higher in the liquid near the triple 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":true},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7782414: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7782414&Action=Page","source_models":{"Equation of state":"de Reuck, K.M., \"International Thermodynamic Tables of the Fluid State-11 Fluorine,\" International Union of Pure and Applied Chemistry, Pergamon Press, Oxford, 1990. The uncertainties of the equation of state are 0.2% in density, 2% in heat capacity, and 1.5% in the speed of sound, except in the critical region.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Based on predicted values of Hanley, H.J.M., and Prydz, R., \"The Viscosity and Thermal Conductivity Coefficients of Gaseous and Liquid Fluorine,\" J. Phys. Chem. Ref. Data, 1(4):1101-1113, 1972. Estimated uncertainty for viscosity: 20%. Estimated uncertainty for thermal conductivity: 20%. The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C630080: https://webbook.nist.gov/cgi/fluid.cgi?ID=C630080&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The equation of state is valid from the triple point to 500 K with pressures to 100 MPa. At higher pressures, the deviations from the equation increase rapidly and it is not recommended to use the equation above 100 MPa. The uncertainties in the equation are 0.3% in density (approaching 1% near the critical point), 0.2% in vapor pressure, and 2% in heat capacities. The uncertainty in the speed of sound is unknown.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for gas phase viscosity at pressures to atmospheric is 1%, saturated liquid phase 2%. Estimated uncertainty for gas phase thermal conductivity at pressures to atmospheric is 2%, saturated liquid 5%. Upper temperature limit is 500 K. The Lennard-Jones parameters were obtained from fitting data of Vogel, E. Int. J. Thermophys., 33:741-757, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C124389: https://webbook.nist.gov/cgi/fluid.cgi?ID=C124389&Action=Page","source_models":{"Equation of state":"Span, R. ; Wagner, W. , A New Equation of State for Carbon Dioxide Covering the Fluid Region from the Triple-Point Temperature to 1100 K at Pressures up to 800 MPa , J. Phys. Chem. Ref. Data , 1996, 25, 6, 1509-1596, https://doi.org/10.1063/1.555991 . [ all data ] Span, R. and Wagner, W., \"A New Equation of State for Carbon Dioxide Covering the Fluid Region from the Triple-Point Temperature to 1100 K at Pressures up to 800 MPa,\" J. Phys. Chem. Ref. Data, 25(6):1509-1596, 1996. The estimated uncertainties at pressures up to 30 MPa and temperatures up to 523 K range from 0.03% to 0.05% in density, 0.03% (in the vapor) to 1% in the speed of sound (0.5% in the liquid) and 0.15% (in the vapor) to","Viscosity":"Laesecke, A. ; Muzny, C.D. , Reference Correlation for the Viscosity of Carbon Dioxide , J. Phys. Chem. Ref. Data , 2017, 46, 1, 013107, https://doi.org/10.1063/1.4977429 . [ all data 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C10024972: https://webbook.nist.gov/cgi/fluid.cgi?ID=C10024972&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density in the liquid and vapor phases between 220 and 300 K, 0.25% at temperatures above 300 K and at temperatures below 220 K, and 0.5% in the critical region, except very close to the critical point. The uncertainty in vapor pressure is 0.2%, that for heat capacities is 3%, and that for the speed of sound in the vapor phase is 0.05% above 220 K. The uncertainty in the liquid phase is not known but estimated to be within 5%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Richter, G.N. ; Sage, B.H. , Thermal Conductivity of Fluids. Nitrous Oxide , J. Chem. Eng. Data , 1963, 8, 2, 221-225, https://doi.org/10.1021/je60017a024 . [ all data ] VISCOSITY Uncertainty in viscosity estimated as The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th edition, New York, McGraw-Hill Book Company, 1987. Estimated uncertainty 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74828: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74828&Action=Page","source_models":{"Equation of state":"Setzmann, U. ; Wagner, W. , A New Equation of State and Tables of Thermodynamic Properties for Methane Covering the Range from the Melting Line to 625 K at Pressures up to 1000 MPa , J. Phys. Chem. Ref. Data , 1991, 20, 6, 1061-1155, https://doi.org/10.1063/1.555898 . [ all data ] Setzmann, U. and Wagner, W., \"A New Equation of State and Tables of Thermodynamic Properties for Methane Covering the Range from the Melting Line to 625 K at Pressures up to 1000 MPa,\" J. Phys. Chem. Ref. Data, 20(6):1061-1151, 1991. The uncertainties in density are 0.03% for pressures below 12 MPa and temperatures below 350 K and up to 0.07% for pressures less than 50 MPa. For the speed of sound, the uncertainty r","Viscosity":"Quinones-Cisneros, S.E., Huber, M.L., and Deiters, U.K., unpublished work, 2011. Detailed uncertainty analysis will be found in a future publication; however in general the estimated uncertainty in viscosity varies from less than 0.3% between 200-400 K for pressures less than 30 MPa, to less than 2% over the rest of the fluid surface up to 100 MPa, increasing up to 5% for 100 to 500 MPa, and 10% at 500 to 1000 MPa for temperatures to 625 K. Above uncertainties are valid when used with the equation of state of Setzmann, U. and Wagner, W., J. Phys. Chem. Ref. Data, 20(6):1061-1151, 1991. The use of other equations of state may result in larger 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74840: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74840&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , A Reference Equation of State for the Thermodynamic Properties of Ethane for Temperatures from the Melting Line to 675 K and Pressures up to 900 MPa , J. Phys. Chem. Ref. Data , 2006, 35, 1, 205-266, https://doi.org/10.1063/1.1859286 . [ all data ] B�cker, D. and Wagner, W., \"A Reference Equation of State for the Thermodynamic Properties of Ethane for Temperatures from the Melting Line to 675 K and Pressures up to 900 MPa,\" J. Phys. Chem. Ref. Data, 35(1):205-266, 2006. The uncertainties in the equation of state are 0.02% to 0.04% in density from the melting line up to temperatures of 520 K and pressures of 30 MPa. The uncertainties increase to 0.3% at higher temper","Viscosity":"Vogel, E. ; Span, R. ; Herrmann, S. , Reference Correlation for the Viscosity of Ethane , J. Phys. Chem. Ref. Data , 2015, 44, 4, 043101, https://doi.org/10.1063/1.4930838 . [ all data ] The viscosity in the limit of zero density has an expanded uncertainty (at 95% confidence) of 0.5% for 290"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74840/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C74840/species.html","references/basic40_templates/alicat_mc/raw/nist/C74840/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_ethylene","name":"Ethene","name_zh":"乙烯","kind":"pure","cas":"74-85-1","formula":"C2H4","nist_fluid_id":"C74851","shared_ids":{"substances":"ethylene"},"alicat":{"gas_select":"standard_mc","listed_name":"Ethylene/Ethene 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74851: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74851&Action=Page","source_models":{"Equation of state":"Smukala, J. ; Span, R. ; Wagner, W. , New Equation of State for Ethylene Covering the Fluid Region for Temperatures from the Melting Line to 450 K at Pressures up to 300 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 5, 1053-1122, https://doi.org/10.1063/1.1329318 . [ all data ] Smukala, J., Span, R., and Wagner, W., \"A New Equation of State for Ethylene Covering the Fluid Region for Temperatures from the Melting Line to 450 K at Pressures up to 300 MPa,\" J. Phys. Chem. Ref. Data, 29(5):1053-1122, 2000. The uncertainties in density of the equation of state range from 0.02% in the liquid and most of the vapor phase to 0.1% for supercritical states. At p>100 MPa, the uncertainty in density is 0.5%","Viscosity":"Holland, P.M. ; Eaton, B.E. ; Hanley, H.J.M. , A Correlation of the Viscosity and Thermal Conductivity Data of Gaseous and Liquid Ethylene , J. Phys. Chem. Ref. Data , 1983, 12, 4, 917-932, https://doi.org/10.1063/1.555701 . [ all data ] Holland, P.M., Eaton, B.E., and Hanley, H.J.M., \"A Correlation of the Viscosity and Thermal Conductivity Data of Gaseous and Liquid Ethylene,\" J. Phys. Chem. Ref. Data, 12(4):917-932, 1983. The uncertainty in viscosity is 5%, increasing to 10% in the dense liquid 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74986: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74986&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; McLinden, M.O. ; Wagner, W. , Thermodynamic Properties of Propane. III. A Reference Equation of State for Temperatures from the Melting Line to 650 K and Pressures up to 1000 MPa , J. Chem. Eng. Data , 2009, 54, 12, 3141-3180, https://doi.org/10.1021/je900217v . [ all data ] Lemmon, E.W., McLinden, M.O., and Wagner, W., \"Thermodynamic Properties of Propane. III. A Reference Equation of State for Temperatures from the Melting Line to 650 K and Pressures up to 1000 MPa,\" J. Chem. Eng. Data, 54:3141-3180, 2009. The uncertainties below 350 K in density are 0.01% in the liquid phase and 0.03% in the vapor phase (including saturated states for both phases). The liquid phase value al","Viscosity":"Vogel, E. ; Herrmann, S. , New Formulation for the Viscosity of Propane , J. Phys. Chem. Ref. Data , 2016, 45, 043103, https://doi.org/10.1063/1.4966928 . [ all data ] The viscosity at low pressures 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C115071: https://webbook.nist.gov/cgi/fluid.cgi?ID=C115071&Action=Page","source_models":{"Equation of state":"Lemmon, E.W., McLinden, M.O., Overhoff, U., and Wagner, W., \"A Reference Equation of State for Propylene for Temperatures from the Melting Line to 575 K and Pressures up to 1000 MPa,\" to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties below 400 K in density are 0.02% in the liquid and vapor phases (including saturated states for both phases) at pressures up to 30 MPa. At higher temperatures or higher pressures, the uncertainties increase to 0.1% in density. Near the critical point the uncertainties in density increase as the critical point is approached. However, in this same region, the uncertainty in pressure calculated from density and temperature is 0.1%. The 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C74997: https://webbook.nist.gov/cgi/fluid.cgi?ID=C74997&Action=Page","source_models":{"Equation of state":"Polt, A., Platzer, B., and Maurer, G., \"Parameter der Thermischen Zustandsgleichung von Bender fuer 14 Mehratomige Reine Stoffe,\" Chem. Tech. (Leipzig), 44(6):216-224, 1992. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for viscosity: 20%. Estimated uncertainty for thermal conductivity: 20%. The Lennard-Jones parameters were taken from fit of viscosity data of Titani, T., \"The Viscosity of Vapors of Organic Compounds. Part II,\" Bull. Chem. Soc. Jpn., 5:98, 1930."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C74997/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C74997/species.html","references/basic40_templates/alicat_mc/raw/nist/C74997/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_cyclopropane","name":"Cyclopropane","name_zh":"环丙烷","kind":"pure","cas":"75-19-4","formula":"C3H6","nist_fluid_id":"C75194","shared_ids":{},"alicat":{"gas_select":"not_listed","listed_name":null,"group":null},"molar_mass_kg_mol":0.042079700000000005,"critical_temperature_K":398.3,"critical_pressure_Pa":5579700.0,"normal_boiling_point_K":241.67,"values_at_reference_conditions":{"stp_298.15K_101325Pa":{"density_kg_m3":1.7485108,"viscosity_Pa_s":8.8370709e-06,"compressibility_factor":0.983675669225907},"ntp_273.15K_101325Pa":{"density_kg_m3":1.9198845,"viscosity_Pa_s":8.0621225e-06,"compressibility_factor":0.9778646690424189}},"grid":{"temperature_K":[253.15,258.15,263.15,268.15,273.15,278.15,283.15,288.15,293.15,298.15,303.15,308.15,313.15,318.15,323.15,328.15,333.15,338.15,343.15],"pressure_Pa":[10000.0,75000.0,100000.0,101325.0,150000.0,200000.0,300000.0,450000.0,600000.0,800000.0,1000000.0,1200000.0],"density_kg_m3":[[null,null,null,null,0.18568656,0.18232513,0.17908423,0.17595744,0.17293874,0.17002259,0.16720379,0.1644775,0.1618392,0.15928467,0.15680995,0.15441133,0.15208533,0.14982867,0.14763829],[null,null,null,null,1.4126488,1.3858515,1.3601141,1.3353702,1.3115593,1.288626,1.2665195,1.2451933,1.2246044,1.204713,1.1854824,1.1668787,1.1488701,1.1314273,1.1145229],[null,null,null,null,1.8942061,1.8576023,1.8225014,1.7888038,1.7564195,1.7252666,1.6952703,1.6663625,1.6384804,1.6115667,1.5855683,1.5604362,1.5361253,1.5125936,1.4898021],[null,null,null,null,1.9198845,1.8827478,1.8471388,1.8129561,1.7801079,1.7485108,1.7180887,1.688772,1.6604971,1.6332055,1.6068431,1.5813604,1.5567111,1.5328527,1.5097455],[null,null,null,null,2.8744649,2.8167676,2.7616223,2.7088414,2.6582571,2.6097189,2.5630911,2.5182508,2.4750866,2.4334969,2.393389,2.3546779,2.3172855,2.2811401,2.2461752],[null,null,null,null,3.8789958,3.7980099,3.7208819,3.647299,3.5769854,3.5096963,3.4452135,3.3833416,3.3239048,3.2667444,3.2117168,3.1586912,3.1075484,3.0581794,3.0104844],[null,null,null,null,5.968689,5.8332442,5.7052864,5.5840885,5.4690259,5.359558,5.2552133,5.155578,5.0602872,4.9690169,4.8814782,4.7974125,4.7165873,4.6387923,4.5638374],[null,null,null,null,null,null,8.8717118,8.6597979,8.4609623,8.2737617,8.0969826,7.9295942,7.7707136,7.6195781,7.4755244,7.3379719,7.206409,7.080383,6.9594909],[null,null,null,null,null,null,null,null,11.672984,11.384477,11.115157,10.862725,10.625278,10.401221,10.189203,9.9880708,9.7968306,9.6146205,9.4406874],[null,null,null,null,null,null,null,null,null,null,15.47753,15.073088,14.698422,14.349569,14.023316,13.717018,13.428478,13.155842,12.897538],[null,null,null,null,null,null,null,null,null,null,null,null,19.15168,18.632078,18.153479,17.71003,17.29706,16.910778,16.548066],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,22.654801,22.027169,21.451212,20.919241,20.425176]],"viscosity_Pa_s":[[null,null,null,null,8.0893728e-06,8.2421823e-06,8.3948664e-06,8.5473985e-06,8.6997529e-06,8.8519048e-06,9.0038303e-06,9.1555067e-06,9.3069117e-06,9.4580246e-06,9.6088253e-06,9.7592946e-06,9.9094147e-06,1.0059168e-05,1.020854e-05],[null,null,null,null,8.0695884e-06,8.2244783e-06,8.3790839e-06,8.5333934e-06,8.6873939e-06,8.8410722e-06,8.9944146e-06,9.1474073e-06,9.3000367e-06,9.4522892e-06,9.6041514e-06,9.7556104e-06,9.9066535e-06,1.0057269e-05,1.0207444e-05],[null,null,null,null,8.0624905e-06,8.2181451e-06,8.3734573e-06,8.5284205e-06,8.6830267e-06,8.8372668e-06,8.991131e-06,9.1446089e-06,9.2976898e-06,9.4503626e-06,9.6026167e-06,9.7544411e-06,9.9058254e-06,1.0056759e-05,1.0207232e-05],[null,null,null,null,8.0621225e-06,8.217817e-06,8.3731661e-06,8.5281635e-06,8.6828013e-06,8.8370709e-06,8.9909624e-06,9.1444656e-06,9.2975701e-06,9.4502649e-06,9.6025395e-06,9.7543831e-06,9.9057851e-06,1.0056736e-05,1.0207224e-05],[null,null,null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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75194: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75194&Action=Page","source_models":{"Equation of state":"Polt, A., Platzer, B., and Maurer, G., \"Parameter der Thermischen Zustandsgleichung von Bender fuer 14 Mehratomige Reine Stoffe,\" Chem. Tech. (Leipzig), 44(6):216-224, 1992. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Experimental data unavailable. Estimated uncertainty for viscosity: gas phase 5%, liquid phase 30%. Estimated uncertainty for thermal conductivity: gas phase 5%, liquid phase 20%. The Lennard-Jones parameters were estimated with the method of 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C106978: https://webbook.nist.gov/cgi/fluid.cgi?ID=C106978&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , Reference Equations of State for the Thermodynamic Properties of Fluid Phase η-Butane and Isobutane , J. Phys. Chem. Ref. Data , 2006, 35, 2, 929-1019, https://doi.org/10.1063/1.1901687 . [ all data ] The uncertainties in density are 0.02% at temperatures below 340 K and pressures below 12 MPa (both liquid and vapor states), 0.1% at temperatures below 270 K and pressures above 12 MPa, 0.2% between 340 and 515 K at pressures less than 0.6 MPa, and 0.4% elsewhere. Above the upper pressure limit of 69 MPa as given in the original formulation, new data up to 200 MPa show that the uncertainty in density is 0.3%. In the critical region, deviations in pressure are 0.5%. At","Viscosity":"Herrmann, Sebastian ; Vogel, Eckhard , New Formulation for the Viscosity of n-Butane , Journal of Physical and Chemical Reference Data , 2018, 47, 1, 013104, https://doi.org/10.1063/1.5020802 . [ all data 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75285: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75285&Action=Page","source_models":{"Equation of state":"Bücker, D. ; Wagner, W. , Reference Equations of State for the Thermodynamic Properties of Fluid Phase η-Butane and Isobutane , J. Phys. Chem. Ref. Data , 2006, 35, 2, 929-1019, https://doi.org/10.1063/1.1901687 . [ all data ] The uncertainties in density are 0.02% at temperatures below 340 K and pressures below 12 MPa (both liquid and vapor states), 0.3% at temperatures below 300 K and pressures above 12 MPa, 0.1% in the vapor phase between 340 and 450 K, and 0.5% elsewhere. In the critical region, deviations in pressure are 0.5%. Uncertainties in heat capacities are typically 1-2%, rising to 5% in the critical region and at temperatures below 200 K. Uncertainties in the speed of sound are ","Viscosity":"Vogel, E. ; Küchenmeister, C. ; Bich, E. , Viscosity Correlation for Isobutane over Wide Ranges of the Fluid Region , Int. J. Thermophys. , 2000, 21, 2, 343-356, https://doi.org/10.1023/A:1006623310780 . [ all data ] Vogel, E., Kuechenmeister, C., and Bich, E., \"Viscosity Correlation for Isobutane over Wide Ranges of the Fluid Region,\" Int. J. Thermophys, 21(2):343-356, 2000. The uncertainty in viscosity varies from 0.4% in the dilute gas between room temperature and 600 K, to 3.0% over the rest of the fluid surface."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75285/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75285/species.html","references/basic40_templates/alicat_mc/raw/nist/C75285/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_neopentane","name":"2,2-Dimethylpropane","name_zh":"新戊烷","kind":"pure","cas":"463-82-1","formula":"C5H12","nist_fluid_id":"C463821","shared_ids":{},"alicat":{"gas_select":"not_listed","listed_name":null,"group":null},"molar_mass_kg_mol":0.0721488,"critical_temperature_K":433.74,"critical_pressure_Pa":3196000.0,"normal_boiling_point_K":282.65,"values_at_reference_conditions":{"stp_298.15K_101325Pa":{"density_kg_m3":3.0620988,"viscosity_Pa_s":6.8878705e-06,"compressibility_factor":0.9630692724619428},"ntp_273.15K_101325Pa":{"density_kg_m3":null,"viscosity_Pa_s":null,"compressibility_factor":null}},"grid":{"temperature_K":[253.15,258.15,263.15,268.15,273.15,278.15,283.15,288.15,293.15,298.15,303.15,308.15,313.15,318.15,323.15,328.15,333.15,338.15,343.15],"pressure_Pa":[10000.0,75000.0,100000.0,101325.0,150000.0,200000.0,300000.0,450000.0,600000.0,800000.0,1000000.0,1200000.0],"density_kg_m3":[[null,0.33808539,0.33153826,0.32524591,0.3191932,0.31336624,0.30775221,0.30233931,0.29711664,0.29207408,0.28720224,0.28249242,0.27793649,0.27352689,0.26925655,0.26511886,0.26110764,0.25721709,0.25344178],[null,null,null,null,null,2.423247,2.375305,2.3294757,2.2855989,2.2435328,2.2031512,2.1643412,2.127001,2.0910385,2.0563704,2.0229206,1.9906194,1.959403,1.9292128],[null,null,null,null,null,null,3.2046108,3.1403578,3.0790613,3.0204807,2.9644057,2.9106507,2.8590515,2.809461,2.7617475,2.7157919,2.6714865,2.6287332,2.5874425],[null,null,null,null,null,null,3.2491437,3.1838613,3.1215954,3.0620988,3.005156,2.950577,2.8981933,2.8478549,2.7994268,2.7527874,2.7078268,2.6644448,2.6225501],[null,null,null,null,null,null,null,null,null,4.6237521,4.532094,4.444742,4.3613304,4.2815419,4.2050985,4.1317551,4.0612935,3.9935191,3.9282569],[null,null,null,null,null,null,null,null,null,null,6.1668292,6.0398522,5.9193626,5.8047424,5.6954659,5.5910805,5.4911932,5.3954593,5.3035744],[null,null,null,null,null,null,null,null,null,null,null,null,null,9.0293396,8.8381781,8.6575926,8.4864697,8.3238782,8.1690287],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,13.395281,13.092612,12.809044],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null],[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null]],"viscosity_Pa_s":[[null,5.9914487e-06,6.1100905e-06,6.2283377e-06,6.3461759e-06,6.4635918e-06,6.5805724e-06,6.6971055e-06,6.8131797e-06,6.9287846e-06,7.0439105e-06,7.1585485e-06,7.2726908e-06,7.3863302e-06,7.4994606e-06,7.6120765e-06,7.7241733e-06,7.8357472e-06,7.9467951e-06],[null,null,null,null,null,6.4186748e-06,6.5397203e-06,6.6600135e-06,6.7795716e-06,6.8984093e-06,7.0165392e-06,7.1339723e-06,7.2507182e-06,7.3667858e-06,7.4821827e-06,7.5969164e-06,7.7109937e-06,7.8244211e-06,7.9372049e-06],[null,null,null,null,null,null,6.5260647e-06,6.6476559e-06,6.7684184e-06,6.8883754e-06,7.0075472e-06,7.1259515e-06,7.2436038e-06,7.3605181e-06,7.476707e-06,7.592182e-06,7.7069538e-06,7.8210322e-06,7.9344268e-06],[null,null,null,null,null,null,6.5253748e-06,6.6470323e-06,6.7678563e-06,6.8878705e-06,7.0070956e-06,7.1255496e-06,7.2432484e-06,7.3602061e-06,7.4764356e-06,7.5919487e-06,7.7067562e-06,7.8208681e-06,7.9342941e-06],[null,null,null,null,null,null,null,null,null,6.8712861e-06,6.992323e-06,7.1124712e-06,7.2317561e-06,7.3502003e-06,7.467824e-06,7.5846457e-06,7.7006825e-06,7.8159498e-06,7.9304624e-06],[null,null,null,null,null,null,null,null,null,null,6.9810637e-06,7.1026524e-06,7.2232969e-06,7.3430249e-06,7.4618612e-06,7.5798287e-06,7.696948e-06,7.8132386e-06,7.9287183e-06],[null,n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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C463821: https://webbook.nist.gov/cgi/fluid.cgi?ID=C463821&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density in the equation of state range from 0.2% in the liquid phase at pressures less than 10 MPa to 1% in the liquid phase at higher pressures (up to 200 MPa) and at temperatures above the critical point (up to 550 K). The uncertainty in density in the vapor phase is 0.5%. Uncertainties in other properties are 0.1% for vapor pressure, 2% for liquid phase heat capacities, 0.5% for vapor phase heat capacities, 1% for liquid phase sound speeds, and 0.02% for vapor phase sounds speeds from (250","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty in liquid viscosity Estimated uncertainty in thermal conductivity The Lennard-Jones parameters were taken from fitting data of Vogel, E., Holdt, B., and Strehlow, T., \"The Initial Density Dependence of Organic Vapors- Cyclohexane and Neopentane,\" Physica A, 148(1-2):46-60, 1988."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463821/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C463821/species.html","references/basic40_templates/alicat_mc/raw/nist/C463821/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_helium","name":"Helium","name_zh":"氦气","kind":"pure","cas":"7440-59-7","formula":"He","nist_fluid_id":"C7440597","shared_ids":{"substances":"helium"},"alicat":{"gas_select":"standard_mc","listed_name":"Helium 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440597: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440597&Action=Page","source_models":{"Equation of state":"Ortiz-Vega, D.O., Hall, K.R., Holste, J.C., Arp, V.D., Harvey, A.H., and Lemmon, E.W., final equation of state, to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties below 50 K in density are 0.25% at pressures up to 10 MPa. From 50 K to 200 K, the uncertainties decrease linearly from 0.2% at 50 K to 0.05% at 200 K for all pressures up to 50 MPa. Between 200 K and 500 K, the uncertainty is 0.03% up to pressures of 40 MPa and 0.1% between 40 MPa and 100 MPa. For all other states not listed here, the uncertainties increase to 0.5% in density. The uncertainties in the speed of sound are 0.01% for the vapor phase and 0.2% for the liquid phase. The uncertainty in vapor pressure is ","Viscosity":"Arp, V.D., McCarty, R.D., and Friend, D.G., \"Thermophysical Properties of Helium-4 from 0.8 to 1500 K with Pressures to 2000 MPa,\" NIST Technical Note 1334 (revised), 1998. The uncertainty in viscosity is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440019: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440019&Action=Page","source_models":{"Equation of state":"Thol, M., Beckm�ller, R., Weiss, R., Harvey, A.H., Lemmon, E.W., Jacobsen, R.T, and Span, R., \"Thermodynamic Properties for Neon for Temperatures from the Triple Point to 700 K at Pressures to 700 MPa,\" to be submitted to Int. J. Thermophys., 2018.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Kestin, J. ; Ro, S.T. ; Wakeham, W.A. , Viscosity of the Binary Gaseous Mixtures He-Ne and Ne-N 2 in the Temperature Range 25-700°C , J. Chem. Phys. , 1972, 56, 12, 5837-5842, https://doi.org/10.1063/1.1677125 . [ all data ] VISCOSITY Forster, S., \"Viscosity Measurements in Liquid Neon, Argon, and Nitrogen,\" Cryogenics, 3, 176, 1963. Slusar', V.P., Rudenko, N.S., and Tret'yakov, V.M., \"Experimental Study of the Viscosity 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440371: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440371&Action=Page","source_models":{"Equation of state":"Tegeler, Ch. ; Span, R. ; Wagner, W. , A New Equation of State for Argon Covering the Fluid Region for Temperatures from the Melting Line to 700 K at Pressures up to 1000 MPa , J. Phys. Chem. Ref. Data , 1999, 28, 3, 779-850, https://doi.org/10.1063/1.556037 . [ all data ] Tegeler, Ch., Span, R., and Wagner, W., \"A New Equation of State for Argon Covering the Fluid Region for Temperatures from the Melting Line to 700 K at Pressures up to 1000 MPa,\" J. Phys. Chem. Ref. Data, 28(3):779-850, 1999. The estimated uncertainty in density is less than 0.02% for pressures up to 12 MPa and temperatures up to 340 K with the exception of the critical region and less than 0.03% for pressures up to 30 MPa","Viscosity":"Lemmon, E.W. ; Jacobsen, R.T. , Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air , Int. J. Thermophys. , 2004, 25, 1, 21-69, https://doi.org/10.1023/B:IJOT.0000022327.04529.f3 . [ all data ] Lemmon, E.W. and Jacobsen, R.T, \"Viscosity and Thermal Conductivity Equations for Nitrogen, Oxygen, Argon, and Air,\" Int. J. Thermophys., 25:21-69, 2004. The uncertainty is 0.5% in the dilute gas. Away from the dilute gas (pressures greater than 1 MPa and in the liquid), the uncertainties are as low as 1% between 270 and 300 K at pressures less than 100 MPa, and increase outside that range. The uncertainties are around 2% at temperatures of 180 K and higher. Below this 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7439909: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7439909&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The equation of state is valid from the triple point to 750 K with pressures to 200 MPa, although the uncertainties increase substantially above 100 MPa. The uncertainties in density are typically 0.2% below 100 MPa, increasing to 1% at pressures up to 200 MPa. The uncertainty in vapor pressure is 0.2% and the uncertainties in speed of sound are 0.01% in the vapor phase (including supercritical conditions) at low pressures, 1% below 20 MPa in the liquid phase, and 3% below 100 MPa at other state points. The limit","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Uncertainty of viscosity in the liquid phase is 30%, data unavailable. Uncertainty of viscosity in the gas phase at atmospheric pressure is 3%. Uncertainty of thermal conductivity is 4% at pressures to 50 MPa. The Lennard-Jones parameters were taken from Reid, R.C., Prausnitz, J.M., and Poling, B.E., \"The Properties of Gases and Liquids,\" 4th edition, New York, McGraw-Hill Book Company, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7440633: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7440633&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.2% in density up to 100 MPa, rising to 1% at higher pressures, 0.2% in vapor pressure, 1% in the speed of sound, and 2% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Estimated uncertainty for gas-phase viscosity is 1%, for liquid to 60 MPa and temperatures above 170 K is 5%. Estimated uncertainty for gas-phase thermal conductivity is 5%, and 3% for the liquid at pressures to 50 MPa at temperatures 170 K to 235 K. The Lennard-Jones parameters were obtained by fitting data in Vogel, E., Ber. Bunsen-Ges. Phys. Chem., 88:997-1002, 1984."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C7440633/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C7440633/species.html","references/basic40_templates/alicat_mc/raw/nist/C7440633/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_ammonia","name":"Ammonia","name_zh":"氨","kind":"pure","cas":"7664-41-7","formula":"H3N","nist_fluid_id":"C7664417","shared_ids":{"spectral_library":"ammonia","substances":"ammonia"},"alicat":{"gas_select":"s_series_only","listed_name":"Ammonia 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7664417: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7664417&Action=Page","source_models":{"Equation of state":"Gao, K., Wu, J., Bell, I.H., and Lemmon, E.W., \"Thermodynamic Properties of Ammonia for Temperatures from the Melting Line to 725 K and Pressures to 1000 MPa,\" to be submitted to J. Phys. Chem. Ref. Data, 2018. The uncertainties in the vapor phase in density are 0.1% at temperatures between 410 K and 580 K with pressures below 100 MPa, and 0.05% at temperatures between 220 K and 400 K with pressures below 10 MPa. In the liquid phase, the uncertainty in density is 0.05% at temperatures between 190 K and 400 K with pressures below 200 MPa. The uncertainty in density is 1.5% at pressures between 200 MPa and 1000 MPa. In the critical region, the uncertainty in density is estimated to be 1%. The ","Viscosity":"Monogenidou, S.A., Assael, M.J., and Huber, M.L. \"Reference Correlation of the Viscosity of Ammonia from the Triple Point to 700 K and up to 50 MPa,\" accepted for publication in J. Phys. Chem. Ref. Data, 2018. The estimated uncertainty for pressures up to 50 MPa is 4%. The equation may be used up to 100 MPa but the uncertainty will be larger, especially at lower 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75694: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75694&Action=Page","source_models":{"Equation of state":"Jacobsen, R.T. ; Penoncello, S.G. ; Lemmon, E.W. , A Fundamental Equation for Trichlorofluoromethane (R-11) , Fluid Phase Equilib. , 1992, 80, 45-56, https://doi.org/10.1016/0378-3812(92)87054-Q . [ all data ] Jacobsen, R.T, Penoncello, S.G., and Lemmon, E.W., \"A Fundamental Equation for Trichlorofluoromethane (R-11),\" Fluid Phase Equilib., 80:45-56, 1992. The uncertainties of the equation of state are 0.1% in density for the liquid, and 0.25% for the vapor, 2% in heat capacity, and 1% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.2%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Richard, R.G. ; Shankland, I.R. , A Transient Hot-Wire Method for Measuring the Thermal Conductivity of Gases and Liquids , Int. J. Thermophys. , 1989, 10, 3, 673-686, https://doi.org/10.1007/BF00507988 . [ all data ] Assael, M.J. ; Polimatidou, S.K. ; Vogel, E. ; Wakeham, W.A. , Measurements of the Viscosity of R11, R12, R141b, and R152a in the Temperature Range 270-340 K at Pressures up to 20 MPa , Int. J. Thermophys. , 1994, 15, 4, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75718: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75718&Action=Page","source_models":{"Equation of state":"Marx, V., Pruss, A., and Wagner, W., \"Neue Zustandsgleichungen fuer R 12, R 22, R 11 und R 113. Beschreibung des thermodynamishchen Zustandsverhaltens bei Temperaturen bis 525 K und Druecken bis 200 MPa,\" Duesseldorf, VDI Verlag, Series 19 (Waermetechnik/Kaeltetechnik), No. 57, 1992. The uncertainties in density are 0.2% below the critical point temperature and increases to 1% in and above the critical region. The uncertainties for vapor pressures are 0.2% above 200 K and greater than 1% below 200 K. The uncertainties in heat capacities and sound speeds are 1% each.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Donaldson, A.B. , On the Estimation of Thermal Conductivity of Organic Vapors. Data for Some Freons , Ind. Eng. Chem. Fundam. , 1975, 14, 4, 325-328, https://doi.org/10.1021/i160056a008 . [ all data ] VISCOSITY The ECS parameters for viscosity were based on the data of: Assael, M.J., Polimatidou, S.K., Vogel, E., and Wakeham, W.A., \"Measurements of the Viscosity of R11, R12, R141b, and R152a in the Temperature Range 270-340 K at Pressur"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75718/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75718/species.html","references/basic40_templates/alicat_mc/raw/nist/C75718/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r13","name":"Chlorotrifluoromethane (R13)","name_zh":"R13 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75729: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75729&Action=Page","source_models":{"Equation of state":"Magee, J.W. ; Outcalt, S.L. ; Ely, J.F. , Molar Heat Capacity Cv, Vapor Pressure, and (P, ρ, T) Measurements from 92 to 350 K at Pressures to 35 MPa and a New Equation of State for Chlorotrifluoromethane (R13) , Int. J. Thermophys. , 2000, 21, 5, 1097-1121, https://doi.org/10.1023/A:1026446004383 . [ all data ] Magee, J.W., Outcalt, S.L., and Ely, J.F., \"Molar Heat Capacity C(v), Vapor Pressure, and (p, rho, T) Measurements from 92 to 350 K at Pressures to 35 MPa and a New Equation of State for Chlorotrifluoromethane (R13),\" Int. J. Thermophys., 21(5):1097-1121, 2000. The uncertainties of the equation of state are 0.15% in density and 2% in heat capacity, except in the critical region. The u","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Diller, D.E. ; Van Poolen, L.J. , Measurement of Viscosities of Saturated and Compressed Fluid Chlorotrifluoromethane (R13) , Cryogenics , 1989, 29, 11, 1063-1066, https://doi.org/10.1016/0011-2275(89)90261-0 . [ all data ] THERMAL CONDUCTIVITY The ECS parameters for thermal conductivity were based in part on the data of: Makita, T., Tanaka, Y., Morimoto, Y., Noguchi, M., and Kubota, H., \"Thermal Conductivity of Gaseous Fluorocarbo"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C75729/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C75729/species.html","references/basic40_templates/alicat_mc/raw/nist/C75729/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r14","name":"Tetrafluoromethane 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75730: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75730&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The uncertainties are 0.5% in density, 1% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Imaishi, N. ; Kestin, J. ; Paul, R. , Thermal Conductivity of Carbon Tetrafluoride with Argon and Helium , Int. J. Thermophys. , 1985, 6, 1, 3-20, https://doi.org/10.1007/BF00505789 . [ all data ] Kestin, J. ; Khalifa, H.E. ; Ro, S.T. ; Wakeham, W.A. , The Viscosity of Diffusion Coefficients of Eighteen Binary Gaseous Systems , Physica A: , 1977, 88, 2, 242-260, https://doi.org/10.1016/0378-4371(77)90003-6 . [ all data ] Millat, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75434: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75434&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The estimated uncertainty on fixed points is Tc","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Phillips, T.W. ; Murphy, K.P. , Liquid Viscosity of Halocarbons , J. Chem. Eng. Data , 1970, 15, 2, 304-307, https://doi.org/10.1021/je60045a018 . [ all data ] Estimated uncertainty for saturated liquid viscosity is 5%. THERMAL CONDUCTIVITY Tauscher, W., \"Thermal Conductivity of Liquid Refrigerants Measured by an Unsteady State Hot-Wire Method,\" Kalte technik, 19(9):288, 1967. Djalalian, W.H., \"Measurements of the Thermal 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75456: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75456&Action=Page","source_models":{"Equation of state":"Kamei, A. ; Beyerlein, S.W. ; Jacobsen, R.T. , Application of Nonlinear Regression in the Development of a Wide Range Formulation for HCFC-22 , Int. J. Thermophys. , 1995, 16, 5, 1155-1164, https://doi.org/10.1007/BF02081283 . [ all data ] The uncertainties of the equation of state are 0.1% in density, 1% in heat capacity, and 0.3% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.2%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Assael, M.J. ; Karagiannidis, E. , Measurements of the Thermal Conductivity of R22, R123, and R134a in the Temperature Range 250-340 K at Pressures Up to 30 MPa , Int. J. Thermophys. , 1993, 14, 2, 183-197, https://doi.org/10.1007/BF00507807 . [ all data ] Diller, D.E. ; Aragon, A.S. ; Laesecke, A. , Measurements of the Viscosities of Saturated and Compressed Liquid Chlorodifluoromethane (R22) , Int. J. Refrig. , 1993, 16, 1, 19-22, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75467: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75467&Action=Page","source_models":{"Equation of state":"Penoncello, S.G. ; Lemmon, E.W. ; Jacobsen, R.T. ; Shan, Z. , A Fundamental Equation for Trifluoromethane (R-23) , J. Phys. Chem. Ref. Data , 2003, 32, 4, 1473-1499, https://doi.org/10.1063/1.1559671 . [ all data ] The uncertainties of the equation of state are 0.1% in density, 0.5% in heat capacities and speed of sound, and 0.2% in vapor pressures. Uncertainties in the critical region will be higher.","Viscosity":"Shan, Z., Penoncello, S.G., and Jacobsen, R.T, \"A Generalized Model for Viscosity and Thermal Conductivity of Trifluoromethane (R-23),\" ASHRAE Transactions, 106:757-767, 2000. The uncertainty in viscosity is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75105: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75105&Action=Page","source_models":{"Equation of state":"Tillner-Roth, R. ; Yokozeki, A. , An International Standard Equation of State for Difluoroethane (R-32) for Temperatures from the Triple Point at 136.34 K to 435 K and Pressures up to 70 MPa , J. Phys. Chem. Ref. Data , 1997, 26, 6, 1273-1328, https://doi.org/10.1063/1.556002 . [ all data ] Tillner-Roth, R. and Yokozeki, A., \"An International Standard Equation of State for Difluoromethane (R-32) for Temperatures from the Triple Point at 136.34 K to 435 K and Pressures up to 70 MPa,\" J. Phys. Chem. Ref. Data, 26(6):1273-1328, 1997. The estimated uncertainties are 0.05% for density, 0.02% for the vapor pressure, and 0.5%-1% for the heat capacity and speed of sound in the liquid phase. In the 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C593533: https://webbook.nist.gov/cgi/fluid.cgi?ID=C593533&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density (except near the critical point), 0.25% in vapor pressure, 1% in heat capacities, 0.2% in the vapor phase speed of sound, and 3% in the liquid phase speed of sound. The liquid phase speed of sound uncertainty is an estimate and cannot be verified without experimental information. The uncertainties above 290 K in vapor pressure may be as high as 0.5%.","Transport model":"Klein, S.A. ; McLinden, M.O. ; Laesecke, A. , An Improved Extended Corresponding States Method for Estimation of Viscosity of Pure Refrigerants and Mixtures , Int. J. Refrig. , 1997, 20, 3, 208-217, https://doi.org/10.1016/S0140-7007(96)00073-4 . [ all data ] Tomassini, F. ; Levi, A.C. ; Scoles, G. ; De Groot, J.J. ; Van Den Broeke, J.W. ; Van Den Meijdenberg, C.J.N. ; Beenakker, J.J.M. , Viscosity and Thermal Conductivity of Polar Gases in an Electric Field , Physica (Amsterdam) , 1970, 49, 2, 299-341, https://doi.org/10.1016/0031-8914(70)90177-1 . [ all data ] Dunlop, P.J. , Viscosities of a Series of Gaseous Fluorocarbons at 25 °C , J. Chem. Phys. , 1994, 100, 4, 3149-3151, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76142: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76142&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The uncertainty in density is 0.2% up to 400 K and 1% at higher temperatures. The vapor pressure uncertainty is 1.5%. In the liquid phase, the uncertainty in isobaric heat capacity is 3%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Kumagai, A. ; Yokoyama, C. , Revised Viscosities of Saturated Liquid Halocarbon Refrigerants from 273 to 353 K , Int. J. Thermophys. , 2000, 21, 4, 909-912, https://doi.org/10.1023/A:1006666308831 . [ all data ] THERMAL CONDUCTIVITY The ECS parameters for thermal conductivity were based in part on the data of: Keyes, F.G., \"Thermal Conductivity of Gases,\" Trans. ASME, 76:809-816, 1954. Fellows, B.R., Richard, R.G., and 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76153: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76153&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Thermodynamic Properties of R-227ea, R-365mfc, R-115, and R-13I1 , J. Chem. Eng. Data , 2015, 60, 12, 3745-3758, https://doi.org/10.1021/acs.jced.5b00684 . [ all data ] The uncertainties are 0.5% in density and vapor pressure, and 1% in sound speed and heat capacity.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Hahne, E. ; Gross, U. ; Song, Y.W. , The Thermal Conductivity of R115 in the Critical Region , Int. J. Thermophys. , 1989, 10, 3, 687-700, https://doi.org/10.1007/BF00507989 . [ all data ] Takahashi, M. ; Yokoyama, C. ; Takahashi, S. , Viscosities of Gaseous 1,2,2-Trichloro-1,1,2-Trifluoroethane(R113), 1,2-Dichloro-1,1,2,2-Tetrafluoroethane(R114) and Chloropentafluoroethane(R115) , Kagaku Kogaku Ronbunshu , 1985, 11, 2, 155-161, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76164: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76164&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation are 0.5% in density for liquid and vapor states and 1% in density or pressure for supercritical states. For vapor pressure, the uncertainty is 0.3%, that for vapor phase speed of sounds is 0.2%, and the uncertainty for heat capacities is 5%.","Viscosity":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] The estimated uncertainty in the liquid phase along the saturation boundary is 25 %, and of the vapor phase is 5 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C2837890: https://webbook.nist.gov/cgi/fluid.cgi?ID=C2837890&Action=Page","source_models":{"Equation of state":"de Vries, B., Tillner-Roth, R., and Baehr, H.D., \"Thermodynamic Properties of HCFC 124,\" 19th International Congress of Refrigeration, The Hague, The Netherlands, International Institute of Refrigeration, IVa:582-589, 1995. The uncertainties of the equation of state are 0.05% in density, 1% in heat capacity, and 1% in the speed of sound, except in the critical region. The uncertainty in vapor pressure is 0.1%.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Yata, J. ; Hori, M. ; Kurahashi, T. ; Minamiyama, T. , Thermal Conductivity of Alternative Fluorocarbons in Liquid Phase , Fluid Phase Equilib. , 1992, 80, 287-296, https://doi.org/10.1016/0378-3812(92)87075-X . [ all data ] Assael, M.J. ; Polimatidou, S.K. , Measurements of the Viscosity of Liquid R22, R124, and R125 in the Temperature Range 273-333 K , Int. J. Thermophys. , 1994, 15, 5, 779-790, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C354336: https://webbook.nist.gov/cgi/fluid.cgi?ID=C354336&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Jacobsen, R.T. , A New Functional Form and New Fitting Techniques for Equations of State with Application to Pentafluoroethane (HFC-125) , J. Phys. Chem. Ref. Data , 2005, 34, 1, 69-108, https://doi.org/10.1063/1.1797813 . [ all data ] The uncertainty in density is 0.1% at temperatures from the triple point to 400 K at pressures up to 60 MPa, except in the critical region, where an uncertainty of 0.2% in pressure is generally attained. In the limited region between 340 and 400 K and at pressures from 4 to 10 MPa, as well as for all states above 400 K, the uncertainty in density increases to 0.5%. At temperatures below 330 K and pressures below 30 MPa, the uncertainty in densit","Viscosity":"Huber, M.L. ; Laesecke, A. , Correlation for the Viscosity of Pentafluoroethane (R125) from the Triple Point to 500 K at Pressures up to 60 MPa , Ind. Eng. Chem. Res , 2006, 45, 12, 4447-4453, https://doi.org/10.1021/ie051367l . [ all data ] The estimated uncertainty in viscosity is 3.0% in the liquid phase, 0.8% in the vapor. DATA SOURCES FOR VISCOSITY The parameters for viscosity were based in part on the data of: Takahashi, M., Shibasaki-Kitakawa, N., and Yokoyama, C., \"Viscosity of Gaseous HFC-125 (Pentafluoroethane) Under High Pressures,\" Int. J. Thermophys., 20(2):445-453, 1999. Diller, D.E. and Peterson, S.M., \"Measurements of the Viscosities of Saturated and Compressed Fluid 1-Chloro"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C354336/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C354336/species.html","references/basic40_templates/alicat_mc/raw/nist/C354336/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_r134a","name":"Ethane, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C811972: https://webbook.nist.gov/cgi/fluid.cgi?ID=C811972&Action=Page","source_models":{"Equation of state":"Tillner-Roth, R. ; Baehr, H.D. , An International Standard Formulation for the Thermodynamic Properties of 1,1,1,2-Tetrafluoroethane (HFC-134a) for Temperatures from 170 K to 455 K and Pressures up to 70 MPa , J. Phys. Chem. Ref. Data , 1994, 23, 5, 657-729, https://doi.org/10.1063/1.555958 . [ all data ] The uncertainties are 0.05% for density, 0.02% for vapor pressure, 0.5-1% for heat capacity, 0.05% for vapor speed of sound, and 1% for liquid speed of sound, except in the critical region.","Viscosity":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] The uncertainty in viscosity is 1.5% along the saturated liquid line, 3% in the liquid phase, 0.5% in the dilute gas, 3-5% in the vapor phase, and 5% in the supercritical region, rising to 8% at pressures above 40 MPa. Below 200 K, the uncertainty is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75683: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75683&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density are 0.3% in the liquid phase below 370 K, 1% at higher temperatures in the liquid and supercritical regions, and 0.5% in the vapor phase. Uncertainties for other properties are 0.5% for vapor pressure, 2% for heat capacities and liquid sound speeds, and 0.2% for vapor sound speeds.","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Perkins, R.A. ; Laesecke, A. ; Nieto de Castro, C.A. , Polarized Transient Hot Wire Thermal Conductivity Measurements , Fluid Phase Equilib. , 1992, 80, 275-286, https://doi.org/10.1016/0378-3812(92)87074-W . [ all data ] VISCOSITY The ECS parameters for viscosity were based in part on the data of: Kumagai, A. and Yokoyama, C., \"Revised Viscosities of Saturated Liquid Halocarbon Refrigerants from 273 to 353 K,\" Int. J. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C420462: https://webbook.nist.gov/cgi/fluid.cgi?ID=C420462&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Jacobsen, R.T. , An International Standard Formulation for the Thermodynamic Properties of 1,1,1-Trifluoroethane (HFC-143a) for Temperatures from 161 to 450 K and Pressures to 50 MPa , J. Phys. Chem. Ref. Data , 2000, 29, 4, 521-552, https://doi.org/10.1063/1.1318909 . [ all data ] The estimated uncertainties of properties calculated with the equation of state are 0.1% in density, 0.5% in heat capacities, 0.02% in the speed of sound for the vapor at pressures less than 1 MPa, 0.5% in speed of sound elsewhere, and 0.1% in vapor pressure, except in the critical 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C75376: https://webbook.nist.gov/cgi/fluid.cgi?ID=C75376&Action=Page","source_models":{"Equation of state":"Outcalt, S.L. ; McLinden, M.O. , A Modified Benedict-Webb-Rubin Equation of State for the Thermodynamic Properties of R152a (1,1-Difluoroethane) , J. Phys. Chem. Ref. Data , 1996, 25, 2, 605-636, https://doi.org/10.1063/1.555979 . [ all data ] Outcalt, S.L. and McLinden, M.O., \"A Modified Benedict-Webb-Rubin Equation of State for the Thermodynamic Properties of R152a (1,1-Difluoroethane),\" J. Phys. Chem. Ref. Data, 25(2):605-636, 1996. The uncertainties of the equation of state are 0.1% in density, 2% in heat capacity, and 005% in the vapor speed of sound, except in the critical region. The uncertainty in vapor pressure is 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C76197: https://webbook.nist.gov/cgi/fluid.cgi?ID=C76197&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainty in density is 0.2% for the liquid phase and 0.5% for the vapor phase. Above the critical temperature, the uncertainties are estimated to be 1% in density and 0.5% in pressure. Calculated vapor pressures have an uncertainty of 0.5%. The uncertainties for heat capacities and sound speeds are 1%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Grebenkov, A.J. ; Zhelezny, V.P. ; Klepatsky, P.M. ; Beljajeva, O.V. ; Chernjak, Yu.A. ; Kotelevsky, Yu.G. ; Timofejev, B.D. , Thermodynamic and Transport Properties of Some Alternative Ozone-Safe Refrigerants for Industrial Refrigeration Equipment: Study in Belarus and Ukraine , Int. J. Thermophys. , 1996, 17, 3, 535-549, https://doi.org/10.1007/BF01441501 . [ all data ] The estimated uncertainty for thermal conductivity 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C431890: https://webbook.nist.gov/cgi/fluid.cgi?ID=C431890&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Thermodynamic Properties of R-227ea, R-365mfc, R-115, and R-13I1 , J. Chem. Eng. Data , 2015, 60, 12, 3745-3758, https://doi.org/10.1021/acs.jced.5b00684 . [ all data ] The uncertainties in densities are 0.05 % in the liquid region up to 360 K, 0.3 % in the vapor phase, and 0.5 % in the supercritical region. For vapor pressures, the uncertainties are 0.1 % above 270 K and 0.4 % between 240 K and 270 K (with the higher value at the lower temperature). The uncertainty in heat capacities is 1 % (with increasing uncertainties in the critical region and at high temperatures). For sound speeds, the uncertainties are 0.05 % in the vapor phase up to pressures of 0.5 MPa and","Transport model":"Huber, M.L. ; Laesecke, A. ; Perkins, R.A. , Model for the Viscosity and Thermal Conductivity of Refrigerants, Including a New Correlation for the Viscosity of R134a , Ind. Eng. Chem. Res. , 2003, 42, 13, 3163-3178, https://doi.org/10.1021/ie0300880 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Laesecke, A. ; Hafer, R.F. , Viscosity of Fluorinated Propane Isomers. 2. Measurements of Three Compounds and Model Comparisons , J. Chem. Eng. Data , 1998, 43, 1, 84-92, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C431630: https://webbook.nist.gov/cgi/fluid.cgi?ID=C431630&Action=Page","source_models":{"Equation of state":"Rui, X. ; Pan, J. ; Wang, Y. , An Equation of State for Thermodynamic Properties of 1,1,1,2,3,3-Hexafluoropropane (R236ea) , Fluid Phase Equilib. , 2013, 341, 78-85, https://doi.org/10.1016/j.fluid.2012.12.026 . [ all data ] The uncertainties in density of the equation of state are estimated to be 0.1% in the compressed liquid region, and 0.5% in the vapor region. The uncertainties in vapor pressure are 0.2% at temperatures from 280 K to 370 K, and 0.4% at temperatures outside of this range. The uncertainty in speed of sound is 0.1% in the vapor region and 2% in the liquid region.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Laesecke, A. ; Defibaugh, D.R. , Viscosity of 1,1,1,2,3,3-Hexafluoropropane and 1,1,1,3,3,3-Hexafluoropropane at Saturated-Liquid Conditions from 262 K to 353 K , J. Chem. Eng. 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C690391: https://webbook.nist.gov/cgi/fluid.cgi?ID=C690391&Action=Page","source_models":{"Equation of state":"Pan, J. ; Rui, X. ; Zhao, X. ; Qiu, L. , An Equation of State for the Thermodynamic Properties of 1,1,1,3,3,3-Hexafluoropropane (HFC-236fa) , Fluid Phase Equilib. , 2012, 321, 10-16, https://doi.org/10.1016/j.fluid.2012.02.012 . [ all data ] The uncertainties in density of the equation of state are estimated to be 0.1% in the compressed liquid region, and 0.5% in the vapor region. The uncertainties in vapor pressure are 0.2% at temperature from 280 K to 380 K, and 0.4% at temperature above 380 K. The uncertainty in speed of sound in the gas region is 0.1%.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] Meng, X. ; Zhang, J. ; Wu, J. , Compressed Liquid Viscosity of 1,1,1,3,3-Pentafluoropropane (R245fa) and 1,1,1,3,3,3-Hexafluoropropane (R236fa) , J. Chem. Eng. Data , 2011, 56, 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C460731: https://webbook.nist.gov/cgi/fluid.cgi?ID=C460731&Action=Page","source_models":{"Equation of state":"Akasaka, R. ; Zhou, Y. ; Lemmon, E.W. , A Fundamental Equation of State for 1,1,1,3,3-Pentafluoropropane (R-245fa) , J. Phys. Chem. Ref. Data , 2015, 44, 1, 013104, https://doi.org/10.1063/1.4913493 . [ all data ] The estimated uncertainties are 0.1 % for vapor pressures, 0.1 % for saturated liquid densities, 0.1 % for liquid densities below 70 MPa, 0.2 % for densities at higher pressures, 0.3 % for vapor densities, 0.3 % for liquid sound speeds, and 0.1 % for vapor sound speeds. The uncertainties in the critical region are higher for all properties except vapor pressures.","Viscosity":"Perkins, R.A. ; Huber, M.L. ; Assael, M.J. , Measurements of the Thermal Conductivity of 1,1,1,3,3-Pentafluoropropane (R245fa) and Correlations for the Viscosity and Thermal Conductivity Surfaces , J. Chem. Eng. Data , 2016, 61, 9, 3286-3294, https://doi.org/10.1021/acs.jced.6b00350 . [ all data ] The estimated uncertainty for the dilute gas region is 2%, for the liquid phase at pressures to 40 MPa is 3%."},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C460731/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C460731/species.html","references/basic40_templates/alicat_mc/raw/nist/C460731/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"gas_rc318","name":"Octafluorocyclobutane 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C115253: https://webbook.nist.gov/cgi/fluid.cgi?ID=C115253&Action=Page","source_models":{"Equation of state":"Platzer, B., Polt, A., and Maurer, G., \"Thermophysical Properties of Refrigerants,\" Berlin, Springer-Verlag, 1990. The estimated uncertainties are 1% in density, 2% in vapor pressure, and 5% in heat capacities.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Perkins, R. ; Cusco, L. ; Howley, J. ; Laesecke, A. ; Matthes, S. ; Ramires, M.L.V. , Thermal Conductivities of Alternatives to CFC-11 for Foam Insulation , J. Chem. Eng. Data , 2001, 46, 2, 428-432, https://doi.org/10.1021/je990337k . [ all data ] VISCOSITY The ECS parameters for viscosity were based in part on the data of: Geller, V.Z., Karabanov, E.M., Gunchuk, B.V., Zakharzhevskiy, V.Y., and Lapardin, N.I., \"Study of 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C355259: https://webbook.nist.gov/cgi/fluid.cgi?ID=C355259&Action=Page","source_models":{"Equation of state":"Gao, K., Wu, J., and Lemmon, E.W., unpublished equation, 2017. The uncertainty of the equation of state in density is 1 % in the vapor phase region at temperatures between 338 K and 455 K. The uncertainty in vapor pressure is 0.2 % at temperatures between 260 K and 380 K. The uncertainty in saturated-liquid density is 0.2 % between 230 K and 360 K. The uncertainty in saturated-vapor density is generally less than 2 % between 230 K and 360 K. The uncertainty in sound speed is 0.4 % at temperatures between 255 K and 305 K.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] VISCOSITY Predictive model. Experimental data unavailable. Values based on estimation method of extended corresponding states; estimated uncertainty is approximately 20-50%. THERMAL CONDUCTIVITY Predictive model. Experimental data unavailable. Values based on estimation method of extended corresponding states; estimated uncertainty is approximately 20-50%. The parameters for C5F12 were used as estimated values. The 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7446095: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7446095&Action=Page","source_models":{"Equation of state":"Gao, K. ; Wu, J. ; Zhang, P. ; Lemmon, E.W. , A Helmholtz Energy Equation of State for Sulfur Dioxide , J. Chem. Eng. Data , 2016, 61, 8, 2859-2872, https://doi.org/10.1021/acs.jced.6b00195 . [ all data ] The equation of state is valid from the triple point temperature of 197.7 K to 523 K, with pressures up to 35 MPa and densities up to 25.3 mol/l. The uncertainties in density of the equation of state are 0.1 % in the liquid phase, 0.25 % in the vapor phase, and 1 % in the critical region. The uncertainty in vapor pressure is 0.2 % and the uncertainty in saturated liquid density is 0.2 % below 410 K. The uncertainty in isobaric heat capacity is 2 % between 200 K and 290 K. In the critical re","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Baker, C.B. ; De Haas, N. , Gas Thermal Conductivity Studies at High Temperature. III. Results for SO 2 , Phys. Fluids , 1964, 7, 9, 1400-1402, https://doi.org/10.1063/1.1711394 . [ all data ] Stewart, W.W. ; Maass, O. , Coefficient of Viscosity of Sulfur Dioxide Over a Low Temperature Range , Can. J. Res. , 1932, 6, 5, 453-457, https://doi.org/10.1139/cjr32-035 . [ all data ] The estimated uncertainty of thermal 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C7783064: https://webbook.nist.gov/cgi/fluid.cgi?ID=C7783064&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in density are 0.1% in the liquid phase below the critical temperature, 0.4% in the vapor phase, 1% at supercritical temperatures up to 500 K, and 2.5% at higher temperatures. Uncertainties will be higher near the critical point. The uncertainty in vapor pressure is 0.25%, and the uncertainty in heat capacities is estimated to be 1%.","Viscosity":"Schmidt, K.A.G. ; Quiñones-Cisneros, S.E. ; Carroll, J.J. ; Kvamme, B. , Hydrogen Sulphide Viscosity Modeling , Energy Fuels , 2008, 22, 5, 3424-3434, https://doi.org/10.1021/ef700701h . [ all data ] Schmidt, K.A.G., Carroll, J.J., Quinones-Cisneros, S.E., and Kvamme, B., \"Hydrogen Sulphide Viscosity Model,\" proceedings of the 86th Annual GPA Convention, March 11-14, San Antonio, TX, 2007. See also: Schmidt, K.A.G., Quinones-Cisneros, S.E., Carroll, J.J., and Kvamme, B., \"Hydrogen Sulfide Viscosity Modeling,\" Energy & Fuels, 22, 3424-3434. The correlation agrees with available experimental data with an average absolute percent deviation of 1% over the temperature range 190-600 K at 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C2551624: https://webbook.nist.gov/cgi/fluid.cgi?ID=C2551624&Action=Page","source_models":{"Equation of state":"Guder, C. ; Wagner, W. , A Reference Equation of State for the Thermodynamic Properties of Sulfur Hexafluoride (SF 6 ) for Temperatures from the Melting Line to 625 K and Pressures up to 150 MPa , J. Phys. Chem. Ref. Data , 2009, 38, 1, 33-94, https://doi.org/10.1063/1.3037344 . [ all data ] The uncertainties in density are 0.02% for temperatures less than 340 K (","Viscosity":"Quiñones-Cisneros, S.E. ; Huber, M.L. ; Deiters, U.K. , Correlation for the Viscosity of Sulfur Hexafluoride (SF 6 ) from the Triple Point to 1000 K and Pressures to 50 MPa , J. Phys. Chem. Ref. Data , 2012, 41, 2, 023102, https://doi.org/10.1063/1.3702441 . [ all data ] In the low-pressure (less than 0.33 MPa) region from 300 K to 700 K the estimated uncertainty is 0.3%. In the region from 300 K to 425 K for pressures less than 20 MPa, the estimated uncertainty is less than 1%. Where there were data available for validation at temperatures from 230 K to 575 K for pressures up to 50 MPa, the estimated uncertainty is 2%. The correlation extrapolates in a physically reasonable manner and may 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at grid.pressure_Pa, 253.15-343.15 K step 5 K; liquid / out-of-EOS-range points stored as null with their phase","standard_conditions":"Alicat MC defaults: STP 298.15 K / 101325 Pa, NTP 273.15 K / 101325 Pa (Alicat DOC-SPECS-MC-MID Rev 6 (July 2025), p.2 FEATURES: STP 25 °C/1 atm, NTP 0 °C/1 atm, Gas Select 98 gases (local copy outputs/basic40_batch02/t5_automation/alicat_mc/source_rev6.pdf))","nist_range_adjusted":false},"evidence":"measured_literature","evidence_note":"NIST SRD 69 evaluated reference data: values computed by NIST from the cited reference equation of state and viscosity model, which are fitted to experimental data; copied unchanged (MPa->Pa, g/mol->kg/mol).","source":"E.W. Lemmon, I.H. Bell, M.L. Huber, M.O. McLinden, 'Thermophysical Properties of Fluid Systems' in NIST Chemistry WebBook, NIST Standard Reference Database 69 (eds. P.J. Linstrom, W.G. Mallard), https://doi.org/10.18434/T4D303; fluid ID C463581: https://webbook.nist.gov/cgi/fluid.cgi?ID=C463581&Action=Page","source_models":{"Equation of state":"Lemmon, E.W. ; Span, R. , Short Fundamental Equations of State for 20 Industrial Fluids , J. Chem. Eng. Data , 2006, 51, 3, 785-850, https://doi.org/10.1021/je050186n . [ all data ] The uncertainties in the equation of state are 0.1% in density in the liquid phase below 450 K, 1% in density at temperatures between 450 and 500 K, 3% in density at temperatures above 500 K, 1% in density in the vapor phase and at supercritical conditions below 10 MPa and 450 K, 0.5% in vapor pressure, and 2% in isobaric heat capacity. There are no speed of sound data to ascertain its uncertainty.","Transport model":"Huber, M.L. , Models for the Viscosity, Thermal Conductivity, and Surface Tension of Selected Pure Fluids as Implemented in REFPROP v10.0 , NIST Interagency/Internal Report (NISTIR) - 8209, NIST, Boulder, Colorado, 2018, https://doi.org/10.6028/NIST.IR.8209 . [ all data ] Hirschfelder, J.O. ; Curtiss, C.F. ; Bird, R.B. , Molecular Theory of Gases and Liquids , John Wiley and Sons, Inc., New York, 1954, 1245, https://doi.org/10.1002/pol.1955.120178311 . [ all data ] VISCOSITY Estimated uncertainty in the gas phase is THERMAL CONDUCTIVITY Estimated uncertainty in the gas phase is difficult to assess due to lack of experimental data, estimated to be 25%; predictive values. Estimated uncertainty"},"raw_files":["references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.01MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.075MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.1MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.101325MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.15MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.3MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.45MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.6MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.8MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_1.0MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_1.2MPa.txt","references/basic40_templates/alicat_mc/raw/nist/C463581/isobar_0.101325MPa.html","references/basic40_templates/alicat_mc/raw/nist/C463581/species.html","references/basic40_templates/alicat_mc/raw/nist/C463581/sat_T.txt"],"accessed":"2026-10-14"},{"substance_id":"mix_air","name":"Air (dry)","name_zh":"Air (dry)","kind":"mixture","cas":null,"formula":null,"shared_ids":{},"alicat":{"gas_select":"standard_mc","listed_name":"Air","group":"Pure gases"},"composition_mole_fraction":{"gas_nitrogen":0.7812,"gas_argon":0.0092,"gas_oxygen":0.2096},"molar_mass_kg_mol":0.02895853816,"unit":{"composition_mole_fraction":"1","molar_mass_kg_mol":"kg/mol","density_kg_m3":"kg/m^3","viscosity_Pa_s":"Pa*s","compressibility_factor":"1"},"conditions":{"composition_basis":"mole fraction","notes":["Alicat lists 'Air' by name only; the dry-air composition is the Lemmon et al. 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diff --git a/assets/reactions/biotage_extrahera_spe_library/templates.json b/assets/reactions/biotage_extrahera_spe_library/templates.json
index 0892dacdc36d6613a502a437fc32b36fe04ee155..dd94ddb549400ebbc0d034afbc755cefb7870ef4 100644
--- a/assets/reactions/biotage_extrahera_spe_library/templates.json
+++ b/assets/reactions/biotage_extrahera_spe_library/templates.json
@@ -2,7 +2,7 @@
  "asset_type_id": "instrument.biotage_extrahera_classic",
  "schema_version": "1.0.0",
  "catalog_id": "CHEM-031",
- "built_at": "2026-10-14T18:38:57.507121+00:00",
+ "built_at": "2026-10-23T05:17:07.518647+00:00",
  "family": "spe_analyte",
  "n_records": 127,
  "n_runtime_usable": 124,
@@ -5849,7 +5849,8 @@
    "inchikey": "RYYVLZVUVIJVGH-UHFFFAOYSA-N",
    "smiles": "CN1C=NC2=C1C(=O)N(C(=O)N2C)C",
    "shared_ids": {
-    "spectral_library": "caffeine"
+    "spectral_library": "caffeine",
+    "substances": "caffeine"
    },
    "logp": {
     "value": -0.07,
diff --git a/assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json b/assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json
index 4859bed1567ae7d92f731c0fa76b238424527215..d4adc617795698f3232ca5c568d93f0093b07350 100644
--- a/assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json
+++ b/assets/reactions/buchi_lyovapor_l250_formulation_library/templates.json
@@ -2,7 +2,7 @@
  "asset_type_id": "instrument.buchi_lyovapor_l250_pro",
  "schema_version": "1.0.0",
  "catalog_id": "CHEM-025",
- "built_at": "2026-10-15T21:09:59.332691+00:00",
+ "built_at": "2026-10-23T05:17:07.879414+00:00",
  "family": "lyophilization_formulation",
  "n_records": 101,
  "n_runtime_usable": 82,
@@ -8226,7 +8226,9 @@
    "kind": "excipient",
    "cas": "7757-82-6",
    "composition": null,
-   "shared_ids": {},
+   "shared_ids": {
+    "substances": "sodium_sulfate"
+   },
    "tg_prime_k": null,
    "tc_k": null,
    "te_k": 272.49,
diff --git a/assets/reactions/ika_rv10_evaporation_library/templates.json b/assets/reactions/ika_rv10_evaporation_library/templates.json
index 8f1191c02e9e2c11e054f827b3df8c5330ff21ec..8018617f923e546e4bf72c38a5dc64eb52acee5e 100644
--- a/assets/reactions/ika_rv10_evaporation_library/templates.json
+++ b/assets/reactions/ika_rv10_evaporation_library/templates.json
@@ -2,7 +2,7 @@
  "asset_type_id": "instrument.ika_rv10_digital_v",
  "schema_version": "1.0.0",
  "catalog_id": "CHEM-024",
- "built_at": "2026-10-15T21:09:56.631064+00:00",
+ "built_at": "2026-10-23T05:17:07.986255+00:00",
  "family": "solvent_evaporation",
  "n_records": 81,
  "n_runtime_usable": 67,
@@ -16712,7 +16712,8 @@
    "pubchem_cid": 3776,
    "molar_mass_kg_mol": 0.0601,
    "shared_ids": {
-    "spectral_library": "propan_2_ol"
+    "spectral_library": "propan_2_ol",
+    "substances": "propan_2_ol"
    },
    "normal_boiling_point_k": 355.5,
    "melting_point_k": 185.55,
@@ -23449,7 +23450,8 @@
    "pubchem_cid": 6342,
    "molar_mass_kg_mol": 0.041049999999999996,
    "shared_ids": {
-    "spectral_library": "acetonitrile"
+    "spectral_library": "acetonitrile",
+    "substances": "acetonitrile"
    },
    "normal_boiling_point_k": 354.8,
    "melting_point_k": 228.0,
@@ -27639,7 +27641,8 @@
    "pubchem_cid": 8028,
    "molar_mass_kg_mol": 0.07211,
    "shared_ids": {
-    "spectral_library": "tetrahydrofuran"
+    "spectral_library": "tetrahydrofuran",
+    "substances": "tetrahydrofuran"
    },
    "normal_boiling_point_k": 339.0,
    "melting_point_k": 164.39,
@@ -38423,7 +38426,8 @@
    "pubchem_cid": 8058,
    "molar_mass_kg_mol": 0.08618,
    "shared_ids": {
-    "spectral_library": "hexane"
+    "spectral_library": "hexane",
+    "substances": "hexane"
    },
    "normal_boiling_point_k": 341.9,
    "melting_point_k": 178.0,
@@ -53722,7 +53726,8 @@
    "pubchem_cid": 356,
    "molar_mass_kg_mol": 0.11423,
    "shared_ids": {
-    "spectral_library": "octane"
+    "spectral_library": "octane",
+    "substances": "octane"
    },
    "normal_boiling_point_k": 398.7,
    "melting_point_k": 216.3,
@@ -61769,7 +61774,8 @@
    "pubchem_cid": 8141,
    "molar_mass_kg_mol": 0.12825,
    "shared_ids": {
-    "spectral_library": "nonane"
+    "spectral_library": "nonane",
+    "substances": "nonane"
    },
    "normal_boiling_point_k": 423.8,
    "melting_point_k": 219.5,
@@ -69282,7 +69288,8 @@
    "pubchem_cid": 15600,
    "molar_mass_kg_mol": 0.14228,
    "shared_ids": {
-    "spectral_library": "decane"
+    "spectral_library": "decane",
+    "substances": "decane"
    },
    "normal_boiling_point_k": 447.2,
    "melting_point_k": 243.3,
@@ -76886,7 +76893,8 @@
    "pubchem_cid": 8182,
    "molar_mass_kg_mol": 0.17033,
    "shared_ids": {
-    "spectral_library": "dodecane"
+    "spectral_library": "dodecane",
+    "substances": "dodecane"
    },
    "normal_boiling_point_k": 489.0,
    "melting_point_k": 263.5,
@@ -92852,7 +92860,8 @@
    "pubchem_cid": 241,
    "molar_mass_kg_mol": 0.07811,
    "shared_ids": {
-    "spectral_library": "benzene"
+    "spectral_library": "benzene",
+    "substances": "benzene"
    },
    "normal_boiling_point_k": 353.3,
    "melting_point_k": 278.64,
diff --git a/assets/reactions/ir_reference_standards.json b/assets/reactions/ir_reference_standards.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d44f856bf0a83c21f93aad5d5ae712ea658460
--- /dev/null
+++ b/assets/reactions/ir_reference_standards.json
@@ -0,0 +1,3962 @@
+{
+ "schema_version": "1.0.0",
+ "about": "IR reference standards outside the 200-compound shared spectral library (assets/reactions/spectral_library); built by outputs/basic40_batch02/t3_analytical/jasco_ftir4700/templates/build_reference_standards.py",
+ "licence": "spectrum: NIST WebBook JCAMP-DX with OWNER = Public domain (PNNL under IARPA contract); certified values: NIST SRM 1921b certificate (U.S. Government work).  Raw files are cached under references/ and are not redistributed with the assets.",
+ "grid_note": "1 cm-1 grid 400-4000 cm-1 (the shared library uses 4 cm-1); absorbance normalised to 1 at the strongest band",
+ "standards": {
+  "polystyrene": {
+   "name_en": "Polystyrene (film wavenumber standard)",
+   "name_zh": "聚苯乙烯（薄膜波数标准）",
+   "cas": "9003-53-6",
+   "use": "wavenumber check standard of FTIR spectrometers (FT/IR-4000/6000 series brochure p.4: standard sample polystyrene film)",
+   "spectra": [
+    {
+     "nist_index": 0,
+     "title": "Polystyrene",
+     "nist_source": "IARPA-IR-L",
+     "origin": "Pacific Northwest National Laboratory Under IARPA Contract",
+     "owner": "Public domain",
+     "state": "liquid",
+     "sampling": null,
+     "resolution": "0.48212986",
+     "instrument": "Bruker Tensor 27 FTIR",
+     "x_units_original": "1/cm",
+     "y_units_original": "absorption index",
+     "x_range_cm-1": [
+      399.7,
+      7797.5
+     ],
+     "grid_cm-1": {
+      "start": 400.0,
+      "stop": 4000.0,
+      "step": 1.0
+     },
+     "absorbance_normalized": [
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+     ],
+     "peaks_cm-1": [
+      [
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+       0.996
+      ],
+      [
+       2924.0,
+       0.364
+      ],
+      [
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+       0.339
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+      [
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+       0.327
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+      [
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+      [
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+      [
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+      [
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+      [
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+      [
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+      ],
+      [
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+       0.092
+      ]
+     ],
+     "source": "NIST Chemistry WebBook IR spectrum (JCAMP-DX), CAS 9003-53-6, PNNL / IARPA optical constants",
+     "url": "https://webbook.nist.gov/cgi/cbook.cgi?JCAMP=C9003536&Index=0&Type=IR",
+     "evidence": "measured",
+     "y_transform": "absorption index k (imaginary refractive index block) x wavenumber -> absorption coefficient shape, then normalised",
+     "raw": {
+      "path": "references/spectral_raw/polystyrene/ir_0.jdx",
+      "sha256": "0144330a4da5330c81ddd9d05d1726acd9e606f7bf34a8c22ae07928982b626f"
+     }
+    }
+   ],
+   "certified_bands": {
+    "source": "NIST SRM 1921b certificate (Infrared Transmission Wavelength/Wavenumber Standard, polystyrene film about 38 um), issue 15 September 2026, Tables 2 (centroid) and 4 (band minimum); in vacuum, 23 C; expanded uncertainty U with k = 4; valid until 31 December 2027",
+    "url": "https://tsapps.nist.gov/srmext/certificates/1921b.pdf",
+    "raw": {
+     "path": "references/spectral_raw/polystyrene/nist_srm1921b_certificate.pdf",
+     "sha256": "1e10087f5e9eeb89e74b0ffa6bed2ed21332f1d18ee84fb90159a866234e0b43"
+    },
+    "centroid_cm-1": [
+     [
+      1,
+      544.92,
+      2.43
+     ],
+     [
+      2,
+      842.1,
+      1.29
+     ],
+     [
+      3,
+      906.82,
+      0.1
+     ],
+     [
+      4,
+      1028.42,
+      0.27
+     ],
+     [
+      5,
+      1069.27,
+      0.77
+     ],
+     [
+      6,
+      1154.62,
+      0.09
+     ],
+     [
+      7,
+      1583.04,
+      0.09
+     ],
+     [
+      8,
+      1601.38,
+      0.11
+     ],
+     [
+      10,
+      2850.2,
+      0.12
+     ],
+     [
+      11,
+      3001.4,
+      0.09
+     ],
+     [
+      12,
+      3026.44,
+      0.09
+     ],
+     [
+      13,
+      3060.14,
+      0.09
+     ],
+     [
+      14,
+      3082.22,
+      0.09
+     ]
+    ],
+    "band_minimum_cm-1": [
+     [
+      1,
+      539.41,
+      2.63
+     ],
+     [
+      2,
+      841.79,
+      1.32
+     ],
+     [
+      3,
+      906.63,
+      0.36
+     ],
+     [
+      4,
+      1028.27,
+      0.33
+     ],
+     [
+      5,
+      1069.22,
+      0.99
+     ],
+     [
+      6,
+      1154.5,
+      0.2
+     ],
+     [
+      7,
+      1582.98,
+      0.09
+     ],
+     [
+      8,
+      1601.29,
+      0.1
+     ],
+     [
+      9,
+      1942.97,
+      0.66
+     ],
+     [
+      10,
+      2849.48,
+      0.49
+     ],
+     [
+      11,
+      3001.2,
+      0.18
+     ],
+     [
+      12,
+      3025.99,
+      0.46
+     ],
+     [
+      13,
+      3060.16,
+      0.25
+     ],
+     [
+      14,
+      3082.26,
+      0.16
+     ]
+    ],
+    "note": "band 9 (1943 cm-1) is certified for the band-minimum method only"
+   },
+   "band_check": [
+    {
+     "band": 1,
+     "certified_minimum_cm-1": 539.41,
+     "U_cm-1": 2.63,
+     "reference_maximum_cm-1": 541.54,
+     "difference_cm-1": 2.13,
+     "relative_absorption": 0.074
+    },
+    {
+     "band": 2,
+     "certified_minimum_cm-1": 841.79,
+     "U_cm-1": 1.32,
+     "reference_maximum_cm-1": 841.89,
+     "difference_cm-1": 0.1,
+     "relative_absorption": 0.014
+    },
+    {
+     "band": 3,
+     "certified_minimum_cm-1": 906.63,
+     "U_cm-1": 0.36,
+     "reference_maximum_cm-1": 906.98,
+     "difference_cm-1": 0.35,
+     "relative_absorption": 0.038
+    },
+    {
+     "band": 4,
+     "certified_minimum_cm-1": 1028.27,
+     "U_cm-1": 0.33,
+     "reference_maximum_cm-1": 1029.31,
+     "difference_cm-1": 1.04,
+     "relative_absorption": 0.076
+    },
+    {
+     "band": 5,
+     "certified_minimum_cm-1": 1069.22,
+     "U_cm-1": 0.99,
+     "reference_maximum_cm-1": 1070.6,
+     "difference_cm-1": 1.38,
+     "relative_absorption": 0.036
+    },
+    {
+     "band": 6,
+     "certified_minimum_cm-1": 1154.5,
+     "U_cm-1": 0.2,
+     "reference_maximum_cm-1": 1154.6,
+     "difference_cm-1": 0.1,
+     "relative_absorption": 0.029
+    },
+    {
+     "band": 7,
+     "certified_minimum_cm-1": 1582.98,
+     "U_cm-1": 0.09,
+     "reference_maximum_cm-1": 1583.08,
+     "difference_cm-1": 0.1,
+     "relative_absorption": 0.038
+    },
+    {
+     "band": 8,
+     "certified_minimum_cm-1": 1601.29,
+     "U_cm-1": 0.1,
+     "reference_maximum_cm-1": 1601.5,
+     "difference_cm-1": 0.21,
+     "relative_absorption": 0.117
+    },
+    {
+     "band": 9,
+     "certified_minimum_cm-1": 1942.97,
+     "U_cm-1": 0.66,
+     "reference_maximum_cm-1": 1943.01,
+     "difference_cm-1": 0.04,
+     "relative_absorption": 0.02
+    },
+    {
+     "band": 10,
+     "certified_minimum_cm-1": 2849.48,
+     "U_cm-1": 0.49,
+     "reference_maximum_cm-1": 2850.61,
+     "difference_cm-1": 1.13,
+     "relative_absorption": 0.124
+    },
+    {
+     "band": 11,
+     "certified_minimum_cm-1": 3001.2,
+     "U_cm-1": 0.18,
+     "reference_maximum_cm-1": 3001.19,
+     "difference_cm-1": -0.01,
+     "relative_absorption": 0.056
+    },
+    {
+     "band": 12,
+     "certified_minimum_cm-1": 3025.99,
+     "U_cm-1": 0.46,
+     "reference_maximum_cm-1": 3025.86,
+     "difference_cm-1": -0.13,
+     "relative_absorption": 0.263
+    },
+    {
+     "band": 13,
+     "certified_minimum_cm-1": 3060.16,
+     "U_cm-1": 0.25,
+     "reference_maximum_cm-1": 3060.34,
+     "difference_cm-1": 0.18,
+     "relative_absorption": 0.128
+    },
+    {
+     "band": 14,
+     "certified_minimum_cm-1": 3082.26,
+     "U_cm-1": 0.16,
+     "reference_maximum_cm-1": 3082.51,
+     "difference_cm-1": 0.25,
+     "relative_absorption": 0.092
+    }
+   ],
+   "band_check_summary": {
+    "max_abs_difference_cm-1": 2.13,
+    "median_abs_difference_cm-1": 0.195,
+    "note": "reference (liquid-phase optical constants, absorption maxima) vs certified film band minima; the template keeps the reference positions (measured data are not shifted)"
+   }
+  }
+ }
+}
diff --git a/assets/reactions/magritek_spinsolve80_nmr_library/templates.json b/assets/reactions/magritek_spinsolve80_nmr_library/templates.json
index 3217ce07c05374fbbd2450c8a9ca3fe8fa64ab9e..e67c98cba2914920cf7a20f4e2d1afe499aa0da0 100644
--- a/assets/reactions/magritek_spinsolve80_nmr_library/templates.json
+++ b/assets/reactions/magritek_spinsolve80_nmr_library/templates.json
@@ -1255,7 +1255,8 @@
    "formula": "C3H8O",
    "smiles": "CC(C)O",
    "shared_ids": {
-    "spectral_library": "propan_2_ol"
+    "spectral_library": "propan_2_ol",
+    "substances": "propan_2_ol"
    },
    "h_count": {
     "total": 8,
@@ -16279,7 +16280,8 @@
    "formula": "C6H6",
    "smiles": "C1=CC=CC=C1",
    "shared_ids": {
-    "spectral_library": "benzene"
+    "spectral_library": "benzene",
+    "substances": "benzene"
    },
    "h_count": {
     "total": 6,
@@ -21147,7 +21149,8 @@
    "formula": "C4H8O",
    "smiles": "C1CCOC1",
    "shared_ids": {
-    "spectral_library": "tetrahydrofuran"
+    "spectral_library": "tetrahydrofuran",
+    "substances": "tetrahydrofuran"
    },
    "h_count": {
     "total": 8,
@@ -21858,7 +21861,8 @@
    "formula": "C2H3N",
    "smiles": "CC#N",
    "shared_ids": {
-    "spectral_library": "acetonitrile"
+    "spectral_library": "acetonitrile",
+    "substances": "acetonitrile"
    },
    "h_count": {
     "total": 3,
@@ -22622,7 +22626,8 @@
    "formula": "C6H14",
    "smiles": "CCCCCC",
    "shared_ids": {
-    "spectral_library": "hexane"
+    "spectral_library": "hexane",
+    "substances": "hexane"
    },
    "h_count": {
     "total": 14,
@@ -23074,7 +23079,8 @@
    "formula": "C8H18",
    "smiles": "CCCCCCCC",
    "shared_ids": {
-    "spectral_library": "octane"
+    "spectral_library": "octane",
+    "substances": "octane"
    },
    "h_count": {
     "total": 18,
@@ -23337,7 +23343,8 @@
    "formula": "C10H22",
    "smiles": "CCCCCCCCCC",
    "shared_ids": {
-    "spectral_library": "decane"
+    "spectral_library": "decane",
+    "substances": "decane"
    },
    "h_count": {
     "total": 22,
@@ -23499,6 +23506,1632 @@
    "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 15600 (https://pubchem.ncbi.nlm.nih.gov/compound/15600#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0031450#spectra",
    "accessed": "2026-09-15"
   },
+  {
+   "substance_id": "undecane",
+   "name": "undecane",
+   "name_zh": "正十一烷",
+   "cas": "1120-21-4",
+   "pubchem_cid": 14257,
+   "formula": "C11H24",
+   "smiles": "CCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "undecane",
+    "substances": "undecane"
+   },
+   "h_count": {
+    "total": 24,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 24
+   },
+   "c_count": 11,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3804",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3804",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 24,
+       "rounding_residual": 1.6,
+       "max_abs_deviation": 0.8,
+       "h_groups": {
+        "c_bound": [
+         2,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.88272,
+        "range_ppm": [
+         0.81,
+         0.94
+        ],
+        "source_height_fraction": 0.2,
+        "n_h": 4,
+        "lines": [
+         {
+          "ppm": 0.81,
+          "height": 34.0,
+          "offset_hz": -6.5448
+         },
+         {
+          "ppm": 0.88,
+          "height": 165.0,
+          "offset_hz": -0.2448
+         },
+         {
+          "ppm": 0.94,
+          "height": 51.0,
+          "offset_hz": 5.1552
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.8,
+        "n_h": 20,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4068",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4068",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 11,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.17,
+        "height": 711.0
+       },
+       {
+        "ppm": 22.86,
+        "height": 856.0
+       },
+       {
+        "ppm": 29.57,
+        "height": 891.0
+       },
+       {
+        "ppm": 29.87,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.13,
+        "height": 876.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 14257 (https://pubchem.ncbi.nlm.nih.gov/compound/14257#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0031445#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "tridecane",
+   "name": "tridecane",
+   "name_zh": "正十三烷",
+   "cas": "629-50-5",
+   "pubchem_cid": 12388,
+   "formula": "C13H28",
+   "smiles": "CCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "tridecane",
+    "substances": "tridecane"
+   },
+   "h_count": {
+    "total": 28,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 28
+   },
+   "c_count": 13,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3940",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3940",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 28,
+       "rounding_residual": 0.7825,
+       "max_abs_deviation": 0.3912,
+       "h_groups": {
+        "c_bound": [
+         2,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.88269,
+        "range_ppm": [
+         0.81,
+         0.94
+        ],
+        "source_height_fraction": 0.15683,
+        "n_h": 4,
+        "lines": [
+         {
+          "ppm": 0.81,
+          "height": 28.0,
+          "offset_hz": -6.5421
+         },
+         {
+          "ppm": 0.88,
+          "height": 117.0,
+          "offset_hz": -0.2421
+         },
+         {
+          "ppm": 0.94,
+          "height": 41.0,
+          "offset_hz": 5.1579
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.84317,
+        "n_h": 24,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4220",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4220",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 13,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.15,
+        "height": 397.0
+       },
+       {
+        "ppm": 22.83,
+        "height": 472.0
+       },
+       {
+        "ppm": 29.54,
+        "height": 518.0
+       },
+       {
+        "ppm": 29.88,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.11,
+        "height": 462.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 12388 (https://pubchem.ncbi.nlm.nih.gov/compound/12388#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0034284#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "tetradecane",
+   "name": "tetradecane",
+   "name_zh": "正十四烷",
+   "cas": "629-59-4",
+   "pubchem_cid": 12389,
+   "formula": "C14H30",
+   "smiles": "CCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "tetradecane",
+    "substances": "tetradecane"
+   },
+   "h_count": {
+    "total": 30,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 30
+   },
+   "c_count": 14,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3941",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3941",
+      "instrument": "JEOL",
+      "source_frequency_hz": 400000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 2.0,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.05,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 30,
+       "rounding_residual": 0.4747,
+       "max_abs_deviation": 0.2374,
+       "h_groups": {
+        "c_bound": [
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.88074,
+        "range_ppm": [
+         0.86,
+         0.91
+        ],
+        "source_height_fraction": 0.34125,
+        "n_h": 10,
+        "lines": [
+         {
+          "ppm": 0.86,
+          "height": 230.0,
+          "offset_hz": -8.296
+         },
+         {
+          "ppm": 0.88,
+          "height": 192.0,
+          "offset_hz": -0.296
+         },
+         {
+          "ppm": 0.88,
+          "height": 477.0,
+          "offset_hz": -0.296
+         },
+         {
+          "ppm": 0.89,
+          "height": 123.0,
+          "offset_hz": 3.704
+         },
+         {
+          "ppm": 0.9,
+          "height": 172.0,
+          "offset_hz": 7.704
+         },
+         {
+          "ppm": 0.91,
+          "height": 28.0,
+          "offset_hz": 11.704
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26262,
+        "range_ppm": [
+         1.2,
+         1.33
+        ],
+        "source_height_fraction": 0.65875,
+        "n_h": 20,
+        "lines": [
+         {
+          "ppm": 1.2,
+          "height": 35.0,
+          "offset_hz": -25.048
+         },
+         {
+          "ppm": 1.23,
+          "height": 174.0,
+          "offset_hz": -13.048
+         },
+         {
+          "ppm": 1.26,
+          "height": 884.0,
+          "offset_hz": -1.048
+         },
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": -1.048
+         },
+         {
+          "ppm": 1.3,
+          "height": 149.0,
+          "offset_hz": 14.952
+         },
+         {
+          "ppm": 1.32,
+          "height": 64.0,
+          "offset_hz": 22.952
+         },
+         {
+          "ppm": 1.33,
+          "height": 53.0,
+          "offset_hz": 26.952
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4221",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4221",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 14,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.15,
+        "height": 393.0
+       },
+       {
+        "ppm": 22.83,
+        "height": 473.0
+       },
+       {
+        "ppm": 29.53,
+        "height": 458.0
+       },
+       {
+        "ppm": 29.86,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.09,
+        "height": 483.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 12389 (https://pubchem.ncbi.nlm.nih.gov/compound/12389#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0059907#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "pentadecane",
+   "name": "pentadecane",
+   "name_zh": "正十五烷",
+   "cas": "629-62-9",
+   "pubchem_cid": 12391,
+   "formula": "C15H32",
+   "smiles": "CCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "pentadecane",
+    "substances": "pentadecane"
+   },
+   "h_count": {
+    "total": 32,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 32
+   },
+   "c_count": 15,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3558",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3558",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 32,
+       "rounding_residual": 0.7323,
+       "max_abs_deviation": 0.3661,
+       "h_groups": {
+        "c_bound": [
+         2,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.9,
+        "range_ppm": [
+         0.88,
+         0.94
+        ],
+        "source_height_fraction": 0.13644,
+        "n_h": 4,
+        "lines": [
+         {
+          "ppm": 0.88,
+          "height": 87.0,
+          "offset_hz": -1.8
+         },
+         {
+          "ppm": 0.91,
+          "height": 22.0,
+          "offset_hz": 0.9
+         },
+         {
+          "ppm": 0.92,
+          "height": 22.0,
+          "offset_hz": 1.8
+         },
+         {
+          "ppm": 0.94,
+          "height": 27.0,
+          "offset_hz": 3.6
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.86356,
+        "n_h": 28,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "3693",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3693",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 15,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.15,
+        "height": 284.0
+       },
+       {
+        "ppm": 22.82,
+        "height": 328.0
+       },
+       {
+        "ppm": 29.53,
+        "height": 358.0
+       },
+       {
+        "ppm": 29.87,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.09,
+        "height": 323.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 12391 (https://pubchem.ncbi.nlm.nih.gov/compound/12391#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0059886#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "hexadecane",
+   "name": "hexadecane",
+   "name_zh": "正十六烷",
+   "cas": "544-76-3",
+   "pubchem_cid": 11006,
+   "formula": "C16H34",
+   "smiles": "CCCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "hexadecane",
+    "substances": "hexadecane"
+   },
+   "h_count": {
+    "total": 34,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 34
+   },
+   "c_count": 16,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3903",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3903",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 34,
+       "rounding_residual": 1.8744,
+       "max_abs_deviation": 0.9372,
+       "h_groups": {
+        "c_bound": [
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.89394,
+        "range_ppm": [
+         0.88,
+         0.94
+        ],
+        "source_height_fraction": 0.09008,
+        "n_h": 4,
+        "lines": [
+         {
+          "ppm": 0.88,
+          "height": 76.0,
+          "offset_hz": -1.2546
+         },
+         {
+          "ppm": 0.94,
+          "height": 23.0,
+          "offset_hz": 4.1454
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.90992,
+        "n_h": 30,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4177",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4177",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 16,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.14,
+        "height": 238.0
+       },
+       {
+        "ppm": 22.82,
+        "height": 257.0
+       },
+       {
+        "ppm": 29.52,
+        "height": 295.0
+       },
+       {
+        "ppm": 29.86,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.09,
+        "height": 286.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 11006 (https://pubchem.ncbi.nlm.nih.gov/compound/11006#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0033792#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "heptadecane",
+   "name": "heptadecane",
+   "name_zh": "正十七烷",
+   "cas": "629-78-7",
+   "pubchem_cid": 12398,
+   "formula": "C17H36",
+   "smiles": "CCCCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "heptadecane",
+    "substances": "heptadecane"
+   },
+   "h_count": {
+    "total": 36,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 36
+   },
+   "c_count": 17,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3942",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3942",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 36,
+       "rounding_residual": 0.4027,
+       "max_abs_deviation": 0.2013,
+       "h_groups": {
+        "c_bound": [
+         2,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.89698,
+        "range_ppm": [
+         0.81,
+         0.94
+        ],
+        "source_height_fraction": 0.16107,
+        "n_h": 6,
+        "lines": [
+         {
+          "ppm": 0.81,
+          "height": 21.0,
+          "offset_hz": -7.8282
+         },
+         {
+          "ppm": 0.88,
+          "height": 77.0,
+          "offset_hz": -1.5282
+         },
+         {
+          "ppm": 0.92,
+          "height": 30.0,
+          "offset_hz": 2.0718
+         },
+         {
+          "ppm": 0.93,
+          "height": 31.0,
+          "offset_hz": 2.9718
+         },
+         {
+          "ppm": 0.94,
+          "height": 33.0,
+          "offset_hz": 3.8718
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.83893,
+        "n_h": 30,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4222",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4222",
+      "instrument": "NEVA",
+      "source_frequency_hz": 15090000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 17,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.16,
+        "height": 189.0
+       },
+       {
+        "ppm": 22.81,
+        "height": 217.0
+       },
+       {
+        "ppm": 29.54,
+        "height": 337.0
+       },
+       {
+        "ppm": 29.86,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.08,
+        "height": 223.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 12398 (https://pubchem.ncbi.nlm.nih.gov/compound/12398#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0059830#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "octadecane",
+   "name": "octadecane",
+   "name_zh": "正十八烷",
+   "cas": "593-45-3",
+   "pubchem_cid": 11635,
+   "formula": "C18H38",
+   "smiles": "CCCCCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "octadecane",
+    "substances": "octadecane"
+   },
+   "h_count": {
+    "total": 38,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 38
+   },
+   "c_count": 18,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3918",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3918",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 38,
+       "rounding_residual": 3.5631,
+       "max_abs_deviation": 1.7815,
+       "h_groups": {
+        "c_bound": [
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.88,
+        "range_ppm": [
+         0.88,
+         0.88
+        ],
+        "source_height_fraction": 0.05838,
+        "n_h": 4,
+        "lines": [
+         {
+          "ppm": 0.88,
+          "height": 62.0,
+          "offset_hz": 0.0
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.94162,
+        "n_h": 34,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4197",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4197",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 18,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.14,
+        "height": 204.0
+       },
+       {
+        "ppm": 22.79,
+        "height": 209.0
+       },
+       {
+        "ppm": 29.49,
+        "height": 269.0
+       },
+       {
+        "ppm": 29.83,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.05,
+        "height": 229.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 11635 (https://pubchem.ncbi.nlm.nih.gov/compound/11635#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0033721#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "nonadecane",
+   "name": "nonadecane",
+   "name_zh": "正十九烷",
+   "cas": "629-92-5",
+   "pubchem_cid": 12401,
+   "formula": "C19H40",
+   "smiles": "CCCCCCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "nonadecane",
+    "substances": "nonadecane"
+   },
+   "h_count": {
+    "total": 40,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 40
+   },
+   "c_count": 19,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3943",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3943",
+      "instrument": "JEOL",
+      "source_frequency_hz": 90000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 0.45,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.222222,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 40,
+       "rounding_residual": 0.5994,
+       "max_abs_deviation": 0.2997,
+       "h_groups": {
+        "c_bound": [
+         2,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.88,
+        "range_ppm": [
+         0.88,
+         0.88
+        ],
+        "source_height_fraction": 0.05749,
+        "n_h": 2,
+        "lines": [
+         {
+          "ppm": 0.88,
+          "height": 61.0,
+          "offset_hz": 0.0
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "range_ppm": [
+         1.26,
+         1.26
+        ],
+        "source_height_fraction": 0.94251,
+        "n_h": 38,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": 0.0
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4223",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4223",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 19,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.13,
+        "height": 149.0
+       },
+       {
+        "ppm": 22.79,
+        "height": 179.0
+       },
+       {
+        "ppm": 29.48,
+        "height": 219.0
+       },
+       {
+        "ppm": 29.82,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.04,
+        "height": 199.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 12401 (https://pubchem.ncbi.nlm.nih.gov/compound/12401#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0034289#spectra",
+   "accessed": "2026-10-23"
+  },
+  {
+   "substance_id": "icosane",
+   "name": "icosane (eicosane)",
+   "name_zh": "正二十烷",
+   "cas": "112-95-8",
+   "pubchem_cid": 8222,
+   "formula": "C20H42",
+   "smiles": "CCCCCCCCCCCCCCCCCCCC",
+   "shared_ids": {
+    "spectral_library": "icosane",
+    "substances": "icosane"
+   },
+   "h_count": {
+    "total": 42,
+    "exchangeable_OH_NH_SH": 0,
+    "c_bound": 42
+   },
+   "c_count": 20,
+   "nuclei": {
+    "1H": [
+     {
+      "hmdb_spectrum_id": "3803",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/3803",
+      "instrument": "JEOL",
+      "source_frequency_hz": 400000000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "offset_quantization_hz": 2.0,
+      "j_pattern": "measured_line_offsets",
+      "cluster_gap_ppm": 0.05,
+      "proton_count_rule": {
+       "status": "integer_group_partition",
+       "basis": "C_bound_H",
+       "n_h_basis": 42,
+       "rounding_residual": 0.591,
+       "max_abs_deviation": 0.2955,
+       "h_groups": {
+        "c_bound": [
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         4,
+         6
+        ],
+        "exchangeable": []
+       }
+      },
+      "multiplets": [
+       {
+        "center_ppm": 0.87929,
+        "range_ppm": [
+         0.86,
+         0.9
+        ],
+        "source_height_fraction": 0.19751,
+        "n_h": 8,
+        "lines": [
+         {
+          "ppm": 0.86,
+          "height": 56.0,
+          "offset_hz": -7.716
+         },
+         {
+          "ppm": 0.88,
+          "height": 151.0,
+          "offset_hz": 0.284
+         },
+         {
+          "ppm": 0.9,
+          "height": 47.0,
+          "offset_hz": 8.284
+         }
+        ]
+       },
+       {
+        "center_ppm": 1.26062,
+        "range_ppm": [
+         1.26,
+         1.28
+        ],
+        "source_height_fraction": 0.80249,
+        "n_h": 34,
+        "lines": [
+         {
+          "ppm": 1.26,
+          "height": 1000.0,
+          "offset_hz": -0.248
+         },
+         {
+          "ppm": 1.28,
+          "height": 32.0,
+          "offset_hz": 7.752
+         }
+        ]
+       }
+      ],
+      "excluded_minor_groups": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ],
+    "13C": [
+     {
+      "hmdb_spectrum_id": "4067",
+      "source_url": "https://hmdb.ca/spectra/nmr_one_d/4067",
+      "instrument": "Varian",
+      "source_frequency_hz": 25160000.0,
+      "solvent": "CDCl3",
+      "solvent_key": "CDCl3",
+      "pH": null,
+      "shift_decimals": 2,
+      "n_c_basis": 20,
+      "decoupled_singlets": true,
+      "lines": [
+       {
+        "ppm": 14.14,
+        "height": 154.0
+       },
+       {
+        "ppm": 22.78,
+        "height": 199.0
+       },
+       {
+        "ppm": 29.47,
+        "height": 199.0
+       },
+       {
+        "ppm": 29.81,
+        "height": 1000.0
+       },
+       {
+        "ppm": 32.04,
+        "height": 194.0
+       }
+      ],
+      "dropped_reference_lines": [],
+      "evidence": "measured",
+      "accessed": "2026-10-23"
+     }
+    ]
+   },
+   "unit": {
+    "center_ppm": "ppm (1e-6, chemical shift vs TMS/DSS)",
+    "ppm": "ppm (1e-6)",
+    "offset_hz": "Hz",
+    "source_frequency_hz": "Hz",
+    "offset_quantization_hz": "Hz",
+    "height": "1 (source peak height, arbitrary)",
+    "n_h": "1 (protons per molecule)",
+    "n_c_basis": "1 (carbons per molecule)"
+   },
+   "conditions": {
+    "temperature_k": null,
+    "note": "per-spectrum solvent, pH and source spectrometer frequency in nuclei.<nucleus>[]; source temperature not reported (null)"
+   },
+   "evidence": "derived",
+   "evidence_fields": {
+    "ppm": "measured",
+    "height": "measured",
+    "offset_hz": "derived",
+    "n_h": "derived",
+    "line_shape_at_runtime": "assumption"
+   },
+   "derivation": {
+    "cluster": "lines chain into one multiplet when the gap is <= 20.0 Hz at the source field (gap_ppm = 20.0/nu_source[MHz]); unknown field: 0.08 ppm",
+    "center_ppm": "height-weighted centroid of the multiplet lines",
+    "offset_hz": "(ppm_line - center_ppm) * nu_source[MHz]; null when nu_source is unknown",
+    "n_h": "whole RDKit symmetry-equivalent H groups (CanonicalRankAtoms, breakTies=False) assigned to multiplets minimising sum|n_i - f_i*T| (f_i = height fraction, T = observed H; exchangeable OH/NH/SH omitted in D2O/CD3OD, optional otherwise); fallbacks: plain rounding, largest-remainder apportionment, fractional",
+    "inputs": [
+     "assets/reactions/spectral_library/nmr.json",
+     "assets/reactions/spectral_library/compounds.json"
+    ]
+   },
+   "source": "HMDB experimental 1D NMR peak lists via PubChem PUG-View CID 8222 (https://pubchem.ncbi.nlm.nih.gov/compound/8222#section=1D-NMR-Spectra); HMDB entry https://hmdb.ca/metabolites/HMDB0059909#spectra",
+   "accessed": "2026-10-23"
+  },
   {
    "substance_id": "cyclohexane",
    "name": "cyclohexane",
@@ -23740,7 +25373,8 @@
    "formula": "C8H10N4O2",
    "smiles": "CN1C=NC2=C1C(=O)N(C(=O)N2C)C",
    "shared_ids": {
-    "spectral_library": "caffeine"
+    "spectral_library": "caffeine",
+    "substances": "caffeine"
    },
    "h_count": {
     "total": 10,
@@ -29024,7 +30658,8 @@
    "formula": "C3H4N2",
    "smiles": "C1=CN=CN1",
    "shared_ids": {
-    "spectral_library": "imidazole"
+    "spectral_library": "imidazole",
+    "substances": "imidazole"
    },
    "h_count": {
     "total": 4,
diff --git "a/assets/reactions/magritek_spinsolve80_nmr_library/\350\257\264\346\230\216.md" "b/assets/reactions/magritek_spinsolve80_nmr_library/\350\257\264\346\230\216.md"
index a528044bfe85c9812d5727e162939f441d4d2d2b..4761ae36a64c624d7052c6fbecacc978fd6de1c8 100644
--- "a/assets/reactions/magritek_spinsolve80_nmr_library/\350\257\264\346\230\216.md"
+++ "b/assets/reactions/magritek_spinsolve80_nmr_library/\350\257\264\346\230\216.md"
@@ -1,7 +1,7 @@
 # Spinsolve 80 台式核磁模板库（magritek_spinsolve80_nmr_library）
 
 服务资产：`assets/basic40_batch02/t4_measure/magritek_spinsolve80`（instrument.magritek_spinsolve80，CHEM-068）。
-共 120 种化合物：¹H 模板 117 种、¹³C 模板 109 种，全部来自公开实测谱峰表，可被运行层直接使用。
+共 129 种化合物：¹H 模板 126 种、¹³C 模板 118 种，全部来自公开实测谱峰表，可被运行层直接使用。
 
 ## 这是什么
 
@@ -52,7 +52,7 @@ $PY -m unittest tests/test_basic40_templates_measure_a.py
 | methanol | 甲醇 | 67-56-1 | 2575｜90 MHz｜CDCl3｜4 H | 3271｜CDCl3｜1 条 | spectral_library:methanol, substances:methanol |
 | ethanol | 乙醇 | 64-17-5 | 2559｜90 MHz｜CDCl3｜3+1+2 H | 3257｜CDCl3｜2 条 | spectral_library:ethanol, substances:ethanol |
 | propan_1_ol | 正丙醇 | 71-23-8 | 3965｜90 MHz｜CDCl3｜3+2+2 H | 4249｜CDCl3｜3 条 | spectral_library:propan_1_ol |
-| propan_2_ol | 异丙醇 | 67-63-0 | 2576｜90 MHz｜CDCl3｜6+1+1 H | 3272｜CDCl3｜2 条 | spectral_library:propan_2_ol |
+| propan_2_ol | 异丙醇 | 67-63-0 | 2576｜90 MHz｜CDCl3｜6+1+1 H | 3272｜CDCl3｜2 条 | spectral_library:propan_2_ol, substances:propan_2_ol |
 | butan_1_ol | 正丁醇 | 71-36-3 | 3966｜90 MHz｜CDCl3｜7+1+2 H | 4250｜CDCl3｜4 条 | spectral_library:butan_1_ol, substances:butan_1_ol |
 | butan_2_ol | 2-丁醇 | 78-92-2 | 3984｜90 MHz｜CDCl3｜8+1+1 H | 4268｜CDCl3｜4 条 | spectral_library:butan_2_ol |
 | isobutanol | 异丁醇 | 78-83-1 | 3982｜90 MHz｜CDCl3｜6+1+1+2 H | 4266｜CDCl3｜3 条 | spectral_library:isobutanol |
@@ -94,7 +94,7 @@ $PY -m unittest tests/test_basic40_templates_measure_a.py
 | butanone | 丁酮 | 78-93-3 | 2643｜90 MHz｜CDCl3｜3+5 H | 3330｜CDCl3｜4 条 | spectral_library:butanone |
 | cyclohexanone | 环己酮 | 108-94-1 | 3787｜90 MHz｜CDCl3｜8+2 H | 4046｜CDCl3｜4 条 | spectral_library:cyclohexanone, substances:cyclohexanone |
 | acetophenone | 苯乙酮 | 98-86-2 | 4536｜90 MHz｜CDCl3｜4+2+2 H | 4666｜CDCl3｜6 条 | spectral_library:acetophenone, substances:acetophenone |
-| benzene | 苯 | 71-43-2 | 2592｜300 MHz｜CDCl3｜6 H | 3288｜CDCl3｜1 条 | spectral_library:benzene |
+| benzene | 苯 | 71-43-2 | 2592｜300 MHz｜CDCl3｜6 H | 3288｜CDCl3｜1 条 | spectral_library:benzene, substances:benzene |
 | toluene | 甲苯 | 108-88-3 | 2126｜90 MHz｜CDCl3｜2+6 H | 3445｜CDCl3｜5 条 | spectral_library:toluene, substances:toluene |
 | ethylbenzene | 乙苯 | 100-41-4 | 2062｜90 MHz｜CDCl3｜4+1+5 H | 2752｜CDCl3｜6 条 | spectral_library:ethylbenzene, substances:ethylbenzene |
 | o_xylene | 邻二甲苯 | 95-47-6 | 4530｜400 MHz｜CDCl3｜6+4 H | 4659｜CDCl3｜4 条 | spectral_library:o_xylene |
@@ -110,23 +110,32 @@ $PY -m unittest tests/test_basic40_templates_measure_a.py
 | chlorobenzene | 氯苯 | 108-90-7 | 2127｜90 MHz｜CDCl3｜5 H | 3446｜CDCl3｜4 条 | spectral_library:chlorobenzene |
 | pyridine | 吡啶 | 110-86-1 | 3794｜90 MHz｜CDCl3｜4+1 H | 4056｜CDCl3｜3 条 | spectral_library:pyridine |
 | diethyl_ether | 乙醚 | 60-29-7 | 2528｜300 MHz｜CDCl3｜6+4 H | 3226｜CDCl3｜2 条 | spectral_library:diethyl_ether |
-| tetrahydrofuran | 四氢呋喃 | 109-99-9 | 1271｜500 MHz｜D2O｜4+4 H | – | spectral_library:tetrahydrofuran |
+| tetrahydrofuran | 四氢呋喃 | 109-99-9 | 1271｜500 MHz｜D2O｜4+4 H | – | spectral_library:tetrahydrofuran, substances:tetrahydrofuran |
 | dioxane_1_4 | 1,4-二氧六环 | 123-91-1 | 2202｜300 MHz｜D2O｜8 H | 2896｜CDCl3｜1 条 | spectral_library:dioxane_1_4 |
 | dichloromethane | 二氯甲烷 | 75-09-2 | 2612｜90 MHz｜CDCl3｜2 H | – | spectral_library:dichloromethane |
 | chloroform | 氯仿 | 67-66-3 | 2578｜90 MHz｜CDCl3｜1 H | 3274｜CDCl3｜1 条 | spectral_library:chloroform |
 | carbon_tetrachloride | 四氯化碳 | 56-23-5 | – | 3157｜CDCl3｜1 条 | spectral_library:carbon_tetrachloride |
 | dichloroethane_1_2 | 1,2-二氯乙烷 | 107-06-2 | 2101｜300 MHz｜CDCl3｜4 H | 2795｜CDCl3｜1 条 | spectral_library:dichloroethane_1_2 |
-| acetonitrile | 乙腈 | 75-05-8 | 2610｜300 MHz｜CDCl3｜3 H | 3309｜CDCl3｜2 条 | spectral_library:acetonitrile |
+| acetonitrile | 乙腈 | 75-05-8 | 2610｜300 MHz｜CDCl3｜3 H | 3309｜CDCl3｜2 条 | spectral_library:acetonitrile, substances:acetonitrile |
 | dmso | 二甲亚砜 | 67-68-5 | 2579｜300 MHz｜CDCl3｜6 H | 3275｜CDCl3｜1 条 | spectral_library:dmso |
 | dmf | N,N-二甲基甲酰胺 | 68-12-2 | 2580｜90 MHz｜CDCl3｜7 H | 5030｜C6D6｜3 条 | spectral_library:dmf |
 | pentane | 正戊烷 | 109-66-0 | 2133｜90 MHz｜CDCl3｜12 H | 2821｜CDCl3｜3 条 | spectral_library:pentane |
-| hexane | 正己烷 | 110-54-3 | 2143｜90 MHz｜CDCl3｜14 H | 3450｜CDCl3｜3 条 | spectral_library:hexane |
+| hexane | 正己烷 | 110-54-3 | 2143｜90 MHz｜CDCl3｜14 H | 3450｜CDCl3｜3 条 | spectral_library:hexane, substances:hexane |
 | heptane | 正庚烷 | 142-82-5 | 2246｜90 MHz｜CDCl3｜16 H | 2941｜CDCl3｜4 条 | spectral_library:heptane |
-| octane | 正辛烷 | 111-65-9 | 2154｜90 MHz｜CDCl3｜8+10 H | 2841｜CDCl3｜4 条 | spectral_library:octane |
-| decane | 正癸烷 | 124-18-5 | 2207｜90 MHz｜CDCl3｜22 H | 2901｜CDCl3｜5 条 | spectral_library:decane |
+| octane | 正辛烷 | 111-65-9 | 2154｜90 MHz｜CDCl3｜8+10 H | 2841｜CDCl3｜4 条 | spectral_library:octane, substances:octane |
+| decane | 正癸烷 | 124-18-5 | 2207｜90 MHz｜CDCl3｜22 H | 2901｜CDCl3｜5 条 | spectral_library:decane, substances:decane |
+| undecane | 正十一烷 | 1120-21-4 | 3804｜90 MHz｜CDCl3｜4+20 H | 4068｜CDCl3｜5 条 | spectral_library:undecane, substances:undecane |
+| tridecane | 正十三烷 | 629-50-5 | 3940｜90 MHz｜CDCl3｜4+24 H | 4220｜CDCl3｜5 条 | spectral_library:tridecane, substances:tridecane |
+| tetradecane | 正十四烷 | 629-59-4 | 3941｜400 MHz｜CDCl3｜10+20 H | 4221｜CDCl3｜5 条 | spectral_library:tetradecane, substances:tetradecane |
+| pentadecane | 正十五烷 | 629-62-9 | 3558｜90 MHz｜CDCl3｜4+28 H | 3693｜CDCl3｜5 条 | spectral_library:pentadecane, substances:pentadecane |
+| hexadecane | 正十六烷 | 544-76-3 | 3903｜90 MHz｜CDCl3｜4+30 H | 4177｜CDCl3｜5 条 | spectral_library:hexadecane, substances:hexadecane |
+| heptadecane | 正十七烷 | 629-78-7 | 3942｜90 MHz｜CDCl3｜6+30 H | 4222｜CDCl3｜5 条 | spectral_library:heptadecane, substances:heptadecane |
+| octadecane | 正十八烷 | 593-45-3 | 3918｜90 MHz｜CDCl3｜4+34 H | 4197｜CDCl3｜5 条 | spectral_library:octadecane, substances:octadecane |
+| nonadecane | 正十九烷 | 629-92-5 | 3943｜90 MHz｜CDCl3｜2+38 H | 4223｜CDCl3｜5 条 | spectral_library:nonadecane, substances:nonadecane |
+| icosane | 正二十烷 | 112-95-8 | 3803｜400 MHz｜CDCl3｜8+34 H | 4067｜CDCl3｜5 条 | spectral_library:icosane, substances:icosane |
 | cyclohexane | 环己烷 | 110-82-7 | 2145｜300 MHz｜CDCl3｜12 H | 3452｜CDCl3｜1 条 | spectral_library:cyclohexane, substances:cyclohexane |
 | water | 水 | 7732-18-5 | 3979｜400 MHz｜CD2Cl2｜2 H | – | spectral_library:water, substances:water |
-| caffeine | 咖啡因 | 58-08-2 | 2495｜90 MHz｜CDCl3｜6+3+1 H | 3192｜CDCl3｜8 条 | spectral_library:caffeine |
+| caffeine | 咖啡因 | 58-08-2 | 2495｜90 MHz｜CDCl3｜6+3+1 H | 3192｜CDCl3｜8 条 | spectral_library:caffeine, substances:caffeine |
 | paracetamol | 对乙酰氨基酚 | 103-90-2 | 2079｜400 MHz｜DMSO-d6｜3+2+2+1 H | 2773｜DMSO-d6｜6 条 | spectral_library:paracetamol |
 | ibuprofen | 布洛芬 | 15687-27-1 | 2257｜400 MHz｜CDCl3｜6+2+1+2+1+3+3 H | 2954｜CDCl3｜10 条 | spectral_library:ibuprofen |
 | maleic_acid | 马来酸（顺丁烯二酸） | 110-16-7 | 1144｜500 MHz｜D2O｜2 H | – | spectral_library:maleic_acid, substances:maleic_acid |
@@ -146,7 +155,7 @@ $PY -m unittest tests/test_basic40_templates_measure_a.py
 | furfuryl_alcohol | 糠醇 | 98-00-0 | 4007｜90 MHz｜CDCl3｜1+1+2+1 H | 4294｜CDCl3｜5 条 | spectral_library:furfuryl_alcohol |
 | glycine | 甘氨酸 | 56-40-6 | 2467｜300 MHz｜D2O｜2 H | 1153｜D2O｜2 条 | spectral_library:glycine, substances:glycine |
 | citric_acid | 柠檬酸 | 77-92-9 | 2634｜400 MHz｜DMSO-d6｜4+4 H | 3320｜DMSO-d6｜4 条 | spectral_library:citric_acid |
-| imidazole | 咪唑 | 288-32-4 | 1723｜500 MHz｜D2O｜2+1 H | – | spectral_library:imidazole |
+| imidazole | 咪唑 | 288-32-4 | 1723｜500 MHz｜D2O｜2+1 H | – | spectral_library:imidazole, substances:imidazole |
 | hydroquinone | 对苯二酚 | 123-31-9 | 2201｜300 MHz｜DMSO-d6｜4+2 H | 2894｜DMSO-d6｜2 条 | spectral_library:hydroquinone |
 | urea | 尿素 | 57-13-6 | 1317｜500 MHz｜D2O｜4 H | 1227｜D2O｜2 条 | spectral_library:urea, substances:urea |
 | sucrose | 蔗糖 | 57-50-1 | 3910｜400 MHz｜D2O｜2+2+7+1+1+1 H | 1220｜D2O｜12 条 | spectral_library:sucrose, substances:sucrose |
diff --git a/assets/reactions/metrohm_899_water_library/templates.json b/assets/reactions/metrohm_899_water_library/templates.json
index a003312c5fe7fcc3c9ed2692817f42da8b7be9db..b8fe191f6dc0361847e381e5e004d80f0a9a72db 100644
--- a/assets/reactions/metrohm_899_water_library/templates.json
+++ b/assets/reactions/metrohm_899_water_library/templates.json
@@ -1815,7 +1815,9 @@
      "conversion": "identity check only: PubChem formula atoms must equal anhydrous formula + n*H2O; CAS must be a PubChem synonym"
     }
    ],
-   "shared_ids": {},
+   "shared_ids": {
+    "substances": "sodium_tetraborate_decahydrate"
+   },
    "license": "PubChem: public domain (NCBI); identity only; CIAAW/IUPAC abridged standard atomic weights: cite CIAAW (numbers only)",
    "limitations": [
     "Stoichiometric (theoretical) water content of the ideal hydrate; real reagent lots can lose (efflorescence) or gain (deliquescence) water and are not certified here.",
diff --git a/assets/reactions/metrohm_omnis_acidbase_library/templates.json b/assets/reactions/metrohm_omnis_acidbase_library/templates.json
index 74fd984f141344b07a6bc98eff94667ca9a71e5e..06af4347a0b40a3f36be9256a4933f545c19dc24 100644
--- a/assets/reactions/metrohm_omnis_acidbase_library/templates.json
+++ b/assets/reactions/metrohm_omnis_acidbase_library/templates.json
@@ -6,7 +6,7 @@
  ],
  "schema_version": "1.0.0",
  "library_id": "metrohm_omnis_acidbase_library",
- "generated_at": "2026-10-15T22:20:06+00:00",
+ "generated_at": "2026-10-23T05:17:08+00:00",
  "license_notes": [
   "Goldberg et al. 2002 (J. Phys. Chem. Ref. Data, NIST): evaluated numbers with conditions only; cite the paper.",
   "USGS PHREEQC databases (minteq.v4.dat, phreeqc.dat): U.S. Government public domain; minteq values originate in NIST SRD 46 — cite USGS and NIST SRD 46.",
@@ -4517,7 +4517,8 @@
     }
    ],
    "shared_ids": {
-    "spectral_library": "oxalic_acid"
+    "spectral_library": "oxalic_acid",
+    "substances": "oxalic_acid"
    },
    "license": "NIST JPCRD evaluated data (cite Goldberg et al. 2002); numbers + conditions only",
    "limitations": [
diff --git a/assets/reactions/rigaku_miniflex600_xrd_library/templates.json b/assets/reactions/rigaku_miniflex600_xrd_library/templates.json
index 1d204a43fdd3e17aaef79b58459ef37a055a4da8..a2463698fa337bc7d2fd04ebd946e88ce7ea4360 100644
--- a/assets/reactions/rigaku_miniflex600_xrd_library/templates.json
+++ b/assets/reactions/rigaku_miniflex600_xrd_library/templates.json
@@ -1,7 +1,7 @@
 {
  "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
  "schema_version": "1.0.0",
- "built_at": "2026-10-15T21:09:59.186875+00:00",
+ "built_at": "2026-10-23T05:17:46.168134+00:00",
  "radiation": {
   "wavelength_m": 1.541838e-10,
   "note": "stick positions at the XPOW weighted Cu Kalpha wavelength; d_m is wavelength independent"
@@ -33906,7 +33906,9 @@
    "formula": "Si",
    "cas": "7440-21-3",
    "cas_source": "PubChem synonyms for 'silicon' (https://pubchem.ncbi.nlm.nih.gov/rest/pug/compound/name/silicon/synonyms/JSON); compound-level, not polymorph-specific",
-   "shared_ids": {},
+   "shared_ids": {
+    "substances": "silicon"
+   },
    "kind": "rruff_xpow_dif",
    "crystal": {
     "cell_lengths_m": [
@@ -35701,7 +35703,9 @@
    "formula": "Ag",
    "cas": "7440-22-4",
    "cas_source": "PubChem synonyms for 'silver' (https://pubchem.ncbi.nlm.nih.gov/rest/pug/compound/name/silver/synonyms/JSON); compound-level, not polymorph-specific",
-   "shared_ids": {},
+   "shared_ids": {
+    "substances": "silver"
+   },
    "kind": "rruff_xpow_dif",
    "crystal": {
     "cell_lengths_m": [
diff --git "a/assets/reactions/rigaku_miniflex600_xrd_library/\350\257\264\346\230\216.md" "b/assets/reactions/rigaku_miniflex600_xrd_library/\350\257\264\346\230\216.md"
index 0f864dce50bf90d912ff4154349cc133689f6bd9..3e9ae5848368fb216b7fea8fa69421f8b033d5f4 100644
--- "a/assets/reactions/rigaku_miniflex600_xrd_library/\350\257\264\346\230\216.md"
+++ "b/assets/reactions/rigaku_miniflex600_xrd_library/\350\257\264\346\230\216.md"
@@ -119,12 +119,12 @@ $PY -m unittest tests/test_basic40_templates_measure_a.py
 | fluorapatite | 氟磷灰石 | Ca5(PO4)3F | 1306-05-4 | RRUFF R040098 | 76 | 2.8072 Å (1 2 1) | confirmed 12/12 |  |
 | sassolite | 天然硼酸（H3BO3） | H3BO3 | 10043-35-3 | RRUFF R060496 | 47 | 3.1766 Å (0 0 2) | confirmed 5/5 |  |
 | borax | 硼砂 | Na2B4O5(OH)4·8H2O | 1303-96-4 | RRUFF R070168 | 118 | 2.5620 Å (-3 3 2) | confirmed 12/12 |  |
-| silicon | 硅（Si） | Si | 7440-21-3 | RRUFF R050145 | 6 | 3.1350 Å (1 1 1) | confirmed 5/5 |  |
+| silicon | 硅（Si） | Si | 7440-21-3 | RRUFF R050145 | 6 | 3.1350 Å (1 1 1) | confirmed 5/5 | silicon |
 | graphite | 石墨（C） | C | – | RRUFF R090047 | 12 | 3.3350 Å (0 0 2) | confirmed 2/2 |  |
 | diamond | 金刚石（C） | C | – | RRUFF R050205 | 2 | 2.0593 Å (1 1 1) | confirmed 2/2 |  |
 | sulphur | 自然硫（α-S8） | S | – | RRUFF R040135 | 102 | 3.8539 Å (2 2 2) | confirmed 12/12 |  |
 | gold | 金（Au） | Au | 7440-57-5 | RRUFF R070279 | 5 | 2.3551 Å (1 1 1) | confirmed 4/4 |  |
-| silver | 银（Ag） | Ag | 7440-22-4 | RRUFF R070416 | 5 | 2.3599 Å (1 1 1) | confirmed 4/4 |  |
+| silver | 银（Ag） | Ag | 7440-22-4 | RRUFF R070416 | 5 | 2.3599 Å (1 1 1) | confirmed 4/4 | silver |
 | copper | 铜（Cu） | Cu | 7440-50-8 | COD 9013014 | 3 | 2.0860 Å (1 1 1) | 无实测谱（计算） | copper |
 | platinum | 铂（Pt） | Pt | 7440-06-4 | COD 9012957 | 5 | 2.2608 Å (1 1 1) | 无实测谱（计算） |  |
 | pyrite | 黄铁矿（FeS2） | FeS2 | 1309-36-0 | RRUFF R050070 | 16 | 1.6334 Å (3 1 1) | confirmed 10/12 |  |
diff --git a/assets/reactions/sciex_pa800_mobility_library/templates.json b/assets/reactions/sciex_pa800_mobility_library/templates.json
index 17184017ce658de5d5257ff0bf728c0e9283956d..0ccfc6ef596204f19d5dd9b27114f65d1c865743 100644
--- a/assets/reactions/sciex_pa800_mobility_library/templates.json
+++ b/assets/reactions/sciex_pa800_mobility_library/templates.json
@@ -16990,7 +16990,9 @@
    "source_sha256": "f644b5172cf96868a0b44fed150891dca8f4b75accb129db74dd0952f0c62378",
    "enthalpy_J_mol": null,
    "cas_source": "PubChem PUG REST synonyms (unique CID for the query name)",
-   "shared_ids": {},
+   "shared_ids": {
+    "substances": "sulfanilic_acid"
+   },
    "uv_template": null
   },
   "sulfuric_acid": {
diff --git a/assets/reactions/shared_id_crosswalk.json b/assets/reactions/shared_id_crosswalk.json
index 6dc3738ceeeb84bc48cf34be694187bf5e6ed086..51d0aaf491f79b0f3bba6de007d9723c573e901c 100644
--- a/assets/reactions/shared_id_crosswalk.json
+++ b/assets/reactions/shared_id_crosswalk.json
@@ -5,11 +5,11 @@
  "shared_tables": {
   "spectral_library": {
    "path": "assets/reactions/spectral_library/compounds.json",
-   "sha256": "cba42645f54cfb2a3812e2d5f17302845e0840eaf23e410f6274963314748c88"
+   "sha256": "2512032f937a7f48cd338aaf9aa9903152d091598d77d03a5a189bd9b55c3cd2"
   },
   "substances": {
    "path": "assets/reactions/substances.json",
-   "sha256": "e50ce547ff920627f6086a42851659654d898a73d27230aa093aae99744e3773"
+   "sha256": "46b1fdc06267067fc25c656460d651a4164b15b9744a854f2a84dfaff0d3462f"
   }
  },
  "match_rules": {
@@ -92,19 +92,40 @@
   "naphthalene": "naphthalene",
   "formaldehyde_aqueous": "formaldehyde",
   "imidazole": "imidazole",
-  "sulfur_dioxide_dissolved": "sulfur_dioxide"
+  "sulfur_dioxide_dissolved": "sulfur_dioxide",
+  "acetonitrile": "acetonitrile",
+  "benzene": "benzene",
+  "caffeine": "caffeine",
+  "decane": "decane",
+  "hexane": "hexane",
+  "oxalic_acid": "oxalic_acid",
+  "propan_2_ol": "propan_2_ol",
+  "tetrahydrofuran": "tetrahydrofuran",
+  "octane": "octane",
+  "nonane": "nonane",
+  "undecane": "undecane",
+  "dodecane": "dodecane",
+  "tridecane": "tridecane",
+  "tetradecane": "tetradecane",
+  "pentadecane": "pentadecane",
+  "hexadecane": "hexadecane",
+  "heptadecane": "heptadecane",
+  "octadecane": "octadecane",
+  "nonadecane": "nonadecane",
+  "icosane": "icosane"
  },
  "stats": {
   "n_libraries_scanned": 211,
   "n_libraries_with_identifiers": 68,
   "n_libraries_linked_to_spectral_library": 80,
   "n_instruments_linked_to_spectral_library": 77,
-  "n_records_linked_to_spectral_library": 3727,
-  "n_compounds": 200,
-  "n_compounds_in_any_instrument_library": 200,
-  "n_compounds_in_2plus_instrument_libraries": 200,
+  "n_records_linked_to_spectral_library": 3744,
+  "n_compounds": 209,
+  "n_compounds_in_any_instrument_library": 203,
+  "n_compounds_in_2plus_instrument_libraries": 203,
   "note": "instrument counts exclude the shared spectral_library files themselves",
   "instruments_linked_by_identifier": {
+   "assets": [],
    "basic40_batch02": [
     "instrument.agilent_hs8697",
     "instrument.alicat_mc_1slpm_rev6",
@@ -179,12 +200,14 @@
    ]
   },
   "n_instruments_linked_by_identifier": {
+   "assets": 0,
    "basic40_batch02": 14,
    "expansion_batch03": 23,
    "expansion_batch04": 23,
    "expansion_batch05": 4
   },
   "n_instruments_by_batch": {
+   "assets": 3,
    "basic40_batch02": 36,
    "expansion_batch03": 69,
    "expansion_batch04": 91,
@@ -204,10 +227,10 @@
    "coverage": {
     "records": 158,
     "records_with_identifier": 90,
-    "linked_spectral_library": 101,
-    "linked_substances": 43,
+    "linked_spectral_library": 102,
+    "linked_substances": 54,
     "linked_via_component": 0,
-    "distinct_compounds": 101
+    "distinct_compounds": 102
    },
    "records": [
     {
@@ -273,7 +296,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -831,7 +855,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -1034,7 +1059,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -1062,7 +1088,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -1118,7 +1145,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -1146,7 +1174,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -1160,7 +1189,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -1174,7 +1204,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -1188,7 +1219,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -1453,7 +1485,12 @@
        "544-76-3"
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "cas",
+      "match_key": "544-76-3",
+      "substances": "hexadecane"
+     }
     },
     {
      "record_id": "isooctane",
@@ -1707,7 +1744,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -1764,7 +1802,7 @@
     "records": 68,
     "records_with_identifier": 68,
     "linked_spectral_library": 68,
-    "linked_substances": 24,
+    "linked_substances": 33,
     "linked_via_component": 0,
     "distinct_compounds": 68
    },
@@ -1829,7 +1867,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -1902,7 +1941,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -2089,7 +2129,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -2187,7 +2228,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -2381,7 +2423,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -2545,7 +2588,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -2587,7 +2631,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -2657,7 +2702,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -2728,7 +2774,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -3590,11 +3637,19 @@
     "records": 7,
     "records_with_identifier": 0,
     "linked_spectral_library": 4,
-    "linked_substances": 4,
+    "linked_substances": 6,
     "linked_via_component": 0,
     "distinct_compounds": 4
    },
    "records": [
+    {
+     "record_id": "argon",
+     "pointer": "/entries/argon",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "argon"
+     }
+    },
     {
      "record_id": "carbon_dioxide",
      "pointer": "/entries/carbon_dioxide",
@@ -3606,6 +3661,14 @@
       "substances": "carbon_dioxide"
      }
     },
+    {
+     "record_id": "helium",
+     "pointer": "/entries/helium",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "helium"
+     }
+    },
     {
      "record_id": "hydrogen",
      "pointer": "/entries/hydrogen",
@@ -3673,7 +3736,7 @@
     "records": 68,
     "records_with_identifier": 68,
     "linked_spectral_library": 68,
-    "linked_substances": 24,
+    "linked_substances": 33,
     "linked_via_component": 0,
     "distinct_compounds": 68
    },
@@ -3738,7 +3801,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -3811,7 +3875,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -3998,7 +4063,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -4096,7 +4162,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -4290,7 +4357,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -4454,7 +4522,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -4496,7 +4565,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -4566,7 +4636,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -4637,7 +4708,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -4725,7 +4797,7 @@
     "records": 69,
     "records_with_identifier": 69,
     "linked_spectral_library": 66,
-    "linked_substances": 29,
+    "linked_substances": 37,
     "linked_via_component": 0,
     "distinct_compounds": 66
    },
@@ -4805,7 +4877,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -5338,7 +5411,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -5582,7 +5656,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -5650,7 +5725,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -5718,7 +5794,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -5735,7 +5812,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -5752,7 +5830,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -5769,7 +5848,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -6014,7 +6094,7 @@
     "records": 83,
     "records_with_identifier": 71,
     "linked_spectral_library": 71,
-    "linked_substances": 25,
+    "linked_substances": 34,
     "linked_via_component": 0,
     "distinct_compounds": 71
    },
@@ -6116,7 +6196,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -6734,7 +6815,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -6960,7 +7042,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -7062,7 +7145,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -7130,7 +7214,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -7164,7 +7249,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -7181,7 +7267,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -7198,7 +7285,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -7215,7 +7303,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -7855,7 +7944,7 @@
     "records": 67,
     "records_with_identifier": 67,
     "linked_spectral_library": 59,
-    "linked_substances": 18,
+    "linked_substances": 26,
     "linked_via_component": 0,
     "distinct_compounds": 59
    },
@@ -7942,7 +8031,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -8317,7 +8407,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -8345,7 +8436,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -8373,7 +8465,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -8387,7 +8480,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -8401,7 +8495,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -8444,7 +8539,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -8658,7 +8754,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -8933,11 +9030,27 @@
     "records": 109,
     "records_with_identifier": 0,
     "linked_spectral_library": 1,
-    "linked_substances": 13,
+    "linked_substances": 16,
     "linked_via_component": 0,
     "distinct_compounds": 1
    },
    "records": [
+    {
+     "record_id": "disodium_hydrogen_phosphate",
+     "pointer": "/substances/disodium_hydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "disodium_hydrogen_phosphate"
+     }
+    },
+    {
+     "record_id": "lithium_chloride",
+     "pointer": "/substances/lithium_chloride",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "lithium_chloride"
+     }
+    },
     {
      "record_id": "magnesium_nitrate",
      "pointer": "/substances/magnesium_nitrate",
@@ -9010,6 +9123,14 @@
       "substances": "sodium_chloride"
      }
     },
+    {
+     "record_id": "sodium_dihydrogen_phosphate",
+     "pointer": "/substances/sodium_dihydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "sodium_dihydrogen_phosphate"
+     }
+    },
     {
      "record_id": "sodium_hydroxide",
      "pointer": "/substances/sodium_hydroxide",
@@ -9098,7 +9219,7 @@
     "records": 68,
     "records_with_identifier": 68,
     "linked_spectral_library": 68,
-    "linked_substances": 24,
+    "linked_substances": 33,
     "linked_via_component": 0,
     "distinct_compounds": 68
    },
@@ -9163,7 +9284,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -9236,7 +9358,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -9423,7 +9546,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -9521,7 +9645,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -9715,7 +9840,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -9879,7 +10005,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -9921,7 +10048,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -9991,7 +10119,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -10062,7 +10191,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -10133,7 +10263,7 @@
     "records": 54,
     "records_with_identifier": 50,
     "linked_spectral_library": 50,
-    "linked_substances": 19,
+    "linked_substances": 27,
     "linked_via_component": 0,
     "distinct_compounds": 50
    },
@@ -10210,7 +10340,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -10263,7 +10394,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -10455,7 +10587,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -10687,7 +10820,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -10813,7 +10947,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -10864,7 +10999,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -10932,7 +11068,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -10984,7 +11121,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -11035,11 +11173,19 @@
     "records": 102,
     "records_with_identifier": 94,
     "linked_spectral_library": 98,
-    "linked_substances": 39,
+    "linked_substances": 51,
     "linked_via_component": 0,
     "distinct_compounds": 98
    },
    "records": [
+    {
+     "record_id": "argon",
+     "pointer": "/entries/argon",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "argon"
+     }
+    },
     {
      "record_id": "carbon_dioxide",
      "pointer": "/entries/carbon_dioxide",
@@ -11051,6 +11197,14 @@
       "substances": "carbon_dioxide"
      }
     },
+    {
+     "record_id": "helium",
+     "pointer": "/entries/helium",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "helium"
+     }
+    },
     {
      "record_id": "hydrogen",
      "pointer": "/entries/hydrogen",
@@ -11159,7 +11313,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -12038,7 +12193,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -12317,7 +12473,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -12419,7 +12576,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -12487,7 +12645,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -12521,7 +12680,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -12538,7 +12698,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -12555,7 +12716,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -12572,7 +12734,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -12700,7 +12863,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "cas",
-      "match_key": "58-08-2"
+      "match_key": "58-08-2",
+      "substances": "caffeine"
      }
     },
     {
@@ -12809,7 +12973,7 @@
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     "records_with_identifier": 0,
     "linked_spectral_library": 98,
-    "linked_substances": 38,
+    "linked_substances": 50,
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     "distinct_compounds": 98
    },
@@ -12868,7 +13032,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -12914,6 +13079,14 @@
       "match_key": "anisole"
      }
     },
+    {
+     "record_id": "argon",
+     "pointer": "/entries/argon",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "argon"
+     }
+    },
     {
      "record_id": "aspirin",
      "pointer": "/entries/aspirin",
@@ -12943,7 +13116,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -13037,7 +13211,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -13152,7 +13327,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
      }
     },
     {
@@ -13222,7 +13398,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
      }
     },
     {
@@ -13357,6 +13534,14 @@
       "substances": "glycerol"
      }
     },
+    {
+     "record_id": "helium",
+     "pointer": "/entries/helium",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "helium"
+     }
+    },
     {
      "record_id": "heptane",
      "pointer": "/entries/heptane",
@@ -13394,7 +13579,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
     },
     {
@@ -13620,7 +13806,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
      }
     },
     {
@@ -13650,7 +13837,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
      }
     },
     {
@@ -13732,7 +13920,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -13814,7 +14003,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -13937,7 +14127,7 @@
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     "records_with_identifier": 0,
     "linked_spectral_library": 9,
-    "linked_substances": 8,
+    "linked_substances": 11,
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     "distinct_compounds": 9
    },
@@ -14005,7 +14195,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -14046,7 +14237,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
     },
     {
@@ -14065,6 +14257,14 @@
       "substances": "silica"
      }
     },
+    {
+     "record_id": "silicon",
+     "pointer": "/materials/silicon",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "silicon"
+     }
+    },
     {
      "record_id": "polystyrene",
      "pointer": "/materials/polystyrene",
@@ -14323,7 +14523,7 @@
     "records": 135,
     "records_with_identifier": 131,
     "linked_spectral_library": 91,
-    "linked_substances": 35,
+    "linked_substances": 45,
     "linked_via_component": 0,
     "distinct_compounds": 91
    },
@@ -14391,7 +14591,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -15092,7 +15293,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -15323,7 +15525,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -15407,7 +15610,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -15463,7 +15667,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -15491,7 +15696,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -15505,7 +15711,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -15519,7 +15726,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -15533,7 +15741,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -15640,7 +15849,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "cas",
-      "match_key": "58-08-2"
+      "match_key": "58-08-2",
+      "substances": "caffeine"
      }
     },
     {
@@ -24270,7 +24480,7 @@
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     "linked_spectral_library": 0,
-    "linked_substances": 11,
+    "linked_substances": 12,
     "linked_via_component": 0,
     "distinct_compounds": 0
    },
@@ -24315,6 +24525,14 @@
       "substances": "zinc"
      }
     },
+    {
+     "record_id": "silicon",
+     "pointer": "/substances/13",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "silicon"
+     }
+    },
     {
      "record_id": "graphite",
      "pointer": "/substances/16",
@@ -24378,11 +24596,19 @@
     "records": 311,
     "records_with_identifier": 0,
     "linked_spectral_library": 0,
-    "linked_substances": 11,
+    "linked_substances": 13,
     "linked_via_component": 0,
     "distinct_compounds": 0
    },
    "records": [
+    {
+     "record_id": "silicon",
+     "pointer": "/substances/3",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "silicon"
+     }
+    },
     {
      "record_id": "iron",
      "pointer": "/substances/8",
@@ -24439,6 +24665,14 @@
       "substances": "cadmium"
      }
     },
+    {
+     "record_id": "indium",
+     "pointer": "/substances/22",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "indium"
+     }
+    },
     {
      "record_id": "polystyrene",
      "pointer": "/substances/60",
@@ -24846,7 +25080,7 @@
     "records": 417,
     "records_with_identifier": 102,
     "linked_spectral_library": 100,
-    "linked_substances": 41,
+    "linked_substances": 53,
     "linked_via_component": 0,
     "distinct_compounds": 100
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@@ -24940,7 +25174,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -25025,7 +25260,9 @@
        23968
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "argon"
+     }
     },
     {
      "record_id": "aspirin",
@@ -25077,7 +25314,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -25234,7 +25472,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "cas",
-      "match_key": "58-08-2"
+      "match_key": "58-08-2",
+      "substances": "caffeine"
      }
     },
     {
@@ -25444,7 +25683,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -25563,7 +25803,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -25793,7 +26034,9 @@
        23987
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "helium"
+     }
     },
     {
      "record_id": "heptane",
@@ -25860,7 +26103,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -26251,7 +26495,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -26302,7 +26547,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -26440,7 +26686,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -26578,7 +26825,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -27867,7 +28115,7 @@
     "records": 70,
     "records_with_identifier": 54,
     "linked_spectral_library": 49,
-    "linked_substances": 19,
+    "linked_substances": 25,
     "linked_via_component": 0,
     "distinct_compounds": 49
    },
@@ -27954,7 +28202,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -28222,7 +28471,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -28426,7 +28676,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -28588,7 +28839,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -28616,7 +28868,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -28630,7 +28883,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -28796,7 +29050,7 @@
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     "records_with_identifier": 0,
     "linked_spectral_library": 19,
-    "linked_substances": 32,
+    "linked_substances": 36,
     "linked_via_component": 0,
     "distinct_compounds": 19
    },
@@ -28935,6 +29189,14 @@
       "match_key": "lactic_acid"
      }
     },
+    {
+     "record_id": "lithium_chloride",
+     "pointer": "/crc_solutes/lithium_chloride",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "lithium_chloride"
+     }
+    },
     {
      "record_id": "methanol",
      "pointer": "/crc_solutes/methanol",
@@ -28968,7 +29230,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -29027,6 +29290,14 @@
       "substances": "potassium_nitrate"
      }
     },
+    {
+     "record_id": "potassium_dihydrogen_phosphate",
+     "pointer": "/crc_solutes/potassium_dihydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "potassium_dihydrogen_phosphate"
+     }
+    },
     {
      "record_id": "silver_nitrate",
      "pointer": "/crc_solutes/silver_nitrate",
@@ -29083,6 +29354,14 @@
       "substances": "sodium_nitrate"
      }
     },
+    {
+     "record_id": "sodium_dihydrogen_phosphate",
+     "pointer": "/crc_solutes/sodium_dihydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "sodium_dihydrogen_phosphate"
+     }
+    },
     {
      "record_id": "sodium_sulfate",
      "pointer": "/crc_solutes/sodium_sulfate",
@@ -29553,7 +29832,7 @@
     "records": 72,
     "records_with_identifier": 72,
     "linked_spectral_library": 11,
-    "linked_substances": 24,
+    "linked_substances": 27,
     "linked_via_component": 0,
     "distinct_compounds": 11
    },
@@ -29757,7 +30036,9 @@
        24203
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "disodium_hydrogen_phosphate"
+     }
     },
     {
      "record_id": "ferrous_ammonium_sulfate",
@@ -29963,7 +30244,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "pubchem_cid",
-      "match_key": 971
+      "match_key": 971,
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -30041,7 +30323,9 @@
        516951
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "potassium_dihydrogen_phosphate"
+     }
     },
     {
      "record_id": "potassium_ferricyanide",
@@ -30422,7 +30706,7 @@
     "records": 87,
     "records_with_identifier": 87,
     "linked_spectral_library": 61,
-    "linked_substances": 32,
+    "linked_substances": 38,
     "linked_via_component": 0,
     "distinct_compounds": 61
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@@ -30515,7 +30799,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "pubchem_cid",
-      "match_key": 3776
+      "match_key": 3776,
+      "substances": "propan_2_ol"
      }
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     {
@@ -30611,7 +30896,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "pubchem_cid",
-      "match_key": 6342
+      "match_key": 6342,
+      "substances": "acetonitrile"
      }
     },
     {
@@ -30707,7 +30993,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "pubchem_cid",
-      "match_key": 241
+      "match_key": 241,
+      "substances": "benzene"
      }
     },
     {
@@ -30790,7 +31077,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "pubchem_cid",
-      "match_key": 2519
+      "match_key": 2519,
+      "substances": "caffeine"
      }
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     {
@@ -31293,7 +31581,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "pubchem_cid",
-      "match_key": 971
+      "match_key": 971,
+      "substances": "oxalic_acid"
      }
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     {
@@ -31496,7 +31785,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "pubchem_cid",
-      "match_key": 8028
+      "match_key": 8028,
+      "substances": "tetrahydrofuran"
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@@ -31630,7 +31920,7 @@
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     "records_with_identifier": 53,
     "linked_spectral_library": 53,
-    "linked_substances": 21,
+    "linked_substances": 29,
     "linked_via_component": 0,
     "distinct_compounds": 53
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@@ -31729,7 +32019,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
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@@ -31782,7 +32073,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
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     {
@@ -31974,7 +32266,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
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     {
@@ -32206,7 +32499,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
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@@ -32332,7 +32626,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
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     {
@@ -32383,7 +32678,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -32451,7 +32747,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
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@@ -32503,7 +32800,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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@@ -32605,7 +32903,7 @@
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@@ -32736,7 +33034,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
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@@ -32789,7 +33088,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -32981,7 +33281,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
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@@ -33213,7 +33514,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
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@@ -33339,7 +33641,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
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@@ -33390,7 +33693,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -33458,7 +33762,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
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@@ -33510,7 +33815,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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@@ -33583,7 +33889,7 @@
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     "records_with_identifier": 51,
     "linked_spectral_library": 51,
-    "linked_substances": 20,
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@@ -33682,7 +33988,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
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@@ -33735,7 +34042,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -33927,7 +34235,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
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@@ -34159,7 +34468,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
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@@ -34285,7 +34595,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
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@@ -34336,7 +34647,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -34404,7 +34716,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
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@@ -34456,7 +34769,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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@@ -34529,7 +34843,7 @@
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     "records_with_identifier": 51,
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@@ -34628,7 +34942,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
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@@ -34681,7 +34996,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -34873,7 +35189,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
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@@ -35105,7 +35422,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
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@@ -35231,7 +35549,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
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@@ -35282,7 +35601,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -35350,7 +35670,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
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@@ -35402,7 +35723,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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@@ -35457,7 +35779,7 @@
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     "records_with_identifier": 106,
     "linked_spectral_library": 3,
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@@ -36007,7 +36329,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "cas",
-      "match_key": "58-08-2"
+      "match_key": "58-08-2",
+      "substances": "caffeine"
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     {
@@ -37180,13 +37503,13 @@
     "assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json:.library[]",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "fbde9e3b467299aff4f4030f387449ebde607958ce82cf6dcfabe76cd1c18231",
+   "sha256": "a7c417d0352c472e6d9baa1fe99ce4aad92b82ca529021ea294527d17d724a13",
    "is_shared_spectral_library": false,
    "coverage": {
     "records": 136,
     "records_with_identifier": 136,
     "linked_spectral_library": 136,
-    "linked_substances": 43,
+    "linked_substances": 50,
     "linked_via_component": 0,
     "distinct_compounds": 136
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@@ -37250,7 +37573,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
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     {
@@ -37338,7 +37662,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -38208,7 +38533,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
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@@ -38659,7 +38985,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
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@@ -38715,7 +39042,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -38885,7 +39213,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
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@@ -39069,7 +39398,8 @@
      "shared_ids": {
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       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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     {
@@ -39168,13 +39498,13 @@
     "assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json:.library",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "f7f7a2a02241ceddb3836b0a832357ce973d1b437503fc4b2a512a669e4acfcf",
+   "sha256": "4ec4dcbd8de37adedc04d8e899edc87119cd9b78c37509cb9a51453b13a805a6",
    "is_shared_spectral_library": false,
    "coverage": {
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     "records_with_identifier": 54,
     "linked_spectral_library": 22,
-    "linked_substances": 10,
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     "distinct_compounds": 22
    },
@@ -39420,7 +39750,9 @@
        "7440-59-7"
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "helium"
+     }
     },
     {
      "record_id": "gas_neon",
@@ -39440,7 +39772,9 @@
        "7440-37-1"
       ]
      },
-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "argon"
+     }
     },
     {
      "record_id": "gas_krypton",
@@ -39834,7 +40168,7 @@
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     "records_with_identifier": 86,
     "linked_spectral_library": 102,
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+    "linked_substances": 51,
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@@ -39914,7 +40248,8 @@
      "shared_ids": {
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       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
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@@ -40549,7 +40884,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -40774,7 +41110,8 @@
      "shared_ids": {
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       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
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@@ -40859,7 +41196,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
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@@ -40927,7 +41265,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
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@@ -41423,7 +41762,8 @@
      "shared_ids": {
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       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
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@@ -41443,7 +41783,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
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@@ -41453,7 +41794,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
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@@ -41463,7 +41805,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
      }
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     {
@@ -41521,7 +41864,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
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@@ -41568,7 +41912,7 @@
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     "linked_spectral_library": 102,
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@@ -42038,7 +42382,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
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@@ -42195,7 +42540,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
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@@ -42280,7 +42626,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
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     {
@@ -42314,7 +42661,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
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     {
@@ -42331,7 +42679,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
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@@ -42348,7 +42697,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
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     {
@@ -42365,7 +42715,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -42568,7 +42919,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -42929,7 +43281,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
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@@ -43024,7 +43377,8 @@
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+      "match_key": "caffeine",
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@@ -43180,7 +43534,8 @@
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+      "match_key": "67-63-0",
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@@ -43921,7 +44276,8 @@
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+      "match_key": "71-43-2",
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@@ -44200,7 +44556,8 @@
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+      "match_key": "109-99-9",
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@@ -44302,7 +44659,8 @@
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+      "match_key": "75-05-8",
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@@ -44370,7 +44728,8 @@
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+      "match_key": "110-54-3",
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@@ -44404,7 +44763,8 @@
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+      "match_key": "111-65-9",
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@@ -44421,7 +44781,8 @@
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+      "match_key": "111-84-2",
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@@ -44438,7 +44799,8 @@
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+      "match_key": "124-18-5",
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@@ -44455,7 +44817,8 @@
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+      "match_key": "112-40-3",
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+     "pointer": "/substances/sodium_dihydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "sodium_dihydrogen_phosphate"
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+    },
+    {
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+     "pointer": "/substances/disodium_hydrogen_phosphate",
+     "identifiers": {},
+     "shared_ids": {
+      "substances": "disodium_hydrogen_phosphate"
+     }
+    },
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@@ -44775,7 +45154,7 @@
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@@ -45469,7 +45848,8 @@
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+      "match_key": "58-08-2",
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@@ -46905,7 +47285,7 @@
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@@ -46927,7 +47307,8 @@
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+      "match_key": "caffeine",
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@@ -47030,7 +47411,8 @@
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-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
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@@ -47091,7 +47473,8 @@
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       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
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@@ -47154,7 +47537,8 @@
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+      "match_key": "nonane",
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@@ -47259,7 +47643,8 @@
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+      "match_key": "octane",
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@@ -47934,7 +48319,8 @@
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+      "match_key": "caffeine",
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@@ -48045,7 +48431,8 @@
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+      "match_key": "110-54-3",
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@@ -52533,7 +52920,7 @@
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@@ -52656,7 +53043,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -52980,7 +53369,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "indium"
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     {
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@@ -53544,7 +53935,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -53790,7 +54183,9 @@
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+     "shared_ids": {
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@@ -54246,7 +54641,9 @@
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+     "shared_ids": {
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@@ -55782,7 +56179,9 @@
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+     "shared_ids": {
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@@ -55964,7 +56363,9 @@
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+     "shared_ids": {
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@@ -56314,7 +56715,9 @@
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+     "shared_ids": {
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@@ -56428,7 +56831,9 @@
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+     "shared_ids": {
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@@ -56818,7 +57223,9 @@
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+     "shared_ids": {
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@@ -57160,7 +57567,9 @@
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+     "shared_ids": {
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@@ -57540,7 +57949,9 @@
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+     "shared_ids": {
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@@ -58108,7 +58519,9 @@
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+     "shared_ids": {
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@@ -58456,7 +58869,9 @@
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+     "shared_ids": {
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@@ -58868,7 +59283,9 @@
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+     "shared_ids": {
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@@ -59166,7 +59583,9 @@
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+     "shared_ids": {
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@@ -59754,7 +60173,9 @@
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+     "shared_ids": {
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@@ -61076,7 +61497,9 @@
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+     "shared_ids": {
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@@ -61616,7 +62039,9 @@
        "7440-21-3"
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+     "shared_ids": {
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     {
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@@ -62144,7 +62569,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -62550,7 +62977,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -62652,7 +63081,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
+      "substances": "indium"
+     }
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@@ -63120,7 +63551,9 @@
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+     "shared_ids": {
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+     }
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@@ -63640,7 +64073,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -63934,7 +64369,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -64390,7 +64827,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -64826,7 +65265,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -65320,7 +65761,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
      "record_id": "usgs_sdc_1__cu",
@@ -65746,7 +66189,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -65970,7 +66415,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -66359,7 +66806,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -66689,7 +67138,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -67053,7 +67504,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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+     }
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     {
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@@ -67383,7 +67836,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -67747,7 +68202,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -68077,7 +68534,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -68411,7 +68870,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -68741,7 +69202,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -69023,7 +69486,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -69343,7 +69808,9 @@
        "7440-21-3"
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-     "shared_ids": {}
+     "shared_ids": {
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     {
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@@ -69603,7 +70070,9 @@
        "7440-74-6"
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -69913,7 +70382,9 @@
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+     "shared_ids": {
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@@ -70173,7 +70644,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -70473,7 +70946,9 @@
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+     "shared_ids": {
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@@ -70765,7 +71240,9 @@
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+     "shared_ids": {
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@@ -71095,7 +71572,9 @@
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+     "shared_ids": {
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@@ -71397,7 +71876,9 @@
        "7440-74-6"
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+     "shared_ids": {
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@@ -71727,7 +72208,9 @@
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+     "shared_ids": {
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@@ -72029,7 +72512,9 @@
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+     "shared_ids": {
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@@ -72359,7 +72844,9 @@
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+     "shared_ids": {
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@@ -72661,7 +73148,9 @@
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+     "shared_ids": {
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@@ -72981,7 +73470,9 @@
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+     "shared_ids": {
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@@ -73338,7 +73829,9 @@
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-     "shared_ids": {}
+     "shared_ids": {
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@@ -73678,7 +74171,9 @@
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+     "shared_ids": {
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@@ -73983,7 +74478,9 @@
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@@ -74638,7 +75137,9 @@
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@@ -75305,7 +75808,9 @@
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@@ -75645,7 +76150,9 @@
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@@ -76002,7 +76509,9 @@
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@@ -76332,7 +76841,9 @@
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@@ -76679,7 +77190,9 @@
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@@ -77376,7 +77891,9 @@
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@@ -77716,7 +78233,9 @@
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@@ -78073,7 +78592,9 @@
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@@ -78413,7 +78934,9 @@
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@@ -78983,7 +79506,9 @@
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@@ -79553,7 +80078,9 @@
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@@ -80123,7 +80650,9 @@
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@@ -80363,7 +80892,9 @@
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@@ -80683,7 +81214,9 @@
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@@ -80923,7 +81456,9 @@
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@@ -81243,7 +81778,9 @@
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@@ -81483,7 +82020,9 @@
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@@ -82043,7 +82584,9 @@
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@@ -83000,7 +83545,8 @@
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@@ -83504,7 +84051,8 @@
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@@ -99358,7 +99996,13 @@
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@@ -109107,7 +109796,12 @@
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@@ -110417,7 +111123,8 @@
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@@ -111687,7 +112395,12 @@
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@@ -111703,7 +112416,12 @@
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@@ -111719,7 +112437,12 @@
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@@ -112489,7 +113213,8 @@
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@@ -112733,7 +113458,8 @@
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@@ -112853,7 +113579,8 @@
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@@ -112933,7 +113660,8 @@
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@@ -114283,7 +115015,12 @@
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@@ -114299,7 +115036,12 @@
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@@ -114315,7 +115057,12 @@
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@@ -115329,7 +116078,8 @@
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@@ -115449,7 +116199,8 @@
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@@ -116879,7 +117635,12 @@
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@@ -116895,7 +117656,12 @@
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@@ -116911,7 +117677,12 @@
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@@ -117017,7 +117788,8 @@
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       "match_basis": "cas",
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@@ -117632,7 +118404,8 @@
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@@ -118003,7 +118778,8 @@
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@@ -118031,7 +118807,8 @@
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+      "match_key": "111-65-9",
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@@ -118293,7 +119073,9 @@
        "1344-28-1"
       ]
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+     "shared_ids": {
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@@ -118882,7 +119664,9 @@
        "1303-96-4"
       ]
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@@ -118892,7 +119676,9 @@
        "7440-21-3"
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@@ -119104,13 +119890,13 @@
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@@ -123369,7 +124155,8 @@
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@@ -124227,7 +125014,9 @@
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       ]
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@@ -124938,7 +125727,7 @@
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@@ -125006,7 +125795,8 @@
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@@ -125606,7 +126396,8 @@
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       "match_basis": "cas",
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@@ -125906,7 +126698,8 @@
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@@ -126004,7 +126799,8 @@
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       "match_basis": "cas",
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+      "match_key": "111-84-2",
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@@ -126032,7 +126829,8 @@
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       "match_basis": "cas",
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+      "match_key": "112-40-3",
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@@ -126242,7 +127040,8 @@
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       "match_basis": "id",
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@@ -126295,15 +127094,15 @@
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    ],
-   "sha256": "cba42645f54cfb2a3812e2d5f17302845e0840eaf23e410f6274963314748c88",
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@@ -126353,7 +127152,8 @@
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       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
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@@ -126882,7 +127682,8 @@
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@@ -127049,7 +127850,8 @@
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       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
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@@ -127109,7 +127911,8 @@
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@@ -127149,7 +127952,8 @@
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-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
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@@ -127179,7 +127984,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
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@@ -127189,7 +127995,8 @@
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       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
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@@ -127199,7 +128006,107 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
+     }
+    },
+    {
+     "record_id": "undecane",
+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
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+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
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+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -127289,7 +128196,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -127834,7 +128742,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -128404,15 +129313,15 @@
     "assets/basic40_batch02/t3_analytical/agilent_hs8697/asset.contract.json:.library[]",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "d269f7f4c21dcc4355ca06b79c1d9699906cbee0fa13c744946fb42f1aa9ceb4",
+   "sha256": "3618aa998d6cf2ca887b06c3862e23a1c202a09ea7cf4d1348ed9ee89755bffb",
    "is_shared_spectral_library": true,
    "coverage": {
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     "records_with_identifier": 0,
-    "linked_spectral_library": 177,
-    "linked_substances": 43,
+    "linked_spectral_library": 186,
+    "linked_substances": 63,
     "linked_via_component": 0,
-    "distinct_compounds": 177
+    "distinct_compounds": 186
    },
    "records": [
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@@ -128462,7 +129371,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -128991,7 +129901,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -129158,7 +130069,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
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@@ -129218,7 +130130,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
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@@ -129258,7 +130171,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
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@@ -129278,7 +130192,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
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@@ -129288,7 +130203,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
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@@ -129298,7 +130214,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
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@@ -129308,7 +130225,107 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
+     }
+    },
+    {
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+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
+     "record_id": "hexadecane",
+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
+     "record_id": "octadecane",
+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -129376,7 +130393,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -129765,7 +130783,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -130262,15 +131281,15 @@
     "assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json:.library[]",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "27abf66bcb30d46faea0a8c6a3c4753a975bac5de48a8a30c38da0a09f8516f9",
+   "sha256": "38dc4f770bd5e99592d6f9b0ffdbf7405852b1f2662f6d4bb341a214ccfc8d27",
    "is_shared_spectral_library": true,
    "coverage": {
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+    "records": 208,
     "records_with_identifier": 0,
-    "linked_spectral_library": 199,
-    "linked_substances": 57,
+    "linked_spectral_library": 208,
+    "linked_substances": 77,
     "linked_via_component": 0,
-    "distinct_compounds": 199
+    "distinct_compounds": 208
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@@ -130320,7 +131339,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
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@@ -130849,7 +131869,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
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@@ -131016,7 +132037,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
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@@ -131076,7 +132098,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
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@@ -131116,7 +132139,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
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@@ -131136,7 +132160,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
      }
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@@ -131146,7 +132171,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
      }
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@@ -131156,7 +132182,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
      }
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@@ -131166,7 +132193,107 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
+     }
+    },
+    {
+     "record_id": "undecane",
+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
+     "record_id": "hexadecane",
+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
+     "record_id": "octadecane",
+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -131256,7 +132383,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -131790,7 +132918,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -132364,7 +133493,7 @@
     "assets/reactions/*_library glob",
     "sibling file of the same library directory"
    ],
-   "sha256": "e7a93bf55946be17a0df7f03db0d49480b756871b8cdf93d6dcfbf9c5d7245d4",
+   "sha256": "6dbe255290f5730e11111a6eb4ef82a7b912b99edc59569ce46075dae73033d6",
    "is_shared_spectral_library": true,
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@@ -132386,15 +133515,15 @@
     "assets/expansion_batch04/t3_analytical/jasco_fvs6000/asset.contract.json:.templates[].source.library_record",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "95c5fa7b8257fce1a9101247066df5a96c83436f9fd662d51b7de4a206911c72",
+   "sha256": "030d65280fdda6f9d838d5e367006d79c25d67219466331018556598fc8c5241",
    "is_shared_spectral_library": true,
    "coverage": {
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+    "records": 194,
     "records_with_identifier": 0,
-    "linked_spectral_library": 185,
-    "linked_substances": 52,
+    "linked_spectral_library": 194,
+    "linked_substances": 71,
     "linked_via_component": 0,
-    "distinct_compounds": 185
+    "distinct_compounds": 194
    },
    "records": [
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@@ -132444,7 +133573,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -132953,7 +134083,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -133120,7 +134251,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
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@@ -133180,7 +134312,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -133220,7 +134353,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
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@@ -133240,7 +134374,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
      }
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@@ -133250,7 +134385,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
      }
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@@ -133260,7 +134396,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
      }
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@@ -133270,7 +134407,107 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
+     }
+    },
+    {
+     "record_id": "undecane",
+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
+     "record_id": "hexadecane",
+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
+     "record_id": "octadecane",
+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -133349,7 +134586,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -134343,15 +135581,15 @@
     "assets/reactions/*_library glob",
     "sibling file of the same library directory"
    ],
-   "sha256": "0288e932df23ab67b7c691bfad3d094b1358c663358b00ec8ba8200ade7b20bb",
+   "sha256": "d9868937c6359a782cdc9a80de1f7a831c1735af33e1346aea53e2ff2881ef9f",
    "is_shared_spectral_library": true,
    "coverage": {
-    "records": 197,
+    "records": 206,
     "records_with_identifier": 0,
-    "linked_spectral_library": 197,
-    "linked_substances": 56,
+    "linked_spectral_library": 206,
+    "linked_substances": 76,
     "linked_via_component": 0,
-    "distinct_compounds": 197
+    "distinct_compounds": 206
    },
    "records": [
     {
@@ -134401,7 +135639,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -134930,7 +136169,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -135097,7 +136337,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -135157,7 +136398,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -135197,7 +136439,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
     },
     {
@@ -135217,7 +136460,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
      }
     },
     {
@@ -135227,7 +136471,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "id",
-      "match_key": "nonane"
+      "match_key": "nonane",
+      "substances": "nonane"
      }
     },
     {
@@ -135237,7 +136482,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
      }
     },
     {
@@ -135247,7 +136493,107 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "id",
-      "match_key": "dodecane"
+      "match_key": "dodecane",
+      "substances": "dodecane"
+     }
+    },
+    {
+     "record_id": "undecane",
+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
+     "record_id": "hexadecane",
+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
+     "record_id": "octadecane",
+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -135326,7 +136672,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -135860,7 +137207,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -136418,15 +137766,15 @@
     "assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json:.shared_library",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "2a91ef8eaf444e7287e118413e3b3f1e467eb02fc12582e8724ce101eabef778",
+   "sha256": "10f7348f7126b41c0e7789f374e9054327b76341bdae566d71a8ca0c760e1101",
    "is_shared_spectral_library": true,
    "coverage": {
-    "records": 120,
+    "records": 129,
     "records_with_identifier": 0,
-    "linked_spectral_library": 120,
-    "linked_substances": 38,
+    "linked_spectral_library": 129,
+    "linked_substances": 55,
     "linked_via_component": 0,
-    "distinct_compounds": 120
+    "distinct_compounds": 129
    },
    "records": [
     {
@@ -136476,7 +137824,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -136922,7 +138271,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -137089,7 +138439,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -137149,7 +138500,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -137189,7 +138541,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "id",
-      "match_key": "hexane"
+      "match_key": "hexane",
+      "substances": "hexane"
      }
     },
     {
@@ -137209,7 +138562,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "id",
-      "match_key": "octane"
+      "match_key": "octane",
+      "substances": "octane"
      }
     },
     {
@@ -137219,7 +138573,107 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "id",
-      "match_key": "decane"
+      "match_key": "decane",
+      "substances": "decane"
+     }
+    },
+    {
+     "record_id": "undecane",
+     "pointer": "/compounds/undecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "undecane",
+      "match_basis": "id",
+      "match_key": "undecane",
+      "substances": "undecane"
+     }
+    },
+    {
+     "record_id": "tridecane",
+     "pointer": "/compounds/tridecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tridecane",
+      "match_basis": "id",
+      "match_key": "tridecane",
+      "substances": "tridecane"
+     }
+    },
+    {
+     "record_id": "tetradecane",
+     "pointer": "/compounds/tetradecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "tetradecane",
+      "match_basis": "id",
+      "match_key": "tetradecane",
+      "substances": "tetradecane"
+     }
+    },
+    {
+     "record_id": "pentadecane",
+     "pointer": "/compounds/pentadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "pentadecane",
+      "match_basis": "id",
+      "match_key": "pentadecane",
+      "substances": "pentadecane"
+     }
+    },
+    {
+     "record_id": "hexadecane",
+     "pointer": "/compounds/hexadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "hexadecane",
+      "match_basis": "id",
+      "match_key": "hexadecane",
+      "substances": "hexadecane"
+     }
+    },
+    {
+     "record_id": "heptadecane",
+     "pointer": "/compounds/heptadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "heptadecane",
+      "match_basis": "id",
+      "match_key": "heptadecane",
+      "substances": "heptadecane"
+     }
+    },
+    {
+     "record_id": "octadecane",
+     "pointer": "/compounds/octadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "octadecane",
+      "match_basis": "id",
+      "match_key": "octadecane",
+      "substances": "octadecane"
+     }
+    },
+    {
+     "record_id": "nonadecane",
+     "pointer": "/compounds/nonadecane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "nonadecane",
+      "match_basis": "id",
+      "match_key": "nonadecane",
+      "substances": "nonadecane"
+     }
+    },
+    {
+     "record_id": "icosane",
+     "pointer": "/compounds/icosane",
+     "identifiers": {},
+     "shared_ids": {
+      "spectral_library": "icosane",
+      "match_basis": "id",
+      "match_key": "icosane",
+      "substances": "icosane"
      }
     },
     {
@@ -137255,7 +138709,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -137703,13 +139158,13 @@
     "assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json:.library[]",
     "assets/reactions/*_library glob"
    ],
-   "sha256": "24cc40dc67dffb934b40b50c8f0f13f00e97f7ad1fed9900a3b9fa138bf6099d",
+   "sha256": "2824911510e3c81956498fbea5c3d68669537d552a23b24214f1b73dd5792650",
    "is_shared_spectral_library": true,
    "coverage": {
     "records": 74,
     "records_with_identifier": 0,
     "linked_spectral_library": 74,
-    "linked_substances": 24,
+    "linked_substances": 30,
     "linked_via_component": 0,
     "distinct_compounds": 74
    },
@@ -137746,7 +139201,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "id",
-      "match_key": "propan_2_ol"
+      "match_key": "propan_2_ol",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -137909,7 +139365,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "id",
-      "match_key": "benzene"
+      "match_key": "benzene",
+      "substances": "benzene"
      }
     },
     {
@@ -138015,7 +139472,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "id",
-      "match_key": "tetrahydrofuran"
+      "match_key": "tetrahydrofuran",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -138055,7 +139513,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "id",
-      "match_key": "acetonitrile"
+      "match_key": "acetonitrile",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -138097,7 +139556,8 @@
      "shared_ids": {
       "spectral_library": "caffeine",
       "match_basis": "id",
-      "match_key": "caffeine"
+      "match_key": "caffeine",
+      "substances": "caffeine"
      }
     },
     {
@@ -138303,7 +139763,8 @@
      "shared_ids": {
       "spectral_library": "oxalic_acid",
       "match_basis": "id",
-      "match_key": "oxalic_acid"
+      "match_key": "oxalic_acid",
+      "substances": "oxalic_acid"
      }
     },
     {
@@ -138502,7 +139963,7 @@
     "records": 78,
     "records_with_identifier": 78,
     "linked_spectral_library": 78,
-    "linked_substances": 30,
+    "linked_substances": 39,
     "linked_via_component": 0,
     "distinct_compounds": 78
    },
@@ -138570,7 +140031,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -139141,7 +140603,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
-      "match_key": "71-43-2"
+      "match_key": "71-43-2",
+      "substances": "benzene"
      }
     },
     {
@@ -139372,7 +140835,8 @@
      "shared_ids": {
       "spectral_library": "tetrahydrofuran",
       "match_basis": "cas",
-      "match_key": "109-99-9"
+      "match_key": "109-99-9",
+      "substances": "tetrahydrofuran"
      }
     },
     {
@@ -139456,7 +140920,8 @@
      "shared_ids": {
       "spectral_library": "acetonitrile",
       "match_basis": "cas",
-      "match_key": "75-05-8"
+      "match_key": "75-05-8",
+      "substances": "acetonitrile"
      }
     },
     {
@@ -139512,7 +140977,8 @@
      "shared_ids": {
       "spectral_library": "hexane",
       "match_basis": "cas",
-      "match_key": "110-54-3"
+      "match_key": "110-54-3",
+      "substances": "hexane"
      }
     },
     {
@@ -139540,7 +141006,8 @@
      "shared_ids": {
       "spectral_library": "octane",
       "match_basis": "cas",
-      "match_key": "111-65-9"
+      "match_key": "111-65-9",
+      "substances": "octane"
      }
     },
     {
@@ -139554,7 +141021,8 @@
      "shared_ids": {
       "spectral_library": "nonane",
       "match_basis": "cas",
-      "match_key": "111-84-2"
+      "match_key": "111-84-2",
+      "substances": "nonane"
      }
     },
     {
@@ -139568,7 +141036,8 @@
      "shared_ids": {
       "spectral_library": "decane",
       "match_basis": "cas",
-      "match_key": "124-18-5"
+      "match_key": "124-18-5",
+      "substances": "decane"
      }
     },
     {
@@ -139582,7 +141051,8 @@
      "shared_ids": {
       "spectral_library": "dodecane",
       "match_basis": "cas",
-      "match_key": "112-40-3"
+      "match_key": "112-40-3",
+      "substances": "dodecane"
      }
     },
     {
@@ -140477,7 +141947,7 @@
     "records": 78,
     "records_with_identifier": 78,
     "linked_spectral_library": 78,
-    "linked_substances": 30,
+    "linked_substances": 39,
     "linked_via_component": 0,
     "distinct_compounds": 78
    },
@@ -140545,7 +142015,8 @@
      "shared_ids": {
       "spectral_library": "propan_2_ol",
       "match_basis": "cas",
-      "match_key": "67-63-0"
+      "match_key": "67-63-0",
+      "substances": "propan_2_ol"
      }
     },
     {
@@ -141116,7 +142587,8 @@
      "shared_ids": {
       "spectral_library": "benzene",
       "match_basis": "cas",
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@@ -169582,6 +171088,106 @@
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@@ -170048,6 +171654,148 @@
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@@ -172551,6 +174299,106 @@
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@@ -179868,6 +181716,106 @@
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+    "record_ids": [
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+    "record_ids": [
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+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "record_ids": [
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    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -180621,6 +182569,106 @@
     ]
    }
   ],
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "octadecane"
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+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "octadecane"
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+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "octadecane"
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+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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     "asset_type_id": "instrument.agilent_gc8890b",
@@ -182401,6 +184449,106 @@
     ]
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+    "record_ids": [
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+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -189203,6 +191351,141 @@
     ]
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+    "library": "assets/reactions/spectral_library/hplc_uv.json",
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+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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+   },
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+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_slotdie",
+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_spincoater",
+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
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   "tetrahydrofuran": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -190339,6 +192622,106 @@
     ]
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   ],
+  "tridecane": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
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+    ]
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+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   {
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+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
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+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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   "triethanolamine": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -191221,6 +193604,148 @@
     ]
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   ],
+  "undecane": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
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+    "record_ids": [
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+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
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+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   }
+  ],
   "urea": [
    {
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@@ -194308,6 +196833,7 @@
    "instrument.seal_aa500",
    "instrument.wtw_oxitopi"
   ],
+  "heptadecane": [],
   "heptane": [
    "instrument.agilent_hs8697",
    "instrument.antonpaar_abbematadvanced",
@@ -194351,6 +196877,14 @@
    "instrument.gilson_cpc250",
    "instrument.syrris_asiafllex"
   ],
+  "hexadecane": [
+   "instrument.fujifilm_dmp2850",
+   "instrument.ika_c6000",
+   "instrument.ossila_dipcoater",
+   "instrument.ossila_doctorblade",
+   "instrument.ossila_slotdie",
+   "instrument.ossila_spincoater"
+  ],
   "hexafluoropropane_r236ea": [
    "instrument.alicat_mc_1slpm_rev6",
    "instrument.eppendorf_5910ri",
@@ -194570,6 +197104,7 @@
    "instrument.thinky_are310s",
    "instrument.vaisala_dmt152"
   ],
+  "icosane": [],
   "imidazole": [
    "instrument.agilent_hs8697",
    "instrument.cytiva_biacoret200",
@@ -195198,6 +197733,7 @@
    "instrument.ossila_slotdie",
    "instrument.ossila_spincoater"
   ],
+  "nonadecane": [],
   "nonane": [
    "instrument.agilent_hs8697",
    "instrument.antonpaar_abbematadvanced",
@@ -195282,6 +197818,7 @@
    "instrument.uic_kdl1basic",
    "instrument.vaisala_dmt152"
   ],
+  "octadecane": [],
   "octafluorocyclobutane": [
    "instrument.agilent_hs8697",
    "instrument.alicat_mc_1slpm_rev6",
@@ -195455,6 +197992,7 @@
    "instrument.thinky_are310s",
    "instrument.vaisala_dmt152"
   ],
+  "pentadecane": [],
   "pentan_1_ol": [
    "instrument.agilent_hs8697",
    "instrument.antonpaar_abbematadvanced",
@@ -196021,6 +198559,13 @@
    "instrument.ossila_slotdie",
    "instrument.ossila_spincoater"
   ],
+  "tetradecane": [
+   "instrument.fujifilm_dmp2850",
+   "instrument.ossila_dipcoater",
+   "instrument.ossila_doctorblade",
+   "instrument.ossila_slotdie",
+   "instrument.ossila_spincoater"
+  ],
   "tetrahydrofuran": [
    "instrument.agilent_hs8697",
    "instrument.antonpaar_abbematadvanced",
@@ -196129,6 +198674,7 @@
    "instrument.jena_multix",
    "instrument.tousimis_autosamdri815"
   ],
+  "tridecane": [],
   "triethanolamine": [
    "instrument.magritek_spinsolve80",
    "instrument.malvern_microcalpeaq",
@@ -196181,6 +198727,14 @@
    "instrument.metrohm_omnis",
    "instrument.sciex_pa800"
   ],
+  "undecane": [
+   "instrument.fujifilm_dmp2850",
+   "instrument.metrohm_899",
+   "instrument.ossila_dipcoater",
+   "instrument.ossila_doctorblade",
+   "instrument.ossila_slotdie",
+   "instrument.ossila_spincoater"
+  ],
   "urea": [
    "instrument.aqualab_4te",
    "instrument.binder_kbf115",
@@ -197934,6 +200488,415 @@
     ]
    }
   ],
+  "acetonitrile": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/agilent_hs8697_headspace_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_abbematadvanced",
+    "library": "assets/reactions/antonpaar_abbematadvanced_refractive_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_dma5002",
+    "library": "assets/reactions/antonpaar_dma5002_density_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_mcr503",
+    "library": "assets/expansion_batch04/t1_thermal/antonpaar_mcr503/rheology_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_monowave400",
+    "library": "assets/reactions/antonpaar_monowave400_thermophysical_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.binder_fd056",
+    "library": "assets/expansion_batch05/t4_measure/binder_fd056/load_templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.biotek_405ts",
+    "library": "assets/expansion_batch04/t4_measure/biotek_405ts/wash_liquid_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.bronkhorst_cemw",
+    "library": "assets/expansion_batch03/t5_automation/bronkhorst_cemw/vapour_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.eco_ncld822",
+    "library": "assets/reactions/eco_ncld822_nox_library/templates.json",
+    "record_ids": [
+     "acetonitrile@/templates/40",
+     "acetonitrile@/templates/67"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.esco_ac24s8",
+    "library": "assets/expansion_batch04/t2_vacuum/esco_ac24s8/liquid_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.esco_efa5uduvw",
+    "library": "assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/vapour_templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.fujifilm_dmp2850",
+    "library": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.gamry_reference620",
+    "library": "assets/reactions/gamry_ref620_redox_library/templates.json",
+    "record_ids": [
+     "redox_fcp_to_fc_acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.genevac_mivac2",
+    "library": "assets/reactions/genevac_mivac2_evaporation_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_c6000",
+    "library": "assets/expansion_batch03/t1_thermal/ika_c6000/combustion_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_plate_rctdigital",
+    "library": "assets/expansion_batch05/t4_measure/ika_plate_rctdigital/liquid_templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_rv10_digital_v",
+    "library": "assets/reactions/ika_rv10_evaporation_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_t25",
+    "library": "assets/reactions/ika_t25_dispersion_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inert_puresolvmd",
+    "library": "assets/expansion_batch04/t2_vacuum/inert_puresolvmd/solvent_templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inficon_ul1000fab",
+    "library": "assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/gas_conversion_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/expansion_batch04/t3_analytical/jasco_fvs6000/output_templates/library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/magritek_spinsolve80_nmr_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_909uv",
+    "library": "assets/reactions/metrohm_909uv_digestion_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_hx204",
+    "library": "assets/reactions/mt_hx204_moisture_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_mp70",
+    "library": "assets/reactions/mt_mp70_thermal_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_rc1mxhfcal",
+    "library": "assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/reaction_mass_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.newera_ne1000",
+    "library": "assets/expansion_batch05/t5_automation/newera_ne1000/syringe_templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.novocontrol_alphat",
+    "library": "assets/expansion_batch04/t1_thermal/novocontrol_alphat/dielectric_library.json",
+    "record_ids": [
+     "acetonitrile_crc_75_05_8"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_dipcoater",
+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_slotdie",
+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_spincoater",
+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.pilodist_pilodist104",
+    "library": "assets/reactions/pilodist_pilodist104_vle_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.sonics_vcx750",
+    "library": "assets/reactions/sonics_vcx750_sonication_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.stanford_rga100",
+    "library": "assets/expansion_batch04/t3_analytical/stanford_rga100/output_templates/library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.syrris_asiadiscovery",
+    "library": "assets/reactions/syrris_asiadiscovery_flow_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.thalesnano_hcube",
+    "library": "assets/reactions/thalesnano_hcube_hydrogenation_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.thinky_are310s",
+    "library": "assets/reactions/thinky_are310s_mixing_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.tuttnauer_3870elvd",
+    "library": "assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/liquid_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.uic_kdl1basic",
+    "library": "assets/reactions/uic_kdl1basic_evaporation_library/templates.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.vaisala_dmt152",
+    "library": "assets/expansion_batch04/t2_vacuum/vaisala_dmt152/gas_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.wtw_oxitopi",
+    "library": "assets/expansion_batch04/t4_measure/wtw_oxitopi/substance_library.json",
+    "record_ids": [
+     "acetonitrile"
+    ]
+   }
+  ],
   "acetophenone": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -198274,6 +201237,30 @@
     ]
    }
   ],
+  "aluminium_oxide": [
+   {
+    "asset_type_id": "instrument.eppendorf_5910ri",
+    "library": "assets/reactions/eppendorf_5910ri_sedimentation_library/templates.json",
+    "record_ids": [
+     "particle_alumina"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.glatt_miniglatt",
+    "library": "assets/reactions/glatt_miniglatt_granulation_library/templates.json",
+    "record_ids": [
+     "reference_records[200]",
+     "reference_records[88]"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
+    "library": "assets/reactions/rigaku_miniflex600_xrd_library/templates.json",
+    "record_ids": [
+     "corundum"
+    ]
+   }
+  ],
   "ammonia": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -198971,6 +201958,50 @@
     ]
    }
   ],
+  "argon": [
+   {
+    "asset_type_id": "instrument.alicat_mc_1slpm_rev6",
+    "library": "assets/reactions/alicat_mc_gas_property_library/templates.json",
+    "record_ids": [
+     "gas_argon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.bronkhorst_cemw",
+    "library": "assets/expansion_batch03/t5_automation/bronkhorst_cemw/gas_library.json",
+    "record_ids": [
+     "argon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.eco_ncld822",
+    "library": "assets/reactions/eco_ncld822_nox_library/templates.json",
+    "record_ids": [
+     "argon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inficon_ul1000fab",
+    "library": "assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/gas_conversion_library.json",
+    "record_ids": [
+     "argon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.stanford_rga100",
+    "library": "assets/expansion_batch04/t3_analytical/stanford_rga100/output_templates/library.json",
+    "record_ids": [
+     "argon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.vaisala_dmt152",
+    "library": "assets/expansion_batch04/t2_vacuum/vaisala_dmt152/gas_library.json",
+    "record_ids": [
+     "argon"
+    ]
+   }
+  ],
   "ascorbic_acid": [
    {
     "asset_type_id": "instrument.metrohm_909uv",
@@ -199595,6 +202626,428 @@
     ]
    }
   ],
+  "benzene": [
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/agilent_hs8697_headspace_library/templates.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "benzene"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "benzene"
+    ]
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+   {
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     "asset_type_id": "instrument.agilent_gc8890b",
@@ -201447,6 +204900,239 @@
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     "asset_type_id": "instrument.eppendorf_5910ri",
@@ -203316,6 +207002,386 @@
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "library": "assets/reactions/magritek_spinsolve80_nmr_library/templates.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "record_ids": [
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+    "library": "assets/reactions/metrohm_899_water_library/templates.json",
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+    ]
+   },
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+    ]
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+   {
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   "di_tert_butyl_peroxide": [
    {
     "asset_type_id": "instrument.netzsch_mmc315",
@@ -203361,6 +207427,347 @@
     ]
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   ],
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+    ]
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+    "record_ids": [
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+    ]
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   "ethane": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -206459,6 +210866,686 @@
     ]
    }
   ],
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+    "library": "assets/reactions/tousimis_autosamdri815_phase_library/templates.json",
+    "record_ids": [
+     "n_hexane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.tuttnauer_3870elvd",
+    "library": "assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/liquid_library.json",
+    "record_ids": [
+     "hexane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.uic_kdl1basic",
+    "library": "assets/reactions/uic_kdl1basic_evaporation_library/templates.json",
+    "record_ids": [
+     "hexane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.vaisala_dmt152",
+    "library": "assets/expansion_batch04/t2_vacuum/vaisala_dmt152/gas_library.json",
+    "record_ids": [
+     "hexane"
+    ]
+   }
+  ],
   "hexanedione_2_5": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -207074,6 +212161,106 @@
     ]
    }
   ],
+  "icosane": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
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+    ]
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+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "icosane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
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+    ]
+   },
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+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    ]
+   },
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+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
+   },
+   {
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "icosane"
+    ]
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+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
+   },
+   {
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+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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+  ],
   "imidazole": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -207258,6 +212445,49 @@
     ]
    }
   ],
+  "indium": [
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+    "library": "assets/expansion_batch04/t3_analytical/jeol_jsmit200/sem_eds_library.json",
+    "record_ids": [
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+     "georem_mpi_ding_gor132_g__in",
+     "georem_mpi_ding_kl2_g__in",
+     "georem_mpi_ding_ml3b_g__in",
+     "georem_mpi_ding_sths6_80_g__in",
+     "georem_mpi_ding_t1_g__in",
+     "georem_nist_nistsrm610__in",
+     "georem_nist_nistsrm612__in",
+     "georem_nist_nistsrm614__in",
+     "georem_nist_nistsrm616__in",
+     "georem_nrcg_cgsg_1__in",
+     "georem_nrcg_cgsg_2__in",
+     "georem_nrcg_cgsg_4__in",
+     "georem_nrcg_cgsg_5__in",
+     "georem_usgs_bcr_2g__in",
+     "georem_usgs_bhvo_2g__in",
+     "georem_usgs_bir_1g__in",
+     "georem_usgs_gsa_1g__in",
+     "georem_usgs_gsc_1g__in",
+     "georem_usgs_gsd_1g__in",
+     "georem_usgs_gse_1g__in",
+     "nist_srm_1633c__in",
+     "nist_srm_2780a__in",
+     "nist_srm_3124a__in",
+     "usgs_bhvo_2__in"
+    ]
+   }
+  ],
   "iron": [
    {
     "asset_type_id": "instrument.binder_fd056",
@@ -207893,6 +213123,22 @@
     ]
    }
   ],
+  "lithium_chloride": [
+   {
+    "asset_type_id": "instrument.binder_kbf115",
+    "library": "assets/expansion_batch04/t2_vacuum/binder_kbf115/sorption_templates.json",
+    "record_ids": [
+     "lithium_chloride"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.cytiva_biacoret200",
+    "library": "assets/expansion_batch04/t4_measure/cytiva_biacoret200/solution_library.json",
+    "record_ids": [
+     "lithium_chloride"
+    ]
+   }
+  ],
   "magnesium_carbonate": [
    {
     "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
@@ -211297,6 +216543,1115 @@
     ]
    }
   ],
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+    "library": "assets/reactions/spectral_library/hplc_uv.json",
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   "oxygen": [
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     "asset_type_id": "instrument.agilent_gc8890b",
@@ -211512,6 +217867,106 @@
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+   },
+   {
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+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "pentadecane"
+    ]
+   }
+  ],
   "phenol": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -212068,6 +218523,53 @@
     ]
    }
   ],
+  "potassium_dihydrogen_phosphate": [
+   {
+    "asset_type_id": "instrument.cytiva_biacoret200",
+    "library": "assets/expansion_batch04/t4_measure/cytiva_biacoret200/solution_library.json",
+    "record_ids": [
+     "potassium_dihydrogen_phosphate"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_914",
+    "library": "assets/reactions/metrohm_914_standards_library/templates.json",
+    "record_ids": [
+     "nist_srm_186g_phosphate_equimolal_buffer",
+     "nist_srm_186g_phosphate_physiological_buffer"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.seal_aa500",
+    "library": "assets/expansion_batch04/t4_measure/seal_aa500/substance_library.json",
+    "record_ids": [
+     "potassium_dihydrogen_phosphate"
+    ]
+   }
+  ],
+  "potassium_hydrogen_phthalate": [
+   {
+    "asset_type_id": "instrument.metrohm_914",
+    "library": "assets/reactions/metrohm_914_standards_library/templates.json",
+    "record_ids": [
+     "nist_srm_185i_khp_buffer"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_914",
+    "library": "assets/reactions/metrohm_omnis_acidbase_library/templates.json",
+    "record_ids": [
+     "srm_84l_potassium_hydrogen_phthalate"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_omnis",
+    "library": "assets/reactions/metrohm_omnis_acidbase_library/templates.json",
+    "record_ids": [
+     "srm_84l_potassium_hydrogen_phthalate"
+    ]
+   }
+  ],
   "potassium_hydroxide": [
    {
     "asset_type_id": "instrument.binder_kbf115",
@@ -212151,6 +218653,393 @@
     ]
    }
   ],
+  "propan_2_ol": [
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/agilent_hs8697_headspace_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_abbematadvanced",
+    "library": "assets/reactions/antonpaar_abbematadvanced_refractive_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_dma5002",
+    "library": "assets/reactions/antonpaar_dma5002_density_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_mcr503",
+    "library": "assets/expansion_batch04/t1_thermal/antonpaar_mcr503/rheology_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_monowave400",
+    "library": "assets/reactions/antonpaar_monowave400_thermophysical_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.binder_fd056",
+    "library": "assets/expansion_batch05/t4_measure/binder_fd056/load_templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.biotek_405ts",
+    "library": "assets/expansion_batch04/t4_measure/biotek_405ts/wash_liquid_library.json",
+    "record_ids": [
+     "isopropanol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.bronkhorst_cemw",
+    "library": "assets/expansion_batch03/t5_automation/bronkhorst_cemw/vapour_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.esco_ac24s8",
+    "library": "assets/expansion_batch04/t2_vacuum/esco_ac24s8/liquid_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.esco_efa5uduvw",
+    "library": "assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/vapour_templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
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+    "library": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.genevac_mivac2",
+    "library": "assets/reactions/genevac_mivac2_evaporation_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_c6000",
+    "library": "assets/expansion_batch03/t1_thermal/ika_c6000/combustion_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_plate_rctdigital",
+    "library": "assets/expansion_batch05/t4_measure/ika_plate_rctdigital/liquid_templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_rv10_digital_v",
+    "library": "assets/reactions/ika_rv10_evaporation_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_t25",
+    "library": "assets/reactions/ika_t25_dispersion_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inert_puresolvmd",
+    "library": "assets/expansion_batch04/t2_vacuum/inert_puresolvmd/solvent_templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inficon_ul1000fab",
+    "library": "assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/gas_conversion_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/expansion_batch04/t3_analytical/jasco_fvs6000/output_templates/library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/magritek_spinsolve80_nmr_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_hx204",
+    "library": "assets/reactions/mt_hx204_moisture_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_mp70",
+    "library": "assets/reactions/mt_mp70_thermal_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.mt_rc1mxhfcal",
+    "library": "assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/reaction_mass_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.newera_ne1000",
+    "library": "assets/expansion_batch05/t5_automation/newera_ne1000/syringe_templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.novocontrol_alphat",
+    "library": "assets/expansion_batch04/t1_thermal/novocontrol_alphat/dielectric_library.json",
+    "record_ids": [
+     "2_propanol_crc_67_63_0"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_dipcoater",
+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_slotdie",
+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_spincoater",
+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.pilodist_pilodist104",
+    "library": "assets/reactions/pilodist_pilodist104_vle_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.sonics_vcx750",
+    "library": "assets/reactions/sonics_vcx750_sonication_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.stanford_rga100",
+    "library": "assets/expansion_batch04/t3_analytical/stanford_rga100/output_templates/library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.syrris_asiadiscovery",
+    "library": "assets/reactions/syrris_asiadiscovery_flow_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.thalesnano_hcube",
+    "library": "assets/reactions/thalesnano_hcube_hydrogenation_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.thinky_are310s",
+    "library": "assets/reactions/thinky_are310s_mixing_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.tuttnauer_3870elvd",
+    "library": "assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/liquid_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.uic_kdl1basic",
+    "library": "assets/reactions/uic_kdl1basic_evaporation_library/templates.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.vaisala_dmt152",
+    "library": "assets/expansion_batch04/t2_vacuum/vaisala_dmt152/gas_library.json",
+    "record_ids": [
+     "propan_2_ol"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.wtw_oxitopi",
+    "library": "assets/expansion_batch04/t4_measure/wtw_oxitopi/substance_library.json",
+    "record_ids": [
+     "2_propanol"
+    ]
+   }
+  ],
   "ptfe": [
    {
     "asset_type_id": "instrument.binder_fd056",
@@ -212526,6 +219415,106 @@
     ]
    }
   ],
+  "silicon": [
+   {
+    "asset_type_id": "instrument.antonpaar_saxspace",
+    "library": "assets/expansion_batch04/t3_analytical/antonpaar_saxspace/saxs_library.json",
+    "record_ids": [
+     "silicon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.eppendorf_5910ri",
+    "library": "assets/reactions/eppendorf_5910ri_sedimentation_library/templates.json",
+    "record_ids": [
+     "particle_silicon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jeol_jem1400flash",
+    "library": "assets/expansion_batch04/t3_analytical/jeol_jem1400flash/tem_library.json",
+    "record_ids": [
+     "silicon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jeol_jsmit200",
+    "library": "assets/expansion_batch04/t3_analytical/jeol_jsmit200/sem_eds_library.json",
+    "record_ids": [
+     "silicon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
+    "library": "assets/reactions/rigaku_miniflex600_xrd_library/templates.json",
+    "record_ids": [
+     "silicon"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.teledyne_analyteexcite",
+    "library": "assets/reactions/crm_element_library/templates.json",
+    "record_ids": [
+     "Si",
+     "georem_iggcas_arm_1__si",
+     "georem_iggcas_arm_2__si",
+     "georem_iggcas_arm_3__si",
+     "georem_mpi_ding_atho_g__si",
+     "georem_mpi_ding_bm90_21_g__si",
+     "georem_mpi_ding_gor128_g__si",
+     "georem_mpi_ding_gor132_g__si",
+     "georem_mpi_ding_kl2_g__si",
+     "georem_mpi_ding_ml3b_g__si",
+     "georem_mpi_ding_sths6_80_g__si",
+     "georem_mpi_ding_t1_g__si",
+     "georem_nist_nistsrm610__si",
+     "georem_nist_nistsrm612__si",
+     "georem_nist_nistsrm614__si",
+     "georem_nist_nistsrm616__si",
+     "georem_nrcg_cgsg_1__si",
+     "georem_nrcg_cgsg_2__si",
+     "georem_nrcg_cgsg_4__si",
+     "georem_nrcg_cgsg_5__si",
+     "georem_usgs_bcr_2g__si",
+     "georem_usgs_bhvo_2g__si",
+     "georem_usgs_bir_1g__si",
+     "georem_usgs_gsa_1g__si",
+     "georem_usgs_gsc_1g__si",
+     "georem_usgs_gsd_1g__si",
+     "georem_usgs_gse_1g__si",
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+     "nist_srm_2711a__si",
+     "nist_srm_2780a__si",
+     "nist_srm_3150__si",
+     "usgs_agv_2__si",
+     "usgs_bcr_2__si",
+     "usgs_bcr_2g__si",
+     "usgs_bhvo_2__si",
+     "usgs_bir_1a__si",
+     "usgs_dnc_1a__si",
+     "usgs_g_3__si",
+     "usgs_qlo_1a__si",
+     "usgs_sbc_1__si",
+     "usgs_sdc_1__si",
+     "usgs_sgr_1b__si"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.wyatt_eclipseaf4",
+    "library": "assets/reactions/wyatt_eclipseaf4_fractionation_library/templates.json",
+    "record_ids": [
+     "nist_rm8027_si2"
+    ]
+   }
+  ],
   "silver": [
    {
     "asset_type_id": "instrument.eppendorf_5910ri",
@@ -212814,6 +219803,29 @@
     ]
    }
   ],
+  "sodium_dihydrogen_phosphate": [
+   {
+    "asset_type_id": "instrument.aqualab_4te",
+    "library": "assets/reactions/aqualab_4te_water_activity_library/templates.json",
+    "record_ids": [
+     "sodium_dihydrogen_phosphate"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.binder_kbf115",
+    "library": "assets/expansion_batch04/t2_vacuum/binder_kbf115/sorption_templates.json",
+    "record_ids": [
+     "sodium_dihydrogen_phosphate"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.cytiva_biacoret200",
+    "library": "assets/expansion_batch04/t4_measure/cytiva_biacoret200/solution_library.json",
+    "record_ids": [
+     "sodium_dihydrogen_phosphate"
+    ]
+   }
+  ],
   "sodium_hydroxide": [
    {
     "asset_type_id": "instrument.binder_kbf115",
@@ -212966,6 +219978,29 @@
     ]
    }
   ],
+  "sodium_tetraborate_decahydrate": [
+   {
+    "asset_type_id": "instrument.metrohm_899",
+    "library": "assets/reactions/metrohm_899_water_library/templates.json",
+    "record_ids": [
+     "sodium_tetraborate_decahydrate"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_914",
+    "library": "assets/reactions/metrohm_914_standards_library/templates.json",
+    "record_ids": [
+     "nist_srm_187f_borax_buffer"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
+    "library": "assets/reactions/rigaku_miniflex600_xrd_library/templates.json",
+    "record_ids": [
+     "borax"
+    ]
+   }
+  ],
   "styrene": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -213655,6 +220690,15 @@
     ]
    }
   ],
+  "sulfanilic_acid": [
+   {
+    "asset_type_id": "instrument.sciex_pa800",
+    "library": "assets/reactions/sciex_pa800_mobility_library/templates.json",
+    "record_ids": [
+     "sulfanilic_acid"
+    ]
+   }
+  ],
   "sulfur_dioxide_dissolved": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -213892,6 +220936,528 @@
     ]
    }
   ],
+  "tetradecane": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.fujifilm_dmp2850",
+    "library": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    ]
+   },
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+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
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+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_dipcoater",
+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_slotdie",
+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
+     "tetradecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_spincoater",
+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
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+    ]
+   }
+  ],
+  "tetrahydrofuran": [
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
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+    ]
+   },
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+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
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+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
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+    ]
+   },
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+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/agilent_hs8697_headspace_library/templates.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.agilent_hs8697",
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+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+    "library": "assets/reactions/antonpaar_abbematadvanced_refractive_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
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+    "asset_type_id": "instrument.antonpaar_dma5002",
+    "library": "assets/reactions/antonpaar_dma5002_density_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.antonpaar_mcr503",
+    "library": "assets/expansion_batch04/t1_thermal/antonpaar_mcr503/rheology_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "asset_type_id": "instrument.antonpaar_monowave400",
+    "library": "assets/reactions/antonpaar_monowave400_thermophysical_library/templates.json",
+    "record_ids": [
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+    "library": "assets/expansion_batch05/t4_measure/binder_fd056/load_templates.json",
+    "record_ids": [
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+    ]
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+    "library": "assets/expansion_batch03/t5_automation/bronkhorst_cemw/vapour_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.esco_ac24s8",
+    "library": "assets/expansion_batch04/t2_vacuum/esco_ac24s8/liquid_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
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+    "asset_type_id": "instrument.esco_efa5uduvw",
+    "library": "assets/expansion_batch05/t2_vacuum/esco_efa5uduvw/vapour_templates.json",
+    "record_ids": [
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+    "asset_type_id": "instrument.fujifilm_dmp2850",
+    "library": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
+    "record_ids": [
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+    "library": "assets/reactions/gamry_ref620_redox_library/templates.json",
+    "record_ids": [
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+    "library": "assets/reactions/genevac_mivac2_evaporation_library/templates.json",
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    "library": "assets/reactions/spectral_library/uv_vis.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/expansion_batch03/t1_thermal/ika_c6000/combustion_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ika_plate_rctdigital",
+    "library": "assets/expansion_batch05/t4_measure/ika_plate_rctdigital/liquid_templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "asset_type_id": "instrument.ika_rv10_digital_v",
+    "library": "assets/reactions/ika_rv10_evaporation_library/templates.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/reactions/ika_t25_dispersion_library/templates.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/expansion_batch04/t2_vacuum/inert_puresolvmd/solvent_templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.inficon_ul1000fab",
+    "library": "assets/expansion_batch04/t2_vacuum/inficon_ul1000fab/gas_conversion_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/expansion_batch04/t3_analytical/jasco_fvs6000/output_templates/library.json",
+    "record_ids": [
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+    ]
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+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
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+    ]
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+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
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+    "library": "assets/reactions/magritek_spinsolve80_nmr_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
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+    ]
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+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
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+    "library": "assets/reactions/mt_hx204_moisture_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "library": "assets/reactions/mt_mp70_thermal_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
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+    "library": "assets/expansion_batch04/t1_thermal/mt_rc1mxhfcal/reaction_mass_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "asset_type_id": "instrument.newera_ne1000",
+    "library": "assets/expansion_batch05/t5_automation/newera_ne1000/syringe_templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.novocontrol_alphat",
+    "library": "assets/expansion_batch04/t1_thermal/novocontrol_alphat/dielectric_library.json",
+    "record_ids": [
+     "tetrahydrofuran_crc_109_99_9"
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+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
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+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
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+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
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+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
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+    ]
+   },
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+    "library": "assets/reactions/pilodist_pilodist104_vle_library/templates.json",
+    "record_ids": [
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+    "library": "assets/reactions/sonics_vcx750_sonication_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+    "library": "assets/expansion_batch04/t3_analytical/stanford_rga100/output_templates/library.json",
+    "record_ids": [
+     "tetrahydrofuran"
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+    "library": "assets/reactions/syrris_asiadiscovery_flow_library/templates.json",
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+    "library": "assets/reactions/thalesnano_hcube_hydrogenation_library/templates.json",
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+    ]
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+    "library": "assets/reactions/thinky_are310s_mixing_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
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+   {
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+    "library": "assets/expansion_batch03/t2_vacuum/tuttnauer_3870elvd/liquid_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.uic_kdl1basic",
+    "library": "assets/reactions/uic_kdl1basic_evaporation_library/templates.json",
+    "record_ids": [
+     "tetrahydrofuran"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.vaisala_dmt152",
+    "library": "assets/expansion_batch04/t2_vacuum/vaisala_dmt152/gas_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
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+   },
+   {
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+    "library": "assets/expansion_batch04/t4_measure/wtw_oxitopi/substance_library.json",
+    "record_ids": [
+     "tetrahydrofuran"
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   "toluene": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -214314,6 +221880,106 @@
     ]
    }
   ],
+  "tridecane": [
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+    "record_ids": [
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+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "tridecane"
+    ]
+   }
+  ],
   "triethylamine": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
@@ -214575,6 +222241,148 @@
     ]
    }
   ],
+  "undecane": [
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/compounds.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_gc8890b",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/hplc_uv.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hplc1260",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/gc_retention.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.agilent_hs8697",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.fujifilm_dmp2850",
+    "library": "assets/reactions/fujifilm_dmp2850_ink_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.hach_dr6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_ftir4700",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ir_spectra.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.jasco_fvs6000",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/ms_ei.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.magritek_spinsolve80",
+    "library": "assets/reactions/spectral_library/nmr.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.metrohm_899",
+    "library": "assets/reactions/metrohm_899_water_library/templates.json",
+    "record_ids": [
+     "undecane_water_saturated"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_dipcoater",
+    "library": "assets/reactions/ossila_dipcoater_film_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_doctorblade",
+    "library": "assets/reactions/ossila_doctorblade_film_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_slotdie",
+    "library": "assets/reactions/ossila_slotdie_film_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   },
+   {
+    "asset_type_id": "instrument.ossila_spincoater",
+    "library": "assets/reactions/ossila_spincoater_film_library/templates.json",
+    "record_ids": [
+     "undecane"
+    ]
+   }
+  ],
   "urea": [
    {
     "asset_type_id": "instrument.agilent_gc8890b",
diff --git a/assets/reactions/spectral_library/compounds.json b/assets/reactions/spectral_library/compounds.json
index 0b48c75d99a020e34f9bb5ee25223c2a5b2ddb42..a41080de80e5fee4ba41821cf7b38d3904df9330 100644
--- a/assets/reactions/spectral_library/compounds.json
+++ b/assets/reactions/spectral_library/compounds.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "id": "methanol",
@@ -2677,6 +2677,276 @@
     "phase_change": "NIST Chemistry WebBook (Mask=4)"
    }
   },
+  "undecane": {
+   "id": "undecane",
+   "name_en": "undecane",
+   "name_zh": "正十一烷",
+   "class": "alkane",
+   "cas": "1120-21-4",
+   "nist_id": "C1120214",
+   "nist_name": "Undecane",
+   "pubchem_cid": 14257,
+   "iupac_name": "undecane",
+   "formula": "C11H24",
+   "formula_nist": "C11H24",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 156.31,
+   "smiles": "CCCCCCCCCCC",
+   "xlogp": 5.6,
+   "boiling_point_K": 468.0,
+   "melting_point_K": 247.4,
+   "effective_carbon_number": {
+    "ecn": 11.0,
+    "n_carbon": 11,
+    "contributions": {
+     "aliphatic_C": 11.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "tridecane": {
+   "id": "tridecane",
+   "name_en": "tridecane",
+   "name_zh": "正十三烷",
+   "class": "alkane",
+   "cas": "629-50-5",
+   "nist_id": "C629505",
+   "nist_name": "Tridecane",
+   "pubchem_cid": 12388,
+   "iupac_name": "tridecane",
+   "formula": "C13H28",
+   "formula_nist": "C13H28",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 184.36,
+   "smiles": "CCCCCCCCCCCCC",
+   "xlogp": 6.6,
+   "boiling_point_K": 507.0,
+   "melting_point_K": 268.0,
+   "effective_carbon_number": {
+    "ecn": 13.0,
+    "n_carbon": 13,
+    "contributions": {
+     "aliphatic_C": 13.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "tetradecane": {
+   "id": "tetradecane",
+   "name_en": "tetradecane",
+   "name_zh": "正十四烷",
+   "class": "alkane",
+   "cas": "629-59-4",
+   "nist_id": "C629594",
+   "nist_name": "Tetradecane",
+   "pubchem_cid": 12389,
+   "iupac_name": "tetradecane",
+   "formula": "C14H30",
+   "formula_nist": "C14H30",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 198.39,
+   "smiles": "CCCCCCCCCCCCCC",
+   "xlogp": 7.2,
+   "boiling_point_K": 523.0,
+   "melting_point_K": 278.7,
+   "effective_carbon_number": {
+    "ecn": 14.0,
+    "n_carbon": 14,
+    "contributions": {
+     "aliphatic_C": 14.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "pentadecane": {
+   "id": "pentadecane",
+   "name_en": "pentadecane",
+   "name_zh": "正十五烷",
+   "class": "alkane",
+   "cas": "629-62-9",
+   "nist_id": "C629629",
+   "nist_name": "Pentadecane",
+   "pubchem_cid": 12391,
+   "iupac_name": "pentadecane",
+   "formula": "C15H32",
+   "formula_nist": "C15H32",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 212.41,
+   "smiles": "CCCCCCCCCCCCCCC",
+   "xlogp": 7.7,
+   "boiling_point_K": 540.0,
+   "melting_point_K": 283.0,
+   "effective_carbon_number": {
+    "ecn": 15.0,
+    "n_carbon": 15,
+    "contributions": {
+     "aliphatic_C": 15.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "hexadecane": {
+   "id": "hexadecane",
+   "name_en": "hexadecane",
+   "name_zh": "正十六烷",
+   "class": "alkane",
+   "cas": "544-76-3",
+   "nist_id": "C544763",
+   "nist_name": "Hexadecane",
+   "pubchem_cid": 11006,
+   "iupac_name": "hexadecane",
+   "formula": "C16H34",
+   "formula_nist": "C16H34",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 226.44,
+   "smiles": "CCCCCCCCCCCCCCCC",
+   "xlogp": 8.3,
+   "boiling_point_K": 554.0,
+   "melting_point_K": 291.0,
+   "effective_carbon_number": {
+    "ecn": 16.0,
+    "n_carbon": 16,
+    "contributions": {
+     "aliphatic_C": 16.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "heptadecane": {
+   "id": "heptadecane",
+   "name_en": "heptadecane",
+   "name_zh": "正十七烷",
+   "class": "alkane",
+   "cas": "629-78-7",
+   "nist_id": "C629787",
+   "nist_name": "Heptadecane",
+   "pubchem_cid": 12398,
+   "iupac_name": "heptadecane",
+   "formula": "C17H36",
+   "formula_nist": "C17H36",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 240.5,
+   "smiles": "CCCCCCCCCCCCCCCCC",
+   "xlogp": 8.8,
+   "boiling_point_K": 575.0,
+   "melting_point_K": 295.1,
+   "effective_carbon_number": {
+    "ecn": 17.0,
+    "n_carbon": 17,
+    "contributions": {
+     "aliphatic_C": 17.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "octadecane": {
+   "id": "octadecane",
+   "name_en": "octadecane",
+   "name_zh": "正十八烷",
+   "class": "alkane",
+   "cas": "593-45-3",
+   "nist_id": "C593453",
+   "nist_name": "Octadecane",
+   "pubchem_cid": 11635,
+   "iupac_name": "octadecane",
+   "formula": "C18H38",
+   "formula_nist": "C18H38",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 254.5,
+   "smiles": "CCCCCCCCCCCCCCCCCC",
+   "xlogp": 9.3,
+   "boiling_point_K": 589.3,
+   "melting_point_K": 301.0,
+   "effective_carbon_number": {
+    "ecn": 18.0,
+    "n_carbon": 18,
+    "contributions": {
+     "aliphatic_C": 18.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "nonadecane": {
+   "id": "nonadecane",
+   "name_en": "nonadecane",
+   "name_zh": "正十九烷",
+   "class": "alkane",
+   "cas": "629-92-5",
+   "nist_id": "C629925",
+   "nist_name": "Nonadecane",
+   "pubchem_cid": 12401,
+   "iupac_name": "nonadecane",
+   "formula": "C19H40",
+   "formula_nist": "C19H40",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 268.5,
+   "smiles": "CCCCCCCCCCCCCCCCCCC",
+   "xlogp": 9.9,
+   "boiling_point_K": 602.9,
+   "melting_point_K": 304.0,
+   "effective_carbon_number": {
+    "ecn": 19.0,
+    "n_carbon": 19,
+    "contributions": {
+     "aliphatic_C": 19.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
+  "icosane": {
+   "id": "icosane",
+   "name_en": "icosane (eicosane)",
+   "name_zh": "正二十烷",
+   "class": "alkane",
+   "cas": "112-95-8",
+   "nist_id": "C112958",
+   "nist_name": "Eicosane",
+   "pubchem_cid": 8222,
+   "iupac_name": "icosane",
+   "formula": "C20H42",
+   "formula_nist": "C20H42",
+   "formula_cross_check": true,
+   "molar_mass_g_mol": 282.5,
+   "smiles": "CCCCCCCCCCCCCCCCCCCC",
+   "xlogp": 10.4,
+   "boiling_point_K": 616.2,
+   "melting_point_K": 310.0,
+   "effective_carbon_number": {
+    "ecn": 20.0,
+    "n_carbon": 20,
+    "contributions": {
+     "aliphatic_C": 20.0
+    }
+   },
+   "sources": {
+    "identity": "PubChem PUG REST (CAS lookup)",
+    "phase_change": "NIST Chemistry WebBook (Mask=4)"
+   }
+  },
   "cyclohexane": {
    "id": "cyclohexane",
    "name_en": "cyclohexane",
diff --git a/assets/reactions/spectral_library/gc_retention.json b/assets/reactions/spectral_library/gc_retention.json
index d269c6f27cab6307644c04e2809764b2a06e49dd..e2af586dc69de89308ea88810de870114be79671 100644
--- a/assets/reactions/spectral_library/gc_retention.json
+++ b/assets/reactions/spectral_library/gc_retention.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "gc_model": {
   "reference_temperature_K": 353.15,
   "column": {
@@ -24,7 +24,28 @@
   },
   "fid_sensitivity_C_per_kg_carbon": 15.0,
   "fid_note": "typical FID ionisation yield ~0.015 C per gram of carbon (order of magnitude from detector literature); response_C_kg = 15 * 12.011 * ECN / MW",
-  "evidence": "calibration_assumption"
+  "evidence": "calibration_assumption",
+  "alkane_delta_vap_series": {
+   "rule": "n-alkanes C8-C20: delta_vap_H = the homologous-series fit of all their NIST entries 300-480 K (dvapH = a + b n + c (T-373) + d n (T-373), least squares, iterative 3 x MAD outlier rejection) at 373 K; the compound's own closest-to-373 K NIST value is quoted in delta_vap_H_source (2026-10-23 D-1 used the fit only when that value was > 3 kJ/mol off; D-2 uses it for all, since 105 points are better evidence than one entry)",
+   "changes": [
+    "2026-10-23 D-1: series rule added for C16-C20 (own values > 3 kJ/mol off)",
+    "2026-10-23 D-2: applied to all C8-C20 (C8 37.8 -> 37.76, C9 42.7 -> 42.16, C10 45.5 -> 46.55, C11 49.1 -> 50.95, C12 57.4 -> 55.34, C13 62.3 -> 59.74, C14 64.1 -> 64.14, C15 68.8 -> 68.53 kJ/mol)"
+   ],
+   "coefficients_kJ_mol": [
+    2.5927,
+    4.39602,
+    0.02429,
+    -0.00856
+   ],
+   "points": 105,
+   "points_kept": 74,
+   "dropped": 31,
+   "range_n": [
+    8,
+    20
+   ],
+   "reference_temperature_K": 373.0
+  }
  },
  "compounds": {
   "methanol": {
@@ -9472,12 +9493,12 @@
     "response_C_kg": 12.6177,
     "evidence": "computed_ecn_scanlon_willis_1985"
    },
-   "delta_vap_H_J_mol": 37800.0,
-   "delta_vap_H_source": "NIST WebBook enthalpy of vaporization at 353.0 K",
+   "delta_vap_H_J_mol": 37760.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 37.8 kJ/mol (NIST WebBook enthalpy of vaporization at 353.0 K) is +0.0 kJ/mol off the series",
    "model_fingerprint": {
     "nonpolar": {
      "k_ref": 2.07593,
-     "delta_h_J_mol": -37800.0,
+     "delta_h_J_mol": -37760.0,
      "response_C_kg": 12.6177,
      "reference_temperature_K": 353.15,
      "retention_index_used": 800.0,
@@ -9486,13 +9507,13 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 353.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 37.8 kJ/mol (NIST WebBook enthalpy of vaporization at 353.0 K) is +0.0 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     },
     "polar": {
      "k_ref": 0.36308,
-     "delta_h_J_mol": -37800.0,
+     "delta_h_J_mol": -37760.0,
      "response_C_kg": 12.6177,
      "reference_temperature_K": 353.15,
      "retention_index_used": 800.0,
@@ -9501,7 +9522,7 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 353.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 37.8 kJ/mol (NIST WebBook enthalpy of vaporization at 353.0 K) is +0.0 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     }
@@ -9560,12 +9581,12 @@
     "response_C_kg": 12.6432,
     "evidence": "computed_ecn_scanlon_willis_1985"
    },
-   "delta_vap_H_J_mol": 42700.0,
-   "delta_vap_H_source": "NIST WebBook enthalpy of vaporization at 359.0 K",
+   "delta_vap_H_J_mol": 42160.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 42.7 kJ/mol (NIST WebBook enthalpy of vaporization at 359.0 K) is +0.5 kJ/mol off the series",
    "model_fingerprint": {
     "nonpolar": {
      "k_ref": 4.45874,
-     "delta_h_J_mol": -42700.0,
+     "delta_h_J_mol": -42160.0,
      "response_C_kg": 12.6432,
      "reference_temperature_K": 353.15,
      "retention_index_used": 900.0,
@@ -9574,13 +9595,13 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 359.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 42.7 kJ/mol (NIST WebBook enthalpy of vaporization at 359.0 K) is +0.5 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     },
     "polar": {
      "k_ref": 0.69183,
-     "delta_h_J_mol": -42700.0,
+     "delta_h_J_mol": -42160.0,
      "response_C_kg": 12.6432,
      "reference_temperature_K": 353.15,
      "retention_index_used": 900.0,
@@ -9589,7 +9610,7 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 359.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 42.7 kJ/mol (NIST WebBook enthalpy of vaporization at 359.0 K) is +0.5 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     }
@@ -9648,12 +9669,12 @@
     "response_C_kg": 12.6627,
     "evidence": "computed_ecn_scanlon_willis_1985"
    },
-   "delta_vap_H_J_mol": 45500.0,
-   "delta_vap_H_source": "NIST WebBook enthalpy of vaporization at 383.0 K",
+   "delta_vap_H_J_mol": 46550.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 45.5 kJ/mol (NIST WebBook enthalpy of vaporization at 383.0 K) is -1.1 kJ/mol off the series",
    "model_fingerprint": {
     "nonpolar": {
      "k_ref": 9.57663,
-     "delta_h_J_mol": -45500.0,
+     "delta_h_J_mol": -46550.0,
      "response_C_kg": 12.6627,
      "reference_temperature_K": 353.15,
      "retention_index_used": 1000.0,
@@ -9662,13 +9683,13 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 383.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 45.5 kJ/mol (NIST WebBook enthalpy of vaporization at 383.0 K) is -1.1 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     },
     "polar": {
      "k_ref": 1.31826,
-     "delta_h_J_mol": -45500.0,
+     "delta_h_J_mol": -46550.0,
      "response_C_kg": 12.6627,
      "reference_temperature_K": 353.15,
      "retention_index_used": 1000.0,
@@ -9677,7 +9698,7 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 383.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 45.5 kJ/mol (NIST WebBook enthalpy of vaporization at 383.0 K) is -1.1 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     }
@@ -9736,12 +9757,12 @@
     "response_C_kg": 12.6929,
     "evidence": "computed_ecn_scanlon_willis_1985"
    },
-   "delta_vap_H_J_mol": 57400.0,
-   "delta_vap_H_source": "NIST WebBook enthalpy of vaporization at 344.0 K",
+   "delta_vap_H_J_mol": 55340.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 57.4 kJ/mol (NIST WebBook enthalpy of vaporization at 344.0 K) is +2.1 kJ/mol off the series",
    "model_fingerprint": {
     "nonpolar": {
      "k_ref": 44.17866,
-     "delta_h_J_mol": -57400.0,
+     "delta_h_J_mol": -55340.0,
      "response_C_kg": 12.6929,
      "reference_temperature_K": 353.15,
      "retention_index_used": 1200.0,
@@ -9750,13 +9771,13 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 344.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 57.4 kJ/mol (NIST WebBook enthalpy of vaporization at 344.0 K) is +2.1 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     },
     "polar": {
      "k_ref": 4.7863,
-     "delta_h_J_mol": -57400.0,
+     "delta_h_J_mol": -55340.0,
      "response_C_kg": 12.6929,
      "reference_temperature_K": 353.15,
      "retention_index_used": 1200.0,
@@ -9765,7 +9786,799 @@
      "evidence": "derived",
      "derivation": {
       "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
-      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpy of vaporization at 344.0 K",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 57.4 kJ/mol (NIST WebBook enthalpy of vaporization at 344.0 K) is +2.1 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "undecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1100.0,
+     "mean": 1100.0,
+     "std": 0.0,
+     "min": 1100.0,
+     "max": 1100.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1100.0,
+     "mean": 1100.0,
+     "std": 0.0,
+     "min": 1100.0,
+     "max": 1100.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1100.0,
+     "mean": 1100.0,
+     "std": 0.0,
+     "min": 1100.0,
+     "max": 1100.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 11.0,
+     "n_carbon": 11,
+     "contributions": {
+      "aliphatic_C": 11.0
+     }
+    },
+    "response_C_kg": 12.6787,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 50950.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 49.1 kJ/mol (NIST WebBook enthalpy of vaporization at 393.0 K) is -1.8 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 20.56897,
+     "delta_h_J_mol": -50950.0,
+     "response_C_kg": 12.6787,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1100.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 1898.2,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 49.1 kJ/mol (NIST WebBook enthalpy of vaporization at 393.0 K) is -1.8 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 2.51189,
+     "delta_h_J_mol": -50950.0,
+     "response_C_kg": 12.6787,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1100.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 309.1,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 49.1 kJ/mol (NIST WebBook enthalpy of vaporization at 393.0 K) is -1.8 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "tridecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1300.0,
+     "mean": 1300.0,
+     "std": 0.0,
+     "min": 1300.0,
+     "max": 1300.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1300.0,
+     "mean": 1300.0,
+     "std": 0.0,
+     "min": 1300.0,
+     "max": 1300.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1300.0,
+     "mean": 1300.0,
+     "std": 0.0,
+     "min": 1300.0,
+     "max": 1300.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 13.0,
+     "n_carbon": 13,
+     "contributions": {
+      "aliphatic_C": 13.0
+     }
+    },
+    "response_C_kg": 12.7042,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 59740.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 62.3 kJ/mol (NIST WebBook enthalpy of vaporization at 349.0 K) is +2.6 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 94.88827,
+     "delta_h_J_mol": -59740.0,
+     "response_C_kg": 12.7042,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1300.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 8438.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 62.3 kJ/mol (NIST WebBook enthalpy of vaporization at 349.0 K) is +2.6 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 9.12011,
+     "delta_h_J_mol": -59740.0,
+     "response_C_kg": 12.7042,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1300.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 890.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 62.3 kJ/mol (NIST WebBook enthalpy of vaporization at 349.0 K) is +2.6 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "tetradecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1400.0,
+     "mean": 1400.0,
+     "std": 0.0,
+     "min": 1400.0,
+     "max": 1400.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1400.0,
+     "mean": 1400.0,
+     "std": 0.0,
+     "min": 1400.0,
+     "max": 1400.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1400.0,
+     "mean": 1400.0,
+     "std": 0.0,
+     "min": 1400.0,
+     "max": 1400.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 14.0,
+     "n_carbon": 14,
+     "contributions": {
+      "aliphatic_C": 14.0
+     }
+    },
+    "response_C_kg": 12.7139,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 64140.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.1 kJ/mol (NIST WebBook enthalpy of vaporization at 361.0 K) is -0.0 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 203.80391,
+     "delta_h_J_mol": -64140.0,
+     "response_C_kg": 12.7139,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1400.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 18023.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.1 kJ/mol (NIST WebBook enthalpy of vaporization at 361.0 K) is -0.0 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 17.37801,
+     "delta_h_J_mol": -64140.0,
+     "response_C_kg": 12.7139,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1400.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 1617.3,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.1 kJ/mol (NIST WebBook enthalpy of vaporization at 361.0 K) is -0.0 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "pentadecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1500.0,
+     "mean": 1500.0,
+     "std": 0.0,
+     "min": 1500.0,
+     "max": 1500.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1500.0,
+     "mean": 1500.0,
+     "std": 0.0,
+     "min": 1500.0,
+     "max": 1500.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1500.0,
+     "mean": 1500.0,
+     "std": 0.0,
+     "min": 1500.0,
+     "max": 1500.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 15.0,
+     "n_carbon": 15,
+     "contributions": {
+      "aliphatic_C": 15.0
+     }
+    },
+    "response_C_kg": 12.7229,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 68530.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 68.8 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is +0.3 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 437.73625,
+     "delta_h_J_mol": -68530.0,
+     "response_C_kg": 12.7229,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1500.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 38610.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 68.8 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is +0.3 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 33.11311,
+     "delta_h_J_mol": -68530.0,
+     "response_C_kg": 12.7229,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1500.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 3002.1,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 68.8 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is +0.3 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "hexadecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1600.0,
+     "mean": 1600.0,
+     "std": 0.0,
+     "min": 1600.0,
+     "max": 1600.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1600.0,
+     "mean": 1600.0,
+     "std": 0.0,
+     "min": 1600.0,
+     "max": 1600.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1600.0,
+     "mean": 1600.0,
+     "std": 0.0,
+     "min": 1600.0,
+     "max": 1600.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 16.0,
+     "n_carbon": 16,
+     "contributions": {
+      "aliphatic_C": 16.0
+     }
+    },
+    "response_C_kg": 12.7303,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 72930.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.9 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -8.0 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 940.18326,
+     "delta_h_J_mol": -72930.0,
+     "response_C_kg": 12.7303,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1600.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 82828.1,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.9 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -8.0 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 63.09573,
+     "delta_h_J_mol": -72930.0,
+     "response_C_kg": 12.7303,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1600.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 5640.7,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 64.9 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -8.0 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "heptadecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1700.0,
+     "mean": 1700.0,
+     "std": 0.0,
+     "min": 1700.0,
+     "max": 1700.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1700.0,
+     "mean": 1700.0,
+     "std": 0.0,
+     "min": 1700.0,
+     "max": 1700.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1700.0,
+     "mean": 1700.0,
+     "std": 0.0,
+     "min": 1700.0,
+     "max": 1700.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 17.0,
+     "n_carbon": 17,
+     "contributions": {
+      "aliphatic_C": 17.0
+     }
+    },
+    "response_C_kg": 12.7352,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 77330.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 91.1 kJ/mol (NIST WebBook enthalpy of vaporization at 304.0 K) is +13.8 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 2019.35425,
+     "delta_h_J_mol": -77330.0,
+     "response_C_kg": 12.7352,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1700.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 177799.7,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 91.1 kJ/mol (NIST WebBook enthalpy of vaporization at 304.0 K) is +13.8 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 120.22644,
+     "delta_h_J_mol": -77330.0,
+     "response_C_kg": 12.7352,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1700.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 10668.4,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 91.1 kJ/mol (NIST WebBook enthalpy of vaporization at 304.0 K) is +13.8 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "octadecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1800.0,
+     "mean": 1800.0,
+     "std": 0.0,
+     "min": 1800.0,
+     "max": 1800.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1800.0,
+     "mean": 1800.0,
+     "std": 0.0,
+     "min": 1800.0,
+     "max": 1800.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1800.0,
+     "mean": 1800.0,
+     "std": 0.0,
+     "min": 1800.0,
+     "max": 1800.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 18.0,
+     "n_carbon": 18,
+     "contributions": {
+      "aliphatic_C": 18.0
+     }
+    },
+    "response_C_kg": 12.7425,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 81720.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 70.5 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -11.2 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 4337.23061,
+     "delta_h_J_mol": -81720.0,
+     "response_C_kg": 12.7425,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1800.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 381782.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 70.5 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -11.2 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 229.08677,
+     "delta_h_J_mol": -81720.0,
+     "response_C_kg": 12.7425,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1800.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 20248.6,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 70.5 kJ/mol (NIST WebBook enthalpy of vaporization at 373.0 K) is -11.2 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "nonadecane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 1900.0,
+     "mean": 1900.0,
+     "std": 0.0,
+     "min": 1900.0,
+     "max": 1900.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 1900.0,
+     "mean": 1900.0,
+     "std": 0.0,
+     "min": 1900.0,
+     "max": 1900.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 1900.0,
+     "mean": 1900.0,
+     "std": 0.0,
+     "min": 1900.0,
+     "max": 1900.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 19.0,
+     "n_carbon": 19,
+     "contributions": {
+      "aliphatic_C": 19.0
+     }
+    },
+    "response_C_kg": 12.7491,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 86120.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 76.2 kJ/mol (NIST WebBook enthalpy of vaporization at 438.0 K) is -9.9 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 9315.63607,
+     "delta_h_J_mol": -86120.0,
+     "response_C_kg": 12.7491,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1900.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 819903.3,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 76.2 kJ/mol (NIST WebBook enthalpy of vaporization at 438.0 K) is -9.9 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 436.51583,
+     "delta_h_J_mol": -86120.0,
+     "response_C_kg": 12.7491,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 1900.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 38503.2,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 76.2 kJ/mol (NIST WebBook enthalpy of vaporization at 438.0 K) is -9.9 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    }
+   }
+  },
+  "icosane": {
+   "retention_index": {
+    "standard_nonpolar": {
+     "median": 2000.0,
+     "mean": 2000.0,
+     "std": 0.0,
+     "min": 2000.0,
+     "max": 2000.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "semi_standard_nonpolar": {
+     "median": 2000.0,
+     "mean": 2000.0,
+     "std": 0.0,
+     "min": 2000.0,
+     "max": 2000.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    },
+    "standard_polar": {
+     "median": 2000.0,
+     "mean": 2000.0,
+     "std": 0.0,
+     "min": 2000.0,
+     "max": 2000.0,
+     "n": 0,
+     "n_raw": 0,
+     "n_references": 0,
+     "phases": [],
+     "source": "Kovats retention index definition (n-alkane anchor)",
+     "evidence": "definition"
+    }
+   },
+   "fid": {
+    "ecn": {
+     "ecn": 20.0,
+     "n_carbon": 20,
+     "contributions": {
+      "aliphatic_C": 20.0
+     }
+    },
+    "response_C_kg": 12.755,
+    "evidence": "computed_ecn_scanlon_willis_1985"
+   },
+   "delta_vap_H_J_mol": 90510.0,
+   "delta_vap_H_source": "NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 110.0 kJ/mol (NIST WebBook enthalpy of vaporization at 368.0 K) is +19.5 kJ/mol off the series",
+   "model_fingerprint": {
+    "nonpolar": {
+     "k_ref": 20008.40704,
+     "delta_h_J_mol": -90510.0,
+     "response_C_kg": 12.755,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 2000.0,
+     "retention_index_class": "semi_standard_nonpolar",
+     "predicted_isothermal_retention_s_at_80C": 1760912.2,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 110.0 kJ/mol (NIST WebBook enthalpy of vaporization at 368.0 K) is +19.5 kJ/mol off the series",
+      "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
+     }
+    },
+    "polar": {
+     "k_ref": 831.76377,
+     "delta_h_J_mol": -90510.0,
+     "response_C_kg": 12.755,
+     "reference_temperature_K": 353.15,
+     "retention_index_used": 2000.0,
+     "retention_index_class": "standard_polar",
+     "predicted_isothermal_retention_s_at_80C": 73286.7,
+     "evidence": "derived",
+     "derivation": {
+      "k_ref": "NIST retention index -> alkane calibration of the model column (see gc_model.calibration)",
+      "delta_h_J_mol": "-(enthalpy of vaporization): NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes, homologous-series fit at 373 K (gc_model.alkane_delta_vap_series); own NIST value 110.0 kJ/mol (NIST WebBook enthalpy of vaporization at 368.0 K) is +19.5 kJ/mol off the series",
       "response_C_kg": "ECN (Scanlon & Willis 1985) x FID carbon sensitivity (see gc_model.fid_note)"
      }
     }
diff --git a/assets/reactions/spectral_library/hplc_uv.json b/assets/reactions/spectral_library/hplc_uv.json
index 9059bd12c4ea958d0354562031830125f77fdcaf..5bd35b94c52fd630cfeb79b9801c950f5517af57 100644
--- a/assets/reactions/spectral_library/hplc_uv.json
+++ b/assets/reactions/spectral_library/hplc_uv.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "xlogp": -0.5,
@@ -1175,6 +1175,114 @@
    "default_detection_nm": 210.0,
    "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
   },
+  "undecane": {
+   "xlogp": 5.6,
+   "reversed_phase_C18": {
+    "k_estimate": 537.032,
+    "predicted_retention_min": 807.05,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "tridecane": {
+   "xlogp": 6.6,
+   "reversed_phase_C18": {
+    "k_estimate": 1905.461,
+    "predicted_retention_min": 2859.69,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "tetradecane": {
+   "xlogp": 7.2,
+   "reversed_phase_C18": {
+    "k_estimate": 4073.803,
+    "predicted_retention_min": 6112.2,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "pentadecane": {
+   "xlogp": 7.7,
+   "reversed_phase_C18": {
+    "k_estimate": 7673.615,
+    "predicted_retention_min": 11511.92,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "hexadecane": {
+   "xlogp": 8.3,
+   "reversed_phase_C18": {
+    "k_estimate": 16405.898,
+    "predicted_retention_min": 24610.35,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "heptadecane": {
+   "xlogp": 8.8,
+   "reversed_phase_C18": {
+    "k_estimate": 30902.954,
+    "predicted_retention_min": 46355.93,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "octadecane": {
+   "xlogp": 9.3,
+   "reversed_phase_C18": {
+    "k_estimate": 58210.322,
+    "predicted_retention_min": 87316.98,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "nonadecane": {
+   "xlogp": 9.9,
+   "reversed_phase_C18": {
+    "k_estimate": 124451.461,
+    "predicted_retention_min": 186678.69,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
+  "icosane": {
+   "xlogp": 10.4,
+   "reversed_phase_C18": {
+    "k_estimate": 234422.882,
+    "predicted_retention_min": 351635.82,
+    "assumption": "log10 k = -0.35 + 0.55 XLogP for a C18 column in ~60:40 methanol/water, t0 = 1.5 min",
+    "evidence": "derived_assumption"
+   },
+   "uv_detection_candidates_nm": [],
+   "default_detection_nm": 210.0,
+   "note": "retention is method-specific; only the elution order (by XLogP) and detection wavelengths are transferable"
+  },
   "cyclohexane": {
    "xlogp": 3.4,
    "reversed_phase_C18": {
diff --git a/assets/reactions/spectral_library/index.json b/assets/reactions/spectral_library/index.json
index 57ad9f2619ae80dc781b843dd39b8049d631cd5a..2d22a6d8a08a6790d562b66a1f0dd0f0048c353d 100644
--- a/assets/reactions/spectral_library/index.json
+++ b/assets/reactions/spectral_library/index.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "name_zh": "甲醇",
@@ -1690,6 +1690,186 @@
    "nmr_13c_spectra": 0,
    "hplc_template": true
   },
+  "undecane": {
+   "name_zh": "正十一烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 3,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "tridecane": {
+   "name_zh": "正十三烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "tetradecane": {
+   "name_zh": "正十四烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 3,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "pentadecane": {
+   "name_zh": "正十五烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "hexadecane": {
+   "name_zh": "正十六烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "heptadecane": {
+   "name_zh": "正十七烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "octadecane": {
+   "name_zh": "正十八烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 2,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "nonadecane": {
+   "name_zh": "正十九烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
+  "icosane": {
+   "name_zh": "正二十烷",
+   "formula_cross_check": true,
+   "gc_retention_index_classes": [
+    "semi_standard_nonpolar",
+    "standard_nonpolar",
+    "standard_polar"
+   ],
+   "gc_model_fingerprint": [
+    "nonpolar",
+    "polar"
+   ],
+   "ir_spectra": 1,
+   "ms": true,
+   "uv_spectra": 0,
+   "uv_lambda_max_records": 0,
+   "nmr_1h_spectra": 1,
+   "nmr_13c_spectra": 1,
+   "hplc_template": true
+  },
   "cyclohexane": {
    "name_zh": "环己烷",
    "formula_cross_check": true,
diff --git a/assets/reactions/spectral_library/ir_spectra.json b/assets/reactions/spectral_library/ir_spectra.json
index ed07ab500c8b626998a3d1bc6c516562a67e93c6..566264c07200235501f7896e7c11f75137bf9ceb 100644
--- a/assets/reactions/spectral_library/ir_spectra.json
+++ b/assets/reactions/spectral_library/ir_spectra.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "grid_note": "absorbance normalised to 1 on a 400-4000 cm-1 grid, step 4; null outside the measured range",
  "decoder_note": "jcamp.py 2026-10-14: abscissa step from FIRSTX/LASTX/NPOINTS when DELTAX contradicts them; multi-block files decoded block by block (optical-constant files: imaginary-index block x wavenumber; reflectance: log10(1/R) of the total-reflectance block; real-index-only files excluded, see excluded_spectra)",
  "excluded_spectra": {
@@ -230774,6 +230774,13309 @@
     "evidence": "measured"
    }
   ],
+  "undecane": [
+   {
+    "nist_index": 1,
+    "title": "n-Undecane",
+    "nist_source": "COBLENTZ",
+    "origin": "DOW CHEMICAL COMPANY",
+    "state": "LIQUID (NEAT)",
+    "sampling": "TRANSMISSION",
+    "resolution": "2",
+    "x_units_original": "1/CM",
+    "y_units_original": "TRANSMITTANCE",
+    "x_range_cm-1": [
+     444.0,
+     3744.0
+    ],
+    "grid_cm-1": {
+     "start": 400.0,
+     "stop": 4000.0,
+     "step": 4.0
+    },
+    "absorbance_normalized": [
+     null,
+     null,
+     null,
+     null,
+     null,
+     null,
+     null,
+     null,
+     null,
+     null,
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diff --git a/assets/reactions/spectral_library/ms_ei.json b/assets/reactions/spectral_library/ms_ei.json
index 13efbb50034a1db49a11c874348e2c8df6490fff..a9851f0c6828a3030af47b37a47adc0aa3a15667 100644
--- a/assets/reactions/spectral_library/ms_ei.json
+++ b/assets/reactions/spectral_library/ms_ei.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "title": "Methyl Alcohol",
@@ -18589,6 +18589,3160 @@
    "source": "NIST Chemistry WebBook mass spectrum (JCAMP-DX)",
    "evidence": "measured"
   },
+  "undecane": {
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+    ],
+    [
+     238.0,
+     0.4
+    ],
+    [
+     239.0,
+     0.9
+    ],
+    [
+     240.0,
+     0.1
+    ],
+    [
+     252.0,
+     0.2
+    ],
+    [
+     253.0,
+     0.5
+    ],
+    [
+     282.0,
+     3.8
+    ],
+    [
+     283.0,
+     0.8
+    ]
+   ],
+   "base_peak_mz": 57.0,
+   "top_peaks": [
+    [
+     57.0,
+     100.0
+    ],
+    [
+     71.0,
+     77.28
+    ],
+    [
+     43.0,
+     63.07
+    ],
+    [
+     85.0,
+     60.56
+    ],
+    [
+     41.0,
+     31.33
+    ],
+    [
+     55.0,
+     26.82
+    ],
+    [
+     99.0,
+     20.22
+    ],
+    [
+     56.0,
+     15.31
+    ]
+   ],
+   "source": "NIST Chemistry WebBook mass spectrum (JCAMP-DX)",
+   "evidence": "measured"
+  },
   "cyclohexane": {
    "title": "Cyclohexane",
    "nist_ms_no": "291493",
diff --git a/assets/reactions/spectral_library/nmr.json b/assets/reactions/spectral_library/nmr.json
index b955f25d2425daf8e4e0aa17324381acf513f28a..3d995ae6b42657890b5edb53c1869bdedba91253 100644
--- a/assets/reactions/spectral_library/nmr.json
+++ b/assets/reactions/spectral_library/nmr.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "1H": {
@@ -19139,6 +19139,1214 @@
     ]
    }
   },
+  "undecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3804",
+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        0.81,
+        34.0
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+       [
+        0.88,
+        165.0
+       ],
+       [
+        0.94,
+        51.0
+       ],
+       [
+        1.26,
+        1000.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 0.883,
+        "integral": 250.0,
+        "n_lines": 3,
+        "range_ppm": [
+         0.81,
+         0.94
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "integral": 1000.0,
+        "n_lines": 1,
+        "range_ppm": [
+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/20031904"
+    ]
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4068",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        14.17,
+        711.0
+       ],
+       [
+        22.86,
+        856.0
+       ],
+       [
+        29.57,
+        891.0
+       ],
+       [
+        29.87,
+        1000.0
+       ],
+       [
+        32.13,
+        876.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 14.17,
+        "integral": 711.0,
+        "n_lines": 1,
+        "range_ppm": [
+         14.17,
+         14.17
+        ]
+       },
+       {
+        "center_ppm": 22.86,
+        "integral": 856.0,
+        "n_lines": 1,
+        "range_ppm": [
+         22.86,
+         22.86
+        ]
+       },
+       {
+        "center_ppm": 29.729,
+        "integral": 1891.0,
+        "n_lines": 2,
+        "range_ppm": [
+         29.57,
+         29.87
+        ]
+       },
+       {
+        "center_ppm": 32.13,
+        "integral": 876.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.13,
+         32.13
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/20031904"
+    ]
+   }
+  },
+  "tridecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3940",
+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        0.81,
+        28.0
+       ],
+       [
+        0.88,
+        117.0
+       ],
+       [
+        0.94,
+        41.0
+       ],
+       [
+        1.26,
+        1000.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 0.883,
+        "integral": 186.0,
+        "n_lines": 3,
+        "range_ppm": [
+         0.81,
+         0.94
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "integral": 1000.0,
+        "n_lines": 1,
+        "range_ppm": [
+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/30000181"
+    ]
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4220",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        14.15,
+        397.0
+       ],
+       [
+        22.83,
+        472.0
+       ],
+       [
+        29.54,
+        518.0
+       ],
+       [
+        29.88,
+        1000.0
+       ],
+       [
+        32.11,
+        462.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 14.15,
+        "integral": 397.0,
+        "n_lines": 1,
+        "range_ppm": [
+         14.15,
+         14.15
+        ]
+       },
+       {
+        "center_ppm": 22.83,
+        "integral": 472.0,
+        "n_lines": 1,
+        "range_ppm": [
+         22.83,
+         22.83
+        ]
+       },
+       {
+        "center_ppm": 29.764,
+        "integral": 1518.0,
+        "n_lines": 2,
+        "range_ppm": [
+         29.54,
+         29.88
+        ]
+       },
+       {
+        "center_ppm": 32.11,
+        "integral": 462.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.11,
+         32.11
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/30000181"
+    ]
+   }
+  },
+  "tetradecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3941",
+      "instrument": "JEOL",
+      "frequency": "400 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        0.86,
+        230.0
+       ],
+       [
+        0.88,
+        192.0
+       ],
+       [
+        0.88,
+        477.0
+       ],
+       [
+        0.89,
+        123.0
+       ],
+       [
+        0.9,
+        172.0
+       ],
+       [
+        0.91,
+        28.0
+       ],
+       [
+        1.2,
+        35.0
+       ],
+       [
+        1.23,
+        174.0
+       ],
+       [
+        1.26,
+        884.0
+       ],
+       [
+        1.26,
+        1000.0
+       ],
+       [
+        1.3,
+        149.0
+       ],
+       [
+        1.32,
+        64.0
+       ],
+       [
+        1.33,
+        53.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 0.881,
+        "integral": 1222.0,
+        "n_lines": 6,
+        "range_ppm": [
+         0.86,
+         0.91
+        ]
+       },
+       {
+        "center_ppm": 1.263,
+        "integral": 2359.0,
+        "n_lines": 7,
+        "range_ppm": [
+         1.2,
+         1.33
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4221",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        14.15,
+        393.0
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+       [
+        22.83,
+        473.0
+       ],
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+        29.53,
+        458.0
+       ],
+       [
+        29.86,
+        1000.0
+       ],
+       [
+        32.09,
+        483.0
+       ]
+      ],
+      "multiplets": [
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+        "integral": 393.0,
+        "n_lines": 1,
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+         14.15
+        ]
+       },
+       {
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+        "integral": 473.0,
+        "n_lines": 1,
+        "range_ppm": [
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+         22.83
+        ]
+       },
+       {
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+        "integral": 1458.0,
+        "n_lines": 2,
+        "range_ppm": [
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+         29.86
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+       },
+       {
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+        "integral": 483.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.09,
+         32.09
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   }
+  },
+  "pentadecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3558",
+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        87.0
+       ],
+       [
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+        22.0
+       ],
+       [
+        0.92,
+        22.0
+       ],
+       [
+        0.94,
+        27.0
+       ],
+       [
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+        1000.0
+       ]
+      ],
+      "multiplets": [
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+        ]
+       },
+       {
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+        "integral": 1000.0,
+        "n_lines": 1,
+        "range_ppm": [
+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3693",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        14.15,
+        284.0
+       ],
+       [
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+       ],
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+        29.53,
+        358.0
+       ],
+       [
+        29.87,
+        1000.0
+       ],
+       [
+        32.09,
+        323.0
+       ]
+      ],
+      "multiplets": [
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+        "integral": 284.0,
+        "n_lines": 1,
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+         14.15
+        ]
+       },
+       {
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+        "integral": 328.0,
+        "n_lines": 1,
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+         22.82,
+         22.82
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+       },
+       {
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+        "integral": 1358.0,
+        "n_lines": 2,
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+       },
+       {
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+        "integral": 323.0,
+        "n_lines": 1,
+        "range_ppm": [
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+         32.09
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   }
+  },
+  "hexadecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3903",
+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        76.0
+       ],
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+        23.0
+       ],
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+        1000.0
+       ]
+      ],
+      "multiplets": [
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+        "n_lines": 1,
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+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10026656"
+    ]
+   },
+   "13C": {
+    "spectra": [
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+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
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+      ],
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+         14.14
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+       {
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+        "integral": 1295.0,
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+       },
+       {
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+        "integral": 286.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.09,
+         32.09
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10026656"
+    ]
+   }
+  },
+  "heptadecane": {
+   "1H": {
+    "spectra": [
+     {
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+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
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+        21.0
+       ],
+       [
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+        77.0
+       ],
+       [
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+        30.0
+       ],
+       [
+        0.93,
+        31.0
+       ],
+       [
+        0.94,
+        33.0
+       ],
+       [
+        1.26,
+        1000.0
+       ]
+      ],
+      "multiplets": [
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+        "integral": 192.0,
+        "n_lines": 5,
+        "range_ppm": [
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+         0.94
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "integral": 1000.0,
+        "n_lines": 1,
+        "range_ppm": [
+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10006111"
+    ]
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4222",
+      "instrument": "NEVA",
+      "frequency": "15.09 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
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+        ]
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+        "n_lines": 1,
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+         22.81
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+       },
+       {
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+        "n_lines": 1,
+        "range_ppm": [
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+         32.08
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10006111"
+    ]
+   }
+  },
+  "octadecane": {
+   "1H": {
+    "spectra": [
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+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
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+        "n_lines": 1,
+        "range_ppm": [
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+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10026698"
+    ]
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4197",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        14.14,
+        204.0
+       ],
+       [
+        22.79,
+        209.0
+       ],
+       [
+        29.49,
+        269.0
+       ],
+       [
+        29.83,
+        1000.0
+       ],
+       [
+        32.05,
+        229.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 14.14,
+        "integral": 204.0,
+        "n_lines": 1,
+        "range_ppm": [
+         14.14,
+         14.14
+        ]
+       },
+       {
+        "center_ppm": 22.79,
+        "integral": 209.0,
+        "n_lines": 1,
+        "range_ppm": [
+         22.79,
+         22.79
+        ]
+       },
+       {
+        "center_ppm": 29.758,
+        "integral": 1269.0,
+        "n_lines": 2,
+        "range_ppm": [
+         29.49,
+         29.83
+        ]
+       },
+       {
+        "center_ppm": 32.05,
+        "integral": 229.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.05,
+         32.05
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10026698"
+    ]
+   }
+  },
+  "nonadecane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3943",
+      "instrument": "JEOL",
+      "frequency": "90 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        0.88,
+        61.0
+       ],
+       [
+        1.26,
+        1000.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 0.88,
+        "integral": 61.0,
+        "n_lines": 1,
+        "range_ppm": [
+         0.88,
+         0.88
+        ]
+       },
+       {
+        "center_ppm": 1.26,
+        "integral": 1000.0,
+        "n_lines": 1,
+        "range_ppm": [
+         1.26,
+         1.26
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4223",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        14.13,
+        149.0
+       ],
+       [
+        22.79,
+        179.0
+       ],
+       [
+        29.48,
+        219.0
+       ],
+       [
+        29.82,
+        1000.0
+       ],
+       [
+        32.04,
+        199.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 14.13,
+        "integral": 149.0,
+        "n_lines": 1,
+        "range_ppm": [
+         14.13,
+         14.13
+        ]
+       },
+       {
+        "center_ppm": 22.79,
+        "integral": 179.0,
+        "n_lines": 1,
+        "range_ppm": [
+         22.79,
+         22.79
+        ]
+       },
+       {
+        "center_ppm": 29.759,
+        "integral": 1219.0,
+        "n_lines": 2,
+        "range_ppm": [
+         29.48,
+         29.82
+        ]
+       },
+       {
+        "center_ppm": 32.04,
+        "integral": 199.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.04,
+         32.04
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": []
+   }
+  },
+  "icosane": {
+   "1H": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "3803",
+      "instrument": "JEOL",
+      "frequency": "400 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        0.86,
+        56.0
+       ],
+       [
+        0.88,
+        151.0
+       ],
+       [
+        0.9,
+        47.0
+       ],
+       [
+        1.26,
+        1000.0
+       ],
+       [
+        1.28,
+        32.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 0.879,
+        "integral": 254.0,
+        "n_lines": 3,
+        "range_ppm": [
+         0.86,
+         0.9
+        ]
+       },
+       {
+        "center_ppm": 1.261,
+        "integral": 1032.0,
+        "n_lines": 2,
+        "range_ppm": [
+         1.26,
+         1.28
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10006107"
+    ]
+   },
+   "13C": {
+    "spectra": [
+     {
+      "hmdb_spectrum_id": "4067",
+      "instrument": "Varian",
+      "frequency": "25.16 MHz",
+      "solvent": "CDCl3",
+      "pH": null,
+      "peaks_ppm_intensity": [
+       [
+        14.14,
+        154.0
+       ],
+       [
+        22.78,
+        199.0
+       ],
+       [
+        29.47,
+        199.0
+       ],
+       [
+        29.81,
+        1000.0
+       ],
+       [
+        32.04,
+        194.0
+       ]
+      ],
+      "multiplets": [
+       {
+        "center_ppm": 14.14,
+        "integral": 154.0,
+        "n_lines": 1,
+        "range_ppm": [
+         14.14,
+         14.14
+        ]
+       },
+       {
+        "center_ppm": 22.78,
+        "integral": 199.0,
+        "n_lines": 1,
+        "range_ppm": [
+         22.78,
+         22.78
+        ]
+       },
+       {
+        "center_ppm": 29.754,
+        "integral": 1199.0,
+        "n_lines": 2,
+        "range_ppm": [
+         29.47,
+         29.81
+        ]
+       },
+       {
+        "center_ppm": 32.04,
+        "integral": 194.0,
+        "n_lines": 1,
+        "range_ppm": [
+         32.04,
+         32.04
+        ]
+       }
+      ],
+      "source": "Human Metabolome Database (HMDB) via PubChem",
+      "evidence": "measured"
+     }
+    ],
+    "nmrshiftdb_links": [
+     "http://nmrshiftdb.nmr.uni-koeln.de//portal/js_pane/P-Results/nmrshiftdbaction/showDetailsFromHome/molNumber/10006107"
+    ]
+   }
+  },
   "cyclohexane": {
    "1H": {
     "spectra": [
diff --git a/assets/reactions/spectral_library/uv_vis.json b/assets/reactions/spectral_library/uv_vis.json
index 02d2d8c128fa996d8d9f910b9481f61a026ae0e1..ddc6a6bc448d96ef0409c40b4a573ec7f7b560c1 100644
--- a/assets/reactions/spectral_library/uv_vis.json
+++ b/assets/reactions/spectral_library/uv_vis.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.0.0",
  "built_from": "references/spectral_raw (fetch_sources.py)",
- "n_compounds": 200,
+ "n_compounds": 209,
  "compounds": {
   "methanol": {
    "spectra": [],
@@ -15785,6 +15785,42 @@
    "spectra": [],
    "lambda_max_records": []
   },
+  "undecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "tridecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "tetradecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "pentadecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "hexadecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "heptadecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "octadecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "nonadecane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
+  "icosane": {
+   "spectra": [],
+   "lambda_max_records": []
+  },
   "cyclohexane": {
    "spectra": [
     {
diff --git "a/assets/reactions/spectral_library/\350\257\264\346\230\216.md" "b/assets/reactions/spectral_library/\350\257\264\346\230\216.md"
index 5ffabe2f450cf370d2af52bc72c84d1fb91cc8c8..9823a9ac2326d40fb6e74a03de90305251f31764 100644
--- "a/assets/reactions/spectral_library/\350\257\264\346\230\216.md"
+++ "b/assets/reactions/spectral_library/\350\257\264\346\230\216.md"
@@ -1,21 +1,21 @@
 # 谱图模板库（spectral_library）
 
-共 200 种常见实验室化合物（清单见 `scripts/spectral_library/compounds_list.py`），每种化合物按仪器类型整理成可直接读取的 JSON 模板。
+共 209 种常见实验室化合物（清单见 `scripts/spectral_library/compounds_list.py`），每种化合物按仪器类型整理成可直接读取的 JSON 模板。
 所有数值都带 `evidence` 与 `source` 字段：`measured` / `measured_literature` 是数据库里的实测或文献值，`derived` 是由实测值经公开公式换算，`*_assumption` 是我们自己的标定假设。
 
 ## 覆盖情况
 
 | 对应资产 | 模板内容 | 有数据的化合物数 | 文件 |
 |---|---|---:|---|
-| 气相色谱 GC7890B / GC8890B / HS8697 | NIST 保留指数（非极性 / 极性柱） | 177 / 200 | `gc_retention.json → retention_index` |
-| 气相色谱 GC7890B / GC8890B | 可直接喂给模型的指纹 k_ref / ΔH / 响应 | 177 / 200 | `gc_retention.json → model_fingerprint` |
-| 红外 FTIR-4700 | NIST 红外谱（400–4000 cm⁻¹ 吸光度网格 + 峰表） | 185 / 200 | `ir_spectra.json` |
-| GC-MS / 未来质谱 | NIST/EPA/NIH 电子轰击质谱峰表 | 197 / 200 | `ms_ei.json` |
-| 紫外可见 DR6000 | NIST 紫外谱曲线 | 65 / 200 | `uv_vis.json → spectra` |
-| 紫外可见 DR6000 | λmax 文献记录（PubChem） | 19 / 200 | `uv_vis.json → lambda_max_records` |
-| 核磁 Spinsolve 80 | ¹H 峰表（HMDB，经 PubChem） | 117 / 200 | `nmr.json → 1H` |
-| 核磁 Spinsolve 80 | ¹³C 峰表（HMDB，经 PubChem） | 109 / 200 | `nmr.json → 13C` |
-| 液相 HPLC-1260 | 反相 C18 模板（XLogP 推算保留 + 检测波长） | 199 / 200 | `hplc_uv.json` |
+| 气相色谱 GC7890B / GC8890B / HS8697 | NIST 保留指数（非极性 / 极性柱） | 186 / 209 | `gc_retention.json → retention_index` |
+| 气相色谱 GC7890B / GC8890B | 可直接喂给模型的指纹 k_ref / ΔH / 响应 | 186 / 209 | `gc_retention.json → model_fingerprint` |
+| 红外 FTIR-4700 | NIST 红外谱（400–4000 cm⁻¹ 吸光度网格 + 峰表） | 194 / 209 | `ir_spectra.json` |
+| GC-MS / 未来质谱 | NIST/EPA/NIH 电子轰击质谱峰表 | 206 / 209 | `ms_ei.json` |
+| 紫外可见 DR6000 | NIST 紫外谱曲线 | 65 / 209 | `uv_vis.json → spectra` |
+| 紫外可见 DR6000 | λmax 文献记录（PubChem） | 19 / 209 | `uv_vis.json → lambda_max_records` |
+| 核磁 Spinsolve 80 | ¹H 峰表（HMDB，经 PubChem） | 126 / 209 | `nmr.json → 1H` |
+| 核磁 Spinsolve 80 | ¹³C 峰表（HMDB，经 PubChem） | 118 / 209 | `nmr.json → 13C` |
+| 液相 HPLC-1260 | 反相 C18 模板（XLogP 推算保留 + 检测波长） | 208 / 209 | `hplc_uv.json` |
 
 ## 数据来源与许可
 
@@ -148,6 +148,15 @@ python scripts/spectral_library/build_crosswalk.py      # 共享 id 交叉索引
 | nonane | 正壬烷 | 111-84-2 | ✓ | ✓ | ✓ | – | – | – |
 | decane | 正癸烷 | 124-18-5 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
 | dodecane | 正十二烷 | 112-40-3 | ✓ | ✓ | ✓ | – | – | – |
+| undecane | 正十一烷 | 1120-21-4 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| tridecane | 正十三烷 | 629-50-5 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| tetradecane | 正十四烷 | 629-59-4 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| pentadecane | 正十五烷 | 629-62-9 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| hexadecane | 正十六烷 | 544-76-3 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| heptadecane | 正十七烷 | 629-78-7 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| octadecane | 正十八烷 | 593-45-3 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| nonadecane | 正十九烷 | 629-92-5 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
+| icosane | 正二十烷 | 112-95-8 | ✓ | ✓ | ✓ | – | ✓ | ✓ |
 | cyclohexane | 环己烷 | 110-82-7 | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
 | cyclohexene | 环己烯 | 110-83-8 | ✓ | ✓ | ✓ | ✓ | – | – |
 | limonene | 柠檬烯 | 138-86-3 | ✓ | ✓ | ✓ | – | – | – |
diff --git a/assets/reactions/substances.json b/assets/reactions/substances.json
index f8bba1a572a1d3de2114273ebb0771fc059da026..b7e3a165d9fa15263b83116f42dcf27464a640de 100644
--- a/assets/reactions/substances.json
+++ b/assets/reactions/substances.json
@@ -1,2536 +1,13002 @@
 {
-  "schema_version": "1.0.0",
-  "description_zh": "反应模板与仪器指纹表共用的物质名单。molar_mass_kg_mol 为教科书值；density_kg_m3 为室温近似值；gc_7890b_fid 指纹与 scripts/gc_runtime.py 的 Species 字段兼容：evidence=derived 的条目由 spectral_library（NIST 保留指数、汽化焓、有效碳数）换算，柱标定为假设；evidence=assumption 的条目仍是仿真假设。",
-  "substances": {
-    "acetic_acid": {
-      "name_zh": "乙酸",
-      "formula": "CH3COOH",
-      "molar_mass_kg_mol": 0.060052,
-      "phase": "liquid",
-      "density_kg_m3": 1049.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.48575,
-        "delta_h_J_mol": -39100.0,
-        "response_C_kg": 1.2001,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 610.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics (molar mass, density)",
-      "cas": "64-19-7"
-    },
-    "ethanol": {
-      "name_zh": "乙醇",
-      "formula": "C2H5OH",
-      "molar_mass_kg_mol": 0.046069,
-      "phase": "liquid",
-      "density_kg_m3": 789.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.13972,
-        "delta_h_J_mol": -40500.0,
-        "response_C_kg": 5.475,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 447.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "64-17-5"
-    },
-    "ethyl_acetate": {
-      "name_zh": "乙酸乙酯",
-      "formula": "CH3COOC2H5",
-      "molar_mass_kg_mol": 0.088106,
-      "phase": "liquid",
-      "density_kg_m3": 902.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.49323,
-        "delta_h_J_mol": -31000.0,
-        "response_C_kg": 5.6231,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 612.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "141-78-6"
-    },
-    "water": {
-      "name_zh": "水（液）",
-      "formula": "H2O",
-      "molar_mass_kg_mol": 0.018015,
-      "phase": "liquid",
-      "density_kg_m3": 998.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "gc_7890b_fid": {
-        "k_ref": 0.05252,
-        "delta_h_J_mol": -32839.0,
-        "response_C_kg": 0.0,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 319.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "cas": "7732-18-5"
-    },
-    "water_vapor": {
-      "name_zh": "水蒸气",
-      "formula": "H2O(g)",
-      "molar_mass_kg_mol": 0.018015,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "同 water；气相产物离开容器，账本仍追踪以闭合质量守恒",
-      "cas": "7732-18-5"
-    },
-    "sulfuric_acid": {
-      "name_zh": "硫酸（催化剂）",
-      "formula": "H2SO4",
-      "molar_mass_kg_mol": 0.098079,
-      "phase": "liquid",
-      "density_kg_m3": 1830.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "7664-93-9"
-    },
-    "calcium_carbonate": {
-      "name_zh": "碳酸钙",
-      "formula": "CaCO3",
-      "molar_mass_kg_mol": 0.100087,
-      "phase": "solid",
-      "density_kg_m3": 2710.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics (calcite)",
-      "cas": "471-34-1"
-    },
-    "calcium_oxide": {
-      "name_zh": "氧化钙",
-      "formula": "CaO",
-      "molar_mass_kg_mol": 0.056077,
-      "phase": "solid",
-      "density_kg_m3": 3340.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "1305-78-8"
-    },
-    "carbon_dioxide": {
-      "name_zh": "二氧化碳",
-      "formula": "CO2",
-      "molar_mass_kg_mol": 0.044009,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "gc_7890b_fid": {
-        "k_ref": 0.01471,
-        "delta_h_J_mol": -16700.0,
-        "response_C_kg": 0.0,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 152.5 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "cas": "124-38-9"
-    },
-    "hydrochloric_acid": {
-      "name_zh": "盐酸（溶质 HCl）",
-      "formula": "HCl",
-      "molar_mass_kg_mol": 0.036461,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；按溶质质量计，体积由溶剂水提供",
-      "cas": "7647-01-0"
-    },
-    "sodium_hydroxide": {
-      "name_zh": "氢氧化钠",
-      "formula": "NaOH",
-      "molar_mass_kg_mol": 0.039997,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
-      "cas": "1310-73-2"
-    },
-    "sodium_chloride": {
-      "name_zh": "氯化钠",
-      "formula": "NaCl",
-      "molar_mass_kg_mol": 0.058443,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
-      "cas": "7647-14-5"
-    },
-    "sodium_bicarbonate": {
-      "name_zh": "碳酸氢钠",
-      "formula": "NaHCO3",
-      "molar_mass_kg_mol": 0.084007,
-      "phase": "solid",
-      "density_kg_m3": 2200.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "144-55-8"
-    },
-    "sodium_carbonate": {
-      "name_zh": "碳酸钠",
-      "formula": "Na2CO3",
-      "molar_mass_kg_mol": 0.105988,
-      "phase": "solid",
-      "density_kg_m3": 2540.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "497-19-8"
-    },
-    "silver_nitrate": {
-      "name_zh": "硝酸银",
-      "formula": "AgNO3",
-      "molar_mass_kg_mol": 0.169873,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
-      "cas": "7761-88-8"
-    },
-    "silver_chloride": {
-      "name_zh": "氯化银（沉淀）",
-      "formula": "AgCl",
-      "molar_mass_kg_mol": 0.143321,
-      "phase": "solid",
-      "density_kg_m3": 5560.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "7783-90-6"
-    },
-    "sodium_nitrate": {
-      "name_zh": "硝酸钠",
-      "formula": "NaNO3",
-      "molar_mass_kg_mol": 0.084995,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
-      "cas": "7631-99-4"
-    },
-    "sodium_acetate": {
-      "name_zh": "乙酸钠",
-      "formula": "CH3COONa",
-      "molar_mass_kg_mol": 0.082034,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics；非挥发盐，FID 不可见"
-    },
-    "hydrogen_peroxide": {
-      "name_zh": "过氧化氢",
-      "formula": "H2O2",
-      "molar_mass_kg_mol": 0.034015,
-      "phase": "liquid",
-      "density_kg_m3": 1450.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics（纯 H2O2 密度；稀溶液体积由水提供）",
-      "cas": "7722-84-1"
-    },
-    "oxygen": {
-      "name_zh": "氧气",
-      "formula": "O2",
-      "molar_mass_kg_mol": 0.031998,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "7782-44-7"
-    },
-    "manganese_dioxide": {
-      "name_zh": "二氧化锰（催化剂）",
-      "formula": "MnO2",
-      "molar_mass_kg_mol": 0.086937,
-      "phase": "solid",
-      "density_kg_m3": 5030.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "CRC Handbook of Chemistry and Physics",
-      "cas": "1313-13-9"
-    },
-    "copper_sulfate_pentahydrate": {
-      "name_zh": "五水硫酸铜（胆矾）",
-      "formula": "CuSO4·5H2O",
-      "molar_mass_kg_mol": 0.249677,
-      "phase": "solid",
-      "density_kg_m3": 2286.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24463（MolecularWeight 249.69 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.286 @ 15.6 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2279.65 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·5H2O, cr））",
-      "cas": "7758-99-8"
-    },
-    "copper_sulfate_trihydrate": {
-      "name_zh": "三水硫酸铜",
-      "formula": "CuSO4·3H2O",
-      "molar_mass_kg_mol": 0.213647,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1684.31 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·3H2O, cr））",
-      "cas": null
-    },
-    "copper_sulfate_monohydrate": {
-      "name_zh": "一水硫酸铜",
-      "formula": "CuSO4·H2O",
-      "molar_mass_kg_mol": 0.177617,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 61499（MolecularWeight 177.63 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1085.83 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·H2O, cr））",
-      "cas": "10257-54-2"
-    },
-    "copper_sulfate": {
-      "name_zh": "无水硫酸铜",
-      "formula": "CuSO4",
-      "molar_mass_kg_mol": 0.159602,
-      "phase": "solid",
-      "density_kg_m3": 3600.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24462（MolecularWeight 159.61 g/mol 交叉核对）；密度取 PubChem Density 原文 '3.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -771.36 kJ/mol（NBS 1982 Table 36:Cu p.2-155（PDF 第 163 页，CuSO4, cr））",
-      "cas": "7758-98-7"
-    },
-    "copper_oxide": {
-      "name_zh": "氧化铜",
-      "formula": "CuO",
-      "molar_mass_kg_mol": 0.079545,
-      "phase": "solid",
-      "density_kg_m3": 6400.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 164827（MolecularWeight 79.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '6.4 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -157.3 kJ/mol（NBS 1982 Table 36:Cu p.2-154（PDF 第 162 页，CuO, cr））",
-      "cas": "1317-38-0"
-    },
-    "copper": {
-      "name_zh": "铜",
-      "formula": "Cu",
-      "molar_mass_kg_mol": 0.063546,
-      "phase": "solid",
-      "density_kg_m3": 8960.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23978（MolecularWeight 63.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.96 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7440-50-8"
-    },
-    "basic_copper_carbonate": {
-      "name_zh": "碱式碳酸铜（孔雀石）",
-      "formula": "Cu2(OH)2CO3",
-      "molar_mass_kg_mol": 0.221114,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 25503（MolecularWeight 221.12 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1051.4 kJ/mol（NBS 1982 Table 36:Cu p.2-158（PDF 第 166 页，CuCO3·Cu(OH)2 malachite, cr））",
-      "cas": "1319-53-5"
-    },
-    "zinc_carbonate": {
-      "name_zh": "碳酸锌（菱锌矿）",
-      "formula": "ZnCO3",
-      "molar_mass_kg_mol": 0.125388,
-      "phase": "solid",
-      "density_kg_m3": 4400.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 19005（MolecularWeight 125.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '4.4 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -812.78 kJ/mol（NBS 1982 Table 33:Zn p.2-142（PDF 第 150 页，ZnCO3, cr））",
-      "cas": "3486-35-9"
-    },
-    "zinc_oxide": {
-      "name_zh": "氧化锌",
-      "formula": "ZnO",
-      "molar_mass_kg_mol": 0.081379,
-      "phase": "solid",
-      "density_kg_m3": 5600.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 3007857（MolecularWeight 81.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -348.28 kJ/mol（NBS 1982 Table 33:Zn p.2-138（PDF 第 146 页，ZnO, cr））",
-      "cas": "1314-13-2"
-    },
-    "nickel_oxide": {
-      "name_zh": "氧化镍",
-      "formula": "NiO",
-      "molar_mass_kg_mol": 0.0746924,
-      "phase": "solid",
-      "density_kg_m3": 6700.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 179931（MolecularWeight 74.693 g/mol 交叉核对）；密度取 PubChem Density 原文 '6.7 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -239.7 kJ/mol（NBS 1982 Table 39:Ni p.2-166（PDF 第 174 页，NiO, cr））",
-      "cas": "1313-99-1"
-    },
-    "nickel": {
-      "name_zh": "镍",
-      "formula": "Ni",
-      "molar_mass_kg_mol": 0.0586934,
-      "phase": "solid",
-      "density_kg_m3": 8908.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 935（MolecularWeight 58.693 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.908'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7440-02-0"
-    },
-    "iron_oxide_hematite": {
-      "name_zh": "三氧化二铁（赤铁矿）",
-      "formula": "Fe2O3",
-      "molar_mass_kg_mol": 0.159687,
-      "phase": "solid",
-      "density_kg_m3": 5240.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 518696（MolecularWeight 159.69 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.24 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -824.2 kJ/mol（NBS 1982 Table 41:Fe p.2-177（PDF 第 185 页，Fe2O3 hematite, cr））",
-      "cas": "1309-37-1"
-    },
-    "iron_oxide_magnetite": {
-      "name_zh": "四氧化三铁（磁铁矿）",
-      "formula": "Fe3O4",
-      "molar_mass_kg_mol": 0.231531,
-      "phase": "solid",
-      "density_kg_m3": 5170.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 16211978（MolecularWeight 231.53 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.17 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1118.4 kJ/mol（NBS 1982 Table 41:Fe p.2-177（PDF 第 185 页，Fe3O4 magnetite, cr））",
-      "cas": "1317-61-9"
-    },
-    "iron": {
-      "name_zh": "铁",
-      "formula": "Fe",
-      "molar_mass_kg_mol": 0.055845,
-      "phase": "solid",
-      "density_kg_m3": 7870.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23925（MolecularWeight 55.84 g/mol 交叉核对）；密度取 PubChem Density 原文 '7.87 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7439-89-6"
-    },
-    "magnesium_hydroxide": {
-      "name_zh": "氢氧化镁",
-      "formula": "Mg(OH)2",
-      "molar_mass_kg_mol": 0.058319,
-      "phase": "solid",
-      "density_kg_m3": 2360.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 73981（MolecularWeight 58.320 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.36 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -924.54 kJ/mol（NBS 1982 Table 93:Mg p.2-260（PDF 第 268 页，Mg(OH)2, cr））",
-      "cas": "1309-42-8"
-    },
-    "magnesium_oxide": {
-      "name_zh": "氧化镁",
-      "formula": "MgO",
-      "molar_mass_kg_mol": 0.040304,
-      "phase": "solid",
-      "density_kg_m3": 3600.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 14792（MolecularWeight 40.305 g/mol 交叉核对）；密度取 PubChem Density 原文 '3.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -601.7 kJ/mol（NBS 1982 Table 93:Mg p.2-260（PDF 第 268 页，MgO macrocrystal (periclase), cr））",
-      "cas": "1309-48-4"
-    },
-    "magnesium_carbonate": {
-      "name_zh": "碳酸镁（菱镁矿）",
-      "formula": "MgCO3",
-      "molar_mass_kg_mol": 0.084313,
-      "phase": "solid",
-      "density_kg_m3": 2960.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11029（MolecularWeight 84.31 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.96 (NIOSH, 2024) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1095.8 kJ/mol（NBS 1982 Table 93:Mg p.2-264（PDF 第 272 页，MgCO3 magnesite, cr））",
-      "cas": "546-93-0"
-    },
-    "calcium_oxalate_monohydrate": {
-      "name_zh": "一水草酸钙",
-      "formula": "CaC2O4·H2O",
-      "molar_mass_kg_mol": 0.146111,
-      "phase": "solid",
-      "density_kg_m3": 2120.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 165350（MolecularWeight 146.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.12 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1674.86 kJ/mol（NBS 1982 Table 94:Ca p.2-272（PDF 第 280 页，CaC2O4·H2O, cr））",
-      "cas": "5794-28-5"
-    },
-    "calcium_oxalate": {
-      "name_zh": "无水草酸钙",
-      "formula": "CaC2O4",
-      "molar_mass_kg_mol": 0.128096,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 33005（MolecularWeight 128.10 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1360.6 kJ/mol（NBS 1982 Table 94:Ca p.2-272（PDF 第 280 页，CaC2O4 oxalate, cr））",
-      "cas": "563-72-4"
-    },
-    "calcium_sulfate_dihydrate": {
-      "name_zh": "二水硫酸钙（石膏）",
-      "formula": "CaSO4·2H2O",
-      "molar_mass_kg_mol": 0.172164,
-      "phase": "solid",
-      "density_kg_m3": 2320.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24928（MolecularWeight 172.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.32 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2022.63 kJ/mol（NBS 1982 Table 94:Ca p.2-269（PDF 第 277 页，CaSO4·2H2O selenite, cr））",
-      "cas": "10101-41-4"
-    },
-    "calcium_sulfate_hemihydrate": {
-      "name_zh": "β-半水硫酸钙（熟石膏）",
-      "formula": "CaSO4·0.5H2O",
-      "molar_mass_kg_mol": 0.1451415,
-      "phase": "solid",
-      "density_kg_m3": 2500.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 3033839（MolecularWeight 290.3 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.5 (NIOSH, 2024) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1574.65 kJ/mol（NBS 1982 Table 94:Ca p.2-269（PDF 第 277 页，CaSO4·0.5H2O microcrystalline, beta, cr2））",
-      "cas": "10034-76-1"
-    },
-    "potassium_chlorate": {
-      "name_zh": "氯酸钾",
-      "formula": "KClO3",
-      "molar_mass_kg_mol": 0.1225453,
-      "phase": "solid",
-      "density_kg_m3": 2320.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6426889（MolecularWeight 122.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.32 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -397.73 kJ/mol（NBS 1982 Table 100:K p.2-331（PDF 第 339 页，KClO3, cr））",
-      "cas": "3811-04-9"
-    },
-    "potassium_chloride": {
-      "name_zh": "氯化钾",
-      "formula": "KCl",
-      "molar_mass_kg_mol": 0.0745483,
-      "phase": "solid",
-      "density_kg_m3": 1988.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 4873（MolecularWeight 74.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.988 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -436.747 kJ/mol（NBS 1982 Table 100:K p.2-330（PDF 第 338 页，KCl, cr））",
-      "cas": "7447-40-7"
-    },
-    "palladium": {
-      "name_zh": "钯（Pd/C 催化剂中的金属钯）",
-      "formula": "Pd",
-      "molar_mass_kg_mol": 0.10642,
-      "phase": "solid",
-      "density_kg_m3": 12020.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23938（MolecularWeight 106.42 g/mol 交叉核对）；密度取 PubChem Density 原文 '12.02 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；加氢模板的催化剂：账本中钯质量 > 0 才激活；市售为 5–10 wt% Pd/C，活性炭载体不计",
-      "cas": "7440-05-3"
-    },
-    "hydrogen": {
-      "name_zh": "氢气",
-      "formula": "H2",
-      "molar_mass_kg_mol": 0.002016,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 783（MolecularWeight 2.016 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "1333-74-0"
-    },
-    "carbon_monoxide": {
-      "name_zh": "一氧化碳",
-      "formula": "CO",
-      "molar_mass_kg_mol": 0.02801,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 281（MolecularWeight 28.010 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -110.53 kJ/mol（NIST WebBook ΔfH°gas = -110.53 kJ/mol（Cox, Wagman, et al., 1984））",
-      "cas": "630-08-0"
-    },
-    "ethanol_vapor": {
-      "name_zh": "乙醇蒸气",
-      "formula": "C2H5OH(g)",
-      "molar_mass_kg_mol": 0.046069,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；ethanol 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 42.3 kJ/mol（NIST 选定值平均（AVG））",
-      "cas": "64-17-5"
-    },
-    "methanol_vapor": {
-      "name_zh": "甲醇蒸气",
-      "formula": "CH3OH(g)",
-      "molar_mass_kg_mol": 0.032042,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；methanol 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 37.6 kJ/mol（NIST 选定值平均（AVG））",
-      "cas": "67-56-1"
-    },
-    "acetone_vapor": {
-      "name_zh": "丙酮蒸气",
-      "formula": "CH3COCH3(g)",
-      "molar_mass_kg_mol": 0.05808,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；acetone 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 31.27 kJ/mol（Majer and Svoboda, 1985）",
-      "cas": "67-64-1"
-    },
-    "ethyl_acetate_vapor": {
-      "name_zh": "乙酸乙酯蒸气",
-      "formula": "CH3COOC2H5(g)",
-      "molar_mass_kg_mol": 0.088106,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；ethyl_acetate 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 35.0 kJ/mol（NIST 选定值平均（AVG））",
-      "cas": "141-78-6"
-    },
-    "methanol": {
-      "name_zh": "甲醇",
-      "formula": "CH3OH",
-      "molar_mass_kg_mol": 0.032042,
-      "phase": "liquid",
-      "density_kg_m3": 791.4,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.08009,
-        "delta_h_J_mol": -32700.0,
-        "response_C_kg": 4.2171,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 374.2 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 887（MolecularWeight 32.042 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7914 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -238.9 kJ/mol（NIST WebBook ΔfH°liquid = -238.9 kJ/mol（Green, 1960））",
-      "cas": "67-56-1"
-    },
-    "acetone": {
-      "name_zh": "丙酮",
-      "formula": "CH3COCH3",
-      "molar_mass_kg_mol": 0.05808,
-      "phase": "liquid",
-      "density_kg_m3": 784.5,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.20951,
-        "delta_h_J_mol": -26100.0,
-        "response_C_kg": 6.204,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 500.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 180（MolecularWeight 58.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7845 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -249.4 kJ/mol（NIST WebBook ΔfH°liquid = -249.4 kJ/mol（Wiberg, Crocker, et al., 1991））",
-      "cas": "67-64-1"
-    },
-    "nitrobenzene": {
-      "name_zh": "硝基苯",
-      "formula": "C6H5NO2",
-      "molar_mass_kg_mol": 0.123111,
-      "phase": "liquid",
-      "density_kg_m3": 1203.7,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 19.707,
-        "delta_h_J_mol": -48500.0,
-        "response_C_kg": 8.7807,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1094.4 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7416（MolecularWeight 123.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2037 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 12.5 kJ/mol（NIST WebBook ΔfH°liquid = 12.5 kJ/mol（Lebedeva, Katin, et al., 1971））",
-      "cas": "98-95-3"
-    },
-    "aniline": {
-      "name_zh": "苯胺",
-      "formula": "C6H5NH2",
-      "molar_mass_kg_mol": 0.093129,
-      "phase": "liquid",
-      "density_kg_m3": 1022.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 8.09417,
-        "delta_h_J_mol": -51000.0,
-        "response_C_kg": 10.4466,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 978.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 6115（MolecularWeight 93.13 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.022 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 31.3 kJ/mol（NIST WebBook ΔfH°liquid = 31.3 kJ/mol（Hatton, Hildenbrand, et al., 1962））",
-      "cas": "62-53-3"
-    },
-    "styrene": {
-      "name_zh": "苯乙烯",
-      "formula": "C6H5CH=CH2",
-      "molar_mass_kg_mol": 0.104152,
-      "phase": "liquid",
-      "density_kg_m3": 901.6,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 4.22642,
-        "delta_h_J_mol": -41500.0,
-        "response_C_kg": 13.6659,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 893.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7501（MolecularWeight 104.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9016 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 103.4 kJ/mol（NIST WebBook ΔfH°liquid = 103.4 kJ/mol（Prosen and Rossini, 1945））",
-      "cas": "100-42-5"
-    },
-    "ethylbenzene": {
-      "name_zh": "乙苯",
-      "formula": "C6H5C2H5",
-      "molar_mass_kg_mol": 0.106168,
-      "phase": "liquid",
-      "density_kg_m3": 862.6,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 3.28407,
-        "delta_h_J_mol": -38600.0,
-        "response_C_kg": 13.5769,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 860.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7500（MolecularWeight 106.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8626 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -12.5 kJ/mol（NIST WebBook ΔfH°liquid = -12.5 kJ/mol（Prosen, Gilmont, et al., 1945））",
-      "cas": "100-41-4"
-    },
-    "maleic_acid": {
-      "name_zh": "马来酸（顺丁烯二酸）",
-      "formula": "HOOCCH=CHCOOH",
-      "molar_mass_kg_mol": 0.116072,
-      "phase": "solid",
-      "density_kg_m3": 1590.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 444266（MolecularWeight 116.07 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.590 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -790.57 kJ/mol（NIST WebBook ΔfH°solid = -790.57 kJ/mol（Wilhoit and Shiao, 1964））",
-      "cas": "110-16-7"
-    },
-    "succinic_acid": {
-      "name_zh": "琥珀酸（丁二酸）",
-      "formula": "HOOC(CH2)2COOH",
-      "molar_mass_kg_mol": 0.118088,
-      "phase": "solid",
-      "density_kg_m3": 1572.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 1110（MolecularWeight 118.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.572 @ 25 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -940.0 kJ/mol（NIST WebBook ΔfH°solid = -940.0 kJ/mol（NIST 评估值））",
-      "cas": "110-15-6"
-    },
-    "cyclohexene": {
-      "name_zh": "环己烯",
-      "formula": "C6H10",
-      "molar_mass_kg_mol": 0.082146,
-      "phase": "liquid",
-      "density_kg_m3": 810.2,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.87509,
-        "delta_h_J_mol": -30460.0,
-        "response_C_kg": 12.941,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 687.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 8079（MolecularWeight 82.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8102 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -38.2 kJ/mol（NIST WebBook ΔfH°liquid = -38.2 kJ/mol（Good and Smith, 1969））",
-      "cas": "110-83-8"
-    },
-    "cyclohexane": {
-      "name_zh": "环己烷",
-      "formula": "C6H12",
-      "molar_mass_kg_mol": 0.084162,
-      "phase": "liquid",
-      "density_kg_m3": 773.9,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.69151,
-        "delta_h_J_mol": -32200.0,
-        "response_C_kg": 12.8445,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 656.2 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 8078（MolecularWeight 84.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7739 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -156.4 kJ/mol（NIST WebBook ΔfH°liquid = -156.4 kJ/mol（Moore, Renquist, et al., 1940））",
-      "cas": "110-82-7"
-    },
-    "benzaldehyde": {
-      "name_zh": "苯甲醛",
-      "formula": "C6H5CHO",
-      "molar_mass_kg_mol": 0.106124,
-      "phase": "liquid",
-      "density_kg_m3": 1041.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 7.10776,
-        "delta_h_J_mol": -49500.0,
-        "response_C_kg": 10.1865,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 961.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 240（MolecularWeight 106.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.041 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -83.05 kJ/mol（NIST WebBook ΔfH°liquid = -83.05 kJ/mol（Lebedeva and Katin, 1972））",
-      "cas": "100-52-7"
-    },
-    "benzyl_alcohol": {
-      "name_zh": "苯甲醇",
-      "formula": "C6H5CH2OH",
-      "molar_mass_kg_mol": 0.10814,
-      "phase": "liquid",
-      "density_kg_m3": 1041.9,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 12.58162,
-        "delta_h_J_mol": -54600.0,
-        "response_C_kg": 10.6626,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1035.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 244（MolecularWeight 108.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0419 g/cu cm at 24 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -161.0 kJ/mol（NIST WebBook ΔfH°liquid = -161.0 kJ/mol（Parks, Manchester, et al., 1954））",
-      "cas": "100-51-6"
-    },
-    "isoamyl_alcohol": {
-      "name_zh": "异戊醇（3-甲基-1-丁醇）",
-      "formula": "(CH3)2CHCH2CH2OH",
-      "molar_mass_kg_mol": 0.08815,
-      "phase": "liquid",
-      "density_kg_m3": 810.4,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 1.27272,
-        "delta_h_J_mol": -49800.0,
-        "response_C_kg": 8.9929,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 736.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 31260（MolecularWeight 88.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8104 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -356.4 kJ/mol（NIST WebBook ΔfH°liquid = -356.4 kJ/mol（Chao and Rossini, 1965））",
-      "cas": "123-51-3"
-    },
-    "isoamyl_acetate": {
-      "name_zh": "乙酸异戊酯",
-      "formula": "CH3COOCH2CH2CH(CH3)2",
-      "molar_mass_kg_mol": 0.130187,
-      "phase": "liquid",
-      "density_kg_m3": 876.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 3.71136,
-        "delta_h_J_mol": -45100.0,
-        "response_C_kg": 7.9578,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 876.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 31276（MolecularWeight 130.18 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.876 at 15 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "123-92-2"
-    },
-    "butan_1_ol": {
-      "name_zh": "正丁醇",
-      "formula": "CH3(CH2)3OH",
-      "molar_mass_kg_mol": 0.074123,
-      "phase": "liquid",
-      "density_kg_m3": 809.8,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.71462,
-        "delta_h_J_mol": -46000.0,
-        "response_C_kg": 8.2644,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 660.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 263（MolecularWeight 74.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8098 at 20 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -328.0 kJ/mol（NIST WebBook ΔfH°liquid = -328.0 kJ/mol（NIST 评估值））",
-      "cas": "71-36-3"
-    },
-    "butyl_acetate": {
-      "name_zh": "乙酸正丁酯",
-      "formula": "CH3COO(CH2)3CH3",
-      "molar_mass_kg_mol": 0.11616,
-      "phase": "liquid",
-      "density_kg_m3": 882.5,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 2.27537,
-        "delta_h_J_mol": -39400.0,
-        "response_C_kg": 7.3673,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 812.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 31272（MolecularWeight 116.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8825 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -609.6 kJ/mol（NIST WebBook ΔfH°liquid = -609.6 kJ/mol（Schiopu, Bot, et al., 1961））",
-      "cas": "123-86-4"
-    },
-    "salicylic_acid": {
-      "name_zh": "水杨酸",
-      "formula": "HOC6H4COOH",
-      "molar_mass_kg_mol": 0.138122,
-      "phase": "solid",
-      "density_kg_m3": 1443.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 109.30311,
-        "delta_h_J_mol": -79400.0,
-        "response_C_kg": 6.2612,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1318.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 338（MolecularWeight 138.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.443 g/cu cm at 20 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -589.7 kJ/mol（NIST WebBook ΔfH°solid = -589.7 kJ/mol（Colomina, Jimenez, et al., 1980））",
-      "cas": "69-72-7"
-    },
-    "methyl_salicylate": {
-      "name_zh": "水杨酸甲酯（冬青油）",
-      "formula": "HOC6H4COOCH3",
-      "molar_mass_kg_mol": 0.152149,
-      "phase": "liquid",
-      "density_kg_m3": 1184.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 41.5578,
-        "delta_h_J_mol": -58700.0,
-        "response_C_kg": 7.2824,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1192.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 4133（MolecularWeight 152.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.184 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "119-36-8"
-    },
-    "acetic_anhydride": {
-      "name_zh": "乙酸酐",
-      "formula": "(CH3CO)2O",
-      "molar_mass_kg_mol": 0.102089,
-      "phase": "liquid",
-      "density_kg_m3": 1082.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 1.01189,
-        "delta_h_J_mol": -43300.0,
-        "response_C_kg": 3.0883,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 706.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7918（MolecularWeight 102.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.082 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -625.0 kJ/mol（NIST WebBook ΔfH°liquid = -625.0 kJ/mol（Guthrie, 1974））",
-      "cas": "108-24-7"
-    },
-    "aspirin": {
-      "name_zh": "乙酰水杨酸（阿司匹林）",
-      "formula": "CH3COOC6H4COOH",
-      "molar_mass_kg_mol": 0.180159,
-      "phase": "solid",
-      "density_kg_m3": 1400.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 101.64652,
-        "delta_h_J_mol": -60000.0,
-        "response_C_kg": 6.1502,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1309.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 2244（MolecularWeight 180.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.40'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "50-78-2"
-    },
-    "benzoic_acid": {
-      "name_zh": "苯甲酸",
-      "formula": "C6H5COOH",
-      "molar_mass_kg_mol": 0.122123,
-      "phase": "solid",
-      "density_kg_m3": 1316.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 34.72422,
-        "delta_h_J_mol": -67800.0,
-        "response_C_kg": 7.9667,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1168.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 243（MolecularWeight 122.12 g/mol 交叉核对）；密度取 PubChem Density 原文 'Sp gr: 1.316 at 24 °C/4 °C (solid); 1.029 at 180 °C/4 °C (liquid)'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -384.8 kJ/mol（NIST WebBook ΔfH°solid = -384.8 kJ/mol（Corral, 1960））",
-      "cas": "65-85-0"
-    },
-    "methyl_benzoate": {
-      "name_zh": "苯甲酸甲酯",
-      "formula": "C6H5COOCH3",
-      "molar_mass_kg_mol": 0.13615,
-      "phase": "liquid",
-      "density_kg_m3": 1083.7,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 19.64683,
-        "delta_h_J_mol": -50700.0,
-        "response_C_kg": 8.9322,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1094.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7150（MolecularWeight 136.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0837 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -324.3 kJ/mol（NIST WebBook ΔfH°liquid = -324.3 kJ/mol（Guthrie and Cullimore, 1980））",
-      "cas": "93-58-3"
-    },
-    "nitrogen": {
-      "name_zh": "氮气",
-      "formula": "N2",
-      "molar_mass_kg_mol": 0.028014,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 947（Nitrogen；MolecularWeight 28.014 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7727-37-9"
-    },
-    "nitric_oxide": {
-      "name_zh": "一氧化氮",
-      "formula": "NO",
-      "molar_mass_kg_mol": 0.030006,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 145068（Nitric Oxide；MolecularWeight 30.006 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 90.29 kJ/mol（NIST WebBook ΔfH°gas = 90.29 kJ/mol（Chase, 1998））",
-      "cas": "10102-43-9"
-    },
-    "ethane": {
-      "name_zh": "乙烷",
-      "formula": "C2H6",
-      "molar_mass_kg_mol": 0.03007,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.02115,
-        "delta_h_J_mol": -14703.0,
-        "response_C_kg": 11.983,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 200.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 6324（Ethane；MolecularWeight 30.07 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -83.8 kJ/mol（NIST WebBook ΔfH°gas = -83.8 kJ/mol（Pittam and Pilcher, 1972））",
-      "cas": "74-84-0"
-    },
-    "methane": {
-      "name_zh": "甲烷",
-      "formula": "CH4",
-      "molar_mass_kg_mol": 0.016043,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.00984,
-        "delta_h_J_mol": -8519.0,
-        "response_C_kg": 11.2301,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 100.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 297（Methane；MolecularWeight 16.043 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -74.87 kJ/mol（NIST WebBook ΔfH°gas = -74.87 kJ/mol（Chase, 1998））",
-      "cas": "74-82-8"
-    },
-    "acetylene": {
-      "name_zh": "乙炔",
-      "formula": "C2H2",
-      "molar_mass_kg_mol": 0.026038,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6326（Acetylene；MolecularWeight 26.04 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 226.73 kJ/mol（NIST WebBook ΔfH°gas = 226.73 kJ/mol（Chase, 1998））",
-      "cas": "74-86-2"
-    },
-    "ethylene": {
-      "name_zh": "乙烯",
-      "formula": "C2H4",
-      "molar_mass_kg_mol": 0.028054,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6325（Ethylene；MolecularWeight 28.05 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 52.47 kJ/mol（NIST WebBook ΔfH°gas = 52.47 kJ/mol（Chase, 1998））",
-      "cas": "74-85-1"
-    },
-    "formaldehyde": {
-      "name_zh": "甲醛",
-      "formula": "CH2O",
-      "molar_mass_kg_mol": 0.030026,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 712（Formaldehyde；MolecularWeight 30.026 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -115.9 kJ/mol（NIST WebBook ΔfH°gas = -115.9 kJ/mol（Chase, 1998））",
-      "cas": "50-00-0"
-    },
-    "hydrogen_chloride": {
-      "name_zh": "氯化氢（气）",
-      "formula": "HCl(g)",
-      "molar_mass_kg_mol": 0.036458,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 313（Hydrochloric Acid；MolecularWeight 36.46 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -92.31 kJ/mol（单行取值：1×HCl(g) -92.310 [CODATA] = -92.310 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7647-01-0"
-    },
-    "nitric_acid": {
-      "name_zh": "硝酸（溶质 HNO3）",
-      "formula": "HNO3",
-      "molar_mass_kg_mol": 0.063012,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 944（Nitric Acid；MolecularWeight 63.013 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -206.85 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×H+(aq) +0.000 [CODATA] + 1×NO3-(aq) -206.850 [CODATA] = -206.850 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7697-37-2"
-    },
-    "calcium_nitrate": {
-      "name_zh": "硝酸钙（水溶液）",
-      "formula": "Ca(NO3)2",
-      "molar_mass_kg_mol": 0.164086,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24963（Calcium nitrate；MolecularWeight 164.09 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -956.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Ca+2(aq) -543.000 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -956.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "10124-37-5"
-    },
-    "magnesium_nitrate": {
-      "name_zh": "硝酸镁（水溶液）",
-      "formula": "Mg(NO3)2",
-      "molar_mass_kg_mol": 0.148313,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 25212（Magnesium nitrate；MolecularWeight 148.32 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -880.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Mg+2(aq) -467.000 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -880.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "10377-60-3"
-    },
-    "copper_nitrate": {
-      "name_zh": "硝酸铜（水溶液）",
-      "formula": "Cu(NO3)2",
-      "molar_mass_kg_mol": 0.187554,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 18616（Cupric nitrate；MolecularWeight 187.56 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -348.8 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Cu+2(aq) +64.900 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -348.800 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "3251-23-8"
-    },
-    "iron_nitrate": {
-      "name_zh": "硝酸铁（水溶液）",
-      "formula": "Fe(NO3)3",
-      "molar_mass_kg_mol": 0.241857,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 25251（Ferric nitrate；MolecularWeight 241.86 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -669.05 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Fe+3(ao) -48.500 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 41:Fe p.2-177（PDF 第 185 页，Fe+3 ao）] + 3×NO3-(aq) -206.850 [CODATA] = -669.050 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "10421-48-4"
-    },
-    "zinc_chloride": {
-      "name_zh": "氯化锌（水溶液）",
-      "formula": "ZnCl2",
-      "molar_mass_kg_mol": 0.13628,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5727（Zinc Chloride；MolecularWeight 136.3 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -487.55 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Zn+2(aq) -153.390 [CODATA] + 2×Cl-(aq) -167.080 [CODATA] = -487.550 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7646-85-7"
-    },
-    "cadmium_chloride": {
-      "name_zh": "氯化镉（水溶液）",
-      "formula": "CdCl2",
-      "molar_mass_kg_mol": 0.183314,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24947（Cadmium Chloride；MolecularWeight 183.32 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -410.08 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Cd+2(aq) -75.920 [CODATA] + 2×Cl-(aq) -167.080 [CODATA] = -410.080 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "10108-64-2"
-    },
-    "sodium_nitrite": {
-      "name_zh": "亚硝酸钠（水溶液）",
-      "formula": "NaNO2",
-      "molar_mass_kg_mol": 0.0689948,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23668193（Sodium Nitrite；MolecularWeight 68.995 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -344.94 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Na+(aq) -240.340 [CODATA] + 1×NO2-(ao) -104.600 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 18:N p.2-64（PDF 第 72 页，NO2- ao）] = -344.940 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7632-00-0"
-    },
-    "ammonium_chloride": {
-      "name_zh": "氯化铵（水溶液）",
-      "formula": "NH4Cl",
-      "molar_mass_kg_mol": 0.053489,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 25517（Ammonium Chloride；MolecularWeight 53.49 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -300.34 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×NH4+(aq) -133.260 [CODATA] + 1×Cl-(aq) -167.080 [CODATA] = -300.340 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "12125-02-9"
-    },
-    "ammonia": {
-      "name_zh": "氨（水溶液，未电离）",
-      "formula": "NH3",
-      "molar_mass_kg_mol": 0.017031,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 222（Ammonia；MolecularWeight 17.031 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -80.29 kJ/mol（单行取值：1×NH3(ao) -80.290 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 18:N p.2-64（PDF 第 72 页，NH3 ao）] = -80.290 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7664-41-7"
-    },
-    "sodium_hypochlorite": {
-      "name_zh": "次氯酸钠（水溶液）",
-      "formula": "NaOCl",
-      "molar_mass_kg_mol": 0.0744388,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23665760（Sodium Hypochlorite；MolecularWeight 74.44 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -347.44 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Na+(aq) -240.340 [CODATA] + 1×ClO-(ao) -107.100 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 10:Cl p.2-47（PDF 第 55 页，ClO- ao）] = -347.440 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7681-52-9"
-    },
-    "potassium_thiocyanate": {
-      "name_zh": "硫氰酸钾（水溶液）",
-      "formula": "KSCN",
-      "molar_mass_kg_mol": 0.0971763,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 516872（Potassium thiocyanate；MolecularWeight 97.18 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -175.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×SCN-(ao) +76.440 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 23:C p.2-92（PDF 第 100 页，SCN- ao）] = -175.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "333-20-0"
-    },
-    "potassium_nitrate": {
-      "name_zh": "硝酸钾（水溶液）",
-      "formula": "KNO3",
-      "molar_mass_kg_mol": 0.1011023,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24434（Potassium Nitrate；MolecularWeight 101.103 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -458.99 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×NO3-(aq) -206.850 [CODATA] = -458.990 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7757-79-1"
-    },
-    "iron_thiocyanate_complex": {
-      "name_zh": "硫氰合铁(III)络离子硝酸盐（水溶液，FeSCN2+ + 2 NO3−）",
-      "formula": "[Fe(SCN)](NO3)2",
-      "molar_mass_kg_mol": 0.237931,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -390.3 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×FeSCN+2(ao) +23.400 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 41:Fe p.2-181（PDF 第 189 页，FeSCN+2 ao）] + 2×NO3-(aq) -206.850 [CODATA] = -390.300 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": null
-    },
-    "hydriodic_acid": {
-      "name_zh": "氢碘酸（溶质 HI）",
-      "formula": "HI",
-      "molar_mass_kg_mol": 0.1279125,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24841（Hydrogen iodide；MolecularWeight 127.9124 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -56.78 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×H+(aq) +0.000 [CODATA] + 1×I-(aq) -56.780 [CODATA] = -56.780 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "10034-85-2"
-    },
-    "zinc": {
-      "name_zh": "锌",
-      "formula": "Zn",
-      "molar_mass_kg_mol": 0.06538,
-      "phase": "solid",
-      "density_kg_m3": 7133.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23994（Zinc；MolecularWeight 65.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '7.133 g/cu cm at 25 °C; 6.830 g/cu cm at 419.5 °C (solid); 6.620 g/cu cm at 419.5 °C (liquid); 6.250 g/cu cm at 800 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7440-66-6"
-    },
-    "cadmium": {
-      "name_zh": "镉（铜化镉还原柱填料）",
-      "formula": "Cd",
-      "molar_mass_kg_mol": 0.112414,
-      "phase": "solid",
-      "density_kg_m3": 8690.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23973（Cadmium；MolecularWeight 112.41 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.69 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7440-43-9"
-    },
-    "graphite": {
-      "name_zh": "碳（石墨/石墨烯/碳纳米管沉积）",
-      "formula": "C",
-      "molar_mass_kg_mol": 0.012011,
-      "phase": "solid",
-      "density_kg_m3": 2200.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5462310（Carbon；MolecularWeight 12.011 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.2 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7782-42-5"
-    },
-    "silica": {
-      "name_zh": "二氧化硅（无定形沉积膜）",
-      "formula": "SiO2",
-      "molar_mass_kg_mol": 0.060083,
-      "phase": "solid",
-      "density_kg_m3": 2300.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24261（Silica；MolecularWeight 60.084 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.3 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "7631-86-9"
-    },
-    "iodine": {
-      "name_zh": "碘",
-      "formula": "I2",
-      "molar_mass_kg_mol": 0.2538089,
-      "phase": "solid",
-      "density_kg_m3": 4933.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 807（Iodine；MolecularWeight 253.8089 g/mol 交叉核对）；密度取 PubChem Density 原文 '4.933 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7553-56-2"
-    },
-    "potassium_carbonate": {
-      "name_zh": "碳酸钾",
-      "formula": "K2CO3",
-      "molar_mass_kg_mol": 0.1382046,
-      "phase": "solid",
-      "density_kg_m3": 2290.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11430（Potassium Carbonate；MolecularWeight 138.205 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.29 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "584-08-7"
-    },
-    "potassium_bromide": {
-      "name_zh": "溴化钾",
-      "formula": "KBr",
-      "molar_mass_kg_mol": 0.1190023,
-      "phase": "solid",
-      "density_kg_m3": 2740.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 253877（Potassium Bromide；MolecularWeight 119.00 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.74 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "7758-02-3"
-    },
-    "potassium_bicarbonate": {
-      "name_zh": "碳酸氢钾",
-      "formula": "KHCO3",
-      "molar_mass_kg_mol": 0.1001143,
-      "phase": "solid",
-      "density_kg_m3": 2170.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 516893（Potassium Bicarbonate；MolecularWeight 100.115 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.17 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "298-14-6"
-    },
-    "boric_acid": {
-      "name_zh": "硼酸",
-      "formula": "H3BO3",
-      "molar_mass_kg_mol": 0.061831,
-      "phase": "solid",
-      "density_kg_m3": 1500.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 7628（Boric Acid；MolecularWeight 61.84 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "10043-35-3"
-    },
-    "sodium_nitroprusside": {
-      "name_zh": "亚硝基铁氰化钠（硝普钠，催化剂；按无水盐计）",
-      "formula": "Na2[Fe(CN)5NO]",
-      "molar_mass_kg_mol": 0.2619205,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6604165（Sodium Nitroprusside；MolecularWeight 261.92 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "14402-89-2"
-    },
-    "phenylacetylene": {
-      "name_zh": "苯乙炔",
-      "formula": "C6H5C≡CH",
-      "molar_mass_kg_mol": 0.102136,
-      "phase": "liquid",
-      "density_kg_m3": 940.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 10821（Phenylacetylene；MolecularWeight 102.13 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.94 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook 液态 ΔfH° 284.3 kJ/mol 是 1914 年单次燃烧热的重算值，与气态 306.6 kJ/mol 相减只得汽化焓 22 kJ/mol（同类芳烃约 40 kJ/mol），不可信，未用",
-      "cas": "536-74-3"
-    },
-    "cyclohexanone": {
-      "name_zh": "环己酮",
-      "formula": "C6H10O",
-      "molar_mass_kg_mol": 0.098145,
-      "phase": "liquid",
-      "density_kg_m3": 945.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 4.29153,
-        "delta_h_J_mol": -41500.0,
-        "response_C_kg": 9.179,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 895.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7967（Cyclohexanone；MolecularWeight 98.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.945 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -276.1 kJ/mol（NIST WebBook ΔfH°liquid = -276.1 kJ/mol（Wiberg, Crocker, et al., 1991））",
-      "cas": "108-94-1"
-    },
-    "cyclohexanol": {
-      "name_zh": "环己醇",
-      "formula": "C6H11OH",
-      "molar_mass_kg_mol": 0.100161,
-      "phase": "liquid",
-      "density_kg_m3": 947.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 3.76853,
-        "delta_h_J_mol": -55000.0,
-        "response_C_kg": 9.4436,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 878.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7966（Cyclohexanol；MolecularWeight 100.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.947 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -347.4 kJ/mol（NIST WebBook ΔfH°liquid = -347.4 kJ/mol（Sellers and Sunner, 1962））",
-      "cas": "108-93-0"
-    },
-    "toluene": {
-      "name_zh": "甲苯",
-      "formula": "C6H5CH3",
-      "molar_mass_kg_mol": 0.092141,
-      "phase": "liquid",
-      "density_kg_m3": 862.3,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 1.63792,
-        "delta_h_J_mol": -33400.0,
-        "response_C_kg": 13.6874,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 769.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 1140（Toluene；MolecularWeight 92.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8623 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 12.0 kJ/mol（NIST WebBook ΔfH°liquid = 12.0 kJ/mol（Prosen, Gilmont, et al., 1945））",
-      "cas": "108-88-3"
-    },
-    "cinnamyl_alcohol": {
-      "name_zh": "肉桂醇",
-      "formula": "C6H5CH=CHCH2OH",
-      "molar_mass_kg_mol": 0.134178,
-      "phase": "solid",
-      "density_kg_m3": 1039.7,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 5315892（Cinnamyl Alcohol；MolecularWeight 134.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0397 @ 35 °C/35 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "104-54-1"
-    },
-    "phenylpropanol": {
-      "name_zh": "3-苯基-1-丙醇",
-      "formula": "C6H5(CH2)3OH",
-      "molar_mass_kg_mol": 0.136194,
-      "phase": "liquid",
-      "density_kg_m3": 995.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 31234（Benzenepropanol；MolecularWeight 136.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.995 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "122-97-4"
-    },
-    "urea": {
-      "name_zh": "尿素",
-      "formula": "CO(NH2)2",
-      "molar_mass_kg_mol": 0.060056,
-      "phase": "solid",
-      "density_kg_m3": 1340.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 1176（Urea；MolecularWeight 60.056 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.34 at 68 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -333.39 kJ/mol（NIST WebBook ΔfH°solid = -333.39 kJ/mol（Johnson, 1975））",
-      "cas": "57-13-6"
-    },
-    "ethyl_acetoacetate": {
-      "name_zh": "乙酰乙酸乙酯",
-      "formula": "CH3COCH2COOC2H5",
-      "molar_mass_kg_mol": 0.130143,
-      "phase": "liquid",
-      "density_kg_m3": 1028.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 6.21774,
-        "delta_h_J_mol": -52500.0,
-        "response_C_kg": 5.1915,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 943.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 8868（Ethyl Acetoacetate；MolecularWeight 130.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.028 at 68 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -640.4 kJ/mol（NIST WebBook ΔfH°liquid = -640.4 kJ/mol（Ribeiro da Silva, Ferrao, et al., 1995））",
-      "cas": "141-97-9"
-    },
-    "biginelli_dhpm": {
-      "name_zh": "Biginelli 产物：6-甲基-2-氧代-4-苯基-1,2,3,4-四氢嘧啶-5-甲酸乙酯",
-      "formula": "C14H16N2O3",
-      "molar_mass_kg_mol": 0.260293,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 220272（Ethyl 1,4-dihydro-2-hydroxy-6-methyl-4-phenyl-5-pyrimidinecarboxylate；MolecularWeight 260.29 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "5395-36-8"
-    },
-    "hexanedione_2_5": {
-      "name_zh": "2,5-己二酮",
-      "formula": "CH3COCH2CH2COCH3",
-      "molar_mass_kg_mol": 0.114144,
-      "phase": "liquid",
-      "density_kg_m3": 973.7,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 5.39775,
-        "delta_h_J_mol": -50100.0,
-        "response_C_kg": 6.3138,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 925.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 8035（2,5-Hexanedione；MolecularWeight 114.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9737 at 68 °F (NTP, 1992) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "110-13-4"
-    },
-    "dimethylphenylpyrrole": {
-      "name_zh": "2,5-二甲基-1-苯基吡咯",
-      "formula": "C12H13N",
-      "molar_mass_kg_mol": 0.171243,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 66518（2,5-Dimethyl-1-phenylpyrrole；MolecularWeight 171.24 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "83-24-9"
-    },
-    "phenylboronic_acid": {
-      "name_zh": "苯硼酸",
-      "formula": "C6H5B(OH)2",
-      "molar_mass_kg_mol": 0.12193,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 66827（Phenylboronic Acid；MolecularWeight 121.93 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "98-80-6"
-    },
-    "bromobenzene": {
-      "name_zh": "溴苯",
-      "formula": "C6H5Br",
-      "molar_mass_kg_mol": 0.15701,
-      "phase": "liquid",
-      "density_kg_m3": 1490.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 5.68142,
-        "delta_h_J_mol": -42300.0,
-        "response_C_kg": 6.9422,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 931.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7961（Bromobenzene；MolecularWeight 157.01 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.49 at 77 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "108-86-1"
-    },
-    "ytterbium_triflate": {
-      "name_zh": "三氟甲磺酸镱（Yb(OTf)3，Lewis 酸催化剂）",
-      "formula": "Yb(CF3SO3)3",
-      "molar_mass_kg_mol": 0.6202346,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 2733225（Ytterbium triflate；MolecularWeight 620.3 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "54761-04-5"
-    },
-    "biphenyl": {
-      "name_zh": "联苯",
-      "formula": "C6H5C6H5",
-      "molar_mass_kg_mol": 0.154212,
-      "phase": "solid",
-      "density_kg_m3": 992.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 7095（Biphenyl；MolecularWeight 154.21 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.992 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "92-52-4"
-    },
-    "triethylamine": {
-      "name_zh": "三乙胺",
-      "formula": "(C2H5)3N",
-      "molar_mass_kg_mol": 0.101193,
-      "phase": "liquid",
-      "density_kg_m3": 727.5,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.92319,
-        "delta_h_J_mol": -33180.0,
-        "response_C_kg": 10.2377,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 694.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 8471（Triethylamine；MolecularWeight 101.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7275 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -127.8 kJ/mol（NIST WebBook ΔfH°liquid = -127.8 kJ/mol（Lebedeva, 1966））",
-      "cas": "121-44-8"
-    },
-    "iodoethane": {
-      "name_zh": "碘乙烷",
-      "formula": "C2H5I",
-      "molar_mass_kg_mol": 0.1559665,
-      "phase": "liquid",
-      "density_kg_m3": 1948.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6340（Iodoethane；MolecularWeight 155.97 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.948 @ 15°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -39.5 kJ/mol（NIST WebBook ΔfH°liquid = -39.5 kJ/mol（Ashcroft, Carson, et al., 1965））",
-      "cas": "75-03-6"
-    },
-    "tetraethylammonium_iodide": {
-      "name_zh": "四乙基碘化铵",
-      "formula": "(C2H5)4N+ I−",
-      "molar_mass_kg_mol": 0.2571595,
-      "phase": "solid",
-      "density_kg_m3": 1559.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6225（Tetraethylammonium Iodide；MolecularWeight 257.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.559 @ 4°C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "68-05-3"
-    },
-    "acetanilide": {
-      "name_zh": "乙酰苯胺",
-      "formula": "C6H5NHCOCH3",
-      "molar_mass_kg_mol": 0.135166,
-      "phase": "solid",
-      "density_kg_m3": 1219.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 904（Acetanilide；MolecularWeight 135.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.219 at 59 °F (NTP, 1992) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -209.4 kJ/mol（NIST WebBook ΔfH°solid = -209.4 kJ/mol（Johnson, 1975））",
-      "cas": "103-84-4"
-    },
-    "benzylamine": {
-      "name_zh": "苄胺",
-      "formula": "C6H5CH2NH2",
-      "molar_mass_kg_mol": 0.107156,
-      "phase": "liquid",
-      "density_kg_m3": 980.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 7504（Benzylamine；MolecularWeight 107.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.98 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 34.2 kJ/mol（NIST WebBook ΔfH°liquid = 34.2 kJ/mol（Carson, Laye, et al., 1977））",
-      "cas": "100-46-9"
-    },
-    "methyl_acetate": {
-      "name_zh": "乙酸甲酯",
-      "formula": "CH3COOCH3",
-      "molar_mass_kg_mol": 0.074079,
-      "phase": "liquid",
-      "density_kg_m3": 934.2,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 0.255,
-        "delta_h_J_mol": -29500.0,
-        "response_C_kg": 4.2561,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 525.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 6584（Methyl Acetate；MolecularWeight 74.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9342 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -445.89 kJ/mol（NIST WebBook ΔfH°liquid = -445.89 kJ/mol（Hall and Baldt, 1971））",
-      "cas": "79-20-9"
-    },
-    "cumene_hydroperoxide": {
-      "name_zh": "异丙苯过氧化氢",
-      "formula": "C6H5C(CH3)2OOH",
-      "molar_mass_kg_mol": 0.152193,
-      "phase": "liquid",
-      "density_kg_m3": 1030.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6629（Cumene Hydroperoxide；MolecularWeight 152.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.03 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -149.0 kJ/mol（NIST WebBook ΔfH°liquid = -149.0 kJ/mol（Kozlov and Rabinovich, 1964））",
-      "cas": "80-15-9"
-    },
-    "phenol": {
-      "name_zh": "苯酚",
-      "formula": "C6H5OH",
-      "molar_mass_kg_mol": 0.094113,
-      "phase": "solid",
-      "density_kg_m3": 1071.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 8.3455,
-        "delta_h_J_mol": -53200.0,
-        "response_C_kg": 10.3378,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 982.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 996（Phenol；MolecularWeight 94.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.071 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -162.8 kJ/mol（NIST WebBook ΔfH°solid = -162.8 kJ/mol（Parks, Manchester, et al., 1954））",
-      "cas": "108-95-2"
-    },
-    "acetophenone": {
-      "name_zh": "苯乙酮",
-      "formula": "C6H5COCH3",
-      "molar_mass_kg_mol": 0.120151,
-      "phase": "liquid",
-      "density_kg_m3": 1028.1,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 15.74028,
-        "delta_h_J_mol": -50100.0,
-        "response_C_kg": 10.4965,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1065.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 7410（Acetophenone；MolecularWeight 120.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0281 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -142.5 kJ/mol（NIST WebBook ΔfH°liquid = -142.5 kJ/mol（Colomina, Latorre, et al., 1961））",
-      "cas": "98-86-2"
-    },
-    "di_tert_butyl_peroxide": {
-      "name_zh": "二叔丁基过氧化物（DTBP）",
-      "formula": "(CH3)3COOC(CH3)3",
-      "molar_mass_kg_mol": 0.14623,
-      "phase": "liquid",
-      "density_kg_m3": 704.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 8033（Di-tert-butyl peroxide；MolecularWeight 146.23 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.704 at 68 °F (NTP, 1992) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -380.8 kJ/mol（NIST WebBook ΔfH°liquid = -380.8 kJ/mol（Diogo, Minas da Piedade, et al., 1995））",
-      "cas": "110-05-4"
-    },
-    "aibn": {
-      "name_zh": "偶氮二异丁腈（AIBN）",
-      "formula": "(CH3)2C(CN)N=NC(CN)(CH3)2",
-      "molar_mass_kg_mol": 0.164212,
-      "phase": "solid",
-      "density_kg_m3": 1100.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6547（Azobisisobutyronitrile；MolecularWeight 164.21 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.1 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 246.0 kJ/mol（NIST WebBook ΔfH°solid = 246.0 kJ/mol（Lebedeva, Gutner, et al., 1984））",
-      "cas": "78-67-1"
-    },
-    "tetramethylsuccinonitrile": {
-      "name_zh": "四甲基丁二腈（TMSN）",
-      "formula": "NCC(CH3)2C(CH3)2CN",
-      "molar_mass_kg_mol": 0.136198,
-      "phase": "solid",
-      "density_kg_m3": 1070.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 18745（2,2,3,3-Tetramethylbutanedinitrile；MolecularWeight 136.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.07 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 19.9 kJ/mol（NIST WebBook ΔfH°solid = 19.9 kJ/mol（Lebedeva and Katin, 1973））",
-      "cas": "3333-52-6"
-    },
-    "sucrose": {
-      "name_zh": "蔗糖",
-      "formula": "C12H22O11",
-      "molar_mass_kg_mol": 0.342297,
-      "phase": "solid",
-      "density_kg_m3": 1580.5,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5988（Sucrose；MolecularWeight 342.30 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5805 g/cu cm @ 17 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2221.2 kJ/mol（NIST WebBook ΔfH°solid = -2221.2 kJ/mol（Clarke and Stegeman, 1939））",
-      "cas": "57-50-1"
-    },
-    "glucose": {
-      "name_zh": "D-葡萄糖",
-      "formula": "C6H12O6",
-      "molar_mass_kg_mol": 0.180156,
-      "phase": "solid",
-      "density_kg_m3": 1200.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5793（D-Glucose；MolecularWeight 180.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2 at 68 °F (est.) (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1271.04 kJ/mol（由 NIST WebBook ΔcH°solid = -2805.0 kJ/mol（Ponomarev and Migarskaya, 1960；页面 CAS 492-62-6）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 6×(-393.51) + 6×(-285.83) − ΔcH = -1271.04 kJ/mol）",
-      "cas": "50-99-7"
-    },
-    "fructose": {
-      "name_zh": "D-果糖",
-      "formula": "C6H12O6",
-      "molar_mass_kg_mol": 0.180156,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 2723872（D-Fructose；MolecularWeight 180.16 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1265.6 kJ/mol（NIST WebBook ΔfH°solid = -1265.6 kJ/mol（Clarke and Stegeman, 1939））",
-      "cas": "57-48-7"
-    },
-    "glycylglycine": {
-      "name_zh": "甘氨酰甘氨酸（二肽模型）",
-      "formula": "H2NCH2CONHCH2COOH",
-      "molar_mass_kg_mol": 0.132119,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11163（Glycylglycine；MolecularWeight 132.12 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -747.68 kJ/mol（NIST WebBook ΔfH°solid = -747.68 kJ/mol（Huffman, 1942））",
-      "cas": "556-50-3"
-    },
-    "glycine": {
-      "name_zh": "甘氨酸",
-      "formula": "H2NCH2COOH",
-      "molar_mass_kg_mol": 0.075067,
-      "phase": "solid",
-      "density_kg_m3": 1161.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 750（Glycine；MolecularWeight 75.07 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.161 g/cu cm @ 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -528.52 kJ/mol（NIST WebBook ΔfH°solid = -528.52 kJ/mol（Huffman, Fox, et al., 1937））",
-      "cas": "56-40-6"
-    },
-    "tripalmitin": {
-      "name_zh": "三棕榈酸甘油酯（甘油三酯模型）",
-      "formula": "C3H5(OCOC15H31)3",
-      "molar_mass_kg_mol": 0.807339,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 11147（Tripalmitin；MolecularWeight 807.3 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2468.78 kJ/mol（由 NIST WebBook ΔcH°solid = -31605.9 kJ/mol（Freedman, Bagby, et al., 1989；页面 CAS 555-44-2）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 51×(-393.51) + 49×(-285.83) − ΔcH = -2468.78 kJ/mol）",
-      "cas": "555-44-2"
-    },
-    "palmitic_acid": {
-      "name_zh": "棕榈酸（十六酸）",
-      "formula": "C15H31COOH",
-      "molar_mass_kg_mol": 0.25643,
-      "phase": "solid",
-      "density_kg_m3": 849.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 985（Palmitic Acid；MolecularWeight 256.42 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.849 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -891.84 kJ/mol（由 NIST WebBook ΔcH°solid = -9977.6 kJ/mol（Swain, Silbert, et al., 1964；页面 CAS 57-10-3）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 16×(-393.51) + 16×(-285.83) − ΔcH = -891.84 kJ/mol）",
-      "cas": "57-10-3"
-    },
-    "glycerol": {
-      "name_zh": "甘油",
-      "formula": "HOCH2CH(OH)CH2OH",
-      "molar_mass_kg_mol": 0.092094,
-      "phase": "liquid",
-      "density_kg_m3": 1261.3,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 753（Glycerol；MolecularWeight 92.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2613 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -668.6 kJ/mol（NIST WebBook ΔfH°liquid = -668.6 kJ/mol（Parks, West, et al., 1946））",
-      "cas": "56-81-5"
-    },
-    "pmma": {
-      "name_zh": "聚甲基丙烯酸甲酯（按重复单元 C5H8O2 计）",
-      "formula": "(C5H8O2)n",
-      "molar_mass_kg_mol": 0.100117,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 9011-14-7 经 PubChem Substance 同义词核对（含 'poly(methyl methacrylate)'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "9011-14-7"
-    },
-    "polystyrene": {
-      "name_zh": "聚苯乙烯（按重复单元 C8H8 计）",
-      "formula": "(C8H8)n",
-      "molar_mass_kg_mol": 0.104152,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 9003-53-6 经 PubChem Substance 同义词核对（含 'polystyrene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "9003-53-6"
-    },
-    "polyoxymethylene": {
-      "name_zh": "聚甲醛（按重复单元 CH2O 计）",
-      "formula": "(CH2O)n",
-      "molar_mass_kg_mol": 0.030026,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 9002-81-7 经 PubChem Substance 同义词核对（含 'polyoxymethylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "9002-81-7"
-    },
-    "pvc": {
-      "name_zh": "聚氯乙烯（按重复单元 C2H3Cl 计）",
-      "formula": "(C2H3Cl)n",
-      "molar_mass_kg_mol": 0.062496,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 9002-86-2 经 PubChem Substance 同义词核对（含 'poly(vinyl chloride)'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "9002-86-2"
-    },
-    "polyene_residue": {
-      "name_zh": "共轭多烯残炭（PVC 脱 HCl 后的 (C2H2)n 重复单元）",
-      "formula": "(C2H2)n",
-      "molar_mass_kg_mol": 0.026038,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 25067-58-7 经 PubChem Substance 同义词核对（含 'polyacetylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "25067-58-7"
-    },
-    "ptfe": {
-      "name_zh": "聚四氟乙烯（按重复单元 C2F4 计）",
-      "formula": "(C2F4)n",
-      "molar_mass_kg_mol": 0.1000156,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "聚合物：PubChem 无化合物记录；CAS 9002-84-0 经 PubChem Substance 同义词核对（含 'polytetrafluoroethylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "9002-84-0"
-    },
-    "tetrafluoroethylene": {
-      "name_zh": "四氟乙烯（TFE）",
-      "formula": "CF2=CF2",
-      "molar_mass_kg_mol": 0.1000156,
-      "phase": "gas",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 8301（Tetrafluoroethylene；MolecularWeight 100.01 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -658.56 kJ/mol（NIST WebBook ΔfH°gas = -658.56 kJ/mol（Chase, 1998））",
-      "cas": "116-14-3"
-    },
-    "methyl_methacrylate": {
-      "name_zh": "甲基丙烯酸甲酯（MMA）",
-      "formula": "CH2=C(CH3)COOCH3",
-      "molar_mass_kg_mol": 0.100117,
-      "phase": "liquid",
-      "density_kg_m3": 933.7,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 1.07817,
-        "delta_h_J_mol": -33300.0,
-        "response_C_kg": 6.5681,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 714.3 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 6658（Methyl Methacrylate；MolecularWeight 100.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9337 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -388.8 kJ/mol（NIST WebBook ΔfH°liquid = -388.8 kJ/mol（Vilcu and Perisanu, 1980））",
-      "cas": "80-62-6"
-    },
-    "naphthalene": {
-      "name_zh": "萘",
-      "formula": "C10H8",
-      "molar_mass_kg_mol": 0.128174,
-      "phase": "solid",
-      "density_kg_m3": 1160.0,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 38.73544,
-        "delta_h_J_mol": -50300.0,
-        "response_C_kg": 14.0567,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1182.8 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 931（Naphthalene；MolecularWeight 128.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.16 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 77.0 kJ/mol（NIST WebBook ΔfH°solid = 77.0 kJ/mol（NIST 评估值））",
-      "cas": "91-20-3"
-    },
-    "teos": {
-      "name_zh": "正硅酸乙酯（TEOS）",
-      "formula": "Si(OC2H5)4",
-      "molar_mass_kg_mol": 0.208329,
-      "phase": "liquid",
-      "density_kg_m3": 933.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 6517（Tetraethoxysilane；MolecularWeight 208.33 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.933 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "78-10-4"
-    },
-    "fmoc_glycine": {
-      "name_zh": "Fmoc-甘氨酸（Fmoc-Gly-OH）",
-      "formula": "C17H15NO4",
-      "molar_mass_kg_mol": 0.29731,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 93124（Fmoc-Gly-OH；MolecularWeight 297.30 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "29022-11-5"
-    },
-    "piperidine": {
-      "name_zh": "哌啶",
-      "formula": "C5H11N",
-      "molar_mass_kg_mol": 0.08515,
-      "phase": "liquid",
-      "density_kg_m3": 862.2,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 8082（Piperidine；MolecularWeight 85.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8622 at 68 °F (EPA, 1998) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -86.44 kJ/mol（NIST WebBook ΔfH°liquid = -86.44 kJ/mol（Good, 1972））",
-      "cas": "110-89-4"
-    },
-    "dbf_piperidine_adduct": {
-      "name_zh": "二苯并富烯-哌啶加合物（1-(9H-芴-9-基甲基)哌啶）",
-      "formula": "C19H21N",
-      "molar_mass_kg_mol": 0.263384,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 12841689（1-(9-Fluorenylmethyl)piperidine；MolecularWeight 263.4 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "35661-58-6"
-    },
-    "dic": {
-      "name_zh": "N,N'-二异丙基碳二亚胺（DIC）",
-      "formula": "(CH3)2CHN=C=NCH(CH3)2",
-      "molar_mass_kg_mol": 0.126203,
-      "phase": "liquid",
-      "density_kg_m3": 806.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 12734（Diisopropylcarbodiimide；MolecularWeight 126.20 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.806 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "693-13-0"
-    },
-    "diisopropylurea": {
-      "name_zh": "N,N'-二异丙基脲（DIU）",
-      "formula": "(CH3)2CHNHCONHCH(CH3)2",
-      "molar_mass_kg_mol": 0.144218,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 20084（N,N'-Bis(1-methylethyl)urea；MolecularWeight 144.21 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "4128-37-4"
-    },
-    "oxyma": {
-      "name_zh": "Oxyma Pure（氰基(羟亚氨基)乙酸乙酯，偶联添加剂）",
-      "formula": "C5H6N2O3",
-      "molar_mass_kg_mol": 0.142114,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6399078（Ethyl 2-cyano-2-(hydroxyimino)acetate；MolecularWeight 142.11 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "3849-21-6"
-    },
-    "fmoc_gly_benzylamide": {
-      "name_zh": "Fmoc-Gly-NHBn（偶联模型产物）",
-      "formula": "C24H22N2O3",
-      "molar_mass_kg_mol": 0.386451,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": null
-    },
-    "n_benzylacetamide": {
-      "name_zh": "N-苄基乙酰胺（封端模型产物）",
-      "formula": "CH3CONHCH2C6H5",
-      "molar_mass_kg_mol": 0.149193,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11500（N-Benzylacetamide；MolecularWeight 149.19 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "588-46-5"
-    },
-    "dmt_thymidine": {
-      "name_zh": "5'-O-DMT-胸苷（载体结合核苷模型）",
-      "formula": "C31H32N2O7",
-      "molar_mass_kg_mol": 0.544604,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 162419（5'-O-(4,4'-Dimethoxytrityl)thymidine；MolecularWeight 544.6 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "40615-39-2"
-    },
-    "dichloroacetic_acid": {
-      "name_zh": "二氯乙酸（DCA）",
-      "formula": "Cl2CHCOOH",
-      "molar_mass_kg_mol": 0.128936,
-      "phase": "liquid",
-      "density_kg_m3": 1563.4,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6597（Dichloroacetic Acid；MolecularWeight 128.94 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5634 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "79-43-6"
-    },
-    "thymidine": {
-      "name_zh": "胸苷",
-      "formula": "C10H14N2O5",
-      "molar_mass_kg_mol": 0.242231,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5789（Thymidine；MolecularWeight 242.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "50-89-5"
-    },
-    "dmt_cation_dichloroacetate": {
-      "name_zh": "4,4'-二甲氧基三苯甲基正离子·二氯乙酸根（橙色 DMT+ 离子对，溶液中）",
-      "formula": "C21H19O2+ Cl2CHCOO−",
-      "molar_mass_kg_mol": 0.431309,
-      "phase": "liquid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": null
-    },
-    "dt_phosphoramidite": {
-      "name_zh": "5'-O-DMT-胸苷-3'-CE 亚磷酰胺",
-      "formula": "C40H49N4O8P",
-      "molar_mass_kg_mol": 0.7448258,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 9940288（Thymidine, 5'-O-(bis(4-methoxyphenyl)phenylmethyl)-, 3'-(2-cyanoethyl N,N-bis(1-methylethyl)phosphoramidite)；MolecularWeight 744.8 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "98796-51-1"
-    },
-    "acetylthymidine": {
-      "name_zh": "3'-O-乙酰胸苷（游离 5'-OH 模型）",
-      "formula": "C12H16N2O6",
-      "molar_mass_kg_mol": 0.284268,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 464365（3'-O-Acetylthymidine；MolecularWeight 284.26 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "21090-30-2"
-    },
-    "ett": {
-      "name_zh": "5-乙硫基-1H-四唑（ETT，活化剂）",
-      "formula": "C3H6N4S",
-      "molar_mass_kg_mol": 0.130169,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 2758928（5-(Ethylthio)-1H-tetrazole；MolecularWeight 130.17 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "89797-68-2"
-    },
-    "diisopropylamine": {
-      "name_zh": "二异丙胺",
-      "formula": "((CH3)2CH)2NH",
-      "molar_mass_kg_mol": 0.101193,
-      "phase": "liquid",
-      "density_kg_m3": 717.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 7912（Diisopropylamine；MolecularWeight 101.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.717 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "108-18-9"
-    },
-    "dinucleoside_phosphite": {
-      "name_zh": "二核苷亚磷酸三酯（DMT-T-P(OCE)-T-OAc）",
-      "formula": "C46H50N5O14P",
-      "molar_mass_kg_mol": 0.9279008,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": null
-    },
-    "dinucleoside_phosphate": {
-      "name_zh": "二核苷磷酸三酯（氧化后）",
-      "formula": "C46H50N5O15P",
-      "molar_mass_kg_mol": 0.9438998,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": null
-    },
-    "crystal_violet": {
-      "name_zh": "结晶紫（氯化物）",
-      "formula": "C25H30ClN3",
-      "molar_mass_kg_mol": 0.407986,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11057（Crystal Violet；MolecularWeight 408.0 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "548-62-9"
-    },
-    "crystal_violet_carbinol": {
-      "name_zh": "结晶紫甲醇碱（无色）",
-      "formula": "C25H31N3O",
-      "molar_mass_kg_mol": 0.389543,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 68050（C.I. 42555:1；MolecularWeight 389.5 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "467-63-0"
-    },
-    "ascorbic_acid": {
-      "name_zh": "抗坏血酸",
-      "formula": "C6H8O6",
-      "molar_mass_kg_mol": 0.176124,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 54670067（L-Ascorbic Acid；MolecularWeight 176.12 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "50-81-7"
-    },
-    "dcpip": {
-      "name_zh": "2,6-二氯酚靛酚（DCPIP，氧化态）",
-      "formula": "C12H7Cl2NO2",
-      "molar_mass_kg_mol": 0.268093,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 13726（Dichlorophenol Indophenol；MolecularWeight 268.09 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "956-48-9"
-    },
-    "dehydroascorbic_acid": {
-      "name_zh": "脱氢抗坏血酸",
-      "formula": "C6H6O6",
-      "molar_mass_kg_mol": 0.174108,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 440667（Dehydroascorbic Acid；MolecularWeight 174.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "490-83-5"
-    },
-    "dcpip_leuco": {
-      "name_zh": "还原态 DCPIP（无色）",
-      "formula": "C12H9Cl2NO2",
-      "molar_mass_kg_mol": 0.270109,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 622906（2,6-Bis(Chloranyl)-4-[(4-Hydroxyphenyl)amino]phenol；MolecularWeight 270.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "2099-87-8"
-    },
-    "sulfanilamide": {
-      "name_zh": "磺胺（对氨基苯磺酰胺）",
-      "formula": "H2NC6H4SO2NH2",
-      "molar_mass_kg_mol": 0.172202,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 5333（Sulfanilamide；MolecularWeight 172.21 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "63-74-1"
-    },
-    "ned": {
-      "name_zh": "N-(1-萘基)乙二胺（NED）",
-      "formula": "C10H7NHCH2CH2NH2",
-      "molar_mass_kg_mol": 0.186258,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 15107（N-(1-Naphthyl)ethylenediamine；MolecularWeight 186.25 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "551-09-7"
-    },
-    "griess_azo_dye": {
-      "name_zh": "格里斯偶氮染料（磺胺-NED 偶联产物，540 nm）",
-      "formula": "C18H19N5O2S",
-      "molar_mass_kg_mol": 0.369443,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": null
-    },
-    "indophenol": {
-      "name_zh": "靛酚（Berthelot 靛酚蓝）",
-      "formula": "HOC6H4N=C6H4=O",
-      "molar_mass_kg_mol": 0.199209,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 10379（Phenolindophenol；MolecularWeight 199.20 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "500-85-6"
-    },
-    "potassium_ferrioxalate": {
-      "name_zh": "三草酸合铁(III)酸钾（溶质，光量计）",
-      "formula": "K3[Fe(C2O4)3]",
-      "molar_mass_kg_mol": 0.4371939,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 9932777（Potassium ferrioxalate；MolecularWeight 437.20 g/mol 交叉核对）；PubChem 按 CAS 14883-34-2 检索返回 4 个 CID，首个 24180941 为 1:1 钾盐（C6H4FeKO12+2）；本物种身份取 CID 9932777（Potassium ferrioxalate，C6FeK3O12，437.20 g/mol），其 PubChem 同义词含 '14883-34-2'（pubchem/9932777_synonyms.json）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；三草酸合铁(III)酸钾无可用标准生成焓（NIST WebBook/CODATA/NBS 1982 均无该配离子行），涉及它的反应焓记 null",
-      "cas": "14883-34-2"
-    },
-    "iron_ii_oxalate": {
-      "name_zh": "草酸亚铁（溶质，Fe(II) 草酸配合物）",
-      "formula": "FeC2O4",
-      "molar_mass_kg_mol": 0.143863,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 10589（Ferrous Oxalate；MolecularWeight 143.86 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；草酸亚铁（溶质）无可用标准生成焓行，涉及它的反应焓记 null",
-      "cas": "516-03-0"
-    },
-    "potassium_oxalate": {
-      "name_zh": "草酸钾（溶质）",
-      "formula": "K2C2O4",
-      "molar_mass_kg_mol": 0.1662146,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 11413（Dipotassium Oxalate；MolecularWeight 166.22 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；草酸根水合离子未取（同一反应的三草酸合铁酸钾无 ΔfH，反应焓已为 null）",
-      "cas": "583-52-8"
-    },
-    "trans_azobenzene": {
-      "name_zh": "(E)-偶氮苯（反式）",
-      "formula": "(E)-C6H5N=NC6H5",
-      "molar_mass_kg_mol": 0.182226,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 2272（Azobenzene；MolecularWeight 182.22 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；顺式偶氮苯无可信标准生成焓行，异构化反应焓记 null",
-      "cas": "103-33-3"
-    },
-    "cis_azobenzene": {
-      "name_zh": "(Z)-偶氮苯（顺式）",
-      "formula": "(Z)-C6H5N=NC6H5",
-      "molar_mass_kg_mol": 0.182226,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 2272（Azobenzene；MolecularWeight 182.22 g/mol 交叉核对）；PubChem 按 CAS 1080-16-6 返回立体未指定的 CID 2272（Azobenzene，C12H10N2）；顺/反异构以本条目化学式区分；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/NBS 无 (Z)-偶氮苯标准生成焓行，反应焓记 null",
-      "cas": "1080-16-6"
-    },
-    "alpha_terpinene": {
-      "name_zh": "α-松油烯",
-      "formula": "C10H16",
-      "molar_mass_kg_mol": 0.136238,
-      "phase": "liquid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 7462（Alpha-Terpinene；MolecularWeight 136.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；产物蛔蒿素无可信标准生成焓行，光氧化反应焓记 null",
-      "cas": "99-86-5"
-    },
-    "ascaridole": {
-      "name_zh": "蛔蒿素（α-松油烯 1,4-内过氧化物）",
-      "formula": "C10H16O2",
-      "molar_mass_kg_mol": 0.168236,
-      "phase": "liquid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 10545（Ascaridole；MolecularWeight 168.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/NBS 无蛔蒿素标准生成焓行，反应焓记 null",
-      "cas": "512-85-6"
-    },
-    "rose_bengal": {
-      "name_zh": "孟加拉玫瑰红（光敏剂，CAS 11121-48-5 二钾盐）",
-      "formula": "C20H2Cl4I4K2O5",
-      "molar_mass_kg_mol": 1.0498455,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 25473（Rose Bengal；MolecularWeight 1049.8 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；光敏剂只作吸光体与门控，不进入反应式",
-      "cas": "11121-48-5"
-    },
-    "methylene_blue": {
-      "name_zh": "亚甲基蓝（光敏剂，氯化物）",
-      "formula": "C16H18ClN3S",
-      "molar_mass_kg_mol": 0.319851,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6099（Methylene Blue；MolecularWeight 319.9 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；光敏剂只作吸光体与门控，不进入反应式",
-      "cas": "61-73-4"
-    },
-    "potassium_iodide": {
-      "name_zh": "碘化钾（溶质）",
-      "formula": "KI",
-      "molar_mass_kg_mol": 0.1660028,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 4875（Potassium Iodide；MolecularWeight 166.0028 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -307.33 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×I-(ao) -55.190 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，I- ao）] = -307.330 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7681-11-0"
-    },
-    "potassium_iodate": {
-      "name_zh": "碘酸钾（溶质）",
-      "formula": "KIO3",
-      "molar_mass_kg_mol": 0.2139998,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23665710（Potassium Iodate；MolecularWeight 214.001 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -473.44 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×IO3-(ao) -221.300 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，IO3- ao）] = -473.440 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7758-05-6"
-    },
-    "potassium_triiodide": {
-      "name_zh": "三碘化钾（溶质，I3−）",
-      "formula": "KI3",
-      "molar_mass_kg_mol": 0.4198117,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 105053（Potassium triiodide；MolecularWeight 419.8117 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -303.64 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×I3-(ao) -51.500 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，I3- ao）] = -303.640 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "12298-68-9"
-    },
-    "potassium_hydroxide": {
-      "name_zh": "氢氧化钾（溶质）",
-      "formula": "KOH",
-      "molar_mass_kg_mol": 0.0561053,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 14797（Potassium Hydroxide；MolecularWeight 56.106 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -482.155 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×OH-(aq) -230.015 [CODATA] = -482.155 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "1310-58-3"
-    },
-    "formaldehyde_aqueous": {
-      "name_zh": "甲醛（水溶液，溶质）",
-      "formula": "HCHO(aq)",
-      "molar_mass_kg_mol": 0.030026,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 712（Formaldehyde；MolecularWeight 30.026 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；未取水合甲醛（甲二醇）标准生成焓，反应焓记 null",
-      "cas": "50-00-0"
-    },
-    "silver": {
-      "name_zh": "银",
-      "formula": "Ag",
-      "molar_mass_kg_mol": 0.1078682,
-      "phase": "solid",
-      "density_kg_m3": 10500.0,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 23954（Silver；MolecularWeight 107.868 g/mol 交叉核对）；密度取 PubChem Density 原文 '10.5 at 68 °F (NTP, 1992) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
-      "cas": "7440-22-4"
-    },
-    "sodium_sulfate": {
-      "name_zh": "硫酸钠（支持电解质，溶质）",
-      "formula": "Na2SO4",
-      "molar_mass_kg_mol": 0.1420355,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 24436（Sodium Sulfate；MolecularWeight 142.04 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1390.02 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：2×Na+(aq) -240.340 [CODATA] + 1×SO4-2(aq) -909.340 [CODATA] = -1390.020 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
-      "cas": "7757-82-6"
-    },
-    "methyl_hydrogen_sulfate": {
-      "name_zh": "硫酸氢甲酯（KF 反应产物，按游离酸计）",
-      "formula": "CH3OSO3H",
-      "molar_mass_kg_mol": 0.112099,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 6412（Monomethyl sulfate；MolecularWeight 112.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/CODATA/NBS 1982 无可用 ΔfH°；KF 试剂中以碱的甲基硫酸盐 [RNH]SO4CH3 存在，账本按游离酸计",
-      "cas": "75-93-4"
-    },
-    "imidazole": {
-      "name_zh": "咪唑（KF 试剂碱 RN）",
-      "formula": "C3H4N2",
-      "molar_mass_kg_mol": 0.068079,
-      "phase": "solid",
-      "density_kg_m3": 1030.3,
-      "fid_visible": true,
-      "gc_7890b_fid": {
-        "k_ref": 16.22903,
-        "delta_h_J_mol": -46657.6,
-        "response_C_kg": 4.7635,
-        "reference_temperature_K": 353.15,
-        "evidence": "derived",
-        "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1069.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
-      },
-      "evidence": "documented",
-      "source": "PubChem CID 795（Imidazole；MolecularWeight 68.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0303 @ 101°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；只作 KF 反应的碱门控（catalyst），不进入化学计量",
-      "cas": "288-32-4"
-    },
-    "n_formylpiperidine": {
-      "name_zh": "N-甲酰哌啶",
-      "formula": "C5H10NCHO",
-      "molar_mass_kg_mol": 0.11316,
-      "phase": "liquid",
-      "density_kg_m3": 1019.0,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 17429（1-Piperidinecarboxaldehyde；MolecularWeight 113.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.019 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "2591-86-8"
-    },
-    "methoxy_formylpiperidine": {
-      "name_zh": "2-甲氧基-1-甲酰哌啶",
-      "formula": "C5H9(OCH3)NCHO",
-      "molar_mass_kg_mol": 0.143186,
-      "phase": "liquid",
-      "density_kg_m3": null,
-      "fid_visible": true,
-      "evidence": "documented",
-      "source": "PubChem CID 2723667（2-Methoxy-1-formylpiperidine；MolecularWeight 143.18 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "61020-07-3"
-    },
-    "tetraethylammonium_tetrafluoroborate": {
-      "name_zh": "四乙基四氟硼酸铵（支持电解质）",
-      "formula": "(C2H5)4N+ BF4−",
-      "molar_mass_kg_mol": 0.2170586,
-      "phase": "solid",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 2724277（Tetraethylammonium tetrafluoroborate；MolecularWeight 217.06 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
-      "cas": "429-06-1"
-    },
-    "sulfur_dioxide_dissolved": {
-      "name_zh": "二氧化硫（溶于 KF 试剂，溶质）",
-      "formula": "SO2",
-      "molar_mass_kg_mol": 0.064058,
-      "phase": "aqueous",
-      "density_kg_m3": null,
-      "fid_visible": false,
-      "evidence": "documented",
-      "source": "PubChem CID 1119（Sulfur Dioxide；MolecularWeight 64.07 g/mol 交叉核对；PubChem 64.07 g/mol 取 S≈32.07（IUPAC 区间 [32.059, 32.076] 上部）；本表按常规原子量 S = 32.06 计算得 64.058，差 0.012 g/mol）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；KF 试剂中 SO2 以甲基亚硫酸盐形式溶于甲醇，溶解态 ΔfH° 未取（CODATA 只有气态值），模板 ΔH 记 null",
-      "cas": "7446-09-5"
+ "schema_version": "1.1.0",
+ "description_zh": "反应模板与仪器指纹表共用的物质名单。molar_mass_kg_mol 为教科书值；density_kg_m3 为室温近似值；gc_7890b_fid 指纹与 scripts/gc_runtime.py 的 Species 字段兼容：evidence=derived 的条目由 spectral_library（NIST 保留指数、汽化焓、有效碳数）换算，柱标定为假设；evidence=assumption 的条目仍是仿真假设。",
+ "substances": {
+  "acetic_acid": {
+   "name_zh": "乙酸",
+   "formula": "CH3COOH",
+   "molar_mass_kg_mol": 0.060052,
+   "phase": "liquid",
+   "density_kg_m3": 1049.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.48575,
+    "delta_h_J_mol": -39100.0,
+    "response_C_kg": 1.2001,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 610.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics (molar mass, density)",
+   "cas": "64-19-7",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H314"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 176,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/176",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetic acid … %",
+     "reference_number": 147,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.7,
+     "H314": 99.9,
+     "H318": 14.7
     }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "flammable",
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 391.05,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 176,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/176",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETIC ACID",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-4",
+    "accessed": "2026-10-22",
+    "text": "117.9 °C"
+   },
+   "viscosity_Pa_s": 0.001056,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 176,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/176",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETIC ACID",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-232",
+    "accessed": "2026-10-22",
+    "text": "1.056 mPa-s at 25 °C"
+   }
+  },
+  "ethanol": {
+   "name_zh": "乙醇",
+   "formula": "C2H5OH",
+   "molar_mass_kg_mol": 0.046069,
+   "phase": "liquid",
+   "density_kg_m3": 789.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.13972,
+    "delta_h_J_mol": -40500.0,
+    "response_C_kg": 5.475,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 447.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "64-17-5",
+   "ghs": {
+    "hazard_codes": [
+     "H225"
+    ],
+    "pictograms": [
+     "GHS02"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 702,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/702",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethanol; ethyl alcohol",
+     "reference_number": 160,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 37.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 351.39,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 702,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/702",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Ethanol",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-246",
+    "accessed": "2026-10-22",
+    "text": "78.24 °C"
+   },
+   "viscosity_Pa_s": 0.001074,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 702,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/702",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Ethanol",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-232",
+    "accessed": "2026-10-22",
+    "text": "1.074 mPa.s at 25 °C"
+   }
+  },
+  "ethyl_acetate": {
+   "name_zh": "乙酸乙酯",
+   "formula": "CH3COOC2H5",
+   "molar_mass_kg_mol": 0.088106,
+   "phase": "liquid",
+   "density_kg_m3": 902.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.49323,
+    "delta_h_J_mol": -31000.0,
+    "response_C_kg": 5.6231,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 612.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "141-78-6",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8857,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8857",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethyl acetate",
+     "reference_number": 100,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 91.1,
+     "H336": 99.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 350.25,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8857,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8857",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ETHYL ACETATE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-250",
+    "accessed": "2026-10-22",
+    "text": "77.1 °C"
+   },
+   "viscosity_Pa_s": 0.000423,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8857,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8857",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ETHYL ACETATE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-232",
+    "accessed": "2026-10-22",
+    "text": "0.423 mPa.s at 25 °C"
+   }
+  },
+  "water": {
+   "name_zh": "水（液）",
+   "formula": "H2O",
+   "molar_mass_kg_mol": 0.018015,
+   "phase": "liquid",
+   "density_kg_m3": 998.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "gc_7890b_fid": {
+    "k_ref": 0.05252,
+    "delta_h_J_mol": -32839.0,
+    "response_C_kg": 0.0,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 319.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "cas": "7732-18-5",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 962,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/962",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Water (EC: 231-791-2)",
+     "reference_number": 83,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 373.12,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 962,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/962",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Water",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 4-98",
+    "accessed": "2026-10-22",
+    "text": "99.974 °C"
+   },
+   "viscosity_Pa_s": 0.0008949,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 962,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/962",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Water",
+    "original_reference": "van der Leeden et al; The Water Encyclopedia. 2nd ed., Geraghty & Miller Ground-Water Series., Chelsea MI: Lewis Pub pp. 808 (1990)",
+    "accessed": "2026-10-22",
+    "text": "Dynamic viscosity: 0.8949 cP at 25 °C; Kinematic viscosity: 0.8976 cP at 25 °C"
+   }
+  },
+  "water_vapor": {
+   "name_zh": "水蒸气",
+   "formula": "H2O(g)",
+   "molar_mass_kg_mol": 0.018015,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "同 water；气相产物离开容器，账本仍追踪以闭合质量守恒",
+   "cas": "7732-18-5",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 962,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/962",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Water (EC: 231-791-2)",
+     "reference_number": 83,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sulfuric_acid": {
+   "name_zh": "硫酸（催化剂）",
+   "formula": "H2SO4",
+   "molar_mass_kg_mol": 0.098079,
+   "phase": "liquid",
+   "density_kg_m3": 1830.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "7664-93-9",
+   "ghs": {
+    "hazard_codes": [
+     "H314"
+    ],
+    "pictograms": [
+     "GHS05"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 1118,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1118",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sulphuric acid ... %",
+     "reference_number": 94,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H314": 99.9
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 610.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 1118,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1118",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Sulfuric acid",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 4-92",
+    "accessed": "2026-10-22",
+    "text": "337 °C"
+   },
+   "viscosity_Pa_s": 0.021,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 1118,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1118",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Sulfuric acid",
+    "original_reference": "Muller TL; Sulfuric Acid and Sulfur Trioxide. Kirk-Othmer Encyclopedia of Chemical Technology. (1999-2016). New York, NY: John Wiley & Sons. Online Posting Date: 19 May 2006.",
+    "accessed": "2026-10-22",
+    "text": "21 mPa.s at 25 °C"
+   }
+  },
+  "calcium_carbonate": {
+   "name_zh": "碳酸钙",
+   "formula": "CaCO3",
+   "molar_mass_kg_mol": 0.100087,
+   "phase": "solid",
+   "density_kg_m3": 2710.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics (calcite)",
+   "cas": "471-34-1",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 10112,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10112",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Calcium carbonate (EC: 207-439-9)",
+     "reference_number": 50,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_oxide": {
+   "name_zh": "氧化钙",
+   "formula": "CaO",
+   "molar_mass_kg_mol": 0.056077,
+   "phase": "solid",
+   "density_kg_m3": 3340.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "1305-78-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314",
+     "H315",
+     "H318",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
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+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/280",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
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+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/313",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
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+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14798",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sodium hydroxide; caustic soda",
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+     "accessed": "2026-10-22"
+    },
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+   "evidence": "documented",
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+   "cas": "7647-14-5",
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+     "cid": 5234,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5234",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "product-by-process definition polyazodyestuff obtained by coupling...",
+     "reference_number": 97,
+     "accessed": "2026-10-22"
+    },
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+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
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+   "phase": "solid",
+   "density_kg_m3": 2200.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "144-55-8",
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+    "basis": "echa_cl_notifications_ge10pct",
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+     "cid": 516892,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/516892",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sodium hydrogencarbonate (EC: 205-633-8)",
+     "reference_number": 32,
+     "accessed": "2026-10-22"
+    }
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+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
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+  "sodium_carbonate": {
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+   "phase": "solid",
+   "density_kg_m3": 2540.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "497-19-8",
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+    "not_classified": false,
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+     "cid": 10340,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10340",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sodium carbonate",
+     "reference_number": 57,
+     "accessed": "2026-10-22"
+    },
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+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
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+  "silver_nitrate": {
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+   "formula": "AgNO3",
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+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
+   "cas": "7761-88-8",
+   "ghs": {
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+     "H314",
+     "H400",
+     "H410"
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+    "pictograms": [
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+     "GHS05",
+     "GHS09"
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+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
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+     "cid": 24470,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24470",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "silver nitrate",
+     "reference_number": 53,
+     "accessed": "2026-10-22"
+    },
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+     "H314": 99.9,
+     "H318": 33.0,
+     "H360D": 11.7,
+     "H400": 99.6,
+     "H410": 99.8
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+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "silver_chloride": {
+   "name_zh": "氯化银（沉淀）",
+   "formula": "AgCl",
+   "molar_mass_kg_mol": 0.143321,
+   "phase": "solid",
+   "density_kg_m3": 5560.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "7783-90-6",
+   "ghs": {
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+     "H335",
+     "H400",
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+    "pictograms": [
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+     "GHS07",
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+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
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+     "cid": 24561,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24561",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Silver chloride (EC: 232-033-3)",
+     "reference_number": 14,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
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+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
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+  "sodium_nitrate": {
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+   "formula": "NaNO3",
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+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics；按溶质质量计",
+   "cas": "7631-99-4",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H302",
+     "H319"
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+    "pictograms": [
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+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24268,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24268",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sodium nitrate (EC: 231-554-3)",
+     "reference_number": 33,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
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+    "flags": [],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sodium_acetate": {
+   "name_zh": "乙酸钠",
+   "formula": "CH3COONa",
+   "molar_mass_kg_mol": 0.082034,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics；非挥发盐，FID 不可见",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
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+   "storage_class": "general",
+   "storage": {
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+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "hydrogen_peroxide": {
+   "name_zh": "过氧化氢",
+   "formula": "H2O2",
+   "molar_mass_kg_mol": 0.034015,
+   "phase": "liquid",
+   "density_kg_m3": 1450.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics（纯 H2O2 密度；稀溶液体积由水提供）",
+   "cas": "7722-84-1",
+   "ghs": {
+    "hazard_codes": [
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+     "H302",
+     "H314",
+     "H332"
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+    "pictograms": [
+     "GHS03",
+     "GHS05",
+     "GHS07"
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+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 784,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/784",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "hydrogen peroxide solution ...%",
+     "reference_number": 110,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
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+     "H302": 97.8,
+     "H314": 99.6,
+     "H318": 36.9,
+     "H332": 93.9,
+     "H335": 27.2,
+     "H412": 18.5
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
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+    "flags": [
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+     "cold_recommended"
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+    "rule": "3 oxidizer",
+    "temperature_c": [
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+     8
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+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes; cold: PubChem CID 784 storage conditions (Hazardous Substances Data Bank (HSDB))"
+   },
+   "boiling_point_K": 423.35,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 784,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/784",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Hydrogen peroxide",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 4-67",
+    "accessed": "2026-10-22",
+    "text": "150.2 °C"
+   },
+   "viscosity_Pa_s": 0.001249,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 784,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/784",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Hydrogen peroxide",
+    "original_reference": "Goor G et al; Hydrogen Peroxide. Ullmann's Encyclopedia of Industrial Chemistry. 7th ed. (1999-2017). New York, NY: John Wiley & Sons. Online Posting Date: 15 Apr 2007",
+    "accessed": "2026-10-22",
+    "text": "1.819 cP at 0 °C; 1.249 cP at 20 °C"
+   }
+  },
+  "oxygen": {
+   "name_zh": "氧气",
+   "formula": "O2",
+   "molar_mass_kg_mol": 0.031998,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "7782-44-7",
+   "ghs": {
+    "hazard_codes": [
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+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS04"
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+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 977,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/977",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "oxygen",
+     "reference_number": 76,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H270": 99.0,
+     "H280": 33.7,
+     "H281": 16.2
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [
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+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "manganese_dioxide": {
+   "name_zh": "二氧化锰（催化剂）",
+   "formula": "MnO2",
+   "molar_mass_kg_mol": 0.086937,
+   "phase": "solid",
+   "density_kg_m3": 5030.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "CRC Handbook of Chemistry and Physics",
+   "cas": "1313-13-9",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 14801,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14801",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "manganese dioxide",
+     "reference_number": 33,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 97.6,
+     "H332": 98.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper_sulfate_pentahydrate": {
+   "name_zh": "五水硫酸铜（胆矾）",
+   "formula": "CuSO4·5H2O",
+   "molar_mass_kg_mol": 0.249677,
+   "phase": "solid",
+   "density_kg_m3": 2286.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24463（MolecularWeight 249.69 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.286 @ 15.6 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2279.65 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·5H2O, cr））",
+   "cas": "7758-99-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H318",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24463,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24463",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "copper sulphate pentahydrate",
+     "reference_number": 30,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 18.0,
+     "H315": 12.0,
+     "H319": 11.9,
+     "H400": 17.1,
+     "H410": 16.5
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper_sulfate_trihydrate": {
+   "name_zh": "三水硫酸铜",
+   "formula": "CuSO4·3H2O",
+   "molar_mass_kg_mol": 0.213647,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1684.31 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·3H2O, cr））",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "copper_sulfate_monohydrate": {
+   "name_zh": "一水硫酸铜",
+   "formula": "CuSO4·H2O",
+   "molar_mass_kg_mol": 0.177617,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 61499（MolecularWeight 177.63 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1085.83 kJ/mol（NBS 1982 Table 36:Cu p.2-156（PDF 第 164 页，CuSO4·H2O, cr））",
+   "cas": "10257-54-2",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 61499,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/61499",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Copper(II) sulfate hydrate (EC: 630-453-5)",
+     "reference_number": 5,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper_sulfate": {
+   "name_zh": "无水硫酸铜",
+   "formula": "CuSO4",
+   "molar_mass_kg_mol": 0.159602,
+   "phase": "solid",
+   "density_kg_m3": 3600.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24462（MolecularWeight 159.61 g/mol 交叉核对）；密度取 PubChem Density 原文 '3.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -771.36 kJ/mol（NBS 1982 Table 36:Cu p.2-155（PDF 第 163 页，CuSO4, cr））",
+   "cas": "7758-98-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24462,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24462",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "copper sulphate",
+     "reference_number": 58,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 96.3,
+     "H315": 79.3,
+     "H318": 19.7,
+     "H319": 79.2,
+     "H400": 98.7,
+     "H410": 98.7
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper_oxide": {
+   "name_zh": "氧化铜",
+   "formula": "CuO",
+   "molar_mass_kg_mol": 0.079545,
+   "phase": "solid",
+   "density_kg_m3": 6400.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 164827（MolecularWeight 79.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '6.4 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -157.3 kJ/mol（NBS 1982 Table 36:Cu p.2-154（PDF 第 162 页，CuO, cr））",
+   "cas": "1317-38-0",
+   "ghs": {
+    "hazard_codes": [
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 164827,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/164827",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "copper(II) oxide",
+     "reference_number": 28,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper": {
+   "name_zh": "铜",
+   "formula": "Cu",
+   "molar_mass_kg_mol": 0.063546,
+   "phase": "solid",
+   "density_kg_m3": 8960.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23978（MolecularWeight 63.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.96 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7440-50-8",
+   "ghs": {
+    "hazard_codes": [
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23978,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23978",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "copper [specific surface area > 0,67 mm2/mg]",
+     "reference_number": 80,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 21.7,
+     "H400": 43.1,
+     "H410": 18.8,
+     "H411": 22.5
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "basic_copper_carbonate": {
+   "name_zh": "碱式碳酸铜（孔雀石）",
+   "formula": "Cu2(OH)2CO3",
+   "molar_mass_kg_mol": 0.221114,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 25503（MolecularWeight 221.12 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1051.4 kJ/mol（NBS 1982 Table 36:Cu p.2-158（PDF 第 166 页，CuCO3·Cu(OH)2 malachite, cr））",
+   "cas": "1319-53-5",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "zinc_carbonate": {
+   "name_zh": "碳酸锌（菱锌矿）",
+   "formula": "ZnCO3",
+   "molar_mass_kg_mol": 0.125388,
+   "phase": "solid",
+   "density_kg_m3": 4400.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 19005（MolecularWeight 125.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '4.4 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -812.78 kJ/mol（NBS 1982 Table 33:Zn p.2-142（PDF 第 150 页，ZnCO3, cr））",
+   "cas": "3486-35-9",
+   "ghs": {
+    "hazard_codes": [
+     "H400",
+     "H410",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 19005,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/19005",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Zinc carbonate (EC: 222-477-6)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "zinc_oxide": {
+   "name_zh": "氧化锌",
+   "formula": "ZnO",
+   "molar_mass_kg_mol": 0.081379,
+   "phase": "solid",
+   "density_kg_m3": 5600.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 3007857（MolecularWeight 81.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -348.28 kJ/mol（NBS 1982 Table 33:Zn p.2-138（PDF 第 146 页，ZnO, cr））",
+   "cas": "1314-13-2",
+   "ghs": {
+    "hazard_codes": [
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 3007857,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3007857",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "zinc oxide",
+     "reference_number": 81,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H400": 98.4,
+     "H410": 99.6
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "nickel_oxide": {
+   "name_zh": "氧化镍",
+   "formula": "NiO",
+   "molar_mass_kg_mol": 0.0746924,
+   "phase": "solid",
+   "density_kg_m3": 6700.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 179931（MolecularWeight 74.693 g/mol 交叉核对）；密度取 PubChem Density 原文 '6.7 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -239.7 kJ/mol（NBS 1982 Table 39:Ni p.2-166（PDF 第 174 页，NiO, cr））",
+   "cas": "1313-99-1",
+   "ghs": {
+    "hazard_codes": [
+     "H317",
+     "H350i",
+     "H372",
+     "H413"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 179931,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/179931",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "nickel monoxide",
+     "reference_number": 23,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H317": 100.0,
+     "H332": 13.5,
+     "H334": 17.5,
+     "H350": 67.8,
+     "H350i": 32.3,
+     "H360": 16.9,
+     "H372": 99.7,
+     "H401": 20.2,
+     "H411": 20.2,
+     "H413": 79.8
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "target_organ_toxicity"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "nickel": {
+   "name_zh": "镍",
+   "formula": "Ni",
+   "molar_mass_kg_mol": 0.0586934,
+   "phase": "solid",
+   "density_kg_m3": 8908.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 935（MolecularWeight 58.693 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.908'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7440-02-0",
+   "ghs": {
+    "hazard_codes": [
+     "H317",
+     "H351",
+     "H372"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 935,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/935",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "nickel",
+     "reference_number": 79,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H317": 99.9,
+     "H334": 10.3,
+     "H341": 13.5,
+     "H350": 22.5,
+     "H351": 72.9,
+     "H360F": 18.0,
+     "H372": 99.7,
+     "H412": 47.2
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "target_organ_toxicity"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron_oxide_hematite": {
+   "name_zh": "三氧化二铁（赤铁矿）",
+   "formula": "Fe2O3",
+   "molar_mass_kg_mol": 0.159687,
+   "phase": "solid",
+   "density_kg_m3": 5240.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 518696（MolecularWeight 159.69 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.24 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -824.2 kJ/mol（NBS 1982 Table 41:Fe p.2-177（PDF 第 185 页，Fe2O3 hematite, cr））",
+   "cas": "1309-37-1",
+   "ghs": {
+    "hazard_codes": [
+     "H319",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 518696,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/518696",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Diiron trioxide (EC: 215-168-2)",
+     "reference_number": 19,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron_oxide_magnetite": {
+   "name_zh": "四氧化三铁（磁铁矿）",
+   "formula": "Fe3O4",
+   "molar_mass_kg_mol": 0.231531,
+   "phase": "solid",
+   "density_kg_m3": 5170.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 16211978（MolecularWeight 231.53 g/mol 交叉核对）；密度取 PubChem Density 原文 '5.17 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1118.4 kJ/mol（NBS 1982 Table 41:Fe p.2-177（PDF 第 185 页，Fe3O4 magnetite, cr））",
+   "cas": "1317-61-9",
+   "ghs": {
+    "hazard_codes": [
+     "H252",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 16211978,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/16211978",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Triiron tetraoxide (EC: 215-277-5)",
+     "reference_number": 18,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron": {
+   "name_zh": "铁",
+   "formula": "Fe",
+   "molar_mass_kg_mol": 0.055845,
+   "phase": "solid",
+   "density_kg_m3": 7870.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23925（MolecularWeight 55.84 g/mol 交叉核对）；密度取 PubChem Density 原文 '7.87 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7439-89-6",
+   "ghs": {
+    "hazard_codes": [
+     "H228",
+     "H251"
+    ],
+    "pictograms": [
+     "GHS02"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23925,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23925",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Iron (EC: 231-096-4)",
+     "reference_number": 47,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "magnesium_hydroxide": {
+   "name_zh": "氢氧化镁",
+   "formula": "Mg(OH)2",
+   "molar_mass_kg_mol": 0.058319,
+   "phase": "solid",
+   "density_kg_m3": 2360.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 73981（MolecularWeight 58.320 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.36 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -924.54 kJ/mol（NBS 1982 Table 93:Mg p.2-260（PDF 第 268 页，Mg(OH)2, cr））",
+   "cas": "1309-42-8",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 73981,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/73981",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Magnesium hydroxide (EC: 215-170-3)",
+     "reference_number": 27,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "magnesium_oxide": {
+   "name_zh": "氧化镁",
+   "formula": "MgO",
+   "molar_mass_kg_mol": 0.040304,
+   "phase": "solid",
+   "density_kg_m3": 3600.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 14792（MolecularWeight 40.305 g/mol 交叉核对）；密度取 PubChem Density 原文 '3.6 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -601.7 kJ/mol（NBS 1982 Table 93:Mg p.2-260（PDF 第 268 页，MgO macrocrystal (periclase), cr））",
+   "cas": "1309-48-4",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 14792,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14792",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Magnesium oxide (EC: 215-171-9)",
+     "reference_number": 35,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "magnesium_carbonate": {
+   "name_zh": "碳酸镁（菱镁矿）",
+   "formula": "MgCO3",
+   "molar_mass_kg_mol": 0.084313,
+   "phase": "solid",
+   "density_kg_m3": 2960.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11029（MolecularWeight 84.31 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.96 (NIOSH, 2024) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1095.8 kJ/mol（NBS 1982 Table 93:Mg p.2-264（PDF 第 272 页，MgCO3 magnesite, cr））",
+   "cas": "546-93-0",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 11029,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11029",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Magnesium carbonate (EC: 208-915-9)",
+     "reference_number": 35,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_oxalate_monohydrate": {
+   "name_zh": "一水草酸钙",
+   "formula": "CaC2O4·H2O",
+   "molar_mass_kg_mol": 0.146111,
+   "phase": "solid",
+   "density_kg_m3": 2120.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 165350（MolecularWeight 146.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.12 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1674.86 kJ/mol（NBS 1982 Table 94:Ca p.2-272（PDF 第 280 页，CaC2O4·H2O, cr））",
+   "cas": "5794-28-5",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 165350,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/165350",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Calcium oxalate monohydrate (EC: 638-840-0)",
+     "reference_number": 6,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_oxalate": {
+   "name_zh": "无水草酸钙",
+   "formula": "CaC2O4",
+   "molar_mass_kg_mol": 0.128096,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 33005（MolecularWeight 128.10 g/mol 交叉核对）；密度：PubChem 无数据，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1360.6 kJ/mol（NBS 1982 Table 94:Ca p.2-272（PDF 第 280 页，CaC2O4 oxalate, cr））",
+   "cas": "563-72-4",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 33005,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/33005",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Calcium oxalate (EC: 209-260-1)",
+     "reference_number": 12,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_sulfate_dihydrate": {
+   "name_zh": "二水硫酸钙（石膏）",
+   "formula": "CaSO4·2H2O",
+   "molar_mass_kg_mol": 0.172164,
+   "phase": "solid",
+   "density_kg_m3": 2320.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24928（MolecularWeight 172.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.32 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2022.63 kJ/mol（NBS 1982 Table 94:Ca p.2-269（PDF 第 277 页，CaSO4·2H2O selenite, cr））",
+   "cas": "10101-41-4",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 24928,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24928",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sulfuric acid, calcium salt, hydrate (1:1:2) (EC: 600-148-1)",
+     "reference_number": 24,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_sulfate_hemihydrate": {
+   "name_zh": "β-半水硫酸钙（熟石膏）",
+   "formula": "CaSO4·0.5H2O",
+   "molar_mass_kg_mol": 0.1451415,
+   "phase": "solid",
+   "density_kg_m3": 2500.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 3033839（MolecularWeight 290.3 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.5 (NIOSH, 2024) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1574.65 kJ/mol（NBS 1982 Table 94:Ca p.2-269（PDF 第 277 页，CaSO4·0.5H2O microcrystalline, beta, cr2））",
+   "cas": "10034-76-1",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 3033839,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3033839",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Plaster of Paris (Ca(SO4).1/2H2O) (EC: 607-950-0)",
+     "reference_number": 19,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_chlorate": {
+   "name_zh": "氯酸钾",
+   "formula": "KClO3",
+   "molar_mass_kg_mol": 0.1225453,
+   "phase": "solid",
+   "density_kg_m3": 2320.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6426889（MolecularWeight 122.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.32 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -397.73 kJ/mol（NBS 1982 Table 100:K p.2-331（PDF 第 339 页，KClO3, cr））",
+   "cas": "3811-04-9",
+   "ghs": {
+    "hazard_codes": [
+     "H271",
+     "H301"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6426889,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6426889",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "potassium chlorate",
+     "reference_number": 45,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H271": 99.2,
+     "H301": 16.0,
+     "H302": 84.0,
+     "H332": 93.9,
+     "H411": 93.9
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [
+     "toxic"
+    ],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_chloride": {
+   "name_zh": "氯化钾",
+   "formula": "KCl",
+   "molar_mass_kg_mol": 0.0745483,
+   "phase": "solid",
+   "density_kg_m3": 1988.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 4873（MolecularWeight 74.55 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.988 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -436.747 kJ/mol（NBS 1982 Table 100:K p.2-330（PDF 第 338 页，KCl, cr））",
+   "cas": "7447-40-7",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 4873,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/4873",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium chloride (EC: 231-211-8)",
+     "reference_number": 37,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "palladium": {
+   "name_zh": "钯（Pd/C 催化剂中的金属钯）",
+   "formula": "Pd",
+   "molar_mass_kg_mol": 0.10642,
+   "phase": "solid",
+   "density_kg_m3": 12020.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23938（MolecularWeight 106.42 g/mol 交叉核对）；密度取 PubChem Density 原文 '12.02 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；加氢模板的催化剂：账本中钯质量 > 0 才激活；市售为 5–10 wt% Pd/C，活性炭载体不计",
+   "cas": "7440-05-3",
+   "ghs": {
+    "hazard_codes": [
+     "H228",
+     "H315",
+     "H319",
+     "H335",
+     "H413"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23938,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23938",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Palladium (EC: 231-115-6)",
+     "reference_number": 21,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "hydrogen": {
+   "name_zh": "氢气",
+   "formula": "H2",
+   "molar_mass_kg_mol": 0.002016,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 783（MolecularWeight 2.016 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "1333-74-0",
+   "ghs": {
+    "hazard_codes": [
+     "H220"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 783,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/783",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "hydrogen",
+     "reference_number": 55,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 99.8,
+     "H280": 75.8,
+     "H281": 13.5
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "carbon_monoxide": {
+   "name_zh": "一氧化碳",
+   "formula": "CO",
+   "molar_mass_kg_mol": 0.02801,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 281（MolecularWeight 28.010 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -110.53 kJ/mol（NIST WebBook ΔfH°gas = -110.53 kJ/mol（Cox, Wagman, et al., 1984））",
+   "cas": "630-08-0",
+   "ghs": {
+    "hazard_codes": [
+     "H220",
+     "H331",
+     "H360D",
+     "H372"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 281,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/281",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "carbon monoxide",
+     "reference_number": 72,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 87.3,
+     "H221": 12.9,
+     "H280": 77.8,
+     "H331": 99.0,
+     "H360": 63.1,
+     "H360D": 37.2,
+     "H372": 100.0
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [
+     "toxic",
+     "target_organ_toxicity"
+    ],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ethanol_vapor": {
+   "name_zh": "乙醇蒸气",
+   "formula": "C2H5OH(g)",
+   "molar_mass_kg_mol": 0.046069,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；ethanol 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 42.3 kJ/mol（NIST 选定值平均（AVG））",
+   "cas": "64-17-5",
+   "ghs": {
+    "hazard_codes": [
+     "H225"
+    ],
+    "pictograms": [
+     "GHS02"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 702,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/702",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethanol; ethyl alcohol",
+     "reference_number": 160,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 37.7
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "flammable"
+    ],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methanol_vapor": {
+   "name_zh": "甲醇蒸气",
+   "formula": "CH3OH(g)",
+   "molar_mass_kg_mol": 0.032042,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；methanol 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 37.6 kJ/mol（NIST 选定值平均（AVG））",
+   "cas": "67-56-1",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H301",
+     "H311",
+     "H331",
+     "H370"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 887,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/887",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methanol",
+     "reference_number": 127,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H301": 99.9,
+     "H311": 99.9,
+     "H331": 99.4,
+     "H370": 99.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "flammable",
+     "toxic",
+     "target_organ_toxicity"
+    ],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetone_vapor": {
+   "name_zh": "丙酮蒸气",
+   "formula": "CH3COCH3(g)",
+   "molar_mass_kg_mol": 0.05808,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；acetone 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 31.27 kJ/mol（Majer and Svoboda, 1985）",
+   "cas": "67-64-1",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 180,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/180",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetone; propan-2-one; propanone",
+     "reference_number": 175,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 99.9,
+     "H336": 98.7
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "flammable"
+    ],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ethyl_acetate_vapor": {
+   "name_zh": "乙酸乙酯蒸气",
+   "formula": "CH3COOC2H5(g)",
+   "molar_mass_kg_mol": 0.088106,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "摩尔质量由 IUPAC 标准原子量按化学式计算；ethyl_acetate 的气相；离开容器的气相产物，账本仍追踪以闭合质量守恒；蒸发模板所用 NIST WebBook ΔvapH°(298.15 K) = 35.0 kJ/mol（NIST 选定值平均（AVG））",
+   "cas": "141-78-6",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8857,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8857",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethyl acetate",
+     "reference_number": 100,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 91.1,
+     "H336": 99.7
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "flammable"
+    ],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methanol": {
+   "name_zh": "甲醇",
+   "formula": "CH3OH",
+   "molar_mass_kg_mol": 0.032042,
+   "phase": "liquid",
+   "density_kg_m3": 791.4,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.08009,
+    "delta_h_J_mol": -32700.0,
+    "response_C_kg": 4.2171,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 374.2 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 887（MolecularWeight 32.042 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7914 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -238.9 kJ/mol（NIST WebBook ΔfH°liquid = -238.9 kJ/mol（Green, 1960））",
+   "cas": "67-56-1",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H301",
+     "H311",
+     "H331",
+     "H370"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 887,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/887",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methanol",
+     "reference_number": 127,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H301": 99.9,
+     "H311": 99.9,
+     "H331": 99.4,
+     "H370": 99.9
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "toxic",
+     "target_organ_toxicity"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 337.85,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 887,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/887",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Methanol",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Cambridge, UK:  Royal Society of Chemistry, 2013., p. 1106",
+    "accessed": "2026-10-22",
+    "text": "64.7 °C at 760 mm Hg"
+   },
+   "viscosity_Pa_s": 0.000544,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 887,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/887",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Methanol",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-231",
+    "accessed": "2026-10-22",
+    "text": "0.544 mPa.s at 25 °C"
+   }
+  },
+  "acetone": {
+   "name_zh": "丙酮",
+   "formula": "CH3COCH3",
+   "molar_mass_kg_mol": 0.05808,
+   "phase": "liquid",
+   "density_kg_m3": 784.5,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.20951,
+    "delta_h_J_mol": -26100.0,
+    "response_C_kg": 6.204,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 500.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 180（MolecularWeight 58.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7845 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -249.4 kJ/mol（NIST WebBook ΔfH°liquid = -249.4 kJ/mol（Wiberg, Crocker, et al., 1991））",
+   "cas": "67-64-1",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 180,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/180",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetone; propan-2-one; propanone",
+     "reference_number": 175,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 99.9,
+     "H336": 98.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 329.23,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 180,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/180",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETONE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-4",
+    "accessed": "2026-10-22",
+    "text": "56.08 °C"
+   },
+   "viscosity_Pa_s": 0.00032,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 180,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/180",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETONE",
+    "original_reference": "Howard HL; Acetone. Kirk-Othmer Encyclopedia of Chemical Technology. (1999-2015). New York, NY: John Wiley & Sons. Online Posting Date: Jan 14, 2011.",
+    "accessed": "2026-10-22",
+    "text": "0.32 cP at 20 °C; 0.27 cP at 40 °C"
+   }
+  },
+  "nitrobenzene": {
+   "name_zh": "硝基苯",
+   "formula": "C6H5NO2",
+   "molar_mass_kg_mol": 0.123111,
+   "phase": "liquid",
+   "density_kg_m3": 1203.7,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 19.707,
+    "delta_h_J_mol": -48500.0,
+    "response_C_kg": 8.7807,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1094.4 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7416（MolecularWeight 123.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2037 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 12.5 kJ/mol（NIST WebBook ΔfH°liquid = 12.5 kJ/mol（Lebedeva, Katin, et al., 1971））",
+   "cas": "98-95-3",
+   "ghs": {
+    "hazard_codes": [
+     "H301",
+     "H311",
+     "H331",
+     "H351",
+     "H360F",
+     "H372",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7416,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7416",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "nitrobenzene",
+     "reference_number": 89,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 100.0,
+     "H311": 100.0,
+     "H331": 100.0,
+     "H336": 12.1,
+     "H351": 100.0,
+     "H360": 54.5,
+     "H361": 45.0,
+     "H372": 100.0,
+     "H411": 45.2,
+     "H412": 54.8
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "target_organ_toxicity"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 483.95,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7416,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7416",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "NITROBENZENE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-388",
+    "accessed": "2026-10-22",
+    "text": "210.8 °C"
+   },
+   "viscosity_Pa_s": 0.001863,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7416,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7416",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "NITROBENZENE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 6-193",
+    "accessed": "2026-10-22",
+    "text": "1.863 mPa-s at 25 °C"
+   }
+  },
+  "aniline": {
+   "name_zh": "苯胺",
+   "formula": "C6H5NH2",
+   "molar_mass_kg_mol": 0.093129,
+   "phase": "liquid",
+   "density_kg_m3": 1022.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 8.09417,
+    "delta_h_J_mol": -51000.0,
+    "response_C_kg": 10.4466,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 978.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 6115（MolecularWeight 93.13 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.022 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 31.3 kJ/mol（NIST WebBook ΔfH°liquid = 31.3 kJ/mol（Hatton, Hildenbrand, et al., 1962））",
+   "cas": "62-53-3",
+   "ghs": {
+    "hazard_codes": [
+     "H301",
+     "H311",
+     "H317",
+     "H318",
+     "H331",
+     "H341",
+     "H351",
+     "H372",
+     "H400"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS06",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6115,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6115",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "aniline",
+     "reference_number": 201,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 98.2,
+     "H311": 99.4,
+     "H331": 98.9,
+     "H317": 99.4,
+     "H318": 99.3,
+     "H330": 11.5,
+     "H341": 99.5,
+     "H351": 99.8,
+     "H372": 99.8,
+     "H373": 26.6,
+     "H400": 99.7,
+     "H410": 16.8
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "target_organ_toxicity",
+     "environment"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 457.25,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6115,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6115",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Aniline",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-28",
+    "accessed": "2026-10-22",
+    "text": "184.1 °C"
+   },
+   "viscosity_Pa_s": 0.00435,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 6115,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6115",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Aniline",
+    "original_reference": "Aminin B, Lowenkron S; Aniline and Its Derivatives. Kirk-Othmer Encyclopedia of Chemical Technology. (1999-2018). New York, NY: John Wiley & Sons. Online Posting Date: 18 Ju.l 2003.",
+    "accessed": "2026-10-22",
+    "text": "4.35 cP at 20 °C; 1.62 cP at 60 °C"
+   }
+  },
+  "styrene": {
+   "name_zh": "苯乙烯",
+   "formula": "C6H5CH=CH2",
+   "molar_mass_kg_mol": 0.104152,
+   "phase": "liquid",
+   "density_kg_m3": 901.6,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 4.22642,
+    "delta_h_J_mol": -41500.0,
+    "response_C_kg": 13.6659,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 893.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7501（MolecularWeight 104.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9016 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 103.4 kJ/mol（NIST WebBook ΔfH°liquid = 103.4 kJ/mol（Prosen and Rossini, 1945））",
+   "cas": "100-42-5",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H315",
+     "H319",
+     "H332",
+     "H361d",
+     "H372"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7501,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7501",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "styrene",
+     "reference_number": 182,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.9,
+     "H304": 50.6,
+     "H315": 99.9,
+     "H319": 99.9,
+     "H332": 98.0,
+     "H335": 52.0,
+     "H361": 35.1,
+     "H372": 73.8,
+     "H412": 49.0
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "target_organ_toxicity",
+     "cold_recommended"
+    ],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes; cold: PubChem CID 7501 storage conditions (Hazardous Substances Data Bank (HSDB))"
+   },
+   "boiling_point_K": 418.45,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7501,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7501",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Styrene",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-488",
+    "accessed": "2026-10-22",
+    "text": "145.3 °C"
+   },
+   "viscosity_Pa_s": 0.000696,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7501,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7501",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Styrene",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 187",
+    "accessed": "2026-10-22",
+    "text": "0.696 cP at 25 °C"
+   }
+  },
+  "ethylbenzene": {
+   "name_zh": "乙苯",
+   "formula": "C6H5C2H5",
+   "molar_mass_kg_mol": 0.106168,
+   "phase": "liquid",
+   "density_kg_m3": 862.6,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 3.28407,
+    "delta_h_J_mol": -38600.0,
+    "response_C_kg": 13.5769,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 860.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7500（MolecularWeight 106.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8626 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -12.5 kJ/mol（NIST WebBook ΔfH°liquid = -12.5 kJ/mol（Prosen, Gilmont, et al., 1945））",
+   "cas": "100-41-4",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H332",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7500,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7500",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethylbenzene",
+     "reference_number": 98,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H304": 17.3,
+     "H332": 99.9,
+     "H373": 17.2
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 409.35,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7500,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7500",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ETHYLBENZENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-250",
+    "accessed": "2026-10-22",
+    "text": "136.2 °C"
+   },
+   "viscosity_Pa_s": 0.00064,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7500,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7500",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ETHYLBENZENE",
+    "original_reference": "Larranaga, M.D., Lewis, R.J. Sr., Lewis, R.A.; Hawley's Condensed Chemical Dictionary 16th  Edition. John Wiley & Sons, Inc. Hoboken, NJ 2016., p. 576",
+    "accessed": "2026-10-22",
+    "text": "0.64 cP at 25 °C"
+   }
+  },
+  "maleic_acid": {
+   "name_zh": "马来酸（顺丁烯二酸）",
+   "formula": "HOOCCH=CHCOOH",
+   "molar_mass_kg_mol": 0.116072,
+   "phase": "solid",
+   "density_kg_m3": 1590.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 444266（MolecularWeight 116.07 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.590 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -790.57 kJ/mol（NIST WebBook ΔfH°solid = -790.57 kJ/mol（Wilhoit and Shiao, 1964））",
+   "cas": "110-16-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H317",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 444266,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/444266",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "maleic acid",
+     "reference_number": 111,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 98.7,
+     "H312": 20.0,
+     "H315": 93.8,
+     "H317": 99.3,
+     "H319": 92.3,
+     "H335": 96.1
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "succinic_acid": {
+   "name_zh": "琥珀酸（丁二酸）",
+   "formula": "HOOC(CH2)2COOH",
+   "molar_mass_kg_mol": 0.118088,
+   "phase": "solid",
+   "density_kg_m3": 1572.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 1110（MolecularWeight 118.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.572 @ 25 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -940.0 kJ/mol（NIST WebBook ΔfH°solid = -940.0 kJ/mol（NIST 评估值））",
+   "cas": "110-15-6",
+   "ghs": {
+    "hazard_codes": [
+     "H318",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 1110,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1110",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Succinic acid (EC: 203-740-4)",
+     "reference_number": 49,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "cyclohexene": {
+   "name_zh": "环己烯",
+   "formula": "C6H10",
+   "molar_mass_kg_mol": 0.082146,
+   "phase": "liquid",
+   "density_kg_m3": 810.2,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.87509,
+    "delta_h_J_mol": -30460.0,
+    "response_C_kg": 12.941,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 687.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 8079（MolecularWeight 82.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8102 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -38.2 kJ/mol（NIST WebBook ΔfH°liquid = -38.2 kJ/mol（Good and Smith, 1969））",
+   "cas": "110-83-8",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H302",
+     "H304",
+     "H311",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS06",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8079,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8079",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Cyclohexene (EC: 203-807-8)",
+     "reference_number": 37,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "toxic",
+     "environment"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 356.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8079,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8079",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CYCLOHEXENE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of  Chemicals, Drugs, and Biologicals. 13th Edition, Whitehouse  Station, NJ:  Merck and Co., Inc., 2001., p. 475",
+    "accessed": "2026-10-22",
+    "text": "83 °C at 760 mm Hg"
+   },
+   "viscosity_Pa_s": 0.000625,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8079,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8079",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CYCLOHEXENE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 86TH  Edition 2005-2006. CRC Press, Taylor & Francis, Boca Raton,  FL 2005, p. 6-177",
+    "accessed": "2026-10-22",
+    "text": "0.625 mPa.s at 25 °C"
+   }
+  },
+  "cyclohexane": {
+   "name_zh": "环己烷",
+   "formula": "C6H12",
+   "molar_mass_kg_mol": 0.084162,
+   "phase": "liquid",
+   "density_kg_m3": 773.9,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.69151,
+    "delta_h_J_mol": -32200.0,
+    "response_C_kg": 12.8445,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 656.2 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 8078（MolecularWeight 84.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7739 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -156.4 kJ/mol（NIST WebBook ΔfH°liquid = -156.4 kJ/mol（Moore, Renquist, et al., 1940））",
+   "cas": "110-82-7",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H315",
+     "H336",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8078,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8078",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "cyclohexane",
+     "reference_number": 94,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H304": 99.9,
+     "H315": 99.9,
+     "H336": 99.8,
+     "H400": 99.9,
+     "H410": 98.1
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "environment"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 353.85,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8078,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8078",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CYCLOHEXANE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Cambridge, UK:  Royal Society of Chemistry, 2013., p. 485",
+    "accessed": "2026-10-22",
+    "text": "80.7 °C at 760 mm Hg"
+   },
+   "viscosity_Pa_s": 0.000977,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8078,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8078",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CYCLOHEXANE",
+    "original_reference": "Campbell ML; Cyclohexane. Ullmann's Encyclopedia of Industrial Chemistry. 7th ed. (1999-2014). New York, NY: John Wiley & Sons. Online Posting Date: Oct 15, 2011.",
+    "accessed": "2026-10-22",
+    "text": "0.977 mPa.s at 20 °C"
+   }
+  },
+  "benzaldehyde": {
+   "name_zh": "苯甲醛",
+   "formula": "C6H5CHO",
+   "molar_mass_kg_mol": 0.106124,
+   "phase": "liquid",
+   "density_kg_m3": 1041.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 7.10776,
+    "delta_h_J_mol": -49500.0,
+    "response_C_kg": 10.1865,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 961.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 240（MolecularWeight 106.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.041 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -83.05 kJ/mol（NIST WebBook ΔfH°liquid = -83.05 kJ/mol（Lebedeva and Katin, 1972））",
+   "cas": "100-52-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 240,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/240",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "benzaldehyde",
+     "reference_number": 224,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 100.0,
+     "H319": 22.1,
+     "H332": 23.4,
+     "H336": 14.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 451.85,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 240,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/240",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZALDEHYDE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-24",
+    "accessed": "2026-10-22",
+    "text": "178.7 °C"
+   },
+   "viscosity_Pa_s": 0.001321,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 240,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/240",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZALDEHYDE",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 332",
+    "accessed": "2026-10-22",
+    "text": "1.321 cp at 25 °C"
+   }
+  },
+  "benzyl_alcohol": {
+   "name_zh": "苯甲醇",
+   "formula": "C6H5CH2OH",
+   "molar_mass_kg_mol": 0.10814,
+   "phase": "liquid",
+   "density_kg_m3": 1041.9,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 12.58162,
+    "delta_h_J_mol": -54600.0,
+    "response_C_kg": 10.6626,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1035.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 244（MolecularWeight 108.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0419 g/cu cm at 24 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -161.0 kJ/mol（NIST WebBook ΔfH°liquid = -161.0 kJ/mol（Parks, Manchester, et al., 1954））",
+   "cas": "100-51-6",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H317",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 244,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/244",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "benzyl alcohol",
+     "reference_number": 153,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.9,
+     "H319": 18.8,
+     "H332": 95.3
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 478.45,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 244,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/244",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZYL ALCOHOL",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-44",
+    "accessed": "2026-10-22",
+    "text": "205.3 °C"
+   },
+   "viscosity_Pa_s": 0.005474,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 244,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/244",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZYL ALCOHOL",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-234",
+    "accessed": "2026-10-22",
+    "text": "5.474 cP at 25 °C; 2.760 cP at 50 °C; 1.618 cP at 75 °C; 1.055 cP at 100 °C"
+   }
+  },
+  "isoamyl_alcohol": {
+   "name_zh": "异戊醇（3-甲基-1-丁醇）",
+   "formula": "(CH3)2CHCH2CH2OH",
+   "molar_mass_kg_mol": 0.08815,
+   "phase": "liquid",
+   "density_kg_m3": 810.4,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 1.27272,
+    "delta_h_J_mol": -49800.0,
+    "response_C_kg": 8.9929,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 736.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 31260（MolecularWeight 88.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8104 @ 20°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -356.4 kJ/mol（NIST WebBook ΔfH°liquid = -356.4 kJ/mol（Chao and Rossini, 1965））",
+   "cas": "123-51-3",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H302",
+     "H315",
+     "H318",
+     "H319",
+     "H332",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 31260,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31260",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "3-methylbutan-1-ol (EC: 204-633-5)",
+     "reference_number": 24,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 405.65,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 31260,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31260",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOAMYL ALCOHOL",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 211",
+    "accessed": "2026-10-22",
+    "text": "132.5 °C"
+   },
+   "viscosity_Pa_s": 0.003738,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 31260,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31260",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOAMYL ALCOHOL",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 212",
+    "accessed": "2026-10-22",
+    "text": "3.738 cP @ 25 °C"
+   }
+  },
+  "isoamyl_acetate": {
+   "name_zh": "乙酸异戊酯",
+   "formula": "CH3COOCH2CH2CH(CH3)2",
+   "molar_mass_kg_mol": 0.130187,
+   "phase": "liquid",
+   "density_kg_m3": 876.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 3.71136,
+    "delta_h_J_mol": -45100.0,
+    "response_C_kg": 7.9578,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 876.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 31276（MolecularWeight 130.18 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.876 at 15 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "123-92-2",
+   "ghs": {
+    "hazard_codes": [
+     "H226"
+    ],
+    "pictograms": [
+     "GHS02"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 31276,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31276",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "isopentyl acetate",
+     "reference_number": 78,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.9
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 415.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 31276,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31276",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOAMYL ACETATE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Cambridge, UK:  Royal Society of Chemistry, 2013., p. 951",
+    "accessed": "2026-10-22",
+    "text": "142 °C"
+   },
+   "viscosity_Pa_s": 0.000872,
+   "viscosity_T_K": 293.06,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 31276,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31276",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOAMYL ACETATE",
+    "original_reference": "Weast, R.C. (ed.) Handbook of Chemistry and Physics. 67th ed. Boca Raton, FL: CRC Press, Inc., 1986-87., p. F-40",
+    "accessed": "2026-10-22",
+    "text": "1.030 cP at 8.97 °C; 0.872 cP at 19.91 °C."
+   }
+  },
+  "butan_1_ol": {
+   "name_zh": "正丁醇",
+   "formula": "CH3(CH2)3OH",
+   "molar_mass_kg_mol": 0.074123,
+   "phase": "liquid",
+   "density_kg_m3": 809.8,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.71462,
+    "delta_h_J_mol": -46000.0,
+    "response_C_kg": 8.2644,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 660.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 263（MolecularWeight 74.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8098 at 20 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -328.0 kJ/mol（NIST WebBook ΔfH°liquid = -328.0 kJ/mol（NIST 评估值））",
+   "cas": "71-36-3",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H302",
+     "H315",
+     "H318",
+     "H335",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 263,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/263",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "butan-1-ol; n-butanol",
+     "reference_number": 121,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.8,
+     "H302": 99.8,
+     "H315": 99.8,
+     "H318": 99.8,
+     "H335": 98.1,
+     "H336": 95.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 390.75,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 263,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/263",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-BUTYL ALCOHOL",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-78",
+    "accessed": "2026-10-22",
+    "text": "117.6 °C"
+   },
+   "viscosity_Pa_s": 0.002544,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 263,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/263",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-BUTYL ALCOHOL",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-233",
+    "accessed": "2026-10-22",
+    "text": "36.1 cP at -50.9 °C; 5.186 cP at 0 °C; 2.544 cP at 25 °C; 0.533 cP at 100 °C"
+   }
+  },
+  "butyl_acetate": {
+   "name_zh": "乙酸正丁酯",
+   "formula": "CH3COO(CH2)3CH3",
+   "molar_mass_kg_mol": 0.11616,
+   "phase": "liquid",
+   "density_kg_m3": 882.5,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 2.27537,
+    "delta_h_J_mol": -39400.0,
+    "response_C_kg": 7.3673,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 812.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 31272（MolecularWeight 116.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8825 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -609.6 kJ/mol（NIST WebBook ΔfH°liquid = -609.6 kJ/mol（Schiopu, Bot, et al., 1961））",
+   "cas": "123-86-4",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 31272,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31272",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "n-butyl acetate",
+     "reference_number": 86,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.2,
+     "H336": 99.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 399.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 31272,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31272",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Butyl acetate",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-80",
+    "accessed": "2026-10-22",
+    "text": "126.0 °C"
+   },
+   "viscosity_Pa_s": 0.000685,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 31272,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31272",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Butyl acetate",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-233",
+    "accessed": "2026-10-22",
+    "text": "1.002 mPa.s at 0 °C; 0.685 mPa s at 25 °C; 0.500 mPa.s at 50 °C; 0.383 mPa.s at 75 °C; 0.305 mPa.s at 100 °C"
+   }
+  },
+  "salicylic_acid": {
+   "name_zh": "水杨酸",
+   "formula": "HOC6H4COOH",
+   "molar_mass_kg_mol": 0.138122,
+   "phase": "solid",
+   "density_kg_m3": 1443.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 109.30311,
+    "delta_h_J_mol": -79400.0,
+    "response_C_kg": 6.2612,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1318.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 338（MolecularWeight 138.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.443 g/cu cm at 20 °C/4 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -589.7 kJ/mol（NIST WebBook ΔfH°solid = -589.7 kJ/mol（Colomina, Jimenez, et al., 1980））",
+   "cas": "69-72-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H318",
+     "H361d"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 338,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/338",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "salicylic acid",
+     "reference_number": 201,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 98.0,
+     "H312": 45.5,
+     "H318": 50.1,
+     "H319": 49.7
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methyl_salicylate": {
+   "name_zh": "水杨酸甲酯（冬青油）",
+   "formula": "HOC6H4COOCH3",
+   "molar_mass_kg_mol": 0.152149,
+   "phase": "liquid",
+   "density_kg_m3": 1184.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 41.5578,
+    "delta_h_J_mol": -58700.0,
+    "response_C_kg": 7.2824,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1192.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 4133（MolecularWeight 152.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.184 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "119-36-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H317",
+     "H361d",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 4133,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/4133",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methyl salicylate",
+     "reference_number": 123,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 96.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 493.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 4133,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/4133",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "METHYL SALICYLATE",
+    "original_reference": "Budavari, S. (ed.). The Merck Index - Encyclopedia of Chemicals, Drugs and Biologicals. Rahway, NJ: Merck and Co., Inc., 1989., p. 961",
+    "accessed": "2026-10-22",
+    "text": "220-224 °C"
+   },
+   "viscosity_Pa_s": 0.001535,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 4133,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/4133",
+    "heading": "Viscosity",
+    "depositor": "ILO-WHO International Chemical Safety Cards (ICSCs)",
+    "record_name": "METHYL SALICYLATE",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "1.535 mPa*s at 25 °C"
+   }
+  },
+  "acetic_anhydride": {
+   "name_zh": "乙酸酐",
+   "formula": "(CH3CO)2O",
+   "molar_mass_kg_mol": 0.102089,
+   "phase": "liquid",
+   "density_kg_m3": 1082.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 1.01189,
+    "delta_h_J_mol": -43300.0,
+    "response_C_kg": 3.0883,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 706.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7918（MolecularWeight 102.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.082 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -625.0 kJ/mol（NIST WebBook ΔfH°liquid = -625.0 kJ/mol（Guthrie, 1974））",
+   "cas": "108-24-7",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H302",
+     "H314",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7918,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7918",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetic anhydride",
+     "reference_number": 59,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.8,
+     "H302": 97.5,
+     "H314": 99.9,
+     "H318": 46.3,
+     "H330": 18.4,
+     "H331": 11.6,
+     "H332": 67.6,
+     "H335": 10.4
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "flammable",
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 412.65,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7918,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7918",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Acetic anhydride",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-4",
+    "accessed": "2026-10-22",
+    "text": "139.5 °C"
+   },
+   "viscosity_Pa_s": 0.000843,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7918,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7918",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Acetic anhydride",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-232",
+    "accessed": "2026-10-22",
+    "text": "0.843 mPa.s at 25 °C"
+   }
+  },
+  "aspirin": {
+   "name_zh": "乙酰水杨酸（阿司匹林）",
+   "formula": "CH3COOC6H4COOH",
+   "molar_mass_kg_mol": 0.180159,
+   "phase": "solid",
+   "density_kg_m3": 1400.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 101.64652,
+    "delta_h_J_mol": -60000.0,
+    "response_C_kg": 6.1502,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1309.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 2244（MolecularWeight 180.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.40'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "50-78-2",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 2244,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2244",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "O-acetylsalicylic acid (EC: 200-064-1)",
+     "reference_number": 52,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "benzoic_acid": {
+   "name_zh": "苯甲酸",
+   "formula": "C6H5COOH",
+   "molar_mass_kg_mol": 0.122123,
+   "phase": "solid",
+   "density_kg_m3": 1316.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 34.72422,
+    "delta_h_J_mol": -67800.0,
+    "response_C_kg": 7.9667,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1168.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 243（MolecularWeight 122.12 g/mol 交叉核对）；密度取 PubChem Density 原文 'Sp gr: 1.316 at 24 °C/4 °C (solid); 1.029 at 180 °C/4 °C (liquid)'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -384.8 kJ/mol（NIST WebBook ΔfH°solid = -384.8 kJ/mol（Corral, 1960））",
+   "cas": "65-85-0",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H318",
+     "H372"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 243,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/243",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "benzoic acid",
+     "reference_number": 200,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 29.7,
+     "H315": 82.8,
+     "H318": 81.3,
+     "H319": 16.4,
+     "H372": 20.5
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "target_organ_toxicity"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methyl_benzoate": {
+   "name_zh": "苯甲酸甲酯",
+   "formula": "C6H5COOCH3",
+   "molar_mass_kg_mol": 0.13615,
+   "phase": "liquid",
+   "density_kg_m3": 1083.7,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 19.64683,
+    "delta_h_J_mol": -50700.0,
+    "response_C_kg": 8.9322,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1094.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7150（MolecularWeight 136.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0837 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -324.3 kJ/mol（NIST WebBook ΔfH°liquid = -324.3 kJ/mol（Guthrie and Cullimore, 1980））",
+   "cas": "93-58-3",
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7150,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7150",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Methyl benzoate (EC: 202-259-7)",
+     "reference_number": 30,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 472.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7150,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7150",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "METHYL BENZOATE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-360",
+    "accessed": "2026-10-22",
+    "text": "199 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "nitrogen": {
+   "name_zh": "氮气",
+   "formula": "N2",
+   "molar_mass_kg_mol": 0.028014,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 947（Nitrogen；MolecularWeight 28.014 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7727-37-9",
+   "ghs": {
+    "hazard_codes": [
+     "H280",
+     "H281"
+    ],
+    "pictograms": [
+     "GHS04"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 947,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/947",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Nitrogen (EC: 231-783-9)",
+     "reference_number": 37,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "nitric_oxide": {
+   "name_zh": "一氧化氮",
+   "formula": "NO",
+   "molar_mass_kg_mol": 0.030006,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 145068（Nitric Oxide；MolecularWeight 30.006 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 90.29 kJ/mol（NIST WebBook ΔfH°gas = 90.29 kJ/mol（Chase, 1998））",
+   "cas": "10102-43-9",
+   "ghs": {
+    "hazard_codes": [
+     "H270",
+     "H280",
+     "H314",
+     "H318",
+     "H330",
+     "H331",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS04",
+     "GHS05",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 145068,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/145068",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Nitrogen monoxide (EC: 233-271-0)",
+     "reference_number": 31,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [
+     "oxidizer",
+     "corrosive",
+     "toxic"
+    ],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ethane": {
+   "name_zh": "乙烷",
+   "formula": "C2H6",
+   "molar_mass_kg_mol": 0.03007,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.02115,
+    "delta_h_J_mol": -14703.0,
+    "response_C_kg": 11.983,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 200.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 6324（Ethane；MolecularWeight 30.07 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -83.8 kJ/mol（NIST WebBook ΔfH°gas = -83.8 kJ/mol（Pittam and Pilcher, 1972））",
+   "cas": "74-84-0",
+   "ghs": {
+    "hazard_codes": [
+     "H220"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6324,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6324",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethane",
+     "reference_number": 52,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 99.7,
+     "H280": 60.3,
+     "H281": 17.3
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methane": {
+   "name_zh": "甲烷",
+   "formula": "CH4",
+   "molar_mass_kg_mol": 0.016043,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.00984,
+    "delta_h_J_mol": -8519.0,
+    "response_C_kg": 11.2301,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 100.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 297（Methane；MolecularWeight 16.043 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -74.87 kJ/mol（NIST WebBook ΔfH°gas = -74.87 kJ/mol（Chase, 1998））",
+   "cas": "74-82-8",
+   "ghs": {
+    "hazard_codes": [
+     "H220"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 297,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/297",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methane",
+     "reference_number": 71,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 100.0,
+     "H280": 56.4,
+     "H281": 20.7
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetylene": {
+   "name_zh": "乙炔",
+   "formula": "C2H2",
+   "molar_mass_kg_mol": 0.026038,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6326（Acetylene；MolecularWeight 26.04 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 226.73 kJ/mol（NIST WebBook ΔfH°gas = 226.73 kJ/mol（Chase, 1998））",
+   "cas": "74-86-2",
+   "ghs": {
+    "hazard_codes": [
+     "H220"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6326,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6326",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetylene; ethyne",
+     "reference_number": 54,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 100.0,
+     "H280": 68.6
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ethylene": {
+   "name_zh": "乙烯",
+   "formula": "C2H4",
+   "molar_mass_kg_mol": 0.028054,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6325（Ethylene；MolecularWeight 28.05 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 52.47 kJ/mol（NIST WebBook ΔfH°gas = 52.47 kJ/mol（Chase, 1998））",
+   "cas": "74-85-1",
+   "ghs": {
+    "hazard_codes": [
+     "H220",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS04",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6325,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6325",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ethylene",
+     "reference_number": 90,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 99.2,
+     "H280": 44.1,
+     "H336": 99.1
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "formaldehyde": {
+   "name_zh": "甲醛",
+   "formula": "CH2O",
+   "molar_mass_kg_mol": 0.030026,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 712（Formaldehyde；MolecularWeight 30.026 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -115.9 kJ/mol（NIST WebBook ΔfH°gas = -115.9 kJ/mol（Chase, 1998））",
+   "cas": "50-00-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314",
+     "H317",
+     "H330",
+     "H341",
+     "H350"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 712,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/712",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "formaldehyde …%",
+     "reference_number": 154,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 83.1,
+     "H311": 83.1,
+     "H314": 83.1,
+     "H317": 90.5,
+     "H318": 48.3,
+     "H330": 14.0,
+     "H331": 77.6,
+     "H341": 19.0,
+     "H350": 19.0,
+     "H351": 64.1
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "corrosive",
+     "toxic"
+    ],
+    "rule": "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.03029,
+    "delta_h_J_mol": -24300.0,
+    "response_C_kg": 0.0,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 247.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "hydrogen_chloride": {
+   "name_zh": "氯化氢（气）",
+   "formula": "HCl(g)",
+   "molar_mass_kg_mol": 0.036458,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 313（Hydrochloric Acid；MolecularWeight 36.46 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -92.31 kJ/mol（单行取值：1×HCl(g) -92.310 [CODATA] = -92.310 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7647-01-0",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H331"
+    ],
+    "pictograms": [
+     "GHS04",
+     "GHS05",
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 313,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/313",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "hydrogen chloride",
+     "reference_number": 102,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H280": 24.3,
+     "H290": 22.8,
+     "H314": 99.9,
+     "H318": 20.0,
+     "H331": 49.4,
+     "H335": 59.0
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [
+     "corrosive_acid",
+     "toxic"
+    ],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "nitric_acid": {
+   "name_zh": "硝酸（溶质 HNO3）",
+   "formula": "HNO3",
+   "molar_mass_kg_mol": 0.063012,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 944（Nitric Acid；MolecularWeight 63.013 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -206.85 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×H+(aq) +0.000 [CODATA] + 1×NO3-(aq) -206.850 [CODATA] = -206.850 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7697-37-2",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H314",
+     "H330"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS05",
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 944,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/944",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "nitric acid ...% [C > 70 %]",
+     "reference_number": 61,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H272": 98.6,
+     "H290": 18.9,
+     "H314": 99.9,
+     "H318": 17.5,
+     "H331": 11.9
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "oxidizer",
+     "corrosive_acid",
+     "toxic"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "calcium_nitrate": {
+   "name_zh": "硝酸钙（水溶液）",
+   "formula": "Ca(NO3)2",
+   "molar_mass_kg_mol": 0.164086,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24963（Calcium nitrate；MolecularWeight 164.09 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -956.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Ca+2(aq) -543.000 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -956.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "10124-37-5",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H290",
+     "H302",
+     "H314",
+     "H315",
+     "H318",
+     "H319",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24963,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24963",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Calcium nitrate (EC: 233-332-1)",
+     "reference_number": 18,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [
+     "corrosive"
+    ],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "magnesium_nitrate": {
+   "name_zh": "硝酸镁（水溶液）",
+   "formula": "Mg(NO3)2",
+   "molar_mass_kg_mol": 0.148313,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 25212（Magnesium nitrate；MolecularWeight 148.32 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -880.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Mg+2(aq) -467.000 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -880.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "10377-60-3",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 25212,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/25212",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Magnesium nitrate (EC: 233-826-7)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "copper_nitrate": {
+   "name_zh": "硝酸铜（水溶液）",
+   "formula": "Cu(NO3)2",
+   "molar_mass_kg_mol": 0.187554,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 18616（Cupric nitrate；MolecularWeight 187.56 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -348.8 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Cu+2(aq) +64.900 [CODATA] + 2×NO3-(aq) -206.850 [CODATA] = -348.800 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "3251-23-8",
+   "ghs": {
+    "hazard_codes": [
+     "H270",
+     "H272",
+     "H301",
+     "H302",
+     "H314",
+     "H315",
+     "H318",
+     "H319",
+     "H400",
+     "H410",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS05",
+     "GHS06",
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 18616,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/18616",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Copper dinitrate (EC: 221-838-5)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [
+     "corrosive",
+     "toxic",
+     "environment"
+    ],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron_nitrate": {
+   "name_zh": "硝酸铁（水溶液）",
+   "formula": "Fe(NO3)3",
+   "molar_mass_kg_mol": 0.241857,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 25251（Ferric nitrate；MolecularWeight 241.86 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -669.05 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Fe+3(ao) -48.500 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 41:Fe p.2-177（PDF 第 185 页，Fe+3 ao）] + 3×NO3-(aq) -206.850 [CODATA] = -669.050 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "10421-48-4",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 25251,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/25251",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Iron trinitrate (EC: 233-899-5)",
+     "reference_number": 11,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "zinc_chloride": {
+   "name_zh": "氯化锌（水溶液）",
+   "formula": "ZnCl2",
+   "molar_mass_kg_mol": 0.13628,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5727（Zinc Chloride；MolecularWeight 136.3 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -487.55 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Zn+2(aq) -153.390 [CODATA] + 2×Cl-(aq) -167.080 [CODATA] = -487.550 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7646-85-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 5727,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5727",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "zinc chloride",
+     "reference_number": 54,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 98.4,
+     "H314": 99.9,
+     "H318": 43.8,
+     "H335": 38.5,
+     "H400": 97.0,
+     "H410": 98.4
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid",
+     "environment"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "cadmium_chloride": {
+   "name_zh": "氯化镉（水溶液）",
+   "formula": "CdCl2",
+   "molar_mass_kg_mol": 0.183314,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24947（Cadmium Chloride；MolecularWeight 183.32 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -410.08 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Cd+2(aq) -75.920 [CODATA] + 2×Cl-(aq) -167.080 [CODATA] = -410.080 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "10108-64-2",
+   "ghs": {
+    "hazard_codes": [
+     "H301",
+     "H330",
+     "H340",
+     "H350",
+     "H360FD",
+     "H372",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS06",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24947,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24947",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "cadmium chloride",
+     "reference_number": 33,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 100.0,
+     "H330": 100.0,
+     "H340": 100.0,
+     "H350": 100.0,
+     "H360": 53.7,
+     "H360FD": 46.7,
+     "H372": 100.0,
+     "H400": 100.0,
+     "H410": 100.0
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "target_organ_toxicity",
+     "environment"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sodium_nitrite": {
+   "name_zh": "亚硝酸钠（水溶液）",
+   "formula": "NaNO2",
+   "molar_mass_kg_mol": 0.0689948,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23668193（Sodium Nitrite；MolecularWeight 68.995 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -344.94 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Na+(aq) -240.340 [CODATA] + 1×NO2-(ao) -104.600 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 18:N p.2-64（PDF 第 72 页，NO2- ao）] = -344.940 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7632-00-0",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H301",
+     "H400"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS06",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23668193,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23668193",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sodium nitrite",
+     "reference_number": 59,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H272": 98.6,
+     "H301": 99.9,
+     "H319": 27.0,
+     "H400": 99.9
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [
+     "toxic",
+     "environment"
+    ],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ammonium_chloride": {
+   "name_zh": "氯化铵（水溶液）",
+   "formula": "NH4Cl",
+   "molar_mass_kg_mol": 0.053489,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 25517（Ammonium Chloride；MolecularWeight 53.49 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -300.34 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×NH4+(aq) -133.260 [CODATA] + 1×Cl-(aq) -167.080 [CODATA] = -300.340 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "12125-02-9",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 25517,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/25517",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ammonium chloride",
+     "reference_number": 71,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.9,
+     "H319": 99.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ammonia": {
+   "name_zh": "氨（水溶液，未电离）",
+   "formula": "NH3",
+   "molar_mass_kg_mol": 0.017031,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 222（Ammonia；MolecularWeight 17.031 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -80.29 kJ/mol（单行取值：1×NH3(ao) -80.290 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 18:N p.2-64（PDF 第 72 页，NH3 ao）] = -80.290 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7664-41-7",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H331",
+     "H400"
+    ],
+    "pictograms": [
+     "GHS04",
+     "GHS05",
+     "GHS06",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 222,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/222",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "ammonia, anhydrous",
+     "reference_number": 104,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H221": 87.8,
+     "H280": 30.7,
+     "H314": 99.9,
+     "H331": 87.7,
+     "H332": 11.5,
+     "H335": 11.7,
+     "H400": 99.9,
+     "H411": 30.4
+    },
+    "dropped_gas_only_codes": [
+     "H221"
+    ]
+   },
+   "storage_class": "base",
+   "storage": {
+    "class": "base",
+    "flags": [
+     "corrosive_base",
+     "toxic",
+     "environment"
+    ],
+    "rule": "4 corrosive base",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sodium_hypochlorite": {
+   "name_zh": "次氯酸钠（水溶液）",
+   "formula": "NaOCl",
+   "molar_mass_kg_mol": 0.0744388,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23665760（Sodium Hypochlorite；MolecularWeight 74.44 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -347.44 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×Na+(aq) -240.340 [CODATA] + 1×ClO-(ao) -107.100 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 10:Cl p.2-47（PDF 第 55 页，ClO- ao）] = -347.440 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7681-52-9",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H318",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23665760,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23665760",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sodium hypochlorite, solution ... % Cl active",
+     "reference_number": 58,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H290": 32.2,
+     "H314": 81.0,
+     "H315": 14.2,
+     "H318": 58.4,
+     "H335": 19.2,
+     "H400": 89.2,
+     "H410": 25.4,
+     "H411": 21.9
+    }
+   },
+   "storage_class": "base",
+   "storage": {
+    "class": "base",
+    "flags": [
+     "corrosive_base",
+     "environment"
+    ],
+    "rule": "4 corrosive base",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_thiocyanate": {
+   "name_zh": "硫氰酸钾（水溶液）",
+   "formula": "KSCN",
+   "molar_mass_kg_mol": 0.0971763,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 516872（Potassium thiocyanate；MolecularWeight 97.18 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -175.7 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×SCN-(ao) +76.440 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 23:C p.2-92（PDF 第 100 页，SCN- ao）] = -175.700 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "333-20-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H318",
+     "H319",
+     "H332",
+     "H400",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 516872,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/516872",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium thiocyanate (EC: 206-370-1)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_nitrate": {
+   "name_zh": "硝酸钾（水溶液）",
+   "formula": "KNO3",
+   "molar_mass_kg_mol": 0.1011023,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24434（Potassium Nitrate；MolecularWeight 101.103 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -458.99 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×NO3-(aq) -206.850 [CODATA] = -458.990 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7757-79-1",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24434,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24434",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium nitrate (EC: 231-818-8)",
+     "reference_number": 27,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron_thiocyanate_complex": {
+   "name_zh": "硫氰合铁(III)络离子硝酸盐（水溶液，FeSCN2+ + 2 NO3−）",
+   "formula": "[Fe(SCN)](NO3)2",
+   "molar_mass_kg_mol": 0.237931,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -390.3 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×FeSCN+2(ao) +23.400 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 41:Fe p.2-181（PDF 第 189 页，FeSCN+2 ao）] + 2×NO3-(aq) -206.850 [CODATA] = -390.300 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "hydriodic_acid": {
+   "name_zh": "氢碘酸（溶质 HI）",
+   "formula": "HI",
+   "molar_mass_kg_mol": 0.1279125,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24841（Hydrogen iodide；MolecularWeight 127.9124 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -56.78 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×H+(aq) +0.000 [CODATA] + 1×I-(aq) -56.780 [CODATA] = -56.780 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "10034-85-2",
+   "ghs": {
+    "hazard_codes": [
+     "H314"
+    ],
+    "pictograms": [
+     "GHS04",
+     "GHS05"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24841,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24841",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "hydrogen iodide",
+     "reference_number": 49,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H280": 46.8,
+     "H314": 100.0,
+     "H318": 37.6,
+     "H331": 18.2
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "zinc": {
+   "name_zh": "锌",
+   "formula": "Zn",
+   "molar_mass_kg_mol": 0.06538,
+   "phase": "solid",
+   "density_kg_m3": 7133.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23994（Zinc；MolecularWeight 65.4 g/mol 交叉核对）；密度取 PubChem Density 原文 '7.133 g/cu cm at 25 °C; 6.830 g/cu cm at 419.5 °C (solid); 6.620 g/cu cm at 419.5 °C (liquid); 6.250 g/cu cm at 800 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7440-66-6",
+   "ghs": {
+    "hazard_codes": [
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23994,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23994",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "zinc powder - zinc dust (stabilised)",
+     "reference_number": 80,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H250": 26.7,
+     "H260": 26.7,
+     "H400": 84.9,
+     "H410": 79.0
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "cadmium": {
+   "name_zh": "镉（铜化镉还原柱填料）",
+   "formula": "Cd",
+   "molar_mass_kg_mol": 0.112414,
+   "phase": "solid",
+   "density_kg_m3": 8690.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23973（Cadmium；MolecularWeight 112.41 g/mol 交叉核对）；密度取 PubChem Density 原文 '8.69 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7440-43-9",
+   "ghs": {
+    "hazard_codes": [
+     "H330",
+     "H341",
+     "H350",
+     "H361fd",
+     "H372",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS06",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23973,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23973",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "cadmium (non-pyrophoric)",
+     "reference_number": 69,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H250": 24.3,
+     "H302": 12.2,
+     "H330": 92.2,
+     "H335": 12.2,
+     "H341": 92.2,
+     "H350": 92.2,
+     "H361": 75.6,
+     "H361fd": 18.7,
+     "H372": 92.2,
+     "H400": 98.2,
+     "H410": 100.0
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "target_organ_toxicity",
+     "environment"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "graphite": {
+   "name_zh": "碳（石墨/石墨烯/碳纳米管沉积）",
+   "formula": "C",
+   "molar_mass_kg_mol": 0.012011,
+   "phase": "solid",
+   "density_kg_m3": 2200.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5462310（Carbon；MolecularWeight 12.011 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.2 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7782-42-5",
+   "ghs": {
+    "hazard_codes": [
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 5462310,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5462310",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Carbon (EC: 231-153-3)",
+     "reference_number": 25,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "silica": {
+   "name_zh": "二氧化硅（无定形沉积膜）",
+   "formula": "SiO2",
+   "molar_mass_kg_mol": 0.060083,
+   "phase": "solid",
+   "density_kg_m3": 2300.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24261（Silica；MolecularWeight 60.084 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.3 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "7631-86-9",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 24261,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24261",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Silicon dioxide (EC: 231-545-4)",
+     "reference_number": 98,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iodine": {
+   "name_zh": "碘",
+   "formula": "I2",
+   "molar_mass_kg_mol": 0.2538089,
+   "phase": "solid",
+   "density_kg_m3": 4933.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 807（Iodine；MolecularWeight 253.8089 g/mol 交叉核对）；密度取 PubChem Density 原文 '4.933 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7553-56-2",
+   "ghs": {
+    "hazard_codes": [
+     "H312",
+     "H332",
+     "H400"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 807,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/807",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "iodine",
+     "reference_number": 83,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 40.5,
+     "H312": 99.5,
+     "H332": 99.6,
+     "H315": 51.5,
+     "H319": 49.2,
+     "H335": 45.4,
+     "H372": 45.8,
+     "H400": 99.5,
+     "H410": 10.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_carbonate": {
+   "name_zh": "碳酸钾",
+   "formula": "K2CO3",
+   "molar_mass_kg_mol": 0.1382046,
+   "phase": "solid",
+   "density_kg_m3": 2290.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11430（Potassium Carbonate；MolecularWeight 138.205 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.29 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "584-08-7",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11430,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11430",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium carbonate (EC: 209-529-3)",
+     "reference_number": 21,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_bromide": {
+   "name_zh": "溴化钾",
+   "formula": "KBr",
+   "molar_mass_kg_mol": 0.1190023,
+   "phase": "solid",
+   "density_kg_m3": 2740.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 253877（Potassium Bromide；MolecularWeight 119.00 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.74 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "7758-02-3",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 253877,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/253877",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium bromide (EC: 231-830-3)",
+     "reference_number": 19,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_bicarbonate": {
+   "name_zh": "碳酸氢钾",
+   "formula": "KHCO3",
+   "molar_mass_kg_mol": 0.1001143,
+   "phase": "solid",
+   "density_kg_m3": 2170.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 516893（Potassium Bicarbonate；MolecularWeight 100.115 g/mol 交叉核对）；密度取 PubChem Density 原文 '2.17 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "298-14-6",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 516893,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/516893",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium hydrogencarbonate (EC: 206-059-0)",
+     "reference_number": 25,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "boric_acid": {
+   "name_zh": "硼酸",
+   "formula": "H3BO3",
+   "molar_mass_kg_mol": 0.061831,
+   "phase": "solid",
+   "density_kg_m3": 1500.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 7628（Boric Acid；MolecularWeight 61.84 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "10043-35-3",
+   "ghs": {
+    "hazard_codes": [
+     "H360FD"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7628,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7628",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "boric acid",
+     "reference_number": 82,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H360": 88.7,
+     "H360FD": 11.2
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sodium_nitroprusside": {
+   "name_zh": "亚硝基铁氰化钠（硝普钠，催化剂；按无水盐计）",
+   "formula": "Na2[Fe(CN)5NO]",
+   "molar_mass_kg_mol": 0.2619205,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6604165（Sodium Nitroprusside；MolecularWeight 261.92 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "14402-89-2",
+   "ghs": {
+    "hazard_codes": [
+     "H301"
+    ],
+    "pictograms": [
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6604165,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6604165",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Disodium pentacyanonitrosylferrate (EC: 238-373-9)",
+     "reference_number": 11,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "phenylacetylene": {
+   "name_zh": "苯乙炔",
+   "formula": "C6H5C≡CH",
+   "molar_mass_kg_mol": 0.102136,
+   "phase": "liquid",
+   "density_kg_m3": 940.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 10821（Phenylacetylene；MolecularWeight 102.13 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.94 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook 液态 ΔfH° 284.3 kJ/mol 是 1914 年单次燃烧热的重算值，与气态 306.6 kJ/mol 相减只得汽化焓 22 kJ/mol（同类芳烃约 40 kJ/mol），不可信，未用",
+   "cas": "536-74-3",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H304",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 10821,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10821",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Phenylacetylene (EC: 208-645-1)",
+     "reference_number": 88,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 415.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 10821,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10821",
+    "heading": "Boiling Point",
+    "depositor": "PAC Chemical Database, U.S. Department of Energy",
+    "record_name": "Phenylacetylene; (Ethynylbenzene)",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "142 °C @760 [mm Hg]"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "cyclohexanone": {
+   "name_zh": "环己酮",
+   "formula": "C6H10O",
+   "molar_mass_kg_mol": 0.098145,
+   "phase": "liquid",
+   "density_kg_m3": 945.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 4.29153,
+    "delta_h_J_mol": -41500.0,
+    "response_C_kg": 9.179,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 895.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7967（Cyclohexanone；MolecularWeight 98.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.945 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -276.1 kJ/mol（NIST WebBook ΔfH°liquid = -276.1 kJ/mol（Wiberg, Crocker, et al., 1991））",
+   "cas": "108-94-1",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7967,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7967",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "cyclohexanone",
+     "reference_number": 141,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.9,
+     "H302": 32.1,
+     "H312": 31.2,
+     "H315": 17.9,
+     "H318": 31.6,
+     "H332": 99.6
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 429.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7967,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7967",
+    "heading": "Boiling Point",
+    "depositor": "ILO-WHO International Chemical Safety Cards (ICSCs)",
+    "record_name": "CYCLOHEXANONE",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "156 °C"
+   },
+   "viscosity_Pa_s": 0.0022,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7967,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7967",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CYCLOHEXANONE",
+    "original_reference": "Kirk-Othmer Encyclopedia of Chemical Technology. 4th ed. Volumes 1: New York, NY. John Wiley and Sons, 1991-Present., p. V7 852",
+    "accessed": "2026-10-22",
+    "text": "2.2 mPa.s (=cP) @ 25 °C"
+   }
+  },
+  "cyclohexanol": {
+   "name_zh": "环己醇",
+   "formula": "C6H11OH",
+   "molar_mass_kg_mol": 0.100161,
+   "phase": "liquid",
+   "density_kg_m3": 947.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 3.76853,
+    "delta_h_J_mol": -55000.0,
+    "response_C_kg": 9.4436,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 878.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7966（Cyclohexanol；MolecularWeight 100.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.947 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -347.4 kJ/mol（NIST WebBook ΔfH°liquid = -347.4 kJ/mol（Sellers and Sunner, 1962））",
+   "cas": "108-93-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H332",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7966,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7966",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "cyclohexanol",
+     "reference_number": 75,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.8,
+     "H312": 18.8,
+     "H315": 99.8,
+     "H319": 25.1,
+     "H332": 99.8,
+     "H335": 99.8,
+     "H412": 18.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 434.99,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7966,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7966",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Cyclohexanol",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-128",
+    "accessed": "2026-10-22",
+    "text": "161.84 °C"
+   },
+   "viscosity_Pa_s": 0.0046,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7966,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7966",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Cyclohexanol",
+    "original_reference": "Fisher WB, VanPeppen JF; Kirk-Othmer Encyclopedia of Chemical Technology. (2001). New York, NY: John Wiley & Sons; Cyclohexanol and Cyclohexanone. Online Posting Date: December 4, 2009.",
+    "accessed": "2026-10-22",
+    "text": "4.6 mPa.s (= cP) at 25 °C"
+   }
+  },
+  "toluene": {
+   "name_zh": "甲苯",
+   "formula": "C6H5CH3",
+   "molar_mass_kg_mol": 0.092141,
+   "phase": "liquid",
+   "density_kg_m3": 862.3,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 1.63792,
+    "delta_h_J_mol": -33400.0,
+    "response_C_kg": 13.6874,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 769.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 1140（Toluene；MolecularWeight 92.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8623 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 12.0 kJ/mol（NIST WebBook ΔfH°liquid = 12.0 kJ/mol（Prosen, Gilmont, et al., 1945））",
+   "cas": "108-88-3",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H315",
+     "H336",
+     "H361d",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 1140,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1140",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "toluene",
+     "reference_number": 127,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 98.5,
+     "H304": 99.8,
+     "H315": 98.5,
+     "H336": 98.3,
+     "H361": 95.3,
+     "H373": 98.4,
+     "H412": 16.5
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 383.75,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 1140,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1140",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "TOLUENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-514",
+    "accessed": "2026-10-22",
+    "text": "110.6 °C"
+   },
+   "viscosity_Pa_s": 0.00056,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 1140,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1140",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "TOLUENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-234",
+    "accessed": "2026-10-22",
+    "text": "1.165 mPa-s at -25 °C; 0.778 mPa-s at 0 °C; 0.560 mPa-s at 25 °C; 0.424 mPa-s at 50 °C; 0.333 mPa-s at 75 °C; 0.270 mPa-s at 100 °C"
+   }
+  },
+  "cinnamyl_alcohol": {
+   "name_zh": "肉桂醇",
+   "formula": "C6H5CH=CHCH2OH",
+   "molar_mass_kg_mol": 0.134178,
+   "phase": "solid",
+   "density_kg_m3": 1039.7,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 5315892（Cinnamyl Alcohol；MolecularWeight 134.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0397 @ 35 °C/35 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "104-54-1",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H317"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 5315892,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5315892",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Cinnamyl alcohol (EC: 203-212-3)",
+     "reference_number": 30,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "phenylpropanol": {
+   "name_zh": "3-苯基-1-丙醇",
+   "formula": "C6H5(CH2)3OH",
+   "molar_mass_kg_mol": 0.136194,
+   "phase": "liquid",
+   "density_kg_m3": 995.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 31234（Benzenepropanol；MolecularWeight 136.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.995 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "122-97-4",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H315",
+     "H318",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 31234,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31234",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "3-phenylpropan-1-ol (EC: 204-587-6)",
+     "reference_number": 34,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "corrosive"
+    ],
+    "rule": "4 corrosive (neither acid nor base) -> see flags",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 514.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 31234,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/31234",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "3-Phenylpropanol",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-36",
+    "accessed": "2026-10-22",
+    "text": "241 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "urea": {
+   "name_zh": "尿素",
+   "formula": "CO(NH2)2",
+   "molar_mass_kg_mol": 0.060056,
+   "phase": "solid",
+   "density_kg_m3": 1340.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 1176（Urea；MolecularWeight 60.056 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.34 at 68 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -333.39 kJ/mol（NIST WebBook ΔfH°solid = -333.39 kJ/mol（Johnson, 1975））",
+   "cas": "57-13-6",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 1176,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1176",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Urea (EC: 200-315-5)",
+     "reference_number": 70,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ethyl_acetoacetate": {
+   "name_zh": "乙酰乙酸乙酯",
+   "formula": "CH3COCH2COOC2H5",
+   "molar_mass_kg_mol": 0.130143,
+   "phase": "liquid",
+   "density_kg_m3": 1028.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 6.21774,
+    "delta_h_J_mol": -52500.0,
+    "response_C_kg": 5.1915,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 943.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 8868（Ethyl Acetoacetate；MolecularWeight 130.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.028 at 68 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -640.4 kJ/mol（NIST WebBook ΔfH°liquid = -640.4 kJ/mol（Ribeiro da Silva, Ferrao, et al., 1995））",
+   "cas": "141-97-9",
+   "ghs": {
+    "hazard_codes": [
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8868,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8868",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ethyl acetoacetate (EC: 205-516-1)",
+     "reference_number": 42,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 453.95,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8868,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8868",
+    "heading": "Boiling Point",
+    "depositor": "ILO-WHO International Chemical Safety Cards (ICSCs)",
+    "record_name": "ETHYL ACETOACETATE",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "180.8 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "biginelli_dhpm": {
+   "name_zh": "Biginelli 产物：6-甲基-2-氧代-4-苯基-1,2,3,4-四氢嘧啶-5-甲酸乙酯",
+   "formula": "C14H16N2O3",
+   "molar_mass_kg_mol": 0.260293,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 220272（Ethyl 1,4-dihydro-2-hydroxy-6-methyl-4-phenyl-5-pyrimidinecarboxylate；MolecularWeight 260.29 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "5395-36-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 220272,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/220272",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "5-(Ethoxycarbonyl)-4-phenyl-6-methyl-3,4-dihydropyrimidin-2(1H)-one (EC: 637-265-2)",
+     "reference_number": 10,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "hexanedione_2_5": {
+   "name_zh": "2,5-己二酮",
+   "formula": "CH3COCH2CH2COCH3",
+   "molar_mass_kg_mol": 0.114144,
+   "phase": "liquid",
+   "density_kg_m3": 973.7,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 5.39775,
+    "delta_h_J_mol": -50100.0,
+    "response_C_kg": 6.3138,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 925.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 8035（2,5-Hexanedione；MolecularWeight 114.14 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9737 at 68 °F (NTP, 1992) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "110-13-4",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8035,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8035",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Hexane-2,5-dione (EC: 203-738-3)",
+     "reference_number": 20,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 464.26,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8035,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8035",
+    "heading": "Boiling Point",
+    "depositor": "CAMEO Chemicals",
+    "record_name": "2,5-HEXANEDIONE",
+    "original_reference": "National Toxicology Program, Institute of Environmental Health Sciences, National Institutes of Health (NTP). 1992. National Toxicology Program Chemical Repository Database. Research Triangle Park, North Carolina.",
+    "accessed": "2026-10-22",
+    "text": "376 °F at 760 mmHg (NTP, 1992)"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "dimethylphenylpyrrole": {
+   "name_zh": "2,5-二甲基-1-苯基吡咯",
+   "formula": "C12H13N",
+   "molar_mass_kg_mol": 0.171243,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 66518（2,5-Dimethyl-1-phenylpyrrole；MolecularWeight 171.24 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "83-24-9",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 66518,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/66518",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "2,5-dimethyl-1-phenyl-1H-pyrrole (EC: 201-461-2)",
+     "reference_number": 8,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "phenylboronic_acid": {
+   "name_zh": "苯硼酸",
+   "formula": "C6H5B(OH)2",
+   "molar_mass_kg_mol": 0.12193,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 66827（Phenylboronic Acid；MolecularWeight 121.93 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "98-80-6",
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 66827,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/66827",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Dihydroxy(phenyl)borane (EC: 202-701-9)",
+     "reference_number": 44,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "bromobenzene": {
+   "name_zh": "溴苯",
+   "formula": "C6H5Br",
+   "molar_mass_kg_mol": 0.15701,
+   "phase": "liquid",
+   "density_kg_m3": 1490.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 5.68142,
+    "delta_h_J_mol": -42300.0,
+    "response_C_kg": 6.9422,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 931.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7961（Bromobenzene；MolecularWeight 157.01 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.49 at 77 °F (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "108-86-1",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H315",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7961,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7961",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "bromobenzene",
+     "reference_number": 68,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 100.0,
+     "H315": 100.0,
+     "H411": 99.6
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "environment"
+    ],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 429.35,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7961,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7961",
+    "heading": "Boiling Point",
+    "depositor": "ILO-WHO International Chemical Safety Cards (ICSCs)",
+    "record_name": "BROMOBENZENE",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "156.2 °C"
+   },
+   "viscosity_Pa_s": 0.001124,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7961,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7961",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BROMOBENZENE",
+    "original_reference": "Budavari, S. (ed.). The Merck Index - Encyclopedia of Chemicals, Drugs and Biologicals. Rahway, NJ: Merck and Co., Inc., 1989., p. 213",
+    "accessed": "2026-10-22",
+    "text": "1.124 CP @ 20 °C"
+   }
+  },
+  "ytterbium_triflate": {
+   "name_zh": "三氟甲磺酸镱（Yb(OTf)3，Lewis 酸催化剂）",
+   "formula": "Yb(CF3SO3)3",
+   "molar_mass_kg_mol": 0.6202346,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 2733225（Ytterbium triflate；MolecularWeight 620.3 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "54761-04-5",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 2733225,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2733225",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ytterbium triflate (EC: 629-256-7)",
+     "reference_number": 3,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "biphenyl": {
+   "name_zh": "联苯",
+   "formula": "C6H5C6H5",
+   "molar_mass_kg_mol": 0.154212,
+   "phase": "solid",
+   "density_kg_m3": 992.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 7095（Biphenyl；MolecularWeight 154.21 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.992 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "92-52-4",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7095,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7095",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "biphenyl; diphenyl",
+     "reference_number": 117,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H315": 99.0,
+     "H319": 99.0,
+     "H330": 35.3,
+     "H335": 99.0,
+     "H400": 90.8,
+     "H410": 99.1
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "triethylamine": {
+   "name_zh": "三乙胺",
+   "formula": "(C2H5)3N",
+   "molar_mass_kg_mol": 0.101193,
+   "phase": "liquid",
+   "density_kg_m3": 727.5,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.92319,
+    "delta_h_J_mol": -33180.0,
+    "response_C_kg": 10.2377,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 694.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 8471（Triethylamine；MolecularWeight 101.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.7275 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -127.8 kJ/mol（NIST WebBook ΔfH°liquid = -127.8 kJ/mol（Lebedeva, 1966））",
+   "cas": "121-44-8",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H301",
+     "H311",
+     "H314",
+     "H318",
+     "H331"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8471,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8471",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "triethylamine",
+     "reference_number": 85,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H302": 97.5,
+     "H311": 47.5,
+     "H312": 52.5,
+     "H314": 99.9,
+     "H318": 45.2,
+     "H331": 46.5,
+     "H332": 52.6,
+     "H335": 47.4
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "corrosive_base",
+     "toxic"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 361.95,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8471,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8471",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "TRIETHYLAMINE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-526",
+    "accessed": "2026-10-22",
+    "text": "88.8 °C"
+   },
+   "viscosity_Pa_s": 0.000347,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8471,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8471",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "TRIETHYLAMINE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-234",
+    "accessed": "2026-10-22",
+    "text": "0.347 mPa.s at 25 °C"
+   }
+  },
+  "iodoethane": {
+   "name_zh": "碘乙烷",
+   "formula": "C2H5I",
+   "molar_mass_kg_mol": 0.1559665,
+   "phase": "liquid",
+   "density_kg_m3": 1948.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6340（Iodoethane；MolecularWeight 155.97 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.948 @ 15°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -39.5 kJ/mol（NIST WebBook ΔfH°liquid = -39.5 kJ/mol（Ashcroft, Carson, et al., 1965））",
+   "cas": "75-03-6",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H302",
+     "H315",
+     "H317",
+     "H319",
+     "H332",
+     "H334",
+     "H335",
+     "H341"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6340,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6340",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Iodoethane (EC: 200-833-1)",
+     "reference_number": 14,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 345.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6340,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6340",
+    "heading": "Boiling Point",
+    "depositor": "ILO-WHO International Chemical Safety Cards (ICSCs)",
+    "record_name": "ETHYL IODIDE",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "72 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "tetraethylammonium_iodide": {
+   "name_zh": "四乙基碘化铵",
+   "formula": "(C2H5)4N+ I−",
+   "molar_mass_kg_mol": 0.2571595,
+   "phase": "solid",
+   "density_kg_m3": 1559.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6225（Tetraethylammonium Iodide；MolecularWeight 257.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.559 @ 4°C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "68-05-3",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6225,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6225",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Tetraethylammonium iodide (EC: 200-676-9)",
+     "reference_number": 10,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetanilide": {
+   "name_zh": "乙酰苯胺",
+   "formula": "C6H5NHCOCH3",
+   "molar_mass_kg_mol": 0.135166,
+   "phase": "solid",
+   "density_kg_m3": 1219.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 904（Acetanilide；MolecularWeight 135.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.219 at 59 °F (NTP, 1992) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -209.4 kJ/mol（NIST WebBook ΔfH°solid = -209.4 kJ/mol（Johnson, 1975））",
+   "cas": "103-84-4",
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 904,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/904",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Acetanilide (EC: 203-150-7)",
+     "reference_number": 40,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "benzylamine": {
+   "name_zh": "苄胺",
+   "formula": "C6H5CH2NH2",
+   "molar_mass_kg_mol": 0.107156,
+   "phase": "liquid",
+   "density_kg_m3": 980.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 7504（Benzylamine；MolecularWeight 107.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.98 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 34.2 kJ/mol（NIST WebBook ΔfH°liquid = 34.2 kJ/mol（Carson, Laye, et al., 1977））",
+   "cas": "100-46-9",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H314"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7504,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7504",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "benzylamine",
+     "reference_number": 123,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.8,
+     "H312": 99.8,
+     "H314": 99.8,
+     "H318": 28.6
+    }
+   },
+   "storage_class": "base",
+   "storage": {
+    "class": "base",
+    "flags": [
+     "corrosive_base"
+    ],
+    "rule": "4 corrosive base",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 458.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7504,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7504",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Benzylamine",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Whitehouse Station, NJ:  Merck and Co., Inc., 2006., p. 186",
+    "accessed": "2026-10-22",
+    "text": "185 °C"
+   },
+   "viscosity_Pa_s": 0.00178,
+   "viscosity_T_K": 294.35,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7504,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7504",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Benzylamine",
+    "original_reference": "Heuer L; Ullmann's Encyclopedia of Industrial Chemistry. 7th ed. (2008). New York, NY: John Wiley & Sons; Benzylamine. Online Posting Date: July 15, 2006.",
+    "accessed": "2026-10-22",
+    "text": "1.78 mPa-s at 21.2 °C, 0.295 mPa-s at 178.2 °C"
+   }
+  },
+  "methyl_acetate": {
+   "name_zh": "乙酸甲酯",
+   "formula": "CH3COOCH3",
+   "molar_mass_kg_mol": 0.074079,
+   "phase": "liquid",
+   "density_kg_m3": 934.2,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 0.255,
+    "delta_h_J_mol": -29500.0,
+    "response_C_kg": 4.2561,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 525.7 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 6584（Methyl Acetate；MolecularWeight 74.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9342 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -445.89 kJ/mol（NIST WebBook ΔfH°liquid = -445.89 kJ/mol（Hall and Baldt, 1971））",
+   "cas": "79-20-9",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6584,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6584",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methyl acetate",
+     "reference_number": 80,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.5,
+     "H319": 99.5,
+     "H336": 99.4
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 329.85,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6584,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6584",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "METHYL ACETATE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-354",
+    "accessed": "2026-10-22",
+    "text": "56.7 °C"
+   },
+   "viscosity_Pa_s": 0.000364,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 6584,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6584",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "METHYL ACETATE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-232",
+    "accessed": "2026-10-22",
+    "text": "0.364 mPa.s at 25 °C"
+   }
+  },
+  "cumene_hydroperoxide": {
+   "name_zh": "异丙苯过氧化氢",
+   "formula": "C6H5C(CH3)2OOH",
+   "molar_mass_kg_mol": 0.152193,
+   "phase": "liquid",
+   "density_kg_m3": 1030.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6629（Cumene Hydroperoxide；MolecularWeight 152.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.03 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -149.0 kJ/mol（NIST WebBook ΔfH°liquid = -149.0 kJ/mol（Kozlov and Rabinovich, 1964））",
+   "cas": "80-15-9",
+   "ghs": {
+    "hazard_codes": [
+     "H242",
+     "H302",
+     "H312",
+     "H314",
+     "H331",
+     "H373",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS06",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6629,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6629",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "α,α-dimethylbenzyl hydroperoxide; cumene hydroperoxide",
+     "reference_number": 46,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H242": 99.9,
+     "H302": 100.0,
+     "H312": 92.0,
+     "H314": 100.0,
+     "H317": 40.8,
+     "H318": 44.1,
+     "H331": 98.1,
+     "H341": 29.3,
+     "H373": 98.4,
+     "H411": 100.0
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "corrosive",
+     "toxic",
+     "environment"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 426.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6629,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6629",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Cumene hydroperoxide",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-332",
+    "accessed": "2026-10-22",
+    "text": "153 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "phenol": {
+   "name_zh": "苯酚",
+   "formula": "C6H5OH",
+   "molar_mass_kg_mol": 0.094113,
+   "phase": "solid",
+   "density_kg_m3": 1071.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 8.3455,
+    "delta_h_J_mol": -53200.0,
+    "response_C_kg": 10.3378,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 982.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 996（Phenol；MolecularWeight 94.11 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.071 g/cu cm'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -162.8 kJ/mol（NIST WebBook ΔfH°solid = -162.8 kJ/mol（Parks, Manchester, et al., 1954））",
+   "cas": "108-95-2",
+   "ghs": {
+    "hazard_codes": [
+     "H301",
+     "H311",
+     "H314",
+     "H331",
+     "H341",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 996,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/996",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "phenol; carbolic acid; monohydroxybenzene; phenylalcohol",
+     "reference_number": 164,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 99.9,
+     "H311": 99.9,
+     "H314": 99.9,
+     "H318": 17.7,
+     "H331": 99.7,
+     "H341": 99.3,
+     "H373": 99.7,
+     "H411": 13.6
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "corrosive"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetophenone": {
+   "name_zh": "苯乙酮",
+   "formula": "C6H5COCH3",
+   "molar_mass_kg_mol": 0.120151,
+   "phase": "liquid",
+   "density_kg_m3": 1028.1,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 15.74028,
+    "delta_h_J_mol": -50100.0,
+    "response_C_kg": 10.4965,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1065.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 7410（Acetophenone；MolecularWeight 120.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0281 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -142.5 kJ/mol（NIST WebBook ΔfH°liquid = -142.5 kJ/mol（Colomina, Latorre, et al., 1961））",
+   "cas": "98-86-2",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7410,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7410",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetophenone",
+     "reference_number": 145,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.9,
+     "H319": 99.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 475.25,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7410,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7410",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Acetophenone",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-6",
+    "accessed": "2026-10-22",
+    "text": "202.1 °C"
+   },
+   "viscosity_Pa_s": 0.001681,
+   "viscosity_T_K": null,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7410,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7410",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Acetophenone",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-234",
+    "accessed": "2026-10-22",
+    "text": "1.681 mPa.s"
+   }
+  },
+  "di_tert_butyl_peroxide": {
+   "name_zh": "二叔丁基过氧化物（DTBP）",
+   "formula": "(CH3)3COOC(CH3)3",
+   "molar_mass_kg_mol": 0.14623,
+   "phase": "liquid",
+   "density_kg_m3": 704.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8033（Di-tert-butyl peroxide；MolecularWeight 146.23 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.704 at 68 °F (NTP, 1992) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -380.8 kJ/mol（NIST WebBook ΔfH°liquid = -380.8 kJ/mol（Diogo, Minas da Piedade, et al., 1995））",
+   "cas": "110-05-4",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H242",
+     "H341"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8033,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8033",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "di-tert-butyl peroxide",
+     "reference_number": 41,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H242": 99.9,
+     "H319": 35.6,
+     "H334": 14.1,
+     "H341": 62.5,
+     "H412": 11.3
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "cold_recommended"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes; cold: PubChem CID 8033 storage conditions (Hazardous Substances Data Bank (HSDB))"
+   },
+   "boiling_point_K": 384.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8033,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8033",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Bis(1,1-dimethylethyl)peroxide",
+    "original_reference": "Larranaga, M.D., Lewis, R.J. Sr., Lewis, R.A.; Hawley's Condensed Chemical Dictionary 16th  Edition. John Wiley & Sons, Inc. Hoboken, NJ 2016., p. 445",
+    "accessed": "2026-10-22",
+    "text": "111 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "aibn": {
+   "name_zh": "偶氮二异丁腈（AIBN）",
+   "formula": "(CH3)2C(CN)N=NC(CN)(CH3)2",
+   "molar_mass_kg_mol": 0.164212,
+   "phase": "solid",
+   "density_kg_m3": 1100.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6547（Azobisisobutyronitrile；MolecularWeight 164.21 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.1 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 246.0 kJ/mol（NIST WebBook ΔfH°solid = 246.0 kJ/mol（Lebedeva, Gutner, et al., 1984））",
+   "cas": "78-67-1",
+   "ghs": {
+    "hazard_codes": [
+     "H242",
+     "H302",
+     "H332",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6547,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6547",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "2,2'-dimethyl-2,2'-azodipropiononitrile; ADZN",
+     "reference_number": 40,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H242": 100.0,
+     "H302": 91.6,
+     "H332": 100.0,
+     "H412": 93.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "tetramethylsuccinonitrile": {
+   "name_zh": "四甲基丁二腈（TMSN）",
+   "formula": "NCC(CH3)2C(CH3)2CN",
+   "molar_mass_kg_mol": 0.136198,
+   "phase": "solid",
+   "density_kg_m3": 1070.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 18745（2,2,3,3-Tetramethylbutanedinitrile；MolecularWeight 136.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.07 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 19.9 kJ/mol（NIST WebBook ΔfH°solid = 19.9 kJ/mol（Lebedeva and Katin, 1973））",
+   "cas": "3333-52-6",
+   "ghs": {
+    "hazard_codes": [
+     "H300",
+     "H310",
+     "H315",
+     "H319",
+     "H330",
+     "H371",
+     "H373",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS06",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 18745,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/18745",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Tetramethylsuccinonitrile (EC: 608-859-9)",
+     "reference_number": 10,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sucrose": {
+   "name_zh": "蔗糖",
+   "formula": "C12H22O11",
+   "molar_mass_kg_mol": 0.342297,
+   "phase": "solid",
+   "density_kg_m3": 1580.5,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5988（Sucrose；MolecularWeight 342.30 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5805 g/cu cm @ 17 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2221.2 kJ/mol（NIST WebBook ΔfH°solid = -2221.2 kJ/mol（Clarke and Stegeman, 1939））",
+   "cas": "57-50-1",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 5988,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5988",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sucrose (EC: 200-334-9)",
+     "reference_number": 42,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "glucose": {
+   "name_zh": "D-葡萄糖",
+   "formula": "C6H12O6",
+   "molar_mass_kg_mol": 0.180156,
+   "phase": "solid",
+   "density_kg_m3": 1200.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5793（D-Glucose；MolecularWeight 180.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2 at 68 °F (est.) (USCG, 1999) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1271.04 kJ/mol（由 NIST WebBook ΔcH°solid = -2805.0 kJ/mol（Ponomarev and Migarskaya, 1960；页面 CAS 492-62-6）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 6×(-393.51) + 6×(-285.83) − ΔcH = -1271.04 kJ/mol）",
+   "cas": "50-99-7",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 5793,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5793",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Glucose (EC: 200-075-1)",
+     "reference_number": 44,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "fructose": {
+   "name_zh": "D-果糖",
+   "formula": "C6H12O6",
+   "molar_mass_kg_mol": 0.180156,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 2723872（D-Fructose；MolecularWeight 180.16 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1265.6 kJ/mol（NIST WebBook ΔfH°solid = -1265.6 kJ/mol（Clarke and Stegeman, 1939））",
+   "cas": "57-48-7",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 2723872,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2723872",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Fructose (EC: 200-333-3)",
+     "reference_number": 32,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "glycylglycine": {
+   "name_zh": "甘氨酰甘氨酸（二肽模型）",
+   "formula": "H2NCH2CONHCH2COOH",
+   "molar_mass_kg_mol": 0.132119,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11163（Glycylglycine；MolecularWeight 132.12 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -747.68 kJ/mol（NIST WebBook ΔfH°solid = -747.68 kJ/mol（Huffman, 1942））",
+   "cas": "556-50-3",
+   "ghs": {
+    "hazard_codes": [
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11163,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11163",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "N-glycylglycine (EC: 209-127-8)",
+     "reference_number": 14,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "glycine": {
+   "name_zh": "甘氨酸",
+   "formula": "H2NCH2COOH",
+   "molar_mass_kg_mol": 0.075067,
+   "phase": "solid",
+   "density_kg_m3": 1161.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 750（Glycine；MolecularWeight 75.07 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.161 g/cu cm @ 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -528.52 kJ/mol（NIST WebBook ΔfH°solid = -528.52 kJ/mol（Huffman, Fox, et al., 1937））",
+   "cas": "56-40-6",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 750,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/750",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Glycine (EC: 200-272-2)",
+     "reference_number": 48,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "tripalmitin": {
+   "name_zh": "三棕榈酸甘油酯（甘油三酯模型）",
+   "formula": "C3H5(OCOC15H31)3",
+   "molar_mass_kg_mol": 0.807339,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 11147（Tripalmitin；MolecularWeight 807.3 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -2468.78 kJ/mol（由 NIST WebBook ΔcH°solid = -31605.9 kJ/mol（Freedman, Bagby, et al., 1989；页面 CAS 555-44-2）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 51×(-393.51) + 49×(-285.83) − ΔcH = -2468.78 kJ/mol）",
+   "cas": "555-44-2",
+   "ghs": {
+    "hazard_codes": [
+     "H411"
+    ],
+    "pictograms": [
+     "GHS09"
+    ],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11147,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11147",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Glycerol tripalmitate (EC: 209-098-1)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "palmitic_acid": {
+   "name_zh": "棕榈酸（十六酸）",
+   "formula": "C15H31COOH",
+   "molar_mass_kg_mol": 0.25643,
+   "phase": "solid",
+   "density_kg_m3": 849.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 985（Palmitic Acid；MolecularWeight 256.42 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.849 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -891.84 kJ/mol（由 NIST WebBook ΔcH°solid = -9977.6 kJ/mol（Swain, Silbert, et al., 1964；页面 CAS 57-10-3）与 CODATA CO2(g) -393.51、H2O(l) -285.83 kJ/mol 反推：ΔfH = 16×(-393.51) + 16×(-285.83) − ΔcH = -891.84 kJ/mol）",
+   "cas": "57-10-3",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 985,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/985",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Palmitic acid (EC: 200-312-9)",
+     "reference_number": 44,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "glycerol": {
+   "name_zh": "甘油",
+   "formula": "HOCH2CH(OH)CH2OH",
+   "molar_mass_kg_mol": 0.092094,
+   "phase": "liquid",
+   "density_kg_m3": 1261.3,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 753（Glycerol；MolecularWeight 92.09 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.2613 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -668.6 kJ/mol（NIST WebBook ΔfH°liquid = -668.6 kJ/mol（Parks, West, et al., 1946））",
+   "cas": "56-81-5",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 753,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/753",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Glycerol (EC: 200-289-5)",
+     "reference_number": 49,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 563.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 753,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/753",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "GLYCERIN",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Whitehouse Station, NJ:  Merck and Co., Inc., 2006., p. 774",
+    "accessed": "2026-10-22",
+    "text": "290 °C (decomposes)"
+   },
+   "viscosity_Pa_s": 0.954,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 753,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/753",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "GLYCERIN",
+    "original_reference": "Furia, T.E. (ed.). CRC Handbook of Food Additives. 2nd ed. Cleveland: The Chemical Rubber Co., 1972., p. 434",
+    "accessed": "2026-10-22",
+    "text": "954 CENTIPOISES AT 25 °C; 17 CENTIPOISES AT 25 °C (70% SOLN)"
+   }
+  },
+  "pmma": {
+   "name_zh": "聚甲基丙烯酸甲酯（按重复单元 C5H8O2 计）",
+   "formula": "(C5H8O2)n",
+   "molar_mass_kg_mol": 0.100117,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 9011-14-7 经 PubChem Substance 同义词核对（含 'poly(methyl methacrylate)'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "9011-14-7",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "polystyrene": {
+   "name_zh": "聚苯乙烯（按重复单元 C8H8 计）",
+   "formula": "(C8H8)n",
+   "molar_mass_kg_mol": 0.104152,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 9003-53-6 经 PubChem Substance 同义词核对（含 'polystyrene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "9003-53-6",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "polyoxymethylene": {
+   "name_zh": "聚甲醛（按重复单元 CH2O 计）",
+   "formula": "(CH2O)n",
+   "molar_mass_kg_mol": 0.030026,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 9002-81-7 经 PubChem Substance 同义词核对（含 'polyoxymethylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "9002-81-7",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 167312532,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/167312532",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Fetuins (EC: 232-762-7)",
+     "reference_number": 8,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "pvc": {
+   "name_zh": "聚氯乙烯（按重复单元 C2H3Cl 计）",
+   "formula": "(C2H3Cl)n",
+   "molar_mass_kg_mol": 0.062496,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 9002-86-2 经 PubChem Substance 同义词核对（含 'poly(vinyl chloride)'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "9002-86-2",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "polyene_residue": {
+   "name_zh": "共轭多烯残炭（PVC 脱 HCl 后的 (C2H2)n 重复单元）",
+   "formula": "(C2H2)n",
+   "molar_mass_kg_mol": 0.026038,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 25067-58-7 经 PubChem Substance 同义词核对（含 'polyacetylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "25067-58-7",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ptfe": {
+   "name_zh": "聚四氟乙烯（按重复单元 C2F4 计）",
+   "formula": "(C2F4)n",
+   "molar_mass_kg_mol": 0.1000156,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "聚合物：PubChem 无化合物记录；CAS 9002-84-0 经 PubChem Substance 同义词核对（含 'polytetrafluoroethylene'）；按一个结构重复单元计摩尔质量与化学计量（端基、分子量分布不计）；密度不计（null，不进入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "9002-84-0",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "tetrafluoroethylene": {
+   "name_zh": "四氟乙烯（TFE）",
+   "formula": "CF2=CF2",
+   "molar_mass_kg_mol": 0.1000156,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 8301（Tetrafluoroethylene；MolecularWeight 100.01 g/mol 交叉核对）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -658.56 kJ/mol（NIST WebBook ΔfH°gas = -658.56 kJ/mol（Chase, 1998））",
+   "cas": "116-14-3",
+   "ghs": {
+    "hazard_codes": [
+     "H350"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8301,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8301",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "tetrafluoroethylene",
+     "reference_number": 55,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H220": 30.7,
+     "H280": 36.6,
+     "H350": 36.0,
+     "H371": 32.2
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [
+     "toxic"
+    ],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methyl_methacrylate": {
+   "name_zh": "甲基丙烯酸甲酯（MMA）",
+   "formula": "CH2=C(CH3)COOCH3",
+   "molar_mass_kg_mol": 0.100117,
+   "phase": "liquid",
+   "density_kg_m3": 933.7,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 1.07817,
+    "delta_h_J_mol": -33300.0,
+    "response_C_kg": 6.5681,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 714.3 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 6658（Methyl Methacrylate；MolecularWeight 100.12 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.9337 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -388.8 kJ/mol（NIST WebBook ΔfH°liquid = -388.8 kJ/mol（Vilcu and Perisanu, 1980））",
+   "cas": "80-62-6",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H315",
+     "H317",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6658,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6658",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "methyl methacrylate; methyl 2-methylprop-2-enoate; methyl 2-methylpropenoate",
+     "reference_number": 104,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H315": 99.9,
+     "H317": 98.7,
+     "H335": 98.3
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 373.65,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6658,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6658",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Methyl methacrylate",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-358",
+    "accessed": "2026-10-22",
+    "text": "100.5 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "naphthalene": {
+   "name_zh": "萘",
+   "formula": "C10H8",
+   "molar_mass_kg_mol": 0.128174,
+   "phase": "solid",
+   "density_kg_m3": 1160.0,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 38.73544,
+    "delta_h_J_mol": -50300.0,
+    "response_C_kg": 14.0567,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1182.8 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 931（Naphthalene；MolecularWeight 128.17 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.16 g/cm³'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 77.0 kJ/mol（NIST WebBook ΔfH°solid = 77.0 kJ/mol（NIST 评估值））",
+   "cas": "91-20-3",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H351",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 931,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/931",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "naphthalene",
+     "reference_number": 128,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H228": 38.8,
+     "H302": 99.8,
+     "H351": 98.9,
+     "H400": 99.6,
+     "H410": 99.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "teos": {
+   "name_zh": "正硅酸乙酯（TEOS）",
+   "formula": "Si(OC2H5)4",
+   "molar_mass_kg_mol": 0.208329,
+   "phase": "liquid",
+   "density_kg_m3": 933.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6517（Tetraethoxysilane；MolecularWeight 208.33 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.933 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "78-10-4",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H319",
+     "H332",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6517,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6517",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "tetraethyl silicate; ethyl silicate",
+     "reference_number": 43,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 99.9,
+     "H319": 99.9,
+     "H332": 99.9,
+     "H335": 94.0
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 441.95,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6517,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6517",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Ethyl silicate",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-254",
+    "accessed": "2026-10-22",
+    "text": "168.8 °C"
+   },
+   "viscosity_Pa_s": 0.0006,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 6517,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6517",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Ethyl silicate",
+    "original_reference": "Lewis, R.J. Sr.; Hawley's Condensed Chemical Dictionary 15th  Edition. John Wiley & Sons, Inc. New York, NY 2007., p. 541",
+    "accessed": "2026-10-22",
+    "text": "0.6 cP at 25 °C"
+   }
+  },
+  "fmoc_glycine": {
+   "name_zh": "Fmoc-甘氨酸（Fmoc-Gly-OH）",
+   "formula": "C17H15NO4",
+   "molar_mass_kg_mol": 0.29731,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 93124（Fmoc-Gly-OH；MolecularWeight 297.30 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "29022-11-5",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H315",
+     "H319",
+     "H332",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 93124,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/93124",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "N-[(9H-fluoren-9-ylmethoxy)carbonyl]glycine (EC: 249-373-3)",
+     "reference_number": 9,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "piperidine": {
+   "name_zh": "哌啶",
+   "formula": "C5H11N",
+   "molar_mass_kg_mol": 0.08515,
+   "phase": "liquid",
+   "density_kg_m3": 862.2,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8082（Piperidine；MolecularWeight 85.15 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.8622 at 68 °F (EPA, 1998) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -86.44 kJ/mol（NIST WebBook ΔfH°liquid = -86.44 kJ/mol（Good, 1972））",
+   "cas": "110-89-4",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H311",
+     "H314",
+     "H331"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS06"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8082,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8082",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "piperidine",
+     "reference_number": 129,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 100.0,
+     "H302": 12.4,
+     "H311": 97.5,
+     "H314": 100.0,
+     "H331": 100.0
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "corrosive_base",
+     "toxic"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 379.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8082,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8082",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "PIPERIDINE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of  Chemicals, Drugs, and Biologicals. 13th Edition, Whitehouse  Station, NJ:  Merck and Co., Inc., 2001., p. 1338",
+    "accessed": "2026-10-22",
+    "text": "106 °C at 760 mm Hg"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "dbf_piperidine_adduct": {
+   "name_zh": "二苯并富烯-哌啶加合物（1-(9H-芴-9-基甲基)哌啶）",
+   "formula": "C19H21N",
+   "molar_mass_kg_mol": 0.263384,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 12841689（1-(9-Fluorenylmethyl)piperidine；MolecularWeight 263.4 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "35661-58-6",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dic": {
+   "name_zh": "N,N'-二异丙基碳二亚胺（DIC）",
+   "formula": "(CH3)2CHN=C=NCH(CH3)2",
+   "molar_mass_kg_mol": 0.126203,
+   "phase": "liquid",
+   "density_kg_m3": 806.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 12734（Diisopropylcarbodiimide；MolecularWeight 126.20 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.806 g/cu cm at 25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "693-13-0",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H315",
+     "H317",
+     "H318",
+     "H330",
+     "H334",
+     "H335",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS06",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 12734,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12734",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "N,N'-methanetetraylbis(1-methylethylamine) (EC: 211-743-7)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "toxic",
+     "environment"
+    ],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 420.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 12734,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12734",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "1,3-Diisopropylcarbodiimide",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-186",
+    "accessed": "2026-10-22",
+    "text": "147 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "diisopropylurea": {
+   "name_zh": "N,N'-二异丙基脲（DIU）",
+   "formula": "(CH3)2CHNHCONHCH(CH3)2",
+   "molar_mass_kg_mol": 0.144218,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 20084（N,N'-Bis(1-methylethyl)urea；MolecularWeight 144.21 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "4128-37-4",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 20084,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/20084",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "1,3-diisopropylurea (EC: 223-940-5)",
+     "reference_number": 8,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "oxyma": {
+   "name_zh": "Oxyma Pure（氰基(羟亚氨基)乙酸乙酯，偶联添加剂）",
+   "formula": "C5H6N2O3",
+   "molar_mass_kg_mol": 0.142114,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6399078（Ethyl 2-cyano-2-(hydroxyimino)acetate；MolecularWeight 142.11 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "3849-21-6",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H315",
+     "H319",
+     "H332",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6399078,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6399078",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ethyl cyano(hydroxyimino)acetate (EC: 223-351-3)",
+     "reference_number": 4,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "fmoc_gly_benzylamide": {
+   "name_zh": "Fmoc-Gly-NHBn（偶联模型产物）",
+   "formula": "C24H22N2O3",
+   "molar_mass_kg_mol": 0.386451,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "n_benzylacetamide": {
+   "name_zh": "N-苄基乙酰胺（封端模型产物）",
+   "formula": "CH3CONHCH2C6H5",
+   "molar_mass_kg_mol": 0.149193,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11500（N-Benzylacetamide；MolecularWeight 149.19 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "588-46-5",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dmt_thymidine": {
+   "name_zh": "5'-O-DMT-胸苷（载体结合核苷模型）",
+   "formula": "C31H32N2O7",
+   "molar_mass_kg_mol": 0.544604,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 162419（5'-O-(4,4'-Dimethoxytrityl)thymidine；MolecularWeight 544.6 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "40615-39-2",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 162419,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/162419",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "5'-O-(p,p'-dimethoxytrityl)thymidine (EC: 255-003-1)",
+     "reference_number": 7,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dichloroacetic_acid": {
+   "name_zh": "二氯乙酸（DCA）",
+   "formula": "Cl2CHCOOH",
+   "molar_mass_kg_mol": 0.128936,
+   "phase": "liquid",
+   "density_kg_m3": 1563.4,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6597（Dichloroacetic Acid；MolecularWeight 128.94 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.5634 g/cu cm at 20 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "79-43-6",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H400"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6597,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6597",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "dichloroacetic acid",
+     "reference_number": 80,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H290": 26.0,
+     "H311": 54.5,
+     "H314": 100.0,
+     "H318": 52.2,
+     "H351": 42.2,
+     "H360FD": 30.5,
+     "H362": 23.8,
+     "H373": 35.1,
+     "H400": 100.0
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid",
+     "environment",
+     "cold_recommended"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes; cold: PubChem CID 6597 storage conditions (Hazardous Substances Data Bank (HSDB))"
+   },
+   "boiling_point_K": 466.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6597,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6597",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Dichloroacetic acid",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-156",
+    "accessed": "2026-10-22",
+    "text": "193 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "thymidine": {
+   "name_zh": "胸苷",
+   "formula": "C10H14N2O5",
+   "molar_mass_kg_mol": 0.242231,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5789（Thymidine；MolecularWeight 242.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "50-89-5",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 5789,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5789",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Thymidine (EC: 200-070-4)",
+     "reference_number": 36,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dmt_cation_dichloroacetate": {
+   "name_zh": "4,4'-二甲氧基三苯甲基正离子·二氯乙酸根（橙色 DMT+ 离子对，溶液中）",
+   "formula": "C21H19O2+ Cl2CHCOO−",
+   "molar_mass_kg_mol": 0.431309,
+   "phase": "liquid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   },
+   "boiling_point_K": null,
+   "boiling_point_note": "not sourced: PubChem has no normal boiling point for this compound (or only reduced-pressure / decomposition values)",
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "dt_phosphoramidite": {
+   "name_zh": "5'-O-DMT-胸苷-3'-CE 亚磷酰胺",
+   "formula": "C40H49N4O8P",
+   "molar_mass_kg_mol": 0.7448258,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 9940288（Thymidine, 5'-O-(bis(4-methoxyphenyl)phenylmethyl)-, 3'-(2-cyanoethyl N,N-bis(1-methylethyl)phosphoramidite)；MolecularWeight 744.8 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "98796-51-1",
+   "ghs": {
+    "hazard_codes": [
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 9940288,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/9940288",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "5′-O-(4,4′-dimethoxytrityl)-2′-deoxythymidine-3′-O-[O-(2-cyanoethyl)-N,N′-diisopropylphosphoramidite] (EC: 685-410-3)",
+     "reference_number": 5,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetylthymidine": {
+   "name_zh": "3'-O-乙酰胸苷（游离 5'-OH 模型）",
+   "formula": "C12H16N2O6",
+   "molar_mass_kg_mol": 0.284268,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 464365（3'-O-Acetylthymidine；MolecularWeight 284.26 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "21090-30-2",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ett": {
+   "name_zh": "5-乙硫基-1H-四唑（ETT，活化剂）",
+   "formula": "C3H6N4S",
+   "molar_mass_kg_mol": 0.130169,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 2758928（5-(Ethylthio)-1H-tetrazole；MolecularWeight 130.17 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "89797-68-2",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 2758928,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2758928",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "5-(Ethylthio)-1H-tetrazole (EC: 618-305-8)",
+     "reference_number": 4,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "diisopropylamine": {
+   "name_zh": "二异丙胺",
+   "formula": "((CH3)2CH)2NH",
+   "molar_mass_kg_mol": 0.101193,
+   "phase": "liquid",
+   "density_kg_m3": 717.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 7912（Diisopropylamine；MolecularWeight 101.19 g/mol 交叉核对）；密度取 PubChem Density 原文 '0.717 at 68 °F (USCG, 1999) - Less dense than water; will float'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "108-18-9",
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H302",
+     "H314",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7912,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7912",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "diisopropylamine",
+     "reference_number": 46,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H225": 100.0,
+     "H302": 100.0,
+     "H314": 100.0,
+     "H318": 57.2,
+     "H331": 62.7,
+     "H332": 37.8,
+     "H335": 70.8
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "corrosive_base"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 357.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7912,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7912",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "DIISOPROPYLAMINE",
+    "original_reference": "Lide, D.R. (ed.). CRC Handbook of Chemistry and Physics.  79th ed. Boca Raton, FL: CRC Press Inc., 1998-1999., p. 3-2693-269",
+    "accessed": "2026-10-22",
+    "text": "84 °C @ 760 mm Hg"
+   },
+   "viscosity_Pa_s": 0.0004,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 7912,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7912",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "DIISOPROPYLAMINE",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 628",
+    "accessed": "2026-10-22",
+    "text": "0.40 cP @ 25 °C"
+   }
+  },
+  "dinucleoside_phosphite": {
+   "name_zh": "二核苷亚磷酸三酯（DMT-T-P(OCE)-T-OAc）",
+   "formula": "C46H50N5O14P",
+   "molar_mass_kg_mol": 0.9279008,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "dinucleoside_phosphate": {
+   "name_zh": "二核苷磷酸三酯（氧化后）",
+   "formula": "C46H50N5O15P",
+   "molar_mass_kg_mol": 0.9438998,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "crystal_violet": {
+   "name_zh": "结晶紫（氯化物）",
+   "formula": "C25H30ClN3",
+   "molar_mass_kg_mol": 0.407986,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11057（Crystal Violet；MolecularWeight 408.0 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "548-62-9",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H318",
+     "H350",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11057,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11057",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "C.I. Basic Violet 3 with ≥ 0.1 % of Michler's ketone (EC no. 202-027-5)",
+     "reference_number": 57,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 99.8,
+     "H318": 99.8,
+     "H350": 32.0,
+     "H351": 68.0,
+     "H400": 99.8,
+     "H410": 99.8
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "environment"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "crystal_violet_carbinol": {
+   "name_zh": "结晶紫甲醇碱（无色）",
+   "formula": "C25H31N3O",
+   "molar_mass_kg_mol": 0.389543,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 68050（C.I. 42555:1；MolecularWeight 389.5 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "467-63-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 68050,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/68050",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "p,p',p''-tris(dimethylamino)trityl alcohol (EC: 207-396-6)",
+     "reference_number": 17,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ascorbic_acid": {
+   "name_zh": "抗坏血酸",
+   "formula": "C6H8O6",
+   "molar_mass_kg_mol": 0.176124,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 54670067（L-Ascorbic Acid；MolecularWeight 176.12 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "50-81-7",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 54670067,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/54670067",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ascorbic acid (EC: 200-066-2)",
+     "reference_number": 55,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dcpip": {
+   "name_zh": "2,6-二氯酚靛酚（DCPIP，氧化态）",
+   "formula": "C12H7Cl2NO2",
+   "molar_mass_kg_mol": 0.268093,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 13726（Dichlorophenol Indophenol；MolecularWeight 268.09 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "956-48-9",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dehydroascorbic_acid": {
+   "name_zh": "脱氢抗坏血酸",
+   "formula": "C6H6O6",
+   "molar_mass_kg_mol": 0.174108,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 440667（Dehydroascorbic Acid；MolecularWeight 174.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "490-83-5",
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 440667,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/440667",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "L-threo-hexo-2,3-diulosono-1,4-lactone (EC: 207-720-6)",
+     "reference_number": 16,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "dcpip_leuco": {
+   "name_zh": "还原态 DCPIP（无色）",
+   "formula": "C12H9Cl2NO2",
+   "molar_mass_kg_mol": 0.270109,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 622906（2,6-Bis(Chloranyl)-4-[(4-Hydroxyphenyl)amino]phenol；MolecularWeight 270.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "2099-87-8",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sulfanilamide": {
+   "name_zh": "磺胺（对氨基苯磺酰胺）",
+   "formula": "H2NC6H4SO2NH2",
+   "molar_mass_kg_mol": 0.172202,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 5333（Sulfanilamide；MolecularWeight 172.21 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "63-74-1",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 5333,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/5333",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sulphanilamide (EC: 200-563-4)",
+     "reference_number": 31,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "ned": {
+   "name_zh": "N-(1-萘基)乙二胺（NED）",
+   "formula": "C10H7NHCH2CH2NH2",
+   "molar_mass_kg_mol": 0.186258,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 15107（N-(1-Naphthyl)ethylenediamine；MolecularWeight 186.25 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "551-09-7",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "griess_azo_dye": {
+   "name_zh": "格里斯偶氮染料（磺胺-NED 偶联产物，540 nm）",
+   "formula": "C18H19N5O2S",
+   "molar_mass_kg_mol": 0.369443,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem 无对应化合物记录（无 CAS）；身份按结构式与反应式原子守恒确定；密度 null；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": null,
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "transient species, not stocked",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "no CAS; exists only inside reaction ledgers"
+   }
+  },
+  "indophenol": {
+   "name_zh": "靛酚（Berthelot 靛酚蓝）",
+   "formula": "HOC6H4N=C6H4=O",
+   "molar_mass_kg_mol": 0.199209,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 10379（Phenolindophenol；MolecularWeight 199.20 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "500-85-6",
+   "ghs": {
+    "hazard_codes": [
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 10379,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10379",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "N-(4-hydroxyphenyl)-p-benzoquinone monoimine (EC: 207-913-5)",
+     "reference_number": 7,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_ferrioxalate": {
+   "name_zh": "三草酸合铁(III)酸钾（溶质，光量计）",
+   "formula": "K3[Fe(C2O4)3]",
+   "molar_mass_kg_mol": 0.4371939,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 9932777（Potassium ferrioxalate；MolecularWeight 437.20 g/mol 交叉核对）；PubChem 按 CAS 14883-34-2 检索返回 4 个 CID，首个 24180941 为 1:1 钾盐（C6H4FeKO12+2）；本物种身份取 CID 9932777（Potassium ferrioxalate，C6FeK3O12，437.20 g/mol），其 PubChem 同义词含 '14883-34-2'（pubchem/9932777_synonyms.json）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；三草酸合铁(III)酸钾无可用标准生成焓（NIST WebBook/CODATA/NBS 1982 均无该配离子行），涉及它的反应焓记 null",
+   "cas": "14883-34-2",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "iron_ii_oxalate": {
+   "name_zh": "草酸亚铁（溶质，Fe(II) 草酸配合物）",
+   "formula": "FeC2O4",
+   "molar_mass_kg_mol": 0.143863,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 10589（Ferrous Oxalate；MolecularWeight 143.86 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；草酸亚铁（溶质）无可用标准生成焓行，涉及它的反应焓记 null",
+   "cas": "516-03-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 10589,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10589",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ferrous Oxalate (EC: 611-981-5)",
+     "reference_number": 11,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_oxalate": {
+   "name_zh": "草酸钾（溶质）",
+   "formula": "K2C2O4",
+   "molar_mass_kg_mol": 0.1662146,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 11413（Dipotassium Oxalate；MolecularWeight 166.22 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；草酸根水合离子未取（同一反应的三草酸合铁酸钾无 ΔfH，反应焓已为 null）",
+   "cas": "583-52-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11413,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11413",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Dipotassium oxalate (EC: 209-506-8)",
+     "reference_number": 12,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "trans_azobenzene": {
+   "name_zh": "(E)-偶氮苯（反式）",
+   "formula": "(E)-C6H5N=NC6H5",
+   "molar_mass_kg_mol": 0.182226,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 2272（Azobenzene；MolecularWeight 182.22 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；顺式偶氮苯无可信标准生成焓行，异构化反应焓记 null",
+   "cas": "103-33-3",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "cis_azobenzene": {
+   "name_zh": "(Z)-偶氮苯（顺式）",
+   "formula": "(Z)-C6H5N=NC6H5",
+   "molar_mass_kg_mol": 0.182226,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 2272（Azobenzene；MolecularWeight 182.22 g/mol 交叉核对）；PubChem 按 CAS 1080-16-6 返回立体未指定的 CID 2272（Azobenzene，C12H10N2）；顺/反异构以本条目化学式区分；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/NBS 无 (Z)-偶氮苯标准生成焓行，反应焓记 null",
+   "cas": "1080-16-6",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "alpha_terpinene": {
+   "name_zh": "α-松油烯",
+   "formula": "C10H16",
+   "molar_mass_kg_mol": 0.136238,
+   "phase": "liquid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 7462（Alpha-Terpinene；MolecularWeight 136.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；产物蛔蒿素无可信标准生成焓行，光氧化反应焓记 null",
+   "cas": "99-86-5",
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H302",
+     "H304",
+     "H317",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 7462,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7462",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "p-mentha-1,3-diene; 1-isopropyl-4-methylcyclohexa-1,3-diene; alpha-terpinene",
+     "reference_number": 71,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H226": 100.0,
+     "H302": 99.9,
+     "H304": 94.8,
+     "H317": 16.1,
+     "H319": 16.7,
+     "H411": 98.9
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "environment"
+    ],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 446.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 7462,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/7462",
+    "heading": "Boiling Point",
+    "depositor": "Joint FAO/WHO Expert Committee on Food Additives (JECFA)",
+    "record_name": "p-Mentha-1,3-diene",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "173 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "ascaridole": {
+   "name_zh": "蛔蒿素（α-松油烯 1,4-内过氧化物）",
+   "formula": "C10H16O2",
+   "molar_mass_kg_mol": 0.168236,
+   "phase": "liquid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 10545（Ascaridole；MolecularWeight 168.23 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/NBS 无蛔蒿素标准生成焓行，反应焓记 null",
+   "cas": "512-85-6",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": null,
+   "boiling_point_note": "not sourced: PubChem has no normal boiling point for this compound (or only reduced-pressure / decomposition values)",
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "rose_bengal": {
+   "name_zh": "孟加拉玫瑰红（光敏剂，CAS 11121-48-5 二钾盐）",
+   "formula": "C20H2Cl4I4K2O5",
+   "molar_mass_kg_mol": 1.0498455,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 25473（Rose Bengal；MolecularWeight 1049.8 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；光敏剂只作吸光体与门控，不进入反应式",
+   "cas": "11121-48-5",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methylene_blue": {
+   "name_zh": "亚甲基蓝（光敏剂，氯化物）",
+   "formula": "C16H18ClN3S",
+   "molar_mass_kg_mol": 0.319851,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6099（Methylene Blue；MolecularWeight 319.9 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算；光敏剂只作吸光体与门控，不进入反应式",
+   "cas": "61-73-4",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H318",
+     "H412"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6099,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6099",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Methylthioninium chloride (EC: 200-515-2)",
+     "reference_number": 35,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_iodide": {
+   "name_zh": "碘化钾（溶质）",
+   "formula": "KI",
+   "molar_mass_kg_mol": 0.1660028,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 4875（Potassium Iodide；MolecularWeight 166.0028 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -307.33 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×I-(ao) -55.190 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，I- ao）] = -307.330 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7681-11-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H315",
+     "H317",
+     "H319",
+     "H334",
+     "H372",
+     "H373",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 4875,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/4875",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium iodide (EC: 231-659-4)",
+     "reference_number": 31,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "target_organ_toxicity",
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_iodate": {
+   "name_zh": "碘酸钾（溶质）",
+   "formula": "KIO3",
+   "molar_mass_kg_mol": 0.2139998,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23665710（Potassium Iodate；MolecularWeight 214.001 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -473.44 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×IO3-(ao) -221.300 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，IO3- ao）] = -473.440 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7758-05-6",
+   "ghs": {
+    "hazard_codes": [
+     "H272",
+     "H302",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS03",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23665710,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23665710",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium iodate (EC: 231-831-9)",
+     "reference_number": 15,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "oxidizer",
+   "storage": {
+    "class": "oxidizer",
+    "flags": [],
+    "rule": "3 oxidizer",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_triiodide": {
+   "name_zh": "三碘化钾（溶质，I3−）",
+   "formula": "KI3",
+   "molar_mass_kg_mol": 0.4198117,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 105053（Potassium triiodide；MolecularWeight 419.8117 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -303.64 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×I3-(ao) -51.500 [NBS 1982（Wagman et al., J. Phys. Chem. Ref. Data 11, Suppl. 2） Table 12:I p.2-52（PDF 第 60 页，I3- ao）] = -303.640 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "12298-68-9",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "potassium_hydroxide": {
+   "name_zh": "氢氧化钾（溶质）",
+   "formula": "KOH",
+   "molar_mass_kg_mol": 0.0561053,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 14797（Potassium Hydroxide；MolecularWeight 56.106 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -482.155 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：1×K+(aq) -252.140 [CODATA] + 1×OH-(aq) -230.015 [CODATA] = -482.155 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "1310-58-3",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 14797,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14797",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "potassium hydroxide; caustic potash",
+     "reference_number": 61,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H290": 20.9,
+     "H302": 96.1,
+     "H314": 99.4,
+     "H318": 24.7
+    }
+   },
+   "storage_class": "base",
+   "storage": {
+    "class": "base",
+    "flags": [
+     "corrosive_base"
+    ],
+    "rule": "4 corrosive base",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "formaldehyde_aqueous": {
+   "name_zh": "甲醛（水溶液，溶质）",
+   "formula": "HCHO(aq)",
+   "molar_mass_kg_mol": 0.030026,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 712（Formaldehyde；MolecularWeight 30.026 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；未取水合甲醛（甲二醇）标准生成焓，反应焓记 null",
+   "cas": "50-00-0",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314",
+     "H317",
+     "H330",
+     "H341",
+     "H350"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 712,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/712",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "formaldehyde …%",
+     "reference_number": 154,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H301": 83.1,
+     "H311": 83.1,
+     "H314": 83.1,
+     "H317": 90.5,
+     "H318": 48.3,
+     "H330": 14.0,
+     "H331": 77.6,
+     "H341": 19.0,
+     "H350": 19.0,
+     "H351": 64.1
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [
+     "corrosive"
+    ],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "silver": {
+   "name_zh": "银",
+   "formula": "Ag",
+   "molar_mass_kg_mol": 0.1078682,
+   "phase": "solid",
+   "density_kg_m3": 10500.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23954（Silver；MolecularWeight 107.868 g/mol 交叉核对）；密度取 PubChem Density 原文 '10.5 at 68 °F (NTP, 1992) - Denser than water; will sink'；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = 0.0 kJ/mol（单质参考态，ΔfH° = 0）",
+   "cas": "7440-22-4",
+   "ghs": {
+    "hazard_codes": [
+     "H361f",
+     "H373"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23954,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23954",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "silver massive: [particle diameter ≥ 1 mm]",
+     "reference_number": 74,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H400": 70.4,
+     "H410": 69.3
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sodium_sulfate": {
+   "name_zh": "硫酸钠（支持电解质，溶质）",
+   "formula": "Na2SO4",
+   "molar_mass_kg_mol": 0.1420355,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24436（Sodium Sulfate；MolecularWeight 142.04 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；反应模板所用 ΔfH° = -1390.02 kJ/mol（按完全电离的离子求和（NBS“ai”约定）：2×Na+(aq) -240.340 [CODATA] + 1×SO4-2(aq) -909.340 [CODATA] = -1390.020 kJ/mol；CODATA = J. D. Cox, D. D. Wagman, V. A. Medvedev, CODATA Key Values for Thermodynamics, Hemisphere, New York (1989)）",
+   "cas": "7757-82-6",
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 24436,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24436",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Sodium sulphate (EC: 231-820-9)",
+     "reference_number": 39,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "methyl_hydrogen_sulfate": {
+   "name_zh": "硫酸氢甲酯（KF 反应产物，按游离酸计）",
+   "formula": "CH3OSO3H",
+   "molar_mass_kg_mol": 0.112099,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 6412（Monomethyl sulfate；MolecularWeight 112.11 g/mol 交叉核对）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；NIST WebBook/CODATA/NBS 1982 无可用 ΔfH°；KF 试剂中以碱的甲基硫酸盐 [RNH]SO4CH3 存在，账本按游离酸计",
+   "cas": "75-93-4",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H318"
+    ],
+    "pictograms": [
+     "GHS05"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6412,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6412",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Methyl hydrogen sulphate (EC: 200-916-2)",
+     "reference_number": 10,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "imidazole": {
+   "name_zh": "咪唑（KF 试剂碱 RN）",
+   "formula": "C3H4N2",
+   "molar_mass_kg_mol": 0.068079,
+   "phase": "solid",
+   "density_kg_m3": 1030.3,
+   "fid_visible": true,
+   "gc_7890b_fid": {
+    "k_ref": 16.22903,
+    "delta_h_J_mol": -46657.6,
+    "response_C_kg": 4.7635,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1069.0 (standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   },
+   "evidence": "documented",
+   "source": "PubChem CID 795（Imidazole；MolecularWeight 68.08 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.0303 @ 101°C'；摩尔质量由 IUPAC 标准原子量按化学式计算；只作 KF 反应的碱门控（catalyst），不进入化学计量",
+   "cas": "288-32-4",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H314",
+     "H360D"
+    ],
+    "pictograms": [
+     "GHS05",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 795,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/795",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "imidazole",
+     "reference_number": 106,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H302": 97.9,
+     "H314": 97.5,
+     "H318": 47.3,
+     "H360": 56.1,
+     "H360D": 11.7,
+     "H361": 28.6
+    }
+   },
+   "storage_class": "base",
+   "storage": {
+    "class": "base",
+    "flags": [
+     "corrosive_base",
+     "toxic"
+    ],
+    "rule": "4 corrosive base",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "n_formylpiperidine": {
+   "name_zh": "N-甲酰哌啶",
+   "formula": "C5H10NCHO",
+   "molar_mass_kg_mol": 0.11316,
+   "phase": "liquid",
+   "density_kg_m3": 1019.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 17429（1-Piperidinecarboxaldehyde；MolecularWeight 113.16 g/mol 交叉核对）；密度取 PubChem Density 原文 '1.019 @25 °C'；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "2591-86-8",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H311",
+     "H315",
+     "H319",
+     "H335"
+    ],
+    "pictograms": [
+     "GHS06",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 17429,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/17429",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Piperidine-N-carbaldehyde (EC: 219-986-0)",
+     "reference_number": 17,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "toxic",
+   "storage": {
+    "class": "toxic",
+    "flags": [],
+    "rule": "6 acute toxicity cat 1-3 / CMR cat 1",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 495.65,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 17429,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/17429",
+    "heading": "Boiling Point",
+    "depositor": "PAC Chemical Database, U.S. Department of Energy",
+    "record_name": "Formylpiperidine, 1-",
+    "original_reference": null,
+    "accessed": "2026-10-22",
+    "text": "222.5 °C @760 [mm Hg]"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "methoxy_formylpiperidine": {
+   "name_zh": "2-甲氧基-1-甲酰哌啶",
+   "formula": "C5H9(OCH3)NCHO",
+   "molar_mass_kg_mol": 0.143186,
+   "phase": "liquid",
+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 2723667（2-Methoxy-1-formylpiperidine；MolecularWeight 143.18 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "61020-07-3",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "PubChem has no GHS classification record for this CAS"
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "assumption",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": null,
+   "boiling_point_note": "not sourced: PubChem has no normal boiling point for this compound (or only reduced-pressure / decomposition values)",
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound"
+  },
+  "tetraethylammonium_tetrafluoroborate": {
+   "name_zh": "四乙基四氟硼酸铵（支持电解质）",
+   "formula": "(C2H5)4N+ BF4−",
+   "molar_mass_kg_mol": 0.2170586,
+   "phase": "solid",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 2724277（Tetraethylammonium tetrafluoroborate；MolecularWeight 217.06 g/mol 交叉核对）；密度：PubChem 无可用数值，记 null（不计入液相体积）；摩尔质量由 IUPAC 标准原子量按化学式计算",
+   "cas": "429-06-1",
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312",
+     "H315",
+     "H319",
+     "H332",
+     "H335",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS09"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 2724277,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2724277",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Tetraethylammonium tetrafluoroborate (EC: 207-055-1)",
+     "reference_number": 6,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [
+     "environment"
+    ],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sulfur_dioxide_dissolved": {
+   "name_zh": "二氧化硫（溶于 KF 试剂，溶质）",
+   "formula": "SO2",
+   "molar_mass_kg_mol": 0.064058,
+   "phase": "aqueous",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 1119（Sulfur Dioxide；MolecularWeight 64.07 g/mol 交叉核对；PubChem 64.07 g/mol 取 S≈32.07（IUPAC 区间 [32.059, 32.076] 上部）；本表按常规原子量 S = 32.06 计算得 64.058，差 0.012 g/mol）；按溶质质量计，体积由溶剂水提供（密度 null）；摩尔质量由 IUPAC 标准原子量按化学式计算；KF 试剂中 SO2 以甲基亚硫酸盐形式溶于甲醇，溶解态 ΔfH° 未取（CODATA 只有气态值），模板 ΔH 记 null",
+   "cas": "7446-09-5",
+   "ghs": {
+    "hazard_codes": [
+     "H314",
+     "H331",
+     "H370"
+    ],
+    "pictograms": [
+     "GHS04",
+     "GHS05",
+     "GHS06",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 1119,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/1119",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sulphur dioxide; sulfur dioxide",
+     "reference_number": 63,
+     "accessed": "2026-10-22"
+    },
+    "notified_codes_pct": {
+     "H280": 19.3,
+     "H314": 83.7,
+     "H331": 82.2
+    }
+   },
+   "storage_class": "acid",
+   "storage": {
+    "class": "acid",
+    "flags": [
+     "corrosive_acid",
+     "toxic",
+     "target_organ_toxicity"
+    ],
+    "rule": "4 corrosive acid",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "argon": {
+   "name_zh": "氩气",
+   "formula": "Ar",
+   "molar_mass_kg_mol": 0.0399,
+   "phase": "gas",
+   "density_kg_m3": null,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 23968 (molecular formula / weight)",
+   "cas": "7440-37-1",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "carrier / purge gas (cylinder)",
+   "ghs": {
+    "hazard_codes": [
+     "H280",
+     "H281"
+    ],
+    "pictograms": [
+     "GHS04"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 23968,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/23968",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Argon (EC: 231-147-0)",
+     "reference_number": 21,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "compressed_gas",
+   "storage": {
+    "class": "compressed_gas",
+    "flags": [],
+    "rule": "1 gas",
+    "temperature_c": null,
+    "evidence": "derived",
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+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "disodium tetraborate decahydrate",
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+     "accessed": "2026-10-22"
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+   }
+  },
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+   "formula": "ClLi",
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+   "phase": "solid",
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+   "cas": "7447-41-8",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "water-activity standard salt (saturated LiCl, aw 0.113)",
+   "density_source": {
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+    "cid": 433294,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/433294",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "LITHIUM CHLORIDE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 86TH  Edition 2005-2006. CRC Press, Taylor & Francis, Boca Raton,  FL 2005, p. 4-70",
+    "accessed": "2026-10-22"
+   },
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+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/433294",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Lithium chloride (EC: 231-212-3)",
+     "reference_number": 21,
+     "accessed": "2026-10-22"
+    }
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+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "sulfanilic_acid": {
+   "name_zh": "对氨基苯磺酸",
+   "formula": "C6H7NO3S",
+   "molar_mass_kg_mol": 0.17319,
+   "phase": "solid",
+   "density_kg_m3": 1485.0,
+   "fid_visible": false,
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+   "cas": "121-57-3",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "nitrite (Griess) reagent component",
+   "density_source": {
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+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8479",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "SULFANILIC ACID",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-14",
+    "accessed": "2026-10-22"
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+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "sulphanilic acid; 4-aminobenzenesulphonic acid",
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+     "accessed": "2026-10-22"
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+     "H317": 98.6,
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+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
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+   "formula": "C10H10Fe",
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+   "density_kg_m3": null,
+   "fid_visible": true,
+   "evidence": "documented",
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+   "cas": "102-54-5",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "electrochemistry internal reference (Fc+/Fc)",
+   "ghs": {
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+     "H302",
+     "H332",
+     "H360",
+     "H373",
+     "H410"
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+    "pictograms": [
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+     "GHS07",
+     "GHS08",
+     "GHS09"
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+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
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+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/10219726",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Ferrocene (EC: 203-039-3)",
+     "reference_number": 8,
+     "accessed": "2026-10-22"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
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+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
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+   }
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+   "formula": "(C2H4N2)n polymer suspension (hexamethylenetetramine + hydrazine sulfate product)",
+   "molar_mass_kg_mol": null,
+   "phase": "aqueous",
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+   "cas": "9004-77-7",
+   "kind": "mixture",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "turbidity primary standard (4000 NTU suspension)",
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+    "basis": "no_data",
+    "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"
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+    "evidence": "assumption",
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+   }
+  },
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+   "name_zh": "聚苯乙烯乳胶标准粒子悬液",
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+   "phase": "aqueous",
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+   "source": "product-type description (composition typical of the product class)",
+   "kind": "mixture",
+   "composition": "monodisperse polystyrene spheres (e.g. 100 nm, 1 % w/v) in water with surfactant",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "particle-size check standard (DLS / laser diffraction); polymer density 1050 kg/m3 (polystyrene)",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"
+   },
+   "storage_class": "cold",
+   "storage": {
+    "class": "cold",
+    "flags": [],
+    "rule": "mixture: supplier storage condition",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "assumption",
+    "source": "latex standards are stored at 2-8 C, not frozen (assumption: typical supplier practice)"
+   }
+  },
+  "calibration_beads_fluorescent": {
+   "name_zh": "荧光校准微球（流式细胞仪）",
+   "formula": "polystyrene microspheres with dyes, aqueous",
+   "molar_mass_kg_mol": null,
+   "phase": "aqueous",
+   "density_kg_m3": 1050.0,
+   "fid_visible": false,
+   "evidence": "assumption",
+   "source": "product-type description (composition typical of the product class)",
+   "kind": "mixture",
+   "composition": "CS&T-type fluorescent polystyrene beads in buffer with azide",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "cytometer set-up standard; supplied cold (2-8 C)",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"
+   },
+   "storage_class": "cold",
+   "storage": {
+    "class": "cold",
+    "flags": [
+     "toxic_trace_azide"
+    ],
+    "rule": "mixture: supplier storage condition",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "assumption",
+    "source": "bead standards are stored at 2-8 C in the dark (assumption: typical supplier practice)"
+   }
+  },
+  "protein_ladder_prestained": {
+   "name_zh": "预染蛋白分子量标准",
+   "formula": "protein mixture in loading buffer",
+   "molar_mass_kg_mol": null,
+   "phase": "aqueous",
+   "density_kg_m3": 1100.0,
+   "fid_visible": false,
+   "evidence": "assumption",
+   "source": "product-type description (composition typical of the product class)",
+   "kind": "mixture",
+   "composition": "recombinant prestained proteins 10-250 kDa in Tris / glycerol loading buffer",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "SDS-PAGE marker; supplied frozen (-20 C)",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"
+   },
+   "storage_class": "cold",
+   "storage": {
+    "class": "cold",
+    "flags": [],
+    "rule": "mixture: supplier storage condition",
+    "temperature_c": [
+     -20,
+     -20
+    ],
+    "evidence": "assumption",
+    "source": "prestained ladders are stored at -20 C (assumption: typical supplier practice)"
+   }
+  },
+  "hbs_ep_plus_10x": {
+   "name_zh": "HBS-EP+ 缓冲液（10×）",
+   "formula": "HEPES / NaCl / EDTA / polysorbate 20 in water",
+   "molar_mass_kg_mol": null,
+   "phase": "aqueous",
+   "density_kg_m3": 1060.0,
+   "fid_visible": false,
+   "evidence": "assumption",
+   "source": "product-type description (composition typical of the product class)",
+   "kind": "mixture",
+   "composition": "0.1 M HEPES, 1.5 M NaCl, 30 mM EDTA, 0.5 % v/v surfactant P20, pH 7.4 (10x concentrate)",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "SPR running buffer concentrate (Biacore); store 2-8 C",
+   "ghs": {
+    "hazard_codes": [],
+    "basis": "no_data",
+    "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"
+   },
+   "storage_class": "cold",
+   "storage": {
+    "class": "cold",
+    "flags": [],
+    "rule": "mixture: supplier storage condition",
+    "temperature_c": [
+     2,
+     8
+    ],
+    "evidence": "assumption",
+    "source": "HBS-EP+ concentrate is stored at 2-8 C (assumption: typical supplier practice)"
+   }
+  },
+  "potassium_dihydrogen_phosphate": {
+   "name_zh": "磷酸二氢钾",
+   "formula": "H2KO4P",
+   "molar_mass_kg_mol": 0.136086,
+   "phase": "solid",
+   "density_kg_m3": 2340.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 516951 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "7778-77-0",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "pH 6.86 phosphate standard buffer component (DIN 19266 / NIST: 0.025 mol/kg with Na2HPO4)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 516951,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/516951",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "MONOPOTASSIUM DIHYDROGEN PHOSPHATE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 86TH  Edition 2005-2006. CRC Press, Taylor & Francis, Boca Raton,  FL 2005, p. 4-79",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 516951,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/516951",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Potassium dihydrogenorthophosphate (EC: 231-913-4)",
+     "reference_number": 33,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "disodium_hydrogen_phosphate": {
+   "name_zh": "磷酸氢二钠",
+   "formula": "HNa2O4P",
+   "molar_mass_kg_mol": 0.141959,
+   "phase": "solid",
+   "density_kg_m3": 1700.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 24203 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "7558-79-4",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "pH 6.86 phosphate standard buffer component (DIN 19266 / NIST: 0.025 mol/kg with KH2PO4)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 24203,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24203",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "DISODIUM HYDROGEN PHOSPHATE",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 4-90",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 24203,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/24203",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Disodium hydrogenorthophosphate (EC: 231-448-7)",
+     "reference_number": 29,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   }
+  },
+  "acetonitrile": {
+   "name_zh": "乙腈",
+   "formula": "C2H3N",
+   "molar_mass_kg_mol": 0.04105,
+   "phase": "liquid",
+   "density_kg_m3": 787.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 6342 (molecular formula / weight, density: CAMEO Chemicals)",
+   "cas": "75-05-8",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "HPLC mobile-phase solvent (stock bottle)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 6342,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6342",
+    "heading": "Density",
+    "depositor": "CAMEO Chemicals",
+    "record_name": "ACETONITRILE",
+    "original_reference": "U.S. Coast Guard. 1999. Chemical Hazard Response Information System (CHRIS) - Hazardous Chemical Data. Commandant Instruction 16465.12C. Washington, D.C.: U.S. Government Printing Office.",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H302",
+     "H312",
+     "H319",
+     "H332"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 6342,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6342",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "acetonitrile; cyanomethane",
+     "reference_number": 92,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H302": 99.8,
+     "H312": 94.3,
+     "H319": 99.8,
+     "H332": 95.1
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 293.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 6342,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6342",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETONITRILE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Cambridge, UK:  Royal Society of Chemistry, 2013., p. 14",
+    "accessed": "2026-10-23",
+    "text": "Burns with luminous flame; dielectric constant: 38.8 at 20 °C; constant boiling mixture with water contains 16% H2O and bp: 76 °C"
+   },
+   "viscosity_Pa_s": 0.00035,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 6342,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/6342",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ACETONITRILE",
+    "original_reference": "DeVito SC; Nitriles. Kirk-Othmer Encyclopedia of Chemical Technology. (1999-2014). New York, NY: John Wiley & Sons. Online Posting Date: Sept 14, 2007.",
+    "accessed": "2026-10-23",
+    "text": "0.35 cP at 20 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.19409,
+    "delta_h_J_mol": -29750.0,
+    "response_C_kg": 5.7056,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 490.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "benzene": {
+   "name_zh": "苯",
+   "formula": "C6H6",
+   "molar_mass_kg_mol": 0.07811,
+   "phase": "liquid",
+   "density_kg_m3": 875.6,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 241 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "71-43-2",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "component of an instrument's default check sample",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 241,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/241",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-34",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H315",
+     "H319",
+     "H340",
+     "H350",
+     "H372"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 241,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/241",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "benzene",
+     "reference_number": 146,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H225": 99.7,
+     "H304": 99.3,
+     "H315": 99.8,
+     "H319": 99.8,
+     "H340": 99.8,
+     "H350": 99.8,
+     "H372": 99.3,
+     "H412": 17.2
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "toxic",
+     "target_organ_toxicity"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 353.23,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 241,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/241",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-34",
+    "accessed": "2026-10-23",
+    "text": "80.08 °C"
+   },
+   "viscosity_Pa_s": 0.000604,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 241,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/241",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "BENZENE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 6-238",
+    "accessed": "2026-10-23",
+    "text": "0.604 mPa.s at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.7201,
+    "delta_h_J_mol": -31500.0,
+    "response_C_kg": 13.8393,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 661.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "caffeine": {
+   "name_zh": "咖啡因",
+   "formula": "C8H10N4O2",
+   "molar_mass_kg_mol": 0.19419,
+   "phase": "solid",
+   "density_kg_m3": 1230.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 2519 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "58-08-2",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "HPLC check standard (100 mg/L in water)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 2519,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2519",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "CAFFEINE",
+    "original_reference": "O'Neil, M.J. (ed.). The Merck Index - An Encyclopedia of Chemicals, Drugs, and Biologicals. Cambridge, UK:  Royal Society of Chemistry, 2013., p. 289",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H302"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 2519,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/2519",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "caffeine",
+     "reference_number": 270,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H302": 98.9
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 5888.60623,
+    "delta_h_J_mol": -64900.0,
+    "response_C_kg": 3.34,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1840.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "decane": {
+   "name_zh": "正癸烷",
+   "formula": "C10H22",
+   "molar_mass_kg_mol": 0.14228,
+   "phase": "liquid",
+   "density_kg_m3": 725.5,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 15600 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "124-18-5",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "GC n-alkane check mix component",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 15600,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/15600",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Decane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-142",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H304"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 15600,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/15600",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Decane (EC: 204-686-4)",
+     "reference_number": 27,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 447.25,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 15600,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/15600",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Decane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-142",
+    "accessed": "2026-10-23",
+    "text": "174.1 °C"
+   },
+   "viscosity_Pa_s": 0.000838,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 15600,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/15600",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Decane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 6-235",
+    "accessed": "2026-10-23",
+    "text": "2.188 mPa s at -25 °C; 1.277 mPa s at 0 °C; 0.838 mPa s at 25 °C; 0.598 mPa s at 50 °C; 0.453 mPa s at 75 °C; 0.359 mPa s at 100 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 9.57663,
+    "delta_h_J_mol": -46550.0,
+    "response_C_kg": 12.6627,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1000.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "hexane": {
+   "name_zh": "正己烷",
+   "formula": "C6H14",
+   "molar_mass_kg_mol": 0.08618,
+   "phase": "liquid",
+   "density_kg_m3": 660.6,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8058 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "110-54-3",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "solvent (stock bottle, GC dilutions)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 8058,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8058",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-HEXANE",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-282",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H315",
+     "H336",
+     "H361f",
+     "H372",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8058,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8058",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "n-hexane",
+     "reference_number": 101,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
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+     "H304": 98.2,
+     "H315": 98.1,
+     "H319": 11.5,
+     "H336": 97.4,
+     "H361": 93.7,
+     "H373": 95.4,
+     "H411": 99.9
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "target_organ_toxicity",
+     "environment"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 341.88,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8058,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8058",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-HEXANE",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-282",
+    "accessed": "2026-10-23",
+    "text": "68.73 °C"
+   },
+   "viscosity_Pa_s": 4.0,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8058,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8058",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-HEXANE",
+    "original_reference": "Gerhartz, W. (exec ed.). Ullmann's Encyclopedia of Industrial Chemistry. 5th ed.Vol A1: Deerfield Beach, FL: VCH Publishers, 1985 to Present., p. VB1 5-10 (1990)",
+    "accessed": "2026-10-23",
+    "text": "3.26X10-4 Pa-s at 20 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.45,
+    "delta_h_J_mol": -26600.0,
+    "response_C_kg": 12.5434,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 600.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "oxalic_acid": {
+   "name_zh": "草酸",
+   "formula": "C2H2O4",
+   "molar_mass_kg_mol": 0.09003,
+   "phase": "solid",
+   "density_kg_m3": 1900.0,
+   "fid_visible": false,
+   "evidence": "documented",
+   "source": "PubChem CID 971 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "144-62-7",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "silicate-channel reagent of the segmented-flow analyser",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 971,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/971",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "OXALIC ACID",
+    "original_reference": "Budavari, S. (ed.). The Merck Index - Encyclopedia of Chemicals, Drugs and Biologicals. Rahway, NJ: Merck and Co., Inc., 1989., p. 693",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H302",
+     "H312"
+    ],
+    "pictograms": [
+     "GHS07"
+    ],
+    "signal_word": "Warning",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 971,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/971",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "oxalic acid",
+     "reference_number": 98,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H302": 99.8,
+     "H312": 99.7,
+     "H318": 31.1
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 1.39499,
+    "delta_h_J_mol": -60000.0,
+    "response_C_kg": 0.0,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 748.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "propan_2_ol": {
+   "name_zh": "异丙醇",
+   "formula": "C3H8O",
+   "molar_mass_kg_mol": 0.0601,
+   "phase": "liquid",
+   "density_kg_m3": 785.1,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 3776 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "67-63-0",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "solvent (stock bottle, cleaning)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 3776,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3776",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOPROPANOL",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-442",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H336"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 3776,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3776",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "propan-2-ol; isopropyl alcohol; isopropanol",
+     "reference_number": 141,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H225": 99.9,
+     "H319": 99.9,
+     "H336": 98.7
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 355.45,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 3776,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3776",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOPROPANOL",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 3-442",
+    "accessed": "2026-10-23",
+    "text": "82.3 °C at 760 mm Hg"
+   },
+   "viscosity_Pa_s": 0.002038,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 3776,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/3776",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "ISOPROPANOL",
+    "original_reference": "Haynes, W.M. (ed.) CRC Handbook of Chemistry and Physics.   91st ed. Boca Raton, FL: CRC Press Inc., 2010-2011, p. 6-230",
+    "accessed": "2026-10-23",
+    "text": "2.038 mPa s at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.22616,
+    "delta_h_J_mol": -41300.0,
+    "response_C_kg": 6.7449,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 510.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "tetrahydrofuran": {
+   "name_zh": "四氢呋喃",
+   "formula": "C4H8O",
+   "molar_mass_kg_mol": 0.07211,
+   "phase": "liquid",
+   "density_kg_m3": 883.3,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8028 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "109-99-9",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "solvent of the solvent purification system",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 8028,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8028",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Tetrahydrofuran",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-474",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H319",
+     "H335",
+     "H351"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8028,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8028",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "tetrahydrofuran",
+     "reference_number": 102,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H225": 99.8,
+     "H302": 31.6,
+     "H319": 99.3,
+     "H335": 98.7,
+     "H336": 23.2,
+     "H351": 51.5
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 338.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8028,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8028",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Tetrahydrofuran",
+    "original_reference": "Lide, D.R. CRC Handbook of Chemistry and Physics 88TH    Edition 2007-2008. CRC Press, Taylor & Francis, Boca Raton,    FL 2007, p. 3-474",
+    "accessed": "2026-10-23",
+    "text": "65 °C"
+   },
+   "viscosity_Pa_s": 0.00053,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8028,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8028",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "Tetrahydrofuran",
+    "original_reference": "Flick, E.W. (ed.). Industrial Solvents Handbook 4 th ed. Noyes Data Corporation., Park Ridge, NJ., 1991., p. 536",
+    "accessed": "2026-10-23",
+    "text": "0.53 cP at 20 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 0.53856,
+    "delta_h_J_mol": -29810.0,
+    "response_C_kg": 7.4954,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 623.5 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "octane": {
+   "name_zh": "正辛烷",
+   "formula": "C8H18",
+   "molar_mass_kg_mol": 0.11423,
+   "phase": "liquid",
+   "density_kg_m3": 698.6,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 356 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "111-65-9",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C8)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 356,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/356",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-OCTANE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-426",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H225",
+     "H304",
+     "H315",
+     "H336",
+     "H400",
+     "H410"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "eu_harmonised_clp_annex_vi",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 356,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/356",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "Regulation (EC) No 1272/2008 of the European Parliament and of the Council",
+     "record_name": "octane; n-octane",
+     "reference_number": 76,
+     "accessed": "2026-10-23"
+    },
+    "notified_codes_pct": {
+     "H225": 100.0,
+     "H302": 28.3,
+     "H304": 100.0,
+     "H312": 28.3,
+     "H315": 100.0,
+     "H319": 31.6,
+     "H336": 99.9,
+     "H400": 96.2,
+     "H410": 98.6
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "environment"
+    ],
+    "rule": "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 398.77,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 356,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/356",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-OCTANE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-426",
+    "accessed": "2026-10-23",
+    "text": "125.62 °C"
+   },
+   "viscosity_Pa_s": 0.0005151,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 356,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/356",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-OCTANE",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 116",
+    "accessed": "2026-10-23",
+    "text": "0.5151 cP at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 2.07593,
+    "delta_h_J_mol": -37760.0,
+    "response_C_kg": 12.6177,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 800.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "nonane": {
+   "name_zh": "正壬烷",
+   "formula": "C9H20",
+   "molar_mass_kg_mol": 0.12825,
+   "phase": "liquid",
+   "density_kg_m3": 717.6,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8141 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "111-84-2",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C9)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 8141,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8141",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-NONANE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-420",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H226",
+     "H304",
+     "H315",
+     "H319",
+     "H332",
+     "H336",
+     "H400",
+     "H410",
+     "H411"
+    ],
+    "pictograms": [
+     "GHS02",
+     "GHS07",
+     "GHS08",
+     "GHS09"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8141,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8141",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Nonane (EC: 203-913-4)",
+     "reference_number": 24,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "flammable",
+   "storage": {
+    "class": "flammable",
+    "flags": [
+     "environment"
+    ],
+    "rule": "5 flammable liquid cat 3",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 423.62,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8141,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8141",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-NONANE",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 94th Edition. CRC Press LLC, Boca Raton: FL 2013-2014, p. 3-420",
+    "accessed": "2026-10-23",
+    "text": "150.47 °C"
+   },
+   "viscosity_Pa_s": 0.0006696,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 8141,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8141",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "N-NONANE",
+    "original_reference": "Riddick, J.A., W.B. Bunger, Sakano T.K. Techniques of Chemistry 4th ed., Volume II. Organic Solvents. New York, NY: John Wiley and Sons., 1985., p. 122",
+    "accessed": "2026-10-23",
+    "text": "0.6696 cP at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 4.45874,
+    "delta_h_J_mol": -42160.0,
+    "response_C_kg": 12.6432,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 900.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "undecane": {
+   "name_zh": "正十一烷",
+   "formula": "C11H24",
+   "molar_mass_kg_mol": 0.15631,
+   "phase": "liquid",
+   "density_kg_m3": 740.2,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 14257 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "1120-21-4",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C11)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 14257,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14257",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Undecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-544",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 14257,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14257",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Undecane (EC: 214-300-6)",
+     "reference_number": 21,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 469.05,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 14257,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14257",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Undecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-544",
+    "accessed": "2026-10-23",
+    "text": "195.9 °C"
+   },
+   "viscosity_Pa_s": 0.001098,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 14257,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/14257",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Undecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 15-22",
+    "accessed": "2026-10-23",
+    "text": "1.098 mPa s at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 20.56897,
+    "delta_h_J_mol": -50950.0,
+    "response_C_kg": 12.6787,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1100.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "dodecane": {
+   "name_zh": "正十二烷",
+   "formula": "C12H26",
+   "molar_mass_kg_mol": 0.17033,
+   "phase": "liquid",
+   "density_kg_m3": 749.5,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8182 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "112-40-3",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C12)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 8182,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8182",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Dodecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-236",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304",
+     "H319"
+    ],
+    "pictograms": [
+     "GHS07",
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8182,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8182",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Dodecane (EC: 203-967-9)",
+     "reference_number": 27,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 489.45,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 8182,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8182",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Dodecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-236",
+    "accessed": "2026-10-23",
+    "text": "216.3 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound",
+   "gc_7890b_fid": {
+    "k_ref": 44.17866,
+    "delta_h_J_mol": -55340.0,
+    "response_C_kg": 12.6929,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1200.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "tridecane": {
+   "name_zh": "正十三烷",
+   "formula": "C13H28",
+   "molar_mass_kg_mol": 0.18436,
+   "phase": "liquid",
+   "density_kg_m3": 756.4,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 12388 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "629-50-5",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C13)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 12388,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12388",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tridecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-524",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 12388,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12388",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Tridecane (EC: 211-093-4)",
+     "reference_number": 19,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 508.55,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 12388,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12388",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tridecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-524",
+    "accessed": "2026-10-23",
+    "text": "235.4 °C"
+   },
+   "viscosity_Pa_s": 0.001724,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 12388,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12388",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tridecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 15-21",
+    "accessed": "2026-10-23",
+    "text": "1.724 mPa s at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 94.88827,
+    "delta_h_J_mol": -59740.0,
+    "response_C_kg": 12.7042,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1300.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "tetradecane": {
+   "name_zh": "正十四烷",
+   "formula": "C14H30",
+   "molar_mass_kg_mol": 0.19839,
+   "phase": "liquid",
+   "density_kg_m3": 762.8,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 12389 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "629-59-4",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C14)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 12389,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12389",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tetradecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-498",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 12389,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12389",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Tetradecane (EC: 211-096-0)",
+     "reference_number": 23,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 526.72,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 12389,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12389",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tetradecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-498",
+    "accessed": "2026-10-23",
+    "text": "253.57 °C"
+   },
+   "viscosity_Pa_s": 0.00213,
+   "viscosity_T_K": 298.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 12389,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12389",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Tetradecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 15-21",
+    "accessed": "2026-10-23",
+    "text": "2.13 mPa s at 25 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 203.80391,
+    "delta_h_J_mol": -64140.0,
+    "response_C_kg": 12.7139,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1400.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "pentadecane": {
+   "name_zh": "正十五烷",
+   "formula": "C15H32",
+   "molar_mass_kg_mol": 0.21241,
+   "phase": "liquid",
+   "density_kg_m3": 768.5,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 12391 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "629-62-9",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C15)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 12391,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12391",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Pentadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-436",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 12391,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12391",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Pentadecane (EC: 211-098-1)",
+     "reference_number": 20,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 543.75,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 12391,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12391",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Pentadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 4-436",
+    "accessed": "2026-10-23",
+    "text": "270.6 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound",
+   "gc_7890b_fid": {
+    "k_ref": 437.73625,
+    "delta_h_J_mol": -68530.0,
+    "response_C_kg": 12.7229,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1500.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "hexadecane": {
+   "name_zh": "正十六烷",
+   "formula": "C16H34",
+   "molar_mass_kg_mol": 0.22644,
+   "phase": "liquid",
+   "density_kg_m3": 770.1,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 11006 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "544-76-3",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C16)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 11006,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11006",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Hexadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-294",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11006,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11006",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Hexadecane (EC: 208-878-9)",
+     "reference_number": 20,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 560.05,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 11006,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11006",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Hexadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-294",
+    "accessed": "2026-10-23",
+    "text": "286.9 °C"
+   },
+   "viscosity_Pa_s": 0.003474,
+   "viscosity_T_K": 293.15,
+   "viscosity_source": {
+    "database": "PubChem",
+    "cid": 11006,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11006",
+    "heading": "Viscosity",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Hexadecane",
+    "original_reference": "Schmidt R et al; Hydrocarbons. Ullmann's Encyclopedia of Industrial Chemistry. 7th ed. (1999-2015). New York, NY: John Wiley & Sons. Online Posting Date: 24 Nov 2014.",
+    "accessed": "2026-10-23",
+    "text": "3.474 mPa s at 20 °C"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 940.18326,
+    "delta_h_J_mol": -72930.0,
+    "response_C_kg": 12.7303,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1600.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "heptadecane": {
+   "name_zh": "正十七烷",
+   "formula": "C17H36",
+   "molar_mass_kg_mol": 0.2405,
+   "phase": "liquid",
+   "density_kg_m3": 778.0,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 12398 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "629-78-7",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C17; mp about 22 C)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 12398,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12398",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Heptadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-288",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 12398,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12398",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "N-heptadecane (EC: 211-108-4)",
+     "reference_number": 16,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "boiling_point_K": 576.15,
+   "boiling_point_source": {
+    "database": "PubChem",
+    "cid": 12398,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12398",
+    "heading": "Boiling Point",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Heptadecane",
+    "original_reference": "Larranaga, M.D., Lewis, R.J. Sr., Lewis, R.A.; Hawley's Condensed Chemical Dictionary 16th  Edition. John Wiley & Sons, Inc. Hoboken, NJ 2016., p. 704",
+    "accessed": "2026-10-23",
+    "text": "303 °C"
+   },
+   "viscosity_Pa_s": null,
+   "viscosity_T_K": null,
+   "viscosity_note": "not sourced: PubChem has no dynamic viscosity for this compound",
+   "gc_7890b_fid": {
+    "k_ref": 2019.35425,
+    "delta_h_J_mol": -77330.0,
+    "response_C_kg": 12.7352,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1700.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "octadecane": {
+   "name_zh": "正十八烷",
+   "formula": "C18H38",
+   "molar_mass_kg_mol": 0.2545,
+   "phase": "solid",
+   "density_kg_m3": 776.8,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 11635 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "593-45-3",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C18)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 11635,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11635",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Octadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-424",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 11635,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/11635",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Octadecane (EC: 209-790-3)",
+     "reference_number": 14,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 4337.23061,
+    "delta_h_J_mol": -81720.0,
+    "response_C_kg": 12.7425,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1800.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "nonadecane": {
+   "name_zh": "正十九烷",
+   "formula": "C19H40",
+   "molar_mass_kg_mol": 0.2685,
+   "phase": "solid",
+   "density_kg_m3": 785.5,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 12401 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "629-92-5",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C19)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 12401,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12401",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Nonadecane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-424",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [],
+    "pictograms": [],
+    "signal_word": null,
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": true,
+    "source": {
+     "database": "PubChem",
+     "cid": 12401,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/12401",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Nonadecane (EC: 211-116-8)",
+     "reference_number": 11,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 9315.63607,
+    "delta_h_J_mol": -86120.0,
+    "response_C_kg": 12.7491,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 1900.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
+  },
+  "icosane": {
+   "name_zh": "正二十烷",
+   "formula": "C20H42",
+   "molar_mass_kg_mol": 0.2825,
+   "phase": "solid",
+   "density_kg_m3": 788.6,
+   "fid_visible": true,
+   "evidence": "documented",
+   "source": "PubChem CID 8222 (molecular formula / weight, density: Hazardous Substances Data Bank (HSDB))",
+   "cas": "112-95-8",
+   "added_for": "default-lab inventory (2026-10-22)",
+   "use_note": "n-alkane retention-index standard component (C20, eicosane)",
+   "density_source": {
+    "database": "PubChem",
+    "cid": 8222,
+    "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8222",
+    "heading": "Density",
+    "depositor": "Hazardous Substances Data Bank (HSDB)",
+    "record_name": "n-Eicosane",
+    "original_reference": "Haynes, W.M. (ed.). CRC Handbook of Chemistry and Physics. 95th Edition. CRC Press LLC, Boca Raton: FL 2014-2015, p. 3-240",
+    "accessed": "2026-10-23"
+   },
+   "ghs": {
+    "hazard_codes": [
+     "H304"
+    ],
+    "pictograms": [
+     "GHS08"
+    ],
+    "signal_word": "Danger",
+    "basis": "echa_cl_notifications_ge10pct",
+    "not_classified": false,
+    "source": {
+     "database": "PubChem",
+     "cid": 8222,
+     "url": "https://pubchem.ncbi.nlm.nih.gov/compound/8222",
+     "heading": "Safety and Hazards > GHS Classification",
+     "depositor": "European Chemicals Agency (ECHA)",
+     "record_name": "Icosane (EC: 204-018-1)",
+     "reference_number": 13,
+     "accessed": "2026-10-23"
+    }
+   },
+   "storage_class": "general",
+   "storage": {
+    "class": "general",
+    "flags": [],
+    "rule": "8 no storage-relevant hazard",
+    "temperature_c": null,
+    "evidence": "derived",
+    "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes"
+   },
+   "gc_7890b_fid": {
+    "k_ref": 20008.40704,
+    "delta_h_J_mol": -90510.0,
+    "response_C_kg": 12.755,
+    "reference_temperature_K": 353.15,
+    "evidence": "derived",
+    "source": "spectral_library/gc_retention.json (nonpolar): NIST retention index 2000.0 (semi_standard_nonpolar) + enthalpy of vaporization + ECN response; column calibration is an assumption"
+   }
   }
-}
\ No newline at end of file
+ },
+ "schema_notes_zh": "1.1.0（2026-10-22，向后兼容，只增不改）：每个物质增加 ghs（危害代码、象形图、信号词、依据与 PubChem 来源）、storage_class / storage（存放类别、隔离标记、规则、温度）；液体增加 boiling_point_K 与 viscosity_Pa_s / viscosity_T_K（各带 PubChem 来源与原始文献）。新增默认实验室库存需要的物质（added_for）；混合物 kind = mixture、molar_mass_kg_mol 为 null。规则见 scripts/substances/apply_storage_hazard.py。",
+ "storage_classes": [
+  "flammable",
+  "acid",
+  "base",
+  "oxidizer",
+  "toxic",
+  "cold",
+  "compressed_gas",
+  "general"
+ ]
+}
diff --git a/catalog/catalog.csv b/catalog/catalog.csv
index d4d8f9bc5f8b2632ea4a31ce43c6c3413d7056b1..77e2691c867348b4c64862800b51c9f46c32a584 100644
--- a/catalog/catalog.csv
+++ b/catalog/catalog.csv
@@ -61,7 +61,7 @@ instrument.linari_rtadvanced,CHEM-059,Electrospinning system,Linari Nanotech,RT
 instrument.cytiva_nanoassemblrignite,CHEM-060,Microfluidic nanoparticle formulation system,Cytiva / Precision NanoSystems,NanoAssemblr Ignite,NanoAssemblr Ignite NIN0001微流控制备仪,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/cytiva_nanoassemblrignite,44,9,42,29,6,12,10,True,touchscreen,0.381,0.3527,0.38,assets/expansion_batch04/t5_automation/cytiva_nanoassemblrignite/model.glb,z,assets/expansion_batch04/t5_automation/cytiva_nanoassemblrignite/model.urdf,assets/expansion_batch04/t5_automation/cytiva_nanoassemblrignite/asset.contract.json
 instrument.glatt_miniglatt,CHEM-061,Fluid-bed granulator / coater,Glatt,Mini-Glatt,Glatt Mini-Glatt2012流化床制粒包衣仪,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/glatt_miniglatt,54,12,33,25,4,12,51,True,none,0.7057,0.7587,0.84,assets/expansion_batch04/t5_automation/glatt_miniglatt/model.glb,z,assets/expansion_batch04/t5_automation/glatt_miniglatt/model.urdf,assets/expansion_batch04/t5_automation/glatt_miniglatt/asset.contract.json
 instrument.quorum_q150tes,CHEM-062,Sputter & carbon coater,Quorum Technologies,Q150T ES Plus,Quorum Q150T ES Plus显微样品镀膜机,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/quorum_q150tes,52,7,40,40,6,10,11,True,touchscreen,0.585,0.5546,0.41,assets/expansion_batch04/t5_automation/quorum_q150tes/model.glb,z,assets/expansion_batch04/t5_automation/quorum_q150tes/model.urdf,assets/expansion_batch04/t5_automation/quorum_q150tes/asset.contract.json
-instrument.laboao_cvdltf12p50,CHEM-063,Chemical vapour deposition system,LABOAO,CVD-LTF12P50,LABOAO CVD-LTF12P50单温区化学气相沉积系统,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50,110,10,36,27,6,12,11,True,parameter_cycle,1.9073,0.62,1.378,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/model.glb,z,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/model.urdf,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json
+instrument.laboao_cvdltf12p50,CHEM-063,Chemical vapour deposition system,LABOAO,CVD-LTF12P50,LABOAO CVD-LTF12P50单温区化学气相沉积系统,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50,110,10,36,27,6,12,12,True,parameter_cycle,1.9073,0.62,1.378,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/model.glb,z,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/model.urdf,assets/expansion_batch04/t5_automation/laboao_cvdltf12p50/asset.contract.json
 instrument.arradiance_gemstarxt,CHEM-064,Atomic layer deposition system,Arradiance,GEMStar XT-SP (PEALD / thermal ALD),Arradiance GEMStar XT-SP单歧管PEALD/热ALD系统,Thin-Film & Functional Materials,assets/expansion_batch04/t5_automation/arradiance_gemstarxt,92,8,31,21,6,20,11,True,none,1.1726,0.6406,0.637,assets/expansion_batch04/t5_automation/arradiance_gemstarxt/model.glb,z,assets/expansion_batch04/t5_automation/arradiance_gemstarxt/model.urdf,assets/expansion_batch04/t5_automation/arradiance_gemstarxt/asset.contract.json
 instrument.jasco_j1500,CHEM-065,Circular dichroism spectrometer,JASCO,J-1500,JASCO J-1500 150W标准PMT电子圆二色光谱仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/jasco_j1500,60,2,25,18,6,9,11,True,none,1.055,0.6655,0.39,assets/expansion_batch04/t3_analytical/jasco_j1500/model.glb,z,assets/expansion_batch04/t3_analytical/jasco_j1500/model.urdf,assets/expansion_batch04/t3_analytical/jasco_j1500/asset.contract.json
 instrument.bruker_minispecmq20,CHEM-066,Time-domain NMR relaxometer,Bruker,minispec mq20,Bruker minispec mq20时域核磁弛豫分析仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/bruker_minispecmq20,59,1,21,17,6,8,18,True,none,0.7492,0.787,0.356,assets/expansion_batch04/t3_analytical/bruker_minispecmq20/model.glb,z,assets/expansion_batch04/t3_analytical/bruker_minispecmq20/model.urdf,assets/expansion_batch04/t3_analytical/bruker_minispecmq20/asset.contract.json
@@ -70,7 +70,7 @@ instrument.magritek_spinsolve80,CHEM-068,Benchtop NMR spectrometer,Magritek,Spin
 instrument.bruker_magnettechesr5000,CHEM-069,Benchtop EPR spectrometer,Bruker,Magnettech ESR5000,Bruker Magnettech ESR5000 电子顺磁共振谱仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/bruker_magnettechesr5000,57,1,21,19,6,7,12,True,none,0.397,0.426,0.2032,assets/expansion_batch04/t3_analytical/bruker_magnettechesr5000/model.glb,z,assets/expansion_batch04/t3_analytical/bruker_magnettechesr5000/model.urdf,assets/expansion_batch04/t3_analytical/bruker_magnettechesr5000/asset.contract.json
 instrument.jasco_p4200,CHEM-070,Digital polarimeter,JASCO,P-4200,JASCO P-4200 数字旋光仪,Molecular Spectroscopy & Structure,assets/expansion_batch03/t3_analytical/jasco_p4200,58,2,27,43,6,7,12,True,touchscreen,0.55,0.3582,0.21,assets/expansion_batch03/t3_analytical/jasco_p4200/model.glb,z,assets/expansion_batch03/t3_analytical/jasco_p4200/model.urdf,assets/expansion_batch03/t3_analytical/jasco_p4200/asset.contract.json
 instrument.hach_dr6000,CHEM-071,UV-Vis spectrophotometer,Hach,DR6000,Hach DR6000 紫外可见分光光度计,Molecular Spectroscopy & Structure,assets/basic40_batch02/t3_analytical/hach_dr6000,16,1,42,55,1,1,11,True,touchscreen,0.5,0.46,0.215,assets/basic40_batch02/t3_analytical/hach_dr6000/model.glb,z,assets/basic40_batch02/t3_analytical/hach_dr6000/model.urdf,assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json
-instrument.jasco_ftir4700,CHEM-072,FT-IR spectrometer,JASCO,FT/IR-4700,JASCO FT/IR-4700 傅里叶变换红外光谱仪,Molecular Spectroscopy & Structure,assets/basic40_batch02/t3_analytical/jasco_ftir4700,17,1,18,13,0,1,9,True,none,0.46,0.645,0.29,assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb,z,assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf,assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json
+instrument.jasco_ftir4700,CHEM-072,FT-IR spectrometer,JASCO,FT/IR-4700,JASCO FT/IR-4700 傅里叶变换红外光谱仪,Molecular Spectroscopy & Structure,assets/basic40_batch02/t3_analytical/jasco_ftir4700,17,1,18,13,0,1,10,True,none,0.46,0.645,0.29,assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb,z,assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf,assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json
 instrument.jasco_nrs5500,CHEM-073,Raman microscope,JASCO,NRS-5500,JASCO NRS-5500 显微拉曼光谱仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/jasco_nrs5500,61,4,26,23,6,7,8,True,none,1.15,0.89,0.67,assets/expansion_batch04/t3_analytical/jasco_nrs5500/model.glb,z,assets/expansion_batch04/t3_analytical/jasco_nrs5500/model.urdf,assets/expansion_batch04/t3_analytical/jasco_nrs5500/asset.contract.json
 instrument.applied_sx20,CHEM-074,Stopped-flow kinetics spectrometer,Applied Photophysics,SX20,Applied Photophysics SX20 停流反应动力学光谱仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/applied_sx20,82,6,30,19,6,9,9,True,none,1.56,0.5502,0.632,assets/expansion_batch04/t3_analytical/applied_sx20/model.glb,z,assets/expansion_batch04/t3_analytical/applied_sx20/model.urdf,assets/expansion_batch04/t3_analytical/applied_sx20/asset.contract.json
 instrument.edinburgh_fls1000tcspc,CHEM-075,Time-resolved fluorescence (TCSPC) spectrometer,Edinburgh Instruments,FLS1000,Edinburgh Instruments FLS1000 TCSPC 时间分辨荧光寿命光谱仪,Molecular Spectroscopy & Structure,assets/expansion_batch04/t3_analytical/edinburgh_fls1000tcspc,64,4,26,18,6,8,17,True,none,1.5257,0.7857,0.5475,assets/expansion_batch04/t3_analytical/edinburgh_fls1000tcspc/model.glb,z,assets/expansion_batch04/t3_analytical/edinburgh_fls1000tcspc/model.urdf,assets/expansion_batch04/t3_analytical/edinburgh_fls1000tcspc/asset.contract.json
@@ -172,7 +172,7 @@ instrument.cytiva_biacoret200,CHEM-170,Surface plasmon resonance system,Cytiva,B
 instrument.wtw_oxitopi,CHEM-171,Respirometric BOD system,WTW (Xylem),OxiTop-i,生化需氧量呼吸测定系统WTW OxiTop-i IS 6（6测头、PF 600瓶、IS 6感应搅拌台）,Biochemical & Wet-Chemistry Assays,assets/expansion_batch04/t4_measure/wtw_oxitopi,96,30,46,39,24,13,19,True,text_menu,0.265,0.1966,0.2556,assets/expansion_batch04/t4_measure/wtw_oxitopi/model.glb,z,assets/expansion_batch04/t4_measure/wtw_oxitopi/model.urdf,assets/expansion_batch04/t4_measure/wtw_oxitopi/asset.contract.json
 instrument.seal_aa500,CHEM-172,Segmented continuous-flow analyzer,SEAL Analytical,AA500,分段连续流动分析仪SEAL AA500（4通道营养盐：NOx、氨、磷酸盐、硅酸盐；带AS2 XY进样器）,Biochemical & Wet-Chemistry Assays,assets/expansion_batch04/t4_measure/seal_aa500,66,11,29,40,1,20,17,True,none,1.405,0.479,0.409,assets/expansion_batch04/t4_measure/seal_aa500/model.glb,z,assets/expansion_batch04/t4_measure/seal_aa500/model.urdf,assets/expansion_batch04/t4_measure/seal_aa500/asset.contract.json
 instrument.bmg_clariostarplus,CHEM-173,Multi-mode microplate reader,BMG LABTECH,CLARIOstar Plus,多模式微孔板读板仪BMG LABTECH CLARIOstar Plus（光谱仪吸光、LVF单色器荧光、偏振、发光，两个注射泵）,Biochemical & Wet-Chemistry Assays,assets/expansion_batch04/t4_measure/bmg_clariostarplus,28,5,22,37,2,7,11,True,none,0.4512,0.5168,0.401,assets/expansion_batch04/t4_measure/bmg_clariostarplus/model.glb,z,assets/expansion_batch04/t4_measure/bmg_clariostarplus/model.urdf,assets/expansion_batch04/t4_measure/bmg_clariostarplus/asset.contract.json
-instrument.mt_quantos_q2_xpe206dr,CHEM-174,Automated powder dosing system,METTLER TOLEDO,Quantos Q2 + XPE206DR,自动粉末定量分配仪 — METTLER TOLEDO Quantos Q2 + XPE206DR,Automation & Gas/Liquid Supply,assets/basic40_batch02/t5_automation/mt_quantos_q2,22,3,51,43,0,1,13,False,touchscreen,0.263,0.542,0.495,assets/basic40_batch02/t5_automation/mt_quantos_q2/model.glb,z,assets/basic40_batch02/t5_automation/mt_quantos_q2/model.urdf,assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json
+instrument.mt_quantos_q2_xpe206dr,CHEM-174,Automated powder dosing system,METTLER TOLEDO,Quantos Q2 + XPE206DR,自动粉末定量分配仪 — METTLER TOLEDO Quantos Q2 + XPE206DR,Automation & Gas/Liquid Supply,assets/basic40_batch02/t5_automation/mt_quantos_q2,25,6,51,43,0,2,13,False,touchscreen,0.263,0.542,0.495,assets/basic40_batch02/t5_automation/mt_quantos_q2/model.glb,z,assets/basic40_batch02/t5_automation/mt_quantos_q2/model.urdf,assets/basic40_batch02/t5_automation/mt_quantos_q2/asset.contract.json
 instrument.opentrons_flex_single_5_1000ul,CHEM-175,Automated liquid-handling robot,Opentrons,Flex (1-channel 5–1000 µL),自动移液工作站 — Opentrons Flex 单通道5–1000 µL,Automation & Gas/Liquid Supply,assets/basic40_batch02/t5_automation/opentrons_flex,29,4,33,41,0,16,9,False,touchscreen,0.87,0.6909,0.84,assets/basic40_batch02/t5_automation/opentrons_flex/model.glb,z,assets/basic40_batch02/t5_automation/opentrons_flex/model.urdf,assets/basic40_batch02/t5_automation/opentrons_flex/asset.contract.json
 instrument.azenta_automated_roll_heat_sealer_a4s,CHEM-176,Automated microplate heat sealer,Azenta Life Sciences,Automated Roll Heat Sealer (a4S),自动微孔板热封膜机,Automation & Gas/Liquid Supply,assets/basic40_batch02/t5_automation/azenta_heat_sealer,18,1,35,29,1,1,6,False,touchscreen,0.2312,0.5075,0.403,assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.glb,z,assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.urdf,assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json
 instrument.azenta_intellixcap_s1_46_0001,CHEM-177,Automated tube decapper/recapper,Azenta Life Sciences,IntelliXcap S1 46-0001,自动开盖封盖机,Automation & Gas/Liquid Supply,assets/basic40_batch02/t5_automation/azenta_intellixcap_s1,13,5,16,11,0,1,12,False,parameter_cycle,0.17,0.24,0.3,assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.glb,y,assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.urdf,assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/asset.contract.json
diff --git a/catalog/catalog.json b/catalog/catalog.json
index 795c0bd3a6f31a5525f47d5cfd4a27b9b147ed6a..26e1f084653f342308f06ba42a64d321ace7af9b 100644
--- a/catalog/catalog.json
+++ b/catalog/catalog.json
@@ -1,22 +1,22 @@
 {
  "name": "ChemLab-Assets",
- "version": "1.4.0",
+ "version": "1.5.0",
  "hf_dataset": "MBZUAI/ChemLab-Assets",
  "file_base_url": "https://huggingface.co/datasets/MBZUAI/ChemLab-Assets/resolve/main/",
  "totals": {
   "instruments": 203,
   "domains": 16,
   "makers": 119,
-  "components": 15299,
-  "mesh_parts": 15323,
-  "joints": 1327,
+  "components": 15302,
+  "mesh_parts": 15326,
+  "joints": 1330,
   "state_slots": 7769,
   "capabilities": 6823,
   "capabilities_unsupported": 787,
-  "mechanisms": 245,
+  "mechanisms": 246,
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-  "interface_points": 2547,
-  "sources": 3615,
+  "interface_points": 2548,
+  "sources": 3617,
   "with_output_templates": 179,
   "with_panel_ui": 106,
   "panel_ui_kinds": {
@@ -158,7 +158,7 @@
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    "n_interface_points": 1,
    "n_sources": 17,
-   "n_limitations": 17,
+   "n_limitations": 18,
    "isaac_lab": "bridged",
    "glb_up": "z",
    "output_templates": false,
@@ -1242,7 +1242,7 @@
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    "n_interface_points": 4,
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-   "n_limitations": 27,
+   "n_limitations": 28,
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@@ -1390,7 +1390,7 @@
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    "n_capabilities_implemented": 21,
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@@ -2190,7 +2190,7 @@
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@@ -3471,7 +3471,7 @@
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@@ -3577,7 +3577,7 @@
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@@ -3925,8 +3925,8 @@
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-   "n_sources": 9,
-   "n_limitations": 11,
+   "n_sources": 10,
+   "n_limitations": 12,
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    "glb_up": "z",
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@@ -4671,7 +4671,7 @@
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-   "n_limitations": 44,
+   "n_limitations": 45,
    "isaac_lab": "bridged",
    "glb_up": "z",
    "output_templates": true,
@@ -5108,13 +5108,13 @@
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    "n_state_slots": 42,
    "n_capabilities": 88,
-   "n_capabilities_implemented": 78,
-   "n_capabilities_unsupported": 10,
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+   "n_capabilities_unsupported": 9,
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    "n_readouts": 0,
    "n_interface_points": 1,
    "n_sources": 13,
-   "n_limitations": 20,
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    "output_templates": true,
@@ -5574,7 +5574,7 @@
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@@ -6086,7 +6086,7 @@
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@@ -6331,7 +6331,7 @@
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@@ -6478,7 +6478,7 @@
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-   "n_limitations": 30,
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@@ -7091,7 +7091,7 @@
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@@ -9020,7 +9020,7 @@
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@@ -9103,20 +9103,20 @@
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-   "n_mesh_parts": 16,
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+   "n_components": 25,
+   "n_mesh_parts": 19,
+   "n_joints": 6,
    "joint_types": {
-    "prismatic": 1,
-    "revolute": 2
+    "revolute": 4,
+    "prismatic": 2
    },
    "n_state_slots": 51,
    "n_capabilities": 43,
    "n_capabilities_implemented": 42,
    "n_capabilities_unsupported": 1,
-   "n_mechanisms": 3,
+   "n_mechanisms": 4,
    "n_readouts": 0,
-   "n_interface_points": 1,
+   "n_interface_points": 2,
    "n_sources": 13,
    "n_limitations": 22,
    "isaac_lab": "bridged",
@@ -9431,7 +9431,7 @@
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-   "n_limitations": 29,
+   "n_limitations": 28,
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    "glb_up": "z",
    "output_templates": true,
diff --git a/catalog/catalog.parquet b/catalog/catalog.parquet
index 1e749c6b6434c7ae4c8ef44a543c0d33c62e8dc4..fb6dec519232b1c07eda48baeee6c3e6a9a774c0 100644
--- a/catalog/catalog.parquet
+++ b/catalog/catalog.parquet
@@ -1,3 +1,3 @@
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-size 3656827
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+size 3658081
diff --git a/chemlab/COMPILE_GUIDE.md b/chemlab/COMPILE_GUIDE.md
new file mode 100644
index 0000000000000000000000000000000000000000..33b9b7e1b3d7a999a017d5774e42d6b4d0269145
--- /dev/null
+++ b/chemlab/COMPILE_GUIDE.md
@@ -0,0 +1,422 @@
+# chemlab compile layer: adding an instrument class
+
+The compile layer gives every instrument class one set of plain commands — `set-temp 80C`, `tare`, `transfer 50uL --from
+plate:A1 --to plate:B1` — and lowers each command to that instrument's own contract capabilities. It sits between the generic
+service (`chemlab/generic.py`, GenericCore) and the lab backend, plugged into the adapter hook. It has 30 classes (for example
+`balance`, `thermal` for temperature control and `liquid` for pipetting), a thin class and a shared layer that together cover
+all 203 instruments. This guide is what you need to add or extend a class: the rules, the files, the steps and the tests.
+
+```
+agent (sandbox) ── chemlab run INST VERB ... ──> GenericCore ──> adapter of INST (compile layer) ──> LabBackend ──> runtime
+                                                   │  generic commands unchanged:       │ same agent principal,
+                                                   │  list/describe/read/call/wait/...   │ the runtime checks again
+```
+
+An adapter only ever reaches the instrument through `core.backend` with the caller's own agent principal, exactly like
+`chemlab call`. Visibility rules, the output filter and the runtime's own checks stay in force. `chemlab call` stays available
+for everything a class does not cover.
+
+## 1. Files
+
+| part | file | notes |
+|---|---|---|
+| framework | `chemlab/compile/{units,errors,verbs,ctx,jobs,base,fragments,shared,deck,lowering,acceptance,mapgen}.py` | shared by every class; change with care and run the full test set |
+| a class | `chemlab/compile/classes/<class>.py` — verb table, handlers, class checks, summary | one module per class |
+| its mapping | `configs/adapters/<class>.json` — one fragment per class, members and per-instrument data | one fragment per class |
+| host-side world | `chemlab/compile/tasks/<class>_world.py` (lab-config set-up steps), `chemlab/compile/scenes/<x>.py` (only if the runtime needs a trusted scene, like the Flex) | per class |
+| lowering table | `chemlab/compile/tasks/<class>_lowering.py` | per class |
+| acceptance tasks | `chemlab/compile/tasks/<class>_tasks.py` | per class |
+| tests | `tests_compile/test_class_<class>.py` (two lines, see §8) | per class |
+| shared hooks | `chemlab/{generic,labbackend,adapters}.py` | the generic layer; a class never needs to change them |
+
+Suites and lowering tables are found by name (`tasks/<class>_tasks.py`, `tasks/<class>_lowering.py`); fragments by directory.
+There is no shared registry to edit, so two classes developed at the same time never touch the same file. Do not edit `configs/all203.json`.
+
+## 2. Steps to add a class
+
+1. **Read** each member's agent-visible capabilities and slots (`chemlab describe INST --json`), its contract, and the
+   manufacturer's documentation for the native vocabulary. Cite page references only; never copy manual text into code,
+   fragments or help.
+2. **Probe** each member in a small lab before writing code (what the default lab state is, what a call needs, how fast things
+   change): `GenericLab(dir, single([...]))` and `lab.core.handle(['chemlab', 'call', ...], 'agent')`; use `class_adapters: False`
+   in the config to see the plain generic layer. Note what needs host world (filled bath, sample, fixture) — the default lab
+   does not provide it.
+3. **Draft the mapping**: `python -m chemlab.compile.mapgen <class>` drafts a fragment from rules in `mapgen.RULES` (add a rule set
+   for a new class there), or write the fragment by hand. `python -m chemlab.compile.mapgen <class> --compare` shows how much the
+   rules find for an existing fragment.
+4. **Write the class module** (§3) and the **fragment** (§4). Keep instrument facts in the fragment, class logic in the module.
+5. **Lowering table** (§7): per member, verbs in order with the native calls each must make, written from the contracts.
+   `python -m chemlab.compile.lowering --class <class>` must PASS (calls equal, twin state equal after every step, one path).
+6. **Acceptance tasks** (§7): 8–10 for classes with 5 or more members (4–6 for small classes), at least two recovery tasks,
+   gold with `chemlab run` passes in the sandbox, NoAct fails: `python -m chemlab.compile.acceptance --class <class>`.
+7. **Tests**: `tests_compile/test_class_<class>.py`; then the full set (§8), including the generic parity for your members.
+8. **Document** in the fragment: membership decisions with reasons (who is in, who is out and why, primary / secondary) and
+   verbs not supported per member with reasons. Fix runtime or contract problems in the runtime or contract, not in the class.
+
+## 3. The class module
+
+```python
+from ..base import ClassAdapter, finite
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+class CentrifugeAdapter(ClassAdapter):
+    CLASS = 'agitation'                  # = the fragment's "class"
+    TITLE = 'spin, shake, mix'
+    ABOUT = 'one paragraph for describe'
+    STANDARDS = 'SiLA 2 ..., PyLabRobot ..., ASTM / pharmacopoeia terms'
+    ALWAYS = ('status',)                 # verbs every member has without a mapping entry
+    UNIT_KINDS = ('rotation', 'duration')
+    PATH_GROUPS = (('start', 'stop', 'result'),)   # one native path per group (§5.2)
+    CODES = {'LID_OPEN': ('LID_OPEN', 'the lid of {inst} is open.', 'close it: `chemlab run {inst} close lid`.')}
+
+    def build_verbs(self):
+        return {'spin': Verb('spin', 'spin at a speed for a time', self.h_spin,
+                             positionals=[Arg('SPEED', 'e.g. 4000rpm', kind='rotation')],
+                             options={'time': Opt('run time', kind='duration', metavar='TIME', default='5min')},
+                             preconditions=['lid closed', 'speed within the rotor range'],
+                             errors=['OUT_OF_RANGE (usage)', 'LID_OPEN (refused)'],
+                             reference='manual pages ...', example='chemlab run INST spin 4000rpm --time 5min')}
+
+    def summary(self, values):           # values: {slot: value} or a Ctx (use self.slot_si / self.val helpers)
+        return ['...one line...'], {'json': 'view'}
+
+    def h_spin(self, ctx, p):
+        m = self.vmap('spin')                                   # this member's mapping for the verb
+        w = p.pos[0]                                            # already SI (rad/s): verbs parse units
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])          # range from the contract, in SI
+        if (lo is not None and w < lo) or (hi is not None and w > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', '...', 'give a speed from ... to ...'))
+        self.requirements(ctx, 'spin')                          # the member's "requires" entries for this verb
+        ctx.check(not ctx.v(self.slot('lid_open')), 'LID_OPEN', 'the lid is open.', 'close it first.')
+        ctx.call(m['cap'], {m['arg']: self.arg_value(m['cap'], m['arg'], w)}, 'set the speed to %.0f rpm' % (w * 9.549))
+        return {'text': 'ok: ...\n', 'json': {...}}
+```
+
+What the base gives every class (do not re-implement): argument and unit parsing, `--dry-run` (checks run, every native call is
+listed, none is sent), destructive verbs (`destructive=True`) only preview without `--yes`, `--save-to`, unknown verbs with close
+matches, unsupported verbs with reasons (exit 6), `describe` / `help INST VERB` / `run INST VERB --help` / `run INST`, `read` in
+friendly units with the class view on top, error format, partial-progress reports, refusal explanation, the mapping check
+against the contract, `status`.
+
+The request context `ctx` (`ctx.py`): `ctx.v(slot)` (current value; `slot#key` for a key of an object slot via `self.slot_si`),
+`ctx.call(cap, args, step, refusal=, readback=, query=)` (one native call, validated against the contract schema first, recorded,
+read back), `ctx.check(ok, CODE, message, fix)` (a class precondition), `ctx.fail(err)` (raise with the steps done),
+`ctx.advance(seconds, until=fn, poll_s=)` (let lab time pass; the only way a class verb may move time — only in verbs that say
+they wait; the generic `chemlab wait` takes 60, 30s, 5min or 1.5h), `ctx.plan` / `ctx.notes` / `ctx.done`.
+
+## 4. The fragment (`configs/adapters/<class>.json`)
+
+```json
+{"class": "thermal", "adapter": "chemlab.compile.classes.thermal:ThermalAdapter", "about": "...",
+ "membership": {"primary": [...], "secondary": {...}, "excluded": {"slug": "reason"}},
+ "members": {
+  "julabo_corio_cd200f": {
+   "role": "primary",
+   "verbs": {"set-temp": {"cap": "thermal.set_temperature", "arg": "temperature_K"},
+             "heat": {"cap": "circulation.set_running", "arg": "running"},
+             "stir": {"speed_cap": "stirring.set_speed", "speed_arg": "speed_rad_s", "on_cap": "stirring.set", "on_arg": "on"},
+             "safety-limit": {"cap": "safety.configure", "arg": "limit_K", "args": {"mode": "limit"}}},
+   "slots": {"temp": "thermal.indicated_temperature_k", "set": "setpoint.fixed#temperature_k",
+             "display": {"slot": "display.temperature", "unit_slot": "unit"}},
+   "requires": {"set-temp": [{"slot": "interface.remote", "value": true, "code": "REMOTE_OFF",
+                              "message": "{inst} takes set points only in remote mode.", "fix": "`chemlab run {inst} remote on`."}]},
+   "codes": {"circulation.set_running:PRECONDITION_FAILED": {"code": "NOT_READY", "message": "...", "fix": "..."}, "UNSTABLE": {...}},
+   "unsupported": {"stir": "no stirrer: the bath is mixed by the circulation pump"},
+   "alternatives": {"stir": "what to do instead (shown as the fix)"},
+   "targets": {"zone": {"arg": "zone_index", "values": {"1": 0, "2": 1}}},
+   "locations": {"tray_01": {"position": 1}},
+   "path": "acquisition", "path_exceptions": ["sieving.measure"],
+   "params": {"tolerance_k": 0.5},
+   "notes": {"heat": ["shown in help INST heat"]}}}}
+```
+
+Keys a member may use: `verbs.<verb>` with `cap`, `arg`, `args` (fixed arguments), `<name>_cap` / `<name>_arg` for multi-call verbs,
+`reads` (state slots, for read-only verbs); `slots.<role>` (slot id, `slot#key`, or `{"slot", "unit", "unit_slot"}`);
+`requires`, `codes` (runtime code or `cap:CODE` -> class code, message, fix), `unsupported` (verb -> reason; every class verb a
+member lacks needs one), `alternatives`, `hides` (shared verb -> reason, §5.3), `shared_fallthrough`, `targets`, `locations`,
+`path` / `path_exceptions`, `params`, `notes` (INST is replaced by the instrument id), `role`, and `adapter` (a member-specific
+subclass, rarely needed).
+
+`requires` tests (base `requirements`; several tests in one entry must all hold; `"slot"` may be `slot#key`, or give `"key"`):
+`value`, `not` (list), `in` (list), `prefix` (text or list of texts), `contains_not` (an item a list / text slot must not
+contain), `min` / `max` (inclusive) / `gt` / `lt` (numbers; a missing value fails), `truthy`, `falsy`, `null`, `set` (not null); an
+entry without a test asks for a truthy value. Message and fix may use `{inst}` and `{value}`.
+
+Slot references in a mapping: `check_mapping` checks the values of keys named `slot`, `reads`, `slots_read` or ending in `_slot`
+when they look like slot ids (`component.field`, optionally `#key`, or a visible slot id). Other values under such keys (a rack
+slot `"A1"`, a number) are class data and are not checked. Never copy ranges, enums or units into a fragment: the adapter reads them
+from the contract (`arg_range_si`, `arg_enum`, `arg_unit`). `check_mapping` verifies every capability (agent-visible and
+implemented), argument name and slot against the contract at first use and in the tests.
+
+Members are matched by asset type (`asset_type_id` without `instrument.`), so a lab may name its instruments freely ("flex",
+"bal1", "bal2"). An entry that names its own `"adapter"` keeps it. The lab config switch `"class_adapters"`: `false` (none), a
+directory path (other fragments), or a list of class names.
+
+## 5. Rules
+
+### 5.1 Units: convert to the unit each argument declares
+
+The 203 contracts declare 145 unit strings; many arguments are not SI (°C / degC on 78 arguments, g, min, rpm, mL, mbar, nm, h,
+days, %), and one unit is spelled several ways (m^3 / m3, °C / degC, 1/s / s^-1, ohm / Ω). `units.py` has the alias table
+(`ALIASES`, `DECLARED` / `_DECL`: unit -> kind, factor, offset). Rules:
+
+- Verbs parse what the agent types into SI (`Arg(kind='temperature')`, `Opt(kind='duration')`; bare numbers take the kind's default
+  unit: µL, °C, s, rpm, mbar, g). Kinds: volume, mass, length, wavelength, wavenumber (cm-1), duration (fs ... days), temperature,
+  temperature_delta, heating_rate, rotation, angle, pressure, flow, mass_flow, fraction, frequency (Hz ... GHz), frequency_offset
+  (signed Hz, e.g. NMR), count_rate (/s, kcps), magnetic_field (T, mT, G), power, voltage, current, force, energy, speed, area,
+  concentration (mol/L, mM, µM, nM, pM), density (also mass concentration: g/L, mg/L, µg/L, mg/mL, µg/m3), amount (mol, mmol, µmol,
+  nmol, pmol), conductivity. Flow also takes m3/h, L/h and standard flows (sccm, slpm / slm, sccs), fraction
+  ppm / ppb, force pN / nN / µN / mN / kN, energy eV / keV, power µW / mW / µcal/s / cal/s, duration us / µs / μs; the declared
+  unit `1/min` is rpm (Linari). Kinds field_rate (mT/s), force_rate (N/s), resistance (Ω, kΩ, MΩ), sheet_resistance (Ω/sq),
+  moment (emu, A·m²), heat_capacity (J/K) and number (plain) are framework kinds too. Add a missing unit to units.py (the shared
+  table), not as a local copy in a class.
+- `units.fmt` never shows a non-zero value as 0: it moves to a smaller unit (1 Pa -> `1 Pa`, 5e-12 N -> `5 pN`, 2e-6 -> `2 ppm`;
+  durations under 0.05 s -> ms / µs; pressures below 1 mbar keep mbar with 3 significant digits, 5 Pa -> `0.05 mbar`;
+  kg/m³ below 100 shows as g/L, mg/L or µg/L, above as g/cm³; X-ray energies in keV / eV). `read` never shows a K slot that
+  holds a temperature difference (id or description says diff / delta / tdiff / 温差) in °C. Keep 15 significant digits when you round a native argument (`units.sig(x)`), never
+  `round(x, n)` (0.02° is 3.49e-4 rad; `round(.., 8)` breaks the runtime's grid check).
+- Handlers convert SI into the argument's declared unit with `self.arg_value(cap, arg, si)` (or `units.parse_for(text, schema)`
+  in one step), and check ranges in SI with `self.arg_range_si(cap, arg)`. Never assume an argument is SI.
+- Slots: `self.slot_si(values, spec)` gives SI for a slot in any declared unit, or a display slot whose unit is in another slot
+  (`{"slot": "display.temperature", "unit_slot": "unit"}` for BINDER C/F).
+- A temperature difference is `temperature_delta` (0.5K == 0.5C), not a temperature. Gauge and absolute pressure are never
+  converted into each other: the argument name says which one it is.
+- Tests on real arguments of several units are in `tests_compile/test_units.py` (`RealArguments`); add your class's odd units there
+  or in your class's own test file.
+
+### 5.2 One native path per verb
+
+Some instruments have two native paths for the same action (DMA 5002 / Abbemat `measurement.start` vs `acquisition.start`, HX204,
+MP70, Selekt, Extrahera). A member's mapping picks one path, and the verbs of one group (`PATH_GROUPS`, e.g. start / stop /
+result) use that path: their capabilities share one namespace (`"path"`, or the namespace of the first capability), and a result
+read from slots reads slots that the start capability changes (its contract `state_effects`). Exceptions are explicit
+(`"path_exceptions"`, which may also list state slots a result reads although the start capability's `state_effects` leave them
+out, e.g. the 8697 `sequence.start`). Enforced statically by `check_paths` (in `check_mapping`) and dynamically by the lowering check
+(`path_problems`). Prefer the acquisition core where both exist unless the manual path is the one the class
+verbs mean.
+
+### 5.3 Shared vocabulary, the shared layer and the override rule
+
+`compile/shared.py` defines the shared verbs as factories and `SharedAdapter` (class `shared`):
+
+| verb | lowers to (mapping key) |
+|---|---|
+| `power on\|off` | `power`: `{"cap": "power.set", "arg": "enabled"}` or a toggle `{"cap": "power.toggle", "toggle": true}` + `slots.power` |
+| `status` | the class view (every adapter) |
+| `open PART` / `close PART` | `open`: `{"parts": {"door": {"cap": "door.set", "arg": "angle_rad", "open": 1.57, "close": 0.0}, "lid": {"open_cap": "lid.open", "close_cap": "lid.close"}}}` |
+| `ack` / `estop` | `{"cap": "alarm.acknowledge"}` / `{"cap": "emergency.stop"}` |
+| `method KEY=VALUE ...` | `{"cap": "method.configure", "keys": {...class dictionary...}, "passthrough": true}` (§5.5) |
+| `start` | `{"cap": "acquisition.start", "job": "operation" \| "state" \| "none", "state": {...}}` (§5.4) |
+| `stop` / `result [--save-to F]` | `{"cap": ...}` / `{"cap": ...}` or `{"reads": [...]}` |
+| `wait [--max T]` | the caller's latest job on the instrument |
+
+`compile/shared_gen.py` generates `configs/adapters/shared.json` with `"layer": "shared"` for 198 instruments (`python -m chemlab.compile.shared_gen
+--write`; never hand-edit it — `test_shared_all203` checks that the generator reproduces it): power 194, open/close 101 (138 named
+parts), method 127, start 126, stop 118, result 108, ack 39, estop 21. The other five are the thin class (`configs/adapters/
+thin.json`, `classes/thin.py`: oxitopi, puresolvmd, dmt152, Liberty Blue, oligosynt), reviewed by hand. If your class needs a
+verb name the shared layer also has (power, open, close, ack, estop, method, start, stop, result, wait), your class verb wins on
+your members; give it the same meaning. In `method`, a native argument name with a bare number takes the unit the contract
+declares for it (`duration_s=60`); with a unit it is converted (`duration_s=1min`); class keys always take units. **Override rule:** an
+instrument in a class fragment and in the shared fragment gets a CompositeAdapter: class fragments first (primary role before
+secondary), the shared layer last; a verb belongs to the first part that supports it. So a class verb overrides the shared one,
+and the shared layer still answers the verbs the class does not have (`tests_compile/test_shared.py`). **A class's "unsupported"
+also wins over the shared layer:** a verb in your class table that a member marks unsupported (with its reason and
+alternative) is answered by your class with exit 6 on that member, never by the shared layer — unless the member lists it in
+`"shared_fallthrough": ["open"]`, which hands that verb back to the shared layer (e.g. a class that has no part table of its own
+for `open`). **Hiding a shared verb:** a class that replaces a shared verb by its own (GPC `run` instead of `start`, TLC
+`chromatogram` instead of `result`) declares it: class attribute `HIDES = {"start": "use `chemlab run INST run`"}` (all members) or
+member `"hides": {"result": "..."}`; or name the replacing verb: class `COVERS = {"start": "measure"}` / member `"covers":
+{"start": "measure"}` (reason: use `chemlab run INST measure`; it applies only on members where the covering verb is supported); the hidden verb answers exit 6 with that reason on those members, `run INST` lists it under
+"not on this instrument", `help INST start` says what replaces it; `shared_fallthrough` undoes it per member.
+**Ownership order on a composite instrument** (fragments.py `CompositeAdapter.owner`): (1) the first class part that supports
+the verb (primary before secondary); (2) else a class part that marks it unsupported or hides it (its reason); (3) else the
+shared layer. A class's "unsupported" therefore never blocks another class: on KS 4000 / Elma (agitation primary + thermal
+secondary) agitation's `"unsupported": {"set-temp": ...}` leaves `set-temp` to thermal. Class modules may reuse the factories
+(`self.table.update(shared.base_verbs(self))`).
+
+**Shared `method` sends the full argument set** (most contracts require every argument of `method.configure`): the keys the
+agent gives, the mapping's fixed `args`, and for every other required argument (and every argument chemlab sent last time) in
+this order: what the instrument reports (a visible slot `<namespace>.<arg>` such as `method.mode`, or a key of a visible object
+slot holding several arguments such as `method.current`), the last method chemlab sent on that capability (request log, any verb
+or `chemlab call`), the contract's `example_arguments`. The reply names the source of every value it did not get from the agent
+(`--json` `sources`); a required argument with no source is a usage error naming it; values outside the contract ranges are a
+usage error (BAD_SETTING) before anything is sent. Helpers for classes: `shared.full_method_args(ad, ctx, cap, given, fixed)`,
+`shared.reported_method`, `shared.last_sent`, `shared.method_sources_text`. The other generated shared verbs never need
+arguments they do not supply (checked over all 198 members).
+
+### 5.4 Jobs: three kinds of long action
+
+| kind | when | class | status / wait / cancel |
+|---|---|---|---|
+| operation | an async capability returns an operation_id (most `*.start`) | `jobs.OperationJob` | poll / cancel of the session |
+| run-type / state | progress only in slots (Flex protocol runs, furnace programmes, GC `run.start`, `cycle.start`) | `jobs.StateJob` (or a subclass, e.g. the liquid class's `RunJob`) | slot values; cancel = the class's stop call |
+| timed state change | no run object (reach a set point, a stable reading) | `jobs.ConditionJob` | a condition on the state; cancel stops waiting (or `on_cancel`) |
+
+A verb that starts a long action returns `job-N` (text and `--json` `job`). The agent follows it with the generic `chemlab status
+job-N`, `chemlab wait job-N [--max T]`, `chemlab cancel job-N`; `chemlab status` lists the caller's jobs. Jobs belong to their
+caller. In `--json` the job's `status` is the framework's (running / succeeded / failed / cancelled); the class's own word is in
+`<kind>_status` (e.g. `run_status: completed`). Job states: `jobs.RUNNING` lists the known running words (incl. `injecting`,
+`equilibrating`, `run`, `post`, ...), and any other text state that is not terminal (`jobs.TERMINAL`: completed, succeeded,
+failed, cancelled, aborted, stopped, idle, ready, ...) also counts as running, so an unknown run phase keeps the job alive. An
+operation whose poll says `succeeded` while its result names a known running phase (`phase: injecting`) is still running.
+`OperationJob(..., poll_s=N)` (or the member's `"params": {"job_poll_s": N}`) sets the lab seconds between polls while waiting:
+use 10-60 s where the runtime answers a poll with a whole curve. `self.wait_until(ctx, test, what, max_s, poll_s)` (with
+`self.moving_done([slots])`) waits for a lid, sash, drawer or stage to stop moving; refused NOT_SETTLED when it does not. Blocking variants (`wait-temp`, `weigh --stable`, `set-temp --wait`) move lab
+time with `ctx.advance` and say how long they waited.
+
+### 5.5 Method keys per class
+
+`method` is the hardest verb (chromatography alone has 9 method shapes). Each class defines a small dictionary of canonical keys
+with units — e.g. chromatography `flow=1mL/min oven=40C..250C@10K/min inj=1uL wavelength=254nm`, spectroscopy `from=200nm to=800nm
+step=1nm` — and each member maps them: `"method": {"cap": ..., "keys": {"flow": {"arg": "flow_ml_min", "kind": "flow"}}}`. Keys the
+dictionary does not have pass through by native argument name (`"passthrough": true`), still parsed into the declared unit.
+Document the dictionary in the class module docstring and in `help INST method`.
+
+### 5.6 Named locations and `--zone / --channel / --cell / --head`
+
+- A deck of labware (Flex): `deck.py` (`LABWARE:WELL`, lists, ranges in Opentrons order, trash, home), built from the lab-config
+  `"deck"` plus the contract's slot geometry; the trusted host's scene registers the same deck with the runtime.
+- Other named places (autosampler trays, rack positions, robot ports): `self.location(ctx, name)` looks the name up in the lab
+  config entry's `"locations"` (task / lab specific) and then the mapping's `"locations"` (fixed by the instrument), with close
+  matches on a miss.
+- Several identical units on one instrument: one option each, `--zone` (heating blocks, reactor pads), `--channel` (pumps, gas
+  lines), `--cell` (measuring cells), `--head` (measuring / dosing heads): `verbs.target_opt('zone')` in the verb and the member's
+  `"targets": {"zone": {"arg": NATIVE, "values": {"1": native, ...}, "required": false}}`; `self.target_args(ctx, parsed)` lowers
+  them. Do not invent per-class spellings (`--pad`, `--line`, ...).
+
+### 5.7 Records: `--save-to FILE`
+
+Verbs that return a record (results, spectra, chromatograms, images, a temperature log) take `--save-to FILE` (`save_to_opt()`):
+the full reply is written as JSON into the agent's work dir (paths outside it are a usage error, nothing sent). Files the runtime
+writes are already copied into the work dir by the generic layer.
+
+### 5.8 Errors and refusals
+
+Every error says what is wrong, how to fix it, whether the instrument changed and the steps done before it (composite verbs):
+
+```
+error[refused/UNSTABLE]: the reading of ohaus_px224e is not stable (a draft-shield door is open), so it cannot tare.
+fix: close the doors (`chemlab run ohaus_px224e door close`), then retry with --wait 30s.
+instrument changed: no
+request: r-0001
+```
+
+Exit codes are the generic ones: 2 usage (nothing sent), 3 refused, 4 unexpected, 6 not supported on this instrument. Check what
+you can before sending (class checks with `ctx.check`, member requirements in `requires`); when the runtime still refuses with a
+generic code, `explain_refusal` names the reason from the member's `codes`, the class `CODES`, or the contract preconditions with
+the state already read (`It checks ...; now ...`). Override `explain_refusal` only to infer a reason from the state (the balance
+class turns the XPR's bare PRECONDITION_FAILED into UNSTABLE / POWER_OFF / ZERO_RANGE).
+
+### 5.9 World set-up belongs to the host
+
+What the lab operator does before the agent starts (fill a bath, register a sample, install a fixture, place a load) is
+lab-config set-up (`"setup"` steps: capability calls as operator or `"evaluator": true`, `{"host": method, "kwargs": ...}`) or task
+`world(lab)` code — never class verbs and never adapter code. Examples: `tasks/thermal_world.py` (JULABO bath model before power-on,
+Elma tank fill), `tasks/balance_tasks.py` (`place`: pan.set_load as the evaluator, or the XPR cell's contact force). A runtime that
+needs a trusted scene during the session (the Flex's tip confirmations) gets a scene class in the entry (`"scene":
+"module:Class"`, `scenes/flex.py`).
+
+**The default lab.** `configs/all203.json` is a ready lab: `chemlab/default_world.py` (generated by
+`python -m chemlab.default_world_gen` from the class worlds: lowering `config()`s and, recorded as steps, the function worlds of
+particle_surface and quant_analyzer) + `chemlab/default_world_overrides.py` (hand, with sources), merged by make_config. Its steps
+carry `"default": GROUP` (utility, accessory, consumable, standard, state). A class world that needs a different start sets
+`"default_world": false` on the entry (all default steps off, e.g. "_empty" variants, `W.bare`) or adds a step
+`{"replace_default": [GROUP, ...]}`; a world step identical to a default step runs once. The lab's containers (bottles, standards,
+consumables, cylinders) are in `configs/inventory_default.json` (`chemlab/inventory.py`; `chemlab list --inventory [ID]`). After a
+class world changes: re-run the generator, then make_config, then `tests_generic/test_default_world.py`.
+
+## 6. Pitfalls
+
+- The default lab is a ready world (see 5.9): a task that tests a missing fixture or an empty cell must switch the default off
+  for that entry. Probe first; put the world in
+  tasks, the reason in `codes`.
+- Lab time moves only with `chemlab wait` (or a verb that says it waits). Clock steps are applied lazily per instrument; a read
+  flushes them. A changed load or door shows up only after a clock step.
+- The twin's own "stable" / "reached" flags can rise early (an older XPR twin said stable 1.5 s after a load change while 0.4 % low).
+  Waiting verbs add a settle check (two readings 1 s apart within 2 d) instead of trusting one flag.
+- Member-specific rules hide in the contract preconditions and the runtime (JULABO only takes set points in remote mode; KS 4000
+  takes safety limits only with heating off; CellXpert set points in 0.1 °C steps; the SPX zero range counts from the calibration
+  zero). Turn each into a `requires` entry or a class check with a fix.
+- Composite verbs report partial progress: do the checks that can fail before the first native call (e.g. stir checks the
+  fixture before setting the speed).
+- Never call host methods from an adapter, never use the evaluator principal in a class, never put manual text into code or docs.
+- A class module that fails to build its adapter (an exception in `__init__` / `build_verbs`) is left out of the lab and recorded
+  in `fragments.LOAD_ERRORS`, so other classes keep working; the class tests build adapters with `strict=True` and fail on it.
+- A handler may raise the generic `usage(...)` (e.g. from `coerce`): it stays a usage error (exit 2), not INTERNAL.
+- Write fragment files atomically (`fragments.write_json_atomic(path, obj)`: temp file + rename) from your generator: a lab
+  loading fragments while you rewrite one otherwise reads half a file (the loader retries once).
+- Runtimes with no advance mode whose timed events run only in `host_update()` (Agilent 8697; DR6000 also syncs on access) get it
+  called after every clock step by the lab backend (`inst.clock_hook`); no scene is needed for that any more.
+
+## 7. Lowering table and acceptance tasks
+
+`tasks/<class>_lowering.py`:
+
+```python
+from .thermal_world import config          # optional: the lab config with the class's world (else all203)
+CASES = {'julabo_corio_cd200f': {'prep': None, 'steps': [
+    ('set-temp 40C', []),                                              # refused by a class check: no native call
+    ('remote on', [('interface.set_remote', {'enabled': True})]),
+    ('set-temp 40C', [('thermal.set_temperature', {'temperature_K': 313.15})]),
+    ('#wait 2', None),                                                 # lab time passes on both labs
+    ('wait-temp --max 30min', []),
+]}}
+```
+
+Expected calls are written from the contracts (capability, arguments in the declared unit), not derived from the mapping. For
+analysis steps whose arguments are measured arrays, an expected item may be `(capability, callable(arguments) -> bool)`, or the
+whole expectation a `callable(calls) -> bool`; inside expected arguments the matchers `lowering.Measured()` (a finite number or
+a non-empty list / object) and `lowering.Obs(n, fixed, measured)` (n observation objects: fixed fields equal, measured fields
+present) stand for measured values; `None` means not checked (use it only for state-dependent calls). `('#host what', fn)` runs
+`fn(backend)` on the lab and on the twin (the lab operator swaps a sample in the middle of a case) and compares their states. The
+check runs each verb on a lab with adapters, compares the native calls, replays the same calls (same request ids) and clock
+advances on a twin `LabBackend` without chemlab, and compares the instrument's full evaluator view after every step; it also
+checks the one-path rule (on a composite instrument, each part only on the verbs it owns). Cover every verb of every member, refusals included (`[]`), a dry run, and an unsupported verb.
+
+`tasks/<class>_tasks.py`: `TASKS = [{'id', 'kind', 'instruments', 'config' (fn(cfg) -> cfg, optional) or 'lab_config' (fn() ->
+whole config), 'world' (fn(lab), optional), 'instruction', 'gold' (bash with `chemlab run`), 'check' (fn(c))}]` and
+`main(only, noact)` returning `run_suite(...)`. Checkers read `c.ev(iid)` (evaluator view, truth slots included), `c.work_file()`,
+`c.number_file()`; `c.near()`, `c.equal()`, `c.add()`. Gold must pass in the sandbox, NoAct must fail; include recovery tasks (the
+gold triggers the error, reads `--json` `.error.code`, and recovers as the fix says). Results go to `compile_results/<class>/`.
+
+## 8. Tests (all must pass before reporting)
+
+```bash
+cd Chemistry-Sim/chemlab/tests_compile
+PY=python3                       # Python 3.10+ with the runtime requirements (numpy < 2.4, scipy, pillow, ...)
+$PY -m unittest test_units test_framework test_shared test_visibility   # framework + visibility of every adapter output
+$PY -m unittest test_class_<class>                                 # mapping fits every contract, lowering, acceptance
+CHEMLAB_PARITY_CLASSES=<class> $PY -m unittest test_generic_parity test_visibility   # generic sweeps + visibility on your members
+cd ../tests_generic && $PY -m unittest test_generic_core test_generic_sandbox test_mcp_shell   # generic layer unchanged
+cd .. && $PY -m unittest discover -s tests                         # the Flex pilot's gate and sandbox
+```
+
+`test_class_<class>.py` is two lines:
+
+```python
+from helpers import class_suite
+ThermalClass = class_suite('thermal')
+```
+
+`test_generic_parity` runs `sweep.equivalence` and `sweep.ready` (with the visibility scan of describe / read output, now with
+class sections) on the members of the class fragments — `CHEMLAB_PARITY_CLASSES=a,b` limits it to your classes — each run in its
+own directory `build/compile_parity/<pid>-<time>/` (generic_results/ untouched), so runs at the same time never collide.
+`test_visibility` takes the same filter. Lowering runs go to `build/lowering_runs/<class>/<instrument>/`. A mapping that does not
+fit its contract never breaks the generic commands of that instrument (they fall back to the generic path; `chemlab run` answers
+MAPPING_ERROR), but `test_class_<class>` fails on it.
+
+## 9. Coverage and examples
+
+All 203 instruments have `chemlab run` verbs: 198 have a primary class (3 of them also a secondary class), 5 are in the thin
+class (shared verbs only, reviewed by hand) and the shared layer adds the common verbs wherever a contract has them. The 30
+classes are agitation, balance, bioassay, chromatography, coating, digestion, dosing, electrical, electrochem, enclosure,
+evaporation, extraction, formulation, gas_fluid, imaging, labware_automation, liquid, mechanical, particle_surface,
+property_meter, quant_analyzer, reactor, sample_intro, solid_prep, spectroscopy, structure, thermal, thermal_analysis,
+titration and wash_sterilize (one fragment each in `configs/adapters/`).
+
+Small classes to read first: `balance` (3 members: power, zero, tare, weigh [--stable], unit, door, status) and `thermal`
+(set-temp [--wait], heat, temp, wait-temp, stir, safety-limit, remote, power, status). A member may bring its own adapter class
+(`"adapter"` in its fragment entry), as the NE-1000 syringe pump does inside `liquid` (`classes/syringe_pump.py`).
+Twins refuse to stop or change another caller's run (ACCESS_DENIED): the classes say NOT_YOURS, and their BUSY fix says to
+wait instead of stop when the run is not the caller's job.
diff --git a/chemlab/README.md b/chemlab/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..034c83700d3cd548da6f6474e9b85c62987920d2
--- /dev/null
+++ b/chemlab/README.md
@@ -0,0 +1,216 @@
+# chemlab
+
+chemlab is a command line for LLM agents that operate the 203 simulated instruments of ChemLab-Assets. An agent works
+in a shell where `chemlab` is the only way to reach the lab. It lists instruments, reads their state, calls their
+functions, waits for simulated time to pass and reads their screens, much as a person would use a terminal.
+
+It has two layers on top of the instrument runtimes in `scripts/`:
+
+* **Generic layer.** Every instrument exposes the capabilities and state slots of its own contract (`asset.contract.json`)
+  that are visible to an agent. The commands are the same for all 203: `chemlab call mt_xpr204e balance.tare`.
+* **Compile layer.** The instruments are grouped into 30 classes (balance, thermal, liquid handling, chromatography,
+  spectroscopy, ...), plus a thin class and a shared layer for verbs that most instruments have. Each class has one set of
+  verbs in plain units, for example `chemlab run ika_plate_rctdigital set-temp 80C`. A verb is translated into the
+  instrument's own calls. Units are converted, ranges and preconditions are checked first, and errors say how to fix them.
+
+The lab runs on the fast simulation runtimes (Python, no physics engine). The default lab has all 203 instruments set up
+as at the start of a working day, with an inventory of bottles, standards, consumables and gas cylinders in their storage
+places. There are 276 acceptance tasks with automatic checkers.
+
+## Requirements
+
+* **Python 3.10+** with the runtime requirements of this repository (`pip install -r requirements.txt`; NumPy must be below
+  2.4, and two runtimes need CoolProp 7.2.0).
+* **The dataset files.** chemlab reads the contracts and data in `assets/` and imports the runtimes in `scripts/`. The
+  Hugging Face dataset contains everything. A clone of the GitHub repository needs the asset data first:
+  `python tools/download_assets.py --data-only` (3D models are not needed).
+* **A C compiler** (`cc`, `gcc` or `clang`, or set `CC`). The command-line client (`client/chemlab_client.c`) is compiled
+  once, on first use, into `chemlab/build/bin/chemlab`.
+* **For the agent sandbox:** Linux on x86_64 with Landlock ABI 3 or newer (Linux 6.2+ with `landlock` in the kernel's LSM
+  list; TCP blocking needs Linux 6.7+) and `/usr/bin/bash`. `jq` is useful inside the sandbox. No root, Docker or user
+  namespaces are needed.
+
+Without the sandbox, chemlab stops with a message that says what is missing. For local, trusted use you can opt out with
+`--no-sandbox`: the shell then runs as you, with no isolation, and a warning is printed. Do not evaluate agents that way.
+
+## Start a lab
+
+Run everything from this `chemlab/` folder:
+
+```bash
+cd chemlab
+python -m chemlab.gserve --only mt_xpr204e --run 'chemlab list'                 # one command in the sandbox
+python -m chemlab.gserve --only ika_plate_rctdigital mt_xpr204e --shell          # interactive sandboxed bash
+python -m chemlab.gserve --run 'chemlab list'                                    # all 203 instruments (ready in about 20 s)
+python -m chemlab.gserve --only mt_xpr204e --mcp                                 # the generic commands as MCP tools on stdio
+python -m chemlab.gserve --only mt_xpr204e                                       # serve; prints CHEMLAB_SOCKET / CHEMLAB_TOKEN
+```
+
+| option | meaning |
+|---|---|
+| `--only ID ...` | only these instruments (default: every instrument of the config) |
+| `--config FILE` | lab config (default `configs/all203.json`, the default lab) |
+| `--run CMD` / `--shell` / `--mcp` | one sandboxed command, an interactive sandboxed shell, or an MCP server on stdio |
+| `--dir DIR` | run directory: socket, `core_log.jsonl`, `captures/`, `work/` (default `build/glab/<name>`) |
+| `--no-setup` | start every instrument as its runtime creates it (no default lab, no bring-up) |
+| `--step S` | lab clock step in simulated seconds (default 1.0) |
+| `--no-sandbox` | no agent sandbox (opt-in, local and trusted use only; prints a warning) |
+
+The agent's shell starts in `work/`, the only folder it can write to. Report files, saved records and screen captures go
+there.
+
+## Commands
+
+| command | what it does |
+|---|---|
+| `chemlab list [--domain D]` | instruments in the lab: id, name, domain; `[panel]` marks a front panel |
+| `chemlab list --inventory [ID\|PLACE]` | the lab's containers: what is in them, how much, and where they are stored |
+| `chemlab describe INST` | agent-visible capabilities (argument types, units, ranges; `[async]`), state slots, front panel, class verbs |
+| `chemlab help INST CAP` | one capability in full, with an example call (`help INST panel` explains the gestures) |
+| `chemlab read INST [SLOT ...]` | observations with units and quality (valid / estimated / unavailable) |
+| `chemlab call INST CAP [--ARG VALUE ...] [--args JSON] [--save-to FILE]` | call one native capability |
+| `chemlab write INST SLOT VALUE` | set a writable state slot |
+| `chemlab run INST [VERB ...] [--dry-run]` | class verbs (see below); `chemlab run INST` lists them |
+| `chemlab status [OP\|JOB]`, `chemlab cancel OP\|JOB` | asynchronous operations (`op-N`) and class jobs (`job-N`) |
+| `chemlab wait TIME`, `chemlab wait OP\|JOB [--max TIME]` | let simulated time pass: `60`, `30s`, `5min`, `1.5h` |
+| `chemlab time` | the simulated clock |
+| `chemlab panel INST press KEY [--hold S] [--with KEY2]` | front-panel gestures; also `turn KNOB N` (`+3` clockwise, `-3`), `switch SW POS`, `touch DISPLAY X Y [--hold S] [--to X2 Y2]` |
+| `chemlab screen INST [DISPLAY] [-o FILE.png]` | capture a display as a PNG in the work dir |
+| `chemlab log [--last N] [--full]` | your own past requests and replies |
+
+Every command takes `--json`. `--request-id ID` makes a repeat of the same command return the first reply instead of
+running it again; the same id with a different command is refused.
+
+## Class verbs and native capabilities
+
+`chemlab run INST VERB` uses the compile layer. Values take units (`80C`, `50uL`, `300rpm`, `5min`). Ranges, the
+instrument's state and its preconditions are checked before anything is sent. `--dry-run` lists the native calls that
+would be made. Long actions return a job (`job-N`) that you follow with `chemlab status`, `wait` and `cancel`. Liquid
+handlers use named locations (`plate:A1`, `reservoir:A1-A6`). Verbs that delete or reset need `--yes`; without it they
+only show what they would do.
+
+`chemlab call INST CAP` uses the generic layer. It calls the contract capability as it is: values are given as the
+contract defines them (SI units, e.g. `--temperature_K 353.15`), and nothing is converted or checked beforehand. The
+runtime checks every call itself. Use it for anything a class does not cover. `chemlab describe INST` shows both the
+class verbs and the native capabilities.
+
+## Exit codes
+
+| code | meaning |
+|---|---|
+| 0 | success, including a started asynchronous operation or job, and a dry run |
+| 2 | usage error: unknown command, instrument, capability, slot or verb, bad value or unit, path outside the work dir. Nothing was sent to the instrument |
+| 3 | refused or failed by the instrument (or by a class precondition), with its error code |
+| 4 | unexpected: a runtime exception or an internal error |
+| 5 | the lab service cannot be reached (printed by the client) |
+| 6 | not supported by this instrument twin |
+
+## Errors
+
+Every error says what is wrong, how to fix it and whether the instrument changed:
+
+```
+$ chemlab run ika_plate_rctdigital set-temp 900C          # exit code 2
+error[usage/OUT_OF_RANGE]: set point 900.0 °C is outside the range of ika_plate_rctdigital (0.0 °C to 310.0 °C).
+fix: give a set point from 0.0 °C to 310.0 °C.
+instrument changed: no
+request: r-0003
+```
+
+From the generic layer, a refusal also prints the contract's explanation of the error code (`contract:`), the runtime's
+own message when it differs, and the side effects. `--json` gives the same content as
+`{"ok": false, "error": {"class", "sila_class", "code", "message", "fix", ...}}`. The error classes follow SiLA 2:
+ValidationError (exit 2), DefinedExecutionError (exit 3 and 6) and UndefinedExecutionError (exit 4). A composite verb that
+fails partway lists the steps it had already done.
+
+## Agent view and evaluator view
+
+Each caller gets its own agent identity in every runtime. It sees only what the contract marks as visible to agents:
+hidden capabilities answer exactly like missing ones, and evaluator-only state (true values, injected faults) never
+appears in any output. Host file paths are replaced by `[host path]`. The evaluator view (`lab.backend.evaluator_read(...)`)
+exists only in the host process, for task checkers. The sandboxed shell cannot reach it.
+
+## Lab config, default lab and inventory
+
+A lab config is a JSON file that lists the instruments and how each one is set up. `configs/all203.json` is the
+**default lab**: all 203 instruments as a well-run lab has them at the start of a day, with utilities connected, standard
+accessories installed, consumables stocked, and check standards and reference materials in place. The lab is ready at
+simulated t = 1800 s, the longest warm-up. Set-up steps that only the lab may do run as the evaluator or as a lab-operator
+identity, never as the agent. Some steps are tagged with a group (utility, accessory, consumable, standard or state), and
+a task world can switch groups off.
+
+`configs/inventory_default.json` lists the lab's containers, one record each: substance ids from
+`assets/reactions/substances.json`, amounts in physical units, storage places (cabinets, fridge, freezer, gas cylinder rack,
+bench shelf) and the labware types of `assets/labware/catalog.json`. Agents see it with `chemlab list --inventory`. Moving
+a container is a robot or human action, not a chemlab command. `configs/all203_quantos_powder.json` with
+`inventory_task_quantos_powder.json` is a task-world variant (powder dosing with an empty Quantos).
+
+How each runtime host is built and clocked comes from `configs/host_recipes.json`. `python -m chemlab.make_config`
+regenerates the configs.
+
+## The clock
+
+The lab has one simulated clock, and `chemlab wait` is the only way it moves. Time passes in steps (1 s by default) for all
+instruments together, so time spent in thought or in shell commands does not count. An instrument catches up on its
+steps the next time it is read or called. The result is the same as stepping it at once, but idle instruments cost
+nothing. Verbs that say they wait (`weigh --stable`, `measure --wait`, `set-temp --wait`) move the clock themselves and
+report how long they waited.
+
+## Tasks
+
+The 276 acceptance tasks (5 to 14 per class) each come with a task world, an instruction, a reference solution and an
+automatic checker. The checker reads the evaluator view, the request log and the report files the instruction asks for.
+
+```bash
+python -m chemlab.tasks list [--class balance]                 # id, class, kind, instruments
+python -m chemlab.tasks show b01_tare_beaker                   # the instruction the agent gets
+python -m chemlab.tasks run b01_tare_beaker --solution my.sh   # run a bash solution in the task's sandbox, then check it
+python -m chemlab.tasks run b01_tare_beaker --gold             # the reference solution
+python -m chemlab.tasks shell b01_tare_beaker                  # work in the task world by hand; checked when the shell exits
+```
+
+To put your agent on a task, give it the instruction, let it produce `chemlab` commands, and run them as the solution (or
+drive `shell`). Results go to `build/tasks/<id>/<time>/`: `transcript.json`, `core_log.jsonl`, `check.json` and the work
+dir. The exit code is 0 when the checker passes and 1 when it fails.
+
+## Adding a class
+
+See [COMPILE_GUIDE.md](COMPILE_GUIDE.md). A class is a module in `chemlab/compile/classes/`, a mapping fragment in
+`configs/adapters/<class>.json`, a lowering table and acceptance tasks in `chemlab/compile/tasks/`, and a two-line test.
+
+## Tests
+
+Run each test module on its own, from the folder it lives in:
+
+```bash
+cd chemlab/tests_generic && python -m unittest test_generic_core test_generic_sandbox test_mcp_shell test_host_recipes   # under a minute
+cd chemlab/tests_generic && python -m unittest test_default_world                     # all 203 from the default lab, minutes
+cd chemlab/tests_compile && python -m unittest test_units test_framework test_framework_rules test_shared
+cd chemlab/tests_compile && python -m unittest test_class_balance                      # one class: mappings, lowering, acceptance
+cd chemlab && python -m unittest discover -s tests                                      # the Opentrons Flex pilot gate and sandbox
+cd chemlab/tests_generic && python -m unittest test_all203                             # every capability of all 203, slow
+```
+
+Sandbox tests skip when the sandbox cannot run on the machine, and the check against the Matterix simulator bridge skips
+when that checkout is not present. Do not run two of the all-203 sweeps (`test_all203`, `test_generic_parity`) at the
+same time.
+
+## Limits
+
+* **Simulation, not hardware.** The runtimes are fast models of the instruments built from published specifications.
+  Readings, timings and failure modes follow those models, not a real device, and chemlab has no hardware back end.
+* **Sandbox.** The sandbox uses Landlock and seccomp, not a container. Landlock does not restrict `connect()` on UNIX
+  sockets, so other same-user UNIX sockets stay reachable in principle. A hand-written shared library loaded with
+  `LD_PRELOAD` into an allowed tool would still be confined, but could try those sockets. The shell shares the user id and
+  the PID namespace with the host. For hard isolation, run chemlab inside a container or a separate user account. The
+  seccomp filter is written for x86_64.
+* **Compile layer coverage.** Class verbs cover each class's common workflow. Instrument-specific functions stay on
+  `chemlab call`. Five one-of-a-kind instruments (thin class) have only the shared verbs. Some world changes (loading a
+  sample into an instrument whose loading is not an agent action, swapping cells, placing loads on a balance pan) are done
+  by the lab or a robot, not by chemlab commands.
+* **Inventory.** The inventory is the state at the start of the day. It does not follow containers that are moved during
+  a session.
+* **Text.** The English help is generated from the contract structure. Contract descriptions written in Chinese are shown
+  as they are, marked `(zh)`.
+* **MCP.** The MCP server exposes the generic commands (list, describe, help, read, call, write, status, cancel, wait,
+  panel, screen, log). Class verbs are not MCP tools yet; use the command line for `chemlab run`.
diff --git a/chemlab/chemlab/__init__.py b/chemlab/chemlab/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..10e2c6c222ed5c4285fc9b3493b39fe7b9ce443b
--- /dev/null
+++ b/chemlab/chemlab/__init__.py
@@ -0,0 +1,6 @@
+"""chemlab: an LLM-facing, bash-like command interface for lab instruments (pilot: Opentrons Flex on the fast simulation).
+
+Layers: backend (lab protocol 1.0.0 + time) -> core service / gate (verbs, units, checks, errors, jobs, lock, log) ->
+unix-socket server -> thin `chemlab` client inside a Landlock + seccomp sandbox.
+"""
+__version__ = '0.1.0'
diff --git a/chemlab/chemlab/acceptance.py b/chemlab/chemlab/acceptance.py
new file mode 100644
index 0000000000000000000000000000000000000000..aa2b5878687fb1b5e361f33194cd221a4120092d
--- /dev/null
+++ b/chemlab/chemlab/acceptance.py
@@ -0,0 +1,52 @@
+"""Acceptance suite: every task's gold solution through the sandboxed chemlab client must pass its checker, and an empty
+solution (NoAct) must fail it.
+
+    python -m chemlab.acceptance [--only t02_single_transfer] [--speed 20] [--out pilot_results/acceptance]
+"""
+import argparse
+import json
+import sys
+import time
+from pathlib import Path
+
+from .flex_tasks import BY_ID, TASKS, run_task
+
+ROOT = Path(__file__).resolve().parents[1]
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument('--only', action='append')
+    ap.add_argument('--speed', type=float, default=20.0)
+    ap.add_argument('--out', default=str(ROOT / 'pilot_results' / 'acceptance'))
+    ap.add_argument('--no-noact', action='store_true')
+    a = ap.parse_args(argv)
+    tasks = [BY_ID[t] for t in a.only] if a.only else TASKS
+    out = Path(a.out)
+    rows = []
+    t0 = time.monotonic()
+    for task in tasks:
+        gold = run_task(task, out / task['id'] / 'gold', speed=a.speed)
+        noact = None if a.no_noact else run_task(task, out / task['id'] / 'noact', solution='', speed=a.speed)
+        rows.append({'task': task['id'], 'kind': task['kind'], 'gold_passed': gold['passed'], 'noact_failed': None if noact is None else not noact['passed'],
+                     'gold_wall_s': gold['wall_s'], 'gold_sim_s': gold['sim_time_s'], 'requests': gold['requests'], 'rejected': gold['rejected'],
+                     'backend_calls': gold['backend_calls'], 'failed_checks': [c['check'] for c in gold['checks'] if not c['ok']]})
+        flag = 'PASS' if gold['passed'] and (noact is None or not noact['passed']) else 'FAIL'
+        print('%-30s %s  gold=%s noact_failed=%s  %d requests (%d refused), %.1f s wall, %.0f s sim%s' % (
+            task['id'], flag, gold['passed'], rows[-1]['noact_failed'], gold['requests'], gold['rejected'], gold['wall_s'], gold['sim_time_s'],
+            ('  failed: ' + '; '.join(rows[-1]['failed_checks'])) if rows[-1]['failed_checks'] else ''), flush=True)
+    ok = all(r['gold_passed'] and r['noact_failed'] is not False for r in rows)
+    summary = {'passed': ok, 'tasks': rows, 'wall_s': round(time.monotonic() - t0, 1), 'speed': a.speed}
+    out.mkdir(parents=True, exist_ok=True)
+    (out / 'summary.json').write_text(json.dumps(summary, indent=1))
+    lines = ['| task | kind | gold passes | NoAct fails | requests | refused (expected) | backend calls | wall s | sim s |', '|---|---|---|---|---|---|---|---|---|']
+    for r in rows:
+        lines.append('| %s | %s | %s | %s | %d | %d | %d | %.1f | %.0f |' % (r['task'], r['kind'], 'yes' if r['gold_passed'] else 'NO',
+                     {True: 'yes', False: 'NO', None: '-'}[r['noact_failed']], r['requests'], r['rejected'], r['backend_calls'], r['gold_wall_s'], r['gold_sim_s']))
+    (out / 'summary.md').write_text('\n'.join(lines) + '\n')
+    print('ALL PASS' if ok else 'SOME FAILED')
+    return 0 if ok else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/adapters.py b/chemlab/chemlab/adapters.py
new file mode 100644
index 0000000000000000000000000000000000000000..faabf961f299503256c64e939f1d662854d32d44
--- /dev/null
+++ b/chemlab/chemlab/adapters.py
@@ -0,0 +1,74 @@
+"""Hook for the class-level core (step 2, the "compile layer") between the generic commands and the backend.
+
+Step 1 exposes each instrument's own contract capabilities through generic commands.  Step 2 adds verb tables per instrument
+class (pipetting, temperature control, balance, ...), in chemlab/compile/.  They plug in here without changing the generic
+commands:
+
+* ``InstrumentAdapter.intercept(core, req)`` sees every instrument-scoped request first (describe, help, read, call, write,
+  panel, screen, status, cancel, wait OP) and may answer it itself; returning None (the default) leaves it to the generic
+  path.  ``req`` has ``command``, ``instrument``, ``args``, ``caller``, ``request_id`` and ``flags``.
+* ``InstrumentAdapter.verbs()`` lists class-level verbs; they are run with ``chemlab run INST VERB ...`` (without an adapter
+  it answers that the instrument has no class-level verbs yet) and are listed by ``describe``.
+* ``InstrumentAdapter.dispatch_run(core, req, args)`` handles ``chemlab run INST ...`` (args = [VERB, ...]); the default
+  checks the verb against verbs() and calls run().  Class adapters override it (help, unsupported verbs with reasons).
+* Adapters come from the lab config: an entry may name one (``"adapter": "package.module:ClassName"``), and the per-class
+  config fragments ``configs/adapters/<class>.json`` are merged at lab load (chemlab/compile/fragments.py; the config key
+  ``"class_adapters": false`` switches them off).  An adapter reaches the instrument only through ``core.backend`` with the
+  caller's agent principal, exactly like the generic commands, so the visibility rules and the runtime's own checks stay in
+  force.
+* Class-level jobs (job-N) answer the generic ``status`` / ``wait`` / ``cancel`` through ``route_job``.
+"""
+import importlib
+
+
+class InstrumentAdapter:
+    """Base class: does nothing (every request goes to the generic path)."""
+
+    def __init__(self, instrument_id, config_entry):
+        self.instrument_id = instrument_id
+        self.config_entry = config_entry
+
+    def verbs(self):
+        """{verb: one-line summary} shown by describe; empty for the base class."""
+        return {}
+
+    def intercept(self, core, req):
+        """Return a reply dict ({'text': ..., 'json': {...}}) to answer the request here, or None for the generic path."""
+        return None
+
+    def run(self, core, req, verb, args):
+        """Handle ``chemlab run INST VERB ARGS``."""
+        raise NotImplementedError
+
+    def dispatch_run(self, core, req, args):
+        """``chemlab run INST`` + args: the verb must be one of verbs(), then run()."""
+        from .generic import usage
+        inst = self.instrument_id
+        if not args or args[0] not in self.verbs():
+            raise usage('UNKNOWN_VERB', '%s has no class-level verb %s.' % (inst, repr(args[0]) if args else ''),
+                        'use its own capabilities: `chemlab describe %s`, then `chemlab call %s CAP ...`.' % (inst, inst))
+        return self.run(core, req, args[0], args[1:])
+
+
+def load_adapters(config):
+    """{instrument id: adapter}: entries that name one, then the per-class config fragments for the others."""
+    out = {}
+    for e in config.get('instruments', []):
+        spec = e.get('adapter')
+        if not spec:
+            continue
+        mod, _, cls = spec.partition(':')
+        out[e['id']] = getattr(importlib.import_module(mod), cls)(e['id'], e)
+    if config.get('class_adapters', True) is not False:
+        from .compile.fragments import adapters_for
+        for iid, ad in adapters_for(config).items():
+            out.setdefault(iid, ad)
+    return out
+
+
+def route_job(core, req, cmd, args):
+    """Generic status / wait / cancel of a class-level job (job-N); None when args do not name one."""
+    if not args or not str(args[0]).startswith('job-'):
+        return None
+    from .compile.jobs import route
+    return route(core, req, cmd, args)
diff --git a/chemlab/chemlab/backend.py b/chemlab/chemlab/backend.py
new file mode 100644
index 0000000000000000000000000000000000000000..af24860c1242d46f6d7dd58ba41b371b6729d1a9
--- /dev/null
+++ b/chemlab/chemlab/backend.py
@@ -0,0 +1,357 @@
+"""Layer 1 - backend: the lab protocol 1.0.0 (describe / read / invoke / write / poll) plus simulated time.
+
+The core service (layer 2) talks only to the five protocol calls and the clock.  Everything else in this module is the
+trusted host side of the simulation and is never reachable from the agent: the deck registry (labware, wells, tips and
+the joint targets the runtime needs), the scene that confirms tip pick-up and drop (the runtime asks a trusted host to
+confirm each tip event at the current joint position; on a real robot or in Isaac the physics does this), fault
+injection for recovery tasks, other users' runs, and the evaluator view used by the task checkers.
+
+This backend wraps the existing Chemistry-Sim runtime (scripts/basic40_runtime_automation.py, OpentronsFlexRuntime) and
+does not change it.
+"""
+import copy
+import json
+import sys
+import threading
+import time
+from pathlib import Path
+
+CHEMSIM_ROOT = Path(__file__).resolve().parents[2]
+SCRIPTS_DIR = CHEMSIM_ROOT / 'scripts'
+FLEX_ASSET_DIR = CHEMSIM_ROOT / 'assets/basic40_batch02/t5_automation/opentrons_flex'
+FLEX_CONTRACT = FLEX_ASSET_DIR / 'asset.contract.json'
+PROTOCOL_VERSION = '1.0.0'
+
+# Opentrons labware used by the pilot (load names from the Opentrons labware library; geometry rounded).
+LABWARE_TYPES = {
+    'opentrons_flex_96_tiprack_1000ul': dict(kind='tiprack', display='Opentrons Flex 96 Tip Rack 1000 uL', rows=8, cols=12,
+                                             pitch_m=0.009, z_m=0.080, tip_capacity_m3=1e-6),
+    'opentrons_flex_96_tiprack_200ul': dict(kind='tiprack', display='Opentrons Flex 96 Tip Rack 200 uL', rows=8, cols=12,
+                                            pitch_m=0.009, z_m=0.080, tip_capacity_m3=2e-7),
+    'opentrons_flex_96_tiprack_50ul': dict(kind='tiprack', display='Opentrons Flex 96 Tip Rack 50 uL', rows=8, cols=12,
+                                           pitch_m=0.009, z_m=0.080, tip_capacity_m3=5e-8),
+    'nest_12_reservoir_15ml': dict(kind='reservoir', display='NEST 12 Well Reservoir 15 mL', rows=1, cols=12, pitch_m=0.009,
+                                   z_m=0.030, well_capacity_m3=1.5e-5),
+    'corning_96_wellplate_360ul_flat': dict(kind='plate', display='Corning 96 Well Plate 360 uL Flat', rows=8, cols=12,
+                                            pitch_m=0.009, z_m=0.040, well_capacity_m3=3.6e-7),
+    'opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap': dict(kind='tuberack', display='Opentrons 24 Tube Rack, Eppendorf 1.5 mL',
+                                                                   rows=4, cols=6, pitch_m=0.0193, z_m=0.035, well_capacity_m3=1.5e-6),
+}
+ROW_NAMES = 'ABCDEFGH'
+# The runtime's travel box is a simulation convention (contract limitation).  Slot centres from the contract geometry are
+# scaled by 0.75 into that box so that every well of a labware on any working slot is a reachable joint target.
+DECK_SCALE = 0.75
+TRASH_Z_M = 0.120
+LIMITS = {'x_m': (-0.24, 0.24), 'y_m': (-0.21, 0.21), 'z_m': (0.0, 0.22)}
+EVIDENCE = 'chemlab fast-sim deck registry (task setup by the trusted host)'
+
+
+def _load_runtime_module():
+    if str(SCRIPTS_DIR) not in sys.path:
+        sys.path.insert(0, str(SCRIPTS_DIR))
+    import basic40_runtime_automation as module
+    return module
+
+
+def _same(a, b):
+    return all(abs(a[k] - b[k]) <= 1e-9 for k in ('x_m', 'y_m', 'z_m'))
+
+
+def well_names(rows, cols):
+    """Opentrons well order: column by column (A1, B1, ... H1, A2, ...)."""
+    return ['%s%d' % (ROW_NAMES[r], c + 1) for c in range(cols) for r in range(rows)]
+
+
+class BackendError(Exception):
+    """Host-side setup error (bad deck, unknown labware)."""
+
+
+class FastSimFlexBackend:
+    """Opentrons Flex on the fast simulation (Chemistry-Sim runtime), one instance."""
+    instrument = 'flex'
+    asset_type_id = 'instrument.opentrons_flex_single_5_1000ul'
+    contract_path = FLEX_CONTRACT
+
+    def __init__(self, deck, *, instance_id='flex1', faults=None, protocols=()):
+        self._m = _load_runtime_module()
+        self.rt = self._m.OpentronsFlexRuntime()
+        self.iid = instance_id
+        self.rt.create_instance(instance_id)
+        self._lock = threading.RLock()
+        self._sessions = {}
+        self._visibility = {}
+        self._scene_n = 0
+        self._dispenses = {}
+        self.faults = dict(faults or {})
+        self.fault_events = []
+        self.clock_errors = []
+        self._clock_thread = None
+        self._clock_stop = threading.Event()
+        self.speed = None
+        self.register_principal('scene', 'debug')
+        self.register_principal('evaluator', 'evaluator')
+        self._geometry = json.loads(FLEX_CONTRACT.read_text())['extensions']['chemistry_lab.geometry_contract']['slots']
+        self._build_deck(deck)
+        for p in protocols:
+            self.rt.host_store_protocol(self.iid, copy.deepcopy(p))
+
+    # ------------------------------------------------------------------ principals
+    def register_principal(self, name, visibility='agent'):
+        with self._lock:
+            if name not in self._sessions:
+                self.rt.register_principal(name, visibility=visibility, instance_ids=[self.iid])
+                self._sessions[name] = self.rt.session(name)
+                self._visibility[name] = visibility
+            return name
+
+    def _session(self, principal):
+        if principal not in self._sessions:
+            raise KeyError('unknown principal %r' % principal)
+        return self._sessions[principal]
+
+    # ------------------------------------------------------------------ lab protocol 1.0.0
+    def describe(self, principal):
+        with self._lock:
+            return self._session(principal).describe(instance_id=self.iid)
+
+    def read(self, principal, state_ids=None):
+        with self._lock:
+            return self._session(principal).read(instance_id=self.iid, state_ids=state_ids)
+
+    def write(self, principal, state_id, value, request_id):
+        with self._lock:
+            return self._session(principal).write(instance_id=self.iid, state_id=state_id, value=value, request_id=request_id)
+
+    def poll(self, principal, operation_id):
+        """The Flex runtime is synchronous (no operation ids); long work is a protocol run read through run.state."""
+        self._session(principal)
+        return {'protocol_version': PROTOCOL_VERSION, 'instance_id': self.iid, 'request_id': None, 'operation_id': operation_id,
+                'status': 'unsupported', 'state_revision': None, 'clock': {'domain': 'simulation', 'time_s': self.now()},
+                'result': {}, 'observations': {}, 'error': {'code': 'UNSUPPORTED', 'message': 'no asynchronous operations',
+                                                           'retryable': False, 'side_effects': 'none'}}
+
+    def invoke(self, principal, capability_id, arguments, request_id):
+        with self._lock:
+            session = self._session(principal)
+            if self.faults.get('raise_on') == capability_id:
+                return self._failed(request_id, 'BACKEND_EXCEPTION', 'injected backend fault')
+            try:
+                self._scene_before(capability_id, arguments)
+                response = session.invoke(instance_id=self.iid, capability_id=capability_id, arguments=arguments, request_id=request_id)
+            except Exception as exc:                                    # a runtime bug must not kill the service
+                return self._failed(request_id, 'BACKEND_EXCEPTION', '%s: %s' % (type(exc).__name__, exc))
+            if response.get('status') == 'succeeded':
+                self._scene_after(principal, capability_id, arguments)
+            return response
+
+    def _failed(self, request_id, code, message):
+        return {'protocol_version': PROTOCOL_VERSION, 'instance_id': self.iid, 'request_id': request_id, 'operation_id': None,
+                'status': 'failed', 'state_revision': None, 'clock': {'domain': 'simulation', 'time_s': self.now()}, 'result': {},
+                'observations': {}, 'error': {'code': code, 'message': message, 'retryable': False, 'side_effects': 'unknown'}}
+
+    # ------------------------------------------------------------------ simulated time
+    def now(self):
+        return self.rt.time_s
+
+    def advance(self, dt_s):
+        self.advance_to(self.now() + float(dt_s))
+
+    CLOCK_STEP_S = 0.5
+
+    def advance_to(self, t_s):
+        """Move simulated time forward continuously.  The runtime runs at most about two protocol commands per clock call
+        (it never catches up a long jump), so time is advanced in steps of CLOCK_STEP_S."""
+        with self._lock:
+            self._service_run_tip_events()
+            while self.rt.time_s < t_s:
+                self.rt.host_set_clock(float(min(t_s, self.rt.time_s + self.CLOCK_STEP_S)))
+                self._service_run_tip_events()
+
+    def start_clock(self, speed):
+        """Simulated time follows wall time x speed (a background thread), until stop_clock()."""
+        self.stop_clock()
+        self.speed = float(speed)
+        self._clock_stop.clear()
+        t0_sim, t0_wall = self.now(), time.monotonic()
+
+        def loop():
+            while not self._clock_stop.wait(0.05):
+                try:
+                    self.advance_to(t0_sim + self.speed * (time.monotonic() - t0_wall))
+                except Exception as exc:                                # keep ticking; status reports the fault
+                    if len(self.clock_errors) < 20:
+                        self.clock_errors.append('%s: %s' % (type(exc).__name__, exc))
+        self._clock_thread = threading.Thread(target=loop, name='flex-clock', daemon=True)
+        self._clock_thread.start()
+
+    def stop_clock(self):
+        if self._clock_thread is not None:
+            self._clock_stop.set()
+            self._clock_thread.join(timeout=2)
+            self._clock_thread = None
+
+    # ------------------------------------------------------------------ host side: deck registry
+    def _target(self, slot, row, col, lw):
+        sx, sy, _ = self._geometry[slot]['position_m']
+        pos = {'x_m': round(DECK_SCALE * sx + (col - (lw['cols'] - 1) / 2.0) * lw['pitch_m'], 6),
+               'y_m': round(DECK_SCALE * sy - (row - (lw['rows'] - 1) / 2.0) * lw['pitch_m'], 6),
+               'z_m': lw['z_m']}
+        for k, (lo, hi) in LIMITS.items():
+            if not lo <= pos[k] <= hi:
+                raise BackendError('well %s%d of a labware on %s is outside the travel box' % (ROW_NAMES[row], col + 1, slot))
+        return pos
+
+    def _build_deck(self, deck):
+        self._labware, self._by_id = [], {}
+        used_slots = {}
+        for spec in deck.get('labware', []):
+            name, slot, ltype = spec['name'], spec['slot'], spec['type']
+            if ltype not in LABWARE_TYPES:
+                raise BackendError('unknown labware type %r' % ltype)
+            if slot in used_slots or self._geometry.get(slot, {}).get('kind') != 'working':
+                raise BackendError('slot %r is taken or not a working slot' % slot)
+            used_slots[slot] = name
+            lw = LABWARE_TYPES[ltype]
+            entry = {'name': name, 'type': ltype, 'display': lw['display'], 'kind': lw['kind'], 'slot': slot,
+                     'rows': lw['rows'], 'cols': lw['cols'], 'wells': {}}
+            names = well_names(lw['rows'], lw['cols'])
+            if lw['kind'] == 'tiprack':
+                entry['tip_capacity_m3'] = lw['tip_capacity_m3']
+                present = spec.get('tips', 'all')
+                present = set(names) if present == 'all' else set(present)
+            else:
+                entry['well_capacity_m3'] = lw['well_capacity_m3']
+                volumes = spec.get('volumes_ul', {})
+            for n in names:
+                row, col = ROW_NAMES.index(n[0]), int(n[1:]) - 1
+                pos = self._target(slot, row, col, lw)
+                w = {'well': n, 'position_m': pos}
+                if lw['kind'] == 'tiprack':
+                    w['tip_id'] = '%s_%s' % (name, n) if n in present else None
+                    if w['tip_id']:
+                        self.rt.host_register_tip(self.iid, w['tip_id'], slot_id=slot, capacity_m3=lw['tip_capacity_m3'],
+                                                  position_m=pos, evidence=EVIDENCE)
+                        self._by_id[w['tip_id']] = (name, n)
+                else:
+                    w['container_id'] = '%s_%s' % (name, n)
+                    w['capacity_m3'] = lw['well_capacity_m3']
+                    self.rt.host_register_container(self.iid, w['container_id'], slot_id=slot, capacity_m3=lw['well_capacity_m3'],
+                                                    volume_m3=round(float(volumes.get(n, 0.0)) * 1e-9, 15), position_m=pos,
+                                                    evidence=EVIDENCE)
+                    self._by_id[w['container_id']] = (name, n)
+                entry['wells'][n] = w
+            self._labware.append(entry)
+        trash_slot = deck.get('trash', 'A1')
+        sx, sy, _ = self._geometry[trash_slot]['position_m']
+        self._trash = {'slot': trash_slot, 'position_m': {'x_m': round(DECK_SCALE * sx, 6), 'y_m': round(DECK_SCALE * sy, 6), 'z_m': TRASH_Z_M}}
+        self.rt.host_register_waste(self.iid, slot_id=trash_slot, position_m=self._trash['position_m'], evidence=EVIDENCE)
+        if deck.get('power'):
+            self.invoke('scene', 'power.set', {'enabled': True}, 'scene-power-0')
+
+    def registry(self):
+        """Static deck layout for the core service: names, slots, wells, joint targets, capacities.  No liquid volumes."""
+        return {'labware': copy.deepcopy(self._labware), 'trash': copy.deepcopy(self._trash),
+                'home_m': dict(self._m.FLEX_HOME_POSITION), 'limits_m': copy.deepcopy(LIMITS),
+                'pipette': {'model': self._m.FLEX_PIPETTE_MODEL, 'min_m3': self._m.OPENTRONS_FLEX_MIN_M3,
+                            'max_m3': self._m.OPENTRONS_FLEX_MAX_M3},
+                'command_s': self._m.FLEX_COMMAND_S}
+
+    def location_of(self, object_id):
+        return self._by_id.get(object_id)
+
+    # ------------------------------------------------------------------ host side: the scene
+    def _host_item(self):
+        return self.rt._instances[self.iid]                           # trusted host access (same as the runtime's host_* API)
+
+    def _position(self):
+        s = self._host_item()['state']
+        return {k: s['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+
+    def _release_spot_ok(self, slot, pos):
+        if slot == self._trash['slot'] and _same(pos, self._trash['position_m']):
+            return True
+        tips = self._host_item()['tips']
+        for lw in self._labware:
+            if lw['kind'] == 'tiprack' and lw['slot'] == slot:
+                for w in lw['wells'].values():
+                    if _same(pos, w['position_m']) and not any(t['slot_id'] is not None and _same(t['position_m'], pos) for t in tips.values()):
+                        return True
+        return False
+
+    def _scene_before(self, cid, args):
+        """The physical world: a tip is picked up when the pipette is at a tip, and released over the trash or an empty rack well."""
+        if not isinstance(args, dict):
+            return
+        item = self._host_item()
+        pos = self._position()
+        if cid == 'tip.attach' and isinstance(args.get('tip_id'), str):
+            tip = item['tips'].get(args['tip_id'])
+            if tip is not None and tip['slot_id'] is not None and item['state']['tip.attached_id'] is None and _same(pos, tip['position_m']):
+                self.rt.host_confirm_tip_event(self.iid, event='attach', tip_id=args['tip_id'], slot_id=tip['slot_id'], position_m=pos,
+                                               evidence='scene: pipette at the tip')
+        elif cid == 'tip.release' and isinstance(args.get('target_slot_id'), str):
+            tip_id = item['state']['tip.attached_id']
+            if tip_id is not None and self._release_spot_ok(args['target_slot_id'], pos):
+                self.rt.host_confirm_tip_event(self.iid, event='release', tip_id=tip_id, slot_id=args['target_slot_id'], position_m=pos,
+                                               evidence='scene: pipette over the drop spot')
+
+    def _service_run_tip_events(self):
+        """A protocol run waits for the host to confirm tip events: confirm them when physically plausible."""
+        for _ in range(1000):
+            pending = self.rt.host_pending_tip_event(self.iid)
+            if pending is None:
+                return
+            item, pos = self._host_item(), pending['position_m']
+            if pending['event'] == 'attach':
+                tip = item['tips'].get(pending['tip_id'])
+                ok = tip is not None and tip['slot_id'] is not None and _same(pos, tip['position_m'])
+            else:
+                ok = self._release_spot_ok(pending['slot_id'], pos)
+            if not ok:
+                return
+            self.rt.host_confirm_tip_event(self.iid, event=pending['event'], tip_id=pending['tip_id'], slot_id=pending['slot_id'],
+                                           position_m=pos, evidence='scene: run tip event')
+
+    def _scene_after(self, principal, cid, args):
+        n = self.faults.get('tip_off_after_dispenses')
+        if cid == 'sample.dispense' and n and principal not in ('scene', 'evaluator'):
+            self._dispenses[principal] = self._dispenses.get(principal, 0) + 1
+            if self._dispenses[principal] == n:
+                self._drop_tip_here('fault: the tip came off after dispense %d' % n)
+
+    def _drop_tip_here(self, why):
+        item = self._host_item()
+        tip_id = item['state']['tip.attached_id']
+        if tip_id is None:
+            return
+        pos = self._position()
+        slot = next((lw['slot'] for lw in self._labware for w in lw['wells'].values() if _same(w['position_m'], pos)), None)
+        slot = slot or self._trash['slot']
+        self.rt.host_confirm_tip_event(self.iid, event='release', tip_id=tip_id, slot_id=slot, position_m=pos, evidence=why)
+        self._scene_n += 1
+        r = self._session('scene').invoke(instance_id=self.iid, capability_id='tip.release', arguments={'target_slot_id': slot},
+                                          request_id='scene-%d' % self._scene_n)
+        self.fault_events.append({'time_s': self.now(), 'what': why, 'tip_id': tip_id, 'slot': slot, 'status': r['status']})
+
+    # ------------------------------------------------------------------ host side: other users, operators, evaluator
+    def start_run_as(self, principal, protocol_id, params=None):
+        """Another user starts a stored protocol (run setup, parameters, play) under their own identity."""
+        self.register_principal(principal)
+        steps = [('run.setup', {'protocol_id': protocol_id})]
+        steps += [('run.set_parameter', {'name': k, 'value': v}) for k, v in (params or {}).items()]
+        steps.append(('run.confirm_parameters', {}))
+        steps.append(('run.play', {}))
+        for n, (cid, a) in enumerate(steps):
+            r = self.invoke(principal, cid, a, '%s-start-%s-%d' % (principal, protocol_id, n))
+            if r['status'] != 'succeeded':
+                raise BackendError('%s failed for %s: %s' % (cid, principal, r['error']))
+
+    def set_container_volume(self, container_id, volume_ul):
+        self.rt.host_set_container_volume(self.iid, container_id, volume_m3=round(volume_ul * 1e-9, 15), evidence=EVIDENCE)
+
+    def evaluator_state(self):
+        """Everything the instrument knows, including process truth (truth.* slots).  For checkers only."""
+        r = self.read('evaluator')
+        out = {sid: obs['value'] for sid, obs in r['observations'].items()}
+        out['time_s'] = self.now()
+        return out
diff --git a/chemlab/chemlab/compile/__init__.py b/chemlab/chemlab/compile/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..5bfce70a8a37d74bd2112cba3729754ce6516ef4
--- /dev/null
+++ b/chemlab/chemlab/compile/__init__.py
@@ -0,0 +1,11 @@
+"""The compile layer: class-level verbs for instrument classes, lowered to each instrument's own contract capabilities.
+
+    chemlab run ohaus_px224e tare                 -> weighing.tare
+    chemlab run mt_xpr204e tare                   -> balance.tare
+    chemlab run julabo_corio_cd200f set-temp 80C  -> thermal.set_temperature {temperature_K: 353.15}
+
+Framework: units.py (units <-> SI), errors.py (error format), verbs.py (verb tables, argument parsing), ctx.py (one request:
+native calls, dry-run plan, waiting, steps done), jobs.py (job-N), base.py (ClassAdapter), fragments.py (configs/adapters/*.json,
+merged at lab load), mapgen.py (draft mappings from the contracts).  Classes: classes/<class>.py.  Host-side scenes: scenes/.
+Acceptance tasks: tasks/.  How to add a class: chemlab/COMPILE_GUIDE.md.
+"""
diff --git a/chemlab/chemlab/compile/acceptance.py b/chemlab/chemlab/compile/acceptance.py
new file mode 100644
index 0000000000000000000000000000000000000000..736b06d74ffa1895d867bb046b41a79ccaf5f6ee
--- /dev/null
+++ b/chemlab/chemlab/compile/acceptance.py
@@ -0,0 +1,46 @@
+"""Class acceptance suites: every task's gold solution (written with `chemlab run`) through the sandboxed client must pass its
+checker, and NoAct (an empty solution) must fail it.
+
+    python -m chemlab.compile.acceptance --class balance [--only b01_tare_beaker] [--no-noact]
+    python -m chemlab.compile.acceptance --class all
+
+Results: compile_results/<class>/<task>/{gold,noact}/ (transcript.json, core_log.jsonl, check.json) and summary.md / summary.json.
+"""
+import argparse
+import importlib
+import sys
+
+def classes():
+    """Class names with a fragment (configs/adapters/<class>.json); a class's suite is chemlab.compile.tasks.<class>_tasks
+    (found by convention, so adding a class edits no shared file)."""
+    from .fragments import load_fragments
+    return sorted({f['class'] for f in load_fragments() if f.get('layer') != 'shared'})
+
+
+def suite(name):
+    return importlib.import_module('chemlab.compile.tasks.%s_tasks' % name)
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('--class', dest='cls', required=True, help='a class name (configs/adapters/<class>.json) or all')
+    ap.add_argument('--only', action='append')
+    ap.add_argument('--no-noact', action='store_true')
+    a = ap.parse_args(argv)
+    ok = True
+    for name in (classes() if a.cls == 'all' else [a.cls]):
+        try:
+            mod = suite(name)
+        except ImportError as exc:
+            print('%s: no suite (%s)' % (name, exc))
+            ok = False
+            continue
+        print('== %s' % name, flush=True)
+        s = mod.main(only=a.only, noact=not a.no_noact)
+        print('%s: %s' % (name, 'ALL PASS' if s['passed'] else 'SOME FAILED'), flush=True)
+        ok = ok and s['passed']
+    return 0 if ok else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/compile/base.py b/chemlab/chemlab/compile/base.py
new file mode 100644
index 0000000000000000000000000000000000000000..eb7509bf2fcadd66a4231b07b78512acaba328db
--- /dev/null
+++ b/chemlab/chemlab/compile/base.py
@@ -0,0 +1,711 @@
+"""ClassAdapter: the base of every class-level adapter (one class = one module with its verb table + one config fragment with the
+per-instrument mapping).
+
+What the base does for every class:
+
+* verbs(): the class verbs this member supports (describe and `chemlab list` show them);
+* dispatch_run(): `chemlab run INST VERB ...` -> help, unknown / unsupported verbs with reasons, argument and unit parsing,
+  --dry-run (check and plan only; nothing is sent), destructive verbs need --yes, the handler, the reply (text and --json with
+  the native calls it made), errors with what is wrong / how to fix / instrument changed / steps done;
+* intercept(): `read` in friendly units with the class summary on top, `describe` with the class section, `help INST VERB`;
+* explain_refusal(): a refused native call in plain words, from the runtime code, the mapping's code table, the class table,
+  and the contract preconditions with the state already read;
+* check_mapping(): the mapping against the contract (capabilities agent-callable and implemented, argument names in the input
+  schema, state slots visible) - run at the first use and by the tests for every member.
+
+A class subclasses it with CLASS / TITLE / ABOUT, build_verbs() and summary(); see COMPILE_GUIDE.md.
+"""
+import copy
+import difflib
+import json
+import math
+import re
+
+from ..adapters import InstrumentAdapter
+from ..generic import CmdError
+from ..errors import ChemlabError
+from . import units
+from .ctx import Ctx
+from .errors import CompileError, from_pilot, invalid, refused, unexpected, unsupported
+from .verbs import Verb, parse_args
+
+
+class MappingError(Exception):
+    pass
+
+
+def short(v, n=80):
+    """Human-readable value (floats with 6 significant digits, units.tidy); --json replies keep the exact values."""
+    s = json.dumps(units.tidy(v), ensure_ascii=False, default=str)
+    return s if len(s) <= n else s[:n] + '...'
+
+
+class ClassAdapter(InstrumentAdapter):
+    CLASS = None                     # 'balance', 'temperature', 'pipetting', ...
+    TITLE = ''
+    ABOUT = ''
+    STANDARDS = ''                   # vendor-neutral command sets the verbs follow
+    CODES = {}                       # runtime code -> (CLASS_CODE, message, fix); templates may use {inst} {cap} {code}
+    ALWAYS = ('status',)             # verbs every member has (no mapping needed)
+    UNIT_KINDS = ()                  # quantity kinds shown in describe
+    PATH_GROUPS = ()                 # verb groups that must use one native path per member, e.g. (('start', 'stop', 'result'),)
+    layer = 'class'                  # set from the fragment: 'class' or 'shared'
+
+    def __init__(self, instrument_id, config_entry):
+        super().__init__(instrument_id, config_entry)
+        self.map = copy.deepcopy(config_entry.get('class_map') or {})
+        self.asset = (config_entry.get('asset_type_id') or ('instrument.' + instrument_id)).split('.', 1)[1]
+        self.table = {}
+        self.table['status'] = Verb('status', 'what the instrument is doing now, in plain units (class view)', self._h_status,
+                                    readonly=True, example='chemlab run INST status')
+        self.table.update(self.build_verbs())
+        self.lab = None
+
+    # ------------------------------------------------------------------ class hooks
+    def build_verbs(self):
+        """{name: Verb} of the class (handlers take (ctx, parsed) and return {'text', 'json', 'notes'})."""
+        return {}
+
+    def summary(self, values):
+        """Plain-language lines (and a json dict) of the class view from a {slot: value} dict."""
+        return [], {}
+
+    def new_shadow(self):
+        """Class bookkeeping a dry run may change without touching the real one (e.g. the liquid class's tip ledger)."""
+        return None
+
+    def shadow(self, ctx, cap, args):
+        """Dry-run: update ctx.view as the call would (default: the contract's write_via slots of this capability)."""
+        for sid, s in self.lab.contract['state_slots'].items():
+            wv = s.get('write_via') or {}
+            if isinstance(wv, dict) and wv.get('capability_id') == cap and wv.get('argument') in args:
+                ctx.view[sid] = args[wv['argument']]
+
+    # ------------------------------------------------------------------ mapping access
+    MAP_ALIASES = {'close': 'open'}  # a verb that reads another verb's mapping (open/close share the parts table)
+
+    def vmap(self, verb):
+        v = self.map.get('verbs') or {}
+        return v.get(verb) if verb in v else v.get(self.MAP_ALIASES.get(verb))
+
+    def requirements(self, ctx, verb):
+        """The member's own preconditions for a verb, from its mapping: "requires": {verb: [{"slot", <test>, "code", "message",
+        "fix", "label"}]}; message and fix may use {inst} and {value} (the current slot value).  "slot" may be 'slot#key' (a key
+        of an object slot), or give "key".  Tests (see requirement_ok): "value", "not", "in", "prefix", "contains_not",
+        "min" / "max" / "gt" / "lt", "truthy", "falsy", "null", "set"; an entry without a test asks for a truthy value."""
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            got = self.requirement_value(ctx, r)
+            ok = self.requirement_ok(got, r)
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=got),
+                      r['fix'].format(inst=self.instrument_id, value=got), label=r.get('label', r['slot']))
+
+    @staticmethod
+    def requirement_value(ctx, r):
+        sid, _, key = r['slot'].partition('#')
+        got = ctx.v(sid) if key or r.get('key') else ctx.v(r['slot'])
+        key = key or r.get('key')
+        if key:
+            got = got.get(key) if isinstance(got, dict) else None
+        return got
+
+    @staticmethod
+    def requirement_ok(got, r):
+        """One "requires" test on a slot value (several tests in one entry must all hold)."""
+        tests = []
+        if 'value' in r:
+            tests.append(got == r['value'])
+        if 'not' in r:
+            tests.append(got not in r['not'])
+        if 'in' in r:
+            tests.append(got in r['in'])
+        if 'prefix' in r:
+            pre = [r['prefix']] if isinstance(r['prefix'], str) else list(r['prefix'])
+            tests.append(isinstance(got, str) and any(got.startswith(x) for x in pre))
+        if 'contains_not' in r:
+            c = r['contains_not']
+            tests.append(not (isinstance(got, (list, tuple, str, dict, set)) and c in got))
+        num = isinstance(got, (int, float)) and not isinstance(got, bool) and math.isfinite(got)
+        for op, f in (('min', lambda x, y: x >= y - 1e-12 * max(1.0, abs(y))), ('max', lambda x, y: x <= y + 1e-12 * max(1.0, abs(y))),
+                      ('gt', lambda x, y: x > y), ('lt', lambda x, y: x < y)):
+            if op in r:
+                tests.append(num and f(got, r[op]))
+        if r.get('truthy'):
+            tests.append(bool(got))
+        if r.get('falsy'):
+            tests.append(not got)
+        if r.get('null'):
+            tests.append(got is None)
+        if r.get('set'):
+            tests.append(got is not None)
+        return all(tests) if tests else bool(got)
+
+    def wait_until(self, ctx, test, what, max_s=300.0, poll_s=1.0):
+        """Let lab time pass until ``test(ctx)`` holds (a lid, a sash, a drawer, a stage or a transfer still moving); refused
+        NOT_SETTLED when it does not within ``max_s``.  A dry run plans the wait.  Returns the seconds waited."""
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s},
+                             'step': 'wait until %s (up to %s of lab time)' % (what, units.fmt_s(max_s))})
+            return 0.0
+        if test(ctx):
+            return 0.0
+        t0 = ctx.now()
+        ctx.advance(max_s, until=lambda v: test(ctx), step='wait until %s' % what, poll_s=poll_s)
+        if not test(ctx):
+            ctx.fail(refused('NOT_SETTLED', '%s did not finish: %s was not reached after %s.' % (
+                self.instrument_id, what, units.fmt_s(ctx.now() - t0)),
+                'check `chemlab run %s status`; wait longer with `chemlab wait 60`, then retry.' % self.instrument_id))
+        return ctx.now() - t0
+
+    @staticmethod
+    def moving_done(slots):
+        """A test for wait_until: every slot in ``slots`` is false (not moving, no transfer)."""
+        def test(ctx):
+            return all(not ctx.v(s) for s in slots)
+        return test
+
+    def target_args(self, ctx, parsed, kinds=('zone', 'channel', 'cell', 'head')):
+        """--zone / --channel / --cell / --head -> native arguments, from the mapping's "targets":
+        {"zone": {"arg": NATIVE, "values": {"1": native value, ...}, "required": false}}."""
+        out = {}
+        for k in kinds:
+            v = parsed.get(k)
+            t = (self.map.get('targets') or {}).get(k)
+            if v is None:
+                if t and t.get('required'):
+                    ctx.fail(invalid('MISSING_' + k.upper(), '%s needs --%s on %s.' % (ctx.verb.name, k, self.instrument_id),
+                                     'give --%s %s.' % (k, '|'.join(map(str, (t.get('values') or {}))) or k.upper())))
+                continue
+            if not t:
+                ctx.fail(unsupported('NO_' + k.upper(), '%s has no %ss.' % (self.instrument_id, k), 'leave out --%s.' % k))
+            vals = t.get('values')
+            if vals is not None and str(v) not in vals:
+                ctx.fail(invalid('UNKNOWN_' + k.upper(), '%s has no %s %r.' % (self.instrument_id, k, v),
+                                 '%ss of %s: %s.' % (k, self.instrument_id, ', '.join(map(str, vals)))))
+            out[t['arg']] = vals[str(v)] if vals is not None else v
+        return out
+
+    def location(self, ctx, name):
+        """A named location (autosampler slot, rack position, port) -> its native arguments, from the lab config entry's
+        "locations" (task / lab specific) or the mapping's "locations" (fixed by the instrument)."""
+        reg = dict(self.map.get('locations') or {})
+        reg.update(self.config_entry.get('locations') or {})
+        if name not in reg:
+            close = difflib.get_close_matches(name, list(reg), 2)
+            ctx.fail(invalid('UNKNOWN_LOCATION', '%s has no location %r.' % (self.instrument_id, name),
+                             ('did you mean %s? ' % ' or '.join(close) if close else '') + 'locations: %s.' % (', '.join(sorted(reg)) or 'none')))
+        return dict(reg[name])
+
+    def slot(self, role):
+        return (self.map.get('slots') or {}).get(role)
+
+    def param(self, name, default=None):
+        return (self.map.get('params') or {}).get(name, default)
+
+    def unsupported_reasons(self):
+        out = {k: str(v).replace('INST', self.instrument_id) for k, v in (self.map.get('unsupported') or {}).items()}
+        for name in self.table:
+            if name not in self.ALWAYS and name not in out and self.vmap(name) is None:
+                out[name] = 'not mapped for this instrument yet'
+        return out
+
+    HIDES = {}                       # shared verb -> reason, for every member: verbs this class replaces (e.g. {'start': 'use `run`'})
+    COVERS = {}                      # shared verb -> the class verb that replaces it (e.g. {'start': 'measure'}); same mechanism
+
+    def hidden_verbs(self):
+        """Shared verbs this class hides on this member: class HIDES / COVERS plus the member's "hides" ({verb: reason}) and
+        "covers" ({shared verb: class verb}), minus the member's "shared_fallthrough"."""
+        covers = dict(self.COVERS, **(self.map.get('covers') or {}))
+        hides = {k: 'use `chemlab run INST %s`' % v for k, v in covers.items()
+                 if v in self.table and self.supported(v)}             # only where the covering verb exists on this member
+        hides.update(self.HIDES)
+        hides.update(self.map.get('hides') or {})
+        out = {k: str(v).replace('INST', self.instrument_id) for k, v in hides.items()}
+        for k in self.map.get('shared_fallthrough') or []:
+            out.pop(k, None)
+        return out
+
+    def blocks(self, name):
+        """True when this class answers a verb it does not support on this member, so that the shared layer must not answer
+        it: a verb of its table the member marks unsupported, or a shared verb it hides - unless the member lists it in
+        "shared_fallthrough".  (Another class that supports the verb still wins: see CompositeAdapter.owner.)"""
+        if self.layer == 'shared' or name in (self.map.get('shared_fallthrough') or []):
+            return False
+        return (name in self.table and name in (self.map.get('unsupported') or {})) or name in self.hidden_verbs()
+
+    def supported(self, name):
+        return name in self.table and name not in self.unsupported_reasons()
+
+    def verbs(self):
+        return {n: v.summary for n, v in self.table.items() if self.supported(n)}
+
+    def maps_to(self, name):
+        """Native capabilities a verb uses on this member (for help and describe)."""
+        m = self.vmap(name) or {}
+        caps = []
+
+        def walk(o):
+            if isinstance(o, dict):
+                for k, v in o.items():
+                    if k in ('cap', 'caps') or k.endswith('_cap'):
+                        for c in (v if isinstance(v, list) else [v]):
+                            if isinstance(c, str) and c not in caps:
+                                caps.append(c)
+                    else:
+                        walk(v)
+            elif isinstance(o, list):
+                for v in o:
+                    walk(v)
+        walk(m)
+        reads = [s for s in (m.get('reads') or [])]
+        return caps + (['read %s' % ', '.join(reads)] if reads else [])
+
+    # ------------------------------------------------------------------ binding and the mapping check
+    def bind(self, core):
+        if self.lab is None:
+            lab = core.backend.instruments[self.instrument_id]
+            problems = self.check_mapping(lab)
+            if problems:
+                raise MappingError('%s mapping of %s does not fit its contract: %s' % (self.CLASS, self.instrument_id, '; '.join(problems)))
+            self.lab = lab
+        return self.lab
+
+    def check_mapping(self, lab):
+        """Problems of this member's mapping against the contract and the agent view (empty list = fine)."""
+        v, caps = lab.view, lab.contract['capabilities']
+        problems = []
+        visible = {s.lower() for s in v.slots}
+
+        def is_slot_ref(s):
+            """A state slot reference: a string 'component.field' (or 'component.field#key'), or a visible slot id.  Other
+            values under a key named slot / *_slot (a rack slot "A1", a number) are class arguments, not slot references."""
+            return isinstance(s, str) and ('.' in s.split('#', 1)[0] or s.split('#', 1)[0].lower() in visible)
+
+        def cap_ok(c, where):
+            if c not in caps:
+                problems.append('%s: no capability %s' % (where, c))
+            elif c not in v.capabilities:
+                problems.append('%s: %s is not agent-callable and implemented' % (where, c))
+
+        def walk(o, where, cap=None):
+            if isinstance(o, dict):
+                c = o.get('cap')
+                if isinstance(c, str):
+                    cap_ok(c, where)
+                    cap = c
+                for c2 in o.get('caps') or []:
+                    cap_ok(c2, where)
+                props = ((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {} if cap else {}
+                if cap and isinstance(o.get('arg'), str) and o['arg'] not in props:
+                    problems.append('%s: %s has no argument %s' % (where, cap, o['arg']))
+                if cap and isinstance(o.get('args'), dict):
+                    for a in o['args']:
+                        if a not in props:
+                            problems.append('%s: %s has no argument %s' % (where, cap, a))
+                for key in [k for k in o if k in ('reads', 'slot', 'slots_read') or k.endswith('_slot')]:
+                    for s in (o.get(key) if isinstance(o.get(key), list) else [o.get(key)]):
+                        if is_slot_ref(s) and s.split('#', 1)[0].lower() not in visible:
+                            problems.append('%s: no visible state slot %s' % (where, s))
+                for k, x in o.items():
+                    if k not in ('cap', 'arg', 'args', 'reads', 'slot', 'caps') and isinstance(x, (dict, list)):
+                        walk(x, '%s.%s' % (where, k), cap if k not in ('verbs',) else None)
+                    elif k.endswith('_cap') and isinstance(x, str):
+                        cap_ok(x, '%s.%s' % (where, k))
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x, where, cap)
+        for name, m in (self.map.get('verbs') or {}).items():
+            if name not in self.table:
+                problems.append('verbs.%s: not a %s verb' % (name, self.CLASS))
+            walk(m, 'verbs.' + name)
+        for role, s in (self.map.get('slots') or {}).items():
+            for x in (s if isinstance(s, list) else [s]):
+                if isinstance(x, dict):                                       # {'slot': 'a.b#key', 'unit_slot': ...}
+                    x = [x.get('slot')] + ([x['unit_slot']] if x.get('unit_slot') else [])
+                for y in (x if isinstance(x, list) else [x]):
+                    if y is not None and y.split('#', 1)[0].lower() not in visible:
+                        problems.append('slots.%s: no visible state slot %s' % (role, y))
+        for verb, reqs in (self.map.get('requires') or {}).items():
+            for r in reqs:
+                if str(r.get('slot', '')).split('#', 1)[0].lower() not in visible:
+                    problems.append('requires.%s: no visible state slot %s' % (verb, r.get('slot')))
+        for name in self.map.get('unsupported') or {}:
+            if name not in self.table:
+                problems.append('unsupported.%s: not a %s verb' % (name, self.CLASS))
+        problems += self.check_paths(lab)
+        return problems
+
+    def check_paths(self, lab):
+        """One native path per verb group: the capabilities of the verbs in a PATH_GROUPS group share one namespace (the mapping's
+        "path", e.g. "acquisition", or else the namespace of the first capability; "path_exceptions" lists extra allowed
+        capabilities, and state slots a result may read although the start capability's state_effects leave them out), and a
+        result read from state slots reads slots that the group's start capability changes."""
+        problems = []
+        caps = lab.contract['capabilities']
+        for group in self.PATH_GROUPS:
+            used = []
+            for verb in group:
+                used += [(verb, c) for c in self.maps_to(verb) if not c.startswith('read ')]
+            if not used:
+                continue
+            path = self.map.get('path') or used[0][1].split('.', 1)[0]
+            allowed = set(self.map.get('path_exceptions') or [])
+            for verb, c in used:
+                if c.split('.', 1)[0] != path and c not in allowed:
+                    problems.append('path: %s uses %s, outside the %s path of this member (one native path per verb; list a '
+                                    'deliberate exception in "path_exceptions")' % (verb, c, path))
+            start = (self.vmap(group[0]) or {}).get('cap')
+            for verb in group[1:]:
+                reads = (self.vmap(verb) or {}).get('reads') or []
+                if start and reads:
+                    eff = {x.get('state_id') for x in (caps.get(start) or {}).get('state_effects') or []} | set((caps.get(start) or {}).get('observes') or [])
+                    for r in reads:
+                        if r not in eff and r not in allowed and r.split('#', 1)[0] not in allowed:   # slots named in path_exceptions are allowed
+                            problems.append('path: %s reads %s, which %s (the %s capability) does not change' % (verb, r, start, group[0]))
+        return problems
+
+    # ------------------------------------------------------------------ contract helpers
+    def cap_schema(self, cap, arg):
+        return ((self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('properties') or {}).get(arg) or {}
+
+    def arg_range(self, cap, arg):
+        """(minimum, maximum) of a numeric argument from the contract (None when open)."""
+        s = self.cap_schema(cap, arg)
+        if 'anyOf' in s:
+            s = next((x for x in s['anyOf'] if x.get('type') in ('number', 'integer')), s)
+        return s.get('minimum'), s.get('maximum')
+
+    def arg_unit(self, cap, arg):
+        """The unit an argument declares (normalised; None when unitless)."""
+        return units.declared(self.cap_schema(cap, arg))
+
+    def arg_value(self, cap, arg, si):
+        """An SI value -> the value in the unit this argument declares (K stays K, degC gets °C, rpm gets rpm ...)."""
+        u = self.arg_unit(cap, arg)
+        return units.to_declared(si, u) if u else si
+
+    def arg_range_si(self, cap, arg):
+        """(minimum, maximum) of a numeric argument in SI (None when open)."""
+        lo, hi = self.arg_range(cap, arg)
+        u = self.arg_unit(cap, arg)
+        return (units.from_declared(lo, u) if lo is not None and u else lo, units.from_declared(hi, u) if hi is not None and u else hi)
+
+    def slot_si(self, values, spec):
+        """A slot value in SI: ``spec`` is a slot id, 'slot#key' (a key of an object slot) or {'slot', 'key', 'unit',
+        'unit_slot'} (a declared unit, or a slot holding the display unit such as C / F)."""
+        if spec is None:
+            return None
+        if isinstance(spec, str):
+            spec = {'slot': spec}
+        sid, _, key = spec['slot'].partition('#')
+        get = values.v if hasattr(values, 'v') else (lambda k: values.get(k))
+        v = get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        if not finite(v):
+            return None
+        u = spec.get('unit')
+        if spec.get('unit_slot'):
+            u = {'C': '°C', 'F': '°F', 'K': 'K'}.get(str(get(spec['unit_slot'])), u)
+        if u is None:
+            s = self.lab.contract['state_slots'].get(sid) or {}
+            u = units.declared(s) if not key else None
+        return units.from_declared(v, u) if u else v
+
+    def arg_enum(self, cap, arg):
+        s = self.cap_schema(cap, arg)
+        return list(s.get('enum') or [])
+
+    def contract_error_text(self, ctx, cap, code):
+        for e in (self.lab.contract['capabilities'].get(cap) or {}).get('errors') or []:
+            if e.get('code') == code:
+                return e.get('meaning_zh') or e.get('meaning') or ''
+        return ''
+
+    def contract_param(self, name):
+        """A documented parameter of the contract ({'value', 'unit'} found anywhere under a 'parameters' key)."""
+        found = []
+
+        def walk(o):
+            if isinstance(o, dict):
+                p = o.get('parameters')
+                if isinstance(p, dict) and isinstance(p.get(name), dict) and 'value' in p[name]:
+                    found.append(p[name])
+                for x in o.values():
+                    walk(x)
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x)
+        walk(self.lab.contract)
+        return found[0] if found else None
+
+    # ------------------------------------------------------------------ run
+    def dispatch_run(self, core, req, args):
+        try:
+            self.bind(core)
+        except MappingError as exc:
+            self.mapping_error = str(exc)
+            raise unexpected('MAPPING_ERROR', 'the %s verbs of %s are misconfigured (their mapping does not fit the contract).' % (
+                self.CLASS, self.instrument_id), 'use its own capabilities meanwhile (`chemlab describe %s`, `chemlab call %s CAP`); '
+                'this is reported to the lab.' % (self.instrument_id, self.instrument_id), changed='no')
+        inst = self.instrument_id
+        if not args or args[0] in ('--help', '-h'):
+            return self.overview(core, req)
+        name, tokens = args[0], args[1:]
+        if req.flags.get('help') or '--help' in tokens or '-h' in tokens:
+            return self.verb_help(name)
+        hidden = self.hidden_verbs()
+        if name in hidden and name not in self.table:
+            raise unsupported('NOT_SUPPORTED', '%s: %s is replaced here: %s.' % (inst, name, hidden[name]),
+                              'see `chemlab run %s` for its verbs.' % inst)
+        if name not in self.table:
+            close = difflib.get_close_matches(name, list(self.verbs()), 2)
+            raise invalid('UNKNOWN_VERB', '%s has no %s verb %r.' % (inst, self.CLASS, name),
+                          ('did you mean %s? ' % ' or '.join(close) if close else '') +
+                          'its verbs: %s (`chemlab run %s` lists them); its own capabilities stay available with `chemlab call %s CAP`.'
+                          % (', '.join(self.verbs()), inst, inst))
+        reasons = self.unsupported_reasons()
+        if name in reasons:
+            alt = (self.map.get('alternatives') or {}).get(name)
+            alt = alt.replace('INST', inst) if alt else alt
+            raise unsupported('NOT_SUPPORTED', '%s cannot %s: %s.' % (inst, name, reasons[name]),
+                              alt or 'see `chemlab run %s` for what it can do, or `chemlab describe %s` for its own capabilities.' % (inst, inst))
+        verb = self.table[name]
+        parsed = parse_args(verb, tokens, inst)
+        if parsed.get('save-to'):
+            core._work_path(parsed.get('save-to'))                          # a path outside the work dir is a usage error, sent nothing
+        dry = parsed.dry_run or (verb.destructive and not parsed.yes)
+        ctx = Ctx(self, core, req, verb, parsed, dry_run=dry)
+        ctx.shadow = self.new_shadow() if dry else None
+        try:
+            result = verb.handler(ctx, parsed) or {}
+        except CompileError as exc:
+            if not exc.done:
+                exc.done = list(ctx.done)
+            if exc.changed == 'no' and ctx.changed:
+                exc.changed = 'yes'
+            exc.extra = {'instrument': inst, 'class': self.CLASS, 'verb': name, 'native_calls': self.native_calls(req)}
+            raise
+        except ChemlabError as exc:                                       # shared pilot code raising the pilot classes
+            e = from_pilot(exc)
+            e.done = e.done or list(ctx.done)
+            e.extra = {'instrument': inst, 'class': self.CLASS, 'verb': name, 'native_calls': self.native_calls(req)}
+            raise e
+        except MappingError:
+            raise
+        except CmdError as exc:                                           # a generic usage/refusal error (e.g. a bad value)
+            if not ctx.changed:
+                raise                                                     # nothing was sent: keep it as it is (exit 2 etc.)
+            e = CompileError(exc.kind, exc.code, exc.message, exc.fix, changed='yes', done=list(ctx.done), see=exc.see)
+            e.extra = {'instrument': inst, 'class': self.CLASS, 'verb': name, 'native_calls': self.native_calls(req)}
+            raise e
+        except Exception as exc:                                          # an adapter bug: report what was done
+            e = unexpected('INTERNAL', 'the %s layer hit an unexpected problem (%s).' % (self.CLASS, type(exc).__name__),
+                           'check `chemlab run %s status` before going on; report this.' % inst,
+                           changed='unknown' if ctx.changed else 'no', done=ctx.done)
+            e.trace = repr(exc)
+            raise e
+        return self.render(ctx, verb, result, destructive_preview=verb.destructive and not parsed.yes and not parsed.dry_run)
+
+    @staticmethod
+    def native_calls(req):
+        return [{'capability': c.get('capability'), 'arguments': c.get('arguments'), 'status': c.get('status'), 'code': c.get('code')}
+                for c in getattr(req, 'calls', []) if c.get('op') == 'invoke']
+
+    def render(self, ctx, verb, result, destructive_preview=False):
+        js = {'instrument': self.instrument_id, 'class': self.CLASS, 'verb': verb.name, 'dry_run': ctx.dry_run, 'time_s': ctx.now()}
+        js.update(result.get('json') or {})
+        notes = list(ctx.notes) + list(result.get('notes') or [])
+        if ctx.waited_s:
+            js['waited_s'] = ctx.waited_s
+        if ctx.dry_run:
+            js['plan'] = [p['step'] for p in ctx.plan]
+            js['backend_calls'] = [{'capability': p['capability'], 'arguments': p['arguments']} for p in ctx.plan if p['capability']]
+            js['checks'] = ctx.checks + list(result.get('checks') or [])
+            js['unchecked'] = list(result.get('unchecked') or [])
+            head = ('not done: %s changes or deletes things that cannot be restored; add --yes to do it. It would:' % verb.name
+                    if destructive_preview else 'dry-run (nothing was sent to %s):' % self.instrument_id)
+            lines = [head]
+            for n, p in enumerate(ctx.plan, 1):
+                call = (' -> %s %s' % (p['capability'], short(p['arguments'], 120))) if p['capability'] else ''
+                lines.append('  %d. %s%s' % (n, p['step'], call))
+            if not ctx.plan:
+                lines.append('  (no instrument calls needed)')
+            if js['checks']:
+                lines.append('checks passed: ' + '; '.join(js['checks']))
+            if js['unchecked']:
+                lines.append('checked only when it runs: ' + '; '.join(js['unchecked']))
+            text = '\n'.join(lines) + '\n'
+        else:
+            js['native_calls'] = self.native_calls(ctx.req)
+            text = result.get('text', '')
+            if ctx.args is not None and ctx.args.get('save-to'):
+                p = ctx.core._work_path(ctx.args.get('save-to'))
+                rec = ctx.lab.view.redact(dict(js, request_id=ctx.req.request_id))
+                p.write_text(json.dumps(rec, ensure_ascii=False, indent=1, default=str) + '\n')
+                rel = str(p.relative_to(ctx.core.work_dir))
+                js['saved_to'] = rel
+                text += 'saved the full record to %s (in your work dir)\n' % rel
+        return {'text': text, 'json': js, 'notes': notes}
+
+    def _h_status(self, ctx, p):
+        lines, js = self.summary(ctx.view)
+        head = '%s (%s) at t = %.1f s' % (self.instrument_id, self.TITLE or self.CLASS, ctx.now())
+        return {'text': '\n'.join([head] + ['  ' + x for x in lines]) + '\n', 'json': {'state': js}}
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        err = response.get('error') or {}
+        code = err.get('code') or 'NO_CODE'
+        status = response.get('status')
+        fill = {'inst': self.instrument_id, 'cap': cap, 'code': code}
+        m = (self.map.get('codes') or {}).get('%s:%s' % (cap, code)) or (self.map.get('codes') or {}).get(code)
+        if m:
+            return CompileError(m.get('kind', 'refused'), m.get('code', code), m['message'].format(**fill), (m.get('fix') or '').format(**fill) or None)
+        if code in self.CODES:
+            c2, msg, fix = self.CODES[code]
+            return CompileError('refused', c2, msg.format(**fill), fix.format(**fill))
+        if status == 'unsupported':
+            return unsupported('UNSUPPORTED', '%s says %s is not supported by this twin.' % (self.instrument_id, cap),
+                               'see `chemlab describe %s`.' % self.instrument_id)
+        if code == 'RUNTIME_EXCEPTION' or status not in ('rejected', 'failed'):
+            return unexpected('INSTRUMENT_ERROR', '%s answered %s with %s %s.' % (self.instrument_id, cap, status, code),
+                              'check `chemlab run %s status` before going on.' % self.instrument_id)
+        # a generic code: say what the instrument checks, with the state already read
+        pre = (self.lab.contract['capabilities'].get(cap) or {}).get('preconditions') or []
+        ids, texts = [], []
+        for p in pre:
+            texts.append(p.get('description_zh') or '')
+            for sid in p.get('state_ids') or []:
+                if sid in self.lab.view.slots:
+                    if sid not in ids:
+                        ids.append(sid)
+        now = ', '.join('%s=%s' % (s, short(ctx.v(s), 40)) for s in ids[:8])
+        msg = '%s refused %s (%s).' % (self.instrument_id, cap, code)
+        if now:
+            msg += ' It checks %s; now %s.' % (', '.join(ids[:8]), now)
+        why = '; '.join(t for t in texts if t)
+        fix = ('the instrument\'s own conditions (zh): %s. ' % why if why else '') + \
+              'Check them with `chemlab read %s%s` and see `chemlab help %s %s`.' % (self.instrument_id, (' ' + ' '.join(ids[:8])) if ids else '',
+                                                                                   self.instrument_id, cap)
+        return refused(code, msg, fix)
+
+    # ------------------------------------------------------------------ describe / help / read
+    def class_section(self, taken=()):
+        """Describe lines and json of this class on this member; ``taken``: verbs an earlier class owns (composite instruments)."""
+        inst = self.instrument_id
+        reasons = self.unsupported_reasons()
+        title = '%s: %s' % (self.CLASS, self.TITLE) + (', besides the verbs above' if taken else '')
+        lines = ['class-level verbs (%s)   chemlab run %s VERB ... [--dry-run]   chemlab help %s VERB' % (title, inst, inst)]
+        rows = []
+        comp = getattr(self, 'composite', None)
+
+        def mine(n):                                   # on a composite instrument, the verbs another part answers are not ours
+            return n not in taken and (comp is None or comp.owner(n) is self)
+        for n, v in self.table.items():
+            if n in reasons or not mine(n):
+                continue
+            caps = self.maps_to(n)
+            lines.append('  %-14s %s%s' % (n, v.summary, ('   [%s]' % ', '.join(caps)) if caps else ''))
+            rows.append({'verb': n, 'summary': v.summary, 'usage': v.usage(inst), 'maps_to': caps, 'readonly': v.readonly,
+                         'destructive': v.destructive})
+        missing = {n: r for n, r in reasons.items() if n in self.table and mine(n)}
+        missing.update({n: 'replaced here: ' + r for n, r in self.hidden_verbs().items() if n not in self.table and mine(n)
+                        and (comp is not None or self.layer != 'shared')})
+        if missing:
+            lines.append('  not on this instrument: ' + '; '.join('%s (%s)' % kv for kv in missing.items()))
+        kinds = sorted({k for v in self.table.values() for k in v.kinds()} | set(self.UNIT_KINDS))
+        if kinds:
+            lines.append('  units: ' + units.describe_kinds(kinds))
+        lines.append('  errors say what is wrong, how to fix it and whether the instrument changed; long actions give job-N '
+                     '(chemlab status|wait|cancel job-N).')
+        return lines, {'name': self.CLASS, 'title': self.TITLE, 'about': self.ABOUT, 'verbs': rows, 'not_supported': missing,
+                       'units': kinds, 'standards': self.STANDARDS}
+
+    def overview(self, core, req, taken=()):
+        lines, js = self.class_section(taken)
+        return {'text': '\n'.join(lines) + '\n', 'json': {'instrument': self.instrument_id, 'class': js}}
+
+    def verb_help(self, name):
+        inst = self.instrument_id
+        hidden = self.hidden_verbs()
+        if name in hidden and name not in self.table:
+            text = '%s on %s: replaced here: %s.\n  see `chemlab run %s` for its verbs.\n' % (name, inst, hidden[name], inst)
+            return {'text': text, 'json': {'instrument': inst, 'class': self.CLASS, 'verb': name, 'supported': False,
+                                           'replaced': hidden[name]}}
+        if name not in self.table:
+            raise invalid('UNKNOWN_VERB', '%s has no %s verb %r.' % (inst, self.CLASS, name), 'see `chemlab run %s`.' % inst)
+        reasons = self.unsupported_reasons()
+        v = self.table[name]
+        raw = (self.map.get('notes') or {}).get(name, []) if isinstance(self.map.get('notes'), dict) else []
+        notes = [n.replace('INST', inst) if isinstance(n, str) else n for n in ([raw] if isinstance(raw, str) else list(raw))]
+        if name in reasons:
+            notes.insert(0, 'not supported on %s: %s' % (inst, reasons[name]))
+        text = re.sub(r'\bINST\b', inst, v.help_text(inst, self.maps_to(name), notes))     # INST anywhere in the help (notes, errors)
+        return {'text': text, 'json': {'instrument': inst, 'class': self.CLASS, 'verb': name, 'usage': v.usage(inst), 'summary': v.summary,
+                                       'maps_to': self.maps_to(name), 'supported': name not in reasons}}
+
+    def intercept(self, core, req):
+        cmd = req.command
+        try:
+            if cmd == 'read':
+                self.bind(core)
+                return self.friendly_read(core, req)
+            if cmd == 'describe' and len(req.args) == 1:
+                self.bind(core)
+                return self.describe(core, req)
+            if cmd == 'help' and len(req.args) >= 2 and (req.args[1] in self.table or req.args[1] in self.hidden_verbs()):
+                self.bind(core)
+                return self.verb_help(req.args[1])
+        except MappingError as exc:                                      # a broken mapping never breaks the generic commands
+            self.mapping_error = str(exc)
+            return None
+        return None
+
+    def describe(self, core, req):
+        r = core._describe(self.instrument_id, req.caller, full=req.flags.get('json'))
+        text = r['text']
+        lines, js = self.class_section()
+        a = text.find('\nclass-level verbs')
+        b = text.find('\nfull form:')
+        if a >= 0 and b > a:
+            text = text[:a] + '\n' + '\n'.join(lines) + '\n' + text[b:]
+        elif b >= 0:
+            text = text[:b] + '\n' + '\n'.join(lines) + '\n' + text[b:]
+        else:
+            text += '\n'.join(lines) + '\n'
+        out = dict(r['json'])
+        out['class'] = js
+        return {'text': text, 'json': out}
+
+    def friendly_read(self, core, req):
+        r = core._read(req)
+        obs = r['json']['observations']
+        friendly = {}
+        for k, o in obs.items():
+            if isinstance(o, dict):
+                slot = (self.lab.contract['state_slots'].get(k) or {}) if getattr(self, 'lab', None) else {}
+                f = units.friendly(o.get('value'), o.get('unit'), k, slot.get('meaning_zh') or slot.get('description'))
+                if f:
+                    friendly[k] = f
+        lines = []
+        for line in r['text'].splitlines():
+            key = line.strip().split(' ', 1)[0] if line.startswith('  ') else None
+            if key in friendly:
+                line += '  (= %s)' % friendly[key]
+            lines.append(line)
+        js = dict(r['json'])
+        js['friendly'] = friendly
+        if len(req.args) == 1:
+            values = {k: (o.get('value') if isinstance(o, dict) else o) for k, o in obs.items()}
+            try:
+                s_lines, s_js = self.summary(values)
+            except Exception:                                             # noqa: BLE001 - a summary must never break read
+                s_lines, s_js = [], {}
+            if s_lines:
+                lines[1:1] = ['  %s view: %s' % (self.CLASS, s_lines[0])] + ['  %s       %s' % (' ' * len(self.CLASS), x) for x in s_lines[1:]]
+                js['class_view'] = s_js
+        return {'text': '\n'.join(lines) + '\n', 'json': js, 'notes': r.get('notes') or []}
+
+
+def finite(x):
+    return isinstance(x, (int, float)) and not isinstance(x, bool) and math.isfinite(x)
diff --git a/chemlab/chemlab/compile/classes/__init__.py b/chemlab/chemlab/compile/classes/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..6fa6ac87b297af2191c3426bf54b757fd4ff1844
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/__init__.py
@@ -0,0 +1,2 @@
+"""One module per instrument class (verb table + handlers + class checks); the per-instrument mapping is data in
+configs/adapters/<class>.json."""
diff --git a/chemlab/chemlab/compile/classes/agitation.py b/chemlab/chemlab/compile/classes/agitation.py
new file mode 100644
index 0000000000000000000000000000000000000000..252364c3df34580c3479d531eb90c6d152a1873e
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/agitation.py
@@ -0,0 +1,478 @@
+"""Agitation class ("agitation"): spin, shake, mix or sonicate - the refrigerated centrifuge (Eppendorf 5910 Ri), the planetary
+mixer (THINKY ARE-310), the incubated orbital shaker (IKA KS 4000), the rotor-stator disperser (IKA T 25), the probe sonicator
+(Sonics VCX 750) and the ultrasonic bath (Elma S60H).
+
+Verbs: speed RATE [--rcf G] [--time T] [--defoam RATE --defoam-time T], intensity AMPLITUDE%|MODE, time DURATION|continuous,
+set-temp T (centrifuge chamber), safety-limit T (sonicator probe temperature), load SAMPLE --slot S | load --mass M, unload --slot S,
+start [--wait] [--max T] [--at-temp], stop, result [--save-to F], status.  Power and lids / hoods / covers come from the shared
+layer (`power on`, `open lid`, `close hood`); the KS 4000 and the S60H keep their temperature verbs (set-temp, heat, wait-temp,
+safety-limit) in the thermal class - an instrument in both classes answers each verb from the class that has it.
+
+Speeds are typed in rpm (or rad/s, Hz); a centrifuge speed can be given as relative centrifugal force (--rcf 4000g, ISO 15189
+style), converted with the radius of the rotor in use as the lab declares it (lab config "rotor_radius_m"); results show both.
+Arguments a capability needs and the agent did not give are kept from the instrument's state (the centrifuge packs speed, time,
+temperature, acceleration and braking into one call; the sonicator's method holds amplitude, time, pulse and energy end point).
+
+One native path per member (start / stop / result): the centrifuge's centrifuge.* core (set_method / measure / stop / get_curve)
+rather than the touchscreen run.start / set_point; the mixers' and sonicator's acquisition core; the shaker's shaking.* and the
+bath's ultrasound.* - each with its status query as a declared path exception.
+
+Standards: PyLabRobot Centrifuge (spin at g for a time) and Shaker (shake, stop_shaking); SiLA 2 device features; NAMUR (IKA
+KS 4000: OUT_SP_4, START_4, STOP_4); ISO 15189-style RCF reporting.
+"""
+import math
+
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .run_steps import StepAdapter, fmt_value
+
+G = 9.80665
+REF = ('5910 Ri manual pp.27-36 (lid, rotor, loading), 37-45 (touch interface, run records); ARE-310 manual pp.30-48 (balance, '
+       'STD/STEP conditions, run); KS 4000 manual pp.17-20 (speed, timer, safety limits) and 23-25 (NAMUR); T 25 manual p.6 (speed); '
+       'VCX 750 manual pp.13-21 (amplitude, timer, pulser, temperature and energy set points); Elmasonic S manual pp.20-24 (timer, '
+       'sweep, degas, temperature-controlled start)')
+RPM = 2 * math.pi / 60
+
+
+def rpm(w):
+    return units.fmt(w, 'rotation') if finite(w) else 'n/a'
+
+
+class AgitationAdapter(StepAdapter):
+    CLASS = 'agitation'
+    TITLE = 'agitation (spin, shake, mix, sonicate)'
+    ABOUT = ('Centrifuges, mixers, shakers, dispersers and sonicators: set the speed (rpm, or g for a centrifuge), the ultrasound '
+             'amplitude or mode, the run time and the chamber temperature, load tubes or declare the cup mass, start a run (a job), '
+             'stop it and read its record.')
+    STANDARDS = ('PyLabRobot Centrifuge / Shaker; SiLA 2 device features; NAMUR (IKA KS 4000); ISO 15189 RCF reporting')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('rotation', 'duration', 'temperature', 'fraction', 'mass')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'BUSY': ('BUSY', '{inst} is running.', 'wait for the run (`chemlab run {inst} status`) or stop it (`chemlab run {inst} stop`).'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def running(self, values):
+        ph = self.role(values, 'phase')
+        return ph in (self.param('running_values') or ['running', 'stopping'])
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def need_idle(self, ctx, what):
+        if self.slot('phase') and self.param('idle_for_settings', True):
+            ctx.check(not self.running(ctx), 'BUSY', '%s is running (%s = %s); %s cannot change now.' % (
+                self.instrument_id, self.slot('phase'), self.role(ctx, 'phase'), what),
+                'wait for the run (`chemlab run %s status`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id),
+                label='not running')
+
+    def radius(self, ctx):
+        """Radius of the rotor in use (lab config "rotor_radius_m": {configuration: m}, or a single number)."""
+        decl = self.config_entry.get('rotor_radius_m')
+        conf = self.sval(ctx, self.slot('rotor')) if self.slot('rotor') else None
+        if isinstance(decl, (int, float)):
+            return float(decl), conf
+        if isinstance(decl, dict) and conf in decl:
+            return float(decl[conf]), conf
+        return None, conf
+
+    def rcf_of(self, ctx, w):
+        r, _ = self.radius(ctx)
+        return None if r is None or not finite(w) else r * w * w / G
+
+    def summary(self, values):
+        p = self.slot('power')
+        if p and not self.sval(values, p):
+            return ['power off'], {'power': False}
+        w, ws = self.slot_si(values, self.slot('speed')), self.slot_si(values, self.slot('speed_set'))
+        amp = self.sval(values, self.slot('amplitude'))
+        mode = self.sval(values, self.slot('mode'))
+        ph = self.role(values, 'phase')
+        bits = []
+        if w is not None or ws is not None:
+            bits.append('speed %s (set %s)' % (rpm(w), rpm(ws)))
+        if amp is not None:
+            bits.append('amplitude %.0f %%' % (amp * 100) if finite(amp) else 'amplitude %s' % amp)
+        if mode is not None:
+            bits.append('mode %s' % mode)
+        line = '; '.join(bits) or 'no speed reported'
+        more = []
+        if ph is not None:
+            more.append('run %s' % ph)
+        rem = self.slot_si(values, self.slot('remaining'))
+        if finite(rem):
+            more.append('%s left' % units.fmt_s(rem))
+        tk = self.slot_si(values, self.slot('temp'))
+        if finite(tk):
+            more.append('%s' % units.fmt(tk, 'temperature'))
+        lid = self.slot('lid')
+        if lid:
+            lv = self.sval(values, lid)
+            if finite(lv):
+                state = 'closed' if lv <= 1e-4 else 'open (%.2f)' % lv
+            else:
+                state = self.param('lid_states', {}).get(str(lv), short(lv, 20))
+            more.append('%s %s' % (self.param('lid_word', 'lid'), state))
+        js = {'power': True, 'speed_rad_s': w, 'speed_set_rad_s': ws, 'amplitude_fraction': amp, 'mode': mode, 'phase': ph,
+              'remaining_s': rem, 'temperature_k': tk}
+        return [line] + (['; '.join(more)] if more else []), js
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code in ('PRECONDITION_FAILED', 'BUSY'):
+            ctx.refresh()
+            p = self.slot('power')
+            if p and not ctx.v(p):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+        return StepAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        t = Opt('run time, e.g. 10min (sets the timer in the same step)', kind='duration', metavar='TIME')
+        return {
+            'speed': Verb('speed', 'set the rotation / shaking / mixing speed (rpm, or --rcf for a centrifuge)', self.h_speed,
+                          positionals=[Arg('RATE', 'speed, e.g. 4000rpm (a bare number is rpm)', required=False, kind='rotation')],
+                          options={'rcf': Opt('relative centrifugal force instead of rpm, e.g. 2000g (centrifuges; needs the rotor radius)', metavar='G'),
+                                   'time': t,
+                                   'defoam': Opt('planetary mixer: the speed of the defoaming step after mixing', kind='rotation', metavar='RATE'),
+                                   'defoam-time': Opt('planetary mixer: the time of the defoaming step', kind='duration', metavar='TIME')},
+                          preconditions=['power on', 'not running (where the member cannot change speed in a run)', 'within the range of the '
+                                         'member (and its safety / rotor limit)'],
+                          errors=['OUT_OF_RANGE, BAD_STEP, MISSING_TIME, NO_ROTOR_RADIUS (usage)', 'POWER_OFF, BUSY, ABOVE_SPEED_LIMIT, NO_ROTOR (refused)'],
+                          example='chemlab run INST speed 4000rpm --time 10min', reference=REF),
+            'intensity': Verb('intensity', 'set the ultrasound amplitude (e.g. 40%) or the bath mode (normal, sweep, degas)', self.h_intensity,
+                              positionals=[Arg('VALUE', 'amplitude in %, or a mode')],
+                              preconditions=['power on', 'a method set (probe sonicator)', 'within the range / one of the modes'],
+                              errors=['OUT_OF_RANGE, BAD_CHOICE (usage)', 'NO_METHOD (refused)'], example='chemlab run INST intensity 40%', reference=REF),
+            'time': Verb('time', 'set the run time (or continuous where the member has it)', self.h_time,
+                         positionals=[Arg('TIME', 'run time, e.g. 10min, or continuous')],
+                         preconditions=['power on', 'not running', 'within the timer range'], errors=['OUT_OF_RANGE (usage)', 'BUSY (refused)'],
+                         example='chemlab run INST time 10min', reference=REF),
+            'set-temp': Verb('set-temp', 'set the chamber temperature (refrigerated centrifuge)', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'temperature, e.g. 4C', kind='temperature')],
+                             preconditions=['power on', 'not running', 'within the range'], errors=['OUT_OF_RANGE (usage)', 'BUSY (refused)'],
+                             example='chemlab run INST set-temp 4C', reference=REF),
+            'safety-limit': Verb('safety-limit', 'set the sample temperature limit (the sonicator pauses above it)', self.h_limit,
+                                 positionals=[Arg('TEMP', 'limit, e.g. 40C', kind='temperature')],
+                                 preconditions=['power on', 'within the range of the probe controller'], errors=['OUT_OF_RANGE (usage)'],
+                                 example='chemlab run INST safety-limit 40C', reference=REF),
+            'load': Verb('load', 'load a tube into a rotor position (--slot), or declare the container mass for the balance (--mass)', self.h_load,
+                         positionals=[Arg('SAMPLE', 'the tube / sample name (centrifuge)', required=False)],
+                         options={'slot': Opt('rotor position, e.g. slot_1', metavar='SLOT'),
+                                  'mass': Opt('gross mass of the container with its content (planetary mixer balance)', kind='mass', metavar='MASS')},
+                         preconditions=['lid open', 'rotor selected / position empty (centrifuge)', 'mass within the balance range (mixer)'],
+                         errors=['MISSING_SLOT, MISSING_MASS (usage)', 'LID_CLOSED, NO_ROTOR (refused)'], example='chemlab run INST load tube_a --slot slot_1',
+                         reference=REF),
+            'unload': Verb('unload', 'take a tube out of a rotor position', self.h_unload,
+                           options={'slot': Opt('rotor position', metavar='SLOT', required=True)},
+                           preconditions=['lid open', 'not running'], errors=['LID_CLOSED (refused)'], example='chemlab run INST unload --slot slot_1',
+                           reference=REF),
+            'start': Verb('start', 'start the run (a job; --wait blocks until it ends)', self.h_start,
+                          options={'wait': Opt('wait until the run ends (moves lab time)', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait', kind='duration', metavar='TIME'),
+                                   'at-temp': Opt('ultrasonic bath: start the ultrasound only when the bath has reached its set temperature', kind='flag')},
+                          preconditions=['power on', 'lid / hood / cover closed', 'speed, time / method set', 'load balanced, fixture / mount '
+                                         'ready (the member\'s own)', 'not already running'],
+                          errors=['LID_OPEN, NO_METHOD, IMBALANCE, NO_FIXTURE, NOT_MOUNTED, BUSY (refused)'],
+                          example='chemlab run INST start --wait', reference=REF, long_action=True),
+            'stop': Verb('stop', 'stop the run', self.h_stop, preconditions=['a run in progress'], errors=['NOT_RUNNING (refused)'],
+                         example='chemlab run INST stop', reference=REF),
+            'result': Verb('result', 'the record of the last run (speed, time, temperature, energy - what the member reports)', self.h_result,
+                           readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST result --save-to run.json', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ speed
+    def h_speed(self, ctx, p):
+        m = self.vmap('speed')
+        if p.pos and p.get('rcf') is not None:
+            ctx.fail(invalid('BOTH_SPEEDS', 'give the speed in rpm or as --rcf, not both.', 'e.g. `chemlab run %s speed 4000rpm`.' % self.instrument_id))
+        if not p.pos and p.get('rcf') is None:
+            ctx.fail(invalid('MISSING_SPEED', 'speed needs RATE (e.g. 2000rpm)%s.' % (' or --rcf G' if m.get('rcf') else ''),
+                             'e.g. `chemlab run %s speed 2000rpm`.' % self.instrument_id))
+        if p.get('rcf') is not None:
+            if not m.get('rcf'):
+                ctx.fail(invalid('NO_RCF', '%s takes speeds in rpm only (--rcf is for centrifuges).' % self.instrument_id, 'give RATE in rpm.'))
+            g = self.parse_rcf(p.get('rcf'))
+            r, conf = self.radius(ctx)
+            if conf is None and self.slot('rotor'):
+                ctx.fail(refused('NO_ROTOR', '%s has no rotor selected, so --rcf cannot be converted to rpm.' % self.instrument_id,
+                                 'select the rotor (`chemlab call %s rotor.select --configuration ...`) or give rpm.' % self.instrument_id))
+            if r is None:
+                ctx.fail(invalid('NO_ROTOR_RADIUS', 'the lab does not declare the radius of rotor %s on %s, so --rcf cannot be converted.' % (conf, self.instrument_id),
+                                 'give the speed in rpm.'))
+            w = math.sqrt(g * G / r)
+            ctx.notes.append('%g x g at r = %.3f m (%s rotor) = %s' % (g, r, conf, rpm(w)))
+        else:
+            w = p.pos[0]
+        if (p.get('defoam') is not None or p.get('defoam-time') is not None) and not m.get('program'):
+            ctx.fail(invalid('NO_DEFOAM', '%s has no defoaming step.' % self.instrument_id, 'leave out --defoam / --defoam-time.'))
+        self.need_power(ctx)
+        if m.get('idle', True):
+            self.need_idle(ctx, 'the speed')
+        self.requirements(ctx, 'speed')
+        if m.get('program'):
+            return self.speed_program(ctx, p, m, w)
+        cap, arg = m['cap'], m['arg']
+        native = self.arg_value(cap, arg, w)
+        if self.param('integer_rpm'):
+            r = w / RPM
+            if abs(r - round(r)) > 1e-6:
+                ctx.fail(invalid('BAD_STEP', '%s takes whole rpm, not %.3f rpm.' % (self.instrument_id, r), 'round it, e.g. %drpm.' % round(r)))
+        self.check_range(ctx, cap, arg, native, 'speed')
+        lim = self.slot_si(ctx, self.slot('speed_limit'))
+        if finite(lim):
+            ctx.check(w <= lim + 1e-9, 'ABOVE_SPEED_LIMIT', 'the speed %s is above the speed limit of %s (%s).' % (rpm(w), self.instrument_id, rpm(lim)),
+                      'choose a lower speed, or raise the limit (`chemlab describe %s`, safety settings) if the load allows it.' % self.instrument_id,
+                      label='below the speed limit')
+        given = {arg: round(native, 10)}
+        if p.get('time') is not None and m.get('time_arg'):
+            given[m['time_arg']] = self.arg_value(cap, m['time_arg'], p.get('time'))
+            self.check_range(ctx, cap, m['time_arg'], given[m['time_arg']], 'run time')
+        args = self.build_args(ctx, m, given, 'speed')
+        ctx.call(cap, args, 'set the speed to %s' % rpm(w))
+        text = 'ok: %s speed %s' % (self.instrument_id, rpm(w))
+        rcf = self.rcf_of(ctx, w) if m.get('rcf') else None
+        if rcf is not None:
+            text += ' (%.0f x g)' % rcf
+        js = {'speed_rad_s': w, 'speed_rpm': w / RPM, 'rcf': rcf}
+        if p.get('time') is not None:
+            if m.get('time_arg'):
+                text += ', run time %s' % units.fmt_s(p.get('time'))
+            else:
+                r2 = self.set_time(ctx, p.get('time'), False)
+                text += ', ' + r2
+            js['time_s'] = p.get('time')
+        return {'text': text + '\n', 'json': js}
+
+    @staticmethod
+    def parse_rcf(text):
+        t = (text or '').strip().lower().replace(' ', '').replace('xg', '').rstrip('g')
+        try:
+            v = float(t)
+        except ValueError:
+            raise invalid('BAD_NUMBER', '%r is not a relative centrifugal force.' % text, 'write it like 2000g (multiples of g).')
+        if not math.isfinite(v) or v <= 0:
+            raise invalid('BAD_NUMBER', '--rcf %s must be positive.' % text, 'write it like 2000g.')
+        return v
+
+    def speed_program(self, ctx, p, m, w):
+        """Planetary mixer: one mix step (speed + time), optionally a defoam step, as the method program."""
+        pr = m['program']
+        if p.get('time') is None:
+            ctx.fail(invalid('MISSING_TIME', 'a mixing step on %s needs its time too.' % self.instrument_id,
+                             'give it: `chemlab run %s speed %drpm --time 60s` (optional --defoam 2200rpm --defoam-time 30s).' % (self.instrument_id, round(w / RPM))))
+        if (p.get('defoam') is None) != (p.get('defoam-time') is None):
+            ctx.fail(invalid('MISSING_DEFOAM', 'a defoaming step needs both --defoam RATE and --defoam-time TIME.', 'give both or neither.'))
+        item = (self.cap_schema(m['cap'], pr['arg']).get('items') or {}).get('properties') or {}
+        steps = [('mix', w, p.get('time'))]
+        if p.get('defoam') is not None:
+            steps.append(('defoam', p.get('defoam'), p.get('defoam-time')))
+        prog = []
+        for mode, sp, tm in steps:
+            v = units.to_declared(sp, units.declared(item.get(pr['speed_key']) or {}) or 'rad/s')
+            d = units.to_declared(tm, units.declared(item.get(pr['time_key']) or {}) or 's')
+            for val, key, label in ((v, pr['speed_key'], '%s speed' % mode), (d, pr['time_key'], '%s time' % mode)):
+                s = item.get(key) or {}
+                if (s.get('minimum') is not None and val < s['minimum']) or (s.get('maximum') is not None and val > s['maximum']):
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside %s..%s on %s.' % (label, fmt_value(val, units.declared(s)), s.get('minimum'),
+                                                                                        s.get('maximum'), self.instrument_id),
+                                     'give a %s from %s to %s %s.' % (label, s.get('minimum'), s.get('maximum'), units.declared(s) or '')))
+            prog.append({pr['mode_key']: mode, pr['time_key']: round(d, 10), pr['speed_key']: round(v, 10)})
+        args = self.build_args(ctx, m, {pr['arg']: prog}, 'speed')
+        ctx.call(m['cap'], args, 'set the mixing program (%s)' % ', '.join('%s %s %s' % (s[0], rpm(s[1]), units.fmt_s(s[2])) for s in steps))
+        return {'text': 'ok: %s program: %s\n' % (self.instrument_id, '; '.join('%s %s for %s' % (s[0], rpm(s[1]), units.fmt_s(s[2])) for s in steps)),
+                'json': {'program': prog}}
+
+    # ------------------------------------------------------------------ intensity / time / temperatures
+    def h_intensity(self, ctx, p):
+        m = self.vmap('intensity')
+        cap, arg = m['cap'], m['arg']
+        text = p.pos[0].strip()
+        enum = self.arg_enum(cap, arg)
+        if enum:
+            if text.lower() not in [e.lower() for e in enum]:
+                ctx.fail(invalid('BAD_CHOICE', '%s has no mode %r.' % (self.instrument_id, text), 'modes: %s.' % ', '.join(enum)))
+            native = next(e for e in enum if e.lower() == text.lower())
+            shown = native
+        else:
+            v = units.parse(text, 'fraction', what='amplitude')
+            native = self.arg_value(cap, arg, v)
+            lo, hi = self.arg_range(cap, arg)
+            if (lo is not None and native < lo - 1e-9) or (hi is not None and native > hi + 1e-9):
+                ctx.fail(invalid('OUT_OF_RANGE', 'amplitude %s is outside %.0f %% to %.0f %% on %s.' % (text, lo * 100, hi * 100, self.instrument_id),
+                                 'give an amplitude from %.0f%% to %.0f%%.' % (lo * 100, hi * 100)))
+            ctx.checks.append('amplitude within %.0f..%.0f %%' % (lo * 100, hi * 100))
+            shown = '%.0f %%' % (v * 100)
+        self.need_power(ctx)
+        self.requirements(ctx, 'intensity')
+        args = dict(m.get('args') or {})
+        args[arg] = native
+        ctx.call(cap, args, 'set the %s to %s' % ('mode' if enum else 'amplitude', shown))
+        return {'text': 'ok: %s %s %s\n' % (self.instrument_id, 'mode' if enum else 'amplitude', shown), 'json': {arg: native}}
+
+    def set_time(self, ctx, seconds, continuous):
+        m = self.vmap('time')
+        given = dict(m.get('args') or {})
+        if continuous:
+            if not m.get('continuous'):
+                ctx.fail(invalid('NO_CONTINUOUS', '%s has no continuous mode.' % self.instrument_id, 'give a run time, e.g. 10min.'))
+            given.update(m['continuous'])
+        else:
+            given.update(m.get('timed') or {})
+            native = self.arg_value(m['cap'], m['arg'], seconds)
+            self.check_range(ctx, m['cap'], m['arg'], native, 'run time')
+            given[m['arg']] = round(native, 10)
+        spec = dict(m)
+        spec['args'] = {}
+        args = self.build_args(ctx, spec, given, 'time')
+        what = 'continuous run' if continuous else 'run time %s' % units.fmt_s(seconds)
+        ctx.call(m['cap'], args, 'set the %s' % what)
+        return what
+
+    def h_time(self, ctx, p):
+        text = p.pos[0].strip().lower()
+        cont = text in ('continuous', 'cont', 'on', 'infinite')
+        sec = None if cont else units.parse(text, 'duration', what='run time')
+        self.need_power(ctx)
+        self.need_idle(ctx, 'the run time')
+        self.requirements(ctx, 'time')
+        what = self.set_time(ctx, sec, cont)
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, what), 'json': {'time_s': sec, 'continuous': cont}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        native = self.arg_value(m['cap'], m['arg'], k)
+        self.check_range(ctx, m['cap'], m['arg'], native, 'temperature')
+        self.need_power(ctx)
+        self.need_idle(ctx, 'the temperature')
+        self.requirements(ctx, 'set-temp')
+        args = self.build_args(ctx, m, {m['arg']: round(native, 10)}, 'set-temp')
+        ctx.call(m['cap'], args, 'set the temperature to %s' % units.fmt(k, 'temperature'))
+        return {'text': 'ok: %s temperature %s\n' % (self.instrument_id, units.fmt(k, 'temperature')), 'json': {'temperature_k': k}}
+
+    def h_limit(self, ctx, p):
+        m = self.vmap('safety-limit')
+        k = p.pos[0]
+        native = self.arg_value(m['cap'], m['arg'], k)
+        self.check_range(ctx, m['cap'], m['arg'], native, 'temperature limit')
+        self.need_power(ctx)
+        self.requirements(ctx, 'safety-limit')
+        ctx.call(m['cap'], {m['arg']: round(native, 10)}, 'set the temperature limit to %s' % units.fmt(k, 'temperature'))
+        return {'text': 'ok: %s temperature limit %s\n' % (self.instrument_id, units.fmt(k, 'temperature')), 'json': {'limit_k': k}}
+
+    # ------------------------------------------------------------------ load / unload
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        self.need_power(ctx)
+        if m.get('mass_arg'):
+            if p.get('mass') is None:
+                ctx.fail(invalid('MISSING_MASS', 'load on %s needs --mass: the gross mass of the container with its content.' % self.instrument_id,
+                                 'weigh the filled container and give it, e.g. `chemlab run %s load --mass 140g`.' % self.instrument_id))
+            if p.pos or p.get('slot'):
+                ctx.fail(invalid('NO_SLOTS', '%s has one container holder: give only --mass.' % self.instrument_id, 'leave out SAMPLE / --slot.'))
+            native = self.arg_value(m['cap'], m['mass_arg'], p.get('mass'))
+            self.check_range(ctx, m['cap'], m['mass_arg'], native, 'mass')
+            self.need_idle(ctx, 'the balance')
+            self.requirements(ctx, 'load')
+            ctx.call(m['cap'], {m['mass_arg']: round(native, 12)}, 'set the counterbalance to %s' % units.fmt(p.get('mass'), 'mass'))
+            return {'text': 'ok: %s balance set to %s\n' % (self.instrument_id, units.fmt(p.get('mass'), 'mass')), 'json': {'mass_kg': p.get('mass')}}
+        if not p.pos or not p.get('slot'):
+            ctx.fail(invalid('MISSING_SLOT', 'load on %s needs SAMPLE and --slot.' % self.instrument_id,
+                             'e.g. `chemlab run %s load tube_a --slot slot_1`; positions come in opposite pairs for balance.' % self.instrument_id))
+        if p.get('mass') is not None:
+            ctx.fail(invalid('NO_MASS', '%s weighs nothing itself: tube masses are known to the lab.' % self.instrument_id, 'leave out --mass.'))
+        self.need_idle(ctx, 'the rotor load')
+        self.requirements(ctx, 'load')
+        ctx.call(m['cap'], {m['slot_arg']: p.get('slot'), m['sample_arg']: p.pos[0]}, 'load %s into %s' % (p.pos[0], p.get('slot')))
+        imb = self.sval(ctx, self.slot('imbalance')) if self.slot('imbalance') else None
+        notes = ['the rotor is out of balance now - load the opposite position' ] if imb else []
+        return {'text': 'ok: %s %s in %s%s\n' % (self.instrument_id, p.pos[0], p.get('slot'), '; imbalance' if imb else ''),
+                'json': {'slot': p.get('slot'), 'sample': p.pos[0], 'imbalance': imb}, 'notes': notes}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        self.need_power(ctx)
+        self.need_idle(ctx, 'the rotor load')
+        self.requirements(ctx, 'unload')
+        ctx.call(m['cap'], {m['slot_arg']: p.get('slot')}, 'unload %s' % p.get('slot'))
+        return {'text': 'ok: %s %s emptied\n' % (self.instrument_id, p.get('slot')), 'json': {'slot': p.get('slot')}}
+
+    # ------------------------------------------------------------------ start / stop / result
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.need_power(ctx)
+        ctx.check(not self.running(ctx), 'BUSY', '%s is already running (%s = %s).' % (self.instrument_id, self.slot('phase'), self.role(ctx, 'phase')),
+                  'wait for it or stop it (`chemlab run %s stop`).' % self.instrument_id, label='not running')
+        self.requirements(ctx, 'start')
+        args = dict(m.get('args') or {})
+        if p.get('at-temp'):
+            at = m.get('at_temp')
+            if not at:
+                ctx.fail(invalid('NO_AT_TEMP', '%s has no temperature-controlled start.' % self.instrument_id, 'leave out --at-temp.'))
+            ctx.check(bool(self.sval(ctx, at['heater_slot'])), 'HEATING_OFF', 'the heater of %s is off, so it would never reach its set temperature.' % self.instrument_id,
+                      'switch heating on (`chemlab run %s heat on`) or start without --at-temp.' % self.instrument_id, label='heating on')
+            args[at['arg']] = True
+        ctx.call(m['cap'], args, 'start (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.state_job(ctx, m, 'run on %s' % self.instrument_id)
+        if not p.get('wait'):
+            return {'text': 'started %s: run on %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s; then `chemlab run %s result`\n' % (
+                job.handle, self.instrument_id, job.handle, job.handle, job.handle, self.instrument_id), 'json': {'job': job.handle, 'kind': job.kind}}
+        r = self.follow_job(ctx, job, p.get('max') or float(m.get('max_s', 7200)))
+        if job.state != 'succeeded':
+            ctx.fail(refused('NOT_FINISHED' if job.state == 'running' else 'RUN_FAILED', 'the run on %s is %s after %s (%s).' % (
+                self.instrument_id, job.state, units.fmt_s(r['json'].get('waited_s') or 0), r['text'].strip().splitlines()[-1][:160]),
+                'follow it with `chemlab wait %s` or check `chemlab run %s status`.' % (job.handle, self.instrument_id), changed='yes'))
+        res = self.read_result(ctx)
+        return {'text': 'run on %s finished after %s:\n%s' % (self.instrument_id, units.fmt_s(r['json'].get('waited_s') or 0), res['text']),
+                'json': dict(res['json'], job=job.handle)}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.need_power(ctx)
+        ctx.check(self.running(ctx), 'NOT_RUNNING', '%s is not running (%s = %s).' % (self.instrument_id, self.slot('phase'), self.role(ctx, 'phase')),
+                  'nothing to stop.', label='running')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped (%s = %s)\n' % (self.instrument_id, self.slot('phase'), self.role(ctx, 'phase')), 'json': {'phase': self.role(ctx, 'phase')}}
+
+    def read_result(self, ctx):
+        m = self.vmap('result')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the run record (%s)' % m['cap'], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        out_props = ((ctx.cap_spec(m['cap']).get('output_schema') or {}).get('properties') or {})
+        lines, js = [], {'result': res}
+        if m.get('curve'):
+            cv = res.get(m['curve']) or {}
+            sp = [x for x in (cv.get('speed_rad_s') or []) if finite(x)]
+            tt = [x for x in (cv.get('time_s') or []) if finite(x)]
+            tk = [x for x in (cv.get('temperature_k') or []) if finite(x)]
+            wmax = max(sp) if sp else None
+            summ = {'run_s': tt[-1] if tt else None, 'max_speed_rad_s': wmax, 'max_speed_rpm': None if wmax is None else wmax / RPM,
+                    'max_rcf': self.rcf_of(ctx, wmax), 'final_temperature_k': tk[-1] if tk else None, 'outcome': cv.get('outcome'),
+                    'complete': cv.get('complete'), 'points': len(tt)}
+            lines.append('  run %s, top speed %s%s, final chamber %s, outcome %s (%d curve points)' % (
+                units.fmt_s(summ['run_s'] or 0), rpm(wmax), (' (%.0f x g)' % summ['max_rcf']) if finite(summ['max_rcf']) else '',
+                units.fmt(summ['final_temperature_k'], 'temperature') if finite(summ['final_temperature_k']) else 'n/a', summ['outcome'], len(tt)))
+            js.update(summ)
+        for k in m.get('show') or []:
+            if k in res:
+                lines.append('  %s = %s' % (k, fmt_value(res.get(k), units.declared(out_props.get(k) or {}))))
+                js[k] = res.get(k)
+        if not lines:
+            lines = ['  %s = %s' % (k, short(v, 120)) for k, v in list(res.items())[:12]]
+        return {'text': '%s run record:\n%s\n' % (self.instrument_id, '\n'.join(lines)), 'json': js}
+
+    def h_result(self, ctx, p):
+        return self.read_result(ctx)
diff --git a/chemlab/chemlab/compile/classes/assay_common.py b/chemlab/chemlab/compile/classes/assay_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..bb7fbfd89150425b7c422f8bca94e9ee62520aed
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/assay_common.py
@@ -0,0 +1,448 @@
+"""Helpers shared by the bioassay and labware_automation classes: instruments whose class verbs are short
+sequences of native calls with mechanical waits in between (open the drawer, wait until it is out, load the plate, close it), runs
+that return a job, and KEY=VALUE settings with units.
+
+StepAdapter (a ClassAdapter) adds, with every instrument fact kept in the fragment:
+
+* ``sv(values, spec)``: a slot value, ``slot#key`` for a key of an object slot;
+* ``cond(values, c)``: a condition on a slot: {"slot", "value" | "not" | "in" | "min" | "max" | "truthy" | "falsy" | "null" | "set"};
+* ``need(ctx, verb)``: the member's own preconditions ("requires": {verb: [{condition + "code", "message", "fix"}]});
+* ``run_steps(ctx, steps, env)``: a step list from the fragment, run in order:
+      {"cap": C, "args": {fixed}, "with": {ARG: "$name"}, "when": condition(s), "step": "plain text"}    one native call
+      {"wait": condition, "max_s": S, "step": "...", "code"/"message"/"fix"}                                let lab time pass
+      {"check": condition, "code", "message", "fix"}                                                         a state check
+  ``$name`` takes a value from ``env`` (SI numbers are converted into the unit the argument declares);
+* ``pairs(ctx, p)`` / ``settings(ctx, cap, pairs, keys)``: KEY=VALUE settings: class keys with units (``"keys": {"temp":
+  {"arg": "temperature_k", "kind": "temperature"}}``), native argument names (passthrough; a bare number takes the declared unit),
+  ``KEY.SUB=VALUE`` for an object argument, comma lists for arrays, JSON for anything else and ``@FILE`` to read a JSON value
+  from a file in the caller's work dir;
+* ``check_args(ctx, cap, args)``: numbers inside the contract ranges before anything is sent (a usage error, friendly units);
+* ``start_job(ctx, m, r, cap, what)``: a job for a long action (the runtime's operation, or a state slot);
+* ``wait_until(ctx, test, max_s, step, fail)``: let lab time pass until a state test holds.
+
+Never copies ranges or units into the fragment: they come from the contract.
+"""
+import copy
+import difflib
+import json
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import RUNNING, OperationJob, StateJob
+
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+def _types(schema):
+    s = schema or {}
+    out = set()
+    for x in ([s] + [y for y in s.get('anyOf') or [] if isinstance(y, dict)]):
+        t = x.get('type')
+        out |= set(t if isinstance(t, list) else [t] if t else [])
+    return out
+
+
+def _num_schema(schema):
+    s = schema or {}
+    if 'anyOf' in s:
+        return next((x for x in s['anyOf'] if isinstance(x, dict) and x.get('type') in ('number', 'integer')), s)
+    return s
+
+
+def plain(v):
+    return v if isinstance(v, str) else short(v, 40)
+
+
+def parse_si(text, kind, what):
+    """Agent text -> SI (units.parse: µM, nM, pM, µcal/s, µW are framework units); 'rotation_hz': a speed typed in rpm (or Hz)
+    given back in revolutions per second (ITC stirrer)."""
+    t = (text or '').strip().replace(' ', '')
+    if kind == 'rotation_hz':
+        return units.parse(t, 'rotation', what=what) / (2 * math.pi)
+    return units.parse(t, kind, what=what)
+
+
+class StepAdapter(ClassAdapter):
+    KEY_HELP = {}                      # class key -> help (documented in help INST method)
+
+    # ------------------------------------------------------------------ slots and conditions
+    def sv(self, values, spec, default=None):
+        if spec is None:
+            return default
+        sid, _, key = spec.partition('#')
+        v = values.v(sid) if hasattr(values, 'v') else values.get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        elif key:
+            v = None
+        return default if v is None else v
+
+    def cond(self, values, c):
+        if c is None:
+            return True
+        if isinstance(c, list):
+            return all(self.cond(values, x) for x in c)
+        if 'any' in c:
+            return any(self.cond(values, x) for x in c['any'])
+        v = self.sv(values, c['slot'] + ('#' + c['key'] if c.get('key') else ''))
+        if 'value' in c:
+            return v == c['value']
+        if 'in' in c:
+            return v in c['in']
+        if 'not' in c:
+            return v not in c['not']
+        if 'truthy' in c:
+            return bool(v) == bool(c['truthy'])
+        if 'null' in c:
+            return (v is None) == bool(c['null'])
+        if 'min' in c or 'max' in c:
+            return finite(v) and ('min' not in c or v >= c['min'] - 1e-12) and ('max' not in c or v <= c['max'] + 1e-12)
+        return v is not None
+
+    def need(self, ctx, verb, only=None):
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            if only is not None and r.get('code') not in only:
+                continue
+            got = self.sv(ctx, r['slot'] + ('#' + r['key'] if r.get('key') else ''))
+            ctx.check(self.cond(ctx, r), r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=plain(got)),
+                      r['fix'].format(inst=self.instrument_id, value=plain(got)), label=r.get('label', r['slot']))
+
+    # ------------------------------------------------------------------ waiting
+    def wait_until(self, ctx, test, max_s, step, fail=None, poll_s=0.5):
+        """Let lab time pass until test(view) holds (at most max_s).  Returns the seconds waited; refuses with ``fail`` (code,
+        message, fix) or NOT_REACHED when the state is not reached."""
+        if ctx.dry_run:
+            ctx.advance(max_s, step=step)
+            return 0.0
+        if test(ctx.view):
+            return 0.0
+        waited = ctx.advance(max_s, until=test, step=step, poll_s=poll_s)
+        if not test(ctx.refresh()):
+            code, msg, fix = fail or ('NOT_REACHED', '%s did not finish: %s (waited %s).' % (self.instrument_id, step, units.fmt_s(waited)),
+                                      'check `chemlab run %s status`, then retry.' % self.instrument_id)
+            ctx.fail(refused(code, msg.format(inst=self.instrument_id), fix.format(inst=self.instrument_id)))
+        return waited
+
+    # ------------------------------------------------------------------ step lists
+    def resolve(self, ctx, cap, arg, value):
+        """An env value for a native argument: SI numbers into the declared unit; integers stay integers."""
+        if isinstance(value, float) or (isinstance(value, int) and not isinstance(value, bool)):
+            s = _num_schema(self.cap_schema(cap, arg))
+            u = units.declared(s)
+            if u and units.unit_kind(u):
+                value = units.to_declared(value, u)
+            if s.get('type') == 'integer' and float(value).is_integer():
+                value = int(value)
+        return value
+
+    def build_call(self, ctx, st, env):
+        cap = st['cap']
+        args = copy.deepcopy(st.get('args') or {})
+        for arg, ref in (st.get('with') or {}).items():
+            name = ref[1:] if isinstance(ref, str) and ref.startswith('$') else None
+            if name is None:
+                args[arg] = ref
+                continue
+            if name not in env or env[name] is None:
+                if arg in (st.get('optional') or []):
+                    continue
+                ctx.fail(invalid('MISSING_VALUE', '%s needs %s on %s.' % (ctx.verb.name, name, self.instrument_id),
+                                 'see `chemlab help %s %s`.' % (self.instrument_id, ctx.verb.name)))
+            args[arg] = self.resolve(ctx, cap, arg, env[name])
+        return cap, args
+
+    def run_steps(self, ctx, steps, env, results=None):
+        """Run a fragment step list (see the module docstring).  Returns the responses of the native calls, by step index."""
+        out = {} if results is None else results
+        for i, st in enumerate(steps):
+            if st.get('when') is not None and not self.cond(ctx, st['when']):
+                continue
+            if 'wait' in st:
+                c = st['wait']
+                fail = (st['code'], st['message'], st['fix']) if st.get('code') else None
+                self.wait_until(ctx, lambda v, c=c: self.cond(ctx, c), float(st.get('max_s', 60.0)), st.get('step', 'wait'), fail,
+                                poll_s=float(st.get('poll_s', 0.5)))
+                continue
+            if 'check' in st:
+                c = st['check']
+                got = self.sv(ctx, c['slot'] + ('#' + c['key'] if c.get('key') else '')) if isinstance(c, dict) and c.get('slot') else None
+                ctx.check(self.cond(ctx, st['check']), st.get('code', 'NOT_READY'),
+                          st['message'].format(inst=self.instrument_id, value=plain(got), **{k: v for k, v in env.items() if isinstance(v, str)}),
+                          st['fix'].format(inst=self.instrument_id, value=plain(got), **{k: v for k, v in env.items() if isinstance(v, str)}))
+                continue
+            cap, args = self.build_call(ctx, st, env)
+            self.check_args(ctx, cap, args)
+            text = st.get('step', cap)
+            text = text.format(**{k: (v if isinstance(v, str) else short(v, 30)) for k, v in env.items()})
+            out[i] = ctx.call(cap, args, text, query=bool(st.get('query')))
+        return out
+
+    # ------------------------------------------------------------------ KEY=VALUE settings
+    def pairs(self, ctx, p, verb, required=True):
+        out = []
+        if required and not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', '%s needs at least one KEY=VALUE.' % verb,
+                             'see `chemlab help %s %s`.' % (self.instrument_id, verb)))
+        seen = set()
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item,
+                                 'write %s KEY=VALUE ... (see `chemlab help %s %s`).' % (verb, self.instrument_id, verb)))
+            if k in seen:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give each setting once.'))
+            seen.add(k)
+            out.append((k, v))
+        return out
+
+    def read_file(self, ctx, name, what):
+        try:
+            path = ctx.core._work_path(name)
+        except Exception:                                                  # noqa: BLE001 - the generic layer's own usage error text
+            ctx.fail(invalid('BAD_FILE', '%s=@%s is not a file in your work dir.' % (what, name), 'write the JSON into a file in your work dir.'))
+        if not path.is_file():
+            ctx.fail(invalid('NO_FILE', 'there is no file %s in your work dir (for %s).' % (name, what), 'write the JSON value into it first.'))
+        try:
+            return json.loads(path.read_text(encoding='utf-8'))
+        except ValueError as exc:
+            ctx.fail(invalid('BAD_JSON', '%s is not valid JSON (%s).' % (name, exc), 'fix the file and retry.'))
+
+    def value(self, ctx, text, schema, kind=None, what=None):
+        """Agent text -> a JSON value for an argument: @FILE (JSON from the work dir), JSON arrays / objects, comma lists for
+        arrays, on/off for booleans, numbers with units (into the declared unit; ``kind`` for a class key), enums, null."""
+        what = what or 'value'
+        t = (text or '').strip()
+        types = _types(schema)
+        if t.startswith('@'):
+            return self.read_file(ctx, t[1:], what)
+        if t == 'null' and ('null' in types or not types):
+            return None
+        if t[:1] in '[{':
+            try:
+                return json.loads(t)
+            except ValueError as exc:
+                ctx.fail(invalid('BAD_JSON', '%s=%s is not valid JSON (%s).' % (what, t, exc), 'write it as JSON, or as a comma list.'))
+        if 'array' in types and not (types & {'number', 'integer', 'string', 'boolean'} and ',' not in t):
+            items = (schema or {}).get('items') or next((x.get('items') for x in (schema or {}).get('anyOf') or [] if isinstance(x, dict) and x.get('items')), {}) or {}
+            return [self.value(ctx, x, items, kind, what) for x in [y for y in t.split(',') if y.strip()]]
+        if 'boolean' in types and not types & {'number', 'integer'}:
+            low = t.lower()
+            if low in ('true', 'on', 'yes', '1'):
+                return True
+            if low in ('false', 'off', 'no', '0'):
+                return False
+            ctx.fail(invalid('BAD_VALUE', '%s=%s is not on/off.' % (what, t), 'write %s=on or %s=off.' % (what, what)))
+        if (types & {'number', 'integer'} or (kind and not types)) and re.match(r'\s*[+-]?(\d|\.\d)', t):
+            s = _num_schema(schema)
+            u = units.declared(s)
+            if kind:
+                si = parse_si(t, kind, what)
+                v = units.to_declared(si, u) if u and units.unit_kind(u) else si
+            elif u and units.unit_kind(u):
+                v = units.parse_for(t, s, what=what)
+            else:
+                m = re.fullmatch(_NUM, t)
+                if not m:
+                    ctx.fail(invalid('BAD_NUMBER', '%s=%s is not a number.' % (what, t), 'write a plain number.'))
+                v = float(t)
+            if 'integer' in types and 'number' not in types:
+                if abs(v - round(v)) > 1e-9:
+                    ctx.fail(invalid('NOT_WHOLE', '%s=%s must be a whole number.' % (what, t), 'give a whole number.'))
+                v = int(round(v))
+            return v
+        enum = (schema or {}).get('enum')
+        if enum and t not in [str(x) for x in enum]:
+            close = difflib.get_close_matches(t, [str(x) for x in enum], 2)
+            ctx.fail(invalid('BAD_CHOICE', '%s=%s is not allowed on %s.' % (what, t, self.instrument_id),
+                             ('did you mean %s? ' % ' or '.join(close) if close else '') + 'use one of: %s.' % ', '.join(map(str, enum))))
+        if enum:
+            return next(x for x in enum if str(x) == t)
+        return t
+
+    def settings(self, ctx, cap, pairs, keys, passthrough=True, args=None, parsers=None):
+        """KEY=VALUE pairs -> native arguments of ``cap``.  keys: class key -> {"arg", "kind", "parse"}; ``parsers``: parse name ->
+        fn(ctx, text, schema) for structured class syntaxes (qPCR steps, ITC injections)."""
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        args = dict(args or {})
+        for k, text in pairs:
+            base, dot, sub = k.partition('.')
+            spec = keys.get(k) or (keys.get(base) if dot else None)
+            if spec is not None:
+                native, kind = spec['arg'], spec.get('kind')
+            elif passthrough and (k in props or (dot and base in props)):
+                native, kind = (base if dot else k), None
+            else:
+                names = sorted(set(keys) | (set(props) if passthrough else set()))
+                close = difflib.get_close_matches(k, names, 2)
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no setting %r here.' % (self.instrument_id, k),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') + 'settings: %s.' % ', '.join(names)))
+            if native not in props:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s is not a setting of %s on %s.' % (k, cap, self.instrument_id),
+                                 'settings here: %s.' % ', '.join(sorted(set(x for x, s in keys.items() if s.get('arg') in props) | (set(props) if passthrough else set())))))
+            schema = props.get(native) or {}
+            if spec is not None and spec.get('parse') and parsers:
+                v = parsers[spec['parse']](ctx, text, schema)
+            elif dot:
+                sub_schema = ((schema.get('properties') or {}).get(sub)) or (schema.get('additionalProperties') if isinstance(schema.get('additionalProperties'), dict) else {}) or {}
+                v = self.value(ctx, text, sub_schema, kind, k)
+                obj = args.setdefault(native, {})
+                if not isinstance(obj, dict):
+                    ctx.fail(invalid('BAD_SETTING', '%s is given both as a whole and by key.' % native, 'give it one way.'))
+                obj[sub] = v
+                continue
+            else:
+                v = self.value(ctx, text, schema, kind, k)
+            if spec is not None and spec.get('scale') is not None and finite(v):
+                v = v * spec['scale']
+            if native in args and not (spec or {}).get('merge'):
+                ctx.fail(invalid('REPEATED_SETTING', '%s is set twice (%s).' % (native, k), 'give it once.'))
+            args[native] = v
+        return args
+
+    def check_args(self, ctx, cap, args):
+        """Numbers (and array items, and numbers inside array objects) inside the contract ranges: a usage error before anything
+        is sent, in friendly units."""
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+
+        def one(name, v, s, where):
+            s = _num_schema(s)
+            if not finite(v) or not isinstance(s, dict):
+                return
+            enum = s.get('enum')
+            u = units.declared(s)
+            f = (lambda x: units.fmt_declared(x, u)) if u and units.unit_kind(u) else (lambda x: '%g' % x)
+            if enum and all(finite(e) for e in enum) and not any(abs(v - e) <= 1e-9 * max(1.0, abs(e)) for e in enum):
+                ctx.fail(invalid('NOT_ALLOWED', '%s%s %s is not a setting of %s.' % (name, where, f(v), self.instrument_id),
+                                 'use one of: %s.' % ', '.join(f(e) for e in enum)))
+            lo, hi = s.get('minimum'), s.get('maximum')
+            if (lo is not None and v < lo - 1e-9 * max(1, abs(lo))) or (hi is not None and v > hi + 1e-9 * max(1, abs(hi))):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s%s %s is outside the range of %s (%s to %s).' % (
+                    name, where, f(v), self.instrument_id, f(lo) if lo is not None else '-', f(hi) if hi is not None else '-'),
+                    'give a value from %s to %s.' % (f(lo) if lo is not None else '-', f(hi) if hi is not None else '-')))
+
+        def walk(name, v, s, where):
+            if isinstance(v, list):
+                arr = s if isinstance(s, dict) and s.get('type') == 'array' else next((x for x in (s or {}).get('anyOf') or [] if isinstance(x, dict) and x.get('type') == 'array'), {})
+                lo, hi = arr.get('minItems'), arr.get('maxItems')
+                if (lo is not None and len(v) < lo) or (hi is not None and len(v) > hi):
+                    ctx.fail(invalid('WRONG_COUNT', '%s%s takes %s to %s items on %s, not %d.' % (name, where, lo if lo is not None else 0,
+                                                                                               hi if hi is not None else 'any', self.instrument_id, len(v)),
+                                     'give between %s and %s.' % (lo if lo is not None else 0, hi if hi is not None else 'any number')))
+                items = (s or {}).get('items') or next((x.get('items') for x in (s or {}).get('anyOf') or [] if isinstance(x, dict) and x.get('items')), None) or {}
+                for i, x in enumerate(v):
+                    walk(name, x, items, '%s[%d]' % (where, i + 1))
+            elif isinstance(v, dict):
+                sp = (s or {}).get('properties') or {}
+                if not sp and isinstance(s, dict) and 'anyOf' in s:
+                    sp = {}
+                    for x in s['anyOf']:
+                        if isinstance(x, dict):
+                            sp.update(x.get('properties') or {})
+                for k2, y in v.items():
+                    walk(k2, y, sp.get(k2), where)
+            else:
+                one(name, v, s, where)
+        for name, v in args.items():
+            walk(name, v, props.get(name), '')
+
+    # ------------------------------------------------------------------ jobs
+    def start_job(self, ctx, m, r, cap, what):
+        """A job for a started long action: the runtime's operation (operation_id) or a run whose progress is in a state slot
+        ({"state": {"slot", "done", "failed"}}); None when the action is not long."""
+        if ctx.dry_run:
+            return None
+        if m.get('state'):
+            st = m['state']
+            ad = self
+
+            def state(c):
+                v = ad.sv(c, st['slot'] + ('#' + st['key'] if st.get('key') else ''))
+                if v in (st.get('done') or []):
+                    return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+                if v in (st.get('failed') or []):
+                    return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+                return 'running', '%s = %s' % (st['slot'], v), {'state': v}
+            stop = None
+            sm = self.vmap('stop')
+            if sm and sm.get('cap'):
+                def stop(c):
+                    c.call(sm['cap'], dict(sm.get('args') or {}), 'stop')
+                    return 'stopped with %s' % sm['cap']
+            return StateJob(ctx.core, self, ctx.req, what, state, stop=stop, max_s=float(m.get('max_s', 86400)), poll_s=float(m.get('poll_s', 1.0)))
+        if r.get('operation_id'):
+            return OperationJob(ctx.core, self, ctx.req, what, cap, r['operation_id'], max_s=m.get('max_s'))
+        return None
+
+    def job_text(self, job, what):
+        return 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, what, job.handle, job.handle, job.handle)
+
+    # ------------------------------------------------------------------ names checked against a list slot
+    def known(self, ctx, name, spec, what):
+        """Check ``name`` against a list slot ({"slot", "key"}): a usage error with close matches when it is not there."""
+        if not spec:
+            return
+        items = self.sv(ctx, spec['slot'], []) or []
+        names = []
+        for x in items:
+            if isinstance(x, dict):
+                x = x.get(spec.get('key', 'id'))
+            if x is not None:
+                names.append(str(x))
+        if name in names:
+            ctx.checks.append('%s %s is there' % (what, name))
+            return
+        close = difflib.get_close_matches(name, names, 2)
+        ctx.fail(invalid(spec.get('code', 'UNKNOWN_ITEM'), '%s has no %s %r%s.' % (self.instrument_id, what, name, spec.get('where', '')),
+                         ('did you mean %s? ' % ' or '.join(close) if close else '') +
+                         ('%ss there: %s.' % (what, ', '.join(names)) if names else spec.get('none', 'there is none yet.'))))
+
+    def status_lines(self, values):
+        """status: one line per entry of the fragment's "view": [{"label", "slot", "key", "kind"}] (kind: a unit kind for a number)."""
+        lines, js = [], {}
+        for e in self.map.get('view') or []:
+            v = self.sv(values, e['slot'] + ('#' + e['key'] if e.get('key') else ''))
+            kind = e.get('kind')
+            if kind and finite(v):
+                u = None
+                if self.lab is not None and not e.get('key'):
+                    u = units.declared(self.lab.contract['state_slots'].get(e['slot']) or {})
+                u = e.get('unit', u)
+                txt = units.fmt(units.from_declared(v, u) if u else v, kind)
+            elif v is None:
+                txt = '-'
+            elif isinstance(v, bool):
+                txt = e.get('yes', 'yes') if v else e.get('no', 'no')
+            elif isinstance(v, str):
+                txt = v
+            elif isinstance(v, float):
+                txt = '%.3g' % v
+            else:
+                txt = short(v, 80)
+            lines.append('%s: %s' % (e['label'], txt))
+            js[e['label']] = v
+        return lines, js
+
+    def verb_help(self, name):
+        """help INST VERB with this member's own manual references ("manual": {verb | "*": "doc id pp. ..."}) and example
+        ("examples": {verb: "load edta --into cell"}) in place of the class-wide ones."""
+        r = super().verb_help(name)
+        man = self.map.get('manual') or {}
+        ref = man.get(name) or man.get('*')
+        ex = (self.map.get('examples') or {}).get(name)
+        lines = r['text'].split('\n')
+        for i, line in enumerate(lines):
+            if ref and line.startswith('manual: '):
+                lines[i] = 'manual: ' + ref
+            if ex and line == 'example:' and i + 1 < len(lines):
+                lines[i + 1] = '  chemlab run %s %s' % (self.instrument_id, ex)
+        r['text'] = '\n'.join(lines)
+        return r
+
+    def summary(self, values):
+        lines, js = self.status_lines(values)
+        return (['; '.join(lines[i:i + 3]) for i in range(0, len(lines), 3)] or ['(no status slots mapped)']), js
+
+
+_ = RUNNING
diff --git a/chemlab/chemlab/compile/classes/balance.py b/chemlab/chemlab/compile/classes/balance.py
new file mode 100644
index 0000000000000000000000000000000000000000..fd913ddf554ff2c103cdac9bfe0d0a1aa6f3bfca
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/balance.py
@@ -0,0 +1,309 @@
+"""Balance class: zero, tare, weigh [--stable], unit, door, power (+ status).
+
+Members and their mappings: configs/adapters/balance.json (mt_xpr204e, ohaus_px224e, ohaus_spx2201).  The verbs follow the
+vendor-neutral weighing commands: MT-SICS level 0/1 (Z zero, T tare, S stable weight, SI immediate weight; reference manual
+pp. 274, 254, 225) and the OHAUS ASCII set (Z, T, SP stable print, IP immediate print, xU unit; PX manual section 9.4.1,
+Scout RS232 kit manual p.7); SiLA 2 has the same split (Tare, Zero, StableWeightValue, ImmediateWeightValue).
+
+Class checks before anything is sent: power on; a stable reading for zero and tare (or wait for one with --wait); zero only
+within the zero range (contract parameter zero_capture_fraction, 2 % of capacity) - otherwise the fix is tare; tare not of a
+negative load; display units the balance offers and has enabled.  Masses are shown in grams to the balance's readability.
+"""
+import math
+
+from ..base import ClassAdapter, finite
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb
+
+REF = ('MT-SICS reference manual: Z p.274, T p.254, S p.225, SI; XPR reference manual pp.18-22 (weighing screen, doors); '
+       'OHAUS PX manual EN-8..9 and section 9.4.1 (Z, T, SP, IP); Scout SPX manual EN-4..8, RS232 kit manual p.7')
+
+
+class BalanceAdapter(ClassAdapter):
+    CLASS = 'balance'
+    TITLE = 'balance (weighing)'
+    ABOUT = ('Laboratory balances: zero, tare, weigh (immediate or stable), display unit, draft-shield doors and power, the same '
+             'commands on every balance; masses in g / mg / kg.')
+    STANDARDS = ('MT-SICS level 0/1 (Z, T, S, SI); OHAUS ASCII command set (Z, T, SP, IP, xU); SiLA 2 weighing service '
+                 '(Tare, Zero, StableWeightValue, ImmediateWeightValue)')
+    UNIT_KINDS = ('mass', 'duration')
+    CODES = {
+        'UNSTABLE': ('UNSTABLE', 'the reading of {inst} is not stable.',
+                     'wait a few seconds (`chemlab wait 5`) and retry, or add --wait 30s; close the draft-shield doors if they are open.'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'NO_POWER': ('NO_POWER', '{inst} has no mains power (the power adapter is not connected).',
+                     'connect it (`chemlab call {inst} power.connect_adapter --connected true`), then `chemlab run {inst} power on`.'),
+        'ZERO_RANGE': ('ZERO_RANGE', 'the load on {inst} is outside its zero range (about 2 % of the capacity).',
+                       'to make a container read 0, use `chemlab run {inst} tare`; zero is for an empty pan.'),
+        'TARE_RANGE': ('TARE_RANGE', '{inst} cannot tare a negative load.', 'zero the empty pan first (`chemlab run {inst} zero`).'),
+        'NOT_WEIGHING': ('NOT_WEIGHING', '{inst} is not weighing (overload, underload, start-up zero out of range or transport lock).',
+                         'check `chemlab run {inst} status`; take the load off or unlock the pan, then retry.'),
+        'UNIT_DISABLED': ('UNIT_NOT_ENABLED', 'that unit is switched off in the unit menu of {inst}.',
+                          'use one of the enabled units (`chemlab run {inst} unit`).'),
+        'SECURITY_LOCKED': ('LOCKED', '{inst} is locked by its security switch.', 'ask the lab operator to unlock it.'),
+        'STANDBY': ('STANDBY', '{inst} is in standby.', 'wake it up: `chemlab run {inst} power on`.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def readability_kg(self):
+        p = self.param('readability_kg')
+        if p is None:
+            c = self.contract_param('readability_kg')
+            p = c['value'] if c else 1e-7
+        return float(p)
+
+    def capacity_kg(self):
+        p = self.param('capacity_kg')
+        if p is None:
+            c = self.contract_param('capacity_kg')
+            p = c['value'] if c else None
+        return p
+
+    def zero_fraction(self):
+        p = self.param('zero_capture_fraction')
+        if p is None:
+            c = self.contract_param('zero_capture_fraction')
+            p = c['value'] if c else 0.02
+        return float(p)
+
+    def g(self, kg, sign=False):
+        """kg -> 'x.xxxx g' to the balance readability."""
+        if not finite(kg):
+            return 'n/a'
+        d_g = self.readability_kg() * 1000.0
+        dec = max(0, int(round(-math.log10(d_g)))) if d_g > 0 else 4
+        return ('%+.*f g' if sign else '%.*f g') % (dec, kg * 1000.0)
+
+    def val(self, values, role):
+        s = self.slot(role)
+        if s is None:
+            return None
+        if isinstance(values, dict):
+            if s in values:
+                return values[s]
+            low = {k.lower(): k for k in values}
+            return values.get(low.get(s.lower()))
+        return values.v(s)
+
+    def doors_open(self, values):
+        slots = self.slot('doors') or []
+        if not slots:
+            return None
+        vals = [values.get(s) if isinstance(values, dict) else values.v(s) for s in slots]
+        return any(finite(x) and x > 1e-6 for x in vals)
+
+    def need_power(self, ctx):
+        on = ctx.v(self.slot('power'))
+        ctx.check(bool(on), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                  'switch it on: `chemlab run %s power on` (give it a few seconds to settle).' % self.instrument_id, label='power on')
+
+    def unstable_reason(self, ctx):
+        if self.doors_open(ctx):
+            return 'a draft-shield door is open'
+        st = ctx.v(self.slot('status'))
+        if isinstance(st, str) and st.lower() not in ('stable', 'unstable'):
+            return 'it reports %s' % st
+        return 'the load was just changed or the balance is still settling'
+
+    def need_stable(self, ctx, wait_s, doing, settle=False):
+        """A stable reading: the balance's own stability flag; with a wait (--wait, weigh --stable) also settled - two readings
+        one second apart within 2 readability steps (the twin's flag can rise while the filtered value still creeps)."""
+        stable_slot, net_slot = self.slot('stable'), self.slot('net')
+        d = self.readability_kg()
+        if ctx.v(stable_slot) and not (settle and wait_s):
+            ctx.checks.append('reading stable')
+            return
+        if wait_s and wait_s > 0 and not ctx.dry_run:
+            last = {'net': None}
+
+            def settled(v):
+                if not ctx.v(stable_slot):
+                    last['net'] = None
+                    return False
+                n, prev = ctx.v(net_slot), last['net']
+                last['net'] = n
+                return prev is not None and finite(n) and finite(prev) and abs(n - prev) <= 2 * d
+            settled(ctx.view)
+            ctx.advance(wait_s, until=settled, step='wait for a stable reading', poll_s=1.0)
+            if ctx.v(stable_slot):
+                ctx.checks.append('reading stable after %.0f s' % ctx.waited_s)
+                return
+        if ctx.dry_run and wait_s:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': wait_s}, 'step': 'wait up to %.0f s for a stable reading' % wait_s})
+            ctx.unchecked.append('stable reading within %.0f s' % wait_s)
+            return
+        door = self.doors_open(ctx)
+        fix = ('close the doors (`chemlab run %s door close`), then retry with --wait 30s.' % self.instrument_id if door else
+               'wait a few seconds and retry, or add --wait 30s so chemlab waits for a stable reading.')
+        ctx.fail(refused('UNSTABLE', 'the reading of %s is not stable%s (%s), so it cannot %s.' % (
+            self.instrument_id, ' after %.0f s' % ctx.waited_s if ctx.waited_s else '', self.unstable_reason(ctx), doing), fix,
+            detail={'doors_open': door}))
+
+    def explain_refusal(self, ctx, cap, args, response):
+        """The runtime may only say PRECONDITION_FAILED (the XPR cell does): find the reason in the state."""
+        code = (response.get('error') or {}).get('code')
+        if code == 'PRECONDITION_FAILED' and response.get('status') == 'rejected':
+            ctx.refresh()
+            if not ctx.v(self.slot('power')):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+            if self.slot('stable') and not ctx.v(self.slot('stable')):
+                return refused('UNSTABLE', 'the reading of %s is not stable (%s; it answered %s).' % (self.instrument_id, self.unstable_reason(ctx), code),
+                               'wait a few seconds and retry, or add --wait 30s.')
+            gross = ctx.v(self.slot('gross'))
+            cap_kg = self.capacity_kg()
+            if cap == (self.vmap('zero') or {}).get('cap') and finite(gross) and cap_kg and abs(gross) > self.zero_fraction() * cap_kg:
+                return refused('ZERO_RANGE', 'the load on %s (%s) is outside its zero range (it answered %s).' % (self.instrument_id, self.g(gross), code),
+                               'use `chemlab run %s tare` to make a container read 0.' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        on = self.val(values, 'power')
+        net, gross, tare = self.val(values, 'net'), self.val(values, 'gross'), self.val(values, 'tare')
+        stable = self.val(values, 'stable')
+        unit = self.val(values, 'unit')
+        door = self.doors_open(values)
+        if not on:
+            return ['power off'], {'power': False}
+        line = 'net %s (%s) · gross %s · tare %s' % (self.g(net), 'stable' if stable else 'not stable', self.g(gross), self.g(tare))
+        more = 'power on · display unit %s%s' % (unit, '' if door is None else ' · doors %s' % ('open' if door else 'closed'))
+        js = {'power': True, 'net_kg': net, 'gross_kg': gross, 'tare_kg': tare, 'stable': stable, 'display_unit': unit,
+              'doors_open': door, 'readability_kg': self.readability_kg(), 'capacity_kg': self.capacity_kg()}
+        return [line, more], js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        wait = Opt('if the reading is not stable yet, wait up to this long for it (default: do not wait)', kind='duration', metavar='TIME')
+        return {
+            'power': Verb('power', 'switch the balance on or off', self.h_power, positionals=[Arg('on|off', 'on or off', choices=['on', 'off'])],
+                          preconditions=['the balance has mains power'], errors=['NO_POWER (refused)'], example='chemlab run INST power on',
+                          reference=REF),
+            'zero': Verb('zero', 'set the zero point with the pan empty (clears the tare)', self.h_zero, options={'wait': wait},
+                         preconditions=['power on', 'reading stable (or --wait)', 'load within the zero range (2 % of capacity)'],
+                         errors=['POWER_OFF, UNSTABLE, ZERO_RANGE (refused)'], example='chemlab run INST zero --wait 20s', reference=REF),
+            'tare': Verb('tare', 'take the current load (e.g. an empty container) as tare, so the net reads 0', self.h_tare, options={'wait': wait},
+                         preconditions=['power on', 'reading stable (or --wait)', 'load not negative'],
+                         errors=['POWER_OFF, UNSTABLE, TARE_RANGE (refused)'], example='chemlab run INST tare --wait 30s', reference=REF),
+            'weigh': Verb('weigh', 'read the net mass now, or with --stable once the reading is stable', self.h_weigh,
+                          options={'stable': Opt('wait for a stable reading (like MT-SICS S / OHAUS SP)', kind='flag'),
+                                   'wait': Opt('longest wait for --stable (default 30 s)', kind='duration', metavar='TIME')},
+                          readonly=True, preconditions=['power on', 'with --stable: stable within the wait'], errors=['POWER_OFF, UNSTABLE (refused)'],
+                          example='chemlab run INST weigh --stable', reference=REF),
+            'unit': Verb('unit', 'show the display unit and the units on offer, or set the display unit', self.h_unit,
+                         positionals=[Arg('UNIT', 'g, mg, kg, ct, ... (see the list without UNIT)', required=False)],
+                         preconditions=['power on', 'the unit is offered and enabled on this balance'],
+                         errors=['UNIT_NOT_OFFERED (usage)', 'UNIT_NOT_ENABLED, POWER_OFF (refused)'], example='chemlab run INST unit mg',
+                         details='Only the panel display changes; `weigh` always reports g, mg and kg.', reference=REF),
+            'door': Verb('door', 'open or close the draft-shield doors', self.h_door,
+                         positionals=[Arg('open|close', 'open or close', choices=['open', 'close'])],
+                         options={'side': Opt('which door (balances with left/right doors)', metavar='SIDE', choices=['left', 'right', 'both'])},
+                         preconditions=['the balance has doors'], errors=['NOT_SUPPORTED (no draft shield)'],
+                         example='chemlab run INST door close', reference=REF),
+        }
+
+    def h_power(self, ctx, p):
+        m = self.vmap('power')
+        want = p.pos[0] == 'on'
+        cur = bool(ctx.v(self.slot('power')))
+        if cur == want:
+            return {'text': 'ok: %s is already %s\n' % (self.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': False}}
+        ctx.call(m['cap'], {m['arg']: want}, 'switch %s' % p.pos[0],
+                 readback=lambda v: None if bool(ctx.v(self.slot('power'))) == want else 'power %s' % ctx.v(self.slot('power')))
+        note = ['a balance needs a few seconds after switching on before the reading is stable (`weigh --stable` waits).'] if want else []
+        return {'text': 'ok: %s switched %s\n' % (self.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': True}, 'notes': note}
+
+    def h_zero(self, ctx, p):
+        m = self.vmap('zero')
+        self.need_power(ctx)
+        self.need_stable(ctx, p.get('wait'), 'set the zero')
+        gross, cap_kg = ctx.v(self.slot('gross')), self.capacity_kg()
+        if finite(gross) and cap_kg:
+            lim = self.zero_fraction() * cap_kg
+            ctx.check(abs(gross) <= lim, 'ZERO_RANGE', 'the load on %s is %s, outside its zero range (±%s).' % (self.instrument_id, self.g(gross), self.g(lim)),
+                      'to make a container read 0 use `chemlab run %s tare`; zero is for the empty pan.' % self.instrument_id, label='load within the zero range')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'set zero')
+        return {'text': 'ok: zero set on %s (net %s, tare cleared)\n' % (self.instrument_id, self.g(ctx.v(self.slot('net')))),
+                'json': {'net_kg': ctx.v(self.slot('net')), 'gross_kg': ctx.v(self.slot('gross')), 'tare_kg': ctx.v(self.slot('tare'))}}
+
+    def h_tare(self, ctx, p):
+        m = self.vmap('tare')
+        self.need_power(ctx)
+        self.need_stable(ctx, p.get('wait'), 'tare')
+        gross = ctx.v(self.slot('gross'))
+        if finite(gross):
+            ctx.check(gross >= -self.readability_kg(), 'TARE_RANGE', '%s reads a negative load (%s); it cannot be tared.' % (self.instrument_id, self.g(gross)),
+                      'zero the empty pan first: `chemlab run %s zero`.' % self.instrument_id, label='load not negative')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'tare')
+        tare = ctx.v(self.slot('tare'))
+        return {'text': 'ok: tared %s on %s (net now %s)\n' % (self.g(tare), self.instrument_id, self.g(ctx.v(self.slot('net')))),
+                'json': {'tare_kg': tare, 'net_kg': ctx.v(self.slot('net'))}}
+
+    def h_weigh(self, ctx, p):
+        m = self.vmap('weigh')
+        self.need_power(ctx)
+        if p.get('stable'):
+            self.need_stable(ctx, p.get('wait') if p.get('wait') is not None else 30.0, 'give a stable weight', settle=True)
+        net, gross, stable = ctx.v(self.slot('net')), ctx.v(self.slot('gross')), ctx.v(self.slot('stable'))
+        if m.get('cap'):
+            r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the weight', query=True)
+            res = r.get('result') or {}
+            f = m.get('result') or {}
+            if res:
+                net, gross, stable = res.get(f.get('net', 'net_kg'), net), res.get(f.get('gross', 'gross_kg'), gross), res.get(f.get('stable', 'stable'), stable)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        tare = ctx.v(self.slot('tare'))
+        js = {'net_kg': net, 'gross_kg': gross, 'tare_kg': tare, 'stable': bool(stable),
+              'net_g': None if not finite(net) else net * 1e3, 'net_mg': None if not finite(net) else net * 1e6,
+              'readability_kg': self.readability_kg(), 'display_unit': ctx.v(self.slot('unit'))}
+        text = '%s %s%s · gross %s · tare %s\n' % ('net', self.g(net), '' if stable else ' (NOT stable - use --stable for a stable value)',
+                                                    self.g(gross), self.g(tare))
+        return {'text': text, 'json': js}
+
+    def h_unit(self, ctx, p):
+        m = self.vmap('unit')
+        cur = ctx.v(m.get('slot') or self.slot('unit'))
+        offered = self.arg_enum(m['cap'], m['arg'])
+        enabled = ctx.v(m['allowed_slot']) if m.get('allowed_slot') else offered
+        enabled = [u for u in (enabled or []) if u in offered] if offered else list(enabled or [])
+        if not p.pos:
+            return {'text': 'display unit: %s; enabled now: %s%s\n' % (cur, ', '.join(enabled), ('; offered by this balance: %s' % ', '.join(offered)) if offered != enabled else ''),
+                    'json': {'unit': cur, 'enabled': enabled, 'offered': offered}}
+        want = {'ug': 'µg', 'μg': 'µg', 'microgram': 'µg', 'gram': 'g', 'milligram': 'mg', 'kilogram': 'kg'}.get(p.raw['UNIT'], p.raw['UNIT'])
+        if offered and want not in offered:
+            low = {u.lower(): u for u in offered}
+            want = low.get(want.lower(), want)
+        if offered and want not in offered:
+            ctx.fail(invalid('UNIT_NOT_OFFERED', '%s does not offer the unit %r.' % (self.instrument_id, p.raw['UNIT']),
+                             'units it offers: %s.' % ', '.join(offered)))
+        self.need_power(ctx)
+        ctx.check(want in enabled, 'UNIT_NOT_ENABLED', '%s offers %s but it is not enabled now.' % (self.instrument_id, want),
+                  'use one of %s, or enable it in the unit menu (`chemlab describe %s`).' % (', '.join(enabled), self.instrument_id), label='unit enabled')
+        if cur == want:
+            return {'text': 'ok: the display unit of %s is already %s\n' % (self.instrument_id, want), 'json': {'unit': want, 'changed': False}}
+        ctx.call(m['cap'], {m['arg']: want}, 'set the display unit to %s' % want,
+                 readback=lambda v: None if ctx.v(m.get('slot') or self.slot('unit')) == want else 'unit %s' % ctx.v(m.get('slot') or self.slot('unit')))
+        return {'text': 'ok: display unit of %s is now %s (was %s)\n' % (self.instrument_id, want, cur), 'json': {'unit': want, 'was': cur, 'changed': True}}
+
+    def h_door(self, ctx, p):
+        m = self.vmap('door')
+        action = p.pos[0]
+        side = p.get('side')
+        style = m.get('style', 'operate')
+        if style == 'operate':
+            sides = m.get('sides') or ['both']
+            side = side or m.get('default_side', sides[-1])
+            if side not in sides:
+                ctx.fail(invalid('BAD_SIDE', '%s has doors %s, not %s.' % (self.instrument_id, ', '.join(sides), side), 'use --side %s.' % '|'.join(sides)))
+            args = {m.get('side_arg', 'side'): side, m.get('action_arg', 'action'): action}
+        else:
+            if side and side != 'both':
+                ctx.fail(invalid('BAD_SIDE', '%s opens and closes its doors together.' % self.instrument_id, 'leave out --side.'))
+            args = {m['arg']: 1.0 if action == 'open' else 0.0}
+        before = self.doors_open(ctx)
+        ctx.call(m['cap'], args, '%s the door%s' % (action, '' if style != 'operate' or side != 'both' else 's'),
+                 readback=lambda v: None if (self.doors_open(ctx) == (action == 'open')) or side in ('left', 'right') else 'doors %s' % ('open' if self.doors_open(ctx) else 'closed'))
+        note = ['the reading needs a few seconds to settle after the doors move (`weigh --stable` or `--wait` waits).'] if before != self.doors_open(ctx) else []
+        return {'text': 'ok: %s door%s %s\n' % (self.instrument_id, '' if side in ('left', 'right') else 's', 'opened' if action == 'open' else 'closed'),
+                'json': {'action': action, 'side': side or 'all', 'doors_open': self.doors_open(ctx)}, 'notes': note}
diff --git a/chemlab/chemlab/compile/classes/bioassay.py b/chemlab/chemlab/compile/classes/bioassay.py
new file mode 100644
index 0000000000000000000000000000000000000000..626ad66b9b7cc5e07b2df5b991b0706e63d5ba5b
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/bioassay.py
@@ -0,0 +1,578 @@
+"""Bioassay class ("bioassay"): plate reader, plate washer, real-time PCR, SPR, ITC, flow cytometer - instruments that run an
+assay on plates, chips, cells or tubes.
+
+Verbs (members and mappings: configs/adapters/bioassay.json):
+
+  load ITEM [--into cell|syringe] [--volume V] [--type T] [--no-rinse]   put the plate / chip / solution / tube in (waits for the
+                                                                           drawer, lid, port or pipette; a few seconds to minutes)
+  unload [ITEM]                                                            take it out again
+  method KEY=VALUE ...                                                     the assay protocol (class keys below, native names pass)
+  start [NAME] [KEY=VALUE ...] [--events N] [--scan MODE] [--gate G]       start the run (a job: chemlab wait|status|cancel job-N)
+  pause on|off, stop                                                       pause / resume, stop the run
+  data [ID] [--cycle N] [--curves L] [--wells L] [--max N] [--save-to F]   the raw record (reads, curves, sensorgram, thermogram, stats)
+  analyze MODEL [KEY=VALUE ...] [--save-to F]                              the instrument's own evaluation (fit, Cq, kinetics, ...)
+  prime [KEY=VALUE ...]                                                    fill the fluid lines / start up the fluidics (a job)
+  set-temp T|off                                                           incubation / analysis temperature
+  status                                                                   the class view
+
+Class keys of `method` (units as typed; a native argument name passes through, a bare number then takes the declared unit):
+  plate reader: mode=abs_endpoint|fi_endpoint|... wells=A1:H12,... wl=450nm,620nm ex=485nm em=525nm format=96 (kept from the
+                loaded plate) cycles=N interval=60s flashes=N optic=top|bottom gain=N focus=8mm settle=0.2s
+  qPCR:         name=TEXT volume=20uL lid=105C steps=95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s,grad55C..65C@30s
+                (goto2x39: back to step 2, 39 more times; +read: a plate read at the end of the step; +ramp=2C/s optional)
+  ITC:          temp=25C ref=5ucal/s feedback=high|low|none stir=750rpm delay=60s injections=0.4uL@0.8s,18x2uL@4s spacing=150s
+                cell=100uM syringe=1mM comment=TEXT (settings not given are kept from the current method when it has them)
+  cytometer:    voltage.DETECTOR=520V (each detector), threshold_logic=or|and, native names with JSON values
+Biacore runs take their method at start: `start RUN samples=R1B1,R1B2 contact=120s dissociation=600s flow=30uL/min regen=R1A9
+regen-contact=30s path=1-2 ref=2-1 rate=10Hz startup=1` (one cycle per sample), or `cycles=@cycles.json` (JSON from your work dir).
+
+Vendor-neutral models followed: SiLA 2 (plate readers and washers as SiLA devices: ObservableCommand runs), PyLabRobot PlateReader
+(open / close / read_absorbance / read_fluorescence), MIQE / RDML terms for qPCR (Cq, threshold, melt), FCS 3.1 / MIFlowCyt for
+cytometry records, ANSI/SLAS 1-4-2004 well names.
+"""
+import re
+
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused, unsupported
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .assay_common import StepAdapter, parse_si
+
+REF = ('BMG CLARIOstar Plus operating manual (plate carrier, protocols, MARS evaluation); BioTek 405 TS operator manual (protocols, '
+       'prime); Bio-Rad CFX Opus operation manual (protocol editor, run setup, Cq analysis); Biacore T200 instrument handbook (chip '
+       'docking, prime, methods, evaluation); MicroCal PEAQ-ITC user manual (cell / syringe loading, experiment method, analysis); '
+       'BD FACSAria III user guide (fluidics startup, sample loading, recording, compensation)')
+
+
+class BioassayAdapter(StepAdapter):
+    CLASS = 'bioassay'
+    TITLE = 'run an assay on plates and samples'
+    ABOUT = ('Instruments that run an assay on a loaded consumable: load the plate / chip / solution / tube, set the assay method '
+             'with class keys and units, start the run as a job, pause or stop it, read the raw record and run the instrument\'s own '
+             'evaluation; prime the fluidics; set the incubation temperature.')
+    STANDARDS = ('SiLA 2 (plate readers / washers); PyLabRobot PlateReader; MIQE + RDML (qPCR); FCS 3.1 / MIFlowCyt (cytometry); '
+                 'ANSI/SLAS 1-4-2004 microplate formats and well names')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'volume', 'duration', 'wavelength', 'concentration', 'flow')
+    PATH_GROUPS = (('start', 'stop', 'pause'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'BUSY': ('BUSY', '{inst} is busy (starting up, measuring or moving).', 'wait a little (`chemlab wait 20`) and retry; see `chemlab run {inst} status`.'),
+        'INSTRUMENT_BUSY': ('BUSY', '{inst} is busy with another operation.', 'wait for it (`chemlab run {inst} status`), then retry.'),
+        'NO_PLATE': ('NOTHING_LOADED', 'there is no plate in {inst}.', 'load one: `chemlab run {inst} load PLATE`.'),
+        'DRAWER_OPEN': ('DRAWER_OPEN', 'the plate carrier of {inst} is out.', 'close it: `chemlab run {inst} close drawer`.'),
+        'LID_OPEN': ('LID_OPEN', 'the lid of {inst} is open.', 'close it: `chemlab run {inst} close lid`.'),
+        'LID_NOT_CLOSED': ('LID_OPEN', 'the lid of {inst} is not closed.', 'close it: `chemlab run {inst} close lid`.'),
+        'LID_NOT_OPEN': ('LID_CLOSED', 'the lid of {inst} is closed.', 'open it: `chemlab run {inst} open lid`.'),
+        'NO_PROTOCOL': ('NO_METHOD', '{inst} has no method yet.', 'set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).'),
+        'NO_METHOD': ('NO_METHOD', '{inst} has no method yet.', 'set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).'),
+        'RUN_IN_PROGRESS': ('RUN_ACTIVE', 'a run is in progress on {inst}.', 'wait for it or stop it (`chemlab run {inst} stop`).'),
+        'RUN_ACTIVE': ('RUN_ACTIVE', 'a run is in progress on {inst}.', 'wait for it or stop it (`chemlab run {inst} stop`).'),
+        'OPERATION_RUNNING': ('RUN_ACTIVE', '{inst} is running an operation.', 'wait for it or stop it (`chemlab run {inst} stop`).'),
+        'NOT_RUNNING': ('NOT_RUNNING', 'nothing is running on {inst}.', 'nothing to stop; see `chemlab run {inst} status`.'),
+        'NO_RUN': ('NOT_RUNNING', 'nothing is running on {inst}.', 'nothing to stop or pause; see `chemlab run {inst} status`.'),
+        'NOT_PAUSED': ('NOT_PAUSED', 'the run on {inst} is not paused.', 'nothing to resume.'),
+        'CHIP_NOT_DOCKED': ('NOTHING_LOADED', 'no sensor chip is docked in {inst}.', 'load one: `chemlab run {inst} load CHIP_ID --type CM5`.'),
+        'NOT_ACQUIRING': ('NOT_ACQUIRING', '{inst} is not acquiring (no sample tube is up).', 'load a tube: `chemlab run {inst} load TUBE`.'),
+        'PIPETTE_IN_CELL': ('PIPETTE_IN_CELL', 'the injection syringe of {inst} sits in the cell.', 'unload or load with the class verbs; they move it out first.'),
+        'NO_WASTE_BOTTLE': ('NOT_SET_UP', '{inst} has no waste bottle in place.', 'ask the lab operator (or `chemlab call {inst} bottle.empty_waste`).'),
+        'NO_BUFFER': ('NOT_SET_UP', '{inst} has no running buffer bottle.', 'place one (`chemlab call {inst} bottle.place ...`).'),
+        'FLUIDICS_NOT_READY': ('FLUIDICS_OFF', 'the fluidics of {inst} are not started.', 'start them: `chemlab run {inst} prime`.'),
+        'STREAM_OFF': ('STREAM_OFF', 'the stream of {inst} is off.', 'start the fluidics and the stream: `chemlab run {inst} prime`.'),
+        'NO_CONCENTRATION': ('NO_CONCENTRATION', 'the cycles of this run carry no analyte concentrations, so {inst} cannot fit them.',
+                             'give them: `chemlab run {inst} analyze MODEL ... concs=0,2nM,4nM` (one per cycle), or name them in the run\'s cycle keywords.'),
+        'NO_SAMPLE_INJECTION': ('NO_DATA', 'a chosen cycle of this run has no sample injection.', 'choose sample cycles (see `chemlab run {inst} data`).'),
+        'UNKNOWN_CYCLE': ('NO_DATA', 'this run has no such cycle.', 'see the cycles with `chemlab run {inst} data`.'),
+        'CURVE_NOT_RECORDED': ('NO_DATA', 'that curve was not recorded in this run.', 'use a curve of the run\'s flow path (e.g. --curves 2-1).'),
+        'NO_RUN_DATA': ('NO_DATA', 'the run has no data yet.', 'wait until it has finished (`chemlab run {inst} wait`).'),
+        'NO_DATA': ('NO_DATA', 'there is no data to read or evaluate yet.', 'run something first (`chemlab run {inst} start ...`) and wait for it.'),
+        'UNKNOWN_RUN': ('NO_DATA', 'there is no such run on {inst}.', 'see `chemlab run {inst} status`; name a run you started.'),
+        'UNKNOWN_EXPERIMENT': ('NO_DATA', 'there is no such experiment on {inst}.', 'name one you ran (`chemlab call {inst} experiments.list`).'),
+        'UNKNOWN_RECORD': ('NO_DATA', 'there is no such record on {inst}.', 'name one you recorded (`chemlab call {inst} records.list`).'),
+        'TOO_FEW_EVENTS': ('NO_DATA', 'the record has too few events for this evaluation.', 'record more events (`start REC --events 10000`).'),
+        'NO_POSITIVE_POPULATION': ('NO_POSITIVE', 'a compensation control shows no positive population.',
+                                   'record a single-stained control tube for each detector and name it: controls.DETECTOR=RECORD.'),
+        'PLATE_ON_CARRIER': ('PLATE_IN', 'a plate is on the carrier of {inst}; priming dispenses into the prime trough under it.',
+                             'take it off first: `chemlab run {inst} unload`.'),
+        'CARRIER_OCCUPIED': ('ALREADY_LOADED', '{inst} already holds a plate.', 'unload it first: `chemlab run {inst} unload`.'),
+        'BLOCK_OCCUPIED': ('ALREADY_LOADED', '{inst} already holds a plate.', 'unload it first: `chemlab run {inst} unload`.'),
+        'CELL_EMPTY': ('NOT_LOADED', 'the sample cell of {inst} is empty.', 'load it: `chemlab run {inst} load SOLUTION --into cell`.'),
+        'SYRINGE_NOT_LOADED': ('NOT_LOADED', 'the syringe of {inst} is not loaded.', 'load it: `chemlab run {inst} load SOLUTION --into syringe`.'),
+        'PIPETTE_NOT_IN_CELL': ('NOT_LOADED', 'the syringe of {inst} is not in the cell.', 'load the syringe (`load SOLUTION --into syringe`): it ends in the cell.'),
+        'NO_REAGENT': ('NO_REAGENT', 'the injector pump of {inst} has no reagent.', 'load reagent first (`chemlab call {inst} injector.load_reagent ...`).'),
+        'MAINS_OUT_OF_RANGE': ('NO_MAINS', '{inst} has no proper mains supply.', 'ask the lab operator.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        item = Arg('ITEM', 'plate / chip / solution / tube id (see `chemlab run INST status` and `chemlab describe INST`)')
+        return {
+            'load': Verb('load', 'put a plate, chip, solution or tube into the instrument (waits for its mechanics)', self.h_load,
+                         positionals=[item],
+                         options={'into': Opt('where: cell or syringe (ITC)', metavar='PLACE'),
+                                  'volume': Opt('volume to load (where the instrument asks for one)', kind='volume', metavar='V'),
+                                  'type': Opt('consumable type (e.g. the SPR chip type CM5)', metavar='TYPE'),
+                                  'no-rinse': Opt('do not rinse the cell with the solution first (ITC)', kind='flag')},
+                         preconditions=['the item is known to the instrument (prepared on the bench)', 'nothing else loaded there',
+                                        'the instrument is idle and switched on where it must be'],
+                         errors=['UNKNOWN_ITEM (usage)', 'ALREADY_LOADED, BUSY, RUN_ACTIVE (refused)'], long_action=True,
+                         example='chemlab run INST load p1', reference=REF),
+            'unload': Verb('unload', 'take the plate, chip, solution or tube out again', self.h_unload,
+                           positionals=[Arg('ITEM', 'which one (default: what is loaded)', required=False)],
+                           preconditions=['no run in progress', 'something is loaded'], errors=['NOTHING_LOADED, RUN_ACTIVE (refused)'],
+                           example='chemlab run INST unload', reference=REF),
+            'method': Verb('method', 'set the assay method: KEY=VALUE ... (class keys take units; see the module help)', self.h_method,
+                           variadic=('KEY=VALUE', 'a setting'), preconditions=['no run in progress', 'values within the contract ranges'],
+                           errors=['UNKNOWN_SETTING, OUT_OF_RANGE, MISSING_SETTING (usage)', 'RUN_ACTIVE (refused)'],
+                           example='chemlab run INST method mode=abs_endpoint wells=A1:H12 wl=450nm', reference=REF),
+            'start': Verb('start', 'start the run (returns job-N: chemlab status|wait|cancel job-N)', self.h_start, long_action=True,
+                          positionals=[Arg('NAME', 'protocol name / run, experiment or record id (where the instrument names runs)', required=False)],
+                          options={'events': Opt('events to record (cytometer)', metavar='N'),
+                                   'scan': Opt('scan mode (qPCR: all_channels, sybr_fam, fret)', metavar='MODE'),
+                                   'gate': Opt('storage gate (cytometer)', metavar='GATE')},
+                          variadic=('KEY=VALUE', 'run settings (SPR method keys)'),
+                          preconditions=['loaded and ready (plate in, lid / drawer closed, method set, syringe in the cell, ...)'],
+                          errors=['NOTHING_LOADED, NO_METHOD, LID_OPEN, RUN_ACTIVE (refused)'], example='chemlab run INST start', reference=REF),
+            'pause': Verb('pause', 'pause (on) or resume (off) the run', self.h_pause, positionals=[Arg('on|off', 'on = pause, off = resume', choices=['on', 'off'])],
+                          preconditions=['a run is going (on) / paused (off)'], errors=['NOT_RUNNING, NOT_PAUSED (refused)'],
+                          example='chemlab run INST pause on', reference=REF),
+            'stop': Verb('stop', 'stop the run', self.h_stop, preconditions=['something is running'], errors=['NOT_RUNNING (refused)'],
+                         example='chemlab run INST stop', reference=REF),
+            'data': Verb('data', 'the raw record of a run (reads, curves, sensorgram, thermogram, statistics)', self.h_data, readonly=True,
+                         positionals=[Arg('ID', 'run / record / experiment id (default: the last one)', required=False)],
+                         options={'cycle': Opt('cycle number', metavar='N'), 'curves': Opt('curves, e.g. 2-1,2 (SPR)', metavar='LIST'),
+                                  'wells': Opt('wells, e.g. A1,B2 (qPCR)', metavar='LIST'), 'max': Opt('at most this many rows / points', metavar='N'),
+                                  'save-to': save_to_opt()},
+                         example='chemlab run INST data --save-to run.json', reference=REF),
+            'analyze': Verb('analyze', 'evaluate a run with the instrument\'s own analysis: MODEL [KEY=VALUE ...]', self.h_analyze, readonly=True,
+                            positionals=[Arg('MODEL', 'the evaluation (see `chemlab help INST analyze`)')],
+                            options={'save-to': save_to_opt()}, variadic=('KEY=VALUE', 'evaluation settings'),
+                            preconditions=['a finished run with data'], errors=['UNKNOWN_MODEL (usage)', 'NO_DATA (refused)'],
+                            example='chemlab run INST analyze linear blank=H1,H2 std.A1=0uM std.A2=1uM', reference=REF),
+            'prime': Verb('prime', 'prime the fluid lines / start up the fluidics (a job when it takes long)', self.h_prime, long_action=True,
+                          variadic=('KEY=VALUE', 'prime settings (pump, buffer, volume, rate)'),
+                          preconditions=['the fluid supply is in place', 'no run in progress'], errors=['BUSY, NOT_SET_UP (refused)'],
+                          example='chemlab run INST prime', reference=REF),
+            'set-temp': Verb('set-temp', 'set the incubation / analysis temperature (or off)', self.h_set_temp,
+                             positionals=[Arg('TEMP|off', 'e.g. 37C, or off where the instrument can switch it off')],
+                             preconditions=['within the instrument range (contract)', 'one of the fixed settings where it has them'],
+                             errors=['OUT_OF_RANGE, NOT_ALLOWED (usage)', 'POWER_OFF (refused)'], example='chemlab run INST set-temp 37C', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ helpers
+    def unknown_opts(self, ctx, p, allowed, verb):
+        for o in ('events', 'scan', 'gate', 'cycle', 'curves', 'wells', 'max', 'into', 'volume', 'type', 'no-rinse'):
+            if p.get(o) is not None and o not in allowed:
+                ctx.fail(invalid('NOT_AN_OPTION_HERE', '%s takes no --%s on %s.' % (verb, o, self.instrument_id),
+                                 'leave it out (see `chemlab help %s %s`).' % (self.instrument_id, verb)))
+
+    def int_opt(self, ctx, text, what):
+        if text is None:
+            return None
+        if not re.fullmatch(r'\d+', str(text).strip()):
+            ctx.fail(invalid('NOT_WHOLE', '--%s %s is not a whole number.' % (what, text), 'give a whole number.'))
+        return int(text)
+
+    def list_opt(self, text):
+        return [x.strip() for x in str(text).split(',') if x.strip()] if text is not None else None
+
+    def reply(self, what, r, extra=''):
+        res = r.get('result')
+        lines = ['%s %s:' % (self.instrument_id, what)]
+        if isinstance(res, dict):
+            for k, v in list(res.items())[:14]:
+                lines.append('  %s = %s' % (k, short(v, 160)))
+        else:
+            lines.append('  %s' % short(res, 400))
+        return '\n'.join(lines) + '\n' + extra
+
+    # ------------------------------------------------------------------ load / unload
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        into = p.get('into')
+        if 'into' in m:
+            into = into or m.get('default_into')
+            if into not in m['into']:
+                ctx.fail(invalid('BAD_CHOICE', '--into %s is not a place of %s.' % (into, self.instrument_id), 'use one of: %s.' % ', '.join(m['into'])))
+            sub = m['into'][into]
+        else:
+            if into is not None:
+                ctx.fail(invalid('NOT_AN_OPTION_HERE', 'load takes no --into on %s.' % self.instrument_id, 'leave it out.'))
+            sub = m
+        allowed = {'into'} | set(sub.get('options') or [])
+        self.unknown_opts(ctx, p, allowed, 'load')
+        item = p.pos[0]
+        self.need(ctx, 'load' if not into else 'load:' + into)
+        self.known(ctx, item, sub.get('items'), sub.get('word', 'item'))
+        env = {'item': item, 'rinse': not p.get('no-rinse')}
+        vol = p.get('volume')
+        if vol is None and sub.get('default_volume'):
+            vol = units.parse(sub['default_volume'], 'volume')
+        env['volume'] = vol
+        if 'type' in (sub.get('options') or []):
+            env['type'] = p.get('type') or sub.get('default_type')
+            if not env['type']:
+                ctx.fail(invalid('MISSING_OPTION', 'load needs --type on %s.' % self.instrument_id, 'e.g. --type %s.' % sub.get('type_example', 'TYPE')))
+        self.run_steps(ctx, sub['steps'], env)
+        where = ('the %s of %s' % (into, self.instrument_id)) if into else self.instrument_id
+        return {'text': 'ok: %s %s loaded into %s\n' % (sub.get('word', 'item'), item, where) if not ctx.dry_run else '',
+                'json': {'item': item, 'into': into, 'volume_m3': vol}}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        item = p.pos[0] if p.pos else None
+        loaded = self.sv(ctx, m['item_slot']) if m.get('item_slot') else None
+        if isinstance(loaded, dict):
+            loaded = loaded.get(m.get('item_key', 'id'))
+        if m.get('item_slot') and loaded is None:
+            ctx.fail(refused('NOTHING_LOADED', 'nothing is loaded in %s.' % self.instrument_id, 'nothing to unload; see `chemlab run %s status`.' % self.instrument_id))
+        if item is not None and loaded is not None and item != loaded:
+            ctx.fail(invalid('NOT_LOADED', '%s holds %s, not %s.' % (self.instrument_id, loaded, item), 'unload %s, or leave out the name.' % loaded))
+        item = item or loaded
+        self.need(ctx, 'unload')
+        self.run_steps(ctx, m['steps'], {'item': item})
+        return {'text': 'ok: %s unloaded from %s\n' % (item or 'it', self.instrument_id) if not ctx.dry_run else '', 'json': {'item': item}}
+
+    # ------------------------------------------------------------------ method
+    def qpcr_steps(self, ctx, text, schema):
+        """95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s,grad55C..65C@30s -> the protocol step list."""
+        items = (schema or {}).get('items') or {}
+        props = items.get('properties') or {}
+
+        def t(v, field, kind='temperature'):
+            si = units.parse(v, kind, what='steps')
+            u = units.declared(props.get(field) or {})
+            return units.to_declared(si, u) if u else si
+        out = []
+        for part in [x.strip() for x in text.split(',') if x.strip()]:
+            low = part.lower().replace(' ', '')
+            m = re.fullmatch(r'goto(\d+)x(\d+)', low)
+            if m:
+                out.append({'kind': 'goto', 'goto_step': int(m.group(1)), 'cycles': int(m.group(2))})
+                continue
+            m = re.fullmatch(r'melt:?(.+?)\.\.(.+?)@(.+?)/(.+)', low)
+            if m:
+                out.append({'kind': 'melt', 'start_k': t(m.group(1), 'start_k'), 'end_k': t(m.group(2), 'end_k'),
+                            'melt_increment_k': t(m.group(3), 'melt_increment_k', 'temperature_delta'), 'hold_s': t(m.group(4), 'hold_s', 'duration')})
+                continue
+            m = re.fullmatch(r'grad:?(.+?)\.\.(.+?)@([^+]+)(.*)', low)
+            if m:
+                st = {'kind': 'gradient', 'lower_k': t(m.group(1), 'lower_k'), 'upper_k': t(m.group(2), 'upper_k'), 'hold_s': t(m.group(3), 'hold_s', 'duration')}
+                out.append(self._flags(ctx, st, m.group(4), t, part))
+                continue
+            m = re.fullmatch(r'([^@]+)@([^+]+)(.*)', low)
+            if not m:
+                ctx.fail(invalid('BAD_PROGRAM', 'qPCR step %r is not understood.' % part,
+                                 'write steps like 95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s.'))
+            st = {'kind': 'temperature', 'temperature_k': t(m.group(1), 'temperature_k'), 'hold_s': t(m.group(2), 'hold_s', 'duration')}
+            out.append(self._flags(ctx, st, m.group(3), t, part))
+        if not out:
+            ctx.fail(invalid('BAD_PROGRAM', 'steps is empty.', 'give at least one step, e.g. 95C@3min.'))
+        return out
+
+    def _flags(self, ctx, st, rest, t, part):
+        for f in [x for x in rest.split('+') if x]:
+            if f == 'read':
+                st['plate_read'] = True
+            elif f == 'beep':
+                st['beep'] = True
+            elif f.startswith('ramp='):
+                st['ramp_rate_k_s'] = t(f[5:], 'ramp_rate_k_s', 'heating_rate')
+            else:
+                ctx.fail(invalid('BAD_PROGRAM', 'qPCR step %r: %r is not +read, +beep or +ramp=RATE.' % (part, f), 'e.g. 60C@30s+read.'))
+        return st
+
+    def injections(self, ctx, text, schema, spacing, rate):
+        """0.4uL@0.8s,18x2uL@4s (spacing=150s for all) -> the ITC injection list; a duration left out is volume / the member's
+        documented injection rate."""
+        items = ((schema or {}).get('items') or {}).get('properties') or {}
+        out = []
+        for part in [x.strip() for x in text.split(',') if x.strip()]:
+            m = re.fullmatch(r'(?:(\d+)x)?([^@/]+)(?:@([^/]+))?(?:/(.+))?', part.replace(' ', ''))
+            if not m:
+                ctx.fail(invalid('BAD_PROGRAM', 'injection %r is not [Nx]VOLUME[@DURATION][/SPACING].' % part, 'e.g. 0.4uL@0.8s,18x2uL@4s.'))
+            n = int(m.group(1) or 1)
+            v = units.parse(m.group(2), 'volume', what='injection volume')
+            d = units.parse(m.group(3), 'duration', what='injection duration') if m.group(3) else (v / rate if rate else None)
+            sp = units.parse(m.group(4), 'duration', what='spacing') if m.group(4) else spacing
+            if d is None or sp is None:
+                ctx.fail(invalid('MISSING_SETTING', 'injection %r needs a duration and a spacing.' % part, 'write e.g. 2uL@4s and spacing=150s.'))
+            one = {}
+            for field, si in (('volume_m3', v), ('duration_s', d), ('spacing_s', sp)):
+                u = units.declared(items.get(field) or {})
+                one[field] = units.to_declared(si, u) if u else si
+            out += [dict(one) for _ in range(n)]
+        return out
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        cap = m['cap']
+        pairs = self.pairs(ctx, p, 'method')
+        spacing = next((units.parse(v, 'duration', what='spacing') for k, v in pairs if k == 'spacing'), None)
+        pairs = [(k, v) for k, v in pairs if k != 'spacing' or 'spacing' in (m.get('keys') or {})]
+        rate = self.param('injection_rate_m3_s')
+        parsers = {'qpcr_steps': self.qpcr_steps, 'injections': lambda c, t, s: self.injections(c, t, s, spacing, rate)}
+        args = self.settings(ctx, cap, pairs, m.get('keys') or {}, m.get('passthrough', True), dict(m.get('args') or {}), parsers)
+        kept = []
+        for arg, spec in (m.get('keep') or {}).items():
+            if arg not in args:
+                v = self.sv(ctx, spec['slot'] + ('#' + spec['key'] if spec.get('key') else ''))
+                if v is not None:
+                    args[arg] = v
+                    kept.append(arg)
+        req = ((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        missing = [a for a in req if a not in args]
+        if missing:
+            keys = m.get('keys') or {}
+            names = ['%s (%s)' % (next((k for k, s in keys.items() if s['arg'] == a), a), a) for a in missing]
+            ctx.fail(invalid('MISSING_SETTING', 'the method of %s also needs %s.' % (self.instrument_id, ', '.join(names)),
+                             'add them (see `chemlab help %s method`).' % self.instrument_id))
+        self.need(ctx, 'method')
+        self.check_args(ctx, cap, args)
+        r = ctx.call(cap, args, 'set the method')
+        text = 'ok: method of %s set (%s)%s\n' % (self.instrument_id, ', '.join(sorted(args)), ('; kept from the current method: %s' % ', '.join(kept)) if kept else '')
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        if res:
+            text += ''.join('  %s = %s\n' % (k, short(v, 120)) for k, v in list(res.items())[:6])
+        return {'text': text if not ctx.dry_run else '', 'json': {'arguments': args, 'kept': kept, 'result': res}}
+
+    # ------------------------------------------------------------------ start / pause / stop
+    def series_cycles(self, ctx, kv, schema):
+        """SPR shorthand: samples=R1B1,R1B2 contact=120s dissociation=600s flow=30uL/min regen=R1A9 regen-contact=30s startup=N
+        -> one cycle per sample (startup cycles first, with the first sample)."""
+        cmd_props = ((((schema or {}).get('items') or {}).get('properties') or {}).get('commands') or {}).get('items', {}).get('properties') or {}
+
+        def num(field, text, kind):
+            si = units.parse(text, kind, what=field)
+            u = units.declared(cmd_props.get(field) or {})
+            return units.to_declared(si, u) if u else si
+        samples = [x for x in kv.pop('samples').split(',') if x.strip()]
+        for need in ('contact', 'flow'):
+            if need not in kv:
+                ctx.fail(invalid('MISSING_SETTING', 'samples=... needs %s=.' % need, 'e.g. contact=120s flow=30uL/min.'))
+        base = {'type': 'sample', 'contact_s': num('contact_s', kv.pop('contact'), 'duration'),
+                'dissociation_s': num('dissociation_s', kv.pop('dissociation', '0s'), 'duration'),
+                'flow_rate_m3_s': num('flow_rate_m3_s', kv.pop('flow'), 'flow')}
+        regen = None
+        if 'regen' in kv:
+            regen = {'type': 'regeneration', 'position': kv.pop('regen'), 'contact_s': num('contact_s', kv.pop('regen-contact', '30s'), 'duration'),
+                     'flow_rate_m3_s': base['flow_rate_m3_s']}
+        n_start = int(kv.pop('startup', '0'))
+        cycles = []
+        for i, pos in enumerate([samples[0]] * n_start + samples):
+            cmds = [dict(base, position=pos.strip())] + ([dict(regen)] if regen else [])
+            cycles.append({'purpose': 'startup' if i < n_start else 'sample', 'commands': cmds})
+        return cycles
+
+    def running(self, ctx, m):
+        c = m.get('running')
+        return True if c is None else self.cond(ctx, c)
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        opts = m.get('opts') or {}
+        self.unknown_opts(ctx, p, set(opts), 'start')
+        args = dict(m.get('args') or {})
+        name = p.pos[0] if p.pos else None
+        nm = m.get('name')
+        if nm:
+            if name is None and nm.get('required'):
+                ctx.fail(invalid('MISSING_ARGUMENT', 'start needs a %s on %s.' % (nm.get('word', 'name'), self.instrument_id),
+                                 'e.g. `chemlab run %s start %s`.' % (self.instrument_id, nm.get('example', 'NAME'))))
+            if name is not None:
+                self.known(ctx, name, nm.get('list'), nm.get('word', 'name'))
+                args[nm['arg']] = name
+        elif name is not None:
+            ctx.fail(invalid('EXTRA_ARGUMENT', '%s names no runs; start takes no NAME.' % self.instrument_id, 'write just `chemlab run %s start`.' % self.instrument_id))
+        for o, spec in opts.items():
+            v = p.get(o)
+            if v is None:
+                v = spec.get('default')
+            if v is None:
+                if spec.get('required'):
+                    ctx.fail(invalid('MISSING_OPTION', 'start needs --%s on %s.' % (o, self.instrument_id), 'e.g. --%s %s.' % (o, spec.get('example', 'VALUE'))))
+                continue
+            args[spec['arg']] = self.value(ctx, str(v), props.get(spec['arg']) or {}, None, '--' + o)
+        pairs = self.pairs(ctx, p, 'start', required=False)
+        if pairs and not m.get('keys') and not m.get('passthrough'):
+            ctx.fail(invalid('EXTRA_ARGUMENT', 'start takes no settings on %s.' % self.instrument_id, 'set them with `method` first.'))
+        if pairs:
+            kv = dict(pairs)
+            if m.get('series') and 'samples' in kv:
+                if 'cycles' in kv:
+                    ctx.fail(invalid('REPEATED_SETTING', 'give samples=... or cycles=..., not both.', 'choose one.'))
+                ser = {k: kv.pop(k) for k in list(kv) if k in ('samples', 'contact', 'dissociation', 'flow', 'regen', 'regen-contact', 'startup')}
+                args['cycles'] = self.series_cycles(ctx, ser, props.get('cycles'))
+            args = self.settings(ctx, cap, list(kv.items()), m.get('keys') or {}, m.get('passthrough', True), args)
+        req = ((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        missing = [a for a in req if a not in args]
+        if missing:
+            ctx.fail(invalid('MISSING_SETTING', 'start on %s also needs %s.' % (self.instrument_id, ', '.join(missing)),
+                             'see `chemlab help %s start`.' % self.instrument_id))
+        self.need(ctx, 'start')
+        self.check_args(ctx, cap, args)
+        what = '%s run%s' % (self.instrument_id, (' ' + name) if name else '')
+        r = ctx.call(cap, args, 'start the run' + ((' ' + name) if name else ''))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.start_job(ctx, m, r, cap, what)
+        if job is None:
+            return {'text': 'ok: %s started\n' % what, 'json': {'result': r.get('result')}}
+        return {'text': self.job_text(job, what), 'json': {'job': job.handle, 'kind': job.kind, 'arguments': args}}
+
+    def h_pause(self, ctx, p):
+        m = self.vmap('pause')
+        on = p.pos[0] == 'on'
+        c = m.get('running') if on else m.get('paused')
+        ctx.check(c is None or self.cond(ctx, c), 'NOT_RUNNING' if on else 'NOT_PAUSED',
+                  ('no run on %s can be paused now (it is not running).' if on else 'the run on %s is not paused.') % self.instrument_id,
+                  'see `chemlab run %s status`%s.' % (self.instrument_id, '; a run that is still warming up is paused once it runs' if on else ''),
+                  label='run %s' % ('going' if on else 'paused'))
+        cap = m['on_cap'] if on else m['off_cap']
+        ctx.call(cap, dict(m.get('args') or {}), 'pause the run' if on else 'resume the run')
+        return {'text': 'ok: run on %s %s\n' % (self.instrument_id, 'paused' if on else 'resumed') if not ctx.dry_run else '',
+                'json': {'paused': on}}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ctx.check(self.running(ctx, m), 'NOT_RUNNING', 'nothing is running on %s.' % self.instrument_id,
+                  'nothing to stop; see `chemlab run %s status`.' % self.instrument_id, label='something running')
+        if m.get('steps'):
+            self.run_steps(ctx, m['steps'], {})
+        else:
+            ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the run')
+        return {'text': 'ok: %s stopped\n' % self.instrument_id if not ctx.dry_run else '', 'json': {'stopped': True}}
+
+    # ------------------------------------------------------------------ records
+    def idarg(self, ctx, spec, given, args):
+        """The run / record id argument: given, else the slot, else the spec default."""
+        if not spec or spec['arg'] in args:
+            return
+        v = given
+        if v is None and spec.get('slot'):
+            v = self.sv(ctx, spec['slot'] + ('#' + spec['key'] if spec.get('key') else ''))
+        if v is None:
+            v = spec.get('default')
+        if v is None and spec.get('required'):
+            ctx.fail(refused('NO_DATA', '%s has no %s yet.' % (self.instrument_id, spec.get('word', 'run')),
+                             'run something first (`chemlab run %s start`), or name it.' % self.instrument_id))
+        if v is not None:
+            args[spec['arg']] = v
+
+    def h_data(self, ctx, p):
+        m = self.vmap('data')
+        if p.get('cycle') is not None and m.get('by_cycle'):
+            m = dict(m['by_cycle'], id=m['by_cycle'].get('id', m.get('id')))
+        cap = m['cap']
+        opts = m.get('opts') or {}
+        self.unknown_opts(ctx, p, set(opts), 'data')
+        args = dict(m.get('args') or {})
+        given = p.pos[0] if p.pos else None
+        if given is not None and not m.get('id'):
+            ctx.fail(invalid('EXTRA_ARGUMENT', '%s keeps one record; data takes no ID.' % self.instrument_id, 'write just `chemlab run %s data`.' % self.instrument_id))
+        self.idarg(ctx, m.get('id'), given, args)
+        for o, spec in opts.items():
+            v = p.get(o)
+            if v is None:
+                if spec.get('required'):
+                    ctx.fail(invalid('MISSING_OPTION', 'data needs --%s here.' % o, 'e.g. --%s %s.' % (o, spec.get('example', 'VALUE'))))
+                continue
+            args[spec['arg']] = self.int_opt(ctx, v, o) if spec.get('int') else self.list_opt(v) if spec.get('list') else v
+        self.check_args(ctx, cap, args)
+        r = ctx.call(cap, args, 'read the record (%s)' % cap, query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': self.reply('record', r), 'json': {'record': r.get('result'), 'arguments': args}}
+
+    def h_analyze(self, ctx, p):
+        m = self.vmap('analyze')
+        model = p.pos[0]
+        models = m.get('models') or {}
+        if m.get('model_arg') and not models:
+            models = {x: {} for x in self.arg_enum(m['cap'], m['model_arg'])}
+        if model not in models:
+            import difflib
+            close = difflib.get_close_matches(model, list(models), 2)
+            ctx.fail(invalid('UNKNOWN_MODEL', '%s has no evaluation %r.' % (self.instrument_id, model),
+                             ('did you mean %s? ' % ' or '.join(close) if close else '') + 'evaluations: %s.' % ', '.join(models)))
+        sub = dict(models[model])
+        cap = sub.get('cap', m.get('cap'))
+        args = dict(m.get('args') or {})
+        args.update(sub.get('args') or {})
+        if m.get('model_arg'):
+            args[m['model_arg']] = model
+        pairs = self.pairs(ctx, p, 'analyze', required=False)
+        args = self.settings(ctx, cap, pairs, dict(m.get('keys') or {}, **(sub.get('keys') or {})), True, args)
+        self.idarg(ctx, sub.get('id', m.get('id')), None, args)
+        req = ((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        missing = [a for a in req if a not in args]
+        if missing:
+            ctx.fail(invalid('MISSING_SETTING', 'analyze %s on %s also needs %s.' % (model, self.instrument_id, ', '.join(missing)),
+                             'add them as KEY=VALUE (see `chemlab help %s analyze`).' % self.instrument_id))
+        self.check_args(ctx, cap, args)
+        r = ctx.call(cap, args, 'evaluate (%s)' % model, query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': self.reply('%s evaluation' % model, r), 'json': {'model': model, 'evaluation': r.get('result'), 'arguments': args}}
+
+    # ------------------------------------------------------------------ prime / temperature
+    def h_prime(self, ctx, p):
+        m = self.vmap('prime')
+        if m.get('steps'):                                               # a composite start-up that waits (cytometer fluidics + stream)
+            if p.extra:
+                ctx.fail(invalid('EXTRA_ARGUMENT', 'prime takes no settings on %s.' % self.instrument_id, 'write just `chemlab run %s prime`.' % self.instrument_id))
+            self.need(ctx, 'prime')
+            t0 = ctx.now()
+            self.run_steps(ctx, m['steps'], {})
+            return {'text': 'ok: %s primed (%s of lab time)\n' % (self.instrument_id, units.fmt_s(ctx.now() - t0)) if not ctx.dry_run else '',
+                    'json': {'primed': True}}
+        cap = m['cap']
+        pairs = self.pairs(ctx, p, 'prime', required=False)
+        args = self.settings(ctx, cap, pairs, m.get('keys') or {}, True, dict(m.get('args') or {}))
+        defaulted = []
+        req = ((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        if m.get('defaults') == 'example':
+            ex = (ctx.cap_spec(cap).get('example_arguments') or {})
+            for a in req:
+                if a not in args and a in ex:
+                    args[a] = ex[a]
+                    defaulted.append(a)
+        missing = [a for a in req if a not in args]
+        if missing:
+            keys = m.get('keys') or {}
+            names = ['%s (%s)' % (next((k for k, s in keys.items() if s['arg'] == a), a), a) for a in missing]
+            ctx.fail(invalid('MISSING_SETTING', 'prime on %s needs %s.' % (self.instrument_id, ', '.join(names)), 'e.g. %s.' % m.get('example', '')))
+        self.need(ctx, 'prime')
+        self.check_args(ctx, cap, args)
+        r = ctx.call(cap, args, 'prime (%s)' % cap)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        note = ('; the contract\'s documented example values for %s' % ', '.join(defaulted)) if defaulted else ''
+        job = self.start_job(ctx, m, r, cap, 'prime %s' % self.instrument_id)
+        if job is None:
+            return {'text': 'ok: %s primed%s\n' % (self.instrument_id, note), 'json': {'arguments': args, 'defaulted': defaulted}}
+        return {'text': self.job_text(job, 'prime %s%s' % (self.instrument_id, note)), 'json': {'job': job.handle, 'arguments': args, 'defaulted': defaulted}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        cap, arg = m['cap'], m['arg']
+        text = p.raw['TEMP|off'].strip().lower()
+        args = dict(m.get('args') or {})
+        if text == 'off':
+            if not m.get('off'):
+                ctx.fail(invalid('NO_OFF', '%s cannot switch this temperature control off.' % self.instrument_id, 'give a temperature instead.'))
+            args[arg] = None
+            k = None
+        else:
+            k = units.parse(text, 'temperature', what='temperature')
+            args[arg] = self.resolve(ctx, cap, arg, k)
+        self.need(ctx, 'set-temp')
+        self.check_args(ctx, cap, args)
+        ctx.call(cap, args, 'set the temperature to %s' % ('off' if k is None else units.fmt(k, 'temperature')))
+        return {'text': 'ok: %s temperature %s\n' % (self.instrument_id, 'off' if k is None else units.fmt(k, 'temperature')) if not ctx.dry_run else '',
+                'json': {'set_point_k': k}}
+
+
+_ = (finite, unsupported, parse_si)
diff --git a/chemlab/chemlab/compile/classes/chromatography.py b/chemlab/chemlab/compile/classes/chromatography.py
new file mode 100644
index 0000000000000000000000000000000000000000..7fef084d15413285068203c6d240d9e070423958
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/chromatography.py
@@ -0,0 +1,1145 @@
+"""Chromatography and electrophoresis class ("chromatography"): GC, GC-IMS, HPLC, SFC, GPC/SEC, ion chromatography, AF4,
+capillary electrophoresis, TLC densitometry, flash chromatography, centrifugal partition chromatography, gel electrophoresis.
+
+Verbs: method KEY=VALUE ..., load [SAMPLE], run [--pos P] [--wait-ready T], stop, chromatogram [--save-to F], quantify, flow on|off,
+set-temp T [--zone Z], status.  Members and their mappings: configs/adapters/chromatography.json.  power / open / close come from
+the shared layer (configs/adapters/shared.json).
+
+The method dictionary (canonical keys; each member maps the ones it has, `chemlab help INST method` lists them):
+
+    flow=1mL/min           mobile phase / carrier / column flow                 (flow)
+    inj=10uL               injection volume                                     (volume)
+    column-temp=40C        column (or column compartment) temperature           (temperature)
+    oven=40C:2min..250C@10C/min:5min   GC oven program: start temperature[:hold], then ..final@rate[:hold] per ramp
+    inlet=250C             GC inlet / injector temperature                      (temperature)
+    det=300C               detector temperature                                 (temperature)
+    split=50               split ratio (50 or 50:1)
+    inlet-mode=splitless   split | splitless
+    run=20min              run time                                             (duration)
+    wl=254nm[,280nm]       detection wavelength(s)                              (wavelength)
+    gradient=0:10%,10min:90%   time:fraction of the strong solvent / modifier / B channel
+    pmax=400bar            pressure limit                                       (pressure)
+    rate=5Hz               detector data rate                                   (frequency)
+    speed=1600rpm          rotor speed (CPC)                                    (rotation)
+    eluent=10mM            eluent concentration (IC)                            (concentration)
+    voltage=200V current=40mA constant=voltage   power supply programme (gel electrophoresis)
+    lamp=deuterium         lamp / light source
+
+Any other KEY is passed through by the member's own native argument name (still converted into the unit the argument declares),
+e.g. bpr_pa=130bar, mode=anion, steps=[...].  Flat method capabilities that need every argument keep the instrument's current
+value where it reports one and otherwise take the contract's example method; the reply lists which values were kept and which
+came from the default, and nothing is sent when a value is out of the contract range (usage error, exit 2).
+
+Vendor-neutral terms: USP <621> / Ph. Eur. 2.2.46 (retention time, peak area, resolution), ASTM E1947 / E2077 (ANDI chromatography
+data: a trace plus a peak table), AnIML / Allotrope result records, OPC UA ADI (OPC 10020) analyser states.  chromatogram returns
+one shape for every member: {complete, trace: {x, y, x_unit, y_unit}, peaks: [{rt_s, area, height}]}; where a member gives only
+a trace, the class finds the peaks itself (local maxima above 2 % of the signal range, trapezoid areas between valleys).
+"""
+import copy
+import math
+import re
+
+from ...contract import validate
+from ...generic import CmdError, coerce
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unsupported
+from ..jobs import OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+REF = ('Agilent 8890 / 7890B GC user and operating manuals (method set points, oven program, Prep Run / Start); Agilent 1260 / 1290 '
+       'Infinity LC, SFC and GPC/SEC manuals; Thermo Dionex Integrion operator manual; G.A.S. FlavourSpec manual; Wyatt Eclipse AF4 '
+       'manual; SCIEX PA 800 Plus system guide; CAMAG TLC Scanner 4 manual; Biotage Selekt user manual; Gilson CPC 250 manual; '
+       'Bio-Rad Mini-PROTEAN Tetra and PowerPac manuals')
+ON_OFF = ['on', 'off']
+
+# canonical method keys: name -> (kind, help)
+KEYS = {
+    'flow': ('flow', 'mobile phase / carrier / column flow, e.g. 1mL/min'),
+    'inj': ('volume', 'injection volume, e.g. 10uL'),
+    'column-temp': ('temperature', 'column temperature, e.g. 40C'),
+    'oven': ('program', 'GC oven program, e.g. 40C:2min..250C@10C/min:5min (or just 80C)'),
+    'inlet': ('temperature', 'inlet / injector temperature, e.g. 250C'),
+    'det': ('temperature', 'detector temperature, e.g. 300C'),
+    'split': ('number', 'split ratio, e.g. 50 or 50:1'),
+    'inlet-mode': ('choice', 'inlet mode: split or splitless'),
+    'run': ('duration', 'run time, e.g. 20min'),
+    'wl': ('wavelengths', 'detection wavelength(s), e.g. 254nm or 254nm,280nm'),
+    'gradient': ('gradient', 'time:fraction list, e.g. 0:10%,10min:90%'),
+    'pmax': ('pressure', 'pressure limit, e.g. 400bar'),
+    'rate': ('frequency', 'detector data rate, e.g. 5Hz'),
+    'speed': ('rotation', 'rotor speed, e.g. 1600rpm'),
+    'eluent': ('concentration', 'eluent concentration, e.g. 10mM'),
+    'voltage': ('voltage', 'power supply voltage, e.g. 200V'),
+    'current': ('current', 'power supply current, e.g. 40mA'),
+    'constant': ('choice', 'what the power supply holds constant: voltage or current'),
+    'lamp': ('choice', 'lamp / light source, e.g. deuterium'),
+}
+PEAK_RT_KEYS = ('rt_s', 'retention_time_s', 'migration_time_s', 'apex_time_s', 'time_s', 'distance_m', 'migration_m', 'rf')
+PEAK_AREA_KEYS = ('area', 'area_au_s', 'area_C', 'area_s', 'area_au_m', 'corrected_area_au', 'intensity')
+PEAK_HEIGHT_KEYS = ('height', 'height_au', 'height_A')
+
+
+def dig(obj, path):
+    """obj['a']['b'] for path 'a.b' ('' -> obj)."""
+    if not path:
+        return obj
+    for part in path.split('.'):
+        if isinstance(obj, dict):
+            obj = obj.get(part)
+        else:
+            return None
+    return obj
+
+
+def coerce_value(text, schema, key):
+    """generic.coerce (JSON by the schema's type) with its usage error turned into the class error format."""
+    try:
+        return coerce(text, schema, key)
+    except CompileError:
+        raise
+    except CmdError as exc:
+        raise invalid(exc.code, exc.message, (exc.fix or '') + ' (write JSON inside single quotes in the shell, e.g. %s=\'[...]\')' % key)
+
+
+def find_peaks(x, y, min_frac=0.02, limit=30):
+    """Peaks of a trace: local maxima higher than min_frac of the signal range above the lowest value; each peak's area is the
+    trapezoid integral above that baseline between the valleys on either side."""
+    pts = [(float(a), float(b)) for a, b in zip(x or [], y or []) if finite(a) and finite(b)]
+    if len(pts) < 3:
+        return []
+    xs, ys = [p[0] for p in pts], [p[1] for p in pts]
+    base, top = min(ys), max(ys)
+    span = top - base
+    if span <= 0:
+        return []
+    thr = base + min_frac * span
+    out, i, n = [], 1, len(ys)
+    while i < n - 1:
+        if ys[i] > thr and ys[i] >= ys[i - 1] and ys[i] > ys[i + 1]:
+            lo = i
+            while lo > 0 and ys[lo - 1] <= ys[lo]:
+                lo -= 1
+            hi = i
+            while hi < n - 1 and ys[hi + 1] <= ys[hi]:
+                hi += 1
+            area = sum((ys[k] + ys[k + 1] - 2 * base) * (xs[k + 1] - xs[k]) / 2 for k in range(lo, hi))
+            half = base + (ys[i] - base) / 2
+            left = next((xs[k] for k in range(i, lo - 1, -1) if ys[k] <= half), xs[lo])
+            right = next((xs[k] for k in range(i, hi + 1) if ys[k] <= half), xs[hi])
+            out.append({'rt_s': xs[i], 'height': ys[i] - base, 'area': area, 'width_half_s': right - left, 'start_s': xs[lo], 'end_s': xs[hi]})
+            i = hi
+        i += 1
+    out.sort(key=lambda p: -p['height'])
+    out = out[:limit]
+    out.sort(key=lambda p: p['rt_s'])
+    return out
+
+
+class ChromatographyAdapter(ClassAdapter):
+    COVERS = {'start': 'run', 'result': 'chromatogram'}     # shared start / result are replaced by run / chromatogram
+    CLASS = 'chromatography'
+    TITLE = 'chromatography and electrophoresis'
+    ABOUT = ('Separation instruments: set the method with one dictionary of keys (flow, oven program, injection, wavelength, '
+             'gradient, ...), load the sample, start the run (a job), stop it, read the chromatogram (trace + peak table, one shape '
+             'for every instrument), quantify against standards, switch the mobile phase / carrier on or off, set zone temperatures.')
+    STANDARDS = ('USP <621> / Ph. Eur. 2.2.46 terms (retention time, peak area); ASTM E1947 / E2077 (ANDI chromatography data); '
+                 'AnIML / Allotrope results; OPC UA ADI (OPC 10020) analyser states; no SiLA 2 core feature exists for chromatographs')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('flow', 'volume', 'temperature', 'duration', 'wavelength', 'pressure', 'heating_rate', 'fraction', 'frequency',
+                  'rotation', 'concentration', 'voltage', 'current')
+    PATH_GROUPS = (('run', 'stop', 'chromatogram'),)
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is busy (a run, test or start-up is in progress).',
+                 'wait for it (`chemlab run {inst} status`), or stop the run first (`chemlab run {inst} stop`).'),
+        'RUN_ACTIVE': ('BUSY', 'a run is in progress on {inst}.', 'wait for it or stop it (`chemlab run {inst} stop`).'),
+        'NOT_READY': ('NOT_READY', '{inst} is not ready to start (temperatures, flows or pressure not at their set points).',
+                      'wait until it is ready: `chemlab run {inst} run --wait-ready 15min` waits and then starts.'),
+        'LAMP_NOT_READY': ('NOT_READY', 'the lamp of {inst} is off or still warming up.',
+                           'select a lamp (`chemlab run {inst} method lamp=deuterium`) and wait for the warm-up '
+                           '(`chemlab run {inst} run --wait-ready 10min`).'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'no sample is loaded in {inst}.', 'load one first (`chemlab run {inst} load SAMPLE`).'),
+        'SAMPLE_PRESENT': ('SAMPLE_PRESENT', 'a sample is already loaded in {inst}.', 'run it, or unload it with `chemlab call {inst} sample.unload`.'),
+        'LID_ON': ('LID_ON', 'the lid of {inst} is on.', 'take it off first (`chemlab call {inst} lid.remove`).'),
+        'NOT_RUNNING': ('NOT_RUNNING', 'nothing is running on {inst}.', 'nothing to stop; see `chemlab run {inst} status`.'),
+        'VIAL_EMPTY': ('VIAL_EMPTY', 'the sample vial of {inst} is empty.', 'ask the lab operator for a new vial.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab.', 'ask the lab operator.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        return {
+            'method': Verb('method', 'set the separation method: KEY=VALUE ... (class keys with units, or native argument names)',
+                           self.h_method, variadic=('KEY=VALUE', 'a method setting'),
+                           preconditions=['every value parses into its unit and lies in the contract range', 'not running',
+                                          'power on (where the instrument needs it)'],
+                           errors=['UNKNOWN_SETTING, BAD_SETTING, OUT_OF_RANGE (usage)', 'BUSY, POWER_OFF (refused)'],
+                           example='chemlab run INST method flow=1mL/min inj=10uL column-temp=40C run=20min', reference=REF,
+                           details='class keys: ' + '; '.join('%s (%s)' % (k, h) for k, (_, h) in KEYS.items())),
+            'load': Verb('load', 'load a sample into the injector / sample position (opens and closes the door or lid itself)',
+                         self.h_load, positionals=[Arg('SAMPLE', 'the sample id (as the lab registered it)', required=False)],
+                         options={'pos': Opt('sample position (gel: gel position 1-4)', metavar='N'),
+                                  'lane': Opt('lane / well (gel)', metavar='N'),
+                                  'volume': Opt('volume to load, e.g. 10uL', kind='volume', metavar='V')},
+                         preconditions=['not running', 'no sample loaded already (where the instrument holds one)', 'power on where needed'],
+                         errors=['MISSING_ARGUMENT, MISSING_OPTION (usage)', 'BUSY, SAMPLE_PRESENT (refused)'],
+                         example='chemlab run INST load mix1', reference=REF),
+            'run': Verb('run', 'start the separation (returns job-N: chemlab status|wait|cancel job-N)', self.h_run, long_action=True,
+                        options={'pos': Opt('sample position for instruments that inject from a tray, e.g. 1:5 (drawer:position)', metavar='POS'),
+                                 'wait-ready': Opt('first wait up to TIME until the instrument is ready, then start', kind='duration', metavar='TIME')},
+                        preconditions=['power on', 'not running', 'method set, sample loaded, flow on (where the instrument has them)',
+                                       'ready (temperatures / flows / lamp), or --wait-ready'],
+                        errors=['MISSING_OPTION (usage)', 'POWER_OFF, BUSY, NO_METHOD, NO_SAMPLE, FLOW_OFF, NOT_READY (refused)'],
+                        example='chemlab run INST run --wait-ready 10min', reference=REF),
+            'stop': Verb('stop', 'stop / abort the running separation', self.h_stop, preconditions=['a run is in progress'],
+                         errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop', reference=REF),
+            'chromatogram': Verb('chromatogram', 'the chromatogram of the current / last run: trace and peak table', self.h_chromatogram,
+                                 readonly=True, options={'save-to': save_to_opt(),
+                                                         'signal': Opt('which signal to use as the trace (member specific, e.g. uv_au)', metavar='NAME'),
+                                                         'pos': Opt('gel position / TLC track to read', metavar='N')},
+                                 example='chemlab run INST chromatogram --save-to run1.json', reference=REF),
+            'quantify': Verb('quantify', 'concentration of the peak in a retention window from external standards', self.h_quantify,
+                             readonly=True,
+                             options={'standards': Opt('standards CONC=AREA,... e.g. 0.1mM=0.012,0.5mM=0.061', metavar='LIST', required=True),
+                                      'window': Opt('retention window START..END, e.g. 2.5min..3.5min', metavar='A..B', required=True),
+                                      'drift': Opt('GC-IMS drift-time ratio window, e.g. 1.0..1.3 (default: the whole range)', metavar='A..B'),
+                                      'save-to': save_to_opt()},
+                             preconditions=['a completed run', 'standards with positive concentrations'],
+                             errors=['BAD_STANDARDS, BAD_WINDOW (usage)', 'NO_RUN (refused)'],
+                             example='chemlab run INST quantify --standards 0.1mM=0.01,0.5mM=0.05 --window 100s..200s', reference=REF),
+            'flow': Verb('flow', 'switch the mobile phase / carrier gas / pump on or off', self.h_flow,
+                         positionals=[Arg('on|off', 'on or off', choices=ON_OFF)], preconditions=['power on'],
+                         errors=['POWER_OFF (refused)'], example='chemlab run INST flow on', reference=REF),
+            'set-temp': Verb('set-temp', 'set a zone temperature (oven, inlet, detector, column, capillary, ...)', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'set point, e.g. 250C (a bare number is °C)', kind='temperature')],
+                             options={'zone': Opt('which zone (default: the member\'s main zone)', metavar='ZONE')},
+                             preconditions=['set point within the contract range of the zone', 'power on'],
+                             errors=['OUT_OF_RANGE, UNKNOWN_ZONE (usage)', 'POWER_OFF (refused)'],
+                             example='chemlab run INST set-temp 250C --zone inlet', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ state helpers
+    def sv(self, values, spec):
+        """A slot value: 'slot', 'slot#key' or 'slot#a.b' (keys inside an object slot)."""
+        if spec is None:
+            return None
+        sid, _, key = spec.partition('#')
+        get = values.v if hasattr(values, 'v') else values.get
+        v = get(sid)
+        return dig(v, key) if key else v
+
+    def running(self, values):
+        """True when a run is in progress (from the member's run slot)."""
+        s = self.slot('run')
+        if not s:
+            return False
+        v = self.sv(values, s)
+        if self.param('running_when_set'):
+            return v is not None
+        return v in (self.param('running') or [])
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(self.sv(ctx, s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def need_idle(self, ctx, what):
+        ctx.check(not self.running(ctx), 'BUSY', 'a run is in progress on %s, so it cannot %s now.' % (self.instrument_id, what),
+                  'wait for it (`chemlab run %s status`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id),
+                  label='not running')
+
+    def cond(self, ctx, c, cap=None, args=None):
+        """A step condition {"state", "eq" | "ne" | "lt" | "gt" | "empty"} ("state": a slot id, or slot#key inside an object slot);
+        "$max" / "$min" compare with the range of the step's own argument that carries the same token."""
+        if not c:
+            return True
+        v = self.sv(ctx, c['state'])
+        if 'eq' in c:
+            return v == c['eq']
+        if 'ne' in c:
+            return v != c['ne']
+        if 'empty' in c:
+            return (not v) == c['empty']
+        for op in ('lt', 'gt'):
+            if op in c:
+                lim = self.resolve(c[op], cap, args)
+                if not (finite(v) and finite(lim)):
+                    return op == 'lt'
+                return v < lim - 1e-9 if op == 'lt' else v > lim + 1e-9
+        return True
+
+    def resolve(self, token, cap, args):
+        """'$max' / '$min' -> the range end of the step's argument that carries the same token; '$param:x' -> params[x]."""
+        if not isinstance(token, str) or not token.startswith('$'):
+            return token
+        if token.startswith('$param:'):
+            return self.param(token.split(':', 1)[1])
+        for a, val in (args or {}).items():
+            if val == token:
+                lo, hi = self.arg_range(cap, a)
+                return hi if token == '$max' else lo
+        return None
+
+    def steps(self, ctx, steps, what):
+        """Run conditional native steps [{"cap", "args", "if", "step"}] (door / lid / prep / syringe)."""
+        for st in steps or []:
+            raw = dict(st.get('args') or {})
+            if not self.cond(ctx, st.get('if'), st['cap'], raw):
+                continue
+            args = {a: self.resolve(v, st['cap'], raw) for a, v in raw.items()}
+            ctx.call(st['cap'], args, st.get('step') or '%s (%s)' % (what, st['cap']))
+
+    def ready_fix(self):
+        spec = (self.vmap('run') or {}).get('ready') or {}
+        return (spec.get('fix') or 'wait until it is ready: `chemlab run {inst} run --wait-ready 15min` waits and then starts.').format(
+            inst=self.instrument_id)
+
+    def ready(self, ctx):
+        """(ready, why) from the member's "ready" spec: {"state", "eq"} | {"state", "empty"} | {"near": [[actual, target], ...]}."""
+        spec = (self.vmap('run') or {}).get('ready')
+        if not spec:
+            return True, ''
+        if 'near' in spec:
+            tol = float(self.param('ready_tol_k', 0.5))
+            bad = []
+            for a, t in spec['near']:
+                va, vt = self.sv(ctx, a), self.sv(ctx, t)
+                if finite(va) and finite(vt) and abs(va - vt) > tol:
+                    bad.append('%s %s (target %s)' % (a.split('.')[0], units.fmt(va, 'temperature'), units.fmt(vt, 'temperature')))
+            return not bad, ', '.join(bad)
+        ok = self.cond(ctx, spec)
+        why = ''
+        if not ok:
+            reasons = self.sv(ctx, spec['reasons']) if spec.get('reasons') else None
+            why = '; '.join(map(str, reasons)) if isinstance(reasons, list) and reasons else '%s = %s' % (spec['state'], short(self.sv(ctx, spec['state']), 60))
+        return ok, why
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        p = self.slot('power')
+        on = self.sv(values, p) if p else True
+        if p and not on:
+            return ['power off'], {'power': False}
+        js = {'power': True}
+        bits = []
+        rs = self.slot('run')
+        if rs:
+            st = self.sv(values, rs)
+            run = self.running(values)
+            js['running'] = run
+            js['run_state'] = st if not isinstance(st, dict) else st.get('kind', 'running')
+            word = js['run_state'] if isinstance(js['run_state'], str) else None
+            bits.append(('running (%s)' % word if word and word not in ('running', 'run') else 'running') if run else
+                        ('idle' if word in (None, 'idle') else 'idle (last: %s)' % word))
+        spec = (self.vmap('run') or {}).get('ready')
+        if spec and 'state' in spec:
+            try:
+                ok = self.cond(values, spec)
+                js['ready'] = ok
+                bits.append('ready' if ok else 'not ready')
+            except Exception:                                             # noqa: BLE001 - a summary never breaks read
+                pass
+        for role, word in (('method', 'method set'), ('sample', 'sample loaded'), ('flow', 'flow on')):
+            s = self.slot(role)
+            if s:
+                v = self.sv(values, s)
+                ok = bool(v) and v not in ('none', 'off', 'disconnected')
+                js[role] = ok
+                bits.append(word if ok else word.replace('set', 'not set').replace('loaded', 'not loaded').replace(' on', ' off'))
+        temps = []
+        for s in self.slot('temps') or []:
+            v = self.slot_si(values, s)
+            if finite(v):
+                parts = s.split('.')
+                label = parts[1] if parts[0] in ('thermal', 'temperature') and len(parts) > 1 else parts[0]
+                temps.append('%s %s' % (re.sub(r'_(indicated_|temperature_)?k$', '', label), units.fmt(v, 'temperature')))
+                js.setdefault('temperatures_k', {})[s] = v
+        lines = ['; '.join(bits) or 'on']
+        if temps:
+            lines.append('temperatures: ' + ', '.join(temps))
+        return lines, js
+
+    # ------------------------------------------------------------------ help: the member's method keys
+    def verb_help(self, name):
+        r = ClassAdapter.verb_help(self, name)
+        if name == 'method' and name not in self.unsupported_reasons():
+            lines = ['', 'method keys of %s:' % self.instrument_id]
+            for call in (self.vmap('method') or {}).get('calls') or []:
+                cap = call.get('cap') or call.get('temp_cap')
+                for k, spec in (call.get('keys') or {}).items():
+                    arg = spec if isinstance(spec, str) else (spec.get('arg') or spec.get('field') or 'program')
+                    lines.append('  %-12s -> %s %s%s' % (k, cap, arg, (' (%s)' % ', '.join('%s=%s' % kv for kv in (call.get('args') or {}).items()))
+                                                       if call.get('args') else ''))
+                if call.get('passthrough', True) and not call.get('object') and call.get('cap'):
+                    props = self.cap_props(call['cap'])
+                    rest = [a for a in props if a not in self.mapped_args(call)]
+                    if rest:
+                        lines.append('  native names passed through to %s: %s' % (call['cap'], ', '.join(rest)))
+            r['text'] += '\n'.join(lines) + '\n'
+        return r
+
+    def cap_props(self, cap):
+        return ((self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+    def cap_schema_all(self, cap):
+        return (self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {'type': 'object', 'properties': {}}
+
+    @staticmethod
+    def mapped_args(call):
+        return {(s if isinstance(s, str) else (s.get('arg') or s.get('field'))) for s in (call.get('keys') or {}).values()}
+
+    # ------------------------------------------------------------------ mapping check (the class's own data shapes)
+    def check_mapping(self, lab):
+        """The base check plus what it cannot see: method keys -> native argument names, "keep" slots, "*_arg" names of load /
+        run / quantify, step conditions and ready specs ("state": slot#key)."""
+        problems = ClassAdapter.check_mapping(self, lab)
+        caps = lab.contract['capabilities']
+        visible = {s.lower() for s in lab.view.slots}
+
+        def props(cap):
+            return ((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+        def slot_ok(s, where):
+            for x in (s if isinstance(s, list) else [s]):
+                if isinstance(x, str) and x.split('#', 1)[0].lower() not in visible:
+                    problems.append('%s: no visible state slot %s' % (where, x))
+
+        def conds(o, where):
+            if isinstance(o, dict):
+                for k, v in o.items():
+                    if k in ('state', 'reasons') and isinstance(v, str):
+                        slot_ok(v, where + '.' + k)
+                    elif k == 'near':
+                        for pair in v:
+                            slot_ok(pair, where + '.near')
+                    else:
+                        conds(v, where + '.' + k)
+            elif isinstance(o, list):
+                for x in o:
+                    conds(x, where)
+        for verb, m in (self.map.get('verbs') or {}).items():
+            conds(m, 'verbs.' + verb)
+            if verb == 'method':
+                for n, call in enumerate(m.get('calls') or []):
+                    w = 'verbs.method.calls[%d]' % n
+                    if call.get('style') == 'program':
+                        for a, c in (('temp_arg', 'temp_cap'), ('time_arg', 'time_cap'), ('index_arg', 'ramp_cap'), ('rate_arg', 'ramp_cap'),
+                                     ('final_arg', 'ramp_cap'), ('hold_arg', 'ramp_cap')):
+                            if call.get(a) and call.get(c) and call[a] not in props(call[c]):
+                                problems.append('%s: %s has no argument %s' % (w, call[c], call[a]))
+                        if call.get('prog_cap') and call.get('object') not in props(call['prog_cap']):
+                            problems.append('%s: %s has no argument %s' % (w, call['prog_cap'], call.get('object')))
+                        continue
+                    pr = props(call.get('cap'))
+                    if call.get('object'):
+                        if call['object'] not in pr:
+                            problems.append('%s: %s has no argument %s' % (w, call['cap'], call['object']))
+                        continue
+                    for k, spec in (call.get('keys') or {}).items():
+                        arg = spec if isinstance(spec, str) else spec.get('arg')
+                        if arg not in pr:
+                            problems.append('%s.keys.%s: %s has no argument %s' % (w, k, call['cap'], arg))
+                    for arg, s in (call.get('keep') or {}).items():
+                        if arg not in pr:
+                            problems.append('%s.keep: %s has no argument %s' % (w, call['cap'], arg))
+                        slot_ok(s, w + '.keep.' + arg)
+            elif isinstance(m, dict) and m.get('cap'):
+                pr = props(m['cap'])
+                for k, v in m.items():
+                    if k.endswith('_arg') and isinstance(v, str) and v not in pr:
+                        problems.append('verbs.%s.%s: %s has no argument %s' % (verb, k, m['cap'], v))
+                for a in (m.get('pos') or {}).get('args') or []:
+                    if a not in pr:
+                        problems.append('verbs.%s.pos: %s has no argument %s' % (verb, m['cap'], a))
+            for z, spec in ((m or {}).get('zones') or {}).items() if isinstance(m, dict) else []:
+                if spec.get('arg') not in props(spec.get('cap')):
+                    problems.append('verbs.%s.zones.%s: %s has no argument %s' % (verb, z, spec.get('cap'), spec.get('arg')))
+        t = (self.map.get('targets') or {}).get('zone')
+        sm = (self.map.get('verbs') or {}).get('set-temp') or {}
+        if t and sm.get('cap'):
+            enum = (props(sm['cap']).get(t['arg']) or {}).get('enum')
+            if t['arg'] not in props(sm['cap']):
+                problems.append('targets.zone: %s has no argument %s' % (sm['cap'], t['arg']))
+            elif enum:
+                problems += ['targets.zone: %s is not a %s value' % (v, t['arg']) for v in (t.get('values') or {}).values() if v not in enum]
+        return problems
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code in ('NOT_READY', 'PRECONDITION_FAILED') and cap == (self.vmap('run') or {}).get('cap'):
+            ctx.refresh()
+            ok, why = self.ready(ctx)
+            if not ok:
+                return refused('NOT_READY', '%s is not ready to start: %s.' % (self.instrument_id, why), self.ready_fix())
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ method
+    def parse_pairs(self, ctx, items):
+        out = {}
+        for item in items:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write method KEY=VALUE ... (see `chemlab help %s method`).' % self.instrument_id))
+            if k in out:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give it once.'))
+            out[k] = v
+        return out
+
+    def value_for(self, ctx, key, text, spec, call, schema):
+        """One KEY=VALUE -> the native value (declared unit for flat arguments, SI for settings objects)."""
+        kind = spec.get('kind') or (KEYS[key][0] if key in KEYS else None)
+        obj = bool(call.get('object'))
+        if kind in units.KINDS:
+            if obj or not schema:
+                return units.parse(text, kind, what=key)
+            if schema.get('type') == 'array':                            # e.g. GPC zone targets: every zone gets the value
+                item = schema.get('items') or {}
+                one = units.parse_for(text, item, kind, what=key)
+                n = len(spec.get('like') or []) or max(1, int(schema.get('minItems', 1)))
+                return [one] * n
+            v = units.parse_for(text, schema, kind, what=key)
+            return int(round(v)) if schema.get('type') == 'integer' and abs(v - round(v)) < 1e-9 else v
+        if kind == 'number':
+            t = text.strip()
+            t = t[:-2] if t.endswith(':1') else t
+            try:
+                v = float(t)
+            except ValueError:
+                ctx.fail(invalid('BAD_SETTING', '%s=%s is not a number.' % (key, text), 'write e.g. %s=50.' % key))
+            return int(v) if schema.get('type') == 'integer' and v.is_integer() else v
+        if kind == 'choice':
+            allowed = list((spec.get('values') or {}).keys()) or list(schema.get('enum') or [])
+            hit = [a for a in allowed if str(a).lower() == text.strip().lower()]
+            if not hit:
+                ctx.fail(invalid('BAD_SETTING', '%s=%s is not allowed on %s.' % (key, text, self.instrument_id),
+                                 'use one of: %s.' % ', '.join(map(str, allowed))))
+            return (spec.get('values') or {}).get(hit[0], hit[0])
+        if kind == 'wavelengths':
+            parts = [x for x in text.split(',') if x.strip()]
+            if schema.get('type') == 'array':
+                item = schema.get('items') or {}
+                return [units.parse_for(x, item, 'wavelength', what=key) for x in parts]
+            if len(parts) != 1:
+                ctx.fail(invalid('BAD_SETTING', '%s takes one wavelength.' % self.instrument_id, 'give one, e.g. wl=254nm.'))
+            return units.parse(parts[0], 'wavelength', what=key) if obj else units.parse_for(parts[0], schema, 'wavelength', what=key)
+        if kind == 'gradient':
+            return self.parse_gradient(ctx, key, text, spec, schema)
+        return coerce_value(text, schema, key)
+
+    def parse_gradient(self, ctx, key, text, spec, schema):
+        item = schema.get('items') or {}
+        props = item.get('properties') or {}
+        tkey = next((p for p, s in props.items() if units.declared(s) == 's'), 'time_s')
+        fkey = spec.get('fraction') or next((p for p in props if p != tkey), 'fraction')
+        out = []
+        for part in [x for x in text.split(',') if x.strip()]:
+            t, colon, f = part.partition(':')
+            if not colon:
+                ctx.fail(invalid('BAD_GRADIENT', 'gradient point %r is not TIME:FRACTION.' % part, 'write e.g. gradient=0:10%,10min:90%.'))
+            if not re.search(r'[%a-zA-Z]\s*$', f.strip()):
+                ctx.fail(invalid('BAD_GRADIENT', 'the fraction in %r has no unit.' % part, 'give it as a percentage, e.g. 10%.'))
+            out.append({tkey: units.parse_for(t, props.get(tkey) or 's', 'duration', what='gradient time'),
+                        fkey: units.parse(f, 'fraction', what='gradient fraction')})
+        if not out:
+            ctx.fail(invalid('BAD_GRADIENT', 'the gradient is empty.', 'write e.g. gradient=0:10%,10min:90%.'))
+        return out
+
+    def parse_program(self, ctx, text):
+        """'40C:2min..250C@10C/min:5min' -> (T0_K, hold0_s, [(final_K, rate_K_s, hold_s)])."""
+        segs = text.split('..')
+        t0, _, h0 = segs[0].partition(':')
+        start = units.parse(t0, 'temperature', what='oven start temperature')
+        hold0 = units.parse(h0, 'duration', what='oven hold') if h0 else 0.0
+        ramps = []
+        for seg in segs[1:]:
+            m = re.fullmatch(r'\s*([^@:]+)@([^:]+)(?::(.+))?\s*', seg)
+            if not m:
+                ctx.fail(invalid('BAD_PROGRAM', 'oven ramp %r is not FINAL@RATE[:HOLD].' % seg, 'write e.g. oven=40C:2min..250C@10C/min:5min.'))
+            final = units.parse(m.group(1), 'temperature', what='ramp final temperature')
+            rate = units.parse(m.group(2), 'heating_rate', what='ramp rate')
+            hold = units.parse(m.group(3), 'duration', what='ramp hold') if m.group(3) else 0.0
+            if rate <= 0:
+                ctx.fail(invalid('BAD_PROGRAM', 'ramp rate %s must be above zero.' % m.group(2), 'give a rate such as 10C/min.'))
+            ramps.append((final, rate, hold))
+        return start, hold0, ramps
+
+    def program_calls(self, ctx, call, text):
+        """The native calls of an oven program, member style "settings" (one settings object) or "calls" (one call per ramp)."""
+        start, hold0, ramps = self.parse_program(ctx, text)
+        lo, hi = self.arg_range_si(call['temp_cap'], call['temp_arg'])        # the oven zone's range bounds every program temperature
+        for t in [start] + [r[0] for r in ramps]:
+            if (lo is not None and t < lo - 1e-9) or (hi is not None and t > hi + 1e-9):
+                ctx.fail(invalid('OUT_OF_RANGE', 'oven temperature %s is outside the oven range of %s (%s to %s).' % (
+                    units.fmt(t, 'temperature'), self.instrument_id, units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')),
+                    'keep the program between %s and %s.' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature'))))
+        out = [(call['temp_cap'], dict(call.get('temp_args') or {}, **{call['temp_arg']: self.arg_value(call['temp_cap'], call['temp_arg'], start)}),
+                'oven start temperature %s' % units.fmt(start, 'temperature'))]
+        if call.get('time_cap'):
+            out.append((call['time_cap'], {call['time_arg']: self.arg_value(call['time_cap'], call['time_arg'], hold0)}, 'oven initial hold'))
+            lo, hi = self.arg_range(call['ramp_cap'], call['index_arg'])
+            if hi is not None and len(ramps) > hi:
+                ctx.fail(invalid('BAD_PROGRAM', '%s takes at most %d ramps.' % (self.instrument_id, hi), 'shorten the program.'))
+            rc = call['ramp_cap']
+            for n, (final, rate, hold) in enumerate(ramps, 1):
+                out.append((rc, {call['index_arg']: n, call['rate_arg']: self.arg_value(rc, call['rate_arg'], rate),
+                                 call['final_arg']: self.arg_value(rc, call['final_arg'], final),
+                                 call['hold_arg']: self.arg_value(rc, call['hold_arg'], hold)}, 'oven ramp %d' % n))
+            if hi is None or len(ramps) < hi:
+                out.append((rc, {call['index_arg']: len(ramps) + 1, call['rate_arg']: 0.0}, 'end of the oven program'))
+        else:
+            n_max = int(self.param('oven_ramps', 32))
+            if len(ramps) > n_max:
+                ctx.fail(invalid('BAD_PROGRAM', '%s takes at most %d ramps.' % (self.instrument_id, n_max), 'shorten the program.'))
+            st = {call['hold0']: hold0}
+            for n, (final, rate, hold) in enumerate(ramps, 1):
+                st[call['rate'].format(n=n)] = rate
+                st[call['final'].format(n=n)] = final
+                st[call['hold'].format(n=n)] = hold
+            if len(ramps) < n_max:
+                st[call['rate'].format(n=len(ramps) + 1)] = 0.0
+            out.append((call['prog_cap'], dict(call.get('prog_args') or {}, **{call['object']: st}), 'oven program'))
+        return out
+
+    def keep_value(self, ctx, cap, arg, slot, schema):
+        """The current value of an argument from its slot(s), in the argument's unit, or None (missing / not valid for the call)."""
+        if isinstance(slot, list):
+            vals = [self.sv(ctx, s) for s in slot]
+            if any(v is None for v in vals):
+                return None
+            v = vals
+        else:
+            v = self.sv(ctx, slot)
+        if v is None:
+            return None
+        sid = slot[0] if isinstance(slot, list) else slot
+        su = units.declared((self.lab.contract['state_slots'].get(sid.split('#')[0]) or {}))
+        au = units.declared(schema.get('items') if isinstance(v, list) and schema.get('type') == 'array' else schema)
+        if su and au and su != au and units.unit_kind(su) and units.unit_kind(su) == units.unit_kind(au):
+            v = [units.to_declared(units.from_declared(x, su), au) for x in v] if isinstance(v, list) else units.to_declared(units.from_declared(v, su), au)
+        if schema.get('type') == 'integer' and finite(v) and float(v).is_integer():
+            v = int(v)
+        return v if not validate(schema, v, arg) else None
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % self.instrument_id))
+        given = self.parse_pairs(ctx, p.extra)
+        calls = m.get('calls') or []
+        assign = {i: {} for i in range(len(calls))}
+        for k, text in given.items():
+            where = next((i for i, c in enumerate(calls) if k in (c.get('keys') or {})), None)
+            if where is None:
+                where = next((i for i, c in enumerate(calls) if c.get('passthrough', True) and not c.get('object') and c.get('cap')
+                              and k in self.cap_props(c['cap'])), None)
+            if where is None:
+                known = sorted({kk for c in calls for kk in (c.get('keys') or {})})
+                native = sorted({a for c in calls if c.get('passthrough', True) and not c.get('object') and c.get('cap')
+                                 for a in self.cap_props(c['cap'])})
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 'class keys here: %s; native names: %s (see `chemlab help %s method`).' % (
+                                     ', '.join(known) or 'none', ', '.join(native) or 'none', self.instrument_id)))
+            assign[where][k] = text
+        if self.param('method_needs_power', False):
+            self.need_power(ctx)
+        self.need_idle(ctx, 'change the method')
+        self.requirements(ctx, 'method')
+        plan, kept, defaults, shown = [], {}, {}, {}
+        for i, call in enumerate(calls):
+            got = assign[i]
+            if not got:
+                continue
+            if call.get('style') == 'program':
+                for k, text in got.items():
+                    plan += self.program_calls(ctx, call, text)
+                    shown[k] = text
+                continue
+            cap = call['cap']
+            schema = self.cap_schema_all(cap)
+            props = schema.get('properties') or {}
+            args = copy.deepcopy(call.get('args') or {})
+            body = {}
+            for k, text in got.items():
+                spec = (call.get('keys') or {}).get(k)
+                spec = {'arg': spec} if isinstance(spec, str) else dict(spec or {'arg': k, 'kind': 'native'})
+                native = spec.get('arg') or spec.get('field')
+                arg_schema = props.get(native) or {}
+                if spec.get('kind') == 'native':
+                    u = units.declared(arg_schema)
+                    bare = re.fullmatch(r'\s*[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?\s*', text) is not None
+                    if u and units.unit_kind(u) and not bare:                   # a value with a unit: converted to the declared unit
+                        val = units.parse_for(text, arg_schema, what=k)
+                    else:                                                     # a bare number is in the declared unit (as in shared method)
+                        val = coerce_value(text, arg_schema, k)
+                    if arg_schema.get('type') == 'integer' and finite(val) and float(val).is_integer():
+                        val = int(val)
+                else:
+                    if spec.get('like_example'):
+                        spec['like'] = (self.lab.contract['capabilities'][cap].get('example_arguments') or {}).get(native)
+                    val = self.value_for(ctx, k, text, spec, call, arg_schema)
+                (body if call.get('object') else args)[native] = val
+                shown[k] = text
+            if call.get('object'):
+                args[call['object']] = body
+            else:
+                example = self.lab.contract['capabilities'][cap].get('example_arguments') or {}
+                for r in schema.get('required') or []:
+                    if r in args:
+                        continue
+                    keep = (call.get('keep') or {}).get(r)
+                    v = self.keep_value(ctx, cap, r, keep, props.get(r) or {}) if keep else None
+                    last = (getattr(self, 'last_method', {}).get(cap) or {})
+                    if v is not None:
+                        args[r] = v
+                        kept[r] = v
+                    elif r in last and not validate(props.get(r) or {}, last[r], r):   # what chemlab sent last (no slot reports it)
+                        args[r] = copy.deepcopy(last[r])
+                        kept[r] = args[r]
+                    elif r in example:
+                        args[r] = copy.deepcopy(example[r])
+                        defaults[r] = args[r]
+                    else:
+                        ctx.fail(invalid('MISSING_SETTING', '%s needs %s, and %s reports no current value for it.' % (cap, r, self.instrument_id),
+                                         'give it: `chemlab run %s method %s=...`.' % (self.instrument_id, r)))
+                self.check_gradient_vs_run(ctx, call, args)
+            plan.append((cap, args, 'set the method (%s)' % ', '.join(sorted(got))))
+        bad = []
+        for cap, args, _ in plan:
+            bad += self.range_problems(cap, args) or validate(self.cap_schema_all(cap), args, cap)
+        if bad:
+            ctx.fail(invalid('BAD_SETTING', 'the method does not fit %s: %s.' % (self.instrument_id, '; '.join(bad[:6])),
+                             'change the value(s); ranges: `chemlab help %s %s`. Values from the default method can be overridden by giving '
+                             'them.' % (self.instrument_id, plan[0][0])))
+        for cap, args, step in plan:
+            ctx.call(cap, args, step)
+            if not ctx.dry_run:
+                if not hasattr(self, 'last_method'):
+                    self.last_method = {}
+                self.last_method[cap] = copy.deepcopy(args)
+        text = 'ok: method of %s set: %s\n' % (self.instrument_id, ', '.join('%s=%s' % kv for kv in shown.items()))
+        if kept:
+            text += '  kept from the current method (what the instrument reports, or what chemlab set last): %s\n' % ', '.join('%s=%s' % (k, self.show_arg(plan, k, v)) for k, v in kept.items())
+        if defaults:
+            text += '  from the default method (contract example; give them to change): %s\n' % ', '.join(
+                '%s=%s' % (k, self.show_arg(plan, k, v)) for k, v in defaults.items())
+        return {'text': text, 'json': {'settings': shown, 'calls': [{'capability': c, 'arguments': a} for c, a, _ in plan], 'kept': kept,
+                                       'defaults': defaults}}
+
+    def show_arg(self, plan, arg, v):
+        """A native value in friendly units ('bpr_pa=130 bar') for the method reply."""
+        for cap, args, _ in plan:
+            if arg in args:
+                u = units.declared(self.cap_props(cap).get(arg) or {})
+                if u and units.unit_kind(u) and finite(v):
+                    if 'wavelength' in arg:
+                        return units.fmt(units.from_declared(v, u), 'wavelength').replace(' ', '')
+                    return units.fmt_declared(v, u).replace(' ', '')
+        return short(v, 40)
+
+    def range_problems(self, cap, args):
+        """Out-of-range numeric arguments in friendly units ('flow 99 mL/min is above the maximum 10 mL/min')."""
+        out = []
+        props = self.cap_props(cap)
+        for a, v in args.items():
+            s = props.get(a) or {}
+            if not finite(v) or s.get('type') not in ('number', 'integer'):
+                continue
+            u = units.declared(s)
+            kind = units.unit_kind(u) if u else None
+            show = (lambda x: units.fmt(units.from_declared(x, u), kind)) if kind else (lambda x: '%g' % x)
+            if s.get('minimum') is not None and v < s['minimum'] - 1e-12 * max(1, abs(s['minimum'])):
+                out.append('%s %s is below the minimum %s' % (a, show(v), show(s['minimum'])))
+            if s.get('maximum') is not None and v > s['maximum'] + 1e-12 * max(1, abs(s['maximum'])):
+                out.append('%s %s is above the maximum %s' % (a, show(v), show(s['maximum'])))
+            if s.get('exclusiveMinimum') is not None and v <= s['exclusiveMinimum']:
+                out.append('%s %s must be above %s' % (a, show(v), show(s['exclusiveMinimum'])))
+        return out
+
+    def check_gradient_vs_run(self, ctx, call, args):
+        g = (call.get('keys') or {}).get('gradient')
+        r = (call.get('keys') or {}).get('run')
+        if not g or not r:
+            return
+        garg = g if isinstance(g, str) else g['arg']
+        rarg = r if isinstance(r, str) else r['arg']
+        grad, run = args.get(garg), args.get(rarg)
+        if isinstance(grad, list) and grad and finite(run):
+            tkey = next((k for k in grad[-1] if k.startswith('time')), None)
+            if tkey and finite(grad[-1].get(tkey)) and grad[-1][tkey] > run + 1e-9:
+                ctx.fail(invalid('BAD_SETTING', 'the gradient ends at %s, after the run time %s.' % (units.fmt_s(grad[-1][tkey]), units.fmt_s(run)),
+                                 'give a longer run (run=...) or a shorter gradient.'))
+
+    # ------------------------------------------------------------------ load
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        inst = self.instrument_id
+        sample = p.pos[0] if p.pos else None
+        args = dict(m.get('args') or {})
+        if m.get('sample_arg'):
+            if not sample:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'load needs the sample id on %s.' % inst, 'usage: chemlab run %s load SAMPLE' % inst))
+            args[m['sample_arg']] = sample
+            if m.get('provided_arg'):
+                args[m['provided_arg']] = sample
+        for opt, key in (('pos', 'pos_arg'), ('lane', 'lane_arg')):
+            if m.get(key):
+                v = p.get(opt)
+                if v is None and self.param('default_' + opt) is not None:
+                    v = self.param('default_' + opt)
+                if v is None:
+                    ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --%s.' % (inst, opt), 'e.g. `chemlab run %s load %s --%s 1`.' % (inst, sample or 'SAMPLE', opt)))
+                try:
+                    args[m[key]] = int(v)
+                except (TypeError, ValueError):
+                    ctx.fail(invalid('BAD_OPTION', '--%s %s is not a whole number.' % (opt, v), 'give e.g. --%s 1.' % opt))
+            elif p.get(opt) is not None:
+                ctx.fail(invalid('BAD_OPTION', '%s has no %s choice when loading.' % (inst, opt), 'leave out --%s.' % opt))
+        if m.get('volume_arg'):
+            v = p.get('volume')
+            if v is None:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --volume.' % inst, 'e.g. `chemlab run %s load %s --volume 10uL`.' % (inst, sample or 'SAMPLE')))
+            lo, hi = self.arg_range_si(m['cap'], m['volume_arg'])
+            if (lo is not None and v < lo - 1e-15) or (hi is not None and v > hi + 1e-15):
+                ctx.fail(invalid('OUT_OF_RANGE', 'volume %s is outside %s..%s on %s.' % (units.fmt(v, 'volume'), units.fmt(lo, 'volume'), units.fmt(hi, 'volume'), inst),
+                                 'give a volume from %s to %s.' % (units.fmt(lo, 'volume'), units.fmt(hi, 'volume'))))
+            args[m['volume_arg']] = self.arg_value(m['cap'], m['volume_arg'], v)
+        elif p.get('volume') is not None:
+            ctx.fail(invalid('BAD_OPTION', '%s takes no --volume when loading.' % inst, 'leave out --volume.'))
+        if self.param('load_needs_power', False):
+            self.need_power(ctx)
+        self.need_idle(ctx, 'load a sample')
+        s = self.slot('sample')
+        if s and m.get('single', True):
+            v = self.sv(ctx, s)
+            ctx.check(not v, 'SAMPLE_PRESENT', 'a sample (%s) is already loaded in %s.' % (short(self.sv(ctx, self.slot('sample_id')) or v, 40), inst),
+                      'run it first, or take it out with `chemlab call %s sample.unload`.' % inst, label='no sample loaded yet')
+        self.requirements(ctx, 'load')
+        self.steps(ctx, m.get('before'), 'make the sample position accessible')
+        ctx.call(m['cap'], args, 'load %s' % (sample or 'the sample'))
+        self.steps(ctx, m.get('after'), 'close up after loading')
+        return {'text': 'ok: %s loaded into %s%s\n  steps: %s\n' % (sample or 'the sample', inst, ''.join(
+            ' %s %s' % (k, v) for k, v in args.items() if k not in (m.get('sample_arg'), m.get('provided_arg'))), '; '.join(ctx.done)),
+                'json': {'sample': sample, 'arguments': args}}
+
+    # ------------------------------------------------------------------ run / stop
+    def h_run(self, ctx, p):
+        m = self.vmap('run')
+        inst = self.instrument_id
+        args = dict(m.get('args') or {})
+        pos = p.get('pos')
+        if m.get('pos'):
+            if pos is None:
+                ctx.fail(invalid('MISSING_OPTION', 'run on %s needs --pos (which vial).' % inst,
+                                 'e.g. `chemlab run %s run --pos 1:1` (drawer:position).' % inst))
+            args.update(self.position(ctx, pos, m['pos']))
+        elif pos is not None:
+            ctx.fail(invalid('BAD_OPTION', '%s takes no --pos for run.' % inst, 'leave out --pos (load the sample with `load`).'))
+        self.need_power(ctx)
+        self.need_idle(ctx, 'start another run')
+        self.requirements(ctx, 'run')
+        ok, why = self.ready(ctx)
+        strict = (m.get('ready') or {}).get('strict', True)
+        if not ok and p.get('wait-ready'):
+            def is_ready(view):
+                return self.ready(ctx)[0]
+            ctx.advance(p.get('wait-ready'), until=is_ready, step='wait until %s is ready' % inst, poll_s=float(self.param('poll_s', 5.0)))
+            if not ctx.dry_run:
+                ok, why = self.ready(ctx)
+                ctx.check(ok, 'NOT_READY', '%s is still not ready after %s: %s.' % (inst, units.fmt_s(p.get('wait-ready')), why),
+                          'wait longer (`--wait-ready 30min`) and check `chemlab run %s status`.' % inst, label='ready')
+        elif not ok and strict:
+            ctx.check(False, 'NOT_READY', '%s is not ready to start: %s.' % (inst, why), self.ready_fix())
+        elif ok:
+            ctx.checks.append('ready')
+        self.steps(ctx, m.get('before'), 'prepare the run')
+        r = ctx.call(m['cap'], args, 'start the run (%s)' % m['cap'])
+        self.steps(ctx, m.get('after'), 'inject')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r)
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind, 'arguments': args}}
+
+    def position(self, ctx, text, spec):
+        """--pos: 'D:P' for a drawer + position, a plain number for one position, or a named location of the lab config."""
+        names = spec.get('args') or []
+        parts = text.split(':')
+        if all(x.strip().isdigit() for x in parts) and len(parts) == len(names):
+            out = {a: int(x) for a, x in zip(names, parts)}
+            for a, v in out.items():
+                lo, hi = self.arg_range(self.vmap('run')['cap'], a)
+                if (lo is not None and v < lo) or (hi is not None and v > hi):
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s %d is outside %s..%s on %s.' % (a, v, lo, hi, self.instrument_id),
+                                     'give a %s from %s to %s.' % (a, lo, hi)))
+            return out
+        if re.fullmatch(r'[\d:]+', text):
+            ctx.fail(invalid('BAD_POSITION', '--pos %s does not fit %s (%s).' % (text, self.instrument_id, ':'.join(n.upper() for n in names)),
+                             'write it as %s, e.g. %s.' % (':'.join(n.upper() for n in names), ':'.join('1' for _ in names))))
+        return self.location(ctx, text)
+
+    def make_job(self, ctx, m, r):
+        cap = m['cap']
+        desc = '%s run (%s)' % (self.instrument_id, cap)
+        if r.get('operation_id') and m.get('job') != 'state':
+            return OperationJob(ctx.core, self, ctx.req, desc, cap, r['operation_id'], max_s=float(self.param('job_max_s', 0)) or None)
+        ad = self
+        rs = self.slot('run')
+        seen = {'running': False}
+
+        def state(c):
+            v = ad.sv(c, rs)
+            if ad.running(c):
+                seen['running'] = True
+                return 'running', '%s = %s' % (rs, short(v, 60)), {'state': v}
+            fail = ad.param('failed') or []
+            if v in fail:
+                return 'failed', '%s = %s' % (rs, short(v, 60)), {'state': v}
+            last = ad.slot('last_run')
+            if last:
+                lv = ad.sv(c, last)
+                if isinstance(lv, dict) and lv.get('aborted'):
+                    return 'cancelled', 'the run was aborted', {'state': lv}
+            return 'succeeded', '%s = %s' % (rs, short(v, 60)), {'state': v}
+
+        def stop(c):
+            sm = ad.vmap('stop')
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop the run')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, desc, state, stop=stop, max_s=float(self.param('job_max_s', 7200.0)), poll_s=float(self.param('poll_s', 5.0)))
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ctx.check(self.running(ctx), 'NOT_RUNNING', 'nothing is running on %s.' % self.instrument_id,
+                  'nothing to stop; see `chemlab run %s status`.' % self.instrument_id, label='a run is in progress')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the run')
+        return {'text': 'ok: the run on %s is stopped\n' % self.instrument_id, 'json': {'stopped': True}}
+
+    # ------------------------------------------------------------------ chromatogram
+    def h_chromatogram(self, ctx, p):
+        m = self.vmap('chromatogram')
+        inst = self.instrument_id
+        args = dict(m.get('args') or {})
+        if m.get('pos_arg'):
+            try:
+                args[m['pos_arg']] = int(p.get('pos') or self.param('default_pos', 1))
+            except ValueError:
+                ctx.fail(invalid('BAD_OPTION', '--pos %s is not a whole number.' % p.get('pos'), 'give e.g. --pos 1.'))
+        if m.get('cap'):
+            r = ctx.call(m['cap'], args, 'read the chromatogram (%s)' % m['cap'], query=True)
+            res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        else:
+            res = {s: ctx.v(s) for s in m.get('reads') or []}
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        sig = p.get('signal') or m.get('y')
+        out = self.normalise(res, m, sig, p)
+        lines = ['%s chromatogram: %s%s' % (inst, 'complete' if out['complete'] else 'not complete (run still going or not run)',
+                                            (', %d points, %s from %s to %s' % (len(out['trace']['x']), out['trace']['y_name'],
+                                                                                 short(out['trace']['x'][0], 12), short(out['trace']['x'][-1], 12)))
+                                            if out['trace'] and out['trace']['x'] else ', no trace')]
+        if out.get('live'):
+            lines.append('  live reading: %s' % short(out['live'], 300))
+        if out['peaks']:
+            pf = out['peaks'][0].get('position_from') or 'rt_s'
+            where = 'Rf' if pf == 'rf' else 'distance, m' if pf.endswith('_m') else 'time, s'
+            lines.append('  peaks (%s; position = %s):' % ('from the instrument' if out['peaks_source'] == 'instrument'
+                                                             else 'found by chemlab in the trace', where))
+            lines.append('    %-4s %-12s %-14s %-14s %s' % ('#', 'position', 'area', 'height', 'label'))
+            for n, pk in enumerate(out['peaks'][:20], 1):
+                lines.append('    %-4d %-12s %-14s %-14s %s' % (n, '%.4g' % pk['rt_s'] if finite(pk.get('rt_s')) else '-',
+                                                                '%.4g' % pk['area'] if finite(pk.get('area')) else '-',
+                                                                '%.4g' % pk['height'] if finite(pk.get('height')) else '-',
+                                                                pk.get('label') if pk.get('label') is not None else ''))
+        else:
+            lines.append('  no peaks')
+        for k, v in (out.get('extra') or {}).items():
+            lines.append('  %s = %s' % (k, short(v, 200)))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'chromatogram': out}}
+
+    def normalise(self, res, m, sig, p):
+        """Any member's result -> {complete, trace: {x, y, x_unit, y_unit, y_name}, peaks, peaks_source, extra, live}."""
+        base = dig(res, m.get('base', ''))
+        base = base if isinstance(base, dict) else {}
+        x, y, trace_peaks = [], [], None
+        if m.get('records'):
+            recs = dig(base, m['records']) or []
+            recs = [r for r in recs if isinstance(r, dict)]
+            if m.get('filter'):
+                fk, fv = m['filter']
+                recs = [r for r in recs if r.get(fk) not in fv]
+            if m.get('last_run_by'):                                     # a history of several runs: keep the latest one
+                k = m['last_run_by']
+                cut = max([i for i in range(1, len(recs)) if finite(recs[i].get(k)) and finite(recs[i - 1].get(k))
+                           and recs[i][k] < recs[i - 1][k]] or [0])
+                recs = recs[cut:]
+            x = [r.get(m['x']) for r in recs]
+            y = [sum(v for v in r.get(sig) if finite(v)) if isinstance(r.get(sig), list) else r.get(sig) for r in recs]
+        elif m.get('table'):
+            cols = dig(base, m['columns']) or []
+            rows = dig(base, m['table']) or []
+            if m['x'] in cols and sig in cols:
+                ix, iy = cols.index(m['x']), cols.index(sig)
+                x = [r[ix] for r in rows]
+                y = [r[iy] for r in rows]
+        elif m.get('traces'):
+            tr = [t for t in (dig(base, m['traces']) or []) if isinstance(t, dict)]
+            pick = str(p.get('pos')) if p.get('pos') is not None else None
+            t = next((t for t in tr if str(t.get(m.get('label', 'index'))) == pick), None) if pick is not None else (tr[0] if tr else None)
+            if t is not None:
+                x, y = t.get(m['x']) or [], t.get(sig) or []
+                trace_peaks = t.get(m['trace_peaks']) if m.get('trace_peaks') else None
+        elif m.get('x'):
+            x, y = base.get(m['x']) or [], base.get(sig) or []
+        trace = {'x': x, 'y': y, 'x_unit': m.get('x_unit', 's'), 'y_unit': m.get('y_unit', ''), 'y_name': sig} if x else None
+        def getp(path):
+            if '#' in path:
+                sid, _, key = path.partition('#')
+                return dig(res.get(sid), key)
+            return dig(base, path)
+        peaks_raw = getp(m['peaks']) if m.get('peaks') else (trace_peaks if m.get('traces') else None)
+        peaks, source = [], 'none'
+        if isinstance(peaks_raw, list) and peaks_raw:
+            for pk in peaks_raw:
+                if not isinstance(pk, dict):
+                    continue
+                rk = next((k for k in PEAK_RT_KEYS if finite(pk.get(k))), None)
+                area = next((pk[k] for k in PEAK_AREA_KEYS if finite(pk.get(k))), None)
+                height = next((pk[k] for k in PEAK_HEIGHT_KEYS if finite(pk.get(k))), None)
+                peaks.append({'rt_s': pk.get(rk) if rk else None, 'position_from': rk, 'area': area, 'height': height,
+                              'label': pk.get('label') or pk.get('substance_id') or pk.get('lane'), 'native': pk})
+            source = 'instrument'
+        elif trace:
+            peaks = find_peaks(x, y)
+            source = 'chemlab' if peaks else 'none'
+        complete = getp(m['complete']) if m.get('complete') else None
+        if m.get('reads'):                                               # read from slots: complete = a last run and none running
+            complete = getp(m['complete']) is not None if m.get('complete') else bool(trace or peaks)
+            complete = complete and not self.running(res)
+        if complete is None:
+            complete = bool(trace or peaks)
+        extra = {k.replace('#', '.'): getp(k) for k in m.get('extra') or [] if getp(k) is not None}
+        live = {k.replace('#', '.'): getp(k) for k in m.get('live') or [] if getp(k) is not None}
+        return {'complete': bool(complete), 'trace': trace, 'peaks': peaks, 'peaks_source': source, 'extra': extra, 'live': live}
+
+    # ------------------------------------------------------------------ quantify
+    def h_quantify(self, ctx, p):
+        m = self.vmap('quantify')
+        inst = self.instrument_id
+        stds = []
+        for part in [x for x in (p.get('standards') or '').split(',') if x.strip()]:
+            c, eq, a = part.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_STANDARDS', 'standard %r is not CONC=AREA.' % part, 'write e.g. --standards 0.1mM=0.01,0.5mM=0.05.'))
+            conc = units.parse(c, 'concentration', what='standard concentration')
+            try:
+                area = float(a)
+            except ValueError:
+                ctx.fail(invalid('BAD_STANDARDS', 'the area in %r is not a number.' % part, 'write the peak area as a plain number.'))
+            if not math.isfinite(area):
+                ctx.fail(invalid('BAD_STANDARDS', 'the area in %r is not finite.' % part, 'write a plain number.'))
+            stds.append((conc, area))
+        if len(stds) < int(m.get('min_standards', 1)):
+            ctx.fail(invalid('BAD_STANDARDS', '%s needs at least %d standards.' % (inst, int(m.get('min_standards', 1))), 'give more CONC=AREA pairs.'))
+        win = self.window(ctx, p.get('window'), 'duration', '--window')
+        style = m.get('style')
+        if style == 'pairs':
+            item = (((self.cap_props(m['cap']).get(m['cal_arg']) or {}).get('items') or {}).get('properties') or {})
+            args = {m['cal_arg']: [{m['conc_key']: units.to_declared(c, units.declared(item.get(m['conc_key']) or {}) or 'mol/m^3'), m['area_key']: a}
+                                   for c, a in stds],
+                    m['window_arg']: [win[0], win[1]]}
+            r = ctx.call(m['cap'], args, 'fit the calibration and quantify the window', query=True)
+            res = r.get('result') or {}
+        elif style == 'slope':
+            if any(c <= 0 for c, _ in stds):
+                ctx.fail(invalid('BAD_STANDARDS', 'standard concentrations must be above zero for a response factor.', 'drop the blank.'))
+            k = sum(c * a for c, a in stds) / sum(c * c for c, _ in stds)
+            args = {m['start_arg']: win[0], m['stop_arg']: win[1], m['slope_arg']: k}
+            r = ctx.call(m['cap'], args, 'integrate the window with the response factor', query=True)
+            res = dict(r.get('result') or {}, response_factor=k)
+        else:                                                            # fit_then_analyze (GC-IMS)
+            drift = self.window(ctx, p.get('drift'), None, '--drift') if p.get('drift') else None
+            roi_schema = self.cap_props(m['cap']).get(m['roi_arg']) or {}
+            rp = roi_schema.get('properties') or {}
+            if drift is None:
+                drift = (rp.get(m['drift_lo'], {}).get('minimum'), rp.get(m['drift_hi'], {}).get('maximum'))
+                drift = drift if all(finite(x) for x in drift) else tuple((self.lab.contract['capabilities'][m['cap']].get('example_arguments') or {})
+                                                                         .get(m['roi_arg'], {}).get(k) for k in (m['drift_lo'], m['drift_hi']))
+            args = {m['roi_arg']: {m['start_key']: win[0], m['stop_key']: win[1], m['drift_lo']: drift[0], m['drift_hi']: drift[1]},
+                    m['std_arg']: [{m['conc_key']: c, m['area_key']: a} for c, a in stds], m['label_arg']: 'chemlab quantify'}
+            bad = validate(self.cap_schema_all(m['cap']), args, m['cap'])
+            if bad:
+                ctx.fail(invalid('BAD_WINDOW', 'the calibration does not fit %s: %s.' % (inst, '; '.join(bad[:4])), 'change --window / --drift.'))
+            ctx.call(m['cap'], args, 'fit the calibration')
+            r = ctx.call(m['analyze_cap'], {}, 'quantify the unknown', query=True)
+            res = r.get('result') or {}
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        conc = dig(res, m.get('result_key', 'concentration_mol_m3'))
+        if isinstance(conc, list):
+            conc = conc[0] if conc else None
+        text = '%s: concentration %s%s\n' % (inst, units.fmt(conc, 'concentration') if finite(conc) else 'n/a',
+                                             (' (%s)' % res.get('quality')) if res.get('quality') else '')
+        return {'text': text, 'json': {'concentration_mol_m3': conc, 'result': res, 'standards': stds, 'window_s': list(win)}}
+
+    def window(self, ctx, text, kind, what):
+        a, sep, b = (text or '').partition('..')
+        if not sep:
+            ctx.fail(invalid('BAD_WINDOW', '%s %s is not START..END.' % (what, text), 'write e.g. %s 2.5min..3.5min.' % what))
+        lo = units.parse(a, kind, what=what) if kind else float(a)
+        hi = units.parse(b, kind, what=what) if kind else float(b)
+        if not hi > lo:
+            ctx.fail(invalid('BAD_WINDOW', '%s %s ends before it starts.' % (what, text), 'give START < END.'))
+        return lo, hi
+
+    # ------------------------------------------------------------------ flow / set-temp
+    def h_flow(self, ctx, p):
+        m = self.vmap('flow')
+        want = p.pos[0] == 'on'
+        self.need_power(ctx)
+        self.requirements(ctx, 'flow')
+        s = self.slot('flow')
+        if s and bool(self.sv(ctx, s)) == want:
+            return {'text': 'ok: the flow of %s is already %s\n' % (self.instrument_id, p.pos[0]), 'json': {'flow': want, 'changed': False}}
+        args = copy.deepcopy(m.get('args') or {})
+        if m.get('object'):
+            args[m['object']] = {m['key']: want}
+        else:
+            args[m['arg']] = want
+        ctx.call(m['cap'], args, 'flow %s' % p.pos[0], readback=(lambda v: None if bool(self.sv(ctx, s)) == want else 'flow %s' % self.sv(ctx, s)) if s else None)
+        return {'text': 'ok: the flow of %s switched %s\n' % (self.instrument_id, p.pos[0]), 'json': {'flow': want, 'changed': True}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        zones = m.get('zones')
+        zone = p.get('zone') or m.get('default_zone')
+        if zones:
+            if zone not in zones:
+                ctx.fail(invalid('UNKNOWN_ZONE', '%s has no zone %r.' % (self.instrument_id, zone), 'zones: %s.' % ', '.join(zones)))
+            spec = zones[zone]
+            cap, arg, args = spec['cap'], spec['arg'], dict(spec.get('args') or {})
+        else:
+            cap, arg, args = m['cap'], m['arg'], dict(m.get('args') or {})
+            t = (self.map.get('targets') or {}).get('zone') or {}
+            vals = t.get('values') or {}
+            if zone not in vals:
+                ctx.fail(invalid('UNKNOWN_ZONE', '%s has no zone %r.' % (self.instrument_id, zone), 'zones: %s.' % ', '.join(vals)))
+            args[t['arg']] = vals[zone]
+        lo, hi = self.arg_range_si(cap, arg)
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of the %s zone of %s (%s to %s).' % (
+                'set point', units.fmt(k, 'temperature'), zone, self.instrument_id, units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')),
+                'give a set point from %s to %s.' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature'))))
+        ctx.checks.append('set point within %s..%s' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')))
+        self.need_power(ctx)
+        self.requirements(ctx, 'set-temp')
+        args[arg] = round(self.arg_value(cap, arg, k), 10)
+        ctx.call(cap, args, 'set the %s temperature to %s' % (zone, units.fmt(k, 'temperature')))
+        return {'text': 'ok: %s %s set point %s\n' % (self.instrument_id, zone, units.fmt(k, 'temperature')),
+                'json': {'zone': zone, 'set_point_k': k, 'set_point_c': k - 273.15}}
+
+
+_ = (CompileError, unsupported)
diff --git a/chemlab/chemlab/compile/classes/coating.py b/chemlab/chemlab/compile/classes/coating.py
new file mode 100644
index 0000000000000000000000000000000000000000..4a30cb6afbf2e13847881bff6d5c3dc50093a99f
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/coating.py
@@ -0,0 +1,569 @@
+"""Coating and thin-film deposition class ("coating"): spin, dip, doctor-blade and slot-die coaters (Ossila), sputter / carbon
+coater (Quorum Q150T ES), CVD tube furnace (LABOAO CVD-LTF12P50), ALD reactor (Arradiance GEMStar XT) and materials inkjet
+printer (FUJIFILM Dimatix DMP-2850).
+
+Verbs: method KEY=VALUE ..., move POS [--speed V], home, gap G [--left L --right R], set-temp T|off [--zone Z], vacuum
+pump|vent|off [--pressure P], prime VOLUME [--flow F], start [--mode M] (job), stop, result [--save-to F], status.  power,
+open/close (lid, door, furnace, flange), estop, ack and wait come from the shared layer.  Members: configs/adapters/coating.json.
+
+Method dictionary (keys with units; a member's own argument names also pass through):
+
+    speed=V time=T               spin coater: one step (3000rpm, 30s); doctor blade / slot die: coating speed (10mm/s)
+    program=V@T,V@T,...          spin coater: several steps (500rpm@5s,3000rpm@30s)
+    distance=L                   doctor blade / slot die: coating length (200mm)
+    flow=Q delay=T               slot die: ink flow (1.2mL/min), stage delay
+    length=L dip-speed=V withdraw=V [withdraw-final=V] dwell=T dry=T dry-gap=L cycles=N     dip coater
+    current=I pressure=P time=T thickness=L tooling=X rotation=RPM|off preclean=T lift=L carbon-current=I carbon-ramp=X   sputter coater
+    temp=T rate=R hold=T flow=Q1,Q2,Q3 pressure=P purge=T mode=fixed|program pump=auto|manual valve=X curve=N   CVD furnace (sccm = mL/min)
+    cycles=N temp=T door-temp=T manifold-temp=T pulse=T,T exposure=T,T purge=T,T carrier=Q rf=P        ALD
+    spacing=L height=L voltage=V frequency=F nozzles=0,5,11 pattern=010/111/010 pattern-name=NAME at=X,Y   inkjet printer
+
+Settings a member requires that the agent leaves out take the member's documented example method (listed by `help INST method`);
+the keys each member insists on are named in the error.
+
+Vendor-neutral references: SEMI E30 (GEM) / E5 style process equipment (recipe select / start / stop), ASTM D823 (producing films of
+uniform thickness), ISO 2808 (film thickness); there is no lab command standard for coaters.
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..jobs import OperationJob
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+from .process_common import ProcessAdapter
+
+REF = ('manuals: Ossila spin / dip / doctor-blade / slot-die coater manuals: programs, manual mode, gap, hotplate, pump; Quorum Q150T manual: '
+       'profiles, pump / coat / vent; LABOAO CVD-LTF12P50 datasheet: controller, vacuum, gas; Arradiance GEMStar operation notes: recipe, '
+       'vacuum ready, run; Dimatix DMP-2850 guides: pattern, waveform, platen and cartridge temperature, print')
+STEP_WORDS = {'m': ('µm', 1e6), 'C': ('°C', 1), 's': ('s', 1)}
+
+
+class CoatingAdapter(ProcessAdapter):
+    CLASS = 'coating'
+    TITLE = 'coating and thin-film deposition'
+    ABOUT = ('Instruments that coat or deposit a film: set the method (speeds, gap, current, recipe), position the stage or head, set the '
+             'gap, heat the bed or furnace, pump or vent the chamber, start the coating (a job), stop it, read the process record.')
+    STANDARDS = ('SEMI E30 (GEM) / SEMI E5 process-equipment style recipe select / start / stop for CVD / ALD / sputter; ASTM D823 (film '
+                 'application); ISO 2808 (film thickness)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('rotation', 'duration', 'length', 'speed', 'flow', 'temperature', 'pressure', 'current', 'volume')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEYS = {'speed': (None, 'spin speed (3000rpm) or coating speed (10mm/s)'), 'time': ('duration', 'step / deposition time'),
+            'program': (None, 'spin steps SPEED@TIME,...'), 'distance': ('length', 'coating length'), 'flow': (None, 'ink or gas flow'),
+            'delay': ('duration', 'stage delay'), 'length': ('length', 'dip coating length'), 'dip-speed': ('speed', 'immersion speed'),
+            'withdraw': ('speed', 'withdrawal speed'), 'withdraw-final': ('speed', 'final withdrawal speed'), 'dwell': ('duration', 'dwell time'),
+            'dry': ('duration', 'drying time'), 'dry-gap': ('length', 'drying gap'), 'cycles': ('count', 'number of cycles'),
+            'current': ('current', 'sputter current'), 'pressure': ('pressure', 'working / process pressure'), 'thickness': ('length', 'end at this thickness (FTM)'),
+            'tooling': ('count', 'FTM tooling factor'), 'rotation': (None, 'stage rotation rpm or off'), 'preclean': ('duration', 'target pre-clean'),
+            'lift': ('length', 'stage height'), 'carbon-current': ('current', 'carbon rod current'), 'carbon-ramp': ('count', 'carbon current ramp (A/s)'),
+            'temp': ('temperature', 'process temperature'), 'rate': ('heating_rate', 'heating rate (5K/min)'), 'hold': ('duration', 'hold time'),
+            'purge': ('duration', 'purge time(s)'), 'mode': (None, 'controller mode'), 'pump': (None, 'pump mode'), 'valve': ('count', 'manual valve fraction'),
+            'curve': ('count', 'controller curve 0-3'), 'door-temp': ('temperature', 'door zone'), 'manifold-temp': ('temperature', 'manifold zone'),
+            'pulse': ('duration', 'precursor pulses T,T'), 'exposure': ('duration', 'exposures T,T'), 'carrier': ('flow', 'carrier gas flow'),
+            'rf': ('power', 'plasma RF power'), 'precursor-flow': ('count', 'precursor flows (mol/s)'), 'spacing': ('length', 'drop spacing'),
+            'height': ('length', 'print height (head gap)'), 'voltage': ('voltage', 'firing voltage'), 'frequency': ('frequency', 'jetting frequency'),
+            'nozzles': ('count', 'nozzle numbers 0,5,11'), 'rise': ('duration', 'waveform rise'), 'fall': ('duration', 'waveform fall'),
+            'clean-every': ('count', 'clean every N drops'), 'clean-time': ('duration', 'cleaning time'),
+            'pattern': (None, 'pattern rows 010/111/010'), 'pattern-name': (None, 'pattern name'), 'at': (None, 'pattern origin X,Y')}
+    ALIASES = {'temperature': 'temp', 'rpm': 'speed', 'gap': 'height'}
+    SUMMARY_FLAGS = (('method', 'method'), ('sample', 'substrate'), ('position', 'stage'), ('gap', 'gap'), ('lid', 'lid'),
+                     ('pressure', 'pressure'), ('speed', 'spin'), ('homed', 'homed'), ('heating', 'heater'), ('vacuum', 'pump'))
+    FLAG_WORDS = {'method': ('set', 'not set'), 'sample': ('loaded', 'none'), 'homed': ('yes', 'no'), 'heating': ('on', 'off'),
+                  'vacuum': ('on', 'off')}
+    CODES = {
+        'NOT_PRIMED': ('NOT_PRIMED', 'the die of {inst} is not primed: the ink line and the meniscus under the die are not filled.',
+                       'prime it: `chemlab run {inst} prime 100uL`, then start.'),
+        'MODEL_OUT_OF_RANGE': ('GAP_FILM_MISMATCH', 'the gap of {inst} does not fit the wet film of this method (gap / film thickness '
+                               'outside the coating window, or no gap).', 'set a gap of 1-10 x the wet film (flow / (width x speed)), e.g. `gap 100um`.'),
+        'VENT_BEFORE_OPEN': ('UNDER_VACUUM', 'the chamber of {inst} is under vacuum.', 'vent it first: `chemlab run {inst} vacuum vent`, wait ~30 s.'),
+        'OPEN_TO_ADJUST_STAGE': ('CHAMBER_CLOSED', 'the stage height of {inst} is set by hand with the chamber open.', 'leave lift= out or open the chamber.'),
+        'FTM_OPTION_REQUIRED': ('NO_FTM', 'a thickness end point needs the film-thickness monitor.', 'drop thickness= or use time=.'),
+        'PROGRAM_MODE': ('PROGRAM_MODE', 'the controller of {inst} runs a programme (curve); a fixed set value works only in fixed mode.',
+                         'switch to fixed mode with a method: `chemlab run {inst} method mode=fixed temp=600C hold=30min`, then set-temp.'),
+        'ZERO_RAMP_TRANSITION': ('BAD_PROGRAM', 'a programme step of {inst} changes the temperature with a zero heating rate.', 'give rate= > 0.'),
+        'FIXED_ONE_SEGMENT': ('BAD_PROGRAM', 'fixed mode takes one segment.', 'use mode=program for several.'),
+        'INERT_PURGE_REQUIRED': ('NO_INERT_FLOW', 'the method of {inst} needs a flow of N2 or Ar for purging.', 'give the inert channel a flow, e.g. flow=200,0,0.'),
+        'MFC_FULL_SCALE': ('OUT_OF_RANGE', 'a gas flow is above the full scale of its mass-flow controller.', 'lower flow=.'),
+        'COLD_VENTED_ACCESS_REQUIRED': ('NOT_COLD_VENTED', '{inst} opens only cold (below 60 °C), vented and switched off.', 'vent, let it cool, switch off.'),
+        'REFERENCE_TEMPERATURE_RANGE': ('TEMP_NOT_IN_RECIPE', 'the reactor temperature does not match the deposition chemistry of {inst} (within 1 K).',
+                                        'use the recipe temperature of the loaded chemistry (`chemlab call {inst} template.read ...`).'),
+        'PLASMA_POWER_REQUIRED': ('PLASMA_MISMATCH', 'rf= must be > 0 exactly for a plasma process.', 'set rf=0W for thermal ALD.'),
+        'EMO_LATCHED': ('EMO_LATCHED', 'the emergency off of {inst} is latched.', 'reset it with power off: `chemlab call {inst} safety.reset`.'),
+        'SOURCE_EMPTY': ('SOURCE_EMPTY', 'a source of {inst} is empty.', 'ask the lab operator to refill it.'),
+        'SYRINGE_EMPTY': ('INK_EMPTY', 'the syringe of {inst} has not enough ink.', 'ask the lab operator to refill it.'),
+        'INK_EMPTY': ('INK_EMPTY', 'the cartridge of {inst} is empty.', 'ask the lab operator to refill it.'),
+        'INVALID_GEOMETRY': ('BAD_GEOMETRY', 'the move or coating length does not fit the stage travel / substrate of {inst}.', 'shorten distance= or move the stage.'),
+        'PATTERN_OUT_OF_BOUNDS': ('PATTERN_OUT_OF_BOUNDS', 'the pattern does not fit on the substrate.', 'move at= or shrink the pattern.'),
+        'INVALID_PATTERN': ('BAD_PATTERN', 'pattern rows must be 0/1 strings of equal length (up to 16) with at least one 1.', 'e.g. pattern=010/111/010.'),
+        'UNCALIBRATED_WAVEFORM_RANGE': ('WAVEFORM_RANGE', 'the waveform is too far from the ink calibration.', 'keep voltage and pulse near the ink reference.'),
+        'BUSY': ('BUSY', '{inst} is busy (a move or a run is going on).', 'wait for it (`chemlab run {inst} status`).'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        return {
+            'method': Verb('method', 'set the coating / deposition method: KEY=VALUE ...', self.h_method, variadic=('KEY=VALUE', 'a method setting'),
+                           preconditions=['values within the contract ranges', 'not running', 'the member\'s own steps (whole µm)'],
+                           errors=['MISSING_SETTING, UNKNOWN_SETTING, OUT_OF_RANGE (usage)'], details='the keys depend on the instrument; they are listed below with their units.'),
+            'move': Verb('move', 'move the stage / print head to a position (waits until it is there)', self.h_move,
+                         positionals=[Arg('POS', 'position, e.g. 100mm (stage) or 50mm,40mm,2mm (x,y,z head)')],
+                         options={'speed': Opt('stage speed (default: the member\'s)', kind='speed', metavar='SPEED'),
+                                  'job': Opt('return a job id at once instead of waiting', kind='flag')},
+                         preconditions=['power on', 'stage homed', 'not running'], errors=['OUT_OF_RANGE (usage)', 'NOT_HOMED, POWER_OFF (refused)'],
+                         example='chemlab run INST move 100mm --speed 10mm/s'),
+            'home': Verb('home', 'home the stage (waits until it is home)', self.h_home,
+                         options={'job': Opt('return a job id at once instead of waiting', kind='flag')},
+                         preconditions=['power on', 'not running'], errors=['NOT_READY (refused)'], example='chemlab run INST home'),
+            'gap': Verb('gap', 'set the blade / die gap or the substrate clamp (waits until it is set)', self.h_gap,
+                        positionals=[Arg('GAP', 'gap, e.g. 100um or 1mm', kind='length', required=False)],
+                        options={'left': Opt('left side gap (blade / die)', kind='length', metavar='GAP'),
+                                 'right': Opt('right side gap (blade / die)', kind='length', metavar='GAP')},
+                        preconditions=['within the range', 'whole µm (doctor blade)', 'not running'], errors=['OUT_OF_RANGE, BAD_STEP (usage)'],
+                        example='chemlab run INST gap 100um'),
+            'set-temp': Verb('set-temp', 'heat the bed / platen / furnace to a temperature (or off)', self.h_set_temp,
+                             positionals=[Arg('TEMP|off', 'temperature, e.g. 60C, or off')], options={'zone': target_opt('zone')},
+                             preconditions=['within the range', 'power on'], errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, PROGRAM_MODE (refused)'],
+                             example='chemlab run INST set-temp 60C'),
+            'vacuum': Verb('vacuum', 'pump the chamber down, vent it, or switch the pump off', self.h_vacuum,
+                           positionals=[Arg('pump|vent|off', 'pump, vent or off', choices=['pump', 'vent', 'off'])],
+                           options={'pressure': Opt('pressure set point (CVD furnace, e.g. 30Pa)', kind='pressure', metavar='P')},
+                           preconditions=['power on', 'chamber / door / flange closed (pump)'], errors=['CHAMBER_OPEN, POWER_OFF (refused)'],
+                           example='chemlab run INST vacuum pump'),
+            'prime': Verb('prime', 'dispense ink to prime the die (waits until done)', self.h_prime,
+                          positionals=[Arg('VOLUME', 'volume, e.g. 100uL', kind='volume')],
+                          options={'flow': Opt('pump flow (default: the member\'s)', kind='flow', metavar='FLOW')},
+                          preconditions=['power on', 'stage homed', 'a gap set', 'not running'], errors=['OUT_OF_RANGE (usage)', 'NOT_READY (refused)'],
+                          example='chemlab run INST prime 100uL'),
+            'start': Verb('start', 'start the coating / deposition (returns job-N)', self.h_start, long_action=True,
+                          options={'mode': Opt('run mode where the instrument has several (CVD: cvd or purge)', metavar='MODE')},
+                          preconditions=['the member\'s run conditions (method, substrate, lid / chamber closed, homed, gap set)'],
+                          errors=['LID_OPEN, CHAMBER_OPEN, NOT_HOMED, NO_SUBSTRATE, NOT_PRIMED, ... (refused)'],
+                          example='chemlab run INST start'),
+            'stop': Verb('stop', 'stop the running coating / deposition', self.h_stop, preconditions=['running'], errors=['NOT_RUNNING (refused)'],
+                         example='chemlab run INST stop'),
+            'result': Verb('result', 'the process record (speeds, positions, pressure, thickness monitor, temperatures)', self.h_result,
+                           readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST result --save-to film.json'),
+        }
+
+    def member_keys(self):
+        m = self.vmap('method') or {}
+        keys = list((m.get('keys') or {}).keys()) + list((m.get('flag_keys') or {}).keys()) + list((m.get('then') or {}).keys())
+        b = m.get('build', 'keys')
+        if b == 'spin':
+            keys = ['speed', 'time', 'program']
+        elif b == 'segments':
+            keys = ['temp', 'rate', 'hold'] + keys
+        elif b == 'dmp':
+            keys = keys + ['pattern', 'pattern-name', 'at']
+        return keys
+
+    def verb_help(self, name):
+        out = super().verb_help(name)
+        if name == 'method' and self.vmap('method'):
+            m = self.vmap('method')
+            lines = ['method keys on %s:' % self.instrument_id] + ['  %-15s %s' % (k + '=', self.KEYS.get(k, (None, 'native argument'))[1])
+                                                                   for k in self.member_keys()]
+            if m.get('required') or m.get('required_any'):
+                lines.append('required: %s' % ', '.join(list(m.get('required') or []) + ['/'.join(a) for a in m.get('required_any') or []]))
+            d = self.defaults_text(m)
+            if d:
+                lines.append('defaults for settings you leave out (documented example): %s' % d)
+            lines.append('its own argument names (`chemlab help %s %s`) pass through too.' % (self.instrument_id, m['cap']))
+            if self.param('method_example'):
+                lines.append('example on %s: chemlab run %s method %s' % (self.instrument_id, self.instrument_id, self.param('method_example')))
+            out['text'] += '\n'.join(lines) + '\n'
+        return out
+
+    def defaults_text(self, m):
+        if not m.get('defaults') or self.lab is None:
+            return ''
+        ex = self.example(m['cap'])
+        props = ((self.lab.contract['capabilities'][m['cap']].get('input_schema') or {}).get('properties') or {})
+        out = []
+        for a, v in ex.items():
+            u = units.declared(props.get(a) or {})
+            out.append('%s=%s' % (self.key_of(m, a), self.fmt_val(v, u) if not isinstance(v, list) else short(v, 40)))
+        return ', '.join(out)
+
+    def key_of(self, m, native):
+        for k, f in (m.get('flag_keys') or {}).items():
+            if f.get('arg') == native:
+                return k
+        for k, v in (m.get('then') or {}).items():
+            if v == native:
+                return k
+        for k, v in (m.get('keys') or {}).items():
+            if v == native or (isinstance(v, list) and native in v):
+                return k
+        return native
+
+    # ------------------------------------------------------------------ method
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        kv = self.kv(ctx, p)
+        props = (ctx.cap_spec(m['cap']).get('input_schema') or {}).get('properties') or {}
+        allowed = set(self.member_keys())
+        for k in kv:
+            if k not in allowed and k not in props:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 'settings of %s: %s.' % (self.instrument_id, ', '.join(self.member_keys()))))
+        self.need(ctx, 'method')
+        return getattr(self, 'm_' + m.get('build', 'keys'))(ctx, m, kv)
+
+    def parse_list(self, ctx, text, schema, what):
+        items = schema.get('items') or {}
+        if items.get('type') == 'string':
+            return [x.strip() for x in text.split('/') if x.strip()]
+        return [self.parse_key(ctx, x.strip().replace('sccm', 'mL/min'), items, None, what=what) for x in text.split(',') if x.strip()]
+
+    def native_args(self, ctx, m, kv, skip=()):
+        """Plain and list keys -> native arguments (in the declared units), flags, then the documented defaults."""
+        cap = m['cap']
+        sch = ctx.cap_spec(cap).get('input_schema') or {}
+        props = sch.get('properties') or {}
+        args = dict(m.get('args') or {})
+        missing = [k for k in m.get('required') or [] if k not in kv]
+        missing += ['/'.join(alt) for alt in m.get('required_any') or [] if not any(a in kv for a in alt)]
+        if missing:
+            ctx.fail(invalid('MISSING_SETTING', 'method on %s needs %s.' % (self.instrument_id, ', '.join('%s=' % k for k in missing)),
+                             'e.g. `chemlab run %s method %s` (see `chemlab help %s method`).' % (self.instrument_id, self.param('method_example', ''),
+                                                                                                  self.instrument_id)))
+        for k, text in kv.items():
+            if k in skip or k in (m.get('then') or {}):
+                continue
+            flag = (m.get('flag_keys') or {}).get(k)
+            if flag is not None:                                            # e.g. rotation=off|12rpm, thickness=20nm (+ end point on)
+                off = text.strip().lower() in ('off', 'no', 'false')
+                for a, v in (flag.get('off') if off else flag.get('on') or {}).items():
+                    args[a] = v
+                if off or not flag.get('arg'):
+                    continue
+                natives = [flag['arg']]
+            else:
+                natives = (m.get('keys') or {}).get(k, k)
+                natives = natives if isinstance(natives, list) else [natives]
+            for native in natives:
+                s = props.get(native) or {}
+                if s.get('type') == 'array':
+                    args[native] = self.parse_list(ctx, text, s, k)
+                else:
+                    args[native] = self.parse_key(ctx, text.replace('sccm', 'mL/min'), s, self.KEYS.get(k, (None,))[0], what=k)
+        for k, natives in (m.get('then') or {}).items():                      # a later key wins over a shared one (withdraw-final)
+            if k in kv:
+                args[natives] = self.parse_key(ctx, kv[k], props.get(natives) or {}, None, what=k)
+        used = []
+        if m.get('defaults') == 'example':
+            ex = self.example(cap)
+            for a in sch.get('required') or []:
+                if a not in args and a in ex:
+                    args[a] = ex[a]
+                    used.append(self.key_of(m, a))
+        return args, used
+
+    def m_keys(self, ctx, m, kv, skip=()):
+        args, used = self.native_args(ctx, m, kv, skip)
+        self.step_checks(ctx, m, args)
+        self.check_args(ctx, m['cap'], args, self.labels(m))
+        ctx.call(m['cap'], args, 'set the method (%s)' % ', '.join('%s=%s' % (k, short(v, 24)) for k, v in args.items()))
+        return {'text': 'ok: method of %s set: %s%s\n' % (self.instrument_id, self.method_text(m, args),
+                                                         ('\n  defaults used: %s' % ', '.join(used)) if used else ''),
+                'json': {'arguments': args, 'defaults_used': used}}
+
+    def labels(self, m):
+        out = {}
+        for k, v in (m.get('keys') or {}).items():
+            for a in (v if isinstance(v, list) else [v]):
+                out[a] = k
+        return out
+
+    def method_text(self, m, args):
+        props = ((self.lab.contract['capabilities'][m['cap']].get('input_schema') or {}).get('properties') or {})
+        out = []
+        for a, v in args.items():
+            if a in (m.get('args') or {}):
+                continue
+            s = props.get(a) or {}
+            u = units.declared(s) or units.declared(s.get('items') or {})
+            if isinstance(v, list) and u and units.unit_kind(u):
+                shown = ','.join(self.fmt_val(x, u) if finite(x) else short(x, 20) for x in v)
+            elif u and units.unit_kind(u) and finite(v):
+                shown = self.fmt_val(v, u)
+            elif a == m.get('seg_arg') and isinstance(v, list):
+                shown = ', '.join('%s at %s, hold %s' % (units.fmt(x.get('target_k'), 'temperature'), units.fmt(x.get('ramp_k_s'), 'heating_rate'),
+                                                         units.fmt_s(x.get('hold_s') or 0)) for x in v if isinstance(x, dict))
+                out.append(shown)
+                continue
+            else:
+                shown = short(v, 60)
+            out.append('%s=%s' % (self.key_of(m, a), shown))
+        return ', '.join(out)
+
+    def step_checks(self, ctx, m, args):
+        for a, (q, word) in (m.get('steps') or {}).items():
+            v = args.get(a)
+            if finite(v) and abs(v / q - round(v / q)) > 1e-6:
+                name, f = STEP_WORDS.get(word, (word, 1))
+                ctx.fail(invalid('BAD_STEP', '%s takes %s in steps of %g %s.' % (self.instrument_id, self.key_of(m, a) if m.get('keys') else m.get('what', 'the value'), q * f, name),
+                                 'round it, e.g. %g%s.' % (round(v / q) * q * f, name.replace('µ', 'u'))))
+
+    def m_spin(self, ctx, m, kv):
+        """Spin coater: speed= time= (one step) or program=SPEED@TIME,... -> steps [{speed_rad_s, duration_s}]."""
+        if 'program' in kv:
+            if 'speed' in kv or 'time' in kv:
+                ctx.fail(invalid('BAD_SETTING', 'give either program= or speed= with time=.', 'e.g. program=500rpm@5s,3000rpm@30s.'))
+            steps = self.program(ctx, kv['program'], 'rotation')
+        else:
+            missing = [k for k in ('speed', 'time') if k not in kv]
+            if missing:
+                ctx.fail(invalid('MISSING_SETTING', 'method on %s needs %s (or program=).' % (self.instrument_id, ', '.join(k + '=' for k in missing)),
+                                 'e.g. `chemlab run %s method speed=3000rpm time=30s`.' % self.instrument_id))
+            steps = [(units.parse(kv['speed'], 'rotation', what='speed'), units.parse(kv['time'], 'duration', what='time'))]
+        cap = m['cap']
+        item = (((ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}).get(m['arg']) or {}).get('items') or {}
+        ip = item.get('properties') or {}
+        rows = [{'speed_rad_s': round(units.to_declared(w, units.declared(ip.get('speed_rad_s') or {})), 12),
+                 'duration_s': units.to_declared(t, units.declared(ip.get('duration_s') or {}))} for w, t in steps]
+        args = {m['arg']: rows}
+        self.check_args(ctx, cap, args, {'speed_rad_s': 'speed', 'duration_s': 'time'})
+        lo = self.param('min_speed_rad_s')
+        if lo:
+            for w, _ in steps:
+                if 0 < w < lo - 1e-9:
+                    ctx.fail(invalid('OUT_OF_RANGE', 'speed %s is below the lowest spin speed of %s (%s; 0 = not spinning).' % (
+                        units.fmt(w, 'rotation'), self.instrument_id, units.fmt(lo, 'rotation')), 'give at least %s.' % units.fmt(lo, 'rotation')))
+        ctx.call(cap, args, 'set the spin programme (%d step%s)' % (len(rows), '' if len(rows) == 1 else 's'))
+        return {'text': 'ok: spin programme of %s: %s\n' % (self.instrument_id, ', then '.join('%s for %s' % (units.fmt(w, 'rotation'), units.fmt_s(t))
+                                                                                             for w, t in steps)), 'json': {'arguments': args}}
+
+    def m_segments(self, ctx, m, kv):
+        """CVD furnace: temp= rate= hold= -> one controller segment; other keys as plain keys; defaults from the documented example."""
+        if 'temp' not in kv or 'hold' not in kv:
+            ctx.fail(invalid('MISSING_SETTING', 'method on %s needs temp= and hold= (rate= defaults to the documented example).' % self.instrument_id,
+                             'e.g. `chemlab run %s method temp=600C rate=5K/min hold=30min flow=200,0,0`.' % self.instrument_id))
+        args, used = self.native_args(ctx, m, kv, skip=('temp', 'rate', 'hold'))
+        cap = m['cap']
+        item = ((((ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}).get(m['seg_arg']) or {}).get('items') or {}).get('properties') or {}
+        ex_seg = (self.example(cap).get(m['seg_arg']) or [{}])[0]
+        seg = {'target_k': self.parse_key(ctx, kv['temp'], item.get('target_k') or {}, 'temperature', what='temp'),
+               'ramp_k_s': (self.parse_key(ctx, kv['rate'], item.get('ramp_k_s') or {}, 'heating_rate', what='rate') if 'rate' in kv else ex_seg.get('ramp_k_s')),
+               'hold_s': self.parse_key(ctx, kv['hold'], item.get('hold_s') or {}, 'duration', what='hold')}
+        if 'rate' not in kv:
+            used.append('rate')
+        args[m['seg_arg']] = [seg]
+        used = [u for u in used if u != self.key_of(m, m['seg_arg'])]
+        self.check_args(ctx, cap, args, dict(self.labels(m), target_k='temp', ramp_k_s='rate', hold_s='hold'))
+        ctx.call(cap, args, 'set the furnace programme (%s, %s, hold %s)' % (units.fmt(seg['target_k'], 'temperature'),
+                                                                            units.fmt(seg['ramp_k_s'], 'heating_rate'), units.fmt_s(seg['hold_s'])))
+        return {'text': 'ok: method of %s set: %s%s\n' % (self.instrument_id, self.method_text(m, args),
+                                                         ('\n  defaults used: %s' % ', '.join(used)) if used else ''),
+                'json': {'arguments': args, 'defaults_used': used}}
+
+    def m_dmp(self, ctx, m, kv):
+        """Inkjet printer: waveform / drop keys -> method.configure; pattern= [pattern-name=] [at=X,Y] -> pattern.configure."""
+        pkeys = {'pattern', 'pattern-name', 'at'}
+        mk = {k: v for k, v in kv.items() if k not in pkeys}
+        if set(kv) & {'pattern-name', 'at'} and 'pattern' not in kv:
+            ctx.fail(invalid('MISSING_SETTING', 'pattern-name= and at= go with pattern=ROWS.', 'e.g. pattern=010/111/010 at=50mm,50mm.'))
+        pat = None
+        if 'pattern' in kv:
+            pcap = m['pattern_cap']
+            pp = (ctx.cap_spec(pcap).get('input_schema') or {}).get('properties') or {}
+            rows = [x.strip() for x in kv['pattern'].split('/') if x.strip()]
+            if 'at' not in kv:
+                ctx.fail(invalid('MISSING_SETTING', 'pattern= needs at=X,Y (where the pattern starts on the substrate).', 'e.g. at=50mm,50mm.'))
+            xy = [x for x in kv['at'].split(',') if x.strip()]
+            if len(xy) != 2:
+                ctx.fail(invalid('BAD_SETTING', 'at= takes X,Y.', 'e.g. at=50mm,50mm.'))
+            pat = {'name': kv.get('pattern-name', 'pattern'), 'rows': rows,
+                   'x_m': self.parse_key(ctx, xy[0].strip(), pp.get('x_m') or {}, 'length', what='at x'),
+                   'y_m': self.parse_key(ctx, xy[1].strip(), pp.get('y_m') or {}, 'length', what='at y')}
+            self.check_args(ctx, pcap, pat, {'x_m': 'at x', 'y_m': 'at y'})
+        out_text, js = [], {}
+        if mk or not pat:
+            args, used = self.native_args(ctx, m, mk)
+            self.check_args(ctx, m['cap'], args, self.labels(m))
+            ctx.call(m['cap'], args, 'set the jetting method')
+            out_text.append('method %s%s' % (self.method_text(m, args), (' (defaults used: %s)' % ', '.join(used)) if used else ''))
+            js.update({'arguments': args, 'defaults_used': used})
+        if pat:
+            ctx.call(m['pattern_cap'], pat, 'set the pattern %r (%d rows)' % (pat['name'], len(rows)))
+            out_text.append('pattern %r %s at %s,%s' % (pat['name'], '/'.join(rows), units.fmt(pat['x_m'], 'length'), units.fmt(pat['y_m'], 'length')))
+            js['pattern'] = pat
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, '; '.join(out_text)), 'json': js}
+
+    # ------------------------------------------------------------------ motion
+    def motion_reply(self, ctx, p, r, cap, what):
+        m_max = float(self.param('motion_max_s', 600))
+        if p.get('job') and not ctx.dry_run:
+            if not r.get('operation_id'):
+                return {'text': 'ok: %s %s\n' % (self.instrument_id, what), 'json': {}}
+            job = OperationJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, what), cap, r['operation_id'], max_s=m_max)
+            return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, what, job.handle, job.handle),
+                    'json': {'job': job.handle}}
+        st = self.wait_op(ctx, r, what, m_max)
+        if not ctx.dry_run and st != 'succeeded':
+            ctx.fail(refused('MOTION_' + str(st).upper(), '%s: %s ended %s.' % (self.instrument_id, what, st),
+                             'check `chemlab run %s status`.' % self.instrument_id))
+        pos = self.role(ctx, 'position')
+        return {'text': 'ok: %s %s%s\n' % (self.instrument_id, what, (' (stage at %s)' % units.fmt(pos, 'length')) if finite(pos) else ''),
+                'json': {'status': st, 'position_m': pos}}
+
+    def h_move(self, ctx, p):
+        m = self.vmap('move')
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        parts = [x for x in p.pos[0].split(',') if x.strip()]
+        axes = m.get('axes') or [m['arg']]
+        if len(parts) != len(axes):
+            ctx.fail(invalid('BAD_POSITION', '%s moves to %d coordinate%s (%s).' % (self.instrument_id, len(axes), '' if len(axes) == 1 else 's',
+                                                                                      ', '.join(axes)),
+                             'e.g. `chemlab run %s move %s`.' % (self.instrument_id, ','.join(['50mm'] * len(axes)))))
+        args = dict(m.get('args') or {})
+        for a, t in zip(axes, parts):
+            args[a] = self.parse_key(ctx, t.strip(), props.get(a) or {}, 'length', what=a)
+        if m.get('speed_arg'):
+            sp = p.get('speed')
+            args[m['speed_arg']] = self.arg_value(cap, m['speed_arg'], sp) if sp is not None else self.example(cap).get(m['speed_arg'])
+        elif p.get('speed') is not None:
+            ctx.fail(invalid('NO_SPEED', '%s moves at its own axis speed; leave out --speed.' % self.instrument_id, 'drop --speed.'))
+        self.check_args(ctx, cap, args, {m.get('speed_arg'): 'speed'})
+        self.need(ctx, 'move')
+        r = ctx.call(cap, args, 'move to %s' % ', '.join(units.fmt(args[a], 'length') for a in axes))
+        return self.motion_reply(ctx, p, r, cap, 'moved to %s' % ', '.join(units.fmt(args[a], 'length') for a in axes))
+
+    def h_home(self, ctx, p):
+        m = self.vmap('home')
+        self.need(ctx, 'home')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'home the stage')
+        return self.motion_reply(ctx, p, r, m['cap'], 'homed')
+
+    def h_gap(self, ctx, p):
+        m = self.vmap('gap')
+        cap = m['cap']
+        g, left, right = (p.pos[0] if p.pos else None), p.get('left'), p.get('right')
+        if m.get('arg'):                                                   # one clamp gap
+            if left is not None or right is not None:
+                ctx.fail(invalid('ONE_GAP', '%s has one gap; leave out --left / --right.' % self.instrument_id, 'e.g. `gap 1mm`.'))
+            if g is None:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'gap needs GAP.', 'e.g. `chemlab run %s gap 1mm`.' % self.instrument_id))
+            args = {m['arg']: self.arg_value(cap, m['arg'], g)}
+            done = [(m['arg'], self.slot('gap'))]
+        else:
+            left = left if left is not None else g
+            right = right if right is not None else g
+            if left is None or right is None:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'gap needs GAP (both sides) or --left and --right.', 'e.g. `chemlab run %s gap 100um`.' % self.instrument_id))
+            args = {m['left_arg']: round(self.arg_value(cap, m['left_arg'], left), 12), m['right_arg']: round(self.arg_value(cap, m['right_arg'], right), 12)}
+            done = [(m['left_arg'], m['left_slot']), (m['right_arg'], m['right_slot'])]
+        self.step_checks(ctx, m, args)
+        self.check_args(ctx, cap, args, {a: 'gap' for a in args})
+        self.need(ctx, 'gap')
+        ctx.call(cap, args, 'set the gap to %s' % ', '.join(units.fmt(v, 'length') for v in args.values()))
+        ok = self.settle(ctx, lambda v: all(finite(v.get(s)) and abs(v.get(s) - args[a]) <= 1e-12 for a, s in done), 'the gap is set',
+                         float(self.param('gap_max_s', 30)))
+        return {'text': 'ok: %s gap %s%s\n' % (self.instrument_id, ', '.join(units.fmt(v, 'length') for v in args.values()), '' if ok else ' (still moving)'),
+                'json': {'gap': args, 'settled': ok}}
+
+    # ------------------------------------------------------------------ heat, vacuum, prime
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        text = p.raw['TEMP|off'].strip().lower()
+        cap = m['cap']
+        off = text in ('off', 'stop')
+        zone = p.get('zone')
+        zones = m.get('zones')
+        if zone is not None and not zones:
+            ctx.fail(invalid('NO_ZONE', '%s has one heater; leave out --zone.' % self.instrument_id, 'e.g. `set-temp 60C`.'))
+        if off:
+            if not m.get('on_cap'):
+                ctx.fail(invalid('NO_OFF', '%s has no separate heater switch; set a low temperature instead.' % self.instrument_id, 'e.g. `set-temp 25C`.'))
+            if ctx.v(self.slot('heating')) is False:
+                return {'text': 'ok: %s heater is already off\n' % self.instrument_id, 'json': {'heating': False, 'changed': False}}
+            ctx.call(m['on_cap'], {m['on_arg']: False}, 'heater off')
+            return {'text': 'ok: %s heater off\n' % self.instrument_id, 'json': {'heating': False}}
+        k = units.parse(text, 'temperature', what='temperature')
+        args = dict(m.get('args') or {})
+        if zones:
+            zone = zone or m.get('default_zone')
+            if zone not in zones:
+                ctx.fail(invalid('UNKNOWN_ZONE', '%s has no zone %r.' % (self.instrument_id, zone), 'zones: %s.' % ', '.join(zones)))
+            for z, spec in zones.items():                                  # the other zone keeps its set point
+                args[spec['arg']] = round(self.arg_value(cap, spec['arg'], k), 10) if z == zone else ctx.v(spec['keep'])
+            label = {zones[zone]['arg']: 'temperature'}
+        else:
+            args[m['arg']] = round(self.arg_value(cap, m['arg'], k), 10)
+            label = {m['arg']: 'temperature'}
+        self.check_args(ctx, cap, args, label)
+        self.need(ctx, 'set-temp')
+        ctx.call(cap, args, 'set point %s%s' % (units.fmt(k, 'temperature'), (' (%s)' % zone) if zones else ''))
+        if m.get('on_cap') and not ctx.v(self.slot('heating')):
+            ctx.call(m['on_cap'], {m['on_arg']: True}, 'heater on')
+        return {'text': 'ok: %s %sset point %s; heater on\n' % (self.instrument_id, ('%s ' % zone) if zones else '', units.fmt(k, 'temperature')),
+                'json': {'set_point_k': k, 'zone': zone}}
+
+    def h_vacuum(self, ctx, p):
+        m = self.vmap('vacuum')
+        what = p.pos[0]
+        if p.get('pressure') is not None and (what != 'pump' or not m.get('pressure_arg')):
+            ctx.fail(invalid('NO_PRESSURE', '--pressure goes with `vacuum pump` on an instrument with a pressure set point.', 'leave out --pressure.'))
+        self.need(ctx, 'vacuum-' + what)
+        if what == 'vent':
+            ctx.call(m['vent_cap'], {}, 'vent the chamber')
+            return {'text': 'ok: %s venting (the chamber reaches room pressure in a few seconds)\n' % self.instrument_id, 'json': {'vacuum': 'vent'}}
+        cap = m['cap']
+        args = {}
+        if m.get('full'):                                                  # CVD: enabled + mode + pressure + valve in one call
+            args = self.example(cap)
+            args[m['arg']] = what == 'pump'
+            if p.get('pressure') is not None:
+                args[m['pressure_arg']] = self.arg_value(cap, m['pressure_arg'], p.get('pressure'))
+                if m.get('auto'):
+                    args.update(m['auto'])
+        else:
+            args[m['arg']] = what == 'pump'
+        self.check_args(ctx, cap, args, {m.get('pressure_arg'): 'pressure'})
+        ctx.call(cap, args, 'pump %s' % ('on' if what == 'pump' else 'off'))
+        return {'text': 'ok: %s pump %s%s\n' % (self.instrument_id, 'on' if what == 'pump' else 'off',
+                                               (' (set point %s)' % units.fmt(p.get('pressure'), 'pressure')) if p.get('pressure') is not None else ''),
+                'json': {'vacuum': what}}
+
+    def h_prime(self, ctx, p):
+        m = self.vmap('prime')
+        cap = m['cap']
+        args = {m['arg']: self.arg_value(cap, m['arg'], p.pos[0])}
+        fl = p.get('flow')
+        args[m['flow_arg']] = self.arg_value(cap, m['flow_arg'], fl) if fl is not None else self.example(cap).get(m['flow_arg'])
+        self.check_args(ctx, cap, args, {m['arg']: 'volume', m['flow_arg']: '--flow'})
+        self.need(ctx, 'prime')
+        r = ctx.call(cap, args, 'dispense %s' % units.fmt(p.pos[0], 'volume'))
+        st = self.wait_op(ctx, r, 'the ink is dispensed', float(self.param('motion_max_s', 600)))
+        if not ctx.dry_run and st != 'succeeded':
+            ctx.fail(refused('PRIME_' + str(st).upper(), '%s: priming ended %s.' % (self.instrument_id, st), 'check `chemlab run %s status`.' % self.instrument_id))
+        return {'text': 'ok: %s primed with %s\n' % (self.instrument_id, units.fmt(p.pos[0], 'volume')), 'json': {'volume_m3': p.pos[0]}}
+
+    # ------------------------------------------------------------------ start / stop
+    def start_checks(self, ctx, p):
+        ph = self.role(ctx, 'phase')
+        st = self.role(ctx, 'stage')
+        ctx.check(ph != 'running', 'BUSY', '%s is busy (%s%s).' % (self.instrument_id, ph, (' / %s' % st) if st else ''),
+                  'wait for it (`chemlab run %s status`) or stop it.' % self.instrument_id, label='not running')
+        m = self.vmap('start')
+        if p.get('mode') is not None and not m.get('mode_arg'):
+            ctx.fail(invalid('NO_MODE', '%s has one run mode; leave out --mode.' % self.instrument_id, '`chemlab run %s start`.' % self.instrument_id))
+
+    def start_args(self, ctx, p, m):
+        if not m.get('mode_arg'):
+            return {}
+        mode = p.get('mode') or m.get('default_mode')
+        modes = self.arg_enum(m['cap'], m['mode_arg'])
+        if modes and mode not in modes:
+            ctx.fail(invalid('BAD_CHOICE', '--mode %s is not a mode of %s.' % (mode, self.instrument_id), 'modes: %s.' % ', '.join(modes)))
+        return {m['mode_arg']: mode}
+
+    def flag_word(self, role, v):
+        if role in self.FLAG_WORDS and isinstance(v, bool):
+            return self.FLAG_WORDS[role][0 if v else 1]
+        if finite(v):
+            kind = {'position': 'length', 'gap': 'length', 'lid': 'angle', 'pressure': 'pressure', 'speed': 'rotation'}.get(role)
+            if kind:
+                return units.fmt(v, kind)
+        return super().flag_word(role, v)
diff --git a/chemlab/chemlab/compile/classes/digestion.py b/chemlab/chemlab/compile/classes/digestion.py
new file mode 100644
index 0000000000000000000000000000000000000000..da649242462a338785c09d64c03d1f50f65014c6
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/digestion.py
@@ -0,0 +1,520 @@
+"""Digestion and hydrolysis class ("digestion"): microwave acid digestion (Multiwave 7101), graphite block digestion (DigiPREP MS),
+UV digestion (Metrohm 909) and acid hydrolysis (BUCHI HydrolEx H-506).
+
+Verbs: method KEY=VALUE ..., load POSITIONS [--material --method --mass --acid], set-temp T, preheat on|off [--wait], start
+(job), stop, result [--slot N] [--save-to F], status.  power, open/close (door, shield), ack and wait come from the shared layer.
+Members and mappings: configs/adapters/digestion.json.
+
+Method dictionary (keys with units; native argument names of the member also pass through):
+
+    temp=T          digestion temperature (Multiwave step temperature, DigiPREP block, Metrohm sample temperature)
+    ramp=TIME       time to reach temp (Multiwave first step, DigiPREP programme)
+    hold=TIME       time at temperature (alias time=; Multiwave hold step, DigiPREP hold, Metrohm duration, HydrolEx hydrolysis)
+    program=T@TIME,T@TIME,...   several steps; each ramps to T within TIME (equal T = hold)   (Multiwave, DigiPREP)
+    power=P         microwave power limit of the method (Multiwave; default the maximum)
+    fan=N           Multiwave fan level of the steps (1-3, default 1)
+    name=NAME       Multiwave method name (`method name=NAME` alone selects a method of the library)
+    timeout=TIME    DigiPREP: abort the cycle after this long (default the programme + hold + 2 h)
+    rinse-temp=T rinse-cycles=N rinse-volume=V    HydrolEx rinse settings (default: the documented example)
+
+Positions (load, result --slot) are counted from 1 as on the rack (Multiwave 1-24 = slot index 0-23, HydrolEx 1-6).
+
+Vendor-neutral references: EPA SW-846 3051A / 3052 / 3015A (microwave digestion programmes: ramp, hold, temperature window),
+ISO 15587 (aqua regia digestion), USP <233> sample preparation; process-equipment style start / stop / recipe select (SEMI E30
+terms).  There is no lab command standard for digesters.
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .process_common import ProcessAdapter, positions
+
+REF = ('Anton Paar Multiwave 7101 manual: methods (create, step editor), start/stop, rack and vessels; SCP DigiPREP MS manual: '
+       'temperature programme; Metrohm 909 UV Digester manual: method, start, lamp cooling; BUCHI HydrolEx H-506 manual: '
+       'preheating, rack, stopcocks, hydrolysis')
+ON_OFF = ['on', 'off']
+
+
+class DigestionAdapter(ProcessAdapter):
+    CLASS = 'digestion'
+    TITLE = 'digestion and hydrolysis'
+    ABOUT = ('Instruments that digest or hydrolyse a sample under a temperature programme: set the method (temperature, ramp, hold), '
+             'load vessels, start the run (a job), stop it, read the run record.')
+    STANDARDS = ('EPA SW-846 3051A / 3052 / 3015A microwave digestion programmes (ramp, hold, temperature window); ISO 15587; '
+                 'USP <233> sample preparation; SEMI E30 style start / stop / recipe select')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'duration', 'power', 'mass', 'volume')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEYS = {'temp': ('temperature', 'digestion temperature, e.g. 180C'),
+            'ramp': ('duration', 'time to reach temp, e.g. 15min'),
+            'hold': ('duration', 'time at temperature, e.g. 15min (alias time=)'),
+            'program': (None, 'steps T@TIME,..., e.g. 180C@15min,180C@15min'),
+            'power': ('power', 'microwave power limit, e.g. 1500W'),
+            'fan': ('count', 'fan level 1-3'),
+            'name': (None, 'method name'),
+            'timeout': ('duration', 'abort the cycle after this long'),
+            'rinse-temp': ('temperature', 'rinse water temperature'),
+            'rinse-cycles': ('count', 'least rinse cycles'),
+            'rinse-volume': ('volume', 'least rinse volume per position')}
+    ALIASES = {'time': 'hold', 'temperature': 'temp'}
+    SUMMARY_FLAGS = (('method', 'method'), ('sample', 'samples'), ('door', 'door'), ('shield', 'shield'),
+                     ('selected', 'method'), ('mode', 'heater'), ('preheat', 'preheated'), ('rack', 'rack'))
+    FLAG_WORDS = {'method': ('set', 'not set'), 'sample': ('loaded', 'none'), 'door': ('closed', 'open'), 'shield': ('open', 'closed')}
+    CODES = {
+        'TEMPLATE_SAMPLE_REQUIRED': ('NO_VESSEL_CONTENT', 'no vessel contents are declared at that position of {inst}.',
+                                    'declare them first: `chemlab run {inst} load N --material ID --method ID --mass M --acid V` (door open).'),
+        'METHOD_MATRIX_MISMATCH': ('METHOD_MATRIX_MISMATCH', 'that EPA method is for aqueous samples, not for the solid reference material.',
+                                   'choose a method for solids (e.g. epa_3051a_hno3 or epa_3052_hno3_hf).'),
+        'UNKNOWN_REFERENCE': ('UNKNOWN_REFERENCE', '{inst} does not know that material or method id.',
+                              'look it up with `chemlab call {inst} template.read --template_id ID`.'),
+        'RAMP_PROGRAM': ('RAMP_PROGRAM', 'the programme of {inst} is a ramp of several steps; set-temp changes only a single-temperature programme.',
+                         'set the programme with `chemlab run {inst} method program=...` (or `method temp=... hold=...`).'),
+        'TUBE_TEMPERATURE_LIMIT': ('TUBE_LIMIT', 'a programme temperature is outside the range the tubes of {inst} allow (lab set-up).',
+                                   'choose a lower temperature (the block reads the tube limit from the lab set-up).'),
+        'PROGRAM_ORDER': ('BAD_PROGRAM', 'the programme steps of {inst} must have increasing times.', 'give each step a time > 0.'),
+        'REFERENCE_RANGE': ('REFERENCE_RANGE', 'a loaded sample has no reference data at that temperature.', 'choose a temperature inside the sample data range.'),
+        'BUSY': ('BUSY', '{inst} is running.', 'stop it first (`chemlab run {inst} stop`) or wait for the job.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        return {
+            'method': Verb('method', 'set the digestion method: KEY=VALUE ... (temp, ramp, hold, program, power, ...)', self.h_method,
+                           variadic=('KEY=VALUE', 'a method setting'),
+                           preconditions=['values within the contract ranges', 'not running', 'the member\'s own rules (whole °C, login)'],
+                           errors=['MISSING_SETTING, UNKNOWN_SETTING, OUT_OF_RANGE (usage)', 'BUSY, NOT_LOGGED_IN (refused)'],
+                           details='the keys depend on the instrument; they are listed below with their units.'),
+            'load': Verb('load', 'load vessels at rack positions (and declare their contents where the instrument records them)', self.h_load,
+                         positionals=[Arg('POSITIONS', 'rack positions from 1, e.g. 1,3,5 or 1-4')],
+                         options={'material': Opt('reference material id of the sample (Multiwave)', metavar='ID'),
+                                  'method': Opt('EPA method id of the digestion (Multiwave), e.g. epa_3051a_hno3', metavar='ID'),
+                                  'mass': Opt('sample mass per vessel, e.g. 0.2g', kind='mass', metavar='MASS'),
+                                  'acid': Opt('acid volume per vessel, e.g. 4mL', kind='volume', metavar='VOLUME')},
+                         preconditions=['door open (Multiwave)', 'not running', 'positions on the rack'],
+                         errors=['BAD_POSITION, MISSING_OPTION (usage)', 'DOOR_CLOSED, BUSY (refused)'],
+                         example='chemlab run INST load 1,2 --material nist_srm_2711a --method epa_3051a_hno3 --mass 0.2g --acid 4mL'),
+            'set-temp': Verb('set-temp', 'set the digestion temperature of the configured programme', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'temperature, e.g. 95C', kind='temperature')],
+                             preconditions=['within the contract range', 'a method is set (DigiPREP)', 'the member\'s step (whole °C)'],
+                             errors=['OUT_OF_RANGE, BAD_STEP (usage)', 'NO_METHOD, BUSY, RAMP_PROGRAM (refused)'],
+                             example='chemlab run INST set-temp 95C'),
+            'preheat': Verb('preheat', 'switch the heater to preheating (on) or off; --wait until it is preheated', self.h_preheat,
+                            positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                            options={'wait': Opt('wait until the preheating time is reached (lab time passes)', kind='flag'),
+                                     'max': Opt('with --wait: the longest wait (default 15 min)', kind='duration', metavar='TIME')},
+                            preconditions=['power on', 'not running'], errors=['POWER_OFF, NOT_READY (refused)'],
+                            example='chemlab run INST preheat on --wait'),
+            'start': Verb('start', 'start the digestion run (returns job-N)', self.h_start, long_action=True,
+                          preconditions=['the member\'s run conditions (method set, door / shield closed, preheated, samples present)'],
+                          errors=['NOT_READY, DOOR_OPEN, SHIELD_OPEN, COOLING, NOT_PREHEATED, RACK_UP, NO_METHOD, BUSY (refused)'],
+                          example='chemlab run INST start'),
+            'stop': Verb('stop', 'stop the running digestion (it then cools down)', self.h_stop, preconditions=['running'],
+                         errors=['NOT_RUNNING, ALREADY_COOLING (refused)'], example='chemlab run INST stop'),
+            'result': Verb('result', 'the run record (Multiwave: the evaluation of one vessel, --slot N)', self.h_result, readonly=True,
+                           options={'slot': Opt('rack position from 1 (Multiwave)', metavar='N'), 'save-to': save_to_opt()},
+                           errors=['MISSING_SLOT (usage)', 'NO_VESSEL_CONTENT (refused)'],
+                           example='chemlab run INST result --save-to digest.json'),
+        }
+
+    def verb_help(self, name):
+        out = super().verb_help(name)
+        if name == 'method' and self.vmap('method'):
+            lines = ['method keys on %s:' % self.instrument_id] + ['  %-14s %s' % (k + '=', self.KEYS[k][1]) for k in self.member_keys()]
+            d = self.defaults_text()
+            if d:
+                lines.append('defaults for settings you leave out (documented example): %s' % d)
+            if self.param('method_example'):
+                lines.append('example on %s: chemlab run %s method %s' % (self.instrument_id, self.instrument_id, self.param('method_example')))
+            out['text'] += '\n'.join(lines) + '\n'
+        return out
+
+    def member_keys(self):
+        m = self.vmap('method') or {}
+        b = m.get('build', 'keys')
+        if b == 'editor':
+            return ['name', 'temp', 'ramp', 'hold', 'program', 'power', 'fan']
+        if b == 'knots':
+            return ['temp', 'ramp', 'hold', 'program', 'timeout']
+        return list((m.get('keys') or {}).keys())
+
+    def defaults_text(self):
+        m = self.vmap('method') or {}
+        if m.get('build', 'keys') != 'keys' or not m.get('defaults') or self.lab is None:
+            return ''
+        ex = self.example(m['cap'])
+        inv = {v: k for k, v in (m.get('keys') or {}).items()}
+        req = set(m.get('required') or [])
+        props = ((self.lab.contract['capabilities'][m['cap']].get('input_schema') or {}).get('properties') or {})
+        out = []
+        for a, v in ex.items():
+            if a in (m.get('args') or {}) or inv.get(a) in req:
+                continue
+            u = units.declared(props.get(a) or {})
+            out.append('%s=%s' % (inv.get(a, a), self.fmt_val(v, u)))
+        return ', '.join(out)
+
+    # ------------------------------------------------------------------ method
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        kv = self.kv(ctx, p)
+        b = m.get('build', 'keys')
+        allowed = set(self.member_keys())
+        props = (ctx.cap_spec(m['cap']).get('input_schema') or {}).get('properties') or {} if m.get('cap') else {}
+        for k in kv:
+            if k not in allowed and not (b == 'keys' and m.get('passthrough', True) and k in props):
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 'settings of %s: %s.' % (self.instrument_id, ', '.join(self.member_keys()))))
+        self.need(ctx, 'method')
+        return getattr(self, 'm_' + b)(ctx, m, kv)
+
+    def _si(self, ctx, kv, key):
+        kind = self.KEYS[key][0]
+        if key not in kv:
+            return None
+        if kind == 'count':
+            return self._number(ctx, kv[key], key)
+        return units.parse(kv[key], kind, what=key)
+
+    def m_keys(self, ctx, m, kv):
+        """Plain keys -> native arguments (Metrohm, HydrolEx); required native arguments left out take the documented example."""
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        req_native = (ctx.cap_spec(cap).get('input_schema') or {}).get('required') or []
+        args = dict(m.get('args') or {})
+        missing = [k for k in m.get('required') or [] if k not in kv]
+        if missing:
+            ctx.fail(invalid('MISSING_SETTING', 'method on %s needs %s.' % (self.instrument_id, ', '.join('%s=' % k for k in missing)),
+                             'e.g. `chemlab run %s method %s`.' % (self.instrument_id, self.param('method_example', 'temp=90C hold=60min'))))
+        used_default = []
+        for k, text in kv.items():
+            native = (m.get('keys') or {}).get(k, k)
+            args[native] = self.parse_key(ctx, text, props.get(native) or {}, self.KEYS.get(k, (None,))[0], what=k)
+        if m.get('defaults') == 'example':
+            ex = self.example(cap)
+            inv = {v: k for k, v in (m.get('keys') or {}).items()}
+            for a in req_native:
+                if a not in args and a in ex:
+                    args[a] = ex[a]
+                    used_default.append(inv.get(a, a))
+        self.step_checks(ctx, m, args)
+        self.check_args(ctx, cap, args, {v: k for k, v in (m.get('keys') or {}).items()})
+        ctx.call(cap, args, 'set the method (%s)' % ', '.join('%s=%s' % (k, short(v, 24)) for k, v in args.items()))
+        shown = self.method_text(m, args)
+        return {'text': 'ok: method of %s set: %s%s\n' % (self.instrument_id, shown,
+                                                         ('\n  defaults used: %s' % ', '.join(used_default)) if used_default else ''),
+                'json': {'arguments': args, 'defaults_used': used_default}}
+
+    def method_text(self, m, args):
+        inv = {v: k for k, v in (m.get('keys') or {}).items()}
+        props = ((self.lab.contract['capabilities'][m['cap']].get('input_schema') or {}).get('properties') or {})
+        out = []
+        for a, v in args.items():
+            if a in (m.get('args') or {}):
+                continue
+            u = units.declared(props.get(a) or {})
+            out.append('%s=%s' % (inv.get(a, a), self.fmt_val(v, u)))
+        return ', '.join(out)
+
+    def step_checks(self, ctx, m, args):
+        """Member steps: whole °C (Metrohm), whole minutes (Metrohm duration)."""
+        names = {v: k for k, v in (m.get('keys') or {}).items()}
+        if m.get('arg'):
+            names[m['arg']] = 'the temperature'
+        for a, (q, word) in (m.get('steps') or {}).items():
+            if a in args and finite(args[a]):
+                v = args[a] - 273.15 if word == 'C' else args[a]
+                n = v / q
+                if abs(n - round(n)) > 1e-6:
+                    ex = round(n) * q
+                    ctx.fail(invalid('BAD_STEP', '%s takes %s in steps of %g %s.' % (self.instrument_id, names.get(a, a), q, {'C': '°C', 's': 's'}.get(word, word)),
+                                     'round it, e.g. %s.' % ('%gC' % ex if word == 'C' else '%gmin' % (ex / 60) if q % 60 == 0 else '%gs' % ex)))
+
+    def _steps(self, ctx, kv):
+        """temp/ramp/hold or program -> [(T_si, seconds), ...] and the hold after the last step (or None)."""
+        if 'program' in kv:
+            if 'temp' in kv or 'ramp' in kv:
+                ctx.fail(invalid('BAD_SETTING', 'give either program= or temp=/ramp=, not both.', 'see `chemlab help %s method`.' % self.instrument_id))
+            return self.program(ctx, kv['program'], 'temperature'), self._si(ctx, kv, 'hold')
+        if 'temp' not in kv:
+            return None, self._si(ctx, kv, 'hold')
+        t = self._si(ctx, kv, 'temp')
+        return [(t, self._si(ctx, kv, 'ramp') or 0.0)], self._si(ctx, kv, 'hold')
+
+    def m_knots(self, ctx, m, kv):
+        """DigiPREP: a linear programme of (time, temperature) knots from the current block temperature, a hold at the last
+        temperature and a timeout."""
+        steps, hold = self._steps(ctx, kv)
+        if steps is None:
+            ctx.fail(invalid('MISSING_SETTING', 'method on %s needs temp= (with ramp= and hold=) or program=.' % self.instrument_id,
+                             'e.g. `chemlab run %s method temp=95C ramp=10min hold=30min`.' % self.instrument_id))
+        cap = m['cap']
+        t0 = self.slot_si(ctx, self.slot('temp'))
+        knots, t = [], 0.0
+        if len(steps) == 1 and steps[0][1] <= 0:
+            knots = [{'time_s': 0.0, 'temperature_k': round(steps[0][0], 6)}]
+            t = 0.0
+        else:
+            if not finite(t0):
+                ctx.fail(refused('NO_READING', '%s shows no block temperature to start the programme from.' % self.instrument_id,
+                                 'check `chemlab run %s status`.' % self.instrument_id))
+            knots = [{'time_s': 0.0, 'temperature_k': round(t0, 6)}]
+            for T, dt in steps:
+                if dt <= 0:
+                    ctx.fail(invalid('BAD_PROGRAM', 'each step after the first needs a time > 0 on %s.' % self.instrument_id, 'e.g. 95C@10min.'))
+                t += dt
+                knots.append({'time_s': round(t, 6), 'temperature_k': round(T, 6)})
+        hold = hold or 0.0
+        timeout = self._si(ctx, kv, 'timeout')
+        if timeout is None:
+            lo, hi = self.arg_range(cap, m['timeout_arg'])
+            timeout = min(hi or 172800.0, t + hold + float(self.param('timeout_margin_s', 7200)))
+        args = {m['knots_arg']: knots, m['hold_arg']: hold, m['timeout_arg']: timeout}
+        self.check_args(ctx, cap, args, {m['hold_arg']: 'hold', m['timeout_arg']: 'timeout'})
+        ctx.call(cap, args, 'set the programme (%d knots, hold %s, timeout %s)' % (len(knots), units.fmt_s(hold), units.fmt_s(timeout)))
+        prog = ', '.join('%s at %s' % (units.fmt(k['temperature_k'], 'temperature'), units.fmt_s(k['time_s'])) for k in knots)
+        return {'text': 'ok: programme of %s: %s; hold %s at the last temperature; timeout %s\n' % (
+            self.instrument_id, prog, units.fmt_s(hold), units.fmt_s(timeout)), 'json': {'arguments': args}}
+
+    def m_editor(self, ctx, m, kv):
+        """Multiwave: create (or replace) a user temperature method with its steps and select it; name= alone selects."""
+        lib = ctx.v(self.slot('library')) or []
+        names = {x.get('name'): x for x in lib if isinstance(x, dict)}
+        name = kv.get('name')
+        steps, hold = self._steps(ctx, kv)
+        if steps is None:
+            if not name or hold is not None or set(kv) - {'name'}:
+                ctx.fail(invalid('MISSING_SETTING', 'method on %s needs temp= with ramp= and hold=, or program=; name=NAME alone selects '
+                                 'a method of the library.' % self.instrument_id,
+                                 'e.g. `chemlab run %s method name="MY DIGEST" temp=180C ramp=15min hold=15min`.' % self.instrument_id))
+            if name not in names:
+                ctx.fail(invalid('UNKNOWN_METHOD', '%s has no method %r.' % (self.instrument_id, name), 'methods: %s.' % ', '.join(names)))
+            ctx.call(m['select_cap'], {'name': name}, 'select the method %r' % name)
+            return {'text': 'ok: %s method %r selected (%s)\n' % (self.instrument_id, name, self.steps_text(names[name].get('steps'))),
+                    'json': {'selected': name}}
+        if 'program' not in kv:
+            if hold is None:
+                ctx.fail(invalid('MISSING_SETTING', 'method on %s needs hold= with temp=.' % self.instrument_id,
+                                 'e.g. `chemlab run %s method temp=180C ramp=15min hold=15min`.' % self.instrument_id))
+            steps = steps + [(steps[0][0], hold)]
+        elif hold:
+            steps = steps + [(steps[-1][0], hold)]
+        name = name or 'chemlab %s' % ' '.join('%gC/%gmin' % (round(T - 273.15, 1), round(t / 60, 2)) for T, t in steps)
+        name = name[:40]
+        if names.get(name, {}).get('preinstalled'):
+            ctx.fail(refused('PREINSTALLED', 'the method %r of %s is pre-installed and cannot be changed.' % (name, self.instrument_id),
+                             'give another name= for your method.'))
+        fan = int(self._si(ctx, kv, 'fan') or 1)
+        cap_c, cap_s = m['create_cap'], m['step_cap']
+        lo_p, hi_p = self.arg_range(cap_c, 'max_power_W')
+        lo_t, hi_t = self.arg_range(cap_c, 'max_temperature_C')
+        power = self._si(ctx, kv, 'power')
+        create = {'name': name, 'program': 'temperature', 'max_power_W': float(hi_p) if power is None else self.arg_value(cap_c, 'max_power_W', power),
+                  'max_temperature_C': float(hi_t)}
+        self.check_args(ctx, cap_c, create, {'max_power_W': 'power'})
+        rows = []
+        for i, (T, t) in enumerate(steps):
+            rows.append({'name': name, 'index': i, 'temperature_C': round(self.arg_value(cap_s, 'temperature_C', T), 6), 'time_s': float(t),
+                         'step_type': 'time', 'fan': fan})
+        n_max = (self.arg_range(cap_s, 'index')[1] or 9) + 1
+        if len(rows) > n_max:
+            ctx.fail(invalid('TOO_MANY_STEPS', '%s takes at most %d steps per method.' % (self.instrument_id, n_max), 'merge steps.'))
+        for r in rows:
+            self.check_args(ctx, cap_s, r, {'temperature_C': 'temp', 'time_s': 'step time', 'fan': 'fan'})
+        if name in names:
+            ctx.call(m['delete_cap'], {'name': name}, 'delete the old user method %r' % name)
+        ctx.call(cap_c, create, 'create the method %r' % name)
+        for i, r in enumerate(rows):
+            if i > 0:
+                ctx.call(m['add_cap'], {'name': name}, 'add step %d' % (i + 1))
+            ctx.call(cap_s, r, 'step %d: %s for %s' % (i + 1, units.fmt(steps[i][0], 'temperature'), units.fmt_s(steps[i][1])))
+        return {'text': 'ok: %s method %r created and selected: %s (power limit %s, fan %d)\n' % (
+            self.instrument_id, name, self.steps_text(rows), units.fmt(units.from_declared(create['max_power_W'], 'W'), 'power'), fan),
+            'json': {'name': name, 'steps': rows, 'max_power_W': create['max_power_W']}}
+
+    def steps_text(self, steps):
+        out = []
+        for s in steps or []:
+            if s.get('temperature_C') is not None:
+                out.append('%g °C for %s' % (s['temperature_C'], units.fmt_s(s['time_s'])))
+            elif s.get('power_W') is not None:
+                out.append('%g W for %s' % (s['power_W'], units.fmt_s(s['time_s'])))
+        return ', then '.join(out) or 'no steps'
+
+    # ------------------------------------------------------------------ load
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        n = int(m.get('positions', 1))
+        pos = positions(ctx, p.pos[0], n, self.instrument_id)
+        self.need(ctx, 'load')
+        return getattr(self, 'l_' + m.get('build', 'template'))(ctx, m, p, pos)
+
+    def l_template(self, ctx, m, p, pos):
+        """Multiwave: place vessels (rack.set_slot) and declare their contents (digestion.load_template)."""
+        given = [k for k in ('material', 'method', 'mass', 'acid') if p.get(k) is not None]
+        if given and len(given) < 4:
+            ctx.fail(invalid('MISSING_OPTION', 'declaring vessel contents needs --material, --method, --mass and --acid together.',
+                             'e.g. `chemlab run %s load 1 --material nist_srm_2711a --method epa_3051a_hno3 --mass 0.2g --acid 4mL`.' % self.instrument_id))
+        occ = ctx.v(self.slot('occupied')) or []
+        cap_t = m['template_cap']
+        tmpl = None
+        if given:
+            tmpl = {'material_id': p.get('material'), 'method_id': p.get('method'),
+                    'sample_mass_kg': self.arg_value(cap_t, 'sample_mass_kg', p.get('mass')),
+                    'acid_volume_m3': self.arg_value(cap_t, 'acid_volume_m3', p.get('acid'))}
+            self.check_args(ctx, cap_t, tmpl, {'sample_mass_kg': '--mass', 'acid_volume_m3': '--acid'})
+        placed, declared = [], []
+        for i in pos:
+            if not (i - 1 < len(occ) and occ[i - 1]):
+                ctx.call(m['slot_cap'], {'slot_index': i - 1, 'occupied': True}, 'place a vessel at position %d' % i)
+                placed.append(i)
+            if tmpl:
+                ctx.call(cap_t, dict(tmpl, slot_index=i - 1), 'declare the contents of position %d' % i)
+                declared.append(i)
+        text = 'ok: %s vessels at position %s%s%s\n' % (self.instrument_id, ','.join(map(str, pos)),
+                                                       (' (placed %s)' % ','.join(map(str, placed))) if placed else ' (already in the rack)',
+                                                       ('; contents %s, %s, %s sample, %s acid' % (tmpl['material_id'], tmpl['method_id'],
+                                                                                                 units.fmt(p.get('mass'), 'mass'), units.fmt(p.get('acid'), 'volume')))
+                                                       if tmpl else '')
+        return {'text': text, 'json': {'positions': pos, 'placed': placed, 'declared': declared}}
+
+    def l_valves(self, ctx, m, p, pos):
+        """HydrolEx: open the stopcocks of the loaded positions, close the others, lower the rack onto the heater."""
+        extra = [k for k in ('material', 'method', 'mass', 'acid') if p.get(k) is not None]
+        if extra:
+            ctx.fail(invalid('NOT_RECORDED', '%s does not record vessel contents (the lab operator fills the beakers); leave out --%s.' % (
+                self.instrument_id, ', --'.join(extra)), 'give only the positions: `chemlab run %s load 1,3`.' % self.instrument_id))
+        n = int(m.get('positions', 6))
+        for i in range(1, n + 1):
+            ctx.call(m['valve_cap'], {'position': i, 'open': i in pos}, '%s the stopcock of position %d' % ('open' if i in pos else 'close', i))
+        ctx.call(m['rack_cap'], {'raised': False}, 'lower the rack onto the heater')
+        lift, ang = self.slot('rack'), self.param('valve_slot', 'valve_{n}.angle_rad')
+
+        def ready(view):
+            if not finite(view.get(lift)) or view.get(lift) > 1e-9:
+                return False
+            return all(abs((view.get(ang.format(n=i)) or 0.0) - (1.5707963267948966 if i in pos else 0.0)) < 1e-9 for i in range(1, n + 1))
+        ok = self.settle(ctx, ready, 'the rack is down and the stopcocks are set', 10.0)
+        return {'text': 'ok: %s rack lowered; stopcocks open at %s, closed elsewhere%s\n' % (
+            self.instrument_id, ','.join(map(str, pos)), '' if ok else ' (still moving)'), 'json': {'positions': pos, 'settled': ok}}
+
+    # ------------------------------------------------------------------ set-temp
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        args = dict(m.get('args') or {})
+        args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], k), 10)
+        self.step_checks(ctx, m, args)
+        self.check_args(ctx, m['cap'], args, {m['arg']: 'temperature'})
+        self.need(ctx, 'set-temp')
+        before = self.slot_si(ctx, self.slot('set'))
+        ctx.call(m['cap'], args, 'set the temperature to %s' % units.fmt(k, 'temperature'))
+        return {'text': 'ok: %s temperature %s (was %s)\n' % (self.instrument_id, units.fmt(k, 'temperature'), units.fmt(before, 'temperature')),
+                'json': {'set_point_k': k, 'was_k': before}}
+
+    # ------------------------------------------------------------------ preheat
+    def h_preheat(self, ctx, p):
+        m = self.vmap('preheat')
+        want = p.pos[0] == 'on'
+        if want:
+            self.need(ctx, 'preheat')
+        mode = ctx.v(self.slot('mode'))
+        target = m['on'] if want else m['off']
+        if mode != target:
+            ctx.call(m['cap'], {m['arg']: target}, 'heater to %s' % target)
+        need_s = float(self.param('preheat_s', 600))
+        text = 'ok: %s heater %s' % (self.instrument_id, target)
+        js = {'mode': target}
+        if want and p.get('wait'):
+            ok = self.settle(ctx, lambda v: finite(v.get(self.slot('preheat'))) and v.get(self.slot('preheat')) >= need_s - 1e-6,
+                             'preheated (%s)' % units.fmt_s(need_s), p.get('max') or 900.0)
+            if not ctx.dry_run and not ok:
+                ctx.fail(refused('NOT_PREHEATED', '%s is not preheated after waiting (%s of %s).' % (
+                    self.instrument_id, units.fmt_s(ctx.v(self.slot('preheat')) or 0), units.fmt_s(need_s)),
+                    'wait longer (`chemlab run %s preheat on --wait --max 30min`).' % self.instrument_id))
+            text += '; preheated for %s' % units.fmt_s(ctx.v(self.slot('preheat')) or 0)
+        elif want:
+            text += '; preheating %s so far (needs %s: `chemlab run %s preheat on --wait`)' % (
+                units.fmt_s(ctx.v(self.slot('preheat')) or 0), units.fmt_s(need_s), self.instrument_id)
+        return {'text': text + '\n', 'json': js}
+
+    # ------------------------------------------------------------------ start / stop / result
+    def start_checks(self, ctx, p):
+        ph = self.role(ctx, 'phase')
+        busy = self.param('busy_phases', ['running'])
+        ctx.check(ph not in busy, 'BUSY', '%s is already running (%s).' % (self.instrument_id, ph),
+                  'wait for it (`chemlab run %s status`) or stop it first.' % self.instrument_id, label='not running')
+
+    def start_job(self, ctx, r, cap, m):
+        if m.get('job') == 'multiwave':
+            return self.multiwave_job(ctx, m, cap)
+        return super().start_job(ctx, r, cap, m)
+
+    def multiwave_job(self, ctx, m, cap):
+        """Multiwave run: running -> cooling (safety cooling) -> finished; the record of the run says completed or aborted."""
+        from ..jobs import StateJob
+        st_slot, rec_slot = self.slot('phase'), self.slot('records')
+        n0 = len(ctx.v(rec_slot) or [])
+        ad = self
+
+        def state(c):
+            v = c.v(st_slot)
+            recs = c.v(rec_slot) or []
+            if v in ('running', 'cooling'):
+                return 'running', 'run %s (%s)' % (v, units.fmt(ad.slot_si(c, ad.slot('temp')), 'temperature')), {'run_state': v}
+            if len(recs) > n0:
+                res = (recs[-1] or {}).get('result')
+                return ('succeeded' if res == 'completed' else 'failed'), 'run %s: %s' % (v, res), {'run_state': v, 'record': recs[-1]}
+            return 'failed', 'run %s without a record' % v, {'run_state': v}
+
+        def stop(c):
+            c.call(ad.vmap('stop')['cap'], {}, 'stop the run')
+            return 'stop sent; the run goes into its safety cooling'
+        return StateJob(ctx.core, self, ctx.req, '%s method run' % self.instrument_id, state, stop=stop, max_s=float(m.get('max_s', 14400)),
+                        poll_s=5.0)
+
+    def h_stop(self, ctx, p):
+        ph = self.role(ctx, 'phase')
+        cooling = self.param('cooling_phases', [])
+        if ph in cooling:
+            ctx.fail(refused('ALREADY_COOLING', '%s has finished heating and is in its safety cooling; that cannot be stopped.' % self.instrument_id,
+                             'wait for the job (`chemlab run %s status`).' % self.instrument_id))
+        return super().h_stop(ctx, p)
+
+    def result_args(self, ctx, p, m):
+        args = dict(m.get('args') or {})
+        slot = p.get('slot')
+        if m.get('slot_arg'):
+            occ = ctx.v(self.slot('occupied')) or []
+            used = [i + 1 for i, x in enumerate(occ) if x]
+            if slot is None:
+                if len(used) == 1:
+                    slot = str(used[0])
+                else:
+                    ctx.fail(invalid('MISSING_SLOT', '%s evaluates one vessel at a time: give --slot N.' % self.instrument_id,
+                                     'occupied positions: %s.' % (','.join(map(str, used)) or 'none')))
+            n = (self.arg_range(m['cap'], m['slot_arg'])[1] or 0) + 1
+            args[m['slot_arg']] = positions(ctx, slot, n, self.instrument_id)[0] - 1
+        elif slot is not None:
+            ctx.fail(invalid('NO_SLOTS', '%s gives one record for the whole run; leave out --slot.' % self.instrument_id,
+                             '`chemlab run %s result`.' % self.instrument_id))
+        return args
+
+    def h_result(self, ctx, p):
+        out = super().h_result(ctx, p)
+        res = (out.get('json') or {}).get('result') or {}
+        if 'status' in res and 'method_conformant' in res:              # Multiwave evaluation: the verdict on top
+            prog = res.get('program') or {}
+            head = 'vessel %s: %s, %s; hold in window %s of %s; conformant %s' % (
+                res.get('slot_index', 0) + 1 if isinstance(res.get('slot_index'), int) else '?', res.get('material_id'), res.get('status'),
+                units.fmt_s(prog.get('hold_in_window_s') or 0), units.fmt_s(prog.get('required_hold_s') or 0), res.get('method_conformant'))
+            out['text'] = out['text'].replace(':\n', ':\n  %s\n' % head, 1)
+        return out
+
+    def flag_word(self, role, v):
+        if role == 'preheat' and finite(v):
+            return units.fmt_s(v)
+        if role in self.FLAG_WORDS and isinstance(v, bool):
+            return self.FLAG_WORDS[role][0 if v else 1]
+        if role == 'rack' and finite(v):
+            return 'down' if v <= 1e-6 else 'up (%.0f mm)' % (v * 1000)
+        return super().flag_word(role, v)
diff --git a/chemlab/chemlab/compile/classes/dosing.py b/chemlab/chemlab/compile/classes/dosing.py
new file mode 100644
index 0000000000000000000000000000000000000000..6683915880a1acd71c7276e14d8d8fe0e1ae996d
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/dosing.py
@@ -0,0 +1,438 @@
+"""Dosing class ("dosing"): automated powder dosing into a vial on a balance (METTLER TOLEDO Quantos Q2 dosing unit on an
+XPE206DR analytical balance).  The Quantos is kept out of the balance class: its job is to dose a target
+quantity, not to weigh what the agent puts on the pan.  The balance class's reading helpers (readability, doors, power check,
+the explanation of a bare PRECONDITION_FAILED) are reused by inheritance; the twin's balance has no stability flag (its mass
+observation is ideal), so there is no stable-reading wait here.
+
+Verbs (status from the framework; power from the shared layer):
+
+    dose AMOUNT [--tolerance 1%|0.1mg] [--head ID] [--vial POS] [--sample-id ID] [--wait] [--max T]
+         a job: select the loaded dosing head and the vial position, close the doors, set target and tolerance, tare the vial,
+         start dosing (the reply names head, vial position, target in mg and tolerance)
+    head [show | select ID | lock | unlock | raise | lower | remove]      the dosing head (identify = show its RFID data)
+    vial [show | select POS | place | remove]                             the receiving vial (place / remove open the front door)
+    open|close [front|side]                                               the draft-shield front door or the side doors
+    tare                                                                  tare the vial on the pan (doors closed)
+    result [--save-to FILE]                                               the last dosing: actual, target, deviation, in tolerance
+    stop                                                                  abort the running dosing
+
+Inserting and taking out a dosing head and putting a vial on the pan are the lab operator's work (no agent capability).
+
+Manual references (references/manuals/mt_quantos_q2_xpe206dr/, internal; page numbers of the operating instructions 11781172K):
+target quantity in mg and tolerance in % p.22; head un/lock and removal p.22; head RFID data p.28; preparing and inserting a
+head p.29; sample container on the weighing pan and door automation p.33; GMP / USP tolerance note p.34; target quantities
+and tolerances p.95; XPE206DR readability (0.01 mg, fine range 0.005 mg): powder dosing brochure 30084648A p.11.
+"""
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused, unsupported
+from ..jobs import OperationJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .balance import BalanceAdapter
+
+REF = ('Quantos operating instructions 11781172K: target quantity and tolerance p.22, head un/lock p.22, head RFID data p.28, '
+       'inserting a head p.29, container on the pan and doors p.33, target quantities and tolerances p.95')
+HEAD_MODES = ['show', 'select', 'lock', 'unlock', 'raise', 'lower', 'remove', 'install']
+VIAL_MODES = ['show', 'select', 'place', 'remove']
+PARTS = ['front', 'side']
+
+
+class DosingAdapter(BalanceAdapter):
+    CLASS = 'dosing'
+    TITLE = 'automated powder dosing'
+    ABOUT = ('Powder dosing systems: dose a target quantity (mg) into the vial on the balance as a job, with the dosing head, the '
+             'vial position, the doors, target, tolerance and tare handled in one verb; the dosing head and the vial as objects; '
+             'the result with the deviation and whether it is within tolerance.')
+    STANDARDS = ('Quantos command set (dosing head, target, tolerance, start dosing, result); GMP 1 % / USP 0.1 % dosing tolerance '
+                 'practice as the manual quotes it')
+    UNIT_KINDS = ('mass', 'fraction', 'duration')
+    PATH_GROUPS = (('dose', 'stop', 'result'),)
+    ALWAYS = ('status',)
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is dosing.', 'wait for the job (`chemlab status`) or stop it: `chemlab run {inst} stop`.'),
+        'SOURCE_DEPLETED': ('SOURCE_DEPLETED', 'the powder in the dosing head of {inst} ran out before the target was reached; the powder '
+                            'already dosed stays in the vial.', 'ask the lab operator to refill or replace the dosing head, then dose '
+                            'the rest (see `chemlab run {inst} result`).'),
+        'UNSUPPORTED': ('NOT_SET_UP', 'that part of {inst} is not set up in this lab (no door geometry or no dosing configuration).',
+                        'ask the lab operator to set the instrument up.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def readability_kg(self):
+        return float(self.param('readability_kg', 1e-8))
+
+    def mg(self, kg, sign=False):
+        """kg -> 'x.xx mg' to the balance readability."""
+        if not finite(kg):
+            return 'n/a'
+        d = self.readability_kg() * 1e6
+        dec = max(0, int(round(-math.log10(d)))) if d > 0 else 2
+        return ('%+.*f mg' if sign else '%.*f mg') % (dec, kg * 1e6)
+
+    def running(self, values):
+        return self.val(values, 'status') == 'running'
+
+    def my_dosing(self, ctx):
+        """True when the running dosing is one this caller started through chemlab (only its starter may abort it)."""
+        from ..jobs import latest
+        job = latest(ctx.core, ctx.caller, self.instrument_id)
+        return job is not None and getattr(job, 'cap', None) == (self.vmap('dose') or {}).get('cap') and job.state not in (
+            'succeeded', 'failed', 'cancelled')
+
+    def need_idle(self, ctx, doing):
+        if not self.running(ctx):
+            ctx.checks.append('not dosing')
+            return
+        inst = self.instrument_id
+        fix = ('wait for your job (`chemlab status`) or stop it: `chemlab run %s stop`.' % inst if self.my_dosing(ctx) else
+               'it was started by another user (only they can abort it): wait until it has ended (`chemlab run %s status`, '
+               '`chemlab wait 60`), then retry.' % inst)
+        ctx.fail(refused('BUSY', '%s is dosing, so it cannot %s now.' % (inst, doing), fix))
+
+    def need_configured(self, ctx):
+        s = self.slot('configured')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'NOT_SET_UP', '%s is not set up for dosing in this lab (the lab has not configured the dosing '
+                      'unit).' % self.instrument_id, 'ask the lab operator to set the dosing unit up; nothing to do from chemlab.',
+                      label='dosing unit set up')
+
+    def front_open_m(self):
+        p = self.param('front_open_m')
+        if p is None:                       # the contract's door_kinematics.authored_travel (0.5495 m since asset 1.2.2: arc length
+            c = self.contract_param('authored_travel')      # of the top-hung door's hinge pin, lever fully lifted)
+            if not c:
+                raise ValueError('%s: no front-door travel in the contract (door_kinematics.authored_travel)' % self.instrument_id)
+            p = c['value']
+        return float(p)
+
+    def need_front_door(self, ctx):
+        s = self.slot('front_door')
+        if s:
+            ctx.check(ctx.v(s) is not None, 'NOT_SET_UP', 'the front door of %s is not set up in this lab (no door geometry).'
+                      % self.instrument_id, 'use the side doors (`open side`), or ask the lab operator to set the front door up.',
+                      label='front door set up')
+
+    def close_doors(self, ctx, why):
+        """Close the front and side doors where open (the instrument does this itself when door automation is on, p.33)."""
+        m = self.vmap('open') or {}
+        parts = m.get('parts') or {}
+        for name in PARTS:
+            spec = parts.get(name)
+            slot = self.slot('%s_door' % name)
+            if spec and slot and finite(ctx.v(slot)) and ctx.v(slot) > 1e-9:
+                ctx.call(spec['cap'], {spec['arg']: spec['close']}, 'close the %s door (%s)' % (name, why),
+                         readback=lambda v, s=slot: None if not (finite(ctx.v(s)) and ctx.v(s) > 1e-9) else '%s = %s' % (s, ctx.v(s)))
+
+    def select_head(self, ctx, want=None):
+        m = self.vmap('head') or {}
+        loaded, sel = ctx.v(self.slot('head_loaded')), ctx.v(self.slot('head_selected'))
+        ctx.check(loaded is not None, 'NO_HEAD', 'no dosing head is inserted in %s.' % self.instrument_id,
+                  'the lab operator inserts the dosing head (manual p.29); then `chemlab run %s head select ID`.' % self.instrument_id,
+                  label='dosing head inserted')
+        head = want or loaded
+        ctx.check(head == loaded, 'NO_SUCH_HEAD', 'the dosing head in %s is %s, not %s.' % (self.instrument_id, loaded, head),
+                  'use --head %s, or ask the lab operator to insert head %s.' % (loaded, head), label='that head inserted')
+        if sel != head:
+            ctx.call(m['select_cap'], {m.get('select_arg', 'head_id'): head}, 'select dosing head %s' % head,
+                     readback=lambda v: None if ctx.v(self.slot('head_selected')) == head else 'head.selected_id = %s' % ctx.v(self.slot('head_selected')))
+        return head
+
+    def select_vial(self, ctx, pos=None):
+        m = self.vmap('vial') or {}
+        ctx.check(ctx.v(self.slot('vial_loaded')) is not None, 'NO_VIAL', 'there is no vial in %s.' % self.instrument_id,
+                  'put one in: `chemlab run %s vial place` opens the front door and the lab operator places the vial on the pan '
+                  '(manual p.33).' % self.instrument_id, label='vial in place')
+        pos = pos or self.param('vial_position', 'balance_pan')
+        if ctx.v(self.slot('vial_position')) != pos:
+            ctx.call(m['cap'], {m.get('arg', 'position_id'): pos}, 'select the vial at %s' % pos)
+        return pos
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'ACCESS_DENIED' and cap == (self.vmap('stop') or {}).get('cap'):
+            return refused('NOT_YOURS', 'the dosing running on %s was started by another user; only they can abort it.' % self.instrument_id,
+                           'wait until it has ended (`chemlab run %s status`, `chemlab wait 60`).' % self.instrument_id)
+        if code == 'PRECONDITION_FAILED' and response.get('status') == 'rejected':
+            ctx.refresh()
+            inst = self.instrument_id
+            if not ctx.v(self.slot('power')):
+                return refused('POWER_OFF', '%s is switched off.' % inst, 'switch it on: `chemlab run %s power on`.' % inst)
+            vm = self.vmap('vial') or {}
+            if cap == vm.get('cap'):
+                return refused('NOT_AT_POSITION', 'the vial in %s is not at position %s.' % (inst, args.get(vm.get('arg', 'position_id'))),
+                               'give the position it is at (--vial POS; the usual one is balance_pan), or ask the lab operator.')
+            if self.doors_open(ctx):
+                return refused('DOOR_OPEN', 'a draft-shield door of %s is open.' % inst, 'close it: `chemlab run %s close`.' % inst)
+        return BalanceAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        on = self.val(values, 'power')
+        if not on:
+            return ['power off'], {'power': False}
+        head, sel, locked = self.val(values, 'head_loaded'), self.val(values, 'head_selected'), self.val(values, 'head_locked')
+        vial, pos = self.val(values, 'vial_loaded'), self.val(values, 'vial_position')
+        st, phase = self.val(values, 'status'), self.val(values, 'phase')
+        target, tol, act, err = (self.val(values, k) for k in ('target', 'tolerance', 'actual', 'error'))
+        net = self.val(values, 'net')
+        door = self.doors_open(values)
+        lines = ['dosing %s%s · target %s ± %s · dosed %s%s' % (st, ' (%s)' % phase if phase and st == 'running' else '', self.mg(target),
+                                                               self.mg(tol), self.mg(act), (' (deviation %s)' % self.mg(err, True)) if finite(err) else ''),
+                 'head %s%s%s · vial %s%s · doors %s · tared %s · net %s' % (
+                     head or 'none', (' selected' if sel and sel == head else ' not selected') if head else '', ' locked' if locked else '',
+                     vial or 'none', (' at %s' % pos) if pos else '', 'open' if door else 'closed',
+                     'yes' if self.val(values, 'tared') else 'no', self.mg(net))]
+        js = {'power': True, 'status': st, 'phase': phase, 'target_kg': target, 'tolerance_kg': tol, 'dosed_kg': act, 'error_kg': err,
+              'head': head, 'head_selected': sel, 'head_locked': locked, 'vial': vial, 'vial_position': pos, 'doors_open': door,
+              'tared': self.val(values, 'tared'), 'net_kg': net, 'readability_kg': self.readability_kg()}
+        return lines, js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        part = [Arg('PART', 'front (the front door, default) or side (the side doors)', required=False, choices=PARTS)]
+        return {
+            'dose': Verb('dose', 'dose a target quantity of powder into the vial (returns job-N; --wait waits)', self.h_dose,
+                         positionals=[Arg('AMOUNT', 'target quantity, e.g. 10mg or 0.5g (a bare number is in mg, as on the '
+                                          'instrument; 1 µg to 5 g)')],
+                         options={'tolerance': Opt('allowed deviation: 1% (of the target) or a mass such as 0.1mg (default: the '
+                                                   'instrument\'s current tolerance, else 1 %)', metavar='TOL'),
+                                  'head': Opt('dosing head id (default: the inserted head)', metavar='ID'),
+                                  'vial': Opt('vial position (default balance_pan)', metavar='POS'),
+                                  'sample-id': Opt('sample id for the record (max. 20 characters)', metavar='ID'),
+                                  'wait': Opt('wait until the dosing has ended (lab time moves)', kind='flag'),
+                                  'max': Opt('longest wait with --wait (default 30min)', kind='duration', metavar='TIME')},
+                         long_action=True,
+                         preconditions=['power on', 'dosing unit set up by the lab', 'a dosing head inserted', 'a vial in place',
+                                        'not dosing'],
+                         errors=['OUT_OF_RANGE, BAD_TOLERANCE (usage)', 'POWER_OFF, NOT_SET_UP, NO_HEAD, NO_SUCH_HEAD, NO_VIAL, BUSY, '
+                                 'NOT_AT_POSITION (refused)'],
+                         example='chemlab run INST dose 10mg --tolerance 1% --wait', reference=REF,
+                         details='Steps (each only where needed): select the head, select the vial position, close the doors, set '
+                                 'the target and the tolerance, tare the vial, start dosing. A previous dosing is never counted: the '
+                                 'vial is tared again before every dose.'),
+            'head': Verb('head', 'the dosing head: show its data, select, lock / unlock, raise / lower, release it for removal', self.h_head,
+                         positionals=[Arg('MODE', 'show (default) | select | lock | unlock | raise | lower | remove', required=False,
+                                          choices=HEAD_MODES),
+                                      Arg('ID', 'head id (for select)', required=False)],
+                         preconditions=['power on', 'not dosing (except show)'], errors=['NO_HEAD (refused)', 'NOT_SUPPORTED (install)'],
+                         example='chemlab run INST head show', reference=REF),
+            'vial': Verb('vial', 'the receiving vial: show, select its position, or open the door to place / remove it', self.h_vial,
+                         positionals=[Arg('MODE', 'show (default) | select | place | remove', required=False, choices=VIAL_MODES),
+                                      Arg('POS', 'position (for select; usually balance_pan)', required=False)],
+                         preconditions=['power on', 'not dosing (except show)'], errors=['NO_VIAL, NOT_AT_POSITION, BUSY (refused)'],
+                         example='chemlab run INST vial place', reference=REF),
+            'open': Verb('open', 'open the front door (default: its lever lifted fully, to the contract door travel) or the side doors of the draft shield', self.h_door('open'),
+                         positionals=part, preconditions=['not dosing'], errors=['BUSY, NOT_SET_UP (refused)'],
+                         example='chemlab run INST open front', reference=REF),
+            'close': Verb('close', 'close the front door (default) or the side doors of the draft shield', self.h_door('close'),
+                          positionals=part, preconditions=['not dosing'], errors=['BUSY, NOT_SET_UP (refused)'],
+                          example='chemlab run INST close', reference=REF),
+            'tare': Verb('tare', 'tare the vial on the pan (the doors must be closed)', self.h_tare_vial,
+                         preconditions=['power on', 'not dosing', 'doors closed', 'a vial in place'],
+                         errors=['POWER_OFF, BUSY, DOOR_OPEN, NO_VIAL (refused)'], example='chemlab run INST tare', reference=REF),
+            'result': Verb('result', 'the last dosing: actual quantity, target, deviation, within tolerance, time', self.h_result,
+                           readonly=True, options={'save-to': save_to_opt()}, errors=['NO_RESULT (refused)'],
+                           example='chemlab run INST result --save-to dose.json', reference=REF),
+            'stop': Verb('stop', 'abort the running dosing (the powder already dosed stays in the vial)', self.h_stop,
+                         preconditions=['dosing', 'started by you (the instrument refuses another user\'s abort)'],
+                         errors=['NOT_RUNNING, NOT_YOURS (refused)'], example='chemlab run INST stop', reference=REF),
+        }
+
+    def tolerance_args(self, ctx, text, target_kg):
+        """--tolerance text -> (capability, arguments, shown) or None (keep the instrument's)."""
+        m = self.vmap('dose')
+        t = (text or '').strip().replace(' ', '')
+        if t.endswith('%'):
+            pct = units.parse(t, 'fraction', what='--tolerance') * 100.0
+            lo, hi = self.arg_range(m['tol_pct_cap'], m.get('tol_pct_arg', 'percent'))
+            if (lo is not None and pct < lo) or (hi is not None and pct > hi):
+                ctx.fail(invalid('BAD_TOLERANCE', '--tolerance %s is outside %s..%s %%.' % (text, lo, hi), 'give e.g. --tolerance 1%.'))
+            return m['tol_pct_cap'], {m.get('tol_pct_arg', 'percent'): units.sig(pct)}, '%g %%' % pct
+        kg = units.parse(t, 'mass', what='--tolerance')
+        if kg <= 0 or kg > target_kg:
+            ctx.fail(invalid('BAD_TOLERANCE', '--tolerance %s must be more than 0 and not more than the target.' % text,
+                             'give e.g. --tolerance 1% or --tolerance 0.1mg.'))
+        return m['tol_cap'], {m.get('tol_arg', 'tolerance_kg'): units.sig(kg)}, self.mg(kg)
+
+    def h_dose(self, ctx, p):
+        m = self.vmap('dose')
+        inst = self.instrument_id
+        t = p.raw['AMOUNT'].strip()
+        target = units.parse(t + 'mg' if re.fullmatch(r'[+-]?(\d+(\.\d*)?|\.\d+)([eE][+-]?\d+)?', t) else t, 'mass', what='AMOUNT')
+        lo, hi = self.arg_range_si(m['target_cap'], m.get('target_arg', 'target_mass_kg'))
+        if (lo is not None and target < lo) or (hi is not None and target > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', 'the target %s is outside what %s doses (%s to %s).' % (self.mg(target), inst, self.mg(lo), self.mg(hi)),
+                             'give a target from %s to %s.' % (self.mg(lo), self.mg(hi))))
+        sample = p.get('sample-id')
+        if sample is not None and not (1 <= len(sample) <= 20):
+            ctx.fail(invalid('BAD_VALUE', '--sample-id takes 1 to 20 characters.', 'shorten it.'))
+        tol_text = p.get('tolerance')
+        tol = self.tolerance_args(ctx, tol_text, target) if tol_text else None
+        self.need_power(ctx)
+        self.need_configured(ctx)
+        self.need_idle(ctx, 'start a new dosing')
+        head = self.select_head(ctx, p.get('head'))
+        pos = self.select_vial(ctx, p.get('vial'))
+        self.close_doors(ctx, 'before taring')
+        if ctx.v(self.slot('target')) is None or abs(ctx.v(self.slot('target')) - target) > 1e-15:
+            ctx.call(m['target_cap'], {m.get('target_arg', 'target_mass_kg'): units.sig(target)}, 'set the target to %s' % self.mg(target))
+        if tol is None and ctx.v(self.slot('tolerance')) is None:
+            pct = float(self.param('default_tolerance_percent', 1.0))
+            tol = (m['tol_pct_cap'], {m.get('tol_pct_arg', 'percent'): pct}, '%g %% (default)' % pct)
+        if tol:
+            ctx.call(tol[0], tol[1], 'set the tolerance to %s' % tol[2])
+        if sample is not None and m.get('ids_cap'):
+            ctx.call(m['ids_cap'], {'user_id': ctx.v(self.slot('user_id')) if self.slot('user_id') else None, 'sample_id': sample},
+                     'set the sample id %s' % sample)
+        ctx.call(m['tare_cap'], {}, 'tare the vial', readback=lambda v: None if ctx.v(self.slot('tared')) else 'balance.tared = false')
+        r = ctx.call(m['cap'], {}, 'start dosing %s' % self.mg(target))
+        tol_now = ctx.v(self.slot('tolerance')) if not ctx.dry_run else None
+        setup = 'head %s, vial at %s, target %s, tolerance %s' % (head, pos, self.mg(target), tol[2] if tol else self.mg(tol_now))
+        if ctx.dry_run:
+            return {'text': '', 'json': {'head': head, 'vial_position': pos, 'target_kg': target}}
+        job = OperationJob(ctx.core, self, ctx.req, '%s dose %s' % (inst, self.mg(target)), m['cap'], r.get('operation_id'),
+                           max_s=float(self.param('max_dose_s', 1800.0))) if r.get('operation_id') else None
+        js = {'job': job.handle if job else None, 'head': head, 'vial_position': pos, 'target_kg': target, 'target_mg': target * 1e6,
+              'tolerance_kg': tol_now}
+        if not job:
+            return {'text': 'ok: %s started dosing (%s)\n' % (inst, setup), 'json': js}
+        if p.get('wait'):
+            w = job.wait_reply(ctx.core, ctx.req, p.get('max') or float(self.param('max_dose_s', 1800.0)))
+            ctx.refresh()
+            res = self.result_view(ctx)
+            js.update({'waited_s': w['json'].get('waited_s'), 'status': w['json'].get('status'), 'result': res['json']})
+            return {'text': 'dosing on %s (%s): %s\n%s' % (inst, setup, w['json'].get('status'), res['text']), 'json': js}
+        return {'text': 'started %s: dosing on %s (%s)\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s; then '
+                        '`chemlab run %s result`\n' % (job.handle, inst, setup, job.handle, job.handle, job.handle, inst), 'json': js}
+
+    def result_view(self, ctx, rec=None):
+        last = ctx.v(self.slot('last')) if self.slot('last') else None
+        rec = dict(rec or {})
+        st = rec.get('dosing.status') or ctx.v(self.slot('status'))
+        act = rec.get('measurement.actual_dosed_kg', ctx.v(self.slot('actual')))
+        target = rec.get('dosing.target_mass_kg', ctx.v(self.slot('target')))
+        err = rec.get('measurement.error_kg', ctx.v(self.slot('error')))
+        tol = rec.get('dosing.tolerance_kg', ctx.v(self.slot('tolerance')))
+        out = rec.get('measurement.out_of_tolerance', ctx.v(self.slot('out_of_tolerance')))
+        el = rec.get('dosing.elapsed_s', ctx.v(self.slot('elapsed')))
+        within = None if out is None else not out
+        pct = (100.0 * err / target) if finite(err) and finite(target) and target else None
+        text = ('  status %s · dosed %s of %s · deviation %s%s · tolerance ± %s · %s · %s\n' % (
+            st, self.mg(act), self.mg(target), self.mg(err, True), (' (%+.2f %%)' % pct) if pct is not None else '', self.mg(tol),
+            'within tolerance' if within else ('OUT of tolerance' if within is False else 'tolerance n/a'), units.fmt_s(el or 0)))
+        js = {'status': st, 'dosed_kg': act, 'dosed_mg': None if not finite(act) else act * 1e6, 'target_kg': target, 'error_kg': err,
+              'error_percent': pct, 'tolerance_kg': tol, 'within_tolerance': within, 'elapsed_s': el, 'record': last}
+        return {'text': text, 'json': js}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        r = ctx.call(m['cap'], {}, 'read the dosing result', query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        rec = r.get('result') if isinstance(r.get('result'), dict) else {}
+        ctx.check(rec.get('dosing.status', ctx.v(self.slot('status'))) not in (None, 'idle') or ctx.v(self.slot('last')),
+                  'NO_RESULT', '%s has not dosed yet.' % self.instrument_id, 'dose first: `chemlab run %s dose 10mg`.' % self.instrument_id,
+                  label='a dosing done')
+        res = self.result_view(ctx, rec)
+        return {'text': '%s dosing result:\n%s' % (self.instrument_id, res['text']), 'json': res['json']}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ctx.check(self.running(ctx), 'NOT_RUNNING', '%s is not dosing.' % self.instrument_id, 'nothing to stop; see `chemlab run %s result`.'
+                  % self.instrument_id, label='dosing')
+        ctx.call(m['cap'], {}, 'abort the dosing')
+        return {'text': 'ok: dosing on %s aborted (dosed so far: %s)\n' % (self.instrument_id, self.mg(ctx.v(self.slot('actual')))),
+                'json': {'dosed_kg': ctx.v(self.slot('actual')), 'status': ctx.v(self.slot('status'))}}
+
+    def h_tare_vial(self, ctx, p):
+        m = self.vmap('tare')
+        self.need_power(ctx)
+        self.need_idle(ctx, 'tare')
+        ctx.check(not self.doors_open(ctx), 'DOOR_OPEN', 'a draft-shield door of %s is open; it tares only with the doors closed.'
+                  % self.instrument_id, 'close it: `chemlab run %s close` (and `close side`), then tare.' % self.instrument_id,
+                  label='doors closed')
+        self.select_vial(ctx)
+        ctx.call(m['cap'], {}, 'tare the vial', readback=lambda v: None if ctx.v(self.slot('tared')) else 'balance.tared = false')
+        return {'text': 'ok: %s tared (net %s)\n' % (self.instrument_id, self.mg(ctx.v(self.slot('net')))),
+                'json': {'tared': ctx.v(self.slot('tared')), 'net_kg': ctx.v(self.slot('net'))}}
+
+    def h_door(self, action):
+        def h(ctx, p):
+            name = p.pos[0] if p.pos else 'front'
+            spec = ((self.vmap('open') or {}).get('parts') or {}).get(name)
+            if not spec:
+                ctx.fail(unsupported('NO_PART', '%s has no %s door.' % (self.instrument_id, name), 'parts: %s.' % ', '.join(PARTS)))
+            self.need_idle(ctx, '%s a door' % action)
+            value = spec[action] if name != 'front' or action == 'close' else self.front_open_m()
+            slot = self.slot('%s_door' % name)
+            if name == 'front':
+                self.need_front_door(ctx)
+            ctx.call(spec['cap'], {spec['arg']: value}, '%s the %s door' % (action, name))
+            note = ['opening a door cancels the tare; `dose` tares again with the doors closed.'] if action == 'open' else []
+            return {'text': 'ok: %s %s door %s\n' % (self.instrument_id, name, 'opened' if action == 'open' else 'closed'),
+                    'json': {'part': name, 'action': action, 'value': ctx.v(slot) if slot else None}, 'notes': note}
+        return h
+
+    def h_head(self, ctx, p):
+        m = self.vmap('head')
+        inst = self.instrument_id
+        mode = p.pos[0] if p.pos else 'show'
+        if mode == 'install':
+            ctx.fail(unsupported('NOT_SUPPORTED', 'inserting a dosing head is the lab operator\'s work on %s (no instrument command; '
+                                 'manual p.29).' % inst, 'ask the lab operator; then `chemlab run %s head select ID`.' % inst))
+        loaded = ctx.v(self.slot('head_loaded'))
+        if mode == 'show':
+            data = ctx.v(self.slot('head_data')) if self.slot('head_data') else None
+            js = {'head': loaded, 'selected': ctx.v(self.slot('head_selected')), 'locked': ctx.v(self.slot('head_locked')),
+                  'position': ctx.v(self.slot('head_position')), 'data': data}
+            text = 'dosing head of %s: %s%s%s%s\n' % (inst, loaded or 'none inserted', ' (selected)' if loaded and js['selected'] == loaded else '',
+                                                    ' locked' if js['locked'] else '', (' · %s' % js['position']) if js['position'] else '')
+            if isinstance(data, dict) and data:
+                text += '  RFID data: %s\n' % ', '.join('%s=%s' % (k, short(v, 30)) for k, v in data.items() if v is not None)
+            return {'text': text, 'json': js}
+        self.need_power(ctx)
+        self.need_idle(ctx, 'change the dosing head')
+        if mode == 'select':
+            head = self.select_head(ctx, p.pos[1] if len(p.pos) > 1 else None)
+            return {'text': 'ok: dosing head %s selected on %s\n' % (head, inst), 'json': {'head': head}}
+        ctx.check(loaded is not None, 'NO_HEAD', 'no dosing head is inserted in %s.' % inst, 'the lab operator inserts it (manual p.29).',
+                  label='dosing head inserted')
+        if mode in ('lock', 'unlock', 'remove'):
+            want = mode == 'lock'
+            if bool(ctx.v(self.slot('head_locked'))) != want:
+                ctx.call(m['lock_cap'], {m.get('lock_arg', 'locked'): want}, '%s the dosing head' % ('lock' if want else 'unlock'))
+            if mode == 'remove':
+                return {'text': 'ok: dosing head %s of %s is released; the lab operator can take it out now (manual p.22)\n' % (loaded, inst),
+                        'json': {'head': loaded, 'locked': False}}
+            return {'text': 'ok: dosing head %s %s\n' % (loaded, 'locked' if want else 'unlocked'), 'json': {'head': loaded, 'locked': want}}
+        pos = 'raised' if mode == 'raise' else 'lowered'
+        ctx.call(m['height_cap'], {m.get('height_arg', 'position'): pos}, '%s the dosing head' % mode)
+        return {'text': 'ok: dosing head of %s %s\n' % (inst, pos), 'json': {'position': pos}}
+
+    def h_vial(self, ctx, p):
+        inst = self.instrument_id
+        mode = p.pos[0] if p.pos else 'show'
+        vial, pos = ctx.v(self.slot('vial_loaded')), ctx.v(self.slot('vial_position'))
+        if mode == 'show':
+            js = {'vial': vial, 'position': pos, 'tared': ctx.v(self.slot('tared')), 'net_kg': ctx.v(self.slot('net'))}
+            return {'text': 'vial of %s: %s%s · tared %s · net %s\n' % (inst, vial or 'none', (' at %s' % pos) if pos else '',
+                                                                       'yes' if js['tared'] else 'no', self.mg(js['net_kg'])), 'json': js}
+        self.need_power(ctx)
+        self.need_idle(ctx, '%s the vial' % mode)
+        if mode == 'select':
+            where = self.select_vial(ctx, p.pos[1] if len(p.pos) > 1 else None)
+            return {'text': 'ok: vial at %s selected on %s\n' % (where, inst), 'json': {'vial': vial, 'position': where}}
+        if mode == 'remove':
+            ctx.check(vial is not None, 'NO_VIAL', 'there is no vial in %s.' % inst, 'nothing to remove.', label='vial in place')
+        spec = ((self.vmap('open') or {}).get('parts') or {}).get('front')
+        self.need_front_door(ctx)
+        if spec and not (finite(ctx.v(self.slot('front_door'))) and ctx.v(self.slot('front_door')) > 1e-9):
+            ctx.call(spec['cap'], {spec['arg']: self.front_open_m()}, 'open the front door')
+        what = 'put the vial on the weighing pan' if mode == 'place' else 'take the vial %s out' % vial
+        return {'text': 'ok: the front door of %s is open; the lab operator can %s now (manual p.33). Then `chemlab run %s close`.\n' % (
+            inst, what, inst), 'json': {'vial': vial, 'front_door_open': True}}
+
+    _ = (ClassAdapter,)
diff --git a/chemlab/chemlab/compile/classes/electrical.py b/chemlab/chemlab/compile/classes/electrical.py
new file mode 100644
index 0000000000000000000000000000000000000000..f061dbd42dd900b54ff967ad2b4ef64203aa36fc
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/electrical.py
@@ -0,0 +1,264 @@
+"""Electrical, magnetic and thermoelectric property testers ("electrical"): Hall / van der Pauw system, four-point-probe sheet
+resistance mapper, vibrating sample magnetometer, broadband dielectric spectrometer, Seebeck / resistivity tester.  Operator action:
+measure electrical or magnetic transport of a specimen.
+
+Verbs: contact on|off|check [KEY=VALUE ...], move [X Y] [--lift Z] [--angle A], set-field B [--rate R] [--wait], set-temp T|off
+[--rate R] [--gradient D], temp, wait-temp, method KEY=VALUE ..., calibrate KEY=VALUE ..., start (job-N), stop, result
+[--save-to F], analyze [MODEL] KEY=VALUE ... [--save-to F], status.  power, estop, ack and wait come from the shared layer (configs/adapters/shared.json).  Members and
+mappings: configs/adapters/electrical.json.
+
+Vendor-neutral terms: ASTM F76 (Hall / van der Pauw: excitation current, contact check, field), ASTM F84 / F1529 (four-point
+probe: probe spacing, current, map points, edge exclusion), IEC 60404 / ASTM A894 (magnetometry: field points, sweep rate, moment
+calibration), ASTM D150 (dielectric: frequency sweep, AC voltage), SCPI / Keithley TSP style (the QuadPro2 SMU commands stay on
+`chemlab call`).  Lake Shore M91: SCPI command set (users manual pp. 48-57, 65-156); the other members have no public command set,
+so the verbs follow the standards' vocabulary (manual manifests: page references only).
+
+Method keys (each member maps the ones it has; native argument names pass through; settings not given come from the member's
+defaults - its state or the contract's documented example method - and the reply lists them):
+
+    current=0.5mA  range=auto|1mA  vrange=10mV  phase=0.1s  repeats=1        (Hall: current range auto = smallest range >= current)
+    point=0mm,20mm (repeatable)  edge=3mm  thickness=1um  calibration=false  (four-point map)
+    field=0.2T (repeatable)  loop=0.5T/0.1T  rate=10mT/s  average=0.05s       (VSM field points; loop = +MAX..-MAX..+MAX; a bare number is mT)
+    range=10emu  vibrate=on  amplitude=0.5mm  vfreq=82Hz                      (VSM coil and vibration)
+    freq=1kHz (repeatable)  sweep=10Hz..100kHz/9  voltage=0.3V  cycles=1      (dielectric frequencies, log sweep)
+    time=3s  interval=0.05s  current=10mA  min-delta=0.1K  tolerance=0.05K    (Seebeck / resistivity)
+"""
+from .. import units
+from ..errors import invalid, refused, unsupported
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from ..jobs import OperationJob
+from .thermal_analysis import TATester, fmt_q, to_native
+
+REF_ALL = ('Lake Shore MeasureReady M91 FastHall users manual pp. 11-33 (Hall, contact check), pp. 48-57 (SCPI measurement structure); '
+       'Signatone QuadPro2 data sheet pp. 1-6, 8-15 (mapping, probe heads, calibration standards); Lake Shore 8600 VSM catalog '
+       'pp. 6-11, 16-21 (sample exchange, field, speed); Novocontrol Alpha-A/Beta specification pp. 4-11 (frequency range, voltage); '
+       'Linseis LSR-3 specifications pp. 1-2 and brochure pp. 4-9 (Seebeck, four-terminal resistivity)')
+
+
+class ElectricalAdapter(TATester):
+    CLASS = 'electrical'
+    TITLE = 'electrical and magnetic transport'
+    ABOUT = ('Instruments that measure electrical, magnetic or thermoelectric transport of a specimen: check or make the probe contact, '
+             'move the stage or the sample rod, set the field or the temperature, set the method in plain units, start a run (job-N), '
+             'read the result.')
+    STANDARDS = ('ASTM F76 (Hall / van der Pauw); ASTM F84 / F1529 (four-point probe); IEC 60404 / ASTM A894 (magnetometry); ASTM D150 '
+                 '(dielectric); SCPI (Lake Shore M91)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('current', 'voltage', 'temperature', 'temperature_delta', 'length', 'duration', 'frequency', 'heating_rate')
+    ROLE_VIEW = (('temp', 'sample', 'temperature'), ('set', 'set point', 'temperature'), ('control', 'control', 'onoff'),
+                 ('delta', 'gradient', 'temperature_delta'), ('field', 'field', 'magnetic_field'), ('field_set', 'field set', 'magnetic_field'),
+                 ('moment', 'moment', 'moment'), ('phase', 'run', 'text'), ('stage', 'stage', 'text'), ('points', 'points', 'text'),
+                 ('sample', 'sample', 'present'), ('probe', 'probe height', 'length'), ('x', 'stage x', 'length'), ('y', 'stage y', 'length'),
+                 ('lift', 'sample lift', 'length'), ('vibration', 'vibration', 'onoff'), ('warmup', 'warmed up', 'yesno'),
+                 ('calibration', 'calibration', 'text'), ('sheet', 'last sheet resistance', 'sheet_resistance'),
+                 ('voltage', 'voltage', 'voltage'), ('current', 'current', 'current'))
+    CODES = {
+        'WARMUP_REQUIRED': ('WARMING_UP', '{inst} is still warming up after power-on.', 'wait until it is ready (`chemlab run {inst} status`, `chemlab wait 10min`).'),
+        'FIELD_NOT_SETTLED': ('FIELD_NOT_SETTLED', 'the magnetic field of {inst} has not settled at its target.', 'wait a little (`chemlab wait 30`), then retry.'),
+        'MAP_REQUIRED': ('NO_MAP', '{inst} has no map points.', 'give them: `chemlab run {inst} method point=0mm,0mm point=20mm,0mm`.'),
+        'CALIBRATION_REQUIRED': ('NOT_CALIBRATED', 'the method of {inst} requires a probe calibration, and there is none.',
+                                 'calibrate on a standard (`chemlab run {inst} calibrate ref=100ohm/sq`), or set `method calibration=false`.'),
+        'STANDARD_REQUIRED': ('NO_STANDARD', 'calibration needs the calibration standard on {inst}, and a specimen is loaded.',
+                              'the lab operator mounts the standard; ask for it.'),
+        'REFERENCE_TEMPERATURE_RANGE': ('OUT_OF_DATA', 'the specimen\'s reference data of {inst} do not cover the present temperature.',
+                                        'measure at a temperature inside the specimen\'s range (see `chemlab run {inst} status`).'),
+        'ZERO_EXCITATION': ('NO_EXCITATION', 'the excitation of {inst} is zero.', 'set a current: `chemlab run {inst} method current=...`.'),
+        'STAGE_TRAVEL_OR_CLEARANCE': ('STAGE_BLOCKED', 'the stage of {inst} moves only with the probe raised and inside its travel.',
+                                      'lift the probe (`chemlab run {inst} contact off`) and keep |x|, |y| at most 130 mm.'),
+        'BUSY': ('BUSY', '{inst} is busy (a run or a movement is in progress).', 'wait (`chemlab run {inst} wait`) or stop the run.'),
+        'NOT_RUNNING': ('NOT_RUNNING', '{inst} has nothing running.', 'nothing to stop.'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'FIELD_ENVELOPE': ('OUT_OF_RANGE', 'the field is outside what the magnet of {inst} can reach.', 'give a smaller field.'),
+        'THERMAL_ENVELOPE': ('OUT_OF_RANGE', 'the temperature is outside the range of the temperature stage of {inst}.', 'give a temperature inside its range.'),
+        'FIELD_REVERSAL_REQUIRED': ('NO_FIELD_REVERSAL', 'the Hall analysis needs readings at a positive and a negative field in one record; '
+                                    'this record has no field reversal (the field of {inst} is set by the lab).',
+                                    'ask the lab operator for a reversing field, or use the record\'s resistivity readings (`chemlab run {inst} result`).'),
+        'LOGIN_REQUIRED': ('LOGIN_REQUIRED', 'the source meter of {inst} asks for a login before the software may use it.', 'see `chemlab describe {inst}` (smu.remote_login).'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        REF = self.param('manual') or REF_ALL
+        return {
+            'contact': Verb('contact', 'lower (on) or lift (off) the probe, or run the contact check (check [KEY=VALUE ...])', self.h_contact,
+                            positionals=[Arg('on|off|check', 'on, off or check', choices=['on', 'off', 'check'])], variadic=('KEY=VALUE', 'contact-check settings'),
+                            long_action=True, preconditions=['probe over the wafer and the hood closed (four-point probe)', 'warmed up (Hall)'],
+                            errors=['NOT_SUPPORTED (on|off without a probe actuator, check without a contact-check routine)', 'WARMING_UP (refused)'],
+                            details='contact on|off waits until the probe has stopped; contact check returns job-N.', example='chemlab run INST contact on', reference=REF),
+            'move': Verb('move', 'move the stage to X Y, or the sample rod (--lift, --angle)', self.h_move,
+                         positionals=[Arg('X', 'stage x, e.g. 10mm', required=False, kind='length'), Arg('Y', 'stage y, e.g. -5mm', required=False, kind='length')],
+                         options={'lift': Opt('sample rod height, e.g. 0mm (measuring position)', kind='length', metavar='Z'),
+                                  'angle': Opt('sample rotation, e.g. 90deg', kind='angle', metavar='ANGLE')},
+                         long_action=True, preconditions=['inside the travel', 'probe raised (stage moves)'], errors=['OUT_OF_RANGE (usage)', 'PROBE_DOWN (refused)'],
+                         details='waits until the movement has ended.', example='chemlab run INST move 20mm 0mm', reference=REF),
+            'set-field': Verb('set-field', 'set the magnetic field (ramped), optionally waiting until it is there', self.h_set_field,
+                              positionals=[Arg('FIELD', 'e.g. 0.5T, 200mT or 0 (a bare number is mT)')],
+                              options={'rate': Opt('ramp rate, e.g. 10mT/s (default: the contract\'s example rate)', metavar='RATE'),
+                                       'wait': Opt('wait until the field is there', kind='flag')},
+                              preconditions=['inside the field range of the magnet'], errors=['OUT_OF_RANGE (usage)'],
+                              example='chemlab run INST set-field 0.5T --rate 10mT/s --wait', reference=REF),
+            'set-temp': Verb('set-temp', 'set the specimen temperature (or off)', self.h_set_temp,
+                             positionals=[Arg('TEMP|off', 'set point, e.g. 100C (a bare number is °C); off switches the control off')],
+                             options={'rate': Opt('ramp rate where the instrument takes one, e.g. 10K/min', kind='heating_rate', metavar='RATE'),
+                                      'gradient': Opt('temperature difference across the specimen (Seebeck), e.g. 5K', kind='temperature_delta', metavar='DELTA')},
+                             preconditions=['inside the instrument range', 'no run in progress'], errors=['OUT_OF_RANGE (usage)', 'BUSY (refused)'],
+                             example='chemlab run INST set-temp 100C --rate 10K/min', reference=REF),
+            'temp': Verb('temp', 'the temperatures, field and run state', self.h_temp, readonly=True, example='chemlab run INST temp'),
+            'wait-temp': Verb('wait-temp', 'wait until the specimen is at the set point (or --to T), moving lab time', self.h_wait_temp, readonly=True,
+                              long_action=True, options={'within': Opt('tolerance (default about 0.5 K)', kind='temperature_delta', metavar='DELTA'),
+                                                         'max': Opt('longest wait (default 1 h)', kind='duration', metavar='TIME'),
+                                                         'to': Opt('wait for this temperature instead of the set point', kind='temperature', metavar='TEMP')},
+                              errors=['CONTROL_OFF, NOT_REACHED (refused)'], example='chemlab run INST wait-temp --within 0.5K'),
+            'method': Verb('method', 'set the measurement: KEY=VALUE ... (class keys with units: current=0.5mA point=0mm,20mm field=0.2T freq=1kHz ...)',
+                           self.h_method, variadic=('KEY=VALUE', 'a setting'), preconditions=['no run in progress', 'every value inside the range'],
+                           errors=['UNKNOWN_SETTING, MISSING_SETTING, OUT_OF_RANGE, BAD_CHOICE (usage)', 'BUSY (refused)'],
+                           details=self.method_details(), example='chemlab run INST method current=0.5mA', reference=REF),
+            'calibrate': Verb('calibrate', 'calibrate: correction factors, or a run on the calibration standard (job-N)', self.h_calibrate,
+                              variadic=('KEY=VALUE', 'a calibration setting'), preconditions=['no run in progress', 'the standard mounted (standard runs)'],
+                              errors=['MISSING_SETTING, OUT_OF_RANGE (usage)', 'NO_STANDARD (refused)'], example='chemlab run INST calibrate ref=100ohm/sq', reference=REF),
+            'start': Verb('start', 'start the measurement (gives job-N)', self.h_start, long_action=True,
+                          preconditions=['not already running', 'specimen mounted, warmed up, contact / vibration / coil ready (member requirements)'],
+                          errors=['BUSY, WARMING_UP, NO_MAP, NOT_CALIBRATED (refused)'], example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'stop the measurement', self.h_stop, errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop'),
+            'result': Verb('result', 'the record of the last measurement', self.h_result, readonly=True, options={'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to hall.json'),
+            'analyze': self.analyze_verb(),
+        }
+
+    def method_details(self):
+        m = (self.map.get('verbs') or {}).get('method') or {}
+        specs = m.get('calls') or ([m] if m else [])
+        lines = []
+        for sp in specs:
+            for k, ks in sorted((sp.get('keys') or {}).items()):
+                extra = ' (repeatable)' if ks.get('list') or ks.get('record') else ' (MAX/STEP)' if ks.get('loop') else ''
+                lines.append('  %-12s -> %s.%s%s%s' % (k + '=', sp['cap'], ks['arg'], (' (%s)' % ks['kind']) if ks.get('kind') else '', extra))
+        if not lines:
+            return None
+        return 'class keys on this instrument:\n' + '\n'.join(lines) + '\nnative argument names pass through (a bare number is in the declared unit).'
+
+    # ------------------------------------------------------------------ contact
+    def h_contact(self, ctx, p):
+        m = self.vmap('contact')
+        what = p.pos[0]
+        if what == 'check':
+            spec = m.get('check')
+            if not spec:
+                ctx.fail(unsupported('NO_CONTACT_CHECK', '%s has no contact-check routine.' % self.instrument_id,
+                                     (m.get('check_alternative') or 'see `chemlab describe %s`.' % self.instrument_id).replace('INST', self.instrument_id)))
+            if self.running(ctx):
+                ctx.fail(refused('BUSY', '%s is running a measurement.' % self.instrument_id, 'wait for it or stop it.'))
+            self.need(ctx, 'contact-check')
+            calls = self.build_calls(ctx, dict(spec, always=True), p.extra, 'contact') if p.extra else [self._all_defaults(ctx, spec)]
+            cap, args, defaults = calls[0]
+            r = ctx.call(cap, args, 'run the contact check (%s)' % cap)
+            if ctx.dry_run:
+                return {'text': '', 'json': {}}
+            if r.get('operation_id'):
+                job = OperationJob(ctx.core, self, ctx.req, '%s contact check' % self.instrument_id, cap, r['operation_id'], poll_s=float(self.param('job_poll_s', 5.0)))
+                return {'text': 'started %s: contact check on %s\nfollow it: chemlab status %s | chemlab wait %s\n%s' % (
+                    job.handle, self.instrument_id, job.handle, job.handle, ('settings from defaults: %s\n' % '; '.join(defaults)) if defaults else ''),
+                    'json': {'job': job.handle, 'arguments': args, 'defaults': defaults}}
+            return {'text': 'ok: contact check done (%s)\n' % r.get('status'), 'json': {'arguments': args}}
+        if p.extra:
+            ctx.fail(invalid('EXTRA_ARGUMENT', 'contact %s takes no settings.' % what, 'write `contact %s`.' % what))
+        act = m.get('probe')
+        if not act:
+            ctx.fail(unsupported('NO_PROBE', '%s has no probe to lower or lift.' % self.instrument_id,
+                                 (m.get('probe_alternative') or 'see `chemlab run %s`.' % self.instrument_id).replace('INST', self.instrument_id)))
+        want = what == 'on'
+        pos, tgt = act['pos_slot'], act['target_slot']
+        down = act.get('down_value', 0.0)
+        if abs((ctx.v(pos) or 0) - (ctx.v(tgt) or 0)) < 1e-9 and (abs((ctx.v(pos) or 0) - down) < 1e-9) == want:
+            return {'text': 'ok: %s probe already %s\n' % (self.instrument_id, 'down' if want else 'up'), 'json': {'contact': want, 'changed': False}}
+        self.need(ctx, 'contact-%s' % what)
+        ctx.call(act['cap'], {act['arg']: want}, 'probe %s' % ('down' if want else 'up'))
+        waited = self.settle(ctx, lambda c: abs((c.v(pos) or 0) - (c.v(tgt) or 0)) < 1e-9, 'the probe has stopped', float(act.get('max_s', 60)))
+        return {'text': 'ok: %s probe %s (after %s)\n' % (self.instrument_id, 'down on the specimen' if want else 'lifted', units.fmt_s(waited)),
+                'json': {'contact': want, 'changed': True}}
+
+    def _all_defaults(self, ctx, spec):
+        """A settings call with every argument from the member's defaults (contact check with no settings given)."""
+        cap = spec['cap']
+        args, used = {}, []
+        for arg in self.required(cap):
+            val, why = self._default(ctx, cap, arg, (spec.get('defaults') or {}).get(arg, 'example'), args, None)
+            args[arg] = val
+            used.append('%s=%s (%s)' % (arg, val, why))
+        return cap, args, used
+
+    # ------------------------------------------------------------------ move
+    def h_move(self, ctx, p):
+        m = self.vmap('move')
+        xy = [x for x in p.pos if x is not None]
+        if len(xy) == 1:
+            ctx.fail(invalid('MISSING_ARGUMENT', 'move needs both X and Y.', 'e.g. `chemlab run %s move 10mm 0mm`.' % self.instrument_id))
+        if not xy and p.get('lift') is None and p.get('angle') is None:
+            ctx.fail(invalid('NOTHING_TO_DO', 'move needs X Y, --lift or --angle.', 'see `chemlab help %s move`.' % self.instrument_id))
+        if self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is running a measurement.' % self.instrument_id, 'wait for it or stop it.'))
+        plan = []
+        if xy:
+            s = m.get('xy')
+            if not s:
+                ctx.fail(unsupported('NO_STAGE', '%s has no XY stage.' % self.instrument_id, 'leave out X Y.'))
+            props = self.props(s['cap'])
+            plan.append(('xy', s, {s['x_arg']: to_native(p.raw['X'], props.get(s['x_arg']) or {}, 'length', 'X'),
+                                   s['y_arg']: to_native(p.raw['Y'], props.get(s['y_arg']) or {}, 'length', 'Y')}))
+        for opt, kind in (('lift', 'length'), ('angle', 'angle')):
+            if p.get(opt) is None:
+                continue
+            s = m.get(opt)
+            if not s:
+                ctx.fail(unsupported('NO_' + opt.upper(), '%s has no sample %s axis.' % (self.instrument_id, opt), 'leave out --%s.' % opt))
+            plan.append((opt, s, {s['arg']: to_native(p.raw[opt], self.props(s['cap']).get(s['arg']) or {}, kind, '--' + opt)}))
+        for name, s, args in plan:
+            self.need(ctx, 'move-' + name)
+        done = {}
+        for name, s, args in plan:
+            ctx.call(s['cap'], args, 'move %s to %s' % (name, ', '.join('%s=%.6g' % kv for kv in args.items())))
+            if s.get('busy'):
+                test = self.moving_done(s['busy'])
+            else:
+                test = (lambda s_: (lambda c: abs((c.v(s_['pos_slot']) or 0) - (c.v(s_['target_slot']) or 0)) < 1e-9))(s)
+            done[name] = self.settle(ctx, test, 'the %s movement has ended' % name, float(s.get('max_s', 120)))
+        text = 'ok: %s moved (%s)\n' % (self.instrument_id, '; '.join('%s after %s' % (k, units.fmt_s(v)) for k, v in done.items()))
+        return {'text': text, 'json': {'moved': list(done), 'waited_s': done}}
+
+    # ------------------------------------------------------------------ field
+    def h_set_field(self, ctx, p):
+        m = self.vmap('set-field')
+        props = self.props(m['cap'])
+        b = to_native(p.raw['FIELD'], props.get(m['arg']) or {}, 'magnetic_field', 'field')
+        args = {m['arg']: b}
+        if m.get('rate_arg'):
+            if p.raw.get('rate'):
+                args[m['rate_arg']] = to_native(p.raw['rate'], props.get(m['rate_arg']) or {}, 'field_rate', '--rate')
+            else:
+                args[m['rate_arg']] = self.example(m['cap']).get(m['rate_arg'])
+                ctx.notes.append('rate not given: %s (the contract\'s example)' % fmt_q(args[m['rate_arg']], 'field_rate'))
+        self.need(ctx, 'set-field')
+        if self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is running a measurement; the field follows the method now.' % self.instrument_id, 'wait for it or stop it.'))
+        ctx.call(m['cap'], args, 'set the field to %s' % fmt_q(b, 'magnetic_field'))
+        text = 'ok: %s field set point %s; now %s\n' % (self.instrument_id, fmt_q(b, 'magnetic_field'), fmt_q(self.role(ctx, 'field'), 'magnetic_field'))
+        out = {'field_t': b}
+        if p.get('wait') and not ctx.dry_run:
+            tol = float(self.param('field_tolerance_t', 1e-4))
+            target = self.role(ctx, 'field_set')
+            target = b if target is None else target
+            waited = self.settle(ctx, lambda c: c.v(self.slot('field')) is not None and abs(c.v(self.slot('field')) - target) <= tol,
+                                 'the field is at %s' % fmt_q(target, 'magnetic_field'), float(self.param('field_max_s', 3600)))
+            text += 'reached %s after %s\n' % (fmt_q(self.role(ctx, 'field'), 'magnetic_field'), units.fmt_s(waited))
+            out['waited_s'] = waited
+        return {'text': text, 'json': out}
+
+    # ------------------------------------------------------------------ method: the Hall current range
+    def _default(self, ctx, cap, arg, d, args, pg):
+        if isinstance(d, dict) and d.get('auto_range_for'):
+            cur = args.get(d['auto_range_for'])
+            enum = sorted(self.props(cap).get(arg, {}).get('enum') or [])
+            fit = [e for e in enum if cur is not None and e >= abs(cur) * (1 - 1e-12)]
+            if fit:
+                return fit[0], 'the smallest range that holds %s' % fmt_q(cur, 'current')
+        return TATester._default(self, ctx, cap, arg, d, args, pg)
diff --git a/chemlab/chemlab/compile/classes/electrochem.py b/chemlab/chemlab/compile/classes/electrochem.py
new file mode 100644
index 0000000000000000000000000000000000000000..e179caf8053edecb929744c0ffd2a5107c4da50e
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/electrochem.py
@@ -0,0 +1,351 @@
+"""Electrochemistry class ("electrochem"): potentiostats and electrochemical workstations - Gamry Reference 620, CH Instruments
+CHI920D (scanning electrochemical microscope) and CHI440C (EQCM), and the Pine WaveVortex 10 rotating ring-disk electrode rotator.
+Members and mappings: configs/adapters/electrochem.json.
+
+Verbs: connect PORT=ID ..., technique NAME [options], start [--time T --interval DT] (job), stop, data [--save-to F],
+rotate SPEED|off, move X Y Z, zero, status.  power / open / close come from the shared layer.
+
+Techniques (potentials vs the instrument's reference electrode; current signs follow each member's own convention, given in
+`chemlab help INST technique` - the Gamry and the Pine use IUPAC (anodic positive), the CHI440C twin cathodic positive):
+
+    cv    --from 0.6V --to -0.2V [--rate 100mV/s] [--step 1mV] [--cycles 1]       cyclic voltammetry (from -> to -> from)
+    lsv   --from 0V --to 0.8V [--rate 50mV/s] [--step 1mV]                        linear sweep
+    ca    --potential 0.5V --time 10s [--interval 0.1s]                            chronoamperometry (potential step)
+    cp    --current 10uA --time 10s [--interval 0.1s]                              chronopotentiometry (current step)
+    steps --program 0.2V@2s,0.5V@1s | 10uA@2s,-10uA@1s [--interval 0.1s]          a staircase of potential or current steps
+    qcm   --time 10s [--interval 0.1s]                                             quartz crystal frequency only (EQCM)
+    secm-line / secm-approach --path X,Y,Z;X,Y,Z;... --tip 0.5V --substrate 0V [--dwell 0.3s] [--min-gap 1um]
+                                                                                   SECM probe scan / approach curve
+
+Each member lowers the technique to its own form: the Gamry plays a discrete waveform (a sample interval and a list of values),
+the CHI440C runs a step list, the CHI920D a probe path.  Values the technique needs but the agent did not give (the reference
+electrode label, the SECM dwell or minimum gap) keep the last accepted ones on the instrument, else the documented defaults.
+
+Vendor-neutral references: IUPAC electrochemical conventions; Gamry Framework / Toolkit, the CHI macro language and BioLogic
+EC-Lab technique names as vendor styles; ASTM G5 / G59 terms for potentiodynamic scans.
+"""
+import re
+
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .method_common import MethodAdapter
+
+REF = ('Gamry Reference 620 operator\'s manual (cell connections p.49-52, controls p.53-63) and Framework Pstat class help; CHI900D '
+       'series SECM user manual (setup and control menus p.57-158); CHI 400C series EQCM product page and brochure (p.3-7); Pine '
+       'WaveVortex 10 user guide (rate control, external stop, enclosure p.13-40)')
+TECHNIQUES = ('cv', 'lsv', 'ca', 'cp', 'steps', 'qcm', 'secm-line', 'secm-approach')
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+
+def parse_rate(text):
+    """A scan rate like 100mV/s, 0.1V/s or 50 (mV/s) -> V/s."""
+    t = text.strip().replace(' ', '').lower()
+    m = re.fullmatch('(' + _NUM + r')(mv/s|v/s|mv/min|v/min)?', t)
+    if not m:
+        raise invalid('BAD_NUMBER', '%r is not a scan rate.' % text, 'write it like 100mV/s or 0.05V/s.')
+    v = float(m.group(1))
+    unit = m.group(2) or 'mv/s'
+    f = {'mv/s': 1e-3, 'v/s': 1.0, 'mv/min': 1e-3 / 60, 'v/min': 1.0 / 60}[unit]
+    if v <= 0:
+        raise invalid('BAD_NUMBER', 'the scan rate must be positive.', 'write it like 100mV/s.')
+    return v * f
+
+
+class ElectrochemAdapter(MethodAdapter):
+    CLASS = 'electrochem'
+    TITLE = 'electrochemistry'
+    ABOUT = ('Electrochemical workstations: connect the electrodes and the cell, choose a technique (cv, lsv, ca, cp, steps, qcm, '
+             'SECM scans) in plain units, start it and follow it as a job, read the current / potential / frequency series, rotate '
+             'a ring-disk electrode, move an SECM probe, zero a QCM baseline.')
+    STANDARDS = ('IUPAC electrochemical conventions (potential vs reference, anodic current positive); ASTM G5 / G59 terms; Gamry '
+                 'Toolkit, CHI macro language and BioLogic EC-Lab technique names as vendor styles')
+    UNIT_KINDS = ('voltage', 'current', 'duration', 'length', 'rotation')
+    PATH_GROUPS = (('start', 'stop', 'data'),)
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        e = lambda h: Opt(h, kind='voltage', metavar='E')       # noqa: E731
+        return {
+            'connect': Verb('connect', 'register the electrodes and the cell in their slots: PORT=ID ... (ID none = take out)',
+                            self.h_connect, variadic=('PORT=ID', 'e.g. working=we_01 reference=ref_01 counter=ce_01 cell=cell_01'),
+                            preconditions=['no technique running'], errors=['UNKNOWN_PORT (usage)', 'BUSY (refused)'],
+                            example='chemlab run INST connect working=we_01 reference=ref_01 counter=ce_01 cell=cell_01', reference=REF),
+            'technique': Verb('technique', 'choose the technique and its waveform / steps / path (see help)', self.h_technique,
+                              positionals=[Arg('NAME', 'technique', choices=list(TECHNIQUES))],
+                              options={'from': e('start potential (cv, lsv)'), 'to': e('vertex / end potential (cv, lsv)'),
+                                       'rate': Opt('scan rate (cv, lsv), e.g. 100mV/s (default 100mV/s)', metavar='RATE'),
+                                       'step': Opt('potential step of the sweep (default 1mV)', kind='voltage', metavar='E'),
+                                       'cycles': Opt('number of cycles (cv, default 1)', metavar='N'),
+                                       'potential': e('step potential (ca)'),
+                                       'current': Opt('step current (cp), e.g. 10uA', kind='current', metavar='I'),
+                                       'time': Opt('duration (ca, cp, qcm)', kind='duration', metavar='TIME'),
+                                       'interval': Opt('sample interval (default 0.1s)', kind='duration', metavar='TIME'),
+                                       'program': Opt('steps: VALUE@TIME,... e.g. 0.2V@2s,0.5V@1s or 10uA@2s,-10uA@1s', metavar='LIST'),
+                                       'path': Opt('SECM probe path X,Y,Z;X,Y,Z;... (bare numbers in mm; e.g. -40um,-40um,5um;40um,-40um,5um)',
+                                                   metavar='PATH'),
+                                       'tip': e('SECM tip potential'), 'substrate': e('SECM substrate potential'),
+                                       'dwell': Opt('SECM dwell per point', kind='duration', metavar='TIME'),
+                                       'min-gap': Opt('SECM smallest tip-substrate gap', kind='length', metavar='L'),
+                                       'reference': Opt('reference electrode label recorded with the method', metavar='TEXT')},
+                              preconditions=['the technique exists on this instrument', 'potentials, currents, times within the contract '
+                                             'ranges', 'no technique running'],
+                              errors=['NOT_ON_THIS_INSTRUMENT, MISSING_OPTION, OUT_OF_RANGE, TOO_MANY_POINTS (usage)', 'BUSY (refused)'],
+                              example='chemlab run INST technique cv --from 0.6V --to -0.2V --rate 100mV/s', reference=REF),
+            'start': Verb('start', 'start the technique (returns job-N)', self.h_start, long_action=True,
+                          options={'time': Opt('measurement duration (rotator data acquisition)', kind='duration', metavar='TIME'),
+                                   'interval': Opt('sample interval (rotator, default 0.1s)', kind='duration', metavar='TIME')},
+                          preconditions=['power on', 'electrodes and cell connected', 'a technique set', 'a sample in the cell',
+                                         'covers closed', 'the electrode rotating (rotator)'],
+                          errors=['POWER_OFF, NOT_CONNECTED, NO_TECHNIQUE, NO_SAMPLE, LID_OPEN, ROTATION_OFF, BUSY (refused)'],
+                          example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'stop the technique (the data so far are kept)', self.h_stop, preconditions=['a technique running'],
+                         errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop'),
+            'data': Verb('data', 'the recorded series (time, potential, current, frequency, ring/disk currents)', self.h_record('data', 'data'),
+                         readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST data --save-to cv.json'),
+            'rotate': Verb('rotate', 'rotate the electrode at a speed, or stop it', self.h_rotate,
+                           positionals=[Arg('SPEED|off', 'e.g. 1600rpm, or off')], preconditions=['power on', 'speed 100..8000 rpm'],
+                           errors=['OUT_OF_RANGE (usage)', 'POWER_OFF (refused)'], example='chemlab run INST rotate 1600rpm', reference=REF),
+            'move': Verb('move', 'move the probe to X Y Z (bare numbers in mm) and wait until it is there', self.h_move, long_action=True,
+                         positionals=[Arg('X', 'x, e.g. 0um', kind='length'), Arg('Y', 'y', kind='length'), Arg('Z', 'z (height)', kind='length')],
+                         preconditions=['power on', 'no scan running', 'inside the stage travel'],
+                         errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, BUSY (refused)'], example='chemlab run INST move 0um 0um 1mm', reference=REF),
+            'zero': Verb('zero', 'zero the QCM frequency baseline (the next shifts count from here)', self.h_zero,
+                         preconditions=['power on', 'a valid frequency reading', 'no technique running'],
+                         errors=['NO_SIGNAL, BUSY (refused)'], example='chemlab run INST zero', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ technique
+    def program_steps(self, ctx, text):
+        """'0.2V@2s,0.5V@1s' -> ('potential' | 'current', [(value SI, seconds)])."""
+        out, kinds = [], set()
+        for part in [x for x in text.replace(';', ',').split(',') if x.strip()]:
+            val, at, dur = part.partition('@')
+            if not at:
+                ctx.fail(invalid('BAD_PROGRAM', '%r is not VALUE@TIME.' % part, 'write e.g. --program 0.2V@2s,0.5V@1s.'))
+            v = val.strip().lower()
+            kind = 'current' if re.search(r'[mun]?a$', v) or v.endswith('µa') else 'voltage'
+            kinds.add(kind)
+            out.append((units.parse(val, kind, what='step value'), units.parse(dur, 'duration', what='step time')))
+        if not out:
+            ctx.fail(invalid('BAD_PROGRAM', 'the program is empty.', 'write e.g. --program 0.2V@2s,0.5V@1s.'))
+        if len(kinds) > 1:
+            ctx.fail(invalid('BAD_PROGRAM', 'a program holds either potentials or currents, not both.', 'give all steps in V or all in A.'))
+        return ('current' if kinds == {'current'} else 'potential'), out
+
+    def need_opts(self, ctx, p, name, opts):
+        missing = [o for o in opts if p.get(o) is None]
+        if missing:
+            ctx.fail(invalid('MISSING_OPTION', 'technique %s needs %s.' % (name, ', '.join('--' + o for o in missing)),
+                             'see `chemlab help %s technique`.' % self.instrument_id))
+
+    def waveform(self, ctx, p, name, m):
+        """Gamry style: {'mode', 'sample_interval_s', 'values'}."""
+        limit = int(m.get('max_points', 10000))
+        if name in ('cv', 'lsv'):
+            self.need_opts(ctx, p, name, ('from', 'to'))
+            e1, e2 = p.get('from'), p.get('to')
+            rate = parse_rate(p.get('rate') or '100mV/s')
+            step = p.get('step') or 1e-3
+            if step <= 0:
+                ctx.fail(invalid('BAD_NUMBER', '--step must be positive.', 'give e.g. --step 1mV.'))
+            if e1 == e2:
+                ctx.fail(invalid('BAD_SWEEP', '--from and --to are the same potential.', 'give two different potentials.'))
+            try:
+                cycles = int(p.get('cycles') or 1)
+            except ValueError:
+                ctx.fail(invalid('BAD_NUMBER', '--cycles %s is not a whole number.' % p.get('cycles'), 'give e.g. --cycles 3.'))
+            n = int(round(abs(e2 - e1) / step))
+            if n < 1:
+                ctx.fail(invalid('BAD_SWEEP', 'the step is larger than the sweep.', 'give a smaller --step.'))
+            fwd = [round(e1 + (e2 - e1) * i / n, 9) for i in range(n + 1)]
+            if name == 'lsv':
+                values = fwd
+            else:
+                values = [fwd[0]]
+                for _ in range(max(1, cycles)):
+                    values += fwd[1:] + list(reversed(fwd[:-1]))
+            interval = round(abs(e2 - e1) / n / rate, 12)
+            mode = 'potential'
+        elif name in ('ca', 'cp'):
+            self.need_opts(ctx, p, name, ('potential' if name == 'ca' else 'current', 'time'))
+            interval = p.get('interval') or 0.1
+            n = int(round(p.get('time') / interval))
+            values = [round(p.get('potential') if name == 'ca' else p.get('current'), 12)] * max(1, n)
+            mode = 'potential' if name == 'ca' else 'current'
+        elif name == 'steps':
+            self.need_opts(ctx, p, name, ('program',))
+            mode, steps = self.program_steps(ctx, p.get('program'))
+            interval = p.get('interval') or 0.1
+            values = []
+            for v, t in steps:
+                values += [round(v, 12)] * max(1, int(round(t / interval)))
+        else:
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s does not run %s.' % (self.instrument_id, name),
+                             'techniques of %s: %s.' % (self.instrument_id, ', '.join(m['techniques']))))
+        if len(values) > limit:
+            ctx.fail(invalid('TOO_MANY_POINTS', 'that waveform has %d points; %s plays at most %d.' % (len(values), self.instrument_id, limit),
+                             'use a larger --step or --interval, or fewer cycles.'))
+        return {m['arg']: {'mode': mode, 'sample_interval_s': interval, 'values': values}}, {
+            'technique': name, 'points': len(values), 'sample_interval_s': interval, 'duration_s': interval * max(0, len(values) - 1),
+            'mode': mode}
+
+    def step_list(self, ctx, p, name, m):
+        """CHI440C style: {'mode', 'steps': [{duration_s, potential_v, current_a}], 'sample_interval_s', 'reference_electrode'}."""
+        interval = p.get('interval') or 0.1
+        if name == 'ca':
+            self.need_opts(ctx, p, name, ('potential', 'time'))
+            mode, steps = 'potential', [(p.get('potential'), p.get('time'))]
+        elif name == 'cp':
+            self.need_opts(ctx, p, name, ('current', 'time'))
+            mode, steps = 'current', [(p.get('current'), p.get('time'))]
+        elif name == 'steps':
+            self.need_opts(ctx, p, name, ('program',))
+            mode, steps = self.program_steps(ctx, p.get('program'))
+        elif name == 'qcm':
+            self.need_opts(ctx, p, name, ('time',))
+            mode, steps = 'qcm_only', [(0.0, p.get('time'))]
+        else:
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s does not run %s.' % (self.instrument_id, name),
+                             'techniques of %s: %s.' % (self.instrument_id, ', '.join(m['techniques']))))
+        native_mode = {'potential': 'potential', 'current': 'current', 'qcm_only': 'qcm_only'}[mode]
+        rows = []
+        for v, t in steps:
+            k = t / interval
+            if abs(k - round(k)) > 1e-6 or round(k) < 1:
+                ctx.fail(invalid('BAD_STEP', 'step time %s is not a whole number of sample intervals (%s).' % (units.fmt_s(t), units.fmt_s(interval)),
+                                 'make every step time a multiple of --interval.'))
+            rows.append({'duration_s': t, 'potential_v': round(v, 12) if native_mode == 'potential' else 0.0,
+                         'current_a': round(v, 12) if native_mode == 'current' else 0.0})
+        args = {'mode': native_mode, 'steps': rows, 'sample_interval_s': interval}
+        if p.get('reference'):
+            args['reference_electrode'] = p.get('reference')
+        return args, {'technique': name, 'steps': len(rows), 'sample_interval_s': interval, 'duration_s': sum(r['duration_s'] for r in rows)}
+
+    def probe_path(self, ctx, p, name, m):
+        """CHI920D style: {'mode', 'path': [{x_m, y_m, z_m}], 'dwell_s', 'tip_potential_v', 'substrate_potential_v', ...}."""
+        if name not in ('secm-line', 'secm-approach'):
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s does not run %s.' % (self.instrument_id, name),
+                             'techniques of %s: %s.' % (self.instrument_id, ', '.join(m['techniques']))))
+        self.need_opts(ctx, p, name, ('path',))
+        pts = []
+        for chunk in [x for x in p.get('path').split(';') if x.strip()]:
+            xyz = [x for x in chunk.split(',') if x.strip()]
+            if len(xyz) != 3:
+                ctx.fail(invalid('BAD_PATH', '%r is not X,Y,Z.' % chunk, 'write points like -40um,-40um,5um;40um,-40um,5um.'))
+            x, y, z = (units.parse(v, 'length', what='path') for v in xyz)
+            pts.append({'x_m': round(x, 12), 'y_m': round(y, 12), 'z_m': round(z, 12)})
+        args = {'mode': 'constant_height' if name == 'secm-line' else 'approach', 'path': pts}
+        for opt, arg in (('tip', 'tip_potential_v'), ('substrate', 'substrate_potential_v'), ('dwell', 'dwell_s'), ('min-gap', 'min_gap_m')):
+            if p.get(opt) is not None:
+                args[arg] = p.get(opt)
+        if p.get('reference'):
+            args['reference_electrode'] = p.get('reference')
+        return args, {'technique': name, 'points': len(pts)}
+
+    def h_technique(self, ctx, p):
+        m = self.vmap('technique')
+        name = p.pos[0]
+        if name not in m['techniques']:
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s does not run %s.' % (self.instrument_id, name),
+                             'techniques of %s: %s.' % (self.instrument_id, ', '.join(m['techniques']))))
+        style = m['style']
+        args, info = {'waveform': self.waveform, 'steps': self.step_list, 'secm': self.probe_path}[style](ctx, p, name, m)
+        kept = self.keep_missing(ctx, m['cap'], args, m.get('keep') or {})
+        self.need(ctx, 'technique')
+        self.validate_call(ctx, m['cap'], args)
+        ctx.call(m['cap'], args, 'set the technique (%s)' % name)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        extra = []
+        if kept['kept_last'] or kept['kept_example']:
+            extra.append('kept: %s' % ', '.join('%s=%s' % (k, short(v, 40)) for k, v in list(kept['kept_last'].items()) + list(kept['kept_example'].items())))
+        def show(k, v):
+            if k.endswith('_s') and finite(v):
+                return ('%g ms' % round(v * 1000, 6)) if v < 1 else units.fmt_s(v)
+            return v if isinstance(v, str) else short(v, 30)
+        desc = ', '.join('%s %s' % (k.replace('_s', '').replace('_', ' '), show(k, v)) for k, v in info.items())
+        return {'text': 'ok: %s technique set (%s)%s\n' % (self.instrument_id, desc, ('; ' + '; '.join(extra)) if extra else ''),
+                'json': dict(info, arguments_kept=kept)}
+
+    # ------------------------------------------------------------------ run
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        args = dict(m.get('args') or {})
+        if m.get('time_arg'):
+            if p.get('time') is None:
+                ctx.fail(invalid('MISSING_OPTION', 'start on %s needs --time (how long to record).' % self.instrument_id,
+                                 'give e.g. --time 30s (and --interval 0.1s).'))
+            args[m['time_arg']] = p.get('time')
+            args[m['interval_arg']] = p.get('interval') or 0.1
+            self.validate_call(ctx, m['cap'], args, {m['time_arg']: '--time', m['interval_arg']: '--interval'})
+        elif p.get('time') is not None or p.get('interval') is not None:
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s takes the duration from its technique; start takes no --time / --interval.'
+                             % self.instrument_id, 'set them with `chemlab run %s technique ...`.' % self.instrument_id))
+        self.running_check(ctx)
+        self.need(ctx, 'start')
+        r = ctx.call(m['cap'], args, 'start (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r, '%s on %s' % (self.TITLE, self.instrument_id), stop=self.stop_fn())
+        out = self.job_reply(job, 'ok: %s started' % self.instrument_id)
+        out['json'].update({'arguments': args})
+        return out
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.need(ctx, 'stop')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped\n' % self.instrument_id, 'json': {}}
+
+    def h_rotate(self, ctx, p):
+        m = self.vmap('rotate')
+        text = p.raw['SPEED|off'].strip().lower()
+        self.need(ctx, 'rotate')
+        if text in ('off', 'stop', '0'):
+            ctx.call(m['run_cap'], {m['run_arg']: False}, 'stop the rotation')
+            return {'text': 'ok: %s rotation off\n' % self.instrument_id, 'json': {'rotating': False}}
+        w = units.parse(text, 'rotation', what='speed')
+        lo, hi = float(m.get('min_rad_s', 0.0)), self.arg_range_si(m['cap'], m['arg'])[1]
+        if w < lo - 1e-9 or (hi is not None and w > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'speed %s is outside the range of %s (%s to %s, or off).' % (
+                units.fmt(w, 'rotation'), self.instrument_id, units.fmt(lo, 'rotation'), units.fmt(hi, 'rotation')),
+                'give a speed from %s to %s.' % (units.fmt(lo, 'rotation'), units.fmt(hi, 'rotation'))))
+        ctx.call(m['cap'], {m['arg']: self.arg_value(m['cap'], m['arg'], w)}, 'set the speed to %s' % units.fmt(w, 'rotation'))
+        if not ctx.v(m['run_slot']):
+            ctx.call(m['run_cap'], {m['run_arg']: True}, 'start the motor')
+        return {'text': 'ok: %s rotating at %s\n' % (self.instrument_id, units.fmt(w, 'rotation')),
+                'json': {'rotating': True, 'speed_rad_s': w, 'speed_rpm': w * 60 / (2 * 3.141592653589793)}}
+
+    def h_move(self, ctx, p):
+        m = self.vmap('move')
+        xyz = [p.pos[0], p.pos[1], p.pos[2]]
+        self.need(ctx, 'move')
+        args = {a: round(self.arg_value(m['cap'], a, v), 12) for a, v in zip(m['args_xyz'], xyz)}
+        self.validate_call(ctx, m['cap'], args, dict(zip(m['args_xyz'], ('X', 'Y', 'Z'))))
+        ctx.call(m['cap'], args, 'move the probe to %s' % ', '.join(units.fmt(v, 'length') for v in xyz))
+        tol = float(m.get('tolerance_m', 1e-8))
+        axes = m['axes']
+        waited = self.settle(ctx, lambda c: not c.v(m['moving_slot']) and all(finite(c.v(a)) and abs(c.v(a) - args[n]) <= tol
+                                                                              for a, n in zip(axes, m['args_xyz'])),
+                             'wait for the positioner', float(m.get('max_s', 120.0)), poll_s=0.5)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s probe at %s (%s of moving)\n' % (self.instrument_id, ', '.join(units.fmt(ctx.v(a), 'length') for a in axes),
+                                                               units.fmt_s(waited)),
+                'json': {'position_m': [ctx.v(a) for a in axes], 'waited_s': waited}}
+
+    def h_zero(self, ctx, p):
+        m = self.vmap('zero')
+        self.need(ctx, 'zero')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'zero the baseline')
+        b = self.sv(ctx, m.get('report_slot')) if m.get('report_slot') else None
+        return {'text': 'ok: %s baseline zeroed%s\n' % (self.instrument_id, (' at %s' % short(b, 30)) if b is not None else ''),
+                'json': {'baseline': b}}
+
+    def explain_refusal(self, ctx, cap, args, response):
+        return MethodAdapter.explain_refusal(self, ctx, cap, args, response)
+
+
+_ = refused
diff --git a/chemlab/chemlab/compile/classes/enclosure.py b/chemlab/chemlab/compile/classes/enclosure.py
new file mode 100644
index 0000000000000000000000000000000000000000..f80f383299784ed500f5437328e6a785ceb8ac46
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/enclosure.py
@@ -0,0 +1,436 @@
+"""Enclosure class ("enclosure"): an inert-atmosphere glovebox, a biological safety cabinet and a chemical fume hood - devices whose
+job is a protected workspace.
+
+Verbs: sash close|safe|open|HEIGHT [--hold], fan on|off|standby|SPEED [--wait], light on|off, uv on|off, mode NAME,
+cycle [start|stop] [--cycles N] [--wait], read, open / close PART (the glovebox antechamber doors), status.  power, ack, estop come
+from the shared layer; the glovebox's box pressure and gas purification are gas_fluid verbs (setpoint, start / stop).  Members and
+mappings: configs/adapters/enclosure.json.
+
+The value of the class is the safety logic, checked before anything is sent and explained in plain words:
+
+* sash: named positions per member (closed, the safe working height, fully open); a hood sash above its stop needs --hold and is
+  refused while the key lock limits it; the cabinet's motorised sash moves stop by stop and the verb waits until it has arrived;
+* fan: the cabinet's blower runs only with the sash at a working height; --wait waits for the warm-up (airflow OK);
+* uv: the cabinet's UV lamp only with the sash closed and the blower off (EN 12469 / NSF 49 practice);
+* antechamber doors: never both open, never during a cycle, and the inner door only after the antechamber has been evacuated and
+  refilled since the outer door was last opened (glovebox practice; tracked by this layer for doors opened through it);
+* cycle: the antechamber evacuate / refill cycles as a job (job-N), with both doors closed.
+
+Vendor-neutral terms: EN 12469 / NSF 49 (biosafety cabinets: inflow, downflow, safe sash height, UV interlock), EN 14175 / ASHRAE 110
+(fume hoods: face velocity, sash stop, night setback), ISO 10648-2 (gloveboxes: antechamber transfer); no command standard exists.
+"""
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite
+from ..errors import invalid, refused, unsupported
+from ..jobs import StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .gas_fluid import fmt_value
+
+def mm(h):
+    return '%.0f mm' % (h * 1000.0) if finite(h) else 'n/a'
+
+
+REF = ('Esco Airstream / Labculture AC2 manual: sash positions, blower start and warm-up, UV lamp interlock, operating modes; '
+       'Esco Frontier Acela manual: sash stop and key lock, airflow monitor, night setback, light and fan switches; Inert PureLab HE '
+       'manual: antechamber doors and cycles, blower, lighting')
+ON_OFF = ['on', 'off']
+
+
+class EnclosureAdapter(ClassAdapter):
+    CLASS = 'enclosure'
+    TITLE = 'protected workspace (glovebox, biosafety cabinet, fume hood)'
+    ABOUT = ('Enclosures that keep a protected workspace: move the sash to a named position or height, run the fan / blower, '
+             'switch the light and the UV lamp, choose the operating mode, cycle the glovebox antechamber, open and close its doors, '
+             'and read airflow / atmosphere.  The safety interlocks are checked before anything is sent.')
+    STANDARDS = 'EN 12469 / NSF 49 (biosafety cabinets), EN 14175 / ASHRAE 110 (fume hoods), ISO 10648-2 (gloveboxes); no command standard'
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('length', 'fraction', 'duration')
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'ACCESS_DENIED': ('NOT_YOURS', 'what is running on {inst} was started by someone else; only they can stop, interrupt or change it.',
+                          'wait until it has ended (`chemlab run {inst} status`), or ask whoever started it.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (the room / exhaust is not declared).', 'ask the lab operator.'),
+        'SASH_CLOSED': ('SASH_CLOSED', 'the sash of {inst} is closed (below the safe height).', 'raise it: `chemlab run {inst} sash safe`.'),
+        'SASH_NOT_CLOSED': ('SASH_NOT_CLOSED', 'the UV lamp of {inst} works only with the sash fully closed.', 'close it: `chemlab run {inst} sash close`.'),
+        'FAN_RUNNING': ('FAN_RUNNING', 'the blower of {inst} is running (or purging).', 'switch it off and let the post-purge end: `chemlab run {inst} fan off`.'),
+        'STANDBY': ('STANDBY', '{inst} is in standby: only the fan key works.', 'switch the fan on: `chemlab run {inst} fan on`.'),
+        'WARMING_UP': ('WARMING_UP', '{inst} is warming up (only fan and light keys work).', 'wait for the warm-up: `chemlab run {inst} fan on --wait`.'),
+        'POST_PURGE': ('POST_PURGE', '{inst} is post-purging after the fan was switched off.', 'wait until it has finished (`chemlab run {inst} status`).'),
+        'SASH_AT_LIMIT': ('SASH_AT_LIMIT', 'the sash of {inst} is already at its end stop in that direction.', 'see `chemlab run {inst} status`.'),
+        'SASH_LOCKED': ('SASH_LOCKED', 'the sash of {inst} is locked closed by its key lock.', 'ask the lab operator to unlock it.'),
+        'ABOVE_STOP_LOCKED': ('ABOVE_STOP_LOCKED', 'the key lock of {inst} limits the sash to its stop height.', 'stay at or below the stop (`sash safe`).'),
+        'MAINTENANCE_MODE': ('MAINTENANCE_MODE', '{inst} is in maintenance mode.', 'leave maintenance mode first (needs the admin PIN).'),
+        'MENU_CLOSED': ('MENU_CLOSED', 'the menu of {inst} is not open.', 'see `chemlab describe {inst}` (menu.enter).'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def check_mapping(self, lab):
+        """The base check; a 'slot#key' (a key of an object slot) is fine when the slot itself is visible."""
+        visible = {s.lower() for s in lab.view.slots}
+        out = []
+        for pr in ClassAdapter.check_mapping(self, lab):
+            m = re.search(r'no visible state slot (\S+)$', pr)
+            if m and '#' in m.group(1) and m.group(1).split('#', 1)[0].lower() in visible:
+                continue
+            out.append(pr)
+        return out
+
+    def sv(self, values, sid):
+        if sid is None:
+            return None
+        get = values.v if hasattr(values, 'v') else values.get
+        base, _, key = sid.partition('#')
+        v = get(base)
+        return v.get(key) if key and isinstance(v, dict) else v
+
+    def show(self, values, sid):
+        base = sid.split('#', 1)[0]
+        u = (self.lab.contract['state_slots'].get(base) or {}).get('unit') if '#' not in sid else None
+        v = self.sv(values, sid)
+        if base.endswith('mole_fraction') and finite(v):
+            return '%.3g ppm' % (v * 1e6)
+        return fmt_value(v, u)
+
+    def summary(self, values):
+        lines, js = [], {}
+        p = self.slot('power')
+        if p:
+            js['power'] = bool(self.sv(values, p))
+            if not js['power']:
+                return ['power off'], js
+        for sid in (self.vmap('read') or {}).get('reads') or []:
+            lines.append('%s = %s' % (sid, self.show(values, sid)))
+            js[sid] = self.sv(values, sid)
+        return (lines or ['(see `chemlab read %s`)' % self.instrument_id]), js
+
+    def m_check(self, ctx, verb):
+        self.requirements(ctx, verb)
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        part = [Arg('PART', 'which door (see `chemlab help INST open`)', required=False)]
+        return {
+            'sash': Verb('sash', 'move the sash: close, safe (the working height), open, or a height such as 400mm', self.h_sash,
+                         positionals=[Arg('POSITION', 'close | safe | open | a height (e.g. 400mm)')],
+                         options={'hold': Opt('hold the sash above its stop (it falls back to the stop when released)', kind='flag')},
+                         preconditions=['height within the sash range', 'above the stop only with --hold and no key-lock limit', 'not locked closed'],
+                         errors=['OUT_OF_RANGE, UNKNOWN_POSITION (usage)', 'NEEDS_HOLD, SASH_LOCKED, ABOVE_STOP_LOCKED (refused)'],
+                         example='chemlab run INST sash safe', reference=REF, long_action=True),
+            'fan': Verb('fan', 'switch the fan / blower on, off or to standby, or set the blower speed (e.g. 60%)', self.h_fan,
+                        positionals=[Arg('on|off|standby|SPEED', 'on, off, standby, or a speed in %')],
+                        options={'wait': Opt('with on: wait until the warm-up has finished and the airflow is OK', kind='flag'),
+                                 'max': Opt('with --wait: the longest wait (default 10 min)', kind='duration', metavar='TIME')},
+                        preconditions=['sash at a working height (cabinet)'], errors=['SASH_CLOSED, STANDBY (refused)', 'NOT_READY (refused: --wait ran out)'],
+                        example='chemlab run INST fan on --wait', reference=REF),
+            'light': Verb('light', 'switch the work-area light on or off', self.h_light, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                          preconditions=['sash not closed (cabinet)'], errors=['SASH_CLOSED (refused)'], example='chemlab run INST light on', reference=REF),
+            'uv': Verb('uv', 'switch the UV lamp on or off', self.h_uv, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                       preconditions=['sash fully closed', 'blower off and post-purge ended'], errors=['SASH_NOT_CLOSED, FAN_RUNNING (refused)'],
+                       example='chemlab run INST uv on', reference=REF),
+            'mode': Verb('mode', 'choose the operating mode (cabinet: normal | quickstart; hood: normal | night)', self.h_mode,
+                         positionals=[Arg('MODE', 'the member\'s mode name')], errors=['UNKNOWN_MODE (usage)'], example='chemlab run INST mode night', reference=REF),
+            'cycle': Verb('cycle', 'run the antechamber evacuate / refill cycles (job-N), or stop them', self.h_cycle,
+                          positionals=[Arg('start|stop', 'start (default) or stop', required=False, choices=['start', 'stop'])],
+                          options={'cycles': Opt('number of evacuate / refill cycles (default: the one set)', metavar='N'),
+                                   'wait': Opt('wait until the cycles have finished', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                          preconditions=['both antechamber doors closed', 'no cycle running', 'power on'],
+                          errors=['DOOR_OPEN, BUSY (refused)', 'BAD_CYCLES (usage)'], long_action=True,
+                          example='chemlab run INST cycle --cycles 3 --wait', reference=REF),
+            'read': Verb('read', 'airflow / atmosphere / pressure readings in plain units', self.h_read, readonly=True, options={'save-to': save_to_opt()},
+                         example='chemlab run INST read'),
+            'open': Verb('open', 'open an antechamber door (outer or inner), with the interlocks checked', self.h_door('open'), positionals=part,
+                         preconditions=['the other door closed', 'no cycle running', 'inner door: antechamber cycled since the outer door was opened'],
+                         errors=['OTHER_DOOR_OPEN, CYCLE_RUNNING, ANTECHAMBER_NOT_PURGED (refused)'], example='chemlab run INST open outer', reference=REF),
+            'close': Verb('close', 'close an antechamber door (outer or inner)', self.h_door('close'), positionals=part,
+                          example='chemlab run INST close outer', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ sash
+    def h_sash(self, ctx, p):
+        m = self.vmap('sash')
+        text = p.raw['POSITION'].strip().lower()
+        stops = m.get('stops') or {}
+        words = {'closed': 'close', 'shut': 'close', 'down': 'close', 'working': 'safe', 'work': 'safe', 'full': 'open', 'up': 'open'}
+        name = words.get(text, text)
+        if name in stops:
+            h = float(stops[name])
+        elif m.get('style') == 'height':
+            try:
+                h = units.parse(text, 'length', what='height')
+            except Exception:
+                ctx.fail(invalid('UNKNOWN_POSITION', '%r is not a sash position of %s.' % (p.raw['POSITION'], self.instrument_id),
+                                 'positions: %s, or a height such as 400mm.' % ', '.join(stops)))
+            name = None
+        else:
+            ctx.fail(invalid('UNKNOWN_POSITION', '%s has a motorised sash with fixed stops; %r is not one.' % (self.instrument_id, p.raw['POSITION']),
+                             'positions: %s.' % ', '.join(stops)))
+        if m.get('style') == 'height':
+            return self.sash_height(ctx, m, h, name, p.get('hold'))
+        return self.sash_stops(ctx, m, h, name)
+
+    def sash_height(self, ctx, m, h, name, hold):
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and h < lo - 1e-9) or (hi is not None and h > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'sash height %s is outside %s..%s on %s.' % (mm(h), mm(lo), mm(hi),
+                                                                                       self.instrument_id), 'give a height from %s to %s.' % (mm(lo), mm(hi))))
+        stop = float(m.get('stop_m', hi or h))
+        lock = self.sv(ctx, self.slot('keylock')) if self.slot('keylock') else None
+        ctx.check(not (lock == 'closed' and h > 0), 'SASH_LOCKED', 'the sash of %s is locked closed by its key lock.' % self.instrument_id,
+                  'ask the lab operator to unlock it.', label='not locked closed')
+        above = h > stop + 1e-9
+        ctx.check(not (above and lock == 'limit'), 'ABOVE_STOP_LOCKED', 'the key lock of %s limits the sash to its stop at %s.' % (self.instrument_id, mm(stop)),
+                  'stay at or below the stop: `chemlab run %s sash safe`.' % self.instrument_id, label='no key-lock limit above the stop')
+        ctx.check(not above or hold, 'NEEDS_HOLD', '%s is above the sash stop of %s (%s): the sash falls back unless it is held.' % (
+            mm(h), self.instrument_id, mm(stop)),
+            'add --hold (e.g. to load large equipment), and lower it to the stop afterwards (`sash safe`).', label='held above the stop', kind='usage')
+        self.requirements(ctx, 'sash')
+        args = {m['arg']: round(self.arg_value(m['cap'], m['arg'], h), 6)}
+        if m.get('hold_arg'):
+            args[m['hold_arg']] = bool(above and hold)
+        before = self.sv(ctx, m['slot'])
+        ctx.call(m['cap'], args, 'move the sash to %s' % mm(h))
+        now = self.sv(ctx, m['slot'])
+        notes = []
+        if above:
+            notes.append('the sash is held above its stop; lower it to the working height (`sash safe`) when done.')
+        return {'text': 'ok: %s sash at %s%s (was %s)\n' % (self.instrument_id, mm(now) if finite(now) else 'n/a', (' (%s)' % name) if name else '',
+                                                           mm(before) if finite(before) else 'n/a'),
+                'json': {'height_m': now, 'was_m': before, 'position': name, 'held': bool(above and hold)}, 'notes': notes}
+
+    def sash_stops(self, ctx, m, h, name):
+        self.requirements(ctx, 'sash')
+        tol = float(m.get('tolerance_m', 0.005))
+        cur = self.sv(ctx, m['slot'])
+        if finite(cur) and abs(cur - h) <= tol and self.sv(ctx, m['status_slot']) != 'moving':
+            return {'text': 'ok: %s sash is already %s (%s)\n' % (self.instrument_id, name, mm(cur)), 'json': {'position': name, 'changed': False}}
+        t0 = ctx.now()
+        for _ in range(4):
+            cur = self.sv(ctx, m['slot'])
+            if finite(cur) and abs(cur - h) <= tol:
+                break
+            direction = 'up' if (not finite(cur) or cur < h) else 'down'
+            ctx.call(m['cap'], {m['dir_arg']: direction}, 'press sash %s (to the next stop)' % direction)
+            if ctx.dry_run:
+                ctx.plan.append({'capability': None, 'arguments': {}, 'step': 'wait until the sash has stopped, then continue to %s' % name})
+                break
+            ctx.advance(float(m.get('max_move_s', 60.0)), until=lambda v: self.sv(ctx, m['status_slot']) != 'moving', step='wait for the sash', poll_s=1.0)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        cur = self.sv(ctx, m['slot'])
+        if not (finite(cur) and abs(cur - h) <= tol):
+            ctx.fail(refused('SASH_NOT_THERE', 'the sash of %s stopped at %s, not at %s.' % (self.instrument_id, mm(cur) if finite(cur) else 'n/a', name),
+                             'check `chemlab run %s status` (sash sensor, motor lock).' % self.instrument_id))
+        return {'text': 'ok: %s sash %s (%s) after %s; status %s\n' % (self.instrument_id, name, mm(cur), units.fmt_s(ctx.now() - t0),
+                                                                     self.sv(ctx, m['status_slot'])),
+                'json': {'position': name, 'height_m': cur, 'changed': True, 'status': self.sv(ctx, m['status_slot'])}}
+
+    # ------------------------------------------------------------------ fan
+    def h_fan(self, ctx, p):
+        m = self.vmap('fan')
+        text = p.raw['on|off|standby|SPEED'].strip().lower()
+        if text in ('on', 'off', 'standby'):
+            vals = m.get('values') or {}
+            if text not in vals:
+                ctx.fail(invalid('BAD_FAN_SETTING', '%s takes %s for its fan.' % (self.instrument_id, ' or '.join(list(vals) + (['a speed in %'] if m.get('speed_arg') else []))),
+                                 m.get('hint', 'see `chemlab help INST fan`.').replace('INST', self.instrument_id)))
+            self.requirements(ctx, 'fan:' + text)
+            slot = self.slot('fan')
+            if slot and self.sv(ctx, slot) in (m.get('already') or {}).get(text, []):
+                return {'text': 'ok: %s fan is already %s (%s)\n' % (self.instrument_id, text, self.sv(ctx, slot)), 'json': {'fan': text, 'changed': False}}
+            if m.get('toggle_cap'):
+                ctx.call(m['toggle_cap'], {}, 'press the fan key')
+            else:
+                ctx.call(m['cap'], {m['arg']: vals[text]}, 'fan %s' % text)
+            st = self.sv(ctx, slot) if slot else None
+            text_out = 'ok: %s fan %s%s' % (self.instrument_id, text, (' (%s)' % st) if slot and not isinstance(st, bool) else '')
+            js = {'fan': text, 'state': self.sv(ctx, slot) if slot else None}
+            ready = m.get('ready')
+            if p.get('wait') and text == 'on' and not ctx.dry_run:
+                if not ready:
+                    ctx.fail(unsupported('NO_READY_STATE', '%s has no warm-up to wait for.' % self.instrument_id, 'leave out --wait.'))
+                t0 = ctx.now()
+                ok = (lambda v: self.sv(ctx, ready['slot']) in ready['values'])
+                if not ok(ctx.view):
+                    ctx.advance(p.get('max') or 600.0, until=ok, step='wait for the warm-up', poll_s=5.0)
+                if not ok(ctx.view):
+                    ctx.fail(refused('NOT_READY', '%s is not ready after %s (%s = %s).' % (self.instrument_id, units.fmt_s(ctx.now() - t0), ready['slot'],
+                                                                                            self.sv(ctx, ready['slot'])),
+                                     'check `chemlab run %s status` (sash at the safe height? airflow alarm?).' % self.instrument_id))
+                text_out += '; ready after %s (%s = %s)' % (units.fmt_s(ctx.now() - t0), ready['slot'], self.sv(ctx, ready['slot']))
+                js['ready'] = True
+            return {'text': text_out + '\n', 'json': js}
+        if not m.get('speed_arg'):
+            ctx.fail(invalid('BAD_FAN_SETTING', '%s has no fan speed setting.' % self.instrument_id, 'write on, off%s.' % (' or standby' if 'standby' in (m.get('values') or {}) else '')))
+        try:
+            frac = units.parse(text, 'fraction', what='speed')
+        except Exception:
+            ctx.fail(invalid('BAD_FAN_SETTING', '%r is not on, off or a speed in %%.' % text, 'e.g. `chemlab run %s fan 60%%`.' % self.instrument_id))
+        cap, arg = m['speed_cap'], m['speed_arg']
+        lo, hi = self.arg_range(cap, arg)
+        pct = frac * 100.0
+        if (lo is not None and pct < lo) or (hi is not None and pct > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', 'blower speed %g %% is outside %s..%s %% on %s.' % (pct, lo, hi, self.instrument_id), 'give a speed from %s to %s %%.' % (lo, hi)))
+        self.requirements(ctx, 'fan:speed')
+        ctx.call(cap, {arg: round(pct, 6)}, 'set the blower speed to %g %%' % pct)
+        notes = list((m.get('notes') or []))
+        return {'text': 'ok: %s blower speed %g %%\n' % (self.instrument_id, pct), 'json': {'speed_pct': pct}, 'notes': notes}
+
+    # ------------------------------------------------------------------ light / uv / mode
+    def switch(self, ctx, verb, want):
+        m = self.vmap(verb)
+        self.requirements(ctx, '%s:%s' % (verb, 'on' if want else 'off'))
+        slot = m.get('slot')
+        cur = self.sv(ctx, slot) if slot else None
+        if slot and bool(cur) == want:
+            return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, verb, 'on' if want else 'off'), 'json': {verb: want, 'changed': False}}
+        if m.get('toggle_cap'):
+            ctx.call(m['toggle_cap'], {}, 'press the %s key' % verb,
+                     readback=(lambda v: None if bool(self.sv(ctx, slot)) == want else '%s %s' % (slot, self.sv(ctx, slot))) if slot else None)
+        else:
+            ctx.call(m['cap'], {m['arg']: want}, '%s %s' % (verb, 'on' if want else 'off'))
+        extra = ''
+        if verb == 'uv' and want and m.get('timer_slot') and finite(self.sv(ctx, m['timer_slot'])):
+            extra = ' (switches itself off after %s)' % units.fmt_s(self.sv(ctx, m['timer_slot']))
+        return {'text': 'ok: %s %s %s%s\n' % (self.instrument_id, verb, 'on' if want else 'off', extra), 'json': {verb: want, 'changed': True}}
+
+    def h_light(self, ctx, p):
+        return self.switch(ctx, 'light', p.pos[0] == 'on')
+
+    def h_uv(self, ctx, p):
+        return self.switch(ctx, 'uv', p.pos[0] == 'on')
+
+    def h_mode(self, ctx, p):
+        m = self.vmap('mode')
+        name = p.raw['MODE'].strip().lower()
+        vals = m.get('values') or {}
+        if name not in vals:
+            hint = ((m.get('other') or {}).get(name) or '').replace('INST', self.instrument_id)
+            ctx.fail(invalid('UNKNOWN_MODE', '%s has no mode %r%s.' % (self.instrument_id, name, (' here: ' + hint) if hint else ''),
+                             'modes: %s.' % ', '.join(vals)))
+        self.requirements(ctx, 'mode')
+        slot = m.get('slot')
+        if slot and self.sv(ctx, slot) == vals[name]:
+            return {'text': 'ok: %s is already in %s mode\n' % (self.instrument_id, name), 'json': {'mode': name, 'changed': False}}
+        args = dict(m.get('args') or {})
+        args[m['arg']] = vals[name]
+        ctx.call(m['cap'], args, 'mode %s' % name)
+        return {'text': 'ok: %s mode %s\n' % (self.instrument_id, name), 'json': {'mode': name, 'changed': True}}
+
+    # ------------------------------------------------------------------ antechamber
+    def h_cycle(self, ctx, p):
+        m = self.vmap('cycle')
+        action = p.pos[0] if p.pos else 'start'
+        if action == 'stop':
+            ctx.check(bool(self.sv(ctx, m['active_slot'])), 'NO_CYCLE', 'no antechamber cycle is running on %s.' % self.instrument_id,
+                      'nothing to stop.', label='a cycle running')
+            ctx.call(m['stop_cap'], {}, 'stop the antechamber cycle')
+            return {'text': 'ok: %s antechamber cycle stopped (phase %s)\n' % (self.instrument_id, self.sv(ctx, m['state']['slot'])), 'json': {'stopped': True}}
+        n = None
+        if p.get('cycles') is not None:
+            try:
+                n = int(p.raw['cycles'])
+            except ValueError:
+                ctx.fail(invalid('BAD_CYCLES', '--cycles takes a whole number.', 'e.g. --cycles 3.'))
+            lo, hi = self.arg_range(m['cycles_cap'], m['cycles_arg'])
+            if (lo is not None and n < lo) or (hi is not None and n > hi):
+                ctx.fail(invalid('BAD_CYCLES', '%s runs %s to %s antechamber cycles, not %d.' % (self.instrument_id, lo, hi, n), 'give --cycles from %s to %s.' % (lo, hi)))
+        self.requirements(ctx, 'cycle')
+        if n is not None and self.sv(ctx, m.get('target_slot')) != n:
+            ctx.call(m['cycles_cap'], {m['cycles_arg']: n}, 'set %d cycles' % n)
+        ctx.call(m['start_cap'], {}, 'start the antechamber cycles')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        sh = self.new_shadow_state()
+        sh['needs_purge'] = False
+        st = m['state']
+        ad = self
+        final = {}
+
+        def state(c):
+            if final:
+                return final['r']
+            v = ad.sv(c, st['slot'])
+            prog = '%s = %s, %s of %s cycles done' % (st['slot'], v, ad.sv(c, m.get('progress_slot')), ad.sv(c, m.get('target_slot')))
+            js = {'phase': v, 'completed_cycles': ad.sv(c, m.get('progress_slot'))}
+            if v in st['done']:
+                final['r'] = ('succeeded', prog, js)
+            elif v in st['failed']:
+                final['r'] = ('failed', prog, js)
+            return final.get('r', ('running', prog, js))
+
+        def stop(c):
+            c.call(m['stop_cap'], {}, 'stop the antechamber cycle')
+            return 'stopped with %s' % m['stop_cap']
+        job = StateJob(ctx.core, self, ctx.req, 'antechamber cycles on %s' % self.instrument_id, state, stop=stop, max_s=7200.0, poll_s=2.0)
+        if p.get('wait'):
+            r = job.wait_reply(ctx.core, ctx.req, p.get('max') or 1800.0)
+            ctx.refresh()
+            if r['json'].get('status') != 'succeeded':
+                ctx.fail(refused('CYCLE_NOT_DONE', 'the antechamber cycles on %s ended as %s (%s).' % (self.instrument_id, r['json'].get('status'), r['json'].get('phase')),
+                                 'see `chemlab run %s status`.' % self.instrument_id))
+            return {'text': 'ok: antechamber cycles done (%s)\n%s' % (job.handle, r['text']), 'json': dict(r['json'], job=job.handle)}
+        return {'text': 'started %s: antechamber cycles\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.handle, job.handle, job.handle), 'json': {'job': job.handle}}
+
+    def new_shadow_state(self):
+        if not hasattr(self, '_ante'):
+            self._ante = {'needs_purge': False}
+        return self._ante
+
+    def h_door(self, action):
+        def h(ctx, p):
+            parts = (self.vmap('open') or {}).get('parts') or {}
+            name = (p.pos[0] if p.pos else None)
+            aliases = {'outer door': 'outer', 'outside': 'outer', 'inner door': 'inner', 'inside': 'inner'}
+            name = aliases.get(name, name)
+            if name is None:
+                ctx.fail(invalid('WHICH_PART', '%s has several doors: %s.' % (self.instrument_id, ', '.join(parts)), 'name one, e.g. `%s outer`.' % action))
+            if name not in parts:
+                ctx.fail(invalid('UNKNOWN_PART', '%s has no door %r.' % (self.instrument_id, name), 'doors: %s.' % ', '.join(parts)))
+            spec = parts[name]
+            want = action == 'open'
+            if bool(self.sv(ctx, spec['slot'])) == want:
+                return {'text': 'ok: %s %s door is already %s\n' % (self.instrument_id, name, 'open' if want else 'closed'), 'json': {'part': name, 'changed': False}}
+            ante = self.new_shadow_state()
+            if want:
+                self.requirements(ctx, 'open')
+                ctx.check(not self.sv(ctx, spec['other_slot']), 'OTHER_DOOR_OPEN', 'the other antechamber door of %s is open; both doors are never open together.' % self.instrument_id,
+                          'close it first: `chemlab run %s close %s`.' % (self.instrument_id, spec['other']), label='the other door closed')
+                ctx.check(not self.sv(ctx, spec['cycle_slot']), 'CYCLE_RUNNING', 'an antechamber cycle is running on %s.' % self.instrument_id,
+                          'wait for it (`chemlab run %s status`) or stop it: `chemlab run %s cycle stop`.' % (self.instrument_id, self.instrument_id),
+                          label='no cycle running')
+                if spec.get('needs_purge'):
+                    phase = self.sv(ctx, spec['phase_slot'])
+                    ctx.check(not ante.get('needs_purge') and phase not in ('stopped', 'evacuating', 'backfilling'), 'ANTECHAMBER_NOT_PURGED',
+                              'the antechamber of %s has not been evacuated and refilled since its outer door was opened (phase %s): opening the inner door '
+                              'would let air into the box.' % (self.instrument_id, phase),
+                              'close the outer door and run the cycles first: `chemlab run %s cycle --cycles 3 --wait`.' % self.instrument_id,
+                              label='antechamber purged since the outer door was opened')
+            ctx.call(spec['cap'], {spec['arg']: spec[action]}, '%s the %s door' % (action, name),
+                     readback=lambda v: None if bool(self.sv(ctx, spec['slot'])) == want else '%s = %s' % (spec['slot'], self.sv(ctx, spec['slot'])))
+            if want and spec.get('opens_to_air') and not ctx.dry_run:
+                ante['needs_purge'] = True
+            return {'text': 'ok: %s %s door %s\n' % (self.instrument_id, name, 'opened' if want else 'closed'), 'json': {'part': name, 'action': action}}
+        return h
+
+    # ------------------------------------------------------------------ read
+    def h_read(self, ctx, p):
+        m = self.vmap('read')
+        rows = {}
+        lines = ['%s at t = %.1f s:' % (self.instrument_id, ctx.now())]
+        for sid in m.get('reads') or []:
+            rows[sid] = self.sv(ctx, sid)
+            lines.append('  %-36s %s' % (sid, self.show(ctx, sid)))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'readings': rows}}
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'PRECONDITION_FAILED':
+            ctx.refresh()
+            p = self.slot('power')
+            if p and not self.sv(ctx, p):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code), 'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
diff --git a/chemlab/chemlab/compile/classes/evaporation.py b/chemlab/chemlab/compile/classes/evaporation.py
new file mode 100644
index 0000000000000000000000000000000000000000..6b9bb3239de198330b0621ee12bb404d79b12308
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/evaporation.py
@@ -0,0 +1,207 @@
+"""Evaporation, drying and distillation class ("evaporation"): rotary evaporator, freeze dryer, spray dryer, critical point
+dryer, centrifugal concentrator, fractional distillation, wiped-film molecular still.
+
+Verbs: set-temp T|off [--heat], vacuum P, rotate SPEED|off, method KEY=VALUE ..., start (job), stop, result [--save-to],
+lift up|down|POS [--wait], endpoint schedule|moisture [--max-moisture X], fraction N, reflux RATIO|total, condenser T,
+feed RATE, preheat on|off [--wait], status.  Members and mappings: configs/adapters/evaporation.json.
+
+A first draft had one umbrella verb ``step endpoint|fraction N|lift``; it is split here into lift / endpoint / fraction /
+reflux / condenser / feed / preheat because the six process steps take six different kinds of argument (a position, a mode and
+a moisture fraction, a receiver index, a ratio, a temperature, a flow, on/off) that one verb grammar cannot parse or check.  The
+names follow the manuals' own terms (lift, endpoint, fraction collector, reflux ratio, condenser, feed pump, preheat).
+
+Method dictionary (class keys with units; native argument names pass through where the member maps a method capability):
+  temp=40C (bath / wall / shelf / inlet set point), pressure=20mbar (vacuum), time=30min (run time / timer), timeout=1h,
+  interval=10s (rotation reversal), speed=120rpm (rotation / wiper), reflux=5 (ratio), total_reflux=on, cut=100mL (fraction
+  volume), min_boiler=50mL, condenser=20C, feed=2g/min (mass flow) or feed=5mL/min (spray feed pump), purge=10min, bleed=14000
+  (Pa/s, plain number), heat_time=5min, program=water|alcohol|other, endpoint=1% (remaining fraction), freeze=2h / primary=20h /
+  secondary=4h (freeze-drying phases), shelf=-20C, protect=0C, inlet=150C, aspirator=25m3/h... (drying gas flow in mL/min,
+  L/min), spray=10L/min (dispersion gas).
+
+Vendor-neutral models: the MTP / VDI 2658 service state model (start / hold / stop / abort) and ISA-88 procedural terms; the
+NAMUR command set of the IKA RV 10 (OUT_SP_1 / START_1 / STOP_1 for the bath, OUT_SP_4 for speed).
+
+Class checks before anything is sent: values in the member's contract range (converted from the unit the argument declares),
+the member's own requirements from its mapping (e.g. a method on the miVac, PILODIST and Vivaflow-style runtimes is fixed once
+the sample is charged; the Lyovapor takes set points only while no cycle runs; the rotavap bath needs its heater configured).
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid
+from ..verbs import Arg, Opt, Verb
+from .separation_common import ON_OFF, SeparationAdapter
+
+REF = None                       # manual pages are member notes in the fragment ("manual: ...")
+
+
+class EvaporationAdapter(SeparationAdapter):
+    CLASS = 'evaporation'
+    TITLE = 'evaporation, drying, distillation'
+    ABOUT = ('Remove solvent, dry or distill: set the bath / shelf / inlet / wall temperature, the vacuum, the rotation or wiper '
+             'speed, a method (program) of class keys, start a run as a job, stop it, read its record; process steps (rotavap '
+             'lift, freeze-drying endpoint, distillation fraction and reflux, molecular-still condenser, spray-dryer feed, '
+             'preheat).  Samples, baths, vacuum sources and charges are the lab\'s set-up, not agent actions.')
+    STANDARDS = 'MTP / VDI 2658 service states (start/hold/stop/abort), ISA-88 procedural terms; NAMUR (IKA RV 10)'
+    UNIT_KINDS = ('temperature', 'pressure', 'rotation', 'duration', 'flow', 'length')
+    SETTER_KINDS = {'set-temp': 'temperature', 'vacuum': 'pressure', 'condenser': 'temperature', 'feed': 'flow'}
+    ROLES = (('power', 'power', 'bool'), ('phase', 'run', 'text'), ('stage', 'stage', 'text'), ('fault', 'fault', 'text'),
+             ('temp', 'temperature', 'temperature'), ('temp_set', 'temperature set point', 'temperature'),
+             ('heating', 'heating', 'bool'), ('temp2', 'second temperature', 'temperature'),
+             ('pressure', 'pressure', 'pressure'), ('pressure_set', 'vacuum set point', 'pressure'),
+             ('speed', 'speed', 'rotation'), ('speed_set', 'speed set point', 'rotation'), ('rotating', 'rotating', 'bool'),
+             ('lift', 'lift', 'length'), ('timer', 'timer', 'duration'), ('flow', 'flow', 'flow'), ('collected', 'collected', 'mass'),
+             ('progress', 'progress', 'plain'), ('fraction', 'receiver', 'plain'))
+
+    def build_verbs(self):
+        v = {
+            'set-temp': self.setter_verb('set-temp', 'set the bath / shelf / inlet / wall temperature (off: heater off)', 'temperature',
+                                         'TEMP', 'chemlab run INST set-temp 40C --heat', off=True, heat=True, reference=REF,
+                                         preconditions=['set point within the member range', 'the member\'s own conditions (method, '
+                                                        'no running cycle, heater ready)']),
+            'vacuum': self.setter_verb('vacuum', 'set the vacuum (absolute pressure set point)', 'pressure', 'PRESSURE',
+                                       'chemlab run INST vacuum 20mbar', reference=REF),
+            'rotate': Verb('rotate', 'rotate the flask / wiper at a speed, or stop rotating (off)', self.h_rotate,
+                           positionals=[Arg('SPEED', 'e.g. 120rpm, or off')], example='chemlab run INST rotate 120rpm',
+                           preconditions=['speed within the member range'], errors=['OUT_OF_RANGE (usage)'], reference=REF),
+            'method': self.method_verb('set method / program settings: KEY=VALUE ... (class keys take units: temp=40C time=30min '
+                                       'pressure=20mbar; native argument names pass through)',
+                                       'chemlab run INST method temp=40C time=30min', reference=REF,
+                                       details='class keys: temp, pressure, time, timeout, interval, speed, reflux, total_reflux, cut, '
+                                               'min_boiler, condenser, feed, purge, bleed, heat_time, program, endpoint, freeze, '
+                                               'primary, secondary, shelf, protect, inlet, aspirator, spray (the member notes say '
+                                               'which it has)'),
+            'lift': Verb('lift', 'move the evaporator lift: up (flask out of the bath), down, or a height', self.h_lift,
+                         positionals=[Arg('POS', 'up, down or a height such as 60mm')],
+                         options={'wait': Opt('wait until the lift has stopped moving', kind='flag')},
+                         example='chemlab run INST lift down --wait', errors=['OUT_OF_RANGE (usage)'], reference=REF),
+            'endpoint': Verb('endpoint', 'how a drying cycle ends: on schedule, or when the modelled moisture is below a limit', self.h_endpoint,
+                             positionals=[Arg('MODE', 'schedule or moisture', choices=['schedule', 'moisture'])],
+                             options={'max-moisture': Opt('residual moisture limit (fraction), e.g. 1%', kind='fraction', metavar='X')},
+                             example='chemlab run INST endpoint moisture --max-moisture 1%', reference=REF),
+            'fraction': Verb('fraction', 'switch the fraction collector to receiver N', self.h_fraction,
+                             positionals=[Arg('N', 'receiver number as the instrument counts it')],
+                             example='chemlab run INST fraction 2', errors=['OUT_OF_RANGE (usage)'], reference=REF),
+            'reflux': Verb('reflux', 'set the reflux ratio (reflux : take-off), or total reflux', self.h_reflux,
+                           positionals=[Arg('RATIO', 'e.g. 5 (5:1), or total')], example='chemlab run INST reflux 5', reference=REF),
+            'condenser': self.setter_verb('condenser', 'set the condenser temperature', 'temperature', 'TEMP',
+                                          'chemlab run INST condenser 20C', reference=REF),
+            'feed': self.setter_verb('feed', 'set the feed pump flow', 'flow', 'FLOW', 'chemlab run INST feed 5mL/min', reference=REF),
+            'preheat': Verb('preheat', 'preheat on / off (chamber or drying gas)', self.h_preheat,
+                            positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                            options={'wait': Opt('wait until the temperature is at the set point', kind='flag'),
+                                     'max': Opt('longest wait (with --wait)', kind='duration', metavar='TIME', default='30min')},
+                            example='chemlab run INST preheat on --wait', reference=REF),
+        }
+        v.update(self.run_verbs())
+        return v
+
+    # ------------------------------------------------------------------ handlers
+    def h_rotate(self, ctx, p):
+        m = self.vmap('rotate')
+        text = p.pos[0]
+        if str(text).strip().lower() == 'off':
+            self.need(ctx, 'rotate:off')
+            self.run_calls(ctx, m['off'].get('calls') or [dict(m['off'], step='stop rotating')])
+            return {'text': 'ok: %s stopped rotating\n' % self.instrument_id, 'json': {'off': True}}
+        si = units.parse(text, 'rotation', what='speed')
+        if si <= 0:
+            ctx.fail(invalid('NOT_POSITIVE', 'a speed of 0 is not a rotation.', 'write `rotate off` to stop.'))
+        value = self.to_arg(ctx, m['speed_cap'], m['speed_arg'], si, 'rotation', 'speed')
+        self.need(ctx, 'rotate')
+        args = dict(m.get('speed_args') or {})
+        args[m['speed_arg']] = value
+        ctx.call(m['speed_cap'], args, 'set the speed to %s' % units.fmt(si, 'rotation'))
+        if m.get('on'):
+            self.run_calls(ctx, m['on'] if isinstance(m['on'], list) else [m['on']])
+        return {'text': 'ok: %s rotating at %s\n' % (self.instrument_id, units.fmt(si, 'rotation')), 'json': {'speed_si': si}}
+
+    def h_lift(self, ctx, p):
+        m = self.vmap('lift')
+        lo, hi, _ = self.bounds(self.schema_of(m['cap'], m['arg']))
+        word = str(p.pos[0]).strip().lower()
+        u = self.arg_unit(m['cap'], m['arg'])
+        if word in ('up', 'down'):
+            value = hi if word == 'up' else lo
+            si = units.from_declared(value, u) if u else value
+        else:
+            si = units.parse(p.pos[0], 'length', what='lift height')
+            value = self.to_arg(ctx, m['cap'], m['arg'], si, 'length', 'lift height')
+        self.need(ctx, 'lift')
+        ctx.call(m['cap'], {m['arg']: value}, 'move the lift to %s' % units.fmt(si, 'length'))
+        waited = 0.0
+        if p.get('wait') and m.get('moving'):
+            waited = self.wait_until(ctx, lambda view: not view.get(m['moving']), 120.0, 'the lift move')
+        return {'text': 'ok: the lift of %s is %s %.0f mm%s\n' % (self.instrument_id, 'moving to' if not p.get('wait') else 'at', si * 1000,
+                                                                 ' (moved for %s)' % units.fmt_s(waited) if waited else ''),
+                'json': {'position_si': si, 'waited_s': waited}}
+
+    def h_endpoint(self, ctx, p):
+        m = self.vmap('endpoint')
+        mode = p.pos[0]
+        native_mode = (m.get('modes') or {}).get(mode, mode)
+        thr = p.get('max-moisture')
+        if thr is None:
+            thr = self.slot_value(ctx, m['keep_slot']) if m.get('keep_slot') else None
+            if not finite(thr):
+                ctx.fail(invalid('MISSING_OPTION', 'endpoint on %s needs --max-moisture (no stored limit to keep).' % self.instrument_id,
+                                 'give e.g. --max-moisture 1%.'))
+        thr = self.check_range(ctx, self.schema_of(m['cap'], m['threshold_arg']), thr, 'fraction', 'moisture limit')
+        self.need(ctx, 'endpoint')
+        ctx.call(m['cap'], {m['mode_arg']: native_mode, m['threshold_arg']: thr}, 'set the endpoint to %s (moisture limit %s)' % (
+            mode, units.fmt(thr, 'fraction')))
+        return {'text': 'ok: %s endpoint %s, moisture limit %s\n' % (self.instrument_id, mode, units.fmt(thr, 'fraction')),
+                'json': {'mode': native_mode, 'moisture_threshold': thr}}
+
+    def h_fraction(self, ctx, p):
+        m = self.vmap('fraction')
+        try:
+            n = float(p.pos[0])
+        except ValueError:
+            ctx.fail(invalid('BAD_NUMBER', '%r is not a receiver number.' % p.pos[0], 'give a whole number, e.g. 2.'))
+        value = self.check_range(ctx, self.schema_of(m['cap'], m['arg']), n, 'plain', 'receiver')
+        self.need(ctx, 'fraction')
+        ctx.call(m['cap'], {m['arg']: value}, 'switch to receiver %d' % value)
+        return {'text': 'ok: %s collecting into receiver %d\n' % (self.instrument_id, value), 'json': {'receiver': value}}
+
+    def h_reflux(self, ctx, p):
+        m = self.vmap('reflux')
+        word = str(p.pos[0]).strip().lower()
+        if word == 'total':
+            ratio = self.slot_value(ctx, m['keep_slot'])
+            if not finite(ratio):
+                ctx.fail(invalid('MISSING_VALUE', 'no stored reflux ratio to keep on %s.' % self.instrument_id, 'give a ratio, e.g. `reflux 5`.'))
+            total = True
+        else:
+            t = word.split(':')[0]
+            try:
+                ratio = float(t)
+            except ValueError:
+                ctx.fail(invalid('BAD_NUMBER', '%r is not a reflux ratio.' % p.pos[0], 'give a ratio such as 5 (or 5:1), or total.'))
+            total = False
+        ratio = self.check_range(ctx, self.schema_of(m['cap'], m['ratio_arg']), ratio, 'plain', 'reflux ratio')
+        self.need(ctx, 'reflux')
+        ctx.call(m['cap'], {m['ratio_arg']: ratio, m['total_arg']: total}, 'set the reflux to %s' % ('total' if total else '%g:1' % ratio))
+        return {'text': 'ok: %s reflux %s\n' % (self.instrument_id, 'total' if total else '%g:1' % ratio), 'json': {'ratio': ratio, 'total_reflux': total}}
+
+    def h_preheat(self, ctx, p):
+        m = self.vmap('preheat')
+        on = p.pos[0] == 'on'
+        spec = m['on' if on else 'off']
+        self.need(ctx, 'preheat:' + ('on' if on else 'off'))
+        self.run_calls(ctx, spec.get('calls') or [dict(spec, step='preheat %s' % p.pos[0])])
+        waited = 0.0
+        if on and p.get('wait'):
+            w = m.get('wait')
+            if not w:
+                ctx.fail(invalid('NO_WAIT', '%s has no temperature to wait for after preheat.' % self.instrument_id, 'leave out --wait.'))
+            tol = float(w.get('tol_k', 1.0))
+
+            def at(view):
+                t, s = self.slot_si(view, w['slot']), self.slot_si(view, w['target'])
+                return t is not None and s is not None and abs(t - s) <= tol
+            waited = self.wait_until(ctx, at, p.get('max'), 'preheating (to within %g K of the set point)' % tol, poll_s=2.0)
+        return {'text': 'ok: %s preheat %s%s\n' % (self.instrument_id, p.pos[0], ' - at temperature after %s' % units.fmt_s(waited) if (on and p.get('wait')) else ''),
+                'json': {'preheat': on}}
+
+
+_ = short
diff --git a/chemlab/chemlab/compile/classes/extraction.py b/chemlab/chemlab/compile/classes/extraction.py
new file mode 100644
index 0000000000000000000000000000000000000000..1253ff98e15928d4fbec6bda94f2e82bd68924c9
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/extraction.py
@@ -0,0 +1,218 @@
+"""Extraction and membrane separation class ("extraction"): pressurized solvent extraction, solid-phase extraction, supercritical
+fluid extraction, flow liquid-liquid extraction, tangential-flow ultrafiltration, electrodialysis.
+
+Verbs: method KEY=VALUE ..., set-temp T|off, pressure P|off [--channel bpr|cmp], flow F|off, prime [--inlet S1] [--volume V]
+[--solvent ID] [--time T], start (job), stop, vent (job), result [--save-to], status.  Members and mappings:
+configs/adapters/extraction.json.
+
+Pressures are gauge pressures (above atmosphere) on every member whose native argument says so (pressure_gauge_pa,
+bpr_gauge_pa, value_pa of the BPR); the Extrahera's positive-pressure set point has no stated reference.  Nothing is converted
+between gauge and absolute.
+
+Method dictionary (class keys with units; native argument names pass through):
+  temp=100C (cell / oven), pressure=100bar (gauge), cycles=2, hold=5min (static hold), discharge=1min, flow=2mL/min (pump /
+  liquid / feed flow), solvents=1,0,0,0 (fractions of solvents 1-4), flush=60s (solvent flush), nitrogen=3min (gas flush),
+  static=10min / dynamic=20min (SFE), restrictor=80C, modifier=0%, aqueous=0.1mL/min / organic=0.1mL/min (FLLEX phases),
+  bpr=2bar, cmp=100mbar (cross-membrane), time=10min, timeout=1h, mode=concentrate|diafilter|constant_current|constant_voltage,
+  circulation=300mL/min, tmp=2bar (transmembrane), retentate=100mL, diavolumes=5, voltage=20V, current=10mA,
+  endpoint=0.1mS/cm (diluate conductivity).  Solid-phase extraction (Extrahera): load=1mL wash=1mL elute=1mL flow=6mL/min
+  drain=6mL/min reps=1, and per phase load.flow= / wash.reps= / elute.solvent=POSITION.
+
+Vendor-neutral models: EPA 3545A (pressurized fluid extraction), EPA 3535A (solid-phase extraction), EPA 3560 (supercritical
+fluid extraction) and the MTP / ISA-88 state model (start / hold / stop / abort); no command standard exists.
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid
+from ..verbs import Opt, Verb
+from .separation_common import SeparationAdapter, fmtq
+
+REF = None                       # manual pages are member notes in the fragment ("manual: ...")
+PHASES = ('load', 'wash', 'elute')
+
+
+class ExtractionAdapter(SeparationAdapter):
+    CLASS = 'extraction'
+    TITLE = 'extraction and membrane separation'
+    ABOUT = ('Extract or separate by phase or membrane: a method of class keys, the cell / oven temperature, the (gauge) pressure '
+             'set point, the flow, priming / flushing the solvent lines, a run as a job, stop, vent the residual pressure, and the '
+             'run record.  Samples, cells, membranes, cassettes and utilities are the lab\'s set-up, not agent actions.')
+    STANDARDS = 'EPA 3545A (PLE), EPA 3535A (SPE), EPA 3560 (SFE); MTP / ISA-88 state model (start/hold/stop/abort)'
+    UNIT_KINDS = ('temperature', 'pressure', 'flow', 'volume', 'duration')
+    SETTER_KINDS = {'set-temp': 'temperature', 'pressure': 'pressure', 'flow': 'flow'}
+    ROLES = (('power', 'power', 'bool'), ('phase', 'run', 'text'), ('stage', 'stage', 'text'), ('fault', 'fault', 'text'),
+             ('temp', 'temperature', 'temperature'), ('temp_set', 'temperature set point', 'temperature'),
+             ('pressure', 'pressure (gauge)', 'pressure'), ('pressure_set', 'pressure set point', 'pressure'),
+             ('pressure2', 'second pressure', 'pressure'), ('flow', 'flow', 'flow'), ('flow2', 'second flow', 'flow'),
+             ('voltage', 'voltage', 'voltage'), ('current', 'current', 'current'), ('conductivity', 'conductivity', 'conductivity'),
+             ('volume', 'volume', 'volume'), ('volume2', 'second volume', 'volume'), ('progress', 'progress', 'plain'),
+             ('state', 'state', 'plain'))
+
+    def build_verbs(self):
+        v = {
+            'method': self.method_verb('set the extraction / filtration method: KEY=VALUE ... (class keys take units: temp=100C '
+                                       'pressure=100bar flow=2mL/min time=10min; native argument names pass through)',
+                                       'chemlab run INST method temp=100C pressure=100bar cycles=2', reference=REF,
+                                       details='class keys: temp, pressure, cycles, hold, discharge, flow, solvents, flush, nitrogen, static, '
+                                               'dynamic, restrictor, modifier, aqueous, organic, bpr, cmp, time, timeout, mode, circulation, '
+                                               'tmp, retentate, diavolumes, voltage, current, endpoint; SPE: load, wash, elute, flow, drain, '
+                                               'reps, PHASE.flow / PHASE.drain / PHASE.reps / PHASE.solvent (the member notes say which)'),
+            'set-temp': self.setter_verb('set-temp', 'set the cell / oven temperature (off: preheating off)', 'temperature', 'TEMP',
+                                         'chemlab run INST set-temp 100C', off=True, reference=REF),
+            'pressure': self.setter_verb('pressure', 'set the pressure set point (gauge, above atmosphere; off = 0)', 'pressure', 'PRESSURE',
+                                         'chemlab run INST pressure 100bar', off=True, targets=('channel',), reference=REF,
+                                         details='--channel bpr (back-pressure regulator, the default) or cmp (cross-membrane) on '
+                                                 'members with two pressure controls'),
+            'flow': self.setter_verb('flow', 'set the pump / stream flow', 'flow', 'FLOW', 'chemlab run INST flow 1mL/min', reference=REF),
+            'prime': Verb('prime', 'prime (or flush) the solvent lines before a run', self.h_prime,
+                          options={'inlet': Opt('which solvent inlet (S1-S5)', metavar='INLET'),
+                                   'volume': Opt('volume to pump through the line', kind='volume', metavar='VOL'),
+                                   'solvent': Opt('assign this library solvent to the inlet first', metavar='ID'),
+                                   'time': Opt('solvent flush time', kind='duration', metavar='TIME')},
+                          example='chemlab run INST prime --inlet S1 --volume 15mL', reference=REF,
+                          preconditions=['a solvent assigned to the inlet (or --solvent)', 'door / shield closed', 'enough solvent'],
+                          errors=['NO_SOLVENT (refused)', 'DOOR_OPEN (refused)', 'OUT_OF_RANGE (usage)']),
+            'vent': Verb('vent', 'release the residual pressure after a run (a job)', self.h_vent, example='chemlab run INST vent',
+                         preconditions=['no run in progress', 'pressure left to release'], errors=['RUNNING (refused)', 'NOTHING_TO_VENT (refused)'],
+                         reference=REF),
+        }
+        v.update(self.run_verbs())
+        return v
+
+    # ------------------------------------------------------------------ method (solid-phase extraction steps)
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        if m.get('mode') != 'spe':
+            return super().h_method(ctx, p)
+        cap, arg = m['cap'], m['arg']
+        item = (self.schema_of(cap, arg).get('items') or {}).get('properties') or {}
+        per = {ph: {} for ph in PHASES}
+        common = {}
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % self.instrument_id))
+        kinds = {'flow': ('flow_m3_s', 'flow'), 'drain': ('drain_flow_m3_s', 'flow'), 'reps': ('repetitions', None), 'solvent': ('solvent_position', None)}
+        for x in p.extra:
+            k, eq, val = x.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % x, 'write method load=1mL wash=1mL elute=1mL flow=6mL/min ...'))
+            ph, dot, sub = k.partition('.')
+            if not dot and k in PHASES:
+                per[k]['volume_m3'] = self.parse_value(ctx, val, item['volume_m3'], 'volume', k)
+            elif not dot and k in kinds:
+                native, kind = kinds[k]
+                common[native] = self.parse_value(ctx, val, item[native], kind, k)
+            elif dot and ph in PHASES and sub in kinds:
+                native, kind = kinds[sub]
+                per[ph][native] = self.parse_value(ctx, val, item[native], kind, k)
+            else:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 'settings: load, wash, elute (volumes), flow, drain, reps, solvent, and PHASE.flow / PHASE.drain / '
+                                 'PHASE.reps / PHASE.solvent.'))
+        self.need(ctx, 'method')
+        positions = ctx.v(m.get('positions_slot')) or []
+        steps, missing = [], []
+        for ph in PHASES:
+            st = {'phase': ph}
+            st.update({k2: v2 for k2, v2 in common.items()})
+            st.update(per[ph])
+            st.setdefault('solvent_position', ph)
+            st.setdefault('repetitions', 1)
+            for need in ('volume_m3', 'flow_m3_s', 'drain_flow_m3_s'):
+                if need not in st:
+                    missing.append('%s.%s' % (ph, {'volume_m3': 'volume', 'flow_m3_s': 'flow', 'drain_flow_m3_s': 'drain'}[need])
+                                   if need != 'volume_m3' else ph)
+            if st['solvent_position'] not in positions and not ctx.dry_run:
+                ctx.fail(invalid('UNKNOWN_POSITION', 'the deck of %s has no solvent position %r (positions: %s).' % (
+                    self.instrument_id, st['solvent_position'], ', '.join(positions) or 'none'),
+                    'give the position: `%s.solvent=POSITION`.' % ph))
+            steps.append(st)
+        if missing:
+            names = []
+            for x in missing:
+                base = x.split('.', 1)[1] if '.' in x else None
+                if base and all('%s.%s' % (ph, base) in missing for ph in PHASES):
+                    x = base
+                if x not in names:
+                    names.append(x)
+            ctx.fail(invalid('MISSING_SETTING', 'the SPE method of %s also needs %s.' % (self.instrument_id, ', '.join(names)),
+                             'e.g. `chemlab run %s method load=1mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min`.' % self.instrument_id))
+        ctx.call(cap, {arg: steps}, 'set the SPE method (%s)' % ', '.join('%s %s' % (s['phase'], units.fmt(s['volume_m3'], 'volume')) for s in steps))
+        return {'text': 'ok: SPE method of %s set: %s\n' % (self.instrument_id, '; '.join(
+            '%s %s from %s at %s x%d' % (s['phase'], units.fmt(s['volume_m3'], 'volume'), s['solvent_position'], units.fmt(s['flow_m3_s'], 'flow'),
+                                        s['repetitions']) for s in steps)), 'json': {'steps': steps}}
+
+    # ------------------------------------------------------------------ prime
+    def h_prime(self, ctx, p):
+        m = self.vmap('prime')
+        if m.get('mode') == 'flush':
+            return self._prime_flush(ctx, p, m)
+        inlet = p.get('inlet') or m.get('default_inlet')
+        inlets = self.arg_enum(m['cap'], m['inlet_arg'])
+        if inlet is None:
+            ctx.fail(invalid('MISSING_OPTION', 'prime on %s needs --inlet (%s).' % (self.instrument_id, '|'.join(inlets)), 'e.g. --inlet S1.'))
+        if inlet not in inlets:
+            ctx.fail(invalid('UNKNOWN_INLET', '%s has no inlet %r.' % (self.instrument_id, inlet), 'inlets: %s.' % ', '.join(inlets)))
+        vol = p.get('volume')
+        if vol is None:
+            vol = float(m['default_volume_m3'])
+        value = self.to_arg(ctx, m['cap'], m['volume_arg'], vol, 'volume', 'prime volume')
+        solvent = p.get('solvent')
+        lib = [e for e in ((ctx.v(m['library_slot']) or {}).get('solvents') or []) if isinstance(e, dict)] if m.get('library_slot') else []
+        known = ['%s (%s)' % (e.get('id'), e.get('name')) for e in lib]
+        if solvent is not None and lib:
+            hit = [e.get('id') for e in lib if solvent in (e.get('id'), e.get('name')) or str(e.get('name', '')).lower() == solvent.lower()]
+            if not hit:
+                ctx.fail(invalid('UNKNOWN_SOLVENT', '%s has no library solvent %r.' % (self.instrument_id, solvent), 'solvents: %s.' % ', '.join(known)))
+            solvent = hit[0]
+        state = (ctx.v(m['inlets_slot']) or {}).get(inlet) or {}
+        self.need(ctx, 'prime')
+        if solvent is None:
+            ctx.check(state.get('assigned') is not None, 'NO_SOLVENT',
+                      'inlet %s of %s has no solvent assigned, so it cannot be primed.' % (inlet, self.instrument_id),
+                      'assign a solvent to inlet %s first: add --solvent ID (e.g. `chemlab run %s prime --inlet %s --solvent %s`)%s.' % (
+                          inlet, self.instrument_id, inlet, lib[0].get('id') if lib else 'ID', '; library solvents: %s' % ', '.join(known) if known else ''),
+                      label='solvent assigned to %s' % inlet)
+        elif state.get('assigned') != solvent:
+            ctx.call(m['assign_cap'], {m['assign_arg']: {inlet: solvent}}, 'assign solvent %s to inlet %s' % (solvent, inlet))
+        r = ctx.call(m['cap'], {m['inlet_arg']: inlet, m['volume_arg']: value}, 'prime inlet %s with %s' % (inlet, units.fmt(vol, 'volume')))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        after = (ctx.v(m['inlets_slot']) or {}).get(inlet) or {}
+        full = after.get('line') is not None and after.get('line') == after.get('assigned')
+        return {'text': 'ok: inlet %s of %s primed with %s (%s)\n' % (
+            inlet, self.instrument_id, units.fmt(vol, 'volume'), 'the line now holds %s' % after.get('line') if full else
+            'not yet full of %s: prime again (about 2 x 15 mL changes a line)' % after.get('assigned')),
+                'json': {'inlet': inlet, 'volume_si': vol, 'line': after.get('line'), 'assigned': after.get('assigned'),
+                         'result': (r or {}).get('result')}}
+
+    def _prime_flush(self, ctx, p, m):
+        for bad in ('inlet', 'volume', 'solvent'):
+            if p.get(bad) is not None:
+                ctx.fail(invalid('NOT_FOR_THIS', '--%s does not apply to %s (it flushes all active cell positions).' % (bad, self.instrument_id),
+                                 'use --time T for the solvent flush time.'))
+        self.need(ctx, 'prime')
+        if p.get('time') is not None:
+            t = self.to_arg(ctx, m['config_cap'], m['time_arg'], p.get('time'), 'duration', 'flush time')
+            ctx.call(m['config_cap'], {m['time_arg']: t}, 'set the solvent flush time to %s' % units.fmt_s(p.get('time')))
+        r = ctx.call(m['cap'], {}, 'start the flush')
+        job = self.make_job(ctx, m, r, m['cap'], 'flush')
+        if job is None:
+            return {'text': 'ok: %s flushing\n' % self.instrument_id, 'json': {}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, job.description, job.handle, job.handle),
+                'json': {'job': job.handle, 'kind': job.kind}}
+
+    # ------------------------------------------------------------------ vent
+    def h_vent(self, ctx, p):
+        m = self.vmap('vent')
+        self.need(ctx, 'vent')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'release the pressure (%s)' % m['cap'])
+        job = self.make_job(ctx, m, r, m['cap'], 'vent')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        if job is None:
+            return {'text': 'ok: %s venting\n' % self.instrument_id, 'json': {}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, job.description, job.handle, job.handle),
+                'json': {'job': job.handle, 'kind': job.kind}}
+
+
+_ = (finite, short, fmtq)
diff --git a/chemlab/chemlab/compile/classes/formulation.py b/chemlab/chemlab/compile/classes/formulation.py
new file mode 100644
index 0000000000000000000000000000000000000000..e32c2acf418d46eb65bcf9bd445ab10c947dce07
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/formulation.py
@@ -0,0 +1,99 @@
+"""Formulation class ("formulation"): instruments that turn a material into particles, fibres, beads or extrudate.
+
+Members (configs/adapters/formulation.json): Thermo Fisher Process 11 (twin-screw extruder, 7 barrel zones + die), Linari RT
+Advanced (electrospinning), BUCHI Encapsulator B-390 (vibrating nozzle), Cytiva NanoAssemblr Ignite (microfluidic nanoparticles),
+Glatt Mini-Glatt (fluid-bed granulator / coater).
+
+Verbs: set-temp T [--zone N | --channel C] [--wait], heat on|off, temp, wait-temp (every zone when no --zone on the extruder),
+speed RATE|on|off (screw speed), vibration FREQ|on|off (nozzle vibration), feed RATE|on|off (extruder feeder, spray rate, or the
+encapsulator's feed pressure), air FLOW|on|off (fluidising air), hv VOLTAGE|on|off (high voltage / electrostatic dispersion),
+humidity RH|on|off (spinning chamber climate), prime (cartridge priming, a job), clean [--head N] (needle or filter cleaning),
+method KEY=VALUE ..., start / stop / result / wait, status.  power, open / close (barrel, door, lid, block, tower), ack and estop
+come from the shared layer.
+
+Method keys (class dictionary): time, speed, feed, die-radius, die-length, mixing (extruder); voltage, flows, rpm, needle-low,
+needle-high, gap (electrospinning); volume, flow (encapsulator target volume / flow; nanoparticle total flow and volume), ratio,
+dilution, waste-start, waste-end (nanoparticles); operation, spray-position, air, temp, spray, spray-time (fluid bed).
+"""
+from .reactor_common import SetpointAdapter
+
+REFS = {   # manual page references per member (Chemistry-Sim/references/manuals/<slug>/manifest.json key sections; no manual text)
+    'thermo_process11': 'Process 11 operating manual pp.29-40 (operational sequence), pp.87-98 (temperature input, start-up), pp.99-120 '
+                        '(feeder, temperature profile, recipes); spec sheet p.2 (10-1000 rpm, RT-350 °C)',
+    'linari_rtadvanced': 'RT Advanced product page: architecture (two 60 kV groups, needle cleaning), technical specifications (RH 10-70 %, '
+                         'up to 50 °C, 0-5000 rpm), safety (chamber blocked while high voltage is present)',
+    'buchi_encapsulatorb': 'Encapsulator B-390 operation manual p.15 (technical data), pp.16-18 (vibration, electrostatic dispersion), '
+                           'pp.31-34 (operation, manual air pressure), pp.35-45 (practice runs)',
+    'cytiva_nanoassemblrignite': 'NanoAssemblr Ignite operating instructions pp.55-74 (flow rate ratio, total flow, waste), pp.75-104 '
+                                 '(preheat, prepare cartridge, load syringes, run)',
+    'glatt_miniglatt': 'Mini-/Midi-Glatt brochure pp.2-5 (processes, top / bottom spray, technical data); Glatt laboratory units brochure pp.6-7',
+}
+
+KEYS = {
+    'time': ('duration', 'run time'), 'speed': ('rotation', 'screw speed, e.g. 200rpm'), 'feed': ('mass_flow', 'feed rate, e.g. 0.5g/min'),
+    'die-radius': ('length', 'die radius'), 'die-length': ('length', 'die length'), 'mixing': (None, 'mixing factor'),
+    'voltage': ('voltage', 'needle voltages per group, comma separated (15kV,15kV)'), 'flows': ('flow', 'pump flows, 8 values comma separated'),
+    'rpm': ('rotation', 'collector speed'), 'needle-low': ('length', 'needle travel low ends'), 'needle-high': ('length', 'needle travel high ends'),
+    'gap': ('length', 'needle-collector gaps'), 'volume': ('volume', 'target / total volume'), 'flow': ('flow', 'target / total flow'),
+    'ratio': (None, 'flow rate ratio aqueous : organic'), 'dilution': (None, 'dilution ratio'), 'waste-start': ('volume', 'start waste volume'),
+    'waste-end': ('volume', 'end waste volume'), 'operation': (None, 'drying, granulation or coating'), 'spray-position': (None, 'top or bottom'),
+    'air': ('flow', 'fluidising air (normal)'), 'temp': ('temperature', 'inlet air temperature'), 'spray': ('flow', 'spray rate'),
+    'spray-time': ('duration', 'spray time'),
+}
+
+
+class FormulationAdapter(SetpointAdapter):
+    CLASS = 'formulation'
+    TITLE = 'formulation and particle / fibre processing'
+    ABOUT = ('Make particles, fibres, beads or extrudate: heat the barrel / chamber / nozzle / inlet air (per zone or channel), set the '
+             'process knobs (screw speed, nozzle vibration, feed, fluidising air, high voltage, chamber humidity), prime or clean, '
+             'set a recipe with class keys, and start / stop / result with job ids.')
+    STANDARDS = 'MTP / VDI 2658 and ISA-88 (procedure states start / stop / hold); OPC UA LADS functional units; no class-specific command standard'
+    ALWAYS = ('status', 'wait')
+    UNIT_KINDS = ('temperature', 'temperature_delta', 'duration', 'rotation', 'frequency', 'mass_flow', 'flow', 'pressure', 'voltage',
+                  'fraction', 'volume', 'length')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEYS = KEYS
+    VIEW = (('temp', 'temperature', 'temperature'), ('temp2', 'bed', 'temperature'), ('set', 'set point', 'temperature'),
+            ('heat', 'heating', 'bool'), ('speed', 'screws', 'rotation'), ('drive', 'drive', 'bool'), ('torque', 'torque per shaft (N·m)', 'plain'),
+            ('die_pressure', 'die pressure', 'pressure'), ('feed_mass', 'feed', 'mass_flow'), ('feed_flow', 'spray', 'flow'),
+            ('feed_pressure', 'feed pressure', 'pressure'), ('flow', 'total flow', 'flow'), ('air', 'air', 'flow'), ('air_on', 'air', 'bool'), ('hv', 'high voltage', 'bool'),
+            ('voltage', 'voltage', 'voltage'), ('vibration', 'vibration', 'frequency'), ('vib_on', 'vibration', 'bool'),
+            ('humidity', 'humidity', 'fraction'), ('climate', 'climate control', 'bool'), ('fluidized', 'bed fluidised', 'bool'),
+            ('phase', 'run', 'text'), ('stage', 'stage', 'text'), ('fault', 'fault', 'text'), ('warning', 'warning', 'text'),
+            ('cartridge', 'cartridge', 'text'))
+    CODES = {
+        'COLD_MATERIAL': ('COLD_BARREL', 'a barrel zone of {inst} is below the material\'s processing temperature.',
+                          'heat every zone to the processing temperature first: `chemlab run {inst} set-temp 180C --zone N` for each zone, '
+                          '`chemlab run {inst} heat on`, `chemlab run {inst} wait-temp`.'),
+        'RESIDUAL_ENERGY': ('RESIDUAL_ENERGY', 'the high voltage of {inst} is on or not yet discharged.',
+                            'switch it off (`chemlab run {inst} hv off`), wait a few seconds, then retry.'),
+        'SYRINGE_EMPTY': ('SYRINGE_EMPTY', 'a syringe of {inst} does not hold enough liquid for this run.', 'ask the lab operator to load more, or reduce the volume.'),
+        'TUBE_CAPACITY': ('TUBE_FULL', 'the collection tubes of {inst} cannot take this run.', 'ask the lab operator to change the tubes.'),
+        'RESET_REQUIRED': ('RESET_REQUIRED', 'the pushers of {inst} are not at home after the last run.', 'reset it: `chemlab call {inst} cycle.reset`.'),
+        'CARTRIDGE_TOPOLOGY': ('WRONG_CARTRIDGE', 'the fitted cartridge of {inst} has no dilution channel.', 'set dilution=0 in the method.'),
+        'BUSY': ('BUSY', '{inst} is running and takes no new settings now.', 'wait for the run (`chemlab run {inst} wait`) or stop it.'),
+    }
+
+    def build_verbs(self):
+        REF = REFS.get(self.asset)
+        out = self.temp_verbs(REF, 'start or stop heating (barrel, chamber climate, nozzle heater, inlet air)')
+        out['speed'] = self.knob_verb('speed', 'set the screw speed (on / off runs or stops the screws)', 'rotation', 'speed, e.g. 200rpm, or on / off',
+                                      example='chemlab run INST speed 200rpm', reference=REF)
+        out['vibration'] = self.knob_verb('vibration', 'set the nozzle vibration frequency (on / off switches it)', 'frequency',
+                                          'frequency, e.g. 1000Hz, or on / off', example='chemlab run INST vibration 1000Hz', reference=REF)
+        out['feed'] = self.knob_verb('feed', 'set the feed (extruder feeder, spray rate, or the encapsulator\'s feed pressure); on / off', 'flow',
+                                     'rate (g/min, mL/min) or pressure (mbar), or on / off', example='chemlab run INST feed 0.5g/min', reference=REF,
+                                     details='the unit depends on the instrument: a mass rate for the extruder feeder (g/min), a volume rate for '
+                                             'the fluid-bed spray (mL/min), a gauge pressure for the encapsulator\'s pressure-driven feed (mbar).')
+        out['air'] = self.knob_verb('air', 'set the fluidising air flow (on / off switches the air)', 'flow', 'flow, e.g. 240L/min, or on / off',
+                                    example='chemlab run INST air on', reference=REF)
+        out['hv'] = self.knob_verb('hv', 'set or switch the high voltage (electrospinning, electrostatic dispersion)', 'voltage',
+                                   'voltage, e.g. 1500V, or on / off', example='chemlab run INST hv on', reference=REF)
+        out['humidity'] = self.knob_verb('humidity', 'set the relative humidity of the spinning chamber (on / off switches the climate control)',
+                                         'fraction', 'relative humidity, e.g. 40%, or on / off', example='chemlab run INST humidity 40%', reference=REF)
+        out['prime'] = self.action_verb('prime', 'prime the cartridge / fluid path (a job)', reference=REF)
+        out['clean'] = self.action_verb('clean', 'clean the needle tips (--head N) or blow back the filter', reference=REF)
+        out['method'] = self.method_verb(REF)
+        out.update(self.run_verbs(REF))
+        return out
diff --git a/chemlab/chemlab/compile/classes/gas_fluid.py b/chemlab/chemlab/compile/classes/gas_fluid.py
new file mode 100644
index 0000000000000000000000000000000000000000..0455300f3726b6d244aa21f79debc532ed742fb8
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/gas_fluid.py
@@ -0,0 +1,689 @@
+"""Gas and fluid class ("gas_fluid"): mass-flow and pressure controllers, an evaporator-mixer, a stream-selection valve, a vacuum
+pump, a hydrogen generator, an ultrapure-water system, a NO/NOx analyzer and a helium leak detector (and the glovebox's gas
+purification as a secondary member).
+
+Verbs: setpoint VALUE [--wait], start, stop, select GAS|POSITION, dispense VOLUME, read, zero [on|off], calibrate [ACTION]
+[KEY=VALUE ...], vent [on|off], status.  power, open/close, ack, estop come from the shared layer.  Members and mappings:
+configs/adapters/gas_fluid.json.
+
+setpoint takes the quantity the unit says: a flow (500sccm, 1.5slpm, 2mL/min), a mass flow (12g/h), a pressure (50mbar, 3bar)
+or a temperature (140C); each member maps the quantities it controls to its own capability, converted to the unit that
+argument declares.  Gauge and absolute pressure are never converted into each other: a member's pressure set point is whatever
+its controller regulates (the help and the reply say which).  Where the device must also be switched to automatic / pressure
+control to act on the set point, setpoint does that as a second, reported step.
+
+Class checks before anything is sent: the value within the member's contract range (and the controller's full scale), the
+member's own requirements from its mapping (power, a gas supply, a vessel on the pump, a part on the leak detector, a zero or
+span gas on the analyzer inlet, the reading not over range), and for calibrate the gauge reading near the reference.
+
+Vendor-neutral models followed: OPC UA LADS controller and sensor functions (SetPoint / CurrentValue / Start / Stop), NAMUR
+for the vacuum controller, Alicat ASCII and Bronkhorst FLOW-BUS (set point, measure, auto-zero, control mode) as vendor styles,
+ASTM E1603 / EN 1779 terms for helium leak testing, EN 14211 terms (zero, span) for the NOx analyzer.
+"""
+import json
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unsupported
+from ..jobs import ConditionJob, OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+REF = ('Alicat MC operating manual: set point, gas select, tare; Bronkhorst EL-PRESS / CEM manuals: set point, control mode, '
+       'auto-zero, bleed; VACUUBRAND PC 3001 VARIO select manual: vacuum control, venting, sensor adjustment; PEAK Precision '
+       'Hydrogen manual: outlet pressure, start / standby, depressurise; ELGA PURELAB flex manual: dispense volume and rate, '
+       'calibration; ECO PHYSICS nCLD 822 manual: measurement, zero and span calibration; INFICON UL1000 Fab manual: START / '
+       'STOP / ZERO, calibration, venting; VICI EUTA manual: position selection')
+ON_OFF = ['on', 'off']
+KIND_WORDS = {'flow': 'flow', 'mass_flow': 'mass flow', 'pressure': 'pressure', 'temperature': 'temperature'}
+def parse_quantity(text, kind, what):
+    """Agent text -> SI (units.parse: sccm, slpm, ppm, ppb ... are framework units)."""
+    return units.parse((text or '').strip().replace(' ', ''), kind, what=what)
+
+
+def fmt_value(v, unit):
+    """A slot value in its declared unit -> plain text with a friendly unit."""
+    if v is None:
+        return 'n/a'
+    if isinstance(v, bool):
+        return 'yes' if v else 'no'
+    if not finite(v):
+        return short(v, 80)
+    u = units.norm_unit(unit)
+    if u == 'mol/mol':
+        return '%.4g ppm' % (v * 1e6)
+    if u in ('Pa m3/s', 'Pa*m3/s', 'Pa m^3/s'):
+        return '%.2e Pa·m³/s (%.2e mbar·L/s)' % (v, v * 10.0)
+    if u == 'ohm*m':
+        return '%.2f MΩ·cm' % (v * 1e-4)
+    if u == 'Pa':
+        return units.fmt(v, 'pressure', 1 if abs(v) < 1e5 else 3)
+    if u in ('m^3/s',):
+        return '%s (%.4g L/min)' % (units.fmt(v, 'flow'), v * 6e4)
+    k = units.unit_kind(u) if u else None
+    if k:
+        return units.fmt(units.from_declared(v, u), k)
+    return ('%g %s' % (v, u)) if u and u != '1' else '%g' % v
+
+
+class GasFluidAdapter(ClassAdapter):
+    CLASS = 'gas_fluid'
+    TITLE = 'gas / fluid supply, control and monitoring'
+    ABOUT = ('Devices that supply, control or monitor a gas or liquid stream: give a set point in the unit you mean (500sccm, '
+             '3bar, 50mbar, 12g/h, 140C), start / stop the pump, generator, dispenser or measurement, select a gas or a valve '
+             'position, dispense a volume, read the measured value, zero and calibrate sensors, vent.')
+    STANDARDS = ('OPC UA LADS controller / sensor functions; NAMUR (vacuum controller); Alicat ASCII and Bronkhorst FLOW-BUS '
+                 '(vendor styles: set point, measure, tare / auto-zero, control mode); ASTM E1603 / EN 1779 (He leak testing); '
+                 'EN 14211 (NOx analyzer zero / span)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('flow', 'mass_flow', 'pressure', 'temperature', 'volume', 'fraction', 'duration')
+    PATH_GROUPS = (('start', 'stop'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'ACCESS_DENIED': ('NOT_YOURS', 'what is running on {inst} was started by someone else; only they can stop, interrupt or change it.',
+                          'wait until it has ended (`chemlab run {inst} status`), or ask whoever started it.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (the lab has not declared its surroundings).', 'ask the lab operator.'),
+        'NO_GAS_SUPPLY': ('NO_GAS_SUPPLY', 'no carrier gas is connected to {inst}.', 'ask the lab operator to connect the gas supply.'),
+        'NO_LIQUID_SUPPLY': ('NO_LIQUID_SUPPLY', 'no liquid is connected to {inst}.', 'ask the lab operator to connect the liquid supply.'),
+        'BLEED_OPEN': ('BLEED_OPEN', 'the bleed (vent) of {inst} is open, so it takes no liquid flow.', 'close it: `chemlab run {inst} vent off`.'),
+        'LIQUID_SETPOINT_NOT_ZERO': ('LIQUID_FLOWING', 'the liquid set point of {inst} is not zero; it vents only without liquid flow.',
+                                     'set the liquid flow to 0 first: `chemlab run {inst} setpoint 0g/h`.'),
+        'SETPOINT_ABOVE_FULL_SCALE': ('ABOVE_FULL_SCALE', 'the set point is above the full scale of the {inst} controller.', 'give a smaller value (see `chemlab run {inst} status`).'),
+        'GAS_FLOWING': ('GAS_FLOWING', 'gas is still flowing through {inst}.', 'set the gas flow to 0 first.'),
+        'RUNNING_UP': ('RUNNING_UP', '{inst} is still running up (about 3 min after switching on).', 'wait (`chemlab wait 180`), then retry.'),
+        'NOT_MEASURING': ('NOT_MEASURING', '{inst} is not measuring.', 'start the measurement first: `chemlab run {inst} start --wait`.'),
+        'SIGNAL_NOT_STABLE': ('NOT_STABLE', 'the signal of {inst} is not stable yet.', 'wait a little (`chemlab wait 30`), then retry.'),
+        'ZERO_DISABLED': ('ZERO_DISABLED', 'the zero function of {inst} is disabled in its settings.', 'see `chemlab describe {inst}` (settings.configure zero_mode).'),
+        'DETECTOR_FAULT': ('DEVICE_ERROR', '{inst} shows an error message that is not cleared.', 'read it (`chemlab run {inst} status`) and acknowledge it (`chemlab run {inst} ack`).'),
+        'CALIBRATING': ('BUSY', '{inst} is calibrating.', 'wait until the calibration has finished.'),
+        'BUSY': ('BUSY', '{inst} is busy with another action.', 'wait until it has finished (`chemlab run {inst} status`).'),
+        'NO_PART': ('NO_PART', 'no test part is connected to the inlet of {inst}.', 'ask the lab operator to connect the part.'),
+        'INLET_NOT_VENTED': ('NOT_VENTED', 'the inlet of {inst} is not vented.', 'vent it: `chemlab run {inst} vent`.'),
+        'REMOTE_DISABLED': ('REMOTE_OFF', '{inst} does not accept commands from the computer now (control location).', 'see `chemlab describe {inst}`.'),
+        'NOT_READY_FOR_CALIBRATION': ('NOT_READY', '{inst} calibrates only in standby or while measuring.', 'see `chemlab run {inst} status`.'),
+        'MISSING_SETTING': ('MISSING_SETTING', '{inst} needs one more setting for this.', 'see `chemlab help {inst} calibrate`.'),
+        'DEPRESSURISING': ('DEPRESSURISING', '{inst} is depressurising its outlet.', 'wait until it is back in standby (`chemlab run {inst} status`), then retry.'),
+    }
+
+    SLOT_KEYS = ('reading', 'set', 'full_scale', 'in_position', 'delivered', 'rate_slot', 'pending', 'done', 'duration_slot')
+
+    def check_mapping(self, lab):
+        """The base check, plus the class's own slot keys (reading, set, full_scale, ...; 'slot#key' allowed)."""
+        visible = {s.lower() for s in lab.view.slots}
+        out = []
+        for pr in ClassAdapter.check_mapping(self, lab):
+            m = re.search(r'no visible state slot (\S+)$', pr)
+            if m and '#' in m.group(1) and m.group(1).split('#', 1)[0].lower() in visible:
+                continue
+            out.append(pr)
+
+        def walk(o, where):
+            if isinstance(o, dict):
+                for k, x in o.items():
+                    if (k in self.SLOT_KEYS or k == 'pre_keep') and x is not None:
+                        vals = list(x.values()) if isinstance(x, dict) and k == 'pre_keep' else [x] if isinstance(x, str) else []
+                        for sid in vals:
+                            if sid.split('#', 1)[0].lower() not in visible:
+                                out.append('%s.%s: no visible state slot %s' % (where, k, sid))
+                    if isinstance(x, (dict, list)):
+                        walk(x, '%s.%s' % (where, k))
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x, where)
+        walk(self.map.get('verbs') or {}, 'verbs')
+        return out
+
+    # ------------------------------------------------------------------ helpers
+    def kinds(self):
+        return [k for k in ('flow', 'mass_flow', 'pressure', 'temperature') if k in (self.vmap('setpoint') or {})]
+
+    def sv(self, values, sid):
+        if sid is None:
+            return None
+        get = values.v if hasattr(values, 'v') else values.get
+        base, _, key = sid.partition('#')
+        v = get(base)
+        return v.get(key) if key and isinstance(v, dict) else v
+
+    def slot_unit(self, sid):
+        base = sid.split('#', 1)[0]
+        s = self.lab.contract['state_slots'].get(base) or {}
+        return s.get('unit')
+
+    def show(self, values, sid):
+        return fmt_value(self.sv(values, sid), self.slot_unit(sid) if '#' not in sid else None)
+
+    def need(self, ctx, verb):
+        self.requirements(ctx, verb)
+
+    def parse_value(self, ctx, text, kinds, what):
+        """Text -> (kind, SI) for the first kind whose units the text uses."""
+        t = (text or '').strip()
+        bare = re.fullmatch(r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?', t) is not None
+        if bare and len(kinds) > 1:
+            ctx.fail(invalid('UNIT_NEEDED', '%s controls %s; give a unit so it is clear which one (e.g. %s).' % (
+                self.instrument_id, ' and '.join(KIND_WORDS[k] for k in kinds), ', '.join(units.example(k) for k in kinds)),
+                'write the value with its unit, e.g. %s.' % units.example(kinds[0])))
+        last = None
+        for k in kinds:
+            try:
+                return k, parse_quantity(t, k, what)
+            except CompileError as exc:
+                last = exc
+                if exc.code != 'UNIT_NOT_ALLOWED':
+                    raise
+        ctx.fail(invalid('UNIT_NOT_ALLOWED', '%r is not a %s on %s.' % (text, ' or '.join(KIND_WORDS[k] for k in kinds), self.instrument_id),
+                         'units: %s.' % units.describe_kinds(kinds)))
+
+    def fmt_si(self, si, kind):
+        if kind == 'pressure':
+            return units.fmt(si, 'pressure', 1 if abs(si) < 1e5 else 3)
+        if kind == 'flow' and self.param('gas', True):
+            return '%s (%.4g sccm)' % (units.fmt(si, 'flow'), si * 6e7)
+        return units.fmt(si, kind)
+
+    def range_check(self, ctx, cap, arg, si, kind, what):
+        lo, hi = self.arg_range_si(cap, arg)
+        sch = self.cap_schema(cap, arg)
+        ex_lo = sch.get('exclusiveMinimum')
+        if ex_lo is not None:
+            u = self.arg_unit(cap, arg)
+            ex_lo = units.from_declared(ex_lo, u) if u else ex_lo
+            if si <= ex_lo + 1e-15:
+                ctx.fail(invalid('OUT_OF_RANGE', '%s %s must be above %s on %s.' % (what, self.fmt_si(si, kind), self.fmt_si(ex_lo, kind), self.instrument_id),
+                                 'give a value above %s.' % self.fmt_si(ex_lo, kind)))
+        if (lo is not None and si < lo - 1e-12 * max(1, abs(lo))) or (hi is not None and si > hi + 1e-12 * max(1, abs(hi))):
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (
+                what, self.fmt_si(si, kind), self.instrument_id, 'n/a' if lo is None else self.fmt_si(lo, kind), 'n/a' if hi is None else self.fmt_si(hi, kind)),
+                'give a %s from %s to %s.' % (what, 'n/a' if lo is None else self.fmt_si(lo, kind), 'n/a' if hi is None else self.fmt_si(hi, kind))))
+        ctx.checks.append('%s within the contract range' % what)
+
+    def then_steps(self, ctx, steps):
+        for st in steps or []:
+            cond = st.get('unless')
+            if cond and self.sv(ctx, cond['slot']) == cond['value']:
+                continue
+            ctx.call(st['cap'], dict(st.get('args') or {}), st.get('step', st['cap']))
+
+    def reading_si(self, values, spec):
+        if not spec:
+            return None
+        if isinstance(spec, dict):
+            return self.slot_si(values, spec)
+        v = self.sv(values, spec)
+        if not finite(v):
+            return None
+        return units.from_declared(v, self.slot_unit(spec)) if '#' not in spec else v
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        lines, js = [], {}
+        p = self.slot('power')
+        if p:
+            on = bool(self.sv(values, p))
+            js['power'] = on
+            if not on:
+                return ['power off'], js
+        run = self.slot('running')
+        if run:
+            rv = self.sv(values, run)
+            js['running'] = rv
+            lines.append('%s: %s' % (self.param('running_word', 'running'), rv if not isinstance(rv, bool) else ('yes' if rv else 'no')))
+        sp = self.vmap('setpoint') or {}
+        for k in ('pressure', 'flow', 'mass_flow', 'temperature'):
+            m = sp.get(k)
+            if not m:
+                continue
+            now = self.reading_si(values, m.get('reading'))
+            setv = self.reading_si(values, m.get('set'))
+            label = m.get('label', KIND_WORDS[k])
+            lines.append('%s %s (set point %s)' % (label, 'n/a' if now is None else self.fmt_si(now, k), 'n/a' if setv is None else self.fmt_si(setv, k)))
+            js[k.replace('mass_flow', 'mass_flow') + '_si'] = now
+            js[k + '_set_si'] = setv
+        for sid in (self.vmap('read') or {}).get('reads') or []:
+            if any(sid == (sp.get(k) or {}).get('reading') for k in sp):
+                continue
+            lines.append('%s = %s' % (sid, self.show(values, sid)))
+            js[sid] = self.sv(values, sid)
+        for sid in self.param('status_slots', []):
+            lines.append('%s = %s' % (sid, self.show(values, sid)))
+            js[sid] = self.sv(values, sid)
+        return (lines or ['(see `chemlab read %s`)' % self.instrument_id]), js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        return {
+            'setpoint': Verb('setpoint', 'set the flow, pressure, mass flow or temperature set point (the unit says which)', self.h_setpoint,
+                             positionals=[Arg('VALUE', 'e.g. 500sccm, 1.5slpm, 2mL/min, 12g/h, 3bar, 50mbar, 140C')],
+                             options={'wait': Opt('then wait until the measured value is there (moves lab time)', kind='flag'),
+                                      'within': Opt('with --wait: tolerance in the same unit (default: the member\'s)', metavar='DELTA'),
+                                      'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                             preconditions=['value within the contract range and the controller\'s full scale', 'the member\'s own requirements (power, supply, vessel)'],
+                             errors=['OUT_OF_RANGE, UNIT_NEEDED (usage)', 'POWER_OFF, NO_GAS_SUPPLY, NOT_CONNECTED, ABOVE_FULL_SCALE (refused)',
+                                     'NOT_REACHED (refused: --wait ran out)'],
+                             example='chemlab run INST setpoint 500sccm', reference=REF),
+            'start': Verb('start', 'start the pump, generator, water delivery or measurement', self.h_start,
+                          options={'wait': Opt('then wait until it is ready (e.g. evacuated and measuring)', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait (default 10 min)', kind='duration', metavar='TIME')},
+                          preconditions=['the member\'s own requirements (power, a vessel / part connected, warm)'],
+                          errors=['POWER_OFF, NOT_CONNECTED, NO_PART (refused)'], example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'stop the pump, generator, water delivery or measurement', self.h_stop, example='chemlab run INST stop', reference=REF),
+            'select': Verb('select', 'select the gas (gas table), the valve position or the analyzer inlet gas', self.h_select,
+                           positionals=[Arg('GAS|POSITION', 'a gas id, a valve position number, or a calibration gas / "sample"')],
+                           options={'wait': Opt('then wait until the valve is in position (moves lab time)', kind='flag')},
+                           preconditions=['position within the valve\'s positions'], errors=['UNKNOWN_POSITION (usage)', 'BUSY (refused)'],
+                           example='chemlab run INST select 3', reference=REF),
+            'dispense': Verb('dispense', 'dispense a volume of water (returns job-N; --wait blocks until it is delivered)', self.h_dispense,
+                             positionals=[Arg('VOLUME', 'e.g. 500mL or 1.5L', kind='volume')],
+                             options={'rate': Opt('flow rate, e.g. 1L/min (default: the rate already set)', kind='flow', metavar='FLOW'),
+                                      'wait': Opt('wait until the volume is delivered', kind='flag'),
+                                      'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                             preconditions=['volume within the range', 'a flow rate set (or --rate)', 'supply, receiver and consumables ready'],
+                             errors=['OUT_OF_RANGE (usage)', 'NO_RATE, NO_RECEIVER, BUSY (refused)'], long_action=True,
+                             example='chemlab run INST dispense 500mL --rate 1L/min --wait', reference=REF),
+            'read': Verb('read', 'the measured values (flow, pressure, concentration, leak rate, position, volume) in plain units', self.h_read,
+                         readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST read'),
+            'zero': Verb('zero', 'zero the sensor (on the leak detector: background subtraction on / off)', self.h_zero,
+                         positionals=[Arg('on|off', 'leak detector only: zero on (default) or off', required=False, choices=ON_OFF)],
+                         preconditions=['the member\'s own requirements (zero gas on the inlet, measuring and stable)'],
+                         errors=['NO_ZERO_GAS, NOT_MEASURING, NOT_STABLE (refused)'], example='chemlab run INST zero', reference=REF),
+            'calibrate': Verb('calibrate', 'calibrate: span / reference / test leak / dispense volume (KEY=VALUE settings)', self.h_calibrate,
+                              positionals=[Arg('ACTION', 'the member\'s calibration kind or step (see help)', required=False)],
+                              variadic=('KEY=VALUE', 'a calibration setting with its unit'),
+                              preconditions=['the reference / span gas really applied (reading near it, not over range)'],
+                              errors=['NOT_AT_REFERENCE, NO_SPAN_GAS, OVER_RANGE (refused)', 'UNKNOWN_SETTING (usage)'],
+                              example='chemlab run INST calibrate reference=1013mbar', reference=REF),
+            'vent': Verb('vent', 'vent / depressurise / open the bleed (vent off closes it again where possible)', self.h_vent,
+                         positionals=[Arg('on|off', 'on (default) or off', required=False, choices=ON_OFF)],
+                         preconditions=['the member\'s own requirements (no liquid flow on the evaporator)'],
+                         errors=['LIQUID_FLOWING (refused)'], example='chemlab run INST vent', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ setpoint
+    def h_setpoint(self, ctx, p):
+        maps = self.vmap('setpoint')
+        kinds = self.kinds()
+        kind, si = self.parse_value(ctx, p.raw['VALUE'], kinds, 'set point')
+        m = maps[kind]
+        cap, arg = m['cap'], m['arg']
+        self.range_check(ctx, cap, arg, si, kind, '%s set point' % KIND_WORDS[kind])
+        fs = m.get('full_scale')
+        if fs:
+            lim = self.reading_si(ctx, fs)
+            if finite(lim):
+                ctx.check(si <= lim * (1 + 1e-9), 'ABOVE_FULL_SCALE', 'the %s set point %s is above the full scale of %s (%s).' % (
+                    KIND_WORDS[kind], self.fmt_si(si, kind), self.instrument_id, self.fmt_si(lim, kind)),
+                    'give at most %s.' % self.fmt_si(lim, kind), label='within the full scale')
+        self.requirements(ctx, 'setpoint')
+        self.requirements(ctx, 'setpoint:' + kind)
+        args = dict(m.get('args') or {})
+        args[arg] = round(self.arg_value(cap, arg, si), 15)
+        if self.cap_schema(cap, arg).get('type') == 'integer':
+            args[arg] = int(round(args[arg]))
+        if p.get('wait') and m.get('needs_running') and self.slot('running'):
+            rv = self.sv(ctx, self.slot('running'))
+            ctx.check(rv in ((self.vmap('start') or {}).get('running_values') or [True]), 'NOT_RUNNING',
+                      '%s is not running (%s), so it will not reach %s.' % (self.instrument_id, self.param('running_word', 'state') + ': ' + str(rv),
+                                                                          self.fmt_si(si, kind)),
+                      'start it first: `chemlab run %s start`, then set the set point with --wait.' % self.instrument_id, label='running')
+        before = self.reading_si(ctx, m.get('set'))
+        ctx.call(cap, args, 'set the %s set point to %s' % (KIND_WORDS[kind], self.fmt_si(si, kind)),
+                 readback=(lambda v: None if not finite(self.reading_si(ctx, m['set'])) or abs(self.reading_si(ctx, m['set']) - si) <= 1e-9 * max(1.0, abs(si))
+                           else 'set point %s' % self.fmt_si(self.reading_si(ctx, m['set']), kind)) if m.get('set') else None)
+        self.then_steps(ctx, m.get('then'))
+        ref = m.get('pressure_ref')
+        text = 'ok: %s %s set point %s%s (was %s)' % (self.instrument_id, KIND_WORDS[kind], self.fmt_si(si, kind),
+                                                     (' %s' % ref) if ref else '', 'n/a' if before is None else self.fmt_si(before, kind))
+        now = self.reading_si(ctx, m.get('reading'))
+        if now is not None:
+            text += '; now %s' % self.fmt_si(now, kind)
+        js = {'kind': kind, 'set_point_si': si, 'was_si': before, 'reading_si': now}
+        if ref:
+            js['pressure_reference'] = ref
+        notes = list(m.get('notes') or [])
+        if p.get('wait') and not ctx.dry_run:
+            r = self.wait_value(ctx, kind, m, si, p)
+            text += '\n' + r['text']
+            js.update(r['json'])
+        return {'text': text + '\n', 'json': js, 'notes': notes}
+
+    def wait_value(self, ctx, kind, m, target, p):
+        if not m.get('reading'):
+            ctx.fail(unsupported('NO_READING', '%s has no %s reading to wait for.' % (self.instrument_id, KIND_WORDS[kind]), 'leave out --wait.'))
+        if p.raw.get('within'):
+            tol = parse_quantity(p.raw['within'], kind, '--within')
+        else:
+            tol = max(float(m.get('tol_abs', 0.0)), float(m.get('tol_rel', 0.02)) * abs(target))
+        max_s = p.get('max') or 1800.0
+
+        def there(view):
+            now = self.reading_si(ctx, m['reading'])
+            return now is not None and abs(now - target) <= tol + 1e-12
+        t0 = ctx.now()
+        if not there(ctx.view):
+            ctx.advance(max_s, until=there, step='wait until %s %s ± %s' % (KIND_WORDS[kind], self.fmt_si(target, kind), self.fmt_si(tol, kind)),
+                        poll_s=float(self.param('poll_s', 2.0)))
+        now = self.reading_si(ctx, m['reading'])
+        if not there(ctx.view):
+            ctx.fail(refused('NOT_REACHED', '%s %s is %s after %s; %s ± %s was not reached.' % (
+                self.instrument_id, KIND_WORDS[kind], 'n/a' if now is None else self.fmt_si(now, kind), units.fmt_s(ctx.now() - t0),
+                self.fmt_si(target, kind), self.fmt_si(tol, kind)),
+                'wait longer (`--max`), or check `chemlab run %s status` (running? supply? leak?).' % self.instrument_id,
+                detail={'reading_si': now, 'target_si': target}))
+        return {'text': 'reached %s (target %s ± %s) after %s (t = %.0f s)' % (self.fmt_si(now, kind), self.fmt_si(target, kind), self.fmt_si(tol, kind),
+                                                                            units.fmt_s(ctx.now() - t0), ctx.now()),
+                'json': {'reached': True, 'reading_si': now, 'waited_s': ctx.now() - t0}}
+
+    # ------------------------------------------------------------------ start / stop
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.requirements(ctx, 'start')
+        run = self.slot('running')
+        if run and m.get('running_values') and self.sv(ctx, run) in m['running_values']:
+            return {'text': 'ok: %s is already %s\n' % (self.instrument_id, self.sv(ctx, run)), 'json': {'changed': False, 'state': self.sv(ctx, run)}}
+        ctx.call(m['cap'], dict(m.get('args') or {}), m.get('step', 'start (%s)' % m['cap']))
+        text = 'ok: %s started' % self.instrument_id
+        js = {'changed': True}
+        if run:
+            rv = self.sv(ctx, run)
+            text += ' (%s: %s)' % (self.param('running_word', 'state'), ('yes' if rv else 'no') if isinstance(rv, bool) else rv)
+            js['state'] = self.sv(ctx, run)
+        ready = m.get('ready')
+        if p.get('wait') and not ctx.dry_run:
+            if not ready:
+                ctx.fail(unsupported('NO_READY_STATE', '%s has no ready state to wait for.' % self.instrument_id, 'leave out --wait.'))
+            t0 = ctx.now()
+
+            def ok(view):
+                return self.sv(ctx, ready['slot']) in ready['values']
+            if not ok(ctx.view):
+                ctx.advance(p.get('max') or 600.0, until=ok, step='wait until %s is %s' % (ready['slot'], '/'.join(map(str, ready['values']))))
+            if not ok(ctx.view):
+                ctx.fail(refused('NOT_READY', '%s is not ready after %s (%s = %s).' % (self.instrument_id, units.fmt_s(ctx.now() - t0), ready['slot'],
+                                                                                        self.sv(ctx, ready['slot'])),
+                                 'wait longer (`chemlab run %s start --wait --max 20min` is safe to repeat) or check `chemlab run %s status`.' % (
+                                     self.instrument_id, self.instrument_id)))
+            text += '; ready after %s (%s = %s)' % (units.fmt_s(ctx.now() - t0), ready['slot'], self.sv(ctx, ready['slot']))
+            js['ready'] = True
+        return {'text': text + '\n', 'json': js}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.requirements(ctx, 'stop')
+        ctx.call(m['cap'], dict(m.get('args') or {}), m.get('step', 'stop (%s)' % m['cap']))
+        run = self.slot('running')
+        return {'text': 'ok: %s stopped%s\n' % (self.instrument_id, (' (%s: %s)' % (self.param('running_word', 'state'), self.sv(ctx, run))) if run else ''),
+                'json': {'state': self.sv(ctx, run) if run else None}}
+
+    # ------------------------------------------------------------------ select
+    def h_select(self, ctx, p):
+        m = self.vmap('select')
+        text = p.raw['GAS|POSITION'].strip()
+        off = m.get('off') or {}
+        if text.lower() in [w.lower() for w in off.get('words', [])]:
+            self.requirements(ctx, 'select')
+            ctx.call(off['cap'], dict(off.get('args') or {}), 'back to %s' % text.lower())
+            return {'text': 'ok: %s inlet back to %s\n' % (self.instrument_id, self.sv(ctx, m.get('slot')) if m.get('slot') else text), 'json': {'selected': text.lower()}}
+        cap, arg = m['cap'], m['arg']
+        sch = self.cap_schema(cap, arg)
+        if sch.get('type') == 'integer':
+            try:
+                val = int(text)
+            except ValueError:
+                ctx.fail(invalid('BAD_POSITION', '%r is not a position number.' % text, 'give a number, e.g. `select 3`.'))
+            lo, hi = sch.get('minimum'), sch.get('maximum')
+            n = self.sv(ctx, self.slot('positions')) if self.slot('positions') else None
+            off_ = self.sv(ctx, self.slot('offset')) if self.slot('offset') else 1
+            if finite(n):
+                lo, hi = int(off_ or 1), int(off_ or 1) + int(n) - 1
+            if (lo is not None and val < lo) or (hi is not None and val > hi):
+                ctx.fail(invalid('UNKNOWN_POSITION', '%s has no position %d (positions %s to %s).' % (self.instrument_id, val, lo, hi),
+                                 'give a position from %s to %s.' % (lo, hi)))
+            ctx.checks.append('position within %s..%s' % (lo, hi))
+        else:
+            enum = self.arg_enum(cap, arg)
+            val = text
+            pre = m.get('id_prefix')
+            if pre and not val.startswith(pre):
+                val = pre + val.lower().replace(' ', '_')
+            if enum and val not in enum:
+                close = [e for e in enum if text.lower() in e.lower()][:4]
+                ctx.fail(invalid('UNKNOWN_GAS', '%s has no %s %r.' % (self.instrument_id, m.get('what', 'gas'), text),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') + 'choices: %s%s.' % (
+                                     ', '.join(enum), (' or ' + '/'.join(off.get('words', []))) if off else '')))
+        cur = self.sv(ctx, m.get('slot')) if m.get('slot') else None
+        if cur is not None and str(cur) == str(val) and m.get('slot_is_value', True):
+            return {'text': 'ok: %s is already at %s\n' % (self.instrument_id, val), 'json': {'selected': val, 'changed': False}}
+        self.requirements(ctx, 'select')
+        busy = m.get('busy')
+        if busy:
+            pend = self.sv(ctx, busy['pending'])
+            ctx.check(pend is None or bool(self.sv(ctx, busy['done'])), 'BUSY',
+                      '%s is still moving to position %s.' % (self.instrument_id, pend),
+                      'wait until it is in position (`chemlab wait 2`), then select again.', label='not moving')
+        args = dict(m.get('args') or {})
+        args[arg] = val
+        ctx.call(cap, args, 'select %s %s' % (m.get('what', 'gas'), val))
+        txt = 'ok: %s %s %s selected' % (self.instrument_id, m.get('what', 'gas'), val)
+        js = {'selected': val, 'changed': True}
+        ip = m.get('in_position')
+        if ip:
+            if p.get('wait') and not ctx.dry_run:
+                t0 = ctx.now()
+                ctx.advance(float(m.get('max_wait_s', 10.0)), until=lambda v: bool(self.sv(ctx, ip)), step='wait until in position', poll_s=1.0)
+                if not self.sv(ctx, ip):
+                    ctx.fail(refused('NOT_IN_POSITION', '%s did not report "in position" within %s.' % (self.instrument_id, units.fmt_s(ctx.now() - t0)),
+                                     'check `chemlab run %s status`; the valve drive may be stuck.' % self.instrument_id))
+                txt += '; in position after %s (%s)' % (units.fmt_s(ctx.now() - t0), self.show(ctx, m['slot']) if m.get('slot') else '')
+                js['in_position'] = True
+            else:
+                txt += '; moving (use --wait, or check `chemlab run %s read`)' % self.instrument_id
+        return {'text': txt + '\n', 'json': js}
+
+    # ------------------------------------------------------------------ dispense
+    def h_dispense(self, ctx, p):
+        m = self.vmap('dispense')
+        vol = p.pos[0]
+        self.range_check(ctx, m['volume_cap'], m['volume_arg'], vol, 'volume', 'volume')
+        rate = p.get('rate')
+        if rate is not None:
+            self.range_check(ctx, m['rate_cap'], m['rate_arg'], rate, 'flow', 'flow rate')
+        else:
+            cur = self.reading_si(ctx, m.get('rate_slot'))
+            ctx.check(finite(cur) and cur > 0, 'NO_RATE', '%s has no dispense flow rate set.' % self.instrument_id,
+                      'give one: `chemlab run %s dispense %s --rate 1L/min` (or `setpoint 1L/min` first).' % (self.instrument_id, p.raw['VOLUME']),
+                      label='a flow rate is set')
+        self.requirements(ctx, 'dispense')
+        ctx.call(m['volume_cap'], {m['volume_arg']: round(self.arg_value(m['volume_cap'], m['volume_arg'], vol), 15)}, 'set the volume to %s' % units.fmt(vol, 'volume'))
+        if rate is not None:
+            ctx.call(m['rate_cap'], {m['rate_arg']: round(self.arg_value(m['rate_cap'], m['rate_arg'], rate), 15)}, 'set the flow rate to %s' % units.fmt(rate, 'flow'))
+        ctx.call(m['start_cap'], dict(m.get('start_args') or {}), 'start dispensing')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        st = m['state']
+        ad = self
+        final = {}
+
+        def state(c):
+            if final:                                                    # a finished dispense keeps its result
+                return final['r']
+            v = ad.sv(c, st['slot'])
+            got = ad.reading_si(c, m.get('delivered'))
+            prog = '%s = %s, delivered %s' % (st['slot'], v, 'n/a' if got is None else units.fmt(got, 'volume'))
+            js = {'state': v, 'delivered_m3': got}
+            if v in st['done']:
+                final['r'] = ('succeeded', prog, js)
+                return final['r']
+            if v in st['failed']:
+                final['r'] = ('failed', prog, js)
+                return final['r']
+            return 'running', prog, js
+        stop = None
+        if m.get('stop_cap'):
+            def stop(c):
+                c.call(m['stop_cap'], {}, 'stop dispensing')
+                return 'stopped with %s' % m['stop_cap']
+        job = StateJob(ctx.core, self, ctx.req, 'dispense %s on %s' % (units.fmt(vol, 'volume'), self.instrument_id), state, stop=stop, max_s=7200.0)
+        if p.get('wait'):
+            r = job.wait_reply(ctx.core, ctx.req, p.get('max') or 1800.0)
+            ctx.refresh()
+            if r['json'].get('status') != 'succeeded':
+                ctx.fail(refused('NOT_DELIVERED', 'the dispense on %s ended as %s (%s).' % (self.instrument_id, r['json'].get('status'), r['json'].get('state')),
+                                 'see `chemlab run %s status` (supply empty? receiver full?).' % self.instrument_id))
+            return {'text': 'ok: dispensed %s (%s)\n%s' % (units.fmt(vol, 'volume'), job.handle, r['text']), 'json': dict(r['json'], job=job.handle, volume_m3=vol)}
+        return {'text': 'started %s: dispense %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, units.fmt(vol, 'volume'), job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'volume_m3': vol}}
+
+    # ------------------------------------------------------------------ read
+    def h_read(self, ctx, p):
+        m = self.vmap('read')
+        rows = {}
+        lines = ['%s at t = %.1f s:' % (self.instrument_id, ctx.now())]
+        for sid in m.get('reads') or []:
+            v = self.sv(ctx, sid)
+            rows[sid] = v
+            q = ctx.quality.get(sid.split('#', 1)[0])
+            lines.append('  %-36s %s%s' % (sid, self.show(ctx, sid), ('  [%s]' % q) if q and q not in ('measured', 'nominal', 'valid') else ''))
+        for line in self.summary(ctx.view)[0]:
+            if not any(line.startswith(s + ' =') for s in rows):
+                lines.append('  ' + line)
+        return {'text': '\n'.join(lines) + '\n', 'json': {'readings': rows, 'view': self.summary(ctx.view)[1]}}
+
+    # ------------------------------------------------------------------ zero
+    def h_zero(self, ctx, p):
+        m = self.vmap('zero')
+        want = (p.pos[0] if p.pos else 'on') == 'on'
+        if not want and not m.get('arg'):
+            ctx.fail(invalid('NO_ZERO_OFF', '%s has no "zero off"; zero only applies a new zero.' % self.instrument_id, 'write just `zero`.'))
+        self.requirements(ctx, 'zero')
+        args = dict(m.get('args') or {})
+        if m.get('arg'):
+            args[m['arg']] = want
+        r = ctx.call(m['cap'], args, 'zero %s' % ('on' if want else 'off') if m.get('arg') else 'zero the sensor')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result')
+        if r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, 'zero %s' % self.instrument_id, m['cap'], r['operation_id'])
+            return {'text': 'started %s: zero calibration of %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, self.instrument_id, job.handle, job.handle),
+                    'json': {'job': job.handle, 'result': res}}
+        word = ('zero %s' % ('on' if want else 'off')) if m.get('arg') else 'zeroed'
+        return {'text': 'ok: %s %s (%s)\n' % (self.instrument_id, word, short(res, 160)), 'json': {'result': res, 'zero': want}}
+
+    # ------------------------------------------------------------------ calibrate
+    def h_calibrate(self, ctx, p):
+        m = self.vmap('calibrate')
+        actions = m.get('actions') or []
+        action = p.raw.get('ACTION')
+        extra = list(p.extra)
+        if action and '=' in action:
+            extra.insert(0, action)
+            action = None
+        if action and action not in actions:
+            ctx.fail(invalid('UNKNOWN_ACTION', '%s has no calibration %r.' % (self.instrument_id, action),
+                             ('choices: %s.' % ', '.join(actions)) if actions else 'leave it out; give KEY=VALUE settings (see `chemlab help %s calibrate`).' % self.instrument_id))
+        if not action and actions:
+            action = m.get('default_action', actions[0])
+        keys = m.get('keys') or {}
+        main, pre = {}, {}
+        for item in extra:
+            k, eq, v = item.partition('=')
+            if not eq or k not in keys:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s calibrate takes %s.' % (self.instrument_id, ', '.join('%s=...' % x for x in keys) or 'no settings'),
+                                 'see `chemlab help %s calibrate`.' % self.instrument_id))
+            spec = keys[k]
+            cap = spec.get('cap', m['cap'])
+            for a in (spec['arg'] if isinstance(spec['arg'], list) else [spec['arg']]):
+                sch = self.cap_schema(cap, a)
+                if spec.get('kind') == 'fraction':
+                    val = parse_quantity(v, 'fraction', k)
+                    lo, hi = sch.get('minimum'), sch.get('maximum')
+                    if (lo is not None and val < lo) or (hi is not None and val > hi):
+                        ctx.fail(invalid('OUT_OF_RANGE', '%s=%s is outside %g..%g ppm on %s.' % (k, v, lo * 1e6, hi * 1e6, self.instrument_id), 'give a value in that range.'))
+                elif spec.get('kind'):
+                    si = parse_quantity(v, spec['kind'], k)
+                    self.range_check(ctx, cap, a, si, spec['kind'], k)
+                    val = round(self.arg_value(cap, a, si), 15)
+                else:
+                    val = units.parse_for(v, sch, what=k)
+                (main if cap == m['cap'] else pre)[a] = val
+        for k, spec in keys.items():
+            if spec.get('required_for') and action in spec['required_for'] and spec['arg'] not in main:
+                ctx.fail(invalid('MISSING_SETTING', '%s calibrate %s needs %s=VALUE.' % (self.instrument_id, action, k), 'see `chemlab help %s calibrate`.' % self.instrument_id))
+            if spec.get('required') and not any(a in main or a in pre for a in (spec['arg'] if isinstance(spec['arg'], list) else [spec['arg']])):
+                ctx.fail(invalid('MISSING_SETTING', '%s calibrate needs %s=VALUE.' % (self.instrument_id, k), 'e.g. `chemlab run %s calibrate %s=%s`.' % (
+                    self.instrument_id, k, spec.get('example', '...'))))
+        self.requirements(ctx, 'calibrate')
+        if action:
+            self.requirements(ctx, 'calibrate:' + action)
+        ref = m.get('near_reading')
+        if ref and ref['arg'] in main:
+            want = units.from_declared(main[ref['arg']], self.arg_unit(m['cap'], ref['arg']))
+            now = self.reading_si(ctx, ref['slot'])
+            dev = float(ref.get('max_rel', 0.1))
+            ctx.check(finite(now) and abs(now - want) <= dev * max(abs(want), float(ref.get('floor', 100.0))), 'NOT_AT_REFERENCE',
+                      'the gauge of %s reads %s, not near the reference %s: it is not at that pressure, so the adjustment would be wrong.' % (
+                          self.instrument_id, 'n/a' if now is None else self.fmt_si(now, 'pressure'), self.fmt_si(want, 'pressure')),
+                      'bring the gauge to the reference first (for the atmosphere point: `chemlab run %s vent`, wait until it reads about 1 atm), then calibrate.' % self.instrument_id,
+                      label='gauge reads near the reference')
+        if pre:
+            pc = m['pre_cap']
+            args = {}
+            for a, sid in (m.get('pre_keep') or {}).items():
+                args[a] = self.sv(ctx, sid)
+            args.update(pre)
+            ctx.call(pc, args, 'set the calibration values (%s)' % ', '.join('%s=%s' % kv for kv in pre.items()))
+        args = dict(m.get('args') or {})
+        if m.get('action_arg'):
+            args[m['action_arg']] = action
+        args.update(main)
+        r = ctx.call(m['cap'], args, 'calibrate%s' % ((' ' + action) if action else ''))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result')
+        if r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, 'calibrate %s' % self.instrument_id, m['cap'], r['operation_id'])
+            return {'text': 'started %s: calibration of %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, self.instrument_id, job.handle, job.handle),
+                    'json': {'job': job.handle, 'result': res}}
+        rem = m.get('duration_slot')
+        extra_txt = ''
+        if rem and finite(self.sv(ctx, rem)):
+            extra_txt = '; it takes about %s (`chemlab run %s status`)' % (units.fmt_s(self.sv(ctx, rem)), self.instrument_id)
+        return {'text': 'ok: %s calibration%s started/applied: %s%s\n' % (self.instrument_id, (' ' + action) if action else '', short(res, 200), extra_txt),
+                'json': {'result': res, 'action': action}}
+
+    # ------------------------------------------------------------------ vent
+    def h_vent(self, ctx, p):
+        m = self.vmap('vent')
+        want = (p.pos[0] if p.pos else 'on') == 'on'
+        spec = m.get('on' if want else 'off')
+        if spec is None:
+            ctx.fail(unsupported('NO_VENT_OFF', '%s has no "vent off": venting ends by itself.' % self.instrument_id, 'write just `vent`.'))
+        self.requirements(ctx, 'vent' if want else 'vent:off')
+        args = dict(spec.get('args') or {})
+        hf = spec.get('hold_from')
+        if hf:
+            base = self.sv(ctx, hf['slot'] + ('#' + hf['key'] if hf.get('key') else ''))
+            hold = (float(base) if finite(base) else float(hf.get('default', 2.0))) + float(hf.get('plus', 1.0))
+            lo, hi = self.arg_range(spec['cap'], hf['arg'])
+            args[hf['arg']] = min(hold, hi) if hi is not None else hold
+        st = self.slot(spec.get('state_role', 'vent'))
+        if st and spec.get('already') is not None and self.sv(ctx, st) == spec['already']:
+            return {'text': 'ok: %s vent is already %s\n' % (self.instrument_id, 'open' if want else 'closed'), 'json': {'vent': want, 'changed': False}}
+        ctx.call(spec['cap'], args, spec.get('step', 'vent' if want else 'close the vent'))
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, spec.get('say', 'venting' if want else 'vent closed')), 'json': {'vent': want, 'changed': True}}
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'PRECONDITION_FAILED':
+            ctx.refresh()
+            p = self.slot('power')
+            if p and not self.sv(ctx, p):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+
+_ = (json, math, ConditionJob)
diff --git a/chemlab/chemlab/compile/classes/imaging.py b/chemlab/chemlab/compile/classes/imaging.py
new file mode 100644
index 0000000000000000000000000000000000000000..72a28acd42bb184777da975619006f4b19e07151
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/imaging.py
@@ -0,0 +1,916 @@
+"""Microscopy and imaging class ("imaging"): SEM, TEM, laser-scanning profilometer, polarizing microscope, AFM, STM, micro-CT and
+the gel / blot imager.  Members and mappings: configs/adapters/imaging.json.  The structure class (structure.py: diffraction,
+SAXS, XPS, ellipsometry) is built on the same step engine (SampleAdapter, below).
+
+Verbs (every one also takes --dry-run; `chemlab run INST` lists what a member supports, with reasons for the rest):
+
+    load SAMPLE [--at X,Y] [--holder H]     put a specimen from the bench into the instrument (composite: door / airlock / holder)
+    unload [SAMPLE]                         take it out again
+    move X Y                                stage position (lengths; a bare number is mm)
+    focus auto | Z                          autofocus, or the member's focus coordinate (SEM working distance, TEM defocus,
+                                            profilometer head Z, microscope stage Z, AFM optical focus)
+    zoom MAG | --objective N                magnification (SEM / TEM magnification, optical zoom) or the objective
+    source on|off [--kv V] [--current I] [--level F]   beam / high tension / X-rays / illumination / laser
+    acquire [--pixels P] [--dwell T] [--exposure T] [--binning N] [--size L] [--rate F] [--line-time T] [--points N] [--hdr]
+                                            take an image / scan / tomogram: job-N (chemlab status|wait|cancel job-N), or --wait
+    result [ID] [--save-to FILE]            the record (default: the last one)
+    vacuum pump|vent                        chamber vacuum (SEM)
+    approach / retract [--distance L]       scanning-probe tip approach and retract (AFM, STM)
+    status                                  the class view
+
+Long actions: a verb whose native action takes time returns job-N at once (an image or scan, a pump-down, a warm-up, a
+transfer, an autofocus run); --wait blocks until it is done instead (lab time moves; the reply says how long), --max bounds it.
+When a sequence needs another native call after a wait (TEM: high tension ramp -> filament, airlock pump-down -> holder in;
+SEM: the drawer must be fully out before the specimen goes on), the verb waits for those intermediate steps itself (bounded by
+--max) and says so.
+
+Instrument facts live in the fragment as step lists per verb (the step engine below): native calls with arguments taken from
+the verb's inputs ($sample, $x, $value, $opt:NAME), the current state ($slot:ID) or literals; checks (class preconditions with
+a code, message and fix); waits for a state; and the job that follows.  Quantities are parsed into SI by the verb and converted
+into the unit each argument declares, with the range checked from the contract before anything is sent.
+
+Vendor-neutral models followed: Micro-Manager Core (setXYPosition / setPosition / snapImage / setExposure), the OME data model
+for image records, ISO 16700 / ASTM E766 (SEM magnification), ISO 25178 (areal roughness) and the terms of the members' manuals
+(page references in the fragment notes; no manual text is copied).
+"""
+import copy
+import json
+import math
+import re
+
+from ...generic import coerce
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unexpected
+from ..jobs import RUNNING, ConditionJob, OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+ON_OFF = ['on', 'off']
+
+
+EXAMPLES = {'duration': '20us', 'force': '2nN', 'length': '20nm', 'current': '150uA', 'voltage': '60kV', 'frequency': '1Hz', 'angle': '0.5deg'}
+
+
+def parse_q(text, kinds, what):
+    """Agent text -> Q in SI for the first of ``kinds`` whose framework units fit (20us, 2nN, 50pA, 20nm ...).  A usage error
+    names the kinds and an example."""
+    t = str(text).strip().replace(' ', '')
+    for kind in kinds:
+        try:
+            return Q(units.parse(t, kind, what=what), kind)
+        except CompileError:
+            pass
+    raise invalid('BAD_VALUE', '%s %s is not a %s.' % (what, text, ' or a '.join(k.replace('_', ' ') for k in kinds)),
+                  'write it like %s.' % ' or '.join(EXAMPLES.get(k, units.example(k)) for k in kinds))
+
+
+class Q:
+    """A parsed quantity: SI value and its kind."""
+
+    def __init__(self, si, kind):
+        self.si, self.kind = si, kind
+
+    def __repr__(self):
+        return 'Q(%r, %r)' % (self.si, self.kind)
+
+
+def wait_opts(default_max='10min'):
+    return {'wait': Opt('block until it is done instead of returning a job (lab time moves)', kind='flag'),
+            'max': Opt('the longest wait (default %s)' % default_max, kind='duration', metavar='TIME')}
+
+
+class SampleAdapter(ClassAdapter):
+    """Step engine shared by the imaging and structure classes.  A member's verb mapping:
+
+        {"steps": [STEP, ...], "job": JOB, "after": ["slot", ...], "next": "hint shown after success",
+         "defaults": {"OPTION": "agent text"}, "options": ["OPTION", ...] (extra options the member takes)}
+
+    STEP is one of
+        {"cap": CAP, "args": {ARG: VALUE}, "say": "plain text", "if": COND, "unless": COND, "query": false}
+        {"check": COND, "code": "CODE", "message": "...", "fix": "...", "label": "...", "if": COND}
+        {"wait": COND, "max_s": 60, "say": "the drawer is fully out", "poll_s": 1.0, "if": COND, "unless": COND}
+        {"fail": "CODE", "message": "...", "fix": "...", "kind": "usage|refused|unsupported", "if": COND}
+        {"remember": NAME, "value": VALUE}  (e.g. a slot value now, used as $NAME by a later step)
+    VALUE: a JSON literal, or "$name" (a verb input: $sample, $value, $x, $y, $id, $opt:NAME), "$slot:ID[#key]" (now),
+        "$param:NAME" (member params).  Quantities are converted to the argument's declared unit and range-checked.
+    COND: {"slot": ID, "eq"|"ne"|"in"|"not_in"|"lt"|"le"|"gt"|"ge": V} | {"slot": ID, "truthy": true|false}
+          | {"slot": ID, "near": VALUE, "rel": r, "abs": a} | {"input": NAME, "eq"|"in"|"given": ...}
+          | {"all": [...]} | {"any": [...]} | {"not": COND}
+    JOB: "operation" (the last call's operation_id), {"until": COND, "what": "...", "max_s": S} (a pure wait),
+         {"state": {"slot": ID, "done": [...], "failed": [...]}, "stop_cap": CAP, "what": "..."}
+    Messages and fixes may use {inst} {sample} {value} {slot:ID}.
+    """
+    VIEW = ()                        # default class view rows when the member has no "view"
+    MADE_BY = 'acquire'              # the verb that makes records (for hints)
+    QOPTS = {}                       # option -> quantity kinds parsed here (SI prefixes the framework lacks: 20us, 2nN)
+
+    # ------------------------------------------------------------------ mapping check
+    def check_mapping(self, lab):
+        """The base check plus the step engine's own references: $slot:ID values, view rows and job progress slots."""
+        problems = ClassAdapter.check_mapping(self, lab)
+        visible = {s.lower() for s in lab.view.slots}
+
+        def walk(o, where):
+            if isinstance(o, str) and o.startswith(('$slot:', '$slotkey:')):
+                sid = o.split(':', 1)[1].split('#')[0]
+                if sid.lower() not in visible:
+                    problems.append('%s: no visible state slot %s' % (where, sid))
+            elif isinstance(o, dict):
+                for k, x in o.items():
+                    if k == 'progress' and isinstance(x, list):
+                        for sid in x:
+                            if sid.lower() not in visible:
+                                problems.append('%s.progress: no visible state slot %s' % (where, sid))
+                    walk(x, '%s.%s' % (where, k))
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x, where)
+        walk(self.map.get('verbs') or {}, 'verbs')
+        for row in self.map.get('view') or []:
+            if row.get('slot', '').lower() not in visible:
+                problems.append('view: no visible state slot %s' % row.get('slot'))
+        return problems
+
+    # ------------------------------------------------------------------ inputs and values
+    def env_from(self, ctx, p, extra=None):
+        env = {}
+        for k, v in (p.opts or {}).items():
+            if k in ('wait', 'max', 'save-to'):
+                continue
+            o = ctx.verb.options.get(k)
+            if k in self.QOPTS:
+                env['opt:' + k] = parse_q(v, self.QOPTS[k], '--' + k)
+                continue
+            env['opt:' + k] = Q(v, o.kind) if o is not None and o.quantity else v
+        env.update(extra or {})
+        return env
+
+    def apply_defaults(self, ctx, m, env):
+        for k, text in (m.get('defaults') or {}).items():
+            if 'opt:' + k in env:
+                continue
+            if isinstance(text, list):                              # conditional default: [{"if": COND, "value": V}, {"value": V}]
+                text = next((x['value'] for x in text if self.cond(ctx, x.get('if'), env)), None)
+                if text is None:
+                    continue
+            o = ctx.verb.options.get(k)
+            if k in self.QOPTS:
+                env['opt:' + k] = parse_q(text, self.QOPTS[k], '--' + k)
+            elif o is not None and o.quantity:
+                env['opt:' + k] = Q(units.parse(str(text), o.kind, what='--' + k), o.kind)
+            else:
+                env['opt:' + k] = text
+
+    @staticmethod
+    def options_of(m):
+        """The options a mapping (or sub-mapping) uses (others are a usage error)."""
+        m = m or {}
+        found = set(m.get('options') or [])
+
+        def walk(o):
+            if isinstance(o, str) and o.startswith('$opt:'):
+                found.add(o[5:].split('#')[0])
+            elif isinstance(o, dict):
+                for x in o.values():
+                    walk(x)
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x)
+        walk(m)
+        return found
+
+    def check_options(self, ctx, p, verb, m):
+        allowed = self.options_of(m) | {'wait', 'max', 'save-to'}
+        if 'at_x' in allowed or 'at_y' in allowed:
+            allowed.add('at')
+        for k in p.opts:
+            if k not in allowed and k in ctx.verb.options:
+                usable = sorted(x for x in allowed if x in ctx.verb.options and x not in ('wait', 'max', 'save-to'))
+                ctx.fail(invalid('OPTION_NOT_USED', '%s does not take --%s on %s.' % (verb, k, self.instrument_id),
+                                 'options of %s on %s: %s (see `chemlab help %s %s`).' % (
+                                     verb, self.instrument_id, ', '.join('--' + x for x in usable) or 'none', self.instrument_id, verb)))
+
+    def slot_value(self, ctx, spec):
+        sid, _, key = spec.partition('#')
+        v = ctx.v(sid)
+        if key:
+            for part in key.split('.'):
+                v = v.get(part) if isinstance(v, dict) else None
+        return v
+
+    def raw(self, ctx, expr, env):
+        """A VALUE expression -> Python value (Q for quantities); literals unchanged."""
+        if isinstance(expr, str) and expr.startswith('$'):
+            key = expr[1:]
+            if key.startswith('slot:'):
+                return self.slot_value(ctx, key[5:])
+            if key.startswith('param:'):
+                return self.param(key[6:])
+            if key.startswith('slotkey:'):                       # the first key of an object slot whose value is set
+                v = self.slot_value(ctx, key[8:])
+                return next((k for k, x in v.items() if x), None) if isinstance(v, dict) else None
+            if key in env:
+                return env[key]
+            name = key[4:] if key.startswith('opt:') else key
+            ctx.fail(invalid('MISSING_' + name.upper().replace('-', '_'), '%s on %s needs %s.' % (
+                ctx.verb.name, self.instrument_id, ('--' + name) if key.startswith('opt:') else name.upper()),
+                'see `chemlab help %s %s`.' % (self.instrument_id, ctx.verb.name)))
+        if isinstance(expr, dict) and '$or' in expr:              # {"$or": [A, B, ...]}: the first one that is given
+            for x in expr['$or']:
+                if isinstance(x, str) and x.startswith('$') and not x.startswith(('$slot:', '$param:', '$slotkey:')) and x[1:] not in env:
+                    continue
+                return self.raw(ctx, x, env)
+            return None
+        if isinstance(expr, dict) and '$list' in expr:            # {"$list": EXPR}: "a,b,c" -> ["a", "b", "c"]
+            v = self.raw(ctx, expr['$list'], env)
+            return [x.strip() for x in v.split(',') if x.strip()] if isinstance(v, str) else v
+        if isinstance(expr, dict) and '$records' in expr:         # {"$records": EXPR, "fields": [...], "presets": {name: [...]}}
+            v = self.raw(ctx, expr['$records'], env)
+            return self.records(ctx, v, expr.get('fields') or [], expr.get('presets') or {}, expr.get('ints') or [])
+        if isinstance(expr, dict) and '$mul' in expr:            # {"$mul": [A, B, ...]}: a product (plain number)
+            out = 1.0
+            for x in expr['$mul']:
+                x = self.raw(ctx, x, env)
+                x = x.si if isinstance(x, Q) else x
+                if not finite(x):
+                    return None
+                out *= x
+            return out
+        if isinstance(expr, dict) and '$div' in expr:            # {"$div": [A, B], "kind": K}: A / B as a quantity of kind K
+            a, b = (self.raw(ctx, x, env) for x in expr['$div'])
+            a, b = (x.si if isinstance(x, Q) else x for x in (a, b))
+            if not (finite(a) and finite(b)) or b == 0:
+                ctx.fail(invalid('BAD_VALUE', 'cannot compute that setting on %s.' % self.instrument_id, 'check the value you gave.'))
+            return Q(a / b, expr.get('kind', 'length'))
+        if isinstance(expr, dict):
+            return {k: self.raw(ctx, v, env) for k, v in expr.items()}
+        if isinstance(expr, list):
+            return [self.raw(ctx, v, env) for v in expr]
+        return expr
+
+    def records(self, ctx, text, fields, presets, ints):
+        """'survey,C 1s:280:296:0.1:0.1:2' -> a list of objects: preset names, or colon-separated values in the order of ``fields``
+        (the first field is the name; missing trailing numbers take the last preset's values)."""
+        if not isinstance(text, str):
+            return text
+        out = []
+        for item in [x.strip() for x in text.split(',') if x.strip()]:
+            if item in presets:
+                out.append(dict(zip(fields, presets[item])))
+                continue
+            parts = item.split(':')
+            if len(parts) < 2 or len(parts) > len(fields):
+                ctx.fail(invalid('BAD_SETTING', '%r is neither a preset (%s) nor NAME:%s.' % (item, ', '.join(presets) or 'none', ':'.join(f.upper() for f in fields[1:])),
+                                 'write it like %s.' % (next(iter(presets), 'survey'))))
+            rec = {fields[0]: parts[0]}
+            for f, x in zip(fields[1:], parts[1:]):
+                try:
+                    rec[f] = int(x) if f in ints else float(x)
+                except ValueError:
+                    ctx.fail(invalid('BAD_NUMBER', '%s=%r in %r is not a number.' % (f, x, item), 'write numbers only between the colons.'))
+            base = next(iter(presets.values()), None)
+            for f, d in zip(fields, base or []):
+                rec.setdefault(f, d)
+            out.append(rec)
+        return out
+
+    @staticmethod
+    def plain(val):
+        """Nested quantities (in objects / lists) -> SI numbers."""
+        if isinstance(val, Q):
+            return val.si
+        if isinstance(val, dict):
+            return {k: SampleAdapter.plain(v) for k, v in val.items()}
+        if isinstance(val, list):
+            return [SampleAdapter.plain(v) for v in val]
+        return val
+
+    def to_arg(self, ctx, cap, arg, val, what=None):
+        """A raw value -> the native argument value (declared unit, integer, enum and range checked)."""
+        schema = self.cap_schema(cap, arg)
+        s = schema
+        if 'anyOf' in s:
+            s = next((x for x in s['anyOf'] if x.get('type') in ('number', 'integer', 'string')), s)
+        what = what or arg
+        if isinstance(val, Q):
+            want = units.unit_kind(self.arg_unit(cap, arg))
+            fam = {'wavelength': 'length'}
+            if want and fam.get(want, want) != fam.get(val.kind, val.kind):
+                ctx.fail(invalid('WRONG_QUANTITY', '%s on %s takes a %s here, not a %s.' % (what, self.instrument_id, want, val.kind),
+                                 'write it like %s.' % EXAMPLES.get(want, units.example(want))))
+            lo, hi = self.arg_range_si(cap, arg)
+            if (lo is not None and val.si < lo - 1e-12 * max(1.0, abs(lo))) or (hi is not None and val.si > hi + 1e-12 * max(1.0, abs(hi))):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (
+                    what, units.fmt(val.si, val.kind), self.instrument_id, units.fmt(lo, val.kind), units.fmt(hi, val.kind)),
+                    'give a value from %s to %s.' % (units.fmt(lo, val.kind), units.fmt(hi, val.kind))))
+            v = self.arg_value(cap, arg, val.si)
+            v = float('%.15g' % v) if finite(v) else v                 # 15 significant digits: no binary residue, no lost precision
+            if s.get('type') == 'integer':
+                if abs(v - round(v)) > 1e-9:
+                    ctx.fail(invalid('NOT_WHOLE', '%s must be a whole number on %s.' % (what, self.instrument_id), 'give a whole number.'))
+                v = int(round(v))
+            return v
+        if isinstance(val, (dict, list)):
+            val = self.plain(val)
+        if isinstance(val, str) and s.get('type') in ('number', 'integer', 'boolean', 'array', 'object'):
+            if s.get('type') in ('boolean', 'array', 'object'):
+                val = coerce(val, s, what)
+        if isinstance(val, str) and s.get('type') in ('number', 'integer'):
+            val = units.parse_for(val, s, what=what) if units.declared(s) and units.unit_kind(units.declared(s)) else coerce(val, s, what)
+        if s.get('type') == 'integer' and isinstance(val, float) and val.is_integer():
+            val = int(val)
+        if s.get('type') in ('number', 'integer') and finite(val):
+            lo, hi = s.get('minimum'), s.get('maximum')
+            if (lo is not None and val < lo) or (hi is not None and val > hi):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (what, val, self.instrument_id, lo, hi),
+                                 'give a value from %s to %s.' % (lo, hi)))
+        enum = s.get('enum')
+        if enum and isinstance(val, str) and val not in enum:
+            ctx.fail(invalid('BAD_CHOICE', '%s %r is not one of the choices on %s.' % (what, val, self.instrument_id),
+                             'choose one of: %s.' % ', '.join(map(str, enum))))
+        return val
+
+    def build_args(self, ctx, cap, spec, env):
+        out = {}
+        for arg, expr in (spec or {}).items():
+            val = self.raw(ctx, expr, env)
+            out[arg] = self.to_arg(ctx, cap, arg, val, what=self.label_of(expr, arg))
+        return out
+
+    @staticmethod
+    def label_of(expr, arg):
+        if isinstance(expr, str) and expr.startswith('$opt:'):
+            return '--' + expr[5:]
+        if isinstance(expr, str) and expr.startswith('$') and not expr.startswith(('$slot:', '$param:', '$slotkey:')):
+            return expr[1:].upper()
+        return arg
+
+    # ------------------------------------------------------------------ conditions
+    def cond(self, ctx, c, env=None):
+        if c is None:
+            return True
+        env = env or {}
+        if 'all' in c:
+            return all(self.cond(ctx, x, env) for x in c['all'])
+        if 'any' in c:
+            return any(self.cond(ctx, x, env) for x in c['any'])
+        if 'not' in c:
+            return not self.cond(ctx, c['not'], env)
+        if 'input' in c:
+            v = env.get(c['input'])
+            v = v.si if isinstance(v, Q) else v
+            if 'given' in c:
+                return (v is not None) == bool(c['given'])
+            if 'eq' in c:
+                return v == c['eq']
+            if 'in' in c:
+                return v in c['in']
+            return bool(v)
+        v = self.slot_value(ctx, c['slot'] + ('#' + c['key'] if c.get('key') else ''))
+        if 'eq' in c:
+            return v == self.raw(ctx, c['eq'], env)
+        if 'ne' in c:
+            return v != self.raw(ctx, c['ne'], env)
+        if 'in' in c:
+            return v in c['in']
+        if 'has' in c:
+            ref = self.raw(ctx, c['has'], env)
+            return isinstance(v, (list, dict, str)) and ref in v
+        if 'not_in' in c:
+            return v not in c['not_in']
+        if 'truthy' in c:
+            return bool(v) == bool(c['truthy'])
+        if 'near' in c:
+            ref = self.raw(ctx, c['near'], env)
+            ref = ref.si if isinstance(ref, Q) else ref
+            if not (finite(v) and finite(ref)):
+                return False
+            return abs(v - ref) <= max(float(c.get('abs', 0.0)), float(c.get('rel', 0.0)) * abs(ref))
+        for op, fn in (('lt', lambda a, b: a < b), ('le', lambda a, b: a <= b), ('gt', lambda a, b: a > b), ('ge', lambda a, b: a >= b)):
+            if op in c:
+                ref = self.raw(ctx, c[op], env)
+                ref = ref.si if isinstance(ref, Q) else ref
+                return finite(v) and finite(ref) and fn(v, ref)
+        return bool(v)
+
+    def fill(self, ctx, text, env):
+        """Message templates: {inst} {sample} {value} {slot:ID}."""
+        if not text:
+            return text
+        out = text.replace('{inst}', self.instrument_id)
+        for k, v in env.items():
+            if '{%s}' % k in out:
+                out = out.replace('{%s}' % k, units.fmt(v.si, v.kind) if isinstance(v, Q) else str(v))
+        while '{slot:' in out:
+            a = out.index('{slot:')
+            b = out.index('}', a)
+            out = out[:a] + short(self.slot_value(ctx, out[a + 6:b]), 60) + out[b + 1:]
+        return out
+
+    # ------------------------------------------------------------------ running a mapping
+    def prevalidate(self, ctx, steps, env):
+        """Usage checks of every agent-given value before anything is sent (range, unit, enum), and every verb input the steps
+        that will run need is there (so a missing SAMPLE is a usage error before the first call, not halfway)."""
+        later = set()
+
+        def need(o):
+            if isinstance(o, str) and o.startswith('$') and not o.startswith(('$slot:', '$param:', '$slotkey:', '$opt:')):
+                if o[1:] not in env and o[1:] not in later:
+                    self.raw(ctx, o, env)                       # raises MISSING_<NAME> (usage)
+            elif isinstance(o, dict):
+                if '$or' in o:
+                    return
+                for x in o.values():
+                    need(x)
+            elif isinstance(o, list):
+                for x in o:
+                    need(x)
+        for st in steps:
+            if 'remember' in st:
+                later.add(st['remember'])
+            if 'cap' not in st:
+                continue
+            if ('if' in st and not self.cond(ctx, st['if'], env)) or ('unless' in st and self.cond(ctx, st['unless'], env)):
+                continue
+            need(st.get('args') or {})
+        for st in steps:
+            if 'cap' not in st:
+                continue
+            if ('if' in st and not self.cond(ctx, st['if'], env)) or ('unless' in st and self.cond(ctx, st['unless'], env)):
+                continue                                        # a step that will not run (judged on the state now)
+            for arg, expr in (st.get('args') or {}).items():
+                if isinstance(expr, str) and expr.startswith('$') and not expr.startswith(('$slot:', '$param:')) and expr[1:] in env:
+                    self.to_arg(ctx, st['cap'], arg, env[expr[1:]], what=self.label_of(expr, arg))
+
+    def run_steps(self, ctx, steps, env, max_s=None):
+        last = None
+        self.prevalidate(ctx, steps, env)
+        for st in steps:
+            if 'if' in st and not self.cond(ctx, st['if'], env):
+                continue
+            if 'unless' in st and self.cond(ctx, st['unless'], env):
+                continue
+            if 'check' in st:
+                ctx.check(self.cond(ctx, st['check'], env), st.get('code', 'NOT_READY'), self.fill(ctx, st['message'], env),
+                          self.fill(ctx, st.get('fix', ''), env), kind=st.get('kind', 'refused'), label=st.get('label'))
+            elif 'fail' in st:
+                kind = st.get('kind', 'refused')
+                err = {'usage': invalid, 'refused': refused}.get(kind)
+                if err is None:
+                    from ..errors import unsupported
+                    err = unsupported
+                ctx.fail(err(st['fail'], self.fill(ctx, st['message'], env), self.fill(ctx, st.get('fix', ''), env)))
+            elif 'cap' in st:
+                args = self.build_args(ctx, st['cap'], st.get('args'), env)
+                last = ctx.call(st['cap'], args, self.fill(ctx, st.get('say') or st['cap'], env), query=bool(st.get('query')))
+                if st.get('save_as'):
+                    env[st['save_as']] = (last or {}).get('result')
+            elif 'remember' in st:                              # {"remember": NAME, "value": VALUE}: keep a value for later steps
+                env[st['remember']] = self.raw(ctx, st['value'], env)
+            elif 'wait' in st:
+                limit = float(max_s) if max_s is not None else float(st.get('max_s', 600.0))
+                self.wait_until(ctx, st['wait'], env, limit, self.fill(ctx, st.get('say', 'the instrument is ready'), env), float(st.get('poll_s', 1.0)))
+        return last
+
+    def wait_until(self, ctx, c, env, max_s, what, poll_s=1.0):
+        if self.cond(ctx, c, env):
+            return 0.0
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s}, 'step': 'wait until %s (up to %s)' % (what, units.fmt_s(max_s))})
+            return 0.0
+        t0 = ctx.now()
+        ctx.advance(max_s, until=lambda v: self.cond(ctx, c, env), step='wait until %s' % what, poll_s=poll_s)
+        if not self.cond(ctx, c, env):
+            ctx.fail(refused('NOT_REACHED', '%s: waited %s, but not yet %s.' % (self.instrument_id, units.fmt_s(ctx.now() - t0), what),
+                             'check `chemlab run %s status`; retry with a longer --max if it is still on its way.' % self.instrument_id))
+        ctx.done.append('waited %s until %s' % (units.fmt_s(ctx.now() - t0), what))
+        return ctx.now() - t0
+
+    def make_job(self, ctx, m, last, env, what):
+        """The job that follows the steps (or None when there is nothing left to wait for)."""
+        spec = m.get('job')
+        if spec is None or ctx.dry_run:
+            return None
+        if spec == 'operation' or (isinstance(spec, dict) and spec.get('operation')):
+            op = (last or {}).get('operation_id')
+            if not op:
+                return None
+            cap = (ctx.req.calls[-1] if ctx.req.calls else {}).get('capability') or ''
+            for c in reversed(ctx.req.calls):
+                if c.get('op') == 'invoke':
+                    cap = c.get('capability')
+                    break
+            return OperationJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), cap, op)
+        if 'until' in spec:
+            if self.cond(ctx, spec['until'], env):
+                return None
+            ad = self
+
+            def test(c):
+                ok = ad.cond(c, spec['until'], env)
+                return ok, ad.progress(c, spec)
+            return ConditionJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), test,
+                                max_s=float(spec.get('max_s', 3600.0)), poll_s=float(spec.get('poll_s', 1.0)))
+        if 'state' in spec:
+            st = spec['state']
+            ad = self
+
+            def state(c):
+                v = ad.slot_value(c, st['slot'])
+                if v in (st.get('done') or []):
+                    return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+                if v in (st.get('failed') or []):
+                    return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+                return 'running', ad.progress(c, spec) or '%s = %s' % (st['slot'], v), {'state': v}
+            stop = None
+            if spec.get('stop_cap'):
+                def stop(c):
+                    c.call(spec['stop_cap'], {}, 'stop')
+                    return 'stopped with %s' % spec['stop_cap']
+            return StateJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), state, stop=stop,
+                            max_s=float(spec.get('max_s', 7200.0)), poll_s=float(spec.get('poll_s', 1.0)))
+        return None
+
+    def progress(self, ctx, spec):
+        rows = spec.get('progress') or []
+        return ', '.join('%s %s' % (s.split('.')[-1], short(self.slot_value(ctx, s), 40)) for s in rows)
+
+    def run_mapping(self, ctx, p, verb, env, what, m=None):
+        """Run a member's mapping of ``verb`` (or the sub-mapping ``m``) and follow it with its job (or block with --wait)."""
+        m = self.vmap(verb) if m is None else m
+        what = self.fill(ctx, m.get('what') or what, env)
+        self.check_options(ctx, p, verb, m)
+        self.apply_defaults(ctx, m, env)
+        max_s = p.get('max')
+        last = self.run_steps(ctx, m.get('steps') or [], env, max_s=max_s)
+        lines = []
+        js = {'verb': verb}
+        if last is not None and isinstance(last.get('result'), dict):
+            js['result'] = last.get('result')
+        job = self.make_job(ctx, m, last, env, what)
+        if job is not None:
+            if p.get('wait'):
+                r = job.wait_reply(ctx.core, ctx.req, max_s if max_s is not None else float(m.get('max_s', 3600.0)))
+                ctx.waited_s += r['json'].get('waited_s') or 0.0
+                ctx.refresh()
+                st = r['json'].get('status')
+                js.update({'job': job.handle, 'job_status': st, 'job_result': r['json'].get('result')})
+                if st not in ('succeeded', 'completed'):
+                    if st in RUNNING:
+                        ctx.fail(refused('NOT_DONE', '%s is still running after %s (%s).' % (job.handle, units.fmt_s(r['json'].get('waited_s') or 0), what),
+                                         'wait more: `chemlab wait %s --max 30min`, or check `chemlab status %s`.' % (job.handle, job.handle)))
+                    res = r['json'].get('result')
+                    err = r['json'].get('error') or (res.get('error_code') if isinstance(res, dict) else None)
+                    ctx.fail(refused('JOB_' + str(st).upper(), '%s %s ended %s%s.' % (what, job.handle, st, (' (%s)' % err) if err else ''),
+                                     'see `chemlab run %s status` and `chemlab run %s result`.' % (self.instrument_id, self.instrument_id)))
+                lines.append('%s done after %s of waiting (t = %.1f s)' % (what, units.fmt_s(r['json'].get('waited_s') or 0), ctx.now()))
+            else:
+                js.update({'job': job.handle, 'kind': job.kind})
+                lines.append('started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s' % (
+                    job.handle, job.description, job.handle, job.handle, job.handle))
+        return lines, js, m
+
+    # ------------------------------------------------------------------ view
+    def view_rows(self):
+        return self.map.get('view') or [{'label': k, 'slot': s} for k, s in self.VIEW]
+
+    def show(self, values, row):
+        get = values.v if hasattr(values, 'v') else values.get
+        v = get(row['slot'])
+        for part in (row.get('key') or '').split('.'):
+            if part:
+                v = v.get(part) if isinstance(v, dict) else None
+        if v is None:
+            return None
+        if row.get('kind') and finite(v):
+            si = units.from_declared(v, row['unit']) if row.get('unit') else v
+            return units.fmt(si, row['kind'])
+        if row.get('fmt') == 'x' and finite(v):
+            return '%gx' % v
+        if row.get('fmt') == 'deg' and finite(v):
+            return '%.2f°' % math.degrees(v)
+        if row.get('fmt') == 'kv' and finite(v):
+            return '%g kV' % (v / 1000.0)
+        if row.get('fmt') == 'ma' and finite(v):
+            return '%g mA' % (v * 1000.0)
+        if row.get('fmt') == 'ua' and finite(v):
+            return '%g µA' % (v * 1e6)
+        if row.get('fmt') == 'pa' and finite(v):
+            return '%.3g Pa' % v
+        if isinstance(v, bool):
+            return 'yes' if v else 'no'
+        if isinstance(v, str):
+            return v if len(v) <= 50 else v[:50] + '...'
+        return short(v, 50)
+
+    def summary(self, values):
+        parts, js = [], {}
+        for row in self.view_rows():
+            s = self.show(values, row)
+            js[row['label']] = s
+            if s is not None:
+                parts.append('%s %s' % (row['label'], s))
+        lines = []
+        while parts:
+            lines.append('; '.join(parts[:5]))
+            parts = parts[5:]
+        return lines or ['(see `chemlab read %s`)' % self.instrument_id], js
+
+    def head_text(self, ctx, m, js, what, env):
+        """The first line: what was done, or what was started (a job) and is still running."""
+        what = m.get('what') or what
+        if js.get('job') and not js.get('job_status'):
+            return self.fill(ctx, m.get('started') or ('%s started' % (m.get('what') or what)), env)
+        if js.get('job_status'):
+            return self.fill(ctx, m.get('done') or ('%s done' % (m.get('what') or what)), env)
+        return self.fill(ctx, m.get('done') or what, env)
+
+    @staticmethod
+    def waited_lines(ctx):
+        waits = [d for d in ctx.done if d.startswith('waited ')]
+        return ['(lab time: %s)' % '; '.join(waits)] if waits else []
+
+    def now_line(self, ctx):
+        lines, _ = self.summary(ctx)
+        return 'now: ' + ' | '.join(lines)
+
+    # ------------------------------------------------------------------ shared verb handlers
+    def h_generic(self, verb, what, env_fn=None):
+        """A handler that runs the member's mapping of ``verb``; env_fn(ctx, p) -> extra inputs."""
+        def h(ctx, p):
+            env = self.env_from(ctx, p, env_fn(ctx, p) if env_fn else None)
+            lines, js, m = self.run_mapping(ctx, p, verb, env, self.fill(ctx, what, env))
+            if ctx.dry_run:
+                return {'text': '', 'json': js}
+            head = 'ok: %s %s' % (self.instrument_id, self.head_text(ctx, m, js, what, env))
+            text = '\n'.join([head] + self.waited_lines(ctx) + lines + [self.now_line(ctx)])
+            if m.get('next'):
+                text += '\nnext: ' + self.fill(ctx, m['next'], env)
+            return {'text': text + '\n', 'json': js}
+        return h
+
+    def h_onoff(self, verb, what):
+        """on|off verbs: the mapping has "on" and "off" sub-mappings (each a step list mapping)."""
+        def h(ctx, p):
+            want = p.pos[0]
+            m = self.vmap(verb) or {}
+            sub = m.get(want)
+            if sub is None:
+                ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s %s is not available on %s.' % (verb, want, self.instrument_id),
+                                 (m.get('why_' + want) or 'see `chemlab help %s %s`.' % (self.instrument_id, verb)).replace('{inst}', self.instrument_id)))
+            env = self.env_from(ctx, p, {'value': want})
+            lines, js, mm = self.run_mapping(ctx, p, verb, env, self.fill(ctx, sub.get('what') or '%s %s' % (what, want), env), m=sub)
+            if ctx.dry_run:
+                return {'text': '', 'json': js}
+            head = 'ok: %s %s' % (self.instrument_id, self.head_text(ctx, sub, js, '%s %s' % (what, want), env))
+            text = '\n'.join([head] + self.waited_lines(ctx) + lines + [self.now_line(ctx)])
+            if sub.get('next'):
+                text += '\nnext: ' + self.fill(ctx, sub['next'], env)
+            js['state'] = want
+            return {'text': text + '\n', 'json': js}
+        return h
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        rid = p.pos[0] if p.pos else None
+        if m.get('arg') is None:                                    # a member whose record is the current pattern (no record ids)
+            if rid is not None:
+                ctx.fail(invalid('NO_RECORD_IDS', '%s keeps only its current pattern (no record ids).' % self.instrument_id,
+                                 'leave out the ID: `chemlab run %s result`.' % self.instrument_id))
+            rid = 'current'
+        elif rid is None:
+            rid = self.slot_value(ctx, m['last_slot'])
+            if not rid:
+                ctx.fail(refused('NO_RECORD', '%s has no record of yours yet.' % self.instrument_id,
+                                 'take one first (`chemlab run %s %s`).' % (self.instrument_id, m.get('made_by', self.MADE_BY))))
+        args = dict(m.get('args') or {})
+        if m.get('arg') is not None:
+            args[m['arg']] = [rid] if m.get('list') else rid
+        r = ctx.call(m['cap'], args, 'read record %s' % rid, query=True)
+        res = r.get('result')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        lines = ['%s record %s:' % (self.instrument_id, rid)]
+        keys = m.get('show') or (list(res)[:24] if isinstance(res, dict) else [])
+        if isinstance(res, dict):
+            for k in keys:
+                if k in res:
+                    lines.append('  %-24s %s' % (k, short(res[k], 150)))
+            more = [k for k in res if k not in keys]
+            if more:
+                lines.append('  (%d more fields: %s; all of them with --json or --save-to FILE)' % (len(more), ', '.join(more[:12]) + (' ...' if len(more) > 12 else '')))
+        else:
+            lines.append('  ' + short(res, 400))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'record_id': rid, 'result': res}}
+
+
+class ImagingAdapter(SampleAdapter):
+    CLASS = 'imaging'
+    TITLE = 'microscopy and imaging'
+    ABOUT = ('Microscopes and imagers (SEM, TEM, laser profilometer, polarizing microscope, AFM, STM, micro-CT, gel imager): load a '
+             'specimen, move the stage, focus, set the magnification, switch the beam / X-rays / light, take an image or scan '
+             '(job-N) and read the record; the same words on every member, lowered to its own capabilities.')
+    STANDARDS = ('Micro-Manager Core API (setXYPosition / setPosition / snapImage / setExposure); OME data model for image records; '
+                 'ISO 16700 and ASTM E766 (SEM magnification); ISO 25178 (areal roughness)')
+    UNIT_KINDS = ('length', 'duration', 'voltage', 'current', 'frequency', 'force')
+    QOPTS = {'dwell': ('duration',), 'setpoint': ('force', 'length')}
+    PATH_GROUPS = (('acquire', 'result'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on (`chemlab call {inst} power.set --enabled true`, or `chemlab run {inst} power on`).'),
+        'NOT_READY': ('NOT_READY', '{inst} is not ready (still starting up, or busy).', 'wait a little (`chemlab wait 30`) and retry; see `chemlab run {inst} status`.'),
+        'ERROR_PENDING': ('ERROR_PENDING', '{inst} has an error waiting to be acknowledged.', 'read it (`chemlab run {inst} status`), then acknowledge it (`chemlab describe {inst}`: error.acknowledge / system.acknowledge).'),
+        'ACQUISITION_RUNNING': ('BUSY', '{inst} is acquiring now.', 'wait for it (`chemlab status`) or cancel your job first.'),
+        'VACUUM_NOT_READY': ('VACUUM_NOT_READY', 'the chamber of {inst} is not under vacuum yet.', 'pump it down: `chemlab run {inst} vacuum pump --wait`.'),
+        'BEAM_NOT_READY': ('BEAM_NOT_READY', 'the beam of {inst} is not ready (not switched on, or the filament is still heating).', '`chemlab run {inst} source on --wait`.'),
+        'DOOR_NOT_OPEN': ('DOOR_NOT_OPEN', 'the specimen drawer / door of {inst} is not open.', '`chemlab run {inst} load SAMPLE` opens it as part of loading.'),
+        'DOOR_OPEN': ('DOOR_OPEN', 'the door of {inst} is open.', 'close it (load / unload close it when they are done).'),
+        'CHAMBER_UNDER_VACUUM': ('NOT_VENTED', 'the chamber of {inst} is under vacuum, so it cannot be opened.', 'vent it first: `chemlab run {inst} vacuum vent --wait` (switch the beam off before: `source off`).'),
+        'SPECIMEN_NOT_ON_BENCH': ('NO_SUCH_SAMPLE', 'that specimen is not on the bench next to {inst}.', 'see the specimens on the bench: `chemlab read {inst} specimen.bench_ids sample.bench_ids`.'),
+        'UNKNOWN_SPECIMEN': ('NO_SUCH_SAMPLE', '{inst} has no specimen of that name on its bench.', 'see `chemlab read {inst}` (bench ids) for the specimens there.'),
+        'UNKNOWN_SAMPLE': ('NO_SUCH_SAMPLE', '{inst} has no sample of that name on its bench.', 'see `chemlab read {inst}` (bench ids) for the samples there.'),
+        'SAMPLE_NOT_ON_BENCH': ('NO_SUCH_SAMPLE', 'that sample is not on the bench next to {inst}.', 'see `chemlab read {inst} sample.bench_ids`.'),
+        'HOLDER_OCCUPIED': ('OCCUPIED', 'the specimen holder of {inst} already holds a specimen.', 'unload it first: `chemlab run {inst} unload`.'),
+        'STAGE_OCCUPIED': ('OCCUPIED', 'the stage of {inst} already holds a sample.', 'unload it first: `chemlab run {inst} unload`.'),
+        'NO_SPECIMEN': ('NO_SAMPLE', 'there is no specimen in {inst}.', 'load one: `chemlab run {inst} load SAMPLE`.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no sample in {inst}.', 'load one: `chemlab run {inst} load SAMPLE`.'),
+        'RECORDS_FULL': ('RECORDS_FULL', 'the record store of {inst} is full.', 'delete old records (`chemlab describe {inst}`: records.delete).'),
+        'UNKNOWN_RECORD': ('NO_SUCH_RECORD', '{inst} has no record of that id for you.', 'list them: `chemlab call {inst} records.list`.'),
+        'STAGE_COLLISION_RISK': ('COLLISION_RISK', 'that move could bring the specimen too close to the lens of {inst}.', 'lower the stage first or choose another position.'),
+        'INTERLOCK_OPEN': ('INTERLOCK_OPEN', 'the safety interlock of {inst} is open (door open or light curtain).', 'close the door; then retry.'),
+        'MEASUREMENT_RUNNING': ('BUSY', '{inst} is measuring or running an automatic operation now.', 'wait for it (`chemlab status`, `chemlab run {inst} status`), then retry.'),
+        'MOTION_IN_PROGRESS': ('BUSY', 'a motor of {inst} is still moving.', 'wait a few seconds (`chemlab wait 5`) and retry.'),
+        'XRAY_ON': ('SOURCE_ON', 'the X-rays of {inst} are on, so the door stays locked.', 'switch them off first: `chemlab run {inst} source off`.'),
+        'SAMPLE_NOT_IN_FIELD': ('NOT_IN_FIELD', 'the sample is not inside the detector field of view of {inst} at this magnification.', 'lower the magnification (e.g. `chemlab run {inst} zoom 2x`) and retry.'),
+        'FLAT_FIELD_REQUIRED': ('NOT_CALIBRATED', '{inst} has no flat-field references for the current settings.', '`chemlab run {inst} acquire` takes them first; retry it.'),
+        'NO_SURFACE_FOUND': ('NO_SURFACE', '{inst} found no surface within its search range around the current focus.', 'bring the surface near focus first (`chemlab run {inst} focus Z`), then retry.'),
+        'LENS_NOT_SUPPORTED': ('LENS_NOT_FOR_MEASURING', 'the objective in use on {inst} cannot do this measurement.', 'choose a measuring objective: `chemlab run {inst} zoom --objective 10x`.'),
+        'NOT_ENGAGED': ('NOT_ENGAGED', 'the probe tip of {inst} is not on the surface.', 'approach first: `chemlab run {inst} approach --wait`.'),
+        'NO_PROBE': ('NO_PROBE', 'there is no probe (cantilever) on {inst}.', 'ask the lab operator to mount one (set-up work).'),
+        'DRIVE_NOT_SET': ('NOT_SET_UP', 'the cantilever drive of {inst} is not set up for its dynamic mode.', 'set it up with the operator, or use contact mode.'),
+        'HOLDER_NOT_IN_HEAD': ('NO_SAMPLE', 'the sample holder is not in the scan head of {inst}.', 'load a sample: `chemlab run {inst} load SAMPLE`.'),
+        'COVER_ON': ('COVER_ON', 'the magnifier cover of {inst} is on.', '`chemlab run {inst} load` / `unload` lift it as needed.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (no environment declared by the lab).', 'ask the lab operator.'),
+    }
+
+    def build_verbs(self):
+        R = None                               # manual pages are per member: the 'manual:' notes of help INST VERB
+        length = lambda name, h: Arg(name, h, kind='length')   # noqa: E731
+        return {
+            'load': Verb('load', 'put a specimen from the bench into the instrument (door / airlock / holder as needed)',
+                         self.h_generic('load', 'loaded {sample}', lambda c, p: {'sample': p.pos[0]}),
+                         positionals=[Arg('SAMPLE', 'the specimen id on the bench (see `chemlab read INST` bench ids)')],
+                         options=dict({'at': Opt('where on the stage / holder, X,Y (e.g. 2mm,-1mm)', metavar='X,Y'),
+                                       'holder': Opt('which holder / support (member specific)', metavar='H')}, **wait_opts()),
+                         preconditions=['the specimen is on the bench', 'the holder / stage is free', 'the chamber is vented (SEM)'],
+                         errors=['NO_SUCH_SAMPLE, OCCUPIED, NOT_VENTED (refused)', 'NOT_REACHED (refused: a door or airlock did not get there in time)'],
+                         example='chemlab run INST load fe_si_polished', reference=R),
+            'unload': Verb('unload', 'take the specimen out and put it back on the bench', self.h_generic('unload', 'unloaded {sample}', self.env_unload),
+                           positionals=[Arg('SAMPLE', 'the specimen id (default: the one in the instrument)', required=False)],
+                           options=wait_opts(), example='chemlab run INST unload', reference=R),
+            'move': Verb('move', 'move the stage to X Y and / or the height --z (lengths; a bare number is mm); waits until it stops',
+                         self.h_generic('move', 'stage move', self.env_move),
+                         positionals=[Arg('X', 'x position, e.g. 2mm or 150um', required=False, kind='length'),
+                                      Arg('Y', 'y position', required=False, kind='length')],
+                         options=dict({'z': Opt('stage height (member specific: SEM Z lift, TEM Z, CT chuck height)', kind='length', metavar='Z')},
+                                      **wait_opts('5min')),
+                         preconditions=['positions within the stage travel (contract)'],
+                         errors=['OUT_OF_RANGE, MISSING_ARGUMENT (usage)'], example='chemlab run INST move 2mm -1mm', reference=R),
+            'focus': Verb('focus', 'autofocus (`focus auto`) or set the focus coordinate Z (working distance, defocus, head / stage Z)',
+                          self.h_focus, positionals=[Arg('auto|Z', 'auto, or a length (e.g. 10mm, -2um)')], options=wait_opts('5min'),
+                          errors=['OUT_OF_RANGE (usage)', 'BEAM_NOT_READY / NO_SAMPLE (refused)'], example='chemlab run INST focus auto', reference=R),
+            'zoom': Verb('zoom', 'set the magnification (e.g. 2000x) or choose an objective (--objective N)', self.h_zoom,
+                         positionals=[Arg('MAG', 'magnification, e.g. 2000x or 2000 (omit with --objective)', required=False)],
+                         options={'objective': Opt('objective / lens position, or its magnification as 10x', metavar='N')},
+                         errors=['OUT_OF_RANGE (usage)'], example='chemlab run INST zoom 2000x', reference=R),
+            'source': Verb('source', 'switch the beam / high tension / X-rays / illumination / laser on or off', self.h_onoff('source', 'source'),
+                           positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                           options=dict({'kv': Opt('accelerating / tube voltage, e.g. 15kV', kind='voltage', metavar='V'),
+                                         'current': Opt('beam / tube current, e.g. 100uA', kind='current', metavar='I'),
+                                         'level': Opt('illumination level, e.g. 60%', kind='fraction', metavar='F')}, **wait_opts()),
+                           preconditions=['vacuum ready (electron microscopes)', 'door closed (X-ray)'],
+                           errors=['VACUUM_NOT_READY, DOOR_OPEN (refused)', 'OUT_OF_RANGE (usage)'], example='chemlab run INST source on --wait', reference=R),
+            'acquire': Verb('acquire', 'take an image / scan / tomogram: job-N, or --wait', self.h_generic('acquire', 'acquisition'),
+                            options=dict({'pixels': Opt('frame size, e.g. 640x480 (SEM) or 512 (scan lines)', metavar='P'),
+                                          'dwell': Opt('dwell time per pixel, e.g. 20us (us, ms or s)', metavar='T'),
+                                          'exposure': Opt('exposure time, e.g. 1s', kind='duration', metavar='T'),
+                                          'binning': Opt('camera binning, e.g. 2', metavar='N'),
+                                          'size': Opt('scan size (field of view), e.g. 5um', kind='length', metavar='L'),
+                                          'rate': Opt('line rate, e.g. 1Hz', kind='frequency', metavar='F'),
+                                          'line-time': Opt('time per line, e.g. 0.5s', kind='duration', metavar='T'),
+                                          'points': Opt('points per line', metavar='N'),
+                                          'hdr': Opt('high dynamic range capture', kind='flag'),
+                                          'mode': Opt('imaging mode / preset (member specific, e.g. nucleic_acid_gels on the gel imager)', metavar='M')},
+                                         **wait_opts('1h')),
+                            long_action=True, preconditions=['a specimen in place', 'source on and ready', 'vacuum ready (electron microscopes)'],
+                            errors=['BEAM_NOT_READY, VACUUM_NOT_READY, NO_SAMPLE, NOT_ENGAGED (refused)', 'OPTION_NOT_USED (usage)'],
+                            example='chemlab run INST acquire --wait', reference=R),
+            'result': Verb('result', 'the image / scan record (default: your last one)', self.h_result, readonly=True,
+                           positionals=[Arg('ID', 'record id (default: the last one)', required=False)], options={'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to image.json'),
+            'vacuum': Verb('vacuum', 'pump the chamber down or vent it', self.h_onoff('vacuum', 'chamber'),
+                           positionals=[Arg('pump|vent', 'pump or vent', choices=['pump', 'vent'])], options=wait_opts(),
+                           preconditions=['the beam off before venting', 'the door closed before pumping'], example='chemlab run INST vacuum pump --wait', reference=R),
+            'approach': Verb('approach', 'bring the probe tip into contact / tunnelling range (scanning-probe microscopes): job-N, or --wait',
+                             self.h_generic('approach', 'tip approach'),
+                             options=dict({'setpoint': Opt('feedback set point: a force in contact mode (e.g. 2nN), an amplitude in tapping mode (e.g. 20nm)',
+                                                           metavar='S')}, **wait_opts()),
+                             long_action=True, example='chemlab run INST approach --wait', reference=R),
+            'retract': Verb('retract', 'pull the probe tip away from the sample', self.h_generic('retract', 'tip retracted'),
+                            options=dict({'distance': Opt('how far, e.g. 1mm', kind='length', metavar='L')}, **wait_opts()),
+                            example='chemlab run INST retract', reference=R),
+        }
+
+    # ------------------------------------------------------------------ input helpers
+    def env_unload(self, ctx, p):
+        if p.pos:
+            return {'sample': p.pos[0]}
+        s = self.slot('sample')
+        v = self.slot_value(ctx, s) if s else None
+        return {'sample': v} if v else {}
+
+    def env_move(self, ctx, p):
+        if len(p.pos) == 1:
+            ctx.fail(invalid('MISSING_ARGUMENT', 'move needs both X and Y (or only --z).', 'usage: %s' % ctx.verb.usage(self.instrument_id)))
+        if not p.pos and p.get('z') is None:
+            ctx.fail(invalid('MISSING_ARGUMENT', 'move needs X Y, --z Z, or both.', 'usage: %s' % ctx.verb.usage(self.instrument_id)))
+        return {'x': Q(p.pos[0], 'length'), 'y': Q(p.pos[1], 'length')} if p.pos else {}
+
+    def env_from(self, ctx, p, extra=None):
+        env = SampleAdapter.env_from(self, ctx, p, extra)
+        at = p.get('at') if ctx.verb.name in ('load',) else None
+        if at:
+            parts = [x for x in at.replace(';', ',').split(',') if x.strip()]
+            if len(parts) != 2:
+                ctx.fail(invalid('BAD_POSITION', '--at %s is not X,Y.' % at, 'write it like --at 2mm,-1mm.'))
+            env['opt:at_x'], env['opt:at_y'] = Q(units.parse(parts[0], 'length', what='X'), 'length'), Q(units.parse(parts[1], 'length', what='Y'), 'length')
+            env.pop('opt:at', None)
+        return env
+
+    def h_focus(self, ctx, p):
+        text = p.raw['auto|Z'].strip().lower()
+        m = self.vmap('focus') or {}
+        if text == 'auto':
+            sub, what = m.get('auto'), 'autofocus'
+            if sub is None:
+                ctx.fail(invalid('NO_AUTOFOCUS', '%s has no autofocus.' % self.instrument_id, (m.get('why_auto') or 'give the focus position as a length, e.g. `focus 2mm`.')))
+            env = self.env_from(ctx, p)
+        else:
+            sub, what = m.get('set'), 'focus %s' % text
+            if sub is None:
+                ctx.fail(invalid('NO_MANUAL_FOCUS', '%s has no manual focus setting from the computer.' % self.instrument_id, m.get('why_set') or 'use `focus auto`.'))
+            env = self.env_from(ctx, p, {'value': Q(units.parse(text, 'length', what='Z'), 'length')})
+        lines, js, mm = self.run_mapping(ctx, p, 'focus', env, what, m=sub)
+        if ctx.dry_run:
+            return {'text': '', 'json': js}
+        return {'text': '\n'.join(['ok: %s %s' % (self.instrument_id, self.head_text(ctx, sub, js, what, env))] + self.waited_lines(ctx) + lines
+                                   + [self.now_line(ctx)]) + '\n', 'json': js}
+
+    def h_zoom(self, ctx, p):
+        m = self.vmap('zoom') or {}
+        obj = p.get('objective')
+        if obj is not None:
+            sub = m.get('objective')
+            if sub is None:
+                ctx.fail(invalid('NO_OBJECTIVES', '%s has no objective turret.' % self.instrument_id, m.get('why_objective') or 'give a magnification: `zoom 2000x`.'))
+            table = sub.get('table') or {}
+            key = obj.strip().lower().rstrip('x') if obj.strip().lower().endswith('x') else None
+            if key is not None:
+                hit = [v for k, v in table.items() if k.rstrip('x') == key or (k.rstrip('x').replace('.', '', 1).isdigit() and key.replace('.', '', 1).isdigit()
+                                                                                 and abs(float(k.rstrip('x')) - float(key)) < 1e-9)]
+                if not hit:
+                    ctx.fail(invalid('NO_SUCH_OBJECTIVE', '%s has no %s objective.' % (self.instrument_id, obj), 'objectives: %s.' % ', '.join(table)))
+                pos = hit[0]
+            else:
+                try:
+                    pos = int(obj)
+                except ValueError:
+                    ctx.fail(invalid('BAD_OBJECTIVE', '--objective %s is neither a position nor a magnification like 10x.' % obj,
+                                     'objectives: %s.' % ', '.join('%s (position %s)' % kv for kv in table.items())))
+            env = self.env_from(ctx, p, {'value': pos})
+            env.pop('opt:objective', None)
+            what = 'objective %s' % obj
+        else:
+            if not p.pos:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'zoom needs MAG or --objective N.', 'usage: %s' % ctx.verb.usage(self.instrument_id)))
+            sub = m.get('mag')
+            if sub is None:
+                ctx.fail(invalid('NO_MAGNIFICATION', '%s has no magnification setting.' % self.instrument_id, m.get('why_mag') or 'choose an objective: `zoom --objective 10x`.'))
+            t = p.pos[0].strip().lower().rstrip('x').rstrip('×')
+            try:
+                mag = float(t)
+            except ValueError:
+                ctx.fail(invalid('BAD_NUMBER', '%r is not a magnification.' % p.pos[0], 'write it like 2000x or 2000.'))
+            env = self.env_from(ctx, p, {'value': mag})
+            what = 'magnification %gx' % mag
+        lines, js, mm = self.run_mapping(ctx, p, 'zoom', env, what, m=sub)
+        if ctx.dry_run:
+            return {'text': '', 'json': js}
+        return {'text': '\n'.join(['ok: %s %s' % (self.instrument_id, what)] + lines + [self.now_line(ctx)]) + '\n', 'json': js}
+
+    def check_options(self, ctx, p, verb, m):
+        if verb == 'zoom':
+            return
+        SampleAdapter.check_options(self, ctx, p, verb, m)
+
+
+_ = (copy, json, CompileError, unexpected)
diff --git a/chemlab/chemlab/compile/classes/labware_automation.py b/chemlab/chemlab/compile/classes/labware_automation.py
new file mode 100644
index 0000000000000000000000000000000000000000..886a9ed6a797137a0f018ba756b4d18a759ac926
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/labware_automation.py
@@ -0,0 +1,343 @@
+"""Labware automation class ("labware_automation"): plate sealer, tube decapper, rack barcode reader, robot arm - devices that
+handle plates, tubes and racks.
+
+Verbs (members and mappings: configs/adapters/labware_automation.json):
+
+  configure KEY=VALUE ...           device settings (sealer: time=3s protocol=NAME; decapper: mode=decap|recap operation=release_cap|...
+                                    time=1|2|3 tube=CONSUMABLE; rack reader: format=96 matching=on|off export=json|csv)
+  set-temp T                        seal temperature
+  start                             seal / decap or recap / read the rack (a job: chemlab wait|status|cancel job-N)
+  stop                              cancel the running seal or scan
+  result [--format json|csv] [--save-to F]   the seal record / cycle record / rack map / arm state
+  open PART / close PART            the sealer's plate carrier, the reader's rack lift
+  move POSE | z=.. shoulder=.. elbow=.. wrist=..   move the arm (named poses of the lab, or joints with units); waits until it is there
+  pick NAME                         move to a container and grip it (named containers of the lab)
+  place NAME                        move to a receiving nest and release the container there
+  status                            the class view
+
+Named poses, containers and nests (§5.6) come from the lab config entry's "locations": {"home": {"joints": {...}}, "plate_1":
+{"container_id", "constraint_id", "joints"}, "sealer_nest": {"receiver_port_id", "joints"}} - the same registry the lab's arm scene
+uses, so the names the agent types are the lab's own.
+
+Vendor-neutral models followed: SiLA 2 (sealers, decappers, barcode readers as SiLA devices: ObservableCommand Seal / Scan),
+ANSI/SLAS microplate formats, PyLabRobot resources and arms (move, pick_up_resource, drop_resource), ROS MoveIt-style named poses.
+"""
+import math
+
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..jobs import OperationJob, registry
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .assay_common import StepAdapter
+
+REF = ('Azenta a4S operating manual (seal temperature and time, protocols, carrier); Azenta IntelliXcap S1 manual (decap / recap '
+       'modes, operation modes, cycle time); Ziath DP5 Mirage user guide (rack formats, identity matching, export); Brooks PreciseFlex '
+       '400 manual (joint moves, gripper)')
+JOINTS = (('z', 'z_m', 'length'), ('shoulder', 'shoulder_rad', 'angle'), ('elbow', 'elbow_rad', 'angle'), ('wrist', 'wrist_rad', 'angle'))
+
+
+class LabwareAdapter(StepAdapter):
+    CLASS = 'labware_automation'
+    TITLE = 'handle plates, tubes and racks'
+    ABOUT = ('Devices that handle labware: seal a plate, decap or recap a tube, read the barcodes of a rack, move a robot arm between '
+             'named places and pick or place a container. Settings with units, the long action as a job, its record, named poses.')
+    STANDARDS = ('SiLA 2 (sealers, decappers, barcode readers); ANSI/SLAS microplate formats; PyLabRobot resources and arms; '
+                 'ROS MoveIt-style named poses')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'duration', 'length', 'angle')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'BUSY': ('BUSY', '{inst} is busy with a running cycle.', 'wait for it (`chemlab run {inst} wait`) or stop it.'),
+        'UNKNOWN_OPERATION': ('NOT_RUNNING', 'that operation is not known to {inst}.', 'see `chemlab run {inst} status`.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        out = {
+            'configure': Verb('configure', 'device settings: KEY=VALUE ... (see `chemlab help INST configure`)', self.h_configure,
+                              variadic=('KEY=VALUE', 'a setting'), preconditions=['no cycle running', 'values within the contract ranges'],
+                              errors=['UNKNOWN_SETTING, OUT_OF_RANGE (usage)', 'BUSY (refused)'], example='chemlab run INST configure time=3s', reference=REF),
+            'set-temp': Verb('set-temp', 'set the seal temperature', self.h_set_temp, positionals=[Arg('TEMP', 'e.g. 170C', kind='temperature')],
+                             preconditions=['within the instrument range (contract)', 'power on', 'no seal running'],
+                             errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, BUSY (refused)'], example='chemlab run INST set-temp 170C', reference=REF),
+            'start': Verb('start', 'seal / decap or recap / read the rack (returns job-N)', self.h_start, long_action=True,
+                          preconditions=['the labware is in place', 'settings made', 'at temperature (sealer)'],
+                          errors=['NOTHING_LOADED, NOT_AT_TEMPERATURE, CARRIER_IN, RACK_RAISED (refused)'], example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'cancel your running seal or scan', self.h_stop, preconditions=['a cycle of yours is running'],
+                         errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop', reference=REF),
+            'result': Verb('result', 'the record of the last cycle (seal record, cap cycle, rack map, arm state)', self.h_result, readonly=True,
+                           options={'format': Opt('export format of the rack map (json or csv)', metavar='FORMAT', choices=['json', 'csv']),
+                                    'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to rack.json', reference=REF),
+            'move': Verb('move', 'move the arm to a named pose, or to joints (z=100mm shoulder=30deg elbow=-45deg wrist=0deg); waits until it is there',
+                         self.h_move, positionals=[Arg('POSE', 'a named pose of the lab (see `chemlab help INST move`)', required=False)],
+                         variadic=('JOINT=VALUE', 'z=, shoulder=, elbow=, wrist= with units'),
+                         preconditions=['power on', 'the arm is not holding still in a fault', 'joints within the contract limits'],
+                         errors=['UNKNOWN_LOCATION, OUT_OF_RANGE (usage)', 'POWER_OFF, ARM_FAULT (refused)'], example='chemlab run INST move home', reference=REF),
+            'pick': Verb('pick', 'move to a container and grip it', self.h_pick, positionals=[Arg('NAME', 'a container of the lab')],
+                         preconditions=['nothing gripped', 'the container is known to the lab'], errors=['UNKNOWN_LOCATION (usage)', 'HOLDING (refused)'],
+                         example='chemlab run INST pick plate_1', reference=REF),
+            'place': Verb('place', 'move to a receiving nest and release the gripped container there', self.h_place,
+                          positionals=[Arg('NAME', 'a receiving nest of the lab')], preconditions=['a container is gripped'],
+                          errors=['UNKNOWN_LOCATION (usage)', 'NOT_HOLDING (refused)'], example='chemlab run INST place sealer_nest', reference=REF),
+        }
+        part = [Arg('PART', 'which part (carrier, rack); optional when there is only one', required=False)]
+        out['open'] = Verb('open', 'open a part: move the sealer\'s plate carrier out, lift the rack off the reader', lambda c, p: self.h_part(c, p, 'open'),
+                           positionals=part, preconditions=['the part is closed', 'the device allows it now'], errors=['UNKNOWN_PART (usage)', 'NOT_NOW (refused)'],
+                           example='chemlab run INST open carrier', reference=REF)
+        out['close'] = Verb('close', 'close a part: take the sealer\'s empty carrier in, seat the rack on the reader', lambda c, p: self.h_part(c, p, 'close'),
+                            positionals=part, preconditions=['the part is open', 'the device allows it now'], errors=['UNKNOWN_PART (usage)', 'NOT_NOW (refused)'],
+                            example='chemlab run INST close carrier', reference=REF)
+        return out
+
+    def h_part(self, ctx, p, action):
+        parts = (self.vmap('open') or {}).get('parts') or {}
+        name = p.pos[0] if p.pos else (next(iter(parts)) if len(parts) == 1 else None)
+        if name is None:
+            ctx.fail(invalid('WHICH_PART', '%s has several parts: %s.' % (self.instrument_id, ', '.join(parts)), 'name one.'))
+        if name not in parts:
+            ctx.fail(invalid('UNKNOWN_PART', '%s has no part %r to open or close.' % (self.instrument_id, name), 'parts: %s.' % ', '.join(parts)))
+        spec = parts[name]
+        done = (spec.get('is') or {}).get(action)
+        if done is not None and self.cond(ctx, done):
+            return {'text': 'ok: the %s of %s is already %s\n' % (name, self.instrument_id, 'open' if action == 'open' else 'closed'),
+                    'json': {'part': name, 'action': action, 'changed': False}}
+        self.need(ctx, '%s:%s' % (action, name))
+        if spec.get('%s_cap' % action):
+            cap, args = spec['%s_cap' % action], dict(spec.get('args') or {})
+        else:
+            cap, args = spec['cap'], dict(spec.get('args') or {})
+            args[spec['arg']] = spec[action]
+        ctx.call(cap, args, '%s the %s' % (action, name))
+        return {'text': 'ok: the %s of %s %s\n' % (name, self.instrument_id, 'opened' if action == 'open' else 'closed') if not ctx.dry_run else '',
+                'json': {'part': name, 'action': action, 'changed': True}}
+
+    # ------------------------------------------------------------------ configure / temperature
+    def h_configure(self, ctx, p):
+        m = self.vmap('configure')
+        pairs = self.pairs(ctx, p, 'configure')
+        keys = m.get('keys') or {}
+        if m.get('cap'):                                                 # one capability takes every setting (rack reader)
+            cap = m['cap']
+            args = self.settings(ctx, cap, pairs, keys, m.get('passthrough', False), dict(m.get('args') or {}))
+            kept = []
+            for arg, spec in (m.get('keep') or {}).items():
+                if arg not in args:
+                    args[arg] = self.sv(ctx, spec['slot'])
+                    kept.append(arg)
+            self.need(ctx, 'configure')
+            lc = m.get('len_check')
+            if lc and lc['arg'] in args and self.cond(ctx, lc.get('when')):
+                n = len(self.sv(ctx, lc['slot']) or [])
+                ctx.check(n == args[lc['arg']], lc['code'], lc['message'].format(inst=self.instrument_id, n=n, value=args[lc['arg']]),
+                          lc['fix'].format(inst=self.instrument_id, n=n, value=args[lc['arg']]), label='matches the loaded item')
+            self.check_args(ctx, cap, args)
+            ctx.call(cap, args, 'set %s' % ', '.join('%s=%s' % (k, short(v, 20)) for k, v in sorted(args.items())))
+            return {'text': 'ok: %s configured (%s)%s\n' % (self.instrument_id, ', '.join(k for k, _ in pairs),
+                                                            ('; kept as they were: %s' % ', '.join(kept)) if kept else '') if not ctx.dry_run else '',
+                    'json': {'arguments': args, 'kept': kept}}
+        calls = []
+        for k, text in pairs:                                            # one capability per setting (sealer, decapper)
+            spec = keys.get(k)
+            if spec is None:
+                import difflib
+                close = difflib.get_close_matches(k, list(keys), 2)
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no setting %r.' % (self.instrument_id, k),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') + 'settings: %s.' % ', '.join(keys)))
+            cap = spec['cap']
+            args = dict(spec.get('args') or {})
+            schema = self.cap_schema(cap, spec['arg'])
+            args[spec['arg']] = self.value(ctx, text, schema, spec.get('kind'), k)
+            if spec.get('list'):
+                self.known(ctx, str(args[spec['arg']]), spec['list'], spec.get('word', k))
+            self.check_args(ctx, cap, args)
+            calls.append((k, cap, args))
+        self.need(ctx, 'configure')
+        for k, cap, args in calls:
+            ctx.call(cap, args, 'set %s=%s' % (k, short(next(iter(v for a, v in args.items() if a == keys[k]['arg'])), 30)))
+        return {'text': 'ok: %s configured (%s)\n' % (self.instrument_id, ', '.join(k for k, _, _ in calls)) if not ctx.dry_run else '',
+                'json': {'calls': [{'setting': k, 'capability': c, 'arguments': a} for k, c, a in calls]}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        cap, arg = m['cap'], m['arg']
+        k = p.pos[0]
+        args = dict(m.get('args') or {})
+        args[arg] = self.resolve(ctx, cap, arg, k)
+        self.check_args(ctx, cap, args)
+        self.need(ctx, 'set-temp')
+        ctx.call(cap, args, 'set the seal temperature to %s' % units.fmt(k, 'temperature'))
+        now = self.slot_si(ctx, self.slot('temp')) if self.slot('temp') else None
+        return {'text': 'ok: %s seal temperature %s (now %s)\n' % (self.instrument_id, units.fmt(k, 'temperature'),
+                                                                   units.fmt(now, 'temperature') if finite(now) else 'unknown') if not ctx.dry_run else '',
+                'json': {'set_point_k': k, 'temperature_k': now}}
+
+    # ------------------------------------------------------------------ start / stop / result
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        cap = m['cap']
+        self.need(ctx, 'start')
+        r = ctx.call(cap, dict(m.get('args') or {}), m.get('step', 'start (%s)' % cap))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        what = '%s %s' % (self.instrument_id, m.get('word', 'cycle'))
+        job = self.start_job(ctx, m, r, cap, what)
+        if job is None:
+            return {'text': 'ok: %s started\n' % what, 'json': {'result': r.get('result')}}
+        return {'text': self.job_text(job, what), 'json': {'job': job.handle, 'kind': job.kind, 'operation_id': r.get('operation_id')}}
+
+    def my_operation(self, ctx, cap):
+        """The operation id of the caller's latest job on this instrument started with ``cap`` (None when there is none)."""
+        for j in reversed(list(registry(ctx.core).values())):
+            if j.caller == ctx.caller and j.instrument == self.instrument_id and isinstance(j, OperationJob) and j.cap == cap:
+                return j.operation_id
+        return None
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        running = self.cond(ctx, m['running']) if m.get('running') else True
+        ctx.check(running, 'NOT_RUNNING', 'nothing is running on %s.' % self.instrument_id, 'nothing to stop; see `chemlab run %s status`.' % self.instrument_id,
+                  label='a cycle running')
+        args = dict(m.get('args') or {})
+        if m.get('op_arg'):
+            op = self.my_operation(ctx, (self.vmap('start') or {}).get('cap'))
+            ctx.check(op is not None, 'NOT_YOURS', 'the running %s on %s was not started by you, so you cannot cancel it.' % (m.get('word', 'cycle'), self.instrument_id),
+                      'wait for it to end (`chemlab run %s status`).' % self.instrument_id, label='started by you')
+            args[m['op_arg']] = op
+        ctx.call(m['cap'], args, 'cancel the running %s' % m.get('word', 'cycle'))
+        return {'text': 'ok: %s stopped\n' % self.instrument_id if not ctx.dry_run else '', 'json': {'stopped': True}}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        cap = m['cap']
+        args = dict(m.get('args') or {})
+        fmt = p.get('format')
+        if fmt is not None and not m.get('format_arg'):
+            ctx.fail(invalid('NOT_AN_OPTION_HERE', 'result takes no --format on %s.' % self.instrument_id, 'leave it out.'))
+        if m.get('format_arg'):
+            args[m['format_arg']] = fmt or self.sv(ctx, m.get('format_slot')) or 'json'
+        self.need(ctx, 'result')
+        r = ctx.call(cap, args, 'read the record (%s)' % cap, query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result')
+        if m.get('content_json') and isinstance(res, dict) and isinstance(res.get('content'), str) and res.get('media_type') == 'application/json':
+            import json
+            try:
+                res = dict(res, content=json.loads(res['content']))
+            except ValueError:
+                pass
+        lines = ['%s record:' % self.instrument_id]
+        body = res.get('content') if isinstance(res, dict) and isinstance(res.get('content'), dict) else None
+        if body is not None:
+            for k in m.get('headline') or []:
+                if k in body:
+                    lines.append('  %s = %s' % (k, short(body[k], 200)))
+        if isinstance(res, dict):
+            for k, v in list(res.items())[:20]:
+                lines.append('  %s = %s' % (k, short(v, 200) if not isinstance(v, str) else (v if len(v) < 400 else v[:400] + ' ... (use --json)')))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'record': res}}
+
+    # ------------------------------------------------------------------ the arm
+    def joints_from(self, ctx, pairs):
+        """z=100mm shoulder=30deg ... -> joints in the declared units (all four; the ones not given stay where the arm is)."""
+        current = self.sv(ctx, self.slot('joints')) or {}
+        out = {native: current.get(native) for _, native, _ in JOINTS}
+        table = {}
+        for n, native, kind in JOINTS:
+            table[n] = table[native] = (native, kind)
+        for k, text in pairs:
+            if k not in table:
+                ctx.fail(invalid('UNKNOWN_JOINT', '%s has no joint %r.' % (self.instrument_id, k), 'joints: z, shoulder, elbow, wrist.'))
+            native, kind = table[k]
+            out[native] = units.to_declared(units.parse(text, kind, what=k), units.declared(self.joint_schema(native)))
+        missing = [n for n, native, _ in JOINTS if out.get(native) is None]
+        if missing:
+            ctx.fail(invalid('MISSING_JOINT', 'the arm has no known pose yet, so give every joint (%s missing).' % ', '.join(missing),
+                             'e.g. move z=100mm shoulder=0deg elbow=0deg wrist=0deg, or a named pose.'))
+        return {k: float(v) for k, v in out.items()}
+
+    def joint_schema(self, native):
+        return ((self.cap_schema((self.vmap('move') or {}).get('cap'), 'joints').get('properties') or {}).get(native)) or {}
+
+    def at_pose(self, values, joints):
+        now = self.sv(values, self.slot('joints')) or {}
+        status = self.sv(values, self.slot('motion'))
+        return status == self.param('ready_value', 'ready') and all(finite(now.get(k)) and abs(now[k] - v) <= (3e-7 if k == 'z_m' else 2e-6) for k, v in joints.items())
+
+    def go(self, ctx, joints, what):
+        m = self.vmap('move')
+        if self.at_pose(ctx, joints):
+            ctx.checks.append('already at %s' % what)
+            return 0.0
+        self.check_args(ctx, m['cap'], {'joints': joints})
+        ctx.call(m['cap'], {'joints': joints}, 'move the arm to %s' % what)
+        return self.wait_until(ctx, lambda v: self.at_pose(ctx, joints), float(self.param('move_max_s', 60.0)), 'wait until the arm is at %s' % what,
+                               ('MOVE_FAILED', 'the arm of {inst} did not reach %s.' % what, 'check `chemlab run {inst} status` (a fault needs the lab operator).'))
+
+    def arm_checks(self, ctx, verb):
+        self.need(ctx, verb)
+
+    def h_move(self, ctx, p):
+        name = p.pos[0] if p.pos else None
+        pairs = self.pairs(ctx, p, 'move', required=False)
+        if name and '=' in name:
+            pairs = [tuple(name.split('=', 1))] + pairs
+            name = None
+        if (name is None) == (not pairs):
+            ctx.fail(invalid('MOVE_TARGET', 'move needs a named pose or joints, not %s.' % ('both' if name else 'neither'),
+                             'e.g. `chemlab run %s move home` or `... move z=100mm shoulder=30deg elbow=-45deg wrist=0deg`.' % self.instrument_id))
+        if name:
+            loc = self.location(ctx, name)
+            if 'joints' not in loc:
+                ctx.fail(invalid('NOT_A_POSE', '%s is not a pose of %s.' % (name, self.instrument_id), 'pick / place it, or name a pose.'))
+            joints = {k: float(v) for k, v in loc['joints'].items()}
+            what = name
+        else:
+            joints = self.joints_from(ctx, pairs)
+            what = ', '.join('%s=%s' % (n, units.fmt(units.from_declared(joints[native], units.declared(self.joint_schema(native))), kind))
+                             for n, native, kind in JOINTS)
+        self.arm_checks(ctx, 'move')
+        waited = self.go(ctx, joints, what)
+        tcp = self.sv(ctx, self.slot('tcp')) or {}
+        return {'text': 'ok: arm of %s at %s (after %s)\n' % (self.instrument_id, what, units.fmt_s(waited)) if not ctx.dry_run else '',
+                'json': {'joints': joints, 'tcp_position_m': tcp, 'waited_s': waited}}
+
+    def h_pick(self, ctx, p):
+        m = self.vmap('pick')
+        name = p.pos[0]
+        loc = self.location(ctx, name)
+        if 'container_id' not in loc:
+            ctx.fail(invalid('NOT_A_CONTAINER', '%s is not a container of the lab.' % name, 'name a container (see `chemlab help %s pick`).' % self.instrument_id))
+        self.arm_checks(ctx, 'pick')
+        self.go(ctx, {k: float(v) for k, v in loc['joints'].items()}, name)
+        ctx.call(m['cap'], {'container_id': loc['container_id'], 'constraint_id': loc['constraint_id']}, 'grip %s' % name)
+        return {'text': 'ok: %s holds %s\n' % (self.instrument_id, name) if not ctx.dry_run else '', 'json': {'holding': loc['container_id']}}
+
+    def h_place(self, ctx, p):
+        m = self.vmap('place')
+        name = p.pos[0]
+        loc = self.location(ctx, name)
+        if 'receiver_port_id' not in loc:
+            ctx.fail(invalid('NOT_A_NEST', '%s is not a receiving nest of the lab.' % name, 'name a nest (see `chemlab help %s place`).' % self.instrument_id))
+        self.arm_checks(ctx, 'place')
+        held = self.sv(ctx, self.slot('holding'))
+        self.go(ctx, {k: float(v) for k, v in loc['joints'].items()}, name)
+        ctx.call(m['cap'], {'receiver_port_id': loc['receiver_port_id']}, 'release %s at %s' % (held, name))
+        return {'text': 'ok: %s placed %s at %s\n' % (self.instrument_id, held, name) if not ctx.dry_run else '', 'json': {'placed': held, 'at': name}}
+
+    def verb_help(self, name):
+        r = super().verb_help(name)
+        if name in ('move', 'pick', 'place') and self.supported(name):
+            locs = dict(self.map.get('locations') or {})
+            locs.update(self.config_entry.get('locations') or {})
+            kinds = {'move': 'joints', 'pick': 'container_id', 'place': 'receiver_port_id'}
+            names = sorted(n for n, l in locs.items() if kinds[name] in l)
+            r['text'] += 'named %s in this lab: %s\n' % ({'move': 'poses', 'pick': 'containers', 'place': 'nests'}[name], ', '.join(names) or 'none')
+            r['json']['locations'] = names
+        return r
+
+
+_ = (math, refused)
diff --git a/chemlab/chemlab/compile/classes/liquid.py b/chemlab/chemlab/compile/classes/liquid.py
new file mode 100644
index 0000000000000000000000000000000000000000..3478845c3ea836bb1c41a038038a56a08c717989
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/liquid.py
@@ -0,0 +1,1100 @@
+"""Liquid-handling class ("liquid"): the Opentrons Flex pilot gate (chemlab/flex_verbs.py), moved into the compile framework.
+
+Verb names follow the Opentrons Python API (InstrumentContext.pick_up_tip / drop_tip / return_tip / aspirate / dispense / transfer
+/ move_to / home) and the HTTP API for runs (/runs, /runs/{id}/actions); PyLabRobot LiquidHandler uses the same set.  What moved
+to the framework: argument and unit parsing (verbs.py, units.py), the request context with native calls, dry-run, read-back and
+steps done (ctx.py), the error format (errors.py), job ids (jobs.py: protocol runs are run-type jobs), named deck locations
+(deck.py: LABWARE:WELL, lists, ranges).  What stays here: the liquid verbs, the tip ledger, busy checks against runs, protocol
+runs and the maintenance verbs.  What is the Flex's: its mapping in configs/adapters/liquid.json (native capability and argument
+names, fixture slots, settings values, unsupported verbs with reasons) and its deck in the lab config (chemlab/compile/deck.py);
+the trusted host side is chemlab/compile/scenes/flex.py.
+
+Manual references (references/manuals/opentrons_flex_single_5_1000ul/, internal): Python API reference, Instruments
+(InstrumentContext) and Labware; Complex commands (transfer); Flex manual: deck fixtures, protocol run and error recovery,
+robot settings; HTTP API reference (/runs).
+"""
+import copy
+import math
+import re
+
+from ..base import ClassAdapter
+from ..deck import Deck, Loc, build_registry
+from ..errors import invalid, refused, unexpected
+from ..jobs import Job
+from ..units import fmt_s
+from ..verbs import Arg, Opt, Verb
+
+ACTIVE = ('setup', 'running', 'paused', 'awaiting_recovery')
+JOB_STATUS = {'setup': 'setup', 'running': 'running', 'paused': 'paused', 'awaiting_recovery': 'awaiting_recovery',
+              'succeeded': 'completed', 'failed': 'failed', 'stopped': 'canceled'}
+TRASH_FIXTURES = ('trash_bin', 'waste_chute', 'waste_chute_staging')
+ON_OFF = ['on', 'off']
+REF = 'Opentrons Python API InstrumentContext and complex commands; Flex manual: deck fixtures, protocol runs; HTTP API /runs'
+
+
+def _same(a, b):
+    return all(abs(a[k] - b[k]) <= 1e-9 for k in ('x_m', 'y_m', 'z_m'))
+
+
+def _nl(m3):
+    return int(round(m3 * 1e12))
+
+
+def _m3(nl):
+    return float('%de-12' % nl)
+
+
+def fmt_ul(m3):
+    v = round(m3 * 1e9, 3)
+    return '%s µL' % ('%.3f' % v).rstrip('0').rstrip('.')
+
+
+def ul(m3):
+    return round(m3 * 1e9, 3)
+
+
+class RunJob(Job):
+    """A protocol run started by `run-protocol` (a run-type job read from run.state / run.history)."""
+    kind = 'run'
+
+    def __init__(self, core, adapter, req, protocol_id, name, started_s, params):
+        super().__init__(core, adapter, req, 'protocol %s on %s' % (protocol_id, req.instrument))
+        self.protocol_id, self.name, self.run_started_s, self.params = protocol_id, name, started_s, params
+        self.paused_s, self.pause_t = 0.0, None
+
+    def poll(self, ctx):
+        s = self.adapter.job_state(ctx, self)
+        st = s['status']
+        self.state = {'completed': 'succeeded', 'canceled': 'cancelled'}.get(st, st)
+        return self.state, self.adapter.job_line(ctx, self, s), s
+
+    def cancel(self, ctx):
+        s = self.adapter.job_state(ctx, self)
+        if s['status'] not in ACTIVE:
+            raise refused('JOB_FINISHED', '%s is %s.' % (self.handle, s['status']), 'nothing to cancel.')
+        ctx.call(self.adapter.c('cancel'), {}, 'cancel %s' % self.handle)
+        self.state = 'cancelled'
+        return 'run stopped'
+
+    def max_wait_s(self):
+        return 3600.0
+
+
+class LiquidAdapter(ClassAdapter):
+    CLASS = 'liquid'
+    TITLE = 'liquid handling'
+    ABOUT = ('Move liquid between named wells: tips, aspirate, dispense, transfer (splits volumes over the tip size), protocol runs '
+             'as jobs, deck and robot maintenance.  Volumes in µL / mL / nL; locations LABWARE:WELL from the deck registry.')
+    STANDARDS = 'Opentrons Python API (InstrumentContext) and HTTP API (/runs); PyLabRobot LiquidHandler; SiLA 2 has no liquid-handling feature'
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('volume',)
+
+    def __init__(self, instrument_id, config_entry):
+        super().__init__(instrument_id, config_entry)
+        self.deck = None
+        self.tip_home = {}
+        self.tip_ledger = {'tip_id': None, 'volume_m3': 0.0}             # commanded contents of the attached tip
+        self.returns, self.own_events = {}, set()
+        self.vmin = self.vmax = None
+
+    # ------------------------------------------------------------------ binding: deck registry and pipette range
+    def bind(self, core):
+        first = self.lab is None
+        lab = ClassAdapter.bind(self, core)
+        if first:
+            deck = self.config_entry.get('deck')
+            if deck:
+                self.deck = Deck(build_registry(deck, lab.contract), self.instrument_id)
+                for lw in self.deck.reg['labware']:
+                    if lw['kind'] == 'tiprack':
+                        for w in lw['wells'].values():
+                            if w['tip_id']:
+                                self.tip_home[w['tip_id']] = (lw['name'], w['well'])
+            m = self.vmap('aspirate')
+            self.vmin, self.vmax = self.arg_range(m['cap'], m['volume_arg'])
+        return lab
+
+    def c(self, verb):
+        return self.vmap(verb)['cap']
+
+    @property
+    def reg(self):
+        return self.deck.reg if self.deck else None
+
+    def need_deck(self, ctx):
+        if self.deck is None:
+            ctx.fail(refused('NO_DECK', 'no deck is registered for %s in this lab (no labware, tips or trash known).' % self.instrument_id,
+                             'a lab or task config gives it a "deck"; without one only power, home, lights, protocols and admin verbs work.'))
+
+    def new_shadow(self):
+        return {'ledger': copy.deepcopy(self.tip_ledger), 'returns': {}}
+
+    # ------------------------------------------------------------------ tips
+    def _returns(self, ctx):
+        r = dict(self.returns)
+        if ctx.dry_run:
+            r.update(ctx.shadow['returns'])
+        return r
+
+    def tip_locations(self, ctx):
+        loc = {tip: ('rack',) + home for tip, home in self.tip_home.items()}
+        returns = self._returns(ctx)
+        for i, e in enumerate(ctx.view['tip.events']):
+            if e['event'] == 'attach':
+                loc[e['tip_id']] = ('pipette',)
+            else:
+                loc[e['tip_id']] = ('rack',) + returns[i] if i in returns else ('slot', e['slot_id'])
+        return loc
+
+    def rack_tips(self, ctx, rack):
+        lw = self.deck.labware[rack]
+        present = {(l[1], l[2]): tip for tip, l in self.tip_locations(ctx).items() if l[0] == 'rack' and l[1] == rack}
+        order = ['%s%d' % ('ABCDEFGH'[r], c + 1) for c in range(lw['cols']) for r in range(lw['rows'])]
+        return [(w, present[(rack, w)]) for w in order if (rack, w) in present]
+
+    def tip_racks(self):
+        return [lw['name'] for lw in self.reg['labware'] if lw['kind'] == 'tiprack']
+
+    def tip_capacity(self, tip_id):
+        rack = self.tip_home.get(tip_id, (None,))[0]
+        return self.deck.labware[rack]['tip_capacity_m3'] if rack else None
+
+    def ledger(self, ctx):
+        led = ctx.shadow['ledger'] if ctx.dry_run else self.tip_ledger
+        attached = ctx.view['tip.attached_id']
+        if led['tip_id'] != attached:                                      # the tip changed without a chemlab verb
+            led.update(tip_id=attached, volume_m3=None if attached else 0.0)
+        return led
+
+    def lost_tip_note(self, ctx):
+        events = ctx.view['tip.events']
+        if events and events[-1]['event'] == 'release' and (len(events) - 1) not in self.own_events and not self.current_job(ctx):
+            e = events[-1]
+            return ' The last tip (%s) was released in slot %s at t=%.1f s without a chemlab command - it may have fallen off.' % (
+                self.tip_name(e['tip_id']), e['slot_id'], e['time_s'])
+        return ''
+
+    def tip_name(self, tip_id):
+        home = self.tip_home.get(tip_id)
+        return '%s:%s' % home if home else tip_id
+
+    # ------------------------------------------------------------------ dry-run shadow
+    def shadow(self, ctx, cid, args):
+        v = ctx.view
+        if cid == self.c('power'):
+            v['power.enabled'] = args[self.vmap('power')['arg']]
+        elif cid == self.c('move-to'):
+            for k in ('x_m', 'y_m', 'z_m'):
+                v['motion.' + k] = args[k]
+        elif cid == self.c('home'):
+            for k in ('x_m', 'y_m', 'z_m'):
+                v['motion.' + k] = self.reg['home_m'][k] if self.reg else v['motion.' + k]
+        elif cid == self.c('pick-up-tip'):
+            v['tip.attached_id'] = args['tip_id']
+            v['tip.events'] = v['tip.events'] + [{'event': 'attach', 'tip_id': args['tip_id'], 'slot_id': None, 'time_s': v['_time_s']}]
+        elif cid == self.c('drop-tip'):
+            v['tip.events'] = v['tip.events'] + [{'event': 'release', 'tip_id': v['tip.attached_id'], 'slot_id': args['target_slot_id'],
+                                                  'time_s': v['_time_s']}]
+            v['tip.attached_id'] = None
+        elif cid in (self.c('aspirate'), self.c('dispense')):
+            v['sample.transfer_count'] += 1
+        elif cid == self.c('lights'):
+            v['robot.lights_on'] = args[self.vmap('lights')['arg']]
+
+    # ------------------------------------------------------------------ jobs and busy checks
+    def my_jobs(self, ctx=None):
+        from ..jobs import registry
+        return [j for j in registry(self._core).values() if isinstance(j, RunJob) and j.instrument == self.instrument_id] if self._core else []
+
+    _core = None
+
+    def job_for_run(self, rs):
+        if rs is None:
+            return None
+        for j in self.my_jobs():
+            if j.protocol_id == rs['protocol_id'] and j.run_started_s is not None and j.run_started_s == rs.get('started_s'):
+                return j
+        return None
+
+    def current_job(self, ctx):
+        rs = ctx.view.get('run.state')
+        j = self.job_for_run(rs)
+        return j if j and rs['status'] in ACTIVE else None
+
+    def step_s(self, text):
+        m = re.match(r'Delaying ([0-9.]+) s', text or '')
+        return float(m.group(1)) if m else (self.reg or {}).get('command_s', 1.0)
+
+    def eta(self, rs, now=None):
+        steps, idx = rs.get('steps') or [], rs.get('index') or 0
+        listed = sum(self.step_s(t) for t in steps[idx:])
+        start = rs.get('started_s')
+        if start is None or now is None:
+            return listed
+        job = self.job_for_run(rs)
+        paused = 0.0
+        if job is not None:
+            paused = job.paused_s + ((now - job.pause_t) if job.pause_t is not None else 0.0)
+        end = start + sum(self.step_s(t) for t in steps) + paused
+        return max(listed, end - now) if rs['status'] in ('running', 'paused') else listed
+
+    def names(self, text):
+        """Runtime ids in run step texts (reservoir_A2) -> deck names (reservoir:A2)."""
+        if not text or not self.deck:
+            return text
+        return re.sub(r'\b([A-Za-z0-9.-]+(?:_[A-Za-z0-9.-]+)*)_([A-H]\d{1,2})\b',
+                      lambda m: self.deck.name_of_id(m.group(0)) or m.group(0), text)
+
+    def check_not_busy(self, ctx, run_command=False, allow_own_job=False):
+        rs = ctx.view.get('run.state')
+        if not rs or rs['status'] not in ACTIVE:
+            return
+        job = self.job_for_run(rs)
+        if job is not None and job.caller == ctx.caller:
+            if allow_own_job:
+                return
+            ctx.fail(refused('BUSY_OWN_JOB', 'your %s (protocol %r) is %s; direct commands would interfere with it.' % (job.handle, rs['name'], rs['status']),
+                             'wait for it (`chemlab wait %s`), or pause or cancel it first.' % job.handle, detail={'job': job.handle}))
+        if rs['status'] == 'setup' and not run_command:
+            return
+        owner = ('%s' % job.handle) if job else 'another user'
+        left = self.eta(rs, ctx.now())
+        step = '' if rs['status'] == 'setup' else ', step %d/%d' % (min(rs['index'] + 1, rs['n_steps']), rs['n_steps'])
+        ctx.fail(refused('BUSY', 'the %s is busy: protocol run %r started by %s is %s%s, about %s left.' % (
+            self.instrument_id, rs['name'], owner, rs['status'].replace('_', ' '), step, fmt_s(left)),
+            'wait until it has finished (`chemlab wait 60`, then `chemlab run %s status` shows run: none or completed), then retry. '
+            'Do not switch the power off: that would abort their run.' % self.instrument_id, detail={'run': rs['name'], 'status': rs['status'], 'eta_s': left}))
+
+    def check_power(self, ctx):
+        if not ctx.view['power.enabled']:
+            ctx.fail(refused('POWER_OFF', 'the %s is switched off.' % self.instrument_id, 'run `chemlab run %s power on` first.' % self.instrument_id))
+        ctx.checks.append('power on')
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'ACCESS_DENIED':
+            ctx.refresh()
+            try:
+                self.check_not_busy(ctx, run_command=cap.startswith('run.'))
+            except Exception as exc:                                       # noqa: BLE001 - the busy explanation is the answer
+                return exc
+            return refused('ACCESS_DENIED', 'the instrument refused %s for your identity.' % cap, 'check `chemlab run %s status`; another user may hold it.' % self.instrument_id)
+        if code in ('PRECONDITION_FAILED', 'BUSY'):
+            return refused('DEVICE_REFUSED', 'the instrument refused %s (%s).' % (cap, code),
+                           'check `chemlab run %s status` and the verb help; the state may differ from what you expect.' % self.instrument_id)
+        if code == 'INVALID_ARGUMENT':
+            return invalid('BACKEND_INVALID_ARGUMENT', 'the instrument rejected the arguments of %s.' % cap, 'check the values against the verb help.')
+        return unexpected('BACKEND_%s' % code, 'the instrument call %s failed (%s: %s).' % (cap, code, (response.get('error') or {}).get('message')),
+                          'check `chemlab run %s status` before going on; the effect of the call is not known.' % self.instrument_id)
+
+    # ------------------------------------------------------------------ primitives
+    def move(self, ctx, loc):
+        pos = {k: ctx.view['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+        if _same(pos, loc.position):
+            return False
+        ctx.call(self.c('move-to'), dict(loc.position), 'move to %s' % loc.name,
+                 readback=lambda v: None if _same({k: v['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}, loc.position) else 'a different position')
+        return True
+
+    def need_tip(self, ctx, doing):
+        tip = ctx.view['tip.attached_id']
+        if tip is None:
+            ctx.fail(refused('NO_TIP', 'no tip is attached, so the pipette cannot %s.%s' % (doing, self.lost_tip_note(ctx)),
+                             'run `chemlab run %s pick-up-tip` first.' % self.instrument_id))
+        return tip
+
+    def pick(self, ctx, tip=None, rack=None):
+        if ctx.view['tip.attached_id'] is not None:
+            ctx.fail(refused('TIP_ALREADY_ATTACHED', 'a tip (%s) is already attached.' % self.tip_name(ctx.view['tip.attached_id']),
+                             'drop it (`drop-tip`) or put it back (`return-tip`) first.'))
+        if tip is not None:
+            present = dict(self.rack_tips(ctx, tip.labware['name']))
+            if tip.well not in present:
+                nxt = self.rack_tips(ctx, tip.labware['name'])
+                ctx.fail(refused('NO_TIP_AT_LOCATION', 'there is no tip at %s (already used).' % tip.name,
+                                 ('the next tip in %s is at %s:%s.' % (tip.labware['name'], tip.labware['name'], nxt[0][0])) if nxt else
+                                 '%s is empty; use another rack: %s.' % (tip.labware['name'], ', '.join(self.tip_racks()))))
+            tip_id, loc = present[tip.well], tip
+        else:
+            racks = [rack] if rack else self.tip_racks()
+            avail = [(r, t) for r, t in ((r, self.rack_tips(ctx, r)) for r in racks) if t]
+            if not avail:
+                others = [r for r in self.tip_racks() if r not in racks and self.rack_tips(ctx, r)]
+                ctx.fail(refused('RACK_EMPTY' if rack else 'OUT_OF_TIPS', 'no tips left in %s.' % ', '.join(racks),
+                                 ('use another rack: --rack %s.' % others[0]) if others else 'ask the operator to refill the tip racks.'))
+            r, tips = avail[0]
+            well, tip_id = tips[0]
+            loc = self.deck.parse('%s:%s' % (r, well), ('tip',))
+        self.move(ctx, loc)
+        m = self.vmap('pick-up-tip')
+        ctx.call(m['cap'], {m['arg']: tip_id}, 'pick up tip %s' % loc.name,
+                 readback=lambda v: None if v['tip.attached_id'] == tip_id else 'attached tip %r' % v['tip.attached_id'])
+        if not ctx.dry_run:
+            self.own_events.add(len(ctx.view['tip.events']) - 1)
+        (ctx.shadow['ledger'] if ctx.dry_run else self.tip_ledger).update(tip_id=tip_id, volume_m3=0.0)
+        return tip_id, loc
+
+    def drop(self, ctx, to=None):
+        tip = self.need_tip(ctx, 'drop a tip')
+        led = self.ledger(ctx)
+        if to is None or to.kind == 'trash':
+            slot = self.reg['trash']['slot']
+            fixture = (ctx.view.get('deck.fixtures') or {}).get(slot)
+            if fixture not in TRASH_FIXTURES:
+                ctx.fail(refused('NO_TRASH', 'no trash bin is configured in slot %s (deck shows %s).' % (slot, fixture or 'nothing'),
+                                 'configure it (`chemlab run %s deck-config %s trash_bin`) or return the tip to a rack.' % (self.instrument_id, slot)))
+            target, ret = Loc('trash', 'trash', self.reg['trash']['position_m'], slot=slot), None
+        else:
+            if to.well in dict(self.rack_tips(ctx, to.labware['name'])):
+                ctx.fail(refused('WELL_OCCUPIED', '%s already holds a tip.' % to.name, 'choose an empty rack well, or drop the tip in the trash.'))
+            target, slot, ret = to, to.slot, (to.labware['name'], to.well)
+        self.move(ctx, target)
+        m = self.vmap('drop-tip')
+        ctx.call(m['cap'], {m['arg']: slot}, 'drop tip %s %s' % (self.tip_name(tip), 'in the trash' if ret is None else 'into ' + target.name),
+                 readback=lambda v: None if v['tip.attached_id'] is None else 'tip %r still attached' % v['tip.attached_id'])
+        index = len(ctx.view['tip.events']) - 1
+        if ret is not None:
+            (ctx.shadow['returns'] if ctx.dry_run else self.returns)[index] = ret
+        if not ctx.dry_run:
+            self.own_events.add(index)
+        left = led['volume_m3']
+        if left:
+            ctx.notes.append('the tip still held %s; it went with the tip.' % fmt_ul(left))
+        led.update(tip_id=None, volume_m3=0.0)
+        return tip, target
+
+    def check_volume(self, ctx, v_m3, text):
+        if not self.vmin - 1e-18 <= v_m3 <= self.vmax + 1e-18:
+            ctx.fail(invalid('VOLUME_OUT_OF_RANGE', '%s is outside the pipette range %s-%s.' % (text, fmt_ul(self.vmin), fmt_ul(self.vmax)),
+                             'use %s to %s per aspirate/dispense; for more, use several steps (`transfer` splits volumes for you).'
+                             % (fmt_ul(self.vmin), fmt_ul(self.vmax))))
+
+    def aspirate(self, ctx, loc, v_m3):
+        tip = self.need_tip(ctx, 'aspirate')
+        led = self.ledger(ctx)
+        cap = self.tip_capacity(tip)
+        if led['volume_m3'] is not None and cap is not None and _nl(led['volume_m3']) + _nl(v_m3) > _nl(cap):
+            room = cap - led['volume_m3']
+            ctx.fail(refused('TIP_CAPACITY', 'the attached %s tip holds %s already; %s more would not fit (room for %s).' % (
+                fmt_ul(cap), fmt_ul(led['volume_m3']), fmt_ul(v_m3), fmt_ul(room)),
+                ('aspirate at most %s now, or dispense first, or use a bigger tip; `transfer` splits volumes over the tip size.' % fmt_ul(room))
+                if room >= self.vmin else 'the tip is full: dispense first, or use a bigger tip; `transfer` splits volumes over the tip size.',
+                detail={'tip_capacity_ul': ul(cap), 'room_ul': ul(room)}))
+        self.move(ctx, loc)
+        before = ctx.view['sample.transfer_count']
+        m = self.vmap('aspirate')
+
+        def refusal(resp):
+            if (resp.get('error') or {}).get('code') == 'PRECONDITION_FAILED':
+                return refused('INSUFFICIENT_LIQUID', 'the instrument refused to aspirate %s from %s: the well does not hold that much liquid '
+                               '(a run reports this as "no liquid detected").' % (fmt_ul(v_m3), loc.name),
+                               'aspirate less, or take the rest from another source. This twin has no liquid-level sensing, so the remaining '
+                               'volume is not reported.')
+            return None
+        ctx.call(m['cap'], {m['container_arg']: loc.container_id, m['volume_arg']: v_m3}, 'aspirate %s from %s' % (fmt_ul(v_m3), loc.name),
+                 refusal=refusal, readback=lambda v: None if v['sample.transfer_count'] == before + 1 else 'no new transfer')
+        if led['volume_m3'] is not None:
+            led['volume_m3'] = _m3(_nl(led['volume_m3']) + _nl(v_m3))
+
+    def dispense(self, ctx, loc, v_m3):
+        self.need_tip(ctx, 'dispense')
+        led = self.ledger(ctx)
+        if led['volume_m3'] is not None and _nl(v_m3) > _nl(led['volume_m3']):
+            ctx.fail(refused('TIP_HOLDS_LESS', 'the tip holds only %s; it cannot dispense %s.' % (fmt_ul(led['volume_m3']), fmt_ul(v_m3)),
+                             'dispense at most %s, or aspirate more first.' % fmt_ul(led['volume_m3'])))
+        self.move(ctx, loc)
+        before = ctx.view['sample.transfer_count']
+        m = self.vmap('dispense')
+
+        def refusal(resp):
+            if (resp.get('error') or {}).get('code') == 'PRECONDITION_FAILED':
+                return refused('DEST_FULL', 'the instrument refused to dispense %s into %s: the well would overflow (capacity %s).' % (
+                    fmt_ul(v_m3), loc.name, fmt_ul(loc.capacity_m3)), 'dispense less, or into another well.')
+            return None
+        ctx.call(m['cap'], {m['container_arg']: loc.container_id, m['volume_arg']: v_m3}, 'dispense %s into %s' % (fmt_ul(v_m3), loc.name),
+                 refusal=refusal, readback=lambda v: None if v['sample.transfer_count'] == before + 1 else 'no new transfer')
+        if led['volume_m3'] is not None:
+            led['volume_m3'] = _m3(max(0, _nl(led['volume_m3']) - _nl(v_m3)))
+
+    def position_name(self, view):
+        pos = {k: view['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+        if self.reg:
+            if _same(pos, self.reg['trash']['position_m']):
+                return 'trash'
+            if _same(pos, self.reg['home_m']):
+                return 'home'
+            for lw in self.reg['labware']:
+                for w in lw['wells'].values():
+                    if _same(pos, w['position_m']):
+                        return '%s:%s' % (lw['name'], w['well'])
+        return 'x=%.1f y=%.1f z=%.1f mm (not over a registered location)' % (pos['x_m'] * 1e3, pos['y_m'] * 1e3, pos['z_m'] * 1e3)
+
+    # ------------------------------------------------------------------ status and jobs
+    def summary(self, values):
+        v = values if isinstance(values, dict) else values.view
+        tip = v.get('tip.attached_id')
+        rs = v.get('run.state')
+        run = 'none'
+        if rs:
+            run = 'protocol %r %s' % (rs.get('name'), JOB_STATUS.get(rs.get('status'), rs.get('status')))
+        return (['power %s · robot %s · lights %s' % ('on' if v.get('power.enabled') else 'off', v.get('robot.status'), 'on' if v.get('robot.lights_on') else 'off'),
+                 'tip: %s · run: %s' % (self.tip_name(tip) if tip else 'none', run)],
+                {'power': v.get('power.enabled'), 'tip': tip, 'run': rs and {'name': rs.get('name'), 'status': rs.get('status')}})
+
+    def job_state(self, ctx, j):
+        rs = ctx.view.get('run.state')
+        if rs and self.job_for_run(rs) is j:
+            st = JOB_STATUS.get(rs['status'], rs['status'])
+            cur = self.names(rs.get('current_step')) or (('finishing (last step: %s)' % rs['steps'][-1]) if rs.get('steps') and rs['status'] in ('running', 'paused') else None)
+            return {'job': j.handle, 'status': st, 'protocol_id': rs['protocol_id'], 'name': rs['name'], 'step': rs['index'], 'n_steps': rs['n_steps'],
+                    'current_step': cur, 'eta_s': self.eta(rs, ctx.now()) if rs['status'] in ACTIVE else 0.0, 'started_s': rs.get('started_s'),
+                    'ended_s': rs.get('ended_s'), 'error': rs.get('error'), 'recovery_options': rs.get('recovery_options') or []}
+        for h in reversed(ctx.view.get('run.history') or []):
+            if h['protocol_id'] == j.protocol_id and h['started_s'] == j.run_started_s:
+                return {'job': j.handle, 'status': JOB_STATUS.get(h['status'], h['status']), 'protocol_id': h['protocol_id'], 'name': h['name'],
+                        'step': h['steps_done'], 'n_steps': h['n_steps'], 'current_step': None, 'eta_s': 0.0, 'started_s': h['started_s'],
+                        'ended_s': h['ended_s'], 'error': (h['errors'] or [None])[-1], 'recovery_options': []}
+        return {'job': j.handle, 'status': 'unknown', 'protocol_id': j.protocol_id, 'name': j.name, 'step': None, 'n_steps': None,
+                'current_step': None, 'eta_s': None, 'started_s': j.run_started_s, 'ended_s': None, 'error': None, 'recovery_options': []}
+
+    def job_line(self, ctx, j, s):
+        st = s['status']
+        if st in ('running', 'paused', 'setup'):
+            return 'protocol %r · step %d/%d%s · about %s left' % (s['name'], min((s['step'] or 0) + 1, s['n_steps'] or 0), s['n_steps'] or 0,
+                                                                 (': ' + s['current_step']) if s['current_step'] else '', fmt_s(s['eta_s'] or 0))
+        if st == 'awaiting_recovery':
+            e = s['error'] or {}
+            return 'needs recovery: error %s at step %d (%s); options: %s; fix: chemlab run %s recover %s --action ACTION' % (
+                e.get('type'), (e.get('index') or 0) + 1, e.get('step'), ', '.join(s['recovery_options']), self.instrument_id, j.handle)
+        if st == 'completed':
+            return 'completed · protocol %r · %s/%s steps · ended at t=%.1f s' % (s['name'], s['step'], s['n_steps'], s['ended_s'] or 0)
+        return '%s · protocol %r%s' % (st, s['name'], (' · last error: %s' % s['error']['type']) if s.get('error') else '')
+
+    def get_job(self, ctx, job_id):
+        from ..jobs import registry
+        j = registry(ctx.core).get(job_id)
+        if not isinstance(j, RunJob) or j.instrument != self.instrument_id:
+            ctx.fail(invalid('UNKNOWN_JOB', 'there is no job %r on %s.' % (job_id, self.instrument_id),
+                             'your jobs: %s.' % (', '.join(x.handle for x in self.my_jobs() if x.caller == ctx.caller) or 'none')))
+        if j.caller != ctx.caller:
+            ctx.fail(invalid('NOT_YOUR_JOB', '%s belongs to another user.' % job_id, 'you can only control your own jobs.'))
+        return j
+
+    # ------------------------------------------------------------------ the verb table
+    def dispatch_run(self, core, req, args):
+        self._core = core
+        return ClassAdapter.dispatch_run(self, core, req, args)
+
+    def intercept(self, core, req):
+        self._core = core
+        return ClassAdapter.intercept(self, core, req)
+
+    def build_verbs(self):
+        return build_verbs(self)
+
+
+# ==================================================================== verb handlers
+def build_verbs(f):
+    V = {}
+
+    def verb(name, group, summary, handler, **kw):
+        v = Verb(name, summary, handler, group=group, reference=kw.pop('reference', REF), **kw)
+        V[name] = v
+        return v
+
+    def vol(ctx, text):
+        from ..units import parse
+        m3 = parse(text, 'volume', what='volume')
+        f.check_volume(ctx, m3, fmt_ul(m3))
+        return m3
+
+    # ---- status
+    def h_status(ctx, p):
+        v = ctx.view
+        tip = v['tip.attached_id']
+        tip_text = 'none'
+        if tip:
+            led = f.ledger(ctx)
+            held = 'unknown contents' if led['volume_m3'] is None else 'holding %s' % fmt_ul(led['volume_m3'])
+            cap = f.tip_capacity(tip) if f.deck else None
+            tip_text = '%s (%s tip), %s' % (f.tip_name(tip), fmt_ul(cap) if cap else '?', held)
+        rs = v.get('run.state')
+        run_text, busy = 'none', False
+        if rs:
+            job = f.job_for_run(rs)
+            who = ('your %s' % job.handle) if job and job.caller == ctx.caller else ('%s of another user' % job.handle if job else 'another user')
+            run_text = 'protocol %r (%s) %s' % (rs['name'], who, JOB_STATUS.get(rs['status'], rs['status']))
+            if rs['status'] in ACTIVE:
+                busy = True
+                left = f.eta(rs, ctx.now())
+                run_text += ', step %d/%d, about %s left' % (min(rs['index'] + 1, rs['n_steps']), rs['n_steps'], fmt_s(left))
+        mounts = v.get('instruments.mounts') or {}
+        left_m = mounts.get('left')
+        pip = ('left: %s, %s' % (left_m['model'], 'calibrated' if left_m['calibrated'] else 'NOT calibrated')) if left_m else 'no pipette on the left mount'
+        jobs = ['%s %s' % (j.handle, f.job_state(ctx, j)['status']) for j in f.my_jobs() if j.caller == ctx.caller]
+        lines = ['%s  (lab time %.1f s)' % (f.instrument_id, ctx.now()),
+                 'power: %s · robot: %s · lights: %s' % ('on' if v['power.enabled'] else 'off', v.get('robot.status'), 'on' if v.get('robot.lights_on') else 'off'),
+                 'pipette: %s' % pip, 'position: %s' % f.position_name(v), 'tip: %s' % tip_text, 'run: %s' % run_text,
+                 'jobs: %s' % (', '.join(jobs) or 'none'), 'deck: %s' % ('registered (`labware`)' if f.deck else 'none registered')]
+        note = f.lost_tip_note(ctx) if not tip else ''
+        if note:
+            lines.append('note:' + note)
+        js = {'power': v['power.enabled'], 'robot_status': v.get('robot.status'), 'busy': busy, 'lights': v.get('robot.lights_on'),
+              'position': f.position_name(v), 'tip': None if not tip else {'tip': f.tip_name(tip)}, 'jobs': jobs,
+              'run': None if not rs else {'name': rs['name'], 'status': JOB_STATUS.get(rs['status'], rs['status']), 'step': rs['index'], 'n_steps': rs['n_steps']},
+              'pipette': left_m}
+        return {'text': '\n'.join(lines) + '\n', 'json': js}
+    verb('status', 'work', 'power, position, tip and its contents, active run, jobs', h_status, readonly=True, example='chemlab run INST status')
+
+    # ---- power / home / labware / lights
+    def h_power(ctx, p):
+        state = p.pos[0]
+        if state == 'off':
+            rs = ctx.view.get('run.state')
+            job = f.job_for_run(rs) if rs else None
+            if rs and rs['status'] in ('running', 'paused', 'awaiting_recovery'):
+                if job is None or job.caller != ctx.caller:
+                    f.check_not_busy(ctx, run_command=True)
+                elif not p.get('force'):
+                    ctx.fail(refused('BUSY_OWN_JOB', 'switching off now would abort your %s (protocol %r).' % (job.handle, rs['name']),
+                                     'wait for it, cancel it (`chemlab cancel %s`), or add --force to abort it by power-off.' % job.handle))
+        want = state == 'on'
+        if ctx.view['power.enabled'] == want:
+            return {'text': 'ok: power is already %s\n' % state, 'json': {'power': want}, 'checks': ['power already %s' % state]}
+        m = f.vmap('power')
+        ctx.call(m['cap'], {m['arg']: want}, 'power %s' % state, readback=lambda v: None if v['power.enabled'] == want else 'power %s' % v['power.enabled'])
+        return {'text': 'ok: power %s\n' % state, 'json': {'power': want}}
+    verb('power', 'work', 'switch the robot on or off', h_power, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+         options={'force': Opt('with off: abort your own running job', 'flag')},
+         preconditions=['off is refused while a run is active (your own job: needs --force; another user\'s run: refused)'],
+         errors=['BUSY, BUSY_OWN_JOB (refused)'], example='chemlab run INST power on')
+
+    def h_home(ctx, p):
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        home = f.reg['home_m'] if f.reg else None
+        ctx.call(f.c('home'), {}, 'home the gantry',
+                 readback=(lambda v: None if _same({k: v['motion.' + k] for k in home}, home) else 'not at home') if home else None)
+        return {'text': 'ok: gantry homed\n', 'json': {'position': 'home'}}
+    verb('home', 'work', 'home the gantry (back right, Z up)', h_home, preconditions=['power on', 'no run active'],
+         errors=['POWER_OFF, BUSY (refused)'], example='chemlab run INST home')
+
+    def h_labware(ctx, p):
+        f.need_deck(ctx)
+        lines, js = ['deck (slot, labware, wells, capacity):'], []
+        for lw in f.reg['labware']:
+            if lw['kind'] == 'tiprack':
+                tips = f.rack_tips(ctx, lw['name'])
+                extra = '%s tips; %d left%s' % (fmt_ul(lw['tip_capacity_m3']), len(tips), (', next %s:%s' % (lw['name'], tips[0][0])) if tips else '')
+                js.append({'name': lw['name'], 'slot': lw['slot'], 'kind': 'tiprack', 'type': lw['type'], 'tip_capacity_ul': ul(lw['tip_capacity_m3']),
+                           'tips_left': len(tips), 'next_tip': ('%s:%s' % (lw['name'], tips[0][0])) if tips else None})
+            else:
+                extra = 'wells %s, %s each' % (f.deck.well_span(lw['name']), fmt_ul(lw['well_capacity_m3']))
+                js.append({'name': lw['name'], 'slot': lw['slot'], 'kind': lw['kind'], 'type': lw['type'], 'wells': f.deck.well_span(lw['name']),
+                           'well_capacity_ul': ul(lw['well_capacity_m3'])})
+            lines.append('  %-3s %-12s %-10s %s (%s)' % (lw['slot'], lw['name'], lw['kind'], extra, lw['display']))
+        t = f.reg['trash']
+        fixture = (ctx.view.get('deck.fixtures') or {}).get(t['slot'])
+        lines.append('  %-3s %-12s %-10s %s' % (t['slot'], 'trash', 'fixture', fixture or 'NOT configured'))
+        lines.append('liquid contents are not tracked by the instrument; your task notes say what is in each well.')
+        return {'text': '\n'.join(lines) + '\n', 'json': {'labware': js, 'trash': {'slot': t['slot'], 'fixture': fixture}}}
+    verb('labware', 'work', 'what is on the deck: labware names, slots, wells, capacities, tips left', h_labware, readonly=True,
+         example='chemlab run INST labware')
+
+    def h_lights(ctx, p):
+        state = p.pos[0]
+        f.check_power(ctx)
+        m = f.vmap('lights')
+        ctx.call(m['cap'], {m['arg']: state == 'on'}, 'lights %s' % state,
+                 readback=lambda v: None if v['robot.lights_on'] == (state == 'on') else 'lights %s' % v['robot.lights_on'])
+        return {'text': 'ok: deck lights %s\n' % state, 'json': {'lights': state == 'on'}}
+    verb('lights', 'work', 'deck lights on or off', h_lights, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+         preconditions=['power on'], errors=['POWER_OFF (refused)'], example='chemlab run INST lights on')
+
+    # ---- motion and tips
+    def h_move(ctx, p):
+        f.need_deck(ctx)
+        loc = f.deck.parse(p.pos[0], ('liquid', 'tip', 'trash', 'home'))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        moved = f.move(ctx, loc)
+        return {'text': 'ok: %s %s\n' % ('moved to' if moved else 'already at', loc.name), 'json': {'position': loc.name}}
+    verb('move-to', 'work', 'move the pipette to a named location', h_move, positionals=[Arg('LOCATION', 'LABWARE:WELL, trash or home')],
+         preconditions=['power on', 'no run active', 'location is on the deck'], errors=['UNKNOWN_LOCATION/LABWARE/WELL (usage)', 'POWER_OFF, BUSY (refused)'],
+         example='chemlab run INST move-to plate:A1')
+
+    def h_pick(ctx, p):
+        f.need_deck(ctx)
+        if p.get('tip') and p.get('rack'):
+            ctx.fail(invalid('CONFLICTING_OPTIONS', 'give --tip or --rack, not both.', 'use one of them.'))
+        tip = f.deck.parse(p.get('tip'), ('tip',), '--tip') if p.get('tip') else None
+        rack = p.get('rack')
+        if rack and (rack not in f.deck.labware or f.deck.labware[rack]['kind'] != 'tiprack'):
+            ctx.fail(invalid('UNKNOWN_RACK', 'there is no tip rack %r.' % rack, 'tip racks here: %s.' % ', '.join(f.tip_racks())))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        tip_id, loc = f.pick(ctx, tip, rack)
+        cap = f.tip_capacity(tip_id)
+        return {'text': 'ok: picked up tip %s (%s)\n' % (loc.name, fmt_ul(cap)), 'json': {'tip': loc.name, 'capacity_ul': ul(cap)}}
+    verb('pick-up-tip', 'work', 'pick up a tip (default: the next unused tip)', h_pick,
+         options={'tip': Opt('a specific tip-rack well', metavar='RACK:WELL'), 'rack': Opt('take the next tip from this rack', metavar='RACK')},
+         preconditions=['power on', 'no run active', 'no tip attached', 'a tip is present'],
+         errors=['TIP_ALREADY_ATTACHED, NO_TIP_AT_LOCATION, RACK_EMPTY, OUT_OF_TIPS, POWER_OFF, BUSY (refused)'],
+         example='chemlab run INST pick-up-tip --rack tiprack200')
+
+    def h_drop(ctx, p):
+        f.need_deck(ctx)
+        to = None
+        if p.get('to') and p.get('to') != 'trash':
+            to = f.deck.parse(p.get('to'), ('tip', 'trash'), '--to')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        tip, target = f.drop(ctx, to)
+        return {'text': 'ok: dropped tip %s %s\n' % (f.tip_name(tip), 'in the trash' if target.kind == 'trash' else 'into ' + target.name),
+                'json': {'tip': f.tip_name(tip), 'to': target.name}}
+    verb('drop-tip', 'work', 'drop the tip (default: in the trash)', h_drop, options={'to': Opt('trash or an empty tip-rack well', metavar='trash|RACK:WELL')},
+         preconditions=['power on', 'no run active', 'a tip is attached', 'trash bin configured (for trash)'],
+         errors=['NO_TIP, NO_TRASH, WELL_OCCUPIED, POWER_OFF, BUSY (refused)'], example='chemlab run INST drop-tip')
+
+    def h_return(ctx, p):
+        f.need_deck(ctx)
+        tip = f.need_tip(ctx, 'return a tip')
+        home = f.tip_home.get(tip)
+        if home is None:
+            ctx.fail(refused('NO_HOME_WELL', 'the attached tip has no rack well to go back to.', 'drop it in the trash instead (`drop-tip`).'))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        loc = f.deck.parse('%s:%s' % home, ('tip',))
+        f.drop(ctx, loc)
+        return {'text': 'ok: returned tip to %s\n' % loc.name, 'json': {'tip': loc.name}}
+    verb('return-tip', 'work', 'put the attached tip back where it came from', h_return,
+         preconditions=['power on', 'no run active', 'a tip is attached'], errors=['NO_TIP, WELL_OCCUPIED (refused)'], example='chemlab run INST return-tip')
+
+    # ---- liquid handling
+    def h_aspirate(ctx, p):
+        f.need_deck(ctx)
+        v = vol(ctx, p.get('volume'))
+        loc = f.deck.parse(p.get('from'), ('liquid',), '--from')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        f.aspirate(ctx, loc, v)
+        led = f.ledger(ctx)
+        held = '' if led['volume_m3'] is None else ' (tip now holds %s)' % fmt_ul(led['volume_m3'])
+        return {'text': 'ok: aspirated %s from %s%s\n' % (fmt_ul(v), loc.name, held),
+                'json': {'aspirated_ul': ul(v), 'from': loc.name, 'tip_volume_ul': None if led['volume_m3'] is None else ul(led['volume_m3'])},
+                'unchecked': ['liquid available in %s' % loc.name]}
+    verb('aspirate', 'work', 'draw liquid into the attached tip', h_aspirate,
+         options={'volume': Opt('volume (µL by default; mL, nL)', metavar='V', required=True), 'from': Opt('source well', metavar='LABWARE:WELL', required=True)},
+         preconditions=['volume within the pipette range', 'power on', 'no run active', 'a tip is attached', 'the volume fits in the tip'],
+         errors=['VOLUME_OUT_OF_RANGE, UNIT_NOT_ALLOWED, UNKNOWN_* (usage)', 'NO_TIP, TIP_CAPACITY, INSUFFICIENT_LIQUID, POWER_OFF, BUSY (refused)'],
+         example='chemlab run INST aspirate --volume 50uL --from reservoir:A1')
+
+    def h_dispense(ctx, p):
+        f.need_deck(ctx)
+        v = vol(ctx, p.get('volume'))
+        loc = f.deck.parse(p.get('to'), ('liquid',), '--to')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        f.dispense(ctx, loc, v)
+        led = f.ledger(ctx)
+        held = '' if led['volume_m3'] is None else ' (tip now holds %s)' % fmt_ul(led['volume_m3'])
+        return {'text': 'ok: dispensed %s into %s%s\n' % (fmt_ul(v), loc.name, held),
+                'json': {'dispensed_ul': ul(v), 'to': loc.name, 'tip_volume_ul': None if led['volume_m3'] is None else ul(led['volume_m3'])},
+                'unchecked': ['room in %s' % loc.name]}
+    verb('dispense', 'work', 'push liquid out of the tip into a well', h_dispense,
+         options={'volume': Opt('volume (µL by default)', metavar='V', required=True), 'to': Opt('destination well', metavar='LABWARE:WELL', required=True)},
+         preconditions=['volume within the pipette range', 'power on', 'no run active', 'a tip is attached', 'the tip holds that much'],
+         errors=['VOLUME_OUT_OF_RANGE (usage)', 'NO_TIP, TIP_HOLDS_LESS, DEST_FULL, POWER_OFF, BUSY (refused)'],
+         example='chemlab run INST dispense --volume 50uL --to plate:A1')
+
+    def h_transfer(ctx, p):
+        from ..units import parse
+        f.need_deck(ctx)
+        srcs = f.deck.parse_many(p.get('from'), ('liquid',), '--from')
+        dsts = f.deck.parse_many(p.get('to'), ('liquid',), '--to')
+        vols = [parse(x, 'volume', what='volume') for x in p.get('volume').split(',') if x.strip()]
+        if len(srcs) == len(dsts):
+            pairs = list(zip(srcs, dsts))
+        elif len(srcs) == 1:
+            pairs = [(srcs[0], d) for d in dsts]
+        elif len(dsts) == 1:
+            pairs = [(s, dsts[0]) for s in srcs]
+        else:
+            ctx.fail(invalid('PAIRING', '%d sources and %d destinations cannot be paired.' % (len(srcs), len(dsts)),
+                             'give equal counts, or one source, or one destination.'))
+        if len(vols) == 1:
+            vols = vols * len(pairs)
+        if len(vols) != len(pairs):
+            ctx.fail(invalid('PAIRING', '%d volumes for %d transfers.' % (len(vols), len(pairs)), 'give one volume, or one per transfer.'))
+        new_tip = p.get('new-tip') or 'once'
+        rack = p.get('rack')
+        if rack and (rack not in f.deck.labware or f.deck.labware[rack]['kind'] != 'tiprack'):
+            ctx.fail(invalid('UNKNOWN_RACK', 'there is no tip rack %r.' % rack, 'tip racks here: %s.' % ', '.join(f.tip_racks())))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        attached = ctx.view['tip.attached_id']
+        if new_tip == 'never':
+            if attached is None:
+                ctx.fail(refused('NO_TIP', 'no tip is attached and --new-tip never was given.%s' % f.lost_tip_note(ctx),
+                                 'pick up a tip first, or use --new-tip once.'))
+            cap = f.tip_capacity(attached) or f.vmax
+            racks_used = []
+        else:
+            if attached is not None:
+                ctx.fail(refused('TIP_ALREADY_ATTACHED', 'a tip (%s) is already attached; --new-tip %s picks up a fresh one.' % (f.tip_name(attached), new_tip),
+                                 'drop or return it first, or use --new-tip never to keep using it.'))
+            racks = [rack] if rack else [r for r in f.tip_racks() if f.rack_tips(ctx, r)]
+            if not racks or not f.rack_tips(ctx, racks[0]):
+                ctx.fail(refused('OUT_OF_TIPS', 'no tips left%s.' % (' in %s' % rack if rack else ''), 'use another rack or ask the operator to refill.'))
+            cap = f.deck.labware[racks[0]]['tip_capacity_m3']
+            need = 1 if new_tip == 'once' else len(pairs)
+            have = len(f.rack_tips(ctx, racks[0]))
+            if have < need:
+                ctx.fail(refused('OUT_OF_TIPS', '%s has %d tips left; this transfer needs %d.' % (racks[0], have, need), 'use another rack (--rack) or --new-tip once.'))
+            racks_used = racks[:1]
+        trip = min(f.vmax, cap)
+        plan = []
+        for (s, d), v in zip(pairs, vols):
+            n = max(1, math.ceil(_nl(v) / _nl(trip) - 1e-12))
+            base, extra = divmod(_nl(v), n)
+            chunks = [_m3(base + (1 if i < extra else 0)) for i in range(n)]
+            for c in chunks:
+                f.check_volume(ctx, c, '%s (one trip of %s)' % (fmt_ul(c), fmt_ul(v)))
+            plan.append((s, d, v, chunks))
+        tips_used = []
+        for i, (s, d, v, chunks) in enumerate(plan):
+            if new_tip == 'always' and i > 0:
+                f.drop(ctx, None)
+            if (new_tip == 'once' and i == 0) or new_tip == 'always':     # a tip lost on the way is reported, never silently replaced
+                tip_id, _ = f.pick(ctx, None, racks_used[0])
+                tips_used.append(f.tip_name(tip_id))
+            for c in chunks:
+                f.aspirate(ctx, s, c)
+                f.dispense(ctx, d, c)
+        if new_tip != 'never':
+            f.drop(ctx, None)
+        moved = ', '.join('%s %s -> %s%s' % (fmt_ul(v), s.name, d.name, (' (%d trips)' % len(ch)) if len(ch) > 1 else '') for s, d, v, ch in plan)
+        return {'text': 'ok: transferred %s; tips: %s\n' % (moved, ', '.join(tips_used) or 'the attached tip'),
+                'json': {'transfers': [{'from': s.name, 'to': d.name, 'volume_ul': ul(v), 'trips': len(ch)} for s, d, v, ch in plan], 'tips': tips_used},
+                'checks': ['volumes split to fit %s per trip' % fmt_ul(trip), 'enough tips'],
+                'unchecked': ['liquid available in the sources', 'room in the destinations']}
+    verb('transfer', 'work', 'move liquid between wells (picks tips, splits volumes over the tip size, drops tips)', h_transfer,
+         options={'volume': Opt('volume per transfer (one value or a comma list; µL by default)', metavar='V', required=True),
+                  'from': Opt('source well(s)', metavar='LOC[,LOC..]', required=True), 'to': Opt('destination well(s)', metavar='LOC[,LOC..]', required=True),
+                  'new-tip': Opt('once: one tip for everything; always: a fresh tip per pair; never: use the attached tip', choices=['once', 'always', 'never'], metavar='MODE'),
+                  'rack': Opt('take tips from this rack', metavar='RACK')},
+         preconditions=['all locations exist and are liquid wells', 'power on', 'no run active', 'tip state matches --new-tip', 'enough tips',
+                        'every trip within the pipette range and tip size'],
+         errors=['PAIRING, VOLUME_OUT_OF_RANGE (usage)', 'NO_TIP, TIP_ALREADY_ATTACHED, OUT_OF_TIPS, INSUFFICIENT_LIQUID, DEST_FULL, BUSY (refused)'],
+         example='chemlab run INST transfer --volume 50 --from reservoir:A1 --to plate:A1-A6',
+         details='One source and many destinations, many sources and one destination, or equal lists (paired in order). Volumes larger than '
+                 'one tip are split into equal trips. Tips picked up by transfer are dropped in the trash at the end (or between pairs with --new-tip always).')
+
+    # ---- not modelled (verbs of the class vocabulary this twin has no function for; reasons in the member mapping)
+    for name, summary in (('mix', 'mix a well by repeated aspirate/dispense'), ('detect-liquid', 'sense the liquid level in a well'),
+                          ('set-flow-rate', 'set the aspirate/dispense flow rate'), ('blow-out', 'blow out the tip'),
+                          ('touch-tip', 'touch the tip to the well wall'), ('air-gap', 'aspirate an air gap'),
+                          ('move-labware', 'move labware with the gripper'), ('distribute', 'one source to many wells'),
+                          ('consolidate', 'many wells to one destination')):
+        verb(name, 'work', summary, None)
+
+    # ---- protocols and jobs
+    def h_protocols(ctx, p):
+        rows, js = [], []
+        for x in ctx.view.get('protocols.list') or []:
+            params = ', '.join('%s (%s%s, default %s)' % (y['name'], y.get('type'), (' %s-%s' % (y['min'], y['max'])) if 'min' in y else '', y.get('default'))
+                               for y in x.get('parameters') or [])
+            rows.append('  %-14s %-24s %3d steps  %s%s' % (x['protocol_id'], x['name'], x['n_steps'], 'ready' if x['ready'] else 'NOT ready',
+                                                          ('  parameters: ' + params) if params else ''))
+            js.append({k: x.get(k) for k in ('protocol_id', 'name', 'n_steps', 'ready', 'parameters', 'description', 'fixtures')})
+        return {'text': ('stored protocols:\n' + '\n'.join(rows) + '\n') if rows else 'no stored protocols\n', 'json': {'protocols': js}}
+    verb('protocols', 'work', 'list the protocols stored on the robot', h_protocols, readonly=True, example='chemlab run INST protocols')
+
+    def param_value(ctx, par, text):
+        t = par.get('type')
+        try:
+            if t == 'int':
+                v = int(text)
+            elif t == 'float':
+                v = float(text)
+            elif t == 'bool':
+                if text.lower() not in ('true', 'false', 'on', 'off', '1', '0'):
+                    raise ValueError
+                v = text.lower() in ('true', 'on', '1')
+            else:
+                v = text
+        except ValueError:
+            ctx.fail(invalid('BAD_PARAMETER', 'parameter %s takes a %s, not %r.' % (par['name'], t, text), 'give a %s value.' % t))
+        if par.get('choices'):
+            allowed = [c['value'] if isinstance(c, dict) else c for c in par['choices']]
+            if v not in allowed:
+                ctx.fail(invalid('BAD_PARAMETER', 'parameter %s must be one of %s.' % (par['name'], allowed), 'pick one of them.'))
+        if t in ('int', 'float') and not (par.get('min', -math.inf) <= v <= par.get('max', math.inf)):
+            ctx.fail(invalid('PARAMETER_OUT_OF_RANGE', 'parameter %s=%s is outside %s-%s.' % (par['name'], text, par.get('min'), par.get('max')),
+                             'give a value from %s to %s.' % (par.get('min'), par.get('max'))))
+        return v
+
+    def h_run_protocol(ctx, p):
+        pid = p.pos[0]
+        proto = next((x for x in ctx.view.get('protocols.list') or [] if x['protocol_id'] == pid), None)
+        if proto is None:
+            ctx.fail(invalid('UNKNOWN_PROTOCOL', 'there is no stored protocol %r.' % pid, 'stored: %s (see `protocols`).' % (
+                ', '.join(x['protocol_id'] for x in ctx.view.get('protocols.list') or []) or 'none')))
+        params = {}
+        for item in p.get('param') or []:
+            name, eq, val = item.partition('=')
+            par = next((x for x in proto.get('parameters') or [] if x['name'] == name), None)
+            if not eq or par is None:
+                ctx.fail(invalid('BAD_PARAMETER', 'unknown parameter %r for %s.' % (item, pid), 'parameters: %s; write --param NAME=VALUE.' % (
+                    ', '.join(x['name'] for x in proto.get('parameters') or []) or 'none')))
+            params[name] = param_value(ctx, par, val)
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        if ctx.view['tip.attached_id'] is not None:
+            ctx.fail(refused('TIP_ATTACHED', 'a tip is attached; a protocol run starts with an empty pipette.', 'drop it (`drop-tip`) or return it (`return-tip`) first.'))
+        mounts = ctx.view.get('instruments.mounts') or {}
+        mt = mounts.get(proto.get('pipette_mount') or 'left') if isinstance(mounts, dict) else None
+        if not mt or not mt.get('calibrated'):
+            ctx.fail(refused('RUN_NOT_READY', 'protocol %s needs a calibrated pipette on the left mount.' % pid, 'attach and calibrate it (see `chemlab run %s` admin verbs).' % f.instrument_id))
+        fixtures = ctx.view.get('deck.fixtures') or {}
+        conflicts = {s: fx for s, fx in (proto.get('fixtures') or {}).items() if fixtures.get(s) != fx}
+        if conflicts and not p.get('update-deck'):
+            ctx.fail(refused('RUN_NOT_READY', 'protocol %s needs deck fixtures %s.' % (pid, ', '.join('%s=%s' % kv for kv in conflicts.items())),
+                             'add --update-deck to set them, or use `deck-config`.'))
+        m = f.vmap('run-protocol')
+        steps = [(m['setup_cap'], {'protocol_id': pid}, 'set up run of %s' % pid)]
+        steps += [(m['parameter_cap'], {'name': k, 'value': v}, 'set %s=%s' % (k, v)) for k, v in params.items()]
+        if proto.get('parameters'):
+            steps.append((m['confirm_cap'], {}, 'confirm parameters'))
+        if conflicts:
+            steps.append((m['update_deck_cap'], {}, 'update deck fixtures'))
+        if p.get('apply-offsets'):
+            steps.append((m['offsets_cap'], {}, 'apply stored labware offsets'))
+        steps.append((m['play_cap'], {}, 'start the run'))
+        try:
+            for cid, a, text in steps:
+                ctx.call(cid, a, text)
+        except Exception as exc:
+            if not ctx.dry_run and ctx.changed and (ctx.view.get('run.state') or {}).get('status') == 'setup':
+                ctx.call(m['stop_cap'], {}, 'roll back the run setup')
+                ctx.changed = False
+                exc.changed, exc.done = 'no (the run setup was rolled back)', list(ctx.done)
+            raise
+        if ctx.dry_run:
+            return {'text': '', 'json': {}, 'checks': ['protocol stored', 'parameters valid', 'no tip attached', 'pipette calibrated', 'deck fixtures']}
+        rs = ctx.view.get('run.state') or {}
+        job = RunJob(ctx.core, f, ctx.req, pid, proto['name'], rs.get('started_s'), params)
+        left = f.eta(rs, ctx.now()) if rs.get('status') in ACTIVE else 0.0
+        return {'text': 'ok: %s started: protocol %r (%d steps, about %s of lab time)\nnext: `chemlab status %s` / `chemlab wait %s` to follow it\n' % (
+            job.handle, proto['name'], rs.get('n_steps', 0), fmt_s(left), job.handle, job.handle),
+            'json': {'job': job.handle, 'protocol_id': pid, 'n_steps': rs.get('n_steps'), 'eta_s': left, 'status': JOB_STATUS.get(rs.get('status'), rs.get('status'))}}
+    verb('run-protocol', 'work', 'start a stored protocol as a job (returns job-N)', h_run_protocol, long_action=True,
+         positionals=[Arg('PROTOCOL', 'protocol id (see `protocols`)')],
+         options={'param': Opt('runtime parameter, repeatable', kind='multi', metavar='NAME=VALUE'), 'update-deck': Opt('set the deck fixtures the protocol needs', 'flag'),
+                  'apply-offsets': Opt('apply the labware offsets stored from an earlier Labware Position Check', 'flag')},
+         preconditions=['protocol stored', 'parameters known and in range', 'power on', 'no other run active', 'no tip attached', 'pipette calibrated',
+                        'deck fixtures match (or --update-deck)'],
+         errors=['UNKNOWN_PROTOCOL, BAD_PARAMETER, PARAMETER_OUT_OF_RANGE (usage)', 'BUSY, TIP_ATTACHED, RUN_NOT_READY, POWER_OFF (refused)'],
+         example='chemlab run INST run-protocol plate_prep --param volume_ul=80')
+
+    def h_job(ctx, p):
+        j = f.get_job(ctx, p.pos[0])
+        s = f.job_state(ctx, j)
+        return {'text': '%s %s\n' % (j.handle, f.job_line(ctx, j, s)), 'json': s}
+    verb('job', 'work', 'progress of a job (same as `chemlab status JOB`)', h_job, positionals=[Arg('JOB', 'job id')], readonly=True,
+         example='chemlab run INST job job-1')
+
+    def job_action(action):
+        def h(ctx, p):
+            j = f.get_job(ctx, p.pos[0])
+            s = f.job_state(ctx, j)
+            st = s['status']
+            need = {'pause': ('running',), 'resume': ('paused',), 'cancel': ('setup', 'running', 'paused', 'awaiting_recovery')}[action]
+            if st not in need:
+                ctx.fail(refused('JOB_FINISHED' if st in ('completed', 'failed', 'canceled') else 'JOB_NOT_%s' % need[0].upper(),
+                                 '%s is %s; cannot %s it.' % (j.handle, st, action), 'check `chemlab status %s`.' % j.handle))
+            ctx.call(f.c(action), {}, '%s %s' % (action, j.handle))
+            if not ctx.dry_run and action == 'pause':
+                j.pause_t = ctx.now()
+            elif not ctx.dry_run and action == 'resume' and j.pause_t is not None:
+                j.paused_s += ctx.now() - j.pause_t
+                j.pause_t = None
+            s = f.job_state(ctx, j) if not ctx.dry_run else s
+            return {'text': 'ok: %s %s (now %s)\n' % (action, j.handle, s['status']), 'json': {'job': j.handle, 'status': s['status']}}
+        return h
+    for action, summary in (('pause', 'pause a running job'), ('resume', 'resume a paused job'), ('cancel', 'cancel a job (same as `chemlab cancel JOB`)')):
+        verb(action, 'work', summary, job_action(action), positionals=[Arg('JOB', 'job id')],
+             preconditions=['the job is yours', 'the job is in a state that allows it'], errors=['UNKNOWN_JOB, NOT_YOUR_JOB (usage)', 'JOB_FINISHED (refused)'],
+             example='chemlab run INST %s job-1' % action)
+
+    def h_recover(ctx, p):
+        j = f.get_job(ctx, p.pos[0])
+        s = f.job_state(ctx, j)
+        if s['status'] != 'awaiting_recovery':
+            ctx.fail(refused('NOT_AWAITING_RECOVERY', '%s is %s, not waiting for error recovery.' % (j.handle, s['status']), 'check `chemlab status %s`.' % j.handle))
+        if p.get('action') not in s['recovery_options']:
+            ctx.fail(refused('ACTION_NOT_ALLOWED', '%s is not offered for error %s.' % (p.get('action'), (s['error'] or {}).get('type')),
+                             'choose one of: %s.' % ', '.join(s['recovery_options'])))
+        m = f.vmap('recover')
+        ctx.call(m['cap'], {m['arg']: p.get('action')}, 'recover %s with %s' % (j.handle, p.get('action')))
+        s = f.job_state(ctx, j) if not ctx.dry_run else s
+        return {'text': 'ok: %s recovered with %s (now %s)\n' % (j.handle, p.get('action'), s['status']), 'json': {'job': j.handle, 'status': s['status']}}
+    verb('recover', 'work', 'answer the error-recovery question of a job (retry, skip, new tips, cancel...)', h_recover,
+         positionals=[Arg('JOB', 'job id')], options={'action': Opt('recovery action (see `chemlab status JOB`)', metavar='ACTION', required=True)},
+         preconditions=['the job waits for recovery', 'the action is offered for its error'], errors=['NOT_AWAITING_RECOVERY, ACTION_NOT_ALLOWED (refused)'],
+         example='chemlab run INST recover job-1 --action retry_same_tips')
+
+    # ---- maintenance / admin
+    def simple(verb_name, args, text, check_busy=True, extra=None):
+        def h(ctx, p):
+            m = f.vmap(verb_name)
+            a = args(ctx, p) if callable(args) else dict(args)
+            if check_busy:
+                f.check_not_busy(ctx, run_command=True)
+            f.check_power(ctx)
+            if extra:
+                extra(ctx, a)
+            ctx.call(m['cap'], a, text(a) if callable(text) else text)
+            return {'text': 'ok: %s\n' % (text(a) if callable(text) else text), 'json': {'capability': m['cap'], 'arguments': a}}
+        return h
+
+    def enum_of(verb_name, arg, path=None):
+        m = f.vmap(verb_name) if f.lab else None
+        if not m:
+            return None
+        s = f.cap_schema(m['cap'], arg)
+        for k in path or []:
+            s = s[k]
+        return s.get('enum')
+
+    def h_pipettes(ctx, p):
+        mt = ctx.view.get('instruments.mounts') or {}
+        lines = ['  %-9s %s' % (k, ('%s, %s' % (v['model'], 'calibrated' if v['calibrated'] else 'NOT calibrated')) if v else 'empty') for k, v in mt.items()]
+        return {'text': 'mounts:\n' + '\n'.join(lines) + '\n', 'json': {'mounts': mt}}
+    verb('pipettes', 'admin', 'what is on each mount and whether it is calibrated', h_pipettes, readonly=True)
+
+    def need_mounted(ctx, a):
+        if not (ctx.view.get('instruments.mounts') or {}).get(a['mount']):
+            ctx.fail(refused('NO_PIPETTE', 'no pipette on the %s mount.' % a['mount'], 'attach one first (`attach-pipette`).'))
+
+    def no_tip(ctx, a):
+        need_mounted(ctx, a)
+        if ctx.view['tip.attached_id']:
+            ctx.fail(refused('TIP_ATTACHED', 'a tip is attached.', 'drop it before detaching the pipette.'))
+
+    def mount_free(ctx, a):
+        if any((ctx.view.get('instruments.mounts') or {}).get(k) for k in ('left', 'right')):
+            ctx.fail(refused('MOUNT_TAKEN', 'a pipette is already attached (this Flex has one 1-channel pipette).', 'detach it first.'))
+
+    def mount_arg(ctx, p):
+        mt = p.get('mount') or 'left'
+        allowed = enum_of('calibrate-pipette', 'mount') or ['left', 'right']
+        if mt not in allowed:
+            ctx.fail(invalid('BAD_CHOICE', 'mount %r is not one of %s.' % (mt, ', '.join(allowed)), 'use --mount left or right.'))
+        return mt
+
+    verb('calibrate-pipette', 'admin', 'run the automatic pipette calibration',
+         simple('calibrate-pipette', lambda c, p: {'mount': mount_arg(c, p)}, lambda a: 'calibrated the %s pipette' % a['mount'], extra=need_mounted),
+         options={'mount': Opt('mount', metavar='MOUNT')}, preconditions=['power on', 'no run active', 'a pipette on that mount'])
+
+    def attach_args(ctx, p):
+        models = enum_of('attach-pipette', 'model') or []
+        model = p.get('model') or (models[0] if models else None)
+        if models and model not in models:
+            ctx.fail(invalid('BAD_CHOICE', 'model %r is not one of %s.' % (model, ', '.join(models)), 'use --model with one of them.'))
+        return {'mount': mount_arg(ctx, p), 'model': model}
+    verb('attach-pipette', 'admin', 'record a pipette attached to a mount (needs calibration after)',
+         simple('attach-pipette', attach_args, lambda a: 'attached %s on the %s mount' % (a['model'], a['mount']), extra=mount_free),
+         options={'mount': Opt('mount', metavar='MOUNT', required=True), 'model': Opt('model', metavar='MODEL')},
+         preconditions=['power on', 'no run active', 'mount free'])
+    verb('detach-pipette', 'admin', 'record the pipette as removed (destructive: --yes)',
+         simple('detach-pipette', lambda c, p: {'mount': mount_arg(c, p)}, lambda a: 'detached the %s pipette' % a['mount'], extra=no_tip),
+         options={'mount': Opt('mount', metavar='MOUNT', required=True)}, destructive=True, preconditions=['power on', 'no run active', 'no tip attached'])
+
+    def h_deck(ctx, p):
+        if not p.pos:
+            fx = ctx.view.get('deck.fixtures') or {}
+            return {'text': 'deck fixtures:\n' + ''.join('  %s  %s\n' % kv for kv in sorted(fx.items())), 'json': {'fixtures': fx}}
+        if len(p.pos) != 2:
+            ctx.fail(invalid('MISSING_ARGUMENT', 'deck-config needs SLOT and FIXTURE (or none).', 'example: deck-config A1 trash_bin'))
+        m = f.vmap('deck-config')
+        cutouts = f.cap_schema(m['cap'], 'slot').get('enum') or []
+        fixture_enum = (f.cap_schema(m['cap'], 'fixture').get('anyOf') or [{}])[0].get('enum') or []
+        fixture_slots = f.param('fixture_slots', {})
+        slot, fixture = p.pos[0].upper(), p.pos[1]
+        if slot not in cutouts:
+            ctx.fail(invalid('BAD_CHOICE', 'fixtures go in %s, not %s.' % (', '.join(cutouts), slot), 'pick one of those slots.'))
+        fixture = None if fixture == 'none' else fixture
+        if fixture is not None and fixture not in fixture_enum:
+            ctx.fail(invalid('BAD_CHOICE', 'unknown fixture %r.' % p.pos[1], 'fixtures: %s, or none.' % ', '.join(fixture_enum)))
+        if fixture is not None and slot not in fixture_slots.get(fixture, [slot]):
+            ctx.fail(invalid('FIXTURE_NOT_ALLOWED', '%s cannot go in %s.' % (fixture, slot), '%s goes in %s.' % (fixture, ', '.join(fixture_slots[fixture]))))
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        ctx.call(m['cap'], {'slot': slot, 'fixture': fixture}, 'set %s to %s' % (slot, fixture or 'empty'))
+        return {'text': 'ok: %s is now %s\n' % (slot, fixture or 'empty'), 'json': {'slot': slot, 'fixture': fixture}}
+    verb('deck-config', 'admin', 'show or change the deck fixtures (trash bin, staging area, waste chute)', h_deck,
+         positionals=[Arg('SLOT', 'cutout', required=False), Arg('FIXTURE', 'fixture or none', required=False)],
+         preconditions=['fixture allowed in that slot (Flex deck fixtures table)', 'power on', 'no run active'])
+
+    def h_settings(ctx, p):
+        settings = ctx.view.get('robot.settings') or {}
+        if not p.pos:
+            return {'text': 'settings:\n' + ''.join('  %-24s %s\n' % kv for kv in sorted(settings.items())), 'json': {'settings': settings}}
+        m = f.vmap('settings')
+        keys = f.cap_schema(m['cap'], 'key').get('enum') or []
+        key = p.pos[0]
+        if key not in keys:
+            ctx.fail(invalid('BAD_CHOICE', 'unknown setting %r.' % key, 'settings: %s.' % ', '.join(keys)))
+        if len(p.pos) == 1:
+            return {'text': '%s = %s\n' % (key, settings.get(key)), 'json': {key: settings.get(key)}}
+        raw = p.pos[1]
+        allowed = f.param('setting_values', {}).get(key, [True, False])
+        if allowed == [True, False]:
+            if raw.lower() not in ('on', 'off', 'true', 'false'):
+                ctx.fail(invalid('BAD_CHOICE', '%s is on or off.' % key, 'write on or off.'))
+            value = raw.lower() in ('on', 'true')
+        else:
+            value = int(raw) if raw.isdigit() else raw
+            if value not in allowed:
+                ctx.fail(invalid('BAD_CHOICE', '%s cannot be %r.' % (key, raw), 'allowed: %s.' % ', '.join(map(str, allowed))))
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        ctx.call(m['cap'], {'key': key, 'value': value}, 'set %s to %s' % (key, value))
+        return {'text': 'ok: %s = %s\n' % (key, value), 'json': {key: value}}
+    verb('settings', 'admin', 'show or change robot settings', h_settings, positionals=[Arg('KEY', 'setting name', required=False), Arg('VALUE', 'new value', required=False)],
+         preconditions=['value allowed (Flex robot settings)', 'power on', 'no run active'])
+    verb('set-name', 'admin', 'rename the robot', simple('set-name', lambda c, p: {'name': p.pos[0]}, lambda a: 'robot renamed to %r' % a['name']),
+         positionals=[Arg('NAME', '1-35 characters')])
+    verb('restart', 'admin', 'restart the robot software (destructive: --yes)', simple('restart', {}, 'restart the robot'), destructive=True,
+         preconditions=['power on', 'no run active'])
+    verb('shutdown', 'admin', 'shut the robot software down (destructive: --yes)', simple('shutdown', {}, 'shut the robot down'), destructive=True,
+         preconditions=['power on', 'no run active'])
+
+    def proto_exists(ctx, a):
+        if not any(x['protocol_id'] == a['protocol_id'] for x in ctx.view.get('protocols.list') or []):
+            ctx.fail(invalid('UNKNOWN_PROTOCOL', 'there is no stored protocol %r.' % a['protocol_id'], 'see `protocols`.'))
+
+    def pin_args(ctx, p):
+        if p.pos[1] not in ('on', 'off'):
+            ctx.fail(invalid('BAD_CHOICE', 'protocol-pin takes on or off.', 'write protocol-pin ID on|off.'))
+        return {'protocol_id': p.pos[0], 'pinned': p.pos[1] == 'on'}
+    verb('protocol-pin', 'admin', 'pin or unpin a protocol on the touchscreen',
+         simple('protocol-pin', pin_args, lambda a: '%s pinned=%s' % (a['protocol_id'], a['pinned']), extra=proto_exists),
+         positionals=[Arg('PROTOCOL', 'protocol id'), Arg('on|off', 'pin or unpin')])
+    verb('protocol-delete', 'admin', 'delete a stored protocol and its run history (destructive: --yes)',
+         simple('protocol-delete', lambda c, p: {'protocol_id': p.pos[0]}, lambda a: 'deleted protocol %s' % a['protocol_id'], extra=proto_exists),
+         positionals=[Arg('PROTOCOL', 'protocol id')], destructive=True)
+
+    def reset_args(ctx, p):
+        m = f.vmap('device-reset')
+        items_enum = (f.cap_schema(m['cap'], 'items').get('items') or {}).get('enum') or []
+        items = [x for x in p.pos[0].split(',') if x]
+        bad = [x for x in items if x not in items_enum]
+        if bad or not items:
+            ctx.fail(invalid('BAD_CHOICE', 'unknown reset item(s) %s.' % ', '.join(bad or ['(none)']), 'items: %s.' % ', '.join(items_enum)))
+        return {'items': items}
+    verb('device-reset', 'admin', 'erase calibration, protocols, run history or offsets (destructive: --yes)',
+         simple('device-reset', reset_args, lambda a: 'reset %s' % ', '.join(a['items'])), positionals=[Arg('ITEMS', 'comma list of reset items')],
+         destructive=True)
+    return V
diff --git a/chemlab/chemlab/compile/classes/mechanical.py b/chemlab/chemlab/compile/classes/mechanical.py
new file mode 100644
index 0000000000000000000000000000000000000000..549e4428d1efde588d792aac79595391e0b8361a
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/mechanical.py
@@ -0,0 +1,912 @@
+"""Mechanical testing and rheology class ("mechanical"): tribometer, scratch tester, nanoindenter, universal testing machine,
+pendulum impact tester, melt flow indexer, rotational rheometer, powder rheometer.  Operator action: load a specimen and measure
+its mechanical response.
+
+Verbs: clamp on|off, contact on|off, zero, calibrate [KEY=VALUE ...], move POS [--y Y] [--speed V] [--wait], method KEY=VALUE ...,
+set-temp T [--wait], start (job-N), stop, result [--save-to F], analyze [KEY=VALUE ...] [--save-to F], status.  power, open/close,
+ack, estop and wait come from the shared layer (configs/adapters/shared.json).  Members and mappings: configs/adapters/mechanical.json.
+
+Vendor-neutral references: ASTM E8 / ISO 6892-1 and ASTM D638 (tensile: test speed, force, extension, modulus fit), ISO 14577
+(instrumented indentation, Oliver-Pharr), ASTM C1624 / ISO 20502 (scratch: progressive load, critical load), ASTM G99 (pin-on-disk:
+normal load, track radius, sliding distance), ISO 179-1 (Charpy: pendulum friction calibration, absorbed energy), ISO 1133 (melt
+flow: test temperature, nominal load, preheat, measuring window), ISO 3219 (rotational rheometry: gap, shear rate, oscillation),
+ASTM D7891 (powder shear, FT4 dynamic method).  No public remote command set exists for these testers (the vendors' PC
+software only), so the verbs follow the standards' vocabulary.
+
+The canonical method keys of the class (each member maps the ones it has; native argument names pass through, parsed into the
+unit the argument declares; anything not given comes from the member's method template, the contract's reference method):
+
+    mode=      test mode (speed | force | strain, rotation | oscillation, dynamic | shear | ..., prescan | scratch | postscan)
+    load=      test / normal / peak force (5N, 500mN, 2kN); melt-flow nominal load as a mass (2.16kg)
+    speed=     test speed (crosshead / stage / blade: 5mm/min, 0.1mm/s; disk: 100rpm)
+    time=      test duration (20s, 5min)          interval=  sampling interval (0.1s)
+    rate=      loading / unloading rate (1.7mN/s)  hold=  hold time at peak load (5s)
+    strain=    strain or strain amplitude (1%, 0.01)  freq=  frequency (1Hz)    shear-rate=  shear rate (100, in 1/s)
+    distance=  sliding distance (100m)  start= / length= / end=  path start, length, end (mm)
+    temp-tol=  temperature tolerance before the start (0.5K)   preheat=  preheat time (5min)
+    window=    melt-flow measuring window as UPPER..LOWER piston positions (40mm..10mm)
+"""
+import copy
+import json
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unexpected
+from ..jobs import OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from ...contract import validate
+from ...generic import CmdError, coerce
+
+ON_OFF = ['on', 'off']
+RUNNING_PHASES = ('running', 'paused', 'heating', 'holding', 'cooling', 'pouring', 'fusion', 'awaiting_manual_pump')
+_RATE = re.compile(r'^(.*?)/(s|min)$', re.I)
+
+
+def _get(obj, path):
+    """A value from a nested dict by 'a.b.c' (list index allowed: rows.-1.x)."""
+    cur = obj
+    for part in path.split('.'):
+        if isinstance(cur, dict):
+            cur = cur.get(part)
+        elif isinstance(cur, list) and re.fullmatch(r'-?\d+', part):
+            i = int(part)
+            cur = cur[i] if -len(cur) <= i < len(cur) else None
+        else:
+            return None
+    return cur
+
+
+def _shown(v):
+    """A state value for a message: floats to 4 significant digits."""
+    return ('%.4g' % v) if isinstance(v, float) else v
+
+
+def _nonnull(schema):
+    """The non-null branch of an anyOf schema (or the schema itself), and whether null is allowed."""
+    if 'anyOf' in schema:
+        branches = [b for b in schema['anyOf'] if isinstance(b, dict)]
+        nullable = any(b.get('type') == 'null' for b in branches)
+        main = next((b for b in branches if b.get('type') != 'null'), {})
+        return main, nullable
+    return schema, schema.get('type') == 'null'
+
+
+class TesterBase(ClassAdapter):
+    """What the mechanical and solid_prep classes share: settings with a method template, start / stop / result with jobs,
+    set-temp, the class view from the member's status slots, refusal explanations from the member's requirements."""
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEY_HELP = {}
+
+    # ------------------------------------------------------------------ values typed by the agent
+    def props(self, cap):
+        return ((self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+    def template(self, cap):
+        """The member's method template for a capability: the contract's reference arguments (example_arguments)."""
+        return copy.deepcopy((self.lab.contract['capabilities'].get(cap) or {}).get('example_arguments') or {})
+
+    def _range_text(self, lo, hi, u):
+        kind = units.unit_kind(u) if u else None
+
+        def f(x):
+            if x is None:
+                return 'open'
+            return units.fmt(units.from_declared(x, u), kind) if kind else ('%g%s' % (x, (' ' + u) if u else ''))
+        return f(lo), f(hi), kind
+
+    def parse_setting(self, ctx, cap, arg, text, kind=None, what=None, native=False):
+        """Agent text -> the value of a native argument, in the unit it declares, checked against its range and enum (usage errors,
+        nothing sent).  ``kind`` overrides the quantity kind (e.g. temperature_delta, force_rate).  ``native``: the agent used the
+        native argument name, so a bare number is already in the declared unit (duration_s=60, x_m=0.01); class keys always
+        take units (a bare number there is the kind's default unit)."""
+        return self.parse_schema(ctx, self.cap_schema(cap, arg), text, kind, what or arg, native=native)
+
+    def parse_schema(self, ctx, schema, text, kind=None, what='value', native=False):
+        schema, nullable = _nonnull(schema)
+        t = (text or '').strip()
+        if native and schema.get('type') in ('number', 'integer') and re.fullmatch(r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?', t):
+            kind = 'plain'
+        if nullable and t.lower() in ('null', 'none', '-'):
+            return None
+        typ = schema.get('type')
+        if typ in ('number', 'integer'):
+            u = units.declared(schema)
+            if kind in ('force_rate',):
+                m = _RATE.match(t.replace(' ', ''))
+                if not m:
+                    ctx.fail(invalid('BAD_NUMBER', '%s=%s is not a rate.' % (what, text), 'write it like 1.7mN/s or 0.1N/min.'))
+                v = units.parse(m.group(1), 'force', what=what) / (60.0 if m.group(2).lower() == 'min' else 1.0)
+            elif kind and kind != 'plain' and (not u or not units.unit_kind(u) or kind == 'temperature_delta'):
+                v = units.parse_for(t, schema, kind, what=what) if u and units.unit_kind(u) else units.parse(t, kind, what=what)
+            elif u and units.unit_kind(u) and kind != 'plain':
+                v = units.parse_for(t, schema, kind, what=what)
+            else:
+                m = re.fullmatch(r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)(%?)', t.replace(' ', ''))
+                if not m:
+                    ctx.fail(invalid('BAD_NUMBER', '%s=%s is not a plain number%s.' % (what, text, ' in %s' % u if u else ''),
+                                     'write a number%s, e.g. %s=%s.' % (' in %s' % u if u else '', what, schema.get('minimum', 1))))
+                v = float(m.group(1)) / (100.0 if m.group(2) else 1.0)
+            if typ == 'integer':
+                if abs(v - round(v)) > 1e-9:
+                    ctx.fail(invalid('NOT_AN_INTEGER', '%s=%s must be a whole number.' % (what, text), 'give a whole number.'))
+                v = int(round(v))
+            lo, hi = schema.get('minimum'), schema.get('maximum')
+            if (lo is not None and v < lo - 1e-12 * max(1.0, abs(lo))) or (hi is not None and v > hi + 1e-12 * max(1.0, abs(hi))):
+                a, b, _ = self._range_text(lo, hi, u)
+                ctx.fail(invalid('OUT_OF_RANGE', '%s=%s is outside the range of %s (%s to %s).' % (what, text, self.instrument_id, a, b),
+                                 'give %s from %s to %s.' % (what, a, b)))
+            if 'enum' in schema and v not in schema['enum']:
+                ctx.fail(invalid('BAD_CHOICE', '%s=%s is not one of the values %s takes.' % (what, text, self.instrument_id),
+                                 'use one of: %s.' % ', '.join(map(str, schema['enum']))))
+            return v
+        if typ == 'boolean':
+            low = t.lower()
+            if low in ('on', 'true', 'yes', '1'):
+                return True
+            if low in ('off', 'false', 'no', '0'):
+                return False
+            ctx.fail(invalid('BAD_VALUE', '%s=%s is not on/off.' % (what, text), 'write %s=on or %s=off.' % (what, what)))
+        if 'enum' in schema:
+            if t not in [str(x) for x in schema['enum']]:
+                ctx.fail(invalid('BAD_CHOICE', '%s=%s is not one of the values %s takes.' % (what, text, self.instrument_id),
+                                 'use one of: %s.' % ', '.join(map(str, schema['enum']))))
+            return next(x for x in schema['enum'] if str(x) == t)
+        try:
+            return coerce(t, schema, what)
+        except CmdError as exc:
+            ctx.fail(invalid(exc.code, exc.message, exc.fix))
+
+    def custom_value(self, ctx, spec, text, what):
+        """Class-specific value syntaxes (overridden by classes): None when the spec has no special kind."""
+        if spec.get('syntax') == 'range':                                     # window=40mm..10mm -> two arguments
+            a, sep, b = text.partition('..')
+            if not sep:
+                ctx.fail(invalid('BAD_VALUE', '%s=%s is not a range.' % (what, text), 'write %s=UPPER..LOWER, e.g. %s=40mm..10mm.' % (what, what)))
+            return [a, b]
+        return None
+
+    def settings(self, ctx, spec, items, verb):
+        """KEY=VALUE items -> [(cap, args, given)] for the spec and its "also" capabilities.  Each call carries the member's
+        template (contract reference arguments) + "keep" (current values from slots) + fixed "args" + what the agent gave."""
+        groups = list(spec.get('also') or []) + [spec]           # the extra capabilities first: they are the ones a state refuses
+        given = [dict() for _ in groups]
+        names = [list() for _ in groups]
+        for item in items:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write %s KEY=VALUE ... (see `chemlab help %s %s`).' % (
+                    verb, self.instrument_id, verb)))
+            found = None
+            for i, g in enumerate(groups):
+                if k in (g.get('keys') or {}):
+                    found = (i, dict(g['keys'][k]))
+                    break
+            if found is None:
+                for i, g in enumerate(groups):
+                    if g.get('passthrough', True) and k in self.props(g['cap']) and k not in (g.get('args') or {}) and k not in self.hidden(g):
+                        found = (i, {'arg': k, 'native': True})
+                        break
+            if found is None:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no %s setting %r.' % (self.instrument_id, verb, k),
+                                 'settings: %s (see `chemlab help %s %s`).' % (', '.join(self.setting_names(spec)), self.instrument_id, verb)))
+            i, ks = found
+            cap = groups[i]['cap']
+            if ks.get('field'):                                                # one member of an object argument
+                a = ks['arg']
+                sub = (self.cap_schema(cap, a).get('properties') or {}).get(ks['field']) or {}
+                obj = given[i].setdefault(a, copy.deepcopy(self.template(cap).get(a) or {}))
+                obj[ks['field']] = self.parse_schema(ctx, sub, v, ks.get('kind'), what=k)
+                names[i].append(k)
+                continue
+            args = ks.get('args') or [ks['arg']]
+            parts = self.custom_value(ctx, ks, v, k)
+            if parts is not None and len(parts) == len(args):
+                for a, text in zip(args, parts):
+                    given[i][a] = self.parse_setting(ctx, cap, a, text, ks.get('kind'), what=k)
+            else:
+                for a in args:
+                    given[i][a] = self.parse_setting(ctx, cap, a, parts if isinstance(parts, str) else v, ks.get('kind'), what=k,
+                                                     native=ks.get('native', False))
+            names[i].append(k)
+        calls = []
+        for i, g in enumerate(groups):
+            if not given[i] and not (g is spec and g.get('always')):
+                continue
+            args = self.template(g['cap']) if g.get('template', True) else {}
+            props = self.props(g['cap'])
+            args = {a: x for a, x in args.items() if a in props}
+            for a, slot in (g.get('keep') or {}).items():
+                cur = ctx.v(slot)
+                if cur is not None:
+                    args[a] = cur
+            args.update(copy.deepcopy(g.get('args') or {}))
+            args.update(given[i])
+            calls.append((g['cap'], args, given[i], names[i]))
+        return calls
+
+    @staticmethod
+    def hidden(g):
+        """Native arguments an evaluation fills from the result (not settable by KEY=VALUE)."""
+        return set(g.get('columns') or {}) | set(g.get('from') or {}) | set(g.get('from_slots') or {}) | set(g.get('from_list') or {}) | \
+            set(g.get('from_rows') or []) | ({g['rows_arg']} if g.get('rows_arg') else set())
+
+    def setting_names(self, spec):
+        out = []
+        for g in [spec] + list(spec.get('also') or []):
+            out += [k for k in (g.get('keys') or {}) if k not in out]
+            if g.get('passthrough', True):
+                out += [k for k in self.props(g['cap']) if k not in out and k not in (g.get('args') or {}) and k not in self.hidden(g)]
+        return out
+
+    def settings_help(self, verb):
+        spec = self.vmap(verb) or {}
+        if not spec.get('cap'):
+            return []
+        lines = ['settings on %s (KEY=VALUE; class keys first, then native argument names):' % self.instrument_id]
+        for g in [spec] + list(spec.get('also') or []):
+            props = self.props(g['cap'])
+            tmpl = self.template(g['cap']) if g.get('template', True) else {}
+            for k, ks in (g.get('keys') or {}).items():
+                args = ks.get('args') or [ks['arg']]
+                lines.append('  %-12s -> %s.%s%s%s' % (k, g['cap'], '+'.join(args), ('.' + ks['field']) if ks.get('field') else '',
+                                                       ('  (%s)' % self.KEY_HELP[k]) if k in self.KEY_HELP else ''))
+            if g.get('passthrough', True):
+                rest = [a for a in props if a not in (g.get('args') or {}) and a not in self.hidden(g)]
+                lines.append('  native %s arguments: %s' % (g['cap'], ', '.join('%s%s' % (a, ' [%s]' % units.declared(props[a])
+                                                                                      if units.declared(_nonnull(props[a])[0]) else '') for a in rest)))
+            if self.hidden(g):
+                lines.append('  from the last result: %s' % ', '.join(sorted(self.hidden(g))))
+            tmpl = {a: v for a, v in tmpl.items() if a in props and a not in self.hidden(g)}
+            if tmpl:
+                lines.append('  template (what you do not give): %s' % short(tmpl, 400))
+        return lines
+
+    def apply_settings(self, ctx, calls, what):
+        done = []
+        for cap, args, given, names in calls:
+            step = '%s %s (%s)' % (what, cap, ', '.join('%s=%s' % (k, short(v, 24)) for k, v in given.items()) or 'template')
+            ctx.call(cap, args, step)
+            done.append({'capability': cap, 'arguments': args, 'given': given})
+        return done
+
+    # ------------------------------------------------------------------ requirements of a verb (checked before sending)
+    def unmet(self, ctx, verb):
+        """The member's requirements for a verb from its mapping ("requires": {verb: [{"slot", "value" | "not" | "min" | "max" |
+        "present", "code", "message", "fix"}]}): the first one not met, or None."""
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            got = ctx.v(r['slot'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif 'max' in r:
+                ok = finite(got) and got <= r['max']
+            elif 'min' in r:
+                ok = finite(got) and got >= r['min']
+            elif 'present' in r:
+                ok = (got is not None) == r['present']
+            elif 'equals_slot' in r:
+                other = ctx.v(r['equals_slot'])
+                ok = finite(got) and finite(other) and abs(got - other) <= 1e-9
+            else:
+                ok = bool(got)
+            if not ok:
+                return r, got
+            ctx.checks.append(r.get('label') or self.req_label(r))
+        return None
+
+    @staticmethod
+    def req_label(r):
+        for k, op in (('value', '='), ('max', '<='), ('min', '>='), ('equals_slot', '=')):
+            if k in r:
+                return '%s %s %s' % (r['slot'], op, json.dumps(r[k]))
+        if 'not' in r:
+            return '%s not in %s' % (r['slot'], json.dumps(r['not']))
+        return r['slot']
+
+    def need(self, ctx, verb):
+        bad = self.unmet(ctx, verb)
+        if bad:
+            r, got = bad
+            got = _shown(got)
+            ctx.fail(refused(r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=got),
+                             r['fix'].format(inst=self.instrument_id, value=got)))
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        mapped = (self.map.get('codes') or {}).get('%s:%s' % (cap, code)) or (self.map.get('codes') or {}).get(code) or self.CODES.get(code)
+        if code in ('PRECONDITION_FAILED', 'NOT_READY') and not mapped and ctx.verb is not None:
+            ctx.refresh()
+            for verb in [ctx.verb.name] + list((self.map.get('explain') or {}).get(ctx.verb.name, [])):
+                bad = self.unmet(ctx, verb)
+                if bad:
+                    r, got = bad
+                    got = _shown(got)
+                    return refused(r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=got) + ' (it answered %s)' % code,
+                                   r['fix'].format(inst=self.instrument_id, value=got))
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ class view
+    def show_value(self, v, kind, u=None):
+        if v is None:
+            return 'n/a'
+        if kind == 'bool':
+            return 'yes' if v else 'no'
+        if kind == 'stress' and finite(v):
+            for f, lab in ((1e9, 'GPa'), (1e6, 'MPa'), (1e3, 'kPa'), (1.0, 'Pa')):
+                if abs(v) >= f or f == 1.0:
+                    return '%.4g %s' % (v / f, lab)
+        if kind and finite(v):
+            return units.fmt(units.from_declared(v, u) if u else v, kind)
+        if isinstance(v, float):
+            return '%.6g' % v
+        if isinstance(v, str):
+            return v
+        return short(v, 60)
+
+    def summary(self, values):
+        get = values.v if hasattr(values, 'v') else values.get
+        p = self.slot('power')
+        if p and get(p) is False:
+            return ['power off'], {'power': False}
+        parts, js = [], {}
+        for row in self.map.get('status') or []:
+            label, slot, kind = (list(row) + [None, None])[:3]
+            v = get(slot.split('#')[0])
+            if '#' in slot and isinstance(v, dict):
+                v = v.get(slot.split('#')[1])
+            u = units.declared((self.lab.contract['state_slots'].get(slot) or {})) if self.lab and '#' not in slot else None
+            parts.append('%s %s' % (label, self.show_value(v, kind, u)))
+            js[re.sub(r'[^a-z0-9]+', '_', label.lower()).strip('_')] = v
+        lines = ['; '.join(parts[i:i + 4]) for i in range(0, len(parts), 4)]
+        return lines or ['(see `chemlab read %s`)' % self.instrument_id], js
+
+    # ------------------------------------------------------------------ shared verb handlers
+    def h_settings(self, verb, what):
+        def h(ctx, p):
+            spec = self.vmap(verb)
+            if not p.extra and not spec.get('always'):
+                ctx.fail(invalid('MISSING_SETTING', '%s needs at least one KEY=VALUE.' % verb,
+                                 'see `chemlab help %s %s` for the settings and the template.' % (self.instrument_id, verb)))
+            calls = self.settings(ctx, spec, p.extra, verb)
+            self.need(ctx, verb)
+            done = self.apply_settings(ctx, calls, what)
+            sent = {c['capability']: c['arguments'] for c in done}
+            lines = ['ok: %s %s set' % (self.instrument_id, what)]
+            for c in done:
+                lines.append('  %s: %s' % (c['capability'], short(c['given'], 200)))
+                rest = {a: v for a, v in c['arguments'].items() if a not in c['given']}
+                if rest:
+                    lines.append('    (from the template / current state: %s)' % short(rest, 300))
+            return {'text': '\n'.join(lines) + '\n', 'json': {'sent': sent}}
+        return h
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.need(ctx, 'start')
+        args = dict(m.get('args') or {})
+        if p.get('delay') is not None:
+            if not m.get('delay_cap'):
+                ctx.fail(invalid('NO_DELAYED_START', '%s has no delayed start.' % self.instrument_id, 'leave out --delay.'))
+            cap = m['delay_cap']
+            args = {m['delay_arg']: self.parse_setting(ctx, cap, m['delay_arg'], p.raw['delay'], 'duration', what='--delay')}
+        else:
+            cap = m['cap']
+        r = ctx.call(cap, args, 'start (%s)' % cap)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        opid = r.get('operation_id') or res.get('operation_id')
+        job = None
+        if opid and r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, self.param('run_word', 'test')), cap, opid,
+                               max_s=self.param('job_max_s'))
+        elif self.slot('phase'):
+            job = self.state_job(ctx, cap)
+        if job is None:
+            return {'text': 'ok: %s started\n' % self.instrument_id, 'json': {'result': r.get('result')}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def state_job(self, ctx, cap):
+        ad, slot = self, self.slot('phase')
+        done = self.param('done_phases', ['succeeded', 'completed', 'done'])
+        failed = self.param('failed_phases', ['failed', 'cancelled', 'aborted', 'stopped'])
+
+        def state(c):
+            v = c.v(slot)
+            if v in done:
+                return 'succeeded', '%s = %s' % (slot, v), {'phase': v}
+            if v in failed:
+                return 'failed', '%s = %s' % (slot, v), {'phase': v}
+            return 'running', '%s = %s' % (slot, v), {'phase': v}
+
+        def stop(c):
+            sm = ad.vmap('stop')
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, self.param('run_word', 'run')), state,
+                        stop=stop if self.vmap('stop') else None, max_s=float(self.param('job_max_s', 7200)))
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ph = self.slot('phase')
+        alt = self.param('stop_ok_slot')                                   # e.g. a start countdown that stop also cancels
+        if ph and not ctx.dry_run and not (alt and ctx.v(alt) is not None):
+            v = ctx.v(ph)
+            ctx.check(v in self.param('running_phases', list(RUNNING_PHASES)), 'NOT_RUNNING', '%s is not running (%s = %s).' % (
+                self.instrument_id, ph, v), 'nothing to stop; see `chemlab run %s status`.' % self.instrument_id, label='running')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped (%s)\n' % (self.instrument_id, ctx.v(ph) if ph else 'stop sent'), 'json': {'phase': ctx.v(ph) if ph else None}}
+
+    def result_lines(self, res, show):
+        lines, js = [], {}
+        for label, spec in (show or {}).items():
+            path, kind = (list(spec) + [None])[:2] if isinstance(spec, list) else (spec, None)
+            v = self.aggregate(res, path)
+            js[label] = v
+            lines.append('  %-22s %s' % (label, self.show_value(v, kind)))
+        return lines, js
+
+    @staticmethod
+    def aggregate(res, path):
+        m = re.fullmatch(r'(max|min|mean|last|first|count)\((.+)\)', path)
+        if not m:
+            return _get(res, path)
+        fn, inner = m.groups()
+        lst, _, col = inner.partition(':')
+        flt = re.fullmatch(r'(.+)\[(\w+)=(.+)\]', lst)
+        rows = _get(res, flt.group(1) if flt else lst) or []
+        if flt and isinstance(rows, list):
+            rows = [r for r in rows if isinstance(r, dict) and str(r.get(flt.group(2))) == flt.group(3)]
+        if fn == 'count':
+            return len(rows)
+        vals = [_get(r, col) if col else r for r in rows] if isinstance(rows, list) else []
+        vals = [v for v in vals if finite(v)]
+        if not vals:
+            return None
+        return {'max': max, 'min': min, 'mean': lambda x: sum(x) / len(x), 'last': lambda x: x[-1], 'first': lambda x: x[0]}[fn](vals)
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the result (%s)' % m['cap'], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        lines, js = self.result_lines(res, m.get('show'))
+        head = '%s result (%s):' % (self.instrument_id, m['cap'])
+        n = {k: len(v) for k, v in res.items() if isinstance(v, list)}
+        tail = ['  (%s; the full record: --json or --save-to FILE)' % ', '.join('%d %s' % (v, k) for k, v in n.items())] if n else []
+        return {'text': '\n'.join([head] + lines + tail) + '\n', 'json': {'summary': js, 'result': res}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'set point %s is outside the range of %s (%s to %s).' % (
+                units.fmt(k, 'temperature'), self.instrument_id, units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')),
+                'give a set point from %s to %s.' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature'))))
+        self.need(ctx, 'set-temp')
+        args = dict(m.get('args') or {})
+        args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], k), 10)
+        ctx.call(m['cap'], args, 'set the temperature set point to %s' % units.fmt(k, 'temperature'))
+        now = self.slot_si(ctx, self.slot('temp'))
+        text = 'ok: %s set point %s (now %s)\n' % (self.instrument_id, units.fmt(k, 'temperature'), units.fmt(now, 'temperature') if finite(now) else 'n/a')
+        js = {'set_point_k': k, 'temperature_k': now}
+        if p.get('wait') and not ctx.dry_run:
+            within = p.get('within') if p.get('within') is not None else float(self.param('tolerance_k', 0.5))
+            hold = float(self.param('settle_s', 0.0))
+            state = {'since': None}
+
+            def there(view):
+                t = self.slot_si(ctx, self.slot('temp'))
+                if not (finite(t) and abs(t - k) <= within + 1e-9):
+                    state['since'] = None
+                    return False
+                if state['since'] is None:
+                    state['since'] = ctx.now()
+                return ctx.now() - state['since'] >= hold - 1e-9
+            t0 = ctx.now()
+            if not there(ctx.view):
+                ctx.advance(p.get('max') or 3600.0, until=there, step='wait until %s ± %s' % (units.fmt(k, 'temperature'),
+                                                                                           units.fmt(within, 'temperature_delta')), poll_s=5.0)
+            t = self.slot_si(ctx, self.slot('temp'))
+            if not there(ctx.view):
+                ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; %s ± %s was not reached.' % (
+                    self.instrument_id, units.fmt(t, 'temperature'), units.fmt_s(ctx.now() - t0), units.fmt(k, 'temperature'),
+                    units.fmt(within, 'temperature_delta')), 'wait longer (`chemlab run %s set-temp %s --wait --max 2h`).' % (
+                        self.instrument_id, p.raw['TEMP'])))
+            text += 'reached %s after %s of waiting\n' % (units.fmt(t, 'temperature'), units.fmt_s(ctx.now() - t0))
+            js.update(reached=True, temperature_k=t)
+        return {'text': text, 'json': js}
+
+    def temp_verb(self, ref):
+        return Verb('set-temp', 'set the temperature set point (chamber, plate, barrel or furnace)', self.h_set_temp,
+                    positionals=[Arg('TEMP', 'set point, e.g. 250C or 523.15K (a bare number is °C)', kind='temperature')],
+                    options={'wait': Opt('then wait until the temperature is there (moves lab time)', kind='flag'),
+                             'within': Opt('with --wait: tolerance (default: the member\'s)', kind='temperature_delta', metavar='DELTA'),
+                             'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME')},
+                    preconditions=['set point within the contract range', 'the member\'s own conditions'],
+                    errors=['OUT_OF_RANGE (usage)', 'NOT_REACHED (refused, with --wait)', 'member codes (refused)'],
+                    example='chemlab run INST set-temp 250C --wait', reference=ref)
+
+    def run_verbs(self, ref, result_summary):
+        return {
+            'start': Verb('start', 'start the test / run (returns job-N: chemlab wait job-N)', self.h_start, long_action=True,
+                          options={'delay': Opt('start after this delay (members with a delayed start)', kind='duration', metavar='TIME')},
+                          preconditions=['the member\'s own start conditions (power, specimen mounted, lid / door / guard closed ...)'],
+                          errors=['member codes (refused): what is missing and how to fix it'], example='chemlab run INST start',
+                          reference=ref),
+            'stop': Verb('stop', 'stop the running test / run', self.h_stop, preconditions=['something is running'],
+                         errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop', reference=ref),
+            'result': Verb('result', result_summary, self.h_result, readonly=True, options={'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to result.json', reference=ref),
+        }
+
+    def check_mapping(self, lab):
+        problems = ClassAdapter.check_mapping(self, lab)
+        visible = {x.lower() for x in lab.view.slots}
+        for row in self.map.get('status') or []:
+            if row[1].split('#')[0].lower() not in visible:
+                problems.append('status: no visible state slot %s' % row[1])
+        for verb, m in (self.map.get('verbs') or {}).items():
+            for g in [m] + list(m.get('also') or []):
+                caps = lab.contract['capabilities']
+                props = ((caps.get(g.get('cap')) or {}).get('input_schema') or {}).get('properties') or {}
+                for k, ks in (g.get('keys') or {}).items():
+                    for a in ks.get('args') or [ks.get('arg')]:
+                        if a not in props:
+                            problems.append('verbs.%s.keys.%s: %s has no argument %s' % (verb, k, g.get('cap'), a))
+                        elif ks.get('field') and ks['field'] not in (props[a].get('properties') or {}):
+                            problems.append('verbs.%s.keys.%s: %s.%s has no field %s' % (verb, k, g.get('cap'), a, ks['field']))
+                for a in [x for x in (g.get('speed_arg'), g.get('y_arg'), g.get('y_cap_arg') and None) if x]:
+                    if a not in props:
+                        problems.append('verbs.%s: %s has no argument %s' % (verb, g.get('cap'), a))
+        return problems
+
+    def verb_help(self, name):
+        r = ClassAdapter.verb_help(self, name)
+        extra = self.extra_help(name) if name in self.table and self.supported(name) and self.lab is not None else []
+        if extra:
+            r['text'] = r['text'] + '\n'.join(extra) + '\n'
+        return r
+
+    def extra_help(self, name):
+        if name in ('method', 'calibrate', 'analyze'):
+            return self.settings_help(name)
+        return []
+
+
+REF = ('ASTM E8 / ISO 6892-1, ASTM D638 (tensile); ISO 14577 (indentation); ASTM C1624 (scratch); ASTM G99 (pin-on-disk); '
+       'ISO 179-1 (Charpy); ISO 1133 (melt flow); ISO 3219 (rheometry); ASTM D7891 (powder); vendor manuals: TRAPEZIUM X user guide '
+       'pp.42-64, AGS-X quick guide pp.1-3, RheoCompass manual pp.54-102, FT4 user manual pp.7-26, HIT5P brochure pp.3-7, Mflow '
+       'product information pp.1-3')
+
+
+class MechanicalAdapter(TesterBase):
+    CLASS = 'mechanical'
+    TITLE = 'mechanical testing and rheology'
+    ABOUT = ('Testers that load a specimen and measure its response: clamp it, bring the probe into contact, zero and calibrate the '
+             'sensors, position the stage / crosshead / gap, set the test method in plain units, start the test as a job, read the '
+             'result and run the standard evaluation (tensile modulus, Oliver-Pharr hardness, critical load, impact energy, melt '
+             'flow rate, oscillation moduli, flow energy).')
+    STANDARDS = ('ASTM E8 / ISO 6892-1 / ASTM D638, ISO 14577, ASTM C1624 / ISO 20502, ASTM G99, ISO 179-1, ISO 1133 / ASTM D1238, '
+                 'ISO 3219, ASTM D7891; no vendor remote command set is public (PC software only)')
+    UNIT_KINDS = ('force', 'length', 'speed', 'duration', 'temperature', 'rotation', 'frequency', 'mass', 'area')
+    KEY_HELP = {'mode': 'test mode', 'load': 'test / normal / peak force', 'load-start': 'initial force', 'load-end': 'final force',
+                'speed': 'test speed', 'time': 'test duration', 'interval': 'sampling interval', 'rate': 'loading rate (N/s)',
+                'unload-rate': 'unloading rate (N/s)', 'hold': 'hold time', 'strain': 'strain (amplitude)', 'freq': 'frequency',
+                'shear-rate': 'shear rate (1/s)', 'distance': 'sliding distance', 'start': 'path start', 'length': 'path length',
+                'end': 'path end', 'temp-tol': 'temperature tolerance', 'preheat': 'preheat time', 'window': 'UPPER..LOWER positions',
+                'positions': 'indent positions (JSON list in m)', 'target': 'end position', 'cycles': 'measurement cycles',
+                'area': 'specimen cross-section (prior)', 'gauge': 'gauge length (prior)', 'ref': 'reference force',
+                'index': 'which indent (0 = first)', 'channel': 'criterion channel', 'threshold': 'criterion threshold',
+                'radius': 'track radius / plate radius', 'drive': 'drive mode'}
+    CODES = {
+        'HEAD_NOT_CLEAR': ('HEAD_NOT_CLEAR', 'the measuring head of {inst} is down or in contact; that is not possible now.',
+                           'lift it first: `chemlab run {inst} contact off`.'),
+        'CONTACT_ENGAGED': ('CONTACT_ENGAGED', 'the probe of {inst} is in contact with the specimen.', 'lift it: `chemlab run {inst} contact off`.'),
+        'ARM_LOADED': ('ARM_LOADED', 'the load arm of {inst} rests on the specimen; the load, radius, drive and zero are set with the arm '
+                                     'lifted.', 'lift it: `chemlab run {inst} contact off` (lid open), set it, then `contact on` again.'),
+        'LID_CLOSED': ('LID_CLOSED', 'the lid of {inst} is closed; the arm is lowered or lifted and the specimen reached only with the lid '
+                                     'open.', 'open it: `chemlab run {inst} open lid`; close it again before `start`.'),
+        'LOAD_NOT_RELEASED': ('LOAD_NOT_RELEASED', '{inst} still carries a load.', 'wait until the force is released (`chemlab wait 5`).'),
+        'BUSY': ('BUSY', '{inst} is busy (a test runs or an axis is moving).', 'wait for it (`chemlab wait 5`, or wait for your job), then retry.'),
+        'MOVING': ('MOVING', 'an axis of {inst} is still moving.', 'wait until it stops (`chemlab wait 5`) or use `move ... --wait`.'),
+        'CLAMP_LOCKED': ('CLAMP_LOCKED', 'the specimen clamp of {inst} is locked.', 'release it: `chemlab run {inst} clamp off`.'),
+        'NO_SPECIMEN': ('NO_SPECIMEN', 'there is no specimen on {inst}.', 'ask the lab operator to load one (not an agent action).'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no specimen / sample in {inst}.', 'ask the lab operator to load one (not an agent action).'),
+        'NO_CLAMPED_SPECIMEN': ('NO_CLAMPED_SPECIMEN', 'the head of {inst} may only come down onto a clamped specimen.',
+                                'clamp it first: `chemlab run {inst} clamp on`.'),
+        'CONTACT_NOT_READY': ('CONTACT_NOT_READY', '{inst} cannot make contact now (it needs power, a clamped specimen, a tool and the head '
+                                                   'fully down).', 'check `chemlab run {inst} status`; `clamp on`, then `contact on`.'),
+        'NO_CONTACT_PAIR': ('NO_CONTACT_PAIR', '{inst} has no specimen and pin pair loaded.', 'ask the lab operator to load the disk and the pin.'),
+        'STAGE_NOT_AT_START': ('STAGE_NOT_AT_START', 'the stage of {inst} is not at the start position of the method.',
+                               'move it there first: `chemlab run {inst} contact off`, `move START --wait`, then `contact on`.'),
+        'HEATER_NOT_INSTALLED': ('NO_HEATER', '{inst} has no heating module installed in this lab, so it tests at room temperature only.',
+                                 'leave the temperature at ambient (or ask the lab operator for the heater module).'),
+        'NO_ACTIVE_COOLING': ('NO_COOLING', '{inst} cannot cool below the room temperature.', 'give a set point at or above ambient.'),
+        'TEMPERATURE_NOT_READY': ('TEMPERATURE_NOT_READY', 'the temperature of {inst} is not within the method tolerance of the set point.',
+                                  'wait for it: `chemlab run {inst} set-temp T --wait`.'),
+        'TEMPERATURE_NOT_STABLE': ('TEMPERATURE_NOT_STABLE', 'the barrel of {inst} is not within the tolerance of its set point yet.',
+                                   'wait for it: `chemlab run {inst} set-temp T --wait`, then start.'),
+        'PREHEAT_NOT_COMPLETE': ('PREHEAT_NOT_COMPLETE', 'the preheat time of the charge in {inst} has not passed yet.',
+                                 'wait (`chemlab wait 60`) and start again.'),
+        'EMERGENCY_ENGAGED': ('EMERGENCY_STOP', 'the emergency stop of {inst} is engaged.', 'the lab operator releases it after checking the frame.'),
+        'EMERGENCY_STOP': ('EMERGENCY_STOP', 'the emergency stop of {inst} is latched.', 'check the machine, then reset it (`chemlab call {inst} emergency.reset`).'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'NOT_RUNNING': ('NOT_RUNNING', 'no test is running on {inst}.', 'nothing to stop.'),
+        'UNLOAD_REQUIRED': ('UNLOAD_REQUIRED', '{inst} reads a load (or an axis moves); the force is zeroed only unloaded and at rest.',
+                            'unload the specimen (or zero before the grips close) and retry.'),
+        'GRIPS_NOT_CLOSED': ('GRIPS_NOT_CLOSED', 'the grips of {inst} are not both closed on the specimen.', 'ask the lab operator to close the grips.'),
+        'SAMPLE_BROKEN': ('SAMPLE_BROKEN', 'the specimen in {inst} is already broken.', 'ask the lab operator for a new specimen.'),
+        'CALIBRATION_REQUIRED': ('CALIBRATION_REQUIRED', '{inst} needs its friction calibration swing before an impact test.',
+                                 'run `chemlab run {inst} calibrate` with the supports empty.'),
+        'EMPTY_REQUIRED': ('EMPTY_REQUIRED', 'the calibration swing of {inst} needs empty supports.', 'ask the lab operator to take the specimen out.'),
+        'NOT_ARMED': ('NOT_ARMED', 'the pendulum of {inst} is not raised and latched.', 'ask the lab operator to raise the pendulum.'),
+        'SHIELD_OPEN': ('SHIELD_OPEN', 'the safety shield of {inst} is open.', 'ask the lab operator to close the shield.'),
+        'SAMPLE_SPENT': ('SAMPLE_SPENT', 'the specimen in {inst} has already been struck.', 'ask the lab operator for a new specimen.'),
+        'LOAD_MISMATCH': ('LOAD_MISMATCH', 'the weight on the piston of {inst} is not the method\'s test load.',
+                          'set the method load to the weight in place (`method load=2.16kg`; see `chemlab run {inst} status`).'),
+        'PISTON_NOT_ON_CHARGE': ('PISTON_NOT_ON_CHARGE', 'the piston of {inst} is not resting on the charge.', 'ask the lab operator to insert the piston.'),
+        'CLAMP_REQUIRED': ('CLAMP_REQUIRED', 'the vessel of {inst} is not clamped.', 'clamp it: `chemlab run {inst} clamp on` (door open), then close the door.'),
+        'DOOR_INTERLOCK': ('DOOR_INTERLOCK', 'the safety door of {inst} is open.', 'close it: `chemlab run {inst} close door`.'),
+        'SAMPLE_ACCESS': ('SAMPLE_ACCESS', 'the vessel of {inst} can be clamped or reached only with the door open and the blade parked at the '
+                                           'top.', 'open the door (`chemlab run {inst} open door`) and park the blade (`move 0mm --wait`).'),
+        'ATTACHMENT_REQUIRED': ('ATTACHMENT_REQUIRED', 'the attachment on {inst} does not fit the method mode.',
+                                'select the matching tool (`chemlab call {inst} tool.select --tool_type blade`).'),
+        'GAP_FILL_MISMATCH': ('GAP_FILL_MISMATCH', 'the gap of {inst} does not match the sample fill (the sample must just fill the gap).',
+                              'set the measuring gap the sample was loaded for: `chemlab run {inst} move 1mm --wait`.'),
+        'REFERENCE_TEMPERATURE_RANGE': ('TEMPERATURE_NOT_READY', 'the specimen of {inst} is not at the temperature of its reference data '
+                                                                 'within the method tolerance.', 'set and wait for the reference temperature '
+                                                                 '(`chemlab run {inst} set-temp T --wait`).'),
+        'SAMPLE_PRESENT': ('SAMPLE_PRESENT', '{inst} has a sample loaded; this needs it empty.', 'ask the lab operator to remove the sample first.'),
+        'PRESCAN_REQUIRED': ('PRESCAN_REQUIRED', 'a scratch on {inst} needs a prescan of the same path first.',
+                             'run `method mode=prescan` + `start` on the same path, then the scratch.'),
+        'TRACK_ALREADY_DAMAGED': ('TRACK_ALREADY_DAMAGED', 'that path on the specimen of {inst} is already scratched.',
+                                  'choose another path (`method start=... ` with another --y).'),
+        'NO_RESULT': ('NO_RESULT', '{inst} has no result to evaluate yet.', 'run a test first (`chemlab run {inst} start`).'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        t = {
+            'clamp': Verb('clamp', 'lock or release the specimen / vessel clamp', self.h_clamp,
+                          positionals=[Arg('on|off', 'on (lock) or off (release)', choices=ON_OFF)],
+                          preconditions=['the head is up and nothing moves', 'a specimen is there (to lock)'],
+                          errors=['HEAD_NOT_CLEAR, NO_SPECIMEN, SAMPLE_ACCESS (refused)'], example='chemlab run INST clamp on', reference=REF),
+            'contact': Verb('contact', 'bring the probe (pin, stylus, indenter tip) into contact with the specimen, or lift it; waits '
+                                       'while the head travels', self.h_contact,
+                            positionals=[Arg('on|off', 'on (contact) or off (lift)', choices=ON_OFF)],
+                            options={'max': Opt('longest wait for the head (default 2 min)', kind='duration', metavar='TIME')},
+                            preconditions=['the member\'s own conditions (power, clamped specimen, lid open for the TRB3 arm)'],
+                            errors=['CONTACT_NOT_READY, LID_CLOSED, NO_CLAMPED_SPECIMEN (refused)'], example='chemlab run INST contact on',
+                            reference=REF),
+            'zero': Verb('zero', 'zero the force / torque / depth sensors (or the rheometer gap)', self.h_zero,
+                         options={'max': Opt('for a zero procedure that takes time: the longest wait (default 5 min)', kind='duration',
+                                             metavar='TIME')},
+                         preconditions=['unloaded: probe lifted, no load on the cell'], errors=['UNLOAD_REQUIRED, ARM_LOADED (refused)'],
+                         example='chemlab run INST zero', reference=REF),
+            'calibrate': Verb('calibrate', 'calibrate the sensors: KEY=VALUE corrections (or the member\'s calibration run)',
+                              self.h_calibrate, variadic=('KEY=VALUE', 'a calibration value'),
+                              preconditions=['the member\'s own conditions'], errors=['OUT_OF_RANGE, UNKNOWN_SETTING (usage)'],
+                              example='chemlab run INST calibrate ref=100N', reference=REF),
+            'move': Verb('move', 'move the stage / crosshead / blade / gap to a position (track radius on the tribometer)', self.h_move,
+                         positionals=[Arg('POS', 'position, e.g. 10mm or 0.5mm', kind='length')],
+                         options={'y': Opt('second axis (scratch stage y, indenter y table)', kind='length', metavar='Y'),
+                                  'speed': Opt('travel speed (default: the member\'s)', kind='speed', metavar='SPEED'),
+                                  'wait': Opt('wait until it is there (moves lab time)', kind='flag'),
+                                  'max': Opt('with --wait: the longest wait (default 5 min)', kind='duration', metavar='TIME')},
+                         preconditions=['position and speed within the contract range', 'the member\'s own conditions (head up, power)'],
+                         errors=['OUT_OF_RANGE (usage)', 'HEAD_NOT_CLEAR, GRIPS_NOT_CLOSED (refused)'], example='chemlab run INST move 10mm --wait',
+                         reference=REF),
+            'method': Verb('method', 'set the test method: KEY=VALUE ... in plain units (class keys or native names; the rest from the '
+                                     'member\'s template)', self.h_settings('method', 'method'), variadic=('KEY=VALUE', 'a setting'),
+                           preconditions=['every value within the contract range'], errors=['OUT_OF_RANGE, UNKNOWN_SETTING (usage)'],
+                           example='chemlab run INST method speed=5mm/min time=60s', reference=REF),
+            'set-temp': self.temp_verb(REF),
+            'analyze': Verb('analyze', 'the standard evaluation of the last result (KEY=VALUE for the priors: area=, gauge=, ...)',
+                            self.h_analyze, readonly=True, variadic=('KEY=VALUE', 'an evaluation input'),
+                            options={'index': Opt('which segment / indent of the result (default 0)', metavar='N'),
+                                     'save-to': save_to_opt()},
+                            preconditions=['a finished result'], errors=['NO_RESULT (refused)', 'the evaluation\'s own codes'],
+                            example='chemlab run INST analyze --save-to analysis.json', reference=REF),
+        }
+        t.update(self.run_verbs(REF, 'the raw test data with the key numbers (peak force, critical load, energy, MFR ...)'))
+        return t
+
+    # ------------------------------------------------------------------ handlers
+    def h_clamp(self, ctx, p):
+        m = self.vmap('clamp')
+        want = p.pos[0] == 'on'
+        s = self.slot('clamp')
+        if s and bool(ctx.v(s)) == want:
+            return {'text': 'ok: the clamp of %s is already %s\n' % (self.instrument_id, 'locked' if want else 'released'),
+                    'json': {'clamped': want, 'changed': False}}
+        self.need(ctx, 'clamp')
+        ctx.call(m['cap'], {m['arg']: want}, '%s the clamp' % ('lock' if want else 'release'))
+        return {'text': 'ok: %s clamp %s\n' % (self.instrument_id, 'locked' if want else 'released'), 'json': {'clamped': want, 'changed': True}}
+
+    def wait_axis(self, ctx, slot, target, moving_slot, max_s, what):
+        """Advance lab time until the axis is at ``target`` and at rest (its moving flag off, or - without one - the same
+        position on two readings in a row)."""
+        last = {'v': ctx.v(slot)}
+
+        def there(view):
+            v = ctx.v(slot)
+            near = finite(v) and abs(v - target) <= 1e-9 + 1e-9 * abs(target)
+            still = (not ctx.v(moving_slot)) if moving_slot else (v == last['v'])
+            last['v'] = v
+            return near and still
+        if moving_slot and there(ctx.view):
+            return 0.0
+        waited = ctx.advance(max_s, until=there, step='wait until %s is there' % what, poll_s=0.5)
+        if not ctx.dry_run and not there(ctx.view):
+            ctx.fail(refused('NOT_THERE', '%s did not reach %s within %s (%s = %s).' % (what, units.fmt(target, 'length'), units.fmt_s(max_s),
+                                                                                       slot, short(ctx.v(slot))),
+                             'check `chemlab run %s status` and retry with a longer --max.' % self.instrument_id))
+        return waited
+
+    def h_contact(self, ctx, p):
+        m = self.vmap('contact')
+        want = p.pos[0] == 'on'
+        s = self.slot('contact')
+        if s and bool(ctx.v(s)) == want:
+            return {'text': 'ok: %s is already %s\n' % (self.instrument_id, 'in contact' if want else 'lifted'), 'json': {'contact': want, 'changed': False}}
+        self.need(ctx, 'contact' if want else 'contact-off')
+        head = m.get('head')
+        mx = p.get('max') or 120.0
+        if want:
+            if head:
+                if not finite(ctx.v(head['slot'])) or ctx.v(head['slot']) > 1e-12:
+                    ctx.call(head['cap'], {head['arg']: 0.0}, 'lower the head onto the specimen')
+                    self.wait_axis(ctx, head['slot'], 0.0, head.get('moving_slot'), mx, 'the head')
+            ctx.call(m['cap'], {m['arg']: True}, 'engage the contact')
+        else:
+            ctx.call(m['cap'], {m['arg']: False}, 'release the contact')
+            if head:
+                up = self.arg_range(head['cap'], head['arg'])[1]
+                ctx.call(head['cap'], {head['arg']: up}, 'lift the head to %s' % units.fmt(up, 'length'))
+                self.wait_axis(ctx, head['slot'], up, head.get('moving_slot'), mx, 'the head')
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, 'in contact with the specimen' if want else 'probe lifted'),
+                'json': {'contact': want, 'changed': True}}
+
+    def h_zero(self, ctx, p):
+        m = self.vmap('zero')
+        self.need(ctx, 'zero')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'zero (%s)' % m['cap'])
+        text = 'ok: %s zeroed\n' % self.instrument_id
+        w = m.get('wait')
+        if w and not ctx.dry_run:
+            def done(view):
+                return ctx.v(w['slot']) in w.get('done', [None])
+            t0 = ctx.now()
+            if not done(ctx.view):
+                ctx.advance(p.get('max') or 300.0, until=done, step='wait for the zero procedure', poll_s=1.0)
+            if not done(ctx.view):
+                ctx.fail(refused('NOT_DONE', 'the zero procedure of %s has not finished after %s.' % (self.instrument_id, units.fmt_s(ctx.now() - t0)),
+                                 'wait longer: `chemlab run %s status`.' % self.instrument_id))
+            text = 'ok: %s zeroed (%s took %s)\n' % (self.instrument_id, m['cap'], units.fmt_s(ctx.now() - t0))
+        return {'text': text, 'json': {'zeroed': True}}
+
+    def h_calibrate(self, ctx, p):
+        m = self.vmap('calibrate')
+        if m.get('job'):
+            if p.extra:
+                ctx.fail(invalid('NO_SETTINGS', 'calibrate on %s is a calibration run and takes no values.' % self.instrument_id,
+                                 'write just `chemlab run %s calibrate`.' % self.instrument_id))
+            self.need(ctx, 'calibrate')
+            r = ctx.call(m['cap'], dict(m.get('args') or {}), 'start the calibration run (%s)' % m['cap'])
+            if ctx.dry_run or not r.get('operation_id'):
+                return {'text': '' if ctx.dry_run else 'ok: %s calibration started\n' % self.instrument_id, 'json': {}}
+            job = OperationJob(ctx.core, self, ctx.req, '%s calibration run' % self.instrument_id, m['cap'], r['operation_id'])
+            return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+        if not p.extra and not m.get('always'):
+            ctx.fail(invalid('MISSING_SETTING', 'calibrate needs at least one KEY=VALUE.', 'see `chemlab help %s calibrate`.' % self.instrument_id))
+        return self.h_settings('calibrate', 'calibration')(ctx, p)
+
+    def h_move(self, ctx, p):
+        m = self.vmap('move')
+        pos = p.pos[0]
+        target = self.parse_setting(ctx, m['cap'], m['arg'], p.raw['POS'], 'length', what='POS')
+        args = dict(m.get('args') or {})
+        args[m['arg']] = target
+        calls = []
+        if p.get('y') is not None:
+            if m.get('y_arg'):
+                args[m['y_arg']] = self.parse_setting(ctx, m['cap'], m['y_arg'], p.raw['y'], 'length', what='--y')
+            elif m.get('y_cap'):
+                ya = dict(m.get('y_args') or {})
+                ya[m['y_cap_arg']] = self.parse_setting(ctx, m['y_cap'], m['y_cap_arg'], p.raw['y'], 'length', what='--y')
+                calls.append((m['y_cap'], ya, 'set the y position to %s' % units.fmt(p.get('y'), 'length')))
+            else:
+                ctx.fail(invalid('NO_Y_AXIS', '%s has one axis here; --y does not apply.' % self.instrument_id, 'leave out --y.'))
+        elif m.get('y_arg'):
+            args[m['y_arg']] = ctx.v(m['y_slot'])
+        if m.get('speed_arg'):
+            text = p.raw.get('speed') or self.param('move_speed', '1mm/s')
+            args[m['speed_arg']] = self.parse_setting(ctx, m['cap'], m['speed_arg'], text, 'speed', what='--speed')
+        elif p.get('speed') is not None:
+            ctx.fail(invalid('NO_SPEED', '%s moves this axis at its own speed.' % self.instrument_id, 'leave out --speed.'))
+        self.need(ctx, 'move')
+        for cap, a, step in calls:
+            ctx.call(cap, a, step)
+        ctx.call(m['cap'], args, 'move to %s' % units.fmt(pos, 'length'))
+        text = 'ok: %s moving to %s\n' % (self.instrument_id, units.fmt(pos, 'length'))
+        if p.get('wait') and not ctx.dry_run and m.get('slot'):
+            w = self.wait_axis(ctx, m['slot'], target, m.get('moving_slot'), p.get('max') or 300.0, 'the %s' % self.param('axis_word', 'axis'))
+            text = 'ok: %s at %s (waited %s)\n' % (self.instrument_id, units.fmt(pos, 'length'), units.fmt_s(w))
+        return {'text': text, 'json': {'target_m': pos, 'arguments': args}}
+
+    def h_analyze(self, ctx, p):
+        m = self.vmap('analyze')
+        rm = m.get('result') or self.vmap('result')
+        r = ctx.call(rm['cap'], dict(rm.get('args') or {}), 'read the result (%s)' % rm['cap'], query=True)
+        res = (r.get('result') if isinstance(r.get('result'), dict) else {}) or {}
+        if ctx.dry_run:
+            res = {}
+        rows = _get(res, m.get('rows', 'rows')) or []
+        for k, v in (m.get('where') or {}).items():
+            rows = [x for x in rows if x.get(k) == v]
+        need = [c for c in (m.get('columns') or {}).values()] + list(m.get('columns_required') or [])
+        rows = [x for x in rows if isinstance(x, dict) and all(x.get(c) is not None for c in need)]
+        if m.get('group'):
+            groups = sorted({x.get(m['group']) for x in rows if x.get(m['group']) is not None})
+            idx = p.get('index')
+            try:
+                i = int(idx) if idx is not None else 0
+            except ValueError:
+                ctx.fail(invalid('BAD_INDEX', '--index %s is not a whole number.' % idx, 'give --index 0, 1, ...'))
+            if groups and not (0 <= i < len(groups)):
+                ctx.fail(invalid('BAD_INDEX', 'the result has %d %ss (0..%d).' % (len(groups), m['group'], len(groups) - 1), 'give --index 0..%d.' % (len(groups) - 1)))
+            if groups:
+                rows = [x for x in rows if x.get(m['group']) == groups[i]]
+        if not ctx.dry_run:
+            phase = _get(res, m.get('phase_path', 'phase'))
+            ok_rows = m.get('rows_ok') or len(rows) >= int(m.get('min_rows', 1))
+            for path, why in (m.get('needs') or {}).items():
+                p_, eq, want = path.partition('=')
+                ok = (str(_get(res, p_)) == want) if eq else _get(res, p_) is not None
+                ctx.check(ok, 'NO_RESULT', '%s: %s' % (self.instrument_id, why),
+                          'run the matching test first (see `chemlab help %s analyze`).' % self.instrument_id, label=path)
+            ctx.check(ok_rows and (phase in m.get('phases', ['succeeded']) if 'phase_path' in m or 'phases' in m else True),
+                      'NO_RESULT', '%s has no finished result to evaluate (phase %s, %d usable rows).' % (self.instrument_id, phase, len(rows)),
+                      'run a test to the end first (`chemlab run %s start`, then `chemlab wait job-N`).' % self.instrument_id, label='a finished result')
+        calls = self.settings(ctx, dict(m, always=True), p.extra, 'analyze')
+        cap, args, given, _ = calls[0]
+        for a, col in (m.get('columns') or {}).items():
+            if a not in given:
+                args[a] = [x.get(col) for x in rows]
+        for a, path in (m.get('from') or {}).items():
+            if a not in given:
+                args[a] = _get(res, path)
+        for a, slot in (m.get('from_slots') or {}).items():
+            if a not in given:
+                args[a] = ctx.v(slot)
+        for a, spec in (m.get('from_list') or {}).items():               # a list of records rebuilt from a list in the result
+            if a not in given:
+                items = [x for x in (_get(res, spec['path']) or []) if isinstance(x, dict)
+                         and all(x.get(k) == v for k, v in (spec.get('where') or {}).items())
+                         and all(x.get(f) is not None for f in spec['fields'].values())]
+                args[a] = [{k: x.get(f) for k, f in spec['fields'].items()} for x in items]
+        for a in ([m['rows_arg']] if m.get('rows_arg') else []) + list(m.get('from_rows') or []):
+            if a not in given:
+                args[a] = rows
+        if ctx.dry_run:
+            ctx.plan.append({'capability': cap, 'arguments': {a: (('<%d values from the result>' % len(v)) if isinstance(v, list) else v)
+                                                              for a, v in args.items()}, 'step': 'evaluate (%s)' % cap})
+            return {'text': '', 'json': {}}
+        bad = validate((ctx.cap_spec(cap).get('input_schema') or {}), args, cap)
+        if bad:                                                             # the result does not carry what the evaluation needs
+            ctx.fail(refused('NOT_EVALUABLE', 'the last result of %s cannot be evaluated with %s: %s.' % (self.instrument_id, cap, '; '.join(bad[:3])),
+                             'check `chemlab run %s result`; give the missing values as KEY=VALUE (see `chemlab help %s analyze`).' % (
+                                 self.instrument_id, self.instrument_id)))
+        out = ctx.call(cap, args, 'evaluate (%s)' % cap, query=True)
+        ev = out.get('result') if isinstance(out.get('result'), dict) else {}
+        lines, js = self.result_lines(ev, m.get('show'))
+        return {'text': '\n'.join(['%s evaluation (%s, %d rows of the result):' % (self.instrument_id, cap, len(rows))] + lines) + '\n',
+                'json': {'summary': js, 'evaluation': ev, 'inputs': {a: (len(v) if isinstance(v, list) else v) for a, v in args.items()}}}
diff --git a/chemlab/chemlab/compile/classes/method_common.py b/chemlab/chemlab/compile/classes/method_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..3541cd248cc4c132cfdd0fc4444c530a356d5d37
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/method_common.py
@@ -0,0 +1,640 @@
+"""Common machinery of the sample_intro, titration and electrochem classes.  Instrument facts stay in the
+fragments (configs/adapters/{sample_intro,titration,electrochem}.json); this module holds no member data.
+
+``MethodAdapter`` extends ClassAdapter with
+
+* member preconditions with comparisons (``"requires": {verb: [{"slot", "value" | "not" | "in" | "min" | "max" | "truthy" |
+  "falsy" | "set", "code", "message", "fix", "label"}]}``), checked before anything is sent;
+* ``method KEY=VALUE ...`` over one or more native calls (``"method": {"calls": [{"cap", "keys": {CLASS_KEY: NATIVE_ARG | {"arg",
+  "values"}}, "object": ARG?, "passthrough": true, "keep": {"slots": {ARG: SLOT}, "last": true, "example": true}}]}``): class keys
+  take units (the class dictionary ``KEYS`` gives the kind), native argument names pass through (a bare number is in the unit the
+  contract declares); a call is sent only when one of its settings is given.  Calls whose capability needs every argument keep
+  the ones the agent did not give: from the member's own state slots, else the last accepted call of that capability on this
+  instrument in this lab (the lab's own request log), else the contract's documented example - never invented, and the reply
+  says which.  Every call is validated against the contract (types, enums, ranges in friendly units) before the first is sent;
+* jobs for long actions: ``"job": {"slot", "done", "failed", "null_done"}`` -> jobs.StateJob on the member's own state slots, else
+  jobs.OperationJob when the runtime answers with an operation id;
+* record verbs (result, curve, data) that call a query capability (``"cap"``) or read slots (``"reads"``), with friendly units for
+  keys whose name ends in a unit (``_kg``, ``_m3``, ``_k``, ``_v``, ``_a`` ...) and --save-to;
+* ``connect PORT=ID ...`` for logical connection slots (electrodes, cells): ``"connect": {"cap", "port_arg", "id_arg",
+  "ports": {CLASS_PORT: NATIVE_PORT}, "slots": {CLASS_PORT: SLOT}}``;
+* short waits for mechanical moves (``settle``), used only by verbs that say they wait;
+* a status summary from the member's ``"show": [[label, slot(#key), kind?], ...]``.
+"""
+import copy
+import math
+import re
+
+from ...contract import validate
+from ...generic import coerce
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused, unexpected
+from ..jobs import RUNNING, OperationJob, StateJob
+
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+# key suffix -> declared unit (friendly display of record values)
+SUFFIX_UNITS = (('_mol_m3', 'mol/m^3'), ('_m3_s', 'm^3/s'), ('_kg_s', 'kg/s'), ('_rad_s', 'rad/s'), ('_m3', 'm^3'), ('_kg', 'kg'),
+                ('_k', 'K'), ('_pa', 'Pa'), ('_v', 'V'), ('_a', 'A'), ('_hz', 'Hz'), ('_m', 'm'), ('_s', 's'), ('_c', None))
+
+
+def types_of(schema):
+    t = (schema or {}).get('type')
+    out = set(t if isinstance(t, list) else [t] if t else [])
+    for x in (schema or {}).get('anyOf') or []:
+        out |= types_of(x)
+    return out
+
+
+def numeric_schema(schema):
+    """The number branch of a schema (anyOf number|null -> the number one)."""
+    if 'anyOf' in (schema or {}):
+        for x in schema['anyOf']:
+            if types_of(x) & {'number', 'integer'}:
+                return x
+    return schema or {}
+
+
+def friendly_value(key, v):
+    """A record value with a unit in its key name -> friendly text (None when nothing nicer exists)."""
+    if not finite(v):
+        return None
+    k = key.lower()
+    for suf, u in SUFFIX_UNITS:
+        if k.endswith(suf):
+            if u is None:
+                return None
+            kind = units.unit_kind(u)
+            if kind is None:
+                return '%s %s' % (short(v, 20), u)
+            if kind == 'length' and abs(v) < 1e-6:
+                return '%.4g nm' % (v * 1e9)
+            if kind == 'current' and abs(v) < 1e-6:
+                return '%.4g nA' % (v * 1e9)
+            if kind == 'mass' and abs(v) < 1e-6:
+                return '%.4g µg' % (v * 1e9)
+            if kind == 'mass_flow' and abs(v) < 1e-6:
+                return '%.4g µg/min' % (v * 6e10)
+            return units.fmt(units.from_declared(v, u), kind)
+    return None
+
+
+class MethodAdapter(ClassAdapter):
+    KEYS = {}                    # class method dictionary: key -> (quantity kind or None, help)
+    PORTS = {}                   # class connection ports: name -> help
+
+    def __init__(self, instrument_id, config_entry):
+        ClassAdapter.__init__(self, instrument_id, config_entry)
+        for name, ex in (self.map.get('examples') or {}).items():          # member-specific examples and manual pages
+            if name in self.table:
+                self.table[name].example = ex
+        if self.map.get('manual'):
+            for v in self.table.values():
+                if v.reference:
+                    v.reference = self.map['manual']
+
+    # ------------------------------------------------------------------ mapping checks beyond the base
+    def check_mapping(self, lab):
+        problems = ClassAdapter.check_mapping(self, lab)
+        caps = lab.contract['capabilities']
+        visible = {s.lower() for s in lab.view.slots}
+
+        def props(cap, obj=None):
+            p = ((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+            return ((p.get(obj) or {}).get('properties') or {}) if obj else p
+        m = self.vmap('method') or {}
+        for i, call in enumerate(m.get('calls') or []):
+            pr = props(call['cap'], call.get('object'))
+            for key, spec in (call.get('keys') or {}).items():
+                arg = spec if isinstance(spec, str) else spec.get('arg')
+                if arg not in pr:
+                    problems.append('verbs.method.calls[%d]: %s has no %s %s (key %s)' % (i, call['cap'], 'field' if call.get('object') else
+                                                                                         'argument', arg, key))
+                if key not in self.KEYS and not (isinstance(spec, dict) and 'kind' in spec):
+                    problems.append('verbs.method.calls[%d]: key %s is not in the %s dictionary (give "kind")' % (i, key, self.CLASS))
+            for arg, sid in ((call.get('keep') or {}).get('slots') or {}).items():
+                if arg not in pr:
+                    problems.append('verbs.method.calls[%d].keep: %s has no argument %s' % (i, call['cap'], arg))
+                if sid.split('#', 1)[0].lower() not in visible:
+                    problems.append('verbs.method.calls[%d].keep: no visible state slot %s' % (i, sid))
+        for verb in self.table:
+            vm = self.vmap(verb) or {}
+            for k, v in vm.items():
+                cap = vm.get(k[:-4] + '_cap') or vm.get('cap')
+                if k.endswith('_arg') and isinstance(v, str) and cap and v not in props(cap):
+                    problems.append('verbs.%s.%s: %s has no argument %s' % (verb, k, cap, v))
+            job = vm.get('job') or {}
+            if isinstance(job, dict) and job.get('slot') and job['slot'].split('#', 1)[0].lower() not in visible:
+                problems.append('verbs.%s.job: no visible state slot %s' % (verb, job['slot']))
+            for sid in (vm.get('slots') or {}).values() if isinstance(vm.get('slots'), dict) else []:
+                if sid.split('#', 1)[0].lower() not in visible:
+                    problems.append('verbs.%s.slots: no visible state slot %s' % (verb, sid))
+        for row in self.map.get('show') or []:
+            if row[1].split('#', 1)[0].lower() not in visible:
+                problems.append('show: no visible state slot %s' % row[1])
+        return problems
+
+    # ------------------------------------------------------------------ state helpers
+    def sv(self, values, spec):
+        """Value of 'slot' or 'slot#key' from a Ctx or a {slot: value} dict."""
+        if spec is None:
+            return None
+        sid, _, key = spec.partition('#')
+        v = values.v(sid) if hasattr(values, 'v') else values.get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    def need(self, ctx, verb, only=None, skip=()):
+        """The member's own preconditions for a verb (from "requires"), checked before anything is sent."""
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            if (only is not None and r.get('code') not in only) or r.get('code') in skip:
+                continue
+            got = self.sv(ctx, r['slot'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'in' in r:
+                ok = got in r['in']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif r.get('truthy'):
+                ok = bool(got)
+            elif r.get('falsy'):
+                ok = not got
+            elif r.get('set'):
+                ok = got not in (None, '', [], {})
+            else:
+                ok = finite(got) and ('max' not in r or got <= r['max'] + 1e-12) and ('min' not in r or got >= r['min'] - 1e-12)
+            shown = short(got, 40)
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown),
+                      r['fix'].format(inst=self.instrument_id, value=shown), label=r.get('label', r['slot']))
+
+    def summary(self, values):
+        lines, js = [], {}
+        parts = []
+        for row in self.map.get('show') or []:
+            label, spec = row[0], row[1]
+            kind = row[2] if len(row) > 2 else None
+            v = self.sv(values, spec)
+            js[label] = v
+            if kind and finite(v):
+                if kind in units.KINDS:
+                    text = units.fmt(v, kind)
+                elif units.unit_kind(kind):                              # a display unit: the SI value shown in it
+                    text = '%.4g %s' % (units.to_declared(v, kind), kind)
+                else:
+                    text = '%s %s' % (short(v, 20), kind)
+            elif isinstance(v, list) and any(x is None for x in v):
+                text = '%d of %d filled' % (sum(1 for x in v if x is not None), len(v))
+            elif isinstance(v, (list, dict)):
+                text = '%d entries' % len(v) if isinstance(v, list) else ('none' if not v else short(v, 60))
+            elif isinstance(v, str):
+                text = v[:60] if v else '-'
+            elif isinstance(v, float):
+                text = '%.4g' % v
+            else:
+                text = short(v, 60) if v is not None else 'n/a'
+            parts.append('%s %s' % (label, text))
+        while parts:
+            lines.append('; '.join(parts[:4]))
+            parts = parts[4:]
+        return (lines or ['(see `chemlab read %s`)' % self.instrument_id]), js
+
+    # ------------------------------------------------------------------ values and ranges
+    def parse_setting(self, ctx, key, text, schema, kind=None):
+        """One KEY=VALUE value -> the native value: class keys parse units by their kind; a native name with a bare number is in the
+        unit the contract declares, with a unit it is converted; non-numeric values by the schema's type (JSON, enums, text)."""
+        num = numeric_schema(schema)
+        t = types_of(schema)
+        isnum = bool(t & {'number', 'integer'})
+        txt = text.strip()
+        if isnum and txt.lower() not in ('null', 'none') and re.match(r'\s*[+-]?(\d|\.\d)', txt):
+            u = units.declared(num)
+            bare = re.fullmatch(_NUM, txt) is not None
+            try:
+                if kind and kind in units.KINDS:
+                    if u and units.unit_kind(u):
+                        v = units.parse_for(txt, num, kind, what=key)
+                    else:                                        # unitless argument (a fraction, a level): the SI value
+                        v = units.parse(txt, kind, what=key)
+                elif u and units.unit_kind(u) and not bare:
+                    v = units.parse_for(txt, num, what=key)
+                else:
+                    m = re.fullmatch('(' + _NUM + r')\s*(.*)', txt)
+                    if m.group(2) and units.norm_unit(m.group(2)) != u:
+                        ctx.fail(invalid('BAD_SETTING', '%s=%s: %s takes a plain number%s.' % (key, text, key, ' in %s' % u if u else ''),
+                                         'write it like %s=%s.' % (key, m.group(1))))
+                    v = float(m.group(1))
+            except Exception as exc:                                     # noqa: BLE001 - unit errors are usage errors already
+                if hasattr(exc, 'kind'):
+                    raise
+                ctx.fail(invalid('BAD_SETTING', '%s=%s is not understood.' % (key, text), 'see `chemlab help %s method`.' % self.instrument_id))
+            if 'integer' in types_of(num) and float(v).is_integer():
+                v = int(v)
+            return v
+        if isnum and txt.lower() in ('null', 'none') and 'null' in t:
+            return None
+        if txt.lower() in ('on', 'yes') and 'boolean' in t:
+            return True
+        if txt.lower() in ('off', 'no') and 'boolean' in t:
+            return False
+        try:
+            return coerce(txt, schema, key)
+        except Exception:                                                # noqa: BLE001
+            ctx.fail(invalid('BAD_SETTING', '%s=%s does not fit (%s).' % (key, text, '/'.join(sorted(x for x in t if x)) or 'value'),
+                             'see `chemlab help %s method`.' % self.instrument_id))
+
+    def range_text(self, schema, kind=None):
+        num = numeric_schema(schema)
+        lo, hi = num.get('minimum'), num.get('maximum')
+        u = units.declared(num)
+        k2 = units.unit_kind(u) if u else (kind if kind in units.KINDS else None)
+
+        def f(x):
+            return units.fmt(units.from_declared(x, u) if u else x, k2) if k2 else '%g' % x
+        if lo is not None and hi is not None:
+            return '%s to %s' % (f(lo), f(hi))
+        if lo is not None:
+            return 'at least %s' % f(lo)
+        if hi is not None:
+            return 'at most %s' % f(hi)
+        return 'any value'
+
+    def check_ranges(self, ctx, cap, args, names=None):
+        """Every numeric argument (and array / object member) inside the contract range: a usage error in friendly units, before
+        anything is sent.  ``names``: native argument -> the name the agent typed (class key)."""
+        sch = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        names = names or {}
+
+        def walk(schema, v, where):
+            if isinstance(v, bool) or v is None:
+                return
+            if isinstance(v, (int, float)):
+                num = numeric_schema(schema)
+                lo, hi = num.get('minimum'), num.get('maximum')
+                exlo = num.get('exclusiveMinimum')
+                bad = (lo is not None and v < lo - 1e-12 * max(1, abs(lo))) or (hi is not None and v > hi + 1e-12 * max(1, abs(hi))) or \
+                      (exlo is not None and v <= exlo)
+                if 'enum' in num and v not in num['enum']:
+                    u = units.declared(num)
+                    kind = units.unit_kind(u) if u else None
+                    allowed = ', '.join(units.fmt(units.from_declared(x, u), kind) if kind else str(x) for x in num['enum'])
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s on %s takes only %s.' % (where, self.instrument_id, allowed),
+                                     'give one of: %s.' % allowed))
+                if bad:
+                    u = units.declared(num)
+                    kind = units.unit_kind(u) if u else None
+                    got = units.fmt(units.from_declared(v, u), kind) if kind else '%g' % v
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s = %s is outside the range of %s (%s).' % (where, got, self.instrument_id,
+                                                                                                 self.range_text(num)),
+                                     'give %s %s.' % (where, self.range_text(num))))
+            elif isinstance(v, list):
+                for i, x in enumerate(v):
+                    walk((schema or {}).get('items') or {}, x, '%s[%d]' % (where, i))
+            elif isinstance(v, dict):
+                sch = schema or {}
+                if 'anyOf' in sch:                                       # the branch whose constants match (e.g. mode)
+                    for b in sch['anyOf']:
+                        pr = b.get('properties') or {}
+                        if all(x.get('const', v.get(k)) == v.get(k) for k, x in pr.items() if isinstance(x, dict)) and pr:
+                            sch = b
+                            break
+                for k, x in v.items():
+                    walk((sch.get('properties') or {}).get(k) or {}, x, '%s.%s' % (where, k) if where else k)
+        for k, v in args.items():
+            if isinstance(v, dict) and k not in names and (sch.get(k) or {}).get('properties'):
+                for k2, v2 in v.items():
+                    walk((((sch.get(k) or {}).get('properties') or {}).get(k2)) or {}, v2, names.get(k2, k2))
+            else:
+                walk(sch.get(k) or {}, v, names.get(k, k))
+
+    def validate_call(self, ctx, cap, args, names=None):
+        """Contract validation of a whole call before anything is sent (usage error, nothing sent)."""
+        self.check_ranges(ctx, cap, args, names)
+        problems = validate(ctx.cap_spec(cap).get('input_schema') or {'type': 'object', 'properties': {}}, args, cap)
+        if problems:
+            ctx.fail(invalid('BAD_SETTING', 'the settings do not fit %s of %s: %s.' % (cap, self.instrument_id, '; '.join(problems[:4])),
+                             'see `chemlab help %s method` (and `chemlab help %s %s`).' % (self.instrument_id, self.instrument_id, cap)))
+
+    def last_args(self, ctx, cap):
+        """Arguments of the last accepted call of ``cap`` on this instrument in this lab (any caller, from the lab's request log)."""
+        entries = list(getattr(ctx.core.log, 'entries', []) or [])
+        for e in reversed(entries):
+            for c in reversed(e.get('backend_calls') or []):
+                if c.get('op') == 'invoke' and c.get('instrument') == self.instrument_id and c.get('capability') == cap and \
+                        c.get('status') in ('succeeded', 'accepted'):
+                    return copy.deepcopy(c.get('arguments') or {})
+        return None
+
+    def slot_in_unit(self, ctx, sid, schema):
+        """A slot value converted into the unit an argument declares (slot and argument units may differ)."""
+        v = self.sv(ctx, sid)
+        if not finite(v):
+            return v
+        su = units.declared(self.lab.contract['state_slots'].get(sid.split('#', 1)[0]) or {})
+        au = units.declared(numeric_schema(schema))
+        if su and au and su != au and units.unit_kind(su) == units.unit_kind(au):
+            return units.to_declared(units.from_declared(v, su), au)
+        return v
+
+    # ------------------------------------------------------------------ method
+    def method_calls(self, ctx, pairs, mapping=None):
+        """[(key, text)] -> [(cap, args, info)] for the member's method calls (nothing sent).  info: given / kept lists."""
+        m = mapping or self.vmap('method')
+        calls = m.get('calls') or []
+        plan = [{'call': c, 'given': {}, 'raw': {}} for c in calls]
+        for key, text in pairs:
+            found = None
+            for row in plan:
+                c = row['call']
+                for k, spec in (c.get('keys') or {}).items():
+                    if k == key:
+                        found = (row, spec if isinstance(spec, str) else spec['arg'], spec if isinstance(spec, dict) else {},
+                                 (spec.get('kind') if isinstance(spec, dict) and 'kind' in spec else (self.KEYS.get(k) or (None,))[0]))
+                        break
+                if found:
+                    break
+            if not found:
+                for row in plan:
+                    c = row['call']
+                    if c.get('passthrough', True) and key in self.call_props(ctx, c):
+                        found = (row, key, {}, None)
+                        break
+            if not found:
+                known = sorted({k for c in calls for k in (c.get('keys') or {})} |
+                               {k for c in calls if c.get('passthrough', True) for k in self.call_props(ctx, c)})
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, key),
+                                 'settings: %s (see `chemlab help %s method`).' % (', '.join(known), self.instrument_id)))
+            row, arg, spec, kind = found
+            if arg in row['given']:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % key, 'give each setting once.'))
+            schema = self.call_props(ctx, row['call']).get(arg) or {}
+            vals = spec.get('values') or {}
+            value = vals[text] if text in vals else self.parse_setting(ctx, key, text, schema, kind)
+            row['given'][arg] = value
+            row['raw'][arg] = key
+        out = []
+        for row in plan:
+            c = row['call']
+            if not row['given'] and not c.get('always'):
+                continue
+            args = dict(c.get('args') or {})
+            info = {'given': dict(row['given']), 'kept_slots': {}, 'kept_last': {}, 'kept_example': {}}
+            if c.get('object'):
+                args[c['object']] = dict(row['given'])
+            else:
+                args.update(row['given'])
+                self.keep_missing(ctx, c['cap'], args, c.get('keep') or {}, info)
+                for arg, rule in (c.get('null_when') or {}).items():
+                    if arg not in row['given'] and all(args.get(k) == v for k, v in rule.items()):
+                        args[arg] = None
+                        for kk in ('kept_slots', 'kept_last', 'kept_example'):
+                            info[kk].pop(arg, None)
+                need = list(((ctx.cap_spec(c['cap']).get('input_schema') or {}).get('required')) or [])
+                missing = [a for a in need if a not in args]
+                if missing:
+                    ctx.fail(invalid('MISSING_SETTING', '%s needs %s too (no current value to keep).' % (c['cap'], ', '.join(missing)),
+                                     'give %s (see `chemlab help %s method`).' % (', '.join(missing), self.instrument_id)))
+            self.validate_call(ctx, c['cap'], args, row['raw'])
+            out.append((c['cap'], args, info))
+        if not out:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % self.instrument_id))
+        return out
+
+    def verb_help(self, name):
+        out = ClassAdapter.verb_help(self, name)
+        m = self.vmap(name) if name == 'method' else None
+        if m and self.lab is not None and name not in self.unsupported_reasons():
+            lines = ['', 'settings on %s:' % self.instrument_id]
+            for c in m.get('calls') or []:
+                p = (self.lab.contract['capabilities'][c['cap']].get('input_schema') or {}).get('properties') or {}
+                if c.get('object'):
+                    p = (p.get(c['object']) or {}).get('properties') or {}
+                for key, spec in (c.get('keys') or {}).items():
+                    arg = spec if isinstance(spec, str) else spec['arg']
+                    sch = p.get(arg) or {}
+                    kind = (spec.get('kind') if isinstance(spec, dict) and 'kind' in spec else (self.KEYS.get(key) or (None,))[0])
+                    rng = (self.range_text(sch, kind) if types_of(sch) & {'number', 'integer'} else
+                           ', '.join(map(str, sch.get('enum') or [])) or '/'.join(sorted(types_of(sch))))
+                    lines.append('  %-16s -> %s.%s (%s)' % (key, c['cap'], arg, rng))
+                if c.get('passthrough', True):
+                    rest = [a for a in p if a not in [(s if isinstance(s, str) else s['arg']) for s in (c.get('keys') or {}).values()]]
+                    if rest:
+                        lines.append('  native names also work on %s: %s' % (c['cap'], ', '.join(rest)))
+            out['text'] = out['text'].rstrip('\n') + '\n' + '\n'.join(lines) + '\n'
+        return out
+
+    def keep_missing(self, ctx, cap, args, keep, info=None):
+        """Fill the required arguments the agent did not give: the member's own state slot ("slots"), else the last accepted call of
+        ``cap`` on this instrument in this lab ("last"), else the contract's documented example ("example").  ``info`` collects
+        which (kept_slots / kept_last / kept_example)."""
+        info = info if info is not None else {'kept_slots': {}, 'kept_last': {}, 'kept_example': {}}
+        sch = (ctx.cap_spec(cap).get('input_schema') or {})
+        props = sch.get('properties') or {}
+        need = list(sch.get('required') or []) if keep.get('required_only', True) else list(props)
+        last = self.last_args(ctx, cap) if keep.get('last') else None
+        example = (ctx.cap_spec(cap).get('example_arguments') or {}) if keep.get('example') else {}
+        for arg in need:
+            if arg in args:
+                continue
+            sid = (keep.get('slots') or {}).get(arg)
+            if sid is not None and self.sv(ctx, sid) is not None:
+                args[arg] = self.slot_in_unit(ctx, sid, props.get(arg) or {})
+                info['kept_slots'][arg] = args[arg]
+            elif last is not None and arg in last:
+                args[arg] = copy.deepcopy(last[arg])
+                info['kept_last'][arg] = args[arg]
+            elif arg in example:
+                args[arg] = copy.deepcopy(example[arg])
+                info['kept_example'][arg] = args[arg]
+        return info
+
+    def call_props(self, ctx, call):
+        p = (ctx.cap_spec(call['cap']).get('input_schema') or {}).get('properties') or {}
+        if call.get('object'):
+            return ((p.get(call['object']) or {}).get('properties') or {})
+        return p
+
+    def pairs(self, ctx, p, verb='method'):
+        out = []
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', '%s needs at least one KEY=VALUE.' % verb, 'see `chemlab help %s %s`.' % (self.instrument_id, verb)))
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k or v == '':
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write %s KEY=VALUE ... (see `chemlab help %s %s`).' % (
+                    verb, self.instrument_id, verb)))
+            out.append((k.strip(), v.strip()))
+        return out
+
+    def show_args(self, cap, args, obj=None):
+        props = (self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('properties') or {}
+        if obj:
+            props = (props.get(obj) or {}).get('properties') or {}
+        parts = []
+        for k, v in args.items():
+            if isinstance(v, (int, float)) and not isinstance(v, bool):
+                u = units.declared(numeric_schema(props.get(k) or {}))
+                kind = units.unit_kind(u) if u else None
+                parts.append('%s=%s' % (k, units.fmt(units.from_declared(v, u), kind) if kind else short(v, 20)))
+            else:
+                parts.append('%s=%s' % (k, short(v, 40)))
+        return ', '.join(parts)
+
+    def h_method(self, ctx, p):
+        self.need(ctx, 'method')
+        calls = self.method_calls(ctx, self.pairs(ctx, p))
+        lines, js = [], []
+        objs = {c['cap']: c.get('object') for c in (self.vmap('method') or {}).get('calls') or []}
+        for cap, args, info in calls:
+            ctx.call(cap, args, 'set %s (%s)' % (cap, self.show_args(cap, info['given'] or args, objs.get(cap))))
+            kept = []
+            if info['kept_slots']:
+                kept.append('%d kept as they are' % len(info['kept_slots']))
+            if info['kept_last']:
+                kept.append('%d from the last accepted method' % len(info['kept_last']))
+            if info['kept_example']:
+                kept.append('%d documented defaults (%s)' % (len(info['kept_example']), ', '.join(sorted(info['kept_example']))))
+            lines.append('  %s: %s%s' % (cap, self.show_args(cap, info['given'], objs.get(cap)) or '(no change)', ('; other settings: ' + ', '.join(kept)) if kept else ''))
+            js.append({'capability': cap, 'arguments': args, 'given': info['given'], 'kept_slots': info['kept_slots'],
+                       'kept_last': info['kept_last'], 'documented_defaults': info['kept_example']})
+        if ctx.dry_run:
+            return {'text': '', 'json': {'calls': js}}
+        return {'text': 'ok: method of %s set\n%s\n' % (self.instrument_id, '\n'.join(lines)), 'json': {'calls': js}}
+
+    # ------------------------------------------------------------------ jobs
+    def make_job(self, ctx, m, r, description, stop=None, max_s=None):
+        """A job for a started long action: a StateJob on the member's slot ("job": {"slot", "done", "failed", "null_done"}), else an
+        OperationJob when the runtime gave an operation id, else None."""
+        spec = m.get('job') if isinstance(m.get('job'), dict) else None
+        ad = self
+        if spec:
+            def state(c):
+                v = ad.sv(c, spec['slot'])
+                extra = {'state': v}
+                for lab, sid in (spec.get('report') or {}).items():
+                    extra[lab] = ad.sv(c, sid)
+                text = '%s = %s' % (spec['slot'], short(v, 60)) + ''.join('; %s %s' % (k, short(x, 40)) for k, x in extra.items() if k != 'state')
+                if spec.get('null_done'):
+                    return ('succeeded' if v is None else 'running'), text, extra
+                if v in (spec.get('done') or []):
+                    return 'succeeded', text, extra
+                if v in (spec.get('failed') or []):
+                    return 'failed', text, extra
+                return 'running', text, extra
+            return StateJob(ctx.core, self, ctx.req, description, state, stop=stop, max_s=float(max_s or spec.get('max_s', 7200)),
+                            poll_s=float(spec.get('poll_s', 1.0)))
+        if r.get('operation_id'):
+            return OperationJob(ctx.core, self, ctx.req, description, m['cap'], r['operation_id'], max_s=max_s)
+        return None
+
+    def job_reply(self, job, head):
+        if job is None:
+            return {'text': head + '\n', 'json': {}}
+        return {'text': '%s\nstarted %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            head, job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def stop_fn(self, verb='stop'):
+        sm = self.vmap(verb)
+        if not sm:
+            return None
+
+        def stop(c):
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop (%s)' % sm['cap'])
+            return 'stopped with %s' % sm['cap']
+        return stop
+
+    def running_check(self, ctx, verb='start'):
+        """Refuse a second start while the member's job slot says it runs."""
+        m = self.vmap(verb) or {}
+        spec = m.get('job') if isinstance(m.get('job'), dict) else None
+        busy = (self.map.get('params') or {}).get('busy') or {}
+        if busy.get('slot'):
+            v = self.sv(ctx, busy['slot'])
+            ok = v not in busy.get('values', []) if 'values' in busy else not (v is not None if busy.get('not_null') else bool(v))
+            ctx.check(ok, 'BUSY', '%s is already running (%s = %s).' % (self.instrument_id, busy['slot'], short(v, 60)),
+                      'wait for it (`chemlab run %s wait`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id),
+                      label='not running')
+        _ = spec
+
+    # ------------------------------------------------------------------ records
+    def record(self, ctx, verb, title):
+        m = self.vmap(verb)
+        if m.get('cap'):
+            args = dict(m.get('args') or {})
+            r = ctx.call(m['cap'], args, 'read the %s (%s)' % (title, m['cap']), query=True)
+            res = r.get('result')
+        else:
+            res = {s: ctx.v(s) for s in m.get('reads') or []}
+        return res
+
+    def record_lines(self, res, keys=None, limit=24):
+        lines = []
+        if isinstance(res, dict):
+            items = [(k, res[k]) for k in keys if k in res] if keys else list(res.items())
+            for k, v in items[:limit]:
+                if isinstance(v, list):
+                    lines.append('  %s: %d points%s' % (k, len(v), (' (first %s)' % short(v[0], 120)) if v else ''))
+                elif isinstance(v, dict) and any(isinstance(x, list) and len(x) > 5 for x in v.values()):
+                    lines.append('  %s: %s' % (k, ', '.join('%s %s' % (k2, ('%d points' % len(x)) if isinstance(x, list) else short(x, 40))
+                                                         for k2, x in list(v.items())[:12])))
+                elif isinstance(v, dict):
+                    lines.append('  %s: %s' % (k, short(v, 160)))
+                else:
+                    f = friendly_value(k, v)
+                    lines.append('  %s = %s%s' % (k, short(v, 100), ('  (= %s)' % f) if f else ''))
+        else:
+            lines.append('  %s' % short(res, 400))
+        return lines
+
+    def h_record(self, verb, title):
+        def h(ctx, p):
+            self.need(ctx, verb)
+            res = self.record(ctx, verb, title)
+            if ctx.dry_run:
+                return {'text': '', 'json': {}}
+            keys = (self.vmap(verb) or {}).get('show')
+            return {'text': '%s %s:\n%s\n' % (self.instrument_id, title, '\n'.join(self.record_lines(res, keys))), 'json': {title.replace(' ', '_'): res}}
+        return h
+
+    # ------------------------------------------------------------------ connections
+    def h_connect(self, ctx, p):
+        m = self.vmap('connect')
+        ports = m.get('ports') or {}
+        pairs = self.pairs(ctx, p, 'connect')
+        todo = []
+        for port, ident in pairs:
+            if port not in ports:
+                ctx.fail(invalid('UNKNOWN_PORT', '%s has no connection %r.' % (self.instrument_id, port),
+                                 'connections of %s: %s.' % (self.instrument_id, ', '.join(ports))))
+            native = ports[port]
+            value = None if ident.lower() in ('none', 'null', '-') else ident
+            todo.append((port, native, value))
+        self.need(ctx, 'connect')
+        done = []
+        for port, native, value in todo:
+            sid = (m.get('slots') or {}).get(port)
+            if sid and self.sv(ctx, sid) == value:
+                done.append('%s already %s' % (port, value))
+                continue
+            args = dict(m.get('args') or {})
+            args[m['port_arg']] = native
+            args[m['id_arg']] = value
+            self.validate_call(ctx, m['cap'], args)
+            ctx.call(m['cap'], args, ('connect %s to %s' % (port, value)) if value else 'disconnect %s' % port)
+            done.append('%s = %s' % (port, value))
+        return {'text': 'ok: %s connections: %s\n' % (self.instrument_id, '; '.join(done)), 'json': {'connections': {pt: v for pt, _, v in todo}}}
+
+    # ------------------------------------------------------------------ waits
+    def settle(self, ctx, test, what, max_s, poll_s=0.5):
+        """Let lab time pass until test(ctx) holds (a stage or a positioner still moving).  Only verbs that say they wait use it."""
+        if ctx.dry_run or test(ctx):
+            return 0.0
+        waited = ctx.advance(max_s, until=lambda v: test(ctx), step=what, poll_s=poll_s)
+        if not test(ctx):
+            ctx.fail(unexpected('NOT_SETTLED', '%s did not finish (%s) within %s.' % (self.instrument_id, what, units.fmt_s(max_s)),
+                                'check `chemlab run %s status`.' % self.instrument_id, changed='yes'))
+        return waited
+
+
+_ = (math, refused, RUNNING)
diff --git a/chemlab/chemlab/compile/classes/particle_surface.py b/chemlab/chemlab/compile/classes/particle_surface.py
new file mode 100644
index 0000000000000000000000000000000000000000..d82a547129331a23367ea5d152e9f70027b9fad1
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/particle_surface.py
@@ -0,0 +1,1266 @@
+"""Particle, pore and surface characterisation class ("particle_surface"): particle sizers (DLS / zeta, laser diffraction,
+dynamic image analysis), dispersion stability, gas sorption and mercury / capillary-flow porometry, gas pycnometry,
+chemisorption, vapour sorption, streaming potential, tensiometry, contact angle, Langmuir troughs and gas permeation.
+
+Verbs (members and mappings: configs/adapters/particle_surface.json):
+
+    load [--cell N] [--volume V]      bring the sample the operator placed into the measuring position and close the access, in
+                                      the instrument's order (lid, cuvette, cup and locks, guards, clamps); on the contact-angle
+                                      meter and the Langmuir trough: deposit the sample (a drop, a spread film) of --volume
+    unload [--cell N]                 open the access / bring the holder out so the operator can put in or take out a sample
+    prepare [--temp T --hold T --ramp R]  the step the instrument needs before a measurement: background, degassing, wetting,
+                                      taring, leak check (a job where it runs on its own)
+    method KEY=VALUE ... [--cell N]   the measurement method; keys not given keep their current value (the instrument's method
+                                      display where it has one, else the last method set with chemlab, else the contract's
+                                      example method), so a change needs only the keys that change.  `method` alone shows it.
+    calibrate [KIND] KEY=VALUE ...    enter a calibration (size / pixel / pressure / volume / blank / sensor / detector / balance /
+                                      pH / conductivity / camera / adjustment ...); data arrays as comma lists with units
+    set-temp T [--ramp R] [--wait]    the cell / chamber / bath temperature, where the instrument controls it on its own
+    atmosphere rh=50% flow=30mL/min gas=on|off   humidity, gas flow and the gas valve for sorption and permeation
+    start [--cell N]                  start the measurement; returns job-N (chemlab status|wait|cancel job-N)
+    stop [--cell N]                   stop it
+    result [--cell N] [--save-to F]   the result in plain units (diameters in nm / µm, BET in m²/g, density in g/cm³, tension in
+                                      mN/m, zeta in mV, angles in °), the full record with --save-to
+    analyze MODEL [KEY=VALUE ...]     the instrument's own evaluation (BJH, TSI, porometry, dispersion, hysteresis, CMC, isotherm,
+                                      OTR ...), fed from the last result where the record has the data; other inputs as KEY=VALUE
+    status                            the class view
+
+Method keys of the class (bare numbers in the kind's default unit; native argument names also work, a bare number then in the
+argument's own declared unit):  mode=  temp=25C  time=30s  interval=8s  runs=3  mass=50mg  angle=90deg  steps=LIST (the
+measuring points of the run: relative pressures, pressures, RH steps or pH targets, e.g. steps=0.05,0.1,0.2 or steps=10%,40%,80%).
+
+Shared verbs (power, open / close of named parts, ack, estop, wait) come from the shared layer; this class redefines method,
+start, stop and result because these members need it: every method.configure of the class requires all its arguments (the
+shared `method` sends only the given ones), the Autosorb and the OX-TRAN start, stop and read results per station / cell
+(--cell), and `result` summarises the record in plain units.
+
+Class checks before anything is sent (from the member mapping "requires": slot value, minimum or maximum): power, the sample in
+place, the access closed for measuring (every `load` step at its end position), warm-up times, calibrations and tare, the gas
+valve open, the method set.  A refused native call is explained from the member's "codes", the class CODES, or the contract
+preconditions with the state already read.
+"""
+import copy
+import json
+import math
+import re
+
+from ...contract import validate
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused, unexpected
+from ..jobs import OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+REF = ('Anton Paar Litesizer DLS / DIA, PSA, Autosorb, PoreMaster, Ultrapyc and SurPASS manuals; Microtrac TURBISCAN LAB manual; '
+       'POROLUX Revo manual; Micromeritics AutoChem III manual; SMS DVS Resolution manual; Biolin Sigma 700, Theta Flex and KSV NIMA '
+       'trough manuals; AMETEK MOCON OX-TRAN 2/22 manual (operation chapters: sample loading, method, calibration, measurement, results)')
+
+PI = math.pi
+
+# units the shared table does not have (declared unit -> {typed unit: factor to the declared unit}); bare numbers = declared unit
+LOCAL_UNITS = {
+    'N/m': {'n/m': 1.0, 'mn/m': 1e-3, 'dyn/cm': 1e-3},
+    'Pa*s': {'pa*s': 1.0, 'pas': 1.0, 'mpa*s': 1e-3, 'mpas': 1e-3, 'cp': 1e-3},
+    'mol': {'mol': 1.0, 'mmol': 1e-3, 'umol': 1e-6, 'µmol': 1e-6, 'nmol': 1e-9},
+    'V/m': {'v/m': 1.0, 'v/cm': 100.0, 'kv/m': 1000.0},
+    'm^3/kg': {'m3/kg': 1.0, 'm^3/kg': 1.0, 'ml/g': 1e-3, 'cm3/g': 1e-3},
+    'Pa/s': {'pa/s': 1.0, 'kpa/s': 1e3, 'mbar/s': 100.0, 'psi/s': 6894.757293168},
+    'm^2/s': {'m2/s': 1.0, 'm^2/s': 1.0},
+    'm^3/s^2': {'m3/s2': 1.0, 'm^3/s^2': 1.0},
+    'm^2/kg': {'m2/kg': 1.0, 'm2/g': 1e3},
+    'F': {'f': 1.0, 'pf': 1e-12, 'nf': 1e-9},
+    'J/mol': {'j/mol': 1.0, 'kj/mol': 1e3},
+    'kg/mol': {'kg/mol': 1.0, 'g/mol': 1e-3},
+    'V*s': {'v*s': 1.0, 'vs': 1.0, 'mv*s': 1e-3},
+    'mol/(m^2*s)': {'mol/(m^2*s)': 1.0, 'mol/m2/s': 1.0},
+    'm^2/(V*s)': {'m^2/(v*s)': 1.0, 'm2/vs': 1.0},
+    'J/m^2': {'j/m2': 1.0, 'mj/m2': 1e-3},
+    'S/m': {'s/m': 1.0, 'ms/cm': 0.1, 'us/cm': 1e-4, 'µs/cm': 1e-4},
+}
+
+# display units of result figures: name -> (factor: shown = value * factor + offset, offset, label)
+SHOW = {
+    'nm': (1e9, 0, 'nm'), 'um': (1e6, 0, 'µm'), 'mm': (1e3, 0, 'mm'), 'm': (1, 0, 'm'),
+    'm2/g': (1e-3, 0, 'm²/g'), 'g/cm3': (1e-3, 0, 'g/cm³'), 'cm3': (1e6, 0, 'cm³'), 'cm3/g': (1e3, 0, 'cm³/g'),
+    'mN/m': (1e3, 0, 'mN/m'), 'mV': (1e3, 0, 'mV'), 'deg': (180 / PI, 0, '°'), 'umol': (1e6, 0, 'µmol'), '%': (100, 0, '%'),
+    'kPa': (1e-3, 0, 'kPa'), 'C': (1, -273.15, '°C'), 'mg': (1e6, 0, 'mg'), 'mm2': (1e6, 0, 'mm²'), 'cm2': (1e4, 0, 'cm²'),
+    'um/s': (1e6, 0, 'µm/s'), 'uL': (1e9, 0, 'µL'), 's': (1, 0, 's'), '': (1, 0, ''),
+}
+
+ON = ('on', 'true', 'yes', '1', 'open')
+OFF = ('off', 'false', 'no', '0', 'close', 'closed')
+RUNNING = ('running', 'zero_start', 'conditioning', 'testing', 'zero_end')
+
+
+def fmt_num(x):
+    if isinstance(x, bool) or not isinstance(x, (int, float)):
+        return str(x)
+    if not math.isfinite(x):
+        return str(x)
+    if x == 0:
+        return '0'
+    a = abs(x)
+    if 1e-3 <= a < 1e6:
+        s = '%.4g' % x
+    else:
+        s = '%.3e' % x
+    return s
+
+
+def show_value(v, how):
+    if v is None:
+        return 'n/a'
+    if isinstance(v, bool) or not isinstance(v, (int, float)):
+        return short(v, 60)
+    f, off, label = SHOW.get(how or '', SHOW[''])
+    return ('%s %s' % (fmt_num(v * f + off), label)).strip()
+
+
+def snap(num, schema):
+    """A converted number that is a contract limit or enum value up to unit round-off becomes exactly that value."""
+    if not isinstance(num, (int, float)) or isinstance(num, bool) or not math.isfinite(num):
+        return num
+    s = schema
+    if 'anyOf' in s:
+        s = next((x for x in s['anyOf'] if isinstance(x, dict) and x.get('type') in ('number', 'integer')), s)
+    for e in list(s.get('enum') or []) + [s.get('minimum'), s.get('maximum')]:
+        if isinstance(e, (int, float)) and not isinstance(e, bool) and abs(num - e) <= 1e-9 * max(1e-12, abs(e)):
+            return e
+    return num
+
+
+def resolve(obj, path, tv=None):
+    """A value in a result record: dotted path with [i], [-1], [*] (a list over items), [key=value] (the items with that value) and
+    {var} from the --cell variables."""
+    if tv:
+        for k, v in tv.items():
+            path = path.replace('{%s}' % k, str(v))
+    toks = re.findall(r'[^.\[\]]+|\[[^\]]*\]', path)
+
+    def walk(o, ts):
+        if not ts:
+            return o
+        t, rest = ts[0], ts[1:]
+        if t.startswith('['):
+            idx = t[1:-1]
+            if not isinstance(o, list):
+                return None
+            if idx == '*':
+                return [walk(x, rest) for x in o]
+            if '=' in idx:                                                # [key=value]: the items whose key has that value
+                fk, _, fv = idx.partition('=')
+                return [walk(x, rest) for x in o if isinstance(x, dict) and str(x.get(fk)) == fv]
+            try:
+                i = int(idx)
+                return walk(o[i], rest) if -len(o) <= i < len(o) else None
+            except ValueError:
+                return None
+        if isinstance(o, dict):
+            return walk(o.get(t), rest)
+        return None
+    return walk(obj, toks)
+
+
+def subst(o, tv):
+    """Replace "{var}" strings (whole string keeps the variable's type) in a mapping structure."""
+    if isinstance(o, str):
+        m = re.fullmatch(r'\{(\w+)\}', o)
+        if m and m.group(1) in tv:
+            return copy.deepcopy(tv[m.group(1)])
+        return re.sub(r'\{(\w+)\}', lambda mm: str(tv.get(mm.group(1), mm.group(0))), o)
+    if isinstance(o, dict):
+        return {k: subst(v, tv) for k, v in o.items()}
+    if isinstance(o, list):
+        return [subst(v, tv) for v in o]
+    return o
+
+
+class PsJob(OperationJob):
+    """An instrument operation (acquisition.start, test.start, background.start ...) with a member-specific poll interval (long
+    permeation tests are polled every minute of lab time, short runs every second)."""
+
+    def __init__(self, *a, poll_s=1.0, **kw):
+        super().__init__(*a, **kw)
+        self._poll = float(poll_s)
+
+    def poll_s(self):
+        return self._poll
+
+    def poll(self, ctx):
+        st, text, js = super().poll(ctx)
+        res = js.get('result') if isinstance(js.get('result'), dict) else {}
+        keep = [(k, v) for k, v in res.items() if not isinstance(v, (dict, list)) and not (isinstance(v, str) and len(v) > 60)]
+        text = ', '.join('%s=%s' % (k, fmt_num(v) if isinstance(v, float) else v) for k, v in keep[:6])
+        if js.get('error'):
+            text += ' error %s' % js['error']
+        return st, text, js
+
+
+class ParticleSurfaceAdapter(ClassAdapter):
+    CLASS = 'particle_surface'
+    TITLE = 'particle, pore and surface characterisation'
+    ABOUT = ('Sizing, porosity, density, sorption and interfacial instruments: load the sample into the measuring position, prepare '
+             '(background, degas, wet, tare, leak check), set the method in plain units (only the keys that change), calibrate, set '
+             'the temperature or the atmosphere where the instrument controls them, start a measurement as a job, read the result '
+             'in plain units, and run the instrument\'s own evaluation on it.')
+    STANDARDS = ('ISO 22412 (DLS), ISO 13099 (zeta potential), ISO 13320 (laser diffraction), ISO 13322-2 (dynamic image analysis), '
+                 'ISO/TR 13097 (dispersion stability), ISO 9277 / ISO 15901-2 (BET, gas sorption), ISO 15901-1 (mercury porosimetry), '
+                 'ASTM F316 (capillary flow porometry), ISO 12154 (gas pycnometry), ISO 19403 (contact angle), ASTM D1331 (surface '
+                 'tension), ASTM D3985 (oxygen transmission rate); SiLA 2 / OPC UA LADS run model (method, start, stop, result)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'duration', 'volume', 'mass', 'length', 'pressure', 'fraction', 'flow', 'heating_rate', 'angle')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is busy with another operation (a measurement, a move or a programme is running).',
+                 'wait for it (`chemlab run {inst} status`; `chemlab wait job-N`), or stop it (`chemlab run {inst} stop`).'),
+        'NOT_RUNNING': ('NOT_RUNNING', 'nothing is running on {inst}, so there is nothing to stop.', 'see `chemlab run {inst} status`.'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'POWER_INTERLOCK': ('POWER_OFF', '{inst} is switched off (or not ready after switching on).',
+                            'switch it on: `chemlab run {inst} power on`, then check `chemlab run {inst} status`.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no sample in {inst}.', 'the lab operator must put the sample in (`chemlab run {inst} unload` '
+                      'opens the access for it); then `chemlab run {inst} load`.'),
+        'SAMPLE_ACCESS': ('ACCESS_OPEN', 'the sample access of {inst} is open (or the holder is not in the measuring position).',
+                          'close it: `chemlab run {inst} load`.'),
+        'SAMPLE_ACCESS_INTERLOCK': ('ACCESS_LOCKED', 'the sample access of {inst} is locked: the lid must be released and opened first.',
+                                    '`chemlab run {inst} unload` opens it in the right order.'),
+        'LID_OPEN': ('ACCESS_OPEN', 'the lid of {inst} is open.', 'close it: `chemlab run {inst} load`.'),
+        'CHAMBER_OPEN': ('ACCESS_OPEN', 'the measuring chamber of {inst} is open.', 'close it: `chemlab run {inst} load`.'),
+        'CLOSURE_INTERLOCK': ('ORDER', '{inst} closes its access only in order (holder down before the lid).',
+                              '`chemlab run {inst} load` closes everything in the right order.'),
+        'LID_NOT_RELEASED': ('ORDER', 'the lid of {inst} must be released before it opens.', '`chemlab run {inst} unload` does it in order.'),
+        'NOT_TARED': ('NOT_TARED', 'the balance of {inst} is not tared.', 'tare it: `chemlab run {inst} prepare`.'),
+        'NO_BACKGROUND': ('NO_BACKGROUND', '{inst} has no valid background.', 'measure it: `chemlab run {inst} prepare`.'),
+        'TEMPERATURE_NOT_READY': ('TEMP_NOT_READY', 'the sample of {inst} is not at the method temperature yet.',
+                                  'wait until it is: `chemlab run {inst} set-temp T --wait`, or `chemlab wait 60` and retry.'),
+        'FINITE_GAS_INVENTORY': ('GAS_CLOSED', 'the gas supply of {inst} is closed (or empty).',
+                                 'open it: `chemlab run {inst} atmosphere gas=on`; if it is empty ask the lab operator.'),
+        'FINITE_INVENTORY': ('GAS_CLOSED', 'the gas (or vapour) supply of {inst} is closed or not enough for the run.',
+                             'open it: `chemlab run {inst} atmosphere gas=on`; if a supply is empty ask the lab operator.'),
+        'ACQUISITION_NOT_READY': ('NOT_READY', '{inst} is not ready to measure: it needs the carrier gas flowing, the detector '
+                                  'calibrated, the method set and the furnace closed.',
+                                  'check `chemlab run {inst} status`; `chemlab run {inst} atmosphere gas=on`; `calibrate detector ...`.'),
+        'GAS_NOT_READY': ('GAS_CLOSED', 'the gas of {inst} is not flowing.', '`chemlab run {inst} atmosphere gas=on`.'),
+        'DEWAR_INTERLOCK': ('DEWAR_UP', 'the liquid-nitrogen dewar of {inst} is raised, so the sample ports cannot be opened.',
+                            '`chemlab run {inst} unload --cell N` lowers it first.'),
+        'HOT_INTERLOCK': ('HOT', '{inst} is still hot (or degassing).', 'wait until it has cooled (`chemlab wait 600`), then retry.'),
+        'HOT_OR_FLOWING': ('HOT', 'the furnace of {inst} is hot or gas is flowing.', 'close the gas (`atmosphere gas=off`) and let it '
+                           'cool (`set-temp 25C --wait`), then retry.'),
+        'PRESSURIZED': ('PRESSURIZED', 'the sample cell of {inst} is under pressure.',
+                        'vent it first (`chemlab call {inst} pressure.vent`, then `chemlab wait 10`).'),
+        'CALIBRATION_REQUIRED': ('NOT_CALIBRATED', '{inst} needs its calibrations first.', 'see `chemlab help {inst} calibrate`.'),
+        'INVALID_CALIBRATION': ('BAD_CALIBRATION', 'the calibration data are not accepted by {inst} (out of range or inconsistent).',
+                                'check the values (`chemlab help {inst} calibrate`).'),
+        'NO_DROP_OR_CALIBRATION': ('NO_DROP', 'there is no drop on the substrate of {inst} (or its camera is not calibrated).',
+                                   'place one: `chemlab run {inst} load --volume 0.2uL`; calibrate the camera if needed.'),
+        'SAMPLE_ALIGNMENT': ('NOT_ALIGNED', 'the sample stage of {inst} is not in the measuring position.', '`chemlab run {inst} load`.'),
+        'CELL_NOT_CLAMPED': ('NOT_CLAMPED', 'the test cell of {inst} is not clamped.', '`chemlab run {inst} load --cell A|B`.'),
+        'METHOD_REQUIRED': ('NO_METHOD', 'the cell of {inst} has no test method.', '`chemlab run {inst} method --cell A|B KEY=VALUE ...`.'),
+        'TEST_ACTIVE': ('BUSY', 'a test is running on that cell of {inst}.', 'wait for it or stop it (`chemlab run {inst} stop --cell A|B`).'),
+        'NO_COMPLETED_TEST': ('NO_RESULT', 'that cell of {inst} has no completed test.', 'run one first (`start --cell A|B`, then wait).'),
+        'NOT_CONFIGURED': ('NO_METHOD', '{inst} has no method (or the lab has not set it up).', 'set one: `chemlab run {inst} method KEY=VALUE`.'),
+        'REMOVE_SAMPLE_FIRST': ('SAMPLE_PRESENT', 'this step needs the cup of {inst} empty.', 'take the sample out first (`unload`, the operator removes it).'),
+        'STABILITY_TIMEOUT': ('UNSTABLE', 'a pressure or flow point of {inst} did not become stable in time.', 'raise the dwell times in the method.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab.', 'ask the lab operator.'),
+    }
+
+    def __init__(self, instrument_id, config_entry):
+        super().__init__(instrument_id, config_entry)
+        self.memory = {}                               # (capability, target) -> the last method arguments sent with chemlab
+
+    # ------------------------------------------------------------------ small helpers
+    def val(self, values, slot):
+        if slot is None:
+            return None
+        if hasattr(values, 'v'):
+            return values.v(slot)
+        if slot in values:
+            return values[slot]
+        low = {k.lower(): k for k in values}
+        return values.get(low.get(slot.lower()))
+
+    def schema_at(self, cap, path):
+        """The argument schema of ``cap`` at a dotted path (``steps.0.temperature_k`` walks into array items / properties)."""
+        s = {'properties': (self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('properties') or {}}
+        for t in path.split('.'):
+            if 'anyOf' in s and 'properties' not in s and 'items' not in s:
+                s = next((x for x in s['anyOf'] if isinstance(x, dict) and x.get('type') in ('object', 'array')), s)
+            if t.isdigit() or t == '*':
+                s = s.get('items') or {}
+            else:
+                s = (s.get('properties') or {}).get(t) or {}
+        return s
+
+    def required(self, cap):
+        return list((self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('required') or [])
+
+    def props(self, cap):
+        return (self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('properties') or {}
+
+    def example(self, cap):
+        return copy.deepcopy(self.lab.contract['capabilities'][cap].get('example_arguments') or {})
+
+    def bound(self, cap, arg, which):
+        lo, hi = self.arg_range(cap, arg)
+        return hi if which == 'max' else lo
+
+    def slot_bound(self, slot, which):
+        s = (self.lab.contract['state_slots'].get(slot) or {}).get('value_schema') or {}
+        if 'anyOf' in s:
+            s = next((x for x in s['anyOf'] if isinstance(x, dict) and x.get('type') in ('number', 'integer')), s)
+        return s.get('maximum' if which == 'slot_max' else 'minimum')
+
+    def check_args(self, ctx, cap, args, what):
+        """Arguments against the contract before sending: a value outside its range is a usage error (nothing sent)."""
+        probs = validate(self.lab.contract['capabilities'][cap].get('input_schema') or {'type': 'object', 'properties': {}}, args, cap)
+        if probs:
+            props = self.props(cap)
+
+            def unit_of(pr):
+                m = re.match(r'%s\.(\w+)' % re.escape(cap), pr)
+                u = units.declared(props.get(m.group(1)) or {}) if m else None
+                return ' (%s)' % u if u else ''
+            ctx.fail(invalid('OUT_OF_RANGE', '%s on %s: %s.' % (what, self.instrument_id, '; '.join(pr + unit_of(pr) for pr in probs[:4])),
+                             'change the value (see `chemlab help %s %s` for ranges and units).' % (self.instrument_id, cap)))
+
+    # ------------------------------------------------------------------ value parsing
+    def parse_scalar(self, text, schema, kind=None, what='value', native=False):
+        """Agent text -> the value in the unit the argument declares.  ``kind``: the class key's quantity kind (bare number = the
+        kind's default unit); ``native``: a native argument name (bare number = the declared unit)."""
+        t = (text or '').strip()
+        types = schema.get('type')
+        types = set(types if isinstance(types, list) else [types] if types else [])
+        if 'anyOf' in schema:
+            for x in schema['anyOf']:
+                if isinstance(x, dict) and x.get('type'):
+                    types.add(x['type'])
+        if t.lower() in ('null', 'none') and ('null' in types or not types):
+            return None
+        if 'boolean' in types and not ({'number', 'integer'} & types):
+            if t.lower() in ON:
+                return True
+            if t.lower() in OFF:
+                return False
+            raise invalid('BAD_VALUE', '%s=%s is not on/off (true/false).' % (what, text), 'write %s=on or %s=off.' % (what, what))
+        if ('string' in types and not ({'number', 'integer'} & types)) or (not types and not re.match(r'^[+-]?[\d.]', t)):
+            enum = schema.get('enum')
+            if enum and t not in [str(e) for e in enum]:
+                close = [e for e in enum if str(e).lower() == t.lower()]
+                if close:
+                    return close[0]
+                raise invalid('BAD_CHOICE', '%s=%s is not allowed.' % (what, text), 'use one of: %s.' % ', '.join(map(str, enum)))
+            return t
+        if {'array', 'object'} & types and (t.startswith('[') or t.startswith('{')):
+            try:
+                return json.loads(t)
+            except ValueError:
+                raise invalid('BAD_VALUE', '%s=%s is not valid JSON.' % (what, text), 'write a JSON list or object, or a comma list.')
+        u = units.declared(schema)
+        num = None
+        if u is None and t.endswith('%'):                                 # a unitless fraction typed in percent (rh=40%, p/p0)
+            try:
+                num = float(t[:-1]) / 100.0
+            except ValueError:
+                raise invalid('BAD_NUMBER', '%s=%s is not a number.' % (what, text), 'e.g. %s=40%%' % what)
+        elif u and units.unit_kind(u):
+            m = re.fullmatch(r'\s*([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)\s*', t)
+            if m and native:
+                num = float(m.group(1))
+            else:
+                num = units.parse_for(t, schema, kind, what=what)
+        elif u in LOCAL_UNITS:
+            m = re.fullmatch(r'\s*([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)\s*(\S*)\s*', t)
+            if not m:
+                raise invalid('BAD_NUMBER', '%s=%s is not a number with a unit.' % (what, text), 'e.g. %s=%s' % (what, '1' + u))
+            f = 1.0 if not m.group(2) else LOCAL_UNITS[u].get(m.group(2).lower().replace(' ', ''))
+            if f is None:
+                raise invalid('UNIT_NOT_ALLOWED', '%r is not a unit for %s (declared %s).' % (m.group(2), what, u),
+                              'units: %s.' % ', '.join(sorted(LOCAL_UNITS[u])))
+            num = float(m.group(1)) * f
+        else:
+            num = units.parse_for(t, schema, None, what=what)
+        bare = re.fullmatch(r'\s*[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?\s*', t) is not None
+        if isinstance(num, float) and math.isfinite(num) and num != 0 and not (native and bare):
+            num = float('%.15g' % num)                                    # unit round-off only (15deg -> rad -> deg)
+        num = snap(num, schema)
+        if 'integer' in types and 'number' not in types:
+            if abs(num - round(num)) > 1e-9:
+                raise invalid('BAD_VALUE', '%s=%s must be a whole number.' % (what, text), 'give an integer.')
+            num = int(round(num))
+        return num
+
+    def parse_value(self, text, schema, kind=None, what='value', native=False):
+        """Scalars, or a list (comma-separated, each with its unit, or JSON) for array arguments."""
+        types = schema.get('type')
+        types = set(types if isinstance(types, list) else [types] if types else [])
+        if 'anyOf' in schema:
+            types |= {x.get('type') for x in schema['anyOf'] if isinstance(x, dict)}
+        if 'array' in types:
+            t = (text or '').strip()
+            if t.startswith('['):
+                try:
+                    return json.loads(t)
+                except ValueError:
+                    raise invalid('BAD_VALUE', '%s=%s is not a JSON list.' % (what, text), 'write a comma list, e.g. %s=1,2,3.' % what)
+            item = schema.get('items') or next((x.get('items') for x in schema.get('anyOf') or [] if isinstance(x, dict) and x.get('items')), {}) or {}
+            if item.get('type') in ('object', 'array'):
+                raise invalid('BAD_VALUE', '%s needs a JSON list of %ss.' % (what, item.get('type')), "write %s='[...]' (JSON)." % what)
+            return [self.parse_scalar(x, item, kind, what, native) for x in t.split(',') if x.strip()]
+        return self.parse_scalar(text, schema, kind, what, native)
+
+    def pairs(self, ctx, p):
+        out = []
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write KEY=VALUE (see `chemlab help %s %s`).' % (self.instrument_id, ctx.verb.name)))
+            out.append((k.strip(), v.strip()))
+        return out
+
+    # ------------------------------------------------------------------ targets (--cell)
+    def cell_vars(self, ctx, p, verb):
+        """--cell -> the member's variables for that cell / station ({"station": 0} / {"cell": "A", "c": "a"}); a list of stations
+        for verbs that take several ("stations": [0, 1])."""
+        t = (self.map.get('targets') or {}).get('cell')
+        v = p.get('cell') if p is not None else None
+        if not t:
+            if v is not None:
+                ctx.fail(invalid('NO_CELL', '%s has only one measuring position; leave out --cell.' % self.instrument_id, 'leave out --cell.'))
+            return {}
+        vals = t['values']
+        if v is None:
+            if t.get('default') is not None:
+                v = str(t['default'])
+            else:
+                ctx.fail(invalid('MISSING_CELL', '%s %s needs --cell (%s).' % (self.instrument_id, verb, '|'.join(vals)),
+                                 'give --cell %s.' % '|'.join(vals)))
+        names = [x.strip() for x in str(v).split(',') if x.strip()]
+        if len(names) > 1 and verb not in (t.get('multi') or []):
+            ctx.fail(invalid('ONE_CELL', '%s %s takes one cell.' % (self.instrument_id, verb), 'give one of: %s.' % ', '.join(vals)))
+        for n in names:
+            if n not in vals:
+                ctx.fail(invalid('UNKNOWN_CELL', '%s has no cell %r.' % (self.instrument_id, n), 'cells of %s: %s.' % (self.instrument_id, ', '.join(vals))))
+        tv = dict(vals[names[0]])
+        tv['cell_name'] = names[0]
+        tv['cell_names'] = ','.join(names)
+        if t.get('list_var'):
+            tv[t['list_var']] = [vals[n][t.get('list_of', t['list_var'])] for n in names]
+        return tv
+
+    # ------------------------------------------------------------------ requirements
+    def requirements(self, ctx, verb, tv=None):
+        """The member's own preconditions for a verb: "requires": {verb: [{"slot", "value" | "not" | "min" | "max", "cell",
+        "code", "message", "fix", "label"}]}; entries with "cell" apply to that --cell only."""
+        tv = tv or {}
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            if r.get('cell') is not None and str(r['cell']) != str(tv.get('cell_name')):
+                continue
+            got = ctx.v(r['slot'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif 'min' in r:
+                lim = self.slot_bound(r['slot'], r['min']) if r['min'] in ('slot_max', 'slot_min') else r['min']
+                ok = finite(got) and got >= lim - 1e-9
+            elif 'max' in r:
+                lim = self.slot_bound(r['slot'], r['max']) if r['max'] in ('slot_max', 'slot_min') else r['max']
+                ok = finite(got) and got <= lim + 1e-9
+            else:
+                ok = True
+            fill = dict(inst=self.instrument_id, value=short(got, 40), cell=tv.get('cell_name', ''))
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(**fill), r['fix'].format(**fill), label=r.get('label', r['slot']))
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    # ------------------------------------------------------------------ step lists (load / unload)
+    def step_target(self, st):
+        if 'to' not in st:
+            return None
+        to = st['to']
+        if to in ('max', 'min'):
+            return self.bound(st['cap'], st['arg'], to)
+        return to
+
+    @staticmethod
+    def same(got, want):
+        if isinstance(want, bool) or isinstance(got, bool):
+            return got is want or got == want
+        if finite(want) and finite(got):
+            return abs(got - want) <= 1e-9 + 1e-6 * abs(want)
+        return got == want
+
+    def step_args(self, st, tv):
+        args = self.example(st['cap']) if st.get('args') == 'example' else subst(dict(st.get('args') or {}), tv)
+        if 'arg' in st:
+            args[st['arg']] = self.step_target(st)
+        return args
+
+    def step_done(self, ctx, st):
+        """True when the step's slot already shows its end value (the step is skipped)."""
+        if st.get('done_args'):                                           # several slots, each equal to one of the step's arguments
+            args = self.step_args(st, {})
+            return all(self.same(ctx.v(sl), args.get(a)) for sl, a in st['done_args'].items())
+        if st.get('slot') is None:
+            return False
+        want = st.get('done', self.step_target(st))
+        if want in ('max', 'min'):
+            want = self.bound(st['cap'], st['arg'], want)
+        elif want in ('slot_max', 'slot_min'):
+            want = self.slot_bound(st['slot'], want)
+        return self.same(ctx.v(st['slot']), want)
+
+    def step_applies(self, ctx, st):
+        c = st.get('if')
+        if not c:
+            return True
+        got = ctx.v(c['slot'])
+        if 'value' in c:
+            return got == c['value']
+        if 'in' in c:
+            return got in c['in']
+        if 'not' in c:
+            return got not in c['not']
+        if 'max' in c:
+            return finite(got) and got <= c['max']
+        if 'min' in c:
+            return finite(got) and got >= c['min']
+        return True
+
+    def step_list(self, m, tv):
+        if m.get('cells'):
+            sub = m['cells'].get(str(tv.get('cell_name')))
+            return list((sub or {}).get('steps') or [])
+        return list(m.get('steps') or [])
+
+    def run_steps(self, ctx, steps, tv, verb):
+        done = []
+        for st in steps:
+            if not self.step_applies(ctx, st) or self.step_done(ctx, st):
+                continue
+            args = self.step_args(st, tv)
+            label = st.get('label') or '%s %s' % (st['cap'], short(args, 60))
+            ctx.call(st['cap'], args, label)
+            done.append(label)
+            if st.get('wait'):
+                self.wait_idle(ctx, st['wait'], label)
+        return done
+
+    def wait_idle(self, ctx, w, label):
+        """An asynchronous move of the instrument: let lab time pass until it has ended (the verb says it waits)."""
+        slot, busy = w.get('slot', 'acquisition.phase'), w.get('while', ['running'])
+        if 'near' in w:                                                   # a pressure / position that settles to a value
+            def ended(v):
+                x = ctx.v(slot)
+                return finite(x) and abs(x - w['near']) <= w.get('tol', 0)
+        else:
+            def ended(v):
+                return ctx.v(slot) not in busy
+        if not ended(ctx.view):
+            ctx.advance(float(w.get('max_s', 60)), until=ended, step='wait for %s' % label, poll_s=float(w.get('poll_s', 0.5)))
+        if not ctx.dry_run and not ended(ctx.view):
+            ctx.fail(unexpected('MOVE_TIMEOUT', '%s did not finish %s in %s.' % (self.instrument_id, label, units.fmt_s(float(w.get('max_s', 60)))),
+                                'check `chemlab run %s status`.' % self.instrument_id, changed='yes', done=ctx.done))
+        if not ctx.dry_run and w.get('failed') and ctx.v(slot) in w['failed']:
+            ctx.fail(refused('MOVE_FAILED', '%s could not %s (%s = %s).' % (self.instrument_id, label, slot, ctx.v(slot)),
+                             'check `chemlab run %s status`.' % self.instrument_id))
+
+    def settle(self, ctx, st):
+        """Wait (lab time) until a reading exists and two readings ``dt`` apart differ by at most ``tol`` - a tare or zero must not
+        be taken on a signal that is still settling (e.g. right after switching on)."""
+        slot, tol, dt, mx = st['slot'], float(st.get('tol', 0)), float(st.get('dt', 0.5)), float(st.get('max_s', 30))
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': mx}, 'step': 'wait until %s is steady' % slot})
+            return
+        last = {'v': None}
+
+        def steady(view):
+            v = ctx.v(slot)
+            ok = finite(v) and finite(last['v']) and abs(v - last['v']) <= tol
+            last['v'] = v
+            return ok
+        steady(ctx.view)
+        ctx.advance(mx, until=steady, step='wait until %s is steady' % slot, poll_s=dt)
+        if not (finite(ctx.v(slot)) and finite(last['v'])):
+            ctx.fail(refused('SETTLING', 'the %s reading of %s is not there yet (%s = %s).' % (st.get('word', 'signal'), self.instrument_id, slot, ctx.v(slot)),
+                             'wait a few seconds after switching on (`chemlab wait 5`), then retry.'))
+        ctx.checks.append('%s steady' % slot)
+
+    def access_open(self, ctx, tv):
+        """The load steps that are not at their end position (the access is open for the operator)."""
+        m = self.vmap('load') or {}
+        if m.get('check', True) is False:
+            return []
+        out = []
+        for st in self.step_list(m, tv):
+            if self.step_applies(ctx, st) and (st.get('slot') or st.get('done_args')) and not self.step_done(ctx, st):
+                sl = st.get('slot') or next(iter(st['done_args']))
+                out.append('%s = %s' % (sl, short(ctx.v(sl), 20)))
+        return out
+
+    # ------------------------------------------------------------------ summary (status, read)
+    def summary(self, values):
+        sl = self.map.get('slots') or {}
+        lines, js = [], {}
+        p = sl.get('power')
+        if p:
+            on = bool(self.val(values, p))
+            js['power'] = on
+            if not on:
+                lines.append('power off')
+        for ph in (sl.get('phase') if isinstance(sl.get('phase'), list) else [sl.get('phase')] if sl.get('phase') else []):
+            v = self.val(values, ph)
+            js[ph] = v
+            stage = self.val(values, sl.get('stage')) if sl.get('stage') else None
+            el = self.val(values, sl.get('elapsed')) if sl.get('elapsed') else None
+            lines.append('%s: %s%s%s' % (ph.split('.')[0] if '.' in ph and ph.split('.')[0] != 'acquisition' else 'measurement', v,
+                                          (' (%s)' % stage) if stage and v == 'running' else '',
+                                          (', %s elapsed' % units.fmt_s(el)) if finite(el) and v == 'running' else ''))
+        sam = sl.get('sample')
+        for s in (sam if isinstance(sam, list) else [sam] if sam else []):
+            js[s] = self.val(values, s)
+            lines.append('%s (%s)' % ('in place' if self.val(values, s) else 'none', s) if isinstance(sam, list)
+                         else 'sample: %s' % ('in place' if self.val(values, s) else 'none'))
+        t, setp = sl.get('temp'), sl.get('set')
+        if t:
+            tk, sk = self.val(values, t), self.val(values, setp) if setp else None
+            js['temperature_k'], js['set_point_k'] = tk, sk
+            lines.append('temperature %s%s' % (show_value(tk, 'C'), (' (set point %s)' % show_value(sk, 'C')) if sk is not None else ''))
+        for sh in self.map.get('show') or []:
+            v = self.val(values, sh['slot'])
+            js[sh['slot']] = v
+            lines.append('%s: %s' % (sh.get('label', sh['slot']), show_value(v, sh.get('show'))))
+        return (lines or ['(see `chemlab read %s`)' % self.instrument_id]), js
+
+    def _h_status(self, ctx, p):
+        lines, js = self.summary(ctx.view)
+        acc = self.access_open(ctx, {}) if self.vmap('load') and not (self.vmap('load') or {}).get('cells') else []
+        if self.vmap('load') and not (self.vmap('load') or {}).get('cells') and (self.vmap('load') or {}).get('check', True) is not False:
+            lines.append('sample access: %s' % ('closed for measuring' if not acc else 'open (%s; `load` closes it)' % ', '.join(acc[:3])))
+            js['access_closed'] = not acc
+        head = '%s (%s) at t = %.1f s' % (self.instrument_id, self.TITLE, ctx.now())
+        return {'text': '\n'.join([head] + ['  ' + x for x in lines]) + '\n', 'json': {'state': js}}
+
+    # ------------------------------------------------------------------ help with this member's keys
+    def member_help(self, name):
+        """Lines for `chemlab help INST VERB`: what the verb takes on this member (keys, kinds of calibration, evaluations, steps)."""
+        m = self.vmap(name) or {}
+        out = []
+
+        def arg_desc(cap, a):
+            sch = self.schema_at(cap, a) if '.' in a else (self.props(cap).get(a) or {})
+            u = units.declared(sch) or (units.declared(sch.get('items') or {}) if sch.get('type') == 'array' else None)
+            return '%s%s' % (a, (' [%s%s]' % ('list of ' if sch.get('type') == 'array' else '', u)) if u else '')
+        if name == 'method' and m:
+            out.append('keys on %s: %s' % (self.instrument_id, ', '.join('%s= -> %s' % (k, arg_desc(m['cap'], v.get('arg') or v['path']))
+                                                                     for k, v in sorted((m.get('keys') or {}).items())) or 'none'))
+            if m.get('extra'):
+                out.append('separate settings: %s' % ', '.join('%s= -> %s %s' % (k, v['cap'], v['arg']) for k, v in sorted(m['extra'].items())))
+            out.append('native names (%s): %s' % (m['cap'], ', '.join(arg_desc(m['cap'], a) for a in self.props(m['cap']))))
+            if (self.map.get('targets') or {}).get('cell'):
+                out.append('--cell %s selects the %s' % ('|'.join(self.map['targets']['cell']['values']), 'station / cell'))
+        elif name == 'calibrate' and m:
+            for kind, k in (m.get('kinds') or {}).items():
+                al = k.get('keys') or {}
+                inv = {v: kk for kk, v in al.items()}
+                need = [a for a in self.required(k['cap']) if a not in (k.get('args') or {})]
+                out.append('calibrate %s (%s%s): %s' % (kind, k['cap'], ', per --cell' if k.get('per_cell') else '',
+                                                        ', '.join('%s= (%s)' % (inv.get(a, a), arg_desc(k['cap'], a)) for a in need)))
+        elif name == 'analyze' and m:
+            for model, sp in (m.get('models') or {}).items():
+                fr = sp.get('from_result') or {}
+                al = sp.get('keys') or {}
+                inv = {v: kk for kk, v in al.items()}
+                give = [a for a in self.required(sp['cap']) if a not in fr and a not in (sp.get('defaults') or {})]
+                out.append('analyze %s (%s): from the last result: %s; you give: %s%s' % (
+                    model, sp['cap'], ', '.join(sorted(fr)) or 'nothing', ', '.join('%s=' % inv.get(a, a) for a in give) or 'nothing',
+                    ('; defaults: %s' % ', '.join('%s=%s' % kv for kv in sp['defaults'].items())) if sp.get('defaults') else ''))
+        elif name == 'atmosphere' and m:
+            out.append('keys on %s: %s' % (self.instrument_id, ', '.join('%s= -> %s %s' % (k, v['cap'], v['arg']) for k, v in (m.get('keys') or {}).items())))
+        elif name in ('load', 'unload') and m:
+            if m.get('cells'):
+                for c, sub in m['cells'].items():
+                    out.append('--cell %s: %s' % (c, '; '.join(st.get('label', st['cap']) for st in sub.get('steps') or [])))
+            elif m.get('steps'):
+                out.append('steps on %s: %s' % (self.instrument_id, '; '.join(st.get('label', st['cap']) for st in m['steps'])))
+            if m.get('deposit'):
+                out.append('then: %s --volume (%s)' % (m['deposit'].get('word', 'deposit'), m['deposit']['cap']))
+        elif name == 'prepare' and m:
+            out.append('on %s: %s (%s)%s' % (self.instrument_id, m.get('word', m['cap']), m['cap'],
+                                             ', a job' if m.get('state') or (self.lab.contract['capabilities'][m['cap']].get('execution') or {}).get('mode') != 'synchronous' else ''))
+        for r in (self.map.get('requires') or {}).get(name, []):
+            lab = r.get('label', r['slot'])
+            out.append('checks: %s%s' % (lab, (' (cell %s)' % r['cell']) if r.get('cell') and ('cell %s' % r['cell']) not in lab else ''))
+        return out
+
+    def verb_help(self, name):
+        r = ClassAdapter.verb_help(self, name)
+        extra = self.member_help(name) if name not in self.unsupported_reasons() else []
+        if extra:
+            r['text'] = r['text'].rstrip('\n') + '\n\non this instrument:\n' + '\n'.join('  ' + x for x in extra) + '\n'
+            r['json']['member'] = extra
+        return r
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        cell = Opt('which cell / station (instruments with several measuring positions)', metavar='CELL')
+        return {
+            'load': Verb('load', 'bring the sample into the measuring position and close the access (or deposit it: drop, film)',
+                         self.h_load, options={'cell': cell, 'volume': Opt('drop / spreading volume (contact-angle meter, trough)',
+                                                                            kind='volume', metavar='VOLUME')},
+                         preconditions=['power on where the instrument needs it for its moving parts', 'the order of the instrument '
+                                        '(holder before lid, cup before locks)'],
+                         errors=['ORDER, ACCESS_LOCKED, BUSY (refused)'], reference=REF, example='chemlab run INST load',
+                         details='Steps already at their end position are skipped; the reply lists what moved.'),
+            'unload': Verb('unload', 'open the access / bring the holder out so the operator can put in or take out a sample', self.h_unload,
+                           options={'cell': cell}, errors=['BUSY, HOT, DEWAR_UP (refused)'], reference=REF, example='chemlab run INST unload'),
+            'prepare': Verb('prepare', 'the step this instrument needs before a measurement (background, degas, wetting, tare, leak check)',
+                            self.h_prepare, long_action=True,
+                            options={'temp': Opt('degas temperature (degassing instruments)', kind='temperature', metavar='TEMP'),
+                                     'hold': Opt('degas hold time', kind='duration', metavar='TIME'),
+                                     'ramp': Opt('degas heating rate', kind='heating_rate', metavar='RATE')},
+                            preconditions=['power on', 'the member\'s own conditions (liquid filled, plate in the subphase, ...)'],
+                            errors=['POWER_OFF, NOT_READY (refused)'], reference=REF, example='chemlab run INST prepare'),
+            'method': Verb('method', 'set the measurement method: KEY=VALUE ... (only the keys that change; alone: show it)', self.h_method,
+                           variadic=('KEY=VALUE', 'a setting'),
+                           options={'cell': cell, 'show': Opt('show the method that is in effect (nothing is sent)', kind='flag')},
+                           preconditions=['no measurement running', 'values within the contract ranges (checked by the instrument)'],
+                           errors=['UNKNOWN_SETTING, BAD_VALUE (usage)', 'BUSY (refused)'], reference=REF,
+                           details=('class keys: mode=  temp=  time=  interval=  runs=  mass=  angle=  steps=LIST (relative pressures, '
+                                    'pressures, RH steps or pH targets); any native argument name of the method capability also works '
+                                    '(a bare number is then in its declared unit).'),
+                           example='chemlab run INST method temp=25C time=30s'),
+            'calibrate': Verb('calibrate', 'enter a calibration: [KIND] KEY=VALUE ... (reference / measured data, lists as a,b,c)',
+                              self.h_calibrate, positionals=[Arg('KIND', 'which calibration (see `chemlab help INST calibrate`)', required=False)],
+                              variadic=('KEY=VALUE', 'calibration data'), options={'cell': cell},
+                              errors=['MISSING_SETTING (usage)', 'BAD_CALIBRATION (refused)'], reference=REF,
+                              example='chemlab run INST calibrate size reference=100nm measured=102nm'),
+            'set-temp': Verb('set-temp', 'set the cell / chamber temperature', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'set point, e.g. 25C', kind='temperature')],
+                             options={'ramp': Opt('heating rate (furnaces that ramp)', kind='heating_rate', metavar='RATE'),
+                                      'wait': Opt('then wait until the temperature is there', kind='flag'),
+                                      'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME')},
+                             preconditions=['set point within the instrument range (contract)', 'power on'],
+                             errors=['OUT_OF_RANGE (usage)', 'POWER_OFF (refused)', 'NOT_REACHED (refused, with --wait)'], reference=REF,
+                             example='chemlab run INST set-temp 25C --wait'),
+            'atmosphere': Verb('atmosphere', 'humidity, gas flow and gas valve: rh=50% flow=30mL/min gas=on|off', self.h_atmosphere,
+                               variadic=('KEY=VALUE', 'rh=, flow=, gas='), preconditions=['power on', 'values within the instrument range'],
+                               errors=['OUT_OF_RANGE, UNKNOWN_SETTING (usage)', 'POWER_OFF (refused)'], reference=REF,
+                               example='chemlab run INST atmosphere rh=40% gas=on'),
+            'start': Verb('start', 'start the measurement (returns job-N: chemlab status|wait|cancel job-N)', self.h_start, long_action=True,
+                          options={'cell': cell},
+                          preconditions=['power on', 'sample in place', 'access closed for measuring (`load`)', 'the member\'s own '
+                                         'conditions: warm-up, background, tare, calibration, gas, method'],
+                          errors=['POWER_OFF, NO_SAMPLE, ACCESS_OPEN, WARMING_UP, NOT_TARED, NO_BACKGROUND, GAS_CLOSED, ... (refused)'],
+                          reference=REF, example='chemlab run INST start'),
+            'stop': Verb('stop', 'stop the running measurement', self.h_stop, options={'cell': cell}, errors=['NOT_RUNNING (refused)'],
+                         reference=REF, example='chemlab run INST stop'),
+            'result': Verb('result', 'the result of the last measurement in plain units (full record: --save-to FILE)', self.h_result,
+                           readonly=True, options={'cell': cell, 'save-to': save_to_opt()}, reference=REF,
+                           example='chemlab run INST result --save-to result.json'),
+            'analyze': Verb('analyze', 'the instrument\'s own evaluation of the last result: MODEL [KEY=VALUE ...]', self.h_analyze,
+                            readonly=True, positionals=[Arg('MODEL', 'which evaluation (see `chemlab help INST analyze`)', required=False)],
+                            variadic=('KEY=VALUE', 'inputs the result does not hold'), options={'cell': cell, 'save-to': save_to_opt()},
+                            errors=['MISSING_SETTING (usage)', 'NO_RESULT (refused)'], reference=REF,
+                            example='chemlab run INST analyze bjh --save-to bjh.json'),
+        }
+
+    # ------------------------------------------------------------------ load / unload
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        tv = self.cell_vars(ctx, p, 'load')
+        self.requirements(ctx, 'load', tv)
+        steps = self.step_list(m, tv)
+        if p.get('volume') is not None and not m.get('deposit'):
+            ctx.fail(invalid('NO_VOLUME', '%s load takes no --volume (the operator places the sample).' % self.instrument_id, 'leave out --volume.'))
+        dep = m.get('deposit')
+        vol = None
+        if dep:                                                           # the volume is checked before anything moves
+            vol = p.get('volume')
+            if vol is None:
+                vol = units.from_declared(self.example(dep['cap']).get(dep['arg']), self.arg_unit(dep['cap'], dep['arg']))
+            lo, hi = self.arg_range_si(dep['cap'], dep['arg'])
+            if not finite(vol) or vol <= 0 or (hi is not None and vol > hi * (1 + 1e-9)):
+                ctx.fail(invalid('OUT_OF_RANGE', 'volume %s is outside 0..%s on %s.' % (units.fmt(vol, 'volume'), units.fmt(hi, 'volume'), self.instrument_id),
+                                 'give --volume up to %s.' % units.fmt(hi, 'volume')))
+        done = self.run_steps(ctx, steps, tv, 'load')
+        if dep:
+            done += self.run_steps(ctx, dep.get('before') or [], tv, 'load')
+            label = '%s %s' % (dep.get('word', 'deposit'), units.fmt(vol, 'volume'))
+            dargs = {dep['arg']: snap(self.arg_value(dep['cap'], dep['arg'], vol), self.cap_schema(dep['cap'], dep['arg']))}
+            self.check_args(ctx, dep['cap'], dargs, 'load --volume')
+            ctx.call(dep['cap'], dargs, label)
+            done.append(label)
+            if dep.get('wait'):
+                self.wait_idle(ctx, dep['wait'], label)
+            done += self.run_steps(ctx, dep.get('after') or [], tv, 'load')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        text = 'ok: %s loaded%s: %s\n' % (self.instrument_id, (' (cell %s)' % tv['cell_name']) if tv else '',
+                                          '; '.join(done) if done else 'already in the measuring position')
+        return {'text': text, 'json': {'steps': done, 'cell': tv.get('cell_name')}}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        tv = self.cell_vars(ctx, p, 'unload')
+        self.requirements(ctx, 'unload', tv)
+        done = self.run_steps(ctx, self.step_list(m, tv), tv, 'unload')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        text = 'ok: %s open for the operator%s: %s\n' % (self.instrument_id, (' (cell %s)' % tv['cell_name']) if tv else '',
+                                                         '; '.join(done) if done else 'it was already open')
+        return {'text': text, 'json': {'steps': done, 'cell': tv.get('cell_name')}}
+
+    # ------------------------------------------------------------------ prepare
+    def h_prepare(self, ctx, p):
+        m = self.vmap('prepare')
+        self.need_power(ctx)
+        self.requirements(ctx, 'prepare')
+        opts = m.get('options') or {}
+        for o in ('temp', 'hold', 'ramp'):
+            if p.get(o) is not None and o not in opts:
+                ctx.fail(invalid('UNKNOWN_OPTION', 'prepare on %s takes no --%s.' % (self.instrument_id, o),
+                                 'options here: %s.' % (', '.join('--' + x for x in opts) or 'none')))
+        done = self.run_steps(ctx, m.get('steps') or [], {}, 'prepare')
+        if m.get('settle'):
+            self.settle(ctx, m['settle'])
+        args = self.example(m['cap']) if m.get('use_example') else dict(m.get('args') or {})
+        for o, path in opts.items():
+            if p.get(o) is None:
+                continue
+            sch = self.schema_at(m['cap'], path)
+            u = units.declared(sch)
+            v = units.to_declared(p.get(o), u) if u else p.get(o)
+            cur = args
+            ks = path.split('.')
+            for k in ks[:-1]:
+                cur = cur[int(k)] if k.isdigit() else cur[k]
+            cur[int(ks[-1]) if ks[-1].isdigit() else ks[-1]] = round(v, 10)
+        self.check_args(ctx, m['cap'], args, 'prepare')
+        r = ctx.call(m['cap'], args, m.get('word', 'prepare (%s)' % m['cap']))
+        done.append(m.get('word', m['cap']))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = None
+        if r.get('operation_id'):
+            job = PsJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, m.get('word', m['cap'])), m['cap'], r['operation_id'],
+                        poll_s=float(m.get('poll_s', 1.0)))
+        elif m.get('state'):                                            # a programme whose progress is only in a slot (degassing)
+            st = m['state']
+            ad = self
+
+            def state(c):
+                v = c.v(st['slot'])
+                word = 'succeeded' if v in st.get('done', []) else 'failed' if v in st.get('failed', []) else 'running'
+                return word, '%s = %s' % (st['slot'], v), {'state': v}
+            def stop_call(c):
+                c.call(st['stop_cap'], {}, 'stop %s' % m.get('word', m['cap']))
+                return 'stopped with %s' % st['stop_cap']
+            job = StateJob(ctx.core, ad, ctx.req, '%s %s' % (self.instrument_id, m.get('word', m['cap'])), state,
+                           stop=stop_call if st.get('stop_cap') else None,
+                           max_s=float(st.get('max_s', 86400)), poll_s=float(m.get('poll_s', 5.0)))
+        if job is not None:
+            return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'steps': done}}
+        return {'text': 'ok: %s %s%s\n' % (self.instrument_id, '; '.join(done), ('; ' + short(r.get('result'), 120)) if r.get('result') else ''),
+                'json': {'steps': done, 'result': r.get('result')}}
+
+    # ------------------------------------------------------------------ method
+    def method_base(self, ctx, cap, tv, cur_slot=None):
+        """The method in effect: the instrument's own method display (a slot), else the last one sent with chemlab, else the
+        contract's example method."""
+        key = (cap, tv.get('cell_name'))
+        src = 'example'
+        base = None
+        if cur_slot:
+            c = ctx.v(cur_slot)
+            if isinstance(c, dict) and c:
+                base, src = {k: v for k, v in c.items() if k in self.props(cap)}, 'instrument'
+        if base is None and key in self.memory:
+            base, src = copy.deepcopy(self.memory[key]), 'last set'
+        if base is None:
+            base = self.example(cap)
+        return base, src
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        tv = self.cell_vars(ctx, p, 'method')
+        cap = m['cap']
+        props = self.props(cap)
+        keys = m.get('keys') or {}
+        extra = m.get('extra') or {}
+        base, src = self.method_base(ctx, cap, tv, m.get('current'))
+        fixed = subst(dict(m.get('args') or {}), tv)
+        given, extra_given = {}, {}
+        for k, text in self.pairs(ctx, p):
+            if k in extra:
+                e = extra[k]
+                sch = self.props(e['cap']).get(e['arg']) or {}
+                extra_given.setdefault(e['cap'], {})[e['arg']] = self.parse_value(text, sch, e.get('kind'), k)
+                continue
+            if k in keys:                                                 # "arg": a native argument; "path": a key inside one
+                native, kind, nat = keys[k].get('arg') or keys[k]['path'], keys[k].get('kind'), False
+            elif k in props:
+                native, kind, nat = k, None, True
+            else:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 'class keys here: %s; native: %s.' % (', '.join(sorted(set(keys) | set(extra))) or 'none',
+                                                                      ', '.join(sorted(a for a in props if a not in fixed)))))
+            if native in fixed:
+                ctx.fail(invalid('FIXED_SETTING', '%s is set by --cell on %s.' % (native, self.instrument_id), 'use --cell instead.'))
+            sch = self.schema_at(cap, native) if '.' in native else (props.get(native) or {})
+            given[native] = self.parse_value(text, sch, kind, k, native=nat)
+        args = copy.deepcopy(base)
+        for native, v in given.items():
+            if '.' in native:                                             # a key inside a structured argument (a programme segment)
+                cur, ks = args, native.split('.')
+                for kk in ks[:-1]:
+                    cur = cur[int(kk)] if kk.isdigit() else cur.setdefault(kk, {})
+                cur[int(ks[-1]) if ks[-1].isdigit() else ks[-1]] = v
+            else:
+                args[native] = v
+        args.update(fixed)
+        args = {k: v for k, v in args.items() if k in props}
+        if p.get('show') or not (given or extra_given):
+            lines = ['%s method (%s%s; nothing sent):' % (self.instrument_id, {'example': 'the contract\'s example method - not set with chemlab yet',
+                                                                                'last set': 'as last set with chemlab',
+                                                                                'instrument': 'as the instrument shows it'}[src],
+                                                         (', cell %s' % tv['cell_name']) if tv else '')]
+            for k in props:
+                if k in args:
+                    lines.append('  %-30s %s%s' % (k, short(args[k], 80), ('  (%s)' % units.declared(props[k])) if units.declared(props[k]) else ''))
+            lines.append('class keys: %s' % (', '.join('%s=%s' % (k, v.get('arg') or v.get('path')) for k, v in sorted(keys.items())) or 'none'))
+            if extra:
+                lines.append('also: %s' % ', '.join('%s= (%s)' % (k, v['cap']) for k, v in sorted(extra.items())))
+            return {'text': '\n'.join(lines) + '\n', 'json': {'method': args, 'source': src, 'sent': False}}
+        missing = [a for a in self.required(cap) if a not in args]
+        if missing:
+            ctx.fail(invalid('MISSING_SETTING', 'the method of %s also needs %s.' % (self.instrument_id, ', '.join(missing)),
+                             'give them as KEY=VALUE (see `chemlab help %s method`).' % self.instrument_id))
+        self.check_args(ctx, cap, args, 'the method')
+        self.requirements(ctx, 'method', tv)
+        for xcap, xargs in extra_given.items():                          # separate settings (sample mass, probe, penetrometer)
+            spec = next(e for e in extra.values() if e['cap'] == xcap)
+            full = dict(subst(dict(spec.get('args') or {}), tv))
+            if spec.get('merge'):
+                b, _ = self.method_base(ctx, xcap, tv)
+                full.update(b)
+            full.update(xargs)
+            self.check_args(ctx, xcap, full, 'the setting')
+            ctx.call(xcap, full, 'set %s' % ', '.join('%s=%s' % (k, short(v, 30)) for k, v in xargs.items()))
+        for sub in m.get('also') or []:                                  # an instrument-wide settings call that must exist once
+            if sub.get('unless') and ctx.v(sub['unless']):
+                continue
+            b, _ = self.method_base(ctx, sub['cap'], {})
+            ctx.call(sub['cap'], b, 'instrument settings (%s, %s)' % (sub['cap'], 'never set before'))
+            if not ctx.dry_run:
+                self.memory[(sub['cap'], None)] = copy.deepcopy(b)
+        if given:                                                         # only separate settings given: the method stays as it is
+            shown = ', '.join('%s=%s' % (k, short(v, 30)) for k, v in list(given.items()) + list(fixed.items()))
+            ctx.call(cap, args, 'set the method (%s)' % shown)
+        if not ctx.dry_run and given:
+            self.memory[(cap, tv.get('cell_name'))] = copy.deepcopy(args)
+        if not ctx.dry_run:
+            for xcap, xargs in extra_given.items():
+                self.memory.setdefault((xcap, tv.get('cell_name')), {}).update(xargs)
+        else:
+            return {'text': '', 'json': {}}
+        parts = ['%s=%s' % (k, short(v, 40)) for k, v in given.items()] + \
+                ['%s=%s (%s)' % (k, short(v, 40), xc) for xc, xa in extra_given.items() for k, v in xa.items()]
+        text = 'ok: method of %s%s set: %s\n%s' % (
+            self.instrument_id, (' cell %s' % tv['cell_name']) if tv else '', ', '.join(parts),
+            '  (other keys kept from %s)\n' % {'example': 'the contract\'s example method', 'last set': 'the method last set',
+                                               'instrument': 'the instrument\'s method'}[src] if given else '')
+        return {'text': text, 'json': {'arguments': args, 'given': given, 'extra': extra_given, 'base': src}}
+
+    # ------------------------------------------------------------------ calibrate
+    def h_calibrate(self, ctx, p):
+        m = self.vmap('calibrate')
+        kinds = m.get('kinds') or {}
+        kind = p.pos[0] if p.pos else None
+        if kind is not None and '=' in kind:                              # the first KEY=VALUE, not a kind
+            p.extra.insert(0, kind)
+            kind = None
+        if kind is None:
+            if len(kinds) == 1:
+                kind = next(iter(kinds))
+            else:
+                ctx.fail(invalid('WHICH_CALIBRATION', '%s has several calibrations: %s.' % (self.instrument_id, ', '.join(kinds)),
+                                 'name one, e.g. `chemlab run %s calibrate %s KEY=VALUE ...` (see `chemlab help %s calibrate`).' % (
+                                     self.instrument_id, next(iter(kinds)), self.instrument_id)))
+        if kind not in kinds:
+            ctx.fail(invalid('UNKNOWN_CALIBRATION', '%s has no calibration %r.' % (self.instrument_id, kind),
+                             'calibrations of %s: %s.' % (self.instrument_id, ', '.join(kinds))))
+        k = kinds[kind]
+        cap = k['cap']
+        if not k.get('per_cell') and p.get('cell') is not None:
+            ctx.fail(invalid('NO_CELL', 'calibrate %s on %s is for the whole instrument; leave out --cell.' % (kind, self.instrument_id), 'leave out --cell.'))
+        tv = self.cell_vars(ctx, p, 'calibrate') if k.get('per_cell') else {}
+        props = self.props(cap)
+        aliases = k.get('keys') or {}
+        fixed = k.get('args') or {}
+        args = subst(dict(fixed), tv)
+        for key, text in self.pairs(ctx, p):
+            native = aliases.get(key, key)
+            if native not in props or native in fixed:
+                ctx.fail(invalid('UNKNOWN_SETTING', 'calibrate %s on %s has no %r.' % (kind, self.instrument_id, key),
+                                 'its data: %s.' % ', '.join(sorted(set(aliases) | {a for a in props if a not in fixed}))))
+            args[native] = self.parse_value(text, props[native], None, key, native=(key == native))
+        missing = [a for a in self.required(cap) if a not in args]
+        if missing:
+            inv = {v: kk for kk, v in aliases.items()}
+            ctx.fail(invalid('MISSING_SETTING', 'calibrate %s on %s needs %s.' % (kind, self.instrument_id, ', '.join(
+                '%s=%s' % (inv.get(a, a), units.declared(props.get(a) or {}) or (props.get(a) or {}).get('type', 'value')) for a in missing)),
+                'see `chemlab help %s calibrate` (lists as a,b,c with units).' % self.instrument_id))
+        self.check_args(ctx, cap, args, 'calibrate %s' % kind)
+        self.requirements(ctx, 'calibrate', tv)
+        r = ctx.call(cap, args, 'calibrate %s (%s)' % (kind, cap))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s calibration of %s%s entered: %s\n' % (kind, self.instrument_id, (' cell %s' % tv['cell_name']) if tv else '',
+                                                                    short(r.get('result'), 200)),
+                'json': {'kind': kind, 'arguments': args, 'result': r.get('result')}}
+
+    # ------------------------------------------------------------------ set-temp
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'set point %s is outside the range of %s (%s to %s).' % (
+                show_value(k, 'C'), self.instrument_id, show_value(lo, 'C'), show_value(hi, 'C')),
+                'give a set point from %s to %s.' % (show_value(lo, 'C'), show_value(hi, 'C'))))
+        ctx.checks.append('set point within %s..%s' % (show_value(lo, 'C'), show_value(hi, 'C')))
+        if p.get('ramp') is not None and not m.get('ramp_arg'):
+            ctx.fail(invalid('NO_RAMP', '%s takes no heating rate.' % self.instrument_id, 'leave out --ramp.'))
+        self.need_power(ctx)
+        self.requirements(ctx, 'set-temp')
+        args = {m['arg']: snap(round(self.arg_value(m['cap'], m['arg'], k), 10), self.cap_schema(m['cap'], m['arg']))}
+        if m.get('ramp_arg'):
+            r = p.get('ramp')
+            if r is None:
+                r = self.slot_si(ctx, self.slot('ramp'))
+            if r is None:
+                r = units.from_declared(self.example(m['cap']).get(m['ramp_arg']), self.arg_unit(m['cap'], m['ramp_arg']))
+            rlo, rhi = self.arg_range_si(m['cap'], m['ramp_arg'])
+            if (rlo is not None and r < rlo * (1 - 1e-9)) or (rhi is not None and r > rhi * (1 + 1e-9)):
+                ctx.fail(invalid('OUT_OF_RANGE', 'heating rate %s is outside %s..%s.' % (units.fmt(r, 'heating_rate'), units.fmt(rlo, 'heating_rate'),
+                                                                                        units.fmt(rhi, 'heating_rate')),
+                                 'give --ramp from %s to %s.' % (units.fmt(rlo, 'heating_rate'), units.fmt(rhi, 'heating_rate'))))
+            args[m['ramp_arg']] = snap(self.arg_value(m['cap'], m['ramp_arg'], r), self.cap_schema(m['cap'], m['ramp_arg']))
+        self.check_args(ctx, m['cap'], args, 'set-temp')
+        before = self.slot_si(ctx, self.slot('set'))
+        ctx.call(m['cap'], args, 'set the temperature to %s' % show_value(k, 'C'))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        tk = self.slot_si(ctx, self.slot('temp'))
+        text = 'ok: %s set point %s (was %s); now %s\n' % (self.instrument_id, show_value(k, 'C'), show_value(before, 'C'), show_value(tk, 'C'))
+        js = {'set_point_k': k, 'was_k': before, 'temperature_k': tk}
+        if p.get('wait'):
+            tol = float(self.param('tolerance_k', 0.5))
+            mx = p.get('max') or 3600.0
+            t0 = ctx.now()
+            ok = lambda v: finite(self.slot_si(ctx, self.slot('temp'))) and abs(self.slot_si(ctx, self.slot('temp')) - k) <= tol + 1e-9
+            if not ok(ctx.view):
+                ctx.advance(mx, until=ok, step='wait until %s ± %g K' % (show_value(k, 'C'), tol), poll_s=float(self.param('poll_s', 2.0)))
+            tk = self.slot_si(ctx, self.slot('temp'))
+            if not ok(ctx.view):
+                ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; %s ± %g K was not reached.' % (
+                    self.instrument_id, show_value(tk, 'C'), units.fmt_s(ctx.now() - t0), show_value(k, 'C'), tol),
+                    'wait longer (`chemlab run %s set-temp %s --wait --max 2h`) or check `chemlab run %s status`.' % (
+                        self.instrument_id, p.raw.get('TEMP'), self.instrument_id)))
+            text += 'reached %s after %s of waiting\n' % (show_value(tk, 'C'), units.fmt_s(ctx.now() - t0))
+            js.update({'reached': True, 'temperature_k': tk})
+        return {'text': text, 'json': js}
+
+    # ------------------------------------------------------------------ atmosphere
+    def h_atmosphere(self, ctx, p):
+        m = self.vmap('atmosphere')
+        keys = m.get('keys') or {}
+        pairs = self.pairs(ctx, p)
+        if not pairs:
+            ctx.fail(invalid('MISSING_SETTING', 'atmosphere needs KEY=VALUE.', 'keys on %s: %s.' % (self.instrument_id, ', '.join(keys))))
+        calls = []
+        for k, text in pairs:
+            if k not in keys:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no atmosphere setting %r.' % (self.instrument_id, k),
+                                 'settings on %s: %s.' % (self.instrument_id, ', '.join(keys) or 'none')))
+            spec = keys[k]
+            sch = self.props(spec['cap']).get(spec['arg']) or {}
+            if spec.get('kind') == 'switch':
+                v = self.parse_scalar(text, {'type': 'boolean'}, None, k)
+                order = 0 if not v else 9
+                calls.append((order, spec, {spec['arg']: v}, '%s %s' % (spec.get('word', 'gas'), 'on' if v else 'off')))
+                continue
+            si = units.parse(text, spec['kind'], what=k)
+            lo, hi = self.arg_range_si(spec['cap'], spec['arg'])
+            if (lo is not None and si < lo - 1e-12) or (hi is not None and si > hi * (1 + 1e-9) + 1e-15):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s=%s is outside %s..%s on %s.' % (k, text, units.fmt(lo, spec['kind']), units.fmt(hi, spec['kind']),
+                                                                                    self.instrument_id),
+                                 'give %s from %s to %s.' % (k, units.fmt(lo, spec['kind']), units.fmt(hi, spec['kind']))))
+            args = dict(spec.get('args') or {})
+            args[spec['arg']] = snap(self.arg_value(spec['cap'], spec['arg'], si), sch)
+            self.check_args(ctx, spec['cap'], args, 'atmosphere %s' % k)
+            calls.append((5, spec, args, 'set %s to %s' % (k, units.fmt(si, spec['kind']))))
+        self.need_power(ctx)
+        self.requirements(ctx, 'atmosphere')
+        done = []
+        for _, spec, args, label in sorted(calls, key=lambda c: c[0]):
+            ctx.call(spec['cap'], args, label)
+            done.append(label)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, '; '.join(done)), 'json': {'steps': done}}
+
+    # ------------------------------------------------------------------ start / stop / result
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        tv = self.cell_vars(ctx, p, 'start')
+        self.need_power(ctx)
+        acc = self.access_open(ctx, tv)
+        ctx.check(not acc, 'ACCESS_OPEN', 'the sample access of %s is not closed for measuring (%s).' % (self.instrument_id, ', '.join(acc[:4])),
+                  'close it: `chemlab run %s load%s`.' % (self.instrument_id, (' --cell %s' % tv['cell_name']) if tv else ''),
+                  label='access closed for measuring')
+        self.requirements(ctx, 'start', tv)
+        args = subst(dict(m.get('args') or {}), tv)
+        r = ctx.call(m['cap'], args, 'start the measurement (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        if not r.get('operation_id'):
+            return {'text': 'ok: %s started (%s)\n' % (self.instrument_id, r.get('status')), 'json': {'status': r.get('status')}}
+        job = PsJob(ctx.core, self, ctx.req, '%s measurement%s' % (self.instrument_id, (' cell %s' % tv['cell_names']) if tv else ''),
+                    m['cap'], r['operation_id'], poll_s=float(m.get('poll_s', 1.0)))
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s; then `chemlab run %s result%s`\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle, self.instrument_id, (' --cell %s' % tv['cell_name']) if tv else ''),
+            'json': {'job': job.handle, 'kind': job.kind, 'cell': tv.get('cell_name')}}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        tv = self.cell_vars(ctx, p, 'stop')
+        self.requirements(ctx, 'stop', tv)
+        ctx.call(m['cap'], subst(dict(m.get('args') or {}), tv), 'stop the measurement (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s stopped%s\n' % (self.instrument_id, (' (cell %s)' % tv['cell_name']) if tv else ''), 'json': {'cell': tv.get('cell_name')}}
+
+    def figures(self, res, tv):
+        out = []
+        for f in (self.vmap('result') or {}).get('figures') or []:
+            v = resolve(res, f['path'], tv)
+            path = f['path']
+            for k, x in (tv or {}).items():
+                path = path.replace('{%s}' % k, str(x))
+            out.append((f.get('label', f['path']), v, show_value(v, f.get('show')), path))
+        return out
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        tv = self.cell_vars(ctx, p, 'result')
+        r = ctx.call(m['cap'], subst(dict(m.get('args') or {}), tv), 'read the result (%s)' % m['cap'], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result')
+        res = res if isinstance(res, dict) else {'value': res}
+        phase = res.get(m.get('phase_key', 'phase'))
+        lines = ['%s result%s: %s' % (self.instrument_id, (' (cell %s)' % tv['cell_name']) if tv else '', phase if phase is not None else '')]
+        figs = {}
+        for label, v, shown, path in self.figures(res, tv):
+            if v is None:
+                continue
+            lines.append('  %-28s %s' % (label, shown))
+            figs[path] = v
+        if len(lines) == 1:
+            lines.append('  (no figures yet; the full record: --save-to FILE or --json)')
+        warn = res.get('warnings') if isinstance(res.get('warnings'), list) else []
+        if warn:
+            lines.append('  notes: %d model / evidence remarks in the record' % len(warn))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'phase': phase, 'figures': figs, 'result': res, 'cell': tv.get('cell_name')}}
+
+    # ------------------------------------------------------------------ analyze
+    def h_analyze(self, ctx, p):
+        m = self.vmap('analyze')
+        models = m.get('models') or {}
+        model = p.pos[0] if p.pos else None
+        if model is not None and '=' in model:
+            p.extra.insert(0, model)
+            model = None
+        if model is None:
+            if len(models) == 1:
+                model = next(iter(models))
+            else:
+                ctx.fail(invalid('WHICH_MODEL', '%s has several evaluations: %s.' % (self.instrument_id, ', '.join(models)), 'name one.'))
+        if model not in models:
+            ctx.fail(invalid('UNKNOWN_MODEL', '%s has no evaluation %r.' % (self.instrument_id, model),
+                             'evaluations of %s: %s.' % (self.instrument_id, ', '.join(models))))
+        spec = models[model]
+        cap = spec['cap']
+        tv = self.cell_vars(ctx, p, 'analyze') if spec.get('per_cell') else {}
+        props = self.props(cap)
+        aliases = spec.get('keys') or {}
+        args = copy.deepcopy(spec.get('defaults') or {})
+        given = {}
+        for key, text in self.pairs(ctx, p):
+            native = aliases.get(key, key)
+            if native not in props:
+                ctx.fail(invalid('UNKNOWN_SETTING', 'analyze %s on %s has no input %r.' % (model, self.instrument_id, key),
+                                 'its inputs: %s.' % ', '.join(sorted(set(aliases) | set(props)))))
+            given[native] = self.parse_value(text, props[native], None, key, native=(key == native))
+        fill = {a: path for a, path in (spec.get('from_result') or {}).items() if a not in given}
+        src = {}
+        early = [a for a in self.required(cap) if a not in args and a not in given and a not in fill]
+        if early:                                                         # usage errors before anything is read
+            inv = {v: kk for kk, v in aliases.items()}
+            ctx.fail(invalid('MISSING_SETTING', 'analyze %s on %s needs %s.' % (model, self.instrument_id, ', '.join(
+                '%s=%s' % (inv.get(a, a), units.declared(props.get(a) or {}) or (props.get(a) or {}).get('type', 'value')) for a in early)),
+                'see `chemlab help %s analyze` and `chemlab help %s %s`.' % (self.instrument_id, self.instrument_id, cap)))
+        if fill:
+            rm = self.vmap('result')
+            r = ctx.call(rm['cap'], subst(dict(rm.get('args') or {}), tv), 'read the result (%s)' % rm['cap'], query=True)
+            res = r.get('result') if isinstance(r.get('result'), dict) else {}
+            if not ctx.dry_run:
+                ph = res.get(rm.get('phase_key', 'phase'))
+                for a, path in fill.items():
+                    optional = path.startswith('?')                       # may be null in the record (e.g. no individual zero)
+                    path = path.lstrip('?')
+                    v = resolve(res, path, tv)
+                    if isinstance(v, list) and spec.get('drop_none', True):
+                        v = [x for x in v if x is not None]
+                    if optional and v is None and ph in ('succeeded', 'completed'):
+                        args[a] = None
+                        src[a] = 'result:' + path
+                        continue
+                    if v is None or (isinstance(v, list) and not v):
+                        ctx.fail(refused('NO_RESULT', '%s has no %s in its last result (phase %s) to evaluate.' % (self.instrument_id, path, ph),
+                                         'run a measurement first (`chemlab run %s start`, wait for it), or give %s=... yourself.' % (self.instrument_id, a)))
+                    args[a] = v
+                    src[a] = 'result:' + path
+        args.update(given)
+        missing = [a for a in self.required(cap) if a not in args and not (ctx.dry_run and a in fill)]
+        if missing:
+            inv = {v: kk for kk, v in aliases.items()}
+            ctx.fail(invalid('MISSING_SETTING', 'analyze %s on %s needs %s.' % (model, self.instrument_id, ', '.join(
+                '%s=%s' % (inv.get(a, a), units.declared(props.get(a) or {}) or (props.get(a) or {}).get('type', 'value')) for a in missing)),
+                'see `chemlab help %s analyze` and `chemlab help %s %s`.' % (self.instrument_id, self.instrument_id, cap)))
+        if not ctx.dry_run:
+            self.check_args(ctx, cap, args, 'analyze %s' % model)
+        r = ctx.call(cap, args, 'evaluate %s (%s)' % (model, cap), query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        out = r.get('result')
+        lines = ['%s %s:' % (self.instrument_id, model)]
+        if isinstance(out, dict):
+            for k2, v in out.items():
+                if isinstance(v, list) and v and all(finite(x) for x in v):
+                    lines.append('  %-28s %d values, %s .. %s' % (k2, len(v), fmt_num(min(v)), fmt_num(max(v))))
+                    continue
+                if isinstance(v, (list, dict)):
+                    continue
+                lines.append('  %-28s %s' % (k2, fmt_num(v) if isinstance(v, (int, float)) and not isinstance(v, bool) else short(v, 80)))
+        else:
+            lines.append('  %s' % short(out, 300))
+        if src:
+            lines.append('  inputs from the last result: %s' % ', '.join(sorted(src)))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'model': model, 'result': out, 'inputs_from_result': src}}
diff --git a/chemlab/chemlab/compile/classes/process_common.py b/chemlab/chemlab/compile/classes/process_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..15f682ad12dd1fb87f0020a093f44965740d21fb
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/process_common.py
@@ -0,0 +1,377 @@
+"""Helpers shared by the process classes digestion and coating: instruments that run a programme on a loaded
+sample - a method with class keys and units, a start that gives a job, stop, a result record, and short mechanical waits.
+
+ProcessAdapter (a ClassAdapter) adds:
+
+* ``need(ctx, verb)``: the member's own preconditions from the mapping's "requires", with more tests than the base
+  ("value", "not", "in", "max", "min"); message / fix may use {inst} and {value};
+* ``kv(ctx, p)``: KEY=VALUE pairs of a method verb (each key once);
+* ``parse_key(ctx, text, schema, kind, what)``: one value into the unit the native argument declares (integers stay integers);
+* ``check_args(ctx, cap, args)``: every numeric argument (and array item) inside the contract range, as a usage error with
+  friendly units before anything is sent;
+* ``program(ctx, text, kind)``: a step list ``VALUE@TIME,VALUE@TIME,...`` (e.g. ``95C@10min,95C@30min`` or ``500rpm@5s``);
+* ``example(cap)``: the contract's documented example arguments (defaults for method settings the agent leaves out);
+* ``start_job(ctx, r, cap, m)``: an OperationJob (operation_id) or the member's state job;
+* ``wait_op(ctx, r, cap, what, max_s)``: let lab time pass until a short operation (a stage move, a homing) has ended;
+* ``settle(ctx, test, what, max_s)``: let lab time pass until a slot test holds (a lid or a gap still moving);
+* ``h_start / h_stop / h_result`` and a summary built from slot roles.
+"""
+import copy
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid
+from ..jobs import RUNNING, OperationJob, StateJob
+
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+
+def _types(schema):
+    t = (schema or {}).get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+class ProcessAdapter(ClassAdapter):
+    KEYS = {}                         # class dictionary: key -> (kind or None, help)
+    ALIASES = {}                      # other spellings of a key -> the key
+
+    # ------------------------------------------------------------------ member preconditions
+    def need(self, ctx, verb, only=None):
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            if only is not None and r.get('code') not in only:
+                continue
+            got = self.slot_value(ctx, r['slot'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'in' in r:
+                ok = got in r['in']
+            elif 'not' in r:
+                ok = got not in r['not']
+            else:
+                ok = finite(got) and ('max' not in r or got <= r['max'] + 1e-12) and ('min' not in r or got >= r['min'] - 1e-12)
+            shown = units.fmt_s(got) if r.get('show') == 'duration' and finite(got) else short(got, 40)
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown),
+                      r['fix'].format(inst=self.instrument_id, value=shown), label=r.get('label', r['slot']))
+
+    def slot_value(self, ctx, spec):
+        sid, _, key = spec.partition('#')
+        v = ctx.v(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    def role(self, values, role, default=None):
+        s = self.slot(role)
+        if not s:
+            return default
+        sid, _, key = s.partition('#') if isinstance(s, str) else (s.get('slot'), None, None)
+        v = values.v(sid) if hasattr(values, 'v') else values.get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    # ------------------------------------------------------------------ values
+    def kv(self, ctx, p, verb='method'):
+        out = {}
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', '%s needs at least one KEY=VALUE.' % verb, 'see `chemlab help %s %s`.' % (self.instrument_id, verb)))
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write %s KEY=VALUE ... (see `chemlab help %s %s`).' % (verb, self.instrument_id, verb)))
+            k = self.ALIASES.get(k, k)
+            if k in out:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give each setting once.'))
+            out[k] = v
+        return out
+
+    def parse_key(self, ctx, text, schema, kind=None, what=None):
+        """Agent text -> the value in the unit the argument declares; integers stay integers; booleans and text pass."""
+        t = _types(schema)
+        if 'boolean' in t:
+            low = text.strip().lower()
+            if low in ('true', 'on', 'yes', '1'):
+                return True
+            if low in ('false', 'off', 'no', '0'):
+                return False
+            ctx.fail(invalid('BAD_VALUE', '%s=%s is not on/off.' % (what, text), 'write %s=on or %s=off.' % (what, what)))
+        if t == {'string'}:
+            enum = schema.get('enum')
+            if enum and text not in enum:
+                ctx.fail(invalid('BAD_CHOICE', '%s=%s is not allowed.' % (what, text), 'use one of: %s.' % ', '.join(map(str, enum))))
+            return text
+        if t & {'number', 'integer'}:
+            u = units.declared(schema)
+            if u and units.unit_kind(u):
+                v = units.parse_for(text, schema, 'temperature_delta' if kind == 'temperature_delta' else None, what=what)
+            else:
+                v = self._number(ctx, text, what)
+            if 'integer' in t and 'number' not in t:
+                if abs(v - round(v)) > 1e-9:
+                    ctx.fail(invalid('NOT_WHOLE', '%s=%s must be a whole number.' % (what, text), 'give a whole number.'))
+                v = int(round(v))
+            return v
+        return text
+
+    def _number(self, ctx, text, what):
+        m = re.fullmatch(_NUM, (text or '').strip())
+        if not m:
+            ctx.fail(invalid('BAD_NUMBER', '%s=%s is not a number.' % (what, text), 'write a plain number.'))
+        return float(text)
+
+    def program(self, ctx, text, kind, what='program'):
+        """'95C@10min,95C@30min' -> [(value_si, seconds), ...]."""
+        steps = []
+        for part in [x for x in text.split(',') if x.strip()]:
+            v, at, t = part.partition('@')
+            if not at:
+                ctx.fail(invalid('BAD_PROGRAM', '%s step %r is not VALUE@TIME.' % (what, part),
+                                 'write steps like %s (each: value @ time).' % ('95C@10min,95C@30min' if kind == 'temperature' else '500rpm@5s,3000rpm@30s')))
+            steps.append((units.parse(v.strip(), kind, what=what), units.parse(t.strip(), 'duration', what=what)))
+        if not steps:
+            ctx.fail(invalid('BAD_PROGRAM', '%s is empty.' % what, 'give at least one step VALUE@TIME.'))
+        return steps
+
+    @staticmethod
+    def fmt_val(v, u):
+        """A value in a declared unit as friendly text (small pressures in Pa, short times in µs / ms)."""
+        if not (u and units.unit_kind(u) and finite(v)):
+            return short(v, 40)
+        si = units.from_declared(v, u)
+        kind = units.unit_kind(u)
+        if kind == 'pressure' and abs(si) < 100:
+            return '%g Pa' % si
+        if kind == 'duration' and 0 < abs(si) < 0.01:
+            return '%g µs' % round(si * 1e6, 6) if abs(si) < 1e-3 else '%g ms' % round(si * 1e3, 6)
+        return units.fmt_declared(v, u)
+
+    def example(self, cap):
+        return copy.deepcopy((self.lab.contract['capabilities'].get(cap) or {}).get('example_arguments') or {})
+
+    def check_args(self, ctx, cap, args, label=None):
+        """Numeric arguments (and array items) inside the contract range: a usage error with friendly units, nothing sent."""
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+
+        def one(name, v, s, where):
+            if not finite(v) or not isinstance(s, dict):
+                return
+            lo, hi = s.get('minimum'), s.get('maximum')
+            if (lo is not None and v < lo - 1e-12 * max(1, abs(lo))) or (hi is not None and v > hi + 1e-12 * max(1, abs(hi))):
+                u = units.declared(s)
+                f = (lambda x: units.fmt_declared(x, u)) if u and units.unit_kind(u) else (lambda x: '%g' % x)
+                what = (label or {}).get(name, name)
+                ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (what + where, f(v), self.instrument_id,
+                                                                                                   f(lo) if lo is not None else '-',
+                                                                                                   f(hi) if hi is not None else '-'),
+                                 'give a value from %s to %s.' % (f(lo) if lo is not None else '-', f(hi) if hi is not None else '-')))
+        for name, v in args.items():
+            s = props.get(name) or {}
+            if isinstance(v, list):
+                items = s.get('items') or {}
+                for i, x in enumerate(v):
+                    if isinstance(x, dict):
+                        for k2, y in x.items():
+                            one(k2, y, (items.get('properties') or {}).get(k2), ' (step %d)' % (i + 1))
+                    else:
+                        one(name, x, items, ' (item %d)' % (i + 1))
+                n = len(v)
+                if s.get('minItems') is not None and n < s['minItems'] or s.get('maxItems') is not None and n > s['maxItems']:
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s takes %s to %s items on %s, not %d.' % ((label or {}).get(name, name), s.get('minItems', 0),
+                                                                                                s.get('maxItems', '-'), self.instrument_id, n),
+                                     'give between %s and %s items.' % (s.get('minItems', 0), s.get('maxItems', '-'))))
+            else:
+                one(name, v, s, '')
+        word = 'values within the %s ranges' % cap
+        if word not in ctx.checks:
+            ctx.checks.append(word)
+
+    # ------------------------------------------------------------------ waiting on short actions
+    def op_status(self, ctx, op):
+        from ...generic import GenericCore
+        r = ctx.core.backend.poll(ctx.caller, self.instrument_id, op)
+        return None if r is None else GenericCore._op_status(r)
+
+    def wait_op(self, ctx, r, what, max_s, done=None):
+        """After an operation started (r has operation_id): advance lab time until it ends (or ``done(view)``). Returns status."""
+        if ctx.dry_run:
+            ctx.advance(max_s, step='wait until %s' % what)
+            return 'succeeded'
+        op = r.get('operation_id')
+        state = {'st': 'running'}
+
+        def ended(view):
+            if done is not None and done(view):
+                state['st'] = 'succeeded'
+                return True
+            if op:
+                st = self.op_status(ctx, op)
+                state['st'] = st or 'running'
+                return st is not None and st not in RUNNING
+            return False
+        if not ended(ctx.view):
+            ctx.advance(max_s, until=ended, step='wait until %s' % what, poll_s=float(self.param('poll_s', 0.5)))
+        return state['st']
+
+    def settle(self, ctx, test, what, max_s=30.0):
+        """Advance lab time (at most max_s) until test(view) holds; True when it does."""
+        if ctx.dry_run:
+            ctx.advance(max_s, step='wait until %s' % what)
+            return True
+        if test(ctx.view):
+            return True
+        ctx.advance(max_s, until=test, step='wait until %s' % what, poll_s=0.25)
+        return bool(test(ctx.view))
+
+    # ------------------------------------------------------------------ run set
+    def state_job(self, ctx, m, cap):
+        """A member whose run lives in slots ("job": "state", "state": {"slot", "done", "failed", "running"})."""
+        st = m['state']
+        ad = self
+
+        def state(c):
+            v = c.v(st['slot'])
+            if v in (st.get('done') or []):
+                return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+            if v in (st.get('failed') or []):
+                return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+            return ('running' if v in (st.get('running') or [v]) else 'failed'), '%s = %s' % (st['slot'], v), {'state': v}
+        sm = ad.vmap('stop') or {}
+
+        def stop(c):
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, cap), state, stop=stop if sm.get('cap') else None,
+                        max_s=float(m.get('max_s', 7200)))
+
+    def start_job(self, ctx, r, cap, m):
+        if m.get('job') == 'state':
+            return self.state_job(ctx, m, cap)
+        if r.get('operation_id'):
+            return OperationJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, cap), cap, r['operation_id'],
+                                max_s=m.get('max_s'))
+        return None
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.start_checks(ctx, p)
+        self.need(ctx, 'start')
+        args = dict(m.get('args') or {})
+        args.update(self.start_args(ctx, p, m))
+        r = ctx.call(m['cap'], args, 'start the %s (%s)' % (self.param('run_word', 'run'), m['cap']))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.start_job(ctx, r, m['cap'], m)
+        if job is None:
+            return {'text': 'ok: %s started\n' % self.instrument_id, 'json': {'status': r.get('status')}}
+        return {'text': 'started %s: %s %s\nfollow it: chemlab status %s | chemlab wait %s [--max 2h] | chemlab cancel %s\n' % (
+            job.handle, self.instrument_id, self.param('run_word', 'run'), job.handle, job.handle, job.handle),
+            'json': {'job': job.handle, 'kind': job.kind}}
+
+    def start_checks(self, ctx, p):
+        """Class checks before start (subclasses)."""
+
+    def start_args(self, ctx, p, m):
+        return {}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ph = self.role(ctx, 'phase')
+        running = self.param('running_phases', ['running'])
+        if self.slot('phase'):
+            ctx.check(ph in running, 'NOT_RUNNING', '%s is not running (%s).' % (self.instrument_id, ph),
+                      'nothing to stop; see `chemlab run %s status`.' % self.instrument_id, label='running')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the %s' % self.param('run_word', 'run'))
+        return {'text': 'ok: %s stopped (%s)\n' % (self.instrument_id, self.role(ctx, 'phase')), 'json': {'phase': self.role(ctx, 'phase')}}
+
+    def result_args(self, ctx, p, m):
+        return dict(m.get('args') or {})
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        args = self.result_args(ctx, p, m)
+        r = ctx.call(m['cap'], args, 'read the record (%s)' % m['cap'], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        lines = ['%s %s:' % (self.instrument_id, self.param('result_word', 'record'))]
+        for k, v in list(res.items())[:int(self.param('result_lines', 14))]:
+            lines.append('  %s = %s' % (k, self.show(k, v)))
+        if len(res) > int(self.param('result_lines', 14)):
+            lines.append('  ... (%d more fields; --json or --save-to FILE for all)' % (len(res) - int(self.param('result_lines', 14))))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'result': res}}
+
+    SHOW = (('_m3_kg', None), ('_kg_m3', None), ('_m3_s', 'flow'), ('_rad_s', 'rotation'), ('_m_s', 'speed'), ('_k', 'temperature'),
+            ('_K', 'temperature'), ('_s', 'duration'), ('_m3', 'volume'), ('_kg', 'mass'), ('_m', 'length'), ('_pa', 'pressure'),
+            ('_w', 'power'), ('_W', 'power'), ('_a', 'current'))
+
+    def show(self, key, v):
+        if finite(v):
+            for suf, kind in self.SHOW:
+                if key.endswith(suf):
+                    if kind == 'pressure' and abs(v) < 100:
+                        return '%g Pa' % v
+                    return units.fmt(v, kind) if kind else short(v, 40)
+        return short(v, 140)
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        get = (lambda r: self.role(values, r))
+        p = self.slot('power')
+        if p and get('power') is False:
+            return ['power off'], {'power': False}
+        parts = []
+        ph, stage = get('phase'), get('stage')
+        if ph is not None:
+            parts.append('%s%s' % (ph, (' / %s' % stage) if stage not in (None, '', ph) else ''))
+        t, s = self.slot_si(values, self.slot('temp')), self.slot_si(values, self.slot('set'))
+        if t is not None or s is not None:
+            parts.append('%s (set %s)' % (units.fmt(t, 'temperature') if t is not None else 'n/a', units.fmt(s, 'temperature') if s is not None else 'n/a'))
+        line2 = []
+        for role, word in self.SUMMARY_FLAGS:
+            v = get(role)
+            if v is not None:
+                line2.append('%s %s' % (word, self.flag_word(role, v)))
+        el = get('elapsed')
+        if finite(el):
+            line2.append('elapsed %s' % units.fmt_s(el))
+        rem = get('remaining')
+        if finite(rem):
+            line2.append('remaining %s' % units.fmt_s(rem))
+        js = {'power': True if p is None else get('power'), 'phase': ph, 'stage': stage, 'temperature_k': t, 'set_point_k': s}
+        for role, _ in self.SUMMARY_FLAGS:
+            js[role] = get(role)
+        return ['; '.join(parts) or '(see `chemlab read %s`)' % self.instrument_id] + (['; '.join(line2)] if line2 else []), js
+
+    SUMMARY_FLAGS = ()
+
+    def flag_word(self, role, v):
+        if isinstance(v, bool):
+            return {True: 'yes', False: 'no'}[v]
+        if finite(v):
+            return '%g' % v
+        return short(v, 40)
+
+
+def positions(ctx, text, n, inst, what='position'):
+    """'1,3,5' or '1-4' or 'all' -> sorted list of 1-based positions within 1..n."""
+    out = set()
+    t = (text or '').strip().lower()
+    if t == 'all':
+        return list(range(1, n + 1))
+    for part in [x for x in t.split(',') if x.strip()]:
+        a, dash, b = part.partition('-')
+        try:
+            lo = int(a)
+            hi = int(b) if dash else lo
+        except ValueError:
+            ctx.fail(invalid('BAD_POSITION', '%r is not a %s list.' % (text, what), 'write positions like 1,3,5 or 1-4 (1 to %d).' % n))
+        if lo > hi:
+            lo, hi = hi, lo
+        out.update(range(lo, hi + 1))
+    bad = [x for x in sorted(out) if not 1 <= x <= n]
+    if not out or bad:
+        ctx.fail(invalid('BAD_POSITION', '%s has %ss 1 to %d%s.' % (inst, what, n, (', not %s' % ','.join(map(str, bad))) if bad else ''),
+                         'give %ss from 1 to %d, e.g. 1,3,5 or 1-4.' % (what, n)))
+    return sorted(out)
+
diff --git a/chemlab/chemlab/compile/classes/property_meter.py b/chemlab/chemlab/compile/classes/property_meter.py
new file mode 100644
index 0000000000000000000000000000000000000000..a5122f75bb8892bce1ecef57e2a0eeb1a3f4e646
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/property_meter.py
@@ -0,0 +1,513 @@
+"""Property-meter class ("property_meter"): benchtop meters that measure one property of a sample - density (DMA 5002),
+refractive index (Abbemat), optical rotation (P-4200), pH / conductivity (914), water activity (AQUALAB 4TE), turbidity
+(TL2300), osmolality (K-7400S), loss on drying (HX204), melting range (MP70).
+
+Verbs: set-temp T [--wait], method KEY=VALUE ..., calibrate [NAME] [--standard V], check [NAME] [--reference V], zero,
+measure [--wait] [--max T], result [--channel N] [--save-to F], clean [--volume V] [--wait], status.  Power, open/close of lids,
+stop and wait come from the shared layer (`chemlab run INST power on`, `close lid`, `stop`); `chemlab call` stays available.
+
+One native path per member (COMPILE_GUIDE 5.2): measure / result use the acquisition core (acquisition.start + the member's
+X.measure query, a declared path exception) where a member also has a touchscreen path (DMA 5002 / Abbemat measurement.start,
+HX204 measurement.*, MP70 analysis.*, P-4200 measure.start).  The 914 measures continuously: measure waits for its endpoint.
+
+Method dictionary (class keys; a member maps the ones it has, other native argument names pass through):
+
+    mode=...            measuring mode (enum of the member)          temp=T         measuring / compensation temperature
+    time=T              drying time (HX204)                           basis=wet|dry  result basis (HX204)
+    start=T end=T rate=R  melting program (MP70; rate in K/min)       criterion=...  melting criterion (MP70)
+    name=ID             stored method id (MP70; default chemlab)
+    integration=T repeats=N conc=C path=L   polarimeter (C in g/L, L in mm)
+    stability=D tolerance=dT readings=N     water-activity equilibrium criterion
+    ratio=on|off average=1|10               turbidimeter signal options
+    volume=50uL|150uL freeze=T cool=T interval=T   osmometer head and cooling program
+    probe=ph|conductance|do hold=T tolerance=F interval=T temp=T|auto   914 channel, endpoint criterion, recording, compensation
+
+Arguments the agent does not give are kept from the instrument's own state where it reports them; otherwise the verb names the
+keys it still needs (nothing is invented).  Composite verbs (calibrate, check, zero) start the member's procedure, wait for its
+run (lab time moves) and finish it (accept, decide, quartz factor) - each step is a native call listed in --dry-run.
+
+Standards: ASTM D4052 / OIML R 22 (U-tube density), ASTM D1218 + USP <831> (refractive index), USP <781> (optical rotation),
+USP <791> (pH), ISO 18787 + USP <922> (water activity), ISO 7027 / EPA 180.1 (turbidity), USP <785> (osmolality), USP <731>
+(loss on drying), USP <741> (melting range); PyLabRobot / SiLA 2 measurement services (start, result).
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+from .run_steps import EXTRA, StepAdapter, fmt_value, kind_example, parse_quantity
+
+REF = ('DMA M manual pp.24-33 (checks, adjustments), 39-42 (measuring); Abbemat 350/550 manual pp.23-36 and the 5201 product page; '
+       'P-2000 iRM manual pp.12-24 and P-4000 application notes; 914 manual pp.33-47; AQUALAB 4 manual pp.6-23, 44-52; TL2300 '
+       'manual pp.16-26; K-7400S manual pp.20-27; HX204 reference manual pp.25-62; MP70 user manual pp.17-23, 38-39')
+
+
+class PropertyMeterAdapter(StepAdapter):
+    CLASS = 'property_meter'
+    TITLE = 'property meter (measure one property of a sample)'
+    ABOUT = ('Benchtop meters that measure one property of a sample (density, refractive index, optical rotation, pH, water '
+             'activity, turbidity, osmolality, loss on drying, melting range): set the cell temperature, set the method, '
+             'calibrate and check against standards, zero (blank), measure (a job) and read the result in its units.')
+    STANDARDS = ('ASTM D4052, ASTM D1218, USP <781> <791> <922> <785> <731> <741> <831>, ISO 18787, ISO 7027 / EPA 180.1; '
+                 'SiLA 2 / PyLabRobot measurement services (start, result)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'duration', 'density', 'volume', 'angle', 'heating_rate', 'length')
+    PATH_GROUPS = (('measure', 'result'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'BUSY': ('BUSY', '{inst} is busy with a run.', 'wait for it (`chemlab run {inst} status`) or stop it (`chemlab run {inst} stop`).'),
+        'NOT_ALLOWED': ('NOT_ALLOWED', '{inst} does not allow this now ({cap}).', 'see `chemlab run {inst} status`.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def c(self, k):
+        return units.fmt(k, 'temperature') if finite(k) else 'n/a'
+
+    def busy(self, values):
+        ph = self.role(values, 'phase')
+        return ph in (self.param('busy_values') or ['running'])
+
+    def summary(self, values):
+        p = self.slot('power')
+        on = self.sval(values, p) if p else True
+        if p and not on:
+            return ['power off'], {'power': False}
+        tk, sk = self.slot_si(values, self.slot('temp')), self.slot_si(values, self.slot('set'))
+        val = self.sval(values, self.slot('value'))
+        label = self.param('value_label', 'value')
+        unit = self.param('value_unit')
+        line = '%s %s' % (label, fmt_value(val, unit, self.param('value_decimals')) if val is not None else 'none yet')
+        more = []
+        if finite(tk) or finite(sk):
+            more.append('cell %s (set %s)' % (self.c(tk), self.c(sk)))
+        ph = self.role(values, 'phase')
+        if ph is not None:
+            more.append('run %s' % ph)
+        for role in ('ready', 'sample'):
+            s = self.slot(role)
+            if s:
+                more.append('%s %s' % (self.param('%s_word' % role, role), 'yes' if self.sval(values, s) else 'no'))
+        js = {'power': True, 'value': val, 'value_label': label, 'value_unit': unit, 'temperature_k': tk, 'set_point_k': sk, 'phase': ph}
+        return [line] + (['; '.join(more)] if more else []), js
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code in ('PRECONDITION_FAILED', 'BUSY'):
+            ctx.refresh()
+            p = self.slot('power')
+            if p and not ctx.v(p):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+            if self.busy(ctx):
+                return refused('BUSY', '%s is busy with a run (%s = %s).' % (self.instrument_id, self.slot('phase'), self.role(ctx, 'phase')),
+                               'wait for it (`chemlab run %s status`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id))
+        return StepAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    def class_token(self, ctx, name, cap, arg, tokens):
+        if name == 'offset_to_standard':                       # AQUALAB: linear offset so that the standard reads its value
+            m = self.vmap('calibrate')
+            reading = self.sval(ctx, m['reading_slot'])
+            old = self.sval(ctx, m['offset_slot']) or 0.0
+            if not finite(reading):
+                ctx.fail(refused('NO_READING', '%s has no equilibrium reading of the standard.' % self.instrument_id,
+                                 'measure the standard first (`chemlab run %s measure --wait`), then calibrate.' % self.instrument_id))
+            std = tokens['standard'][0]
+            new = round(old + (std - reading), 6)
+            lo, hi = self.arg_range(cap, arg)
+            if (lo is not None and new < lo) or (hi is not None and new > hi):
+                ctx.fail(refused('OFFSET_TOO_LARGE', 'the standard reads %.4f on %s, so the offset would be %+.4f, outside %+.3f..%+.3f.' % (
+                    reading, self.instrument_id, new, lo, hi), 'check that the standard is the one you named and that the chamber is clean; '
+                    'measure it again.'))
+            ctx.notes.append('offset %+.4f -> %+.4f (the standard read %.4f, certified %.4f)' % (old, new, reading, std))
+            return new
+        if name == 'apply_if_recommended':                     # Anton Paar: apply the adjustment only when the instrument recommends it
+            if ctx.dry_run:
+                return True                                    # decided from the adjustment result when it runs
+            st = self.sval(ctx, self.vmap('calibrate')['state_slot'])
+            if not isinstance(st, dict):
+                ctx.fail(refused('NO_ADJUSTMENT', '%s has no adjustment result to apply.' % self.instrument_id, 'run calibrate again.'))
+            ok = bool(st.get('ok')) and st.get('recommend') == 'Apply'
+            if not ok:
+                tokens['_rejected'] = st
+            return ok
+        if name == 'standards_one_point':                     # Abbemat one-point adjustment: the standard at the cell temperature
+            k = self.slot_si(ctx, self.slot('set'))
+            nd = tokens['standard'][0]
+            item = (self.cap_schema(cap, arg).get('items') or {}).get('properties') or {}
+            nds = next((x for x in (item.get('nd') or {}).get('anyOf', [item.get('nd') or {}]) if x.get('type') == 'number'), {})
+            if (nds.get('minimum') is not None and nd < nds['minimum']) or (nds.get('maximum') is not None and nd > nds['maximum']):
+                ctx.fail(invalid('OUT_OF_RANGE', '--standard %s is outside nD %s..%s of %s.' % (nd, nds.get('minimum'), nds.get('maximum'), self.instrument_id),
+                                 'give the standard\'s refractive index, e.g. 1.33299 for water at 20 °C.'))
+            return [{'name': tokens.get('name') or 'Standard', 'temperature_c': round(k - 273.15, 6), 'nd': nd}]
+        return StepAdapter.class_token(self, ctx, name, cap, arg, tokens)
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        temp = Arg('TEMP', 'measuring temperature, e.g. 20C (a bare number is °C)', kind='temperature')
+        return {
+            'set-temp': Verb('set-temp', 'set the measuring-cell (or drying / furnace) temperature', self.h_set_temp, positionals=[temp],
+                             options={'wait': Opt('then wait until the cell is within the tolerance (moves lab time)', kind='flag'),
+                                      'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                             preconditions=['set point within the instrument range (contract)', 'power on', 'no run in progress',
+                                            'the member\'s own step (e.g. HX204 whole °C)'],
+                             errors=['OUT_OF_RANGE, BAD_STEP (usage)', 'POWER_OFF, BUSY, NOT_REACHED (refused)'],
+                             example='chemlab run INST set-temp 20C --wait', reference=REF),
+            'method': Verb('method', 'set the measuring method: KEY=VALUE ... (class keys with units, or native argument names)',
+                           self.h_method, variadic=('KEY=VALUE', 'a setting'),
+                           preconditions=['no run in progress', 'every value within its range; keys the instrument needs and does not report must be given'],
+                           errors=['UNKNOWN_SETTING, MISSING_SETTING, OUT_OF_RANGE, BAD_CHOICE (usage)', 'BUSY (refused)'],
+                           example='chemlab run INST method mode=density', reference=REF,
+                           details='class keys: mode temp time basis start end rate criterion name integration repeats conc path stability '
+                                   'tolerance readings ratio average volume freeze cool interval probe hold (see the class description); '
+                                   'other native argument names pass through.'),
+            'calibrate': Verb('calibrate', 'calibrate / adjust against a standard (runs the procedure, waits for it, applies it)',
+                              self.h_calibrate, positionals=[Arg('NAME', 'which adjustment, where the member has several', required=False)],
+                              options={'standard': Opt('the certified value of the standard (units of the property, e.g. 0.760, 20NTU, '
+                                                       '400mOsmol/kg, 10deg, 1.33299)', metavar='VALUE'),
+                                       'max': Opt('longest wait for the procedure (default 15 min)', kind='duration', metavar='TIME')},
+                              preconditions=['the standard is in the cell (the lab operator fills it)', 'a stable reading where the member needs one',
+                                             'warm-up done where the member needs it', 'no run in progress'],
+                              errors=['MISSING_STANDARD, OUT_OF_RANGE (usage)', 'NO_SAMPLE, UNSTABLE, WARMING_UP, CALIBRATION_REJECTED, '
+                                      'OFFSET_TOO_LARGE, RUN_FAILED (refused)'],
+                              example='chemlab run INST calibrate --standard 1.33299', reference=REF, long_action=True),
+            'check': Verb('check', 'verify the instrument against a reference standard (reports the deviation, changes nothing)',
+                          self.h_check, positionals=[Arg('NAME', 'which check / test, where the member has several', required=False)],
+                          options={'reference': Opt('the reference value (units of the property)', metavar='VALUE'),
+                                   'max': Opt('longest wait (default 15 min)', kind='duration', metavar='TIME')},
+                          preconditions=['the reference is in the cell', 'a finished / stable reading where the member needs one'],
+                          errors=['MISSING_REFERENCE, UNKNOWN_NAME (usage)', 'NO_READING, WARMING_UP, RUN_FAILED (refused)'],
+                          example='chemlab run INST check --reference 0.7893g/cm3', reference=REF, long_action=True),
+            'zero': Verb('zero', 'zero the instrument on a blank (solvent-only cell)', self.h_zero,
+                         options={'max': Opt('longest wait (default 10 min)', kind='duration', metavar='TIME')},
+                         preconditions=['the blank is in the cell', 'method set', 'lid closed, lamp on'],
+                         errors=['RUN_FAILED (refused)'], example='chemlab run INST zero', reference=REF, long_action=True),
+            'measure': Verb('measure', 'measure the sample in the cell (a job; --wait blocks and prints the result)', self.h_measure,
+                            options={'wait': Opt('wait for the result (moves lab time) and print it', kind='flag'),
+                                     'max': Opt('with --wait: the longest wait (default: the member\'s run time limit)', kind='duration', metavar='TIME')},
+                            preconditions=['power on', 'sample in the cell (the lab operator fills it)', 'lid closed', 'no run in progress',
+                                           'the member\'s own (warm-up, calibration, method, temperature)'],
+                            errors=['NO_SAMPLE, LID_OPEN, BUSY, WARMING_UP, NOT_CALIBRATED (refused)'],
+                            example='chemlab run INST measure --wait', reference=REF, long_action=True),
+            'result': Verb('result', 'the measured value with its unit (and the member\'s other result fields)', self.h_result, readonly=True,
+                           options={'save-to': save_to_opt(), 'channel': target_opt('channel')},
+                           errors=['NO_RESULT (refused: no finished measurement)'],
+                           example='chemlab run INST result --save-to result.json', reference=REF),
+            'clean': Verb('clean', 'clean the measuring cell with cleaning liquid (a job; --wait blocks)', self.h_clean,
+                          options={'volume': Opt('cleaning liquid volume (default 10mL)', kind='volume', metavar='VOLUME', default='10mL'),
+                                   'wait': Opt('wait until the cleaning ends', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait (default 10 min)', kind='duration', metavar='TIME')},
+                          preconditions=['power on', 'no run in progress', 'lid open where the member needs it'],
+                          errors=['OUT_OF_RANGE (usage)', 'LID_CLOSED, BUSY (refused)'], example='chemlab run INST clean --volume 5mL --wait',
+                          reference=REF, long_action=True),
+        }
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def need_idle(self, ctx):
+        if self.slot('phase'):
+            ctx.check(not self.busy(ctx), 'BUSY', '%s is busy with a run (%s = %s).' % (self.instrument_id, self.slot('phase'), self.role(ctx, 'phase')),
+                      'wait for it (`chemlab run %s status`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id),
+                      label='no run in progress')
+
+    # ------------------------------------------------------------------ set-temp
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'set point %s is outside the range of %s (%s to %s).' % (self.c(k), self.instrument_id, self.c(lo), self.c(hi)),
+                             'give a temperature from %s to %s.' % (self.c(lo), self.c(hi))))
+        ctx.checks.append('set point within %s..%s' % (self.c(lo), self.c(hi)))
+        step = self.param('step_c')
+        if step:
+            n = (k - 273.15) / float(step)
+            if abs(n - round(n)) > 1e-6:
+                ctx.fail(invalid('BAD_STEP', '%s takes set points in %g °C steps, not %s.' % (self.instrument_id, step, p.raw['TEMP']),
+                                 'round it, e.g. %gC.' % (round(n) * float(step))))
+        if p.get('wait') and not self.param('wait_ok', True):
+            ctx.fail(invalid('NO_WAIT', 'set-temp --wait is not available on %s: %s.' % (self.instrument_id, self.param('wait_reason', 'it heats only during a run')),
+                             'set it without --wait; the run uses it.'))
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'set-temp')
+        before = self.slot_si(ctx, self.slot('set'))
+        args = self.build_args(ctx, m, {m['arg']: round(self.arg_value(m['cap'], m['arg'], k), 10)}, 'set-temp')
+        ctx.call(m['cap'], args, 'set the temperature to %s' % self.c(k),
+                 readback=lambda v: None if not finite(self.slot_si(ctx, self.slot('set'))) or abs(self.slot_si(ctx, self.slot('set')) - k) < 0.051
+                 else 'set point %s' % self.c(self.slot_si(ctx, self.slot('set'))))
+        text = 'ok: %s set to %s (was %s); now %s\n' % (self.instrument_id, self.c(k), self.c(before), self.c(self.slot_si(ctx, self.slot('temp'))))
+        js = {'set_point_k': k, 'set_point_c': k - 273.15, 'was_k': before, 'temperature_k': self.slot_si(ctx, self.slot('temp'))}
+        if p.get('wait') and not ctx.dry_run:
+            tol = float(self.param('tolerance_k', 0.1))
+            t0 = ctx.now()
+
+            def inside(view):
+                tk = self.slot_si(ctx, self.slot('temp'))
+                return finite(tk) and abs(tk - k) <= tol + 1e-9
+            if not inside(ctx.view):
+                ctx.advance(p.get('max') or 1800.0, until=inside, step='wait until %s ± %g K' % (self.c(k), tol), poll_s=float(self.param('poll_s', 5.0)))
+            tk = self.slot_si(ctx, self.slot('temp'))
+            if not inside(ctx.view):
+                ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; %s ± %g K was not reached.' % (self.instrument_id, self.c(tk), units.fmt_s(ctx.now() - t0),
+                                                                                                    self.c(k), tol),
+                                 'wait longer (`--max 1h`) or check `chemlab run %s status`.' % self.instrument_id, changed='yes'))
+            text += 'reached %s after %s of waiting\n' % (self.c(tk), units.fmt_s(ctx.now() - t0))
+            js.update({'reached': True, 'temperature_k': tk})
+        return {'text': text, 'json': js}
+
+    # ------------------------------------------------------------------ method
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        keys = m.get('keys') or {}
+        calls = m.get('calls') or []
+        order = [c['cap'] for c in calls]
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'keys of %s: %s (see `chemlab help %s method`).' % (
+                self.instrument_id, ', '.join(keys) or 'native argument names', self.instrument_id)))
+        given = {c: {} for c in order}
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write method KEY=VALUE ... (see `chemlab help %s method`).' % self.instrument_id))
+            if k in keys:
+                spec = keys[k]
+                cap, arg = spec['cap'], spec['arg']
+                special = (spec.get('special') or {}).get(v.strip().lower())
+                if special is not None:
+                    given.setdefault(cap, {}).update(special)
+                    continue
+                given.setdefault(cap, {})[arg] = self.parse_setting(ctx, cap, arg, v, spec, k)
+                given[cap].update(spec.get('also') or {})
+            else:
+                hit = [c for c in order if k in ((ctx.cap_spec(c).get('input_schema') or {}).get('properties') or {})]
+                if not hit or not m.get('passthrough', True):
+                    names = sorted(set(keys))
+                    ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                     'settings: %s.' % ', '.join(names)))
+                given[hit[0]][k] = self.parse_setting(ctx, hit[0], k, v, {}, k)
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'method')
+        done = []
+        for spec in calls:
+            cap = spec['cap']
+            if not given.get(cap) and not spec.get('always'):
+                continue
+            args = self.build_args(ctx, spec, given.get(cap) or {}, 'method')
+            ctx.call(cap, args, 'set %s (%s)' % (cap, ', '.join('%s=%s' % (a, short(x, 30)) for a, x in args.items())))
+            done.append({'capability': cap, 'arguments': args})
+            for then in spec.get('then') or []:
+                targs = dict(then.get('args') or {})
+                for a, src in (then.get('from_args') or {}).items():
+                    targs[a] = args.get(src)
+                ctx.call(then['cap'], targs, 'then %s' % then['cap'])
+                done.append({'capability': then['cap'], 'arguments': targs})
+        text = 'ok: method of %s set: %s\n' % (self.instrument_id, '; '.join('%s %s' % (d['capability'], short(d['arguments'], 160)) for d in done))
+        return {'text': text, 'json': {'calls': done}}
+
+    # ------------------------------------------------------------------ composite procedures
+    def tokens_from(self, ctx, p, m):
+        tokens = {}
+        for opt in ('standard', 'reference'):
+            raw = p.get(opt)
+            spec = dict(m.get(opt) or {})
+            if spec.get('kind_slot'):                                   # the kind follows the selected channel (914: pH / conductance)
+                spec['kind'] = (spec.get('kinds') or {}).get(self.sval(ctx, spec['kind_slot']), 'plain')
+            if raw is not None:
+                if spec.get('fixed') is not None:
+                    v = parse_quantity(raw, spec.get('kind', 'plain'), '--' + opt)
+                    if abs(v - spec['fixed']) > 1e-9 * max(1.0, abs(spec['fixed'])):
+                        ctx.fail(invalid('WRONG_STANDARD', '%s on %s uses a %s standard, not %s.' % (
+                            ctx.verb.name, self.instrument_id, spec.get('fixed_text', spec['fixed']), raw),
+                            'fill that standard and give --%s %s (or leave it out).' % (opt, spec.get('fixed_text', spec['fixed']))))
+                tokens[opt] = (parse_quantity(raw, spec.get('kind', 'plain'), '--' + opt), spec.get('kind', 'plain'))
+                g = spec.get('grid')
+                if g and abs(tokens[opt][0] / g - round(tokens[opt][0] / g)) > 1e-6:
+                    ctx.fail(invalid('BAD_%s' % opt.upper(), '%s takes --%s values in steps of %g %s, not %s.' % (
+                        self.instrument_id, opt, g, EXTRA.get(spec.get('kind'), ('',))[0], raw),
+                        'round it, e.g. %s.' % (spec.get('example') or kind_example(spec.get('kind', 'plain')))))
+            elif spec.get('fixed') is not None:
+                tokens[opt] = (spec['fixed'], spec.get('kind', 'plain'))
+            elif spec.get('required'):
+                ctx.fail(invalid('MISSING_%s' % opt.upper(), '%s on %s needs --%s VALUE (%s).' % (ctx.verb.name, self.instrument_id, opt,
+                                                                                               spec.get('help', 'the certified value')),
+                                 'e.g. `chemlab run %s %s --%s %s`.' % (self.instrument_id, ctx.verb.name, opt, spec.get('example') or kind_example(spec.get('kind', 'plain')))))
+        if m.get('name'):
+            tokens['name'] = self.resolve_name(ctx, m['name'], p.pos[0] if p.pos else None)
+        elif p.pos:
+            ctx.fail(invalid('NO_NAMES', '%s on %s takes no NAME.' % (ctx.verb.name, self.instrument_id), 'leave out %r.' % p.pos[0]))
+        return tokens
+
+    def procedure(self, ctx, p, verb, default_max):
+        m = self.vmap(verb)
+        tokens = self.tokens_from(ctx, p, m)
+        self.need_power(ctx)
+        if m.get('idle', True):
+            self.need_idle(ctx)
+        self.requirements(ctx, verb)
+        results, reports = self.run_steps(ctx, m['steps'], tokens, verb, float(p.get('max') or m.get('max_s') or default_max))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        rejected = tokens.get('_rejected')
+        if rejected is not None:
+            ctx.fail(refused('CALIBRATION_REJECTED', 'the adjustment on %s was not accepted (the instrument recommends %s; rows %s); it was rejected '
+                                                     'and the old adjustment stays.' % (self.instrument_id, rejected.get('recommend'), short(rejected.get('rows'), 200)),
+                             'check that the standard in the cell is the one you named, at the set temperature, and that its value is right; '
+                             'then calibrate again.', changed='yes'))
+        report = {}
+        for cap, res in results:
+            if isinstance(res, dict) and res:
+                report[cap] = res
+        for slot, v in reports:
+            report[slot] = v
+        lines = ['ok: %s %s done%s' % (self.instrument_id, verb, (' (%s)' % tokens['name']) if tokens.get('name') else '')]
+        for k, v in report.items():
+            if isinstance(v, dict):
+                lines.append('  %s: %s' % (k, ', '.join('%s=%s' % (a, short(b, 60)) for a, b in list(v.items())[:12])))
+            else:
+                lines.append('  %s = %s' % (k, short(v, 200)))
+        verdict = self.verdict(report, m)
+        if verdict is not None:
+            lines.append('  verdict: %s' % ('passed' if verdict else 'NOT passed'))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'report': report, 'passed': verdict, 'name': tokens.get('name')}}
+
+    @staticmethod
+    def verdict(report, m):
+        key = m.get('pass_key')
+        if not key:
+            return None
+        for v in report.values():
+            if isinstance(v, dict) and key in v:
+                x = v[key]
+                if 'pass_value' in m:
+                    return x == m['pass_value']
+                return bool(x)
+        return None
+
+    def h_calibrate(self, ctx, p):
+        return self.procedure(ctx, p, 'calibrate', 900.0)
+
+    def h_check(self, ctx, p):
+        return self.procedure(ctx, p, 'check', 900.0)
+
+    def h_zero(self, ctx, p):
+        return self.procedure(ctx, p, 'zero', 600.0)
+
+    # ------------------------------------------------------------------ measure / result / clean
+    def h_measure(self, ctx, p):
+        m = self.vmap('measure')
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'measure')
+        tol = self.param('temp_ready_k')
+        if tol is not None:
+            tk, sk = self.slot_si(ctx, self.slot('temp')), self.slot_si(ctx, self.slot('set'))
+            ctx.check(finite(tk) and finite(sk) and abs(tk - sk) <= tol + 1e-9, 'TEMPERATURE_NOT_READY',
+                      'the cell of %s is at %s, not within %g K of the set point %s.' % (self.instrument_id, self.c(tk), tol, self.c(sk)),
+                      'wait for it: `chemlab run %s set-temp %.2fC --wait`.' % (self.instrument_id, (sk or 273.15) - 273.15), label='cell at temperature')
+        if m.get('before'):
+            self.run_steps(ctx, m['before'], {}, 'measure', 60.0)
+        if m.get('cap'):
+            ctx.call(m['cap'], dict(m.get('args') or {}), 'start the measurement (%s)' % m['cap'])
+        if ctx.dry_run:
+            if p.get('wait'):
+                ctx.plan.append({'capability': None, 'arguments': {}, 'step': 'wait for the result (%s)' % (m.get('state') or m.get('until'))['slot']})
+            return {'text': '', 'json': {}}
+        job = self.state_job(ctx, m, 'measure on %s' % self.instrument_id)
+        if not p.get('wait'):
+            return {'text': 'started %s: measure on %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s; then `chemlab run %s result`\n' % (
+                job.handle, self.instrument_id, job.handle, job.handle, job.handle, self.instrument_id), 'json': {'job': job.handle, 'kind': job.kind}}
+        r = self.follow_job(ctx, job, p.get('max') or float(m.get('max_s', 3600)))
+        if job.state != 'succeeded':
+            ctx.fail(refused('NOT_FINISHED' if job.state == 'running' else 'RUN_FAILED',
+                             'the measurement on %s is %s after %s (%s).' % (self.instrument_id, job.state, units.fmt_s(r['json'].get('waited_s') or 0),
+                                                                            r['text'].strip().splitlines()[-1][:160]),
+                             'follow it with `chemlab wait %s`, or check `chemlab run %s status`.' % (job.handle, self.instrument_id),
+                             changed='yes' if ctx.changed else 'no'))
+        res = self.read_result(ctx, None)
+        return {'text': 'measured on %s after %s of waiting:\n%s' % (self.instrument_id, units.fmt_s(r['json'].get('waited_s') or 0), res['text']),
+                'json': dict(res['json'], job=job.handle)}
+
+    def read_result(self, ctx, channel):
+        m = self.vmap('result')
+        cap = m['cap']
+        out_props = ((ctx.cap_spec(cap).get('output_schema') or {}).get('properties') or {})
+        targets = [None]
+        if m.get('channels') is not None:
+            targets = [channel] if channel is not None else list(m['channels'])
+        rows, raw = [], {}
+        for ch in targets:
+            args = dict(m.get('args') or {})
+            if ch is not None:
+                args[m['channel_arg']] = ch
+            r = ctx.call(cap, args, 'read the result (%s)' % cap, query=True)
+            res = r.get('result') if isinstance(r.get('result'), dict) else {}
+            raw['all' if ch is None else 'channel %s' % (ch + m.get('channel_base', 0))] = res
+            rows.append((ch, res))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        key, label = m['value'], m.get('label', m['value'])
+        unit = units.declared(out_props.get(key) or {}) or m.get('unit')
+        lines, values = [], {}
+        for ch, res in rows:
+            if m.get('value_keys'):
+                key = m['value_keys'].get(res.get(m.get('value_key_field', 'slot')), key)
+                unit = units.declared(out_props.get(key) or {}) or m.get('unit')
+            v = res.get(key)
+            head = '%s%s' % (label, '' if ch is None else ' (channel %d)' % (ch + m.get('channel_base', 0)))
+            extra = ['%s=%s' % (k, fmt_value(res.get(k), units.declared(out_props.get(k) or {}))) for k in m.get('extra') or [] if k in res]
+            shown = ('%.2f %%' % (v * 100.0)) if (m.get('percent') and finite(v)) else fmt_value(v, unit, m.get('decimals'))
+            lines.append('  %s = %s%s' % (head, shown, ('   ' + ', '.join(extra)) if extra else ''))
+            values['value' if ch is None else 'channel_%d' % (ch + m.get('channel_base', 0))] = v
+        if all(v is None for v in values.values()):
+            ready = rows[0][1].get(m.get('phase_key', 'phase'))
+            ctx.fail(refused('NO_RESULT', '%s has no finished %s yet (%s = %s).' % (self.instrument_id, label, m.get('phase_key', 'phase'), short(ready, 40)),
+                             'measure first: `chemlab run %s measure --wait` (the sample must be in the cell).' % self.instrument_id))
+        js = {'quantity': label, 'unit': unit, 'key': key, 'result': raw if len(raw) > 1 else rows[0][1]}
+        if m.get('percent'):
+            js['percent'] = True
+        js.update(values)
+        v0 = values.get('value')
+        if v0 is not None and unit and units.unit_kind(unit):
+            js['value_si'] = units.from_declared(v0, unit)
+        return {'text': '%s result:\n%s\n' % (self.instrument_id, '\n'.join(lines)), 'json': js}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        ch = None
+        if p.get('channel') is not None:
+            if m.get('channels') is None:
+                ctx.fail(invalid('NO_CHANNEL', '%s has no channels.' % self.instrument_id, 'leave out --channel.'))
+            base = m.get('channel_base', 0)
+            try:
+                ch = int(p.get('channel')) - base
+            except ValueError:
+                ch = None
+            if ch not in m['channels']:
+                ctx.fail(invalid('UNKNOWN_CHANNEL', '%s has no channel %r.' % (self.instrument_id, p.get('channel')),
+                                 'channels: %s.' % ', '.join(str(c + base) for c in m['channels'])))
+        return self.read_result(ctx, ch)
+
+    def h_clean(self, ctx, p):
+        m = self.vmap('clean')
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'clean')
+        v = self.arg_value(m['cap'], m['arg'], p.get('volume'))
+        self.check_range(ctx, m['cap'], m['arg'], v, 'cleaning volume')
+        ctx.call(m['cap'], {m['arg']: v}, 'start cleaning with %s' % units.fmt(p.get('volume'), 'volume'))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.state_job(ctx, m, 'cleaning on %s' % self.instrument_id)
+        if not p.get('wait'):
+            return {'text': 'started %s: cleaning on %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, self.instrument_id, job.handle, job.handle),
+                    'json': {'job': job.handle, 'kind': job.kind}}
+        r = self.follow_job(ctx, job, p.get('max') or 600.0)
+        if job.state != 'succeeded':
+            ctx.fail(refused('NOT_FINISHED' if job.state == 'running' else 'RUN_FAILED', 'cleaning on %s is %s.' % (self.instrument_id, job.state),
+                             'follow it with `chemlab wait %s`.' % job.handle, changed='yes'))
+        return {'text': 'ok: %s cleaned with %s (%s of lab time)\n' % (self.instrument_id, units.fmt(p.get('volume'), 'volume'),
+                                                                   units.fmt_s(r['json'].get('waited_s') or 0)), 'json': {'job': job.handle, 'cleaned': True}}
diff --git a/chemlab/chemlab/compile/classes/quant_analyzer.py b/chemlab/chemlab/compile/classes/quant_analyzer.py
new file mode 100644
index 0000000000000000000000000000000000000000..eec023bff0ee5778cdd6436306c51cfcd72d58b2
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/quant_analyzer.py
@@ -0,0 +1,1219 @@
+"""Calibrated quantitation class ("quant_analyzer"): elemental (CHNS, O/N/H, AOX), TOC, AAS, ICP-OES, ICP-MS, XRF, direct Hg,
+RGA, Orbitrap MS, IRMS and segmented-flow analyzers.  The operator action is "measure composition against a calibration":
+switch the excitation source on, set the method, measure a blank, measure standards, fit a curve from the standard records, use
+it, measure the sample and read the result.
+
+Verbs (members and mappings: configs/adapters/quant_analyzer.json):
+
+    source on|off [--channel CH] [--wait] [--max T]     plasma / flame / filament / ion source / carrier gas / detector lamp
+    method KEY=VALUE ... [--channel CH]                 the measurement method (class keys with units, or native names)
+    load NAME [--slot S] [--mass M] [--volume V] ...    a sample-table / autosampler / inlet entry (where the agent does it)
+    calibrate [CURVE] --from LIST [--reference REF] [--levels L,...] [--channel CH] [--species S] [--elements E,...] [--fit F]
+    use-curve CURVE[,CURVE] [--channel CH]              select the calibration used for samples
+    blank                                               the blank value used for the correction
+    measure [--slot N | --slots a,b] [--time T] [--cups LIST] [--wash T] [--wait] [--max T]   run the sample (job-N)
+    stop                                                stop the measurement
+    result [--save-to F]                                the result in plain units (mg/L, %, µg, Pa, ‰)
+    export json|csv [--save-to F]                       the instrument's own result export
+    records [ID] [--save-to F]                          stored measurement records (ids for calibrate) or one record
+    status                                              the class view
+
+power, open / close and wait come from the shared layer (configs/adapters/shared.json).
+
+Method key dictionary (each member maps the keys it has; any native argument name of the member's method capability also works,
+a bare number then takes the unit the contract declares for it):
+
+    mode (TC|IC|TOC|NPOC, CHNS|CHN, AOX|EOX|POX|TX, flame|furnace, analog|histogram|mid, ms1|ms2)   element, line (AAS)
+    lines=a,b (ICP-OES / XRF line ids)   masses=63,65 (ICP-MS / RGA MID masses)   elements=O,N,H (O/N/H)   candidates (RGA)
+    integration, stabilization, flush, dwell, combustion, feeding, window (durations: 0.4s, 2min)   repeats   dilution
+    injection (volume: 500uL)   rf (power: 1300W)   argon / flow / carrier_flow (flow: 11.7L/min)   temp (temperature: 950C)
+    voltage, current (X-ray tube: 50kV, 100uA)   energy_max (20keV)   wavelength (324.754nm)   carrier (He|Ar)
+    polarity, resolution, from / to (m/z range)   species (IRMS gas)   inlet, carrier=on|off, amplifier (IRMS)
+    method (SFA channel method id)
+
+A member's method capability that needs every argument starts from the method chemlab last sent to it (or, the first time, from
+the contract example: the documented default method), and the given keys replace values in it; the reply lists the full method
+sent.  A method set with `chemlab call` is not known to the class: give every key that matters after one.
+
+Calibration: ``calibrate`` fits a curve from the records of measured standards.  Members whose fit takes record ids get them as
+they are (multi X, DMA-80, Orbitrap, RGA with --species, LECO with --elements; LECO names its curves itself).  Members whose fit
+takes observations (TOC-L, contrAA, ICPE, ICPMS, EDX, vario EL) get them built by the class from each standard record read with
+records.read (or, for the vario EL, from the autosampler slots of the last sequence): the standard's reference id
+(--reference) and its level (--levels: the dilution factor, or the reference fraction on the EDX) come from the agent, the
+signal from the record.  The IRMS normalises the delta scale from peaks of reference materials (--from PEAK=SUBSTANCE,...); the
+SFA recalculates the curve of the last run (--fit).
+
+Class checks before anything is sent: power on; the source lit / instrument ready where the member's mapping requires it; a
+sample in place where the member reports it; ranges and enums of every converted value.  Refusals are explained with the
+member's codes (blank missing, not calibrated, curve from another method, source still on for a method change, ...).
+"""
+import json
+import re
+
+from ...generic import coerce
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import RUNNING, OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+
+ON_OFF = ['on', 'off']
+REF = 'the instrument manual (page references per member in the class mapping)'
+NUM = r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)'
+
+def parse_q(text, kind, what=None):
+    """Agent text with a unit -> SI float (units.parse; amount and xray_energy are framework kinds)."""
+    return units.parse(text, kind, what=what or kind)
+
+
+def kind_of_declared(u):
+    u = units.norm_unit(u) if u else u
+    if u == 'J':
+        return 'xray_energy'
+    k = units.unit_kind(u) if u else None
+    if k == 'length':
+        return 'wavelength'
+    return k
+
+
+def num_schema(schema):
+    if not isinstance(schema, dict):
+        return None
+    if schema.get('type') in ('number', 'integer'):
+        return schema
+    for s in schema.get('anyOf') or []:
+        if isinstance(s, dict) and s.get('type') in ('number', 'integer'):
+            return s
+    return None
+
+
+def fmt_q(si, kind):
+    if si is None or not finite(si):
+        return 'n/a'
+    if kind == 'amount':
+        for f, u in ((1.0, 'mol'), (1e-3, 'mmol'), (1e-6, 'µmol'), (1e-9, 'nmol'), (0, 'pmol')):
+            if abs(si) >= f or f == 0:
+                return '%g %s' % (round(si / (f or 1e-12), 6), u)
+    if kind == 'xray_energy':
+        return '%g keV' % round(si / 1.602176634e-16, 4)
+    if kind == 'wavelength':
+        return '%g nm' % round(si * 1e9, 4)
+    if kind in units.KINDS:
+        return units.fmt(si, kind)
+    return '%g' % si
+
+
+def conc_text(kg_m3):
+    """kg/m^3 -> mg/L (or µg/L, ng/L) text."""
+    if not finite(kg_m3):
+        return 'n/a'
+    mg_l = kg_m3 * 1000.0
+    if abs(mg_l) >= 1 or mg_l == 0:
+        return '%.4g mg/L' % mg_l
+    if abs(mg_l) >= 1e-3:
+        return '%.4g µg/L' % (mg_l * 1e3)
+    return '%.4g ng/L' % (mg_l * 1e6)
+
+
+def mass_text(kg):
+    if not finite(kg):
+        return 'n/a'
+    for f, u in ((1e-3, 'g'), (1e-6, 'mg'), (1e-9, 'µg'), (1e-12, 'ng'), (0, 'pg')):
+        if abs(kg) >= f or f == 0:
+            return '%.4g %s' % (kg / (f or 1e-15), u)
+    return '%g kg' % kg
+
+
+def frac_text(x):
+    return 'n/a' if not finite(x) else ('%.4g %%' % (x * 100) if abs(x) >= 1e-4 else '%.4g mg/kg' % (x * 1e6))
+
+
+def split_list(text):
+    return [x.strip() for x in str(text or '').split(',') if x.strip()]
+
+
+BIG = ('assays', 'active_assay', 'points', 'windows', 'scans', 'chromatogram', 'completed_records', 'energy_edges_j', 'counts',
+       'trace', 'peak', 'spectrum', 'line_observations', 'channels', 'profile')
+
+
+def trim(o, depth=0):
+    """A result without its bulky arrays (they stay available through `export json --save-to` / `records ID --save-to`)."""
+    if isinstance(o, dict):
+        return {k: ('<%d items>' % len(v) if isinstance(v, list) else '<object>') if k in BIG and isinstance(v, (list, dict)) and v
+                else trim(v, depth + 1) for k, v in o.items()}
+    if isinstance(o, list) and depth < 4:
+        return [trim(x, depth + 1) for x in o[:200]]
+    return o
+
+
+class QuantAnalyzerAdapter(ClassAdapter):
+    COVERS = {'start': 'measure'}                  # the shared start is replaced by measure
+    CLASS = 'quant_analyzer'
+    TITLE = 'calibrated quantitation'
+    ABOUT = ('Analyzers that measure composition against a calibration (CHNS, O/N/H, AOX, TOC, AAS, ICP-OES, ICP-MS, XRF, direct Hg, '
+             'RGA, Orbitrap MS, IRMS, segmented-flow): switch the source on, set the method, measure a blank and standards, fit a '
+             'curve from the standard records, use it, measure the sample and read the result in plain units.  The operator puts '
+             'samples in; the class never does.')
+    STANDARDS = ('ISO 8466-1 calibration functions; ISO/IEC 17025 terms (blank, calibration, LOD); EPA 200.7 (ICP-OES), 200.8 / '
+                 'USP <233> (ICP-MS), 7473 (direct Hg), USP <643> (TOC), ASTM D5291 (CHN), ASTM E1019 (O/N/H by fusion); '
+                 'OPC UA LADS (FunctionalUnit Start/Stop, result); SiLA 2 (observable commands -> job ids)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('duration', 'volume', 'mass', 'power', 'flow', 'temperature', 'voltage', 'current', 'wavelength')
+    PATH_GROUPS = (('measure', 'stop', 'result'),)
+    CODES = {
+        'MATCHED_BLANK_REQUIRED': ('BLANK_REQUIRED', '{inst} has no blank measured with this method ({cap} needs it).',
+                                   'have the operator put a blank in and measure it: `chemlab run {inst} measure --wait`; check with `chemlab run {inst} blank`.'),
+        'BLANK_REQUIRED': ('BLANK_REQUIRED', '{inst} has no blank measured with this method ({cap} needs it).',
+                           'measure a blank first: `chemlab run {inst} measure --wait` with the blank in place.'),
+        'CALIBRATION_REQUIRED': ('NOT_CALIBRATED', '{inst} has no calibration curve selected for this method, so it cannot quantify a sample.',
+                                 'fit one from standard records and select it: `chemlab run {inst} calibrate ...`, `chemlab run {inst} use-curve ID`.'),
+        'SAMPLE_METHOD_REQUIRED': ('NOT_READY', '{inst} has no method set or no sample in place.',
+                                   'set the method (`chemlab run {inst} method ...`); the sample is put in by the lab operator.'),
+        'PLANT_METHOD_SAMPLE_REQUIRED': ('NOT_READY', '{inst} has no method set or no sample in place.',
+                                         'set the method (`chemlab run {inst} method ...`); the sample is put in by the lab operator.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no sample in {inst}.', 'the sample is put in by the lab operator; ask for it, then measure.'),
+        'SAMPLE_REQUIRED': ('NO_SAMPLE', 'there is no sample in {inst}.', 'the sample is put in by the lab operator; ask for it, then measure.'),
+        'IGNITION_INTERLOCK': ('SOURCE_INTERLOCK', '{inst} cannot light its source now (power, method, vacuum / gas or optics not ready).',
+                               'switch power on, set the method, wait until the instrument is ready (`chemlab run {inst} status`), then `source on --wait`.'),
+        'MEASUREMENT_INTERLOCK': ('NOT_READY', '{inst} is not ready to measure (source not lit or not yet stable).',
+                                  'switch the source on and wait for it: `chemlab run {inst} source on --wait`, then measure.'),
+        'INSTRUMENT_NOT_READY': ('NOT_READY', '{inst} is not ready to measure.', 'see `chemlab run {inst} status`; wait until it is ready, then measure.'),
+        'NOT_READY': ('NOT_READY', '{inst} is not ready to measure.', 'see `chemlab run {inst} status`; wait until it is ready, then measure.'),
+        'FURNACE_NOT_READY': ('NOT_READY', 'the furnace of {inst} is not at its temperature yet.', 'wait (`chemlab run {inst} status` shows ready), then measure.'),
+        'VACUUM_OR_POWER': ('NOT_READY', '{inst} is off or its vacuum is not good enough.', 'switch it on and let it pump down; see `chemlab run {inst} status`.'),
+        'GAS_POWER_INTERLOCK': ('NOT_READY', '{inst} is off, a cover is open or the carrier gas is not ready.', 'see `chemlab run {inst} status`.'),
+        'CURVE_ID_CONFLICT': ('CURVE_EXISTS', 'a curve with this name already exists on {inst}.', 'choose another name (`chemlab run {inst} records` lists the curves).'),
+        'CURVE_ID_EXISTS': ('CURVE_EXISTS', 'a curve with this name already exists on {inst}.', 'choose another name (`chemlab run {inst} records` lists the curves).'),
+        'CURVE_EXISTS': ('CURVE_EXISTS', 'a curve with this name already exists on {inst}.', 'choose another name (`chemlab run {inst} records` lists the curves).'),
+        'UNKNOWN_CURVE': ('UNKNOWN_CURVE', '{inst} has no such curve.', 'see the curves with `chemlab run {inst} records`.'),
+        'UNKNOWN_CALIBRATION': ('UNKNOWN_CURVE', '{inst} has no such curve.', 'see the curves with `chemlab run {inst} records`.'),
+        'UNKNOWN_RECORD': ('UNKNOWN_RECORD', '{inst} has no such record.', 'list them with `chemlab run {inst} records`.'),
+        'CALIBRATION_SIGNATURE_MISMATCH': ('CURVE_MISMATCH', 'the curve or standard records on {inst} were made with another method than the current one.',
+                                           'set the method the standards were measured with, or measure the standards again with this method.'),
+        'CALIBRATION_MISMATCH': ('CURVE_MISMATCH', 'the curve or standard records on {inst} were made with another method than the current one.',
+                                 'set the method the standards were measured with, or measure the standards again with this method.'),
+        'CALIBRATION_SIGNATURE': ('CURVE_MISMATCH', 'the curve or standard records on {inst} were made with another method (or are too old).',
+                                  'measure the standards again with the current method and fit a new curve.'),
+        'CURVE_METHOD_MISMATCH': ('CURVE_MISMATCH', 'the curve on {inst} was made with another method than the current one.',
+                                  'fit a curve with the current method, or set the method of the curve.'),
+        'OBSERVATION_SIGNATURE_MISMATCH': ('CURVE_MISMATCH', 'the standard records were measured with another method than the current one.',
+                                           'measure the standards again with the current method.'),
+        'EXTINGUISH_BEFORE_METHOD_CHANGE': ('SOURCE_ON', '{inst} takes a new method only with the source off.',
+                                            'switch it off (`chemlab run {inst} source off`), set the method, switch it on again.'),
+        'MODE_CHANGE_INTERLOCK': ('SOURCE_ON', '{inst} takes a new method only with the flame off and the atomizer cold.',
+                                  'switch the flame off (`chemlab run {inst} source off`), wait until it is cold, then set the method.'),
+        'FLAME_OFF_REQUIRED': ('SOURCE_ON', 'the flame of {inst} must be off for this.', '`chemlab run {inst} source off` first.'),
+        'BUSY': ('BUSY', '{inst} is busy with a measurement.', 'wait for it (`chemlab run {inst} status`) or stop it (`chemlab run {inst} stop`).'),
+        'RUN_ACTIVE': ('BUSY', '{inst} is acquiring.', 'wait until the acquisition ends or stop it (`chemlab run {inst} stop`).'),
+        'CALIBRATION_DISTINCT_LEVELS': ('TOO_FEW_LEVELS', 'the standards give fewer than three distinct levels.',
+                                        'use at least three standards at different levels (--levels / --from).'),
+        'DEGENERATE_CALIBRATION': ('TOO_FEW_LEVELS', 'the standards give fewer than three distinct levels.', 'use at least three standards at different levels.'),
+        'CALIBRATION_RANGE': ('TOO_FEW_LEVELS', 'the standard levels do not span a usable range.', 'use at least three standards at clearly different levels.'),
+        'CALIBRATION_FIT_INVALID': ('BAD_FIT', 'the standards do not give a valid straight line (slope <= 0 or r² too low).',
+                                    'check that --from, --reference and --levels match the standards measured; repeat a bad standard.'),
+        'ACTUAL_STANDARD_REQUIRED': ('NOT_A_STANDARD', 'a record given to calibrate is not a measured standard.',
+                                     'give only records of standards (`chemlab run {inst} records ID` shows the kind).'),
+        'ACTUAL_STANDARD_RECORD_REQUIRED': ('NOT_A_STANDARD', 'a record given to calibrate is not a measured standard.',
+                                            'give only records of standards (`chemlab run {inst} records ID` shows the kind).'),
+        'INVALID_STANDARD_OBSERVATION': ('NOT_A_STANDARD', 'a record given to calibrate is not a usable standard measurement.',
+                                         'give records of complete standard measurements (`chemlab run {inst} records ID`).'),
+        'CALIBRATION_REFERENCE_REQUIRED': ('BAD_REFERENCE', 'the reference given is not a calibration reference for the method elements.',
+                                           'give the reference id of the standard actually measured (--reference).'),
+        'UNKNOWN_REFERENCE': ('BAD_REFERENCE', '{inst} does not know that reference id.', 'give the reference id of the standard (--reference).'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'POWER_REQUIRED': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        """The verb table, with the options each member's mapping uses (help shows only what this instrument takes)."""
+        tgt = {k: target_opt(k, sorted((t.get('values') or {}).keys()) or None) for k, t in (self.map.get('targets') or {}).items()}
+        wait = {'wait': Opt('wait until it is done (the job is waited for; lab time moves)', kind='flag'),
+                'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME')}
+        lm, cm, mm = self.vmap('load') or {}, self.vmap('calibrate') or {}, self.vmap('measure') or {}
+        ref = self.param('manual') or REF
+        um = self.vmap('use-curve') or {}
+        # load: the options of the member's loading style
+        lopts = {'table': {'slot': Opt('carousel slot of the boat (0..39)', metavar='N'), 'mass': Opt('weighed sample mass, e.g. 50mg', kind='mass', metavar='MASS'),
+                           'stats': Opt('include the entry in the statistics', kind='flag')},
+                 'sampler': {'slot': Opt('sampler cup RACK:POS, e.g. A:1', metavar='RACK:POS'), 'volume': Opt('cup volume (default 10 mL)', kind='volume', metavar='VOLUME')},
+                 'inject': {'amount': Opt('amount of gas injected, e.g. 4umol', metavar='AMOUNT'), 'inlet': Opt('inlet number (default the selected one)', metavar='N'),
+                            'species': Opt('analysed gas (default the magnet setting): CO2, N2, ...', metavar='GAS'),
+                            'delay': Opt('injection delay after the command', kind='duration', metavar='TIME'),
+                            'width': Opt('peak width', kind='duration', metavar='TIME')}}.get(lm.get('style'), {})
+        lex = {'table': 'chemlab run INST load soil_1 --slot 5 --mass 50mg', 'sampler': 'chemlab run INST load river_1 --slot A:1 --volume 10mL',
+               'inject': 'chemlab run INST load usgs40 --amount 4umol --delay 100s'}.get(lm.get('style'), 'chemlab run INST load NAME')
+        # calibrate: the options of the member's fit
+        cstyle = cm.get('style', 'records')
+        copts = {}
+        if cstyle != 'recalculate':
+            copts['from'] = Opt('the %s of the standards, comma separated' % cm.get('from_word', 'records'), metavar='LIST')
+        if cstyle == 'observations':
+            copts['reference'] = Opt('reference id of the standard (one for all, or one per record)', metavar='REF')
+            if cm.get('level'):
+                copts['levels'] = Opt('the %s of each standard, comma separated' % cm['level'], metavar='LIST')
+        if cm.get('channel_arg') or um.get('channel_arg'):
+            if 'channel' not in tgt:
+                copts['channel'] = Opt('analysis channel of the curve (default: the channel of the current mode)', metavar='CH')
+        if cm.get('species_arg'):
+            copts['species'] = Opt('the gas of the standard records', metavar='SPECIES')
+        if cm.get('elements_arg'):
+            copts['elements'] = Opt('elements to calibrate, comma separated (e.g. O,N,H)', metavar='LIST')
+        if cstyle == 'recalculate':
+            copts.update({'fit': Opt('curve type: linear, quadratic or auto (default auto)', metavar='FIT'),
+                          'no-drift': Opt('no drift correction', kind='flag'), 'no-carryover': Opt('no carry-over correction', kind='flag')})
+        if cstyle == 'recalculate':
+            cex = 'chemlab run INST calibrate --fit auto'
+        elif cstyle == 'records':
+            cex = 'chemlab run INST calibrate %s--from %s%s%s' % ('' if not cm.get('curve_arg') else 'cal2 ', cm.get('from_example', 'record_2,record_3,record_4'),
+                                                                 ' --species nitrogen' if cm.get('species_arg') else '', ' --elements O,N,H' if cm.get('elements_arg') else '')
+        elif cstyle == 'normalize':
+            cex = 'chemlab run INST calibrate %s --from %s' % (cm.get('curve_example', '13C'), cm.get('from_example', '2=usgs40,3=usgs41'))
+        else:
+            cex = 'chemlab run INST calibrate %s --from %s --reference %s%s' % (cm.get('curve_example', 'cal2'), cm.get('from_example', 'record_2,record_3,record_4'),
+                                                                               cm.get('reference_example', 'STD'),
+                                                                               (' --levels %s' % cm.get('levels_example', '100,10,1')) if cm.get('level') else '')
+        uopts = {'channel': copts['channel']} if 'channel' in copts else {}
+        # measure: the options of the member's run style
+        mopts = dict(wait)
+        mopts.update({'slots': {'slot': Opt('carousel slot to measure', metavar='N'), 'slots': Opt('several slots as a sequence, comma separated', metavar='LIST')},
+                      'sequence': {'slots': Opt('autosampler slots to run, comma separated', metavar='LIST'), 'slot': Opt('one autosampler slot', metavar='N')},
+                      'acquisition': {'time': Opt('acquisition time (default 5 min)', kind='duration', metavar='TIME')},
+                      'run': {'cups': Opt('the run: RACK:POS:TYPE,... (TYPE baseline|calibrant|sample|drift|...)', metavar='LIST'),
+                              'time': Opt('sample time per cup (default 60 s)', kind='duration', metavar='TIME'),
+                              'wash': Opt('wash time between cups (default 30 s)', kind='duration', metavar='TIME')}}.get(mm.get('style'), {}))
+        mex = {'slots': 'chemlab run INST measure --slot 5 --wait', 'sequence': 'chemlab run INST measure --slots 1,2,3 --wait',
+               'acquisition': 'chemlab run INST measure --time 10min', 'run': 'chemlab run INST measure --cups S:22:baseline,S:1:calibrant,A:1:sample --wait'
+               }.get(mm.get('style'), 'chemlab run INST measure --wait')
+        return {
+            'source': Verb('source', 'switch the excitation source on or off (plasma, flame, filament, ion source, carrier gas, lamp)',
+                           self.h_source, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)], options=dict(tgt, **wait),
+                           preconditions=['power on', 'the member\'s own conditions (vacuum ready, method set, optics in place, ...)'],
+                           errors=['POWER_OFF, SOURCE_INTERLOCK, VACUUM_NOT_READY, POSITIONING (refused)', 'NOT_READY (refused: not ready after --max)'],
+                           example='chemlab run INST source on --wait', reference=ref),
+            'method': Verb('method', 'set the measurement method: KEY=VALUE ... (class keys take units; see `chemlab help INST method`)',
+                           self.h_method, options=dict(tgt), variadic=('KEY=VALUE', 'a method setting'),
+                           preconditions=['every value converted to the declared unit and inside its range / enum', 'source off where the member needs it'],
+                           errors=['UNKNOWN_SETTING, OUT_OF_RANGE, BAD_CHOICE (usage)', 'SOURCE_ON (refused)'], details=self.method_help(),
+                           example='chemlab run INST method %s' % self.param('method_example', 'repeats=3'), reference=ref),
+            'load': Verb('load', 'enter a sample in the sample table / sampler / inlet (where the agent does it, not the operator)',
+                         self.h_load, positionals=[Arg('NAME', 'sample name, item id or reference id')], options=lopts,
+                         errors=['MISSING_OPTION, OUT_OF_RANGE, UNKNOWN_LOCATION (usage)'], example=lex, reference=ref),
+            'calibrate': Verb('calibrate', 'fit a calibration curve from the records of measured standards', self.h_calibrate,
+                              positionals=[Arg('CURVE', 'name of the new %s' % cm.get('curve_word', 'curve'), required=False)], options=copts,
+                              preconditions=['every record given exists (read before the fit)', 'one level per record'],
+                              errors=['MISSING_OPTION, LEVELS_MISMATCH (usage)', 'BLANK_REQUIRED, TOO_FEW_LEVELS, BAD_FIT, CURVE_EXISTS, CURVE_MISMATCH, NOT_A_STANDARD (refused)'],
+                              example=cex, reference=ref),
+            'use-curve': Verb('use-curve', 'select the calibration curve used for samples', self.h_use_curve,
+                              positionals=[Arg('CURVE', 'curve name%s' % (' (a comma list, one per gas)' if um.get('list') else ''))], options=uopts,
+                              errors=['UNKNOWN_CURVE, CURVE_MISMATCH (refused)'], example='chemlab run INST use-curve cal2', reference=ref),
+            'blank': Verb('blank', 'the blank value of the current method (measured with a blank in place)', self.h_blank, readonly=True,
+                          options={'save-to': save_to_opt()}, example='chemlab run INST blank'),
+            'measure': Verb('measure', 'measure what is in place (returns job-N; --wait waits)', self.h_measure, long_action=True, options=mopts,
+                            preconditions=['power on', 'ready / source lit where the member needs it', 'a sample in place where the member reports it'],
+                            errors=['POWER_OFF, NOT_READY, SOURCE_OFF, NO_SAMPLE (refused, checked first)', 'BLANK_REQUIRED, NOT_CALIBRATED (refused by the instrument)',
+                                    'RUN_FAILED (refused: the run ended failed / cancelled)'],
+                            example=mex, reference=ref),
+            'stop': Verb('stop', 'stop the measurement in progress', self.h_stop, example='chemlab run INST stop'),
+            'result': Verb('result', 'the result of the last measurement, in plain units', self.h_result, readonly=True,
+                           options={'save-to': save_to_opt()}, example='chemlab run INST result --save-to result.json'),
+            'export': Verb('export', 'the instrument\'s own export of the last result (json or csv)', self.h_export, readonly=True,
+                           positionals=[Arg('FORMAT', 'json or csv', choices=['json', 'csv'])], options={'save-to': save_to_opt()},
+                           example='chemlab run INST export csv --save-to result.json'),
+            'records': Verb('records', 'list stored records and curves, or show one record', self.h_records, readonly=True,
+                            positionals=[Arg('ID', 'a record id (omit to list)', required=False)], options={'save-to': save_to_opt()},
+                            example='chemlab run INST records'),
+        }
+
+    def method_help(self):
+        keys = ((self.vmap('method') or {}).get('keys')) or {}
+        if not keys:
+            return None
+        bits = []
+        for k, spec in keys.items():
+            bits.append('%s%s -> %s%s' % (k, '' if not spec.get('kind') else ' (%s)' % spec['kind'].replace('_', ' '), spec['arg'],
+                                          ' [%s]' % spec['cap'] if spec.get('cap') else ''))
+        txt = 'method keys on this instrument: ' + '; '.join(bits)
+        m = self.vmap('method') or {}
+        if m.get('passthrough', True) and m.get('cap'):
+            txt += '.\nAny other argument of %s by its own name (a bare number takes its declared unit).' % m['cap']
+        if m.get('base', 'example') == 'example':
+            txt += '\nSettings not given keep the method chemlab last sent (the first time: the documented default, the contract example).'
+        return txt
+
+    # ------------------------------------------------------------------ helpers
+    def sv(self, values, role):
+        spec = self.slot(role)
+        return None if spec is None else self.slot_value(values, spec)
+
+    def need_power(self, ctx):
+        if self.slot('power'):
+            ctx.check(bool(self.sv(ctx, 'power')), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def need_idle(self, ctx):
+        ph = self.sv(ctx, 'phase')
+        if ph is not None:
+            ctx.check(ph not in self.param('running', ['running', 'draining']), 'BUSY', '%s is measuring (%s).' % (self.instrument_id, ph),
+                      'wait for it (`chemlab run %s status`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id),
+                      label='not measuring')
+
+    def fail_usage(self, ctx, code, msg, fix):
+        ctx.fail(invalid(code, msg, fix))
+
+    def parse_value(self, ctx, text, schema, kind, what):
+        """One KEY=VALUE value -> the native value (units converted to the declared unit; range / enum checked here)."""
+        try:
+            return self._parse_value(text, schema, kind, what)
+        except Exception as exc:                                             # noqa: BLE001 - usage errors with the steps done
+            if hasattr(exc, 'kind'):
+                ctx.fail(exc)
+            raise
+
+    def _parse_value(self, text, schema, kind, what):
+        ns = num_schema(schema)
+        if ns is not None:
+            if text.strip().lower() in ('null', 'none') and schema.get('anyOf'):
+                return None
+            u = units.declared(ns)
+            dkind = kind_of_declared(u) if u else None
+            t = text.strip().replace(' ', '')
+            m = re.fullmatch(NUM + r'(.*)', t)
+            if not m:
+                raise invalid('BAD_NUMBER', '%s=%s is not a number.' % (what, text), 'write e.g. %s=1%s.' % (what, '' if not (kind or dkind) else ' with a unit'))
+            if kind or (m.group(2) and dkind):
+                k = kind or dkind
+                si = parse_q(t, k, what=what)
+                value = si if (u is None or u == 'J' or units.unit_kind(u) is None) else units.to_declared(si, u)
+            elif m.group(2):
+                raise invalid('BAD_NUMBER', '%s=%s: this setting takes a plain number.' % (what, text), 'leave out the unit.')
+            else:
+                value = float(m.group(1))
+            if ns.get('type') == 'integer':
+                if abs(value - round(value)) > 1e-9:
+                    raise invalid('NOT_WHOLE', '%s=%s must be a whole number.' % (what, text), 'give an integer.')
+                value = int(round(value))
+            if ns.get('enum'):
+                hit = [e for e in ns['enum'] if e == value or abs(e - value) <= 1e-9 * max(1.0, abs(e))]
+                if not hit:
+                    raise invalid('BAD_CHOICE', '%s=%s is not available on %s.' % (what, text, self.instrument_id),
+                                  'choose one of: %s.' % ', '.join(map(str, ns['enum'])))
+                value = hit[0]
+            lo, hi = ns.get('minimum'), ns.get('maximum')
+            if (lo is not None and value < lo - 1e-9 * max(1.0, abs(lo))) or (hi is not None and value > hi + 1e-9 * max(1.0, abs(hi))):
+                k2 = kind or dkind
+                show = (lambda x: fmt_q(units.from_declared(x, u) if u and k2 in units.KINDS else x, k2)) if k2 else (lambda x: '%g' % x)
+                rng = '%s to %s' % (show(lo) if lo is not None else '-', show(hi) if hi is not None else '-')
+                raise invalid('OUT_OF_RANGE', '%s=%s is outside the range of %s (%s).' % (what, text, self.instrument_id, rng),
+                              'give %s from %s.' % (what, rng))
+            return value
+        types = {schema.get('type')} if schema.get('type') else {x.get('type') for x in schema.get('anyOf') or []}
+        if types == {'boolean'}:
+            low = text.strip().lower()
+            if low in ('yes', 'true', 'on', '1'):
+                return True
+            if low in ('no', 'false', 'off', '0'):
+                return False
+            raise invalid('BAD_CHOICE', '%s=%s is not on or off.' % (what, text), 'write %s=on or %s=off.' % (what, what))
+        if schema.get('enum'):
+            for e in schema['enum']:
+                if str(e).lower() == text.strip().lower():
+                    return e
+            raise invalid('BAD_CHOICE', '%s=%s is not allowed on %s.' % (what, text, self.instrument_id),
+                          'choose one of: %s.' % ', '.join(map(str, schema['enum'])))
+        if 'array' in types and not text.strip().startswith('['):
+            items = schema.get('items') if schema.get('type') == 'array' else next((x.get('items') for x in schema.get('anyOf') or [] if x.get('type') == 'array'), {})
+            return [self._parse_value(x, items or {}, kind, what) for x in split_list(text)]
+        return coerce(text, schema, what)
+
+    def cap_props(self, cap):
+        return ((self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+    def example_args(self, cap):
+        return json.loads(json.dumps(self.lab.contract['capabilities'][cap].get('example_arguments') or {}))
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        def g(role):
+            return self.sv(values, role)
+        lines, js = [], {}
+        p = g('power')
+        if self.slot('power'):
+            js['power'] = bool(p)
+            if not p:
+                return ['power off'], js
+        bits = []
+        if self.slot('source'):
+            s = g('source')
+            js['source_on'] = bool(s)
+            bits.append('%s %s' % (self.param('source_word', 'source'), 'on' if s else 'off'))
+        if self.slot('ready'):
+            r = g('ready')
+            js['ready'] = bool(r)
+            bits.append('ready' if r else 'not ready')
+        ph = g('phase')
+        if ph is not None:
+            js['phase'] = ph
+            bits.append('measurement %s' % ph)
+        if bits:
+            lines.append(', '.join(bits))
+        more = []
+        if self.slot('method'):
+            js['method'] = g('method')
+            more.append('method %s' % short(js['method'], 40))
+        if self.slot('blank'):
+            js['blank_valid'] = bool(g('blank'))
+            more.append('blank %s' % ('valid' if js['blank_valid'] else 'not measured for this method'))
+        if self.slot('calibrated'):
+            js['calibrated'] = bool(g('calibrated'))
+            more.append('calibration %s' % ('selected' if js['calibrated'] else 'none'))
+        if self.slot('sample'):
+            js['sample_in_place'] = bool(g('sample'))
+            more.append('sample %s' % ('in place' if js['sample_in_place'] else 'none'))
+        if more:
+            lines.append('; '.join(more))
+        res = []
+        for name, spec in (self.map.get('result_slots') or {}).items():
+            v = self.slot_value(values, spec)
+            js[name] = v
+            if v is not None:
+                res.append('%s %s' % (name, self.show_value(v, spec.get('show') if isinstance(spec, dict) else None)))
+        if res:
+            lines.append('last result: ' + ', '.join(res))
+        warn = g('warning')
+        if warn:
+            js['warning'] = warn
+            lines.append('warning: %s' % short(warn, 80))
+        return lines or ['(see `chemlab read %s`)' % self.instrument_id], js
+
+    def slot_value(self, values, spec):
+        """A slot value: 'slot', 'slot#key.sub' or {'slot', 'key'} (a key path into an object slot)."""
+        if isinstance(spec, dict):
+            sid, key = spec['slot'], spec.get('key') or ''
+            if '#' in sid:
+                sid, _, key = sid.partition('#')
+        else:
+            sid, _, key = spec.partition('#')
+        get = values.v if hasattr(values, 'v') else values.get
+        v = get(sid)
+        for k in [x for x in key.split('.') if x] if key else []:
+            v = v.get(k) if isinstance(v, dict) else None
+        return v
+
+    @staticmethod
+    def show_value(v, how):
+        if how == 'conc':
+            return conc_text(v)
+        if how == 'mass':
+            return mass_text(v)
+        if how == 'fraction':
+            return frac_text(v)
+        if how == 'pressure':
+            return '%.4g Pa' % v if finite(v) else 'n/a'
+        return short(v, 40)
+
+    # ------------------------------------------------------------------ source
+    def h_source(self, ctx, p):
+        m = self.vmap('source')
+        want = p.pos[0] == 'on'
+        inst = self.instrument_id
+        self.need_power(ctx)
+        if want:
+            self.requirements(ctx, 'source')
+        else:
+            self.requirements(ctx, 'source-off')
+        tg = self.target_args(ctx, p)
+        cur = self.sv(ctx, 'source') if self.slot('source') and not tg else None
+        if cur is not None and bool(cur) == want:
+            text = 'ok: the %s of %s is already %s\n' % (self.param('source_word', 'source'), inst, p.pos[0])
+            if want and p.get('wait') and not ctx.dry_run:
+                text += self.wait_source(ctx, p)
+            return {'text': text, 'json': {'source': want, 'changed': False}}
+        if want:
+            self.wait_positioned(ctx, p)
+        if m.get('on_cap'):
+            cap, args = (m['on_cap'] if want else m['off_cap']), dict(m.get('args') or {})
+        else:
+            cap, args = m['cap'], dict(m.get('args') or {})
+            args[m['arg']] = want
+        args.update(tg)
+        ctx.call(cap, args, '%s %s' % (self.param('source_word', 'source'), p.pos[0]))
+        text = 'ok: %s %s %s\n' % (inst, self.param('source_word', 'source'), p.pos[0])
+        js = {'source': want, 'changed': True}
+        if want and p.get('wait') and not ctx.dry_run:
+            text += self.wait_source(ctx, p)
+            js['ready'] = True
+        elif want and self.param('source_ready') and not ctx.dry_run:
+            text += 'it takes a moment: `chemlab run %s source on --wait` or `chemlab run %s status`.\n' % (inst, inst)
+        return {'text': text, 'json': js}
+
+    def wait_positioned(self, ctx, p):
+        """Optics / burner that move by themselves after a method change (ICPE view mirror, contrAA burner) must be in place before
+        the source can be lit: with --wait the class waits for them (a few seconds), without it refuses with the reason."""
+        spec = self.param('positioned')
+        if not spec:
+            return
+        target = (spec.get('targets') or {}).get(self.slot_value(ctx, spec['by']))
+        if target is None:
+            return
+
+        def there(view):
+            v = self.slot_value(ctx, spec['slot'])
+            return finite(v) and abs(v - target) <= float(spec.get('tol', 1e-9))
+        if there(ctx.view):
+            ctx.checks.append('%s in place' % spec['what'])
+            return
+        if p.get('wait') and not ctx.dry_run:
+            ctx.advance(float(spec.get('max_s', 30.0)), until=there, step='wait until the %s is in place' % spec['what'], poll_s=0.5)
+        ctx.check(there(ctx.view), 'POSITIONING', 'the %s of %s is still moving into place after the method change.' % (spec['what'], self.instrument_id),
+                  'wait a few seconds, or use `chemlab run %s source on --wait` (it waits for it).' % self.instrument_id, label='%s in place' % spec['what'])
+
+    def wait_source(self, ctx, p):
+        spec = self.param('source_ready')
+        if not spec:
+            return ''
+        mx = p.get('max') or float(self.param('source_wait_s', 600.0))
+
+        def ok(view):
+            v = self.slot_value(ctx, spec)
+            return v == spec['value'] if 'value' in spec else bool(v)
+        t0 = ctx.now()
+        if not ok(ctx.view):
+            ctx.advance(mx, until=ok, step='wait until %s is ready' % self.param('source_word', 'source'), poll_s=float(self.param('poll_s', 1.0)))
+        if not ok(ctx.view):
+            ctx.fail(refused('NOT_READY', 'the %s of %s is not ready after %s (%s = %s).' % (
+                self.param('source_word', 'source'), self.instrument_id, units.fmt_s(ctx.now() - t0), spec['slot'], short(self.slot_value(ctx, spec), 40)),
+                'wait longer (`--max 30min`) or see `chemlab run %s status`.' % self.instrument_id))
+        settle = float(self.param('source_settle_s', 0.0))
+        if settle:
+            ctx.advance(settle, step='let it stabilise')
+        return 'ready after %s of waiting (t = %.1f s)\n' % (units.fmt_s(ctx.now() - t0), ctx.now())
+
+    # ------------------------------------------------------------------ method
+    def method_keys(self):
+        return (self.vmap('method') or {}).get('keys') or {}
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        inst = self.instrument_id
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % inst))
+        keys = self.method_keys()
+        default_cap = m.get('cap')
+        per_cap = {}                                                        # cap -> {native: value}
+        given = []
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write KEY=VALUE (see `chemlab help %s method`).' % inst))
+            if k in keys:
+                spec = keys[k]
+                cap, native, kind = spec.get('cap') or default_cap, spec['arg'], spec.get('kind')
+            elif m.get('passthrough', True) and default_cap and k in self.cap_props(default_cap):
+                cap, native, kind = default_cap, k, None
+            else:
+                names = list(keys) + ([x for x in self.cap_props(default_cap) if x not in {s['arg'] for s in keys.values()}] if default_cap and m.get('passthrough', True) else [])
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (inst, k), 'settings: %s.' % ', '.join(names)))
+            props = self.cap_props(cap)
+            if native not in props:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (inst, k), 'see `chemlab help %s method`.' % inst))
+            out = per_cap.setdefault(cap, {})
+            if native in out:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give it once.'))
+            out[native] = self.parse_value(ctx, v, props[native], kind, k)
+            given.append(k)
+        if self.param('method_needs_source_off') and self.slot('source') and self.sv(ctx, 'source'):
+            ctx.check(False, 'SOURCE_ON', '%s takes a new method only with the %s off.' % (inst, self.param('source_word', 'source')),
+                      'switch it off (`chemlab run %s source off`), set the method, then switch it on again.' % inst)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'method')
+        tg = self.target_args(ctx, p)
+        sent = {}
+        order = [default_cap] + [c for c in per_cap if c != default_cap] if default_cap in per_cap else list(per_cap)
+        for cap in order:
+            vals = per_cap[cap]
+            memory = getattr(self, '_last_method', None)
+            if memory is None:
+                memory = self._last_method = {}
+            from_memory = cap == default_cap and m.get('base', 'example') == 'example' and cap in memory
+            if from_memory:
+                base = json.loads(json.dumps(memory[cap]))
+            else:
+                base = self.example_args(cap) if (cap == default_cap and m.get('base', 'example') == 'example') else {}
+            base.update(m.get('args') or {} if cap == default_cap else {})
+            base.update(vals)
+            if cap == default_cap:
+                base.update(tg)
+            ctx.call(cap, base, 'set the method (%s)' % ', '.join('%s=%s' % (a, short(x, 30)) for a, x in vals.items()))
+            sent[cap] = base
+            if not ctx.dry_run and cap == default_cap and m.get('base', 'example') == 'example':
+                memory[cap] = json.loads(json.dumps(base))
+            notes_from = 'the method chemlab last sent' if from_memory else 'the documented default method (the contract example)'
+        text = 'ok: method of %s set (%s)\n' % (inst, ', '.join(given))
+        for cap, a in sent.items():
+            text += '  %s: %s\n' % (cap, short(a, 400))
+        if default_cap in sent and m.get('base', 'example') == 'example':
+            text += 'settings not given keep %s.\n' % notes_from
+        return {'text': text, 'json': {'calls': sent, 'given': given}}
+
+    # ------------------------------------------------------------------ load
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        inst = self.instrument_id
+        name = p.pos[0]
+        style = m.get('style')
+        self.need_idle(ctx)
+        self.requirements(ctx, 'load')
+        cap = m['cap']
+        if style == 'table':                                                 # DMA-80 sample table: slot, name, weighed amount
+            if p.get('slot') is None:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --slot N (the carousel slot of the boat).' % inst, 'add --slot N.'))
+            if p.get('mass') is None:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --mass (the weighed sample mass).' % inst, 'add e.g. --mass 50mg.'))
+            props = self.cap_props(cap)
+            slot = self.parse_value(ctx, p.get('slot'), props['slot_index'], None, '--slot')
+            lo, hi = self.arg_range_si(cap, 'amount_kg')
+            mass = p.get('mass')
+            if (lo is not None and mass < lo) or (hi is not None and mass > hi):
+                ctx.fail(invalid('OUT_OF_RANGE', '--mass %s is outside %s..%s on %s.' % (mass_text(mass), mass_text(lo), mass_text(hi), inst),
+                                 'give a mass from %s to %s.' % (mass_text(lo), mass_text(hi))))
+            args = {'slot_index': slot, 'name': name, 'amount_kg': self.arg_value(cap, 'amount_kg', mass), 'in_statistics': bool(p.get('stats'))}
+            ctx.call(cap, args, 'enter %s in slot %d (%s)' % (name, slot, mass_text(mass)))
+            return {'text': 'ok: %s slot %d = %s, %s\n' % (inst, slot, name, mass_text(mass)), 'json': {'slot': slot, 'name': name, 'mass_kg': mass}}
+        if style == 'sampler':                                               # SFA sampler: RACK:POS, item, volume
+            if not p.get('slot'):
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --slot RACK:POS (e.g. A:1, S:22).' % inst, 'add --slot A:1.'))
+            rack, pos = self.rack_pos(ctx, p.get('slot'), cap)
+            vol = p.get('volume') if p.get('volume') is not None else float(self.param('cup_volume_m3', 1e-5))
+            lo, hi = self.arg_range_si(cap, 'volume_m3')
+            if (lo is not None and vol < lo) or (hi is not None and vol > hi):
+                ctx.fail(invalid('OUT_OF_RANGE', '--volume %s is outside %s..%s.' % (units.fmt(vol, 'volume'), units.fmt(lo, 'volume'), units.fmt(hi, 'volume')),
+                                 'give a cup volume from %s to %s.' % (units.fmt(lo, 'volume'), units.fmt(hi, 'volume'))))
+            args = {'rack': rack, 'position': pos, 'item_id': name, 'volume_m3': self.arg_value(cap, 'volume_m3', vol)}
+            ctx.call(cap, args, 'put %s in cup %s:%d (%s)' % (name, rack, pos, units.fmt(vol, 'volume')))
+            return {'text': 'ok: %s cup %s:%d = %s, %s\n' % (inst, rack, pos, name, units.fmt(vol, 'volume')),
+                    'json': {'rack': rack, 'position': pos, 'item': name, 'volume_m3': vol}}
+        if style == 'inject':                                                # IRMS: inject a sample / reference material
+            props = self.cap_props(cap)
+            if p.get('amount') is None:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --amount (the amount of gas injected, e.g. 4umol).' % inst, 'add --amount 4umol.'))
+            amount = self.parse_value(ctx, p.get('amount'), props['amount_mol'], 'amount', '--amount')
+            inlet = p.get('inlet') or self.slot_value(ctx, self.slot('inlet')) if self.slot('inlet') else p.get('inlet')
+            if inlet is None:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --inlet N.' % inst, 'add --inlet 1.'))
+            inlet = self.parse_value(ctx, str(inlet), props['inlet'], None, '--inlet')
+            species = p.get('species') or (self.slot_value(ctx, self.slot('species')) if self.slot('species') else None)
+            if not species:
+                ctx.fail(invalid('MISSING_OPTION', 'load on %s needs --species (the magnet is not set to a gas yet).' % inst,
+                                 'add --species CO2, or set it first: `chemlab run %s method species=CO2`.' % inst))
+            species = self.parse_value(ctx, str(species), props['species'], None, '--species')
+            args = {'inlet': inlet, 'species': species, 'amount_mol': amount}
+            known = self.arg_enum(cap, 'substance_id')
+            if name in known:
+                args['substance_id'] = name
+            else:
+                args['sample_id'] = name
+            if p.get('delay') is not None:
+                args['delay_s'] = self.parse_value(ctx, '%rs' % p.get('delay'), props['delay_s'], 'duration', '--delay')
+            if p.get('width') is not None:
+                args['width_s'] = self.parse_value(ctx, '%rs' % p.get('width'), props['width_s'], 'duration', '--width')
+            r = ctx.call(cap, args, 'inject %s (%s, %s) at inlet %d' % (name, species, fmt_q(amount, 'amount'), inlet))
+            res = (r.get('result') or {}) if not ctx.dry_run else {}
+            text = 'ok: %s injected %s (%s of %s) at inlet %d' % (inst, name, fmt_q(amount, 'amount'), species, inlet)
+            if res.get('arrival_s') is not None:
+                text += '; the peak reaches the source at t = %.0f s (an acquisition must be running then)' % res['arrival_s']
+            return {'text': text + '\n', 'json': {'injection': res.get('injection'), 'arrival_s': res.get('arrival_s'), 'arguments': args}}
+        ctx.fail(invalid('NOT_SUPPORTED', 'load is not mapped on %s.' % inst, 'see `chemlab run %s`.' % inst))
+
+    def rack_pos(self, ctx, text, cap):
+        t = str(text).strip().upper().replace(' ', '')
+        mm = re.fullmatch(r'([A-Z]+):?(\d+)', t)
+        racks = self.arg_enum(cap, 'rack')
+        if not mm or (racks and mm.group(1) not in racks):
+            ctx.fail(invalid('UNKNOWN_LOCATION', '%r is not a sampler position of %s.' % (text, self.instrument_id),
+                             'write RACK:POS with rack %s, e.g. A:1.' % '|'.join(racks or ['A'])))
+        pos = int(mm.group(2))
+        lo, hi = self.arg_range(cap, 'position')
+        if (lo is not None and pos < lo) or (hi is not None and pos > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', 'position %d is outside %s..%s on rack %s.' % (pos, lo, hi, mm.group(1)), 'give a position from %s to %s.' % (lo, hi)))
+        return mm.group(1), pos
+
+    # ------------------------------------------------------------------ calibrate
+    def h_calibrate(self, ctx, p):
+        m = self.vmap('calibrate')
+        inst = self.instrument_id
+        style = m.get('style', 'records')
+        curve = p.pos[0] if p.pos else None
+        src = split_list(p.get('from'))
+        self.need_idle(ctx)
+        self.requirements(ctx, 'calibrate')
+        cap = m['cap']
+        props = self.cap_props(cap)
+        args = dict(m.get('args') or {})
+        if m.get('curve_arg'):
+            if not curve:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'calibrate on %s needs the name of the new %s.' % (inst, m.get('curve_word', 'curve')),
+                                 'e.g. `chemlab run %s calibrate %s --from ...`.' % (inst, m.get('curve_example', 'cal1'))))
+            args[m['curve_arg']] = self.parse_value(ctx, curve, props[m['curve_arg']], None, m.get('curve_word', 'CURVE'))
+        elif curve and style != 'recalculate':
+            ctx.fail(invalid('CURVE_NAMED_BY_INSTRUMENT', '%s names its curves itself; leave out %r.' % (inst, curve),
+                             '`chemlab run %s calibrate --from ...`; the reply gives the name of the new curve.' % inst))
+        if style != 'recalculate' and not src:
+            ctx.fail(invalid('MISSING_OPTION', 'calibrate needs --from: the %s of the standards.' % m.get('from_word', 'records'),
+                             'list them with `chemlab run %s records`; e.g. --from %s.' % (inst, m.get('from_example', 'record_2,record_3,record_4'))))
+        if style == 'records':
+            args[m['records_arg']] = src
+            if m.get('species_arg'):
+                if not p.get('species'):
+                    ctx.fail(invalid('MISSING_OPTION', 'calibrate on %s needs --species (the gas of the standards).' % inst, 'add e.g. --species nitrogen.'))
+                args[m['species_arg']] = p.get('species')
+            if m.get('elements_arg'):
+                el = split_list(p.get('elements')) or list(self.param('default_elements', []))
+                if not el:
+                    ctx.fail(invalid('MISSING_OPTION', 'calibrate on %s needs --elements.' % inst, 'add e.g. --elements O,N,H.'))
+                args[m['elements_arg']] = el
+            r = ctx.call(cap, args, 'fit a curve from %s' % ', '.join(src))
+            return self.fit_reply(ctx, r, args)
+        if style == 'normalize':                                             # IRMS: delta scale from reference-material peaks
+            stds = []
+            for item in src:
+                pk, eq, sub = item.partition('=')
+                if not eq or not pk.strip().isdigit():
+                    ctx.fail(invalid('BAD_SETTING', '%r is not PEAK=SUBSTANCE.' % item, 'write --from 2=usgs40,3=usgs41 (peaks from `chemlab run %s result`).' % inst))
+                stds.append({'peak': int(pk), 'substance_id': sub.strip()})
+            args[m['standards_arg']] = stds
+            r = ctx.call(cap, args, 'normalise %s from %d reference peaks' % (curve, len(stds)))
+            return self.fit_reply(ctx, r, args)
+        if style == 'recalculate':                                           # SFA: refit the calibrants of the last run
+            fit = p.get('fit') or self.param('default_fit', 'auto')
+            args.update({'fit': self.parse_value(ctx, fit, props['fit'], None, '--fit'), 'carryover_correction': not p.get('no-carryover'),
+                         'drift_correction': not p.get('no-drift')})
+            r = ctx.call(cap, args, 'recalculate the calibration of the last run (%s fit)' % fit)
+            return self.fit_reply(ctx, r, args)
+        # observations built from records (or vario EL slots)
+        refs = split_list(p.get('reference'))
+        if not refs:
+            ctx.fail(invalid('MISSING_OPTION', 'calibrate on %s needs --reference: the reference id of the standard(s).' % inst,
+                             'e.g. --reference %s (one for all, or one per record).' % m.get('reference_example', 'STD')))
+        if len(refs) not in (1, len(src)):
+            ctx.fail(invalid('LEVELS_MISMATCH', '--reference gives %d ids for %d standards.' % (len(refs), len(src)), 'give one id, or one per record.'))
+        refs = refs * len(src) if len(refs) == 1 else refs
+        level_word = m.get('level')
+        levels = [None] * len(src)
+        if level_word:
+            lv = split_list(p.get('levels'))
+            if not lv:
+                ctx.fail(invalid('MISSING_OPTION', 'calibrate on %s needs --levels: the %s of each standard.' % (inst, level_word),
+                                 'e.g. --levels %s.' % m.get('levels_example', '100,10,1')))
+            if len(lv) not in (1, len(src)):
+                ctx.fail(invalid('LEVELS_MISMATCH', '--levels gives %d values for %d standards.' % (len(lv), len(src)), 'give one level per record.'))
+            try:
+                levels = [float(x) for x in (lv * len(src) if len(lv) == 1 else lv)]
+            except ValueError:
+                ctx.fail(invalid('BAD_NUMBER', '--levels %s is not a list of numbers.' % p.get('levels'), 'e.g. --levels 100,10,1.'))
+        channel = None
+        if m.get('channel_arg'):
+            channel = p.get('channel') or self.method_channel(ctx)
+            if not channel:
+                ctx.fail(invalid('MISSING_OPTION', 'calibrate on %s needs --channel.' % inst, 'add --channel TC (or IC, NPOC).'))
+            args[m['channel_arg']] = self.parse_value(ctx, channel, props[m['channel_arg']], None, '--channel')
+            channel = args[m['channel_arg']]
+        if ctx.dry_run:
+            ctx.plan.append({'capability': m.get('read_cap', 'records.read'), 'arguments': {'from': src}, 'step': 'read the %d standard records' % len(src)})
+            ctx.plan.append({'capability': cap, 'arguments': dict(args, observations='<built from the records when it runs>'), 'step': 'fit the curve'})
+            ctx.unchecked.append('the records exist and are standards measured with the current method')
+            return {'text': '', 'json': {}, 'unchecked': ['the records exist and are standards measured with the current method']}
+        obs = self.observations(ctx, m, src, refs, levels, channel)
+        if not obs:
+            ctx.fail(refused('NO_OBSERVATIONS', 'the records %s give no standard signal to fit.' % ', '.join(src),
+                             'check them with `chemlab run %s records ID`.' % inst))
+        args[m['observations_arg']] = obs
+        r = ctx.call(cap, args, 'fit the curve from %d observations' % len(obs))
+        return self.fit_reply(ctx, r, args, n_obs=len(obs))
+
+    def method_channel(self, ctx):
+        mode = self.sv(ctx, 'method')
+        ch = (self.param('channel_of_mode') or {}).get(mode)
+        return ch
+
+    def observations(self, ctx, m, src, refs, levels, channel):
+        """Fit observations from the standard records, in the shape of the member's fit capability."""
+        obs_style = m['observation']
+        out = []
+        if obs_style == 'vario_areas':                                       # slots of the last sequence (result.read)
+            r = ctx.call(m.get('read_cap', 'result.read'), {}, 'read the last sequence', query=True)
+            assays = {str(a.get('slot_index')): a for a in (r.get('result') or {}).get('completed_assays') or []}
+            el = ctx.args.pos[0] if ctx.args.pos else None
+            for s, ref in zip(src, refs):
+                a = assays.get(s)
+                if a is None:
+                    ctx.fail(refused('UNKNOWN_RECORD', 'slot %s was not measured in the last sequence of %s.' % (s, self.instrument_id),
+                                     'measure the standards first (`chemlab run %s measure --slots 1,2,3 --wait`); slots measured: %s.' % (
+                                         self.instrument_id, ', '.join(sorted(assays)) or 'none')))
+                area = (a.get('areas_s') or {}).get(el)
+                out.append({'reference_id': ref, 'sample_mass_kg': a.get('mass_kg'), 'peak_area_s': area})
+            return out
+        read_cap = m.get('read_cap', 'records.read')
+        for rid, ref, lv in zip(src, refs, levels):
+            r = ctx.call(read_cap, {'record_id': rid}, 'read record %s' % rid, query=True)
+            rec = r.get('result') or {}
+            if obs_style == 'line_integrals':
+                out.append({'reference_id': ref, 'dilution_factor': lv,
+                            'line_integrals': [{'line_id': c['line_id'], 'integrated_intensity_s': c['mean_integrated_intensity_s']}
+                                               for c in rec.get('concentrations') or [] if finite(c.get('mean_integrated_intensity_s'))]})
+            elif obs_style == 'mass_channels':
+                for a in rec.get('assays') or []:
+                    out.append({'reference_id': ref, 'dilution_factor': lv, 'channels': a.get('channels') or []})
+            elif obs_style == 'toc_peaks':
+                for a in rec.get('assays') or []:
+                    if channel and a.get('channel') != channel:
+                        continue
+                    out.append({'reference_id': ref, 'reference_channel': a.get('channel'), 'injection_volume_m3': a.get('injection_volume_m3'),
+                                'dilution_factor': lv, 'peak_area_s': a.get('peak_area_s')})
+            elif obs_style == 'aa_absorbance':
+                for a in rec.get('assays') or []:
+                    out.append({'reference_id': ref, 'dilution_factor': lv, 'injection_volume_m3': a.get('injection_volume_m3'),
+                                'integrated_absorbance_s': a.get('integrated_absorbance_s')})
+            elif obs_style == 'xrf_lines':
+                for a in rec.get('assays') or []:
+                    out.append({'acquisition_signature': rec.get('acquisition_signature'), 'reference_id': ref, 'reference_fraction': lv,
+                                'line_observations': [{k: x.get(k) for k in ('line_id', 'net_rate_s_inv', 'roi_low_j', 'roi_high_j')}
+                                                      for x in a.get('line_observations') or []]})
+        return out
+
+    def fit_reply(self, ctx, r, args, n_obs=None):
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        name = res.get('curve_id') or res.get('isotope') or args.get('element') or res.get('run_id')
+        r2 = res.get('r_squared') or res.get('minimum_r_squared')
+        text = 'ok: %s calibrated: %s' % (self.instrument_id, name)
+        if finite(r2):
+            text += ', r² = %.6f' % r2
+        if n_obs:
+            text += ' (%d observations)' % n_obs
+        text += '\n'
+        if self.supported('use-curve') and res.get('curve_id'):
+            text += 'use it for samples: `chemlab run %s use-curve %s`\n' % (self.instrument_id, res['curve_id'])
+        return {'text': text, 'json': {'curve': name, 'r_squared': r2, 'fit': trim(res)}}
+
+    # ------------------------------------------------------------------ use-curve
+    def h_use_curve(self, ctx, p):
+        m = self.vmap('use-curve')
+        inst = self.instrument_id
+        cap = m['cap']
+        props = self.cap_props(cap)
+        self.need_idle(ctx)
+        args = dict(m.get('args') or {})
+        ids = split_list(p.pos[0])
+        if m.get('list'):
+            args[m['arg']] = ids
+        else:
+            if len(ids) != 1:
+                ctx.fail(invalid('ONE_CURVE', '%s uses one curve at a time.' % inst, 'give one curve name.'))
+            args[m['arg']] = ids[0]
+        if m.get('channel_arg'):
+            ch = p.get('channel')
+            if not ch and not ctx.dry_run:                                   # the channel the curve was fitted for
+                r = ctx.call(m.get('read_cap', 'calibration.read'), {'curve_id': ids[0]}, 'read curve %s' % ids[0], query=True)
+                try:
+                    ch = json.loads((r.get('result') or {}).get('curve_json') or '{}').get('channel')
+                except ValueError:
+                    ch = None
+            if not ch:
+                ch = self.method_channel(ctx)
+            if not ch:
+                ctx.fail(invalid('MISSING_OPTION', 'use-curve on %s needs --channel.' % inst, 'add --channel TC (or IC, NPOC).'))
+            args[m['channel_arg']] = self.parse_value(ctx, ch, props[m['channel_arg']], None, '--channel')
+        ctx.call(cap, args, 'use curve %s' % ', '.join(ids))
+        return {'text': 'ok: %s uses %s%s\n' % (inst, ', '.join(ids), (' for %s' % args[m['channel_arg']]) if m.get('channel_arg') else ''),
+                'json': {'curves': ids}}
+
+    # ------------------------------------------------------------------ blank
+    def h_blank(self, ctx, p):
+        m = self.vmap('blank')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the blank', query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        valid = res.get('valid')
+        if valid is None and 'valid_channels' in res:
+            valid = bool(res['valid_channels'])
+        blank = res.get('blank_json')
+        try:
+            bj = json.loads(blank) if isinstance(blank, str) else blank
+        except ValueError:
+            bj = blank
+        text = '%s blank: %s\n' % (self.instrument_id, 'valid for the current method' if valid else 'none measured for the current method')
+        if res.get('valid_channels') is not None:
+            text += '  valid channels: %s\n' % (', '.join(res['valid_channels']) or 'none')
+        if bj not in (None, {}, 'null'):
+            text += '  value: %s\n' % short(bj, 300)
+        return {'text': text, 'json': {'valid': valid, 'blank': bj, 'raw': trim(res)}}
+
+    # ------------------------------------------------------------------ measure / stop
+    def h_measure(self, ctx, p):
+        m = self.vmap('measure')
+        inst = self.instrument_id
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, 'measure')
+        cap = m['cap']
+        args = dict(m.get('args') or {})
+        style = m.get('style')
+        pre = []
+        what = 'measurement'
+        if style == 'slots':                                                 # DMA-80: one slot or a sequence
+            if p.get('slots'):
+                cap = m['slots_cap']
+                props = self.cap_props(cap)
+                args[m['slots_arg']] = self.parse_value(ctx, p.get('slots'), props[m['slots_arg']], None, '--slots')
+                what = 'sequence of slots %s' % p.get('slots')
+            else:
+                if p.get('slot') is None:
+                    ctx.fail(invalid('MISSING_OPTION', 'measure on %s needs --slot N (or --slots a,b,c).' % inst, 'add --slot N.'))
+                props = self.cap_props(cap)
+                args[m['slot_arg']] = self.parse_value(ctx, p.get('slot'), props[m['slot_arg']], None, '--slot')
+                what = 'slot %s' % p.get('slot')
+        elif style == 'sequence':                                            # vario EL: configure the sequence, then start it
+            sl = p.get('slots') or p.get('slot')
+            if not sl:
+                ctx.fail(invalid('MISSING_OPTION', 'measure on %s needs --slots a,b,c (the autosampler slots to run).' % inst, 'add --slots 0,1,2.'))
+            props = self.cap_props(m['configure_cap'])
+            pre.append((m['configure_cap'], {m['slots_arg']: self.parse_value(ctx, sl, props[m['slots_arg']], None, '--slots')}, 'set the sequence to slots %s' % sl))
+            what = 'sequence of slots %s' % sl
+        elif style == 'acquisition':                                         # IRMS: a timed acquisition
+            props = self.cap_props(cap)
+            t = p.get('time') if p.get('time') is not None else float(self.param('default_time_s', 300.0))
+            args['duration_s'] = self.parse_value(ctx, '%rs' % t, props['duration_s'], 'duration', '--time')
+            pulses = self.param('reference_pulses')
+            if pulses:
+                args['reference_pulses'] = [dict(x) for x in pulses if x['start_s'] + x['duration_s'] <= args['duration_s']]
+            what = 'acquisition of %s' % units.fmt_s(args['duration_s'])
+        elif style == 'run':                                                 # SFA: a run over sampler cups
+            props = self.cap_props(cap)
+            if not p.get('cups'):
+                ctx.fail(invalid('MISSING_OPTION', 'measure on %s needs --cups RACK:POS:TYPE,... (the run order).' % inst,
+                                 'e.g. --cups S:22:baseline,S:1:calibrant,S:2:calibrant,S:3:calibrant,A:1:sample,S:22:baseline.'))
+            cups = []
+            types = ((props['cups'].get('items') or {}).get('properties') or {}).get('type', {}).get('enum') or []
+            for item in split_list(p.get('cups')):
+                parts = item.split(':')
+                if len(parts) != 3:
+                    ctx.fail(invalid('BAD_CUP', '%r is not RACK:POS:TYPE.' % item, 'e.g. A:1:sample.'))
+                rack, pos = self.rack_pos(ctx, parts[0] + ':' + parts[1], m.get('rack_cap', 'sampler.load'))
+                if types and parts[2] not in types:
+                    ctx.fail(invalid('BAD_CHOICE', 'cup type %r is not allowed.' % parts[2], 'types: %s.' % ', '.join(types)))
+                cups.append({'rack': rack, 'position': pos, 'type': parts[2]})
+            args['cups'] = cups
+            args['sample_s'] = self.parse_value(ctx, '%rs' % (p.get('time') if p.get('time') is not None else float(self.param('sample_s', 60.0))),
+                                                props['sample_s'], 'duration', '--time')
+            args['wash_s'] = self.parse_value(ctx, '%rs' % (p.get('wash') if p.get('wash') is not None else float(self.param('wash_s', 30.0))),
+                                              props['wash_s'], 'duration', '--wash')
+            what = 'run of %d cups' % len(cups)
+        else:
+            if p.get('slot') or p.get('slots') or p.get('cups'):
+                ctx.fail(invalid('NO_SLOTS', '%s measures the sample in place (no autosampler positions).' % inst, 'leave out --slot / --slots / --cups.'))
+        for c, a, step in pre:
+            ctx.call(c, a, step)
+        r = ctx.call(cap, args, 'start the %s (%s)' % (what, cap))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r, cap, what)
+        if job is None:
+            return {'text': 'ok: %s %s done\n' % (inst, what), 'json': {'status': r.get('status')}}
+        if p.get('wait'):
+            w = job.wait_reply(ctx.core, ctx.req, p.get('max') or float(self.param('max_run_s', 3600.0)))
+            ctx.refresh()
+            st = w['json'].get('status')
+            text = '%s: %s on %s\n%s' % (job.handle, what, inst, w['text'])
+            js = dict(w['json'], job=job.handle)
+            if st == 'succeeded':
+                lines, rows = self.quick_result(ctx)
+                text += lines
+                js['rows'] = rows
+            elif st not in RUNNING:
+                warn = self.sv(ctx, 'warning')
+                ctx.fail(refused('RUN_FAILED', 'the %s on %s ended %s%s.' % (what, inst, st, (' (%s)' % short(warn, 80)) if warn else ''),
+                                 'see `chemlab run %s status`, fix the cause and measure again.' % inst, detail={'job': job.handle}))
+            return {'text': text, 'json': js}
+        return {'text': 'started %s: %s on %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, what, inst, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def make_job(self, ctx, m, r, cap, what):
+        if r.get('operation_id') and m.get('job', 'operation') == 'operation':
+            return OperationJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), cap, r['operation_id'],
+                                max_s=float(self.param('max_run_s', 3600.0)))
+        st = m.get('state')
+        if not st:
+            return None
+        ad = self
+
+        def state(c):
+            v = ad.slot_value(c, st)
+            if st.get('present'):                                            # running while the object has its key (IRMS acquisition)
+                running = isinstance(v, dict) and st['present'] in v
+                return ('running' if running else 'succeeded'), 'acquisition %s' % ('running' if running else 'done'), {'state': v}
+            if v in (st.get('done') or []):
+                return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+            if v in (st.get('failed') or []):
+                return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+            return 'running', '%s = %s' % (st['slot'], v), {'state': v}
+        sm = self.vmap('stop')
+
+        def stop(c):
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), state, stop=stop if sm else None,
+                        max_s=float(self.param('max_run_s', 3600.0)), poll_s=float(self.param('poll_s', 1.0)))
+
+    def quick_result(self, ctx):
+        if not self.supported('result'):
+            return '', []
+        m = self.vmap('result')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the result', query=True)
+        rows, _ = self.rows(r.get('result') or {})
+        lines = ''.join('  %s\n' % self.row_text(x) for x in rows[:12])
+        if lines:
+            lines = 'result:\n' + lines
+        return lines, rows
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        ph = self.sv(ctx, 'phase')
+        if self.slot('phase') and ph not in self.param('running', ['running', 'draining']):
+            return {'text': 'ok: nothing to stop on %s (measurement %s)\n' % (self.instrument_id, ph), 'json': {'changed': False}}
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the measurement')
+        return {'text': 'ok: %s stopped (%s)\n' % (self.instrument_id, self.sv(ctx, 'phase') if self.slot('phase') else 'stop sent'),
+                'json': {'changed': True}}
+
+    # ------------------------------------------------------------------ result / export / records
+    def rows(self, res):
+        """The member's result -> [{analyte, value, unit, text, quality}] in plain units, and a short status."""
+        style = (self.vmap('result') or {}).get('style')
+        rows = []
+        if style == 'icp_lines':
+            for c in res.get('concentrations') or []:
+                rows.append(dict(analyte='%s (%s)' % (c.get('element'), c.get('line_id') or c.get('isotope_id')), value=c.get('concentration_kg_m3'),
+                                 unit='kg/m^3', text=conc_text(c.get('concentration_kg_m3')), quality=c.get('quality')))
+        elif style == 'toc':
+            for k, v in (res.get('concentrations_kg_m3') or {}).items():
+                if v is not None:
+                    rows.append(dict(analyte=k, value=v, unit='kg/m^3', text=conc_text(v), quality=', '.join(res.get('qc') or []) or 'ok'))
+        elif style == 'aa':
+            if res.get('element'):
+                rows.append(dict(analyte='%s (%s)' % (res.get('element'), res.get('line_id')), value=res.get('concentration_kg_m3'), unit='kg/m^3',
+                                 text=conc_text(res.get('concentration_kg_m3')), quality=', '.join(res.get('qc') or []) or 'ok'))
+        elif style == 'xrf':
+            for c in res.get('mass_fractions') or []:
+                rows.append(dict(analyte='%s (%s)' % (c.get('element'), c.get('line_id')), value=c.get('mass_fraction'), unit='1',
+                                 text=frac_text(c.get('mass_fraction')), quality=c.get('quality')))
+        elif style == 'aox':
+            rows.append(dict(analyte='Cl-equivalent (%s)' % res.get('mode'), value=res.get('chlorine_equivalent_mass_kg'), unit='kg',
+                             text=mass_text(res.get('chlorine_equivalent_mass_kg')), quality=', '.join(res.get('quality') or [])))
+        elif style == 'hg':
+            v = res.get('mercury_mass_kg')
+            q = ', '.join(res.get('quality') or [])
+            rows.append(dict(analyte='Hg mass', value=v, unit='kg', text=mass_text(v), quality=q))
+            if res.get('mercury_mass_fraction_kg_kg') is not None:
+                rows.append(dict(analyte='Hg mass fraction', value=res['mercury_mass_fraction_kg_kg'], unit='1',
+                                 text='%.4g mg/kg' % (res['mercury_mass_fraction_kg_kg'] * 1e6), quality=q))
+            if res.get('mercury_concentration_kg_m3') is not None:
+                rows.append(dict(analyte='Hg concentration', value=res['mercury_concentration_kg_m3'], unit='kg/m^3',
+                                 text=conc_text(res['mercury_concentration_kg_m3']), quality=q))
+        elif style == 'rga':
+            for s in res.get('species') or []:
+                rows.append(dict(analyte=s.get('species_id'), value=s.get('partial_pressure_pa'), unit='Pa',
+                                 text=('%.4g Pa' % s['partial_pressure_pa']) if finite(s.get('partial_pressure_pa')) else 'n/a',
+                                 quality=', '.join(s.get('quality') or []) or 'ok'))
+        elif style == 'onh':
+            for e, v in (res.get('element_mass_fractions') or res.get('mass_fractions') or {}).items():
+                rows.append(dict(analyte=e, value=v, unit='1', text=frac_text(v), quality=short((res.get('element_quality') or {}).get(e), 80)))
+        elif style == 'chns':
+            for a in res.get('completed_assays') or []:
+                for e, v in (a.get('fractions') or {}).items():
+                    rows.append(dict(analyte='slot %s %s' % (a.get('slot_index'), e), value=v, unit='1', text=frac_text(v),
+                                     quality=(a.get('fraction_quality') or {}).get(e)))
+        elif style == 'orbitrap':
+            for i, sc in enumerate(res.get('scans') or []):
+                cents = sorted(sc.get('centroids') or [], key=lambda x: -(x.get('intensity_relative') or x.get('intensity') or 0))[:5]
+                for c in cents:
+                    mz = c.get('mass_to_charge_relative') or c.get('raw_mass_to_charge_relative')
+                    rows.append(dict(analyte='scan %d m/z' % i, value=mz, unit='1', text='m/z %.5f' % mz if finite(mz) else 'n/a',
+                                     quality='calibrated with %s' % res.get('mass_calibration_id') if res.get('mass_calibration_id') else 'uncalibrated'))
+        elif style == 'irms':
+            for pk in res.get('peaks') or []:
+                if pk.get('type') == 'reference':
+                    continue
+                d = pk.get('delta_normalized') or pk.get('delta_ref') or {}
+                for iso, v in d.items():
+                    rows.append(dict(analyte='peak %s %s%s' % (pk.get('peak'), iso, (' (%s)' % pk['label']) if pk.get('label') else ''), value=v, unit='1',
+                                     peak=pk.get('peak'), isotope=iso,
+                                     text='%.2f ‰' % (v * 1000) if finite(v) else 'n/a',
+                                     quality='normalised' if pk.get('delta_normalized') and iso in pk['delta_normalized'] else 'vs working reference'))
+        elif style == 'sfa':
+            for x in res.get('results') or []:
+                if x.get('type') == 'sample':
+                    rows.append(dict(analyte='%s:%s %s' % (x.get('rack'), x.get('position'), x.get('channel')), value=x.get('concentration_kg_m3'),
+                                     unit='kg/m^3', text=conc_text(x.get('concentration_kg_m3')), quality=', '.join(x.get('flags') or []) or 'ok'))
+        status = res.get('phase') or res.get('status') or res.get('state')
+        if status is None and style == 'irms':
+            status = '%d peaks' % len(res.get('peaks') or [])
+        return rows, status
+
+    @staticmethod
+    def row_text(x):
+        q = x.get('quality')
+        return '%-28s %s%s' % (x['analyte'], x['text'], ('   [%s]' % short(q, 70).strip('"')) if q not in (None, '', 'ok') else '')
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the result', query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        rows, status = self.rows(res)
+        lines = ['%s result (%s):' % (self.instrument_id, status or 'see record')]
+        lines += ['  ' + self.row_text(x) for x in rows[:40]] or ['  (no quantified value yet: measure a sample with a selected calibration)']
+        if len(rows) > 40:
+            lines.append('  ... %d more (use --json or --save-to)' % (len(rows) - 40))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'rows': rows, 'status': status, 'result': trim(res)}}
+
+    def h_export(self, ctx, p):
+        m = self.vmap('export')
+        r = ctx.call(m['cap'], {m['arg']: p.pos[0]}, 'export the result as %s' % p.pos[0], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        content = res.get('content', '')
+        head = content if len(content) <= 1500 else content[:1500] + '\n... (%d characters; --save-to FILE keeps all of it)' % len(content)
+        return {'text': '%s export (%s):\n%s\n' % (self.instrument_id, p.pos[0], head), 'json': {'format': p.pos[0], 'content': content}}
+
+    def h_records(self, ctx, p):
+        m = self.vmap('records')
+        inst = self.instrument_id
+        if p.pos:
+            r = ctx.call(m['read_cap'], {'record_id': p.pos[0]}, 'read record %s' % p.pos[0], query=True)
+            if ctx.dry_run:
+                return {'text': '', 'json': {}}
+            rec = r.get('result') or {}
+            rows, status = self.rows(rec)
+            kind = rec.get('kind') or ''
+            text = '%s record %s: %s%s\n' % (inst, p.pos[0], status or '', (', kind %s' % kind) if kind else '')
+            text += ''.join('  %s\n' % self.row_text(x) for x in rows[:20])
+            brief = {k: v for k, v in trim(rec).items() if not isinstance(v, (dict, list)) or k in ('qc', 'quality')}
+            text += '  ' + short(brief, 600) + '\n'
+            return {'text': text, 'json': {'record_id': p.pos[0], 'rows': rows, 'record': trim(rec)}}
+        r = ctx.call(m['list_cap'], dict(m.get('list_args') or {}), 'list the records', query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        recs = res.get('record_ids') or []
+        curves = res.get('curve_ids')
+        if curves is None and m.get('curves_cap'):
+            r2 = ctx.call(m['curves_cap'], {}, 'list the curves', query=True)
+            curves = (r2.get('result') or {}).get('curve_ids')
+        text = '%s records (%d): %s\n' % (inst, len(recs), ', '.join(recs) or 'none')
+        if curves is not None:
+            text += 'curves (%d): %s\n' % (len(curves), ', '.join(curves) or 'none')
+        return {'text': text, 'json': {'record_ids': recs, 'curve_ids': curves}}
diff --git a/chemlab/chemlab/compile/classes/reactor.py b/chemlab/chemlab/compile/classes/reactor.py
new file mode 100644
index 0000000000000000000000000000000000000000..84fddfe30459c45df321f02471382e24bf9e3b01
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/reactor.py
@@ -0,0 +1,243 @@
+"""Reactor class ("reactor"): batch, flow and programme-driven reactors and reaction stations.
+
+Members (configs/adapters/reactor.json): Anton Paar Monowave 400 (microwave), IKA ElectraSyn 2.0 (electrolysis), HepatoChem
+PhotoRedOx Box (photochemistry), Parr 4591 (high-pressure stirred vessel), Syrris Asia (flow), ThalesNano H-Cube Pro (flow
+hydrogenation), Radleys Mya 4 (four independent zones, --zone 1..4) and METTLER TOLEDO RC1mx (reaction calorimeter, Tr / Tj).
+
+Verbs: set-temp T [--zone N] [--ramp T] [--jacket] [--controller C] [--wait], heat on|off, temp, wait-temp [--job], stir RATE|off,
+flow F|off [--channel N], pressure P|on|off, light LEVEL|off, current I, voltage V, dose SUBSTANCE --rate R --mass M | dose stop,
+program T@HOLD,... [--zone N], safety-limit T [--jacket], method KEY=VALUE ..., start [--zone N] [--name NAME], stop [--zone N]
+[--cool-to T], result [--save-to F], wait, open / close PART (Monowave lid + lock, Parr lid + vent, with the safety checks), status.
+power / ack / estop come from the shared layer.
+
+Method keys (class dictionary, each member maps the ones it has): temp, ramp, hold, cool, stir, power, pressure, time, flow,
+flows, h2, mode, current, voltage, voltage-limit, stop-by, charge, inject, collect.
+
+Safety first: every verb checks the member's own conditions before anything is sent (lid closed and locked, sample loaded,
+cooling source confirmed, set point under the safety limit, emergency programme off, heater off / cold / vented before the lid
+opens), and a refused native call is explained with the state already read.
+"""
+from .. import units
+from ..base import finite
+from ..errors import invalid
+from ..jobs import OperationJob
+from ..verbs import Arg, Opt, Verb
+from .reactor_common import SetpointAdapter
+
+REFS = {   # manual page references per member (Chemistry-Sim/references/manuals/<slug>/manifest.json key sections; no manual text)
+    'antonpaar_monowave400': 'Monowave 400 specification sheet pp.11-13 (IR sensor 30-300 °C, 30 bar, 1200 rpm); CEITEC SOP p.1 (experiment steps)',
+    'ika_electrasyn2': 'ElectraSyn 2.0 operating instructions pp.6-7 (controls), pp.13-15 (setting up a reaction); brochure p.11 (technical data)',
+    'hepatochem_photoredoxbox': 'PhotoRedOx Box brochure pp.1-2 (LED intensity control, temperature RT-60 °C, stir plate)',
+    'parr_4591': 'Parr 399M micro reactor manual pp.7-9 (limits, assembly, vent / gas release valve, rupture disc), pp.10-12 (opening and '
+                 'closing the vessel); 4848 controller communication notes (set points, stirrer speed)',
+    'syrris_asiadiscovery': 'Asia systems manual pp.29-51 (flow experiments), pp.52-69 (manual module controls), pp.94-103 (priming, '
+                            'pressure), pp.105-116 (solvent limits); Asia syringe pump manual pp.12-17',
+    'thalesnano_hcube': 'H-Cube Pro brochure pp.2-4 (flow 0.3-3 mL/min, 10-150 °C, up to 100 bar, water reservoir, CatCart)',
+    'radleys_mya4': 'Mya 4 operating manual pp.13-20 (coolant supply), pp.89-105 (zone view: manual mode, profile mode, zone limits)',
+    'mt_rc1mxhfcal': 'RC1mx user manual pp.19-26 (safety settings Tsafe / Tr / Tj / Rmax, experiments, Tj / Tr changes); RC1e thermostat '
+                     'instructions pp.15-18 (Tj / Tr control modes), pp.19-30 (safety system, emergency programmes)',
+}
+
+KEYS = {
+    'temp': ('temperature', 'reaction / target temperature, e.g. 80C'), 'ramp': ('duration', 'time to reach the temperature'),
+    'hold': ('duration', 'hold time'), 'cool': ('temperature', 'cool to this temperature at the end'),
+    'stir': ('rotation', 'stirring speed, e.g. 600rpm'), 'power': ('power', 'power limit, e.g. 850W'),
+    'pressure': ('pressure', 'pressure limit or set point (the member says which: absolute or gauge)'),
+    'time': ('duration', 'run time'), 'flow': ('flow', 'liquid flow, e.g. 1mL/min'),
+    'flows': ('flow', 'one flow per pump, comma separated (0.5mL/min,0.5mL/min)'), 'h2': ('flow', 'hydrogen reference flow'),
+    'mode': (None, 'constant_current or constant_cell_voltage'), 'current': ('current', 'electrolysis current, e.g. 10mA'),
+    'voltage': ('voltage', 'cell voltage, e.g. 3V'), 'voltage-limit': ('voltage', 'compliance voltage (10V or 30V)'),
+    'stop-by': (None, 'time or charge'), 'charge': (None, 'charge target in C'),
+    'inject': ('duration', 'injection times per loop, comma separated'), 'collect': (None, 'collection windows (JSON)'),
+}
+
+
+class ReactorAdapter(SetpointAdapter):
+    CLASS = 'reactor'
+    TITLE = 'reactors and reaction stations'
+    ABOUT = ('Run a reaction: set and wait for the reaction temperature (per zone, per jacket), stir, set flows and back-pressure on '
+             'flow reactors, light / current / dosing as the energy or reagent input, a method or temperature programme, and start / '
+             'stop / result with job ids. Safety conditions (lid, pressure, temperature, limits, emergency) are checked before '
+             'anything is sent.')
+    STANDARDS = ('MTP / VDI 2658 and ISA-88 (procedure / phase states: start, stop, hold); OPC UA LADS (functional units, controller '
+                 'set points); SiLA 2 TemperatureController and vendor features (e.g. METTLER TOLEDO iControl: Tr / Tj, dosing)')
+    ALWAYS = ('status', 'wait')
+    UNIT_KINDS = ('temperature', 'temperature_delta', 'duration', 'rotation', 'pressure', 'flow', 'mass_flow', 'mass', 'current',
+                  'voltage', 'fraction', 'power')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEYS = KEYS
+    VIEW = (('temp', 'reaction', 'temperature'), ('temp2', 'liquid', 'temperature'), ('set', 'set point', 'temperature'),
+            ('jacket', 'jacket', 'temperature'), ('heat', 'temperature control', 'bool'), ('stir', 'stirring', 'rotation'),
+            ('stir_on', 'stirrer', 'bool'), ('pressure', 'pressure', 'pressure'), ('flow', 'flow', 'flow'), ('light', 'light', 'fraction'),
+            ('current', 'current', 'current'), ('voltage', 'cell voltage', 'voltage'), ('dosing', 'dosing', 'bool'),
+            ('dosed', 'dosed', 'mass'), ('vent', 'vent', 'bool'), ('record', 'experiment', 'text'),
+            ('mode', 'control', 'text'), ('lid', 'lid', 'text'), ('phase', 'run', 'text'), ('program', 'program', 'text'),
+            ('fault', 'fault', 'text'))
+    CODES = {
+        'OUTSIDE_SAFETY_LIMITS': ('ABOVE_SAFETY_LIMIT', 'the set point is outside the safety limits of {inst} (Tr / Tj min and max).',
+                                  'read them (`chemlab run {inst} status`); raise the limit first (`chemlab run {inst} safety-limit T`) '
+                                  'if the reaction allows it, or choose a set point inside them.'),
+        'OUTSIDE_STIRRER_RANGE': ('OUT_OF_RANGE', 'the stirrer speed is outside what {inst} allows (0, or 30 rpm up to its Rmax).',
+                                  'give 0 (off) or a speed from 30 rpm to the Rmax shown by `chemlab run {inst} status`.'),
+        'EMERGENCY_ACTIVE': ('EMERGENCY_ACTIVE', 'the emergency programme of {inst} is active; it takes no new settings.',
+                             'remove the cause, then reset it (`chemlab call {inst} emergency.reset`).'),
+        'TEMPLATE_RANGE_UNAVAILABLE': ('OUTSIDE_MODEL_RANGE', '{inst} has no validated model data for that temperature with the loaded '
+                                       'solvent / carrier.', 'choose a lower temperature (see `chemlab describe {inst}`).'),
+        'LID_OPEN': ('LID_OPEN', 'the lid of {inst} is open or not locked.', 'close it: `chemlab run {inst} close lid`.'),
+        'NO_VIAL': ('NO_SAMPLE', 'no sealed vial is in {inst}.', 'ask the lab operator to load the sample.'),
+        'NO_COOLING_AIR': ('NO_COOLING_AIR', 'the cooling air of {inst} is not connected or not at pressure.', 'ask the lab operator.'),
+        'BUSY': ('BUSY', '{inst} is running and takes no new settings now.', 'wait for the run (`chemlab run {inst} wait`) or stop it.'),
+    }
+
+    def build_verbs(self):
+        REF = REFS.get(self.asset)
+        out = self.temp_verbs(REF, 'start or stop temperature control (heater, thermostat, zone)')
+        out['stir'] = self.knob_verb('stir', 'stir at a speed, or stop stirring', 'rotation', 'speed, e.g. 300rpm, or off',
+                                     example='chemlab run INST stir 300rpm', reference=REF,
+                                     preconditions=['power on', 'speed within the stirrer range', 'the member\'s own conditions (lid closed, ...)'],
+                                     errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, LID_OPEN (refused)'])
+        out['flow'] = self.knob_verb('flow', 'pump at a flow (flow reactors), or stop the pump', 'flow', 'flow, e.g. 0.5mL/min, or off',
+                                     example='chemlab run INST flow 0.5mL/min --channel 1', reference=REF)
+        out['pressure'] = self.knob_verb('pressure', 'set the back-pressure / reactor pressure, or switch its control on / off', 'pressure',
+                                         'pressure, e.g. 5bar, or on / off', example='chemlab run INST pressure 5bar', reference=REF,
+                                         details='the value is passed in the sense of the instrument\'s own argument: absolute for '
+                                                 'the H-Cube (pressure_abs_pa), back-pressure regulator setting for the Asia.')
+        out['light'] = self.knob_verb('light', 'set the light (LED) intensity, or switch it off', 'fraction', 'intensity, e.g. 80%, or off',
+                                      example='chemlab run INST light 80%', reference=REF)
+        out['current'] = self.knob_verb('current', 'constant-current electrolysis: set the current', 'current', 'current, e.g. 10mA',
+                                        on_off=False, example='chemlab run INST current 10mA', reference=REF)
+        out['voltage'] = self.knob_verb('voltage', 'constant-voltage electrolysis: set the cell voltage', 'voltage', 'voltage, e.g. 3V',
+                                        on_off=False, example='chemlab run INST voltage 3V', reference=REF)
+        out['dose'] = Verb('dose', 'dose a reagent at a rate (a job), or stop dosing', self.h_dose,
+                           positionals=[Arg('SUBSTANCE|stop', 'the substance id to dose, or stop')],
+                           options={'rate': Opt('dosing rate, e.g. 9g/min', kind='mass_flow', metavar='RATE'),
+                                    'mass': Opt('total mass to dose, e.g. 102g', kind='mass', metavar='MASS'),
+                                    'feed-temp': Opt('feed temperature (default: the instrument\'s)', kind='temperature', metavar='TEMP')},
+                           long_action=True, preconditions=['power on', 'no emergency programme', 'no dosing running', 'rate and mass in range'],
+                           errors=['OUT_OF_RANGE, MISSING_OPTION (usage)', 'DOSING_ACTIVE, EMERGENCY_ACTIVE (refused)'],
+                           example='chemlab run INST dose acetic_anhydride --rate 9g/min --mass 102g', reference=REF)
+        out['program'] = Verb('program', 'load a temperature programme: TEMP@HOLD,TEMP@HOLD,... (start it with `start`)', self.h_program,
+                              positionals=[Arg('SEGMENTS', 'e.g. 80C@30min,25C@10min (approach each temperature, then hold)')],
+                              options=dict(self.target_opts(verb='program')), preconditions=['power on', 'no programme running in that zone',
+                                                                               'each temperature and hold in range'],
+                              errors=['BAD_SEGMENT, OUT_OF_RANGE (usage)', 'PROGRAM_RUNNING (refused)'],
+                              example='chemlab run INST program 80C@30min,25C@0s --zone 1', reference=REF)
+        out['safety-limit'] = Verb('safety-limit', 'set the maximum reaction temperature (or with --jacket the jacket maximum)', self.h_limit,
+                                   positionals=[Arg('TEMP', 'the new maximum, e.g. 140C', kind='temperature')],
+                                   options={'jacket': Opt('set the jacket maximum (Tj max) instead of Tr max', kind='flag')},
+                                   preconditions=['not below the current set point', 'no emergency programme'],
+                                   errors=['OUT_OF_RANGE (usage)', 'BELOW_SET_POINT (refused)'], example='chemlab run INST safety-limit 140C',
+                                   reference=REF)
+        out['method'] = self.method_verb(REF)
+        out.update(self.run_verbs(REF))
+        out.update(self.part_verbs())
+        return out
+
+    # ------------------------------------------------------------------ dose (reagent addition, a job)
+    def h_dose(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('dose')
+        what = p.pos[0]
+        if what.lower() in ('stop', 'off'):
+            if not self.raw(ctx, m['active']):
+                return {'text': 'ok: %s is not dosing\n' % inst, 'json': {'changed': False}}
+            ctx.call(m['stop_cap'], {}, 'stop dosing')
+            return {'text': 'ok: %s dosing stopped (dosed %s)\n' % (inst, units.fmt(self.si(ctx, 'dosed'), 'mass')),
+                    'json': {'changed': True, 'dosed_kg': self.si(ctx, 'dosed')}}
+        for o in ('rate', 'mass'):
+            if p.get(o) is None:
+                ctx.fail(invalid('MISSING_OPTION', 'dose needs --%s.' % o, 'e.g. `chemlab run %s dose %s --rate 9g/min --mass 100g`.' % (inst, what)))
+        cap = m['cap']
+        self.check_value(ctx, {'cap': cap, 'arg': m['rate_arg']}, p.get('rate'), 'mass_flow', 'rate', {'max_slot': m.get('max_rate_slot')})
+        self.check_value(ctx, {'cap': cap, 'arg': m['mass_arg']}, p.get('mass'), 'mass', 'mass')
+        if p.get('feed-temp') is not None:
+            self.check_value(ctx, {'cap': cap, 'arg': m['feed_arg']}, p.get('feed-temp'), 'temperature', 'feed temperature')
+        self.need_power(ctx)
+        self.need(ctx, 'dose')
+        args = {m['substance_arg']: what, m['rate_arg']: self.to_arg(cap, m['rate_arg'], p.get('rate')),
+                m['mass_arg']: self.to_arg(cap, m['mass_arg'], p.get('mass'))}
+        if m.get('feed_arg'):
+            args[m['feed_arg']] = self.to_arg(cap, m['feed_arg'], p.get('feed-temp')) if p.get('feed-temp') is not None else None
+        r = ctx.call(cap, args, 'dose %s at %s, %s in total' % (what, units.fmt(p.get('rate'), 'mass_flow'), units.fmt(p.get('mass'), 'mass')))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        if r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, 'dose %s on %s' % (what, inst), cap, r['operation_id'])
+            return {'text': 'started %s: dose %s %s at %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, units.fmt(p.get('mass'), 'mass'), what, units.fmt(p.get('rate'), 'mass_flow'), job.handle, job.handle, job.handle),
+                'json': {'job': job.handle, 'kind': job.kind}}
+        return {'text': 'ok: %s dosing %s\n' % (inst, what), 'json': {'result': r.get('result')}}
+
+    # ------------------------------------------------------------------ programme (zone temperature profile)
+    def h_program(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('program')
+        tg = self.targets(ctx, p)
+        cap = m['cap']
+        item = ((self.cap_schema(cap, m['arg']).get('items') or {}).get('properties') or {})
+        tk, hk = m['temp_key'], m['time_key']
+        lo_n, hi_n = (self.cap_schema(cap, m['arg']).get('minItems'), self.cap_schema(cap, m['arg']).get('maxItems'))
+        segs = []
+        for part in [x for x in p.pos[0].split(',') if x.strip()]:
+            t, at, h = part.partition('@')
+            if not at:
+                ctx.fail(invalid('BAD_SEGMENT', '%r is not TEMP@HOLD.' % part, 'write e.g. 80C@30min,25C@0s.'))
+            k = units.parse(t.strip(), 'temperature', what='temperature')
+            s = units.parse(h.strip(), 'duration', what='hold')
+            for v, key, kind, what in ((k, tk, 'temperature', 'temperature'), (s, hk, 'duration', 'hold')):
+                sch = item.get(key) or {}
+                u = units.declared(sch)
+                lo = units.from_declared(sch['minimum'], u) if sch.get('minimum') is not None and u else sch.get('minimum')
+                hi = units.from_declared(sch['maximum'], u) if sch.get('maximum') is not None and u else sch.get('maximum')
+                if (lo is not None and v < lo - 1e-9) or (hi is not None and v > hi + 1e-9):
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s %s in %r is outside %s to %s.' % (what, units.fmt(v, kind), part, units.fmt(lo, kind),
+                                                                                        units.fmt(hi, kind)),
+                                     'give a %s from %s to %s.' % (what, units.fmt(lo, kind), units.fmt(hi, kind))))
+            segs.append({tk: units.to_declared(k, units.declared(item.get(tk) or {})) if units.declared(item.get(tk) or {}) else k,
+                         hk: units.to_declared(s, units.declared(item.get(hk) or {})) if units.declared(item.get(hk) or {}) else s})
+        if (lo_n and len(segs) < lo_n) or (hi_n and len(segs) > hi_n):
+            ctx.fail(invalid('BAD_SEGMENT', 'a programme of %s has %s to %s segments, not %d.' % (inst, lo_n, hi_n, len(segs)),
+                             'give between %s and %s TEMP@HOLD segments.' % (lo_n, hi_n)))
+        self.need_power(ctx)
+        self.need(ctx, 'program', tg)
+        args = {m['arg']: [{k: round(v, 10) for k, v in s.items()} for s in segs]}
+        for kk, (lab, nat) in tg.items():
+            t = (self.map.get('targets') or {}).get(kk) or {}
+            if t.get('arg'):
+                args[t['arg']] = nat
+        where = ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items())
+        ctx.call(cap, args, 'load the programme%s: %s' % (where, ', '.join('%s for %s' % (self.c(units.from_declared(s[tk], units.declared(item.get(tk) or {})) if units.declared(item.get(tk) or {}) else s[tk]),
+                                                                                         units.fmt_s(s[hk])) for s in segs)))
+        return {'text': 'ok: programme of %s%s loaded (%d segments); run it with `chemlab run %s start%s`\n' % (
+            inst, where, len(segs), inst, ''.join(' --%s %s' % (kk, lab) for kk, (lab, _) in tg.items())),
+            'json': {'segments': args[m['arg']], 'target': {kk: lab for kk, (lab, _) in tg.items()}}}
+
+    # ------------------------------------------------------------------ safety limit
+    def h_limit(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('safety-limit')
+        if p.get('jacket'):
+            if not m.get('jacket'):
+                ctx.fail(invalid('NO_JACKET', '%s has no separate jacket limit.' % inst, 'leave out --jacket.'))
+            m = dict(m, **m['jacket'])
+        k = p.pos[0]
+        steps = [dict(s) for s in m['set']]
+        step = self.first_arg_step(steps)
+        step['arg'] = m.get('arg', step['arg'])
+        step['keep'] = {a: s for a, s in (step.get('keep') or {}).items() if a != step['arg']}
+        self.check_value(ctx, step, k, 'temperature', 'safety limit')
+        self.need_power(ctx)
+        self.need(ctx, 'safety-limit')
+        sk = self.si(ctx, m.get('set_role', 'set'))
+        if finite(sk):
+            ctx.check(k >= sk - 1e-9, 'BELOW_SET_POINT', 'a limit of %s is below the current set point %s of %s.' % (self.c(k), self.c(sk), inst),
+                      'lower the set point first, or choose a limit above it.', label='limit above the set point')
+        for role, word in ((m.get('above_role'), 'Tsafe'),):
+            v = self.si(ctx, role) if role else None
+            if finite(v):
+                ctx.check(k >= v - 1e-9, 'BELOW_TSAFE', 'a limit of %s is below the safe temperature %s (%s) of %s.' % (self.c(k), word, self.c(v), inst),
+                          'choose a limit at or above %s.' % self.c(v), label='limit above %s' % word)
+        before = self.si(ctx, m.get('limit_role', 'limit'))
+        self.run_steps(ctx, steps, k, {}, 'set the safety limit to %s' % self.c(k))
+        return {'text': 'ok: %s limit of %s %s (was %s)\n' % ('jacket' if p.get('jacket') else 'reaction temperature', inst, self.c(k), self.c(before)),
+                'json': {'limit_k': k, 'was_k': before}}
diff --git a/chemlab/chemlab/compile/classes/reactor_common.py b/chemlab/chemlab/compile/classes/reactor_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..e532c8013c509b7e089e0cf64e86581797231e5d
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/reactor_common.py
@@ -0,0 +1,1165 @@
+"""Common machinery of the reactor and formulation classes: member mappings that are data, not code.
+
+``SetpointAdapter`` (a ClassAdapter) lowers a verb through the member's step lists in the fragment:
+
+    "stir": {"kind": "rotation",
+             "set": [{"cap": "stirring.set_speed", "arg": "angular_speed_rad_s", "target": true},
+                     {"cap": "stirring.set_enabled", "args": {"enabled": true}, "target": true,
+                      "skip_if": {"slot": "zone_1.stirring.enabled", "per": "zone_{zone}.stirring.enabled", "value": true}}],
+             "off": [{"cap": "stirring.set_enabled", "args": {"enabled": false}, "target": true}]}
+
+A step is one native call: ``cap``; ``arg`` gets the agent's value converted into the unit the argument declares (``unit``
+overrides an undeclared one such as 1/min; ``value`` replaces it with a constant, e.g. 0 for off); ``args`` are fixed arguments;
+``keep`` = {ARG: slot | [slots] | {"slot", "per"}} are arguments the capability needs that stay as the instrument has them (read
+from its own state, never invented); ``array`` = {"arg", "slots", "by": "channel"} sets one element of an array argument and keeps
+the others; ``target`` adds the --zone / --channel / --head argument; ``skip_if`` skips the call when the state already is so;
+``toggle`` marks a toggle capability (called only when ``state`` differs from the wanted value).  A ``per`` template names the
+slot of the chosen target ({zone} = the label the agent typed, {native} = the native index), so a four-zone station needs one
+mapping.  Member preconditions: ``"requires": {verb: [{"slot", "per", "value" | "not" | "min" | "max" | "truthy" | "falsy",
+"code", "message", "fix"}]}`` (``verb:off`` for the off form).
+
+Verb families built here: knobs (VALUE | on | off -> "set" / "on" / "off" steps), temperature (set-temp with --zone / --channel /
+--ramp / --jacket / --wait, temp, wait-temp with a job, heat), method with class keys (missing native arguments kept from slots or
+asked for by name), start / stop / result with jobs (operation, state, none), wait, named parts (open / close), and a class view
+built from slot roles.  Instrument facts stay in configs/adapters/{reactor,formulation}.json.
+"""
+import copy
+import difflib
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unsupported
+from ..jobs import RUNNING, ConditionJob, OperationJob, StateJob, latest
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+from ...generic import coerce                     # its usage errors stay exit 2
+
+ON_WORDS = ('on', 'start', 'open', 'enable')
+OFF_WORDS = ('off', 'stop', 'close', 'disable')
+TARGETS = ('zone', 'channel', 'head')
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+
+def _types(schema):
+    t = (schema or {}).get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+class SetpointAdapter(ClassAdapter):
+    KEYS = {}                         # method dictionary of the class: key -> (kind or None, help)
+    VIEW = ()                         # class view rows: (role, label, kind) ; kind 'bool', 'text' or a quantity kind
+    KNOB_KIND = {}                    # verb -> default quantity kind of its VALUE
+
+    # ------------------------------------------------------------------ targets (--zone / --channel / --head)
+    def target_opts(self, only=None, verb=None):
+        """--zone / --channel / --head options of this member (only those that apply to ``verb``, when the target lists its verbs)."""
+        out = {}
+        for k, t in (self.map.get('targets') or {}).items():
+            if (only is None or k in only) and (verb is None or t.get('verbs') is None or verb in t['verbs']):
+                out[k] = target_opt(k, sorted((t.get('values') or {}).keys()) or None)
+        return out
+
+    def targets(self, ctx, p, verb=None):
+        """{kind: (label, native)} of the --zone / --channel / --head the agent gave (required ones checked)."""
+        out = {}
+        verb = verb or (ctx.verb.name if ctx.verb else '')
+        for k, t in (self.map.get('targets') or {}).items():
+            v = p.get(k) if p is not None else None
+            if t.get('verbs') is not None and verb not in t['verbs']:
+                if v is not None:
+                    ctx.fail(invalid('NOT_PER_' + k.upper(), '%s on %s applies to the whole instrument, not to one %s.' % (verb, self.instrument_id, k),
+                                     'leave out --%s.' % k))
+                continue
+            req = t.get('required')
+            if isinstance(req, list):
+                req = verb in req
+            if v is None:
+                if t.get('default') is not None:
+                    v = str(t['default'])
+                elif req and verb not in (t.get('optional_for') or []):
+                    ctx.fail(invalid('MISSING_' + k.upper(), '%s needs --%s on %s.' % (verb, k, self.instrument_id),
+                                     'give --%s %s.' % (k, '|'.join(map(str, t.get('values') or {})))))
+                else:
+                    continue
+            vals = t.get('values') or {}
+            if str(v) not in vals:
+                ctx.fail(invalid('UNKNOWN_' + k.upper(), '%s has no %s %r.' % (self.instrument_id, k, v),
+                                 '%ss of %s: %s.' % (k, self.instrument_id, ', '.join(map(str, vals)))))
+            out[k] = (str(v), vals[str(v)])
+        for k in TARGETS:
+            if p is not None and p.get(k) is not None and k not in (self.map.get('targets') or {}):
+                ctx.fail(unsupported('NO_' + k.upper(), '%s has no %ss.' % (self.instrument_id, k), 'leave out --%s.' % k))
+        return out
+
+    def all_targets(self, kind):
+        t = (self.map.get('targets') or {}).get(kind) or {}
+        return [(lab, nat) for lab, nat in (t.get('values') or {}).items()]
+
+    @staticmethod
+    def fill(template, tg):
+        """A 'per' template with the chosen target: {zone} {channel} {head} = label, {native} = native value."""
+        kw = {}
+        for k, (lab, nat) in (tg or {}).items():
+            kw[k] = lab
+            kw['native'] = nat
+        try:
+            return template.format(**kw)
+        except (KeyError, IndexError):
+            return None
+
+    # ------------------------------------------------------------------ slots
+    def resolve(self, spec, tg=None):
+        """A slot spec (role name, slot id, or {"slot", "per", "unit", "key"}) -> a concrete spec for slot_si / raw."""
+        if spec is None:
+            return None
+        if isinstance(spec, str) and spec in (self.map.get('slots') or {}):
+            spec = self.map['slots'][spec]
+        if isinstance(spec, dict):
+            out = dict(spec)
+            labels = [lab for (lab, _) in (tg or {}).values()]
+            if out.get('per_map') and labels and labels[0] in out['per_map']:     # a target with its own slot (the extruder die)
+                out['slot'] = out['per_map'][labels[0]]
+                out.pop('index', None)
+            else:
+                if out.get('index') is True:                                       # an element of an array slot, by the native index
+                    nats = [nat for (_, nat) in (tg or {}).values()]
+                    out['index'] = nats[0] if nats else None
+                if out.get('per') and tg:
+                    s = self.fill(out['per'], tg)
+                    if s:
+                        out['slot'] = s
+            out.pop('per', None)
+            out.pop('per_map', None)
+            return out
+        return spec
+
+    def has_role(self, role):
+        return role in (self.map.get('slots') or {})
+
+    def per_kind(self, role):
+        """The target kind a role's slot depends on ('zone', 'channel', ...) or None."""
+        s = (self.map.get('slots') or {}).get(role)
+        targets = self.map.get('targets') or {}
+        if isinstance(s, dict) and (s.get('per') or s.get('per_map') or s.get('index')):
+            for k in TARGETS:
+                if '{%s}' % k in (s.get('per') or ''):
+                    return k
+            for k in TARGETS:
+                if k in targets:
+                    return k
+        return None
+
+    def raw(self, values, spec, tg=None):
+        spec = self.resolve(spec, tg)
+        if spec is None:
+            return None
+        sid = spec['slot'] if isinstance(spec, dict) else spec
+        sid, _, key = sid.partition('#')
+        get = values.v if hasattr(values, 'v') else (lambda k: values.get(k))
+        v = get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        if isinstance(spec, dict) and 'index' in spec and spec['index'] is not True:
+            i = spec['index']
+            v = v[int(i)] if isinstance(v, list) and isinstance(i, int) and 0 <= i < len(v) else None
+        return v
+
+    def si(self, values, spec, tg=None):
+        spec = self.resolve(spec, tg)
+        if isinstance(spec, dict) and 'index' in spec:
+            v = self.raw(values, spec, tg)
+            if not finite(v):
+                return None
+            u = spec.get('unit') or units.declared(self.lab.contract['state_slots'].get(spec['slot']) or {})
+            return units.from_declared(v, u) if u else v
+        return self.slot_si(values, spec) if spec is not None else None
+
+    # ------------------------------------------------------------------ member preconditions
+    def need(self, ctx, key, tg=None, only=None):
+        for r in (self.map.get('requires') or {}).get(key, []):
+            if only is not None and r.get('code') not in only:
+                continue
+            got = self.raw(ctx, r, tg)
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'in' in r:
+                ok = got in r['in']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif r.get('truthy'):
+                ok = bool(got)
+            elif r.get('falsy'):
+                ok = not got
+            elif got is None and r.get('none_ok'):
+                ok = True
+            else:
+                ok = finite(got) and ('max' not in r or got <= r['max'] + 1e-12) and ('min' not in r or got >= r['min'] - 1e-12)
+            shown = short(got, 40)
+            if r.get('kind') and finite(got):
+                shown = units.fmt(self.si(ctx, r, tg), r['kind'])
+            zone = ' '.join('%s %s' % (k, lab) for k, (lab, _) in (tg or {}).items())
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown, target=zone),
+                      r['fix'].format(inst=self.instrument_id, value=shown, target=zone), label=r.get('label', r.get('code', 'ready').lower()))
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    # ------------------------------------------------------------------ arguments
+    def arg_schema(self, cap, arg):
+        s = self.cap_schema(cap, arg)
+        if 'anyOf' in s:
+            s = next((x for x in s['anyOf'] if x.get('type') in ('number', 'integer', 'array')), s)
+        return s
+
+    def item_schema(self, cap, arg):
+        s = self.arg_schema(cap, arg)
+        return s.get('items') if s.get('type') == 'array' and isinstance(s.get('items'), dict) else s
+
+    def unit_of(self, cap, arg, override=None):
+        return units.norm_unit(override) if override else units.declared(self.item_schema(cap, arg))
+
+    def to_arg(self, cap, arg, si, override_unit=None):
+        """SI -> the value in the argument's declared unit (integers stay integers)."""
+        if not finite(si):
+            return si
+        u = self.unit_of(cap, arg, override_unit)
+        if u == 'rpm' and override_unit:
+            v = si * 60.0 / (2 * math.pi)
+        else:
+            v = units.to_declared(si, u) if u else si
+        sch = self.item_schema(cap, arg)
+        if 'integer' in _types(sch):
+            return int(round(v))
+        return round(v, 12) if abs(v) >= 1e-6 else v
+
+    def range_si(self, cap, arg, override_unit=None):
+        sch = self.item_schema(cap, arg)
+        lo, hi = sch.get('minimum'), sch.get('maximum')
+        u = self.unit_of(cap, arg, override_unit)
+
+        def conv(x):
+            if x is None or not u:
+                return x
+            if u == 'rpm' and override_unit:
+                return x * 2 * math.pi / 60.0
+            return units.from_declared(x, u)
+        enum = sch.get('enum')
+        return conv(lo), conv(hi), ([conv(e) for e in enum] if enum else None)
+
+    def check_value(self, ctx, step, si, kind, what, m=None):
+        """The value inside the contract range of the step's argument and the mapping's own limits (usage error, nothing sent)."""
+        m = m or {}
+        lo, hi, enum = self.range_si(step['cap'], step['arg'], step.get('unit'))
+        if m.get('min') is not None:
+            v = units.parse(m['min'], kind) if isinstance(m['min'], str) else m['min']
+            lo = v if lo is None else max(lo, v)
+        if m.get('max') is not None:
+            v = units.parse(m['max'], kind) if isinstance(m['max'], str) else m['max']
+            hi = v if hi is None else min(hi, v)
+        if m.get('max_slot'):
+            v = self.si(ctx, m['max_slot'])
+            if finite(v):
+                hi = v if hi is None else min(hi, v)
+        f = (lambda x: units.fmt(x, kind)) if kind in units.KINDS else (lambda x: '%g' % x)
+        zero_ok = m.get('zero_ok') and abs(si) < 1e-12
+        if enum and not any(abs(si - e) <= 1e-9 * max(1.0, abs(e)) for e in enum):
+            ctx.fail(invalid('NOT_ALLOWED', '%s %s is not one of the values %s takes (%s).' % (what, f(si), self.instrument_id,
+                                                                                           ', '.join(f(e) for e in enum)),
+                             'give one of: %s.' % ', '.join(f(e) for e in enum)))
+        if not zero_ok and ((lo is not None and si < lo - 1e-9 * max(1.0, abs(lo))) or (hi is not None and si > hi + 1e-9 * max(1.0, abs(hi)))):
+            rng = '%s to %s' % (f(lo) if lo is not None else '-', f(hi) if hi is not None else '-')
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s%s).' % (what, f(si), self.instrument_id, rng,
+                                                                                         ', or 0' if m.get('zero_ok') else ''),
+                             'give a %s from %s%s.' % (what, rng, ' (or 0 to stop)' if m.get('zero_ok') else '')))
+        ctx.checks.append('%s within the range' % what)
+
+    def kept(self, ctx, cap, arg, spec, tg):
+        """An argument kept as the instrument has it: from its slot(s), converted from the slot unit to the argument unit."""
+        if isinstance(spec, list):
+            return [self.kept(ctx, cap, arg, s, tg) for s in spec]
+        rs = self.resolve(spec, tg)
+        v = self.raw(ctx, rs, tg)
+        if finite(v) and isinstance(rs, (str, dict)):
+            sid = rs['slot'] if isinstance(rs, dict) else rs
+            su = units.declared((self.lab.contract['state_slots'].get(sid.partition('#')[0]) or {})) if '#' not in sid else None
+            au = self.unit_of(cap, arg)
+            if su and au and su != au and units.unit_kind(su) and units.unit_kind(su) == units.unit_kind(au):
+                v = units.to_declared(units.from_declared(v, su), au)
+        if v is None and 'null' in {x.get('type') for x in (self.cap_schema(cap, arg).get('anyOf') or []) if isinstance(x, dict)}:
+            return None
+        if v is None:
+            ctx.fail(refused('STATE_UNKNOWN', '%s needs %s, and %s does not show it now (%s is empty).' % (
+                cap, arg, self.instrument_id, rs['slot'] if isinstance(rs, dict) else rs),
+                'set it explicitly (`chemlab run %s method %s=...`) or see `chemlab describe %s`.' % (self.instrument_id, arg, self.instrument_id)))
+        return copy.deepcopy(v)
+
+    def build_args(self, ctx, step, si, tg):
+        args = copy.deepcopy(step.get('args') or {})
+        for a, spec in (step.get('keep') or {}).items():
+            args[a] = self.kept(ctx, step['cap'], a, spec, tg)
+        arr = step.get('array')
+        if arr:
+            vals = [self.kept(ctx, step['cap'], arr['arg'], s, tg) for s in arr['slots']]
+            if 'arg' not in step:
+                lab_nat = tg.get(arr.get('by'))
+                idx = lab_nat[1] if lab_nat else None
+                v = step['value'] if 'value' in step else self.to_arg(step['cap'], arr['arg'], si, step.get('unit'))
+                if idx is None:
+                    vals = [v for _ in vals]                                  # no --channel: every element
+                else:
+                    vals[int(idx)] = v
+            args[arr['arg']] = vals
+        if 'arg' in step:
+            args[step['arg']] = step['value'] if 'value' in step else self.to_arg(step['cap'], step['arg'], si, step.get('unit'))
+        if step.get('target'):
+            for k, (lab, nat) in tg.items():
+                t = (self.map.get('targets') or {}).get(k) or {}
+                if t.get('arg'):
+                    args[t['arg']] = nat
+        return args
+
+    def run_steps(self, ctx, steps, si, tg, what, want=None):
+        """Send the step list; returns the number of calls made."""
+        n = 0
+        for st in steps:
+            cond = st.get('skip_if')
+            if cond is not None:
+                got = self.raw(ctx, cond, tg)
+                if ('value' in cond and got == cond['value']) or (cond.get('truthy') and bool(got)) or (cond.get('falsy') and not got):
+                    continue
+            if st.get('toggle'):
+                cur = self.raw(ctx, st['state'], tg)
+                if bool(cur) == bool(st.get('want', want)):
+                    continue
+            args = self.build_args(ctx, st, si, tg)
+            ctx.call(st['cap'], args, st.get('step', what).format(inst=self.instrument_id))
+            n += 1
+        return n
+
+    @staticmethod
+    def first_arg_step(steps):
+        for st in steps or []:
+            if 'arg' in st or ((st.get('array') or {}).get('arg') and 'value' not in st):
+                return st
+        return None
+
+    # ------------------------------------------------------------------ knobs: VALUE | on | off
+    def knob_verb(self, name, summary, kind, value_help, *, on_off=True, example=None, details=None, extra_opts=None,
+                  preconditions=(), errors=(), reference=None):
+        opts = dict(self.target_opts(verb=name))
+        opts.update(extra_opts or {})
+        what = 'VALUE|on|off' if on_off else 'VALUE'
+        return Verb(name, summary, lambda ctx, p: self.h_knob(ctx, p, name, kind), positionals=[Arg(what, value_help)],
+                    options=opts, example=example or 'chemlab run INST %s on' % name, details=details,
+                    preconditions=list(preconditions), errors=list(errors), reference=reference)
+
+    def switch_verb(self, name, summary, words=('on', 'off'), example=None, details=None, reference=None):
+        return Verb(name, summary, lambda ctx, p: self.h_knob(ctx, p, name, None),
+                    positionals=[Arg('|'.join(words), ' or '.join(words), choices=list(words))], options=dict(self.target_opts(verb=name)),
+                    example=example or 'chemlab run INST %s %s' % (name, words[0]), details=details, reference=reference)
+
+    def h_knob(self, ctx, p, name, kind):
+        m = self.vmap(name)
+        inst = self.instrument_id
+        text = (p.pos[0] if p.pos else '').strip()
+        low = text.lower()
+        tg = self.targets(ctx, p)
+        where = ''.join(' (%s %s)' % (k, lab) for k, (lab, _) in tg.items())
+        word = m.get('word', name)
+        if low == '0' and 'off' in m and not m.get('zero_is_value'):
+            low = 'off'                                                   # stir 0, light 0, flow 0: the off form
+        if low in ON_WORDS or low in OFF_WORDS:
+            want = low in ON_WORDS
+            on_word, off_word = m.get('words', ['on', 'off'])
+            shown = on_word if want else off_word
+            steps = m.get('on' if want else 'off')
+            if steps is None:
+                ctx.fail(invalid('NEEDS_VALUE' if 'set' in m else 'NO_SWITCH', '%s cannot be switched %s on %s.' % (word, shown, inst),
+                                 m.get('switch_fix', 'give a value, e.g. `chemlab run INST %s %s`.' % (name, units.example(kind) if kind in units.KINDS else '1')).replace('INST', inst)))
+            self.need_power_if(ctx, m, want)
+            self.need(ctx, name if want else name + ':off', tg)
+            st = m.get('state')
+            if st is not None:
+                cur = self.raw(ctx, st, tg)
+                if bool(cur) == want and not m.get('always'):
+                    return {'text': 'ok: %s %s already %s%s\n' % (inst, word, shown, where),
+                            'json': {'verb': name, 'on': want, 'changed': False}}
+            self.run_steps(ctx, steps, None, tg, '%s %s%s' % (word, shown, where), want=want)
+            return {'text': 'ok: %s %s %s%s\n' % (inst, word, shown, where), 'json': {'verb': name, 'on': want, 'changed': True}}
+        if 'set' not in m:
+            ctx.fail(invalid('NO_VALUE', '%s takes on or off on %s, not a value.' % (name, inst),
+                             m.get('value_fix', 'use `chemlab run INST %s on|off`.' % name).replace('INST', inst)))
+        k = m.get('kind') or kind
+        si = units.parse(text, k, what=word) if k in units.KINDS else self.plain(text, word)
+        step = self.first_arg_step(m['set'])
+        if step is not None:
+            self.check_value(ctx, dict(step, arg=step.get('arg') or step['array']['arg']), si, k, word, m)
+        self.need_power_if(ctx, m, True)
+        self.need(ctx, name, tg)
+        self.run_steps(ctx, m['set'], si, tg, 'set the %s to %s%s' % (word, self.fmt(si, k), where), want=True)
+        if m.get('auto_on') and m.get('on'):
+            st = m.get('state')
+            if st is None or not self.raw(ctx, st, tg):
+                self.run_steps(ctx, m['on'], None, tg, '%s on%s' % (word, where), want=True)
+        notes = []
+        st = m.get('state')
+        if st is not None and not m.get('auto_on') and not self.raw(ctx, st, tg) and m.get('on'):
+            notes.append('%s is off - switch it on with `chemlab run %s %s on%s`.' % (word, inst, name,
+                                                                                    ''.join(' --%s %s' % (kk, lab) for kk, (lab, _) in tg.items())))
+        return {'text': 'ok: %s %s %s%s\n' % (inst, word, self.fmt(si, k), where), 'notes': notes,
+                'json': {'verb': name, 'value_si': si, 'value': self.fmt(si, k), 'target': {kk: lab for kk, (lab, _) in tg.items()}}}
+
+    def need_power_if(self, ctx, m, want):
+        if want and m.get('power', True):
+            self.need_power(ctx)
+
+    @staticmethod
+    def plain(text, what):
+        try:
+            return float(text)
+        except ValueError:
+            raise invalid('BAD_NUMBER', '%s %r is not a number.' % (what, text), 'give a number, e.g. 0.5.')
+
+    @staticmethod
+    def fmt(si, kind):
+        if not finite(si):
+            return 'n/a'
+        if kind == 'flow' and abs(si) >= 1e-3 / 60:                         # air flows: L/min, not thousands of mL/min
+            return '%g L/min' % round(si * 60000.0, 3)
+        return units.fmt(si, kind) if kind in units.KINDS else '%g' % si
+
+    # ------------------------------------------------------------------ temperature verbs
+    def tol(self):
+        return float(self.param('tolerance_k', 1.0))
+
+    def temp_verbs(self, reference=None, heat_summary='start or stop temperature control (heating / cooling)'):
+        temp = Arg('TEMP', 'set point, e.g. 80C, 353.15K or 176F (a bare number is °C)', kind='temperature')
+        so = dict(self.target_opts(verb='set-temp'))
+        so.update({'wait': Opt('then wait until the temperature is within the tolerance', kind='flag'),
+                   'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME'),
+                   'ramp': Opt('reach the set point over this time (instruments with a ramp)', kind='duration', metavar='TIME'),
+                   'jacket': Opt('set the jacket temperature (Tj) instead of the reaction temperature (calorimeters)', kind='flag'),
+                   'controller': Opt('the temperature controller to use (RC1: aqueous, organic, aqueous_pi, organic_pi)', metavar='NAME')})
+        wo = dict(self.target_opts(verb='wait-temp'))
+        wo.update({'within': Opt('tolerance (default: the member\'s, about 1 K)', kind='temperature_delta', metavar='DELTA'),
+                   'max': Opt('longest wait (default 1 h)', kind='duration', metavar='TIME'),
+                   'hold': Opt('stay within the tolerance this long (default 0)', kind='duration', metavar='TIME'),
+                   'to': Opt('wait for this temperature instead of the set point', kind='temperature', metavar='TEMP'),
+                   'job': Opt('return a job id at once instead of waiting (chemlab wait|status|cancel job-N)', kind='flag')})
+        return {
+            'set-temp': Verb('set-temp', 'set the temperature set point', self.h_set_temp, positionals=[temp], options=so,
+                             preconditions=['set point within the instrument range (contract)', 'power on', 'the member\'s own conditions',
+                                            'not above the safety limit where the instrument has one'],
+                             errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, ABOVE_SAFETY_LIMIT and member codes (refused)'],
+                             example='chemlab run INST set-temp 60C', reference=reference),
+            'heat': Verb('heat', heat_summary, lambda ctx, p: self.h_knob(ctx, p, 'heat', None),
+                         positionals=[Arg('on|off', 'on or off', choices=['on', 'off'])], options=dict(self.target_opts(verb='heat')),
+                         preconditions=['power on', 'the member\'s own conditions'], example='chemlab run INST heat on', reference=reference),
+            'temp': Verb('temp', 'the current temperature(s) and set point(s), in °C', self.h_temp, readonly=True,
+                         options=dict(self.target_opts(verb='temp'), **{'save-to': save_to_opt()}), example='chemlab run INST temp'),
+            'wait-temp': Verb('wait-temp', 'wait until the temperature is at the set point (or --to T), moving lab time', self.h_wait_temp,
+                              readonly=True, long_action=True, options=wo,
+                              preconditions=['power on', 'temperature control on (where the instrument has a switch)'],
+                              errors=['HEATING_OFF (refused)', 'NOT_REACHED (refused: still outside the tolerance after --max)'],
+                              example='chemlab run INST wait-temp --within 1K --max 30min'),
+        }
+
+    def c(self, k):
+        return units.fmt(k, 'temperature') if finite(k) else 'n/a'
+
+    def h_set_temp(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        tg = self.targets(ctx, p)
+        where = ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items())
+        if p.get('jacket'):
+            if not m.get('jacket'):
+                ctx.fail(invalid('NO_JACKET', '%s has no separate jacket temperature control.' % inst, 'leave out --jacket.'))
+            m = dict(m['jacket'], **{'set_slot': m['jacket'].get('set_slot')})
+        label = next((lab for kk, (lab, _) in tg.items()), None)
+        steps = copy.deepcopy((m.get('by_target') or {}).get(label) or m['set'])
+        step = self.first_arg_step(steps)
+        self.check_value(ctx, dict(step, arg=step.get('arg') or step['array']['arg']), k, 'temperature', 'set point', m)
+        step_c = self.param('step_c')
+        if step_c:
+            n = (k - 273.15) / float(step_c)
+            if abs(n - round(n)) > 1e-6:
+                ctx.fail(invalid('BAD_STEP', '%s takes set points in %g °C steps, not %s.' % (inst, step_c, p.raw['TEMP']),
+                                 'round it, e.g. %.0fC.' % (round(n) * float(step_c))))
+        ramp = p.get('ramp')
+        if ramp is not None and not m.get('ramp_arg'):
+            ctx.fail(invalid('NO_RAMP', '%s has no set-point ramp.' % inst, m.get('ramp_fix', 'leave out --ramp (or use a program where the '
+                                                                             'instrument has one: `chemlab run %s program ...`).' % inst)))
+        ctrl = p.get('controller')
+        if ctrl is not None and not m.get('controller_arg'):
+            ctx.fail(invalid('NO_CONTROLLER', '%s has no controller choice.' % inst, 'leave out --controller.'))
+        self.need_power(ctx)
+        self.need(ctx, 'set-temp:jacket' if p.get('jacket') else 'set-temp', tg)
+        lim = self.si(ctx, 'limit', tg) if not p.get('jacket') else self.si(ctx, 'jacket_limit', tg)
+        if finite(lim):
+            ctx.check(k <= lim + 1e-9, 'ABOVE_SAFETY_LIMIT', 'the set point %s is above the safety limit of %s (%s).' % (self.c(k), inst, self.c(lim)),
+                      'set a lower temperature, or raise the limit first (`chemlab run %s safety-limit T`) if the reaction and the vessel '
+                      'allow it.' % inst, label='below the safety limit')
+        if m.get('ramp_arg'):
+            step.setdefault('args', {})[m['ramp_arg']] = self.to_arg(step['cap'], m['ramp_arg'], ramp if ramp is not None else
+                                                                     float(m.get('ramp_default', 0.0)))
+        if m.get('controller_arg'):
+            allowed = self.arg_enum(step['cap'], m['controller_arg'])
+            c = ctrl or self.param('controller', allowed[0] if allowed else None)
+            if allowed and c not in allowed:
+                ctx.fail(invalid('BAD_CHOICE', '--controller %s is not one of %s.' % (c, ', '.join(allowed)), 'use one of: %s.' % ', '.join(allowed)))
+            step.setdefault('args', {})[m['controller_arg']] = c
+        before = self.si(ctx, m.get('set_slot') or 'set', tg)
+        self.run_steps(ctx, steps, k, tg, 'set the set point to %s%s' % (self.c(k), where))
+        set_now = self.si(ctx, m.get('set_slot') or 'set', tg)
+        if ramp is None and m.get('readback', True) and finite(set_now) and abs(set_now - k) > 0.051 and not ctx.dry_run:
+            ctx.fail(refused('NOT_TAKEN', '%s still shows the set point %s, not %s.' % (inst, self.c(set_now), self.c(k)),
+                             'check `chemlab run %s status`.' % inst, changed='unknown'))
+        notes = []
+        hs = self.has_role('heat') and self.raw(ctx, 'heat', tg)
+        if self.has_role('heat') and not hs and self.supported('heat') and not p.get('jacket'):
+            tgt = (self.map.get('targets') or {})
+            opts = ''.join(' --%s %s' % (kk, lab) for kk, (lab, _) in tg.items() if tgt.get(kk, {}).get('verbs') is None or 'heat' in tgt[kk]['verbs'])
+            notes.append('temperature control is off - start it with `chemlab run %s heat on%s`.' % (inst, opts))
+        text = 'ok: set point %s%s%s (was %s)%s\n' % (self.c(k), where, (', ramping over %s' % units.fmt_s(ramp)) if ramp else '',
+                                                    self.c(before), ('; now %s' % self.c(self.si(ctx, 'temp', tg))) if self.has_role('temp') else '')
+        js = {'set_point_k': k, 'set_point_c': k - 273.15, 'was_k': before, 'temperature_k': self.si(ctx, 'temp', tg),
+              'target': {kk: lab for kk, (lab, _) in tg.items()}}
+        if p.get('wait') and not ctx.dry_run:
+            r = self.wait_for(ctx, k, self.tol(), p.get('max') or 3600.0, 0.0, tg, dynamic=ramp is not None)
+            text += r['text']
+            js.update(r['json'])
+        return {'text': text, 'json': js, 'notes': notes}
+
+    def temp_rows(self, values, tg=None):
+        """[(label, temperature K, set point K, extra)] for one target or for every zone / channel."""
+        kind = self.per_kind('temp')
+        rows = []
+        if kind and not tg:
+            for lab, nat in self.all_targets(kind):
+                t = {kind: (lab, nat)}
+                rows.append(('%s %s' % (kind, lab), self.si(values, 'temp', t), self.si(values, 'set', t), t))
+        else:
+            lab = ' '.join('%s %s' % (k, l) for k, (l, _) in (tg or {}).items())
+            rows.append((lab, self.si(values, 'temp', tg), self.si(values, 'set', tg), tg))
+        return rows
+
+    def h_temp(self, ctx, p):
+        tg = self.targets(ctx, p, 'temp')
+        rows = self.temp_rows(ctx, tg)
+        lines, js = [], []
+        for lab, tk, sk, t in rows:
+            extra = ''
+            if self.has_role('jacket'):
+                extra = ', jacket %s' % self.c(self.si(ctx, 'jacket', t))
+            if self.has_role('temp2'):
+                extra += ', %s %s' % (self.param('temp2_word', 'liquid'), self.c(self.si(ctx, 'temp2', t)))
+            lines.append('%s%s (set point %s)%s' % (('%s: ' % lab) if lab else '', self.c(tk), self.c(sk), extra))
+            js.append({'target': lab or None, 'temperature_k': tk, 'temperature_c': tk - 273.15 if finite(tk) else None,
+                       'set_point_k': sk, 'set_point_c': sk - 273.15 if finite(sk) else None})
+        out = {'temperatures': js}
+        if len(js) == 1:
+            out.update(js[0])
+        return {'text': '%s: %s\n' % (self.instrument_id, '; '.join(lines)), 'json': out}
+
+    def busy(self, values, tg):
+        b = self.map.get('wait_while')                                     # e.g. a set-point ramp still running
+        return bool(b and self.raw(values, b, tg))
+
+    def wait_for(self, ctx, target, within, max_s, hold_s, tg, dynamic=False):
+        """Advance lab time until |T - target| <= within (held for hold_s).  ``dynamic``: the target is the set point as it is at each
+        poll (a ramping set point reaches its end value when the ramp is over)."""
+        state = {'since': None, 'done': False}
+
+        def tgt():
+            return self.si(ctx, 'set', tg) if dynamic else target
+
+        def inside(view):
+            tk = self.si(ctx, 'temp', tg)
+            t = tgt()
+            ok = finite(tk) and finite(t) and abs(tk - t) <= within + 1e-9 and not self.busy(ctx, tg)
+            if not ok:
+                state['since'] = None
+                return False
+            if state['since'] is None:
+                state['since'] = ctx.now()
+            state['done'] = ctx.now() - state['since'] >= hold_s - 1e-9
+            return state['done']
+        t0 = ctx.now()
+        if not inside(ctx.view):
+            ctx.advance(max_s, until=inside, step='wait until %s ± %s' % (self.c(target), units.fmt(within, 'temperature_delta')),
+                        poll_s=float(self.param('poll_s', 5.0)))
+        tk = self.si(ctx, 'temp', tg)
+        target = tgt() if finite(tgt()) else target
+        if not state['done']:
+            ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; the target %s ± %s%s was not reached.' % (
+                self.instrument_id, self.c(tk), units.fmt_s(ctx.now() - t0), self.c(target), units.fmt(within, 'temperature_delta'),
+                ' (held for %s)' % units.fmt_s(hold_s) if hold_s else ''),
+                'wait longer (`chemlab run %s wait-temp --max 2h`), or check that temperature control is on (`chemlab run %s status`).'
+                % (self.instrument_id, self.instrument_id), detail={'temperature_k': tk, 'target_k': target}))
+        return {'text': 'reached %s (target %s ± %s) after %s of waiting (t = %.0f s)\n' % (
+            self.c(tk), self.c(target), units.fmt(within, 'temperature_delta'), units.fmt_s(ctx.now() - t0), ctx.now()),
+            'json': {'reached': True, 'temperature_k': tk, 'target_k': target, 'waited_s': ctx.now() - t0}}
+
+    def h_wait_temp(self, ctx, p):
+        inst = self.instrument_id
+        self.need_power(ctx)
+        tg = self.targets(ctx, p, 'wait-temp')
+        if self.per_kind('temp') and not tg:
+            k = self.per_kind('temp')
+            if self.param('wait_all') and p.get('to') is None:
+                return self.wait_all(ctx, p, k)
+            ctx.fail(invalid('MISSING_' + k.upper(), 'wait-temp needs --%s on %s.' % (k, inst),
+                             'give --%s %s.' % (k, '|'.join(lab for lab, _ in self.all_targets(k)))))
+        target = p.get('to') if p.get('to') is not None else self.si(ctx, 'set', tg)
+        if not finite(target):
+            ctx.fail(refused('NO_SET_POINT', '%s has no set point to wait for.' % inst, 'set one (`set-temp`) or give --to T.'))
+        within = p.get('within') if p.get('within') is not None else self.tol()
+        if self.has_role('heat') and self.supported('heat') and not self.raw(ctx, 'heat', tg):
+            tk = self.si(ctx, 'temp', tg)
+            if not (finite(tk) and tk >= target - within):                     # cooling down with the heater off is fine
+                ctx.fail(refused('HEATING_OFF', 'temperature control of %s%s is off, so it will not reach %s (now %s).' % (
+                    inst, ''.join(' %s %s' % (kk, lab) for kk, (lab, _) in tg.items()), self.c(target), self.c(tk)),
+                    'start it: `chemlab run %s heat on%s`, then wait.' % (inst, ''.join(' --%s %s' % (kk, lab) for kk, (lab, _) in tg.items()))))
+        max_s = p.get('max') or 3600.0
+        hold = p.get('hold') or 0.0
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s},
+                             'step': 'wait until %s ± %s' % (self.c(target), units.fmt(within, 'temperature_delta'))})
+            return {'text': '', 'json': {}}
+        if p.get('job'):
+            ad = self
+
+            dyn = p.get('to') is None
+
+            def test(c):
+                tk = ad.si(c, 'temp', tg)
+                t = ad.si(c, 'set', tg) if dyn else target
+                ok = finite(tk) and finite(t) and abs(tk - t) <= within + 1e-9 and not ad.busy(c, tg)
+                return ok, '%s now, target %s ± %s' % (ad.c(tk), ad.c(t), units.fmt(within, 'temperature_delta'))
+            job = ConditionJob(ctx.core, self, ctx.req, 'reach %s on %s' % (self.c(target), inst), test, max_s=max_s,
+                               poll_s=float(self.param('poll_s', 5.0)))
+            return {'text': 'started %s: wait until %s ± %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, self.c(target), units.fmt(within, 'temperature_delta'), job.handle, job.handle, job.handle),
+                'json': {'job': job.handle, 'target_k': target}}
+        return self.wait_for(ctx, target, within, max_s, hold, tg, dynamic=p.get('to') is None)
+
+    def wait_all(self, ctx, p, k):
+        """wait-temp without --zone / --channel on a member whose zones all heat together: every one within the tolerance of
+        its own set point."""
+        inst = self.instrument_id
+        within = p.get('within') if p.get('within') is not None else self.tol()
+        max_s = p.get('max') or 3600.0
+        tgs = [{k: (lab, nat)} for lab, nat in self.all_targets(k)]
+
+        def off(c):
+            out = []
+            for t in tgs:
+                tk, sk = self.si(c, 'temp', t), self.si(c, 'set', t)
+                if not (finite(tk) and finite(sk) and abs(tk - sk) <= within + 1e-9):
+                    out.append('%s %s %s (set %s)' % (k, t[k][0], self.c(tk), self.c(sk)))
+            return out
+        if self.has_role('heat') and self.supported('heat') and not self.raw(ctx, 'heat') and off(ctx):
+            ctx.fail(refused('HEATING_OFF', 'temperature control of %s is off, so the %ss will not reach their set points.' % (inst, k),
+                             'start it: `chemlab run %s heat on`, then wait.' % inst))
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s}, 'step': 'wait until every %s is at its set point' % k})
+            return {'text': '', 'json': {}}
+        if p.get('job'):
+            job = ConditionJob(ctx.core, self, ctx.req, 'every %s of %s at its set point' % (k, inst),
+                               lambda c: (not off(c), '; '.join(off(c)) or 'all at their set points'), max_s=max_s,
+                               poll_s=float(self.param('poll_s', 5.0)))
+            return {'text': 'started %s: wait until every %s is at its set point\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, k, job.handle, job.handle, job.handle), 'json': {'job': job.handle}}
+        t0 = ctx.now()
+        if off(ctx):
+            ctx.advance(max_s, until=lambda v: not off(ctx), step='wait until every %s is within %s of its set point' % (
+                k, units.fmt(within, 'temperature_delta')), poll_s=float(self.param('poll_s', 5.0)))
+        left = off(ctx)
+        if left:
+            ctx.fail(refused('NOT_REACHED', 'after %s not every %s of %s is at its set point: %s.' % (units.fmt_s(ctx.now() - t0), k, inst, '; '.join(left)),
+                             'wait longer (`chemlab run %s wait-temp --max 2h`) or check `chemlab run %s status`.' % (inst, inst)))
+        return {'text': 'every %s of %s is within %s of its set point after %s of waiting (t = %.0f s)\n' % (
+            k, inst, units.fmt(within, 'temperature_delta'), units.fmt_s(ctx.now() - t0), ctx.now()),
+            'json': {'reached': True, 'waited_s': ctx.now() - t0}}
+
+    # ------------------------------------------------------------------ one-call actions (prime, clean, ...)
+    def action_verb(self, name, summary, example=None, details=None, reference=None):
+        return Verb(name, summary, lambda ctx, p: self.h_action(ctx, p, name), options=dict(self.target_opts(verb=name)), long_action=True,
+                    example=example or 'chemlab run INST %s' % name, details=details, reference=reference)
+
+    def h_action(self, ctx, p, name):
+        inst = self.instrument_id
+        m = self.vmap(name)
+        tg = self.targets(ctx, p)
+        self.need_power(ctx)
+        self.need(ctx, name, tg)
+        steps = m.get('steps') or [dict((k, v) for k, v in m.items() if k in ('cap', 'args', 'target', 'keep'))]
+        r = None
+        for st in steps:
+            r = ctx.call(st['cap'], self.build_args(ctx, st, None, tg), st.get('step', m.get('what', name)))
+        where = ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items())
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r, tg, cap=steps[-1]['cap'])
+        if job is None:
+            return {'text': 'ok: %s %s%s\n' % (inst, m.get('done', name + ' done'), where), 'json': {'result': (r or {}).get('result')}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    # ------------------------------------------------------------------ method with class keys
+    def method_verb(self, reference=None):
+        keys = ', '.join('%s (%s)' % (k, v[1]) for k, v in sorted(self.KEYS.items()))
+        return Verb('method', 'set the run parameters: KEY=VALUE ... (class keys take units; native argument names pass through)',
+                    self.h_method, options=dict(self.target_opts(verb='method')), variadic=('KEY=VALUE', 'a setting'),
+                    details='class keys: %s. Settings you leave out keep the value the instrument shows now where it shows one; '
+                            'otherwise they are asked for by name. A native argument name with a bare number takes the unit the contract '
+                            'declares for it; lists are comma-separated (flow=0.5mL/min,0.5mL/min).' % keys,
+                    preconditions=['every required setting given or kept from the instrument', 'each value inside the contract range'],
+                    errors=['UNKNOWN_SETTING, MISSING_SETTING, OUT_OF_RANGE (usage)'], example='chemlab run INST method temp=80C time=10min',
+                    reference=reference)
+
+    def parse_setting(self, ctx, cap, native, text, kind, what, unit=None):
+        sch = self.cap_schema(cap, native)
+        if 'anyOf' in sch and text.strip().lower() in ('null', 'none'):
+            return None
+        base = self.arg_schema(cap, native)
+        if base.get('type') == 'array' and not text.strip().startswith('['):
+            parts = [x for x in re.split(r'[,;]', text) if x.strip()]
+            return [self.parse_one(ctx, cap, native, x.strip(), kind, what, unit) for x in parts]
+        if base.get('type') == 'array' or base.get('type') == 'object' or text.strip().startswith(('[', '{')):
+            return coerce(text, sch, what)
+        return self.parse_one(ctx, cap, native, text, kind, what, unit)
+
+    def parse_one(self, ctx, cap, native, text, kind, what, unit=None):
+        sch = self.item_schema(cap, native)
+        types = _types(sch)
+        u = self.unit_of(cap, native, unit)
+        bare = re.fullmatch(r'\s*%s\s*' % _NUM, text) is not None
+        numeric = re.match(r'\s*[+-]?(\d|\.\d)', text) is not None
+        k = kind or (units.unit_kind(u) if u else None)
+        if k in units.KINDS and numeric and (kind is not None or not bare):
+            si = units.parse(text, k, what=what)
+            lo, hi, enum = self.range_si(cap, native, unit)
+            f = lambda x: units.fmt(x, k)                                  # noqa: E731
+            if (lo is not None and si < lo - 1e-9 * max(1.0, abs(lo))) or (hi is not None and si > hi + 1e-9 * max(1.0, abs(hi))):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s=%s is outside the range of %s (%s to %s).' % (what, text, self.instrument_id,
+                                                                                               f(lo) if lo is not None else '-', f(hi) if hi is not None else '-'),
+                                 'give %s from %s to %s.' % (what, f(lo) if lo is not None else '-', f(hi) if hi is not None else '-')))
+            return self.to_arg(cap, native, si, unit)
+        if types & {'number', 'integer'} and bare:
+            v = float(text)
+            if 'integer' in types and v.is_integer():
+                v = int(v)
+            return v
+        return coerce(text, sch, what)
+
+    def h_method(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('method')
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        required = list((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        keys = m.get('keys') or {}
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % inst))
+        tg = self.targets(ctx, p)
+        args = copy.deepcopy(m.get('args') or {})
+        given = {}
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write method KEY=VALUE ... (see `chemlab help %s method`).' % inst))
+            if k in keys:
+                spec = keys[k]
+                native, kind, unit = spec['arg'], spec.get('kind', (self.KEYS.get(k) or (None,))[0]), spec.get('unit')
+            elif m.get('passthrough', True) and k in props:
+                native, kind, unit = k, None, None
+            else:
+                close = difflib.get_close_matches(k, list(keys) + list(props), 2)
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (inst, k),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') +
+                                 'settings: %s (native: %s).' % (', '.join(sorted(keys)), ', '.join(sorted(props)))))
+            if native in given:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice (%s and %s).' % (native, given[native], k), 'give it once.'))
+            given[native] = k
+            args[native] = self.parse_setting(ctx, cap, native, v, kind, k, unit)
+        missing = []
+        for a in required:
+            if a in args:
+                continue
+            spec = (m.get('keep') or {}).get(a)
+            if spec is not None:
+                args[a] = self.kept(ctx, cap, a, spec, tg)
+            elif a in (m.get('defaults') or {}):
+                args[a] = copy.deepcopy(m['defaults'][a])
+            else:
+                missing.append(a)
+        if missing:
+            names = []
+            for a in missing:
+                ks = [k for k, s in keys.items() if s['arg'] == a]
+                names.append('%s (%s)' % (ks[0], a) if ks else a)
+            ctx.fail(invalid('MISSING_SETTING', '%s needs %s in its method; %s does not show the current value, so give it.' % (
+                inst, ', '.join(names), inst), 'add %s.' % ' '.join('%s=...' % ((([k for k, s in keys.items() if s['arg'] == a] or [a])[0])) for a in missing)))
+        for a in list(args):
+            if a not in props:
+                del args[a]
+        if m.get('target'):
+            for kk, (lab, nat) in tg.items():
+                t = (self.map.get('targets') or {}).get(kk) or {}
+                if t.get('arg'):
+                    args[t['arg']] = nat
+        self.need(ctx, 'method', tg)
+        ctx.call(cap, args, 'set the method (%s)' % ', '.join('%s=%s' % (k, short(v, 30)) for k, v in args.items()))
+        return {'text': 'ok: method of %s set: %s\n' % (inst, short(args, 400)), 'json': {'arguments': args}}
+
+    # ------------------------------------------------------------------ run: start / stop / result / wait
+    def run_verbs(self, reference=None):
+        t = self.target_opts(verb='start')
+        start_opts = dict(t, name=Opt('a name for the run record (instruments that keep named experiments)', metavar='NAME'))
+        stop_opts = dict(self.target_opts(verb='stop'), **{'cool-to': Opt('after stopping, cool to this temperature (instruments that can)', kind='temperature',
+                                              metavar='TEMP')})
+        res_opts = dict(self.target_opts(verb='result'), **{'save-to': save_to_opt(), 'experiment': Opt('which experiment record (default: the latest)', metavar='ID')})
+        return {
+            'start': Verb('start', 'start the run (long runs return job-N: chemlab status|wait|cancel job-N)', self.h_start,
+                          long_action=True, options=start_opts, preconditions=['the member\'s own conditions (lid, sample, ...)'],
+                          errors=['member codes (refused)'], example='chemlab run INST start', reference=reference),
+            'stop': Verb('stop', 'stop the run', self.h_stop, options=stop_opts, example='chemlab run INST stop', reference=reference),
+            'result': Verb('result', 'the result / record of the last run', self.h_result, readonly=True, options=res_opts,
+                           example='chemlab run INST result --save-to run.json', reference=reference),
+            'wait': Verb('wait', 'wait for your latest job on this instrument', self.h_wait_job, readonly=True,
+                         options={'max': Opt('longest wait', kind='duration', metavar='TIME')}, example='chemlab run INST wait --max 30min'),
+        }
+
+    def h_start(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('start')
+        tg = self.targets(ctx, p)
+        self.need_power(ctx)
+        self.need(ctx, 'start', tg)
+        if p.get('name') is not None and not m.get('name_arg'):
+            ctx.fail(invalid('NO_NAME', '%s does not keep named runs.' % inst, 'leave out --name.'))
+        steps = copy.deepcopy(m.get('steps') or [dict((k, v) for k, v in m.items() if k in ('cap', 'args', 'target', 'keep', 'skip_if'))])
+        main = steps[-1]
+        if m.get('name_arg'):
+            main.setdefault('args', {})[m['name_arg']] = p.get('name') or self.param('run_name', 'chemlab run')
+        r = None
+        for st in steps:
+            cond = st.get('skip_if')
+            if cond is not None and self.raw(ctx, cond, tg) == cond.get('value'):
+                continue
+            args = self.build_args(ctx, st, None, tg)
+            r = ctx.call(st['cap'], args, st.get('step', 'start (%s)' % st['cap']))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = (r or {}).get('result') if isinstance((r or {}).get('result'), dict) else {}
+        if m.get('id_key') and res.get(m['id_key']):
+            self.last_id = res[m['id_key']]
+        job = self.make_job(ctx, m, r, tg)
+        where = ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items())
+        if job is None:
+            return {'text': 'ok: %s started%s%s\n' % (inst, where, (' (%s %s)' % (m['id_key'], res.get(m['id_key']))) if m.get('id_key') else ''),
+                    'json': {'status': r.get('status'), 'result': r.get('result')}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def make_job(self, ctx, m, r, tg, cap=None):
+        cap = cap or (m.get('steps') or [m])[-1]['cap']
+        kind = m.get('job') or ('operation' if (r or {}).get('operation_id') else 'none')
+        where = ''.join(' %s %s' % (kk, lab) for kk, (lab, _) in tg.items())
+        if kind == 'operation' and (r or {}).get('operation_id'):
+            return OperationJob(ctx.core, self, ctx.req, '%s %s%s' % (self.instrument_id, m.get('what', cap), where), cap, r['operation_id'],
+                                max_s=m.get('max_s'))
+        if kind == 'state':
+            st = m['state']
+            ad = self
+
+            def state(c):
+                v = ad.raw(c, st, tg)
+                if v in (st.get('done') or []):
+                    return 'succeeded', '%s = %s' % (ad.resolve(st, tg)['slot'], v), {'state': v}
+                if v in (st.get('failed') or []):
+                    return 'failed', '%s = %s' % (ad.resolve(st, tg)['slot'], v), {'state': v}
+                return 'running', '%s = %s' % (ad.resolve(st, tg)['slot'], v), {'state': v}
+            sm = self.vmap('stop')
+            stop = None
+            if sm:
+                def stop(c):
+                    for s in sm.get('steps') or [sm]:
+                        c.call(s['cap'], ad.build_args(c, s, None, tg), 'stop (%s)' % s['cap'])
+                    return 'stopped'
+            return StateJob(ctx.core, self, ctx.req, '%s %s%s' % (self.instrument_id, m.get('what', cap), where), state, stop=stop,
+                            max_s=float(m.get('max_s', 7200)), poll_s=float(m.get('poll_s', 5.0)))
+        return None
+
+    def h_stop(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('stop')
+        tg = self.targets(ctx, p)
+        self.need(ctx, 'stop', tg)
+        cool = p.get('cool-to')
+        if cool is not None and not m.get('cool_arg'):
+            ctx.fail(invalid('NO_COOL_TO', '%s cannot cool to a temperature when stopping.' % inst, 'leave out --cool-to; set a temperature afterwards.'))
+        steps = copy.deepcopy(m.get('steps') or [dict((k, v) for k, v in m.items() if k in ('cap', 'args', 'target', 'keep', 'skip_if'))])
+        if m.get('cool_arg'):
+            main = steps[-1]
+            main.setdefault('args', {})
+            if cool is not None:
+                self.check_value(ctx, {'cap': main['cap'], 'arg': m['cool_arg']}, cool, 'temperature', 'end temperature')
+                main['args'][m['cool_arg']] = self.to_arg(main['cap'], m['cool_arg'], cool)
+                main['args'].update(m.get('cool_args') or {})
+            else:
+                main['args'][m['cool_arg']] = None
+        n = 0
+        for st in steps:
+            cond = st.get('skip_if')
+            if cond is not None:
+                got = self.raw(ctx, cond, tg)
+                if ('value' in cond and got == cond['value']) or (cond.get('falsy') and not got) or (cond.get('truthy') and bool(got)):
+                    continue
+            ctx.call(st['cap'], self.build_args(ctx, st, None, tg), st.get('step', 'stop (%s)' % st['cap']))
+            n += 1
+        where = ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items())
+        if n == 0:
+            return {'text': 'ok: %s has nothing running%s\n' % (inst, where), 'json': {'changed': False}}
+        return {'text': 'ok: %s stopped%s%s\n' % (inst, where, (', cooling to %s' % self.c(cool)) if cool is not None else ''),
+                'json': {'changed': True}}
+
+    last_id = None
+
+    def h_result(self, ctx, p):
+        inst = self.instrument_id
+        m = self.vmap('result')
+        tg = self.targets(ctx, p)
+        if p.get('experiment') is not None and not m.get('id_arg'):
+            ctx.fail(invalid('NO_EXPERIMENTS', '%s keeps no experiment records.' % inst, 'leave out --experiment.'))
+        if m.get('cap'):
+            args = copy.deepcopy(m.get('args') or {})
+            if m.get('id_arg'):
+                rid = p.get('experiment') or (self.raw(ctx, m['id_slot']) if m.get('id_slot') else None) or self.last_id
+                if not rid:
+                    ctx.fail(refused('NO_RECORD', '%s has no experiment record yet.' % inst, 'start one first (`chemlab run %s start`).' % inst))
+                args[m['id_arg']] = rid
+            if m.get('target'):
+                args.update({(self.map['targets'][kk]).get('arg'): nat for kk, (lab, nat) in tg.items() if self.map['targets'][kk].get('arg')})
+            r = ctx.call(m['cap'], args, 'read the result (%s)' % m['cap'], query=True)
+            res = r.get('result')
+        else:
+            res = {}
+            for s in m.get('reads') or []:
+                res[s] = ctx.v(s)
+            for role in m.get('roles') or []:
+                rs = self.resolve(role, tg)
+                sid = rs['slot'] if isinstance(rs, dict) else rs
+                res[sid] = self.raw(ctx, rs, tg)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        lines = ['%s result%s:' % (inst, ''.join(' (%s %s)' % (kk, lab) for kk, (lab, _) in tg.items()))]
+        if isinstance(res, dict):
+            for k, v in list(res.items())[:30]:
+                if isinstance(v, list) and len(v) > 6:
+                    lines.append('  %s = [%d entries] (--save-to FILE for all)' % (k, len(v)))
+                else:
+                    lines.append('  %s = %s' % (k, short(v, 160)))
+        else:
+            lines.append('  %s' % short(res, 400))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'result': res}}
+
+    def h_wait_job(self, ctx, p):
+        job = latest(ctx.core, ctx.caller, self.instrument_id)
+        if job is None:
+            ctx.fail(invalid('NO_JOB', 'you have no job on %s.' % self.instrument_id, 'start one first (`chemlab run %s start`).' % self.instrument_id))
+        r = job.wait_reply(ctx.core, ctx.req, p.get('max'))
+        return {'text': r['text'], 'json': r['json']}
+
+    # ------------------------------------------------------------------ named parts
+    def part_verbs(self):
+        def make(action):
+            def h(ctx, p):
+                parts = (self.vmap('open') or {}).get('parts') or {}
+                name = p.pos[0] if p.pos else None
+                if name is None:
+                    if len(parts) != 1:
+                        ctx.fail(invalid('WHICH_PART', '%s has several parts: %s.' % (self.instrument_id, ', '.join(parts)),
+                                         'name one, e.g. `%s %s`.' % (action, next(iter(parts)))))
+                    name = next(iter(parts))
+                if name not in parts:
+                    ctx.fail(invalid('UNKNOWN_PART', '%s has no part %r to open or close.' % (self.instrument_id, name), 'parts: %s.' % ', '.join(parts)))
+                spec = parts[name]
+                so, sc = spec.get('state_open'), spec.get('state_closed')
+                is_open = bool(self.raw(ctx, so)) if so else (not self.raw(ctx, sc) if sc else None)
+                is_closed = bool(self.raw(ctx, sc)) if sc else (not self.raw(ctx, so) if so else None)
+                if (action == 'open' and is_open) or (action == 'close' and is_closed):
+                    return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, name, 'open' if action == 'open' else 'closed'),
+                            'json': {'part': name, 'action': action, 'changed': False}}
+                self.need(ctx, '%s:%s' % (action, name))
+                self.run_steps(ctx, spec[action], None, {}, '%s the %s' % (action, name), want=(action == 'open'))
+                return {'text': 'ok: %s %s %s\n' % (self.instrument_id, name, 'opened' if action == 'open' else 'closed'),
+                        'json': {'part': name, 'action': action, 'changed': True}}
+            return h
+        pos = [Arg('PART', 'which part (lid, vent, ...); optional when there is only one', required=False)]
+        return {'open': Verb('open', 'open a lid, vent or cover (with the class safety checks)', make('open'), positionals=pos,
+                             example='chemlab run INST open lid'),
+                'close': Verb('close', 'close (and lock) a lid, vent or cover', make('close'), positionals=pos, example='chemlab run INST close lid')}
+
+    # ------------------------------------------------------------------ class view
+    def summary(self, values):
+        p = self.slot('power')
+        if p and not self.raw(values, 'power'):
+            return ['power off'], {'power': False}
+        lines, js = [], {'power': True}
+        main, more = [], []
+        kinds = {}
+        for role, label, kind in self.VIEW:
+            if not self.has_role(role):
+                continue
+            pk = self.per_kind(role)
+            if pk:
+                kinds.setdefault(pk, []).append((role, label, kind))
+                continue
+            v = self.view_value(values, role, kind, None)
+            if v is None:
+                continue
+            js[role] = v[1]
+            (main if role in ('temp', 'set') else more).append('%s %s' % (label, v[0]))
+        if main or more:
+            lines.append(', '.join(main + more))
+        for pk, roles in kinds.items():
+            for lab, nat in self.all_targets(pk):
+                tg = {pk: (lab, nat)}
+                bits = []
+                for role, label, kind in roles:
+                    v = self.view_value(values, role, kind, tg)
+                    if v is None:
+                        continue
+                    js.setdefault('%s_%s' % (pk, lab), {})[role] = v[1]
+                    bits.append('%s %s' % (label, v[0]))
+                if bits:
+                    lines.append('%s %s: %s' % (pk, lab, ', '.join(bits)))
+        return (lines or ['(no class view for this instrument; see `chemlab read %s`)' % self.instrument_id]), js
+
+    def view_value(self, values, role, kind, tg):
+        if kind == 'bool':
+            v = self.raw(values, role, tg)
+            return None if v is None else ('on' if v else 'off', bool(v))
+        if kind == 'text':
+            v = self.raw(values, role, tg)
+            return None if v in (None, '') else (short(v, 40).strip('"'), v)
+        v = self.si(values, role, tg)
+        rv = self.raw(values, role, tg)
+        if isinstance(rv, list):
+            spec = self.resolve(role, tg)
+            sid = (spec['slot'] if isinstance(spec, dict) else spec).partition('#')[0]
+            u = (spec.get('unit') if isinstance(spec, dict) else None) or units.declared(self.lab.contract['state_slots'].get(sid) or {})
+            v = [units.from_declared(x, u) if u and finite(x) else x for x in rv]
+            shown = [self.fmt(x, kind) for x in v]
+            return ((shown[0] + (' (all %d)' % len(shown) if len(shown) > 1 else '')) if len(set(shown)) == 1 else ', '.join(shown), v)
+        if not finite(v):
+            return None
+        return (self.fmt(v, kind), v)
+
+    # ------------------------------------------------------------------ mapping check: templates, keep slots, keys
+    def check_mapping(self, lab):
+        problems = ClassAdapter.check_mapping(self, lab)
+        visible = {s.lower() for s in lab.view.slots}
+        caps = lab.contract['capabilities']
+        targets = self.map.get('targets') or {}
+
+        def tvals(template, skip=()):
+            ks = [k for k in TARGETS if '{%s}' % k in template] or [k for k in targets if '{native}' in template]
+            if not ks:
+                return [template]
+            k = ks[0]
+            return [self.fill(template, {k: (lab_, nat)}) for lab_, nat in (targets.get(k) or {}).get('values', {}).items() if lab_ not in skip]
+
+        def slot_ok(s, where):
+            if isinstance(s, list):
+                for x in s:
+                    slot_ok(x, where)
+                return
+            if isinstance(s, dict):
+                pm = s.get('per_map') or {}
+                for t in tvals(s['per'], skip=pm) if s.get('per') else []:
+                    if t is None or t.split('#', 1)[0].lower() not in visible:
+                        problems.append('%s: no visible state slot %s' % (where, t))
+                for t in pm.values():
+                    if t.split('#', 1)[0].lower() not in visible:
+                        problems.append('%s: no visible state slot %s' % (where, t))
+                s = s.get('slot')
+            if isinstance(s, str):
+                if s in (self.map.get('slots') or {}):
+                    return
+                if s.split('#', 1)[0].lower() not in visible:
+                    problems.append('%s: no visible state slot %s' % (where, s))
+
+        def walk(o, where, cap=None):
+            if isinstance(o, dict):
+                cap = o.get('cap') if isinstance(o.get('cap'), str) else cap
+                props = ((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {} if cap else {}
+                for a, spec in (o.get('keep') or {}).items():
+                    if cap and a not in props:
+                        problems.append('%s: %s has no argument %s (keep)' % (where, cap, a))
+                    slot_ok(spec, where + '.keep.' + a)
+                if isinstance(o.get('array'), dict):
+                    if cap and o['array'].get('arg') not in props:
+                        problems.append('%s: %s has no argument %s (array)' % (where, cap, o['array'].get('arg')))
+                    slot_ok(o['array'].get('slots') or [], where + '.array')
+                for key in ('skip_if', 'state'):
+                    if isinstance(o.get(key), (dict, str)):
+                        slot_ok(o[key], where + '.' + key)
+                for k in ('ramp_arg', 'controller_arg', 'cool_arg', 'name_arg', 'id_arg'):
+                    if o.get(k):
+                        c2 = ((self.first_arg_step(o.get('set')) or {}).get('cap') if k in ('ramp_arg', 'controller_arg')
+                              else cap or ((o.get('steps') or [{}])[-1]).get('cap'))
+                        p2 = ((caps.get(c2) or {}).get('input_schema') or {}).get('properties') or {}
+                        if c2 and o[k] not in p2:
+                            problems.append('%s: %s has no argument %s (%s)' % (where, c2, o[k], k))
+                if isinstance(o.get('keys'), dict) and cap:
+                    for kk, spec in o['keys'].items():
+                        if spec.get('arg') not in props:
+                            problems.append('%s: method key %s -> %s, which %s does not take' % (where, kk, spec.get('arg'), cap))
+                for k, x in o.items():
+                    if k not in ('keep', 'array', 'skip_if', 'state', 'keys') and isinstance(x, (dict, list)):
+                        walk(x, '%s.%s' % (where, k), cap)
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x, where, cap)
+        walk(self.map.get('verbs') or {}, 'verbs')
+        for role, s in (self.map.get('slots') or {}).items():
+            slot_ok(s, 'slots.' + role)
+        for verb, reqs in (self.map.get('requires') or {}).items():
+            for r in reqs:
+                slot_ok(r, 'requires.' + verb)
+        if self.map.get('wait_while'):
+            slot_ok(self.map['wait_while'], 'wait_while')
+        for k, t in targets.items():
+            if t.get('arg'):
+                for v in self.verb_caps_with_target():
+                    props = ((caps.get(v) or {}).get('input_schema') or {}).get('properties') or {}
+                    if t['arg'] not in props:
+                        problems.append('targets.%s: %s has no argument %s' % (k, v, t['arg']))
+        return problems
+
+    def verb_caps_with_target(self):
+        out = []
+
+        def walk(o):
+            if isinstance(o, dict):
+                if o.get('target') is True and isinstance(o.get('cap'), str):
+                    out.append(o['cap'])
+                for x in o.values():
+                    walk(x)
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x)
+        walk(self.map.get('verbs') or {})
+        return sorted(set(out))
+
+
+_ = (RUNNING, unsupported)
diff --git a/chemlab/chemlab/compile/classes/run_steps.py b/chemlab/chemlab/compile/classes/run_steps.py
new file mode 100644
index 0000000000000000000000000000000000000000..ce0a5ad7bd8014b8f8aed11174b6e3d3a2be823e
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/run_steps.py
@@ -0,0 +1,409 @@
+"""Common machinery of the property_meter and agitation classes: member mappings that are data, not code.
+
+``StepAdapter`` extends ClassAdapter with
+
+* quantities the unit table has no kind for (osmolality, NTU, water activity, nD, pH, conductance) - ``parse_quantity``;
+* member requirements with comparisons (``"requires": {verb: [{"slot", "min" | "max" | "value" | "not" | "truthy" | "falsy"}]}``);
+* calls whose capability needs every argument (centrifuge set_method, sonicator method.configure, KS 4000 timer.configure): the
+  arguments the agent did not give are kept from the instrument's own state slots (``"keep": {ARG: {"from_slot": S, "key": K,
+  "or_slot": S2, "or_key": K2, "default": D, "scale": F, "is_set": true}}``) - never invented; a required argument with no slot is a usage error that names it;
+* step lists for composite verbs (``"steps": [{"cap", "args", "with": {ARG: "$token"}, "skip_if_slot": S}, {"wait": {"slot", "done",
+  "failed"}, "max_s"}, {"report_slot": S}]``): a start, the wait for its run (lab time moves), then the accept / decide / quartz call;
+* slot-based jobs (``"state": {"slot", "done", "failed"}`` -> jobs.StateJob, ``"until": {"slot", "value"}`` -> jobs.ConditionJob)
+  that work whether or not the runtime answers operation polls.
+
+Instrument facts stay in the fragments (configs/adapters/property_meter.json, agitation.json); this module holds no member data.
+"""
+import difflib
+import math
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import ConditionJob, StateJob
+from ...generic import coerce
+
+# quantities outside units.KINDS: kind -> (base unit, {typed unit: factor to the base unit}, default typed unit, example)
+EXTRA = {
+    'osmolality': ('mol/kg', {'mosmol/kg': 1e-3, 'mosm/kg': 1e-3, 'mmol/kg': 1e-3, 'mol/kg': 1.0, 'osmol/kg': 1.0, 'osm/kg': 1.0},
+                   'mosmol/kg', '400mOsmol/kg'),
+    'ntu': ('NTU', {'ntu': 1.0, 'fnu': 1.0}, 'ntu', '20NTU'),
+    'aw': ('1', {'aw': 1.0}, 'aw', '0.760'),
+    'nd': ('1', {'nd': 1.0}, 'nd', '1.33299'),
+    'ph': ('1', {'ph': 1.0}, 'ph', '6.865'),
+    'conductance': ('S', {'s': 1.0, 'ms': 1e-3, 'us': 1e-6, 'µs': 1e-6}, 'ms', '1.413mS'),
+    'plain': ('1', {}, '', '1.0'),
+}
+_NUM = r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)'
+FAILED = ('failed', 'cancelled', 'canceled', 'aborted', 'error', 'fault', 'stopped')
+
+
+def with_items(step):
+    """A step's ``with`` as (argument, token) pairs: a dict, or a list of pairs when an argument is called ``slot`` (a dict key
+    ``slot`` would be read as a state slot by the base mapping check)."""
+    w = step.get('with') or {}
+    return list(w.items()) if isinstance(w, dict) else [tuple(x) for x in w]
+
+
+def kind_example(kind):
+    if kind in EXTRA:
+        return EXTRA[kind][3]
+    return units.example(kind) if kind in units.KINDS else '1'
+
+
+def parse_quantity(text, kind, what):
+    """Agent text -> value in SI (units.KINDS) or in the EXTRA kind's base unit."""
+    if kind in units.KINDS:
+        return units.parse(text, kind, what=what)
+    import re
+    base, table, default, ex = EXTRA.get(kind, EXTRA['plain'])
+    t = (text or '').strip().replace(' ', '')
+    m = re.fullmatch(_NUM + r'(.*)', t)
+    if not m:
+        raise invalid('BAD_NUMBER', '%r is not a number%s.' % (text, ' with a unit' if table else ''),
+                      'write the %s like %s.' % (what, ex))
+    v = float(m.group(1))
+    u = (m.group(2) or default).lower()
+    if u and u not in table:
+        raise invalid('UNIT_NOT_ALLOWED', '%r is not a unit for the %s.' % (m.group(2), what),
+                      'write it like %s%s.' % (ex, (' (units: %s)' % ', '.join(sorted(table))) if table else ''))
+    if not math.isfinite(v):
+        raise invalid('BAD_NUMBER', '%r is not a finite number.' % text, 'write a plain decimal number.')
+    return v * table.get(u, 1.0)
+
+
+def fmt_value(value, unit, decimals=None):
+    """A value in a declared unit -> friendly text."""
+    if value is None:
+        return 'n/a'
+    if isinstance(value, bool) or not isinstance(value, (int, float)):
+        return short(value, 80)
+    k = units.unit_kind(unit) if unit else None
+    if k:
+        return units.fmt_declared(value, unit, decimals)
+    if decimals is not None:
+        return ('%.*f %s' % (decimals, value, unit or '')).strip()
+    return ('%.6g %s' % (value, unit if unit not in (None, '1') else '')).strip()
+
+
+class StepAdapter(ClassAdapter):
+    """ClassAdapter + the step mapping vocabulary (see the module docstring)."""
+
+    # ------------------------------------------------------------------ slots
+    def sval(self, values, spec):
+        """Raw value of 'slot' or 'slot#key' from a Ctx or a {slot: value} dict."""
+        if spec is None:
+            return None
+        if isinstance(spec, dict):
+            spec = spec.get('slot')
+        sid, _, key = spec.partition('#')
+        if hasattr(values, 'v'):
+            v = values.v(sid)
+        else:
+            v = values.get(sid)
+            if v is None:
+                low = {k.lower(): k for k in values}
+                v = values.get(low.get(sid.lower()))
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    def role(self, values, role):
+        return self.sval(values, self.slot(role))
+
+    # ------------------------------------------------------------------ requirements with comparisons
+    def requirements(self, ctx, verb):
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            got = self.sval(ctx, r['slot'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif 'min' in r:
+                ok = finite(got) and got >= r['min'] - 1e-12
+            elif 'max' in r:
+                ok = finite(got) and got <= r['max'] + 1e-12
+            elif r.get('falsy'):
+                ok = not got
+            else:
+                ok = bool(got)
+            fill = {'inst': self.instrument_id, 'value': short(got, 60)}
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(**fill), r['fix'].format(**fill), label=r.get('label', r['slot']))
+
+    # ------------------------------------------------------------------ quantities and arguments
+    def native(self, cap, arg, base_value, kind):
+        """A parsed value (SI, or the EXTRA kind's base unit) -> the unit the argument declares."""
+        if kind in units.KINDS:
+            return self.arg_value(cap, arg, base_value)
+        u = self.arg_unit(cap, arg)
+        base = EXTRA.get(kind, EXTRA['plain'])[0]
+        if u is None or u == base or kind not in EXTRA:
+            return base_value
+        f = EXTRA[kind][1].get(u.lower())
+        return base_value / f if f else base_value
+
+    def check_range(self, ctx, cap, arg, native_value, label, kind=None):
+        """Range of a numeric argument from the contract (in its declared unit); a usage error outside it."""
+        lo, hi = self.arg_range(cap, arg)
+        u = self.arg_unit(cap, arg)
+        if not finite(native_value):
+            return
+        if (lo is not None and native_value < lo - 1e-9 * max(1.0, abs(lo))) or (hi is not None and native_value > hi + 1e-9 * max(1.0, abs(hi))):
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (
+                label, fmt_value(native_value, u), self.instrument_id, fmt_value(lo, u), fmt_value(hi, u)),
+                'give a %s from %s to %s.' % (label, fmt_value(lo, u), fmt_value(hi, u))))
+        ctx.checks.append('%s within %s..%s' % (label, fmt_value(lo, u), fmt_value(hi, u)))
+
+    def keep_value(self, ctx, spec):
+        """One kept argument from the instrument's state: {"from_slot", "key", "default", "scale", "is_set"}."""
+        v = self.sval(ctx, spec['from_slot'] + ('#' + spec['key'] if spec.get('key') else ''))
+        if v is None and spec.get('or_slot'):                         # e.g. the touchscreen set points before any method exists
+            v = self.sval(ctx, spec['or_slot'] + ('#' + spec['or_key'] if spec.get('or_key') else ''))
+        if spec.get('is_set'):
+            return v is not None
+        if v is None:
+            return spec.get('default')
+        if spec.get('scale') is not None and finite(v):
+            v = v * spec['scale']
+        if spec.get('int') and finite(v):
+            v = int(round(v))
+        return v
+
+    def build_args(self, ctx, m, given, what):
+        """Arguments of one call: fixed ``args``, then ``keep`` (from state slots, for arguments not given), then ``given``.
+        A required argument still missing is a usage error naming the class key (``m["names"]``) that sets it."""
+        cap = m['cap']
+        args = dict(m.get('args') or {})
+        for a, spec in (m.get('keep') or {}).items():
+            if a in given:
+                continue
+            v = self.keep_value(ctx, spec)
+            if v is not None:
+                args[a] = v
+        args.update(given)
+        req = ((ctx.cap_spec(cap).get('input_schema') or {}).get('required') or [])
+        missing = [a for a in req if a not in args]
+        if missing:
+            names = m.get('names') or {}
+            ex = (ctx.cap_spec(cap).get('example_arguments') or {})
+            ctx.fail(invalid('MISSING_SETTING', '%s on %s also needs %s (the instrument does not report a current value to keep).' % (
+                what, self.instrument_id, ', '.join(names.get(a, a) for a in missing)),
+                'give %s, e.g. %s (see `chemlab help %s %s`).' % (
+                    ', '.join(names.get(a, a) for a in missing),
+                    ' '.join('%s=%s' % (names.get(a, a), short(ex.get(a, '...'), 30)) for a in missing), self.instrument_id,
+                    what.split()[0])))
+        return args
+
+    # ------------------------------------------------------------------ waiting on a run in state slots
+    def run_state(self, values, st):
+        v = self.sval(values, st['slot'])
+        if 'value' in st:
+            return ('succeeded' if v == st['value'] else 'running'), v
+        if v in (st.get('done') or []):
+            return 'succeeded', v
+        if v in (st.get('failed') or FAILED):
+            return 'failed', v
+        if st.get('running') and v not in st['running']:
+            return 'failed', v
+        return 'running', v
+
+    def wait_run(self, ctx, st, max_s, what):
+        """Move lab time until the run in ``st`` ends; refuse when it failed or did not end within ``max_s``."""
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s}, 'step': 'wait until %s ends (up to %s of lab time)' % (
+                what, units.fmt_s(max_s))})
+            return None
+        t0 = ctx.now()
+        status, v = self.run_state(ctx, st)
+        if status == 'running':
+            ctx.advance(max_s, until=lambda view: self.run_state(ctx, st)[0] != 'running', step='wait until %s ends' % what,
+                        poll_s=float(st.get('poll_s', self.param('poll_s', 1.0))))
+            status, v = self.run_state(ctx, st)
+        if status == 'failed':
+            ctx.fail(refused('RUN_FAILED', '%s on %s ended as %s=%s after %s.' % (what, self.instrument_id, st['slot'], short(v, 40),
+                                                                                  units.fmt_s(ctx.now() - t0)),
+                             'read the reason with `chemlab run %s status` / `chemlab read %s`, fix it and run again.' % (
+                                 self.instrument_id, self.instrument_id), changed='yes'))
+        if status != 'succeeded':
+            ctx.fail(refused('NOT_FINISHED', '%s on %s is still running after %s (%s=%s).' % (
+                what, self.instrument_id, units.fmt_s(ctx.now() - t0), st['slot'], short(v, 40)),
+                'wait longer (--max), or check it with `chemlab run %s status`.' % self.instrument_id, changed='yes'))
+        return ctx.now() - t0
+
+    def state_job(self, ctx, m, description):
+        """A job for a run whose progress is in state slots (``"state"``) or a condition (``"until"``)."""
+        ad = self
+        if m.get('until'):
+            st = m['until']
+
+            def test(c):
+                status, v = ad.run_state(c, st)
+                return status == 'succeeded', '%s = %s' % (st['slot'], short(v, 40))
+            return ConditionJob(ctx.core, self, ctx.req, description, test, max_s=float(m.get('max_s', 3600)),
+                                poll_s=float(st.get('poll_s', 1.0)))
+        st = m['state']
+
+        def state(c):
+            status, v = ad.run_state(c, st)
+            return status, '%s = %s' % (st['slot'], short(v, 40)), {'state': v}
+        stop = None
+        if m.get('stop_cap'):
+            def stop(c):
+                c.call(m['stop_cap'], dict(m.get('stop_args') or {}), 'stop')
+                return 'stopped with %s' % m['stop_cap']
+        return StateJob(ctx.core, self, ctx.req, description, state, stop=stop, max_s=float(m.get('max_s', 7200)),
+                        poll_s=float(st.get('poll_s', 1.0)))
+
+    def follow_job(self, ctx, job, max_s):
+        """Block on a job (lab time moves) - the --wait form of a long verb."""
+        r = job.wait_reply(ctx.core, ctx.req, max_s)
+        ctx.waited_s += r['json'].get('waited_s') or 0.0
+        ctx.refresh()
+        return r
+
+    # ------------------------------------------------------------------ composite steps
+    def run_steps(self, ctx, steps, tokens, what, max_s):
+        """Run a member's step list.  Returns the results of the calls (cap -> result) and the reports of report steps."""
+        results, reports = [], []
+        for st in steps:
+            if 'wait' in st:
+                self.wait_run(ctx, st['wait'], float(st.get('max_s', max_s)), st.get('step') or what)
+            elif 'cap' in st:
+                if st.get('skip_if_slot') and self.sval(ctx, st['skip_if_slot']):
+                    continue                                              # e.g. the lamp is already on
+                args = dict(st.get('args') or {})
+                for a, tok in with_items(st):
+                    args[a] = self.token(ctx, tok, st['cap'], a, tokens)
+                r = ctx.call(st['cap'], args, st.get('step') or '%s (%s)' % (what, st['cap']), query=bool(st.get('query')))
+                results.append((st['cap'], r.get('result')))
+            elif 'report_slot' in st:
+                v = self.sval(ctx, st['report_slot'])
+                if st.get('last') and isinstance(v, list):
+                    v = v[-1] if v else None
+                if st.get('key') and isinstance(v, dict):
+                    v = v.get(st['key'])
+                reports.append((st['report_slot'], v))
+        return results, reports
+
+    def token(self, ctx, tok, cap, arg, tokens):
+        """$standard / $reference / $volume (parsed by the verb), $name, $set_point, $probe, $source, and class tokens."""
+        if not isinstance(tok, str) or not tok.startswith('$'):
+            return tok
+        name = tok[1:]
+        if name in ('standard', 'reference', 'volume'):
+            if name not in tokens:
+                ctx.fail(invalid('MISSING_%s' % name.upper(), '%s needs --%s on %s.' % (ctx.verb.name, name, self.instrument_id),
+                                 'give --%s VALUE (see `chemlab help %s %s`).' % (name, self.instrument_id, ctx.verb.name)))
+            value, kind = tokens[name]
+            v = self.native(cap, arg, value, kind)
+            self.check_range(ctx, cap, arg, v, '--%s' % name)
+            return v
+        if name == 'name':
+            return tokens.get('name')
+        if name == 'set_point':
+            k = self.slot_si(ctx, self.slot('set'))
+            if not finite(k):
+                ctx.fail(refused('NO_SET_POINT', '%s reports no temperature set point.' % self.instrument_id, 'set one with `set-temp`.'))
+            return self.arg_value(cap, arg, k)
+        if name == 'probe':
+            return self.sval(ctx, self.slot('probe'))
+        if name == 'source':
+            return 'chemlab %s on %s (standard %s)' % (ctx.verb.name, self.instrument_id, ctx.args.raw.get('standard', '?'))
+        return self.class_token(ctx, name, cap, arg, tokens)
+
+    def class_token(self, ctx, name, cap, arg, tokens):
+        raise KeyError('unknown token $%s' % name)
+
+    # ------------------------------------------------------------------ names (checks, test kinds)
+    def resolve_name(self, ctx, spec, given):
+        """A NAME argument: from a fixed choice table ("choices": {name: native}) or a list slot ("list_slot", "field")."""
+        if given is None:
+            if spec.get('default') is not None:
+                given = spec['default']
+            elif spec.get('required'):
+                ctx.fail(invalid('MISSING_NAME', '%s on %s needs a NAME.' % (ctx.verb.name, self.instrument_id),
+                                 'names: %s.' % ', '.join(self.name_choices(ctx, spec)) or 'see `chemlab help %s %s`.' % (self.instrument_id, ctx.verb.name)))
+            else:
+                return None
+        choices = self.name_choices(ctx, spec)
+        table = spec.get('choices') or {}
+        if table:
+            if given not in table:
+                close = difflib.get_close_matches(given, list(table), 2)
+                ctx.fail(invalid('UNKNOWN_NAME', '%s on %s has no %r.' % (ctx.verb.name, self.instrument_id, given),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') + 'one of: %s.' % ', '.join(table)))
+            return table[given]
+        if choices and given not in choices:
+            close = difflib.get_close_matches(given, choices, 2)
+            ctx.fail(invalid('UNKNOWN_NAME', '%s has no %s named %r.' % (self.instrument_id, spec.get('what', 'item'), given),
+                             ('did you mean %s? ' % ' or '.join(close) if close else '') + 'names: %s.' % ', '.join(choices)))
+        return given
+
+    def name_choices(self, ctx, spec):
+        if spec.get('choices'):
+            return list(spec['choices'])
+        if spec.get('list_slot'):
+            v = self.sval(ctx, spec['list_slot']) or []
+            return [x.get(spec.get('field', 'name')) for x in v if isinstance(x, dict)]
+        return []
+
+    # ------------------------------------------------------------------ the mapping check, extended
+    def check_mapping(self, lab):
+        problems = ClassAdapter.check_mapping(self, lab)
+        caps = lab.contract['capabilities']
+        visible = {s.lower() for s in lab.view.slots}
+
+        def props(cap):
+            return ((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+        def walk(o, where):
+            if isinstance(o, dict):
+                cap = o.get('cap')
+                if isinstance(cap, str):
+                    for key in ('with', 'keep'):
+                        for a in ([x[0] for x in with_items(o)] if key == 'with' else (o.get(key) or {})):
+                            if a not in props(cap):
+                                problems.append('%s.%s: %s has no argument %s' % (where, key, cap, a))
+                    for a, spec in (o.get('keep') or {}).items():
+                        s = (spec or {}).get('from_slot') if isinstance(spec, dict) else None
+                        if s and s.lower() not in visible:
+                            problems.append('%s.keep.%s: no visible state slot %s' % (where, a, s))
+                for k, x in o.items():
+                    if k == 'report_slot' and isinstance(x, str) and x.split('#', 1)[0].lower() not in visible:
+                        problems.append('%s: no visible state slot %s' % (where, x))
+                    if isinstance(x, (dict, list)):
+                        walk(x, '%s.%s' % (where, k))
+            elif isinstance(o, list):
+                for x in o:
+                    walk(x, where)
+        walk(self.map.get('verbs') or {}, 'verbs')
+        return problems
+
+    # ------------------------------------------------------------------ value of one argument typed as KEY=VALUE
+    def parse_setting(self, ctx, cap, arg, text, spec, key):
+        schema = ((ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}).get(arg) or {}
+        kind = spec.get('kind')
+        if kind and kind not in units.KINDS:
+            v = self.native(cap, arg, parse_quantity(text, kind, key), kind)
+        elif kind and not (units.declared(schema) and units.unit_kind(units.declared(schema))):
+            v = units.parse(text, kind, what=key)                         # a unitless argument with a typed kind (fraction: 0.1%)
+        elif kind or (units.declared(schema) and units.unit_kind(units.declared(schema))):
+            v = units.parse_for(text, schema, kind, what=key)
+        elif spec.get('bool'):
+            t = text.strip().lower()
+            if t not in ('on', 'off', 'true', 'false', 'yes', 'no', '1', '0'):
+                ctx.fail(invalid('BAD_VALUE', '%s=%s is not on or off.' % (key, text), 'write %s=on or %s=off.' % (key, key)))
+            v = t in ('on', 'true', 'yes', '1')
+        else:
+            v = coerce(text, schema, key)
+            if isinstance(v, str) and schema.get('type') in ('number', 'integer'):
+                v = units.parse_for(text, schema, what=key)
+        if schema.get('type') == 'integer' and finite(v) and float(v).is_integer():
+            v = int(v)
+        enum = schema.get('enum')
+        if enum and v not in enum:
+            ctx.fail(invalid('BAD_CHOICE', '%s=%s is not allowed on %s.' % (key, text, self.instrument_id),
+                             'one of: %s.' % ', '.join(str(e) for e in enum)))
+        if finite(v) and not isinstance(v, bool):
+            self.check_range(ctx, cap, arg, v, key)
+        return v
diff --git a/chemlab/chemlab/compile/classes/sample_intro.py b/chemlab/chemlab/compile/classes/sample_intro.py
new file mode 100644
index 0000000000000000000000000000000000000000..4c666850607b23742cf55161f372baf7a82c15fb
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/sample_intro.py
@@ -0,0 +1,410 @@
+"""Sample-introduction class ("sample_intro"): front ends that prepare a sample and inject it into an analyzer - headspace
+(Agilent 8697), purge and trap (Teledyne Tekmar Atomx XYZ), laser ablation (Teledyne CETAC Analyte Excite+), pyrolysis (Frontier
+EGA/PY-3030D) and thermal desorption (Markes UNITY-xr).  Members and mappings: configs/adapters/sample_intro.json.
+
+Verbs: method KEY=VALUE ..., load SAMPLE --vial N, unload --vial N, set-temp T --zone Z, start [--vial N | --vials 1,2,3]
+[--injections K] (job), inject [--wait] (the next manual step of a pyrolyzer run), stop, result [--save-to F], position X Y Z
+(laser stage), status.  power / open / close come from the shared layer.
+
+Method dictionary (class keys take units; native argument names also work, a bare number is in the unit the contract declares):
+
+    equilibration=30min gc-cycle=10min shake=3 vial-size=20mL fill-pressure=1bar        (headspace)
+    matrix=water sample-volume=5mL dilution=1 purge-temp=20C purge-time=11min purge-flow=40mL/min dry-purge-time=1min
+    desorb-temp=250C desorb-time=4min bake-temp=260C bake-time=2min                      (purge and trap)
+    mode=single|double|ega pyrolysis-temp=600C pyrolysis-time=0.1min td-start=50C td-end=300C ramp=20K/min hold=1min
+    interface-temp=300C carrier-flow=1.2mL/min                                          (pyrolyzer)
+    mode=analyze desorb-temp=300C desorb-time=10min trap-low=-10C trap-high=300C trap-time=3min trap-ramp=40K/s
+    valve-temp=190C line-temp=200C purge-flow=20mL/min purge-time=1min                   (thermal desorber)
+    mode=spot|scan shape=circle|square spot=80um fluence=60000 frequency=10Hz shots=10 washout=1s scan-speed=0.4mm/s   (laser)
+
+Settings left out keep their current value (state slots), else the last accepted method on the instrument, else the documented
+default of the contract (the reply says which).  Vial positions are tray numbers as printed on the instrument (1-based); the Atomx
+contract counts from 0 and the mapping converts.
+
+Vendor-neutral references: USP <467> (headspace residual solvents), EPA 5030C / 524.2 (purge and trap), EPA TO-17 / ISO 16000-6
+(thermal desorption); pyrolysis-GC and laser ablation are method-specific.  Manual pages: see REF.
+"""
+import re
+
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+from .method_common import MethodAdapter
+
+REF = ('Agilent 8697 operation manual (method, tray, sequence, Park, p.35-57); Atomx XYZ user manual (TekLink method, schedule, '
+       'printed 3-x); Frontier PY-3030D operation manual (single/double shot, EGA, ch.4-5); Markes UNITY-xr user manual (method '
+       'editor, tube desorption p.25-42); Analyte Excite+ specification sheet (laser, stage, gas p.1-2)')
+
+
+class SampleIntroAdapter(MethodAdapter):
+    CLASS = 'sample_intro'
+    TITLE = 'sample introduction'
+    ABOUT = ('Front ends that prepare a sample and inject it into an analyzer (GC, GC-MS, ICP-MS): set the front-end method in '
+             'plain units, load vials (where the instrument loads them itself), set heated zones, start a run or a sequence and '
+             'follow it as a job, do the manual step a pyrolyzer waits for, read the run record.')
+    STANDARDS = ('USP <467>, EPA 5030C / 524.2, EPA TO-17 / ISO 16000-6 terms; OPC UA LADS (FunctionalUnit Start/Stop); '
+                 'SiLA 2 core (abort)')
+    UNIT_KINDS = ('temperature', 'duration', 'volume', 'flow', 'length', 'heating_rate')
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    KEYS = {
+        'equilibration': ('duration', 'vial equilibration time in the oven (headspace)'),
+        'gc-cycle': ('duration', 'GC cycle time between injections (headspace)'),
+        'shake': (None, 'shaking level 0..9 (headspace)'),
+        'vial-size': ('volume', 'vial size 10mL | 20mL | 22mL (headspace)'),
+        'fill-pressure': ('pressure', 'vial fill pressure (headspace)'),
+        'matrix': (None, 'sample matrix water | soil_low | soil_high (purge and trap)'),
+        'sample-volume': ('volume', 'sample volume taken from the vial (purge and trap)'),
+        'dilution': (None, 'dilution factor 1 | 2 | 5 | 10 | 25 | 50 | 100 (purge and trap)'),
+        'purge-temp': ('temperature', 'purge temperature (purge and trap)'),
+        'purge-time': ('duration', 'purge time (purge and trap) / pre-purge time (thermal desorber)'),
+        'purge-flow': ('flow', 'purge gas flow'),
+        'dry-purge-time': ('duration', 'dry purge time (purge and trap)'),
+        'desorb-temp': ('temperature', 'desorption temperature: the trap (purge and trap) or the tube (thermal desorber)'),
+        'desorb-time': ('duration', 'desorption time: the trap (purge and trap) or the tube hold (thermal desorber)'),
+        'bake-temp': ('temperature', 'trap bake temperature (purge and trap)'),
+        'bake-time': ('duration', 'trap bake time (purge and trap)'),
+        'mode': (None, 'run mode: single | double | ega (pyrolyzer); analyze | tube_condition | trap_condition (thermal desorber); '
+                       'spot | scan (laser)'),
+        'pyrolysis-temp': ('temperature', 'pyrolysis furnace temperature'),
+        'pyrolysis-time': ('duration', 'pyrolysis time'),
+        'td-start': ('temperature', 'thermal desorption / EGA start temperature (pyrolyzer)'),
+        'td-end': ('temperature', 'thermal desorption / EGA end temperature (pyrolyzer)'),
+        'ramp': ('heating_rate', 'furnace ramp rate (pyrolyzer)'),
+        'hold': ('duration', 'hold time at the end temperature (pyrolyzer)'),
+        'interface-temp': ('temperature', 'GC interface temperature (pyrolyzer)'),
+        'carrier-flow': ('flow', 'carrier gas flow (pyrolyzer)'),
+        'trap-low': ('temperature', 'focusing trap low (trapping) temperature (thermal desorber)'),
+        'trap-high': ('temperature', 'focusing trap desorption temperature (thermal desorber)'),
+        'trap-time': ('duration', 'focusing trap hold time (thermal desorber)'),
+        'trap-ramp': ('heating_rate', 'focusing trap heating rate, e.g. 40K/s (thermal desorber)'),
+        'valve-temp': ('temperature', 'valve temperature (thermal desorber)'),
+        'line-temp': ('temperature', 'transfer line temperature (thermal desorber)'),
+        'shape': (None, 'laser spot shape circle | square'),
+        'spot': ('length', 'laser spot size, e.g. 80um'),
+        'fluence': (None, 'laser fluence in J/m² (60000 = 6 J/cm²)'),
+        'frequency': ('frequency', 'laser repetition rate, e.g. 10Hz'),
+        'shots': (None, 'laser shots per spot'),
+        'washout': ('duration', 'cell washout time (laser)'),
+        'scan-speed': ('speed', 'stage speed in scan mode (laser), e.g. 0.4mm/s'),
+    }
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is busy with a run.', 'wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).'),
+        'NOT_RUNNING': ('NOT_RUNNING', '{inst} has no run in progress.', 'start one first (`chemlab run {inst} start`).'),
+        'PARKED': ('PARKED', 'the tray of {inst} is parked, so no sequence can start.', 'unpark it (`chemlab call {inst} tray.park --parked false`).'),
+        'HOT_INTERLOCK': ('HOT', '{inst} is still hot; that part stays locked until it has cooled.', 'wait for it to cool (`chemlab run {inst} status`).'),
+        'MANUAL_INTERLOCK': ('NOT_NOW', '{inst} does not take that manual step at this stage of the run.', 'see the stage in `chemlab run {inst} status`.'),
+        'ACCESS_INTERLOCK': ('ACCESS_INTERLOCK', 'that part of {inst} is interlocked now (a cover, lever or the heat).', 'see `chemlab run {inst} status`.'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        vial_help = 'tray position as printed on the instrument (1, 2, ...)'
+        return {
+            'method': Verb('method', 'set the front-end method: KEY=VALUE ... (class keys take units; see help)', self.h_method,
+                           variadic=('KEY=VALUE', 'a setting, e.g. purge-temp=40C or desorb-time=4min'),
+                           preconditions=['every value inside the contract range (in friendly units)', 'no run in progress'],
+                           errors=['UNKNOWN_SETTING, OUT_OF_RANGE, BAD_SETTING (usage)', 'BUSY (refused)'],
+                           details=('class keys take units (purge-temp=40C, desorb-time=4min, purge-flow=40mL/min); the native argument names of '
+                                    'this instrument work too (a bare number is in the unit its contract declares).  Settings you leave '
+                                    'out keep their value (the last accepted method, else the documented default); the reply says which.'),
+                           example='chemlab run INST method purge-temp=40C purge-time=11min', reference=REF),
+            'load': Verb('load', 'load a vial the lab has prepared into a tray position (opens and closes the lid itself)', self.h_load,
+                         positionals=[Arg('SAMPLE', 'the vial id the lab gave you')],
+                         options={'vial': Opt(vial_help, metavar='N', required=True)},
+                         preconditions=['the tray position is empty', 'no sequence running'],
+                         errors=['UNKNOWN_POSITION (usage)', 'POSITION_TAKEN, NOT_REGISTERED (refused)'],
+                         example='chemlab run INST load v1 --vial 1', reference=REF),
+            'unload': Verb('unload', 'take a vial out of a tray position (opens and closes the lid itself)', self.h_unload,
+                           options={'vial': Opt(vial_help, metavar='N', required=True)},
+                           preconditions=['a vial is at the position'], errors=['EMPTY_POSITION (refused)'],
+                           example='chemlab run INST unload --vial 1', reference=REF),
+            'set-temp': Verb('set-temp', 'set the temperature of a heated zone', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'set point, e.g. 80C', kind='temperature')], options={'zone': target_opt('zone')},
+                             preconditions=['set point within the zone range', 'the lab has told the instrument the room temperature'],
+                             errors=['OUT_OF_RANGE (usage)', 'NO_AMBIENT, POWER_OFF (refused)'],
+                             example='chemlab run INST set-temp 80C --zone oven', reference=REF),
+            'start': Verb('start', 'start the run (or the vial sequence); long runs return job-N', self.h_start, long_action=True,
+                          options={'vial': Opt('one tray position to run (purge and trap)', metavar='N'),
+                                   'vials': Opt('tray positions of a sequence, e.g. 1,2,3 or 1-4 (headspace)', metavar='LIST'),
+                                   'injections': Opt('injections per vial (headspace)', metavar='K')},
+                          preconditions=['power on', 'a method is set', 'covers and doors closed', 'a sample is loaded',
+                                         'no run in progress'],
+                          errors=['POWER_OFF, NO_METHOD, COVER_OPEN, NO_SAMPLE, BUSY (refused)'],
+                          example='chemlab run INST start', reference=REF),
+            'inject': Verb('inject', 'do the manual step the run is waiting for (drop the sample cup, insert or retract the sampler) '
+                                     'and confirm it; --wait first lets lab time pass until the furnace is ready', self.h_inject,
+                           long_action=True, options={'wait': Opt('wait (moving lab time) until the run waits for the manual step',
+                                                                  kind='flag'),
+                                                      'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                           preconditions=['a run is in progress and waits for a manual step', 'the GC is ready'],
+                           errors=['NOT_RUNNING, NOT_YET, GC_NOT_READY (refused)'],
+                           example='chemlab run INST inject --wait', reference=REF),
+            'stop': Verb('stop', 'stop the run (the sample and what was transferred stay as they are)', self.h_stop,
+                         preconditions=['a run is in progress'], errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop'),
+            'result': Verb('result', 'the record of the last run (process log, temperatures, injections, GC triggers)',
+                           self.h_record('result', 'record'), readonly=True, options={'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to run.json'),
+            'rinse': Verb('rinse', 'rinse the sample path after a run or a stop (purge and trap: water through the sparger; laser: '
+                                   'a gas washout of the cell, a job)', self.h_rinse,
+                          positionals=[Arg('VOLUME', 'rinse volume (purge and trap), e.g. 7mL; default: the documented volume',
+                                           required=False, kind='volume')],
+                          preconditions=['power on', 'no run in progress'], errors=['OUT_OF_RANGE (usage)', 'BUSY, POWER_OFF (refused)'],
+                          example='chemlab run INST rinse 7mL', reference=REF),
+            'position': Verb('position', 'move the sample stage to X Y Z (bare numbers in mm) and wait until it is there', self.h_position,
+                             positionals=[Arg('X', 'x, e.g. 20mm', kind='length'), Arg('Y', 'y', kind='length'), Arg('Z', 'z (focus height)', kind='length')],
+                             long_action=True, preconditions=['power on', 'sample drawer closed', 'inside the stage travel'],
+                             errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, DRAWER_OPEN (refused)'],
+                             example='chemlab run INST position 20mm 20mm 10mm', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ helpers
+    def vial_no(self, ctx, text, m):
+        try:
+            n = int(str(text).strip())
+        except ValueError:
+            ctx.fail(invalid('UNKNOWN_POSITION', '%r is not a tray position.' % text, 'give a number, e.g. --vial 1.'))
+        hi = m.get('positions')
+        if n < 1 or (hi and n > hi):
+            ctx.fail(invalid('UNKNOWN_POSITION', '%s has no tray position %d.' % (self.instrument_id, n),
+                             'tray positions of %s: 1..%s.' % (self.instrument_id, hi or '?')))
+        return n
+
+    def vial_list(self, ctx, text, m):
+        out = []
+        for part in str(text).split(','):
+            part = part.strip()
+            mm = re.fullmatch(r'(\d+)\s*-\s*(\d+)', part)
+            if mm:
+                a, b = int(mm.group(1)), int(mm.group(2))
+                if b < a:
+                    ctx.fail(invalid('UNKNOWN_POSITION', 'the range %s runs backwards.' % part, 'write it low to high, e.g. 1-4.'))
+                out += [self.vial_no(ctx, str(i), m) for i in range(a, b + 1)]
+            elif part:
+                out.append(self.vial_no(ctx, part, m))
+        if not out:
+            ctx.fail(invalid('UNKNOWN_POSITION', 'no tray positions given.', 'write e.g. --vials 1,2,3.'))
+        return out
+
+    def lid_open(self, ctx, lid):
+        return finite(ctx.v(lid['slot'])) and ctx.v(lid['slot']) >= lid['min_open'] - 1e-9
+
+    def with_lid(self, ctx, m, action, what):
+        """Open the lid if needed, do the action, close the lid again if this verb opened it."""
+        lid = m['lid']
+        opened = False
+        if not self.lid_open(ctx, lid):
+            ctx.call(lid['cap'], {lid['arg']: lid['open']}, 'open the lid')
+            opened = True
+        action()
+        if opened or lid.get('always_close'):
+            ctx.call(lid['cap'], {lid['arg']: lid['close']}, 'close the lid')
+        return opened
+
+    def occupancy(self, ctx, m, n):
+        occ = ctx.v(m['occupancy']) if m.get('occupancy') else None
+        return occ[n - 1] if isinstance(occ, list) and len(occ) >= n else None
+
+    # ------------------------------------------------------------------ handlers
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        n = self.vial_no(ctx, p.get('vial'), m)
+        sample = p.pos[0]
+        self.need(ctx, 'load')
+        got = self.occupancy(ctx, m, n)
+        ctx.check(got is None, 'POSITION_TAKEN', 'tray position %d of %s already holds %s.' % (n, self.instrument_id, got),
+                  'choose an empty position (`chemlab run %s status`) or unload it first (`chemlab run %s unload --vial %d`).' % (
+                      self.instrument_id, self.instrument_id, n), label='position %d empty' % n)
+        slot_id = m['slot_format'].format(n)
+        args = {m['id_arg']: sample, m['slot_arg']: slot_id}
+        self.with_lid(ctx, m, lambda: ctx.call(m['cap'], args, 'put %s into tray position %d' % (sample, n)), 'load')
+        return {'text': 'ok: %s is in tray position %d of %s (lid closed)\n' % (sample, n, self.instrument_id),
+                'json': {'sample': sample, 'vial': n, 'slot_id': slot_id}}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        n = self.vial_no(ctx, p.get('vial'), m)
+        self.need(ctx, 'unload')
+        got = self.occupancy(ctx, m, n)
+        ctx.check(got is not None, 'EMPTY_POSITION', 'tray position %d of %s is empty.' % (n, self.instrument_id),
+                  'see the tray in `chemlab run %s status`.' % self.instrument_id, label='a vial at position %d' % n)
+        slot_id = m['slot_format'].format(n)
+        self.with_lid(ctx, m, lambda: ctx.call(m['cap'], {m['slot_arg']: slot_id}, 'take the vial out of tray position %d' % n), 'unload')
+        return {'text': 'ok: tray position %d of %s emptied (%s taken out; lid closed)\n' % (n, self.instrument_id, got),
+                'json': {'vial': n, 'sample': got}}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        targ = self.target_args(ctx, p)
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'set point %s is outside the range of %s (%s to %s).' % (
+                units.fmt(k, 'temperature'), self.instrument_id, units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')),
+                'give a set point from %s to %s.' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature'))))
+        self.need(ctx, 'set-temp')
+        amb = self.sv(ctx, self.slot('ambient')) if self.slot('ambient') else None
+        margin = float(self.param('above_ambient_k', 0.0))
+        if finite(amb) and margin:
+            ctx.check(k >= amb + margin - 1e-9, 'TOO_LOW', 'a set point of %s is less than %g K above the room temperature (%s) of %s.' % (
+                units.fmt(k, 'temperature'), margin, units.fmt(amb, 'temperature'), self.instrument_id),
+                'give at least %s.' % units.fmt(amb + margin, 'temperature'), label='above room temperature + %g K' % margin)
+        args = dict(m.get('args') or {})
+        args.update(targ)
+        args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], k), 10)
+        ctx.call(m['cap'], args, 'set %s to %s' % (p.get('zone'), units.fmt(k, 'temperature')))
+        return {'text': 'ok: %s %s set point %s\n' % (self.instrument_id, p.get('zone'), units.fmt(k, 'temperature')),
+                'json': {'zone': p.get('zone'), 'set_point_k': k, 'set_point_c': k - 273.15}}
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        args = dict(m.get('args') or {})
+        if m.get('vials_arg'):
+            if p.get('vial') and not p.get('vials'):
+                vials = [self.vial_no(ctx, p.get('vial'), m)]
+            elif p.get('vials'):
+                vials = self.vial_list(ctx, p.get('vials'), m)
+            else:
+                ctx.fail(invalid('MISSING_OPTION', 'start on %s needs the tray positions of the sequence.' % self.instrument_id,
+                                 'give --vials 1,2,3 (or --vial N for one vial).'))
+            args[m['vials_arg']] = vials
+            if p.get('injections'):
+                if not m.get('injections_arg'):
+                    ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s takes no --injections.' % self.instrument_id, 'leave it out.'))
+                try:
+                    args[m['injections_arg']] = int(p.get('injections'))
+                except ValueError:
+                    ctx.fail(invalid('BAD_NUMBER', '--injections %s is not a whole number.' % p.get('injections'), 'write e.g. --injections 2.'))
+            for n in vials:
+                if m.get('occupancy') and self.occupancy(ctx, m, n) is None:
+                    ctx.fail(refused('EMPTY_POSITION', 'tray position %d of %s is empty.' % (n, self.instrument_id),
+                                     'load a vial there first (`chemlab run %s load SAMPLE --vial %d`), or leave the position out.' % (
+                                         self.instrument_id, n)))
+        elif m.get('vial_arg'):
+            if p.get('vials') or p.get('injections'):
+                ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s runs one vial per start; it takes --vial N only.' % self.instrument_id,
+                                 'give --vial N.'))
+            if not p.get('vial'):
+                ctx.fail(invalid('MISSING_OPTION', 'start on %s needs the tray position of the vial.' % self.instrument_id,
+                                 'give --vial N (1..%s).' % m.get('positions')))
+            n = self.vial_no(ctx, p.get('vial'), m)
+            args[m['vial_arg']] = n - 1 + int(m.get('vial_base', 1))
+        elif p.get('vial') or p.get('vials') or p.get('injections'):
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s has no tray: its sample is the one the lab has loaded.' % self.instrument_id,
+                             'leave out --vial / --vials / --injections.'))
+        self.running_check(ctx)
+        self.need(ctx, 'start')
+        self.validate_call(ctx, m['cap'], args)
+        r = ctx.call(m['cap'], args, 'start (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        desc = '%s run on %s' % (self.TITLE, self.instrument_id)
+        job = self.make_job(ctx, m, r, desc, stop=self.stop_fn())
+        notes = list((m.get('after') or []))
+        out = self.job_reply(job, 'ok: %s started (%s)' % (self.instrument_id, short(args, 80) if args else m['cap']))
+        out['json'].update({'arguments': args})
+        out['notes'] = [n.replace('INST', self.instrument_id) for n in notes]
+        return out
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.need(ctx, 'stop')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped\n' % self.instrument_id, 'json': {}}
+
+    def h_inject(self, ctx, p):
+        m = self.vmap('inject')
+        stage_s, phase_s = m['stage_slot'], m['phase_slot']
+        manual = set(m['steps'])
+        if ctx.v(phase_s) != 'running':
+            ctx.fail(refused('NOT_RUNNING', '%s has no run in progress (%s = %s).' % (self.instrument_id, phase_s, ctx.v(phase_s)),
+                             'start one first (`chemlab run %s start`).' % self.instrument_id))
+        if ctx.v(stage_s) not in manual:
+            if p.get('wait') and not ctx.dry_run:
+                mx = p.get('max') or 1800.0
+                ctx.advance(mx, until=lambda v: ctx.v(stage_s) in manual or ctx.v(phase_s) != 'running', step='wait for the manual step',
+                            poll_s=1.0)
+            elif p.get('wait'):
+                ctx.plan.append({'capability': None, 'arguments': {}, 'step': 'wait until the run waits for the manual step'})
+                return {'text': '', 'json': {}}
+            if ctx.v(stage_s) not in manual:
+                ctx.fail(refused('NOT_YET', '%s is not waiting for a manual step now (stage %s, furnace %s).' % (
+                    self.instrument_id, ctx.v(stage_s), units.fmt(self.sv(ctx, m.get('temp_slot')), 'temperature')),
+                    'wait until it is (`chemlab run %s inject --wait`).' % self.instrument_id))
+        stage = ctx.v(stage_s)
+        step = m['steps'][stage]
+        if step.get('gc'):
+            ctx.check(bool(ctx.v(m['gc_slot'])), 'GC_NOT_READY', 'the GC is not ready to start yet (%s is false), so %s cannot '
+                      'inject.' % (m['gc_slot'], self.instrument_id), 'wait until the GC is ready (`chemlab run %s status`); the lab '
+                      'runs the GC.' % self.instrument_id, label='GC ready')
+        done = []
+        for c in step['calls']:
+            args = dict(c.get('args') or {})
+            if c.get('arg'):
+                lo, hi = self.arg_range(c['cap'], c['arg'])
+                args[c['arg']] = hi if c.get('value') == 'max' else (lo if c.get('value') == 'min' else c.get('value'))
+            ctx.call(c['cap'], args, c['what'])
+            done.append(c['what'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s: %s; the run goes on (stage %s)\n' % (self.instrument_id, ', then '.join(done), ctx.v(stage_s)),
+                'json': {'was_stage': stage, 'stage': ctx.v(stage_s), 'steps': done}}
+
+    def h_rinse(self, ctx, p):
+        m = self.vmap('rinse')
+        args = dict(m.get('args') or {})
+        if m.get('arg'):
+            v = p.pos[0] if p.pos else None
+            if v is None:
+                v = (ctx.cap_spec(m['cap']).get('example_arguments') or {}).get(m['arg'])
+                args[m['arg']] = v
+            else:
+                args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], v), 15)
+        elif p.pos:
+            ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s takes no rinse volume (the washout is a gas flow for the method\'s washout time).'
+                             % self.instrument_id, 'write just `chemlab run %s rinse`.' % self.instrument_id))
+        self.need(ctx, 'rinse')
+        self.validate_call(ctx, m['cap'], args, {m['arg']: 'VOLUME'} if m.get('arg') else None)
+        r = ctx.call(m['cap'], args, 'rinse (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r, 'rinse of %s' % self.instrument_id) if (m.get('job') or r.get('operation_id')) else None
+        head = 'ok: %s rinsed%s' % (self.instrument_id, (' with %s' % units.fmt_declared(args[m['arg']], self.arg_unit(m['cap'], m['arg'])))
+                                    if m.get('arg') else '')
+        out = self.job_reply(job, head)
+        out['json'].update({'arguments': args})
+        return out
+
+    def h_position(self, ctx, p):
+        m = self.vmap('position')
+        xyz = [p.pos[0], p.pos[1], p.pos[2]]
+        self.need(ctx, 'position')
+        args = {m['arg']: [round(self.arg_value(m['cap'], m['arg'], v), 12) for v in xyz]}
+        self.validate_call(ctx, m['cap'], args)
+        ctx.call(m['cap'], args, 'move the stage to %s' % ', '.join(units.fmt(v, 'length') for v in xyz))
+        tol = float(m.get('tolerance_m', 1e-7))
+        axes = m['axes']
+        waited = self.settle(ctx, lambda c: all(finite(c.v(a)) and abs(c.v(a) - t) <= tol for a, t in zip(axes, args[m['arg']])),
+                             'wait for the stage', float(m.get('max_s', 60.0)), poll_s=0.5)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': 'ok: %s stage at %s (%s of moving)\n' % (self.instrument_id, ', '.join(units.fmt(ctx.v(a), 'length') for a in axes),
+                                                               units.fmt_s(waited)),
+                'json': {'position_m': [ctx.v(a) for a in axes], 'waited_s': waited}}
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code in ('NOT_READY', 'PRECONDITION_FAILED'):
+            ctx.refresh()
+            for verb, m in (self.map.get('verbs') or {}).items():
+                caps = [m.get('cap')] if isinstance(m, dict) else []
+                if cap in caps:
+                    for r in (self.map.get('requires') or {}).get(verb, []):
+                        try:
+                            self.need(ctx, verb, only=[r.get('code')])
+                        except Exception as exc:                          # noqa: BLE001 - the first unmet requirement names the reason
+                            if hasattr(exc, 'code'):
+                                exc.backend = None
+                                return exc
+        return MethodAdapter.explain_refusal(self, ctx, cap, args, response)
diff --git a/chemlab/chemlab/compile/classes/separation_common.py b/chemlab/chemlab/compile/classes/separation_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..9e9d0ea91148007e45961242eaefe279f44f5f00
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/separation_common.py
@@ -0,0 +1,557 @@
+"""Common machinery of the evaporation and extraction classes: process instruments that take set points
+(temperature, vacuum / pressure, rotation, flow), a method of class keys, and a run with start / stop / result.
+
+``SeparationAdapter`` (a ClassAdapter) keeps every instrument fact in the fragment (configs/adapters/evaporation.json,
+extraction.json) and gives the two classes these mapping forms:
+
+* setter verbs (set-temp, vacuum, pressure, flow, condenser, feed): ``{"cap", "arg", "args": {fixed}, "unit": U (only when the
+  native argument declares no unit; the value is given in U), "range_from": {"cap", "arg"} (where the real range is declared),
+  "step_si": S (the instrument takes whole multiples of S), "heat_arg": A | "heat_cap": C (--heat), "off": {"calls": [...]}}``;
+* call lists: ``"calls": [{"cap", "args", "step", "skip_if": {"slot", "value"}}]`` (composite verbs, e.g. the rotavap start
+  = bath heating on + rotation on);
+* the method dictionary: ``{"cap": DEFAULT_CAP, "keys": {KEY: {"cap", "arg", "key" (an object argument's field), "kind"}},
+  "passthrough": true, "keep": {CAP: {ARG: {"slot", "key"}}}}`` - keys of one capability go into one call; a required argument the
+  agent leaves out is kept from the instrument's own state slot (never invented), else it is a usage error naming it;
+* member preconditions with comparisons: ``"requires": {VERB: [{"slot", "key", "value" | "not" | "in" | "truthy" | "falsy" |
+  "min" | "max", "code", "message", "fix"}]}`` - checked before anything is sent;
+* jobs: an operation_id gives an OperationJob; ``"state": {"slot", "done", "failed"}`` a StateJob; ``"until": {"slot", "value",
+  "when": {...}}`` a ConditionJob (e.g. the rotavap timer).
+
+The class modules (evaporation.py, extraction.py) hold the verb tables and the class views; no member data lives here.
+"""
+import difflib
+import json
+import math
+import re
+
+from ...generic import CmdError, coerce
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import ConditionJob, OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+
+ON_OFF = ['on', 'off']
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+
+def _types(schema):
+    t = (schema or {}).get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+def _numeric(schema):
+    """The numeric branch of a schema (anyOf [number, null] -> the number part), or None."""
+    if not isinstance(schema, dict):
+        return None
+    if _types(schema) & {'number', 'integer'}:
+        return schema
+    for x in schema.get('anyOf') or []:
+        if isinstance(x, dict) and _types(x) & {'number', 'integer'}:
+            return x
+    return None
+
+
+class SeparationAdapter(ClassAdapter):
+    ROLES = ()                         # (role, label, kind) of the class view; kind 'bool', 'text', 'plain' or a units kind
+    KEYS = {}                          # method dictionary: key -> (kind or None, help) - documented in help INST method
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+
+    # ------------------------------------------------------------------ contract helpers
+    def schema_of(self, cap, arg, key=None):
+        s = self.cap_schema(cap, arg)
+        if key is not None:
+            s = ((s or {}).get('properties') or {}).get(key) or {}
+        return s
+
+    def bounds(self, schema):
+        """(lo, hi, lo_exclusive) of a numeric schema in its declared unit."""
+        n = _numeric(schema) or {}
+        lo, hi, excl = n.get('minimum'), n.get('maximum'), False
+        if lo is None and n.get('exclusiveMinimum') is not None:
+            lo, excl = n['exclusiveMinimum'], True
+        return lo, hi, excl
+
+    def fmt_si(self, si, kind):
+        if kind in (None, 'plain', 'count'):
+            return '%g' % si if finite(si) else str(si)
+        return fmtq(si, kind)
+
+    def check_range(self, ctx, schema, value, kind, what, unit=None):
+        """A value in the declared unit (or ``unit``) against the schema's range: usage error with friendly units."""
+        lo, hi, excl = self.bounds(schema)
+        u = unit or units.declared(schema)
+        to_si = (lambda x: units.from_declared(x, u)) if u and units.unit_kind(u) else (lambda x: x)
+        bad = (lo is not None and (value <= lo if excl else value < lo - 1e-12 * max(1.0, abs(lo)))) or \
+              (hi is not None and value > hi + 1e-12 * max(1.0, abs(hi)))
+        if bad:
+            rng = '%s%s to %s' % ('above ' if excl else '', self.fmt_si(to_si(lo), kind) if lo is not None else 'any',
+                                  self.fmt_si(to_si(hi), kind) if hi is not None else 'any')
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s).' % (what, self.fmt_si(to_si(value), kind),
+                                                                                   self.instrument_id, rng),
+                             'give a value from %s.' % rng))
+        if 'integer' in _types(_numeric(schema) or {}):
+            if abs(value - round(value)) > 1e-9:
+                ctx.fail(invalid('NOT_WHOLE', '%s must be a whole number on %s (got %g).' % (what, self.instrument_id, value),
+                                 'give a whole number.'))
+            return int(round(value))
+        return value
+
+    def to_arg(self, ctx, cap, arg, si, kind, what, key=None, unit=None, range_from=None):
+        """SI -> the native argument value (declared unit, or ``unit`` when the argument declares none), range-checked against
+        the argument's schema or the ``range_from`` capability argument."""
+        schema = self.schema_of(cap, arg, key)
+        u = unit or units.declared(schema)
+        value = units.to_declared(si, u) if u and units.unit_kind(u) else si
+        if range_from:
+            rs = self.schema_of(range_from['cap'], range_from['arg'], range_from.get('key'))
+            ru = units.declared(rs)
+            v2 = units.to_declared(si, ru) if ru and units.unit_kind(ru) else si
+            self.check_range(ctx, rs, v2, kind, what)
+            if 'integer' in _types(_numeric(schema) or {}):
+                value = int(round(value))
+            return value
+        return self.check_range(ctx, schema, value, kind, what, unit=u)
+
+    def targets(self, ctx, p):
+        """--channel / --zone / --cell / --head -> native arguments; a target with a "default" is used when the option is left out."""
+        out = {}
+        for k, t in (self.map.get('targets') or {}).items():
+            v = p.get(k)
+            if v is None and t.get('default') is not None:
+                v = t['default']
+            if v is None:
+                if t.get('required'):
+                    ctx.fail(invalid('MISSING_' + k.upper(), '%s needs --%s on %s.' % (ctx.verb.name, k, self.instrument_id),
+                                     'give --%s %s.' % (k, '|'.join(map(str, t.get('values') or {})))))
+                continue
+            vals = t.get('values')
+            if vals is not None and str(v) not in vals:
+                ctx.fail(invalid('UNKNOWN_' + k.upper(), '%s has no %s %r.' % (self.instrument_id, k, v),
+                                 '%ss of %s: %s.' % (k, self.instrument_id, ', '.join(map(str, vals)))))
+            out[t['arg']] = vals[str(v)] if vals is not None else v
+        return out
+
+    # ------------------------------------------------------------------ member preconditions
+    def slot_value(self, ctx, slot, key=None):
+        v = ctx.v(slot)
+        if key is not None:
+            v = v.get(key) if isinstance(v, dict) else None
+        return v
+
+    def need(self, ctx, verb, only=None, skip=()):
+        """The member's "requires" entries for a verb (value / not / in / truthy / falsy / min / max), checked before sending."""
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            if (only is not None and r.get('code') not in only) or r.get('code') in skip:
+                continue
+            got = self.slot_value(ctx, r['slot'], r.get('key'))
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'in' in r:
+                ok = got in r['in']
+            elif 'not' in r:
+                ok = got not in (r['not'] if isinstance(r['not'], list) else [r['not']])
+            elif r.get('any'):
+                ok = isinstance(got, list) and any(got)
+            elif r.get('truthy'):
+                ok = bool(got)
+            elif r.get('falsy'):
+                ok = not got
+            elif 'near' in r:
+                ref = self.slot_value(ctx, r['near']['slot'], r['near'].get('key'))
+                ok = finite(got) and finite(ref) and abs(got - ref) <= float(r.get('tol', 0))
+                got = '%s (set point %s)' % (short(got, 30), short(ref, 30))
+            elif 'min' in r:
+                ok = finite(got) and got >= r['min']
+            elif 'max' in r:
+                ok = finite(got) and got <= r['max']
+            else:
+                ok = True
+            shown = got if ('near' in r and isinstance(got, str)) else short(got, 60)
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown),
+                      r['fix'].format(inst=self.instrument_id, value=shown), label=r.get('label', r['slot']))
+
+    # ------------------------------------------------------------------ calls
+    def run_calls(self, ctx, calls, fill=None):
+        """A list of {"cap", "args", "step", "skip_if": {"slot", "value"}}; ``fill``: {ARG: value} added where the capability
+        has that argument.  Returns the last response."""
+        r = None
+        for c in calls:
+            sk = c.get('skip_if')
+            if sk and not ctx.dry_run and self.slot_value(ctx, sk['slot'], sk.get('key')) == sk['value']:
+                ctx.notes.append('%s skipped: %s is already %s' % (c['cap'], sk['slot'], json.dumps(sk['value'])))
+                continue
+            args = dict(c.get('args') or {})
+            props = (ctx.cap_spec(c['cap']).get('input_schema') or {}).get('properties') or {}
+            for k, v in (fill or {}).items():
+                if k in props:
+                    args[k] = v
+            r = ctx.call(c['cap'], args, c.get('step') or c['cap'])
+        return r
+
+    # ------------------------------------------------------------------ jobs
+    def make_job(self, ctx, m, r, cap, what):
+        if ctx.dry_run:
+            return None
+        desc = '%s %s' % (self.instrument_id, what)
+        if r is not None and r.get('operation_id') and m.get('job', 'operation') == 'operation':
+            return OperationJob(ctx.core, self, ctx.req, desc, cap, r['operation_id'], max_s=m.get('max_s'))
+        st = m.get('state')
+        if st:
+            def state(c):
+                v = self.slot_value(c, st['slot'], st.get('key'))
+                fault = self.slot_value(c, st['slot'], st['fault_key']) if st.get('fault_key') else None
+                if fault not in (None, ''):
+                    return 'failed', '%s: %s' % (st['slot'], fault), {'state': v, 'fault': fault}
+                if v in (st.get('done') or []):
+                    return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+                if v in (st.get('failed') or []):
+                    return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+                return 'running', '%s = %s' % (st['slot'], v), {'state': v}
+            stop = None
+            if self.vmap('stop'):
+                def stop(c):
+                    sm = self.vmap('stop')
+                    self.run_calls(c, sm.get('calls') or [{'cap': sm['cap'], 'args': sm.get('args'), 'step': 'stop'}])
+                    return 'stopped (%s)' % ', '.join(self.maps_to('stop'))
+            return StateJob(ctx.core, self, ctx.req, desc, state, stop=stop, max_s=float(m.get('max_s', 7 * 86400)), poll_s=float(m.get('poll_s', 5)))
+        un = m.get('until')
+        if un:
+            when = un.get('when')
+            if when and not self._holds(ctx, when):
+                return None
+
+            def test(c):
+                v = self.slot_value(c, un['slot'], un.get('key'))
+                return v == un['value'], '%s = %s' % (un['slot'], json.dumps(v))
+            return ConditionJob(ctx.core, self, ctx.req, desc, test, max_s=float(m.get('max_s', 86400)), poll_s=float(m.get('poll_s', 1)))
+        return None
+
+    def _holds(self, ctx, cond):
+        v = self.slot_value(ctx, cond['slot'], cond.get('key'))
+        if 'value' in cond:
+            return v == cond['value']
+        if 'min' in cond:
+            return finite(v) and v >= cond['min']
+        return bool(v)
+
+    # ------------------------------------------------------------------ class view
+    def summary(self, values):
+        lines, js = [], {}
+        labels = self.param('labels') or {}
+        for role, label, kind in self.ROLES:
+            spec = self.slot(role)
+            if spec is None:
+                continue
+            label = labels.get(role, label)
+            if kind in ('bool', 'text', 'plain'):
+                sid, _, key = (spec if isinstance(spec, str) else spec['slot']).partition('#')
+                get = values.v if hasattr(values, 'v') else values.get
+                v = get(sid)
+                if key and isinstance(v, dict):
+                    v = v.get(key)
+                if v is None or v == '':
+                    continue
+                js[role] = v
+                lines.append('%s: %s' % (label, ('yes' if v else 'no') if kind == 'bool' else v if isinstance(v, str) else
+                                         fmtq(v, 'plain') if finite(v) else short(v, 60)))
+            else:
+                v = self.slot_si(values, spec)
+                if v is None:
+                    continue
+                js[role] = v
+                lines.append('%s: %s' % (label, fmtq(v, kind)))
+        return (lines or ['(nothing to show yet; see `chemlab read %s`)' % self.instrument_id]), js
+
+    # ------------------------------------------------------------------ verb factories
+    def setter_verb(self, name, summary, kind, argname, example, *, off=False, heat=False, targets=(), details=None,
+                    preconditions=(), errors=(), reference=None):
+        opts = {}
+        if heat:
+            opts['heat'] = Opt('also switch the heater on (members with a heater switch)', kind='flag')
+        for t in targets:
+            if t in (self.map.get('targets') or {}):
+                vals = sorted(((self.map.get('targets') or {}).get(t) or {}).get('values') or {})
+                opts[t] = target_opt(t, vals or None)
+        return Verb(name, summary, self.h_setter, positionals=[Arg(argname, 'e.g. %s%s' % (units.example(kind), ' or off' if off else ''))],
+                    options=opts, example=example, details=details, preconditions=list(preconditions) or ['value within the instrument range'],
+                    errors=list(errors) or ['OUT_OF_RANGE (usage)', 'NOT_READY (refused)'], reference=reference)
+
+    SETTER_KINDS = {}                 # verb -> quantity kind (filled by the class)
+
+    def h_setter(self, ctx, p):
+        name = ctx.verb.name
+        m = self.vmap(name)
+        kind = self.SETTER_KINDS[name]
+        text = p.pos[0]
+        if str(text).strip().lower() == 'off':
+            off = m.get('off')
+            if not off:
+                ctx.fail(invalid('NO_OFF', '%s on %s takes a value, not off.' % (name, self.instrument_id),
+                                 'give a value, e.g. `chemlab run %s %s %s`.' % (self.instrument_id, name, units.example(kind))))
+            self.need(ctx, name + ':off')
+            self.run_calls(ctx, off.get('calls') or [dict(off, step='%s off' % name)], fill=self.targets(ctx, p))
+            return {'text': 'ok: %s %s off\n' % (self.instrument_id, name), 'json': {'off': True}}
+        si = units.parse(text, kind, what=name)
+        cap, arg = m['cap'], m['arg']
+        props = (ctx.cap_spec(m['cap']).get('input_schema') or {}).get('properties') or {}
+        tgt = {k: v for k, v in self.targets(ctx, p).items() if k in props}      # --channel etc. only where the capability takes it
+        value = self.to_arg(ctx, cap, arg, si, kind, name, unit=m.get('unit'), range_from=m.get('range_from'))
+        step = m.get('step_si')
+        if isinstance(step, dict):
+            step = step.get(str(next(iter(tgt.values()), '*')), step.get('*'))
+        if step and abs(si / step - round(si / step)) > 1e-6:
+            ctx.fail(invalid('NOT_ON_STEP', '%s %s is not a whole multiple of %s on %s.' % (name, units.fmt(si, kind), units.fmt(step, kind),
+                                                                                            self.instrument_id),
+                             'give a multiple of %s, e.g. %s.' % (units.fmt(step, kind), units.fmt(round(si / step) * step, kind))))
+        if p.get('heat') and not (m.get('heat_arg') or m.get('heat_cap')):
+            ctx.fail(invalid('NO_HEATER_SWITCH', '%s has no separate heater switch for --heat.' % self.instrument_id,
+                             'leave out --heat (see `chemlab help %s %s`).' % (self.instrument_id, name)))
+        self.need(ctx, name)
+        if p.get('heat'):
+            self.need(ctx, name + ':heat')
+        args = dict(m.get('args') or {})
+        if m.get('keep_from'):                                      # a method setting: the rest of the method is kept as it is
+            cur = self.slot_value(ctx, m['keep_from']['slot'], m['keep_from'].get('key')) or {}
+            props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+            for k in props:
+                if k != arg and k not in (m.get('keep_skip') or []) and isinstance(cur, dict) and cur.get(k) is not None:
+                    args[k] = cur[k]
+        args.update(tgt)
+        args[arg] = value
+        if p.get('heat') and m.get('heat_arg'):
+            args[m['heat_arg']] = True
+        shown = fmtq(si, kind)
+        ctx.call(cap, args, 'set %s to %s' % (name if name != 'set-temp' else 'the temperature', shown))
+        if p.get('heat') and m.get('heat_cap'):
+            self.run_calls(ctx, [{'cap': m['heat_cap'], 'args': m.get('heat_args') or {}, 'step': 'switch the heater on',
+                                  'skip_if': m.get('heat_skip_if')}])
+        out = {'set_si': si, 'unit_si': units.KINDS[kind].si, 'native': {arg: value}}
+        return {'text': 'ok: %s %s %s%s\n' % (self.instrument_id, name, shown, ' (heater on)' if p.get('heat') else ''), 'json': out}
+
+    # ------------------------------------------------------------------ method
+    def method_verb(self, summary, example, details=None, reference=None):
+        return Verb('method', summary, self.h_method, variadic=('KEY=VALUE', 'a method setting'), example=example, details=details,
+                    preconditions=['every key known (class keys or native argument names)', 'values in range',
+                                   'the method can still be changed (see the member notes)'],
+                    errors=['UNKNOWN_SETTING (usage)', 'MISSING_SETTING (usage)', 'OUT_OF_RANGE (usage)', 'METHOD_LOCKED (refused)'],
+                    reference=reference)
+
+    def parse_value(self, ctx, text, schema, kind, what):
+        """One KEY=VALUE value -> the native value (units converted into the declared unit, JSON for the rest)."""
+        if text.strip().lower() in ('null', 'none') and ('null' in _types(schema) or any(
+                isinstance(x, dict) and x.get('type') == 'null' for x in (schema or {}).get('anyOf') or [])):
+            return None
+        if kind == 'fractions':
+            parts = [x for x in re.split(r'[,:/ ]+', text.strip()) if x]
+            try:
+                vals = [float(x[:-1]) / 100 if x.endswith('%') else float(x) for x in parts]
+            except ValueError:
+                ctx.fail(invalid('BAD_VALUE', '%s=%s is not a list of fractions.' % (what, text), 'write e.g. %s=1,0,0,0 or 50%%,50%%,0,0.' % what))
+            n = (schema.get('minItems') or schema.get('maxItems')) if isinstance(schema, dict) else None
+            if n and len(vals) != n:
+                ctx.fail(invalid('BAD_VALUE', '%s needs %d fractions (got %d).' % (what, n, len(vals)), 'write %d numbers, e.g. %s.' % (n, ','.join(['1'] + ['0'] * (n - 1)))))
+            if abs(sum(vals) - 1) > 1e-6:
+                ctx.fail(invalid('BAD_VALUE', 'the fractions of %s add up to %g, not 1.' % (what, sum(vals)), 'make them add up to 1 (or 100%).'))
+            return vals
+        num = _numeric(schema)
+        if num is not None:
+            u = units.declared(schema)
+            ukind = units.unit_kind(u) if u else None
+            bare = re.fullmatch(r'\s*' + _NUM + r'\s*', text) is not None
+            if kind in units.KINDS:
+                value = units.parse_for(text, schema, kind, what=what) if ukind else units.parse(text, kind, what=what)
+            elif ukind and not bare:
+                value = units.parse_for(text, schema, what=what)
+            elif bare or u:
+                value = units.parse_for(text, None if bare else u, what=what)
+            else:
+                value = units.parse_for(text, None, what=what)
+            return self.check_range(ctx, schema, value, ukind or 'plain', what)
+        enum = (schema or {}).get('enum')
+        if enum and text not in [str(x) for x in enum]:
+            ctx.fail(invalid('BAD_CHOICE', '%s=%s is not allowed on %s.' % (what, text, self.instrument_id), 'use one of: %s.' % ', '.join(map(str, enum))))
+        try:
+            return coerce(text, schema, what)
+        except CmdError as exc:
+            if hasattr(exc, 'done'):
+                raise
+            ctx.fail(invalid(exc.code, exc.message, exc.fix))
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % self.instrument_id))
+        keys = m.get('keys') or {}
+        dflt = m.get('cap')
+        given = {}                                                     # cap -> {arg: value | {key: value}}
+        order = [dflt] if dflt else []
+        seen = set()
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write method KEY=VALUE ... (see `chemlab help %s method`).' % self.instrument_id))
+            if k in seen:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give each setting once.'))
+            seen.add(k)
+            if k in keys:
+                spec = keys[k]
+                cap, arg, key, kind = spec.get('cap', dflt), spec['arg'], spec.get('key'), spec.get('kind')
+            elif m.get('passthrough') and dflt and k in ((ctx.cap_spec(dflt).get('input_schema') or {}).get('properties') or {}):
+                cap, arg, key, kind = dflt, k, None, None
+            else:
+                native = sorted(((ctx.cap_spec(dflt).get('input_schema') or {}).get('properties') or {})) if (dflt and m.get('passthrough')) else []
+                close = difflib.get_close_matches(k, list(keys) + native, 2)
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (self.instrument_id, k),
+                                 ('did you mean %s? ' % ' or '.join(close) if close else '') + 'settings: %s.' % ', '.join(list(keys) + [n for n in native if n not in [s.get('arg') for s in keys.values()]])))
+            schema = self.schema_of(cap, arg, key)
+            if v.strip().lower() in ('on', 'yes') and 'boolean' in _types(schema):
+                v = 'true'
+            elif v.strip().lower() in ('off', 'no') and 'boolean' in _types(schema):
+                v = 'false'
+            value = self.parse_value(ctx, v, schema, kind, k)
+            if cap not in order:
+                order.append(cap)
+            if key is not None:
+                given.setdefault(cap, {}).setdefault(arg, {})[key] = value
+            else:
+                given.setdefault(cap, {})[arg] = value
+        self.need(ctx, 'method')
+        calls = []
+        for cap in order:
+            if cap not in given:
+                continue
+            spec = ctx.cap_spec(cap).get('input_schema') or {}
+            args = dict((m.get('args') or {}) if cap == dflt else {})
+            args.update(given[cap])
+            missing = []
+            keep = (m.get('keep') or {}).get(cap) or {}
+            kw = m.get('keep_when')
+            if kw and not self._holds(ctx, kw):
+                keep = {}
+            props = spec.get('properties') or {}
+            for arg, kept in keep.items():                          # settings the agent left out keep their stored value
+                if arg not in props:
+                    continue
+                old = self.slot_value(ctx, kept['slot'], kept.get('key')) if kept.get('slot') else None
+                if arg in args and isinstance(args[arg], dict) and (props[arg] or {}).get('type') == 'object':
+                    if isinstance(old, dict):
+                        for k2, v2 in old.items():
+                            args[arg].setdefault(k2, v2)
+                elif arg not in args and old is not None:
+                    args[arg] = old
+            for req in spec.get('required') or []:
+                sub = props.get(req) or {}
+                if req in args and isinstance(args[req], dict) and sub.get('type') == 'object':
+                    for sreq in sub.get('required') or []:
+                        if sreq not in args[req]:
+                            missing.append(self._key_for(keys, cap, req, sreq))
+                elif req not in args:
+                    missing.append(self._key_for(keys, cap, req))
+            if missing:
+                ctx.fail(invalid('MISSING_SETTING', 'the method of %s also needs %s (it has no stored value to keep).' % (
+                    self.instrument_id, ', '.join(missing)), 'give them too, e.g. `chemlab run %s method %s` (see `chemlab help %s method`).' % (
+                    self.instrument_id, ' '.join('%s=...' % x for x in missing), self.instrument_id)))
+            calls.append((cap, args))
+        for cap, args in calls:
+            ctx.call(cap, args, 'set the method (%s: %s)' % (cap, short(args, 160)))
+        return {'text': 'ok: method of %s set: %s\n' % (self.instrument_id, '; '.join('%s %s' % (c, short(a, 300)) for c, a in calls)),
+                'json': {'calls': [{'capability': c, 'arguments': a} for c, a in calls]}}
+
+    @staticmethod
+    def _key_for(keys, cap, arg, key=None):
+        for k, s in keys.items():
+            if s.get('arg') == arg and s.get('key') == key and s.get('cap', cap) == cap:
+                return k
+        return '%s.%s' % (arg, key) if key else arg
+
+    # ------------------------------------------------------------------ run set
+    def run_verbs(self):
+        t = {}
+        return {'start': Verb('start', 'start the run (a long run returns job-N: chemlab status|wait|cancel job-N)', self.h_start,
+                              long_action=True, options=dict(t), example='chemlab run INST start',
+                              preconditions=['the member\'s own start conditions (power, loaded sample, lid / door closed, ...)'],
+                              errors=['NOT_READY / POWER_OFF / NO_SAMPLE ... (refused)']),
+                'stop': Verb('stop', 'stop the run (what was done so far is kept)', self.h_stop, example='chemlab run INST stop'),
+                'result': Verb('result', 'the run record: readings and products so far', self.h_result, readonly=True,
+                               options={'save-to': save_to_opt()}, example='chemlab run INST result --save-to run.json')}
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.need(ctx, 'start')
+        calls = m.get('calls') or [{'cap': m['cap'], 'args': m.get('args'), 'step': 'start (%s)' % m['cap']}]
+        r = self.run_calls(ctx, calls)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        cap = m.get('job_cap') or calls[-1]['cap']
+        job = self.make_job(ctx, m, r, cap, 'run')
+        if job is None:
+            return {'text': 'ok: %s started (%s); it keeps running until `chemlab run %s stop`\n' % (
+                self.instrument_id, ', '.join(c['cap'] for c in calls), self.instrument_id), 'json': {'job': None}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.need(ctx, 'stop')
+        self.run_calls(ctx, m.get('calls') or [{'cap': m['cap'], 'args': m.get('args'), 'step': 'stop (%s)' % m['cap']}])
+        return {'text': 'ok: %s stopped\n' % self.instrument_id, 'json': {}}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        if m.get('cap'):
+            r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the result (%s)' % m['cap'], query=True)
+            res = r.get('result')
+        else:
+            res = {s: ctx.v(s) for s in m.get('reads') or []}
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        lines = ['%s result:' % self.instrument_id]
+        if isinstance(res, dict):
+            for k, v in list(res.items())[:40]:
+                f = self._friendly_field(k, v)
+                lines.append('  %s = %s%s' % (k, short(v, 160), ('  (= %s)' % f) if f else ''))
+        else:
+            lines.append('  %s' % short(res, 400))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'result': res}}
+
+    def _friendly_field(self, name, v):
+        if not finite(v):
+            return None
+        s = self.lab.contract['state_slots'].get(name)
+        u = units.declared(s) if s else None
+        if u is None:
+            for suf, unit in (('_k', 'K'), ('_pa', 'Pa'), ('_m3_s', 'm^3/s'), ('_m3', 'm^3'), ('_kg', 'kg'), ('_rad_s', 'rad/s'),
+                              ('_kg_s', 'kg/s'), ('_s', 's')):
+                if name.endswith(suf):
+                    u = unit
+                    break
+        return units.friendly(v, u) if u else None
+
+    # ------------------------------------------------------------------ small helpers for class verbs
+    def wait_until(self, ctx, test, max_s, what, poll_s=1.0):
+        """Let lab time pass until ``test(view)`` holds (verbs that say they wait)."""
+        if ctx.dry_run:
+            ctx.advance(max_s, step=what)
+            return 0.0
+        if test(ctx.view):
+            return 0.0
+        waited = ctx.advance(max_s, until=test, step=what, poll_s=poll_s)
+        if not test(ctx.view):
+            ctx.fail(refused('NOT_REACHED', '%s did not finish %s within %s.' % (self.instrument_id, what, units.fmt_s(max_s)),
+                             'check `chemlab run %s status`; wait longer with `chemlab wait`.' % self.instrument_id))
+        return waited
+
+
+def fmtq(si, kind):
+    """units.fmt (fine vacuum keeps 3 significant digits there), and small plain numbers."""
+    if kind in (None, 'plain'):
+        return ('%.4g' % si) if finite(si) else str(si)
+    return units.fmt(si, kind)
+
+
+def frac_text(v):
+    return '%.1f %%' % (100 * v) if finite(v) else str(v)
+
+
+_ = (math, ON_OFF)
diff --git a/chemlab/chemlab/compile/classes/solid_prep.py b/chemlab/chemlab/compile/classes/solid_prep.py
new file mode 100644
index 0000000000000000000000000000000000000000..fe9531eb2cec969b19fef570d27051badd931730
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/solid_prep.py
@@ -0,0 +1,280 @@
+"""Solid sample preparation class ("solid_prep"): planetary ball mill, vibratory sieve shaker, rotary sample divider, manual
+hydraulic pellet press, automated fusion bead maker.  Operator action: mill, sieve, divide, press or fuse a solid.
+
+Verbs: method KEY=VALUE ..., intensity VALUE, set-temp T [--wait], program N|NAME, start [--delay T] (job-N), pause on|off,
+stop, rearm, result [--save-to F], feeder on|off, pump [N] [--to LOAD] [--hold] [--max T], valve open|close, leadscrew POS,
+open|close guard (the press), status.  power, open/close of lids, covers and doors, estop and wait come from the shared layer.
+Members and mappings: configs/adapters/solid_prep.json.
+
+Vendor-neutral references: ISO 3310-1 / ASTM E11 (test sieves) and ISO 2591-1 (test sieving: amplitude, time, interval), ISO
+14488 (sample division), DIN 51001 / ISO 12677 (fused beads for XRF: fusion temperature programme, rocking, pouring, cooling),
+the KBr pellet method (load, hold time, vacuum); no remote command standard exists (the RETSCH, Specac and Claisse devices are
+operated from their own panels; EasySieve is a proprietary serial link).
+
+Canonical method keys (each member maps the ones it has; native argument names pass through in their declared unit; the rest
+of the method comes from the member's template, the contract's reference method):
+
+    speed=     mill speed (300rpm)          time=  run time (5min)       interval=  run time between reversals / pauses (30s)
+    pause=     pause between intervals (5s) reverse=  on|off           amplitude=  sieving amplitude (1.2mm)
+    intensity= feeder intensity (0..99)     gap=  hopper gap (5mm)
+    load=      press target load (68kN, 7t is not a unit: give N or kN)   hold=  hold time at load (2min)   tolerance= (5%)
+    limit=     press load limit (relief valve, 70kN)
+    segments=  fusion temperature programme TIME@TEMP,... (10min@1065C,9min@1065C)   rocking= (10deg)  rocking-freq= (0.3Hz)
+    pour=      pouring mode 1..4            air=  cooling air (100%)     cooling=  minimum cooling time (5min)   output=
+"""
+import re
+
+from .. import units
+from ..base import finite
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb
+from .. import shared
+from .mechanical import TesterBase
+
+ON_OFF = ['on', 'off']
+REF = ('ISO 3310-1, ISO 2591-1 (sieving), ISO 14488 (dividing), ISO 12677 (fused beads), KBr pellet method; vendor manuals: '
+       'PM 100 operating manual pp.23-37 and 47-55, AS 200 control manual pp.29-36, PT 100 manual pp.23-29, DR 100 manual pp.33-36, '
+       'Atlas Manual 15T manual pp.12-17, LeNeo brochure pp.2-4')
+
+
+class SolidPrepAdapter(TesterBase):
+    CLASS = 'solid_prep'
+    TITLE = 'solid sample preparation'
+    ABOUT = ('Mill, sieve, divide, press or fuse a solid: set the process (speed, amplitude, time, load, temperature programme) in '
+             'plain units, start it as a job, pause / stop / re-arm it, read the process record; on the manual press pump the load, '
+             'hold it and release it with the valve.')
+    STANDARDS = ('ISO 3310-1 / ASTM E11 and ISO 2591-1 (test sieving), ISO 14488 (sample division), ISO 12677 (fused beads), KBr pellet '
+                 'method; no remote command standard (panel-operated devices)')
+    UNIT_KINDS = ('rotation', 'length', 'duration', 'force', 'temperature', 'angle', 'frequency')
+    KEY_HELP = {'speed': 'mill speed', 'time': 'run time', 'interval': 'run time between reversals / pauses', 'pause': 'pause time',
+                'reverse': 'direction reversal on|off', 'direction': '1 or -1', 'amplitude': 'sieving amplitude (total lift)',
+                'intensity': 'feeder intensity 0..99', 'gap': 'hopper gap', 'load': 'target load', 'hold': 'hold time at load',
+                'tolerance': 'load tolerance', 'limit': 'load limit of the relief valve', 'segments': 'TIME@TEMP,... programme',
+                'rocking': 'rocking angle', 'rocking-freq': 'rocking frequency', 'pour': 'pouring mode 1..4', 'air': 'cooling air fraction',
+                'cooling': 'minimum cooling time', 'output': 'glass_disk or borate_solution', 'stirring': 'stirring fraction'}
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is running (or still coasting); that is not possible now.', 'wait for the job, or stop it first.'),
+        'PROGRAM_EMPTY': ('PROGRAM_EMPTY', 'that program slot of {inst} is empty.', 'see the stored programs in `chemlab run {inst} status`.'),
+        'NOT_FOUND': ('PROGRAM_NOT_FOUND', '{inst} has no stored program of that name.', 'see `chemlab run {inst} status` for the program names.'),
+        'REFERENCE_RANGE': ('OUT_OF_RANGE', 'the value is outside what {inst} can do with this load (amplitude / acceleration limit).',
+                            'give a smaller amplitude.'),
+        'INTERVAL_REQUIRED': ('INTERVAL_REQUIRED', 'a pause or a direction reversal on {inst} needs an interval time.', 'add interval=... (or reverse=off pause=0s).'),
+    }
+
+    def build_verbs(self):
+        t = {
+            'method': Verb('method', 'set the process: KEY=VALUE ... in plain units (class keys or native names; the rest from the '
+                                     'member\'s template)', self.h_settings('method', 'method'), variadic=('KEY=VALUE', 'a setting'),
+                           preconditions=['every value within the contract range', 'not while a cycle runs or a finished cycle waits'],
+                           errors=['OUT_OF_RANGE, UNKNOWN_SETTING (usage)', 'CYCLE_FINISHED, BUSY (refused)'],
+                           example='chemlab run INST method speed=300rpm time=5min', reference=REF),
+            'intensity': Verb('intensity', 'set the intensity: mill speed, sieving amplitude or feeder intensity', self.h_intensity,
+                              positionals=[Arg('VALUE', 'speed (300rpm), amplitude (1.2mm) or feeder intensity (0..99)')],
+                              preconditions=['within the contract range', 'a method is set'], errors=['OUT_OF_RANGE (usage)'],
+                              example='chemlab run INST intensity 300rpm', reference=REF),
+            'set-temp': self.temp_verb(REF),
+            'program': Verb('program', 'load a stored program (slot number or name; 0 = manual mode)', self.h_program,
+                            positionals=[Arg('N|NAME', 'program slot or name')], preconditions=['not while running'],
+                            errors=['PROGRAM_EMPTY / PROGRAM_NOT_FOUND (refused)'], example='chemlab run INST program 1', reference=REF),
+            'pause': Verb('pause', 'pause or resume the running process', self.h_pause, positionals=[Arg('on|off', 'on (pause) or off (resume)', choices=ON_OFF)],
+                          preconditions=['running (to pause) / paused (to resume)'], errors=['NOT_RUNNING, NOT_PAUSED (refused)'],
+                          example='chemlab run INST pause on', reference=REF),
+            'rearm': Verb('rearm', 'clear the finished or stopped cycle so that a new one can be set and started', self.h_simple('rearm', 'cycle re-armed'),
+                          preconditions=['the cycle has ended and the drive has stopped'], errors=['NOTHING_TO_REARM (refused)'],
+                          example='chemlab run INST rearm', reference=REF),
+            'feeder': Verb('feeder', 'switch the vibratory feeder on or off', self.h_feeder, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                           example='chemlab run INST feeder on', reference=REF),
+            'pump': Verb('pump', 'pump the press: N strokes, or until the load is reached (--to), and keep it there for the cycle (--hold); '
+                                 'waits stroke by stroke', self.h_pump, positionals=[Arg('N', 'number of strokes (default 1)', required=False)],
+                         options={'to': Opt('pump until the gauge reads this load', kind='force', metavar='LOAD'),
+                                  'hold': Opt('with --to: keep topping the load up until the press cycle is complete', kind='flag'),
+                                  'max': Opt('longest time (default 10 min)', kind='duration', metavar='TIME')},
+                         preconditions=['guards down, valve closed, die and sample in place, method set'],
+                         errors=['NOT_READY (refused, with what is missing)', 'NOT_REACHED (refused)'],
+                         example='chemlab run INST pump --to 68kN --hold', reference=REF, long_action=True),
+            'valve': Verb('valve', 'open (release the load) or close the release valve; waits until it is there', self.h_valve,
+                          positionals=[Arg('open|close', 'open or close', choices=['open', 'close'])], example='chemlab run INST valve close',
+                          reference=REF),
+            'leadscrew': Verb('leadscrew', 'set the leadscrew (upper bolster) height to close the gap above the die; waits until it is there',
+                              self.h_leadscrew, positionals=[Arg('POS', 'position, e.g. 73mm', kind='length')],
+                              preconditions=['no load, ram down, the die stack fits under it'], errors=['OUT_OF_RANGE (usage)', 'NOT_READY (refused)'],
+                              example='chemlab run INST leadscrew 73mm', reference=REF),
+        }
+        t.update(self.run_verbs(REF, 'the process record (phase, time, speed / amplitude / load / temperature)'))
+        if (self.map.get('verbs') or {}).get('open'):                         # parts the shared layer cannot name (the press guards)
+            pos = [Arg('PART', 'which part (guard, rear-guard); optional when there is only one', required=False)]
+            t['open'] = Verb('open', 'raise a guard (waits until it is up)', self.h_part('open'), positionals=pos,
+                             example='chemlab run INST open guard', reference=REF)
+            t['close'] = Verb('close', 'lower a guard (waits until it is down)', self.h_part('close'), positionals=pos,
+                              example='chemlab run INST close guard', reference=REF)
+        return t
+
+    def h_part(self, action):
+        def h(ctx, p):
+            name, spec = shared._part(self, ctx, p.pos[0] if p.pos else None)
+            args = dict(spec.get('args') or {})
+            args[spec['arg']] = spec[action]
+            self.need(ctx, '%s:%s' % (action, name))
+            ctx.call(spec['cap'], args, '%s the %s' % (action, name))
+            if spec.get('slot') and not ctx.dry_run:
+                target = spec['%s_at' % action]
+                self.wait_slot(ctx, lambda view: finite(ctx.v(spec['slot'])) and abs(ctx.v(spec['slot']) - target) <= 1e-9, 60.0,
+                               'the %s' % name, poll_s=0.5)
+            return {'text': 'ok: %s %s %s\n' % (self.instrument_id, name, 'raised' if action == 'open' else 'lowered'),
+                    'json': {'part': name, 'action': action}}
+        return h
+
+    def custom_value(self, ctx, spec, text, what):
+        if spec.get('syntax') == 'segments':                                  # 10min@1065C,9min@1065C
+            out = []
+            for part in [p for p in text.split(',') if p.strip()]:
+                d, at, temp = part.partition('@')
+                if not at:
+                    ctx.fail(invalid('BAD_VALUE', '%s=%s: %r is not TIME@TEMP.' % (what, text, part), 'write %s=10min@1065C,9min@1065C.' % what))
+                out.append({'duration_s': units.parse(d, 'duration', what=what), 'end_temperature_K': units.parse(temp, 'temperature', what=what)})
+            if not out:
+                ctx.fail(invalid('BAD_VALUE', '%s needs at least one TIME@TEMP.' % what, 'write %s=10min@1065C.' % what))
+            return out
+        return TesterBase.custom_value(self, ctx, spec, text, what)
+
+    def settings(self, ctx, spec, items, verb):
+        segs = {k: ks for g in [spec] + list(spec.get('also') or []) for k, ks in (g.get('keys') or {}).items() if ks.get('syntax') == 'segments'}
+        rest, pre = [], {}
+        for item in items:
+            k, eq, v = item.partition('=')
+            if eq and k in segs:
+                pre[segs[k]['arg']] = self.custom_value(ctx, segs[k], v, k)
+            else:
+                rest.append(item)
+        calls = TesterBase.settings(self, ctx, dict(spec, always=spec.get('always') or bool(pre)), rest, verb)
+        for cap, args, given, names in calls:
+            if cap == spec['cap']:
+                args.update(pre)
+                given.update(pre)
+        return calls
+
+    # ------------------------------------------------------------------ handlers
+    def h_simple(self, verb, step):
+        def h(ctx, p):
+            m = self.vmap(verb)
+            self.need(ctx, verb)
+            ctx.call(m['cap'], dict(m.get('args') or {}), step)
+            ph = self.slot('phase')
+            return {'text': 'ok: %s %s%s\n' % (self.instrument_id, step, (' (%s)' % ctx.v(ph)) if ph else ''), 'json': {'phase': ctx.v(ph) if ph else None}}
+        return h
+
+    def h_intensity(self, ctx, p):
+        m = self.vmap('intensity')
+        v = self.parse_setting(ctx, m['cap'], m['arg'], p.raw['VALUE'], m.get('kind'), what='VALUE')
+        self.need(ctx, 'intensity')
+        ctx.call(m['cap'], {m['arg']: v}, 'set the intensity to %s' % p.raw['VALUE'])
+        return {'text': 'ok: %s %s = %s\n' % (self.instrument_id, m['cap'], p.raw['VALUE']), 'json': {m['arg']: v}}
+
+    def h_program(self, ctx, p):
+        m = self.vmap('program')
+        v = self.parse_setting(ctx, m['cap'], m['arg'], p.raw['N|NAME'], what='N|NAME')
+        self.need(ctx, 'program')
+        ctx.call(m['cap'], {m['arg']: v}, 'load program %s' % v)
+        return {'text': 'ok: %s program %s loaded\n' % (self.instrument_id, v), 'json': {'program': v}}
+
+    def h_pause(self, ctx, p):
+        m = self.vmap('pause')
+        want = p.pos[0] == 'on'
+        self.need(ctx, 'pause' if want else 'resume')
+        cap = m['on_cap'] if want else m['off_cap']
+        ctx.call(cap, {}, 'pause' if want else 'resume')
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, 'paused' if want else 'resumed'), 'json': {'paused': want}}
+
+    def h_feeder(self, ctx, p):
+        m = self.vmap('feeder')
+        want = p.pos[0] == 'on'
+        s = self.slot('feeder')
+        if s and bool(ctx.v(s)) == want:
+            return {'text': 'ok: the feeder of %s is already %s\n' % (self.instrument_id, p.pos[0]), 'json': {'feeder': want, 'changed': False}}
+        ctx.call(m['cap'], {m['arg']: want}, 'feeder %s' % p.pos[0])
+        return {'text': 'ok: %s feeder %s\n' % (self.instrument_id, p.pos[0]), 'json': {'feeder': want, 'changed': True}}
+
+    def wait_slot(self, ctx, test, max_s, what, poll_s=0.1):
+        if test(ctx.view):
+            return 0.0
+        w = ctx.advance(max_s, until=test, step=what, poll_s=poll_s)
+        if not ctx.dry_run and not test(ctx.view):
+            ctx.fail(refused('NOT_THERE', '%s did not finish within %s.' % (what, units.fmt_s(max_s)), 'check `chemlab run %s status`.' % self.instrument_id))
+        return w
+
+    def h_valve(self, ctx, p):
+        m = self.vmap('valve')
+        want = p.pos[0] == 'open'
+        ctx.call(m['cap'], {m['arg']: want}, '%s the release valve' % p.pos[0])
+        if not ctx.dry_run:
+            lo, hi = m.get('closed', 0.0), m.get('opened')
+
+            def there(view):
+                a = ctx.v(m['slot'])
+                return finite(a) and (abs(a - hi) <= 1e-9 if want else a <= lo + 1e-9)
+            self.wait_slot(ctx, there, 30.0, 'the valve %s' % ('opening' if want else 'closing'))
+            if want and m.get('release_slot'):                                  # opening releases the load: wait until it is off
+                below = float(m.get('released_below', 10.0))
+                self.wait_slot(ctx, lambda view: (ctx.v(m['release_slot']) or 0.0) < below, 120.0, 'the load release', poll_s=0.5)
+        load = self.slot_si(ctx, self.slot('load'))
+        return {'text': 'ok: %s valve %s (load %s)\n' % (self.instrument_id, 'open' if want else 'closed', units.fmt(load, 'force') if finite(load) else 'n/a'),
+                'json': {'valve_open': want, 'load_n': load}}
+
+    def h_leadscrew(self, ctx, p):
+        m = self.vmap('leadscrew')
+        v = self.parse_setting(ctx, m['cap'], m['arg'], p.raw['POS'], 'length', what='POS')
+        self.need(ctx, 'leadscrew')
+        ctx.call(m['cap'], {m['arg']: v}, 'set the leadscrew to %s' % units.fmt(v, 'length'))
+        if not ctx.dry_run:
+            self.wait_slot(ctx, lambda view: finite(ctx.v(m['slot'])) and abs(ctx.v(m['slot']) - v) <= 1e-9, 60.0, 'the leadscrew', poll_s=0.5)
+        return {'text': 'ok: %s leadscrew at %s\n' % (self.instrument_id, units.fmt(v, 'length')), 'json': {'position_m': v}}
+
+    def h_pump(self, ctx, p):
+        m = self.vmap('pump')
+        to, hold = p.get('to'), p.get('hold')
+        if hold and to is None:
+            ctx.fail(invalid('NEED_TO', '--hold needs --to LOAD (the load to keep).', 'e.g. `chemlab run %s pump --to 68kN --hold`.' % self.instrument_id))
+        try:
+            n = int(p.pos[0]) if p.pos else (None if to is not None else 1)
+        except ValueError:
+            ctx.fail(invalid('BAD_NUMBER', '%r is not a number of strokes.' % p.pos[0], 'give a whole number, e.g. `pump 5`.'))
+        if n is not None and not 1 <= n <= int(self.param('max_strokes', 500)):
+            ctx.fail(invalid('OUT_OF_RANGE', '%d strokes is not allowed.' % n, 'give 1 to %d strokes.' % int(self.param('max_strokes', 500))))
+        if to is not None:
+            lim = ctx.v(self.slot('limit'))
+            ctx.check(not finite(lim) or to <= lim + 1e-9, 'ABOVE_LIMIT', 'the load %s is above the load limit of %s (%s).' % (
+                units.fmt(to, 'force'), self.instrument_id, units.fmt(lim, 'force')), 'raise the limit first (`method limit=...`) or press less.',
+                label='below the load limit')
+        self.need(ctx, 'pump')
+        if ctx.dry_run:
+            ctx.plan.append({'capability': m['cap'], 'arguments': {}, 'step': 'pump strokes (%s)' % (n if n else 'until %s' % units.fmt(to, 'force'))})
+            return {'text': '', 'json': {}}
+        max_s = p.get('max') or 600.0
+        t0, strokes = ctx.now(), 0
+        load = lambda: self.slot_si(ctx, self.slot('load')) or 0.0                     # noqa: E731
+        active = self.slot('active')
+
+        def stroke():
+            ctx.call(m['cap'], {}, 'pump stroke %d' % (strokes + 1))
+            self.wait_slot(ctx, lambda view: not ctx.v(active), 10.0, 'the pump stroke')
+        while ctx.now() - t0 < max_s:
+            if n is not None and strokes >= n:
+                break
+            if to is not None and not hold and load() >= to:
+                break
+            if hold:
+                if ctx.v(self.slot('phase')) != 'running':
+                    break
+                if load() >= to:
+                    ctx.advance(0.5, step='watch the gauge')
+                    continue
+            stroke()
+            strokes += 1
+        text = 'ok: %s pumped %d stroke%s in %s; gauge %s' % (self.instrument_id, strokes, '' if strokes == 1 else 's', units.fmt_s(ctx.now() - t0),
+                                                             units.fmt(load(), 'force'))
+        if to is not None and not hold and load() < to:
+            ctx.fail(refused('NOT_REACHED', '%s reached only %s of %s after %d strokes.' % (self.instrument_id, units.fmt(load(), 'force'), units.fmt(to, 'force'), strokes),
+                             'check the valve is closed and the limit (`chemlab run %s status`); pump again.' % self.instrument_id))
+        if hold:
+            text += '; press cycle %s' % ctx.v(self.slot('phase'))
+        return {'text': text + '\n', 'json': {'strokes': strokes, 'load_n': load(), 'phase': ctx.v(self.slot('phase'))}}
diff --git a/chemlab/chemlab/compile/classes/spectroscopy.py b/chemlab/chemlab/compile/classes/spectroscopy.py
new file mode 100644
index 0000000000000000000000000000000000000000..0fb714ea0214c788a709d4ba17e821c80943217e
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/spectroscopy.py
@@ -0,0 +1,1006 @@
+"""Spectroscopy class ("spectroscopy"): molecular spectroscopy and magnetic resonance - UV-Vis, CD, fluorescence, FT-IR, Raman,
+stopped-flow, TCSPC, transient absorption, VCD, CPL, benchtop NMR / TD-NMR and EPR.  Operator action: record a spectrum.
+
+Verbs: power, open / close PART, source on|off, purge FLOW|off, method KEY=VALUE ..., load SAMPLE, unload, blank, measure,
+stop, spectrum [--save-to F], set-temp T, analyze MODEL [KEY=VALUE ...], status.  Members and mappings:
+configs/adapters/spectroscopy.json.
+
+The usual sequence:  power on -> (purge) -> source on --wait -> method ... -> blank --wait -> measure --wait -> spectrum.
+A cell placed by the lab operator (most members) is a world fact; `load` / `unload` exist only where the instrument itself
+takes the sample (Hach DR6000, JASCO FT/IR-4700, Spinsolve).
+
+Method dictionary (canonical keys; each member maps the keys it has, the rest pass through by native argument name):
+
+    from / to / step     spectral range: wavelength (nm, um) or wavenumber (cm-1) by member; ESR: center / width (field)
+    ex / em              excitation / emission wavelength            bw / ex-bw / em-bw   band width(s)
+    time                 integration / response / dwell time (s, ms) scans                accumulations / scans / averages
+    mode                 measurement mode (absorbance, emission, ...)   resolution        spectral resolution (cm-1)
+    speed                scan speed (nm/min)                          power              laser / microwave / RF power (mW, W)
+    laser                laser / pump wavelength                      nucleus            NMR nucleus (1H, 13C)
+    delay                relaxation / recycle delay                   points             number of points
+    center / width       EPR field centre and sweep (mT, G, T)         freq               microwave frequency (GHz)
+    wavelength           single wavelength (DR6000 single-wavelength mode, SX20 monitor wavelength)
+    program              Hach stored program number (DR6000)
+
+A method sets every argument the instrument needs: what the agent does not give comes from the instrument's documented
+example method in its contract (`help INST method` lists the keys and that baseline).
+
+Vendor-neutral references: JCAMP-DX (IUPAC) for spectra, ASTM E131 terms, USP <857> (UV-Vis), <854> (mid-IR), <1120> (Raman),
+<761> (NMR), <853> (fluorescence), OPC UA ADI (OPC 10020) analyzer devices, AnIML.
+"""
+import json
+import math
+import re
+
+from ...contract import validate
+from ...generic import coerce
+from .. import shared, units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import RUNNING, StateJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+REF_ALL = ('JASCO J-1500 / FP-8350 / FT/IR-4700 / NRS-5500 / FVS-6000 / CPL-300 operating manuals (measurement parameters, blank and '
+       'sample measurement); Hach DR6000 user manual (zero / read, wavelength scan); Applied Photophysics SX20, Edinburgh FLS1000, '
+       'Ultrafast HELIOS, Magritek Spinsolve, Bruker minispec mq20 and Magnettech ESR5000 user manuals (acquisition set-up)')
+ON_OFF = ['on', 'off']
+NUM = r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)'
+
+# class kind names used in the fragment ("kind": "field" ...) -> the framework kinds (units.KINDS); every unit is a framework unit
+FRAMEWORK_KIND = {'field': 'magnetic_field', 'rate': 'count_rate', 'offset': 'frequency_offset'}
+CLASS_KIND = {v: k for k, v in FRAMEWORK_KIND.items()}
+
+
+def kind_example(kind):
+    k = FRAMEWORK_KIND.get(kind, kind)
+    return units.example(k) if k in units.KINDS else '1'
+
+
+def parse_q(text, kind, what=None):
+    """Agent text with a unit -> SI float (units.parse; the class's kind names map to the framework kinds).  A time may be
+    negative here (pump-probe delays before time zero, -1ps); the contract ranges still apply."""
+    k = FRAMEWORK_KIND.get(kind, kind)
+    t = (text or '').strip() if isinstance(text, str) else text
+    if k == 'duration' and isinstance(t, str) and t.startswith('-'):
+        return -units.parse(t[1:], k, what=what or kind)
+    return units.parse(t, k, what=what or kind)
+
+
+def fmt_q(si, kind):
+    """SI -> friendly text (local kinds included)."""
+    if si is None or not finite(si):
+        return 'n/a' if si is None else str(si)
+    if kind == 'wavenumber':
+        return '%g cm-1' % round(si / 100.0, 4)
+    if kind == 'field':
+        return '%g mT' % round(si * 1e3, 6)
+    if kind == 'scan_speed':
+        return '%g nm/min' % round(si * 60e9, 4)
+    if kind == 'rate':
+        return '%g /s' % round(si, 6)
+    if kind == 'offset':
+        return '%g Hz' % round(si, 6)
+    if kind == 'wavelength':
+        return '%g nm' % round(si * 1e9, 4)
+    if kind == 'frequency' and abs(si) >= 1e8:
+        return '%g GHz' % round(si / 1e9, 6)
+    if kind == 'frequency' and abs(si) >= 1e5:
+        return '%g MHz' % round(si / 1e6, 6)
+    if kind == 'duration' and abs(si) < 1:
+        for f, u in ((1e-3, 'ms'), (1e-6, 'µs'), (1e-9, 'ns'), (1e-12, 'ps'), (1e-15, 'fs')):
+            if abs(si) >= f:
+                return '%g %s' % (round(si / f, 6), u)
+        return '0 s' if si == 0 else '%g s' % si
+    if kind == 'power' and abs(si) < 1:
+        return '%g mW' % round(si * 1e3, 6)
+    if kind in units.KINDS:
+        return units.fmt(si, kind)
+    return '%g' % si
+
+
+DISPLAY = {'wavelength': ('nm', 1e-9), 'wavenumber': ('cm-1', 100.0), 'field': ('mT', 1e-3), 'offset': ('Hz', 1.0), 'frequency': ('Hz', 1.0)}
+
+
+def kind_of_declared(u):
+    u = units.norm_unit(u)
+    if u == 's^-1':
+        return 'rate'                                                   # a rate (1/s), not a frequency
+    k = units.unit_kind(u)
+    k = CLASS_KIND.get(k, k)
+    if k == 'length':
+        return 'wavelength' if u == 'nm' else 'length'
+    return k
+
+
+def num_schema(schema):
+    """The numeric branch of a schema (anyOf number|null) or None."""
+    if not isinstance(schema, dict):
+        return None
+    if schema.get('type') in ('number', 'integer'):
+        return schema
+    for s in schema.get('anyOf') or []:
+        if isinstance(s, dict) and s.get('type') in ('number', 'integer'):
+            return s
+    return None
+
+
+def get_path(obj, path):
+    """'a/b/0/c' or 'points/*/wavelength_m' (map over a list) into a JSON value; None when missing."""
+    if not path:
+        return obj
+    head, _, rest = path.partition('/')
+    if head == '*':
+        if not isinstance(obj, list):
+            return None
+        return [get_path(x, rest) for x in obj]
+    if head == '-1' or head.lstrip('-').isdigit():
+        if not isinstance(obj, list) or not obj:
+            return None
+        try:
+            return get_path(obj[int(head)], rest)
+        except IndexError:
+            return None
+    if not isinstance(obj, dict):
+        return None
+    return get_path(obj.get(head), rest)
+
+
+class SpectroscopyAdapter(ClassAdapter):
+    CLASS = 'spectroscopy'
+    TITLE = 'record a spectrum'
+    ABOUT = ('Spectrometers and magnetic-resonance instruments: switch the source on and let it warm up, set the method with '
+             'plain keys and units (nm, cm-1, mT, GHz, s), record the blank / background, measure (a job you can wait for), read '
+             'the spectrum (and save it), set the sample temperature, and run the instrument\'s own analysis.')
+    STANDARDS = ('JCAMP-DX (IUPAC) spectra; ASTM E131 molecular spectroscopy terms; USP <857> UV-Vis, <854> mid-IR, <1120> Raman, '
+                 '<761> NMR, <853> fluorescence; OPC UA ADI (OPC 10020) analyzer devices; AnIML')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('wavelength', 'duration', 'temperature', 'power', 'frequency', 'flow')
+    PATH_GROUPS = (('measure', 'stop', 'spectrum'),)
+    CODES = {
+        'OPTICS_NOT_READY': ('OPTICS_NOT_READY', 'the optics of {inst} are not ready: it needs power, the sample compartment closed and '
+                             'the light source on and warmed up.',
+                             'check `chemlab run {inst} status`; then `chemlab run {inst} source on --wait` and `chemlab run {inst} close`.'),
+        'PURGE_NOT_READY': ('PURGE_NOT_READY', '{inst} needs the nitrogen purge flowing and the air flushed out of the optics before the '
+                            'lamp may be switched on (ozone and oxygen absorption below 200 nm).',
+                            'start the purge and wait for it: `chemlab run {inst} purge 5L/min --wait`, then `source on --wait`.'),
+        'INSUFFICIENT_PURGE': ('INSUFFICIENT_PURGE', 'the nitrogen flow of {inst} is too low for the shortest wavelength of the method.',
+                               'raise the purge (`chemlab run {inst} purge 15L/min --wait`) or start the scan at a longer wavelength.'),
+        'PURGE_REQUIREMENT_UNKNOWN': ('OUT_OF_RANGE', 'no purge flow is documented for wavelengths that short on {inst}.',
+                                      'keep the method at 170 nm or longer.'),
+        'BLANK_REQUIRED': ('BLANK_REQUIRED', '{inst} has no blank recorded with the current method and cell.',
+                           'record the blank first (`chemlab run {inst} blank --wait` with the solvent blank in the holder); a new '
+                           'method or temperature needs a new blank.'),
+        'MATCHED_BLANK_REQUIRED': ('BLANK_REQUIRED', '{inst} has no blank recorded with the current method, solvent and settings.',
+                                   'record the blank first (`chemlab run {inst} blank --wait` with the blank cell in place).'),
+        'SAMPLE_METHOD_REQUIRED': ('NOT_READY', '{inst} needs a method and a cell of the right kind in the holder (a blank cell for '
+                                   '`blank`, a sample for `measure`).',
+                                   'set the method (`chemlab run {inst} method ...`); cells are placed by the lab operator - see '
+                                   '`chemlab run {inst} status`.'),
+        'WRONG_SAMPLE_KIND': ('WRONG_CELL', 'the cell in {inst} is not the right kind for this step (a blank cell for `blank`, a sample '
+                              'for `measure`).', 'ask the lab operator to place the right cell; see `chemlab run {inst} status`.'),
+        'SAMPLE_KIND_MISMATCH': ('WRONG_CELL', 'the tube in {inst} is not the right kind for this step (a blank tube for `blank`, a '
+                                 'sample for `measure`).', 'ask the lab operator to place the right tube; see `chemlab run {inst} status`.'),
+        'REFERENCE_KIND': ('WRONG_CELL', 'the cuvette in {inst} is not the right kind: the IRF needs the scatterer, a decay needs the '
+                           'fluorescent sample.', 'ask the lab operator to place the right cuvette.'),
+        'SCATTER_WAVELENGTH': ('BAD_METHOD', 'for the IRF the emission wavelength of {inst} must equal the excitation wavelength.',
+                               'set `method em=<the excitation wavelength>` before `blank`, and back for the sample.'),
+        'GRID_INTERVAL_MISMATCH': ('BAD_STEP', 'the range of the method is not a whole number of steps on {inst}.',
+                                   'choose from / to / step so that (to - from) / step is a whole number.'),
+        'PIXEL_GRID': ('BAD_STEP', 'the Raman shift range of {inst} must span a whole number of 1 cm-1 pixels (at least 2).',
+                       'give whole cm-1 values, e.g. from=200cm-1 to=1800cm-1.'),
+        'SPECTRAL_GRID': ('BAD_STEP', 'the probe wavelength grid of {inst} must have 3..512 points with (to - from) a whole number of steps.',
+                          'adjust from / to / step.'),
+        'BUSY': ('BUSY', '{inst} is measuring now.', 'wait for the job (`chemlab wait job-N`) or stop it (`chemlab run {inst} stop`).'),
+        'ACCESSORY_NOT_INSTALLED': ('NO_ACCESSORY', '{inst} has no temperature-control accessory installed in this lab, so it cannot '
+                                    'set a sample temperature.', 'measure at room temperature, or ask the lab operator to install it.'),
+        'OPTION_NOT_INSTALLED': ('NO_ACCESSORY', 'that option is not installed on {inst}.', 'see `chemlab describe {inst}`.'),
+        'RF_NOT_READY': ('NOT_READY', 'the microwave bridge of {inst} is not ready: it needs power, the lid closed and the microwave on.',
+                         '`chemlab run {inst} close lid`, `chemlab run {inst} source on`.'),
+        'TEMPERATURE_NOT_SETTLED': ('NOT_SETTLED', 'the sample temperature of {inst} is not at its set point yet (within 0.1 K).',
+                                    'wait for it: `chemlab run {inst} set-temp T --wait`.'),
+        'REFERENCE_TEMPERATURE_MISMATCH': ('TEMPERATURE', 'the sample temperature of {inst} differs from the sample\'s reference '
+                                           'temperature by more than 0.25 K.', 'set the temperature it was prepared for (`set-temp`).'),
+        'COOLING_WATER_REQUIRED': ('NOT_SET_UP', '{inst} needs its cooling water, which the lab has not connected.', 'ask the lab operator.'),
+        'FILTER_WINDOW': ('OUT_OF_RANGE', 'the range is outside the window of the selected optical filter of {inst}.',
+                          'stay within the filter window, or select the other filter (`chemlab call {inst} filter.select`).'),
+        'CAF2_WINDOW': ('OUT_OF_RANGE', 'CaF2 cell windows absorb below 1100 cm-1.', 'start the range at 1100 cm-1 or higher.'),
+        'CENTER_POSITION_REQUIRED': ('NOT_READY', 'the sample stage of {inst} is not at the centre position.',
+                                     '`chemlab call {inst} stage.select --position 0`.'),
+        'FILTER_NOT_SETTLED': ('NOT_SETTLED', 'the filter wheel of {inst} is still moving.', 'wait a moment (`chemlab wait 2`).'),
+        'DETECTOR_SATURATED': ('SATURATED', 'the detector of {inst} saturates with this sample and method.',
+                               'use a shorter path / lower concentration, or a longer wavelength.'),
+        'TEMPLATE_RANGE': ('OUT_OF_RANGE', 'the method goes outside the wavelengths where {inst} has reference data for this sample.',
+                           'narrow the range (see `chemlab help {inst} method`).'),
+        'SOURCE_COVERAGE': ('OUT_OF_RANGE', 'the method range is outside the spectral data of the sample on {inst}.',
+                            'narrow the range (or choose a wavelength inside the sample\'s band).'),
+        'COMPLETE_SAMPLE_REQUIRED': ('NO_RESULT', '{inst} has no complete sample spectrum to analyse.', 'measure the sample first.'),
+        'FIT_WAVELENGTH_COVERAGE': ('NO_RESULT', 'the spectrum of {inst} does not cover 190..230 nm with at least 20 points, which the '
+                                    'secondary-structure fit needs.', 'measure from 240 nm (or longer) down to 190 nm, then analyse.'),
+        'STANDARD_DETECTOR_RANGE': ('OUT_OF_RANGE', 'excitation or emission (with its band width) leaves the 200..750 nm range of the '
+                                    'standard detector of {inst}.', 'keep ex / em and the band widths inside 200..750 nm.'),
+        'SCATTER_OR_ANTISTOKES_UNSUPPORTED': ('BAD_METHOD', 'the emission range of {inst} overlaps the excitation band (scatter).',
+                                              'start the emission range well above the excitation wavelength (by more than the band widths).'),
+        'INTEGRATION_OVERLAP': ('BAD_METHOD', 'the sampling interval is shorter than the integration time.', 'make interval >= time.'),
+        'FIELD_RANGE': ('OUT_OF_RANGE', 'the field sweep of {inst} leaves -10..650 mT.', 'reduce the width or move the centre.'),
+        'INSTALLED_SOURCE_MISMATCH': ('BAD_METHOD', 'the excitation wavelength must be the one of the installed laser of {inst}.',
+                                      'use its laser wavelength (see `chemlab run {inst} status`).'),
+        'EXTERNAL_LASER_MISMATCH': ('BAD_METHOD', 'the pump settings must match the external laser of {inst}.',
+                                    'keep laser= and power= as in the standard method.'),
+        'PERIOD_GRID_RESOURCE': ('BAD_METHOD', 'the time window and bins do not fit the repetition period of {inst}.',
+                                 'choose a time window <= 1 / repetition rate, with a whole number of bins per period.'),
+        'PILEUP_LIMIT': ('TOO_BRIGHT', 'the count rate on {inst} would exceed the 5 % pile-up limit.', 'narrow the slit or lower the rate.'),
+        'POWER_OFF_FOR_OPTICS': ('POWER_ON', 'the measuring mode or cell path of {inst} can only be changed with the power off.',
+                                 '`chemlab run {inst} power off`, set the method, then `power on`.'),
+        'PHYSICAL_RATIO_MISMATCH': ('BAD_METHOD', 'the mixing ratio must be the one the installed syringes give on {inst}.',
+                                    'leave the ratio as in the standard method.'),
+        'FLUID_NOT_READY': ('NOT_SET_UP', 'the drive gas, valves or cover of {inst} are not ready.', 'ask the lab operator.'),
+        'EXTERNAL_FLUSH_REQUIRED': ('NOT_SET_UP', '{inst} must be flushed by the operator before the next shot.', 'ask the lab operator.'),
+        'INSUFFICIENT_REAGENT': ('EMPTY', 'the drive syringes of {inst} hold too little for this stop volume.', 'ask the lab operator to refill.'),
+        'CELL_PATH_MISMATCH': ('BAD_METHOD', 'that path length is not available in the installed cell of {inst}.', 'see `chemlab help {inst} method`.'),
+        'STOP_VOLUME_RANGE': ('OUT_OF_RANGE', 'the stop volume of {inst} is outside the range of the stop syringe.', 'see `chemlab help {inst} method`.'),
+        'LAMP_WARMUP': ('WARMING_UP', 'the UV lamp of {inst} is warming up; readings below the UV switch wavelength wait for it.',
+                        'wait about a minute (`chemlab wait 60`) and repeat.'),
+        'LAMP_OFF': ('SOURCE_OFF', 'the visible lamp of {inst} is off.', '`chemlab run {inst} source on --lamp vis`.'),
+        'COVER_OPEN': ('LID_OPEN', 'the cell compartment of {inst} is open.', 'close it: `chemlab run {inst} close`.'),
+        'ZERO_FIRST': ('BLANK_REQUIRED', '{inst} needs a zero (blank) reading with this program before it reads samples.',
+                       'put the blank in, `chemlab run {inst} blank`, then the sample and `measure`.'),
+        'NO_PROGRAM': ('NO_METHOD', 'no program or mode is running on {inst}.', 'start one with `chemlab run {inst} method ...`.'),
+        'NOT_READY': ('NOT_READY', '{inst} is still starting up (self-check).', 'wait a little (`chemlab wait 60`).'),
+        'SLEEP': ('SLEEP', '{inst} is in sleep mode.', 'switch it off and on (`power off`, `power on`).'),
+        'NO_EVALUATION': ('OUT_OF_RANGE', 'the sample of {inst} has no data at these wavelengths.', 'measure inside its spectral range.'),
+        'UNSUPPORTED': ('NOT_SUPPORTED', 'this twin of {inst} does not implement that setting.', 'see `chemlab help {inst} method`.'),
+        'CALIBRATION_INPUT': ('BAD_INPUT', 'the calibration needs at least 3 different standards with intensities.',
+                              'give concentrations_mol_m3=[...] intensities=[...] unknown_intensity=X accept_same_method=true.'),
+        'ANALYSIS_INPUT': ('BAD_INPUT', 'the analysis input of {inst} is not usable (empty or mismatched).', 'measure first.'),
+        'IRF_GRID_MISMATCH': ('BAD_INPUT', 'the IRF record is not an IRF measured on the same time grid (window and bins) as the decay.',
+                              'record the IRF with `blank` (scatterer in place, em = ex) and the same window / bins, save it with '
+                              '`spectrum --save-to irf.json`, then `analyze lifetime irf=irf.json tau=...`.'),
+        'FIT_MODEL_MISMATCH': ('BAD_INPUT', 'the number of starting lifetimes must match the fit model of the method (mono: 1, bi: 2).',
+                               'give tau=4ns (mono) or tau=1ns,5ns (bi).'),
+        'FIT_UNIDENTIFIABLE': ('NO_RESULT', 'the lifetimes cannot be determined from these data.', 'collect more counts or change the start values.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def sv(self, values, role, default=None):
+        s = self.slot(role)
+        if not s:
+            return default
+        if isinstance(s, dict):
+            s = s.get('slot')
+        sid, _, key = s.partition('#')
+        v = values.v(sid) if hasattr(values, 'v') else values.get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    def is_open(self, values):
+        """True / False when the member has a lid / cover / door slot, else None."""
+        if self.slot('opened'):
+            return bool(self.sv(values, 'opened'))
+        if self.slot('closed'):
+            return not bool(self.sv(values, 'closed'))
+        return None
+
+    def wait_until(self, ctx, test, max_s, step, poll_s=1.0):
+        """Move lab time until test(ctx) is true (checked every poll_s).  Returns True when it became true."""
+        if test(ctx):
+            return True
+        ctx.advance(max_s, until=lambda v: test(ctx), step=step, poll_s=poll_s)
+        return bool(test(ctx))
+
+    def default_lid(self):
+        parts = (self.vmap('open') or {}).get('parts') or {}
+        return next(iter(parts), None)
+
+    # ------------------------------------------------------------------ summary (status / read)
+    def summary(self, values):
+        def val(role, default=None):
+            return self.sv(values, role, default)
+        if self.slot('power') and not val('power'):
+            return ['power off'], {'power': False}
+        parts, js = (['power on'] if self.slot('power') else []), {'power': True}
+        if self.slot('source'):
+            on = bool(val('source'))
+            ready = val('source_ready') if self.slot('source_ready') else None
+            word = self.param('source_word', 'source')
+            parts.append('%s %s' % (word, ('on' + ('' if ready is None else (', ready' if ready else ', warming up'))) if on else 'off'))
+            js.update(source=on, source_ready=ready)
+        if self.slot('purge_ready'):
+            pr = bool(val('purge_ready'))
+            fl = val('purge_flow')
+            parts.append('purge %s%s' % (units.fmt(fl, 'flow') if finite(fl) and fl > 0 else 'off', ' (air flushed)' if pr else ' (air not flushed yet)'))
+            js.update(purge_ready=pr, purge_flow_m3_s=fl)
+        op = self.is_open(values)
+        if op is not None:
+            parts.append('%s %s' % (self.param('compartment_word') or self.default_lid() or 'compartment', 'open' if op else 'closed'))
+            js['compartment_open'] = op
+        if self.slot('sample'):
+            sl = val('sample')
+            sid = val('sample_id') if self.slot('sample_id') else None
+            parts.append('sample %s' % (('in (%s)' % sid) if sid else 'in') if sl else 'sample: none')
+            js.update(sample_loaded=bool(sl), sample_id=sid)
+        lines = ['; '.join(parts)] if parts else []
+        more = []
+        if self.slot('method'):
+            mc = bool(val('method'))
+            more.append('method %s' % ('set' if mc else 'not set'))
+            js['method_set'] = mc
+        if self.slot('blank'):
+            b = bool(val('blank'))
+            more.append('%s %s' % (self.param('blank_word', 'blank'), 'ready' if b else 'not recorded'))
+            js['blank_ready'] = b
+        if self.slot('phase'):
+            ph = val('phase')
+            pts = val('points') if self.slot('points') else None
+            more.append('acquisition %s%s' % (ph, (' (%s %s)' % (pts, self.param('points_word', 'points'))) if pts not in (None, '') else ''))
+            js.update(phase=ph, points=pts)
+        if more:
+            lines.append('; '.join(more))
+        if self.slot('temp') or self.slot('set'):
+            tk = self.slot_si(values, self.slot('temp')) if self.slot('temp') else None
+            sk = self.slot_si(values, self.slot('set')) if self.slot('set') else None
+            lines.append('sample temperature %s (set point %s)' % (units.fmt(tk, 'temperature') if finite(tk) else 'n/a',
+                                                                 units.fmt(sk, 'temperature') if finite(sk) else 'none'))
+            js.update(temperature_k=tk, set_point_k=sk)
+        for role, label in (self.map.get('extra_status') or {}).items():
+            v = values.v(role) if hasattr(values, 'v') else values.get(role)
+            lines.append('%s: %s' % (label, short(v, 80)))
+        return lines or ['(no state mapped)'], js
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'PRECONDITION_FAILED':
+            ctx.refresh()
+            if self.slot('power') and not self.sv(ctx, 'power'):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    def need_power(self, ctx):
+        if self.slot('power'):
+            ctx.check(bool(self.sv(ctx, 'power')), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def need_idle(self, ctx):
+        if self.slot('phase'):
+            ph = self.sv(ctx, 'phase')
+            ctx.check(ph not in ('running', 'moving', 'driving', 'returning'), 'BUSY', '%s is measuring now (%s).' % (self.instrument_id, ph),
+                      'wait for it (`chemlab wait job-N`) or stop it (`chemlab run %s stop`).' % self.instrument_id, label='not measuring')
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        REF = self.param('manual', REF_ALL)                                  # page references of this member's manuals (no text)
+        out = {'power': shared.power_verb(self)}
+        out.update(shared.open_close_verbs(self))
+        wait_opts = {'wait': Opt('wait until it is done (moves lab time)', kind='flag'),
+                     'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME')}
+        out.update({
+            'source': Verb('source', 'switch the light source (lamp / laser / microwave bridge) on or off', self.h_source,
+                           positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                           options={'lamp': Opt('which lamp, where there are two', choices=['uv', 'vis']),
+                                    'wait': Opt('then wait until it has warmed up (moves lab time)', kind='flag'),
+                                    'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                           preconditions=['power on', 'the member\'s own conditions (e.g. purge flushed, compartment closed)'],
+                           errors=['POWER_OFF, PURGE_NOT_READY, LID_OPEN (refused)', 'NOT_READY (refused: still warming up after --max)'],
+                           example='chemlab run INST source on --wait', reference=REF),
+            'purge': Verb('purge', 'set the nitrogen purge flow (or off)', self.h_purge, positionals=[Arg('FLOW|off', 'flow, e.g. 5L/min, or off')],
+                          options={'wait': Opt('then wait until the air is flushed out (moves lab time)', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                          preconditions=['flow within the range of the purge controller'], errors=['OUT_OF_RANGE (usage)'],
+                          example='chemlab run INST purge 5L/min --wait', reference=REF),
+            'method': Verb('method', 'set the measurement method: KEY=VALUE ... (class keys with units, or native argument names)', self.h_method,
+                           variadic=('KEY=VALUE', 'a setting, e.g. from=260nm to=190nm step=0.5nm'),
+                           preconditions=['every value within the instrument range', 'not measuring', 'the member\'s own conditions'],
+                           errors=['UNKNOWN_SETTING, OUT_OF_RANGE, BAD_CHOICE (usage)', 'BUSY (refused)'],
+                           example='chemlab run INST method ' + self.param('method_example', 'from=260nm to=190nm step=1nm scans=2'),
+                           reference=REF),
+            'load': Verb('load', 'put a sample (cuvette / tube) into the instrument', self.h_load, positionals=[Arg('SAMPLE', 'the sample id')],
+                         preconditions=['compartment open where it has one', 'no sample in it'], errors=['LID_CLOSED, OCCUPIED (refused)'],
+                         example='chemlab run INST load sample_01', reference=REF),
+            'unload': Verb('unload', 'take the sample out of the instrument', self.h_unload, preconditions=['compartment open', 'a sample in it'],
+                           errors=['LID_CLOSED, NO_SAMPLE (refused)'], example='chemlab run INST unload'),
+            'blank': Verb('blank', 'record the blank / background / zero (or the IRF) with the reference in place', self.h_blank,
+                          options=dict(wait_opts), long_action=True,
+                          preconditions=['power on', 'compartment closed', 'source ready', 'method set', 'the blank / reference in place'],
+                          errors=['POWER_OFF, LID_OPEN, SOURCE_OFF, NO_METHOD, WRONG_CELL, BUSY (refused)'],
+                          example='chemlab run INST blank --wait', reference=REF),
+            'measure': Verb('measure', 'measure the sample (long runs give job-N; --wait blocks)', self.h_measure, options=dict(wait_opts),
+                            long_action=True,
+                            preconditions=['power on', 'compartment closed', 'source ready', 'method set', 'a sample in place',
+                                           'a blank recorded with the same method where the instrument needs one'],
+                            errors=['POWER_OFF, LID_OPEN, SOURCE_OFF, NO_METHOD, NO_SAMPLE, BLANK_REQUIRED, BUSY (refused)'],
+                            example='chemlab run INST measure --wait --max 30min', reference=REF),
+            'stop': Verb('stop', 'stop the running acquisition (the points measured so far are kept)', self.h_stop,
+                         example='chemlab run INST stop'),
+            'spectrum': Verb('spectrum', 'the last spectrum / trace: points, range, extremes (full record with --save-to)', self.h_spectrum,
+                             readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST spectrum --save-to spectrum.json'),
+            'set-temp': Verb('set-temp', 'set the sample (cell holder) temperature', self.h_set_temp,
+                             positionals=[Arg('TEMP', 'set point, e.g. 25C or 298.15K (a bare number is °C)', kind='temperature')],
+                             options={'wait': Opt('then wait until the sample is there (within the member\'s tolerance)', kind='flag'),
+                                      'max': Opt('with --wait: the longest wait (default 30 min)', kind='duration', metavar='TIME')},
+                             preconditions=['the temperature accessory installed', 'set point within its range', 'not measuring'],
+                             errors=['OUT_OF_RANGE (usage)', 'NO_ACCESSORY, BUSY, NOT_REACHED (refused)'],
+                             example='chemlab run INST set-temp 25C --wait', reference=REF),
+            'analyze': Verb('analyze', 'the instrument\'s own analysis of the last spectrum (MODEL: structure, peaks, kinetics, '
+                                       'lifetime, integrate, relaxation, g-factor, ...)', self.h_analyze, readonly=True,
+                            positionals=[Arg('MODEL', 'which analysis (see `chemlab help INST analyze`)')],
+                            variadic=('KEY=VALUE', 'model inputs, e.g. conc=0.2mM path=1mm'), options={'save-to': save_to_opt()},
+                            preconditions=['a complete measurement', 'the model\'s inputs'], errors=['UNKNOWN_MODEL, MISSING_SETTING (usage)',
+                                                                                                 'NO_RESULT (refused)'],
+                            example='chemlab run INST ' + next((mm.get('example') or 'analyze %s' % k for k, mm in
+                                                                ((self.map.get('verbs') or {}).get('analyze') or {}).get('models', {}).items()),
+                                                               'analyze MODEL'), reference=REF),
+        })
+        return out
+
+    def verb_help(self, name):
+        r = ClassAdapter.verb_help(self, name)
+        extra = []
+        if name == 'method' and self.vmap('method') and self.lab is not None:
+            extra = self.method_help()
+        elif name == 'analyze' and self.vmap('analyze'):
+            extra = ['models on %s:' % self.instrument_id]
+            for mname, mm in (self.vmap('analyze').get('models') or {}).items():
+                keys = ', '.join('%s (%s)' % (k, s.get('kind') or s['arg']) for k, s in (mm.get('keys') or {}).items())
+                extra.append('  %-12s %s%s' % (mname, mm.get('about', mm['cap']), ('; keys: ' + keys) if keys else ''))
+        if extra:
+            r['text'] += '\n' + '\n'.join(extra) + '\n'
+            r['json']['details'] = extra
+        return r
+
+    def method_help(self):
+        m = self.vmap('method')
+        lines = ['method keys on %s:' % self.instrument_id]
+        if m.get('program_cap'):
+            for mode, spec in (m.get('modes') or {}).items():
+                lines.append('  %s mode: %s' % (mode, ', '.join('%s (%s)' % (k, s.get('kind') or s.get('arg')) for k, s in (spec.get('keys') or {}).items())))
+            lines.append('  program=N starts the stored Hach program N')
+            return lines
+        cap = m['cap']
+        props = (self.lab.contract['capabilities'][cap].get('input_schema') or {}).get('properties') or {}
+        base = self.method_base(cap)
+        for k, s in (m.get('keys') or {}).items():
+            lines.append('  %-11s -> %s (%s)' % (k, s['arg'], s.get('kind') or self.describe_schema(props.get(s['arg']))))
+        lines.append('baseline (contract example, native units): ' + short(base, 400))
+        if m.get('current'):
+            lines.append('settings the instrument reports keep their current values: ' + ', '.join(m['current']))
+        rest = [p for p in props if p not in {s['arg'] for s in (m.get('keys') or {}).values()}]
+        if rest:
+            lines.append('other native arguments may be given by name (a bare number is in the declared unit): ' + ', '.join(rest))
+        return lines
+
+    def class_section(self, *a, **kw):
+        lines, js = ClassAdapter.class_section(self, *a, **kw)
+        extra = ('  more units of this class: wavenumber cm-1 (default) / m-1; magnetic field mT (default) / G / T; short times '
+                 'ps / ns / us / ms; GHz; concentration mM / uM; Raman count rate /s')
+        at = next((i for i, x in enumerate(lines) if x.startswith('  errors say')), len(lines))
+        lines.insert(at, extra)
+        js['units_extra'] = ['wavenumber', 'field', 'scan_speed', 'rate', 'offset']
+        return lines, js
+
+    @staticmethod
+    def describe_schema(s):
+        if not s:
+            return '?'
+        if s.get('enum'):
+            return 'one of ' + '|'.join(map(str, s['enum']))
+        return s.get('type', '?') + ((' ' + s['x-unit']) if s.get('x-unit') not in (None, '1') else '')
+
+    # ------------------------------------------------------------------ setting parser (method / analyze keys)
+    def parse_setting(self, text, schema, kind, what):
+        """One KEY=VALUE value -> the native value for the argument's schema (units converted to the declared unit, ranges and
+        enums checked here so that nothing invalid is sent)."""
+        ns = num_schema(schema)
+        if ns is not None:
+            u = units.declared(ns)
+            dkind = kind_of_declared(u) if u else None
+            t = text.strip().replace(' ', '')
+            m = re.fullmatch(NUM + r'(.*)', t)
+            if not m:
+                raise invalid('BAD_NUMBER', '%s=%s is not a number%s.' % (what, text, ' with a unit' if (kind or dkind) else ''),
+                              'write e.g. %s=%s.' % (what, kind_example(kind or dkind)))
+            if kind or (m.group(2) and dkind):
+                si = parse_q(t, kind or dkind, what=what)
+                if kind == 'temperature_delta' or dkind is None:
+                    value = si
+                else:
+                    value = si if units.unit_kind(u) is None else units.to_declared(si, u)
+            elif m.group(2):
+                raise invalid('BAD_NUMBER', '%s=%s: this setting takes a plain number.' % (what, text), 'leave out the unit.')
+            else:
+                value = float(m.group(1))                                  # a bare number for a native argument: its declared unit
+            if ns.get('type') == 'integer':
+                if abs(value - round(value)) > 1e-9:
+                    raise invalid('NOT_WHOLE', '%s=%s must be a whole number.' % (what, text), 'give an integer.')
+                value = int(round(value))
+            if ns.get('enum'):
+                hit = [e for e in ns['enum'] if e == value or abs(e - value) <= 1e-9 * abs(e)]
+                if not hit:
+                    show = ', '.join(fmt_q(e, kind or dkind) if (kind or dkind) else str(e) for e in ns['enum'])
+                    raise invalid('BAD_CHOICE', '%s=%s is not available on %s.' % (what, text, self.instrument_id), 'choose one of: %s.' % show)
+                value = hit[0]
+            lo, hi = ns.get('minimum'), ns.get('maximum')
+            if (lo is not None and value < lo - 1e-9 * abs(lo)) or (hi is not None and value > hi + 1e-9 * abs(hi)):
+                k2 = kind or dkind
+                show = (lambda x: fmt_q(x, k2)) if k2 else (lambda x: '%g' % x)
+                raise invalid('OUT_OF_RANGE', '%s=%s is outside the range of %s (%s to %s).' % (
+                    what, text, self.instrument_id, show(lo) if lo is not None else '-', show(hi) if hi is not None else '-'),
+                    'give %s from %s to %s.' % (what, show(lo) if lo is not None else '-', show(hi) if hi is not None else '-'))
+            return value
+        types = {schema.get('type')} if schema.get('type') else {x.get('type') for x in schema.get('anyOf') or []}
+        if types == {'boolean'}:
+            low = text.strip().lower()
+            if low in ('yes', 'true', 'on', '1'):
+                return True
+            if low in ('no', 'false', 'off', '0'):
+                return False
+            raise invalid('BAD_CHOICE', '%s=%s is not yes or no.' % (what, text), 'write %s=yes or %s=no.' % (what, what))
+        if schema.get('enum'):
+            for e in schema['enum']:
+                if str(e).lower() == text.strip().lower():
+                    return e
+            raise invalid('BAD_CHOICE', '%s=%s is not allowed on %s.' % (what, text, self.instrument_id),
+                          'choose one of: %s.' % ', '.join(map(str, schema['enum'])))
+        if 'array' in types and not text.strip().startswith('['):
+            items = (schema.get('items') or {}) if schema.get('type') == 'array' else next((x.get('items') or {} for x in schema.get('anyOf') or [] if x.get('type') == 'array'), {})
+            return [self.parse_setting(x, items, kind, what) for x in text.split(',') if x.strip()]
+        return coerce(text, schema, what)
+
+    def method_base(self, cap):
+        m = self.vmap('method') or {}
+        if m.get('base') == 'none':
+            return {}
+        return json.loads(json.dumps((self.lab.contract['capabilities'][cap].get('example_arguments') or {})))
+
+    def collect(self, ctx, items, keys, props, passthrough=True, what='setting'):
+        """KEY=VALUE items -> {native arg: value}, the (key, native) pairs given."""
+        out, given = {}, []
+        for item in items:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write KEY=VALUE (see `chemlab help %s %s`).' % (self.instrument_id, ctx.verb.name)))
+            if k in keys and keys[k].get('local'):                         # a class-side input (e.g. the wavelength to pick)
+                try:
+                    out['_' + k] = parse_q(v, keys[k]['kind'], what=k)
+                except Exception as exc:                                         # noqa: BLE001
+                    if hasattr(exc, 'kind'):
+                        ctx.fail(exc)
+                    raise
+                given.append((k, '_' + k))
+                continue
+            if k in keys:
+                spec = keys[k]
+                native, kind = spec['arg'], spec.get('kind')
+                if spec.get('file'):                                        # a JSON record the agent saved in its work dir
+                    out[native] = self.work_json(ctx, v, spec['file'], k)
+                    given.append((k, native))
+                    continue
+            elif passthrough and k in props:
+                native, kind = k, None
+            else:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no %s %r.' % (self.instrument_id, what, k),
+                                 '%ss: %s.' % (what, ', '.join(list(keys) + ([p for p in props if p not in {s['arg'] for s in keys.values()}] if passthrough else [])))))
+            if native not in props:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no %s %r here.' % (self.instrument_id, what, k), 'see `chemlab help %s %s`.' % (self.instrument_id, ctx.verb.name)))
+            if native in out:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give it once.'))
+            try:
+                out[native] = self.parse_setting(v, props[native], kind, k)
+            except Exception as exc:                                             # noqa: BLE001 - usage errors pass through ctx.fail
+                if hasattr(exc, 'kind'):
+                    ctx.fail(exc)
+                raise
+            given.append((k, native))
+        return out, given
+
+    # ------------------------------------------------------------------ handlers
+    def h_source(self, ctx, p):
+        m = self.vmap('source')
+        want = p.pos[0] == 'on'
+        lamp = p.get('lamp')
+        if m.get('lamp_arg') and lamp is None:
+            ctx.fail(invalid('WHICH_LAMP', '%s has two lamps.' % self.instrument_id, 'give --lamp uv or --lamp vis.'))
+        if lamp is not None and not m.get('lamp_arg'):
+            ctx.fail(invalid('NO_LAMP_CHOICE', '%s has one source.' % self.instrument_id, 'leave out --lamp.'))
+        self.need_power(ctx)
+        if want:
+            self.requirements(ctx, 'source')
+        args = dict(m.get('args') or {})
+        if m.get('lamp_arg'):
+            args[m['lamp_arg']] = lamp
+        args[m['arg']] = want
+        cur = None if m.get('lamp_arg') else self.sv(ctx, 'source')
+        word = self.param('source_word', 'source')
+        if cur is not None and bool(cur) == want and not p.get('wait'):
+            return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, word, p.pos[0]), 'json': {'source': want, 'changed': False}}
+        if cur is None or bool(cur) != want:
+            ctx.call(m['cap'], args, '%s %s' % (word + (' ' + lamp if lamp else ''), p.pos[0]))
+        text = 'ok: %s %s %s\n' % (self.instrument_id, word + (' (%s)' % lamp if lamp else ''), p.pos[0])
+        js = {'source': want, 'changed': cur is None or bool(cur) != want}
+        if want and p.get('wait') and not ctx.dry_run:
+            if not self.slot('source_ready'):
+                text += 'note: %s has no warm-up flag to wait for.\n' % self.instrument_id
+            else:
+                t0 = ctx.now()
+                ok = self.wait_until(ctx, lambda c: bool(self.sv(c, 'source_ready')), p.get('max') or 1800.0, 'wait for the %s to warm up' % word)
+                if not ok:
+                    ctx.fail(refused('NOT_READY', 'the %s of %s is not ready after %s.' % (word, self.instrument_id, units.fmt_s(ctx.now() - t0)),
+                                     'wait longer (`chemlab run %s source on --wait --max 1h`) and check `status`.' % self.instrument_id))
+                text += 'ready after %s of warm-up (t = %.0f s)\n' % (units.fmt_s(ctx.now() - t0), ctx.now())
+                js['waited_s'] = ctx.now() - t0
+        elif want and self.slot('source_ready') and not ctx.dry_run and not self.sv(ctx, 'source_ready'):
+            text += 'it is warming up: `chemlab run %s source on --wait` waits for it.\n' % self.instrument_id
+        return {'text': text, 'json': js}
+
+    def h_purge(self, ctx, p):
+        m = self.vmap('purge')
+        text = p.raw['FLOW|off'].strip().lower()
+        f = 0.0 if text in ('off', '0', 'stop') else parse_q(text, 'flow', what='flow')
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and f < lo - 1e-15) or (hi is not None and f > hi + 1e-15):
+            ctx.fail(invalid('OUT_OF_RANGE', 'a purge of %s is outside 0..%s on %s.' % (units.fmt(f, 'flow'), units.fmt(hi, 'flow'), self.instrument_id),
+                             'give a flow up to %s (e.g. 5L/min).' % units.fmt(hi, 'flow')))
+        self.need_power(ctx)
+        ctx.call(m['cap'], {m['arg']: self.arg_value(m['cap'], m['arg'], f)}, 'set the purge to %s' % (units.fmt(f, 'flow') if f else 'off'))
+        out = 'ok: %s purge %s\n' % (self.instrument_id, ('%s (%.3g L/min)' % (units.fmt(f, 'flow'), f * 6e4)) if f else 'off')
+        js = {'purge_m3_s': f}
+        if f and p.get('wait') and not ctx.dry_run and self.slot('purge_ready'):
+            t0 = ctx.now()
+            ok = self.wait_until(ctx, lambda c: bool(self.sv(c, 'purge_ready')), p.get('max') or 1800.0, 'wait for the purge', poll_s=5.0)
+            if not ok:
+                ctx.fail(refused('NOT_READY', 'the optics of %s are not flushed after %s.' % (self.instrument_id, units.fmt_s(ctx.now() - t0)),
+                                 'wait longer or raise the flow; check the nitrogen supply (`status`).'))
+            out += 'air flushed out after %s (t = %.0f s)\n' % (units.fmt_s(ctx.now() - t0), ctx.now())
+            js['waited_s'] = ctx.now() - t0
+        return {'text': out, 'json': js}
+
+    def h_method(self, ctx, p):
+        m = self.vmap('method')
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method` for the keys.' % self.instrument_id))
+        if m.get('program_cap'):
+            return self.h_method_program(ctx, p, m)
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        given_args, given = self.collect(ctx, p.extra, m.get('keys') or {}, props, m.get('passthrough', True))
+        self.need_idle(ctx)
+        self.requirements(ctx, 'method')
+        args = self.method_base(cap)
+        current = []
+        for a, slot in (m.get('current') or {}).items():                    # settings the instrument reports keep their values
+            v = ctx.v(slot)
+            if v is not None and a in props:
+                args[a] = v
+                current.append(a)
+        args.update(m.get('args') or {})
+        args.update(given_args)
+        for a, src in (m.get('derive') or {}).items():                      # arguments that follow others (e.g. a single-wavelength mode)
+            if a not in given_args and src in args:
+                args[a] = args[src]
+        defaulted = [a for a in args if a not in given_args and a not in current]
+        kept = [a for a in args if a not in given_args and a in current]
+        ctx.call(cap, args, 'set the method (%s)' % ', '.join('%s=%s' % (k, short(given_args[n], 24)) for k, n in given))
+        shown = ', '.join('%s=%s' % (k, self.show_native(props.get(n), given_args[n], (m.get('keys') or {}).get(k, {}).get('kind'))) for k, n in given)
+        text = 'ok: method of %s set: %s\n' % (self.instrument_id, shown)
+        if kept:
+            text += '  unchanged: %s\n' % ', '.join('%s=%s' % (a, self.show_native(props.get(a), args[a], None)) for a in kept)
+        if defaulted:
+            text += '  from the standard method: %s\n' % ', '.join('%s=%s' % (a, self.show_native(props.get(a), args[a], None)) for a in defaulted)
+        notes = []
+        if self.slot('blank') and m.get('invalidates_blank', True):
+            notes.append('a new method needs a new blank before measuring.')
+        return {'text': text, 'json': {'arguments': args, 'given': {k: given_args[n] for k, n in given}, 'unchanged': kept,
+                                       'from_standard': defaulted}, 'notes': notes}
+
+    def show_native(self, schema, v, kind):
+        if isinstance(v, list) and schema and schema.get('type') == 'array' and v and all(isinstance(x, (int, float)) for x in v):
+            items = [self.show_native(schema.get('items') or {}, x, kind) for x in v[:6]]
+            return '[%s%s]' % (', '.join(items), ', ... (%d)' % len(v) if len(v) > 6 else '')
+        ns = num_schema(schema or {})
+        if ns is not None and isinstance(v, (int, float)) and not isinstance(v, bool):
+            u = units.declared(ns)
+            k = kind or (kind_of_declared(u) if u else None)
+            if k:
+                si = v if units.unit_kind(u) is None else units.from_declared(v, u)
+                return fmt_q(si, k)
+        return short(v, 30)
+
+    def h_method_program(self, ctx, p, m):
+        """Hach DR6000 style: a program / mode is started (program.start) and its options set (program.options)."""
+        modes = m.get('modes') or {}
+        items = dict(x.partition('=')[::2] for x in p.extra)
+        for x in p.extra:
+            if '=' not in x:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % x, 'write KEY=VALUE (see `chemlab help %s method`).' % self.instrument_id))
+        start_props = (ctx.cap_spec(m['program_cap']).get('input_schema') or {}).get('properties') or {}
+        opt_schema = ((ctx.cap_spec(m['options_cap']).get('input_schema') or {}).get('properties') or {}).get('settings') or {}
+        opt_props = opt_schema.get('properties') or {}
+        if 'program' in items:
+            mode, number = 'stored', self.parse_setting(items.pop('program'), start_props.get('number') or {}, None, 'program')
+        else:
+            number = None
+            mode = next((md for md, spec in modes.items() if set(items) & set(spec.get('keys') or {})), None)
+            if mode is None:
+                ctx.fail(invalid('WHICH_MODE', 'method on %s needs the keys of one mode.' % self.instrument_id,
+                                 'e.g. from=400nm to=700nm step=1nm (scan), wavelength=510nm (single), or program=N (stored program).'))
+        keys = (modes.get(mode) or {}).get('keys') or {}
+        settings, given = self.collect(ctx, ['%s=%s' % kv for kv in items.items()], keys, opt_props, m.get('passthrough', True))
+        self.need_power(ctx)
+        self.requirements(ctx, 'method')
+        start = {'kind': (modes.get(mode) or {}).get('kind', mode)}
+        if number is not None:
+            start['number'] = number
+        ctx.call(m['program_cap'], start, 'start the %s %s' % (mode, 'program %d' % number if number else 'mode'))
+        if settings:
+            ctx.call(m['options_cap'], {'settings': settings}, 'set the %s options (%s)' % (mode, ', '.join(k for k, _ in given)))
+        shown = ', '.join('%s=%s' % (k, self.show_native(opt_props.get(n), settings[n], keys.get(k, {}).get('kind'))) for k, n in given)
+        text = 'ok: %s runs the %s%s%s\n' % (self.instrument_id, mode, (' program %d' % number) if number else ' mode', (': ' + shown) if shown else '')
+        return {'text': text, 'json': {'mode': mode, 'number': number, 'settings': settings},
+                'notes': ['a new program or range needs a new zero: `blank` with the blank cuvette, then `measure`.']}
+
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        self.requirements(ctx, 'load')
+        sid = p.pos[0]
+        ctx.call(m['cap'], {m['arg']: sid}, 'load %s' % sid, refusal=lambda r: self.load_refusal(ctx, r, sid))
+        return {'text': 'ok: %s loaded into %s\n' % (sid, self.instrument_id), 'json': {'sample_id': sid}}
+
+    def load_refusal(self, ctx, r, sid):
+        code = (r.get('error') or {}).get('code')
+        if code == 'PRECONDITION_FAILED':
+            return refused('UNKNOWN_SAMPLE', '%s has no sample %r ready to load (or the holder is not ready for it).' % (self.instrument_id, sid),
+                           'check the sample id the lab gave you and `chemlab run %s status`.' % self.instrument_id)
+        return None
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        self.requirements(ctx, 'unload')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'take the sample out')
+        return {'text': 'ok: sample taken out of %s\n' % self.instrument_id, 'json': {'unloaded': True}}
+
+    def run_checks(self, ctx, verb):
+        self.need_power(ctx)
+        self.need_idle(ctx)
+        self.requirements(ctx, verb)
+
+    def start_run(self, ctx, p, verb, what):
+        m = self.vmap(verb)
+        self.run_checks(ctx, verb)
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), '%s (%s)' % (what, m['cap']))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        if not m.get('job'):                                                # synchronous: done now
+            res = r.get('result') or {}
+            text = 'ok: %s done on %s (t = %.1f s)\n' % (what, self.instrument_id, ctx.now())
+            brief = {k: v for k, v in res.items() if not isinstance(v, (dict, list))} if isinstance(res, dict) else {}
+            if brief:
+                text += '  ' + ', '.join('%s=%s' % (k, short(v, 30)) for k, v in list(brief.items())[:8]) + '\n'
+            if verb == 'measure':
+                text += 'read it: `chemlab run %s spectrum`\n' % self.instrument_id
+            return {'text': text, 'json': {'done': True, 'result': brief}}
+        job = self.make_job(ctx, what)
+        if p.get('wait'):
+            w = job.wait_reply(ctx.core, ctx.req, p.get('max') or 3600.0)
+            ctx.refresh()
+            text = '%s: %s\n%s' % (job.handle, what, w['text'])
+            if w['json'].get('status') == 'succeeded' and verb == 'measure':
+                text += 'read it: `chemlab run %s spectrum`\n' % self.instrument_id
+            if w['json'].get('status') not in RUNNING and w['json'].get('status') != 'succeeded':
+                ctx.fail(refused('RUN_FAILED', '%s %s on %s (%s).' % (what, w['json'].get('status'), self.instrument_id, w['json'].get('state_status', '')),
+                                 'see `chemlab run %s status` (warning) and fix the cause, then repeat.' % self.instrument_id,
+                                 detail={'job': job.handle}))
+            js = dict(w['json'])
+            js['job'] = job.handle
+            return {'text': text, 'json': js}
+        return {'text': 'started %s: %s on %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, what, self.instrument_id, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def make_job(self, ctx, what):
+        st = self.map.get('job') or {}
+        phase, done, failed = self.slot('phase'), st.get('done', ['succeeded']), st.get('failed', ['failed', 'cancelled', 'stopped'])
+        ad = self
+
+        def state(c):
+            v = ad.sv(c, 'phase')
+            pts = ad.sv(c, 'points') if ad.slot('points') else None
+            warn = c.v(ad.slot('warning')) if ad.slot('warning') else None
+            text = '%s = %s%s%s' % (phase, v, (', %s %s' % (pts, ad.param('points_word', 'points'))) if pts is not None else '',
+                                    (', warning %s' % warn) if warn else '')
+            js = {'status': v, 'points': pts}
+            if warn:
+                js['warning'] = warn
+            if v in done:
+                return 'succeeded', text, js
+            if v in failed:
+                return 'failed', text, js
+            return 'running', text, js
+
+        def stop(c):
+            sm = ad.vmap('stop')
+            c.call(sm['cap'], dict(sm.get('args') or {}), 'stop the acquisition')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, '%s on %s' % (what, self.instrument_id), state, stop=stop if self.vmap('stop') else None,
+                        max_s=float(self.param('max_run_s', 7200)), poll_s=float(self.param('poll_s', 1.0)))
+
+    def h_blank(self, ctx, p):
+        return self.start_run(ctx, p, 'blank', self.param('blank_word', 'blank'))
+
+    def h_measure(self, ctx, p):
+        return self.start_run(ctx, p, 'measure', 'measurement')
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        if self.slot('phase'):
+            ph = self.sv(ctx, 'phase')
+            if ph not in ('running', 'moving', 'driving', 'returning', 'stopping'):
+                return {'text': 'ok: %s is not measuring (%s); nothing to stop\n' % (self.instrument_id, ph), 'json': {'stopped': False, 'phase': ph}}
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the acquisition')
+        ph = self.sv(ctx, 'phase') if self.slot('phase') else None
+        return {'text': 'ok: %s stopped (%s); the points so far are kept\n' % (self.instrument_id, ph), 'json': {'stopped': True, 'phase': ph}}
+
+    def h_spectrum(self, ctx, p):
+        m = self.vmap('spectrum')
+        if m.get('cap'):
+            r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the spectrum (%s)' % m['cap'], query=True)
+            rec = r.get('result')
+        else:
+            rec = {s: ctx.v(s) for s in m.get('reads') or []}
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        alts = m.get('alternatives') or []
+        x = get_path(rec, m.get('x'))
+        y = get_path(rec, m.get('y'))
+        spec = m
+        for alt in alts:                                                    # another view (e.g. DR6000 single reading vs a scan)
+            if isinstance(x, list) and x:
+                break
+            x, y, spec = get_path(rec, alt.get('x')), get_path(rec, alt.get('y')), dict(m, **alt)
+        if not isinstance(x, list) or not x:
+            if isinstance(x, (int, float)) and not isinstance(x, bool):
+                x, y = [x], [y] if not isinstance(y, list) else y
+            else:
+                ctx.fail(refused('NO_RESULT', '%s has no spectrum yet.' % self.instrument_id,
+                                 'measure first (`chemlab run %s measure --wait`).' % self.instrument_id))
+        pts = [(a, b) for a, b in zip(x, y or []) if finite(a) and finite(b)]
+        fy = float(spec.get('y_factor', 1.0))
+        xk = spec.get('x_kind')
+        lines = ['%s spectrum: %d points, %s from %s to %s' % (self.instrument_id, len(x), spec.get('x_name', 'x'), fmt_q(x[0], xk) if xk else x[0],
+                                                               fmt_q(x[-1], xk) if xk else x[-1])]
+        js = {'points': len(x), 'x_name': spec.get('x_name', 'x'), 'y_name': spec.get('y_name', 'y'), 'x_unit': spec.get('x_unit'),
+              'y_unit': spec.get('y_unit'), 'x': x, 'y': y}
+        if pts:
+            hi = max(pts, key=lambda q: q[1])
+            lo = min(pts, key=lambda q: q[1])
+            yl = spec.get('y_label', spec.get('y_name', 'y'))
+            lines.append('  maximum %s %.6g at %s; minimum %.6g at %s' % (yl, hi[1] * fy, fmt_q(hi[0], xk) if xk else hi[0], lo[1] * fy,
+                                                                        fmt_q(lo[0], xk) if xk else lo[0]))
+            disp = DISPLAY.get(xk)
+            js['max'] = {'x': hi[0], 'y': hi[1]}
+            js['min'] = {'x': lo[0], 'y': lo[1]}
+            if disp:                                                        # the position in the usual unit (nm, cm-1, mT, ...)
+                for d, q in (('max', hi), ('min', lo)):
+                    js[d].update(at=round(q[0] / disp[1], 9), unit=disp[0])
+        for k in spec.get('fields') or []:
+            v = get_path(rec, k)
+            if v is not None:
+                lines.append('  %s = %s' % (k.replace('/', '.'), short(v, 80)))
+                js[k.replace('/', '_')] = v
+        js['record'] = rec
+        return {'text': '\n'.join(lines) + '\n', 'json': js}
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        lo, hi = self.arg_range_si(m['cap'], m['arg'])
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'a sample temperature of %s is outside the range of %s (%s to %s).' % (
+                units.fmt(k, 'temperature'), self.instrument_id, units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature')),
+                'give a temperature from %s to %s.' % (units.fmt(lo, 'temperature'), units.fmt(hi, 'temperature'))))
+        self.need_idle(ctx)
+        self.requirements(ctx, 'set-temp')
+        args = dict(m.get('args') or {})
+        args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], k), 10)
+        ctx.call(m['cap'], args, 'set the sample temperature to %s' % units.fmt(k, 'temperature'))
+        tk = self.slot_si(ctx, self.slot('temp')) if self.slot('temp') else None
+        text = 'ok: sample temperature set point of %s %s; now %s\n' % (self.instrument_id, units.fmt(k, 'temperature'),
+                                                                      units.fmt(tk, 'temperature') if finite(tk) else 'n/a')
+        js = {'set_point_k': k, 'temperature_k': tk}
+        notes = ['a new temperature needs a new blank before measuring.'] if self.slot('blank') else []
+        if p.get('wait') and not ctx.dry_run and self.slot('temp'):
+            tol = float(self.param('temp_tolerance_k', 0.1))
+            t0 = ctx.now()
+            ok = self.wait_until(ctx, lambda c: finite(self.slot_si(c, self.slot('temp'))) and abs(self.slot_si(c, self.slot('temp')) - k) <= tol,
+                                 p.get('max') or 1800.0, 'wait until the sample is at %s' % units.fmt(k, 'temperature'), poll_s=1.0)
+            tk = self.slot_si(ctx, self.slot('temp'))
+            if not ok:
+                ctx.fail(refused('NOT_REACHED', 'the sample of %s is at %s after %s, not within %.2g K of %s.' % (
+                    self.instrument_id, units.fmt(tk, 'temperature'), units.fmt_s(ctx.now() - t0), tol, units.fmt(k, 'temperature')),
+                    'wait longer (`chemlab run %s set-temp ... --wait --max 1h`).' % self.instrument_id))
+            text += 'reached %s after %s (t = %.0f s)\n' % (units.fmt(tk, 'temperature'), units.fmt_s(ctx.now() - t0), ctx.now())
+            js.update(temperature_k=tk, waited_s=ctx.now() - t0)
+        return {'text': text, 'json': js, 'notes': notes}
+
+    def h_analyze(self, ctx, p):
+        a = self.vmap('analyze')
+        models = a.get('models') or {}
+        name = p.pos[0]
+        if name not in models:
+            ctx.fail(invalid('UNKNOWN_MODEL', '%s has no analysis %r.' % (self.instrument_id, name), 'models: %s.' % ', '.join(models)))
+        mm = models[name]
+        cap = mm['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        args, given = self.collect(ctx, p.extra, mm.get('keys') or {}, props, mm.get('passthrough', False), what='input')
+        args.update({k: v for k, v in (mm.get('args') or {}).items() if k not in args})
+        for k, spec in (mm.get('keys') or {}).items():
+            if spec.get('required') and (('_' + k) if spec.get('local') else spec['arg']) not in args:
+                ctx.fail(invalid('MISSING_SETTING', 'analyze %s on %s needs %s=...' % (name, self.instrument_id, k),
+                                 'e.g. %s' % mm.get('example', 'see `chemlab help %s analyze`' % self.instrument_id)))
+        rec = None
+        for native, src in (mm.get('fill') or {}).items():                  # inputs taken from the last result or the state
+            if native in args:
+                continue
+            if 'slot' in src:
+                v = ctx.v(src['slot'])
+            else:
+                if rec is None:
+                    rq = src.get('cap') or mm.get('result_cap')
+                    r = ctx.call(rq, {}, 'read the result (%s)' % rq, query=True)
+                    rec = r.get('result') if not ctx.dry_run else {}
+                v = get_path(rec, src['path'])
+                if src.get('pick') and isinstance(v, list):                 # a column of 2-D data at the agent's choice
+                    v = self.pick_column(ctx, rec, src, v, args, mm)
+            if ctx.dry_run and v is None:
+                v = []
+            if v is None or v == [] and not ctx.dry_run:
+                ctx.fail(refused('NO_RESULT', '%s has no result to analyse (%s missing).' % (self.instrument_id, native),
+                                 'measure first (`chemlab run %s measure --wait`).' % self.instrument_id))
+            if src.get('object'):
+                v = {k2: get_path(rec, p2) for k2, p2 in src['object'].items()}
+            args[native] = v
+        for k, spec in (mm.get('keys') or {}).items():
+            if spec.get('required') and (('_' + k) if spec.get('local') else spec['arg']) not in args:
+                ctx.fail(invalid('MISSING_SETTING', 'analyze %s on %s needs %s=...' % (name, self.instrument_id, k),
+                                 'e.g. %s' % mm.get('example', 'see `chemlab help %s analyze`' % self.instrument_id)))
+        for k in [k for k in args if k.startswith('_')]:                     # class-side inputs are not sent
+            args.pop(k)
+        if not ctx.dry_run:                                                 # the data must fit the analysis (e.g. enough points)
+            problems = validate(ctx.cap_spec(cap).get('input_schema') or {'type': 'object', 'properties': {}}, args, cap)
+            if problems:
+                ctx.fail(refused('ANALYSIS_INPUT', 'the data of %s do not fit the %s analysis: %s.' % (self.instrument_id, name, '; '.join(problems[:3])),
+                                 mm.get('hint', 'measure with enough points (see `chemlab help %s analyze`).' % self.instrument_id)))
+        r = ctx.call(cap, args, 'analyze (%s)' % cap, query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        lines = ['%s analysis %s:' % (self.instrument_id, name)]
+        for k in mm.get('show') or [k for k, v in res.items() if not isinstance(v, (dict, list, str)) or k in ('fractions',)][:10]:
+            if k in res:
+                lines.append('  %s = %s' % (k, short(res[k], 160)))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'model': name, 'result': res}}
+
+    def pick_column(self, ctx, rec, src, v, args, mm):
+        """One column of 2-D data (rows = delays, columns = the axis): the column nearest to the agent's value."""
+        axis = get_path(rec, src['pick']['axis'])
+        want = args.get('_' + src['pick']['key'])
+        if not isinstance(axis, list) or not axis or want is None:
+            return v
+        idx = min(range(len(axis)), key=lambda i: abs(axis[i] - want) if finite(axis[i]) else float('inf'))
+        ctx.notes.append('analysed at %s (the nearest point to %s)' % (fmt_q(axis[idx], 'wavelength'), fmt_q(want, 'wavelength')))
+        return [row[idx] if isinstance(row, list) and len(row) > idx else None for row in v]
+
+    def work_json(self, ctx, name, path, key):
+        """A record the agent saved in its work dir (e.g. `spectrum --save-to irf.json`), the part at ``path``."""
+        p = ctx.core._work_path(name)
+        if not p.is_file():
+            ctx.fail(invalid('NO_FILE', '%s=%s: there is no such file in your work dir.' % (key, name),
+                             'save it first, e.g. `chemlab run %s spectrum --save-to %s` right after the run.' % (self.instrument_id, name)))
+        try:
+            data = json.loads(p.read_text(encoding='utf-8'))
+        except ValueError:
+            ctx.fail(invalid('BAD_FILE', '%s is not a JSON record.' % name, 'give the file written by `spectrum --save-to`.'))
+        v = get_path(data, path)
+        if v is None:
+            ctx.fail(invalid('BAD_FILE', '%s has no %s.' % (name, path.replace('/', '.')), 'give the file written by `spectrum --save-to` '
+                             'after the right run.'))
+        return v
diff --git a/chemlab/chemlab/compile/classes/structure.py b/chemlab/chemlab/compile/classes/structure.py
new file mode 100644
index 0000000000000000000000000000000000000000..4837f601f79a7e68f375d01db9b0c6948fa61b96
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/structure.py
@@ -0,0 +1,178 @@
+"""Structure class ("structure"): X-ray diffraction and scattering, photoelectron spectroscopy and ellipsometry - powder XRD
+(Rigaku MiniFlex 600), single-crystal XRD (XtaLAB Synergy-R), SAXS (Anton Paar SAXSpace), XPS (Kratos AXIS Supra+) and
+spectroscopic ellipsometry (J.A. Woollam alpha-SE).  Members and mappings: configs/adapters/structure.json.  The step engine is
+the imaging class's SampleAdapter (classes/imaging.py): composite verbs are step lists in the fragment.
+
+Verbs (every one also takes --dry-run):
+
+    load SAMPLE [--holder H] [--at X,Y] [--magazine N]   mount a sample (sample slot / crystal on the goniometer / capillary holder /
+                                            XPS holder through the load lock and transfer to the stage / wafer on the stage)
+    unload [SAMPLE]                         take it out again
+    source on|off [--kv V] [--ma I]         X-ray generator (or the XPS Al Ka source)
+    vacuum on|off                           flight-path / load-lock vacuum, or the sample vacuum chuck (ellipsometer)
+    align                                   centre the crystal / auto-align the capillary / XPS auto height
+    scan [KEY=VALUE ...]                    configure and start the measurement: job-N (or --wait)
+                                            PXRD from=10deg to=80deg step=0.02deg time=0.5s; SC-XRD exposure=1s width=0.5deg
+                                            distance=45mm (pre-experiment) or strategy=ID (full data set); SAXS exposure=600s frames=3;
+                                            XPS region=survey | NAME:FROM:TO:STEP:DWELL[:SWEEPS] (binding energies in eV) mode=scanned;
+                                            ellipsometry mode=standard align=standard model=ID
+    result [ID] [--save-to FILE]            the record (default: the last one)
+    analyze [ID] [KEY=VALUE ...]            index / strategy / reduce / identify (SC-XRD), reduce (SAXS), quantify (XPS), fit (ellipsometry)
+    status                                  the class view
+
+KEY=VALUE settings take units where they are quantities (deg / rad, s / min, mm / nm, kV, mA); other values are parsed by the
+argument's type.  Long actions return job-N (chemlab status|wait|cancel job-N), or block with --wait.
+
+Vendor-neutral terms: CIF / ICDD (diffraction), USP <941> (XRPD), ISO 15472 and ISO 18115 (XPS energy scale and vocabulary),
+canSAS / NXcanSAS (SAXS); there is no command standard for these instruments.
+"""
+from .. import units
+from ..errors import invalid
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from ..base import short
+from .imaging import ON_OFF, Q, SampleAdapter, parse_q, wait_opts
+
+
+class StructureAdapter(SampleAdapter):
+    CLASS = 'structure'
+    TITLE = 'diffraction, scattering, XPS and ellipsometry'
+    ABOUT = ('Instruments that record a diffraction pattern, a scattering curve or a surface spectrum: mount the sample, switch the '
+             'X-ray source, align, scan (job-N), read the record and analyse it; the same words on every member.')
+    STANDARDS = ('CIF (IUCr) and ICDD PDF terms; USP <941> X-ray powder diffraction; ISO 15472 / ISO 18115 (XPS); canSAS / NXcanSAS '
+                 '(SAXS); no command standard exists for these instruments')
+    UNIT_KINDS = ('angle', 'duration', 'length', 'voltage', 'current')
+    PATH_GROUPS = (('scan', 'result'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'NOT_READY': ('NOT_READY', '{inst} is not ready (still starting up, or busy).', 'wait a little (`chemlab wait 30`) and retry; see `chemlab run {inst} status`.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (no environment declared by the lab).', 'ask the lab operator.'),
+        'UNKNOWN_RECORD': ('NO_SUCH_RECORD', '{inst} has no record of that id for you.', 'see your records: `chemlab call {inst} records.list`.'),
+        'MOTION_IN_PROGRESS': ('BUSY', 'a stage or arm of {inst} is still moving.', 'wait a few seconds (`chemlab wait 5`) and retry.'),
+        'ACQUISITION_RUNNING': ('BUSY', '{inst} is acquiring now.', 'wait for it (`chemlab status`), then retry.'),
+        'TRANSFER_RUNNING': ('BUSY', 'a sample transfer of {inst} is running.', 'wait for it (`chemlab status`), then retry.'),
+        'KEY_OFF': ('KEY_OFF', 'the X-ray key of {inst} is off.', '`chemlab run {inst} source on` turns it as part of switching on.'),
+        'NOT_ARMED': ('NOT_ARMED', 'the safety circuit of {inst} is open (a door open, or Doors OK not pressed).', '`chemlab run {inst} source on` closes the doors first.'),
+        'XRAY_NOT_STABLE': ('SOURCE_NOT_READY', 'the X-rays of {inst} are not on and stable.', '`chemlab run {inst} source on --wait`.'),
+        'VACUUM_NOT_READY': ('VACUUM_NOT_READY', 'the vacuum of {inst} is not ready.', '`chemlab run {inst} vacuum on --wait`.'),
+        'DOOR_OPEN': ('DOOR_OPEN', 'a door of {inst} is open.', 'close it (load / unload close it when they are done).'),
+        'NO_CRYSTAL': ('NO_SAMPLE', 'there is no crystal on the goniometer of {inst}.', '`chemlab run {inst} load SAMPLE`.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no sample in {inst}.', '`chemlab run {inst} load SAMPLE`.'),
+        'UNKNOWN_SAMPLE': ('NO_SUCH_SAMPLE', '{inst} has no sample of that name on its bench.', 'see `chemlab read {inst} sample.bench_ids`.'),
+    }
+    QOPTS = {}
+    MADE_BY = 'scan'
+    KEY_VERBS = ('scan', 'analyze')
+
+    def build_verbs(self):
+        R = None                               # manual pages are per member: the 'manual:' notes of help INST VERB
+        return {
+            'load': Verb('load', 'mount a sample (load lock / transfer / goniometer as needed)', self.h_generic('load', 'loaded {sample}', lambda c, p: {'sample': p.pos[0]}),
+                         positionals=[Arg('SAMPLE', 'the sample id (on the bench, or the sample holder the lab prepared)')],
+                         options=dict({'holder': Opt('holder / cell type or holder id (member specific)', metavar='H'),
+                                       'at': Opt('where on the holder / stage, X,Y (e.g. -20mm,0mm)', metavar='X,Y'),
+                                       'magazine': Opt('load-lock magazine slot (XPS)', metavar='N')}, **wait_opts('1h')),
+                         preconditions=['the sample is on the bench', 'the holder / stage is free'],
+                         errors=['NO_SUCH_SAMPLE, OCCUPIED (refused)', 'NOT_REACHED (refused: a door, lock or transfer did not get there in time)'],
+                         example='chemlab run INST load SAMPLE', reference=R),
+            'unload': Verb('unload', 'take the sample out again', self.h_generic('unload', 'unloaded {sample}', self.env_unload),
+                           positionals=[Arg('SAMPLE', 'the sample id (default: the one in the instrument)', required=False)], options=wait_opts('1h'),
+                           example='chemlab run INST unload', reference=R),
+            'source': Verb('source', 'switch the X-ray source on (and set kV / mA) or off', self.h_onoff('source', 'X-rays'),
+                           positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                           options=dict({'kv': Opt('tube voltage, e.g. 40kV', kind='voltage', metavar='V'),
+                                         'ma': Opt('tube current (XPS: emission), e.g. 15mA', kind='current', metavar='I')}, **wait_opts('10min')),
+                           preconditions=['doors closed / interlocks made', 'cooling water'], errors=['OUT_OF_RANGE (usage)', 'DOOR_OPEN, NOT_ARMED (refused)'],
+                           example='chemlab run INST source on --kv 40kV --ma 15mA --wait', reference=R),
+            'vacuum': Verb('vacuum', 'pump the flight path / load lock, or hold the sample by vacuum (on), or vent / release (off)',
+                           self.h_onoff('vacuum', 'vacuum'), positionals=[Arg('on|off', 'on or off', choices=ON_OFF)], options=wait_opts('30min'),
+                           example='chemlab run INST vacuum on --wait', reference=R),
+            'align': Verb('align', 'centre / auto-align the sample in the beam (job-N, or --wait)', self.h_generic('align', 'alignment'),
+                          options=wait_opts('10min'), long_action=True, example='chemlab run INST align --wait', reference=R),
+            'scan': Verb('scan', 'configure and start the measurement: KEY=VALUE settings (job-N, or --wait)', self.h_keys('scan', 'measurement'),
+                         variadic=('KEY=VALUE', 'a measurement setting'), options=wait_opts('4h'), long_action=True,
+                         preconditions=['sample loaded', 'source on and ready', 'vacuum ready where needed'],
+                         errors=['UNKNOWN_SETTING, OUT_OF_RANGE (usage)', 'SOURCE_NOT_READY, NO_SAMPLE (refused)'],
+                         example='chemlab run INST scan --wait', reference=R),
+            'result': Verb('result', 'the measurement record (default: your last one)', self.h_result, readonly=True,
+                           positionals=[Arg('ID', 'record id (default: the last one)', required=False)], options={'save-to': save_to_opt()},
+                           example='chemlab run INST result --save-to pattern.json'),
+            'analyze': Verb('analyze', 'analyse a record: KEY=VALUE settings (index / reduce / quantify / fit ...)', self.h_keys('analyze', 'analysis', record=True),
+                            positionals=[Arg('ID', 'record id (default: the last one)', required=False)], variadic=('KEY=VALUE', 'an analysis setting'),
+                            options={'save-to': save_to_opt()}, errors=['UNKNOWN_SETTING (usage)', 'NO_RECORD (refused)'],
+                            example='chemlab run INST analyze', reference=R),
+        }
+
+    def env_unload(self, ctx, p):
+        if p.pos:
+            return {'sample': p.pos[0]}
+        s = self.slot('sample')
+        v = self.slot_value(ctx, s) if s else None
+        return {'sample': v} if v else {}
+
+    def env_from(self, ctx, p, extra=None):
+        env = SampleAdapter.env_from(self, ctx, p, extra)
+        at = p.get('at') if ctx.verb.name == 'load' else None
+        if at:
+            parts = [x for x in at.replace(';', ',').split(',') if x.strip()]
+            if len(parts) != 2:
+                ctx.fail(invalid('BAD_POSITION', '--at %s is not X,Y.' % at, 'write it like --at -20mm,0mm.'))
+            env['opt:at_x'], env['opt:at_y'] = Q(units.parse(parts[0], 'length', what='X'), 'length'), Q(units.parse(parts[1], 'length', what='Y'), 'length')
+            env.pop('opt:at', None)
+        return env
+
+    def h_keys(self, verb, what, record=False):
+        """scan / analyze: KEY=VALUE settings become $opt:KEY inputs (kinds from the mapping's "keys"); analyze takes a record ID."""
+        def h(ctx, p):
+            m = self.vmap(verb)
+            kinds = m.get('keys') or {}
+            extra = {}
+            pos = list(p.pos)
+            if record:
+                rid = pos[0] if pos else None
+                if rid is not None and '=' in rid:                   # `analyze what=index`: no ID given, the first item is a setting
+                    p.extra.insert(0, rid)
+                    rid = None
+                if rid is None and m.get('last_slot'):
+                    rid = self.slot_value(ctx, m['last_slot'])
+                    if not rid:
+                        ctx.fail(invalid('NO_RECORD', '%s has no record of yours to analyse yet.' % self.instrument_id,
+                                         'measure first (`chemlab run %s scan`).' % self.instrument_id))
+                extra['id'] = rid
+            allowed = self.options_of(m) - set(ctx.verb.options)
+            for item in p.extra:
+                k, eq, v = item.partition('=')
+                if not eq or not k:
+                    ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'see `chemlab help %s %s`.' % (self.instrument_id, verb)))
+                if k not in allowed:
+                    ctx.fail(invalid('UNKNOWN_SETTING', '%s on %s has no setting %r.' % (verb, self.instrument_id, k),
+                                     'settings: %s (see `chemlab help %s %s`).' % (', '.join(sorted(allowed)) or 'none', self.instrument_id, verb)))
+                if k in kinds:
+                    extra['opt:' + k] = parse_q(v, tuple(kinds[k]), k)
+                else:
+                    extra['opt:' + k] = v
+            p.extra = []
+            env = self.env_from(ctx, p, extra)
+            lines, js, mm = self.run_mapping(ctx, p, verb, env, what)
+            if ctx.dry_run:
+                return {'text': '', 'json': js}
+            head = 'ok: %s %s' % (self.instrument_id, self.head_text(ctx, mm, js, what, env))
+            res = js.get('result')
+            body = []
+            if verb == 'analyze' and isinstance(res, dict):
+                for k, v in list(res.items())[:16]:
+                    body.append('  %-22s %s' % (k, short(v, 150)))
+            text = '\n'.join([head] + self.waited_lines(ctx) + lines + body + [self.now_line(ctx)])
+            if mm.get('next'):
+                text += '\nnext: ' + self.fill(ctx, mm['next'], env)
+            return {'text': text + '\n', 'json': js}
+        return h
+
+    def apply_defaults(self, ctx, m, env):
+        kinds = m.get('keys') or {}
+        for k, text in (m.get('defaults') or {}).items():
+            if k in kinds and 'opt:' + k not in env and not isinstance(text, list):
+                env['opt:' + k] = parse_q(str(text), tuple(kinds[k]), k)
+        SampleAdapter.apply_defaults(self, ctx, m, env)
+
+
+_ = (Opt,)
diff --git a/chemlab/chemlab/compile/classes/syringe_pump.py b/chemlab/chemlab/compile/classes/syringe_pump.py
new file mode 100644
index 0000000000000000000000000000000000000000..f64ac08085205556a3f8d88f2bac0a5f885da880
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/syringe_pump.py
@@ -0,0 +1,452 @@
+"""Liquid class, syringe-pump member (New Era NE-1000 Multi-Phaser): the member-specific adapter of configs/adapters/liquid.json.
+
+The Flex verbs (classes/liquid.py) are untouched; this member has its own verbs because a syringe pump has no deck, tips or
+wells - a syringe and a line instead.  Only the panel-free remote command set of the contract is used (syringe.set_diameter,
+rate.set, volume.set, direction.set, pump.run / stop / purge, phase.select / set_function, program.clear, volume.clear); the
+keypad, serial and TTL capabilities stay generic.
+
+    syringe [DIAMETER | TYPE | loaded]       the inside diameter: 14.43mm, a syringe type (bd_10ml ...), or the loaded type
+    rate RATE                                pumping rate (1mL/h, 50uL/min ...; the pump shows it in those units)
+    volume VOLUME | clear                    volume to dispense (0 = pump until stopped) / clear the dispensed counters
+    direction infuse | withdraw | reverse
+    run [--phase N] [--wait] [--max T]       start pumping (a job: it ends when the volume is done or the program stops)
+    stop                                     stop (or pause) pumping
+    purge on | off                           purge at the top speed
+    phase [N [FUNCTION [KEY=VALUE ...]]]     show the program, or set phase N (rate, fill, increment, decrement, stop, jump,
+                                             loop-start, loop, loop-end, pause, beep, ...); `phase clear` clears the program
+
+Class checks before anything is sent: power on; the environment set up by the lab; no alarm; a diameter set before a rate,
+volume or run; rates within the pump's plunger-speed range for the set diameter (0.004205 cm/h to 5.1005 cm/min); not running
+for settings the pump refuses while running.
+
+Manual references (references/manuals/newera_ne1000/, internal; NE-1000 user manual 1200-01): direction key p.9; syringe inside
+diameter 7.1 p.12; operating the pump, purging, volume dispensed 7.3-7.6 p.13; paused / stalled 7.7-7.8 p.14; pumping programs
+and program functions 9.1-9.3 pp.18-23; specifications 12.5 p.49; syringe diameters and rate limits 12.7 p.50.
+"""
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused
+from ..jobs import StateJob
+from ..verbs import Arg, Opt, Verb
+
+REF = ('NE-1000 user manual: syringe diameter 7.1 p.12, operating / purging / volume dispensed pp.13, paused / stalled p.14, '
+       'pumping programs 9.1-9.3 pp.18-23, syringe diameters and rate limits 12.7 p.50')
+DIRECTIONS = {'infuse': 'INF', 'withdraw': 'WDR', 'reverse': 'REV'}
+FUNCTIONS = {'rate': 'RAT', 'fill': 'FIL', 'increment': 'INC', 'decrement': 'DEC', 'stop': 'STP', 'jump': 'JMP',
+             'loop-start': 'LPS', 'loop': 'LOP', 'loop-end': 'LPE', 'pause': 'PAS', 'if': 'IF', 'event': 'EVN', 'event-square': 'EVS',
+             'event-reset': 'EVR', 'clear-dispensed': 'CLD', 'beep': 'BEP', 'out': 'OUT'}
+RATE_UNITS = {'ml/h': 'MH', 'ml/min': 'MM', 'ul/h': 'UH', 'ul/min': 'UM', 'µl/h': 'UH', 'µl/min': 'UM'}
+NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+
+class SyringePumpAdapter(ClassAdapter):
+    CLASS = 'liquid'
+    TITLE = 'liquid handling (syringe pump)'
+    ABOUT = ('A programmable syringe pump: set the syringe, rate, volume and direction, run / stop / purge, and the multi-phase '
+             'program; volumes dispensed are counted from the set diameter.')
+    STANDARDS = 'NE-1000 RS-232 basic command set (DIA, RAT, VOL, DIR, RUN, STP, PUR, PHN, FUN) as the contract models it'
+    UNIT_KINDS = ('volume', 'flow', 'length', 'duration')
+    PATH_GROUPS = (('run', 'stop'),)
+    ALWAYS = ('status',)
+    CODES = {
+        'DIAMETER_NOT_SET': ('DIAMETER_NOT_SET', 'no syringe diameter is set on {inst}.', 'set it first: `chemlab run {inst} syringe bd_10ml` '
+                             '(or a diameter such as 14.43mm).'),
+        'OUT_OF_RANGE': ('OUT_OF_RANGE', 'that rate is outside what {inst} can pump with this syringe diameter.',
+                         'see the range in `chemlab help {inst} rate`.'),
+        'ALARM_ACTIVE': ('ALARM', '{inst} shows an alarm (stall, program error or out of range).',
+                         'see `chemlab run {inst} status`; clear the cause (e.g. an occluded line), then `chemlab run {inst} stop`.'),
+        'PROGRAM_OPERATING': ('BUSY', '{inst} is pumping, so it does not take that setting now.', 'stop it first: `chemlab run {inst} stop`.'),
+        'ALREADY_RUNNING': ('BUSY', '{inst} is already pumping.', 'wait for the job, or `chemlab run {inst} stop`.'),
+        'NOT_APPLICABLE': ('NOT_APPLICABLE', 'the selected program phase of {inst} is not a rate phase, or the change is not possible while '
+                           'pumping.', 'select a rate phase (`chemlab run {inst} phase 1`) or stop pumping first.'),
+        'UNITS_WHILE_PUMPING': ('BUSY', '{inst} does not change the rate units while pumping.', 'give the rate in the units it shows, or stop first.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab.', 'ask the lab operator to set it up.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def syringe_table(self):
+        return self.param('syringe_inside_diameter_m') or {}
+
+    def area(self, d_m):
+        return math.pi * d_m * d_m / 4.0
+
+    def rate_range(self, d_m):
+        """(min, max) rate in m3/s for a diameter, from the plunger-speed range (manual 12.5 / 12.7)."""
+        lo, hi = float(self.param('min_plunger_speed_m_s')), float(self.param('max_plunger_speed_m_s'))
+        a = self.area(d_m)
+        return a * lo, a * hi
+
+    def running(self, values):
+        """Pumping or inside a running program (a pause phase, a trigger wait, purging); 'paused' (stopped once by the user) takes
+        settings again (manual 7.7 p.14: a change while paused cancels the pause and the program restarts at phase 1)."""
+        return self.val(values, 'run') not in (None, 'stopped', 'paused')
+
+    def val(self, values, role):
+        s = self.slot(role)
+        if s is None:
+            return None
+        return values.get(s) if isinstance(values, dict) else values.v(s)
+
+    def need_ready(self, ctx, diameter=True):
+        inst = self.instrument_id
+        ctx.check(bool(ctx.v(self.slot('power'))), 'POWER_OFF', '%s is switched off.' % inst, 'switch it on: `chemlab run %s power on`.' % inst,
+                  label='power on')
+        if self.slot('configured'):
+            ctx.check(bool(ctx.v(self.slot('configured'))), 'NOT_SET_UP', '%s is not set up in this lab.' % inst,
+                      'ask the lab operator to set it up.', label='set up by the lab')
+        alarm = ctx.v(self.slot('alarm'))
+        ctx.check(alarm is None, 'ALARM', '%s shows an alarm: %s.' % (inst, alarm),
+                  'clear the cause (a stall is often an occluded line or the end of the syringe), then `chemlab run %s stop` to '
+                  'reset it (manual 7.8 p.14).' % inst, label='no alarm')
+        if diameter:
+            d = ctx.v(self.slot('diameter'))
+            ctx.check(finite(d) and d > 0, 'DIAMETER_NOT_SET', 'no syringe diameter is set on %s.' % inst,
+                      'set it first: `chemlab run %s syringe bd_10ml` (a syringe type) or `syringe 14.43mm`.' % inst, label='diameter set')
+
+    def my_run(self, ctx):
+        """True when the current run is one this caller started through chemlab (the pump refuses changes to another user's run)."""
+        from ..jobs import latest
+        job = latest(ctx.core, ctx.caller, self.instrument_id)
+        return job is not None and job.description.endswith(' pumping') and job.state in ('running',)
+
+    def need_stopped(self, ctx, doing):
+        if not self.running(ctx):
+            ctx.checks.append('not pumping')
+            return
+        inst = self.instrument_id
+        fix = ('stop it first: `chemlab run %s stop`.' % inst if self.my_run(ctx) else
+               'it was started by another user (the pump refuses changes to their run): wait until it has ended '
+               '(`chemlab run %s status`, `chemlab wait 30`), then retry.' % inst)
+        ctx.fail(refused('BUSY', '%s is not stopped (%s), so it cannot %s now.' % (inst, ctx.v(self.slot('run')), doing), fix))
+
+    def explain_refusal(self, ctx, cap, args, response):
+        if (response.get('error') or {}).get('code') == 'ACCESS_DENIED':
+            return refused('NOT_YOURS', 'the run on %s was started by another user; the pump refuses to stop or change it.' % self.instrument_id,
+                           'wait until it has ended (`chemlab run %s status`, `chemlab wait 30`).' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    def ml(self, m3):
+        return units.fmt(m3, 'volume') if finite(m3) else 'n/a'
+
+    def flow(self, m3s):
+        if not finite(m3s):
+            return 'n/a'
+        if m3s and abs(m3s) < 1e-9 / 60:
+            return '%s µL/h' % ('%.4g' % (m3s * 1e9 * 3600))
+        return '%s mL/h' % ('%.4g' % (m3s * 1e6 * 3600)) if abs(m3s) < 1e-6 / 60 * 10 else units.fmt(m3s, 'flow')
+
+    def parse_rate(self, ctx, text, what='RATE'):
+        t = (text or '').strip().replace(' ', '')
+        m = re.fullmatch('(%s)(.*)' % NUM, t)
+        if not m:
+            ctx.fail(invalid('BAD_NUMBER', '%s %r is not a rate.' % (what, text), 'write it like 2mL/h or 50uL/min.'))
+        unit = m.group(2).lower().replace('μ', 'µ')
+        si = units.parse(t if unit else t + 'ml/h', 'flow', what=what)
+        return si, RATE_UNITS.get(unit or 'ml/h')
+
+    def check_rate(self, ctx, si, d=None):
+        d = d if d is not None else ctx.v(self.slot('diameter'))
+        if not (finite(d) and d > 0) or si == 0:
+            return
+        lo, hi = self.rate_range(d)
+        if si < lo * (1 - 1e-9) or si > hi * (1 + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'the rate %s is outside what %s pumps with a %.4g mm syringe (%s to %s).' % (
+                self.flow(si), self.instrument_id, d * 1e3, self.flow(lo), self.flow(hi)),
+                'give a rate in that range, or use a syringe of another size (manual 12.7 p.50).'))
+        ctx.checks.append('rate within %s .. %s' % (self.flow(lo), self.flow(hi)))
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        if not self.val(values, 'power'):
+            return ['power off'], {'power': False}
+        run, d, rate = self.val(values, 'run'), self.val(values, 'diameter'), self.val(values, 'rate')
+        disp, syr, alarm = self.val(values, 'dispensed') or {}, self.val(values, 'syringe') or {}, self.val(values, 'alarm')
+        prog = self.val(values, 'program') or {}
+        sel = prog.get('selected') if isinstance(prog, dict) else None
+        phases = prog.get('phases') if isinstance(prog, dict) else None
+        ph = phases[sel - 1] if isinstance(phases, list) and isinstance(sel, int) and 0 < sel <= len(phases) else None
+        lines = ['%s%s · phase %s · pumping %s %s' % (run, (' (ALARM %s)' % alarm) if alarm else '', self.val(values, 'phase'), self.flow(rate),
+                                                     self.val(values, 'direction') or ''),
+                 'syringe %s (%s) · diameter %s · infused %s · withdrawn %s' % (
+                     syr.get('type') or 'none loaded', syr.get('liquid_id') or '-', ('%.4g mm' % (d * 1e3)) if finite(d) and d else 'not set',
+                     self.ml(disp.get('infused_m3')), self.ml(disp.get('withdrawn_m3')))]
+        if isinstance(ph, dict):
+            lines.append('selected phase %s: %s rate %s volume %s %s' % (sel, ph.get('function'), self.flow(ph.get('rate_m3_s')),
+                                                                         self.ml(ph.get('volume_m3')), ph.get('direction')))
+        js = {'power': True, 'run_state': run, 'alarm': alarm, 'phase': self.val(values, 'phase'), 'rate_m3_s': rate,
+              'direction': self.val(values, 'direction'), 'diameter_m': d, 'syringe': syr, 'dispensed': disp, 'selected_phase': ph}
+        return lines, js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        wait = {'wait': Opt('wait until pumping has ended (lab time moves)', kind='flag'),
+                'max': Opt('longest wait with --wait (default 2h)', kind='duration', metavar='TIME')}
+        return {
+            'syringe': Verb('syringe', 'show the syringe, or set the inside diameter: a diameter (14.43mm), a syringe type (bd_10ml ...) '
+                            'or `loaded` (the type the operator loaded)', self.h_syringe,
+                            positionals=[Arg('DIAMETER|TYPE', '14.43mm (a bare number is mm), a type such as bd_10ml, or loaded', required=False)],
+                            preconditions=['power on', 'not pumping'], errors=['UNKNOWN_SYRINGE, OUT_OF_RANGE (usage)', 'BUSY, NO_SYRINGE (refused)'],
+                            example='chemlab run INST syringe bd_10ml', reference=REF,
+                            details='The pump computes volumes from this diameter; a wrong diameter gives wrong volumes (manual 7.1 p.12).'),
+            'rate': Verb('rate', 'set the pumping rate (2mL/h, 50uL/min ...; a bare number is mL/h)', self.h_rate,
+                         positionals=[Arg('RATE', 'rate with a unit')], preconditions=['power on', 'diameter set', 'rate within the range '
+                                                                                      'for the diameter'],
+                         errors=['OUT_OF_RANGE (usage)', 'DIAMETER_NOT_SET, ALARM, NOT_APPLICABLE (refused)'],
+                         example='chemlab run INST rate 2mL/h', reference=REF),
+            'volume': Verb('volume', 'set the volume to dispense (0 = until stopped), or `volume clear` for the dispensed counters',
+                           self.h_volume, positionals=[Arg('VOLUME', 'e.g. 0.5mL or 250uL (a bare number is mL), 0, or clear')],
+                           preconditions=['power on', 'diameter set', 'not pumping'], errors=['BUSY, DIAMETER_NOT_SET (refused)'],
+                           example='chemlab run INST volume 1mL', reference=REF),
+            'direction': Verb('direction', 'set the pumping direction', self.h_direction,
+                              positionals=[Arg('DIRECTION', 'infuse, withdraw or reverse', choices=list(DIRECTIONS))],
+                              preconditions=['power on', 'while pumping only in continuous mode (volume 0)'],
+                              errors=['NOT_APPLICABLE (refused)'], example='chemlab run INST direction infuse', reference=REF),
+            'run': Verb('run', 'start pumping (returns job-N; it ends when the volume is dispensed or the program stops)', self.h_run,
+                        options=dict(wait, phase=Opt('start at this program phase (default: phase 1)', metavar='N')), long_action=True,
+                        preconditions=['power on', 'diameter set', 'no alarm', 'not pumping'],
+                        errors=['DIAMETER_NOT_SET, BUSY, ALARM (refused)'], example='chemlab run INST run --wait', reference=REF),
+            'stop': Verb('stop', 'stop pumping (a running program pauses; a second stop resets it to phase 1)', self.h_stop,
+                         preconditions=['power on', 'your own run (the pump refuses another user\'s)'],
+                         errors=['NOT_RUNNING, NOT_YOURS (refused)'], example='chemlab run INST stop', reference=REF),
+            'purge': Verb('purge', 'purge at the top speed (on) or stop purging (off)', self.h_purge,
+                          positionals=[Arg('on|off', 'on or off', choices=['on', 'off'])],
+                          preconditions=['power on', 'diameter set', 'not pumping'], errors=['BUSY, DIAMETER_NOT_SET (refused)'],
+                          example='chemlab run INST purge on', reference=REF),
+            'phase': Verb('phase', 'show the pumping program, set phase N (FUNCTION KEY=VALUE ...), or `phase clear`', self.h_phase,
+                          positionals=[Arg('N', 'phase number 1-41, or clear', required=False),
+                                       Arg('FUNCTION', 'rate | fill | increment | decrement | stop | jump | loop-start | loop | loop-end | '
+                                                       'pause | beep | ...', required=False)],
+                          variadic=('KEY=VALUE', 'rate=2mL/h volume=0.5mL direction=infuse|withdraw param=N'),
+                          preconditions=['power on', 'not pumping', 'rates within range'], errors=['BAD_FUNCTION, BAD_SETTING (usage)',
+                                                                                                   'BUSY (refused)'],
+                          example='chemlab run INST phase 1 rate rate=2mL/h volume=0.5mL direction=infuse', reference=REF,
+                          details='Functions follow manual 9.3 (pp.20-23): rate (RAT) pumps at a rate for a volume, fill (FIL) withdraws '
+                                  'back, stop (STP) ends the program, pause (PAS) waits param seconds, loop-start / loop (LPS / LOP) repeat, '
+                                  'jump (JMP) goes to phase param.'),
+        }
+
+    def h_syringe(self, ctx, p):
+        m = self.vmap('syringe')
+        inst = self.instrument_id
+        cur, syr = ctx.v(self.slot('diameter')), ctx.v(self.slot('syringe')) or {}
+        table = self.syringe_table()
+        if not p.pos:
+            loaded = syr.get('type')
+            nominal = table.get(loaded) if loaded else None
+            text = 'syringe of %s: %s (%s) · diameter %s%s\n' % (
+                inst, loaded or 'none loaded', syr.get('liquid_id') or '-', ('set to %.4g mm' % (cur * 1e3)) if finite(cur) and cur else 'not set',
+                (' · %s has %.4g mm' % (loaded, nominal * 1e3)) if nominal else '')
+            if nominal and finite(cur) and cur and abs(cur - nominal) > 1e-7:
+                text += '  the set diameter differs from the loaded syringe: `chemlab run %s syringe loaded`\n' % inst
+            return {'text': text, 'json': {'syringe': syr, 'diameter_m': cur, 'nominal_diameter_m': nominal}}
+        arg = p.pos[0].strip()
+        key = arg.lower()
+        if key == 'loaded':
+            key = syr.get('type')
+            ctx.check(key is not None, 'NO_SYRINGE', 'no syringe is loaded on %s.' % inst,
+                      'the lab operator loads it; or give its diameter or type: `chemlab run %s syringe bd_10ml`.' % inst, label='syringe loaded')
+        if key in table:
+            d, how = float(table[key]), '%s (manual 12.7 p.50)' % key
+        elif re.fullmatch('(%s)(.*)' % NUM, key):
+            d = units.parse(key if re.search('[a-zµ]', key) else key + 'mm', 'length', what='DIAMETER')
+            how = 'given'
+        else:
+            close = [t for t in table if key.replace('-', '').replace(' ', '') in t.replace('_', '')][:6]
+            ctx.fail(invalid('UNKNOWN_SYRINGE', '%r is not a syringe type %s knows.' % (arg, inst),
+                             'types like %s (the full list: `chemlab describe %s` under syringe.load), or give the diameter, e.g. 14.43mm.'
+                             % (', '.join(close or sorted(table)[:6]), inst)))
+        lo, hi = self.arg_range(m['cap'], m.get('arg', 'diameter_m'))
+        if (lo is not None and d < lo) or (hi is not None and d > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', 'the diameter %.4g mm is outside %.4g..%.4g mm.' % (d * 1e3, lo * 1e3, hi * 1e3), 'check the value.'))
+        self.need_ready(ctx, diameter=False)
+        self.need_stopped(ctx, 'change the syringe diameter')
+        if finite(cur) and abs(cur - d) <= 1e-12:
+            return {'text': 'ok: the diameter of %s is already %.4g mm\n' % (inst, d * 1e3), 'json': {'diameter_m': d, 'changed': False}}
+        ctx.call(m['cap'], {m.get('arg', 'diameter_m'): units.sig(d)}, 'set the syringe diameter to %.4g mm (%s)' % (d * 1e3, how))
+        lo_r, hi_r = self.rate_range(d)
+        return {'text': 'ok: syringe diameter of %s set to %.4g mm (%s); rates %s to %s\n' % (inst, d * 1e3, how, self.flow(lo_r), self.flow(hi_r)),
+                'json': {'diameter_m': d, 'source': how, 'rate_min_m3_s': lo_r, 'rate_max_m3_s': hi_r, 'changed': True}}
+
+    def h_rate(self, ctx, p):
+        m = self.vmap('rate')
+        si, ru = self.parse_rate(ctx, p.raw['RATE'])
+        self.need_ready(ctx)
+        self.check_rate(ctx, si)
+        args = {m.get('arg', 'rate_m3_s'): units.sig(si)}
+        if ru and not self.running(ctx):
+            args[m.get('units_arg', 'units')] = ru
+        ctx.call(m['cap'], args, 'set the rate to %s' % self.flow(si))
+        return {'text': 'ok: rate of %s set to %s\n' % (self.instrument_id, self.flow(si)), 'json': {'rate_m3_s': si, 'units': args.get('units')}}
+
+    def h_volume(self, ctx, p):
+        inst = self.instrument_id
+        arg = p.raw['VOLUME'].strip().lower()
+        if arg == 'clear':
+            m = self.vmap('volume')
+            self.need_ready(ctx, diameter=False)
+            self.need_stopped(ctx, 'clear the dispensed volume')
+            ctx.call(m['clear_cap'], {m.get('clear_arg', 'direction'): 'BOTH'}, 'clear the dispensed volumes')
+            return {'text': 'ok: dispensed volumes of %s cleared\n' % inst, 'json': {'cleared': True}}
+        m = self.vmap('volume')
+        v = units.parse(arg if re.search('[a-zµ]', arg) else arg + 'ml', 'volume', what='VOLUME')
+        lo, hi = self.arg_range(m['cap'], m.get('arg', 'volume_m3'))
+        if hi is not None and v > hi:
+            ctx.fail(invalid('OUT_OF_RANGE', 'the volume %s is more than %s takes (%s).' % (self.ml(v), inst, self.ml(hi)), 'give a smaller volume.'))
+        self.need_ready(ctx)
+        self.need_stopped(ctx, 'change the volume')
+        ctx.call(m['cap'], {m.get('arg', 'volume_m3'): units.sig(v)}, 'set the volume to %s' % (self.ml(v) if v else '0 (until stopped)'))
+        return {'text': 'ok: volume of %s set to %s\n' % (inst, self.ml(v) if v else '0 (pumps until stopped)'), 'json': {'volume_m3': v}}
+
+    def h_direction(self, ctx, p):
+        m = self.vmap('direction')
+        want = DIRECTIONS[p.pos[0]]
+        self.need_ready(ctx, diameter=False)
+        if want != 'REV' and ctx.v(self.slot('direction')) == want and not self.running(ctx):
+            return {'text': 'ok: %s already pumps %s\n' % (self.instrument_id, p.pos[0]), 'json': {'direction': want, 'changed': False}}
+        ctx.call(m['cap'], {m.get('arg', 'direction'): want}, 'set the direction to %s' % p.pos[0])
+        return {'text': 'ok: direction of %s: %s\n' % (self.instrument_id, ctx.v(self.slot('direction'))), 'json': {'direction': ctx.v(self.slot('direction'))}}
+
+    def run_job(self, ctx, cap):
+        ad, inst = self, self.instrument_id
+
+        def state(c):
+            st, alarm = c.v(ad.slot('run')), c.v(ad.slot('alarm'))
+            disp = c.v(ad.slot('dispensed')) or {}
+            text = '%s; infused %s, withdrawn %s' % (st, ad.ml(disp.get('infused_m3')), ad.ml(disp.get('withdrawn_m3')))
+            if alarm:
+                return 'failed', text + '; ALARM %s' % alarm, {'state': st, 'alarm': alarm}
+            if st == 'stopped':
+                return 'succeeded', text, {'state': st}
+            if st == 'paused':                                      # stopped once by the user: this run is over
+                return 'stopped', text + ' (paused by stop; `run` resumes, a second stop resets)', {'state': st}
+            return 'running', text, {'state': st}
+
+        def stop(c):
+            sm = ad.vmap('stop')
+            c.call(sm['cap'], {}, 'stop pumping')
+            return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, self, ctx.req, '%s pumping' % inst, state, stop=stop, max_s=float(self.param('max_run_s', 7200.0)),
+                        poll_s=float(self.param('poll_s', 1.0)))
+
+    def h_run(self, ctx, p):
+        m = self.vmap('run')
+        inst = self.instrument_id
+        args = {}
+        if p.get('phase') is not None:
+            try:
+                n = int(p.get('phase'))
+            except ValueError:
+                n = 0
+            if not 1 <= n <= 41:
+                ctx.fail(invalid('BAD_PHASE', '--phase takes 1 to 41.', 'e.g. --phase 1.'))
+            args[m.get('phase_arg', 'phase')] = n
+        self.need_ready(ctx)
+        self.need_stopped(ctx, 'start again')                             # a paused pump resumes with run
+        ctx.call(m['cap'], args, 'start pumping', readback=lambda v: None if ctx.v(self.slot('run')) != 'stopped' or ctx.v(self.slot('alarm'))
+                 else None)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.run_job(ctx, m['cap'])
+        js = {'job': job.handle, 'run_state': ctx.v(self.slot('run')), 'rate_m3_s': ctx.v(self.slot('rate')), 'direction': ctx.v(self.slot('direction'))}
+        if p.get('wait'):
+            w = job.wait_reply(ctx.core, ctx.req, p.get('max') or float(self.param('max_run_s', 7200.0)))
+            ctx.refresh()
+            disp = ctx.v(self.slot('dispensed')) or {}
+            js.update({'status': w['json'].get('status'), 'waited_s': w['json'].get('waited_s'), 'dispensed': disp,
+                       'alarm': ctx.v(self.slot('alarm'))})
+            return {'text': 'pumping on %s: %s after %s (infused %s, withdrawn %s)%s\n' % (
+                inst, w['json'].get('status'), units.fmt_s(w['json'].get('waited_s') or 0), self.ml(disp.get('infused_m3')),
+                self.ml(disp.get('withdrawn_m3')), ('; ALARM %s' % ctx.v(self.slot('alarm'))) if ctx.v(self.slot('alarm')) else ''), 'json': js}
+        return {'text': 'started %s: %s pumping %s %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, inst, self.flow(js['rate_m3_s']), js['direction'], job.handle, job.handle, job.handle), 'json': js}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        inst = self.instrument_id
+        ctx.check(bool(ctx.v(self.slot('power'))), 'POWER_OFF', '%s is switched off.' % inst, 'switch it on: `chemlab run %s power on`.' % inst,
+                  label='power on')
+        ctx.check(ctx.v(self.slot('run')) not in (None, 'stopped') or ctx.v(self.slot('alarm')) is not None, 'NOT_RUNNING',
+                  '%s is not pumping.' % inst, 'nothing to stop.', label='pumping, paused or an alarm to reset')
+        ctx.call(m['cap'], {}, 'stop pumping')
+        disp = ctx.v(self.slot('dispensed')) or {}
+        return {'text': 'ok: %s %s (infused %s, withdrawn %s)\n' % (inst, ctx.v(self.slot('run')), self.ml(disp.get('infused_m3')),
+                                                                    self.ml(disp.get('withdrawn_m3'))),
+                'json': {'run_state': ctx.v(self.slot('run')), 'dispensed': disp}}
+
+    def h_purge(self, ctx, p):
+        m = self.vmap('purge')
+        on = p.pos[0] == 'on'
+        self.need_ready(ctx)
+        if on:
+            self.need_stopped(ctx, 'purge')
+        ctx.call(m['cap'], {m.get('arg', 'on'): on}, 'purge %s' % p.pos[0])
+        return {'text': 'ok: %s purge %s (%s)\n' % (self.instrument_id, p.pos[0], ctx.v(self.slot('run'))), 'json': {'purge': on, 'run_state': ctx.v(self.slot('run'))}}
+
+    def h_phase(self, ctx, p):
+        m = self.vmap('phase')
+        inst = self.instrument_id
+        if not p.pos:
+            prog = ctx.v(self.slot('program')) or {}
+            rows = []
+            for i, ph in enumerate(prog.get('phases') or []):
+                if ph:
+                    rows.append('  %2d %s rate %s volume %s %s%s' % (i + 1, ph.get('function'), self.flow(ph.get('rate_m3_s')), self.ml(ph.get('volume_m3')),
+                                                                  ph.get('direction'), (' param %s' % ph.get('parameter')) if ph.get('parameter') else ''))
+            return {'text': 'program of %s (phase %s selected):\n%s\n' % (inst, prog.get('selected'), '\n'.join(rows) or '  (empty)'),
+                    'json': {'program': prog}}
+        if p.pos[0].lower() == 'clear':
+            self.need_ready(ctx, diameter=False)
+            self.need_stopped(ctx, 'clear the program')
+            ctx.call(m['clear_cap'], {}, 'clear the program')
+            return {'text': 'ok: program of %s cleared\n' % inst, 'json': {'cleared': True}}
+        try:
+            n = int(p.pos[0])
+        except ValueError:
+            n = 0
+        if not 1 <= n <= 41:
+            ctx.fail(invalid('BAD_PHASE', 'phase takes a number 1 to 41 (or clear), not %r.' % p.pos[0], 'e.g. `phase 1 rate rate=2mL/h volume=1mL`.'))
+        args = None
+        if len(p.pos) > 1:
+            fn = FUNCTIONS.get(p.pos[1].lower(), p.pos[1].upper() if p.pos[1].upper() in FUNCTIONS.values() else None)
+            if fn is None:
+                ctx.fail(invalid('BAD_FUNCTION', '%r is not a program function.' % p.pos[1], 'functions: %s.' % ', '.join(FUNCTIONS)))
+            args = {'function': fn}
+            for item in p.extra:
+                k, eq, v = item.partition('=')
+                if not eq:
+                    ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'e.g. rate=2mL/h volume=0.5mL direction=infuse param=3.'))
+                k = k.lower()
+                if k == 'rate':
+                    si, ru = self.parse_rate(ctx, v, 'rate=')
+                    self.check_rate(ctx, si)
+                    args['rate_m3_s'] = units.sig(si)
+                    if ru:
+                        args['rate_units'] = ru
+                elif k == 'volume':
+                    args['volume_m3'] = units.sig(units.parse(v if re.search('[a-zµ]', v.lower()) else v + 'ml', 'volume', what='volume='))
+                elif k == 'direction':
+                    if v.lower() not in ('infuse', 'withdraw'):
+                        ctx.fail(invalid('BAD_SETTING', 'direction= takes infuse or withdraw.', 'e.g. direction=infuse.'))
+                    args['direction'] = DIRECTIONS[v.lower()]
+                elif k in ('param', 'parameter'):
+                    try:
+                        args['parameter'] = int(v)
+                    except ValueError:
+                        ctx.fail(invalid('BAD_SETTING', 'param= takes a whole number 0-99.', 'e.g. param=3.'))
+                elif k == 'tenths':
+                    args['tenths'] = v.lower() in ('1', 'true', 'yes', 'on')
+                else:
+                    ctx.fail(invalid('BAD_SETTING', 'phase has no setting %r.' % k, 'settings: rate=, volume=, direction=, param=, tenths=.'))
+        elif p.extra:
+            ctx.fail(invalid('BAD_SETTING', 'give the FUNCTION before its settings.', 'e.g. `phase 1 rate rate=2mL/h volume=1mL`.'))
+        self.need_ready(ctx, diameter=args is not None and 'rate_m3_s' in (args or {}))
+        self.need_stopped(ctx, 'change the program')
+        ctx.call(m['select_cap'], {m.get('select_arg', 'phase'): n}, 'select phase %d' % n)
+        if args:
+            ctx.call(m['cap'], args, 'set phase %d to %s' % (n, args['function']))
+        return {'text': 'ok: phase %d of %s%s\n' % (n, inst, (' set: %s' % short(args, 200)) if args else ' selected'), 'json': {'phase': n, 'function': args}}
+
+    _ = (ClassAdapter, refused)
diff --git a/chemlab/chemlab/compile/classes/thermal.py b/chemlab/chemlab/compile/classes/thermal.py
new file mode 100644
index 0000000000000000000000000000000000000000..f92a4ece464dbf2813a7685f6ababda71cdb422f
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/thermal.py
@@ -0,0 +1,365 @@
+"""Temperature-control class ("thermal"): circulators, hot plates, ovens, furnaces, incubators, climate chambers, freezers.
+
+Verbs: power, set-temp T [--wait], heat on|off, temp, wait-temp [--within] [--max] [--hold] [--job], stir RATE|off,
+safety-limit T, remote on|off, status.  Members and mappings: configs/adapters/thermal.json.
+
+Vendor-neutral models followed: SiLA 2 TemperatureController (ControlTemperature / CurrentTemperature / StopTemperatureControl),
+PyLabRobot TemperatureController (set_temperature / get_temperature / wait_for_temperature / deactivate), the NAMUR command set
+used by IKA (OUT_SP_1, IN_PV_1, START_1, STOP_1) and the JULABO remote commands (out_sp_00, in_pv_00, out_mode_05).
+
+Class checks before anything is sent: the set point within the member's contract range (converted from the unit the argument
+declares, K or °C); power on; the member's own requirements from its mapping (e.g. the JULABO takes set points from a computer
+only in remote mode); the set point not above the member's safety limit; wait-temp only while the member is heating / cooling.
+A refused native call is explained with the member's slots (current set point, limit, remote mode).
+"""
+from .. import units
+from ..base import ClassAdapter, finite
+from ..errors import invalid, refused
+from ..jobs import ConditionJob
+from ..verbs import Arg, Opt, Verb, save_to_opt
+
+REF = ('JULABO CORIO operating manual: set point, remote control (rOn, OUT/IN commands), over-temperature cut-off; '
+       'IKA RCT digital manual: temperature and speed setting, safety circuit, NAMUR commands; BINDER FD/VD/KBF manuals: '
+       'set points and safety controller class 3.1; Nabertherm B510 and Carbolite 3216 controller manuals: set point; '
+       'Eppendorf CellXpert C170i and CryoCube F570n manuals: set point')
+ON_OFF = ['on', 'off']
+
+
+class ThermalAdapter(ClassAdapter):
+    CLASS = 'thermal'
+    TITLE = 'temperature control'
+    ABOUT = ('Instruments whose main job is holding a temperature: set the set point in °C, start or stop heating, read the '
+             'temperature, wait until it is there (or get a job id), stir where the device stirs, set the safety limit.')
+    STANDARDS = ('SiLA 2 TemperatureController; PyLabRobot TemperatureController; NAMUR (IKA: OUT_SP_1, IN_PV_1, START_1, STOP_1); '
+                 'JULABO remote commands; DIN 12880 terms for ovens and incubators')
+    ALWAYS = ('status', 'temp', 'wait-temp')
+    UNIT_KINDS = ('temperature', 'temperature_delta', 'duration', 'rotation')
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'NO_MAINS': ('NO_MAINS', '{inst} has no mains power.', 'ask the lab operator to plug it in; then `chemlab run {inst} power on`.'),
+        'STANDBY': ('STANDBY', '{inst} is in standby.', 'switch it on: `chemlab run {inst} power on`.'),
+        'LOCKED': ('LOCKED', 'the keys of {inst} are locked.', 'unlock it first (see `chemlab describe {inst}`).'),
+        'PANEL_LOCKED': ('LOCKED', 'the panel of {inst} is locked.', 'unlock it first (see `chemlab describe {inst}`).'),
+        'REMOTE_DISABLED': ('REMOTE_OFF', '{inst} does not accept commands from the computer now (remote access is off).',
+                            'switch remote access on (`chemlab run {inst} remote on` if it has the verb, else see `chemlab describe {inst}`).'),
+        'HTD_RUNNING': ('BUSY', '{inst} is running its high-temperature disinfection.', 'wait until it has finished (`chemlab run {inst} status`).'),
+        'INVALID_INCREMENT': ('BAD_STEP', '{inst} takes set points in 0.1 K steps.', 'give the temperature with one decimal, e.g. 37.0C.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (no environment declared by the lab).', 'ask the lab operator.'),
+        'ERROR_ACTIVE': ('DEVICE_ERROR', '{inst} shows an error code.', 'read it (`chemlab run {inst} status`); switch off and on to clear it.'),
+        'SENSOR_FAULT': ('SENSOR_FAULT', 'the temperature sensor of {inst} reports a fault.', 'check the probe connection (`chemlab describe {inst}`).'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def t(self, values, role):
+        """A temperature role (temp, set, limit) in K, or None."""
+        return self.slot_si(values, self.slot(role))
+
+    def c(self, k):
+        return units.fmt(k, 'temperature') if finite(k) else 'n/a'
+
+    def tolerance_k(self):
+        return float(self.param('tolerance_k', 1.0))
+
+    def need_power(self, ctx):
+        s = self.slot('power')
+        if s:
+            ctx.check(bool(ctx.v(s)), 'POWER_OFF', '%s is switched off.' % self.instrument_id,
+                      'switch it on: `chemlab run %s power on`.' % self.instrument_id, label='power on')
+
+    def heating_active(self, values):
+        s = self.slot('heat')
+        if not s:
+            return None
+        v = values.v(s) if hasattr(values, 'v') else values.get(s)
+        return bool(v)
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'ABOVE_SAFETY_LIMIT' or (code in ('PRECONDITION_FAILED', 'INVALID_ARGUMENT') and self.over_limit(ctx, args, cap)):
+            lim = self.t(ctx, 'limit')
+            return refused('ABOVE_SAFETY_LIMIT', 'the set point is above the safety limit of %s (%s).' % (self.instrument_id, self.c(lim)),
+                           'set a lower temperature, or raise the limit first (`chemlab run %s safety-limit T`) if the sample and the '
+                           'vessel allow it.' % self.instrument_id)
+        if code == 'PRECONDITION_FAILED':
+            ctx.refresh()
+            p = self.slot('power')
+            if p and not ctx.v(p):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code),
+                               'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+            for verb in ('set-temp', 'heat'):
+                for r in (self.map.get('requires') or {}).get(verb, []):
+                    if ctx.v(r['slot']) != r.get('value', ctx.v(r['slot'])):
+                        return refused(r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=ctx.v(r['slot'])),
+                                       r['fix'].format(inst=self.instrument_id))
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    def over_limit(self, ctx, args, cap):
+        m = self.vmap('set-temp') or {}
+        lim = self.t(ctx, 'limit')
+        if cap != m.get('cap') or not finite(lim):
+            return False
+        v = units.from_declared(args.get(m['arg']), self.arg_unit(cap, m['arg']))
+        return finite(v) and v > lim - float(self.param('limit_margin_k', 0.0)) + 1e-9
+
+    # ------------------------------------------------------------------ summary
+    def summary(self, values):
+        p = self.slot('power')
+        on = (values.get(p) if isinstance(values, dict) else values.v(p)) if p else True
+        if p and not on:
+            return ['power off'], {'power': False}
+        tk, sk, lk = self.t(values, 'temp'), self.t(values, 'set'), self.t(values, 'limit')
+        heat = self.heating_active(values)
+        line = '%s (set point %s)' % (self.c(tk), self.c(sk))
+        more = []
+        if heat is not None:
+            more.append('%s %s' % (self.param('heat_word', 'heating'), 'on' if heat else 'off'))
+        if finite(lk):
+            more.append('safety limit %s' % self.c(lk))
+        stir = self.slot_si(values, self.slot('stir_speed'))
+        if self.slot('stir_on'):
+            son = values.get(self.slot('stir_on')) if isinstance(values, dict) else values.v(self.slot('stir_on'))
+            more.append('stirring %s' % (('%s' % units.fmt(stir, 'rotation')) if son and finite(stir) else 'off'))
+        rem = self.slot('remote')
+        if rem:
+            more.append('remote %s' % ('on' if (values.get(rem) if isinstance(values, dict) else values.v(rem)) else 'off'))
+        js = {'power': True, 'temperature_k': tk, 'temperature_c': None if not finite(tk) else tk - 273.15, 'set_point_k': sk,
+              'set_point_c': None if not finite(sk) else sk - 273.15, 'heating': heat, 'safety_limit_k': lk}
+        return [line] + (['; '.join(more)] if more else []), js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        temp = Arg('TEMP', 'set point, e.g. 80C, 353.15K or 176F (a bare number is °C)', kind='temperature')
+        return {
+            'power': Verb('power', 'switch the instrument on or off', self.h_power, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                          example='chemlab run INST power on', reference=REF),
+            'set-temp': Verb('set-temp', 'set the temperature set point', self.h_set_temp, positionals=[temp],
+                             options={'wait': Opt('then wait until the temperature is within the tolerance (a job is not needed)', kind='flag'),
+                                      'max': Opt('with --wait: the longest wait (default 1 h)', kind='duration', metavar='TIME')},
+                             preconditions=['set point within the instrument range (contract)', 'power on', 'the member\'s own mode (e.g. remote on)',
+                                            'not above the safety limit'],
+                             errors=['OUT_OF_RANGE (usage)', 'POWER_OFF, REMOTE_OFF, ABOVE_SAFETY_LIMIT (refused)'],
+                             example='chemlab run INST set-temp 80C', reference=REF),
+            'heat': Verb('heat', 'start or stop temperature control (heating / cooling / circulation)', self.h_heat,
+                         positionals=[Arg('on|off', 'on or off', choices=ON_OFF)], preconditions=['power on', 'the member\'s own mode'],
+                         errors=['POWER_OFF, REMOTE_OFF (refused)'], example='chemlab run INST heat on', reference=REF),
+            'temp': Verb('temp', 'the current temperature and the set point, in °C', self.h_temp, readonly=True,
+                         options={'save-to': save_to_opt()}, example='chemlab run INST temp'),
+            'wait-temp': Verb('wait-temp', 'wait until the temperature is at the set point (or --to T), moving lab time', self.h_wait,
+                              readonly=True, long_action=True,
+                              options={'within': Opt('tolerance (default: the member\'s, about 1 K)', kind='temperature_delta', metavar='DELTA'),
+                                       'max': Opt('longest wait (default 1 h)', kind='duration', metavar='TIME'),
+                                       'hold': Opt('stay within the tolerance this long (default 0)', kind='duration', metavar='TIME'),
+                                       'to': Opt('wait for this temperature instead of the set point', kind='temperature', metavar='TEMP'),
+                                       'job': Opt('return a job id at once instead of waiting (chemlab wait|status|cancel job-N)', kind='flag')},
+                              preconditions=['power on', 'heating / control on (where the instrument has a switch)'],
+                              errors=['HEATING_OFF (refused)', 'NOT_REACHED (refused: still outside the tolerance after --max)'],
+                              example='chemlab run INST wait-temp --within 0.5K --max 30min'),
+            'stir': Verb('stir', 'stir (or shake) at a speed, or stop', self.h_stir, positionals=[Arg('RATE|off', 'speed, e.g. 300rpm, or off')],
+                         preconditions=['power on', 'speed within the range'], errors=['OUT_OF_RANGE (usage)', 'POWER_OFF (refused)'],
+                         example='chemlab run INST stir 300rpm', reference=REF),
+            'safety-limit': Verb('safety-limit', 'set the over-temperature safety limit (cut-off)', self.h_limit, positionals=[temp],
+                                 preconditions=['within the range of the safety controller'], errors=['OUT_OF_RANGE (usage)'],
+                                 example='chemlab run INST safety-limit 120C', reference=REF),
+            'remote': Verb('remote', 'switch remote control (commands from the computer) on or off', self.h_remote,
+                           positionals=[Arg('on|off', 'on or off', choices=ON_OFF)], example='chemlab run INST remote on', reference=REF),
+        }
+
+    def h_power(self, ctx, p):
+        m = self.vmap('power')
+        want = p.pos[0] == 'on'
+        s = self.slot('power')
+        if s and bool(ctx.v(s)) == want:
+            return {'text': 'ok: %s is already %s\n' % (self.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': False}}
+        args = dict(m.get('args') or {})
+        args[m['arg']] = want
+        ctx.call(m['cap'], args, 'switch %s' % p.pos[0], readback=(lambda v: None if bool(ctx.v(s)) == want else 'power %s' % ctx.v(s)) if s else None)
+        return {'text': 'ok: %s switched %s\n' % (self.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': True}}
+
+    def check_range(self, ctx, cap, arg, k, what):
+        lo, hi = self.arg_range_si(cap, arg)
+        lo2, hi2 = self.param('min_k'), self.param('max_k')
+        lo = max(x for x in (lo, lo2) if x is not None) if (lo is not None or lo2 is not None) else None
+        hi = min(x for x in (hi, hi2) if x is not None) if (hi is not None or hi2 is not None) else None
+        if (lo is not None and k < lo - 1e-9) or (hi is not None and k > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of %s (%s to %s).' % (what, self.c(k), self.instrument_id, self.c(lo), self.c(hi)),
+                             'give a %s from %s to %s.' % (what, self.c(lo), self.c(hi))))
+        ctx.checks.append('%s within %s..%s' % (what, self.c(lo), self.c(hi)))
+
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        k = p.pos[0]
+        self.check_range(ctx, m['cap'], m['arg'], k, 'set point')
+        step = self.param('step_c')
+        if step:
+            n = (k - 273.15) / float(step)
+            if abs(n - round(n)) > 1e-6:
+                ctx.fail(invalid('BAD_STEP', '%s takes set points in %g °C steps, not %s.' % (self.instrument_id, step, p.raw['TEMP']),
+                                 'round it, e.g. %.1fC.' % (round(n) * float(step))))
+        self.need_power(ctx)
+        self.requirements(ctx, 'set-temp')
+        lim = self.t(ctx, 'limit')
+        if finite(lim) and self.param('limit_check', True):
+            margin = float(self.param('limit_margin_k', 0.0))
+            ctx.check(k <= lim - margin + 1e-9, 'ABOVE_SAFETY_LIMIT',
+                      'the set point %s is above the safety limit of %s (%s%s).' % (self.c(k), self.instrument_id, self.c(lim),
+                                                                                 ', minus %g K margin' % margin if margin else ''),
+                      'set a lower temperature, or raise the limit first (`chemlab run %s safety-limit T`) if the sample and the vessel '
+                      'allow it.' % self.instrument_id, label='below the safety limit')
+        before = self.t(ctx, 'set')
+        args = dict(m.get('args') or {})
+        args[m['arg']] = units.sig(self.arg_value(m['cap'], m['arg'], k))
+        set_spec = self.slot('set')
+        ctx.call(m['cap'], args, 'set the set point to %s' % self.c(k),
+                 readback=(lambda v: None if not finite(self.t(ctx, 'set')) or abs(self.t(ctx, 'set') - k) < 0.051
+                           else 'set point %s' % self.c(self.t(ctx, 'set'))) if set_spec else None)
+        notes = []
+        heat = self.heating_active(ctx)
+        if heat is False and self.supported('heat'):
+            notes.append('%s is off - start it with `chemlab run %s heat on`.' % (self.param('heat_word', 'heating'), self.instrument_id))
+        text = 'ok: set point %s (was %s); now %s\n' % (self.c(k), self.c(before), self.c(self.t(ctx, 'temp')))
+        js = {'set_point_k': k, 'set_point_c': k - 273.15, 'was_k': before, 'temperature_k': self.t(ctx, 'temp')}
+        if p.get('wait') and not ctx.dry_run:
+            r = self.wait_for(ctx, k, self.tolerance_k(), p.get('max') or 3600.0, 0.0)
+            text += r['text']
+            js.update(r['json'])
+        return {'text': text, 'json': js, 'notes': notes}
+
+    def h_heat(self, ctx, p):
+        m = self.vmap('heat')
+        want = p.pos[0] == 'on'
+        self.need_power(ctx)
+        self.requirements(ctx, 'heat')
+        if self.heating_active(ctx) == want:
+            return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, self.param('heat_word', 'heating'), p.pos[0]), 'json': {'heat': want, 'changed': False}}
+        if m.get('on_cap'):
+            cap, args = (m['on_cap'] if want else m['off_cap']), dict(m.get('args') or {})
+        else:
+            cap, args = m['cap'], dict(m.get('args') or {})
+            args[m['arg']] = want
+        hs = self.slot('heat')
+        ctx.call(cap, args, '%s %s' % (self.param('heat_word', 'heating'), p.pos[0]),
+                 readback=(lambda v: None if bool(ctx.v(hs)) == want else '%s %s' % (hs, ctx.v(hs))) if hs else None)
+        text = 'ok: %s %s %s (set point %s, now %s)\n' % (self.instrument_id, self.param('heat_word', 'heating'), p.pos[0],
+                                                         self.c(self.t(ctx, 'set')), self.c(self.t(ctx, 'temp')))
+        return {'text': text, 'json': {'heat': want, 'changed': True, 'set_point_k': self.t(ctx, 'set')}}
+
+    def h_temp(self, ctx, p):
+        tk, sk = self.t(ctx, 'temp'), self.t(ctx, 'set')
+        lines, js = self.summary(ctx)
+        return {'text': '%s: %s\n' % (self.instrument_id, '; '.join(lines)), 'json': js}
+
+    def wait_for(self, ctx, target, within, max_s, hold_s):
+        """Advance lab time until |T - target| <= within (held for hold_s).  Returns the reply part, or refuses NOT_REACHED."""
+        state = {'since': None, 'done': False}
+
+        def inside(view):
+            tk = self.t(ctx, 'temp')
+            ok = finite(tk) and abs(tk - target) <= within + 1e-9
+            if not ok:
+                state['since'] = None
+                return False
+            if state['since'] is None:
+                state['since'] = ctx.now()
+            state['done'] = ctx.now() - state['since'] >= hold_s - 1e-9
+            return state['done']
+        t0 = ctx.now()
+        if not inside(ctx.view):
+            ctx.advance(max_s, until=inside, step='wait until %s ± %s' % (self.c(target), units.fmt(within, 'temperature_delta')),
+                        poll_s=float(self.param('poll_s', 5.0)))
+        tk = self.t(ctx, 'temp')
+        if not state['done']:
+            ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; the target %s ± %s%s was not reached.' % (
+                self.instrument_id, self.c(tk), units.fmt_s(ctx.now() - t0), self.c(target), units.fmt(within, 'temperature_delta'),
+                ' (held for %s)' % units.fmt_s(hold_s) if hold_s else ''),
+                'wait longer (`chemlab run %s wait-temp --max 2h`), or check that it is heating (`chemlab run %s status`) and its '
+                'door / lid is closed.' % (self.instrument_id, self.instrument_id), detail={'temperature_k': tk, 'target_k': target}))
+        return {'text': 'reached %s (target %s ± %s) after %s of waiting (t = %.0f s)\n' % (
+            self.c(tk), self.c(target), units.fmt(within, 'temperature_delta'), units.fmt_s(ctx.now() - t0), ctx.now()),
+            'json': {'reached': True, 'temperature_k': tk, 'target_k': target, 'waited_s': ctx.now() - t0}}
+
+    def h_wait(self, ctx, p):
+        self.need_power(ctx)
+        target = p.get('to') if p.get('to') is not None else self.t(ctx, 'set')
+        if not finite(target):
+            ctx.fail(refused('NO_SET_POINT', '%s has no set point to wait for.' % self.instrument_id, 'set one (`set-temp`) or give --to T.'))
+        within = p.get('within') if p.get('within') is not None else self.tolerance_k()
+        if self.heating_active(ctx) is False and self.supported('heat'):
+            tk = self.t(ctx, 'temp')
+            if not (finite(tk) and abs(tk - target) <= within):
+                ctx.fail(refused('HEATING_OFF', '%s %s is off, so it will not reach %s (now %s).' % (
+                    self.instrument_id, self.param('heat_word', 'heating'), self.c(target), self.c(tk)),
+                    'start it: `chemlab run %s heat on`, then wait.' % self.instrument_id))
+        max_s = p.get('max') or 3600.0
+        hold = p.get('hold') or 0.0
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s}, 'step': 'wait until %s ± %s' % (self.c(target), units.fmt(within, 'temperature_delta'))})
+            return {'text': '', 'json': {}}
+        if p.get('job'):
+            ad = self
+
+            def test(c):
+                tk = ad.t(c, 'temp')
+                ok = finite(tk) and abs(tk - target) <= within + 1e-9
+                return ok, '%s now, target %s ± %s' % (ad.c(tk), ad.c(target), units.fmt(within, 'temperature_delta'))
+            job = ConditionJob(ctx.core, self, ctx.req, 'reach %s on %s' % (self.c(target), self.instrument_id), test, max_s=max_s,
+                               poll_s=float(self.param('poll_s', 5.0)))
+            return {'text': 'started %s: wait until %s ± %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, self.c(target), units.fmt(within, 'temperature_delta'), job.handle, job.handle, job.handle),
+                'json': {'job': job.handle, 'target_k': target}}
+        return self.wait_for(ctx, target, within, max_s, hold)
+
+    def h_stir(self, ctx, p):
+        m = self.vmap('stir')
+        text = p.raw['RATE|off'].strip().lower()
+        self.need_power(ctx)
+        if text not in ('off', '0', 'stop'):
+            self.requirements(ctx, 'stir')
+        if text in ('off', '0', 'stop'):
+            if m.get('stop_cap'):
+                ctx.call(m['stop_cap'], {}, 'stop %s' % self.param('stir_word', 'stirring'))
+            else:
+                ctx.call(m['on_cap'], {m['on_arg']: False}, 'stop %s' % self.param('stir_word', 'stirring'))
+            return {'text': 'ok: %s %s off\n' % (self.instrument_id, self.param('stir_word', 'stirring')), 'json': {'stir': False}}
+        w = units.parse(text, 'rotation', what='speed')
+        lo, hi = self.arg_range_si(m['speed_cap'], m['speed_arg'])
+        if (lo is not None and w < lo - 1e-9) or (hi is not None and w > hi + 1e-9):
+            ctx.fail(invalid('OUT_OF_RANGE', 'speed %s is outside %s..%s on %s.' % (units.fmt(w, 'rotation'), units.fmt(lo, 'rotation'),
+                                                                                     units.fmt(hi, 'rotation'), self.instrument_id),
+                             'give a speed from %s to %s.' % (units.fmt(lo, 'rotation'), units.fmt(hi, 'rotation'))))
+        ctx.call(m['speed_cap'], {m['speed_arg']: self.arg_value(m['speed_cap'], m['speed_arg'], w)}, 'set the speed to %s' % units.fmt(w, 'rotation'))
+        on_slot = self.slot('stir_on')
+        if m.get('start_cap'):
+            r = ctx.call(m['start_cap'], {}, 'start %s' % self.param('stir_word', 'stirring'))
+            _ = r
+        elif not (on_slot and ctx.v(on_slot)):
+            ctx.call(m['on_cap'], {m['on_arg']: True}, 'start %s' % self.param('stir_word', 'stirring'))
+        return {'text': 'ok: %s %s at %s\n' % (self.instrument_id, self.param('stir_word', 'stirring'), units.fmt(w, 'rotation')),
+                'json': {'stir': True, 'speed_rad_s': w, 'speed_rpm': w * 60 / (2 * 3.141592653589793)}}
+
+    def h_limit(self, ctx, p):
+        m = self.vmap('safety-limit')
+        k = p.pos[0]
+        self.check_range(ctx, m['cap'], m['arg'], k, 'safety limit')
+        self.need_power(ctx)
+        self.requirements(ctx, 'safety-limit')
+        sk = self.t(ctx, 'set')
+        if finite(sk):
+            ctx.check(k >= sk - 1e-9, 'BELOW_SET_POINT', 'a safety limit of %s is below the set point %s of %s; it would cut the heating off.' % (
+                self.c(k), self.c(sk), self.instrument_id), 'lower the set point first, or choose a limit above it.', label='limit above the set point')
+        args = dict(m.get('args') or {})
+        for a, role in (m.get('keep') or {}).items():                 # arguments the capability needs that stay as they are
+            args[a] = ctx.v(role)
+        args[m['arg']] = units.sig(self.arg_value(m['cap'], m['arg'], k))
+        before = self.t(ctx, 'limit')
+        ctx.call(m['cap'], args, 'set the safety limit to %s' % self.c(k))
+        return {'text': 'ok: safety limit of %s %s (was %s); set point %s\n' % (self.instrument_id, self.c(k), self.c(before), self.c(self.t(ctx, 'set'))),
+                'json': {'safety_limit_k': k, 'was_k': before}}
+
+    def h_remote(self, ctx, p):
+        m = self.vmap('remote')
+        want = p.pos[0] == 'on'
+        s = self.slot('remote')
+        if s and bool(ctx.v(s)) == want:
+            return {'text': 'ok: remote control of %s is already %s\n' % (self.instrument_id, p.pos[0]), 'json': {'remote': want, 'changed': False}}
+        ctx.call(m['cap'], {m['arg']: want}, 'remote control %s' % p.pos[0])
+        return {'text': 'ok: remote control of %s %s\n' % (self.instrument_id, p.pos[0]), 'json': {'remote': want, 'changed': True}}
diff --git a/chemlab/chemlab/compile/classes/thermal_analysis.py b/chemlab/chemlab/compile/classes/thermal_analysis.py
new file mode 100644
index 0000000000000000000000000000000000000000..a9dd01bbdecc8bbd5373358564b57938464fcaac
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/thermal_analysis.py
@@ -0,0 +1,1498 @@
+"""Thermal analysis and calorimetry class ("thermal_analysis"): DSC, TGA, DMA, TMA, laser flash, transient plane source,
+isothermal microcalorimeter, adiabatic (ARC) calorimeter, oxygen bomb calorimeter.  Operator action: run a temperature
+programme on a specimen and record a thermal signal.
+
+Verbs: load [WHERE] [--preload F], unload [WHERE], open|close [PART] (the shared verb plus the wait for the lid / furnace /
+cover to finish moving), method KEY=VALUE ..., set-temp T|off [--rate R], temp, wait-temp, gas [GAS] on|off|FLOW [--balance FLOW]
+[--channel CH], start (job-N), stop, result [--save-to F], analyze [MODEL] KEY=VALUE ... [--save-to F], zero, calibrate
+KEY=VALUE ..., status.  power, estop, ack and wait
+come from the shared layer (configs/adapters/shared.json).  Members and mappings: configs/adapters/thermal_analysis.json.
+
+Vendor-neutral terms: ISO 11357 / ASTM E967, E968 (DSC: segments, purge, start temperature), ASTM E1131 / ISO 11358 (TGA: tare,
+purge and balance gas), ASTM E1640 / ISO 6721 (DMA: preload, frequency, strain amplitude), ASTM E831 (TMA: probe force, CTE),
+ASTM E1461 (flash diffusivity: pulse, detector, Parker), ISO 22007-2 (transient plane source: heating power, measuring time),
+ASTM E1981 (ARC heat-wait-search), ISO 1928 / ASTM D5865 (bomb calorimetry: vessel, C value, gross calorific value).  The TA
+Instruments TRIOS REST API is not public, so the verbs follow the standards' vocabulary (manual manifests: page references only).
+
+Method keys of the class (each member maps the ones it has; a native argument name passes through, parsed into the unit the
+argument declares; settings not given come from the member's defaults - its own state, or the contract's documented example
+method - and the reply lists them):
+
+    start=25C                  start / equilibration temperature       ramp=300C@10K/min[:5min]  one programme segment
+    hold=5min                  hold at the end of the ramp before       iso=10min                 an isothermal segment
+    gas=N2                     purge gas of the segments that follow    force=0.05N               probe force (TMA segments)
+    step=30C / steps=30C..150C/10K   DMA temperature blocks             freq=1Hz strain=0.01% control=strain|force
+    interval=1s  tolerance=0.5K  timeout=2h  rate=10K/min  temp=50C  time=40s  power=0.5W  energy=0.1J  ...
+    (C 6000: name= mass=1g kind=measurement|calibration vessel=NAME aid=NAME[:MASS] mode=isoperibol_25)
+
+The tester machinery (TATester) is shared with the electrical class (classes/electrical.py).
+"""
+import copy
+import json
+import math
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import CompileError, invalid, refused, unexpected, unsupported
+from ..jobs import RUNNING, OperationJob
+from ..verbs import Arg, Opt, Verb, save_to_opt, target_opt
+from ...contract import validate
+from ...generic import coerce
+
+ON_OFF = ['on', 'off']
+RUN_PHASES = ('running', 'measuring', 'equilibrating', 'baseline', 'pulse', 'recording', 'heat', 'wait', 'search', 'exotherm', 'iso')
+_NUM = r'[+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?'
+
+# display of the framework kinds this class shows its own way (the units themselves are framework units, units.KINDS)
+EXTRA_SHOW = {'field_rate': (1e-3, 'mT/s'), 'force_rate': (1.0, 'N/s'), 'resistance': (1.0, 'ohm'),
+              'sheet_resistance': (1.0, 'ohm/sq'), 'moment': (1e-3, 'emu'), 'heat_capacity': (1.0, 'J/K'), 'number': (1.0, '')}
+TRUE, FALSE = ('true', 'yes', 'on', '1', 'y'), ('false', 'no', 'off', '0', 'n')
+
+
+# ------------------------------------------------------------------ quantities and schemas
+def parse_q(text, kind, what='value'):
+    """Agent text -> SI (units.parse; field_rate, force_rate, resistance, sheet_resistance, moment, heat_capacity and number are
+    framework kinds; an unknown kind is a plain number)."""
+    return units.parse(text, kind if kind in units.KINDS else 'number', what=what)
+
+
+def fmt_q(v, kind, decimals=None):
+    if v is None or isinstance(v, bool) or not isinstance(v, (int, float)) or not math.isfinite(v):
+        return 'n/a' if v is None else str(v)
+    if kind in EXTRA_SHOW:
+        f, u = EXTRA_SHOW[kind]
+        return ('%.4g %s' % (v / f, u)).strip()
+    if kind in units.KINDS:
+        return units.fmt(v, kind, decimals)
+    return '%.4g' % v
+
+
+def kind_example(kind):
+    return units.example(kind if kind in units.KINDS else 'number')
+
+
+def nonnull(schema):
+    """The non-null branch of a schema (anyOf) and whether null is allowed."""
+    schema = schema or {}
+    if 'anyOf' in schema:
+        br = [b for b in schema['anyOf'] if isinstance(b, dict)]
+        return next((b for b in br if b.get('type') != 'null'), {}), any(b.get('type') == 'null' for b in br)
+    return schema, schema.get('type') == 'null'
+
+
+def types_of(schema):
+    t = (schema or {}).get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+def _declared_kind(schema):
+    u = units.declared(schema)
+    return units.unit_kind(u) if u else None
+
+
+def friendly_range(schema, kind):
+    """'from 93.15 to 998.15 K' in agent units."""
+    lo, hi = schema.get('minimum'), schema.get('maximum')
+    u = units.declared(schema)
+
+    def f(x):
+        if x is None:
+            return None
+        if kind in EXTRA_SHOW:
+            return fmt_q(x, kind)
+        if kind in units.KINDS and u and units.unit_kind(u) == kind:
+            return fmt_q(units.from_declared(x, u), kind)
+        if kind in units.KINDS and kind == 'temperature_delta' and u in ('K', '°C'):
+            return fmt_q(x, kind)
+        return '%g%s' % (x, (' ' + u) if u else '')
+    a, b = f(lo), f(hi)
+    if a is not None and b is not None:
+        return '%s to %s' % (a, b)
+    return ('at least %s' % a) if a is not None else ('at most %s' % b) if b is not None else 'any value'
+
+
+def to_native(text, schema, kind=None, what='value'):
+    """Agent text -> the JSON value the argument takes, in the unit it declares; enum, type and range are checked here (usage
+    errors before anything is sent).  ``kind``: the quantity the agent types (class keys); None = a native argument name (a
+    bare number is in the declared unit; a number with a unit is converted)."""
+    s, nullable = nonnull(schema)
+    t = (text if isinstance(text, str) else json.dumps(text)).strip()
+    if nullable and t.lower() in ('none', 'null'):
+        return None
+    typ = types_of(s)
+    if 'boolean' in typ and not ({'number', 'integer'} & typ):
+        if t.lower() in TRUE:
+            return True
+        if t.lower() in FALSE:
+            return False
+        raise invalid('BAD_VALUE', '%s takes true or false, not %r.' % (what, t), 'write %s=true or %s=false.' % (what, what))
+    if typ <= {'string'} and typ:
+        enum = s.get('enum')
+        if enum:
+            for e in enum:
+                if str(e).lower() == t.lower():
+                    return e
+            raise invalid('BAD_CHOICE', '%s %r is not one of: %s.' % (what, t, ', '.join(map(str, enum))), 'use one of: %s.' % ', '.join(map(str, enum)))
+        return t
+    if not ({'number', 'integer'} & typ):
+        return coerce(t, s, what)
+    u = units.declared(s)
+    bare = re.fullmatch(_NUM, t) is not None
+    if kind in EXTRA_SHOW:                                              # class kinds in SI = the unit their contracts declare
+        v = parse_q(t, kind, what)
+        if u and units.unit_kind(u) not in (None, kind):
+            raise unexpected('UNIT_MISMATCH', '%s declares %s, not a %s.' % (what, u, kind.replace('_', ' ')), 'report this; nothing was sent.')
+        if u and units.unit_kind(u) == kind:
+            v = units.to_declared(v, u)
+    elif kind:
+        if u and units.unit_kind(u) in (kind, 'temperature' if kind == 'temperature_delta' else None):
+            v = units.parse_for(t, s, kind, what=what)
+        else:
+            v = parse_q(t, kind, what)
+    elif bare:
+        v = float(t)
+    elif u and units.unit_kind(u):
+        v = units.parse_for(t, s, None, what=what)
+    else:
+        m = re.fullmatch('(%s)(.*)' % _NUM, t.replace(' ', ''))
+        if not m or (m.group(2) and units.norm_unit(m.group(2)) != u):
+            raise invalid('BAD_NUMBER', '%s %r is not a number%s.' % (what, t, ' in %s' % u if u else ''),
+                          'write a number%s.' % (' in %s' % u if u else ''))
+        v = float(m.group(1))
+    if 'integer' in typ and 'number' not in typ:
+        if abs(v - round(v)) > 1e-9:
+            raise invalid('NOT_AN_INTEGER', '%s must be a whole number, not %s.' % (what, t), 'give a whole number.')
+        v = int(round(v))
+    enum = s.get('enum')
+    if enum:
+        hit = [e for e in enum if isinstance(e, (int, float)) and abs(e - v) <= 1e-9 * max(1.0, abs(e))]
+        if not hit:
+            shown = ', '.join(fmt_q(units.from_declared(e, u), kind) if kind in units.KINDS and u else '%g' % e for e in enum)
+            raise invalid('BAD_CHOICE', '%s %s is not one of the settings the instrument has.' % (what, t), 'use one of: %s.' % shown)
+        v = hit[0]
+    lo, hi = s.get('minimum'), s.get('maximum')
+    if (lo is not None and v < lo - 1e-12 * max(1.0, abs(lo))) or (hi is not None and v > hi + 1e-12 * max(1.0, abs(hi))):
+        raise invalid('OUT_OF_RANGE', '%s %s is outside the range of the instrument (%s).' % (what, t, friendly_range(s, kind or _declared_kind(s))),
+                      'give a value from %s.' % friendly_range(s, kind or _declared_kind(s)))
+    return v
+
+
+def _get(obj, path):
+    cur = obj
+    for part in path.split('.'):
+        if isinstance(cur, dict):
+            cur = cur.get(part)
+        elif isinstance(cur, list) and re.fullmatch(r'-?\d+', part):
+            i = int(part)
+            cur = cur[i] if -len(cur) <= i < len(cur) else None
+        else:
+            return None
+    return cur
+
+
+def _num_list(rows, key):
+    return [r.get(key) for r in rows if isinstance(r, dict) and finite(r.get(key))]
+
+
+class TATester(ClassAdapter):
+    """The tester machinery of the thermal_analysis and electrical classes: KEY=VALUE settings with class keys, programmes and
+    defaults; start / stop / result with jobs; set-temp / temp / wait-temp; short mechanical waits; the class view from slot roles."""
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    ROLE_VIEW = ()                     # (role, label, kind) rows of the class view; kind: a quantity kind, 'onoff', 'yesno', 'open', 'text'
+    KEY_HELP = {}                      # class key -> help (help INST method)
+    CODES = {}
+
+    # ------------------------------------------------------------------ contract helpers
+    def example(self, cap):
+        return copy.deepcopy((self.lab.contract['capabilities'].get(cap) or {}).get('example_arguments') or {})
+
+    def props(self, cap):
+        return ((self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {}).get('properties') or {}
+
+    def required(self, cap):
+        return list(((self.lab.contract['capabilities'].get(cap) or {}).get('input_schema') or {}).get('required') or [])
+
+    def item_schema(self, cap, arg):
+        s, _ = nonnull(self.props(cap).get(arg) or {})
+        it = s.get('items') or {}
+        return it, (it.get('properties') or {})
+
+    # ------------------------------------------------------------------ member requirements (with comparisons)
+    def need(self, ctx, verb):
+        """"requires": {verb: [{"slot", "value" | "not" | "truthy" | "falsy" | "min" | "max" | "in", "code", "message", "fix",
+        "label"}]} - checked before anything is sent; message / fix may use {inst} and {value}."""
+        for r in (self.map.get('requires') or {}).get(verb, []):
+            got = ctx.v(r['slot'])
+            if r.get('key') and isinstance(got, dict):
+                got = got.get(r['key'])
+            if 'value' in r:
+                ok = got == r['value']
+            elif 'not' in r:
+                ok = got not in r['not']
+            elif 'in' in r:
+                ok = got in r['in']
+            elif 'in_slot' in r:
+                ok = got in (ctx.v(r['in_slot']) or [])
+            elif r.get('truthy'):
+                ok = bool(got)
+            elif r.get('falsy'):
+                ok = not got
+            else:
+                ok = finite(got) and ('min' not in r or got >= r['min']) and ('max' not in r or got <= r['max'])
+            shown = ('%.4g' % got) if isinstance(got, float) else got
+            ctx.check(ok, r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown),
+                      r['fix'].format(inst=self.instrument_id, value=shown), label=r.get('label', r['slot']))
+
+    def role(self, values, role):
+        spec = self.slot(role)
+        if spec is None:
+            return None
+        if isinstance(spec, dict):
+            spec = spec.get('slot')
+        sid, _, key = spec.partition('#')
+        v = values.v(sid) if hasattr(values, 'v') else values.get(sid)
+        if key and isinstance(v, dict):
+            v = v.get(key)
+        return v
+
+    def role_si(self, values, role):
+        spec = self.slot(role)
+        return self.slot_si(values, spec) if spec else None
+
+    def targets_for(self, ctx, p, verb):
+        """--zone / --channel / --cell / --head of this verb (a target applies to the verbs in its "verbs" list, default all)."""
+        out = {}
+        for k, t in (self.map.get('targets') or {}).items():
+            if t.get('verbs') and verb not in t['verbs']:
+                continue
+            v = p.get(k)
+            if v is None:
+                if t.get('required'):
+                    ctx.fail(invalid('MISSING_' + k.upper(), '%s needs --%s on %s.' % (verb, k, self.instrument_id),
+                                     'give --%s %s.' % (k, '|'.join(map(str, (t.get('values') or {}))) or k.upper())))
+                continue
+            vals = t.get('values')
+            if vals is not None and str(v) not in vals:
+                ctx.fail(invalid('UNKNOWN_' + k.upper(), '%s has no %s %r.' % (self.instrument_id, k, v),
+                                 '%ss of %s: %s.' % (k, self.instrument_id, ', '.join(map(str, vals)))))
+            out[t['arg']] = vals[str(v)] if vals is not None else v
+        return out
+
+    def tgt_opts(self, verb):
+        return {k: target_opt(k, sorted((t.get('values') or {}).keys()) or None) for k, t in (self.map.get('targets') or {}).items()
+                if not t.get('verbs') or verb in t['verbs']}
+
+    def running(self, values):
+        if self.slot('busy'):
+            return bool(self.role(values, 'busy'))
+        ph = self.role(values, 'phase')
+        if isinstance(ph, bool):
+            return ph
+        return ph in RUN_PHASES or ph in RUNNING
+
+    def settle(self, ctx, test, what, max_s=300.0, poll_s=1.0):
+        """Let lab time pass until ``test(ctx)`` holds (the framework's wait_until; moving_done is the framework's too)."""
+        return self.wait_until(ctx, test, what, max_s=max_s, poll_s=poll_s)
+
+    # ------------------------------------------------------------------ settings (method, calibrate, contact check)
+    def settings_help(self, spec):
+        keys = sorted(set((spec or {}).get('keys') or {}))
+        return keys
+
+    def build_calls(self, ctx, spec, items, verb):
+        """KEY=VALUE items -> [(cap, args, defaults_used)] for the calls of a settings spec (one call or "calls": [...])."""
+        specs = spec.get('calls') or [spec]
+        parsed = [self._pairs(ctx, items, verb)]
+        out = []
+        claimed = set()
+        for sp in specs:
+            mine = self._claim(sp)
+            claimed |= mine
+        unknown = [k for k, _ in parsed[0] if k not in claimed and not any(k in self.props(sp['cap']) and sp.get('passthrough', True) for sp in specs)]
+        if unknown:
+            allk = sorted(claimed | {a for sp in specs if sp.get('passthrough', True) for a in self.props(sp['cap'])})
+            ctx.fail(invalid('UNKNOWN_SETTING', '%s has no %s setting %r.' % (self.instrument_id, verb, unknown[0]),
+                             'settings: %s (see `chemlab help %s %s`).' % (', '.join(allk), self.instrument_id, verb)))
+        for sp in specs:
+            mine = self._claim(sp) | (set(self.props(sp['cap'])) if sp.get('passthrough', True) else set())
+            its = [(k, v) for k, v in parsed[0] if k in mine]
+            if not its and not sp.get('always') and len(specs) > 1:
+                continue
+            out.append(self._one_call(ctx, sp, its, verb))
+        if not out:
+            ctx.fail(invalid('MISSING_SETTING', '%s needs at least one KEY=VALUE.' % verb, 'see `chemlab help %s %s`.' % (self.instrument_id, verb)))
+        return out
+
+    @staticmethod
+    def _claim(sp):
+        keys = set(sp.get('keys') or {})
+        pg = sp.get('program') or {}
+        for k in ('key', 'range_key', 'iso', 'hold_key'):
+            if pg.get(k):
+                keys.add(pg[k])
+        keys |= set(pg.get('sticky') or {})
+        return keys
+
+    def _pairs(self, ctx, items, verb):
+        out = []
+        for item in items:
+            k, eq, v = item.partition('=')
+            if not eq or not k:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write %s KEY=VALUE ... (see `chemlab help %s %s`).' % (verb, self.instrument_id, verb)))
+            out.append((k.strip(), v.strip()))
+        return out
+
+    def _one_call(self, ctx, sp, items, verb):
+        cap = sp['cap']
+        props = self.props(cap)
+        keys = sp.get('keys') or {}
+        pg = sp.get('program') or {}
+        args, given, defaults = {}, set(), []
+        segs, sticky_now, trailing = [], {}, {}
+        isch, iprops = self.item_schema(cap, pg['arg']) if pg else ({}, {})
+
+        def field(name):
+            return (pg.get('fields') or {}).get(name) or {}
+
+        def item_val(fspec, text, label):
+            return to_native(text, iprops.get(fspec['field']) or {}, fspec.get('kind'), label)
+
+        def new_seg(seg):
+            for f, val in sticky_now.items():
+                seg.setdefault(f, val)
+            segs.append(seg)
+            trailing.clear()
+
+        for k, v in items:
+            if pg and k == pg.get('key'):
+                if pg.get('style') == 'ramp':
+                    m = re.fullmatch(r'([^@]+)@([^:]+)(?::(.+))?', v.replace(' ', ''))
+                    if not m:
+                        ctx.fail(invalid('BAD_SETTING', '%s=%s is not TARGET@RATE[:HOLD].' % (k, v), 'write e.g. %s=300C@10K/min:5min.' % k))
+                    seg = {field('target')['field']: item_val(field('target'), m.group(1), 'target'),
+                           field('rate')['field']: item_val(field('rate'), m.group(2), 'rate')}
+                    if field('hold'):
+                        seg[field('hold')['field']] = item_val(field('hold'), m.group(3), 'hold') if m.group(3) else 0.0
+                    new_seg(seg)
+                else:
+                    new_seg({field('target')['field']: item_val(field('target'), v, k)})
+            elif pg and k == pg.get('range_key'):
+                m = re.fullmatch(r'([^.]+)\.\.([^/]+)/(.+)', v.replace(' ', ''))
+                if not m:
+                    ctx.fail(invalid('BAD_SETTING', '%s=%s is not FROM..TO/STEP.' % (k, v), 'write e.g. %s=30C..150C/10K.' % k))
+                a, b = parse_q(m.group(1), 'temperature', 'from'), parse_q(m.group(2), 'temperature', 'to')
+                st = abs(parse_q(m.group(3), 'temperature_delta', 'step'))
+                if st <= 0:
+                    ctx.fail(invalid('BAD_SETTING', 'the step of %s must be above 0.' % k, 'write e.g. %s=30C..150C/10K.' % k))
+                n = int(math.floor(abs(b - a) / st + 1e-9)) + 1
+                if n > 100:
+                    ctx.fail(invalid('TOO_MANY_STEPS', '%s=%s gives %d steps (at most 100).' % (k, v, n), 'use a larger step.'))
+                for i in range(n):
+                    tk = a + math.copysign(i * st, b - a)
+                    new_seg({field('target')['field']: to_native('%.6fK' % tk, iprops.get(field('target')['field']) or {}, 'temperature', 'step')})
+            elif pg and k == pg.get('iso'):
+                hold = item_val(field('hold'), v, 'hold')
+                prev = segs[-1] if segs else None
+                tgt = prev[field('target')['field']] if prev else args.get(pg.get('start_arg'))
+                if tgt is None:
+                    ctx.fail(invalid('BAD_SETTING', '%s= needs a temperature before it (start= or a ramp).' % k, 'give start=T first.'))
+                rate = prev.get(field('rate')['field']) if prev else self._item_default(ctx, cap, pg, field('rate')['field'])
+                new_seg({field('target')['field']: tgt, field('rate')['field']: rate, field('hold')['field']: hold})
+            elif pg and k == pg.get('hold_key'):
+                if not segs:
+                    ctx.fail(invalid('BAD_SETTING', '%s= follows a %s= segment.' % (k, pg.get('key')), 'write %s=TARGET@RATE %s=TIME.' % (pg.get('key'), k)))
+                segs[-1][field('hold')['field']] = item_val(field('hold'), v, 'hold')
+            elif pg and k in (pg.get('sticky') or {}):
+                fs = pg['sticky'][k]
+                val = item_val(fs, v, k)
+                sticky_now[fs['field']] = val
+                trailing[fs['field']] = val
+            elif k in keys and v.lower() in ('default', 'auto') and not (keys[k].get('list') or keys[k].get('record') or keys[k].get('loop')) \
+                    and keys[k]['arg'] in (sp.get('defaults') or {}):
+                continue                                                    # KEY=default / KEY=auto: the member's default applies
+            elif k in keys:
+                ks = keys[k]
+                arg = ks['arg']
+                schema = props.get(arg) or {}
+                if ks.get('list') or ks.get('record'):
+                    vals = args.setdefault(arg, [])
+                    for part in ([v] if ks.get('record') else [x for x in re.split(r'[,;]', v) if x.strip()]):
+                        vals.extend(self._list_value(ctx, cap, arg, ks, part.strip(), k))
+                elif ks.get('loop'):
+                    args[arg] = self._loop(ctx, cap, arg, ks, v, k)
+                else:
+                    if arg in given:
+                        ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give it once.'))
+                    val = to_native(v, schema, ks.get('kind'), k)
+                    if ks.get('scale'):
+                        val = val * ks['scale']
+                    args[arg] = val
+                    for a2, v2 in (ks.get('also') or {}).items():
+                        args[a2] = v2
+                given.add(arg)
+            elif k in props and sp.get('passthrough', True):
+                if k in given:
+                    ctx.fail(invalid('REPEATED_SETTING', '%s is given twice.' % k, 'give it once.'))
+                args[k] = to_native(v, props[k], None, k)
+                given.add(k)
+        if pg and segs:
+            for f, val in trailing.items():
+                for seg in segs:
+                    seg.setdefault(f, val)
+            req = list(isch.get('required') or [])
+            for seg in segs:
+                for f in req:
+                    if f not in seg:
+                        seg[f] = self._item_default(ctx, cap, pg, f)
+            if pg['arg'] in given:
+                ctx.fail(invalid('REPEATED_SETTING', '%s is given twice (as %s= and natively).' % (pg['arg'], pg.get('key')), 'give it once.'))
+            args[pg['arg']] = segs
+            given.add(pg['arg'])
+        # defaults for required arguments the agent did not give
+        dflt = sp.get('defaults') or {}
+        need = sp.get('need') or []
+        for k in need:
+            arg = (keys.get(k) or {}).get('arg') or (pg['arg'] if pg and k == pg.get('key') else k)
+            if arg not in args:
+                hint = keys.get(k, {}).get('kind')
+                ctx.fail(invalid('MISSING_SETTING', ('%s %s needs %s= on %s.' % (verb, sp.get('what', ''), k, self.instrument_id)).replace('  ', ' '),
+                                 'give it, e.g. %s=%s (see `chemlab help %s %s`).' % (k, kind_example(hint) if hint else '...', self.instrument_id, verb)))
+        for arg in self.required(cap) + [a for a in dflt if a not in self.required(cap)]:
+            if arg in args:
+                continue
+            d = dflt.get(arg)
+            if d is None and arg not in dflt:
+                if arg in self.required(cap):
+                    key = next((k for k, ks in keys.items() if ks.get('arg') == arg), arg)
+                    ctx.fail(invalid('MISSING_SETTING', '%s needs %s= on %s.' % (verb, key, self.instrument_id),
+                                     'give it (see `chemlab help %s %s`).' % (self.instrument_id, verb)))
+                continue
+            val, why = self._default(ctx, cap, arg, d, args, pg)
+            args[arg] = val
+            defaults.append('%s=%s (%s)' % (arg, short(val, 40), why))
+        problems = validate((self.lab.contract['capabilities'][cap].get('input_schema') or {}), args, cap)
+        if problems:
+            ctx.fail(invalid('INVALID_SETTINGS', 'the %s settings do not fit %s: %s.' % (verb, cap, '; '.join(problems[:4])),
+                             'check the values (see `chemlab help %s %s`).' % (self.instrument_id, verb)))
+        return cap, args, defaults
+
+    def _list_value(self, ctx, cap, arg, ks, text, key):
+        s, _ = nonnull(self.props(cap).get(arg) or {})
+        it = s.get('items') or {}
+        if ks.get('record'):
+            names = ks['record']
+            parts = [p.strip() for p in text.split(ks.get('sep', ':'))]
+            if len(parts) > len(names):
+                ctx.fail(invalid('BAD_SETTING', '%s=%s has too many parts.' % (key, text), 'write %s=%s.' % (key, ks.get('example', ks.get('sep', ':').join(n[0] for n in names)))))
+            rec = {}
+            ip = it.get('properties') or {}
+            for (name, kind), part in zip(names, parts + [None] * (len(names) - len(parts))):
+                if part is None or part == '':
+                    sch, nullable = nonnull(ip.get(name) or {})
+                    if not nullable:
+                        ctx.fail(invalid('BAD_SETTING', '%s=%s misses %s.' % (key, text, name), 'write %s=%s.' % (key, ks.get('example', '...'))))
+                    rec[name] = None
+                else:
+                    rec[name] = to_native(part, ip.get(name) or {}, kind, '%s %s' % (key, name))
+            return [rec]
+        m = re.fullmatch(r'([^.]+)\.\.([^/]+)/(\d+)', text.replace(' ', '')) if ks.get('sweep') else None
+        if m:
+            a, b, n = parse_q(m.group(1), ks['kind'], key), parse_q(m.group(2), ks['kind'], key), int(m.group(3))
+            if n < 2 or n > 1000:
+                ctx.fail(invalid('BAD_SETTING', '%s sweep needs 2..1000 points.' % key, 'write e.g. %s=10Hz..100kHz/9.' % key))
+            if ks['sweep'] == 'log':
+                if a <= 0 or b <= 0:
+                    ctx.fail(invalid('BAD_SETTING', 'a log sweep needs values above 0.', 'write e.g. %s=10Hz..100kHz/9.' % key))
+                vals = [a * (b / a) ** (i / (n - 1)) for i in range(n)]
+            else:
+                vals = [a + (b - a) * i / (n - 1) for i in range(n)]
+            return [self._si_item(ctx, it, x, ks['kind'], key) for x in vals]
+        return [to_native(text, it, ks.get('kind'), key)]
+
+    def _si_item(self, ctx, schema, si, kind, key):
+        """An SI value (of ``kind``) -> the item's declared unit, range-checked."""
+        u = units.declared(schema)
+        val = units.to_declared(si, u) if (u and kind in units.KINDS) else si
+        lo, hi = schema.get('minimum'), schema.get('maximum')
+        if (lo is not None and val < lo * (1 - 1e-12)) or (hi is not None and val > hi * (1 + 1e-12)):
+            ctx.fail(invalid('OUT_OF_RANGE', '%s %s is outside the range of the instrument (%s).' % (key, fmt_q(si, kind), friendly_range(schema, kind)),
+                             'give values from %s.' % friendly_range(schema, kind)))
+        return val
+
+    def _loop(self, ctx, cap, arg, ks, text, key):
+        """loop=MAX/STEP -> MAX .. -MAX .. MAX in STEP increments (a hysteresis loop of field points)."""
+        m = re.fullmatch(r'([^/]+)/(.+)', text.replace(' ', ''))
+        if not m:
+            ctx.fail(invalid('BAD_SETTING', '%s=%s is not MAX/STEP.' % (key, text), 'write e.g. %s=0.5T/0.1T.' % key))
+        mx, st = abs(parse_q(m.group(1), ks['kind'], key)), abs(parse_q(m.group(2), ks['kind'], key))
+        if st <= 0 or mx <= 0 or mx / st > 200:
+            ctx.fail(invalid('BAD_SETTING', '%s=%s gives no usable loop (step above 0, at most 200 steps per branch).' % (key, text), 'write e.g. %s=0.5T/0.1T.' % key))
+        n = int(round(mx / st))
+        down = [mx - i * st for i in range(2 * n + 1)]
+        pts = down + [x for x in reversed(down[:-1])]
+        s, _ = nonnull(self.props(cap).get(arg) or {})
+        it = s.get('items') or {}
+        return [self._si_item(ctx, it, round(x, 12), ks['kind'], key) for x in pts]
+
+    def _item_default(self, ctx, cap, pg, f):
+        d = (pg.get('item_defaults') or {}).get(f, (pg.get('item_defaults') or {}).get('*'))
+        if d == 'example':
+            ex = self.example(cap).get(pg['arg']) or [{}]
+            if f in ex[0]:
+                return ex[0][f]
+        elif isinstance(d, dict) and d.get('slot'):
+            v = ctx.v(d['slot'])
+            if v is not None:
+                return v
+        elif d is not None:
+            return d
+        sticky = next((k for k, s in (pg.get('sticky') or {}).items() if s['field'] == f), None)
+        ctx.fail(invalid('MISSING_SETTING', 'the %s segments need %s.' % (self.instrument_id, f),
+                         'give %s=... before the segments (see `chemlab help %s method`).' % (sticky or f, self.instrument_id)))
+
+    def _default(self, ctx, cap, arg, d, args, pg):
+        if d == 'example':
+            ex = self.example(cap)
+            if arg in ex:
+                return ex[arg], 'the contract\'s example'
+        if isinstance(d, dict) and d.get('slot'):
+            v = ctx.v(d['slot'])
+            if d.get('only_key'):
+                keys = list(v or {}) if isinstance(v, dict) else []
+                if len(keys) == 1:
+                    return keys[0], 'the only entry of %s' % d['slot']
+                key = next((k for k, ks in (self.vmap(ctx.verb.name if ctx.verb else '') or {}).get('keys', {}).items() if ks.get('arg') == arg), arg)
+                ctx.fail(invalid('MISSING_SETTING', '%s has %s entries in %s; say which one.' % (self.instrument_id, len(keys) or 'no', d['slot']),
+                                 ('give %s=NAME (one of: %s).' % (key, ', '.join(keys))) if keys else 'register one first (see `chemlab describe %s`).' % self.instrument_id))
+            if v is not None or d.get('null_ok'):
+                return v, 'kept from %s' % d['slot']
+        if d == 'auto_timeout' and pg:
+            return self._auto_timeout(cap, pg, args), 'programme time x 1.5 + 30 min'
+        if isinstance(d, dict) and 'value' in d:
+            return d['value'], d.get('why', 'class default')
+        if d not in ('example', 'auto_timeout') and not isinstance(d, dict):
+            return d, 'class default'
+        ctx.fail(invalid('MISSING_SETTING', '%s needs %s on %s (no default).' % (cap, arg, self.instrument_id), 'give %s=VALUE.' % arg))
+
+    def _auto_timeout(self, cap, pg, args):
+        f = pg.get('fields') or {}
+        t, tk = 0.0, args.get(pg.get('start_arg'))
+        for seg in args.get(pg['arg']) or []:
+            target = seg.get(f.get('target', {}).get('field'))
+            rate = seg.get(f.get('rate', {}).get('field')) if f.get('rate') else None
+            if finite(tk) and finite(target) and finite(rate) and rate > 0:
+                t += abs(target - tk) / rate
+            t += seg.get(f.get('hold', {}).get('field'), 0.0) or 0.0
+            tk = target
+        sch, _ = nonnull(self.props(cap).get(pg.get('timeout_arg', 'timeout_s')) or {})
+        val = t * 1.5 + 1800.0
+        if sch.get('maximum') is not None:
+            val = min(val, sch['maximum'])
+        return round(val, 1)
+
+    def run_settings(self, ctx, p, verb, spec=None, step_word=None):
+        """Build and send the calls of a settings verb; returns (calls made [(cap, args, defaults, response)], text)."""
+        m = spec or self.vmap(verb)
+        self.need(ctx, verb)
+        calls = self.build_calls(ctx, m, p.extra, verb)
+        tg = self.targets_for(ctx, p, verb)
+        done = []
+        for cap, args, defaults in calls:
+            for a, v in tg.items():
+                if a in self.props(cap):
+                    args[a] = v
+            r = ctx.call(cap, args, '%s (%s)' % (step_word or 'set the %s' % verb, cap))
+            done.append((cap, args, defaults, r))
+        return done
+
+    # ------------------------------------------------------------------ the class view
+    def summary(self, values):
+        lines, js = [], {}
+        pw = self.role(values, 'power')
+        if self.slot('power') and not pw:
+            return ['power off'], {'power': False}
+        bits = []
+        relabel = self.param('labels') or {}
+        for role, label, kind in self.ROLE_VIEW:
+            if not self.slot(role):
+                continue
+            label = relabel.get(role, label)
+            if kind in units.KINDS:
+                v = self.role(values, role) if kind in EXTRA_SHOW else self.role_si(values, role)
+                js[role] = v
+                if v is not None:
+                    bits.append('%s %s' % (label, fmt_q(v, kind)))
+            else:
+                v = self.role(values, role)
+                js[role] = v
+                if v is None:
+                    continue
+                if role == 'phase' and isinstance(v, bool):
+                    v = 'running' if v else 'idle'
+                elif isinstance(v, bool) and kind == 'text':
+                    v = 'yes' if v else 'no'
+                if kind == 'onoff':
+                    bits.append('%s %s' % (label, 'on' if v else 'off'))
+                elif kind == 'yesno':
+                    bits.append('%s %s' % (label, 'yes' if v else 'no'))
+                elif kind == 'open':
+                    bits.append('%s %s' % (label, 'open' if v else 'closed'))
+                elif kind == 'present':
+                    bits.append('%s %s' % (label, 'loaded' if v else 'none'))
+                elif isinstance(v, float):
+                    bits.append('%s %.6g' % (label, v))
+                else:
+                    bits.append('%s %s' % (label, short(v, 40).strip('"')))
+        line = ''
+        for b in bits:
+            if len(line) + len(b) > 100:
+                lines.append(line)
+                line = ''
+            line = (line + '; ' + b) if line else b
+        if line:
+            lines.append(line)
+        return lines or ['(no state to show)'], js
+
+    # ------------------------------------------------------------------ refusals
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        mc = (self.map.get('codes') or {}).get('%s:%s' % (cap, code)) or (self.map.get('codes') or {}).get(code)
+        if mc and mc.get('show'):
+            ctx.refresh()
+            fill = {'inst': self.instrument_id, 'cap': cap, 'code': code}
+            now = ', '.join('%s = %s' % (x, short(ctx.v(x), 60)) for x in mc['show'])
+            return CompileError(mc.get('kind', 'refused'), mc.get('code', code), mc['message'].format(**fill) + ' Now: %s.' % now,
+                                (mc.get('fix') or '').format(**fill) or None)
+        if code == 'HOT_CELL':
+            safe = (self.example('plant.configure') or {}).get('safe_access_temperature_k')
+            limit = fmt_q(safe, 'temperature') if finite(safe) else 'the safe access temperature'
+            ctl = ('switch the control off (`chemlab run %s set-temp off`), then ' % self.instrument_id) if self.role(ctx, 'control') else ''
+            return refused('HOT_CELL', 'the cell of %s is still hot (%s); it opens and transfers only below %s.' % (
+                self.instrument_id, fmt_q(self.role_si(ctx, 'temp'), 'temperature'), limit),
+                '%slet it cool: `chemlab run %s wait-temp --to %s --within 2K --max 1h`.' % (
+                    ctl, self.instrument_id, ('%.0fC' % (safe - 273.15 - 4)) if finite(safe) else '35C'))
+        if code in ('PRECONDITION_FAILED', 'NOT_READY'):
+            ctx.refresh()
+            verb = ctx.verb.name if ctx.verb else None
+            for v in (verb, '*'):
+                for r in (self.map.get('diagnose') or {}).get(v, []):
+                    got = ctx.v(r['slot'])
+                    bad = ((got != r['value']) if 'value' in r else (not got) if r.get('truthy') else bool(got) if r.get('falsy') else
+                           (finite(got) and (('max' in r and got > r['max']) or ('min' in r and got < r['min']))))
+                    if bad:
+                        shown = ('%.4g' % got) if isinstance(got, float) else got
+                        return refused(r.get('code', 'NOT_READY'), r['message'].format(inst=self.instrument_id, value=shown) + ' (it answered %s)' % code,
+                                       r['fix'].format(inst=self.instrument_id, value=shown))
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+    # ------------------------------------------------------------------ run set
+    def _measurement_id(self, ctx, m, for_result=False):
+        """The C 6000 style record id: the running one, else the caller's latest record (created for start)."""
+        rid = ctx.v(m['current_slot']) if m.get('current_slot') else None
+        if rid and for_result:
+            return rid
+        rows = ctx.v(m['list_slot']) or []
+        want = m.get('status') if not for_result else None
+        cand = [r for r in rows if isinstance(r, dict) and (want is None or r.get('status') == want)]
+        if not cand:
+            ctx.fail(refused('NO_RECORD', '%s has no %s record%s.' % (self.instrument_id, 'measurement' if not for_result else 'finished',
+                                                                       ' waiting to start' if not for_result else ''),
+                             ('create one first: `chemlab run %s method name=... mass=1g`.' if not for_result else
+                              'start one first (`chemlab run %s start`).') % self.instrument_id))
+        return cand[-1].get(m['id_field'])
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        if self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is already running (%s).' % (self.instrument_id, self.role(ctx, 'phase')),
+                             'wait for it (`chemlab run %s wait`) or stop it (`chemlab run %s stop`).' % (self.instrument_id, self.instrument_id)))
+        self.need(ctx, 'start')
+        args = dict(m.get('args') or {})
+        if m.get('id_arg'):
+            args[m['id_arg']] = self._measurement_id(ctx, m)
+        args.update({a: v for a, v in self.targets_for(ctx, p, 'start').items() if a in self.props(m['cap'])})
+        r = ctx.call(m['cap'], args, 'start (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        notes = list((self.map.get('notes') or {}).get('start-after', []))
+        if r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, m['cap']), m['cap'], r['operation_id'], max_s=m.get('max_s'),
+                         poll_s=float(self.param('job_poll_s', 10.0)))
+            text = 'started %s: %s run on %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+                job.handle, m['cap'], self.instrument_id, job.handle, job.handle, job.handle)
+            return {'text': text, 'json': {'job': job.handle, 'kind': job.kind, 'operation_id': r['operation_id']}, 'notes': notes}
+        return {'text': 'ok: %s started (%s)\n' % (self.instrument_id, r.get('status')), 'json': {'status': r.get('status'), 'result': r.get('result')}, 'notes': notes}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        if self.slot('phase') and not self.running(ctx):
+            ctx.fail(refused('NOT_RUNNING', '%s is not running (%s).' % (self.instrument_id, self.role(ctx, 'phase')), 'nothing to stop.'))
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped (%s)\n' % (self.instrument_id, self.role(ctx, 'phase')), 'json': {'phase': self.role(ctx, 'phase')}}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        args = dict(m.get('args') or {})
+        if m.get('id_arg'):
+            args[m['id_arg']] = self._measurement_id(ctx, m, for_result=True)
+        r = ctx.call(m['cap'], args, 'read the result (%s)' % m['cap'], query=True)
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        res = r.get('result') or {}
+        lines = ['%s result (%s):' % (self.instrument_id, m['cap'])]
+        rows = res.get(m.get('rows', 'rows')) if isinstance(res, dict) else None
+        head = []
+        for k in ('phase', 'status', 'kind', 'elapsed_s', 'error_code', 'error'):
+            if isinstance(res, dict) and res.get(k) is not None:
+                head.append('%s %s' % (k.replace('_s', '').replace('_', ' '), fmt_q(res[k], 'duration') if k == 'elapsed_s' else res[k]))
+        if isinstance(rows, list):
+            head.append('%d rows' % len(rows))
+        lines.append('  ' + ', '.join(head))
+        for path, (label, kind) in (m.get('show') or {}).items():
+            v = _get(res, path)
+            if v is not None:
+                lines.append('  %-22s %s' % (label, fmt_q(units.from_declared(v, m.get('units', {}).get(path)) if m.get('units', {}).get(path) else v, kind) if kind else v))
+        for col, (label, kind) in (m.get('columns') or {}).items():
+            vals = _num_list(rows or [], col)
+            if vals:
+                f = (lambda x: fmt_q(x, kind)) if kind else (lambda x: '%.6g' % x)
+                lines.append('  %-22s first %s, last %s (min %s, max %s)' % (label, f(vals[0]), f(vals[-1]), f(min(vals)), f(max(vals))))
+        per = m.get('per_item')
+        if per and isinstance(_get(res, per['path']), list):
+            items = _get(res, per['path'])
+            nmax = int(per.get('max', 12))
+            for i, it in enumerate(items[:nmax]):
+                bits = []
+                for path, (label, kind) in per['fields'].items():
+                    v = _get(it, path)
+                    if v is not None:
+                        bits.append('%s %s' % (label, fmt_q(v, kind) if kind else ('%.6g' % v if isinstance(v, float) else v)))
+                lines.append('  %s %d: %s' % (per.get('label', 'item'), i + 1, ', '.join(bits)))
+            if len(items) > nmax:
+                lines.append('  ... %d more (see --json or --save-to)' % (len(items) - nmax))
+        if not isinstance(rows, list) and not m.get('show'):
+            lines.append('  ' + short(res, 400))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'result': res}}
+
+    # ------------------------------------------------------------------ temperature
+    def h_set_temp(self, ctx, p):
+        m = self.vmap('set-temp')
+        text = p.raw['TEMP|off'].strip().lower()
+        if text in ('off', 'stop'):
+            if not m.get('off_cap'):
+                ctx.fail(unsupported('NO_OFF', '%s has no separate switch-off of the temperature control.' % self.instrument_id,
+                                     'set a temperature instead.'))
+            self.need(ctx, 'set-temp-off')
+            ctx.call(m['off_cap'], {}, 'switch the temperature control off')
+            return {'text': 'ok: temperature control of %s off\n' % self.instrument_id, 'json': {'control': False}}
+        schema = self.props(m['cap']).get(m['arg']) or {}
+        val = to_native(p.raw['TEMP|off'], schema, 'temperature', 'temperature')
+        args = {m['arg']: val}
+        if m.get('rate_arg'):
+            rs = self.props(m['cap']).get(m['rate_arg']) or {}
+            if p.raw.get('rate'):
+                args[m['rate_arg']] = to_native(p.raw['rate'], rs, 'heating_rate', '--rate')
+            else:
+                d = self.param('default_rate', 'example')
+                args[m['rate_arg']] = self.example(m['cap']).get(m['rate_arg']) if d == 'example' else d
+                ctx.notes.append('rate not given: %s (%s)' % (fmt_q(units.from_declared(args[m['rate_arg']], units.declared(rs)), 'heating_rate'),
+                                                             'the contract\'s example' if d == 'example' else 'class default'))
+        elif p.raw.get('rate'):
+            ctx.fail(unsupported('NO_RATE', '%s takes no ramp rate for its set point.' % self.instrument_id, 'leave out --rate.'))
+        self.need(ctx, 'set-temp')
+        if self.running(ctx) and not self.param('set_temp_while_running'):
+            ctx.fail(refused('BUSY', '%s is running a measurement; its temperature follows the method now.' % self.instrument_id,
+                             'wait for the run or stop it (`chemlab run %s stop`).' % self.instrument_id))
+        k = units.from_declared(val, units.declared(schema))
+        ctx.call(m['cap'], args, 'set the temperature to %s' % fmt_q(k, 'temperature'))
+        out = {'set_point_k': k}
+        text = 'ok: %s set point %s; now %s\n' % (self.instrument_id, fmt_q(k, 'temperature'), fmt_q(self.role_si(ctx, 'temp'), 'temperature'))
+        if p.raw.get('gradient') is not None:
+            g = m.get('gradient') or {}
+            if not g:
+                ctx.fail(unsupported('NO_GRADIENT', '%s has no temperature gradient setting.' % self.instrument_id, 'leave out --gradient.'))
+            gv = to_native(p.raw['gradient'], self.props(g['cap']).get(g['arg']) or {}, 'temperature_delta', '--gradient')
+            ctx.call(g['cap'], {g['arg']: gv}, 'set the gradient to %s' % fmt_q(gv, 'temperature_delta'))
+            out['gradient_k'] = gv
+            text += 'ok: gradient %s\n' % fmt_q(gv, 'temperature_delta')
+        return {'text': text, 'json': out}
+
+    def h_temp(self, ctx, p):
+        lines, js = self.summary(ctx)
+        return {'text': '%s: %s\n' % (self.instrument_id, '; '.join(lines)), 'json': js}
+
+    def h_wait_temp(self, ctx, p):
+        target = p.get('to') if p.get('to') is not None else self.role_si(ctx, 'set')
+        if not finite(target):
+            ctx.fail(refused('NO_SET_POINT', '%s has no set point to wait for.' % self.instrument_id, 'set one (`set-temp T`) or give --to T.'))
+        if self.slot('control') and not self.role(ctx, 'control'):
+            tk = self.role_si(ctx, 'temp')
+            cooling = p.get('to') is not None and finite(tk) and target < tk          # with the control off it only cools down
+            if not cooling and not (finite(tk) and abs(tk - target) <= (p.get('within') or self.param('tolerance_k', 0.5))):
+                ctx.fail(refused('CONTROL_OFF', 'the temperature control of %s is off, so it will not reach %s (now %s).' % (
+                    self.instrument_id, fmt_q(target, 'temperature'), fmt_q(tk, 'temperature')), 'set a temperature first: `chemlab run %s set-temp T`.' % self.instrument_id))
+        within = p.get('within') if p.get('within') is not None else float(self.param('tolerance_k', 0.5))
+        max_s = p.get('max') or 3600.0
+        if ctx.dry_run:
+            ctx.plan.append({'capability': None, 'arguments': {'seconds': max_s}, 'step': 'wait until %s ± %s' % (fmt_q(target, 'temperature'), fmt_q(within, 'temperature_delta'))})
+            return {'text': '', 'json': {}}
+        t0 = ctx.now()
+
+        ramp = self.slot('ramp') if p.get('to') is None else None          # the control's own ramp target must have arrived too
+
+        def inside(view):
+            tk = self.role_si(ctx, 'temp')
+            if ramp and finite(ctx.v(ramp)) and abs(ctx.v(ramp) - target) > 1e-6:
+                return False
+            return finite(tk) and abs(tk - target) <= within + 1e-9
+        if not inside(ctx.view):
+            ctx.advance(max_s, until=inside, step='wait until %s' % fmt_q(target, 'temperature'), poll_s=float(self.param('poll_s', 5.0)))
+        tk = self.role_si(ctx, 'temp')
+        if not inside(ctx.view):
+            ctx.fail(refused('NOT_REACHED', '%s is at %s after %s; %s ± %s was not reached.' % (
+                self.instrument_id, fmt_q(tk, 'temperature'), units.fmt_s(ctx.now() - t0), fmt_q(target, 'temperature'), fmt_q(within, 'temperature_delta')),
+                'wait longer (`chemlab run %s wait-temp --max 2h`) or check `chemlab run %s status`.' % (self.instrument_id, self.instrument_id),
+                detail={'temperature_k': tk, 'target_k': target}))
+        return {'text': 'reached %s (target %s ± %s) after %s of waiting\n' % (fmt_q(tk, 'temperature'), fmt_q(target, 'temperature'),
+                                                                             fmt_q(within, 'temperature_delta'), units.fmt_s(ctx.now() - t0)),
+                'json': {'reached': True, 'temperature_k': tk, 'target_k': target, 'waited_s': ctx.now() - t0}}
+
+    # ------------------------------------------------------------------ analyze: an analysis capability fed from the last result
+    def h_analyze(self, ctx, p):
+        """analyze [MODEL] KEY=VALUE ...: read the last result (the member's result capability), take the arrays / objects /
+        scalars the model names from it, add the agent's settings (in units) and the member's defaults, call the analysis
+        capability (a pure computation: the instrument does not change)."""
+        m = self.vmap('analyze')
+        models = m.get('models') or {}
+        name = p.pos[0] if p.pos else None
+        extra = list(p.extra)
+        if name is not None and '=' in name:
+            extra.insert(0, name)
+            name = None
+        name = name or m.get('default')
+        if name not in models:
+            ctx.fail(invalid('UNKNOWN_MODEL', '%s has no analysis %r.' % (self.instrument_id, name),
+                             'analyses: %s (see `chemlab help %s analyze`).' % (', '.join(sorted(models)), self.instrument_id)))
+        sp = models[name]
+        cap = sp['cap']
+        props = self.props(cap)
+        given, keyvals = {}, {}
+        for item in extra:
+            k, eq, v = item.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write analyze %s KEY=VALUE ...' % name))
+            keyvals[k.strip()] = v.strip()
+        allowed = set(sp.get('keys') or {}) | {a for a in props if a not in self._fed_args(sp)}
+        bad = [k for k in keyvals if k not in allowed]
+        if bad:
+            ctx.fail(invalid('UNKNOWN_SETTING', '%s analyze %s has no setting %r.' % (self.instrument_id, name, bad[0]),
+                             'settings: %s.' % ', '.join(sorted(allowed))))
+        for k, ks in (sp.get('keys') or {}).items():
+            if k not in keyvals:
+                continue
+            if ks.get('ctl'):                                               # a setting of the feeding (window, baseline, block ...), not an argument
+                slot = '_' + ks['ctl']
+                if ks.get('list'):
+                    given[slot] = [parse_q(x, ks['kind'], k) for x in keyvals[k].split(',') if x.strip()]
+                elif ks.get('choices'):
+                    if keyvals[k] not in ks['choices']:
+                        ctx.fail(invalid('BAD_CHOICE', '%s=%s is not one of: %s.' % (k, keyvals[k], ', '.join(ks['choices'])), 'use one of them.'))
+                    given[slot] = keyvals[k]
+                else:
+                    given[slot] = parse_q(keyvals[k], ks.get('kind', 'number'), k)
+            else:
+                given[ks['arg']] = to_native(keyvals[k], props.get(ks['arg']) or {}, ks.get('kind'), k)
+        for k, v in keyvals.items():
+            if k in props and k not in (sp.get('keys') or {}):
+                given[k] = to_native(v, props[k], None, k)
+        for k in sp.get('need') or []:
+            ks = (sp.get('keys') or {}).get(k, {})
+            arg = ('_' + ks['ctl']) if ks.get('ctl') else ks.get('arg', k)
+            if arg not in given:
+                kind = ks.get('kind')
+                ctx.fail(invalid('MISSING_SETTING', 'analyze %s needs %s= on %s.' % (name, k, self.instrument_id),
+                                 'give it, e.g. %s=%s (see `chemlab help %s analyze`).' % (
+                                     k, (ks.get('example') or (kind_example(kind) if kind else '...')), self.instrument_id)))
+        self.need(ctx, 'analyze')
+        # the record the analysis works on
+        rm = self.vmap('result')
+        rargs = dict(rm.get('args') or {})
+        if rm.get('id_arg'):
+            rargs[rm['id_arg']] = self._measurement_id(ctx, rm, for_result=True)
+        args = {}
+        if sp.get('id_arg'):
+            args[sp['id_arg']] = rargs.get(rm.get('id_arg')) if rm.get('id_arg') else None
+        if self._fed_args(sp):
+            r = ctx.call(rm['cap'], rargs, 'read the record (%s)' % rm['cap'], query=True)
+            res = (r.get('result') or {}) if not ctx.dry_run else {}
+            if not ctx.dry_run:
+                args.update(self._feed(ctx, sp, res, given, name))
+        for a, v in given.items():
+            if not str(a).startswith('_'):
+                args[a] = v
+        for a in self.required(cap):
+            if a not in args:
+                d = (sp.get('defaults') or {}).get(a, None)
+                if d is None and a not in (sp.get('defaults') or {}):
+                    key = next((k for k, ks in (sp.get('keys') or {}).items() if ks.get('arg') == a), a)
+                    ctx.fail(invalid('MISSING_SETTING', 'analyze %s needs %s= on %s.' % (name, key, self.instrument_id),
+                                     'give it (see `chemlab help %s analyze`).' % self.instrument_id))
+                args[a], _ = self._default(ctx, cap, a, d, args, None)
+        if ctx.dry_run:
+            ctx.plan.append({'capability': cap, 'arguments': {k: ('[%d values]' % len(v) if isinstance(v, list) else v) for k, v in args.items()},
+                             'step': 'analyze (%s)' % cap})
+            return {'text': '', 'json': {}}
+        problems = validate((self.lab.contract['capabilities'][cap].get('input_schema') or {}), args, cap)
+        if problems:
+            ctx.fail(invalid('INVALID_SETTINGS', 'the %s inputs do not fit %s: %s.' % (name, cap, '; '.join(problems[:3])),
+                             (sp.get('fix') or 'check the settings and the record (`chemlab run %s result`).' % self.instrument_id).replace('INST', self.instrument_id)))
+        r = ctx.call(cap, args, 'analyze (%s)' % cap, query=True)
+        out = r.get('result') or {}
+        lines = ['%s analyze %s (%s):' % (self.instrument_id, name, cap)]
+        for k, v in (out.items() if isinstance(out, dict) else []):
+            if k == 'evidence':
+                continue
+            if isinstance(v, list):
+                lines.append('  %-34s %d items' % (k, len(v)))
+                for i, item in enumerate(v[:6]):
+                    if isinstance(item, dict):
+                        lines.append('    %d: %s' % (i + 1, ', '.join('%s %s' % (a, ('%.6g' % b) if isinstance(b, float) else b)
+                                                                for a, b in item.items() if not isinstance(b, (dict, list)) and a != 'evidence')))
+                continue
+            if isinstance(v, dict):
+                continue
+            lines.append('  %-34s %s' % (k, ('%.6g' % v) if isinstance(v, float) else v))
+        shown = {k: (('[%d values]' % len(v)) if isinstance(v, list) and len(v) > 8 else v) for k, v in args.items()}
+        return {'text': '\n'.join(lines) + '\n', 'json': {'model': name, 'capability': cap, 'inputs': shown, 'result': out}}
+
+    @staticmethod
+    def _fed_args(sp):
+        fed = set(sp.get('arrays') or {}) | set(sp.get('scalars') or {}) | set(sp.get('zeros') or []) | set((sp.get('objects') or {}).keys())
+        for k in ('baseline', 'indices'):
+            if sp.get(k):
+                fed.add(sp[k]['arg'])
+        fed |= set(sp.get('window_index') or {})
+        if sp.get('pass_rows'):
+            fed.add(sp['pass_rows'])
+        return fed
+
+    def _feed(self, ctx, sp, res, given, name):
+        """Arrays, objects and scalars for the analysis from the result record."""
+        out = {}
+        rows = _get(res, sp.get('rows', 'rows')) or []
+        if not isinstance(rows, list) or not rows:
+            ctx.fail(refused('NO_RECORD', '%s has no record to analyse (run it first: `chemlab run %s start`).' % (self.instrument_id, self.instrument_id),
+                             'start a run, wait for it, then analyze.'))
+        it = None
+        if sp.get('pick'):
+            pk = sp['pick']
+            n = int(given.pop('_' + pk['key'], None) or 1)
+            items = _get(res, pk['path']) or []
+            if not 1 <= n <= len(items):
+                ctx.fail(invalid('OUT_OF_RANGE', '%s=%d is not one of the %d %ss of the record.' % (pk['key'], n, len(items), pk['key']),
+                                 'give %s=1..%d.' % (pk['key'], len(items))))
+            it = items[n - 1]
+            if pk.get('rows_match'):
+                col, base = pk['rows_match'], pk.get('base', 0)
+                rows = [r for r in rows if r.get(col) == n - 1 + base]
+            if pk.get('group'):
+                g = int(pk['group'])
+                rows = rows[(n - 1) * g:n * g]
+        for col, val in (sp.get('filter') or {}).items():
+            rows = [r for r in rows if r.get(col) == val]
+        if sp.get('positive'):
+            rows = [r for r in rows if finite(r.get(sp['positive'])) and r[sp['positive']] > 0]
+        win = sp.get('window')
+        if win:
+            lo, hi = given.pop('_from', None), given.pop('_to', None)
+            if lo is not None or hi is not None:
+                rows = [r for r in rows if finite(r.get(win['col'])) and (lo is None or r[win['col']] >= lo) and (hi is None or r[win['col']] <= hi)]
+        if len(rows) < int(sp.get('min_rows', 3)):
+            ctx.fail(refused('TOO_FEW_POINTS', 'the record of %s has %d usable points for %s (at least %d).' % (self.instrument_id, len(rows), name, int(sp.get('min_rows', 3))),
+                             (sp.get('fix') or 'widen the window or measure longer.').replace('INST', self.instrument_id)))
+        for arg, col in (sp.get('arrays') or {}).items():
+            out[arg] = [_get(r, col) for r in rows]
+        for arg in sp.get('zeros') or []:
+            out[arg] = [0.0] * len(rows)
+        for arg, spec in (sp.get('objects') or {}).items():
+            src = rows if spec.get('from', 'rows') == 'rows' else (_get(it, spec['from'][3:]) if spec['from'].startswith('it.') else _get(res, spec['from']))
+            out[arg] = [{f: r.get(f) for f in spec['fields']} for r in (src or [])]
+        if sp.get('pass_rows'):
+            out[sp['pass_rows']] = rows
+        b = sp.get('baseline')
+        if b:
+            mode = given.pop('_baseline', None) or b.get('default', 'linear')
+            ys = out[b['of']]
+            if mode == 'zero':
+                out[b['arg']] = [0.0] * len(ys)
+            else:
+                y0, y1, n = ys[0], ys[-1], len(ys)
+                out[b['arg']] = [y0 + (y1 - y0) * i / (n - 1) for i in range(n)]
+        ix = sp.get('indices')
+        if ix:
+            temps = given.pop('_' + ix['key'], None) or []
+            col = [r.get(ix['col']) for r in rows]
+            idx = [0, len(rows) - 1] if ix.get('ends') else []
+            for t in temps:
+                k = min(range(len(col)), key=lambda i: abs((col[i] if finite(col[i]) else 1e18) - t))
+                idx.append(k)
+            out[ix['arg']] = sorted(set(idx))
+        for arg, (key, end) in (sp.get('window_index') or {}).items():
+            out[arg] = 0 if end == 'first' else len(rows) - 1
+        for arg, src in (sp.get('scalars') or {}).items():
+            src, _, fallback = src.partition('|')                         # 'result:calibration_gain|1.0': a value when the record has none
+            how, _, path = src.partition(':')
+            if how == 'result':
+                v = _get(res, path)
+            elif how == 'it':
+                v = _get(it, path)
+            elif how == 'first':
+                v = rows[0].get(path)
+            elif how == 'row':                                              # 'row:polarity=zero/voltage_v': a column of the row with col == value
+                cond, _, col = path.partition('/')
+                c_, _, val = cond.partition('=')
+                hit = [r for r in rows if str(r.get(c_)) == val]
+                v = hit[0].get(col) if hit else None
+            elif how == 'max':
+                vals = [r[path] for r in rows if finite(r.get(path))]
+                v = max(vals) if vals else None
+            elif how == 'mean_before':                                      # 'mean_before:temperature_k<time_s@pulse_time_s'
+                col, _, rest = path.partition('<')
+                tcol, _, t0path = rest.partition('@')
+                t0 = _get(res, t0path)
+                pts = [r[col] for r in rows if finite(r.get(col)) and finite(r.get(tcol)) and finite(t0) and r[tcol] < t0]
+                v = sum(pts) / len(pts) if pts else None
+            else:
+                v = None
+            if v is None and fallback:
+                v = json.loads(fallback)
+            if v is None:
+                ctx.fail(refused('NO_RECORD', 'the record of %s has no %s for %s.' % (self.instrument_id, path, name), 'run a complete measurement first.'))
+            out[arg] = v
+        return out
+
+    def analyze_verb(self):
+        m = (self.map.get('verbs') or {}).get('analyze') or {}
+        example = 'chemlab run INST analyze %s' % (m.get('example') or m.get('default') or 'MODEL KEY=VALUE')
+        lines = []
+        for name, sp in sorted((m.get('models') or {}).items()):
+            keys = ', '.join('%s=' % k for k in sorted(sp.get('keys') or {}))
+            lines.append('  %-12s -> %s%s%s' % (name, sp['cap'], ' (default)' if name == m.get('default') else '', ('; settings: ' + keys) if keys else ''))
+        details = ('analyses on this instrument (the inputs come from the last record; give the settings the record cannot know):\n' + '\n'.join(lines)) if lines else None
+        return Verb('analyze', 'evaluate the last record with an analysis of the instrument (MODEL KEY=VALUE ...)', self.h_analyze,
+                    positionals=[Arg('MODEL', 'which analysis (default: the member\'s main one)', required=False)], variadic=('KEY=VALUE', 'a setting'),
+                    readonly=True, options={'save-to': save_to_opt()}, details=details,
+                    preconditions=['a finished record', 'the settings the record cannot know (mass, thickness, length ...)'],
+                    errors=['UNKNOWN_MODEL, MISSING_SETTING, INVALID_SETTINGS (usage)', 'NO_RECORD, TOO_FEW_POINTS (refused)'], example=example)
+
+    # ------------------------------------------------------------------ open / close (with the wait for the movement)
+    def h_part(self, action):
+        """open|close PART: the shared verb's meaning, plus the wait until the lid / furnace / cover has finished moving."""
+        def h(ctx, p):
+            parts = (self.vmap('open') or {}).get('parts') or {}
+            name = p.pos[0].lower() if p.pos else None
+            if name is None:
+                mains = [k for k, v in parts.items() if v.get('main')] or (list(parts) if len(parts) == 1 else [])
+                if len(mains) != 1:
+                    ctx.fail(invalid('WHICH_PART', '%s has several parts: %s.' % (self.instrument_id, ', '.join(parts)),
+                                     'name one, e.g. `chemlab run %s %s %s`.' % (self.instrument_id, action, next(iter(parts)))))
+                name = mains[0]
+            if name not in parts:
+                ctx.fail(invalid('UNKNOWN_PART', '%s has no part %r to %s.' % (self.instrument_id, name, action), 'parts: %s.' % ', '.join(parts)))
+            sp = parts[name]
+            want = sp.get(action + '_state', action == 'open')
+            if sp.get('state_slot') and ctx.v(sp['state_slot']) == want and not any(ctx.v(x) for x in sp.get('moving') or []):
+                return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, name, 'open' if action == 'open' else 'closed'),
+                        'json': {'part': name, 'action': action, 'changed': False}}
+            self.need(ctx, '%s-%s' % (action, name))
+            if sp.get('%s_cap' % action):
+                ctx.call(sp['%s_cap' % action], dict(sp.get('args') or {}), '%s the %s' % (action, name))
+            else:
+                ctx.call(sp['cap'], {sp['arg']: sp[action]}, '%s the %s' % (action, name))
+            waited = 0.0
+            if sp.get('moving') or sp.get('state_slot'):
+                def test(c):
+                    return all(not c.v(x) for x in sp.get('moving') or []) and (not sp.get('state_slot') or c.v(sp['state_slot']) == want)
+                waited = self.settle(ctx, test, 'the %s is %s' % (name, 'open' if action == 'open' else 'closed'), float(sp.get('max_s', 180)))
+            return {'text': 'ok: %s %s %s%s\n' % (self.instrument_id, name, 'opened' if action == 'open' else 'closed',
+                                                  ' (after %s)' % units.fmt_s(waited) if waited else ''),
+                    'json': {'part': name, 'action': action, 'changed': True, 'waited_s': waited}}
+        return h
+
+    # ------------------------------------------------------------------ simple one-call verbs
+    def h_simple(self, verb, done_text):
+        def h(ctx, p):
+            m = self.vmap(verb)
+            self.need(ctx, verb)
+            ctx.call(m['cap'], dict(m.get('args') or {}), done_text)
+            return {'text': 'ok: %s %s\n' % (self.instrument_id, done_text), 'json': {'done': verb}}
+        return h
+
+    def h_calibrate(self, ctx, p):
+        m = self.vmap('calibrate')
+        if self.running(ctx) and m.get('idle_only', True):
+            ctx.fail(refused('BUSY', '%s is running a measurement.' % self.instrument_id, 'calibrate before or after the run.'))
+        done = self.run_settings(ctx, p, 'calibrate', step_word='calibrate')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        cap, args, defaults, r = done[-1]
+        if r.get('operation_id'):
+            job = OperationJob(ctx.core, self, ctx.req, '%s %s' % (self.instrument_id, cap), cap, r['operation_id'], poll_s=float(self.param('job_poll_s', 10.0)))
+            return {'text': 'started %s: %s on %s\nfollow it: chemlab status %s | chemlab wait %s\n' % (job.handle, cap, self.instrument_id, job.handle, job.handle),
+                    'json': {'job': job.handle, 'arguments': args, 'defaults': defaults}}
+        text = 'ok: %s calibration set: %s\n' % (self.instrument_id, short(args, 300))
+        if defaults:
+            text += 'not given, so taken from the instrument: %s\n' % '; '.join(defaults)
+        return {'text': text, 'json': {'arguments': args, 'defaults': defaults}}
+
+    def h_method(self, ctx, p):
+        if self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is running; its method cannot change now.' % self.instrument_id,
+                             'wait for the run (`chemlab run %s wait`) or stop it.' % self.instrument_id))
+        done = self.run_settings(ctx, p, 'method', step_word='set the method')
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        lines, js = [], []
+        for cap, args, defaults, r in done:
+            res = r.get('result')
+            lines.append('ok: %s %s: %s' % (self.instrument_id, cap, short(args, 260)))
+            if defaults:
+                lines.append('  not given, so taken from defaults: %s' % '; '.join(defaults))
+            if isinstance(res, dict) and len(res) <= 4 and any(k.endswith('_id') for k in res):
+                lines.append('  -> %s' % ', '.join('%s %s' % kv for kv in res.items()))
+            js.append({'capability': cap, 'arguments': args, 'defaults': defaults, 'result': res})
+        return {'text': '\n'.join(lines) + '\n', 'json': {'calls': js}}
+
+
+# ------------------------------------------------------------------ the thermal_analysis class
+REF_ALL = ('TA Instruments Discovery DSC 2500 TRIOS guide (UCSB MRL) pp. 2-13 and brochure pp. 7-12; TGA 5500 SOP (WWU) pp. 3-9 and '
+       'brochure pp. 10-13 (autosampler, tare, purge); DMA 850 quick start pp. 1-3, brochure pp. 15-20 (clamps, preload); TMA 450 '
+       'brochure pp. 5-8, 21-28 (probe force, test modes); LFA 467 brochure pp. 3-5, 14-20 (sample changer, atmosphere, pulse); Hot '
+       'Disk TPS 2500 S brochure pp. 2-7; TAM IV brochure pp. 4-13, 45-46 and TAM theory pp. 50-62 (calibration); MMC 315 / MMC 274 '
+       'brochure pp. 5-9 (heat-wait-search); IKA C 6000 operating instructions pp. 6-11 (calorific value, C value, vessels)')
+
+
+class ThermalAnalysisAdapter(TATester):
+    CLASS = 'thermal_analysis'
+    TITLE = 'thermal analysis and calorimetry'
+    ABOUT = ('Instruments that run a temperature programme on a specimen and record a thermal signal (heat flow, mass, modulus, '
+             'expansion, diffusivity, heat of reaction or combustion): load the specimen, set the method in plain units, purge, '
+             'start a run (job-N), read the result.')
+    STANDARDS = ('ISO 11357 / ASTM E967, E968 (DSC); ASTM E1131 / ISO 11358 (TGA); ASTM E1640 / ISO 6721 (DMA); ASTM E831 (TMA); '
+                 'ASTM E1461 (flash); ISO 22007-2 (TPS); ASTM E1981 (ARC); ISO 1928 / ASTM D5865 (bomb calorimetry)')
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'temperature_delta', 'heating_rate', 'duration', 'flow', 'mass', 'force', 'power', 'energy')
+    ROLE_VIEW = (('temp', 'sample', 'temperature'), ('rear', 'rear face', 'temperature'), ('furnace', 'furnace', 'temperature'),
+                 ('jacket', 'jacket', 'temperature'), ('set', 'set point', 'temperature'), ('control', 'control', 'onoff'),
+                 ('phase', 'run', 'text'), ('stage', 'stage', 'text'), ('points', 'points', 'text'), ('sample', 'sample', 'present'),
+                 ('ref', 'reference', 'present'), ('open', 'lid/furnace', 'open'), ('cover', 'cover', 'text'), ('gas', 'purge', 'onoff'),
+                 ('flow', 'purge flow', 'flow'), ('gas_name', 'gas', 'text'), ('mass', 'mass', 'mass'), ('force', 'force', 'force'),
+                 ('pressure', 'pressure', 'pressure'), ('clamp', 'clamp', 'onoff'), ('probe', 'probe', 'onoff'),
+                 ('sensor', 'sensor connected', 'yesno'), ('detector', 'detector', 'onoff'), ('system', 'system', 'text'),
+                 ('mode', 'mode', 'text'), ('record', 'measurement', 'text'), ('record_phase', 'measurement phase', 'text'),
+                 ('vessel', 'vessel hung', 'text'), ('result', 'last Ho (J/kg)', 'text'))
+    CODES = {
+        'START_NOT_EQUILIBRATED': ('NOT_EQUILIBRATED', '{inst} is not at the start temperature of its method yet (within its start tolerance).',
+                                   'set it and wait: `chemlab run {inst} set-temp START`, then `chemlab run {inst} wait-temp --within 0.3K`, then start.'),
+        'NO_SAMPLE': ('NO_SAMPLE', 'there is no specimen in the measuring position of {inst}.', 'load it first (`chemlab run {inst} load ...`).'),
+        'SOURCE_ANCHOR_ONLY': ('OUT_OF_DATA', 'the specimen of {inst} is described only at the temperature and frequency of its reference '
+                               'data; the method asks for other conditions.', 'measure at the specimen\'s reference point (ask the lab operator which one).'),
+        'NO_PRELOAD': ('NO_PRELOAD', 'the DMA specimen has no static preload yet.', 'apply one: `chemlab run {inst} load --preload 0.01N`.'),
+        'PURGE_REQUIRED': ('NO_PURGE', '{inst} needs purge gas flowing (a purge line and the protective gas) before it heats or measures.',
+                           'open them: `chemlab run {inst} gas 50mL/min --channel purge1` and `... --channel protective`.'),
+        'DETECTOR_NOT_READY': ('DETECTOR_OFF', 'the IR detector of {inst} is not ready (off or still cooling).',
+                               'switch it on (`chemlab call {inst} detector.set_enabled --enabled true`) and wait about a minute (`chemlab wait 60`).'),
+        'INSUFFICIENT_OPTICAL_ENERGY': ('NO_PULSE_ENERGY', 'the flash lamp of {inst} has not enough stored energy for the method.',
+                                        'lower energy= in the method, or ask the lab operator to charge the lamp.'),
+        'THERMAL_CONTROL_ACTIVE': ('CONTROL_ON', 'the temperature control of {inst} is on.', 'switch it off first: `chemlab run {inst} set-temp off`.'),
+        'TRAY_POSITION_EMPTY': ('EMPTY_POSITION', 'that tray position of {inst} holds no pan.', 'name a position that holds a pan (`chemlab run {inst} status`).'),
+        'TRAY_POSITION_OCCUPIED': ('POSITION_TAKEN', 'that tray position of {inst} already holds a pan.', 'unload to an empty position.'),
+        'ALREADY_LOADED': ('ALREADY_LOADED', 'a specimen is already in the measuring position of {inst}.', 'unload it first (`chemlab run {inst} unload`).'),
+        'CLAMP_UNDER_LOAD': ('CLAMP_BLOCKED', 'the clamp of {inst} moves only with the furnace fully open and no load on the specimen.',
+                             'open the furnace (`chemlab run {inst} open furnace`); `chemlab run {inst} unload` releases a preload first.'),
+        'PROBE_ACCESS': ('FURNACE_CLOSED', 'the probe of {inst} cannot move while the furnace is closed.', 'open it: `chemlab run {inst} open furnace`.'),
+        'ZERO_REQUIRES_EMPTY_EQUILIBRIUM': ('NOT_EMPTY', '{inst} zeroes only with an empty, equilibrated cell.', 'unload the specimen and let the cell settle, then zero.'),
+        'ZERO_REQUIRES_EMPTY': ('NOT_EMPTY', '{inst} zeroes only with no specimen clamped.', 'unload the specimen first.'),
+        'TARE_REQUIRES_EMPTY_STABLE': ('NOT_EMPTY', '{inst} tares only with an empty, stable balance (no pan on the hang-down wire).',
+                                       'unload the pan first (`chemlab run {inst} unload`) and let it settle.'),
+        'ZERO_REQUIRES_CONTACT': ('NO_CONTACT', 'the TMA probe must touch the specimen to zero the displacement.', 'bring it down first: `chemlab run {inst} load`.'),
+        'FURNACE_NOT_CLOSED': ('FURNACE_OPEN', 'the furnace of {inst} is not closed.', 'close it: `chemlab run {inst} close furnace`.'),
+        'LID_NOT_CLOSED': ('LID_OPEN', 'the cell lid of {inst} is not closed.', 'close it: `chemlab run {inst} close lid`.'),
+        'NO_SAMPLE_AT_SELECTED_SLOT': ('NO_SAMPLE', 'the selected sample-changer position of {inst} is empty.', 'select the position that holds the sample: `chemlab run {inst} load N`.'),
+        'BUSY': ('BUSY', '{inst} is busy (a run or a movement is in progress).', 'wait (`chemlab run {inst} wait`) or stop the run.'),
+        'NOT_RUNNING': ('NOT_RUNNING', '{inst} has nothing running.', 'nothing to stop.'),
+        'NO_GAS': ('NO_GAS', '{inst} has no purge gas connected.', 'ask the lab operator to connect the gas supply.'),
+        'GAS_EXHAUSTED': ('NO_GAS', 'the purge gas of {inst} ran out.', 'ask the lab operator to replace the cylinder.'),
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'EXTERNAL_TEMPERATURE_BOUNDARY': ('NOT_AMBIENT', 'the TPS method temperature must equal the room temperature of the lab.',
+                                          'leave temp= out (it keeps the current one).'),
+        'SMALL_RISE_DOMAIN': ('RISE_TOO_LARGE', 'the heating power and time of {inst} would heat the sensor more than its small-rise limit.',
+                              'lower power= or time= in the method.'),
+        'FINITE_BOUNDARY_DOMAIN': ('TIME_TOO_LONG', 'the measuring time of {inst} is too long for the specimen size (the heat would reach its boundary).',
+                                   'shorten time= in the method.'),
+        'RELOAD_REQUIRED': ('RELOAD', 'the specimen of {inst} was already heated by a measurement; it must cool and be reloaded.',
+                            'ask the lab operator to reload it, or wait for it to relax.'),
+        'REFERENCE_TEMPERATURE_RANGE': ('OUT_OF_DATA', 'the specimen\'s reference data of {inst} do not cover this temperature.',
+                                        'measure inside the temperature range of the specimen (see `chemlab run {inst} status`).'),
+        'TIMEOUT': ('TIMEOUT', 'the run of {inst} timed out.', 'raise timeout= in the method or widen tolerance=.'),
+        'ACCESS_DENIED': ('NOT_YOURS', 'another agent\'s run is active on {inst}.', 'wait until it has finished.'),
+        'SWITCH_OFF_REQUIRED': ('SWITCH_OFF', '{inst} shows an error that clears only by switching off and on.', '`chemlab run {inst} power off`, then `power on`.'),
+    }
+
+    def build_verbs(self):
+        REF = self.param('manual') or REF_ALL
+        temp = Arg('TEMP|off', 'set point, e.g. 140C or 413.15K (a bare number is °C); off switches the control off')
+        return {
+            'load': Verb('load', 'bring the specimen into the measuring position (autosampler pan, sample changer, clamp, probe or bomb)',
+                         self.h_load, positionals=[Arg('WHERE', 'tray / changer position (DSC, TGA, LFA) or the vessel RFID (C 6000)', required=False)],
+                         options={'preload': Opt('static preload after clamping (DMA), e.g. 0.01N', kind='force', metavar='FORCE')},
+                         long_action=True, preconditions=['a specimen at that position', 'nothing loaded yet', 'the member\'s own state (cool cell, open furnace)'],
+                         errors=['EMPTY_POSITION, ALREADY_LOADED, HOT_CELL (refused)', 'NOT_SETTLED (refused: the transfer did not end)'],
+                         details='waits for the transfer to finish (lab time moves, about a minute).',
+                         example='chemlab run INST load 1', reference=REF),
+            'unload': Verb('unload', 'take the specimen out of the measuring position', self.h_unload,
+                           positionals=[Arg('WHERE', 'tray position to return the pan to (default: where it came from)', required=False)],
+                           long_action=True, preconditions=['a specimen loaded', 'no run', 'cell cool / control off where the member needs it'],
+                           errors=['NOT_LOADED, BUSY, HOT_CELL, CONTROL_ON (refused)'], details='waits for the transfer to finish.',
+                           example='chemlab run INST unload', reference=REF),
+            'method': Verb('method', 'set the method: KEY=VALUE ... (class keys with units: start=40C ramp=300C@10K/min hold=5min interval=1s ...)',
+                           self.h_method, variadic=('KEY=VALUE', 'a setting'), options=self.tgt_opts('method'),
+                           preconditions=['no run in progress', 'every value inside the instrument range (usage error otherwise)'],
+                           errors=['UNKNOWN_SETTING, MISSING_SETTING, OUT_OF_RANGE (usage)', 'BUSY (refused)'],
+                           details=self.method_details(), example='chemlab run INST method start=40C ramp=200C@10K/min hold=1min', reference=REF),
+            'set-temp': Verb('set-temp', 'set the cell / furnace / bath temperature (isothermal), or switch the control off', self.h_set_temp,
+                             positionals=[temp], options={'rate': Opt('heating / cooling rate, e.g. 20K/min (default: the contract\'s example rate)', kind='heating_rate', metavar='RATE')},
+                             preconditions=['inside the instrument range', 'no run in progress', 'the member\'s own state (closed furnace, purge)'],
+                             errors=['OUT_OF_RANGE (usage)', 'BUSY, NO_PURGE, FURNACE_OPEN (refused)'], example='chemlab run INST set-temp 140C --rate 20K/min', reference=REF),
+            'temp': Verb('temp', 'the temperatures and the run state, in °C', self.h_temp, readonly=True, example='chemlab run INST temp'),
+            'wait-temp': Verb('wait-temp', 'wait until the specimen is at the set point (or --to T), moving lab time', self.h_wait_temp, readonly=True,
+                              long_action=True, options={'within': Opt('tolerance (default the member\'s, about 0.5 K)', kind='temperature_delta', metavar='DELTA'),
+                                                         'max': Opt('longest wait (default 1 h)', kind='duration', metavar='TIME'),
+                                                         'to': Opt('wait for this temperature instead of the set point', kind='temperature', metavar='TEMP')},
+                              errors=['CONTROL_OFF, NOT_REACHED (refused)'], example='chemlab run INST wait-temp --within 0.5K --max 30min'),
+            'gas': Verb('gas', 'purge gas: on, off, a flow (50mL/min), or a gas name (N2, O2) [and a flow]', self.h_gas,
+                        positionals=[Arg('WHAT', 'on, off, a flow like 50mL/min, or a gas name'), Arg('FLOW', 'a flow after a gas name, or on/off', required=False)],
+                        options=dict(self.tgt_opts('gas'), balance=Opt('balance purge flow (TGA; default: keep the current one)', kind='flow', metavar='FLOW')),
+                        preconditions=['flow inside the mass-flow range', 'a known gas'], errors=['OUT_OF_RANGE, BAD_CHOICE (usage)'],
+                        example='chemlab run INST gas N2 50mL/min', reference=REF),
+            'start': Verb('start', 'start the run of the configured method (gives job-N)', self.h_start, long_action=True, options=self.tgt_opts('start'),
+                          preconditions=['not already running', 'specimen loaded, furnace / lid closed, purge on (member requirements)'],
+                          errors=['BUSY, NO_SAMPLE, FURNACE_OPEN, NOT_EQUILIBRATED, NO_PURGE (refused)'], example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'stop the run', self.h_stop, errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop'),
+            'result': Verb('result', 'the record of the last run (curve, points, values)', self.h_result, readonly=True,
+                           options={'save-to': save_to_opt()}, example='chemlab run INST result --save-to dsc.json'),
+            'open': Verb('open', 'open the lid / furnace / cover (or the purge valve: open gas), waiting until it is open', self.h_part('open'),
+                         positionals=[Arg('PART', 'lid, furnace, cover or gas; optional when there is one main part', required=False)],
+                         long_action=True, errors=['UNKNOWN_PART, WHICH_PART (usage)', 'NOT_SETTLED (refused)'],
+                         details='waits until the part has stopped moving (lab time moves, up to about a minute).', example='chemlab run INST open furnace'),
+            'close': Verb('close', 'close the lid / furnace / cover (or the purge valve: close gas), waiting until it is closed', self.h_part('close'),
+                          positionals=[Arg('PART', 'lid, furnace, cover or gas; optional when there is one main part', required=False)],
+                          long_action=True, errors=['UNKNOWN_PART, WHICH_PART (usage)', 'NOT_SETTLED (refused)'],
+                          details='waits until the part has stopped moving (lab time moves, up to about a minute).', example='chemlab run INST close furnace'),
+            'analyze': self.analyze_verb(),
+            'zero': Verb('zero', 'zero / tare the measuring sensor (empty cell)', self.h_simple('zero', 'sensor zeroed'),
+                         preconditions=['empty cell (member requirement)'], errors=['NOT_EMPTY, NO_CONTACT (refused)'], example='chemlab run INST zero', reference=REF),
+            'calibrate': Verb('calibrate', 'set the sensor calibration (correction factors) or the vessel C value: KEY=VALUE ...', self.h_calibrate,
+                              variadic=('KEY=VALUE', 'a correction'), preconditions=['no run in progress', 'every factor given (1 = no gain correction, 0 = no offset)'],
+                              errors=['MISSING_SETTING, OUT_OF_RANGE (usage)'], example='chemlab run INST calibrate temperature_gain_correction=1 temperature_zero_k=0.2K ...', reference=REF),
+        }
+
+    def method_details(self):
+        m = self.map.get('verbs', {}).get('method') or {}
+        specs = m.get('calls') or ([m] if m else [])
+        lines = []
+        for sp in specs:
+            pg = sp.get('program') or {}
+            for k, ks in sorted((sp.get('keys') or {}).items()):
+                lines.append('  %-12s -> %s%s' % (k + '=', ks['arg'], (' (%s, e.g. %s)' % (ks['kind'], kind_example(ks['kind']))) if ks.get('kind') else ''))
+            if pg:
+                lines.append('  %-12s -> one %s item%s' % (pg['key'] + '=', pg['arg'], ' (TARGET@RATE[:HOLD], e.g. 300C@10K/min:5min)' if pg.get('style') == 'ramp' else ' (TEMP, e.g. 30C)'))
+                for k in ('range_key', 'iso', 'hold_key'):
+                    if pg.get(k):
+                        lines.append('  %-12s -> %s' % (pg[k] + '=', {'range_key': 'FROM..TO/STEP, many items', 'iso': 'an isothermal segment of this time',
+                                                                   'hold_key': 'hold time of the segment before it'}[k]))
+                for k, fs in sorted((pg.get('sticky') or {}).items()):
+                    lines.append('  %-12s -> %s of the items that follow (or all, when given last)' % (k + '=', fs['field']))
+        if not lines:
+            return None
+        return 'class keys on this instrument:\n' + '\n'.join(lines) + '\nnative argument names pass through (a bare number is in the declared unit).'
+
+    # ------------------------------------------------------------------ load / unload
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        kind = m['kind']
+        where = p.pos[0] if p.pos else None
+        if kind != 'vessel' and self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is running.' % self.instrument_id, 'wait for the run or stop it.'))
+        if p.get('preload') is not None and not m.get('preload'):
+            ctx.fail(unsupported('NO_PRELOAD', '%s has no static preload.' % self.instrument_id, 'leave out --preload.'))
+        if kind == 'vessel':
+            return self._load_vessel(ctx, m, where)
+        if kind in ('transfer', 'select'):
+            if where is None:
+                ctx.fail(invalid('MISSING_ARGUMENT', 'load needs the position on %s.' % self.instrument_id, 'e.g. `chemlab run %s load 1`.' % self.instrument_id))
+            pos = to_native(where, self.props(m['cap']).get(m['arg']) or {}, None, 'position')
+            if m.get('tray_slot'):
+                tray = ctx.v(m['tray_slot']) or []
+                ctx.check(0 < pos <= len(tray) and tray[pos - 1], 'EMPTY_POSITION', 'tray position %d of %s holds no pan.' % (pos, self.instrument_id),
+                          'positions with a pan: %s.' % (', '.join(str(i + 1) for i, x in enumerate(tray) if x) or 'none (ask the lab operator)'), label='pan at the position')
+            if m.get('position_slot') and ctx.v(m['position_slot']) is not None:
+                at = ctx.v(m['position_slot'])
+                ctx.check(at == pos, 'EMPTY_POSITION', 'changer position %d of %s holds no specimen; the specimen sits at position %s.' % (pos, self.instrument_id, at),
+                          'select that position: `chemlab run %s load %s`.' % (self.instrument_id, at), label='specimen at the position')
+            if m.get('loaded_slot'):
+                ctx.check(not ctx.v(m['loaded_slot']), 'ALREADY_LOADED', 'a pan is already in the cell of %s.' % self.instrument_id,
+                          'unload it first: `chemlab run %s unload`.' % self.instrument_id, label='cell empty')
+            self.need(ctx, 'load')
+            ctx.call(m['cap'], {m['arg']: pos}, 'load position %d' % pos)
+            waited = self.settle(ctx, self.moving_done(m.get('busy') or []), 'the transfer has ended', float(m.get('max_s', 300)))
+            text = 'ok: %s position %d in the measuring position (after %s)\n' % (self.instrument_id, pos, units.fmt_s(waited))
+            return {'text': text, 'json': {'position': pos, 'waited_s': waited}}
+        if kind == 'set':
+            done_slot = m.get('done_slot')
+            changed = False
+            if p.get('preload') is not None:
+                self.need(ctx, 'load-preload')
+            if done_slot and ctx.v(done_slot) == m['value']:
+                text = 'ok: %s already %s\n' % (self.instrument_id, m.get('word', 'loaded'))
+            else:
+                self.need(ctx, 'load')
+                ctx.call(m['cap'], {m['arg']: m['value']}, m.get('word', 'load'))
+                waited = self.settle(ctx, self.moving_done(m.get('busy') or []), '%s has ended' % m.get('word', 'the movement'), float(m.get('max_s', 120)))
+                text = 'ok: %s %s (after %s)\n' % (self.instrument_id, m.get('word', 'loaded'), units.fmt_s(waited))
+                changed = True
+            out = {'changed': changed}
+            if p.get('preload') is not None:
+                pl = m['preload']
+                self.need(ctx, 'load-preload')
+                f = to_native(p.raw['preload'], self.props(pl['cap']).get(pl['force_arg']) or {}, 'force', '--preload')
+                args = {pl['force_arg']: f}
+                if pl.get('ramp_arg'):
+                    args[pl['ramp_arg']] = self.example(pl['cap']).get(pl['ramp_arg'])
+                ctx.call(pl['cap'], args, 'apply a preload of %s' % fmt_q(f, 'force'))
+                w2 = self.settle(ctx, self.moving_done(pl.get('busy') or []), 'the preload is reached', 120.0)
+                text += 'ok: preload %s (after %s)\n' % (fmt_q(f, 'force'), units.fmt_s(w2))
+                out['preload_n'] = f
+            return {'text': text, 'json': out}
+        raise unexpected('MAPPING', 'unknown load kind %r' % kind, 'report this.')
+
+    def _load_vessel(self, ctx, m, rfid):
+        if not rfid:
+            ctx.fail(invalid('MISSING_ARGUMENT', 'load needs the vessel RFID on %s.' % self.instrument_id, 'e.g. `chemlab run %s load C6012-0001`.' % self.instrument_id))
+        phase = ctx.v(m['phase_slot'])
+        ctx.check(phase == m['await_phase'], 'NOT_WAITING', '%s is not waiting for a vessel (measurement phase %s); it identifies the vessel '
+                  'after the measurement has started.' % (self.instrument_id, phase),
+                  'create and start a measurement first (`chemlab run %s method ...`, `chemlab run %s start`), then load the vessel.' % (
+                      self.instrument_id, self.instrument_id), label='a measurement waits for the vessel')
+        self.need(ctx, 'load')
+        if ctx.v(m['auto_slot']):
+            ctx.call(m['scan_cap'], {'rfid': rfid}, 'scan vessel %s' % rfid)
+        ctx.call(m['cap'], {'rfid': rfid}, 'hang vessel %s' % rfid)
+        ctx.call(m['confirm_cap'], {}, 'confirm the vessel is hung')
+        return {'text': 'ok: vessel %s hung and confirmed; %s closes and measures (phase %s)\n' % (rfid, self.instrument_id, ctx.v(m['phase_slot'])),
+                'json': {'rfid': rfid, 'phase': ctx.v(m['phase_slot'])}}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        kind = m['kind']
+        if kind != 'vessel' and self.running(ctx):
+            ctx.fail(refused('BUSY', '%s is running.' % self.instrument_id, 'wait for the run or stop it.'))
+        self.need(ctx, 'unload')
+        if kind == 'transfer':
+            ctx.check(bool(ctx.v(m['loaded_slot'])), 'NOT_LOADED', 'no pan is in the cell of %s.' % self.instrument_id, 'nothing to unload.', label='a pan in the cell')
+            if p.pos:
+                pos = to_native(p.pos[0], self.props(m['cap']).get(m['arg']) or {}, None, 'position')
+            else:
+                pos = ctx.v(m['origin_slot'])
+                if not pos:
+                    ctx.fail(invalid('MISSING_ARGUMENT', 'unload needs the tray position on %s (the origin is unknown).' % self.instrument_id,
+                                     'e.g. `chemlab run %s unload 1`.' % self.instrument_id))
+            ctx.call(m['cap'], {m['arg']: pos}, 'unload to position %d' % pos)
+            waited = self.settle(ctx, self.moving_done(m.get('busy') or []), 'the transfer has ended', float(m.get('max_s', 300)))
+            return {'text': 'ok: %s pan back at tray position %d (after %s)\n' % (self.instrument_id, pos, units.fmt_s(waited)), 'json': {'position': pos}}
+        if kind == 'set':
+            if m.get('done_slot') and ctx.v(m['done_slot']) == m['value']:
+                return {'text': 'ok: %s already %s\n' % (self.instrument_id, m.get('word', 'unloaded')), 'json': {'changed': False}}
+            text = ''
+            pl = m.get('release')
+            if pl and finite(ctx.v(pl['slot'])) and ctx.v(pl['slot']) > 0:
+                args = {pl['ramp_arg']: self.example(pl['cap']).get(pl['ramp_arg'])} if pl.get('ramp_arg') else {}
+                ctx.call(pl['cap'], args, 'release the preload')
+                self.settle(ctx, lambda c: not c.v(pl['slot']) and all(not c.v(s) for s in pl.get('busy') or []), 'the preload is released', 120.0)
+                text += 'ok: preload released\n'
+            ctx.call(m['cap'], {m['arg']: m['value']}, m.get('word', 'unload'))
+            waited = self.settle(ctx, self.moving_done(m.get('busy') or []), '%s has ended' % m.get('word', 'the movement'), float(m.get('max_s', 120)))
+            return {'text': text + 'ok: %s %s (after %s)\n' % (self.instrument_id, m.get('word', 'unloaded'), units.fmt_s(waited)), 'json': {'changed': True}}
+        if kind == 'vessel':
+            ctx.check(bool(ctx.v(m['hung_slot'])), 'NOT_LOADED', 'no vessel hangs in %s.' % self.instrument_id, 'nothing to unload.', label='a vessel hung')
+            rf = ctx.v(m['hung_slot'])
+            ctx.call(m['cap'], {}, 'take vessel %s off the filling head' % rf)
+            return {'text': 'ok: vessel %s back on the bench\n' % rf, 'json': {'rfid': rf}}
+        raise unexpected('MAPPING', 'unknown unload kind %r' % kind, 'report this.')
+
+    # ------------------------------------------------------------------ gas
+    def h_gas(self, ctx, p):
+        m = self.vmap('gas')
+        words = [p.pos[0]] + ([p.pos[1]] if len(p.pos) > 1 else [])
+        gas, flow, onoff = None, None, None
+        for w in words:
+            lw = w.lower()
+            if lw in ('on', 'off'):
+                onoff = lw
+            elif re.match(r'^\s*[+-]?(\d|\.\d)', w):
+                flow = parse_q(w, 'flow', 'flow')
+            else:
+                gas = w
+        if gas is not None and not m.get('select_cap'):
+            ctx.fail(unsupported('NO_GAS_SELECT', '%s has no gas selection (one purge line).' % self.instrument_id, 'leave out the gas name.'))
+        if flow is not None and not m.get('flow_cap'):
+            ctx.fail(unsupported('NO_FLOW', '%s has no purge flow setting; the purge is only on or off.' % self.instrument_id, 'use `gas on` or `gas off`.'))
+        if p.get('balance') is not None and not m.get('balance_arg'):
+            ctx.fail(unsupported('NO_BALANCE_GAS', '%s has no balance purge.' % self.instrument_id, 'leave out --balance.'))
+        tg = self.targets_for(ctx, p, 'gas')
+        calls = []
+        reopen = False
+        if gas is not None or (m.get('select_cap') and any(a in self.props(m['select_cap']) for a in tg)):
+            args = {a: v for a, v in tg.items() if a in self.props(m['select_cap'])}
+            if gas is not None:
+                args[m['select_arg']] = to_native(gas, self.props(m['select_cap']).get(m['select_arg']) or {}, None, 'gas')
+            sel_slot = m.get('selected_slot')
+            if not (sel_slot and all(ctx.v(sel_slot) == v for v in args.values())):
+                if m.get('close_to_select') and ctx.v(m['open_slot']):
+                    calls.append((m['open_cap'], {m['open_arg']: False}, 'close the purge valve to switch gas'))
+                    reopen = onoff != 'off'
+                calls.append((m['select_cap'], args, 'select %s' % ', '.join('%s' % v for v in args.values())))
+        if flow is not None:
+            props = self.props(m['flow_cap'])
+            args = {a: v for a, v in tg.items() if a in props}
+            args[m['flow_arg']] = self._si_item(ctx, props.get(m['flow_arg']) or {}, flow, 'flow', 'flow')
+            if m.get('balance_arg'):
+                if p.get('balance') is not None:
+                    args[m['balance_arg']] = self._si_item(ctx, props.get(m['balance_arg']) or {}, p.get('balance'), 'flow', '--balance')
+                else:
+                    args[m['balance_arg']] = ctx.v(m['balance_slot'])
+            calls.append((m['flow_cap'], args, 'set the purge flow to %s' % fmt_q(flow, 'flow')))
+        want_open = onoff != 'off' if (onoff or flow is not None or reopen) else None
+        if want_open and m.get('open_needs_flow'):
+            f_now = flow if flow is not None else ctx.v(m['flow_slot'])
+            ctx.check(finite(f_now) and f_now > 0, 'NO_FLOW', '%s opens its purge only with a flow set (now 0).' % self.instrument_id,
+                      'give one: `chemlab run %s gas 25mL/min --balance 10mL/min`.' % self.instrument_id, label='purge flow set')
+            if m.get('balance_arg'):
+                b_now = p.get('balance') if p.get('balance') is not None else ctx.v(m['balance_slot'])
+                ctx.check(finite(b_now) and b_now > 0, 'NO_BALANCE_FLOW', '%s opens its purge only with the balance purge flowing too (now 0).' % self.instrument_id,
+                          'add it: `chemlab run %s gas %s --balance 10mL/min`.' % (self.instrument_id, ' '.join(words)), label='balance purge set')
+        if want_open is not None:
+            open_slot = m.get('open_slot')
+            if isinstance(open_slot, dict):
+                open_slot = open_slot.get(str(tg.get(m.get('channel_arg'))) if tg else None)
+            if reopen or not (open_slot and bool(ctx.v(open_slot)) == want_open and onoff is None):
+                args = {a: v for a, v in tg.items() if a in self.props(m['open_cap'])}
+                args[m['open_arg']] = want_open
+                calls.append((m['open_cap'], args, 'purge %s' % ('on' if want_open else 'off')))
+        if not calls:
+            ctx.fail(invalid('NOTHING_TO_DO', 'gas %s changes nothing.' % ' '.join(words), 'write `gas on`, `gas off`, `gas 50mL/min` or `gas N2`.'))
+        self.need(ctx, 'gas')
+        for cap, args, step in calls:
+            ctx.call(cap, args, step)
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, '; '.join(c[2] for c in calls)), 'json': {'calls': [{'capability': c[0], 'arguments': c[1]} for c in calls]}}
diff --git a/chemlab/chemlab/compile/classes/thin.py b/chemlab/chemlab/compile/classes/thin.py
new file mode 100644
index 0000000000000000000000000000000000000000..43300e591a7be63b82afa0ac2615410d764ea676
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/thin.py
@@ -0,0 +1,16 @@
+"""The thin class: one-of-a-kind or manual-workflow instruments that get only the shared verbs (power, status, open / close of
+named parts, ack, estop, method / start / stop / result / wait) and keep everything else on `chemlab call`.
+
+Members (configs/adapters/thin.json): wtw_oxitopi (BOD heads: --head h1..h6), inert_puresolvmd (manual valves: cabinet doors
+and the gas isolation valve only), vaisala_dmt152 (a transmitter: power with its supply voltage, result = one SEND reading),
+cem_libertyblue and cytiva_ktaoligosynt (power, cover / clamp, start / stop / result of the synthesis run).  Their mappings
+are reviewed by hand; the generated shared layer leaves them out.
+"""
+from ..shared import SharedAdapter
+
+
+class ThinAdapter(SharedAdapter):
+    CLASS = 'thin'
+    TITLE = 'shared verbs only (one-of-a-kind device)'
+    ABOUT = ('This instrument has no class of its own: these are the shared verbs (power, status, open/close, start/stop/result/wait '
+             'where it has them); everything else is its own capabilities: `chemlab describe INST`, `chemlab call INST CAP`.')
diff --git a/chemlab/chemlab/compile/classes/titration.py b/chemlab/chemlab/compile/classes/titration.py
new file mode 100644
index 0000000000000000000000000000000000000000..ebc0f32a46626e20d2a5f9e9a2a27655ce6cf5f7
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/titration.py
@@ -0,0 +1,241 @@
+"""Titration class ("titration"): potentiometric titrators, Karl Fischer coulometers and Kjeldahl distillation-titration units -
+Metrohm OMNIS Professional Titrator, Metrohm 899 Coulometer, VELP UDK 159.  Members and mappings: configs/adapters/titration.json.
+
+Verbs: titrant CONC [--cylinder V], method KEY=VALUE ..., sample SIZE, stir SPEED|on|off [--level N], connect PORT=ID ...,
+start (job), stop, curve [--save-to F], result [--sample V] [--ratio R] [--save-to F], status.  power comes from the shared layer.
+
+Method dictionary (class keys take units; native argument names also work, a bare number is in the unit the contract declares):
+
+    mode=endpoint|dynamic ep=0.1V increment=0.1mL max=15mL hold=0.5s tolerance=1mV rate=0.5mL/min        (potentiometric)
+    current=400mA drift-comp=0ug/min start-drift=20ug/min extraction=0s stir=8 hold=1s                    (KF coulometer)
+    steam=100% window=4min water=50mL base=70mL boric=30mL base-conc=8mol/L boric-capacity=0.64mol/L
+    titrant=0.2mol/L blank=0.1mL factor=6.25                                                             (Kjeldahl)
+
+Settings left out keep their current value (state slots), else the last accepted method on the instrument, else the documented
+default of the contract (the reply says which).  Concentrations take M / mol/L / mmol/L; volumes mL / µL; drift µg/min.
+
+Vendor-neutral references: USP <541> titrimetry, USP <921> / Ph. Eur. 2.5.32 and ASTM E1064 (coulometric KF), ISO 5983-2 /
+AOAC 2001.11 (Kjeldahl); Metrohm OMNIS / 899 and VELP UDK manuals for the native vocabulary (page references in REF).
+"""
+from .. import units
+from ..base import finite, short
+from ..errors import invalid, refused
+from ..verbs import Arg, Opt, Verb, save_to_opt
+from .method_common import MethodAdapter
+
+REF = ('Metrohm OMNIS titrator product manual (titration system, dosing unit, stirrer p.17-38); Metrohm 899 Coulometer manual '
+       '(KF principle, drift, method parameters, determination p.38-71); VELP UDK 159 leaflet and series brochure (operation, '
+       'method library p.4-5)')
+ON_OFF = ('on', 'off', 'stop', '0')
+
+
+class TitrationAdapter(MethodAdapter):
+    CLASS = 'titration'
+    TITLE = 'titration'
+    ABOUT = ('Titrators: declare the titrant, set the titration method in plain units, give the sample size, stir, connect the '
+             'electrode and the beaker, start the titration and follow it as a job, read the curve and the result (content, '
+             'water, nitrogen).')
+    STANDARDS = ('USP <541>, USP <921> / Ph. Eur. 2.5.32, ASTM E1064 (KF), ISO 5983-2 / AOAC 2001.11 (Kjeldahl) terms; '
+                 'Metrohm OMNIS REST vocabulary as vendor style; SiLA 2 has no titration feature')
+    UNIT_KINDS = ('concentration', 'volume', 'voltage', 'duration', 'flow', 'mass', 'mass_flow', 'current', 'rotation')
+    PATH_GROUPS = (('start', 'stop', 'curve', 'result'),)
+    KEYS = {
+        'mode': (None, 'endpoint | dynamic (potentiometric: set end point or dynamic equivalence point)'),
+        'ep': ('voltage', 'end-point potential (endpoint mode), e.g. 0.1V'),
+        'increment': ('volume', 'dose increment, e.g. 0.1mL'),
+        'max': ('volume', 'maximum titrant volume, e.g. 15mL'),
+        'hold': ('duration', 'stability hold (potentiometric) / end-point hold (KF), e.g. 0.5s'),
+        'tolerance': ('voltage', 'stability tolerance of the potential, e.g. 1mV'),
+        'rate': ('flow', 'dosing rate, e.g. 0.5mL/min'),
+        'current': ('current', 'generator current 100mA | 200mA | 400mA (KF coulometer)'),
+        'drift-comp': ('mass_flow', 'drift compensation, e.g. 0ug/min (KF)'),
+        'start-drift': ('mass_flow', 'start drift threshold, e.g. 20ug/min (KF)'),
+        'extraction': ('duration', 'extraction time before titrating (KF)'),
+        'stir': (None, 'stirring level -15..15 during the determination (KF)'),
+        'steam': ('fraction', 'steam power 10%..100% (Kjeldahl)'),
+        'window': ('duration', 'distillation time window (Kjeldahl)'),
+        'water': ('volume', 'dilution water volume (Kjeldahl)'),
+        'base': ('volume', 'NaOH volume (Kjeldahl)'),
+        'boric': ('volume', 'boric acid volume (Kjeldahl)'),
+        'base-conc': ('concentration', 'NaOH concentration (Kjeldahl), e.g. 8mol/L'),
+        'boric-capacity': ('concentration', 'boric acid trapping capacity (Kjeldahl)'),
+        'titrant': ('concentration', 'titrant concentration (Kjeldahl), e.g. 0.2mol/L'),
+        'blank': ('volume', 'blank titrant volume (Kjeldahl), e.g. 0.1mL'),
+        'factor': (None, 'protein conversion factor (Kjeldahl), e.g. 6.25'),
+    }
+    CODES = {
+        'BUSY': ('BUSY', '{inst} is busy.', 'wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).'),
+    }
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        return {
+            'titrant': Verb('titrant', 'declare the titrant concentration (and the dosing cylinder)', self.h_titrant,
+                            positionals=[Arg('CONC', 'titrant concentration, e.g. 0.1M or 100mmol/L', kind='concentration')],
+                            options={'cylinder': Opt('dosing cylinder volume, e.g. 20mL', kind='volume', metavar='VOLUME')},
+                            preconditions=['no titration running and no titrant dosed yet', 'value within the contract range'],
+                            errors=['OUT_OF_RANGE (usage)', 'BUSY, ALREADY_DOSED (refused)'],
+                            example='chemlab run INST titrant 0.1M --cylinder 20mL', reference=REF),
+            'method': Verb('method', 'set the titration method: KEY=VALUE ... (class keys take units; see help)', self.h_method,
+                           variadic=('KEY=VALUE', 'a setting, e.g. mode=dynamic or max=15mL'),
+                           preconditions=['every value inside the contract range', 'no titration running'],
+                           errors=['UNKNOWN_SETTING, OUT_OF_RANGE, BAD_SETTING (usage)', 'BUSY (refused)'],
+                           details=('class keys take units (max=15mL, hold=0.5s, current=400mA); the native argument names of this '
+                                    'instrument work too.  Settings you leave out keep their value (the current setting, the last '
+                                    'accepted method, else the documented default); the reply says which.'),
+                           example='chemlab run INST method mode=dynamic increment=0.1mL max=15mL', reference=REF),
+            'sample': Verb('sample', 'give the sample size for the result calculation', self.h_sample,
+                           positionals=[Arg('SIZE', 'sample mass, e.g. 0.5g or 10mg', kind='mass')],
+                           preconditions=['no determination running'], errors=['OUT_OF_RANGE (usage)', 'BUSY (refused)'],
+                           example='chemlab run INST sample 10mg', reference=REF),
+            'stir': Verb('stir', 'stir at a speed, switch the stirrer on (at a level) or off', self.h_stir,
+                         positionals=[Arg('SPEED|on|off', 'a speed such as 300rpm, or on / off')],
+                         options={'level': Opt('stirring level for stirrers set in levels (-15..15)', metavar='N')},
+                         preconditions=['speed within the range'], errors=['OUT_OF_RANGE, NEEDS_LEVEL, NEEDS_SPEED (usage)', 'BUSY (refused)'],
+                         example='chemlab run INST stir 300rpm', reference=REF),
+            'connect': Verb('connect', 'register the electrode and the titration cell in their slots: PORT=ID ... (ID none = take out)',
+                            self.h_connect, variadic=('PORT=ID', 'e.g. electrode=electrode_01 cell=beaker_01'),
+                            preconditions=['no titration running'], errors=['UNKNOWN_PORT (usage)', 'BUSY (refused)'],
+                            example='chemlab run INST connect electrode=electrode_01 cell=beaker_01', reference=REF),
+            'start': Verb('start', 'start the titration / determination (returns job-N)', self.h_start, long_action=True,
+                          preconditions=['power on', 'titrant, method and stirring set', 'electrode and cell (or tube) in place',
+                                         'a sample in place', 'nothing running'],
+                          errors=['POWER_OFF, NOT_CONNECTED, NO_TITRANT, NO_METHOD, NOT_STIRRING, NO_SAMPLE, BUSY (refused)'],
+                          example='chemlab run INST start', reference=REF),
+            'stop': Verb('stop', 'stop the titration (what was dosed stays dosed)', self.h_stop, preconditions=['a titration running'],
+                         errors=['NOT_RUNNING (refused)'], example='chemlab run INST stop'),
+            'curve': Verb('curve', 'the titration curve (volume or charge against potential, pH or colour)', self.h_record('curve', 'curve'),
+                          readonly=True, options={'save-to': save_to_opt()}, example='chemlab run INST curve --save-to curve.json'),
+            'result': Verb('result', 'the result: end point and content (with --sample), water, or nitrogen', self.h_result, readonly=True,
+                           options={'sample': Opt('sample volume for the content calculation (potentiometric), e.g. 25mL',
+                                                  kind='volume', metavar='VOLUME'),
+                                    'ratio': Opt('moles of analyte per mole of titrant (default 1)', metavar='R'),
+                                    'save-to': save_to_opt()},
+                           preconditions=['the titration has reached its end point (for --sample)'],
+                           errors=['NO_ENDPOINT (refused)'], example='chemlab run INST result --sample 25mL'),
+        }
+
+    # ------------------------------------------------------------------ handlers
+    def h_titrant(self, ctx, p):
+        m = self.vmap('titrant')
+        conc = p.pos[0]
+        self.need(ctx, 'titrant')
+        if m.get('calls'):                                          # the titrant is a field of the method (Kjeldahl)
+            mm = {'calls': m['calls']}
+            calls = self.method_calls(ctx, [(m['key'], p.raw['CONC'])], mm)
+            if p.get('cylinder') is not None:
+                ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s has no dosing cylinder to choose.' % self.instrument_id, 'leave out --cylinder.'))
+            for cap, args, info in calls:
+                ctx.call(cap, args, 'set the titrant to %s (%s)' % (units.fmt(conc, 'concentration'), cap))
+            return {'text': 'ok: %s titrant %s (a method setting; other settings kept)\n' % (self.instrument_id, units.fmt(conc, 'concentration')),
+                    'json': {'concentration_mol_m3': conc, 'calls': [{'capability': c, 'arguments': a} for c, a, _ in calls]}}
+        args = {m['arg']: round(self.arg_value(m['cap'], m['arg'], conc), 12)}
+        self.validate_call(ctx, m['cap'], args, {m['arg']: 'CONC'})
+        cyl = None
+        if p.get('cylinder') is not None:
+            if not m.get('cylinder_cap'):
+                ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s has no dosing cylinder to choose.' % self.instrument_id, 'leave out --cylinder.'))
+            cyl = {m['cylinder_arg']: round(self.arg_value(m['cylinder_cap'], m['cylinder_arg'], p.get('cylinder')), 15)}
+            self.validate_call(ctx, m['cylinder_cap'], cyl, {m['cylinder_arg']: '--cylinder'})
+            ctx.call(m['cylinder_cap'], cyl, 'use the %s cylinder' % units.fmt(p.get('cylinder'), 'volume'))
+        ctx.call(m['cap'], args, 'set the titrant to %s' % units.fmt(conc, 'concentration'))
+        return {'text': 'ok: %s titrant %s%s\n' % (self.instrument_id, units.fmt(conc, 'concentration'),
+                                                   (', cylinder %s' % units.fmt(p.get('cylinder'), 'volume')) if cyl else ''),
+                'json': {'concentration_mol_m3': conc, 'cylinder_m3': p.get('cylinder')}}
+
+    def h_sample(self, ctx, p):
+        m = self.vmap('sample')
+        kg = p.pos[0]
+        self.need(ctx, 'sample')
+        args = dict(m.get('args') or {})
+        args[m['arg']] = round(self.arg_value(m['cap'], m['arg'], kg), 15)
+        self.validate_call(ctx, m['cap'], args, {m['arg']: 'SIZE'})
+        ctx.call(m['cap'], args, 'sample size %s' % units.fmt(kg, 'mass'))
+        return {'text': 'ok: %s sample size %s\n' % (self.instrument_id, units.fmt(kg, 'mass')), 'json': {'sample_mass_kg': kg}}
+
+    def h_stir(self, ctx, p):
+        m = self.vmap('stir')
+        text = p.raw['SPEED|on|off'].strip().lower()
+        level = p.get('level')
+        self.need(ctx, 'stir')
+        if m.get('level_arg'):                                     # a stirrer set in levels with an on/off switch
+            if text not in ('on', 'off', 'stop', '0'):
+                ctx.fail(invalid('NEEDS_LEVEL', '%s sets its stirrer in levels, not as a speed.' % self.instrument_id,
+                                 'write `chemlab run %s stir on --level 8` (levels -15..15) or `stir off`.' % self.instrument_id))
+            args = {m['on_arg']: text == 'on'}
+            if level is not None:
+                if text != 'on':
+                    ctx.fail(invalid('BAD_OPTION', '--level goes with `stir on`.', 'write `stir on --level N`.'))
+                try:
+                    args[m['level_arg']] = int(level)
+                except ValueError:
+                    ctx.fail(invalid('BAD_NUMBER', '--level %s is not a whole number.' % level, 'give a level from -15 to 15.'))
+            self.validate_call(ctx, m['cap'], args, {m['level_arg']: '--level'})
+            ctx.call(m['cap'], args, 'stirrer %s%s' % ('on' if args[m['on_arg']] else 'off', (' at level %d' % args[m['level_arg']]) if
+                                                       m['level_arg'] in args else ''))
+            return {'text': 'ok: %s stirrer %s%s\n' % (self.instrument_id, 'on' if args[m['on_arg']] else 'off',
+                                                      (' at level %d' % args[m['level_arg']]) if m['level_arg'] in args else ''),
+                    'json': {'on': args[m['on_arg']], 'level': args.get(m['level_arg'])}}
+        if level is not None:
+            ctx.fail(invalid('NEEDS_SPEED', '%s sets its stirrer as a speed, not in levels.' % self.instrument_id,
+                             'write e.g. `chemlab run %s stir 300rpm`.' % self.instrument_id))
+        if text == 'on':
+            ctx.fail(invalid('NEEDS_SPEED', '%s needs a stirring speed.' % self.instrument_id,
+                             'write e.g. `chemlab run %s stir 300rpm`.' % self.instrument_id))
+        w = 0.0 if text in ('off', 'stop', '0') else units.parse(text, 'rotation', what='speed')
+        if w == 0.0:
+            self.need(ctx, 'stir-off')
+        args = {m['arg']: self.arg_value(m['cap'], m['arg'], w)}
+        self.validate_call(ctx, m['cap'], args, {m['arg']: 'speed'})
+        ctx.call(m['cap'], args, 'stir at %s' % units.fmt(w, 'rotation') if w else 'stop stirring')
+        return {'text': 'ok: %s %s\n' % (self.instrument_id, ('stirring at %s' % units.fmt(w, 'rotation')) if w else 'stirrer off'),
+                'json': {'speed_rad_s': w, 'speed_rpm': w * 60 / (2 * 3.141592653589793)}}
+
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.running_check(ctx)
+        self.need(ctx, 'start')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'start the titration (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = self.make_job(ctx, m, r, 'titration on %s' % self.instrument_id, stop=self.stop_fn())
+        out = self.job_reply(job, 'ok: %s titration started' % self.instrument_id)
+        out['notes'] = [n.replace('INST', self.instrument_id) for n in (m.get('after') or [])]
+        return out
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.need(ctx, 'stop')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped\n' % self.instrument_id, 'json': {}}
+
+    def h_result(self, ctx, p):
+        m = self.vmap('result')
+        self.need(ctx, 'result')
+        res = {}
+        if p.get('sample') is not None or p.get('ratio') is not None:
+            if not m.get('sample_arg'):
+                ctx.fail(invalid('NOT_ON_THIS_INSTRUMENT', '%s computes its result from its own sample data; it takes no --sample / --ratio.'
+                                 % self.instrument_id, 'see `chemlab help %s result`.' % self.instrument_id))
+            if p.get('sample') is None:
+                ctx.fail(invalid('MISSING_OPTION', '--ratio needs --sample.', 'give the sample volume, e.g. --sample 25mL.'))
+            try:
+                ratio = float(p.get('ratio') or 1)
+            except ValueError:
+                ctx.fail(invalid('BAD_NUMBER', '--ratio %s is not a number.' % p.get('ratio'), 'give e.g. --ratio 1 or --ratio 0.5.'))
+            ep = self.sv(ctx, m['endpoint_slot'])
+            ctx.check(finite(ep), 'NO_ENDPOINT', '%s has no end point yet, so there is no content to compute.' % self.instrument_id,
+                      'run the titration to its end first (`chemlab run %s start`, then wait for the job).' % self.instrument_id,
+                      label='end point found')
+            args = {m['sample_arg']: round(self.arg_value(m['cap'], m['sample_arg'], p.get('sample')), 15), m['ratio_arg']: ratio}
+            self.validate_call(ctx, m['cap'], args, {m['sample_arg']: '--sample', m['ratio_arg']: '--ratio'})
+            r = ctx.call(m['cap'], args, 'compute the content for a %s sample' % units.fmt(p.get('sample'), 'volume'))
+            res.update(r.get('result') or {})
+        elif m.get('cap') and not m.get('sample_arg'):
+            r = ctx.call(m['cap'], dict(m.get('args') or {}), 'read the result (%s)' % m['cap'], query=True)
+            res.update(r.get('result') or {})
+        for s in m.get('reads') or []:
+            res.setdefault(s, ctx.v(s))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        return {'text': '%s result:\n%s\n' % (self.instrument_id, '\n'.join(self.record_lines(res, m.get('show')))), 'json': {'result': res}}
diff --git a/chemlab/chemlab/compile/classes/wash_sterilize.py b/chemlab/chemlab/compile/classes/wash_sterilize.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a76f5cdcfc37307a7e1c31861c142c3dc4f933a
--- /dev/null
+++ b/chemlab/chemlab/compile/classes/wash_sterilize.py
@@ -0,0 +1,419 @@
+"""Washing and sterilization class ("wash_sterilize"): a laboratory glassware washer-disinfector and a steam autoclave -
+programme-based devices.
+
+Verbs: program NAME, configure KEY=VALUE ..., load ID [--kind --mass ...], unload ID, start [--wait] (job-N), stop,
+pause on|off, open / close door|lid, status.  power, ack, estop come from the shared layer.  Members and mappings:
+configs/adapters/wash_sterilize.json.
+
+configure keys (class dictionary, with units): temp=134C (sterilization / wash temperature), time=15min (hold time), end_temp=80C
+(liquids: the temperature below which the chamber may be opened), exhaust=fast|slow_liquids|slow_waste|cooling, drying=on|off.
+A member maps the keys it has; keys outside the dictionary pass through by native argument name.
+
+Class checks before anything is sent: power on; the door / lid closed before a start and the door / lid lock respected (a running
+programme or a chamber under pressure / above its end temperature keeps it locked - EN 285 / ISO 17665 practice); a programme
+selected that may be edited before configure; loads only with the lid open; pause / stop only while a programme runs.
+
+Vendor-neutral terms: ISO 15883 (washer-disinfectors: programme, A0, drying), EN 285 / ISO 17665 (steam sterilization: cycle,
+sterilization temperature and hold time, exhaust, end temperature), ISA-88 programme states (running, held, aborted, complete).
+"""
+import re
+
+from .. import units
+from ..base import ClassAdapter, finite, short
+from ..errors import invalid, refused, unsupported
+from ..jobs import OperationJob, StateJob
+from ..verbs import Arg, Opt, Verb
+
+REF = ('Miele PLW 6111 operating manual: programme selection, start / stop, interruption, drying, door lock; Tuttnauer 3870ELV-D '
+       'operating manual: program selection and editing, start / stop, loads, lid and pressure lock')
+ON_OFF = ['on', 'off']
+KEYS = {'temp': ('temperature', 'sterilization / wash temperature, e.g. 134C'), 'time': ('duration', 'hold time, e.g. 15min'),
+        'end_temp': ('temperature', 'end temperature (liquids), e.g. 80C'), 'exhaust': (None, 'exhaust mode'), 'drying': ('onoff', 'drying on|off')}
+
+
+class WashSterilizeAdapter(ClassAdapter):
+    CLASS = 'wash_sterilize'
+    TITLE = 'washing and sterilization cycles'
+    ABOUT = ('Programme-based cleaning and sterilization: select a programme, change its parameters where the device allows, add loads, '
+             'start it (job-N), pause / resume or stop it, and open / close the door or lid - with the door / lid interlocks checked.')
+    STANDARDS = 'ISO 15883 (washer-disinfectors), EN 285 / ISO 17665 (steam sterilization), ISA-88 programme states'
+    ALWAYS = ('status',)
+    UNIT_KINDS = ('temperature', 'duration', 'mass', 'volume')
+    PATH_GROUPS = (('start', 'stop'),)
+    CODES = {
+        'POWER_OFF': ('POWER_OFF', '{inst} is switched off.', 'switch it on: `chemlab run {inst} power on`.'),
+        'ACCESS_DENIED': ('NOT_YOURS', 'what is running on {inst} was started by someone else; only they can stop, interrupt or change it.',
+                          'wait until it has ended (`chemlab run {inst} status`), or ask whoever started it.'),
+        'PLANT_REQUIRED': ('NOT_SET_UP', '{inst} is not set up in this lab (room and utilities not declared).', 'ask the lab operator.'),
+        'CYCLE_RUNNING': ('BUSY', 'a cycle is running on {inst}.', 'wait for it (`chemlab run {inst} status`) or stop it: `chemlab run {inst} stop`.'),
+        'BUSY': ('BUSY', '{inst} is running a programme.', 'wait for it (`chemlab run {inst} status`) or stop it: `chemlab run {inst} stop`.'),
+        'LID_OPEN': ('LID_OPEN', 'the lid of {inst} is not closed.', 'close it: `chemlab run {inst} close lid`.'),
+        'LID_LOCKED': ('LID_LOCKED', 'the pressure lock of {inst} is engaged (a cycle runs, or the chamber is under pressure or above its end temperature).',
+                       'wait until the cycle has ended and the chamber has cooled (`chemlab run {inst} status`).'),
+        'LID_CLOSED': ('LID_CLOSED', 'the lid of {inst} is closed.', 'open it first: `chemlab run {inst} open lid`.'),
+        'NO_CYCLE': ('NO_CYCLE', 'no cycle is running on {inst}.', 'nothing to stop.'),
+        'NO_WATER_SUPPLY': ('NO_WATER', '{inst} has no purified water supply.', 'ask the lab operator to fill the water reservoir.'),
+        'NO_COOLING_UTILITIES': ('NO_COOLING', '{inst} has no cooling water / compressed air, so cooling programmes are not available.', 'choose another exhaust or ask the lab operator.'),
+        'SERVICE_REQUIRED': ('SERVICE_REQUIRED', '{inst} shows a "call service" message.', 'it cannot start a cycle; ask the lab operator / service.'),
+        'TIME_OUT_OF_RANGE': ('OUT_OF_RANGE', 'that sterilization time is too long for this programme on {inst} (max 99 min unless extended time).', 'give a shorter time or select extended_time.'),
+        'OVERLOAD': ('OVERLOAD', 'the load would exceed the maximum of {inst} (liquids 20 L, solids / waste 20 kg).', 'load less.'),
+        'LOAD_EXISTS': ('LOAD_EXISTS', 'a load with that id is already in {inst}.', 'use another id, or `unload` it first.'),
+        'CONTAINER_OVERFILLED': ('OVERFILLED', 'the liquid does not fit the container volume given.', 'check --mass and --volume.'),
+        'UNKNOWN_LIQUID': ('UNKNOWN_LIQUID', '{inst} does not know that liquid.', 'see `chemlab help {inst} load.add`.'),
+        'MISSING_SETTING': ('MISSING_SETTING', 'a liquid load needs the liquid and the container volume (and a biological indicator both organism and log10 N0).',
+                            'add --liquid and --volume.'),
+    }
+
+    # ------------------------------------------------------------------ helpers
+    def check_mapping(self, lab):
+        visible = {s.lower() for s in lab.view.slots}
+        out = []
+        for pr in ClassAdapter.check_mapping(self, lab):
+            m = re.search(r'no visible state slot (\S+)$', pr)
+            if m and '#' in m.group(1) and m.group(1).split('#', 1)[0].lower() in visible:
+                continue
+            out.append(pr)
+        return out
+
+    def sv(self, values, sid):
+        if sid is None:
+            return None
+        get = values.v if hasattr(values, 'v') else values.get
+        base, _, key = sid.partition('#')
+        v = get(base)
+        return v.get(key) if key and isinstance(v, dict) else v
+
+    def summary(self, values):
+        lines, js = [], {}
+        p = self.slot('power')
+        if p:
+            js['power'] = bool(self.sv(values, p))
+            if not js['power']:
+                return ['power off'], js
+        for role, label in (('program', 'programme'), ('state', 'state'), ('phase', 'phase'), ('remaining', 'remaining'), ('door', 'door / lid closed'),
+                            ('locked', 'door / lid locked'), ('temp', 'temperature'), ('pressure', 'chamber pressure'), ('loads', 'loads')):
+            sid = self.slot(role)
+            if not sid:
+                continue
+            v = self.sv(values, sid)
+            js[role] = v
+            if role == 'remaining':
+                txt = units.fmt_s(v) if finite(v) else 'n/a'
+            elif role == 'temp':
+                txt = units.fmt(v, 'temperature') if finite(v) else 'n/a'
+            elif role == 'pressure':
+                txt = units.fmt(v, 'pressure', 3) if finite(v) else 'n/a'
+            elif role == 'loads':
+                txt = ', '.join(str(x.get('load_id', x)) if isinstance(x, dict) else str(x) for x in (v or [])) or 'none'
+            elif isinstance(v, bool):
+                txt = 'yes' if v else 'no'
+            else:
+                txt = short(v, 120)
+            lines.append('%s: %s' % (label, txt))
+        return (lines or ['(see `chemlab read %s`)' % self.instrument_id]), js
+
+    # ------------------------------------------------------------------ verbs
+    def build_verbs(self):
+        part = [Arg('PART', 'door or lid (optional: it has one)', required=False)]
+        return {
+            'program': Verb('program', 'select the programme / program by name', self.h_program, positionals=[Arg('NAME', 'programme name (see help)')],
+                            preconditions=['power on', 'no programme running'], errors=['UNKNOWN_PROGRAM (usage)', 'BUSY (refused)'],
+                            example='chemlab run INST program universal', reference=REF),
+            'configure': Verb('configure', 'change parameters of the selected programme: temp=, time=, end_temp=, exhaust=, drying=', self.h_configure,
+                              variadic=('KEY=VALUE', 'a parameter with its unit'),
+                              preconditions=['power on', 'no programme running', 'the selected programme may be edited'],
+                              errors=['UNKNOWN_SETTING, OUT_OF_RANGE (usage)', 'NOT_EDITABLE, BUSY (refused)'],
+                              example='chemlab run INST configure temp=121C time=20min', reference=REF),
+            'load': Verb('load', 'put a load into the chamber (lid open)', self.h_load, positionals=[Arg('ID', 'a name for the load, e.g. media_1')],
+                         options={'kind': Opt('liquid | solid | waste', metavar='KIND', required=True),
+                                  'mass': Opt('mass of the load, e.g. 700g', kind='mass', metavar='MASS', required=True),
+                                  'liquid': Opt('liquid loads: the liquid, e.g. water', metavar='NAME'),
+                                  'volume': Opt('liquid loads: container volume, e.g. 1L', kind='volume', metavar='VOL'),
+                                  'material': Opt('container / item material, e.g. borosilicate_glass', metavar='NAME', required=True),
+                                  'closure': Opt('loose | sealed | none', metavar='CLOSURE'),
+                                  'organism': Opt('biological indicator organism', metavar='NAME'),
+                                  'log10': Opt('biological indicator initial log10 count', metavar='N')},
+                         preconditions=['lid open', 'liquid loads: liquid and container volume given'], errors=['LID_CLOSED, OVERLOAD, LOAD_EXISTS (refused)'],
+                         example='chemlab run INST load media_1 --kind liquid --mass 700g --liquid water --volume 1L --material borosilicate_glass --closure loose',
+                         reference=REF),
+            'unload': Verb('unload', 'take a load out of the chamber (lid open)', self.h_unload, positionals=[Arg('ID', 'the load name')],
+                           preconditions=['lid open', 'the load is in the chamber'], errors=['UNKNOWN_LOAD (usage)', 'LID_CLOSED (refused)'],
+                           example='chemlab run INST unload media_1', reference=REF),
+            'start': Verb('start', 'start the selected programme (job-N; --wait blocks until it has ended)', self.h_start, long_action=True,
+                          options={'wait': Opt('wait until the programme has ended', kind='flag'),
+                                   'max': Opt('with --wait: the longest wait (default 3 h)', kind='duration', metavar='TIME')},
+                          preconditions=['power on', 'door / lid closed', 'no programme running', 'baskets pushed in (washer)'],
+                          errors=['DOOR_OPEN, LID_OPEN, BUSY (refused)', 'NOT_COMPLETED (refused: --wait ended badly)'],
+                          example='chemlab run INST start --wait', reference=REF),
+            'stop': Verb('stop', 'stop (cancel) the running programme', self.h_stop, preconditions=['a programme running'], errors=['NO_CYCLE (refused)'],
+                         example='chemlab run INST stop', reference=REF),
+            'pause': Verb('pause', 'interrupt (on) or resume (off) the running programme', self.h_pause, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                          preconditions=['on: a programme running; off: a programme interrupted'], errors=['NOT_RUNNING, NOT_PAUSED (refused)'],
+                          example='chemlab run INST pause on', reference=REF),
+            'open': Verb('open', 'open the door / lid (the lock is checked first)', self.h_part('open'), positionals=part,
+                         preconditions=['no programme running', 'door / lid not locked (pressure, temperature)'], errors=['DOOR_LOCKED, LID_LOCKED (refused)'],
+                         example='chemlab run INST open', reference=REF),
+            'close': Verb('close', 'close the door / lid', self.h_part('close'), positionals=part, preconditions=['baskets pushed in (washer)'],
+                          example='chemlab run INST close', reference=REF),
+        }
+
+    # ------------------------------------------------------------------ program / configure
+    def h_program(self, ctx, p):
+        m = self.vmap('program')
+        name = p.raw['NAME'].strip()
+        enum = self.arg_enum(m['cap'], m['arg'])
+        if enum and name not in enum:
+            close = [e for e in enum if name.lower() in e.lower()][:4]
+            ctx.fail(invalid('UNKNOWN_PROGRAM', '%s has no programme %r.' % (self.instrument_id, name),
+                             ('did you mean %s? ' % ' or '.join(close) if close else '') + 'programmes: %s.' % ', '.join(enum)))
+        self.requirements(ctx, 'program')
+        cur = self.sv(ctx, self.slot('program'))
+        if cur == name:
+            return {'text': 'ok: %s programme %s is already selected\n' % (self.instrument_id, name), 'json': {'program': name, 'changed': False}}
+        ctx.call(m['cap'], {m['arg']: name}, 'select programme %s' % name)
+        return {'text': 'ok: %s programme %s selected%s\n' % (self.instrument_id, name, self.describe_program(ctx)), 'json': {'program': name, 'changed': True}}
+
+    def describe_program(self, ctx):
+        d = self.sv(ctx, self.slot('program_params')) if self.slot('program_params') else None
+        if not isinstance(d, dict):
+            return ''
+        bits = []
+        if finite(d.get('temperature_k')):
+            bits.append(units.fmt(d['temperature_k'], 'temperature'))
+        if finite(d.get('time_s')):
+            bits.append(units.fmt_s(d['time_s']))
+        if d.get('exhaust'):
+            bits.append('exhaust %s' % d['exhaust'])
+        if finite(d.get('end_temperature_k')):
+            bits.append('end %s' % units.fmt(d['end_temperature_k'], 'temperature'))
+        return (' (%s)' % ', '.join(bits)) if bits else ''
+
+    def h_configure(self, ctx, p):
+        m = self.vmap('configure')
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'configure needs at least one KEY=VALUE.', 'see `chemlab help %s configure`.' % self.instrument_id))
+        keys = m.get('keys') or {}
+        calls = {}
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'see `chemlab help %s configure`.' % self.instrument_id))
+            if k not in keys:
+                ok = sorted(keys)
+                reason = ((m.get('not_here') or {}).get(k) or '').replace('INST', self.instrument_id)
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s cannot set %r%s.' % (self.instrument_id, k, (': ' + reason) if reason else ''),
+                                 'settings on %s: %s.' % (self.instrument_id, ', '.join(ok))))
+            spec = keys[k]
+            cap, arg = spec.get('cap', m.get('cap')), spec['arg']
+            kind = KEYS.get(k, (None,))[0]
+            sch = self.cap_schema(cap, arg)
+            if kind == 'onoff':
+                if v.lower() not in ON_OFF:
+                    ctx.fail(invalid('BAD_VALUE', '%s=%s: write on or off.' % (k, v), 'e.g. %s=on.' % k))
+                val = v.lower() == 'on'
+            elif kind in ('temperature', 'duration'):
+                si = units.parse(v, kind, what=k)
+                lo, hi = self.arg_range_si(cap, arg)
+                fmt = (lambda x: units.fmt(x, 'temperature')) if kind == 'temperature' else units.fmt_s
+                if (lo is not None and si < lo - 1e-9) or (hi is not None and si > hi + 1e-9):
+                    ctx.fail(invalid('OUT_OF_RANGE', '%s=%s is outside %s..%s on %s.' % (k, v, fmt(lo), fmt(hi), self.instrument_id),
+                                     'give %s from %s to %s.' % (k, fmt(lo), fmt(hi))))
+                val = round(self.arg_value(cap, arg, si), 6)
+            else:
+                enum = sch.get('enum') or []
+                if enum and v not in enum:
+                    ctx.fail(invalid('BAD_VALUE', '%s=%s is not allowed on %s.' % (k, v, self.instrument_id), 'use one of: %s.' % ', '.join(map(str, enum))))
+                val = v
+            calls.setdefault(cap, {})[arg] = val
+        self.requirements(ctx, 'configure')
+        prog_arg = m.get('program_arg')
+        if prog_arg:
+            cur = self.sv(ctx, self.slot('program'))
+            editable = self.arg_enum(m['cap'], prog_arg)
+            ctx.check(cur in editable, 'NOT_EDITABLE', 'the selected programme of %s (%s) cannot be edited.' % (self.instrument_id, cur),
+                      'select an editable one first (`chemlab run %s program %s`), then configure.' % (self.instrument_id, editable[0] if editable else '...'),
+                      label='programme editable')
+        for cap, args in calls.items():
+            a = dict(args)
+            if prog_arg and cap == m['cap']:
+                a[prog_arg] = self.sv(ctx, self.slot('program'))
+            ctx.call(cap, a, 'set %s' % ', '.join('%s=%s' % kv for kv in args.items()))
+        return {'text': 'ok: %s programme parameters set%s\n' % (self.instrument_id, self.describe_program(ctx)), 'json': {'settings': calls}}
+
+    # ------------------------------------------------------------------ loads
+    def h_load(self, ctx, p):
+        m = self.vmap('load')
+        kind = p.get('kind')
+        kinds = self.arg_enum(m['cap'], 'kind')
+        if kinds and kind not in kinds:
+            ctx.fail(invalid('BAD_VALUE', '--kind %s is not one of %s.' % (kind, ', '.join(kinds)), 'e.g. --kind liquid.'))
+        if kind == 'liquid' and (p.get('liquid') is None or p.get('volume') is None):
+            ctx.fail(invalid('MISSING_SETTING', 'a liquid load needs --liquid and --volume (the container volume).', 'e.g. --liquid water --volume 1L.'))
+        mass = p.get('mass')
+        lo, hi = self.arg_range_si(m['cap'], 'mass_kg')
+        if (lo is not None and mass < lo) or (hi is not None and mass > hi):
+            ctx.fail(invalid('OUT_OF_RANGE', '--mass %s is outside %s..%s.' % (units.fmt(mass, 'mass'), units.fmt(lo, 'mass'), units.fmt(hi, 'mass')), 'give a smaller or larger mass.'))
+        self.requirements(ctx, 'load')
+        args = {'load_id': p.pos[0], 'kind': kind, 'mass_kg': round(self.arg_value(m['cap'], 'mass_kg', mass), 9), 'material': p.get('material')}
+        if p.get('liquid') is not None:
+            args['liquid'] = p.get('liquid')
+        if p.get('volume') is not None:
+            args['container_volume_m3'] = round(self.arg_value(m['cap'], 'container_volume_m3', p.get('volume')), 12)
+        if p.get('closure') is not None:
+            args['closure'] = p.get('closure')
+        if p.get('organism') is not None:
+            args['organism'] = p.get('organism')
+        if p.get('log10') is not None:
+            try:
+                args['log10_n0'] = float(p.get('log10'))
+            except ValueError:
+                ctx.fail(invalid('BAD_VALUE', '--log10 takes a number.', 'e.g. --log10 6.'))
+        ctx.call(m['cap'], args, 'load %s' % p.pos[0])
+        return {'text': 'ok: %s loaded %s (%s, %s)\n' % (self.instrument_id, p.pos[0], kind, units.fmt(mass, 'mass')), 'json': {'load': args}}
+
+    def h_unload(self, ctx, p):
+        m = self.vmap('unload')
+        loads = self.sv(ctx, self.slot('loads')) or []
+        ids = [x.get('load_id') if isinstance(x, dict) else x for x in loads]
+        if p.pos[0] not in ids:
+            ctx.fail(invalid('UNKNOWN_LOAD', '%s has no load %r.' % (self.instrument_id, p.pos[0]), 'loads: %s.' % (', '.join(map(str, ids)) or 'none')))
+        self.requirements(ctx, 'unload')
+        ctx.call(m['cap'], {m['arg']: p.pos[0]}, 'unload %s' % p.pos[0])
+        return {'text': 'ok: %s unloaded %s\n' % (self.instrument_id, p.pos[0]), 'json': {'unloaded': p.pos[0]}}
+
+    # ------------------------------------------------------------------ start / stop / pause
+    def h_start(self, ctx, p):
+        m = self.vmap('start')
+        self.requirements(ctx, 'start')
+        r = ctx.call(m['cap'], dict(m.get('args') or {}), 'start programme %s' % (self.sv(ctx, self.slot('program')) or ''))
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        prog = self.sv(ctx, self.slot('program'))
+        desc = 'programme %s on %s' % (prog, self.instrument_id)
+        st = m.get('state')
+        stop_spec = self.vmap('stop')
+
+        def stop(c):
+            c.call(stop_spec['cap'], dict(stop_spec.get('args') or {}), 'stop the programme')
+            return 'stopped with %s' % stop_spec['cap']
+        if r.get('operation_id') and m.get('job', 'operation') == 'operation':
+            job = OperationJob(ctx.core, self, ctx.req, desc, m['cap'], r['operation_id'])
+        else:
+            ad = self
+            final = {}
+
+            def state(c):
+                if final:
+                    return final['r']
+                v = ad.sv(c, st['slot'])
+                rem = ad.sv(c, ad.slot('remaining')) if ad.slot('remaining') else None
+                prog_txt = '%s = %s%s' % (st['slot'], v, (', about %s left' % units.fmt_s(rem)) if finite(rem) else '')
+                js = {'state': v, 'remaining_s': rem}
+                if v in st['done']:
+                    final['r'] = ('succeeded', prog_txt, js)
+                elif v in st['failed']:
+                    final['r'] = ('failed', prog_txt, js)
+                return final.get('r', ('paused' if v in st.get('paused', []) else 'running', prog_txt, js))
+            job = StateJob(ctx.core, self, ctx.req, desc, state, stop=stop, max_s=float(m.get('max_s', 14400)), poll_s=5.0)
+        if p.get('wait'):
+            w = job.wait_reply(ctx.core, ctx.req, p.get('max') or 10800.0)
+            ctx.refresh()
+            if w['json'].get('status') != 'succeeded':
+                ctx.fail(refused('NOT_COMPLETED', 'the programme on %s ended as %s.' % (self.instrument_id, w['json'].get('status')),
+                                 'see `chemlab run %s status`.' % self.instrument_id, detail={'job': job.handle}))
+            return {'text': 'ok: %s finished (%s)\n%s' % (desc, job.handle, w['text']), 'json': dict(w['json'], job=job.handle)}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, desc, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'program': prog}}
+
+    def h_stop(self, ctx, p):
+        m = self.vmap('stop')
+        self.requirements(ctx, 'stop')
+        ctx.call(m['cap'], dict(m.get('args') or {}), 'stop the programme')
+        return {'text': 'ok: %s programme stopped (%s)\n' % (self.instrument_id, short(self.sv(ctx, self.slot('state')), 80)), 'json': {'stopped': True}}
+
+    def h_pause(self, ctx, p):
+        m = self.vmap('pause')
+        want = p.pos[0] == 'on'
+        self.requirements(ctx, 'pause:' + ('on' if want else 'off'))
+        cap = m['on_cap'] if want else m['off_cap']
+        ctx.call(cap, {}, 'interrupt the programme' if want else 'resume the programme')
+        return {'text': 'ok: %s programme %s (%s)\n' % (self.instrument_id, 'interrupted' if want else 'resumed', short(self.sv(ctx, self.slot('state')), 60)),
+                'json': {'paused': want}}
+
+    # ------------------------------------------------------------------ door / lid
+    def h_part(self, action):
+        def h(ctx, p):
+            parts = (self.vmap('open') or {}).get('parts') or {}
+            name = p.pos[0] if p.pos else (next(iter(parts)) if len(parts) == 1 else None)
+            if name not in parts:
+                ctx.fail(invalid('UNKNOWN_PART', '%s has no part %r to %s.' % (self.instrument_id, name, action), 'parts: %s.' % ', '.join(parts)))
+            spec = parts[name]
+            want = action == 'open'
+
+            def is_closed():
+                if spec.get('closed_slot'):
+                    return bool(self.sv(ctx, spec['closed_slot']))
+                a = self.sv(ctx, spec['angle_slot'])
+                return finite(a) and a <= 1e-6
+
+            def is_open():
+                if spec.get('angle_slot') and spec.get('open_angle') is not None:
+                    a = self.sv(ctx, spec['angle_slot'])
+                    return finite(a) and a >= float(spec['open_angle']) - 1e-6
+                return not is_closed()
+            if (not want and is_closed()) or (want and is_open()):
+                return {'text': 'ok: %s %s is already %s\n' % (self.instrument_id, name, 'open' if want else 'closed'), 'json': {'part': name, 'changed': False}}
+            if want:
+                err = self.cooling_lock(ctx)                       # say why the lock is still on after the cycle, with the temperatures
+                if err is not None:
+                    ctx.fail(err)
+            self.requirements(ctx, '%s:%s' % (action, name))
+            if spec.get('%s_cap' % action):
+                ctx.call(spec['%s_cap' % action], {}, '%s the %s' % (action, name))
+            else:
+                ctx.call(spec['cap'], {spec['arg']: spec[action]}, '%s the %s' % (action, name))
+            waited = ''
+            if spec.get('settle_s') and not ctx.dry_run:
+                done = is_open if want else is_closed
+                if not done():
+                    w = ctx.advance(float(spec['settle_s']), until=lambda v: done(), step='wait until the %s is %s' % (name, 'open' if want else 'closed'), poll_s=0.5)
+                    waited = ' (after %s)' % units.fmt_s(w)
+            return {'text': 'ok: %s %s %s%s\n' % (self.instrument_id, name, 'opened' if want else 'closed', waited), 'json': {'part': name, 'action': action}}
+        return h
+
+    def cooling_lock(self, ctx):
+        """After a cycle the lid / door stays locked until the chamber has cooled to the programme's end temperature (tuttnauer 1.2.1,
+        manual p.42): a LID_LOCKED refusal that says so, with both temperatures - or None when that is not the reason."""
+        locked = self.slot('locked')
+        if not (locked and self.sv(ctx, locked) and self.slot('temp') and self.slot('program_params')):
+            return None
+        t1 = self.sv(ctx, self.slot('temp'))
+        t2 = self.sv(ctx, self.slot('temp2')) if self.slot('temp2') else None   # load probe with a liquid load (both must cool)
+        t = max([x for x in (t1, t2) if finite(x)] or [None]) if finite(t1) or finite(t2) else None
+        end = (self.sv(ctx, self.slot('program_params')) or {}).get('end_temperature_k')
+        st = self.sv(ctx, self.slot('state').split('#', 1)[0]) if self.slot('state') else None
+        ended = isinstance(st, dict) and (st.get('result') is not None or st.get('stage') in (None, 'idle', 'ready'))
+        if not (finite(t) and finite(end)) or not ended or t <= end:      # still in the cycle (exhaust ...): the generic lock text
+            return None
+        inst = self.instrument_id
+        now = ('%.1f °C chamber, %.1f °C load probe' % (t1 - 273.15, t2 - 273.15)) if finite(t1) and finite(t2) else '%.1f °C' % (t - 273.15)
+        return refused('LID_LOCKED', 'the lid of %s stays locked until the chamber (and a liquid load) has cooled to the end temperature (now %s; end %.1f °C).'
+                       % (inst, now, end - 273.15),
+                       'wait for it to cool (`chemlab wait 600`; `chemlab run %s status` shows the temperature), then open the lid again.' % inst)
+
+    def explain_refusal(self, ctx, cap, args, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'LID_LOCKED':
+            ctx.refresh()
+            err = self.cooling_lock(ctx)
+            if err is not None:
+                return err
+        if code == 'PRECONDITION_FAILED':
+            ctx.refresh()
+            pw = self.slot('power')
+            if pw and not self.sv(ctx, pw):
+                return refused('POWER_OFF', '%s is switched off (it answered %s).' % (self.instrument_id, code), 'switch it on: `chemlab run %s power on`.' % self.instrument_id)
+        return ClassAdapter.explain_refusal(self, ctx, cap, args, response)
+
+
+_ = unsupported
diff --git a/chemlab/chemlab/compile/ctx.py b/chemlab/chemlab/compile/ctx.py
new file mode 100644
index 0000000000000000000000000000000000000000..670d18f0b1c1d52fd52a83c1b2e5c3b291430cbe
--- /dev/null
+++ b/chemlab/chemlab/compile/ctx.py
@@ -0,0 +1,164 @@
+"""One class-verb request: the caller's agent view of the instrument, native calls with contract validation, read-back and
+refusal explanation, the dry-run plan, waiting on the lab clock, and the list of steps done (for partial-progress reports).
+
+Everything goes through ``core.backend`` with the caller's own agent principal, exactly like `chemlab call` and `chemlab read`;
+every native call and clock advance is recorded in the request's ``backend_calls`` (the log, and the lowering tests).
+"""
+import copy
+
+from ..contract import validate
+from .errors import CompileError, invalid, refused, unexpected
+
+OK = ('succeeded', 'accepted', 'running')
+
+
+class Ctx:
+    def __init__(self, adapter, core, req, verb=None, parsed=None, dry_run=False):
+        self.ad, self.core, self.req = adapter, core, req
+        self.inst = req.instrument
+        self.caller = req.caller
+        self.verb = verb
+        self.args = parsed
+        self.dry_run = bool(dry_run)
+        self.plan, self.done, self.notes, self.checks, self.unchecked = [], [], [], [], []
+        self.changed = False
+        self.view, self.quality = None, {}
+        self.waited_s = 0.0
+        self.shadow = None
+        self._n = 0
+        self.lab = core.backend.instruments[self.inst]
+        self.refresh()
+
+    # ------------------------------------------------------------------ state
+    def refresh(self):
+        """Read every agent-visible slot (agent principal).  In a dry run the shadow view is kept after the first read."""
+        if self.dry_run and self.view is not None:
+            return self.view
+        r = self.core.backend.read(self.caller, self.inst, None)
+        self.core._record(self.req.calls, self.inst, 'read', state_ids=None, status=r.get('status'),
+                          code=(r.get('error') or {}).get('code'))
+        if r.get('status') != 'succeeded':
+            raise unexpected('READ_FAILED', 'reading %s failed (%s).' % (self.inst, (r.get('error') or {}).get('code')),
+                             'retry; if it persists the instrument needs attention.', changed='yes' if self.changed else 'no',
+                             done=self.done)
+        obs = r.get('observations') or {}
+        self.view = {k: (o.get('value') if isinstance(o, dict) else o) for k, o in obs.items()}
+        self.quality = {k: (o.get('quality') if isinstance(o, dict) else None) for k, o in obs.items()}
+        self.view['_time_s'] = self.core.backend.now()
+        return self.view
+
+    def v(self, slot, default=None):
+        """Value of a slot by contract id or runtime id (case aliases are resolved)."""
+        if slot is None:
+            return default
+        if slot in self.view:
+            return self.view[slot]
+        low = {k.lower(): k for k in self.view}
+        k = low.get(slot.lower())
+        return self.view[k] if k is not None else default
+
+    def now(self):
+        return self.core.backend.now()
+
+    # ------------------------------------------------------------------ native calls
+    def cap_spec(self, cap):
+        return self.lab.contract['capabilities'].get(cap) or {}
+
+    def call(self, cap, args, step, *, refusal=None, readback=None, shadow=None, query=False):
+        """Send one capability call as the caller.  ``step``: plain text for plans and reports.  ``refusal(response)`` -> a
+        CompileError for a refused call (or None for the class's default explanation).  ``readback(view)`` -> problem text or None.
+        ``shadow(view)`` updates the dry-run view.  ``query``: a read-only capability (does not count as a change)."""
+        v = self.lab.view
+        if cap not in v.capabilities:
+            raise unexpected('ADAPTER_BUILT_INVALID_CALL', 'the %s adapter tried %s, which %s does not offer.' % (self.ad.CLASS, cap, self.inst),
+                             'report this; nothing was sent.', changed='yes' if self.changed else 'no', done=self.done)
+        problems = validate((self.cap_spec(cap).get('input_schema') or {'type': 'object', 'properties': {}}), args, cap)
+        if problems:
+            raise unexpected('ADAPTER_BUILT_INVALID_CALL', 'the %s adapter built an invalid %s call: %s.' % (self.ad.CLASS, cap, '; '.join(problems)),
+                             'report this; nothing was sent.', changed='yes' if self.changed else 'no', done=self.done)
+        if self.dry_run and query:
+            return {'status': 'succeeded', 'result': None, 'dry_run': True}
+        if self.dry_run:
+            self.plan.append({'capability': cap, 'arguments': copy.deepcopy(args), 'step': step})
+            if shadow:
+                shadow(self.view)
+            self.ad.shadow(self, cap, args)
+            return {'status': 'succeeded', 'result': {}}
+        self._n += 1
+        rid = '%s.%d' % (self.req.request_id, self._n)
+        r = self.core.backend.invoke(self.caller, self.inst, cap, copy.deepcopy(args), rid)
+        err = r.get('error') or {}
+        self.core._record(self.req.calls, self.inst, 'invoke', capability=cap, arguments=copy.deepcopy(args), request_id=rid,
+                          status=r.get('status'), code=err.get('code'), operation_id=r.get('operation_id'))
+        if r.get('status') not in OK:
+            exc = refusal(r) if refusal else None
+            if exc is None:
+                exc = self.ad.explain_refusal(self, cap, args, r)
+            self.fail(exc, cap, r)
+        if not query:
+            self.changed = True
+            self.done.append(step)
+        self.refresh()
+        problem = readback(self.view) if readback else None
+        if problem:
+            raise unexpected('READBACK_MISMATCH', 'after %s, %s reports %s.' % (step, self.inst, problem),
+                             'check `chemlab run %s status`; the instrument is not in the state the command should have produced.' % self.inst,
+                             changed='unknown', done=self.done)
+        return r
+
+    def fail(self, exc, cap=None, response=None):
+        """Raise ``exc`` with the steps done so far and what the instrument said."""
+        if not isinstance(exc, CompileError):
+            raise exc
+        if response is not None and cap is not None:
+            err = response.get('error') or {}
+            contract = self.ad.contract_error_text(self, cap, err.get('code'))
+            exc.backend = {'capability': cap, 'status': response.get('status'), 'code': err.get('code'),
+                           'message': err.get('message'), 'contract': contract}
+            side = err.get('side_effects')
+            if side and side not in ('none',):
+                exc.side_effects = side
+            if side == 'unknown':
+                exc.changed = 'unknown'
+        exc.done = list(self.done) + [d for d in exc.done if d not in self.done]
+        if exc.changed == 'no' and self.changed:
+            exc.changed = 'yes'
+        raise exc
+
+    # ------------------------------------------------------------------ time
+    def advance(self, seconds, until=None, step='wait', poll_s=1.0):
+        """Let lab time pass (all instruments), optionally until ``until(view)`` is true (checked every ``poll_s`` of lab time).
+        Returns the seconds waited."""
+        if seconds <= 0:
+            return 0.0
+        if self.dry_run:
+            self.plan.append({'capability': None, 'arguments': {'seconds': seconds}, 'step': '%s (up to %s of lab time)' % (step, _fmt_s(seconds))})
+            return 0.0
+        t0 = self.now()
+        cond = None
+        if until is not None:
+            last = [t0]
+
+            def cond():
+                if self.now() - last[0] + 1e-9 < poll_s:
+                    return False
+                last[0] = self.now()
+                return bool(until(self.refresh()))
+        self.core.backend.advance(seconds, until=cond)
+        waited = self.now() - t0
+        self.core._record(self.req.calls, None, 'advance', seconds=waited)
+        self.waited_s += waited
+        self.refresh()
+        return waited
+
+    def check(self, ok, code, message, fix, kind='refused', label=None, **kw):
+        """A class-level precondition: raise a refused (or usage) error when not ok; else note it for the dry-run report."""
+        if not ok:
+            exc = (invalid if kind == 'usage' else refused)(code, message, fix, **kw)
+            self.fail(exc)
+        self.checks.append(label or code.lower().replace('_', ' '))
+
+
+def _fmt_s(s):
+    from .units import fmt_s
+    return fmt_s(s)
diff --git a/chemlab/chemlab/compile/deck.py b/chemlab/chemlab/compile/deck.py
new file mode 100644
index 0000000000000000000000000000000000000000..0db25a5dedf5b49435afd272b44c8d76eba7afe1
--- /dev/null
+++ b/chemlab/chemlab/compile/deck.py
@@ -0,0 +1,149 @@
+"""Named locations on a deck: LABWARE:WELL (plate:A1), lists (plate:A1,plate:B1), ranges (plate:A1-A6, down each column as
+Opentrons orders wells), trash, home.
+
+The registry is lab-config data (the operator's description of the deck: which labware is in which slot), turned into wells,
+joint targets and capacities with the instrument's contract geometry.  It never holds liquid volumes.  The same registry is
+used on both sides: the trusted host's scene registers tips and containers with the runtime from it, and the class adapter
+turns names into positions with it.
+
+Lab config entry (the liquid class's Flex):
+
+    "deck": {"labware": [{"name": "plate", "type": "corning_96_wellplate_360ul_flat", "slot": "C2"}, ...],
+             "trash": "A1", "home_m": {"x_m": 0.24, "y_m": 0.21, "z_m": 0.22}, "command_s": 1.0}
+
+Labware types are the Opentrons load names of the pilot (chemlab/backend.py LABWARE_TYPES).
+"""
+import copy
+import difflib
+import re
+
+from ..backend import DECK_SCALE, LABWARE_TYPES, LIMITS, ROW_NAMES, TRASH_Z_M, well_names
+from .errors import invalid
+
+
+class DeckError(Exception):
+    pass
+
+
+def _target(geometry, slot, row, col, lw):
+    sx, sy, _ = geometry[slot]['position_m']
+    pos = {'x_m': round(DECK_SCALE * sx + (col - (lw['cols'] - 1) / 2.0) * lw['pitch_m'], 6),
+           'y_m': round(DECK_SCALE * sy - (row - (lw['rows'] - 1) / 2.0) * lw['pitch_m'], 6),
+           'z_m': lw['z_m']}
+    for k, (lo, hi) in LIMITS.items():
+        if not lo <= pos[k] <= hi:
+            raise DeckError('well %s%d of a labware on %s is outside the travel box' % (ROW_NAMES[row], col + 1, slot))
+    return pos
+
+
+def build_registry(deck, contract):
+    """{'labware': [...], 'trash': {...}, 'home_m', 'limits_m', 'command_s'} from a deck spec and the contract geometry."""
+    geometry = contract['extensions']['chemistry_lab.geometry_contract']['slots']
+    labware, used = [], {}
+    for spec in deck.get('labware', []):
+        name, slot, ltype = spec['name'], spec['slot'], spec['type']
+        if ltype not in LABWARE_TYPES:
+            raise DeckError('unknown labware type %r' % ltype)
+        if slot in used or geometry.get(slot, {}).get('kind') != 'working':
+            raise DeckError('slot %r is taken or not a working slot' % slot)
+        used[slot] = name
+        lw = LABWARE_TYPES[ltype]
+        entry = {'name': name, 'type': ltype, 'display': lw['display'], 'kind': lw['kind'], 'slot': slot, 'rows': lw['rows'], 'cols': lw['cols'],
+                 'wells': {}}
+        present = None
+        if lw['kind'] == 'tiprack':
+            entry['tip_capacity_m3'] = lw['tip_capacity_m3']
+            p = spec.get('tips', 'all')
+            present = set(well_names(lw['rows'], lw['cols'])) if p == 'all' else set(p)
+        else:
+            entry['well_capacity_m3'] = lw['well_capacity_m3']
+        for n in well_names(lw['rows'], lw['cols']):
+            row, col = ROW_NAMES.index(n[0]), int(n[1:]) - 1
+            w = {'well': n, 'position_m': _target(geometry, slot, row, col, lw)}
+            if lw['kind'] == 'tiprack':
+                w['tip_id'] = '%s_%s' % (name, n) if n in present else None
+            else:
+                w['container_id'] = '%s_%s' % (name, n)
+                w['capacity_m3'] = lw['well_capacity_m3']
+            entry['wells'][n] = w
+        labware.append(entry)
+    trash_slot = deck.get('trash', 'A1')
+    sx, sy, _ = geometry[trash_slot]['position_m']
+    trash = {'slot': trash_slot, 'position_m': {'x_m': round(DECK_SCALE * sx, 6), 'y_m': round(DECK_SCALE * sy, 6), 'z_m': TRASH_Z_M}}
+    return {'labware': labware, 'trash': trash, 'home_m': dict(deck.get('home_m') or {'x_m': 0.24, 'y_m': 0.21, 'z_m': 0.22}),
+            'limits_m': copy.deepcopy(LIMITS), 'command_s': float(deck.get('command_s', 1.0))}
+
+
+class Loc:
+    def __init__(self, kind, name, position, labware=None, well=None, container_id=None, capacity_m3=None, slot=None):
+        self.kind, self.name, self.position = kind, name, position
+        self.labware, self.well, self.container_id, self.capacity_m3, self.slot = labware, well, container_id, capacity_m3, slot
+
+
+class Deck:
+    """Name -> location lookups on a registry (agent side; no volumes)."""
+    KINDS = {'liquid': 'a well of a reservoir, plate or tube rack (e.g. plate:A1)', 'tip': 'a tip-rack well (e.g. tiprack1000:A1)',
+             'trash': 'trash', 'home': 'home'}
+
+    def __init__(self, registry, inst='flex'):
+        self.reg, self.inst = registry, inst
+        self.labware = {lw['name']: lw for lw in registry['labware']}
+        self.by_id = {}
+        for lw in registry['labware']:
+            for w in lw['wells'].values():
+                for key in ('tip_id', 'container_id'):
+                    if w.get(key):
+                        self.by_id[w[key]] = (lw['name'], w['well'])
+
+    def well_span(self, name):
+        lw = self.labware[name]
+        return 'A1-%s%d' % (ROW_NAMES[lw['rows'] - 1], lw['cols'])
+
+    def parse(self, text, allow, what='location'):
+        t = (text or '').strip()
+        wanted = ' or '.join(self.KINDS[k] for k in allow)
+        if t in ('trash', 'home'):
+            if t not in allow:
+                raise invalid('WRONG_LOCATION_KIND', '%s cannot be %s here.' % (what, t), 'give %s.' % wanted)
+            if t == 'trash':
+                return Loc('trash', 'trash', self.reg['trash']['position_m'], slot=self.reg['trash']['slot'])
+            return Loc('home', 'home', self.reg['home_m'])
+        name, sep, well = t.partition(':')
+        names = ', '.join(sorted(self.labware))
+        if not sep:
+            if t in self.labware:
+                raise invalid('WELL_MISSING', '%r is a labware; name one of its wells.' % t, 'write %s:A1 (wells %s).' % (t, self.well_span(t)))
+            raise invalid('UNKNOWN_LOCATION', 'unknown %s %r.' % (what, t), 'locations are LABWARE:WELL, trash or home; labware here: %s.' % names)
+        lw = self.labware.get(name)
+        if lw is None:
+            close = difflib.get_close_matches(name, list(self.labware), 1)
+            raise invalid('UNKNOWN_LABWARE', 'there is no labware %r on the deck.' % name,
+                          ('did you mean %s? ' % close[0] if close else '') + 'labware here: %s (see `chemlab run %s labware`).' % (names, self.inst))
+        w = lw['wells'].get(well.upper())
+        if w is None:
+            raise invalid('UNKNOWN_WELL', '%s has no well %r.' % (name, well), '%s has wells %s.' % (name, self.well_span(name)))
+        kind = 'tip' if lw['kind'] == 'tiprack' else 'liquid'
+        if kind not in allow:
+            raise invalid('WRONG_LOCATION_KIND', '%s:%s is %s, but %s must be %s.' % (name, w['well'], self.KINDS[kind].split(' (')[0], what, wanted),
+                          'give %s.' % wanted)
+        return Loc(kind, '%s:%s' % (name, w['well']), w['position_m'], labware=lw, well=w['well'], container_id=w.get('container_id'),
+                   capacity_m3=w.get('capacity_m3'), slot=lw['slot'])
+
+    def parse_many(self, text, allow, what):
+        out = []
+        for part in [p for p in (text or '').split(',') if p.strip()]:
+            m = re.fullmatch(r'\s*([A-Za-z0-9_.-]+):([A-Ha-h])(\d{1,2})-([A-Ha-h])(\d{1,2})\s*', part)
+            if m:
+                lw, r1, c1, r2, c2 = m.group(1), ROW_NAMES.index(m.group(2).upper()), int(m.group(3)), ROW_NAMES.index(m.group(4).upper()), int(m.group(5))
+                for c in range(min(c1, c2), max(c1, c2) + 1):                   # Opentrons order: down each column
+                    for r in range(min(r1, r2), max(r1, r2) + 1):
+                        out.append(self.parse('%s:%s%d' % (lw, ROW_NAMES[r], c), allow, what))
+            else:
+                out.append(self.parse(part, allow, what))
+        if not out:
+            raise invalid('MISSING_VALUE', '%s is empty.' % what, 'give one or more locations, e.g. plate:A1,plate:A2 or plate:A1-A6.')
+        return out
+
+    def name_of_id(self, object_id):
+        loc = self.by_id.get(object_id)
+        return '%s:%s' % loc if loc else None
diff --git a/chemlab/chemlab/compile/errors.py b/chemlab/chemlab/compile/errors.py
new file mode 100644
index 0000000000000000000000000000000000000000..2f12e5ab9becb6af2796c1b0eea0fbe6158e07fb
--- /dev/null
+++ b/chemlab/chemlab/compile/errors.py
@@ -0,0 +1,87 @@
+"""The compile layer's error format: what is wrong, how to fix it, whether the instrument changed, and the steps done before the
+error (composite verbs).  A CompileError is a generic CmdError, so the generic service prints it, filters it and logs it like
+any other answer; exit codes stay the generic ones:
+
+    2 usage        the command itself is wrong (unit, range, unknown verb or location); nothing was sent
+    3 refused      the instrument refused (or a documented precondition is not met), with the reason in plain words
+    4 unexpected   anything not foreseen (a runtime exception, a read-back that does not match)
+    6 unsupported  this instrument has no such function (class verb not supported on this member)
+
+Text form:
+
+    error[refused/UNSTABLE]: the reading of ohaus_px224e is not stable (a draft-shield door is open).
+    fix: close the doors (`chemlab run ohaus_px224e door close`), then retry; or add --wait 30s.
+    instrument changed: no
+    instrument said: weighing.tare -> rejected UNSTABLE (contract: 读数不稳定)
+    request: r-0007
+"""
+from ..generic import CmdError
+
+KIND_ALIASES = {'validation': 'usage', 'defined': 'refused', 'undefined': 'unexpected'}   # pilot error classes -> generic kinds
+
+
+class CompileError(CmdError):
+    def __init__(self, kind, code, message, fix=None, *, changed='no', done=None, backend=None, detail=None, see=None):
+        kind = KIND_ALIASES.get(kind, kind)
+        side = 'none (nothing was sent)' if kind == 'usage' else ('none' if changed == 'no' else 'see "instrument changed"')
+        super().__init__(kind, code, message, fix=fix, side_effects=side, see=see)
+        self.changed = changed            # 'no' | 'yes' | 'unknown' | free text
+        self.done = list(done or [])      # steps completed before the error
+        self.backend = backend            # {'capability', 'status', 'code', 'message', 'contract'} of the refused call
+        self.detail = dict(detail or {})
+
+    def to_json(self):
+        out = super().to_json()
+        out['instrument_changed'] = self.changed
+        out['done'] = list(self.done)
+        if self.backend:
+            out['backend'] = self.backend
+        if self.detail:
+            out['detail'] = self.detail
+        return out
+
+    def to_text(self, request_id):
+        lines = ['error[%s/%s]: %s' % (self.kind, self.code, self.message)]
+        if self.fix:
+            lines.append('fix: %s' % self.fix)
+        changed = 'instrument changed: %s' % self.changed
+        steps = [d for d in self.done if not d.startswith('move to ')]
+        if steps:
+            changed += ' - done before the error: ' + '; '.join(steps)
+        elif self.done:
+            changed += ' - it moved (%s)' % self.done[-1]
+        lines.append(changed)
+        b = self.backend or {}
+        if b.get('capability'):
+            said = '%s -> %s %s' % (b['capability'], b.get('status'), b.get('code') or '')
+            if b.get('contract'):
+                said += ' (contract: %s)' % b['contract']
+            lines.append('instrument said: %s' % said.strip())
+        if self.see:
+            lines.append('see: %s' % self.see)
+        lines.append('request: %s' % request_id)
+        return '\n'.join(lines) + '\n'
+
+
+def invalid(code, message, fix=None, **kw):
+    return CompileError('usage', code, message, fix, **kw)
+
+
+def refused(code, message, fix=None, **kw):
+    return CompileError('refused', code, message, fix, **kw)
+
+
+def unexpected(code, message, fix=None, **kw):
+    kw.setdefault('changed', 'unknown')
+    return CompileError('unexpected', code, message, fix, **kw)
+
+
+def unsupported(code, message, fix=None, **kw):
+    return CompileError('unsupported', code, message, fix, **kw)
+
+
+def from_pilot(exc):
+    """A pilot ChemlabError (validation / defined / undefined) -> CompileError with the same fields."""
+    e = CompileError(exc.kind, exc.code, exc.message, exc.fix, changed=exc.changed, done=exc.done, backend=exc.backend,
+                     detail=exc.detail)
+    return e
diff --git a/chemlab/chemlab/compile/fragments.py b/chemlab/chemlab/compile/fragments.py
new file mode 100644
index 0000000000000000000000000000000000000000..7a05894a07951c624a2f57fa16cfd49303b4cd55
--- /dev/null
+++ b/chemlab/chemlab/compile/fragments.py
@@ -0,0 +1,187 @@
+"""Per-class config fragments: configs/adapters/<class>.json, merged at lab load (one file per class, so agents adding classes
+in parallel never edit the same file; all203.json is not touched).
+
+A fragment:
+
+    {"class": "balance",
+     "adapter": "chemlab.compile.classes.balance:BalanceAdapter",
+     "about": "...", "membership": {...decisions, excluded instruments with reasons...},
+     "members": {"<asset slug>": {"role": "primary"|"secondary", "verbs": {...}, "slots": {...}, "params": {...},
+                                   "codes": {...}, "unsupported": {...}, "alternatives": {...}, "notes": {...}}}}
+
+Members are matched by asset type (asset_type_id without "instrument."), so a lab may name its instruments freely (two balances
+"bal1" / "bal2" of one type both get the adapter).  A config entry that names its own "adapter" keeps it.  An instrument in
+several fragments gets a CompositeAdapter, in this order: class fragments before a generated shared / thin fragment
+("layer": "shared"), primary role before secondary, then by class name.  A verb belongs to the first part that supports it, so
+a class fragment overrides the shared verbs it defines and the shared layer still answers the verbs the class does not have.  The lab config can switch fragments off ("class_adapters": false), point to another directory
+("class_adapters": "path/to/dir"), or keep only some classes ("class_adapters": ["balance"]).
+"""
+import importlib
+import json
+import os
+import time
+from pathlib import Path
+
+from ..adapters import InstrumentAdapter
+
+FRAGMENT_DIR = Path(__file__).resolve().parents[2] / 'configs' / 'adapters'
+
+
+def write_json_atomic(path, obj):
+    """Write a fragment (or any JSON file a lab may be loading right now) atomically: a temp file in the same directory, then
+    rename, so a reader never sees a half-written file."""
+    path = Path(path)
+    tmp = path.with_name('.%s.%d.tmp' % (path.name, os.getpid()))
+    tmp.write_text(json.dumps(obj, ensure_ascii=False, indent=1) + '\n', encoding='utf-8')
+    os.replace(tmp, path)
+
+
+def _read_json(f):
+    """A fragment file; one retry after a short pause on a decode error (a generator still writing it non-atomically)."""
+    try:
+        return json.loads(f.read_text(encoding='utf-8'))
+    except ValueError:
+        time.sleep(0.5)
+        return json.loads(f.read_text(encoding='utf-8'))
+
+
+def load_fragments(directory=None, only=None):
+    d = Path(directory) if directory else FRAGMENT_DIR
+    out = []
+    if not d.is_dir():
+        return out
+    for f in sorted(d.glob('*.json')):
+        frag = _read_json(f)
+        frag.setdefault('class', f.stem)
+        frag['_path'] = str(f)
+        if only is not None and frag['class'] not in only:
+            continue
+        out.append(frag)
+    return out
+
+
+def _cls(spec):
+    mod, _, name = spec.partition(':')
+    return getattr(importlib.import_module(mod), name)
+
+
+LOAD_ERRORS = []        # (class, instrument, error) of adapters that could not be built; the lab loads without them
+
+
+def adapters_for(config, fragments=None, strict=False):
+    """{instrument id: adapter} from the fragments for the entries of a lab config (entries naming an adapter are skipped).
+    An adapter that cannot be built (a class module with a bug) is left out and recorded in LOAD_ERRORS, so one broken class
+    never breaks a lab; ``strict=True`` (the class tests) raises instead."""
+    opt = config.get('class_adapters', True)
+    if opt is False:
+        return {}
+    if fragments is None:
+        fragments = load_fragments(opt if isinstance(opt, str) else None, opt if isinstance(opt, list) else None)
+    out = {}
+    for e in config.get('instruments', []):
+        if e.get('adapter'):
+            continue
+        slug = (e.get('asset_type_id') or '').split('.', 1)[-1]
+        found = []
+        for frag in fragments:
+            m = (frag.get('members') or {}).get(slug)
+            if m is None:
+                continue
+            entry = dict(e)
+            entry['class_map'] = m
+            entry['class_fragment'] = frag['class']
+            try:
+                ad = _cls(m.get('adapter') or frag['adapter'])(e['id'], entry)
+            except Exception as exc:                                        # noqa: BLE001
+                if strict:
+                    raise
+                LOAD_ERRORS.append((frag['class'], e['id'], '%s: %s' % (type(exc).__name__, exc)))
+                continue
+            ad.layer = frag.get('layer', 'class')
+            # precedence: class fragments before the generated shared/thin one ("layer": "shared"); primary before secondary
+            found.append((1 if frag.get('layer') == 'shared' else 0, 0 if m.get('role', 'primary') == 'primary' else 1, frag['class'], ad))
+        if len(found) == 1:
+            out[e['id']] = found[0][-1]
+        elif found:
+            out[e['id']] = CompositeAdapter(e['id'], e, [x[-1] for x in sorted(found, key=lambda x: x[:3])])
+    return out
+
+
+class CompositeAdapter(InstrumentAdapter):
+    """One instrument in several classes (e.g. a hot-plate stirrer: temperature + stirring)."""
+
+    def __init__(self, instrument_id, config_entry, parts):
+        super().__init__(instrument_id, config_entry)
+        self.parts = list(parts)
+        self.CLASS = '+'.join(p.CLASS for p in self.parts)
+        for p in self.parts:
+            p.composite = self                          # its describe / overview leave out the verbs another part answers
+
+    def owner(self, verb):
+        """The part that answers a verb.  Order: a class part that supports it (primary class first); then a class part that
+        marks it unsupported or hides it (its reason beats the shared layer, unless the member lists the verb in
+        "shared_fallthrough"); then the shared layer.  A class's "unsupported" never hides another class's supported verb."""
+        classes = [p for p in self.parts if getattr(p, 'layer', 'class') != 'shared']
+        shared = [p for p in self.parts if getattr(p, 'layer', 'class') == 'shared']
+        for p in classes:
+            if verb in p.verbs():
+                return p
+        for p in classes:
+            if hasattr(p, 'blocks') and p.blocks(verb):
+                return p
+        for p in shared:
+            if verb in p.verbs():
+                return p
+        for p in self.parts:
+            if verb in p.table:
+                return p
+        return self.parts[0]
+
+    def verbs(self):
+        out = {}
+        for p in self.parts:
+            for k, v in p.verbs().items():
+                if self.owner(k) is p:
+                    out.setdefault(k, v)
+        return out
+
+    def _claimed(self, p):
+        """Verbs this part answers on this instrument (so later parts do not list them again)."""
+        names = set(getattr(p, 'table', {})) | set(p.verbs()) | set(getattr(p, 'hidden_verbs', lambda: {})())
+        return {v for v in names if self.owner(v) is p}
+
+    def dispatch_run(self, core, req, args):
+        if not args or args[0] in ('--help', '-h'):
+            texts, js, taken = [], [], set()
+            for p in self.parts:
+                try:
+                    p.bind(core)
+                except Exception:                                           # noqa: BLE001 - a broken part is left out of the overview
+                    continue
+                r = p.overview(core, req, taken)
+                taken |= self._claimed(p)
+                texts.append(r['text'])
+                js.append(r['json'].get('class'))
+            return {'text': ''.join(texts), 'json': {'instrument': self.instrument_id, 'classes': js}}
+        return self.owner(args[0]).dispatch_run(core, req, args)
+
+    def intercept(self, core, req):
+        if req.command == 'help' and len(req.args) >= 2:
+            return self.owner(req.args[1]).intercept(core, req)
+        if req.command == 'describe' and len(req.args) == 1:
+            r = self.parts[0].intercept(core, req)
+            if r is None:
+                return None
+            taken = self._claimed(self.parts[0])
+            for p in self.parts[1:]:
+                try:
+                    p.bind(core)
+                except Exception:                                           # noqa: BLE001 - a broken part never breaks describe
+                    continue
+                lines, js = p.class_section(taken)
+                taken |= self._claimed(p)
+                a = r['text'].find('\nfull form:')
+                r['text'] = r['text'][:a] + '\n' + '\n'.join(lines) + '\n' + r['text'][a:] if a >= 0 else r['text'] + '\n'.join(lines) + '\n'
+                r['json'].setdefault('classes', [r['json'].get('class')]).append(js)
+            return r
+        return self.parts[0].intercept(core, req)
diff --git a/chemlab/chemlab/compile/jobs.py b/chemlab/chemlab/compile/jobs.py
new file mode 100644
index 0000000000000000000000000000000000000000..54f6e4fb4211ac903fb931fe55c24277cd818598
--- /dev/null
+++ b/chemlab/chemlab/compile/jobs.py
@@ -0,0 +1,294 @@
+"""Job ids for long class-level actions: `chemlab status job-N`, `chemlab wait job-N [--max S]`, `chemlab cancel job-N`.
+
+A job belongs to the caller that started it (others get "no job of yours").  Kinds:
+
+Three kinds of long action exist in the 203 contracts, one job class each:
+
+* ``OperationJob`` - an asynchronous capability (execution mode not synchronous) answered with an operation_id; progress and
+  the end come from the session's poll(operation_id), cancel from its cancel(operation_id).  Most ``*.start`` capabilities.
+* ``StateJob`` - a run-type state machine whose progress is only in state slots (Flex protocol runs, furnace programmes, GC
+  ``run.start``, ``cycle.start``): done when a slot reaches a done value; cancel sends the class's stop call.
+* ``ConditionJob`` - a timed state change with no run object (heat to a set point, wait for a stable reading): done when a
+  condition on the state holds; cancelling only stops the waiting unless the class gives an ``on_cancel`` call.
+* class-specific jobs (the liquid class's protocol runs) subclass ``Job``.
+
+The registry lives on the generic core (``core.class_jobs``); the generic `status` / `wait` / `cancel` commands route job-N
+handles here (adapters.route_job).  Waiting moves the lab clock, like `chemlab wait OP`.
+"""
+from .ctx import Ctx
+from .errors import invalid, refused
+from .units import fmt_s
+
+_RUNNING = ('running', 'waiting', 'setup', 'paused', 'awaiting_recovery', 'accepted', 'queued', 'pending', 'started', 'starting',
+            'in_progress', 'stopping', 'cancelling', 'heating', 'cooling', 'ramp', 'hold', 'settling',
+            # run phases met in the runtimes (explicit, so operation results naming them count as running too)
+            'injecting', 'run', 'post', 'condition', 'blank', 'equilibrating', 'initial_delay', 'spacing', 'ready_wait', 'incubating',
+            'measuring', 'acquiring', 'sampling', 'conditioning', 'testing', 'purging', 'rinsing', 'washing', 'drying', 'loading',
+            'ramping', 'holding', 'preheating', 'priming', 'flushing', 'degassing', 'evacuating', 'venting', 'scanning', 'busy')
+# states that end a job; any other text state counts as running (unknown run phases of a member keep the job alive)
+TERMINAL = frozenset((
+    'completed', 'complete', 'succeeded', 'success', 'successful', 'done', 'finished', 'ended', 'end', 'ok', 'failed', 'failure', 'error',
+    'errored', 'fault', 'faulted', 'cancelled', 'canceled', 'aborted', 'stopped', 'halted', 'terminated', 'killed', 'interrupted',
+    'rejected', 'unsupported', 'timeout', 'timed_out', 'expired', 'lost', 'unknown', 'none', 'null', 'idle', 'ready', 'standby', 'off',
+    'no_sequence', 'not_started', 'locked', 'measured', 'acquired', 'analysed', 'analyzed', 'reached', 'stable', 'unstable', 'empty',
+    'gave_up'))
+
+
+def is_running(st):
+    """True while a job with this status is still going: a known running state, or any text state that is not terminal."""
+    if not isinstance(st, str) or not st.strip():
+        return False
+    s = st.strip().lower()
+    return s in _RUNNING or s not in TERMINAL
+
+
+class _Running(tuple):
+    """The known running states; ``st in RUNNING`` also holds for unknown non-terminal states (see is_running)."""
+
+    def __contains__(self, st):
+        return is_running(st)
+
+
+RUNNING = _Running(_RUNNING)
+
+
+def op_status(r):
+    """An operation's state from a poll answer: the protocol status (accepted / running / succeeded / failed / cancelled); a
+    'succeeded' answer whose result names a known running phase (operation_status / phase / state / status) counts as that phase."""
+    st = r.get('status')
+    res = r.get('result') if isinstance(r.get('result'), dict) else {}
+    if st == 'succeeded':
+        for k in ('operation_status', 'phase', 'state', 'status'):
+            if isinstance(res.get(k), str) and res[k].strip().lower() in _RUNNING:
+                return res[k]
+    return st
+
+
+def registry(core):
+    reg = getattr(core, 'class_jobs', None)
+    if reg is None:
+        reg = core.class_jobs = {}
+        core.class_job_seq = 0
+    return reg
+
+
+def new_handle(core):
+    registry(core)
+    core.class_job_seq += 1
+    return 'job-%d' % core.class_job_seq
+
+
+class Job:
+    kind = 'job'
+
+    def __init__(self, core, adapter, req, description):
+        self.handle = new_handle(core)
+        self.adapter, self.caller, self.instrument = adapter, req.caller, req.instrument
+        self.description = description
+        self.started_s = core.backend.now()
+        self.state = 'running'
+        registry(core)[self.handle] = self
+
+    # subclasses: poll(ctx) -> (status, progress text, json dict); cancel(ctx) -> text
+    def poll(self, ctx):
+        return self.state, '', {}
+
+    def cancel(self, ctx):
+        self.state = 'cancelled'
+        return 'stopped waiting'
+
+    def ctx(self, core, req):
+        req.instrument = self.instrument
+        return Ctx(self.adapter, core, req)
+
+    def max_wait_s(self):
+        return 3600.0
+
+    # ------------------------------------------------------------------ commands
+    def status_reply(self, core, req):
+        ctx = self.ctx(core, req)
+        st, text, js = self.poll(ctx)
+        out = {('%s_%s' % (self.kind, k) if k in ('status', 'job') else k): v for k, v in js.items()}   # e.g. run_status: completed
+        out.update({'job': self.handle, 'instrument': self.instrument, 'kind': self.kind, 'description': self.description, 'status': st,
+                    'done': st not in RUNNING, 'started_s': self.started_s, 'time_s': core.backend.now()})
+        line = '%s %s: %s (%s, started at t = %.1f s, now t = %.1f s)' % (self.handle, self.description, st, self.instrument,
+                                                                         self.started_s, core.backend.now())
+        return {'text': line + ('\n  ' + text if text else '') + '\n', 'json': out}
+
+    def wait_reply(self, core, req, max_s=None):
+        ctx = self.ctx(core, req)
+        mx = min(float(max_s if max_s is not None else self.max_wait_s()), getattr(core, 'max_wait_s', 86400.0))
+        st, _, _ = self.poll(ctx)
+        waited = 0.0
+        if st in RUNNING:
+            state = {'st': st}
+
+            def until(view):
+                state['st'] = self.poll(ctx)[0]
+                return state['st'] not in RUNNING
+            waited = ctx.advance(mx, until=until, step='wait for %s' % self.handle, poll_s=self.poll_s())
+        st, text, js = self.poll(ctx)
+        done = st not in RUNNING
+        out = {('%s_%s' % (self.kind, k) if k in ('status', 'job') else k): v for k, v in js.items()}
+        out.update({'job': self.handle, 'status': st, 'done': done, 'waited_s': waited, 'time_s': core.backend.now()})
+        line = '%s %s after %s of waiting (t = %.1f s)%s' % (self.handle, st, fmt_s(waited), core.backend.now(),
+                                                            '' if done else '; still running (gave up after --max %s)' % fmt_s(mx))
+        return {'text': line + ('\n  ' + text if text else '') + '\n', 'json': out}
+
+    def cancel_reply(self, core, req):
+        ctx = self.ctx(core, req)
+        st, _, _ = self.poll(ctx)
+        if st not in RUNNING:
+            raise refused('JOB_FINISHED', '%s is already %s.' % (self.handle, st), 'nothing to cancel; see `chemlab status %s`.' % self.handle)
+        what = self.cancel(ctx)
+        return {'text': 'ok: %s cancelled (%s)\n' % (self.handle, what), 'json': {'job': self.handle, 'status': 'cancelled', 'what': what}}
+
+    def poll_s(self):
+        return 1.0
+
+
+class ConditionJob(Job):
+    """Done when ``test(ctx)`` returns (True, text); ``progress(ctx)`` -> text.  ``on_cancel(ctx)`` optional."""
+    kind = 'condition'
+
+    def __init__(self, core, adapter, req, description, test, *, max_s=7200.0, on_cancel=None, poll_s=5.0):
+        super().__init__(core, adapter, req, description)
+        self.test, self.on_cancel, self._max, self._poll = test, on_cancel, max_s, poll_s
+        self.result = None
+
+    def poll(self, ctx):
+        if self.state in ('cancelled', 'succeeded'):
+            return self.state, self.result or '', {}
+        ok, text = self.test(ctx)
+        if ok:
+            self.state = 'succeeded'
+            self.result = text
+        return self.state, text, {}
+
+    def cancel(self, ctx):
+        self.state = 'cancelled'
+        if self.on_cancel:
+            return self.on_cancel(ctx)
+        return 'stopped waiting; the instrument keeps its settings'
+
+    def max_wait_s(self):
+        return self._max
+
+    def poll_s(self):
+        return self._poll
+
+
+class OperationJob(Job):
+    """A runtime operation (operation_id) of an asynchronous capability."""
+    kind = 'operation'
+
+    def __init__(self, core, adapter, req, description, cap, operation_id, *, max_s=None, poll_s=None):
+        super().__init__(core, adapter, req, description)
+        self.cap, self.operation_id = cap, operation_id
+        # lab seconds between polls while waiting: the argument, else the member's "params": {"job_poll_s": N}, else 1 s
+        # (runtimes that answer a poll with a whole curve want 10-60 s, or a long wait is slow in wall time)
+        p = poll_s if poll_s is not None else (adapter.param('job_poll_s') if hasattr(adapter, 'param') else None)
+        self._poll = float(p) if p else 1.0
+        to = ((core.backend.instruments[self.instrument].contract['capabilities'].get(cap) or {}).get('execution') or {}).get('timeout_s')
+        self._max = float(max_s or (to if isinstance(to, (int, float)) and to > 0 else 3600.0))
+        self.last = None
+
+    def poll(self, ctx):
+        r = ctx.core.backend.poll(ctx.caller, self.instrument, self.operation_id)
+        if r is None:
+            return self.state, 'this instrument has no operation status query; read its state instead', {}
+        st = op_status(r)
+        ctx.core._record(ctx.req.calls, self.instrument, 'poll', operation_id=self.operation_id, status=r.get('status'), op_status=st)
+        if self.state != 'cancelled':
+            self.state = st
+        self.last = r.get('result')
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        err = (r.get('error') or {}).get('code')
+        text = ', '.join('%s=%s' % (k, v) for k, v in list(res.items())[:6] if not isinstance(v, (dict, list)))
+        return self.state, text + ((' error %s' % err) if err else ''), {'operation_id': self.operation_id, 'result': r.get('result'), 'error': err}
+
+    def cancel(self, ctx):
+        r = ctx.core.backend.cancel(ctx.caller, self.instrument, self.operation_id, '%s.cancel' % ctx.req.request_id)
+        ctx.core._record(ctx.req.calls, self.instrument, 'cancel', operation_id=self.operation_id, status=(r or {}).get('status'))
+        if r is None:
+            raise refused('NO_CANCEL', '%s cannot cancel its operations.' % self.instrument, 'use the class stop verb if it has one.')
+        self.state = 'cancelled'
+        return 'cancel of operation %s sent (%s)' % (self.operation_id, r.get('status'))
+
+    def max_wait_s(self):
+        return self._max
+
+    def poll_s(self):
+        return self._poll
+
+
+class StateJob(Job):
+    """A run-type action whose progress is in state slots: ``state(ctx)`` -> (status text, progress text, json), with status in
+    RUNNING while it runs; ``stop(ctx)`` cancels (optional)."""
+    kind = 'state'
+
+    def __init__(self, core, adapter, req, description, state, *, stop=None, max_s=7200.0, poll_s=1.0):
+        super().__init__(core, adapter, req, description)
+        self.state_fn, self.stop_fn, self._max, self._poll = state, stop, max_s, poll_s
+
+    def poll(self, ctx):
+        if self.state == 'cancelled':
+            return self.state, '', {}
+        st, text, js = self.state_fn(ctx)
+        self.state = st
+        return st, text, js
+
+    def cancel(self, ctx):
+        if self.stop_fn is None:
+            raise refused('NO_CANCEL', '%s cannot be stopped from chemlab.' % self.description, 'wait for it to end.')
+        what = self.stop_fn(ctx)
+        self.state = 'cancelled'
+        return what
+
+    def max_wait_s(self):
+        return self._max
+
+    def poll_s(self):
+        return self._poll
+
+
+def latest(core, caller, instrument):
+    """The caller's most recent job on an instrument (or None)."""
+    for j in reversed(list(registry(core).values())):
+        if j.caller == caller and j.instrument == instrument:
+            return j
+    return None
+
+
+def route(core, req, cmd, args):
+    """The generic status / wait / cancel for a job-N handle.  Returns a reply dict, or None when args[0] is not a class job."""
+    reg = registry(core)
+    if not args or args[0] not in reg:
+        if args and args[0].startswith('job-'):
+            raise invalid('UNKNOWN_JOB', 'no job %r of yours.' % args[0], 'see `chemlab status` for your jobs and operations.')
+        return None
+    job = reg[args[0]]
+    if job.caller != req.caller:
+        raise invalid('UNKNOWN_JOB', 'no job %r of yours.' % args[0], 'see `chemlab status` for your jobs and operations.')
+    if cmd == 'status':
+        if len(args) != 1:
+            raise invalid('BAD_ARGUMENTS', 'status takes one job.', 'usage: chemlab status JOB')
+        return job.status_reply(core, req), job.instrument
+    if cmd == 'cancel':
+        if len(args) != 1:
+            raise invalid('BAD_ARGUMENTS', 'cancel takes one job.', 'usage: chemlab cancel JOB')
+        return job.cancel_reply(core, req), job.instrument
+    mx = None
+    if len(args) == 3 and args[1] == '--max':
+        from .units import parse
+        mx = parse(args[2], 'duration', what='--max')
+    elif len(args) != 1:
+        raise invalid('BAD_ARGUMENTS', 'usage: chemlab wait JOB [--max S]')
+    return job.wait_reply(core, req, mx), job.instrument
+
+
+def listing(core, caller):
+    """Lines and json rows of the caller's class jobs (for `chemlab status` without arguments)."""
+    rows = [j for j in registry(core).values() if j.caller == caller]
+    return (['  %-7s %-28s %-36s last status: %s' % (j.handle, j.instrument, j.description[:36], j.state) for j in rows],
+            [{'job': j.handle, 'instrument': j.instrument, 'description': j.description, 'status': j.state} for j in rows])
diff --git a/chemlab/chemlab/compile/lowering.py b/chemlab/chemlab/compile/lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..91398aa1a1e8645b4c86c95adcb366271f6fe8e7
--- /dev/null
+++ b/chemlab/chemlab/compile/lowering.py
@@ -0,0 +1,268 @@
+"""Lowering check: per class, per verb, per member instrument.
+
+For every step of a member's case list, a class verb runs through chemlab (lab A, adapters on) and
+
+1. the native calls it made (capability + arguments in SI, in order) must equal the expected calls written by hand in the class's
+   lowering table (tasks/<class>_lowering.py) - not derived from the mapping;
+2. the same native calls (same request ids) and clock advances are then made directly on a twin lab B (LabBackend, same config,
+   no chemlab), and the instrument's full evaluator view must be equal on A and B after every step.
+
+    python -m chemlab.compile.lowering --class balance [--only mt_xpr204e]
+
+Writes compile_results/<class>/lowering.json.  A case list: {'prep': fn(backend) | None, 'steps': [(command, expected)]},
+command without "chemlab run INST"; expected = [(capability, {arguments})], [] for "no native call", None (not checked), a
+callable(got calls) -> bool, or (capability, callable(arguments) -> bool) items for arguments that are measured arrays.  Inside
+expected arguments, matchers stand for measured values: ``Measured()`` (any finite number, or a non-empty list / object),
+``Obs(n, fixed, measured)`` (a list of n objects with fixed fields and measured fields).  Special steps: ``('#wait N', None)``
+moves lab time on both labs; ``('#host', fn)`` (or ``('#host what', fn)``) runs ``fn(backend)`` on the lab and on the twin (the
+lab operator swaps a sample, refills a reservoir ...) and compares their states.
+"""
+import argparse
+import copy
+import importlib
+import json
+import math
+import shlex
+import shutil
+import sys
+import time
+from pathlib import Path
+
+from ..glab import GenericLab, single
+from ..labbackend import LabBackend, load_config
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[2]
+RESULTS = CHEMLAB_ROOT / 'compile_results'
+RUNS = CHEMLAB_ROOT / 'build' / 'lowering_runs'
+TABLE_MODULE = 'chemlab.compile.tasks.%s_lowering'      # a class's lowering table, found by convention (no shared registry)
+
+
+def norm(o):
+    """JSON-normal form with floats rounded to 12 significant digits (the same arithmetic gives the same digits)."""
+    if isinstance(o, float):
+        return float('%.12g' % o) if math.isfinite(o) else str(o)
+    if isinstance(o, dict):
+        return {str(k): norm(v) for k, v in o.items()}
+    if isinstance(o, (list, tuple)):
+        return [norm(v) for v in o]
+    return o
+
+
+class Matcher:
+    """An expected value that matches a family of values (subclasses define match(value))."""
+
+    def match(self, value):
+        raise NotImplementedError
+
+    def __eq__(self, other):
+        return self.match(other)
+
+    def __ne__(self, other):
+        return not self.match(other)
+
+    __hash__ = None
+
+
+def _measured(v):
+    if isinstance(v, bool):
+        return False
+    if isinstance(v, (int, float)):
+        return math.isfinite(v)
+    return isinstance(v, (list, dict)) and bool(v)
+
+
+class Measured(Matcher):
+    """Any measured value: a finite number, or a non-empty list / object (``Measured(list)``: a non-empty list only)."""
+
+    def __init__(self, kind=None):
+        self.kind = kind
+
+    def match(self, value):
+        return _measured(value) and (self.kind is None or isinstance(value, self.kind))
+
+    def __repr__(self):
+        return 'Measured(%s)' % (self.kind.__name__ if self.kind else '')
+
+
+class Obs(Matcher):
+    """A list of observations matched by shape: ``n`` items; ``fixed`` fields equal per item (a dict for all, or a list of dicts,
+    compared with same_args); ``measured`` fields present and measured (numbers finite, lists non-empty lists of objects).
+    (Used by the quant_analyzer lowering table.)"""
+
+    def __init__(self, n, fixed=None, measured=()):
+        self.n, self.fixed, self.measured = n, fixed or {}, list(measured)
+
+    def match(self, other):
+        if not isinstance(other, list) or len(other) != self.n:
+            return False
+        for i, o in enumerate(other):
+            if not isinstance(o, dict):
+                return False
+            fx = self.fixed[i] if isinstance(self.fixed, list) else self.fixed
+            if any(not same_args(o.get(k), v) for k, v in fx.items()):
+                return False
+            for k in self.measured:
+                v = o.get(k)
+                if isinstance(v, list):
+                    if not v or not all(isinstance(x, dict) for x in v):
+                        return False
+                elif not _measured(v):
+                    return False
+        return True
+
+    def __repr__(self):
+        return 'Obs(%d x %s + measured %s)' % (self.n, self.fixed, self.measured)
+
+    __str__ = __repr__
+
+
+def same_args(a, b, rel=1e-9):
+    if isinstance(b, Matcher):
+        return b.match(a)
+    if isinstance(a, Matcher):
+        return a.match(b)
+    if isinstance(a, dict) and isinstance(b, dict):
+        return set(a) == set(b) and all(same_args(a[k], b[k], rel) for k in a)
+    if isinstance(a, (list, tuple)) and isinstance(b, (list, tuple)):
+        return len(a) == len(b) and all(same_args(x, y, rel) for x, y in zip(a, b))
+    if isinstance(a, bool) or isinstance(b, bool):
+        return a is b
+    if isinstance(a, (int, float)) and isinstance(b, (int, float)):
+        return abs(a - b) <= rel * max(1.0, abs(a), abs(b))
+    return a == b
+
+
+def calls_match(got, expected):
+    """expected: None (not checked), a callable(got) -> bool, or a list of (capability, arguments) where arguments may be a
+    dict (compared with same_args) or a callable(arguments) -> bool (e.g. for measured arrays in analysis steps)."""
+    if expected is None:
+        return True
+    if callable(expected):
+        return bool(expected(got))
+    if len(got) != len(expected):
+        return False
+    for g, e in zip(got, expected):
+        if g[0] != e[0]:
+            return False
+        if callable(e[1]):
+            if not e[1](g[1]):
+                return False
+        elif not same_args(g[1], e[1]):
+            return False
+    return True
+
+
+def ev_obs(backend, iid):
+    r = backend.evaluator_read(iid)
+    return norm({k: (o.get('value') if isinstance(o, dict) else o) for k, o in (r.get('observations') or {}).items()})
+
+
+def check_member(iid, case, config=None, log=print, run_root=None):
+    cfg = single([iid], config or load_config())
+    run = Path(run_root or RUNS) / iid
+    if run.exists():
+        shutil.rmtree(run)
+    lab = GenericLab(run / 'chemlab', cfg)
+    twin = LabBackend(cfg, run_dir=run / 'twin')
+    if case.get('prep'):
+        case['prep'](lab.backend)
+        case['prep'](twin)
+    rows = []
+    base = ev_obs(lab.backend, iid) == ev_obs(twin, iid)
+    for cmd, expected in case['steps']:
+        if cmd.startswith('#host'):                                         # the lab operator changes the world (both labs)
+            expected(lab.backend)
+            expected(twin)
+            a, b = ev_obs(lab.backend, iid), ev_obs(twin, iid)
+            diff = sorted(k for k in set(a) | set(b) if a.get(k) != b.get(k))
+            rows.append({'command': cmd, 'exit': 0, 'outcome': 'host', 'native_calls': [], 'expected': None, 'calls_ok': True,
+                         'state_equal': not diff, 'diff': diff[:10], 'time_s': lab.backend.now()})
+            continue
+        if cmd.startswith('#wait '):                                        # lab time passes (both labs), no command
+            s = float(cmd.split()[1])
+            lab.backend.advance(s)
+            twin.advance(s)
+            a, b = ev_obs(lab.backend, iid), ev_obs(twin, iid)
+            diff = sorted(k for k in set(a) | set(b) if a.get(k) != b.get(k))
+            rows.append({'command': cmd, 'exit': 0, 'outcome': 'wait', 'native_calls': [], 'expected': None, 'calls_ok': True,
+                         'state_equal': not diff, 'diff': diff[:10], 'time_s': lab.backend.now()})
+            continue
+        n = len(lab.core.log.entries)
+        r = lab.core.handle(['chemlab', 'run', iid] + shlex.split(cmd), 'agent')
+        entry = lab.core.log.entries[n]
+        ops = [c for c in entry['backend_calls'] if c.get('op') in ('invoke', 'write', 'advance')]
+        got = [(c['capability'], c['arguments']) for c in ops if c['op'] == 'invoke']
+        calls_ok = calls_match(got, expected)
+        for c in ops:                                                       # the same native calls, directly, on the twin
+            if c['op'] == 'invoke':
+                twin.invoke('agent', iid, c['capability'], copy.deepcopy(c['arguments']), c['request_id'])
+            elif c['op'] == 'write':
+                twin.write('agent', iid, c['state_id'], copy.deepcopy(c['value']), c['request_id'])
+            else:
+                twin.advance(c['seconds'])
+        a, b = ev_obs(lab.backend, iid), ev_obs(twin, iid)
+        diff = sorted(k for k in set(a) | set(b) if a.get(k) != b.get(k))
+        shown = repr(expected) if callable(expected) else (None if expected is None else
+                                                            [(e[0], repr(e[1]) if callable(e[1]) else e[1]) for e in expected])
+        row = {'command': cmd, 'exit': r.exit_code, 'outcome': entry['outcome'], 'native_calls': got,
+               'expected': shown, 'calls_ok': calls_ok, 'state_equal': not diff, 'diff': diff[:10],
+               'time_s': lab.backend.now()}
+        rows.append(row)
+        log('  %-40s exit %d %-22s calls %s  state %s%s' % (cmd[:40], r.exit_code, entry['outcome'][:22], 'ok' if calls_ok else 'DIFF %s' % got,
+                                                     'equal' if not diff else 'DIFF', ('  ' + ', '.join(diff[:4])) if diff else ''))
+    path_problems = path_check(lab, iid, rows)
+    lab.stop()
+    return {'instrument': iid, 'start_equal': base, 'steps': rows, 'path_problems': path_problems,
+            'ok': base and not path_problems and all(x['calls_ok'] and x['state_equal'] for x in rows)}
+
+
+def path_check(lab, iid, rows):
+    """One native path per verb group, seen in the calls actually made: every capability used by the verbs of a PATH_GROUPS group
+    shares the member's path namespace (or is a listed exception)."""
+    ad = lab.core.adapters.get(iid)
+    parts = getattr(ad, 'parts', [ad]) if ad is not None else []
+    out = []
+    for part in parts:
+        for group in getattr(part, 'PATH_GROUPS', ()):
+            # only the rows whose verb this part owns (on a composite instrument a class part may own result, the shared part start)
+            used = [(r['command'].split()[0], c[0]) for r in rows for c in r['native_calls'] if r['command'].split()[0] in group
+                    and (ad.owner(r['command'].split()[0]) if hasattr(ad, 'owner') else ad) is part]
+            if not used:
+                continue
+            path = part.map.get('path') or used[0][1].split('.', 1)[0]
+            allowed = set(part.map.get('path_exceptions') or [])
+            out += ['%s used %s outside the %s path' % (v, c, path) for v, c in used if c.split('.', 1)[0] != path and c not in allowed]
+    return out
+
+
+def run_class(cls, only=None, log=print, write=True):
+    mod = importlib.import_module(TABLE_MODULE % cls)
+    out = {'class': cls, 'time': time.strftime('%Y-%m-%d %H:%M:%S'), 'members': []}
+    for iid, case in mod.CASES.items():
+        if only and iid not in only:
+            continue
+        log('%s (%d steps)' % (iid, len(case['steps'])))
+        out['members'].append(check_member(iid, case, config=getattr(mod, 'config', lambda: None)(), log=log,
+                                           run_root=RUNS / cls))           # per class: classes sharing a member never collide
+    out['passed'] = bool(out['members']) and all(m['ok'] for m in out['members'])
+    out['steps'] = sum(len(m['steps']) for m in out['members'])
+    out['native_calls'] = sum(len(s['native_calls']) for m in out['members'] for s in m['steps'])
+    if write and not only:
+        (RESULTS / cls).mkdir(parents=True, exist_ok=True)
+        (RESULTS / cls / 'lowering.json').write_text(json.dumps(out, ensure_ascii=False, indent=1, default=str) + '\n')
+    return out
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('--class', dest='cls', required=True, help='a class name (tasks/<class>_lowering.py)')
+    ap.add_argument('--only', nargs='*')
+    a = ap.parse_args(argv)
+    out = run_class(a.cls, a.only)
+    print('%s: %s (%d members, %d steps, %d native calls)' % (a.cls, 'PASS' if out['passed'] else 'FAIL', len(out['members']), out['steps'],
+                                                              out['native_calls']))
+    return 0 if out['passed'] else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/compile/mapgen.py b/chemlab/chemlab/compile/mapgen.py
new file mode 100644
index 0000000000000000000000000000000000000000..af6207d60729f1c2c92f68c42443c56c9692fcbc
--- /dev/null
+++ b/chemlab/chemlab/compile/mapgen.py
@@ -0,0 +1,174 @@
+"""Draft per-instrument mappings from the contracts (the "generate what you can" step of a new class).
+
+    python -m chemlab.compile.mapgen thermal                   # draft for the class's members (from its fragment)
+    python -m chemlab.compile.mapgen shared --all              # draft shared-layer mappings for all 203
+    python -m chemlab.compile.mapgen balance --compare         # how much of the hand-checked fragment the rules find
+
+A rule set per class says, for each verb, which agent-callable capabilities qualify (id pattern, argument by unit or name) and,
+for each slot role, which state slots qualify.  Ranges, enums and units are never copied into a mapping: the adapter reads them
+from the contract at run time.  The draft goes to build/mapgen/<class>.json; a person reviews it, writes
+reasons for the verbs a member lacks, and puts the result into configs/adapters/<class>.json.  One native path per verb group:
+a stop / result candidate in the same namespace as the chosen start wins.
+"""
+import argparse
+import json
+import re
+import sys
+from pathlib import Path
+
+from ..hosts import contract_index
+from .fragments import load_fragments, write_json_atomic
+
+ROOT = Path(__file__).resolve().parents[2]
+OUT = ROOT / 'build' / 'mapgen'
+TEMP_UNITS = ('K', 'degC', '°C')
+
+# rule kinds: {'cap': regex, 'arg': {'unit': [...], 'name': regex, 'type': json type} -> "arg", 'fixed': {...}, 'toggle': True,
+#              'same_path_as': verb}
+RULES = {
+    'shared': {
+        'verbs': {
+            'power': [{'cap': r'^power\.set$', 'arg': {'type': 'boolean', 'name': r'^(enabled|on)$'}},
+                      {'cap': r'^power\.(toggle|press_switch|press_button|key_toggle)$', 'toggle': True}],
+            'method': [{'cap': r'^method\.(configure|set)$'}, {'cap': r'^(acquisition|chromatography)\.(configure|set_method)$'}],
+            'start': [{'cap': r'^acquisition\.start$'}, {'cap': r'^(measurement|run|test|scan|sequence|cycle|analysis|program)\.start$'}],
+            'stop': [{'cap': r'^(acquisition|measurement|run|test|scan|sequence|cycle|analysis|program)\.(stop|abort|cancel)$', 'same_path_as': 'start'}],
+            'result': [{'cap': r'^(acquisition|measurement|run|analysis)\.(result|read|measure)$', 'same_path_as': 'start'},
+                       {'cap': r'\.(result|measure)$', 'same_path_as': 'start'}],
+            'ack': [{'cap': r'^(alarm|alarms|message|messages|fault|faults)\.(acknowledge|ack|clear|mute)$'}],
+            'estop': [{'cap': r'^(emergency|estop)\.(stop|press)$'}],
+        },
+        'slots': {'power': [r'^power\.(enabled|on)$']},
+    },
+    'balance': {
+        'verbs': {
+            'power': [{'cap': r'^power\.set$', 'arg': {'type': 'boolean', 'name': r'^(enabled|on)$'}}],
+            'zero': [{'cap': r'^(balance|weighing)\.zero$'}],
+            'tare': [{'cap': r'^(balance|weighing)\.tare$'}],
+            'weigh': [{'cap': r'^balance\.reading$'}],
+            'unit': [{'cap': r'^display\.set_unit$', 'arg': {'name': r'^unit$'}}, {'cap': r'^(weighing|balance)\.set_(display_)?unit$', 'arg': {'name': r'^unit$'}}],
+            'door': [{'cap': r'^door\.operate$'}, {'cap': r'^doors\.set$', 'arg': {'name': r'open_fraction'}}],
+        },
+        'slots': {'power': [r'^power\.(enabled|on)$'], 'stable': [r'^(balance|weighing)\.stable$'], 'net': [r'^(balance|weighing)\.net_kg$'],
+                  'gross': [r'^(balance|weighing)\.gross_kg$'], 'tare': [r'^(balance|weighing)\.tare_kg$']},
+    },
+    'thermal': {
+        'verbs': {
+            'power': [{'cap': r'^power\.set$', 'arg': {'type': 'boolean', 'name': r'^(enabled|on)$'}}],
+            'set-temp': [{'cap': r'^(thermal\.set_temperature|heating\.set_temperature|temperature\.set|setpoint\.set|controller\.set_sv)$',
+                          'arg': {'unit': TEMP_UNITS, 'name': r'temp|set_?point|target'}},
+                         {'cap': r'^settings\.configure$', 'arg': {'unit': TEMP_UNITS, 'name': r'^set_?point'}}],
+            'heat': [{'cap': r'^(heating\.set|thermal\.set_enabled|thermal\.set_control|circulation\.set_running)$', 'arg': {'type': 'boolean'}}],
+            'safety-limit': [{'cap': r'^safety\.(set_limit|set_cutoff|configure)$', 'arg': {'unit': TEMP_UNITS, 'name': r'limit|cutoff|temperature|value'}}],
+            'stir': [{'cap': r'^(stirring|shaking)\.set_speed$', 'arg': {'unit': ('rad/s', 'rpm')}}],
+            'remote': [{'cap': r'^interface\.set_remote$', 'arg': {'type': 'boolean'}}],
+        },
+        'slots': {'power': [r'^power\.(enabled|on)$'],
+                  'temp': [r'indicated_temperature_k$', r'^temperature\.(chamber|interior)_k$', r'^sensor\.temperature_k$', r'^display\.temperature(_c)?$'],
+                  'set': [r'^thermal\.target_k$', r'^heating\.set_k$', r'^temperature\.set_k$', r'^setpoint\.temperature_k$'],
+                  'limit': [r'^safety\.(limit|cutoff)_k$', r'temperature_limit_k$'],
+                  'heat': [r'^heating\.on$', r'^heater\.enabled$', r'^thermal\.control_enabled$', r'^circulation\.running$']},
+    },
+}
+
+
+def _types(s):
+    t = s.get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+def pick_arg(cap_spec, want):
+    props = ((cap_spec.get('input_schema') or {}).get('properties') or {})
+    for name, s in props.items():
+        if not isinstance(s, dict):
+            continue
+        if want.get('unit') and s.get('x-unit') not in want['unit']:
+            continue
+        if want.get('type') and want['type'] not in _types(s):
+            continue
+        if want.get('name') and not re.search(want['name'], name):
+            continue
+        return name
+    return None
+
+
+def draft(contract, rules):
+    caps = {cid: c for cid, c in contract['capabilities'].items() if c.get('visibility') == 'agent' and c.get('availability') == 'implemented'}
+    slots = {sid for sid, s in contract['state_slots'].items() if s.get('visibility') == 'agent'}
+    verbs, missing = {}, []
+    for verb, cands in rules['verbs'].items():
+        found = None
+        for rule in cands:
+            ns = None
+            if rule.get('same_path_as') and verbs.get(rule['same_path_as']):
+                ns = verbs[rule['same_path_as']]['cap'].split('.', 1)[0]
+            matches = sorted(c for c in caps if re.search(rule['cap'], c))
+            if ns:
+                matches = sorted(matches, key=lambda c: c.split('.', 1)[0] != ns)
+            for cid in matches:
+                m = {'cap': cid}
+                if rule.get('toggle'):
+                    m['toggle'] = True
+                if rule.get('arg'):
+                    a = pick_arg(caps[cid], rule['arg'])
+                    if a is None:
+                        continue
+                    m['arg'] = a
+                found = m
+                break
+            if found:
+                break
+        if found:
+            verbs[verb] = found
+        else:
+            missing.append(verb)
+    roles = {}
+    for role, pats in rules.get('slots', {}).items():
+        for pat in pats:
+            hit = sorted(s for s in slots if re.search(pat, s))
+            if hit:
+                roles[role] = hit[0]
+                break
+    return {'verbs': verbs, 'slots': roles, 'missing': missing}
+
+
+def compare(drafted, hand):
+    """(verbs where the draft equals the hand-checked mapping, verbs the hand mapping has)."""
+    same, total = 0, 0
+    for verb, m in (hand.get('verbs') or {}).items():
+        total += 1
+        d = drafted['verbs'].get(verb)
+        if d and d.get('cap') == m.get('cap') and d.get('arg') == m.get('arg'):
+            same += 1
+    return same, total
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('cls', choices=sorted(RULES))
+    ap.add_argument('--all', action='store_true', help='every instrument with a contract, not just the class members')
+    ap.add_argument('--slugs', nargs='*')
+    ap.add_argument('--compare', action='store_true')
+    a = ap.parse_args(argv)
+    idx = contract_index()
+    frag = next((f for f in load_fragments() if f['class'] == a.cls), {'members': {}})
+    slugs = a.slugs or (sorted(k.split('.', 1)[1] for k in idx) if a.all else sorted(frag['members']))
+    out = {'class': a.cls, 'members': {}}
+    same = total = 0
+    for slug in slugs:
+        contract = json.loads(idx['instrument.' + slug].read_text(encoding='utf-8'))
+        d = draft(contract, RULES[a.cls])
+        out['members'][slug] = d
+        if a.compare and slug in frag['members']:
+            s, t = compare(d, frag['members'][slug])
+            same, total = same + s, total + t
+            print('%-34s draft verbs %-2d missing %-40s matches the fragment %d/%d' % (slug, len(d['verbs']), ','.join(d['missing'])[:40], s, t))
+    OUT.mkdir(parents=True, exist_ok=True)
+    p = OUT / ('%s.json' % a.cls)
+    write_json_atomic(p, out)
+    print('%s: %d instruments drafted -> %s%s' % (a.cls, len(slugs), p, ('; %d/%d hand-mapped verbs found by the rules' % (same, total)) if a.compare else ''))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/compile/parity_all.py b/chemlab/chemlab/compile/parity_all.py
new file mode 100644
index 0000000000000000000000000000000000000000..b838d0633a3bbe44d92f754b5243c1d09550764b
--- /dev/null
+++ b/chemlab/chemlab/compile/parity_all.py
@@ -0,0 +1,56 @@
+"""The generic sweeps on all 203 instruments with every adapter loaded (shared layer + classes): the shared-layer parity check.
+
+    python -m chemlab.compile.parity_all [--parts equivalence ready panels clock] [--out build/compile_parity_all]
+
+Writes <out>/<part>.json (the sweep results) and <out>/summary.json; generic_results/ is not touched.  Takes about an hour.
+"""
+import argparse
+import json
+import sys
+import time
+from pathlib import Path
+
+from .. import sweep
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+def summarize(part, res):
+    rows = res.get('rows') or []
+    if part == 'equivalence':
+        rows = [r for r in rows if 'cli' in r]
+        return {'calls': len(rows), 'same': sum(1 for r in rows if r['same'] and r['args_sent_equal']),
+                'instruments': len({r['instrument'] for r in rows}),
+                'bad': [(r['instrument'], r['capability']) for r in rows if not (r['same'] and r['args_sent_equal'])][:50]}
+    if part == 'ready':
+        return {'calls': len(rows), 'same': sum(1 for r in rows if r['same']), 'describe_read_ok': sum(1 for r in res['describe_read'] if r['ok']),
+                'describe_read': len(res['describe_read']), 'visibility': res['visibility'][:20],
+                'bad': [(r['instrument'], r['capability']) for r in rows if not r['same']][:50]}
+    if part == 'panels':
+        return {'instruments': len(rows), 'ok': sum(1 for r in rows if r.get('ok')), 'screen_equals_capture': sum(1 for r in rows if r.get('screen_equals_capture')),
+                'gestures': sum(len(r.get('steps') or []) for r in rows),
+                'gestures_equal': sum(1 for r in rows for s in r.get('steps') or [] if s['same_outcome'] and s['frames_equal']),
+                'bad': [r['instrument'] for r in rows if not r.get('ok')]}
+    return {'rows': len(rows), 'clock_ok': sum(1 for r in rows if r['clock_ok']), 'twin_rows': sum(1 for r in rows if 'twin_equal' in r),
+            'twin_equal': sum(1 for r in rows if r.get('twin_equal')), 'bad': [r['instrument'] for r in rows if not r['clock_ok'] or r.get('twin_equal') is False]}
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument('--parts', nargs='*', default=['equivalence', 'ready', 'panels', 'clock'])
+    ap.add_argument('--out', default=str(ROOT / 'build' / 'compile_parity_all'))
+    a = ap.parse_args(argv)
+    out = Path(a.out)
+    sweep.RESULTS, sweep.RUNS = out, out / 'runs'
+    summary = {}
+    for part in a.parts:
+        t0 = time.time()
+        res = sweep.PARTS[part](log=lambda *x: None)
+        summary[part] = dict(summarize(part, res), wall_s=round(time.time() - t0))
+        print(part, json.dumps(summary[part])[:600], flush=True)
+        (out / 'summary.json').write_text(json.dumps(summary, indent=1) + '\n')
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/compile/scenes/__init__.py b/chemlab/chemlab/compile/scenes/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..73ff6abd40b7de02a9a0708c2af828b7e2a674ca
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/__init__.py
@@ -0,0 +1 @@
+"""Trusted host-side scenes for the generic lab (what physics or an operator does in a real lab): never reachable by agents."""
diff --git a/chemlab/chemlab/compile/scenes/alicat.py b/chemlab/chemlab/compile/scenes/alicat.py
new file mode 100644
index 0000000000000000000000000000000000000000..4e46640fe0dd528f010d2b8578a1c5851d000370
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/alicat.py
@@ -0,0 +1,34 @@
+"""The Alicat MC mass-flow controller in the generic lab: the trusted host side (the gas line around it).
+
+The runtime asks the trusted host whether gas is flowing through the line ("no flow" and "equilibrium" assertions); it never
+decides that itself, and its tare (flow.zero) and gas selection need the host's "no flow".  This scene plays the gas line: the
+cylinder pressure, the downstream pressure and the gas temperature come from the entry's "gas_line" (defaults: 3 bar abs up,
+1 atm down, 25 C), and after every successful set-point change the line has "no flow" exactly when the set point is 0 (the
+controller's own valve then closes the line).  Attached in a lab config entry: "scene": "chemlab.compile.scenes.alicat:AlicatScene";
+the ports and the response time are lab set-up steps (tasks/gas_fluid_world.py).  Nothing here is reachable from the sandbox.
+"""
+
+
+class AlicatScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host
+        self.rt = inst.host.host                                   # AlicatMCRuntime (trusted host API)
+        self.iid = inst.host.instance_id
+        line = dict(inst.entry.get('gas_line') or {})
+        self.up = float(line.get('upstream_pa', 300000.0))
+        self.down = float(line.get('downstream_pa', 101325.0))
+        self.temp = float(line.get('temperature_k', 298.15))
+        self._orig_invoke = self.host.invoke
+        self.host.invoke = self._invoke
+
+    def boundary(self, no_flow):
+        self.rt.host_set_boundary(self.iid, upstream_pressure_Pa=self.up, downstream_pressure_Pa=self.down, temperature_K=self.temp,
+                                  equilibrium=True, no_flow=bool(no_flow))
+
+    def _invoke(self, principal, cap, args, request_id):
+        r = self._orig_invoke(principal, cap, args, request_id)
+        if cap == 'flow.set_setpoint' and isinstance(r, dict) and r.get('status') == 'succeeded':
+            self.host.flush()
+            self.boundary(float(args.get('flow_rate_m3_s') or 0.0) == 0.0)
+        return r
diff --git a/chemlab/chemlab/compile/scenes/flex.py b/chemlab/chemlab/compile/scenes/flex.py
new file mode 100644
index 0000000000000000000000000000000000000000..fc44ba74d77c04ae5c020c3bd76f45d088a0d9b1
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/flex.py
@@ -0,0 +1,161 @@
+"""The Opentrons Flex deck in the generic lab: the trusted host side (what the physical world and the operator do).
+
+Attached to the Flex's lab config entry ("scene": "chemlab.compile.scenes.flex:FlexScene"); reads the entry's
+
+    "deck": {"labware": [...], "trash": "A1", "home_m": {...}, "command_s": 1.0}      (chemlab/compile/deck.py)
+    "protocols": [...]            stored on the robot (host_store_protocol)
+    "faults": {"tip_off_after_dispenses": N, "raise_on": CAPABILITY}
+
+and does what the pilot backend (chemlab/backend.py) did for the pilot: registers tips, containers (with their liquid volumes,
+which only the host knows) and the waste; confirms tip pick-up / drop when the pipette is physically at the tip / over the
+trash or an empty rack well (the runtime asks a trusted host for that); services the tip events of protocol runs after every
+clock step; injects faults; starts other users' runs.  Nothing here is reachable from the sandbox.
+"""
+import copy
+
+from ...labbackend import OPERATOR
+from ..deck import build_registry
+
+EVIDENCE = 'chemlab generic-lab deck registry (task set-up by the trusted host)'
+
+
+def _same(a, b):
+    return all(abs(a[k] - b[k]) <= 1e-9 for k in ('x_m', 'y_m', 'z_m'))
+
+
+class FlexScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host                                      # RuntimeHost
+        self.rt = inst.host.host                                   # OpentronsFlexRuntime (trusted host API)
+        self.iid = inst.host.instance_id
+        deck = inst.entry.get('deck') or {}
+        self.reg = build_registry(deck, inst.contract)
+        self.faults = dict(inst.entry.get('faults') or {})
+        self.fault_events, self._dispenses, self._n = [], {}, 0
+        vols = {lw['name']: lw.get('volumes_ul') or {} for lw in deck.get('labware', [])}
+        for lw in self.reg['labware']:
+            for w in lw['wells'].values():
+                if lw['kind'] == 'tiprack':
+                    if w['tip_id']:
+                        self.rt.host_register_tip(self.iid, w['tip_id'], slot_id=lw['slot'], capacity_m3=lw['tip_capacity_m3'],
+                                                  position_m=w['position_m'], evidence=EVIDENCE)
+                else:
+                    self.rt.host_register_container(self.iid, w['container_id'], slot_id=lw['slot'], capacity_m3=w['capacity_m3'],
+                                                    volume_m3=round(float(vols[lw['name']].get(w['well'], 0.0)) * 1e-9, 15),
+                                                    position_m=w['position_m'], evidence=EVIDENCE)
+        t = self.reg['trash']
+        self.rt.host_register_waste(self.iid, slot_id=t['slot'], position_m=t['position_m'], evidence=EVIDENCE)
+        for p in inst.entry.get('protocols') or []:
+            self.rt.host_store_protocol(self.iid, copy.deepcopy(p))
+        self._orig_invoke, self._orig_advance = self.host.invoke, self.host.advance
+        self.host.invoke = self._invoke                            # every call (agents, operator, evaluator) passes the scene
+        self.host.advance = self._advance                          # every clock step
+
+    # ------------------------------------------------------------------ hooks
+    def _invoke(self, principal, cap, args, request_id):
+        self.host.flush()
+        if self.faults.get('raise_on') == cap and principal.startswith('chemlab_agent_'):
+            raise RuntimeError('injected backend fault')
+        self._before(cap, args)
+        r = self._orig_invoke(principal, cap, args, request_id)
+        if isinstance(r, dict) and r.get('status') == 'succeeded':
+            self._after(principal, cap, args)
+        return r
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        self._service_run_tip_events()
+
+    # ------------------------------------------------------------------ the physical world
+    def _item(self):
+        return self.rt._instances[self.iid]
+
+    def _position(self):
+        s = self._item()['state']
+        return {k: s['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+
+    def _release_spot_ok(self, slot, pos):
+        t = self.reg['trash']
+        if slot == t['slot'] and _same(pos, t['position_m']):
+            return True
+        tips = self._item()['tips']
+        for lw in self.reg['labware']:
+            if lw['kind'] == 'tiprack' and lw['slot'] == slot:
+                for w in lw['wells'].values():
+                    if _same(pos, w['position_m']) and not any(x['slot_id'] is not None and _same(x['position_m'], pos) for x in tips.values()):
+                        return True
+        return False
+
+    def _before(self, cap, args):
+        if not isinstance(args, dict):
+            return
+        item, pos = self._item(), self._position()
+        if cap == 'tip.attach' and isinstance(args.get('tip_id'), str):
+            tip = item['tips'].get(args['tip_id'])
+            if tip is not None and tip['slot_id'] is not None and item['state']['tip.attached_id'] is None and _same(pos, tip['position_m']):
+                self.rt.host_confirm_tip_event(self.iid, event='attach', tip_id=args['tip_id'], slot_id=tip['slot_id'], position_m=pos,
+                                               evidence='scene: pipette at the tip')
+        elif cap == 'tip.release' and isinstance(args.get('target_slot_id'), str):
+            tip_id = item['state']['tip.attached_id']
+            if tip_id is not None and self._release_spot_ok(args['target_slot_id'], pos):
+                self.rt.host_confirm_tip_event(self.iid, event='release', tip_id=tip_id, slot_id=args['target_slot_id'], position_m=pos,
+                                               evidence='scene: pipette over the drop spot')
+
+    def _service_run_tip_events(self):
+        for _ in range(1000):
+            pending = self.rt.host_pending_tip_event(self.iid)
+            if pending is None:
+                return
+            item, pos = self._item(), pending['position_m']
+            if pending['event'] == 'attach':
+                tip = item['tips'].get(pending['tip_id'])
+                ok = tip is not None and tip['slot_id'] is not None and _same(pos, tip['position_m'])
+            else:
+                ok = self._release_spot_ok(pending['slot_id'], pos)
+            if not ok:
+                return
+            self.rt.host_confirm_tip_event(self.iid, event=pending['event'], tip_id=pending['tip_id'], slot_id=pending['slot_id'],
+                                           position_m=pos, evidence='scene: run tip event')
+
+    def _after(self, principal, cap, args):
+        n = self.faults.get('tip_off_after_dispenses')
+        if cap == 'sample.dispense' and n and principal.startswith('chemlab_agent_'):
+            self._dispenses[principal] = self._dispenses.get(principal, 0) + 1
+            if self._dispenses[principal] == n:
+                self._drop_tip_here('fault: the tip came off after dispense %d' % n)
+
+    def _drop_tip_here(self, why):
+        item = self._item()
+        tip_id = item['state']['tip.attached_id']
+        if tip_id is None:
+            return
+        pos = self._position()
+        slot = next((lw['slot'] for lw in self.reg['labware'] for w in lw['wells'].values() if _same(w['position_m'], pos)), None)
+        slot = slot or self.reg['trash']['slot']
+        self.rt.host_confirm_tip_event(self.iid, event='release', tip_id=tip_id, slot_id=slot, position_m=pos, evidence=why)
+        self._n += 1
+        r = self.host.sessions[OPERATOR].invoke(instance_id=self.iid, capability_id='tip.release', arguments={'target_slot_id': slot},
+                                                request_id='scene-%d' % self._n)
+        self.fault_events.append({'time_s': self.backend.now(), 'what': why, 'tip_id': tip_id, 'slot': slot, 'status': r['status']})
+
+    # ------------------------------------------------------------------ host side: other users, evaluator
+    def start_run_as(self, caller, protocol_id, params=None):
+        """Another user starts a stored protocol (setup, parameters, play) under their own identity."""
+        self.backend.add_caller(caller)
+        steps = [('run.setup', {'protocol_id': protocol_id})]
+        steps += [('run.set_parameter', {'name': k, 'value': v}) for k, v in (params or {}).items()]
+        steps += [('run.confirm_parameters', {}), ('run.play', {})]
+        for n, (cap, a) in enumerate(steps):
+            r = self.backend.invoke(caller, self.inst.id, cap, a, '%s-start-%s-%d' % (caller, protocol_id, n))
+            if r.get('status') != 'succeeded':
+                raise RuntimeError('%s failed for %s: %s' % (cap, caller, r.get('error')))
+
+    def registry(self):
+        return self.reg
+
+    def evaluator_state(self):
+        r = self.backend.evaluator_read(self.inst.id)
+        out = {k: (o.get('value') if isinstance(o, dict) else o) for k, o in (r.get('observations') or {}).items()}
+        out['time_s'] = self.backend.now()
+        return out
diff --git a/chemlab/chemlab/compile/scenes/glovebox.py b/chemlab/chemlab/compile/scenes/glovebox.py
new file mode 100644
index 0000000000000000000000000000000000000000..72c3aeda1b4c489387411875a2ba21349a2926e0
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/glovebox.py
@@ -0,0 +1,68 @@
+"""The Inert PureLab HE glovebox in the generic lab: the trusted host side (the world around the box).
+
+The glovebox twin is boundary-driven by design: it never invents the antechamber pressure or the box sensor readings; a trusted
+host must supply them.  This scene plays that host, after every clock step:
+
+* the antechamber pressure: a lumped model of the shared vacuum source and the inert-gas refill (evacuating: exponential decay
+  towards the source's 200 Pa ultimate pressure with ``evac_tau_s``; backfilling: exponential rise to ambient with
+  ``refill_tau_s``; an open outer door: ambient), given to the runtime as a fresh external boundary sample (source running, gas
+  ready) at the current time, which is what its antechamber cycle consumes;
+* the box sensors: the indicated box pressure follows the runtime's own box-pressure truth (its PLC keeps that in the working
+  window), and the O2 / H2O readings are the values the task world declares (``o2_ppm``, ``h2o_ppm`` in the entry's "glovebox").
+
+Engineering values (documented, not from the manual): evac_tau_s 15 s, refill_tau_s 4 s.  Attached in a lab config entry:
+"scene": "chemlab.compile.scenes.glovebox:GloveboxScene".  Nothing here is reachable from the sandbox.
+"""
+import math
+
+AMBIENT_PA = 101325.0
+EVIDENCE = 'chemlab generic-lab glovebox scene (task world): lumped antechamber model and declared box sensors'
+
+
+class GloveboxScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host
+        self.rt = inst.host.host                                   # InertPureLabHost (trusted host API)
+        self.iid = inst.host.instance_id
+        cfg = dict(inst.entry.get('glovebox') or {})
+        self.evac_tau = float(cfg.get('evac_tau_s', 15.0))
+        self.refill_tau = float(cfg.get('refill_tau_s', 4.0))
+        self.ultimate = float(cfg.get('ultimate_pa', 200.0))
+        self.o2 = float(cfg.get('o2_ppm', 0.8)) * 1e-6
+        self.h2o = float(cfg.get('h2o_ppm', 0.5)) * 1e-6
+        self.ante_p = AMBIENT_PA
+        self.rt.connect_vacuum_source(self.iid, cfg.get('vacuum_source', 'lab_vacuum_line'))
+        self.rt.configure_cycle_boundaries(self.iid, evacuation_pressure_pa=float(cfg.get('evacuation_pa', 300.0)),
+                                           backfill_pressure_pa=float(cfg.get('backfill_pa', 95000.0)), evidence=EVIDENCE)
+        self.rt.set_process_truth(self.iid, {'pressure.box_gauge_pa': float(cfg.get('box_gauge_pa', 800.0)),
+                                             'atmosphere.oxygen_truth_mole_fraction': self.o2,
+                                             'atmosphere.water_truth_mole_fraction': self.h2o}, evidence=EVIDENCE)
+        self._orig_advance = self.host.advance
+        self.host.advance = self._advance
+        self._publish()
+
+    def _state(self):
+        return self.rt._instances[self.iid].state
+
+    def _publish(self):
+        s = self._state()
+        self.rt.set_external_boundary(self.iid, pressure_pa=max(self.ante_p, self.ultimate), source_running=True, gas_supply_ready=True,
+                                      evidence=EVIDENCE)
+        obs = {'atmosphere.oxygen_mole_fraction': self.o2, 'atmosphere.water_mole_fraction': self.h2o,
+               'antechamber.indicated_pressure_pa': round(max(self.ante_p, self.ultimate), 1)}
+        if s.get('pressure.box_gauge_pa') is not None:
+            obs['pressure.indicated_gauge_pa'] = round(float(s['pressure.box_gauge_pa']), 1)
+        self.rt.set_observations(self.iid, obs, evidence=EVIDENCE)
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        s = self._state()
+        phase = s.get('antechamber.phase')
+        if s.get('antechamber.outer_door_open'):
+            self.ante_p = AMBIENT_PA
+        elif s.get('antechamber.cycle_active') and phase == 'evacuating':
+            self.ante_p = self.ultimate + (self.ante_p - self.ultimate) * math.exp(-dt / self.evac_tau)
+        elif s.get('antechamber.cycle_active') and phase == 'backfilling':
+            self.ante_p = AMBIENT_PA - (AMBIENT_PA - self.ante_p) * math.exp(-dt / self.refill_tau)
+        self._publish()
diff --git a/chemlab/chemlab/compile/scenes/hs8697.py b/chemlab/chemlab/compile/scenes/hs8697.py
new file mode 100644
index 0000000000000000000000000000000000000000..0d93b4f68847ba3545374fdf2ead093d43396ff2
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/hs8697.py
@@ -0,0 +1,28 @@
+"""The Agilent 8697 headspace sampler's event clock in the generic lab: the trusted host side.
+
+The 8697 runtime keeps its own terminal events (sequence steps, diagnostic tests, tray calibration, start-up) and processes them
+only in ``host_update()``, up to the time of its clock callable.  Its Matterix recipe has no advance mode (``advance: None``):
+the lab sets the clock it reads, but nothing calls ``host_update()``, so a started sequence never moves.  This
+scene, attached to the 8697's lab config entry (``"scene": "chemlab.compile.scenes.hs8697:HS8697Scene"``), calls
+``host_update()`` after every clock step - what the instrument's own firmware does.  Nothing here is reachable from the sandbox,
+and it never calls the runtime as an agent.
+"""
+
+
+class HS8697Scene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host                                      # RuntimeHost
+        self.rt = inst.host.host                                   # AgilentHS8697 (trusted host API)
+        # exactly one host_update() per clock step: the recipe mode "clock_host_update" (hosts.RuntimeHost.advance) or the
+        # lab's clock hook (labbackend._build, recipe without an advance mode) already runs it; this scene adds it only otherwise
+        already = inst.recipe.get('advance') == 'clock_host_update' or getattr(inst, 'clock_hook', None) == 'host_update'
+        self.wrapped = False
+        if callable(getattr(self.rt, 'host_update', None)) and not already:
+            self._orig_advance = self.host.advance
+            self.host.advance = self._advance
+            self.wrapped = True
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        self.rt.host_update()
diff --git a/chemlab/chemlab/compile/scenes/intellixcap.py b/chemlab/chemlab/compile/scenes/intellixcap.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b9b480cd4963be5c7bafa4f89690550fa45f4cb
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/intellixcap.py
@@ -0,0 +1,67 @@
+"""The Azenta IntelliXcap S1 decapper in the generic lab: the trusted host side.
+
+A decap / recap cycle of the runtime stops three times for the trusted host: when the jaws have clamped the cap (an "attach" event:
+the host creates the cap-to-gripper constraint), when the rotation has ended (the host reports whether the thread opened or
+closed) and before the jaws open (a "release" event: the host removes the constraint).  Nothing confirms these in a lab without a
+3-D scene, so this class plays the tube, cap and thread: after every clock step it confirms what the cycle waits for.
+
+The lab config entry may set "thread_ok": false to make the host report a failed thread (a cross-threaded or stuck cap), which the
+runtime then reports as a failed cycle (for recovery tasks).
+
+Attached in a lab config entry: "scene": "chemlab.compile.scenes.intellixcap:IntelliXcapScene".  Nothing here is reachable from the
+sandbox.
+"""
+
+
+class IntelliXcapScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host
+        self.rt = inst.host.host                                   # IntelliXcapS1Runtime (trusted host API)
+        self.iid = inst.host.instance_id
+        self.thread_ok = bool(inst.entry.get('thread_ok', True))
+        self.confirmations = []
+        self._n = 0
+        self._orig_advance = self.host.advance
+        self.host.advance = self._advance
+
+    def _active(self):
+        snap = self.rt.debug_snapshot()
+        inst = snap['instances'][self.iid]
+        op_id = inst.get('active_operation_id')
+        return inst, (snap['operations'].get(op_id) if op_id else None)
+
+    def _pending(self, inst, op, kind):
+        for e in inst.get('events') or []:
+            if e['kind'] == kind and not e['acknowledged'] and e['operation_id'] == op['operation_id'] and e['event_id'] == op.get('pending_event_id'):
+                return e
+        return None
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        inst, op = self._active()
+        if op is None:
+            return
+        phase = op.get('phase')
+        if phase == 'awaiting_attach':
+            e = self._pending(inst, op, 'attach')
+            if e is not None:
+                self._n += 1
+                cid = 'cap_grip_%s_%d' % (self.iid, self._n)
+                self.rt.host_confirm_attachment(self.iid, operation_id=op['operation_id'], event_id=e['event_id'], constraint_id=cid,
+                                                evidence='lab scene: the jaws hold cap %s' % e.get('cap_id'))
+                self.confirmations.append({'time_s': self.backend.now(), 'kind': 'attach', 'constraint_id': cid})
+        elif phase == 'awaiting_thread_result':
+            self.rt.host_confirm_thread_result(self.iid, operation_id=op['operation_id'], succeeded=self.thread_ok,
+                                               evidence='lab scene: thread %s' % ('turned' if self.thread_ok else 'did not turn'))
+            self.confirmations.append({'time_s': self.backend.now(), 'kind': 'thread', 'succeeded': self.thread_ok})
+        elif phase == 'awaiting_release':
+            e = self._pending(inst, op, 'release')
+            if e is not None:
+                cid = inst['values'].get('attachment.constraint_id')
+                self.rt.host_confirm_release(self.iid, operation_id=op['operation_id'], event_id=e['event_id'], constraint_id=cid,
+                                             evidence='lab scene: the cap constraint is removed')
+                self.confirmations.append({'time_s': self.backend.now(), 'kind': 'release', 'constraint_id': cid})
+
+    def evaluator_state(self):
+        return {'confirmations': list(self.confirmations)}
diff --git a/chemlab/chemlab/compile/scenes/metrohm914.py b/chemlab/chemlab/compile/scenes/metrohm914.py
new file mode 100644
index 0000000000000000000000000000000000000000..7199719938776cba9b5edda6b691dc81e74c4b5b
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/metrohm914.py
@@ -0,0 +1,42 @@
+"""The Metrohm 914 meter's sample beaker in the generic lab: the trusted host side.
+
+The 914 runtime measures whatever solution the host says the probes are standing in: every clock step must carry that solution
+(``host_step(time, inputs={instance: sample})``); a step without it leaves the last reading stale.  The default lab has no
+beaker, so the meter shows NO_SAMPLE.  This scene is attached to the 914's lab config entry
+(``"scene": "chemlab.compile.scenes.metrohm914:Metrohm914Scene"``) and reads
+
+    "solution": {"kind": "ph_buffer", "substance_id": "nist_srm_186g_phosphate_equimolal_buffer", "temperature_k": 298.15,
+                 "standard_channel": "ph"}
+
+(the template solution schema of ``scripts/basic40_templates/metrohm_914.py``: NIST pH buffers and KCl conductivity standards,
+or a solution of components).  ``standard_channel`` tells the meter which channel the solution is a calibration standard for
+(the operator's declaration when calibrating).  The scene feeds the solution at every clock step; nothing here is reachable from
+the sandbox, and it never calls the runtime as an agent.
+"""
+import copy
+
+from ...recipes import HOST_STEP_ABS
+
+
+class Metrohm914Scene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host                                      # RuntimeHost
+        self.rt = inst.host.host                                   # Metrohm914DeviceRuntime (trusted host API)
+        self.iid = inst.host.instance_id
+        self.solution = copy.deepcopy(inst.entry.get('solution'))
+        if self.solution is not None and self.host.recipe.get('advance') == HOST_STEP_ABS:
+            self._orig_advance = self.host.advance
+            self.host.advance = self._advance
+
+    def set_solution(self, solution):
+        """Trusted host / task world: change the beaker (None = take the probes out)."""
+        self.solution = copy.deepcopy(solution)
+
+    def _advance(self, dt):
+        if self.solution is None:
+            return self._orig_advance(dt)
+        t_new = self.host.local_s + dt
+        self.host.clock_counter += 1
+        self.rt.host_step_template(t_new, solutions={self.iid: copy.deepcopy(self.solution)})
+        self.host.local_s = t_new
diff --git a/chemlab/chemlab/compile/scenes/miniflex.py b/chemlab/chemlab/compile/scenes/miniflex.py
new file mode 100644
index 0000000000000000000000000000000000000000..be0cc4dc045b3d011af57ef4fd1cda68c8d2ca55
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/miniflex.py
@@ -0,0 +1,57 @@
+"""The Rigaku MiniFlex 600 in the generic lab: the trusted host side (what the physical world and the operator provide).
+
+The MiniFlex twin (basic40 runtime) has no sample physics of its own: the diffracted intensity comes from a host-loaded
+response grid, and the external chiller is a host connection.  Attached to the lab config entry
+("scene": "chemlab.compile.scenes.miniflex:MiniFlexScene"), this scene reads the entry's
+
+    "chiller": "chiller_01"                                  the recirculating chiller connection (connected and ready)
+    "samples": {"quartz_holder": [{"phase_id": "quartz", "weight_fraction": 1.0}], ...}
+                                                             the powder in each sample holder (public RRUFF / COD templates)
+
+and, after every successful call (any principal), loads the template response of the holder in the sample slot whenever the
+holder, the tube voltage / current or the slit label changed (host_load_template_sample: the pattern a real powder would give
+with that tube setting).  A holder the lab did not declare gets no response, so a scan of it is refused like an empty holder.
+Nothing here is reachable from the sandbox.
+"""
+import copy
+
+
+class MiniFlexScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host
+        self.rt = inst.host.host
+        self.iid = inst.host.instance_id
+        self.samples = copy.deepcopy(inst.entry.get('samples') or {})
+        self.loaded = None
+        self.events = []
+        chiller = inst.entry.get('chiller')
+        if chiller:
+            self.rt.host_set_cooling(self.iid, connection_id=chiller, ready=True)
+        self._orig_invoke = self.host.invoke
+        self.host.invoke = self._invoke
+
+    def _state(self):
+        i = self.rt._instances[self.iid]
+        return i['sample'], i['voltage'], i['current'], i['slit'], i['running']
+
+    def _invoke(self, principal, cap, args, request_id):
+        r = self._orig_invoke(principal, cap, args, request_id)
+        if isinstance(r, dict) and r.get('status') == 'succeeded':
+            self._sync()
+        return r
+
+    def _sync(self):
+        sample, kv, ma, slit, running = self._state()
+        key = (sample, kv, ma, slit)
+        if running or key == self.loaded or sample is None or None in (kv, ma, slit):
+            return
+        phases = self.samples.get(sample)
+        if not phases:
+            return
+        try:
+            meta = self.rt.host_load_template_sample(self.iid, copy.deepcopy(phases))
+            self.loaded = key
+            self.events.append({'time_s': self.backend.now(), 'sample': sample, 'coverage_rad': meta.get('coverage_rad')})
+        except ValueError as exc:                                           # a declared holder whose phases the library rejects
+            self.events.append({'time_s': self.backend.now(), 'sample': sample, 'error': str(exc)})
diff --git a/chemlab/chemlab/compile/scenes/preciseflex.py b/chemlab/chemlab/compile/scenes/preciseflex.py
new file mode 100644
index 0000000000000000000000000000000000000000..108a3edc683cb7c70976cb889fe4c2cc30315e33
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/preciseflex.py
@@ -0,0 +1,106 @@
+"""The Brooks PreciseFlex 400 arm in the generic lab: the trusted host side (scene authority).
+
+The runtime moves nothing by itself: a joint target (motion.set_joints) waits until the trusted scene commits the reached pose
+(host_commit_pose), and a grip or release (sample.attach / sample.release) is accepted only with a pose observed at the current
+host time and with containers, receiver ports and grip constraints that the host registered.  In a lab without a 3-D scene this
+class plays that scene:
+
+* at build: registers itself as the scene authority, commits the home pose, and registers the containers, receiver ports and grip
+  constraints of the lab config entry's "arm" world (positions from the arm's own forward kinematics of each named pose, so a
+  container is where the arm reaches at that pose);
+* after every clock step: commits a pending joint target once its move time has passed (an engineering joint-speed model, "arm":
+  {"joint_speed_rad_s", "z_speed_m_s"}; the PF400 data sheet gives no joint speeds for this use), and otherwise re-observes the
+  current pose so that it is fresh at the current host time (the arm standing still is still observed);
+* a grip or release is confirmed by the scene (the constraint is created / removed) and recorded in ``events``.
+
+The lab config entry:
+
+    "scene": "chemlab.compile.scenes.preciseflex:PreciseFlexScene",
+    "arm": {"home": {joints}, "containers": {"plate_1": {"pose": {joints}, "port": "bench_nest", "payload_kg": 0.1}},
+            "ports": {"sealer_nest": {"pose": {joints}}}, "tolerance_m": 0.005}
+
+Nothing here is reachable from the sandbox.
+"""
+import copy
+import math
+import sys
+
+JOINTS = ('z_m', 'shoulder_rad', 'elbow_rad', 'wrist_rad')
+
+
+class PreciseFlexScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host                                      # RuntimeHost
+        self.rt = inst.host.host                                   # PreciseFlex400Runtime (trusted host API)
+        self.iid = inst.host.instance_id
+        self.arm = copy.deepcopy(inst.entry.get('arm') or {})
+        self.fk = getattr(sys.modules[type(self.rt).__module__], 'preciseflex400_forward_kinematics')
+        self.joint_speed = float(self.arm.get('joint_speed_rad_s', 1.0))
+        self.z_speed = float(self.arm.get('z_speed_m_s', 0.2))
+        self.pending = None                                        # (target joints, move seconds, requested at local s)
+        self.events = []
+        self._orig_invoke, self._orig_advance = self.host.invoke, self.host.advance
+        self.host.invoke = self._invoke
+        self.host.advance = self._advance
+        self.rt.host_register_scene_adapter(self.iid, self._scene)
+        home = {k: float(v) for k, v in (self.arm.get('home') or {k: 0.0 for k in JOINTS}).items()}
+        self.rt.host_commit_pose(self.iid, joints=home, world_time_s=self.rt.time_s)
+        self.current = dict(home)
+        tol = float(self.arm.get('tolerance_m', 0.005))
+        for cid, c in (self.arm.get('containers') or {}).items():
+            pos = self.fk(c['pose'])['tcp_position_m']
+            self.rt.host_register_container(self.iid, cid, source_port_id=c.get('port', cid + '_nest'), position_m=pos, tolerance_m=tol,
+                                            gross_payload_kg=c.get('payload_kg'), evidence='lab world: %s placed at its nest' % cid)
+            self.rt.host_register_constraint(self.iid, c.get('constraint', 'grip_' + cid), container_id=cid, adapter=self._grip,
+                                             evidence='lab world: gripper fingers fit %s' % cid)
+        for pid, port in (self.arm.get('ports') or {}).items():
+            pos = self.fk(port['pose'])['tcp_position_m']
+            self.rt.host_register_receiver_port(self.iid, pid, position_m=pos, tolerance_m=tol, evidence='lab world: receiving nest %s' % pid)
+
+    # the scene authority: the fast-sim scene reaches every commanded pose exactly
+    def _scene(self, instance_id, expected):
+        return copy.deepcopy(expected)
+
+    def _grip(self, instance_id, event):
+        self.events.append({'time_s': self.backend.now(), 'event': copy.deepcopy(event)})
+        return True
+
+    def _move_s(self, a, b):
+        dz = abs(b['z_m'] - a['z_m']) / self.z_speed
+        dr = max(abs(b[k] - a[k]) for k in JOINTS if k != 'z_m') / self.joint_speed
+        return max(0.5, dz, dr)
+
+    def _invoke(self, principal, cap, args, request_id):
+        r = self._orig_invoke(principal, cap, args, request_id)
+        if cap == 'motion.set_joints' and isinstance(r, dict) and r.get('status') == 'succeeded':
+            target = {k: float(v) for k, v in args['joints'].items()}
+            self.pending = (target, self._move_s(self.current, target), self.host.local_s)
+        return r
+
+    def _state(self):
+        return self.rt.debug_snapshot()['instances'][self.iid]['state']
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        st = self._state()
+        if st.get('motion.status') == 'fault':
+            return
+        if self.pending is not None:
+            target, move_s, t0 = self.pending
+            if st.get('motion.target_joints') != target:
+                self.pending = None
+            elif self.host.local_s - t0 + 1e-9 >= move_s:
+                self.rt.host_commit_pose(self.iid, joints=target, world_time_s=self.rt.time_s)
+                self.current = dict(target)
+                self.pending = None
+            return
+        if st.get('motion.status') == 'ready':                       # standing still: observe the pose again at the current time
+            joints = st.get('motion.target_joints') or self.current
+            self.rt.host_commit_pose(self.iid, joints={k: float(v) for k, v in joints.items()}, world_time_s=self.rt.time_s)
+
+    def evaluator_state(self):
+        return {'events': copy.deepcopy(self.events), 'current': dict(self.current), 'pending': copy.deepcopy(self.pending)}
+
+
+_ = math
diff --git a/chemlab/chemlab/compile/scenes/vici.py b/chemlab/chemlab/compile/scenes/vici.py
new file mode 100644
index 0000000000000000000000000000000000000000..1a6f159ba0cba465b8a93c77ba94acb3cd135d9f
--- /dev/null
+++ b/chemlab/chemlab/compile/scenes/vici.py
@@ -0,0 +1,47 @@
+"""The VICI EUTA stream-selection valve in the generic lab: the trusted host side.
+
+The runtime takes a position command and then waits for the trusted host to confirm that the rotor has arrived (host_arrive);
+nothing else ever confirms it in a lab without a 3-D scene.  This scene plays the valve drive: after every clock step it confirms
+a pending target once ``move_s`` of lab time has passed since the command (an engineering value, "move_s" in the config entry,
+default 0.5 s; the EUTA manual gives no switching time), so the valve reports "in position" on the next clock step.
+
+Attached in a lab config entry: "scene": "chemlab.compile.scenes.vici:ViciScene".  Nothing here is reachable from the sandbox.
+"""
+
+
+class ViciScene:
+    def __init__(self, backend, inst):
+        self.backend, self.inst = backend, inst
+        self.host = inst.host                                      # RuntimeHost
+        self.rt = inst.host.host                                   # ViciEutaValveRuntime (trusted host API)
+        self.move_s = float(inst.entry.get('move_s', 0.5))
+        self.pending = None                                        # (target, requested at lab-local seconds)
+        self._n = 0
+        self._orig_invoke, self._orig_advance = self.host.invoke, self.host.advance
+        self.host.invoke = self._invoke
+        self.host.advance = self._advance
+        self.arrivals = []
+
+    def _state(self):
+        return self.rt.debug_snapshot()['state']
+
+    def _invoke(self, principal, cap, args, request_id):
+        r = self._orig_invoke(principal, cap, args, request_id)
+        if cap == 'valve.select_position' and isinstance(r, dict) and r.get('status') == 'succeeded':
+            self.pending = (args.get('position'), self.host.local_s)
+        return r
+
+    def _advance(self, dt):
+        self._orig_advance(dt)
+        if self.pending is None:
+            return
+        target, t0 = self.pending
+        st = self._state()
+        if st.get('valve.target_position') != target or st.get('valve.in_position'):
+            self.pending = None
+            return
+        if self.host.local_s - t0 + 1e-9 >= self.move_s:
+            self._n += 1
+            r = self.rt.host_arrive(position=target, world_time_s=self.host.local_s, request_id='scene-vici-arrive-%d' % self._n)
+            self.arrivals.append({'time_s': self.backend.now(), 'position': target, 'status': (r or {}).get('status')})
+            self.pending = None
diff --git a/chemlab/chemlab/compile/shared.py b/chemlab/chemlab/compile/shared.py
new file mode 100644
index 0000000000000000000000000000000000000000..febddf8e3adb2498a9836d14195bd0e1272d4f0a
--- /dev/null
+++ b/chemlab/chemlab/compile/shared.py
@@ -0,0 +1,381 @@
+"""Shared verbs: the vocabulary most of the 203 contracts already have in common.
+
+* device base: ``power on|off``, ``status`` (every ClassAdapter has it), ``open PART`` / ``close PART`` (doors, lids, covers,
+  sashes, hoods, ...), ``ack`` (acknowledge an alarm / message), ``estop`` (emergency stop);
+* run set: ``method KEY=VALUE ...``, ``start`` (a job when the action is long), ``stop``, ``result [--save-to FILE]``,
+  ``wait [--max T]`` (the caller's latest job on this instrument).
+
+Classes take the factories they need (``self.table.update(shared.base_verbs(self))``); the generated shared / thin layer is ``SharedAdapter`` with a fragment marked ``"layer": "shared"``.  A class fragment overrides it verb by verb
+(fragments.py precedence).  Member mapping keys (data in the fragment):
+
+    "power":  {"cap": "power.set", "arg": "enabled"}                 or {"cap": "power.toggle", "toggle": true}
+    "open":   {"parts": {"door": {"cap": "door.set", "arg": "angle_rad", "open": 1.57, "close": 0.0},
+                         "lid":  {"open_cap": "lid.open", "close_cap": "lid.close"}}}      (close uses the same table)
+    "ack":    {"cap": "alarm.acknowledge"}           "estop": {"cap": "emergency.stop"}
+    "method": {"cap": "method.configure", "args": {fixed}, "keys": {"temp": {"arg": "temperature_k", "kind": "temperature"}},
+               "passthrough": true}               (canonical key dictionary of the class + native argument names)
+    "start":  {"cap": "acquisition.start", "args": {}, "job": "operation" | "state" | "none",
+               "state": {"slot": "cycle.phase", "done": ["succeeded"], "failed": ["failed", "cancelled"]}, "stop_cap": "..."}
+    "stop":   {"cap": "acquisition.stop"}
+    "result": {"cap": "acquisition.result"}          or {"reads": ["measurement.value", ...]}
+
+One native path per verb group: start / stop / result of a member must use one path (PATH_GROUPS; base.check_paths).
+"""
+import copy
+import json
+import re
+
+from ..contract import validate
+from ..generic import coerce
+from . import units
+from .base import ClassAdapter, short
+from .errors import invalid, refused
+from .jobs import RUNNING, OperationJob, StateJob, latest
+from .verbs import Arg, Opt, Verb, save_to_opt, target_opt
+
+ON_OFF = ['on', 'off']
+
+
+# ------------------------------------------------------------------ device base
+def power_verb(ad):
+    def h(ctx, p):
+        m = ad.vmap('power')
+        want = p.pos[0] == 'on'
+        slot = ad.slot('power')
+        cur = ctx.v(slot) if slot else None
+        if slot and bool(cur) == want:
+            return {'text': 'ok: %s is already %s\n' % (ad.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': False}}
+        if m.get('toggle'):
+            if not slot:
+                ctx.fail(refused('STATE_UNKNOWN', '%s only has a power toggle and no power state to check.' % ad.instrument_id,
+                                 'use `chemlab call %s %s` if you are sure.' % (ad.instrument_id, m['cap'])))
+            args = dict(m.get('args') or {})
+        else:
+            args = dict(m.get('args') or {})
+            args[m['arg']] = want
+        ctx.call(m['cap'], args, 'switch %s' % p.pos[0],
+                 readback=(lambda v: None if bool(ctx.v(slot)) == want else 'power %s' % ctx.v(slot)) if slot else None)
+        return {'text': 'ok: %s switched %s\n' % (ad.instrument_id, p.pos[0]), 'json': {'power': want, 'changed': True}}
+    return Verb('power', 'switch the instrument on or off', h, positionals=[Arg('on|off', 'on or off', choices=ON_OFF)],
+                example='chemlab run INST power on')
+
+
+def _part(ad, ctx, name):
+    parts = (ad.vmap('open') or {}).get('parts') or {}
+    if name is None:
+        if len(parts) == 1:
+            return next(iter(parts.items()))
+        ctx.fail(invalid('WHICH_PART', '%s has several parts: %s.' % (ad.instrument_id, ', '.join(parts)), 'name one, e.g. `open %s`.' % next(iter(parts))))
+    if name not in parts:
+        ctx.fail(invalid('UNKNOWN_PART', '%s has no part %r to open or close.' % (ad.instrument_id, name), 'parts: %s.' % ', '.join(parts)))
+    return name, parts[name]
+
+
+def open_close_verbs(ad):
+    def make(action):
+        def h(ctx, p):
+            name, spec = _part(ad, ctx, p.pos[0] if p.pos else None)
+            if spec.get('%s_cap' % action):
+                cap, args = spec['%s_cap' % action], dict(spec.get('args') or {})
+            else:
+                cap, args = spec['cap'], dict(spec.get('args') or {})
+                args[spec['arg']] = spec[action]
+            ctx.call(cap, args, '%s the %s' % (action, name))
+            return {'text': 'ok: %s %s %s\n' % (ad.instrument_id, name, 'opened' if action == 'open' else 'closed'),
+                    'json': {'part': name, 'action': action}}
+        return h
+    pos = [Arg('PART', 'which part (door, lid, cover, sash, ...); optional when there is only one', required=False)]
+    return {'open': Verb('open', 'open a door, lid, cover, sash or hood', make('open'), positionals=pos, example='chemlab run INST open door'),
+            'close': Verb('close', 'close a door, lid, cover, sash or hood', make('close'), positionals=pos, example='chemlab run INST close door')}
+
+
+def simple_verb(ad, name, summary, done_text):
+    def h(ctx, p):
+        m = ad.vmap(name)
+        ctx.call(m['cap'], dict(m.get('args') or {}), done_text)
+        return {'text': 'ok: %s %s\n' % (ad.instrument_id, done_text), 'json': {'done': done_text}}
+    return Verb(name, summary, h, example='chemlab run INST %s' % name)
+
+
+def base_verbs(ad):
+    out = {'power': power_verb(ad)}
+    out.update(open_close_verbs(ad))
+    out['ack'] = simple_verb(ad, 'ack', 'acknowledge the current alarm or message', 'acknowledged')
+    out['estop'] = simple_verb(ad, 'estop', 'emergency stop', 'emergency stop sent')
+    return out
+
+
+# ------------------------------------------------------------------ run set
+OK_CALL = ('succeeded', 'accepted', 'running')
+SOURCE_TEXT = {'instrument': 'kept from what the instrument reports', 'last': 'kept from the last method chemlab sent',
+               'example': "from the contract's example method (give them to change)", 'fixed': 'fixed by the mapping'}
+
+
+def reported_method(ad, ctx, cap, props):
+    """{arg: (value, where)} for arguments of a method capability that the instrument itself reports (agent-visible): a slot
+    '<namespace>.<arg>' of the capability's namespace (method.mode for method.configure), or a key of a visible object slot that
+    holds several of the arguments (method.current, measurement.settings, ...).  Values are converted to the argument's
+    declared unit and dropped when they do not fit its schema (e.g. null before the first method)."""
+    ns = cap.split('.', 1)[0]
+    slots = ad.lab.contract['state_slots']
+    view = ctx.view or {}
+    out = {}
+    for sid, v in view.items():
+        if sid.startswith('_') or v is None:
+            continue
+        head, _, last = sid.rpartition('.')
+        if head == ns and last in props:
+            out.setdefault(last, (_to_arg(v, (slots.get(sid) or {}).get('unit'), props[last]), sid))
+    for sid, v in view.items():
+        if isinstance(v, dict) and not sid.startswith('_'):
+            common = [k for k in v if k in props]
+            if len(common) >= 2:
+                for k in common:
+                    out.setdefault(k, (v[k], '%s#%s' % (sid, k)))
+    return {k: (v, w) for k, (v, w) in out.items() if v is not None and not validate(props[k], v, k)}
+
+
+def _to_arg(v, slot_unit, schema):
+    """A slot value in the unit the argument declares (same kind, different spelling or scale), else unchanged."""
+    au, su = units.declared(schema), units.norm_unit(slot_unit) if slot_unit else None
+    if isinstance(v, bool) or not isinstance(v, (int, float)) or not au or not su or au == su:
+        return v
+    ka, ks = units.unit_kind(au), units.unit_kind(su)
+    if ka and ka == ks:
+        out = units.sig(units.to_declared(units.from_declared(v, su), au))
+        return int(out) if schema.get('type') == 'integer' and float(out).is_integer() else out
+    return v
+
+
+def last_sent(core, instrument, cap):
+    """The arguments of the last successful call of ``cap`` on an instrument sent through chemlab (any verb, `chemlab call`
+    included), from the request log; None when there was none."""
+    log = getattr(core, 'log', None)
+    for e in reversed(getattr(log, 'entries', None) or []):
+        for c in reversed(e.get('backend_calls') or []):
+            if c.get('op') == 'invoke' and c.get('instrument') == instrument and c.get('capability') == cap and c.get('status') in OK_CALL:
+                return copy.deepcopy(c.get('arguments') or {})
+    return None
+
+
+def full_method_args(ad, ctx, cap, given, fixed=None):
+    """The complete argument set of a method capability: ``given`` (the agent's keys), then the mapping's fixed ``args``, then
+    for every other required argument - and every argument chemlab sent last time - in this order: what the instrument reports
+    (if visible), the last method chemlab sent, the contract's example.  Returns (args, {arg: source}); a required argument
+    with no source is a usage error naming it."""
+    spec = ctx.cap_spec(cap)
+    schema = spec.get('input_schema') or {}
+    props = schema.get('properties') or {}
+    required = list(schema.get('required') or [])
+    args, src = {}, {}
+    for k, v in (fixed or {}).items():
+        args[k], src[k] = v, 'fixed'
+    for k, v in given.items():
+        args[k], src[k] = v, 'given'
+    last = last_sent(ctx.core, ad.instrument_id, cap) or {}
+    wanted = [a for a in required if a not in args] + [a for a in last if a not in args and a not in required and a in props]
+    if not wanted:
+        return args, src
+    reported = reported_method(ad, ctx, cap, props)
+    example = spec.get('example_arguments') or {}
+    missing = []
+    for a in wanted:
+        if a in reported:
+            args[a], src[a] = copy.deepcopy(reported[a][0]), 'instrument:' + reported[a][1]
+        elif a in last and not validate(props.get(a) or {}, last[a], a):
+            args[a], src[a] = copy.deepcopy(last[a]), 'last'
+        elif a in example and a in required:
+            args[a], src[a] = copy.deepcopy(example[a]), 'example'
+        elif a in required:
+            missing.append(a)
+    if missing:
+        ctx.fail(invalid('MISSING_SETTING', '%s needs %s, and %s reports no current value for %s.' % (
+            cap, ', '.join(missing), ad.instrument_id, 'it' if len(missing) == 1 else 'them'),
+            'give %s (see `chemlab help %s method`).' % (' '.join('%s=...' % a for a in missing), ad.instrument_id)))
+    return args, src
+
+
+def _show(v, schema):
+    """A native value for the reply: in friendly units when the argument declares one ('1570.8 rad/s' -> '15000 rpm')."""
+    u = units.declared(schema or {})
+    if u and units.unit_kind(u) and isinstance(v, (int, float)) and not isinstance(v, bool):
+        return units.fmt_declared(v, u)
+    return short(v, 40)
+
+
+def method_sources_text(args, src, props=None):
+    """Reply lines naming where each value not given by the agent came from."""
+    groups = {}
+    for k, s in src.items():
+        if s == 'given':
+            continue
+        key = 'instrument' if s.startswith('instrument:') else s
+        groups.setdefault(key, []).append('%s=%s' % (k, _show(args[k], (props or {}).get(k))) +
+                                          (' (%s)' % s.split(':', 1)[1] if key == 'instrument' else ''))
+    return ''.join('  %s: %s\n' % (SOURCE_TEXT[g], ', '.join(groups[g])) for g in ('instrument', 'last', 'example', 'fixed') if g in groups)
+
+
+def method_verb(ad):
+    def h(ctx, p):
+        m = ad.vmap('method')
+        cap = m['cap']
+        props = (ctx.cap_spec(cap).get('input_schema') or {}).get('properties') or {}
+        given = {}
+        keys = m.get('keys') or {}
+        if not p.extra:
+            ctx.fail(invalid('MISSING_SETTING', 'method needs at least one KEY=VALUE.', 'see `chemlab help %s method`.' % ad.instrument_id))
+        for item in p.extra:
+            k, eq, v = item.partition('=')
+            if not eq:
+                ctx.fail(invalid('BAD_SETTING', '%r is not KEY=VALUE.' % item, 'write method KEY=VALUE ... (see `chemlab help %s method`).' % ad.instrument_id))
+            if k in keys:
+                spec = keys[k]
+                native, kind = spec['arg'], spec.get('kind')
+            elif m.get('passthrough', True) and k in props:
+                native, kind = k, None
+            else:
+                ctx.fail(invalid('UNKNOWN_SETTING', '%s has no method setting %r.' % (ad.instrument_id, k),
+                                 'settings: %s.' % ', '.join(sorted(set(keys) | (set(props) if m.get('passthrough', True) else set())))))
+            schema = props.get(native) or {}
+            u = units.declared(schema)
+            bare = re.fullmatch(r'\s*[+-]?(\d+(\.\d*)?|\.\d+)([eE][+-]?\d+)?\s*', v) is not None
+            numeric = re.match(r'\s*[+-]?(\d|\.\d)', v) is not None          # null / true / [..] / {..} / text: no unit parsing
+            if u and units.unit_kind(u) and (kind is not None or (numeric and not bare)):   # native name + bare number: declared unit
+                given[native] = units.parse_for(v, schema, kind, what=k)
+                if schema.get('type') == 'integer' and float(given[native]).is_integer():
+                    given[native] = int(given[native])
+            else:
+                given[native] = coerce(v, schema, k)
+        given.update(ad.target_args(ctx, p))
+        args, src = full_method_args(ad, ctx, cap, given, m.get('args'))
+        bad = validate(ctx.cap_spec(cap).get('input_schema') or {'type': 'object', 'properties': {}}, args, cap)
+        if bad:
+            ctx.fail(invalid('BAD_SETTING', 'the method does not fit %s: %s.' % (ad.instrument_id, '; '.join(bad[:6])),
+                             'change the value(s) (ranges: `chemlab describe %s`); values not given come from the sources the '
+                             'reply names and can be overridden by giving them.' % ad.instrument_id))
+        ctx.call(cap, args, 'set the method (%s)' % ', '.join('%s=%s' % (k, short(v, 30)) for k, v in given.items()))
+        text = 'ok: method of %s set: %s\n' % (ad.instrument_id, ', '.join('%s=%s' % (k, short(v, 40)) for k, v in given.items()))
+        text += method_sources_text(args, src, props)
+        return {'text': text, 'json': {'arguments': args, 'given': sorted(given), 'sources': src}}
+    return Verb('method', 'set method parameters: KEY=VALUE ... (class keys take units like 80C; a native argument name with a bare '
+                'number takes the unit the contract declares for it; settings not given are kept from what the instrument reports, '
+                'else from the last method chemlab sent, else from the contract example - the reply says which)', h,
+                options=target_opts(ad), variadic=('KEY=VALUE', 'a setting'), example='chemlab run INST method temp=80C time=5min')
+
+
+def target_opts(ad):
+    """--zone / --channel / --cell / --head for the targets this member's mapping has."""
+    return {k: target_opt(k, sorted((t.get('values') or {}).keys()) or None) for k, t in (ad.map.get('targets') or {}).items()}
+
+
+def _start_job(ad, ctx, m, r, cap):
+    mode = ((ctx.cap_spec(cap).get('execution') or {}).get('mode'))
+    job = m.get('job') or ('operation' if r.get('operation_id') else 'none')
+    if job == 'operation' and r.get('operation_id'):
+        return OperationJob(ctx.core, ad, ctx.req, '%s %s' % (ad.instrument_id, cap), cap, r['operation_id'])
+    if job == 'state':
+        st = m['state']
+
+        def state(c):
+            v = c.v(st['slot'])
+            v = v.get(st['key']) if st.get('key') and isinstance(v, dict) else v
+            if v in (st.get('done') or []):
+                return 'succeeded', '%s = %s' % (st['slot'], v), {'state': v}
+            if v in (st.get('failed') or []):
+                return 'failed', '%s = %s' % (st['slot'], v), {'state': v}
+            return 'running', '%s = %s' % (st['slot'], v), {'state': v}
+        stop = None
+        if m.get('stop_cap') or ad.vmap('stop'):
+            sm = {'cap': m['stop_cap']} if m.get('stop_cap') else ad.vmap('stop')
+
+            def stop(c):
+                c.call(sm['cap'], dict(sm.get('args') or {}), 'stop')
+                return 'stopped with %s' % sm['cap']
+        return StateJob(ctx.core, ad, ctx.req, '%s %s' % (ad.instrument_id, cap), state, stop=stop, max_s=float(m.get('max_s', 7200)))
+    _ = mode
+    return None
+
+
+def run_verbs(ad):
+    def h_start(ctx, p):
+        m = ad.vmap('start')
+        args = dict(m.get('args') or {})
+        args.update(ad.target_args(ctx, p))
+        r = ctx.call(m['cap'], args, 'start (%s)' % m['cap'])
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        job = _start_job(ad, ctx, m, r, m['cap'])
+        if job is None:
+            return {'text': 'ok: %s started (%s)\n' % (ad.instrument_id, r.get('status')), 'json': {'status': r.get('status'), 'result': r.get('result')}}
+        return {'text': 'started %s: %s\nfollow it: chemlab status %s | chemlab wait %s | chemlab cancel %s\n' % (
+            job.handle, job.description, job.handle, job.handle, job.handle), 'json': {'job': job.handle, 'kind': job.kind}}
+
+    def h_stop(ctx, p):
+        m = ad.vmap('stop')
+        args = dict(m.get('args') or {})
+        args.update(ad.target_args(ctx, p))
+        ctx.call(m['cap'], args, 'stop (%s)' % m['cap'])
+        return {'text': 'ok: %s stopped\n' % ad.instrument_id, 'json': {}}
+
+    def h_result(ctx, p):
+        m = ad.vmap('result')
+        if m.get('cap'):
+            args = dict(m.get('args') or {})
+            args.update(ad.target_args(ctx, p))
+            r = ctx.call(m['cap'], args, 'read the result (%s)' % m['cap'], query=True)
+            res = r.get('result')
+        else:
+            res = {s: ctx.v(s) for s in m.get('reads') or []}
+        if ctx.dry_run:
+            return {'text': '', 'json': {}}
+        lines = ['%s result:' % ad.instrument_id]
+        if isinstance(res, dict):
+            for k, v in list(res.items())[:30]:
+                lines.append('  %s = %s' % (k, short(v, 160)))
+        else:
+            lines.append('  %s' % short(res, 400))
+        return {'text': '\n'.join(lines) + '\n', 'json': {'result': res}}
+
+    def h_wait(ctx, p):
+        job = latest(ctx.core, ctx.caller, ad.instrument_id)
+        if job is None:
+            ctx.fail(invalid('NO_JOB', 'you have no job on %s.' % ad.instrument_id, 'start one first (`chemlab run %s start`).' % ad.instrument_id))
+        r = job.wait_reply(ctx.core, ctx.req, p.get('max'))
+        return {'text': r['text'], 'json': r['json']}
+
+    t = target_opts(ad)
+    return {'start': Verb('start', 'start the run / measurement (long ones return job-N)', h_start, long_action=True, options=dict(t),
+                          example='chemlab run INST start'),
+            'stop': Verb('stop', 'stop the run / measurement', h_stop, options=dict(t), example='chemlab run INST stop'),
+            'result': Verb('result', 'the result of the last run / measurement', h_result, readonly=True,
+                           options=dict(t, **{'save-to': save_to_opt()}), example='chemlab run INST result --save-to result.json'),
+            'wait': Verb('wait', 'wait for your latest job on this instrument', h_wait, readonly=True,
+                         options={'max': Opt('longest wait', kind='duration', metavar='TIME')}, example='chemlab run INST wait --max 30min')}
+
+
+class SharedAdapter(ClassAdapter):
+    """The shared / thin layer for any instrument (shared_gen.py generates its fragment, "layer": "shared")."""
+    CLASS = 'shared'
+    TITLE = 'shared verbs'
+    ABOUT = 'power, status, open/close named parts, ack, estop, and the run set method / start / stop / result / wait.'
+    STANDARDS = 'SiLA 2 core (power, abort), OPC UA LADS (FunctionalUnit Start/Stop, controller set points)'
+    PATH_GROUPS = (('start', 'stop', 'result'),)
+    ALWAYS = ('status', 'wait')
+
+    def build_verbs(self):
+        out = base_verbs(self)
+        out['method'] = method_verb(self)
+        out.update(run_verbs(self))
+        return out
+
+    def summary(self, values):
+        keys = self.map.get('status_slots') or []
+        lines = ['%s = %s' % (k, short(values.get(k), 60)) for k in keys if k in values]
+        return (lines or ['(no status slots mapped; see `chemlab read %s`)' % self.instrument_id]), {k: values.get(k) for k in keys}
+
+
+def dumps(o):
+    return json.dumps(o, ensure_ascii=False, default=str)
+
+
+_ = RUNNING
diff --git a/chemlab/chemlab/compile/shared_gen.py b/chemlab/chemlab/compile/shared_gen.py
new file mode 100644
index 0000000000000000000000000000000000000000..2d054abaded404d1641ef5fe123d8097ab465e4e
--- /dev/null
+++ b/chemlab/chemlab/compile/shared_gen.py
@@ -0,0 +1,346 @@
+"""Generate the shared layer: configs/adapters/shared.json for all 203 instruments.
+
+    python -m chemlab.compile.shared_gen            # draft into build/mapgen/shared_fragment.json and print counts
+    python -m chemlab.compile.shared_gen --write    # write configs/adapters/shared.json (after validating every member)
+
+Every member mapping is generated from its contract's agent-visible, implemented capabilities, then checked with
+SharedAdapter.check_mapping against the contract and the agent view; a verb that does not fit is dropped with a reason.  Rules:
+
+* power: power.set-like capability with one boolean argument (enabled / on / power); other required arguments take the
+  contract's example values (e.g. the DMT152 supply voltage); toggles only when there is a power state slot.
+* open / close PART: a door, lid, cover, sash, drawer, hood, shield, guard, hatch, cap, latch, furnace or flange capability that
+  opens with one setting: an open/close pair, a boolean (open = true, unless the argument says closed/locked), a number with a
+  range (open = maximum, close = minimum) or an enum with open/closed values; and any other capability whose one argument is a
+  boolean open / opened / closed (valves, shutters, chambers, holders).  scene.* capabilities are left to the classes.
+* ack: an alarm / message / fault / error / warning acknowledge (no arguments); reset / clear only for alarms, faults, errors.
+* estop: emergency.stop / trigger / engage, safety.emergency_stop / emo / trip, generator.emergency_stop (no arguments).
+* method: method.configure / method.set / acquisition.configure / measurement.configure / chromatography.set_method.
+* start: acquisition.start first, then measurement / run / test / scan / sequence / cycle / analysis / program / experiment /
+  process .start, with no required arguments; an asynchronous one returns an operation job.
+* stop: the start's namespace .stop / .abort / .cancel.  result: the start's namespace .result / .read / .measure, else a
+  query in a namespace that has no start of its own (not a second path; listed in path_exceptions).
+* status: the power slot and the state / phase / status slots the start changes.
+
+The thin-class members (configs/adapters/thin.json) are left out: their reviewed thin fragment is their shared layer.
+"""
+import argparse
+import json
+import re
+import sys
+from pathlib import Path
+
+from ..labbackend import LabBackend, load_config
+from .fragments import FRAGMENT_DIR, load_fragments, write_json_atomic
+from .shared import SharedAdapter
+
+ROOT = Path(__file__).resolve().parents[2]
+OUT = ROOT / 'build' / 'mapgen'
+PART_WORDS = ('door', 'doors', 'lid', 'cover', 'sash', 'drawer', 'hood', 'shield', 'guard', 'hatch', 'cap', 'latch', 'furnace', 'flange',
+              'enclosure')
+PART_ACTIONS = ('set', 'set_angle', 'set_lift', 'set_open', 'set_position', 'move', 'set_extension', 'set_raised', 'set_door', 'set_opening')
+NOT_PARTS = ('scene.', 'monitor.')       # boolean "closed" there is a mode (fume-hood night setback), not a part
+ACK_NS = ('alarm', 'alarms', 'message', 'messages', 'fault', 'faults', 'error', 'errors', 'warning', 'warnings', 'notification',
+          'notifications', 'alert', 'alerts', 'generator', 'pressure_alarm', 'system')
+ACK_ACTIONS = ('acknowledge', 'ack', 'confirm', 'dismiss', 'mute', 'silence', 'clear', 'reset')
+ESTOP = ('emergency.stop', 'emergency.trigger', 'emergency.engage', 'safety.emergency_stop', 'generator.emergency_stop', 'safety.emo',
+         'safety.trip')
+METHOD = ('method.configure', 'method.set', 'acquisition.configure', 'measurement.configure', 'chromatography.set_method')
+START_NS = ('acquisition', 'measurement', 'run', 'test', 'scan', 'sequence', 'cycle', 'analysis', 'program', 'experiment', 'process')
+REASONS = {
+    'power': 'its contract gives agents no power switch capability',
+    'open': 'no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)',
+    'close': 'no door, lid or cover that closes with a single setting (see `chemlab describe INST`)',
+    'ack': 'no alarm or message acknowledge capability',
+    'estop': 'no emergency stop capability',
+    'method': 'no method capability (its settings are separate capabilities: `chemlab describe INST`)',
+    'start': 'no run or measurement start that needs no arguments (see `chemlab describe INST`)',
+    'stop': 'no stop for its start capability',
+    'result': 'no result query on the same path as its start',
+}
+
+
+def _props(c):
+    return (c.get('input_schema') or {}).get('properties') or {}
+
+
+def _required(c):
+    return list((c.get('input_schema') or {}).get('required') or [])
+
+
+def _types(s):
+    t = s.get('type')
+    return set(t if isinstance(t, list) else [t] if t else [])
+
+
+def power(caps, slots, contract):
+    cands = sorted(c for c in caps if re.fullmatch(r'(power|platform|controller|main)\.set(_power)?', c) or c.endswith('.set_power'))
+    cands.sort(key=lambda c: c != 'power.set')
+    for cid in cands:
+        props = _props(caps[cid])
+        b = [n for n, s in props.items() if 'boolean' in _types(s) and n in ('enabled', 'on', 'power', 'powered')]
+        if not b:
+            continue
+        m = {'cap': cid, 'arg': b[0]}
+        ex = caps[cid].get('example_arguments') or {}
+        fixed = {n: ex[n] for n in _required(caps[cid]) if n != b[0]}
+        if any(n not in ex for n in _required(caps[cid]) if n != b[0]):
+            continue
+        if fixed:
+            m['args'] = fixed
+        return m, power_slot(cid, b[0], slots, contract)
+    for cid in sorted(caps):
+        if re.fullmatch(r'power\.(toggle|press_switch|press_button|key_toggle)', cid) and not _required(caps[cid]):
+            s = power_slot(cid, None, slots, contract)
+            if s:
+                return {'cap': cid, 'toggle': True}, s
+    return None, None
+
+
+def power_slot(cid, arg, slots, contract):
+    for sid in sorted(slots):
+        wv = contract['state_slots'][sid].get('write_via') or {}
+        if isinstance(wv, dict) and wv.get('capability_id') == cid and (arg is None or wv.get('argument') == arg):
+            return sid
+    for sid in sorted(slots):
+        if re.fullmatch(r'power\.(enabled|on)', sid) and 'boolean' in _types(contract['state_slots'][sid].get('value_schema') or {}):
+            return sid
+    return None
+
+
+def _is_part(prefix, action):
+    words = re.split(r'[._]', prefix)
+    return any(w in PART_WORDS for w in words) or (action in ('set_door',) and prefix)
+
+
+def part_value(arg, s):
+    """(open value, close value) for one argument, or None."""
+    t = _types(s)
+    inv = bool(re.search(r'closed|lock', arg))
+    if 'boolean' in t:
+        return (False, True) if inv else (True, False)
+    if t & {'number', 'integer'} and 'minimum' in s and 'maximum' in s:
+        lo, hi = s['minimum'], s['maximum']
+        if lo == hi:
+            return None
+        return (lo, hi) if inv else (hi, lo)
+    enum = [str(e) for e in s.get('enum') or []]
+    o = next((e for e in enum if e in ('open', 'opened', 'up', 'raised')), None)
+    c = next((e for e in enum if e in ('closed', 'close', 'down', 'lowered')), None)
+    if o and c:
+        return (o, c)
+    return None
+
+
+def parts(caps):
+    found = {}
+    rank = {}
+    for cid in sorted(caps):
+        if cid.startswith('scene.') or '.' not in cid:
+            continue
+        prefix, _, action = cid.rpartition('.')
+        if action in ('open', 'close'):
+            other = '%s.%s' % (prefix, 'close' if action == 'open' else 'open')
+            if other in caps and not _required(caps[cid]) and not _required(caps[other]) and _is_part(prefix, action):
+                name = prefix.replace('.', '_')
+                if rank.get(name, 9) > 0:
+                    found[name], rank[name] = {'open_cap': '%s.open' % prefix, 'close_cap': '%s.close' % prefix}, 0
+            continue
+        if action not in PART_ACTIONS or not _is_part(prefix, action):
+            continue
+        props, req = _props(caps[cid]), _required(caps[cid])
+        if len(props) != 1 or len(req) > 1:
+            continue
+        arg, s = next(iter(props.items()))
+        v = part_value(arg, s)
+        if v is None:
+            continue
+        name = prefix.replace('.', '_') + ('_door' if action == 'set_door' and 'door' not in prefix else '')
+        r = 1 if action != 'set' and action != 'move' else 2
+        if rank.get(name, 9) > r:
+            found[name], rank[name] = {'cap': cid, 'arg': arg, 'open': v[0], 'close': v[1]}, r
+    # any other capability whose one argument is a boolean open / opened / closed: a valve, shutter, chamber, holder ... that
+    # opens and closes (quorum chamber.set(opened), TA gas.set_open(opened), CellXpert door.inner(open), ...)
+    used = {x.get('cap') for x in found.values()}
+    for cid in sorted(caps):
+        if cid in used or cid.startswith(NOT_PARTS) or '.' not in cid:
+            continue
+        props = _props(caps[cid])
+        if len(props) != 1:
+            continue
+        arg, s = next(iter(props.items()))
+        if 'boolean' not in _types(s) or not re.fullmatch(r'(open|opened|closed)', arg):
+            continue
+        prefix, _, action = cid.rpartition('.')
+        tail = action[4:] if action.startswith('set_') else ('' if action in ('set', 'open', 'close') else action.replace('_set', ''))
+        name = prefix.replace('.', '_') + ('_' + tail if tail and tail not in ('open', 'opened') and tail not in prefix else '')
+        if name in found:
+            continue
+        v = part_value(arg, s)
+        found[name], rank[name] = {'cap': cid, 'arg': arg, 'open': v[0], 'close': v[1]}, 1
+    return found
+
+
+def ack(caps):
+    best = None
+    for cid in sorted(caps):
+        if '.' not in cid or _required(caps[cid]):
+            continue
+        ns, _, action = cid.partition('.')
+        if ns not in ACK_NS or action not in ACK_ACTIONS:
+            continue
+        if action in ('reset', 'clear') and ns not in ('alarm', 'alarms', 'fault', 'faults', 'error', 'errors'):
+            continue
+        if ns == 'system' and action != 'acknowledge':
+            continue
+        r = ACK_ACTIONS.index(action)
+        if best is None or r < best[0]:
+            best = (r, cid)
+    return {'cap': best[1]} if best else None
+
+
+def run_set(caps, contract):
+    out, notes = {}, {}
+    starts = [c for c in caps if c.endswith('.start') and c.split('.', 1)[0] in START_NS and not _required(caps[c])]
+    starts.sort(key=lambda c: START_NS.index(c.split('.', 1)[0]))
+    m = next((c for c in METHOD if c in caps and _props(caps[c])), None)
+    if m:
+        out['method'] = {'cap': m}
+    if not starts:
+        return out, None
+    start = starts[0]
+    ns = start.split('.', 1)[0]
+    mode = ((caps[start].get('execution') or {}).get('mode') or 'synchronous')
+    out['start'] = {'cap': start, 'job': 'operation' if mode != 'synchronous' else 'none'}
+    stop = next(('%s.%s' % (ns, a) for a in ('stop', 'abort', 'cancel') if '%s.%s' % (ns, a) in caps and not _required(caps['%s.%s' % (ns, a)])), None)
+    if stop:
+        out['stop'] = {'cap': stop}
+    res = next(('%s.%s' % (ns, a) for a in ('result', 'read', 'measure', 'get_result', 'read_result', 'report')
+                if '%s.%s' % (ns, a) in caps and not _required(caps['%s.%s' % (ns, a)])), None)
+    exc = []
+    if not res:
+        start_ns = {c.split('.', 1)[0] for c in caps if c.endswith('.start')}
+        for cid in sorted(caps):
+            pre, _, action = cid.rpartition('.')
+            if action in ('measure', 'result') and pre.split('.', 1)[0] not in start_ns and not _required(caps[cid]) and \
+                    caps[cid].get('kind') == 'query':
+                res = cid
+                exc.append(cid)
+                break
+    if res:
+        out['result'] = {'cap': res}
+    return out, (exc or None)
+
+
+def status_slots(pslot, start, caps, contract, slots):
+    out = [pslot] if pslot else []
+    eff = [e.get('state_id') for e in (caps.get(start) or {}).get('state_effects') or []] if start else []
+    for sid in eff + sorted(slots):
+        if sid in out or sid not in slots or len(out) >= 4:
+            continue
+        s = contract['state_slots'][sid].get('value_schema') or {}
+        if re.search(r'(^|\.)(phase|state|status|mode)$', sid) and ('string' in _types(s) or s.get('enum')):
+            out.append(sid)
+    return out
+
+
+def member(contract, view):
+    caps = {c: contract['capabilities'][c] for c in view.capabilities}
+    slots = set(view.slots)
+    verbs, m = {}, {}
+    p, pslot = power(caps, slots, contract)
+    if p:
+        verbs['power'] = p
+    ps = parts(caps)
+    if ps:
+        verbs['open'] = {'parts': ps}
+    a = ack(caps)
+    if a:
+        verbs['ack'] = a
+    e = next((c for c in ESTOP if c in caps and not _required(caps[c])), None)
+    if e:
+        verbs['estop'] = {'cap': e}
+    rs, exc = run_set(caps, contract)
+    verbs.update(rs)
+    m['verbs'] = verbs
+    if pslot:
+        m['slots'] = {'power': pslot}
+    if exc:
+        m['path_exceptions'] = exc
+    m['status_slots'] = status_slots(pslot, (rs.get('start') or {}).get('cap'), caps, contract, slots)
+    return m
+
+
+def finish(slug, m, lab_inst):
+    """Validate against the contract; drop verbs that do not fit; reasons for the missing ones."""
+    entry = {'id': slug, 'asset_type_id': 'instrument.' + slug, 'class_map': m}
+    for _ in range(10):
+        problems = SharedAdapter(slug, entry).check_mapping(lab_inst)
+        if not problems:
+            break
+        for pr in problems:
+            for v in list(m['verbs']):
+                if pr.startswith('verbs.%s' % v) or ('path: %s ' % v) in pr:
+                    m['verbs'].pop(v, None)
+                    m.setdefault('dropped', {})[v] = pr
+    un = {}
+    for v in ('power', 'open', 'close', 'ack', 'estop', 'method', 'start', 'stop', 'result'):
+        key = 'open' if v == 'close' else v
+        if key not in m['verbs']:
+            un[v] = REASONS[v]
+    if un:
+        m['unsupported'] = un
+    return m, SharedAdapter(slug, entry).check_mapping(lab_inst)
+
+
+def build(log=print):
+    cfg = load_config()
+    cfg['class_adapters'] = False
+    thin = next((f for f in load_fragments() if f['class'] == 'thin'), {'members': {}})
+    lab = LabBackend(cfg, run_dir=ROOT / 'build' / 'shared_gen', setup=False)
+    members, bad = {}, {}
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in thin['members']:
+            continue
+        inst = lab.instruments[e['id']]
+        m, problems = finish(slug, member(inst.contract, inst.view), inst)
+        if problems:
+            bad[slug] = problems
+        members[slug] = m
+    return members, bad, sorted(thin['members'])
+
+
+def fragment(members, thin):
+    return {'class': 'shared', 'layer': 'shared', 'adapter': 'chemlab.compile.shared:SharedAdapter',
+            'about': 'The shared layer, generated from the contracts by chemlab/compile/shared_gen.py: power, status, '
+                     'open/close of named parts, ack, estop and method / start / stop / result / wait wherever the contract supports '
+                     'them.  Class fragments override it verb by verb (fragments.py precedence).  Regenerate, do not hand-edit.',
+            'generated_by': 'python -m chemlab.compile.shared_gen --write',
+            'membership': {'members': len(members), 'thin_class_members_left_out': thin},
+            'members': members}
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('--write', action='store_true')
+    a = ap.parse_args(argv)
+    members, bad, thin = build()
+    frag = fragment(members, thin)
+    from collections import Counter
+    c = Counter(v for m in members.values() for v in m['verbs'])
+    nparts = sum(len(m['verbs'].get('open', {}).get('parts', {})) for m in members.values())
+    print('%d members; verbs: %s; parts: %d; dropped: %d; still bad: %d' % (
+        len(members), dict(c), nparts, sum(len(m.get('dropped', {})) for m in members.values()), len(bad)))
+    OUT.mkdir(parents=True, exist_ok=True)
+    (OUT / 'shared_fragment.json').write_text(json.dumps(frag, ensure_ascii=False, indent=1) + '\n')
+    if bad:
+        print('NOT written: problems remain: %s' % json.dumps(bad)[:2000])
+        return 1
+    if a.write:
+        write_json_atomic(FRAGMENT_DIR / 'shared.json', frag)
+        print('wrote %s' % (FRAGMENT_DIR / 'shared.json'))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/compile/tasks/__init__.py b/chemlab/chemlab/compile/tasks/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..7c57de6889d7ba6a71c97e905bba8d4bedde5d6a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/__init__.py
@@ -0,0 +1,2 @@
+"""Per-class acceptance tasks: a lab, an instruction, a checker on the evaluator view, a gold solution written with
+`chemlab run` (must pass inside the sandbox) and NoAct (must fail)."""
diff --git a/chemlab/chemlab/compile/tasks/agitation_lowering.py b/chemlab/chemlab/compile/tasks/agitation_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..290af50e703ba7134cb69079f4584da4b47edfe4
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/agitation_lowering.py
@@ -0,0 +1,138 @@
+"""Lowering table of the agitation class: per member, verbs in order and the native calls each must make (capability, arguments in
+the declared unit), written from the contracts.  [] = no native call.  A few steps use verbs of the other parts of a composite
+instrument (shared `power on`, `close lid`, `open hood`; the thermal class's set-temp / heat on the KS 4000 and the S60H) to bring
+the instrument into the state the next class verb needs.  World: agitation_world.config()."""
+import math
+
+from .agitation_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+W2000G = math.sqrt(2000 * 9.80665 / 0.2)                     # 2000 x g on the large rotor (positions at 0.2 m)
+
+
+def cf(speed, duration, temp=K0 + 4):
+    return ('centrifuge.set_method', {'speed_rad_s': speed, 'temperature_k': temp, 'duration_s': duration, 'acceleration_level': 9, 'braking_level': 9})
+
+
+def vcx(amp, duration):
+    return ('method.configure', {'amplitude_fraction': amp, 'duration_s': duration, 'pulse_enabled': False, 'pulse_on_s': 1, 'pulse_off_s': 1,
+                                 'energy_endpoint_J': 0, 'probe': '630-0220'})
+
+
+CASES = {
+    'eppendorf_5910ri': {'steps': [                                   # large rotor selected, lid open, tubes registered by the host
+        ('status', []),
+        ('start', []),                                                # LID_OPEN
+        ('load tube_a', []),                                          # MISSING_SLOT (usage)
+        ('load tube_a --slot slot_1', [('sample.load', {'slot_id': 'slot_1', 'sample_id': 'tube_a'})]),
+        ('load tube_c --slot slot_2', [('sample.load', {'slot_id': 'slot_2', 'sample_id': 'tube_c'})]),   # out of balance (60 g vs 50 g)
+        ('unload --slot slot_2', [('sample.unload', {'slot_id': 'slot_2'})]),
+        ('load tube_b --slot slot_2', [('sample.load', {'slot_id': 'slot_2', 'sample_id': 'tube_b'})]),
+        ('speed 2000rpm --rcf 1000g', []),                            # BOTH_SPEEDS (usage)
+        ('speed --rcf 2000g --time 2min', [cf(W2000G, 120.0)]),       # temperature, acceleration, braking kept from the set points
+        ('set-temp 50C', []),                                         # OUT_OF_RANGE (-11..40 °C)
+        ('set-temp 4C', [cf(W2000G, 120.0)]),
+        ('close lid', [('lid.set_angle', {'angle_rad': 0})]),         # shared verb
+        ('load tube_c --slot slot_3', []),                            # LID_CLOSED
+        ('start --wait', [('centrifuge.measure', {}), ('centrifuge.get_curve', {})]),
+        ('result --save-to run.json', [('centrifuge.get_curve', {})]),
+        ('time 30s', [cf(W2000G, 30.0)]),
+        ('start', [('centrifuge.measure', {})]),
+        ('time 1min', []),                                            # BUSY
+        ('#wait 5', None),
+        ('stop', [('centrifuge.stop', {})]),
+        ('#wait 120', None),
+        ('stop', []),                                                 # NOT_RUNNING
+        ('intensity 40%', []),                                        # not supported
+        ('speed 3000rpm --dry-run', []),
+    ]},
+    'thinky_are310s': {'steps': [                                     # cup (140 g gross) in the holder, lid open
+        ('status', []),
+        ('start', []),                                                # NO_METHOD
+        ('speed 2000rpm', []),                                        # MISSING_TIME (usage)
+        ('load --mass 140g', [('balance.set', {'gross_mass_kg': 0.14})]),
+        ('speed 2000rpm --time 60s --defoam 2200rpm --defoam-time 30s', [('method.configure', {
+            'program': [{'mode': 'mix', 'duration_s': 60.0, 'revolution_rpm': 2000.0}, {'mode': 'defoam', 'duration_s': 30.0, 'revolution_rpm': 2200.0}],
+            'speed_envelope': 'family_SCE_reference_not_UL_verified'})]),
+        ('speed 2500rpm --time 60s', []),                             # OUT_OF_RANGE (mix up to 2000 rpm)
+        ('start', []),                                                # LID_OPEN
+        ('close lid', [('lid.set_open', {'open': False})]),           # shared verb
+        ('start', []),                                                # LID_MOVING (the lid is still closing)
+        ('#wait 2', None),
+        ('start --wait', [('acquisition.start', {}), ('mixing.measure', {})]),
+        ('result', [('mixing.measure', {})]),
+        ('load --mass 100g', []),                                     # LID_CLOSED
+        ('time 60s', []),                                             # not supported
+        ('stop', []),                                                 # NOT_RUNNING
+    ]},
+    'ika_ks4000': {'steps': [                                         # fixture and one flask on the platform, hood closed, power off
+        ('speed 200rpm', []),                                         # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),             # thermal class verb on this composite
+        ('speed 200.5rpm', []),                                       # BAD_STEP (whole rpm)
+        ('speed 600rpm', []),                                         # OUT_OF_RANGE
+        ('speed 200rpm --time 2min', [('shaking.set_speed', {'speed_rad_s': 200 * RPM}), ('timer.configure', {'mode': 'timed', 'duration_s': 120.0})]),
+        ('start', [('shaking.start', {})]),
+        ('time 5min', []),                                            # BUSY
+        ('speed 250rpm', [('shaking.set_speed', {'speed_rad_s': 250 * RPM})]),   # speed may change in a run
+        ('#wait 30', None),
+        ('stop', [('shaking.stop', {})]),
+        ('result', [('status.measure', {})]),
+        ('time continuous', [('timer.configure', {'mode': 'continuous', 'duration_s': 120.0})]),
+        ('open hood', [('hood.set_angle', {'angle_rad': 1.5707963267948966})]),   # shared verb
+        ('start', []),                                                # HOOD_OPEN
+        ('set-temp 37C', [('thermal.set_temperature', {'temperature_k': K0 + 37})]),   # thermal class verb
+        ('load flask --slot 4', []),                                  # not supported
+        ('intensity sweep', []),                                      # not supported
+    ]},
+    'ika_t25': {'steps': [                                            # vessel and clamped tool, power off
+        ('start', []),                                                # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),             # shared verb
+        ('start', []),                                                # NO_METHOD
+        ('time 60s', []),                                             # OUT_OF_RANGE (up to 55 s)
+        ('time 30s', [('method.configure', {'speed_rad_s': 3000 * RPM, 'duration_s': 30.0, 'head': 's25_n18g'})]),
+        ('speed 30000rpm', []),                                       # OUT_OF_RANGE
+        ('speed 15000rpm', [('motor.set_speed', {'speed_rad_s': 15000 * RPM})]),
+        ('start --wait', [('acquisition.start', {}), ('dispersion.measure', {})]),
+        ('result', [('dispersion.measure', {})]),
+        ('stop', []),                                                 # NOT_RUNNING
+        ('intensity 40%', []),                                        # not supported
+        ('set-temp 30C', []),                                         # not supported
+    ]},
+    'sonics_vcx750': {'steps': [                                      # vessel and clamped probe, power on
+        ('status', []),
+        ('intensity 40%', []),                                        # NO_METHOD
+        ('time 60s', [vcx(0.2, 60.0)]),                               # amplitude kept (20 %), pulser off, no energy end point
+        ('intensity 10%', []),                                        # OUT_OF_RANGE (20..100 %)
+        ('intensity 40%', [('sonication.set_amplitude', {'amplitude_fraction': 0.4})]),
+        ('safety-limit 40C', [('thermal.set_temperature', {'temperature_K': K0 + 40})]),
+        ('safety-limit 200C', []),                                    # OUT_OF_RANGE
+        ('start --wait', [('acquisition.start', {}), ('sonication.measure', {})]),
+        ('result', [('sonication.measure', {})]),
+        ('time 2min', [vcx(0.4, 120.0)]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('speed 100rpm', []),                                         # not supported
+        ('set-temp 30C', []),                                         # not supported (alternative: safety-limit)
+    ]},
+    'elma_elmasonics60h': {'steps': [                                 # tank filled, power off
+        ('intensity sweep', []),                                      # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),             # thermal class verb on this composite
+        ('intensity sweep', [('ultrasound.set_mode', {'mode': 'sweep'})]),
+        ('intensity loud', []),                                       # BAD_CHOICE
+        ('time 2min', [('timer.configure', {'continuous': False, 'duration_s': 120.0})]),
+        ('time 1h', []),                                              # OUT_OF_RANGE (up to 30 min)
+        ('start --at-temp', []),                                      # HEATING_OFF
+        ('start --wait', [('ultrasound.start', {'temperature_controlled': False}), ('status.measure', {})]),
+        ('result', [('status.measure', {})]),
+        ('time continuous', [('timer.configure', {'continuous': True, 'duration_s': 120.0})]),
+        ('start', [('ultrasound.start', {'temperature_controlled': False})]),
+        ('#wait 10', None),
+        ('stop', [('ultrasound.stop', {})]),
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50})]),   # thermal class verb
+        ('heat on', [('thermal.set_enabled', {'enabled': True})]),                     # thermal class verb
+        ('start --at-temp --dry-run', []),
+        ('speed 100rpm', []),                                         # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/agitation_tasks.py b/chemlab/chemlab/compile/tasks/agitation_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..3fcaaa0267bb9d1c25dac8ccfb6ee8c292e983ba
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/agitation_tasks.py
@@ -0,0 +1,227 @@
+"""Agitation class acceptance tasks (10): gold solutions use `chemlab run` (class verbs, plus the shared `power` / `open` / `close`
+and the thermal verbs where the instrument is in both classes); checkers read the evaluator view (process truth where the twin has
+it).  World: agitation_world (tubes registered, rotor selected, cup / vessel / flask / probe set up by the operator)."""
+import math
+
+from .agitation_world import config as world_config
+from .common import run_suite
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+CF, MIX, KS, T25, VCX, ELMA = ('eppendorf_5910ri', 'thinky_are310s', 'ika_ks4000', 'ika_t25', 'sonics_vcx750', 'elma_elmasonics60h')
+
+
+def cfg(c):
+    return world_config(c)
+
+
+_N = [0]
+
+
+def world_call(lab, iid, cap, args):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d-%d' % (iid, cap, int(lab.backend.now() * 10), _N[0]))
+    assert r.get('status') == 'succeeded', (cap, args, r)
+
+
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+# ------------------------------------------------------------------ worlds
+def w_cf_unbalanced(lab):
+    world_call(lab, CF, 'sample.load', {'slot_id': 'slot_1', 'sample_id': 'tube_a'})
+    world_call(lab, CF, 'sample.load', {'slot_id': 'slot_2', 'sample_id': 'tube_c'})
+    world_call(lab, CF, 'centrifuge.set_method', {'speed_rad_s': 3000 * RPM, 'temperature_k': K0 + 20, 'duration_s': 60.0, 'acceleration_level': 9,
+                                                  'braking_level': 9})
+    world_call(lab, CF, 'lid.set_angle', {'angle_rad': 0.0})
+
+
+def w_mixer_wrong_dial(lab):
+    world_call(lab, MIX, 'balance.set', {'gross_mass_kg': 0.10})
+    world_call(lab, MIX, 'lid.set_open', {'open': False})
+    lab.backend.advance(3)
+
+
+def w_ks_on_hood_open(lab):
+    world_call(lab, KS, 'power.set', {'enabled': True})
+    world_call(lab, KS, 'hood.set_angle', {'angle_rad': 1.5707963267948966})
+
+
+# ------------------------------------------------------------------ checkers
+def c_spin(c):
+    e = c.ev(CF)
+    cv = e.get('measurement.curve') or {}
+    sp = [x for x in (cv.get('speed_rad_s') or []) if isinstance(x, (int, float))]
+    want = math.sqrt(2000 * 9.80665 / 0.2)
+    c.near('spun at 2000 x g on the 0.2 m rotor', max(sp) if sp else None, want, 1.0)
+    c.near('chamber set to 4 °C', e.get('method.temperature_k'), K0 + 4, 1e-6)
+    c.near('run time 2 min', e.get('method.duration_s'), 120.0, 1e-6)
+    c.equal('the run finished', e.get('run.status'), 'succeeded')
+    c.near('rcf.txt reports the top RCF (2000 ± 5)', c.number_file('rcf.txt'), 2000.0, 5.0)
+
+
+def c_rebalance(c):
+    e = c.ev(CF)
+    loaded = {x['slot_id']: x['sample_id'] for x in e.get('sample.loaded_slots') or []}
+    c.equal('tube_b replaced tube_c opposite tube_a', loaded, {'slot_1': 'tube_a', 'slot_2': 'tube_b'})
+    c.equal('the run finished', e.get('run.status'), 'succeeded')
+    c.add('the lid is closed', e.get('lid.closed'), e.get('lid.closed'))
+
+
+def c_mix(c):
+    e = c.ev(MIX)
+    c.equal('the mixing program finished', e.get('cycle.phase'), 'succeeded')
+    c.near('balance dial at the cup mass', e.get('balance.gross_mass_kg'), 0.14, 1e-9)
+    c.add('the paste is mixed (mixing index > 0.9)', (e.get('truth.mixing_index') or 0) > 0.9, e.get('truth.mixing_index'))
+
+
+def c_mix_recover(c):
+    e = c.ev(MIX)
+    c.near('balance dial corrected to 140 g', e.get('balance.gross_mass_kg'), 0.14, 1e-9)
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+
+
+def c_shaker_job(c):
+    e = c.ev(KS)
+    c.near('shaking set to 150 rpm', e.get('shaking.target_rad_s'), 150 * RPM, 1e-6)
+    c.near('timed 30 min', e.get('timer.duration_s'), 1800.0, 1e-6)
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs_of(c, KS)), [(j.handle, j.state) for j in jobs_of(c, KS)])
+
+
+def c_hood(c):
+    e = c.ev(KS)
+    c.add('hood closed', (e.get('hood.angle_rad') or 0) <= 1e-4, e.get('hood.angle_rad'))
+    c.near('shaking set to 120 rpm', e.get('shaking.target_rad_s'), 120 * RPM, 1e-6)
+    c.equal('continuous mode', e.get('timer.mode'), 'continuous')
+    c.equal('shaking now', e.get('cycle.phase'), 'running')
+
+
+def c_disperser(c):
+    e = c.ev(T25)
+    c.near('speed 12000 rpm', e.get('motor.target_rad_s'), 12000 * RPM, 1e-6)
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('run 40 s', e.get('cycle.elapsed_s'), 40.0, 0.5)
+    c.add('droplets were broken up (size below the initial 200 µm)', (e.get('truth.size_m') or 1) < 2e-4, e.get('truth.size_m'))
+
+
+def c_sonicate(c):
+    e = c.ev(VCX)
+    c.near('amplitude 50 %', e.get('sonication.amplitude_fraction'), 0.5, 1e-9)
+    c.near('temperature limit 35 °C', e.get('thermal.limit_k'), K0 + 35, 1e-6)
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('2 min of sonication', e.get('cycle.on_time_s'), 120.0, 0.5)
+
+
+def c_bath(c):
+    e = c.ev(ELMA)
+    c.equal('degas mode', e.get('ultrasound.mode'), 'degas')
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('5 min run', e.get('timer.elapsed_s'), 300.0, 1.0)
+
+
+def c_sonic_order(c):
+    e = c.ev(VCX)
+    c.near('amplitude 60 %', e.get('sonication.amplitude_fraction'), 0.6, 1e-9)
+    c.equal('the run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('45 s of sonication', e.get('cycle.on_time_s'), 45.0, 0.5)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_SPIN = r'''chemlab run eppendorf_5910ri load tube_a --slot slot_1
+chemlab run eppendorf_5910ri load tube_b --slot slot_2
+chemlab run eppendorf_5910ri speed --rcf 2000g --time 2min
+chemlab run eppendorf_5910ri set-temp 4C
+chemlab run eppendorf_5910ri close lid
+chemlab run eppendorf_5910ri start --wait --json | jq -r '.max_rcf | round' > rcf.txt; cat rcf.txt'''
+
+GOLD_REBALANCE = r'''chemlab run eppendorf_5910ri start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "IMBALANCE"' s.json >/dev/null; then
+  chemlab run eppendorf_5910ri open lid
+  chemlab run eppendorf_5910ri unload --slot slot_2
+  chemlab run eppendorf_5910ri load tube_b --slot slot_2
+  chemlab run eppendorf_5910ri close lid
+fi
+chemlab run eppendorf_5910ri start --wait'''
+
+GOLD_MIX_RECOVER = r'''chemlab run thinky_are310s speed 1500rpm --time 30s
+chemlab run thinky_are310s start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.message' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "IMBALANCE"' s.json >/dev/null; then
+  chemlab run thinky_are310s open lid
+  chemlab wait 2
+  chemlab run thinky_are310s load --mass 140g
+  chemlab run thinky_are310s close lid
+  chemlab wait 2
+fi
+chemlab run thinky_are310s start --wait'''
+
+GOLD_SHAKER = r'''chemlab run ika_ks4000 power on
+chemlab run ika_ks4000 speed 150rpm --time 30min
+job=$(chemlab run ika_ks4000 start --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 1h
+chemlab run ika_ks4000 result'''
+
+GOLD_HOOD = r'''chemlab run ika_ks4000 speed 120rpm
+chemlab run ika_ks4000 time continuous
+chemlab run ika_ks4000 start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "HOOD_OPEN"' s.json >/dev/null; then
+  chemlab run ika_ks4000 close hood
+  chemlab run ika_ks4000 start
+fi
+chemlab run ika_ks4000 status'''
+
+GOLD_SONIC_ORDER = r'''chemlab run sonics_vcx750 intensity 60% --json > a.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_METHOD"' a.json >/dev/null; then
+  chemlab run sonics_vcx750 time 45s
+  chemlab run sonics_vcx750 intensity 60%
+fi
+chemlab run sonics_vcx750 start --wait'''
+
+TASKS = [
+    {'id': 'ag01_spin_rcf', 'kind': 'multi-step (load, RCF, temperature, run) + report', 'instruments': [CF], 'check': c_spin,
+     'instruction': 'Centrifuge tube_a and tube_b (equal masses) in the Eppendorf 5910 Ri (eppendorf_5910ri; the large rotor is in, lid open) '
+                    'at 2000 x g for 2 minutes at 4 °C. Use opposite positions slot_1 and slot_2. Write the top RCF of the run into rcf.txt.',
+     'gold': GOLD_SPIN},
+    {'id': 'ag02_recover_imbalance', 'kind': 'recovery: rotor out of balance', 'instruments': [CF], 'world': w_cf_unbalanced, 'check': c_rebalance,
+     'instruction': 'Run the Eppendorf 5910 Ri (eppendorf_5910ri) with the tubes and settings already in it. If it cannot start because the '
+                    'load is out of balance, replace the tube in slot_2 by tube_b (the same mass as tube_a) and run it.', 'gold': GOLD_REBALANCE},
+    {'id': 'ag03_mix_defoam', 'kind': 'multi-step (balance, program with two steps, run)', 'instruments': [MIX], 'check': c_mix,
+     'instruction': 'Mix the paste in the THINKY ARE-310 (thinky_are310s): the filled cup in its holder weighs 140 g. Mix at 2000 rpm for '
+                    '60 s, then defoam at 2200 rpm for 30 s.',
+     'gold': 'chemlab run thinky_are310s load --mass 140g && chemlab run thinky_are310s speed 2000rpm --time 60s --defoam 2200rpm --defoam-time 30s && '
+             'chemlab run thinky_are310s close lid && chemlab wait 2 && chemlab run thinky_are310s start --wait'},
+    {'id': 'ag04_recover_mixer_balance', 'kind': 'recovery: counterbalance set for the wrong mass', 'instruments': [MIX], 'world': w_mixer_wrong_dial,
+     'check': c_mix_recover,
+     'instruction': 'Mix the cup in the THINKY ARE-310 (thinky_are310s; gross mass 140 g, lid closed) at 1500 rpm for 30 s.', 'gold': GOLD_MIX_RECOVER},
+    {'id': 'ag05_shaker_job', 'kind': 'long action: job id (status, wait)', 'instruments': [KS], 'check': c_shaker_job,
+     'instruction': 'Shake the flask on the IKA KS 4000 (ika_ks4000) at 150 rpm for 30 minutes. Start it as a job, check its status, then wait '
+                    'for it to finish.', 'gold': GOLD_SHAKER},
+    {'id': 'ag06_recover_hood_open', 'kind': 'recovery: hood open', 'instruments': [KS], 'world': w_ks_on_hood_open, 'check': c_hood,
+     'instruction': 'Start continuous shaking at 120 rpm on the IKA KS 4000 (ika_ks4000) and leave it running.', 'gold': GOLD_HOOD},
+    {'id': 'ag07_disperse', 'kind': 'multi-step (power, time, speed, run)', 'instruments': [T25], 'check': c_disperser,
+     'instruction': 'Disperse the emulsion with the IKA T 25 ULTRA-TURRAX (ika_t25; tool and vessel are set up) at 12000 rpm for 40 s.',
+     'gold': 'chemlab run ika_t25 power on && chemlab run ika_t25 time 40s && chemlab run ika_t25 speed 12000rpm && chemlab run ika_t25 start --wait'},
+    {'id': 'ag08_sonicate_limit', 'kind': 'multi-step (method, amplitude, temperature limit, run)', 'instruments': [VCX], 'check': c_sonicate,
+     'instruction': 'Sonicate the suspension with the Sonics VCX 750 (sonics_vcx750) at 50 % amplitude for 2 minutes, with a sample temperature '
+                    'limit of 35 °C.',
+     'gold': 'chemlab run sonics_vcx750 time 2min && chemlab run sonics_vcx750 intensity 50% && chemlab run sonics_vcx750 safety-limit 35C && '
+             'chemlab run sonics_vcx750 start --wait'},
+    {'id': 'ag09_bath_degas', 'kind': 'multi-step (power, mode, timer, run)', 'instruments': [ELMA], 'check': c_bath,
+     'instruction': 'Degas the bath liquid of the Elmasonic S60H (elma_elmasonics60h) for 5 minutes.',
+     'gold': 'chemlab run elma_elmasonics60h power on && chemlab run elma_elmasonics60h intensity degas && chemlab run elma_elmasonics60h time 5min && '
+             'chemlab run elma_elmasonics60h start --wait'},
+    {'id': 'ag10_recover_sonicator_method', 'kind': 'recovery: amplitude before a method', 'instruments': [VCX], 'check': c_sonic_order,
+     'instruction': 'Sonicate the suspension with the Sonics VCX 750 (sonics_vcx750) at 60 % amplitude for 45 s.', 'gold': GOLD_SONIC_ORDER},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'agitation'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('agitation', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/agitation_world.py b/chemlab/chemlab/compile/tasks/agitation_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..0dc63130ab14ea7f28498562f324b08344bef5b4
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/agitation_world.py
@@ -0,0 +1,62 @@
+"""Host-side world of the agitation class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* 5910 Ri: two synthetic rotors (large capacity: positions at 0.2 m, 4500 rpm; fixed angle: 0.1 m, 14000 rpm), the process model
+  and three registered tubes (tube_a, tube_b 50 g, tube_c 60 g) - host methods, before power-on; after the start-up the operator
+  opens the lid and selects the large rotor.  The lab declares the rotor radii ("rotor_radius_m") for --rcf.
+* ARE-310: a filled cup (140 g gross) in the holder, lid open.
+* KS 4000: the platform fixture and one secured flask, hood closed again (the default lab has no fixture).
+* T 25 and VCX 750: the sample vessel and the clamped tool / probe (evaluator sample.configure, mount.configure).
+* S60H: the tank filled with 3.8 L of water (cover lifted while filling).
+"""
+import copy
+import math
+
+from ...labbackend import load_config
+from .property_meter_world import ev, example, op, wait
+
+RPM = 2 * math.pi / 60
+ROTORS = (('large_capacity', 0.2, 4500), ('fixed_angle', 0.1, 14000))
+TUBES = (('tube_a', 0.05), ('tube_b', 0.05), ('tube_c', 0.06))
+
+
+def centrifuge_host():
+    st = [{'host': 'configure_synthetic_rotor', 'kwargs': {'configuration': conf, 'slot_positions_xy_m': {'slot_1': [r, 0], 'slot_2': [-r, 0], 'slot_3': [0, r],
+                                                                                                         'slot_4': [0, -r]},
+                                                           'operating_speed_limit_rad_s': lim * RPM, 'imbalance_threshold_kg_m': 1e-4, 'evidence': 'synthetic'}}
+          for conf, r, lim in ROTORS]
+    st.append({'host': 'configure_synthetic_process', 'kwargs': dict(
+        acceleration_rad_s2=[2.0 + i * 3 for i in range(10)], braking_rad_s2=[1.0 + i * 3 for i in range(10)], poweroff_deceleration_rad_s2=2.0,
+        temperature_time_constant_s=300.0, ambient_temperature_k=295.15, initial_temperature_k=295.15, sample_interval_s=10.0, evidence='synthetic')})
+    st += [{'host': 'register_sample', 'kwargs': {'sample_id': s, 'mass_kg': m}} for s, m in TUBES]
+    return st
+
+
+def world(e):
+    slug = e['asset_type_id'].split('.', 1)[1]
+    setup = list(e.get('setup') or [])
+    if slug == 'eppendorf_5910ri':
+        e['setup'] = centrifuge_host() + setup + [op('lid.set_angle', {'angle_rad': 1.5707963267948966}),
+                                                  op('rotor.select', {'configuration': 'large_capacity'})]
+        e['rotor_radius_m'] = {conf: r for conf, r, _ in ROTORS}
+    elif slug == 'thinky_are310s':
+        e['setup'] = setup + [ev('sample.configure', example(slug, 'sample.configure'))]
+    elif slug == 'ika_ks4000':
+        e['setup'] = setup + [op('hood.set_angle', {'angle_rad': 1.5707963267948966}), ev('fixture.configure', example(slug, 'fixture.configure')),
+                              ev('load.configure', example(slug, 'load.configure')), op('hood.set_angle', {'angle_rad': 0.0})]
+    elif slug in ('ika_t25', 'sonics_vcx750'):
+        e['setup'] = setup + [ev('sample.configure', example(slug, 'sample.configure')), ev('mount.configure', example(slug, 'mount.configure'))]
+    elif slug == 'elma_elmasonics60h':
+        e['setup'] = [op('cover.set_lift', {'lift_m': 0.3}), ev('bath.configure', example(slug, 'bath.configure')),
+                      op('cover.set_lift', {'lift_m': 0.0})] + setup
+    return e
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the agitation world."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        world(e)
+    return cfg
+
+
+_ = wait
diff --git a/chemlab/chemlab/compile/tasks/balance_lowering.py b/chemlab/chemlab/compile/tasks/balance_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..610576659870848814d4f897beb438bbed27c6c6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/balance_lowering.py
@@ -0,0 +1,64 @@
+"""Lowering table of the balance class: for each member, verbs in order and the native calls each must make (written from the
+contracts, not from the mapping).  Run with `python -m chemlab.compile.lowering --class balance` (or tests_compile)."""
+from .balance_tasks import place
+
+
+def prep_load(kg):
+    def prep(backend):
+        for iid in backend.instruments:
+            place(backend, iid, kg)
+        backend.advance(30.0)
+    return prep
+
+
+CASES = {
+    'mt_xpr204e': {'prep': prep_load(0.0253), 'steps': [
+        ('weigh', [('balance.reading', {})]),
+        ('weigh --stable', [('balance.reading', {})]),
+        ('tare', [('balance.tare', {})]),
+        ('zero', []),                                           # refused by the class check: 25 g is outside the zero range
+        ('unit mg', [('display.set_unit', {'unit': 'mg'})]),
+        ('unit g', [('display.set_unit', {'unit': 'g'})]),
+        ('door open', [('door.operate', {'side': 'both', 'action': 'open'})]),
+        ('tare', []),                                           # refused: not stable with the doors open
+        ('door close --side left', [('door.operate', {'side': 'left', 'action': 'close'})]),
+        ('door close', [('door.operate', {'side': 'both', 'action': 'close'})]),
+        ('tare --wait 30s', [('balance.tare', {})]),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('tare', []),                                           # refused: switched off
+        ('power on', [('power.set', {'enabled': True})]),
+        ('zero --dry-run', []),
+        ('status', []),
+    ]},
+    'ohaus_px224e': {'prep': prep_load(0.0253), 'steps': [
+        ('weigh', []),                                          # no query capability: a read
+        ('tare', [('weighing.tare', {})]),
+        ('zero', []),
+        ('unit mg', [('weighing.set_unit', {'unit': 'mg'})]),
+        ('unit g', [('weighing.set_unit', {'unit': 'g'})]),
+        ('door open', [('doors.set', {'open_fraction': 1.0})]),
+        ('#wait 2', None),                                      # an open door makes the reading unstable as time passes
+        ('tare', []),
+        ('door close', [('doors.set', {'open_fraction': 0.0})]),
+        ('tare --wait 30s', [('weighing.tare', {})]),
+        ('power off', [('power.set', {'on': False})]),
+        ('power on', [('power.set', {'on': True})]),
+        ('weigh --stable', []),
+        ('status', []),
+    ]},
+    'ohaus_spx2201': {'prep': prep_load(0.1203), 'steps': [
+        ('weigh --stable', []),
+        ('tare', [('weighing.tare', {})]),
+        ('unit kg', [('weighing.set_unit', {'unit': 'kg'})]),
+        ('unit mg', []),                                        # usage error: the SPX does not offer mg
+        ('unit g', [('weighing.set_unit', {'unit': 'g'})]),
+        ('door close', []),                                     # not supported (no draft shield)
+        ('power off', [('power.set', {'on': False})]),
+        ('zero', []),
+        ('power on', [('power.set', {'on': True})]),
+        ('zero --wait 30s', [('weighing.zero', {})]),           # sent (the start-up zero took the 120 g, so gross reads ~0), and the
+                                                                # SPX refuses ZERO_RANGE: its range counts from the calibration zero
+        ('tare --wait 30s', [('weighing.tare', {})]),
+        ('status', []),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/balance_tasks.py b/chemlab/chemlab/compile/tasks/balance_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..6533f950e0c23c91a0d3a63d25f64b5f367f3994
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/balance_tasks.py
@@ -0,0 +1,215 @@
+"""Balance class acceptance tasks (10): gold solutions use `chemlab run`; the checkers read the evaluator view.
+
+World set-up is the trusted host's: a load on the pan is the pan.set_load world call on the OHAUS balances and the contact force
+on the XPR weighing cell (what the scene gives the runtime in Matterix).
+"""
+from .common import run_suite
+
+G = 9.80665
+XPR, PX, SPX = 'mt_xpr204e', 'ohaus_px224e', 'ohaus_spx2201'
+
+
+def place(lab, iid, kg):
+    """Put a load of ``kg`` on the pan (host side).  ``lab``: a GenericLab or a LabBackend."""
+    backend = getattr(lab, 'backend', lab)
+    inst = backend.instruments[iid]
+    if 'pan.set_load' in inst.contract['capabilities']:
+        r = backend.evaluator_invoke(iid, 'pan.set_load', {'mass_kg': kg}, 'world-load-%s-%d' % (iid, int(backend.now())))
+        assert r.get('status') == 'succeeded', r
+    else:
+        inst.host.flush()
+        inst.host.host._instances[inst.host.instance_id]['host_force_N'] = kg * G
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') == 'succeeded', (cap, r)
+    return r
+
+
+def settle(lab, s=30.0):
+    lab.backend.advance(s)
+
+
+# ------------------------------------------------------------------ worlds
+def w_beaker_on_xpr(lab):
+    place(lab, XPR, 0.0523)
+    settle(lab)
+
+
+def w_sample_on_px(lab):
+    place(lab, PX, 0.0012345)
+    settle(lab)
+
+
+def w_door_open_residue(lab):
+    world_call(lab, XPR, 'door.operate', {'side': 'left', 'action': 'open'})
+    place(lab, XPR, 0.0000008)
+    settle(lab)
+
+
+def w_px_doors_open_beaker(lab):
+    place(lab, PX, 0.030)
+    world_call(lab, PX, 'doors.set', {'open_fraction': 1.0})
+    settle(lab)
+
+
+def w_xpr_off(lab):
+    world_call(lab, XPR, 'power.set', {'enabled': False})
+    settle(lab, 5)
+
+
+def w_xpr_50g(lab):
+    place(lab, XPR, 0.0500)
+    settle(lab)
+
+
+def w_two_samples(lab):
+    place(lab, XPR, 0.0025)
+    place(lab, PX, 0.0024)
+    settle(lab)
+
+
+def w_just_loaded(lab):
+    place(lab, XPR, 0.0007531)
+    lab.backend.advance(0.5)
+
+
+def w_px_off_open(lab):
+    world_call(lab, PX, 'doors.set', {'open_fraction': 1.0})
+    world_call(lab, PX, 'power.set', {'on': False})
+    settle(lab, 5)
+
+
+# ------------------------------------------------------------------ checkers
+def c_tare_beaker(c):
+    e = c.ev(XPR)
+    c.near('tare = beaker mass 52.3 g (±1 mg)', e['balance.tare_kg'], 0.0523, 1e-6)
+    c.near('net reads 0 (±0.3 mg)', e['balance.net_kg'], 0.0, 3e-7)
+    c.add('doors closed', e['door.left.opening_m'] < 1e-6 and e['door.right.opening_m'] < 1e-6)
+
+
+def c_weigh_report(c):
+    c.add('the balance was read (request log)', c.looked(PX), len(c.looked(PX)))
+    c.near('mass_mg.txt = 1234.5 mg (±0.3 mg)', c.number_file('mass_mg.txt'), 1234.5, 0.3)
+    c.near('balance not tared away (tare 0)', c.ev(PX)['weighing.tare_kg'], 0.0, 1e-9)
+
+
+def c_unit_kg(c):
+    c.equal('SPX2201 shows kg', c.ev(SPX)['weighing.unit'], 'kg')
+    c.add('still on', c.ev(SPX)['power.on'])
+
+
+def c_close_zero(c):
+    e = c.ev(XPR)
+    c.add('doors closed', e['door.left.opening_m'] < 1e-6 and e['door.right.opening_m'] < 1e-6, (e['door.left.opening_m'], e['door.right.opening_m']))
+    c.near('net reads 0 after zero (±0.2 mg)', e['balance.net_kg'], 0.0, 2e-7)
+    c.add('zero was set (zero point = the 0.8 mg residue)', abs(e.get('balance.zero_kg', 0.0) - 8e-7) <= 2e-7, e.get('balance.zero_kg'))
+    c.near('no tare', e['balance.tare_kg'], 0.0, 1e-9)
+
+
+def c_px_tare_closed(c):
+    e = c.ev(PX)
+    c.near('tare = beaker 30 g (±0.5 mg)', e['weighing.tare_kg'], 0.030, 5e-7)
+    c.near('net reads 0', e['weighing.net_kg'], 0.0, 3e-7)
+    c.near('doors closed', e['doors.open_fraction'], 0.0, 1e-9)
+
+
+def c_xpr_on_mg(c):
+    e = c.ev(XPR)
+    c.add('XPR switched on', e['power.enabled'])
+    c.equal('display unit mg', e['display.unit'], 'mg')
+
+
+def c_zero_range(c):
+    e = c.ev(XPR)
+    c.near('tare = beaker 50 g (±1 mg)', e['balance.tare_kg'], 0.0500, 1e-6)
+    c.near('net reads 0 (±0.3 mg)', e['balance.net_kg'], 0.0, 3e-7)
+
+
+def c_heavier(c):
+    c.add('both balances were read (request log)', c.looked(XPR) and c.looked(PX), (len(c.looked(XPR)), len(c.looked(PX))))
+    c.equal('heavier.txt names the XPR', c.work_file('heavier.txt'), XPR)
+
+
+def c_stable_mass(c):
+    c.add('the balance was read (request log)', c.looked(XPR), len(c.looked(XPR)))
+    c.near('mass_g.txt = 0.7531 g (±0.5 mg)', c.number_file('mass_g.txt'), 0.7531, 5e-4)
+
+
+def c_px_ready(c):
+    e = c.ev(PX)
+    c.add('on', e['power.on'])
+    c.near('doors closed', e['doors.open_fraction'], 0.0, 1e-9)
+    c.equal('unit mg', e['weighing.unit'], 'mg')
+    c.add('reads zero', e['weighing.at_zero'], e['weighing.net_kg'])
+
+
+GOLD_B05 = r'''chemlab run ohaus_px224e tare --json > t1.json; rc=$?
+jq -c '{ok, code: .error.code, fix: .error.fix}' t1.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "UNSTABLE"' t1.json >/dev/null; then
+  chemlab run ohaus_px224e door close
+  chemlab run ohaus_px224e tare --wait 30s
+fi
+chemlab run ohaus_px224e status'''
+
+GOLD_B06 = r'''chemlab run mt_xpr204e unit mg; rc=$?
+if [ $rc -eq 3 ]; then
+  chemlab run mt_xpr204e power on
+  chemlab run mt_xpr204e weigh --stable --wait 60s
+  chemlab run mt_xpr204e unit mg
+fi'''
+
+GOLD_B07 = r'''chemlab run mt_xpr204e zero --json > z.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' z.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "ZERO_RANGE"' z.json >/dev/null; then
+  chemlab run mt_xpr204e tare --wait 30s
+fi
+chemlab run mt_xpr204e weigh'''
+
+GOLD_B08 = r'''a=$(chemlab run mt_xpr204e weigh --stable --json | jq .net_kg)
+b=$(chemlab run ohaus_px224e weigh --stable --json | jq .net_kg)
+echo "xpr=$a px=$b"
+if [ "$(echo "$a > $b" | bc -l)" = 1 ]; then echo mt_xpr204e > heavier.txt; else echo ohaus_px224e > heavier.txt; fi
+cat heavier.txt'''
+
+TASKS = [
+    {'id': 'b01_tare_beaker', 'kind': 'single step', 'instruments': [XPR], 'world': w_beaker_on_xpr, 'check': c_tare_beaker,
+     'instruction': 'An empty beaker sits on the pan of the METTLER TOLEDO XPR204E (mt_xpr204e). Tare the balance so that the beaker reads 0 g.',
+     'gold': 'chemlab run mt_xpr204e tare --wait 30s && chemlab run mt_xpr204e weigh'},
+    {'id': 'b02_weigh_report', 'kind': 'single step (read and report)', 'instruments': [PX], 'world': w_sample_on_px, 'check': c_weigh_report,
+     'instruction': 'Weigh the sample on the OHAUS PX224E (ohaus_px224e) and write its stable net mass in milligrams, as a plain number, '
+                    'into mass_mg.txt in your work directory.',
+     'gold': 'chemlab run ohaus_px224e weigh --stable --json | jq -r .net_mg > mass_mg.txt && cat mass_mg.txt'},
+    {'id': 'b03_unit_kg', 'kind': 'single step (setting)', 'instruments': [SPX], 'check': c_unit_kg,
+     'instruction': 'Switch the display of the OHAUS Scout SPX2201 (ohaus_spx2201) to kilograms.',
+     'gold': 'chemlab run ohaus_spx2201 unit && chemlab run ohaus_spx2201 unit kg'},
+    {'id': 'b04_close_and_zero', 'kind': 'two steps', 'instruments': [XPR], 'world': w_door_open_residue, 'check': c_close_zero,
+     'instruction': 'Close the draft shield of the XPR204E (mt_xpr204e) and zero the empty balance.',
+     'gold': 'chemlab run mt_xpr204e door close && chemlab run mt_xpr204e zero --wait 30s'},
+    {'id': 'b05_recover_unstable', 'kind': 'recovery: unstable reading (doors open)', 'instruments': [PX], 'world': w_px_doors_open_beaker,
+     'check': c_px_tare_closed, 'instruction': 'Tare the OHAUS PX224E (ohaus_px224e) with the beaker that is on its pan.', 'gold': GOLD_B05},
+    {'id': 'b06_recover_power_off', 'kind': 'recovery: balance switched off', 'instruments': [XPR], 'world': w_xpr_off, 'check': c_xpr_on_mg,
+     'instruction': 'Set the display unit of the XPR204E (mt_xpr204e) to milligrams.', 'gold': GOLD_B06},
+    {'id': 'b07_recover_zero_range', 'kind': 'recovery: zero out of range -> tare', 'instruments': [XPR], 'world': w_xpr_50g, 'check': c_zero_range,
+     'instruction': 'An empty 50 g beaker is on the XPR204E (mt_xpr204e). Make the balance read 0.0000 g with the beaker on the pan '
+                    '(a colleague says "just press zero").', 'gold': GOLD_B07},
+    {'id': 'b08_compare_two', 'kind': 'two instruments', 'instruments': [XPR, PX], 'world': w_two_samples, 'check': c_heavier,
+     'instruction': 'Each of the two analytical balances (mt_xpr204e, ohaus_px224e) holds a sample. Write the id of the balance with the '
+                    'heavier sample into heavier.txt.', 'gold': GOLD_B08},
+    {'id': 'b09_stable_after_load', 'kind': 'long action: wait for a stable reading', 'instruments': [XPR], 'world': w_just_loaded,
+     'check': c_stable_mass, 'instruction': 'A sample has just been put on the XPR204E (mt_xpr204e). Write its stable net mass in grams '
+                                           '(4 decimals) into mass_g.txt.',
+     'gold': 'chemlab run mt_xpr204e weigh --stable --json | jq -r \'.net_g * 10000 | round / 10000\' > mass_g.txt && cat mass_g.txt'},
+    {'id': 'b10_prepare_px', 'kind': 'multi-step preparation', 'instruments': [PX], 'world': w_px_off_open, 'check': c_px_ready,
+     'instruction': 'Prepare the OHAUS PX224E (ohaus_px224e) for weighing: switched on, doors closed, display in milligrams, zeroed.',
+     'gold': 'chemlab run ohaus_px224e power on && chemlab run ohaus_px224e door close && chemlab run ohaus_px224e unit mg && '
+             'chemlab run ohaus_px224e zero --wait 30s && chemlab run ohaus_px224e status'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'balance'
+
+
+def main(only=None, noact=True):
+    return run_suite('balance', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/bioassay_lowering.py b/chemlab/chemlab/compile/tasks/bioassay_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..1e686aa83f9433fcfc178acfc8c3dea10ca039a4
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/bioassay_lowering.py
@@ -0,0 +1,201 @@
+"""Lowering table of the bioassay class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check refused,
+an unsupported verb, a usage error or a dry run); None = not checked.  The lab is the bioassay world (tasks/bioassay_world.py)."""
+from .bioassay_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+SPR_CYCLE = {'type': 'sample', 'position': 'R1B1', 'contact_s': 60.0, 'dissociation_s': 60.0, 'flow_rate_m3_s': 5e-10}
+ITC_INJ = [{'volume_m3': 4e-10, 'duration_s': 0.8, 'spacing_s': 150.0}] + [{'volume_m3': 2e-9, 'duration_s': 4.0, 'spacing_s': 150.0}] * 4
+QPCR_STEPS = [{'kind': 'temperature', 'temperature_k': K0 + 95, 'hold_s': 180.0}, {'kind': 'temperature', 'temperature_k': K0 + 95, 'hold_s': 10.0},
+              {'kind': 'temperature', 'temperature_k': K0 + 60, 'hold_s': 30.0, 'plate_read': True}, {'kind': 'goto', 'goto_step': 2, 'cycles': 39},
+              {'kind': 'melt', 'start_k': K0 + 65, 'end_k': K0 + 95, 'melt_increment_k': 0.5, 'hold_s': 5.0}]
+
+CASES = {
+    'bmg_clariostarplus': {'steps': [
+        ('status', []),
+        ('load wp', []),                                                       # POWER_OFF (class requirement)
+        ('power on', [('power.set', {'on': True})]),                           # shared layer
+        ('load wp', []),                                                       # BUSY: starting up
+        ('#wait 25', None),
+        ('load wq', []),                                                       # UNKNOWN_ITEM (usage)
+        ('load wp', [('drawer.set', {'open': True}), ('plate.load', {'plate_id': 'wp'}), ('drawer.set', {'open': False})]),
+        ('load wp', []),                                                       # ALREADY_LOADED
+        ('start', []),                                                         # NO_METHOD
+        ('method mode=fi_endpoint wells=A1:A3 ex=485nm em=525nm',
+         [('protocol.configure', {'mode': 'fi_endpoint', 'wells': ['A1:A3'], 'excitation_m': 4.85e-7, 'emission_m': 5.25e-7, 'format': '96'})]),
+        ('method mode=fi_endpoint wells=A1 ex=100nm em=525nm', []),           # OUT_OF_RANGE (usage)
+        ('method colour=red', []),                                             # UNKNOWN_SETTING (usage)
+        ('start --dry-run', []),
+        ('start', [('run.start', {})]),
+        ('#wait 10', None),
+        ('data', [('data.read', {})]),
+        ('data --cycle 1 --max 10', [('data.read', {'cycle': 1, 'max_rows': 10})]),
+        ('analyze blank blank=B1,B2,B3', [('data.analyze', {'fit': 'none', 'blank_wells': ['B1', 'B2', 'B3']})]),
+        ('analyze linear std.A1=0uM std.A2=1uM', [('data.analyze', {'fit': 'linear', 'standards': {'A1': 0.0, 'A2': 1e-3}})]),
+        ('analyze cubic', []),                                                 # UNKNOWN_MODEL (usage)
+        ('method mode=abs_endpoint wells=A1:A3 wl=450nm cycles=3 interval=60s',
+         [('protocol.configure', {'mode': 'abs_endpoint', 'wells': ['A1:A3'], 'wavelengths_m': [4.5e-7], 'cycles': 3, 'cycle_time_s': 60.0,
+                                  'format': '96'})]),
+        ('start', [('run.start', {})]),
+        ('#wait 5', None),
+        ('method mode=abs_endpoint wells=A1 wl=450nm', []),                   # RUN_ACTIVE
+        ('stop', [('run.stop', {})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('pause on', []),                                                      # not supported
+        ('set-temp 37C', [('incubator.set', {'temperature_k': K0 + 37})]),
+        ('set-temp 60C', []),                                                  # OUT_OF_RANGE
+        ('set-temp off', [('incubator.set', {'temperature_k': None})]),
+        ('prime pump=A volume=500uL', [('injector.prime', {'pump': 'A', 'volume_m3': 5e-7})]),   # refused by the instrument: NO_REAGENT
+        ('prime pump=A volume=5uL', []),                                       # OUT_OF_RANGE
+        ('unload', [('drawer.set', {'open': True}), ('plate.unload', {}), ('drawer.set', {'open': False})]),
+        ('unload', []),                                                        # NOTHING_LOADED
+        ('power off', [('power.set', {'on': False})]),
+    ]},
+    'biotek_405ts': {'steps': [
+        ('status', []),
+        ('start W-Corning_FLAT', [('protocol.run', {'name': 'W-Corning_FLAT'})]),   # refused by the instrument: NO_PLATE
+        ('load p9', []),                                                       # UNKNOWN_ITEM
+        ('load p1', [('plate.load', {'plate_id': 'p1'})]),
+        ('load p1', []),                                                       # ALREADY_LOADED
+        ('start W-Corning', []),                                               # UNKNOWN_PROTOCOL (usage)
+        ('start', []),                                                         # MISSING_ARGUMENT
+        ('start W-Corning_FLAT', [('protocol.run', {'name': 'W-Corning_FLAT'})]),
+        ('start W-Corning_FLAT', []),                                          # RUN_ACTIVE
+        ('stop', [('run.stop', {})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('start W-Corning_FLAT', [('protocol.run', {'name': 'W-Corning_FLAT'})]),
+        ('#wait 40', None),
+        ('data', [('measurement.result', {'record_id': 'WS0002'})]),         # the last record (the stopped run's WS0001 is not 'last')
+        ('data WS0002', [('measurement.result', {'record_id': 'WS0002'})]),
+        ('prime', []),                                                         # PLATE_IN
+        ('unload', [('plate.unload', {'plate_id': 'p1'})]),
+        ('prime buffer=B volume=100mL', [('prime.run', {'buffer': 'B', 'volume_m3': 1e-4, 'rate': 9})]),   # rate: the contract example
+        ('#wait 60', None),
+        ('prime volume=1mL', []),                                              # OUT_OF_RANGE
+        ('method name=x', []),                                                 # not supported
+        ('pause on', []),                                                      # not supported
+        ('analyze x', []),                                                     # not supported
+        ('set-temp 30C', []),                                                  # not supported
+        ('start PRIME_ALL_BUFFRS --dry-run', []),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('start W-DAY_RINSE', []),                                             # POWER_OFF
+    ]},
+    'biorad_cfxopus': {'steps': [
+        ('status', []),
+        ('start', []),                                                         # NOTHING_LOADED
+        ('load plate_9', []),                                                  # UNKNOWN_ITEM
+        ('load plate_1', [('lid.open', {}), ('plate.load', {'plate_id': 'plate_1'}), ('lid.close', {})]),
+        ('start', []),                                                         # NO_METHOD
+        ('method name=SYBR volume=20uL lid=105C steps=95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s',
+         [('protocol.set', {'name': 'SYBR', 'sample_volume_m3': 2e-8, 'lid_temperature_k': K0 + 105, 'steps': QPCR_STEPS})]),
+        ('method name=x volume=20uL steps=95C@3min,bogus', []),               # BAD_PROGRAM (usage)
+        ('method name=x volume=80uL steps=95C@3min', []),                     # OUT_OF_RANGE
+        ('start --scan fret --dry-run', []),
+        ('start', [('run.start', {'scan_mode': 'all_channels'})]),
+        ('pause on', []),                                                      # lid heating: not running yet
+        ('#wait 120', None),
+        ('pause on', [('run.pause', {})]),
+        ('pause off', [('run.resume', {})]),
+        ('pause off', []),                                                     # NOT_PAUSED
+        ('stop', [('run.stop', {})]),
+        ('data', [('data.amplification', {'run_id': 'R001'})]),
+        ('data --wells A1,B1', [('data.amplification', {'run_id': 'R001', 'wells': ['A1', 'B1']})]),
+        ('analyze cq', [('analysis.cq', {'run_id': 'R001'})]),
+        ('analyze cq threshold_rfu=50', [('analysis.cq', {'run_id': 'R001', 'threshold_rfu': 50.0})]),
+        ('analyze bogus', []),                                                 # UNKNOWN_MODEL
+        ('unload', [('lid.open', {}), ('plate.remove', {}), ('lid.close', {})]),
+        ('unload', []),                                                        # NOTHING_LOADED
+        ('prime', []),                                                         # not supported
+        ('set-temp 50C', []),                                                  # not supported
+    ]},
+    'cytiva_biacoret200': {'steps': [
+        ('status', []),
+        ('start r1 samples=R1B1 contact=60s flow=30uL/min path=1-2 rate=1', []),   # NOTHING_LOADED
+        ('load chip1', []),                                                    # MISSING_OPTION --type
+        ('load chip1 --type CM5', [('chip.open_port', {}), ('chip.insert', {'chip_type': 'CM5', 'chip_id': 'chip1'}), ('chip.close_cover', {}),
+                                   ('chip.dock', {})]),
+        ('load chip2 --type CM5', []),                                         # ALREADY_LOADED
+        ('prime', [('flow.prime', {})]),
+        ('#wait 400', None),
+        ('set-temp 25C', [('temperature.set', {'analysis_k': K0 + 25})]),
+        ('set-temp 60C', []),                                                  # OUT_OF_RANGE
+        ('start r1 samples=R1B1 contact=60s dissociation=60s flow=30uL/min path=1-2 ref=2-1 rate=1 startup=1',
+         [('method.run', {'run_id': 'r1', 'data_rate_hz': 1, 'flow_path': '1-2', 'reference_subtraction': '2-1',
+                          'cycles': [{'purpose': 'startup', 'commands': [SPR_CYCLE]}, {'purpose': 'sample', 'commands': [SPR_CYCLE]}]})]),
+        ('pause on', [('run.pause', {})]),
+        ('pause on', []),                                                      # already paused
+        ('pause off', [('run.resume', {})]),
+        ('#wait 400', None),
+        ('data', [('data.report_points', {'run_id': 'r1'})]),
+        ('data --cycle 2 --curves 2-1 --max 10', [('data.sensorgram', {'run_id': 'r1', 'cycle': 2, 'curves': ['2-1'], 'max_points': 10})]),
+        ('data --cycle 2', []),                                                # MISSING_OPTION --curves
+        ('analyze kinetics cycles=2 subtraction=2-1', [('eval.kinetics', {'run_id': 'r1', 'cycles': [2], 'subtraction': '2-1'})]),
+        ('analyze affinity cycles=2 subtraction=2-1 concs=1uM', []),           # WRONG_COUNT: affinity needs two or more cycles (usage)
+        ('analyze affinity cycles=1,2 subtraction=2-1 concs=0uM,1uM',
+         [('eval.affinity', {'run_id': 'r1', 'cycles': [1, 2], 'subtraction': '2-1', 'concentrations_mol_m3': [0.0, 1e-3]})]),
+        ('start r2 samples=R1B1 contact=60s flow=30uL/min path=1-2 rate=1',
+         [('method.run', {'run_id': 'r2', 'data_rate_hz': 1, 'flow_path': '1-2',
+                          'cycles': [{'purpose': 'sample', 'commands': [dict(SPR_CYCLE, dissociation_s=0.0)]}]})]),
+        ('#wait 5', None),
+        ('stop', [('run.stop', {})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('method contact=60s', []),                                            # not supported
+        ('unload', [('chip.eject', {}), ('chip.open_port', {}), ('chip.remove', {}), ('chip.close_cover', {})]),
+        ('unload', []),                                                        # NOTHING_LOADED
+    ]},
+    'malvern_microcalpeaq': {'steps': [
+        ('status', []),
+        ('start e1', []),                                                      # NO_METHOD
+        ('method temp=25C ref=5ucal/s feedback=high stir=750rpm delay=60s injections=0.4uL@0.8s,4x2uL@4s spacing=150s cell=0.1mM syringe=1mM',
+         [('method.set', {'temperature_k': K0 + 25, 'reference_power_w': 2.092e-5, 'feedback': 'high', 'stir_rate_hz': 12.5,
+                          'initial_delay_s': 60.0, 'injections': ITC_INJ, 'cell_concentration_mol_m3': 0.1, 'syringe_concentration_mol_m3': 1.0})]),
+        ('method temp=30C', []),                                               # MISSING_SETTING injections
+        ('method temp=200C injections=1uL@2s spacing=150s', []),             # OUT_OF_RANGE
+        ('load nothing', []),                                                  # UNKNOWN_ITEM
+        ('load edta', [('pipette.move', {'location': 'rest'}), ('cell.load', {'solution_id': 'edta', 'volume_m3': 3e-7, 'rinse': True})]),
+        ('start e1', []),                                                      # SYRINGE_NOT_LOADED
+        ('load ca --into syringe', [('tube.place', {'solution_id': 'ca', 'volume_m3': 6e-8}), ('fpa.attach', {}), ('syringe.plunger_down', {}),
+                                    ('pipette.move', {'location': 'load'}), ('syringe.load', {}), ('pipette.move', {'location': 'rest'}),
+                                    ('tube.remove', {}), ('fpa.detach', {}), ('pipette.move', {'location': 'cell'})]),
+        ('set-temp 25C', [('temperature.set', {'temperature_k': K0 + 25})]),
+        ('start e1', [('run.start', {'experiment_id': 'e1'})]),
+        ('start e2', []),                                                      # RUN_ACTIVE
+        ('#wait 300', None),
+        ('stop', [('instrument.stop', {})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('data', [('data.read', {'experiment_id': 'e1'})]),
+        ('data e1 --max 50', [('data.read', {'experiment_id': 'e1', 'max_points': 50})]),
+        ('analyze one_set_of_sites exclude=1',                                 # refused by the instrument: NO_DATA (the titration was stopped)
+         [('data.analyze', {'experiment_id': 'e1', 'model': 'one_set_of_sites', 'exclude_injections': [1]})]),
+        ('analyze bogus', []),                                                 # UNKNOWN_MODEL
+        ('pause on', []),                                                      # not supported
+        ('prime', []),                                                         # not supported
+        ('unload', [('pipette.move', {'location': 'rest'}), ('cell.empty', {})]),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'bd_facsariaiii': {'steps': [
+        ('status', []),
+        ('load t1', []),                                                       # STREAM_OFF
+        ('prime', [('fluidics.startup', {}), ('stream.set', {'on': True})]),
+        ('prime', []),                                                         # ALREADY_STARTED
+        ('load t9', []),                                                       # UNKNOWN_ITEM
+        ('start r1 --events 100', []),                                         # NOT_ACQUIRING
+        ('load t1', [('tube.install', {'tube_id': 't1'}), ('sample.load', {})]),
+        ('method voltage.B530_30=520V', [('cytometer.settings', {'voltages': {'B530_30': 520.0}})]),
+        ('start r1', []),                                                      # MISSING_OPTION --events
+        ('start r1 --events 5000', [('acquisition.record', {'record_id': 'r1', 'events': 5000})]),
+        ('#wait 20', None),
+        ('data r1', [('statistics.read', {'source': 'r1'})]),
+        ('data', [('statistics.read', {'source': 'live'})]),
+        ('analyze compensation unstained=r1 controls.B530_30=r1',
+         [('compensation.calculate', {'unstained_record': 'r1', 'controls': {'B530_30': 'r1'}})]),     # refused: NO_POSITIVE_POPULATION
+        ('set-temp 5C', []),                                                   # NOT_ALLOWED (fixed settings)
+        ('set-temp 4C', [('sample.temperature', {'setpoint_k': K0 + 4})]),
+        ('set-temp off', [('sample.temperature', {'setpoint_k': None})]),
+        ('pause on', []),                                                      # not supported
+        ('stop', [('acquisition.set', {'acquiring': False})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('unload', [('sample.unload', {}), ('tube.remove', {})]),
+        ('unload', []),                                                        # NOTHING_LOADED
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/bioassay_tasks.py b/chemlab/chemlab/compile/tasks/bioassay_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..744e72d7cdac1ad82a37c03d79fb8d7883431f39
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/bioassay_tasks.py
@@ -0,0 +1,290 @@
+"""Bioassay class acceptance tasks (10, 4 recovery): gold solutions use `chemlab run` (and jq) inside the sandbox; the checkers read
+the evaluator view and, for computed results, ask the instrument's own evaluation as the evaluator (read-only queries).
+
+The lab is the bioassay world (tasks/bioassay_world.py); some tasks add a little more world (a plate already on the washer's
+carrier, an ITC cell already filled with its method set).
+"""
+from .bioassay_world import config as world_config
+from .common import run_suite
+
+K0 = 273.15
+BMG, WASH, PCR, SPR, ITC, FACS = ('bmg_clariostarplus', 'biotek_405ts', 'biorad_cfxopus', 'cytiva_biacoret200', 'malvern_microcalpeaq',
+                                  'bd_facsariaiii')
+_N = [0]
+
+
+def world_call(lab, iid, cap, args):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, _N[0]))
+    assert r.get('status') in ('succeeded', 'accepted'), (cap, r)
+    return r
+
+
+def ask(c, iid, cap, args):
+    """A read-only query as the evaluator (checkers): the instrument's own result."""
+    _N[0] += 1
+    r = c.lab.backend.evaluator_invoke(iid, cap, args, 'check-%s-%d' % (cap, _N[0]))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+# ------------------------------------------------------------------ worlds
+def w_bmg_on(lab):
+    world_call(lab, BMG, 'power.set', {'on': True})
+    lab.backend.advance(30)
+
+
+def w_plate_on_washer(lab):
+    world_call(lab, WASH, 'plate.load', {'plate_id': 'p1'})
+
+
+ITC_SHORT = [{'volume_m3': 4e-10, 'duration_s': 0.8, 'spacing_s': 120.0}] + [{'volume_m3': 2e-9, 'duration_s': 4.0, 'spacing_s': 120.0}] * 3
+
+
+def w_itc_cell_and_method(lab):
+    world_call(lab, ITC, 'pipette.move', {'location': 'rest'})
+    lab.backend.advance(40)
+    world_call(lab, ITC, 'cell.load', {'solution_id': 'edta', 'volume_m3': 3e-7, 'rinse': True})
+    world_call(lab, ITC, 'method.set', {'temperature_k': K0 + 25, 'reference_power_w': 2.092e-5, 'feedback': 'high', 'stir_rate_hz': 12.5,
+                                        'initial_delay_s': 60.0, 'injections': ITC_SHORT, 'cell_concentration_mol_m3': 0.1,
+                                        'syringe_concentration_mol_m3': 1.0})
+
+
+# ------------------------------------------------------------------ checkers
+def c_plate_read(c):
+    e = c.ev(BMG)
+    c.equal('run completed', (e.get('run.status') or {}).get('state'), 'completed')
+    p = e.get('protocol.current') or {}
+    c.equal('fluorescence end point', p.get('mode'), 'fi_endpoint')
+    rows = (ask(c, BMG, 'data.read', {}) or {}).get('rows') or []
+    c.add('read at the 525 nm emission', bool(rows) and all(abs((r.get('wavelength_m') or 0) - 5.25e-7) < 1e-12 for r in rows),
+          sorted({r.get('wavelength_m') for r in rows}))
+    c.equal('the six wells were read', sorted({r['well'] for r in rows}), ['A1', 'A2', 'A3', 'B1', 'B2', 'B3'])
+    a = [r['value'] for r in rows if r['well'] in ('A1', 'A2', 'A3')]
+    b = [r['value'] for r in rows if r['well'] in ('B1', 'B2', 'B3')]
+    want = sum(a) / len(a) - sum(b) / len(b) if a and b else None
+    got = c.number_file('signal.txt')
+    c.add('signal.txt is the blank-corrected mean of A1:A3 (within 0.1 %)', want is not None and got is not None and abs(got - want) <= 1e-3 * abs(want),
+          'got %r, want %r' % (got, want))
+
+
+def c_bmg_busy(c):
+    e = c.ev(BMG)
+    c.equal('plate wp in the reader', (e.get('carrier.plate') or {}).get('plate_id'), 'wp')
+    c.near('carrier in', e.get('drawer.position_m'), 0.0, 1e-6)
+    c.near('incubator set point 30 °C', e.get('incubator.setpoint_k'), K0 + 30, 1e-6)
+
+
+def c_wash(c):
+    e = c.ev(WASH)
+    rid = e.get('result.last_record_id')
+    rec = ask(c, WASH, 'measurement.result', {'record_id': rid}) if rid else None
+    c.add('a wash record completed with W-Corning_FLAT', bool(rec) and rec.get('status') == 'completed' and rec.get('kind') == 'wash', rec and rec.get('status'))
+    c.equal('record.txt names it', c.work_file('record.txt'), rid)
+    c.equal('the plate is back on the bench', e.get('plate.on_carrier'), None)
+    c.add('p1 is on the bench', 'p1' in (e.get('plate.bench_ids') or []), e.get('plate.bench_ids'))
+
+
+def c_prime(c):
+    e = c.ev(WASH)
+    rid = e.get('result.last_record_id')
+    rec = ask(c, WASH, 'measurement.result', {'record_id': rid}) if rid else None
+    s = (rec or {}).get('settings') or {}
+    c.add('a prime record completed', bool(rec) and rec.get('kind') == 'prime' and rec.get('status') == 'completed', rec and (rec.get('kind'), rec.get('status')))
+    c.equal('buffer B', s.get('buffer'), 'B')
+    c.near('100 mL', (s.get('volume_m3') or 0) * 1e6, 100.0, 1e-6)
+    c.equal('the plate is off the carrier', e.get('plate.on_carrier'), None)
+
+
+def c_qpcr(c):
+    e = c.ev(PCR)
+    c.equal('run completed', e.get('run.state'), 'completed')
+    d = e.get('protocol.definition') or {}
+    steps = d.get('steps') or []
+    reads = [s for s in steps if s.get('plate_read')]
+    gotos = [s for s in steps if s.get('kind') == 'goto']
+    c.add('40 cycles of 95 °C / 60 °C with a read at 60 °C', len(reads) == 1 and abs(reads[0].get('temperature_k', 0) - (K0 + 60)) < 1e-6
+          and len(gotos) == 1 and gotos[0].get('cycles') == 39, steps)
+    c.near('20 µL', (d.get('sample_volume_m3') or 0) * 1e9, 20.0, 1e-6)
+    res = (ask(c, PCR, 'analysis.cq', {}) or {}).get('results') or []
+    want = next((r.get('cq') for r in res if r.get('well') == 'A1'), None)
+    c.near('cq.txt is the Cq of A1 (±0.01)', c.number_file('cq.txt'), want if want is not None else -1, 0.01)
+
+
+def c_spr(c):
+    e = c.ev(SPR)
+    c.equal('chip chip_a docked', (e.get('chip.id'), e.get('chip.state')), ('chip_a', 'docked'))
+    c.near('analysis temperature set to 25 °C', e.get('temperature.analysis_setpoint_k'), K0 + 25, 1e-6)
+    runs = (ask(c, SPR, 'runs.list', {}) or {}).get('runs') or []
+    c.add('run buf1 completed', any(r.get('run_id') == 'buf1' and r.get('state') == 'completed' for r in runs), runs)
+    t = c.work_file('report.json') or ''
+    c.add('report.json holds the report points', '"rows"' in t and 'relative_ru' in t, t[:120])
+
+
+def c_itc(c):
+    e = c.ev(ITC)
+    c.equal('experiment ca1 completed', (e.get('run.experiment_id'), e.get('run.state')), ('ca1', 'completed'))
+    fit = ask(c, ITC, 'data.analyze', {'experiment_id': 'ca1', 'model': 'one_set_of_sites', 'exclude_injections': [1]}) or {}
+    n = next((p['value'] for p in fit.get('parameters') or [] if p.get('name') == 'n'), None)
+    c.near('n.txt is the fitted n (±0.01)', c.number_file('n.txt'), n if n is not None else -1, 0.01)
+    c.near('n is about 1 for Ca2+ / EDTA', n, 1.0, 0.1)
+
+
+def c_itc_recover(c):
+    e = c.ev(ITC)
+    c.equal('experiment e5 completed', (e.get('run.experiment_id'), e.get('run.state')), ('e5', 'completed'))
+    c.equal('cell holds edta', e.get('cell.solution_id'), 'edta')
+
+
+def c_facs(c):
+    e = c.ev(FACS)
+    recs = (ask(c, FACS, 'records.list', {}) or {}).get('records') or []
+    r = next((x for x in recs if x.get('record_id') == 'pbmc1'), None)
+    c.add('record pbmc1 with 5000 events', bool(r) and r.get('events') == 5000, r)
+    c.near('events.txt says 5000', c.number_file('events.txt'), 5000, 0)
+    c.equal('tube unloaded', e.get('sample.tube_id'), None)
+    c.equal('fluidics ready', e.get('fluidics.state'), 'ready')
+
+
+def c_facs_recover(c):
+    e = c.ev(FACS)
+    c.equal('tube t1 up and acquiring', (e.get('sample.tube_id'), e.get('sample.acquiring')), ('t1', True))
+    c.near('sample chamber set to 4 °C', e.get('sample.temperature_setpoint_k'), K0 + 4, 1e-6)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_BA01 = r'''chemlab run bmg_clariostarplus load wp
+chemlab run bmg_clariostarplus method mode=fi_endpoint wells=A1:A3,B1:B3 ex=485nm em=525nm
+chemlab run bmg_clariostarplus start
+chemlab run bmg_clariostarplus wait --max 10min
+chemlab run bmg_clariostarplus data --json > read.json
+jq '[.record.rows[] | select(.well|test("^A[123]$")) | .value] as $a | [.record.rows[] | select(.well|test("^B[123]$")) | .value] as $b
+    | ($a|add/length) - ($b|add/length)' read.json > signal.txt
+cat signal.txt'''
+
+GOLD_BA02 = r'''chemlab run bmg_clariostarplus power on
+chemlab run bmg_clariostarplus load wp --json > l.json; rc=$?
+if [ $rc -ne 0 ]; then
+  jq -r '.error.code + ": " + .error.fix' l.json
+  if jq -e '.error.code == "BUSY"' l.json >/dev/null; then chemlab wait 20; chemlab run bmg_clariostarplus load wp; fi
+fi
+chemlab run bmg_clariostarplus set-temp 30C
+chemlab run bmg_clariostarplus status'''
+
+GOLD_BA03 = r'''chemlab run biotek_405ts load p1
+job=$(chemlab run biotek_405ts start W-Corning_FLAT --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run biotek_405ts data --json | jq -r .record.record_id > record.txt
+chemlab run biotek_405ts unload
+cat record.txt'''
+
+GOLD_BA04 = r'''chemlab run biotek_405ts prime buffer=B volume=100mL --json > p.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "PLATE_IN"' p.json >/dev/null; then
+  jq -r .error.fix p.json
+  chemlab run biotek_405ts unload
+  chemlab run biotek_405ts prime buffer=B volume=100mL
+fi
+chemlab run biotek_405ts wait --max 10min'''
+
+GOLD_BA05 = r'''chemlab run biorad_cfxopus load plate_1
+chemlab run biorad_cfxopus method name=GAPDH volume=20uL lid=105C steps=95C@3min,95C@10s,60C@30s+read,goto2x39
+chemlab run biorad_cfxopus start
+chemlab run biorad_cfxopus wait --max 3h
+chemlab run biorad_cfxopus analyze cq --json | jq -r '.evaluation.results[] | select(.well=="A1") | .cq * 100 | round / 100' > cq.txt
+cat cq.txt'''
+
+GOLD_BA06 = r'''chemlab run cytiva_biacoret200 load chip_a --type CM5
+chemlab run cytiva_biacoret200 prime
+chemlab run cytiva_biacoret200 wait --max 30min
+chemlab run cytiva_biacoret200 set-temp 25C
+chemlab run cytiva_biacoret200 start buf1 samples=R1B1 contact=60s dissociation=60s flow=30uL/min path=1-2 ref=2-1 rate=1
+chemlab run cytiva_biacoret200 wait --max 1h
+chemlab run cytiva_biacoret200 data buf1 --save-to report.json
+head -c 200 report.json'''
+
+GOLD_BA07 = r'''chemlab run malvern_microcalpeaq method temp=25C ref=5ucal/s feedback=high stir=750rpm delay=60s \
+    injections=0.4uL@0.8s,12x2uL@4s spacing=150s cell=0.1mM syringe=1mM
+chemlab run malvern_microcalpeaq load edta --into cell
+chemlab run malvern_microcalpeaq load ca --into syringe
+chemlab run malvern_microcalpeaq start ca1
+chemlab run malvern_microcalpeaq wait --max 3h
+chemlab run malvern_microcalpeaq analyze one_set_of_sites exclude=1 --json | jq -r '.evaluation.parameters[] | select(.name=="n") | .value' > n.txt
+cat n.txt'''
+
+GOLD_BA08 = r'''chemlab run malvern_microcalpeaq start e5 --json > s.json; rc=$?
+if [ $rc -eq 3 ]; then
+  jq -r '.error.code + ": " + .error.fix' s.json
+  if jq -e '.error.code == "SYRINGE_NOT_LOADED"' s.json >/dev/null; then
+    chemlab run malvern_microcalpeaq load ca --into syringe
+    chemlab run malvern_microcalpeaq start e5
+  fi
+fi
+chemlab run malvern_microcalpeaq wait --max 3h'''
+
+GOLD_BA09 = r'''chemlab run bd_facsariaiii prime
+chemlab run bd_facsariaiii load t1
+chemlab run bd_facsariaiii start pbmc1 --events 5000
+chemlab run bd_facsariaiii wait --max 10min
+chemlab run bd_facsariaiii data pbmc1 --json | jq -r .record.total_events > events.txt
+chemlab run bd_facsariaiii stop
+chemlab run bd_facsariaiii unload
+cat events.txt'''
+
+GOLD_BA10 = r'''chemlab run bd_facsariaiii load t1 --json > l.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "STREAM_OFF"' l.json >/dev/null; then
+  jq -r .error.fix l.json
+  chemlab run bd_facsariaiii prime
+  chemlab run bd_facsariaiii load t1
+fi
+chemlab run bd_facsariaiii set-temp 4C'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'ba01_plate_read', 'kind': 'multi-step + computed report', 'instruments': [BMG], 'world': w_bmg_on, 'check': c_plate_read,
+     'instruction': 'The CLARIOstar plate reader (bmg_clariostarplus) is on; plate wp is on the bench with fluorescein in A1:A3 and water '
+                    'blanks in B1:B3. Read the fluorescence of these six wells (excitation 485 nm, emission 525 nm) and write the mean of '
+                    'A1:A3 minus the mean of B1:B3 (RFU) into signal.txt.', 'gold': GOLD_BA01},
+    {'id': 'ba02_recover_reader_starting', 'kind': 'recovery: instrument still starting up', 'instruments': [BMG], 'check': c_bmg_busy,
+     'instruction': 'Switch on the CLARIOstar plate reader (bmg_clariostarplus), load plate wp into it and set the incubator to 30 °C.',
+     'gold': GOLD_BA02},
+    {'id': 'ba03_wash_plate', 'kind': 'long action: job + record', 'instruments': [WASH], 'check': c_wash,
+     'instruction': 'Wash ELISA plate p1 on the BioTek 405 TS washer (biotek_405ts) with its stored protocol W-Corning_FLAT, write the '
+                    'id of the wash record into record.txt, and put the plate back on the bench.', 'gold': GOLD_BA03},
+    {'id': 'ba04_recover_prime_plate_on', 'kind': 'recovery: a plate blocks priming', 'instruments': [WASH], 'world': w_plate_on_washer,
+     'check': c_prime, 'instruction': 'Prime buffer line B of the BioTek 405 TS washer (biotek_405ts) with 100 mL and wait until it is done.',
+     'gold': GOLD_BA04},
+    {'id': 'ba05_qpcr_cq', 'kind': 'method syntax + long run + analysis', 'instruments': [PCR], 'check': c_qpcr,
+     'instruction': 'Run plate plate_1 on the CFX Opus (biorad_cfxopus): 20 µL reactions, lid 105 °C, 95 °C for 3 min, then 40 cycles of '
+                    '95 °C 10 s and 60 °C 30 s with a plate read at 60 °C. When it has finished, write the Cq of well A1 (two decimals) '
+                    'into cq.txt.', 'gold': GOLD_BA05},
+    {'id': 'ba06_spr_buffer_cycle', 'kind': 'consumable + prime job + run job + record file', 'instruments': [SPR], 'check': c_spr,
+     'instruction': 'On the Biacore T200 (cytiva_biacoret200), dock a new CM5 sensor chip named chip_a, prime the system, set the analysis '
+                    'temperature to 25 °C, and run "buf1": one cycle injecting the running buffer from rack position R1B1 for 60 s '
+                    '(60 s dissociation) at 30 µL/min over flow cells 1-2 with reference subtraction 2-1 at 1 Hz. Save the run\'s report '
+                    'points into report.json.', 'gold': GOLD_BA06},
+    {'id': 'ba07_itc_titration', 'kind': 'composite loading + long run + fit', 'instruments': [ITC], 'check': c_itc,
+     'instruction': 'On the PEAQ-ITC (malvern_microcalpeaq), titrate 1 mM CaCl2 ("ca", into the syringe) into 0.1 mM EDTA ("edta", in the '
+                    'cell) at 25 °C: reference power 5 µcal/s, high feedback, 750 rpm, 60 s initial delay, a 0.4 µL injection then 12 '
+                    'injections of 2 µL, 150 s apart. Run it as experiment ca1, fit one set of sites (leave out the first injection) and '
+                    'write the stoichiometry n into n.txt.', 'gold': GOLD_BA07},
+    {'id': 'ba08_recover_itc_syringe', 'kind': 'recovery: syringe not loaded', 'instruments': [ITC], 'world': w_itc_cell_and_method,
+     'check': c_itc_recover, 'instruction': 'The PEAQ-ITC (malvern_microcalpeaq) has EDTA in its cell and the method set. Run experiment e5 '
+                                           'with the CaCl2 solution "ca" as titrant, and wait until it has finished.', 'gold': GOLD_BA08},
+    {'id': 'ba09_cytometer_record', 'kind': 'start-up + record + report', 'instruments': [FACS], 'check': c_facs,
+     'instruction': 'On the FACSAria III (bd_facsariaiii), start up the fluidics, load tube t1, record 5000 events as record pbmc1, write '
+                    'the number of recorded events into events.txt, then stop acquiring and unload the tube.', 'gold': GOLD_BA09},
+    {'id': 'ba10_recover_stream_off', 'kind': 'recovery: fluidics not started', 'instruments': [FACS], 'check': c_facs_recover,
+     'instruction': 'Load tube t1 on the FACSAria III (bd_facsariaiii) so that it acquires, and set the sample chamber to 4 °C.',
+     'gold': GOLD_BA10},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'bioassay'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('bioassay', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/bioassay_world.py b/chemlab/chemlab/compile/tasks/bioassay_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..23d602c7136e68ace8248a05745041d8edcdc1e9
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/bioassay_world.py
@@ -0,0 +1,89 @@
+"""Host-side world for the bioassay class (what the lab staff have done before the agent starts), as lab-config set-up steps.
+
+The default lab only declares each instrument's plant; nothing is on the bench.  This world adds, as trusted calls (evaluator) or
+operator calls (bench work the agent would otherwise do with `chemlab call`):
+
+* CLARIOstar: the fluorescein standard and water kits, a black 96-well plate "wp" with fluorescein in A1:A3 and water in B1:B3;
+* 405 TS: an ELISA plate "p1" on the bench (the default set-up already filled the four buffer bottles and switched it on);
+* CFX Opus: a GAPDH standard sample and a prepared plate "plate_1" (A1 standard, B1 NTC);
+* Biacore T200: switched on and connected, running buffer and water bottles, waste bottle emptied, the sample and reagent rack with
+  running buffer in R1B1 (no chip: loading the chip is the agent's job);
+* PEAQ-ITC: switched on with the wash module, EDTA in MES (cell) and CaCl2 in the same buffer (syringe) prepared and degassed;
+* FACSAria III: switched on, a stained PBMC sample and a tube "t1" of it on the bench; ``ready=True`` also starts the fluidics and
+  the stream (for tasks that begin with a running cytometer).
+"""
+import copy
+
+from ...labbackend import load_config
+
+EV = True
+
+BMG = [{'capability': 'kit.provide', 'arguments': {'kit': 'fluorescein_standard'}, 'evaluator': EV},
+       {'capability': 'kit.provide', 'arguments': {'kit': 'water'}, 'evaluator': EV},
+       {'capability': 'plate.prepare', 'arguments': {'plate_id': 'wp', 'format': '96', 'type': 'black'}, 'evaluator': EV},
+       {'capability': 'well.dispense', 'arguments': {'plate_id': 'wp', 'wells': ['A1:A3'], 'source_id': 'fluorescein_standard', 'volume_m3': 1e-7},
+        'evaluator': EV},
+       {'capability': 'well.dispense', 'arguments': {'plate_id': 'wp', 'wells': ['B1:B3'], 'source_id': 'water', 'volume_m3': 1e-7}, 'evaluator': EV}]
+
+BIOTEK = [{'capability': 'plate.provide', 'arguments': {'plate_id': 'p1', 'plate_type': 'costar_3590', 'fill_volume_m3': 1e-07, 'liquid_id': 'pbs_1x',
+                                                         'unbound_mol': 1e-12, 'nonspecific_mol': 2e-14, 'specific_mol': 5e-14, 'cells_per_well': 0.0,
+                                                         'cell_adhesion': 'none', 'wells': None}, 'evaluator': EV}]
+
+CFX_WELLS = [{'well': 'A1', 'sample_type': 'standard', 'sample_id': 'gapdh_std', 'dilution': 1.0, 'template_volume_m3': 2e-09,
+              'reaction_volume_m3': 2e-08, 'assays': ['hs_gapdh'], 'chemistry': 'sybr', 'quantity_copies': 1000000.0},
+             {'well': 'B1', 'sample_type': 'ntc', 'reaction_volume_m3': 2e-08, 'assays': ['hs_gapdh'], 'chemistry': 'sybr'}]
+CFX = [{'capability': 'sample.provide', 'arguments': {'sample_id': 'gapdh_std', 'kind': 'standard', 'copies_per_m3': {'hs_gapdh': 5e14},
+                                                      'declared_copies_per_m3': {'hs_gapdh': 5e14}}, 'evaluator': EV},
+       {'capability': 'plate.prepare', 'arguments': {'plate_id': 'plate_1', 'plate_type': 'white_lowprofile_96', 'seal': 'optical_film',
+                                                     'wells': CFX_WELLS}, 'evaluator': EV}]
+
+BIACORE = [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': EV}, {'advance_s': 40.0},
+           {'capability': 'solution.prepare', 'arguments': {'solution_id': 'run_buffer', 'volume_m3': 1e-3, 'base': 'hbs_ep_plus'}, 'evaluator': EV},
+           {'capability': 'solution.prepare', 'arguments': {'solution_id': 'dist_water', 'volume_m3': 5e-4, 'base': 'water'}, 'evaluator': EV},
+           {'capability': 'bottle.place', 'arguments': {'slot': 'buffer_a', 'solution_id': 'run_buffer', 'volume_m3': 9.5e-4}, 'evaluator': EV},
+           {'capability': 'bottle.place', 'arguments': {'slot': 'water', 'solution_id': 'dist_water', 'volume_m3': 4.5e-4}, 'evaluator': EV},
+           {'capability': 'bottle.empty_waste', 'arguments': {}, 'evaluator': EV},
+           {'capability': 'rack.eject', 'arguments': {}, 'evaluator': EV}, {'advance_s': 10.0},
+           {'capability': 'rack.configure', 'arguments': {'config': 'sample_and_reagent_rack', 'plate': 'none'}, 'evaluator': EV},
+           {'capability': 'solution.prepare', 'arguments': {'solution_id': 'buf_s', 'volume_m3': 6e-7, 'base': 'hbs_ep_plus'}, 'evaluator': EV},
+           {'capability': 'rack.place', 'arguments': {'position': 'R1B1', 'solution_id': 'buf_s', 'volume_m3': 4e-7}, 'evaluator': EV},
+           {'capability': 'rack.retract', 'arguments': {}, 'evaluator': EV}, {'advance_s': 10.0}]
+
+ITC_BUF = {'buffer_id': 'mes', 'concentration_mol_m3': 10.0, 'ph': 5.6}
+ITC = [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': EV},
+       {'capability': 'wash.power_set', 'arguments': {'enabled': True}, 'evaluator': EV},
+       {'capability': 'solution.prepare', 'arguments': {'solution_id': 'edta', 'volume_m3': 3e-6, 'buffer': ITC_BUF,
+                                                        'solutes': [{'species_id': 'edta', 'concentration_mol_m3': 0.1}]}, 'evaluator': EV},
+       {'capability': 'solution.prepare', 'arguments': {'solution_id': 'ca', 'volume_m3': 1e-6, 'buffer_from': 'edta',
+                                                        'solutes': [{'species_id': 'ca2+', 'concentration_mol_m3': 1.0}]}, 'evaluator': EV},
+       {'capability': 'solution.degas', 'arguments': {'solution_id': 'edta'}, 'evaluator': EV},
+       {'capability': 'solution.degas', 'arguments': {'solution_id': 'ca'}, 'evaluator': EV}]
+
+FACS_POPS = [{'population_id': 'cd4_t', 'particle_id': 'human_t_cell_cd4', 'concentration_per_m3': 4e12,
+              'stains': [{'dye': 'fluorescein_fitc', 'molecules': 45000.0, 'cv': 0.35}]},
+             {'population_id': 'b_cells', 'particle_id': 'human_b_cell', 'concentration_per_m3': 1.5e12,
+              'stains': [{'dye': 'fluorescein_fitc', 'molecules': 300.0, 'cv': 0.5}]}]
+FACS = [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': EV},
+        {'capability': 'lasers.set', 'arguments': {'laser': 'blue', 'enabled': True}, 'evaluator': EV},
+        {'capability': 'sample.provide', 'arguments': {'sample_id': 'pbmc', 'volume_m3': 3e-6, 'populations': FACS_POPS}, 'evaluator': EV},
+        {'capability': 'tube.prepare', 'arguments': {'tube_id': 't1', 'tube_type': '12x75', 'sources': [{'sample_id': 'pbmc', 'volume_m3': 5e-7}],
+                                                     'buffer_volume_m3': 5e-7}, 'evaluator': EV}]
+FACS_READY = [{'capability': 'fluidics.startup', 'arguments': {}, 'evaluator': EV}, {'advance_s': 500.0},
+              {'capability': 'stream.set', 'arguments': {'on': True}, 'evaluator': EV}, {'advance_s': 30.0}]
+
+WORLD = {'bmg_clariostarplus': BMG, 'biotek_405ts': BIOTEK, 'biorad_cfxopus': CFX, 'cytiva_biacoret200': BIACORE,
+         'malvern_microcalpeaq': ITC, 'bd_facsariaiii': FACS}
+
+
+def config(base=None, ready=False):
+    """all203.json (or ``base``) with the bioassay world steps added after each member's own set-up."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug]) + (copy.deepcopy(FACS_READY) if ready and slug == 'bd_facsariaiii' else [])
+    return cfg
+
+
+def ready_config(base=None):
+    return config(base, ready=True)
diff --git a/chemlab/chemlab/compile/tasks/checks_common.py b/chemlab/chemlab/compile/tasks/checks_common.py
new file mode 100644
index 0000000000000000000000000000000000000000..6ef5f4eb40b71920ae67fe42bde21cbd9412f64c
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/checks_common.py
@@ -0,0 +1,44 @@
+"""Evaluator-side helpers of the sample_intro, titration and electrochem acceptance suites: world calls by the trusted host and
+checker helpers over the lab's own request log.  Nothing here is reachable from the sandbox."""
+
+
+def world_call(lab, iid, cap, args, evaluator=True):
+    """A trusted world call (the lab operator / the scene), asserted to succeed."""
+    b = lab.backend
+    rid = 'world-%s-%s-%d-%d' % (iid, cap, int(b.now() * 10), len(getattr(lab, '_world_calls', [])))
+    lab.__dict__.setdefault('_world_calls', []).append(rid)
+    r = b.evaluator_invoke(iid, cap, args, rid) if evaluator else b.invoke('chemlab_operator', iid, cap, args, rid)
+    assert r.get('status') in ('succeeded', 'accepted'), (iid, cap, r)
+    return r
+
+
+def native_calls(c, iid, cap=None, ok_only=True):
+    """The agent's native calls on ``iid`` (from the host-side request log), oldest first: [(capability, arguments, status)]."""
+    out = []
+    for e in c.lab.core.log.entries:
+        for x in e.get('backend_calls') or []:
+            if x.get('op') == 'invoke' and x.get('instrument') == iid and (cap is None or x.get('capability') == cap):
+                if ok_only and x.get('status') not in ('succeeded', 'accepted'):
+                    continue
+                out.append((x.get('capability'), x.get('arguments') or {}, x.get('status')))
+    return out
+
+
+def last_args(c, iid, cap):
+    calls = native_calls(c, iid, cap)
+    return calls[-1][1] if calls else None
+
+
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+def used_job(c, iid):
+    """A class job on ``iid`` that ended as succeeded."""
+    js = jobs_of(c, iid)
+    return c.add('a class job was used and it succeeded', any(j.state == 'succeeded' for j in js), [(j.handle, j.state) for j in js])
+
+
+def text_has(c, name, fname, *words):
+    t = c.work_file(fname) or ''
+    return c.add(name, all(w in t for w in words), t[:120])
diff --git a/chemlab/chemlab/compile/tasks/chromatography_lowering.py b/chemlab/chemlab/compile/tasks/chromatography_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..fd561ad6fac432cb74ea03725ae647e2956bf993
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/chromatography_lowering.py
@@ -0,0 +1,309 @@
+"""Lowering table of the chromatography class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a usage error, an unsupported verb, a read of slots or a wait); None = not checked.  The labs are built with the class
+world (tasks/chromatography_world.py).  `power` / `open` / `close` are shared-layer verbs, used here only to reach a state."""
+from .chromatography_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+ML_MIN = 1e-6 / 60
+STEPS_CE = ('[{"type":"rinse","inlet":"BI:A1","outlet":"BO:A1","pressure_pa":137895.14586336,"duration_s":120.0},'
+            '{"type":"inject","injection_mode":"pressure","inlet":"SI:A1","outlet":"BO:B1","pressure_pa":3447.378646584,"duration_s":5.0},'
+            '{"type":"separate","inlet":"BI:B1","outlet":"BO:B1","control":"voltage","voltage_v":25000.0,"current_limit_a":0.0003,'
+            '"ramp_s":10.0,"duration_s":600.0}]')
+CE_STEPS = [{'type': 'rinse', 'inlet': 'BI:A1', 'outlet': 'BO:A1', 'pressure_pa': 137895.14586336, 'duration_s': 120.0},
+            {'type': 'inject', 'injection_mode': 'pressure', 'inlet': 'SI:A1', 'outlet': 'BO:B1', 'pressure_pa': 3447.378646584, 'duration_s': 5.0},
+            {'type': 'separate', 'inlet': 'BI:B1', 'outlet': 'BO:B1', 'control': 'voltage', 'voltage_v': 25000.0, 'current_limit_a': 0.0003,
+             'ramp_s': 10.0, 'duration_s': 600.0}]
+AF4_STEPS = [{'mode': 'elution', 'duration_s': 60.0, 'cross_flow_start_m3_s': 2 * ML_MIN},
+             {'mode': 'focus', 'duration_s': 60.0, 'cross_flow_start_m3_s': 2 * ML_MIN},
+             {'mode': 'focus_inject', 'duration_s': 120.0, 'cross_flow_start_m3_s': 2 * ML_MIN},
+             {'mode': 'focus', 'duration_s': 120.0, 'cross_flow_start_m3_s': 2 * ML_MIN},
+             {'mode': 'elution', 'duration_s': 1500.0, 'cross_flow_start_m3_s': 2 * ML_MIN, 'cross_flow_end_m3_s': 0.1 * ML_MIN, 'profile': 'linear'},
+             {'mode': 'elution', 'duration_s': 300.0, 'cross_flow_start_m3_s': 0.0}]
+QUANT = 'quantify --standards 0.1mM=0.01,0.5mM=0.05 --window 150s..220s'
+
+
+CASES = {
+    'agilent_hplc1260': {'steps': [
+        ('status', []),
+        ('method flow=0.5mL/min', []),                                          # POWER_OFF (class check)
+        ('flow on', []),                                                        # POWER_OFF
+        ('run', []),                                                            # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),                       # shared verb, to reach the state
+        ('method flow=0.5mL/min run=2min gradient=0:5%,1min:95%', [('chromatography.set_method', {
+            'flow_m3_s': 0.5 * ML_MIN, 'injection_volume_m3': 1e-08, 'column_temperature_K': 303.15, 'pressure_limit_Pa': 6e7,
+            'wavelength_m': 2.54e-07, 'gradient': [{'time_s': 0.0, 'fraction_b': 0.05}, {'time_s': 60.0, 'fraction_b': 0.95}],
+            'run_duration_s': 120.0, 'sample_interval_s': 1.0, 'integration_method': 'trapezoidal'})]),
+        ('method column-temp=35C inj=5uL', [('chromatography.set_method', {
+            'flow_m3_s': 0.5 * ML_MIN, 'injection_volume_m3': 5e-09, 'column_temperature_K': K0 + 35, 'pressure_limit_Pa': 6e7,
+            'wavelength_m': 2.54e-07, 'gradient': [{'time_s': 0.0, 'fraction_b': 0.05}, {'time_s': 60.0, 'fraction_b': 0.95}],
+            'run_duration_s': 120.0, 'sample_interval_s': 1.0, 'integration_method': 'trapezoidal'})]),
+        ('method flow=99mL/min', []),                                           # BAD_SETTING (above the contract maximum)
+        ('method run=30s', []),                                                 # BAD_SETTING: gradient ends after the run
+        ('method foo=1', []),                                                   # UNKNOWN_SETTING
+        ('run', []),                                                            # NO_SAMPLE
+        ('load mix1', [('door.set_angle', {'angle_rad': 1.5707963267948966}), ('sample.load', {'sample_id': 'mix1'}),
+                       ('door.set_angle', {'angle_rad': 0.0})]),
+        ('load mix1', []),                                                      # SAMPLE_PRESENT
+        ('run', []),                                                            # FLOW_OFF
+        ('flow on', [('mobile_phase.set_available', {'available': True})]),
+        ('flow on', []),                                                        # already on
+        ('run --dry-run', []),
+        ('run', [('chromatography.measure', {})]),
+        ('method flow=1mL/min', []),                                            # BUSY
+        ('#wait 30', None),
+        ('chromatogram', [('chromatography.get_chromatogram', {})]),
+        ('stop', [('chromatography.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        (QUANT, []),                                                            # not supported
+        ('set-temp 40C', []),                                                   # not supported
+        ('flow off', [('mobile_phase.set_available', {'available': False})]),
+    ]},
+    'agilent_gc8890b': {'steps': [
+        ('status', []),
+        ('method oven=80C:1min..200C@30C/min:1min inlet=250C split=20 flow=1.2mL/min det=300C', [
+            ('thermal.set_temperature', {'zone': 'oven', 'temperature_K': K0 + 80}),
+            ('method.configure', {'component': 'oven', 'settings': {'initial_time_s': 60.0, 'ramp_1_rate_K_s': 0.5, 'ramp_1_final_K': K0 + 200,
+                                                                    'ramp_1_final_time_s': 60.0, 'ramp_2_rate_K_s': 0.0}}),
+            ('thermal.set_temperature', {'zone': 'inlet', 'temperature_K': K0 + 250}),
+            ('thermal.set_temperature', {'zone': 'fid', 'temperature_K': K0 + 300}),
+            ('method.configure', {'component': 'inlet', 'settings': {'split_ratio': 20.0}}),
+            ('method.configure', {'component': 'column', 'settings': {'flow_m3_s': 1.2 * ML_MIN}})]),
+        ('method oven=80C..500C@10C/min', []),                                  # OUT_OF_RANGE: above the oven range
+        ('method inlet-mode=splitless', [('method.configure', {'component': 'inlet', 'settings': {'mode': 'Splitless'}})]),
+        ('method oven=80C --dry-run', []),
+        ('load mix1', [('lid.set_angle', {'angle_rad': 1.9198621771937625}), ('sample.load', {'sample_id': 'mix1'}),
+                       ('lid.set_angle', {'angle_rad': 0.0})]),
+        ('run', []),                                                            # NOT_READY (zones heating)
+        ('run --wait-ready 20min', [('run.prep', {}), ('run.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('run.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('chromatogram', []),                                                   # read of gc.last_run
+        ('set-temp 260C --zone inlet', [('thermal.set_temperature', {'zone': 'inlet', 'temperature_K': K0 + 260})]),
+        ('set-temp 900C', []),                                                  # OUT_OF_RANGE
+        ('set-temp 100C --zone column', []),                                    # UNKNOWN_ZONE
+        ('flow off', [('method.configure', {'component': 'column', 'settings': {'on': False}})]),
+        ('flow on', [('method.configure', {'component': 'column', 'settings': {'on': True}})]),
+        (QUANT, []),                                                            # not supported
+    ]},
+    'agilent_7890b_ssl_fid': {'steps': [
+        ('run', []),                                                            # NO_PROGRAM (oven program length 0)
+        ('method oven=80C:1min..200C@30C/min:1min inlet=250C det=300C split=50 inlet-mode=split flow=1.2mL/min', [
+            ('thermal.set_temperature', {'zone': 'oven', 'temperature_k': K0 + 80}),
+            ('oven.set_initial_time', {'time_s': 60.0}),
+            ('oven.set_ramp', {'index': 1, 'rate_k_s': 0.5, 'final_k': K0 + 200, 'final_time_s': 60.0}),
+            ('oven.set_ramp', {'index': 2, 'rate_k_s': 0.0}),
+            ('thermal.set_temperature', {'zone': 'inlet', 'temperature_k': K0 + 250}),
+            ('thermal.set_temperature', {'zone': 'detector', 'temperature_k': K0 + 300}),
+            ('inlet.configure', {'split_ratio': 50.0, 'mode': 'split'}),
+            ('column.configure', {'flow_m3_s': 1.2 * ML_MIN})]),
+        ('method oven=80C..900C@10C/min', []),                                  # OUT_OF_RANGE
+        ('method purge_time_s=60', [('inlet.configure', {'purge_time_s': 60.0})]),   # native name, bare number in the declared unit
+        ('run --wait-ready 20min', [('sample.aspirate', {'fraction': 0.01}), ('run.start', {}), ('syringe.insert', {}),
+                                    ('syringe.depress', {'fraction': 1.0}), ('syringe.retract', {})]),
+        ('#wait 60', None),
+        ('run', []),                                                            # BUSY
+        ('stop', [('run.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('chromatogram', []),                                                   # not supported
+        ('load vial', []),                                                      # not supported
+        (QUANT, []),                                                            # not supported
+        ('flow off', [('inlet.set_gas', {'on': False})]),
+        ('flow on', [('inlet.set_gas', {'on': True})]),
+        ('set-temp 260C --zone inlet', [('thermal.set_temperature', {'zone': 'inlet', 'temperature_k': K0 + 260})]),
+        ('set-temp 60C --zone column', []),                                     # UNKNOWN_ZONE
+    ]},
+    'agilent_1260infinity': {'steps': [
+        ('run --pos 1:1', []),                                                  # NO_METHOD
+        ('method flow=1.5mL/min column-temp=40C gradient=0:2%,1min:2%,5min:45%,6min:45% run=7min wl=254nm', [('method.configure', {
+            'flow_m3_s': 1.5 * ML_MIN, 'modifier_channel': 'B1',
+            'program': [{'time_s': 0.0, 'modifier_fraction': 0.02}, {'time_s': 60.0, 'modifier_fraction': 0.02},
+                        {'time_s': 300.0, 'modifier_fraction': 0.45}, {'time_s': 360.0, 'modifier_fraction': 0.45}],
+            'bpr_pa': 1.3e7, 'bpr_temperature_k': 333.15, 'column_temperature_k': K0 + 40, 'column_position': 1, 'injection_volume_m3': 2e-09,
+            'wavelength_m': 2.54e-07, 'run_time_s': 420.0, 'data_rate_hz': 5.0})]),
+        ('run --pos 1:1', []),                                                  # FLOW_OFF
+        ('flow on', [('pump.set', {'enabled': True})]),
+        ('run', []),                                                            # MISSING_OPTION --pos
+        ('run --pos 9:1', []),                                                  # OUT_OF_RANGE (drawers 1-4)
+        ('run --pos 1:1', []),                                                  # NOT_READY (flow / back pressure settling)
+        ('run --pos 1:1 --wait-ready 10min', [('run.start', {'drawer': 1, 'position': 1})]),
+        ('#wait 30', None),
+        ('stop', [('run.abort', {})]),
+        ('chromatogram', [('chromatogram.read', {})]),
+        (QUANT, [('peaks.quantify', {'calibration': [{'concentration_mol_m3': 0.1, 'area_au_s': 0.01},
+                                                     {'concentration_mol_m3': 0.5, 'area_au_s': 0.05}],
+                                     'retention_window_s': [150.0, 220.0]})]),
+        ('quantify --standards 0.1mM=0.01 --window 150s..220s', []),            # BAD_STANDARDS (needs 2)
+        ('quantify --standards 0.1mM=0.01,0.5mM=0.05 --window 220s..150s', []),  # BAD_WINDOW
+        ('set-temp 40C', []),                                                   # not supported
+        ('load vial1', []),                                                     # not supported
+        ('flow off', [('pump.set', {'enabled': False})]),
+    ]},
+    'agilent_1290infinity': {'steps': [
+        ('run', []),                                                            # FLOW_OFF
+        ('method flow=0.8mL/min column-temp=35C run=3min', [('method.configure', {
+            'flow_m3_s': 0.8 * ML_MIN, 'column_index': 0, 'zone_targets_k': [K0 + 35, K0 + 35], 'injection_m3': 1e-08, 'run_s': 180.0,
+            'solvent': 'THF', 'dn_dc_m3_kg': 0.000185})]),
+        ('flow on', [('pump.set', {'enabled': True})]),
+        ('run', []),                                                            # NOT_READY (zones cooling to 35 °C)
+        ('run --wait-ready 30min', [('acquisition.start', {})]),
+        ('#wait 200', None),
+        ('chromatogram', [('process.measure', {})]),
+        ('stop', []),                                                           # NOT_RUNNING (finished)
+        (QUANT, []),                                                            # not supported (molar mass)
+        ('set-temp 40C', []),                                                   # not supported
+        ('load x', []),                                                         # not supported
+        ('flow off', []),                                                       # the pump stopped with the run
+    ]},
+    'thermo_dionexintegrion': {'steps': [
+        ('method flow=1.2mL/min eluent=20mM', [('method.update', {'flow_m3_s': 1.2 * ML_MIN, 'eluent_mol_m3': 20.0})]),
+        ('method column-temp=35C', [('method.configure', {                     # refused: SAMPLE_LOADED (member code)
+            'flow_m3_s': 1.2 * ML_MIN, 'eluent_mol_m3': 20.0, 'column_k': K0 + 35, 'suppression_current_a': 0.05, 'mode': 'anion',
+            'rfic': True, 'run_s': 60.0, 'injection_m3': 1e-08})]),
+        ('run', []),                                                            # FLOW_OFF
+        ('flow on', [('pump.set', {'enabled': True})]),
+        ('run', [('acquisition.start', {})]),
+        ('run', []),                                                            # BUSY
+        ('#wait 70', None),
+        ('chromatogram', [('process.measure', {})]),
+        ('quantify --standards 0.1mM=0.002,0.5mM=0.01 --window 20s..40s', [('quantification.integrate', {
+            'start_s': 20.0, 'stop_s': 40.0, 'calibration_s_m_s_per_mol_m3': 0.02})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('set-temp 35C', [('temperature.set', {'zone': 'column', 'enabled': True, 'setpoint_k': K0 + 35})]),
+        ('set-temp 32C --zone cell', [('temperature.set', {'zone': 'cd_cell', 'enabled': True, 'setpoint_k': K0 + 32})]),
+        ('set-temp 30C --zone oven', []),                                       # UNKNOWN_ZONE
+        ('load x', []),                                                         # not supported
+        ('flow off', []),                                                       # the pump stopped with the run
+    ]},
+    'gas_flavourspec25gc': {'steps': [
+        ('method run=200s inlet=90C', []),                                      # GAS_ON (member requirement: method with the gas off)
+        ('flow off', [('gas.set', {'enabled': False})]),
+        ('method run=200s inlet=90C', [('method.configure', {
+            'gc_k': 333.15, 'ims_k': 318.15, 'injector_k': K0 + 90, 'incubator_k': 353.15, 'incubation_s': 10.0, 'injection_m3': 5e-07,
+            'column_length_m': 15.0, 'gas': 'nitrogen', 'carrier_scale': 1.0, 'drift_flow_m3_s': 2.5e-06, 'retention_scale': 1.0,
+            'drift_ratio_scale': 1.0, 'run_s': 200.0, 'accept_method_transfer': True})]),
+        ('run', []),                                                            # FLOW_OFF
+        ('flow on', [('gas.set', {'enabled': True})]),
+        ('run', []),                                                            # NOT_READY (injector heating to 90 °C)
+        ('run --wait-ready 10min', [('acquisition.start', {})]),
+        ('run', []),                                                            # BUSY
+        ('#wait 30', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('chromatogram', [('process.measure', {})]),
+        ('flow on', [('gas.set', {'enabled': True})]),                          # stop switched the gas off
+        ('#wait 300', None),
+        ('run --wait-ready 10min', [('acquisition.start', {})]),
+        ('#wait 260', None),
+        ('chromatogram', [('process.measure', {})]),
+        ('quantify --standards 0mM=0,0.1mM=50 --window 0s..200s', [
+            ('calibration.fit', {'roi': {'start_s': 0.0, 'stop_s': 200.0, 'drift_min_ratio': 0.6, 'drift_max_ratio': 2.5},
+                                 'standards': [{'concentration_mol_m3': 0.0, 'area_s': 0.0}, {'concentration_mol_m3': 0.1, 'area_s': 50.0}],
+                                 'label': 'chemlab quantify'}),
+            ('concentration.analyze', {})]),
+        ('quantify --standards 0mM=0,0.1mM=50 --window 0s..200s --drift 1.0..1.4', [
+            ('calibration.fit', {'roi': {'start_s': 0.0, 'stop_s': 200.0, 'drift_min_ratio': 1.0, 'drift_max_ratio': 1.4},
+                                 'standards': [{'concentration_mol_m3': 0.0, 'area_s': 0.0}, {'concentration_mol_m3': 0.1, 'area_s': 50.0}],
+                                 'label': 'chemlab quantify'}),
+            ('concentration.analyze', {})]),
+        ('set-temp 60C', []),                                                   # not supported
+        ('load x', []),                                                         # not supported
+        ('flow off', []),                                                       # the gas switched off at the end of the run
+    ]},
+    'wyatt_eclipseaf4': {'steps': [
+        ('run', []),                                                            # NO_METHOD
+        ('method flow=1mL/min', [('method.set', {'detector_flow_m3_s': ML_MIN, 'steps': AF4_STEPS})]),
+        ('load unknown_1', []),                                                 # MISSING_OPTION --volume
+        ('load unknown_1 --volume 900uL', []),                                  # OUT_OF_RANGE (loop)
+        ('load unknown_1 --volume 20uL', [('sample.load', {'sample_id': 'unknown_1', 'provided_id': 'unknown_1', 'volume_m3': 2e-08})]),
+        ('load unknown_1 --volume 20uL', []),                                   # SAMPLE_PRESENT
+        ('run', [('run.start', {})]),
+        ('#wait 100', None),
+        ('stop', [('run.abort', {})]),
+        ('chromatogram', [('fractogram.read', {})]),
+        ('chromatogram --signal uv_au', [('fractogram.read', {})]),
+        ('flow on', []),                                                        # not supported
+        ('set-temp 30C', []),                                                   # not supported
+        (QUANT, []),                                                            # not supported
+    ]},
+    'sciex_pa800': {'steps': [
+        ('run', []),                                                            # NO_METHOD
+        ('method wl=200nm', [('detector.configure', {'module': 'pda', 'mode': 'direct_uv', 'wavelength_m': 2e-07, 'data_rate_hz': 4.0})]),
+        ("method steps='%s' wl=214nm" % STEPS_CE, [('method.configure', {'steps': CE_STEPS}),
+                                                   ('detector.configure', {'module': 'pda', 'mode': 'direct_uv', 'wavelength_m': 2.14e-07,
+                                                                           'data_rate_hz': 4.0})]),
+        ('method steps=[1,2', []),                                              # BAD_VALUE (not JSON)
+        ('run', [('run.start', {})]),                                           # refused: lamp off -> NOT_READY (member fix: lamp=on)
+        ('method lamp=on', [('lamp.set', {'on': True})]),
+        ('run', [('run.start', {})]),                                           # refused: lamp still warming -> NOT_READY
+        ('run --wait-ready 10min', [('run.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('run.stop', {})]),
+        ('chromatogram', [('electropherogram.read', {})]),
+        ('set-temp 30C', [('capillary.set_temperature', {'temperature_k': K0 + 30})]),
+        ('set-temp 10C --zone sample', [('sample_storage.set_temperature', {'temperature_k': K0 + 10})]),
+        ('set-temp 70C', []),                                                   # OUT_OF_RANGE
+        ('flow on', []),                                                        # not supported
+        ('load x', []),                                                         # not supported
+        (QUANT, []),                                                            # not supported
+    ]},
+    'camag_tlcscanner': {'steps': [
+        ('run', []),                                                            # NO_METHOD
+        ('method wl=254nm lamp=deuterium', [
+            ('method.configure', {'mode': 'absorbance', 'wavelengths_m': [2.54e-07], 'bandwidth_m': 2e-08, 'slit_length_m': 0.006,
+                                  'slit_width_m': 0.0003, 'scan_speed_m_s': 0.02, 'data_step_m': 0.0001, 'tracks_x_m': [0.015, 0.03],
+                                  'scan_start_y_m': 0.004, 'scan_end_y_m': 0.074, 'application_y_m': 0.008, 'front_y_m': 0.07}),
+            ('lamp.select', {'source': 'deuterium'})]),
+        ('method lamp=sodium', []),                                             # BAD_SETTING (not a lamp)
+        ('run', []),                                                            # NOT_READY (lamp warming)
+        ('run --wait-ready 10min', [('scan.start', {})]),
+        ('stop', [('scan.stop', {})]),
+        ('chromatogram', [('results.read', {})]),
+        ('run', [('scan.start', {})]),
+        ('#wait 30', None),
+        ('chromatogram --pos 1', [('results.read', {})]),
+        ('flow on', []),                                                        # not supported
+        ('set-temp 30C', []),                                                   # not supported
+        ('load plate', []),                                                     # not supported
+        (QUANT, []),                                                            # not supported
+    ]},
+    'biotage_selekt': {'steps': [
+        ('run', [('acquisition.start', {})]),                                   # refused: no method yet
+        ('method flow=30mL/min gradient=0:0%,4min:80% wl=300nm,350nm', [('method.configure', {
+            'channel': 0, 'flow_m3_s': 30 * ML_MIN, 'gradient': [{'time_s': 0.0, 'strong_fraction': 0.0}, {'time_s': 240.0, 'strong_fraction': 0.8}],
+            'wavelengths_m': [3e-07, 3.5e-07], 'collection_mode': 'threshold', 'threshold_absorbance': 0.02, 'fraction_volume_m3': 5e-06,
+            'timeout_s': 1200.0})]),
+        ('method gradient=0:10,4min:80%', []),                                  # BAD_GRADIENT (fraction without a unit)
+        ('run', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('chromatogram', [('history.read', {})]),
+        ('load x', []), ('flow on', []), ('set-temp 30C', []), (QUANT, []),     # not supported
+    ]},
+    'gilson_cpc250': {'steps': [
+        ('method flow=10mL/min speed=1600rpm run=40min', [('method.configure', {   # refused: METHOD_LOCKED (sample configured)
+            'speed_rad_s': 167.55160819145564, 'direction': 'DSC', 'phase_system': 'water_1octanol', 'flow_m3_s': 10 * ML_MIN,
+            'duration_s': 2400.0, 'collection_start_s': 0.0, 'collection_end_s': 2400.0, 'fraction_volume_m3': 3e-05,
+            'exceptional_speed_reviewed': False})]),
+        ('run', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('chromatogram', [('history.read', {})]),
+        ('load x', []), ('flow on', []), ('set-temp 30C', []), (QUANT, []),     # not supported
+    ]},
+    'biorad_miniprotean': {'steps': [
+        ('method voltage=200V run=35min constant=voltage', [('psu.program', {
+            'constant': 'voltage', 'voltage_v': 200.0, 'current_a': 0.4, 'time_s': 2100.0, 'power_failure_detection': False})]),
+        ('method voltage=500V', []),                                            # BAD_SETTING (max 300 V)
+        ('load lysate_1', []),                                                  # MISSING_OPTION --lane
+        ('load lysate_1 --lane 2 --volume 10uL', [('sample.load', {'sample_id': 'lysate_1', 'position': 1, 'lane': 2, 'volume_m3': 1e-08})]),
+        ('run', [('lid.place', {}), ('leads.connect', {'polarity': 'normal'}), ('psu.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('psu.stop', {})]),
+        ('chromatogram', [('gel.observe', {'position': 1})]),
+        ('load lysate_1 --lane 3 --volume 5uL', [('leads.disconnect', {}), ('lid.remove', {}),
+                                                 ('sample.load', {'sample_id': 'lysate_1', 'position': 1, 'lane': 3, 'volume_m3': 5e-09})]),
+        ('flow on', []), ('set-temp 30C', []), (QUANT, []),                     # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/chromatography_tasks.py b/chemlab/chemlab/compile/tasks/chromatography_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..f5df834c9d75bc2b8153c375174c11ad5b407e2a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/chromatography_tasks.py
@@ -0,0 +1,302 @@
+"""Chromatography class acceptance tasks (10): gold solutions use `chemlab run` (plus the generic status / wait / cancel of class
+jobs); the checkers read the evaluator view and, where the answer is a number the instrument computes, the instrument's own query
+called as the evaluator after the run.  Five tasks are recovery tasks: the gold triggers the error, reads `--json` `.error.code` and
+recovers as the fix says."""
+import json
+
+from .chromatography_world import config as world_config
+from .common import run_suite
+
+K0 = 273.15
+ML_MIN = 1e-6 / 60
+HPLC, GC, GC7, SFC, IC, IMS, AF4, CE, GEL, CPC = ('agilent_hplc1260', 'agilent_gc8890b', 'agilent_7890b_ssl_fid', 'agilent_1260infinity',
+                                                 'thermo_dionexintegrion', 'gas_flavourspec25gc', 'wyatt_eclipseaf4', 'sciex_pa800',
+                                                 'biorad_miniprotean', 'gilson_cpc250')
+CE_STEPS = ('[{"type":"rinse","inlet":"BI:A1","outlet":"BO:A1","pressure_pa":137895.14586336,"duration_s":120.0},'
+            '{"type":"inject","injection_mode":"pressure","inlet":"SI:A1","outlet":"BO:B1","pressure_pa":3447.378646584,"duration_s":5.0},'
+            '{"type":"separate","inlet":"BI:B1","outlet":"BO:B1","control":"voltage","voltage_v":25000.0,"current_limit_a":0.0003,'
+            '"ramp_s":10.0,"duration_s":600.0}]')
+
+
+def query(c, iid, cap, args):
+    """The instrument's own query, called by the evaluator (host side) after the run."""
+    r = c.lab.backend.evaluator_invoke(iid, cap, args, 'check-%s-%s' % (iid, cap))
+    return r.get('result') or {} if r.get('status') == 'succeeded' else {}
+
+
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+# ------------------------------------------------------------------ checkers
+def c_hplc(c):
+    e = c.ev(HPLC)
+    c.near('flow 0.5 mL/min', e.get('method.flow_m3_s'), 0.5 * ML_MIN, 1e-12)
+    c.near('run time 2 min', e.get('method.run_duration_s'), 120.0, 1e-9)
+    c.equal('gradient 5 % -> 95 % B in 1 min', [(round(g['time_s'], 6), round(g['fraction_b'], 6)) for g in e.get('method.gradient') or []],
+            [(0.0, 0.05), (60.0, 0.95)])
+    c.equal('sample mix1 injected', e.get('sample.id'), 'mix1')
+    c.equal('run finished', e.get('run.status'), 'succeeded')
+    peaks = (e.get('measurement.chromatogram') or {})
+    t, y = peaks.get('time_s') or [], peaks.get('signal') or []
+    want = t[max(range(len(y)), key=lambda i: y[i])] if y else None
+    c.near('hplc.txt = retention time of the largest peak (s)', c.number_file('hplc.txt'), want if want is not None else -1, 1.0)
+
+
+def c_gc(c):
+    e = c.ev(GC)
+    m = e.get('gc.method') or {}
+    oven, inlet = m.get('oven') or {}, m.get('inlet') or {}
+    c.near('oven start 60 °C', oven.get('initial_K'), K0 + 60, 1e-6)
+    c.near('initial hold 1 min', oven.get('initial_time_s'), 60.0, 1e-6)
+    c.near('ramp 20 °C/min', oven.get('ramp_1_rate_K_s'), 20 / 60, 1e-9)
+    c.near('ramp to 220 °C', oven.get('ramp_1_final_K'), K0 + 220, 1e-6)
+    c.near('final hold 2 min', oven.get('ramp_1_final_time_s'), 120.0, 1e-6)
+    c.near('program ends after ramp 1', oven.get('ramp_2_rate_K_s'), 0.0, 1e-12)
+    c.near('inlet 250 °C', inlet.get('temperature_K'), K0 + 250, 1e-6)
+    c.near('split 50:1', inlet.get('split_ratio'), 50.0, 1e-9)
+    last = e.get('gc.last_run') or {}
+    c.equal('the run of mix1 finished (not aborted)', (last.get('sample_id'), last.get('aborted')), ('mix1', False))
+    c.near('run length = program (1 + 8 + 2 min)', last.get('elapsed_s'), 660.0, 1.0)
+    c.near('gc_peaks.txt = number of peaks', c.number_file('gc_peaks.txt'), len(last.get('peaks') or []), 0)
+
+
+def c_sfc(c):
+    e = c.ev(SFC)
+    c.near('flow 1.5 mL/min', e.get('pump.flow_target_m3_s'), 1.5 * ML_MIN, 1e-12)
+    c.near('column 40 °C', e.get('column.target_k'), K0 + 40, 1e-6)
+    c.add('one injection ran to the end', e.get('run.count', 0) >= 1 and e.get('run.phase') == 'succeeded', (e.get('run.count'), e.get('run.phase')))
+    peaks = query(c, SFC, 'chromatogram.read', {}).get('peaks') or []
+    want = max((p['area_au_s'] for p in peaks), default=None)
+    c.near('sfc.txt = area of the largest peak', c.number_file('sfc.txt'), want if want is not None else -1, 1e-9 + 1e-6 * abs(want or 0))
+
+
+def c_ic(c):
+    e = c.ev(IC)
+    c.near('eluent 20 mM', e.get('eluent.target_mol_m3'), 20.0, 1e-9)
+    c.equal('run finished', e.get('acquisition.phase'), 'succeeded')
+    want = query(c, IC, 'quantification.integrate', {'start_s': 20.0, 'stop_s': 40.0, 'calibration_s_m_s_per_mol_m3': 0.02}).get('concentration_mol_m3')
+    c.near('ic.txt = concentration in mmol/L (window 20-40 s, response 0.02)', c.number_file('ic.txt'), want if want is not None else -1,
+           1e-6 + 1e-6 * abs(want or 0))
+
+
+def c_ims(c):
+    e = c.ev(IMS)
+    c.near('injector 90 °C', e.get('injector.target_k'), K0 + 90, 1e-6)
+    c.equal('run finished', e.get('acquisition.phase'), 'succeeded')
+    c.near('run time 200 s', e.get('acquisition.elapsed_s'), 200.0, 1.0)
+    try:
+        rec = json.loads(c.work_file('gcims.json') or '{}')
+    except ValueError:
+        rec = {}
+    tr = ((rec.get('chromatogram') or {}).get('trace') or {})
+    c.add('gcims.json holds the complete 200 s trace', (rec.get('chromatogram') or {}).get('complete') and len(tr.get('x') or []) >= 190,
+          len(tr.get('x') or []))
+
+
+def c_af4(c):
+    e = c.ev(AF4)
+    c.equal('the separation completed', e.get('run.state'), 'completed')
+    c.near('detector flow 1 mL/min', (e.get('method.summary') or {}).get('detector_flow_m3_s'), ML_MIN, 1e-12)
+    js = jobs_of(c, AF4)
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in js), [(j.handle, j.state) for j in js])
+    try:
+        rec = json.loads(c.work_file('af4.json') or '{}')
+    except ValueError:
+        rec = {}
+    tr = ((rec.get('chromatogram') or {}).get('trace') or {})
+    c.add('af4.json holds the fractogram', len(tr.get('x') or []) > 1000, len(tr.get('x') or []))
+
+
+def c_ce(c):
+    e = c.ev(CE)
+    c.equal('the CE run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('detection 214 nm', e.get('detector.wavelength_m'), 2.14e-07, 1e-15)
+    peaks = query(c, CE, 'electropherogram.read', {}).get('peaks') or []
+    want = max(peaks, key=lambda p: p['height_au'])['migration_time_s'] if peaks else None
+    c.near('ce.txt = migration time of the main peak (s)', c.number_file('ce.txt'), want if want is not None else -1, 0.01)
+
+
+def c_gel(c):
+    e = c.ev(GEL)
+    rec = query(c, GEL, 'measurement.result', {'record_id': e.get('result.last_record_id') or 'none'})
+    st = rec.get('settings') or {}
+    c.equal('the run completed', rec.get('status'), 'completed')
+    c.equal('constant 200 V for 35 min', (st.get('constant'), st.get('voltage_v'), st.get('time_s')), ('voltage', 200.0, 2100.0))
+    lanes = {ln['lane']: sorted({b.get('species') for b in ln.get('bands') or []}) for ln in
+             (query(c, GEL, 'gel.inspect', {'gel_id': 'gel_a'}).get('lanes') or [])}
+    c.equal('the lysate proteins are in lane 2 only', {k: v for k, v in lanes.items() if v}, {2: ['bsa', 'lysozyme_hen', 'ovalbumin']})
+    front = query(c, GEL, 'gel.observe', {'position': 1}).get('dye_front_m')
+    c.near('gel.txt = dye front in mm', c.number_file('gel.txt'), front * 1000 if front is not None else -1, 0.05)
+
+
+def c_gc7(c):
+    e = c.ev(GC7)
+    ramps = (e.get('oven.method') or {}).get('ramps') or []
+    c.near('oven 80 °C', (e.get('oven.method') or {}).get('temp_k'), K0 + 80, 1e-6)
+    c.near('initial time 1 min', (e.get('oven.method') or {}).get('initial_time_s'), 60.0, 1e-6)
+    c.add('ramp 1: 30 °C/min to 200 °C, hold 1 min', bool(ramps) and abs(ramps[0]['rate'] - 0.5) < 1e-9 and abs(ramps[0]['final'] - (K0 + 200)) < 1e-6
+          and abs(ramps[0]['final_time'] - 60.0) < 1e-6, ramps[:2])
+    c.near('a whole run (1 + 4 + 1 min) was made', e.get('run.last_s'), 360.0, 2.0)
+    c.add('the run is over', e.get('run.state') in ('idle', 'post'), e.get('run.state'))
+
+
+def c_cpc(c):
+    e = c.ev(CPC)
+    c.equal('the CPC run is cancelled', e.get('cycle.phase'), 'cancelled')
+    js = jobs_of(c, CPC)
+    c.add('the class job was cancelled', any(j.state == 'cancelled' for j in js), [(j.handle, j.state) for j in js])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_HPLC = r'''I=agilent_hplc1260
+chemlab run $I power on
+chemlab run $I method flow=0.5mL/min run=2min gradient=0:5%,1min:95%
+chemlab run $I load mix1
+chemlab run $I flow on
+job=$(chemlab run $I run --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run $I chromatogram --json | jq -r '.chromatogram.peaks | max_by(.height) | .rt_s' > hplc.txt
+cat hplc.txt'''
+
+GOLD_GC = r'''I=agilent_gc8890b
+chemlab run $I method oven=60C:1min..220C@20C/min:2min inlet=250C split=50
+chemlab run $I load mix1
+job=$(chemlab run $I run --wait-ready 30min --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run $I chromatogram --json | jq -r '.chromatogram.peaks | length' > gc_peaks.txt
+cat gc_peaks.txt'''
+
+GOLD_SFC = r'''I=agilent_1260infinity
+chemlab run $I method flow=1.5mL/min column-temp=40C gradient=0:2%,1min:2%,5min:45%,6min:45% run=7min wl=254nm
+chemlab run $I flow on
+chemlab run $I run --pos 1:1 --json > r.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' r.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_READY"' r.json >/dev/null; then
+  chemlab run $I run --pos 1:1 --wait-ready 15min --json > r.json
+fi
+chemlab wait "$(jq -r .job r.json)" --max 30min
+chemlab run $I chromatogram --json | jq -r '.chromatogram.peaks | max_by(.area) | .area' > sfc.txt
+cat sfc.txt'''
+
+GOLD_IC = r'''I=thermo_dionexintegrion
+chemlab run $I method eluent=20mM
+chemlab run $I run --json > r.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' r.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "FLOW_OFF"' r.json >/dev/null; then
+  chemlab run $I flow on
+  chemlab run $I run --json > r.json
+fi
+chemlab wait "$(jq -r .job r.json)" --max 10min
+chemlab run $I quantify --standards 0.1mM=0.002,0.5mM=0.01 --window 20s..40s --json | jq -r .concentration_mol_m3 > ic.txt
+cat ic.txt'''
+
+GOLD_IMS = r'''I=gas_flavourspec25gc
+chemlab run $I method run=200s inlet=90C --json > m.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' m.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "GAS_ON"' m.json >/dev/null; then
+  chemlab run $I flow off
+  chemlab run $I method run=200s inlet=90C
+  chemlab run $I flow on
+fi
+job=$(chemlab run $I run --wait-ready 15min --json | jq -r .job)
+chemlab wait "$job" --max 20min
+chemlab run $I chromatogram --save-to gcims.json'''
+
+GOLD_AF4 = r'''I=wyatt_eclipseaf4
+chemlab run $I method flow=1mL/min
+chemlab run $I load unknown_1 --volume 20uL
+job=$(chemlab run $I run --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 1h
+chemlab run $I chromatogram --save-to af4.json'''
+
+GOLD_CE = r'''I=sciex_pa800
+chemlab run $I method steps='%s' wl=214nm
+chemlab run $I run --json > r.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' r.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_READY"' r.json >/dev/null; then
+  chemlab run $I method lamp=on
+  chemlab run $I run --wait-ready 10min --json > r.json
+fi
+chemlab wait "$(jq -r .job r.json)" --max 30min
+chemlab run $I chromatogram --json | jq -r '.chromatogram.peaks | max_by(.height) | .rt_s' > ce.txt
+cat ce.txt''' % CE_STEPS
+
+GOLD_GEL = r'''I=biorad_miniprotean
+chemlab run $I method voltage=200V run=35min constant=voltage
+chemlab run $I load lysate_1 --pos 1 --lane 2 --volume 10uL
+job=$(chemlab run $I run --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run $I chromatogram --json | jq -r '.chromatogram.extra.dye_front_m * 1000' > gel.txt
+cat gel.txt'''
+
+GOLD_GC7 = r'''I=agilent_7890b_ssl_fid
+chemlab run $I run --json > r.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' r.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_PROGRAM"' r.json >/dev/null; then
+  chemlab run $I method oven=80C:1min..200C@30C/min:1min
+  chemlab run $I run --wait-ready 30min --json > r.json
+fi
+chemlab wait "$(jq -r .job r.json)" --max 1h
+chemlab run $I status'''
+
+GOLD_CPC = r'''I=gilson_cpc250
+job=$(chemlab run $I run --json | jq -r .job)
+chemlab status "$job"
+chemlab cancel "$job"
+chemlab run $I status'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'c01_hplc_run', 'kind': 'multi-step (power, method, load, flow, run job, report)', 'instruments': [HPLC], 'check': c_hplc,
+     'instruction': 'On the Agilent 1260 LC (agilent_hplc1260): switch it on, set a method with 0.5 mL/min flow, a 2 min run and a gradient '
+                    'from 5 % to 95 % B in 1 min, load sample mix1, start the run with the mobile phase on, wait for it, and write the '
+                    'retention time in seconds of the largest peak into hplc.txt.', 'gold': GOLD_HPLC},
+    {'id': 'c02_gc_oven_program', 'kind': 'multi-step (oven program, ready wait, job, report)', 'instruments': [GC], 'check': c_gc,
+     'instruction': 'On the Agilent 8890 GC (agilent_gc8890b) run sample mix1 with the oven at 60 °C for 1 min, then 20 °C/min to 220 °C '
+                    'held for 2 min, inlet at 250 °C and split 50:1. Start when the GC is ready, wait for the end of the run, and write the '
+                    'number of peaks into gc_peaks.txt.', 'gold': GOLD_GC},
+    {'id': 'c03_sfc_recover_not_ready', 'kind': 'recovery: not ready (SFC pressure / flow settling)', 'instruments': [SFC], 'check': c_sfc,
+     'instruction': 'On the Agilent 1260 SFC (agilent_1260infinity) set flow 1.5 mL/min, column 40 °C, modifier 2 % for 1 min then up to '
+                    '45 % at 5 min held to 6 min, a 7 min run and detection at 254 nm. Start the pump and inject the vial in drawer 1, '
+                    'position 1; if the instrument refuses, follow its fix. Write the area of the largest peak into sfc.txt.', 'gold': GOLD_SFC},
+    {'id': 'c04_ic_recover_flow_off', 'kind': 'recovery: pump off + quantify', 'instruments': [IC], 'check': c_ic,
+     'instruction': 'On the Dionex Integrion (thermo_dionexintegrion) raise the eluent to 20 mM, run the loaded sample, and quantify the peak '
+                    'between 20 s and 40 s against two standards: 0.1 mM gives area 0.002 and 0.5 mM gives area 0.01. Write the '
+                    'concentration in mmol/L into ic.txt.', 'gold': GOLD_IC},
+    {'id': 'c05_gcims_recover_gas_on', 'kind': 'recovery: method only with the gas off', 'instruments': [IMS], 'check': c_ims,
+     'instruction': 'On the FlavourSpec GC-IMS (gas_flavourspec25gc) set the run time to 200 s and the injector to 90 °C, then measure the '
+                    'loaded headspace sample and save the chromatogram to gcims.json.', 'gold': GOLD_IMS},
+    {'id': 'c06_af4_job', 'kind': 'long action: job id (status, wait) + record file', 'instruments': [AF4], 'check': c_af4,
+     'instruction': 'On the Eclipse AF4 (wyatt_eclipseaf4) use the default elution programme with a detector flow of 1 mL/min, inject 20 µL '
+                    'of the provided sample unknown_1, start the separation as a job, check its status once, wait for it and save the '
+                    'fractogram to af4.json.', 'gold': GOLD_AF4},
+    {'id': 'c07_ce_recover_lamp', 'kind': 'recovery: lamp off (not ready)', 'instruments': [CE], 'check': c_ce,
+     'instruction': 'On the PA 800 Plus (sciex_pa800) run this CE method: rinse 120 s at 20 psi from BI:A1 to BO:A1, pressure injection '
+                    '5 s at 0.5 psi from SI:A1 (outlet BO:B1), separation at 25 kV for 10 min from BI:B1 to BO:B1 (10 s ramp, 300 µA '
+                    'limit), UV detection at 214 nm. Write the migration time in seconds of the main peak into ce.txt.', 'gold': GOLD_CE},
+    {'id': 'c08_gel_run', 'kind': 'multi-step (load a lane, programme, run, observe)', 'instruments': [GEL], 'check': c_gel,
+     'instruction': 'On the Mini-PROTEAN Tetra (biorad_miniprotean) load 10 µL of sample lysate_1 into lane 2 of the gel at position 1, run '
+                    'at constant 200 V for 35 min, wait for the end and write how far the dye front moved, in mm, into gel.txt.',
+     'gold': GOLD_GEL},
+    {'id': 'c09_gc7890_recover_no_program', 'kind': 'recovery: no oven program (the run would never end)', 'instruments': [GC7],
+     'check': c_gc7,
+     'instruction': 'On the Agilent 7890B (agilent_7890b_ssl_fid) make one manual injection with the oven at 80 °C for 1 min, then '
+                    '30 °C/min to 200 °C held for 1 min, and wait until the run is over.', 'gold': GOLD_GC7},
+    {'id': 'c10_cpc_cancel_job', 'kind': 'long action: job status + cancel', 'instruments': [CPC], 'check': c_cpc,
+     'instruction': 'Start the CPC 250 (gilson_cpc250) separation with its current method as a job, check that it is running, then cancel '
+                    'it because the wrong solvent system was loaded.', 'gold': GOLD_CPC},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'chromatography'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('chromatography', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/chromatography_world.py b/chemlab/chemlab/compile/tasks/chromatography_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..29af1595ba82a195a3624ed6b2ffc87198838a85
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/chromatography_world.py
@@ -0,0 +1,78 @@
+"""Host-side world for the chromatography class (what the lab operator has done before the agent starts), as lab-config set-up
+steps.  The default lab leaves most separation instruments without a sample, a column, a vial or gas; these steps provide them.
+
+* 8890 GC: gas cylinders on (host set_gas_supply) and a registered sample vial "mix1" (host register_sample: fixture peaks).
+* 1260 LC: a registered sample "mix1" (host register_sample).
+* 1260 SFC: CO2 supply, modifier bottle B1, a column at position 1, a vial at drawer 1 position 1 (evaluator), modules on and the
+  CO2 chiller cold (15 min of lab time).
+* 1290 GPC: powered, a method and the polymer standard vial (the runtime takes a vial only with a method and the drawer open).
+* Eclipse AF4: a blind sample "unknown_1" provided by the evaluator; switched on.
+* PA 800: switched on, buffer vials (borate) at BI/BO A1 and B1, sample vial SI:A1 (benzoic acid), cartridge installed.
+* TLC Scanner 4: switched on, a developed plate (two tracks of two substances) placed on the stage, door closed.
+* Selekt: rack, column and sample of channel 1 (evaluator).
+* Mini-PROTEAN: lid off and leads unplugged, gel "gel_a" (comb out) at position 1, buffer dam at 2, buffers filled, sample "lysate_1"
+  prepared on the bench.
+The GC 7890B, IC, GC-IMS and CPC are ready in the default lab (gases, method, sample).
+"""
+import copy
+
+from ...labbackend import load_config
+
+E = lambda cap, args='contract_example': {'capability': cap, 'arguments': args, 'evaluator': True}   # noqa: E731
+A = lambda cap, args=None: {'capability': cap, 'arguments': {} if args is None else args}            # noqa: E731
+BUFFER = {'boric_acid': 50.0, 'sodium_ion': 25.0}
+
+
+def _vial(pos, comp, label, vol=1.5e-6):
+    return E('vial.place', {'position': pos, 'volume_m3': vol, 'composition_mol_m3': comp, 'label': label})
+
+
+WORLD = {
+    'agilent_gc8890b': ([{'host': 'set_gas_supply', 'kwargs': {'carrier': True, 'hydrogen': True, 'air': True, 'makeup': True}}],
+                        [{'host': 'register_sample', 'kwargs': {'sample_id': 'mix1'}}]),
+    'agilent_hplc1260': ([], [{'host': 'register_sample', 'kwargs': {'sample_id': 'mix1'}}]),
+    'agilent_1260infinity': ([E('supply.configure'), E('solvent.configure'), E('mct_door.set', {'angle_rad': 1.5}), E('column.install'),
+                              E('mct_door.set', {'angle_rad': 0.0}), E('drawer_1.set', {'position_m': 0.3}), E('sample.register_vial'),
+                              E('drawer_1.set', {'position_m': 0.0}), A('power.set', {'enabled': True}), {'advance_s': 900.0}], []),
+    'agilent_1290infinity': ([], [A('power.set', {'enabled': True}), A('method.configure', 'contract_example'),
+                                  A('drawer.set', {'position_m': 0.2}), E('sample.load'), A('drawer.set', {'position_m': 0.0})]),
+    'wyatt_eclipseaf4': ([], [E('sample.provide'), A('power.set', {'on': True})]),
+    'sciex_pa800': ([A('power.set', {'enabled': True}), A('sample_cover.set_position', {'angle_rad': 1.5707963267948966}),
+                     _vial('BI:A1', BUFFER, 'rinse buffer'), _vial('BO:A1', BUFFER, 'waste', 6e-7), _vial('BI:B1', BUFFER, 'run buffer in'),
+                     _vial('BO:B1', BUFFER, 'run buffer out', 1e-6), _vial('SI:A1', {'benzoic_acid': 0.5}, 'sample 1'),
+                     A('cartridge_cover.set_position', {'angle_rad': 1.4}), A('insertion_bar.set_position', {'angle_rad': 1.0}),
+                     A('cartridge.install', 'contract_example'), A('insertion_bar.set_position', {'angle_rad': 0.0}),
+                     A('cartridge_cover.set_position', {'angle_rad': 0.0}), A('sample_cover.set_position', {'angle_rad': 0.0})], []),
+    'camag_tlcscanner': ([], [A('power.set', {'enabled': True}), A('door.set', {'opened': True}), {'advance_s': 2.0}, A('stage.load'),
+                              {'advance_s': 15.0}, E('plate.register'), E('plate.place', {}), A('stage.home'), {'advance_s': 15.0},
+                              A('door.set', {'opened': False}), {'advance_s': 5.0}]),
+    'biotage_selekt': ([], [E('tray.set_extension', {'extension_m': 0.12}), E('rack.configure'), E('tray.set_extension', {'extension_m': 0.0}),
+                            E('column.configure'), E('sample.configure')]),
+    'biorad_miniprotean': ([], [A('leads.disconnect'), A('lid.remove'),
+                                A('gel.provide', {'gel_id': 'gel_a', 'gel_type': 'tgx_4_20_10w_50ul'}),
+                                A('gel.prepare', {'gel_id': 'gel_a', 'remove_comb': False, 'remove_tape': True, 'rinse_wells': False}),
+                                A('gel.install', {'item': 'gel_a', 'position': 1}), A('gel.install', {'item': 'buffer_dam', 'position': 2}),
+                                A('gel.prepare', {'gel_id': 'gel_a', 'remove_comb': True, 'remove_tape': False, 'rinse_wells': True}),
+                                A('buffer.fill', {'chamber': 'inner', 'buffer_id': 'tris_glycine_sds_1x', 'volume_m3': 0.00015, 'temperature_k': 295.15}),
+                                A('buffer.fill', {'chamber': 'outer', 'buffer_id': 'tris_glycine_sds_1x', 'volume_m3': 0.0006, 'temperature_k': 295.15}),
+                                A('sample.prepare', {'sample_id': 'lysate_1', 'proteins_kg': {'bsa': 2e-09, 'ovalbumin': 2e-09, 'lysozyme_hen': 1e-09},
+                                                     'marker': None, 'marker_volume_m3': 0.0, 'sample_buffer': 'laemmli_2x_reducing',
+                                                     'heat': '95C_5min', 'volume_m3': 2e-08})]),
+}
+
+
+def config(base=None, only=None):
+    """all203.json (or ``base``) with the chromatography world steps added (before / after each entry's own set-up)."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD and (only is None or slug in only):
+            pre, post = WORLD[slug]
+            steps = []
+            for st in pre + post:
+                st = copy.deepcopy(st)
+                if 'host' in st and 'instance_id' in st.get('kwargs', {}):
+                    st['kwargs']['instance_id'] = e.get('instance_id') or e['id']
+                steps.append(st)
+            e['setup'] = steps[:len(pre)] + list(e.get('setup') or []) + steps[len(pre):]
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/coating_lowering.py b/chemlab/chemlab/compile/tasks/coating_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..483a1e30bafcb41ff483343708bb1238247872e3
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/coating_lowering.py
@@ -0,0 +1,168 @@
+"""Lowering table of the coating class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a read, or a wait); None = not checked.  A call the runtime refuses is still listed (it was sent).  Shared verbs
+(power, open, close, estop) appear only where a step needs them."""
+from .coating_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+RPM = 0.10471975511965977          # rad/s per rpm
+QUORUM_DEFAULTS = {'working_pressure_pa': 1.0, 'carbon_current_a': 46.0, 'carbon_ramp_a_s': 1.0, 'preclean_s': 2.0, 'rotation_rpm': 12.0,
+                   'stage_lift_m': 0.0, 'tooling': 1.0}
+ALD_DEFAULTS = {'door_k': 523.15, 'manifold_k': 373.15, 'pulse_s': [0.2, 0.2], 'exposure_s': [0.5, 0.5], 'purge_s': [12.0, 12.0],
+                'precursor_mol_s': [0.0002, 0.0003], 'carrier_std_m3_s': 1.6666666666666667e-06, 'rf_w': 0.0}
+
+CASES = {
+    'ossila_spincoater': {'steps': [
+        ('status', []),
+        ('method speed=3000rpm time=30s', [('method.configure', {'steps': [{'speed_rad_s': 3000 * RPM, 'duration_s': 30.0}]})]),
+        ('method program=500rpm@5s,3000rpm@30s', [('method.configure', {'steps': [{'speed_rad_s': 500 * RPM, 'duration_s': 5.0},
+                                                                                   {'speed_rad_s': 3000 * RPM, 'duration_s': 30.0}]})]),
+        ('method speed=8000rpm time=30s', []),                                  # OUT_OF_RANGE (6000 rpm)
+        ('method speed=3000rpm', []),                                           # MISSING_SETTING
+        ('move 10mm', []),                                                      # not supported
+        ('open lid', [('lid.set_angle', {'angle_rad': 1.7})]),
+        ('#wait 2', None),
+        ('start', []),                                                          # LID_OPEN
+        ('close lid', [('lid.set_angle', {'angle_rad': 0})]),
+        ('start', []),                                                          # LID_MOVING
+        ('#wait 2', None),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('method speed=1000rpm time=5s', []),                                   # BUSY
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('result', [('coating.measure', {})]),
+        ('vacuum pump', []),                                                    # not supported
+    ]},
+    'ossila_dipcoater': {'steps': [
+        ('method length=40mm dip-speed=10mm/s withdraw=1mm/s', []),             # MISSING_SETTING (cycles)
+        ('method length=40mm dip-speed=10mm/s withdraw=1mm/s withdraw-final=2mm/s cycles=1 dwell=10s', [('method.configure', {
+            'coating_length_m': 0.04, 'immersion_speed_m_s': 0.01, 'withdrawal_initial_m_s': 0.001, 'withdrawal_final_m_s': 0.002,
+            'cycles': 1, 'dwell_s': 10.0, 'dry_s': 0.5, 'drying_gap_m': 0.005})]),
+        ('start', [('acquisition.start', {})]),                                 # refused: the clamp does not hold the slide
+        ('gap 15mm', []),                                                       # OUT_OF_RANGE (12 mm)
+        ('gap 1mm', [('clamp.set_gap', {'gap_m': 0.001})]),
+        ('home', []),                                                           # SUBSTRATE_IN
+        ('move 100mm --speed 200mm/s', []),                                     # OUT_OF_RANGE (125 mm/s)
+        ('start', [('acquisition.start', {})]),
+        ('move 100mm', []),                                                     # BUSY
+        ('#wait 300', None),
+        ('result', [('coating.measure', {})]),
+        ('move 150mm --speed 20mm/s', [('stage.move_to', {'position_m': 0.15, 'speed_m_s': 0.02})]),
+        ('move 160mm --job', [('stage.move_to', {'position_m': 0.16, 'speed_m_s': 0.02})]),
+        ('#wait 5', None),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('set-temp 50C', []),                                                   # not supported
+    ]},
+    'ossila_doctorblade': {'steps': [
+        ('gap 100.5um', []),                                                    # BAD_STEP (whole µm)
+        ('gap 20mm', []),                                                       # OUT_OF_RANGE (10 mm)
+        ('method distance=200mm', []),                                          # MISSING_SETTING (speed)
+        ('method distance=200mm speed=10mm/s', [('method.configure', {'distance_m': 0.2, 'speed_m_s': 0.01})]),
+        ('start', []),                                                          # NO_GAP
+        ('gap --left 100um --right 120um --dry-run', []),
+        ('gap 100um', [('gap.set', {'left_m': 0.0001, 'right_m': 0.0001})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('result', [('coating.measure', {})]),
+        ('home', [('stage.home', {})]),                                         # refused: wet film on the bed
+        ('estop', [('emergency.stop', {})]),
+        ('move 10mm', []),                                                      # ESTOP_LATCHED
+        ('set-temp 50C', []),                                                   # not supported
+    ]},
+    'ossila_slotdie': {'steps': [
+        ('method distance=120mm speed=10mm/s flow=1.2mL/min', [('method.configure', {'distance_m': 0.12, 'speed_m_s': 0.01, 'flow_m3_s': 2e-08,
+                                                                                    'stage_delay_s': 0.2})]),
+        ('prime 60uL', []),                                                     # NO_GAP
+        ('gap 100um', [('gap.set', {'left_m': 0.0001, 'right_m': 0.0001})]),
+        ('start', [('acquisition.start', {})]),                                 # refused NOT_PRIMED
+        ('prime 70uL --flow 1mL/min', [('pump.dispense', {'volume_m3': 7e-08, 'flow_m3_s': 1.6666666666666667e-08})]),
+        ('set-temp 200C', []),                                                  # OUT_OF_RANGE (140 °C)
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50}), ('thermal.set_enabled', {'enabled': True})]),
+        ('set-temp 45C', [('thermal.set_temperature', {'temperature_k': K0 + 45})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('result', [('coating.measure', {})]),
+        ('set-temp off', [('thermal.set_enabled', {'enabled': False})]),
+        ('vacuum pump', []),                                                    # not supported
+        ('move 10mm', [('stage.move_to', {'position_m': 0.01, 'speed_m_s': 0.02})]),   # refused: wet bead under a narrow gap
+        ('stop', []),                                                           # NOT_RUNNING
+    ]},
+    'quorum_q150tes': {'steps': [
+        ('method current=50mA', []),                                            # MISSING_SETTING (time or thickness)
+        ('method current=50mA time=60s', [('method.configure', dict(QUORUM_DEFAULTS, sputter_current_a=0.05, duration_s=60.0, rotation_enabled=True,
+                                                                     ftm_enabled=True, thickness_endpoint=False, endpoint_m=2e-08))]),
+        ('method current=50mA thickness=5nm rotation=off', [('method.configure', dict(QUORUM_DEFAULTS, sputter_current_a=0.05, duration_s=30.0,
+                                                                                      rotation_enabled=False, ftm_enabled=True, thickness_endpoint=True,
+                                                                                      endpoint_m=5e-09))]),
+        ('vacuum pump', [('vacuum.pump', {'enabled': True})]),
+        ('vacuum off', [('vacuum.pump', {'enabled': False})]),
+        ('vacuum vent', [('vacuum.vent', {})]),
+        ('#wait 30', None),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('coating.measure', {})]),
+        ('open chamber', [('chamber.set', {'opened': True})]),
+        ('start', []),                                                          # CHAMBER_OPEN
+        ('vacuum pump', []),                                                    # CHAMBER_OPEN
+        ('move 1mm', []),                                                       # not supported
+    ]},
+    'laboao_cvdltf12p50': {'steps': [
+        ('set-temp 600C', [('controller.set_sv', {'target_k': K0 + 600})]),     # refused PROGRAM_MODE
+        ('method temp=600C rate=5K/min hold=10min flow=200,0,0 mode=fixed', [('method.configure', {
+            'curve_slot': 0, 'mode': 'fixed', 'segments': [{'target_k': K0 + 600, 'ramp_k_s': 5 / 60, 'hold_s': 600.0}],
+            'flow_std_m3_s': [200e-6 / 60, 0.0, 0.0], 'pressure_pa': 30.0, 'pump_mode': 'manual', 'manual_valve_fraction': 1.0, 'purge_s': 1.0})]),
+        ('method temp=600C hold=10min rate=100K/min', []),                      # OUT_OF_RANGE (20 K/min)
+        ('set-temp 650C', [('controller.set_sv', {'target_k': K0 + 650})]),
+        ('set-temp 2000C', []),                                                 # OUT_OF_RANGE (1200 °C)
+        ('vacuum pump', []),                                                    # FLANGE_OPEN
+        ('close flange', [('flange.set', {'opened': False})]),
+        ('vacuum pump --pressure 30Pa', [('vacuum.set', {'enabled': True, 'mode': 'auto', 'pressure_pa': 30.0, 'manual_valve_fraction': 1.0})]),
+        ('vacuum off', [('vacuum.set', {'enabled': False, 'mode': 'manual', 'pressure_pa': 30.0, 'manual_valve_fraction': 1.0})]),
+        ('start', []),                                                          # FURNACE_OPEN
+        ('close furnace', [('furnace.set', {'opened': False})]),
+        ('start --mode bake', []),                                              # BAD_CHOICE
+        ('start --mode purge', [('acquisition.start', {'mode': 'purge'})]),
+        ('#wait 120', None),
+        ('result', [('process.measure', {})]),
+        ('vacuum vent', [('vacuum.vent', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('gap 1mm', []),                                                        # not supported
+    ]},
+    'arradiance_gemstarxt': {'steps': [
+        ('method cycles=5', []),                                                # MISSING_SETTING (temp)
+        ('method cycles=5 temp=250C', [('method.configure', dict(ALD_DEFAULTS, cycles=5, reactor_k=K0 + 250))]),
+        ('method cycles=5 temp=200C', [('method.configure', dict(ALD_DEFAULTS, cycles=5, reactor_k=K0 + 200))]),   # refused: not the chemistry's temperature
+        ('start', []),                                                          # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('vacuum pump', []),                                                    # DOOR_OPEN
+        ('close door', [('door.set', {'opened': False})]),
+        ('vacuum pump', [('vacuum.set', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('vacuum vent', []),                                                    # BUSY
+        ('#wait 1200', None),
+        ('result', [('process.measure', {})]),
+        ('vacuum vent', [('vacuum.vent', {})]),
+        ('set-temp 250C', []),                                                  # not supported (recipe key)
+    ]},
+    'fujifilm_dmp2850': {'steps': [
+        ('start', []),                                                          # NO_METHOD
+        ('method spacing=20um voltage=24V', [('method.configure', {
+            'drop_spacing_m': 2e-05, 'voltage_v': 24.0, 'gap_m': 0.001, 'nozzles': [0, 5, 11], 'rise_s': 2e-06, 'dwell_s': 4e-06, 'fall_s': 2e-06,
+            'frequency_hz': 1000.0, 'clean_every_drops': 0, 'clean_duration_s': 0.05})]),
+        ('start', []),                                                          # NO_PATTERN
+        ('method pattern=010/111/010', []),                                     # MISSING_SETTING (at)
+        ('method pattern=010/111/010 at=50mm,50mm pattern-name=cross', [('pattern.configure', {'name': 'cross', 'rows': ['010', '111', '010'],
+                                                                                                'x_m': 0.05, 'y_m': 0.05})]),
+        ('set-temp 40C', [('thermal.set_temperature', {'platen_k': K0 + 40, 'cartridge_k': K0 + 25}), ('thermal.set_enabled', {'enabled': True})]),
+        ('set-temp 30C --zone cartridge', [('thermal.set_temperature', {'platen_k': K0 + 40, 'cartridge_k': K0 + 30})]),
+        ('set-temp 30C --zone head', []),                                       # UNKNOWN_ZONE
+        ('move 10mm,20mm', []),                                                 # BAD_POSITION
+        ('move 10mm,20mm,2mm', [('axis.move_to', {'x_m': 0.01, 'y_m': 0.02, 'z_m': 0.002})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 120', None),
+        ('result', [('printing.measure', {})]),
+        ('set-temp off', [('thermal.set_enabled', {'enabled': False})]),
+        ('home', []),                                                           # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/coating_tasks.py b/chemlab/chemlab/compile/tasks/coating_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..8875f8398de8ef7ae72e897a1fccce75a7b5432b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/coating_tasks.py
@@ -0,0 +1,235 @@
+"""Coating class acceptance tasks (10): gold solutions use `chemlab run`; the checkers read the evaluator view (film ledgers,
+cycle states, set points) and the agent's report files."""
+from .coating_world import config as world_config
+from .common import run_suite
+
+K0 = 273.15
+RPM = 0.10471975511965977
+SPIN, DIP, BLADE, SLOT, SPUT, CVD, ALD, JET = ('ossila_spincoater', 'ossila_dipcoater', 'ossila_doctorblade', 'ossila_slotdie', 'quorum_q150tes',
+                                               'laboao_cvdltf12p50', 'arradiance_gemstarxt', 'fujifilm_dmp2850')
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+def w_lid_open(lab):
+    world_call(lab, SPIN, 'lid.set_angle', {'angle_rad': 1.5})
+    lab.backend.advance(2)
+
+
+def _led(e):
+    return e.get('truth.ledger') or {}
+
+
+# ------------------------------------------------------------------ checkers
+def c_spin(c):
+    e = c.ev(SPIN)
+    c.equal('spin programme finished', e.get('cycle.phase'), 'succeeded')
+    steps = ((e.get('programs.state') or {}).get('steps') or [])
+    c.add('programme 500 rpm / 5 s then 3000 rpm / 30 s',
+          [(round(s.get('speed_rad_s') / RPM), s.get('duration_s')) for s in steps] == [(500, 5.0), (3000, 30.0)], steps)
+    c.add('a film was spun (solution thrown off, solute kept)', _led(e).get('waste_solvent_kg', 0) > 0 and _led(e).get('film_solute_kg', 0) > 0, _led(e).get('waste_solvent_kg'))
+
+
+def c_spin_lid(c):
+    e = c.ev(SPIN)
+    c.equal('spin finished', e.get('cycle.phase'), 'succeeded')
+    a, t = e.get('lid.angle_rad'), e.get('lid.target_rad')
+    c.add('lid closed', a is not None and t is not None and a <= 0.001 and t <= 0.001, (a, t))
+    steps = ((e.get('programs.state') or {}).get('steps') or [])
+    c.add('2000 rpm for 20 s', [(round(s.get('speed_rad_s') / RPM), s.get('duration_s')) for s in steps] == [(2000, 20.0)], steps)
+
+
+def c_dip(c):
+    e = c.ev(DIP)
+    c.equal('dip programme finished', e.get('cycle.phase'), 'succeeded')
+    c.near('clamp closed on the 1 mm slide', e.get('clamp.gap_m'), 0.001, 1e-9)
+    led = _led(e)
+    c.add('the slide carries a film', (led.get('coated_area_m2') or 0) > 0 and (led.get('film_solute_kg', 0) + led.get('solid_solute_kg', 0)) > 0, led.get('coated_area_m2'))
+
+
+def c_blade(c):
+    e = c.ev(BLADE)
+    c.equal('blade coating finished', e.get('cycle.phase'), 'succeeded')
+    c.near('gap 100 µm left', e.get('gap.left_target_m'), 1e-4, 1e-12)
+    c.near('gap 100 µm right', e.get('gap.right_target_m'), 1e-4, 1e-12)
+    c.near('travelled 200 mm', e.get('stage.position_m'), 0.2, 1e-6)
+
+
+def c_blade_step(c):
+    e = c.ev(BLADE)
+    l, r = e.get('gap.left_target_m'), e.get('gap.right_target_m')
+    c.add('gap set to a whole µm next to 87.5 µm (87 or 88 µm) on both sides',
+          l == r and any(abs((l or 0) - x) < 1e-12 for x in (87e-6, 88e-6)), (l, r))
+    c.add('gap reached', abs((e.get('gap.left_m') or 0) - (l or -1)) < 1e-12)
+
+
+def c_slot(c):
+    e = c.ev(SLOT)
+    c.equal('slot-die coating finished', e.get('cycle.phase'), 'succeeded')
+    c.near('bed set to 40 °C', e.get('thermal.target_k'), K0 + 40, 1e-6)
+    c.add('heater on', e.get('thermal.enabled'))
+    c.add('a film on the substrate', _led(e).get('film_solute_kg', 0) > 0, _led(e).get('film_solute_kg'))
+
+
+def c_sputter(c):
+    e = c.ev(SPUT)
+    c.equal('coating run finished', e.get('cycle.phase'), 'succeeded')
+    lots = _led(e).get('lots') or [{}]
+    c.add('metal deposited on the samples', sum(lots[0].get('sample_kg') or [0]) > 0, lots[0].get('sample_kg'))
+    c.add('chamber vented and open', e.get('chamber.opened'))
+    c.near('thickness.txt reports the monitor thickness in nm (±0.05)', c.number_file('thickness.txt'), (e.get('ftm.thickness_m') or 0) * 1e9, 0.05)
+
+
+def c_cvd_purge(c):
+    e = c.ev(CVD)
+    c.equal('purge run finished', (e.get('cycle.phase'), e.get('cycle.stage')), ('succeeded', 'finished'))
+    c.add('furnace and flange closed', not e.get('furnace.opened') and not e.get('flange.opened'))
+
+
+def c_ald(c):
+    e = c.ev(ALD)
+    c.equal('ALD recipe finished', e.get('cycle.phase'), 'succeeded')
+    c.equal('5 cycles done', e.get('cycle.completed'), 5)
+    c.add('alumina film grown', (_led(e).get('film_mol') or {}).get('Al2O3', 0) > 0, _led(e).get('film_mol'))
+    c.add('door closed', not e.get('door.opened'))
+
+
+def c_jet(c):
+    e = c.ev(JET)
+    c.equal('print finished', e.get('cycle.phase'), 'succeeded')
+    c.add('drops printed', (e.get('jet.drop_count') or 0) >= 5, e.get('jet.drop_count'))
+    c.near('platen at 40 °C set point', e.get('thermal.platen_target_k'), K0 + 40, 1e-6)
+    c.add('ink deposited', _led(e).get('deposit_solute_kg', 0) > 0, _led(e).get('deposit_solute_kg'))
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_C01 = r'''chemlab run ossila_spincoater method program=500rpm@5s,3000rpm@30s
+job=$(chemlab run ossila_spincoater start --json | jq -r .job)
+chemlab wait "$job" --max 5min
+chemlab run ossila_spincoater result'''
+
+GOLD_C02 = r'''chemlab run ossila_spincoater method speed=2000rpm time=20s
+chemlab run ossila_spincoater start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' s.json >/dev/null; then
+  chemlab run ossila_spincoater close lid
+  chemlab wait 2
+  chemlab run ossila_spincoater start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 5min'''
+
+GOLD_C03 = r'''chemlab run ossila_dipcoater method length=40mm dip-speed=10mm/s withdraw=1mm/s cycles=1 dwell=10s
+chemlab run ossila_dipcoater start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ]; then
+  chemlab run ossila_dipcoater gap 1mm
+  chemlab run ossila_dipcoater start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 30min'''
+
+GOLD_C04 = r'''chemlab run ossila_doctorblade gap 100um
+chemlab run ossila_doctorblade method distance=200mm speed=10mm/s
+job=$(chemlab run ossila_doctorblade start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run ossila_doctorblade result'''
+
+GOLD_C05 = r'''chemlab run ossila_doctorblade gap 87.5um --json > g.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' g.json
+if [ $rc -eq 2 ] && jq -e '.error.code == "BAD_STEP"' g.json >/dev/null; then
+  chemlab run ossila_doctorblade gap 88um
+fi'''
+
+GOLD_C06 = r'''chemlab run ossila_slotdie gap 100um
+chemlab run ossila_slotdie set-temp 40C
+chemlab run ossila_slotdie method distance=120mm speed=10mm/s flow=1.2mL/min
+chemlab run ossila_slotdie start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_PRIMED"' s.json >/dev/null; then
+  chemlab run ossila_slotdie prime 100uL
+  chemlab run ossila_slotdie start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 30min'''
+
+GOLD_C07 = r'''chemlab run quorum_q150tes method current=50mA time=60s
+job=$(chemlab run quorum_q150tes start --json | jq -r .job)
+chemlab wait "$job" --max 30min
+chemlab run quorum_q150tes result --json | jq -r '.result.thickness_m * 1e9' > thickness.txt
+chemlab run quorum_q150tes vacuum vent
+chemlab wait 30
+chemlab run quorum_q150tes open chamber
+cat thickness.txt'''
+
+GOLD_C08 = r'''for i in 1 2 3; do
+  chemlab run laboao_cvdltf12p50 start --mode purge --json > s.json; rc=$?
+  [ $rc -eq 0 ] && break
+  code=$(jq -r .error.code s.json); echo "$code: $(jq -r .error.fix s.json)"
+  case "$code" in
+    FURNACE_OPEN) chemlab run laboao_cvdltf12p50 close furnace ;;
+    FLANGE_OPEN) chemlab run laboao_cvdltf12p50 close flange ;;
+    *) break ;;
+  esac
+done
+chemlab wait "$(jq -r .job s.json)" --max 30min
+chemlab run laboao_cvdltf12p50 result'''
+
+GOLD_C09 = r'''chemlab run arradiance_gemstarxt power on
+chemlab run arradiance_gemstarxt close door
+chemlab run arradiance_gemstarxt method cycles=5 temp=250C
+job=$(chemlab run arradiance_gemstarxt start --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run arradiance_gemstarxt result'''
+
+GOLD_C10 = r'''chemlab run fujifilm_dmp2850 method spacing=20um voltage=24V pattern=010/111/010 at=50mm,50mm pattern-name=cross
+chemlab run fujifilm_dmp2850 set-temp 40C
+job=$(chemlab run fujifilm_dmp2850 start --json | jq -r .job)
+chemlab wait "$job" --max 30min
+chemlab run fujifilm_dmp2850 result'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'co01_spin_two_step', 'kind': 'multi-step programme + job', 'instruments': [SPIN], 'check': c_spin,
+     'instruction': 'Spin-coat the substrate on the Ossila spin coater (ossila_spincoater): 500 rpm for 5 s, then 3000 rpm for 30 s. Wait until '
+                    'the programme has finished.', 'gold': GOLD_C01},
+    {'id': 'co02_spin_recover_lid', 'kind': 'recovery: lid open', 'instruments': [SPIN], 'world': w_lid_open, 'check': c_spin_lid,
+     'instruction': 'Spin the substrate on the Ossila spin coater (ossila_spincoater) at 2000 rpm for 20 s and wait until it has finished.',
+     'gold': GOLD_C02},
+    {'id': 'co03_dip_recover_clamp', 'kind': 'recovery: clamp open (runtime refusal explained)', 'instruments': [DIP], 'check': c_dip,
+     'instruction': 'Dip-coat the 1 mm thick slide that is in the Ossila dip coater (ossila_dipcoater): 40 mm coating length, immersion at '
+                    '10 mm/s, withdrawal at 1 mm/s, 10 s dwell, one cycle. Wait until it has finished.', 'gold': GOLD_C03},
+    {'id': 'co04_blade_coat', 'kind': 'multi-step + job', 'instruments': [BLADE], 'check': c_blade,
+     'instruction': 'Blade-coat the substrate on the Ossila doctor blade coater (ossila_doctorblade) with a 100 µm blade gap, over 200 mm at '
+                    '10 mm/s, and wait until it has finished.', 'gold': GOLD_C04},
+    {'id': 'co05_blade_recover_step', 'kind': 'recovery: usage error (whole µm)', 'instruments': [BLADE], 'check': c_blade_step,
+     'instruction': 'Set the blade gap of the Ossila doctor blade coater (ossila_doctorblade) to 87.5 µm on both sides; if the coater does not '
+                    'take that value, use the nearest value it accepts.', 'gold': GOLD_C05},
+    {'id': 'co06_slotdie_recover_prime', 'kind': 'recovery: die not primed', 'instruments': [SLOT], 'check': c_slot,
+     'instruction': 'Slot-die coat the substrate on the Ossila slot-die coater (ossila_slotdie) with a 100 µm die gap, the bed at 40 °C, over '
+                    '120 mm at 10 mm/s with 1.2 mL/min of ink. Wait until the coating has finished.', 'gold': GOLD_C06},
+    {'id': 'co07_sputter_vent_open', 'kind': 'job + record + chamber handling', 'instruments': [SPUT], 'check': c_sputter,
+     'instruction': 'Sputter-coat the samples in the Quorum Q150T ES (quorum_q150tes) at 50 mA for 60 s. Write the film thickness of the '
+                    'thickness monitor in nm into thickness.txt, then vent the chamber and open it.', 'gold': GOLD_C07},
+    {'id': 'co08_cvd_recover_open', 'kind': 'recovery: furnace lid and flange open', 'instruments': [CVD], 'check': c_cvd_purge,
+     'instruction': 'Run a purge cycle (start mode purge) on the LABOAO CVD tube furnace (laboao_cvdltf12p50) and wait until it has finished.',
+     'gold': GOLD_C08},
+    {'id': 'co09_ald_alumina', 'kind': 'multi-step + long action (job)', 'instruments': [ALD], 'check': c_ald,
+     'instruction': 'Grow 5 ALD cycles of alumina at 250 °C on the substrate in the Arradiance GEMStar (arradiance_gemstarxt) and wait until '
+                    'the recipe has finished.', 'gold': GOLD_C09},
+    {'id': 'co10_inkjet_cross', 'kind': 'multi-step (method + pattern) + job', 'instruments': [JET], 'check': c_jet,
+     'instruction': 'Print the pattern 010/111/010 (a small cross) on the FUJIFILM Dimatix DMP-2850 (fujifilm_dmp2850) at x = 50 mm, y = 50 mm '
+                    'with 20 µm drop spacing at 24 V and the platen at 40 °C. Wait until the print has finished.', 'gold': GOLD_C10},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'coating'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('coating', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/coating_world.py b/chemlab/chemlab/compile/tasks/coating_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..4ad667d1cfb30c42ae971a401cb12d2f81ef254a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/coating_world.py
@@ -0,0 +1,62 @@
+"""Host-side world for the coating class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* Spin coater: a 25 mm substrate with solution on the chuck (evaluator sample registration, lid opened for it, then closed).
+* Dip coater: the solution reservoir in place and a 1 mm slide clamped at the top (the clamp opened to 12 mm to insert it);
+  the clamp is left open, so the agent closes it with `gap`.
+* Doctor-blade and slot-die coaters: the solution (charge / ink syringe) and a 100 mm wide substrate in place.
+* Sputter coater, CVD furnace: their release bring-up already installs the source, samples, gases and the sample boat; the CVD
+  gas supply is enlarged (2 mol per bottle instead of 0.05) so a full furnace process does not run its bottles dry.
+* ALD reactor: gas bottles (TMA / water), the deposition chemistry and a substrate (door open while loading).
+* Inkjet printer: switched on, a filled cartridge, a substrate held by the platen vacuum.
+Every step is a contract capability called as the operator or the evaluator with the contract's example arguments unless noted.
+"""
+import copy
+
+from ...hosts import contract_index
+from ...labbackend import load_config
+
+EX = 'contract_example'
+
+
+def ev(cap, args=EX):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+def op(cap, args=EX):
+    return {'capability': cap, 'arguments': args}
+
+
+WORLD = {
+    'ossila_spincoater': [op('lid.set_angle', {'angle_rad': 1.5}), {'advance_s': 2.0}, ev('sample.configure'),
+                          op('lid.set_angle', {'angle_rad': 0.0}), {'advance_s': 2.0}],
+    'ossila_dipcoater': [ev('bath.configure'), op('clamp.set_gap', {'gap_m': 0.012}), {'advance_s': 1.0}, ev('substrate.configure')],
+    'ossila_doctorblade': [ev('charge.configure'), ev('substrate.configure')],
+    'ossila_slotdie': [ev('ink.configure'), ev('substrate.configure')],
+    'arradiance_gemstarxt': [ev('gas.install'), ev('kinetics.configure'), ev('sample.install')],
+    'fujifilm_dmp2850': [op('power.set', {'enabled': True}), ev('ink.configure'), ev('substrate.configure'), ev('vacuum.set', {'enabled': True})],
+}
+
+
+def _cvd_gas():
+    import json
+    c = json.loads(contract_index()['instrument.laboao_cvdltf12p50'].read_text(encoding='utf-8'))
+    a = copy.deepcopy(c['capabilities']['gas.install']['example_arguments'])
+    a['initial_mol'] = [2.0 for _ in a['initial_mol']]
+    return a
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the coating world steps added after each member's own bring-up."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug])
+        elif slug == 'laboao_cvdltf12p50':
+            steps = []
+            for st in e.get('setup') or []:
+                if st.get('capability') == 'gas.install':
+                    st = dict(st, arguments=_cvd_gas())
+                steps.append(st)
+            e['setup'] = steps
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/common.py b/chemlab/chemlab/compile/tasks/common.py
new file mode 100644
index 0000000000000000000000000000000000000000..c0250c7d216c219ddc18c2d72c12a65890b18317
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/common.py
@@ -0,0 +1,184 @@
+"""Task harness for the class acceptance suites (the evaluator side; never reachable from the sandbox).
+
+A task is a dict:
+
+    {'id': 'b01_tare_beaker', 'kind': 'single step', 'class': 'balance',
+     'instruments': ['mt_xpr204e'],                  # lab = these entries of all203.json (+ 'config': fn(cfg) to change them)
+     'world': fn(lab),                               # trusted host set-up after the lab is ready (loads, faults, time)
+     'instruction': '...',                           # what the agent is told
+     'gold': 'chemlab run mt_xpr204e tare --wait 30s',   # bash, run inside the sandbox with `chemlab run`
+     'check': fn(c)}                                 # c: Check (evaluator view + the agent's work files)
+
+run_task() runs a solution (the gold, or '' for NoAct) through the sandboxed client and judges it; run_suite() runs gold and
+NoAct for every task and writes compile_results/<class>/ (transcripts, core logs, checks, summary.md / summary.json).
+"""
+import json
+import math
+import shutil
+import time
+from pathlib import Path
+
+from ...glab import GenericLab, single
+from ...labbackend import load_config
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[3]
+RESULTS = CHEMLAB_ROOT / 'compile_results'
+
+
+class Check:
+    def __init__(self, task, lab):
+        self.task, self.lab = task, lab
+        self.items = []
+        self._ev = {}
+
+    def ev(self, iid):
+        """Evaluator view of one instrument: {slot: value} (includes evaluator-only and truth slots)."""
+        if iid not in self._ev:
+            r = self.lab.backend.evaluator_read(iid)
+            self._ev[iid] = {k: (o.get('value') if isinstance(o, dict) else o) for k, o in (r.get('observations') or {}).items()}
+        return self._ev[iid]
+
+    def add(self, name, ok, detail=''):
+        self.items.append({'check': name, 'ok': bool(ok), 'detail': str(detail)[:300]})
+        return ok
+
+    def near(self, name, got, want, tol):
+        ok = isinstance(got, (int, float)) and not isinstance(got, bool) and math.isfinite(got) and abs(got - want) <= tol
+        return self.add(name, ok, 'got %r, want %r ± %r' % (got, want, tol))
+
+    def equal(self, name, got, want):
+        return self.add(name, got == want, 'got %r, want %r' % (got, want))
+
+    def work_file(self, name):
+        p = self.lab.work / name
+        return p.read_text(encoding='utf-8', errors='replace').strip() if p.is_file() else None
+
+    def number_file(self, name):
+        t = self.work_file(name)
+        try:
+            return float(t.split()[0]) if t else None
+        except ValueError:
+            return None
+
+    def native(self, iid, cap, ok=('succeeded', 'accepted')):
+        """The agent's native calls of ``cap`` on ``iid`` from the host-side request log, oldest first: [(log entry, call)].
+        The entry carries the lab time (``sim_time_s``, after the request) and the reply chemlab printed (``stdout``): evidence
+        that an action really ran, which a report file alone is not."""
+        out = []
+        for e in self.lab.core.log.entries:
+            for x in e.get('backend_calls') or []:
+                if (x.get('op') == 'invoke' and x.get('instrument') == iid and x.get('capability') == cap
+                        and (ok is None or x.get('status') in ok)):
+                    out.append((e, x))
+        return out
+
+    def looked(self, iid, after_seq=None):
+        """Log entries in which the agent successfully read or queried ``iid`` (a request that read its state or called it),
+        after log entry ``after_seq`` when given: evidence that a reported value came from the instrument."""
+        return [e for e in self.lab.core.log.entries
+                if e.get('instrument') == iid and e['exit'] == 0 and (after_seq is None or e['seq'] > after_seq)
+                and any(x.get('op') in ('read', 'invoke') for x in e.get('backend_calls') or [])]
+
+    def verbs_used(self):
+        """(verb, exit) of the agent's class-verb requests (host-side log)."""
+        out = []
+        for e in self.lab.core.log.entries:
+            a = e['argv'][1:]
+            if len(a) >= 3 and a[0] == 'run':
+                out.append((a[1], a[2], e['exit']))
+        return out
+
+    def result(self):
+        return {'task': self.task['id'], 'passed': bool(self.items) and all(i['ok'] for i in self.items), 'checks': self.items}
+
+
+def lab_config(task):
+    if task.get('lab_config'):                                              # the task builds its whole lab config (e.g. a Flex with a deck)
+        return task['lab_config']()
+    cfg = single(task['instruments'], load_config())
+    if task.get('config'):
+        cfg = task['config'](cfg) or cfg
+    return cfg
+
+
+def make_lab(task, run_dir, sandbox=True):
+    """The task's lab (its instruments of the default lab + the task world), started.  sandbox=False: see glab.GenericLab."""
+    lab = GenericLab(run_dir, lab_config(task), callers=tuple(task.get('callers', ('agent',))), sandbox=sandbox).start()
+    if task.get('world'):
+        task['world'](lab)
+    return lab
+
+
+def run_task(task, out_dir, solution=None, timeout=900, sandbox=True):
+    """Run ``solution`` (bash, in the agent sandbox; default: the task's gold; '' = do nothing) in a fresh task world and judge it.
+    Writes transcript.json, check.json and the lab's core_log.jsonl / work/ into ``out_dir``; returns the check result."""
+    out_dir = Path(out_dir)
+    if out_dir.exists():
+        shutil.rmtree(out_dir)
+    out_dir.mkdir(parents=True)
+    t0 = time.monotonic()
+    lab = make_lab(task, out_dir, sandbox=sandbox)
+    script = task['gold'] if solution is None else solution
+    r = None
+    try:
+        r = lab.sh(script, timeout=timeout) if script else None
+        if task.get('after'):
+            task['after'](lab)
+    finally:
+        lab.stop()
+    return judge(task, lab, out_dir, t0, r, script)
+
+
+def judge(task, lab, out_dir, t0, r=None, script=None):
+    """Run the task's checker on a finished lab (stopped), write transcript.json and check.json, return the check result."""
+    out_dir = Path(out_dir)
+    c = Check(task, lab)
+    try:
+        task['check'](c)
+    except Exception as exc:                                                 # noqa: BLE001 - a checker crash fails the task
+        c.add('checker ran', False, '%s: %s' % (type(exc).__name__, exc))
+    res = c.result()
+    entries = lab.core.log.entries
+    res.update({'wall_s': round(time.monotonic() - t0, 2), 'sim_time_s': round(lab.backend.now(), 1),
+                'exit_code': None if r is None else r.exit_code, 'timed_out': bool(r and r.timed_out), 'requests': len(entries),
+                'refused': sum(1 for e in entries if e['exit'] != 0),
+                'native_calls': sum(1 for e in entries for x in e['backend_calls'] if x.get('op') == 'invoke'),
+                'class_verbs': sum(1 for e in entries if e['argv'][1:2] == ['run'])})
+    (out_dir / 'transcript.json').write_text(json.dumps({'task': task['id'], 'instruction': task['instruction'], 'solution': script,
+                                                         'shell': lab.transcript}, ensure_ascii=False, indent=1))
+    (out_dir / 'check.json').write_text(json.dumps(res, ensure_ascii=False, indent=1))
+    return res
+
+
+def run_suite(cls, tasks, out=None, only=None, noact=True, log=print):
+    out = Path(out) if out else RESULTS / cls
+    rows = []
+    t0 = time.monotonic()
+    for task in tasks:
+        if only and task['id'] not in only:
+            continue
+        gold = run_task(task, out / task['id'] / 'gold')
+        na = run_task(task, out / task['id'] / 'noact', solution='') if noact else None
+        row = {'task': task['id'], 'kind': task['kind'], 'instruments': task['instruments'], 'gold_passed': gold['passed'],
+               'noact_failed': None if na is None else not na['passed'], 'requests': gold['requests'], 'refused': gold['refused'],
+               'class_verbs': gold['class_verbs'], 'native_calls': gold['native_calls'], 'wall_s': gold['wall_s'],
+               'sim_s': gold['sim_time_s'], 'failed_checks': [x['check'] + ': ' + x['detail'] for x in gold['checks'] if not x['ok']]}
+        rows.append(row)
+        ok = row['gold_passed'] and row['noact_failed'] is not False
+        log('%-34s %s  gold=%s noact_failed=%s  %d requests (%d refused), %d native calls, %.1f s wall%s' % (
+            task['id'], 'PASS' if ok else 'FAIL', gold['passed'], row['noact_failed'], row['requests'], row['refused'], row['native_calls'],
+            row['wall_s'], ('  failed: ' + '; '.join(row['failed_checks'])) if row['failed_checks'] else ''))
+    passed = bool(rows) and all(r['gold_passed'] and r['noact_failed'] is not False for r in rows)
+    summary = {'class': cls, 'passed': passed, 'tasks': rows, 'wall_s': round(time.monotonic() - t0, 1),
+               'time': time.strftime('%Y-%m-%d %H:%M:%S')}
+    out.mkdir(parents=True, exist_ok=True)
+    if not only:
+        (out / 'summary.json').write_text(json.dumps(summary, ensure_ascii=False, indent=1))
+        lines = ['| task | kind | instruments | gold passes | NoAct fails | requests | refused (expected) | class verbs | native calls | sim s |',
+                 '|---|---|---|---|---|---|---|---|---|---|']
+        for r in rows:
+            lines.append('| %s | %s | %s | %s | %s | %d | %d | %d | %d | %.0f |' % (
+                r['task'], r['kind'], ', '.join(r['instruments']), 'yes' if r['gold_passed'] else 'NO',
+                {True: 'yes', False: 'NO', None: '-'}[r['noact_failed']], r['requests'], r['refused'], r['class_verbs'], r['native_calls'], r['sim_s']))
+        (out / 'summary.md').write_text('\n'.join(lines) + '\n')
+    return summary
diff --git a/chemlab/chemlab/compile/tasks/digestion_lowering.py b/chemlab/chemlab/compile/tasks/digestion_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b1e71f1ba678f4ad4ffb10acaa17d994f4085c6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/digestion_lowering.py
@@ -0,0 +1,129 @@
+"""Lowering table of the digestion class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a read, or a wait); None = not checked.  Shared verbs (power, open, close) appear only where a step needs them."""
+from .digestion_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+MAT = {'material_id': 'nist_srm_2711a', 'method_id': 'epa_3051a_hno3', 'sample_mass_kg': 0.0002, 'acid_volume_m3': 4e-06}
+LOAD = '--material nist_srm_2711a --method epa_3051a_hno3 --mass 0.2g --acid 4mL'
+
+CASES = {
+    'multiwave_7101': {'steps': [
+        ('status', []),
+        ('set-temp 180C', []),                                                  # not supported (method steps)
+        ('method temp=180C ramp=15min hold=15min name=MYDIG', [
+            ('methods.create', {'name': 'MYDIG', 'program': 'temperature', 'max_power_W': 1500.0, 'max_temperature_C': 300.0}),
+            ('methods.set_step', {'name': 'MYDIG', 'index': 0, 'temperature_C': 180.0, 'time_s': 900.0, 'step_type': 'time', 'fan': 1}),
+            ('methods.add_step', {'name': 'MYDIG'}),
+            ('methods.set_step', {'name': 'MYDIG', 'index': 1, 'temperature_C': 180.0, 'time_s': 900.0, 'step_type': 'time', 'fan': 1})]),
+        ('method temp=170C ramp=10min hold=10min name=MYDIG power=1000W --dry-run', []),
+        ('method program=150C@5min,180C@5min hold=10min name=MYDIG fan=2', [
+            ('methods.delete', {'name': 'MYDIG'}),
+            ('methods.create', {'name': 'MYDIG', 'program': 'temperature', 'max_power_W': 1500.0, 'max_temperature_C': 300.0}),
+            ('methods.set_step', {'name': 'MYDIG', 'index': 0, 'temperature_C': 150.0, 'time_s': 300.0, 'step_type': 'time', 'fan': 2}),
+            ('methods.add_step', {'name': 'MYDIG'}),
+            ('methods.set_step', {'name': 'MYDIG', 'index': 1, 'temperature_C': 180.0, 'time_s': 300.0, 'step_type': 'time', 'fan': 2}),
+            ('methods.add_step', {'name': 'MYDIG'}),
+            ('methods.set_step', {'name': 'MYDIG', 'index': 2, 'temperature_C': 180.0, 'time_s': 600.0, 'step_type': 'time', 'fan': 2})]),
+        ('method temp=350C hold=10min', []),                                    # OUT_OF_RANGE (300 °C)
+        ('method name=NOPE', []),                                               # UNKNOWN_METHOD
+        ('method name="EPA 3051A HNO3"', [('methods.select', {'name': 'EPA 3051A HNO3'})]),
+        ('load 1 ' + LOAD, []),                                                 # DOOR_CLOSED
+        ('open door', [('door.open', {})]),
+        ('load 1 --mass 0.2g', []),                                             # MISSING_OPTION
+        ('load 1,2 ' + LOAD, [('rack.set_slot', {'slot_index': 0, 'occupied': True}), ('digestion.load_template', dict(MAT, slot_index=0)),
+                              ('rack.set_slot', {'slot_index': 1, 'occupied': True}), ('digestion.load_template', dict(MAT, slot_index=1))]),
+        ('load 30', []),                                                        # BAD_POSITION
+        ('start', []),                                                          # DOOR_OPEN
+        ('close door', [('door.close', {})]),
+        ('result', []),                                                         # MISSING_SLOT (two vessels)
+        ('start', [('run.start', {})]),
+        ('method name="EPA 3051A HNO3"', []),                                   # BUSY
+        ('stop', [('run.abort', {})]),
+        ('stop', []),                                                           # ALREADY_COOLING
+        ('#wait 7200', None),
+        ('result --slot 1', [('digestion.evaluate', {'slot_index': 0})]),
+        ('preheat on', []),                                                     # not supported
+    ]},
+    'scp_digiprepms': {'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 200C', []),                                                  # OUT_OF_RANGE (20-180 °C)
+        ('method temp=95C ramp=10min hold=20min', [('method.configure', {
+            'knots': [{'time_s': 0.0, 'temperature_k': 293.15}, {'time_s': 600.0, 'temperature_k': K0 + 95}], 'hold_s': 1200.0, 'timeout_s': 9000.0})]),
+        ('method program=60C@5min,90C@10min hold=10min --dry-run', []),
+        ('method program=60C@5min,90C@10min hold=10min timeout=3h', [('method.configure', {
+            'knots': [{'time_s': 0.0, 'temperature_k': 293.15}, {'time_s': 300.0, 'temperature_k': K0 + 60}, {'time_s': 900.0, 'temperature_k': K0 + 90}],
+            'hold_s': 600.0, 'timeout_s': 10800.0})]),
+        ('method speed=3', []),                                                 # UNKNOWN_SETTING
+        ('set-temp 90C', [('thermal.set_temperature', {'temperature_k': K0 + 90})]),   # refused by the runtime: RAMP_PROGRAM (1.0.1)
+        ('load 1', []),                                                         # not supported (operator places the tubes)
+        ('start', [('acquisition.start', {})]),
+        ('method temp=80C hold=5min', []),                                      # BUSY
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('set-temp 80C', [('thermal.set_temperature', {'temperature_k': K0 + 80})]),   # refused by the runtime: RAMP_PROGRAM
+        ('result', [('digestion.measure', {})]),
+        ('start', [('acquisition.start', {})]),                                 # a cancelled cycle resumes
+        ('#wait 9000', None),
+        # DigiPREP 1.0.1: after a finished or stopped cycle a new one starts (same programme, or a new method / temperature)
+        ('start', [('acquisition.start', {})]),                                 # second cycle, same programme
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('method temp=80C hold=5min', [('method.configure', {'knots': [{'time_s': 0.0, 'temperature_k': K0 + 80}], 'hold_s': 300.0,
+                                                             'timeout_s': 7500.0})]),
+        ('set-temp 85C', [('thermal.set_temperature', {'temperature_k': K0 + 85})]),   # a single-temperature programme takes it
+        ('start', [('acquisition.start', {})]),                                 # third cycle, the new programme
+        ('set-temp 90C', []),                                                   # BUSY (class requirement)
+        ('#wait 2400', None),
+        ('result', [('digestion.measure', {})]),
+        ('result --slot 1', []),                                                # NO_SLOTS
+    ]},
+    'metrohm_909uv': {'steps': [
+        ('method temp=90.5C hold=30min', []),                                   # BAD_STEP (whole °C)
+        ('method temp=90C hold=30.5min', []),                                   # BAD_STEP (whole minutes)
+        ('method temp=90C', []),                                                # MISSING_SETTING
+        ('method temp=90C hold=30min', [('method.configure', {'temperature_K': K0 + 90, 'duration_s': 1800.0})]),
+        ('set-temp 120C', []),                                                  # OUT_OF_RANGE (80-100 °C)
+        ('set-temp 95C', [('thermal.set_temperature', {'temperature_K': K0 + 95})]),
+        ('start', []),                                                          # SHIELD_OPEN
+        ('close shield', [('shield.set_open', {'open': False})]),
+        ('start', []),                                                          # SHIELD_MOVING
+        ('#wait 2', None),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('start', []),                                                          # COOLING (10 min fan)
+        ('result', [('digestion.measure', {})]),
+        ('result --slot 1', []),                                                # NO_SLOTS
+        ('load 1', []),                                                         # not supported
+        ('preheat on', []),                                                     # not supported
+    ]},
+    'buchi_hydrolexh': {'steps': [
+        ('method rinse-temp=45C', []),                                          # MISSING_SETTING (hold)
+        ('method hold=30min', [('method.configure', {'hydrolysis_s': 1800.0, 'rinse_water_K': 323.15, 'minimum_rinse_cycles': 3,
+                                                     'minimum_rinse_m3': 0.0004, 'accept_host_manual_sequence_automation': True})]),
+        ('method hold=20min rinse-temp=45C rinse-cycles=4 rinse-volume=300mL', [('method.configure', {
+            'hydrolysis_s': 1200.0, 'rinse_water_K': K0 + 45, 'minimum_rinse_cycles': 4, 'minimum_rinse_m3': 0.0003,
+            'accept_host_manual_sequence_automation': True})]),
+        ('preheat on', []),                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('preheat on', [('thermal.set_mode', {'mode': 'preheat'})]),
+        ('start', []),                                                          # NOT_PREHEATED
+        ('preheat on --wait', []),                                              # already preheating: waits 10 min
+        ('start', []),                                                          # RACK_UP
+        ('load 1,3 --mass 2g', []),                                             # NOT_RECORDED (usage)
+        ('load 1,3', [('valve.set', {'position': 1, 'open': True}), ('valve.set', {'position': 2, 'open': False}),
+                      ('valve.set', {'position': 3, 'open': True}), ('valve.set', {'position': 4, 'open': False}),
+                      ('valve.set', {'position': 5, 'open': False}), ('valve.set', {'position': 6, 'open': False}),
+                      ('rack.set_raised', {'raised': False})]),
+        ('set-temp 100C', []),                                                  # not supported
+        ('start', [('acquisition.start', {})]),
+        ('load 1,3', []),                                                       # BUSY
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('hydrolysis.measure', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('preheat off', []),                                                    # the stop switched the heater off already
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/digestion_tasks.py b/chemlab/chemlab/compile/tasks/digestion_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..0a6b6176034f87f3c4c484b804d05912a61a211b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/digestion_tasks.py
@@ -0,0 +1,221 @@
+"""Digestion class acceptance tasks (9): gold solutions use `chemlab run`; the checkers read the evaluator view (run records,
+sample ledgers) and the agent's report files."""
+import json
+
+from .common import run_suite
+from .digestion_world import config as world_config
+
+K0 = 273.15
+MW, DP, UV, HX = 'multiwave_7101', 'scp_digiprepms', 'metrohm_909uv', 'buchi_hydrolexh'
+
+
+def _recs(e):
+    return e.get('data.experiments') or []
+
+
+# ------------------------------------------------------------------ checkers
+def c_epa_run(c):
+    e = c.ev(MW)
+    recs = _recs(e)
+    c.add('one method run recorded', len(recs) == 1, recs)
+    c.add('the run used EPA 3051A HNO3 and completed', bool(recs) and recs[-1].get('method') == 'EPA 3051A HNO3' and recs[-1].get('result') == 'completed',
+          recs[-1] if recs else None)
+    c.add('a vessel at position 1', (e.get('rack.occupied_slots') or [False])[0])
+    t = c.work_file('digest.json') or ''
+    try:
+        rec = json.loads(t).get('result') or {}
+    except ValueError:
+        rec = {}
+    c.add('digest.json is the evaluation of vessel 1 (NIST SRM 2711a, programme complete)',
+          rec.get('slot_index') == 0 and rec.get('material_id') == 'nist_srm_2711a' and rec.get('status') == 'complete', str(rec)[:200])
+
+
+def c_custom_method(c):
+    e = c.ev(MW)
+    m = next((x for x in e.get('methods.library') or [] if x.get('name') == 'MYDIGEST'), None)
+    c.add('method MYDIGEST exists', m is not None)
+    steps = (m or {}).get('steps') or []
+    c.add('two steps: 200 °C for 20 min, then 200 °C for 15 min',
+          [(s.get('temperature_C'), s.get('time_s')) for s in steps] == [(200.0, 1200.0), (200.0, 900.0)], steps)
+    c.near('power limit 1200 W', (m or {}).get('max_power_W'), 1200.0, 1e-6)
+    c.equal('MYDIGEST selected', e.get('methods.selected'), 'MYDIGEST')
+
+
+def c_load_start(c):
+    e = c.ev(MW)
+    occ = e.get('rack.occupied_slots') or []
+    c.add('vessels at positions 3 and 4', len(occ) > 3 and occ[2] and occ[3], occ[:6])
+    c.add('the door is closed', e.get('door.closed'))
+    c.add('the selected method runs', e.get('run.status') in ('running', 'cooling', 'finished') and e.get('run.method') == 'EPA 3051A HNO3',
+          (e.get('run.status'), e.get('run.method')))
+
+
+def c_digiprep_run(c):
+    e = c.ev(DP)
+    c.equal('cycle succeeded', e.get('cycle.phase'), 'succeeded')
+    c.add('held at least 20 min at 95 °C', (e.get('cycle.hold_elapsed_s') or 0) >= 1200 - 1e-6, e.get('cycle.hold_elapsed_s'))
+    c.near('final programme temperature 95 °C', e.get('thermal.target_k'), K0 + 95, 1e-6)
+    c.add('mineral dissolved in the tube', (e.get('truth.dissolved_mol') or 0) > 0, e.get('truth.dissolved_mol'))
+    c.near('block.txt reports the block temperature (°C, ±1 K)', c.number_file('block.txt'), (e.get('thermal.indicated_temperature_k') or 0) - K0, 1.0)
+
+
+def c_digiprep_power(c):
+    e = c.ev(DP)
+    c.add('switched on', e.get('power.enabled'))
+    c.equal('cycle running', e.get('cycle.phase'), 'running')
+    c.near('constant 90 °C programme', e.get('thermal.target_k'), K0 + 90, 1e-6)
+
+
+def c_uv_run(c):
+    e = c.ev(UV)
+    c.equal('UV digestion succeeded', e.get('cycle.phase'), 'succeeded')
+    c.near('90 °C', e.get('thermal.target_k'), K0 + 90, 1e-6)
+    c.add('the shield is closed', not e.get('shield.open_target'))
+    c.add('the sample was digested (parent converted)', sum(e.get('truth.converted_mol') or [0]) > 0, e.get('truth.converted_mol'))
+
+
+def c_uv_whole(c):
+    e = c.ev(UV)
+    c.add('method set', e.get('method.configured'))
+    c.near('92 °C (nearest whole degree to 92.4 °C)', e.get('thermal.target_k'), K0 + 92, 1e-6)
+    c.near('45 min left on the timer', e.get('cycle.remaining_s'), 2700.0, 1e-6)
+
+
+def c_hydrolysis(c):
+    e = c.ev(HX)
+    c.equal('hydrolysis complete', (e.get('cycle.phase'), e.get('cycle.stage')), ('succeeded', 'hydrolysis_complete'))
+    led = e.get('truth.fat_ledger') or {}
+    bound = led.get('bound_in_vessels_kg')
+    c.add('bound fat released in the beakers', bound is not None and bound < 0.8 * 0.8 * (led.get('initial_fat_kg') or 0), bound)
+    c.add('stopcocks 1 and 3 open, the others closed', [round(e.get('valve_%d.angle_rad' % i) or 0, 3) > 1 for i in range(1, 7)] == [True, False, True, False, False, False])
+    t = c.work_file('hydrolysis.txt') or ''
+    c.add('hydrolysis.txt has the record (phase succeeded)', 'succeeded' in t, t[:120])
+
+
+def c_hydrolex_preheat(c):
+    e = c.ev(HX)
+    c.equal('hydrolysis running', e.get('cycle.phase'), 'running')
+    c.add('preheated 10 min before', (e.get('thermal.preheat_s') or 0) >= 600 - 1e-6, e.get('thermal.preheat_s'))
+    lift = e.get('rack.lift_m')
+    c.add('rack down', lift is not None and lift <= 1e-9, lift)
+
+
+# ------------------------------------------------------------------ gold solutions
+LOAD = '--material nist_srm_2711a --method epa_3051a_hno3 --mass 0.2g --acid 4mL'
+
+GOLD_D01 = r'''chemlab run multiwave_7101 open door
+chemlab run multiwave_7101 load 1 %s
+chemlab run multiwave_7101 close door
+chemlab run multiwave_7101 method name="EPA 3051A HNO3"
+job=$(chemlab run multiwave_7101 start --json | jq -r .job)
+chemlab wait "$job" --max 3h
+chemlab run multiwave_7101 result --slot 1 --save-to digest.json''' % LOAD
+
+GOLD_D03 = r'''chemlab run multiwave_7101 load 3,4 %s --json > l.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' l.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_CLOSED"' l.json >/dev/null; then
+  chemlab run multiwave_7101 open door
+  chemlab run multiwave_7101 load 3,4 %s
+fi
+chemlab run multiwave_7101 start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_OPEN"' s.json >/dev/null; then
+  chemlab run multiwave_7101 close door
+  chemlab run multiwave_7101 start
+fi
+chemlab run multiwave_7101 status''' % (LOAD, LOAD)
+
+GOLD_D04 = r'''chemlab run scp_digiprepms power on
+chemlab run scp_digiprepms method temp=95C ramp=10min hold=20min
+job=$(chemlab run scp_digiprepms start --json | jq -r .job)
+chemlab wait "$job" --max 4h
+chemlab run scp_digiprepms result
+chemlab run scp_digiprepms status --json | jq -r '.state.temperature_k - 273.15' > block.txt
+cat block.txt'''
+
+GOLD_D05 = r'''chemlab run scp_digiprepms method temp=90C hold=15min
+chemlab run scp_digiprepms start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "POWER_OFF"' s.json >/dev/null; then
+  chemlab run scp_digiprepms power on
+  chemlab run scp_digiprepms start
+fi'''
+
+GOLD_D06 = r'''chemlab run metrohm_909uv method temp=90C hold=30min
+chemlab run metrohm_909uv start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "SHIELD_OPEN"' s.json >/dev/null; then
+  chemlab run metrohm_909uv close shield
+  chemlab wait 2
+  chemlab run metrohm_909uv start --json > s.json
+fi
+job=$(jq -r .job s.json)
+chemlab wait "$job" --max 2h
+chemlab run metrohm_909uv result'''
+
+GOLD_D07 = r'''chemlab run metrohm_909uv method temp=92.4C hold=45min --json > m.json; rc=$?
+jq -r '.error.code + ": " + .error.message' m.json
+if [ $rc -eq 2 ] && jq -e '.error.code == "BAD_STEP"' m.json >/dev/null; then
+  chemlab run metrohm_909uv method temp=92C hold=45min
+fi
+chemlab run metrohm_909uv status'''
+
+GOLD_D08 = r'''chemlab run buchi_hydrolexh power on
+chemlab run buchi_hydrolexh method hold=30min
+chemlab run buchi_hydrolexh preheat on --wait
+chemlab run buchi_hydrolexh load 1,3
+job=$(chemlab run buchi_hydrolexh start --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run buchi_hydrolexh result > hydrolysis.txt
+cat hydrolysis.txt'''
+
+GOLD_D09 = r'''chemlab run buchi_hydrolexh power on
+chemlab run buchi_hydrolexh method hold=20min
+chemlab run buchi_hydrolexh load 1,3
+chemlab run buchi_hydrolexh start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_PREHEATED"' s.json >/dev/null; then
+  chemlab run buchi_hydrolexh preheat on --wait
+  chemlab run buchi_hydrolexh start
+fi'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'dg01_multiwave_epa_run', 'kind': 'multi-step + long action (job) + record', 'instruments': [MW], 'check': c_epa_run,
+     'instruction': 'On the Anton Paar Multiwave 7101 (multiwave_7101), digest 0.2 g of NIST SRM 2711a soil (material nist_srm_2711a) in 4 mL '
+                    'of acid at rack position 1 with the EPA 3051A HNO3 method (method id epa_3051a_hno3, library method "EPA 3051A HNO3"). '
+                    'Run it to the end and save the evaluation of vessel 1 as digest.json.', 'gold': GOLD_D01},
+    {'id': 'dg02_multiwave_new_method', 'kind': 'single step (method editor)', 'instruments': [MW], 'check': c_custom_method,
+     'instruction': 'On the Multiwave 7101 (multiwave_7101), create a digestion method named MYDIGEST that ramps to 200 °C in 20 min and then '
+                    'holds 200 °C for 15 min, with a microwave power limit of 1200 W, and make it the selected method.',
+     'gold': 'chemlab run multiwave_7101 method name=MYDIGEST temp=200C ramp=20min hold=15min power=1200W && chemlab run multiwave_7101 status'},
+    {'id': 'dg03_recover_door', 'kind': 'recovery: door closed for loading, open for starting', 'instruments': [MW], 'check': c_load_start,
+     'instruction': 'On the Multiwave 7101 (multiwave_7101), put two vessels with 0.2 g of NIST SRM 2711a (nist_srm_2711a) and 4 mL acid each at '
+                    'positions 3 and 4 for EPA 3051A (epa_3051a_hno3), then start the selected method.', 'gold': GOLD_D03},
+    {'id': 'dg04_digiprep_programme', 'kind': 'long action (job) + report', 'instruments': [DP], 'check': c_digiprep_run,
+     'instruction': 'Run a digestion cycle on the SCP DigiPREP MS block (scp_digiprepms): ramp to 95 °C in 10 min and hold 20 min at 95 °C. '
+                    'Wait until the cycle has ended and write the block temperature in °C into block.txt.', 'gold': GOLD_D04},
+    {'id': 'dg05_recover_power', 'kind': 'recovery: instrument switched off', 'instruments': [DP], 'check': c_digiprep_power,
+     'instruction': 'Start a constant 90 °C digestion programme with a 15-min hold on the DigiPREP MS (scp_digiprepms).', 'gold': GOLD_D05},
+    {'id': 'dg06_uv_recover_shield', 'kind': 'recovery: protective shield open + job', 'instruments': [UV], 'check': c_uv_run,
+     'instruction': 'Digest the samples in the Metrohm 909 UV Digester (metrohm_909uv) at 90 °C for 30 min and wait until it has finished.',
+     'gold': GOLD_D06},
+    {'id': 'dg07_uv_whole_degree', 'kind': 'recovery: usage error (whole °C)', 'instruments': [UV], 'check': c_uv_whole,
+     'instruction': 'Set the Metrohm 909 UV Digester (metrohm_909uv) to digest at 92.4 °C for 45 min (do not start it). If the instrument does '
+                    'not take that temperature, use the nearest temperature it accepts.', 'gold': GOLD_D07},
+    {'id': 'dg08_hydrolysis', 'kind': 'multi-step + long action (job) + record', 'instruments': [HX], 'check': c_hydrolysis,
+     'instruction': 'The BUCHI HydrolEx H-506 (buchi_hydrolexh) has sample beakers at positions 1 and 3. Hydrolyse them for 30 min (preheat the '
+                    'unit first), wait until the hydrolysis is complete and write its record into hydrolysis.txt.', 'gold': GOLD_D08},
+    {'id': 'dg09_recover_preheat', 'kind': 'recovery: not preheated', 'instruments': [HX], 'check': c_hydrolex_preheat,
+     'instruction': 'Start a 20-min hydrolysis of the beakers at positions 1 and 3 of the BUCHI HydrolEx (buchi_hydrolexh).', 'gold': GOLD_D09},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'digestion'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('digestion', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/digestion_world.py b/chemlab/chemlab/compile/tasks/digestion_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..642b14042a1f3b277390b348e4bacc395f80cfd1
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/digestion_world.py
@@ -0,0 +1,40 @@
+"""Host-side world for the digestion class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* DigiPREP MS: the tubes are in the block (the evaluator's sample registration, contract example: one gibbsite tube with acid).
+  The twin accepts tubes only after a programme exists, so the operator first stores a placeholder programme (the contract
+  example, a constant 95 °C); the agent sets its own programme afterwards.
+* Metrohm 909: the sample tubes are in the holder (shield open while loading, the contract example: 12 tubes, the sensor at
+  position 6); the operator leaves the shield open, as after loading.
+* BUCHI HydrolEx: the fume extraction runs, the hot-water reservoir is filled (5 L) and two beakers stand at positions 1 and 3
+  (contract example sample: milk powder with acid).
+* Multiwave 7101: the default bring-up (mains on, auto login) is the world; vessels and contents are the agent's `load`.
+"""
+import copy
+
+from ...labbackend import load_config
+
+HYDROLEX_SAMPLE = {'substance_id': 'buchi_milk_powder', 'sample_mass_kg': 0.002, 'sample_liquid_m3': 0.0, 'acid_volume_m3': 0.0001,
+                   'acid_mol_m3': 4000.0, 'bound_fat_fraction': 0.8, 'release_rate_s_inverse': 0.003, 'fat_capture_fraction': 0.995,
+                   'accept_reference_not_hydrolysis_calibration': True}
+HYDROLEX_POSITIONS = (1, 3)
+
+DIGIPREP = [{'capability': 'method.configure', 'arguments': 'contract_example'},
+            {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True}]
+METROHM = [{'capability': 'shield.set_open', 'arguments': {'open': True}}, {'advance_s': 2.0},
+           {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True}]
+HYDROLEX = ([{'capability': 'ventilation.set', 'arguments': {'enabled': True}, 'evaluator': True},
+             {'capability': 'water.configure', 'arguments': {'volume_m3': 0.005}, 'evaluator': True}] +
+            [{'capability': 'sample.configure', 'arguments': dict(HYDROLEX_SAMPLE, position=p), 'evaluator': True} for p in HYDROLEX_POSITIONS])
+
+WORLD = {'scp_digiprepms': DIGIPREP, 'metrohm_909uv': METROHM, 'buchi_hydrolexh': HYDROLEX}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the digestion world steps added after each member's own bring-up."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug])
+    return cfg
+
diff --git a/chemlab/chemlab/compile/tasks/dosing_lowering.py b/chemlab/chemlab/compile/tasks/dosing_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..23088927cebb6dc033e8bf5ff854c323bb7f6da7
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/dosing_lowering.py
@@ -0,0 +1,54 @@
+"""Lowering table of the dosing class (Quantos Q2 + XPE206DR), in the dosing world (tasks/dosing_world.py: head head_1 and an
+empty vial vial_1 on the balance pan, front door travel = the contract's authored travel, powder rate 0.5 mg/s).
+
+Expected native calls come from the contract: dosing.set_target takes kg, dosing.set_tolerance_percent takes % of the target,
+dosing.set_tolerance kg, container.select_position the host's position id (balance_pan), door.set_opening the front door
+opening in m (0 = closed, the contract's authored travel 0.5495 m = lever fully lifted = open), door.set_side open true/false, head.set_lock locked,
+head.set_height raised/lowered; balance.tare, dosing.start, dosing.abort and dosing.read take no arguments.  Each step's calls
+are only the ones the state needs (a selected head is not selected again, a closed door is not closed again, an unchanged
+target or tolerance is not set again; the vial is tared before every dose).
+"""
+from .dosing_world import config  # noqa: F401  (the lowering harness builds both labs from this config)
+from . import dosing_world as W
+
+Q = 'mt_quantos_q2_xpe206dr'
+DOSE = [('balance.tare', {}), ('dosing.start', {})]
+
+CASES = {
+    Q: {'prep': None, 'steps': [
+        ('status', []),
+        ('head', []),                                                                    # show: reads only
+        ('vial', []),
+        ('dose 10mg --dry-run', []),
+        ('dose 9g', []),                                                                 # usage: outside 1 µg .. 5 g
+        ('dose 10mg --tolerance 300%', []),                                              # usage: outside 0.001 .. 100 %
+        ('head install', []),                                                            # the operator's work: not supported
+        ('tare', [('container.select_position', {'position_id': 'balance_pan'}), ('balance.tare', {})]),
+        ('open side', [('door.set_side', {'open': True})]),
+        ('tare', []),                                                                    # refused: a door is open
+        ('dose 10mg --tolerance 1%', [('head.select', {'head_id': 'head_1'}), ('door.set_side', {'open': False}),
+                                      ('dosing.set_target', {'target_mass_kg': 1e-05}),
+                                      ('dosing.set_tolerance_percent', {'percent': 1.0})] + DOSE),
+        ('open front', []),                                                              # refused: dosing
+        ('#wait 30', None),
+        ('result', [('dosing.read', {})]),
+        ('dose 5mg --tolerance 0.1mg --sample-id S-1', [('dosing.set_target', {'target_mass_kg': 5e-06}),
+                                                        ('dosing.set_tolerance', {'tolerance_kg': 1e-07}),
+                                                        ('dosing.set_ids', {'user_id': None, 'sample_id': 'S-1'})] + DOSE),
+        ('stop', [('dosing.abort', {})]),
+        ('stop', []),                                                                    # refused: not dosing
+        ('result', [('dosing.read', {})]),
+        ('head lower', [('head.set_height', {'position': 'lowered'})]),
+        ('head raise', [('head.set_height', {'position': 'raised'})]),
+        ('vial place', [('door.set_opening', {'opening_m': W.TRAVEL_M})]),
+        ('dose 20mg', [('door.set_opening', {'opening_m': 0.0}), ('dosing.set_target', {'target_mass_kg': 2e-05})] + DOSE),
+        ('#wait 50', None),
+        ('result', [('dosing.read', {})]),
+        ('head unlock', None),                                                           # state dependent (locked by the dose)
+        ('head remove', []),                                                             # already unlocked: nothing to send
+        ('vial remove', [('door.set_opening', {'opening_m': W.TRAVEL_M})]),
+        ('close', [('door.set_opening', {'opening_m': 0.0})]),
+        ('open side', [('door.set_side', {'open': True})]),
+        ('close side', [('door.set_side', {'open': False})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/dosing_tasks.py b/chemlab/chemlab/compile/tasks/dosing_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac3debb191f72b022c964a251189ff61e8f696ac
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/dosing_tasks.py
@@ -0,0 +1,145 @@
+"""Dosing class acceptance tasks (Quantos Q2 + XPE206DR in the dosing world; gold with `chemlab run`, NoAct must fail)."""
+import json
+
+from .common import run_suite
+from .dosing_world import config as world_config
+
+Q = 'mt_quantos_q2_xpe206dr'
+
+
+def cfg_plus(*steps):
+    """The dosing world, then extra lab set-up steps on the Quantos (what the previous user left behind)."""
+    def make(c):
+        c = world_config(c)
+        for e in c['instruments']:
+            if e['id'] == Q:
+                e['setup'] = list(e['setup']) + list(steps)
+        return c
+    return make
+
+
+LEFT_RUNNING = [{'capability': 'head.select', 'arguments': {'head_id': 'head_1'}},
+                {'capability': 'container.select_position', 'arguments': {'position_id': 'balance_pan'}},
+                {'capability': 'balance.tare', 'arguments': {}},
+                {'capability': 'dosing.set_target', 'arguments': {'target_mass_kg': 3e-05}},
+                {'capability': 'dosing.set_tolerance_percent', 'arguments': {'percent': 1.0}},
+                {'capability': 'dosing.start', 'arguments': {}}]
+
+
+def dosed_ok(target_kg, rel=0.011):
+    def check(c):
+        e = c.ev(Q)
+        c.equal('the last dosing succeeded', e.get('dosing.status'), 'succeeded')
+        c.near('the vial got the target (truth, ±1 %)', e.get('truth.actual_dosed_kg'), target_kg, rel * target_kg)
+        c.near('the target was %g mg' % (target_kg * 1e6), e.get('dosing.target_mass_kg'), target_kg, 1e-12)
+    return check
+
+
+def c_dose_report(c):
+    dosed_ok(2e-05)(c)
+    c.near('dosed.txt = the dosed quantity in mg (±0.02 mg)', c.number_file('dosed.txt'), (c.ev(Q).get('truth.actual_dosed_kg') or 0) * 1e6, 0.02)
+
+
+def c_tolerance_sample(c):
+    e = c.ev(Q)
+    dosed_ok(5e-06)(c)
+    c.near('absolute tolerance 0.1 mg', e.get('dosing.tolerance_kg'), 1e-07, 1e-13)
+    c.equal('sample id S-17 on the record', e.get('dosing.sample_id'), 'S-17')
+    t = c.work_file('dose.json') or ''
+    try:
+        rec = json.loads(t)
+    except ValueError:
+        rec = {}
+    c.add('dose.json holds the dosing result', isinstance(rec.get('dosed_kg'), (int, float)) and rec.get('within_tolerance') is True, t[:120])
+
+
+def c_aborted(c):
+    e = c.ev(Q)
+    c.equal('the dosing was aborted', e.get('dosing.status'), 'cancelled')
+    act = e.get('truth.actual_dosed_kg') or 0
+    c.add('it ran about a minute before the stop (15-60 mg dosed at 0.5 mg/s)', 1.5e-05 <= act <= 6e-05, act)
+    t = c.work_file('abort.json') or ''
+    c.add('abort.json saved with the partial result', '"status": "cancelled"' in t or '"cancelled"' in t, t[:120])
+
+
+def c_busy_recovered(c):
+    e = c.ev(Q)
+    dosed_ok(1e-05)(c)
+    c.near('the other user\'s 30 mg dosing ran to its end first (vial holds 30 + 10 mg)', e.get('truth.container_mass_kg'), 4e-05, 4e-07)
+
+
+def c_substance(c):
+    c.add('the Quantos was queried (request log)', c.looked(Q), len(c.looked(Q)))
+    c.equal('substance.txt = the substance in the head RFID', (c.work_file('substance.txt') or '').strip(), 'Glucose')
+
+
+GOLD_DOSE = r'''chemlab run mt_quantos_q2_xpe206dr dose 20mg --tolerance 1% --wait --json > d.json
+jq -r '.result.dosed_mg' d.json > dosed.txt
+cat dosed.txt'''
+
+GOLD_OFF = r'''chemlab run mt_quantos_q2_xpe206dr dose 10mg --wait --json > d.json; rc=$?
+jq -r '.error.code // .status' d.json
+if [ $rc -eq 3 ] && [ "$(jq -r .error.code d.json)" = "POWER_OFF" ]; then
+  chemlab run mt_quantos_q2_xpe206dr power on
+  chemlab run mt_quantos_q2_xpe206dr dose 10mg --wait
+fi'''
+
+GOLD_TOL = r'''chemlab run mt_quantos_q2_xpe206dr dose 5mg --tolerance 0.1mg --sample-id S-17 --wait
+chemlab run mt_quantos_q2_xpe206dr result --save-to dose.json'''
+
+GOLD_ABORT = r'''job=$(chemlab run mt_quantos_q2_xpe206dr dose 500mg --json | jq -r .job)
+chemlab wait 60
+chemlab run mt_quantos_q2_xpe206dr stop
+chemlab run mt_quantos_q2_xpe206dr result --save-to abort.json'''
+
+GOLD_BUSY = r'''chemlab run mt_quantos_q2_xpe206dr dose 10mg --wait --json > d.json; rc=$?
+jq -r '.error.code // .status' d.json
+if [ $rc -eq 3 ] && [ "$(jq -r .error.code d.json)" = "BUSY" ]; then
+  for i in 1 2 3 4 5; do
+    [ "$(chemlab run mt_quantos_q2_xpe206dr status --json | jq -r .state.status)" = "running" ] || break
+    chemlab wait 30
+  done
+  chemlab run mt_quantos_q2_xpe206dr dose 10mg --wait
+fi'''
+
+GOLD_HEAD = r'''chemlab run mt_quantos_q2_xpe206dr head --json | jq -r .data.substance > substance.txt
+cat substance.txt'''
+
+TASKS = [
+    {'id': 'd01_dose_20mg', 'kind': 'one composite verb + job + report', 'instruments': [Q], 'config': cfg_plus(), 'check': c_dose_report,
+     'instruction': 'Dose 20 mg of the powder in the Quantos dosing system (mt_quantos_q2_xpe206dr) into the vial on its balance, with a '
+                    'tolerance of 1 %. Wait until the dosing is done and write the dosed quantity in mg (a plain number) into dosed.txt.',
+     'gold': GOLD_DOSE},
+    {'id': 'd02_recover_power_off', 'kind': 'recovery: instrument switched off', 'instruments': [Q],
+     'config': cfg_plus({'capability': 'power.set', 'arguments': {'enabled': False}}), 'check': dosed_ok(1e-05),
+     'instruction': 'Dose 10 mg of powder into the vial of the Quantos dosing system (mt_quantos_q2_xpe206dr) and wait until it is done.',
+     'gold': GOLD_OFF},
+    {'id': 'd03_tolerance_sample_id', 'kind': 'options (absolute tolerance, sample id) + saved record', 'instruments': [Q],
+     'config': cfg_plus(), 'check': c_tolerance_sample,
+     'instruction': 'On the Quantos dosing system (mt_quantos_q2_xpe206dr), dose 5 mg into the vial with an absolute tolerance of 0.1 mg '
+                    'and sample id S-17, wait for it, and save the dosing result into dose.json in your work directory.',
+     'gold': GOLD_TOL},
+    {'id': 'd04_abort_after_a_minute', 'kind': 'long action (job) + stop + partial result', 'instruments': [Q], 'config': cfg_plus(),
+     'check': c_aborted,
+     'instruction': 'Start dosing 500 mg into the vial of the Quantos dosing system (mt_quantos_q2_xpe206dr), let it run for about one '
+                    'minute, then abort it and save the (partial) dosing result into abort.json.',
+     'gold': GOLD_ABORT},
+    {'id': 'd05_recover_left_running', 'kind': 'recovery: another user\'s dosing is running (BUSY, wait)', 'instruments': [Q],
+     'config': cfg_plus(*LEFT_RUNNING), 'check': c_busy_recovered,
+     'instruction': 'Another user is dosing on the Quantos dosing system (mt_quantos_q2_xpe206dr). When their dosing has finished, dose '
+                    '10 mg into the same vial (on top of their powder) and wait until it is done.',
+     'gold': GOLD_BUSY},
+    {'id': 'd06_head_substance', 'kind': 'object query (dosing head RFID data)', 'instruments': [Q],
+     'config': cfg_plus({'capability': 'head.write_data', 'arguments': {'data': {'substance': 'Glucose', 'lot_id': 'L-1'}}}),
+     'check': c_substance,
+     'instruction': 'Which substance does the dosing head in the Quantos dosing system (mt_quantos_q2_xpe206dr) hold? Write its name '
+                    '(as stored in the head) into substance.txt.',
+     'gold': GOLD_HEAD},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'dosing'
+
+
+def main(only=None, noact=True):
+    return run_suite('dosing', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/dosing_world.py b/chemlab/chemlab/compile/tasks/dosing_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..cb95739476ac9ffd0982230a16e4e75f21656afd
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/dosing_world.py
@@ -0,0 +1,52 @@
+"""Host-side world for the dosing class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+Quantos Q2 + XPE206DR: the front-door geometry is registered (travel = the contract door_kinematics.authored_travel (0.5495 m since asset 1.2.2: the arc length of the top-hung door's hinge pin, lever fully lifted; manual p.25-26)),
+the operator opens the front door, inserts a free-flowing powder dosing head (2 g of powder) and puts an empty vial on the
+weighing pan, closes the door, and the dosing rate of the powder is declared (0.5 mg/s: about 20 s for 10 mg, the order of the
+brochure's typical 10 mg dosing time).  Nothing here is reachable from the sandbox.
+"""
+import copy
+
+from ...labbackend import load_config
+
+Q = 'mt_quantos_q2_xpe206dr'
+
+
+def contract_travel_m(slug=Q):
+    """The front door's full travel: door_kinematics.parameters.authored_travel of the asset contract (0.5495 m in 1.2.2)."""
+    import json
+    from ...hosts import contract_index
+    c = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    return float(c['mechanisms']['door_kinematics']['parameters']['authored_travel']['value'])
+
+
+TRAVEL_M = contract_travel_m()
+RATE_KG_S = 5e-7
+
+
+def world_steps(iid=Q, *, source_kg=0.002, vial_content_kg=0.0, head_id='head_1', vial_id='vial_1', position='balance_pan',
+                rate_kg_s=RATE_KG_S, head=True, vial=True, configure=True):
+    steps = [{'host': 'host_configure_geometry', 'kwargs': {'iid': iid, 'door_travel_m': TRAVEL_M, 'evidence': 'lab set-up: front door travel'}}]
+    if head or vial:
+        steps.append({'capability': 'door.set_opening', 'arguments': {'opening_m': TRAVEL_M}})
+        if head:
+            steps.append({'host': 'host_load_head', 'kwargs': {'iid': iid, 'head_id': head_id, 'source_mass_kg': source_kg, 'free_flowing': True,
+                                                               'evidence': 'lab set-up: free-flowing powder head inserted'}})
+        if vial:
+            steps.append({'host': 'host_load_container', 'kwargs': {'iid': iid, 'container_id': vial_id, 'position_id': position,
+                                                                    'content_mass_kg': vial_content_kg, 'evidence': 'lab set-up: vial on the pan'}})
+        steps.append({'capability': 'door.set_opening', 'arguments': {'opening_m': 0.0}})
+    if configure:
+        steps.append({'host': 'host_configure_dosing', 'kwargs': {'iid': iid, 'rate_kg_s': rate_kg_s, 'rate_evidence': 'lab set-up: powder rate',
+                                                                  'observation_evidence': 'lab set-up: ideal mass observation'}})
+    return steps
+
+
+def config(base=None, **kw):
+    """all203.json (or ``base``) with the dosing world added to the Quantos entry."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        if e['asset_type_id'].split('.', 1)[1] == 'mt_quantos_q2_xpe206dr':
+            e['default_world'] = False        # this world inserts its own head and vial (the default lab has the CaCO3 check head in)
+            e['setup'] = list(e.get('setup') or []) + world_steps(e.get('instance_id') or e['id'], **kw)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/electrical_lowering.py b/chemlab/chemlab/compile/tasks/electrical_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..e80b5162caf863935371491b4a286bec78186fe7
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrical_lowering.py
@@ -0,0 +1,133 @@
+"""Lowering table of the electrical class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts (input schemas and documented example arguments), not from the
+mapping.  [] = no native call (a class check refused, a usage error, a read, a wait); a runtime refusal still lists the call
+that was sent.  The labs carry the class world (tasks/electrical_world.py)."""
+import math
+
+from .electrical_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+from .thermal_analysis_lowering import NUMBER, OBJECT, SERIES
+
+K0 = 273.15
+M91_METHOD = {'current_a': 0.0005, 'current_range_a': 0.001, 'voltage_range_v': 0.001, 'phase_duration_s': 0.1, 'repeats': 1,
+              'field_settling_tolerance_t': 0.0001}
+QP_METHOD = {'auto_current': True, 'current_min_a': 1e-08, 'current_max_a': 0.001, 'fixed_current_a': 0.0001, 'voltage_range_v': 0.2,
+             'voltage_compliance_v': 20.0, 'target_voltage_min_v': 0.005, 'target_voltage_max_v': 0.08, 'phase_duration_s': 0.3, 'settling_s': 0.2,
+             'require_calibration': True, 'require_warmup': False}
+VSM_METHOD = {'ramp_rate_t_s': 1.0, 'averaging_time_s': 0.05, 'settling_time_s': 0.05, 'require_calibration': False}
+AT_METHOD = {'source_voltage_rms_v': 0.3, 'cycles_per_point': 1, 'settling_s': 0.01, 'require_calibration': False}
+LSR_METHOD = {'duration_s': 3.0, 'phase_interval_s': 0.05, 'current_a': 0.01, 'minimum_delta_k': 0.1, 'equilibrium_tolerance_k': 0.05,
+              'geometry_factor': 1.0, 'contact_resistance_correction_ohm': 0.0002}
+
+CASES = {
+    'lakeshore_measurereadym91': {'steps': [
+        ('status', []),
+        ('start', []),                                                           # WARMING_UP (30 min after power-on)
+        ('contact on', []),                                                      # not on this member (no probe actuator)
+        ('move 1mm 1mm', []),                                                    # not supported
+        ('method range=1mA', []),                                                # MISSING_SETTING current
+        ('method current=200mA', []),                                            # OUT_OF_RANGE (0 .. 100 mA)
+        ('method current=0.5mA', [('method.configure', M91_METHOD)]),            # range auto: 1 mA
+        ('method current=0.5mA range=10mA', [('method.configure', dict(M91_METHOD, current_range_a=0.01))]),
+        ('method current=0.5mA range=2mA', []),                                  # BAD_CHOICE (ranges are decades)
+        ('#wait 1800', None),
+        ('contact check max-current=10mA', [('contact_check.auto', {'max_current_a': 0.01, 'max_voltage_v': 10.0, 'points': 11, 'minimum_r_squared': 0.9999})]),
+        ('wait --max 10min', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze', []),                                                         # MISSING_SETTING thickness
+        ('analyze thickness=500um', [('acquisition.result', {})]),               # TOO_FEW_POINTS (one repeat: 9 readings, the analysis needs 18)
+        ('stop', []),                                                            # NOT_RUNNING
+        ('calibrate voltage_gain_correction=1 voltage_offset_v=0 field_gain_correction=1 field_offset_t=0.1mT',
+         [('sensor.calibrate', {'voltage_gain_correction': 1.0, 'voltage_offset_v': 0.0, 'field_gain_correction': 1.0, 'field_offset_t': 0.0001})]),
+        ('set-temp 30C', []),                                                    # not supported (the lab's stage)
+        ('temp', []),
+    ]},
+    'signatone_quadpro2': {'steps': [
+        ('contact check', []),                                                   # not on this member
+        ('set-temp 30C', []),                                                    # not supported
+        ('method point=0mm,0mm point=20mm,0mm edge=3mm', [('map.configure', {'points': [{'x_m': 0.0, 'y_m': 0.0}, {'x_m': 0.02, 'y_m': 0.0}],
+                                                                              'edge_exclusion_m': 0.003, 'thickness_prior_m': 1e-06})]),
+        ('method current=0.1mA', [('method.configure', dict(QP_METHOD, auto_current=False))]),
+        ('start', [('acquisition.start', {})]),                                  # runtime CALIBRATION_REQUIRED (the example method requires one)
+        ('method calibration=false current=0.1mA', [('method.configure', dict(QP_METHOD, auto_current=False, require_calibration=False))]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze diameter=100mm point=2', [('acquisition.result', {}),
+                                            ('analysis.sheet_resistance', {'diameter_m': 0.1, 'spacing_m': 0.00127, 'x_m': 0.02, 'y_m': 0.0,
+                                                                           'observations': SERIES, 'calibration_gain': 1.0, 'thickness_prior_m': None})]),
+        ('analyze diameter=100mm point=7', [('acquisition.result', {})]),       # OUT_OF_RANGE (the map has 2 points)
+        ('contact on', [('probe.set_contact', {'contact': True})]),
+        ('move 10mm 0mm', []),                                                   # PROBE_DOWN
+        ('contact off', [('probe.set_contact', {'contact': False})]),
+        ('move 10mm 5mm', [('stage.move', {'x_m': 0.01, 'y_m': 0.005})]),
+        ('move 200mm 0mm', []),                                                  # OUT_OF_RANGE (usage)
+        ('calibrate ref=100ohm/sq', [('calibration.start', {'reference_sheet_resistance_ohm_sq': 100.0})]),   # runtime STANDARD_REQUIRED
+        ('stop', []),                                                            # NOT_RUNNING
+    ]},
+    'lakeshore_8604vsm': {'steps': [
+        ('start', []),                                                           # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),                        # shared verb
+        ('start', []),                                                           # NOT_LOWERED
+        ('move --lift 0mm', [('sample.set_lift', {'lift_m': 0.0})]),
+        ('move 1mm 1mm', []),                                                    # NO_STAGE (not on this member)
+        ('method field=0.1T', [('method.configure', dict(VSM_METHOD, field_points_t=[0.1]))]),
+        ('start', []),                                                           # NO_COIL
+        ('method range=10emu vibrate=on loop=0.2T/0.1T', [('coil.configure', {'moment_range_a_m2': 0.01, 'nominal_coupling_wb_per_a_m3': 0.1}),
+                                                          ('vibration.configure', {'enabled': True, 'amplitude_m': 0.0005, 'frequency_hz': 82.0}),
+                                                          ('method.configure', dict(VSM_METHOD, field_points_t=[0.2, 0.1, 0.0, -0.1, -0.2, -0.1, 0.0, 0.1, 0.2]))]),
+        ('set-field 0.1T --rate 10mT/s --wait', [('field.set_target', {'field_t': 0.1, 'ramp_rate_t_s': 0.01})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze', [('acquisition.result', {}), ('analysis.loop', {'rows': SERIES})]),
+        ('move --lift 50mm', []),                                                # VIBRATING
+        ('method vibrate=off', [('vibration.configure', {'enabled': False, 'amplitude_m': 0.0005, 'frequency_hz': 82.0})]),
+        ('set-field 0 --wait', [('field.set_target', {'field_t': 0.0, 'ramp_rate_t_s': 1.0})]),
+        ('move --lift 50mm --angle 90deg', [('sample.set_lift', {'lift_m': 0.05}), ('sample.set_angle', {'angle_rad': math.pi / 2})]),
+        ('calibrate moment=3.47emu', []),                                        # NOT_VIBRATING (class check)
+        ('contact on', []),                                                      # not supported
+    ]},
+    'novocontrol_alphat': {'steps': [
+        ('start', []),                                                           # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('calibrate x=1', []),                                                   # not supported
+        ('method voltage=0.3V', []),                                             # MISSING_SETTING freq
+        ('method freq=1kHz,10kHz voltage=0.3V', [('method.configure', dict(AT_METHOD, frequencies_hz=[1000.0, 10000.0]))]),
+        ('method sweep=10Hz..100kHz/5', [('method.configure', dict(AT_METHOD, frequencies_hz=[10.0, 100.0, 1000.0, 10000.0, 100000.0]))]),
+        ('set-temp 2000C', []),                                                  # OUT_OF_RANGE
+        ('set-temp 20.05C', [('thermal.set_temperature', {'temperature_k': 293.2})]),
+        ('wait-temp --within 0.1K', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result --save-to eps.json', [('acquisition.result', {})]),
+        ('analyze diameter=20mm thickness=1mm point=3', [('acquisition.result', {}),
+                                                         ('analysis.dielectric', {'frequency_hz': 1000.0, 'voltage_rms': OBJECT, 'current_rms': OBJECT,
+                                                                                  'diameter_m': 0.02, 'thickness_m': 0.001})]),
+        ('set-temp off', [('thermal.disable', {})]),
+        ('move 1mm 1mm', []),                                                    # not supported
+    ]},
+    'linseis_lsr3': {'steps': [
+        ('set-temp 100C', []),                                                   # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 100C --rate 10K/min --gradient 5K', [('thermal.set_temperature', {'temperature_k': K0 + 100, 'ramp_rate_k_min': 10.0}),
+                                                        ('thermal.set_gradient', {'delta_k': 5.0})]),
+        ('wait-temp --max 1h', []),
+        ('method current=10mA time=3s', [('method.configure', LSR_METHOD)]),
+        ('method current=1A', []),                                               # OUT_OF_RANGE (at most 160 mA)
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze width=3mm depth=3mm spacing=8mm point=5', [('acquisition.result', {}),
+                                                             ('analysis.transport', {'zero_voltage_v': NUMBER, 'positive_voltage_v': NUMBER, 'negative_voltage_v': NUMBER,
+                                                                                     'positive_current_a': 0.01, 'negative_current_a': -0.01, 'hot_temperature_k': NUMBER,
+                                                                                     'cold_temperature_k': NUMBER, 'width_m': 0.003, 'depth_m': 0.003,
+                                                                                     'probe_spacing_m': 0.008, 'geometry_factor': 1.0,
+                                                                                     'contact_resistance_correction_ohm': 0.0})]),
+        ('calibrate hot_offset_k=0.1K cold_offset_k=0 voltage_offset_v=0 voltage_gain_correction=1',
+         [('sensor.calibrate', {'hot_offset_k': 0.1, 'cold_offset_k': 0.0, 'voltage_offset_v': 0.0, 'voltage_gain_correction': 1.0})]),
+        ('set-temp off', [('thermal.disable', {})]),
+        ('contact on', []),                                                      # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/electrical_tasks.py b/chemlab/chemlab/compile/tasks/electrical_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..d07cc92ae546ec9ae5b129393efa462453fcec72
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrical_tasks.py
@@ -0,0 +1,238 @@
+"""electrical class acceptance tasks (8, 5 of them recovery tasks): gold solutions use `chemlab run`; the checkers read the
+evaluator view, the evaluator's own result query and the agent's report files."""
+from .common import run_suite
+from .electrical_world import config as world_config
+
+K0 = 273.15
+M91, QP, VSM, AT, LSR = 'lakeshore_measurereadym91', 'signatone_quadpro2', 'lakeshore_8604vsm', 'novocontrol_alphat', 'linseis_lsr3'
+
+
+def ev_call(c, iid, cap, args=None):
+    r = c.lab.backend.evaluator_invoke(iid, cap, args or {}, 'check-%s-%s' % (iid, cap))
+    return r.get('result') or {}
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') in ('succeeded', 'accepted'), (cap, r)
+
+
+def w_qp_probe_down(lab):
+    """The last user left the probe down on the wafer centre."""
+    world_call(lab, QP, 'probe.set_contact', {'contact': True})
+    lab.backend.advance(5)
+
+
+def w_vsm_after_run(lab):
+    """The VSM right after a measurement: on, rod lowered, coils set, vibrating, field held at 0.3 T."""
+    world_call(lab, VSM, 'power.set', {'enabled': True})
+    world_call(lab, VSM, 'sample.set_lift', {'lift_m': 0.0})
+    lab.backend.advance(10)
+    world_call(lab, VSM, 'coil.configure', {'nominal_coupling_wb_per_a_m3': 0.1, 'moment_range_a_m2': 0.01})
+    world_call(lab, VSM, 'vibration.configure', {'enabled': True, 'amplitude_m': 0.0005, 'frequency_hz': 82.0})
+    world_call(lab, VSM, 'field.set_target', {'field_t': 0.3, 'ramp_rate_t_s': 0.01})
+    lab.backend.advance(60)
+
+
+# ------------------------------------------------------------------ checkers
+def c_hall(c):
+    e = c.ev(M91)
+    c.equal('the contact check passed', (e.get('measurement.status') or {}).get('contact_check'), 'succeeded')
+    c.equal('the acquisition succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.near('excitation 0.5 mA', e.get('excitation.programmed_current_a'), 0.0005, 1e-9)
+    t = c.work_file('hall.json') or ''
+    c.add('hall.json holds the record', '"voltage_v"' in t and '"rows"' in t, t[:80])
+
+
+def c_map(c):
+    res = ev_call(c, QP, 'acquisition.result')
+    c.equal('the map succeeded', res.get('phase'), 'succeeded')
+    rows = res.get('rows') or []
+    pts = sorted((round(r['x_m'], 6), round(r['y_m'], 6)) for r in rows)
+    c.equal('five points: centre and +-20 mm on x and y', pts, sorted([(0.0, 0.0), (0.02, 0.0), (-0.02, 0.0), (0.0, 0.02), (0.0, -0.02)]))
+    mean = (res.get('statistics') or {}).get('mean_ohm_sq')
+    c.near('rs.txt holds the mean sheet resistance in ohm/sq (±0.1 %)', c.number_file('rs.txt'), mean or -1, abs(mean or 0) * 1e-3)
+
+
+def c_probe(c):
+    e = c.ev(QP)
+    c.near('stage x = 10 mm', e.get('stage.x_m'), 0.01, 1e-9)
+    c.near('stage y = -5 mm', e.get('stage.y_m'), -0.005, 1e-9)
+    c.near('probe down on the wafer', e.get('probe.position_m'), 0.0, 1e-9)
+
+
+def c_vsm_loop(c):
+    res = ev_call(c, VSM, 'acquisition.result')
+    rows = res.get('rows') or []
+    c.equal('the loop succeeded', res.get('phase'), 'succeeded')
+    c.equal('21 points from +0.5 T to -0.5 T and back', [round(r['field_t'], 6) for r in rows][:1] + [len(rows)], [0.5, 21])
+    m0 = rows[0].get('moment_a_m2') if rows else None
+    c.near('m.txt holds the moment at +0.5 T in emu (±0.1 %)', c.number_file('m.txt'), (m0 or 0) * 1e3, abs((m0 or 0) * 1e3) * 1e-3 + 1e-12)
+    loop = ev_call(c, VSM, 'analysis.loop', {'rows': rows}) if len(rows) >= 3 else {}
+    hc = [abs(x['field_t']) for x in loop.get('coercive_crossings') or []]
+    c.near('hc.txt holds the coercive field in mT (mean of both branches, ±0.5 %)', c.number_file('hc.txt'), sum(hc) / len(hc) * 1e3 if hc else -1,
+           (sum(hc) / len(hc) * 1e3 * 5e-3) if hc else 0)
+
+
+def c_vsm_raise(c):
+    e = c.ev(VSM)
+    c.near('rod at 50 mm', e.get('sample.lift_m'), 0.05, 1e-9)
+    c.near('field at zero', e.get('field.indicated_t'), 0.0, 1e-9)
+    c.add('vibration off', not e.get('vibration.enabled'), e.get('vibration.enabled'))
+
+
+def c_dielectric(c):
+    res = ev_call(c, AT, 'acquisition.result')
+    rows = res.get('rows') or []
+    c.equal('the sweep succeeded', res.get('phase'), 'succeeded')
+    c.equal('6 frequencies, 10 Hz .. 1 MHz', [len(rows)] + [round(rows[0]['frequency_hz'], 6) if rows else None, round(rows[-1]['frequency_hz'], 3) if rows else None],
+            [6, 10.0, 1000000.0])
+    k = [r for r in rows if abs(r['frequency_hz'] - 1000.0) < 1e-6]
+    c.near("eps.txt holds eps' at 1 kHz (±0.1 %)", c.number_file('eps.txt'), k[0]['epsilon_real'] if k else -1, abs(k[0]['epsilon_real']) * 1e-3 if k else 0)
+
+
+def c_seebeck(c):
+    e = c.ev(LSR)
+    res = ev_call(c, LSR, 'acquisition.result')
+    pts = res.get('transport_points') or []
+    c.equal('the measurement succeeded', res.get('phase'), 'succeeded')
+    c.near('furnace set to 100 °C', e.get('thermal.target_k'), K0 + 100, 1e-6)
+    c.near('gradient 5 K', e.get('thermal.target_delta_k'), 5.0, 1e-9)
+    s = [p['seebeck_v_k'] for p in pts if p.get('seebeck_v_k') is not None]
+    mean = sum(s) / len(s) * 1e6 if s else None
+    c.near('s.txt holds the mean Seebeck coefficient in µV/K (±0.5 %)', c.number_file('s.txt'), mean or -1, abs(mean or 0) * 5e-3)
+
+
+def c_lsr_power(c):
+    e = c.ev(LSR)
+    c.add('switched on', e.get('power.enabled'))
+    c.near('furnace set to 50 °C', e.get('thermal.target_k'), K0 + 50, 1e-6)
+    c.near('gradient 2 K', e.get('thermal.target_delta_k'), 2.0, 1e-9)
+    c.add('temperature control on', e.get('thermal.enabled'))
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_HALL = r'''I=lakeshore_measurereadym91
+chemlab run $I method current=0.5mA
+chemlab run $I contact check --json > cc.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "WARMING_UP"' cc.json >/dev/null; then
+  jq -r '.error.message + " -> " + .error.fix' cc.json
+  chemlab wait 30min
+  chemlab run $I contact check --json > cc.json
+fi
+chemlab wait "$(jq -r .job cc.json)" --max 10min
+chemlab run $I start
+chemlab run $I wait --max 10min
+chemlab run $I result --save-to hall.json'''
+
+GOLD_MAP = r'''I=signatone_quadpro2
+chemlab run $I method point=0mm,0mm point=20mm,0mm point=-20mm,0mm point=0mm,20mm point=0mm,-20mm edge=3mm
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_CALIBRATED"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run $I method calibration=false
+  chemlab run $I start
+fi
+chemlab run $I wait --max 30min
+chemlab run $I result --json | jq -r '.result.statistics.mean_ohm_sq' > rs.txt
+cat rs.txt'''
+
+GOLD_PROBE = r'''I=signatone_quadpro2
+chemlab run $I move 10mm -5mm --json > m.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "PROBE_DOWN"' m.json >/dev/null; then
+  chemlab run $I contact off
+  chemlab run $I move 10mm -5mm
+fi
+chemlab run $I contact on
+chemlab run $I status'''
+
+GOLD_LOOP = r'''I=lakeshore_8604vsm
+chemlab run $I power on
+chemlab run $I move --lift 0mm
+chemlab run $I method range=10emu vibrate=on loop=0.5T/0.1T
+chemlab run $I start
+chemlab run $I wait --max 1h
+chemlab run $I result --json | jq -r '.result.rows[0].moment_a_m2 * 1000' > m.txt
+chemlab run $I analyze loop --json | jq -r '[.result.coercive_crossings[].field_t | fabs] | add / length * 1000' > hc.txt
+cat m.txt hc.txt'''
+
+GOLD_RAISE = r'''I=lakeshore_8604vsm
+for try in 1 2 3; do
+  chemlab run $I move --lift 50mm --json > mv.json && break
+  code=$(jq -r .error.code mv.json); echo "refused: $code"
+  case "$code" in
+    VIBRATING) chemlab run $I method vibrate=off ;;
+    FIELD_ON) chemlab run $I set-field 0 --wait ;;
+    *) break ;;
+  esac
+done
+chemlab run $I status'''
+
+GOLD_DIEL = r'''I=novocontrol_alphat
+chemlab run $I power on
+chemlab run $I set-temp 20.05C
+chemlab run $I wait-temp --within 0.1K --max 1h
+chemlab run $I method sweep=10Hz..1MHz/6 voltage=0.3V
+chemlab run $I start
+chemlab run $I wait --max 10min
+chemlab run $I result --save-to eps_sweep.json > /dev/null
+jq -r '.result.rows[] | select(.frequency_hz > 999.999 and .frequency_hz < 1000.001) | .epsilon_real' eps_sweep.json > eps.txt
+cat eps.txt'''
+
+GOLD_SEEBECK = r'''I=linseis_lsr3
+chemlab run $I power on
+chemlab run $I set-temp 100C --rate 10K/min --gradient 5K
+chemlab run $I wait-temp --max 2h
+chemlab run $I method current=10mA time=3s
+chemlab run $I start
+chemlab run $I wait --max 10min
+chemlab run $I result --json | jq -r '[.result.transport_points[].seebeck_v_k] | add / length * 1e6' > s.txt
+cat s.txt'''
+
+GOLD_LSR_POWER = r'''I=linseis_lsr3
+chemlab run $I set-temp 50C --rate 10K/min --gradient 2K --json > t.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "POWER_OFF"' t.json >/dev/null; then
+  chemlab run $I power on
+  chemlab run $I set-temp 50C --rate 10K/min --gradient 2K
+fi
+chemlab run $I status'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'el01_hall_recover_warmup', 'kind': 'recovery: warm-up + contact check job', 'instruments': [M91], 'check': c_hall,
+     'instruction': 'On the Lake Shore M91 FastHall (lakeshore_measurereadym91), set a 0.5 mA excitation, run the automatic contact check, '
+                    'then run the measurement and save the record to hall.json.', 'gold': GOLD_HALL},
+    {'id': 'el02_fpp_recover_calibration', 'kind': 'recovery: method requires a calibration', 'instruments': [QP], 'check': c_map,
+     'instruction': 'Map the sheet resistance of the wafer on the Signatone QuadPro2 (signatone_quadpro2) at 5 points: the centre and 20 mm '
+                    'from it on +x, -x, +y and -y, with 3 mm edge exclusion. There is no calibration standard in the lab, so measure '
+                    'uncalibrated. Write the mean sheet resistance in ohm/sq into rs.txt.', 'gold': GOLD_MAP},
+    {'id': 'el03_fpp_recover_probe_down', 'kind': 'recovery: probe left down', 'instruments': [QP], 'world': w_qp_probe_down, 'check': c_probe,
+     'instruction': 'On the QuadPro2 (signatone_quadpro2), put the probe down on the wafer at x = 10 mm, y = -5 mm.', 'gold': GOLD_PROBE},
+    {'id': 'el04_vsm_loop', 'kind': 'multi-step + record + analysis', 'instruments': [VSM], 'check': c_vsm_loop,
+     'instruction': 'Measure a hysteresis loop of the sample in the 8604 VSM (lakeshore_8604vsm) from +0.5 T to -0.5 T and back in 0.1 T steps '
+                    '(10 emu coil range, vibration on). Write the moment at the first +0.5 T point in emu into m.txt, and the coercive field (the '
+                    'mean of both branches, from the loop analysis) in mT into hc.txt.', 'gold': GOLD_LOOP},
+    {'id': 'el05_vsm_recover_raise', 'kind': 'recovery: rod moves only at rest and zero field', 'instruments': [VSM], 'world': w_vsm_after_run,
+     'check': c_vsm_raise, 'instruction': 'The VSM (lakeshore_8604vsm) has just finished a measurement. Raise the sample rod to 50 mm for a '
+                                          'sample exchange.', 'gold': GOLD_RAISE},
+    {'id': 'el06_dielectric_sweep', 'kind': 'multi-step + report', 'instruments': [AT], 'check': c_dielectric,
+     'instruction': 'On the Novocontrol Alpha-T (novocontrol_alphat), measure the water cell at 20.05 °C from 10 Hz to 1 MHz (6 log-spaced '
+                    'frequencies, 0.3 V). Write the real permittivity at 1 kHz into eps.txt.', 'gold': GOLD_DIEL},
+    {'id': 'el07_seebeck', 'kind': 'multi-step (temperature, gradient, run) + report', 'instruments': [LSR], 'check': c_seebeck,
+     'instruction': 'On the Linseis LSR-3 (linseis_lsr3), measure the specimen at 100 °C with a 5 K gradient (10 mA, 3 s). Write the mean '
+                    'Seebeck coefficient in µV/K into s.txt.', 'gold': GOLD_SEEBECK},
+    {'id': 'el08_lsr_recover_power', 'kind': 'recovery: instrument switched off', 'instruments': [LSR], 'check': c_lsr_power,
+     'instruction': 'Set the LSR-3 (linseis_lsr3) furnace to 50 °C at 10 °C/min with a 2 K gradient across the specimen.', 'gold': GOLD_LSR_POWER},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'electrical'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('electrical', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/electrical_world.py b/chemlab/chemlab/compile/tasks/electrical_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..b34b045cd9149755d7954c9a65270551be9c7f9e
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrical_world.py
@@ -0,0 +1,51 @@
+"""Host-side world for the electrical class: what the lab operator has done before the agent starts, as lab-config set-up steps
+(capability calls as the operator, or "evaluator": true for host-only ones; "advance_s" lets that instrument's time run).
+
+* M91 FastHall: the default set-up already mounts the sample card and switches the instrument on; the operator closes the sample
+  clamp (sample.set_clamp is host-only).  The 30 min warm-up runs from power-on.
+* QuadPro2: wafer size declared, the 1.27 mm tungsten-carbide probe head fitted (with the hood open), the wafer placed, the dark
+  hood closed (the hood is host-only).
+* 8604 VSM: the sample mounted on the rod (switched off, rod up).
+* Alpha-T: cell geometry and temperature stage declared, the water cell mounted and clamped (switched off).
+* LSR-3: specimen geometry declared, the specimen mounted and clamped, the furnace lowered (switched off).
+"""
+import copy
+
+from ...labbackend import load_config
+
+
+def step(cap, args='contract_example', evaluator=True):
+    return {'capability': cap, 'arguments': args, 'evaluator': evaluator}
+
+
+def wait(s):
+    return {'advance_s': s}
+
+
+WORLD = {
+    'lakeshore_measurereadym91': [step('sample.set_clamp', {'closed': True}), wait(5.0)],
+    'signatone_quadpro2': [step('wafer.configure'), step('probe.configure'), step('sample.load'), step('enclosure.set_open', {'opened': False}), wait(30.0)],
+    'lakeshore_8604vsm': [step('sample.load')],
+    'novocontrol_alphat': [step('geometry.configure'), step('thermal.configure'), step('sample.load'), step('sample.set_clamp', {'closed': True}), wait(30.0)],
+    'linseis_lsr3': [step('geometry.configure'), step('sample.load'), step('sample.set_clamp', {'closed': True}), wait(30.0),
+                     step('furnace.set_open', {'opened': False}), wait(60.0)],
+}
+
+
+def config(base=None, only=None):
+    """all203.json (or ``base``) with the electrical world steps appended to the members' set-ups."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD and (only is None or slug in only):
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug])
+    return cfg
+
+
+def setup_problems(lab):
+    out = []
+    for iid, inst in lab.backend.instruments.items():
+        for r in getattr(inst, 'setup_report', []):
+            if r.get('status') not in ('succeeded', 'accepted', 'ok'):
+                out.append((iid, r))
+    return out
diff --git a/chemlab/chemlab/compile/tasks/electrochem_lowering.py b/chemlab/chemlab/compile/tasks/electrochem_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e53cd0f9e996c73d85b66c8c9d6cd0f9f74365b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrochem_lowering.py
@@ -0,0 +1,133 @@
+"""Lowering table of the electrochem class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts and the technique definitions (a cyclic sweep from E1 to E2 and
+back in equal steps, a potential / current step held for its time, a probe path), not from the mapping.
+[] = no native call (a class check refused, a read, a wait, or a verb this member does not have); None = not checked."""
+from .electrochem_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+from .sample_intro_lowering import example
+
+RPM = 2 * 3.141592653589793 / 60
+
+
+def sweep(e1, e2, step):
+    n = int(round(abs(e2 - e1) / step))
+    fwd = [round(e1 + (e2 - e1) * i / n, 9) for i in range(n + 1)]
+    return fwd + list(reversed(fwd[:-1]))
+
+
+CV = sweep(0.6, -0.2, 0.002)                                           # 801 points, 2 mV apart; 100 mV/s -> 20 ms per point
+EQCM_REF = example('ch_chi440c', 'method.configure')['reference_electrode']
+SECM = example('ch_chi920d', 'method.configure')
+LINE = [{'x_m': -4e-05, 'y_m': -4e-05, 'z_m': 5e-06}, {'x_m': 0.0, 'y_m': -4e-05, 'z_m': 5e-06}, {'x_m': 4e-05, 'y_m': -4e-05, 'z_m': 5e-06}]
+APPROACH = [{'x_m': 0.0, 'y_m': 0.0, 'z_m': 5e-05}, {'x_m': 0.0, 'y_m': 0.0, 'z_m': 2e-05}, {'x_m': 0.0, 'y_m': 0.0, 'z_m': 1e-05}]
+GAMRY_PORTS = [('slot.set_connection', {'port_id': p, 'connection_id': i}) for p, i in
+               (('working_electrode', 'we_01'), ('reference_electrode', 'ref_01'), ('counter_electrode', 'ce_01'), ('cell', 'cell_01'))]
+
+CASES = {
+    'gamry_reference620': {'steps': [
+        ('start', []),                                                            # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('technique cv --from 0.6V --to -0.2V --rate 100mV/s --step 2mV',
+         [('electrochem.configure_waveform', {'program': {'mode': 'potential', 'sample_interval_s': 0.02, 'values': CV}})]),
+        ('technique qcm --time 1s', []),                                          # NOT_ON_THIS_INSTRUMENT (usage)
+        ('technique ca --potential 0.5V', []),                                    # MISSING_OPTION (usage)
+        ('technique ca --potential 12V --time 1s', []),                           # OUT_OF_RANGE (±11 V)
+        ('technique cv --from 0V --to 1V --step 0.01mV', []),                     # TOO_MANY_POINTS
+        ('start', []),                                                            # NOT_CONNECTED
+        ('connect working=we_01 reference=ref_01 counter=ce_01 cell=cell_01', GAMRY_PORTS),
+        ('connect anode=a1', []),                                                 # UNKNOWN_PORT (usage)
+        ('start --dry-run', []),
+        ('start', [('electrochem.start', {})]),
+        ('technique ca --potential 0.5V --time 1s', []),                          # BUSY
+        ('wait --max 10min', []),
+        ('data', [('electrochem.read_series', {})]),
+        ('technique steps --program 0.2V@0.5s,0.5V@0.3s --interval 0.1s',
+         [('electrochem.configure_waveform', {'program': {'mode': 'potential', 'sample_interval_s': 0.1, 'values': [0.2] * 5 + [0.5] * 3}})]),
+        ('start', [('electrochem.start', {})]),
+        ('#wait 0.3', None),
+        ('stop', [('electrochem.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('technique cp --current 1mA --time 0.5s --interval 0.1s',
+         [('electrochem.configure_waveform', {'program': {'mode': 'current', 'sample_interval_s': 0.1, 'values': [0.001] * 5}})]),
+        ('rotate 1000rpm', []),                                                   # not supported
+        ('zero', []),                                                             # not supported
+        ('move 0 0 0', []),                                                       # not supported
+    ]},
+    'ch_chi440c': {'steps': [
+        ('technique cp --current 10uA --time 2s', [('method.configure', {'mode': 'current', 'sample_interval_s': 0.1, 'reference_electrode': EQCM_REF,
+                                                                         'steps': [{'duration_s': 2.0, 'potential_v': 0.0, 'current_a': 1e-05}]})]),
+        ('technique cv --from 0V --to 1V', []),                                   # NOT_ON_THIS_INSTRUMENT (usage)
+        ('technique steps --program 0.1V@0.25s --interval 0.1s', []),             # BAD_STEP (usage)
+        ('start', []),                                                            # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('zero', []),                                                             # NO_SIGNAL (no frequency yet)
+        ('#wait 2', None),
+        ('zero', [('baseline.zero', {})]),
+        ('open lid', [('lid.set', {'lift_m': 0.05})]),
+        ('start', []),                                                            # LID_OPEN
+        ('close lid', [('lid.set', {'lift_m': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('zero', []),                                                             # BUSY
+        ('wait', []),
+        ('data', [('process.measure', {})]),
+        ('technique steps --program 0.1V@1s,-0.1V@1s --reference Ag/AgCl',
+         [('method.configure', {'mode': 'potential', 'sample_interval_s': 0.1, 'reference_electrode': 'Ag/AgCl',
+                                'steps': [{'duration_s': 1.0, 'potential_v': 0.1, 'current_a': 0.0},
+                                          {'duration_s': 1.0, 'potential_v': -0.1, 'current_a': 0.0}]})]),
+        ('technique qcm --time 1s', [('method.configure', {'mode': 'qcm_only', 'sample_interval_s': 0.1, 'reference_electrode': 'Ag/AgCl',
+                                                           'steps': [{'duration_s': 1.0, 'potential_v': 0.0, 'current_a': 0.0}]})]),
+        ('start', [('acquisition.start', {})]),                                  # runtime: qcm only for an adsorbing film (WRONG_TECHNIQUE)
+        ('technique ca --potential -0.1V --time 1s', [('method.configure', {'mode': 'potential', 'sample_interval_s': 0.1, 'reference_electrode': 'Ag/AgCl',
+                                                                            'steps': [{'duration_s': 1.0, 'potential_v': -0.1, 'current_a': 0.0}]})]),   # cathodic: plates
+        ('start', [('acquisition.start', {})]),
+        ('#wait 0.5', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('connect working=we_01', []),                                            # not supported
+        ('rotate 100rpm', []),                                                    # not supported
+    ]},
+    'ch_chi920d': {'steps': [
+        ('move 0 0 1mm', []),                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('move 0 0 1mm', [('stage.move', {'x_m': 0.0, 'y_m': 0.0, 'z_m': 0.001})]),
+        ('move 0 0 60mm', []),                                                    # OUT_OF_RANGE (0..50 mm)
+        ('start', []),                                                            # NO_TECHNIQUE
+        ('technique secm-line --path -40um,-40um,5um;0um,-40um,5um;40um,-40um,5um --tip 0.5V --substrate 0V',
+         [('method.configure', {'mode': 'constant_height', 'path': LINE, 'tip_potential_v': 0.5, 'substrate_potential_v': 0.0,
+                                'dwell_s': SECM['dwell_s'], 'reference_electrode': SECM['reference_electrode'], 'min_gap_m': SECM['min_gap_m']})]),
+        ('technique ca --potential 1V --time 1s', []),                            # NOT_ON_THIS_INSTRUMENT (usage)
+        ('technique secm-line --path 1,2', []),                                   # BAD_PATH (usage)
+        ('start', [('acquisition.start', {})]),
+        ('move 0 0 2mm', []),                                                     # BUSY
+        ('wait', []),
+        ('data --save-to secm.json', [('process.measure', {})]),
+        ('technique secm-approach --path 0,0,50um;0,0,20um;0,0,10um --tip 0.5V --substrate 0V --dwell 0.5s',
+         [('method.configure', {'mode': 'approach', 'path': APPROACH, 'tip_potential_v': 0.5, 'substrate_potential_v': 0.0, 'dwell_s': 0.5,
+                                'reference_electrode': SECM['reference_electrode'], 'min_gap_m': SECM['min_gap_m']})]),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('zero', []),                                                             # not supported
+    ]},
+    'pine_wavevortex10': {'steps': [
+        ('rotate 1000rpm', []),                                                   # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('open enclosure', [('enclosure.set', {'lift_m': 0.285})]),
+        ('start --time 3s', []),                                                  # ENCLOSURE_OPEN
+        ('close enclosure', [('enclosure.set', {'lift_m': 0})]),
+        ('start --time 3s', []),                                                  # ROTATION_OFF
+        ('rotate 50rpm', []),                                                     # OUT_OF_RANGE (100..8000 rpm)
+        ('rotate 1000rpm', [('speed.set', {'angular_speed_rad_s': 1000 * RPM}), ('motor.run', {'enabled': True})]),
+        ('rotate 1600rpm', [('speed.set', {'angular_speed_rad_s': 1600 * RPM})]),
+        ('start', []),                                                            # MISSING_OPTION (usage)
+        ('start --time 3s', [('acquisition.start', {'duration_s': 3.0, 'sample_interval_s': 0.1})]),
+        ('rotate 4000rpm', [('speed.set', {'angular_speed_rad_s': 4000 * RPM})]),   # runtime: at most 3000 rpm while recording
+        ('wait', []),
+        ('data', [('process.measure', {})]),
+        ('start --time 3s --interval 0.5s', [('acquisition.start', {'duration_s': 3.0, 'sample_interval_s': 0.5})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('rotate off', [('motor.run', {'enabled': False})]),
+        ('technique cv --from 0V --to 1V', []),                                   # not supported
+        ('zero', []),                                                             # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/electrochem_tasks.py b/chemlab/chemlab/compile/tasks/electrochem_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..de03626fcfafadcf1bb2a3280c99b5c64ed285c6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrochem_tasks.py
@@ -0,0 +1,181 @@
+"""electrochem class acceptance tasks (6): gold solutions use `chemlab run`; the checkers read the evaluator view (true film mass,
+currents, positions) and the agent's report files.  World: tasks/electrochem_world.py plus per-task host steps."""
+import json
+
+from .common import run_suite
+from .electrochem_world import config as world_config
+from .checks_common import last_args, native_calls, text_has, used_job, world_call
+
+GAMRY, EQCM, SECM, RRDE = 'gamry_reference620', 'ch_chi440c', 'ch_chi920d', 'pine_wavevortex10'
+RPM = 2 * 3.141592653589793 / 60
+
+
+# ------------------------------------------------------------------ worlds
+def w_gamry_cell_only(lab):
+    """A colleague switched the potentiostat on, set a potential step and registered only the cell."""
+    world_call(lab, GAMRY, 'power.set', {'enabled': True})
+    world_call(lab, GAMRY, 'slot.set_connection', {'port_id': 'cell', 'connection_id': 'cell_01'})
+    world_call(lab, GAMRY, 'electrochem.configure_waveform', {'program': {'mode': 'potential', 'sample_interval_s': 0.1, 'values': [0.5] * 20}})
+
+
+def w_rrde_enclosure_open(lab):
+    """The rotator was turning at 1000 rpm when someone opened the enclosure window (the motor stops)."""
+    world_call(lab, RRDE, 'power.set', {'enabled': True})
+    world_call(lab, RRDE, 'speed.set', {'angular_speed_rad_s': 1000 * RPM})
+    world_call(lab, RRDE, 'motor.run', {'enabled': True})
+    lab.backend.advance(3)
+    world_call(lab, RRDE, 'enclosure.set', {'lift_m': 0.285})
+    lab.backend.advance(3)
+
+
+# ------------------------------------------------------------------ checkers
+def c_gamry_cv(c):
+    e = c.ev(GAMRY)
+    prog = e.get('waveform.program') or {}
+    vals = prog.get('values') or []
+    c.equal('waveform played to the end', e.get('waveform.status'), 'completed')
+    c.add('cv from 0.6 V to -0.2 V and back', bool(vals) and abs(vals[0] - 0.6) < 1e-9 and abs(min(vals) + 0.2) < 1e-9 and abs(vals[-1] - 0.6) < 1e-9,
+          (vals[:2], min(vals) if vals else None, vals[-1:]))
+    c.near('2 mV steps at 50 mV/s (40 ms per point)', prog.get('sample_interval_s'), 0.04, 1e-9)
+    c.equal('801 points played', e.get('waveform.sample_count'), 801)
+    t = c.work_file('cv.json')
+    try:
+        n = len(((json.loads(t) or {}).get('data') or {}).get('samples') or []) if t else 0
+    except ValueError:
+        n = 0
+    c.equal('cv.json holds the 801 recorded samples', n, 801)
+    used_job(c, GAMRY)
+
+
+def c_gamry_recover(c):
+    e = c.ev(GAMRY)
+    for port, ident in (('working_electrode', 'we_01'), ('reference_electrode', 'ref_01'), ('counter_electrode', 'ce_01')):
+        c.equal('%s = %s' % (port, ident), e.get('slot.%s.connection_id' % port), ident)
+    c.equal('waveform played to the end', e.get('waveform.status'), 'completed')
+    text_has(c, 'why.txt names the refusal (NOT_CONNECTED)', 'why.txt', 'NOT_CONNECTED')
+
+
+def c_eqcm(c):
+    e = c.ev(EQCM)
+    m = last_args(c, EQCM, 'method.configure') or {}
+    c.equal('constant-current technique', m.get('mode'), 'current')
+    c.add('10 µA for 2 s', [(s.get('current_a'), s.get('duration_s')) for s in m.get('steps') or []] == [(1e-05, 2.0)], m.get('steps'))
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    dm = e.get('mass.inferred_delta_kg')
+    c.add('film grew (inferred mass gain)', isinstance(dm, float) and dm > 0, dm)
+    c.near('mass.txt reports the gain in µg', c.number_file('mass.txt'), (dm or 0) * 1e9, 1e-4)
+    c.add('the baseline was zeroed before the run', bool(native_calls(c, EQCM, 'baseline.zero')))
+
+
+def c_secm(c):
+    e = c.ev(SECM)
+    m = last_args(c, SECM, 'method.configure') or {}
+    c.equal('constant-height line scan', m.get('mode'), 'constant_height')
+    c.equal('5 path points', len(m.get('path') or []), 5)
+    c.near('tip at 0.5 V', m.get('tip_potential_v'), 0.5, 1e-12)
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.near('points.txt reports 5', c.number_file('points.txt'), 5, 0)
+    c.near('probe parked at z 1 mm afterwards', e.get('stage.z_m'), 0.001, 1e-8)
+
+
+def c_rrde(c):
+    e = c.ev(RRDE)
+    c.near('rotation 1600 rpm', e.get('speed.target_rad_s'), 1600 * RPM, 1e-6)
+    c.equal('recording succeeded', e.get('acquisition.phase'), 'succeeded')
+    d = e.get('disk.current_a')
+    c.near('disk.txt reports the disk current in µA', c.number_file('disk.txt'), (d or 0) * 1e6, 0.01)
+    c.add('a cathodic (negative) disk current for oxygen reduction', isinstance(d, float) and d < 0, d)
+
+
+def c_rrde_recover(c):
+    e = c.ev(RRDE)
+    c.add('enclosure closed', (e.get('enclosure.lift_m') or 0) == 0, e.get('enclosure.lift_m'))
+    c.equal('recording succeeded', e.get('acquisition.phase'), 'succeeded')
+    text_has(c, 'why.txt names the refusal (ENCLOSURE_OPEN)', 'why.txt', 'ENCLOSURE_OPEN')
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_CV = r'''chemlab run gamry_reference620 power on
+chemlab run gamry_reference620 connect working=we_01 reference=ref_01 counter=ce_01 cell=cell_01
+chemlab run gamry_reference620 technique cv --from 0.6V --to -0.2V --rate 50mV/s --step 2mV
+job=$(chemlab run gamry_reference620 start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run gamry_reference620 data --save-to cv.json'''
+
+GOLD_GAMRY_RECOVER = r'''chemlab run gamry_reference620 start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.message' s.json | tee why.txt
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_CONNECTED"' s.json >/dev/null; then
+  chemlab run gamry_reference620 connect working=we_01 reference=ref_01 counter=ce_01
+  chemlab run gamry_reference620 start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 10min
+chemlab run gamry_reference620 status'''
+
+GOLD_EQCM = r'''chemlab run ch_chi440c power on
+chemlab wait 5
+chemlab run ch_chi440c zero
+chemlab run ch_chi440c technique cp --current 10uA --time 2s
+job=$(chemlab run ch_chi440c start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run ch_chi440c status --json | jq -r '.state["mass change"] * 1000000000' > mass.txt
+cat mass.txt'''
+
+GOLD_SECM = r'''chemlab run ch_chi920d power on
+chemlab run ch_chi920d technique secm-line --path '-40um,0um,5um;-20um,0um,5um;0um,0um,5um;20um,0um,5um;40um,0um,5um' --tip 0.5V --substrate 0V
+job=$(chemlab run ch_chi920d start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run ch_chi920d status --json | jq -r '.state.points' > points.txt
+chemlab run ch_chi920d move 0um 0um 1mm
+cat points.txt'''
+
+GOLD_RRDE = r'''chemlab run pine_wavevortex10 power on
+chemlab run pine_wavevortex10 rotate 1600rpm
+chemlab wait 3
+job=$(chemlab run pine_wavevortex10 start --time 5s --json | jq -r .job)
+chemlab wait "$job" --max 5min
+chemlab run pine_wavevortex10 status --json | jq -r '.state.disk * 1000000' > disk.txt
+cat disk.txt'''
+
+GOLD_RRDE_RECOVER = r'''chemlab run pine_wavevortex10 start --time 3s --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json | tee why.txt
+if [ $rc -eq 3 ] && jq -e '.error.code == "ENCLOSURE_OPEN"' s.json >/dev/null; then
+  chemlab run pine_wavevortex10 close enclosure
+  chemlab wait 3
+  chemlab run pine_wavevortex10 start --time 3s --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 5min'''
+
+
+TASKS = [
+    {'id': 'ec01_gamry_cv', 'kind': 'multi-step (connect, technique) + job + record file', 'instruments': [GAMRY], 'check': c_gamry_cv,
+     'instruction': 'On the Gamry Reference 620 (gamry_reference620), connect working electrode we_01, reference ref_01, counter ce_01 and '
+                    'cell cell_01, run one cyclic voltammogram from 0.6 V to -0.2 V and back at 50 mV/s in 2 mV steps, and save the '
+                    'recorded series into cv.json.', 'gold': GOLD_CV},
+    {'id': 'ec02_recover_gamry_connections', 'kind': 'recovery: electrodes not registered', 'instruments': [GAMRY],
+     'world': w_gamry_cell_only, 'check': c_gamry_recover,
+     'instruction': 'A colleague prepared a potential step on the Gamry Reference 620 (gamry_reference620). Start it and wait for it to '
+                    'finish. If it refuses, write the error code and message into why.txt and fix it; the electrodes on the cell are '
+                    'we_01 (working), ref_01 (reference) and ce_01 (counter).', 'gold': GOLD_GAMRY_RECOVER},
+    {'id': 'ec03_eqcm_plating', 'kind': 'multi-step (zero, technique) + job + report (units)', 'instruments': [EQCM], 'check': c_eqcm,
+     'instruction': 'On the CHI440C EQCM (ch_chi440c) with the copper bath, switch on, zero the frequency baseline once the crystal '
+                    'reading is valid, plate at a constant 10 µA for 2 s, and write the inferred mass gain of the film in µg into '
+                    'mass.txt.', 'gold': GOLD_EQCM},
+    {'id': 'ec04_secm_line', 'kind': 'technique with a probe path + job + move', 'instruments': [SECM], 'check': c_secm,
+     'instruction': 'On the CHI920D SECM (ch_chi920d), scan the tip at constant height 5 µm along y = 0 from x = -40 µm to 40 µm in '
+                    '20 µm steps with the tip at 0.5 V and the substrate at 0 V. Write the number of recorded points into points.txt '
+                    'and afterwards park the probe at x 0, y 0, z 1 mm.', 'gold': GOLD_SECM},
+    {'id': 'ec05_rrde_record', 'kind': 'rotation + timed recording (job) + report', 'instruments': [RRDE], 'check': c_rrde,
+     'instruction': 'On the Pine WaveVortex 10 rotator (pine_wavevortex10), rotate the ring-disk electrode at 1600 rpm, record the '
+                    'ring and disk currents for 5 s, and write the last disk current in µA into disk.txt.', 'gold': GOLD_RRDE},
+    {'id': 'ec06_recover_rrde_enclosure', 'kind': 'recovery: enclosure window open', 'instruments': [RRDE],
+     'world': w_rrde_enclosure_open, 'check': c_rrde_recover,
+     'instruction': 'The rotator (pine_wavevortex10) is set to 1000 rpm. Record the ring and disk currents for 3 s. If it refuses, '
+                    'write the error code and the fix into why.txt and fix it.', 'gold': GOLD_RRDE_RECOVER},
+]
+for _t in TASKS:
+    _t['class'] = 'electrochem'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('electrochem', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/electrochem_world.py b/chemlab/chemlab/compile/tasks/electrochem_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..ddcc85737b31fcbc9437d83488a92b347f0ed601
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/electrochem_world.py
@@ -0,0 +1,43 @@
+"""Host-side world for the electrochem class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+Nothing here is reachable from the sandbox.
+
+* Gamry Reference 620: the lab's 1 mM Fe(III)/Fe(II) template cell (SHE reference) is in place (host_load_template_cell); the
+  electrodes are not yet registered in the potentiostat's slots (the agent connects we_01, ref_01, ce_01, cell_01).
+* CHI440C: the quartz crystal declared (evaluator crystal.configure, before power on), the lid opened, the copper plating bath
+  (contract example) filled, the lid closed.
+* CHI920D: the SECM sample (contract example surface) mounted.
+* WaveVortex 10: the enclosure opened, the oxygen-saturated bath (contract example) under the electrode, the enclosure closed, the
+  external bipotentiostat connected (evaluator electrochem.configure).
+"""
+import copy
+
+from ...labbackend import load_config
+
+GAMRY_CELL = {'couple_id': 'redox_fep3_to_fep2', 'oxidant_concentration_mol_m3': 1.0, 'reductant_concentration_mol_m3': 0.0,
+              'electrode_area_m2': 7.07e-06, 'reference_electrode_id': 'refel_she'}
+CHI440C = [{'capability': 'crystal.configure', 'arguments': 'contract_example', 'evaluator': True},
+           {'capability': 'lid.set', 'arguments': {'lift_m': 0.05}},
+           {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+           {'capability': 'lid.set', 'arguments': {'lift_m': 0.0}}]
+CHI920D = [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True}]
+PINE = [{'capability': 'enclosure.set', 'arguments': {'lift_m': 0.285}},
+        {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+        {'capability': 'enclosure.set', 'arguments': {'lift_m': 0.0}},
+        {'capability': 'electrochem.configure', 'arguments': 'contract_example', 'evaluator': True}]
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the electrochem world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        if slug == 'gamry_reference620':
+            e['setup'] = list(e.get('setup') or []) + [{'host': 'host_load_template_cell', 'kwargs': {'instance_id': iid, 'cell': dict(GAMRY_CELL)}}]
+        elif slug == 'ch_chi440c':
+            e['setup'] = CHI440C + list(e.get('setup') or [])
+        elif slug == 'ch_chi920d':
+            e['setup'] = list(e.get('setup') or []) + CHI920D
+        elif slug == 'pine_wavevortex10':
+            e['setup'] = list(e.get('setup') or []) + PINE
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/enclosure_lowering.py b/chemlab/chemlab/compile/tasks/enclosure_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..466e161a7a33ad43a51486e9a1d684ae8ee82096
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/enclosure_lowering.py
@@ -0,0 +1,70 @@
+"""Lowering table of the enclosure class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a read, or a verb this member does not have); None = not checked.  The labs carry the class world
+(tasks/enclosure_world.py: the glovebox scene)."""
+from .enclosure_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+CASES = {
+    'inert_purelab_he_2gb': {'steps': [
+        ('status', []),
+        ('open', []),                                                             # WHICH_PART (outer or inner)
+        ('open outer', [('antechamber.outer_door.set', {'open': True})]),
+        ('open inner', []),                                                       # OTHER_DOOR_OPEN
+        ('cycle', []),                                                            # DOOR_OPEN
+        ('close outer', [('antechamber.outer_door.set', {'open': False})]),
+        ('open inner', []),                                                       # ANTECHAMBER_NOT_PURGED
+        ('cycle --cycles 2 --wait --max 20min', [('antechamber.set_cycles', {'cycles': 2}), ('antechamber.cycle.start', {})]),
+        ('open inner', [('antechamber.inner_door.set', {'open': True})]),
+        ('cycle', []),                                                            # DOOR_OPEN (inner)
+        ('close inner', [('antechamber.inner_door.set', {'open': False})]),
+        ('cycle --cycles 12', []),                                                # BAD_CYCLES (1..9)
+        ('cycle', [('antechamber.cycle.start', {})]),                             # two cycles are already set
+        ('cycle stop', [('antechamber.cycle.stop', {})]),
+        ('cycle stop', []),                                                       # NO_CYCLE
+        ('fan 60%', [('blower.configure', {'speed_pct': 60.0})]),
+        ('fan on', []),                                                           # BAD_FAN_SETTING (speed only)
+        ('light on', [('light.set', {'on': True})]),
+        ('light on', []),                                                         # already on
+        ('read', []),
+        ('sash safe', []),                                                        # not supported
+        ('uv on', []),                                                            # not supported
+    ]},
+    'esco_ac24s8': {'steps': [
+        ('status', []),
+        ('fan on', []),                                                           # SASH_CLOSED
+        ('uv on', [('uv.toggle', {})]),
+        ('uv off', [('uv.toggle', {})]),
+        ('sash safe', [('sash.move', {'direction': 'up'})]),
+        ('uv on', []),                                                            # SASH_NOT_CLOSED
+        ('fan on --wait --max 10min', [('fan.set', {'state': 'on'})]),
+        ('light off', [('lamp.toggle', {})]),                                     # the warm-up switched the light on
+        ('light on', [('lamp.toggle', {})]),
+        ('mode quickstart', [('settings.configure', {'mode': 'quickstart'})]),
+        ('mode maintenance', []),                                                 # UNKNOWN_MODE (needs the admin PIN in the menu)
+        ('sash open', [('sash.move', {'direction': 'up'})]),
+        ('read', []),
+        ('sash safe', [('sash.move', {'direction': 'down'})]),
+        ('mode normal', [('settings.configure', {'mode': 'normal'})]),
+        ('fan off', [('fan.set', {'state': 'off'})]),
+        ('sash close', [('sash.move', {'direction': 'down'})]),
+        ('sash 300mm', []),                                                       # UNKNOWN_POSITION (fixed stops)
+        ('cycle', []),                                                            # not supported
+    ]},
+    'esco_efa5uduvw': {'steps': [
+        ('status', []),
+        ('sash open', []),                                                        # NEEDS_HOLD (above the 457 mm stop)
+        ('sash open --hold', [('sash.set', {'height_m': 0.67, 'hold': True})]),
+        ('sash safe', [('sash.set', {'height_m': 0.457, 'hold': False})]),
+        ('sash 0.8m', []),                                                        # OUT_OF_RANGE (0..670 mm)
+        ('sash 300mm', [('sash.set', {'height_m': 0.3, 'hold': False})]),
+        ('mode night', [('monitor.night_setback', {'closed': True})]),
+        ('mode night', []),                                                       # already
+        ('mode normal', [('monitor.night_setback', {'closed': False})]),
+        ('fan off', [('fan.set', {'on': False})]),
+        ('fan on', [('fan.set', {'on': True})]),
+        ('fan standby', []),                                                      # BAD_FAN_SETTING
+        ('light off', [('light.set', {'on': False})]),
+        ('read', []),
+        ('uv on', []),                                                            # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/enclosure_tasks.py b/chemlab/chemlab/compile/tasks/enclosure_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..ef1f698213d2aa98835731eff9de9dbcc90bc38a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/enclosure_tasks.py
@@ -0,0 +1,140 @@
+"""Enclosure class acceptance tasks (6): gold solutions use `chemlab run`; the checkers read the evaluator view and the agent's
+report files.  The labs carry the class world (tasks/enclosure_world.py: the glovebox scene)."""
+from .common import run_suite
+from .enclosure_world import config as world_config
+
+GB, BSC, HOOD = 'inert_purelab_he_2gb', 'esco_ac24s8', 'esco_efa5uduvw'
+_N = [0]
+
+
+def world_call(lab, iid, cap, args):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, _N[0]))
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+def w_bsc_in_use(lab):
+    """The cabinet was in use: sash at the safe height, blower on and warmed up, light on."""
+    world_call(lab, BSC, 'sash.move', {'direction': 'up'})
+    lab.backend.advance(10)
+    world_call(lab, BSC, 'fan.set', {'state': 'on'})
+    lab.backend.advance(200)
+
+
+# ------------------------------------------------------------------ checkers
+def c_bsc_ready(c):
+    e = c.ev(BSC)
+    c.equal('blower on', e['fan.state'], 'on')
+    c.equal('airflow OK', e['airflow.status'], 'ok')
+    c.equal('sash at the safe height', e['sash.status'], 'safe')
+    c.add('work light on', e['lamp.on'])
+
+
+def c_bsc_uv(c):
+    e = c.ev(BSC)
+    c.add('UV lamp on', e['uv.on'])
+    c.equal('sash closed', e['sash.status'], 'closed')
+    c.equal('blower off', e['fan.state'], 'off')
+
+
+def c_hood_load(c):
+    e = c.ev(HOOD)
+    c.near('sash back at the 457 mm working height', e['sash.height_m'], 0.457, 1e-6)
+    c.add('sash not held', not e['sash.held'])
+    raised = [x for x in c.lab.core.log.entries if x['argv'][1:4] == ['run', HOOD, 'sash'] and x['exit'] == 0 and '--hold' in x['argv']]
+    c.add('it was raised above the stop (held) on the way', bool(raised), len(raised))
+    c.near('face.txt reports the face velocity (m/s, +-0.02)', c.number_file('face.txt'), e['monitor.reading_m_s'], 0.02)
+
+
+def c_hood_night(c):
+    e = c.ev(HOOD)
+    c.near('sash closed', e['sash.height_m'], 0.0, 1e-9)
+    c.add('night setback on', e['night_setback.closed'])
+    c.add('light off', not e['light.on'])
+
+
+def c_transfer(c):
+    e = c.ev(GB)
+    c.add('inner door open', e['antechamber.inner_door_open'])
+    c.add('outer door closed', not e['antechamber.outer_door_open'])
+    c.equal('antechamber cycles completed', e['antechamber.phase'], 'completed')
+    c.add('at least 3 evacuate / refill cycles', (e.get('antechamber.completed_cycles') or 0) >= 3, e.get('antechamber.completed_cycles'))
+
+
+def c_purify(c):
+    e = c.ev(GB)
+    c.near('blower speed 70 %', (e.get('blower.state') or {}).get('speed_set_pct'), 70.0, 1e-6)
+    c.add('gas purification on', e['purification.enabled'])
+    c.near('box pressure set point 5 mbar', e['pressure.target_gauge_pa'], 500.0, 1e-6)
+
+
+GOLD_E01 = r'''chemlab run esco_ac24s8 fan on --wait --json > f.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' f.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "SASH_CLOSED"' f.json >/dev/null; then
+  chemlab run esco_ac24s8 sash safe
+  chemlab run esco_ac24s8 fan on --wait
+fi
+chemlab run esco_ac24s8 light on
+chemlab run esco_ac24s8 read'''
+
+GOLD_E02 = r'''for i in 1 2 3; do
+  chemlab run esco_ac24s8 uv on --json > u.json && break
+  code=$(jq -r .error.code u.json); echo "uv: $code"
+  case "$code" in
+    SASH_NOT_CLOSED) chemlab run esco_ac24s8 sash close ;;
+    FAN_RUNNING) chemlab run esco_ac24s8 fan off ;;
+    *) break ;;
+  esac
+done
+chemlab run esco_ac24s8 status'''
+
+GOLD_E03 = r'''chemlab run esco_efa5uduvw sash open --json > s.json; rc=$?
+if [ $rc -eq 2 ] && jq -e '.error.code == "NEEDS_HOLD"' s.json >/dev/null; then
+  chemlab run esco_efa5uduvw sash open --hold
+fi
+chemlab run esco_efa5uduvw sash safe
+chemlab wait 10
+chemlab run esco_efa5uduvw read --json | jq -r '.readings["monitor.reading_m_s"]' > face.txt
+cat face.txt'''
+
+GOLD_E05 = r'''chemlab run inert_purelab_he_2gb open outer
+chemlab run inert_purelab_he_2gb close outer
+chemlab run inert_purelab_he_2gb open inner --json > o.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' o.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "ANTECHAMBER_NOT_PURGED"' o.json >/dev/null; then
+  chemlab run inert_purelab_he_2gb cycle --cycles 3 --wait --max 30min
+  chemlab run inert_purelab_he_2gb open inner
+fi
+chemlab run inert_purelab_he_2gb read'''
+
+TASKS = [
+    {'id': 'en01_bsc_startup', 'kind': 'recovery: sash closed', 'instruments': [BSC], 'check': c_bsc_ready,
+     'instruction': 'Prepare the Esco biosafety cabinet (esco_ac24s8) for work: blower running with the airflow OK at the safe working height, '
+                    'work light on.', 'gold': GOLD_E01},
+    {'id': 'en02_bsc_uv', 'kind': 'recovery: two UV interlocks (sash, blower)', 'instruments': [BSC], 'world': w_bsc_in_use, 'check': c_bsc_uv,
+     'instruction': 'Work in the Esco biosafety cabinet (esco_ac24s8) is finished. Decontaminate it with its UV lamp (it must be off-duty: sash '
+                    'closed, blower off).', 'gold': GOLD_E02},
+    {'id': 'en03_hood_load', 'kind': 'recovery: above the sash stop + report', 'instruments': [HOOD], 'check': c_hood_load,
+     'instruction': 'Raise the Esco fume hood sash (esco_efa5uduvw) fully to bring a large apparatus in, then lower it back to the working '
+                    'height. After 10 s, write the airflow monitor reading (m/s) into face.txt.', 'gold': GOLD_E03},
+    {'id': 'en04_hood_night', 'kind': 'multi-step', 'instruments': [HOOD], 'check': c_hood_night,
+     'instruction': 'End of the day at the Esco fume hood (esco_efa5uduvw): close the sash, put its airflow monitor into night setback and switch '
+                    'the light off.',
+     'gold': 'chemlab run esco_efa5uduvw sash close && chemlab run esco_efa5uduvw mode night && chemlab run esco_efa5uduvw light off'},
+    {'id': 'en05_glovebox_transfer', 'kind': 'recovery: antechamber not purged (long action)', 'instruments': [GB], 'check': c_transfer,
+     'instruction': 'Bring a sample vial into the Inert PureLab glovebox (inert_purelab_he_2gb) through the antechamber: open the outer door (the '
+                    'operator puts the vial in), close it, and open the inner door so the vial can be taken into the box - without letting air '
+                    'into the box (at least 3 evacuate / refill cycles).', 'gold': GOLD_E05},
+    {'id': 'en06_glovebox_purify', 'kind': 'class + secondary class verbs (composite)', 'instruments': [GB], 'check': c_purify,
+     'instruction': 'On the Inert PureLab glovebox (inert_purelab_he_2gb): set the circulation blower to 70 %, set the box working pressure to '
+                    '5 mbar and switch the gas purification on.',
+     'gold': 'chemlab run inert_purelab_he_2gb fan 70% && chemlab run inert_purelab_he_2gb setpoint 5mbar && chemlab run inert_purelab_he_2gb start'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'enclosure'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('enclosure', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/enclosure_world.py b/chemlab/chemlab/compile/tasks/enclosure_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..b51e081d0c78b9ee88aae72fa3ee38fc328b7b15
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/enclosure_world.py
@@ -0,0 +1,25 @@
+"""Host-side world for the enclosure class (what the lab operator and the building provide), as lab-config entries.
+
+* Inert PureLab HE glovebox: the trusted glovebox scene (scenes/glovebox.py) - the shared lab vacuum line on the antechamber,
+  the antechamber cycle end points (evacuate to 3 mbar, refill to 950 mbar), the box at +8 mbar gauge with 0.8 ppm O2 and
+  0.5 ppm H2O, and the antechamber pressure model.  The default lab has none of this (no readings, no antechamber cycle).
+* Esco biosafety cabinet and fume hood: the room / exhaust declarations are already in all203.json (plant.configure,
+  exhaust.configure); nothing else is needed.
+"""
+import copy
+
+from ...labbackend import load_config
+
+GLOVEBOX = {'o2_ppm': 0.8, 'h2o_ppm': 0.5, 'box_gauge_pa': 800.0, 'evacuation_pa': 300.0, 'backfill_pa': 95000.0,
+            'vacuum_source': 'lab_vacuum_line'}
+
+
+def config(base=None, glovebox=None):
+    """all203.json (or ``base``) with the enclosure world added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug == 'inert_purelab_he_2gb':
+            e['scene'] = 'chemlab.compile.scenes.glovebox:GloveboxScene'
+            e['glovebox'] = dict(GLOVEBOX, **(glovebox or {}))
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/evaporation_lowering.py b/chemlab/chemlab/compile/tasks/evaporation_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..a6c53bd307e494a49828f77209d5b2838606c53e
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/evaporation_lowering.py
@@ -0,0 +1,202 @@
+"""Lowering table of the evaporation class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a usage error, an unsupported verb, a read); None = not checked.  "<slug>_empty" entries are a second copy of a member
+without the lab's charge (methods can be set there; they are fixed once a sample is charged)."""
+import math
+
+from .evaporation_world import config as world
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+
+
+def config():
+    return world(variants={'genevac_mivac2_empty': 'empty', 'pilodist_pilodist104_empty': 'empty', 'uic_kdl1basic_empty': 'empty'},
+                 copies={'genevac_mivac2_empty': 'genevac_mivac2', 'pilodist_pilodist104_empty': 'pilodist_pilodist104',
+                         'uic_kdl1basic_empty': 'uic_kdl1basic'})
+
+
+CASES = {
+    'ika_rv10_digital_v': {'steps': [
+        ('status', []),
+        ('set-temp 15C', [('thermal.set_temperature', {'temperature_k': K0 + 15})]),      # the runtime refuses: below room temperature
+        ('set-temp 200C', []),                                                             # OUT_OF_RANGE (max 180 °C)
+        ('set-temp 40C --heat', [('thermal.set_temperature', {'temperature_k': K0 + 40}), ('thermal.start', {})]),
+        ('set-temp 45C --heat', [('thermal.set_temperature', {'temperature_k': K0 + 45})]),   # heater already on
+        ('rotate 2rpm', []),                                                               # below 5 rpm
+        ('rotate 120rpm', [('rotation.set_speed', {'speed_rad_s': 120 * RPM}), ('rotation.start', {})]),
+        ('rotate 150rpm', [('rotation.set_speed', {'speed_rad_s': 150 * RPM})]),           # already rotating
+        ('method time=2min interval=10s', [('timer.set_duration', {'duration_s': 120.0}), ('interval.set', {'interval_s': 10})]),
+        ('method foo=1', []),
+        ('lift up --wait', [('lift.set_position', {'position_m': 0.14})]),
+        ('lift 30mm', [('lift.set_position', {'position_m': 0.03})]),
+        ('lift 20cm', []),
+        ('vacuum 100mbar', []),                                                            # not supported: external pump
+        ('endpoint schedule', []),
+        ('stop', [('rotation.stop', {}), ('thermal.stop', {})]),
+        ('method time=3min', [('timer.set_duration', {'duration_s': 180.0})]),
+        ('start --dry-run', []),
+        ('start', [('thermal.start', {}), ('rotation.start', {})]),                        # job: the timer ends the rotation
+        ('#wait 60', None),
+        ('result', []),
+        ('set-temp off', [('thermal.stop', {})]),
+        ('rotate off', [('rotation.stop', {})]),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('start', []),                                                                     # POWER_OFF
+        ('rotate 60rpm', []),                                                              # POWER_OFF
+    ]},
+    'buchi_lyovapor_l250_pro': {'steps': [
+        ('status', []),
+        ('start', []),                                                                     # NO_RECIPE
+        ('method freeze=1min', []),                                                        # MISSING_SETTING: no stored recipe
+        ('method freeze=1min primary=2min secondary=1min shelf=-30C',
+         [('lyophilization.set_recipe', {'recipe': {'pre_freeze_s': 60.0, 'primary_drying_s': 120.0, 'secondary_drying_s': 60.0}}),
+          ('thermal.set_temperature', {'temperature_k': K0 - 30})]),
+        ('method primary=3min', [('lyophilization.set_recipe', {'recipe': {'pre_freeze_s': 60.0, 'primary_drying_s': 180.0, 'secondary_drying_s': 60.0}})]),
+        ('vacuum 5Pa', []),                                                                # OUT_OF_RANGE (10-100 Pa)
+        ('vacuum 0.3mbar', [('vacuum.set_pressure', {'pressure_pa': 30.0})]),
+        ('set-temp -10C', [('thermal.set_temperature', {'temperature_k': K0 - 10})]),
+        ('set-temp off', []),                                                              # NO_OFF
+        ('endpoint moisture --max-moisture 2%', [('lyophilization.set_endpoint', {'mode': 'model_moisture', 'moisture_threshold': 0.02})]),
+        ('endpoint schedule', [('lyophilization.set_endpoint', {'mode': 'schedule_only', 'moisture_threshold': 0.02})]),
+        ('open chamber', [('chamber.set_open', {'open': True})]),                          # refused by the runtime: under vacuum
+        ('start --dry-run', []),
+        ('start', [('lyophilization.start', {})]),
+        ('set-temp -5C', []),                                                              # CYCLE_RUNNING
+        ('method freeze=2min', []),                                                        # CYCLE_RUNNING
+        ('#wait 100', None),
+        ('stop', [('lyophilization.stop', {})]),
+        ('result', []),
+        ('rotate 10rpm', []),
+        ('fraction 1', []),
+    ]},
+    'buchi_minispray': {'steps': [
+        ('status', []),
+        ('set-temp 160C --heat', []),                                                      # NO_AIRFLOW
+        ('start', []),                                                                     # NOT_PREHEATED
+        ('set-temp 160C', [('heating.set', {'inlet_target_k': K0 + 160})]),
+        ('set-temp 250C', []),                                                             # OUT_OF_RANGE (max 220 °C)
+        ('method inlet=150C feed=4mL/min aspirator=400L/min spray=10L/min',
+         [('heating.set', {'inlet_target_k': K0 + 150}), ('pump.set', {'feed_m3_s': 4e-6 / 60}),
+          ('drying_gas.set', {'drying_gas_m3_s': 0.4 / 60}), ('dispersion_gas.set', {'spray_gas_m3_s': 0.01 / 60})]),
+        ('feed 50mL/min', []),                                                             # OUT_OF_RANGE (max 30 mL/min)
+        ('preheat on --wait', [('drying.prepare', {})]),
+        ('set-temp 150C --heat', [('heating.set', {'inlet_target_k': K0 + 150, 'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('feed 3mL/min', [('pump.set', {'feed_m3_s': 3e-6 / 60})]),
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('drying.measure', {})]),
+        ('set-temp off', [('heating.set', {'enabled': False})]),
+        ('preheat off', [('drying.shutdown', {})]),
+        ('vacuum 100mbar', []),
+        ('rotate 10rpm', []),
+    ]},
+    'tousimis_autosamdri815': {'steps': [
+        ('status', []),
+        ('start', []),                                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                                     # NO_METHOD
+        ('method purge=5min', []),                                                         # MISSING_SETTING bleed
+        ('method purge=10min bleed=14364', [('method.configure', {'purge_time_s': 600.0, 'bleed_rate_pa_s': 14364.0})]),
+        ('method bleed=20000', []),                                                        # OUT_OF_RANGE
+        ('method bleed=15000', [('method.configure', {'purge_time_s': 600.0, 'bleed_rate_pa_s': 15000.0})]),
+        ('set-temp 40C', []),
+        ('vacuum 10mbar', []),
+        ('open lid', [('lid.set_lift', {'lift_m': 0.065})]),
+        ('start', []),                                                                     # LID_OPEN
+        ('close lid', [('lid.set_lift', {'lift_m': 0})]),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 120', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('cpd.measure', {})]),
+        ('method purge=8min bleed=15000', [('method.configure', {'purge_time_s': 480.0, 'bleed_rate_pa_s': 15000.0})]),   # refused: after a run
+    ]},
+    'genevac_mivac2': {'steps': [
+        ('status', []),
+        ('method temp=50C', []),                                                           # METHOD_LOCKED: samples loaded
+        ('set-temp 45C', [('temperature.set', {'temperature_k': K0 + 45})]),
+        ('set-temp 90C', []),                                                              # OUT_OF_RANGE (max 80 °C)
+        ('preheat on --wait', [('preheat.set', {'on': True})]),
+        ('open lid', [('lid.set_open', {'open': True})]),
+        ('start', []),                                                                     # LID_OPEN
+        ('close lid', [('lid.set_open', {'open': False})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('evaporation.measure', {})]),
+        ('preheat off', [('preheat.set', {'on': False})]),
+        ('vacuum 10mbar', []),
+        ('rotate 100rpm', []),
+    ]},
+    'genevac_mivac2_empty': {'steps': [
+        ('method temp=50C', []),                                                           # MISSING_SETTING
+        ('method temp=50C heat_time=5min time=20min timeout=1h program=wine pressure=null endpoint=0', []),   # BAD_CHOICE
+        ('method temp=50C heat_time=5min time=20min timeout=1h program=alcohol pressure=null endpoint=0',
+         [('method.configure', {'temperature_k': K0 + 50, 'heating_time_s': 300.0, 'duration_s': 1200.0, 'timeout_s': 3600.0, 'program': 'alcohol',
+                                'target_pressure_pa': None, 'endpoint_remaining_fraction': 0.0})]),
+        ('start', []),                                                                     # NO_SAMPLE
+    ]},
+    'pilodist_pilodist104': {'steps': [
+        ('status', []),
+        ('method temp=90C', []),                                                           # METHOD_LOCKED
+        ('set-temp 95C', [('temperature.set', {'temperature_k': K0 + 95})]),
+        ('set-temp 300C', []),                                                             # OUT_OF_RANGE (max 250 °C)
+        ('reflux 4', [('reflux.set', {'ratio': 4.0, 'total_reflux': False})]),
+        ('reflux total', [('reflux.set', {'ratio': 4.0, 'total_reflux': True})]),
+        ('reflux 2000', []),
+        ('fraction 1', [('fraction.select', {'index': 1})]),
+        ('fraction 7', []),
+        ('start', []),                                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('fraction 2', [('fraction.select', {'index': 2})]),
+        ('result', [('distillation.measure', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('vacuum 300mbar', []),
+        ('rotate 10rpm', []),
+    ]},
+    'pilodist_pilodist104_empty': {'steps': [
+        ('set-temp 95C', []),                                                              # NO_METHOD
+        ('method temp=90C', []),                                                           # MISSING_SETTING
+        ('method temp=90C pressure=300mbar reflux=2 total_reflux=off cut=100mL time=2min timeout=3min min_boiler=50mL',
+         [('method.configure', {'bath_target_k': K0 + 90, 'pressure_pa': 30000.0, 'reflux_ratio': 2.0, 'total_reflux': False, 'cut_volume_m3': 1e-4,
+                                'duration_s': 120.0, 'timeout_s': 180.0, 'min_boiler_volume_m3': 5e-5})]),
+        ('fraction 1', []),                                                                # NO_SAMPLE
+        ('set-temp 92C', [('temperature.set', {'temperature_k': K0 + 92})]),
+    ]},
+    'uic_kdl1basic': {'steps': [
+        ('status', []),
+        ('set-temp 60C', [('temperature.set', {'temperature_k': K0 + 60})]),
+        ('vacuum 0.05mbar', [('vacuum.set', {'pressure_pa': 5.0})]),
+        ('vacuum 0.01mbar', []),                                                           # OUT_OF_RANGE (min 5 Pa)
+        ('rotate 300rpm', [('wiper.set', {'speed_rad_s': 300 * RPM})]),
+        ('rotate 3000rpm', []),
+        ('condenser 15C', [('condenser.set', {'temperature_k': K0 + 15})]),
+        ('method time=3min', []),                                                          # MISSING_SETTING feed, timeout
+        ('method time=3min timeout=5min feed=1.5g/min',
+         [('method.configure', {'wall_temperature_k': K0 + 60, 'condenser_temperature_k': K0 + 15, 'pressure_pa': 5.0, 'feed_rate_kg_s': 2.5e-5,
+                                'wiper_speed_rad_s': 300 * RPM, 'duration_s': 180.0, 'timeout_s': 300.0})]),
+        ('rotate off', [('wiper.set', {'speed_rad_s': 0})]),
+        ('start', []),                                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                                     # WIPER_OFF
+        ('rotate 250rpm', [('wiper.set', {'speed_rad_s': 250 * RPM})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('distillation.measure', {})]),
+        ('lift up', []),
+        ('preheat on', []),
+    ]},
+    'uic_kdl1basic_empty': {'steps': [
+        ('set-temp 60C', []),                                                              # NO_METHOD
+        ('method temp=60C', []),                                                           # MISSING_SETTING
+        ('method temp=120C condenser=20C pressure=1mbar feed=2g/min speed=200rpm time=10min timeout=20min',
+         [('method.configure', {'wall_temperature_k': K0 + 120, 'condenser_temperature_k': K0 + 20, 'pressure_pa': 100.0, 'feed_rate_kg_s': 2e-3 / 60,
+                                'wiper_speed_rad_s': 200 * RPM, 'duration_s': 600.0, 'timeout_s': 1200.0})]),
+        ('start', []),                                                                     # POWER_OFF
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/evaporation_tasks.py b/chemlab/chemlab/compile/tasks/evaporation_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..2b084348c9bc5f3cbefbe3a71591ee00211d4e58
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/evaporation_tasks.py
@@ -0,0 +1,240 @@
+"""Evaporation class acceptance tasks (9): gold solutions use `chemlab run` (and `chemlab call` where the class says so); the
+checkers read the evaluator view (truth slots included), trusted product reads and the agent's report files."""
+import json
+import math
+
+from .common import run_suite
+from .evaporation_world import config as world
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+RV, PUMP, LYO, SPRAY, CPD, MIVAC, PILO, KDL = ('ika_rv10_digital_v', 'vacuubrand_pc3001_vario_select', 'buchi_lyovapor_l250_pro', 'buchi_minispray',
+                                               'tousimis_autosamdri815', 'genevac_mivac2', 'pilodist_pilodist104', 'uic_kdl1basic')
+
+
+def cfg(variants=None, extra=None):
+    """The task's lab config: the evaporation world (+ extra operator steps per instrument)."""
+    def f(c):
+        c = world(c, variants=variants)
+        for e in c['instruments']:
+            e['setup'] = list(e.get('setup') or []) + list((extra or {}).get(e['id'], []))
+        return c
+    return f
+
+
+def product(c, iid):
+    r = c.lab.backend.evaluator_invoke(iid, 'product.read', {}, 'check-product-%s' % iid)
+    return r.get('result') or {}
+
+
+def saved(c, name):
+    t = c.work_file(name)
+    try:
+        return json.loads(t) if t else None
+    except ValueError:
+        return None
+
+
+# ------------------------------------------------------------------ checkers
+def c_rotavap(c):
+    e = c.ev(RV)
+    c.near('bath set point 40 °C', e['thermal.target_temperature_k'], K0 + 40, 1e-6)
+    c.add('bath heating on', e['thermal.enabled'] is True)
+    c.add('flask rotating', e['rotation.running'] is True)
+    c.near('speed 120 rpm', e['rotation.target_speed_rad_s'], 120 * RPM, 1e-6)
+    c.near('timer 30 min', e['timer.setting_s'], 1800, 1e-6)
+
+
+def c_rotavap_pump(c):
+    e, p = c.ev(RV), c.ev(PUMP)
+    c.near('bath set point 40 °C', e['thermal.target_temperature_k'], K0 + 40, 1e-6)
+    c.add('bath heating on', e['thermal.enabled'] is True)
+    c.near('pump set point 175 mbar', p['vacuum.target_pressure_pa'], 17500.0, 1e-6)
+
+
+def c_lyo_cycle(c):
+    e = c.ev(LYO)
+    c.equal('cycle complete', e['cycle.phase'], 'complete')
+    r = e.get('cycle.recipe') or {}
+    c.add('recipe 10 / 30 / 10 min', [r.get('pre_freeze_s'), r.get('primary_drying_s'), r.get('secondary_drying_s')] == [600.0, 1800.0, 600.0], r)
+    c.near('shelf set point -20 °C', e['thermal.target_shelf_temperature_k'], K0 - 20, 1e-6)
+    c.near('vacuum set point 0.3 mbar', e['vacuum.target_pressure_pa'], 30.0, 1e-6)
+    c.equal('ends on schedule', e['cycle.endpoint_mode'], 'schedule_only')
+
+
+def c_lyo_recover(c):
+    e = c.ev(LYO)
+    c.add('chamber closed', e['chamber.open'] is False)
+    c.add('cycle running', e['cycle.running'] is True, e['cycle.phase'])
+    r = e.get('cycle.recipe') or {}
+    c.add('recipe 1 h / 12 h / 3 h', [r.get('pre_freeze_s'), r.get('primary_drying_s'), r.get('secondary_drying_s')] == [3600.0, 43200.0, 10800.0], r)
+
+
+def c_mivac(c):
+    e = c.ev(MIVAC)
+    c.near('set point 45 °C', e['thermal.target_k'], K0 + 45, 1e-6)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    c.add('lid closed', e['lid.open'] is False)
+    c.near('mivac.txt = remaining solvent fraction', c.number_file('mivac.txt'), e['output.remaining_fraction'], 0.005)
+
+
+def c_pilodist(c):
+    e = c.ev(PILO)
+    c.near('bath set point 100 °C', e['thermal.target_k'], K0 + 100, 1e-6)
+    c.near('reflux ratio 3', e['reflux.target_ratio'], 3.0, 1e-9)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    c.equal('collector at receiver 1', e['fraction.index'], 1)
+    rec = product(c, PILO).get('records') or []
+    r0 = sum((r.get('fractions_mol') or [0, 0])[0] for r in rec)
+    r1 = sum((r.get('fractions_mol') or [0, 0])[1] for r in rec)
+    c.add('distillate in receiver 0 (first cut)', r0 > 0, r0)
+    c.add('distillate in receiver 1 (main cut)', r1 > 0, r1)
+
+
+def c_kdl(c):
+    e = c.ev(KDL)
+    c.near('wall 65 °C', e['thermal.wall_target_k'], K0 + 65, 1e-6)
+    c.near('condenser 15 °C', e['thermal.condenser_target_k'], K0 + 15, 1e-6)
+    c.near('vacuum 0.1 mbar', e['vacuum.target_pa'], 10.0, 1e-6)
+    c.near('wiper 250 rpm', e['wiper.target_rad_s'], 250 * RPM, 1e-6)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    rec = saved(c, 'kdl.json') or {}
+    c.equal('kdl.json holds the finished run record', (rec.get('result') or {}).get('phase'), 'succeeded')
+
+
+def c_cpd(c):
+    e = c.ev(CPD)
+    c.near('purge 10 min', e['method.purge_time_s'], 600.0, 1e-6)
+    c.equal('cycle finished', e['cycle.phase'], 'succeeded')
+    c.add('passed the critical point', e.get('critical.controller_pass') is True, e.get('critical.controller_pass'))
+
+
+def c_spray(c):
+    e = c.ev(SPRAY)
+    sp = e.get('tiles.setpoints') or {}
+    c.near('inlet set point 150 °C', sp.get('inlet_target_k'), K0 + 150, 1e-6)
+    c.near('feed 4 mL/min', sp.get('feed_m3_s'), 4e-6 / 60, 1e-12)
+    c.add('sprayed for at least 2 min', (e.get('cycle.elapsed_s') or 0) >= 110, e.get('cycle.elapsed_s'))
+    c.add('stopped', e['cycle.phase'] in ('cancelled', 'succeeded'), e['cycle.phase'])
+    rec = saved(c, 'spray.json') or {}
+    c.add('spray.json holds the run record', isinstance(rec.get('result'), dict) and 'inlet_k' in rec['result'], str(rec)[:120])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_RV = 'chemlab run ika_rv10_digital_v set-temp 40C --heat && chemlab run ika_rv10_digital_v rotate 120rpm && chemlab run ika_rv10_digital_v method time=30min'
+
+GOLD_PUMP = r'''chemlab run ika_rv10_digital_v set-temp 40C --heat
+chemlab run ika_rv10_digital_v vacuum 175mbar --json > v.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' v.json
+if [ $rc -eq 6 ]; then chemlab call vacuubrand_pc3001_vario_select vacuum.set_pressure --pressure_pa 17500; fi
+chemlab run ika_rv10_digital_v status'''
+
+GOLD_LYO = r'''chemlab run buchi_lyovapor_l250_pro method freeze=10min primary=30min secondary=10min shelf=-20C pressure=0.3mbar
+chemlab run buchi_lyovapor_l250_pro endpoint schedule
+job=$(chemlab run buchi_lyovapor_l250_pro start --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run buchi_lyovapor_l250_pro result'''
+
+GOLD_LYO_RECOVER = r'''for i in 1 2 3 4; do
+  chemlab run buchi_lyovapor_l250_pro start --json > s.json && break
+  code=$(jq -r .error.code s.json); echo "$code: $(jq -r .error.fix s.json)"
+  case "$code" in
+    CHAMBER_OPEN) chemlab run buchi_lyovapor_l250_pro close chamber ;;
+    NO_RECIPE) chemlab run buchi_lyovapor_l250_pro method freeze=1h primary=12h secondary=3h ;;
+    *) break ;;
+  esac
+done
+chemlab run buchi_lyovapor_l250_pro status'''
+
+GOLD_MIVAC = r'''chemlab run genevac_mivac2 set-temp 45C
+chemlab run genevac_mivac2 start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' s.json >/dev/null; then
+  jq -r .error.fix s.json
+  chemlab run genevac_mivac2 close lid
+  chemlab run genevac_mivac2 start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 2h
+chemlab run genevac_mivac2 result --json | jq -r .result.remaining_fraction > mivac.txt
+cat mivac.txt'''
+
+GOLD_PILO = r'''chemlab run pilodist_pilodist104 power on
+chemlab run pilodist_pilodist104 set-temp 100C
+chemlab run pilodist_pilodist104 reflux 3
+job=$(chemlab run pilodist_pilodist104 start --json | jq -r .job)
+chemlab wait "$job" --max 30s
+chemlab run pilodist_pilodist104 fraction 1
+chemlab wait "$job" --max 1h
+chemlab run pilodist_pilodist104 result'''
+
+GOLD_KDL = r'''chemlab run uic_kdl1basic power on
+chemlab run uic_kdl1basic method temp=65C condenser=15C pressure=0.1mbar speed=250rpm feed=1.5g/min time=2min timeout=5min
+job=$(chemlab run uic_kdl1basic start --json | jq -r .job)
+chemlab wait "$job" --max 30min
+chemlab run uic_kdl1basic result --save-to kdl.json'''
+
+GOLD_CPD = r'''for i in 1 2 3 4; do
+  chemlab run tousimis_autosamdri815 start --json > s.json && break
+  code=$(jq -r .error.code s.json); echo "$code: $(jq -r .error.fix s.json)"
+  case "$code" in
+    POWER_OFF) chemlab run tousimis_autosamdri815 power on ;;
+    NO_METHOD) chemlab run tousimis_autosamdri815 method purge=10min bleed=14364 ;;
+    *) break ;;
+  esac
+done
+chemlab wait "$(jq -r .job s.json)" --max 3h
+chemlab run tousimis_autosamdri815 result'''
+
+GOLD_SPRAY = r'''chemlab run buchi_minispray method inlet=150C feed=4mL/min
+chemlab run buchi_minispray start --json > s.json; rc=$?
+if [ $rc -eq 3 ]; then
+  jq -r '.error.code + ": " + .error.fix' s.json
+  chemlab run buchi_minispray preheat on --wait
+  chemlab run buchi_minispray start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 2min
+chemlab run buchi_minispray stop
+chemlab run buchi_minispray result --save-to spray.json'''
+
+
+TASKS = [
+    {'id': 'ev01_rotavap_setup', 'kind': 'multi-step (set points + rotation + timer)', 'instruments': [RV], 'config': cfg(), 'check': c_rotavap,
+     'instruction': 'On the IKA RV 10 digital V rotary evaporator (ika_rv10_digital_v): heat the bath to 40 °C with the heating on, rotate the '
+                    'flask at 120 rpm, and set the timer to 30 minutes.', 'gold': GOLD_RV},
+    {'id': 'ev02_rotavap_vacuum_pump', 'kind': 'recovery: not supported here, use the external vacuum source (two instruments)',
+     'instruments': [RV, PUMP], 'config': cfg(), 'check': c_rotavap_pump,
+     'instruction': 'Prepare the rotavap (ika_rv10_digital_v) for ethanol: bath at 40 °C with heating on and a vacuum set point of 175 mbar.',
+     'gold': GOLD_PUMP},
+    {'id': 'ev03_lyo_cycle', 'kind': 'long action: recipe + job to the end', 'instruments': [LYO], 'config': cfg(), 'check': c_lyo_cycle,
+     'instruction': 'Freeze-dry the loaded samples on the BUCHI Lyovapor L-250 (buchi_lyovapor_l250_pro): 10 min pre-freeze, 30 min primary '
+                    'and 10 min secondary drying, shelf at -20 °C, vacuum 0.3 mbar, ending on schedule. Run the cycle to its end.', 'gold': GOLD_LYO},
+    {'id': 'ev04_lyo_recover_start', 'kind': 'recovery: chamber open, then no recipe', 'instruments': [LYO],
+     'config': cfg(variants={LYO: 'open'}), 'check': c_lyo_recover,
+     'instruction': 'Start a freeze-drying cycle on the Lyovapor (buchi_lyovapor_l250_pro) with 1 h pre-freeze, 12 h primary and 3 h '
+                    'secondary drying. Do not wait for it to finish.', 'gold': GOLD_LYO_RECOVER},
+    {'id': 'ev05_mivac_lid_report', 'kind': 'recovery: lid open + job + report', 'instruments': [MIVAC],
+     'config': cfg(extra={MIVAC: [{'capability': 'lid.set_open', 'arguments': {'open': True}}]}), 'check': c_mivac,
+     'instruction': 'Concentrate the samples in the Genevac miVac (genevac_mivac2) at 45 °C until the run ends, then write the remaining '
+                    'solvent fraction (a number between 0 and 1) into mivac.txt.', 'gold': GOLD_MIVAC},
+    {'id': 'ev06_pilodist_cut', 'kind': 'long action: job with a step in the middle (fraction cut)', 'instruments': [PILO], 'config': cfg(),
+     'check': c_pilodist,
+     'instruction': 'Distil the charge on the PILODIST 104 (pilodist_pilodist104) with the bath at 100 °C and a reflux ratio of 3:1. Collect '
+                    'the first 30 s of distillate in receiver 0, then switch to receiver 1 for the rest of the run, and let the run finish.',
+     'gold': GOLD_PILO},
+    {'id': 'ev07_kdl_record', 'kind': 'method + job + record file', 'instruments': [KDL], 'config': cfg(), 'check': c_kdl,
+     'instruction': 'On the UIC KDL 1 short-path still (uic_kdl1basic) distil with the wall at 65 °C, the condenser at 15 °C, 0.1 mbar, the '
+                    'wiper at 250 rpm and a feed of 1.5 g/min for 2 minutes (timeout 5 minutes). Run it and save the full run record to kdl.json.',
+     'gold': GOLD_KDL},
+    {'id': 'ev08_cpd_recover', 'kind': 'recovery: switched off, then no method; long job', 'instruments': [CPD], 'config': cfg(), 'check': c_cpd,
+     'instruction': 'Run the critical point drying of the loaded specimen on the Tousimis Autosamdri-815 (tousimis_autosamdri815) with a '
+                    '10 min purge and a bleed rate of 14364 Pa/s, to the end of the cycle.', 'gold': GOLD_CPD},
+    {'id': 'ev09_spray_preheat', 'kind': 'recovery: not preheated; timed run, stop, record', 'instruments': [SPRAY], 'config': cfg(), 'check': c_spray,
+     'instruction': 'Spray-dry the feed on the BUCHI Mini Spray Dryer S-300 (buchi_minispray) at an inlet temperature of 150 °C and a feed of '
+                    '4 mL/min. Let it spray for 2 minutes of lab time, then stop it and save the run record to spray.json.', 'gold': GOLD_SPRAY},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'evaporation'
+
+
+def main(only=None, noact=True):
+    return run_suite('evaporation', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/evaporation_world.py b/chemlab/chemlab/compile/tasks/evaporation_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..29e284b80f0e0d70b9369ee6dff8c31f2fb573ad
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/evaporation_world.py
@@ -0,0 +1,114 @@
+"""Host-side world for the evaporation class (what the lab has done before the agent starts), as lab-config set-up steps.
+
+* IKA RV 10: the heating bath is filled (3 L water: heat capacity, start temperature, loss - a trusted host call before any
+  heating), a 200 mL ethanol charge is in the flask (library template), and the VACUUBRAND pump is connected as its vacuum
+  source at 175 mbar.  Without it thermal.start answers PRECONDITION_FAILED and the bath temperature reads null.
+* BUCHI Lyovapor: the chamber is opened, pre-frozen samples are loaded (host initialize_sample, with a drying-rate model for the
+  moisture endpoint), the chamber closed; a rotary vane pump (5 Pa ultimate) is connected and the measured boundary (pressure,
+  shelf / sample / condenser temperatures) is set.  Variant "open": the chamber is left open at atmospheric pressure.
+* BUCHI Mini Spray Dryer: the lab loads the drying recipe (evaluator method.configure) and connects the feed (sample.configure).
+* Tousimis CPD: lid open, holder up, the wet specimen loaded under ethanol (sample.configure), holder down, lid closed.
+* Genevac miVac: the release bring-up already loads method, rotor and samples; the "empty" variant leaves the samples out (the
+  method can change only before loading).
+* PILODIST 104: column fitted, the lab's method, the hexane/heptane charge, bath lift raised (6 s to travel).
+* UIC KDL 1: the lab's method and the feed; "empty" leaves both out.
+"""
+import copy
+
+from ...labbackend import load_config
+
+
+def with_copies(base=None, copies=None):
+    """A deep copy of the config with extra entries {new id: slug} (same asset type, own id; adapters match by asset type)."""
+    cfg = copy.deepcopy(base or load_config())
+    for new, slug in (copies or {}).items():
+        src = next(e for e in cfg['instruments'] if e['asset_type_id'] == 'instrument.' + slug)
+        e = copy.deepcopy(src)
+        e['id'] = new
+        e.pop('instance_id', None)
+        cfg['instruments'].append(e)
+    return cfg
+
+EV = 'task world (evaporation): set up by the lab before the agent starts'
+
+
+def rv10(iid):
+    return [{'host': 'configure_bath', 'kwargs': {'instance_id': iid, 'effective_heat_capacity_j_k': 12000.0, 'initial_temperature_k': 293.15,
+                                                  'heat_loss_w_k': 3.0, 'evidence': EV + ': bath filled with 3 L of water'}},
+            {'host': 'configure_template_charge', 'kwargs': {'instance_id': iid, 'solvent_id': 'ethanol', 'volume_m3': 0.0002,
+                                                             'condensation_efficiency': 0.95, 'heat_transfer_w_k': 20.0, 'evidence': EV + ': 200 mL ethanol'}},
+            {'host': 'connect_vacuum_source', 'kwargs': {'instance_id': iid, 'source_instance_id': 'vacuubrand_pc3001_vario_select',
+                                                         'pressure_pa': 17500.0, 'evidence': EV + ': pump at 175 mbar'}}]
+
+
+def lyovapor(iid, variant='loaded'):
+    if variant == 'open':                                       # samples loaded, chamber left open, still at atmospheric pressure
+        opened, load, kinetics, _close, pump, boundary = lyovapor(iid)
+        return [opened, load, kinetics, pump, dict(boundary, kwargs=dict(boundary['kwargs'], pressure_pa=101325.0))]
+    return [{'capability': 'chamber.set_open', 'arguments': {'open': True}},
+            {'host': 'initialize_sample', 'kwargs': {'instance_id': iid, 'dry_mass_kg': 0.01, 'ice_mass_kg': 0.09, 'bound_water_mass_kg': 0.005,
+                                                     'pre_frozen': True, 'evidence': EV + ': 100 g pre-frozen product'}},
+            {'host': 'configure_kinetics', 'kwargs': {'instance_id': iid, 'sublimation_rate_kg_s': 2.0e-5, 'desorption_rate_kg_s': 2.0e-6,
+                                                      'evidence': EV + ': drying-rate model for the moisture endpoint'}},
+            {'capability': 'chamber.set_open', 'arguments': {'open': False}},
+            {'host': 'connect_vacuum', 'kwargs': {'instance_id': iid, 'source_instance_id': 'rotary_vane_pump_1', 'asset_type_id': 'instrument.rotary_vane_pump',
+                                                  'minimum_pressure_pa': 5.0, 'evidence': EV + ': two-stage rotary vane pump, 5 Pa'}},
+            {'host': 'set_boundary', 'kwargs': {'instance_id': iid, 'pressure_pa': 20.0, 'shelf_temperature_k': 253.15, 'sample_temperature_k': 243.15,
+                                                'condenser_temperature_k': 188.15, 'evidence': EV + ': measured boundary'}}]
+
+
+MINISPRAY = [{'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True},
+             {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True}]
+TOUSIMIS = [{'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.065}, 'evaluator': True},
+            {'capability': 'holder.set_lift', 'arguments': {'lift_m': 0.035}, 'evaluator': True},
+            {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'holder.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True},
+            {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True}]
+PILODIST = [{'capability': 'column.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'bath.set_engaged', 'arguments': {'engaged': True}, 'evaluator': True},
+            {'advance_s': 6.0}]
+PILODIST_EMPTY = [{'capability': 'column.configure', 'arguments': 'contract_example', 'evaluator': True}]
+UIC = [{'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True},
+       {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True}]
+
+
+def steps(slug, iid, variant='loaded'):
+    """Extra set-up steps of one member (after the release bring-up in all203.json)."""
+    if slug == 'ika_rv10_digital_v':
+        return rv10(iid)
+    if slug == 'buchi_lyovapor_l250_pro':
+        return lyovapor(iid, variant)
+    if slug == 'buchi_minispray':
+        return MINISPRAY if variant == 'loaded' else []
+    if slug == 'tousimis_autosamdri815':
+        return TOUSIMIS if variant == 'loaded' else []
+    if slug == 'pilodist_pilodist104':
+        return PILODIST if variant == 'loaded' else PILODIST_EMPTY
+    if slug == 'uic_kdl1basic':
+        return UIC if variant == 'loaded' else []
+    return []
+
+
+def config(base=None, variants=None, copies=None):
+    """all203.json (or ``base``) with the evaporation world added; ``variants``: {entry id or slug: 'loaded' | 'empty'} (default
+    loaded); ``copies``: {new id: slug} adds more entries of a member (e.g. an "empty" one beside the loaded one)."""
+    cfg = with_copies(base, copies)
+    variants = variants or {}
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        v = variants.get(e['id'], variants.get(slug, 'loaded'))
+        if v == 'empty':
+            e['default_world'] = False        # the empty variant: without the default lab's loaded state
+        setup = list(e.get('setup') or [])
+        if slug == 'genevac_mivac2' and v == 'empty':
+            setup = [s for s in setup if s.get('capability') != 'sample.configure']
+        if slug == 'buchi_lyovapor_l250_pro':                     # the samples go in after the bring-up (chamber.set_open needs power)
+            e['setup'] = setup + steps(slug, iid, v)
+        elif slug in ('ika_rv10_digital_v',):                     # the bath before the power comes on
+            e['setup'] = steps(slug, iid, v) + setup
+        else:
+            e['setup'] = setup + steps(slug, iid, v)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/extraction_lowering.py b/chemlab/chemlab/compile/tasks/extraction_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..b22996bff0c13abfa067fe7423e2e27f9c951112
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/extraction_lowering.py
@@ -0,0 +1,193 @@
+"""Lowering table of the extraction class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a usage error, an unsupported verb, a read); None = not checked.  "<slug>_empty" entries are a second copy of a member
+before the lab loads the sample (methods can be set there); "biotage_extrahera_classic_ready" has its pressure manifold lowered
+(prep, the same native call on both labs)."""
+from .extraction_world import config as world
+
+K0 = 273.15
+MLMIN = 1e-6 / 60
+SE_NAMES = ['Acetone', 'Ethanol', 'Methanol', 'Hexane']
+EXH_READY = 'biotage_extrahera_classic_ready'
+
+
+def config():
+    copies = {'buchi_speedextractore_empty': 'buchi_speedextractore', 'sft_sft110_empty': 'sft_sft110', 'syrris_asiafllex_empty': 'syrris_asiafllex',
+              'sartorius_vivaflow200_empty': 'sartorius_vivaflow200', 'pccell_ed64002_empty': 'pccell_ed64002', EXH_READY: 'biotage_extrahera_classic'}
+    return world(variants={k: 'empty' for k in copies if k.endswith('_empty')}, copies=copies)
+
+
+def lower_manifold(backend):
+    r = backend.invoke('agent', EXH_READY, 'manifold.set_position', {'z_m': 0}, 'lowering-prep-manifold')
+    assert r.get('status') == 'succeeded', r
+
+
+def spe(reps=2, vol=1e-6, flow=6 * MLMIN, drain=6 * MLMIN):
+    return {'steps': [{'phase': ph, 'solvent_position': ph, 'volume_m3': vol, 'flow_m3_s': flow, 'drain_flow_m3_s': drain, 'repetitions': reps}
+                      for ph in ('load', 'wash', 'elute')]}
+
+
+def se_method(**kw):
+    m = {'temperature_k': K0 + 100, 'pressure_gauge_pa': 1e7, 'cycles': 1, 'hold_s': 120.0, 'discharge_s': 120.0, 'pump_total_m3_s': 50 * MLMIN,
+         'solvent_fractions': [1.0, 0.0, 0.0, 0.0], 'solvent_flush_s': 60.0, 'nitrogen_flush_s': 180.0, 'vial': '240', 'cell_volume_m3': 2e-05,
+         'solvent_names': SE_NAMES}
+    m.update(kw)
+    return m
+
+
+CASES = {
+    'buchi_speedextractore': {'steps': [
+        ('status', []),
+        ('method temp=120C', []),                                                          # METHOD_LOCKED: cells loaded
+        ('pressure 120bar', []),                                                           # METHOD_LOCKED
+        ('set-temp 110C', []),                                                             # CELLS_LOADED
+        ('flow 2mL/min', []),                                                              # not supported
+        ('vent', []),                                                                      # not supported
+        ('open shield', [('shield.set_lift', {'lift_m': 0.18})]),
+        ('start', []),                                                                     # SHIELD_OPEN
+        ('close shield', [('shield.set_lift', {'lift_m': 0})]),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 600', None),
+        ('result', [('extraction.measure', {})]),
+        ('stop', [('acquisition.stop', {})]),                                              # the run is over: the runtime refuses
+        ('prime --time 30s', [('flush.configure', {'solvent_s': 30.0}), ('flush.start', {})]),
+        ('prime --inlet S1', []),                                                          # NOT_FOR_THIS
+    ]},
+    'buchi_speedextractore_empty': {'steps': [
+        ('method temp=120C cycles=3', [('method.configure', se_method(temperature_k=K0 + 120, cycles=3))]),
+        ('method solvents=0.5,0.6,0,0', []),                                               # fractions do not add up to 1
+        ('method solvents=0.5,0.5,0,0', [('method.configure', se_method(temperature_k=K0 + 120, cycles=3, solvent_fractions=[0.5, 0.5, 0.0, 0.0]))]),
+        ('pressure 120bar', [('method.configure', se_method(temperature_k=K0 + 120, cycles=3, solvent_fractions=[0.5, 0.5, 0.0, 0.0], pressure_gauge_pa=1.2e7))]),
+        ('pressure 30bar', []),                                                            # OUT_OF_RANGE (50-150 bar)
+        ('set-temp 120C', [('thermal.preheat', {'temperature_k': K0 + 120, 'enabled': True})]),
+        ('set-temp off', [('thermal.preheat', {'enabled': False})]),
+        ('prime', [('flush.start', {})]),                                                  # the runtime: no position selected
+        ('start', []),                                                                     # NO_SAMPLE
+    ]},
+    'biotage_extrahera_classic': {'steps': [
+        ('status', []),
+        ('prime --inlet S1', []),                                                          # NO_SOLVENT
+        ('prime --inlet S9', []),                                                          # UNKNOWN_INLET
+        ('prime --inlet S1 --solvent water', [('solvent.lock', {'locks': {'S1': 'sol-002'}}), ('run.prime', {'inlet': 'S1', 'volume_m3': 1.5e-05})]),
+        ('prime --inlet S1 --volume 10mL', [('run.prime', {'inlet': 'S1', 'volume_m3': 1e-05})]),
+        ('prime --inlet S1 --volume 30mL', []),                                            # OUT_OF_RANGE (max 25 mL)
+        ('method load=1mL wash=1mL elute=1mL flow=6mL/min', []),                           # MISSING_SETTING drain
+        ('method load=2mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min', []),             # OUT_OF_RANGE (1 mL per stroke)
+        ('method load=1mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min reps=2', [('method.configure', spe())]),
+        ('method load=1mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min elute.solvent=eluent', []),   # UNKNOWN_POSITION
+        ('start', []),                                                                     # MANIFOLD_UP
+        ('pressure 1.05bar', []),                                                          # NOT_ON_STEP
+        ('pressure 1bar', []),                                                             # MANIFOLD_UP
+        ('set-temp 30C', []),
+        ('vent', []),
+        ('flow 1mL/min', []),
+    ]},
+    EXH_READY: {'prep': lower_manifold, 'steps': [
+        ('pressure 1bar', [('pressure.set', {'pressure_pa': 100000.0})]),
+        ('start', []),                                                                     # NO_METHOD
+        ('method load=1mL wash=0.5mL elute=1mL flow=6mL/min drain=3mL/min',
+         [('method.configure', {'steps': [dict(s, drain_flow_m3_s=3 * MLMIN, repetitions=1, volume_m3=0.5e-6 if s['phase'] == 'wash' else 1e-6)
+                                          for s in spe()['steps']]})]),
+        ('start', [('method.start', {})]),
+        ('pressure 2bar', []),                                                             # BUSY
+        ('#wait 200', None),
+        ('result', []),
+        ('stop', [('method.stop', {})]),
+        ('pressure off', [('pressure.set', {'pressure_pa': 0})]),
+    ]},
+    'sft_sft110': {'steps': [
+        ('status', []),
+        ('method temp=50C', []),                                                           # METHOD_LOCKED
+        ('set-temp 45C', [('setpoint.set', {'setpoint': 'temperature_k', 'value': K0 + 45})]),   # outside the sample's solubility data
+        ('set-temp 300C', []),                                                             # OUT_OF_RANGE (5-200 °C)
+        ('pressure 250bar', [('setpoint.set', {'setpoint': 'pressure_gauge_pa', 'value': 2.5e7})]),
+        ('pressure 50bar', []),                                                            # OUT_OF_RANGE (75-689 bar)
+        ('flow 1mL/min', []),
+        ('prime', []),
+        ('start', [('acquisition.start', {})]),
+        ('vent', []),                                                                      # RUNNING
+        ('#wait 300', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('vent', [('pressure.vent', {})]),
+        ('#wait 120', None),
+        ('result', [('extraction.measure', {})]),
+    ]},
+    'sft_sft110_empty': {'steps': [
+        ('method temp=50C', []),                                                           # MISSING_SETTING
+        ('method temp=45C pressure=200bar flow=10mL/min static=1min dynamic=2min restrictor=80C timeout=1h modifier=0',
+         [('method.configure', {'temperature_k': K0 + 45, 'pressure_gauge_pa': 2e7, 'liquid_flow_m3_s': 10 * MLMIN, 'static_s': 60.0, 'dynamic_s': 120.0,
+                                'restrictor_temperature_k': K0 + 80, 'timeout_s': 3600.0, 'modifier_fraction': 0.0})]),
+        ('set-temp 50C', [('setpoint.set', {'setpoint': 'temperature_k', 'value': K0 + 50})]),
+        ('start', []),                                                                     # NO_SAMPLE
+    ]},
+    'syrris_asiafllex': {'steps': [
+        ('status', []),
+        ('method bpr=3bar', []),                                                           # METHOD_LOCKED
+        ('pressure 3.05bar', []),                                                          # NOT_ON_STEP
+        ('pressure 3bar', [('pressure.setpoint', {'setpoint': 'main', 'value_pa': 300000.0})]),
+        ('pressure 100mbar --channel cmp', [('pressure.setpoint', {'setpoint': 'cmp', 'value_pa': 10000.0})]),
+        ('pressure 1bar --channel xyz', []),                                               # BAD_CHOICE
+        ('set-temp 30C', []),
+        ('vent', []),                                                                      # NOTHING_TO_VENT
+        ('start', [('acquisition.start', {})]),
+        ('vent', []),                                                                      # RUNNING
+        ('#wait 200', None),
+        ('result', [('separation.measure', {})]),
+        ('vent', [('pressure.release', {})]),
+        ('#wait 60', None),
+        ('pressure off', [('pressure.setpoint', {'setpoint': 'main', 'value_pa': 0})]),
+        ('stop', [('acquisition.stop', {})]),                                              # nothing running: the runtime refuses
+    ]},
+    'syrris_asiafllex_empty': {'steps': [
+        ('method aqueous=0.1mL/min organic=0.1mL/min bpr=2bar cmp=100mbar time=2min timeout=30min stop_on_breakthrough=on',
+         [('method.configure', {'aqueous_flow_m3_s': 0.1 * MLMIN, 'organic_flow_m3_s': 0.1 * MLMIN, 'bpr_gauge_pa': 2e5, 'cross_membrane_pa': 1e4,
+                                'duration_s': 120.0, 'timeout_s': 1800.0, 'stop_on_breakthrough': True})]),
+        ('method aqueous=1mL/min', []),                                                    # OUT_OF_RANGE (max 0.5 mL/min)
+        ('start', []),                                                                     # NO_SAMPLE
+    ]},
+    'sartorius_vivaflow200': {'steps': [
+        ('status', []),
+        ('method tmp=1bar', []),                                                           # METHOD_LOCKED
+        ('pressure 1bar', []),
+        ('flow 300mL/min', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 120', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('filtration.measure', {})]),
+        ('start', [('acquisition.start', {})]),                                            # a stopped run resumes
+        ('stop', [('acquisition.stop', {})]),
+        ('power on', []),                                                                  # no power switch
+    ]},
+    'sartorius_vivaflow200_empty': {'steps': [
+        ('method mode=concentrate circulation=300mL/min tmp=2bar retentate=50mL diavolumes=5 timeout=2h',
+         [('method.configure', {'mode': 'concentrate', 'circulation_m3_s': 300 * MLMIN, 'tmp_pa': 2e5, 'target_retentate_m3': 5e-5,
+                                'target_diavolumes': 5.0, 'timeout_s': 7200.0})]),
+        ('method mode=filter', []),                                                        # BAD_CHOICE
+        ('start', []),                                                                     # NO_SAMPLE
+    ]},
+    'pccell_ed64002': {'steps': [
+        ('status', []),
+        ('method voltage=10V', []),                                                        # METHOD_LOCKED
+        ('flow 1mL/min', [('flow.set_rate', {'flow_m3_s': 1 * MLMIN})]),
+        ('flow 10L/min', []),                                                              # OUT_OF_RANGE (max 6 L/min)
+        ('start', []),                                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('result', [('electrodialysis.measure', {})]),
+        ('pressure 1bar', []),
+        ('set-temp 25C', []),
+        ('prime', []),
+        ('vent', []),
+    ]},
+    'pccell_ed64002_empty': {'steps': [
+        ('flow 1mL/min', []),                                                              # NO_METHOD
+        ('method mode=constant_current voltage=20V current=10mA flow=0.6L/min time=2min timeout=150s endpoint=0',
+         [('method.configure', {'mode': 'constant_current', 'voltage_v': 20.0, 'current_a': 0.01, 'flow_m3_s': 1e-05, 'duration_s': 120.0,
+                                'timeout_s': 150.0, 'endpoint_conductivity_s_m': 0.0})]),
+        ('flow 1mL/min', [('flow.set_rate', {'flow_m3_s': 1 * MLMIN})]),
+        ('start', []),                                                                     # POWER_OFF
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/extraction_tasks.py b/chemlab/chemlab/compile/tasks/extraction_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..2b65040c8a11632e07c6fb695855b9ee5aa22ba6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/extraction_tasks.py
@@ -0,0 +1,230 @@
+"""Extraction class acceptance tasks (10): gold solutions use `chemlab run` (and `chemlab call` where the class says so); the
+checkers read the evaluator view (truth slots included) and the agent's report files."""
+import json
+
+from .common import run_suite
+from .extraction_world import config as world
+
+K0 = 273.15
+MLMIN = 1e-6 / 60
+SFE, SPE, FLLEX, TFF, ED, PLE = ('sft_sft110', 'biotage_extrahera_classic', 'syrris_asiafllex', 'sartorius_vivaflow200', 'pccell_ed64002',
+                                 'buchi_speedextractore')
+
+
+def cfg(variants=None, extra=None):
+    """The task's lab config: the extraction world (+ extra operator steps per instrument)."""
+    def f(c):
+        c = world(c, variants=variants)
+        for e in c['instruments']:
+            e['setup'] = list(e.get('setup') or []) + list((extra or {}).get(e['id'], []))
+        return c
+    return f
+
+
+def saved(c, name):
+    t = c.work_file(name)
+    try:
+        return json.loads(t) if t else None
+    except ValueError:
+        return None
+
+
+# ------------------------------------------------------------------ checkers
+def c_sfe(c):
+    e = c.ev(SFE)
+    c.near('extraction pressure 220 bar (gauge)', e['pressure.target_abs_pa'], 2.2e7 + 101325.0, 1.0)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    c.add('extract collected', (e.get('truth.collected_solute_kg') or 0) > 0, e.get('truth.collected_solute_kg'))
+    rec = saved(c, 'sfe.json') or {}
+    c.equal('sfe.json holds the finished run record', (rec.get('result') or {}).get('phase'), 'succeeded')
+
+
+def c_sfe_vent(c):
+    e = c.ev(SFE)
+    c.add('not extracting any more', e['cycle.phase'] != 'running', e['cycle.phase'])
+    c.add('pressure released (below 10 mbar gauge)', (e.get('pressure.indicated_gauge_pa') or 0) <= 1000.0, e.get('pressure.indicated_gauge_pa'))
+    c.add('it ran about 5 minutes first', (e.get('cycle.elapsed_s') or 0) >= 250, e.get('cycle.elapsed_s'))
+
+
+def c_spe(c):
+    e = c.ev(SPE)
+    c.equal('method run completed', e['method.status'], 'completed')
+    c.equal('6 strokes (3 steps x 2 repetitions)', e['method.completed_strokes'], 6)
+    c.near('positive pressure 1 bar', e['pressure.target_pa'], 1e5, 1e-6)
+
+
+def c_prime(c):
+    e = c.ev(SPE)
+    s2 = (e.get('inlets.state') or {}).get('S2') or {}
+    c.equal('inlet S2 assigned methanol (sol-001)', s2.get('assigned'), 'sol-001')
+    c.equal('the S2 line holds methanol', s2.get('line'), 'sol-001')
+
+
+def c_fllex(c):
+    e = c.ev(FLLEX)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    c.equal('no breakthrough or fault', e['cycle.fault'], '')
+    c.add('residual pressure released', (e.get('pressure.bpr_gauge_pa') or 0) < 1000.0, e.get('pressure.bpr_gauge_pa'))
+    c.equal('depressurized', e['cycle.stage'], 'depressurized')
+
+
+def c_ed_method(c):
+    e = c.ev(ED)
+    c.add('method configured', e['method.configured'] is True)
+    c.near('current 20 mA', e['electrical.current_target_a'], 0.02, 1e-9)
+    c.near('voltage limit 15 V', e['electrical.voltage_target_v'], 15.0, 1e-9)
+    c.near('loop flow 0.6 L/min', e['flow.target_m3_s'], 1e-5, 1e-12)
+
+
+def c_ed_run(c):
+    e = c.ev(ED)
+    c.near('loop flow 1 L/min', e['flow.target_m3_s'], 1000 * MLMIN, 1e-12)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    rec = saved(c, 'ed.json') or {}
+    c.equal('ed.json holds the finished run record', (rec.get('result') or {}).get('phase'), 'succeeded')
+
+
+def c_ple_prepare(c):
+    e = c.ev(PLE)
+    m = e.get('method.current') or {}
+    c.near('method 120 °C', m.get('temperature_k'), K0 + 120, 1e-6)
+    c.near('method 100 bar', m.get('pressure_gauge_pa'), 1e7, 1e-3)
+    c.equal('2 cycles', m.get('cycles'), 2)
+    c.near('hold 5 min', m.get('hold_s'), 300.0, 1e-6)
+    c.equal('solvent 1 only', m.get('solvent_fractions'), [1.0, 0.0, 0.0, 0.0])
+    c.add('preheating on', e.get('thermal.preheat_enabled') is True)
+    c.near('preheat to 120 °C', e.get('thermal.preheat_target_k'), K0 + 120, 1e-6)
+
+
+def c_ple_run(c):
+    e = c.ev(PLE)
+    c.equal('run finished', e['cycle.phase'], 'succeeded')
+    c.add('shield closed', (e.get('shield.lift_m') or 0) <= 1e-9, e.get('shield.lift_m'))
+    c.near('cycles.txt = completed cycles', c.number_file('cycles.txt'), e['cycle.index'], 1e-9)
+
+
+def c_tff(c):
+    e = c.ev(TFF)
+    c.equal('stopped', e['cycle.phase'], 'cancelled')
+    c.add('ran about 5 minutes', (e.get('cycle.elapsed_s') or 0) >= 290, e.get('cycle.elapsed_s'))
+    c.near('permeate.txt = permeate collected (mL)', c.number_file('permeate.txt'), (e.get('volume.permeate_m3') or 0) * 1e6, 0.5)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_SFE = r'''chemlab run sft_sft110 pressure 220bar
+job=$(chemlab run sft_sft110 start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run sft_sft110 result --save-to sfe.json'''
+
+GOLD_SFE_VENT = r'''job=$(chemlab run sft_sft110 start --json | jq -r .job)
+chemlab wait "$job" --max 5min
+chemlab run sft_sft110 vent --json > v.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "RUNNING"' v.json >/dev/null; then
+  jq -r .error.fix v.json
+  chemlab run sft_sft110 stop
+  chemlab run sft_sft110 vent --json > v.json
+fi
+chemlab wait "$(jq -r .job v.json)" --max 30min
+chemlab run sft_sft110 status'''
+
+GOLD_SPE = r'''chemlab run biotage_extrahera_classic method load=1mL wash=1mL elute=1mL flow=6mL/min drain=3mL/min reps=2
+chemlab run biotage_extrahera_classic pressure 1bar --json > p.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "MANIFOLD_UP"' p.json >/dev/null; then
+  jq -r .error.fix p.json
+  chemlab call biotage_extrahera_classic manifold.set_position --z_m 0
+  chemlab run biotage_extrahera_classic pressure 1bar
+fi
+job=$(chemlab run biotage_extrahera_classic start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run biotage_extrahera_classic result'''
+
+GOLD_PRIME = r'''chemlab run biotage_extrahera_classic prime --inlet S2 --json > p.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_SOLVENT"' p.json >/dev/null; then
+  jq -r .error.fix p.json
+  chemlab run biotage_extrahera_classic prime --inlet S2 --solvent methanol
+fi
+chemlab run biotage_extrahera_classic prime --inlet S2'''
+
+GOLD_FLLEX = r'''chemlab run syrris_asiafllex pressure 3bar
+chemlab run syrris_asiafllex pressure 100mbar --channel cmp
+job=$(chemlab run syrris_asiafllex start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+job=$(chemlab run syrris_asiafllex vent --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run syrris_asiafllex status'''
+
+GOLD_ED_METHOD = 'chemlab run pccell_ed64002 method mode=constant_current current=20mA voltage=15V flow=0.6L/min time=30min timeout=40min endpoint=0.05mS/cm'
+
+GOLD_ED_RUN = r'''chemlab run pccell_ed64002 flow 1L/min
+chemlab run pccell_ed64002 start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "POWER_OFF"' s.json >/dev/null; then
+  chemlab run pccell_ed64002 power on
+  chemlab run pccell_ed64002 start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 1h
+chemlab run pccell_ed64002 result --save-to ed.json'''
+
+GOLD_PLE_PREP = r'''chemlab run buchi_speedextractore method temp=120C pressure=100bar cycles=2 hold=5min solvents=1,0,0,0
+chemlab run buchi_speedextractore set-temp 120C
+chemlab run buchi_speedextractore status'''
+
+GOLD_PLE_RUN = r'''chemlab run buchi_speedextractore start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "SHIELD_OPEN"' s.json >/dev/null; then
+  jq -r .error.fix s.json
+  chemlab run buchi_speedextractore close shield
+  chemlab run buchi_speedextractore start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 2h
+chemlab run buchi_speedextractore result --json | jq -r .result.cycle > cycles.txt
+cat cycles.txt'''
+
+GOLD_TFF = r'''job=$(chemlab run sartorius_vivaflow200 start --json | jq -r .job)
+chemlab wait "$job" --max 5min
+chemlab run sartorius_vivaflow200 stop
+chemlab run sartorius_vivaflow200 result --json | jq -r '.result.permeate_m3 * 1e6' > permeate.txt
+cat permeate.txt'''
+
+
+TASKS = [
+    {'id': 'ex01_sfe_run', 'kind': 'set point + job + record file', 'instruments': [SFE], 'config': cfg(), 'check': c_sfe,
+     'instruction': 'Run the supercritical CO2 extraction of the loaded sample on the SFT-110 (sft_sft110) at 220 bar, keeping the oven at its '
+                    'method temperature, to the end of the run, and save the run record to sfe.json.', 'gold': GOLD_SFE},
+    {'id': 'ex02_sfe_stop_vent', 'kind': 'recovery: vent refused while running; stop, then vent (job)', 'instruments': [SFE], 'config': cfg(),
+     'check': c_sfe_vent,
+     'instruction': 'Start the extraction on the SFT-110 (sft_sft110), let it run for about 5 minutes of lab time, then end it early and '
+                    'release the pressure so the vessel can be opened.', 'gold': GOLD_SFE_VENT},
+    {'id': 'ex03_spe_run', 'kind': 'recovery: manifold up; SPE method + pressure + job', 'instruments': [SPE], 'config': cfg(), 'check': c_spe,
+     'instruction': 'On the Biotage Extrahera (biotage_extrahera_classic) run an SPE method: load, wash and elute 1 mL each at 6 mL/min, drain '
+                    'at 3 mL/min, 2 repetitions per step, with 1 bar positive pressure. Run it to the end.', 'gold': GOLD_SPE},
+    {'id': 'ex04_spe_prime', 'kind': 'recovery: no solvent on the inlet', 'instruments': [SPE], 'config': cfg(), 'check': c_prime,
+     'instruction': 'Prime solvent inlet S2 of the Extrahera (biotage_extrahera_classic) with methanol until the line holds methanol '
+                    '(two primes of 15 mL).', 'gold': GOLD_PRIME},
+    {'id': 'ex05_fllex_release', 'kind': 'two pressure channels + job + vent job', 'instruments': [FLLEX], 'config': cfg(), 'check': c_fllex,
+     'instruction': 'Run the liquid-liquid extraction on the Syrris Asia FLLEX (syrris_asiafllex) with the back pressure at 3 bar and the '
+                    'cross-membrane pressure at 100 mbar, let it finish, then release the residual pressure.', 'gold': GOLD_FLLEX},
+    {'id': 'ex06_ed_method', 'kind': 'single step (method with units)', 'instruments': [ED], 'config': cfg(variants={ED: 'empty'}), 'check': c_ed_method,
+     'instruction': 'Program the electrodialysis stack (pccell_ed64002) for a constant-current run before the lab fills it: 20 mA with a '
+                    '15 V limit, loop flow 0.6 L/min, 30 min (timeout 40 min), ending at a diluate conductivity of 0.05 mS/cm.',
+     'gold': GOLD_ED_METHOD},
+    {'id': 'ex07_ed_run', 'kind': 'recovery: switched off; job + record file', 'instruments': [ED], 'config': cfg(), 'check': c_ed_run,
+     'instruction': 'Run the electrodialysis on pccell_ed64002 with the loop flow at 1 L/min to the end, and save the run record to ed.json.',
+     'gold': GOLD_ED_RUN},
+    {'id': 'ex08_ple_prepare', 'kind': 'method (kept settings) + preheat', 'instruments': [PLE], 'config': cfg(variants={PLE: 'empty'}),
+     'check': c_ple_prepare,
+     'instruction': 'Prepare the BUCHI SpeedExtractor E-916 (buchi_speedextractore) method: 120 °C, 100 bar, 2 cycles, 5 min hold, solvent 1 '
+                    'only; and start preheating the heating block to 120 °C.', 'gold': GOLD_PLE_PREP},
+    {'id': 'ex09_ple_shield', 'kind': 'recovery: shield open; job + report', 'instruments': [PLE],
+     'config': cfg(extra={PLE: [{'capability': 'shield.set_lift', 'arguments': {'lift_m': 0.18}}]}), 'check': c_ple_run,
+     'instruction': 'Run the pressurized solvent extraction of the loaded cells on the SpeedExtractor (buchi_speedextractore) to the end and '
+                    'write the number of completed extraction cycles into cycles.txt.', 'gold': GOLD_PLE_RUN},
+    {'id': 'ex10_tff_concentrate', 'kind': 'timed run, stop, report', 'instruments': [TFF], 'config': cfg(), 'check': c_tff,
+     'instruction': 'Concentrate the sample on the Sartorius Vivaflow 200 (sartorius_vivaflow200) for 5 minutes of lab time, then stop and '
+                    'write the permeate volume collected, in mL, into permeate.txt.', 'gold': GOLD_TFF},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'extraction'
+
+
+def main(only=None, noact=True):
+    return run_suite('extraction', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/extraction_world.py b/chemlab/chemlab/compile/tasks/extraction_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..9146ae98c498f9a4842709e377d11ad91a81c84d
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/extraction_world.py
@@ -0,0 +1,89 @@
+"""Host-side world for the extraction class (what the lab has done before the agent starts), as lab-config set-up steps.
+
+* BUCHI SpeedExtractor: "loaded" = the lab's method, the heating block preheated to it (15 min), shield up, drawer out, the
+  sample cell inserted (evaluator sample.configure), drawer in, shield down.  "empty" = the release bring-up only.
+* Biotage Extrahera: the external vacuum source connected, vacuum / compressed air / nitrogen ready, solvent reservoirs filled
+  (positions load / wash / elute and inlets S1-S3; host initialize_liquids) and the deck configured by the lab (cartridges).
+* SFT-110: "loaded" = method, vessel opened, the sample in the vessel, closed, then switched on (the oven heats to the method
+  temperature); "empty" = the release bring-up (method, power on, no sample).
+* Syrris Asia FLLEX: "loaded" = tray out / separator open, membrane fitted, the lab's method, closed, the feeds connected (sample);
+  "empty" = the membrane only.
+* Sartorius Vivaflow 200: "loaded" = cassette, method, the feed attached; "empty" = the cassette only.
+* PCCell ED 64002: "loaded" = membranes, method, the loops filled (sample); "empty" = the membranes only.
+"""
+import copy
+
+from ...labbackend import load_config
+
+
+def with_copies(base=None, copies=None):
+    """A deep copy of the config with extra entries {new id: slug} (same asset type, own id; adapters match by asset type)."""
+    cfg = copy.deepcopy(base or load_config())
+    for new, slug in (copies or {}).items():
+        src = next(e for e in cfg['instruments'] if e['asset_type_id'] == 'instrument.' + slug)
+        e = copy.deepcopy(src)
+        e['id'] = new
+        e.pop('instance_id', None)
+        cfg['instruments'].append(e)
+    return cfg
+
+EV = 'task world (extraction): set up by the lab before the agent starts'
+EVAL = {'evaluator': True}
+
+
+def step(cap, args='contract_example', evaluator=True):
+    return dict({'capability': cap, 'arguments': args}, **(EVAL if evaluator else {}))
+
+
+SPEEDEX = [step('method.configure', evaluator=False), step('thermal.preheat', {}, evaluator=False), {'advance_s': 900.0},
+           step('shield.set_lift', {'lift_m': 0.18}, False), step('drawer.set_extension', {'extension_m': 0.16}, False),
+           step('sample.configure'), step('drawer.set_extension', {'extension_m': 0.0}, False), step('shield.set_lift', {'lift_m': 0.0}, False)]
+
+
+def extrahera(iid):
+    return [{'host': 'connect_vacuum_source', 'kwargs': {'instance_id': iid, 'source_instance_id': 'vacuum_line_1'}},
+            {'host': 'set_utilities', 'kwargs': {'instance_id': iid, 'vacuum_ready': True, 'compressed_air_ready': True, 'nitrogen_ready': True,
+                                                 'evidence': EV + ': vacuum, air and nitrogen supplies open'}},
+            {'host': 'initialize_liquids', 'kwargs': {'instance_id': iid, 'sources_m3': {'load': 5e-05, 'wash': 5e-05, 'elute': 5e-05, 'S1': 2e-04,
+                                                                                          'S2': 2e-04, 'S3': 2e-04}, 'evidence': EV + ': reservoirs filled'}},
+            step('deck.configure', {'format': 'cartridges24', 'cartridge_volume_m3': 3e-06, 'collection_plate': 'collection_a',
+                                    'solvent_positions': ['load', 'wash', 'elute']}, False)]
+
+
+SFT_LOADED = [step('plant.configure'), step('method.configure'), step('door.set_angle', {'angle_rad': 1.2}), step('cap.set_lift', {'lift_m': 0.07}),
+              step('sample.configure'), step('cap.set_lift', {'lift_m': 0.0}), step('door.set_angle', {'angle_rad': 0.0}),
+              {'capability': 'panel.switch', 'arguments': {'input_id': 'power_switch', 'position': 'on'}}, {'advance_s': 5.0}]
+SYRRIS_MEMBRANE = [step('tray.set_extension'), step('separator.set_opening'), step('membrane.configure'),
+                   step('separator.set_opening', {'opening_m': 0.0}), step('tray.set_extension', {'extension_m': 0.0})]
+SYRRIS_LOADED = [step('tray.set_extension'), step('separator.set_opening'), step('membrane.configure'), step('method.configure'),
+                 step('separator.set_opening', {'opening_m': 0.0}), step('tray.set_extension', {'extension_m': 0.0}), step('sample.configure')]
+SARTORIUS = {'loaded': [step('cassette.configure'), step('method.configure'), step('sample.configure')], 'empty': [step('cassette.configure')]}
+PCCELL = {'loaded': [step('membrane.configure'), step('method.configure'), step('sample.configure')], 'empty': [step('membrane.configure')]}
+
+
+def config(base=None, variants=None, copies=None):
+    """all203.json (or ``base``) with the extraction world added; ``variants``: {entry id or slug: 'loaded' | 'empty'} (default
+    loaded); ``copies``: {new id: slug} adds more entries of a member (e.g. an "empty" one beside the loaded one)."""
+    cfg = with_copies(base, copies)
+    variants = variants or {}
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        v = variants.get(e['id'], variants.get(slug, 'loaded'))
+        if v == 'empty':
+            e['default_world'] = False        # the empty variant: without the default lab's loaded state
+        setup = list(e.get('setup') or [])
+        if slug == 'buchi_speedextractore' and v == 'loaded':
+            setup += SPEEDEX
+        elif slug == 'biotage_extrahera_classic':
+            setup += extrahera(iid)
+        elif slug == 'sft_sft110' and v == 'loaded':
+            setup = SFT_LOADED
+        elif slug == 'syrris_asiafllex':
+            setup += SYRRIS_LOADED if v == 'loaded' else SYRRIS_MEMBRANE
+        elif slug == 'sartorius_vivaflow200':
+            setup += SARTORIUS[v]
+        elif slug == 'pccell_ed64002':
+            setup += PCCELL[v]
+        e['setup'] = setup
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/formulation_lowering.py b/chemlab/chemlab/compile/tasks/formulation_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..d60ca3ea39e9ba56f982f265fe0bf86e74468835
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/formulation_lowering.py
@@ -0,0 +1,141 @@
+"""Lowering table of the formulation class: per member, verbs in order and the native calls (capability, arguments in the unit each
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check refused,
+a read, a wait, a dry run or an unsupported verb); a listed call may itself be refused by the instrument (then it is still sent)."""
+import math
+
+from .formulation_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+ML_MIN = 1e-6 / 60
+
+P11 = [('set-temp 180C --zone %d' % (z + 1), [('thermal.set_zone', {'zone': z, 'temperature_k': K0 + 180})]) for z in range(7)]
+
+CASES = {
+    'thermo_process11': {'steps': [
+        ('status', []),
+        ('set-temp 180C', []),                                                   # MISSING_ZONE
+        *P11,
+        ('set-temp 180C --zone die', [('die.set_temperature', {'temperature_k': K0 + 180})]),
+        ('set-temp 400C --zone 2', []),                                          # OUT_OF_RANGE (max 350 °C)
+        ('set-temp 180C --zone 9', []),                                          # BAD_CHOICE
+        ('heat on --zone 1', []),                                                # NOT_PER_ZONE: heating is for the whole barrel
+        ('heat on', [('thermal.set_enabled', {'enabled': True})]),
+        ('wait-temp --max 1h', []),                                              # every zone and the die
+        ('temp', []),
+        ('method time=30s speed=150rpm feed=0.5g/min die-radius=1mm die-length=5mm mixing=1', [('method.configure', {
+            'duration_s': 30.0, 'speed_rad_s': 150 * RPM, 'feed_kg_s': 0.5e-3 / 60, 'die_radius_m': 0.001, 'die_length_m': 0.005,
+            'mixing_factor': 1.0})]),
+        ('speed 100rpm', [('drive.set_speed', {'speed_rad_s': 100 * RPM})]),
+        ('speed on', [('drive.set_enabled', {'enabled': True})]),
+        ('method time=20s die-radius=1mm die-length=5mm mixing=1', []),          # DRIVE_ON: a method only with the screws stopped
+        ('feed 0.5g/min', [('feed.set_rate', {'mass_rate_kg_s': 0.5e-3 / 60})]),
+        ('feed on --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 5min', []),
+        ('result', [('extrusion.measure', {})]),
+        ('speed off', []),                                                       # already off: the run stops the screws at its end
+        ('speed on', [('drive.set_enabled', {'enabled': True})]),
+        ('speed off', [('drive.set_enabled', {'enabled': False})]),
+        ('heat off', [('thermal.set_enabled', {'enabled': False})]),
+        ('vibration 100Hz', []),                                                 # not supported
+    ]},
+    'linari_rtadvanced': {'steps': [
+        ('set-temp 30C', [('climate.set_targets', {'temperature_k': K0 + 30, 'humidity': 0.4})]),
+        ('humidity 35%', [('climate.set_targets', {'temperature_k': K0 + 30, 'humidity': 0.35})]),
+        ('humidity 90%', []),                                                    # OUT_OF_RANGE (20..70 %)
+        ('heat on', [('climate.set', {'enabled': True})]),
+        ('humidity on', []),                                                     # already on (one climate control)
+        ('wait-temp --max 30min', []),
+        ('start', []),                                                           # NO_METHOD
+        ('method voltage=15kV,15kV flows=0.2mL/h,0,0,0,0,0,0,0 rpm=600rpm needle-low=50mm,50mm needle-high=450mm,450mm gap=40mm,40mm '
+         'time=10s', [('method.configure', {'voltage_v': [15000.0, 15000.0], 'flows_m3_s': [0.2e-6 / 3600] + [0.0] * 7, 'rpm': 600.0,
+                                            'needle_low_m': [0.05, 0.05], 'needle_high_m': [0.45, 0.45], 'gap_m': [0.04, 0.04],
+                                            'duration_s': 10.0})]),
+        ('start', []),                                                           # HV_OFF
+        ('hv 20kV', []),                                                         # NO_VALUE: the voltage is a method setting
+        ('hv on', [('hv.set', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 5min', []),
+        ('result', [('spinning.measure', {})]),
+        ('clean --head 1', []),                                                  # HV_ON
+        ('hv off', [('hv.set', {'enabled': False})]),
+        ('clean', []),                                                           # MISSING_HEAD
+        ('#wait 60', None),
+        ('clean --head 1', [('needle.clean', {'group': 0})]),
+        ('speed 100rpm', []),                                                    # not supported (method rpm)
+        ('heat off', [('climate.set', {'enabled': False})]),
+    ]},
+    'buchi_encapsulatorb': {'steps': [
+        ('status', []),
+        ('start', []),                                                           # NO_METHOD
+        ('method volume=5mL flow=6mL/min', [('method.configure', {'accept_host_observer_only': True, 'target_volume_m3': 5e-6,
+                                                                   'target_flow_m3_s': 6 * ML_MIN})]),
+        ('vibration 1000Hz', [('vibration.set_frequency', {'frequency_hz': 1000.0})]),
+        ('vibration 10kHz', []),                                                 # OUT_OF_RANGE (40..6000 Hz)
+        ('vibration on', [('vibration.toggle', {})]),
+        ('vibration on', []),                                                    # already on: no toggle
+        ('hv 1500V', [('electrostatic.set_voltage', {'voltage_v': 1500.0})]),
+        ('hv on', [('electrostatic.toggle', {})]),
+        ('set-temp 40C', [('thermal.set_temperature', {'temperature_k': K0 + 40})]),
+        ('heat on', [('thermal.toggle', {})]),
+        ('start', [('acquisition.start', {})]),
+        ('feed 300mbar', [('air.set_pressure', {'gauge_pa': 30000.0}), ('valve.set_opening', {'fraction': 1.0})]),
+        ('wait --max 30min', []),
+        ('result', [('encapsulation.measure', {})]),
+        ('feed off', [('valve.set_opening', {'fraction': 0.0}), ('air.set_pressure', {'gauge_pa': 0.0})]),
+        ('hv off', [('electrostatic.toggle', {})]),
+        ('vibration off', [('vibration.toggle', {})]),
+        ('heat off', [('thermal.toggle', {})]),
+        ('temp', []),                                                            # not supported (no nozzle reading)
+        ('speed 100rpm', []),                                                    # not supported
+    ]},
+    'cytiva_nanoassemblrignite': {'steps': [
+        ('set-temp 37C', [('heating.set', {'enabled': False, 'targets_k': [K0 + 37, K0 + 37]})]),
+        ('heat on', []),                                                         # BLOCK_OPEN
+        ('close block', [('block.set', {'opened': False})]),                     # shared verb
+        ('heat on', [('heating.set', {'enabled': True, 'targets_k': [K0 + 37, K0 + 37]})]),
+        ('set-temp 50C --channel right', [('heating.set', {'enabled': True, 'targets_k': [K0 + 37, K0 + 50]})]),
+        ('set-temp 90C', []),                                                    # OUT_OF_RANGE (max 75 °C)
+        ('temp', []),
+        ('wait-temp --max 30min', []),                                           # both channels
+        ('start', []),                                                           # NO_METHOD
+        ('method flow=4mL/min ratio=3 volume=2mL dilution=1 waste-start=0.2mL waste-end=0.05mL', [('method.configure', {
+            'flow_m3_s': 4 * ML_MIN, 'flow_ratio_c_r': 3.0, 'volume_m3': 2e-6, 'dilution_ratio': 1.0, 'start_waste_equiv_m3': 2e-7,
+            'end_waste_equiv_m3': 5e-8})]),
+        ('prime', []),                                                           # LID_OPEN
+        ('close lid', [('lid.set', {'opened': False})]),                         # shared verb
+        ('prime', [('cartridge.prime', {})]),
+        ('wait --max 10min', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('formulation.measure', {})]),
+        ('start', []),                                                           # CARTRIDGE_USED
+        ('heat off', [('heating.set', {'enabled': False, 'targets_k': [K0 + 37, K0 + 50]})]),
+        ('feed 1mL/min', []),                                                    # not supported (method flow)
+    ]},
+    'glatt_miniglatt': {'steps': [
+        ('status', []),
+        ('air on', []),                                                          # POWER_OFF (off in the default lab)
+        ('power on', [('power.set', {'enabled': True})]),                        # shared verb
+        ('air on', []),                                                          # NO_METHOD (the set points edit the method)
+        ('method time=2min spray-time=90s', [('method.configure', {
+            'operation': 'granulation', 'spray_position': 'top', 'air_normal_m3_s': 12 / 3600, 'temperature_k': K0 + 60,
+            'spray_m3_s': 3.5 * ML_MIN, 'duration_s': 120.0, 'spray_duration_s': 90.0})]),
+        ('air on', []),                                                          # TOWER_OPEN
+        ('close tower', [('tower.set', {'opened': False})]),                     # shared verb
+        ('air 240L/min', [('fluidization.set_flow', {'flow_normal_m3_s': 240e-3 / 60})]),
+        ('air on', [('air.set', {'enabled': True})]),
+        ('set-temp 60C', [('thermal.set_temperature', {'temperature_k': K0 + 60})]),
+        ('heat on', [('heating.set', {'enabled': True})]),
+        ('wait-temp --max 30min', []),
+        ('feed 3.5mL/min', [('spray.set_rate', {'flow_m3_s': 3.5 * ML_MIN})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('granulation.measure', {})]),
+        ('clean', [('filter.clean', {})]),
+        ('clean', []),                                                           # BLOWBACK_RUNNING
+        ('feed off', [('spray.set_rate', {'flow_m3_s': 0.0})]),
+        ('hv on', []),                                                           # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/formulation_tasks.py b/chemlab/chemlab/compile/tasks/formulation_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..eab4801725252b461498ceedc558a386bdc6c61b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/formulation_tasks.py
@@ -0,0 +1,239 @@
+"""Formulation class acceptance tasks (8): gold solutions use `chemlab run`; the checkers read the evaluator view (truth slots
+included) and the agent's report files.  Five are recovery tasks (the gold meets the refusal, reads `--json` `.error.code` and follows
+the fix)."""
+from .common import run_suite
+from .formulation_world import config as world_config
+
+K0 = 273.15
+P11, LIN, ENC, IGN, GL = 'thermo_process11', 'linari_rtadvanced', 'buchi_encapsulatorb', 'cytiva_nanoassemblrignite', 'glatt_miniglatt'
+ML_MIN = 1e-6 / 60
+
+
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+# ------------------------------------------------------------------ checkers
+def c_extrude(c):
+    e = c.ev(P11)
+    c.add('every barrel zone set to 180 °C', all(abs(t - (K0 + 180)) < 1e-6 for t in e['thermal.targets_k']), e['thermal.targets_k'])
+    c.near('die set to 180 °C', e['die.target_k'], K0 + 180, 1e-6)
+    c.equal('the extrusion run finished', e['cycle.phase'], 'succeeded')
+    c.near('it ran the 20 s recipe', e['cycle.elapsed_s'], 20.0, 0.5)
+
+
+def c_profile(c):
+    e = c.ev(P11)
+    want = [160, 170, 180, 180, 180, 180, 185]
+    c.add('zone profile 160/170/180/180/180/180/185 °C', all(abs(t - (K0 + w)) < 1e-6 for t, w in zip(e['thermal.targets_k'], want)), e['thermal.targets_k'])
+    c.near('die 185 °C', e['die.target_k'], K0 + 185, 1e-6)
+    c.add('heating on', e['thermal.enabled'])
+    c.add('every zone at its set point (±2 K)', all(abs(e['thermal.zone_%d_k' % i] - (K0 + w)) <= 2.0 for i, w in enumerate(want)),
+          [round(e['thermal.zone_%d_k' % i] - K0, 2) for i in range(7)])
+    c.near('die.txt reports the die temperature in °C', c.number_file('die.txt'), e['die.temperature_k'] - K0, 0.5)
+
+
+def c_spin(c):
+    e = c.ev(LIN)
+    c.equal('the spinning run finished', e['cycle.phase'], 'succeeded')
+    c.near('chamber 30 °C', e['thermal.target_k'], K0 + 30, 1e-6)
+    c.near('chamber 35 % RH', e['climate.target_rh'], 0.35, 1e-9)
+    d = e.get('fiber.mean_diameter_m') or 0
+    c.add('fibres were spun', d > 1e-8, d)
+    c.near('fiber.txt reports the mean fibre diameter in nm', c.number_file('fiber.txt'), d * 1e9, 1.0)
+
+
+def c_clean(c):
+    e = c.ev(LIN)
+    c.equal('the spinning run finished', e['cycle.phase'], 'succeeded')
+    c.add('high voltage off', not e['hv.enabled'])
+    c.add('door open', e['door.opened'])
+    trail = e.get('audit.trail') or []
+    c.add('the needles of group 1 were cleaned', any(x.get('event') == 'needle.clean' for x in trail), [x.get('event') for x in trail][-6:])
+
+
+def c_encap(c):
+    e = c.ev(ENC)
+    c.equal('the encapsulation run finished', e['cycle.phase'], 'succeeded')
+    c.near('vibration 1000 Hz', e['vibration.target_hz'], 1000.0, 1e-9)
+    c.near('electrode 1500 V', e['electrostatic.target_v'], 1500.0, 1e-9)
+    c.near('nozzle heater 40 °C', e['thermal.target_k'], K0 + 40, 1e-6)
+    c.add('feed closed after the run (valve shut, no pressure)', (e.get('valve.target_fraction') or 0) == 0 and (e.get('air.target_pa') or 0) == 0,
+          (e.get('valve.target_fraction'), e.get('air.target_pa')))
+    c.add('beads were made (polymer in beads)', ((e.get('truth.ledger') or {}).get('bead_polymer_kg') or 0) > 0, (e.get('truth.ledger') or {}).get('bead_polymer_kg'))
+
+
+def c_lnp(c):
+    e = c.ev(IGN)
+    c.equal('the formulation run finished', e['cycle.phase'], 'succeeded')
+    c.add('the cartridge was used', e['cartridge.used'])
+    c.add('both channels heated to 37 °C', e['heating.enabled'] and abs(e['thermal.target_center_k'] - (K0 + 37)) < 1e-6 and
+          abs(e['thermal.target_right_k'] - (K0 + 37)) < 1e-6)
+    v = e.get('volume.sample_m3') or 0
+    c.add('sample collected', v > 1e-7, v)
+    c.near('sample.txt reports the sample volume in mL', c.number_file('sample.txt'), v * 1e6, 0.01)
+    js = jobs_of(c, IGN)
+    c.add('the priming ran as a job that succeeded', len([j for j in js if j.state == 'succeeded']) >= 2, [(j.handle, j.description, j.state) for j in js])
+
+
+def c_fluidbed(c):
+    e = c.ev(GL)
+    c.add('switched on', e['power.enabled'])
+    c.equal('the fluid-bed run finished', e['cycle.phase'], 'succeeded')
+    c.near('inlet air 60 °C', e['thermal.target_k'], K0 + 60, 1e-6)
+    c.near('air 240 L/min', e['flow.target_normal_m3_s'], 0.004, 1e-9)
+    c.near('spray 3.5 mL/min', e['spray.target_m3_s'], 3.5 * ML_MIN, 1e-14)
+    c.add('tower closed', not e['tower.opened'])
+
+
+def c_climate(c):
+    e = c.ev(LIN)
+    c.near('chamber 28 °C', e['thermal.target_k'], K0 + 28, 1e-6)
+    c.near('chamber 45 % RH', e['climate.target_rh'], 0.45, 1e-9)
+    c.add('climate control on', e['climate.enabled'])
+    c.near('the chamber is at 28 °C (±1 K)', e['thermal.temperature_k'], K0 + 28, 1.0)
+    c.near('rh.txt reports the humidity in %', c.number_file('rh.txt'), e['climate.humidity'] * 100, 1.0)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_EXTRUDE = r'''chemlab run thermo_process11 speed on
+chemlab run thermo_process11 start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "COLD_BARREL"' s.json >/dev/null; then
+  for z in 1 2 3 4 5 6 7 die; do chemlab run thermo_process11 set-temp 180C --zone $z; done
+  chemlab run thermo_process11 heat on
+  chemlab run thermo_process11 wait-temp --max 1h
+  chemlab run thermo_process11 start
+fi
+chemlab run thermo_process11 wait --max 10min
+chemlab run thermo_process11 result'''
+
+GOLD_PROFILE = r'''i=1; for t in 160 170 180 180 180 180 185; do chemlab run thermo_process11 set-temp ${t}C --zone $i; i=$((i+1)); done
+chemlab run thermo_process11 set-temp 185C --zone die
+chemlab run thermo_process11 heat on
+chemlab run thermo_process11 wait-temp --max 1h
+chemlab run thermo_process11 temp --zone die --json | jq -r .temperature_c > die.txt; cat die.txt'''
+
+GOLD_SPIN = r'''chemlab run linari_rtadvanced set-temp 30C
+chemlab run linari_rtadvanced humidity 35%
+chemlab run linari_rtadvanced heat on
+chemlab run linari_rtadvanced wait-temp --max 30min
+chemlab run linari_rtadvanced method voltage=15kV,15kV flows=0.2mL/h,0,0,0,0,0,0,0 rpm=600rpm needle-low=50mm,50mm needle-high=450mm,450mm gap=40mm,40mm time=10s
+chemlab run linari_rtadvanced start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "HV_OFF"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run linari_rtadvanced hv on
+  chemlab run linari_rtadvanced start
+fi
+chemlab run linari_rtadvanced wait --max 10min
+chemlab run linari_rtadvanced result --json | jq -r '.result.mean_fiber_diameter_m * 1000000000' > fiber.txt; cat fiber.txt'''
+
+GOLD_CLEAN = r'''chemlab run linari_rtadvanced method voltage=15kV,15kV flows=0.2mL/h,0,0,0,0,0,0,0 rpm=600rpm needle-low=50mm,50mm needle-high=450mm,450mm gap=40mm,40mm time=10s
+chemlab run linari_rtadvanced hv on
+chemlab run linari_rtadvanced start
+chemlab run linari_rtadvanced wait --max 10min
+chemlab run linari_rtadvanced clean --head 1 --json > c.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "HV_ON"' c.json >/dev/null; then
+  chemlab run linari_rtadvanced hv off
+  chemlab wait 30s
+  chemlab run linari_rtadvanced clean --head 1
+fi
+chemlab run linari_rtadvanced open door'''
+
+GOLD_ENCAP = r'''chemlab run buchi_encapsulatorb method volume=5mL flow=6mL/min
+chemlab run buchi_encapsulatorb vibration 1000Hz
+chemlab run buchi_encapsulatorb vibration on
+chemlab run buchi_encapsulatorb hv 1500V
+chemlab run buchi_encapsulatorb hv on
+chemlab run buchi_encapsulatorb set-temp 40C
+chemlab run buchi_encapsulatorb heat on
+chemlab run buchi_encapsulatorb start
+chemlab run buchi_encapsulatorb feed 300mbar
+chemlab run buchi_encapsulatorb wait --max 30min
+chemlab run buchi_encapsulatorb feed off
+chemlab run buchi_encapsulatorb result'''
+
+GOLD_LNP = r'''chemlab run cytiva_nanoassemblrignite set-temp 37C
+chemlab run cytiva_nanoassemblrignite heat on --json > h.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "BLOCK_OPEN"' h.json >/dev/null; then
+  chemlab run cytiva_nanoassemblrignite close block
+  chemlab run cytiva_nanoassemblrignite heat on
+fi
+chemlab run cytiva_nanoassemblrignite wait-temp --max 30min
+chemlab run cytiva_nanoassemblrignite method flow=4mL/min ratio=3 volume=2mL dilution=1 waste-start=0.2mL waste-end=0.05mL
+chemlab run cytiva_nanoassemblrignite prime --json > p.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' p.json >/dev/null; then
+  chemlab run cytiva_nanoassemblrignite close lid
+  chemlab run cytiva_nanoassemblrignite prime
+fi
+chemlab run cytiva_nanoassemblrignite wait --max 10min
+chemlab run cytiva_nanoassemblrignite start
+chemlab run cytiva_nanoassemblrignite wait --max 10min
+chemlab run cytiva_nanoassemblrignite result --json | jq -r '.result.sample_m3 * 1000000' > sample.txt; cat sample.txt'''
+
+GOLD_FLUIDBED = r'''chemlab run glatt_miniglatt method operation=granulation air=240L/min temp=60C spray=3.5mL/min time=2min spray-time=90s --json > m.json; rc=$?
+if [ $rc -ne 0 ]; then jq -r '.error.code + ": " + .error.fix' m.json; fi
+chemlab run glatt_miniglatt set-temp 60C --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "POWER_OFF"' s.json >/dev/null; then
+  chemlab run glatt_miniglatt power on
+  chemlab run glatt_miniglatt method operation=granulation air=240L/min temp=60C spray=3.5mL/min time=2min spray-time=90s
+fi
+chemlab run glatt_miniglatt close tower
+chemlab run glatt_miniglatt air on
+chemlab run glatt_miniglatt heat on
+chemlab run glatt_miniglatt wait-temp --max 30min
+chemlab run glatt_miniglatt start
+chemlab run glatt_miniglatt wait --max 10min
+chemlab run glatt_miniglatt result'''
+
+GOLD_CLIMATE = r'''chemlab run linari_rtadvanced set-temp 28C
+chemlab run linari_rtadvanced humidity 45%
+chemlab run linari_rtadvanced humidity on
+chemlab run linari_rtadvanced wait-temp --max 30min
+chemlab wait 5min
+chemlab run linari_rtadvanced status --json | jq -r '.state.humidity * 100' > rh.txt; cat rh.txt'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'fo01_extrude_recover_cold', 'kind': 'recovery: cold barrel', 'instruments': [P11], 'check': c_extrude,
+     'instruction': 'Run the stored recipe on the Thermo Process 11 extruder (thermo_process11) with every barrel zone and the die at 180 °C, '
+                    'and wait for the run to finish.', 'gold': GOLD_EXTRUDE},
+    {'id': 'fo02_barrel_profile_report', 'kind': 'multi-zone (--zone) + report', 'instruments': [P11], 'check': c_profile,
+     'instruction': 'Set the barrel profile of the Process 11 extruder (thermo_process11): zones 1-7 at 160, 170, 180, 180, 180, 180 and '
+                    '185 °C, the die at 185 °C. Heat up, wait until everything is at temperature, and write the die temperature in °C into '
+                    'die.txt.', 'gold': GOLD_PROFILE},
+    {'id': 'fo03_electrospin_recover_hv', 'kind': 'recovery: high voltage off', 'instruments': [LIN], 'check': c_spin,
+     'instruction': 'On the Linari RT Advanced (linari_rtadvanced): chamber at 30 °C and 35 % RH. Spin for 10 s with 15 kV on both needle '
+                    'groups, pump 1 at 0.2 mL/h (the other seven pumps off), the collector at 600 rpm, needle travel 50-450 mm and a 40 mm '
+                    'gap for both groups. Write the mean fibre diameter in nm into fiber.txt.', 'gold': GOLD_SPIN},
+    {'id': 'fo04_linari_clean_recover', 'kind': 'recovery: high voltage still on after a run', 'instruments': [LIN], 'check': c_clean,
+     'instruction': 'On the Linari RT Advanced (linari_rtadvanced), spin for 10 s (15 kV on both groups, pump 1 at 0.2 mL/h, others off, '
+                    'collector 600 rpm, needle travel 50-450 mm, gap 40 mm). Afterwards clean the needle tips of group 1 and open the chamber '
+                    'door.', 'gold': GOLD_CLEAN},
+    {'id': 'fo05_encapsulation', 'kind': 'multi-step run + feed control', 'instruments': [ENC], 'check': c_encap,
+     'instruction': 'Make alginate beads on the BUCHI Encapsulator B-390 (buchi_encapsulatorb): process 5 mL (about 6 mL/min) with the nozzle '
+                    'vibrating at 1000 Hz, the electrode at 1500 V and the nozzle heater at 40 °C; drive the feed at 300 mbar. When the 5 mL '
+                    'are through, close the feed.', 'gold': GOLD_ENCAP},
+    {'id': 'fo06_lnp_recover_block', 'kind': 'recovery: loading block / lid open', 'instruments': [IGN], 'check': c_lnp,
+     'instruction': 'On the NanoAssemblr Ignite (cytiva_nanoassemblrignite): warm both syringe channels to 37 °C, then prime the cartridge and '
+                    'make 2 mL at 4 mL/min total flow, flow ratio 3, dilution 1, waste 0.2 mL at the start and 0.05 mL at the end. Write the '
+                    'collected sample volume in mL into sample.txt.', 'gold': GOLD_LNP},
+    {'id': 'fo07_fluidbed_recover_power', 'kind': 'recovery: instrument switched off', 'instruments': [GL], 'check': c_fluidbed,
+     'instruction': 'Granulate the loaded powder in the Glatt Mini-Glatt (glatt_miniglatt): inlet air 60 °C at 240 L/min, binder spray 3.5 '
+                    'mL/min for 90 s within a 2-minute run (top spray). Wait for the run to finish.', 'gold': GOLD_FLUIDBED},
+    {'id': 'fo08_spinning_climate_report', 'kind': 'set points + wait + report', 'instruments': [LIN], 'check': c_climate,
+     'instruction': 'Condition the Linari RT Advanced (linari_rtadvanced) chamber to 28 °C and 45 % relative humidity, wait until it is there, '
+                    'and write the chamber humidity in % into rh.txt.', 'gold': GOLD_CLIMATE},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'formulation'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('formulation', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/formulation_world.py b/chemlab/chemlab/compile/tasks/formulation_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..f939c9a905c6127a43dbffce3a0a7ba88a78ec2f
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/formulation_world.py
@@ -0,0 +1,37 @@
+"""Host-side world for the formulation class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* BUCHI Encapsulator: the feed bottle filled with 15 mL alginate solution, the gelling bath placed and grounded, compressed air
+  connected - sample.configure, bath.configure, air.configure (evaluator, contract examples; the air needs the sample first).
+* NanoAssemblr Ignite: a dilution cartridge, the collection tubes, three loaded syringes (diluent, aqueous reagent, ethanol lipids)
+  and the syringe heater fitted (evaluator).
+* Mini-Glatt: 80 g of powder and 30 mL binder loaded (evaluator powder.load / liquid.load, contract examples); the unit stays
+  switched off (the agent switches it on).
+* Process 11 and Linari are ready in the default lab (material, coolant, collector, solution).
+"""
+import copy
+
+from ...labbackend import load_config
+
+ENCAPSULATOR = [{'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True},
+                {'capability': 'bath.configure', 'arguments': 'contract_example', 'evaluator': True},
+                {'capability': 'air.configure', 'arguments': 'contract_example', 'evaluator': True}]
+SYRINGES = [dict(channel=i, source_tag=['diluent', 'aqueous_reagent', 'ethanol_lipids'][i], volume_m3=[10e-6, 3e-6, 1e-6][i],
+                 capacity_m3=[10e-6, 3e-6, 1e-6][i], inner_diameter_m=[.0145, .009, .0047][i], density_kg_m3=[1000., 1000., 789.][i],
+                 solute_kg_m3=[0., .1, 10.][i], accept_host_compatibility=True) for i in range(3)]
+IGNITE = ([{'capability': 'cartridge.install', 'arguments': 'contract_example', 'evaluator': True},
+           {'capability': 'tubes.install', 'arguments': 'contract_example', 'evaluator': True}] +
+          [{'capability': 'syringe.load', 'arguments': s, 'evaluator': True} for s in SYRINGES] +
+          [{'capability': 'heating.configure', 'arguments': 'contract_example', 'evaluator': True}])
+GLATT = [{'capability': 'powder.load', 'arguments': 'contract_example', 'evaluator': True},
+         {'capability': 'liquid.load', 'arguments': 'contract_example', 'evaluator': True}]
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the formulation world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        add = {'buchi_encapsulatorb': ENCAPSULATOR, 'cytiva_nanoassemblrignite': IGNITE, 'glatt_miniglatt': GLATT}.get(slug)
+        if add:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(add)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/gas_fluid_lowering.py b/chemlab/chemlab/compile/tasks/gas_fluid_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..6702b6ffc18c4b03e243a6670d348ae6719881a6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/gas_fluid_lowering.py
@@ -0,0 +1,165 @@
+"""Lowering table of the gas_fluid class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a read, a wait, or a verb this member does not have); None = not checked.  The labs carry the class world
+(tasks/gas_fluid_world.py).  Shared verbs (power) appear only where a member must be switched on first."""
+from .gas_fluid_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+PSI = 6894.757293168
+SCCM = 1e-6 / 60.0
+
+
+def _eval(iid, cap, args, rid):
+    def prep(backend):
+        r = backend.evaluator_invoke(iid, cap, args, rid)
+        assert r.get('status') == 'succeeded', (cap, r)
+    return prep
+
+
+CASES = {
+    'alicat_mc_1slpm_rev6': {'steps': [
+        ('status', []),
+        ('setpoint 500sccm', []),                                                 # NO_GAS (no gas selected)
+        ('select nitrogen', [('gas.select', {'gas_id': 'gas_nitrogen'})]),
+        ('select nitrogen', []),                                                  # already selected
+        ('zero', [('flow.zero', {})]),
+        ('setpoint 500sccm --wait --max 1min', [('flow.set_setpoint', {'flow_rate_m3_s': 500 * SCCM})]),
+        ('setpoint 2slpm', []),                                                   # OUT_OF_RANGE (1 SLPM full scale)
+        ('select argon', []),                                                     # FLOWING
+        ('zero', []),                                                             # FLOWING
+        ('read', []),
+        ('setpoint 0sccm', [('flow.set_setpoint', {'flow_rate_m3_s': 0.0})]),
+        ('select argon', [('gas.select', {'gas_id': 'gas_argon'})]),
+        ('select unobtainium', [('gas.select', {'gas_id': 'gas_unobtainium'})]),  # refused by the runtime: GAS_NOT_AVAILABLE
+        ('start', []),                                                            # not supported (continuous controller)
+    ]},
+    'bronkhorst_p702cv_5bar_gauge_n2': {'steps': [
+        ('status', []),
+        ('setpoint 0.5bar', []),                                                  # OUT_OF_RANGE (1..5 bar g)
+        ('setpoint 3bar', [('pressure.set_setpoint', {'pressure_Pa': 300000.0}), ('control.set_mode', {'mode': 'automatic'})]),
+        ('setpoint 2.5bar --wait --max 20min', [('pressure.set_setpoint', {'pressure_Pa': 250000.0})]),   # already automatic
+        ('read', []),
+        ('zero', [('sensor.calibrate_zero', {})]),
+        ('start', []),                                                            # not supported (continuous controller)
+        ('vent', []),                                                             # not supported
+        ('setpoint 2bar --dry-run', []),
+    ]},
+    'bronkhorst_cemw': {'steps': [
+        ('status', []),
+        ('setpoint 500sccm', []),                                                 # POWER_OFF (off in the default lab)
+        ('power on', [('power.set', {'on': True})]),                              # shared verb: switch it on
+        ('setpoint 500', []),                                                     # UNIT_NEEDED (flow, mass flow and temperature)
+        ('setpoint 500sccm', [('gas.set_flow', {'setpoint_m3_s': 500 * SCCM})]),
+        ('setpoint 12slpm', []),                                                  # OUT_OF_RANGE (10 L/min full scale)
+        ('setpoint 140C', [('heater.set_temperature', {'setpoint_k': K0 + 140})]),
+        ('setpoint 3.6g/h --wait --max 20min', [('liquid.set_flow', {'setpoint_kg_s': 1e-6})]),
+        ('vent', []),                                                             # LIQUID_FLOWING
+        ('setpoint 0g/h', [('liquid.set_flow', {'setpoint_kg_s': 0.0})]),
+        ('vent', [('bleed.set', {'open': True})]),
+        ('setpoint 1g/h', []),                                                    # BLEED_OPEN
+        ('vent off', [('bleed.set', {'open': False})]),
+        ('read', []),
+        ('zero', []),                                                             # not supported
+        ('select argon', []),                                                     # not supported (plumbing)
+    ]},
+    'vici_euta_2sd6mwe': {'steps': [
+        ('status', []),
+        ('select 3 --wait', [('valve.select_position', {'position': 3})]),
+        ('select 3', []),                                                         # already there
+        ('select 9', []),                                                         # UNKNOWN_POSITION (6 positions)
+        ('select 5', [('valve.select_position', {'position': 5})]),
+        ('select 2', []),                                                         # BUSY (still moving)
+        ('#wait 2', None),
+        ('read', []),
+        ('setpoint 1bar', []),                                                    # not supported
+    ]},
+    'vacuubrand_pc3001_vario_select': {'prep': _eval('vacuubrand_pc3001_vario_select', 'vacuum.set_mode', {'mode': 'pump_down'}, 'prep-mode'), 'steps': [
+        ('status', []),
+        ('setpoint 50mbar --wait --max 5min', []),                                # NOT_RUNNING (pump off)
+        ('setpoint 50mbar', [('vacuum.set_pressure', {'pressure_pa': 5000.0}), ('vacuum.set_mode', {'mode': 'pressure_control'})]),
+        ('start', [('vacuum.start', {})]),
+        ('setpoint 30mbar --wait --max 10min', [('vacuum.set_pressure', {'pressure_pa': 3000.0})]),
+        ('calibrate reference=1013mbar', []),                                     # NOT_AT_REFERENCE (it reads 30 mbar)
+        ('vent', [('vent.control', {'action': 'atmosphere'})]),
+        ('#wait 300', None),
+        ('calibrate reference=1013mbar', [('sensor.adjust', {'reference_pa': 101300.0})]),
+        ('vent off', []),                                                         # already closed (it closes itself at atmosphere)
+        ('start', [('vacuum.start', {})]),
+        ('stop', [('vacuum.stop', {})]),
+        ('setpoint 1mbar', []),                                                   # OUT_OF_RANGE (2 mbar minimum)
+        ('read', []),
+        ('zero', []),                                                             # not supported
+    ]},
+    'peak_precisionhydrogen': {'steps': [
+        ('status', []),
+        ('setpoint 60psi', [('settings.configure', {'pressure_set_pa': 60 * PSI})]),
+        ('setpoint 120psi', []),                                                  # OUT_OF_RANGE (100 psi)
+        ('start --wait', [('cycle.start', {})]),
+        ('vent', []),                                                             # RUNNING (depressurise only in standby)
+        ('stop', [('cycle.stop', {})]),
+        ('vent', [('output.depressurise', {})]),
+        ('vent off', []),                                                         # no vent off
+        ('read', []),
+        ('select hydrogen', []),                                                  # not supported
+    ]},
+    'elga_purelab_flex3': {'steps': [
+        ('status', []),
+        ('dispense 500mL', []),                                                   # NO_RATE
+        ('dispense 500mL --rate 1L/min --wait', [('water.set_volume', {'volume_m3': 0.0005}), ('water.set_flow_rate', {'flow_m3_s': 1e-3 / 60}),
+                                                 ('water.start', {})]),
+        ('setpoint 0.5L/min', [('water.set_flow_rate', {'flow_m3_s': 0.5e-3 / 60})]),
+        ('setpoint 3L/min', []),                                                  # OUT_OF_RANGE (2 L/min)
+        ('dispense 200mL', [('water.set_volume', {'volume_m3': 0.0002}), ('water.start', {})]),
+        ('dispense 100mL', []),                                                   # BUSY (dispensing)
+        ('stop', [('water.stop', {})]),
+        ('#wait 5', None),
+        ('start', [('water.start', {})]),                                         # the volume and rate set before
+        ('stop', [('water.stop', {})]),
+        ('calibrate enter', []),                                                  # MISSING_SETTING (usage)
+        ('read', []),
+        ('vent', []),                                                             # not supported
+    ]},
+    'eco_ncld822': {'prep': _eval('eco_ncld822', 'range.select', {'index': 3}, 'prep-range'), 'steps': [
+        ('status', []),
+        ('zero', []),                                                             # NO_ZERO_GAS (ambient air on the inlet)
+        ('select zero_air', [('inlet.connect_standard', {'standard_id': 'zero_air'})]),
+        ('start', [('measurement.start', {})]),
+        ('#wait 60', None),
+        ('zero', [('calibration.zero', {})]),
+        ('#wait 60', None),
+        ('calibrate span=2954ppm', []),                                           # NO_SPAN_GAS (zero air on the inlet)
+        ('select srm_2631a', [('inlet.connect_standard', {'standard_id': 'srm_2631a'})]),
+        ('#wait 60', None),
+        ('calibrate span=2954ppm', [('calibration.configure', {'span_no_mol_mol': 0.002954, 'span_nox_mol_mol': 0.002954, 'window_s': 30.0}),
+                                    ('calibration.span', {})]),
+        ('#wait 60', None),
+        ('select sample', [('inlet.disconnect', {})]),
+        ('read', []),
+        ('stop', [('measurement.stop', {})]),
+        ('setpoint 1bar', []),                                                    # not supported
+    ]},
+    'inficon_ul1000fab': {'steps': [
+        ('status', []),
+        ('zero', []),                                                             # NOT_MEASURING
+        ('start --wait', [('measure.start', {})]),
+        ('zero', [('zero.set', {'enabled': True})]),
+        ('zero off', [('zero.set', {'enabled': False})]),
+        ('read', []),
+        ('stop', [('measure.stop', {})]),
+        ('calibrate external', []),                                               # MISSING_SETTING (usage)
+        ('calibrate', [('calibration.start', {'kind': 'internal'})]),
+        ('#wait 120', None),
+        ('vent', [('measure.stop', {'hold_s': 3.0})]),
+        ('setpoint 1bar', []),                                                    # not supported
+    ]},
+    'inert_purelab_he_2gb': {'steps': [
+        ('status', []),
+        ('setpoint 6mbar', [('pressure.set', {'pressure_pa': 600.0})]),
+        ('setpoint 20mbar', []),                                                  # OUT_OF_RANGE (+-15 mbar)
+        ('start', [('purification.set', {'enabled': True})]),
+        ('start', []),                                                            # already running
+        ('stop', [('purification.set', {'enabled': False})]),
+        ('read', []),                                                             # (owned by the enclosure part of this composite)
+        ('vent', []),                                                             # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/gas_fluid_tasks.py b/chemlab/chemlab/compile/tasks/gas_fluid_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..b309ca250920ba647d4a1e267de897de09875cec
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/gas_fluid_tasks.py
@@ -0,0 +1,271 @@
+"""gas_fluid class acceptance tasks: gold solutions use `chemlab run` (and `chemlab call` only for capabilities the class does not
+cover); the checkers read the evaluator view (process truth where the twin has it) and the agent's report files.  The labs carry
+the class world (tasks/gas_fluid_world.py)."""
+from .common import run_suite
+from .gas_fluid_world import config as world_config
+
+K0 = 273.15
+PSI = 6894.757293168
+VAC, P702, CEM, VICI, PEAK, ELGA, ECO, LEAK, MFC = ('vacuubrand_pc3001_vario_select', 'bronkhorst_p702cv_5bar_gauge_n2', 'bronkhorst_cemw',
+                                                    'vici_euta_2sd6mwe', 'peak_precisionhydrogen', 'elga_purelab_flex3', 'eco_ncld822',
+                                                    'inficon_ul1000fab', 'alicat_mc_1slpm_rev6')
+
+
+_N = [0]
+
+
+def world_call(lab, iid, cap, args):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, _N[0]))
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+def w_vac_at_50mbar(lab):
+    world_call(lab, VAC, 'vacuum.set_pressure', {'pressure_pa': 5000.0})
+    world_call(lab, VAC, 'vacuum.start', {})
+    lab.backend.advance(120)
+
+
+def w_eco_drifted(lab):
+    """The analyzer was last spanned against a wrong span value (2500 ppm entered for a 2954 ppm standard): its NO/NOx gains
+    read about 15 % low.  Done here as the evaluator, with the standard connected and steady, then the inlet back on sample."""
+    world_call(lab, ECO, 'range.select', {'index': 3})
+    world_call(lab, ECO, 'measurement.start', {})
+    world_call(lab, ECO, 'inlet.connect_standard', {'standard_id': 'srm_2631a'})
+    lab.backend.advance(60)
+    world_call(lab, ECO, 'calibration.configure', {'span_no_mol_mol': 0.0025, 'span_nox_mol_mol': 0.0025, 'window_s': 30.0})
+    r = lab.backend.evaluator_invoke(ECO, 'calibration.span', {}, 'world-eco-span')
+    assert r.get('status') in ('accepted', 'succeeded'), r
+    lab.backend.advance(60)
+    world_call(lab, ECO, 'inlet.disconnect', {})
+    world_call(lab, ECO, 'measurement.stop', {})
+    world_call(lab, ECO, 'range.select', {'index': 2})
+    lab.backend.advance(60)
+
+
+def w_cem_bleed_open(lab):
+    world_call(lab, CEM, 'power.set', {'on': True})
+    world_call(lab, CEM, 'bleed.set', {'open': True})
+    world_call(lab, CEM, 'power.set', {'on': False})
+
+
+# ------------------------------------------------------------------ checkers
+def c_pumpdown(c):
+    e = c.ev(VAC)
+    c.add('pump running', e['vacuum.running'])
+    c.equal('pressure control mode', e['vacuum.mode'], 'pressure_control')
+    c.near('set point 30 mbar', e['vacuum.target_pressure_pa'], 3000.0, 1e-6)
+    c.near('flask at 30 mbar (+-1.5 mbar, true pressure)', e['vacuum.pressure_pa'], 3000.0, 150.0)
+
+
+def c_adjust(c):
+    e = c.ev(VAC)
+    adj = e.get('sensor.adjustment') or {}
+    c.near('atmosphere reference 1013 mbar', adj.get('atm_ref_pa'), 101300.0, 1e-6)
+    c.near('adjustment factor near 1 (it was adjusted at atmosphere, not under vacuum)', adj.get('k'), 1.0, 0.01)
+    c.add('pump stopped', not e['vacuum.running'])
+    c.equal('vent valve closed again', (e.get('vent.state') or {}).get('mode'), 'closed')
+
+
+def c_backpressure(c):
+    e = c.ev(P702)
+    c.equal('automatic control', e['control.mode'], 'automatic')
+    c.near('set point 2.5 bar g', e['pressure.setpoint_pa'], 250000.0, 1e-6)
+    gauge = e['process.upstream_absolute_pressure_pa'] - e['process.downstream_absolute_pressure_pa']
+    c.near('line at 2.5 bar g (+-0.05 bar, true pressure)', gauge, 250000.0, 5000.0)
+    c.near('pressure.txt reports the pressure in bar (+-0.05)', c.number_file('pressure.txt'), 2.5, 0.05)
+
+
+def c_evaporator(c):
+    e = c.ev(CEM)
+    c.add('switched on', e['power.on'])
+    c.near('carrier gas 1 L/min', e['setpoint.gas_m3_s'], 1e-3 / 60, 1e-12)
+    c.near('water 6 g/h', e['setpoint.liquid_kg_s'], 6e-3 / 3600, 1e-12)
+    c.near('evaporator 140 C', e['setpoint.temperature_k'], K0 + 140, 1e-6)
+    c.add('bleed closed', not e['bleed.open'])
+
+
+def c_valve(c):
+    e = c.ev(VICI)
+    c.equal('valve at position 4', e['valve.position'], 4)
+    c.add('in position', e['valve.in_position'])
+    c.equal('port.txt names the connected port', c.work_file('port.txt'), 'port_4')
+
+
+def c_hydrogen(c):
+    e = c.ev(PEAK)
+    c.near('outlet set point 60 psi', e['pressure.set_pa'], 60 * PSI, 1e-3)
+    c.equal('generating', e['state.current'], 'running')
+
+
+def c_water(c):
+    e = c.ev(ELGA)
+    c.near('750 mL in the bottle (true volume)', e['water.receiver_volume_m3'], 0.00075, 1e-6)
+    c.near('rate 1.5 L/min', e['water.flow_rate_m3_s'], 1.5e-3 / 60, 1e-12)
+    jobs = [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == ELGA]
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs), [(j.handle, j.state) for j in jobs])
+    c.near('quality.txt reports 18.2 MOhm.cm', c.number_file('quality.txt'), 18.2, 0.05)
+
+
+def c_nox(c):
+    e = c.ev(ECO)
+    c.near('span value 2954 ppm', e['calibration.span_no_mol_mol'], 0.002954, 1e-9)
+    c.near('NO gain near 1 (a correct span)', e['calibration.gain_no'], 1.0, 0.02)
+    c.add('zero offset small (zeroed on zero air)', abs(e['calibration.zero_offset_no_mol_mol']) < 1e-6, e['calibration.zero_offset_no_mol_mol'])
+    c.equal('inlet back on the sample', e['inlet.source'], 'ambient_air')
+    c.equal('no calibration running', e['calibration.phase'], 'idle')
+
+
+def c_leak(c):
+    e = c.ev(LEAK)
+    trig = (e.get('settings.current') or {}).get('trigger_1_pa_m3_s', 1e-10)
+    truth = max((x.get('helium_leak_rate_pa_m3_s') or 0.0) for x in (e.get('truth.leaks') or {}).values()) if e.get('truth.leaks') else 0.0
+    want = 'REJECT' if truth > trig else 'PASS'
+    starts = c.native(LEAK, 'measure.start')
+    c.add('a measurement was started (request log)', bool(starts), len(starts))
+    c.add('the leak rate was read while measuring (request log)', bool(starts) and bool(c.looked(LEAK, after_seq=starts[0][0]['seq'])),
+          len(c.looked(LEAK, after_seq=starts[0][0]['seq'])) if starts else 0)
+    c.equal('leak.txt gives the right verdict', (c.work_file('leak.txt') or '').upper(), want)
+    c.add('stopped (standby or venting)', e['state.current'] in ('standby', 'vent'), e['state.current'])
+    c.add('inlet vented (above 500 mbar)', (e.get('pressure.inlet_pa') or 0) > 50000, e.get('pressure.inlet_pa'))
+
+
+def c_mfc(c):
+    e = c.ev(MFC)
+    c.equal('nitrogen selected', e['gas.selected_id'], 'gas_nitrogen')
+    c.add('tared at zero flow', e['flow.zeroed'])
+    c.near('set point 250 sccm', e['flow.setpoint_m3_s'], 250e-6 / 60, 1e-12)
+    c.near('true standard flow 250 sccm (+-2.5 sccm)', e['truth.standard_flow_m3_s'], 250e-6 / 60, 2.5e-6 / 60)
+    c.near('flow.txt reports the flow in sccm (+-2.5)', c.number_file('flow.txt'), 250.0, 2.5)
+
+
+GOLD_G10 = r'''chemlab run alicat_mc_1slpm_rev6 setpoint 250sccm --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_GAS"' s.json >/dev/null; then
+  chemlab run alicat_mc_1slpm_rev6 select nitrogen
+fi
+chemlab run alicat_mc_1slpm_rev6 zero
+chemlab run alicat_mc_1slpm_rev6 setpoint 250sccm --wait --max 2min
+chemlab run alicat_mc_1slpm_rev6 read --json | jq -r '.readings["measurement.standard_flow_m3_s"] * 60000000 * 10 | round / 10' > flow.txt
+cat flow.txt'''
+
+GOLD_G01 = r'''chemlab run vacuubrand_pc3001_vario_select setpoint 30mbar --wait --max 10min --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_RUNNING"' s.json >/dev/null; then
+  chemlab run vacuubrand_pc3001_vario_select start
+  chemlab run vacuubrand_pc3001_vario_select setpoint 30mbar --wait --max 10min
+fi
+chemlab run vacuubrand_pc3001_vario_select status'''
+
+GOLD_G02 = r'''chemlab run vacuubrand_pc3001_vario_select calibrate reference=1013mbar --json > c.json; rc=$?
+jq -r '.error.code + ": " + .error.message' c.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_AT_REFERENCE"' c.json >/dev/null; then
+  chemlab run vacuubrand_pc3001_vario_select vent
+  chemlab wait 300
+  chemlab run vacuubrand_pc3001_vario_select read
+  chemlab run vacuubrand_pc3001_vario_select calibrate reference=1013mbar
+fi
+chemlab run vacuubrand_pc3001_vario_select vent off
+chemlab run vacuubrand_pc3001_vario_select status'''
+
+GOLD_G03 = r'''chemlab run bronkhorst_p702cv_5bar_gauge_n2 setpoint 2.5bar --wait --max 20min
+chemlab run bronkhorst_p702cv_5bar_gauge_n2 read --json | jq -r '.readings["pressure.reading_pa"] / 100000 * 1000 | round / 1000' > pressure.txt
+cat pressure.txt'''
+
+GOLD_G04 = r'''chemlab run bronkhorst_cemw setpoint 1slpm --json > a.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "POWER_OFF"' a.json >/dev/null; then
+  chemlab run bronkhorst_cemw power on
+  chemlab run bronkhorst_cemw setpoint 1slpm
+fi
+chemlab run bronkhorst_cemw setpoint 140C
+chemlab run bronkhorst_cemw setpoint 6g/h --json > b.json; rc=$?
+jq -r '.error.code // "ok"' b.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "BLEED_OPEN"' b.json >/dev/null; then
+  chemlab run bronkhorst_cemw vent off
+  chemlab run bronkhorst_cemw setpoint 6g/h
+fi
+chemlab run bronkhorst_cemw status'''
+
+GOLD_G05 = r'''chemlab run vici_euta_2sd6mwe select 4 --wait
+chemlab run vici_euta_2sd6mwe read --json | jq -r '.readings["route.connected_port_id"]' > port.txt
+cat port.txt'''
+
+GOLD_G07 = r'''job=$(chemlab run elga_purelab_flex3 dispense 750mL --rate 1.5L/min --json | jq -r .job)
+echo "job: $job"
+chemlab status "$job"
+chemlab wait "$job" --max 10min
+chemlab run elga_purelab_flex3 read --json | jq -r '.readings["water.resistivity_ohm_m"] / 10000 * 100 | round / 100' > quality.txt
+cat quality.txt'''
+
+GOLD_G08 = r'''chemlab run eco_ncld822 start
+chemlab run eco_ncld822 select zero_air
+chemlab wait 60
+j=$(chemlab run eco_ncld822 zero --json | jq -r .job); chemlab wait "$j" --max 5min
+chemlab run eco_ncld822 select srm_2631a
+chemlab wait 60
+chemlab run eco_ncld822 calibrate span=2954ppm --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "OVER_RANGE"' s.json >/dev/null; then
+  chemlab call eco_ncld822 range.select --index 3
+  chemlab wait 30
+  chemlab run eco_ncld822 calibrate span=2954ppm --json > s.json
+fi
+j=$(jq -r .job s.json); chemlab wait "$j" --max 5min
+chemlab run eco_ncld822 select sample
+chemlab run eco_ncld822 status'''
+
+GOLD_G09 = r'''chemlab run inficon_ul1000fab start --wait --max 10min
+chemlab wait 120
+chemlab run inficon_ul1000fab zero
+chemlab call inficon_ul1000fab spray.set --target weld --on true
+chemlab wait 10
+st=$(chemlab run inficon_ul1000fab read --json | jq -r '.readings["leak.status"]')
+chemlab call inficon_ul1000fab spray.set --target weld --on false
+if [ "$st" = "reject" ]; then echo REJECT > leak.txt; else echo PASS > leak.txt; fi
+chemlab run inficon_ul1000fab vent
+chemlab wait 10
+chemlab run inficon_ul1000fab status
+cat leak.txt'''
+
+TASKS = [
+    {'id': 'gf01_vacuum_pumpdown', 'kind': 'recovery: pump not running', 'instruments': [VAC], 'check': c_pumpdown,
+     'instruction': 'A 2 L flask is connected to the VACUUBRAND PC 3001 pump (vacuubrand_pc3001_vario_select). Bring it down to 30 mbar under '
+                    'pressure control and make sure it has reached 30 mbar.', 'gold': GOLD_G01},
+    {'id': 'gf02_gauge_adjust', 'kind': 'recovery: gauge not at the reference', 'instruments': [VAC], 'world': w_vac_at_50mbar, 'check': c_adjust,
+     'instruction': 'The room barometer reads 1013 mbar. Adjust the vacuum gauge of the VACUUBRAND pump (vacuubrand_pc3001_vario_select) to this '
+                    'atmospheric reference. Leave the pump stopped and its vent valve closed afterwards.', 'gold': GOLD_G02},
+    {'id': 'gf03_backpressure', 'kind': 'long action (blocking wait) + report', 'instruments': [P702], 'check': c_backpressure,
+     'instruction': 'Regulate the nitrogen line upstream of the Bronkhorst EL-PRESS back-pressure controller (bronkhorst_p702cv_5bar_gauge_n2) at '
+                    '2.5 bar gauge. When it is there, write the measured pressure in bar into pressure.txt.', 'gold': GOLD_G03},
+    {'id': 'gf04_evaporator', 'kind': 'recovery: switched off + bleed open', 'instruments': [CEM], 'world': w_cem_bleed_open, 'check': c_evaporator,
+     'instruction': 'Produce humidified nitrogen with the Bronkhorst CEM evaporator (bronkhorst_cemw): 1 L/min nitrogen carrying 6 g/h of water, '
+                    'with the mixing chamber at 140 C.', 'gold': GOLD_G04},
+    {'id': 'gf05_stream_select', 'kind': 'single step + report', 'instruments': [VICI], 'check': c_valve,
+     'instruction': 'Switch the VICI stream-selection valve (vici_euta_2sd6mwe) to stream 4, make sure it is in position, and write the id of the '
+                    'connected port into port.txt.', 'gold': GOLD_G05},
+    {'id': 'gf06_hydrogen', 'kind': 'multi-step (psi set point, wait for state)', 'instruments': [PEAK], 'check': c_hydrogen,
+     'instruction': 'The GC needs hydrogen at 60 psi. Set the PEAK hydrogen generator (peak_precisionhydrogen) outlet pressure to 60 psi and start '
+                    'generation; make sure it is generating.',
+     'gold': 'chemlab run peak_precisionhydrogen setpoint 60psi && chemlab run peak_precisionhydrogen start --wait && chemlab run peak_precisionhydrogen status'},
+    {'id': 'gf07_water_job', 'kind': 'long action: job id (status, wait) + report', 'instruments': [ELGA], 'check': c_water,
+     'instruction': 'Dispense 750 mL of ultrapure water at 1.5 L/min from the ELGA PURELAB flex 3 (elga_purelab_flex3) into the bottle. Follow it '
+                    'with a job (check its status, then wait for it), and write the water resistivity in MOhm.cm into quality.txt.', 'gold': GOLD_G07},
+    {'id': 'gf08_nox_zero_span', 'kind': 'recovery: reading over range', 'instruments': [ECO], 'world': w_eco_drifted, 'check': c_nox,
+     'instruction': 'Calibrate the ECO PHYSICS nCLD 822 NOx analyzer (eco_ncld822): zero it on zero air, then span it with the NIST SRM 2631a '
+                    'standard (2954 ppm NO in nitrogen, the certificate value), and put the inlet back on the sample.', 'gold': GOLD_G08},
+    {'id': 'gf09_leak_test', 'kind': 'long action + decision + report', 'instruments': [LEAK], 'check': c_leak,
+     'instruction': 'A test chamber is on the inlet of the INFICON UL1000 Fab leak detector (inficon_ul1000fab). Start measuring, let it settle '
+                    'for 2 minutes, subtract the helium background, then spray helium on the weld (the target "weld") for 10 s and decide '
+                    'against its trigger: write PASS or REJECT into leak.txt. Stop spraying, then stop and vent the inlet.', 'gold': GOLD_G09},
+    {'id': 'gf10_mfc_nitrogen', 'kind': 'recovery: no gas selected', 'instruments': [MFC], 'check': c_mfc,
+     'instruction': 'The Alicat MC mass-flow controller (alicat_mc_1slpm_rev6) sits in a nitrogen line. Tare it at zero flow, then deliver '
+                    '250 sccm of nitrogen; when the flow is there, write the measured flow in sccm into flow.txt.', 'gold': GOLD_G10},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'gas_fluid'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('gas_fluid', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/gas_fluid_world.py b/chemlab/chemlab/compile/tasks/gas_fluid_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..ec1084956ee283f98c34a7d36e75d269314883e0
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/gas_fluid_world.py
@@ -0,0 +1,75 @@
+"""Host-side world for the gas_fluid class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* VACUUBRAND PC 3001: a 2 L flask at room pressure is connected to the pump (create_chamber + connect_source; the default lab
+  has no vessel, so the pump shows no pressure and refuses to start).
+* ELGA PURELAB flex 3: feed water and a purified-water reservoir connected, a 2 L receiving bottle under the dispenser, the
+  purification pack installed, and the water quality readings (18.2 MOhm.cm, 25 C) declared.
+* INFICON UL1000 Fab: a 10 L stainless test chamber with one weld leak (the contract example) on the inlet (part.connect as
+  the evaluator: the leak is truth the agent must not set).
+* VICI EUTA: the trusted valve-drive scene (scenes/vici.py) that confirms the rotor's arrival.
+* Bronkhorst CEM: nitrogen (4 bar) and water (3 bar) plumbed to the inlets (supply.connect_gas / connect_liquid as the operator).
+* Alicat MC: the controller sits in a nitrogen line (3 bar abs cylinder side, 1 atm downstream, 25 C): response time 0.5 s
+  declared, ports connected, the line at rest; the gas-line scene (scenes/alicat.py) keeps "no flow" true exactly while the set
+  point is 0.
+* Inert glovebox (secondary member): the enclosure world (tasks/enclosure_world.py: the glovebox scene).
+"""
+import copy
+
+from ...labbackend import load_config
+from .enclosure_world import config as enclosure_config
+
+VAC_CHAMBER = [{'host': 'create_chamber', 'kwargs': {'chamber_id': 'flask_2l', 'volume_m3': 0.002, 'initial_pressure_pa': 101325.0,
+                                                     'leak_throughput_pa_m3_s': 0.0,
+                                                     'evidence': 'task world: 2 L round-bottom flask with a cold trap on the pump inlet'}},
+               {'host': 'connect_source', 'kwargs': {'instance_id': None, 'chamber_id': 'flask_2l'}}]
+ELGA_WORLD = [{'host': 'configure_supply', 'kwargs': {'instance_id': None, 'feed_volume_m3': 0.05, 'purified_volume_m3': 0.02,
+                                                      'buffer_capacity_m3': 0.03, 'qualified_feed': True,
+                                                      'evidence': 'task world: RO feed connected, 20 L reservoir filled'}},
+              {'host': 'connect_receiver', 'kwargs': {'instance_id': None, 'receiver_id': 'bottle_2l', 'volume_m3': 0.0, 'capacity_m3': 0.002,
+                                                      'evidence': 'task world: empty 2 L bottle under the dispenser'}},
+              {'host': 'install_consumables', 'kwargs': {'instance_id': None, 'evidence': 'task world: purification pack installed'}},
+              {'host': 'set_readings', 'kwargs': {'instance_id': None, 'resistivity_ohm_m': 182000.0, 'temperature_k': 298.15,
+                                                  'source_kind': 'synthetic', 'evidence': 'task world: 18.2 MOhm.cm at 25 C'}}]
+INFICON_PART = {'capability': 'part.connect', 'arguments': 'contract_example', 'evaluator': True}
+ALICAT_LINE = [{'host': 'host_configure_dynamics', 'kwargs': {'instance_id': None, 'time_constant_s': 0.5,
+                                                             'evidence': 'task world: engineering response time of the MC control loop'}},
+               {'host': 'host_connect_ports', 'kwargs': {'instance_id': None, 'upstream_node_id': 'n2_cylinder_regulator',
+                                                         'downstream_node_id': 'reactor_inlet'}},
+               {'host': 'host_set_boundary', 'kwargs': {'instance_id': None, 'upstream_pressure_Pa': 300000.0, 'downstream_pressure_Pa': 101325.0,
+                                                        'temperature_K': 298.15, 'equilibrium': True, 'no_flow': True}}]
+CEM_SUPPLY = [{'capability': 'supply.connect_gas', 'arguments': {'gas': 'nitrogen', 'pressure_pa': 400000.0}},
+              {'capability': 'supply.connect_liquid', 'arguments': {'composition': {'water': 1.0}, 'pressure_pa': 300000.0}}]
+
+
+def _with_instance(steps, iid):
+    out = []
+    for st in steps:
+        st = copy.deepcopy(st)
+        if 'kwargs' in st and 'instance_id' in st['kwargs']:
+            st['kwargs']['instance_id'] = iid
+        out.append(st)
+    return out
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the gas_fluid world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        setup = list(e.get('setup') or [])
+        if slug == 'vacuubrand_pc3001_vario_select':
+            e['setup'] = _with_instance(VAC_CHAMBER, iid) + setup
+        elif slug == 'elga_purelab_flex3':
+            e['setup'] = _with_instance(ELGA_WORLD, iid) + setup
+        elif slug == 'inficon_ul1000fab':
+            i = next((n for n, st in enumerate(setup) if st.get('capability') == 'plant.configure'), -1)
+            e['setup'] = setup[:i + 1] + [dict(INFICON_PART)] + setup[i + 1:]
+        elif slug == 'vici_euta_2sd6mwe':
+            e['scene'] = 'chemlab.compile.scenes.vici:ViciScene'
+        elif slug == 'alicat_mc_1slpm_rev6':
+            e['setup'] = _with_instance(ALICAT_LINE, iid) + setup
+            e['scene'] = 'chemlab.compile.scenes.alicat:AlicatScene'
+        elif slug == 'bronkhorst_cemw':
+            e['setup'] = setup + copy.deepcopy(CEM_SUPPLY)
+    return enclosure_config(cfg)
diff --git a/chemlab/chemlab/compile/tasks/imaging_lowering.py b/chemlab/chemlab/compile/tasks/imaging_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..16162909e4719ba5985da6a8e383942edca63cbe
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/imaging_lowering.py
@@ -0,0 +1,159 @@
+"""Lowering table of the imaging class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a usage error, an unsupported verb, a dry run); '#wait N' = lab time passes on both labs.  The world is
+tasks/imaging_world.py (specimens on the benches, instruments switched on)."""
+from .imaging_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+NO_REGION = {'channel': None, 'direction': None, 'region_px': None, 'max_values': 4096}
+
+CASES = {
+    'jeol_jsmit200': {'steps': [
+        ('status', []),
+        ('acquire', []),                                                        # VACUUM_NOT_READY (class check)
+        ('load nope', []),                                                      # NO_SUCH_SAMPLE
+        ('load fe_si_polished --dry-run', []),
+        ('load fe_si_polished', [('chamber.draw_out', {}), ('specimen.load', {'specimen_id': 'fe_si_polished'}), ('chamber.draw_in', {})]),
+        ('load fe_si_polished', []),                                            # OCCUPIED (checked before the bench)
+        ('source on', []),                                                      # VACUUM_NOT_READY
+        ('vacuum pump', [('vacuum.evacuate', {})]),                             # job (pump-down)
+        ('#wait 240', None),
+        ('source on --kv 10kV --wait', [('beam.set_voltage', {'voltage_v': 10000.0}), ('beam.observation_on', {})]),
+        ('focus auto', [('optics.autofocus', {})]),
+        ('focus 10mm', [('optics.set_focus', {'focus_wd_m': 0.01})]),
+        ('zoom 2000x', [('scan.set_magnification', {'magnification': 2000.0})]),
+        ('zoom 500000x', []),                                                   # OUT_OF_RANGE (5x..300000x)
+        ('zoom --objective 2', []),                                             # NO_OBJECTIVES
+        ('move 2mm -1mm --z 3mm', [('stage.move_xy', {'x_m': 0.002, 'y_m': -0.001}), ('stage.set_z', {'z_lift_m': 0.003})]),
+        ('move 90mm 0mm', []),                                                  # OUT_OF_RANGE (x +-40 mm)
+        ('acquire --pixels 100x100', []),                                       # BAD_CHOICE
+        ('acquire --pixels 640x480 --dwell 20us --wait', [('image.acquire', {'pixels': '640x480', 'dwell_s': 2e-05})]),
+        ('result', [('image.result', {'image_id': 'img-1'})]),
+        ('approach', []),                                                       # not supported (not a scanning-probe microscope)
+        ('source off', [('beam.observation_off', {})]),
+        ('vacuum vent --wait', [('vacuum.vent', {})]),
+        ('unload', [('chamber.draw_out', {}), ('specimen.unload', {}), ('chamber.draw_in', {})]),
+    ]},
+    'jeol_jem1400flash': {'steps': [
+        ('acquire', []),                                                        # NO_SAMPLE
+        ('load au_np_on_carbon --dry-run', []),
+        ('load au_np_on_carbon', [('holder.load_grid', {'holder_id': 'quick_change', 'specimen_id': 'au_np_on_carbon'}),
+                                  ('holder.insert_to_airlock', {'holder_id': 'quick_change'}), ('airlock.set_pump', {'pump': True}),
+                                  ('holder.insert', {})]),
+        ('acquire', []),                                                        # BEAM_NOT_READY
+        ('source on --kv 100kV', [('ht.set_voltage', {'voltage_v': 100000.0}), ('ht.set_on', {'on': True}), ('filament.set_on', {'on': True})]),
+        ('#wait 30', None),
+        ('zoom 50000x', [('optics.set_magnification', {'magnification': 50000.0})]),
+        ('focus auto', [('screen.set', {'up': True}), ('optics.auto_focus', {})]),
+        ('focus 1um', [('optics.set_defocus', {'defocus_m': 1e-06})]),
+        ('focus 50um', []),                                                     # OUT_OF_RANGE (+-20 um)
+        ('move 100um -50um', [('stage.move_xy', {'x_m': 0.0001, 'y_m': -5e-05})]),
+        ('acquire --exposure 0.5s --binning 2 --wait', [('image.acquire', {'exposure_s': 0.5, 'binning': 2})]),
+        ('result', [('image.result', {'image_id': 'img-1'})]),
+        ('vacuum pump', []),                                                    # not supported (column always under vacuum)
+        ('unload', []),                                                         # BEAM_ON (filament on)
+        ('source off', [('filament.set_on', {'on': False})]),
+        ('unload', [('stage.neutral', {}), ('holder.withdraw', {}), ('airlock.set_pump', {'pump': False}), ('holder.remove', {}),
+                    ('holder.unload_grid', {'holder_id': 'quick_change'})]),
+    ]},
+    'keyence_vkx3000': {'steps': [
+        ('focus auto', []),                                                     # NO_SAMPLE
+        ('load sio2_step_on_si', [('sample.place', {'sample_id': 'sio2_step_on_si', 'x_m': 0.0, 'y_m': 0.0})]),
+        ('focus auto', []),                                                     # LENS_NOT_FOR_MEASURING (2.5x)
+        ('zoom --objective 10x', [('lens.select', {'slot': 1})]),
+        ('focus auto --wait', [('focus.auto', {})]),
+        ('zoom 2x', [('zoom.set', {'zoom': 2.0})]),
+        ('zoom 10x', []),                                                       # OUT_OF_RANGE (zoom 1..8)
+        ('acquire --wait --max 30min', [('measurement.auto_range', {}), ('measurement.start', {})]),
+        ('result', [('measurement.result', {'record_id': 'HM0001'})]),
+        ('move 1mm 0mm', [('stage.move', {'x_m': 0.001, 'y_m': 0.0})]),
+        ('move --z 1mm', []),                                                   # OPTION_NOT_USED
+        ('focus 31mm', [('focus.move', {'z_m': 0.031})]),
+        ('source on', []),                                                      # not supported
+        ('unload', [('sample.remove', {'sample_id': 'sio2_step_on_si'})]),
+    ]},
+    'evident_bx53p': {'steps': [
+        ('load quartz_section', [('sample.place', {'sample_id': 'quartz_section'})]),
+        ('zoom --objective 40x', [('objective.select', {'index': 2})]),
+        ('zoom --objective 20x', []),                                           # NO_SUCH_OBJECTIVE
+        ('zoom 40x', []),                                                       # NO_MAGNIFICATION
+        ('focus auto', []),                                                     # NO_AUTOFOCUS
+        ('focus -4.9mm', [('focus.move', {'stage_z_m': -0.0049})]),
+        ('source off', [('illumination.set_level', {'level': 0.0})]),
+        ('acquire', []),                                                        # LAMP_OFF
+        ('source on --level 70%', [('illumination.set_level', {'level': 0.7})]),
+        ('acquire --exposure 50ms --wait', [('camera.configure', {'exposure_s': 0.05, 'gain': 1.0}), ('camera.acquire', {})]),
+        ('acquire --pixels 640x480', []),                                       # OPTION_NOT_USED
+        ('result', [('measurement.result', {'record_id': 'IM0001'})]),
+        ('move 1mm 1mm', []),                                                   # not supported (rotating stage only)
+        ('unload', [('sample.remove', {'sample_id': 'quartz_section'})]),
+    ]},
+    'park_nx10': {'steps': [
+        ('approach', []),                                                       # NO_SAMPLE
+        ('load grating', [('sample.place', {'sample_id': 'grating', 'offset_x_m': 0.0, 'offset_y_m': 0.0})]),
+        ('approach', []),                                                       # LASER_OFF
+        ('source on', [('beam.set', {'on': True})]),
+        ('approach --setpoint 20nm', []),                                       # WRONG_QUANTITY (contact mode takes a force)
+        ('approach --setpoint 2nN --wait', [('approach', {'setpoint_force_n': 2e-09, 'setpoint_amplitude_m': None, 'z_servo_gain': 1.0})]),
+        ('acquire --size 5um --pixels 64 --rate 2Hz --wait',
+         [('scan.start', {'size_m': 5e-06, 'pixels_x': 64, 'pixels_y': 64, 'rate_hz': 2.0, 'angle_rad': 0.0, 'offset_x_m': 0.0, 'offset_y_m': 0.0,
+                          'setpoint_force_n': 2e-09, 'setpoint_amplitude_m': None, 'z_servo_gain': 1, 'save_retrace': False, 'retract_after': False})]),
+        ('result', [('measurement.result', dict(NO_REGION, record_id='IMG0001'))]),
+        ('unload', []),                                                         # TIP_ENGAGED
+        ('retract', [('retract', {'distance_m': 0.003})]),
+        ('move 1mm 1mm', [('stage.move_xy', {'x_m': 0.001, 'y_m': 0.001})]),
+        ('focus 7mm', [('focus.move', {'position_m': 0.007})]),
+        ('zoom 2x', []),                                                        # not supported (scan size)
+        ('source off', [('beam.set', {'on': False})]),
+        ('unload', [('sample.remove', {'sample_id': 'grating'})]),
+    ]},
+    'nanosurf_naiostm': {'steps': [
+        ('load hopg', [('sample.mount', {'sample_id': 'hopg'}), ('cover.lift', {}), ('holder.insert', {'position_m': 0.006, 'angle_rad': 0.0}),
+                       ('cover.place', {})]),
+        ('acquire', []),                                                        # NOT_ENGAGED
+        ('approach', [('approach.start', {'move_speed_percent': 100.0, 'max_steps': 200000})]),
+        ('#wait 320', None),
+        ('acquire --size 10nm --points 64 --line-time 0.2s --wait',
+         [('scan.start', {'image_size_m': 1e-08, 'time_per_line_s': 0.2, 'points': 64, 'rotation_rad': 0.0, 'offset_x_m': 0.0, 'offset_y_m': 0.0,
+                          'slope_x_rad': 0.0, 'slope_y_rad': 0.0})]),
+        ('acquire --size 1um', []),                                             # OUT_OF_RANGE (up to 500 nm)
+        ('result', [('measurement.result', dict(NO_REGION, record_id='IMG0001'))]),
+        ('unload', []),                                                         # TIP_ENGAGED
+        ('retract', [('approach.retract', {'duration_s': 2.0})]),
+        ('move 1mm 1mm', []),                                                   # not supported
+        ('unload', [('cover.lift', {}), ('holder.remove', {}), ('sample.unmount', {}), ('cover.place', {})]),
+    ]},
+    'bruker_x4poseidon': {'steps': [
+        ('load alumina_pellet', [('door.open', {}), ('sample.place', {'sample_id': 'alumina_pellet', 'offset_x_m': 0.0, 'offset_y_m': 0.0}),
+                                 ('door.close', {}), ('stage.go_to', {'position': 'center'})]),
+        ('move 1mm 2mm', []),                                                   # NO_LATERAL_STAGE (usage)
+        ('move --z 397mm', [('stage.move', {'sod_m': 0.2, 'chuck_z_m': 0.397})]),
+        ('acquire', []),                                                        # SOURCE_NOT_READY
+        ('source on --kv 80kV --current 100uA', [('xray.set', {'voltage_v': 80000.0, 'current_a': 0.0001}), ('xray.enable', {'enabled': True})]),
+        ('#wait 200', None),
+        ('zoom 3x', [('stage.move', {'sod_m': 0.15, 'chuck_z_m': 0.397})]),
+        ('zoom 50x', []),                                                       # OUT_OF_RANGE (source-object distance)
+        ('acquire --exposure 0.1s --binning 4x4',
+         [('scan.configure', {'range_deg': '180', 'step_rad': 0.006981317007977318, 'exposure_s': 0.1, 'averaging': 2, 'binning': '4x4',
+                              'random_movement': True}),
+          ('stage.move', {'sod_m': 0.15, 'chuck_z_m': 0.25}), ('calibration.flat_field', {}), ('stage.move', {'sod_m': 0.15, 'chuck_z_m': 0.397}),
+          ('scan.start', {})]),
+        ('#wait 300', None),
+        ('result', [('measurement.result', {'record_id': 'PJ0001'})]),
+        ('unload', []),                                                         # SOURCE_ON (door locked)
+        ('source off', [('xray.enable', {'enabled': False})]),
+        ('unload', [('door.open', {}), ('stage.go_to', {'position': 'load'}), ('sample.remove', {'sample_id': 'alumina_pellet'}), ('door.close', {})]),
+    ]},
+    'thermo_ibrightfl1500': {'steps': [
+        ('acquire', []),                                                        # NO_SAMPLE
+        ('load gel1', [('drawer.open', {}), ('sample.place', {'sample_id': 'gel1', 'skew_rad': 0.0}), ('drawer.close', {})]),
+        ('acquire', []),                                                        # NO_MODE
+        ('acquire --mode nucleic_acid_gels --wait', [('mode.select', {'mode': 'nucleic_acid_gels'}), ('capture.run', {'hdr': False})]),
+        ('result', [('measurement.result', {'image_id': 'IMG0001'})]),
+        ('zoom 2x', [('camera.set', {'binning': 2, 'zoom': 2.0, 'auto_focus': True, 'lock': False})]),
+        ('focus auto', [('camera.set', {'binning': 2, 'zoom': 2.0, 'auto_focus': True, 'lock': False})]),
+        ('focus 3mm', []),                                                      # NO_MANUAL_FOCUS
+        ('source on', []),                                                      # not supported
+        ('acquire --hdr --wait', []),                                           # HDR_CHEMI_ONLY (class check)
+        ('unload', [('drawer.open', {}), ('sample.remove', {'sample_id': 'gel1'}), ('drawer.close', {})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/imaging_tasks.py b/chemlab/chemlab/compile/tasks/imaging_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..d6c7347d3d9c287ba4cf0ec00c176905235be4ec
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/imaging_tasks.py
@@ -0,0 +1,267 @@
+"""Imaging class acceptance tasks (10, five of them recovery tasks): gold solutions use `chemlab run`; the checkers read the
+evaluator view (truth slots included) and the agent's work files.  World: tasks/imaging_world.py plus task-specific operator
+steps (a pumped SEM chamber, a lit TEM beam)."""
+import json
+
+from .common import run_suite
+from .imaging_world import config as world_config
+
+SEM, TEM, VK, BX, NX, STM, CT, IB = ('jeol_jsmit200', 'jeol_jem1400flash', 'keyence_vkx3000', 'evident_bx53p', 'park_nx10', 'nanosurf_naiostm',
+                                     'bruker_x4poseidon', 'thermo_ibrightfl1500')
+
+
+def with_steps(slug, steps):
+    """A config function: the imaging world plus extra set-up steps (operator) for one member."""
+    def cfg(c):
+        c = world_config(c)
+        for e in c['instruments']:
+            if e['asset_type_id'].split('.', 1)[1] == slug:
+                e['setup'] = list(e.get('setup') or []) + steps
+        return c
+    return cfg
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': args}
+
+
+def record_file(c, name):
+    t = c.work_file(name)
+    try:
+        return json.loads(t) if t else None
+    except ValueError:
+        return None
+
+
+def ev_record(c, iid, cap, args):
+    """A record read by the evaluator (records like the SEM / TEM last-image slot are per caller, so the evaluator view of
+    that slot is empty): the result dict, or None."""
+    r = c.lab.backend.evaluator_invoke(iid, cap, args, 'check-%s-%s' % (iid, cap))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+def job_states(c, iid):
+    return [(j.handle, j.description, j.state) for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+# ------------------------------------------------------------------ checkers
+def c_sem_image(c):
+    e = c.ev(SEM)
+    c.equal('specimen fe_si_polished on the holder', e.get('specimen.loaded_id'), 'fe_si_polished')
+    c.equal('chamber at high vacuum', e.get('vacuum.state'), 'hv_ready')
+    c.near('accelerating voltage 10 kV', e.get('beam.accelerating_voltage_v'), 10000.0, 1.0)
+    c.near('magnification 2000x', e.get('scan.magnification'), 2000.0, 1e-6)
+    rec = record_file(c, 'sem.json') or {}
+    rid = (rec.get('result') or {}).get('image_id')
+    truth = ev_record(c, SEM, 'image.result', {'image_id': rid}) if rid else None
+    c.add('sem.json holds an image record of the SEM', bool(truth) and truth.get('status') == 'completed', rid)
+    c.near('the image was taken at 2000x', (truth or {}).get('magnification'), 2000.0, 1e-6)
+    c.near('the image was taken at 10 kV', (truth or {}).get('accelerating_voltage_v'), 10000.0, 1.0)
+    c.equal('the image is 640x480', (truth or {}).get('pixels'), '640x480')
+
+
+def c_sem_pumped(c):
+    e = c.ev(SEM)
+    c.equal('specimen fe_si_polished on the holder', e.get('specimen.loaded_id'), 'fe_si_polished')
+    c.equal('chamber pumped down again', e.get('vacuum.state'), 'hv_ready')
+    c.equal('drawer closed', e.get('chamber.door_state'), 'closed')
+
+
+def c_tem_image(c):
+    e = c.ev(TEM)
+    c.equal('holder in the column', e.get('holder.position'), 'column')
+    c.equal('grid au_np_on_carbon in the quick-change holder', (e.get('holder.grids') or {}).get('quick_change'), 'au_np_on_carbon')
+    c.equal('filament saturated', e.get('filament.state'), 'saturated')
+    c.near('magnification 50000x', e.get('optics.magnification'), 50000.0, 1e-6)
+    rid = c.work_file('tem.txt')
+    truth = ev_record(c, TEM, 'image.result', {'image_id': rid}) if rid else None
+    c.add('tem.txt names a completed TEM image', bool(truth) and truth.get('status') == 'completed', rid)
+    c.near('that image was taken at 50000x', (truth or {}).get('magnification'), 50000.0, 1e-6)
+
+
+def c_tem_loaded(c):
+    e = c.ev(TEM)
+    c.equal('holder in the column', e.get('holder.position'), 'column')
+    c.equal('grid au_np_on_carbon in the quick-change holder', (e.get('holder.grids') or {}).get('quick_change'), 'au_np_on_carbon')
+
+
+def c_vk_map(c):
+    e = c.ev(VK)
+    c.equal('sample on the stage', (e.get('sample.on_stage') or {}).get('sample_id'), 'sio2_step_on_si')
+    c.add('a measuring objective in use', e.get('head.objective') not in (None, '2.5x'), e.get('head.objective'))
+    rid = e.get('result.last_record_id')
+    rec = record_file(c, 'vk.json') or {}
+    c.add('a height map was measured', bool(rid), rid)
+    c.equal('vk.json holds that record', rec.get('record_id'), rid)
+
+
+def c_bx(c):
+    e = c.ev(BX)
+    c.equal('slide on the stage', e.get('sample.on_stage'), 'quartz_section')
+    c.equal('40x objective', e.get('objective.index'), 2)
+    c.near('lamp at 70 %', e.get('illumination.level'), 0.7, 1e-9)
+    c.near('camera exposure 50 ms', e.get('camera.exposure_s'), 0.05, 1e-9)
+    c.add('an image was taken', bool(e.get('result.last_record_id')), e.get('result.last_record_id'))
+
+
+def c_afm(c):
+    e = c.ev(NX)
+    c.add('a scan record exists', bool(e.get('result.last_record_id')), e.get('result.last_record_id'))
+    c.equal('tip retracted at the end', e.get('engage.state'), 'retracted')
+    jobs = job_states(c, NX)
+    c.add('the scan was followed as a job that completed', any('AFM scan' in d and s in ('completed', 'succeeded') for _, d, s in jobs), jobs)
+
+
+def c_stm(c):
+    e = c.ev(STM)
+    rid = e.get('result.last_record_id')
+    c.add('an STM image exists', bool(rid), rid)
+    c.equal('stm.txt names it', c.work_file('stm.txt'), rid)
+    c.equal('sample hopg in the head', e.get('holder.sample_id'), 'hopg')
+
+
+def c_ct(c):
+    e = c.ev(CT)
+    rid = e.get('result.last_record_id') or ''
+    c.add('a projection scan was recorded', rid.startswith('PJ'), rid)
+    c.near('geometric magnification 3x', e.get('geometry.magnification'), 3.0, 0.01)
+    c.near('sample raised into the beam (chuck top near 397 mm)', e.get('stage.chuck_z_m'), 0.397, 0.002)
+
+
+def c_gel(c):
+    e = c.ev(IB)
+    c.equal('nucleic-acid gel mode', e.get('mode'), 'nucleic_acid_gels')
+    rid = e.get('result.last_image_id')
+    rec = record_file(c, 'gel.json') or {}
+    c.add('an image was captured', bool(rid), rid)
+    c.equal('gel.json holds it', rec.get('record_id'), rid)
+    c.equal('the gel is in the imager', e.get('sample.on_stage'), 'gel1')
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_SEM = '''chemlab run jeol_jsmit200 load fe_si_polished
+chemlab run jeol_jsmit200 vacuum pump --wait
+chemlab run jeol_jsmit200 source on --kv 10kV --wait
+chemlab run jeol_jsmit200 focus auto
+chemlab run jeol_jsmit200 zoom 2000x
+chemlab run jeol_jsmit200 acquire --pixels 640x480 --dwell 20us --wait
+chemlab run jeol_jsmit200 result --save-to sem.json'''
+
+GOLD_SEM_VENT = r'''chemlab run jeol_jsmit200 load fe_si_polished --json > l.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' l.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_VENTED"' l.json >/dev/null; then
+  chemlab run jeol_jsmit200 vacuum vent --wait
+  chemlab run jeol_jsmit200 load fe_si_polished
+fi
+chemlab run jeol_jsmit200 vacuum pump --wait
+chemlab run jeol_jsmit200 status'''
+
+GOLD_TEM = '''chemlab run jeol_jem1400flash load au_np_on_carbon
+chemlab run jeol_jem1400flash source on --wait
+chemlab run jeol_jem1400flash zoom 50000x
+chemlab run jeol_jem1400flash focus auto
+chemlab run jeol_jem1400flash acquire --exposure 1s --wait
+chemlab run jeol_jem1400flash result --json | jq -r .record_id > tem.txt; cat tem.txt'''
+
+GOLD_TEM_BEAM = r'''chemlab run jeol_jem1400flash load au_np_on_carbon --json > l.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' l.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "BEAM_ON"' l.json >/dev/null; then
+  chemlab run jeol_jem1400flash source off
+  chemlab run jeol_jem1400flash load au_np_on_carbon
+fi
+chemlab run jeol_jem1400flash status'''
+
+GOLD_VK = r'''chemlab run keyence_vkx3000 load sio2_step_on_si
+chemlab run keyence_vkx3000 focus auto --wait --json > f.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LENS_NOT_FOR_MEASURING"' f.json >/dev/null; then
+  jq -r .error.fix f.json
+  chemlab run keyence_vkx3000 zoom --objective 10x
+  chemlab run keyence_vkx3000 focus auto --wait
+fi
+chemlab run keyence_vkx3000 acquire --wait --max 30min
+chemlab run keyence_vkx3000 result --save-to vk.json'''
+
+GOLD_BX = '''chemlab run evident_bx53p load quartz_section
+chemlab run evident_bx53p zoom --objective 40x
+chemlab run evident_bx53p source on --level 70%
+chemlab run evident_bx53p acquire --exposure 50ms --wait'''
+
+GOLD_AFM = r'''chemlab run park_nx10 load grating
+chemlab run park_nx10 source on
+chemlab run park_nx10 approach --wait --max 30min
+job=$(chemlab run park_nx10 acquire --size 5um --pixels 128 --rate 1Hz --json | jq -r .job)
+echo "job: $job"
+chemlab status "$job"
+chemlab wait "$job" --max 1h
+chemlab run park_nx10 retract'''
+
+GOLD_STM = '''chemlab run nanosurf_naiostm load hopg
+chemlab run nanosurf_naiostm approach --wait --max 30min
+chemlab run nanosurf_naiostm acquire --size 10nm --points 64 --wait
+chemlab run nanosurf_naiostm result --json | jq -r .record_id > stm.txt; cat stm.txt'''
+
+GOLD_CT = r'''chemlab run bruker_x4poseidon load alumina_pellet
+chemlab run bruker_x4poseidon source on --wait
+chemlab run bruker_x4poseidon zoom 3x
+chemlab run bruker_x4poseidon acquire --exposure 0.1s --binning 4x4 --wait --max 2h --json > a.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_IN_FIELD"' a.json >/dev/null; then
+  jq -r .error.fix a.json
+  chemlab run bruker_x4poseidon move --z 397mm
+  chemlab run bruker_x4poseidon acquire --exposure 0.1s --binning 4x4 --wait --max 2h
+fi
+chemlab run bruker_x4poseidon status'''
+
+GOLD_GEL = r'''chemlab run thermo_ibrightfl1500 load gel1
+chemlab run thermo_ibrightfl1500 acquire --wait --json > a.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_MODE"' a.json >/dev/null; then
+  jq -r .error.fix a.json
+  chemlab run thermo_ibrightfl1500 acquire --mode nucleic_acid_gels --wait
+fi
+chemlab run thermo_ibrightfl1500 result --json | jq '{record_id: .record_id}' > gel.json; cat gel.json'''
+
+SEM_PUMPED = [op('vacuum.evacuate', {}), {'advance_s': 240.0}]
+TEM_BEAM_ON = [{'advance_s': 150.0}, op('ht.set_on', {'on': True}), {'advance_s': 140.0}, op('filament.set_on', {'on': True}), {'advance_s': 30.0}]
+
+TASKS = [
+    {'id': 'im01_sem_image', 'kind': 'multi-step + long actions (vacuum, beam, image)', 'instruments': [SEM], 'check': c_sem_image,
+     'instruction': 'Image the polished Fe-Si specimen (fe_si_polished, on the bench) in the JEOL SEM (jeol_jsmit200) at 10 kV and 2000x: load it, '
+                    'pump the chamber down, switch the beam on, autofocus, take a 640x480 image and save its record as sem.json in your work dir.',
+     'gold': GOLD_SEM},
+    {'id': 'im02_sem_recover_vacuum', 'kind': 'recovery: chamber under vacuum', 'instruments': [SEM], 'config': with_steps(SEM, SEM_PUMPED),
+     'check': c_sem_pumped,
+     'instruction': 'Load the specimen fe_si_polished into the SEM (jeol_jsmit200) and leave the chamber pumped down again, ready for imaging.',
+     'gold': GOLD_SEM_VENT},
+    {'id': 'im03_tem_image', 'kind': 'multi-step + long actions (airlock, HT ramp, image) + report', 'instruments': [TEM], 'check': c_tem_image,
+     'instruction': 'In the TEM (jeol_jem1400flash), load the grid au_np_on_carbon, switch the beam on (120 kV as set), set 50000x, autofocus and '
+                    'take a 1 s camera image. Write the image record id into tem.txt.', 'gold': GOLD_TEM},
+    {'id': 'im04_tem_recover_beam', 'kind': 'recovery: beam on while loading', 'instruments': [TEM], 'config': with_steps(TEM, TEM_BEAM_ON),
+     'check': c_tem_loaded,
+     'instruction': 'Load the grid au_np_on_carbon into the column of the TEM (jeol_jem1400flash) with the quick-change holder.', 'gold': GOLD_TEM_BEAM},
+    {'id': 'im05_vk_recover_objective', 'kind': 'recovery: viewing objective cannot measure', 'instruments': [VK], 'check': c_vk_map,
+     'instruction': 'Measure the 3D height map of the sample sio2_step_on_si on the KEYENCE VK-X (keyence_vkx3000); the head is already coarse-focused '
+                    'near the stage. Save the measurement record as vk.json.', 'gold': GOLD_VK},
+    {'id': 'im06_bx53_polarized', 'kind': 'multi-step (objective, lamp, camera)', 'instruments': [BX], 'check': c_bx,
+     'instruction': 'On the BX53-P polarizing microscope (evident_bx53p) put the thin section quartz_section on the stage, use the 40x objective, set '
+                    'the lamp to 70 % and take a camera image with 50 ms exposure.', 'gold': GOLD_BX},
+    {'id': 'im07_afm_scan_job', 'kind': 'long action: job id (status, wait)', 'instruments': [NX], 'check': c_afm,
+     'instruction': 'Image the calibration grating (grating) with the Park NX10 AFM: load it, switch the deflection laser on and approach, then start a '
+                    '5 um scan with 128 lines at 1 Hz as a job (do not block on it), check its status, wait for it, and finally retract the tip.',
+     'gold': GOLD_AFM},
+    {'id': 'im08_stm_report', 'kind': 'long actions + report', 'instruments': [STM], 'check': c_stm,
+     'instruction': 'Take a 10 nm STM image (64 points per line) of the HOPG sample (hopg) with the NaioSTM (nanosurf_naiostm) and write the record id '
+                    'into stm.txt.', 'gold': GOLD_STM},
+    {'id': 'im09_ct_recover_field', 'kind': 'recovery: sample not in the beam', 'instruments': [CT], 'check': c_ct,
+     'instruction': 'Take a micro-CT scan of alumina_pellet (a 6 mm high pellet) on the Bruker X4 POSEIDON (bruker_x4poseidon) at 3x geometric '
+                    'magnification, 0.1 s per projection and 4x4 binning. The X-ray beam runs 400 mm above the bench.', 'gold': GOLD_CT},
+    {'id': 'im10_gel_recover_mode', 'kind': 'recovery: no imaging mode', 'instruments': [IB], 'check': c_gel,
+     'instruction': 'Capture an image of the agarose gel gel1 in the iBright imager (thermo_ibrightfl1500) as a nucleic-acid gel and save its record id '
+                    'as gel.json ({"record_id": ...}).', 'gold': GOLD_GEL},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'imaging'
+    _t.setdefault('config', world_config)
+
+
+def main(only=None, noact=True):
+    return run_suite('imaging', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/imaging_world.py b/chemlab/chemlab/compile/tasks/imaging_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..13713786ae94a50975d891dba411d6edd45bcfa5
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/imaging_world.py
@@ -0,0 +1,73 @@
+"""Host-side world for the imaging class: what the lab operator has done before the agent starts (lab-config set-up steps).
+
+* specimens / samples on each instrument's bench (the contracts' own example specimens, provided by the trusted host or the
+  operator: specimen.provide / sample.provide);
+* instruments switched on and started up where the default lab leaves them off (Keyence, BX53-P, NX10, NaioSTM);
+* the NX10 prepared for contact mode by the operator: a contact cantilever (CONTAL-G) mounted, head re-attached and configured
+  (probe exchange is set-up work, not a class verb);
+* the Keyence head coarse-focused near the sample plate (the operator's coarse focus; the 2.5x viewing objective stays in).
+
+Nothing here is reachable from the sandbox.
+"""
+import copy
+
+from ...labbackend import load_config
+
+
+def _example(cfg_entry_contract_cap):
+    return 'contract_example'
+
+
+SEM_SPECIMENS = [
+    {'specimen_id': 'fe_si_polished', 'phases': [{'substance_id': 'iron', 'area_fraction': 0.7, 'grain_size_m': 2e-05},
+                                                 {'substance_id': 'silicon', 'area_fraction': 0.3, 'grain_size_m': 2e-05}],
+     'diameter_m': 0.012, 'height_m': 0.005, 'topography': 'flat_polished', 'coating': 'none', 'coating_thickness_m': 0.0, 'wet': False},
+]
+CT_SAMPLE = {'sample_id': 'alumina_pellet', 'kind': 'cylinder', 'diameter_m': 0.006, 'height_m': 0.006,
+             'layers': [{'thickness_m': 0.006, 'materials': [{'substance_id': 'alumina', 'volume_fraction': 1.0}]}],
+             'pores': {'count': 120, 'median_radius_m': 0.00012, 'sigma_ln': 0.35, 'layer': 0, 'seed': 7},
+             'cracks': [{'center_m': [0.0, 0.0, 0.003], 'normal': [1.0, 0.0, 0.0], 'radius_m': 0.0018, 'aperture_m': 3e-05}],
+             'inclusions': [], 'container': None, 'pin': None}
+GEL = {'sample_id': 'gel1', 'support': 'agarose_gel', 'width_m': 0.1, 'height_m': 0.08,
+       'lanes': [{'x_m': 0.02, 'width_m': 0.005, 'bands': []}, {'x_m': 0.04, 'width_m': 0.005, 'bands': []}]}
+SLIDE = {'sample_id': 'quartz_section', 'kind': 'thin_section', 'substance_id': 'main_sio2', 'thickness_m': 3e-05, 'slide_thickness_m': 0.001,
+         'grains': 40, 'defects': 0, 'orientation': None, 'immersion_oil': False}
+
+KEYENCE_COARSE_Z_M = 0.0322          # head Z with the sample-plate surface (+0.5 mm wafer) near the focal plane (operator's coarse focus)
+
+
+def ev(cap, args):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': args}
+
+
+STEPS = {
+    'jeol_jsmit200': [ev('specimen.provide', 'contract_example')],
+    'jeol_jem1400flash': [ev('specimen.provide', 'contract_example')],
+    'keyence_vkx3000': [ev('sample.provide', 'contract_example'), op('power.set', {'enabled': True}), {'advance_s': 90.0},
+                        op('focus.move', {'z_m': KEYENCE_COARSE_Z_M}), {'advance_s': 10.0}],
+    'evident_bx53p': [op('power.set', {'enabled': True}), op('sample.provide', SLIDE)],
+    'park_nx10': [ev('sample.provide', 'contract_example'), ev('probe.provide', {'probe_id': 'c1', 'type_id': 'contal_g'}),
+                  op('power.set', {'enabled': True}), {'advance_s': 60.0}, op('head.remove', {}), {'advance_s': 20.0},
+                  op('probe.mount', {'probe_id': 'c1'}), {'advance_s': 25.0}, op('head.attach', {}), {'advance_s': 20.0},
+                  op('head.configure', {'mode': 'contact', 'cantilever_db': 'contal_g'})],
+    'nanosurf_naiostm': [ev('sample.provide', 'contract_example'), op('power.set', {'enabled': True}), {'advance_s': 30.0}],
+    'bruker_x4poseidon': [ev('sample.provide', CT_SAMPLE)],
+    'thermo_ibrightfl1500': [op('sample.provide', GEL)],
+}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the imaging world steps appended to each member's set-up."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in STEPS:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(STEPS[slug])
+    return cfg
+
+
+_ = _example, SEM_SPECIMENS
diff --git a/chemlab/chemlab/compile/tasks/labware_automation_lowering.py b/chemlab/chemlab/compile/tasks/labware_automation_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..1542acd06563649b20d108b10cc94462da48d6bd
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/labware_automation_lowering.py
@@ -0,0 +1,110 @@
+"""Lowering table of the labware automation class: per member, verbs in order and the native calls (capability, arguments in the
+unit the argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, an unsupported verb, a usage error, a dry run, or the part is already where it should be).  The lab is the labware world
+(tasks/labware_automation_world.py: sealer plate and film, decapper tube, a 96-rack, the arm scene with named places)."""
+import math
+
+from .labware_automation_world import ARM, config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+HOME = ARM['home']
+PLATE = ARM['containers']['plate_1']['pose']
+NEST = ARM['ports']['sealer_nest']['pose']
+A4S = 'azenta_automated_roll_heat_sealer_a4s'
+
+CASES = {
+    A4S: {'steps': [
+        ('status', []),
+        ('start', []),                                                         # NO_TIME
+        ('configure time=3s', [('sealing.set_time', {'press_time_s': 3.0})]),
+        ('configure time=30s', []),                                            # OUT_OF_RANGE (usage)
+        ('configure colour=red', []),                                          # UNKNOWN_SETTING (usage)
+        ('set-temp 170C', [('thermal.set_temperature', {'temperature_K': K0 + 170})]),
+        ('set-temp 250C', []),                                                 # OUT_OF_RANGE
+        ('start', []),                                                         # NOT_AT_TEMPERATURE
+        ('#wait 400', None),
+        ('close carrier', []),                                                 # PLATE_ON_CARRIER
+        ('open carrier', []),                                                  # already out: nothing to do
+        ('start --dry-run', []),
+        ('start', [('sealing.seal_plate', {})]),
+        ('stop', [('sealing.cancel', {'operation_id': 'seal_%s_1' % A4S})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('result', [('sealing.read', {})]),
+        ('open carrier', [('carrier.open', {})]),                              # a cancelled seal leaves the carrier in
+        ('start', [('sealing.seal_plate', {})]),
+        ('#wait 10', None),
+        ('result', [('sealing.read', {})]),
+        ('start', []),                                                         # ALREADY_SEALED
+        ('configure protocol=4ti-0520', [('protocol.select', {'name': '4ti-0520', 'password': ''})]),
+        ('configure protocol=4ti-052', []),                                    # UNKNOWN_PROTOCOL (usage)
+        ('move home', []),                                                     # not supported
+        ('power off', [('power.set', {'enabled': False})]),                    # shared layer
+        ('configure time=2s', []),                                             # POWER_OFF
+    ]},
+    'azenta_intellixcap_s1_46_0001': {'steps': [
+        ('status', []),
+        ('start', []),                                                         # NO_TUBE_TYPE
+        ('configure tube=tube_15ml mode=decap operation=release_cap time=2',
+         [('consumable.select', {'consumable_id': 'tube_15ml'}), ('cycle.set_mode', {'mode': 'decap'}),
+          ('cycle.set_operation_mode', {'mode': 'release_cap'}), ('cycle.set_time_setting', {'setting': 2})]),
+        ('configure time=5', []),                                              # NOT_ALLOWED (1, 2 or 3)
+        ('configure mode=sideways', []),                                       # BAD_CHOICE
+        ('start', [('cycle.start', {})]),
+        ('configure mode=recap', []),                                          # BUSY (a cycle runs)
+        ('#wait 15', None),
+        ('result', [('cycle.read', {})]),
+        ('configure mode=recap', [('cycle.set_mode', {'mode': 'recap'})]),
+        ('start', [('cycle.start', {})]),
+        ('#wait 15', None),
+        ('result', [('cycle.read', {})]),
+        ('stop', []),                                                          # not supported
+        ('set-temp 30C', []),                                                  # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+        ('start', []),                                                         # POWER_OFF
+    ]},
+    'ziath_dp5_mirage_2023': {'steps': [
+        ('status', []),
+        ('start', []),                                                         # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('open rack', [('scene.set_rack_lift', {'lift_m': 0.05})]),
+        ('open rack', []),                                                     # already lifted
+        ('start', []),                                                         # RACK_RAISED
+        ('close rack', [('scene.set_rack_lift', {'lift_m': 0.0})]),
+        ('configure format=48', []),                                           # FORMAT_MISMATCH (a 96 rack is on the reader)
+        ('configure matching=off', [('configuration.set', {'rack_format': 96, 'identity_matching': False, 'export_format': 'json'})]),
+        ('configure matching=on export=csv', [('configuration.set', {'rack_format': 96, 'identity_matching': True, 'export_format': 'csv'})]),
+        ('result', []),                                                        # NO_RESULT
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.cancel', {'operation_id': 'scan_ziath_dp5_mirage_2023_1'})]),
+        ('stop', []),                                                          # NOT_RUNNING
+        ('start', [('acquisition.start', {})]),
+        ('#wait 5', None),
+        ('result', [('results.export', {'format': 'csv'})]),
+        ('result --format json', [('results.export', {'format': 'json'})]),
+        ('set-temp 30C', []),                                                  # not supported
+        ('pick plate_1', []),                                                  # not supported
+    ]},
+    'brooks_preciseflex_400': {'steps': [
+        ('status', []),
+        ('move home', []),                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('move home', []),                                                     # already there
+        ('move nowhere', []),                                                  # UNKNOWN_LOCATION (usage)
+        ('move z=100mm', [('motion.set_joints', {'joints': {'z_m': 0.1, 'shoulder_rad': 0.0, 'elbow_rad': 0.0, 'wrist_rad': 0.0}})]),
+        ('move shoulder=200deg', []),                                          # OUT_OF_RANGE
+        ('move z=50mm shoulder=30deg elbow=-45deg wrist=0deg',
+         [('motion.set_joints', {'joints': {'z_m': 0.05, 'shoulder_rad': math.pi / 6, 'elbow_rad': -math.pi / 4, 'wrist_rad': 0.0}})]),
+        ('place sealer_nest', []),                                             # NOT_HOLDING
+        ('pick plate_1', [('motion.set_joints', {'joints': PLATE}), ('sample.attach', {'container_id': 'plate_1', 'constraint_id': 'grip_plate_1'})]),
+        ('pick plate_1', []),                                                  # HOLDING
+        ('place bench', []),                                                   # UNKNOWN_LOCATION
+        ('place plate_1', []),                                                 # NOT_A_NEST
+        ('place sealer_nest --dry-run', []),
+        ('place sealer_nest', [('motion.set_joints', {'joints': NEST}), ('sample.release', {'receiver_port_id': 'sealer_nest'})]),
+        ('result', [('state.read', {})]),
+        ('start', []),                                                         # not supported
+        ('configure speed=1', []),                                             # not supported
+        ('move home', [('motion.set_joints', {'joints': HOME})]),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/labware_automation_tasks.py b/chemlab/chemlab/compile/tasks/labware_automation_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..99c8778a97cd5fa5b8a582e88c6ae1c8a9539158
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/labware_automation_tasks.py
@@ -0,0 +1,213 @@
+"""Labware automation class acceptance tasks (8, 4 recovery): gold solutions use `chemlab run` (and jq) in the sandbox; the checkers
+read the evaluator view (seal state, cap cycle, rack map, arm events).  The lab is the labware world (tasks/labware_automation_world.py).
+"""
+from . import labware_automation_world as W
+from .common import run_suite
+
+K0 = 273.15
+A4S, IXC, DP5, ARM = 'azenta_automated_roll_heat_sealer_a4s', 'azenta_intellixcap_s1_46_0001', 'ziath_dp5_mirage_2023', 'brooks_preciseflex_400'
+_N = [0]
+
+
+def world_call(lab, iid, cap, args):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, _N[0]))
+    assert r.get('status') in ('succeeded', 'accepted'), (cap, r)
+    return r
+
+
+# ------------------------------------------------------------------ worlds
+def w_rack_lifted(lab):
+    world_call(lab, DP5, 'power.set', {'enabled': True})
+    world_call(lab, DP5, 'scene.set_rack_lift', {'lift_m': 0.05})
+
+
+def w_arm_holding(lab):
+    world_call(lab, ARM, 'power.set', {'enabled': True})
+    world_call(lab, ARM, 'motion.set_joints', {'joints': W.ARM['containers']['plate_1']['pose']})
+    lab.backend.advance(5)
+    world_call(lab, ARM, 'sample.attach', {'container_id': 'plate_1', 'constraint_id': 'grip_plate_1'})
+    world_call(lab, ARM, 'motion.set_joints', {'joints': W.ARM['home']})
+    lab.backend.advance(5)
+
+
+# ------------------------------------------------------------------ checkers
+def c_sealed_protocol(c):
+    e = c.ev(A4S)
+    c.add('the plate is sealed', e.get('plate.simulated_sealed') is True, e.get('plate.simulated_sealed'))
+    c.equal('protocol 4ti-0520 selected', e.get('protocol.current'), '4ti-0520')
+    c.near('sealed at 175 °C (the protocol\'s temperature)', e.get('thermal.setpoint_k'), K0 + 175, 1e-6)
+    c.equal('one seal used', e.get('film.remaining_seals'), 99)
+
+
+def c_sealed_manual(c):
+    e = c.ev(A4S)
+    c.add('the plate is sealed', e.get('plate.simulated_sealed') is True, e.get('plate.simulated_sealed'))
+    c.near('seal temperature 160 °C', e.get('thermal.setpoint_k'), K0 + 160, 1e-6)
+    c.near('seal time 2.5 s', e.get('configuration.press_time_s'), 2.5, 1e-9)
+
+
+def c_decap(c):
+    e = c.ev(IXC)
+    c.equal('decap cycle succeeded with the thread opened', (e.get('cycle.status'), e.get('cycle.host_confirmed')), ('succeeded', True))
+    c.equal('the next cycle is a recap (the tube is open)', e.get('cycle.mode'), 'recap')
+    c.equal('release-cap operation', e.get('cycle.operation_mode'), 'release_cap')
+    c.equal('cycle.txt says succeeded', c.work_file('cycle.txt'), 'succeeded')
+
+
+def c_stuck(c):
+    e = c.ev(IXC)
+    c.equal('the cycle failed (the cap did not turn)', e.get('cycle.status'), 'failed')
+    t = c.work_file('decap.txt') or ''
+    c.add('decap.txt reports FAILED with the cycle status', t.startswith('FAILED') and 'failed' in t[6:], t[:80])
+
+
+def c_rack_audit(c):
+    e = c.ev(DP5)
+    data = e.get('results.data') or {}
+    c.equal('a scan with identity matching completed', (e.get('acquisition.status'), data.get('identity_matching')), ('succeeded', True))
+    t = c.work_file('problems.txt') or ''
+    got = sorted(x.strip() for x in t.split() if x.strip())
+    c.equal('problems.txt lists the mismatched and unreadable wells', got, sorted(data.get('mismatch_wells', []) + data.get('missing_wells', [])))
+    c.equal('they are C5 and D7', got, ['C5', 'D7'])
+
+
+def c_rack_csv(c):
+    e = c.ev(DP5)
+    c.equal('scan completed', e.get('acquisition.status'), 'succeeded')
+    c.near('rack seated', e.get('scene.rack_lift_m'), 0.0, 1e-12)
+    t = c.work_file('rack.csv') or ''
+    lines = [x for x in t.splitlines() if x.strip()]
+    c.add('rack.csv: a header and 96 wells', len(lines) == 97 and lines[0].startswith('well_id'), '%d lines' % len(lines))
+
+
+def _at(e, pose):
+    j = e.get('scene.joints') or {}
+    return all(abs((j.get(k) or 0) - v) < 1e-6 for k, v in pose.items())
+
+
+def c_transfer(c):
+    e = c.ev(ARM)
+    ev = e.get('sample.events') or []
+    last = ev[-1] if ev else {}
+    c.equal('plate_1 released at sealer_nest', (last.get('event'), last.get('container_id'), last.get('port_id')), ('release', 'plate_1', 'sealer_nest'))
+    c.equal('nothing gripped', e.get('sample.attached_container_id'), None)
+    c.add('the arm is back home', _at(e, W.ARM['home']), e.get('scene.joints'))
+
+
+def c_holding(c):
+    e = c.ev(ARM)
+    ev = e.get('sample.events') or []
+    last = ev[-1] if ev else {}
+    c.equal('plate_1 released at sealer_nest', (last.get('event'), last.get('container_id'), last.get('port_id')), ('release', 'plate_1', 'sealer_nest'))
+    c.add('gripped only once (no drop and re-pick)', sum(1 for x in ev if x.get('event') == 'attach') == 1, [x.get('event') for x in ev])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_LW01 = r'''chemlab run azenta_automated_roll_heat_sealer_a4s configure protocol=4ti-0520
+chemlab run azenta_automated_roll_heat_sealer_a4s status
+for i in $(seq 1 20); do
+  chemlab run azenta_automated_roll_heat_sealer_a4s start --json > s.json && break
+  jq -e '.error.code == "NOT_AT_TEMPERATURE"' s.json >/dev/null || break
+  chemlab wait 30
+done
+chemlab run azenta_automated_roll_heat_sealer_a4s wait
+chemlab run azenta_automated_roll_heat_sealer_a4s result'''
+
+GOLD_LW02 = r'''chemlab run azenta_automated_roll_heat_sealer_a4s set-temp 160C
+chemlab run azenta_automated_roll_heat_sealer_a4s configure time=2.5s
+chemlab run azenta_automated_roll_heat_sealer_a4s start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+while [ $rc -eq 3 ] && jq -e '.error.code == "NOT_AT_TEMPERATURE"' s.json >/dev/null; do
+  chemlab wait 60
+  chemlab run azenta_automated_roll_heat_sealer_a4s start --json > s.json; rc=$?
+done
+chemlab run azenta_automated_roll_heat_sealer_a4s wait'''
+
+GOLD_LW03 = r'''chemlab run azenta_intellixcap_s1_46_0001 configure tube=tube_15ml mode=decap operation=release_cap
+chemlab run azenta_intellixcap_s1_46_0001 start
+chemlab run azenta_intellixcap_s1_46_0001 wait
+chemlab run azenta_intellixcap_s1_46_0001 result --json | jq -r '.record["cycle.status"]' > cycle.txt
+cat cycle.txt'''
+
+GOLD_LW04 = r'''chemlab run azenta_intellixcap_s1_46_0001 configure tube=tube_15ml mode=decap
+chemlab run azenta_intellixcap_s1_46_0001 start
+chemlab run azenta_intellixcap_s1_46_0001 wait --json > w.json
+st=$(chemlab run azenta_intellixcap_s1_46_0001 result --json | jq -r '.record["cycle.status"]')
+if [ "$st" != "succeeded" ]; then echo "FAILED cycle status: $st" > decap.txt; fi
+cat decap.txt'''
+
+GOLD_LW05 = r'''chemlab run ziath_dp5_mirage_2023 power on
+chemlab run ziath_dp5_mirage_2023 configure matching=on
+chemlab run ziath_dp5_mirage_2023 start
+chemlab run ziath_dp5_mirage_2023 wait
+chemlab run ziath_dp5_mirage_2023 result --format json --json | jq -r '.record.content.mismatch_wells[], .record.content.missing_wells[]' > problems.txt
+cat problems.txt'''
+
+GOLD_LW06 = r'''chemlab run ziath_dp5_mirage_2023 start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "RACK_RAISED"' s.json >/dev/null; then
+  jq -r .error.fix s.json
+  chemlab run ziath_dp5_mirage_2023 close rack
+  chemlab run ziath_dp5_mirage_2023 start
+fi
+chemlab run ziath_dp5_mirage_2023 wait
+chemlab run ziath_dp5_mirage_2023 result --format csv --json | jq -r .record.content > rack.csv
+head -3 rack.csv'''
+
+GOLD_LW07 = r'''chemlab run brooks_preciseflex_400 power on
+chemlab help brooks_preciseflex_400 pick
+chemlab run brooks_preciseflex_400 pick plate_1
+chemlab run brooks_preciseflex_400 place sealer_nest
+chemlab run brooks_preciseflex_400 move home'''
+
+GOLD_LW08 = r'''chemlab run brooks_preciseflex_400 pick plate_1 --json > p.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "HOLDING"' p.json >/dev/null; then jq -r .error.message p.json; fi
+chemlab run brooks_preciseflex_400 place sealer_nest'''
+
+
+def cfg(c):
+    return W.config(c)
+
+
+def cfg_mismatch(c):
+    return W.mismatch_config(c)
+
+
+def cfg_stuck(c):
+    return W.stuck_cap_config(c)
+
+
+TASKS = [
+    {'id': 'lw01_seal_with_protocol', 'kind': 'settings + wait for temperature + job', 'instruments': [A4S], 'config': cfg, 'check': c_sealed_protocol,
+     'instruction': 'Seal the PCR plate on the a4S heat sealer (azenta_automated_roll_heat_sealer_a4s) with its stored protocol 4ti-0520.',
+     'gold': GOLD_LW01},
+    {'id': 'lw02_recover_not_hot', 'kind': 'recovery: block not at temperature', 'instruments': [A4S], 'config': cfg, 'check': c_sealed_manual,
+     'instruction': 'Seal the PCR plate on the a4S heat sealer (azenta_automated_roll_heat_sealer_a4s) at 160 °C for 2.5 s.', 'gold': GOLD_LW02},
+    {'id': 'lw03_decap_tube', 'kind': 'settings + cycle job + record', 'instruments': [IXC], 'config': cfg, 'check': c_decap,
+     'instruction': 'On the IntelliXcap decapper (azenta_intellixcap_s1_46_0001), take the cap off tube t1 (tube type tube_15ml) and release '
+                    'the cap; write the status of the cycle into cycle.txt.', 'gold': GOLD_LW03},
+    {'id': 'lw04_recover_stuck_cap', 'kind': 'recovery: a failed cycle is detected and reported', 'instruments': [IXC], 'config': cfg_stuck,
+     'check': c_stuck, 'instruction': 'Decap tube t1 (tube type tube_15ml) on the IntelliXcap (azenta_intellixcap_s1_46_0001). If the cap '
+                                       'does not come off, write FAILED and the cycle status into decap.txt.', 'gold': GOLD_LW04},
+    {'id': 'lw05_rack_audit', 'kind': 'scan job + record analysis', 'instruments': [DP5], 'config': cfg_mismatch, 'check': c_rack_audit,
+     'instruction': 'Check the rack on the DP5 Mirage reader (ziath_dp5_mirage_2023) against its task manifest: scan it with identity '
+                    'matching on and write every well whose tube does not match or could not be read into problems.txt, one per line.',
+     'gold': GOLD_LW05},
+    {'id': 'lw06_recover_rack_raised', 'kind': 'recovery: rack lifted off the reader', 'instruments': [DP5], 'config': cfg, 'world': w_rack_lifted,
+     'check': c_rack_csv, 'instruction': 'Scan the rack on the DP5 Mirage reader (ziath_dp5_mirage_2023) and save its rack map as CSV in rack.csv.',
+     'gold': GOLD_LW06},
+    {'id': 'lw07_arm_transfer', 'kind': 'named places: pick, place, move', 'instruments': [ARM], 'config': cfg, 'check': c_transfer,
+     'instruction': 'With the PreciseFlex 400 arm (brooks_preciseflex_400), move plate_1 onto the sealer nest (sealer_nest), then send the '
+                    'arm home.', 'gold': GOLD_LW07},
+    {'id': 'lw08_recover_already_holding', 'kind': 'recovery: the arm already holds the plate', 'instruments': [ARM], 'config': cfg,
+     'world': w_arm_holding, 'check': c_holding,
+     'instruction': 'Pick up plate_1 with the PreciseFlex 400 arm (brooks_preciseflex_400) and put it on the sealer nest (sealer_nest).',
+     'gold': GOLD_LW08},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'labware_automation'
+
+
+def main(only=None, noact=True):
+    return run_suite('labware_automation', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/labware_automation_world.py b/chemlab/chemlab/compile/tasks/labware_automation_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..9cbd1a7f8d6f34994f80a5a6ea80b742418cc74a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/labware_automation_world.py
@@ -0,0 +1,86 @@
+"""Host-side world for the labware automation class (what the lab staff and the lab's 3-D scene provide), as lab-config set-up steps
+and scene entries.
+
+* a4S sealer: the block starts at room temperature and heats at an engineering 0.5 K/s (the runtime needs an explicit rate); a roll
+  of film (100 seals) is threaded; an unsealed PCR plate (15.5 mm high) sits on its adapter on the carrier.
+* IntelliXcap S1: a registered 15 mL screw-cap tube type, tube "t1" with cap "c1" in the holder, and the jaw / rotation motion
+  (engineering values); the scene confirms clamp, thread and release (``thread_ok=False`` makes the thread fail).
+* DP5 Mirage: switched off; a 96-rack "rack_1" on the reader with a task manifest; ``rack='mismatch'`` hides the barcode in C5 and
+  puts another tube than expected in D7.
+* PreciseFlex 400: switched off; the arm scene with named poses (home, plate_1 pick pose, sealer_nest), a 0.1 kg plate "plate_1" on
+  the bench nest and the sealer's receiving nest.
+"""
+import copy
+
+from ...labbackend import load_config
+
+WELLS96 = [r + str(c) for r in 'ABCDEFGH' for c in range(1, 13)]
+
+
+def rack(variant='ok'):
+    seen = {w: 'TB%04d' % i for i, w in enumerate(WELLS96)}
+    manifest = dict(seen)
+    if variant == 'mismatch':
+        seen.pop('C5')
+        manifest['D7'] = 'TB9999'
+    return {'rack_id': 'rack_1', 'rack_format': 96, 'well_ids': list(WELLS96), 'visible_barcodes': seen, 'task_manifest': manifest}
+
+
+A4S = [{'host': 'host_set_temperature', 'kwargs': {'temperature_K': 295.15, 'evidence': 'task world: the block is at room temperature'}},
+       {'host': 'host_configure_thermal_rate', 'kwargs': {'thermal_rate_K_s': 0.5, 'evidence': 'engineering heating rate 0.5 K/s'}},
+       {'host': 'host_load_film', 'kwargs': {'roll_id': 'roll_1', 'width_m': 0.08, 'remaining_seals': 100, 'film_roll_position_id': 'roll_position',
+                                             'compatibility_evidence': 'task world: peelable seal film threaded'}},
+       {'host': 'host_load_plate', 'kwargs': {'plate_id': 'pcr_plate_1', 'height_m': 0.0155, 'plate_adapter_id': 'pcr_adapter',
+                                              'compatibility_evidence': 'task world: skirted PCR plate on the PCR adapter'}}]
+
+IXC = [{'host': 'host_register_consumable', 'kwargs': {'consumable_id': 'tube_15ml', 'cap_diameter_m': 0.02,
+                                                       'compatibility_evidence': 'task world: 15 mL screw-cap tube, 20 mm cap'}, 'global': True},
+       {'host': 'host_present_sample', 'kwargs': {'tube_id': 't1', 'cap_id': 'c1', 'consumable_id': 'tube_15ml', 'evidence': 'task world: tube t1 in the holder'}},
+       {'host': 'host_configure_motion', 'kwargs': {'open_gap_m': 0.03, 'closed_gap_m': 0.019, 'rotation_delta_rad': 12.566370614359172,
+                                                    'initial_rotation_rad': 0.0, 'clamp_duration_s': 1.0, 'rotation_duration_s': 2.0,
+                                                    'release_duration_s': 1.0, 'evidence': 'engineering motion values'}}]
+
+ARM = {'home': {'z_m': 0.2, 'shoulder_rad': 0.0, 'elbow_rad': 0.0, 'wrist_rad': 0.0},
+       'containers': {'plate_1': {'pose': {'z_m': 0.05, 'shoulder_rad': 0.5, 'elbow_rad': -0.8, 'wrist_rad': 0.3}, 'port': 'bench_nest', 'payload_kg': 0.1}},
+       'ports': {'sealer_nest': {'pose': {'z_m': 0.08, 'shoulder_rad': -0.6, 'elbow_rad': 0.9, 'wrist_rad': 0.0}}},
+       'tolerance_m': 0.005, 'joint_speed_rad_s': 1.0, 'z_speed_m_s': 0.2}
+ARM_LOCATIONS = {'home': {'joints': ARM['home']},
+                 'plate_1': {'container_id': 'plate_1', 'constraint_id': 'grip_plate_1', 'joints': ARM['containers']['plate_1']['pose']},
+                 'sealer_nest': {'receiver_port_id': 'sealer_nest', 'joints': ARM['ports']['sealer_nest']['pose']}}
+
+
+def config(base=None, rack_variant='ok', thread_ok=True):
+    """all203.json (or ``base``) with the labware world added to each member's entry."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        steps = None
+        if slug == 'azenta_automated_roll_heat_sealer_a4s':
+            steps = A4S
+        elif slug == 'azenta_intellixcap_s1_46_0001':
+            steps = IXC
+            e['scene'] = 'chemlab.compile.scenes.intellixcap:IntelliXcapScene'
+            e['thread_ok'] = thread_ok
+        elif slug == 'ziath_dp5_mirage_2023':
+            steps = [{'host': 'host_load_rack', 'kwargs': rack(rack_variant)}]
+        elif slug == 'brooks_preciseflex_400':
+            e['scene'] = 'chemlab.compile.scenes.preciseflex:PreciseFlexScene'
+            e['arm'] = copy.deepcopy(ARM)
+            e['locations'] = copy.deepcopy(ARM_LOCATIONS)
+        if steps:
+            out = []
+            for st in copy.deepcopy(steps):
+                if not st.pop('global', False):
+                    st['kwargs']['instance_id'] = iid
+                out.append(st)
+            e['setup'] = list(e.get('setup') or []) + out
+    return cfg
+
+
+def mismatch_config(base=None):
+    return config(base, rack_variant='mismatch')
+
+
+def stuck_cap_config(base=None):
+    return config(base, thread_ok=False)
diff --git a/chemlab/chemlab/compile/tasks/liquid_lowering.py b/chemlab/chemlab/compile/tasks/liquid_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..41fd29d1a6ff0cd520630da38cdb7ab721738e9a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/liquid_lowering.py
@@ -0,0 +1,113 @@
+"""Lowering table of the liquid class (the Flex): verbs and the native calls each must make.  Joint targets are the deck
+registry's (lab-config deck + contract slot geometry, chemlab/compile/deck.py); everything else is written from the contract."""
+import copy
+
+from ...labbackend import load_config
+from ..deck import build_registry
+from .liquid_tasks import FLEX_SLUG, flex_entry
+from .syringe_pump_world import config as syringe_world
+
+CONTENTS = {'reservoir:A1': ('buffer', 10000), 'reservoir:A2': ('water', 10000)}
+
+
+def config():
+    c = load_config()
+    c['instruments'] = [e for e in c['instruments'] if e['id'] != FLEX_SLUG] + [flex_entry(CONTENTS, iid=FLEX_SLUG)]
+    return syringe_world(c)                                         # the NE-1000 with a B-D 10 mL syringe and its line
+
+
+def _registry():
+    e = flex_entry(CONTENTS, iid=FLEX_SLUG)
+    import json
+    from ...hosts import contract_index
+    contract = json.loads(contract_index()['instrument.' + FLEX_SLUG].read_text(encoding='utf-8'))
+    return build_registry(e['deck'], contract)
+
+
+REG = _registry()
+LW = {lw['name']: lw for lw in REG['labware']}
+
+
+def pos(name):
+    if name == 'trash':
+        return copy.deepcopy(REG['trash']['position_m'])
+    lw, well = name.split(':')
+    return copy.deepcopy(LW[lw]['wells'][well]['position_m'])
+
+
+def mv(name):
+    return ('motion.move', pos(name))
+
+
+CASES = {
+    FLEX_SLUG: {'steps': [
+        ('status', []),
+        ('lights on', [('robot.set_lights', {'on': True})]),
+        ('home', [('robot.home', {})]),
+        ('pick-up-tip --rack tiprack200', [mv('tiprack200:A1'), ('tip.attach', {'tip_id': 'tiprack200_A1'})]),
+        ('aspirate --volume 50uL --from reservoir:A1', [mv('reservoir:A1'), ('sample.aspirate', {'container_id': 'reservoir_A1', 'volume_m3': 5e-8})]),
+        ('dispense --volume 0.05mL --to plate:A1', [mv('plate:A1'), ('sample.dispense', {'container_id': 'plate_A1', 'volume_m3': 5e-8})]),
+        ('aspirate --volume 250uL --from reservoir:A1', []),                    # TIP_CAPACITY: a 200 µL tip
+        ('aspirate --volume 2mL --from reservoir:A1', []),                      # VOLUME_OUT_OF_RANGE (usage)
+        ('drop-tip', [mv('trash'), ('tip.release', {'target_slot_id': 'A1'})]),
+        ('dispense --volume 10 --to plate:A1', []),                             # NO_TIP
+        ('transfer --volume 300 --from reservoir:A1 --to plate:B1 --rack tiprack200',
+         [mv('tiprack200:B1'), ('tip.attach', {'tip_id': 'tiprack200_B1'}),
+          mv('reservoir:A1'), ('sample.aspirate', {'container_id': 'reservoir_A1', 'volume_m3': 1.5e-7}),
+          mv('plate:B1'), ('sample.dispense', {'container_id': 'plate_B1', 'volume_m3': 1.5e-7}),
+          mv('reservoir:A1'), ('sample.aspirate', {'container_id': 'reservoir_A1', 'volume_m3': 1.5e-7}),
+          mv('plate:B1'), ('sample.dispense', {'container_id': 'plate_B1', 'volume_m3': 1.5e-7}),
+          mv('trash'), ('tip.release', {'target_slot_id': 'A1'})]),
+        ('transfer --volume 7.5uL --from reservoir:A2 --to plate:C1-C2 --dry-run', []),
+        ('move-to plate:H12', [mv('plate:H12')]),
+        ('move-to plate:Z9', []),                                               # UNKNOWN_WELL (usage)
+        ('mix', []),                                                            # not supported
+        ('deck-config A1 trash_bin', [('deck.configure', {'slot': 'A1', 'fixture': 'trash_bin'})]),
+        ('restart', []),                                                        # destructive: only a preview without --yes
+        ('protocols', []),
+        ('lights off', [('robot.set_lights', {'on': False})]),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('home', []),                                                           # POWER_OFF
+    ]},
+    # NE-1000 syringe pump (its own adapter, classes/syringe_pump.py): calls written from the contract - diameter in m, rates in
+    # m3/s with the pump's display units (MH mL/h, MM mL/min, UH uL/h, UM uL/min), volumes in m3, directions INF / WDR / REV,
+    # phase functions RAT / STP / ...; the B-D 10 mL inside diameter 14.43 mm is the manual's syringe table (12.7 p.50).
+    'newera_ne1000': {'steps': [
+        ('status', []),
+        ('syringe', []),
+        ('rate 2mL/h', []),                                                     # DIAMETER_NOT_SET
+        ('syringe bd_99ml', []),                                                # UNKNOWN_SYRINGE (usage)
+        ('syringe loaded', [('syringe.set_diameter', {'diameter_m': 0.01443})]),
+        ('syringe 14.43mm', []),                                                # already set
+        ('rate 100mL/min', []),                                                 # OUT_OF_RANGE for 14.43 mm (usage)
+        ('rate 1mL/min', [('rate.set', {'rate_m3_s': 1.6666666666666667e-08, 'units': 'MM'})]),
+        ('volume 0.5mL', [('volume.set', {'volume_m3': 5e-07})]),
+        ('direction infuse', []),                                               # already infusing
+        ('run --dry-run', []),
+        ('run', [('pump.run', {})]),
+        ('volume 1mL', []),                                                     # BUSY
+        ('#wait 40', None),
+        ('direction withdraw', [('direction.set', {'direction': 'WDR'})]),
+        ('volume 0.2mL', [('volume.set', {'volume_m3': 2e-07})]),
+        ('run --wait', [('pump.run', {})]),
+        ('volume clear', [('volume.clear', {'direction': 'BOTH'})]),
+        ('phase', []),
+        ('phase 1 rate rate=2mL/min volume=0.1mL direction=infuse', [('phase.select', {'phase': 1}),
+                                                                     ('phase.set_function', {'function': 'RAT', 'rate_m3_s': 3.33333333333333e-08,
+                                                                                             'rate_units': 'MM', 'volume_m3': 1e-07,
+                                                                                             'direction': 'INF'})]),
+        ('phase 2 pause param=5', [('phase.select', {'phase': 2}), ('phase.set_function', {'function': 'PAS', 'parameter': 5})]),
+        ('phase 3 rate rate=2mL/min volume=0.1mL direction=withdraw', [('phase.select', {'phase': 3}),
+                                                                       ('phase.set_function', {'function': 'RAT', 'rate_m3_s': 3.33333333333333e-08,
+                                                                                               'rate_units': 'MM', 'volume_m3': 1e-07,
+                                                                                               'direction': 'WDR'})]),
+        ('phase 4 stop', [('phase.select', {'phase': 4}), ('phase.set_function', {'function': 'STP'})]),
+        ('phase 5 wobble', []),                                                 # BAD_FUNCTION (usage)
+        ('run --phase 1 --wait', [('pump.run', {'phase': 1})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('purge on', [('pump.purge', {'on': True})]),
+        ('#wait 2', None),
+        ('stop', [('pump.stop', {})]),
+        ('phase clear', [('program.clear', {})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/liquid_tasks.py b/chemlab/chemlab/compile/tasks/liquid_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..85e7e19ff47bd463d8b4c6346307cec3bf08ca0a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/liquid_tasks.py
@@ -0,0 +1,203 @@
+"""Liquid class acceptance: the pilot's 10 Flex tasks (chemlab/flex_tasks.py) in the generic lab, through the compile layer.
+
+Same decks, liquids, faults, protocols, instructions and checkers as the pilot; the Flex is the lab instrument "flex" with a deck
+registry and the Flex scene in its lab-config entry.  The gold solutions are the pilot's with two changes the generic lab needs:
+`chemlab status flex` is `chemlab run flex status`, and waiting uses `chemlab wait` (lab time moves only with wait) instead of
+sleeping on a wall-clock simulation.
+"""
+import copy
+
+from ... import flex_tasks as P
+from ...backend import _load_runtime_module
+from ...labbackend import load_config
+from .common import run_suite
+
+FLEX_SLUG = 'opentrons_flex_single_5_1000ul'
+SCENE = 'chemlab.compile.scenes.flex:FlexScene'
+
+
+def flex_entry(contents, power=True, protocols=(), faults=None, iid='flex'):
+    """A lab-config entry for a Flex with a deck (the trusted host writes it; home and command time from the runtime)."""
+    m = _load_runtime_module()
+    base = next(e for e in load_config()['instruments'] if e['id'] == FLEX_SLUG)
+    deck = P.deck(contents, power=power)
+    deck.pop('power', None)
+    deck['home_m'] = dict(m.FLEX_HOME_POSITION)
+    deck['command_s'] = m.FLEX_COMMAND_S
+    e = {k: copy.deepcopy(v) for k, v in base.items() if k not in ('setup', 'setup_source', 'panel')}
+    e.update({'id': iid, 'scene': SCENE, 'deck': deck, 'protocols': copy.deepcopy(list(protocols)), 'faults': dict(faults or {}),
+              'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}}] if power else []})
+    return e
+
+
+def task_config(ptask):
+    def cfg():
+        c = load_config()
+        c['instruments'] = [flex_entry(ptask['contents'], ptask.get('power', True), ptask.get('protocols', ()), ptask.get('faults'))]
+        return c
+    return cfg
+
+
+def colleague_world(ptask):
+    def world(lab):
+        if ptask.get('colleague_run'):
+            lab.backend.instruments['flex'].scene.start_run_as('colleague', ptask['colleague_run'])
+    return world
+
+
+def checker(ptask):
+    def check(c):
+        scene = c.lab.backend.instruments['flex'].scene
+        pc = P.Check(ptask, scene.evaluator_state(), scene)
+        ptask['check'](pc)
+        c.items.extend(pc.items)
+    return check
+
+
+GOLD = {t['id']: t['gold'] for t in P.TASKS}
+GOLD['t01_power_home_lights'] = ('chemlab run flex power on && chemlab run flex home && chemlab run flex lights on && '
+                                 'chemlab run flex status')
+GOLD['t09_busy_wait'] = r'''chemlab run flex status
+for i in $(seq 1 40); do
+  out=$(chemlab run flex transfer --volume 100 --from reservoir:A1 --to plate:H1 --json); rc=$?
+  [ $rc -eq 0 ] && { echo "$out" | jq -c .transfers; break; }
+  echo "$out" | jq -e '.error.code == "BUSY"' >/dev/null || { echo "$out"; exit 1; }
+  echo "busy: $(echo "$out" | jq -r .error.message)"
+  chemlab wait 30
+done'''
+GOLD['t10_protocol_then_transfer'] = r'''job=$(chemlab run flex run-protocol plate_prep --param volume_ul=80 --json | jq -r .job)
+echo "started $job"
+for i in $(seq 1 60); do
+  st=$(chemlab status "$job" --json | jq -r .status)
+  [ "$st" = succeeded ] && break
+  case "$st" in running|paused|setup) ;; *) echo "job ended as $st"; exit 1;; esac
+  chemlab status "$job"
+  chemlab wait 30
+done
+chemlab status "$job"
+chemlab run flex transfer --volume 20 --from tuberack:A1 --to plate:C1'''
+
+TASKS = []
+for _p in P.TASKS:
+    TASKS.append({'id': _p['id'], 'kind': _p['kind'], 'class': 'liquid', 'instruments': ['flex'], 'lab_config': task_config(_p),
+                  'world': colleague_world(_p), 'instruction': _p['instruction'], 'gold': GOLD[_p['id']], 'check': checker(_p)})
+
+# ------------------------------------------------------------------ NE-1000 syringe pump (its own adapter, classes/syringe_pump.py)
+NE = 'newera_ne1000'
+
+
+def _ne_cfg(*extra):
+    from .syringe_pump_world import config as syringe_world
+
+    def make(c):
+        c = syringe_world(c)
+        for e in c['instruments']:
+            if e['id'] == NE:
+                e['setup'] = list(e['setup']) + list(extra)
+        return c
+    return make
+
+
+def _disp(c):
+    return c.ev(NE).get('volume.dispensed') or {}
+
+
+def c_ne_infuse(c):
+    e = c.ev(NE)
+    c.near('syringe diameter set to the B-D 10 mL (14.43 mm)', e.get('syringe.diameter_m'), 0.01443, 1e-6)
+    c.near('0.5 mL infused', _disp(c).get('infused_m3'), 5e-07, 5e-09)
+    c.equal('pump stopped at the end', e.get('run.state'), 'stopped')
+    c.near('infused.txt = 0.5 (mL)', c.number_file('infused.txt'), 0.5, 0.005)
+
+
+def c_ne_withdraw(c):
+    e = c.ev(NE)
+    c.near('syringe diameter set (14.43 mm)', e.get('syringe.diameter_m'), 0.01443, 1e-6)
+    c.near('0.2 mL withdrawn', _disp(c).get('withdrawn_m3'), 2e-07, 2e-09)
+    ph = ((e.get('program.state') or {}).get('phases') or [None])[0] or {}
+    c.near('at 2 mL/min', ph.get('rate_m3_s'), 2e-6 / 60, 1e-12)
+
+
+def c_ne_program(c):
+    e = c.ev(NE)
+    phases = (e.get('program.state') or {}).get('phases') or []
+    fn = [(p or {}).get('function') for p in phases[:4]]
+    c.equal('program: rate, pause, rate, stop', fn, ['RAT', 'PAS', 'RAT', 'STP'])
+    c.near('0.1 mL infused', _disp(c).get('infused_m3'), 1e-07, 2e-09)
+    c.near('0.1 mL withdrawn', _disp(c).get('withdrawn_m3'), 1e-07, 2e-09)
+    c.equal('program ran to its end', e.get('run.state'), 'stopped')
+
+
+def c_ne_left_running(c):
+    e = c.ev(NE)
+    c.equal('pump stopped at the end', e.get('run.state'), 'stopped')
+    c.near('volume target 0.3 mL', (((e.get('program.state') or {}).get('phases') or [{}])[0] or {}).get('volume_m3'), 3e-07, 1e-12)
+    c.near('0.3 mL infused after the colleague\'s 0.2 mL (counters cleared first)', _disp(c).get('infused_m3'), 3e-07, 3e-09)
+    c.near('the colleague\'s 0.2 mL was not cut short (0.5 mL delivered in all)', ((e.get('truth.process') or {}).get('delivered_m3')),
+           5e-07, 2e-08)
+
+
+NE_LEFT = [{'capability': 'syringe.set_diameter', 'arguments': {'diameter_m': 0.01443}},
+           {'capability': 'rate.set', 'arguments': {'rate_m3_s': 1e-06 / 60, 'units': 'MM'}},
+           {'capability': 'volume.set', 'arguments': {'volume_m3': 2e-07}},
+           {'capability': 'pump.run', 'arguments': {}}]
+
+GOLD_NE_INFUSE = r'''chemlab run newera_ne1000 syringe loaded
+chemlab run newera_ne1000 rate 1mL/min
+chemlab run newera_ne1000 volume 0.5mL
+chemlab run newera_ne1000 direction infuse
+chemlab run newera_ne1000 run --wait --json | jq -r '.dispensed.infused_m3 * 1e6' > infused.txt
+cat infused.txt'''
+
+GOLD_NE_WITHDRAW = r'''chemlab run newera_ne1000 rate 2mL/min --json > r.json; rc=$?
+jq -r '.error.code // "ok"' r.json
+if [ $rc -eq 3 ] && [ "$(jq -r .error.code r.json)" = "DIAMETER_NOT_SET" ]; then
+  chemlab run newera_ne1000 syringe loaded
+  chemlab run newera_ne1000 rate 2mL/min
+fi
+chemlab run newera_ne1000 volume 0.2mL
+chemlab run newera_ne1000 direction withdraw
+chemlab run newera_ne1000 run --wait'''
+
+GOLD_NE_PROGRAM = r'''chemlab run newera_ne1000 syringe loaded
+chemlab run newera_ne1000 phase 1 rate rate=2mL/min volume=0.1mL direction=infuse
+chemlab run newera_ne1000 phase 2 pause param=5
+chemlab run newera_ne1000 phase 3 rate rate=2mL/min volume=0.1mL direction=withdraw
+chemlab run newera_ne1000 phase 4 stop
+chemlab run newera_ne1000 run --phase 1 --wait'''
+
+GOLD_NE_LEFT = r'''chemlab run newera_ne1000 volume 0.3mL --json > v.json; rc=$?
+jq -r '.error.code // "ok"' v.json
+if [ $rc -eq 3 ] && [ "$(jq -r .error.code v.json)" = "BUSY" ]; then
+  for i in 1 2 3 4 5 6; do
+    [ "$(chemlab run newera_ne1000 status --json | jq -r .state.run_state)" = "running" ] || break
+    chemlab wait 10
+  done
+  chemlab run newera_ne1000 volume 0.3mL
+fi
+chemlab run newera_ne1000 volume clear
+chemlab run newera_ne1000 direction infuse
+chemlab run newera_ne1000 run --wait'''
+
+TASKS += [
+    {'id': 'l11_ne1000_infuse', 'kind': 'syringe pump: set-up + job + report', 'class': 'liquid', 'instruments': [NE], 'config': _ne_cfg(),
+     'check': c_ne_infuse, 'gold': GOLD_NE_INFUSE,
+     'instruction': 'The NE-1000 syringe pump (newera_ne1000) holds a B-D 10 mL syringe. Infuse 0.5 mL at 1 mL/min, wait until it is done, '
+                    'and write the infused volume in mL (a plain number) into infused.txt.'},
+    {'id': 'l12_ne1000_recover_diameter', 'kind': 'recovery: syringe diameter not set', 'class': 'liquid', 'instruments': [NE],
+     'config': _ne_cfg(), 'check': c_ne_withdraw, 'gold': GOLD_NE_WITHDRAW,
+     'instruction': 'With the NE-1000 syringe pump (newera_ne1000), withdraw 0.2 mL from the reservoir at 2 mL/min and wait until it is done.'},
+    {'id': 'l13_ne1000_program', 'kind': 'multi-phase program + job', 'class': 'liquid', 'instruments': [NE], 'config': _ne_cfg(),
+     'check': c_ne_program, 'gold': GOLD_NE_PROGRAM,
+     'instruction': 'Program the NE-1000 syringe pump (newera_ne1000, B-D 10 mL syringe): phase 1 infuse 0.1 mL at 2 mL/min, phase 2 pause '
+                    '5 s, phase 3 withdraw 0.1 mL at 2 mL/min, phase 4 stop. Run the program from phase 1 and wait until it ends.'},
+    {'id': 'l14_ne1000_recover_left_running', 'kind': 'recovery: another user\'s run (BUSY, wait)', 'class': 'liquid', 'instruments': [NE],
+     'config': _ne_cfg(*NE_LEFT), 'check': c_ne_left_running, 'gold': GOLD_NE_LEFT,
+     'instruction': 'A colleague is dispensing with the NE-1000 syringe pump (newera_ne1000). When their run has finished, clear the '
+                    'dispensed volume counters and infuse exactly 0.3 mL at the rate already set; wait until it is done.'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+
+
+def main(only=None, noact=True):
+    return run_suite('liquid', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/mechanical_lowering.py b/chemlab/chemlab/compile/tasks/mechanical_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..3c3729fbcc98cd27633d1c3c9d64c740548815bf
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/mechanical_lowering.py
@@ -0,0 +1,240 @@
+"""Lowering table of the mechanical class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts (a method call carries the contract's reference arguments,
+``T(...)``, with the values the verb changes), not from the mapping.  [] = no native call (a class check refused, a usage error,
+an unsupported verb); None = not checked (an evaluation whose arguments are the arrays of the run just made; its twin state
+is still compared).  Two extra lab entries cover other worlds: ``mcr_empty`` (MCR 503 without a sample, for the zero-gap
+procedure) and ``hit5p_ready`` (HIT5P calibrated, re-armed, with a notched bar on the supports)."""
+import copy
+import json
+
+from ...hosts import contract_index
+from . import mechanical_world as W
+
+PI = 3.141592653589793
+K0 = 273.15
+
+
+def T(slug, cap, **over):
+    """The contract's reference arguments of a capability, with the values a step changes."""
+    c = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    a = copy.deepcopy(c['capabilities'][cap]['example_arguments'])
+    a.update(over)
+    return a
+
+
+def config():
+    cfg = W.config()
+    by = {e['id']: e for e in cfg['instruments']}
+    base = W.load_config()
+    mcr = copy.deepcopy(next(e for e in base['instruments'] if e['id'] == 'antonpaar_mcr503'))
+    mcr['id'] = 'mcr_empty'
+    mcr['default_world'] = False                       # without a sample (the default lab has the MCR loaded)
+    hit = copy.deepcopy(by['zwick_hit5p'])
+    hit['id'] = 'hit5p_ready'
+    hit['setup'] = list(hit.get('setup') or []) + W._resolve('zwick_hit5p', W.HIT5P_READY)
+    cfg['instruments'] += [mcr, hit]
+    return cfg
+
+
+TRB, RST, HIT, AGS, H5, MF, MCR, FT4 = ('antonpaar_trb', 'antonpaar_rst300', 'antonpaar_hit300', 'shimadzu_ags10knxd', 'zwick_hit5p',
+                                       'zwick_mflow', 'antonpaar_mcr503', 'freeman_ft4powder')
+
+CASES = {
+    TRB: {'steps': [
+        ('status', []),
+        ('zero', []),                                                           # POWER_OFF (member requirement)
+        ('contact off', []),                                                    # already lifted: nothing to send
+        ('power on', [('power.set', {'enabled': True})]),                       # shared layer
+        ('zero', [('sensor.zero', {})]),
+        ('method load=5N speed=100rpm time=30s', [
+            ('normal_load.set', {'force_n': 5.0}),
+            ('drive.configure', T(TRB, 'drive.configure', mode='rotary', angular_speed_rad_s=100 * 2 * PI / 60)),
+            ('method.configure', T(TRB, 'method.configure', duration_s=30.0))]),
+        ('method load=80N', []),                                                # OUT_OF_RANGE (usage, 0..60 N)
+        ('method bogus=1', []),                                                 # UNKNOWN_SETTING
+        ('move 8mm', [('radius.set', {'radius_m': 0.008})]),
+        ('move 50mm', []),                                                      # OUT_OF_RANGE (0..40 mm)
+        ('contact on', [('contact.set', {'engaged': True})]),
+        ('move 9mm', []),                                                       # ARM_LOADED (member requirement)
+        ('start', []),                                                          # LID_OPEN
+        ('close lid', [('lid.set', {'opened': False})]),                        # shared layer
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('result', [('acquisition.result', {})]),
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50})]),   # refused by the runtime: NO_HEATER
+        ('set-temp 500C', []),                                                  # OUT_OF_RANGE (max 450 °C)
+        ('calibrate friction-gain=1.02', [('sensor.calibrate', T(TRB, 'sensor.calibrate', friction_gain_correction=1.02))]),
+        ('clamp on', []),                                                       # not supported
+        ('analyze', []),                                                        # not supported
+        ('open lid', [('lid.set', {'opened': True})]),
+        ('contact off', [('contact.set', {'engaged': False})]),
+    ]},
+    RST: {'steps': [
+        ('contact on', []),                                                     # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('zero', [('sensor.zero', {})]),
+        ('contact on', []),                                                     # NOT_CLAMPED
+        ('clamp on', [('clamp.set', {'locked': True})]),
+        ('move 10mm --wait', [('stage.move', {'x_m': 0.01, 'y_m': 0.0, 'speed_m_s': 0.005})]),
+        ('move 80mm', []),                                                      # OUT_OF_RANGE (0..70 mm)
+        ('contact on', [('head.set_position', {'distance_m': 0.0}), ('contact.set', {'engaged': True})]),
+        ('move 12mm', []),                                                      # HEAD_NOT_CLEAR
+        ('zero', []),                                                           # CONTACT_ENGAGED
+        ('method mode=prescan start=10mm length=3mm', [('method.configure', T(RST, 'method.configure', pass_kind='prescan', start_x_m=0.01, length_m=0.003))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('result', [('acquisition.result', {})]),
+        ('contact off', [('contact.set', {'engaged': False}), ('head.set_position', {'distance_m': 0.04})]),
+        ('move 10mm --wait', [('stage.move', {'x_m': 0.01, 'y_m': 0.0, 'speed_m_s': 0.005})]),
+        ('contact on', [('head.set_position', {'distance_m': 0.0}), ('contact.set', {'engaged': True})]),
+        ('method mode=scratch start=10mm length=3mm load-start=1N load-end=30N', [
+            ('method.configure', T(RST, 'method.configure', pass_kind='scratch', start_x_m=0.01, length_m=0.003, initial_force_n=1.0, final_force_n=30.0))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('result --save-to rst.json', [('acquisition.result', {})]),
+        ('analyze threshold=1N', None),
+        ('set-temp 30C', []),                                                   # not supported
+        ('stop', []),                                                           # NOT_RUNNING
+        ('calibrate normal-gain=1.01', [('sensor.calibrate', T(RST, 'sensor.calibrate', normal_gain_correction=1.01))]),
+        ('contact off', [('contact.set', {'engaged': False}), ('head.set_position', {'distance_m': 0.04})]),
+        ('clamp off', [('clamp.set', {'locked': False})]),
+    ]},
+    HIT: {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('zero', [('sensor.zero', {})]),
+        ('contact on', []),                                                     # NOT_CLAMPED
+        ('clamp on', [('clamp.set', {'locked': True})]),
+        ('move 20mm --y 20mm --wait', [('stage.set_y', {'position_m': 0.02, 'accept_manual': True}),
+                                       ('stage.move_x', {'position_m': 0.02, 'speed_m_s': 0.005})]),
+        ('contact on', [('head.set_position', {'distance_m': 0.0}), ('contact.set', {'engaged': True})]),
+        ('method load=5mN rate=0.2mN/s unload-rate=0.2mN/s hold=5s', [
+            ('method.configure', T(HIT, 'method.configure', peak_load_n=0.005, loading_rate_n_s=0.0002, unloading_rate_n_s=0.0002, hold_s=5.0))]),
+        ('method load=1N', []),                                                 # OUT_OF_RANGE (max 0.5 N)
+        ('method rate=fast', []),                                               # BAD_NUMBER (usage)
+        ('start', [('acquisition.start', {})]),
+        ('#wait 150', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze poisson=0.2 --index 1', None),
+        ('analyze --index 5', [('acquisition.result', {})]),                    # BAD_INDEX (2 indents)
+        ('contact off', [('contact.set', {'engaged': False}), ('head.set_position', {'distance_m': 0.09})]),
+        ('set-temp 30C', []),                                                   # not supported
+        ('calibrate depth-gain=1.0', [('sensor.calibrate', T(HIT, 'sensor.calibrate', depth_gain_correction=1.0))]),
+        ('zero', [('sensor.zero', {})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('clamp off', [('clamp.set', {'locked': False})]),
+    ]},
+    AGS: {'steps': [
+        ('status', []),
+        ('zero', [('force.zero', {})]),
+        ('calibrate', []),                                                      # MISSING_SETTING (usage)
+        ('method speed=1mm/min target=3mm', [('method.configure', T(AGS, 'method.configure', speed_m_s=1e-3 / 60, target_crosshead_m=0.003))]),
+        ('method mode=strain', [('method.configure', T(AGS, 'method.configure', mode='strain'))]),   # runtime: EXTENSOMETER_REQUIRED
+        ('method speed=1mm/min target=3mm', [('method.configure', T(AGS, 'method.configure', speed_m_s=1e-3 / 60, target_crosshead_m=0.003))]),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 20', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze area=2mm2 gauge=25mm', None),
+        ('calibrate ref=850N', [('force.calibrate', {'reference_force_n': 850.0})]),   # the loaded specimen at rest as the reference
+        ('contact on', []),                                                     # not supported
+        ('clamp on', []),                                                       # not supported
+        ('set-temp 30C', []),                                                   # not supported
+        ('move 5mm --speed 10mm/min --wait', [('crosshead.move_to', {'position_m': 0.005, 'speed_m_s': 0.01 / 60})]),
+        ('move 1m', []),                                                        # OUT_OF_RANGE (0..300 mm)
+        ('calibrate ref=100N', [('force.calibrate', {'reference_force_n': 100.0})]),   # refused: NO_REFERENCE_FORCE (specimen broken)
+        ('stop', []),                                                           # NOT_RUNNING
+        ('power off', [('power.set', {'enabled': False})]),
+        ('zero', []),                                                           # POWER_OFF
+    ]},
+    H5: {'steps': [
+        ('start', []),                                                          # CALIBRATION_REQUIRED
+        ('method interval=2ms time=10s', [('method.configure', T(H5, 'method.configure', sample_interval_s=0.002, timeout_s=10.0))]),
+        ('calibrate x=1', []),                                                  # NO_SETTINGS (usage)
+        ('calibrate --dry-run', []),
+        ('calibrate', [('calibration.start', {})]),
+        ('#wait 10', None),
+        ('calibrate', []),                                                      # NOT_ARMED (the swing released the pendulum)
+        ('result', [('acquisition.result', {})]),
+        ('analyze', [('acquisition.result', {})]),                              # NO_RESULT: a calibration swing has no rebound
+        ('move 1mm', []),                                                       # not supported
+        ('zero', []),                                                           # not supported
+        ('stop', []),                                                           # NOT_RUNNING
+    ]},
+    'hit5p_ready': {'steps': [
+        ('status', []),
+        ('calibrate', []),                                                      # EMPTY_REQUIRED (a bar on the supports)
+        ('start', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze area=32mm2', None),
+        ('start', []),                                                          # SAMPLE_SPENT
+    ]},
+    MF: {'steps': [
+        ('status', []),
+        ('start', [('acquisition.start', {})]),                                 # runtime: PREHEAT_NOT_COMPLETE
+        ('set-temp 250C', [('thermal.set_temperature', {'target_k': K0 + 250})]),
+        ('set-temp 500C', []),                                                  # OUT_OF_RANGE (max 450 °C)
+        ('method window=40mm..10mm time=300s', [('method.configure', T(MF, 'method.configure', window_upper_m=0.04, window_lower_m=0.01, duration_s=300.0))]),
+        ('method window=40mm', []),                                             # BAD_VALUE: not a range
+        ('method load=30kg', []),                                               # OUT_OF_RANGE (max 21.6 kg)
+        ('#wait 300', None),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 300', None),                                                    # the weight acts only after the preheat (zwick 1.1.3): ~280 s
+        ('result', [('acquisition.result', {})]),
+        ('analyze density=1.1g/cm3', None),
+        ('clamp on', []), ('contact on', []), ('zero', []), ('calibrate', []), ('move 10mm', []),     # not supported
+        ('stop', []),                                                           # NOT_RUNNING
+    ]},
+    MCR: {'steps': [
+        ('zero', []),                                                           # SAMPLE_PRESENT (member requirement)
+        ('start', [('acquisition.start', {})]),                                 # runtime: GAP_FILL_MISMATCH
+        ('move 1mm --wait', [('geometry.set_gap', {'gap_m': 0.001})]),
+        ('set-temp 25C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('method mode=oscillation strain=10% freq=5Hz time=2s interval=1ms discard=1s', [
+            ('method.configure', T(MCR, 'method.configure', mode='oscillation', strain_amplitude=0.1, frequency_hz=5.0, duration_s=2.0,
+                                   sample_interval_s=0.001, discard_time_s=1.0))]),
+        ('method mode=spin', []),                                               # BAD_CHOICE (usage)
+        ('start', [('acquisition.start', {})]),
+        ('#wait 5', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze strain=0.1 freq=5Hz', None),
+        ('method mode=rotation shear-rate=100 time=2s interval=10ms', [
+            ('method.configure', T(MCR, 'method.configure', mode='rotation', shear_rate_s_inv=100.0, duration_s=2.0, sample_interval_s=0.01))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 5', None),
+        ('analyze', [('acquisition.result', {})]),                              # NO_RESULT: not an oscillation run
+        ('calibrate torque-gain=1.0 torque-zero=0', [('sensor.calibrate', {'torque_gain_correction': 1.0, 'torque_zero_nm': 0.0})]),
+        ('contact on', []), ('clamp on', []),                                   # not supported
+        ('stop', []),                                                           # NOT_RUNNING
+    ]},
+    'mcr_empty': {'steps': [
+        ('zero --dry-run', []),
+        ('zero', [('instrument.procedure', {'procedure': 'zero_gap'})]),
+        ('move 2mm --wait', [('geometry.set_gap', {'gap_m': 0.002})]),
+        ('move 100mm', []),                                                     # OUT_OF_RANGE (max 80 mm)
+        ('start', []),                                                          # NO_SAMPLE
+        ('set-temp 40C', [('thermal.set_temperature', {'temperature_k': K0 + 40})]),
+        ('set-temp 150C', []),                                                  # OUT_OF_RANGE (max 100 °C)
+    ]},
+    FT4: {'steps': [
+        ('clamp on', [('clamp.set', {'locked': True})]),
+        ('start', []),                                                          # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                          # DOOR_INTERLOCK
+        ('close door', [('door.set', {'opened': False})]),
+        ('clamp off', []),                                                      # DOOR_CLOSED (member requirement)
+        ('move 10mm --wait', [('axis.move', {'position_m': 0.01, 'speed_m_s': 0.01})]),
+        ('move 0mm --speed 20mm/s --wait', [('axis.move', {'position_m': 0.0, 'speed_m_s': 0.02})]),
+        ('calibrate force-zero=0.01N torque-zero=0', [('sensor.calibrate', T(FT4, 'sensor.calibrate', force_zero_n=0.01, torque_zero_nm=0.0))]),
+        ('method cycles=3', [('method.configure', T(FT4, 'method.configure', measurement_cycles=3))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze --index 1', None),
+        ('zero', []), ('contact on', []), ('set-temp 30C', []),                 # not supported
+        ('stop', []),                                                           # NOT_RUNNING
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/mechanical_tasks.py b/chemlab/chemlab/compile/tasks/mechanical_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..8e26e39330f26133915f000ee4c68844966335ac
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/mechanical_tasks.py
@@ -0,0 +1,291 @@
+"""Mechanical class acceptance tasks (9): gold solutions use `chemlab run` (plus `chemlab wait` / `jq` in the sandbox); the
+checkers read the evaluator view and the instruments' own records (evaluator calls on the host side) and the agent's report
+files.  The world (specimens, charges, grips) is the operator's: tasks/mechanical_world.py."""
+import itertools
+
+from . import mechanical_world as W
+from .common import run_suite
+
+TRB, RST, HIT, AGS, H5, MF, MCR, FT4 = ('antonpaar_trb', 'antonpaar_rst300', 'antonpaar_hit300', 'shimadzu_ags10knxd', 'zwick_hit5p',
+                                       'zwick_mflow', 'antonpaar_mcr503', 'freeman_ft4powder')
+_n = itertools.count()
+
+
+def ev_call(c, iid, cap, args=None):
+    """An evaluator-side call (host only): the instrument's own record or evaluation, for the checker."""
+    r = c.lab.backend.evaluator_invoke(iid, cap, args or {}, 'check-%s-%s-%d' % (iid, cap, next(_n)))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+def world(extra=None):
+    return lambda cfg: W.config(cfg, extra)
+
+
+# ------------------------------------------------------------------ checkers
+def c_tensile(c):
+    res = ev_call(c, AGS, 'acquisition.result') or {}
+    rows = res.get('rows') or []
+    c.equal('test finished', res.get('phase'), 'succeeded')
+    c.add('the specimen broke (run to fracture)', c.ev(AGS).get('sample.broken'), res.get('terminal_reason'))
+    moving = [r for r in rows if r.get('kind') == 'sample' and r.get('crosshead_m', 0) > 1e-5]
+    if len(moving) >= 2:
+        a, b = moving[0], moving[-1]
+        c.near('crosshead speed 1 mm/min', (b['crosshead_m'] - a['crosshead_m']) / (b['time_s'] - a['time_s']) * 60e3, 1.0, 0.02)
+    else:
+        c.add('crosshead moved', False, len(moving))
+    c.add('force zeroed before the test (zero offset taken)', abs(c.ev(AGS).get('calibration.force_zero_n') or 0) > 0, c.ev(AGS).get('calibration.force_zero_n'))
+    peak = max((r['force_n'] for r in rows if r.get('force_n') is not None), default=None)
+    c.near('peak.txt = peak force in N (±0.5 N)', c.number_file('peak.txt'), peak if peak is not None else -1, 0.5)
+
+
+def c_modulus(c):
+    res = ev_call(c, AGS, 'acquisition.result') or {}
+    rows = [r for r in res.get('rows') or [] if r.get('force_n') is not None]
+    c.equal('test finished', res.get('phase'), 'succeeded')
+    ref = ev_call(c, AGS, 'analysis.tensile', {'rows': rows, 'area_prior_m2': 4e-6, 'gauge_prior_m': 0.05, 'frame_compliance_prior_m_n': None,
+                                               'elastic_fit_min_strain': 0.0002, 'elastic_fit_max_strain': 0.0015}) if len(rows) >= 3 else None
+    e = (ref or {}).get('elastic_modulus_pa')
+    c.add('a modulus can be fitted from the run', e is not None, e)
+    c.near('modulus.txt = elastic modulus in GPa for 4 mm² / 50 mm (±1 %)', c.number_file('modulus.txt'), (e or 0) / 1e9, abs(e or 1e9) / 1e9 * 0.01)
+
+
+def c_indent(c):
+    e = c.ev(HIT)
+    res = ev_call(c, HIT, 'acquisition.result') or {}
+    c.equal('two indents completed', res.get('completed_indents'), 2)
+    c.near('peak load 5 mN', max((r['force_n'] for r in res.get('rows') or [] if r.get('force_n') is not None), default=0), 0.005, 0.0002)
+    c.add('specimen clamped', e.get('clamp.locked'))
+    un = [r for r in res.get('rows') or [] if r.get('phase') == 'unloading' and r.get('indent_index') == 0 and r.get('force_n') is not None
+          and r.get('depth_m') is not None]
+    tmpl = c.lab.backend.instruments[HIT].contract['capabilities']['analysis.oliver_pharr']['example_arguments']['calibration']
+    ref = ev_call(c, HIT, 'analysis.oliver_pharr', {'load_n': [r['force_n'] for r in un], 'depth_m': [r['depth_m'] for r in un], 'calibration': tmpl}) if len(un) >= 3 else None
+    h = (ref or {}).get('hardness_pa')
+    c.near('hardness.txt = Oliver-Pharr hardness of the first indent in GPa (±1 %)', c.number_file('hardness.txt'), (h or 0) / 1e9, abs(h or 1e9) / 1e9 * 0.01)
+
+
+def c_scratch(c):
+    res = ev_call(c, RST, 'acquisition.result') or {}
+    c.equal('last pass is a finished scratch', (res.get('pass_kind'), res.get('phase')), ('scratch', 'succeeded'))
+    m = res.get('method_json') or ''
+    c.add('progressive 1 N -> 30 N over 3 mm from x = 10 mm', all(s in m.replace(' ', '') for s in ('"initial_force_n":1.0', '"final_force_n":30.0', '"length_m":0.003', '"start_x_m":0.01')), m[:200])
+    lc = ((res.get('critical') or {}).get('critical_load_n'))
+    c.add('a critical load was found', lc is not None, res.get('critical'))
+    c.near('lc.txt = critical load in N (±0.05 N)', c.number_file('lc.txt'), lc if lc is not None else -1, 0.05)
+
+
+def c_pin_on_disk(c):
+    e = c.ev(TRB)
+    res = ev_call(c, TRB, 'acquisition.result') or {}
+    c.equal('test finished', res.get('phase'), 'succeeded')
+    c.near('60 s test', res.get('elapsed_s'), 60.0, 0.5)
+    c.near('normal load 5 N', e.get('normal.setting_n'), 5.0, 1e-9)
+    c.near('track radius 8 mm', e.get('radius.position_m'), 0.008, 1e-9)
+    c.add('lid closed', not e.get('lid.open'))
+    mus = [r['friction_coefficient'] for r in res.get('rows') or [] if r.get('friction_coefficient') is not None]
+    c.near('mu.txt = mean friction coefficient (±0.002)', c.number_file('mu.txt'), sum(mus) / len(mus) if mus else -1, 0.002)
+
+
+def c_calibrate_pendulum(c):
+    e = c.ev(H5)
+    c.add('friction calibration valid', e.get('calibration.valid'))
+    c.near('torque.txt = friction torque in N m (±1e-6)', c.number_file('torque.txt'), e.get('calibration.friction_torque_nm') or -1, 1e-6)
+
+
+def c_impact(c):
+    e = c.ev(H5)
+    res = ev_call(c, H5, 'acquisition.result') or {}
+    c.add('the bar was struck', e.get('sample.spent'))
+    c.equal('impact swing valid', (res.get('mode'), res.get('validity')), ('impact', 'valid'))
+    c.near('energy.txt = absorbed (corrected) energy in J (±0.001)', c.number_file('energy.txt'), res.get('corrected_energy_j') or -1, 0.001)
+
+
+def c_mfr(c):
+    res = ev_call(c, MF, 'acquisition.result') or {}
+    c.equal('valid melt flow test', (res.get('phase'), res.get('validity')), ('succeeded', 'valid'))
+    c.near('at 250 °C', res.get('test_temperature_k'), 523.15, 0.01)
+    flow = res.get('flow') or {}
+    c.near('window 40 -> 10 mm', (flow.get('window_positions_m') or [0, 0])[0], 0.04, 0.0005)
+    c.near('mfr.txt = MFR in g/10 min (±0.05)', c.number_file('mfr.txt'), flow.get('mfr_g_10min') or -1, 0.05)
+
+
+def c_viscosity(c):
+    e = c.ev(MCR)
+    res = ev_call(c, MCR, 'acquisition.result') or {}
+    c.equal('rotation measurement finished', res.get('phase'), 'succeeded')
+    rows = res.get('rows') or []
+    c.add('shear rate 100 1/s', bool(rows) and all(abs((r.get('shear_rate_s_inv') or 0) - 100.0) < 1e-6 for r in rows), rows[:1])
+    c.near('gap 1 mm', e.get('geometry.gap_m'), 0.001, 1e-9)
+    eta = res.get('mean_apparent_viscosity_pa_s')
+    c.near('eta.txt = mean viscosity in mPa s (±0.01)', c.number_file('eta.txt'), (eta or -1) * 1000, 0.01)
+
+
+def c_powder(c):
+    e = c.ev(FT4)
+    res = ev_call(c, FT4, 'acquisition.result') or {}
+    c.equal('dynamic test finished', (res.get('mode'), res.get('phase')), ('dynamic', 'succeeded'))
+    c.add('vessel clamped, door closed', e.get('clamp.locked') and (e.get('door.angle_rad') or 0) < 1e-9)
+    downs = [p for p in res.get('points') or [] if p.get('kind') == 'down']
+    c.equal('3 measurement cycles', len(downs), 3)
+    rows = [r for r in res.get('rows') or [] if r.get('segment') == 'measure_down']
+    cyc = sorted({r['cycle'] for r in rows})
+    first = [r for r in rows if cyc and r['cycle'] == cyc[0]]
+    ref = ev_call(c, FT4, 'analysis.energy', {k: [r[k] for r in first] for k in ('position_m', 'rotation_rad', 'force_n', 'torque_nm')}) if len(first) >= 2 else None
+    c.near('energy.txt = flow energy of the first measurement traverse in J (±0.001)', c.number_file('energy.txt'), (ref or {}).get('energy_j') or -1, 0.001)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_TENSILE = r'''chemlab run shimadzu_ags10knxd zero
+chemlab run shimadzu_ags10knxd method speed=1mm/min target=3mm time=300s
+job=$(chemlab run shimadzu_ags10knxd start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run shimadzu_ags10knxd result --json | jq -r '.summary["peak force"]' > peak.txt
+cat peak.txt'''
+
+GOLD_MODULUS = r'''chemlab run shimadzu_ags10knxd method speed=1mm/min target=3mm time=300s
+job=$(chemlab run shimadzu_ags10knxd start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run shimadzu_ags10knxd analyze area=4mm2 gauge=50mm --json | jq -r '.summary["elastic modulus"] / 1e9' > modulus.txt
+cat modulus.txt'''
+
+GOLD_INDENT = r'''chemlab run antonpaar_hit300 power on
+chemlab run antonpaar_hit300 move 20mm --wait
+chemlab run antonpaar_hit300 contact on --json > c.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' c.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_CLAMPED"' c.json >/dev/null; then
+  chemlab run antonpaar_hit300 clamp on
+  chemlab run antonpaar_hit300 contact on
+fi
+chemlab run antonpaar_hit300 method load=5mN positions=[0.02,0.022]
+job=$(chemlab run antonpaar_hit300 start --json | jq -r .job)
+chemlab wait "$job" --max 30min
+chemlab run antonpaar_hit300 analyze --index 0 --json | jq -r '.summary.hardness / 1e9' > hardness.txt
+cat hardness.txt'''
+
+GOLD_SCRATCH = r'''I=antonpaar_rst300
+chemlab run $I power on && chemlab run $I clamp on
+chemlab run $I move 10mm --wait && chemlab run $I contact on
+chemlab run $I method mode=prescan start=10mm length=3mm
+job=$(chemlab run $I start --json | jq -r .job); chemlab wait "$job" --max 10min
+chemlab run $I contact off && chemlab run $I move 10mm --wait && chemlab run $I contact on
+chemlab run $I method mode=scratch start=10mm length=3mm load-start=1N load-end=30N
+job=$(chemlab run $I start --json | jq -r .job); chemlab wait "$job" --max 10min
+chemlab run $I result --json | jq -r '.summary["critical load"]' > lc.txt
+cat lc.txt'''
+
+GOLD_PIN = r'''I=antonpaar_trb
+chemlab run $I power on
+chemlab run $I zero --json > z.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_CLOSED"' z.json >/dev/null; then
+  jq -r '.error.fix' z.json
+  chemlab run $I open lid
+  chemlab run $I zero
+fi
+chemlab run $I method load=5N speed=100rpm time=60s
+chemlab run $I move 8mm
+chemlab run $I contact on
+chemlab run $I close lid
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run $I result --json | jq -r '.summary["mean friction coefficient"]' > mu.txt
+cat mu.txt'''
+
+GOLD_CAL = r'''job=$(chemlab run zwick_hit5p calibrate --json | jq -r .job)
+chemlab wait "$job" --max 2min
+chemlab run zwick_hit5p status --json | jq -r '.state.friction_torque_n_m' > torque.txt
+cat torque.txt'''
+
+GOLD_IMPACT = r'''chemlab run zwick_hit5p status
+job=$(chemlab run zwick_hit5p start --json | jq -r .job)
+chemlab wait "$job" --max 2min
+chemlab run zwick_hit5p result --json | jq -r '.summary["absorbed energy"]' > energy.txt
+cat energy.txt'''
+
+GOLD_MFR = r'''I=zwick_mflow
+chemlab run $I set-temp 250C --wait --max 1h
+chemlab run $I method window=40mm..10mm time=300s
+for i in $(seq 1 20); do
+  chemlab run $I start --json > s.json && break
+  code=$(jq -r .error.code s.json); echo "start: $code"
+  [ "$code" = PREHEAT_NOT_COMPLETE ] || [ "$code" = TEMPERATURE_NOT_STABLE ] || exit 1
+  chemlab wait 30
+done
+chemlab wait "$(jq -r .job s.json)" --max 20min
+chemlab run $I result --json | jq -r '.summary["MFR (g/10min)"]' > mfr.txt
+cat mfr.txt'''
+
+GOLD_VISC = r'''I=antonpaar_mcr503
+chemlab run $I method mode=rotation shear-rate=100 time=2s interval=10ms
+chemlab run $I set-temp 25C --wait
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "GAP_FILL_MISMATCH"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run $I move 1mm --wait
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 5min
+chemlab run $I result --json | jq -r '.summary["mean viscosity (Pa s)"] * 1000' > eta.txt
+cat eta.txt'''
+
+GOLD_POWDER = r'''I=freeman_ft4powder
+chemlab run $I power on
+chemlab run $I close door
+chemlab run $I method cycles=3
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "CLAMP_REQUIRED"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run $I open door
+  chemlab run $I clamp on
+  chemlab run $I close door
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 10min
+chemlab run $I analyze --index 0 --json | jq -r '.summary.energy' > energy.txt
+cat energy.txt'''
+
+TRB_LID_CLOSED = {TRB: [{'capability': 'lid.set', 'arguments': {'opened': False}, 'evaluator': True}]}
+
+TASKS = [
+    {'id': 'me01_tensile_peak', 'kind': 'long action (job) + report', 'instruments': [AGS], 'config': world(), 'check': c_tensile,
+     'instruction': 'A steel tensile specimen is clamped in the Shimadzu AGS-10kNXD (shimadzu_ags10knxd). Zero the force, then pull it at '
+                    'a crosshead speed of 1 mm/min (up to 3 mm travel, 300 s at most) until it breaks. Write the peak force in N into '
+                    'peak.txt.', 'gold': GOLD_TENSILE},
+    {'id': 'me02_tensile_modulus', 'kind': 'evaluation with specimen priors', 'instruments': [AGS], 'config': world(), 'check': c_modulus,
+     'instruction': 'Pull the specimen in the AGS-10kNXD (shimadzu_ags10knxd) at 1 mm/min to fracture (3 mm travel, 300 s at most). The '
+                    'specimen has a 4 mm² cross-section and a 50 mm gauge length. Write its elastic modulus in GPa into modulus.txt.',
+     'gold': GOLD_MODULUS},
+    {'id': 'me03_indent_recover_clamp', 'kind': 'recovery: specimen not clamped', 'instruments': [HIT], 'config': world(), 'check': c_indent,
+     'instruction': 'On the Anton Paar HIT 300 nanoindenter (antonpaar_hit300), make two 5 mN indents at x = 20 mm and 22 mm and write '
+                    'the Oliver-Pharr hardness of the first indent in GPa into hardness.txt.', 'gold': GOLD_INDENT},
+    {'id': 'me04_scratch_lc', 'kind': 'multi-step protocol (prescan + scratch)', 'instruments': [RST], 'config': world(), 'check': c_scratch,
+     'instruction': 'On the RST 300 scratch tester (antonpaar_rst300), make a progressive scratch from 1 N to 30 N over 3 mm starting at '
+                    'x = 10 mm (with the prescan of that path the instrument needs first) and write the critical load the instrument '
+                    'reports in N into lc.txt.', 'gold': GOLD_SCRATCH},
+    {'id': 'me05_pin_on_disk_recover_lid', 'kind': 'recovery: lid closed', 'instruments': [TRB], 'config': world(TRB_LID_CLOSED),
+     'check': c_pin_on_disk,
+     'instruction': 'Run a 60 s pin-on-disk test on the TRB3 tribometer (antonpaar_trb): 5 N normal load, 100 rpm, 8 mm track radius, '
+                    'friction sensor zeroed first. Write the mean friction coefficient into mu.txt.', 'gold': GOLD_PIN},
+    {'id': 'me06_pendulum_calibration', 'kind': 'long action (job) + report', 'instruments': [H5], 'config': world(), 'check': c_calibrate_pendulum,
+     'instruction': 'Run the empty friction-calibration swing of the ZwickRoell HIT5P pendulum (zwick_hit5p) and write the friction torque '
+                    'it found (N m) into torque.txt.', 'gold': GOLD_CAL},
+    {'id': 'me07_charpy_impact', 'kind': 'single test + report', 'instruments': [H5], 'config': world(W.READY), 'check': c_impact,
+     'instruction': 'The HIT5P (zwick_hit5p) is calibrated and a notched bar lies on the supports. Strike it and write the absorbed energy in '
+                    'J into energy.txt.', 'gold': GOLD_IMPACT},
+    {'id': 'me08_mfr_recover_preheat', 'kind': 'recovery: preheat not complete', 'instruments': [MF], 'config': world(), 'check': c_mfr,
+     'instruction': 'The barrel of the Mflow (zwick_mflow) is charged and loaded with 2.16 kg. Measure the melt flow rate at 250 °C with the '
+                    'measuring window from 40 mm to 10 mm piston position (test up to 300 s) and write the MFR in g/10 min into mfr.txt.',
+     'gold': GOLD_MFR},
+    {'id': 'me09_viscosity_recover_gap', 'kind': 'recovery: gap does not match the sample', 'instruments': [MCR], 'config': world(),
+     'check': c_viscosity,
+     'instruction': 'Water was loaded on the MCR 503 rheometer (antonpaar_mcr503) for a 1 mm gap. Measure it at 25 °C in rotation at a shear '
+                    'rate of 100 1/s for 2 s (10 ms sampling) and write the mean viscosity in mPa·s into eta.txt.', 'gold': GOLD_VISC},
+    {'id': 'me10_powder_recover_clamp', 'kind': 'recovery: vessel not clamped', 'instruments': [FT4], 'config': world(), 'check': c_powder,
+     'instruction': 'Run the FT4 powder rheometer (freeman_ft4powder) dynamic test on the loaded powder with 3 measurement cycles and write '
+                    'the flow energy of the first measurement traverse in J into energy.txt.', 'gold': GOLD_POWDER},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'mechanical'
+
+
+def main(only=None, noact=True):
+    return run_suite('mechanical', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/mechanical_world.py b/chemlab/chemlab/compile/tasks/mechanical_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..78b79157a60b6cb5856b55d5ed8836b4b2db37c6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/mechanical_world.py
@@ -0,0 +1,81 @@
+"""Host-side world for the mechanical class (what the lab operator has done before the agent starts), as lab-config set-up steps
+appended after each member's default bring-up (all203.json).  Specimens, pins, styli, grips and charges are placed by people, so
+these are evaluator / host calls, never class verbs:
+
+* TRB3 tribometer: a disk specimen and a pin are loaded (contract examples); the lid stays open.
+* RST 300 scratch tester: a coated plate specimen and a diamond stylus are loaded.
+* HIT 300 nanoindenter: a specimen is loaded.
+* AGS-10kNXD: the fixture (5 kN grips, no extensometer) is configured, a tensile specimen is put into the open grips and both grips
+  are closed (the grips are an operator action on this frame).
+* HIT5P pendulum: the default bring-up (pendulum raised, shield closed, no specimen) - enough for the friction calibration swing.
+  ``HIT5P_READY`` is the extra world of a test: calibration swing done, pendulum re-raised, a notched bar on the supports.
+* Mflow: the barrel heated to 250 °C, then 6 g of PBT granulate (Ultradur B6550, the slowest-flowing grade of the library, so
+  that the piston is still above the measuring window after the preheat) charged, the 2.16 kg weight and the piston placed.
+* MCR 503: 0.49 mL of water on the lower plate (1 mm fill gap with the PP25 system).
+* FT4: 51 g of lactose powder in the vessel (door open, vessel unclamped).
+"""
+import copy
+import json
+
+from ...hosts import contract_index
+from ...labbackend import load_config
+
+EX = 'contract_example'
+
+
+def ev(cap, args=EX):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+WORLD = {
+    'antonpaar_trb': [ev('specimen.load'), ev('pin.load')],
+    'antonpaar_rst300': [ev('specimen.load'), ev('stylus.load')],
+    'antonpaar_hit300': [ev('specimen.load')],
+    'shimadzu_ags10knxd': [ev('fixture.configure'), ev('sample.load'),
+                           ev('grip.set_closed', {'which': 'upper', 'closed': True}),
+                           ev('grip.set_closed', {'which': 'lower', 'closed': True}), {'advance_s': 10.0}],
+    'zwick_hit5p': [],
+    'zwick_mflow': [{'capability': 'thermal.set_temperature', 'arguments': {'target_k': 523.15}}, {'advance_s': 1500.0},
+                    ev('sample.load', {'_example': 'sample.load', 'reference_id': 'basf_ultradur_b6550'}),
+                    ev('weight.configure', {'total_load_kg': 2.16}), ev('piston.insert'), {'advance_s': 10.0}],
+    'antonpaar_mcr503': [ev('sample.load')],
+    'freeman_ft4powder': [ev('sample.load')],
+}
+
+# HIT5P ready for an impact test: the friction calibration swing done by the operator, pendulum re-raised, shield opened,
+# a notched bar placed, shield closed (the pendulum raise and the shield are operator actions on this tester).
+HIT5P_READY = [ev('calibration.start', {}), {'advance_s': 20.0}, ev('pendulum.catch', {}), {'advance_s': 5.0}, ev('pendulum.raise', {}),
+               {'advance_s': 5.0}, ev('shield.set_open', {'opened': True}), {'advance_s': 3.0}, ev('sample.load'),
+               ev('shield.set_open', {'opened': False}), {'advance_s': 3.0}]
+
+
+def example(slug, cap, **over):
+    c = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    a = copy.deepcopy(c['capabilities'][cap]['example_arguments'])
+    a.update(over)
+    return a
+
+
+def _resolve(slug, steps):
+    out = []
+    for st in copy.deepcopy(steps):
+        a = st.get('arguments')
+        if isinstance(a, dict) and '_example' in a:
+            cap = a.pop('_example')
+            st['arguments'] = example(slug, cap, **a)
+        out.append(st)
+    return out
+
+
+def config(base=None, extra=None):
+    """all203.json (or ``base``) with the mechanical world steps added; ``extra``: {slug: [more steps]}."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        steps = list(WORLD.get(slug, [])) + list((extra or {}).get(slug, []))
+        if slug == 'zwick_hit5p':
+            e['default_world'] = False        # this world brings the pendulum up itself (the default lab's calibrated state differs)
+        if steps:
+            e['setup'] = list(e.get('setup') or []) + _resolve(slug, steps)
+    return cfg
+READY = {'zwick_hit5p': HIT5P_READY}
diff --git a/chemlab/chemlab/compile/tasks/particle_surface_lowering.py b/chemlab/chemlab/compile/tasks/particle_surface_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..d15d1a1d85179792287d0ba0e4fab2a1781564a7
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/particle_surface_lowering.py
@@ -0,0 +1,443 @@
+"""Lowering table of the particle_surface class: per member, verbs in order and the native calls (capability, arguments in the
+unit each argument declares) each must make - written from the contracts (capability ids, argument names, the contract example
+methods the class starts from, the positions at the argument limits), not derived from the mapping.
+
+[] = no native call (a class check refused, a usage error, an unsupported verb, a dry run or a show); None = not checked.
+'#wait N' = lab time passes on both labs.  FROM_RUN stands for data the evaluation takes from the last result record (the
+measured curves): the capability and every other argument are checked, the data must be a non-empty list.  'prep' is the
+host-side world (tasks/particle_surface_world.py), run on the lab and on its twin.
+"""
+import math
+
+from . import particle_surface_world as W
+
+K0 = 273.15
+RAD = math.pi / 180
+
+
+class _FromRun:
+    """Matches the measured data an evaluation takes from the result record (a non-empty list, or None for an optional value)."""
+
+    def __init__(self, optional=False):
+        self.optional = optional
+
+    def __eq__(self, other):
+        return (isinstance(other, list) and len(other) > 0) or (self.optional and (other is None or isinstance(other, (int, float))))
+
+    def __ne__(self, other):
+        return not self.__eq__(other)
+
+    def __repr__(self):
+        return 'FROM_RUN?' if self.optional else 'FROM_RUN'
+
+    __hash__ = None
+
+
+FROM_RUN, FROM_RUN_OPTIONAL = _FromRun(), _FromRun(optional=True)
+
+# contract example methods (the base of `method` before one was set with chemlab)
+EX_DLS = {'mode': 'dls', 'angle_deg': 90, 'temperature_k': 293.15, 'entered_viscosity_pa_s': 0.001002, 'entered_refractive_index': 1.333,
+          'entered_relative_permittivity': 80.2, 'henry_f': 1.5, 'field_v_m': 500.0, 'acquisition_s': 2.0, 'acquisitions': 3,
+          'temperature_tolerance_k': 0.2, 'equilibration_s': 1.0, 'timeout_s': 300.0, 'regularization': 0.002}
+EX_PSA = {'mode': 'wet', 'model': 'mie_hybrid', 'n635': 2.9, 'k635': 3.4, 'n830': 2.9, 'k830': 3.1, 'medium_n': 1.33, 'pump_level': 4,
+          'stirrer_level': 4, 'ultrasound_enabled': True, 'air_pressure_pa': 200000.0, 'feed_fraction': 0.4, 'dispersion_s': 10.0,
+          'acquisition_s': 5.0, 'regularization': 0.0001, 'timeout_s': 300.0}
+EX_DIA = {'mode': 'liquid', 'magnification': 1.0, 'pixel_size_m': 3e-06, 'fps': 220.0, 'exposure_s': 1e-06, 'threshold': 0.5,
+          'pump_speed_rad_s': 125.66370614359172, 'ultrasound_w': 0.0, 'feed_particles_s': 8.0, 'target_images': 32, 'duration_s': 6.0,
+          'accept_shape_reconstruction': False, 'accept_inferred_source_scale': True}
+EX_TURB = {'scan_start_m': 0.002, 'scan_end_m': 0.0394, 'scan_interval_s': 8.0, 'duration_s': 30.0, 'temperature_tolerance_k': 0.25,
+           'tsi_channel': 'backscatter', 'front_channel': 'backscatter', 'front_threshold_fraction': 0.05}
+EX_ASORB = {'station': 0, 'gas': 'N2', 'temperature_k': 77.0, 'relative_pressures': [0.002, 0.005, 0.01, 0.02, 0.03, 0.05, 0.07, 0.1, 0.15, 0.2,
+                                                                                      0.25, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9],
+            'equilibration_s': 2.0, 'pressure_tolerance_pa': 0.5, 'max_drift_pa_s': 0.05, 'point_timeout_s': 600.0, 'entered_mass_kg': 0.0001}
+EX_PMAST = {'stage': 'low', 'pressures_pa': [20684.271879504, 68947.57293168, 206842.71879503998, 344737.8646584], 'pressure_rate_pa_s': 50000.0,
+            'equilibration_s': 2.0, 'pressure_tolerance_pa': 15.0, 'max_volume_drift_m3_s': 1e-12, 'point_timeout_s': 180.0,
+            'entered_mass_kg': 6.55e-05, 'closure_m3_kg': 0.0, 'surface_tension_n_m': 0.48, 'advancing_angle_rad': 2.443460952792061,
+            'receding_angle_rad': 2.443460952792061}
+EX_PLUX = {'mode': 'wet_dry', 'pressure_steps_pa': [5000.0, 15000.0, 24000.0, 31000.0, 43000.0, 60000.0], 'minimum_dwell_s': 0.5,
+           'maximum_dwell_s': 3.0, 'stability_window_s': 0.3, 'pressure_tolerance_pa': 100.0, 'flow_slope_tolerance_m3_s2': 1e-08,
+           'bubble_fraction': 0.05}
+EX_UPYC = {'cell': 'medium', 'reference': 'auto', 'direction': 'powder_protect', 'preparation': 'none', 'flow_m3_s': 1e-06, 'preparation_s': 60.0,
+           'purge_pulses': 3, 'target_gauge_pa': 100000.0, 'max_runs': 3, 'runs_to_average': 3, 'automatic': False, 'finish_rsd': 0.0001,
+           'stage_timeout_s': 600.0, 'equilibration_s': 0.5, 'mode': 'measure', 'leak_hold_s': 20.0, 'leak_limit_pa_s': 1.0}
+EX_ACHEM = {'mode': 'tpd', 'segments': [{'target_k': 313.15, 'ramp_k_s': 1.6666666666666667, 'hold_s': 1.0}], 'sample_interval_s': 0.5,
+            'maximum_duration_s': 60.0, 'pulse_count': 3, 'pulse_interval_s': 5.0, 'pulse_volume_ref_m3': 1e-07}
+EX_DVS = {'temperature_k': 298.15, 'relative_humidity_steps': [0.1, 0.4], 'cycles': 1, 'minimum_dwell_s': 2.0, 'maximum_dwell_s': 10.0,
+          'window_s': 2.0, 'dm_dt_kg_s': 1e-10, 'sample_interval_s': 0.2}
+EX_SURP = {'ph_targets': [6.0, 5.0, 4.0, 3.0], 'start_pressure_pa': 60000.0, 'stop_pressure_pa': 20000.0, 'cycles': 2, 'fill_volume_m3': 0.0001,
+           'mode': 'zeta', 'ramp_timeout_s': 120.0}
+EX_SIGMA = {'speed_m_s': 0.008, 'immersion_m': 0.002, 'hold_s': 3.0, 'sample_interval_s': 0.1, 'plate_width_m': 0.0195, 'plate_thickness_m': 0.00012,
+            'ring_radius_m': 0.00955, 'analysis_contact_rad': 0.0, 'analysis_density_difference_kg_m3': 791.01243, 'ring_correction': 0.85,
+            'accept_ring_proxy': False}
+EX_THETA = {'mode': 'static', 'field_width_m': 0.0035, 'frame_rate_hz': 5.0, 'frames': 5, 'flow_m3_s': 1e-10, 'stage_speed_m_s': 0.004,
+            'fit': 'polynomial'}
+EX_MEDL = {'mode': 'compression', 'target_area_m2': 0.016, 'barrier_speed_m_s': 0.0045, 'target_pressure_n_m': 0.02, 'pressure_tolerance_n_m': 0.0005,
+           'duration_s': 40.0, 'sample_interval_s': 0.1, 'dipper_positions_m': [0.073, 0.053], 'dipping_speed_m_s': 0.0018,
+           'maximum_solvent_fraction': 0.001, 'blank_leak_area_rate_m2_s': 0.0}
+EX_OXTC = {'cell': 'A', 'test_mode': 'convergence', 'cycles': 10, 'exam_minutes': 30.0, 'conditioning_hours': 0.5, 'individual_zero': 'end',
+           'convergence_percent': 1.0, 'convergence_count': 3, 'max_cycles': 60, 'report_basis': 'area', 'declared_area_m2': 0.005,
+           'declared_thickness_m': 0.0001, 'temperature_tolerance_k': 0.2}
+EX_OXINST = {'permeant_concentration_percent': 100.0, 'rezero_enabled': True, 'rezero_frequency': 2, 'rezero_exam_minutes': 30.0,
+             'barometer_mode': 'auto', 'manual_barometer_pa': None}
+ASORB_VCAL = ('warm_temperature_k=308.15 warm_dosed_mol=0.00039030457583950266 warm_pressure_pa=50000 cold_dosed_mol=0.0009761416063934054 '
+              'cold_pressure_pa=50000')
+ASORB_VCAL_ARGS = {'warm_temperature_k': 308.15, 'warm_dosed_mol': 0.00039030457583950266, 'warm_pressure_pa': 50000.0,
+                   'cold_dosed_mol': 0.0009761416063934054, 'cold_pressure_pa': 50000.0}
+ON = [('power.set', {'enabled': True})]
+
+
+def ex(d, **kw):
+    out = dict(d)
+    out.update(kw)
+    return out
+
+
+def config():
+    """The lowering harness's lab: all203.json with the members bare (the cases' prep applies the class world)."""
+    from ...labbackend import load_config
+    return W.bare(load_config())
+
+
+CASES = {
+    W.DLS: {'prep': lambda b: W.dls(b), 'steps': [
+        ('status', []),
+        ('load', []),                                                           # POWER_OFF (member requirement: holder moves only when on)
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),                                                       # shared verb
+        ('start', []),                                                          # WARMING_UP (laser 6 min)
+        ('set-temp 25C', []),                                                   # not supported (method key)
+        ('prepare', []),                                                        # not supported
+        ('analyze', []),                                                        # not supported
+        ('method', []),                                                         # shows the method, sends nothing
+        ('method temp=25C time=3s', [('method.configure', ex(EX_DLS, temperature_k=K0 + 25, acquisition_s=3.0))]),
+        ('method angle=45deg', []),                                             # OUT_OF_RANGE (enum 15/90/175)
+        ('method runs=5', [('method.configure', ex(EX_DLS, temperature_k=K0 + 25, acquisition_s=3.0, acquisitions=5))]),
+        ('calibrate', []),                                                      # WHICH_CALIBRATION (usage)
+        ('calibrate size reference=100nm measured=100nm', [('dls.calibrate', {'reference_m': 1e-7, 'measured_m': 1e-7})]),
+        ('calibrate temperature reference=20,40 measured=20,40', [('temperature.calibrate', {'reference_k': [K0 + 20, K0 + 40],
+                                                                                              'measured_k': [K0 + 20, K0 + 40]})]),
+        ('calibrate size reference=100 measured=1', []),                        # OUT_OF_RANGE: bare numbers are mm here
+        ('atmosphere gas=on', [('purge.set', {'enabled': True})]),              # refused by the runtime: no purge gas (NO_PURGE_GAS)
+        ('unload --dry-run', []),
+        ('unload', [('lid.release', {}), ('lid.set', {'angle_rad': 1.7}), ('cuvette.set', {'lift_m': 0.12}), ('cell_cap.set', {'lift_m': 0.022})]),
+        ('unload', []),                                                         # already open: nothing to move
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('cell_cap.set', {'lift_m': 0.0}), ('cuvette.set', {'lift_m': 0.0}), ('lid.set', {'angle_rad': 0.0})]),
+        ('#wait 360', None),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 15', None),
+        ('result', [('process.measure', {})]),
+        ('result --cell 1', []),                                                # NO_CELL (usage)
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+    ]},
+    W.PSA: {'prep': lambda b: W.psa(b, background=False, sample=False, power=False), 'steps': [
+        ('prepare', []),                                                        # POWER_OFF
+        ('power on', ON),
+        ('prepare', []),                                                        # WARMING_UP (60 s)
+        ('#wait 61', None),
+        ('method time=4s', [('method.configure', ex(EX_PSA, acquisition_s=4.0))]),
+        ('start', []),                                                          # NO_BACKGROUND (member requirement)
+        ('prepare', [('background.start', {})]),
+        ('#wait 70', None),
+        ('start', [('acquisition.start', {})]),                                 # refused by the runtime: NO_SAMPLE
+        ('unload', [('tank_lid.set', {'slide_m': 0.17})]),
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('tank_lid.set', {'slide_m': 0.0})]),
+        ('calibrate reference=10um measured=10.2um', [('calibration.size', {'reference_m': 1e-5, 'observed_m': 1.02e-5})]),
+        ('set-temp 25C', []),                                                   # not supported
+        ('atmosphere gas=on', []),                                              # not supported
+        ('analyze', []),                                                        # not supported
+        ('start --dry-run', []),
+        ('result', [('acquisition.result', {})]),
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+    ]},
+    W.DIA: {'prep': lambda b: W.dia(b, background=False, sample=False, power=True), 'steps': [
+        ('start', []),                                                          # NO_BACKGROUND
+        ('method time=4s', [('method.configure', ex(EX_DIA, duration_s=4.0))]),
+        ('prepare', [('background.capture', {})]),
+        ('unload', [('lid.set', {'angle_rad': 1.55})]),
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('lid.set', {'angle_rad': 0.0})]),
+        ('start', [('acquisition.start', {})]),                                 # refused by the runtime: NO_SAMPLE
+        ('calibrate reference=300um measured=100', [('calibration.pixel', {'reference_length_m': 3e-4, 'observed_pixels': 100.0})]),
+        ('calibrate pixel reference=300um', []),                                # MISSING_SETTING (usage)
+        ('result', [('acquisition.result', {})]),
+        ('set-temp 20C', []),                                                   # not supported
+        ('analyze', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+    ]},
+    W.TURB: {'prep': lambda b: W.turbiscan(b), 'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),
+        ('start', []),                                                          # ACCESS_OPEN (lid open, vial up)
+        ('load', [('lid.set', {'opened': False}), ('sample.set_position', {'distance_m': 0.0})]),
+        ('set-temp 70C', []),                                                   # OUT_OF_RANGE (5..60 °C)
+        ('set-temp 30C --wait --max 30min', [('thermal.set_temperature', {'temperature_k': K0 + 30})]),
+        ('method time=40s interval=8s', [('method.configure', ex(EX_TURB, duration_s=40.0, scan_interval_s=8.0))]),
+        ('calibrate temperature_zero_k=0 transmission_gain=1 transmission_zero_fraction=0 backscatter_gain=1 backscatter_zero_fraction=0',
+         [('sensor.calibrate', {'temperature_zero_k': 0.0, 'transmission_gain': 1.0, 'transmission_zero_fraction': 0.0, 'backscatter_gain': 1.0,
+                                'backscatter_zero_fraction': 0.0})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 45', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze tsi', [('acquisition.result', {}), ('analysis.tsi', {'transmission_fraction': FROM_RUN, 'backscatter_fraction': FROM_RUN,
+                                                                         'channel': 'backscatter'})]),
+        ('analyze two-flux absorption_m_inv=10 scattering_m_inv=100 path_m=0.025',
+         [('analysis.two_flux', {'absorption_m_inv': 10.0, 'scattering_m_inv': 100.0, 'path_m': 0.025})]),
+        ('analyze', []),                                                        # WHICH_MODEL (usage)
+        ('atmosphere rh=50%', []),                                              # not supported
+        ('prepare', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('sample.set_position', {'distance_m': 0.105}), ('lid.set', {'opened': True})]),
+    ]},
+    W.ASORB: {'prep': lambda b: W.autosorb(b, stations=(0, 1), degas_slot=0), 'steps': [
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('sample0.set', {'drop_m': 0.0}), ('sample1.set', {'drop_m': 0.0}), ('guard.set', {'angle_rad': 0.0}),
+                  ('dewar.set', {'lift_m': 0.29})]),
+        ('start --cell 3', []),                                                 # NO_SAMPLE on station 3 (member requirement)
+        ('start --cell 4', []),                                                 # UNKNOWN_CELL (usage)
+        ('start --cell 1', [('acquisition.start', {'stations': [0]})]),         # refused by the runtime: not calibrated, no method
+        ('calibrate pressure --cell 1 reference=0,1000mbar measured=0,1000mbar',
+         [('pressure.calibrate', {'station': 0, 'reference_pa': [0.0, 100000.0], 'measured_pa': [0.0, 100000.0]})]),
+        ('calibrate volume --cell 1 ' + ASORB_VCAL, [('volume.calibrate', ex(ASORB_VCAL_ARGS, station=0))]),
+        ('calibrate pressure --cell 2 reference=0,1000mbar measured=0,1000mbar',
+         [('pressure.calibrate', {'station': 1, 'reference_pa': [0.0, 100000.0], 'measured_pa': [0.0, 100000.0]})]),
+        ('calibrate volume --cell 2 ' + ASORB_VCAL, [('volume.calibrate', ex(ASORB_VCAL_ARGS, station=1))]),
+        ('method --cell 1 mass=100mg', [('method.configure', ex(EX_ASORB, station=0, entered_mass_kg=1e-4))]),
+        ('method --cell 2 mass=100mg steps=0.05,0.1,0.2,0.3', [('method.configure', ex(EX_ASORB, station=1, entered_mass_kg=1e-4,
+                                                                                          relative_pressures=[0.05, 0.1, 0.2, 0.3]))]),
+        ('method --cell 2 station=2', []),                                      # FIXED_SETTING (usage: --cell sets it)
+        ('start --cell 1,2', [('acquisition.start', {'stations': [0, 1]})]),
+        ('#wait 700', None),
+        ('result --cell 1', [('process.measure', {})]),
+        ('analyze bjh --cell 1', [('process.measure', {}), ('analysis.bjh', {'points': FROM_RUN, 'branch': 'unspecified'})]),
+        ('set-temp 77K', []),                                                   # not supported (LN2 bath)
+        ('atmosphere flow=10mL/min', []),                                       # not supported
+        ('unload --cell 1', [('dewar.set', {'lift_m': 0.0}), ('sample.backfill', {'station': 0}), ('guard.set', {'angle_rad': 1.5}),
+                             ('sample0.set', {'drop_m': 0.18})]),
+        ('prepare --temp 120C --hold 2min', [('degas.start', {'steps': [{'temperature_k': K0 + 120, 'hold_s': 120.0}], 'ramp_k_s': 1.0,
+                                                              'remaining_fraction_limit': 0.01})]),
+        ('#wait 400', None),
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('load --dry-run', []),
+    ]},
+    W.PMAST: {'prep': lambda b: W.poremaster(b), 'steps': [
+        ('start', []),                                                          # ACCESS_OPEN (guard of port 1 open)
+        ('load', [('guard0.set', {'angle_rad': 0.0})]),
+        ('start', [('acquisition.start', {})]),                                 # refused by the runtime: not calibrated
+        ('calibrate', []),                                                      # WHICH_CALIBRATION
+        ('calibrate pressure range=0 reference=0,50psi measured=0,50psi',
+         [('pressure.calibrate', {'range_index': 0, 'reference_pa': [0.0, 344737.8646584], 'measured_pa': [0.0, 344737.8646584]})]),
+        ('calibrate volume reference=0,0.2mL measured=1pF,11pF', [('volume.calibrate', {'reference_volume_m3': [0.0, 2e-7],
+                                                                                         'measured_capacitance_f': [1e-12, 1.1e-11]})]),
+        ('calibrate blank pressures_pa=0,413685437.59 volumes_m3=0,0', [('blank.calibrate', {'pressures_pa': [0.0, 413685437.59],
+                                                                                              'volumes_m3': [0.0, 0.0]})]),
+        ('method mass=65.5mg', [('method.configure', ex(EX_PMAST, entered_mass_kg=6.55e-5))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 60', None),
+        ('result', [('process.measure', {})]),
+        ('prepare', []),                                                        # not supported
+        ('set-temp 25C', []),                                                   # not supported
+        ('analyze', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('guard0.set', {'angle_rad': 1.4})]),
+    ]},
+    W.PLUX: {'prep': lambda b: W.porolux(b), 'steps': [
+        ('prepare', []),                                                        # POWER_OFF
+        ('power on', ON),
+        ('prepare', [('sample.wet', {})]),
+        ('start', []),                                                          # ACCESS_OPEN (holder open)
+        ('load', [('holder.set', {'opened': False})]),
+        ('prepare', []),                                                        # HOLDER_CLOSED (member requirement)
+        ('start', []),                                                          # GAS_CLOSED
+        ('atmosphere gas=on', [('gas.open', {'enabled': True})]),
+        ('atmosphere rh=50%', []),                                              # UNKNOWN_SETTING (usage)
+        ('calibrate pressure_zero=0 flow_zero=0', [('sensor.calibrate', {'pressure_zero_pa': 0.0, 'flow_zero_m3_s': 0.0})]),
+        ('method mode=wet_dry steps=50mbar,150mbar,240mbar,310mbar,430mbar,600mbar', [('method.configure', ex(EX_PLUX))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 40', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze porometry tension=16mN/m angle=0 bubble=0.05',
+         [('acquisition.result', {}), ('analysis.porometry', {'wet_pressure_pa': FROM_RUN, 'wet_flow_m3_s': FROM_RUN, 'dry_pressure_pa': FROM_RUN,
+                                                                'dry_flow_m3_s': FROM_RUN, 'surface_tension_n_m': 0.016, 'contact_angle_rad': 0.0,
+                                                                'bubble_fraction': 0.05, 'accept_monotone_projection': False})]),
+        ('analyze porometry', []),                                              # MISSING_SETTING (tension, angle, bubble)
+        ('set-temp 25C', []),                                                   # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('holder.set', {'opened': True})]),
+    ]},
+    W.UPYC: {'prep': lambda b: W.ultrapyc(b), 'steps': [
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('cup.set', {'lift_m': 0.0}), ('lid.set', {'lift_m': 0.0}), ('lock.set', {'angle_rad': 1.1}), ('seal.set', {'angle_rad': 1.4})]),
+        ('start', []),                                                          # NOT_CALIBRATED (volume)
+        ('calibrate volume blank_ratio=1 sphere_ratio=0.8 sphere_volume_m3=1e-5',
+         [('volume.calibrate', {'blank_ratio': 1.0, 'sphere_ratio': 0.8, 'sphere_volume_m3': 1e-5})]),
+        ('start', []),                                                          # NO_MASS
+        ('method mass=50g', [('sample.set_mass', {'mass_kg': 0.05})]),
+        ('method runs=3 mode=measure', [('method.configure', ex(EX_UPYC))]),    # base: the method the instrument shows
+        ('method --show', []),
+        ('set-temp 60C', []),                                                   # OUT_OF_RANGE (3..50 °C)
+        ('set-temp 30C', [('thermal.set_temperature', {'temperature_k': K0 + 30})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 70', None),
+        ('result', [('process.measure', {})]),
+        ('prepare', []),                                                        # SAMPLE_PRESENT (leak test needs the empty cell)
+        ('atmosphere gas=on', []),                                              # not supported
+        ('analyze', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('seal.set', {'angle_rad': 0.0}), ('lock.set', {'angle_rad': 0.0}), ('lid.set', {'lift_m': 0.13}), ('cup.set', {'lift_m': 0.12})]),
+    ]},
+    W.ACHEM: {'prep': lambda b: W.autochem(b), 'steps': [
+        ('load', [('sample.set_position', {'distance_m': 0.0}), ('sample.release', {'angle_rad': 0.0}), ('furnace.set_open', {'opened': False})]),
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),
+        ('atmosphere flow=30mL/min', [('gas.set_flow', {'reference_m3_s': 5e-7})]),
+        ('atmosphere flow=200mL/min', []),                                      # OUT_OF_RANGE (0..100 mL/min)
+        ('set-temp 40C --ramp 100K/min', [('thermal.set_temperature', {'temperature_k': K0 + 40, 'ramp_k_s': 100 / 60})]),
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50, 'ramp_k_s': 100 / 60})]),   # ramp: the furnace's current one
+        ('method mode=tpd temp=40C rate=100K/min hold=1s time=60s',
+         [('method.configure', ex(EX_ACHEM, segments=[{'target_k': K0 + 40, 'ramp_k_s': 100 / 60, 'hold_s': 1.0}], maximum_duration_s=60.0))]),
+        ('start', []),                                                          # NOT_CALIBRATED (TCD)
+        ('calibrate detector reference=1umol,2umol measured=0.1,0.2', [('detector.calibrate', {'known_moles_mol': [1e-6, 2e-6],
+                                                                                               'observed_areas_v_s': [0.1, 0.2]})]),
+        ('start', []),                                                          # GAS_CLOSED
+        ('atmosphere gas=on', [('gas.open', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 15', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze dispersion metal_mass=10mg molar_mass=58.69g/mol stoichiometry=1',
+         [('acquisition.result', {}), ('analysis.dispersion', {'adsorbed_mol': FROM_RUN_OPTIONAL, 'metal_mass_kg': 1e-5,
+                                                                 'metal_molar_mass_kg_mol': 0.05869, 'adsorbate_per_surface_atom': 1.0})]),
+        ('prepare', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('#wait 300', None),
+        ('unload', [('gas.open', {'enabled': False}), ('furnace.set_open', {'opened': True}), ('sample.release', {'angle_rad': 0.6}),
+                    ('sample.set_position', {'distance_m': 0.12})]),
+    ]},
+    W.DVS: {'prep': lambda b: W.dvs(b, tared=True), 'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),
+        ('prepare', []),                                                        # SAMPLE_ON_PAN (tare with the empty pan)
+        ('start', []),                                                          # ACCESS_OPEN
+        ('load', [('chamber.set_position', {'distance_m': 0.0}), ('reservoir.open', {'distance_m': 0.0}), ('door.set', {'opened': False})]),
+        ('start', []),                                                          # GAS_CLOSED
+        ('set-temp 25C', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('atmosphere rh=10% flow=100mL/min', [('humidity.set', {'relative_humidity': 0.1}), ('gas.set_flow', {'reference_m3_s': 1e-4 / 60})]),
+        ('atmosphere rh=120%', []),                                             # OUT_OF_RANGE (0..98 %)
+        ('method steps=10%,40% time=10s', [('method.configure', ex(EX_DVS))]),
+        ('atmosphere gas=on', [('gas.open', {'enabled': True})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 20', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze hysteresis adsorption_rh=0.1,0.5,0.9 adsorption_uptake_kg_kg=0.01,0.1,0.2 desorption_rh=0.1,0.5,0.9 '
+         'desorption_uptake_kg_kg=0.02,0.13,0.22',
+         [('analysis.hysteresis', {'adsorption_rh': [0.1, 0.5, 0.9], 'adsorption_uptake_kg_kg': [0.01, 0.1, 0.2], 'desorption_rh': [0.1, 0.5, 0.9],
+                                   'desorption_uptake_kg_kg': [0.02, 0.13, 0.22]})]),
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('gas.open', {'enabled': False}), ('door.set', {'opened': True}), ('chamber.set_position', {'distance_m': 0.135})]),
+        ('calibrate reference=0,0.1g measured=0,0.1g', [('balance.calibrate', {'reference_masses_kg': [0.0, 1e-4], 'observed_masses_kg': [0.0, 1e-4]})]),
+    ]},
+    W.SURP: {'prep': lambda b: W.surpass(b), 'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),
+        ('start', []),                                                          # NO_METHOD
+        ('method steps=6,5,4 runs=1', [('method.configure', ex(EX_SURP, ph_targets=[6.0, 5.0, 4.0], cycles=1))]),
+        ('start', []),                                                          # NOT_CALIBRATED (pH)
+        ('calibrate ph reference=4,7 measured=-0.23664,-0.41412', [('ph.calibrate', {'buffer_ph': [4.0, 7.0], 'measured_v': [-0.23664, -0.41412]})]),
+        ('calibrate conductivity reference=1.413mS/cm measured=1.413mS/cm', [('conductivity.calibrate', {'reference_s_m': 0.1413,
+                                                                                                          'indicated_s_m': 0.1413})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 150', None),
+        ('result', [('process.measure', {})]),
+        ('load', []),                                                           # already closed and clamped
+        ('unload', []),                                                         # ELECTROLYTE_IN (member requirement)
+        ('prepare', []),                                                        # not supported (rinse is a method mode)
+        ('set-temp 25C', []),                                                   # not supported
+        ('analyze', []),                                                        # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+    ]},
+    W.SIGMA: {'prep': lambda b: W.sigma(b), 'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', ON),
+        ('start', []),                                                          # ACCESS_OPEN (door open)
+        ('load', [('door.set', {'angle_rad': 0.0})]),
+        ('start', []),                                                          # NOT_TARED
+        ('calibrate reference=0,0.1N measured=0,0.1N', [('balance.calibrate', {'reference_forces_n': [0.0, 0.1], 'observed_raw_forces_n': [0.0, 0.1]})]),
+        ('prepare', [('balance.tare', {})]),                                    # waits for a steady force reading first
+        ('method probe=ring', [('probe.select', {'probe': 'ring'})]),           # refused by the runtime: door closed (DOOR_CLOSED)
+        ('method depth=2mm speed=8mm/s', [('method.configure', ex(EX_SIGMA))]),
+        ('set-temp 300C', []),                                                  # OUT_OF_RANGE (-20..200 °C)
+        ('set-temp 20C', [('thermal.set_temperature', {'temperature_k': K0 + 20})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 35', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze cmc concentrations_kg_m3=0.001,0.002,0.004,0.008,0.016,0.032,0.064,0.128 tensions=70mN/m,65mN/m,60mN/m,55mN/m,50mN/m,50mN/m,50mN/m,50mN/m',
+         [('analysis.cmc', {'concentrations_kg_m3': [0.001, 0.002, 0.004, 0.008, 0.016, 0.032, 0.064, 0.128],
+                            'tensions_n_m': [0.07, 0.065, 0.06, 0.055, 0.05, 0.05, 0.05, 0.05]})]),
+        ('atmosphere rh=50%', []),                                              # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('door.set', {'angle_rad': 2.35})]),
+    ]},
+    W.THETA: {'prep': lambda b: W.theta(b), 'steps': [
+        ('load', []),                                                           # POWER_OFF (member requirement)
+        ('power on', ON),
+        ('start', []),                                                          # NOT_CALIBRATED (camera)
+        ('calibrate camera reference=1mm measured=566.8571428571428', [('camera.calibrate', {'known_length_m': 0.001,
+                                                                                             'observed_pixels': 566.8571428571428})]),
+        ('load --volume 20uL', []),                                             # OUT_OF_RANGE (up to 10 µL)
+        ('load', [('stage.move', {'x_m': 0.04, 'y_m': 0.02, 'z_m': 0.025}), ('dispenser.move', {'position_m': 0.02}),
+                  ('liquid.transfer', {'volume_m3': 2e-10}), ('dispenser.move', {'position_m': 0.0})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 3', None),
+        ('result', [('acquisition.result', {})]),
+        ('method frames=10 rate=10Hz', [('method.configure', ex(EX_THETA, frames=10, frame_rate_hz=10.0))]),
+        ('analyze hysteresis advancing=80,82 receding=30,31', [('analysis.hysteresis', {'advancing_rad': [80 * RAD, 82 * RAD],
+                                                                                         'receding_rad': [30 * RAD, 31 * RAD]})]),
+        ('prepare', []),                                                        # not supported
+        ('set-temp 25C', []),                                                   # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+        ('unload', [('stage.move', {'x_m': 0.0, 'y_m': 0.0, 'z_m': 0.0})]),
+    ]},
+    W.MEDL: {'prep': lambda b: W.mediuml(b), 'steps': [
+        ('load', []),                                                           # NOT_TARED (spreading needs the clean-subphase tare)
+        ('calibrate force_gain_correction=1 force_zero_n=0 assumed_contact_cosine=1',
+         [('balance.calibrate', {'force_gain_correction': 1.0, 'force_zero_n': 0.0, 'assumed_contact_cosine': 1.0})]),
+        ('prepare', [('probe.move', {'distance_m': 0.0}), ('balance.tare', {})]),
+        ('load --volume 50uL', [('film.spread', {'volume_m3': 5e-8})]),
+        ('#wait 4', None),
+        ('method mode=compression area=140cm2 time=60s', [('method.configure', ex(EX_MEDL, target_area_m2=0.014, duration_s=60.0))]),
+        ('method pressure=25mN/m', [('method.configure', ex(EX_MEDL, target_area_m2=0.014, duration_s=60.0, target_pressure_n_m=0.025))]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 25', None),
+        ('result', [('acquisition.result', {})]),
+        ('analyze isotherm', [('acquisition.result', {}), ('analysis.isotherm', {'area_m2': FROM_RUN, 'surface_pressure_n_m': FROM_RUN,
+                                                                                   'constant_molecule_number': True})]),
+        ('unload', []),                                                         # not supported (cleaning is the operator's)
+        ('set-temp 25C', []),                                                   # not supported
+        ('stop', [('acquisition.stop', {})]),                                   # refused: NOT_RUNNING
+    ]},
+    W.OXTR: {'prep': lambda b: W.oxtran(b), 'steps': [
+        ('start', []),                                                          # MISSING_CELL (usage)
+        ('start --cell C', []),                                                 # UNKNOWN_CELL (usage)
+        ('start --cell A', []),                                                 # ACCESS_OPEN (cell A not clamped)
+        ('load --cell A', [('cell.load_unload', {'cell': 'A'})]),
+        ('start --cell A', []),                                                 # NO_METHOD
+        ('method --cell A mode=standard runs=3 time=30min conditioning=0h',
+         [('instrument.configure', EX_OXINST),
+          ('test.configure', ex(EX_OXTC, test_mode='standard', cycles=3, exam_minutes=30.0, conditioning_hours=0.0))]),
+        ('set-temp 25C', [('thermal.set_temperature', {'target_k': K0 + 25})]),
+        ('atmosphere rh=50%', [('humidity.set', {'rh_fraction': 0.5})]),
+        ('start --cell A', [('test.start', {'cell': 'A'})]),
+        ('#wait 60000', None),
+        ('result --cell A', [('test.result', {'cell': 'A'})]),
+        ('analyze otr --cell A pressure=101325Pa thickness=100um convergence=1 window=3',
+         [('test.result', {'cell': 'A'}), ('analysis.otr', {'readings_mol_m2_s': FROM_RUN, 'individual_zero_mol_m2_s': FROM_RUN_OPTIONAL,
+                                                            'driving_partial_pressure_pa': 101325.0, 'thickness_m': 1e-4, 'convergence_percent': 1.0,
+                                                            'window': 3})]),
+        ('calibrate adjustment --cell A name=cert1 reference=0.05',
+         [('sensor.adjustment_create', {'cell': 'A', 'name': 'cert1', 'reference_value': 0.05})]),   # refused by the runtime: GAIN_OUT_OF_RANGE
+        ('prepare', []),                                                        # not supported
+        ('stop --cell A', [('test.stop', {'cell': 'A'})]),                      # refused: NOT_RUNNING
+        ('unload --cell A', [('cell.load_unload', {'cell': 'A'})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/particle_surface_tasks.py b/chemlab/chemlab/compile/tasks/particle_surface_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..cea55b140f146d41350de914bb6c986ce277ee71
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/particle_surface_tasks.py
@@ -0,0 +1,301 @@
+"""particle_surface acceptance tasks (10): gold solutions use `chemlab run` (and the generic `chemlab wait`); the checkers read
+the evaluator view and, for the reported figures, the instrument's own result record read on the evaluator side.  World set-up
+(the operator's part: liquids, gases, the sample in the holder) is tasks/particle_surface_world.py.
+"""
+import math
+
+from . import particle_surface_world as W
+from .common import run_suite
+
+K0 = 273.15
+
+
+def world(fn, **kw):
+    return lambda lab: fn(lab.backend, **kw)
+
+
+def ev_result(c, iid, cap, args=None):
+    """The instrument's result record, read on the evaluator side (no state change)."""
+    r = c.lab.backend.evaluator_invoke(iid, cap, dict(args or {}), 'check-%s-%s' % (iid, cap))
+    return r.get('result') if isinstance(r.get('result'), dict) else {}
+
+
+def phase(c, iid, slot='acquisition.phase', want='succeeded'):
+    return c.equal('%s %s' % (iid, slot), c.ev(iid).get(slot), want)
+
+
+# ------------------------------------------------------------------ checkers
+def c_dls(c):
+    e = c.ev(W.DLS)
+    phase(c, W.DLS)
+    c.near('method temperature 25 °C', e.get('temperature.target_k'), K0 + 25, 1e-6)
+    z = (ev_result(c, W.DLS, 'process.measure').get('dls') or {}).get('z_average_m')
+    c.add('a DLS result exists', z is not None, z)
+    c.near('zavg.txt = the Z-average in nm (±0.5 nm)', c.number_file('zavg.txt'), (z or 0) * 1e9, 0.5)
+
+
+def c_turbiscan(c):
+    e = c.ev(W.TURB)
+    phase(c, W.TURB)
+    c.near('set point 30 °C', e.get('thermal.target_k'), K0 + 30, 1e-6)
+    res = ev_result(c, W.TURB, 'acquisition.result')
+    prof = res.get('profiles') or []
+    gaps = [round(b['start_time_s'] - a['start_time_s'], 3) for a, b in zip(prof, prof[1:])]
+    c.add('scans every 10 s for 60 s (6 profiles 10 s apart)', len(prof) == 6 and all(abs(g - 10.0) < 0.2 for g in gaps), (len(prof), gaps))
+    c.near('tsi.txt = the TSI of the result (±0.001)', c.number_file('tsi.txt'), res.get('tsi') if res.get('tsi') is not None else -1, 1e-3)
+
+
+def c_autosorb(c):
+    e = c.ev(W.ASORB)
+    c.equal('station 1 measured', e.get('station0.phase'), 'succeeded')
+    bet = e.get('station0.bet_m2_kg')
+    c.add('a BET area exists', isinstance(bet, (int, float)), bet)
+    c.near('bet.txt = BET in m²/g (±1 %)', c.number_file('bet.txt'), (bet or 0) / 1000.0, abs(bet or 0) / 1000.0 * 0.01 + 1e-9)
+
+
+def c_ultrapyc(c):
+    e = c.ev(W.UPYC)
+    phase(c, W.UPYC)
+    c.near('sample mass entered: 50 g', e.get('sample.entered_mass_kg'), 0.05, 1e-9)
+    rho = ev_result(c, W.UPYC, 'process.measure').get('mean_density_kg_m3')
+    c.add('a density result exists', rho is not None, rho)
+    c.near('density.txt = mean density in g/cm³ (±0.001)', c.number_file('density.txt'), (rho or 0) / 1000.0, 1e-3)
+
+
+def c_sigma(c):
+    e = c.ev(W.SIGMA)
+    phase(c, W.SIGMA)
+    c.add('balance tared', e.get('balance.tared'))
+    t = ev_result(c, W.SIGMA, 'acquisition.result').get('tension_n_m')
+    truth = e.get('truth.surface_tension_n_m')
+    c.near('measured tension close to the liquid\'s true tension (±1 mN/m)', t, truth if truth is not None else 0.02245, 1e-3)
+    c.near('tension.txt in mN/m (±0.05)', c.number_file('tension.txt'), (t or 0) * 1e3, 0.05)
+
+
+def c_dvs(c):
+    e = c.ev(W.DVS)
+    phase(c, W.DVS)
+    c.near('method / chamber at 25 °C', e.get('thermal.target_k'), K0 + 25, 1e-6)
+    res = ev_result(c, W.DVS, 'acquisition.result')
+    pts = res.get('points') or []
+    c.add('two RH steps measured (10 %, 40 %)', [round(p.get('target_relative_humidity', -1), 3) for p in pts] == [0.1, 0.4],
+          [p.get('target_relative_humidity') for p in pts])
+    c.near('mass.txt = mass at the last step in mg (±0.001)', c.number_file('mass.txt'), (pts[-1]['mass_kg'] * 1e6) if pts else -1, 1e-3)
+
+
+def c_oxtran(c):
+    e = c.ev(W.OXTR)
+    c.equal('cell A test finished', e.get('cell_a.phase'), 'succeeded')
+    res = ev_result(c, W.OXTR, 'test.result', {'cell': 'A'})
+    c.equal('3 exams', res.get('exam_count'), 3)
+    c.near('otr.txt = OTR in cm³/(m²·day) (±0.05)', c.number_file('otr.txt'), res.get('final_otr_cc_m2_day') if res.get('final_otr_cc_m2_day') is not None else -1, 0.05)
+
+
+def c_porolux(c):
+    phase(c, W.PLUX)
+    res = ev_result(c, W.PLUX, 'acquisition.result')
+    c.add('a wet scan was measured (the sample was wetted)', len(res.get('wet_points') or []) > 0, len(res.get('wet_points') or []))
+    d = (res.get('analysis') or {}).get('mean_flow_diameter_m')
+    c.add('a mean flow pore size exists', d is not None, d)
+    c.near('mfp.txt = mean flow pore size in µm (±0.01)', c.number_file('mfp.txt'), (d or 0) * 1e6, 0.01)
+
+
+def c_theta(c):
+    e = c.ev(W.THETA)
+    phase(c, W.THETA)
+    c.add('camera calibrated', e.get('camera.calibrated'))
+    rows = ev_result(c, W.THETA, 'acquisition.result').get('rows') or []
+    a = rows[-1]['mean_rad'] * 180 / math.pi if rows else None
+    c.add('a contact angle was measured', a is not None, a)
+    c.near('angle.txt = mean contact angle in degrees (±0.1)', c.number_file('angle.txt'), a if a is not None else -1, 0.1)
+
+
+def c_mediuml(c):
+    e = c.ev(W.MEDL)
+    phase(c, W.MEDL)
+    c.near('compressed to 140 cm²', e.get('area.indicated_m2'), 0.014, 1e-6)
+    rows = ev_result(c, W.MEDL, 'acquisition.result').get('rows') or []
+    c.add('a film was spread (surface pressure above 10 mN/m at the end)', bool(rows) and (rows[-1].get('surface_pressure_n_m') or 0) > 0.01,
+          rows[-1].get('surface_pressure_n_m') if rows else None)
+    c.near('pressure.txt = final surface pressure in mN/m (±0.05)', c.number_file('pressure.txt'),
+           rows[-1]['surface_pressure_n_m'] * 1e3 if rows else -1, 0.05)
+    iso = c.work_file('iso.json') or ''
+    c.add('iso.json holds the isotherm evaluation', '"model": "isotherm"' in iso or '"isotherm"' in iso, iso[:80])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_DLS = r'''chemlab run antonpaar_litesizerdls power on
+chemlab run antonpaar_litesizerdls method temp=25C
+chemlab run antonpaar_litesizerdls start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "WARMING_UP"' s.json >/dev/null; then
+  chemlab wait 360
+  chemlab run antonpaar_litesizerdls start --json > s.json
+fi
+job=$(jq -r .job s.json)
+chemlab wait "$job" --max 30min
+chemlab run antonpaar_litesizerdls result --json | jq -r '.figures["dls.z_average_m"] * 1e9' > zavg.txt
+cat zavg.txt'''
+
+GOLD_TURB = r'''chemlab run microtrac_turbiscanlab power on
+chemlab run microtrac_turbiscanlab load
+chemlab run microtrac_turbiscanlab set-temp 30C --wait --max 1h
+chemlab run microtrac_turbiscanlab method time=60s interval=10s
+job=$(chemlab run microtrac_turbiscanlab start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run microtrac_turbiscanlab result --json | jq -r '.figures.tsi' > tsi.txt
+cat tsi.txt'''
+
+GOLD_ASORB = r'''I=antonpaar_autosorb6100
+chemlab run $I load
+chemlab run $I calibrate pressure --cell 1 reference=0,1000mbar measured=0,1000mbar
+chemlab run $I calibrate volume --cell 1 warm_temperature_k=308.15 warm_dosed_mol=0.00039030457583950266 warm_pressure_pa=50000 cold_dosed_mol=0.0009761416063934054 cold_pressure_pa=50000
+chemlab run $I method --cell 1 mass=100mg
+job=$(chemlab run $I start --cell 1 --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run $I result --cell 1 --json | jq -r '.figures["stations[0].bet.area_m2_kg"] / 1000' > bet.txt
+cat bet.txt'''
+
+GOLD_UPYC = r'''I=antonpaar_ultrapyc5000
+chemlab run $I load
+chemlab run $I calibrate volume blank_ratio=1 sphere_ratio=0.8 sphere_volume_m3=1e-5
+chemlab run $I start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_MASS"' s.json >/dev/null; then
+  chemlab run $I method mass=50g
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 1h
+chemlab run $I result --json | jq -r '.figures.mean_density_kg_m3 / 1000' > density.txt
+cat density.txt'''
+
+GOLD_SIGMA = r'''I=biolin_sigma700
+chemlab run $I power on
+chemlab run $I load
+chemlab run $I start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_TARED"' s.json >/dev/null; then
+  chemlab run $I prepare
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 10min
+chemlab run $I result --json | jq -r '.figures.tension_n_m * 1000' > tension.txt
+cat tension.txt'''
+
+GOLD_DVS = r'''I=surface_dvsresolution
+chemlab run $I power on
+chemlab run $I load
+chemlab run $I set-temp 25C
+chemlab run $I method temp=25C steps=10%,40% time=10s
+chemlab run $I atmosphere rh=10% gas=on
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run $I result --json | jq -r '.figures["points[-1].mass_kg"] * 1e6' > mass.txt
+cat mass.txt'''
+
+GOLD_OXTR = r'''I=ametek_oxtran
+chemlab run $I load --cell A
+chemlab run $I set-temp 23C
+chemlab run $I atmosphere rh=0%
+chemlab run $I method --cell A mode=standard runs=3 time=30min conditioning=0h
+job=$(chemlab run $I start --cell A --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 40h
+chemlab run $I result --cell A --json | jq -r '.figures.final_otr_cc_m2_day' > otr.txt
+cat otr.txt'''
+
+GOLD_PLUX = r'''I=porometer_poroluxrevo
+chemlab run $I power on
+chemlab run $I load
+chemlab run $I prepare --json > p.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' p.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "HOLDER_CLOSED"' p.json >/dev/null; then
+  chemlab run $I unload && chemlab run $I prepare && chemlab run $I load
+fi
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "GAS_CLOSED"' s.json >/dev/null; then
+  chemlab run $I atmosphere gas=on
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 30min
+chemlab run $I result --json | jq -r '.figures["analysis.mean_flow_diameter_m"] * 1e6' > mfp.txt
+cat mfp.txt'''
+
+GOLD_THETA = r'''I=biolin_thetaflex
+chemlab run $I power on
+chemlab run $I calibrate camera reference=1mm measured=566.86
+chemlab run $I load --volume 0.2uL
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 5min
+chemlab run $I result --json | jq -r '.figures["rows[-1].mean_rad"] * 180 / 3.141592653589793' > angle.txt
+cat angle.txt'''
+
+GOLD_MEDL = r'''I=biolin_mediuml
+chemlab run $I prepare
+chemlab run $I load --volume 50uL
+chemlab wait 30
+chemlab run $I method mode=compression area=140cm2 time=60s
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 30min
+chemlab run $I result --json | jq -r '.figures["rows[-1].surface_pressure_n_m"] * 1000' > pressure.txt
+chemlab run $I analyze isotherm --save-to iso.json
+cat pressure.txt'''
+
+TASKS = [
+    {'id': 'ps01_dls_warmup', 'kind': 'recovery: laser still warming up', 'instruments': [W.DLS], 'world': world(W.dls), 'check': c_dls,
+     'instruction': 'The cuvette with the nanoparticle dispersion is in the Litesizer DLS (antonpaar_litesizerdls), which is switched off. '
+                    'Measure the particle size at 25 °C and write the Z-average diameter in nm into zavg.txt.', 'gold': GOLD_DLS},
+    {'id': 'ps02_turbiscan_tsi', 'kind': 'multi-step: load, temperature, method, job', 'instruments': [W.TURB], 'world': world(W.turbiscan),
+     'check': c_turbiscan,
+     'instruction': 'The lab operator put a vial of the emulsion into the raised holder of the TURBISCAN LAB (microtrac_turbiscanlab) and left '
+                    'the lid open. Measure its stability at 30 °C for 60 s with a scan every 10 s, and write the TSI into tsi.txt.',
+     'gold': GOLD_TURB},
+    {'id': 'ps03_autosorb_bet', 'kind': 'long action: calibration + station job', 'instruments': [W.ASORB], 'world': world(W.autosorb, stations=(0,)),
+     'check': c_autosorb,
+     'instruction': 'A degassed sample (100 mg) is mounted on station 1 of the Autosorb 6100 (antonpaar_autosorb6100) and the dewar is filled. '
+                    'Enter the station calibrations - pressure transducer: reference 0 and 1000 mbar read as 0 and 1000 mbar; free space: '
+                    'warm_temperature_k=308.15, warm_dosed_mol=0.00039030457583950266, warm_pressure_pa=50000, '
+                    'cold_dosed_mol=0.0009761416063934054, cold_pressure_pa=50000 - then measure the nitrogen isotherm and write the BET '
+                    'surface area in m²/g into bet.txt.', 'gold': GOLD_ASORB},
+    {'id': 'ps04_ultrapyc_mass', 'kind': 'recovery: sample mass not entered', 'instruments': [W.UPYC], 'world': world(W.ultrapyc),
+     'check': c_ultrapyc,
+     'instruction': 'The cup with 50.0 g of aluminium powder is in the open cell of the Ultrapyc 5000 (antonpaar_ultrapyc5000). The cell '
+                    'volume calibration is: blank_ratio=1, sphere_ratio=0.8, sphere_volume_m3=1e-5. Measure the skeletal density and write '
+                    'it in g/cm³ into density.txt.', 'gold': GOLD_UPYC},
+    {'id': 'ps05_sigma_tare', 'kind': 'recovery: balance not tared', 'instruments': [W.SIGMA], 'world': world(W.sigma), 'check': c_sigma,
+     'instruction': 'The vessel with the liquid stands in the Sigma 700 force tensiometer (biolin_sigma700), door open, instrument off. Measure '
+                    'the surface tension with the Wilhelmy plate and write it in mN/m into tension.txt.', 'gold': GOLD_SIGMA},
+    {'id': 'ps06_dvs_sorption', 'kind': 'multi-step: temperature, humidity, gas, method, job', 'instruments': [W.DVS],
+     'world': world(W.dvs, tared=True), 'check': c_dvs,
+     'instruction': 'The sample pan is loaded in the DVS Resolution (surface_dvsresolution); the balance was tared with the empty pan. Run a '
+                    'water sorption measurement at 25 °C with the RH steps 10 % and 40 % (at most 10 s per step) and write the sample mass '
+                    'at the last step in mg into mass.txt.', 'gold': GOLD_DVS},
+    {'id': 'ps07_oxtran_otr', 'kind': 'long action: many hours, job status and wait', 'instruments': [W.OXTR], 'world': world(W.oxtran),
+     'check': c_oxtran,
+     'instruction': 'A PET film is mounted in the drawer of cell A of the OX-TRAN 2/22 (ametek_oxtran). Measure its oxygen transmission rate at '
+                    '23 °C and 0 % RH in standard mode with 3 exams of 30 min and no conditioning, and write the OTR in cm³/(m²·day) into '
+                    'otr.txt.', 'gold': GOLD_OXTR},
+    {'id': 'ps08_porolux_recover', 'kind': 'recovery: holder closed for wetting, gas closed', 'instruments': [W.PLUX], 'world': world(W.porolux),
+     'check': c_porolux,
+     'instruction': 'The membrane disc, the wetting liquid and the nitrogen are in place at the POROLUX Revo (porometer_poroluxrevo), switched '
+                    'off. Close the holder, wet the sample and measure the wet/dry curves with the default method; write the mean flow pore '
+                    'size in µm into mfp.txt.', 'gold': GOLD_PLUX},
+    {'id': 'ps09_theta_drop', 'kind': 'composite load (stage, dispense) + calibration', 'instruments': [W.THETA], 'world': world(W.theta),
+     'check': c_theta,
+     'instruction': 'The substrate and the probe-liquid syringe are in the Theta Flex (biolin_thetaflex), switched off. The camera scale is '
+                    '1 mm = 566.86 pixels. Place a 0.2 µL drop, measure the static contact angle and write the mean angle in degrees into '
+                    'angle.txt.', 'gold': GOLD_THETA},
+    {'id': 'ps10_trough_isotherm', 'kind': 'multi-step + evaluation saved to a file', 'instruments': [W.MEDL], 'world': world(W.mediuml),
+     'check': c_mediuml,
+     'instruction': 'The trough (biolin_mediuml) is filled with PBS and the lipid spreading solution is ready. Tare the balance on the clean '
+                    'subphase, spread 50 µL, let the solvent evaporate, compress to 140 cm² in 60 s, write the final surface pressure in '
+                    'mN/m into pressure.txt and save the isotherm evaluation into iso.json.', 'gold': GOLD_MEDL},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'particle_surface'
+    _t.setdefault('config', W.bare)                  # the class world is applied to the bare members (see W.bare)
+
+
+def main(only=None, noact=True):
+    return run_suite('particle_surface', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/particle_surface_world.py b/chemlab/chemlab/compile/tasks/particle_surface_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..1c06024dabdf494ed0fc23f5e2a4c9dae6e07e83
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/particle_surface_world.py
@@ -0,0 +1,297 @@
+"""Host-side world for the particle_surface class: what the lab operator has done before the agent starts (fill liquids and
+gases, put the sample in, close the access where the operator closes it).  Every function takes a LabBackend (the lowering
+harness calls it on the lab and on its twin; tasks call it with lab.backend) and uses trusted evaluator calls only; the default
+lab (all203.json) has just plant.configure for these instruments.
+
+Contract example arguments are used for the operator's materials (sample.load, liquid.fill, ...), so the worlds follow the
+contracts and change when they change.
+"""
+import copy
+
+DLS, PSA, DIA, TURB, ASORB, PMAST, PLUX, UPYC, ACHEM, DVS, SURP, SIGMA, THETA, MEDL, OXTR = (
+    'antonpaar_litesizerdls', 'antonpaar_psa1190', 'antonpaar_litesizerdia', 'microtrac_turbiscanlab', 'antonpaar_autosorb6100',
+    'antonpaar_poremaster60', 'porometer_poroluxrevo', 'antonpaar_ultrapyc5000', 'micromeritics_autochemiii', 'surface_dvsresolution',
+    'antonpaar_surpass3', 'biolin_sigma700', 'biolin_thetaflex', 'biolin_mediuml', 'ametek_oxtran')
+MEMBERS = (DLS, PSA, DIA, TURB, ASORB, PMAST, PLUX, UPYC, ACHEM, DVS, SURP, SIGMA, THETA, MEDL, OXTR)
+
+
+class WorldError(AssertionError):
+    pass
+
+
+def ex(b, iid, cap):
+    """The contract's example arguments of a capability."""
+    return copy.deepcopy((b.instruments[iid].contract['capabilities'].get(cap) or {}).get('example_arguments') or {})
+
+
+def ev(b, iid, cap, args=None, **kw):
+    """One trusted operator / evaluator call that must succeed."""
+    n = getattr(b, '_ps_world_n', 0) + 1
+    b._ps_world_n = n
+    a = dict(args if args is not None else {}, **kw)
+    r = b.evaluator_invoke(iid, cap, a, 'ps-world-%s-%d' % (iid, n))
+    if r.get('status') not in ('succeeded', 'accepted', 'running'):
+        raise WorldError('%s %s %s -> %s %s' % (iid, cap, a, r.get('status'), (r.get('error') or {}).get('code')))
+    return r
+
+
+def wait(b, seconds):
+    b.advance(seconds)
+
+
+def until(b, iid, slot, values, max_s, step=1.0):
+    t = 0.0
+    while t < max_s:
+        v = b.evaluator_read(iid, [slot])['observations'][slot]
+        v = v.get('value') if isinstance(v, dict) else v
+        if v in values:
+            return t
+        b.advance(step)
+        t += step
+    raise WorldError('%s %s not in %s after %s s' % (iid, slot, values, max_s))
+
+
+# ------------------------------------------------------------------ particle sizing
+def dls(b, iid=DLS, closed=True, power=False, cell='omega', sample=None):
+    """Litesizer DLS: the operator filled the cuvette (omega cell for zeta) and closed the measuring cell; power as given."""
+    ev(b, iid, 'power.set', enabled=True)
+    for cap, a in [('lid.release', {}), ('lid.set', {'angle_rad': 1.7}), ('cuvette.set', {'lift_m': 0.12}), ('cell.configure', {'kind': cell}),
+                   ('cell_cap.set', {'lift_m': 0.022})]:
+        ev(b, iid, cap, a)
+    s = dict(ex(b, iid, 'sample.load'), **(sample or {}))
+    if cell == 'quartz':
+        s['volume_m3'] = 1e-6
+    ev(b, iid, 'sample.load', s)
+    if closed:
+        for cap, a in [('cell_cap.set', {'lift_m': 0.0}), ('cuvette.set', {'lift_m': 0.0}), ('lid.set', {'angle_rad': 0.0})]:
+            ev(b, iid, cap, a)
+    if not power:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def psa(b, iid=PSA, background=True, sample=True, power=True):
+    """PSA 1190 (wet): the operator filled the dispersion tank; with background=True also switched on, waited for the laser and
+    measured the background; with sample=True added the sample through the tank lid."""
+    ev(b, iid, 'tank_lid.set', slide_m=0.17)
+    ev(b, iid, 'liquid.fill', volume_m3=0.00045)
+    ev(b, iid, 'tank_lid.set', slide_m=0.0)
+    if power or background:
+        ev(b, iid, 'power.set', enabled=True)
+    if background:
+        wait(b, 61)
+        ev(b, iid, 'background.start')
+        until(b, iid, 'acquisition.phase', ('succeeded', 'failed'), 300)
+    if sample:
+        ev(b, iid, 'tank_lid.set', slide_m=0.17)
+        ev(b, iid, 'sample.load', dict(ex(b, iid, 'sample.load'), accept_range_truncation=True))
+        ev(b, iid, 'tank_lid.set', slide_m=0.0)
+    if not power:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def dia(b, iid=DIA, background=True, sample=True, power=True):
+    """Litesizer DIA (liquid module): the operator filled the tank; background image; sample added through the lid."""
+    ev(b, iid, 'lid.set', angle_rad=1.55)
+    ev(b, iid, 'liquid.fill', volume_m3=0.0003)
+    ev(b, iid, 'lid.set', angle_rad=0.0)
+    if power or background:
+        ev(b, iid, 'power.set', enabled=True)
+    if background:
+        ev(b, iid, 'background.capture')
+    if sample:
+        ev(b, iid, 'lid.set', angle_rad=1.55)
+        ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+        ev(b, iid, 'lid.set', angle_rad=0.0)
+    if not power:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def turbiscan(b, iid=TURB, closed=False, power=False):
+    """TURBISCAN: the operator put the filled vial into the raised holder (lid open); closed=True: also closed and lowered it."""
+    ev(b, iid, 'sample.set_position', distance_m=0.105)
+    ev(b, iid, 'lid.set', opened=True)
+    ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    if closed:
+        ev(b, iid, 'lid.set', opened=False)
+        ev(b, iid, 'sample.set_position', distance_m=0.0)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+
+
+# ------------------------------------------------------------------ pores, surface area, density
+def autosorb(b, iid=ASORB, stations=(0,), closed=False, power=True, coolant=True, calibrated=False, degas_slot=None):
+    """Autosorb 6100: the operator mounted the (pre-degassed) sample tubes on the stations and filled the LN2 dewar; closed=True:
+    tubes up, guard closed, dewar raised; calibrated=True: pressure and free-space calibration per station entered."""
+    ev(b, iid, 'power.set', enabled=True)
+    ev(b, iid, 'guard.set', angle_rad=1.5)
+    for st in stations:
+        ev(b, iid, 'sample%d.set' % st, drop_m=0.18)
+        ev(b, iid, 'sample.load', dict(ex(b, iid, 'sample.load'), station=st, sample_id='sample_%d' % st))
+    if degas_slot is not None:
+        bank = degas_slot // 3
+        ev(b, iid, 'heater%d.set' % bank, drop_m=0.16)
+        ev(b, iid, 'degas.load', dict(ex(b, iid, 'degas.load'), slot=degas_slot))
+        ev(b, iid, 'heater%d.set' % bank, drop_m=0.0)
+    if coolant:
+        ev(b, iid, 'coolant.fill', volume_m3=0.003)
+    if calibrated:
+        for st in stations:
+            ev(b, iid, 'pressure.calibrate', dict(ex(b, iid, 'pressure.calibrate'), station=st))
+            ev(b, iid, 'volume.calibrate', dict(ex(b, iid, 'volume.calibrate'), station=st))
+    if closed:
+        for st in stations:
+            ev(b, iid, 'sample%d.set' % st, drop_m=0.0)
+        ev(b, iid, 'guard.set', angle_rad=0.0)
+        ev(b, iid, 'dewar.set', lift_m=0.29)
+    if not power:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def poremaster(b, iid=PMAST, power=True, calibrated=False, closed=False):
+    """PoreMaster 60: mercury filled, the penetrometer with the dry sample in the low-pressure port 0 (guard open);
+    calibrated=True: pressure, volume and blank calibration entered."""
+    ev(b, iid, 'power.set', enabled=True)
+    if calibrated:
+        for cap in ('pressure.calibrate', 'volume.calibrate', 'blank.calibrate'):
+            ev(b, iid, cap, ex(b, iid, cap))
+    ev(b, iid, 'mercury.fill', mass_kg=0.1)
+    ev(b, iid, 'guard0.set', angle_rad=1.4)
+    ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    if closed:
+        ev(b, iid, 'guard0.set', angle_rad=0.0)
+    if not power:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def porolux(b, iid=PLUX, wetted=False, closed=False, power=False):
+    """POROLUX Revo: the membrane disc in the open holder, wetting liquid and nitrogen supplied."""
+    ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    ev(b, iid, 'liquid.load', ex(b, iid, 'liquid.load'))
+    ev(b, iid, 'gas.load', ex(b, iid, 'gas.load'))
+    if wetted:
+        ev(b, iid, 'sample.wet')
+    if closed:
+        ev(b, iid, 'holder.set', opened=False)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+
+
+def ultrapyc(b, iid=UPYC, closed=False):
+    """Ultrapyc 5000 (switched on by the lab set-up): the operator chose the cell insert (the contract's example method: the
+    runtime takes a sample only for a configured cell), opened the cell and put the filled cup in (cup raised)."""
+    ev(b, iid, 'method.configure', ex(b, iid, 'method.configure'))
+    for cap, a in [('seal.set', {'angle_rad': 0.0}), ('lock.set', {'angle_rad': 0.0}), ('lid.set', {'lift_m': 0.13}), ('cup.set', {'lift_m': 0.12})]:
+        ev(b, iid, cap, a)
+    ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    if closed:
+        for cap, a in [('cup.set', {'lift_m': 0.0}), ('lid.set', {'lift_m': 0.0}), ('lock.set', {'angle_rad': 1.1}), ('seal.set', {'angle_rad': 1.4})]:
+            ev(b, iid, cap, a)
+
+
+def autochem(b, iid=ACHEM, closed=False, mode='tpd'):
+    """AutoChem III: the operator inserted the sample tube (released, withdrawn) and connected the carrier gas (inlet 1)."""
+    ev(b, iid, 'sample.release', angle_rad=0.6)
+    ev(b, iid, 'sample.set_position', distance_m=0.12)
+    ev(b, iid, 'sample.load', dict(ex(b, iid, 'sample.load'), mode=mode))
+    ev(b, iid, 'gas.load', ex(b, iid, 'gas.load'))
+    if closed:
+        ev(b, iid, 'sample.set_position', distance_m=0.0)
+        ev(b, iid, 'sample.release', angle_rad=0.0)
+        ev(b, iid, 'furnace.set_open', opened=False)
+
+
+def dvs(b, iid=DVS, closed=False, power=False, sample=True, tared=False):
+    """DVS Resolution: water reservoir and dry-gas supply filled; tared=True: the operator switched on and tared the microbalance
+    with the empty pan first; sample=True: then put the sample pan in (door open, chamber lowered)."""
+    ev(b, iid, 'stock.load', ex(b, iid, 'stock.load'))
+    ev(b, iid, 'gas.load', ex(b, iid, 'gas.load'))
+    if tared:
+        ev(b, iid, 'power.set', enabled=True)
+        wait(b, 2)
+        ev(b, iid, 'balance.tare')
+    if sample:
+        ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    if closed:
+        ev(b, iid, 'chamber.set_position', distance_m=0.0)
+        ev(b, iid, 'reservoir.open', distance_m=0.0)
+        ev(b, iid, 'door.set', opened=False)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+    elif tared:
+        ev(b, iid, 'power.set', enabled=False)
+
+
+def surpass(b, iid=SURP, closed=True, power=False, electrolyte=True):
+    """SurPASS 3: the sample mounted in the cell; closed=True: cell inserted and clamped, then the electrolyte beaker filled (the
+    runtime moves the cell only while no electrolyte is in the circuit, so the operator fills it last)."""
+    ev(b, iid, 'lock.set', angle_rad=0.0)
+    ev(b, iid, 'cell.set', withdrawal_m=0.095)
+    ev(b, iid, 'sample.load', ex(b, iid, 'sample.load'))
+    if closed:
+        ev(b, iid, 'cell.set', withdrawal_m=0.0)
+        ev(b, iid, 'lock.set', angle_rad=1.2)
+        if electrolyte:
+            ev(b, iid, 'lid.set', lift_m=0.105)
+            ev(b, iid, 'electrolyte.load', ex(b, iid, 'electrolyte.load'))
+            ev(b, iid, 'lid.set', lift_m=0.0)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+
+
+# ------------------------------------------------------------------ interfaces
+def sigma(b, iid=SIGMA, closed=False, power=False, sample=None):
+    """Sigma 700: the vessel with the liquid on the stage (door open), plate probe hanging."""
+    ev(b, iid, 'door.set', angle_rad=2.35)
+    ev(b, iid, 'sample.load', dict(ex(b, iid, 'sample.load'), **(sample or {})))
+    if closed:
+        ev(b, iid, 'door.set', angle_rad=0.0)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+
+
+def theta(b, iid=THETA, power=False):
+    """Theta Flex: the substrate on the stage and the syringe filled with the probe liquid."""
+    ref = ex(b, iid, 'sample.load')['reference_id']
+    ev(b, iid, 'sample.load', reference_id=ref, accept_unknown_conditions=True)
+    ev(b, iid, 'stock.load', reference_id=ref, volume_m3=2e-7)
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+
+
+def mediuml(b, iid=MEDL, power=True, plate_down=False, solution=True):
+    """KSV NIMA Medium trough: subphase (PBS) filled with the Wilhelmy plate lifted; the spreading solution in the syringe."""
+    ev(b, iid, 'probe.move', distance_m=0.04)
+    ev(b, iid, 'subphase.load', ex(b, iid, 'subphase.load'))
+    if power:
+        ev(b, iid, 'power.set', enabled=True)
+    if plate_down:
+        ev(b, iid, 'probe.move', distance_m=0.0)
+    if solution:
+        ev(b, iid, 'solution.load', ex(b, iid, 'solution.load'))
+
+
+def oxtran(b, iid=OXTR, cells=('A',), clamped=False):
+    """OX-TRAN 2/22 (switched on by the lab set-up): test gases connected, the film mounted in the drawer of each cell."""
+    ev(b, iid, 'gas.configure', ex(b, iid, 'gas.configure'))
+    for c in cells:
+        ev(b, iid, 'drawer.move', cell=c, open=True)
+        wait(b, 3)
+        ev(b, iid, 'sample.mount', dict(ex(b, iid, 'sample.mount'), cell=c))
+        ev(b, iid, 'drawer.move', cell=c, open=False)
+        wait(b, 3)
+        if clamped:
+            ev(b, iid, 'cell.load_unload', cell=c)
+            wait(b, 10)
+
+
+def bare(cfg):
+    """The class's members without the default lab's set-up: the default lab (chemlab/default_world.py) already holds these
+    worlds (recorded as set-up steps); tasks and lowering cases apply their own world to the bare lab."""
+    for e in cfg['instruments']:
+        if e['asset_type_id'].split('.', 1)[1] in MEMBERS:
+            e['default_world'] = False
+    return cfg
+
+
+WORLDS = {DLS: dls, PSA: psa, DIA: dia, TURB: turbiscan, ASORB: autosorb, PMAST: poremaster, PLUX: porolux, UPYC: ultrapyc,
+          ACHEM: autochem, DVS: dvs, SURP: surpass, SIGMA: sigma, THETA: theta, MEDL: mediuml, OXTR: oxtran}
diff --git a/chemlab/chemlab/compile/tasks/property_meter_lowering.py b/chemlab/chemlab/compile/tasks/property_meter_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..5460feda8bb2648760b22ede55337b193d250d04
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/property_meter_lowering.py
@@ -0,0 +1,199 @@
+"""Lowering table of the property_meter class: per member (and staged lab entry of the same instrument type), verbs in order and
+the native calls each must make - capability and arguments in the unit the argument declares, written from the contracts.
+[] = no native call (a class check refused, an unsupported verb, a dry run); query calls (X.measure) are native calls too.
+The world (samples, staged cells and tubes, the 914 beaker) is property_meter_world.config()."""
+from .property_meter_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+DEG = 0.017453292519943295
+JASCO_METHOD = {'lamp': 'Na', 'wavelength_m': 5.89e-07, 'integration_s': 1.0, 'repeats': 3, 'declared_concentration_kg_m3': 100.0,
+                'declared_path_m': 0.1}
+KNAUER_METHOD = {'sample_volume_m3': 1.5e-07, 'freeze_k': K0 - 6, 'cooling_limit_k': K0 - 15, 'sample_interval_s': 1.0}
+
+CASES = {
+    'antonpaar_dma5002': {'steps': [
+        ('status', []),
+        ('check --reference 0.7893g/cm3', []),                                   # NO_READING (no finished density yet)
+        ('result', [('density.measure', {})]),                                   # NO_RESULT (the query is made)
+        ('set-temp 120C', []),                                                   # OUT_OF_RANGE (usage)
+        ('set-temp 20C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 20})]),
+        ('measure', [('acquisition.start', {})]),
+        ('measure', []),                                                         # BUSY (class check)
+        ('#wait 40', None),
+        ('result', [('density.measure', {})]),
+        ('check --reference 0.7893g/cm3', [('calibration.check', {'reference_density_kg_m3': 789.3, 'reference_temperature_k': K0 + 20})]),
+        ('method mode=density', [('method.configure', {'mode': 'density'})]),
+        ('method speed=3', []),                                                  # UNKNOWN_SETTING
+        ('measure --wait', [('acquisition.start', {}), ('density.measure', {})]),
+        ('calibrate --standard 0.99820g/cm3', []),                               # not supported
+        ('zero', []),                                                            # not supported
+        ('clean --volume 500mL', []),                                            # OUT_OF_RANGE
+        ('clean --volume 5mL --wait', [('cleaning.start', {'volume_m3': 5e-06})]),
+        ('measure', []),                                                         # NO_SAMPLE (the cleaning emptied the U-tube)
+        ('set-temp 25C --dry-run', []),
+        ('set-temp 25C', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('#wait 5', None),
+    ]},
+    'antonpaar_abbematadvanced': {'steps': [
+        ('status', []),
+        ('measure --wait', [('acquisition.start', {}), ('refractometry.measure', {})]),
+        ('calibrate --standard 2.0', []),                                        # OUT_OF_RANGE (nD)
+        ('calibrate', []),                                                       # MISSING_STANDARD
+        ('calibrate --standard 1.3614 ethanol', [('adjustment.start', {'type': 'one_point', 'standards': [{'name': 'ethanol', 'temperature_c': 20.0, 'nd': 1.3614}]}),
+                                                 ('adjustment.decide', {'apply': True})]),
+        ('calibrate --standard 1.3330', [('adjustment.start', {'type': 'one_point', 'standards': [{'name': 'Standard', 'temperature_c': 20.0, 'nd': 1.333}]}),
+                                         ('adjustment.decide', {'apply': False})]),     # CALIBRATION_REJECTED (the instrument recommends Reject)
+        ("check 'Water Check'", [('check.start', {'check': 'Water Check'})]),
+        ('check Watr', []),                                                      # UNKNOWN_NAME
+        ('method mode=calibrated_concentration', [('method.configure', {'mode': 'calibrated_concentration'})]),
+        ('method mode=refractive_index', [('method.configure', {'mode': 'refractive_index'})]),
+        ('set-temp 25C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('measure', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('result --save-to abbemat.json', [('refractometry.measure', {})]),
+        ('clean', []),                                                           # LID_CLOSED
+        ('zero', []),                                                            # not supported
+        ('calibrate --standard 1.3614 --dry-run', []),
+    ]},
+    'jasco_p4200': {'steps': [                                                   # blank cell in place
+        ('status', []),
+        ('zero', []),                                                            # NO_METHOD
+        ('method integration=1s repeats=3 conc=100g/L', []),                     # MISSING_SETTING path
+        ('method integration=1s repeats=3 conc=100g/L path=100mm', [('method.configure', JASCO_METHOD)]),
+        ('zero --dry-run', []),
+        ('zero', [('lamp.set', {'enabled': True}), ('acquisition.start', {'kind': 'blank'})]),
+        ('measure', []),                                                         # NOT_CALIBRATED
+        ('calibrate --standard 10deg', [('lamp.set', {'enabled': True}), ('acquisition.start', {'kind': 'quartz'})]),   # WRONG_CELL
+        ('check', []),                                                           # not supported
+        ('set-temp 50C', []),                                                    # OUT_OF_RANGE (15..40 °C)
+        ('clean', []),                                                           # not supported
+    ]},
+    'jasco_p4200_quartz': {'steps': [                                            # method, blank read, quartz plate in
+        ('calibrate', []),                                                       # MISSING_STANDARD
+        ('calibrate --standard 10deg', [('acquisition.start', {'kind': 'quartz'}),
+                                        ('calibration.quartz', {'certified_angle_rad': 10 * DEG, 'accept_simulated_standard': True})]),
+        ('measure', [('lamp.set', {'enabled': True}), ('acquisition.start', {'kind': 'sample'})]),   # WRONG_CELL (the plate is still in)
+    ]},
+    'jasco_p4200_sample': {'steps': [                                            # + quartz calibration, sample cell in
+        ('status', []),
+        ('measure --wait', [('acquisition.start', {'kind': 'sample'}), ('process.measure', {})]),
+        ('result', [('process.measure', {})]),
+        ('measure', [('lamp.set', {'enabled': True}), ('acquisition.start', {'kind': 'sample'})]),
+        ('#wait 30', None),
+        ('set-temp 25C', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('measure', []),                                                         # BLANK_REQUIRED (a new temperature clears blank and quartz)
+    ]},
+    'metrohm_914': {'steps': [                                                   # probe in a pH 6.86 phosphate buffer (scene)
+        ('status', []),
+        ('measure', []),                                                         # NO_ENDPOINT
+        ('method hold=5s', []),                                                  # MISSING_SETTING tolerance
+        ('method hold=5s tolerance=0.1%', [('electrochemistry.configure_endpoint', {'hold_s': 5.0, 'tolerance_fraction': 0.001})]),
+        ('calibrate --standard 6.864', []),                                      # UNSTABLE (class requirement)
+        ('measure --wait', [('electrochemistry.reading', {})]),
+        ('calibrate --standard 6.875', [('electrochemistry.calibrate', {'slot': 'ph', 'standard_value': 6.875})]),   # refused: outside ±0.002 pH
+        ('calibrate --standard 6.865', [('electrochemistry.calibrate', {'slot': 'ph', 'standard_value': 6.865})]),   # accepted (914 1.2.4)
+        ('calibrate --standard 6.864', []),                                      # UNSTABLE: a calibration resets the endpoint
+        ('measure --wait', [('electrochemistry.reading', {})]),
+        ('calibrate --standard 6.864', [('electrochemistry.calibrate', {'slot': 'ph', 'standard_value': 6.864})]),   # accepted (within ±0.002)
+        ('#wait 10', None),
+        ('result', [('electrochemistry.reading', {})]),
+        ('method temp=25C', [('electrochemistry.configure_temperature', {'mode': 'manual', 'manual_temperature_k': K0 + 25})]),
+        ('method temp=auto interval=2s', [('electrochemistry.configure_temperature', {'mode': 'automatic', 'manual_temperature_k': None}),
+                                          ('acquisition.set_interval', {'interval_s': 2.0})]),
+        ('method bogus=1', []),                                                  # UNKNOWN_SETTING (no passthrough)
+        ('set-temp 25C', []),                                                    # not supported
+        ('check', []),                                                           # not supported
+    ]},
+    'aqualab_4te': {'steps': [                                                   # NaCl sample in, lid closed, lever at READ
+        ('status', []),
+        ('calibrate --standard 0.880', []),                                      # NO_READING
+        ('measure --wait', [('acquisition.start', {}), ('water_activity.measure', {})]),
+        ('check --reference 0.880', []),                                         # WARMING_UP
+        ('calibrate --standard 0.880', [('calibration.configure', {'offset_aw': -0.0021, 'source': 'chemlab calibrate on aqualab_4te (standard 0.880)'})]),
+        ('calibrate --standard 0.880', []),                                      # NO_READING (a new offset clears the reading)
+        ('#wait 900', None),
+        ('measure --wait', [('acquisition.start', {}), ('water_activity.measure', {})]),
+        ('check --reference 0.880', [('calibration.verify', {'reference_aw': 0.88})]),
+        ('check --reference 2', []),                                             # OUT_OF_RANGE
+        ('method mode=continuous', []),                                          # MISSING_SETTING
+        ('method mode=single stability=0.0005 tolerance=0.5K readings=1', [('method.configure', {'mode': 'single', 'stability_delta': 0.0005,
+                                                                                                  'temperature_tolerance_k': 0.5, 'consecutive_readings': 1})]),
+        ('set-temp 30C', [('thermal.set_temperature', {'temperature_k': K0 + 30})]),
+        ('measure', [('acquisition.start', {})]),                                # refused: the set point is not the sample's temperature
+        ('zero', []),
+        ('clean', []),
+    ]},
+    'hach_tl2300epa': {'steps': [                                                # 20 NTU StablCal standard in, 30 min warm-up done
+        ('status', []),
+        ('measure --wait', [('acquisition.start', {}), ('turbidity.measure', {})]),
+        ('calibrate', []),                                                       # WARMING_UP (60 min)
+        ('check --reference 20NTU', []),                                         # WARMING_UP
+        ('#wait 1800', None),
+        ('calibrate --standard 10NTU', []),                                      # WRONG_STANDARD (usage)
+        ('calibrate', [('calibration.rapid', {})]),
+        ('check --reference 20NTU', [('calibration.verify', {'reference_ntu': 20.0})]),
+        ('method ratio=off average=10', [('method.configure', {'ratio_enabled': False, 'average_count': 10, 'mode': 'single'})]),
+        ('method average=5', []),                                                # BAD_CHOICE
+        ('set-temp 20C', []),
+        ('zero', []),
+        ('clean', []),
+    ]},
+    'knauer_k7400s': {'steps': [                                                 # no tube, no method
+        ('status', []),
+        ('method freeze=-6C', []),                                               # MISSING_SETTING
+        ('method volume=150uL freeze=-6C cool=-15C interval=1s', [('method.configure', KNAUER_METHOD)]),
+        ('measure', []),                                                         # NO_SAMPLE
+        ('calibrate --standard 0', []),                                          # NO_SAMPLE
+        ('set-temp 20C', []),
+        ('check', []),
+        ('zero', []),
+    ]},
+    'knauer_k7400s_water': {'steps': [                                           # method set, water tube on the head
+        ('calibrate --standard 0.03', []),                                       # BAD_STANDARD (50 mOsmol/kg grid)
+        ('calibrate --standard 0', [('acquisition.start', {'purpose': 'calibration'}), ('calibration.accept', {'known_osmolality_mol_kg': 0.0})]),
+        ('measure', []),                                                         # NOT_CALIBRATED (one point)
+        ('method volume=50uL freeze=-6C cool=-15C interval=1s', []),             # TUBE_ON_HEAD
+    ]},
+    'knauer_k7400s_ready': {'steps': [                                           # water + 400 mOsmol/kg calibration, 0.1 mol/kg NaCl on the head
+        ('status', []),
+        ('measure --wait', [('acquisition.start', {'purpose': 'sample'}), ('process.measure', {})]),
+        ('result', [('process.measure', {})]),
+        ('calibrate --standard 400mOsmol/kg --dry-run', []),
+    ]},
+    'mt_hx204': {'steps': [                                                      # 5 g sample (0.5 g water) on the pan
+        ('status', []),
+        ('set-temp 105.5C', []),                                                 # BAD_STEP
+        ('set-temp 105C --wait', []),                                            # NO_WAIT
+        ('set-temp 110C', [('thermal.set_temperature', {'temperature_k': K0 + 110})]),
+        ('method time=5min', [('method.configure', {'mode': 'standard', 'duration_s': 300.0, 'basis': 'wet'})]),
+        ('method basis=dry mode=rapid', [('method.configure', {'mode': 'rapid', 'duration_s': 300.0, 'basis': 'dry'})]),
+        ('check', [('procedure.start', {'kind': 'weight_test_internal'})]),     # PAN_NOT_CLEAR
+        ('calibrate bogus', []),                                                 # UNKNOWN_NAME
+        ('measure --wait', [('acquisition.start', {}), ('moisture.measure', {})]),
+        ('result', [('moisture.measure', {})]),
+        ('zero', []),
+        ('clean', []),
+    ]},
+    'mt_hx204_empty': {'steps': [                                                # empty pan
+        ('measure', []),                                                         # NO_SAMPLE
+        ('check', [('procedure.start', {'kind': 'weight_test_internal'})]),
+        ('calibrate', [('procedure.start', {'kind': 'weight_adjustment_internal'})]),
+        ('check weight --dry-run', []),
+    ]},
+    'mt_mp70': {'steps': [                                                       # benzoic acid in capillaries 1 and 2
+        ('status', []),
+        ('measure', []),                                                         # NO_METHOD
+        ('method start=110C end=130C rate=1K/min', []),                          # MISSING_SETTING criterion
+        ('method start=110C end=130C rate=1K/min criterion=transmission', [
+            ('method.configure', {'method_id': 'chemlab', 'start_k': K0 + 110, 'end_k': K0 + 130, 'ramp_k_s': 1 / 60.0, 'criterion': 'transmission'}),
+            ('method.select', {'method_id': 'chemlab'})]),
+        ('measure --wait --max 3h', [('acquisition.start', {})] + [('melting.measure', {'channel': c}) for c in range(4)]),
+        ('result --channel 2', [('melting.measure', {'channel': 1})]),
+        ('result --channel 9', []),                                              # UNKNOWN_CHANNEL
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50})]),
+        ('calibrate', []),
+        ('check', []),
+        ('zero', []),
+        ('clean', []),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/property_meter_tasks.py b/chemlab/chemlab/compile/tasks/property_meter_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..7de68d0cdb76a129243d8d4384dbfe60257e879f
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/property_meter_tasks.py
@@ -0,0 +1,251 @@
+"""Property-meter class acceptance tasks (10): gold solutions use `chemlab run` (and `chemlab call` where the class has no verb, e.g.
+the AQUALAB lever); checkers read the evaluator view and the agent's report files.  World: property_meter_world (samples put in
+by the operator; staged entries for the P-4200 and the K-7400S)."""
+import json
+import re
+
+from ...glab import single
+from .common import run_suite
+from .property_meter_world import config as world_config
+
+K0 = 273.15
+DMA, ABM, JAS, M914, AQ, HACH, KN, HX, MP = ('antonpaar_dma5002', 'antonpaar_abbematadvanced', 'jasco_p4200_sample', 'metrohm_914',
+                                             'aqualab_4te', 'hach_tl2300epa', 'knauer_k7400s_ready', 'mt_hx204', 'mt_mp70')
+
+
+def cfg(c):
+    return world_config(c, extra=False)
+
+
+def staged(name):
+    return lambda: single([name], world_config())
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+def w_abbemat_lid_open(lab):
+    world_call(lab, ABM, 'lid.set_angle', {'angle_rad': 1.5707963267948966})
+
+
+def w_aqualab_lever_up(lab):
+    world_call(lab, AQ, 'latch.set_angle', {'angle_rad': 0.0})
+
+
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+# ------------------------------------------------------------------ checkers
+def c_density(c):
+    e = c.ev(DMA)
+    c.near('cell at 20 °C', e['thermal.target_k'], K0 + 20, 1e-6)
+    c.add('a density measurement is stored', len(e.get('data.measured') or []) >= 1, len(e.get('data.measured') or []))
+    c.near('density.txt reports the ethanol density in g/cm3 (0.7893 ± 0.0002)', c.number_file('density.txt'), 0.7893, 0.0002)
+
+
+def c_abbemat_cal(c):
+    e = c.ev(ABM)
+    corr = e.get('adjustment.correction') or {}
+    c.add('a user adjustment is applied (not factory)', corr.get('factory') is False, corr)
+    c.near('the adjustment offset makes ethanol read 1.3614', corr.get('offset'), 0.0003, 2e-5)
+    c.near('nd.txt reports nD 1.3614', c.number_file('nd.txt'), 1.3614, 5e-5)
+
+
+def c_abbemat_lid(c):
+    e = c.ev(ABM)
+    c.add('lid closed', (e.get('lid.angle_rad') or 0) <= 0.01, e.get('lid.angle_rad'))
+    c.add('a measurement is stored', len(e.get('data.measured') or []) >= 1)
+    c.near('nd.txt reports nD 1.3611', c.number_file('nd.txt'), 1.3611, 5e-5)
+
+
+def verify_verdict(entry, key='within_vendor_tolerance'):
+    """What the instrument answered to a verification request, from the reply chemlab printed to the agent (text or --json):
+    True (``key`` true / passed), False, or None (not readable)."""
+    out = entry.get('stdout') or ''
+    try:
+        js = json.loads(out)
+    except ValueError:
+        js = None
+    if isinstance(js, dict):
+        if isinstance(js.get('passed'), bool):
+            return js['passed']
+        stack = [js]
+        while stack:
+            o = stack.pop()
+            if isinstance(o, dict):
+                if isinstance(o.get(key), bool):
+                    return o[key]
+                stack.extend(o.values())
+            elif isinstance(o, list):
+                stack.extend(o)
+        return None
+    m = re.search(r'verdict: (passed|NOT passed)', out)
+    if m:
+        return m.group(1) == 'passed'
+    m = re.search(re.escape(key) + r'\W{1,4}(true|false)', out, re.I)
+    return (m.group(1).lower() == 'true') if m else None
+
+
+def c_aqualab(c):
+    e = c.ev(AQ)
+    c.add('lever at READ', (e.get('latch.angle_rad') or 0) >= 1.4, e.get('latch.angle_rad'))
+    now, up = c.lab.backend.now(), e.get('warmup.elapsed_s') or 0
+    runs = [(ent, (up - (now - ent['sim_time_s']))) for ent, _ in c.native(AQ, 'calibration.verify')]   # warm-up time at each call
+    warm = [ent for ent, w in runs if w >= 900]
+    c.add('calibration.verify ran after the 15 min warm-up', bool(warm), [round(w) for _, w in runs])
+    verdict = verify_verdict(warm[-1]) if warm else None
+    c.add('the instrument reported that last verification as passed', verdict is True, verdict)
+    t = (c.work_file('verify.txt') or '').lower()
+    c.add('verify.txt says the verification passed', t.startswith('passed'), t[:60])
+
+
+def c_hach(c):
+    e = c.ev(HACH)
+    c.equal('RapidCal calibration stored', e.get('calibration.status'), 'rapid_0_40')
+    cal = c.native(HACH, 'calibration.rapid')
+    after = [ent for ent, _ in c.native(HACH, 'calibration.verify') if cal and ent['seq'] > cal[-1][0]['seq']]
+    c.add('calibration.verify ran after the RapidCal calibration (request log)', bool(after), len(after))
+    verdict = verify_verdict(after[-1], 'within_five_percent') if after else None
+    c.add('the instrument reported that verification as passed', verdict is True, verdict)
+    t = (c.work_file('verify.txt') or '').lower()
+    c.add('verify.txt says passed', t.startswith('passed'), t[:60])
+
+
+def c_jasco(c):
+    e = c.ev(JAS)
+    c.near('rotation.txt reports the rotation in degrees (6.64 ± 0.01)', c.number_file('rotation.txt'), 6.637, 0.01)
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs_of(c, JAS)), [(j.handle, j.state) for j in jobs_of(c, JAS)])
+    c.equal('the last scan was a sample scan', e.get('scan.phase'), 'succeeded')
+
+
+def c_914(c):
+    e = c.ev(M914)
+    c.add('pH channel calibrated', e.get('probe.ph.calibrated'), e.get('probe.ph.calibrated'))
+    c.near('endpoint hold 5 s', e.get('endpoint.hold_s'), 5.0, 1e-9)
+    c.near('ph.txt reports pH 6.864', c.number_file('ph.txt'), 6.864, 0.002)
+
+
+def c_knauer(c):
+    c.add('the agent started the measurement (request log)', c.native(KN, 'acquisition.start'), len(c.native(KN, 'acquisition.start')))
+    c.near('osm.txt reports the osmolality in mOsmol/kg (187 ± 3)', c.number_file('osm.txt'), 186.6, 3.0)
+    e = c.ev(KN)
+    c.equal('the measurement run finished', e.get('acquisition.phase'), 'succeeded')
+
+
+def c_moisture(c):
+    e = c.ev(HX)
+    c.near('drying temperature 105 °C', e.get('thermal.target_k'), K0 + 105, 1e-6)
+    c.near('drying time 5 min', e.get('method.duration_s'), 300.0, 1e-6)
+    c.equal('the drying run finished', e.get('cycle.phase'), 'succeeded')
+    c.near('mc.txt reports the moisture content in % (4.2 ± 0.3)', c.number_file('mc.txt'), 4.18, 0.3)
+
+
+def c_melting(c):
+    e = c.ev(MP)
+    c.add('the measurement run finished', e.get('cycle.phase') == 'succeeded', e.get('cycle.phase'))
+    c.near('clear point of capillary 1 (123.1 ± 0.3 °C)', c.number_file('mp.txt'), 123.1, 0.3)
+    c.add('both capillaries melted (onset found)', all(e.get('channel_%d.onset_k' % i) for i in (0, 1)),
+          [e.get('channel_%d.onset_k' % i) for i in (0, 1)])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_ABM_LID = r'''chemlab run antonpaar_abbematadvanced measure --wait --json > m.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' m.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' m.json >/dev/null; then
+  chemlab run antonpaar_abbematadvanced close lid
+  chemlab run antonpaar_abbematadvanced measure --wait
+fi
+chemlab run antonpaar_abbematadvanced result --json | jq -r .value > nd.txt; cat nd.txt'''
+
+GOLD_AQ = r'''chemlab run aqualab_4te measure --wait --json > m.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_LATCHED"' m.json >/dev/null; then
+  chemlab call aqualab_4te latch.set_angle --angle_rad 1.57
+  chemlab run aqualab_4te measure --wait
+fi
+chemlab run aqualab_4te check --reference 0.884 --json > v.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "WARMING_UP"' v.json >/dev/null; then
+  jq -r .error.message v.json
+  chemlab wait 900
+  chemlab run aqualab_4te measure --wait
+  chemlab run aqualab_4te check --reference 0.884 --json > v.json
+fi
+jq -r 'if .passed then "passed" else "failed" end' v.json > verify.txt; cat verify.txt'''
+
+GOLD_HACH = r'''chemlab run hach_tl2300epa measure --wait
+chemlab run hach_tl2300epa calibrate --json > cal.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "WARMING_UP"' cal.json >/dev/null; then
+  jq -r .error.message cal.json
+  chemlab wait 1800
+  chemlab run hach_tl2300epa measure --wait
+  chemlab run hach_tl2300epa calibrate
+fi
+chemlab run hach_tl2300epa measure --wait
+chemlab run hach_tl2300epa check --reference 20NTU --json | jq -r 'if .passed then "passed" else "failed" end' > verify.txt; cat verify.txt'''
+
+GOLD_JAS = r'''job=$(chemlab run jasco_p4200_sample measure --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 30min
+chemlab run jasco_p4200_sample result --json | jq -r '.value * 180 / 3.141592653589793' > rotation.txt; cat rotation.txt'''
+
+GOLD_914 = r'''chemlab run metrohm_914 method hold=5s tolerance=0.1%
+chemlab run metrohm_914 measure --wait
+chemlab run metrohm_914 calibrate --standard 6.864
+chemlab run metrohm_914 measure --wait --json | jq -r .value > ph.txt; cat ph.txt'''
+
+TASKS = [
+    {'id': 'pm01_density', 'kind': 'multi-step (temperature, measure, report)', 'instruments': [DMA], 'check': c_density,
+     'instruction': 'The Anton Paar DMA 5002 density meter (antonpaar_dma5002) has an ethanol sample in its U-tube. Measure its density at '
+                    '20 °C and write the density in g/cm3 into density.txt.',
+     'gold': 'chemlab run antonpaar_dma5002 set-temp 20C --wait && chemlab run antonpaar_dma5002 measure --wait && '
+             'chemlab run antonpaar_dma5002 result --json | jq -r ".value / 1000" > density.txt; cat density.txt'},
+    {'id': 'pm02_refractometer_calibrate', 'kind': 'composite (adjustment run + decide) + report', 'instruments': [ABM], 'check': c_abbemat_cal,
+     'instruction': 'The prism of the Abbemat refractometer (antonpaar_abbematadvanced) holds an ethanol standard certified at nD 1.3614 (20 °C). '
+                    'Adjust the refractometer on it, then measure it again and write the refractive index into nd.txt.',
+     'gold': 'chemlab run antonpaar_abbematadvanced calibrate --standard 1.3614 ethanol && chemlab run antonpaar_abbematadvanced measure --wait && '
+             'chemlab run antonpaar_abbematadvanced result --json | jq -r .value > nd.txt; cat nd.txt'},
+    {'id': 'pm03_recover_lid_open', 'kind': 'recovery: lid open', 'instruments': [ABM], 'world': w_abbemat_lid_open, 'check': c_abbemat_lid,
+     'instruction': 'Measure the refractive index of the sample on the Abbemat refractometer (antonpaar_abbematadvanced) and write it into nd.txt.',
+     'gold': GOLD_ABM_LID},
+    {'id': 'pm04_recover_aw_verify', 'kind': 'recovery: lever not at READ + warm-up not finished', 'instruments': [AQ], 'world': w_aqualab_lever_up,
+     'check': c_aqualab,
+     'instruction': 'Verify the AQUALAB 4TE water-activity meter (aqualab_4te) with the verification standard in its chamber (certified aw 0.884 at '
+                    '25 °C). Write "passed" or "failed" into verify.txt.', 'gold': GOLD_AQ},
+    {'id': 'pm05_recover_turbidity_rapidcal', 'kind': 'recovery: warm-up (60 min) + calibrate + verify', 'instruments': [HACH], 'check': c_hach,
+     'instruction': 'The Hach TL2300 turbidimeter (hach_tl2300epa) has the 20 NTU StablCal standard in it. Do a RapidCal calibration on it, then '
+                    'verify against 20 NTU and write "passed" or "failed" into verify.txt.', 'gold': GOLD_HACH},
+    {'id': 'pm06_polarimeter_job', 'kind': 'long action: job id (status, wait) + unit conversion', 'instruments': [JAS], 'lab_config': staged(JAS),
+     'check': c_jasco,
+     'instruction': 'The P-4200 polarimeter (jasco_p4200_sample) is zeroed and calibrated, with the sucrose sample cell in place. Start the '
+                    'measurement as a job, check its status, wait for it, and write the optical rotation in degrees into rotation.txt.',
+     'gold': GOLD_JAS},
+    {'id': 'pm07_ph_calibrate', 'kind': 'multi-step (endpoint method, stable reading, calibrate)', 'instruments': [M914], 'check': c_914,
+     'instruction': 'The pH probe of the Metrohm 914 meter (metrohm_914) stands in the NIST phosphate buffer, certified pH 6.864 at 25 °C. Set '
+                    'the endpoint criterion to a 5 s hold within 0.1 %, calibrate the pH channel on this buffer, then measure it again and write '
+                    'the pH into ph.txt.', 'gold': GOLD_914},
+    {'id': 'pm08_osmolality', 'kind': 'long action (freezing run) + unit conversion', 'instruments': [KN], 'lab_config': staged(KN), 'check': c_knauer,
+     'instruction': 'The K-7400S osmometer (knauer_k7400s_ready) is calibrated and has a sample tube on its measuring head. Measure the sample '
+                    'and write its osmolality in mOsmol/kg into osm.txt.',
+     'gold': 'chemlab run knauer_k7400s_ready measure --wait && chemlab run knauer_k7400s_ready result --json | jq -r ".value * 1000" > osm.txt; cat osm.txt'},
+    {'id': 'pm09_moisture', 'kind': 'multi-step (temperature, method, drying run, report)', 'instruments': [HX], 'check': c_moisture,
+     'instruction': 'Determine the moisture content of the sample on the HX204 moisture analyzer (mt_hx204): dry it at 105 °C for 5 minutes '
+                    '(standard program, wet basis) and write the moisture content in % into mc.txt.',
+     'gold': 'chemlab run mt_hx204 set-temp 105C && chemlab run mt_hx204 method mode=standard time=5min basis=wet && '
+             'chemlab run mt_hx204 measure --wait && chemlab run mt_hx204 result --json | jq -r ".value * 100" > mc.txt; cat mc.txt'},
+    {'id': 'pm10_melting_point', 'kind': 'multi-step (method store+select, long run, channels)', 'instruments': [MP], 'check': c_melting,
+     'instruction': 'Capillaries 1 and 2 of the MP70 melting point system (mt_mp70) hold benzoic acid. Measure its melting range from 110 °C '
+                    'to 130 °C at 1 K/min with the transmission criterion, and write the clear point of capillary 1 in °C into mp.txt.',
+     'gold': 'chemlab run mt_mp70 method start=110C end=130C rate=1K/min criterion=transmission && chemlab run mt_mp70 measure --wait --max 3h && '
+             'chemlab run mt_mp70 result --channel 1 --json | jq -r ".channel_1 - 273.15" > mp.txt; cat mp.txt'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'property_meter'
+    if 'lab_config' not in _t:
+        _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('property_meter', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/property_meter_world.py b/chemlab/chemlab/compile/tasks/property_meter_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..c2f2670e169363dc7ff731f28e16220245b44a71
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/property_meter_world.py
@@ -0,0 +1,197 @@
+"""Host-side world of the property_meter class: what the lab operator has done before the agent starts, as lab-config set-up
+steps (evaluator capability calls for samples, operator calls for lids, advances for time).  Nothing here is a class verb.
+
+* DMA 5002, Abbemat, AQUALAB, TL2300, HX204, MP70: a sample in the cell (``sample.configure`` / ``capillary`` as the evaluator,
+  lids opened and closed by the operator around it).
+* 914: the beaker (``"solution"``) fed by the trusted scene ``chemlab.compile.scenes.metrohm914``.
+* P-4200 and K-7400S need cells or tubes exchanged between steps (blank -> quartz plate -> sample; water -> standard ->
+  sample).  The lab cannot swap them while the agent works, so the world offers one entry per stage: the same instrument type
+  under another lab name (``jasco_p4200_quartz``, ``knauer_k7400s_ready`` ...), each set up to the point where the agent's
+  step begins (earlier steps done by the operator with the same native calls).
+"""
+import copy
+
+from ...hosts import contract_index
+from ...labbackend import load_config
+
+K0 = 273.15
+
+
+def ev(cap, args):
+    return {'capability': cap, 'arguments': copy.deepcopy(args), 'evaluator': True}
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': copy.deepcopy(args)}
+
+
+def wait(s):
+    return {'advance_s': float(s)}
+
+
+_EX = {}
+
+
+def example(slug, cap):
+    if slug not in _EX:
+        import json
+        _EX[slug] = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    return copy.deepcopy(_EX[slug]['capabilities'][cap].get('example_arguments') or {})
+
+
+# ------------------------------------------------------------------ samples per member
+DMA_ETHANOL = ev('sample.configure', {'substance_id': 'ethanol', 'volume_m3': 2e-06, 'bubble_fraction': 0.0, 'contamination_fraction': 0.0})
+ABM_ETHANOL = [op('lid.set_angle', {'angle_rad': 1.5707963267948966}),
+               ev('sample.configure', {'volume_fractions': {'ethanol': 1.0}, 'volume_m3': 1e-07, 'matrix_id': 'ethanol', 'contamination_fraction': 0.0}),
+               op('lid.set_angle', {'angle_rad': 0.0})]
+
+
+def aqualab_sample():
+    # the 0.884 aw verification standard (sodium chloride 3.209 mol/kg, template record 0: aw 0.8838 at 25 °C), set explicitly: the
+    # contract example is now the template's headline record (aw 0.9002, aqualab 1.3.1), which is not the certified standard
+    std = dict(example('aqualab_4te', 'sample.configure'), substance_id='sodium_chloride', record_index=0)
+    return [op('lid.set_angle', {'angle_rad': 1.5707963267948966}), ev('sample.configure', std),
+            op('lid.set_angle', {'angle_rad': 0.0}), op('latch.set_angle', {'angle_rad': 1.5707963267948966})]
+
+
+def hach_standard():
+    return [op('lid.set_angle', {'angle_rad': 1.7}), ev('sample.configure', example('hach_tl2300epa', 'sample.configure')),
+            op('lid.set_angle', {'angle_rad': 0.0})]
+
+
+HX_SAMPLE = [op('lid.set_position', {'position_m': 0.1085}), ev('sample.configure', {'species_kg': {'water': 0.0005}, 'residue_kg': 0.0045}),
+             op('lid.set_position', {'position_m': 0.0})]
+MP_BENZOIC = [ev('sample.configure', {'channel': 0, 'substance_id': 'benzoic_acid', 'mass_kg': 2e-06, 'purity': 1.0, 'particle_size_m': 5e-05,
+                                      'decomposition_onset_k': None, 'decomposition_source': ''}),
+              ev('sample.configure', {'channel': 1, 'substance_id': 'benzoic_acid', 'mass_kg': 2e-06, 'purity': 1.0, 'particle_size_m': 5e-05,
+                                      'decomposition_onset_k': None, 'decomposition_source': ''})]
+PH_BUFFER = {'kind': 'ph_buffer', 'substance_id': 'nist_srm_186g_phosphate_equimolal_buffer', 'temperature_k': 298.15, 'standard_channel': 'ph'}
+SCENE_914 = 'chemlab.compile.scenes.metrohm914:Metrohm914Scene'
+
+# ------------------------------------------------------------------ P-4200 stages
+JASCO_METHOD = {'lamp': 'Na', 'wavelength_m': 5.89e-07, 'integration_s': 1.0, 'repeats': 3, 'declared_concentration_kg_m3': 100.0, 'declared_path_m': 0.1}
+QUARTZ_RAD = 0.17453292519943295        # a 10.000 deg control plate
+
+
+def jasco_cells():
+    s = example('jasco_p4200', 'sample.register')
+    blank = dict(s, sample_id='blank_water', kind='blank', template_id='', concentration_kg_m3=0.0, accept_missing_source_concentration=False)
+    quartz = dict(s, sample_id='quartz_10deg', kind='quartz', template_id='', solvent='', volume_m3=0.0, concentration_kg_m3=0.0,
+                  quartz_angle_rad=QUARTZ_RAD, accept_missing_source_concentration=False, accept_ideal_quartz=True)
+    return [ev('sample.register', blank), ev('sample.register', quartz), ev('sample.register', s)]
+
+
+def jasco_swap(new_id, lamp=True):
+    out = [op('lid.set', {'opened': True}), ev('sample.unload', {'recipient_id': 'external_rack'}), ev('sample.load', {'sample_id': new_id}),
+           op('lid.set', {'opened': False})]
+    if lamp:
+        out.append(op('lamp.set', {'enabled': True}))
+    return out
+
+
+def jasco_stage(stage):
+    """'blank': blank cell in, nothing else; 'quartz': method, blank read, quartz plate in; 'sample': + quartz calibration, sample in."""
+    st = jasco_cells() + [op('lid.set', {'opened': True}), ev('sample.load', {'sample_id': 'blank_water'}), op('lid.set', {'opened': False})]
+    if stage == 'blank':
+        return st
+    st += [op('method.configure', JASCO_METHOD), op('lamp.set', {'enabled': True}), op('acquisition.start', {'kind': 'blank'}), wait(120)]
+    st += jasco_swap('quartz_10deg')
+    if stage == 'quartz':
+        return st
+    st += [op('acquisition.start', {'kind': 'quartz'}), wait(120),
+           op('calibration.quartz', {'certified_angle_rad': QUARTZ_RAD, 'accept_simulated_standard': True})]
+    st += jasco_swap('sample_01')
+    return st
+
+
+# ------------------------------------------------------------------ K-7400S stages
+KNAUER_METHOD = {'sample_volume_m3': 1.5e-07, 'freeze_k': 267.15, 'cooling_limit_k': 258.15, 'sample_interval_s': 1.0}
+
+
+def knauer_tube(sample_id, molality):
+    s = example('knauer_k7400s', 'sample.load')
+    s['sample_id'] = sample_id
+    if molality is None:                        # pure water reference
+        s.update(kind='reference', components=[])
+    else:
+        s['components'] = [{'substance_id': 'NaCl', 'molality_mol_kg': molality}]
+    return s
+
+
+def knauer_load(sample_id, molality, first=False):
+    out = [] if first else [op('head.position', {'position': 'raised'}), ev('sample.unload', {})]
+    if first:
+        out.append(op('head.position', {'position': 'raised'}))
+    out += [ev('sample.load', knauer_tube(sample_id, molality)), op('head.position', {'position': 'measuring'})]
+    return out
+
+
+def knauer_stage(stage):
+    """'water': method set, water tube on the head; 'ready': water + 0.2 mol/kg NaCl calibration done, the sample tube on."""
+    st = [wait(1), op('method.configure', KNAUER_METHOD)] + knauer_load('water', None, first=True)
+    if stage == 'water':
+        return st
+    st += [op('acquisition.start', {'purpose': 'calibration'}), wait(400), op('calibration.accept', {'known_osmolality_mol_kg': 0.0})]
+    st += knauer_load('std_400', 0.2166) + [wait(120), op('acquisition.start', {'purpose': 'calibration'}), wait(400),
+                                         op('calibration.accept', {'known_osmolality_mol_kg': 0.4})]
+    st += knauer_load('sample_nacl', 0.1) + [wait(120)]
+    return st
+
+
+# ------------------------------------------------------------------ the lab config
+EXTRA_ENTRIES = {          # lab name -> (asset slug, stage)
+    'jasco_p4200_quartz': ('jasco_p4200', 'quartz'),
+    'jasco_p4200_sample': ('jasco_p4200', 'sample'),
+    'knauer_k7400s_water': ('knauer_k7400s', 'water'),
+    'knauer_k7400s_ready': ('knauer_k7400s', 'ready'),
+    'mt_hx204_empty': ('mt_hx204', 'empty'),
+}
+
+
+def world_steps(slug, stage=None):
+    if slug == 'antonpaar_dma5002':
+        return [DMA_ETHANOL]
+    if slug == 'antonpaar_abbematadvanced':
+        return copy.deepcopy(ABM_ETHANOL)
+    if slug == 'aqualab_4te':
+        return aqualab_sample()
+    if slug == 'hach_tl2300epa':
+        return hach_standard()
+    if slug == 'mt_hx204':
+        return [] if stage == 'empty' else copy.deepcopy(HX_SAMPLE)
+    if slug == 'mt_mp70':
+        return copy.deepcopy(MP_BENZOIC)
+    if slug == 'jasco_p4200':
+        return jasco_stage(stage or 'blank')
+    if slug == 'knauer_k7400s':
+        return knauer_stage(stage) if stage else []
+    return []
+
+
+def add_world(e, stage=None):
+    slug = e['asset_type_id'].split('.', 1)[1]
+    e['setup'] = list(e.get('setup') or []) + world_steps(slug, stage)
+    if (slug == 'knauer_k7400s' and stage is None) or stage == 'empty':
+        e['default_world'] = False            # bare entries: no tube / no sample (the default lab has its reference in)
+    if slug == 'metrohm_914':
+        e['scene'] = SCENE_914
+        e['solution'] = copy.deepcopy(PH_BUFFER)
+    return e
+
+
+def config(base=None, extra=True):
+    """all203.json (or ``base``) with the property_meter world; plus the staged entries (P-4200, K-7400S) when ``extra``."""
+    cfg = copy.deepcopy(base or load_config())
+    by_id = {e['id']: e for e in cfg['instruments']}
+    for e in cfg['instruments']:
+        add_world(e)
+    if extra:
+        for name, (slug, stage) in EXTRA_ENTRIES.items():
+            src = next((x for x in cfg['instruments'] if x['asset_type_id'] == 'instrument.' + slug), None)
+            if src is None or name in by_id:
+                continue
+            e = copy.deepcopy(next(x for x in load_config()['instruments'] if x['asset_type_id'] == 'instrument.' + slug))
+            e['id'] = name
+            e['name'] = '%s (%s stage)' % (e.get('name', slug), stage)
+            cfg['instruments'].append(add_world(e, stage))
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/quant_analyzer_lowering.py b/chemlab/chemlab/compile/tasks/quant_analyzer_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..67faa4cf6a21edd87371dc6e164d2aaa1b44994b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/quant_analyzer_lowering.py
@@ -0,0 +1,306 @@
+"""Lowering table of the quant_analyzer class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts (method arguments start from the contract example, which is
+read from the contract here), not from the mapping.  [] = no native call (a class check refused, an unsupported verb, a dry run
+or a usage error).  Queries the class makes (records.read, result.read, ...) are native calls too and are listed.
+
+Fit observations built from measured records hold measured numbers; they are matched by shape (``Obs``): how many there are,
+the fields the agent gave (reference id, level) exactly, and the measured fields present and numeric.
+
+Each member starts from a world stage (tasks/quant_analyzer_world.py) applied the same way to the lab and its twin.
+"""
+import json
+import math
+
+from ...hosts import contract_index
+from ..lowering import Obs
+from . import quant_analyzer_world as W
+from .quant_analyzer_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+
+def EX(slug, cap, **over):
+    """The contract example of a capability (the documented default the class method verb starts from), with overrides."""
+    c = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    a = json.loads(json.dumps(c['capabilities'][cap].get('example_arguments') or {}))
+    a.update(over)
+    return a
+
+
+def stage(iid, st, sample=False):
+    return lambda b: W.bring_up(b, iid, st, sample=sample)
+
+
+R = 'records.read'
+ICPE, ICPMS, TOC, AA, EDX = W.ICPE, W.ICPMS, W.TOC, W.AA, W.EDX
+STD = W.STANDARDS
+
+CASES = {
+    ICPE: {'prep': stage(ICPE, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('load soil --slot 1', []),                                                  # not supported: the operator loads
+        ('blank', [('blank.read', {})]),
+        ('records', [('records.list', {})]),
+        ('records record_2', [(R, {'record_id': 'record_2'})]),
+        ('calibrate multi --from record_2,record_3,record_4 --reference shimadzu_epa_ipc_assigned --levels 100,10,1 --dry-run', []),
+        ('calibrate multi --from record_2,record_3,record_4 --reference shimadzu_epa_ipc_assigned', []),       # MISSING_OPTION --levels
+        ('calibrate multi --from record_2,record_3,record_4 --reference shimadzu_epa_ipc_assigned --levels 100,10', []),   # LEVELS_MISMATCH
+        ('calibrate multi --from record_2,record_3,record_4 --reference shimadzu_epa_ipc_assigned --levels 100,10,1',
+         [(R, {'record_id': 'record_2'}), (R, {'record_id': 'record_3'}), (R, {'record_id': 'record_4'}),
+          ('calibration.fit', {'curve_id': 'multi', 'accept_same_response_conditions': True,
+                               'observations': Obs(3, [{'reference_id': STD[ICPE]['reference'], 'dilution_factor': d} for d in STD[ICPE]['levels']],
+                                                   ['line_integrals'])})]),
+        ('use-curve nope', [('calibration.select', {'curve_id': 'nope'})]),          # refused UNKNOWN_CURVE
+        ('use-curve multi', [('calibration.select', {'curve_id': 'multi'})]),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('export json', [('result.export', {'format': 'json'})]),
+        ('method repeats=2', []),                                                    # SOURCE_ON (class check)
+        ('stop', []),                                                                # nothing running
+        ('source off', [('plasma.extinguish', {})]),
+        ('method bogus=1', []),                                                      # UNKNOWN_SETTING (usage)
+        ('method rf=5kW', []),                                                       # OUT_OF_RANGE (usage)
+        ('method repeats=2 rf=1.2kW integration=500ms', [('method.configure', EX(ICPE, 'method.configure', repeats=2, rf_power_w=1200.0, integration_s=0.5))]),
+        ('method view=radial', [('method.configure', EX(ICPE, 'method.configure', repeats=2, rf_power_w=1200.0, integration_s=0.5, view='radial'))]),
+        ('source on', []),                                                           # POSITIONING: the view mirror is still moving
+        ('source on --wait', [('plasma.ignite', {})]),
+        ('measure --wait', [('measurement.start', {})]),                             # refused BLANK_REQUIRED (new method, no blank)
+        ('measure --slot 2', []),                                                    # NO_SLOTS (usage)
+    ]},
+    ICPMS: {'prep': stage(ICPMS, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate ms2 --from record_2,record_3,record_4 --reference infant_cal4 --levels 100,10,1',
+         [(R, {'record_id': 'record_2'}), (R, {'record_id': 'record_3'}), (R, {'record_id': 'record_4'}),
+          ('calibration.fit', {'curve_id': 'ms2', 'accept_same_response_conditions': True,
+                               'observations': Obs(3, [{'reference_id': 'infant_cal4', 'dilution_factor': d} for d in (100.0, 10.0, 1.0)], ['channels'])})]),
+        ('use-curve ms2', [('calibration.select', {'curve_id': 'ms2'})]),
+        ('blank', [('blank.read', {})]),
+        ('source off', [('plasma.extinguish', {})]),
+        ('source off', []),                                                          # already off
+        ('method dwell=50ms sweeps=5', [('method.configure', EX(ICPMS, 'method.configure', dwell_s=0.05, sweeps=5))]),
+        ('method masses=63,65', [('method.configure', EX(ICPMS, 'method.configure', dwell_s=0.05, sweeps=5, mass_numbers=[63, 65]))]),   # refused by the instrument
+        ('measure', []),                                                             # SOURCE_OFF (class check)
+        ('source on', [('plasma.ignite', {})]),
+        ('#wait 3', None),
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('stop', []),
+    ]},
+    TOC: {'prep': stage(TOC, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {'offset': 0, 'limit': 100}), ('calibration.list', {})]),
+        ('calibrate tc2 --from %s:result:2,%s:result:3,%s:result:4 --reference crm_altus_khp_10mg --levels 10,2,1' % (TOC, TOC, TOC),
+         [(R, {'record_id': '%s:result:2' % TOC}), (R, {'record_id': '%s:result:3' % TOC}), (R, {'record_id': '%s:result:4' % TOC}),
+          ('calibration.fit', {'curve_id': 'tc2', 'channel': 'TC', 'accept_source_channel_transfer': False, 'accept_same_response_conditions': True,
+                               'observations': Obs(3, [{'reference_id': 'crm_altus_khp_10mg', 'reference_channel': 'TC', 'dilution_factor': d}
+                                                       for d in (10.0, 2.0, 1.0)], ['injection_volume_m3', 'peak_area_s'])})]),
+        ('use-curve tc2', [('calibration.read', {'curve_id': 'tc2'}), ('calibration.select', {'channel': 'TC', 'curve_id': 'tc2'})]),
+        ('use-curve tc2 --channel IC', [('calibration.select', {'channel': 'IC', 'curve_id': 'tc2'})]),    # refused: curve of channel TC
+        ('blank', [('blank.read', {})]),
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('method mode=NPOC dilution=2', [('method.configure', EX(TOC, 'method.configure', mode='NPOC', dilution_factor=2.0))]),
+        ('method dilution=1.5', [('method.configure', EX(TOC, 'method.configure', mode='NPOC', dilution_factor=1.5))]),   # refused DILUTION_RANGE
+        ('method injection=5mL', []),                                                # OUT_OF_RANGE (usage)
+        ('source on', []),                                                           # not supported (furnace)
+        ('load x', []),                                                              # not supported
+        ('stop', []),
+    ]},
+    AA: {'prep': stage(AA, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records %s:result:2' % AA, [(R, {'record_id': '%s:result:2' % AA})]),
+        ('calibrate aa2 --from %s:result:2,%s:result:3,%s:result:4 --reference aj_wastewater_std3_cu --levels 10,2,1' % (AA, AA, AA),
+         [(R, {'record_id': '%s:result:2' % AA}), (R, {'record_id': '%s:result:3' % AA}), (R, {'record_id': '%s:result:4' % AA}),
+          ('calibration.fit', {'curve_id': 'aa2', 'accept_same_response_conditions': True,
+                               'observations': Obs(3, [{'reference_id': 'aj_wastewater_std3_cu', 'dilution_factor': d} for d in (10.0, 2.0, 1.0)],
+                                                   ['injection_volume_m3', 'integrated_absorbance_s'])})]),
+        ('use-curve aa2', [('calibration.select', {'curve_id': 'aa2'})]),
+        ('method element=Zn', []),                                                   # SOURCE_ON (class check)
+        ('source off', [('flame.extinguish', {})]),
+        ('method repeats=3 flush=300ms', [('method.configure', EX(AA, 'method.configure', repeats=3, flush_s=0.3))]),
+        ('source on', [('flame.ignite', {})]),
+        ('measure', [('measurement.start', {})]),                                    # refused: the flame is still igniting
+        ('#wait 2', None),
+        ('blank', [('blank.read', {})]),
+        ('export json', [('result.export', {'format': 'json'})]),
+        ('load x', []),
+        ('stop', []),
+    ]},
+    EDX: {'prep': stage(EDX, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate x2 --from record_2,record_3,record_4 --reference blackmass_icp_f --levels 0.25,0.5,1',
+         [(R, {'record_id': 'record_2'}), (R, {'record_id': 'record_3'}), (R, {'record_id': 'record_4'}),
+          ('calibration.fit', {'curve_id': 'x2', 'accept_same_matrix_response': True,
+                               'observations': Obs(3, [{'reference_id': 'blackmass_icp_f', 'reference_fraction': f} for f in (0.25, 0.5, 1.0)],
+                                                   ['line_observations'])})]),
+        ('use-curve x2', [('calibration.select', {'curve_id': 'x2'})]),
+        ('blank', [('blank.read', {})]),
+        ('method voltage=40kV current=200uA energy_max=40keV', [('method.configure', EX(EDX, 'method.configure', voltage_v=40000.0, current_a=0.0002,
+                                                                                        energy_max_j=40 * 1.602176634e-16))]),
+        ('method voltage=80kV', []),                                                 # OUT_OF_RANGE (usage)
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('source on', []),                                                           # not supported (tube settings are method keys)
+        ('stop', []),
+    ]},
+    W.MX: {'prep': stage(W.MX, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate aox2 --from record_2,record_3,record_4', [('calibration.fit', {'curve_id': 'aox2', 'record_ids': ['record_2', 'record_3', 'record_4']})]),
+        ('calibrate --from record_2,record_3,record_4', []),                         # MISSING_ARGUMENT (curve name)
+        ('calibrate aox3 --from record_1,record_3,record_4', [('calibration.fit', {'curve_id': 'aox3', 'record_ids': ['record_1', 'record_3', 'record_4']})]),  # refused: a blank
+        ('use-curve aox2', [('calibration.select', {'curve_id': 'aox2'})]),
+        ('blank', [('blank.read', {})]),
+        ('source off', [('gas.set', {'enabled': False})]),
+        ('measure', []),                                                             # NOT_READY (class check)
+        ('source on --wait', [('gas.set', {'enabled': True})]),
+        ('method integration=90s', [('method.configure', EX(W.MX, 'method.configure', integration_s=90.0))]),
+        ('method temp=1200C', []),                                                   # OUT_OF_RANGE (usage)
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('load x', []),
+        ('stop', []),
+    ]},
+    W.DMA: {'prep': stage(W.DMA, 'calibrated'), 'steps': [
+        ('status', []),
+        ('load soil --slot 5', []),                                                  # MISSING_OPTION --mass
+        ('load soil --slot 5 --mass 2g', []),                                        # OUT_OF_RANGE (usage)
+        ('load soil --slot 5 --mass 100mg', [('table.set_entry', {'slot_index': 5, 'name': 'soil', 'amount_kg': 0.0001, 'in_statistics': False})]),
+        ('measure --wait', []),                                                      # MISSING_OPTION --slot
+        ('measure --slot 5 --wait', [('measurement.start', {'slot_index': 5}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('measure --slots 1,5', [('sequence.start', {'slot_indices': [1, 5]})]),     # refused: those boats were measured already
+        ('records', [('records.list', {})]),
+        ('calibrate hg2 --from record_2,record_3,record_4', [('calibration.fit', {'curve_id': 'hg2', 'record_ids': ['record_2', 'record_3', 'record_4']})]),
+        ('use-curve hg2', [('calibration.select', {'curve_id': 'hg2'})]),
+        ('blank', [('blank.read', {})]),
+        ('method record=1s window=100ms', [('method.configure', EX(W.DMA, 'method.configure', record_s=1.0, window_s=0.1))]),
+        ('source off', [('gas.set', {'enabled': False})]),
+        ('measure --slot 0', []),                                                    # NOT_READY (class check: oxygen off)
+        ('export json', [('result.export', {'format': 'json'})]),
+        ('stop', []),
+    ]},
+    W.VARIO: {'prep': stage(W.VARIO, 'standards'), 'steps': [
+        ('status', []),
+        ('calibrate --from 1,2,3 --reference oem_sulfanilic_acid', []),              # MISSING_ARGUMENT (element)
+        ('calibrate X --from 1,2,3 --reference oem_sulfanilic_acid', []),            # BAD_CHOICE (usage)
+        ('calibrate C --from 1,2,9 --reference oem_sulfanilic_acid', [('result.read', {})]),   # refused: slot 9 not in the last sequence
+        ('calibrate C --from 1,2,3 --reference oem_sulfanilic_acid',
+         [('result.read', {}), ('calibration.fit', {'element': 'C', 'accept_same_method_basis': True,
+                                                     'observations': Obs(3, {'reference_id': 'oem_sulfanilic_acid'}, ['sample_mass_kg', 'peak_area_s'])})]),
+        ('calibrate N --from 1,2,3 --reference oem_sulfanilic_acid',
+         [('result.read', {}), ('calibration.fit', {'element': 'N', 'accept_same_method_basis': True,
+                                                     'observations': Obs(3, {'reference_id': 'oem_sulfanilic_acid'}, ['sample_mass_kg', 'peak_area_s'])})]),
+        ('measure --wait', []),                                                      # MISSING_OPTION --slots
+        ('measure --slots 4 --wait', [('sequence.configure', {'slot_indices': [4]}), ('sequence.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('blank', [('blank.read', {})]),
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('method mode=CHN', [('method.configure', EX(W.VARIO, 'method.configure', mode='CHN'))]),
+        ('use-curve C', []),                                                         # not supported
+        ('source on', []),                                                           # not supported
+        ('records', []),                                                             # not supported
+        ('stop', []),
+    ]},
+    W.RGA: {'prep': stage(W.RGA, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('scan.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate n2b --from record_2,record_3,record_4', []),                     # MISSING_OPTION --species
+        ('calibrate n2b --from record_2,record_3,record_4 --species nitrogen',
+         [('calibration.fit', {'curve_id': 'n2b', 'species_id': 'nitrogen', 'record_ids': ['record_2', 'record_3', 'record_4']})]),
+        ('use-curve cal1,n2b', [('calibration.select', {'curve_ids': ['cal1', 'n2b']})]),   # refused: two curves for one gas
+        ('use-curve n2b', [('calibration.select', {'curve_ids': ['n2b']})]),
+        ('blank', [('blank.read', {})]),
+        ('source off', [('filament.set', {'enabled': False})]),
+        ('method cycles=2 emission=1.5mA', [('method.configure', EX(W.RGA, 'method.configure', cycles=2, emission_current_a=0.0015))]),
+        ('source on', [('filament.set', {'enabled': True})]),
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('load gas', []),
+        ('stop', []),
+    ]},
+    W.ORBI: {'prep': stage(W.ORBI, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('scan.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate m2 --from record_2,record_3,record_4', [('calibration.fit', {'curve_id': 'm2', 'record_ids': ['record_2', 'record_3', 'record_4']})]),
+        ('use-curve m2', [('calibration.select', {'curve_id': 'm2'})]),
+        ('blank', [('blank.read', {})]),
+        ('method resolution=60000', [('method.configure', EX(W.ORBI, 'method.configure', resolution=60000))]),
+        ('method resolution=50000', []),                                             # BAD_CHOICE (usage)
+        ('source off', [('source.set', {'enabled': False})]),
+        ('measure', []),                                                             # NOT_READY (class check)
+        ('export json', [('result.export', {'format': 'json'})]),
+        ('load x', []),
+        ('stop', []),
+    ]},
+    W.LECO: {'prep': stage(W.LECO, 'calibrated', sample=True), 'steps': [
+        ('status', []),
+        ('measure --wait', [('measurement.start', {}), ('result.read', {})]),
+        ('result', [('result.read', {})]),
+        ('records', [('records.list', {})]),
+        ('calibrate --from record_2,record_3,record_4', []),                         # MISSING_OPTION --elements
+        ('calibrate c9 --from record_2,record_3,record_4 --elements O,N,H', []),     # CURVE_NAMED_BY_INSTRUMENT (usage)
+        ('calibrate --from record_2,record_3,record_4 --elements O,N,H',
+         [('calibration.fit', {'record_ids': ['record_2', 'record_3', 'record_4'], 'elements': ['O', 'N', 'H']})]),
+        ('use-curve curve_2', [('calibration.select', {'curve_id': 'curve_2'})]),
+        ('measure', []),                                                             # NOT_READY: the crucible is used (class check)
+        ('blank', [('blank.read', {})]),
+        ('source off', [('gas.set', {'enabled': False})]),
+        ('method fusion_power=5kW integration=0.4s', [('method.configure', EX(W.LECO, 'method.configure', fusion_power_w=5000.0, integration_s=0.4))]),
+        ('export csv', [('result.export', {'format': 'csv'})]),
+        ('load pin', []),                                                            # not supported
+        ('stop', []),
+    ]},
+    W.IRMS: {'prep': stage(W.IRMS, 'ready'), 'steps': [
+        ('status', []),
+        ('measure --time 600s', [('acquisition.start', {'duration_s': 600.0, 'reference_pulses': [{'gas': 1, 'start_s': 20.0, 'duration_s': 20.0}]})]),
+        ('load usgs40 --amount 4umol --delay 100s', [('sample.inject', {'inlet': 1, 'species': 'CO2', 'amount_mol': 4e-06, 'substance_id': 'usgs40', 'delay_s': 100.0})]),
+        ('load usgs41 --amount 4umol --delay 250s', [('sample.inject', {'inlet': 1, 'species': 'CO2', 'amount_mol': 4e-06, 'substance_id': 'usgs41', 'delay_s': 250.0})]),
+        ('load usgs41', []),                                                         # MISSING_OPTION --amount
+        ('method species=N2', [('magnet.set_species', {'species': 'N2'})]),       # refused by the instrument: acquiring (RUN_ACTIVE -> BUSY)
+        ('#wait 620', None),
+        ('result', [('results.read', {'since_peak': 0})]),
+        ('calibrate 13C --from 2', []),                                              # BAD_SETTING (usage)
+        ('calibrate 13C --from 2=usgs40,3=usgs41', [('calibration.normalize', {'isotope': '13C', 'standards': [{'peak': 2, 'substance_id': 'usgs40'},
+                                                                                                                 {'peak': 3, 'substance_id': 'usgs41'}]})]),
+        ('method flow=6mL/min dilution=0.5', [('centrion.set', {'carrier_m3_s': 1e-07, 'dilution': 0.5})]),
+        ('method flow=1mL/min', []),                                                 # OUT_OF_RANGE (usage)
+        ('method species=N2 amplifier=auto', [('magnet.set_species', {'species': 'N2'}), ('amplifier.configure', {'mode': 'auto'})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('source off', [('source.set', {'filament': False})]),
+        ('measure', []),                                                             # NOT_READY (class check: status not green)
+        ('blank', []),                                                               # not supported
+        ('use-curve 13C', []),                                                       # not supported
+    ]},
+    W.SEAL: {'prep': stage(W.SEAL, 'ready'), 'steps': [
+        ('status', []),
+        ('load river_1 --slot Z:1', []),                                             # UNKNOWN_LOCATION (usage)
+        ('load river_1', []),                                                        # MISSING_OPTION --slot
+        ('load river_1 --slot A:1', [('sampler.load', {'rack': 'A', 'position': 1, 'item_id': 'river_1', 'volume_m3': 1e-05})]),
+        ('measure --wait', []),                                                      # MISSING_OPTION --cups
+        ('measure --cups %s --wait --max 2h' % W.SEAL_CUPS,
+         [('run.start', {'cups': [{'rack': 'S', 'position': 22, 'type': 'baseline'}, {'rack': 'S', 'position': 1, 'type': 'calibrant'},
+                                  {'rack': 'S', 'position': 2, 'type': 'calibrant'}, {'rack': 'S', 'position': 3, 'type': 'calibrant'},
+                                  {'rack': 'S', 'position': 4, 'type': 'calibrant'}, {'rack': 'A', 'position': 1, 'type': 'sample'},
+                                  {'rack': 'S', 'position': 22, 'type': 'baseline'}], 'sample_s': 60.0, 'wash_s': 30.0}),
+          ('data.results', {})]),
+        ('result', [('data.results', {})]),
+        ('calibrate --fit linear --no-drift', [('data.recalculate', {'fit': 'linear', 'carryover_correction': True, 'drift_correction': False})]),
+        ('calibrate --fit cubic', []),                                               # BAD_CHOICE (usage)
+        ('source on', []),                                                           # MISSING_CHANNEL (usage)
+        ('source on --channel 1', [('lamp.set', {'channel': 'ch1', 'on': True})]),
+        ('method method=MT508_A026_nitrate_nitrite --channel 1', [('channel.configure', {'channel': 'ch1', 'method_id': 'MT508_A026_nitrate_nitrite'})]),
+        ('stop', []),
+        ('blank', []),                                                               # not supported
+        ('use-curve x', []),                                                         # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/quant_analyzer_tasks.py b/chemlab/chemlab/compile/tasks/quant_analyzer_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..e777a09942d1bc4e48d84f45137d20b201bd5c7a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/quant_analyzer_tasks.py
@@ -0,0 +1,270 @@
+"""quant_analyzer class acceptance tasks (10): gold solutions use `chemlab run`; the checkers read the evaluator view and the
+agent's work files.  Truth values are the template values of the samples the operator put in (tasks/quant_analyzer_world.py).
+
+World set-up is the operator's: samples on the nebulizer / in the carousel / in the chamber, the instrument brought to a stage
+(blank and standards measured) with the instrument's own calls before the agent starts.
+"""
+from . import quant_analyzer_world as W
+from .common import run_suite
+
+ICPE, TOC, AA, EDX, DMA, VARIO, IRMS, SEAL = W.ICPE, W.TOC, W.AA, W.EDX, W.DMA, W.VARIO, W.IRMS, W.SEAL
+
+
+# ------------------------------------------------------------------ worlds
+def w_icpe_standards_sample(lab):
+    W.bring_up(lab, ICPE, 'standards')
+    W.load(lab, ICPE, 'sample')
+
+
+def w_toc_ready(lab):
+    W.bring_up(lab, TOC, 'calibrated', sample=True)
+
+
+def w_icpe_just_on(lab):
+    w = W.World(lab, ICPE)
+    w.ag('power.set', enabled=True)
+    w.ag('method.configure', **w.example('method.configure'))
+    w.adv(5.0)
+
+
+def w_dma_oxygen_off(lab):
+    w = W.bring_up(lab, DMA, 'calibrated')
+    w.ag('gas.set', enabled=False)
+    w.adv(5.0)
+
+
+def w_aa_ready(lab):
+    W.bring_up(lab, AA, 'calibrated', sample=True)
+
+
+def w_vario_standards(lab):
+    W.bring_up(lab, VARIO, 'standards')
+
+
+def w_irms_ready(lab):
+    W.bring_up(lab, IRMS, 'ready')
+    W.irms_declare(lab, 'leaf_a', {'13C': -0.0281, '15N': 0.0034})
+
+
+def w_seal_ready(lab):
+    W.bring_up(lab, SEAL, 'ready')
+
+
+def w_edx_standards_sample(lab):
+    W.bring_up(lab, EDX, 'standards')
+    W.load(lab, EDX, 'sample')
+
+
+def w_two_calibrated(lab):
+    W.bring_up(lab, ICPE, 'calibrated', sample=True)
+    W.bring_up(lab, AA, 'calibrated', sample=True)
+
+
+# ------------------------------------------------------------------ checkers
+def c_icpe_cu(c):
+    e = c.ev(ICPE)
+    c.add('a curve is selected', e['calibration.ready'])
+    c.near('ICPE result Cu = 0.99 mg/L (±2 %)', e['result.cu_kg_m3'], 0.00099, 0.00099 * 0.02)
+    c.near('cu_mg_l.txt = 0.99 (±0.02)', c.number_file('cu_mg_l.txt'), 0.99, 0.02)
+
+
+def c_toc_tc(c):
+    e = c.ev(TOC)
+    c.near('TOC-L result TC = 1.898 mg/L (±2 %)', e['result.tc_kg_m3'], 0.001898, 0.001898 * 0.02)
+    c.near('tc_mg_l.txt = 1.898 (±0.04)', c.number_file('tc_mg_l.txt'), 1.898, 0.04)
+
+
+def c_icpe_lit(c):
+    e = c.ev(ICPE)
+    c.add('vacuum ready', e['vacuum.ready'], e.get('vacuum.pressure_pa'))
+    c.add('plasma lit', e['plasma.lit'])
+
+
+def c_dma_hg(c):
+    e = c.ev(DMA)
+    c.add('slot 5 entered in the sample table as soil_5', any(isinstance(x, dict) and x.get('slot_index') == 5 and x.get('name') == 'soil_5'
+                                                           for x in e.get('table.entries') or []), e.get('table.entries'))
+    c.near('DMA result Hg = 0.723 mg/kg (±3 %)', e['result.mass_fraction_kg_kg'], 7.23e-07, 7.23e-07 * 0.03)
+    c.near('hg_mg_kg.txt = 0.723 (±0.025)', c.number_file('hg_mg_kg.txt'), 0.723, 0.025)
+
+
+def c_aa_three(c):
+    e = c.ev(AA)
+    c.equal('three repeats measured', e['measurement.completed_repeats'], 3)
+    c.add('flame lit', e['flame.lit'])
+    c.near('AAS result Cu = 0.083 mg/L (±3 %)', e['result.concentration_kg_m3'], 8.3e-05, 8.3e-05 * 0.03)
+    c.near('cu_aa.txt = 0.083 (±0.003)', c.number_file('cu_aa.txt'), 0.083, 0.003)
+
+
+def c_vario_c(c):
+    e = c.ev(VARIO)
+    c.near('vario result C = 39.4 % (±1 % rel.)', e['result.c_fraction'], 0.394, 0.394 * 0.01)
+    c.near('c_pct.txt = 39.4 (±0.4)', c.number_file('c_pct.txt'), 39.4, 0.4)
+
+
+def c_irms(c):
+    e = c.ev(IRMS)
+    c.add('13C normalisation fitted', '13C' in ((e.get('calibration.state') or {}).get('normalization') or {}), e.get('calibration.state'))
+    c.near('d13c.txt = -28.1 permil (±0.5)', c.number_file('d13c.txt'), -28.1, 0.5)
+
+
+def c_seal(c):
+    e = c.ev(SEAL)
+    c.equal('the run completed', (e.get('run.status') or {}).get('state'), 'completed')
+    c.add('river_1 in cup A:1', any(isinstance(v, dict) and v.get('item_id') == 'river_1' for v in (e.get('sampler.contents') or {}).values())
+          or 'A:1' in (e.get('sampler.contents') or {}) or 'A1' in (e.get('sampler.contents') or {}), e.get('sampler.contents'))
+    c.near('no3_n.txt = 1.80 (±0.06)', c.number_file('no3_n.txt'), 1.80, 0.06)
+
+
+def c_edx(c):
+    e = c.ev(EDX)
+    cu = next((x.get('mass_fraction') for x in e.get('result.mass_fractions') or [] if x.get('element') == 'Cu'), None)
+    c.near('EDX result Cu = 2.04 % (±3 % rel.)', cu, 0.0204, 0.0204 * 0.03)
+    c.near('cu_pct.txt = 2.04 (±0.06)', c.number_file('cu_pct.txt'), 2.04, 0.06)
+
+
+def c_higher(c):
+    c.add('ICPE sample measured', c.ev(ICPE)['result.cu_kg_m3'] is not None)
+    c.add('AAS sample measured', c.ev(AA)['result.concentration_kg_m3'] is not None)
+    c.equal('higher.txt names the ICPE', c.work_file('higher.txt'), ICPE)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_01 = r'''chemlab run shimadzu_icpe9800 records
+chemlab run shimadzu_icpe9800 calibrate cal_cu --from record_2,record_3,record_4 --reference shimadzu_epa_ipc_assigned --levels 100,10,1
+chemlab run shimadzu_icpe9800 use-curve cal_cu
+chemlab run shimadzu_icpe9800 measure --wait
+chemlab run shimadzu_icpe9800 result --json | jq -r '.rows[] | select(.analyte | startswith("Cu")) | .value * 1000' > cu_mg_l.txt
+cat cu_mg_l.txt'''
+
+GOLD_02 = r'''chemlab run shimadzu_tocl status
+chemlab run shimadzu_tocl measure --wait
+chemlab run shimadzu_tocl result --json | jq -r '.rows[] | select(.analyte == "TC") | .value * 1000' > tc_mg_l.txt
+cat tc_mg_l.txt'''
+
+GOLD_03 = r'''chemlab run shimadzu_icpe9800 source on --wait --json > s.json; rc=$?
+jq -c '{code: .error.code, fix: .error.fix}' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "VACUUM_NOT_READY"' s.json >/dev/null; then
+  chemlab call shimadzu_icpe9800 vacuum.set --enabled true
+  chemlab wait 60
+  chemlab run shimadzu_icpe9800 source on --wait
+fi
+chemlab run shimadzu_icpe9800 status'''
+
+GOLD_04 = r'''chemlab run milestone_dma80 load soil_5 --slot 5 --mass 50mg
+chemlab run milestone_dma80 measure --slot 5 --wait --json > m.json; rc=$?
+jq -c '{code: .error.code, fix: .error.fix}' m.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_READY"' m.json >/dev/null; then
+  chemlab run milestone_dma80 source on --wait
+  chemlab run milestone_dma80 measure --slot 5 --wait
+fi
+chemlab run milestone_dma80 result --json | jq -r '.rows[] | select(.analyte == "Hg mass fraction") | .value * 1000000' > hg_mg_kg.txt
+cat hg_mg_kg.txt'''
+
+GOLD_05 = r'''chemlab run jena_contraa800 method repeats=3 --json > m.json; rc=$?
+jq -c '{code: .error.code, fix: .error.fix}' m.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "SOURCE_ON"' m.json >/dev/null; then
+  chemlab run jena_contraa800 source off
+  chemlab run jena_contraa800 method repeats=3
+  chemlab run jena_contraa800 source on --wait
+fi
+chemlab run jena_contraa800 measure --wait
+chemlab run jena_contraa800 result --json | jq -r '.rows[0].value * 1000' > cu_aa.txt
+cat cu_aa.txt'''
+
+GOLD_06 = r'''chemlab run elementar_varioel calibrate C --from 1,2,3 --reference oem_sulfanilic_acid
+chemlab run elementar_varioel measure --slots 4 --wait
+chemlab run elementar_varioel result --json | jq -r '.rows[] | select(.analyte == "slot 4 C") | .value * 100' > c_pct.txt
+cat c_pct.txt'''
+
+GOLD_07 = r'''I=elementar_isoprimeprecision
+chemlab run $I measure --time 10min
+chemlab run $I load usgs40 --amount 4umol --delay 100s
+chemlab run $I load usgs41 --amount 4umol --delay 250s
+chemlab run $I load leaf_a --amount 4umol --delay 400s
+chemlab run $I wait --max 15min
+chemlab run $I result
+chemlab run $I calibrate 13C --from 2=usgs40,3=usgs41
+chemlab run $I result --json | jq -r '.rows[] | select(.peak == 4 and .isotope == "13C") | .value * 1000' > d13c.txt
+cat d13c.txt'''
+
+GOLD_08 = r'''S=seal_aa500
+chemlab run $S load river_1 --slot A:1 --volume 10mL
+chemlab run $S measure --cups S:22:baseline,S:1:calibrant,S:2:calibrant,S:3:calibrant,S:4:calibrant,A:1:sample,S:22:baseline --wait --max 2h
+chemlab run $S result --json | jq -r '.rows[] | select(.analyte == "A:1 ch1") | .value * 1000' > no3_n.txt
+cat no3_n.txt'''
+
+GOLD_09 = r'''chemlab run shimadzu_edx7200 calibrate bm1 --from record_2,record_3,record_4 --reference blackmass_icp_f --levels 0.25,0.5,1
+chemlab run shimadzu_edx7200 use-curve bm1
+chemlab run shimadzu_edx7200 measure --wait
+chemlab run shimadzu_edx7200 result --json | jq -r '.rows[] | select(.analyte | startswith("Cu")) | .value * 100' > cu_pct.txt
+cat cu_pct.txt'''
+
+GOLD_10 = r'''chemlab run shimadzu_icpe9800 measure --wait
+chemlab run jena_contraa800 measure --wait
+a=$(chemlab run shimadzu_icpe9800 result --json | jq -r '.rows[] | select(.analyte | startswith("Cu")) | .value')
+b=$(chemlab run jena_contraa800 result --json | jq -r '.rows[0].value')
+echo "icpe=$a aas=$b"
+if [ "$(echo "$a > $b" | sed 's/e/*10^/g' | bc -l)" = 1 ]; then echo shimadzu_icpe9800 > higher.txt; else echo jena_contraa800 > higher.txt; fi
+cat higher.txt'''
+
+TASKS = [
+    {'id': 'qa01_icpe_calibrate_quantify', 'kind': 'multi-step: calibrate from records, use, measure, report', 'instruments': [ICPE],
+     'world': w_icpe_standards_sample, 'check': c_icpe_cu, 'gold': GOLD_01,
+     'instruction': 'The ICP-OES (shimadzu_icpe9800) is lit; a blank and three standards have been measured (records record_2, record_3, '
+                    'record_4: the multi-element standard shimadzu_epa_ipc_assigned diluted 100, 10 and 1 times) and the unknown sample is '
+                    'now on the nebulizer. Fit a calibration curve named cal_cu from the three standards, use it, measure the sample and '
+                    'write its copper concentration in mg/L, as a plain number, into cu_mg_l.txt.'},
+    {'id': 'qa02_toc_tc', 'kind': 'single measurement + report', 'instruments': [TOC], 'world': w_toc_ready, 'check': c_toc_tc, 'gold': GOLD_02,
+     'instruction': 'The TOC-L (shimadzu_tocl) is calibrated for total carbon (TC) and a water sample is in place. Measure it and write its '
+                    'TC in mg/L, as a plain number, into tc_mg_l.txt.'},
+    {'id': 'qa03_recover_icpe_vacuum', 'kind': 'recovery: plasma refused (vacuum not ready)', 'instruments': [ICPE], 'world': w_icpe_just_on,
+     'check': c_icpe_lit, 'gold': GOLD_03,
+     'instruction': 'The ICP-OES (shimadzu_icpe9800) has just been switched on and its method is set. Light the plasma so that the '
+                    'instrument is ready to measure.'},
+    {'id': 'qa04_recover_dma_oxygen', 'kind': 'recovery: measurement refused (oxygen off) + sample table', 'instruments': [DMA],
+     'world': w_dma_oxygen_off, 'check': c_dma_hg, 'gold': GOLD_04,
+     'instruction': 'On the DMA-80 (milestone_dma80) the calibration is ready and the boat in carousel slot 5 holds 50.0 mg of a soil '
+                    'reference material. Enter it in the sample table as soil_5 with its mass, measure it and write its mercury mass '
+                    'fraction in mg/kg, as a plain number, into hg_mg_kg.txt.'},
+    {'id': 'qa05_recover_aa_method_flame', 'kind': 'recovery: method change refused (flame lit)', 'instruments': [AA], 'world': w_aa_ready,
+     'check': c_aa_three, 'gold': GOLD_05,
+     'instruction': 'The flame AAS (jena_contraa800) is calibrated for Cu and the sample is in place. Measure it with 3 replicate readings '
+                    '(3 repeats) and write its Cu concentration in mg/L, as a plain number, into cu_aa.txt. Leave the flame lit.'},
+    {'id': 'qa06_vario_carbon', 'kind': 'multi-step: element curve from autosampler slots, sequence, report', 'instruments': [VARIO],
+     'world': w_vario_standards, 'check': c_vario_c, 'gold': GOLD_06,
+     'instruction': 'The vario EL cube (elementar_varioel) has run a blank (slot 0) and three sulfanilic acid standards (slots 1, 2 and 3; '
+                    'reference oem_sulfanilic_acid). A wheat flour capsule is in slot 4. Calibrate carbon from the three standards, '
+                    'measure slot 4 and write its carbon content in mass %, as a plain number, into c_pct.txt.'},
+    {'id': 'qa07_irms_delta13c', 'kind': 'long action: timed acquisition job with injections, normalisation', 'instruments': [IRMS],
+     'world': w_irms_ready, 'check': c_irms, 'gold': GOLD_07,
+     'instruction': 'The isoprime precisION (elementar_isoprimeprecision) is tuned for CO2 and its working reference gas is assigned. Run a '
+                    '10-minute acquisition; during it inject 4 µmol each of the reference materials USGS40 (100 s after the start) and '
+                    'USGS41 (at 250 s), and 4 µmol of the sample leaf_a (at 400 s). Then normalise δ13C with the two reference '
+                    'materials and write the normalised δ13C of leaf_a in ‰, as a plain number, into d13c.txt.'},
+    {'id': 'qa08_sfa_nitrate', 'kind': 'long action: segmented-flow run job', 'instruments': [SEAL], 'world': w_seal_ready, 'check': c_seal,
+     'gold': GOLD_08,
+     'instruction': 'The AA500 (seal_aa500) is started up; calibrants std0..std3 are in cups S:1..S:4 and wash water in S:22. Put the '
+                    'river water sample river_1 (provided by the lab) into cup A:1 (10 mL), run a baseline cup (S:22), the four '
+                    'calibrants, the sample and a final baseline cup, and write the nitrate+nitrite-N result of the sample (channel '
+                    'ch1) in mg/L, as a plain number, into no3_n.txt.'},
+    {'id': 'qa09_xrf_copper', 'kind': 'multi-step: XRF curve from records with reference fractions', 'instruments': [EDX],
+     'world': w_edx_standards_sample, 'check': c_edx, 'gold': GOLD_09,
+     'instruction': 'The EDX-7200 (shimadzu_edx7200) has measured a blank and three pellets of the black-mass reference blackmass_icp_f '
+                    'at reference fractions 0.25, 0.5 and 1 (records record_2, record_3, record_4). The unknown black mass sample is now '
+                    'in the chamber. Fit a curve named bm1 from the three pellets, use it, measure the sample and write its Cu mass '
+                    'fraction in %, as a plain number, into cu_pct.txt.'},
+    {'id': 'qa10_two_instruments', 'kind': 'two instruments: measure both, compare', 'instruments': [ICPE, AA], 'world': w_two_calibrated,
+     'check': c_higher, 'gold': GOLD_10,
+     'instruction': 'Both the ICP-OES (shimadzu_icpe9800) and the flame AAS (jena_contraa800) are calibrated for copper, each with a '
+                    'sample in place. Measure both samples and write the id of the instrument whose sample has the higher Cu '
+                    'concentration into higher.txt.'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'quant_analyzer'
+    _t.setdefault('config', W.bare)                  # the class world is applied to the bare members (see W.bare)
+
+
+def main(only=None, noact=True):
+    return run_suite('quant_analyzer', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/quant_analyzer_world.py b/chemlab/chemlab/compile/tasks/quant_analyzer_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..d33f089cc0a725c41294de878c57387d642bd9b0
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/quant_analyzer_world.py
@@ -0,0 +1,704 @@
+"""Host-side world for the quant_analyzer class: what the lab operator has done before the agent starts.
+
+Every member of the class measures a sample that the operator puts in: a solution on the nebulizer / autosampler, a capsule in
+the carousel, a cup in the XRF chamber, a gas in the RGA chamber, a pin in the LECO crucible.  None of that is an agent
+capability (sample.load is evaluator-only on 11 of the 13 contracts), so the class verbs never do it; tasks and lowering
+cases put samples in with the functions here.
+
+Stage functions take a LabBackend or a GenericLab (``lab.backend``) and work the same on a lab and on its lowering twin:
+
+* ``load(b, iid, kind, **kw)``: the operator exchanges the sample (unload the old one, load the new one) with the member's own
+  evaluator calls; ``kind`` is blank / standard / sample, the member defaults below give the template and amounts;
+* ``bring_up(b, iid, stage)``: the operator brings the instrument to a stage with the member's own calls (agent-principal calls
+  for agent capabilities, the evaluator for host ones): 'on' (power, vacuum, gases), 'ready' (method set, source lit / furnace
+  hot), 'blank' (a blank measured), 'standards' (three standards measured: records exist for `calibrate`), 'calibrated' (a curve
+  fitted and selected), and a sample loaded at the end when ``sample=True``;
+* ``STANDARDS[iid]``: what the standards are (reference id and levels), for gold solutions and checkers.
+
+Nothing here is reachable from the sandbox; the class adapter never calls any of it.
+"""
+import copy
+
+from ...labbackend import load_config
+
+ICPE, ICPMS, TOC, AA, EDX = 'shimadzu_icpe9800', 'shimadzu_icpms2030', 'shimadzu_tocl', 'jena_contraa800', 'shimadzu_edx7200'
+MX, DMA, VARIO, RGA, ORBI = 'jena_multix', 'milestone_dma80', 'elementar_varioel', 'stanford_rga100', 'thermo_orbitrapexploris'
+LECO, IRMS, SEAL = 'leco_onh836', 'elementar_isoprimeprecision', 'seal_aa500'
+
+
+class World:
+    """Small helper over a LabBackend for one instrument: agent-principal calls, evaluator calls, lab time."""
+
+    def __init__(self, lab, iid):
+        self.b = getattr(lab, 'backend', lab)
+        self.iid = iid
+        self.n = 0
+
+    def _rid(self, cap):
+        n = getattr(self.b, '_quant_world_n', 0) + 1                        # per backend: a lab and its twin count alike
+        self.b._quant_world_n = n
+        return 'world-%s-%s-%d' % (self.iid, cap, n)
+
+    def ag(self, cap, ok=True, **a):
+        r = self.b.invoke('agent', self.iid, cap, copy.deepcopy(a), self._rid(cap))
+        if ok:
+            assert r.get('status') in ('succeeded', 'accepted', 'running'), (self.iid, cap, a, r.get('status'), r.get('error'))
+        return r
+
+    def ev(self, cap, ok=True, **a):
+        r = self.b.evaluator_invoke(self.iid, cap, copy.deepcopy(a), self._rid(cap))
+        if ok:
+            assert r.get('status') == 'succeeded', (self.iid, cap, a, r.get('status'), r.get('error'))
+        return r
+
+    def v(self, slot):
+        r = self.b.evaluator_read(self.iid)
+        o = (r.get('observations') or {}).get(slot)
+        return o.get('value') if isinstance(o, dict) else o
+
+    def adv(self, s):
+        self.b.advance(s)
+
+    def until(self, test, mx=3600.0, step=1.0):
+        t0 = self.b.now()
+        while not test():
+            assert self.b.now() - t0 < mx, (self.iid, 'world wait timed out', self.b.now())
+            self.b.advance(step)
+
+    def example(self, cap):
+        return copy.deepcopy(self.b.instruments[self.iid].contract['capabilities'][cap].get('example_arguments') or {})
+
+    def phase_done(self, slot='measurement.phase', mx=3600.0, step=1.0):
+        self.until(lambda: self.v(slot) not in ('running', 'draining'), mx, step)
+
+
+# ------------------------------------------------------------------ samples (operator side)
+ICPE_SAMPLE = {'sample_id': 'unknown_multi', 'template_id': 'shimadzu_epa_qcs_axial', 'kind': 'sample', 'volume_m3': 1e-05,
+               'dilution_factor': 1.0, 'background_relative': 0.02, 'background_slope': 0.01, 'assumed_elements': [],
+               'accept_assumed_elements': False, 'accept_unknown_conditions': True, 'is_aqueous': True}
+ICPMS_SAMPLE = {'sample_id': 'unknown_solution', 'template_id': 'infant1849a_measured_digest', 'kind': 'sample', 'volume_m3': 1e-05,
+                'dilution_factor': 20.0, 'internal_standard_reference_id': '', 'internal_standard_dilution_factor': 1.0,
+                'matrix_transmission': 1.0, 'interferences': [], 'is_aqueous': True, 'accept_natural_isotope_assumption': True,
+                'accept_unknown_conditions': True}
+TOC_SAMPLE = {'sample_id': 'external_water_sample', 'kind': 'sample', 'template_id': 'shimadzu_pfos_1', 'template_channel': 'TC',
+              'volume_m3': 2e-05, 'assumed_ic_kg_m3': None, 'assumed_poc_kg_m3': 0.0, 'assumed_npoc_kg_m3': None,
+              'accept_partition_assumptions': True, 'accept_unknown_conditions': True}
+AA_SAMPLE = {'sample_id': 'external_solution', 'kind': 'sample', 'template_id': 'aj_wastewater_inlet_cu', 'volume_m3': 1e-05, 'vial_index': 0,
+             'dilution_factor': 1.0, 'background_absorbance': 0.02, 'background_slope': 0.005, 'accept_unknown_conditions': True,
+             'accept_assumed_matrix': True}
+EDX_SAMPLE = {'template_id': 'blackmass_ec_a', 'kind': 'sample', 'mass_kg': 0.01, 'dimensions_m': [0.02, 0.02, 0.01], 'phase': 'powder',
+              'sealed_cup': True, 'reference_fraction': 1.0, 'matrix_factor': 1.0, 'accept_conditional_response': True,
+              'accept_geometric_clearance_assumption': True}
+MX_SAMPLE = {'template_id': 'aox_linear_100_r1_c1', 'kind': 'sample', 'input_form': 'loaded_carbon', 'mass_kg': 5e-05, 'volume_m3': 0.0,
+             'reference_fraction': 0.2, 'accept_prepared_input': True, 'accept_source_condition_mismatch': True, 'halogen_moles': []}
+DMA_SAMPLE = {'slot_index': 0, 'template_id': 'nist_2448_certified', 'kind': 'sample', 'input_form': 'solid', 'boat_material': 'metal',
+              'mass_kg': 0.0001, 'volume_m3': 0.0, 'reference_fraction': 1.0, 'dry_mass_fraction': None, 'host_mercury_mass_kg': None,
+              'accept_source_condition_mismatch': True}
+
+# what the standards are (reference + levels): gold solutions and checkers use these
+STANDARDS = {
+    ICPE: {'reference': 'shimadzu_epa_ipc_assigned', 'levels': [100.0, 10.0, 1.0], 'level': 'dilution'},
+    ICPMS: {'reference': 'infant_cal4', 'levels': [100.0, 10.0, 1.0], 'level': 'dilution'},
+    TOC: {'reference': 'crm_altus_khp_10mg', 'levels': [10.0, 2.0, 1.0], 'level': 'dilution', 'channel': 'TC'},
+    AA: {'reference': 'aj_wastewater_std3_cu', 'levels': [10.0, 2.0, 1.0], 'level': 'dilution'},
+    EDX: {'reference': 'blackmass_icp_f', 'levels': [0.25, 0.5, 1.0], 'level': 'fraction'},
+    MX: {'references': ['aox_linear_10_r1_c1', 'aox_linear_100_r1_c1', 'aox_linear_250_r1_c1']},
+    DMA: {'reference': 'nist_2448_certified', 'masses_kg': [2e-05, 5e-05, 1e-04]},
+    # (the unknowns: ICPE qcs Cu 0.99 mg/L; TOC pfos TC 1.898 mg/L; AAS inlet Cu 0.083 mg/L; EDX black mass Cu 2.04 %; DMA soil SRM
+    #  2448 Hg 0.723 mg/kg; vario wheat flour C 39.4 %; AA500 river nitrate-N 1.8 mg/L - template values)
+    VARIO: {'reference': 'oem_sulfanilic_acid', 'masses_kg': [1e-06, 2e-06, 3e-06], 'slots': [1, 2, 3]},
+}
+
+
+DMA_SAMPLE_KG = 5e-05                                                       # 50 mg of SRM 2448 in slot 5 (inside the 20-100 mg standards)
+VARIO_SAMPLE = ('oem_wheat_flour', 2e-06)                                   # 2 mg wheat flour in slot 4
+
+
+def load(lab, iid, kind='sample', **kw):
+    """The operator exchanges the sample on a single-sample member (old one returned, new one connected / placed)."""
+    w = World(lab, iid)
+    if iid == ICPE:
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='host_return')
+        a = dict(ICPE_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(sample_id='matrix_blank', template_id='', background_relative=0.0, background_slope=0.0)
+        elif kind == 'standard':
+            a.update(sample_id='standard', template_id=STANDARDS[ICPE]['reference'])
+        a.update(kw)
+        w.ev('sample.load', **a)
+    elif iid == ICPMS:
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='host')
+        a = dict(ICPMS_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(sample_id='blank', template_id='', dilution_factor=1.0)
+        elif kind == 'standard':
+            a.update(sample_id='standard', template_id=STANDARDS[ICPMS]['reference'])
+        a.update(kw)
+        w.ev('sample.load', **a)
+    elif iid == TOC:
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='external_bottle')
+        a = dict(TOC_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(sample_id='blank', template_id='', assumed_poc_kg_m3=None)
+        elif kind == 'standard':
+            a.update(sample_id='standard', template_id=STANDARDS[TOC]['reference'], assumed_ic_kg_m3=0.0, assumed_poc_kg_m3=0.0)
+        a.update(kw)
+        w.ev('sample.load', **a)
+    elif iid == AA:
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='external_bottle')
+        a = dict(AA_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(sample_id='blank', template_id='', background_absorbance=0.0, background_slope=0.0)
+        elif kind == 'standard':
+            a.update(sample_id='standard', template_id=STANDARDS[AA]['reference'])
+        a.update(kw)
+        w.ev('sample.load', **a)
+    elif iid == EDX:
+        w.ev('cover.set', opened=True)
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='host')
+        a = dict(EDX_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(template_id='')
+        elif kind == 'standard':
+            a.update(template_id=STANDARDS[EDX]['reference'])
+        a.update(kw)
+        w.ev('sample.load', **a)
+        w.ev('cover.set', opened=False)
+    elif iid == MX:
+        if w.v('sample.loaded'):
+            w.ev('sample.unload', recipient_id='host')
+        a = dict(MX_SAMPLE, kind=kind)
+        if kind == 'blank':
+            a.update(template_id='', reference_fraction=1.0)
+        a.update(kw)
+        w.ev('sample.load', **a)
+    else:
+        raise ValueError('load: %s has no single-sample loader here' % iid)
+
+
+# ------------------------------------------------------------------ bring-up per member
+STAGES = ('on', 'ready', 'blank', 'standards', 'calibrated')
+
+
+def _upto(stage, s):
+    return STAGES.index(stage) >= STAGES.index(s)
+
+
+def _measure(w, start='measurement.start', slot='measurement.phase', mx=3600.0, step=1.0, **a):
+    w.ag(start, **a)
+    w.phase_done(slot, mx, step)
+    assert w.v(slot) == 'succeeded', (w.iid, start, w.v(slot), w.v('safety.warning'))
+
+
+def bring_up(lab, iid, stage='ready', sample=False, curve='cal1'):
+    """The operator brings ``iid`` to ``stage`` (see the module docstring) and, with ``sample``, loads the unknown sample."""
+    w = World(lab, iid)
+    fn = BRING_UP[iid]
+    fn(w, stage, curve)
+    if sample:
+        if iid in (ICPE, ICPMS, TOC, AA, EDX, MX):
+            load(lab, iid, 'sample')
+        elif iid in SAMPLE_LOADERS:
+            SAMPLE_LOADERS[iid](w)
+    return w
+
+
+def _icp(w, stage, curve, ms=False):
+    w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('vacuum.set', enabled=True)
+    w.ag('method.configure', **w.example('method.configure'))
+    w.adv(30.0)
+    w.ag('plasma.ignite')
+    w.until(lambda: w.v('plasma.lit'), 120.0, 0.5)
+    w.adv(2.0)
+    if not _upto(stage, 'blank'):
+        return
+    load(w.b, w.iid, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for d in STANDARDS[w.iid]['levels']:
+        load(w.b, w.iid, 'standard', dilution_factor=d)
+        _measure(w)
+    if not _upto(stage, 'calibrated'):
+        return
+    obs = []
+    for i, d in enumerate(STANDARDS[w.iid]['levels']):
+        rec = w.ag('records.read', record_id='record_%d' % (i + 2))['result']
+        if ms:
+            for a in rec['assays']:
+                obs.append({'reference_id': STANDARDS[w.iid]['reference'], 'dilution_factor': d, 'channels': a['channels']})
+        else:
+            obs.append({'reference_id': STANDARDS[w.iid]['reference'], 'dilution_factor': d,
+                        'line_integrals': [{'line_id': c['line_id'], 'integrated_intensity_s': c['mean_integrated_intensity_s']}
+                                           for c in rec['concentrations']]})
+    w.ag('calibration.fit', curve_id=curve, observations=obs, accept_same_response_conditions=True)
+    w.ag('calibration.select', curve_id=curve)
+
+
+TOC_METHOD = {'mode': 'TC', 'injection_volume_m3': 5e-07, 'dilution_factor': 1.0, 'repeats': 1, 'acid_volume_m3': 1e-09, 'acidification_s': 0.02,
+              'sparging_s': 0.2, 'combustion_s': 0.15, 'minimum_peak_s': 0.03, 'maximum_peak_s': 1.0, 'baseline_threshold': 1e-05,
+              'baseline_samples': 2, 'temperature_tolerance_k': 2.0}
+
+
+def _toc(w, stage, curve):
+    if not w.v('power.enabled'):
+        w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('furnace.configure', temperature_k=953.15)
+    w.ag('method.configure', **TOC_METHOD)
+    w.until(lambda: w.v('furnace.ready'), 3600.0, 5.0)
+    if not _upto(stage, 'blank'):
+        return
+    load(w.b, TOC, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for d in STANDARDS[TOC]['levels']:
+        load(w.b, TOC, 'standard')
+        w.ag('method.configure', **dict(TOC_METHOD, dilution_factor=d))
+        _measure(w)
+    w.ag('method.configure', **TOC_METHOD)
+    if not _upto(stage, 'calibrated'):
+        return
+    obs = []
+    for i, d in enumerate(STANDARDS[TOC]['levels']):
+        rec = w.ag('records.read', record_id='%s:result:%d' % (TOC, i + 2))['result']
+        for a in rec['assays']:
+            obs.append({'reference_id': STANDARDS[TOC]['reference'], 'reference_channel': 'TC', 'injection_volume_m3': a['injection_volume_m3'],
+                        'dilution_factor': d, 'peak_area_s': a['peak_area_s']})
+    w.ag('calibration.fit', curve_id=curve, channel='TC', observations=obs, accept_source_channel_transfer=False,
+         accept_same_response_conditions=True)
+    w.ag('calibration.select', channel='TC', curve_id=curve)
+
+
+def _aa(w, stage, curve):
+    w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **w.example('method.configure'))
+    w.adv(2.0)
+    w.ag('flame.ignite')
+    w.until(lambda: w.v('flame.lit'), 120.0, 0.5)
+    if not _upto(stage, 'blank'):
+        return
+    load(w.b, AA, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for d in STANDARDS[AA]['levels']:
+        load(w.b, AA, 'standard', dilution_factor=d, background_absorbance=0.02, background_slope=0.005)
+        _measure(w)
+    if not _upto(stage, 'calibrated'):
+        return
+    obs = []
+    for i, d in enumerate(STANDARDS[AA]['levels']):
+        rec = w.ag('records.read', record_id='%s:result:%d' % (AA, i + 2))['result']
+        for a in rec['assays']:
+            obs.append({'reference_id': STANDARDS[AA]['reference'], 'dilution_factor': d, 'injection_volume_m3': a['injection_volume_m3'],
+                        'integrated_absorbance_s': a['integrated_absorbance_s']})
+    w.ag('calibration.fit', curve_id=curve, observations=obs, accept_same_response_conditions=True)
+    w.ag('calibration.select', curve_id=curve)
+
+
+def _edx(w, stage, curve):
+    w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **w.example('method.configure'))
+    w.until(lambda: w.v('instrument.ready'), 3600.0, 5.0)
+    if not _upto(stage, 'blank'):
+        return
+    load(w.b, EDX, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for f in STANDARDS[EDX]['levels']:
+        load(w.b, EDX, 'standard', reference_fraction=f)
+        _measure(w)
+    if not _upto(stage, 'calibrated'):
+        return
+    obs = []
+    for i, f in enumerate(STANDARDS[EDX]['levels']):
+        rec = w.ag('records.read', record_id='record_%d' % (i + 2))['result']
+        for a in rec['assays']:
+            obs.append({'acquisition_signature': rec['acquisition_signature'], 'reference_id': STANDARDS[EDX]['reference'], 'reference_fraction': f,
+                        'line_observations': [{k: x[k] for k in ('line_id', 'net_rate_s_inv', 'roi_low_j', 'roi_high_j')}
+                                              for x in a['line_observations']]})
+    w.ag('calibration.fit', curve_id=curve, observations=obs, accept_same_matrix_response=True)
+    w.ag('calibration.select', curve_id=curve)
+
+
+MX_METHOD_INTEGRATION_S = 60.0
+
+
+def mx_prepare_cell(lab):
+    """multi X 2500: the operator has filled and fitted the titration cell (chlorine door open, cell.prepare, door closed)."""
+    w = World(lab, MX)
+    w.ev('cover.set', door='chlorine', opened=True)
+    w.ev('cell.prepare', cell_type='sensitive')
+    w.ev('cover.set', door='chlorine', opened=False)
+
+
+def _mx(w, stage, curve):
+    if not w.v('cell.prepared'):
+        mx_prepare_cell(w.b)
+    w.ag('power.set', enabled=True)
+    w.ag('gas.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **dict(w.example('method.configure'), integration_s=MX_METHOD_INTEGRATION_S))
+    w.until(lambda: w.v('instrument.ready'), 3600.0, 5.0)
+    if not _upto(stage, 'blank'):
+        return
+    load(w.b, MX, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for t in STANDARDS[MX]['references']:
+        load(w.b, MX, 'standard', template_id=t)
+        _measure(w)
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.fit', curve_id=curve, record_ids=['record_2', 'record_3', 'record_4'])
+    w.ag('calibration.select', curve_id=curve)
+
+
+def dma_load_carousel(lab, entries):
+    """DMA-80 evo: the operator opens the dust cover, puts boats into carousel slots and closes it.
+    ``entries``: [(slot, kind, mass_kg[, template_id])]."""
+    w = World(lab, DMA)
+    w.ev('dust_cover.set', opened=True)
+    for e in entries:
+        slot, kind, mass = e[:3]
+        a = dict(DMA_SAMPLE, slot_index=slot, kind=kind, mass_kg=mass)
+        if kind == 'blank':
+            a['template_id'] = ''
+        elif len(e) > 3:
+            a['template_id'] = e[3]
+        w.ev('sample.load', **a)
+    w.ev('dust_cover.set', opened=False)
+
+
+def _dma(w, stage, curve):
+    if not w.v('power.enabled'):
+        w.ag('power.set', enabled=True)
+    w.ag('gas.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **w.example('method.configure'))
+    w.until(lambda: w.v('instrument.ready'), 3600.0, 5.0)
+    dma_load_carousel(w.b, [(0, 'blank', 1e-4)] + [(i + 1, 'standard', m) for i, m in enumerate(STANDARDS[DMA]['masses_kg'])]
+                      + [(5, 'sample', DMA_SAMPLE_KG)])
+    if not _upto(stage, 'blank'):
+        return
+    _measure(w, slot_index=0)
+    if not _upto(stage, 'standards'):
+        return
+    _measure(w, start='sequence.start', slot_indices=[1, 2, 3])
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.fit', curve_id=curve, record_ids=['record_2', 'record_3', 'record_4'])
+    w.ag('calibration.select', curve_id=curve)
+
+
+def vario_load_capsules(lab, entries):
+    """vario EL cube: the operator weighs capsules into autosampler slots.  ``entries``: [(slot, kind, mass_kg[, template_id])]."""
+    w = World(lab, VARIO)
+    ex = w.example('sample.load')
+    for e in entries:
+        slot, kind, mass = e[:3]
+        a = dict(ex, slot_index=slot, sample_id='%s_%d' % (kind, slot), kind=kind, mass_kg=mass)
+        if kind == 'blank':
+            a.update(template_id='', mass_kg=0.0, assumed_unreported_fractions={'C': None, 'H': None, 'N': None, 'S': None})
+        elif len(e) > 3:
+            a['template_id'] = e[3]
+        w.ev('sample.load', **a)
+
+
+def _vario(w, stage, curve):
+    w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('furnace.configure', combustion_k=1373.15, reduction_k=1123.15)
+    w.ag('method.configure', **w.example('method.configure'))
+    w.until(lambda: w.v('furnace.ready'), 3600.0, 5.0)
+    vario_load_capsules(w.b, [(0, 'blank', 0.0)] + [(s, 'standard', m) for s, m in zip(STANDARDS[VARIO]['slots'], STANDARDS[VARIO]['masses_kg'])]
+                        + [(4, 'sample', VARIO_SAMPLE[1], VARIO_SAMPLE[0])])
+    if not _upto(stage, 'blank'):
+        return
+    w.ag('sequence.configure', slot_indices=[0])
+    _measure(w, start='sequence.start', slot='sequence.phase')
+    if not _upto(stage, 'standards'):
+        return
+    w.ag('sequence.configure', slot_indices=STANDARDS[VARIO]['slots'])
+    _measure(w, start='sequence.start', slot='sequence.phase')
+    if not _upto(stage, 'calibrated'):
+        return
+    res = w.ag('result.read')['result']
+    for el in ('C', 'H', 'N', 'S'):
+        obs = [{'reference_id': STANDARDS[VARIO]['reference'], 'sample_mass_kg': a['mass_kg'], 'peak_area_s': a['areas_s'][el]}
+               for a in res['completed_assays'] if a['kind'] == 'standard']
+        w.ag('calibration.fit', element=el, observations=obs, accept_same_method_basis=True)
+
+
+RGA_GAS = {'label': 'gas', 'kind': 'sample', 'components': [{'species_id': 'nitrogen', 'amount_mol': 6e-11}], 'standard_species_id': None,
+           'accept_unknown_ei_conditions': True}
+RGA_STANDARDS_MOL = [2e-11, 5e-11, 1e-10]
+
+
+def rga_admit(lab, kind='sample', **kw):
+    """RGA100: the lab admits a gas into the sealed chamber (the filament must be off)."""
+    w = World(lab, RGA)
+    a = dict(RGA_GAS, kind=kind)
+    if kind == 'blank':
+        a.update(label='blank', components=[])
+    elif kind == 'standard':
+        a.update(label='n2 standard', standard_species_id='nitrogen')
+    a.update(kw)
+    w.ev('sample.load', **a)
+
+
+def _rga(w, stage, curve):
+    w.ev('vacuum.pump', enabled=True)
+    w.ag('power.set', enabled=True)
+    w.until(lambda: w.v('instrument.ready'), 3600.0, 10.0)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **dict(w.example('method.configure'), candidates=['nitrogen']))
+    rga_admit(w.b, 'blank')
+    w.ag('filament.set', enabled=True)
+    if not _upto(stage, 'blank'):
+        return
+    _measure(w, start='scan.start', slot='scan.phase')
+    if not _upto(stage, 'standards'):
+        return
+    for n in RGA_STANDARDS_MOL:
+        w.ag('filament.set', enabled=False)
+        rga_admit(w.b, 'standard', components=[{'species_id': 'nitrogen', 'amount_mol': n}])
+        w.ag('filament.set', enabled=True)
+        _measure(w, start='scan.start', slot='scan.phase')
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.fit', curve_id=curve, species_id='nitrogen', record_ids=['record_2', 'record_3', 'record_4'])
+    w.ag('calibration.select', curve_ids=[curve])
+
+
+def _rga_sample(w):
+    on = w.v('filament.enabled')
+    if on:
+        w.ag('filament.set', enabled=False)
+    rga_admit(w.b, 'sample')
+    if on:
+        w.ag('filament.set', enabled=True)
+
+
+ORBI_SAMPLE = {'label': 'host_prepared_benzamide_solution', 'kind': 'sample', 'volume_m3': 1e-07, 'components': [{'template_id': 'sm808001', 'amount_mol': 1e-08}],
+               'accept_transferred_reference': True}
+ORBI_REFS = ['sm800003', 'sm808001', 'sm814103']
+
+
+def orbi_load(lab, kind='sample', **kw):
+    """Orbitrap: the lab puts a solution on the source (source must be off; it is switched back on by the caller)."""
+    w = World(lab, ORBI)
+    a = dict(ORBI_SAMPLE, kind=kind)
+    if kind == 'blank':
+        a.update(label='blank', components=[])
+    a.update(kw)
+    w.ev('sample.load', **a)
+
+
+def _orbi(w, stage, curve):
+    w.ag('power.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **w.example('method.configure'))
+    orbi_load(w.b, 'blank')
+    w.ag('source.set', enabled=True)
+    w.until(lambda: w.v('instrument.ready'), 600.0, 1.0)
+    if not _upto(stage, 'blank'):
+        return
+    _measure(w, start='scan.start', slot='scan.phase')
+    if not _upto(stage, 'standards'):
+        return
+    for t in ORBI_REFS:
+        w.ag('source.set', enabled=False)
+        orbi_load(w.b, 'standard', label='mass reference', components=[{'template_id': t, 'amount_mol': 1e-08}])
+        w.ag('source.set', enabled=True)
+        w.until(lambda: w.v('instrument.ready'), 600.0, 1.0)
+        _measure(w, start='scan.start', slot='scan.phase')
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.fit', curve_id=curve, record_ids=['record_2', 'record_3', 'record_4'])
+    w.ag('calibration.select', curve_id=curve)
+
+
+def _orbi_sample(w):
+    on = w.v('source.enabled')
+    if on:
+        w.ag('source.set', enabled=False)
+    orbi_load(w.b, 'sample')
+    if on:
+        w.ag('source.set', enabled=True)
+        w.until(lambda: w.v('instrument.ready'), 600.0, 1.0)
+
+
+LECO_SAMPLE = {'template_id': 'leco_503558_reference', 'kind': 'sample', 'mass_kg': 0.00012, 'declared_elements': ['O', 'N', 'H'],
+               'mass_basis': 'source_conditioned', 'dry_mass_fraction': None, 'accept_source_condition_mismatch': True}
+LECO_STD_MASSES = [1.0e-4, 1.2e-4, 1.5e-4]
+
+
+def leco_new_crucible(lab):
+    """LECO: open the electrode furnace, swap the crucible (operator), close it - the furnace motions are the agent capability
+    furnace.open, done here by the operator as part of the set-up."""
+    w = World(lab, LECO)
+    w.ag('furnace.open', opened=True)
+    w.adv(10.0)
+    if w.v('crucible.installed'):
+        w.ev('crucible.remove', recipient_id='host_crucible_waste')
+    w.ev('crucible.install', graphite_mass_kg=0.002, blank_element_masses_kg={'O': 1e-09, 'N': 2e-10, 'H': 1e-10})
+    w.ag('furnace.open', opened=False)
+    w.adv(10.0)
+
+
+def leco_load(lab, kind='sample', loader_back=True, **kw):
+    """LECO: a fresh crucible, the loader down, the operator drops the weighed sample, the loader back (ready to measure)."""
+    w = World(lab, LECO)
+    leco_new_crucible(lab)
+    w.ag('loading.set', loading=True)
+    w.adv(10.0)
+    a = dict(LECO_SAMPLE, kind=kind)
+    if kind == 'blank':
+        a.update(template_id='', mass_kg=0.0, declared_elements=[])
+    a.update(kw)
+    w.ev('sample.load', **a)
+    if loader_back:
+        w.ag('loading.set', loading=False)
+        w.adv(10.0)
+
+
+def _leco(w, stage, curve):
+    w.ag('power.set', enabled=True)
+    w.ag('gas.set', enabled=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('method.configure', **w.example('method.configure'))
+    if not _upto(stage, 'blank'):
+        return
+    leco_load(w.b, 'blank')
+    _measure(w)
+    if not _upto(stage, 'standards'):
+        return
+    for m in LECO_STD_MASSES:
+        leco_load(w.b, 'standard', mass_kg=m)
+        _measure(w)
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.fit', record_ids=['record_2', 'record_3', 'record_4'], elements=['O', 'N', 'H'])
+    w.ag('calibration.select', curve_id='curve_1')
+
+
+IRMS_REFERENCE_DELTAS = {'13C': -0.0367, '18O': 0.0251}
+
+
+def _irms(w, stage, curve):
+    w.ag('power.set', on=True)
+    w.ag('vacuum.pump_down')
+    w.until(lambda: w.v('vacuum.state') == 'ready', 4 * 3600.0, 30.0)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('source.set', filament=True)
+    w.until(lambda: w.v('status.led') == 'green', 600.0, 10.0)
+    w.ag('magnet.set_species', species='CO2')
+    w.ag('centrion.set', inlet=1, carrier_on=True)
+    w.ag('reference.assign', gas=1, deltas=dict(IRMS_REFERENCE_DELTAS))
+    if not _upto(stage, 'standards'):
+        return
+    w.ag('acquisition.start', duration_s=600.0, reference_pulses=[{'gas': 1, 'start_s': 20.0, 'duration_s': 20.0}])
+    w.ag('sample.inject', inlet=1, species='CO2', amount_mol=4e-06, substance_id='usgs40', delay_s=100.0)
+    w.ag('sample.inject', inlet=1, species='CO2', amount_mol=4e-06, substance_id='usgs41', delay_s=250.0)
+    w.adv(620.0)
+    if not _upto(stage, 'calibrated'):
+        return
+    w.ag('calibration.normalize', isotope='13C', standards=[{'peak': 2, 'substance_id': 'usgs40'}, {'peak': 3, 'substance_id': 'usgs41'}])
+
+
+def irms_declare(lab, sample_id='leaf_a', deltas=None):
+    """isoprime: the lab declares a sample (its true deltas are the host's) so that it can be injected by its id."""
+    World(lab, IRMS).ev('sample.declare', sample_id=sample_id, deltas=dict(deltas or {'13C': -0.0281, '15N': 0.0034}))
+
+
+SEAL_KITS = ['nitrate_stock', 'nitrite_stock', 'ammonium_stock', 'phosphate_stock', 'silicate_stock', 'reagents_nitrate_nitrite', 'reagents_nitrite',
+             'reagents_ammonia', 'reagents_phosphate', 'reagents_silicate', 'wash_water', 'cadmium_activation']
+SEAL_TOPS = {'nitrate_stock': 0.0028, 'ammonium_stock': 0.006, 'phosphate_stock': 0.008, 'silicate_stock': 0.026}
+SEAL_STOCK = {'nitrate_stock': 1.0, 'ammonium_stock': 1.0, 'phosphate_stock': 0.1, 'silicate_stock': 0.1}
+SEAL_LEVELS = [0.0, 0.25, 0.5, 1.0]
+SEAL_RIVER = {'nitrate_n': 0.0018, 'ammonium_n': 0.0002, 'phosphate_p': 0.00012, 'silicate_si': 0.0035}
+SEAL_CUPS = 'S:22:baseline,S:1:calibrant,S:2:calibrant,S:3:calibrant,S:4:calibrant,A:1:sample,S:22:baseline'
+
+
+def seal_standards(lab):
+    """AA500: the analyst's calibrants std0..std3 (mixed stocks, 0 / 25 / 50 / 100 % of the top standard) in S:1..S:4, wash water in S:22."""
+    w = World(lab, SEAL)
+    w.ag('sampler.load', rack='S', position=22, item_id='wash_water', volume_m3=1e-05)
+    for i, f in enumerate(SEAL_LEVELS):
+        comps = [{'source_id': k, 'volume_m3': 1e-4 * v / SEAL_STOCK[k] * f} for k, v in SEAL_TOPS.items() if f > 0]
+        comps.append({'source_id': 'wash_water', 'volume_m3': 1e-4 - sum(x['volume_m3'] for x in comps)})
+        w.ag('standard.prepare', standard_id='std%d' % i, volume_m3=1e-4, components=comps)
+        w.ag('sampler.load', rack='S', position=1 + i, item_id='std%d' % i, volume_m3=1e-05)
+
+
+def seal_provide(lab, sample_id='river_1', composition=None):
+    World(lab, SEAL).ev('sample.provide', sample_id=sample_id, volume_m3=5e-05, composition=dict(composition or SEAL_RIVER))
+
+
+def _seal(w, stage, curve):
+    for k in SEAL_KITS:
+        w.ev('kit.provide', kit=k, volume_m3=3e-3)
+    for c, rg in (w.v('reagents.levels_m3') or {}).items():
+        for r in rg:
+            w.ag('reagent.load', channel=c, reagent=r, volume_m3=4e-4)
+    w.ag('power.set', on=True)
+    if not _upto(stage, 'ready'):
+        return
+    w.ag('system.startup')
+    w.until(lambda: w.v('system.state') == 'ready', 6000.0, 60.0)
+    seal_standards(w.b)
+    seal_provide(w.b)
+    if not _upto(stage, 'standards'):
+        return
+    w.ag('sampler.load', rack='A', position=1, item_id='river_1', volume_m3=1e-05)
+    cups = [dict(zip(('rack', 'position', 'type'), (c.split(':')[0], int(c.split(':')[1]), c.split(':')[2]))) for c in SEAL_CUPS.split(',')]
+    w.ag('run.start', cups=cups, sample_s=60.0, wash_s=30.0)
+    w.until(lambda: (w.v('run.status') or {}).get('state') not in ('running', 'draining'), 20000.0, 60.0)
+
+
+BRING_UP = {ICPE: _icp, ICPMS: lambda w, s, c: _icp(w, s, c, ms=True), TOC: _toc, AA: _aa, EDX: _edx, MX: _mx, DMA: _dma, VARIO: _vario,
+            RGA: _rga, ORBI: _orbi, LECO: _leco, IRMS: _irms, SEAL: _seal}
+SAMPLE_LOADERS = {RGA: _rga_sample, ORBI: _orbi_sample, LECO: lambda w: leco_load(w.b, 'sample')}
+
+
+MEMBERS = (ICPE, ICPMS, TOC, AA, EDX, MX, DMA, VARIO, RGA, ORBI, LECO, IRMS, SEAL)
+
+
+def bare(cfg):
+    """The class's members without the default lab's set-up: the default lab (chemlab/default_world.py) already holds this
+    world's start-of-day stage, recorded as set-up steps; tasks and lowering cases apply their own stages to the bare lab."""
+    for e in cfg['instruments']:
+        if e['asset_type_id'].split('.', 1)[1] in MEMBERS:
+            e['default_world'] = False
+    return cfg
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the members bare (see bare()): the class's world is applied by tasks and lowering cases
+    (stage functions above)."""
+    return bare(copy.deepcopy(base or load_config()))
diff --git a/chemlab/chemlab/compile/tasks/reactor_lowering.py b/chemlab/chemlab/compile/tasks/reactor_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..65d1ae4b78ac41d3e62afdecc88987fbe12c08a4
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/reactor_lowering.py
@@ -0,0 +1,204 @@
+"""Lowering table of the reactor class: per member, verbs in order and the native calls (capability, arguments in the unit each
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check refused,
+a read, a wait, a dry run or an unsupported verb); a listed call may itself be refused by the instrument (then it is still sent)."""
+import math
+
+from .reactor_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+RPM = 2 * math.pi / 60
+ML_MIN = 1e-6 / 60
+COLLECT = '\'collect=[{"start_s":30,"end_s":100,"slot":0}]\''
+HC = {'liquid_flow_m3_s': 3.3333333333333334e-08, 'hydrogen_reference_flow_m3_s': 7e-07, 'temperature_k': 313.15, 'pressure_abs_pa': 4e6,
+      'duration_s': 4.0}
+
+
+def hc(**kw):
+    out = dict(HC)
+    out.update(kw)
+    HC.update(kw)                                   # the H-Cube keeps the last method: the next call carries it
+    return ('method.configure', out)
+
+
+ES = {'mode': 'constant_current', 'current_a': 0.01, 'cell_voltage_v': 4.0, 'voltage_limit_v': 10.0, 'stop_by': 'time', 'duration_s': 2.0,
+      'charge_target_c': 0.02}
+
+
+def es(**kw):
+    ES.update(kw)
+    return ('method.configure', dict(ES))
+
+
+SAFE = {'tsafe_k': 298.15, 'tr_min_k': 268.15, 'tr_max_k': 393.15, 'tj_min_k': 263.15, 'tj_max_k': 423.15, 'tdiff_max_k': 50.0, 'rsafe_rpm': None,
+        'rmin_rpm': 0.0, 'rmax_rpm': 850.0, 'tc_max_k': 313.15}
+
+CASES = {
+    'antonpaar_monowave400': {'steps': [
+        ('status', []),
+        ('start', []),                                                           # LID_NOT_LOCKED (the world leaves the lid unlocked)
+        ('close lid', [('lock.set_travel', {'travel_m': 0.01})]),                # the lid is down already: only the lock
+        ('method temp=80C', []),                                                 # MISSING_SETTING ramp, hold, cool (not shown by the instrument)
+        ('method temp=150C ramp=1min hold=2min cool=50C', [('method.configure', {'target_k': K0 + 150, 'ramp_s': 60.0, 'hold_s': 120.0,
+                                                                                  'cool_to_k': K0 + 50, 'stir_rpm': 600.0, 'power_limit_w': 850.0,
+                                                                                  'pressure_limit_pa': 3e6})]),   # refused: outside the ethanol model
+        ('method temp=80C ramp=1min hold=2min cool=50C stir=800rpm', [('method.configure', {
+            'target_k': K0 + 80, 'ramp_s': 60.0, 'hold_s': 120.0, 'cool_to_k': K0 + 50, 'stir_rpm': 800.0, 'power_limit_w': 850.0,
+            'pressure_limit_pa': 3e6})]),
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('reaction.measure', {})]),
+        ('open lid', []),                                                        # PRESSURISED (the vial is still warm)
+        ('#wait 1800', None),
+        ('open lid', [('lock.set_travel', {'travel_m': 0.0}), ('lid.set_lift', {'lift_m': 0.15})]),
+        ('set-temp 80C', []),                                                    # not supported: temperature is a programme setting
+        ('stir 300rpm', []),                                                     # not supported
+        ('temp', []),
+    ]},
+    'ika_electrasyn2': {'steps': [
+        ('stir 400rpm', [('stir.set_speed', {'speed_rad_s': 400 * RPM})]),
+        ('current 10mA', [es(mode='constant_current', current_a=0.01)]),
+        ('voltage 3V', [es(mode='constant_cell_voltage', cell_voltage_v=3.0)]),
+        ('method mode=constant_current time=1min', [es(mode='constant_current', duration_s=60.0)]),
+        ('current 200mA', []),                                                   # OUT_OF_RANGE (0..100 mA)
+        ('open cap', [('cap.set_lift', {'lift_m': 0.08})]),                      # shared verb (part "cap")
+        ('start', []),                                                           # CAP_OPEN
+        ('close cap', [('cap.set_lift', {'lift_m': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('voltage 4V', []),                                                      # BUSY (class check)
+        ('stop', [('acquisition.stop', {})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 5min', []),
+        ('result --save-to es.json', [('electrochem.measure', {})]),
+        ('stir off', [('stir.set_speed', {'speed_rad_s': 0.0})]),
+        ('set-temp 30C', []),                                                    # not supported
+    ]},
+    'hepatochem_photoredoxbox': {'steps': [
+        ('set-temp 20C', [('temperature.set', {'target_k': K0 + 20})]),          # refused: BELOW_AMBIENT (fan cooling only)
+        ('set-temp 35C', [('temperature.set', {'target_k': K0 + 35})]),
+        ('light 80%', [('led.set_intensity', {'intensity': 0.8})]),
+        ('light 150%', []),                                                      # OUT_OF_RANGE
+        ('stir 600rpm', [('stir.set_speed', {'speed_rad_s': 600 * RPM})]),
+        ('method time=10min', [('method.configure', {'duration_s': 600.0})]),
+        ('open lid', [('lid.set_lift', {'lift_m': 0.12})]),                      # shared verb
+        ('start', []),                                                           # LID_OPEN
+        ('close lid', [('lid.set_lift', {'lift_m': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 20min', []),
+        ('result', [('irradiation.measure', {})]),
+        ('temp', []),
+        ('wait-temp --max 1min', []),
+        ('light off', [('led.set_intensity', {'intensity': 0.0})]),
+        ('heat on', []),                                                         # not supported
+    ]},
+    'parr_4591': {'steps': [
+        ('set-temp 120C', [('thermal.set_temperature', {'temperature_K': K0 + 120})]),
+        ('set-temp 250C', []),                                                   # OUT_OF_RANGE (max 225 °C)
+        ('heat on', [('heater.set_enabled', {'enabled': True})]),
+        ('heat on', []),                                                         # already on
+        ('stir 500rpm', [('stirrer.set_speed', {'speed_rad_s': 500 * RPM})]),
+        ('wait-temp --max 1h', []),
+        ('open lid', []),                                                        # HEATER_ON
+        ('stop', [('heater.set_enabled', {'enabled': False}), ('stirrer.set_speed', {'speed_rad_s': 0.0})]),
+        ('wait-temp --to 45C --max 3h', []),
+        ('open lid', []),                                                        # PRESSURISED (below ambient after cooling)
+        ('open vent', [('vent.set_open', {'open': True})]),
+        ('#wait 30', None),
+        ('open lid', [('lid.open', {})]),
+        ('heat on', []),                                                         # LID_OPEN
+        ('stir 300rpm --dry-run', []),
+        ('close lid', [('lid.close', {})]),
+        ('close vent', [('vent.set_open', {'open': False})]),
+        ('result', []),
+        ('pressure 10bar', []),                                                  # not supported
+        ('start', []),                                                           # not supported (manual controller)
+    ]},
+    'syrris_asiadiscovery': {'steps': [
+        ('set-temp 60C --wait', [('temperature.set', {'target_k': K0 + 60})]),
+        ('pressure 5bar', [('pressure.set', {'backpressure_pa': 500000.0})]),
+        ('flow 1mL/min', []),                                                    # MISSING_CHANNEL
+        ('flow 1mL/min --channel 1', [('pump.set_flow', {'channel': 'P1', 'flow_m3_s': ML_MIN})]),
+        ('#wait 30', None),
+        ('flow off --channel 1', [('pump.set_flow', {'channel': 'P1', 'flow_m3_s': 0.0})]),
+        ('method flows=1mL/min,1mL/min time=2min', []),                          # MISSING_SETTING inject, collect
+        ('method flows=1mL/min,1mL/min time=2min inject=0s,0s ' + COLLECT, [('method.configure', {
+            'flow_rates_m3_s': [ML_MIN, ML_MIN], 'duration_s': 120.0, 'injection_times_s': [0.0, 0.0],
+            'collection_windows': [{'start_s': 30, 'end_s': 100, 'slot': 0}]})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('flow.measure', {})]),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('heat off', [('temperature.enable', {'enabled': False})]),
+        ('pressure off', [('pressure.enable', {'enabled': False})]),
+        ('pressure on', [('pressure.enable', {'enabled': True})]),
+        ('stir 100rpm', []),                                                     # not supported
+    ]},
+    'thalesnano_hcube': {'steps': [
+        ('set-temp 60C', [hc(temperature_k=K0 + 60)]),
+        ('flow 0.5mL/min', [hc(liquid_flow_m3_s=0.5 * ML_MIN)]),
+        ('pressure 30bar', [hc(pressure_abs_pa=3e6)]),
+        ('method time=5min', [hc(duration_s=300.0)]),
+        ('flow 5mL/min', []),                                                    # OUT_OF_RANGE (0.3..3 mL/min)
+        ('flow off', []),                                                        # NEEDS_VALUE: the pump runs only in a run
+        ('open water_lid', [('water_lid.set_lift', {'lift_m': 0.03})]),          # shared verb
+        ('start', []),                                                           # WATER_LID_OPEN
+        ('close water_lid', [('water_lid.set_lift', {'lift_m': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('set-temp 40C', []),                                                    # BUSY
+        ('wait --max 10min', []),
+        ('result', [('hydrogenation.measure', {})]),
+        ('set-temp 150C', [('method.configure', dict(HC, temperature_k=K0 + 150))]),   # refused: outside the carrier model
+        ('wait-temp --max 5min', []),
+        ('temp', []),
+        ('heat on', []),                                                         # not supported
+    ]},
+    'radleys_mya4': {'steps': [
+        ('set-temp 60C', []),                                                    # MISSING_ZONE
+        ('set-temp 60C --zone 1', [('thermal.set_temperature', {'zone_index': 0, 'temperature_K': K0 + 60})]),
+        ('heat on --zone 1', [('thermal.set_enabled', {'zone_index': 0, 'enabled': True})]),
+        ('stir 500rpm --zone 1', [('stirring.set_speed', {'zone_index': 0, 'angular_speed_rad_s': 500 * RPM}),
+                                  ('stirring.set_enabled', {'zone_index': 0, 'enabled': True})]),
+        ('stir 600rpm --zone 1', [('stirring.set_speed', {'zone_index': 0, 'angular_speed_rad_s': 600 * RPM})]),
+        ('stir 50rpm --zone 1', []),                                             # OUT_OF_RANGE (100..1000 rpm)
+        ('wait-temp --zone 1 --max 30min', []),
+        ('temp', []),
+        ('program 50C@2min,30C@0s --zone 2', [('thermal.configure_program', {'zone_index': 1, 'segments': [
+            {'temperature_K': K0 + 50, 'hold_s': 120.0}, {'temperature_K': K0 + 30, 'hold_s': 0.0}]})]),
+        ('start --zone 3', []),                                                  # NO_PROGRAM
+        ('start --zone 2', [('thermal.start_program', {'zone_index': 1})]),
+        ('set-temp 40C --zone 2', []),                                           # PROGRAM_RUNNING
+        ('wait --max 1h', []),
+        ('result --zone 2', []),
+        ('stop --zone 2', [('thermal.stop_program', {'zone_index': 1})]),
+        ('stir off --zone 1', [('stirring.set_enabled', {'zone_index': 0, 'enabled': False})]),
+        ('heat off --zone 1', [('thermal.set_enabled', {'zone_index': 0, 'enabled': False})]),
+        ('method temp=50C', []),                                                 # not supported (program / set-temp instead)
+        ('set-temp 200C --zone 3', []),                                          # OUT_OF_RANGE
+        ('heat on --zone 4 --dry-run', []),
+    ]},
+    'mt_rc1mxhfcal': {'steps': [
+        ('status', []),
+        ('stir 20rpm', []),                                                      # OUT_OF_RANGE (0 or 30..Rmax)
+        ('stir 300rpm', [('stirrer.set', {'rpm': 300.0})]),
+        ('set-temp 130C', []),                                                   # ABOVE_SAFETY_LIMIT (Tr max 120 °C)
+        ('safety-limit 140C', [('safety.configure', dict(SAFE, tr_max_k=K0 + 140))]),
+        ('set-temp 50C --ramp 10min', [('thermostat.set_tr', {'end_k': K0 + 50, 'ramp_s': 600.0, 'controller': 'aqueous'})]),
+        ('start --name acetylation', [('experiment.start', {'name': 'acetylation'})]),
+        ('wait-temp --max 1h', []),
+        ('dose acetic_anhydride --rate 9g/min', []),                             # MISSING_OPTION --mass
+        ('dose acetic_anhydride --rate 9g/min --mass 102g', [('dosing.start', {'substance_id': 'acetic_anhydride', 'rate_kg_s': 0.00015,
+                                                                               'total_mass_kg': 0.102, 'feed_temperature_k': None})]),
+        ('dose water --rate 1g/min --mass 1g', []),                              # DOSING_ACTIVE
+        ('wait --max 30min', []),
+        ('stop --cool-to 25C', [('experiment.end', {'end_mode': 'cool_to', 'end_temperature_k': K0 + 25})]),
+        ('result', [('experiment.data', {'experiment_id': 'exp-1'})]),
+        ('set-temp 40C --jacket', [('thermostat.set_tj', {'end_k': K0 + 40, 'ramp_s': 0.0})]),
+        ('safety-limit 30C --jacket', []),                                       # BELOW_SET_POINT (Tj set point 40 °C)
+        ('stop', []),                                                            # nothing recording
+        ('heat on', []),                                                         # not supported
+        ('stir off', [('stirrer.set', {'rpm': 0.0})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/reactor_tasks.py b/chemlab/chemlab/compile/tasks/reactor_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..6f7522ab98e7ce608ca0c0475d1a29fba3df27c6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/reactor_tasks.py
@@ -0,0 +1,284 @@
+"""Reactor class acceptance tasks (10): gold solutions use `chemlab run`; the checkers read the evaluator view (truth slots
+included) and the agent's report files.  Four are recovery tasks (the gold meets the refusal, reads `--json` `.error.code` and
+follows the fix)."""
+from .common import run_suite
+from .reactor_world import config as world_config
+
+K0 = 273.15
+MW, ES, PR, PARR, SY, HC, MYA, RC1 = ('antonpaar_monowave400', 'ika_electrasyn2', 'hepatochem_photoredoxbox', 'parr_4591',
+                                      'syrris_asiadiscovery', 'thalesnano_hcube', 'radleys_mya4', 'mt_rc1mxhfcal')
+ML_MIN = 1e-6 / 60
+
+
+def op(lab, iid, cap, args, evaluator=False):
+    rid = 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10))
+    if evaluator:
+        r = lab.backend.evaluator_invoke(iid, cap, args, rid)
+    else:
+        r = lab.backend._invoke_raw(lab.backend.instruments[iid], 'chemlab_operator', cap, args, rid)
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+# ------------------------------------------------------------------ worlds (trusted host, before the agent starts)
+def w_photoredox_lid_open(lab):
+    op(lab, PR, 'lid.set_lift', {'lift_m': 0.12})
+
+
+def w_hcube_lid_open(lab):
+    op(lab, HC, 'water_lid.set_lift', {'lift_m': 0.03})
+
+
+def w_rc1_low_limit(lab):
+    op(lab, RC1, 'safety.configure', {'tsafe_k': 298.15, 'tr_min_k': 268.15, 'tr_max_k': K0 + 80, 'tj_min_k': 263.15, 'tj_max_k': 423.15,
+                                      'tdiff_max_k': 50.0, 'rsafe_rpm': None, 'rmin_rpm': 0.0, 'rmax_rpm': 850.0, 'tc_max_k': 313.15}, evaluator=True)
+
+
+# ------------------------------------------------------------------ checkers
+def jobs_of(c, iid):
+    return [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == iid]
+
+
+def c_microwave(c):
+    e = c.ev(MW)
+    c.near('programme target 80 °C', e['method.target_k'], K0 + 80, 1e-6)
+    c.equal('the run finished', e['cycle.phase'], 'succeeded')
+    c.add('the lid is locked', (e.get('lock.travel_m') or 0) >= 0.009, e.get('lock.travel_m'))
+    c.add('the vial was heated (truth temperature above 45 °C at some point: now %.1f K)' % (e.get('truth.temperature_k') or 0),
+          (e.get('truth.absorbed_energy_j') or 0) > 1000, e.get('truth.absorbed_energy_j'))
+
+
+def c_electrolysis(c):
+    e = c.ev(ES)
+    c.equal('constant-current mode', e['method.mode'], 'constant_current')
+    c.near('current 10 mA', e['method.current_a'], 0.01, 1e-9)
+    c.equal('electrolysis finished', e['cycle.phase'], 'succeeded')
+    c.near('0.6 C passed (10 mA x 60 s)', e['electrochem.charge_c'], 0.6, 0.02)
+    c.near('charge.txt reports the charge in C', c.number_file('charge.txt'), 0.6, 0.02)
+    c.near('stirring 400 rpm', e['stir.target_rad_s'], 400 * 2 * 3.141592653589793 / 60, 0.6)
+
+
+def c_photoredox(c):
+    e = c.ev(PR)
+    c.near('chamber limit 35 °C', e['temperature.target_k'], K0 + 35, 1e-6)
+    c.add('all LEDs at 80 %', all(abs(x - 0.8) < 1e-9 for x in e['optics.intensities']), e['optics.intensities'])
+    c.near('irradiation time 10 min', e['method.duration_s'], 600.0, 1e-6)
+    c.equal('irradiation finished', e['cycle.phase'], 'succeeded')
+    c.add('lid closed', (e.get('lid.lift_m') or 0) <= 1e-9, e.get('lid.lift_m'))
+    c.near('stirring 600 rpm', e['stir.target_rad_s'], 600 * 2 * 3.141592653589793 / 60, 1e-6)
+
+
+def c_parr(c):
+    e = c.ev(PARR)
+    c.add('the vessel was heated to 120 °C (heater energy > 30 kJ)', (e.get('thermal.heater_energy_j') or 0) > 30000, e.get('thermal.heater_energy_j'))
+    c.near('set point 120 °C', e['thermal.target_k'], K0 + 120, 1e-6)
+    c.add('heater off', not e['heater.enabled'])
+    c.add('stirrer stopped', abs(e['stirrer.speed_rad_s']) < 1e-9)
+    c.add('the vessel is open', not e['lid.closed'])
+    c.add('opened cool (now %.1f K <= 323.15 K)' % e['thermal.temperature_k'], e['thermal.temperature_k'] <= 323.15 + 1e-6)
+    c.add('opened at ambient pressure', abs(e['pressure.pressure_pa'] - 101325) <= 2500, e['pressure.pressure_pa'])
+
+
+def c_flow(c):
+    e = c.ev(SY)
+    c.near('chip at 60 °C', e['temperature.target_k'], K0 + 60, 1e-6)
+    c.near('back-pressure 5 bar', e['pressure.backpressure_pa'], 5e5, 1e-3)
+    c.equal('the flow run finished', e['cycle.phase'], 'succeeded')
+    c.add('both pumps at 0.5 mL/min in the method', all(abs(x - 0.5 * ML_MIN) < 1e-15 for x in e['flow.targets_m3_s']), e['flow.targets_m3_s'])
+    vol = e.get('collection.total_m3') or 0
+    c.add('product collected', vol > 1e-7, vol)
+    c.near('collected.txt reports the collected volume in mL', c.number_file('collected.txt'), vol * 1e6, 0.01)
+
+
+def c_hcube(c):
+    e = c.ev(HC)
+    c.near('column 60 °C', e['temperature.target_k'], K0 + 60, 1e-6)
+    c.near('30 bar (absolute)', e['pressure.target_abs_pa'], 3e6, 1e-3)
+    c.near('0.5 mL/min', e['flow.target_m3_s'], 0.5 * ML_MIN, 1e-15)
+    c.near('5 min', e['method.duration_s'], 300.0, 1e-6)
+    c.equal('the run finished', e['cycle.phase'], 'succeeded')
+    c.add('water lid closed', (e.get('water_lid.lift_m') or 0) <= 1e-9, e.get('water_lid.lift_m'))
+
+
+def c_zones(c):
+    e = c.ev(MYA)
+    c.near('zone 1 set point 60 °C', e['zone_1.thermal.target_k'], K0 + 60, 1e-6)
+    c.near('zone 2 set point 40 °C', e['zone_2.thermal.target_k'], K0 + 40, 1e-6)
+    c.add('zone 1 and 2 control on', e['zone_1.thermal.enabled'] and e['zone_2.thermal.enabled'])
+    c.near('zone 1 at 60 °C (±1 K)', e['zone_1.thermal.indicated_temperature_k'], K0 + 60, 1.0)
+    c.near('zone 2 at 40 °C (±1 K)', e['zone_2.thermal.indicated_temperature_k'], K0 + 40, 1.0)
+    c.add('zone 1 stirring 500 rpm', e['zone_1.stirring.enabled'] and abs(e['zone_1.stirring.target_rad_s'] - 500 * 2 * 3.141592653589793 / 60) < 1e-6)
+    c.add('zones 3 and 4 untouched', not e['zone_3.thermal.enabled'] and not e['zone_4.thermal.enabled'])
+
+
+def c_program(c):
+    e = c.ev(MYA)
+    segs = e.get('zone_3.program.segments') or []
+    c.add('zone 3 programme 50 °C for 2 min, then 30 °C', len(segs) == 2 and abs(segs[0]['temperature_K'] - (K0 + 50)) < 1e-6 and
+          abs(segs[0]['hold_s'] - 120) < 1e-6 and abs(segs[1]['temperature_K'] - (K0 + 30)) < 1e-6, segs)
+    c.equal('zone 3 programme completed', e['zone_3.program.phase'], 'completed')
+    js = jobs_of(c, MYA)
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in js), [(j.handle, j.state) for j in js])
+
+
+def c_rc1_limit(c):
+    e = c.ev(RC1)
+    c.add('Tr limit raised to at least 95 °C (and at most 100 °C)', K0 + 95 - 1e-6 <= e['safety.tr_max_k'] <= K0 + 100 + 1e-6, e['safety.tr_max_k'])
+    c.equal('Tr control mode', e['thermostat.mode'], 'tr')
+    c.near('Tr set point 90 °C', e['thermostat.tr_setpoint_k'], K0 + 90, 1e-6)
+    c.near('the reaction is at 90 °C (±0.5 K)', e['reactor.indicated_k'], K0 + 90, 0.5)
+    c.add('stirring (>= 100 rpm)', (e.get('stirrer.setpoint_rpm') or 0) >= 100, e.get('stirrer.setpoint_rpm'))
+
+
+def c_rc1_dose(c):
+    e = c.ev(RC1)
+    c.near('102 g dosed', e['dosing.indicated_mass_kg'], 0.102, 1e-6)
+    c.add('the experiment record was ended', not e['experiment.running'])
+    c.near('stirrer 300 rpm', e['stirrer.setpoint_rpm'], 300.0, 1e-6)
+    t = c.work_file('rc1.json') or ''
+    c.add('rc1.json holds the experiment record (named acetylation)', '"acetylation"' in t and '"points"' in t, t[:120])
+    js = jobs_of(c, RC1)
+    c.add('the dosing ran as a job that succeeded', any(j.state == 'succeeded' for j in js), [(j.handle, j.state) for j in js])
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_MW = r'''chemlab run antonpaar_monowave400 method temp=80C ramp=1min hold=2min cool=50C
+chemlab run antonpaar_monowave400 start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_NOT_LOCKED" or .error.code == "LID_OPEN"' s.json >/dev/null; then
+  chemlab run antonpaar_monowave400 close lid
+  chemlab run antonpaar_monowave400 start
+fi
+chemlab run antonpaar_monowave400 wait --max 30min
+chemlab run antonpaar_monowave400 result'''
+
+GOLD_ES = r'''chemlab run ika_electrasyn2 current 10mA
+chemlab run ika_electrasyn2 method stop-by=time time=1min
+chemlab run ika_electrasyn2 stir 400rpm
+chemlab run ika_electrasyn2 start
+chemlab run ika_electrasyn2 wait --max 10min
+chemlab run ika_electrasyn2 result --json | jq -r .result.charge_c > charge.txt; cat charge.txt'''
+
+GOLD_PR = r'''chemlab run hepatochem_photoredoxbox set-temp 35C
+chemlab run hepatochem_photoredoxbox light 80%
+chemlab run hepatochem_photoredoxbox stir 600rpm
+chemlab run hepatochem_photoredoxbox method time=10min
+chemlab run hepatochem_photoredoxbox start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run hepatochem_photoredoxbox close lid
+  chemlab run hepatochem_photoredoxbox start
+fi
+chemlab run hepatochem_photoredoxbox wait --max 30min'''
+
+GOLD_PARR = r'''chemlab run parr_4591 set-temp 120C
+chemlab run parr_4591 heat on
+chemlab run parr_4591 stir 500rpm
+chemlab run parr_4591 wait-temp --max 1h --hold 5min
+chemlab run parr_4591 stop
+chemlab run parr_4591 open lid --json > o.json || jq -r '.error.code + ": " + .error.fix' o.json
+chemlab run parr_4591 wait-temp --to 45C --max 3h
+chemlab run parr_4591 open lid --json > o.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "PRESSURISED"' o.json >/dev/null; then
+  chemlab run parr_4591 open vent
+  chemlab wait 30s
+  chemlab run parr_4591 open lid
+fi
+chemlab run parr_4591 status'''
+
+GOLD_SY = r'''chemlab run syrris_asiadiscovery set-temp 60C --wait
+chemlab run syrris_asiadiscovery pressure 5bar
+chemlab run syrris_asiadiscovery method flows=0.5mL/min,0.5mL/min time=2min inject=0s,0s 'collect=[{"start_s":30,"end_s":100,"slot":0}]'
+chemlab run syrris_asiadiscovery start
+chemlab run syrris_asiadiscovery wait --max 10min
+chemlab run syrris_asiadiscovery result --json | jq -r '.result.collected_volume_m3 * 1000000' > collected.txt; cat collected.txt'''
+
+GOLD_HC = r'''chemlab run thalesnano_hcube method temp=60C pressure=30bar flow=0.5mL/min time=5min
+chemlab run thalesnano_hcube start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "WATER_LID_OPEN"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run thalesnano_hcube close water_lid
+  chemlab run thalesnano_hcube start
+fi
+chemlab run thalesnano_hcube wait --max 20min
+chemlab run thalesnano_hcube result'''
+
+GOLD_ZONES = r'''chemlab run radleys_mya4 set-temp 60C --zone 1
+chemlab run radleys_mya4 heat on --zone 1
+chemlab run radleys_mya4 stir 500rpm --zone 1
+chemlab run radleys_mya4 set-temp 40C --zone 2
+chemlab run radleys_mya4 heat on --zone 2
+chemlab run radleys_mya4 wait-temp --zone 1 --max 1h
+chemlab run radleys_mya4 wait-temp --zone 2 --max 1h
+chemlab run radleys_mya4 temp'''
+
+GOLD_PROGRAM = r'''chemlab run radleys_mya4 program 50C@2min,30C@0s --zone 3
+job=$(chemlab run radleys_mya4 start --zone 3 --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 2h
+chemlab run radleys_mya4 result --zone 3'''
+
+GOLD_RC1_LIMIT = r'''chemlab run mt_rc1mxhfcal stir 300rpm
+chemlab run mt_rc1mxhfcal set-temp 90C --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.message' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "ABOVE_SAFETY_LIMIT"' s.json >/dev/null; then
+  chemlab run mt_rc1mxhfcal safety-limit 95C
+  chemlab run mt_rc1mxhfcal set-temp 90C
+fi
+chemlab run mt_rc1mxhfcal wait-temp --max 2h'''
+
+GOLD_RC1_DOSE = r'''chemlab run mt_rc1mxhfcal stir 300rpm
+chemlab run mt_rc1mxhfcal set-temp 40C --wait --max 1h
+chemlab run mt_rc1mxhfcal start --name acetylation
+job=$(chemlab run mt_rc1mxhfcal dose acetic_anhydride --rate 9g/min --mass 102g --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run mt_rc1mxhfcal stop
+chemlab run mt_rc1mxhfcal result --save-to rc1.json'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'rx01_microwave_recover_lock', 'kind': 'recovery: lid not locked', 'instruments': [MW], 'check': c_microwave,
+     'instruction': 'A sealed vial with ethanol is in the Anton Paar Monowave 400 (antonpaar_monowave400). Run it at 80 °C: reach it in 1 min, '
+                    'hold 2 min, cool to 50 °C. Wait until the run has finished.', 'gold': GOLD_MW},
+    {'id': 'rx02_electrolysis', 'kind': 'multi-step + report', 'instruments': [ES], 'check': c_electrolysis,
+     'instruction': 'On the IKA ElectraSyn 2.0 (ika_electrasyn2), run a constant-current electrolysis at 10 mA for 1 minute while stirring at '
+                    '400 rpm. Write the charge passed (in C) into charge.txt.', 'gold': GOLD_ES},
+    {'id': 'rx03_photoredox_recover_lid', 'kind': 'recovery: lid left open', 'instruments': [PR], 'world': w_photoredox_lid_open, 'check': c_photoredox,
+     'instruction': 'Irradiate the vials in the HepatoChem PhotoRedOx Box (hepatochem_photoredoxbox) for 10 minutes with all LEDs at 80 %, '
+                    'stirring at 600 rpm, with the chamber held at no more than 35 °C.', 'gold': GOLD_PR},
+    {'id': 'rx04_parr_heat_cool_open', 'kind': 'safety sequence + recovery: hot / pressurised vessel', 'instruments': [PARR], 'check': c_parr,
+     'instruction': 'Heat the Parr 4591 vessel (parr_4591) to 120 °C with stirring at 500 rpm and hold it there for 5 minutes. Then end the '
+                    'reaction and open the vessel - safely: only cool and at ambient pressure.', 'gold': GOLD_PARR},
+    {'id': 'rx05_flow_run_report', 'kind': 'long action (job) + report', 'instruments': [SY], 'check': c_flow,
+     'instruction': 'On the Syrris Asia (syrris_asiadiscovery): chip at 60 °C, back-pressure 5 bar. Run both pumps at 0.5 mL/min for 2 minutes, '
+                    'injecting both loops at the start and collecting from 30 s to 100 s into collector slot 0. Write the collected volume in '
+                    'mL into collected.txt.', 'gold': GOLD_SY},
+    {'id': 'rx06_hcube_recover_water_lid', 'kind': 'recovery: water reservoir lid open', 'instruments': [HC], 'world': w_hcube_lid_open,
+     'check': c_hcube, 'instruction': 'Run a 5-minute hydrogenation on the ThalesNano H-Cube Pro (thalesnano_hcube) at 60 °C, 30 bar (absolute) '
+                                       'and 0.5 mL/min, and wait for it to finish.', 'gold': GOLD_HC},
+    {'id': 'rx07_mya4_two_zones', 'kind': 'multi-zone (--zone) + waits', 'instruments': [MYA], 'check': c_zones,
+     'instruction': 'On the Radleys Mya 4 (radleys_mya4): bring zone 1 to 60 °C with stirring at 500 rpm, and zone 2 to 40 °C (no stirring). '
+                    'Wait until both zones are at temperature. Leave zones 3 and 4 alone.', 'gold': GOLD_ZONES},
+    {'id': 'rx08_mya4_program_job', 'kind': 'programme + job id (status, wait)', 'instruments': [MYA], 'check': c_program,
+     'instruction': 'Run a temperature programme in zone 3 of the Radleys Mya 4 (radleys_mya4): 50 °C held for 2 minutes, then down to 30 °C. '
+                    'Follow it with a job (check its status once, then wait for it).', 'gold': GOLD_PROGRAM},
+    {'id': 'rx09_rc1_recover_limit', 'kind': 'recovery: above the safety limit', 'instruments': [RC1], 'world': w_rc1_low_limit, 'check': c_rc1_limit,
+     'instruction': 'Bring the reaction mixture in the METTLER TOLEDO RC1mx (mt_rc1mxhfcal) to 90 °C (reaction temperature) with stirring at '
+                    '300 rpm and wait until it is there. Raising the Tr safety limit to 95 °C is acceptable for this aqueous mixture; do not go '
+                    'higher.', 'gold': GOLD_RC1_LIMIT},
+    {'id': 'rx10_rc1_dosing_record', 'kind': 'experiment record + dosing job + save', 'instruments': [RC1], 'check': c_rc1_dose,
+     'instruction': 'On the METTLER TOLEDO RC1mx (mt_rc1mxhfcal): stir at 300 rpm, bring the reaction to 40 °C, start an experiment record '
+                    'named acetylation, dose 102 g acetic_anhydride at 9 g/min and wait until it is all in, end the experiment and save its '
+                    'record to rc1.json.', 'gold': GOLD_RC1_DOSE},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'reactor'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('reactor', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/reactor_world.py b/chemlab/chemlab/compile/tasks/reactor_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..b51f6ee23781212c92460f71b2a1142fbd0d9f95
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/reactor_world.py
@@ -0,0 +1,29 @@
+"""Host-side world for the reactor class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* Monowave 400: cooling air connected (gas.configure, evaluator) and a sealed G30 vial with 8 g ethanol loaded (lid opened,
+  sample.configure as the evaluator, lid closed). The lid is closed but not locked: locking is the agent's step (`close lid`).
+* Mya 4: the cooling water (15 °C, 3 L/min) is connected and confirmed - the host call configure_cooling_source; without it the
+  zones refuse to heat or cool (the default lab has no cooling source).
+* The other members are ready in the default lab (their set-up steps load the sample, chip, cartridge or charge).
+"""
+import copy
+
+from ...labbackend import load_config
+
+MONOWAVE = [{'capability': 'gas.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.15}},
+            {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True},
+            {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.0}}]
+MYA4_COOLING = {'host': 'configure_cooling_source', 'kwargs': {'available': True, 'temperature_K': 288.15, 'flow_m3_s': 5e-5}}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the reactor world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug == 'antonpaar_monowave400':
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(MONOWAVE)
+        elif slug == 'radleys_mya4':
+            e['setup'] = [copy.deepcopy(MYA4_COOLING)] + list(e.get('setup') or [])
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/sample_intro_lowering.py b/chemlab/chemlab/compile/tasks/sample_intro_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..d9c2b335ec659100c901c8005ed2dd4daa9836a8
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/sample_intro_lowering.py
@@ -0,0 +1,149 @@
+"""Lowering table of the sample_intro class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts (input schemas and documented examples), not from the mapping.
+[] = no native call (a class check refused, a read, a wait, or a verb this member does not have); None = not checked."""
+import glob
+import json
+import math
+import os
+
+from .sample_intro_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+ASSETS = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', '..', '..', '..', 'assets')
+
+
+def example(slug, cap, **changes):
+    """The contract's documented example arguments of ``cap`` with ``changes`` (what the class must send when the agent gives only
+    those settings and nothing was set before)."""
+    f = glob.glob(os.path.join(ASSETS, '**', slug, 'asset.contract.json'), recursive=True)[0]
+    with open(f, encoding='utf-8') as fh:
+        ex = dict(json.load(fh)['capabilities'][cap]['example_arguments'])
+    ex.update(changes)
+    return ex
+
+
+ATOMX_M1 = example('teledyne_atomxxyz', 'method.configure', purge_k=K0 + 40, purge_s=600.0)
+ATOMX_M2 = dict(ATOMX_M1, desorb_k=K0 + 245)                    # the second method keeps the first one's settings
+EGA_M = example('frontier_egapy', 'method.configure', mode='single', pyrolysis_k=K0 + 600, pyrolysis_s=6.0)
+UNITY_M = example('markes_unityxr', 'method.configure', mode='analyze', tube_k=K0 + 280, recollect=False)
+LASER_M = example('teledyne_analyteexcite', 'method.configure', mode='spot', spot_size_m=8e-05, shots=20, path_m=[[0.03, 0.03, 0.01]])
+LID_OPEN, LID_SHUT = ('lid.set_angle', {'angle_rad': math.pi / 2}), ('lid.set_angle', {'angle_rad': 0.0})
+
+CASES = {
+    'agilent_hs8697': {'steps': [
+        ('status', []),
+        ('start --vials 1', []),                                                  # EMPTY_POSITION (class check)
+        ('load v1 --vial 1', [LID_OPEN, ('sample.load', {'sample_id': 'v1', 'slot_id': 'tray_01'}), LID_SHUT]),
+        ('load v2 --vial 1', []),                                                 # POSITION_TAKEN
+        ('load v2 --vial 2 --dry-run', []),
+        ('load v2 --vial 2', [LID_OPEN, ('sample.load', {'sample_id': 'v2', 'slot_id': 'tray_02'}), LID_SHUT]),
+        ('unload --vial 2', [LID_OPEN, ('sample.unload', {'slot_id': 'tray_02'}), LID_SHUT]),
+        ('unload --vial 2', []),                                                  # EMPTY_POSITION
+        ('load v9 --vial 3', [LID_OPEN, ('sample.load', {'sample_id': 'v9', 'slot_id': 'tray_03'})]),   # not registered: refused, lid stays open
+        ('close lid', [LID_SHUT]),                                                # shared verb
+        ('set-temp 70C', []),                                                     # MISSING_ZONE (usage)
+        ('set-temp 70C --zone oven', [('thermal.set_temperature', {'zone': 'oven', 'temperature_K': K0 + 70})]),
+        ('set-temp 80C --zone loop', [('thermal.set_temperature', {'zone': 'loop_valve', 'temperature_K': K0 + 80})]),
+        ('set-temp 90C --zone transfer', [('thermal.set_temperature', {'zone': 'transfer_line', 'temperature_K': K0 + 90})]),
+        ('set-temp 400C --zone oven', []),                                        # OUT_OF_RANGE (0..300 °C)
+        ('set-temp 22C --zone oven', []),                                         # TOO_LOW (room 20 °C + 5 K)
+        ('start --vials 1', []),                                                  # NO_METHOD (no equilibration time)
+        ('method equilibration=10min gc-cycle=5min shake=3', [('method.set_equilibration_time', {'duration_s': 600.0}),
+                                                               ('hs.method.configure', {'settings': {'gc_cycle_s': 300.0, 'shake': 3}})]),
+        ('method shake=12', []),                                                  # OUT_OF_RANGE
+        ('method vial-size=20mL', [('hs.method.configure', {'settings': {'vial_size_m3': 2e-05}})]),
+        ('start --vials 1', [('sequence.start', {'vials': [1]})]),
+        ('load v3 --vial 3', []),                                                 # BUSY (sequence running)
+        ('#wait 600', None),
+        ('stop', [('sequence.stop', {'scope': 'sequence'})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('start --vial 1 --injections 2', [('sequence.start', {'vials': [1], 'injections_per_vial': 2})]),
+        ('wait --max 3h', []),                                                    # shared wait on the class job
+        ('result', []),
+        ('result --save-to hs_result.json', []),
+        ('inject', []),                                                           # not supported
+        ('position 1 2 3', []),                                                   # not supported
+        ('rinse', []),                                                            # not supported
+    ]},
+    'teledyne_atomxxyz': {'steps': [
+        ('start --vial 1', []),                                                   # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start --vial 1', []),                                                   # NO_METHOD
+        ('method purge-temp=40C purge-time=10min', [('method.configure', ATOMX_M1)]),
+        ('method purge-temp=400C', []),                                           # OUT_OF_RANGE (10..90 °C)
+        ('method colour=blue', []),                                               # UNKNOWN_SETTING
+        ('method desorb-temp=245C', [('method.configure', ATOMX_M2)]),
+        ('open guard', [('guard.set', {'angle_rad': 1.4})]),
+        ('start --vial 1', []),                                                   # COVER_OPEN
+        ('close guard', [('guard.set', {'angle_rad': 0})]),
+        ('start --vials 1,2', []),                                                # NOT_ON_THIS_INSTRUMENT (usage)
+        ('start --vial 99', []),                                                  # UNKNOWN_POSITION (usage)
+        ('start --vial 1 --dry-run', []),
+        ('start --vial 1', [('acquisition.start', {'vial_index': 0})]),
+        ('method purge-temp=30C', []),                                            # BUSY
+        ('#wait 60', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('start --vial 3', [('acquisition.start', {'vial_index': 2})]),     # NOT_READY: the sparger still holds the stopped sample
+        ('rinse 50mL', []),                                                      # OUT_OF_RANGE (1..25 mL)
+        ('rinse', [('system.rinse', {'volume_m3': 7e-06})]),                     # the documented rinse volume
+        ('start --vial 3', [('acquisition.start', {'vial_index': 2})]),
+        ('rinse', []),                                                           # BUSY
+        ('wait --max 1h', []),
+        ('result', [('process.measure', {})]),
+        ('load v1 --vial 1', []),                                                 # not supported
+        ('set-temp 50C', []),                                                     # not supported
+    ]},
+    'frontier_egapy': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                            # NO_METHOD
+        ('method mode=single pyrolysis-temp=600C pyrolysis-time=0.1min', [('method.configure', EGA_M)]),
+        ('method pyrolysis-temp=600.5C', [('method.configure', dict(EGA_M, pyrolysis_k=K0 + 600.5))]),   # runtime: whole °C only
+        ('inject', []),                                                           # NOT_RUNNING
+        ('start', [('acquisition.start', {})]),
+        ('inject', []),                                                           # NOT_YET (furnace heating)
+        ('inject --wait --dry-run', []),
+        ('inject --wait', [('cup.drop', {}), ('acquisition.confirm', {})]),
+        ('wait --max 1h', []),
+        ('result', [('process.measure', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('set-temp 600C', []),                                                    # not supported
+        ('position 1 1 1', []),                                                   # not supported
+    ]},
+    'markes_unityxr': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('method mode=analyze desorb-temp=280C recollect=false', [('method.configure', UNITY_M)]),
+        ('method desorb-temp=400C', [('method.configure', dict(UNITY_M, tube_k=K0 + 400))]),     # runtime: sorbent limit 350 °C
+        ('method desorb-temp=450C', []),                                          # OUT_OF_RANGE (35..425 °C)
+        ('open lid', [('lid.set', {'lift_m': 0.18})]),
+        ('start', []),                                                            # COVER_OPEN
+        ('close lid', [('lid.set', {'lift_m': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('start', []),                                                            # BUSY
+        ('wait --max 1h', []),
+        ('result --save-to unity.json', [('process.measure', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('inject', []),                                                           # not supported
+    ]},
+    'teledyne_analyteexcite': {'steps': [
+        ('position 30mm 30mm 10mm', []),                                          # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('position 30mm 30mm 10mm', [('stage.move', {'position_m': [0.03, 0.03, 0.01]})]),
+        ('position 200mm 0 0', []),                                               # OUT_OF_RANGE (0..100 mm)
+        ('method mode=spot spot=80um shots=20 path_m=[[0.03,0.03,0.01]]', [('method.configure', LASER_M)]),
+        ('open guard', [('guard.set', {'angle_rad': 1.1})]),
+        ('open drawer', [('drawer.set', {'open_m': 0.23})]),
+        ('start', []),                                                            # COVER_OPEN
+        ('position 10mm 10mm 10mm', []),                                          # DRAWER_OPEN
+        ('close drawer', [('drawer.set', {'open_m': 0})]),
+        ('close guard', [('guard.set', {'angle_rad': 0})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result', [('process.measure', {})]),
+        ('rinse 5mL', []),                                                       # NOT_ON_THIS_INSTRUMENT (usage)
+        ('rinse', [('washout.start', {})]),
+        ('wait', []),
+        ('load s1 --vial 1', []),                                                 # not supported
+        ('inject', []),                                                           # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/sample_intro_tasks.py b/chemlab/chemlab/compile/tasks/sample_intro_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..7a98eef76ccdeb37698353cede504006e1692bab
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/sample_intro_tasks.py
@@ -0,0 +1,227 @@
+"""sample_intro class acceptance tasks (8): gold solutions use `chemlab run`; the checkers read the evaluator view and the lab's own
+request log (what reached the instrument).  World: tasks/sample_intro_world.py plus per-task host steps."""
+import math
+
+from .common import run_suite
+from .sample_intro_world import config as world_config
+from .checks_common import last_args, native_calls, text_has, used_job, world_call
+
+K0 = 273.15
+HS, ATOMX, EGA, UNITY, LASER = 'agilent_hs8697', 'teledyne_atomxxyz', 'frontier_egapy', 'markes_unityxr', 'teledyne_analyteexcite'
+
+
+# ------------------------------------------------------------------ worlds
+def w_hs_ready_lid_open(lab):
+    """A colleague loaded vial v1 at position 1, set the zones and the method, and left the lid open."""
+    world_call(lab, HS, 'lid.set_angle', {'angle_rad': math.pi / 2})
+    world_call(lab, HS, 'sample.load', {'sample_id': 'v1', 'slot_id': 'tray_01'})
+    for z, k in (('oven', K0 + 70), ('loop_valve', K0 + 80), ('transfer_line', K0 + 90)):
+        world_call(lab, HS, 'thermal.set_temperature', {'zone': z, 'temperature_K': k})
+    world_call(lab, HS, 'method.set_equilibration_time', {'duration_s': 300.0})
+
+
+def w_atomx_stopped_run(lab):
+    """The previous user started vial 1 and stopped the run halfway: the sparge vessel still holds the sample."""
+    ex = lab.backend.instruments[ATOMX].contract['capabilities']['method.configure']['example_arguments']
+    world_call(lab, ATOMX, 'power.set', {'enabled': True})
+    world_call(lab, ATOMX, 'method.configure', ex)
+    world_call(lab, ATOMX, 'acquisition.start', {'vial_index': 0})
+    lab.backend.advance(120)
+    world_call(lab, ATOMX, 'acquisition.stop', {})
+
+
+def w_unity_lid_open(lab):
+    """The tube was loaded and the lid left open; the method (no re-collection) is set and the desorber is on."""
+    ex = dict(lab.backend.instruments[UNITY].contract['capabilities']['method.configure']['example_arguments'], recollect=False)
+    world_call(lab, UNITY, 'power.set', {'enabled': True})
+    world_call(lab, UNITY, 'method.configure', ex)
+    world_call(lab, UNITY, 'lid.set', {'lift_m': 0.18})
+
+
+# ------------------------------------------------------------------ checkers
+def c_hs_sequence(c):
+    e = c.ev(HS)
+    c.equal('two injections', e.get('measurement.count'), 2)
+    c.equal('vials v1 then v2 injected', [x.get('sample_id') for x in e.get('injection.log') or []], ['v1', 'v2'])
+    c.near('oven set point 70 °C', e.get('thermal.oven.setpoint_k'), K0 + 70, 1e-6)
+    c.near('loop set point 80 °C', e.get('thermal.loop_valve.setpoint_k'), K0 + 80, 1e-6)
+    c.near('transfer line set point 90 °C', e.get('thermal.transfer_line.setpoint_k'), K0 + 90, 1e-6)
+    c.near('equilibration 10 min', e.get('method.equilibration_time_s'), 600.0, 1e-6)
+    c.add('sequence finished', e.get('hs.sequence') is None, e.get('hs.sequence'))
+    used_job(c, HS)
+
+
+def c_hs_lid(c):
+    e = c.ev(HS)
+    c.equal('one injection', e.get('measurement.count'), 1)
+    c.add('lid closed', e.get('lid.closed') is True, e.get('lid.closed'))
+    c.add('vial v1 injected', [x.get('sample_id') for x in e.get('injection.log') or []] == ['v1'], e.get('injection.log'))
+
+
+def c_atomx(c):
+    e = c.ev(ATOMX)
+    m = last_args(c, ATOMX, 'method.configure') or {}
+    c.near('purge 40 °C', m.get('purge_k'), K0 + 40, 1e-6)
+    c.near('purge 10 min', m.get('purge_s'), 600.0, 1e-6)
+    c.near('desorb 250 °C', m.get('desorb_k'), K0 + 250, 1e-6)
+    starts = native_calls(c, ATOMX, 'acquisition.start')
+    c.add('vial at tray position 1 run (vial_index 0)', bool(starts) and starts[-1][1].get('vial_index') == 0, starts)
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    used_job(c, ATOMX)
+
+
+def c_atomx_recover(c):
+    e = c.ev(ATOMX)
+    starts = native_calls(c, ATOMX, 'acquisition.start')
+    c.add('vial at tray position 3 run (vial_index 2)', bool(starts) and starts[-1][1].get('vial_index') == 2, starts)
+    c.add('the sparger was rinsed', bool(native_calls(c, ATOMX, 'system.rinse')))
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    text_has(c, 'blocked.txt names the refusal (NOT_READY)', 'blocked.txt', 'NOT_READY')
+
+
+def c_ega(c):
+    e = c.ev(EGA)
+    m = last_args(c, EGA, 'method.configure') or {}
+    c.equal('single shot', m.get('mode'), 'single')
+    c.near('pyrolysis 600 °C', m.get('pyrolysis_k'), K0 + 600, 1e-6)
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.equal('one GC start', e.get('gc.trigger_count'), 1)
+    c.add('the cup was dropped', bool(native_calls(c, EGA, 'cup.drop')))
+    c.near('gc_starts.txt reports 1', c.number_file('gc_starts.txt'), 1, 0)
+
+
+def c_unity_lid(c):
+    e = c.ev(UNITY)
+    c.add('lid closed', (e.get('lid.lift_m') or 0) == 0, e.get('lid.lift_m'))
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.equal('one GC start', e.get('gc.trigger_count'), 1)
+    c.equal('leak test passed', e.get('leak.result'), 'passed')
+
+
+def c_laser(c):
+    e = c.ev(LASER)
+    m = last_args(c, LASER, 'method.configure') or {}
+    c.equal('spot mode', m.get('mode'), 'spot')
+    c.equal('20 shots', m.get('shots'), 20)
+    c.near('80 µm spot', m.get('spot_size_m'), 8e-05, 1e-12)
+    c.equal('20 pulses fired', e.get('laser.pulse_count'), 20)
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.near('pulses.txt reports 20', c.number_file('pulses.txt'), 20, 0)
+
+
+def c_unity_limit(c):
+    e = c.ev(UNITY)
+    m = last_args(c, UNITY, 'method.configure') or {}
+    c.near('tube desorbed at 350 °C (the sorbent limit)', m.get('tube_k'), K0 + 350, 1e-6)
+    c.equal('run succeeded', e.get('acquisition.phase'), 'succeeded')
+    text_has(c, 'limit.txt names the refusal (TOO_HOT)', 'limit.txt', 'TOO_HOT')
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_HS = r'''chemlab run agilent_hs8697 load v1 --vial 1
+chemlab run agilent_hs8697 load v2 --vial 2
+chemlab run agilent_hs8697 set-temp 70C --zone oven
+chemlab run agilent_hs8697 set-temp 80C --zone loop
+chemlab run agilent_hs8697 set-temp 90C --zone transfer
+chemlab run agilent_hs8697 method equilibration=10min
+job=$(chemlab run agilent_hs8697 start --vials 1,2 --json | jq -r .job)
+chemlab wait "$job" --max 3h
+chemlab run agilent_hs8697 result'''
+
+GOLD_HS_LID = r'''chemlab run agilent_hs8697 start --vials 1 --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' s.json >/dev/null; then
+  chemlab run agilent_hs8697 close lid
+  chemlab run agilent_hs8697 start --vials 1 --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 3h'''
+
+GOLD_ATOMX = r'''chemlab run teledyne_atomxxyz power on
+chemlab run teledyne_atomxxyz method purge-temp=40C purge-time=10min desorb-temp=250C
+job=$(chemlab run teledyne_atomxxyz start --vial 1 --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run teledyne_atomxxyz result'''
+
+GOLD_ATOMX_RECOVER = r'''chemlab run teledyne_atomxxyz start --vial 3 --json > s.json; rc=$?
+jq -r '.error.code' s.json > blocked.txt; cat blocked.txt
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_READY"' s.json >/dev/null; then
+  chemlab run teledyne_atomxxyz rinse
+  chemlab run teledyne_atomxxyz start --vial 3 --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 1h'''
+
+GOLD_EGA = r'''chemlab run frontier_egapy power on
+chemlab run frontier_egapy method mode=single pyrolysis-temp=600C pyrolysis-time=0.1min
+job=$(chemlab run frontier_egapy start --json | jq -r .job)
+chemlab run frontier_egapy inject --wait --max 30min
+chemlab wait "$job" --max 1h
+chemlab run frontier_egapy status --json | jq -r '.state["GC starts"]' > gc_starts.txt; cat gc_starts.txt'''
+
+GOLD_UNITY_LID = r'''chemlab run markes_unityxr start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "COVER_OPEN"' s.json >/dev/null; then
+  chemlab run markes_unityxr close lid
+  chemlab run markes_unityxr start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 1h
+chemlab run markes_unityxr status'''
+
+GOLD_LASER = r'''chemlab run teledyne_analyteexcite power on
+chemlab run teledyne_analyteexcite position 30mm 30mm 10mm
+chemlab run teledyne_analyteexcite method mode=spot shape=square spot=80um shots=20 'path_m=[[0.03,0.03,0.01]]'
+job=$(chemlab run teledyne_analyteexcite start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run teledyne_analyteexcite status --json | jq -r '.state.pulses' > pulses.txt; cat pulses.txt'''
+
+GOLD_UNITY_LIMIT = r'''chemlab run markes_unityxr power on
+chemlab run markes_unityxr method mode=analyze desorb-temp=380C recollect=false --json > m.json; rc=$?
+if [ $rc -eq 3 ]; then
+  jq -r '.error.code + ": " + .error.message' m.json > limit.txt
+  chemlab run markes_unityxr method mode=analyze desorb-temp=350C recollect=false
+fi
+cat limit.txt
+job=$(chemlab run markes_unityxr start --json | jq -r .job)
+chemlab wait "$job" --max 1h'''
+
+
+TASKS = [
+    {'id': 'si01_headspace_sequence', 'kind': 'multi-step + long action (job)', 'instruments': [HS], 'check': c_hs_sequence,
+     'instruction': 'On the Agilent 8697 headspace sampler (agilent_hs8697), load the lab\'s vials v1 and v2 into tray positions 1 and 2, '
+                    'set the oven to 70 °C, the loop to 80 °C and the transfer line to 90 °C, use a 10 min equilibration time, and run '
+                    'a headspace sequence of both vials. Wait until both are injected.', 'gold': GOLD_HS},
+    {'id': 'si02_recover_hs_lid', 'kind': 'recovery: lid left open', 'instruments': [HS], 'world': w_hs_ready_lid_open, 'check': c_hs_lid,
+     'instruction': 'Vial v1 is in tray position 1 of the Agilent 8697 (agilent_hs8697) and its method is set. Run it as a one-vial '
+                    'headspace sequence and wait until it has been injected.', 'gold': GOLD_HS_LID},
+    {'id': 'si03_purge_and_trap', 'kind': 'multi-step (method keys with units) + job', 'instruments': [ATOMX], 'check': c_atomx,
+     'instruction': 'On the Teledyne Tekmar Atomx XYZ purge-and-trap sampler (teledyne_atomxxyz), purge at 40 °C for 10 min and desorb '
+                    'the trap at 250 °C (other settings as documented), then run the vial at tray position 1 and wait for the run to end.',
+     'gold': GOLD_ATOMX},
+    {'id': 'si04_recover_atomx_stopped_run', 'kind': 'recovery: sparger not rinsed after a stopped run', 'instruments': [ATOMX],
+     'world': w_atomx_stopped_run, 'check': c_atomx_recover,
+     'instruction': 'Run the vial at tray position 3 of the Atomx XYZ (teledyne_atomxxyz) with the current method and wait for the run. '
+                    'If the instrument refuses at first, write the error code into blocked.txt and fix the cause.',
+     'gold': GOLD_ATOMX_RECOVER},
+    {'id': 'si05_pyrolysis_single_shot', 'kind': 'job + manual step (inject)', 'instruments': [EGA], 'check': c_ega,
+     'instruction': 'Run a single-shot pyrolysis of the loaded sample cup on the Frontier EGA/PY-3030D (frontier_egapy) at 600 °C for '
+                    '6 s, then write the number of GC starts it gave into gc_starts.txt.', 'gold': GOLD_EGA},
+    {'id': 'si06_recover_unity_lid', 'kind': 'recovery: lid left open', 'instruments': [UNITY], 'world': w_unity_lid_open,
+     'check': c_unity_lid,
+     'instruction': 'The UNITY-xr thermal desorber (markes_unityxr) has its tube and method ready. Desorb the tube into the GC and '
+                    'wait for the run to end.', 'gold': GOLD_UNITY_LID},
+    {'id': 'si07_laser_spot', 'kind': 'multi-step (stage, method, job) + report', 'instruments': [LASER], 'check': c_laser,
+     'instruction': 'On the Analyte Excite+ laser ablation system (teledyne_analyteexcite), move the stage to x 30 mm, y 30 mm, z 10 mm, '
+                    'set a spot method there (square 80 µm spot, 20 shots), ablate, and write the number of laser pulses fired into '
+                    'pulses.txt.', 'gold': GOLD_LASER},
+    {'id': 'si08_recover_sorbent_limit', 'kind': 'recovery: setting refused by the instrument', 'instruments': [UNITY],
+     'check': c_unity_limit,
+     'instruction': 'Desorb the tube in the UNITY-xr (markes_unityxr) at 380 °C in analyze mode without re-collection. If the instrument '
+                    'does not allow that temperature, write its error code and message into limit.txt and use the highest temperature '
+                    'it allows instead (350 °C); then run and wait for the end.', 'gold': GOLD_UNITY_LIMIT},
+]
+for _t in TASKS:
+    _t['class'] = 'sample_intro'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('sample_intro', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/sample_intro_world.py b/chemlab/chemlab/compile/tasks/sample_intro_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..c820b4106e4371518869ed51344f1d6905e6dd15
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/sample_intro_world.py
@@ -0,0 +1,61 @@
+"""Host-side world for the sample_intro class (what the lab operator has done before the agent starts), as lab-config set-up
+steps and scenes.  Nothing here is reachable from the sandbox.
+
+* Agilent 8697: the room temperature is known (host set_ambient_temperature), four sealed 20 mL vials v1..v4 are prepared
+  (host register_sample), the GC is connected (host register_gc), and the event-clock scene (scenes/hs8697.py).
+* Atomx XYZ: an aqueous benzene vial at tray position 1 (contract example, vial_index 0) and an aqueous toluene vial at 3.
+* Analyte Excite+: the guard and the drawer opened, the glass sample (contract example) loaded, drawer and guard closed.
+* EGA/PY-3030D: the sample cup (contract example) loaded, the carrier gas on, the GC ready.
+* UNITY-xr: the lid and the sample lever opened, the sorbent tube (contract example) loaded, lever and lid closed, the GC ready.
+"""
+import copy
+
+from ...labbackend import load_config
+
+HS_SCENE = 'chemlab.compile.scenes.hs8697:HS8697Scene'
+
+
+def hs_setup(iid, vials=('v1', 'v2', 'v3', 'v4')):
+    steps = [{'host': 'set_ambient_temperature', 'kwargs': {'temperature_K': 293.15}}]
+    steps += [{'host': 'register_sample', 'kwargs': {'sample_id': v, 'volume_m3': 2e-05}} for v in vials]
+    steps.append({'host': 'register_gc', 'kwargs': {'gc_instance_id': 'gc_01'}})
+    return steps
+
+
+ATOMX = [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+         {'capability': 'sample.load', 'evaluator': True, 'arguments': {
+             'sample_id': 'aqueous_toluene', 'vial_index': 2, 'matrix': 'water', 'liquid_volume_m3': 2e-05, 'soil_mass_kg': 0.0,
+             'components': [{'substance_id': 'toluene', 'moles': 1e-08, 'soil_kd_m3_kg': 0.0}]}}]
+ANALYTE = [{'capability': 'guard.set', 'arguments': {'angle_rad': 1.0}},
+           {'capability': 'drawer.set', 'arguments': {'open_m': 0.2}},
+           {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+           {'capability': 'drawer.set', 'arguments': {'open_m': 0.0}},
+           {'capability': 'guard.set', 'arguments': {'angle_rad': 0.0}}]
+EGAPY = [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+         {'capability': 'gas.set', 'arguments': {'enabled': True}},
+         {'capability': 'gc.ready', 'arguments': {'ready': True}, 'evaluator': True}]
+UNITY = [{'capability': 'lid.set', 'arguments': {'lift_m': 0.18}},
+         {'capability': 'sample_lever.set', 'arguments': {'angle_rad': 1.0}},
+         {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True},
+         {'capability': 'sample_lever.set', 'arguments': {'angle_rad': 0.0}},
+         {'capability': 'lid.set', 'arguments': {'lift_m': 0.0}},
+         {'capability': 'gc.ready', 'arguments': {'ready': True}, 'evaluator': True}]
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the sample_intro world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug == 'agilent_hs8697':
+            e['scene'] = HS_SCENE
+            e['setup'] = list(e.get('setup') or []) + hs_setup(e['id'])
+        elif slug == 'teledyne_atomxxyz':
+            e['setup'] = list(e.get('setup') or []) + ATOMX
+        elif slug == 'teledyne_analyteexcite':
+            e['setup'] = list(e.get('setup') or []) + ANALYTE
+        elif slug == 'frontier_egapy':
+            e['setup'] = list(e.get('setup') or []) + EGAPY
+        elif slug == 'markes_unityxr':
+            e['setup'] = list(e.get('setup') or []) + UNITY
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/shared_lowering.py b/chemlab/chemlab/compile/tasks/shared_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..582ce47f467f4e134ea74ffcc8e0e55f69573704
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/shared_lowering.py
@@ -0,0 +1,75 @@
+"""Lowering table of the shared layer, built for every member of configs/adapters/shared.json.
+
+Expected native calls come from the contracts, not from the shared mapping's values: method = the method capability with the
+contract's example arguments (typed as KEY=VALUE, bare numbers in the declared unit); open / close = the part capability with the
+open / close value the argument's schema gives (range maximum / minimum, true / false, open / closed enum); start / stop / result /
+ack / estop = the capability with no arguments.  power is state dependent (no call when already in that state): its calls are
+not fixed here; test_shared_all203 checks the power mapping against the contract's write_via of the power slot instead.
+Verbs a class fragment owns on that instrument are left to the class's own lowering table.
+"""
+import json
+import shlex
+
+from ...glab import single
+from ...hosts import contract_index
+from ..fragments import adapters_for, load_fragments
+from ..shared_gen import part_value
+
+ORDER = ('method', 'start', 'result', 'stop')
+
+
+def _contract(slug):
+    return json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+
+
+def _text(v):
+    return v if isinstance(v, str) else json.dumps(v)
+
+
+def steps_for(slug, m, contract, owned):
+    caps = contract['capabilities']
+    verbs = m.get('verbs') or {}
+    out = [('status', [])]
+    if 'method' in verbs and 'method' not in owned:
+        cap = verbs['method']['cap']
+        ex = caps[cap].get('example_arguments') or {}
+        if ex:
+            out.append(('method ' + ' '.join(shlex.quote('%s=%s' % (k, _text(v))) for k, v in ex.items()), [(cap, ex)]))
+    for v in ('start', 'result', 'stop'):
+        if v in verbs and v not in owned:
+            out.append((v, [(verbs[v]['cap'], {})]))
+    if 'open' in verbs and 'open' not in owned:
+        for name, spec in verbs['open']['parts'].items():
+            for action in ('open', 'close'):
+                if spec.get('%s_cap' % action):
+                    out.append(('%s %s' % (action, name), [(spec['%s_cap' % action], dict(spec.get('args') or {}))]))
+                    continue
+                schema = ((caps[spec['cap']].get('input_schema') or {}).get('properties') or {})[spec['arg']]
+                ov, cv = part_value(spec['arg'], schema)
+                args = dict(spec.get('args') or {})
+                args[spec['arg']] = ov if action == 'open' else cv
+                out.append(('%s %s' % (action, name), [(spec['cap'], args)]))
+    for v in ('ack', 'estop'):
+        if v in verbs and v not in owned:
+            out.append((v, [(verbs[v]['cap'], {})]))
+    if 'power' in verbs and 'power' not in owned:
+        out += [('power off', None), ('power on', None)]
+    return out
+
+
+def build():
+    frags = load_fragments()
+    shared = next(f for f in frags if f.get('layer') == 'shared')
+    classes = [f for f in frags if f.get('layer') != 'shared']
+    cases = {}
+    for slug, m in sorted(shared['members'].items()):
+        owned = set()
+        for f in classes:
+            if slug in f['members']:
+                cad = adapters_for(single([slug]), [f])[slug]
+                owned |= set(cad.verbs()) | {v for v in cad.table if cad.blocks(v)} | set(cad.hidden_verbs())   # class beats shared
+        cases[slug] = {'steps': steps_for(slug, m, _contract(slug), owned)}
+    return cases
+
+
+CASES = build()
diff --git a/chemlab/chemlab/compile/tasks/solid_prep_lowering.py b/chemlab/chemlab/compile/tasks/solid_prep_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..1fb1f08b5f919db3cc1cd5a1201bb934b962d00a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/solid_prep_lowering.py
@@ -0,0 +1,141 @@
+"""Lowering table of the solid_prep class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts (a method call carries the contract's reference arguments, ``T``,
+with the values the verb changes), not from the mapping.  [] = no native call; None = not checked (``pump --to ... --hold``
+strokes until the cycle is complete, so the number of strokes is the press's; the twin state is still compared)."""
+import copy
+import json
+
+from ...hosts import contract_index
+from .solid_prep_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+PI = 3.141592653589793
+K0 = 273.15
+RPM = 2 * PI / 60
+
+
+def T(slug, cap, **over):
+    c = json.loads(contract_index()['instrument.' + slug].read_text(encoding='utf-8'))
+    a = copy.deepcopy(c['capabilities'][cap]['example_arguments'])
+    a.update(over)
+    return a
+
+
+PM, AS, PT, SP, LN = 'retsch_pm100', 'retsch_as200', 'retsch_pt100', 'specac_atlasmanual', 'malvern_leneo'
+
+CASES = {
+    PM: {'steps': [
+        ('status', []),
+        ('intensity 300rpm', [('milling.set_speed', {'speed_rad_s': 300 * RPM})]),
+        ('intensity 1000rpm', []),                                              # OUT_OF_RANGE (100..650 rpm)
+        ('method speed=400rpm time=1min', [('method.configure', T(PM, 'method.configure', speed_rad_s=400 * RPM, duration_s=60.0))]),
+        ('method spin=1', []),                                                  # UNKNOWN_SETTING
+        ('program 1', [('program.select', {'slot': 1})]),
+        ('program 0', [('program.select', {'slot': 0})]),
+        ('program 11', []),                                                     # OUT_OF_RANGE (0..10)
+        ('start --dry-run', []),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 5', None),
+        ('method speed=300rpm', []),                                            # BUSY (member requirement)
+        ('stop', [('acquisition.stop', {})]),
+        ('#wait 10', None),
+        ('rearm', [('cycle.rearm', {})]),
+        ('rearm', []),                                                          # NOTHING_TO_REARM
+        ('set-temp 50C', []), ('pause on', []), ('feeder on', []), ('pump 1', []),   # not supported
+        ('start --delay 30s', [('acquisition.start_in', {'delay_s': 30.0})]),
+        ('stop', [('acquisition.stop', {})]),                                   # cancels the countdown
+        ('result', [('milling.measure', {})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 150', None),
+        ('start', []),                                                          # LID_OPEN: the lid opened by itself at the end
+        ('result --save-to pm100.json', [('milling.measure', {})]),
+    ]},
+    AS: {'steps': [
+        ('intensity 1.5mm', [('sieving.set_lift', {'total_lift_m': 0.0015})]),
+        ('intensity 5mm', []),                                                  # OUT_OF_RANGE (0.2..3 mm)
+        ('method amplitude=1mm time=2min', [('method.configure', T(AS, 'method.configure', total_lift_m=0.001, duration_s=120.0))]),
+        ('program 0', [('program.select', {'slot': 0})]),
+        ('pause on', []),                                                       # NOT_RUNNING
+        ('start', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('pause on', [('acquisition.pause', {})]),
+        ('pause off', [('acquisition.resume', {})]),
+        ('pause off', []),                                                      # NOT_PAUSED
+        ('#wait 200', None),
+        ('result', [('sieving.measure', {})]),
+        ('start', []),                                                          # CYCLE_FINISHED
+        ('method time=3min', []),                                               # CYCLE_FINISHED
+        ('rearm', [('cycle.rearm', {})]),
+        ('method time=3min', [('method.configure', T(AS, 'method.configure', duration_s=180.0))]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('feeder on', []), ('set-temp 30C', []), ('valve close', []),           # not supported
+    ]},
+    PT: {'steps': [
+        ('start', []),                                                          # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),                       # shared layer
+        ('start', []),                                                          # NO_METHOD
+        ('intensity 60', []),                                                   # NO_METHOD
+        ('method time=1min intensity=60 gap=5mm', [('hopper.set_gap', {'gap_m': 0.005}),
+                                                   ('method.configure', {'duration_s': 60.0, 'intensity': 60})]),
+        ('method time=2min', []),                                               # BAD_CHOICE (the timer steps)
+        ('intensity 70', [('feeder.set_intensity', {'intensity': 70})]),
+        ('intensity 120', []),                                                  # OUT_OF_RANGE (0..99)
+        ('intensity 7.5', []),                                                  # NOT_AN_INTEGER
+        ('#wait 3', None),
+        ('start', []),                                                          # FEEDER_OFF
+        ('feeder on', [('feeder.set_power', {'enabled': True})]),
+        ('feeder on', []),                                                      # already on
+        ('start', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('pause on', [('acquisition.pause', {})]),
+        ('pause off', [('acquisition.resume', {})]),
+        ('#wait 120', None),
+        ('result', [('dividing.measure', {})]),
+        ('start', []),                                                          # CYCLE_DONE
+        ('program 1', []), ('rearm', []), ('leadscrew 10mm', []),               # not supported
+    ]},
+    SP: {'steps': [
+        ('status', []),
+        ('pump', []),                                                           # NO_METHOD
+        ('method load=68kN hold=12s', [('method.configure', T(SP, 'method.configure', target_load_N=68000.0, hold_s=12.0))]),
+        ('method load=200kN', []),                                              # OUT_OF_RANGE (max 147 kN)
+        ('method limit=70kN', [('relief.set_limit', {'load_N': 70000.0})]),
+        ('start', []),                                                          # GUARD_OPEN
+        ('close guard', [('guard.set_raised', {'side': 'front', 'raised': False})]),
+        ('start', []),                                                          # VALVE_OPEN
+        ('valve close', [('valve.set_open', {'open': False})]),
+        ('leadscrew 73mm', [('screw.set_position', {'position_m': 0.073})]),
+        ('leadscrew 200mm', []),                                                # OUT_OF_RANGE (0..89 mm)
+        ('start', [('acquisition.start', {})]),
+        ('pump 2', [('pump.stroke', {}), ('pump.stroke', {})]),
+        ('pump --to 200kN', []),                                                # ABOVE_LIMIT (70 kN)
+        ('pump --hold', []),                                                    # NEED_TO (usage)
+        ('pump --to 68kN --hold', None),
+        ('result', [('press.measure', {})]),
+        ('pump', []),                                                           # CYCLE_DONE
+        ('valve open', [('valve.set_open', {'open': True})]),
+        ('open guard', [('guard.set_raised', {'side': 'front', 'raised': True})]),
+        ('stop', []),                                                           # NOT_RUNNING
+        ('intensity 5', []), ('program 1', []), ('set-temp 50C', []), ('pause on', []),   # not supported
+    ]},
+    LN: {'steps': [
+        ('start', []),                                                          # NO_METHOD
+        ('method segments=10min@1065C,9min@1065C rocking=10deg', [
+            ('method.configure', T(LN, 'method.configure', segments=[{'duration_s': 600.0, 'end_temperature_K': K0 + 1065},
+                                                                     {'duration_s': 540.0, 'end_temperature_K': K0 + 1065}], rocking_rad=10 * PI / 180))]),
+        ('method segments=abc', []),                                            # BAD_VALUE
+        ('method pour=7', []),                                                  # OUT_OF_RANGE (1..4)
+        ('set-temp 900C', [('thermal.set_temperature', {'temperature_K': K0 + 900})]),
+        ('set-temp 2000C', []),                                                 # OUT_OF_RANGE (max 1200 °C)
+        ('program std', [('program.load', {'name': 'std'})]),                   # refused by the runtime: PROGRAM_NOT_FOUND
+        ('start', []),                                                          # DOOR_OPEN
+        ('close door', [('door.set_open', {'open': False})]),                   # shared layer
+        ('#wait 5', None),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 600', None),
+        ('result', [('fusion.measure', {})]),
+        ('method rocking=5deg', []),                                            # BUSY
+        ('stop', [('acquisition.stop', {})]),
+        ('start', []),                                                          # CYCLE_DONE
+        ('pause on', []), ('intensity 5', []), ('rearm', []),                   # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/solid_prep_tasks.py b/chemlab/chemlab/compile/tasks/solid_prep_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..d7069490885dfe52beb8d4bef017732f48d71b45
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/solid_prep_tasks.py
@@ -0,0 +1,221 @@
+"""solid_prep class acceptance tasks (8): gold solutions use `chemlab run` (plus `chemlab wait` / `jq` in the sandbox); the
+checkers read the evaluator view, the instruments' own records (evaluator calls on the host side) and the agent's report files.
+The world (jar, sieve stack, hopper fill, die fill, crucible) is the operator's: tasks/solid_prep_world.py."""
+import itertools
+
+from . import solid_prep_world as W
+from .common import run_suite
+
+PM, AS, PT, SP, LN = 'retsch_pm100', 'retsch_as200', 'retsch_pt100', 'specac_atlasmanual', 'malvern_leneo'
+RPM = 2 * 3.141592653589793 / 60
+_n = itertools.count()
+
+
+def ev_call(c, iid, cap, args=None):
+    r = c.lab.backend.evaluator_invoke(iid, cap, args or {}, 'check-%s-%s-%d' % (iid, cap, next(_n)))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+def world(extra=None):
+    return lambda cfg: W.config(cfg, extra)
+
+
+def max_speed(c):
+    recs = (ev_call(c, PM, 'history.read') or {}).get('records') or []
+    return max((r.get('speed_rad_s') or 0.0 for r in recs), default=0.0)
+
+
+# ------------------------------------------------------------------ checkers
+def c_mill(c):
+    e = c.ev(PM)
+    c.equal('grinding cycle finished', e.get('cycle.phase'), 'succeeded')
+    c.near('ground for 1 min', e.get('cycle.active_s'), 60.0, 0.5)
+    c.near('at 400 rpm', max_speed(c), 400 * RPM, 0.05)
+    c.near('time.txt = grinding time in s (±0.5)', c.number_file('time.txt'), e.get('cycle.active_s') or -1, 0.5)
+
+
+def c_mill_again(c):
+    e = c.ev(PM)
+    c.equal('second grinding cycle finished', e.get('cycle.phase'), 'succeeded')
+    c.near('ground 30 s in the new cycle', e.get('cycle.active_s'), 30.0, 0.5)
+    c.near('set speed 300 rpm', e.get('milling.target_rad_s'), 300 * RPM, 1e-6)
+
+
+def c_sieve(c):
+    e = c.ev(AS)
+    res = ev_call(c, AS, 'sieving.measure') or {}
+    c.equal('sieving finished', e.get('cycle.phase'), 'succeeded')
+    c.near('sieved 2 min', res.get('driven_s'), 120.0, 0.5)
+    c.near('amplitude 1.5 mm', e.get('sieving.target_total_lift_m'), 0.0015, 1e-9)
+    c.near('driven.txt = driven time in s (±0.5)', c.number_file('driven.txt'), res.get('driven_s') or -1, 0.5)
+
+
+def c_sieve_pause(c):
+    e = c.ev(AS)
+    res = ev_call(c, AS, 'sieving.measure') or {}
+    c.equal('sieving finished', e.get('cycle.phase'), 'succeeded')
+    c.near('sieved 2 min of drive time', res.get('driven_s'), 120.0, 0.5)
+    used = [(v, x) for i, v, x in c.verbs_used() if i == AS]
+    c.add('paused and resumed (pause on / pause off succeeded)', ('pause', 0) in used and used.count(('pause', 0)) >= 2, used)
+
+
+def c_divide(c):
+    e = c.ev(PT)
+    res = ev_call(c, PT, 'dividing.measure') or {}
+    c.equal('division finished', e.get('cycle.phase'), 'succeeded')
+    c.equal('feeder intensity 60', res.get('intensity'), 60)
+    prod = ev_call(c, PT, 'product.read') or {}
+    got = sum(sum(row) for row in prod.get('recipient_mass_kg') or [])
+    c.add('material reached the bottles', got > 0.01, got)
+
+
+def c_press(c):
+    e = c.ev(SP)
+    c.equal('press cycle complete (load held)', e.get('cycle.phase'), 'succeeded')
+    c.add('load released', (e.get('load.indicated_n') or 0) < 10, e.get('load.indicated_n'))
+    c.add('front guard raised again for the die', (e.get('guard_front.lift_m') or 0) > 0.17, e.get('guard_front.lift_m'))
+    res = ev_call(c, SP, 'press.measure') or {}
+    c.near('held for the method time (12 s)', res.get('hold_elapsed_s'), 12.0, 0.1)
+
+
+def c_fusion(c):
+    e = c.ev(LN)
+    res = ev_call(c, LN, 'fusion.measure') or {}
+    c.equal('fusion cycle finished, bead cold', (e.get('cycle.phase'), e.get('cycle.stage')), ('succeeded', 'cold_product'))
+    c.near('programme 10 min + 9 min', res.get('elapsed_s'), 1140.0, 1.0)
+    t = c.work_file('stage.txt') or ''
+    c.add('stage.txt reports the final stage', 'cold_product' in t, t[:60])
+
+
+def c_delayed(c):
+    e = c.ev(PM)
+    c.equal('grinding cycle finished', e.get('cycle.phase'), 'succeeded')
+    recs = (ev_call(c, PM, 'history.read') or {}).get('records') or []
+    t0 = getattr(c.lab.backend, 't_setup', 0.0)                         # the agent starts when the bring-up has finished
+    first = next((r['time_s'] for r in recs if (r.get('speed_rad_s') or 0) > 0), None)
+    c.add('the drive started about 2 min after the command (delayed start)', first is not None and 115.0 <= first - t0 <= 130.0,
+          (first, t0))
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_MILL = r'''chemlab run retsch_pm100 method speed=400rpm time=1min
+job=$(chemlab run retsch_pm100 start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run retsch_pm100 result --json | jq -r '.summary["grinding time"]' > time.txt
+cat time.txt'''
+
+GOLD_MILL_AGAIN = r'''I=retsch_pm100
+chemlab run $I method speed=300rpm time=30s --json > m.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "CYCLE_FINISHED"' m.json >/dev/null; then
+  jq -r '.error.fix' m.json
+  chemlab run $I rearm
+  chemlab run $I method speed=300rpm time=30s
+fi
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "LID_OPEN"' s.json >/dev/null; then
+  chemlab run $I close lid
+  chemlab wait 5
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 10min
+chemlab run $I status'''
+
+GOLD_SIEVE = r'''chemlab run retsch_as200 method amplitude=1.5mm time=2min interval-on=off
+job=$(chemlab run retsch_as200 start --json | jq -r .job)
+chemlab wait "$job" --max 10min
+chemlab run retsch_as200 result --json | jq -r '.summary.driven' > driven.txt
+cat driven.txt'''
+
+GOLD_SIEVE_PAUSE = r'''chemlab run retsch_as200 method amplitude=1.5mm time=2min interval-on=off
+job=$(chemlab run retsch_as200 start --json | jq -r .job)
+chemlab wait 30
+chemlab run retsch_as200 pause on
+chemlab wait 20
+chemlab run retsch_as200 pause off
+chemlab wait "$job" --max 10min'''
+
+GOLD_DIVIDE = r'''I=retsch_pt100
+chemlab run $I power on
+chemlab run $I method time=1min intensity=60
+chemlab wait 2
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "FEEDER_OFF"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run $I feeder on
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 10min
+chemlab run $I result'''
+
+GOLD_PRESS = r'''I=specac_atlasmanual
+chemlab run $I method load=68kN hold=12s
+chemlab run $I leadscrew 73mm
+for i in 1 2 3; do
+  chemlab run $I start --json > s.json && break
+  code=$(jq -r .error.code s.json); echo "start: $code"
+  case "$code" in
+    GUARD_OPEN) chemlab run $I close guard ;;
+    VALVE_OPEN) chemlab run $I valve close ;;
+    *) exit 1 ;;
+  esac
+done
+chemlab run $I pump --to 68kN --hold --max 10min
+chemlab run $I result
+chemlab run $I valve open
+chemlab run $I open guard'''
+
+GOLD_FUSION = r'''I=malvern_leneo
+chemlab run $I method segments=10min@1065C,9min@1065C
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_OPEN"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab run $I close door
+  chemlab wait 5
+  chemlab run $I start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 2h
+chemlab run $I result --json | jq -r '.summary.stage' > stage.txt
+cat stage.txt'''
+
+GOLD_DELAYED = r'''chemlab run retsch_pm100 method speed=300rpm time=30s
+job=$(chemlab run retsch_pm100 start --delay 2min --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 10min'''
+
+PM_FINISHED = {PM: [{'capability': 'acquisition.start', 'arguments': {}, 'evaluator': True}, {'advance_s': 60.0}]}
+
+TASKS = [
+    {'id': 'sp01_mill', 'kind': 'long action (job) + report', 'instruments': [PM], 'config': world(), 'check': c_mill,
+     'instruction': 'Grind the sample in the RETSCH PM 100 planetary mill (retsch_pm100) at 400 rpm for 1 min (keep the interval and '
+                    'reversal settings it has). Write the grinding time in seconds it reports into time.txt.', 'gold': GOLD_MILL},
+    {'id': 'sp02_mill_recover_finished', 'kind': 'recovery: last cycle not re-armed, lid open', 'instruments': [PM], 'config': world(PM_FINISHED),
+     'check': c_mill_again,
+     'instruction': 'A colleague has just ground a sample on the PM 100 (retsch_pm100). Grind it once more at 300 rpm for 30 s.',
+     'gold': GOLD_MILL_AGAIN},
+    {'id': 'sp03_sieve', 'kind': 'long action (job) + report', 'instruments': [AS], 'config': world(), 'check': c_sieve,
+     'instruction': 'Sieve the sample on the RETSCH AS 200 (retsch_as200) for 2 min at 1.5 mm amplitude, continuous (no interval). Write '
+                    'the drive time in seconds it reports into driven.txt.', 'gold': GOLD_SIEVE},
+    {'id': 'sp04_sieve_pause', 'kind': 'pause and resume a job', 'instruments': [AS], 'config': world(), 'check': c_sieve_pause,
+     'instruction': 'Sieve on the AS 200 (retsch_as200) for 2 min at 1.5 mm, continuous. After 30 s pause it for 20 s (a colleague checks '
+                    'the stack), then let it finish.', 'gold': GOLD_SIEVE_PAUSE},
+    {'id': 'sp05_divide_recover_feeder', 'kind': 'recovery: feeder off', 'instruments': [PT], 'config': world(), 'check': c_divide,
+     'instruction': 'Divide the sample in the RETSCH PT 100 rotary divider (retsch_pt100) for 1 min with feeder intensity 60.',
+     'gold': GOLD_DIVIDE},
+    {'id': 'sp06_press_recover_guard_valve', 'kind': 'recovery: guard up, valve open', 'instruments': [SP], 'config': world(), 'check': c_press,
+     'instruction': 'Press a KBr pellet on the Specac Atlas 15T manual press (specac_atlasmanual): 68 kN held for 12 s. The leadscrew goes to '
+                    '73 mm to close the gap over the die. Afterwards release the load and raise the front guard so the die can be taken out.',
+     'gold': GOLD_PRESS},
+    {'id': 'sp07_fusion_recover_door', 'kind': 'recovery: door open (long job)', 'instruments': [LN], 'config': world(), 'check': c_fusion,
+     'instruction': 'Make a fused bead on the Claisse LeNeo (malvern_leneo) with the programme 10 min to 1065 °C, then 9 min at 1065 °C, '
+                    'and wait until the bead is cold. Write the final stage it reports into stage.txt.', 'gold': GOLD_FUSION},
+    {'id': 'sp08_mill_delayed_start', 'kind': 'delayed start (job without an operation)', 'instruments': [PM], 'config': world(), 'check': c_delayed,
+     'instruction': 'Set the PM 100 (retsch_pm100) to 300 rpm for 30 s and let it start by itself in 2 minutes; wait until it has finished.',
+     'gold': GOLD_DELAYED},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'solid_prep'
+
+
+def main(only=None, noact=True):
+    return run_suite('solid_prep', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/solid_prep_world.py b/chemlab/chemlab/compile/tasks/solid_prep_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..1ddc243cdbb8492631504e03b292b68d3b6f6100
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/solid_prep_world.py
@@ -0,0 +1,33 @@
+"""Host-side world for the solid_prep class (what the lab operator has done before the agent starts), as lab-config set-up steps
+appended after each member's default bring-up (all203.json).  Loading jars, sieves, bottles, dies and crucibles is done by people,
+so these are evaluator calls, never class verbs:
+
+* PM 100 planetary mill, AS 200 sieve shaker, LeNeo fusion: the default bring-up already loads the jar / the sieve stack / the
+  crucible and the sample (contract examples).
+* PT 100 rotary divider: 0.5 kg of quartz then aragonite in the hopper (contract example) and all ten bottles attached.
+* Atlas 15T manual press: the 13 mm die (contract example, 10 t maximum) and 200 mg of KBr in it, front guard still raised.
+"""
+import copy
+
+from ...labbackend import load_config
+
+
+def ev(cap, args='contract_example'):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+WORLD = {
+    'retsch_pt100': [ev('sample.configure'), ev('mount.configure', {'all_bottles_attached': True})],
+    'specac_atlasmanual': [ev('die.configure'), ev('sample.configure')],
+}
+
+
+def config(base=None, extra=None):
+    """all203.json (or ``base``) with the solid_prep world steps added; ``extra``: {slug: [more steps]}."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        steps = list(WORLD.get(slug, [])) + list((extra or {}).get(slug, []))
+        if steps:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(steps)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/spectroscopy_lowering.py b/chemlab/chemlab/compile/tasks/spectroscopy_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..3da3da7cea34fb0a0719637e8a50c2b284ac942c
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/spectroscopy_lowering.py
@@ -0,0 +1,413 @@
+"""Lowering table of the spectroscopy class: per member, verbs in order and the native calls each must make (capability, arguments
+in the unit the argument declares - SI for every member of this class), written from the contracts, not from the mapping.
+[] = no native call (a class check refused, a usage error, an unsupported verb, a read of state slots, or a wait); None = not
+checked (only the analysis steps whose inputs are the measured arrays of the previous run; their state equality is still checked).
+
+Method calls send every argument the capability requires: the contract's documented example method with the given changes
+(``ex(slug, cap, **changes)`` reads that example from the contract).
+
+Extra lab entries of the same asset types (``*_s``, ``*_atr``, ``*_irf``, ``*_novt``) start from a stage world (``prep``,
+applied identically to the lab and its twin): a blank already recorded by the operator and the sample cell in place, the ATR
+accessory installed, the IRF scatterer in the holder, a minispec without its VT accessory.
+"""
+import copy
+import json
+
+from ...hosts import contract_index
+from ...labbackend import load_config
+from . import spectroscopy_world as W
+
+HALF_PI = 1.5707963267948966
+K0 = 273.15
+_CI = contract_index()
+
+
+def contract(slug):
+    return json.load(open(_CI.get(slug) or _CI['instrument.' + slug], encoding='utf-8'))
+
+
+def ex(slug, cap, **changes):
+    a = copy.deepcopy(contract(slug)['capabilities'][cap]['example_arguments'])
+    a.update(changes)
+    return a
+
+
+EXTRA = {'jasco_j1500_s': 'jasco_j1500', 'jasco_fp8350_s': 'jasco_fp8350', 'jasco_ftir4700_atr': 'jasco_ftir4700',
+         'edinburgh_fls1000tcspc_irf': 'edinburgh_fls1000tcspc', 'jasco_fvs6000_s': 'jasco_fvs6000', 'jasco_cpl300_s': 'jasco_cpl300',
+         'bruker_magnettechesr5000_s': 'bruker_magnettechesr5000', 'bruker_minispecmq20_novt': 'bruker_minispecmq20'}
+
+
+def config():
+    """all203.json + the spectroscopy default world + the extra entries of the stage worlds."""
+    cfg = W.config(load_config())
+    by_id = {e['id']: e for e in cfg['instruments']}
+    for iid, slug in EXTRA.items():
+        e = copy.deepcopy(by_id[slug])
+        e['id'] = iid
+        e.pop('instance_id', None)
+        if iid == 'bruker_minispecmq20_novt':
+            e['setup'] = [dict(st, arguments=ex(slug, 'plant.configure', vt_installed=False)) if st.get('capability') == 'plant.configure' else st
+                          for st in e['setup']]
+        cfg['instruments'].append(e)
+    return cfg
+
+
+# ------------------------------------------------------------------ stage worlds (prep: a LabBackend -> None)
+def p_j1500(b):
+    W.j1500_blank_recorded(b, 'jasco_j1500_s')
+
+
+def p_fp8350(b):
+    W.jasco_blank_recorded(b, 'jasco_fp8350_s', tag='fps')
+
+
+def p_esr(b):
+    W.jasco_blank_recorded(b, 'bruker_magnettechesr5000_s', tag='esrs')
+
+
+def p_ftir_atr(b):
+    w = W.World(b, 'jasco_ftir4700_atr', 'atr')
+    w.op('lid.set_angle', {'angle_rad': HALF_PI})
+    w.op('accessory.install', {'mode': 'atr'})
+    w.op('lid.set_angle', {'angle_rad': 0.0})
+
+
+def p_fls_irf(b):
+    w = W.World(b, 'edinburgh_fls1000tcspc_irf', 'irf')
+    w.op('power.set', {'enabled': False})
+    w.ev('sample.cover', {'opened': True})
+    w.ev('sample.load', W.FLS_SCATTERER)
+    w.ev('sample.cover', {'opened': False})
+    w.op('power.set', {'enabled': True})
+    w.ev('source.arm', {'enabled': True})
+
+
+def p_fvs(b):
+    iid = 'jasco_fvs6000_s'
+    w = W.World(b, iid, 'fvss')
+    w.op('power.set', {'enabled': True})
+    w.op('method.configure', ex('jasco_fvs6000', 'method.configure'))
+    w.op('blank.start', {})
+    w.until(lambda v: v.get('scan.phase') != 'running', 3600, 1.0)
+    W.swap_cover_cell(b, iid, ex('jasco_fvs6000', 'sample.load'), tag='fvss2')
+
+
+def p_cpl(b):
+    iid = 'jasco_cpl300_s'
+    w = W.World(b, iid, 'cpls')
+    w.op('power.set', {'enabled': True})
+    w.op('lamp.set', {'enabled': True})
+    w.until(lambda v: v.get('lamp.ready'), 600, 1.0)
+    w.op('method.configure', ex('jasco_cpl300', 'method.configure'))
+    w.op('blank.start', {})
+    w.until(lambda v: v.get('scan.phase') != 'running', 3600, 1.0)
+    W.swap_cover_cell(b, iid, ex('jasco_cpl300', 'sample.load'), tag='cpls2')
+
+
+# ------------------------------------------------------------------ cases
+J15_M = dict(start_m=2.35e-07, stop_m=1.9e-07, interval_m=1e-09, accumulations=2)
+FP_M = dict(mode='emission', excitation_m=4.8e-07, start_m=5e-07, stop_m=6.2e-07, interval_m=2e-09)
+IR_M = {'start_wavenumber_m_inv': 40000.0, 'stop_wavenumber_m_inv': 400000.0, 'resolution_m_inv': 400.0, 'scan_count': 16,
+        'output_mode': 'absorbance'}
+HEL_DELAYS = [-1e-12, 0.0, 1e-12, 2e-12, 5e-12, 1e-11, 2e-11, 5e-11, 1e-10, 2e-10, 5e-10, 1e-09]
+HEL_DELAY_TEXT = ','.join(['-1ps', '0ps', '1ps', '2ps', '5ps', '10ps', '20ps', '50ps', '100ps', '200ps', '500ps', '1000ps'])
+MQ_DELAYS = [0.001, 0.01, 0.05, 0.1, 0.2, 0.4, 0.8, 1.2, 2.0]
+
+CASES = {
+    'hach_dr6000': {'steps': [
+        ('status', []),
+        ('method from=400nm to=700nm step=2nm', [('program.start', {'kind': 'scan'}),
+                                                 ('program.options', {'settings': {'start_m': 4e-07, 'stop_m': 7e-07, 'step_m': 2e-09}})]),
+        ('load blank_01', []),                                                   # LID_CLOSED
+        ('open lid', [('lid.set_angle', {'angle_rad': HALF_PI})]),
+        ('load blank_01', [('sample.load', {'sample_id': 'blank_01'})]),
+        ('load sample_01', []),                                                  # OCCUPIED
+        ('blank', []),                                                           # LID_OPEN
+        ('close', [('lid.set_angle', {'angle_rad': 0.0})]),
+        ('measure', []),                                                         # BLANK_REQUIRED (no zero)
+        ('blank', [('reading.zero', {})]),
+        ('open', [('lid.set_angle', {'angle_rad': HALF_PI})]),
+        ('unload', [('sample.unload', {})]),
+        ('load sample_01', [('sample.load', {'sample_id': 'sample_01'})]),
+        ('close', [('lid.set_angle', {'angle_rad': 0.0})]),
+        ('measure', [('reading.read', {})]),
+        ('spectrum', []),                                                        # reads dr.scan / dr.result
+        ('spectrum --save-to dr_scan.json', []),
+        ('method wavelength=520nm', [('program.start', {'kind': 'single'}), ('program.options', {'settings': {'wavelength_m': 5.2e-07}})]),
+        ('measure', []),                                                         # BLANK_REQUIRED (new mode)
+        ('method wavelength=150nm', []),                                         # OUT_OF_RANGE (usage)
+        ('source on', []),                                                       # WHICH_LAMP (usage)
+        ('source on --lamp vis', [('lamp.set', {'lamp': 'vis', 'on': True})]),
+        ('stop', []),                                                            # not supported
+        ('analyze conc', []),                                                    # not supported
+        ('method program=490', [('program.start', {'kind': 'stored', 'number': 490})]),
+        ('method from=400nm to=500nm step=1nm --dry-run', []),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('method wavelength=520nm', []),                                         # POWER_OFF
+    ]},
+    'jasco_j1500': {'steps': [
+        ('status', []),
+        ('power on', [('power.set', {'enabled': True})]),
+        ('source on', []),                                                       # PURGE_NOT_READY
+        ('purge 50L/min', []),                                                   # OUT_OF_RANGE (usage)
+        ('purge 5L/min --wait', [('purge.set', {'flow_std_m3_s': 5e-3 / 60})]),
+        ('source on --wait', [('lamp.set', {'enabled': True})]),
+        ('blank', []),                                                           # LID_OPEN
+        ('close lid', [('lid.set', {'opened': False})]),
+        ('open shutter', []),                                                    # UNKNOWN_PART: acquisitions open the shutter themselves
+        ('blank', []),                                                           # NO_METHOD
+        ('method from=100nm', []),                                               # OUT_OF_RANGE (usage)
+        ('method from=260nm', [('method.configure', ex('jasco_j1500', 'method.configure', start_m=2.6e-07))]),
+        ('blank', [('acquisition.start', {'kind': 'blank'})]),                   # TEMPLATE_RANGE (runtime)
+        ('method from=235nm to=190nm step=1nm scans=2', [('method.configure', ex('jasco_j1500', 'method.configure', **J15_M))]),
+        ('measure', []),                                                         # BLANK_REQUIRED
+        ('blank --wait', [('acquisition.start', {'kind': 'blank'})]),
+        ('measure', [('acquisition.start', {'kind': 'sample'})]),                # the blank cell is in: WRONG_CELL (runtime)
+        ('spectrum', [('spectrum.read', {})]),
+        ('analyze structure', []),                                               # MISSING_SETTING (usage)
+        ('analyze structure conc=0.2mM path=1mm', [('structure.fit', {'residue_concentration_mol_m3': 0.2, 'path_length_m': 0.001})]),
+        ('blank', [('acquisition.start', {'kind': 'blank'})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                            # nothing running
+        ('load blank_01', []),                                                   # not supported (operator places cells)
+        ('set-temp 25C', []),                                                    # not supported
+        ('blank --dry-run', []),
+        ('measure --dry-run', []),                                               # BLANK_REQUIRED, checked in the dry run too
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_j1500_s': {'prep': p_j1500, 'steps': [
+        ('status', []),
+        ('measure --wait', [('acquisition.start', {'kind': 'sample'})]),
+        ('spectrum --save-to cd.json', [('spectrum.read', {})]),
+        ('analyze structure conc=0.2mM path=1mm', [('structure.fit', {'residue_concentration_mol_m3': 0.2, 'path_length_m': 0.001})]),
+        ('method from=235nm', [('method.configure', ex('jasco_j1500', 'method.configure', start_m=2.35e-07))]),
+        ('measure', []),                                                         # BLANK_REQUIRED (new method)
+    ]},
+    'jasco_fp8350': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('source on --wait', [('lamp.set', {'enabled': True})]),
+        ('close', [('lid.set', {'opened': False})]),
+        ('method mode=emission ex=480nm from=500nm to=620nm step=2nm', [('method.configure', ex('jasco_fp8350', 'method.configure', **FP_M))]),
+        ('method ex-bw=3nm', []),                                                # BAD_CHOICE (enum of slit widths)
+        ('set-temp 30C', []),                                                    # NO_ACCESSORY
+        ('blank --wait', [('acquisition.start', {'kind': 'blank'})]),
+        ('measure', [('acquisition.start', {'kind': 'sample'})]),                # WRONG_CELL (runtime)
+        ('spectrum', [('spectrum.read', {})]),
+        ('analyze quantify conc=0.1uM,0.2uM,0.4uM signal=1200,2350,4800 unknown=3000 same-method=yes',
+         [('quantify.fit', {'concentrations_mol_m3': [1e-4, 2e-4, 4e-4], 'intensities': [1200.0, 2350.0, 4800.0], 'unknown_intensity': 3000.0,
+                            'accept_same_method': True})]),
+        ('purge 5L/min', []),                                                    # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_fp8350_s': {'prep': p_fp8350, 'steps': [
+        ('measure --wait', [('acquisition.start', {'kind': 'sample'})]),
+        ('spectrum', [('spectrum.read', {})]),
+        ('method from=520nm to=600nm', [('method.configure', ex('jasco_fp8350', 'method.configure', start_m=5.2e-07, stop_m=6e-07))]),
+        ('measure', []),                                                         # BLANK_REQUIRED
+    ]},
+    'jasco_ftir4700': {'steps': [
+        ('method from=400cm-1 to=4000cm-1', []),                                 # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('method from=400cm-1 to=4000cm-1 resolution=4cm-1', [('method.configure', IR_M)]),
+        ('method resolution=0.1cm-1', []),                                       # OUT_OF_RANGE (usage)
+        ('method mode=raman', []),                                               # BAD_CHOICE (usage)
+        ('load ethanol_01', []),                                                 # LID_CLOSED
+        ('open lid', [('lid.set_angle', {'angle_rad': HALF_PI})]),
+        ('load ethanol_01', []),                                                 # NO_ACCESSORY
+        ('blank', []),                                                           # LID_OPEN
+        ('close', [('lid.set_angle', {'angle_rad': 0.0})]),
+        ('blank', []),                                                           # NO_ACCESSORY
+        ('measure', []),                                                         # NO_SAMPLE
+        ('spectrum', []),                                                        # NO_RESULT (reads)
+        ('source on', []), ('stop', []), ('analyze peaks', []),                  # not supported
+    ]},
+    'jasco_ftir4700_atr': {'prep': p_ftir_atr, 'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('method from=400cm-1 to=4000cm-1', [('method.configure', IR_M)]),
+        ('blank', [('background.acquire', {})]),
+        ('open', [('lid.set_angle', {'angle_rad': HALF_PI})]),
+        ('load ethanol_01', [('sample.load', {'sample_id': 'ethanol_01'})]),
+        ('close', [('lid.set_angle', {'angle_rad': 0.0})]),
+        ('blank', []),                                                           # SAMPLE_IN
+        ('measure', [('measure', {})]),
+        ('spectrum', []),
+        ('spectrum --save-to ir.json', []),
+        ('unload', []),                                                          # LID_CLOSED
+        ('open', [('lid.set_angle', {'angle_rad': HALF_PI})]),
+        ('unload', [('sample.unload', {})]),
+        ('method scans=32', [('method.configure', dict(IR_M, scan_count=32))]),  # unchanged settings keep their values
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_nrs5500': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('source on', []),                                                       # LID_OPEN (door)
+        ('close door', [('door.set', {'opened': False})]),
+        ('source on', [('laser.set', {'enabled': True})]),
+        ('measure', []),                                                         # NO_METHOD
+        ('method from=200cm-1 to=1100cm-1', [('method.configure', ex('jasco_nrs5500', 'method.configure', start_m_inv=20000.0,
+                                                                         stop_m_inv=110000.0))]),
+        ('method power=100mW', []),                                              # OUT_OF_RANGE (usage)
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum', [('result.read', {})]),
+        ('analyze peaks', None),                                                 # result.read + spectrum.peaks (measured arrays)
+        ('analyze peaks prominence=-1/s', []),                                   # OUT_OF_RANGE (usage)
+        ('blank', []),                                                           # not supported
+        ('open door', [('door.set', {'opened': True})]),
+        ('measure', []),                                                         # LID_OPEN
+        ('stop', []),                                                            # nothing running
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'applied_sx20': {'steps': [
+        ('measure', []),                                                         # POWER_OFF
+        ('method wavelength=480nm', [('method.configure', ex('applied_sx20', 'method.configure', wavelength_m=4.8e-07))]),
+        ('power on', [('power.set', {'enabled': True})]),
+        ('method mode=fluorescence', [('method.configure', ex('applied_sx20', 'method.configure', mode='fluorescence'))]),  # POWER_ON
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum', [('result.read', {})]),
+        ('analyze kinetics', None),                                              # result.read + kinetics.fit (measured trace)
+        ('measure', []),                                                         # NEEDS_FLUSH
+        ('stop', []),
+        ('open', []), ('blank', []), ('set-temp 25C', []),                       # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'edinburgh_fls1000tcspc': {'steps': [
+        ('power on', []),                                                        # already on (the operator armed the laser)
+        ('measure', []),                                                         # NO_METHOD
+        ('method em=520nm', [('method.configure', ex('edinburgh_fls1000tcspc', 'method.configure', emission_wavelength_m=5.2e-07))]),
+        ('method ex=450nm', [('method.configure', ex('edinburgh_fls1000tcspc', 'method.configure', excitation_wavelength_m=4.5e-07))]),
+        # INSTALLED_SOURCE_MISMATCH (runtime): only the installed 405 nm laser
+        ('method em=520nm', [('method.configure', ex('edinburgh_fls1000tcspc', 'method.configure', emission_wavelength_m=5.2e-07))]),
+        ('blank', [('irf.start', {})]),                                          # REFERENCE_KIND: the decay sample is in
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum --save-to decay.json', [('result.read', {})]),
+        ('analyze lifetime tau=4ns', []),                                        # MISSING_SETTING irf
+        ('analyze lifetime irf=decay.json tau=4ns', None),                       # IRF_GRID_MISMATCH (a decay is no IRF)
+        ('source on', []),                                                       # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+        ('measure', []),                                                         # POWER_OFF
+    ]},
+    'edinburgh_fls1000tcspc_irf': {'prep': p_fls_irf, 'steps': [
+        ('method em=405nm', [('method.configure', ex('edinburgh_fls1000tcspc', 'method.configure', emission_wavelength_m=4.05e-07))]),
+        ('blank --wait', [('irf.start', {})]),
+        ('spectrum --save-to irf.json', [('result.read', {})]),
+        ('measure', [('acquisition.start', {})]),                                # REFERENCE_KIND: the scatterer is in
+    ]},
+    'ultrafast_helios': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('measure', [('acquisition.start', {})]),                                # no method yet: SAMPLE_METHOD_REQUIRED (runtime)
+        ('method delays=%s' % HEL_DELAY_TEXT, [('method.configure', ex('ultrafast_helios', 'method.configure', delay_sequence_s=HEL_DELAYS))]),
+        ('method laser=400nm', [('method.configure', ex('ultrafast_helios', 'method.configure', pump_wavelength_m=4e-07))]),  # EXTERNAL_LASER
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum', [('result.read', {})]),
+        ('analyze kinetics tau=150ps', []),                                      # MISSING_SETTING at
+        ('analyze kinetics at=600nm tau=150ps', None),                           # result.read + kinetics.fit
+        ('blank', []), ('open', []),                                             # not supported
+        ('stop', []),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_fvs6000': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('method from=1500cm-1 to=1800cm-1', [('method.configure', ex('jasco_fvs6000', 'method.configure', wavenumber_start_m_inv=150000.0,
+                                                                         wavenumber_stop_m_inv=180000.0))]),
+        ('set-temp 120C', []),                                                   # OUT_OF_RANGE (usage)
+        ('set-temp 30C --wait', [('temperature.set', {'target_k': K0 + 30})]),
+        ('measure', []),                                                         # BLANK_REQUIRED
+        ('blank --wait', [('blank.start', {})]),
+        ('measure', [('acquisition.start', {})]),                                # WRONG_SAMPLE_KIND: the blank cell is in
+        ('spectrum', [('result.read', {})]),
+        ('source on', []),                                                       # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_fvs6000_s': {'prep': p_fvs, 'steps': [
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum', [('result.read', {})]),
+        ('analyze compare reference=1,2,3', None),                               # ANALYSIS_INPUT (length mismatch)
+    ]},
+    'jasco_cpl300': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('blank', []),                                                           # SOURCE_NOT_READY
+        ('source on --wait', [('lamp.set', {'enabled': True})]),
+        ('method em=520nm', [('method.configure', ex('jasco_cpl300', 'method.configure', emission_m=5.2e-07))]),
+        ('blank --wait', [('blank.start', {})]),
+        ('measure', [('acquisition.start', {})]),                                # WRONG_SAMPLE_KIND
+        ('spectrum', [('result.read', {})]),
+        ('analyze glum left=1.02 right=0.98 counts=50000', [('glum.compute', {'left_relative': 1.02, 'right_relative': 0.98,
+                                                                               'net_counts': 50000.0, 'minimum_net_counts': 25})]),
+        ('open shutter', [('shutter.set', {'opened': True})]),                   # the cover is the operator's; the shutter is not
+        ('close', [('shutter.set', {'opened': False})]),
+        ('stop', []),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'jasco_cpl300_s': {'prep': p_cpl, 'steps': [
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum --save-to cpl.json', [('result.read', {})]),
+    ]},
+    'magritek_spinsolve80': {'steps': [
+        ('measure', []),                                                         # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('measure', []),                                                         # NO_SAMPLE
+        ('load ethanol_01', [('sample.insert', {'sample_id': 'ethanol_01'})]),
+        ('load ethanol_01', []),                                                 # OCCUPIED
+        ('measure', []),                                                         # NO_METHOD
+        ('method nucleus=1H scans=4', [('acquisition.configure', ex('magritek_spinsolve80', 'acquisition.configure', scans=4))]),
+        ('measure', [('acquisition.start', {})]),                                # signals outside the window (runtime)
+        ('method points=512', [('acquisition.configure', ex('magritek_spinsolve80', 'acquisition.configure', scans=4, points=512))]),
+        ('measure', [('acquisition.start', {})]),
+        ('#wait 10', None),
+        ('spectrum', [('nmr.read_spectrum', {})]),
+        ('analyze integrate from=-400Hz to=-350Hz', [('nmr.integrate', {'frequency_min_hz': -400.0, 'frequency_max_hz': -350.0})]),
+        ('analyze integrate from=-100Hz', []),                                   # MISSING_SETTING
+        ('stop', []),                                                            # completed: nothing running
+        ('measure', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('unload', [('sample.remove', {})]),
+        ('blank', []),                                                           # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'bruker_magnettechesr5000': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('source on', []),                                                       # LID_OPEN
+        ('close', [('lid.set', {'opened': False})]),
+        ('source on', []),                                                       # NO_METHOD
+        ('method center=338.4mT width=16mT', [('method.configure', ex('bruker_magnettechesr5000', 'method.configure', field_center_t=0.3384,
+                                                                          sweep_width_t=0.016))]),
+        ('method center=700mT', []),                                             # OUT_OF_RANGE (usage)
+        ('source on', [('microwave.set', {'enabled': True})]),
+        ('set-temp 30C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 30})]),
+        ('blank --wait', [('acquisition.start', {'kind': 'blank'})]),            # REFERENCE_TEMPERATURE_MISMATCH (runtime)
+        ('set-temp 25C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('blank --wait', [('acquisition.start', {'kind': 'blank'})]),
+        ('measure', []),                                                         # SOURCE_OFF: the bridge goes off after a scan
+        ('source on', [('microwave.set', {'enabled': True})]),
+        ('measure', [('acquisition.start', {'kind': 'sample'})]),                # SAMPLE_KIND_MISMATCH (runtime)
+        ('spectrum', [('spectrum.read', {})]),
+        ('stop', []),
+        ('load sample_01', []),                                                  # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'bruker_magnettechesr5000_s': {'prep': p_esr, 'steps': [
+        ('measure --wait', [('acquisition.start', {'kind': 'sample'})]),
+        ('spectrum --save-to epr.json', [('spectrum.read', {})]),
+        ('analyze g-factor', None),                                              # spectrum.read + spectrum.analyze (measured trace)
+    ]},
+    'bruker_minispecmq20': {'steps': [
+        ('set-temp 30C', [('thermal.set_temperature', {'temperature_k': K0 + 30})]),
+        ('power on', [('power.set', {'enabled': True})]),
+        ('measure', []),                                                         # LID_OPEN
+        ('close', [('lid.set', {'opened': False})]),
+        ('measure', []),                                                         # NO_METHOD
+        ('method sequence=inversion_recovery delays=1ms,10ms,50ms,100ms,200ms,400ms,800ms,1200ms,2000ms points=9',
+         [('method.configure', ex('bruker_minispecmq20', 'method.configure', delays_s=MQ_DELAYS, points=9))]),
+        ('measure', [('acquisition.start', {})]),                                # 30 °C: TEMPLATE_TEMPERATURE_MISMATCH (runtime)
+        ('set-temp 37C --wait', [('thermal.set_temperature', {'temperature_k': K0 + 37})]),
+        ('measure --wait', [('acquisition.start', {})]),
+        ('spectrum', [('signal.read', {})]),
+        ('analyze relaxation', [('relaxation.fit', {})]),
+        ('blank', []),                                                           # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'bruker_minispecmq20_novt': {'steps': [
+        ('set-temp 30C', []),                                                    # NO_ACCESSORY (no VT accessory)
+        ('status', []),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/spectroscopy_tasks.py b/chemlab/chemlab/compile/tasks/spectroscopy_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..b02f142be3c0e4c8c40fc450f4e3ef566f78c8dd
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/spectroscopy_tasks.py
@@ -0,0 +1,334 @@
+"""Spectroscopy class acceptance tasks (10): gold solutions use `chemlab run` (and `chemlab call` only for what the class does not
+cover); the checkers read the evaluator view, the evaluator's own analysis calls and the agent's report files.
+
+Worlds (trusted host, before the agent starts): the class default world (spectroscopy_world.config) plus per-task stages - a
+blank recorded by the operator and the sample cell put in, the IRF record handed over as a file, a sample temperature off its
+reference.  Five tasks are recoveries: the gold triggers the error, reads `--json` `.error.code` and does what the fix says.
+"""
+import json
+
+from .common import run_suite
+from . import spectroscopy_world as W
+
+DR, J15, FP, IR, NRS, FLS, NMR, ESR, MQ = ('hach_dr6000', 'jasco_j1500', 'jasco_fp8350', 'jasco_ftir4700', 'jasco_nrs5500',
+                                           'edinburgh_fls1000tcspc', 'magritek_spinsolve80', 'bruker_magnettechesr5000',
+                                           'bruker_minispecmq20')
+
+
+def cfg(c):
+    return W.config(c)
+
+
+def ex(lab, iid, cap):
+    return json.loads(json.dumps(lab.backend.instruments[iid].contract['capabilities'][cap]['example_arguments']))
+
+
+def ev_call(lab, iid, cap, args, tag):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'check-%s-%s' % (iid, tag))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+# ------------------------------------------------------------------ worlds
+def w_j1500_ready(lab):
+    W.j1500_blank_recorded(lab.backend, J15)
+
+
+def w_fp_ready(lab):
+    W.jasco_blank_recorded(lab.backend, FP, tag='fp')
+
+
+def w_esr_ready(lab):
+    """Blank recorded, sample tube in, lid closed; the bridge is off (it switched itself off after the blank scan)."""
+    w = W.jasco_blank_recorded(lab.backend, ESR, tag='esr')
+    w.op('microwave.set', {'enabled': False})
+
+
+def w_mq_warm(lab):
+    """The VT unit was left at 30 °C by the previous user."""
+    w = W.World(lab.backend, MQ, 'mq')
+    w.op('thermal.set_temperature', {'temperature_k': 303.15})
+    w.wait(120)
+
+
+def w_fls_irf_file(lab):
+    """The operator measured the IRF (scatterer, em = ex = 405 nm, standard window / bins), saved it as irf.json in the agent's
+    work dir, then put the fluorescent reference back in (cover closed, laser armed)."""
+    w = W.World(lab.backend, FLS, 'fls')
+    m = ex(lab, FLS, 'method.configure')
+    w.op('power.set', {'enabled': False})
+    w.ev('sample.cover', {'opened': True})
+    w.ev('sample.load', W.FLS_SCATTERER)
+    w.ev('sample.cover', {'opened': False})
+    w.op('power.set', {'enabled': True})
+    w.ev('source.arm', {'enabled': True})
+    w.op('method.configure', dict(m, emission_wavelength_m=m['excitation_wavelength_m']))
+    w.op('irf.start', {})
+    w.until(lambda v: v.get('scan.phase') != 'running', 600, 0.5)
+    rec = w.ev('result.read', {})['result']
+    (lab.work / 'irf.json').write_text(json.dumps({'instrument': FLS, 'record': rec}) + '\n', encoding='utf-8')
+    w.op('power.set', {'enabled': False})
+    w.ev('sample.cover', {'opened': True})
+    w.ev('sample.load', ex(lab, FLS, 'sample.load'))
+    w.ev('sample.cover', {'opened': False})
+    w.op('power.set', {'enabled': True})
+    w.ev('source.arm', {'enabled': True})
+
+
+# ------------------------------------------------------------------ checkers
+def c_dr_scan(c):
+    e = c.ev(DR)
+    scan = e.get('dr.scan') or {}
+    wl = scan.get('wavelength_m') or []
+    c.add('a scan was read against a zero', bool(wl) and e.get('dr.zero') is not None, len(wl))
+    c.near('scan starts at 400 nm', wl[0] if wl else None, 4e-07, 1e-12)
+    c.near('scan ends at 700 nm', wl[-1] if wl else None, 7e-07, 1e-12)
+    c.near('2 nm steps', (wl[1] - wl[0]) if len(wl) > 1 else None, 2e-09, 1e-13)
+    c.equal('the sample cuvette is in (it was read after the zero)', e.get('sample.id'), 'sample_01')
+    c.near('lambda_max.txt = 520 nm (+-2)', c.number_file('lambda_max.txt'), 520.0, 2.0)
+
+
+def c_j1500_blank(c):
+    e = c.ev(J15)
+    c.add('purge running and the air flushed', e['purge.ready'] and e['purge.flow_std_m3_s'] > 0, e['purge.flow_std_m3_s'])
+    c.add('lamp on', e['lamp.enabled'])
+    c.equal('a blank scan completed', (e['scan.kind'], e['scan.phase']), ('blank', 'succeeded'))
+    c.equal('46 points (235..190 nm, 1 nm)', e['scan.completed_points'], 46)
+    c.add('the blank is valid for the current method', e['blank.ready'])
+
+
+def c_j1500_helix(c):
+    e = c.ev(J15)
+    c.equal('the sample scan completed', (e['scan.kind'], e['scan.phase']), ('sample', 'succeeded'))
+    fit = ev_call(c.lab, J15, 'structure.fit', {'residue_concentration_mol_m3': 0.2, 'path_length_m': 0.001}, 'fit')
+    want = (fit or {}).get('fractions', {}).get('Helix')
+    c.add('the evaluator can fit the measured spectrum', want is not None, fit)
+    c.near('helix.txt = helix fraction of the fit (+-0.01)', c.number_file('helix.txt'), want if want is not None else -1, 0.01)
+
+
+def c_ftir(c):
+    e = c.ev(IR)
+    c.equal('ATR accessory installed', e['accessory.mode'], 'atr')
+    c.add('a background with the current method', e['background.ready'])
+    c.equal('ethanol_01 measured', (e['sample.id'], e['measurement.count'] >= 1), ('ethanol_01', True))
+    c.near('resolution 4 cm-1', e['method.resolution_m_inv'], 400.0, 1e-9)
+    c.near('range starts at 400 cm-1', e['method.start_wavenumber_m_inv'], 40000.0, 1e-6)
+    c.near('band.txt = strongest band about 1050 cm-1 (+-15)', c.number_file('band.txt'), 1050.0, 15.0)
+
+
+def c_nmr(c):
+    e = c.ev(NMR)
+    c.equal('1H with 8 scans', (e['method.nucleus'], e['method.scans']), ('1H', 8))
+    c.equal('acquisition completed, 8 scans', (e['acquisition.status'], e['acquisition.completed_scans']), ('completed', 8))
+    t = c.work_file('nmr.json')
+    rec = json.loads(t) if t else {}
+    c.add('nmr.json holds the spectrum', rec.get('points', 0) >= 256 and rec.get('instrument') == NMR, rec.get('points'))
+
+
+def c_esr(c):
+    e = c.ev(ESR)
+    sp = ev_call(c.lab, ESR, 'spectrum.read', {}, 'sp') or {}
+    c.equal('the sample scan completed', (sp.get('kind'), e['scan.phase']), ('sample', 'succeeded'))
+    c.near('g.txt = 2.0055 (+-0.0005)', c.number_file('g.txt'), 2.0055, 0.0005)
+
+
+def c_raman(c):
+    e = c.ev(NRS)
+    c.equal('a spectrum completed', e['scan.phase'], 'succeeded')
+    c.add('door closed, laser on', (not e['door.opened']) and e['laser.enabled'])
+    c.near('peak.txt = quartz band at 464 cm-1 (+-3)', c.number_file('peak.txt'), 464.0, 3.0)
+    jobs = [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == NRS]
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs), [(j.handle, j.state) for j in jobs])
+    asked = [x['argv'][1:3] for x in c.lab.core.log.entries if x['argv'][1:2] == ['status'] and len(x['argv']) > 2]
+    c.add('the job status was checked', any(a[1].startswith('job-') for a in asked), asked)
+
+
+def c_mq(c):
+    e = c.ev(MQ)
+    c.near('VT back at 37 °C', e['thermal.target_k'], 310.15, 1e-6)
+    c.equal('the run completed', e['scan.phase'], 'succeeded')
+    fit = ev_call(c.lab, MQ, 'relaxation.fit', {}, 'fit')
+    want = (fit or {}).get('time_s')
+    c.equal('it was an inversion-recovery T1 run', (fit or {}).get('quantity'), 'T1')
+    c.near('t1.txt = T1 of the fit in ms (+-1)', c.number_file('t1.txt'), want * 1000 if want else -1, 1.0)
+
+
+def c_fp(c):
+    e = c.ev(FP)
+    sp = ev_call(c.lab, FP, 'spectrum.read', {}, 'sp') or {}
+    c.equal('the sample scan completed', (sp.get('kind'), e['scan.phase']), ('sample', 'succeeded'))
+    pts = sp.get('points') or []
+    best = max(pts, key=lambda p: p.get('intensity') or -1e9) if pts else {}
+    want = (best.get('emission_m') or 0) * 1e9
+    c.near('em.txt = emission maximum of the measured spectrum (nm)', c.number_file('em.txt'), want, 0.6)
+    c.near('the method was not changed (530..600 nm)', pts[0].get('emission_m') if pts else None, 5.3e-07, 1e-12)
+
+
+def c_fls(c):
+    e = c.ev(FLS)
+    c.equal('a decay completed', e['scan.phase'], 'succeeded')
+    rec = ev_call(c.lab, FLS, 'result.read', {}, 'res') or {}
+    h = (rec.get('histograms') or [{}])[-1]
+    c.equal('a decay (not an IRF) at 519 nm', (h.get('response_kind'), round((h.get('emission_wavelength_m') or 0) * 1e9, 3)), ('decay', 519.0))
+    irf = json.loads(c.work_file('irf.json') or '{}').get('record', {}).get('histograms', [{}])[-1]
+    fit = ev_call(c.lab, FLS, 'lifetime.fit', {'histogram': h, 'irf_histogram': irf, 'initial_lifetimes_s': [4e-09]}, 'fit') or {}
+    want = (fit.get('lifetimes_s') or [None])[0]
+    c.add('the evaluator can fit the decay', want is not None, fit.get('warning'))
+    c.near('tau.txt = lifetime of the reconvolution fit in ns (+-0.05)', c.number_file('tau.txt'), want * 1e9 if want else -1, 0.05)
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_DR = r'''I=hach_dr6000
+chemlab run $I method from=400nm to=700nm step=2nm
+chemlab run $I open lid && chemlab run $I load blank_01 && chemlab run $I close lid
+chemlab run $I blank
+chemlab run $I open lid && chemlab run $I unload && chemlab run $I load sample_01 && chemlab run $I close lid
+chemlab run $I measure
+chemlab run $I spectrum --json | jq -r '.max.at' > lambda_max.txt
+cat lambda_max.txt'''
+
+GOLD_J15_BLANK = r'''I=jasco_j1500
+chemlab run $I power on
+chemlab run $I source on --wait --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "PURGE_NOT_READY"' s.json >/dev/null; then
+  chemlab run $I purge 5L/min --wait
+  chemlab run $I source on --wait
+fi
+chemlab run $I close lid
+chemlab run $I method from=235nm to=190nm step=1nm
+chemlab run $I blank --wait
+chemlab run $I status'''
+
+GOLD_J15_HELIX = r'''I=jasco_j1500
+chemlab run $I status
+chemlab run $I measure --wait --max 30min
+chemlab run $I spectrum
+chemlab run $I analyze structure conc=0.2mM path=1mm --json | jq -r '.result.fractions.Helix' > helix.txt
+cat helix.txt'''
+
+GOLD_IR = r'''I=jasco_ftir4700
+chemlab run $I power on
+chemlab run $I method from=400cm-1 to=4000cm-1 resolution=4cm-1
+chemlab run $I open lid
+chemlab run $I load ethanol_01 --json > l.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_ACCESSORY"' l.json >/dev/null; then
+  jq -r .error.fix l.json
+  chemlab call $I accessory.install --mode atr
+fi
+chemlab run $I close lid
+chemlab run $I blank
+chemlab run $I open lid && chemlab run $I load ethanol_01 && chemlab run $I close lid
+chemlab run $I measure
+chemlab run $I spectrum --json | jq -r '.max.at' > band.txt
+cat band.txt'''
+
+GOLD_NMR = r'''I=magritek_spinsolve80
+chemlab run $I power on
+chemlab run $I load ethanol_01
+chemlab run $I method nucleus=1H scans=8
+chemlab run $I measure --json > m.json; rc=$?
+if [ $rc -eq 3 ]; then
+  jq -r '.error.code + ": " + .error.fix' m.json
+  chemlab run $I method points=512
+  chemlab run $I measure --json > m.json
+fi
+chemlab wait "$(jq -r .job m.json)" --max 10min
+chemlab run $I spectrum --save-to nmr.json'''
+
+GOLD_ESR = r'''I=bruker_magnettechesr5000
+chemlab run $I measure --wait --json > m.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "SOURCE_OFF"' m.json >/dev/null; then
+  chemlab run $I source on
+  chemlab run $I measure --wait
+fi
+chemlab run $I spectrum
+chemlab run $I analyze g-factor --json | jq -r '.result.g_apparent * 10000 | round / 10000' > g.txt
+cat g.txt'''
+
+GOLD_NRS = r'''I=jasco_nrs5500
+chemlab run $I power on
+chemlab run $I close door
+chemlab run $I source on
+chemlab run $I method from=200cm-1 to=1100cm-1
+job=$(chemlab run $I measure --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 10min
+chemlab run $I spectrum --json | jq -r '.max.at' > peak.txt
+cat peak.txt'''
+
+GOLD_MQ = r'''I=bruker_minispecmq20
+chemlab run $I power on
+chemlab run $I close lid
+chemlab run $I method sequence=inversion_recovery
+chemlab run $I measure --wait --json > m.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "TEMPERATURE"' m.json >/dev/null; then
+  chemlab run $I set-temp 37C --wait
+  chemlab run $I measure --wait --max 10min
+fi
+chemlab run $I analyze relaxation --json | jq -r '.result.time_s * 1000' > t1.txt
+cat t1.txt'''
+
+GOLD_FP = r'''I=jasco_fp8350
+chemlab run $I status
+chemlab run $I measure --wait
+chemlab run $I spectrum --json | jq -r '.max.at' > em.txt
+cat em.txt'''
+
+GOLD_FLS = r'''I=edinburgh_fls1000tcspc
+chemlab run $I status
+chemlab run $I method em=519nm
+chemlab run $I measure --wait
+chemlab run $I spectrum --save-to decay.json
+chemlab run $I analyze lifetime irf=irf.json tau=4ns --json | jq -r '.result.lifetimes_s[0] * 1e9' > tau.txt
+cat tau.txt'''
+
+TASKS = [
+    {'id': 'sp01_uvvis_scan', 'kind': 'multi-step (agent loads the cuvettes)', 'instruments': [DR], 'check': c_dr_scan,
+     'instruction': 'On the Hach DR6000 (hach_dr6000), record the absorbance spectrum of the cuvette sample_01 from 400 to 700 nm in '
+                    '2 nm steps against the blank cuvette blank_01, and write the wavelength of maximum absorbance (nm) into '
+                    'lambda_max.txt.', 'gold': GOLD_DR},
+    {'id': 'sp02_cd_blank_purge', 'kind': 'recovery: nitrogen purge not ready', 'instruments': [J15], 'check': c_j1500_blank,
+     'instruction': 'The JASCO J-1500 CD spectrometer (jasco_j1500) is off; the solvent blank cell is already in the holder. Get it '
+                    'ready and record the blank from 235 to 190 nm in 1 nm steps.', 'gold': GOLD_J15_BLANK},
+    {'id': 'sp03_cd_structure', 'kind': 'long action + analysis report', 'instruments': [J15], 'world': w_j1500_ready,
+     'check': c_j1500_helix,
+     'instruction': 'On the JASCO J-1500 (jasco_j1500) the operator has recorded the blank with the standard method and put the '
+                    'protein sample in (0.2 mM residue concentration, 1 mm cell). Measure its CD spectrum with that method and '
+                    'write the helix fraction (0..1) of the secondary-structure estimate into helix.txt.', 'gold': GOLD_J15_HELIX},
+    {'id': 'sp04_ftir_atr', 'kind': 'recovery: no sampling accessory', 'instruments': [IR], 'check': c_ftir,
+     'instruction': 'Record the FT-IR spectrum of the sample ethanol_01 on the JASCO FT/IR-4700 (jasco_ftir4700) from 400 to '
+                    '4000 cm-1 at 4 cm-1 resolution, with a background first. Use the ATR accessory. Write the wavenumber (cm-1) of '
+                    'the strongest band into band.txt.', 'gold': GOLD_IR},
+    {'id': 'sp05_nmr_window', 'kind': 'recovery: signals outside the spectral window', 'instruments': [NMR], 'check': c_nmr,
+     'instruction': 'Insert the tube ethanol_01 into the Spinsolve 80 (magritek_spinsolve80), record a 1H spectrum with 8 scans and '
+                    'save the spectrum record as nmr.json.', 'gold': GOLD_NMR},
+    {'id': 'sp06_epr_g', 'kind': 'recovery: microwave bridge off', 'instruments': [ESR], 'world': w_esr_ready, 'check': c_esr,
+     'instruction': 'On the Bruker ESR5000 (bruker_magnettechesr5000) the operator has recorded the blank and put the radical sample '
+                    'in with the lid closed. Measure its EPR spectrum with the current method and write its g value (4 decimals) into '
+                    'g.txt.', 'gold': GOLD_ESR},
+    {'id': 'sp07_raman_job', 'kind': 'long action: job id (status, wait)', 'instruments': [NRS], 'check': c_raman,
+     'instruction': 'Record the Raman spectrum of the mineral on the stage of the JASCO NRS-5500 (jasco_nrs5500) from 200 to '
+                    '1100 cm-1. Start the measurement as a job, check its status, then wait for it. Write the Raman shift (cm-1) of '
+                    'the strongest peak into peak.txt.', 'gold': GOLD_NRS},
+    {'id': 'sp08_td_nmr_t1', 'kind': 'recovery: sample temperature off its reference', 'instruments': [MQ], 'world': w_mq_warm,
+     'check': c_mq,
+     'instruction': 'The Gd-chelate tube is in the minispec mq20 (bruker_minispecmq20); its reference temperature is 37 °C. Measure '
+                    'T1 by inversion recovery (standard delays) and write T1 in ms into t1.txt.', 'gold': GOLD_MQ},
+    {'id': 'sp09_fluorescence_max', 'kind': 'single long action + report', 'instruments': [FP], 'world': w_fp_ready, 'check': c_fp,
+     'instruction': 'On the JASCO FP-8350 (jasco_fp8350) the blank has been recorded and the dye sample is in. Measure its emission '
+                    'spectrum with the method used for the blank (do not change it) and write the emission maximum (nm) into em.txt.',
+     'gold': GOLD_FP},
+    {'id': 'sp10_tcspc_lifetime', 'kind': 'multi-step + analysis with a host record', 'instruments': [FLS], 'world': w_fls_irf_file,
+     'check': c_fls,
+     'instruction': 'The IRF of the Edinburgh FLS1000 (edinburgh_fls1000tcspc), measured with the standard method, is in irf.json. '
+                    'The fluorescent reference is now in the holder. Record its decay with the standard method at 519 nm emission, '
+                    'fit a single-exponential lifetime with that IRF and write the lifetime in ns into tau.txt.', 'gold': GOLD_FLS},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'spectroscopy'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('spectroscopy', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/spectroscopy_world.py b/chemlab/chemlab/compile/tasks/spectroscopy_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..ca3886ecb3bb99ecc6873bfc1c924bea03d7dd8d
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/spectroscopy_world.py
@@ -0,0 +1,193 @@
+"""Host-side world for the spectroscopy class: what the lab operator has done before the agent starts.
+
+Default world (``config``), as lab-config set-up steps:
+
+* Hach DR6000: two cuvettes registered with the instrument (``blank_01`` = blank, ``sample_01`` = a dye with one band at
+  520 nm); the agent loads them itself (sample.load is an agent capability).
+* JASCO FT/IR-4700: an ethanol sample (``ethanol_01``, NIST IR template) registered; the agent installs the ATR accessory and
+  loads it.
+* Magritek Spinsolve 80: an NMR tube ``ethanol_01`` (0.1 mmol ethanol in CDCl3, HMDB template) registered; the agent inserts it.
+* JASCO J-1500 / FP-8350, Bruker ESR5000: a blank cell and a sample cell registered by the operator; the blank cell is in the
+  holder (cells are placed by the operator - no agent capability).
+* JASCO NRS-5500: the mineral sample registered and on the stage.  CPL-300 / FVS-6000: the blank cell in the holder, cover closed.
+* Applied Photophysics SX20: drive syringes loaded, bath cover closed, drive valves open, drive gas on.
+* Edinburgh FLS1000: the fluorescent reference in the holder, cover closed, the pulsed laser armed (the operator switched the
+  instrument on to arm it).
+* Ultrafast HELIOS: the dye cell in place, cover closed, laser armed.
+* Bruker minispec mq20: the Gd-chelate tube registered and in the probe (lid still open); the VT accessory installed (plant).
+
+Stage worlds for tasks and lowering cases (functions of a LabBackend, applied the same way to a lab and its twin):
+``swap_cell`` (operator exchanges the cell), ``record_blank`` (operator records a blank with the instrument's own calls), ...
+Nothing here is reachable from the sandbox; the class adapter never calls any of it.
+"""
+import copy
+
+from ...labbackend import load_config
+
+DR_SAMPLES = [{'host': 'register_sample', 'kwargs': {'sample_id': 'blank_01', 'kind': 'blank'}},
+              {'host': 'register_sample', 'kwargs': {'sample_id': 'sample_01', 'kind': 'sample', 'peaks': [[5.2e-07, 4e-08, 0.8]],
+                                                     'baseline_absorbance': 0.02}}]
+FTIR_SAMPLES = [{'host': 'register_template_sample', 'kwargs': {'sample_id': 'ethanol_01', 'substance_id': 'ethanol', 'phase': 'liquid'}}]
+
+
+def ev(cap, args='contract_example'):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': args}
+
+
+# blank cells that match the contract example sample cells (same solvent / path), so a blank and the sample share a fingerprint
+J1500_BLANK = {'sample_id': 'blank_01', 'kind': 'blank', 'template_id': '', 'residue_concentration_mol_m3': 0.0, 'path_length_m': 0.001,
+               'cell_shape': 'rectangular', 'volume_m3': 2e-07, 'solvent_id': 'buffer_01', 'mean_epsilon_m2_mol': [600.0] * 66,
+               'solvent_alpha_m_inv': [50.0] * 66, 'solvent_delta_alpha_m_inv': [0.05] * 66, 'accept_synthetic_uv': True,
+               'accept_unknown_reference_conditions': True}
+FP_BLANK = {'sample_id': 'blank_01', 'kind': 'blank', 'template_id': '', 'concentration_mol_m3': 0.0, 'volume_m3': 2e-06, 'solvent_id': 'ethanol',
+            'solvent_background_s_inv': 40.0, 'reference_temperature_k': 298.15, 'accept_unknown_temperature': True, 'accept_source_mirror': True}
+ESR_BLANK = {'sample_id': 'blank_01', 'kind': 'blank', 'material_phase': 'liquid', 'template_id': '', 'solvent_code': 'BZ', 'volume_m3': 1e-07,
+             'mass_kg': 0.0, 'concentration_mol_m3': 0.0, 'solid_spin_count': 0.0, 'g_assumed': None, 'linewidth_pp_t': 0.0004,
+             'saturation_power_w': 0.1, 'reference_temperature_k': 298.15, 'tube_od_m': 0.005, 'accept_missing_source_conditions': True,
+             'accept_synthetic_solid': False}
+FVS_BLANK = {'sample_id': 'solvent_blank', 'kind': 'blank', 'template_id': '', 'solvent': 'DMSO-d6', 'is_aqueous': False, 'volume_m3': 5e-08,
+             'concentration_kg_m3': 0.0, 'ir_peak_absorbance': 0.0, 'synthetic_vcd_ratio': 0.0, 'accept_inferred_units': True,
+             'accept_unknown_conditions': True, 'accept_surrogate': False}
+CPL_BLANK = {'sample_id': 'solvent_blank', 'kind': 'blank', 'template_id': '', 'solvent': 'basic ethanol', 'volume_m3': 2e-06,
+             'concentration_mol_m3': 0.0, 'peak_pl_relative': 0.0, 'synthetic_glum': 0.0, 'accept_unknown_conditions': True,
+             'accept_synthetic_cpl': False}
+FLS_SCATTERER = {'sample_id': 'ludox_scatterer', 'kind': 'scatterer', 'components': [], 'volume_m3': 1e-06,
+                 'mean_photons_per_pulse_at_peak': 0.005, 'emission_sigma_m': 2e-08, 'accept_assumed_response': True}
+
+DEFAULT = {
+    'hach_dr6000': DR_SAMPLES,
+    'jasco_ftir4700': FTIR_SAMPLES,
+    'jasco_j1500': [ev('solution.register', J1500_BLANK), ev('solution.register'), ev('sample.load', {'sample_id': 'blank_01'})],
+    'jasco_fp8350': [ev('solution.register', FP_BLANK), ev('solution.register'), ev('sample.load', {'sample_id': 'blank_01'})],
+    'bruker_magnettechesr5000': [ev('sample.register', ESR_BLANK), ev('sample.register'), ev('sample.load', {'sample_id': 'blank_01'})],
+    'jasco_nrs5500': [ev('sample.register'), ev('sample.load')],
+    'jasco_fvs6000': [ev('cover.set', {'opened': True}), ev('sample.load', FVS_BLANK), ev('cover.set', {'opened': False})],
+    'jasco_cpl300': [ev('cover.set', {'opened': True}), ev('sample.load', CPL_BLANK), ev('cover.set', {'opened': False})],
+    'applied_sx20': [ev('sample.load'), ev('bath.cover', {'opened': False}), ev('valves.set', {'drive': True}), ev('gas.set', {'enabled': True})],
+    'edinburgh_fls1000tcspc': [ev('sample.load'), ev('sample.cover', {'opened': False}), op('power.set', {'enabled': True}),
+                               ev('source.arm', {'enabled': True})],
+    'ultrafast_helios': [ev('sample.load'), ev('sample.cover', {'opened': False}), ev('laser.arm', {'enabled': True})],
+    'bruker_minispecmq20': [ev('solution.register'), ev('sample.load')],
+}
+
+
+def spinsolve_steps(entry):
+    iid = entry.get('instance_id') or entry['id']
+    return [{'host': 'register_template_sample', 'kwargs': {'instance_id': iid, 'sample_id': 'ethanol_01',
+                                                            'composition': [{'substance_id': 'ethanol', 'amount_mol': 0.0001}],
+                                                            'solvent': 'CDCl3'}}]
+
+
+def config(base=None, only=None):
+    """all203.json (or ``base``) with the spectroscopy default world added (``only``: these asset slugs)."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if only is not None and slug not in only:
+            continue
+        steps = spinsolve_steps(e) if slug == 'magritek_spinsolve80' else copy.deepcopy(DEFAULT.get(slug, []))
+        if slug == 'jasco_ftir4700':
+            e['default_world'] = False        # the class tasks start without the ATR accessory (the agent installs it)
+        if steps:
+            e['setup'] = list(e.get('setup') or []) + steps
+    return cfg
+
+
+# ------------------------------------------------------------------ stage worlds (trusted host, during task set-up)
+class World:
+    """Evaluator / operator calls on one instrument of a LabBackend with deterministic request ids (a lab and its twin get the same)."""
+
+    def __init__(self, backend, iid, tag='w'):
+        self.b, self.iid, self.tag, self.n = backend, iid, tag, 0
+
+    def ev(self, cap, args):
+        self.n += 1
+        r = self.b.evaluator_invoke(self.iid, cap, copy.deepcopy(args), 'world-%s-%s-%d' % (self.tag, self.iid, self.n))
+        if r.get('status') not in ('succeeded', 'accepted', 'running'):
+            raise RuntimeError('world step %s %s failed: %s' % (cap, args, r.get('error')))
+        return r
+
+    def op(self, cap, args):
+        from ...labbackend import OPERATOR
+        self.n += 1
+        inst = self.b.instruments[self.iid]
+        r = self.b._invoke_raw(inst, OPERATOR, cap, copy.deepcopy(args), 'world-op-%s-%s-%d' % (self.tag, self.iid, self.n))
+        if r.get('status') not in ('succeeded', 'accepted', 'running'):
+            raise RuntimeError('world step %s %s failed: %s' % (cap, args, r.get('error')))
+        return r
+
+    def wait(self, s):
+        self.b.advance(s)
+
+    def ev_read(self):
+        r = self.b.evaluator_read(self.iid)
+        return {k: (o.get('value') if isinstance(o, dict) else o) for k, o in (r.get('observations') or {}).items()}
+
+    def until(self, test, max_s, step=5.0):
+        t = 0.0
+        while t < max_s and not test(self.ev_read()):
+            self.b.advance(step)
+            t += step
+        if not test(self.ev_read()):
+            raise RuntimeError('world condition not reached on %s' % self.iid)
+
+
+def j1500_blank_recorded(backend, iid='jasco_j1500'):
+    """The operator has run the J-1500 up (purge, lamp), recorded the blank with the standard method and put the sample cell in;
+    the purge is running again after the lid was opened."""
+    w = World(backend, iid, 'j15')
+    w.op('power.set', {'enabled': True})
+    w.op('purge.set', {'flow_std_m3_s': 5e-3 / 60})
+    w.until(lambda v: v.get('purge.ready'), 1800)
+    w.op('lamp.set', {'enabled': True})
+    w.op('lid.set', {'opened': False})
+    meth = backend.instruments[iid].contract['capabilities']['method.configure']['example_arguments']
+    w.op('method.configure', meth)
+    w.until(lambda v: v.get('lamp.ready'), 600, 1.0)
+    w.op('acquisition.start', {'kind': 'blank'})
+    w.until(lambda v: v.get('scan.phase') != 'running', 1800, 2.0)
+    w.op('lid.set', {'opened': True})
+    w.ev('sample.unload', {'recipient_id': 'external_rack'})
+    w.ev('sample.load', {'sample_id': 'sample_01'})
+    w.op('lid.set', {'opened': False})
+    w.until(lambda v: v.get('purge.ready'), 1800)
+    return w
+
+
+def jasco_blank_recorded(backend, iid, sample_id='sample_01', method=None, tag='jb'):
+    """FP-8350 / ESR5000 style: the operator switched on, set the method (contract example unless given), recorded the blank and
+    then put the sample cell in (lid closed again).  The source stays on."""
+    w = World(backend, iid, tag)
+    caps = backend.instruments[iid].contract['capabilities']
+    w.op('power.set', {'enabled': True})
+    w.op('lid.set', {'opened': False})
+    w.op('method.configure', method or caps['method.configure']['example_arguments'])
+    if 'lamp.set' in caps and caps['lamp.set'].get('visibility') == 'agent':
+        w.op('lamp.set', {'enabled': True})
+        w.until(lambda v: v.get('lamp.ready'), 600, 1.0)
+    if 'microwave.set' in caps:
+        w.op('microwave.set', {'enabled': True})
+    w.op('acquisition.start', {'kind': 'blank'})
+    w.until(lambda v: v.get('scan.phase') != 'running', 3600, 2.0)
+    w.op('lid.set', {'opened': True})
+    w.ev('sample.unload', {'recipient_id': 'external_rack'})
+    w.ev('sample.load', {'sample_id': sample_id})
+    w.op('lid.set', {'opened': False})
+    if 'microwave.set' in caps:
+        w.op('microwave.set', {'enabled': True})
+    return w
+
+
+def swap_cover_cell(backend, iid, sample, cover_cap='cover.set', unload=True, tag='sw'):
+    """CPL-300 / FVS-6000: the operator opens the cover, exchanges the cell for ``sample`` (sample.load arguments), closes it."""
+    w = World(backend, iid, tag)
+    w.ev(cover_cap, {'opened': True})
+    if unload:
+        w.ev('sample.unload', {'recipient_id': 'external_rack'})
+    w.ev('sample.load', sample)
+    w.ev(cover_cap, {'opened': False})
+    return w
diff --git a/chemlab/chemlab/compile/tasks/structure_lowering.py b/chemlab/chemlab/compile/tasks/structure_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..357432f3cad2bbeb734b17998840ce3b7be1e991
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/structure_lowering.py
@@ -0,0 +1,105 @@
+"""Lowering table of the structure class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a usage error, an unsupported verb, a dry run); '#wait N' = lab time passes on both labs.  World:
+tasks/structure_world.py (samples on the benches, the MiniFlex scene with its chiller and powder holders)."""
+import math
+
+from .structure_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+DEG = math.pi / 180.0
+SURVEY = {'name': 'survey', 'start_be_ev': 0.0, 'end_be_ev': 1200.0, 'step_ev': 1.0, 'dwell_s': 0.1, 'sweeps': 1}
+C1S = {'name': 'C1s', 'start_be_ev': 280.0, 'end_be_ev': 296.0, 'step_ev': 0.1, 'dwell_s': 0.1, 'sweeps': 2}
+
+CASES = {
+    'rigaku_miniflex600_external_cooling': {'steps': [
+        ('status', []),
+        ('scan', []),                                                           # NO_SAMPLE
+        ('load quartz_holder --dry-run', []),
+        ('load quartz_holder', [('access.set_door_angle', {'angle_rad': 1.5}), ('slot.set_sample', {'connection_id': 'quartz_holder'}),
+                                ('access.set_door_angle', {'angle_rad': 0.0})]),
+        ('load calcite_holder', []),                                            # OCCUPIED
+        ('scan', []),                                                           # SOURCE_NOT_SET
+        ('source on --kv 70kV', []),                                            # OUT_OF_RANGE (20-40 kV)
+        ('source on --kv 40kV --ma 15mA', [('xray.configure', {'voltage_v': 40000.0, 'current_a': 0.015})]),
+        ('scan bogus=1', []),                                                   # UNKNOWN_SETTING
+        ('scan from=20deg to=30deg step=0.05deg time=0.5s', [('xrd.set_slit', {'slit_id': 'standard_divergence_slit'}),
+                                                              ('xrd.configure_scan', {'start_rad': 20 * DEG, 'stop_rad': 30 * DEG, 'step_rad': 0.05 * DEG,
+                                                                                      'integration_time_s': 0.5}),
+                                                              ('xrd.start_scan', {})]),
+        ('#wait 120', None),
+        ('result', [('xrd.read_pattern', {})]),
+        ('analyze', []),                                                        # not supported
+        ('align', []),                                                          # not supported
+        ('source off', []),                                                     # nothing to switch (X-rays only while scanning)
+        ('unload', [('access.set_door_angle', {'angle_rad': 1.5}), ('slot.set_sample', {'connection_id': None}),
+                    ('access.set_door_angle', {'angle_rad': 0.0})]),
+    ]},
+    'rigaku_xtalabsynergy': {'steps': [
+        ('scan', []),                                                           # NO_SAMPLE
+        ('load nope', []),                                                      # NO_SUCH_SAMPLE
+        ('load aspirin_01', [('door.open', {'door': 'left', 'angle_rad': 1.5}), ('motion_enable.hold', {'held': True}),
+                             ('goniometer.mount_position', {}), ('crystal.mount', {'sample_id': 'aspirin_01'})]),
+        ('align --wait', [('crystal.center', {})]),
+        ('scan', []),                                                           # SOURCE_NOT_READY
+        ('source on --wait', [('motion_enable.hold', {'held': False}), ('door.close', {'door': 'left'}), ('safety.doors_ok', {}),
+                              ('xray.set_key', {'angle_rad': 1.5707963}), ('xray.on', {'voltage_v': 40000.0, 'current_a': 0.03})]),
+        ('scan width=20deg', []),                                               # OUT_OF_RANGE (frame width up to 5 deg)
+        ('scan exposure=1s --wait --max 2h', [('experiment.pre_experiment', {'exposure_s': 1.0, 'frame_width_rad': 0.5 * DEG, 'distance_m': 0.045})]),
+        ('result', [('measurement.result', {'record_id': 'pre_0001', 'max_values': 4096})]),
+        ('analyze what=index', [('processing.index', {'record_id': 'pre_0001', 'threshold_i_sigma': 5})]),
+        ('analyze what=bogus', []),                                             # UNKNOWN_ANALYSIS
+        ('vacuum on', []),                                                      # not supported
+        ('source off', [('xray.off', {})]),
+    ]},
+    'antonpaar_saxspace': {'steps': [
+        ('scan', []),                                                           # NO_SAMPLE
+        ('load lysozyme_5', [('chamber.set_door', {'open': True}), ('sample.load', {'sample_id': 'lysozyme_5', 'holder': 'capillary_1mm'}),
+                             ('chamber.set_door', {'open': False})]),
+        ('load lysozyme_5 --holder paste_cell', []),                            # OCCUPIED
+        ('align', []),                                                          # SOURCE_NOT_READY
+        ('vacuum on --wait', [('vacuum.set_pump', {'on': True})]),
+        ('source on --kv 40kV --ma 50mA', [('generator.set_power', {'voltage_v': 40000.0, 'current_a': 0.05}), ('generator.set_key', {'on': True}),
+                                           ('generator.xray_on', {})]),
+        ('#wait 30', None),
+        ('align --wait', [('stage.auto_align', {})]),
+        ('scan exposure=60s frames=2 --wait', [('acquisition.start', {'exposure_s': 60.0, 'frames': 2})]),
+        ('result', [('acquisition.result', {'record_id': 'sx-1'})]),
+        ('analyze thickness=1mm', [('data.reduce', {'record_id': 'sx-1', 'background_record_id': None, 'calibration_id': None, 'thickness_m': 0.001,
+                                                    'desmear': False})]),
+        ('unload', []),                                                         # NOT_VENTED
+        ('source off', [('generator.xray_off', {})]),
+        ('vacuum off --wait', [('vacuum.set_pump', {'on': False})]),
+        ('unload', [('chamber.set_door', {'open': True}), ('sample.unload', {}), ('chamber.set_door', {'open': False})]),
+    ]},
+    'kratos_axissupra': {'steps': [
+        ('scan', []),                                                           # NO_SAMPLE
+        ('load sio2_on_si --wait --max 1h', [('holder.mount_sample', {'holder_id': 'H1', 'sample_id': 'sio2_on_si', 'x_m': 0.0, 'y_m': 0.0}),
+                                              ('flexilock.set_lid', {'open': True}), ('flexilock.load_holder', {'holder_id': 'H1', 'slot': 1}),
+                                              ('flexilock.set_lid', {'open': False}), ('flexilock.pump', {}), ('transfer.to_stage', {'slot': 1})]),
+        ('align', []),                                                          # SOURCE_NOT_READY
+        ('source on --ma 10mA --wait', [('xray.set_source', {'on': True, 'emission_a': 0.01})]),
+        ('align --wait', [('stage.auto_height', {})]),
+        ('scan region=survey,C1s --wait --max 1h', [('acquisition.spectrum', {'regions': [SURVEY, C1S], 'mode': 'scanned'})]),
+        ('scan region=C1s:280 mode=bogus', []),                                 # BAD_CHOICE (mode)
+        ('result', [('acquisition.result', {'record_id': 'SP0001'})]),
+        ('analyze regions=C1s', [('data.quantify', {'record_id': 'SP0001', 'regions': ['C1s'], 'shift_ev': 0})]),
+        ('unload', []),                                                         # MISSING_SAMPLE (usage)
+        ('source off', [('xray.set_source', {'on': False, 'emission_a': 0.01})]),
+        ('unload sio2_on_si --wait', [('transfer.to_magazine', {'slot': 1}), ('flexilock.vent', {}), ('flexilock.set_lid', {'open': True}),
+                                      ('flexilock.unload_holder', {'slot': 1}), ('flexilock.set_lid', {'open': False}),
+                                      ('holder.unmount_sample', {'holder_id': 'H1', 'sample_id': 'sio2_on_si'})]),
+    ]},
+    'ja_alphase': {'steps': [
+        ('scan', []),                                                           # NO_SAMPLE
+        ('load pmma_on_si', [('sample.place', {'sample_id': 'pmma_on_si', 'offset_x_m': 0.0, 'offset_y_m': 0.0}), ('vacuum.set', {'on': True})]),
+        ('scan mode=superfast', []),                                            # BAD_CHOICE
+        ('scan mode=fast --wait', [('measure', {'mode': 'fast', 'alignment': 'standard', 'fixed_height_m': None, 'model_id': None})]),
+        ('result', [('measurement.result', {'record_id': 'SE0001'})]),
+        ('analyze thickness=110nm', [('analysis.fit', {'record_ids': ['SE0001'], 'model_id': 'cauchy_on_si', 'parameters': {'film.thickness_m': 1.1e-07},
+                                                       'fit': ['film.thickness_m', 'film.A', 'film.B'], 'thickness_prefit': True})]),
+        ('align', []),                                                          # not supported (part of every measurement)
+        ('source on', []),                                                      # not supported
+        ('vacuum off', [('vacuum.set', {'on': False})]),
+        ('unload', [('sample.remove', {'sample_id': 'pmma_on_si'})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/structure_tasks.py b/chemlab/chemlab/compile/tasks/structure_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..e17ce588ebe37290477ec78edf3eeb9c91af10a6
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/structure_tasks.py
@@ -0,0 +1,228 @@
+"""Structure class acceptance tasks (8, three of them recovery tasks): gold solutions use `chemlab run`; the checkers read the
+evaluator view (truth slots included), records read by the evaluator and the agent's work files.  World:
+tasks/structure_world.py plus task-specific operator steps."""
+import json
+import math
+
+from .common import run_suite
+from .structure_world import config as world_config
+
+MF, XT, SX, XPS, SE = ('rigaku_miniflex600_external_cooling', 'rigaku_xtalabsynergy', 'antonpaar_saxspace', 'kratos_axissupra', 'ja_alphase')
+DEG = math.pi / 180.0
+
+
+def with_steps(slug, steps):
+    def cfg(c):
+        c = world_config(c)
+        for e in c['instruments']:
+            if e['asset_type_id'].split('.', 1)[1] == slug:
+                e['setup'] = list(e.get('setup') or []) + steps
+        return c
+    return cfg
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': args}
+
+
+def ev_record(c, iid, cap, args):
+    r = c.lab.backend.evaluator_invoke(iid, cap, args, 'check-%s-%s' % (iid, cap))
+    return r.get('result') if r.get('status') == 'succeeded' else None
+
+
+def pattern_peak(points):
+    """2theta (deg) of the strongest point of a MiniFlex pattern."""
+    pts = [p for p in points or [] if isinstance(p, dict) and isinstance(p.get('intensity_cps'), (int, float))]
+    if not pts:
+        return None
+    best = max(pts, key=lambda p: p['intensity_cps'])
+    return best['two_theta_rad'] / DEG
+
+
+# ------------------------------------------------------------------ checkers
+def c_pxrd_quartz(c):
+    e = c.ev(MF)
+    c.equal('quartz holder in the sample slot', e.get('slot.sample.connection_id'), 'quartz_holder')
+    c.equal('scan completed', e.get('scan.status'), 'completed')
+    c.near('scan from 20 deg', e.get('scan.start_rad'), 20 * DEG, 1e-6)
+    c.near('scan to 30 deg', e.get('scan.stop_rad'), 30 * DEG, 1e-6)
+    c.near('0.05 deg steps', e.get('scan.step_rad'), 0.05 * DEG, 1e-9)
+    t = c.work_file('xrd.json')
+    rec = json.loads(t) if t else {}
+    pts = ((rec.get('result') or {}).get('samples')) or []
+    c.equal('xrd.json holds the 201 measured points', len(pts), 201)
+    peak = pattern_peak(pts)
+    c.add('the strongest quartz line (101) near 26.6 deg', peak is not None and abs(peak - 26.64) < 0.3, peak)
+
+
+def c_pxrd_calcite(c):
+    e = c.ev(MF)
+    c.equal('calcite holder in the sample slot', e.get('slot.sample.connection_id'), 'calcite_holder')
+    c.equal('scan completed', e.get('scan.status'), 'completed')
+    peak = pattern_peak(e.get('measurement.pattern'))
+    c.add('the calcite (104) line near 29.4 deg was measured', peak is not None and abs(peak - 29.4) < 0.3, peak)
+
+
+def c_scxrd_index(c):
+    rid = c.work_file('index.txt')
+    rec = (ev_record(c, XT, 'measurement.result', {'record_id': rid, 'max_values': 16}) or {}).get('record') if rid else None
+    c.add('index.txt names an indexing record', bool(rid) and rid.startswith('idx'), rid)
+    c.add('that indexing run completed', bool(rec) and rec.get('kind') == 'indexing' and rec.get('status') == 'completed', (rec or {}).get('status'))
+    c.equal('the X-rays are on', c.ev(XT).get('xray.state'), 'on')
+
+
+def c_saxs(c):
+    e = c.ev(SX)
+    c.equal('lysozyme_5 in the capillary', e.get('holder.sample_id'), 'lysozyme_5')
+    lst = ev_record(c, SX, 'records.list', {}) or {}                      # the last-record slots are per caller: ask the instrument
+    recs = lst.get('records') or []
+    rec = ev_record(c, SX, 'acquisition.result', {'record_id': recs[-1]}) if recs else None
+    c.add('an exposure of lysozyme_5 was recorded', bool(rec) and rec.get('sample_label') == 'lysozyme_5', recs)
+    c.equal('2 frames', (rec or {}).get('frames'), 2)
+    c.add('a reduced curve exists', bool(lst.get('reduced')), lst.get('reduced'))
+
+
+def c_saxs_loaded(c):
+    e = c.ev(SX)
+    c.equal('lysozyme_5 in a capillary', e.get('holder.sample_id'), 'lysozyme_5')
+    c.equal('capillary holder', e.get('holder.type'), 'capillary_1mm')
+    c.add('flight path evacuated again', bool(e.get('vacuum.ready')), e.get('vacuum.pressure_indicated_pa'))
+
+
+def c_xps(c):
+    e = c.ev(XPS)
+    rid = c.work_file('xps.txt')
+    rec = ev_record(c, XPS, 'acquisition.result', {'record_id': rid}) if rid else None
+    names = [s.get('name') for s in (rec or {}).get('spectra') or []]
+    c.equal('holder H1 on the analysis stage', e.get('stage.holder_id'), 'H1')
+    c.add('xps.txt names a completed spectrum record', bool(rec) and rec.get('status') == 'completed', rid)
+    c.add('survey, C 1s and Si 2p regions measured', {'survey', 'C1s', 'Si2p'} <= set(names), names)
+    q = c.work_file('quant.json')
+    rows = (json.loads(q).get('result') or {}).get('results') if q else None
+    c.add('quant.json holds a C / Si quantification', bool(rows) and {r.get('element') for r in rows} >= {'C', 'Si'}, rows)
+
+
+def c_se(c):
+    e = c.ev(SE)
+    t = e.get('result.last_thickness_m')
+    got = c.number_file('film.txt')
+    c.add('a fit was done', isinstance(t, float), t)
+    c.near('film.txt reports the fitted thickness in nm', got, (t or 0) * 1e9, 0.5)
+    c.near('the film is about 122 nm (PMMA 120 nm + native oxide)', got, 121.8, 4.0)
+
+
+def c_xt_pre(c):
+    e = c.ev(XT)
+    rid = e.get('result.last_record_id') or ''
+    c.add('a pre-experiment was recorded', rid.startswith('pre'), rid)
+    c.equal('the X-rays are on', e.get('xray.state'), 'on')
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_PXRD = '''chemlab run rigaku_miniflex600_external_cooling load quartz_holder
+chemlab run rigaku_miniflex600_external_cooling source on --kv 40kV --ma 15mA
+chemlab run rigaku_miniflex600_external_cooling scan from=20deg to=30deg step=0.05deg time=0.5s --wait --max 1h
+chemlab run rigaku_miniflex600_external_cooling result --save-to xrd.json'''
+
+GOLD_PXRD_RECOVER = r'''M=rigaku_miniflex600_external_cooling
+chemlab run $M load calcite_holder --json > l.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "OCCUPIED"' l.json >/dev/null; then
+  jq -r .error.fix l.json
+  chemlab run $M unload
+  chemlab run $M load calcite_holder
+fi
+chemlab run $M scan from=28deg to=30deg step=0.02deg time=1s --wait --max 1h --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "SOURCE_NOT_SET"' s.json >/dev/null; then
+  jq -r .error.fix s.json
+  chemlab run $M source on --kv 40kV --ma 15mA
+  chemlab run $M scan from=28deg to=30deg step=0.02deg time=1s --wait --max 1h
+fi'''
+
+GOLD_SCXRD = '''X=rigaku_xtalabsynergy
+chemlab run $X load aspirin_01
+chemlab run $X align --wait
+chemlab run $X source on --wait
+chemlab run $X scan exposure=1s --wait --max 2h
+chemlab run $X analyze what=index --json | jq -r .result.record_id > index.txt; cat index.txt'''
+
+GOLD_SAXS = '''S=antonpaar_saxspace
+chemlab run $S load lysozyme_5 --holder capillary_1mm
+chemlab run $S vacuum on --wait
+chemlab run $S source on --wait
+chemlab run $S align --wait
+chemlab run $S scan exposure=60s frames=2 --wait
+chemlab run $S analyze thickness=1mm'''
+
+GOLD_SAXS_RECOVER = r'''S=antonpaar_saxspace
+chemlab run $S load lysozyme_5 --json > l.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_VENTED"' l.json >/dev/null; then
+  jq -r .error.fix l.json
+  chemlab run $S vacuum off --wait
+  chemlab run $S load lysozyme_5
+fi
+chemlab run $S vacuum on --wait'''
+
+GOLD_XPS = '''K=kratos_axissupra
+chemlab run $K load sio2_on_si --wait --max 1h
+chemlab run $K source on --wait
+chemlab run $K align --wait
+chemlab run $K scan region=survey,C1s,Si2p --wait --max 1h
+chemlab run $K result --json | jq -r .record_id > xps.txt
+chemlab run $K analyze regions=C1s,Si2p --save-to quant.json'''
+
+GOLD_SE = '''E=ja_alphase
+chemlab run $E load pmma_on_si
+chemlab run $E scan mode=standard --wait
+chemlab run $E analyze model=cauchy_on_si
+chemlab read $E result.last_thickness_m --json | jq -r '.observations["result.last_thickness_m"].value * 1e9 * 100 | round / 100' > film.txt; cat film.txt'''
+
+GOLD_XT_RECOVER = r'''X=rigaku_xtalabsynergy
+chemlab run $X scan exposure=1s --wait --max 2h --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "SOURCE_NOT_READY"' s.json >/dev/null; then
+  jq -r .error.fix s.json
+  chemlab run $X source on --wait
+  chemlab run $X scan exposure=1s --wait --max 2h
+fi'''
+
+MF_QUARTZ_IN = [op('access.set_door_angle', {'angle_rad': 1.5}), op('slot.set_sample', {'connection_id': 'quartz_holder'}),
+                op('access.set_door_angle', {'angle_rad': 0.0})]
+SX_PUMPED = [{'advance_s': 10.0}, op('vacuum.set_pump', {'on': True}), {'advance_s': 300.0}]
+XT_MOUNTED = [op('door.open', {'door': 'left', 'angle_rad': 1.5}), op('motion_enable.hold', {'held': True}), op('goniometer.mount_position', {}),
+              {'advance_s': 20.0}, op('crystal.mount', {'sample_id': 'aspirin_01'}), {'advance_s': 10.0}, op('crystal.center', {}), {'advance_s': 100.0}]
+
+TASKS = [
+    {'id': 'st01_pxrd_quartz', 'kind': 'multi-step + long action + record', 'instruments': [MF], 'check': c_pxrd_quartz,
+     'instruction': 'Record a powder pattern of the quartz sample holder (quartz_holder) on the MiniFlex (rigaku_miniflex600_external_cooling) from 20 '
+                    'to 30 deg 2theta in 0.05 deg steps, 0.5 s per step, at 40 kV / 15 mA, and save the pattern as xrd.json.', 'gold': GOLD_PXRD},
+    {'id': 'st02_pxrd_recover', 'kind': 'recovery: slot occupied, then tube not set', 'instruments': [MF], 'config': with_steps(MF, MF_QUARTZ_IN),
+     'check': c_pxrd_calcite,
+     'instruction': 'Scan the calcite sample holder (calcite_holder) on the MiniFlex (rigaku_miniflex600_external_cooling) from 28 to 30 deg 2theta in '
+                    '0.02 deg steps, 1 s per step, at 40 kV / 15 mA.', 'gold': GOLD_PXRD_RECOVER},
+    {'id': 'st03_scxrd_index', 'kind': 'long multi-step (mount, centre, X-rays, pre-experiment) + report', 'instruments': [XT], 'check': c_scxrd_index,
+     'instruction': 'Mount the aspirin crystal (aspirin_01) on the XtaLAB Synergy (rigaku_xtalabsynergy), centre it, switch the X-rays on, run a '
+                    'pre-experiment with 1 s frames and index it. Write the record id of the indexing result into index.txt.', 'gold': GOLD_SCXRD},
+    {'id': 'st04_saxs_reduce', 'kind': 'long multi-step (vacuum, X-rays, alignment, exposure, reduction)', 'instruments': [SX], 'check': c_saxs,
+     'instruction': 'Measure the lysozyme solution (lysozyme_5) on the SAXSpace (antonpaar_saxspace) in a 1 mm capillary: evacuate, X-rays on, '
+                    'auto-align, expose 2 frames of 60 s, then reduce the data with 1 mm sample thickness.', 'gold': GOLD_SAXS},
+    {'id': 'st05_saxs_recover_vacuum', 'kind': 'recovery: chamber under vacuum', 'instruments': [SX], 'config': with_steps(SX, SX_PUMPED),
+     'check': c_saxs_loaded,
+     'instruction': 'Load lysozyme_5 in a 1 mm capillary into the SAXSpace (antonpaar_saxspace) and leave the flight path evacuated.', 'gold': GOLD_SAXS_RECOVER},
+    {'id': 'st06_xps_quantify', 'kind': 'long multi-step (load lock, transfer, source, height, spectra) + record', 'instruments': [XPS], 'check': c_xps,
+     'instruction': 'Load the SiO2-on-Si film (sio2_on_si) into the AXIS Supra+ (kratos_axissupra), switch the X-ray source on, set the height, '
+                    'acquire a survey plus C 1s and Si 2p regions, write the spectrum record id into xps.txt, and save a quantification of C 1s and '
+                    'Si 2p as quant.json.', 'gold': GOLD_XPS},
+    {'id': 'st07_se_thickness', 'kind': 'multi-step + report', 'instruments': [SE], 'check': c_se,
+     'instruction': 'Measure the PMMA-on-Si wafer (pmma_on_si) on the alpha-SE ellipsometer (ja_alphase) in standard mode, fit the Cauchy-on-Si model '
+                    'and write the film thickness in nm into film.txt.', 'gold': GOLD_SE},
+    {'id': 'st08_scxrd_recover_source', 'kind': 'recovery: X-rays off', 'instruments': [XT], 'config': with_steps(XT, XT_MOUNTED), 'check': c_xt_pre,
+     'instruction': 'The aspirin crystal is mounted and centred on the XtaLAB Synergy (rigaku_xtalabsynergy). Run a pre-experiment with 1 s frames.',
+     'gold': GOLD_XT_RECOVER},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'structure'
+    _t.setdefault('config', world_config)
+
+
+def main(only=None, noact=True):
+    return run_suite('structure', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/structure_world.py b/chemlab/chemlab/compile/tasks/structure_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..662810ec1ed6d6e072a57ddd180feecbc5eb1d2e
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/structure_world.py
@@ -0,0 +1,53 @@
+"""Host-side world for the structure class: what the lab operator has done before the agent starts (lab-config set-up steps and,
+for the MiniFlex, a trusted host scene).
+
+* MiniFlex 600: the external chiller connected and running, and two prepared powder holders whose diffraction comes from the
+  public RRUFF / COD templates (scene chemlab.compile.scenes.miniflex: "chiller", "samples"); switched on.
+* XtaLAB Synergy-R: an aspirin crystal on its loop on the bench (contract example); switched on.
+* SAXSpace: a lysozyme solution on the bench (contract example); switched on (SAXSdrive start-up and chiller flow).
+* AXIS Supra+: the lab declared (plant.configure, the default lab has none), switched on and started up; an SiO2-on-Si film sample
+  on the bench (contract example).
+* alpha-SE: a PMMA-on-Si wafer on the bench (contract example); switched on and the lamp warmed up.
+
+Nothing here is reachable from the sandbox.
+"""
+import copy
+
+from ...labbackend import load_config
+
+MINIFLEX_SAMPLES = {'quartz_holder': [{'phase_id': 'quartz', 'weight_fraction': 1.0}],
+                    'calcite_holder': [{'phase_id': 'calcite', 'weight_fraction': 1.0}]}
+
+
+def ev(cap, args):
+    return {'capability': cap, 'arguments': args, 'evaluator': True}
+
+
+def op(cap, args):
+    return {'capability': cap, 'arguments': args}
+
+
+STEPS = {
+    'rigaku_miniflex600_external_cooling': [op('power.set', {'enabled': True})],
+    'rigaku_xtalabsynergy': [ev('sample.provide', 'contract_example'), op('power.set', {'enabled': True}), {'advance_s': 30.0}],
+    'antonpaar_saxspace': [ev('sample.provide', 'contract_example'), op('power.set', {'enabled': True}), {'advance_s': 90.0}],
+    'kratos_axissupra': [op('plant.configure', {'room_k': 295.15, 'mains_voltage_v': 200.0, 'noise_seed': 1}), op('power.set', {'enabled': True}),
+                         {'advance_s': 700.0}, op('sample.provide', 'contract_example')],
+    'ja_alphase': [ev('sample.provide', 'contract_example'), op('power.set', {'enabled': True}), {'advance_s': 620.0}],
+}
+EXTRA = {
+    'rigaku_miniflex600_external_cooling': {'scene': 'chemlab.compile.scenes.miniflex:MiniFlexScene', 'chiller': 'chiller_01',
+                                            'samples': MINIFLEX_SAMPLES},
+}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the structure world steps appended to each member's set-up."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in STEPS:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(STEPS[slug])
+        if slug in EXTRA:
+            e.update(copy.deepcopy(EXTRA[slug]))
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/syringe_pump_world.py b/chemlab/chemlab/compile/tasks/syringe_pump_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..c83c83aeca5ed4834728b14471848768f75c07e8
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/syringe_pump_world.py
@@ -0,0 +1,24 @@
+"""Host-side world for the syringe-pump member of the liquid class (New Era NE-1000): what the lab operator has done before the
+agent starts.  The default lab already declares the environment and switches the pump on; here the operator also loads a
+B-D 10 mL syringe with 8 mL of water and connects the outlet line (0.5 m PTFE 0.8 mm into a reservoir holding 20 mL), as
+operator calls of the contract's robot skills.  The syringe diameter is not set: that is the agent's job (manual 7.1 p.12).
+"""
+import copy
+
+from ...labbackend import load_config
+
+N = 'newera_ne1000'
+
+
+def world_steps(syringe='bd_10ml', fill_m3=8e-06, reservoir_m3=2e-05):
+    return [{'capability': 'syringe.load', 'arguments': {'syringe': syringe, 'liquid_id': 'water', 'fill_volume_m3': fill_m3}},
+            {'capability': 'outlet.connect', 'arguments': {'tubing': 'ptfe_0p8mm', 'tubing_length_m': 0.5, 'needle': 'none',
+                                                           'backpressure_pa': 0.0, 'reservoir_liquid_m3': reservoir_m3}}]
+
+
+def config(base=None, **kw):
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        if e['asset_type_id'].split('.', 1)[1] == N:
+            e['setup'] = list(e.get('setup') or []) + world_steps(**kw)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/thermal_analysis_lowering.py b/chemlab/chemlab/compile/tasks/thermal_analysis_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..d6d535e726b0f387f65a54bc795cc0f53bde8592
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_analysis_lowering.py
@@ -0,0 +1,253 @@
+"""Lowering table of the thermal_analysis class: per member, verbs in order and the native calls (capability, arguments in the
+unit the argument declares) each must make - written from the contracts (input schemas and documented example arguments), not
+from the mapping.  [] = no native call (a class check refused, a usage error, a read, a wait); a runtime refusal still lists the
+call that was sent.  The labs carry the class world (tasks/thermal_analysis_world.py)."""
+from ..lowering import Measured
+from .thermal_analysis_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+ML_MIN = 1e-6 / 60
+
+
+# arguments the analysis verbs take from the instrument's own record (series, objects, numbers of it) are data, not lowering: the
+# table matches their kind (framework matchers); every argument the agent gives (mass, thickness, window ...) is checked exactly, and
+# the twin replay compares the full state with the exact arguments.
+SERIES, NUMBER, OBJECT = Measured(list), Measured(), Measured(dict)
+K_MIN = 1.0 / 60
+
+
+def detector_on(backend):
+    """LFA: the IR detector switched on (as the agent would with `chemlab call ... detector.set_enabled`) before the steps."""
+    backend.invoke('agent', 'netzsch_lfa467', 'detector.set_enabled', {'enabled': True}, 'prep-detector')
+    backend.advance(60.0)
+
+
+DSC_METHOD = {'start_temperature_k': K0 + 140, 'segments': [{'target_k': K0 + 180, 'rate_k_s': 10 * K_MIN, 'hold_s': 60.0}],
+              'sample_interval_s': 0.1, 'modulation_amplitude_k': 0.0, 'modulation_period_s': 60.0, 'start_tolerance_k': 0.3,
+              'timeout_s': (240.0 + 60.0) * 1.5 + 1800.0}
+TGA_METHOD = {'start_temperature_k': K0 + 40, 'segments': [{'target_k': K0 + 300, 'rate_k_s': 20 * K_MIN, 'hold_s': 0.0, 'gas': 'N2'},
+                                                           {'target_k': K0 + 300, 'rate_k_s': 20 * K_MIN, 'hold_s': 120.0, 'gas': 'N2'}],
+              'sample_interval_s': 0.1, 'start_tolerance_k': 0.5, 'timeout_s': (780.0 + 120.0) * 1.5 + 1800.0}
+DMA_BLOCK = {'temperature_k': K0 + 25, 'frequency_hz': 1.0, 'strain_amplitude': 1e-4, 'control': 'strain', 'force_amplitude_n': 0.01,
+             'settle_cycles': 5, 'measure_cycles': 3}
+DMA_REST = {'heating_rate_k_s': 10 * K_MIN, 'cooling_rate_k_s': 5 * K_MIN, 'temperature_tolerance_k': 0.3, 'timeout_s': 100000.0,
+            'samples_per_cycle': 128}
+TMA_METHOD = {'start_temperature_k': K0 + 30, 'segments': [{'target_temperature_k': K0 + 60, 'temperature_rate_k_s': 5 * K_MIN, 'hold_s': 30.0,
+                                                            'motor_force_n': 0.05, 'force_rate_n_s': 0.1}],
+              'start_tolerance_k': 0.5, 'sample_interval_s': 0.1, 'timeout_s': (360.0 + 30.0) * 1.5 + 1800.0, 'accept_condition_transfer': True}
+LFA_METHOD = {'temperature_k': K0 + 25, 'rate_k_s': 50 * K_MIN, 'equilibrium_tolerance_k': 0.2, 'equilibrium_dwell_s': 0.2, 'pretrigger_s': 0.001,
+              'pulse_energy_j': 0.1, 'pulse_width_s': 0.0001, 'sample_interval_s': 0.0001, 'record_duration_s': 0.25, 'timeout_s': 3600.0,
+              'accept_condition_transfer': True}
+TPS_METHOD = {'power_w': 0.5, 'duration_s': 1.5, 'sample_interval_s': 0.025, 'temperature_k': 296.15, 'geometry_model': 'isotropic_bulk',
+              'accept_gaussian_plane_approximation': True}
+MMC_METHOD = {'start_temperature_k': K0 + 50, 'end_temperature_k': K0 + 220, 'mode': 'hws', 'step_k': 10.0, 'heat_rate_k_min': 2.0, 'wait_min': 15.0,
+              'search_min': 15.0, 'threshold_k_min': 0.02, 'max_pressure_pa': 14000000.0, 'max_rate_k_min': 50.0, 'iso_temperature_k': None,
+              'iso_hours': None, 'cool_to_k': K0 + 50, 'data_interval_s': 30.0}
+
+CASES = {
+    'ta_dsc2500': {'steps': [
+        ('status', []),
+        ('load 2', []),                                                          # EMPTY_POSITION (class check: tray 2 is empty)
+        ('start', []),                                                           # NO_SAMPLE
+        ('load 1', [('autosampler.load', {'position': 1})]),                     # waits for the transfer
+        ('zero', []),                                                            # NOT_EMPTY
+        ('set-temp 140C', []),                                                   # LID_OPEN
+        ('close lid', [('lid.set', {'opened': False})]),                         # waits until closed
+        ('gas 50mL/min', [('gas.set_flow', {'flow_m3_s': 50 * ML_MIN}), ('gas.set_open', {'opened': True})]),
+        ('method start=2000C ramp=180C@10K/min', []),                            # OUT_OF_RANGE (usage)
+        ('method ramp=180C@10K/min', []),                                        # MISSING_SETTING start
+        ('method start=140C ramp=180C@10K/min hold=1min', [('method.configure', DSC_METHOD)]),
+        ('set-temp 140C --rate 20K/min --dry-run', []),
+        ('set-temp 140C --rate 20K/min', [('thermal.set_temperature', {'temperature_k': K0 + 140, 'rate_k_s': 20 * K_MIN})]),
+        ('wait-temp --within 0.3K --max 1h', []),
+        ('start', [('acquisition.start', {})]),
+        ('method start=25C ramp=50C@10K/min', []),                               # BUSY
+        ('wait --max 1h', []),                                                   # the shared wait on job-1
+        ('result', [('acquisition.result', {})]),
+        ('analyze', []),                                                         # MISSING_SETTING mass
+        ('analyze integrate mass=2mg from=150C to=170C', [('acquisition.result', {}),
+                                                          ('analysis.integrate', {'time_s': SERIES, 'heatflow_w': SERIES, 'temperature_k': SERIES,
+                                                                                  'baseline_w': SERIES, 'sample_mass_kg': 2e-06})]),
+        ('stop', []),                                                            # NOT_RUNNING
+        ('set-temp off', [('thermal.disable', {})]),
+        ('wait-temp --to 35C --within 3K --max 1h', []),
+        ('open lid', [('lid.set', {'opened': True})]),
+        ('unload', [('autosampler.unload', {'position': 1})]),
+        ('zero', []),                                                            # NOT_AMBIENT (the empty cell is still warm)
+        ('wait-temp --to 25C --within 0.001K --max 1h', []),
+        ('zero', [('sensor.zero', {})]),
+        ('calibrate temperature_gain_correction=1', []),                         # MISSING_SETTING (every factor is needed)
+        ('calibrate sample_flow_gain_correction=1 reference_flow_gain_correction=1 sample_flow_zero_w=0 reference_flow_zero_w=0 '
+         'temperature_gain_correction=1 temperature_zero_k=0.1K',
+         [('sensor.calibrate', {'sample_flow_gain_correction': 1.0, 'reference_flow_gain_correction': 1.0, 'sample_flow_zero_w': 0.0,
+                                'reference_flow_zero_w': 0.0, 'temperature_gain_correction': 1.0, 'temperature_zero_k': 0.1})]),
+        ('gas off', [('gas.set_open', {'opened': False})]),
+    ]},
+    'ta_tga5500': {'steps': [
+        ('zero', [('balance.tare', {})]),
+        ('load 1', [('autosampler.load', {'position': 1})]),
+        ('zero', []),                                                            # NOT_EMPTY
+        ('start', []),                                                           # FURNACE_OPEN
+        ('close', [('furnace.set', {'opened': False})]),
+        ('gas O2', [('gas.select', {'gas': 'O2'})]),
+        ('gas N2 25mL/min --balance 10mL/min', [('gas.select', {'gas': 'N2'}),
+                                                 ('gas.set_flow', {'sample_flow_m3_s': 25 * ML_MIN, 'balance_flow_m3_s': 10 * ML_MIN}),
+                                                 ('gas.set_open', {'opened': True})]),
+        ('method start=40C ramp=300C@20K/min gas=N2 iso=2min', [('method.configure', TGA_METHOD)]),
+        ('set-temp 40C --rate 20K/min', [('thermal.set_temperature', {'temperature_k': K0 + 40, 'rate_k_s': 20 * K_MIN})]),
+        ('wait-temp --max 30min', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 2h', []),
+        ('result --save-to tga.json', [('acquisition.result', {})]),
+        ('analyze split=380C,450C', [('acquisition.result', {}),
+                                     ('analysis.mass_stages', {'time_s': SERIES, 'temperature_k': SERIES, 'mass_kg': SERIES, 'baseline_kg': SERIES,
+                                                               'initial_mass_kg': NUMBER, 'stage_boundaries': SERIES})]),
+        ('unload', []),                                                          # FURNACE_CLOSED (class check)
+        ('open furnace', [('furnace.set', {'opened': True})]),                   # runtime HOT_CELL (refused, nothing changed)
+        ('wait-temp --to 35C --within 3K --max 2h', []),
+        ('open furnace', [('furnace.set', {'opened': True})]),
+        ('unload', [('autosampler.unload', {'position': 1})]),
+        ('stop', []),                                                            # NOT_RUNNING
+    ]},
+    'ta_dma850': {'steps': [
+        ('load --preload 0.01N', []),                                            # NO_AIR (class check, before any call)
+        ('gas 50mL/min', []),                                                    # NO_FLOW (not supported: on/off only)
+        ('gas on', [('gas.set_open', {'opened': True})]),
+        ('load --preload 0.01N', [('clamp.set', {'locked': True}), ('drive.preload', {'force_n': 0.01, 'ramp_s': 2.0})]),
+        ('zero', []),                                                            # NOT_EMPTY
+        ('close furnace', [('furnace.set', {'opened': False})]),
+        ('method steps=25C..45C/10K', [('method.configure', dict(DMA_REST, blocks=[dict(DMA_BLOCK, temperature_k=K0 + t, strain_amplitude=1e-4)
+                                                                                    for t in (25, 35, 45)]))]),   # runtime SOURCE_ANCHOR_ONLY
+        ('method step=25C freq=1Hz strain=0.01%', [('method.configure', dict(DMA_REST, blocks=[DMA_BLOCK]))]),
+        ('set-temp 25C --rate 5K/min', [('thermal.set_temperature', {'temperature_k': K0 + 25, 'rate_k_s': 5 * K_MIN})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 1h', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze length=10mm', []),                                             # MISSING_SETTING area
+        ('analyze length=10mm area=0.8mm2', [('acquisition.result', {}),
+                                             ('analysis.modulus', {'time_s': SERIES, 'force_n': SERIES, 'displacement_m': SERIES, 'frequency_hz': 1.0,
+                                                                   'length_m': 0.01, 'area_m2': 8e-07})]),
+        ('analyze transition', [('acquisition.result', {})]),                    # TOO_FEW_POINTS (one block)
+        ('unload', []),                                                          # FURNACE_CLOSED
+        ('set-temp off', [('thermal.disable', {})]),
+        ('open furnace', [('furnace.set', {'opened': True})]),
+        ('unload', [('drive.unload', {'ramp_s': 2.0}), ('clamp.set', {'locked': False})]),
+        ('calibrate force_gain_correction=1 force_zero_n=0 displacement_gain_correction=1 displacement_zero_m=0 temperature_gain_correction=1 '
+         'temperature_zero_k=0', [('sensor.calibrate', {'force_gain_correction': 1.0, 'force_zero_n': 0.0, 'displacement_gain_correction': 1.0,
+                                                         'displacement_zero_m': 0.0, 'temperature_gain_correction': 1.0, 'temperature_zero_k': 0.0})]),
+    ]},
+    'ta_tma450': {'steps': [
+        ('zero', []),                                                            # NO_CONTACT
+        ('load', [('probe.contact', {'engaged': True})]),
+        ('zero', [('displacement.zero', {})]),
+        ('close', [('furnace.set', {'opened': False})]),
+        ('gas --channel 1 100mL/min', [('gas.set_flow', {'flow_m3_s': 100 * ML_MIN}), ('gas.set_open', {'opened': True})]),
+        ('method start=30C ramp=60C@5K/min hold=30s force=0.05N', [('method.configure', TMA_METHOD)]),
+        ('set-temp 30C --rate 10K/min', [('thermal.set_temperature', {'temperature_k': K0 + 30, 'rate_k_s': 10 * K_MIN})]),
+        ('wait-temp --max 30min', []),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 1h', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze length=1.6234mm from=35C to=55C', [('acquisition.result', {}),
+                                                     ('analysis.cte', {'temperature_k': SERIES, 'displacement_m': SERIES, 'blank_m': SERIES,
+                                                                       'initial_length_m': 0.0016234, 'start_index': 0, 'end_index': NUMBER})]),
+        ('unload', []),                                                          # FURNACE_CLOSED
+        ('set-temp off', [('thermal.disable', {})]),
+        ('wait-temp --to 35C --within 3K --max 1h', []),
+        ('open', [('furnace.set', {'opened': True})]),
+        ('unload', [('probe.contact', {'engaged': False})]),
+    ]},
+    'netzsch_lfa467': {'prep': detector_on, 'steps': [
+        ('unload', []),                                                          # not supported
+        ('zero', []),                                                            # not supported
+        ('load 3', []),                                                          # EMPTY_POSITION (the specimen sits at 1)
+        ('load 1', [('sampler.select', {'position': 1})]),
+        ('close', [('furnace.set', {'opened': False})]),
+        ('set-temp 50C', []),                                                    # NO_PURGE (protective gas off)
+        ('gas 50mL/min', []),                                                    # MISSING_CHANNEL (usage)
+        ('gas 50mL/min --channel protective', [('gas.set_flow', {'channel': 'protective', 'flow_m3_s': 50 * ML_MIN}),
+                                               ('gas.set_open', {'channel': 'protective', 'opened': True})]),
+        ('gas 50mL/min --channel purge1', [('gas.set_flow', {'channel': 'purge1', 'flow_m3_s': 50 * ML_MIN}),
+                                           ('gas.set_open', {'channel': 'purge1', 'opened': True})]),
+        ('method temp=25C', [('method.configure', LFA_METHOD)]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 1h', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze thickness=2mm', [('acquisition.result', {}),
+                                   ('analysis.parker', {'time_s': SERIES, 'temperature_k': SERIES, 'thickness_m': 0.002, 'pulse_time_s': NUMBER,
+                                                        'baseline_k': NUMBER, 'plateau_k': NUMBER, 'accept_adiabatic_instant_pulse': True})]),
+        ('calibrate temperature_gain_correction=1 temperature_zero_k=0 pulse_gain_correction=1 pulse_zero_w=0',
+         [('sensor.calibrate', {'temperature_gain_correction': 1.0, 'temperature_zero_k': 0.0, 'pulse_gain_correction': 1.0, 'pulse_zero_w': 0.0})]),
+        ('set-temp 30C --rate 10K/min', [('thermal.set_temperature', {'temperature_k': K0 + 30, 'rate_k_s': 10 * K_MIN})]),
+        ('set-temp off', [('thermal.disable', {})]),
+        ('open', [('furnace.set', {'opened': True})]),
+    ]},
+    'hot_tps2500': {'steps': [
+        ('start', []),                                                           # POWER_OFF
+        ('load', []),                                                            # not supported
+        ('set-temp 30C', []),                                                    # not supported
+        ('power on', [('power.set', {'enabled': True})]),                        # shared verb
+        ('method time=1.5s power=0.5W', [('method.configure', TPS_METHOD)]),
+        ('method temp=30C', [('method.configure', dict(TPS_METHOD, temperature_k=K0 + 30))]),   # runtime EXTERNAL_TEMPERATURE_BOUNDARY
+        ('start', [('acquisition.start', {})]),
+        ('wait', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze', [('acquisition.result', {}),
+                     ('analysis.fit', {'time_s': SERIES, 'temperature_rise_k': SERIES, 'power_w': 0.5, 'radius_m': 0.0064, 'minimum_diffusivity_m2_s': 1e-08,
+                                       'maximum_diffusivity_m2_s': 0.0004, 'accept_gaussian_plane_approximation': True})]),
+        ('calibrate gain_correction=1 offset_correction_k=0.1K', [('sensor.calibrate', {'gain_correction': 1.0, 'offset_correction_k': 0.1})]),
+        ('temp', []),
+    ]},
+    'ta_tamiv': {'steps': [
+        ('set-temp 25C', []),                                                    # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 25C --rate 1K/min', []),                                      # NO_RATE (not supported)
+        ('set-temp 25C', [('thermal.set_temperature', {'temperature_k': K0 + 25})]),
+        ('wait-temp --max 1h', []),
+        ('method interval=0.1s', []),                                            # MISSING_SETTING time
+        ('method time=20s interval=0.1s', [('method.configure', {'duration_s': 20.0, 'sample_interval_s': 0.1, 'equilibrium_tolerance_k': 0.1})]),
+        ('start', [('acquisition.start', {})]),
+        ('wait --max 10min', []),
+        ('result', [('acquisition.result', {})]),
+        ('analyze', [('acquisition.result', {}), ('analysis.baseline', {'time_s': SERIES, 'heat_flow_w': SERIES})]),
+        ('start', [('acquisition.start', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('calibrate gain_correction=1 baseline_intercept_w=0 baseline_drift_w_s=0',
+         [('sensor.calibrate', {'gain_correction': 1.0, 'baseline_intercept_w': 0.0, 'baseline_drift_w_s': 0.0})]),
+        ('load', []),                                                            # not supported
+        ('set-temp off', [('thermal.disable', {})]),
+    ]},
+    'netzsch_mmc315': {'steps': [
+        ('start', []),                                                           # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                           # NO_METHOD
+        ('method start=50C', []),                                                # MISSING_SETTING end
+        ('method start=50C end=220C', [('method.configure', MMC_METHOD)]),
+        ('start', [('test.start', {})]),
+        ('#wait 3600', None),
+        ('stop', [('test.stop', {})]),
+        ('result', [('test.result', {})]),
+        ('analyze', [('test.result', {})]),                                      # TOO_FEW_POINTS (stopped before an exotherm)
+        ('set-temp 50C', []),                                                    # not supported
+    ]},
+    'ika_c6000': {'steps': [
+        ('load C6012-0001', []),                                                 # NOT_WAITING
+        ('method name=BA_1 mass=1g', [('measurement.create', {'name': 'BA_1', 'sample_mass_kg': 0.001, 'kind': 'measurement', 'vessel_name': None,
+                                                              'aids': []})]),
+        ('start', []),                                                           # MODE_MISMATCH (isoperibol_22 vs the cooling water)
+        ('method mode=isoperibol_25', [('mode.set', {'mode': 'isoperibol_25'})]),
+        ('start', []),                                                           # NOT_READY (system test after the mode change)
+        ('#wait 420', None),
+        ('start', [('measurement.start', {'measurement_id': 'm-1'})]),
+        ('load C6012-0001', [('vessel.scan', {'rfid': 'C6012-0001'}), ('vessel.hang', {'rfid': 'C6012-0001'}), ('measurement.confirm', {})]),
+        ('wait --max 1h', []),
+        ('result', [('measurement.result', {'measurement_id': 'm-1'})]),
+        ('analyze sulfur=0.1% hydrogen=4.95%', [('measurement.evaluate', {'measurement_id': 'm-1', 'sulfur_mass_fraction': 0.001, 'total_acid_mol': None,
+                                                                           'hydrogen_mass_fraction': 0.0495, 'moisture_mass_fraction': 0.0})]),
+        ('unload', [('vessel.remove', {})]),
+        ('calibrate c=8750J/K', [('vessel.set_c_value', {'c_value_j_k': 8750.0, 'vessel_name': 'C6012 no. 1', 'mode': 'isoperibol_25'})]),
+        ('close cover', [('cover.close', {})]),
+        ('open cover', [('cover.open', {})]),
+        ('set-temp 25C', []),                                                    # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/thermal_analysis_tasks.py b/chemlab/chemlab/compile/tasks/thermal_analysis_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..73f945704a2fc3704477870bb91a6ad23c16011b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_analysis_tasks.py
@@ -0,0 +1,327 @@
+"""thermal_analysis class acceptance tasks (10, 5 of them recovery tasks): gold solutions use `chemlab run`; the checkers read
+the evaluator view, the evaluator's own result query and the agent's report files."""
+from .common import run_suite
+from .thermal_analysis_world import config as world_config
+
+K0 = 273.15
+DSC, TGA, DMA, TMA, LFA, TPS, TAM, MMC, C6 = ('ta_dsc2500', 'ta_tga5500', 'ta_dma850', 'ta_tma450', 'netzsch_lfa467', 'hot_tps2500', 'ta_tamiv',
+                                              'netzsch_mmc315', 'ika_c6000')
+
+
+def ev_call(c, iid, cap, args=None):
+    """The evaluator's own query of a result (host side; the agent never sees this)."""
+    r = c.lab.backend.evaluator_invoke(iid, cap, args or {}, 'check-%s-%s' % (iid, cap))
+    return r.get('result') or {}
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') in ('succeeded', 'accepted'), (cap, r)
+
+
+def w_dsc_hot(lab):
+    """A DSC that has just been used: pan 1 in the cell, lid closed, purge on, held at 200 °C."""
+    world_call(lab, DSC, 'autosampler.load', {'position': 1})
+    lab.backend.advance(60)
+    world_call(lab, DSC, 'lid.set', {'opened': False})
+    lab.backend.advance(60)
+    world_call(lab, DSC, 'gas.set_flow', {'flow_m3_s': 50e-6 / 60})
+    world_call(lab, DSC, 'gas.set_open', {'opened': True})
+    world_call(lab, DSC, 'thermal.set_temperature', {'temperature_k': K0 + 200, 'rate_k_s': 20 / 60})
+    lab.backend.advance(900)
+
+
+def used(c, inst, verb, exit_code=0):
+    return any(i == inst and v == verb and e == exit_code for i, v, e in c.verbs_used())
+
+
+# ------------------------------------------------------------------ checkers
+def c_dsc_run(c):
+    e = c.ev(DSC)
+    res = ev_call(c, DSC, 'acquisition.result')
+    c.equal('the DSC run succeeded', e.get('acquisition.phase'), 'succeeded')
+    rows = res.get('rows') or []
+    c.add('the run covered 140 -> 180 °C', rows and abs(rows[0]['sample_k'] - (K0 + 140)) < 1.0 and abs(max(r['sample_k'] for r in rows) - (K0 + 180)) < 1.0,
+          rows[:1] and (rows[0]['sample_k'], max(r['sample_k'] for r in rows)))
+    c.near('purge 50 mL/min', e.get('gas.flow_m3_s'), 50e-6 / 60, 1e-9)
+    t = c.work_file('dsc.json') or ''
+    c.add('dsc.json holds the result record', '"heatflow_w"' in t and '"rows"' in t, t[:80])
+    c.near('dh.txt holds the indium fusion enthalpy in J/g (NIST SRM 2232a: 28.51 J/g, ±1)', c.number_file('dh.txt'), 28.51, 1.0)
+
+
+def c_tga_residue(c):
+    e = c.ev(TGA)
+    res = ev_call(c, TGA, 'acquisition.result')
+    rows = res.get('rows') or []
+    c.equal('the TGA run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.add('heated to 600 °C under nitrogen', rows and max(r['sample_k'] for r in rows) > K0 + 595 and all(r.get('sample_gas_target') == 'N2' for r in rows),
+          rows and max(r['sample_k'] for r in rows))
+    if rows:
+        pct = 100.0 * rows[-1]['mass_kg'] / rows[0]['mass_kg']
+        c.near('residue.txt holds the residual mass in % (±0.5)', c.number_file('residue.txt'), pct, 0.5)
+    else:
+        c.add('residue.txt holds the residual mass in %', False, 'no rows')
+
+
+def c_dma(c):
+    e = c.ev(DMA)
+    res = ev_call(c, DMA, 'acquisition.result')
+    c.equal('the DMA run succeeded', e.get('acquisition.phase'), 'succeeded')
+    blocks = res.get('blocks') or []
+    c.add('one 25 °C / 1 Hz block measured', len(blocks) == 1 and abs(blocks[0].get('frequency_hz', 0) - 1.0) < 1e-9, blocks[:1])
+    sm = ((blocks[0].get('analysis') or {}).get('storage_modulus_pa') if blocks else None)
+    got = c.number_file('modulus.txt')
+    c.add("modulus.txt holds E' in MPa (±1 %)", got is not None and sm and abs(got - sm / 1e6) <= 0.01 * abs(sm / 1e6), (got, sm))
+
+
+def c_tma(c):
+    e = c.ev(TMA)
+    res = ev_call(c, TMA, 'acquisition.result')
+    rows = res.get('rows') or []
+    c.equal('the TMA run succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.add('heated to 80 °C with a 0.05 N probe force', rows and abs(max(r['temperature_k'] for r in rows) - (K0 + 80)) < 1.0
+          and all(abs(r['force_n'] - 0.05) < 1e-3 for r in rows), rows and max(r['temperature_k'] for r in rows))
+    if rows:
+        c.near('dl.txt holds the expansion in µm (±0.05)', c.number_file('dl.txt'), (rows[-1]['displacement_m'] - rows[0]['displacement_m']) * 1e6, 0.05)
+    else:
+        c.add('dl.txt holds the expansion in µm', False, 'no rows')
+    c.add('the furnace was opened and the probe lifted at the end', e.get('furnace.opened') and not e.get('probe.engaged'), (e.get('furnace.opened'), e.get('probe.engaged')))
+
+
+def c_lfa(c):
+    e = c.ev(LFA)
+    res = ev_call(c, LFA, 'acquisition.result')
+    c.equal('the flash shot succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.add('a pulse was fired and recorded', res.get('pulse_time_s') is not None and len(res.get('rows') or []) > 100, res.get('pulse_time_s'))
+    t = c.work_file('flash.json') or ''
+    c.add('flash.json holds the record', '"pulse_time_s"' in t, t[:80])
+
+
+def c_tps(c):
+    res = ev_call(c, TPS, 'acquisition.result')
+    k = (res.get('fit') or {}).get('conductivity_w_m_k')
+    c.equal('the TPS measurement succeeded', res.get('phase'), 'succeeded')
+    c.near('k.txt holds the conductivity in W/(m K) (±1 %)', c.number_file('k.txt'), k if k else -1, abs(k) * 0.01 if k else 0)
+
+
+def c_tam(c):
+    e = c.ev(TAM)
+    res = ev_call(c, TAM, 'acquisition.result')
+    c.equal('the TAM recording succeeded', e.get('acquisition.phase'), 'succeeded')
+    c.near('thermostat at 25 °C', e.get('bath.target_k'), K0 + 25, 1e-6)
+    c.add('60 s recorded every 0.5 s', abs((res.get('elapsed_s') or 0) - 60.0) < 1e-6 and len(res.get('rows') or []) == 121, (res.get('elapsed_s'), len(res.get('rows') or [])))
+
+
+def c_mmc(c):
+    res = ev_call(c, MMC, 'test.result')
+    c.equal('the heat-wait-search test completed', res.get('phase'), 'succeeded')
+    mt = res.get('max_temperature_k')
+    c.near('arc.txt holds the maximum temperature in °C (±0.5)', c.number_file('arc.txt'), (mt - K0) if mt else -999, 0.5)
+    jobs = [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == MMC]
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs), [(j.handle, j.state) for j in jobs])
+
+
+def c_c6000(c):
+    rows = c.ev(C6).get('measurements.list') or []
+    done = [r for r in rows if r.get('name') == 'BA_1' and r.get('status') == 'completed']
+    c.add('measurement BA_1 completed', bool(done), [(r.get('name'), r.get('status')) for r in rows])
+    ho = done[0].get('gross_calorific_value_j_kg') if done else None
+    c.near('ho.txt holds the gross calorific value in MJ/kg (±0.01)', c.number_file('ho.txt'), ho / 1e6 if ho else -1, 0.01)
+    c.equal('working mode isoperibol 25 °C', c.ev(C6).get('mode.working'), 'isoperibol_25')
+
+
+def c_dsc_hot(c):
+    e = c.ev(DSC)
+    c.add('the pan is back on tray position 1', not e.get('sample.present') and (e.get('autosampler.tray_occupied') or [False])[0],
+          (e.get('sample.present'), (e.get('autosampler.tray_occupied') or [None])[0]))
+    c.add('the empty cell was zeroed', used(c, DSC, 'zero'), c.verbs_used()[-3:])
+    c.add('temperature control off', not e.get('thermal.enabled'), e.get('thermal.enabled'))
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_DSC = r'''I=ta_dsc2500
+chemlab run $I load 1
+chemlab run $I close lid
+chemlab run $I gas 50mL/min
+chemlab run $I method start=140C ramp=180C@10K/min hold=1min
+chemlab run $I set-temp 140C --rate 20K/min
+chemlab run $I wait-temp --within 0.3K --max 1h
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run $I result --save-to dsc.json
+chemlab run $I analyze integrate mass=2mg from=150C to=170C --json | jq -r '.result.specific_enthalpy_j_kg / 1000' > dh.txt
+cat dh.txt'''
+
+GOLD_TGA = r'''I=ta_tga5500
+chemlab run $I zero
+chemlab run $I load 1
+chemlab run $I gas N2 25mL/min --balance 10mL/min
+chemlab run $I method start=40C ramp=600C@20K/min gas=N2
+chemlab run $I start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "FURNACE_OPEN"' s.json >/dev/null; then
+  chemlab run $I close furnace
+fi
+chemlab run $I set-temp 40C --rate 20K/min
+chemlab run $I wait-temp --max 30min
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab wait "$job" --max 3h
+chemlab run $I result --save-to tga.json > /dev/null
+jq -r '.result.rows | (.[-1].mass_kg / .[0].mass_kg * 100)' tga.json > residue.txt
+cat residue.txt'''
+
+GOLD_DMA = r'''I=ta_dma850
+chemlab run $I load --preload 0.01N --json > l.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NO_AIR"' l.json >/dev/null; then
+  jq -r '.error.fix' l.json
+  chemlab run $I gas on
+  chemlab run $I load --preload 0.01N
+fi
+chemlab run $I close furnace
+chemlab run $I method step=25C freq=1Hz strain=0.01%
+chemlab run $I start
+chemlab run $I wait --max 1h
+chemlab run $I result --save-to dma.json > /dev/null
+jq -r '.result.blocks[0].analysis.storage_modulus_pa / 1e6' dma.json > modulus.txt
+cat modulus.txt'''
+
+GOLD_TMA = r'''I=ta_tma450
+chemlab run $I load
+chemlab run $I zero
+chemlab run $I close furnace
+chemlab run $I gas 100mL/min
+chemlab run $I method start=30C ramp=80C@5K/min hold=1min force=0.05N
+chemlab run $I set-temp 30C --rate 10K/min
+chemlab run $I wait-temp --max 30min
+chemlab run $I start
+chemlab run $I wait --max 2h
+chemlab run $I result --save-to tma.json > /dev/null
+jq -r '.result.rows | ((.[-1].displacement_m - .[0].displacement_m) * 1e6)' tma.json > dl.txt
+chemlab run $I set-temp off
+chemlab run $I unload --json > u.json || true
+chemlab run $I wait-temp --to 35C --within 3K --max 2h
+chemlab run $I open furnace
+chemlab run $I unload
+cat dl.txt'''
+
+GOLD_LFA = r'''I=netzsch_lfa467
+chemlab run $I load 1
+chemlab run $I close furnace
+chemlab run $I gas 50mL/min --channel protective
+chemlab run $I gas 50mL/min --channel purge1
+chemlab run $I method temp=25C
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "DETECTOR_OFF"' s.json >/dev/null; then
+  jq -r '.error.fix' s.json
+  chemlab call $I detector.set_enabled --enabled true
+  chemlab wait 60
+  chemlab run $I start
+fi
+chemlab run $I wait --max 1h
+chemlab run $I result --save-to flash.json'''
+
+GOLD_TPS = r'''I=hot_tps2500
+chemlab run $I start --json > s.json || chemlab run $I power on
+chemlab run $I method power=0.5W time=1.5s
+chemlab run $I start
+chemlab run $I wait --max 10min
+chemlab run $I result --json | jq -r '.result.fit.conductivity_w_m_k' > k.txt
+cat k.txt'''
+
+GOLD_TAM = r'''I=ta_tamiv
+chemlab run $I power on
+chemlab run $I set-temp 25C
+chemlab run $I wait-temp --max 2h
+chemlab run $I method time=60s interval=0.5s
+chemlab run $I start
+chemlab run $I wait --max 10min
+chemlab run $I result'''
+
+GOLD_MMC = r'''I=netzsch_mmc315
+chemlab run $I power on
+chemlab run $I method mode=hws start=50C end=220C
+job=$(chemlab run $I start --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 20h
+chemlab run $I result --json | jq -r '.result.max_temperature_k - 273.15' > arc.txt
+cat arc.txt'''
+
+GOLD_C6 = r'''I=ika_c6000
+chemlab run $I method name=BA_1 mass=1g
+chemlab run $I start --json > s.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "MODE_MISMATCH"' s.json >/dev/null; then
+  jq -r '.error.message' s.json
+  mode=$(chemlab read $I mode.available --json | jq -r '.observations["mode.available"].value | map(select(startswith("isoperibol"))) | .[0]')
+  chemlab run $I method mode=$mode
+  chemlab wait 7min
+  chemlab run $I start
+fi
+chemlab run $I load C6012-0001
+chemlab run $I wait --max 1h
+chemlab run $I result --json | jq -r '.result.gross_calorific_value_j_kg / 1e6' > ho.txt
+cat ho.txt'''
+
+GOLD_DSC_HOT = r'''I=ta_dsc2500
+chemlab run $I open lid --json > o.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' o.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "HOT_CELL"' o.json >/dev/null; then
+  chemlab run $I set-temp off
+  chemlab run $I wait-temp --to 36C --within 2K --max 2h
+  chemlab run $I open lid
+fi
+chemlab run $I unload
+chemlab run $I zero --json > z.json; rc=$?
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_AMBIENT"' z.json >/dev/null; then
+  jq -r '.error.fix' z.json
+  chemlab run $I wait-temp --to 25C --within 0.001K --max 1h
+  chemlab run $I zero
+fi
+chemlab run $I status'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'ta01_dsc_scan', 'kind': 'multi-step + long action (job) + record + analysis', 'instruments': [DSC], 'check': c_dsc_run,
+     'instruction': 'On the DSC 2500 (ta_dsc2500), measure the indium pan on tray position 1: equilibrate at 140 °C, heat to 180 °C at '
+                    '10 °C/min with a 1 min hold, under 50 mL/min nitrogen purge. Save the result record to dsc.json, and write the fusion enthalpy '
+                    'of the 2.000 mg indium specimen in J/g (peak between 150 and 170 °C, linear baseline) into dh.txt.', 'gold': GOLD_DSC},
+    {'id': 'ta02_tga_recover_furnace', 'kind': 'recovery: furnace open at start', 'instruments': [TGA], 'check': c_tga_residue,
+     'instruction': 'On the TGA 5500 (ta_tga5500), tare the empty balance, load the pan on tray position 1 and heat it from 40 °C to 600 °C at '
+                    '20 °C/min under nitrogen (25 mL/min sample purge, 10 mL/min balance purge). Write the residual mass in percent of the '
+                    'initial mass into residue.txt.', 'gold': GOLD_TGA},
+    {'id': 'ta03_dma_recover_air', 'kind': 'recovery: preload without the air bearing', 'instruments': [DMA], 'check': c_dma,
+     'instruction': 'The film specimen is mounted in the DMA 850 (ta_dma850). Clamp it with a 0.01 N preload, measure one 25 °C block at 1 Hz '
+                    'and 0.01 % strain, and write the storage modulus E\' in MPa into modulus.txt.', 'gold': GOLD_DMA},
+    {'id': 'ta04_tma_expansion', 'kind': 'multi-step + clean-up (hot furnace)', 'instruments': [TMA], 'check': c_tma,
+     'instruction': 'On the TMA 450 (ta_tma450), measure the expansion of the specimen from 30 °C to 80 °C at 5 °C/min (1 min hold) with a '
+                    '0.05 N expansion-probe force and a 100 mL/min purge. Write the length change in µm into dl.txt; at the end leave the '
+                    'furnace open and the probe lifted.', 'gold': GOLD_TMA},
+    {'id': 'ta05_lfa_recover_detector', 'kind': 'recovery: detector off', 'instruments': [LFA], 'check': c_lfa,
+     'instruction': 'Fire one laser-flash shot at 25 °C on the specimen in changer position 1 of the LFA 467 (netzsch_lfa467), with the '
+                    'protective gas and purge line 1 at 50 mL/min, and save the record to flash.json.', 'gold': GOLD_LFA},
+    {'id': 'ta06_tps_conductivity', 'kind': 'recovery: switched off + report', 'instruments': [TPS], 'check': c_tps,
+     'instruction': 'Measure the thermal conductivity of the mounted specimen with the Hot Disk TPS 2500 S (hot_tps2500): 0.5 W heating '
+                    'power for 1.5 s. Write the conductivity in W/(m K) into k.txt.', 'gold': GOLD_TPS},
+    {'id': 'ta07_tam_isothermal', 'kind': 'multi-step (power, thermostat, record)', 'instruments': [TAM], 'check': c_tam,
+     'instruction': 'Record the heat flow of the TAM IV (ta_tamiv) at 25 °C for 60 s with a 0.5 s sampling interval.', 'gold': GOLD_TAM},
+    {'id': 'ta08_arc_hws_job', 'kind': 'long action: job id (status, wait) + report', 'instruments': [MMC], 'check': c_mmc,
+     'instruction': 'Run a heat-wait-search test on the MMC 315 (netzsch_mmc315) from 50 °C to 220 °C. Follow it as a job, and when it has '
+                    'finished write the maximum sample temperature in °C into arc.txt.', 'gold': GOLD_MMC},
+    {'id': 'ta09_c6000_recover_mode', 'kind': 'recovery: working mode vs cooling water', 'instruments': [C6], 'check': c_c6000,
+     'instruction': 'On the IKA C 6000 (ika_c6000), measure the 1 g benzoic acid sample prepared in bomb C6012-0001 as measurement "BA_1" '
+                    '(isoperibolic) and write its gross calorific value in MJ/kg into ho.txt.', 'gold': GOLD_C6},
+    {'id': 'ta10_dsc_recover_hot_cell', 'kind': 'recovery: hot cell', 'instruments': [DSC], 'world': w_dsc_hot, 'check': c_dsc_hot,
+     'instruction': 'The DSC 2500 (ta_dsc2500) has just been used at 200 °C. Put the pan in the cell back on its tray position, then zero '
+                    'the empty cell.', 'gold': GOLD_DSC_HOT, 'kind_note': 'two recoveries: HOT_CELL, then NOT_AMBIENT'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'thermal_analysis'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('thermal_analysis', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/thermal_analysis_world.py b/chemlab/chemlab/compile/tasks/thermal_analysis_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..a2802674a48a9921c5317a380a1a708f5dc49ad7
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_analysis_world.py
@@ -0,0 +1,77 @@
+"""Host-side world for the thermal_analysis class: what the lab operator has done before the agent starts, as lab-config set-up
+steps (capability calls as the operator, or "evaluator": true for host-only ones; "advance_s" lets that instrument's time run).
+
+* DSC 2500 / TGA 5500: a sample pan on tray position 1 (indium for the DSC; the TGA uses the reference of its sample.load
+  example, because the tray.place example names a reference the runtime does not know).  The DSC purge supply is
+  replaced by a 10 mol N2 cylinder: the default set-up's 0.1 mol (the contract example) lasts only about 49 min at 50 mL/min.
+* DMA 850 / TMA 450: the specimen mounted (DMA clamp open, TMA probe up).
+* LFA 467: purge and protective gas connected, detector coolant filled, switched on and the flash lamp charged, a SiC specimen
+  in changer position 1.
+* TPS 2500 S: sensor connected, specimen halves mounted, clamped, hood lowered (the hood only after the clamp has stopped).
+* TAM IV: sample and reference ampoules inserted and lowered.
+* MMC 315: tray out, lid open, bomb loaded, lid closed, tray docked.
+* C 6000: the system test has run, the bomb C6012-0001 is prepared with 1 g benzoic acid, scanned and registered as "C6012 no. 1"
+  with a C value of 8700 J/K in the isoperibol 25 °C mode (the lab's earlier calibration); the working mode is left as the
+  instrument starts (isoperibol 22 °C), which does not match the cooling water - the agent changes it (`method mode=...`).
+"""
+import copy
+
+from ...labbackend import load_config
+
+EV = True
+
+
+def step(cap, args='contract_example', evaluator=True):
+    return {'capability': cap, 'arguments': args, 'evaluator': evaluator}
+
+
+def wait(s):
+    return {'advance_s': s}
+
+
+TGA_PAN = {'position': 1, 'sample': {'reference_id': 'fsri_abs_n2_10k_r1', 'mass_kg': 1e-05, 'pan_material': 'ceramic', 'heat_capacity_j_kg_k': 1000.0,
+                                    'loss_relaxation_s': 1.0, 'loss_heat_j_kg': 0.0, 'oxidation_capacity_fraction': 0.0, 'oxidation_rate_s_inv': 0.1,
+                                    'oxidation_activation_j_mol': 50000.0, 'oxidation_reference_temperature_k': 600.0, 'oxidation_heat_j_kg': 0.0,
+                                    'accept_engineering': True, 'accept_curve_projection': True, 'accept_condition_transfer': True,
+                                    'accept_cold_extension': True}}
+LFA_PROTECTIVE = {'channel': 'protective', 'gas': 'N2', 'amount_mol': 1.0, 'reference_temperature_k': 298.15, 'reference_pressure_pa': 101325.0,
+                  'accept_reference_conditions': True}
+
+WORLD = {
+    'ta_dsc2500': [step('tray.place'), step('gas.unload', {}),
+                   step('gas.load', {'gas': 'N2', 'amount_mol': 10.0, 'reference_temperature_k': 298.15, 'reference_pressure_pa': 101325.0,
+                                     'accept_reference_conditions': True})],
+    'ta_tga5500': [step('tray.place', TGA_PAN)],
+    'ta_dma850': [step('sample.load')],
+    'ta_tma450': [step('sample.load')],
+    'netzsch_lfa467': [step('gas.load'), step('gas.load', LFA_PROTECTIVE), step('coolant.load'), step('power.set', {'enabled': True}),
+                       step('pulse.charge'), step('sample.load')],
+    'hot_tps2500': [step('probe.configure'), step('sample.load'), step('fixture.set_clamp', {'closed': True}), wait(5.0),
+                    step('fixture.set_hood', {'opened': False}), wait(15.0)],
+    'ta_tamiv': [step('sample.load'), step('reference.load'), step('sample.set_lift', {'lift_m': 0.0}), wait(5.0)],
+    'netzsch_mmc315': [step('tray.move', {'extend': True}), wait(30.0), step('lid.set', {'open': True}), wait(30.0), step('sample.load'),
+                       step('lid.set', {'open': False}), wait(30.0), step('tray.move', {'extend': False}), wait(30.0)],
+    'ika_c6000': [wait(300.0), step('vessel.prepare'), step('vessel.scan', {'rfid': 'C6012-0001'}, evaluator=False),
+                  step('vessel.register', 'contract_example', evaluator=False),
+                  step('vessel.set_c_value', {'vessel_name': 'C6012 no. 1', 'mode': 'isoperibol_25', 'c_value_j_k': 8700.0}, evaluator=False)],
+}
+
+
+def config(base=None, only=None):
+    """all203.json (or ``base``) with the thermal_analysis world steps appended to the members' set-ups."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD and (only is None or slug in only):
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug])
+    return cfg
+
+
+def setup_problems(lab):
+    """Set-up steps that did not succeed (a broken world fails loudly in the tests)."""
+    out = []
+    for iid, inst in lab.backend.instruments.items():
+        for r in getattr(inst, 'setup_report', []):
+            if r.get('status') not in ('succeeded', 'accepted', 'ok'):
+                out.append((iid, r))
+    return out
diff --git a/chemlab/chemlab/compile/tasks/thermal_lowering.py b/chemlab/chemlab/compile/tasks/thermal_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..34559666759ac8e958ccf59e8b83bd36edc6e0e9
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_lowering.py
@@ -0,0 +1,118 @@
+"""Lowering table of the thermal class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, a read, or a wait); None = not checked."""
+from .thermal_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+
+CASES = {
+    'julabo_corio_cd200f': {'steps': [
+        ('status', []),
+        ('set-temp 40C', []),                                                   # REMOTE_OFF (class requirement)
+        ('remote on', [('interface.set_remote', {'enabled': True})]),
+        ('set-temp 40C', [('thermal.set_temperature', {'temperature_K': K0 + 40})]),
+        ('wait-temp --max 5min', []),                                           # HEATING_OFF: circulation not running
+        ('heat on', [('circulation.set_running', {'running': True})]),
+        ('wait-temp --max 30min', []),
+        ('temp', []),
+        ('safety-limit 30C', []),                                               # BELOW_SET_POINT
+        ('safety-limit 100C', [('safety.set_cutoff', {'temperature_K': K0 + 100})]),
+        ('set-temp 120C', []),                                                  # ABOVE_SAFETY_LIMIT
+        ('set-temp 200C', []),                                                  # OUT_OF_RANGE (usage)
+        ('stir 100rpm', []),                                                    # not supported
+        ('set-temp 25C --dry-run', []),
+        ('heat off', [('circulation.set_running', {'running': False})]),
+        ('power off', [('power.set', {'enabled': False})]),
+        ('power on', [('power.set', {'enabled': True})]),
+    ]},
+    'ika_plate_rctdigital': {'steps': [
+        ('set-temp 80C', [('heating.set_temperature', {'temperature_k': K0 + 80})]),
+        ('heat on', [('heating.set', {'on': True})]),
+        ('stir 300rpm', [('stirring.set_speed', {'speed_rad_s': 31.41592653589793}), ('stirring.set', {'on': True})]),
+        ('stir 500rpm', [('stirring.set_speed', {'speed_rad_s': 52.35987755982988})]),
+        ('wait-temp --within 1K --max 20min', []),
+        ('safety-limit 100C', [('safety.set_limit', {'limit_k': K0 + 100})]),
+        ('set-temp 120C', []),                                                  # ABOVE_SAFETY_LIMIT
+        ('set-temp 400C', []),                                                  # OUT_OF_RANGE
+        ('stir off', [('stirring.set', {'on': False})]),
+        ('heat off', [('heating.set', {'on': False})]),
+        ('remote on', []),                                                      # not supported
+        ('power off', [('power.set', {'on': False})]),
+        ('heat on', []),                                                        # POWER_OFF
+        ('power on', [('power.set', {'on': True})]),
+    ]},
+    'binder_fd056': {'steps': [
+        ('set-temp 105C', [('temperature.set', {'temperature_k': K0 + 105})]),
+        ('heat on', []),                                                        # not supported (controls whenever on)
+        ('wait-temp --max 1h', []),
+        ('safety-limit 120C', [('safety.set_limit', {'limit_k': K0 + 120})]),
+        ('set-temp 130C', []),                                                  # ABOVE_SAFETY_LIMIT
+        ('temp --save-to fd056.json', []),
+        ('power off', [('power.set', {'on': False})]),
+        ('power on', [('power.set', {'on': True})]),
+    ]},
+    'binder_vd56': {'steps': [
+        ('set-temp 60C', []),                                                   # POWER_OFF (off in the default lab)
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 60C', [('thermal.set_temperature', {'temperature_K': K0 + 60})]),
+        ('heat off', [('thermal.set_control', {'enabled': False})]),
+        ('wait-temp --max 10min', []),                                          # HEATING_OFF
+        ('heat on', [('thermal.set_control', {'enabled': True})]),
+        ('safety-limit 80C', [('safety.configure', {'mode': 'limit', 'limit_K': K0 + 80})]),
+        ('wait-temp --max 2h', []),
+    ]},
+    'nabertherm_l9': {'steps': [
+        ('set-temp 500C', [('thermal.set_temperature', {'temperature_K': K0 + 500})]),
+        ('wait-temp --max 2h', []),
+        ('set-temp 2000C', []),                                                 # OUT_OF_RANGE
+        ('heat on', []),                                                        # not supported
+        ('set-temp 25C', [('thermal.set_temperature', {'temperature_K': K0 + 25})]),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'carbolite_tf1_12_60_300': {'steps': [
+        ('set-temp 300C', [('thermal.set_temperature', {'temperature_K': K0 + 300})]),
+        ('wait-temp --max 2h', []),
+        ('temp', []),
+        ('safety-limit 400C', []),                                              # not supported
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'eppendorf_cellxpertc170i': {'steps': [
+        ('set-temp 37.05C', []),                                                # BAD_STEP (usage)
+        ('set-temp 60C', []),                                                   # OUT_OF_RANGE (22..50 °C)
+        ('set-temp 39C', [('temperature.set', {'setpoint_k': K0 + 39})]),
+        ('wait-temp --max 1h', []),
+        ('set-temp 37C', [('temperature.set', {'setpoint_k': K0 + 37})]),
+    ]},
+    'binder_kbf115': {'steps': [
+        ('set-temp 30C', [('setpoint.set', {'temperature_k': K0 + 30})]),
+        ('wait-temp --within 0.3K --max 1h', []),
+        ('safety-limit 45C', [('safety.configure', {'mode': 'limit', 'value_k': K0 + 45})]),
+        ('safety-limit 20C', []),                                               # BELOW_SET_POINT
+        ('power off', [('power.set', {'on': False})]),
+    ]},
+    'eppendorf_cryocubef570n': {'steps': [
+        ('set-temp -75C', [('settings.configure', {'set_point_k': K0 - 75})]),
+        ('set-temp -20C', []),                                                  # OUT_OF_RANGE (-86..-50 °C)
+        ('temp', []),
+        ('heat on', []),                                                        # not supported
+        ('power off', [('power.set', {'on': False})]),
+    ]},
+    'ika_ks4000': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 37C', [('thermal.set_temperature', {'temperature_k': K0 + 37})]),
+        ('heat on', [('thermal.set_enabled', {'enabled': True})]),
+        ('safety-limit 60C', []),                                               # HEATING_ON (member requirement)
+        ('heat off', [('thermal.set_enabled', {'enabled': False})]),
+        ('safety-limit 60C', [('safety.configure', {'temperature_limit_k': K0 + 60, 'speed_limit_rad_s': 52.35987755982988})]),
+        ('stir 200rpm', []),                                                    # NO_FIXTURE (member requirement)
+        ('heat on', [('thermal.set_enabled', {'enabled': True})]),
+        ('wait-temp --max 1h', []),
+    ]},
+    'elma_elmasonics60h': {'steps': [
+        ('power on', [('power.set', {'enabled': True})]),
+        ('set-temp 50C', [('thermal.set_temperature', {'temperature_k': K0 + 50})]),
+        ('heat on', [('thermal.set_enabled', {'enabled': True})]),
+        ('wait-temp --max 2h', []),
+        ('stir 100rpm', []),                                                    # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/thermal_tasks.py b/chemlab/chemlab/compile/tasks/thermal_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..606a962d6fb308e8e281ac235f5166a195680e3b
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_tasks.py
@@ -0,0 +1,185 @@
+"""Thermal class acceptance tasks (10): gold solutions use `chemlab run`; the checkers read the evaluator view (true
+temperatures where the twin has them) and the agent's report files."""
+from .common import run_suite
+from .thermal_world import config as world_config
+
+K0 = 273.15
+JUL, IKA, FD, VD, NAB, CELL, KBF, CRYO, KS = ('julabo_corio_cd200f', 'ika_plate_rctdigital', 'binder_fd056', 'binder_vd56', 'nabertherm_l9',
+                                             'eppendorf_cellxpertc170i', 'binder_kbf115', 'eppendorf_cryocubef570n', 'ika_ks4000')
+
+
+def world_call(lab, iid, cap, args):
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, int(lab.backend.now() * 10)))
+    assert r.get('status') == 'succeeded', (cap, r)
+
+
+def w_ika_low_limit(lab):
+    world_call(lab, IKA, 'safety.set_limit', {'limit_k': K0 + 70})
+
+
+def w_cell_35(lab):
+    world_call(lab, CELL, 'temperature.set', {'setpoint_k': K0 + 35})
+    lab.backend.advance(600)
+
+
+def w_cryo_80(lab):
+    world_call(lab, CRYO, 'settings.configure', {'set_point_k': K0 - 80})
+
+
+# ------------------------------------------------------------------ checkers
+def c_julabo_40(c):
+    e = c.ev(JUL)
+    c.near('set point 40 °C', e['thermal.target_k'], K0 + 40, 1e-6)
+    c.add('circulation and control running', e['circulation.running'])
+    c.near('bath at 40 °C (±0.5 K)', e['thermal.temperature_k'], K0 + 40, 0.5)
+
+
+def c_hotplate(c):
+    e = c.ev(IKA)
+    c.near('set point 60 °C', e['heating.set_k'], K0 + 60, 1e-6)
+    c.add('heating on', e['heating.on'])
+    c.add('stirring on', e['stirring.on'])
+    c.near('stirring 400 rpm', e['stirring.set_rad_s'], 400 * 2 * 3.141592653589793 / 60, 1e-6)
+
+
+def c_oven(c):
+    e = c.ev(FD)
+    c.near('set point 105 °C', e['temperature.set_k'], K0 + 105, 1e-6)
+    c.near('oven.txt reports about 105 °C (±1.5 K)', c.number_file('oven.txt'), 105.0, 1.5)
+    c.add('the oven is at temperature (display within 1.5 K)', abs((e.get('display.temperature') or 0) - 105.0) <= 1.5, e.get('display.temperature'))
+
+
+def c_ika_limit(c):
+    e = c.ev(IKA)
+    c.near('set point 90 °C', e['heating.set_k'], K0 + 90, 1e-6)
+    c.add('safety limit raised above 90 °C', e['safety.limit_k'] > K0 + 90, e['safety.limit_k'])
+    c.add('heating on', e['heating.on'])
+
+
+def c_vd56(c):
+    e = c.ev(VD)
+    c.add('switched on', e['power.enabled'])
+    c.near('set point 50 °C', e['thermal.target_k'], K0 + 50, 1e-6)
+    c.add('temperature control on', e['thermal.control_enabled'])
+
+
+def c_furnace_job(c):
+    e = c.ev(NAB)
+    c.near('set point 550 °C', e['thermal.target_k'], K0 + 550, 1e-6)
+    c.near('furnace at 550 °C (±3 K)', e['thermal.indicated_temperature_k'], K0 + 550, 3.0)
+    jobs = [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == NAB]
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs), [(j.handle, j.state) for j in jobs])
+
+
+def c_incubator(c):
+    e = c.ev(CELL)
+    c.near('set point 37.5 °C', e['setpoint.temperature_k'], K0 + 37.5, 1e-6)
+
+
+def c_freezer(c):
+    e = c.ev(CRYO)
+    c.near('set point -75 °C', (e.get('settings.current') or {}).get('set_point_k'), K0 - 75, 1e-6)
+    c.add('still on', e['power.on'])
+
+
+def c_chamber(c):
+    e = c.ev(KBF)
+    c.near('set point 30 °C', (e.get('setpoint.fixed') or {}).get('temperature_k'), K0 + 30, 1e-6)
+    c.near('chamber.txt reports 30 °C (±0.3 K)', c.number_file('chamber.txt'), 30.0, 0.3)
+    c.near('the chamber is at 30 °C (±0.3 K)', e['temperature.chamber_k'], K0 + 30, 0.3)
+
+
+def c_shaker(c):
+    e = c.ev(KS)
+    c.add('switched on', e['power.enabled'])
+    c.near('set point 37 °C', e['thermal.target_k'], K0 + 37, 1e-6)
+    c.add('heating on', e['heater.enabled'])
+    t = c.work_file('shake.txt') or ''
+    c.add('shake.txt reports why shaking is impossible (NO_FIXTURE)', 'NO_FIXTURE' in t, t[:80])
+
+
+GOLD_T01 = r'''chemlab run julabo_corio_cd200f set-temp 40C --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "REMOTE_OFF"' s.json >/dev/null; then
+  chemlab run julabo_corio_cd200f remote on
+  chemlab run julabo_corio_cd200f set-temp 40C
+fi
+chemlab run julabo_corio_cd200f heat on
+chemlab run julabo_corio_cd200f wait-temp --max 1h --hold 2min'''
+
+GOLD_T04 = r'''chemlab run ika_plate_rctdigital set-temp 90C --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.message' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "ABOVE_SAFETY_LIMIT"' s.json >/dev/null; then
+  chemlab run ika_plate_rctdigital safety-limit 120C
+  chemlab run ika_plate_rctdigital set-temp 90C
+fi
+chemlab run ika_plate_rctdigital heat on'''
+
+GOLD_T05 = r'''chemlab run binder_vd56 set-temp 50C; rc=$?
+if [ $rc -eq 3 ]; then chemlab run binder_vd56 power on && chemlab run binder_vd56 set-temp 50C; fi
+chemlab run binder_vd56 heat on
+chemlab run binder_vd56 status'''
+
+GOLD_T06 = r'''chemlab run nabertherm_l9 set-temp 550C
+job=$(chemlab run nabertherm_l9 wait-temp --job --max 3h --json | jq -r .job)
+echo "job: $job"
+chemlab status "$job"
+chemlab wait "$job" --max 3h
+chemlab run nabertherm_l9 temp'''
+
+GOLD_T09 = r'''chemlab run binder_kbf115 set-temp 30C
+chemlab run binder_kbf115 wait-temp --within 0.3K --max 2h
+chemlab run binder_kbf115 temp --json | jq -r '.temperature_c * 100 | round / 100' > chamber.txt
+cat chamber.txt'''
+
+GOLD_T10 = r'''chemlab run ika_ks4000 set-temp 37C || { chemlab run ika_ks4000 power on && chemlab run ika_ks4000 set-temp 37C; }
+chemlab run ika_ks4000 heat on
+chemlab run ika_ks4000 stir 150rpm --json > st.json; rc=$?
+if [ $rc -ne 0 ]; then jq -r '"shaking not possible: " + .error.code + " - " + .error.message' st.json > shake.txt; fi
+cat shake.txt'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'th01_circulator_remote', 'kind': 'recovery: remote control off', 'instruments': [JUL], 'check': c_julabo_40,
+     'instruction': 'Bring the bath of the JULABO CORIO circulator (julabo_corio_cd200f) to 40 °C with circulation running, and make sure it '
+                    'has reached 40 °C.', 'gold': GOLD_T01},
+    {'id': 'th02_hotplate_stir', 'kind': 'multi-step', 'instruments': [IKA], 'check': c_hotplate,
+     'instruction': 'On the IKA RCT digital hot plate (ika_plate_rctdigital), heat to 60 °C and stir at 400 rpm.',
+     'gold': 'chemlab run ika_plate_rctdigital set-temp 60C && chemlab run ika_plate_rctdigital heat on && chemlab run ika_plate_rctdigital stir 400rpm'},
+    {'id': 'th03_oven_dry', 'kind': 'long action (blocking wait) + report', 'instruments': [FD], 'check': c_oven,
+     'instruction': 'Set the BINDER FD 56 drying oven (binder_fd056) to 105 °C, wait until it is there, and write the oven temperature in °C '
+                    'into oven.txt.',
+     'gold': 'chemlab run binder_fd056 set-temp 105C --wait --max 1h && chemlab run binder_fd056 temp --json | jq -r .temperature_c > oven.txt; cat oven.txt'},
+    {'id': 'th04_recover_safety_limit', 'kind': 'recovery: above the safety limit', 'instruments': [IKA], 'world': w_ika_low_limit,
+     'check': c_ika_limit, 'instruction': 'Heat the IKA hot plate (ika_plate_rctdigital) to 90 °C for an aqueous bath (raising its safety '
+                                         'limit to 120 °C is fine for this bath).', 'gold': GOLD_T04},
+    {'id': 'th05_recover_power_off', 'kind': 'recovery: instrument switched off', 'instruments': [VD], 'check': c_vd56,
+     'instruction': 'Set the BINDER VD 56 vacuum drying oven (binder_vd56) to 50 °C with its temperature control on.', 'gold': GOLD_T05},
+    {'id': 'th06_furnace_job', 'kind': 'long action: job id (status, wait)', 'instruments': [NAB], 'check': c_furnace_job,
+     'instruction': 'Heat the Nabertherm muffle furnace (nabertherm_l9) to 550 °C. Use a job to follow the heating (do not block on it at '
+                    'first), check its status, then wait for it to finish.', 'gold': GOLD_T06},
+    {'id': 'th07_incubator', 'kind': 'single step (decimal set point)', 'instruments': [CELL], 'world': w_cell_35, 'check': c_incubator,
+     'instruction': 'Set the Eppendorf CellXpert CO2 incubator (eppendorf_cellxpertc170i) to 37.5 °C.',
+     'gold': 'chemlab run eppendorf_cellxpertc170i temp && chemlab run eppendorf_cellxpertc170i set-temp 37.5C'},
+    {'id': 'th08_freezer', 'kind': 'single step (negative °C)', 'instruments': [CRYO], 'world': w_cryo_80, 'check': c_freezer,
+     'instruction': 'The ultra-low freezer (eppendorf_cryocubef570n) should hold -75 °C. Set it.',
+     'gold': 'chemlab run eppendorf_cryocubef570n set-temp -75C && chemlab run eppendorf_cryocubef570n status'},
+    {'id': 'th09_chamber_report', 'kind': 'long action + report', 'instruments': [KBF], 'check': c_chamber,
+     'instruction': 'Set the BINDER KBF 115 climate chamber (binder_kbf115) to 30 °C. When the chamber is within 0.3 K of it, write the '
+                    'chamber temperature in °C into chamber.txt.', 'gold': GOLD_T09},
+    {'id': 'th10_recover_shaker', 'kind': 'recovery: power off + an impossible step reported', 'instruments': [KS], 'check': c_shaker,
+     'instruction': 'Prepare the IKA KS 4000 incubated shaker (ika_ks4000) at 37 °C with heating on, and start shaking at 150 rpm. If shaking '
+                    'is not possible, write the reason (the error code) into shake.txt instead.', 'gold': GOLD_T10},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'thermal'
+    _t['config'] = cfg
+
+
+def main(only=None, noact=True):
+    return run_suite('thermal', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/thermal_world.py b/chemlab/chemlab/compile/tasks/thermal_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..a39a6620ac004c2f4085e1150ba1b9dcdbd03877
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thermal_world.py
@@ -0,0 +1,32 @@
+"""Host-side world for the thermal class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* JULABO CORIO: the bath is filled (4.5 L water) and its thermal model declared - configure_bath_fluid, a trusted host call
+  that must come before the power is switched on (the default lab has no bath, so its temperature is unknown).
+* Elma S60H: the tank is filled with 3.8 L of water (evaluator bath.configure, lid open while filling, then closed).
+"""
+import copy
+
+from ...labbackend import load_config
+
+JULABO_BATH = {'host': 'configure_bath_fluid',
+               'kwargs': {'instance_id': 'julabo_corio_cd200f', 'mass_kg': 4.5, 'specific_heat_J_kg_K': 4186.0, 'heat_loss_W_K': 2.0,
+                          'lid_open_loss_W_K': 6.0, 'initial_temperature_K': 293.15, 'minimum_temperature_K': 278.15,
+                          'maximum_temperature_K': 368.15, 'evidence': 'task world: bath filled with 4.5 L of water'}}
+ELMA_FILL = [{'capability': 'cover.set_lift', 'arguments': {'lift_m': 0.3}},
+             {'capability': 'bath.configure', 'arguments': 'contract_example', 'evaluator': True},
+             {'capability': 'cover.set_lift', 'arguments': {'lift_m': 0.0}}]
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the thermal world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug == 'julabo_corio_cd200f':
+            kw = dict(JULABO_BATH['kwargs'], instance_id=e.get('instance_id') or e['id'])
+            e['setup'] = [dict(JULABO_BATH, kwargs=kw)] + list(e.get('setup') or [])
+        elif slug == 'elma_elmasonics60h':
+            e['setup'] = ELMA_FILL + list(e.get('setup') or [])
+        elif slug == 'ika_ks4000':
+            e['default_world'] = False        # th10: the shaker without its default fixture (the task's odd state: NO_FIXTURE)
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/thin_lowering.py b/chemlab/chemlab/compile/tasks/thin_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..59fef85830292c5334383cf70170bf0dbc7a0092
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thin_lowering.py
@@ -0,0 +1,61 @@
+"""Lowering table of the thin class (hand-written from the contracts)."""
+from .thin_world import config  # noqa: F401
+
+CASES = {
+    'wtw_oxitopi': {'steps': [
+        ('status', []),
+        ('power on', [('platform.set_power', {'on': True})]),
+        ('open incubator_door', [('incubator.set_door', {'open': True})]),
+        ('close incubator_door', [('incubator.set_door', {'open': False})]),
+        ('start', []),                                                          # MISSING_HEAD (usage)
+        ('start --head h9', []),                                                # BAD_CHOICE (usage)
+        ('method --head h2 days=3', [('head.configure', {'head': 'h2', 'duration_days': 3})]),
+        ('start --head h1', [('head.start', {'head': 'h1'})]),
+        ('result --head h1', [('head.read', {'head': 'h1'})]),
+        ('stop --head h1', [('head.stop', {'head': 'h1'})]),
+        ('ack', []),                                                            # not supported
+        ('power off', [('platform.set_power', {'on': False})]),
+    ]},
+    'inert_puresolvmd': {'steps': [
+        ('status', []),
+        ('open cabinet_left_door', [('cabinet.door', {'side': 'left', 'angle_rad': 1.7})]),
+        ('close cabinet_left_door', [('cabinet.door', {'side': 'left', 'angle_rad': 0.0})]),
+        ('open cabinet_right_door', [('cabinet.door', {'side': 'right', 'angle_rad': 1.7})]),
+        ('open gas_isolation_valve', [('gas.isolation', {'open': True})]),
+        ('close gas_isolation_valve', [('gas.isolation', {'open': False})]),
+        ('open hatch', []),                                                     # UNKNOWN_PART (usage)
+        ('start', []),                                                          # not supported
+        ('power on', []),                                                       # not supported
+    ]},
+    'vaisala_dmt152': {'steps': [
+        ('status', []),
+        ('result', [('measurement.send', {})]),                                 # refused: switched off
+        ('power on', [('power.set', {'on': True, 'voltage_v': 24.0})]),
+        ('#wait 60', None),
+        ('result', [('measurement.send', {})]),
+        ('start', []),                                                          # not supported (continuous transmitter)
+        ('power off', [('power.set', {'on': False, 'voltage_v': 24.0})]),
+    ]},
+    'cem_libertyblue': {'steps': [
+        ('status', []),
+        ('start', [('acquisition.start', {})]),                                 # refused: off, cover and clamp open
+        ('power on', [('power.set', {'enabled': True})]),
+        ('close cover', [('cover.set_lift', {'lift_m': 0.0})]),
+        ('close clamp', [('clamp.set_lift', {'lift_m': 0.0})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('result', [('synthesis.measure', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('power off', [('power.set', {'enabled': False})]),
+    ]},
+    'cytiva_ktaoligosynt': {'steps': [
+        ('status', []),
+        ('power on', [('power.set', {'enabled': True})]),
+        ('close clamp', [('clamp.set_lift', {'lift_m': 0.0})]),
+        ('start', [('acquisition.start', {})]),
+        ('#wait 30', None),
+        ('result', [('synthesis.measure', {})]),
+        ('stop', [('acquisition.stop', {})]),
+        ('open clamp', [('clamp.set_lift', {'lift_m': 0.04})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/thin_tasks.py b/chemlab/chemlab/compile/tasks/thin_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..83e30347de3e6e48fda6fddfb481cbd2b38fdcb2
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thin_tasks.py
@@ -0,0 +1,116 @@
+"""Thin class acceptance tasks: the shared verbs on the five one-of-a-kind instruments (gold with `chemlab run`, NoAct fails)."""
+from .common import run_suite
+from .thin_world import config as world_config
+
+VAI, OXI, PSV, CEM, OLI = 'vaisala_dmt152', 'wtw_oxitopi', 'inert_puresolvmd', 'cem_libertyblue', 'cytiva_ktaoligosynt'
+
+
+def c_dewpoint(c):
+    e = c.ev(VAI)
+    c.add('transmitter on', e['power.on'])
+    tdf = e.get('reading.tdf_k')
+    c.near('dewpoint.txt = the dew point in °C (±0.5 K)', c.number_file('dewpoint.txt'), (tdf or 0) - 273.15, 0.5)
+
+
+def c_reading_file(c):
+    import json
+    e = c.ev(VAI)
+    c.add('transmitter on', e['power.on'])
+    t = c.work_file('reading.json')
+    try:
+        rec = json.loads(t) if t else {}
+    except ValueError:
+        rec = {}
+    c.add('reading.json holds a SEND reading with a dew point', isinstance((rec.get('result') or {}).get('tdf_k'), (int, float)), str(rec)[:120])
+
+
+def c_head_started(c):
+    st = (c.ev(OXI).get('heads.status') or {}).get('h3') or {}
+    c.add('head h3 is measuring (not idle)', st.get('state') not in (None, 'idle'), st.get('state'))
+    c.add('the other heads are untouched', all(((c.ev(OXI)['heads.status'].get(h) or {}).get('state') == 'idle') for h in ('h1', 'h2', 'h4', 'h5', 'h6')))
+
+
+def c_door_platform(c):
+    e = c.ev(OXI)
+    c.add('incubator door open', e['incubator.door_open'])
+    c.add('stirring platform on', e['platform.powered'])
+
+
+def c_puresolv(c):
+    e = c.ev(PSV)
+    c.add('gas isolation valve open', e['gas.isolation_open'])
+    c.add('left cabinet door open', e['cabinet.left_angle_rad'] >= 1.6, e['cabinet.left_angle_rad'])
+    c.add('right cabinet door still closed', e['cabinet.right_angle_rad'] < 1e-6, e['cabinet.right_angle_rad'])
+
+
+def c_synthesis(iid, need_cover):
+    def check(c):
+        e = c.ev(iid)
+        c.equal('the synthesis run finished', e.get('cycle.phase'), 'succeeded')
+        t = c.work_file('synthesis.json') or ''
+        c.add('synthesis.json saved by the agent', '"result"' in t, t[:80])
+    return check
+
+
+GOLD_VAI = r'''chemlab run vaisala_dmt152 power on
+chemlab wait 60
+chemlab run vaisala_dmt152 result --json | jq -r '.result.tdf_k - 273.15' > dewpoint.txt
+cat dewpoint.txt'''
+
+GOLD_VAI_REC = r'''chemlab run vaisala_dmt152 result --save-to reading.json --json > r.json; rc=$?
+jq -r '.error.code // "ok"' r.json
+if [ $rc -eq 3 ]; then
+  chemlab run vaisala_dmt152 power on
+  chemlab wait 60
+  chemlab run vaisala_dmt152 result --save-to reading.json
+fi'''
+
+GOLD_SYN = r'''chemlab run {inst} start --json > s.json; rc=$?
+jq -r '.error.code // "started"' s.json
+if [ $rc -ne 0 ]; then
+  chemlab run {inst} status
+  chemlab run {inst} power on
+  {close}
+  chemlab run {inst} start
+fi
+chemlab run {inst} wait --max 4h
+chemlab run {inst} result --save-to synthesis.json'''
+
+
+def cfg(c):
+    return world_config(c)
+
+
+TASKS = [
+    {'id': 'thin01_dmt152_dewpoint', 'kind': 'two steps + report', 'instruments': [VAI], 'check': c_dewpoint,
+     'instruction': 'Switch the Vaisala DMT152 transmitter (vaisala_dmt152) on, let it settle for a minute, and write its dew point in °C '
+                    'into dewpoint.txt.', 'gold': GOLD_VAI},
+    {'id': 'thin02_dmt152_recover_off', 'kind': 'recovery: instrument switched off', 'instruments': [VAI], 'check': c_reading_file,
+     'instruction': 'Save one reading of the Vaisala DMT152 (vaisala_dmt152) into reading.json in your work directory.', 'gold': GOLD_VAI_REC},
+    {'id': 'thin03_oxitop_start_head', 'kind': 'single step with --head', 'instruments': [OXI], 'check': c_head_started,
+     'instruction': 'Start the BOD measurement on measuring head h3 of the OxiTop-i system (wtw_oxitopi); leave the other heads alone.',
+     'gold': 'chemlab run wtw_oxitopi start --head h3 && chemlab run wtw_oxitopi result --head h3'},
+    {'id': 'thin04_oxitop_door_platform', 'kind': 'two steps (part + power)', 'instruments': [OXI], 'check': c_door_platform,
+     'instruction': 'Open the incubator door of the OxiTop-i system (wtw_oxitopi) and switch its stirring platform on.',
+     'gold': 'chemlab run wtw_oxitopi open incubator_door && chemlab run wtw_oxitopi power on && chemlab run wtw_oxitopi status'},
+    {'id': 'thin05_puresolv_valve_door', 'kind': 'named parts', 'instruments': [PSV], 'check': c_puresolv,
+     'instruction': 'On the PureSolv MD 7 (inert_puresolvmd), open the gas isolation valve and the left cabinet door.',
+     'gold': 'chemlab run inert_puresolvmd open gas_isolation_valve && chemlab run inert_puresolvmd open cabinet_left_door'},
+    {'id': 'thin06_libertyblue_run', 'kind': 'recovery: off, cover and clamp open; long action (job)', 'instruments': [CEM],
+     'check': c_synthesis(CEM, True), 'config': cfg,
+     'instruction': 'Run the queued peptide synthesis on the CEM Liberty Blue (cem_libertyblue) to the end and save its result into '
+                    'synthesis.json.',
+     'gold': GOLD_SYN.replace('{inst}', CEM).replace('{close}', 'chemlab run %s close cover; chemlab run %s close clamp' % (CEM, CEM))},
+    {'id': 'thin07_oligosynt_run', 'kind': 'recovery: off, clamp open; long action (job)', 'instruments': [OLI],
+     'check': c_synthesis(OLI, False), 'config': cfg,
+     'instruction': 'Run the loaded oligonucleotide synthesis on the ÄKTA oligosynt (cytiva_ktaoligosynt) to the end and save its result '
+                    'into synthesis.json.',
+     'gold': GOLD_SYN.replace('{inst}', OLI).replace('{close}', 'chemlab run %s close clamp' % OLI)},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'thin'
+
+
+def main(only=None, noact=True):
+    return run_suite('thin', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/thin_world.py b/chemlab/chemlab/compile/tasks/thin_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..eefe22397d9ddeb32bb6ff4b1f51bee30b26ef57
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/thin_world.py
@@ -0,0 +1,22 @@
+"""Host-side world for the thin class: the synthesis twins (CEM Liberty Blue, ÄKTA oligosynt) need their run set up by the lab
+before the agent can start it - the resin queue / oligo method and the explicit kinetics (evaluator world calls with the
+contract's example arguments, as plant.configure already is in the default lab)."""
+import copy
+
+from ...labbackend import load_config
+
+WORLD = {
+    'cem_libertyblue': [{'capability': 'kinetics.configure', 'arguments': 'contract_example', 'evaluator': True},
+                        {'capability': 'queue.configure', 'arguments': 'contract_example', 'evaluator': True}],
+    'cytiva_ktaoligosynt': [{'capability': 'kinetics.configure', 'arguments': 'contract_example', 'evaluator': True},
+                            {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True}],
+}
+
+
+def config(base=None):
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug in WORLD:
+            e['setup'] = list(e.get('setup') or []) + copy.deepcopy(WORLD[slug])
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/titration_lowering.py b/chemlab/chemlab/compile/tasks/titration_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..cfbff380e735109186c128f374e9f396ec1d24b8
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/titration_lowering.py
@@ -0,0 +1,91 @@
+"""Lowering table of the titration class: per member, verbs in order and the native calls (capability, arguments in the unit the
+argument declares) each must make - written from the contracts (input schemas and documented examples), not from the mapping.
+[] = no native call (a class check refused, a read, a wait, or a verb this member does not have); None = not checked."""
+from .sample_intro_lowering import example
+from .titration_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+RPM = 2 * 3.141592653589793 / 60
+UDK_T = example('velp_udk159', 'method.configure', titrant_equivalents_mol_m3=100.0)
+UDK_M = dict(UDK_T, base_volume_m3=8e-05, boric_volume_m3=3.5e-05)
+
+CASES = {
+    'metrohm_omnis': {'steps': [
+        ('start', []),                                                            # POWER_OFF
+        ('power on', [('power.set', {'enabled': True})]),
+        ('start', []),                                                            # NOT_CONNECTED
+        ('connect electrode=electrode_01 cell=beaker_01', [('slot.set_connection', {'port_id': 'electrode', 'connection_id': 'electrode_01'}),
+                                                          ('slot.set_connection', {'port_id': 'titration_cell', 'connection_id': 'beaker_01'})]),
+        ('connect electrode=electrode_01', []),                                   # already connected: nothing to send
+        ('connect reference=ref_01', []),                                         # UNKNOWN_PORT (usage)
+        ('start', []),                                                            # NO_TITRANT
+        ('titrant 0.1M --cylinder 30mL', []),                                     # OUT_OF_RANGE (5 / 10 / 20 / 50 mL)
+        ('titrant 0.1M --cylinder 20mL', [('dosing.configure_cylinder', {'volume_m3': 2e-05}),
+                                          ('titration.configure_titrant', {'concentration_mol_m3': 100.0})]),
+        ('method mode=dynamic increment=0.1mL max=15mL', [('titration.configure_method', {'mode': 'dynamic_equivalent', 'dose_increment_m3': 1e-07,
+                                                                                           'maximum_volume_m3': 1.5e-05, 'endpoint_potential_v': None})]),
+        ('method hold=0.5s tolerance=0V rate=30mL/min', [('titration.configure_stability', {'hold_s': 0.5, 'tolerance_v': 0.0}),
+                                                         ('dosing.set_rate', {'rate_m3_s': 5e-07})]),
+        ('method mode=endpoint ep=0.1V --dry-run', []),
+        ('method pH=7', []),                                                      # UNKNOWN_SETTING
+        ('start', []),                                                            # NOT_STIRRING
+        ('stir on --level 3', []),                                                # NEEDS_SPEED (usage)
+        ('stir 5000rpm', []),                                                     # OUT_OF_RANGE (0..1800 rpm)
+        ('stir 300rpm', [('stirring.set_speed', {'angular_speed_rad_s': 300 * RPM})]),
+        ('result --sample 25mL', []),                                             # NO_ENDPOINT
+        ('start --dry-run', []),
+        ('start', [('titration.start', {})]),
+        ('stir off', []),                                                         # BUSY (stirring must go on)
+        ('titrant 0.2M', []),                                                     # BUSY
+        ('wait --max 1h', []),
+        ('curve', [('titration.read_curve', {})]),
+        ('result --sample 25mL', [('titration.calculate_content', {'sample_volume_m3': 2.5e-05, 'stoichiometric_ratio': 1.0})]),
+        ('result --sample 25mL --ratio 0.5 --save-to omnis.json', [('titration.calculate_content', {'sample_volume_m3': 2.5e-05, 'stoichiometric_ratio': 0.5})]),
+        ('result', []),
+        ('start', []),                                                            # ALREADY_DOSED
+        ('stop', []),                                                             # NOT_RUNNING
+        ('stir off', [('stirring.set_speed', {'angular_speed_rad_s': 0.0})]),
+        ('sample 1g', []),                                                        # not supported
+    ]},
+    'metrohm_899': {'steps': [
+        ('start', []),                                                            # NO_METHOD (no end-point hold)
+        ('method current=300mA', []),                                             # OUT_OF_RANGE (100 / 200 / 400 mA)
+        ('method current=400mA drift-comp=0ug/min hold=1s', [('coulometry.configure', {'current_a': 0.4, 'drift_compensation_kg_s': 0.0,
+                                                                                        'endpoint_hold_s': 1.0})]),
+        ('method stir=9 start-drift=20ug/min', [('coulometry.configure', {'stirring_level': 9, 'start_drift_threshold_kg_s': 20e-9 / 60})]),
+        ('sample 10mg', [('coulometry.configure', {'sample_mass_kg': 1e-05})]),
+        ('stir 300rpm', []),                                                      # NEEDS_LEVEL (usage)
+        ('stir on --level 8', [('stirrer.set', {'on': True, 'rate': 8})]),
+        ('stir off', [('stirrer.set', {'on': False})]),
+        ('titrant 0.1M', []),                                                     # not supported
+        ('start --dry-run', []),
+        ('start', [('coulometry.start', {})]),
+        ('method hold=2s', []),                                                   # BUSY
+        ('start', []),                                                            # BUSY
+        ('wait --max 1h', []),
+        ('curve --save-to kf_curve.json', [('coulometry.curve', {})]),
+        ('result', [('coulometry.reading', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('connect cell=cell_01', []),                                             # not supported
+    ]},
+    'velp_udk159': {'steps': [
+        ('titrant 0.1M', [('method.configure', UDK_T)]),
+        ('titrant 0.1M --cylinder 20mL', []),                                     # NOT_ON_THIS_INSTRUMENT (usage)
+        ('method base=80mL boric=35mL', [('method.configure', UDK_M)]),
+        ('method steam=5%', []),                                                  # OUT_OF_RANGE (10..100 %)
+        ('open door', [('door.set_open', {'open': True})]),
+        ('start', []),                                                            # DOOR_OPEN
+        ('close door', [('door.set_open', {'open': False})]),
+        ('#wait 10', None),
+        ('start', [('acquisition.start', {})]),
+        ('method water=40mL', []),                                                # BUSY
+        ('#wait 30', None),
+        ('stop', [('acquisition.stop', {})]),
+        ('stop', []),                                                             # NOT_RUNNING
+        ('start', []),                                                            # COOLING (then NOT_IDLE: the stopped tube is still in place)
+        ('curve', [('curve.read', {})]),
+        ('result', [('analysis.measure', {})]),
+        ('result --sample 1mL', []),                                              # NOT_ON_THIS_INSTRUMENT (usage)
+        ('stir 100rpm', []),                                                      # not supported
+        ('sample 1g', []),                                                        # not supported
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/titration_tasks.py b/chemlab/chemlab/compile/tasks/titration_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..b2518fbafd2e67d2623f5c18dc1b8d175db9af37
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/titration_tasks.py
@@ -0,0 +1,172 @@
+"""titration class acceptance tasks (6): gold solutions use `chemlab run`; the checkers read the evaluator view (true end point,
+water, nitrogen) and the agent's report files.  World: tasks/titration_world.py plus per-task host steps."""
+from .common import run_suite
+from .titration_world import config as world_config
+from .checks_common import text_has, used_job, world_call
+
+OMNIS, KF, UDK = 'metrohm_omnis', 'metrohm_899', 'velp_udk159'
+
+
+# ------------------------------------------------------------------ worlds
+def w_omnis_prepared_no_electrode(lab):
+    """A colleague prepared the titration (titrant, method, stirring, beaker) but did not register the electrode."""
+    for cap, a in (('power.set', {'enabled': True}), ('slot.set_connection', {'port_id': 'titration_cell', 'connection_id': 'beaker_01'}),
+                   ('dosing.configure_cylinder', {'volume_m3': 2e-05}), ('titration.configure_titrant', {'concentration_mol_m3': 100.0}),
+                   ('titration.configure_method', {'mode': 'dynamic_equivalent', 'dose_increment_m3': 1e-07, 'maximum_volume_m3': 1.5e-05,
+                                                   'endpoint_potential_v': None}),
+                   ('dosing.set_rate', {'rate_m3_s': 5e-07}), ('titration.configure_stability', {'hold_s': 0.5, 'tolerance_v': 0.0}),
+                   ('stirring.set_speed', {'angular_speed_rad_s': 31.41592653589793})):
+        world_call(lab, OMNIS, cap, a)
+
+
+def w_udk_door_open(lab):
+    """The door was left open after the tube went in."""
+    world_call(lab, UDK, 'door.set_open', {'open': True})
+    lab.backend.advance(5)
+
+
+# ------------------------------------------------------------------ checkers
+def c_omnis(c):
+    e = c.ev(OMNIS)
+    c.equal('titration completed', e.get('titration.status'), 'completed')
+    c.near('end point about 10.0 mL', e.get('titration.endpoint_volume_m3'), 1.0e-05, 0.02e-05)
+    c.near('content.txt reports about 0.040 mol/L', c.number_file('content.txt'), 0.040, 0.001)
+    c.equal('dynamic mode', e.get('method.mode'), 'dynamic_equivalent')
+    used_job(c, OMNIS)
+
+
+def c_omnis_recover(c):
+    e = c.ev(OMNIS)
+    c.equal('electrode electrode_01 registered', e.get('slot.electrode.connection_id'), 'electrode_01')
+    c.equal('titration completed', e.get('titration.status'), 'completed')
+    c.add('the refusal was read (NOT_CONNECTED in why.txt)', 'NOT_CONNECTED' in (c.work_file('why.txt') or ''), c.work_file('why.txt'))
+
+
+def c_kf(c):
+    e = c.ev(KF)
+    c.equal('determination completed', e.get('coulometry.status'), 'COMPLETED')
+    c.near('current 400 mA', e.get('settings.current_a'), 0.4, 1e-9)
+    c.near('sample size 10 mg', e.get('settings.sample_mass_kg'), 1e-05, 1e-12)
+    w = e.get('measurement.water_mass_kg')
+    c.near('water.txt reports the titrated water in mg', c.number_file('water.txt'), (w or 0) * 1e6, 0.002)
+    c.near('about 3.6 mg of water (CuSO4·5H2O, 10 mg)', w, 3.607e-06, 0.05e-06)
+
+
+def c_kf_recover(c):
+    e = c.ev(KF)
+    c.equal('determination completed', e.get('coulometry.status'), 'COMPLETED')
+    f = e.get('measurement.water_fraction')
+    c.near('percent.txt reports the water content in %', c.number_file('percent.txt'), (f or 0) * 100, 0.05)
+    text_has(c, 'why.txt records the refusals (NO_METHOD)', 'why.txt', 'NO_METHOD')
+    c.add('hold and drift compensation set', e.get('settings.endpoint_hold_s') is not None and e.get('settings.drift_compensation_kg_s') is not None,
+          (e.get('settings.endpoint_hold_s'), e.get('settings.drift_compensation_kg_s')))
+
+
+def c_udk(c):
+    e = c.ev(UDK)
+    c.equal('analysis succeeded', e.get('cycle.phase'), 'succeeded')
+    c.near('nitrogen.txt reports the nitrogen in mg', c.number_file('nitrogen.txt'), (e.get('analysis.nitrogen_kg') or 0) * 1e6, 0.05)
+    c.near('about 50 mg of nitrogen found', e.get('analysis.nitrogen_kg'), 5.0e-05, 0.1e-05)
+    used_job(c, UDK)
+
+
+def c_udk_door(c):
+    e = c.ev(UDK)
+    c.add('door closed', not e.get('door.open_target'), e.get('door.open_target'))
+    c.equal('analysis succeeded', e.get('cycle.phase'), 'succeeded')
+    text_has(c, 'door.txt names the refusal (DOOR_OPEN)', 'door.txt', 'DOOR_OPEN')
+
+
+# ------------------------------------------------------------------ gold solutions
+GOLD_OMNIS = r'''chemlab run metrohm_omnis power on
+chemlab run metrohm_omnis connect electrode=electrode_01 cell=beaker_01
+chemlab run metrohm_omnis titrant 0.1M --cylinder 20mL
+chemlab run metrohm_omnis method mode=dynamic increment=0.1mL max=15mL hold=0.5s tolerance=0V rate=30mL/min
+chemlab run metrohm_omnis stir 300rpm
+job=$(chemlab run metrohm_omnis start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run metrohm_omnis result --sample 25mL --json | jq -r '.result.content_mol_m3 / 1000' > content.txt
+cat content.txt'''
+
+GOLD_OMNIS_RECOVER = r'''chemlab run metrohm_omnis start --json > s.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' s.json | tee why.txt
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_CONNECTED"' s.json >/dev/null; then
+  chemlab run metrohm_omnis connect electrode=electrode_01
+  chemlab run metrohm_omnis start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 1h
+chemlab run metrohm_omnis status'''
+
+GOLD_KF = r'''chemlab run metrohm_899 method current=400mA drift-comp=0ug/min hold=1s
+chemlab run metrohm_899 sample 10mg
+job=$(chemlab run metrohm_899 start --json | jq -r .job)
+chemlab wait "$job" --max 1h
+chemlab run metrohm_899 result --json | jq -r '.result.water_mass_kg * 1000000' > water.txt
+cat water.txt'''
+
+GOLD_KF_RECOVER = r'''chemlab run metrohm_899 sample 10mg
+for i in 1 2 3; do
+  chemlab run metrohm_899 start --json > s.json && break
+  code=$(jq -r .error.code s.json); echo "$code: $(jq -r .error.fix s.json)" >> why.txt
+  [ "$code" = "NO_METHOD" ] || break
+  case "$(jq -r .error.message s.json)" in
+    *hold*) chemlab run metrohm_899 method hold=1s ;;
+    *drift*) chemlab run metrohm_899 method drift-comp=0ug/min ;;
+  esac
+done
+chemlab wait "$(jq -r .job s.json)" --max 1h
+chemlab run metrohm_899 result --json | jq -r '.result.water_fraction * 100' > percent.txt
+cat why.txt percent.txt'''
+
+GOLD_UDK = r'''chemlab run velp_udk159 titrant 0.2M
+job=$(chemlab run velp_udk159 start --json | jq -r .job)
+chemlab wait "$job" --max 2h
+chemlab run velp_udk159 result --json | jq -r '.result.nitrogen_kg * 1000000' > nitrogen.txt
+cat nitrogen.txt'''
+
+GOLD_UDK_DOOR = r'''chemlab run velp_udk159 start --json > s.json; rc=$?
+jq -r '.error.code' s.json > door.txt
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_OPEN"' s.json >/dev/null; then
+  chemlab run velp_udk159 close door
+  chemlab wait 10
+  chemlab run velp_udk159 start --json > s.json
+fi
+chemlab wait "$(jq -r .job s.json)" --max 2h
+chemlab run velp_udk159 result'''
+
+
+TASKS = [
+    {'id': 'ti01_omnis_acid_content', 'kind': 'multi-step (connect, titrant, method, stir) + job + report', 'instruments': [OMNIS],
+     'check': c_omnis,
+     'instruction': 'The OMNIS titrator (metrohm_omnis) has 25 mL of an acetic acid sample in its beaker. Register electrode electrode_01 '
+                    'and beaker beaker_01, use 0.1 M NaOH from a 20 mL cylinder, titrate in dynamic mode (0.1 mL steps, at most 15 mL, '
+                    'hold 0.5 s, tolerance 0 V, 30 mL/min) while stirring at 300 rpm, and write the acid concentration in mol/L '
+                    'into content.txt.', 'gold': GOLD_OMNIS},
+    {'id': 'ti02_recover_omnis_electrode', 'kind': 'recovery: electrode not registered', 'instruments': [OMNIS],
+     'world': w_omnis_prepared_no_electrode, 'check': c_omnis_recover,
+     'instruction': 'A colleague prepared a titration on the OMNIS (metrohm_omnis). Start it and wait for the end. If it refuses, write '
+                    'the error code and the fix into why.txt and correct it; the electrode on the stand is electrode_01.',
+     'gold': GOLD_OMNIS_RECOVER},
+    {'id': 'ti03_kf_water', 'kind': 'multi-step + job + report (unit conversion)', 'instruments': [KF], 'check': c_kf,
+     'instruction': 'On the Metrohm 899 Karl Fischer coulometer (metrohm_899), the lab has added a 10 mg sample. Use a 400 mA generator '
+                    'current, no drift compensation (0 µg/min) and a 1 s end-point hold, give the sample size, determine the water and '
+                    'write the water found in mg into water.txt.', 'gold': GOLD_KF},
+    {'id': 'ti04_recover_kf_method', 'kind': 'recovery: method incomplete (two refusals)', 'instruments': [KF], 'check': c_kf_recover,
+     'instruction': 'Determine the water content of the 10 mg sample in the 899 coulometer (metrohm_899) and write it in percent into '
+                    'percent.txt. Fix whatever the instrument says is missing (an end-point hold of 1 s and no drift compensation are '
+                    'fine); write each refusal into why.txt.', 'gold': GOLD_KF_RECOVER},
+    {'id': 'ti05_kjeldahl_nitrogen', 'kind': 'method field + job + report', 'instruments': [UDK], 'check': c_udk,
+     'instruction': 'Run the Kjeldahl distillation and titration of the digested sample in the VELP UDK 159 (velp_udk159) with 0.2 M '
+                    'titrant and write the nitrogen found in mg into nitrogen.txt.', 'gold': GOLD_UDK},
+    {'id': 'ti06_recover_udk_door', 'kind': 'recovery: safety door open', 'instruments': [UDK], 'world': w_udk_door_open,
+     'check': c_udk_door,
+     'instruction': 'Start the Kjeldahl analysis on the VELP UDK 159 (velp_udk159) and wait for the end. If it refuses, write the error '
+                    'code into door.txt and fix it.', 'gold': GOLD_UDK_DOOR},
+]
+for _t in TASKS:
+    _t['class'] = 'titration'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('titration', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/titration_world.py b/chemlab/chemlab/compile/tasks/titration_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..8573ba1f9f2fb51441733d201a40dc7720bffa0a
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/titration_world.py
@@ -0,0 +1,35 @@
+"""Host-side world for the titration class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+Nothing here is reachable from the sandbox.
+
+* OMNIS: 25 mL of an acetic acid sample (1 mmol, public pKa library) in the titration beaker, NaOH titrant in the bottle
+  (host_load_template_sample).  The electrode and the beaker are not yet registered in their slots (the agent connects them with
+  the ids the lab gives: electrode_01, beaker_01).
+* 899 Coulometer: cell, generator and indicator electrode installed with the power off (operator slot.set_installed, before the
+  release bring-up switches it on), then 10 mg of copper(II) sulfate pentahydrate added with fresh reagent (host
+  load_template_sample; about 3.6 mg of water).
+* UDK 159: the default lab is ready (digested tube clamped, tanks and cooling water, library method 1 selected).
+"""
+import copy
+
+from ...labbackend import load_config
+
+OMNIS_SAMPLE = {'components': [{'substance_id': 'acetic_acid', 'amount_mol': 0.001}], 'volume_m3': 2.5e-05,
+                'titrant_id': 'titrant_sodium_hydroxide'}
+KF_SAMPLE = {'substance_id': 'copper_ii_sulfate_pentahydrate', 'sample_mass_kg': 1e-05, 'background_drift_kg_s': 0.0,
+             'reagent_ready': True, 'request_id': 'world_sample'}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the titration world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        iid = e.get('instance_id') or e['id']
+        if slug == 'metrohm_omnis':
+            e['setup'] = list(e.get('setup') or []) + [{'host': 'host_load_template_sample',
+                                                        'kwargs': {'instance_id': iid, 'analyte': copy.deepcopy(OMNIS_SAMPLE)}}]
+        elif slug == 'metrohm_899':
+            e['setup'] = ([{'capability': 'slot.set_installed', 'arguments': {'slot': s, 'installed': True}} for s in ('cell', 'generator', 'indicator')]
+                          + list(e.get('setup') or [])
+                          + [{'host': 'load_template_sample', 'kwargs': dict(KF_SAMPLE, instance_id=iid)}])
+    return cfg
diff --git a/chemlab/chemlab/compile/tasks/wash_sterilize_lowering.py b/chemlab/chemlab/compile/tasks/wash_sterilize_lowering.py
new file mode 100644
index 0000000000000000000000000000000000000000..33a2aca9456d95a19d43c53ae40262e2e32336d1
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/wash_sterilize_lowering.py
@@ -0,0 +1,62 @@
+"""Lowering table of the wash_sterilize class: per member, verbs in order and the native calls (capability, arguments in the unit
+the argument declares) each must make - written from the contracts, not from the mapping.  [] = no native call (a class check
+refused, or a verb this member does not have); None = not checked.  The labs carry the class world (tasks/wash_sterilize_world.py)."""
+from .wash_sterilize_world import config  # noqa: F401  (the lowering harness builds its labs from this config)
+
+K0 = 273.15
+MEDIA = 'load media_1 --kind liquid --mass 700g --liquid water --volume 1L --material borosilicate_glass --closure loose'
+
+CASES = {
+    'miele_plw6111': {'steps': [
+        ('status', []),
+        ('program quick', []),                                                    # UNKNOWN_PROGRAM (did you mean quick_wash)
+        ('program quick_wash', [('programme.select', {'programme_id': 'quick_wash'})]),
+        ('program quick_wash', []),                                               # already selected
+        ('configure temp=60C', []),                                               # UNKNOWN_SETTING (fixed in the programme blocks)
+        ('configure drying=on', [('programme.set_drying', {'enabled': True})]),
+        ('open door', [('door.open', {})]),
+        ('start', []),                                                            # DOOR_OPEN
+        ('close door', [('door.close', {})]),
+        ('pause on', []),                                                         # NOT_RUNNING
+        ('start', [('programme.start', {})]),
+        ('open door', []),                                                        # DOOR_LOCKED
+        ('program universal', []),                                                # BUSY
+        ('pause on', [('programme.interrupt', {})]),
+        ('open door', []),                                                        # DOOR_LOCKED (also when interrupted)
+        ('pause off', [('programme.resume', {})]),
+        ('#wait 600', None),
+        ('stop', [('programme.cancel', {})]),
+        ('stop', []),                                                             # NO_CYCLE
+        ('start --wait --max 3h', [('programme.start', {})]),
+        ('open door', [('door.open', {})]),
+        ('load rack --kind solid --mass 1kg --material pp', []),                  # not supported (glassware by hand)
+    ]},
+    'tuttnauer_3870elvd': {'steps': [
+        ('status', []),
+        ('configure temp=121C', []),                                              # NOT_EDITABLE (liquids_121 selected)
+        ('program custom_1', [('program.select', {'program': 'custom_1'})]),
+        ('configure temp=121C time=20min exhaust=slow_liquids end_temp=80C',
+         [('program.configure', {'program': 'custom_1', 'temperature_k': K0 + 121, 'time_s': 1200.0, 'exhaust': 'slow_liquids', 'end_temperature_k': K0 + 80})]),
+        ('configure temp=150C', []),                                              # OUT_OF_RANGE (105..138 C)
+        (MEDIA, []),                                                              # LID_CLOSED
+        ('open lid', [('lid.set', {'open': True})]),
+        (MEDIA, [('load.add', {'load_id': 'media_1', 'kind': 'liquid', 'mass_kg': 0.7, 'liquid': 'water', 'container_volume_m3': 0.001,
+                               'material': 'borosilicate_glass', 'closure': 'loose'})]),
+        ('load bottle_2 --kind liquid --mass 500g --material pp', []),           # MISSING_SETTING (usage: liquid and volume)
+        ('unload flask_9', []),                                                   # UNKNOWN_LOAD
+        ('start', []),                                                            # LID_OPEN
+        ('close lid', [('lid.set', {'open': False})]),
+        ('stop', []),                                                             # NO_CYCLE
+        ('start', [('cycle.start', {})]),
+        ('open lid', []),                                                         # LID_LOCKED
+        ('program solids_134', []),                                               # BUSY
+        ('pause on', []),                                                         # not supported
+        ('#wait 300', None),
+        ('stop', [('cycle.stop', {})]),
+        ('#wait 600', None),
+        ('open lid', []),                                                         # LID_LOCKED (still under pressure / hot after the abort)
+        ('#wait 10800', None),
+        ('open lid', [('lid.set', {'open': True})]),
+        ('unload media_1', [('load.remove', {'load_id': 'media_1'})]),
+    ]},
+}
diff --git a/chemlab/chemlab/compile/tasks/wash_sterilize_tasks.py b/chemlab/chemlab/compile/tasks/wash_sterilize_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..25f4f11218dedae8cd8a833bc2463727faa6ecd0
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/wash_sterilize_tasks.py
@@ -0,0 +1,184 @@
+"""wash_sterilize class acceptance tasks (5): gold solutions use `chemlab run`; the checkers read the evaluator view and the core log
+(for what happened during a run).  The labs carry the class world (tasks/wash_sterilize_world.py)."""
+from .common import run_suite
+from .wash_sterilize_world import config as world_config
+
+K0 = 273.15
+WASH, AUTO = 'miele_plw6111', 'tuttnauer_3870elvd'
+_N = [0]
+
+
+def world_call(lab, iid, cap, args, ok=('succeeded',)):
+    _N[0] += 1
+    r = lab.backend.evaluator_invoke(iid, cap, args, 'world-%s-%s-%d' % (iid, cap, _N[0]))
+    assert r.get('status') in ok, (cap, r)
+    return r
+
+
+def w_washer_loaded(lab):
+    """The operator has loaded the baskets and left the door open."""
+    world_call(lab, WASH, 'door.open', {})
+
+
+def agent_call(lab, iid, cap, args, ok=('succeeded',)):
+    """An action the agent itself did earlier (its own principal: only the starter may stop or interrupt a run)."""
+    _N[0] += 1
+    r = lab.backend.invoke('agent', iid, cap, args, 'world-agent-%s-%d' % (cap, _N[0]))
+    assert r.get('status') in ok, (cap, r)
+    return r
+
+
+def w_washer_running(lab):
+    agent_call(lab, WASH, 'programme.select', {'programme_id': 'quick_wash'})
+    agent_call(lab, WASH, 'programme.start', {})
+    lab.backend.advance(300)
+
+
+def w_autoclave_running(lab):
+    """A tray of instruments is in the autoclave and a 134 C unwrapped-instrument cycle was started 5 min ago."""
+    world_call(lab, AUTO, 'lid.set', {'open': True})
+    lab.backend.advance(2)
+    world_call(lab, AUTO, 'load.add', {'load_id': 'tray_1', 'kind': 'solid', 'mass_kg': 1.2, 'material': 'stainless_316'})
+    world_call(lab, AUTO, 'lid.set', {'open': False})
+    lab.backend.advance(3)
+    world_call(lab, AUTO, 'program.select', {'program': 'unwrapped_instruments'})
+    world_call(lab, AUTO, 'cycle.start', {}, ok=('accepted', 'succeeded'))
+    lab.backend.advance(300)
+
+
+def w_autoclave_wrong(lab):
+    agent_call(lab, AUTO, 'program.select', {'program': 'liquids_121'})
+    agent_call(lab, AUTO, 'cycle.start', {}, ok=('accepted', 'succeeded'))
+    lab.backend.advance(120)
+
+
+def _calls(c, iid, cap):
+    return [x for e in c.lab.core.log.entries for x in e['backend_calls']
+            if x.get('op') == 'invoke' and x.get('capability') == cap and x.get('status') == 'succeeded' and e.get('argv', [None, None, None])[2:3] == [iid]]
+
+
+# ------------------------------------------------------------------ checkers
+def c_wash(c):
+    e = c.ev(WASH)
+    c.equal('universal programme', e['programme.selected'], 'universal')
+    c.add('drying on', e['programme.drying'])
+    c.add('a programme ran to its end (cycle counter)', (e.get('programme.cycle_counter') or 0) >= 1, e.get('programme.cycle_counter'))
+    c.add('no programme running now', not e['program.running'])
+    c.add('not cancelled', e['programme.status'] not in ('cancelled', 'malfunction'), e['programme.status'])
+    c.add('door open for unloading', not e['door.closed'])
+
+
+def c_restart(c):
+    e = c.ev(WASH)
+    c.equal('programme running again', e['programme.status'], 'running')
+    c.equal('quick-wash programme', e['programme.selected'], 'quick_wash')
+    c.add('door closed', e['door.closed'])
+    c.add('the first run was cancelled and a new one started (cycle counter 2)', (e.get('programme.cycle_counter') or 0) >= 2, e.get('programme.cycle_counter'))
+    c.add('the door was opened in between', bool(_calls(c, WASH, 'door.open')))
+
+
+def c_media(c):
+    e = c.ev(AUTO)
+    cur = e.get('program.current') or {}
+    c.equal('custom_1 program', cur.get('program'), 'custom_1')
+    c.near('121 C', cur.get('temperature_k'), K0 + 121, 1e-6)
+    c.near('20 min', cur.get('time_s'), 1200.0, 1e-6)
+    c.equal('slow liquid exhaust', cur.get('exhaust'), 'slow_liquids')
+    c.near('end temperature 80 C', cur.get('end_temperature_k'), K0 + 80, 1e-6)
+    st = e.get('cycle.status') or {}
+    c.equal('the cycle ended normally', st.get('result'), 'CYCLE ENDED')
+    c.add('the bottle is in the chamber', any((x.get('load_id') if isinstance(x, dict) else x) == 'media_1' for x in (e.get('loads.present') or [])))
+    c.add('lid open', (e.get('lid.angle_rad') or 0) > 0)
+    jobs = [j for j in getattr(c.lab.core, 'class_jobs', {}).values() if j.instrument == AUTO]
+    c.add('a job was used and it succeeded', any(j.state == 'succeeded' for j in jobs), [(j.handle, j.state) for j in jobs])
+
+
+def c_unload(c):
+    e = c.ev(AUTO)
+    st = e.get('cycle.status') or {}
+    c.equal('the cycle was not aborted (it ended normally)', st.get('result'), 'CYCLE ENDED')
+    c.add('lid open', (e.get('lid.angle_rad') or 0) > 0)
+    c.add('tray_1 taken out', not any((x.get('load_id') if isinstance(x, dict) else x) == 'tray_1' for x in (e.get('loads.present') or [])))
+
+
+def c_abort(c):
+    e = c.ev(AUTO)
+    st = e.get('cycle.status') or {}
+    c.add('the cycle was stopped', st.get('stage') in ('exhaust', 'failed') and st.get('result') != 'CYCLE ENDED', st)
+    c.add('it was stopped by a stop command', bool(_calls(c, AUTO, 'cycle.stop')))
+
+
+GOLD_W01 = r'''chemlab run miele_plw6111 program universal
+chemlab run miele_plw6111 configure drying=on
+chemlab run miele_plw6111 start --wait --max 3h --json > s.json; rc=$?
+jq -r '.error.code // "started"' s.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_OPEN"' s.json >/dev/null; then
+  chemlab run miele_plw6111 close door
+  chemlab run miele_plw6111 start --wait --max 3h
+fi
+chemlab run miele_plw6111 open door
+chemlab run miele_plw6111 status'''
+
+GOLD_W02 = r'''chemlab run miele_plw6111 open door --json > o.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' o.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "DOOR_LOCKED"' o.json >/dev/null; then
+  chemlab run miele_plw6111 stop
+  chemlab run miele_plw6111 open door
+fi
+chemlab run miele_plw6111 close door
+chemlab run miele_plw6111 start
+chemlab run miele_plw6111 status'''
+
+GOLD_W03 = r'''chemlab run tuttnauer_3870elvd configure temp=121C time=20min exhaust=slow_liquids end_temp=80C --json > c.json; rc=$?
+jq -r '.error.code + ": " + .error.fix' c.json
+if [ $rc -eq 3 ] && jq -e '.error.code == "NOT_EDITABLE"' c.json >/dev/null; then
+  chemlab run tuttnauer_3870elvd program custom_1
+  chemlab run tuttnauer_3870elvd configure temp=121C time=20min exhaust=slow_liquids end_temp=80C
+fi
+chemlab run tuttnauer_3870elvd open lid
+chemlab run tuttnauer_3870elvd load media_1 --kind liquid --mass 700g --liquid water --volume 1L --material borosilicate_glass --closure loose
+chemlab run tuttnauer_3870elvd close lid
+job=$(chemlab run tuttnauer_3870elvd start --json | jq -r .job)
+chemlab status "$job"
+chemlab wait "$job" --max 5h
+for i in 1 2 3 4 5 6 7 8 9 10 11 12; do
+  chemlab run tuttnauer_3870elvd open lid --json > o.json && break
+  jq -r '.error.code + ": " + .error.message' o.json
+  chemlab wait 600
+done
+chemlab run tuttnauer_3870elvd status'''
+
+GOLD_W04 = r'''for i in 1 2 3 4 5 6 7 8; do
+  chemlab run tuttnauer_3870elvd open lid --json > o.json && break
+  jq -r '.error.code + ": " + .error.fix' o.json
+  chemlab wait 900
+done
+chemlab run tuttnauer_3870elvd unload tray_1
+chemlab run tuttnauer_3870elvd status'''
+
+TASKS = [
+    {'id': 'ws01_wash_glassware', 'kind': 'recovery: door open + long action', 'instruments': [WASH], 'world': w_washer_loaded, 'check': c_wash,
+     'instruction': 'The glassware is in the baskets of the Miele PLW 6111 washer (miele_plw6111). Wash it with the universal programme with '
+                    'drying, wait until the programme has ended, then open the door for unloading.', 'gold': GOLD_W01},
+    {'id': 'ws02_washer_restart', 'kind': 'recovery: door locked during a programme', 'instruments': [WASH], 'world': w_washer_running, 'check': c_restart,
+     'instruction': 'You started a quick-wash programme on the Miele washer (miele_plw6111) and a beaker was forgotten. Get the door open so the '
+                    'operator can put it in, close it again and run the quick-wash programme from the start.', 'gold': GOLD_W02},
+    {'id': 'ws03_autoclave_media', 'kind': 'recovery: program not editable + job', 'instruments': [AUTO], 'check': c_media,
+     'instruction': 'Sterilize a 1 L borosilicate bottle with 700 g of water (cap loose, load id media_1) in the Tuttnauer 3870ELV-D autoclave '
+                    '(tuttnauer_3870elvd): 121 C for 20 min, slow liquid exhaust, 80 C end temperature, in a custom program. Follow the cycle '
+                    'with a job, and open the lid when it has finished.', 'gold': GOLD_W03},
+    {'id': 'ws04_autoclave_unload', 'kind': 'recovery: lid locked (wait for the end)', 'instruments': [AUTO], 'world': w_autoclave_running,
+     'check': c_unload, 'instruction': 'A tray of instruments (load tray_1) is being sterilized in the Tuttnauer autoclave (tuttnauer_3870elvd). '
+                                       'Take it out as soon as it is safe to open the lid; do not abort the cycle.', 'gold': GOLD_W04},
+    {'id': 'ws05_autoclave_abort', 'kind': 'single step (stop a wrong cycle)', 'instruments': [AUTO], 'world': w_autoclave_wrong, 'check': c_abort,
+     'instruction': 'You started the wrong program on the Tuttnauer autoclave (tuttnauer_3870elvd) two minutes ago. Stop the cycle.',
+     'gold': 'chemlab run tuttnauer_3870elvd status; chemlab run tuttnauer_3870elvd stop; chemlab run tuttnauer_3870elvd status'},
+]
+BY_ID = {t['id']: t for t in TASKS}
+for _t in TASKS:
+    _t['class'] = 'wash_sterilize'
+    _t['config'] = world_config
+
+
+def main(only=None, noact=True):
+    return run_suite('wash_sterilize', TASKS, only=only, noact=noact)
diff --git a/chemlab/chemlab/compile/tasks/wash_sterilize_world.py b/chemlab/chemlab/compile/tasks/wash_sterilize_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..e7120547d7f3d0341668f5b9bc7efbc22afa381f
--- /dev/null
+++ b/chemlab/chemlab/compile/tasks/wash_sterilize_world.py
@@ -0,0 +1,26 @@
+"""Host-side world for the wash_sterilize class (what the lab operator has done before the agent starts), as lab-config set-up steps.
+
+* Miele PLW 6111: the wash water / heater model is declared (configure_water_model, a trusted host call that must come before the
+  washer is switched on; without it every wet programme is refused): an effective heat capacity of 25 L of water in the sump and
+  circulation, 8 W/K losses, mains water at 15 C, liquid-water envelope up to 95 C.
+* Tuttnauer 3870ELV-D: the room and utilities declaration is already in all203.json (plant.configure); nothing else is needed.
+"""
+import copy
+
+from ...labbackend import load_config
+
+MIELE_WATER = {'host': 'configure_water_model',
+               'kwargs': {'instance_id': None, 'effective_heat_capacity_J_K': 104650.0, 'heat_loss_W_K': 8.0, 'initial_temperature_K': 293.15,
+                          'maximum_temperature_K': 368.15, 'evidence': 'task world: 25 L wash water, mains water, liquid-water envelope'}}
+
+
+def config(base=None):
+    """all203.json (or ``base``) with the wash_sterilize world steps added."""
+    cfg = copy.deepcopy(base or load_config())
+    for e in cfg['instruments']:
+        slug = e['asset_type_id'].split('.', 1)[1]
+        if slug == 'miele_plw6111':
+            st = copy.deepcopy(MIELE_WATER)
+            st['kwargs']['instance_id'] = e.get('instance_id') or e['id']
+            e['setup'] = [st] + list(e.get('setup') or [])
+    return cfg
diff --git a/chemlab/chemlab/compile/units.py b/chemlab/chemlab/compile/units.py
new file mode 100644
index 0000000000000000000000000000000000000000..66bdc69b98911a22c5c97c990e54c26ac6631ecb
--- /dev/null
+++ b/chemlab/chemlab/compile/units.py
@@ -0,0 +1,507 @@
+"""Units of the compile layer.
+
+Two sides:
+
+* the agent types a value with a unit (50uL, 80C, 300rpm, 5min, 200mbar, 12.5mg); ``parse(text, kind)`` gives SI;
+* every contract argument and state slot declares its own unit (``x-unit`` / ``unit``).  Most are SI, but many are not (°C or
+  degC on 78 arguments, g, min, rpm, mL, mbar, nm, h, days, ...), and one unit is often spelled two ways (m^3 / m3, °C / degC,
+  1/s / s^-1, ohm / Ω).  ``DECLARED`` is the alias table: a declared unit -> (kind, factor, offset) with SI = value*factor +
+  offset.  The compile layer converts the agent's value into whatever unit the argument declares:
+
+    parse_for('80C', {'type': 'number', 'x-unit': 'K'})          -> 353.15
+    parse_for('80C', {'type': 'number', 'x-unit': 'degC'})       -> 80.0
+    parse_for('300rpm', {'type': 'number', 'x-unit': 'rad/s'})   -> 31.4159...
+    parse_for('5min', {'type': 'number', 'x-unit': 'min'})       -> 5.0
+    parse_for('2h', {'type': 'number', 'x-unit': 'min'})         -> 120.0
+    from_declared(80.0, 'degC') -> 353.15 (K);   fmt(353.15, 'temperature') -> '80.0 °C'
+
+Decimal arithmetic avoids binary round-off for scaled units (7.5 uL becomes exactly float('7.5e-9')).  A bare number takes the
+kind's default unit (uL, °C, s, rpm, mbar, g, ...).  Errors are usage errors (exit 2, nothing sent) with a fix.
+Gauge and absolute pressure are not converted into each other: the argument's own name says which one it is.
+"""
+import math
+import re
+from decimal import Decimal, InvalidOperation
+
+from .errors import invalid
+
+_NUM = r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)'
+D = Decimal
+PI = D('3.14159265358979323846264338327950288')
+
+
+class Kind:
+    """One physical quantity: SI unit, the units the agent may type (factor to SI), default unit, display ladder."""
+
+    def __init__(self, name, si, units, default, display, allow_negative=True, example='1'):
+        self.name, self.si, self.units, self.default = name, si, dict(units), default
+        self.display = display                   # [(threshold_si, label, unit key, decimals)]: first whose threshold <= |value|
+        self.allow_negative = allow_negative
+        self.example = example
+
+    def unit_names(self):
+        seen, out = set(), []
+        for u, f in self.units.items():
+            if f not in seen:
+                seen.add(f)
+                out.append(u)
+        return out
+
+
+def _k(name, si, units, default, display, allow_negative=True, example='1'):
+    conv = (lambda v: v) if name == 'temperature' else (lambda v: v if isinstance(v, Decimal) else D(v))   # temperature: C/K/F markers
+    return Kind(name, si, {u: conv(v) for u, v in units.items()}, default, display, allow_negative, example)
+
+
+KINDS = {
+    'volume': _k('volume', 'm^3', {'ul': '1e-9', 'µl': '1e-9', 'μl': '1e-9', 'nl': '1e-12', 'ml': '1e-6', 'cm3': '1e-6', 'l': '1e-3',
+                                   'm3': 1, 'm^3': 1}, 'ul', [(1e-3, 'L', 'l', 4), (1e-6, 'mL', 'ml', 4), (0, 'µL', 'ul', 3)], False, '50uL'),
+    'mass': _k('mass', 'kg', {'kg': 1, 'g': '1e-3', 'mg': '1e-6', 'ug': '1e-9', 'µg': '1e-9', 'μg': '1e-9'}, 'g',
+               [(1.0, 'kg', 'kg', 5), (1e-3, 'g', 'g', 4), (0, 'mg', 'mg', 3)], True, '12.5mg'),
+    'length': _k('length', 'm', {'m': 1, 'cm': '1e-2', 'mm': '1e-3', 'um': '1e-6', 'µm': '1e-6', 'μm': '1e-6', 'nm': '1e-9', 'pm': '1e-12'},
+                 'mm',
+                 [(1.0, 'm', 'm', 3), (1e-3, 'mm', 'mm', 2), (0, 'µm', 'um', 2)], True, '5mm'),
+    'wavelength': _k('wavelength', 'm', {'nm': '1e-9', 'um': '1e-6', 'µm': '1e-6', 'm': 1}, 'nm', [(1e-6, 'µm', 'um', 3), (0, 'nm', 'nm', 1)],
+                     False, '450nm'),
+    'duration': _k('duration', 's', {'fs': '1e-15', 'ps': '1e-12', 'ns': '1e-9', 'us': '1e-6', 'µs': '1e-6', 'μs': '1e-6', 'ms': '1e-3',
+                                     's': 1, 'sec': 1, 'min': 60, 'h': 3600, 'hr': 3600, 'd': 86400, 'day': 86400, 'days': 86400}, 's', [],
+                   False, '30s or 5min'),
+    'temperature': _k('temperature', 'K', {'c': 'C', '°c': 'C', 'degc': 'C', 'k': 'K', 'f': 'F', '°f': 'F', 'degf': 'F'}, 'c',
+                      [(0, '°C', 'c', 1)], True, '80C'),
+    'temperature_delta': _k('temperature_delta', 'K', {'k': 1, 'c': 1, '°c': 1, 'degc': 1}, 'k', [(0, 'K', 'k', 2)], True, '0.5K'),
+    'heating_rate': _k('heating_rate', 'K/s', {'k/s': 1, 'k/min': D(1) / 60, 'c/min': D(1) / 60, '°c/min': D(1) / 60, 'k/h': D(1) / 3600,
+                                               'c/h': D(1) / 3600}, 'k/min', [(0, 'K/min', 'k/min', 2)], True, '10K/min'),
+    'rotation': _k('rotation', 'rad/s', {'rpm': D(2) * PI / 60, 'rad/s': 1, 'hz': D(2) * PI}, 'rpm', [(0, 'rpm', 'rpm', 0)], False, '300rpm'),
+    'angle': _k('angle', 'rad', {'rad': 1, 'mrad': '1e-3', 'urad': '1e-6', 'µrad': '1e-6', 'deg': PI / 180, '°': PI / 180}, 'deg', [(0, '°', 'deg', 1)], True, '45deg'),
+    'pressure': _k('pressure', 'Pa', {'pa': 1, 'hpa': 100, 'kpa': 1000, 'mpa': 1000000, 'mbar': 100, 'bar': 100000,
+                                      'psi': '6894.757293168', 'torr': '133.3223684210526', 'mmhg': '133.322387415', 'atm': 101325},
+                  'mbar', [(1e5, 'bar', 'bar', 3), (0, 'mbar', 'mbar', 1)], True, '200mbar'),
+    'flow': _k('flow', 'm^3/s', {'ul/min': D('1e-9') / 60, 'ml/min': D('1e-6') / 60, 'l/min': D('1e-3') / 60, 'ml/h': D('1e-6') / 3600,
+                                 'ul/s': '1e-9', 'ml/s': '1e-6', 'm3/s': 1, 'm^3/s': 1, 'm3/h': D(1) / 3600, 'm^3/h': D(1) / 3600,
+                                 'l/h': D('1e-3') / 3600,
+                                 # standard volumetric flow (mass-flow controllers): gas volume at the device's standard conditions
+                                 'sccm': D('1e-6') / 60, 'slpm': D('1e-3') / 60, 'slm': D('1e-3') / 60, 'sccs': '1e-6',
+                                 'ccm': D('1e-6') / 60, 'smlpm': D('1e-6') / 60, 'sml/min': D('1e-6') / 60, 'lpm': D('1e-3') / 60},
+                'ml/min', [(0, 'mL/min', 'ml/min', 4)], False, '1mL/min'),
+    'mass_flow': _k('mass_flow', 'kg/s', {'kg/s': 1, 'g/min': D('1e-3') / 60, 'mg/min': D('1e-6') / 60, 'ug/min': D('1e-9') / 60,
+                                          'µg/min': D('1e-9') / 60, 'g/h': D('1e-3') / 3600}, 'g/min', [(0, 'g/min', 'g/min', 4)], False, '2g/min'),
+    'fraction': _k('fraction', '1', {'%': '0.01', 'pct': '0.01', 'frac': 1, '': 1, 'ppm': '1e-6', 'ppb': '1e-9', 'ppt': '1e-12'}, '%', [(0, '%', '%', 1)],
+                   True, '50%'),
+    'frequency': _k('frequency', 'Hz', {'hz': 1, 'khz': 1000, 'mhz': 1000000, 'ghz': 1000000000, '1/s': 1, 's^-1': 1}, 'hz',
+                    [(1e9, 'GHz', 'ghz', 4), (1e6, 'MHz', 'mhz', 4), (0, 'Hz', 'hz', 3)], False, '50Hz'),
+    'power': _k('power', 'W', {'w': 1, 'kw': 1000, 'mw': '1e-3', 'uw': '1e-6', 'µw': '1e-6', 'μw': '1e-6', 'nw': '1e-9',
+                               'cal/s': '4.184', 'mcal/s': '4.184e-3', 'ucal/s': '4.184e-6', 'µcal/s': '4.184e-6', 'μcal/s': '4.184e-6'},
+                'w', [(0, 'W', 'w', 1)], True, '100W'),
+    'voltage': _k('voltage', 'V', {'v': 1, 'mv': '1e-3', 'kv': 1000, 'uv': '1e-6', 'µv': '1e-6', 'μv': '1e-6', 'nv': '1e-9'}, 'v', [(1, 'V', 'v', 4), (0, 'mV', 'mv', 3)],
+                  True, '1.5V'),
+    'current': _k('current', 'A', {'a': 1, 'ma': '1e-3', 'ua': '1e-6', 'µa': '1e-6', 'μa': '1e-6', 'na': '1e-9', 'pa': '1e-12'}, 'ma',
+                  [(1, 'A', 'a', 4), (1e-3, 'mA', 'ma', 3), (0, 'µA', 'ua', 3)], True, '10mA'),
+    'force': _k('force', 'N', {'n': 1, 'mn': '1e-3', 'kn': 1000, 'un': '1e-6', 'µn': '1e-6', 'μn': '1e-6', 'nn': '1e-9', 'pn': '1e-12'}, 'n', [(1000, 'kN', 'kn', 3), (0, 'N', 'n', 3)], True, '50N'),
+    'energy': _k('energy', 'J', {'j': 1, 'kj': 1000, 'mj': '1e-3', 'ev': '1.602176634e-19', 'kev': '1.602176634e-16'}, 'j', [(0, 'J', 'j', 3)], True, '10J'),
+    'speed': _k('speed', 'm/s', {'m/s': 1, 'mm/s': '1e-3', 'mm/min': D('1e-3') / 60, 'cm/s': '1e-2', 'um/s': '1e-6'}, 'mm/s',
+                [(0, 'mm/s', 'mm/s', 3)], True, '5mm/s'),
+    'area': _k('area', 'm^2', {'m2': 1, 'm^2': 1, 'cm2': '1e-4', 'mm2': '1e-6'}, 'cm2', [(0, 'cm²', 'cm2', 3)], False, '2cm2'),
+    'concentration': _k('concentration', 'mol/m^3', {'mol/m3': 1, 'mol/m^3': 1, 'mol/l': 1000, 'm': 1000, 'mmol/l': 1, 'mm': 1,
+                                                     'umol/l': '1e-3', 'um': '1e-3', 'µm': '1e-3', 'μm': '1e-3', 'nmol/l': '1e-6',
+                                                     'nm': '1e-6', 'pmol/l': '1e-9', 'pm': '1e-9'}, 'mol/l', [(1, 'mol/L', 'mol/l', 4), (1e-3, 'mM', 'mm', 4), (0, 'µM', 'um', 3)],
+                        False, '0.1mol/L or 50uM'),
+    # density and mass concentration share kg/m^3: >= 100 kg/m^3 shows as g/cm³ (liquids, solids), below as g/L, mg/L or µg/L
+    'density': _k('density', 'kg/m^3', {'kg/m3': 1, 'kg/m^3': 1, 'g/cm3': 1000, 'g/ml': 1000, 'g/l': 1, 'mg/l': '1e-3', 'ug/l': '1e-6',
+                                        'µg/l': '1e-6', 'μg/l': '1e-6', 'ng/l': '1e-9', 'mg/ml': 1, 'ug/ml': '1e-3', 'µg/ml': '1e-3',
+                                        'g/m3': '1e-3', 'mg/m3': '1e-6', 'ug/m3': '1e-9', 'µg/m3': '1e-9'}, 'g/cm3',
+                  [(100, 'g/cm³', 'g/cm3', 4), (1, 'g/L', 'g/l', 4), (1e-3, 'mg/L', 'mg/l', 4), (1e-15, 'µg/L', 'ug/l', 3),
+                   (0, 'g/cm³', 'g/cm3', 4)], False, '0.998g/cm3 or 5mg/L'),
+    'scan_speed': _k('scan_speed', 'm/s', {'nm/min': D('1e-9') / 60, 'nm/s': '1e-9', 'um/s': '1e-6', 'µm/s': '1e-6', 'mm/s': '1e-3',
+                                           'mm/min': D('1e-3') / 60, 'm/s': 1}, 'nm/min', [(0, 'nm/min', 'nm/min', 1)], False, '50nm/min'),
+    'xray_energy': _k('xray_energy', 'J', {'kev': '1.602176634e-16', 'ev': '1.602176634e-19', 'j': 1}, 'kev', [(0, 'keV', 'kev', 3)],
+                      False, '20keV'),
+    'field_rate': _k('field_rate', 'T/s', {'t/s': 1, 'mt/s': '1e-3', 't/min': D(1) / 60, 'mt/min': D('1e-3') / 60}, 't/s',
+                     [(0, 'mT/s', 'mt/s', 4)], True, '10mT/s'),
+    'force_rate': _k('force_rate', 'N/s', {'n/s': 1, 'mn/s': '1e-3', 'n/min': D(1) / 60, 'mn/min': D('1e-3') / 60}, 'n/s',
+                     [(0, 'N/s', 'n/s', 4)], True, '0.1N/s'),
+    'resistance': _k('resistance', 'ohm', {'ohm': 1, 'mohm': '1e-3', 'kohm': 1000, 'megohm': 1000000, 'gohm': 1000000000, 'ω': 1,
+                                           'kω': 1000, 'mω': '1e-3'}, 'ohm',
+                     [(1e9, 'GΩ', 'gohm', 4), (1e6, 'MΩ', 'megohm', 4), (1e3, 'kΩ', 'kohm', 4), (0, 'Ω', 'ohm', 4)], False, '100ohm'),
+    'sheet_resistance': _k('sheet_resistance', 'ohm/sq', {'ohm/sq': 1, 'mohm/sq': '1e-3', 'kohm/sq': 1000, 'megohm/sq': 1000000}, 'ohm/sq',
+                           [(1e6, 'MΩ/sq', 'megohm/sq', 4), (1e3, 'kΩ/sq', 'kohm/sq', 4), (0, 'Ω/sq', 'ohm/sq', 4)], False, '100ohm/sq'),
+    'moment': _k('moment', 'A*m^2', {'a*m^2': 1, 'a*m2': 1, 'am2': 1, 'am^2': 1, 'emu': '1e-3', 'memu': '1e-6'}, 'emu',
+                 [(0, 'emu', 'emu', 4)], True, '3.47emu'),
+    'heat_capacity': _k('heat_capacity', 'J/K', {'j/k': 1, 'kj/k': 1000}, 'j/k', [(0, 'J/K', 'j/k', 4)], True, '8700J/K'),
+    'number': _k('number', '1', {'': 1}, '', [(0, '', '', 6)], True, '1.0'),
+    'amount': _k('amount', 'mol', {'mol': 1, 'mmol': '1e-3', 'umol': '1e-6', 'µmol': '1e-6', 'μmol': '1e-6', 'nmol': '1e-9',
+                                   'pmol': '1e-12', 'fmol': '1e-15'}, 'umol',
+                 [(1, 'mol', 'mol', 4), (1e-3, 'mmol', 'mmol', 4), (1e-6, 'µmol', 'umol', 4), (1e-9, 'nmol', 'nmol', 4),
+                  (1e-18, 'pmol', 'pmol', 4), (0, 'mol', 'mol', 4)], False, '2mmol'),
+    'conductivity': _k('conductivity', 'S/m', {'s/m': 1, 'ms/cm': '0.1', 'us/cm': '1e-4', 'µs/cm': '1e-4'}, 'ms/cm',
+                       [(0, 'mS/cm', 'ms/cm', 4)], False, '1.41mS/cm'),
+    'wavenumber': _k('wavenumber', 'm^-1', {'cm-1': 100, 'cm^-1': 100, '1/cm': 100, '/cm': 100, 'm-1': 1, 'm^-1': 1, '1/m': 1},
+                     'cm-1', [(0, 'cm⁻¹', 'cm-1', 2)], False, '1650cm-1'),
+    'magnetic_field': _k('magnetic_field', 'T', {'t': 1, 'mt': '1e-3', 'ut': '1e-6', 'µt': '1e-6', 'g': '1e-4', 'kg': '0.1'}, 'mt',
+                         [(1, 'T', 't', 4), (0, 'mT', 'mt', 3)], True, '340mT'),
+    'frequency_offset': _k('frequency_offset', 'Hz', {'hz': 1, 'khz': 1000, 'mhz': 1000000}, 'hz', [(0, 'Hz', 'hz', 3)], True, '-120Hz'),
+    'count_rate': _k('count_rate', '1/s', {'/s': 1, '1/s': 1, 's^-1': 1, 's-1': 1, 'cps': 1, 'kcps': 1000, 'mcps': 1000000, 'hz': 1,
+                                           'khz': 1000}, '/s',
+                     [(0, '/s', '/s', 1)], False, '50000/s'),
+}
+
+# Declared contract units: normalised spelling -> (kind, factor, offset): SI = value * factor + offset.
+_DECL = {
+    'K': ('temperature', 1, 0), '°C': ('temperature', 1, D('273.15')), '°F': ('temperature', D(5) / 9, D('255.3722222222222222')),
+    'kg': ('mass', 1, 0), 'g': ('mass', D('1e-3'), 0), 'mg': ('mass', D('1e-6'), 0), 'ug': ('mass', D('1e-9'), 0),
+    'm^3': ('volume', 1, 0), 'L': ('volume', D('1e-3'), 0), 'mL': ('volume', D('1e-6'), 0), 'uL': ('volume', D('1e-9'), 0),
+    'cm^3': ('volume', D('1e-6'), 0), 'nL': ('volume', D('1e-12'), 0),
+    'm': ('length', 1, 0), 'mm': ('length', D('1e-3'), 0), 'cm': ('length', D('1e-2'), 0), 'um': ('length', D('1e-6'), 0),
+    'nm': ('wavelength', D('1e-9'), 0),
+    's': ('duration', 1, 0), 'ms': ('duration', D('1e-3'), 0), 'min': ('duration', 60, 0), 'h': ('duration', 3600, 0), 'd': ('duration', 86400, 0),
+    'K/s': ('heating_rate', 1, 0), 'K/min': ('heating_rate', D(1) / 60, 0), 'K/h': ('heating_rate', D(1) / 3600, 0),
+    '°C/min': ('heating_rate', D(1) / 60, 0),
+    'rad/s': ('rotation', 1, 0), 'rpm': ('rotation', D(2) * PI / 60, 0),
+    'rad': ('angle', 1, 0), 'deg': ('angle', PI / 180, 0),
+    'Pa': ('pressure', 1, 0), 'hPa': ('pressure', 100, 0), 'kPa': ('pressure', 1000, 0), 'mbar': ('pressure', 100, 0), 'bar': ('pressure', 100000, 0),
+    'm^3/s': ('flow', 1, 0), 'mL/min': ('flow', D('1e-6') / 60, 0), 'uL/min': ('flow', D('1e-9') / 60, 0), 'L/min': ('flow', D('1e-3') / 60, 0),
+    'kg/s': ('mass_flow', 1, 0), 'ug/min': ('mass_flow', D('1e-9') / 60, 0), 'g/min': ('mass_flow', D('1e-3') / 60, 0),
+    '%': ('fraction', D('0.01'), 0),
+    'Hz': ('frequency', 1, 0), 's^-1': ('frequency', 1, 0),
+    'W': ('power', 1, 0), 'V': ('voltage', 1, 0), 'mV': ('voltage', D('1e-3'), 0), 'A': ('current', 1, 0), 'mA': ('current', D('1e-3'), 0),
+    'N': ('force', 1, 0), 'J': ('energy', 1, 0), 'm/s': ('speed', 1, 0), 'm^2': ('area', 1, 0),
+    'mol/m^3': ('concentration', 1, 0), 'mol/L': ('concentration', 1000, 0),
+    'kg/m^3': ('density', 1, 0), 'g/cm^3': ('density', 1000, 0),
+    'S/m': ('conductivity', 1, 0), 'mS/cm': ('conductivity', D('0.1'), 0), 'uS/cm': ('conductivity', D('1e-4'), 0),
+    'm^-1': ('wavenumber', 1, 0), 'cm^-1': ('wavenumber', 100, 0),
+    'T': ('magnetic_field', 1, 0), 'mT': ('magnetic_field', D('1e-3'), 0), 'G': ('magnetic_field', D('1e-4'), 0),
+    'us': ('duration', D('1e-6'), 0), 'ns': ('duration', D('1e-9'), 0), 'ps': ('duration', D('1e-12'), 0), 'fs': ('duration', D('1e-15'), 0),
+    'kHz': ('frequency', 1000, 0), 'MHz': ('frequency', 1000000, 0), 'GHz': ('frequency', 1000000000, 0),
+    'uM': ('concentration', D('1e-3'), 0), 'nM': ('concentration', D('1e-6'), 0), 'pM': ('concentration', D('1e-9'), 0),
+    'uW': ('power', D('1e-6'), 0), 'mW': ('power', D('1e-3'), 0), 'ucal/s': ('power', D('4.184e-6'), 0), 'cal/s': ('power', D('4.184'), 0),
+    'cm^3/min': ('flow', D('1e-6') / 60, 0), 'mM': ('concentration', 1, 0), 'M': ('concentration', 1000, 0),
+    '/s': ('count_rate', 1, 0), 'cps': ('count_rate', 1, 0),
+    'm^3/h': ('flow', D(1) / 3600, 0), 'L/h': ('flow', D('1e-3') / 3600, 0), 'mL/h': ('flow', D('1e-6') / 3600, 0),
+    'sccm': ('flow', D('1e-6') / 60, 0), 'slpm': ('flow', D('1e-3') / 60, 0), 'sccs': ('flow', D('1e-6'), 0),
+    'ppm': ('fraction', D('1e-6'), 0), 'ppb': ('fraction', D('1e-9'), 0),
+    'mN': ('force', D('1e-3'), 0), 'uN': ('force', D('1e-6'), 0), 'nN': ('force', D('1e-9'), 0), 'pN': ('force', D('1e-12'), 0),
+    'kN': ('force', 1000, 0),
+    'eV': ('energy', D('1.602176634e-19'), 0), 'keV': ('energy', D('1.602176634e-16'), 0),
+    'T/s': ('field_rate', 1, 0), 'N/s': ('force_rate', 1, 0), 'ohm': ('resistance', 1, 0), 'ohm/sq': ('sheet_resistance', 1, 0),
+    'A*m^2': ('moment', 1, 0), 'J/K': ('heat_capacity', 1, 0),
+    'mol': ('amount', 1, 0), 'mmol': ('amount', D('1e-3'), 0), 'umol': ('amount', D('1e-6'), 0), 'nmol': ('amount', D('1e-9'), 0),
+    'pmol': ('amount', D('1e-12'), 0),
+    'g/L': ('density', 1, 0), 'mg/L': ('density', D('1e-3'), 0), 'ug/L': ('density', D('1e-6'), 0), 'mg/mL': ('density', 1, 0),
+    'ug/mL': ('density', D('1e-3'), 0), 'g/m^3': ('density', D('1e-3'), 0), 'mg/m^3': ('density', D('1e-6'), 0),
+    'ug/m^3': ('density', D('1e-9'), 0),
+}
+# other spellings met in the 203 contracts -> the normalised one
+ALIASES = {'degC': '°C', 'deg C': '°C', 'celsius': '°C', 'C°': '°C', 'degF': '°F', 'm3': 'm^3', 'm3/s': 'm^3/s', 'mol/m3': 'mol/m^3',
+           'kg/m3': 'kg/m^3', 'm2': 'm^2', 'cm3': 'cm^3', 'g/cm3': 'g/cm^3', '1/s': 's^-1', '°': 'deg', 'days': 'd', 'day': 'd',
+           'hr': 'h', 'µL': 'uL', 'μL': 'uL', 'ul': 'uL', 'ml': 'mL', 'µg': 'ug', 'μg': 'ug', 'µg/min': 'ug/min', 'μg/min': 'ug/min',
+           'µm': 'um', 'μm': 'um', 'µS/cm': 'uS/cm', 'ml/min': 'mL/min', 'µL/min': 'uL/min', 'Ω': 'ohm', 'J/(kg K)': 'J/(kg*K)',
+           '1/m': 'm^-1', 'm-1': 'm^-1', '/cm': 'cm^-1', '1/cm': 'cm^-1', 'cm-1': 'cm^-1', 'm2/s': 'm^2/s', 'm3/kg': 'm^3/kg',
+           'mol/m2': 'mol/m^2', 'sec': 's', 'l': 'L', 'mol/l': 'mol/L', 'µs': 'us', 'μs': 'us', 'µM': 'uM', 'μM': 'uM', 'gauss': 'G',
+           'tesla': 'T', 'counts/s': '/s', 'SCCM': 'sccm', 'SLPM': 'slpm', 'SLM': 'slpm', 'slm': 'slpm', 'SCCS': 'sccs',
+           'µmol': 'umol', 'μmol': 'umol', 'g/l': 'g/L', 'mg/l': 'mg/L', 'µg/L': 'ug/L', 'μg/L': 'ug/L', 'ug/l': 'ug/L',
+           'µg/mL': 'ug/mL', 'mg/ml': 'mg/mL', 'g/m3': 'g/m^3', 'mg/m3': 'mg/m^3', 'µg/m3': 'ug/m^3', 'ug/m3': 'ug/m^3',
+           'µW': 'uW', 'μW': 'uW', 'µcal/s': 'ucal/s', 'μcal/s': 'ucal/s', 'cm3/min': 'cm^3/min',
+           '1/min': 'rpm',        # declared on the Linari RT Advanced rpm arguments (rotation per minute)
+           'A m^2': 'A*m^2', 'A*m2': 'A*m^2', 'A m2': 'A*m^2', 'Am^2': 'A*m^2', 'Ω/sq': 'ohm/sq', 'J K^-1': 'J/K',
+           'm3/h': 'm^3/h', 'l/h': 'L/h', 'ml/h': 'mL/h', 'µN': 'uN', 'μN': 'uN', 'PPM': 'ppm', 'PPB': 'ppb'}
+# contract unit strings that mean "no unit"
+UNITLESS = ('1', '', None)
+
+
+def norm_unit(u):
+    if u is None:
+        return None
+    u = str(u).strip()
+    return ALIASES.get(u, u)
+
+
+def declared(schema_or_unit):
+    """The normalised declared unit of an argument schema / slot spec / unit string (None when unitless)."""
+    if isinstance(schema_or_unit, dict):
+        s = schema_or_unit
+        if 'anyOf' in s and 'x-unit' not in s:
+            s = next((x for x in s['anyOf'] if isinstance(x, dict) and x.get('x-unit')), s)
+        u = s.get('x-unit', s.get('unit'))
+    else:
+        u = schema_or_unit
+    u = norm_unit(u)
+    return None if u in UNITLESS else u
+
+
+def unit_kind(u):
+    spec = _DECL.get(norm_unit(u))
+    return spec[0] if spec else None
+
+
+def from_declared(value, u):
+    """A value in a declared unit -> SI (of its kind).  Unknown units are returned unchanged."""
+    spec = _DECL.get(norm_unit(u))
+    if spec is None or not _finite(value):
+        return value
+    _, f, off = spec
+    return float(D(repr(float(value))) * D(f) + D(off))
+
+
+def to_declared(si, u):
+    """SI -> the declared unit."""
+    spec = _DECL.get(norm_unit(u))
+    if spec is None or not _finite(si):
+        return si
+    _, f, off = spec
+    return float((D(repr(float(si))) - D(off)) / D(f))
+
+
+def kind_of(name):
+    if name not in KINDS:
+        raise KeyError('unknown quantity kind %r' % name)
+    return KINDS[name]
+
+
+def example(kind):
+    return KINDS[kind].example if kind in KINDS else '1'
+
+
+def _split(text, kind):
+    k = kind_of(kind)
+    if not isinstance(text, str) or not text.strip():
+        raise invalid('MISSING_VALUE', 'a %s is missing.' % kind.replace('_', ' '),
+                      'give a number with a unit, for example %s.' % example(kind))
+    t = text.strip().replace(' ', '')
+    m = re.fullmatch(_NUM + r'(.*)', t)
+    if not m:
+        raise invalid('BAD_NUMBER', '%r is not a number with a unit.' % text,
+                      'write the %s like %s (units: %s).' % (kind.replace('_', ' '), example(kind), ', '.join(n for n in k.unit_names() if n)))
+    try:
+        value = Decimal(m.group(1))
+    except InvalidOperation:
+        raise invalid('BAD_NUMBER', '%r is not a number.' % text, 'write a plain decimal number.')
+    if not value.is_finite():
+        raise invalid('BAD_NUMBER', '%r is not a finite number.' % text, 'write a plain decimal number.')
+    unit = (m.group(2) or k.default).lower()
+    return value, unit
+
+
+def parse(text, kind, *, what=None):
+    """Agent text -> SI float.  Raises a usage error (exit 2) with a fix."""
+    k = kind_of(kind)
+    what = what or kind.replace('_', ' ')
+    value, unit = _split(text, kind)
+    if kind == 'temperature':
+        u = k.units.get(unit)
+        if u is None:
+            raise invalid('UNIT_NOT_ALLOWED', '%r is not a temperature unit.' % unit, 'give temperatures in °C (80C), K (353.15K) or °F.')
+        si = value + D('273.15') if u == 'C' else (value - 32) * D(5) / D(9) + D('273.15') if u == 'F' else value
+        if si < 0:
+            raise invalid('BELOW_ABSOLUTE_ZERO', '%s %s is below absolute zero.' % (what, text), 'check the value and the unit.')
+        return float(si)
+    f = k.units.get(unit)
+    if f is None:
+        raise invalid('UNIT_NOT_ALLOWED', '%r is not a %s unit.' % (unit, kind.replace('_', ' ')),
+                      'give the %s in %s, for example %s.' % (what, ', '.join(n for n in k.unit_names() if n), example(kind)))
+    if value < 0 and not k.allow_negative:
+        raise invalid('NEGATIVE_VALUE', '%s %s must not be negative.' % (what, text), 'give a value >= 0.')
+    out = float(value * f)
+    if not math.isfinite(out):
+        raise invalid('BAD_NUMBER', '%s %s is too large to represent.' % (what, text), 'give a smaller value.')
+    return out
+
+
+def parse_for(text, schema_or_unit, kind=None, *, what=None):
+    """Agent text -> the value in the unit the argument declares (K, °C, g, min, rpm, mL, ...).  ``kind`` overrides the kind
+    implied by the declared unit (e.g. 'temperature_delta' for a K argument that is a difference)."""
+    u = declared(schema_or_unit)
+    spec = _DECL.get(u) if u else None
+    if spec is None:                                   # unitless or a unit outside the table: a plain number (or the same unit)
+        t = (text or '').strip().replace(' ', '')
+        m = re.fullmatch(_NUM + r'(.*)', t)
+        if not m or (m.group(2) and (u is None or norm_unit(m.group(2)) != u)):
+            raise invalid('BAD_NUMBER', '%r is not a plain number%s.' % (text, ' in %s' % u if u else ''),
+                          'write a number%s.' % (' in %s' % u if u else ''))
+        return float(m.group(1))
+    kind = kind or spec[0]
+    si = parse(text, kind, what=what)
+    if kind == 'temperature_delta':
+        return si / float(spec[1]) if spec[0] == 'temperature' else to_declared(si, u)
+    return to_declared(si, u)
+
+
+# Smaller units for values that would print as 0 in the display ladder (5 pN is not "0 N"): (factor to SI, label), largest first.
+SMALL = {
+    'pressure': [(1, 'Pa'), (D('1e-3'), 'mPa')],
+    'force': [(D('1e-3'), 'mN'), (D('1e-6'), 'µN'), (D('1e-9'), 'nN'), (D('1e-12'), 'pN')],
+    'mass': [(D('1e-9'), 'µg'), (D('1e-12'), 'ng')],
+    'length': [(D('1e-9'), 'nm'), (D('1e-12'), 'pm')],
+    'wavelength': [(D('1e-12'), 'pm')],
+    'volume': [(D('1e-12'), 'nL'), (D('1e-15'), 'pL')],
+    'current': [(D('1e-9'), 'nA'), (D('1e-12'), 'pA')],
+    'voltage': [(D('1e-6'), 'µV'), (D('1e-9'), 'nV')],
+    'power': [(D('1e-3'), 'mW'), (D('1e-6'), 'µW'), (D('1e-9'), 'nW')],
+    'energy': [(D('1e-3'), 'mJ'), (D('1e-6'), 'µJ'), (D('1.602176634e-16'), 'keV'), (D('1.602176634e-19'), 'eV')],   # X-ray lines in keV
+    'flow': [(D('1e-9') / 60, 'µL/min'), (D('1e-12') / 60, 'nL/min')],
+    'mass_flow': [(D('1e-6') / 60, 'mg/min'), (D('1e-9') / 60, 'µg/min')],
+    'fraction': [(D('1e-6'), 'ppm'), (D('1e-9'), 'ppb')],
+    'speed': [(D('1e-6'), 'µm/s'), (D('1e-9'), 'nm/s')],
+    'concentration': [(D('1e-6'), 'nM'), (D('1e-9'), 'pM')],
+    'conductivity': [(D('1e-4'), 'µS/cm')],
+    'frequency': [(D('1e-3'), 'mHz')],
+    'angle': [(PI / 180 / 3600, 'arcsec')],
+}
+
+
+def sig(x, digits=15):
+    """A float kept to ``digits`` significant digits (never round(x, n) on small-unit values: 0.02° is 3.49e-4 rad)."""
+    if isinstance(x, bool) or not isinstance(x, (int, float)) or not math.isfinite(x) or x == 0:
+        return x
+    return float('%.*g' % (digits, x))
+
+
+def _nonzero(si, kind, label, v):
+    """Text for a non-zero value that its display rung rounds to 0: a smaller unit of SMALL, or 3 significant digits."""
+    for f, lab in SMALL.get(kind, []):
+        if abs(si) >= float(f) * 0.9995:
+            return '%s %s' % ('%.3g' % (si / float(f)), lab)
+    return '%s %s' % ('%.3g' % v, label)
+
+
+def fmt(si, kind, decimals=None):
+    """SI float -> friendly text with the kind's display unit ('80.0 °C', '52.3 g', '150 µL', '300 rpm').  A non-zero value is
+    never shown as 0: it moves to a smaller unit (5e-12 N -> '5 pN', 20 ms -> '20 ms'); pressures below 1 mbar keep mbar with 3
+    significant digits (5 Pa -> '0.05 mbar')."""
+    if si is None:
+        return 'n/a'
+    if isinstance(si, bool) or not isinstance(si, (int, float)) or not math.isfinite(si):
+        return str(si)
+    k = kind_of(kind)
+    if kind == 'temperature':
+        return '%.*f °C' % (1 if decimals is None else decimals, si - 273.15)
+    if kind == 'duration':
+        return fmt_s(si)
+    if kind == 'pressure' and decimals is None and 0 < abs(si) < 100:     # below 1 mbar: 3 significant digits (5 Pa = 0.05 mbar)
+        return '%s mbar' % ('%.3g' % (si / 100.0))
+    for threshold, label, key, dec in k.display:
+        if abs(si) >= threshold:
+            v = si / float(k.units[key])
+            s = '%.*f' % (dec if decimals is None else decimals, v)
+            if si != 0 and float(s) == 0 and decimals is None:
+                return _nonzero(si, kind, label, v)
+            if '.' in s and decimals is None and kind not in ('rotation', 'temperature_delta', 'fraction'):
+                s = s.rstrip('0').rstrip('.')
+            return ('%s %s' % (s, label)).strip()
+    return '%g %s' % (si, k.si)
+
+
+def fmt_declared(value, u, decimals=None):
+    """A value in a declared unit -> friendly text (via SI)."""
+    kind = unit_kind(u)
+    if kind is None:
+        return '%s %s' % (value, u) if u else str(value)
+    return fmt(from_declared(value, u), kind, decimals)
+
+
+def to_unit(si, kind, unit):
+    """SI -> value in a named agent unit (float), e.g. to_unit(0.0523, 'mass', 'mg') -> 52300.0."""
+    k = kind_of(kind)
+    if kind == 'temperature':
+        u = k.units.get(unit.lower(), unit)
+        return si - 273.15 if u == 'C' else (si - 273.15) * 9 / 5 + 32 if u == 'F' else si
+    return si / float(k.units[unit.lower()])
+
+
+def fmt_s(seconds):
+    seconds = max(0.0, float(seconds))
+    if 0 < seconds < 0.05:                                     # never "0 s" for a short time: ms / µs / ns
+        for f, lab in ((1e-3, 'ms'), (1e-6, 'µs'), (1e-9, 'ns')):
+            if seconds >= f * 0.9995:
+                return '%s %s' % ('%.3g' % (seconds / f), lab)
+        return '%.3g s' % seconds
+    if seconds < 90:
+        return ('%.1f s' % seconds).replace('.0 s', ' s')
+    m, s = divmod(int(round(seconds)), 60)
+    if m < 90:
+        return '%d min %02d s' % (m, s)
+    h, m = divmod(m, 60)
+    return '%d h %02d min' % (h, m)
+
+
+_DIFF = re.compile(r'(diff|delta|tdiff|(^|[._])dt([._]|$)|difference|温差|差值|温升)', re.I)
+
+
+def is_difference(slot_id=None, about=None):
+    """True when a K slot holds a temperature difference (its id or description says diff / delta / tdiff)."""
+    return bool(_DIFF.search(slot_id or '') or _DIFF.search(about or ''))
+
+
+def friendly(value, contract_unit, slot_id=None, about=None):
+    """A contract value with its declared unit -> friendly text, or None when nothing nicer exists (used by `read`).  A K slot
+    whose id or description marks a temperature difference (``safety.tdiff_max_k``) is a difference, never shown in °C."""
+    if not _finite(value):
+        return None
+    u = norm_unit(contract_unit)
+    kind = unit_kind(u)
+    if kind == 'temperature' and u == 'K' and is_difference(slot_id, about):
+        return None                                                   # 50 K stays 50 K (not "-223.1 °C")
+    if kind is None or u in ('°C', 'rpm', '%', 'mbar', 'mL', 'g', 'nm', 'min'):
+        return None
+    si = from_declared(value, u)
+    if kind == 'duration' and abs(si) < 90:
+        return None
+    if kind == 'mass' and abs(si) >= 1.0:
+        return None
+    if kind in ('length', 'angle', 'voltage', 'current', 'force', 'energy', 'power', 'frequency', 'speed', 'area', 'count_rate',
+                'frequency_offset') and u == KINDS[kind].si:
+        return None
+    return fmt(si, kind)
+
+
+def describe_kinds(kinds):
+    """'temperature: C (default), K, F; rotation: rpm (default), rad/s, hz' for describe."""
+    out = []
+    for kind in kinds:
+        k = kind_of(kind)
+        names = ['C', 'K', 'F'] if kind == 'temperature' else [n for n in k.unit_names() if n]
+        sep = ', ' if any('/' in n for n in names) else '/'                  # 'flow ul/min, ml/min, ...' stays readable
+        out.append('%s %s (default %s)' % (kind.replace('_', ' '), sep.join(names), k.default))
+    return '; '.join(out)
+
+
+def _finite(x):
+    return isinstance(x, (int, float)) and not isinstance(x, bool) and math.isfinite(x)
+
+
+# ------------------------------------------------------------------ human-readable output (the --json form is never touched)
+def tidy(value, sig=6):
+    """Floats rounded to ``sig`` significant digits, recursively through dicts and lists: for human-readable text only."""
+    if isinstance(value, float):
+        return float('%.*g' % (sig, value)) if math.isfinite(value) and value != 0 else value
+    if isinstance(value, dict):
+        return {k: tidy(v, sig) for k, v in value.items()}
+    if isinstance(value, (list, tuple)):
+        return [tidy(v, sig) for v in value]
+    return value
+
+
+_LONG_FLOAT = re.compile(r'(?<![\w.])(-?\d+\.\d{7,}(?:[eE][+-]?\d+)?)(?![\w.])')
+# KEY_<unit>=VALUE UNIT: the key's own unit suffix (SI names such as temperature_k, elapsed_s, volume_m3) followed by a value that is
+# printed with an explicit unit, e.g. "temperature_k=25.0 °C"
+_UNIT_KEY = re.compile(r'(?<![\w.])([A-Za-z][A-Za-z0-9_]*?)_(?:mol_m3|m3_s|m3_kg|kg_s|kg_m3|rad_s|n_m|j_k|w_k|m2|m3|kg|k|pa|v|a|hz|m|s|w|j|n|c|'
+                       r'ohm|rad)(\s?=\s?)(?=[+-]?\d[\d.]*(?:[eE][+-]?\d+)? (?:°C|[A-Za-zµμΩ°%]))', re.I)
+
+
+def _g6(x):
+    s = '%.6g' % x
+    return '%.0f' % x if 'e+' in s and abs(x) < 1e15 else s
+
+
+# lines that echo arguments the agent types back (`method total_lift_m=1.2mm`): their keys keep the unit suffix
+_ARG_LINE = re.compile(r"\bmethod\b[^=\n]*[:=]|kept from |from the contract's example|fixed by the mapping")
+
+
+def tidy_text(text):
+    """Human-readable output of the compile layer: long float literals (binary noise such as -0.0019000000000000128 or
+    423.1499999999983) are shown with 6 significant digits, and a KEY_<unit>=VALUE label loses the key's unit suffix when the
+    value is printed with its own unit ("temperature_k=25.0 °C" -> "temperature=25.0 °C"), except on lines that echo method
+    arguments, whose keys are the names to type."""
+    if not text or not isinstance(text, str):
+        return text
+    text = _LONG_FLOAT.sub(lambda m: _g6(float(m.group(1))), text)
+    return ''.join(line if _ARG_LINE.search(line) else _UNIT_KEY.sub(lambda m: m.group(1) + m.group(2), line)
+                   for line in text.splitlines(keepends=True))
diff --git a/chemlab/chemlab/compile/verbs.py b/chemlab/chemlab/compile/verbs.py
new file mode 100644
index 0000000000000000000000000000000000000000..6a213f65ba93499fe28cefb8e458d41ca718299f
--- /dev/null
+++ b/chemlab/chemlab/compile/verbs.py
@@ -0,0 +1,182 @@
+"""Verb tables of the compile layer: a verb is a name, positionals and options (with quantity kinds for unit parsing), a
+one-line summary, the class-level preconditions it checks, the errors it may give, and its handler.
+
+    Verb('set-temp', 'set the temperature set point', h_set_temp,
+         positionals=[Arg('TEMP', 'set point, e.g. 80C', kind='temperature')],
+         options={'wait': Opt('then wait until the temperature is there', kind='flag')},
+         preconditions=['power on', 'set point within the instrument range'], errors=['OUT_OF_RANGE (usage)', 'POWER_OFF (refused)'],
+         reference='JULABO CORIO manual: setting the set point; IKA RCT manual: temperature setting')
+
+Values with a ``kind`` are parsed into SI by units.parse before the handler runs; ``choices`` are checked.  Every verb also takes
+--dry-run (check and plan, send nothing); --json and --request-id are handled by the generic service.
+"""
+from . import units
+from .errors import invalid
+
+
+class Arg:
+    def __init__(self, name, help, required=True, kind=None, choices=None):
+        self.name, self.help, self.required, self.kind, self.choices = name, help, required, kind, choices
+
+
+class Opt:
+    """kind: 'flag', 'value' (string), 'multi' (repeatable string) or a quantity kind ('temperature', 'duration', ...)."""
+
+    def __init__(self, help, kind='value', metavar=None, choices=None, required=False, default=None):
+        self.help, self.kind, self.choices, self.required, self.default = help, kind, choices, required, default
+        self.metavar = metavar or ('VALUE' if kind in ('value', 'multi') else kind.upper().split('_')[0] if kind != 'flag' else None)
+
+    @property
+    def quantity(self):
+        return self.kind not in ('flag', 'value', 'multi')
+
+
+def save_to_opt():
+    """The common --save-to FILE option: the full reply (JSON) goes to FILE in the work dir (records, spectra, results)."""
+    return Opt('also save the full record (JSON) to FILE in your work dir', metavar='FILE')
+
+
+TARGET_OPTS = {'zone': 'which zone (multi-zone devices, e.g. a heating block or reactor pad)',
+               'channel': 'which channel (pumps, gas lines, measuring channels)',
+               'cell': 'which measuring cell or chamber',
+               'head': 'which measuring head or dosing head'}
+
+
+def target_opt(kind, choices=None):
+    """--zone / --channel / --cell / --head: one convention for devices with several identical units; the member mapping's
+    "targets": {"zone": {"arg": NATIVE_ARG, "values": {"1": native, ...}}} lowers it (see COMPILE_GUIDE.md)."""
+    return Opt(TARGET_OPTS[kind], metavar=kind.upper(), choices=choices)
+
+
+class Verb:
+    def __init__(self, name, summary, handler=None, *, positionals=(), options=None, group='work', readonly=False, destructive=False,
+                 preconditions=(), errors=(), example=None, reference=None, details=None, long_action=False, variadic=None):
+        self.name, self.summary, self.handler = name, summary, handler
+        self.positionals = list(positionals)
+        self.options = dict(options or {})
+        self.group, self.readonly, self.destructive = group, readonly, destructive
+        self.preconditions, self.errors = list(preconditions), list(errors)
+        self.example, self.reference, self.details, self.long_action = example, reference, details, long_action
+        self.variadic = variadic                      # (NAME, help) for any number of trailing arguments, e.g. KEY=VALUE pairs
+
+    def kinds(self):
+        return sorted({a.kind for a in self.positionals if a.kind} | {o.kind for o in self.options.values() if o.quantity})
+
+    def usage(self, inst):
+        parts = ['chemlab run %s %s' % (inst, self.name)]
+        for a in self.positionals:
+            parts.append(a.name if a.required else '[%s]' % a.name)
+        if self.variadic:
+            parts.append('%s ...' % self.variadic[0])
+        for n, o in self.options.items():
+            s = '--%s' % n if o.kind == 'flag' else '--%s %s' % (n, o.metavar)
+            parts.append(s if o.required else '[%s]' % s)
+        if self.destructive:
+            parts.append('[--yes]')
+        return ' '.join(parts)
+
+    def help_text(self, inst, maps_to=None, notes=None):
+        lines = ['usage: ' + self.usage(inst), '', self.summary]
+        if self.details:
+            lines += ['', self.details]
+        if self.positionals:
+            lines += ['', 'arguments:'] + ['  %-14s %s%s' % (a.name, a.help, (' (one of: %s)' % ', '.join(map(str, a.choices))) if a.choices else '')
+                                           for a in self.positionals]
+        lines += ['', 'options:']
+        for n, o in self.options.items():
+            flag = '--%s' % n if o.kind == 'flag' else '--%s %s' % (n, o.metavar)
+            extra = (' (one of: %s)' % ', '.join(map(str, o.choices))) if o.choices else ''
+            lines.append('  %-24s %s%s' % (flag, o.help, extra))
+        lines += ['  %-24s %s' % ('--dry-run', 'check everything and show the plan; send nothing to the instrument'),
+                  '  %-24s %s' % ('--json', 'machine-readable output'),
+                  '  %-24s %s' % ('--request-id ID', 'your own request id; repeating it with the same command replays the reply')]
+        if self.destructive:
+            lines.append('  %-24s %s' % ('--yes', 'really do it (without --yes this verb only shows what it would do)'))
+        kinds = self.kinds()
+        if kinds:
+            lines += ['', 'units: ' + units.describe_kinds(kinds)]
+        if self.preconditions:
+            lines += ['', 'checked before anything is sent:'] + ['  - ' + p for p in self.preconditions]
+        if self.errors:
+            lines += ['', 'errors:'] + ['  - ' + e for e in self.errors]
+        if maps_to:
+            lines += ['', 'on %s this uses: %s' % (inst, ', '.join(maps_to))]
+        for n in notes or []:
+            lines.append('note: %s' % n)
+        if self.reference:
+            lines += ['manual: ' + self.reference]
+        if self.example:
+            lines += ['', 'example:', '  ' + self.example.replace('INST', inst)]
+        return '\n'.join(lines) + '\n'
+
+
+class Parsed:
+    """Parsed verb arguments: .pos (list), .opts (dict), .raw (dict of the typed text), .dry_run, .yes."""
+
+    def __init__(self):
+        self.pos, self.opts, self.raw, self.extra = [], {}, {}, []
+        self.dry_run = self.yes = False
+
+    def get(self, name, default=None):
+        return self.opts.get(name, default)
+
+
+def parse_args(verb, tokens, inst):
+    p = Parsed()
+    i = 0
+    raw_pos = []
+    while i < len(tokens):
+        t = tokens[i]
+        if t == '--dry-run':
+            p.dry_run = True
+        elif t == '--yes':
+            p.yes = True
+        elif t.startswith('--') and len(t) > 2:
+            name, eq, val = t[2:].partition('=')
+            o = verb.options.get(name)
+            if o is None:
+                known = ', '.join('--' + n for n in verb.options) or 'none'
+                raise invalid('UNKNOWN_OPTION', '%s does not take --%s.' % (verb.name, name),
+                              'options of %s: %s (see `chemlab help %s %s`).' % (verb.name, known, inst, verb.name))
+            if o.kind == 'flag':
+                if eq:
+                    raise invalid('BAD_OPTION', '--%s takes no value.' % name, 'write just --%s.' % name)
+                p.opts[name] = True
+            else:
+                if not eq:
+                    i += 1
+                    if i >= len(tokens):
+                        raise invalid('MISSING_VALUE', '--%s needs a value.' % name, 'write --%s %s.' % (name, o.metavar))
+                    val = tokens[i]
+                if o.choices and val not in [str(c) for c in o.choices]:
+                    raise invalid('BAD_CHOICE', '--%s %s is not allowed.' % (name, val), 'use one of: %s.' % ', '.join(map(str, o.choices)))
+                if o.kind == 'multi':
+                    p.opts.setdefault(name, []).append(val)
+                elif name in p.opts:
+                    raise invalid('REPEATED_OPTION', '--%s is given twice.' % name, 'give it once.')
+                else:
+                    p.raw[name] = val
+                    p.opts[name] = units.parse(val, o.kind, what='--' + name) if o.quantity else val
+        else:
+            raw_pos.append(t)
+        i += 1
+    req = [a for a in verb.positionals if a.required]
+    if len(raw_pos) < len(req):
+        raise invalid('MISSING_ARGUMENT', '%s needs %s.' % (verb.name, req[len(raw_pos)].name), 'usage: %s' % verb.usage(inst))
+    if len(raw_pos) > len(verb.positionals):
+        if not verb.variadic:
+            raise invalid('EXTRA_ARGUMENT', 'unexpected argument %r.' % raw_pos[len(verb.positionals)], 'usage: %s' % verb.usage(inst))
+        p.extra = raw_pos[len(verb.positionals):]
+        raw_pos = raw_pos[:len(verb.positionals)]
+    for a, text in zip(verb.positionals, raw_pos):
+        if a.choices and text.lower() not in [str(c).lower() for c in a.choices]:
+            raise invalid('BAD_CHOICE', '%s takes %s, not %r.' % (verb.name, ' or '.join(map(str, a.choices)), text),
+                          'usage: %s' % verb.usage(inst))
+        p.raw[a.name] = text
+        p.pos.append(units.parse(text, a.kind, what=a.name) if a.kind else (text.lower() if a.choices else text))
+    for n, o in verb.options.items():
+        if o.required and n not in p.opts:
+            raise invalid('MISSING_OPTION', '%s needs --%s.' % (verb.name, n), 'usage: %s' % verb.usage(inst))
+        if n not in p.opts and o.default is not None:
+            p.opts[n] = units.parse(o.default, o.kind) if o.quantity else o.default
+    return p
diff --git a/chemlab/chemlab/contract.py b/chemlab/chemlab/contract.py
new file mode 100644
index 0000000000000000000000000000000000000000..554b037299c4c9ee6878a49538cb7bedff255fb2
--- /dev/null
+++ b/chemlab/chemlab/contract.py
@@ -0,0 +1,115 @@
+"""What the core service takes from the asset contract: capabilities, their input schemas (types, ranges, enums, units),
+availability and visibility.  The verb table (flex_verbs.py) is checked against this at start-up, and every backend call is
+validated against the capability's input schema before it is sent.
+"""
+import json
+import math
+from pathlib import Path
+
+# Capabilities that exist but are not offered as verbs, with the reason given to an agent that asks for them.
+NOT_A_VERB = {
+    'panel.touch': 'touchscreen gesture path for robots/vision; every touchscreen function has its own verb',
+    'panel.switch': 'rear power rocker gesture; use `power on|off`',
+    'panel.capture': 'screen image for vision pipelines; not part of the command line',
+    'state.read': 'wrapped by `status`',
+    'files.download': 'needs a USB drive inserted by the operator (not in this pilot)',
+    'quick_transfer.create': 'touchscreen wizard with a fixed B2/C2/D2 layout; use `transfer`',
+    'run.lpc': 'Labware Position Check: an operator jogs the pipette and confirms the alignment by eye (not for agents in this pilot)',
+    'run.confirm_placements': 'operator confirmation on the touchscreen that labware is placed; not needed to start a run',
+    'run.close': 'touchscreen housekeeping after a run; a new run replaces a finished one',
+}
+
+
+class Capability:
+    def __init__(self, cid, spec):
+        self.id = cid
+        self.spec = spec
+        self.availability = spec.get('availability')
+        self.visibility = spec.get('visibility')
+        self.kind = spec.get('kind')
+        self.input_schema = spec.get('input_schema') or {'type': 'object', 'properties': {}}
+
+    @property
+    def agent_usable(self):
+        return self.availability == 'implemented' and self.visibility == 'agent'
+
+    def hidden_reason(self):
+        if self.availability != 'implemented':
+            return 'not supported by this instrument twin (%s)' % self.availability
+        if self.visibility != 'agent':
+            return '%s-only capability' % self.visibility
+        return NOT_A_VERB.get(self.id)
+
+
+class Contract:
+    def __init__(self, path):
+        self.path = Path(path)
+        data = json.loads(self.path.read_text())
+        self.asset_type_id = data['asset_type_id']
+        self.asset_version = data.get('asset_version')
+        self.capabilities = {cid: Capability(cid, spec) for cid, spec in data['capabilities'].items()}
+        self.state_slots = data['state_slots']
+
+    def agent_state_ids(self):
+        return sorted(sid for sid, s in self.state_slots.items() if s.get('visibility') == 'agent')
+
+    def hidden(self):
+        return {cid: c.hidden_reason() for cid, c in self.capabilities.items() if c.hidden_reason()}
+
+    def check(self, cid, args):
+        """Validate backend arguments against the contract.  Returns a list of problems (empty = valid)."""
+        cap = self.capabilities.get(cid)
+        if cap is None:
+            return ['capability %s is not in the contract' % cid]
+        if not cap.agent_usable:
+            return ['capability %s is %s' % (cid, cap.hidden_reason())]
+        return validate(cap.input_schema, args, cid)
+
+
+def _is_number(v):
+    return isinstance(v, (int, float)) and not isinstance(v, bool) and math.isfinite(v)
+
+
+def validate(schema, value, where='value'):
+    """A small JSON-schema subset: type, enum, const, minimum/maximum, min/maxLength, properties/required/
+    additionalProperties, items/minItems/maxItems, anyOf."""
+    problems = []
+    if 'anyOf' in schema:
+        if all(validate(s, value, where) for s in schema['anyOf']):
+            problems.append('%s does not match any allowed form' % where)
+        return problems
+    t = schema.get('type')
+    checks = {'object': lambda v: isinstance(v, dict), 'array': lambda v: isinstance(v, list), 'string': lambda v: isinstance(v, str),
+              'boolean': lambda v: isinstance(v, bool), 'number': _is_number,
+              'integer': lambda v: _is_number(v) and float(v).is_integer(), 'null': lambda v: v is None}
+    if t and not checks[t](value):
+        return ['%s must be %s' % (where, t)]
+    if 'enum' in schema and value not in schema['enum']:
+        problems.append('%s must be one of %s' % (where, ', '.join(map(str, schema['enum']))))
+    if 'const' in schema and value != schema['const']:
+        problems.append('%s must be %r' % (where, schema['const']))
+    if _is_number(value):
+        if 'minimum' in schema and value < schema['minimum']:
+            problems.append('%s is below the minimum %g' % (where, schema['minimum']))
+        if 'maximum' in schema and value > schema['maximum']:
+            problems.append('%s is above the maximum %g' % (where, schema['maximum']))
+    if isinstance(value, str):
+        if len(value) < schema.get('minLength', 0) or len(value) > schema.get('maxLength', 1 << 30):
+            problems.append('%s has the wrong length' % where)
+    if isinstance(value, dict) and t == 'object':
+        props = schema.get('properties', {})
+        for k in schema.get('required', []):
+            if k not in value:
+                problems.append('%s.%s is required' % (where, k))
+        if schema.get('additionalProperties') is False:
+            problems += ['%s.%s is not a known argument' % (where, k) for k in value if k not in props]
+        for k, v in value.items():
+            if k in props:
+                problems += validate(props[k], v, '%s.%s' % (where, k))
+    if isinstance(value, list) and t == 'array':
+        if len(value) < schema.get('minItems', 0) or len(value) > schema.get('maxItems', 1 << 30):
+            problems.append('%s has the wrong number of items' % where)
+        if 'items' in schema:
+            for n, v in enumerate(value):
+                problems += validate(schema['items'], v, '%s[%d]' % (where, n))
+    return problems
diff --git a/chemlab/chemlab/contract_text.py b/chemlab/chemlab/contract_text.py
new file mode 100644
index 0000000000000000000000000000000000000000..13df80b5fe2e67989eae2acc0e48c76997ed1962
--- /dev/null
+++ b/chemlab/chemlab/contract_text.py
@@ -0,0 +1,157 @@
+"""English help generated from the structure of an asset contract (ids, kinds, schemas, units, ranges, enums, preconditions,
+effects, errors, execution).  The contracts' prose is Chinese (function_zh, meaning_zh); it is shown as it is, labelled
+"(zh)", next to the generated English.  No manual text is used.
+"""
+import json
+import shlex
+
+KIND_EN = {'device_command': 'device command', 'configuration': 'configuration', 'query': 'query',
+           'robot_skill': 'physical action (hands or robot)', 'simulation': 'simulation set-up', 'analysis': 'data analysis'}
+ENUM_SHOW = 8
+
+
+def unit_of(schema):
+    u = schema.get('x-unit') if isinstance(schema, dict) else None
+    return None if u in (None, '', '1') else u
+
+
+def _types(schema):
+    t = schema.get('type')
+    if isinstance(t, list):
+        return t
+    if t:
+        return [t]
+    out = []
+    for key in ('anyOf', 'oneOf'):
+        for s in schema.get(key) or []:
+            out += _types(s)
+    return out
+
+
+def _num(v):
+    if isinstance(v, float) and v.is_integer() and abs(v) < 1e15:
+        return repr(v)
+    return json.dumps(v)
+
+
+def type_short(schema):
+    """Compact type for describe: NUM(K, 273.15..583.15), INT(0..10), BOOL, TEXT, {a|b|c}, JSON-LIST, JSON-OBJECT, A|null."""
+    if not isinstance(schema, dict):
+        return 'JSON'
+    for key in ('anyOf', 'oneOf'):
+        if schema.get(key):
+            parts = []
+            for s in schema[key]:
+                p = type_short(s)
+                if p not in parts:
+                    parts.append(p)
+            return '|'.join(parts)
+    t = schema.get('type')
+    if isinstance(t, list):
+        return '|'.join(type_short(dict(schema, type=x)) for x in t)
+    if 'const' in schema:
+        return json.dumps(schema['const'])
+    if 'enum' in schema:
+        vals = [str(v) if isinstance(v, str) else json.dumps(v) for v in schema['enum']]
+        if len(vals) > ENUM_SHOW:
+            return '{%s|...(%d)}' % ('|'.join(vals[:ENUM_SHOW - 2]), len(vals))
+        return '{%s}' % '|'.join(vals)
+    if t in ('number', 'integer'):
+        bits = []
+        u = unit_of(schema)
+        if u:
+            bits.append(u)
+        lo = schema.get('minimum', schema.get('exclusiveMinimum'))
+        hi = schema.get('maximum', schema.get('exclusiveMaximum'))
+        if lo is not None or hi is not None:
+            rng = '%s..%s' % ('' if lo is None else _num(lo), '' if hi is None else _num(hi))
+            if 'exclusiveMinimum' in schema:
+                rng = '>' + rng
+            bits.append(rng)
+        return ('NUM' if t == 'number' else 'INT') + ('(%s)' % ', '.join(bits) if bits else '')
+    if t == 'boolean':
+        return 'BOOL'
+    if t == 'string':
+        return 'TEXT'
+    if t == 'null':
+        return 'null'
+    if t == 'array':
+        return 'JSON-LIST'
+    if t == 'object':
+        return 'JSON-OBJECT'
+    return 'JSON'
+
+
+def type_long(schema, indent='    '):
+    """Lines describing a schema in full (nested objects and list items included)."""
+    lines = []
+    if not isinstance(schema, dict):
+        return [indent + 'any JSON value']
+    head = type_short(schema)
+    t = schema.get('type')
+    extra = []
+    if t == 'string':
+        if 'minLength' in schema or 'maxLength' in schema:
+            extra.append('length %s..%s' % (schema.get('minLength', 0), schema.get('maxLength', '')))
+        if 'pattern' in schema:
+            extra.append('pattern %s' % schema['pattern'])
+        if 'enum' in schema and len(schema['enum']) > ENUM_SHOW:
+            head = 'one of: ' + ', '.join(map(str, schema['enum']))
+    if t == 'array':
+        if 'minItems' in schema or 'maxItems' in schema:
+            extra.append('%s..%s items' % (schema.get('minItems', 0), schema.get('maxItems', '')))
+        if schema.get('uniqueItems'):
+            extra.append('unique')
+    if schema.get('x-reference-conditions'):
+        extra.append('reference conditions: %s' % json.dumps(schema['x-reference-conditions'], ensure_ascii=False))
+    if schema.get('description'):
+        extra.append(str(schema['description']))
+    lines.append(indent + head + (' - ' + '; '.join(extra) if extra else ''))
+    if t == 'array' and isinstance(schema.get('items'), dict):
+        lines.append(indent + 'each item:')
+        lines += type_long(schema['items'], indent + '  ')
+    if t == 'object' and schema.get('properties'):
+        req = set(schema.get('required') or [])
+        for k, s in schema['properties'].items():
+            lines.append('%s  %s%s:' % (indent, k, '' if k in req else ' (optional)'))
+            lines += type_long(s, indent + '    ')
+    return lines
+
+
+def arg_signature(input_schema):
+    """'--temperature_k NUM(K, 273.15..583.15) [--hold NUM(s)]' for describe."""
+    props = (input_schema or {}).get('properties') or {}
+    req = set((input_schema or {}).get('required') or [])
+    parts = []
+    for k, s in props.items():
+        p = '--%s %s' % (k, type_short(s))
+        parts.append(p if k in req else '[%s]' % p)
+    return ' '.join(parts) if parts else '(no arguments)'
+
+
+def value_text(v):
+    if isinstance(v, str):
+        return shlex.quote(v)
+    return shlex.quote(json.dumps(v, ensure_ascii=False))
+
+
+def example_call(inst_id, cap_id, example):
+    """Shell lines that call the capability with the contract's example arguments."""
+    ex = example if isinstance(example, dict) else {}
+    lines = []
+    if all(isinstance(v, (str, int, float, bool)) or v is None for v in ex.values()):
+        lines.append(' '.join(['chemlab call', inst_id, cap_id] + ['--%s %s' % (k, value_text(v)) for k, v in ex.items()]))
+    lines.append('chemlab call %s %s --args %s' % (inst_id, cap_id, shlex.quote(json.dumps(ex, ensure_ascii=False))))
+    return lines
+
+
+def summary_en(cap):
+    """One line of English from the structure: kind, execution, what it changes."""
+    kind = KIND_EN.get(cap.get('kind'), cap.get('kind') or 'capability')
+    ex = cap.get('execution') or {}
+    bits = [kind]
+    if ex.get('mode') and ex.get('mode') != 'synchronous':
+        bits.append('%s, returns an operation id' % ex['mode'])
+    if ex.get('cancellation') not in (None, 'unsupported'):
+        bits.append('cancellable')
+    return ', '.join(bits)
diff --git a/chemlab/chemlab/core.py b/chemlab/chemlab/core.py
new file mode 100644
index 0000000000000000000000000000000000000000..2be1270ae7ae190f13ac52984c53a4b03a021f60
--- /dev/null
+++ b/chemlab/chemlab/core.py
@@ -0,0 +1,468 @@
+"""Layer 2 - the core service, the gate.  Every agent request passes here; the shell (CLI) only carries text.
+
+Generic part (this module): command-line parsing, request ids and replay, the per-instrument lease lock, the append-only
+log, dry-run, read-back after every backend call, contract validation of every backend call, error formatting and exit
+codes, the agent/evaluator split (the core only ever uses the caller's agent principal).  Instrument part: a verb table
+(flex_verbs.py) registered as an Instrument adapter.
+"""
+import copy
+import datetime
+import json
+import re
+import threading
+import time
+
+from .contract import Contract
+from .errors import (EXIT_OK, ChemlabError, DefinedExecutionError, UndefinedExecutionError, ValidationError)
+
+REQUEST_ID_RE = re.compile(r'^[A-Za-z0-9._-]{1,64}$')
+GLOBAL_FLAGS = {'--json': 'json', '--dry-run': 'dry_run', '--yes': 'yes', '--force': 'force', '--help': 'help', '-h': 'help'}
+
+
+class Reply:
+    def __init__(self, exit_code=0, out='', err=''):
+        self.exit_code, self.out, self.err = exit_code, out, err
+
+
+class Opt:
+    """A verb option: kind 'value' (--name VALUE), 'multi' (repeatable value) or 'flag'."""
+
+    def __init__(self, help, kind='value', metavar='VALUE', choices=None, required=False):
+        self.help, self.kind, self.metavar, self.choices, self.required = help, kind, metavar, choices, required
+
+
+class Verb:
+    def __init__(self, name, group, summary, handler, *, positionals=(), options=None, maps_to=(), readonly=False,
+                 destructive=False, preconditions=(), errors=(), example=None, reference=None, details=None):
+        self.name, self.group, self.summary, self.handler = name, group, summary, handler
+        self.positionals = list(positionals)          # [(name, help, required)]
+        self.options = dict(options or {})
+        self.maps_to, self.readonly, self.destructive = list(maps_to), readonly, destructive
+        self.preconditions, self.errors = list(preconditions), list(errors)
+        self.example, self.reference, self.details = example, reference, details
+
+    def usage(self, instrument):
+        parts = ['chemlab run %s %s' % (instrument, self.name)]
+        for name, _, required in self.positionals:
+            parts.append(name if required else '[%s]' % name)
+        for name, o in self.options.items():
+            s = '--%s' % name if o.kind == 'flag' else '--%s %s' % (name, o.metavar)
+            parts.append(s if o.required else '[%s]' % s)
+        if self.destructive:
+            parts.append('[--yes]')
+        return ' '.join(parts)
+
+    def help_text(self, instrument):
+        lines = ['usage: ' + self.usage(instrument), '', self.summary]
+        if self.details:
+            lines += ['', self.details]
+        if self.positionals:
+            lines += ['', 'arguments:'] + ['  %-14s %s' % (n, h) for n, h, _ in self.positionals]
+        if self.options:
+            lines += ['', 'options:']
+            for n, o in self.options.items():
+                flag = '--%s' % n if o.kind == 'flag' else '--%s %s' % (n, o.metavar)
+                extra = (' (one of: %s)' % ', '.join(map(str, o.choices))) if o.choices else ''
+                lines.append('  %-24s %s%s' % (flag, o.help, extra))
+        lines += ['  %-24s %s' % ('--dry-run', 'check everything and show the plan; send nothing to the instrument'),
+                  '  %-24s %s' % ('--json', 'machine-readable output'),
+                  '  %-24s %s' % ('--request-id ID', 'your own request id; repeating it with the same command replays the reply')]
+        if self.destructive:
+            lines.append('  %-24s %s' % ('--yes', 'really do it (without --yes this verb only shows what it would do)'))
+        if self.preconditions:
+            lines += ['', 'checked before anything is sent:'] + ['  - ' + p for p in self.preconditions]
+        if self.errors:
+            lines += ['', 'errors:'] + ['  - ' + e for e in self.errors]
+        if self.maps_to:
+            lines += ['', 'instrument capabilities used: ' + ', '.join(self.maps_to)]
+        if self.reference:
+            lines += ['manual: ' + self.reference]
+        if self.example:
+            lines += ['', 'example:', '  ' + self.example]
+        return '\n'.join(lines) + '\n'
+
+
+def parse_verb_args(verb, tokens):
+    """-> (positionals list, options dict).  Raises ValidationError."""
+    pos, opts = [], {}
+    i = 0
+    while i < len(tokens):
+        t = tokens[i]
+        if t.startswith('--') and len(t) > 2:
+            name, eq, val = t[2:].partition('=')
+            o = verb.options.get(name)
+            if o is None:
+                known = ', '.join('--' + n for n in verb.options) or 'none'
+                raise ValidationError('UNKNOWN_OPTION', '%s does not take --%s.' % (verb.name, name),
+                                      'options of %s: %s (see `chemlab help flex %s`).' % (verb.name, known, verb.name))
+            if o.kind == 'flag':
+                if eq:
+                    raise ValidationError('BAD_OPTION', '--%s takes no value.' % name, 'write just --%s.' % name)
+                opts[name] = True
+            else:
+                if not eq:
+                    i += 1
+                    if i >= len(tokens):
+                        raise ValidationError('MISSING_VALUE', '--%s needs a value.' % name, 'write --%s %s.' % (name, o.metavar))
+                    val = tokens[i]
+                if o.choices and val not in [str(c) for c in o.choices]:
+                    raise ValidationError('BAD_CHOICE', '--%s %s is not allowed.' % (name, val),
+                                          'use one of: %s.' % ', '.join(map(str, o.choices)))
+                if o.kind == 'multi':
+                    opts.setdefault(name, []).append(val)
+                elif name in opts:
+                    raise ValidationError('REPEATED_OPTION', '--%s is given twice.' % name, 'give it once.')
+                else:
+                    opts[name] = val
+        else:
+            pos.append(t)
+        i += 1
+    required_pos = [n for n, _, r in verb.positionals if r]
+    if len(pos) < len(required_pos):
+        missing = required_pos[len(pos)]
+        raise ValidationError('MISSING_ARGUMENT', '%s needs %s.' % (verb.name, missing), 'usage: %s' % verb.usage('flex'))
+    if len(pos) > len(verb.positionals):
+        raise ValidationError('EXTRA_ARGUMENT', 'unexpected argument %r.' % pos[len(verb.positionals)], 'usage: %s' % verb.usage('flex'))
+    for n, o in verb.options.items():
+        if o.required and n not in opts:
+            raise ValidationError('MISSING_OPTION', '%s needs --%s.' % (verb.name, n), 'usage: %s' % verb.usage('flex'))
+    return pos, opts
+
+
+class InstrumentLock:
+    """One lease per instrument: the caller that changes it holds it until idle for lease_s (or while its job runs)."""
+
+    def __init__(self, lease_s):
+        self.lease_s = lease_s
+        self.holder, self.last = None, 0.0
+
+    def acquire(self, caller, has_active_job):
+        now = time.monotonic()
+        if self.holder not in (None, caller) and (now - self.last < self.lease_s or has_active_job(self.holder)):
+            raise DefinedExecutionError('LOCKED', 'the instrument is in use by %r (last command %.0f s ago).' % (self.holder, now - self.last),
+                                        'wait until it is released (after %.0f s without commands and with no running job), then retry.'
+                                        % self.lease_s, detail={'holder': self.holder})
+        self.holder, self.last = caller, now
+
+    def view(self, caller):
+        if self.holder is None or (time.monotonic() - self.last >= self.lease_s):
+            return 'free'
+        return 'held by you' if self.holder == caller else 'held by %r' % self.holder
+
+
+class AppendLog:
+    """Append-only JSON-lines log of every request: command, backend calls, outcome and the full reply text."""
+
+    def __init__(self, path):
+        self.path = path
+        self._lock = threading.Lock()
+        self.entries = []
+
+    def append(self, entry):
+        with self._lock:
+            self.entries.append(entry)
+            if self.path:
+                with open(self.path, 'a', encoding='utf-8') as f:
+                    f.write(json.dumps(entry, ensure_ascii=False) + '\n')
+
+
+class Ctx:
+    """One request: the caller's agent view of the instrument, backend calls with contract validation and read-back,
+    the dry-run shadow, and the list of completed steps for error reports."""
+
+    def __init__(self, core, instrument, caller, request_id, flags):
+        self.core, self.inst, self.caller, self.request_id = core, instrument, caller, request_id
+        self.dry_run = bool(flags.get('dry_run'))
+        self.flags = flags
+        self.calls, self.plan, self.done, self.notes = [], [], [], []
+        self.changed = False
+        self._n = 0
+        self.view = None
+        self.shadow = instrument.new_shadow() if self.dry_run else None
+        core.register_caller(caller)
+        self.refresh()
+
+    def refresh(self):
+        if self.dry_run and self.view is not None:
+            return self.view
+        r = self.core.backend.read(self.caller)
+        if r.get('status') != 'succeeded':
+            raise UndefinedExecutionError('READ_FAILED', 'reading the instrument state failed (%s).' % (r.get('error') or {}).get('code'),
+                                          'retry; if it persists the service needs attention.', changed='unknown')
+        self.view = {sid: o['value'] for sid, o in r['observations'].items()}
+        self.view['_time_s'] = r['clock']['time_s']
+        return self.view
+
+    def call(self, cid, args, step, *, refusal=None, readback=None):
+        """Send one capability call.  step: human text for reports.  refusal(response) -> ChemlabError for a refused call.
+        readback(view) -> problem text or None."""
+        problems = self.core.contract.check(cid, args)
+        if problems:
+            raise UndefinedExecutionError('GATE_BUILT_INVALID_CALL', 'the gate built an invalid %s call: %s.' % (cid, '; '.join(problems)),
+                                          'report this; nothing was sent.', changed='yes' if self.changed else 'no', done=self.done)
+        if self.dry_run:
+            self.plan.append({'capability': cid, 'arguments': args, 'step': step})
+            self.inst.apply_shadow(self, cid, args)
+            return {'status': 'succeeded', 'result': {}}
+        self._n += 1
+        rid = '%s.%d' % (self.request_id, self._n)
+        response = self.core.backend.invoke(self.caller, cid, args, rid)
+        status = response.get('status')
+        err = response.get('error') or {}
+        self.calls.append({'capability': cid, 'arguments': args, 'request_id': rid, 'status': status, 'code': err.get('code')})
+        if status != 'succeeded':
+            backend = {'capability': cid, 'status': status, 'code': err.get('code'), 'message': err.get('message')}
+            changed = 'unknown' if err.get('side_effects') == 'unknown' else ('yes' if self.changed else 'no')
+            exc = refusal(response) if refusal else None
+            if exc is None:
+                exc = self.inst.default_refusal(self, cid, response)
+            exc.backend, exc.done = backend, list(self.done)
+            exc.changed = changed if exc.changed == 'no' else exc.changed
+            raise exc
+        self.changed = True
+        self.done.append(step)
+        self.refresh()
+        problem = readback(self.view) if readback else None
+        if problem:
+            raise UndefinedExecutionError('READBACK_MISMATCH', 'after %s the instrument reports %s.' % (step, problem),
+                                          'check `chemlab status flex`; the instrument state is not what the command should have produced.',
+                                          changed='unknown', done=self.done)
+        return response
+
+
+class CoreService:
+    def __init__(self, backend, instrument_factory, *, log_path=None, lease_s=120.0):
+        self.backend = backend
+        self.contract = Contract(backend.contract_path)
+        self.inst = instrument_factory(self)
+        self.inst.check_against_contract()
+        self.lock = InstrumentLock(lease_s)
+        self.log = AppendLog(log_path)
+        self._mutex = threading.RLock()
+        self._replies = {}
+        self._seq = 0
+
+    # ---------------------------------------------------------------- entry point
+    RESERVED_CALLERS = ('scene', 'evaluator')
+
+    def register_caller(self, caller):
+        if caller in self.RESERVED_CALLERS:
+            raise ValueError('reserved principal %r cannot be a caller' % caller)
+        self.backend.register_principal(caller, 'agent')
+
+    def handle(self, argv, caller):
+        self.register_caller(caller)
+        with self._mutex:
+            self._seq += 1
+            seq = self._seq
+            tokens = list(argv[1:])
+            flags, rest, rid_given = {'json': '--json' in tokens}, [], None
+            try:
+                i = 0
+                while i < len(tokens):
+                    t = tokens[i]
+                    if t in GLOBAL_FLAGS:
+                        flags[GLOBAL_FLAGS[t]] = True
+                    elif t == '--request-id' or t.startswith('--request-id='):
+                        if '=' in t:
+                            rid_given = t.split('=', 1)[1]
+                        else:
+                            i += 1
+                            rid_given = tokens[i] if i < len(tokens) else ''
+                        if not REQUEST_ID_RE.match(rid_given or ''):
+                            raise ValidationError('BAD_REQUEST_ID', 'request id %r is not allowed.' % rid_given,
+                                                  'use 1-64 letters, digits, ".", "_" or "-".')
+                    else:
+                        rest.append(t)
+                    i += 1
+            except ValidationError as exc:
+                return self._finish(seq, caller, argv, 'r-%04d' % seq, flags, None, exc)
+            request_id = rid_given or 'r-%04d' % seq
+            key = (caller, request_id)
+            fingerprint = json.dumps(argv)
+            if rid_given and key in self._replies:
+                prev_fp, prev = self._replies[key]
+                if prev_fp == fingerprint:
+                    note = '(replayed reply of request %s; nothing was sent again)\n' % request_id
+                    reply = Reply(prev.exit_code, prev.out, prev.err + ('' if flags.get('json') else note))
+                    self.log.append({'seq': seq, 'wall_time': _now_iso(), 'sim_time_s': self.backend.now(), 'caller': caller,
+                                     'request_id': request_id, 'argv': list(argv), 'replayed': True, 'exit': reply.exit_code,
+                                     'stdout': reply.out, 'stderr': reply.err, 'backend_calls': []})
+                    return reply
+                exc = ValidationError('REQUEST_ID_REUSED', 'request id %s was already used for a different command.' % request_id,
+                                      'use a new request id (or none: the service makes one).')
+                return self._finish(seq, caller, argv, request_id, flags, None, exc)
+            ctx = None
+            try:
+                result, ctx = self._dispatch(rest, caller, request_id, flags)
+                reply = self._finish(seq, caller, argv, request_id, flags, ctx, None, result)
+            except ChemlabError as exc:
+                reply = self._finish(seq, caller, argv, request_id, flags, getattr(exc, 'ctx', ctx), exc)
+            except Exception as exc:                                        # never crash the service
+                wrapped = UndefinedExecutionError('INTERNAL', 'the service hit an unexpected problem (%s: %s).' % (type(exc).__name__, exc),
+                                                  'check `chemlab status flex` before going on; report this.', changed='unknown')
+                reply = self._finish(seq, caller, argv, request_id, flags, ctx, wrapped)
+            if rid_given:
+                self._replies[key] = (fingerprint, reply)
+            return reply
+
+    # ---------------------------------------------------------------- dispatch
+    def _dispatch(self, rest, caller, request_id, flags):
+        inst = self.inst
+        if not rest or rest[0] == 'help' and len(rest) == 1:
+            return {'text': overview_text(inst)}, None
+        cmd, args = rest[0], rest[1:]
+        if cmd in ('help',):
+            return {'text': inst.help(args)}, None
+        if flags.get('help'):
+            if cmd == 'run' and len(args) >= 2:
+                return {'text': inst.help(args[1:2])}, None
+            return {'text': overview_text(inst)}, None
+        if cmd == 'describe':
+            if args and args[0] not in ('--all',) and args[0] != inst.name:
+                raise ValidationError('UNKNOWN_INSTRUMENT', 'no instrument %r here.' % args[0], 'instruments: %s.' % inst.name)
+            if not args:
+                return {'text': 'instruments:\n  %-6s %s\n\nnext: chemlab describe %s\n' % (inst.name, inst.title, inst.name),
+                        'json': {'instruments': [{'name': inst.name, 'title': inst.title}]}}, None
+            return inst.describe(show_all='--all' in args), None
+        if cmd == 'log':
+            return self._log_view(caller, args), None
+        if cmd == 'status':
+            target = args[0] if args else inst.name
+            ctx = Ctx(self, inst, caller, request_id, flags)
+            if target == inst.name:
+                return inst.status(ctx), ctx
+            return inst.job_status(ctx, target), ctx
+        if cmd == 'cancel':
+            if len(args) != 1:
+                raise ValidationError('MISSING_ARGUMENT', 'cancel needs a job id.', 'usage: chemlab cancel JOB (see `chemlab status flex`).')
+            return self._run_verb(caller, request_id, flags, 'cancel', args)
+        if cmd == 'run':
+            if not args:
+                raise ValidationError('MISSING_ARGUMENT', 'run needs an instrument and a verb.', 'usage: chemlab run flex VERB ...')
+            if args[0] != inst.name:
+                raise ValidationError('UNKNOWN_INSTRUMENT', 'no instrument %r here.' % args[0], 'instruments: %s.' % inst.name)
+            if len(args) < 2:
+                raise ValidationError('MISSING_ARGUMENT', 'which verb?', 'see `chemlab describe flex`.')
+            return self._run_verb(caller, request_id, flags, args[1], args[2:])
+        raise ValidationError('UNKNOWN_COMMAND', 'unknown command %r.' % cmd,
+                              'commands: describe, help, run, status, cancel, log (see `chemlab --help`).')
+
+    def _run_verb(self, caller, request_id, flags, name, tokens):
+        inst = self.inst
+        verb = inst.verbs.get(name)
+        if verb is None:
+            raise inst.unknown_verb(name)
+        if flags.get('help'):
+            return {'text': verb.help_text(inst.name)}, None
+        pos, opts = parse_verb_args(verb, tokens)
+        if verb.destructive and not flags.get('yes'):
+            flags = dict(flags, dry_run=True, destructive_preview=True)
+        if not verb.readonly and not flags.get('dry_run'):
+            self.lock.acquire(caller, inst.has_active_job)
+        ctx = Ctx(self, inst, caller, request_id, flags)
+        try:
+            result = verb.handler(ctx, pos, opts)
+        except ChemlabError as exc:
+            exc.ctx = ctx
+            if not exc.done:
+                exc.done = list(ctx.done)
+            if exc.changed == 'no' and ctx.changed:
+                exc.changed = 'yes'
+            raise
+        except Exception as exc:                                            # a gate bug: report what was already done
+            wrapped = UndefinedExecutionError('INTERNAL', 'the service hit an unexpected problem (%s: %s).' % (type(exc).__name__, exc),
+                                              'check `chemlab status flex` before going on; report this.',
+                                              changed='unknown' if ctx.changed else 'no', done=ctx.done)
+            wrapped.ctx = ctx
+            raise wrapped
+        return result, ctx
+
+    def _log_view(self, caller, args):
+        last = 20
+        if args[:1] == ['--last'] and len(args) == 2 and args[1].isdigit():
+            last = int(args[1])
+        elif args:
+            raise ValidationError('BAD_OPTION', 'log takes only --last N.', 'usage: chemlab log [--last N]')
+        mine = [e for e in self.log.entries if e['caller'] == caller][-last:]
+        lines = []
+        for e in mine:
+            outcome = 'ok' if e['exit'] == 0 else '%s (exit %d)' % (e.get('outcome'), e['exit'])
+            lines.append('%-8s t=%7.1fs  %-60s -> %s%s' % (e['request_id'], e['sim_time_s'], ' '.join(e['argv'])[:60], outcome,
+                                                          ' [dry-run]' if e.get('dry_run') else ''))
+        public = [{k: e.get(k) for k in ('request_id', 'wall_time', 'sim_time_s', 'argv', 'exit', 'outcome', 'dry_run', 'instrument_changed')}
+                  for e in mine]
+        return {'text': ('\n'.join(lines) + '\n') if lines else 'no requests yet\n', 'json': {'entries': public}}
+
+    # ---------------------------------------------------------------- output
+    def _finish(self, seq, caller, argv, request_id, flags, ctx, exc, result=None):
+        as_json = flags.get('json')
+        dry = bool(ctx and ctx.dry_run)
+        if exc is None:
+            exit_code = EXIT_OK
+            if as_json:
+                payload = {'ok': True, 'request_id': request_id, 'dry_run': dry}
+                payload.update(result.get('json') or {})
+                if ctx and dry:
+                    payload['plan'] = [p['step'] for p in ctx.plan]
+                    payload['backend_calls'] = [{'capability': p['capability'], 'arguments': p['arguments']} for p in ctx.plan]
+                if ctx and ctx.notes:
+                    payload['notes'] = ctx.notes
+                out, err = json.dumps(payload, ensure_ascii=False, indent=1) + '\n', ''
+            else:
+                text = result.get('text', '')
+                if ctx and dry:
+                    text = dry_run_text(ctx, result, ctx.flags.get('destructive_preview'))
+                elif ctx and ctx.notes:
+                    text += ''.join('note: %s\n' % n for n in ctx.notes)
+                out, err = text, ''
+            outcome, changed = 'ok', ('no' if dry or not ctx else ('yes' if ctx.changed else 'no'))
+        else:
+            exit_code = exc.exit_code
+            if as_json:
+                out, err = json.dumps({'ok': False, 'request_id': request_id, 'dry_run': dry, 'error': exc.to_json()},
+                                      ensure_ascii=False, indent=1) + '\n', ''
+            else:
+                out, err = '', exc.to_text(request_id)
+            outcome, changed = '%s/%s' % (exc.kind, exc.code), exc.changed
+        self.log.append({'seq': seq, 'wall_time': _now_iso(), 'sim_time_s': self.backend.now(), 'caller': caller, 'request_id': request_id,
+                         'argv': list(argv), 'dry_run': dry, 'exit': exit_code, 'outcome': outcome, 'instrument_changed': changed,
+                         'backend_calls': copy.deepcopy(ctx.calls) if ctx else [], 'plan': copy.deepcopy(ctx.plan) if ctx and dry else [],
+                         'stdout': out, 'stderr': err})
+        return Reply(exit_code, out, err)
+
+
+def dry_run_text(ctx, result, destructive_preview=False):
+    head = 'dry-run (nothing was sent to the instrument)' if not destructive_preview else \
+        'not done: this verb changes or deletes things that cannot be restored; add --yes to do it. It would:'
+    lines = [head + (':' if not destructive_preview else '')]
+    for n, p in enumerate(ctx.plan, 1):
+        lines.append('  %d. %s' % (n, p['step']))
+    if not ctx.plan:
+        lines.append('  (no instrument calls)')
+    checks = result.get('checks') or []
+    if checks:
+        lines.append('checks passed: ' + '; '.join(checks))
+    unchecked = result.get('unchecked') or []
+    if unchecked:
+        lines.append('checked only when it runs: ' + '; '.join(unchecked))
+    return '\n'.join(lines) + '\n'
+
+
+def overview_text(inst):
+    return ('chemlab - command line for lab instruments (this shell: %s)\n\n'
+            'usage:\n'
+            '  chemlab describe [%s] [--all]      what the instrument can do (verbs, units, locations)\n'
+            '  chemlab help %s [VERB|admin]       help for one verb, or the maintenance/admin verbs\n'
+            '  chemlab run %s VERB [ARGS]         run a verb (add --help to any verb)\n'
+            '  chemlab status [%s|JOB]            instrument state, or a job\'s progress\n'
+            '  chemlab cancel JOB                  stop a job\n'
+            '  chemlab log [--last N]              your past requests\n\n'
+            'global options: --json  --dry-run  --request-id ID  --help\n'
+            'exit codes: 0 ok, 2 invalid request (nothing sent), 3 instrument refused (documented reason), '
+            '4 unexpected error, 5 service unreachable\n'
+            % (inst.name, inst.name, inst.name, inst.name, inst.name))
+
+
+def _now_iso():
+    return datetime.datetime.now().isoformat(timespec='milliseconds')
diff --git a/chemlab/chemlab/default_world.py b/chemlab/chemlab/default_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..0430dad116672b8fc24a861acdc5d6383a3e8a72
--- /dev/null
+++ b/chemlab/chemlab/default_world.py
@@ -0,0 +1,3264 @@
+"""The default lab: what a well-run lab has ready at the start of a working day, per instrument - utilities
+connected, standard accessories installed, consumables stocked, check standards and reference materials in place - so that
+every instrument can run its main workflow from the default lab (configs/all203.json, built by chemlab/make_config.py).
+
+GENERATED by chemlab/default_world_gen.py from the class worlds (lab-config worlds and, recorded as steps, the worlds
+written as functions); the hand-written additions are in chemlab/default_world_overrides.py.  Each instrument:
+    {"setup": [steps], "entry": {extra lab-config keys: scene, deck, ...}, "from": the class world it comes from}
+Steps are lab-config set-up steps tagged "default": GROUP (utility | accessory | consumable | standard | state); a task world can
+drop a group with {"replace_default": [GROUP]} or all of them with "default_world": false (labbackend._setup_steps).  Values come
+from the asset contracts' example arguments (the documented typical set-up of each asset), the asset template libraries the
+runtimes cite, the class packages' lab set-ups (their evidence strings are kept), and the manual pages named in "why".
+Unknown samples, faults and odd states are not here: they stay in the task worlds.
+"""
+
+DEFAULTS = {'agilent_1260infinity': {'setup': [{'capability': 'supply.configure',
+                                     'arguments': 'contract_example',
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'utility'},
+                                    {'capability': 'solvent.configure',
+                                     'arguments': 'contract_example',
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'state'},
+                                    {'capability': 'mct_door.set',
+                                     'arguments': {'angle_rad': 1.5},
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'state'},
+                                    {'capability': 'column.install',
+                                     'arguments': 'contract_example',
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'accessory'},
+                                    {'capability': 'mct_door.set',
+                                     'arguments': {'angle_rad': 0.0},
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'standard'},
+                                    {'capability': 'drawer_1.set',
+                                     'arguments': {'position_m': 0.3},
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'standard'},
+                                    {'capability': 'sample.register_vial',
+                                     'arguments': 'contract_example',
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'standard'},
+                                    {'capability': 'drawer_1.set',
+                                     'arguments': {'position_m': 0.0},
+                                     'evaluator': True,
+                                     'at': 'start',
+                                     'default': 'standard'},
+                                    {'capability': 'power.set', 'arguments': {'enabled': True}, 'at': 'start', 'default': 'utility'},
+                                    {'advance_s': 900.0, 'at': 'start', 'default': 'state'}],
+                          'entry': {},
+                          'from': 'chromatography world'},
+ 'agilent_1290infinity': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                    {'capability': 'method.configure', 'arguments': 'contract_example', 'default': 'standard'},
+                                    {'capability': 'drawer.set', 'arguments': {'position_m': 0.2}, 'default': 'standard'},
+                                    {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                    {'capability': 'drawer.set', 'arguments': {'position_m': 0.0}, 'default': 'standard'}],
+                          'entry': {},
+                          'from': 'chromatography world'},
+ 'agilent_gc8890b': {'setup': [{'host': 'set_gas_supply',
+                                'kwargs': {'carrier': True, 'hydrogen': True, 'air': True, 'makeup': True},
+                                'at': 'start',
+                                'default': 'utility'},
+                               {'host': 'register_sample', 'kwargs': {'sample_id': 'mix1'}, 'default': 'standard'}],
+                     'entry': {},
+                     'from': 'chromatography world'},
+ 'agilent_hplc1260': {'setup': [{'host': 'register_sample', 'kwargs': {'sample_id': 'mix1'}, 'at': 'start', 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'chromatography world'},
+ 'agilent_hs8697': {'setup': [{'host': 'set_ambient_temperature', 'kwargs': {'temperature_K': 293.15}, 'default': 'utility'},
+                              {'host': 'register_sample', 'kwargs': {'sample_id': 'v1', 'volume_m3': 2e-05}, 'default': 'standard'},
+                              {'host': 'register_sample', 'kwargs': {'sample_id': 'v2', 'volume_m3': 2e-05}, 'default': 'standard'},
+                              {'host': 'register_sample', 'kwargs': {'sample_id': 'v3', 'volume_m3': 2e-05}, 'default': 'standard'},
+                              {'host': 'register_sample', 'kwargs': {'sample_id': 'v4', 'volume_m3': 2e-05}, 'default': 'standard'},
+                              {'host': 'register_gc', 'kwargs': {'gc_instance_id': 'gc_01'}, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'sample_intro world'},
+ 'alicat_mc_1slpm_rev6': {'setup': [{'host': 'host_configure_dynamics',
+                                     'kwargs': {'instance_id': 'alicat_mc_1slpm_rev6',
+                                                'time_constant_s': 0.5,
+                                                'evidence': 'task world: engineering response time of the MC control loop'},
+                                     'at': 'start',
+                                     'default': 'utility'},
+                                    {'host': 'host_connect_ports',
+                                     'kwargs': {'instance_id': 'alicat_mc_1slpm_rev6',
+                                                'upstream_node_id': 'n2_cylinder_regulator',
+                                                'downstream_node_id': 'reactor_inlet'},
+                                     'at': 'start',
+                                     'default': 'utility'},
+                                    {'host': 'host_set_boundary',
+                                     'kwargs': {'instance_id': 'alicat_mc_1slpm_rev6',
+                                                'upstream_pressure_Pa': 300000.0,
+                                                'downstream_pressure_Pa': 101325.0,
+                                                'temperature_K': 298.15,
+                                                'equilibrium': True,
+                                                'no_flow': True},
+                                     'at': 'start',
+                                     'default': 'utility'}],
+                          'entry': {'scene': 'chemlab.compile.scenes.alicat:AlicatScene'},
+                          'from': 'gas_fluid world'},
+ 'ametek_oxtran': {'setup': [{'capability': 'gas.configure',
+                              'arguments': {'carrier_h2_fraction': 0.02,
+                                            'carrier_o2_impurity_fraction': 2e-06,
+                                            'carrier_supply_gauge_pa': 172400.0,
+                                            'test_o2_fraction': 0.999,
+                                            'test_supply_gauge_pa': 172400.0,
+                                            'accept_gas_supply': True},
+                              'evaluator': True,
+                              'default': 'utility'},
+                             {'capability': 'drawer.move', 'arguments': {'cell': 'A', 'open': True}, 'evaluator': True, 'default': 'standard'},
+                             {'advance_s': 3.0, 'default': 'standard'},
+                             {'capability': 'sample.mount',
+                              'arguments': {'cell': 'A',
+                                            'template_id': 'poly_ethylene_terephthalate',
+                                            'thickness_m': 0.0001,
+                                            'exposed_area_m2': 0.005,
+                                            'permeability_override_mol_m_per_m2_s_pa': None,
+                                            'diffusivity_override_m2_s': None,
+                                            'permeability_activation_energy_j_mol': 45000.0,
+                                            'diffusivity_activation_energy_j_mol': 45000.0,
+                                            'humidity_coefficient': None,
+                                            'accept_transport_assumptions': True},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'drawer.move', 'arguments': {'cell': 'A', 'open': False}, 'evaluator': True, 'default': 'standard'},
+                             {'advance_s': 3.0, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'particle_surface world oxtran(): test gases connected, film mounted in cell A'},
+ 'antonpaar_abbematadvanced': {'setup': [{'capability': 'lid.set_angle', 'arguments': {'angle_rad': 1.5707963267948966}, 'default': 'standard'},
+                                         {'capability': 'sample.configure',
+                                          'arguments': {'volume_fractions': {'ethanol': 1.0},
+                                                        'volume_m3': 1e-07,
+                                                        'matrix_id': 'ethanol',
+                                                        'contamination_fraction': 0.0},
+                                          'evaluator': True,
+                                          'default': 'standard'},
+                                         {'capability': 'lid.set_angle', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'}],
+                               'entry': {},
+                               'from': 'property_meter world'},
+ 'antonpaar_autosorb6100': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                      {'capability': 'guard.set', 'arguments': {'angle_rad': 1.5}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample0.set', 'arguments': {'drop_m': 0.18}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'station': 0,
+                                                     'sample_id': 'sample_0',
+                                                     'reference_id': 'NIST-MATDB-6dace77b3b8fb4e96269941e6971a912',
+                                                     'true_dry_mass_kg': 0.0001,
+                                                     'predegassed': True,
+                                                     'accept_branch_and_equilibrium_transfer': True},
+                                       'evaluator': True,
+                                       'default': 'standard'},
+                                      {'capability': 'coolant.fill', 'arguments': {'volume_m3': 0.003}, 'evaluator': True, 'default': 'utility'}],
+                            'entry': {},
+                            'from': 'particle_surface world autosorb(): degassed check sample tube on station 1, LN2 dewar filled'},
+ 'antonpaar_dma5002': {'setup': [{'capability': 'sample.configure',
+                                  'arguments': {'substance_id': 'ethanol', 'volume_m3': 2e-06, 'bubble_fraction': 0.0, 'contamination_fraction': 0.0},
+                                  'evaluator': True,
+                                  'default': 'standard'}],
+                       'entry': {},
+                       'from': 'property_meter world'},
+ 'antonpaar_hit300': {'setup': [{'capability': 'specimen.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'mechanical world'},
+ 'antonpaar_litesizerdia': {'setup': [{'capability': 'lid.set', 'arguments': {'angle_rad': 1.55}, 'evaluator': True, 'default': 'consumable'},
+                                      {'capability': 'liquid.fill', 'arguments': {'volume_m3': 0.0003}, 'evaluator': True, 'default': 'consumable'},
+                                      {'capability': 'lid.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'consumable'},
+                                      {'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                      {'capability': 'background.capture', 'arguments': {}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'lid.set', 'arguments': {'angle_rad': 1.55}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'substance_id': 'grain_capecod', 'particle_count': 128, 'density_kg_m3': 2650.0},
+                                       'evaluator': True,
+                                       'default': 'standard'},
+                                      {'capability': 'lid.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'standard'}],
+                            'entry': {},
+                            'from': 'particle_surface world dia(): tank filled, background captured, check sample added'},
+ 'antonpaar_litesizerdls': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                      {'capability': 'lid.release', 'arguments': {}, 'evaluator': True, 'default': 'state'},
+                                      {'capability': 'lid.set', 'arguments': {'angle_rad': 1.7}, 'evaluator': True, 'default': 'state'},
+                                      {'capability': 'cuvette.set', 'arguments': {'lift_m': 0.12}, 'evaluator': True, 'default': 'state'},
+                                      {'capability': 'cell.configure', 'arguments': {'kind': 'omega'}, 'evaluator': True, 'default': 'accessory'},
+                                      {'capability': 'cell_cap.set', 'arguments': {'lift_m': 0.022}, 'evaluator': True, 'default': 'accessory'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'sample_id': 'cad9_aqueous',
+                                                     'reference_id': 'cad_09',
+                                                     'volume_m3': 7e-07,
+                                                     'particle_mass_kg': 7e-07,
+                                                     'initial_temperature_k': 293.15,
+                                                     'aqueous': True,
+                                                     'bubble_free': True,
+                                                     'accept_cross_instrument_transfer': True},
+                                       'evaluator': True,
+                                       'default': 'standard'},
+                                      {'capability': 'cell_cap.set', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'accessory'},
+                                      {'capability': 'cuvette.set', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'state'},
+                                      {'capability': 'lid.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'state'},
+                                      {'capability': 'power.set', 'arguments': {'enabled': False}, 'evaluator': True, 'default': 'utility'}],
+                            'entry': {},
+                            'from': 'particle_surface world dls(): check dispersion in the omega cell'},
+ 'antonpaar_mcr503': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'mechanical world'},
+ 'antonpaar_monowave400': {'setup': [{'capability': 'gas.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                     {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.15}, 'default': 'standard'},
+                                     {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                     {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.0}, 'default': 'standard'}],
+                           'entry': {},
+                           'from': 'reactor world'},
+ 'antonpaar_poremaster60': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                      {'capability': 'mercury.fill', 'arguments': {'mass_kg': 0.1}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'guard0.set', 'arguments': {'angle_rad': 1.4}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'sample_id': 'hemp_01',
+                                                     'reference_id': 'hemp_shiv',
+                                                     'true_dry_mass_kg': 6.55e-05,
+                                                     'true_bulk_volume_m3': 2.1398235870630514e-07,
+                                                     'dry': True,
+                                                     'accept_cross_instrument_transfer': True},
+                                       'evaluator': True,
+                                       'default': 'standard'}],
+                            'entry': {},
+                            'from': 'particle_surface world poremaster(): mercury filled, penetrometer in port 0'},
+ 'antonpaar_psa1190': {'setup': [{'capability': 'tank_lid.set', 'arguments': {'slide_m': 0.17}, 'evaluator': True, 'default': 'consumable'},
+                                 {'capability': 'liquid.fill', 'arguments': {'volume_m3': 0.00045}, 'evaluator': True, 'default': 'consumable'},
+                                 {'capability': 'tank_lid.set', 'arguments': {'slide_m': 0.0}, 'evaluator': True, 'default': 'consumable'},
+                                 {'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                 {'advance_s': 61.0, 'default': 'state'},
+                                 {'capability': 'background.start', 'arguments': {}, 'evaluator': True, 'default': 'standard'},
+                                 {'advance_s': 60.0, 'default': 'standard'},
+                                 {'capability': 'tank_lid.set', 'arguments': {'slide_m': 0.17}, 'evaluator': True, 'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'substance_id': 'steel_batch_1',
+                                                'mass_kg': 0.008,
+                                                'true_density_kg_m3': 7837.3,
+                                                'agglomerated_fraction': 0.0,
+                                                'accept_cross_method': False,
+                                                'accept_range_truncation': True,
+                                                'accept_quantile_reconstruction': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'tank_lid.set', 'arguments': {'slide_m': 0.0}, 'evaluator': True, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'particle_surface world psa(): tank filled, background measured, check sample added'},
+ 'antonpaar_rst300': {'setup': [{'capability': 'specimen.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'stylus.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'}],
+                      'entry': {},
+                      'from': 'mechanical world'},
+ 'antonpaar_saxspace': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                  {'advance_s': 90.0, 'default': 'state'}],
+                        'entry': {},
+                        'from': 'structure world'},
+ 'antonpaar_surpass3': {'setup': [{'capability': 'lock.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'state'},
+                                  {'capability': 'cell.set', 'arguments': {'withdrawal_m': 0.095}, 'evaluator': True, 'default': 'accessory'},
+                                  {'capability': 'sample.load',
+                                   'arguments': {'sample_id': 'private_cotton_equivalent',
+                                                 'reference_id': 'cotton_agcl',
+                                                 'ph_slope_v': -0.01,
+                                                 'accept_geometry_transfer': True,
+                                                 'accept_ph_extrapolation': True},
+                                   'evaluator': True,
+                                   'default': 'standard'},
+                                  {'capability': 'cell.set', 'arguments': {'withdrawal_m': 0.0}, 'evaluator': True, 'default': 'accessory'},
+                                  {'capability': 'lock.set', 'arguments': {'angle_rad': 1.2}, 'evaluator': True, 'default': 'state'},
+                                  {'capability': 'lid.set', 'arguments': {'lift_m': 0.105}, 'evaluator': True, 'default': 'state'},
+                                  {'capability': 'electrolyte.load',
+                                   'arguments': {'volume_m3': 0.0002,
+                                                 'kcl_mol_m3': 10.0,
+                                                 'initial_ph': 6.0,
+                                                 'acid_stock_m3': 1e-05,
+                                                 'base_stock_m3': 1e-05,
+                                                 'titrant_mol_m3': 50.0},
+                                   'evaluator': True,
+                                   'default': 'state'},
+                                  {'capability': 'lid.set', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'state'}],
+                        'entry': {},
+                        'from': 'particle_surface world surpass(): sample in the cell, electrolyte filled'},
+ 'antonpaar_trb': {'setup': [{'capability': 'specimen.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                             {'capability': 'pin.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'}],
+                   'entry': {},
+                   'from': 'mechanical world'},
+ 'antonpaar_ultrapyc5000': {'setup': [{'capability': 'method.configure',
+                                       'arguments': {'cell': 'medium',
+                                                     'reference': 'auto',
+                                                     'direction': 'powder_protect',
+                                                     'preparation': 'none',
+                                                     'flow_m3_s': 1e-06,
+                                                     'preparation_s': 60.0,
+                                                     'purge_pulses': 3,
+                                                     'target_gauge_pa': 100000.0,
+                                                     'max_runs': 3,
+                                                     'runs_to_average': 3,
+                                                     'automatic': False,
+                                                     'finish_rsd': 0.0001,
+                                                     'stage_timeout_s': 600.0,
+                                                     'equilibration_s': 0.5,
+                                                     'mode': 'measure',
+                                                     'leak_hold_s': 20.0,
+                                                     'leak_limit_pa_s': 1.0},
+                                       'evaluator': True,
+                                       'default': 'standard'},
+                                      {'capability': 'seal.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'lock.set', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'lid.set', 'arguments': {'lift_m': 0.13}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'cup.set', 'arguments': {'lift_m': 0.12}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'sample_id': 'private_al_powder',
+                                                     'reference_id': 'nist_al',
+                                                     'true_mass_kg': 0.05,
+                                                     'closed_pore_m3': 0.0,
+                                                     'open_pore_m3': 1e-05,
+                                                     'reference_temperature_k': 298.15,
+                                                     'volume_expansion_per_k': 0.0,
+                                                     'accept_reference_transfer': True},
+                                       'evaluator': True,
+                                       'default': 'standard'}],
+                            'entry': {},
+                            'from': 'particle_surface world ultrapyc(): cell insert chosen, filled cup in'},
+ 'applied_sx20': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'bath.cover', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'valves.set', 'arguments': {'drive': True}, 'evaluator': True, 'default': 'utility'},
+                            {'capability': 'gas.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'}],
+                  'entry': {},
+                  'from': 'spectroscopy world'},
+ 'aqualab_4te': {'setup': [{'capability': 'lid.set_angle', 'arguments': {'angle_rad': 1.5707963267948966}, 'default': 'standard'},
+                           {'capability': 'sample.configure',
+                            'arguments': {'substance_id': 'sodium_chloride',
+                                          'record_index': 0,
+                                          'mass_kg': 0.003,
+                                          'volume_m3': 3e-06,
+                                          'matrix_id': 'salt',
+                                          'initial_temperature_k': 298.15,
+                                          'equilibration_tau_s': 35.0,
+                                          'volatile_interference': False},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'lid.set_angle', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'},
+                           {'capability': 'latch.set_angle', 'arguments': {'angle_rad': 1.5707963267948966}, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'property_meter world'},
+ 'arradiance_gemstarxt': {'setup': [{'capability': 'gas.install', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                    {'capability': 'kinetics.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                    {'capability': 'sample.install', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                          'entry': {},
+                          'from': 'coating world'},
+ 'azenta_automated_roll_heat_sealer_a4s': {'setup': [{'host': 'host_set_temperature',
+                                                      'kwargs': {'temperature_K': 295.15,
+                                                                 'evidence': 'task world: the block is at room temperature',
+                                                                 'instance_id': 'azenta_automated_roll_heat_sealer_a4s'},
+                                                      'default': 'utility'},
+                                                     {'host': 'host_configure_thermal_rate',
+                                                      'kwargs': {'thermal_rate_K_s': 0.5,
+                                                                 'evidence': 'engineering heating rate 0.5 K/s',
+                                                                 'instance_id': 'azenta_automated_roll_heat_sealer_a4s'},
+                                                      'default': 'utility'},
+                                                     {'host': 'host_load_film',
+                                                      'kwargs': {'roll_id': 'roll_1',
+                                                                 'width_m': 0.08,
+                                                                 'remaining_seals': 100,
+                                                                 'film_roll_position_id': 'roll_position',
+                                                                 'compatibility_evidence': 'task world: peelable seal film threaded',
+                                                                 'instance_id': 'azenta_automated_roll_heat_sealer_a4s'},
+                                                      'default': 'consumable'},
+                                                     {'host': 'host_load_plate',
+                                                      'kwargs': {'plate_id': 'pcr_plate_1',
+                                                                 'height_m': 0.0155,
+                                                                 'plate_adapter_id': 'pcr_adapter',
+                                                                 'compatibility_evidence': 'task world: skirted PCR plate on the PCR adapter',
+                                                                 'instance_id': 'azenta_automated_roll_heat_sealer_a4s'},
+                                                      'default': 'consumable'}],
+                                           'entry': {},
+                                           'from': 'labware_automation world'},
+ 'azenta_intellixcap_s1_46_0001': {'setup': [{'host': 'host_register_consumable',
+                                              'kwargs': {'consumable_id': 'tube_15ml',
+                                                         'cap_diameter_m': 0.02,
+                                                         'compatibility_evidence': 'task world: 15 mL screw-cap tube, 20 mm cap'},
+                                              'default': 'standard'},
+                                             {'host': 'host_present_sample',
+                                              'kwargs': {'tube_id': 't1',
+                                                         'cap_id': 'c1',
+                                                         'consumable_id': 'tube_15ml',
+                                                         'evidence': 'task world: tube t1 in the holder',
+                                                         'instance_id': 'azenta_intellixcap_s1_46_0001'},
+                                              'default': 'standard'},
+                                             {'host': 'host_configure_motion',
+                                              'kwargs': {'open_gap_m': 0.03,
+                                                         'closed_gap_m': 0.019,
+                                                         'rotation_delta_rad': 12.566370614359172,
+                                                         'initial_rotation_rad': 0.0,
+                                                         'clamp_duration_s': 1.0,
+                                                         'rotation_duration_s': 2.0,
+                                                         'release_duration_s': 1.0,
+                                                         'evidence': 'engineering motion values',
+                                                         'instance_id': 'azenta_intellixcap_s1_46_0001'},
+                                              'default': 'utility'}],
+                                   'entry': {'scene': 'chemlab.compile.scenes.intellixcap:IntelliXcapScene', 'thread_ok': True},
+                                   'from': 'labware_automation world'},
+ 'bd_facsariaiii': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                              {'capability': 'lasers.set', 'arguments': {'laser': 'blue', 'enabled': True}, 'evaluator': True, 'default': 'utility'}],
+                    'entry': {},
+                    'from': 'bioassay world'},
+ 'biolin_mediuml': {'setup': [{'capability': 'probe.move', 'arguments': {'distance_m': 0.04}, 'evaluator': True, 'default': 'accessory'},
+                              {'capability': 'subphase.load',
+                               'arguments': {'volume_m3': 0.000176,
+                                             'density_kg_m3': 997.0,
+                                             'surface_tension_n_m': 0.071972205,
+                                             'identity': 'PBS',
+                                             'ph': 7.4,
+                                             'buffer_concentration_mol_m3': 10.0,
+                                             'accept_engineering': True},
+                               'evaluator': True,
+                               'default': 'state'},
+                              {'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                              {'capability': 'solution.load',
+                               'arguments': {'reference_id': 'statins2020_dmpc_control',
+                                             'volume_m3': 1e-07,
+                                             'concentration_mol_m3': 1.0,
+                                             'molar_mass_kg_mol': 0.677933,
+                                             'accept_engineering': True,
+                                             'accept_unknown_conditions': True,
+                                             'accept_condition_transfer': True,
+                                             'accept_quasistatic_branch_reuse': True,
+                                             'allow_dilute_extension': False},
+                               'evaluator': True,
+                               'default': 'state'}],
+                    'entry': {},
+                    'from': 'particle_surface world mediuml(): subphase filled, spreading solution in the syringe'},
+ 'biolin_sigma700': {'setup': [{'capability': 'door.set', 'arguments': {'angle_rad': 2.35}, 'evaluator': True, 'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'substance_id': 'cas_67_56_1',
+                                              'volume_m3': 3e-05,
+                                              'concentration_kg_m3': 0.0,
+                                              'temperature_k': 293.15,
+                                              'accept_unknown_conditions': False},
+                                'evaluator': True,
+                                'default': 'standard'}],
+                     'entry': {},
+                     'from': 'particle_surface world sigma(): liquid vessel on the stage'},
+ 'biolin_thetaflex': {'setup': [{'capability': 'sample.load',
+                                 'arguments': {'reference_id': 'al_ctab_a_row7', 'accept_unknown_conditions': True},
+                                 'evaluator': True,
+                                 'default': 'standard'},
+                                {'capability': 'stock.load',
+                                 'arguments': {'reference_id': 'al_ctab_a_row7', 'volume_m3': 2e-07},
+                                 'evaluator': True,
+                                 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'particle_surface world theta(): substrate on the stage, syringe filled'},
+ 'biorad_cfxopus': {'setup': [{'capability': 'sample.provide',
+                               'arguments': {'sample_id': 'gapdh_std',
+                                             'kind': 'standard',
+                                             'copies_per_m3': {'hs_gapdh': 500000000000000.0},
+                                             'declared_copies_per_m3': {'hs_gapdh': 500000000000000.0}},
+                               'evaluator': True,
+                               'default': 'standard'},
+                              {'capability': 'plate.prepare',
+                               'arguments': {'plate_id': 'plate_1',
+                                             'plate_type': 'white_lowprofile_96',
+                                             'seal': 'optical_film',
+                                             'wells': [{'well': 'A1',
+                                                        'sample_type': 'standard',
+                                                        'sample_id': 'gapdh_std',
+                                                        'dilution': 1.0,
+                                                        'template_volume_m3': 2e-09,
+                                                        'reaction_volume_m3': 2e-08,
+                                                        'assays': ['hs_gapdh'],
+                                                        'chemistry': 'sybr',
+                                                        'quantity_copies': 1000000.0},
+                                                       {'well': 'B1',
+                                                        'sample_type': 'ntc',
+                                                        'reaction_volume_m3': 2e-08,
+                                                        'assays': ['hs_gapdh'],
+                                                        'chemistry': 'sybr'}]},
+                               'evaluator': True,
+                               'default': 'consumable'}],
+                    'entry': {},
+                    'from': 'bioassay world'},
+ 'biorad_miniprotean': {'setup': [{'capability': 'leads.disconnect', 'arguments': {}, 'default': 'utility'},
+                                  {'capability': 'lid.remove', 'arguments': {}, 'default': 'consumable'},
+                                  {'capability': 'gel.provide',
+                                   'arguments': {'gel_id': 'gel_a', 'gel_type': 'tgx_4_20_10w_50ul'},
+                                   'default': 'consumable'},
+                                  {'capability': 'gel.prepare',
+                                   'arguments': {'gel_id': 'gel_a', 'remove_comb': False, 'remove_tape': True, 'rinse_wells': False},
+                                   'default': 'consumable'},
+                                  {'capability': 'gel.install', 'arguments': {'item': 'gel_a', 'position': 1}, 'default': 'consumable'},
+                                  {'capability': 'gel.install', 'arguments': {'item': 'buffer_dam', 'position': 2}, 'default': 'consumable'},
+                                  {'capability': 'gel.prepare',
+                                   'arguments': {'gel_id': 'gel_a', 'remove_comb': True, 'remove_tape': False, 'rinse_wells': True},
+                                   'default': 'consumable'},
+                                  {'capability': 'buffer.fill',
+                                   'arguments': {'chamber': 'inner',
+                                                 'buffer_id': 'tris_glycine_sds_1x',
+                                                 'volume_m3': 0.00015,
+                                                 'temperature_k': 295.15},
+                                   'default': 'consumable'},
+                                  {'capability': 'buffer.fill',
+                                   'arguments': {'chamber': 'outer',
+                                                 'buffer_id': 'tris_glycine_sds_1x',
+                                                 'volume_m3': 0.0006,
+                                                 'temperature_k': 295.15},
+                                   'default': 'consumable'}],
+                        'entry': {},
+                        'from': 'chromatography world'},
+ 'biotage_extrahera_classic': {'setup': [{'host': 'connect_vacuum_source',
+                                          'kwargs': {'instance_id': 'biotage_extrahera_classic', 'source_instance_id': 'vacuum_line_1'},
+                                          'default': 'utility'},
+                                         {'host': 'set_utilities',
+                                          'kwargs': {'instance_id': 'biotage_extrahera_classic',
+                                                     'vacuum_ready': True,
+                                                     'compressed_air_ready': True,
+                                                     'nitrogen_ready': True,
+                                                     'evidence': 'task world (extraction): set up by the lab before the agent starts: vacuum, air '
+                                                                 'and nitrogen supplies open'},
+                                          'default': 'utility'},
+                                         {'host': 'initialize_liquids',
+                                          'kwargs': {'instance_id': 'biotage_extrahera_classic',
+                                                     'sources_m3': {'load': 5e-05,
+                                                                    'wash': 5e-05,
+                                                                    'elute': 5e-05,
+                                                                    'S1': 0.0002,
+                                                                    'S2': 0.0002,
+                                                                    'S3': 0.0002},
+                                                     'evidence': 'task world (extraction): set up by the lab before the agent starts: reservoirs '
+                                                                 'filled'},
+                                          'default': 'consumable'},
+                                         {'capability': 'deck.configure',
+                                          'arguments': {'format': 'cartridges24',
+                                                        'cartridge_volume_m3': 3e-06,
+                                                        'collection_plate': 'collection_a',
+                                                        'solvent_positions': ['load', 'wash', 'elute']},
+                                          'default': 'accessory'}],
+                               'entry': {},
+                               'from': 'extraction world'},
+ 'biotage_selekt': {'setup': [{'capability': 'tray.set_extension', 'arguments': {'extension_m': 0.12}, 'evaluator': True, 'default': 'state'},
+                              {'capability': 'rack.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                              {'capability': 'tray.set_extension', 'arguments': {'extension_m': 0.0}, 'evaluator': True, 'default': 'state'},
+                              {'capability': 'column.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                              {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'chromatography world'},
+ 'biotek_405ts': {'setup': [{'capability': 'plate.provide',
+                             'arguments': {'plate_id': 'p1',
+                                           'plate_type': 'costar_3590',
+                                           'fill_volume_m3': 1e-07,
+                                           'liquid_id': 'pbs_1x',
+                                           'unbound_mol': 1e-12,
+                                           'nonspecific_mol': 2e-14,
+                                           'specific_mol': 5e-14,
+                                           'cells_per_well': 0.0,
+                                           'cell_adhesion': 'none',
+                                           'wells': None},
+                             'evaluator': True,
+                             'default': 'consumable'}],
+                  'entry': {},
+                  'from': 'bioassay world'},
+ 'bmg_clariostarplus': {'setup': [{'capability': 'kit.provide',
+                                   'arguments': {'kit': 'fluorescein_standard'},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'kit.provide', 'arguments': {'kit': 'water'}, 'evaluator': True, 'default': 'consumable'},
+                                  {'capability': 'plate.prepare',
+                                   'arguments': {'plate_id': 'wp', 'format': '96', 'type': 'black'},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'well.dispense',
+                                   'arguments': {'plate_id': 'wp', 'wells': ['A1:A3'], 'source_id': 'fluorescein_standard', 'volume_m3': 1e-07},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'well.dispense',
+                                   'arguments': {'plate_id': 'wp', 'wells': ['B1:B3'], 'source_id': 'water', 'volume_m3': 1e-07},
+                                   'evaluator': True,
+                                   'default': 'consumable'}],
+                        'entry': {},
+                        'from': 'bioassay world'},
+ 'bronkhorst_cemw': {'setup': [{'capability': 'supply.connect_gas', 'arguments': {'gas': 'nitrogen', 'pressure_pa': 400000.0}, 'default': 'utility'},
+                               {'capability': 'supply.connect_liquid',
+                                'arguments': {'composition': {'water': 1.0}, 'pressure_pa': 300000.0},
+                                'default': 'consumable'}],
+                     'entry': {},
+                     'from': 'gas_fluid world'},
+ 'brooks_preciseflex_400': {'setup': [],
+                            'entry': {'scene': 'chemlab.compile.scenes.preciseflex:PreciseFlexScene',
+                                      'arm': {'home': {'z_m': 0.2, 'shoulder_rad': 0.0, 'elbow_rad': 0.0, 'wrist_rad': 0.0},
+                                              'containers': {'plate_1': {'pose': {'z_m': 0.05,
+                                                                                  'shoulder_rad': 0.5,
+                                                                                  'elbow_rad': -0.8,
+                                                                                  'wrist_rad': 0.3},
+                                                                         'port': 'bench_nest',
+                                                                         'payload_kg': 0.1}},
+                                              'ports': {'sealer_nest': {'pose': {'z_m': 0.08,
+                                                                                 'shoulder_rad': -0.6,
+                                                                                 'elbow_rad': 0.9,
+                                                                                 'wrist_rad': 0.0}}},
+                                              'tolerance_m': 0.005,
+                                              'joint_speed_rad_s': 1.0,
+                                              'z_speed_m_s': 0.2},
+                                      'locations': {'home': {'joints': {'z_m': 0.2, 'shoulder_rad': 0.0, 'elbow_rad': 0.0, 'wrist_rad': 0.0}},
+                                                    'plate_1': {'container_id': 'plate_1',
+                                                                'constraint_id': 'grip_plate_1',
+                                                                'joints': {'z_m': 0.05, 'shoulder_rad': 0.5, 'elbow_rad': -0.8, 'wrist_rad': 0.3}},
+                                                    'sealer_nest': {'receiver_port_id': 'sealer_nest',
+                                                                    'joints': {'z_m': 0.08,
+                                                                               'shoulder_rad': -0.6,
+                                                                               'elbow_rad': 0.9,
+                                                                               'wrist_rad': 0.0}}}},
+                            'from': 'labware_automation world'},
+ 'bruker_magnettechesr5000': {'setup': [{'capability': 'sample.register',
+                                         'arguments': {'sample_id': 'blank_01',
+                                                       'kind': 'blank',
+                                                       'material_phase': 'liquid',
+                                                       'template_id': '',
+                                                       'solvent_code': 'BZ',
+                                                       'volume_m3': 1e-07,
+                                                       'mass_kg': 0.0,
+                                                       'concentration_mol_m3': 0.0,
+                                                       'solid_spin_count': 0.0,
+                                                       'g_assumed': None,
+                                                       'linewidth_pp_t': 0.0004,
+                                                       'saturation_power_w': 0.1,
+                                                       'reference_temperature_k': 298.15,
+                                                       'tube_od_m': 0.005,
+                                                       'accept_missing_source_conditions': True,
+                                                       'accept_synthetic_solid': False},
+                                         'evaluator': True,
+                                         'default': 'standard'},
+                                        {'capability': 'sample.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                        {'capability': 'sample.load',
+                                         'arguments': {'sample_id': 'blank_01'},
+                                         'evaluator': True,
+                                         'default': 'standard'}],
+                              'entry': {},
+                              'from': 'spectroscopy world'},
+ 'bruker_minispecmq20': {'setup': [{'capability': 'solution.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                   {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                         'entry': {},
+                         'from': 'spectroscopy world'},
+ 'bruker_x4poseidon': {'setup': [{'capability': 'sample.provide',
+                                  'arguments': {'sample_id': 'alumina_pellet',
+                                                'kind': 'cylinder',
+                                                'diameter_m': 0.006,
+                                                'height_m': 0.006,
+                                                'layers': [{'thickness_m': 0.006,
+                                                            'materials': [{'substance_id': 'alumina', 'volume_fraction': 1.0}]}],
+                                                'pores': {'count': 120, 'median_radius_m': 0.00012, 'sigma_ln': 0.35, 'layer': 0, 'seed': 7},
+                                                'cracks': [{'center_m': [0.0, 0.0, 0.003],
+                                                            'normal': [1.0, 0.0, 0.0],
+                                                            'radius_m': 0.0018,
+                                                            'aperture_m': 3e-05}],
+                                                'inclusions': [],
+                                                'container': None,
+                                                'pin': None},
+                                  'evaluator': True,
+                                  'default': 'standard'}],
+                       'entry': {},
+                       'from': 'imaging world'},
+ 'buchi_encapsulatorb': {'setup': [{'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                   {'capability': 'bath.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                   {'capability': 'air.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'}],
+                         'entry': {},
+                         'from': 'formulation world'},
+ 'buchi_hydrolexh': {'setup': [{'capability': 'ventilation.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                               {'capability': 'water.configure', 'arguments': {'volume_m3': 0.005}, 'evaluator': True, 'default': 'utility'},
+                               {'capability': 'sample.configure',
+                                'arguments': {'substance_id': 'buchi_milk_powder',
+                                              'sample_mass_kg': 0.002,
+                                              'sample_liquid_m3': 0.0,
+                                              'acid_volume_m3': 0.0001,
+                                              'acid_mol_m3': 4000.0,
+                                              'bound_fat_fraction': 0.8,
+                                              'release_rate_s_inverse': 0.003,
+                                              'fat_capture_fraction': 0.995,
+                                              'accept_reference_not_hydrolysis_calibration': True,
+                                              'position': 1},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.configure',
+                                'arguments': {'substance_id': 'buchi_milk_powder',
+                                              'sample_mass_kg': 0.002,
+                                              'sample_liquid_m3': 0.0,
+                                              'acid_volume_m3': 0.0001,
+                                              'acid_mol_m3': 4000.0,
+                                              'bound_fat_fraction': 0.8,
+                                              'release_rate_s_inverse': 0.003,
+                                              'fat_capture_fraction': 0.995,
+                                              'accept_reference_not_hydrolysis_calibration': True,
+                                              'position': 3},
+                                'evaluator': True,
+                                'default': 'standard'}],
+                     'entry': {},
+                     'from': 'digestion world'},
+ 'buchi_lyovapor_l250_pro': {'setup': [{'capability': 'chamber.set_open', 'arguments': {'open': True}, 'default': 'utility'},
+                                       {'host': 'initialize_sample',
+                                        'kwargs': {'instance_id': 'buchi_lyovapor_l250_pro',
+                                                   'dry_mass_kg': 0.01,
+                                                   'ice_mass_kg': 0.09,
+                                                   'bound_water_mass_kg': 0.005,
+                                                   'pre_frozen': True,
+                                                   'evidence': 'task world (evaporation): set up by the lab before the agent starts: 100 g '
+                                                               'pre-frozen product'},
+                                        'default': 'standard'},
+                                       {'host': 'configure_kinetics',
+                                        'kwargs': {'instance_id': 'buchi_lyovapor_l250_pro',
+                                                   'sublimation_rate_kg_s': 2e-05,
+                                                   'desorption_rate_kg_s': 2e-06,
+                                                   'evidence': 'task world (evaporation): set up by the lab before the agent starts: drying-rate '
+                                                               'model for the moisture endpoint'},
+                                        'default': 'utility'},
+                                       {'capability': 'chamber.set_open', 'arguments': {'open': False}, 'default': 'utility'},
+                                       {'host': 'connect_vacuum',
+                                        'kwargs': {'instance_id': 'buchi_lyovapor_l250_pro',
+                                                   'source_instance_id': 'rotary_vane_pump_1',
+                                                   'asset_type_id': 'instrument.rotary_vane_pump',
+                                                   'minimum_pressure_pa': 5.0,
+                                                   'evidence': 'task world (evaporation): set up by the lab before the agent starts: two-stage '
+                                                               'rotary vane pump, 5 Pa'},
+                                        'default': 'utility'},
+                                       {'host': 'set_boundary',
+                                        'kwargs': {'instance_id': 'buchi_lyovapor_l250_pro',
+                                                   'pressure_pa': 20.0,
+                                                   'shelf_temperature_k': 253.15,
+                                                   'sample_temperature_k': 243.15,
+                                                   'condenser_temperature_k': 188.15,
+                                                   'evidence': 'task world (evaporation): set up by the lab before the agent starts: measured '
+                                                               'boundary'},
+                                        'default': 'utility'}],
+                             'entry': {},
+                             'from': 'evaporation world'},
+ 'buchi_minispray': {'setup': [{'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                               {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                     'entry': {},
+                     'from': 'evaporation world'},
+ 'buchi_speedextractore': {'setup': [{'capability': 'method.configure', 'arguments': 'contract_example', 'default': 'standard'},
+                                     {'capability': 'thermal.preheat', 'arguments': {}, 'default': 'standard'},
+                                     {'advance_s': 900.0, 'default': 'standard'},
+                                     {'capability': 'shield.set_lift', 'arguments': {'lift_m': 0.18}, 'default': 'standard'},
+                                     {'capability': 'drawer.set_extension', 'arguments': {'extension_m': 0.16}, 'default': 'standard'},
+                                     {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                     {'capability': 'drawer.set_extension', 'arguments': {'extension_m': 0.0}, 'default': 'standard'},
+                                     {'capability': 'shield.set_lift', 'arguments': {'lift_m': 0.0}, 'default': 'standard'}],
+                           'entry': {},
+                           'from': 'extraction world'},
+ 'camag_tlcscanner': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                {'capability': 'door.set', 'arguments': {'opened': True}, 'default': 'state'},
+                                {'advance_s': 2.0, 'default': 'standard'},
+                                {'capability': 'stage.load', 'arguments': {}, 'default': 'standard'},
+                                {'advance_s': 15.0, 'default': 'standard'},
+                                {'capability': 'plate.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'plate.place', 'arguments': {}, 'evaluator': True, 'default': 'consumable'},
+                                {'capability': 'stage.home', 'arguments': {}, 'default': 'consumable'},
+                                {'advance_s': 15.0, 'default': 'consumable'},
+                                {'capability': 'door.set', 'arguments': {'opened': False}, 'default': 'consumable'},
+                                {'advance_s': 5.0, 'default': 'consumable'}],
+                      'entry': {},
+                      'from': 'chromatography world'},
+ 'cem_libertyblue': {'setup': [{'capability': 'kinetics.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                               {'capability': 'queue.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                     'entry': {},
+                     'from': 'thin world'},
+ 'ch_chi440c': {'setup': [{'capability': 'crystal.configure',
+                           'arguments': 'contract_example',
+                           'evaluator': True,
+                           'at': 'start',
+                           'default': 'accessory'},
+                          {'capability': 'lid.set', 'arguments': {'lift_m': 0.05}, 'at': 'start', 'default': 'standard'},
+                          {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'at': 'start', 'default': 'standard'},
+                          {'capability': 'lid.set', 'arguments': {'lift_m': 0.0}, 'at': 'start', 'default': 'standard'}],
+                'entry': {},
+                'from': 'electrochem world'},
+ 'ch_chi920d': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                'entry': {},
+                'from': 'electrochem world'},
+ 'cytiva_biacoret200': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                  {'advance_s': 40.0, 'default': 'consumable'},
+                                  {'capability': 'solution.prepare',
+                                   'arguments': {'solution_id': 'run_buffer', 'volume_m3': 0.001, 'base': 'hbs_ep_plus'},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'solution.prepare',
+                                   'arguments': {'solution_id': 'dist_water', 'volume_m3': 0.0005, 'base': 'water'},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'bottle.place',
+                                   'arguments': {'slot': 'buffer_a', 'solution_id': 'run_buffer', 'volume_m3': 0.00095},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'bottle.place',
+                                   'arguments': {'slot': 'water', 'solution_id': 'dist_water', 'volume_m3': 0.00045},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'bottle.empty_waste', 'arguments': {}, 'evaluator': True, 'default': 'consumable'},
+                                  {'capability': 'rack.eject', 'arguments': {}, 'evaluator': True, 'default': 'consumable'},
+                                  {'advance_s': 10.0, 'default': 'consumable'},
+                                  {'capability': 'rack.configure',
+                                   'arguments': {'config': 'sample_and_reagent_rack', 'plate': 'none'},
+                                   'evaluator': True,
+                                   'default': 'accessory'},
+                                  {'capability': 'solution.prepare',
+                                   'arguments': {'solution_id': 'buf_s', 'volume_m3': 6e-07, 'base': 'hbs_ep_plus'},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'rack.place',
+                                   'arguments': {'position': 'R1B1', 'solution_id': 'buf_s', 'volume_m3': 4e-07},
+                                   'evaluator': True,
+                                   'default': 'consumable'},
+                                  {'capability': 'rack.retract', 'arguments': {}, 'evaluator': True, 'default': 'consumable'},
+                                  {'advance_s': 10.0, 'default': 'consumable'}],
+                        'entry': {},
+                        'from': 'bioassay world'},
+ 'cytiva_ktaoligosynt': {'setup': [{'capability': 'kinetics.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                   {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                         'entry': {},
+                         'from': 'thin world'},
+ 'cytiva_nanoassemblrignite': {'setup': [{'capability': 'cartridge.install',
+                                          'arguments': 'contract_example',
+                                          'evaluator': True,
+                                          'default': 'accessory'},
+                                         {'capability': 'tubes.install', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                                         {'capability': 'syringe.load',
+                                          'arguments': {'channel': 0,
+                                                        'source_tag': 'diluent',
+                                                        'volume_m3': 1e-05,
+                                                        'capacity_m3': 1e-05,
+                                                        'inner_diameter_m': 0.0145,
+                                                        'density_kg_m3': 1000.0,
+                                                        'solute_kg_m3': 0.0,
+                                                        'accept_host_compatibility': True},
+                                          'evaluator': True,
+                                          'default': 'consumable'},
+                                         {'capability': 'syringe.load',
+                                          'arguments': {'channel': 1,
+                                                        'source_tag': 'aqueous_reagent',
+                                                        'volume_m3': 3e-06,
+                                                        'capacity_m3': 3e-06,
+                                                        'inner_diameter_m': 0.009,
+                                                        'density_kg_m3': 1000.0,
+                                                        'solute_kg_m3': 0.1,
+                                                        'accept_host_compatibility': True},
+                                          'evaluator': True,
+                                          'default': 'consumable'},
+                                         {'capability': 'syringe.load',
+                                          'arguments': {'channel': 2,
+                                                        'source_tag': 'ethanol_lipids',
+                                                        'volume_m3': 1e-06,
+                                                        'capacity_m3': 1e-06,
+                                                        'inner_diameter_m': 0.0047,
+                                                        'density_kg_m3': 789.0,
+                                                        'solute_kg_m3': 10.0,
+                                                        'accept_host_compatibility': True},
+                                          'evaluator': True,
+                                          'default': 'consumable'},
+                                         {'capability': 'heating.configure',
+                                          'arguments': 'contract_example',
+                                          'evaluator': True,
+                                          'default': 'utility'}],
+                               'entry': {},
+                               'from': 'formulation world'},
+ 'edinburgh_fls1000tcspc': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.cover', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                      {'capability': 'source.arm', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'}],
+                            'entry': {},
+                            'from': 'spectroscopy world'},
+ 'elementar_isoprimeprecision': {'setup': [{'capability': 'power.set', 'arguments': {'on': True}, 'default': 'utility'},
+                                           {'capability': 'vacuum.pump_down', 'arguments': {}, 'default': 'utility'},
+                                           {'advance_s': 300.0, 'default': 'state'},
+                                           {'capability': 'source.set', 'arguments': {'filament': True}, 'default': 'standard'},
+                                           {'capability': 'magnet.set_species', 'arguments': {'species': 'CO2'}, 'default': 'standard'},
+                                           {'capability': 'centrion.set', 'arguments': {'inlet': 1, 'carrier_on': True}, 'default': 'standard'},
+                                           {'capability': 'reference.assign',
+                                            'arguments': {'gas': 1, 'deltas': {'13C': -0.0367, '18O': 0.0251}},
+                                            'default': 'standard'}],
+                                 'entry': {},
+                                 'from': 'quant_analyzer world bring_up(blank)'},
+ 'elementar_varioel': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                 {'capability': 'furnace.configure',
+                                  'arguments': {'combustion_k': 1373.15, 'reduction_k': 1123.15},
+                                  'default': 'standard'},
+                                 {'capability': 'method.configure',
+                                  'arguments': {'mode': 'CHNS',
+                                                'combustion_s': 0.1,
+                                                'oxygen_dose_mol': 0.0005,
+                                                'oxygen_admission_s': 0.02,
+                                                'baseline_threshold': 1e-05,
+                                                'baseline_samples': 2,
+                                                'minimum_release_s': 0.025,
+                                                'maximum_release_s': 1.0,
+                                                'temperature_tolerance_k': 2.0},
+                                  'default': 'standard'},
+                                 {'advance_s': 5.0, 'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'slot_index': 0,
+                                                'sample_id': 'blank_0',
+                                                'kind': 'blank',
+                                                'sample_class': 'organic',
+                                                'template_id': '',
+                                                'mass_kg': 0.0,
+                                                'mass_basis': 'as_reported_unspecified_dry_basis',
+                                                'assumed_unreported_fractions': {'C': None, 'H': None, 'N': None, 'S': None},
+                                                'accept_assumed_missing_elements': False,
+                                                'accept_unknown_conditions': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'slot_index': 1,
+                                                'sample_id': 'standard_1',
+                                                'kind': 'standard',
+                                                'sample_class': 'organic',
+                                                'template_id': 'oem_sulfanilic_acid',
+                                                'mass_kg': 1e-06,
+                                                'mass_basis': 'as_reported_unspecified_dry_basis',
+                                                'assumed_unreported_fractions': {'C': None, 'H': None, 'N': None, 'S': None},
+                                                'accept_assumed_missing_elements': False,
+                                                'accept_unknown_conditions': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'slot_index': 2,
+                                                'sample_id': 'standard_2',
+                                                'kind': 'standard',
+                                                'sample_class': 'organic',
+                                                'template_id': 'oem_sulfanilic_acid',
+                                                'mass_kg': 2e-06,
+                                                'mass_basis': 'as_reported_unspecified_dry_basis',
+                                                'assumed_unreported_fractions': {'C': None, 'H': None, 'N': None, 'S': None},
+                                                'accept_assumed_missing_elements': False,
+                                                'accept_unknown_conditions': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'slot_index': 3,
+                                                'sample_id': 'standard_3',
+                                                'kind': 'standard',
+                                                'sample_class': 'organic',
+                                                'template_id': 'oem_sulfanilic_acid',
+                                                'mass_kg': 3e-06,
+                                                'mass_basis': 'as_reported_unspecified_dry_basis',
+                                                'assumed_unreported_fractions': {'C': None, 'H': None, 'N': None, 'S': None},
+                                                'accept_assumed_missing_elements': False,
+                                                'accept_unknown_conditions': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'slot_index': 4,
+                                                'sample_id': 'sample_4',
+                                                'kind': 'sample',
+                                                'sample_class': 'organic',
+                                                'template_id': 'oem_wheat_flour',
+                                                'mass_kg': 2e-06,
+                                                'mass_basis': 'as_reported_unspecified_dry_basis',
+                                                'assumed_unreported_fractions': {'C': None, 'H': None, 'N': None, 'S': None},
+                                                'accept_assumed_missing_elements': False,
+                                                'accept_unknown_conditions': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sequence.configure', 'arguments': {'slot_indices': [0]}, 'default': 'standard'},
+                                 {'capability': 'sequence.start', 'arguments': {}, 'default': 'standard'},
+                                 {'advance_s': 1.0, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'quant_analyzer world bring_up(blank): blank, 3 sulfanilic acid standards, wheat-flour reference'},
+ 'elga_purelab_flex3': {'setup': [{'host': 'configure_supply',
+                                   'kwargs': {'instance_id': 'elga_purelab_flex3',
+                                              'feed_volume_m3': 0.05,
+                                              'purified_volume_m3': 0.02,
+                                              'buffer_capacity_m3': 0.03,
+                                              'qualified_feed': True,
+                                              'evidence': 'task world: RO feed connected, 20 L reservoir filled'},
+                                   'at': 'start',
+                                   'default': 'utility'},
+                                  {'host': 'connect_receiver',
+                                   'kwargs': {'instance_id': 'elga_purelab_flex3',
+                                              'receiver_id': 'bottle_2l',
+                                              'volume_m3': 0.0,
+                                              'capacity_m3': 0.002,
+                                              'evidence': 'task world: empty 2 L bottle under the dispenser'},
+                                   'at': 'start',
+                                   'default': 'consumable'},
+                                  {'host': 'install_consumables',
+                                   'kwargs': {'instance_id': 'elga_purelab_flex3', 'evidence': 'task world: purification pack installed'},
+                                   'at': 'start',
+                                   'default': 'consumable'},
+                                  {'host': 'set_readings',
+                                   'kwargs': {'instance_id': 'elga_purelab_flex3',
+                                              'resistivity_ohm_m': 182000.0,
+                                              'temperature_k': 298.15,
+                                              'source_kind': 'synthetic',
+                                              'evidence': 'task world: 18.2 MOhm.cm at 25 C'},
+                                   'at': 'start',
+                                   'default': 'utility'}],
+                        'entry': {},
+                        'from': 'gas_fluid world'},
+ 'elma_elmasonics60h': {'setup': [{'capability': 'cover.set_lift', 'arguments': {'lift_m': 0.3}, 'at': 'start', 'default': 'state'},
+                                  {'capability': 'bath.configure',
+                                   'arguments': {'volume_m3': 0.0038,
+                                                 'density_kg_m3': 1000.0,
+                                                 'cp_j_kg_k': 4180.0,
+                                                 'initial_temperature_k': 298.15,
+                                                 'compatible_aqueous': True},
+                                   'evaluator': True,
+                                   'at': 'start',
+                                   'default': 'state'},
+                                  {'capability': 'cover.set_lift', 'arguments': {'lift_m': 0.0}, 'at': 'start', 'default': 'state'}],
+                        'entry': {},
+                        'from': 'agitation world'},
+ 'eppendorf_5910ri': {'setup': [{'host': 'configure_synthetic_rotor',
+                                 'kwargs': {'configuration': 'large_capacity',
+                                            'slot_positions_xy_m': {'slot_1': [0.2, 0], 'slot_2': [-0.2, 0], 'slot_3': [0, 0.2], 'slot_4': [0, -0.2]},
+                                            'operating_speed_limit_rad_s': 471.23889803846896,
+                                            'imbalance_threshold_kg_m': 0.0001,
+                                            'evidence': 'synthetic'},
+                                 'at': 'start',
+                                 'default': 'accessory'},
+                                {'host': 'configure_synthetic_rotor',
+                                 'kwargs': {'configuration': 'fixed_angle',
+                                            'slot_positions_xy_m': {'slot_1': [0.1, 0], 'slot_2': [-0.1, 0], 'slot_3': [0, 0.1], 'slot_4': [0, -0.1]},
+                                            'operating_speed_limit_rad_s': 1466.0765716752367,
+                                            'imbalance_threshold_kg_m': 0.0001,
+                                            'evidence': 'synthetic'},
+                                 'at': 'start',
+                                 'default': 'accessory'},
+                                {'host': 'configure_synthetic_process',
+                                 'kwargs': {'acceleration_rad_s2': [2.0, 5.0, 8.0, 11.0, 14.0, 17.0, 20.0, 23.0, 26.0, 29.0],
+                                            'braking_rad_s2': [1.0, 4.0, 7.0, 10.0, 13.0, 16.0, 19.0, 22.0, 25.0, 28.0],
+                                            'poweroff_deceleration_rad_s2': 2.0,
+                                            'temperature_time_constant_s': 300.0,
+                                            'ambient_temperature_k': 295.15,
+                                            'initial_temperature_k': 295.15,
+                                            'sample_interval_s': 10.0,
+                                            'evidence': 'synthetic'},
+                                 'at': 'start',
+                                 'default': 'utility'},
+                                {'host': 'register_sample', 'kwargs': {'sample_id': 'tube_a', 'mass_kg': 0.05}, 'at': 'start', 'default': 'standard'},
+                                {'host': 'register_sample', 'kwargs': {'sample_id': 'tube_b', 'mass_kg': 0.05}, 'at': 'start', 'default': 'standard'},
+                                {'host': 'register_sample', 'kwargs': {'sample_id': 'tube_c', 'mass_kg': 0.06}, 'at': 'start', 'default': 'standard'},
+                                {'capability': 'lid.set_angle', 'arguments': {'angle_rad': 1.5707963267948966}, 'default': 'standard'},
+                                {'capability': 'rotor.select', 'arguments': {'configuration': 'large_capacity'}, 'default': 'accessory'}],
+                      'entry': {'rotor_radius_m': {'large_capacity': 0.2, 'fixed_angle': 0.1}},
+                      'from': 'agitation world'},
+ 'evident_bx53p': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                             {'capability': 'sample.provide',
+                              'arguments': {'sample_id': 'quartz_section',
+                                            'kind': 'thin_section',
+                                            'substance_id': 'main_sio2',
+                                            'thickness_m': 3e-05,
+                                            'slide_thickness_m': 0.001,
+                                            'grains': 40,
+                                            'defects': 0,
+                                            'orientation': None,
+                                            'immersion_oil': False},
+                              'default': 'standard'}],
+                   'entry': {},
+                   'from': 'imaging world'},
+ 'freeman_ft4powder': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'mechanical world'},
+ 'frontier_egapy': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                              {'capability': 'gas.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                              {'capability': 'gc.ready', 'arguments': {'ready': True}, 'evaluator': True, 'default': 'utility'}],
+                    'entry': {},
+                    'from': 'sample_intro world'},
+ 'fujifilm_dmp2850': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                {'capability': 'ink.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                                {'capability': 'substrate.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                                {'capability': 'vacuum.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'}],
+                      'entry': {},
+                      'from': 'coating world'},
+ 'gamry_reference620': {'setup': [{'host': 'host_load_template_cell',
+                                   'kwargs': {'instance_id': 'gamry_reference620',
+                                              'cell': {'couple_id': 'redox_fep3_to_fep2',
+                                                       'oxidant_concentration_mol_m3': 1.0,
+                                                       'reductant_concentration_mol_m3': 0.0,
+                                                       'electrode_area_m2': 7.07e-06,
+                                                       'reference_electrode_id': 'refel_she'}},
+                                   'at': 'start',
+                                   'default': 'standard'}],
+                        'entry': {},
+                        'from': 'electrochem world'},
+ 'glatt_miniglatt': {'setup': [{'capability': 'powder.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                               {'capability': 'liquid.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'}],
+                     'entry': {},
+                     'from': 'formulation world'},
+ 'hach_dr6000': {'setup': [{'host': 'register_sample', 'kwargs': {'sample_id': 'blank_01', 'kind': 'blank'}, 'default': 'standard'},
+                           {'host': 'register_sample',
+                            'kwargs': {'sample_id': 'sample_01', 'kind': 'sample', 'peaks': [[5.2e-07, 4e-08, 0.8]], 'baseline_absorbance': 0.02},
+                            'default': 'standard'}],
+                 'entry': {},
+                 'from': 'spectroscopy world'},
+ 'hach_tl2300epa': {'setup': [{'capability': 'lid.set_angle', 'arguments': {'angle_rad': 1.7}, 'default': 'standard'},
+                              {'capability': 'sample.configure',
+                               'arguments': {'substance_id': 'stablcal_20',
+                                             'volume_m3': 2e-05,
+                                             'mass_kg': 0.02,
+                                             'temperature_k': 296.15,
+                                             'clean_indexed_cell': True,
+                                             'particle_response_gain': 1.0,
+                                             'color_absorbance': 0.0,
+                                             'bubble_excess_ntu': 0.0,
+                                             'bubble_tau_s': 30.0},
+                               'evaluator': True,
+                               'default': 'standard'},
+                              {'capability': 'lid.set_angle', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'property_meter world'},
+ 'hot_tps2500': {'setup': [{'capability': 'probe.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                           {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'fixture.set_clamp', 'arguments': {'closed': True}, 'evaluator': True, 'default': 'accessory'},
+                           {'advance_s': 5.0, 'default': 'state'},
+                           {'capability': 'fixture.set_hood', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'accessory'},
+                           {'advance_s': 15.0, 'default': 'state'}],
+                 'entry': {},
+                 'from': 'thermal_analysis world'},
+ 'ika_c6000': {'setup': [{'advance_s': 300.0, 'default': 'standard'},
+                         {'capability': 'vessel.prepare', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                         {'capability': 'vessel.scan', 'arguments': {'rfid': 'C6012-0001'}, 'evaluator': False, 'default': 'standard'},
+                         {'capability': 'vessel.register', 'arguments': 'contract_example', 'evaluator': False, 'default': 'standard'},
+                         {'capability': 'vessel.set_c_value',
+                          'arguments': {'vessel_name': 'C6012 no. 1', 'mode': 'isoperibol_25', 'c_value_j_k': 8700.0},
+                          'evaluator': False,
+                          'default': 'standard'}],
+               'entry': {},
+               'from': 'thermal_analysis world'},
+ 'ika_ks4000': {'setup': [{'capability': 'hood.set_angle', 'arguments': {'angle_rad': 1.5707963267948966}, 'at': 'start', 'default': 'state'},
+                          {'capability': 'fixture.configure',
+                           'arguments': {'installed': True, 'mass_kg': 3.2},
+                           'evaluator': True,
+                           'at': 'start',
+                           'default': 'accessory'},
+                          {'capability': 'load.configure',
+                           'arguments': {'slot': 4,
+                                         'vessel_id': 'synthetic_demo',
+                                         'container_mass_kg': 0.2,
+                                         'liquid_mass_kg': 0.2,
+                                         'volume_m3': 0.0002,
+                                         'effective_cp_j_kg_k': 3000.0,
+                                         'initial_temperature_k': 298.15,
+                                         'secured': True},
+                           'evaluator': True,
+                           'at': 'start',
+                           'default': 'state'},
+                          {'capability': 'hood.set_angle', 'arguments': {'angle_rad': 0.0}, 'at': 'start', 'default': 'state'}],
+                'entry': {},
+                'from': 'agitation world'},
+ 'ika_rv10_digital_v': {'setup': [{'host': 'configure_bath',
+                                   'kwargs': {'instance_id': 'ika_rv10_digital_v',
+                                              'effective_heat_capacity_j_k': 12000.0,
+                                              'initial_temperature_k': 293.15,
+                                              'heat_loss_w_k': 3.0,
+                                              'evidence': 'task world (evaporation): set up by the lab before the agent starts: bath filled with 3 L '
+                                                          'of water'},
+                                   'at': 'start',
+                                   'default': 'utility'},
+                                  {'host': 'configure_template_charge',
+                                   'kwargs': {'instance_id': 'ika_rv10_digital_v',
+                                              'solvent_id': 'ethanol',
+                                              'volume_m3': 0.0002,
+                                              'condensation_efficiency': 0.95,
+                                              'heat_transfer_w_k': 20.0,
+                                              'evidence': 'task world (evaporation): set up by the lab before the agent starts: 200 mL ethanol'},
+                                   'at': 'start',
+                                   'default': 'standard'},
+                                  {'host': 'connect_vacuum_source',
+                                   'kwargs': {'instance_id': 'ika_rv10_digital_v',
+                                              'source_instance_id': 'vacuubrand_pc3001_vario_select',
+                                              'pressure_pa': 17500.0,
+                                              'evidence': 'task world (evaporation): set up by the lab before the agent starts: pump at 175 mbar'},
+                                   'at': 'start',
+                                   'default': 'utility'}],
+                        'entry': {},
+                        'from': 'evaporation world'},
+ 'ika_t25': {'setup': [{'capability': 'sample.configure',
+                        'arguments': {'sample_id': 'host_emulsion',
+                                      'carrier_id': 'water',
+                                      'carrier_mass_kg': 0.9,
+                                      'carrier_density_kg_m3': 1000.0,
+                                      'dispersed_label': 'hypothetical_oil',
+                                      'dispersed_mass_kg': 0.08,
+                                      'dispersed_density_kg_m3': 800.0,
+                                      'dispersed_cp_J_kg_K': 2000.0,
+                                      'kind': 'emulsion',
+                                      'viscosity_Pa_s': 0.01,
+                                      'interfacial_tension_N_m': 0.03,
+                                      'initial_size_m': 0.0002,
+                                      'temperature_K': 298.15,
+                                      'material_evidence': 'host_assumption_except_NIST_water_Cp'},
+                        'evaluator': True,
+                        'default': 'standard'},
+                       {'capability': 'mount.configure',
+                        'arguments': {'head_locked': True, 'vessel_clamped': True},
+                        'evaluator': True,
+                        'default': 'accessory'}],
+             'entry': {},
+             'from': 'agitation world'},
+ 'inert_purelab_he_2gb': {'setup': [],
+                          'entry': {'scene': 'chemlab.compile.scenes.glovebox:GloveboxScene',
+                                    'glovebox': {'o2_ppm': 0.8,
+                                                 'h2o_ppm': 0.5,
+                                                 'box_gauge_pa': 800.0,
+                                                 'evacuation_pa': 300.0,
+                                                 'backfill_pa': 95000.0,
+                                                 'vacuum_source': 'lab_vacuum_line'}},
+                          'from': 'enclosure world'},
+ 'inficon_ul1000fab': {'setup': [{'capability': 'part.connect', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'}],
+                       'entry': {},
+                       'from': 'gas_fluid world'},
+ 'ja_alphase': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                          {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                          {'advance_s': 620.0, 'default': 'state'}],
+                'entry': {},
+                'from': 'structure world'},
+ 'jasco_cpl300': {'setup': [{'capability': 'cover.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'sample.load',
+                             'arguments': {'sample_id': 'solvent_blank',
+                                           'kind': 'blank',
+                                           'template_id': '',
+                                           'solvent': 'basic ethanol',
+                                           'volume_m3': 2e-06,
+                                           'concentration_mol_m3': 0.0,
+                                           'peak_pl_relative': 0.0,
+                                           'synthetic_glum': 0.0,
+                                           'accept_unknown_conditions': True,
+                                           'accept_synthetic_cpl': False},
+                             'evaluator': True,
+                             'default': 'standard'},
+                            {'capability': 'cover.set', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'}],
+                  'entry': {},
+                  'from': 'spectroscopy world'},
+ 'jasco_fp8350': {'setup': [{'capability': 'solution.register',
+                             'arguments': {'sample_id': 'blank_01',
+                                           'kind': 'blank',
+                                           'template_id': '',
+                                           'concentration_mol_m3': 0.0,
+                                           'volume_m3': 2e-06,
+                                           'solvent_id': 'ethanol',
+                                           'solvent_background_s_inv': 40.0,
+                                           'reference_temperature_k': 298.15,
+                                           'accept_unknown_temperature': True,
+                                           'accept_source_mirror': True},
+                             'evaluator': True,
+                             'default': 'standard'},
+                            {'capability': 'solution.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'sample.load', 'arguments': {'sample_id': 'blank_01'}, 'evaluator': True, 'default': 'standard'}],
+                  'entry': {},
+                  'from': 'spectroscopy world'},
+ 'jasco_ftir4700': {'setup': [{'host': 'register_template_sample',
+                               'kwargs': {'sample_id': 'ethanol_01', 'substance_id': 'ethanol', 'phase': 'liquid'},
+                               'at': 'start',
+                               'default': 'standard'}],
+                    'entry': {},
+                    'from': 'spectroscopy world'},
+ 'jasco_fvs6000': {'setup': [{'capability': 'cover.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                             {'capability': 'sample.load',
+                              'arguments': {'sample_id': 'solvent_blank',
+                                            'kind': 'blank',
+                                            'template_id': '',
+                                            'solvent': 'DMSO-d6',
+                                            'is_aqueous': False,
+                                            'volume_m3': 5e-08,
+                                            'concentration_kg_m3': 0.0,
+                                            'ir_peak_absorbance': 0.0,
+                                            'synthetic_vcd_ratio': 0.0,
+                                            'accept_inferred_units': True,
+                                            'accept_unknown_conditions': True,
+                                            'accept_surrogate': False},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'cover.set', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'spectroscopy world'},
+ 'jasco_j1500': {'setup': [{'capability': 'solution.register',
+                            'arguments': {'sample_id': 'blank_01',
+                                          'kind': 'blank',
+                                          'template_id': '',
+                                          'residue_concentration_mol_m3': 0.0,
+                                          'path_length_m': 0.001,
+                                          'cell_shape': 'rectangular',
+                                          'volume_m3': 2e-07,
+                                          'solvent_id': 'buffer_01',
+                                          'mean_epsilon_m2_mol': [600.0,
+                                                                  600.0,
+                                                                  600.0,
+                                                                  600.0,
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+                                                                  600.0,
+                                                                  600.0,
+                                                                  600.0],
+                                          'solvent_alpha_m_inv': [50.0,
+                                                                  50.0,
+                                                                  50.0,
+                                                                  50.0,
+                                                                  50.0,
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+                                                                  50.0,
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+                                          'solvent_delta_alpha_m_inv': [0.05,
+                                                                        0.05,
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+                                          'accept_synthetic_uv': True,
+                                          'accept_unknown_reference_conditions': True},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'solution.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'sample.load', 'arguments': {'sample_id': 'blank_01'}, 'evaluator': True, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'spectroscopy world'},
+ 'jasco_nrs5500': {'setup': [{'capability': 'sample.register', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                             {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'spectroscopy world'},
+ 'jasco_p4200': {'setup': [{'capability': 'sample.register',
+                            'arguments': {'sample_id': 'blank_water',
+                                          'kind': 'blank',
+                                          'template_id': '',
+                                          'solvent': 'water',
+                                          'volume_m3': 1e-06,
+                                          'concentration_kg_m3': 0.0,
+                                          'path_m': 0.1,
+                                          'reference_temperature_k': 293.15,
+                                          'transmittance': 0.8,
+                                          'quartz_angle_rad': None,
+                                          'accept_missing_source_concentration': False,
+                                          'accept_ideal_quartz': False},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'sample.register',
+                            'arguments': {'sample_id': 'quartz_10deg',
+                                          'kind': 'quartz',
+                                          'template_id': '',
+                                          'solvent': '',
+                                          'volume_m3': 0.0,
+                                          'concentration_kg_m3': 0.0,
+                                          'path_m': 0.1,
+                                          'reference_temperature_k': 293.15,
+                                          'transmittance': 0.8,
+                                          'quartz_angle_rad': 0.17453292519943295,
+                                          'accept_missing_source_concentration': False,
+                                          'accept_ideal_quartz': True},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'sample.register',
+                            'arguments': {'sample_id': 'sample_01',
+                                          'kind': 'sample',
+                                          'template_id': 'pubchem_5988',
+                                          'solvent': 'water',
+                                          'volume_m3': 1e-06,
+                                          'concentration_kg_m3': 100.0,
+                                          'path_m': 0.1,
+                                          'reference_temperature_k': 293.15,
+                                          'transmittance': 0.8,
+                                          'quartz_angle_rad': None,
+                                          'accept_missing_source_concentration': True,
+                                          'accept_ideal_quartz': False},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'lid.set', 'arguments': {'opened': True}, 'default': 'standard'},
+                           {'capability': 'sample.load', 'arguments': {'sample_id': 'blank_water'}, 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'lid.set', 'arguments': {'opened': False}, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'property_meter world'},
+ 'jena_contraa800': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                               {'capability': 'method.configure',
+                                'arguments': {'mode': 'flame',
+                                              'element': 'Cu',
+                                              'line_id': 'cu_324754',
+                                              'wavelength_m': 3.24754e-07,
+                                              'background': 'linear_reference',
+                                              'injection_volume_m3': 1e-07,
+                                              'repeats': 1,
+                                              'baseline_s': 0.02,
+                                              'flush_s': 0.2,
+                                              'furnace_program': [{'stage': 'dry',
+                                                                   'temperature_k': 393.15,
+                                                                   'ramp_k_s': 3000.0,
+                                                                   'hold_s': 0.08,
+                                                                   'argon_on': True},
+                                                                  {'stage': 'pyrolysis',
+                                                                   'temperature_k': 673.15,
+                                                                   'ramp_k_s': 3000.0,
+                                                                   'hold_s': 0.04,
+                                                                   'argon_on': True},
+                                                                  {'stage': 'atomize',
+                                                                   'temperature_k': 2273.15,
+                                                                   'ramp_k_s': 3000.0,
+                                                                   'hold_s': 0.15,
+                                                                   'argon_on': False},
+                                                                  {'stage': 'clean',
+                                                                   'temperature_k': 2473.15,
+                                                                   'ramp_k_s': 3000.0,
+                                                                   'hold_s': 0.04,
+                                                                   'argon_on': True}]},
+                                'default': 'standard'},
+                               {'advance_s': 2.0, 'default': 'standard'},
+                               {'capability': 'flame.ignite', 'arguments': {}, 'default': 'standard'},
+                               {'advance_s': 0.5, 'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'sample_id': 'blank',
+                                              'kind': 'blank',
+                                              'template_id': '',
+                                              'volume_m3': 1e-05,
+                                              'vial_index': 0,
+                                              'dilution_factor': 1.0,
+                                              'background_absorbance': 0.0,
+                                              'background_slope': 0.0,
+                                              'accept_unknown_conditions': True,
+                                              'accept_assumed_matrix': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                               {'advance_s': 1.0, 'default': 'standard'},
+                               {'capability': 'sample.unload',
+                                'arguments': {'recipient_id': 'external_bottle'},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'sample_id': 'standard',
+                                              'kind': 'standard',
+                                              'template_id': 'aj_wastewater_std3_cu',
+                                              'volume_m3': 1e-05,
+                                              'vial_index': 0,
+                                              'dilution_factor': 2.0,
+                                              'background_absorbance': 0.02,
+                                              'background_slope': 0.005,
+                                              'accept_unknown_conditions': True,
+                                              'accept_assumed_matrix': True},
+                                'evaluator': True,
+                                'default': 'standard'}],
+                     'entry': {},
+                     'from': 'quant_analyzer world bring_up(blank) + the mid Cu standard'},
+ 'jena_multix': {'setup': [{'capability': 'cover.set', 'arguments': {'door': 'chlorine', 'opened': True}, 'evaluator': True, 'default': 'state'},
+                           {'capability': 'cell.prepare', 'arguments': {'cell_type': 'sensitive'}, 'evaluator': True, 'default': 'accessory'},
+                           {'capability': 'cover.set', 'arguments': {'door': 'chlorine', 'opened': False}, 'evaluator': True, 'default': 'state'},
+                           {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                           {'capability': 'gas.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                           {'capability': 'method.configure',
+                            'arguments': {'mode': 'AOX',
+                                          'temperature_k': 1223.15,
+                                          'feeding_s': 0.4,
+                                          'combustion_s': 0.6,
+                                          'integration_s': 60.0,
+                                          'window_s': 0.2},
+                            'default': 'standard'},
+                           {'advance_s': 5.0, 'default': 'standard'},
+                           {'capability': 'sample.load',
+                            'arguments': {'template_id': '',
+                                          'kind': 'blank',
+                                          'input_form': 'loaded_carbon',
+                                          'mass_kg': 5e-05,
+                                          'volume_m3': 0.0,
+                                          'reference_fraction': 1.0,
+                                          'accept_prepared_input': True,
+                                          'accept_source_condition_mismatch': True,
+                                          'halogen_moles': []},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                           {'advance_s': 60.0, 'default': 'standard'},
+                           {'capability': 'sample.unload', 'arguments': {'recipient_id': 'host'}, 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'sample.load',
+                            'arguments': {'template_id': 'aox_linear_100_r1_c1',
+                                          'kind': 'standard',
+                                          'input_form': 'loaded_carbon',
+                                          'mass_kg': 5e-05,
+                                          'volume_m3': 0.0,
+                                          'reference_fraction': 0.2,
+                                          'accept_prepared_input': True,
+                                          'accept_source_condition_mismatch': True,
+                                          'halogen_moles': []},
+                            'evaluator': True,
+                            'default': 'standard'}],
+                 'entry': {},
+                 'from': 'quant_analyzer world bring_up(blank) + the 100 AOX standard'},
+ 'jeol_jem1400flash': {'setup': [{'capability': 'specimen.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'imaging world'},
+ 'jeol_jsmit200': {'setup': [{'capability': 'specimen.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'imaging world'},
+ 'julabo_corio_cd200f': {'setup': [{'host': 'configure_bath_fluid',
+                                    'kwargs': {'instance_id': 'julabo_corio_cd200f',
+                                               'mass_kg': 4.5,
+                                               'specific_heat_J_kg_K': 4186.0,
+                                               'heat_loss_W_K': 2.0,
+                                               'lid_open_loss_W_K': 6.0,
+                                               'initial_temperature_K': 293.15,
+                                               'minimum_temperature_K': 278.15,
+                                               'maximum_temperature_K': 368.15,
+                                               'evidence': 'task world: bath filled with 4.5 L of water'},
+                                    'at': 'start',
+                                    'default': 'utility'}],
+                         'entry': {},
+                         'from': 'thermal world'},
+ 'keyence_vkx3000': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                               {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                               {'advance_s': 90.0, 'default': 'state'},
+                               {'capability': 'focus.move', 'arguments': {'z_m': 0.0322}, 'default': 'state'},
+                               {'advance_s': 10.0, 'default': 'state'}],
+                     'entry': {},
+                     'from': 'imaging world'},
+ 'knauer_k7400s': {'setup': [{'advance_s': 1.0, 'default': 'standard'},
+                             {'capability': 'method.configure',
+                              'arguments': {'sample_volume_m3': 1.5e-07, 'freeze_k': 267.15, 'cooling_limit_k': 258.15, 'sample_interval_s': 1.0},
+                              'default': 'standard'},
+                             {'capability': 'head.position', 'arguments': {'position': 'raised'}, 'default': 'accessory'},
+                             {'capability': 'sample.load',
+                              'arguments': {'sample_id': 'water',
+                                            'kind': 'reference',
+                                            'volume_m3': 1.5e-07,
+                                            'water_mass_kg': 0.00015,
+                                            'initial_temperature_k': 293.15,
+                                            'components': [],
+                                            'reference_osmolality_mol_kg': 0.0,
+                                            'accept_temperature_transfer': True},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'head.position', 'arguments': {'position': 'measuring'}, 'default': 'accessory'}],
+                   'entry': {},
+                   'from': 'property_meter world (knauer_k7400s_water)'},
+ 'kratos_axissupra': {'setup': [{'capability': 'plant.configure',
+                                 'arguments': {'room_k': 295.15, 'mains_voltage_v': 200.0, 'noise_seed': 1},
+                                 'at': 'start',
+                                 'default': 'utility'},
+                                {'capability': 'power.set', 'arguments': {'enabled': True}, 'at': 'start', 'default': 'utility'},
+                                {'advance_s': 700.0, 'at': 'start', 'default': 'standard'},
+                                {'capability': 'sample.provide', 'arguments': 'contract_example', 'at': 'start', 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'structure world'},
+ 'laboao_cvdltf12p50': {'setup': [{'capability': 'gas.install',
+                                   'arguments': {'species': ['N2', 'AR', 'CH4'],
+                                                 'initial_mol': [2.0, 2.0, 2.0],
+                                                 'inlet_gauge_pa': [100000.0, 100000.0, 100000.0],
+                                                 'full_scale_std_m3_s': [5e-06, 5e-06, 5e-06],
+                                                 'actual_gas_factor': [1.0, 1.0, 1.0],
+                                                 'accept_host_supply': True},
+                                   'evaluator': True,
+                                   'default': 'utility'}],
+                        'entry': {},
+                        'from': 'coating world'},
+ 'lakeshore_8604vsm': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'electrical world'},
+ 'lakeshore_measurereadym91': {'setup': [{'capability': 'sample.set_clamp', 'arguments': {'closed': True}, 'evaluator': True, 'default': 'standard'}],
+                               'entry': {},
+                               'from': 'electrical world'},
+ 'leco_onh836': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                           {'capability': 'gas.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                           {'capability': 'method.configure',
+                            'arguments': {'carrier': 'He',
+                                          'selected_elements': ['O', 'N', 'H'],
+                                          'carrier_flow_m3_s': 8.166666666666666e-06,
+                                          'outgas_power_w': 6000.0,
+                                          'outgas_s': 0.16,
+                                          'purge_s': 0.12,
+                                          'baseline_s': 0.08,
+                                          'fusion_power_w': 4800.0,
+                                          'fusion_s': 0.4,
+                                          'integration_s': 0.3,
+                                          'window_s': 0.02,
+                                          'endpoint_relative': 0.001},
+                            'default': 'standard'},
+                           {'capability': 'furnace.open', 'arguments': {'opened': True}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'crucible.install',
+                            'arguments': {'graphite_mass_kg': 0.002, 'blank_element_masses_kg': {'O': 1e-09, 'N': 2e-10, 'H': 1e-10}},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'furnace.open', 'arguments': {'opened': False}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'loading.set', 'arguments': {'loading': True}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'sample.load',
+                            'arguments': {'template_id': '',
+                                          'kind': 'blank',
+                                          'mass_kg': 0.0,
+                                          'declared_elements': [],
+                                          'mass_basis': 'source_conditioned',
+                                          'dry_mass_fraction': None,
+                                          'accept_source_condition_mismatch': True},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'loading.set', 'arguments': {'loading': False}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                           {'advance_s': 2.0, 'default': 'standard'},
+                           {'capability': 'furnace.open', 'arguments': {'opened': True}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'crucible.remove',
+                            'arguments': {'recipient_id': 'host_crucible_waste'},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'crucible.install',
+                            'arguments': {'graphite_mass_kg': 0.002, 'blank_element_masses_kg': {'O': 1e-09, 'N': 2e-10, 'H': 1e-10}},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'furnace.open', 'arguments': {'opened': False}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'loading.set', 'arguments': {'loading': True}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'},
+                           {'capability': 'sample.load',
+                            'arguments': {'template_id': 'leco_503558_reference',
+                                          'kind': 'sample',
+                                          'mass_kg': 0.00012,
+                                          'declared_elements': ['O', 'N', 'H'],
+                                          'mass_basis': 'source_conditioned',
+                                          'dry_mass_fraction': None,
+                                          'accept_source_condition_mismatch': True},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'loading.set', 'arguments': {'loading': False}, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'quant_analyzer world bring_up(blank) + its sample loader'},
+ 'linseis_lsr3': {'setup': [{'capability': 'geometry.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                            {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'sample.set_clamp', 'arguments': {'closed': True}, 'evaluator': True, 'default': 'standard'},
+                            {'advance_s': 30.0, 'default': 'standard'},
+                            {'capability': 'furnace.set_open', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                            {'advance_s': 60.0, 'default': 'standard'}],
+                  'entry': {},
+                  'from': 'electrical world'},
+ 'magritek_spinsolve80': {'setup': [{'host': 'register_template_sample',
+                                     'kwargs': {'instance_id': 'magritek_spinsolve80',
+                                                'sample_id': 'ethanol_01',
+                                                'composition': [{'substance_id': 'ethanol', 'amount_mol': 0.0001}],
+                                                'solvent': 'CDCl3'},
+                                     'at': 'start',
+                                     'default': 'standard'}],
+                          'entry': {},
+                          'from': 'spectroscopy world'},
+ 'malvern_microcalpeaq': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                    {'capability': 'wash.power_set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                                    {'capability': 'solution.prepare',
+                                     'arguments': {'solution_id': 'edta',
+                                                   'volume_m3': 3e-06,
+                                                   'buffer': {'buffer_id': 'mes', 'concentration_mol_m3': 10.0, 'ph': 5.6},
+                                                   'solutes': [{'species_id': 'edta', 'concentration_mol_m3': 0.1}]},
+                                     'evaluator': True,
+                                     'default': 'consumable'},
+                                    {'capability': 'solution.prepare',
+                                     'arguments': {'solution_id': 'ca',
+                                                   'volume_m3': 1e-06,
+                                                   'buffer_from': 'edta',
+                                                   'solutes': [{'species_id': 'ca2+', 'concentration_mol_m3': 1.0}]},
+                                     'evaluator': True,
+                                     'default': 'consumable'},
+                                    {'capability': 'solution.degas', 'arguments': {'solution_id': 'edta'}, 'evaluator': True, 'default': 'utility'},
+                                    {'capability': 'solution.degas', 'arguments': {'solution_id': 'ca'}, 'evaluator': True, 'default': 'utility'}],
+                          'entry': {},
+                          'from': 'bioassay world'},
+ 'markes_unityxr': {'setup': [{'capability': 'lid.set', 'arguments': {'lift_m': 0.18}, 'default': 'standard'},
+                              {'capability': 'sample_lever.set', 'arguments': {'angle_rad': 1.0}, 'default': 'standard'},
+                              {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                              {'capability': 'sample_lever.set', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'},
+                              {'capability': 'lid.set', 'arguments': {'lift_m': 0.0}, 'default': 'standard'},
+                              {'capability': 'gc.ready', 'arguments': {'ready': True}, 'evaluator': True, 'default': 'utility'}],
+                    'entry': {},
+                    'from': 'sample_intro world'},
+ 'metrohm_899': {'setup': [{'capability': 'slot.set_installed',
+                            'arguments': {'slot': 'cell', 'installed': True},
+                            'at': 'start',
+                            'default': 'accessory'},
+                           {'capability': 'slot.set_installed',
+                            'arguments': {'slot': 'generator', 'installed': True},
+                            'at': 'start',
+                            'default': 'accessory'},
+                           {'capability': 'slot.set_installed',
+                            'arguments': {'slot': 'indicator', 'installed': True},
+                            'at': 'start',
+                            'default': 'accessory'},
+                           {'host': 'load_template_sample',
+                            'kwargs': {'substance_id': 'copper_ii_sulfate_pentahydrate',
+                                       'sample_mass_kg': 1e-05,
+                                       'background_drift_kg_s': 0.0,
+                                       'reagent_ready': True,
+                                       'request_id': 'world_sample',
+                                       'instance_id': 'metrohm_899'},
+                            'default': 'standard'}],
+                 'entry': {},
+                 'from': 'titration world'},
+ 'metrohm_909uv': {'setup': [{'capability': 'shield.set_open', 'arguments': {'open': True}, 'default': 'standard'},
+                             {'advance_s': 2.0, 'default': 'standard'},
+                             {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'digestion world'},
+ 'metrohm_914': {'setup': [],
+                 'entry': {'scene': 'chemlab.compile.scenes.metrohm914:Metrohm914Scene',
+                           'solution': {'kind': 'ph_buffer',
+                                        'substance_id': 'nist_srm_186g_phosphate_equimolal_buffer',
+                                        'temperature_k': 298.15,
+                                        'standard_channel': 'ph'}},
+                 'from': 'property_meter world'},
+ 'metrohm_omnis': {'setup': [{'host': 'host_load_template_sample',
+                              'kwargs': {'instance_id': 'metrohm_omnis',
+                                         'analyte': {'components': [{'substance_id': 'acetic_acid', 'amount_mol': 0.001}],
+                                                     'volume_m3': 2.5e-05,
+                                                     'titrant_id': 'titrant_sodium_hydroxide'}},
+                              'at': 'start',
+                              'default': 'standard'}],
+                   'entry': {},
+                   'from': 'titration world'},
+ 'microtrac_turbiscanlab': {'setup': [{'capability': 'sample.set_position',
+                                       'arguments': {'distance_m': 0.105},
+                                       'evaluator': True,
+                                       'default': 'standard'},
+                                      {'capability': 'lid.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.load',
+                                       'arguments': {'reference_id': 'lentil_soybean_hipe_untreated',
+                                                     'volume_m3': 2e-05,
+                                                     'height_m': 0.040419661425538086,
+                                                     'particle_diameter_m': 5e-05,
+                                                     'volume_fraction': 0.75,
+                                                     'particle_density_kg_m3': 920.0,
+                                                     'liquid_density_kg_m3': 1000.0,
+                                                     'dynamic_viscosity_pa_s': 0.01,
+                                                     'maximum_packing_fraction': 0.95,
+                                                     'hindered_exponent': 4.65,
+                                                     'extra_diffusion_m2_s': 0.0,
+                                                     'aggregation_rate_s': 0.005,
+                                                     'particle_absorption_m_inv': 10.0,
+                                                     'carrier_absorption_m_inv': 0.0,
+                                                     'scattering_m_inv': 100.0,
+                                                     'optical_path_m': 0.025,
+                                                     'accept_engineering': True,
+                                                     'accept_unknown_conditions': True,
+                                                     'accept_template_condition_transfer': False,
+                                                     'accept_concentrated_stokes_proxy': True},
+                                       'evaluator': True,
+                                       'default': 'standard'}],
+                            'entry': {},
+                            'from': 'particle_surface world turbiscan(): check dispersion vial in the holder'},
+ 'miele_plw6111': {'setup': [{'host': 'configure_water_model',
+                              'kwargs': {'instance_id': 'miele_plw6111',
+                                         'effective_heat_capacity_J_K': 104650.0,
+                                         'heat_loss_W_K': 8.0,
+                                         'initial_temperature_K': 293.15,
+                                         'maximum_temperature_K': 368.15,
+                                         'evidence': 'task world: 25 L wash water, mains water, liquid-water envelope'},
+                              'at': 'start',
+                              'default': 'utility'}],
+                   'entry': {},
+                   'from': 'wash_sterilize world'},
+ 'milestone_dma80': {'setup': [{'capability': 'gas.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                               {'capability': 'method.configure',
+                                'arguments': {'drying_temperature_k': 473.15,
+                                              'drying_s': 0.12,
+                                              'decomposition_temperature_k': 923.15,
+                                              'decomposition_s': 1.0,
+                                              'catalyst_temperature_k': 838.15,
+                                              'purge_s': 0.2,
+                                              'release_temperature_k': 1173.15,
+                                              'release_s': 0.5,
+                                              'record_s': 0.8,
+                                              'window_s': 0.05,
+                                              'range_min_kg': 1e-14,
+                                              'range_max_kg': 1.5e-09},
+                                'default': 'standard'},
+                               {'capability': 'dust_cover.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'slot_index': 0,
+                                              'template_id': '',
+                                              'kind': 'blank',
+                                              'input_form': 'solid',
+                                              'boat_material': 'metal',
+                                              'mass_kg': 0.0001,
+                                              'volume_m3': 0.0,
+                                              'reference_fraction': 1.0,
+                                              'dry_mass_fraction': None,
+                                              'host_mercury_mass_kg': None,
+                                              'accept_source_condition_mismatch': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'slot_index': 1,
+                                              'template_id': 'nist_2448_certified',
+                                              'kind': 'standard',
+                                              'input_form': 'solid',
+                                              'boat_material': 'metal',
+                                              'mass_kg': 2e-05,
+                                              'volume_m3': 0.0,
+                                              'reference_fraction': 1.0,
+                                              'dry_mass_fraction': None,
+                                              'host_mercury_mass_kg': None,
+                                              'accept_source_condition_mismatch': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'slot_index': 2,
+                                              'template_id': 'nist_2448_certified',
+                                              'kind': 'standard',
+                                              'input_form': 'solid',
+                                              'boat_material': 'metal',
+                                              'mass_kg': 5e-05,
+                                              'volume_m3': 0.0,
+                                              'reference_fraction': 1.0,
+                                              'dry_mass_fraction': None,
+                                              'host_mercury_mass_kg': None,
+                                              'accept_source_condition_mismatch': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'slot_index': 3,
+                                              'template_id': 'nist_2448_certified',
+                                              'kind': 'standard',
+                                              'input_form': 'solid',
+                                              'boat_material': 'metal',
+                                              'mass_kg': 0.0001,
+                                              'volume_m3': 0.0,
+                                              'reference_fraction': 1.0,
+                                              'dry_mass_fraction': None,
+                                              'host_mercury_mass_kg': None,
+                                              'accept_source_condition_mismatch': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'slot_index': 5,
+                                              'template_id': 'nist_2448_certified',
+                                              'kind': 'sample',
+                                              'input_form': 'solid',
+                                              'boat_material': 'metal',
+                                              'mass_kg': 5e-05,
+                                              'volume_m3': 0.0,
+                                              'reference_fraction': 1.0,
+                                              'dry_mass_fraction': None,
+                                              'host_mercury_mass_kg': None,
+                                              'accept_source_condition_mismatch': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'dust_cover.set', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                               {'capability': 'measurement.start', 'arguments': {'slot_index': 0}, 'default': 'standard'},
+                               {'advance_s': 4.0, 'default': 'standard'}],
+                     'entry': {},
+                     'from': 'quant_analyzer world bring_up(blank): carousel with blank, 3 SRM 2448 standards and an SRM 2448 check'},
+ 'mt_hx204': {'setup': [{'capability': 'lid.set_position', 'arguments': {'position_m': 0.1085}, 'default': 'standard'},
+                        {'capability': 'sample.configure',
+                         'arguments': {'species_kg': {'water': 0.0005}, 'residue_kg': 0.0045},
+                         'evaluator': True,
+                         'default': 'standard'},
+                        {'capability': 'lid.set_position', 'arguments': {'position_m': 0.0}, 'default': 'standard'}],
+              'entry': {},
+              'from': 'property_meter world'},
+ 'mt_mp70': {'setup': [{'capability': 'sample.configure',
+                        'arguments': {'channel': 0,
+                                      'substance_id': 'benzoic_acid',
+                                      'mass_kg': 2e-06,
+                                      'purity': 1.0,
+                                      'particle_size_m': 5e-05,
+                                      'decomposition_onset_k': None,
+                                      'decomposition_source': ''},
+                        'evaluator': True,
+                        'default': 'standard'},
+                       {'capability': 'sample.configure',
+                        'arguments': {'channel': 1,
+                                      'substance_id': 'benzoic_acid',
+                                      'mass_kg': 2e-06,
+                                      'purity': 1.0,
+                                      'particle_size_m': 5e-05,
+                                      'decomposition_onset_k': None,
+                                      'decomposition_source': ''},
+                        'evaluator': True,
+                        'default': 'standard'}],
+             'entry': {},
+             'from': 'property_meter world'},
+ 'mt_quantos_q2_xpe206dr': {'setup': [{'host': 'host_configure_geometry',
+                                       'kwargs': {'iid': 'mt_quantos_q2_xpe206dr',
+                                                  'door_travel_m': 0.5494645551128549,
+                                                  'evidence': 'lab set-up: front door travel'},
+                                       'default': 'utility'},
+                                      {'capability': 'door.set_opening', 'arguments': {'opening_m': 0.5494645551128549}, 'default': 'state'},
+                                      {'host': 'host_load_head',
+                                       'kwargs': {'iid': 'mt_quantos_q2_xpe206dr',
+                                                  'head_id': 'head_1',
+                                                  'source_mass_kg': 0.002,
+                                                  'free_flowing': True,
+                                                  'evidence': 'lab set-up: free-flowing powder head inserted'},
+                                       'default': 'accessory'},
+                                      {'host': 'host_load_container',
+                                       'kwargs': {'iid': 'mt_quantos_q2_xpe206dr',
+                                                  'container_id': 'vial_1',
+                                                  'position_id': 'balance_pan',
+                                                  'content_mass_kg': 0.0,
+                                                  'evidence': 'lab set-up: vial on the pan'},
+                                       'default': 'consumable'},
+                                      {'capability': 'door.set_opening', 'arguments': {'opening_m': 0.0}, 'default': 'consumable'},
+                                      {'host': 'host_configure_dosing',
+                                       'kwargs': {'iid': 'mt_quantos_q2_xpe206dr',
+                                                  'rate_kg_s': 5e-07,
+                                                  'rate_evidence': 'lab set-up: powder rate',
+                                                  'observation_evidence': 'lab set-up: ideal mass observation'},
+                                       'default': 'utility'}],
+                            'entry': {},
+                            'from': 'dosing world'},
+ 'nanosurf_naiostm': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                {'advance_s': 30.0, 'default': 'state'}],
+                      'entry': {},
+                      'from': 'imaging world'},
+ 'netzsch_lfa467': {'setup': [{'capability': 'gas.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                              {'capability': 'gas.load',
+                               'arguments': {'channel': 'protective',
+                                             'gas': 'N2',
+                                             'amount_mol': 1.0,
+                                             'reference_temperature_k': 298.15,
+                                             'reference_pressure_pa': 101325.0,
+                                             'accept_reference_conditions': True},
+                               'evaluator': True,
+                               'default': 'utility'},
+                              {'capability': 'coolant.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                              {'capability': 'power.set', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                              {'capability': 'pulse.charge', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                              {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'thermal_analysis world'},
+ 'netzsch_mmc315': {'setup': [{'capability': 'tray.move', 'arguments': {'extend': True}, 'evaluator': True, 'default': 'state'},
+                              {'advance_s': 30.0, 'default': 'standard'},
+                              {'capability': 'lid.set', 'arguments': {'open': True}, 'evaluator': True, 'default': 'standard'},
+                              {'advance_s': 30.0, 'default': 'standard'},
+                              {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                              {'capability': 'lid.set', 'arguments': {'open': False}, 'evaluator': True, 'default': 'standard'},
+                              {'advance_s': 30.0, 'default': 'standard'},
+                              {'capability': 'tray.move', 'arguments': {'extend': False}, 'evaluator': True, 'default': 'standard'},
+                              {'advance_s': 30.0, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'thermal_analysis world'},
+ 'newera_ne1000': {'setup': [{'capability': 'syringe.load',
+                              'arguments': {'syringe': 'bd_10ml', 'liquid_id': 'water', 'fill_volume_m3': 8e-06},
+                              'default': 'consumable'},
+                             {'capability': 'outlet.connect',
+                              'arguments': {'tubing': 'ptfe_0p8mm',
+                                            'tubing_length_m': 0.5,
+                                            'needle': 'none',
+                                            'backpressure_pa': 0.0,
+                                            'reservoir_liquid_m3': 2e-05},
+                              'default': 'consumable'}],
+                   'entry': {},
+                   'from': 'liquid world'},
+ 'novocontrol_alphat': {'setup': [{'capability': 'geometry.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                  {'capability': 'thermal.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'},
+                                  {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'sample.set_clamp', 'arguments': {'closed': True}, 'evaluator': True, 'default': 'standard'},
+                                  {'advance_s': 30.0, 'default': 'standard'}],
+                        'entry': {},
+                        'from': 'electrical world'},
+ 'opentrons_flex_single_5_1000ul': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'at': 'start', 'default': 'utility'}],
+                                    'entry': {'scene': 'chemlab.compile.scenes.flex:FlexScene',
+                                              'deck': {'labware': [{'name': 'tiprack1000', 'type': 'opentrons_flex_96_tiprack_1000ul', 'slot': 'B2'},
+                                                                   {'name': 'tiprack200', 'type': 'opentrons_flex_96_tiprack_200ul', 'slot': 'C3'},
+                                                                   {'name': 'reservoir',
+                                                                    'type': 'nest_12_reservoir_15ml',
+                                                                    'slot': 'B3',
+                                                                    'volumes_ul': {'A1': 10000, 'A2': 10000}},
+                                                                   {'name': 'plate', 'type': 'corning_96_wellplate_360ul_flat', 'slot': 'C2'},
+                                                                   {'name': 'tuberack',
+                                                                    'type': 'opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap',
+                                                                    'slot': 'D1'}],
+                                                       'trash': 'A1',
+                                                       'home_m': {'x_m': 0.24, 'y_m': 0.21, 'z_m': 0.22},
+                                                       'command_s': 1.0}},
+                                    'from': 'liquid world'},
+ 'ossila_dipcoater': {'setup': [{'capability': 'bath.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                                {'capability': 'clamp.set_gap', 'arguments': {'gap_m': 0.012}, 'default': 'consumable'},
+                                {'advance_s': 1.0, 'default': 'consumable'},
+                                {'capability': 'substrate.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'}],
+                      'entry': {},
+                      'from': 'coating world'},
+ 'ossila_doctorblade': {'setup': [{'capability': 'charge.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'substrate.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'}],
+                        'entry': {},
+                        'from': 'coating world'},
+ 'ossila_slotdie': {'setup': [{'capability': 'ink.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'},
+                              {'capability': 'substrate.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'consumable'}],
+                    'entry': {},
+                    'from': 'coating world'},
+ 'ossila_spincoater': {'setup': [{'capability': 'lid.set_angle', 'arguments': {'angle_rad': 1.5}, 'default': 'standard'},
+                                 {'advance_s': 2.0, 'default': 'standard'},
+                                 {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                 {'capability': 'lid.set_angle', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'},
+                                 {'advance_s': 2.0, 'default': 'standard'}],
+                       'entry': {},
+                       'from': 'coating world'},
+ 'park_nx10': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                         {'capability': 'probe.provide',
+                          'arguments': {'probe_id': 'c1', 'type_id': 'contal_g'},
+                          'evaluator': True,
+                          'default': 'accessory'},
+                         {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                         {'advance_s': 60.0, 'default': 'state'},
+                         {'capability': 'head.remove', 'arguments': {}, 'default': 'accessory'},
+                         {'advance_s': 20.0, 'default': 'state'},
+                         {'capability': 'probe.mount', 'arguments': {'probe_id': 'c1'}, 'default': 'accessory'},
+                         {'advance_s': 25.0, 'default': 'state'},
+                         {'capability': 'head.attach', 'arguments': {}, 'default': 'accessory'},
+                         {'advance_s': 20.0, 'default': 'state'},
+                         {'capability': 'head.configure', 'arguments': {'mode': 'contact', 'cantilever_db': 'contal_g'}, 'default': 'accessory'}],
+               'entry': {},
+               'from': 'imaging world'},
+ 'pccell_ed64002': {'setup': [{'capability': 'membrane.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                              {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                              {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'extraction world'},
+ 'pilodist_pilodist104': {'setup': [{'capability': 'column.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                    {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                    {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                    {'capability': 'bath.set_engaged', 'arguments': {'engaged': True}, 'evaluator': True, 'default': 'standard'},
+                                    {'advance_s': 6.0, 'default': 'standard'}],
+                          'entry': {},
+                          'from': 'evaporation world'},
+ 'pine_wavevortex10': {'setup': [{'capability': 'enclosure.set', 'arguments': {'lift_m': 0.285}, 'default': 'standard'},
+                                 {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                 {'capability': 'enclosure.set', 'arguments': {'lift_m': 0.0}, 'default': 'standard'},
+                                 {'capability': 'electrochem.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'utility'}],
+                       'entry': {},
+                       'from': 'electrochem world'},
+ 'porometer_poroluxrevo': {'setup': [{'capability': 'sample.load',
+                                      'arguments': {'reference_id': 'pvdf_fc43_2016',
+                                                    'diameter_m': 0.025,
+                                                    'active_diameter_m': 0.0184,
+                                                    'dry_mass_kg': 0.0001,
+                                                    'liquid_capacity_kg': 1e-06,
+                                                    'drain_tau_s': 0.05,
+                                                    'accept_engineering': True,
+                                                    'accept_unknown_conditions': True,
+                                                    'accept_pressure_transform': False,
+                                                    'accept_monotone_projection': True},
+                                      'evaluator': True,
+                                      'default': 'standard'},
+                                     {'capability': 'liquid.load',
+                                      'arguments': {'name': 'FC-43',
+                                                    'mass_kg': 0.001,
+                                                    'density_kg_m3': 1800.0,
+                                                    'surface_tension_n_m': 0.016,
+                                                    'contact_angle_rad': 0.0,
+                                                    'accept_engineering': True},
+                                      'evaluator': True,
+                                      'default': 'consumable'},
+                                     {'capability': 'gas.load', 'arguments': {'amount_mol': 1.0}, 'evaluator': True, 'default': 'utility'}],
+                           'entry': {},
+                           'from': 'particle_surface world porolux(): membrane disc, wetting liquid, N2'},
+ 'radleys_mya4': {'setup': [{'host': 'configure_cooling_source',
+                             'kwargs': {'available': True, 'temperature_K': 288.15, 'flow_m3_s': 5e-05},
+                             'at': 'start',
+                             'default': 'utility'}],
+                  'entry': {},
+                  'from': 'reactor world'},
+ 'retsch_pt100': {'setup': [{'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                            {'capability': 'mount.configure',
+                             'arguments': {'all_bottles_attached': True},
+                             'evaluator': True,
+                             'default': 'accessory'}],
+                  'entry': {},
+                  'from': 'solid_prep world'},
+ 'rigaku_miniflex600_external_cooling': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'at': 'start', 'default': 'utility'}],
+                                         'entry': {'scene': 'chemlab.compile.scenes.miniflex:MiniFlexScene',
+                                                   'chiller': 'chiller_01',
+                                                   'samples': {'quartz_holder': [{'phase_id': 'quartz', 'weight_fraction': 1.0}],
+                                                               'calcite_holder': [{'phase_id': 'calcite', 'weight_fraction': 1.0}]}},
+                                         'from': 'structure world'},
+ 'rigaku_xtalabsynergy': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                    {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                    {'advance_s': 30.0, 'default': 'state'}],
+                          'entry': {},
+                          'from': 'structure world'},
+ 'sartorius_vivaflow200': {'setup': [{'capability': 'cassette.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                     {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                     {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                           'entry': {},
+                           'from': 'extraction world'},
+ 'sciex_pa800': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'at': 'start', 'default': 'utility'},
+                           {'capability': 'sample_cover.set_position',
+                            'arguments': {'angle_rad': 1.5707963267948966},
+                            'at': 'start',
+                            'default': 'standard'},
+                           {'capability': 'vial.place',
+                            'arguments': {'position': 'BI:A1',
+                                          'volume_m3': 1.5e-06,
+                                          'composition_mol_m3': {'boric_acid': 50.0, 'sodium_ion': 25.0},
+                                          'label': 'rinse buffer'},
+                            'evaluator': True,
+                            'at': 'start',
+                            'default': 'consumable'},
+                           {'capability': 'vial.place',
+                            'arguments': {'position': 'BO:A1',
+                                          'volume_m3': 6e-07,
+                                          'composition_mol_m3': {'boric_acid': 50.0, 'sodium_ion': 25.0},
+                                          'label': 'waste'},
+                            'evaluator': True,
+                            'at': 'start',
+                            'default': 'consumable'},
+                           {'capability': 'vial.place',
+                            'arguments': {'position': 'BI:B1',
+                                          'volume_m3': 1.5e-06,
+                                          'composition_mol_m3': {'boric_acid': 50.0, 'sodium_ion': 25.0},
+                                          'label': 'run buffer in'},
+                            'evaluator': True,
+                            'at': 'start',
+                            'default': 'consumable'},
+                           {'capability': 'vial.place',
+                            'arguments': {'position': 'BO:B1',
+                                          'volume_m3': 1e-06,
+                                          'composition_mol_m3': {'boric_acid': 50.0, 'sodium_ion': 25.0},
+                                          'label': 'run buffer out'},
+                            'evaluator': True,
+                            'at': 'start',
+                            'default': 'consumable'},
+                           {'capability': 'vial.place',
+                            'arguments': {'position': 'SI:A1',
+                                          'volume_m3': 1.5e-06,
+                                          'composition_mol_m3': {'benzoic_acid': 0.5},
+                                          'label': 'sample 1'},
+                            'evaluator': True,
+                            'at': 'start',
+                            'default': 'consumable'},
+                           {'capability': 'cartridge_cover.set_position', 'arguments': {'angle_rad': 1.4}, 'at': 'start', 'default': 'accessory'},
+                           {'capability': 'insertion_bar.set_position', 'arguments': {'angle_rad': 1.0}, 'at': 'start', 'default': 'state'},
+                           {'capability': 'cartridge.install', 'arguments': 'contract_example', 'at': 'start', 'default': 'accessory'},
+                           {'capability': 'insertion_bar.set_position', 'arguments': {'angle_rad': 0.0}, 'at': 'start', 'default': 'state'},
+                           {'capability': 'cartridge_cover.set_position', 'arguments': {'angle_rad': 0.0}, 'at': 'start', 'default': 'accessory'},
+                           {'capability': 'sample_cover.set_position', 'arguments': {'angle_rad': 0.0}, 'at': 'start', 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'chromatography world'},
+ 'scp_digiprepms': {'setup': [{'capability': 'method.configure', 'arguments': 'contract_example', 'default': 'standard'},
+                              {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                    'entry': {},
+                    'from': 'digestion world'},
+ 'seal_aa500': {'setup': [{'capability': 'kit.provide',
+                           'arguments': {'kit': 'nitrate_stock', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'nitrite_stock', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'ammonium_stock', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'phosphate_stock', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'silicate_stock', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'reagents_nitrate_nitrite', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'reagents_nitrite', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'reagents_ammonia', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'reagents_phosphate', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'reagents_silicate', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'wash_water', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'kit.provide',
+                           'arguments': {'kit': 'cadmium_activation', 'volume_m3': 0.003},
+                           'evaluator': True,
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch1', 'reagent': 'imidazole_buffer', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch1', 'reagent': 'colour_reagent', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch2', 'reagent': 'complexing_reagent', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch2', 'reagent': 'alkaline_phenol', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch2', 'reagent': 'hypochlorite_nitroprusside', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch3', 'reagent': 'molybdate_antimony', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch3', 'reagent': 'ascorbic_acid', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch4', 'reagent': 'molybdate', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch4', 'reagent': 'oxalic_acid', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'reagent.load',
+                           'arguments': {'channel': 'ch4', 'reagent': 'ascorbic_acid', 'volume_m3': 0.0004},
+                           'default': 'consumable'},
+                          {'capability': 'power.set', 'arguments': {'on': True}, 'default': 'utility'},
+                          {'capability': 'sampler.load',
+                           'arguments': {'rack': 'S', 'position': 22, 'item_id': 'wash_water', 'volume_m3': 1e-05},
+                           'default': 'standard'},
+                          {'capability': 'standard.prepare',
+                           'arguments': {'standard_id': 'std0',
+                                         'volume_m3': 0.0001,
+                                         'components': [{'source_id': 'wash_water', 'volume_m3': 0.0001}]},
+                           'default': 'standard'},
+                          {'capability': 'sampler.load',
+                           'arguments': {'rack': 'S', 'position': 1, 'item_id': 'std0', 'volume_m3': 1e-05},
+                           'default': 'standard'},
+                          {'capability': 'standard.prepare',
+                           'arguments': {'standard_id': 'std1',
+                                         'volume_m3': 0.0001,
+                                         'components': [{'source_id': 'nitrate_stock', 'volume_m3': 7e-08},
+                                                        {'source_id': 'ammonium_stock', 'volume_m3': 1.5000000000000002e-07},
+                                                        {'source_id': 'phosphate_stock', 'volume_m3': 2e-06},
+                                                        {'source_id': 'silicate_stock', 'volume_m3': 6.5e-06},
+                                                        {'source_id': 'wash_water', 'volume_m3': 9.128000000000001e-05}]},
+                           'default': 'standard'},
+                          {'capability': 'sampler.load',
+                           'arguments': {'rack': 'S', 'position': 2, 'item_id': 'std1', 'volume_m3': 1e-05},
+                           'default': 'standard'},
+                          {'capability': 'standard.prepare',
+                           'arguments': {'standard_id': 'std2',
+                                         'volume_m3': 0.0001,
+                                         'components': [{'source_id': 'nitrate_stock', 'volume_m3': 1.4e-07},
+                                                        {'source_id': 'ammonium_stock', 'volume_m3': 3.0000000000000004e-07},
+                                                        {'source_id': 'phosphate_stock', 'volume_m3': 4e-06},
+                                                        {'source_id': 'silicate_stock', 'volume_m3': 1.3e-05},
+                                                        {'source_id': 'wash_water', 'volume_m3': 8.256000000000001e-05}]},
+                           'default': 'standard'},
+                          {'capability': 'sampler.load',
+                           'arguments': {'rack': 'S', 'position': 3, 'item_id': 'std2', 'volume_m3': 1e-05},
+                           'default': 'standard'},
+                          {'capability': 'standard.prepare',
+                           'arguments': {'standard_id': 'std3',
+                                         'volume_m3': 0.0001,
+                                         'components': [{'source_id': 'nitrate_stock', 'volume_m3': 2.8e-07},
+                                                        {'source_id': 'ammonium_stock', 'volume_m3': 6.000000000000001e-07},
+                                                        {'source_id': 'phosphate_stock', 'volume_m3': 8e-06},
+                                                        {'source_id': 'silicate_stock', 'volume_m3': 2.6e-05},
+                                                        {'source_id': 'wash_water', 'volume_m3': 6.512e-05}]},
+                           'default': 'standard'},
+                          {'capability': 'sampler.load',
+                           'arguments': {'rack': 'S', 'position': 4, 'item_id': 'std3', 'volume_m3': 1e-05},
+                           'default': 'standard'},
+                          {'capability': 'system.startup', 'arguments': {}, 'default': 'standard'}],
+                'entry': {},
+                'from': 'quant_analyzer world _seal(on) + seal_standards(): stock and reagent kits, channel reagents, power on, calibrants std0-3 '
+                        'and wash water in the sampler, start-up program started (ready about 260 s after T0)'},
+ 'sft_sft110': {'setup': [{'capability': 'door.set_angle', 'arguments': {'angle_rad': 1.2}, 'evaluator': True, 'default': 'standard'},
+                          {'capability': 'cap.set_lift', 'arguments': {'lift_m': 0.07}, 'evaluator': True, 'default': 'standard'},
+                          {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                          {'capability': 'cap.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'standard'},
+                          {'capability': 'door.set_angle', 'arguments': {'angle_rad': 0.0}, 'evaluator': True, 'default': 'standard'}],
+                'entry': {},
+                'from': 'extraction world'},
+ 'shimadzu_ags10knxd': {'setup': [{'capability': 'fixture.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                  {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'grip.set_closed',
+                                   'arguments': {'which': 'upper', 'closed': True},
+                                   'evaluator': True,
+                                   'default': 'accessory'},
+                                  {'capability': 'grip.set_closed',
+                                   'arguments': {'which': 'lower', 'closed': True},
+                                   'evaluator': True,
+                                   'default': 'accessory'},
+                                  {'advance_s': 10.0, 'default': 'state'}],
+                        'entry': {},
+                        'from': 'mechanical world'},
+ 'shimadzu_edx7200': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                {'capability': 'method.configure',
+                                 'arguments': {'voltage_v': 50000.0,
+                                               'current_a': 0.0001,
+                                               'selected_lines': ['co_ka1', 'cu_ka1', 'ni_ka1'],
+                                               'energy_max_j': 8.010883169999999e-15,
+                                               'bins': 2048,
+                                               'integration_s': 0.5,
+                                               'window_s': 0.1,
+                                               'repeats': 1,
+                                               'deadtime_correction': True},
+                                 'default': 'standard'},
+                                {'advance_s': 5.0, 'default': 'standard'},
+                                {'capability': 'cover.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'sample.load',
+                                 'arguments': {'template_id': '',
+                                               'kind': 'blank',
+                                               'mass_kg': 0.01,
+                                               'dimensions_m': [0.02, 0.02, 0.01],
+                                               'phase': 'powder',
+                                               'sealed_cup': True,
+                                               'reference_fraction': 1.0,
+                                               'matrix_factor': 1.0,
+                                               'accept_conditional_response': True,
+                                               'accept_geometric_clearance_assumption': True},
+                                 'evaluator': True,
+                                 'default': 'standard'},
+                                {'capability': 'cover.set', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                                {'advance_s': 1.0, 'default': 'standard'},
+                                {'capability': 'cover.set', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'sample.unload', 'arguments': {'recipient_id': 'host'}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'sample.load',
+                                 'arguments': {'template_id': 'blackmass_icp_f',
+                                               'kind': 'standard',
+                                               'mass_kg': 0.01,
+                                               'dimensions_m': [0.02, 0.02, 0.01],
+                                               'phase': 'powder',
+                                               'sealed_cup': True,
+                                               'reference_fraction': 0.5,
+                                               'matrix_factor': 1.0,
+                                               'accept_conditional_response': True,
+                                               'accept_geometric_clearance_assumption': True},
+                                 'evaluator': True,
+                                 'default': 'standard'},
+                                {'capability': 'cover.set', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'quant_analyzer world bring_up(blank) + the black-mass reference'},
+ 'shimadzu_icpe9800': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                 {'capability': 'vacuum.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                 {'capability': 'method.configure',
+                                  'arguments': {'line_ids': ['cu_324754', 'zn_213857'],
+                                                'view': 'axial',
+                                                'rf_power_w': 1300.0,
+                                                'argon_flow_m3_s': 0.000195,
+                                                'stabilization_s': 0.2,
+                                                'integration_s': 0.4,
+                                                'flush_s': 0.3,
+                                                'repeats': 1,
+                                                'background': 'linear_reference'},
+                                  'default': 'standard'},
+                                 {'advance_s': 30.0, 'default': 'standard'},
+                                 {'capability': 'plasma.ignite', 'arguments': {}, 'default': 'standard'},
+                                 {'advance_s': 2.5, 'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'sample_id': 'matrix_blank',
+                                                'template_id': '',
+                                                'kind': 'blank',
+                                                'volume_m3': 1e-05,
+                                                'dilution_factor': 1.0,
+                                                'background_relative': 0.0,
+                                                'background_slope': 0.0,
+                                                'assumed_elements': [],
+                                                'accept_assumed_elements': False,
+                                                'accept_unknown_conditions': True,
+                                                'is_aqueous': True},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                                 {'advance_s': 1.0, 'default': 'standard'},
+                                 {'capability': 'sample.unload',
+                                  'arguments': {'recipient_id': 'host_return'},
+                                  'evaluator': True,
+                                  'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'arguments': {'sample_id': 'standard',
+                                                'template_id': 'shimadzu_epa_ipc_assigned',
+                                                'kind': 'standard',
+                                                'volume_m3': 1e-05,
+                                                'dilution_factor': 10.0,
+                                                'background_relative': 0.02,
+                                                'background_slope': 0.01,
+                                                'assumed_elements': [],
+                                                'accept_assumed_elements': False,
+                                                'accept_unknown_conditions': True,
+                                                'is_aqueous': True},
+                                  'evaluator': True,
+                                  'default': 'standard'}],
+                       'entry': {},
+                       'from': 'quant_analyzer world bring_up(blank) + the mid calibration standard'},
+ 'shimadzu_icpms2030': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                  {'capability': 'vacuum.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                  {'capability': 'method.configure',
+                                   'arguments': {'mass_numbers': [65, 66],
+                                                 'quantifications': [{'isotope_id': 'cu_65', 'basis': 'element'},
+                                                                     {'isotope_id': 'zn_66', 'basis': 'element'}],
+                                                 'dwell_s': 0.02,
+                                                 'settling_s': 0.002,
+                                                 'sweeps': 10,
+                                                 'repeats': 1,
+                                                 'stabilization_s': 0.2,
+                                                 'flush_s': 0.3,
+                                                 'rf_power_w': 1200.0,
+                                                 'argon_flow_m3_s': 0.00018333333333333334,
+                                                 'helium_flow_m3_s': 0.0,
+                                                 'internal_standard_isotope_id': '',
+                                                 'internal_standard_concentration_kg_m3': 0.0,
+                                                 'deadtime_correction': True},
+                                   'default': 'standard'},
+                                  {'advance_s': 30.0, 'default': 'standard'},
+                                  {'capability': 'plasma.ignite', 'arguments': {}, 'default': 'standard'},
+                                  {'advance_s': 2.5, 'default': 'standard'},
+                                  {'capability': 'sample.load',
+                                   'arguments': {'sample_id': 'blank',
+                                                 'template_id': '',
+                                                 'kind': 'blank',
+                                                 'volume_m3': 1e-05,
+                                                 'dilution_factor': 1.0,
+                                                 'internal_standard_reference_id': '',
+                                                 'internal_standard_dilution_factor': 1.0,
+                                                 'matrix_transmission': 1.0,
+                                                 'interferences': [],
+                                                 'is_aqueous': True,
+                                                 'accept_natural_isotope_assumption': True,
+                                                 'accept_unknown_conditions': True},
+                                   'evaluator': True,
+                                   'default': 'standard'},
+                                  {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                                  {'advance_s': 1.0, 'default': 'standard'},
+                                  {'capability': 'sample.unload', 'arguments': {'recipient_id': 'host'}, 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'sample.load',
+                                   'arguments': {'sample_id': 'standard',
+                                                 'template_id': 'infant_cal4',
+                                                 'kind': 'standard',
+                                                 'volume_m3': 1e-05,
+                                                 'dilution_factor': 10.0,
+                                                 'internal_standard_reference_id': '',
+                                                 'internal_standard_dilution_factor': 1.0,
+                                                 'matrix_transmission': 1.0,
+                                                 'interferences': [],
+                                                 'is_aqueous': True,
+                                                 'accept_natural_isotope_assumption': True,
+                                                 'accept_unknown_conditions': True},
+                                   'evaluator': True,
+                                   'default': 'standard'}],
+                        'entry': {},
+                        'from': 'quant_analyzer world bring_up(blank) + the mid calibration standard'},
+ 'shimadzu_tocl': {'setup': [{'capability': 'furnace.configure', 'arguments': {'temperature_k': 953.15}, 'default': 'standard'},
+                             {'capability': 'method.configure',
+                              'arguments': {'mode': 'TC',
+                                            'injection_volume_m3': 5e-07,
+                                            'dilution_factor': 1.0,
+                                            'repeats': 1,
+                                            'acid_volume_m3': 1e-09,
+                                            'acidification_s': 0.02,
+                                            'sparging_s': 0.2,
+                                            'combustion_s': 0.15,
+                                            'minimum_peak_s': 0.03,
+                                            'maximum_peak_s': 1.0,
+                                            'baseline_threshold': 1e-05,
+                                            'baseline_samples': 2,
+                                            'temperature_tolerance_k': 2.0},
+                              'default': 'standard'},
+                             {'advance_s': 5.0, 'default': 'standard'},
+                             {'capability': 'sample.load',
+                              'arguments': {'sample_id': 'blank',
+                                            'kind': 'blank',
+                                            'template_id': '',
+                                            'template_channel': 'TC',
+                                            'volume_m3': 2e-05,
+                                            'assumed_ic_kg_m3': None,
+                                            'assumed_poc_kg_m3': None,
+                                            'assumed_npoc_kg_m3': None,
+                                            'accept_partition_assumptions': True,
+                                            'accept_unknown_conditions': True},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'measurement.start', 'arguments': {}, 'default': 'standard'},
+                             {'advance_s': 1.0, 'default': 'standard'},
+                             {'capability': 'sample.unload',
+                              'arguments': {'recipient_id': 'external_bottle'},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'sample.load',
+                              'arguments': {'sample_id': 'standard',
+                                            'kind': 'standard',
+                                            'template_id': 'crm_altus_khp_10mg',
+                                            'template_channel': 'TC',
+                                            'volume_m3': 2e-05,
+                                            'assumed_ic_kg_m3': 0.0,
+                                            'assumed_poc_kg_m3': 0.0,
+                                            'assumed_npoc_kg_m3': None,
+                                            'accept_partition_assumptions': True,
+                                            'accept_unknown_conditions': True},
+                              'evaluator': True,
+                              'default': 'standard'}],
+                   'entry': {},
+                   'from': 'quant_analyzer world bring_up(blank) + KHP CRM standard'},
+ 'signatone_quadpro2': {'setup': [{'capability': 'wafer.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'state'},
+                                  {'capability': 'probe.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                  {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                  {'capability': 'enclosure.set_open', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                                  {'advance_s': 30.0, 'default': 'standard'}],
+                        'entry': {},
+                        'from': 'electrical world'},
+ 'sonics_vcx750': {'setup': [{'capability': 'sample.configure',
+                              'arguments': {'sample_id': 'aqueous_suspension',
+                                            'carrier_id': 'water',
+                                            'carrier_mass_kg': 0.099,
+                                            'carrier_density_kg_m3': 1000.0,
+                                            'solid_label': 'host_inert_solid',
+                                            'solid_mass_kg': 0.002,
+                                            'solid_density_kg_m3': 2000.0,
+                                            'solid_cp_J_kg_K': 800.0,
+                                            'initial_size_m': 0.0001,
+                                            'temperature_K': 298.15,
+                                            'material_evidence': 'host_assumption_except_NIST_water_Cp'},
+                              'evaluator': True,
+                              'default': 'standard'},
+                             {'capability': 'mount.configure',
+                              'arguments': {'converter_clamped_upper': True,
+                                            'probe_tight': True,
+                                            'vessel_fixed': True,
+                                            'temperature_probe_present': True},
+                              'evaluator': True,
+                              'default': 'accessory'}],
+                   'entry': {},
+                   'from': 'agitation world'},
+ 'specac_atlasmanual': {'setup': [{'capability': 'die.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                  {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                        'entry': {},
+                        'from': 'solid_prep world'},
+ 'stanford_rga100': {'setup': [{'capability': 'vacuum.pump', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'},
+                               {'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                               {'capability': 'method.configure',
+                                'arguments': {'mode': 'analog',
+                                              'mass_min': 12,
+                                              'mass_max': 46,
+                                              'points_per_u': 10,
+                                              'mid_masses': [14, 18, 28, 40, 44],
+                                              'cycles': 1,
+                                              'noise_floor': 7,
+                                              'electron_energy_v': 70.0,
+                                              'ion_energy_v': 12,
+                                              'focus_potential_v': -100.0,
+                                              'emission_current_a': 0.001,
+                                              'candidates': ['nitrogen'],
+                                              'accept_unknown_ei_conditions': True},
+                                'default': 'standard'},
+                               {'capability': 'sample.load',
+                                'arguments': {'label': 'blank',
+                                              'kind': 'blank',
+                                              'components': [],
+                                              'standard_species_id': None,
+                                              'accept_unknown_ei_conditions': True},
+                                'evaluator': True,
+                                'default': 'standard'},
+                               {'capability': 'filament.set', 'arguments': {'enabled': True}, 'default': 'standard'},
+                               {'capability': 'scan.start', 'arguments': {}, 'default': 'standard'},
+                               {'advance_s': 1.0, 'default': 'standard'}],
+                     'entry': {},
+                     'from': 'quant_analyzer world bring_up(blank)'},
+ 'surface_dvsresolution': {'setup': [{'capability': 'stock.load',
+                                      'arguments': {'solvent': 'water', 'mass_kg': 0.001},
+                                      'evaluator': True,
+                                      'default': 'state'},
+                                     {'capability': 'gas.load', 'arguments': {'amount_mol': 0.01}, 'evaluator': True, 'default': 'utility'},
+                                     {'capability': 'sample.load',
+                                      'arguments': {'reference_id': 'bam_p109_water_nitrogen_298p15k',
+                                                    'form': 'powder',
+                                                    'dry_mass_kg': 1e-06,
+                                                    'initial_water_kg': 0.0,
+                                                    'accept_engineering_kinetics': True,
+                                                    'accept_reversible_reference': False,
+                                                    'sorption_tau_s': 0.5,
+                                                    'desorption_tau_s': 1.0,
+                                                    'sorption_heat_j_kg': 100000.0},
+                                      'evaluator': True,
+                                      'default': 'standard'}],
+                           'entry': {},
+                           'from': 'particle_surface world dvs(): water reservoir, dry gas, sample pan in'},
+ 'syrris_asiafllex': {'setup': [{'capability': 'tray.set_extension', 'arguments': 'contract_example', 'evaluator': True, 'default': 'state'},
+                                {'capability': 'separator.set_opening', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                {'capability': 'membrane.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'accessory'},
+                                {'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'separator.set_opening', 'arguments': {'opening_m': 0.0}, 'evaluator': True, 'default': 'accessory'},
+                                {'capability': 'tray.set_extension', 'arguments': {'extension_m': 0.0}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                      'entry': {},
+                      'from': 'extraction world'},
+ 'ta_dma850': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+               'entry': {},
+               'from': 'thermal_analysis world'},
+ 'ta_dsc2500': {'setup': [{'capability': 'tray.place', 'arguments': 'contract_example', 'evaluator': True, 'default': 'state'},
+                          {'capability': 'gas.unload', 'arguments': {}, 'evaluator': True, 'default': 'utility'},
+                          {'capability': 'gas.load',
+                           'arguments': {'gas': 'N2',
+                                         'amount_mol': 10.0,
+                                         'reference_temperature_k': 298.15,
+                                         'reference_pressure_pa': 101325.0,
+                                         'accept_reference_conditions': True},
+                           'evaluator': True,
+                           'default': 'utility'}],
+                'entry': {},
+                'from': 'thermal_analysis world'},
+ 'ta_tamiv': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                        {'capability': 'reference.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                        {'capability': 'sample.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'standard'},
+                        {'advance_s': 5.0, 'default': 'standard'}],
+              'entry': {},
+              'from': 'thermal_analysis world'},
+ 'ta_tga5500': {'setup': [{'capability': 'tray.place',
+                           'arguments': {'position': 1,
+                                         'sample': {'reference_id': 'fsri_abs_n2_10k_r1',
+                                                    'mass_kg': 1e-05,
+                                                    'pan_material': 'ceramic',
+                                                    'heat_capacity_j_kg_k': 1000.0,
+                                                    'loss_relaxation_s': 1.0,
+                                                    'loss_heat_j_kg': 0.0,
+                                                    'oxidation_capacity_fraction': 0.0,
+                                                    'oxidation_rate_s_inv': 0.1,
+                                                    'oxidation_activation_j_mol': 50000.0,
+                                                    'oxidation_reference_temperature_k': 600.0,
+                                                    'oxidation_heat_j_kg': 0.0,
+                                                    'accept_engineering': True,
+                                                    'accept_curve_projection': True,
+                                                    'accept_condition_transfer': True,
+                                                    'accept_cold_extension': True}},
+                           'evaluator': True,
+                           'default': 'state'}],
+                'entry': {},
+                'from': 'thermal_analysis world'},
+ 'ta_tma450': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+               'entry': {},
+               'from': 'thermal_analysis world'},
+ 'teledyne_analyteexcite': {'setup': [{'capability': 'guard.set', 'arguments': {'angle_rad': 1.0}, 'default': 'standard'},
+                                      {'capability': 'drawer.set', 'arguments': {'open_m': 0.2}, 'default': 'standard'},
+                                      {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'drawer.set', 'arguments': {'open_m': 0.0}, 'default': 'standard'},
+                                      {'capability': 'guard.set', 'arguments': {'angle_rad': 0.0}, 'default': 'standard'}],
+                            'entry': {},
+                            'from': 'sample_intro world'},
+ 'teledyne_atomxxyz': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                 {'capability': 'sample.load',
+                                  'evaluator': True,
+                                  'arguments': {'sample_id': 'aqueous_toluene',
+                                                'vial_index': 2,
+                                                'matrix': 'water',
+                                                'liquid_volume_m3': 2e-05,
+                                                'soil_mass_kg': 0.0,
+                                                'components': [{'substance_id': 'toluene', 'moles': 1e-08, 'soil_kd_m3_kg': 0.0}]},
+                                  'default': 'standard'}],
+                       'entry': {},
+                       'from': 'sample_intro world'},
+ 'thermo_ibrightfl1500': {'setup': [{'capability': 'sample.provide',
+                                     'arguments': {'sample_id': 'gel1',
+                                                   'support': 'agarose_gel',
+                                                   'width_m': 0.1,
+                                                   'height_m': 0.08,
+                                                   'lanes': [{'x_m': 0.02, 'width_m': 0.005, 'bands': []},
+                                                             {'x_m': 0.04, 'width_m': 0.005, 'bands': []}]},
+                                     'default': 'standard'}],
+                          'entry': {},
+                          'from': 'imaging world'},
+ 'thermo_orbitrapexploris': {'setup': [{'capability': 'power.set', 'arguments': {'enabled': True}, 'default': 'utility'},
+                                       {'capability': 'method.configure',
+                                        'arguments': {'mode': 'ms1',
+                                                      'polarity': 'positive',
+                                                      'mass_min': 40.0,
+                                                      'mass_max': 500.0,
+                                                      'resolution': 30000,
+                                                      'precursor_mz': 122.06,
+                                                      'isolation_width_relative': 1.0,
+                                                      'collision_type': 'nce',
+                                                      'normalized_collision_energy': 0.35,
+                                                      'collision_potential_v': 25.0,
+                                                      'agc_normalized': 0.1,
+                                                      'maximum_injection_s': 0.02,
+                                                      'scans': 1,
+                                                      'spray_voltage_v': 3500.0,
+                                                      'transfer_temperature_k': 323.15,
+                                                      'vaporizer_temperature_k': None,
+                                                      'flow_m3_s': 1e-09,
+                                                      'sheath_gas_arbitrary': 10.0,
+                                                      'auxiliary_gas_arbitrary': 2.0,
+                                                      'sweep_gas_arbitrary': 0.0,
+                                                      'reference_condition_policy': 'matching_energy'},
+                                        'default': 'standard'},
+                                       {'capability': 'sample.load',
+                                        'arguments': {'label': 'blank',
+                                                      'kind': 'blank',
+                                                      'volume_m3': 1e-07,
+                                                      'components': [],
+                                                      'accept_transferred_reference': True},
+                                        'evaluator': True,
+                                        'default': 'standard'},
+                                       {'capability': 'source.set', 'arguments': {'enabled': True}, 'default': 'standard'},
+                                       {'advance_s': 2.0, 'default': 'standard'},
+                                       {'capability': 'scan.start', 'arguments': {}, 'default': 'standard'},
+                                       {'advance_s': 1.0, 'default': 'standard'},
+                                       {'capability': 'source.set', 'arguments': {'enabled': False}, 'default': 'standard'},
+                                       {'capability': 'sample.load',
+                                        'arguments': {'label': 'host_prepared_benzamide_solution',
+                                                      'kind': 'sample',
+                                                      'volume_m3': 1e-07,
+                                                      'components': [{'template_id': 'sm808001', 'amount_mol': 1e-08}],
+                                                      'accept_transferred_reference': True},
+                                        'evaluator': True,
+                                        'default': 'standard'},
+                                       {'capability': 'source.set', 'arguments': {'enabled': True}, 'default': 'standard'}],
+                             'entry': {},
+                             'from': 'quant_analyzer world bring_up(blank) + its sample loader'},
+ 'thinky_are310s': {'setup': [{'capability': 'sample.configure',
+                               'arguments': {'sample_id': 'aqueous_resin_proxy',
+                                             'carrier_id': 'water',
+                                             'carrier_mass_kg': 0.08,
+                                             'carrier_density_kg_m3': 1000.0,
+                                             'solid_label': 'host_inert_solid',
+                                             'solid_mass_kg': 0.02,
+                                             'solid_density_kg_m3': 2000.0,
+                                             'solid_cp_J_kg_K': 800.0,
+                                             'viscosity_Pa_s': 1.0,
+                                             'entrained_gas_mol': 2e-05,
+                                             'temperature_K': 298.15,
+                                             'cup_volume_m3': 0.0003,
+                                             'cup_tare_kg': 0.04,
+                                             'adapter_mass_kg': 0.0,
+                                             'material_evidence': 'host_assumptions_except_NIST_liquid_Cp'},
+                               'evaluator': True,
+                               'default': 'standard'}],
+                    'entry': {},
+                    'from': 'agitation world'},
+ 'tousimis_autosamdri815': {'setup': [{'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.065}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'holder.set_lift', 'arguments': {'lift_m': 0.035}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'holder.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'standard'},
+                                      {'capability': 'lid.set_lift', 'arguments': {'lift_m': 0.0}, 'evaluator': True, 'default': 'standard'}],
+                            'entry': {},
+                            'from': 'evaporation world'},
+ 'uic_kdl1basic': {'setup': [{'capability': 'method.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                             {'capability': 'sample.configure', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                   'entry': {},
+                   'from': 'evaporation world'},
+ 'ultrafast_helios': {'setup': [{'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'sample.cover', 'arguments': {'opened': False}, 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'laser.arm', 'arguments': {'enabled': True}, 'evaluator': True, 'default': 'utility'}],
+                      'entry': {},
+                      'from': 'spectroscopy world'},
+ 'vacuubrand_pc3001_vario_select': {'setup': [{'host': 'create_chamber',
+                                               'kwargs': {'chamber_id': 'flask_2l',
+                                                          'volume_m3': 0.002,
+                                                          'initial_pressure_pa': 101325.0,
+                                                          'leak_throughput_pa_m3_s': 0.0,
+                                                          'evidence': 'task world: 2 L round-bottom flask with a cold trap on the pump inlet'},
+                                               'at': 'start',
+                                               'default': 'utility'},
+                                              {'host': 'connect_source',
+                                               'kwargs': {'instance_id': 'vacuubrand_pc3001_vario_select', 'chamber_id': 'flask_2l'},
+                                               'at': 'start',
+                                               'default': 'utility'}],
+                                    'entry': {},
+                                    'from': 'gas_fluid world'},
+ 'vici_euta_2sd6mwe': {'setup': [], 'entry': {'scene': 'chemlab.compile.scenes.vici:ViciScene'}, 'from': 'gas_fluid world'},
+ 'wyatt_eclipseaf4': {'setup': [{'capability': 'sample.provide', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                                {'capability': 'power.set', 'arguments': {'on': True}, 'default': 'utility'}],
+                      'entry': {},
+                      'from': 'chromatography world'},
+ 'ziath_dp5_mirage_2023': {'setup': [{'host': 'host_load_rack',
+                                      'kwargs': {'rack_id': 'rack_1',
+                                                 'rack_format': 96,
+                                                 'well_ids': ['A1',
+                                                              'A2',
+                                                              'A3',
+                                                              'A4',
+                                                              'A5',
+                                                              'A6',
+                                                              'A7',
+                                                              'A8',
+                                                              'A9',
+                                                              'A10',
+                                                              'A11',
+                                                              'A12',
+                                                              'B1',
+                                                              'B2',
+                                                              'B3',
+                                                              'B4',
+                                                              'B5',
+                                                              'B6',
+                                                              'B7',
+                                                              'B8',
+                                                              'B9',
+                                                              'B10',
+                                                              'B11',
+                                                              'B12',
+                                                              'C1',
+                                                              'C2',
+                                                              'C3',
+                                                              'C4',
+                                                              'C5',
+                                                              'C6',
+                                                              'C7',
+                                                              'C8',
+                                                              'C9',
+                                                              'C10',
+                                                              'C11',
+                                                              'C12',
+                                                              'D1',
+                                                              'D2',
+                                                              'D3',
+                                                              'D4',
+                                                              'D5',
+                                                              'D6',
+                                                              'D7',
+                                                              'D8',
+                                                              'D9',
+                                                              'D10',
+                                                              'D11',
+                                                              'D12',
+                                                              'E1',
+                                                              'E2',
+                                                              'E3',
+                                                              'E4',
+                                                              'E5',
+                                                              'E6',
+                                                              'E7',
+                                                              'E8',
+                                                              'E9',
+                                                              'E10',
+                                                              'E11',
+                                                              'E12',
+                                                              'F1',
+                                                              'F2',
+                                                              'F3',
+                                                              'F4',
+                                                              'F5',
+                                                              'F6',
+                                                              'F7',
+                                                              'F8',
+                                                              'F9',
+                                                              'F10',
+                                                              'F11',
+                                                              'F12',
+                                                              'G1',
+                                                              'G2',
+                                                              'G3',
+                                                              'G4',
+                                                              'G5',
+                                                              'G6',
+                                                              'G7',
+                                                              'G8',
+                                                              'G9',
+                                                              'G10',
+                                                              'G11',
+                                                              'G12',
+                                                              'H1',
+                                                              'H2',
+                                                              'H3',
+                                                              'H4',
+                                                              'H5',
+                                                              'H6',
+                                                              'H7',
+                                                              'H8',
+                                                              'H9',
+                                                              'H10',
+                                                              'H11',
+                                                              'H12'],
+                                                 'visible_barcodes': {'A1': 'TB0000',
+                                                                      'A2': 'TB0001',
+                                                                      'A3': 'TB0002',
+                                                                      'A4': 'TB0003',
+                                                                      'A5': 'TB0004',
+                                                                      'A6': 'TB0005',
+                                                                      'A7': 'TB0006',
+                                                                      'A8': 'TB0007',
+                                                                      'A9': 'TB0008',
+                                                                      'A10': 'TB0009',
+                                                                      'A11': 'TB0010',
+                                                                      'A12': 'TB0011',
+                                                                      'B1': 'TB0012',
+                                                                      'B2': 'TB0013',
+                                                                      'B3': 'TB0014',
+                                                                      'B4': 'TB0015',
+                                                                      'B5': 'TB0016',
+                                                                      'B6': 'TB0017',
+                                                                      'B7': 'TB0018',
+                                                                      'B8': 'TB0019',
+                                                                      'B9': 'TB0020',
+                                                                      'B10': 'TB0021',
+                                                                      'B11': 'TB0022',
+                                                                      'B12': 'TB0023',
+                                                                      'C1': 'TB0024',
+                                                                      'C2': 'TB0025',
+                                                                      'C3': 'TB0026',
+                                                                      'C4': 'TB0027',
+                                                                      'C5': 'TB0028',
+                                                                      'C6': 'TB0029',
+                                                                      'C7': 'TB0030',
+                                                                      'C8': 'TB0031',
+                                                                      'C9': 'TB0032',
+                                                                      'C10': 'TB0033',
+                                                                      'C11': 'TB0034',
+                                                                      'C12': 'TB0035',
+                                                                      'D1': 'TB0036',
+                                                                      'D2': 'TB0037',
+                                                                      'D3': 'TB0038',
+                                                                      'D4': 'TB0039',
+                                                                      'D5': 'TB0040',
+                                                                      'D6': 'TB0041',
+                                                                      'D7': 'TB0042',
+                                                                      'D8': 'TB0043',
+                                                                      'D9': 'TB0044',
+                                                                      'D10': 'TB0045',
+                                                                      'D11': 'TB0046',
+                                                                      'D12': 'TB0047',
+                                                                      'E1': 'TB0048',
+                                                                      'E2': 'TB0049',
+                                                                      'E3': 'TB0050',
+                                                                      'E4': 'TB0051',
+                                                                      'E5': 'TB0052',
+                                                                      'E6': 'TB0053',
+                                                                      'E7': 'TB0054',
+                                                                      'E8': 'TB0055',
+                                                                      'E9': 'TB0056',
+                                                                      'E10': 'TB0057',
+                                                                      'E11': 'TB0058',
+                                                                      'E12': 'TB0059',
+                                                                      'F1': 'TB0060',
+                                                                      'F2': 'TB0061',
+                                                                      'F3': 'TB0062',
+                                                                      'F4': 'TB0063',
+                                                                      'F5': 'TB0064',
+                                                                      'F6': 'TB0065',
+                                                                      'F7': 'TB0066',
+                                                                      'F8': 'TB0067',
+                                                                      'F9': 'TB0068',
+                                                                      'F10': 'TB0069',
+                                                                      'F11': 'TB0070',
+                                                                      'F12': 'TB0071',
+                                                                      'G1': 'TB0072',
+                                                                      'G2': 'TB0073',
+                                                                      'G3': 'TB0074',
+                                                                      'G4': 'TB0075',
+                                                                      'G5': 'TB0076',
+                                                                      'G6': 'TB0077',
+                                                                      'G7': 'TB0078',
+                                                                      'G8': 'TB0079',
+                                                                      'G9': 'TB0080',
+                                                                      'G10': 'TB0081',
+                                                                      'G11': 'TB0082',
+                                                                      'G12': 'TB0083',
+                                                                      'H1': 'TB0084',
+                                                                      'H2': 'TB0085',
+                                                                      'H3': 'TB0086',
+                                                                      'H4': 'TB0087',
+                                                                      'H5': 'TB0088',
+                                                                      'H6': 'TB0089',
+                                                                      'H7': 'TB0090',
+                                                                      'H8': 'TB0091',
+                                                                      'H9': 'TB0092',
+                                                                      'H10': 'TB0093',
+                                                                      'H11': 'TB0094',
+                                                                      'H12': 'TB0095'},
+                                                 'task_manifest': {'A1': 'TB0000',
+                                                                   'A2': 'TB0001',
+                                                                   'A3': 'TB0002',
+                                                                   'A4': 'TB0003',
+                                                                   'A5': 'TB0004',
+                                                                   'A6': 'TB0005',
+                                                                   'A7': 'TB0006',
+                                                                   'A8': 'TB0007',
+                                                                   'A9': 'TB0008',
+                                                                   'A10': 'TB0009',
+                                                                   'A11': 'TB0010',
+                                                                   'A12': 'TB0011',
+                                                                   'B1': 'TB0012',
+                                                                   'B2': 'TB0013',
+                                                                   'B3': 'TB0014',
+                                                                   'B4': 'TB0015',
+                                                                   'B5': 'TB0016',
+                                                                   'B6': 'TB0017',
+                                                                   'B7': 'TB0018',
+                                                                   'B8': 'TB0019',
+                                                                   'B9': 'TB0020',
+                                                                   'B10': 'TB0021',
+                                                                   'B11': 'TB0022',
+                                                                   'B12': 'TB0023',
+                                                                   'C1': 'TB0024',
+                                                                   'C2': 'TB0025',
+                                                                   'C3': 'TB0026',
+                                                                   'C4': 'TB0027',
+                                                                   'C5': 'TB0028',
+                                                                   'C6': 'TB0029',
+                                                                   'C7': 'TB0030',
+                                                                   'C8': 'TB0031',
+                                                                   'C9': 'TB0032',
+                                                                   'C10': 'TB0033',
+                                                                   'C11': 'TB0034',
+                                                                   'C12': 'TB0035',
+                                                                   'D1': 'TB0036',
+                                                                   'D2': 'TB0037',
+                                                                   'D3': 'TB0038',
+                                                                   'D4': 'TB0039',
+                                                                   'D5': 'TB0040',
+                                                                   'D6': 'TB0041',
+                                                                   'D7': 'TB0042',
+                                                                   'D8': 'TB0043',
+                                                                   'D9': 'TB0044',
+                                                                   'D10': 'TB0045',
+                                                                   'D11': 'TB0046',
+                                                                   'D12': 'TB0047',
+                                                                   'E1': 'TB0048',
+                                                                   'E2': 'TB0049',
+                                                                   'E3': 'TB0050',
+                                                                   'E4': 'TB0051',
+                                                                   'E5': 'TB0052',
+                                                                   'E6': 'TB0053',
+                                                                   'E7': 'TB0054',
+                                                                   'E8': 'TB0055',
+                                                                   'E9': 'TB0056',
+                                                                   'E10': 'TB0057',
+                                                                   'E11': 'TB0058',
+                                                                   'E12': 'TB0059',
+                                                                   'F1': 'TB0060',
+                                                                   'F2': 'TB0061',
+                                                                   'F3': 'TB0062',
+                                                                   'F4': 'TB0063',
+                                                                   'F5': 'TB0064',
+                                                                   'F6': 'TB0065',
+                                                                   'F7': 'TB0066',
+                                                                   'F8': 'TB0067',
+                                                                   'F9': 'TB0068',
+                                                                   'F10': 'TB0069',
+                                                                   'F11': 'TB0070',
+                                                                   'F12': 'TB0071',
+                                                                   'G1': 'TB0072',
+                                                                   'G2': 'TB0073',
+                                                                   'G3': 'TB0074',
+                                                                   'G4': 'TB0075',
+                                                                   'G5': 'TB0076',
+                                                                   'G6': 'TB0077',
+                                                                   'G7': 'TB0078',
+                                                                   'G8': 'TB0079',
+                                                                   'G9': 'TB0080',
+                                                                   'G10': 'TB0081',
+                                                                   'G11': 'TB0082',
+                                                                   'G12': 'TB0083',
+                                                                   'H1': 'TB0084',
+                                                                   'H2': 'TB0085',
+                                                                   'H3': 'TB0086',
+                                                                   'H4': 'TB0087',
+                                                                   'H5': 'TB0088',
+                                                                   'H6': 'TB0089',
+                                                                   'H7': 'TB0090',
+                                                                   'H8': 'TB0091',
+                                                                   'H9': 'TB0092',
+                                                                   'H10': 'TB0093',
+                                                                   'H11': 'TB0094',
+                                                                   'H12': 'TB0095'},
+                                                 'instance_id': 'ziath_dp5_mirage_2023'},
+                                      'at': 'start',
+                                      'default': 'consumable'}],
+                           'entry': {},
+                           'from': 'labware_automation world'},
+ 'zwick_hit5p': {'setup': [{'capability': 'calibration.start', 'arguments': {}, 'evaluator': True, 'default': 'state'},
+                           {'advance_s': 20.0, 'default': 'state'},
+                           {'capability': 'pendulum.catch', 'arguments': {}, 'evaluator': True, 'default': 'state'},
+                           {'advance_s': 5.0, 'default': 'standard'},
+                           {'advance_s': 5.0, 'default': 'standard'},
+                           {'capability': 'shield.set_open', 'arguments': {'opened': True}, 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'sample.load', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'mechanical world (hit5p_ready)'},
+ 'zwick_mflow': {'setup': [{'capability': 'thermal.set_temperature', 'arguments': {'target_k': 523.15}, 'default': 'utility'},
+                           {'advance_s': 1500.0, 'default': 'standard'},
+                           {'capability': 'sample.load',
+                            'arguments': {'reference_id': 'basf_ultradur_b6550',
+                                          'reference_temperature_k': 523.15,
+                                          'reference_load_kg': 2.16,
+                                          'mass_kg': 0.006,
+                                          'bulk_density_kg_m3': 800.0,
+                                          'melt_density_kg_m3': 1110.0,
+                                          'specific_heat_j_kg_k': 1900.0,
+                                          'initial_temperature_k': 296.15,
+                                          'melting_low_k': 488.15,
+                                          'melting_high_k': 498.15,
+                                          'latent_heat_j_kg': 48000.0,
+                                          'power_law_index': 0.75,
+                                          'activation_energy_j_mol': 50000.0,
+                                          'history_rate_per_s': 5e-05,
+                                          'accept_rheology_thermal_density_and_packing_assumptions': True},
+                            'evaluator': True,
+                            'default': 'standard'},
+                           {'capability': 'weight.configure', 'arguments': {'total_load_kg': 2.16}, 'evaluator': True, 'default': 'standard'},
+                           {'capability': 'piston.insert', 'arguments': 'contract_example', 'evaluator': True, 'default': 'standard'},
+                           {'advance_s': 10.0, 'default': 'standard'}],
+                 'entry': {},
+                 'from': 'mechanical world'}}
diff --git a/chemlab/chemlab/default_world_gen.py b/chemlab/chemlab/default_world_gen.py
new file mode 100644
index 0000000000000000000000000000000000000000..1679d7e0140b236bb28c339409b4c48ef59157a1
--- /dev/null
+++ b/chemlab/chemlab/default_world_gen.py
@@ -0,0 +1,318 @@
+"""Generator of chemlab/default_world.py (the default lab's per-instrument set-up), from the class packages' worlds.
+
+    <matterix python> -m chemlab.default_world_gen [--out FILE]
+
+Two sources, both diffed against the bring-up-only lab (make_config.build(default_lab=False)):
+  * class worlds written as lab config: each lowering module's ``config()`` (one class world per instrument: the entry whose id is
+    the asset slug, else the first one) - the set-up steps it adds (with "at": "start" when they go before the bring-up) and the
+    entry keys it sets (scene, deck, chiller, samples ...);
+  * class worlds written as functions on a LabBackend (PREPS below), recorded call by call as set-up steps.
+Each step gets a "default" group (utility | accessory | consumable | standard | state) from its capability / host name.  Task-only
+steps (unknown samples) are dropped (DROP).  Re-run after a class world changes, then `python -m chemlab.make_config`.
+"""
+import argparse
+import copy
+import importlib
+import json
+import pkgutil
+import pprint
+import shutil
+import sys
+import tempfile
+from pathlib import Path
+
+from .labbackend import LabBackend
+from . import labbackend as _lb
+
+OUT = Path(__file__).resolve().parent / 'default_world.py'
+_BARE = None
+
+
+def bare_config():
+    global _BARE
+    if _BARE is None:
+        from .make_config import build
+        _BARE = build(default_lab=False)
+        _BARE.pop('inventory', None)
+    return copy.deepcopy(_BARE)
+
+
+def _patch_load_config():
+    """Class worlds call load_config() for their base: give them the bring-up-only lab."""
+    real = _lb.load_config
+
+    def bare_loader(path_or_dict=None):
+        return real(bare_config()) if path_or_dict is None else real(path_or_dict)
+    from .compile import tasks as T
+    for m in pkgutil.iter_modules(T.__path__):
+        mod = importlib.import_module('chemlab.compile.tasks.' + m.name)
+        if hasattr(mod, 'load_config'):
+            mod.load_config = bare_loader
+    _lb.load_config = bare_loader                       # also for functions that import it when called
+    return real
+
+
+# ------------------------------------------------------------------ 1. lab-config class worlds
+def world_rows():
+    real = _patch_load_config()
+    base = {e['id']: e for e in bare_config()['instruments']}
+    out = {}
+    from .compile import tasks as T
+    for m in sorted(pkgutil.iter_modules(T.__path__), key=lambda m: m.name):
+        if not m.name.endswith('_lowering'):
+            continue
+        mod = importlib.import_module('chemlab.compile.tasks.' + m.name)
+        if not hasattr(mod, 'config'):
+            continue
+        cls = m.name[:-len('_lowering')]
+        for e in mod.config()['instruments']:
+            e['setup'] = [x for x in e.get('setup') or [] if 'default' not in x]     # only what the class world itself adds
+            slug = e['asset_type_id'].split('.', 1)[1]
+            b = base[slug]
+            bs = [json.dumps(x, sort_keys=True) for x in b.get('setup') or []]
+            ws = [json.dumps(x, sort_keys=True) for x in e.get('setup') or []]
+            first = ws.index(bs[0]) if bs and bs[0] in ws else len(ws)
+            added = [dict(x, **({'at': 'start'} if i < first else {})) for i, x in enumerate(e.get('setup') or []) if ws[i] not in bs]
+            removed = [json.loads(x) for x in bs if x not in ws]
+            extra = {k: e[k] for k in e if k not in ('setup', 'setup_source', 'default_world') and e.get(k) != b.get(k)}
+            if added or removed or extra:
+                out.setdefault(slug, []).append({'class': cls, 'id': e['id'], 'added': added, 'removed': removed, 'extra': extra})
+    _lb.load_config = real
+    return out
+
+
+# ------------------------------------------------------------------ 2. function class worlds, recorded
+from .compile.tasks import particle_surface_world as PS, quant_analyzer_world as QA   # noqa: E402
+
+
+def qa(iid, std=None):
+    def f(b):
+        QA.bring_up(b, iid, 'blank')
+        if std is not None:
+            QA.load(b, iid, 'standard', **std)
+    return f
+
+
+def qa_loader(iid):
+    def f(b):
+        QA.bring_up(b, iid, 'blank')
+        QA.SAMPLE_LOADERS[iid](QA.World(b, iid))
+    return f
+
+
+def seal_default(b):
+    """AA500: kits, channel reagents, power, the calibrants std0-3 and wash water in the sampler, and the automatic start-up program
+    started (it runs about 2060 s, so it finishes shortly after T0 = 1800 s; the default lab does not wait for it).  The lab's
+    release of the set-up-loaded cups (host release_to_lab, seal_aa500 1.0.1) is in default_world_overrides.py."""
+    w = QA.World(b, QA.SEAL)
+    QA._seal(w, 'on', 'cal1')
+    QA.seal_standards(b)
+    w.ag('system.startup')
+
+
+PREPS = {
+    # particle_surface: the class worlds of the acceptance tasks (the operator filled liquids / gases and put the contract's
+    # example material in as the check sample)
+    'antonpaar_litesizerdls': (lambda b: PS.dls(b), 'particle_surface world dls(): check dispersion in the omega cell'),
+    'antonpaar_psa1190': (lambda b: PS.psa(b), 'particle_surface world psa(): tank filled, background measured, check sample added'),
+    'antonpaar_litesizerdia': (lambda b: PS.dia(b), 'particle_surface world dia(): tank filled, background captured, check sample added'),
+    'microtrac_turbiscanlab': (lambda b: PS.turbiscan(b), 'particle_surface world turbiscan(): check dispersion vial in the holder'),
+    'antonpaar_autosorb6100': (lambda b: PS.autosorb(b), 'particle_surface world autosorb(): degassed check sample tube on station 1, '
+                                                          'LN2 dewar filled'),
+    'antonpaar_poremaster60': (lambda b: PS.poremaster(b), 'particle_surface world poremaster(): mercury filled, penetrometer in port 0'),
+    'porometer_poroluxrevo': (lambda b: PS.porolux(b), 'particle_surface world porolux(): membrane disc, wetting liquid, N2'),
+    'antonpaar_ultrapyc5000': (lambda b: PS.ultrapyc(b), 'particle_surface world ultrapyc(): cell insert chosen, filled cup in'),
+    'surface_dvsresolution': (lambda b: PS.dvs(b), 'particle_surface world dvs(): water reservoir, dry gas, sample pan in'),
+    'antonpaar_surpass3': (lambda b: PS.surpass(b), 'particle_surface world surpass(): sample in the cell, electrolyte filled'),
+    'biolin_sigma700': (lambda b: PS.sigma(b), 'particle_surface world sigma(): liquid vessel on the stage'),
+    'biolin_thetaflex': (lambda b: PS.theta(b), 'particle_surface world theta(): substrate on the stage, syringe filled'),
+    'biolin_mediuml': (lambda b: PS.mediuml(b), 'particle_surface world mediuml(): subphase filled, spreading solution in the syringe'),
+    'ametek_oxtran': (lambda b: PS.oxtran(b), 'particle_surface world oxtran(): test gases connected, film mounted in cell A'),
+    # quant_analyzer: warmed up and the day's blank measured (stage "blank"), with a calibration standard in as the check standard
+    QA.ICPE: (qa(QA.ICPE, {'dilution_factor': 10.0}), 'quant_analyzer world bring_up(blank) + the mid calibration standard'),
+    QA.ICPMS: (qa(QA.ICPMS, {'dilution_factor': 10.0}), 'quant_analyzer world bring_up(blank) + the mid calibration standard'),
+    QA.TOC: (qa(QA.TOC, {}), 'quant_analyzer world bring_up(blank) + KHP CRM standard'),
+    QA.AA: (qa(QA.AA, {'dilution_factor': 2.0}), 'quant_analyzer world bring_up(blank) + the mid Cu standard'),
+    QA.EDX: (qa(QA.EDX, {'reference_fraction': 0.5}), 'quant_analyzer world bring_up(blank) + the black-mass reference'),
+    QA.MX: (qa(QA.MX, {'template_id': 'aox_linear_100_r1_c1'}), 'quant_analyzer world bring_up(blank) + the 100 AOX standard'),
+    QA.DMA: (qa(QA.DMA), 'quant_analyzer world bring_up(blank): carousel with blank, 3 SRM 2448 standards and an SRM 2448 check'),
+    QA.VARIO: (qa(QA.VARIO), 'quant_analyzer world bring_up(blank): blank, 3 sulfanilic acid standards, wheat-flour reference'),
+    QA.RGA: (qa(QA.RGA), 'quant_analyzer world bring_up(blank)'),
+    QA.ORBI: (qa_loader(QA.ORBI), 'quant_analyzer world bring_up(blank) + its sample loader'),
+    QA.LECO: (qa_loader(QA.LECO), 'quant_analyzer world bring_up(blank) + its sample loader'),
+    QA.IRMS: (qa(QA.IRMS), 'quant_analyzer world bring_up(blank)'),
+    QA.SEAL: (seal_default, 'quant_analyzer world _seal(on) + seal_standards(): stock and reagent kits, channel reagents, power on, '
+                            'calibrants std0-3 and wash water in the sampler, start-up program started (ready about 260 s after T0)'),
+}
+
+
+
+def record(slug, fn):
+    cfg = bare_config()
+    e = copy.deepcopy([x for x in cfg['instruments'] if x['id'] == slug][0])
+    c = dict(cfg, instruments=[e])
+    runs = Path(__file__).resolve().parents[1] / 'build' / 'default_world_gen'
+    runs.mkdir(parents=True, exist_ok=True)
+    t = tempfile.mkdtemp(dir=runs)
+    b = LabBackend(c, run_dir=t + '/b')
+    steps = []
+    depth = [0]
+    o_inv, o_ev, o_adv, o_host, o_write = b.invoke, b.evaluator_invoke, b.advance, b.host_call, b.write
+
+    def wrap(kind, orig):
+        def w(*a, **kw):
+            if depth[0] == 0:
+                if kind == 'invoke':
+                    caller, iid, cap, args = a[:4]
+                    steps.append({'capability': cap, 'arguments': copy.deepcopy(args)})
+                elif kind == 'ev':
+                    iid, cap, args = a[:3]
+                    steps.append({'capability': cap, 'arguments': copy.deepcopy(args), 'evaluator': True})
+                elif kind == 'adv':
+                    s = float(a[0] if a else kw['seconds'])
+                    if steps and 'advance_s' in steps[-1]:
+                        steps[-1]['advance_s'] = round(steps[-1]['advance_s'] + s, 6)
+                    else:
+                        steps.append({'advance_s': s})
+                elif kind == 'host':
+                    iid, method = a[:2]
+                    steps.append({'host': method, 'kwargs': dict(kw, instance_id='$instance')})
+                elif kind == 'write':
+                    raise RuntimeError('write is not a set-up step')
+            depth[0] += 1
+            try:
+                r = orig(*a, **kw)
+            finally:
+                depth[0] -= 1
+            if kind in ('invoke', 'ev') and depth[0] == 0 and r.get('status') not in ('succeeded', 'accepted', 'running'):
+                steps[-1]['_status'] = r.get('status')
+            return r
+        return w
+    b.invoke, b.evaluator_invoke, b.advance, b.host_call, b.write = (wrap('invoke', o_inv), wrap('ev', o_ev), wrap('adv', o_adv),
+                                                                     wrap('host', o_host), wrap('write', o_write))
+    t0 = b.now()
+    try:
+        fn(b)
+        err = None
+    except Exception as exc:  # noqa: BLE001
+        err = '%s: %s' % (type(exc).__name__, str(exc)[:300])
+    total = b.now() - t0
+    shutil.rmtree(t, ignore_errors=True)
+    return steps, total, err
+
+
+
+def recorded():
+    out = {}
+    for slug, (fn, why) in PREPS.items():
+        steps, total, err = record(slug, fn)
+        if err:
+            raise RuntimeError('%s: %s' % (slug, err))
+        out[slug] = {'steps': [{k: x for k, x in st.items() if k != '_status'} for st in steps], 'why': why, 'advance_total_s': total}
+    return out
+
+
+# ------------------------------------------------------------------ 3. groups, task-only steps, the module
+UTIL = ('supply', 'gas', 'water', 'vacuum', 'air', 'ventilation', 'cooling', 'coolant', 'boundary', 'connect', 'ambient', 'plant',
+        'register_gc', 'gc.ready', 'utilities', 'dynamics', 'kinetics', 'process', 'thermal_rate', 'motion', 'geometry', 'water_model',
+        'bath_fluid', 'configure_bath', 'laser', 'lasers', 'source.arm', 'wash.power', 'valves', 'heating.configure', 'thermal.configure',
+        'electrochem.configure', 'pulse.charge', 'set_temperature', 'set_readings', 'install_consumables', 'chamber', 'cooling_source',
+        'host_configure_dosing', 'host_configure_geometry')
+ACCESS = ('column', 'fixture', 'cartridge', 'die', 'probe', 'membrane', 'cassette', 'crystal', 'rotor', 'stylus', 'pin.', 'tubes.install',
+          'set_installed', 'deck', 'rack.configure', 'mount', 'separator', 'head.', 'grip', 'set_clamp', 'host_load_head', 'cell')
+CONSUM = ('film', 'plate', 'tube', 'bottle', 'kit', 'ink', 'substrate', 'liquid', 'syringe', 'solution.prepare', 'buffer', 'gel.',
+          'charge', 'powder', 'outlet', 'rack.place', 'consumable', 'reservoir', 'well.dispense', 'initialize_liquids', 'bottle.place',
+          'vial.place', 'host_load_container', 'receiver', 'register_consumable', 'present_sample', 'load_rack')
+STD = ('sample', 'specimen', 'register', 'template', 'solution.register', 'reference', 'vessel', 'queue', 'method.configure', 'charge')
+
+
+def name_of(st):
+    return st.get('host') or st.get('capability') or ('advance' if 'advance_s' in st else '?')
+
+
+def group(st):
+    n = name_of(st)
+    if 'advance_s' in st:
+        return 'state'
+    for g, keys in (('standard', STD), ('consumable', CONSUM), ('accessory', ACCESS), ('utility', UTIL)):
+        if any(k in n for k in keys):
+            return g
+    if n in ('power.set', 'power.press_switch'):
+        return 'utility'
+    return 'state'
+
+
+# task-only steps (unknown samples, odd states) per instrument: predicate on the step
+DROP = {
+    'bd_facsariaiii': lambda st: name_of(st) in ('sample.provide', 'tube.prepare'),          # PBMC: a task sample
+    'biorad_miniprotean': lambda st: name_of(st) == 'sample.prepare',                         # lysate_1: a task sample
+    'agilent_hs8697': lambda st: False,
+}
+NO_SCENE = {'agilent_hs8697'}                       # the lab clock hook moves the 8697 without its scene
+SKIP = {'genevac_mivac2'}                           # the class world only removes the default sample (an empty-stage variant)
+DROP_ENTRY_KEYS = {'protocols', 'faults', '_removed'}
+
+
+
+def generate(out_path=OUT):
+    ws = world_rows()
+    draft = {}
+    for slug, rows in sorted(ws.items()):
+        r = ([x for x in rows if x['id'] == slug] or rows[:1])[0]   # one class world per instrument (the first), no merging
+        entry = {k: v for k, v in r['extra'].items() if k not in ('id', 'name')}
+        draft[slug] = {'setup': [dict(st) for st in r['added']], 'entry': entry,
+                       'from': '%s world%s' % (r['class'], '' if r['id'] == slug else ' (%s)' % r['id'])}
+    for slug, pv in sorted(recorded().items()):
+        if slug in draft:
+            draft[slug]['setup'] += pv['steps']
+            draft[slug]['from'] += ' + ' + pv['why']
+        else:
+            draft[slug] = {'setup': pv['steps'], 'entry': {}, 'from': pv['why']}
+    out = {}
+    for slug, v in sorted(draft.items()):
+        if slug in SKIP:
+            continue
+        steps = [dict(st) for st in v['setup'] if not DROP.get(slug, lambda s: False)(st)]
+        groups = [group(st) for st in steps]
+        for _ in range(3):                  # a state step next to a standard / consumable load belongs to that load's group
+            for i, g in enumerate(groups):
+                if g == 'state':
+                    for j in (i - 1, i + 1):
+                        if 0 <= j < len(groups) and groups[j] in ('standard', 'consumable'):
+                            groups[i] = groups[j]
+                            break
+        for st, g in zip(steps, groups):
+            st['default'] = g
+        entry = {k: x for k, x in v['entry'].items() if k not in DROP_ENTRY_KEYS}
+        if slug in NO_SCENE:
+            entry.pop('scene', None)
+        out[slug] = {'setup': steps, 'entry': entry, 'from': v['from']}
+    hdr = '''"""The default lab: what a well-run lab has ready at the start of a working day, per instrument - utilities
+connected, standard accessories installed, consumables stocked, check standards and reference materials in place - so that
+every instrument can run its main workflow from the default lab (configs/all203.json, built by chemlab/make_config.py).
+
+GENERATED by chemlab/default_world_gen.py from the class worlds (lab-config worlds and, recorded as steps, the worlds
+written as functions); the hand-written additions are in chemlab/default_world_overrides.py.  Each instrument:
+    {"setup": [steps], "entry": {extra lab-config keys: scene, deck, ...}, "from": the class world it comes from}
+Steps are lab-config set-up steps tagged "default": GROUP (utility | accessory | consumable | standard | state); a task world can
+drop a group with {"replace_default": [GROUP]} or all of them with "default_world": false (labbackend._setup_steps).  Values come
+from the asset contracts' example arguments (the documented typical set-up of each asset), the asset template libraries the
+runtimes cite, the class packages' lab set-ups (their evidence strings are kept), and the manual pages named in "why".
+Unknown samples, faults and odd states are not here: they stay in the task worlds.
+"""
+
+DEFAULTS = '''
+    Path(out_path).write_text(hdr + pprint.pformat(out, width=150, sort_dicts=False) + '\n', encoding='utf-8')
+    return out
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser()
+    ap.add_argument('--out', default=str(OUT))
+    a = ap.parse_args(argv)
+    out = generate(a.out)
+    print('%s: %d instruments' % (a.out, len(out)))
+
+
+if __name__ == '__main__':
+    main()
diff --git a/chemlab/chemlab/default_world_overrides.py b/chemlab/chemlab/default_world_overrides.py
new file mode 100644
index 0000000000000000000000000000000000000000..bd7844bdba8faf7965f48b5307ede79e5426c74d
--- /dev/null
+++ b/chemlab/chemlab/default_world_overrides.py
@@ -0,0 +1,149 @@
+"""Hand-written part of the default lab (see default_world.py): changes to the generated per-instrument set-up and instruments the
+class worlds did not cover.  Every value has a source in "why": a manual page (page number only) or a stated typical value with its
+reason.  The containers themselves (bottles, vials, plates, cylinders) are in the inventory (chemlab/inventory.py ->
+configs/inventory_default.json).
+
+OVERRIDES[slug] keys (all optional):
+    "drop": [capability or host names]   remove these generated steps ("*": all of them)
+    "add": [steps]                       add these steps (tag "default": GROUP; "at": "start" | "before:CAP" | "after:CAP" | end)
+    "replace_bringup": [capabilities]    remove these steps from the release bring-up (they are re-done here with real values)
+    "entry": {...}                       extra lab-config keys (scene, deck, ...)
+"""
+
+
+def ev(cap, args='contract_example', group='state', at=None, why=None):
+    st = {'capability': cap, 'arguments': args, 'evaluator': True, 'default': group}
+    if at:
+        st['at'] = at
+    if why:
+        st['why'] = why
+    return st
+
+
+def op(cap, args='contract_example', group='state', at=None, why=None):
+    st = ev(cap, args, group, at, why)
+    st.pop('evaluator')
+    return st
+
+
+def adv(s, group='state', at=None):
+    st = {'advance_s': float(s), 'default': group}
+    if at:
+        st['at'] = at
+    return st
+
+
+from .compile.tasks.dosing_world import TRAVEL_M as QUANTOS_TRAVEL_M      # read from the Quantos contract (door_kinematics)
+
+# a 50 L cylinder at 200 bar and 20 °C holds p V / (R T) = 2e7 * 0.05 / (8.314 * 293.15) ≈ 410 mol (ideal gas)
+CYLINDER_50L_MOL = 410.0
+
+OVERRIDES = {
+    # the bring-up installs 0.05 mol per bottle (runs out after ~1400 s).  Three cylinders on the gas panel (inventory cyl_n2_2,
+    # cyl_ar_1, cyl_ch4_1), each full: contents from NIST WebBook SRD 69 densities at 15 C / 200 bar gauge
+    # (laboao_cvdltf12p50 1.1.3 caps a channel at one full cylinder of its gas instead of 100 mol).
+    'laboao_cvdltf12p50': {
+        'replace_bringup': ['gas.install'],
+        'drop': ['gas.install'],
+        'add': [ev('gas.install', {'species': ['N2', 'AR', 'CH4'], 'initial_mol': [400.1, 447.7, 525.1], 'inlet_gauge_pa': [100000.0, 100000.0, 100000.0],
+                                   'full_scale_std_m3_s': [5e-06, 5e-06, 5e-06], 'actual_gas_factor': [1.0, 1.0, 1.0], 'accept_host_supply': True},
+                   'utility', at='after:plant.configure',
+                   why='N2 / Ar / CH4 cylinders on the gas panel, full 50 L cylinders at 200 bar gauge and 15 C = 400.1 / 447.7 / '
+                       '525.1 mol (NIST Chemistry WebBook SRD 69 densities at 288.15 K, 201.01 bar abs: 8.0018 / 8.9545 / 10.502 mol/L; table '
+                       'outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json); regulators at 1 bar '
+                       'gauge and 300 sccm full-scale MFCs as in the contract example')],
+    },
+    # the contract advertises 0-450 °C (TRB³ datasheet: heating up to 450 °C dry, 150 °C in liquid); the bring-up's plant has no
+    # heater.  The heating stage installed: 450 °C maximum (datasheet), 400 W (a typical cartridge-heater stage; not in the datasheet).
+    'antonpaar_trb': {
+        'replace_bringup': ['plant.configure'],
+        'add': [ev('plant.configure', {"accept_engineering": True, "ambient_k": 296.15, "relative_humidity": 0.5, "humidity_offset": 0.0, "thermal_capacity_j_k": 100.0, "heat_loss_w_k": 1.0, "heater_installed": True, "heater_max_w": 400.0, "heater_gain_w_k": 10.0, "safe_access_temperature_k": 313.15, "temperature_max_k": 723.15, "stage_mass_kg": 0.2, "rotational_inertia_kg_m2": 0.0001, "linear_drive_limit_n": 100.0, "normal_force_factor": 1.0, "normal_read_gain": 1.0, "normal_read_offset_n": 0.0, "friction_gain_left": 1.0, "friction_gain_right": 1.0, "friction_offset_left_n": 0.0, "friction_offset_right_n": 0.0, "common_drift_n_s": 0.0, "thermal_common_drift_n_k": 0.0, "force_sensor_tau_s": 0.002, "minimum_observable_load_n": 0.05, "wear_sensor_enabled": False, "wear_gain": 1.0, "wear_offset_m": 0.0, "temperature_sensor_offset_k": 0.0}, 'accessory', at='start',
+                   why='heating stage installed: temperature_max 723.15 K = 450 °C (manual: trb3_product_page p.1, options); heater 400 W (typical '
+                       'cartridge-heater stage, stated); the rest is the contract example')],
+    },
+    # 0.1 mol N2 purge lasts ~49 min at 50 mL/min.  The lab's nitrogen: a 50 L cylinder at 200 bar (~410 mol, ideal gas).
+    'ta_dsc2500': {
+        'drop': ['gas.load'],
+        'add': [ev('gas.load', {'gas': 'N2', 'amount_mol': CYLINDER_50L_MOL, 'reference_temperature_k': 298.15, 'reference_pressure_pa': 101325.0,
+                                'accept_reference_conditions': True}, 'utility',
+                   why='purge gas: one 50 L N2 cylinder at 200 bar = 410 mol (p V / R T); lasts ~8 months at 50 mL/min (manual: '
+                       'dsc_q_series_getting_started_guide p.35, purge gases)')],
+    },
+    # FTIR: the standard sampling accessory installed (ATR), as the contract example of accessory.install; the polystyrene film
+    # check standard (inventory ir_polystyrene_film) registered so the agent can load it (jasco_ftir4700 1.1.2 has its template)
+    'jasco_ftir4700': {
+        'add': [op('lid.set_angle', {'angle_rad': 1.5707963267948966}, 'accessory'),
+                op('accessory.install', {'mode': 'atr'}, 'accessory', why='ATR accessory installed: the contract example (the usual sampling '
+                                                                            'accessory of the FT/IR-4700 in a teaching / analytical lab)'),
+                op('lid.set_angle', {'angle_rad': 0.0}, 'accessory'),
+                {'host': 'register_template_sample', 'kwargs': {'sample_id': 'ir_polystyrene_film', 'substance_id': 'polystyrene',
+                                                                 'phase': 'solid'}, 'default': 'standard',
+                 'why': 'polystyrene film wavenumber check standard (manual: ftir4000_6000_series_brochure p.4, standard sample: '
+                        'polystyrene film); template = NIST WebBook spectrum + SRM 1921b certified bands (jasco_ftir4700 1.1.2); the '
+                        'card is inventory ir_polystyrene_film'}],
+    },
+    # AA500: the calibrants the default set-up loads (std0-3, wash water) become the lab's, so the agent can run them
+    # (seal_aa500 1.0.1 host release_to_lab: without it the cups belong to the set-up's operator session)
+    'seal_aa500': {
+        'add': [{'host': 'release_to_lab', 'kwargs': {}, 'default': 'consumable',
+                 'why': 'the cups and standards the lab set-up loaded are the lab\'s, usable by any caller (seal_aa500 1.0.1)'}],
+    },
+    # gel: a ready-to-load protein ladder (prestained marker, 10 µL per lane as the marker maker recommends for mini gels - typical)
+    'biorad_miniprotean': {
+        'add': [op('sample.prepare', {'sample_id': 'ladder_1', 'proteins_kg': {}, 'marker': 'precision_plus_prestained', 'marker_volume_m3': 1e-08,
+                                      'sample_buffer': 'laemmli_2x_reducing', 'heat': 'none', 'volume_m3': 1e-08}, 'standard',
+                   why='protein ladder: prestained marker, 10 µL (typical mini-gel loading)')],
+    },
+    # Flex: the release bring-up switches it on; the deck (tip racks, reservoir, plate, tube rack) is registered by its scene
+    'opentrons_flex_single_5_1000ul': {'drop': ['power.set']},
+    # the sample goes in through the door and cap before the instrument is switched on (as the extraction world does)
+    'sft_sft110': {
+        'drop': ['door.set_angle', 'cap.set_lift', 'sample.configure'],
+        'add': [ev('door.set_angle', {'angle_rad': 1.2}, 'standard', at='before:panel.switch'),
+                ev('cap.set_lift', {'lift_m': 0.07}, 'standard', at='before:panel.switch'),
+                ev('sample.configure', 'contract_example', 'standard', at='before:panel.switch',
+                   why='the contract example charge (the documented reference matrix of the asset) in the extraction vessel'),
+                ev('cap.set_lift', {'lift_m': 0.0}, 'standard', at='before:panel.switch'),
+                ev('door.set_angle', {'angle_rad': 0.0}, 'standard', at='before:panel.switch')],
+    },
+    # MiniFlex: the class world's quartz and calcite specimens plus two reference specimens from the phase library: Si (line
+    # position, SRM 640 type) and corundum (intensity, SRM 676 type) - the holders are in the inventory (bench shelf / cabinet)
+    'rigaku_miniflex600_external_cooling': {
+        'entry': {'samples': {'quartz_holder': [{'phase_id': 'quartz', 'weight_fraction': 1.0}],
+                              'calcite_holder': [{'phase_id': 'calcite', 'weight_fraction': 1.0}],
+                              'si_srm640_holder': [{'phase_id': 'silicon', 'weight_fraction': 1.0}],
+                              'corundum_srm676_holder': [{'phase_id': 'corundum', 'weight_fraction': 1.0}]}},
+    },
+    # Quantos Q2 + XPE206DR: the lab's CaCO3 check head (METTLER TOLEDO QH016-BNMW with 4 g of the powder the dosing
+    # specification is written for) inserted and an empty target vial on the pan; the KBr head and more empty vials are in the
+    # inventory (bench shelf, desiccator) for a host or robot to insert.  A task world that wants the Quantos empty (head and vial
+    # inserted later by the robot / host) adds {"replace_default": ["consumable"]} to the entry.
+    'mt_quantos_q2_xpe206dr': {
+        'drop': '*',
+        'add': [{'host': 'host_configure_geometry', 'kwargs': {'iid': '$instance', 'door_travel_m': QUANTOS_TRAVEL_M, 'evidence': 'lab set-up: front door travel'},
+                 'default': 'utility', 'why': "front-door travel = the contract door_kinematics.authored_travel (0.5495 m since asset 1.2.2: the arc length of the top-hung door's hinge pin, lever fully lifted; manual p.25-26)"},
+                {'capability': 'door.set_opening', 'arguments': {'opening_m': QUANTOS_TRAVEL_M}, 'default': 'consumable'},
+                {'host': 'host_load_head', 'kwargs': {'iid': '$instance', 'head_id': 'qh_caco3_1', 'source_mass_kg': 0.004, 'free_flowing': True,
+                                                      'evidence': 'lab set-up: CaCO3 check head (QH016-BNMW, 4 g) inserted'},
+                 'default': 'consumable',
+                 'why': 'head = inventory qh_caco3_1: METTLER TOLEDO QH016-BNMW powder dosing head (16 mL, 0.1-250 mg per dose; part 11141503; '
+                        'manual: quantos_operating_instructions p.102, p.107) with 4 g calcium carbonate Sigma-Aldrich 21061, the powder of '
+                        'the dosing specification (p.102); 4 g of the light precipitated powder fills 7-13 mL (assumed 0.3-0.6 g/mL)'},
+                {'host': 'host_load_container', 'kwargs': {'iid': '$instance', 'container_id': 'quantos_vial_pan', 'position_id': 'balance_pan',
+                                                           'content_mass_kg': 0.0, 'evidence': 'lab set-up: empty target vial on the pan'},
+                 'default': 'consumable', 'why': 'inventory quantos_vial_pan (empty target vial)'},
+                {'capability': 'door.set_opening', 'arguments': {'opening_m': 0.0}, 'default': 'consumable'},
+                {'host': 'host_configure_dosing', 'kwargs': {'iid': '$instance', 'rate_kg_s': 5e-07, 'rate_evidence': 'lab set-up: powder rate',
+                                                             'observation_evidence': 'lab set-up: ideal mass observation'},
+                 'default': 'utility', 'why': 'dosing rate 0.5 mg/s (dosing class world: about 20 s for 10 mg; manual p.102 gives 40 s typical '
+                                              'for 50 mg CaCO3)'}],
+    },
+    # HIT 5P: the start-of-day friction calibration swing (operator), pendulum re-raised, a notched reference bar on the supports
+    'zwick_hit5p': {
+        'drop': '*',
+        'add': [ev('calibration.start', {}, 'standard'), adv(20, 'standard'), ev('pendulum.catch', {}, 'standard'), adv(5, 'standard'),
+                ev('pendulum.raise', {}, 'standard'), adv(5, 'standard'), ev('shield.set_open', {'opened': True}, 'standard'), adv(3, 'standard'),
+                ev('sample.load', 'contract_example', 'standard', why='the contract example notched bar (reference specimen)'),
+                ev('shield.set_open', {'opened': False}, 'standard'), adv(3, 'standard')],
+    },
+}
diff --git a/chemlab/chemlab/errors.py b/chemlab/chemlab/errors.py
new file mode 100644
index 0000000000000000000000000000000000000000..38bd554a02f27b7d23a41c8a9d21f91e9f10fa2e
--- /dev/null
+++ b/chemlab/chemlab/errors.py
@@ -0,0 +1,63 @@
+"""Error classes of the core service, after SiLA 2: validation / defined execution / undefined execution.
+
+Every error says three things: what is wrong, how to fix it, and whether the instrument changed.  Exit codes are stable:
+
+  0  ok                  2  validation error (bad command, argument, unit, range, unknown location)
+  3  defined execution error (a documented precondition or device refusal: no tip, not enough liquid, busy, ...)
+  4  undefined execution error (backend crash, read-back mismatch, anything not foreseen)
+  5  the service cannot be reached (printed by the client)
+"""
+
+EXIT_OK, EXIT_VALIDATION, EXIT_DEFINED, EXIT_UNDEFINED, EXIT_UNREACHABLE = 0, 2, 3, 4, 5
+SILA_CLASS = {'validation': 'ValidationError', 'defined': 'DefinedExecutionError', 'undefined': 'UndefinedExecutionError'}
+EXIT_FOR = {'validation': EXIT_VALIDATION, 'defined': EXIT_DEFINED, 'undefined': EXIT_UNDEFINED}
+
+
+class ChemlabError(Exception):
+    kind = 'undefined'
+
+    def __init__(self, code, message, fix, *, changed='no', done=None, backend=None, detail=None):
+        super().__init__(message)
+        self.code, self.message, self.fix = code, message, fix
+        self.changed = changed            # 'no' | 'yes' | 'unknown'
+        self.done = list(done or [])      # steps that completed before the error (composite verbs)
+        self.backend = backend            # {'capability': ..., 'status': ..., 'code': ...} of the refused call
+        self.detail = dict(detail or {})
+
+    @property
+    def exit_code(self):
+        return EXIT_FOR[self.kind]
+
+    def to_json(self, request_id=None):
+        out = {'class': self.kind, 'sila_class': SILA_CLASS[self.kind], 'code': self.code, 'message': self.message,
+               'fix': self.fix, 'instrument_changed': self.changed, 'done': self.done}
+        if self.backend:
+            out['backend'] = self.backend
+        if self.detail:
+            out['detail'] = self.detail
+        return out
+
+    def to_text(self, request_id=None):
+        lines = ['error[%s/%s]: %s' % (self.kind, self.code, self.message), 'fix: %s' % self.fix]
+        changed = 'instrument changed: %s' % self.changed
+        steps = [d for d in self.done if not d.startswith('move to ')]       # moves are in --json and the log
+        if steps:
+            changed += ' - done before the error: ' + '; '.join(steps)
+        elif self.done:
+            changed += ' - the gantry moved (%s)' % self.done[-1]
+        lines.append(changed)
+        if request_id:
+            lines.append('request: %s' % request_id)
+        return '\n'.join(lines) + '\n'
+
+
+class ValidationError(ChemlabError):
+    kind = 'validation'
+
+
+class DefinedExecutionError(ChemlabError):
+    kind = 'defined'
+
+
+class UndefinedExecutionError(ChemlabError):
+    kind = 'undefined'
diff --git a/chemlab/chemlab/flex_tasks.py b/chemlab/chemlab/flex_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..5374b5dbabdbdc1cda79e5d6623f35fbbdf199bd
--- /dev/null
+++ b/chemlab/chemlab/flex_tasks.py
@@ -0,0 +1,382 @@
+"""Opentrons Flex task suite: 10 tasks with known answers, checkers on the evaluator view, and gold solutions in chemlab.
+
+Kept as a regression and acceptance suite: every gold solution runs through the chemlab client inside the sandbox and every
+checker must pass; an empty solution (NoAct) must fail every checker.
+
+Checkers read only the evaluator view (truth.* slots, run history, tip events) and the task's own liquid map.  Liquid
+composition is replayed from the transfer ledger with ideal mixing (the twin has no mixing model).
+"""
+import json
+import time
+from pathlib import Path
+
+UL = 1e-9
+TOL_UL = 1e-3
+
+STANDARD_LABWARE = [
+    {'name': 'tiprack1000', 'type': 'opentrons_flex_96_tiprack_1000ul', 'slot': 'B2'},
+    {'name': 'tiprack200', 'type': 'opentrons_flex_96_tiprack_200ul', 'slot': 'C3'},
+    {'name': 'reservoir', 'type': 'nest_12_reservoir_15ml', 'slot': 'B3'},
+    {'name': 'plate', 'type': 'corning_96_wellplate_360ul_flat', 'slot': 'C2'},
+    {'name': 'tuberack', 'type': 'opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap', 'slot': 'D1'},
+]
+
+
+def deck(contents, power=True):
+    """contents: {'reservoir:A1': ('buffer', 10000), ...} (uL)."""
+    labware = []
+    for lw in STANDARD_LABWARE:
+        lw = dict(lw)
+        vols = {loc.split(':')[1]: v for loc, (_, v) in contents.items() if loc.split(':')[0] == lw['name']}
+        if vols:
+            lw['volumes_ul'] = vols
+        labware.append(lw)
+    return {'labware': labware, 'trash': 'A1', 'power': power}
+
+
+def cid(loc):
+    return loc.replace(':', '_')
+
+
+# ------------------------------------------------------------------ checker helpers
+class Check:
+    def __init__(self, task, ev, backend):
+        self.task, self.ev, self.backend = task, ev, backend
+        self.items = []
+        self.vol = {c['container_id']: c['volume_m3'] for c in ev['truth.containers']}
+        self.comp = replay(task['contents'], ev['truth.transfers'])
+
+    def add(self, name, ok, detail=''):
+        self.items.append({'check': name, 'ok': bool(ok), 'detail': detail})
+        return ok
+
+    def volume(self, loc, want_ul):
+        got = self.vol[cid(loc)] / UL
+        return self.add('%s holds %g uL' % (loc, want_ul), abs(got - want_ul) <= TOL_UL, 'got %.4f uL' % got)
+
+    def fraction(self, loc, liquid, want, tol=1e-6):
+        c = self.comp.get(cid(loc), {})
+        total = sum(c.values())
+        got = c.get(liquid, 0.0) / total if total else 0.0
+        return self.add('%s is %.4g %s' % (loc, want, liquid), abs(got - want) <= tol, 'got %.6f' % got)
+
+    def unchanged_except(self, locs):
+        allowed = {cid(l) for l in locs}
+        initial = {cid(l): v * UL for l, (_, v) in self.task['contents'].items()}
+        bad = [k for k, v in self.vol.items() if k not in allowed and abs(v - initial.get(k, 0.0)) > TOL_UL * UL]
+        return self.add('no other well changed', not bad, ', '.join('%s=%.3f uL' % (k, self.vol[k] / UL) for k in bad))
+
+    def no_tip_attached(self):
+        return self.add('no tip left on the pipette', self.ev['tip.attached_id'] is None, str(self.ev['tip.attached_id']))
+
+    def agent_tips(self):
+        """Tips attached by the agent's own commands (excludes tips used by protocol runs)."""
+        run_tips = set(self.task.get('run_tips', []))
+        return [e['tip_id'] for e in self.ev['tip.events'] if e['event'] == 'attach' and e['tip_id'] not in run_tips]
+
+    def tips_trashed(self, exclude=()):
+        last = {}
+        for e in self.ev['tip.events']:
+            last[e['tip_id']] = e
+        bad = [t for t, e in last.items() if t not in exclude and (e['event'] != 'release' or e['slot_id'] != 'A1')]
+        return self.add('used tips are in the trash', not bad, ', '.join(bad))
+
+    def tips_count(self, n, prefix=None):
+        tips = self.agent_tips()
+        ok = len(tips) == n and (prefix is None or all(t.startswith(prefix) for t in tips))
+        return self.add('%d tip(s)%s used' % (n, ' from %s' % prefix if prefix else ''), ok, ', '.join(tips))
+
+    def result(self):
+        return {'task': self.task['id'], 'passed': all(i['ok'] for i in self.items), 'checks': self.items}
+
+
+def replay(contents, transfers):
+    """Composition of every container and tip after the transfer ledger, with ideal mixing."""
+    comp = {cid(l): {liquid: v * UL} for l, (liquid, v) in contents.items()}
+    for t in transfers:
+        donor = comp.setdefault(t['donor_id'], {})
+        recv = comp.setdefault(t['receiver_id'], {})
+        total = sum(donor.values())
+        if total <= 0:
+            continue
+        for liquid in list(donor):
+            share = donor[liquid] / total * t['volume_m3']
+            donor[liquid] -= share
+            recv[liquid] = recv.get(liquid, 0.0) + share
+    return comp
+
+
+def run_record(ev, protocol_id):
+    return [h for h in ev['run.history'] if h['protocol_id'] == protocol_id]
+
+
+# ------------------------------------------------------------------ protocols stored on the robot
+def _proto_fill(pid, name, tip, source, wells, volume, delay_s, params=False):
+    v = {'param': 'volume_ul', 'scale': UL} if params else volume * UL
+    cmds = [{'cmd': 'pick_up_tip', 'tip_id': tip}]
+    for w in wells:
+        cmds += [{'cmd': 'aspirate', 'container_id': source, 'volume_m3': v}, {'cmd': 'dispense', 'container_id': w, 'volume_m3': v}]
+    cmds += [{'cmd': 'drop_tip', 'slot_id': 'A1'}, {'cmd': 'delay', 's': float(delay_s), 'text': 'incubate'}]
+    p = {'protocol_id': pid, 'name': name, 'fixtures': {'A1': 'trash_bin'}, 'commands': cmds,
+         'description': 'fill %d wells, then incubate %d s' % (len(wells), delay_s)}
+    if params:
+        p['parameters'] = [{'name': 'volume_ul', 'type': 'int', 'default': 50, 'min': 10, 'max': 200, 'display_name': 'Volume per well (uL)'}]
+    return p
+
+
+# ------------------------------------------------------------------ the tasks
+def _t01(c):
+    ev = c.ev
+    c.add('power on', ev['power.enabled'])
+    home = c.backend.registry()['home_m']
+    c.add('gantry at home', all(abs(ev['motion.' + k] - home[k]) < 1e-9 for k in home), str({k: ev['motion.' + k] for k in home}))
+    c.add('deck lights on', ev['robot.lights_on'])
+    c.add('no liquid moved', not ev['truth.transfers'])
+
+
+def _t02(c):
+    c.volume('plate:A1', 150)
+    c.volume('reservoir:A1', 9850)
+    c.fraction('plate:A1', 'buffer', 1.0)
+    c.unchanged_except(['plate:A1', 'reservoir:A1'])
+    c.tips_count(1)
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t03(c):
+    c.volume('plate:B1', 7.5)
+    c.volume('tuberack:A1', 992.5)
+    c.fraction('plate:B1', 'dye', 1.0)
+    c.unchanged_except(['plate:B1', 'tuberack:A1'])
+    c.tips_count(1)
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t04(c):
+    for w in ('A1', 'A2', 'A3', 'A4', 'A5', 'A6'):
+        c.volume('plate:' + w, 50)
+    c.volume('reservoir:A1', 10000 - 300)
+    c.unchanged_except(['plate:A%d' % i for i in range(1, 7)] + ['reservoir:A1'])
+    c.tips_count(1)
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t05(c):
+    for w, v in (('A1', 100), ('A2', 100), ('A3', 100), ('A4', 200)):
+        c.volume('plate:' + w, v)
+    for w, f in (('A2', 0.5), ('A3', 0.25), ('A4', 0.125)):
+        c.fraction('plate:' + w, 'stock', f)
+    c.unchanged_except(['plate:A1', 'plate:A2', 'plate:A3', 'plate:A4'])
+    c.tips_count(3)
+    sources = {}
+    for t in c.ev['truth.transfers']:
+        if t['kind'] == 'aspirate':
+            sources.setdefault(t['receiver_id'], set()).add(t['donor_id'])
+    c.add('each tip drew from one well only (no carry-over)', all(len(s) == 1 for s in sources.values()), str({k: sorted(v) for k, v in sources.items()}))
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t06(c):
+    c.volume('tuberack:A2', 350)
+    c.volume('reservoir:A1', 10000 - 350)
+    c.unchanged_except(['tuberack:A2', 'reservoir:A1'])
+    c.tips_count(1, prefix='tiprack200_')
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t07(c):
+    c.volume('tuberack:A3', 600)
+    c.fraction('tuberack:A3', 'buffer', 1.0)
+    used = (400 - c.vol['reservoir_A3'] / UL) + (10000 - c.vol['reservoir_A4'] / UL)
+    c.add('600 uL in total came from reservoir A3/A4', abs(used - 600) <= TOL_UL, 'used %.3f uL' % used)
+    c.unchanged_except(['tuberack:A3', 'reservoir:A3', 'reservoir:A4'])
+    c.add('at least one tip used', len(c.agent_tips()) >= 1, ', '.join(c.agent_tips()))
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t08(c):
+    for w in ('B1', 'B2', 'B3', 'B4'):
+        c.volume('plate:' + w, 100)
+    c.volume('reservoir:A1', 10000 - 400)
+    c.unchanged_except(['plate:B%d' % i for i in range(1, 5)] + ['reservoir:A1'])
+    fallen = [e['tip_id'] for e in c.backend.fault_events]
+    c.add('the fault happened (a tip came off)', bool(fallen), str(c.backend.fault_events))
+    c.tips_trashed(exclude=fallen)
+    c.no_tip_attached()
+
+
+def _t09(c):
+    runs = run_record(c.ev, 'colleague_fill')
+    c.add("colleague's run completed (not aborted)", bool(runs) and runs[-1]['status'] == 'succeeded', str(runs))
+    for w in ('E1', 'E2', 'E3', 'E4', 'E5', 'E6'):
+        c.volume('plate:' + w, 30)
+    c.volume('plate:H1', 100)
+    c.fraction('plate:H1', 'buffer', 1.0)
+    ended = runs[-1]['ended_s'] if runs else None
+    mine = [t for t in c.ev['truth.transfers'] if t['receiver_id'] == 'plate_H1']
+    c.add('your transfer came after their run', bool(mine) and ended is not None and all(t['time_s'] >= ended for t in mine),
+          'run ended %s, transfer at %s' % (ended, [t['time_s'] for t in mine]))
+    c.unchanged_except(['plate:E%d' % i for i in range(1, 7)] + ['plate:H1', 'reservoir:A1', 'reservoir:A2'])
+    c.tips_count(1)
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+def _t10(c):
+    runs = run_record(c.ev, 'plate_prep')
+    c.add('plate_prep run completed', bool(runs) and runs[-1]['status'] == 'succeeded', str(runs))
+    c.volume('plate:C1', 100)
+    for w in ('C2', 'C3', 'C4', 'C5', 'C6'):
+        c.volume('plate:' + w, 80)
+    c.fraction('plate:C1', 'dye', 0.2)
+    ended = runs[-1]['ended_s'] if runs else None
+    dye = [t for t in c.ev['truth.transfers'] if t['receiver_id'] == 'plate_C1' and t['kind'] == 'dispense' and t['time_s'] > (ended or 1e300) - 1e-9]
+    c.add('dye added after the run had completed', bool(dye), 'run ended %s' % ended)
+    c.unchanged_except(['plate:C%d' % i for i in range(1, 7)] + ['reservoir:A2', 'tuberack:A1'])
+    c.tips_count(1)
+    c.tips_trashed()
+    c.no_tip_attached()
+
+
+GOLD_T08 = r'''out=$(chemlab run flex transfer --volume 100 --from reservoir:A1 --to plate:B1-B4 --json); rc=$?
+echo "$out" | jq -c '{ok, code: .error.code, changed: .error.instrument_changed}'
+if [ $rc -eq 3 ] && echo "$out" | jq -e '.error.code == "NO_TIP"' >/dev/null; then
+  done_wells=$(echo "$out" | jq -r '.error.done[] | select(startswith("dispense")) | sub(".* into plate:"; "")')
+  rest=$(for w in B1 B2 B3 B4; do echo "$done_wells" | grep -qx "$w" || echo "plate:$w"; done | paste -sd, -)
+  echo "redo: $rest"
+  chemlab run flex transfer --volume 100 --from reservoir:A1 --to "$rest"
+fi
+chemlab run flex status'''
+
+GOLD_T09 = r'''chemlab status flex
+while true; do
+  out=$(chemlab run flex transfer --volume 100 --from reservoir:A1 --to plate:H1 --json); rc=$?
+  [ $rc -eq 0 ] && { echo "$out" | jq -c .transfers; break; }
+  echo "$out" | jq -e '.error.code == "BUSY"' >/dev/null || { echo "$out"; exit 1; }
+  echo "busy: $(echo "$out" | jq -r .error.message)"
+  sleep 2
+done'''
+
+GOLD_T10 = r'''job=$(chemlab run flex run-protocol plate_prep --param volume_ul=80 --json | jq -r .job)
+echo "started $job"
+while :; do
+  st=$(chemlab status "$job" --json | jq -r .status)
+  [ "$st" = completed ] && break
+  case "$st" in running|paused|setup) ;; *) echo "job ended as $st"; exit 1;; esac
+  chemlab status "$job"
+  sleep 3
+done
+chemlab status "$job"
+chemlab run flex transfer --volume 20 --from tuberack:A1 --to plate:C1'''
+
+GOLD_T06 = r'''chemlab run flex pick-up-tip --rack tiprack200
+chemlab run flex aspirate --volume 350 --from reservoir:A1 --json | jq -c '{ok, code: .error.code, fix: .error.fix}'
+test "${PIPESTATUS[0]}" -eq 3 || exit 1
+for i in 1 2; do
+  chemlab run flex aspirate --volume 175 --from reservoir:A1
+  chemlab run flex dispense --volume 175 --to tuberack:A2
+done
+chemlab run flex drop-tip'''
+
+GOLD_T07 = r'''chemlab run flex transfer --volume 600 --from reservoir:A3 --to tuberack:A3; rc=$?
+if [ $rc -eq 3 ]; then
+  # the opened bottle is short; the tip is still on: finish from the new bottle with the same tip
+  chemlab run flex status
+  chemlab run flex transfer --volume 600 --from reservoir:A4 --to tuberack:A3 --new-tip never
+  chemlab run flex drop-tip
+fi'''
+
+TASKS = [
+    {'id': 't01_power_home_lights', 'kind': 'single step', 'power': False, 'contents': {'reservoir:A1': ('buffer', 10000)},
+     'instruction': 'Switch the Opentrons Flex on, home the gantry and turn the deck lights on.', 'check': _t01,
+     'gold': 'chemlab run flex power on && chemlab run flex home && chemlab run flex lights on && chemlab status flex'},
+    {'id': 't02_single_transfer', 'kind': 'single step', 'contents': {'reservoir:A1': ('buffer', 10000)},
+     'instruction': 'Transfer 150 uL of buffer from reservoir well A1 to plate well A1 with a fresh tip, then discard the tip in the trash.',
+     'check': _t02, 'gold': 'chemlab run flex transfer --volume 150uL --from reservoir:A1 --to plate:A1'},
+    {'id': 't03_small_volume', 'kind': 'single step (unit trap)', 'contents': {'tuberack:A1': ('dye', 1000)},
+     'instruction': 'Add 7.5 uL of dye from tube A1 of the tube rack to plate well B1. Use a fresh tip and discard it afterwards.',
+     'check': _t03, 'gold': 'chemlab run flex transfer --volume 7.5uL --from tuberack:A1 --to plate:B1 --rack tiprack200 --dry-run && '
+                            'chemlab run flex transfer --volume 7.5uL --from tuberack:A1 --to plate:B1 --rack tiprack200'},
+    {'id': 't04_distribute_row', 'kind': 'multi-step transfer', 'contents': {'reservoir:A1': ('buffer', 10000)},
+     'instruction': 'Fill plate wells A1 to A6 with 50 uL of buffer each from reservoir A1, using a single tip for the whole job; discard it at the end.',
+     'check': _t04, 'gold': 'chemlab run flex transfer --volume 50 --from reservoir:A1 --to plate:A1-A6 --new-tip once'},
+    {'id': 't05_serial_dilution', 'kind': 'dilution', 'contents': {'plate:A1': ('stock', 200), 'plate:A2': ('diluent', 100),
+                                                                     'plate:A3': ('diluent', 100), 'plate:A4': ('diluent', 100)},
+     'instruction': 'Make a 1:2 serial dilution along plate row A: move 100 uL from A1 to A2, then from A2 to A3, then from A3 to A4. '
+                    'Use a new tip for every transfer and discard tips in the trash (mixing after each addition is assumed).',
+     'check': _t05, 'gold': 'for p in "A1 A2" "A2 A3" "A3 A4"; do set -- $p; '
+                            'chemlab run flex transfer --volume 100 --from plate:$1 --to plate:$2 --new-tip always || exit 1; done'},
+    {'id': 't06_tip_capacity_recovery', 'kind': 'recovery: volume over the tip size', 'contents': {'reservoir:A1': ('buffer', 10000)},
+     'instruction': 'Using only the 200 uL tips (rack tiprack200), move 350 uL of buffer from reservoir A1 into tube A2 of the tube rack. '
+                    'Use one tip and discard it.', 'check': _t06, 'gold': GOLD_T06},
+    {'id': 't07_empty_source_recovery', 'kind': 'recovery: empty source', 'contents': {'reservoir:A3': ('buffer', 400), 'reservoir:A4': ('buffer', 10000)},
+     'instruction': 'Prepare 600 uL of buffer in tube A3 of the tube rack. Take it from reservoir A3 (an opened bottle); if A3 runs short, '
+                    'use reservoir A4 (a new bottle of the same buffer) for the rest. Discard tips in the trash.', 'check': _t07, 'gold': GOLD_T07},
+    {'id': 't08_tip_lost_recovery', 'kind': 'recovery: no tip (tip falls off)', 'contents': {'reservoir:A1': ('buffer', 10000)},
+     'faults': {'tip_off_after_dispenses': 2},
+     'instruction': 'Dispense 100 uL of buffer from reservoir A1 into plate wells B1, B2, B3 and B4, one tip for the job; discard tips in the trash.',
+     'check': _t08, 'gold': GOLD_T08},
+    {'id': 't09_busy_wait', 'kind': 'recovery: instrument busy (another user)', 'contents': {'reservoir:A1': ('buffer', 10000), 'reservoir:A2': ('diluent', 10000)},
+     'protocols': [_proto_fill('colleague_fill', 'Colleague plate fill', 'tiprack200_H12', 'reservoir_A2', ['plate_E%d' % i for i in range(1, 7)], 30, 120)],
+     'colleague_run': 'colleague_fill', 'run_tips': ['tiprack200_H12'],
+     'instruction': "A colleague's protocol run is using the Flex right now. As soon as the robot is free, transfer 100 uL of buffer from reservoir A1 "
+                    "to plate well H1 with a fresh tip and discard it. Do not interrupt the colleague's run.", 'check': _t09, 'gold': GOLD_T09},
+    {'id': 't10_protocol_then_transfer', 'kind': 'long action (job polling)', 'contents': {'reservoir:A2': ('diluent', 10000), 'tuberack:A1': ('dye', 1000)},
+     'protocols': [_proto_fill('plate_prep', 'Plate prep', 'tiprack1000_H12', 'reservoir_A2', ['plate_C%d' % i for i in range(1, 7)], None, 300, params=True)],
+     'run_tips': ['tiprack1000_H12'],
+     'instruction': 'Run the stored protocol plate_prep with volume_ul = 80 (it ends with a 5-minute incubation). When the run has completed, '
+                    'add 20 uL of dye from tube A1 of the tube rack to plate well C1 with a fresh tip and discard it.', 'check': _t10, 'gold': GOLD_T10},
+]
+BY_ID = {t['id']: t for t in TASKS}
+
+
+def make_lab(task, run_dir, speed=20.0):
+    from .lab import Lab
+    lab = Lab(deck(task['contents'], power=task.get('power', True)), run_dir, faults=task.get('faults'), protocols=task.get('protocols', ()),
+              speed=speed, callers=('agent',))
+    if task.get('colleague_run'):
+        lab.backend.start_run_as('colleague', task['colleague_run'])
+    return lab
+
+
+def check(task, lab):
+    c = Check(task, lab.backend.evaluator_state(), lab.backend)
+    task['check'](c)
+    return c.result()
+
+
+def run_task(task, out_dir, solution=None, speed=20.0, timeout=300):
+    """Run one solution (default: the gold) through the sandboxed chemlab client; return the check result."""
+    out_dir = Path(out_dir)
+    out_dir.mkdir(parents=True, exist_ok=True)
+    for stale in ('core_log.jsonl', 'transcript.json', 'check.json'):
+        if (out_dir / stale).exists():
+            (out_dir / stale).unlink()
+    lab = make_lab(task, out_dir, speed=speed).start()
+    t0 = time.monotonic()
+    try:
+        script = task['gold'] if solution is None else solution
+        r = lab.sh(script, timeout=timeout) if script else None
+        if task.get('colleague_run'):                                       # let a colleague's run finish before judging
+            deadline = time.monotonic() + 60
+            while time.monotonic() < deadline and any(
+                    (lab.backend.evaluator_state().get('run.state') or {}).get('status') == s for s in ('running', 'paused')):
+                time.sleep(0.2)
+    finally:
+        lab.stop()
+    result = check(task, lab)
+    result.update({'wall_s': round(time.monotonic() - t0, 2), 'sim_time_s': round(lab.backend.now(), 1),
+                   'exit_code': None if r is None else r.exit_code, 'timed_out': bool(r and r.timed_out),
+                   'requests': len(lab.core.log.entries),
+                   'rejected': sum(1 for e in lab.core.log.entries if e['exit'] != 0),
+                   'backend_calls': sum(len(e['backend_calls']) for e in lab.core.log.entries)})
+    (out_dir / 'transcript.json').write_text(json.dumps({'task': task['id'], 'instruction': task['instruction'], 'solution': script,
+                                                         'shell': lab.transcript}, ensure_ascii=False, indent=1))
+    (out_dir / 'check.json').write_text(json.dumps(result, ensure_ascii=False, indent=1))
+    return result
diff --git a/chemlab/chemlab/flex_verbs.py b/chemlab/chemlab/flex_verbs.py
new file mode 100644
index 0000000000000000000000000000000000000000..a479bb6daca56772f10c52f6ec78b7d0f89a4935
--- /dev/null
+++ b/chemlab/chemlab/flex_verbs.py
@@ -0,0 +1,1147 @@
+"""Opentrons Flex verb table and handlers (the hand-written part of the gate).
+
+Verb names follow the Opentrons Python API (InstrumentContext.pick_up_tip / drop_tip / return_tip / aspirate / dispense /
+transfer / move_to / home; protocol runs and actions after the HTTP API /runs and /runs/{id}/actions).  Ranges and enums
+come from the asset contract at start-up; the deck registry comes from the backend's host side (names, wells, joint
+targets, capacities - never liquid volumes).
+
+Manual references (saved under references/manuals/opentrons_flex_single_5_1000ul/, internal):
+  Python API reference, Instruments (InstrumentContext) and Labware; Complex commands (transfer); Pipettes, loading and
+  characteristics; Flex manual: deck fixtures, protocol run (error recovery), robot settings; HTTP API reference (/runs).
+"""
+import copy
+import difflib
+import math
+import re
+
+from .core import Opt, Verb
+from .errors import ChemlabError, DefinedExecutionError, UndefinedExecutionError, ValidationError
+from .units import fmt_s, fmt_ul, parse_volume, ul
+
+ACTIVE = ('setup', 'running', 'paused', 'awaiting_recovery')
+JOB_STATUS = {'setup': 'setup', 'running': 'running', 'paused': 'paused', 'awaiting_recovery': 'awaiting_recovery',
+              'succeeded': 'completed', 'failed': 'failed', 'stopped': 'canceled'}
+ROWS = 'ABCDEFGH'
+TRASH_FIXTURES = ('trash_bin', 'waste_chute', 'waste_chute_staging')
+FIXTURE_SLOTS = {'trash_bin': ('A1', 'B1', 'C1', 'D1', 'A3', 'B3', 'C3', 'D3'), 'staging_area': ('A3', 'B3', 'C3', 'D3'),
+                 'waste_chute': ('D3',), 'waste_chute_staging': ('D3',)}             # Flex manual, deck fixtures
+SETTING_VALUES = {'brightness_level': [1, 2, 3, 4, 5, 6], 'sleep_min': ['never', 3, 5, 10, 15, 30, 60], 'language': ['English', 'Chinese'],
+                  'update_channel': ['stable', 'beta']}                              # Flex manual, robot settings; others on/off
+UNSUPPORTED = {
+    'mix': ('sample.mix', 'mixing is not modelled in this twin', 'repeated aspirate/dispense in one well only moves volume; mixing is assumed ideal'),
+    'detect-liquid': ('liquid_level.detect', 'there is no liquid-level sensing in this twin',
+                      'the remaining volume of a well is not reported; a refused aspirate tells you the source is short'),
+    'liquid-level': ('liquid_level.detect', 'there is no liquid-level sensing in this twin', 'see detect-liquid'),
+    'set-speed': ('velocity.set', 'speeds and accelerations are not modelled', 'leave the defaults'),
+    'set-flow-rate': ('velocity.set', 'flow rates are not modelled', 'leave the defaults'),
+    'blow-out': (None, 'blow-out is not modelled (the volume ledger leaves no residue in the tip)', 'dispense the full volume'),
+    'touch-tip': (None, 'touch-tip is not modelled', 'not needed in this twin'),
+    'air-gap': (None, 'air gaps are not modelled', 'not needed in this twin'),
+    'move-labware': (None, 'this Flex has no gripper', 'labware stays where the deck registry says (see `labware`)'),
+    'distribute': (None, 'use transfer with one source and several destinations', 'chemlab run flex transfer --from reservoir:A1 --to plate:A1-A6 --volume 50'),
+    'consolidate': (None, 'use transfer with several sources and one destination', 'chemlab run flex transfer --from plate:A1,plate:A2 --to tuberack:A1 --volume 50'),
+}
+
+
+class Loc:
+    def __init__(self, kind, name, position, labware=None, well=None, container_id=None, capacity_m3=None, slot=None):
+        self.kind, self.name, self.position = kind, name, position
+        self.labware, self.well, self.container_id, self.capacity_m3, self.slot = labware, well, container_id, capacity_m3, slot
+
+
+def _same(a, b):
+    return all(abs(a[k] - b[k]) <= 1e-9 for k in ('x_m', 'y_m', 'z_m'))
+
+
+def _nl(m3):
+    return int(round(m3 * 1e12))
+
+
+def _m3(nl):
+    return float('%de-12' % nl)
+
+
+def _defined(code, message, fix, **kw):
+    return DefinedExecutionError(code, message, fix, **kw)
+
+
+class FlexInstrument:
+    name = 'flex'
+    title = 'Opentrons Flex, 1-channel 5-1000 µL pipette (fast simulation backend)'
+
+    def __init__(self, core):
+        self.core, self.backend, self.contract = core, core.backend, core.contract
+        self.reg = self.backend.registry()
+        self.labware = {lw['name']: lw for lw in self.reg['labware']}
+        self.tip_home = {}
+        for lw in self.reg['labware']:
+            if lw['kind'] == 'tiprack':
+                for w in lw['wells'].values():
+                    if w['tip_id']:
+                        self.tip_home[w['tip_id']] = (lw['name'], w['well'])
+        vol = self.contract.capabilities['sample.aspirate'].input_schema['properties']['volume_m3']
+        self.vmin, self.vmax = vol['minimum'], vol['maximum']              # pipette range from the contract
+        self.jobs, self.job_n = {}, 0
+        self.tip_ledger = {'tip_id': None, 'volume_m3': 0.0}                  # commanded contents of the attached tip
+        self.returns = {}                                                  # tip.events index -> (rack, well) of a return-tip
+        self.own_events = set()                                            # tip.events indexes caused by chemlab verbs
+        self.verbs = build_verbs(self)
+
+    # ---------------------------------------------------------------- start-up check against the contract
+    def check_against_contract(self):
+        caps = self.contract.capabilities
+        for v in self.verbs.values():
+            for cid in v.maps_to:
+                if cid not in caps or not caps[cid].agent_usable:
+                    raise RuntimeError('verb %s maps to %s, which the contract does not offer to agents' % (v.name, cid))
+                if cid in self.contract.hidden():
+                    raise RuntimeError('verb %s maps to hidden capability %s' % (v.name, cid))
+
+    # ---------------------------------------------------------------- locations
+    def parse_location(self, text, allow, what='location'):
+        t = (text or '').strip()
+        kinds = {'liquid': 'a well of a reservoir, plate or tube rack (e.g. plate:A1)', 'tip': 'a tip-rack well (e.g. tiprack1000:A1)',
+                 'trash': 'trash', 'home': 'home'}
+        wanted = ' or '.join(kinds[k] for k in allow)
+        if t in ('trash', 'home'):
+            if t not in allow:
+                raise ValidationError('WRONG_LOCATION_KIND', '%s cannot be %s here.' % (what, t), 'give %s.' % wanted)
+            if t == 'trash':
+                return Loc('trash', 'trash', self.reg['trash']['position_m'], slot=self.reg['trash']['slot'])
+            return Loc('home', 'home', self.reg['home_m'])
+        name, sep, well = t.partition(':')
+        names = ', '.join(sorted(self.labware))
+        if not sep:
+            if t in self.labware:
+                raise ValidationError('WELL_MISSING', '%r is a labware; name one of its wells.' % t, 'write %s:A1 (wells %s).' % (t, self._well_span(t)))
+            raise ValidationError('UNKNOWN_LOCATION', 'unknown %s %r.' % (what, t), 'locations are LABWARE:WELL, trash or home; labware here: %s.' % names)
+        lw = self.labware.get(name)
+        if lw is None:
+            close = difflib.get_close_matches(name, list(self.labware), 1)
+            raise ValidationError('UNKNOWN_LABWARE', 'there is no labware %r on the deck.' % name,
+                                  ('did you mean %s? ' % close[0] if close else '') + 'labware here: %s (see `chemlab run flex labware`).' % names)
+        w = lw['wells'].get(well.upper())
+        if w is None:
+            raise ValidationError('UNKNOWN_WELL', '%s has no well %r.' % (name, well), '%s has wells %s.' % (name, self._well_span(name)))
+        kind = 'tip' if lw['kind'] == 'tiprack' else 'liquid'
+        if kind not in allow:
+            raise ValidationError('WRONG_LOCATION_KIND', '%s:%s is %s, but %s must be %s.' % (name, w['well'], kinds[kind].split(' (')[0], what, wanted),
+                                  'give %s.' % wanted)
+        return Loc(kind, '%s:%s' % (name, w['well']), w['position_m'], labware=lw, well=w['well'], container_id=w.get('container_id'),
+                   capacity_m3=w.get('capacity_m3'), slot=lw['slot'])
+
+    def parse_locations(self, text, allow, what):
+        out = []
+        for part in [p for p in (text or '').split(',') if p.strip()]:
+            m = re.fullmatch(r'\s*([A-Za-z0-9_.-]+):([A-Ha-h])(\d{1,2})-([A-Ha-h])(\d{1,2})\s*', part)
+            if m:
+                lw, r1, c1, r2, c2 = m.group(1), ROWS.index(m.group(2).upper()), int(m.group(3)), ROWS.index(m.group(4).upper()), int(m.group(5))
+                for c in range(min(c1, c2), max(c1, c2) + 1):                   # Opentrons order: down each column
+                    for r in range(min(r1, r2), max(r1, r2) + 1):
+                        out.append(self.parse_location('%s:%s%d' % (lw, ROWS[r], c), allow, what))
+            else:
+                out.append(self.parse_location(part, allow, what))
+        if not out:
+            raise ValidationError('MISSING_VALUE', '%s is empty.' % what, 'give one or more locations, e.g. plate:A1,plate:A2 or plate:A1-A6.')
+        return out
+
+    def _well_span(self, name):
+        lw = self.labware[name]
+        return 'A1-%s%d' % (ROWS[lw['rows'] - 1], lw['cols'])
+
+    def position_name(self, view):
+        pos = {k: view['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+        if _same(pos, self.reg['trash']['position_m']):
+            return 'trash'
+        if _same(pos, self.reg['home_m']):
+            return 'home'
+        for lw in self.reg['labware']:
+            for w in lw['wells'].values():
+                if _same(pos, w['position_m']):
+                    return '%s:%s' % (lw['name'], w['well'])
+        return 'x=%.1f y=%.1f z=%.1f mm (not over a registered location)' % (pos['x_m'] * 1e3, pos['y_m'] * 1e3, pos['z_m'] * 1e3)
+
+    # ---------------------------------------------------------------- tips
+    def _returns(self, ctx):
+        r = dict(self.returns)
+        if ctx.dry_run:
+            r.update(ctx.shadow['returns'])
+        return r
+
+    def tip_locations(self, ctx):
+        loc = {tip: ('rack',) + home for tip, home in self.tip_home.items()}
+        returns = self._returns(ctx)
+        for i, e in enumerate(ctx.view['tip.events']):
+            if e['event'] == 'attach':
+                loc[e['tip_id']] = ('pipette',)
+            else:
+                loc[e['tip_id']] = ('rack',) + returns[i] if i in returns else ('slot', e['slot_id'])
+        return loc
+
+    def rack_tips(self, ctx, rack):
+        """Tips present in a rack, in pick order (down each column)."""
+        lw = self.labware[rack]
+        present = {(l[1], l[2]): tip for tip, l in self.tip_locations(ctx).items() if l[0] == 'rack' and l[1] == rack}
+        order = ['%s%d' % (ROWS[r], c + 1) for c in range(lw['cols']) for r in range(lw['rows'])]
+        return [(w, present[(rack, w)]) for w in order if (rack, w) in present]
+
+    def tip_racks(self):
+        return [lw['name'] for lw in self.reg['labware'] if lw['kind'] == 'tiprack']
+
+    def tip_capacity(self, tip_id):
+        rack = self.tip_home.get(tip_id, (None,))[0]
+        return self.labware[rack]['tip_capacity_m3'] if rack else None
+
+    def ledger(self, ctx):
+        led = ctx.shadow['ledger'] if ctx.dry_run else self.tip_ledger
+        attached = ctx.view['tip.attached_id']
+        if led['tip_id'] != attached:                                      # the tip changed without a chemlab verb
+            led.update(tip_id=attached, volume_m3=None if attached else 0.0)
+        return led
+
+    def _lost_tip_note(self, ctx):
+        events = ctx.view['tip.events']
+        if events and events[-1]['event'] == 'release' and (len(events) - 1) not in self.own_events and not self._current_job(ctx):
+            e = events[-1]
+            return ' The last tip (%s) was released in slot %s at t=%.1f s without a chemlab command - it may have fallen off.' % (
+                self._tip_name(e['tip_id']), e['slot_id'], e['time_s'])
+        return ''
+
+    def _tip_name(self, tip_id):
+        home = self.tip_home.get(tip_id)
+        return '%s:%s' % home if home else tip_id
+
+    # ---------------------------------------------------------------- shadow for dry-run
+    def new_shadow(self):
+        return {'ledger': copy.deepcopy(self.tip_ledger), 'returns': {}}
+
+    def apply_shadow(self, ctx, cid, args):
+        v = ctx.view
+        if cid == 'power.set':
+            v['power.enabled'] = args['enabled']
+        elif cid == 'motion.move':
+            for k in ('x_m', 'y_m', 'z_m'):
+                v['motion.' + k] = args[k]
+        elif cid == 'robot.home':
+            for k in ('x_m', 'y_m', 'z_m'):
+                v['motion.' + k] = self.reg['home_m'][k]
+        elif cid == 'tip.attach':
+            v['tip.attached_id'] = args['tip_id']
+            v['tip.events'] = v['tip.events'] + [{'event': 'attach', 'tip_id': args['tip_id'], 'slot_id': None, 'time_s': v['_time_s']}]
+        elif cid == 'tip.release':
+            v['tip.events'] = v['tip.events'] + [{'event': 'release', 'tip_id': v['tip.attached_id'], 'slot_id': args['target_slot_id'],
+                                                  'time_s': v['_time_s']}]
+            v['tip.attached_id'] = None
+        elif cid in ('sample.aspirate', 'sample.dispense'):
+            v['sample.transfer_count'] += 1
+        elif cid == 'robot.set_lights':
+            v['robot.lights_on'] = args['on']
+
+    # ---------------------------------------------------------------- jobs and busy checks
+    def _job_for_run(self, rs):
+        if rs is None:
+            return None
+        for j in self.jobs.values():
+            if j['protocol_id'] == rs['protocol_id'] and j['started_s'] is not None and j['started_s'] == rs.get('started_s'):
+                return j
+        return None
+
+    def _current_job(self, ctx):
+        rs = ctx.view.get('run.state')
+        j = self._job_for_run(rs)
+        return j if j and rs['status'] in ACTIVE else None
+
+    def has_active_job(self, caller):
+        r = self.backend.read(caller, ['run.state'])
+        rs = r['observations']['run.state']['value'] if r.get('status') == 'succeeded' else None
+        j = self._job_for_run(rs)
+        return bool(j and j['caller'] == caller and rs['status'] in ACTIVE)
+
+    def names(self, text):
+        """Runtime ids in run step texts (reservoir_A2) -> deck names (reservoir:A2)."""
+        if not text:
+            return text
+        return re.sub(r'\b([A-Za-z0-9.-]+(?:_[A-Za-z0-9.-]+)*)_([A-H]\d{1,2})\b',
+                      lambda m: '%s:%s' % (m.group(1), m.group(2)) if self.backend.location_of(m.group(0)) else m.group(0), text)
+
+    def _step_s(self, text):
+        m = re.match(r'Delaying ([0-9.]+) s', text or '')
+        return float(m.group(1)) if m else self.reg['command_s']
+
+    def eta(self, rs, now=None):
+        """Simulated seconds left: the schedule after the run's start (one command per command_s, delays as written) plus the
+        pauses the core saw for its own jobs; never less than the steps still listed."""
+        steps, idx = rs.get('steps') or [], rs.get('index') or 0
+        listed = sum(self._step_s(t) for t in steps[idx:])
+        start = rs.get('started_s')
+        if start is None or now is None:
+            return listed
+        job = self._job_for_run(rs)
+        paused = 0.0
+        if job is not None:
+            paused = job.get('paused_s', 0.0) + ((now - job['pause_t']) if job.get('pause_t') is not None else 0.0)
+        end = start + sum(self._step_s(t) for t in steps) + paused
+        return max(listed, end - now) if rs['status'] in ('running', 'paused') else listed
+
+    def wall(self, sim_s):
+        sp = getattr(self.backend, 'speed', None)
+        return (' (about %s of wall time at %g x sim speed)' % (fmt_s(sim_s / sp), sp)) if sp else ''
+
+    def check_not_busy(self, ctx, run_command=False, allow_own_job=False):
+        rs = ctx.view.get('run.state')
+        if not rs or rs['status'] not in ACTIVE:
+            return
+        job = self._job_for_run(rs)
+        if job is not None and job['caller'] == ctx.caller:
+            if allow_own_job:
+                return
+            raise _defined('BUSY_OWN_JOB', 'your %s (protocol %r) is %s; direct commands would interfere with it.' % (job['job'], rs['name'], rs['status']),
+                           'wait for it (`chemlab status %s`), or pause or cancel it first.' % job['job'], detail={'job': job['job']})
+        if rs['status'] == 'setup' and not run_command:
+            return                                                         # the instrument allows motion while another run is only set up
+        owner = ('%r (%s)' % (job['caller'], job['job'])) if job else 'another user'
+        left = self.eta(rs, ctx.view['_time_s'])
+        step = '' if rs['status'] == 'setup' else ', step %d/%d' % (min(rs['index'] + 1, rs['n_steps']), rs['n_steps'])
+        raise _defined('BUSY', 'the Flex is busy: protocol run %r started by %s is %s%s, about %s left%s.' % (
+            rs['name'], owner, rs['status'].replace('_', ' '), step, fmt_s(left), self.wall(left)),
+            'wait until it has finished (`chemlab status flex` shows robot: idle), then retry. Do not switch the power off: '
+            'that would abort their run.', detail={'run': rs['name'], 'status': rs['status'], 'eta_s': left})
+
+    def check_power(self, ctx):
+        if not ctx.view['power.enabled']:
+            raise _defined('POWER_OFF', 'the Flex is switched off.', 'run `chemlab run flex power on` first.')
+
+    # ---------------------------------------------------------------- refusals the gate did not foresee
+    def default_refusal(self, ctx, cid, response):
+        code = (response.get('error') or {}).get('code')
+        if code == 'ACCESS_DENIED':
+            ctx.refresh()
+            try:
+                self.check_not_busy(ctx, run_command=cid.startswith('run.'))
+            except DefinedExecutionError as exc:
+                return exc
+            return _defined('ACCESS_DENIED', 'the instrument refused %s for your identity.' % cid, 'check `chemlab status flex`; another user may hold it.')
+        if code in ('PRECONDITION_FAILED', 'BUSY'):
+            return _defined('DEVICE_REFUSED', 'the instrument refused %s (%s).' % (cid, code),
+                            'check `chemlab status flex` and the verb help; the state may differ from what you expect.')
+        if code == 'INVALID_ARGUMENT':
+            return ValidationError('BACKEND_INVALID_ARGUMENT', 'the instrument rejected the arguments of %s.' % cid, 'check the values against the verb help.')
+        return UndefinedExecutionError('BACKEND_' + str(code), 'the instrument call %s failed (%s: %s).' % (cid, code, (response.get('error') or {}).get('message')),
+                                       'check `chemlab status flex` before going on; the effect of the call is not known.', changed='unknown')
+
+    # ---------------------------------------------------------------- primitives (shared by verbs and transfer)
+    def move(self, ctx, loc):
+        pos = {k: ctx.view['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}
+        if _same(pos, loc.position):
+            return False
+        ctx.call('motion.move', dict(loc.position), 'move to %s' % loc.name,
+                 readback=lambda v: None if _same({k: v['motion.' + k] for k in ('x_m', 'y_m', 'z_m')}, loc.position) else 'a different position')
+        return True
+
+    def need_tip(self, ctx, doing):
+        tip = ctx.view['tip.attached_id']
+        if tip is None:
+            raise _defined('NO_TIP', 'no tip is attached, so the pipette cannot %s.%s' % (doing, self._lost_tip_note(ctx)),
+                           'run `chemlab run flex pick-up-tip` first.')
+        return tip
+
+    def pick(self, ctx, tip=None, rack=None):
+        if ctx.view['tip.attached_id'] is not None:
+            raise _defined('TIP_ALREADY_ATTACHED', 'a tip (%s) is already attached.' % self._tip_name(ctx.view['tip.attached_id']),
+                           'drop it (`drop-tip`) or put it back (`return-tip`) first.')
+        if tip is not None:
+            present = dict((w, t) for w, t in self.rack_tips(ctx, tip.labware['name']))
+            if tip.well not in present:
+                nxt = self.rack_tips(ctx, tip.labware['name'])
+                raise _defined('NO_TIP_AT_LOCATION', 'there is no tip at %s (already used).' % tip.name,
+                               ('the next tip in %s is at %s:%s.' % (tip.labware['name'], tip.labware['name'], nxt[0][0])) if nxt else
+                               '%s is empty; use another rack: %s.' % (tip.labware['name'], ', '.join(self.tip_racks())))
+            tip_id, loc = present[tip.well], tip
+        else:
+            racks = [rack] if rack else self.tip_racks()
+            avail = [(r, self.rack_tips(ctx, r)) for r in racks]
+            avail = [(r, t) for r, t in avail if t]
+            if not avail:
+                others = [r for r in self.tip_racks() if r not in racks and self.rack_tips(ctx, r)]
+                raise _defined('RACK_EMPTY' if rack else 'OUT_OF_TIPS', 'no tips left in %s.' % ', '.join(racks),
+                               ('use another rack: --rack %s.' % others[0]) if others else 'ask the operator to refill the tip racks.')
+            r, tips = avail[0]
+            well, tip_id = tips[0]
+            loc = self.parse_location('%s:%s' % (r, well), ('tip',))
+        self.move(ctx, loc)
+        ctx.call('tip.attach', {'tip_id': tip_id}, 'pick up tip %s' % loc.name,
+                 readback=lambda v: None if v['tip.attached_id'] == tip_id else 'attached tip %r' % v['tip.attached_id'])
+        if not ctx.dry_run:
+            self.own_events.add(len(ctx.view['tip.events']) - 1)
+        led = ctx.shadow['ledger'] if ctx.dry_run else self.tip_ledger
+        led.update(tip_id=tip_id, volume_m3=0.0)
+        return tip_id, loc
+
+    def drop(self, ctx, to=None):
+        tip = self.need_tip(ctx, 'drop a tip')
+        led = self.ledger(ctx)
+        if to is None or to.kind == 'trash':
+            slot = self.reg['trash']['slot']
+            fixture = (ctx.view.get('deck.fixtures') or {}).get(slot)
+            if fixture not in TRASH_FIXTURES:
+                raise _defined('NO_TRASH', 'no trash bin is configured in slot %s (deck shows %s).' % (slot, fixture or 'nothing'),
+                               'configure it (`chemlab run flex deck-config %s trash_bin`) or return the tip to a rack.' % slot)
+            target = Loc('trash', 'trash', self.reg['trash']['position_m'], slot=slot)
+            ret = None
+        else:
+            occupied = dict(self.rack_tips(ctx, to.labware['name']))
+            if to.well in occupied:
+                raise _defined('WELL_OCCUPIED', '%s already holds a tip.' % to.name, 'choose an empty rack well, or drop the tip in the trash.')
+            target, slot, ret = to, to.slot, (to.labware['name'], to.well)
+        self.move(ctx, target)
+        ctx.call('tip.release', {'target_slot_id': slot}, 'drop tip %s %s' % (self._tip_name(tip), 'in the trash' if ret is None else 'into ' + target.name),
+                 readback=lambda v: None if v['tip.attached_id'] is None else 'tip %r still attached' % v['tip.attached_id'])
+        index = len(ctx.view['tip.events']) - 1
+        if ret is not None:
+            (ctx.shadow['returns'] if ctx.dry_run else self.returns)[index] = ret
+        if not ctx.dry_run:
+            self.own_events.add(index)
+        left = led['volume_m3']
+        if left:
+            ctx.notes.append('the tip still held %s; it went with the tip.' % fmt_ul(left))
+        led.update(tip_id=None, volume_m3=0.0)
+        return tip, target
+
+    def check_volume(self, v_m3, text):
+        if not self.vmin - 1e-18 <= v_m3 <= self.vmax + 1e-18:
+            raise ValidationError('VOLUME_OUT_OF_RANGE', '%s is outside the pipette range %s-%s.' % (text, fmt_ul(self.vmin), fmt_ul(self.vmax)),
+                                  'use %s to %s per aspirate/dispense; for more, use several steps (`transfer` splits volumes for you).'
+                                  % (fmt_ul(self.vmin), fmt_ul(self.vmax)))
+
+    def aspirate(self, ctx, loc, v_m3):
+        tip = self.need_tip(ctx, 'aspirate')
+        led = self.ledger(ctx)
+        cap = self.tip_capacity(tip)
+        if led['volume_m3'] is not None and cap is not None and _nl(led['volume_m3']) + _nl(v_m3) > _nl(cap):
+            room = cap - led['volume_m3']
+            raise _defined('TIP_CAPACITY', 'the attached %s tip holds %s already; %s more would not fit (room for %s).' % (
+                fmt_ul(cap), fmt_ul(led['volume_m3']), fmt_ul(v_m3), fmt_ul(room)),
+                ('aspirate at most %s now, or dispense first, or use a bigger tip; `transfer` splits volumes over the tip size.' % fmt_ul(room))
+                if room >= self.vmin else 'the tip is full: dispense first, or use a bigger tip; `transfer` splits volumes over the tip size.',
+                detail={'tip_capacity_ul': ul(cap), 'room_ul': ul(room)})
+        self.move(ctx, loc)
+        before = ctx.view['sample.transfer_count']
+
+        def refused(resp):
+            if (resp.get('error') or {}).get('code') == 'PRECONDITION_FAILED':
+                return _defined('INSUFFICIENT_LIQUID', 'the instrument refused to aspirate %s from %s: the well does not hold that much liquid '
+                                '(a run reports this as "no liquid detected").' % (fmt_ul(v_m3), loc.name),
+                                'aspirate less, or take the rest from another source. This twin has no liquid-level sensing, so the remaining '
+                                'volume is not reported.')
+            return None
+        ctx.call('sample.aspirate', {'container_id': loc.container_id, 'volume_m3': v_m3}, 'aspirate %s from %s' % (fmt_ul(v_m3), loc.name),
+                 refusal=refused, readback=lambda v: None if v['sample.transfer_count'] == before + 1 else 'no new transfer')
+        if led['volume_m3'] is not None:
+            led['volume_m3'] = _m3(_nl(led['volume_m3']) + _nl(v_m3))
+
+    def dispense(self, ctx, loc, v_m3):
+        tip = self.need_tip(ctx, 'dispense')
+        led = self.ledger(ctx)
+        if led['volume_m3'] is not None and _nl(v_m3) > _nl(led['volume_m3']):
+            raise _defined('TIP_HOLDS_LESS', 'the tip holds only %s; it cannot dispense %s.' % (fmt_ul(led['volume_m3']), fmt_ul(v_m3)),
+                           'dispense at most %s, or aspirate more first.' % fmt_ul(led['volume_m3']))
+        self.move(ctx, loc)
+        before = ctx.view['sample.transfer_count']
+
+        def refused(resp):
+            if (resp.get('error') or {}).get('code') == 'PRECONDITION_FAILED':
+                return _defined('DEST_FULL', 'the instrument refused to dispense %s into %s: the well would overflow (capacity %s).' % (
+                    fmt_ul(v_m3), loc.name, fmt_ul(loc.capacity_m3)), 'dispense less, or into another well.')
+            return None
+        ctx.call('sample.dispense', {'container_id': loc.container_id, 'volume_m3': v_m3}, 'dispense %s into %s' % (fmt_ul(v_m3), loc.name),
+                 refusal=refused, readback=lambda v: None if v['sample.transfer_count'] == before + 1 else 'no new transfer')
+        if led['volume_m3'] is not None:
+            led['volume_m3'] = _m3(max(0, _nl(led['volume_m3']) - _nl(v_m3)))
+        _ = tip
+
+    # ---------------------------------------------------------------- describe / help
+    def describe(self, show_all=False):
+        work = [v for v in self.verbs.values() if v.group == 'work']
+        admin = [v for v in self.verbs.values() if v.group == 'admin']
+        lines = ['flex: %s' % self.title, '',
+                 'units: volumes in uL (also mL, nL; a bare number is uL). Times are simulated seconds.',
+                 'locations: LABWARE:WELL (plate:A1), lists (plate:A1,plate:B1), ranges (plate:A1-A6), trash, home.',
+                 '           see `chemlab run flex labware` for what is on the deck.',
+                 'errors: error[CLASS/CODE] + fix + whether the instrument changed; exit 2 invalid, 3 refused, 4 unexpected.',
+                 'add --dry-run to any verb to check it without moving anything; --help for details.', '', 'verbs:']
+        lines += ['  %-14s %s' % (v.name, v.summary) for v in work]
+        if show_all:
+            lines += ['', 'maintenance and admin verbs (destructive ones need --yes):']
+            lines += ['  %-18s %s' % (v.name, v.summary) for v in admin]
+            lines += ['', 'not offered (instrument capabilities without a verb):']
+            lines += ['  %-22s %s' % (cid, why) for cid, why in sorted(self.contract.hidden().items())]
+        else:
+            lines += ['', 'more: `chemlab describe flex --all` (maintenance/admin verbs), `chemlab help flex VERB`.']
+        js = {'instrument': self.name, 'title': self.title, 'units': {'volume': 'uL'},
+              'verbs': [{'name': v.name, 'group': v.group, 'summary': v.summary, 'usage': v.usage(self.name), 'maps_to': v.maps_to,
+                         'destructive': v.destructive, 'preconditions': v.preconditions, 'errors': v.errors}
+                        for v in (work + admin if show_all else work)]}
+        if show_all:
+            js['not_offered'] = self.contract.hidden()
+        return {'text': '\n'.join(lines) + '\n', 'json': js}
+
+    def help(self, args):
+        if not args or args[0] != self.name:
+            if args and args[0] in self.verbs:
+                return self.verbs[args[0]].help_text(self.name)
+            return 'usage: chemlab help flex [VERB|admin]\n'
+        if len(args) == 1:
+            return self.describe()['text']
+        if args[1] == 'admin':
+            admin = [v for v in self.verbs.values() if v.group == 'admin']
+            return 'maintenance and admin verbs (destructive ones need --yes; without it they only show what they would do):\n' + \
+                ''.join('  %s\n      %s\n' % (v.usage(self.name), v.summary) for v in admin)
+        verb = self.verbs.get(args[1])
+        if verb is None:
+            raise self.unknown_verb(args[1])
+        return verb.help_text(self.name)
+
+    def unknown_verb(self, name):
+        if name in UNSUPPORTED:
+            cid, why, fix = UNSUPPORTED[name]
+            return ValidationError('NOT_SUPPORTED', '%s: %s%s.' % (name, why, ' (%s: %s)' % (cid, self.contract.capabilities[cid].availability) if cid else ''),
+                                   fix + '.')
+        close = difflib.get_close_matches(name, list(self.verbs), 2)
+        return ValidationError('UNKNOWN_VERB', 'flex has no verb %r.' % name,
+                               ('did you mean %s? ' % ' or '.join(close) if close else '') + 'see `chemlab describe flex`.')
+
+    # ---------------------------------------------------------------- status views
+    def status(self, ctx):
+        v = ctx.view
+        led = self.ledger(ctx)
+        tip = v['tip.attached_id']
+        tip_text = 'none'
+        if tip:
+            held = 'unknown contents' if led['volume_m3'] is None else 'holding %s' % fmt_ul(led['volume_m3'])
+            tip_text = '%s (%s tip), %s' % (self._tip_name(tip), fmt_ul(self.tip_capacity(tip)) if self.tip_capacity(tip) else '?', held)
+        rs = v.get('run.state')
+        run_text, busy = 'none', False
+        if rs:
+            job = self._job_for_run(rs)
+            who = ('your %s' % job['job']) if job and job['caller'] == ctx.caller else ('%s by %r' % (job['job'], job['caller']) if job else 'another user')
+            run_text = 'protocol %r (%s) %s' % (rs['name'], who, JOB_STATUS.get(rs['status'], rs['status']))
+            if rs['status'] in ACTIVE:
+                busy = True
+                left = self.eta(rs, v['_time_s'])
+                run_text += ', step %d/%d, about %s left%s' % (min(rs['index'] + 1, rs['n_steps']), rs['n_steps'], fmt_s(left), self.wall(left))
+        mounts = v.get('instruments.mounts') or {}
+        left = mounts.get('left')
+        pip = ('left: %s, %s' % (left['model'], 'calibrated' if left['calibrated'] else 'NOT calibrated')) if left else 'no pipette on the left mount'
+        jobs = ['%s %s' % (j['job'], self._job_state(ctx, j)['status']) for j in self.jobs.values() if j['caller'] == ctx.caller]
+        lines = ['flex  (sim time %.1f s)' % v['_time_s'],
+                 'power: %s · robot: %s · lights: %s' % ('on' if v['power.enabled'] else 'off', v.get('robot.status'), 'on' if v.get('robot.lights_on') else 'off'),
+                 'pipette: %s' % pip, 'position: %s' % self.position_name(v), 'tip: %s' % tip_text, 'run: %s' % run_text,
+                 'jobs: %s' % (', '.join(jobs) or 'none'), 'lock: %s' % self.core.lock.view(ctx.caller)]
+        note = self._lost_tip_note(ctx) if not tip else ''
+        if note:
+            lines.append('note:' + note)
+        if getattr(self.backend, 'clock_errors', None):
+            lines.append('WARNING: the simulation clock hit an error (%s); runs may be stuck - report this.' % self.backend.clock_errors[-1])
+        js = {'power': v['power.enabled'], 'robot_status': v.get('robot.status'), 'busy': busy, 'lights': v.get('robot.lights_on'),
+              'position': self.position_name(v), 'tip': None if not tip else {'tip': self._tip_name(tip), 'capacity_ul': ul(self.tip_capacity(tip) or 0),
+                                                                              'volume_ul': None if led['volume_m3'] is None else ul(led['volume_m3'])},
+              'run': None if not rs else {'name': rs['name'], 'status': JOB_STATUS.get(rs['status'], rs['status']), 'step': rs['index'], 'n_steps': rs['n_steps'],
+                                          'eta_s': self.eta(rs, v['_time_s']) if rs['status'] in ACTIVE else 0.0},
+              'jobs': {j['job']: self._job_state(ctx, j)['status'] for j in self.jobs.values() if j['caller'] == ctx.caller},
+              'pipette': left, 'sim_time_s': v['_time_s'], 'lock': self.core.lock.view(ctx.caller)}
+        return {'text': '\n'.join(lines) + '\n', 'json': js}
+
+    def _job_state(self, ctx, j):
+        rs = ctx.view.get('run.state')
+        if rs and self._job_for_run(rs) is j:
+            st = JOB_STATUS.get(rs['status'], rs['status'])
+            out = {'job': j['job'], 'status': st, 'protocol_id': rs['protocol_id'], 'name': rs['name'], 'step': rs['index'], 'n_steps': rs['n_steps'],
+                   'current_step': self.names(rs.get('current_step')) or (('finishing (last step: %s)' % rs['steps'][-1]) if rs.get('steps') and rs['status'] in ('running', 'paused') else None),
+                   'eta_s': self.eta(rs, ctx.view['_time_s']) if rs['status'] in ACTIVE else 0.0, 'started_s': rs.get('started_s'),
+                   'ended_s': rs.get('ended_s'), 'error': rs.get('error'), 'recovery_options': rs.get('recovery_options') or []}
+            return out
+        for h in reversed(ctx.view.get('run.history') or []):
+            if h['protocol_id'] == j['protocol_id'] and h['started_s'] == j['started_s']:
+                return {'job': j['job'], 'status': JOB_STATUS.get(h['status'], h['status']), 'protocol_id': h['protocol_id'], 'name': h['name'],
+                        'step': h['steps_done'], 'n_steps': h['n_steps'], 'current_step': None, 'eta_s': 0.0, 'started_s': h['started_s'],
+                        'ended_s': h['ended_s'], 'error': (h['errors'] or [None])[-1], 'recovery_options': []}
+        return {'job': j['job'], 'status': 'unknown', 'protocol_id': j['protocol_id'], 'name': j['name'], 'step': None, 'n_steps': None,
+                'current_step': None, 'eta_s': None, 'started_s': j['started_s'], 'ended_s': None, 'error': None, 'recovery_options': []}
+
+    def get_job(self, ctx, job_id):
+        j = self.jobs.get(job_id)
+        if j is None:
+            raise ValidationError('UNKNOWN_JOB', 'there is no job %r.' % job_id, 'your jobs: %s.' % (
+                ', '.join(k for k, x in self.jobs.items() if x['caller'] == ctx.caller) or 'none'))
+        if j['caller'] != ctx.caller:
+            raise ValidationError('NOT_YOUR_JOB', '%s belongs to %r.' % (job_id, j['caller']), 'you can only control your own jobs.')
+        return j
+
+    def job_status(self, ctx, job_id):
+        j = self.get_job(ctx, job_id)
+        s = self._job_state(ctx, j)
+        st = s['status']
+        if st in ('running', 'paused', 'setup'):
+            text = '%s %s · protocol %r · step %d/%d%s · about %s left%s' % (
+                j['job'], st, s['name'], min(s['step'] + 1, s['n_steps']), s['n_steps'], (': ' + s['current_step']) if s['current_step'] else '',
+                fmt_s(s['eta_s']), self.wall(s['eta_s']))
+        elif st == 'awaiting_recovery':
+            e = s['error'] or {}
+            text = '%s needs recovery: error %s at step %d (%s).\noptions: %s\nfix: chemlab run flex recover %s --action ACTION' % (
+                j['job'], e.get('type'), (e.get('index') or 0) + 1, e.get('step'), ', '.join(s['recovery_options']), j['job'])
+        elif st == 'completed':
+            text = '%s completed · protocol %r · %d/%d steps · ended at t=%.1f s' % (j['job'], s['name'], s['step'], s['n_steps'], s['ended_s'])
+        else:
+            text = '%s %s · protocol %r%s' % (j['job'], st, s['name'], (' · last error: %s' % s['error']['type']) if s.get('error') else '')
+        return {'text': text + '\n', 'json': s}
+
+
+# ==================================================================== verb handlers
+def build_verbs(f):
+    V = {}
+
+    def verb(*a, **k):
+        v = Verb(*a, **k)
+        V[v.name] = v
+        return v
+
+    # ---- power / home / status / labware / lights
+    def h_power(ctx, pos, opts):
+        state = pos[0].lower()
+        if state not in ('on', 'off'):
+            raise ValidationError('BAD_CHOICE', 'power takes on or off, not %r.' % pos[0], 'write `power on` or `power off`.')
+        if state == 'off':
+            rs = ctx.view.get('run.state')
+            job = f._job_for_run(rs) if rs else None
+            if rs and rs['status'] in ('running', 'paused', 'awaiting_recovery'):
+                if job is None or job['caller'] != ctx.caller:
+                    f.check_not_busy(ctx, run_command=True)
+                elif not ctx.flags.get('force'):
+                    raise _defined('BUSY_OWN_JOB', 'switching off now would abort your %s (protocol %r).' % (job['job'], rs['name']),
+                                   'wait for it, cancel it (`chemlab cancel %s`), or add --force to abort it by power-off.' % job['job'])
+        want = state == 'on'
+        if ctx.view['power.enabled'] == want:
+            return {'text': 'ok: power is already %s\n' % state, 'json': {'power': want}, 'checks': ['power already %s' % state]}
+        ctx.call('power.set', {'enabled': want}, 'power %s' % state,
+                 readback=lambda v: None if v['power.enabled'] == want else 'power %s' % v['power.enabled'])
+        return {'text': 'ok: power %s\n' % state, 'json': {'power': want}}
+    verb('power', 'work', 'switch the robot on or off', h_power, positionals=[('on|off', 'on or off', True)], options={'force': Opt('with off: abort your own running job', 'flag')},
+         maps_to=['power.set'], preconditions=['off is refused while a run is active (your own job: needs --force; another user\'s run: refused)'],
+         errors=['BUSY, BUSY_OWN_JOB (defined)'], example='chemlab run flex power on', reference='Flex manual, robot power switch; HTTP API /health')
+
+    def h_home(ctx, pos, opts):
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        home = f.reg['home_m']
+        ctx.call('robot.home', {}, 'home the gantry', readback=lambda v: None if _same({k: v['motion.' + k] for k in home}, home) else 'not at home')
+        return {'text': 'ok: gantry homed\n', 'json': {'position': 'home'}, 'checks': ['power on', 'not busy']}
+    verb('home', 'work', 'home the gantry (back right, Z up)', h_home, maps_to=['robot.home'], preconditions=['power on', 'no run active'],
+         errors=['POWER_OFF, BUSY (defined)'], example='chemlab run flex home', reference='Python API ProtocolContext.home(); HTTP API POST /robot/home')
+
+    def h_status(ctx, pos, opts):
+        return f.status(ctx)
+    verb('status', 'work', 'power, position, tip and its contents, active run, jobs', h_status, readonly=True,
+         example='chemlab run flex status --json')
+
+    def h_labware(ctx, pos, opts):
+        lines, js = ['deck (slot, labware, wells, capacity):'], []
+        for lw in f.reg['labware']:
+            if lw['kind'] == 'tiprack':
+                tips = f.rack_tips(ctx, lw['name'])
+                extra = '%s tips; %d left%s' % (fmt_ul(lw['tip_capacity_m3']), len(tips), (', next %s:%s' % (lw['name'], tips[0][0])) if tips else '')
+                js.append({'name': lw['name'], 'slot': lw['slot'], 'kind': 'tiprack', 'type': lw['type'], 'tip_capacity_ul': ul(lw['tip_capacity_m3']),
+                           'tips_left': len(tips), 'next_tip': ('%s:%s' % (lw['name'], tips[0][0])) if tips else None})
+            else:
+                extra = 'wells %s, %s each' % (f._well_span(lw['name']), fmt_ul(lw['well_capacity_m3']))
+                js.append({'name': lw['name'], 'slot': lw['slot'], 'kind': lw['kind'], 'type': lw['type'], 'wells': f._well_span(lw['name']),
+                           'well_capacity_ul': ul(lw['well_capacity_m3'])})
+            lines.append('  %-3s %-12s %-10s %s (%s)' % (lw['slot'], lw['name'], lw['kind'], extra, lw['display']))
+        t = f.reg['trash']
+        fixture = (ctx.view.get('deck.fixtures') or {}).get(t['slot'])
+        lines.append('  %-3s %-12s %-10s %s' % (t['slot'], 'trash', 'fixture', fixture or 'NOT configured'))
+        lines.append('liquid contents are not tracked by the instrument; your task notes say what is in each well.')
+        return {'text': '\n'.join(lines) + '\n', 'json': {'labware': js, 'trash': {'slot': t['slot'], 'fixture': fixture}}}
+    verb('labware', 'work', 'what is on the deck: labware names, slots, wells, capacities, tips left', h_labware, readonly=True,
+         example='chemlab run flex labware', reference='Python API Labware; Flex manual, labware concepts')
+
+    def h_lights(ctx, pos, opts):
+        state = pos[0].lower()
+        if state not in ('on', 'off'):
+            raise ValidationError('BAD_CHOICE', 'lights takes on or off.', 'write `lights on` or `lights off`.')
+        f.check_power(ctx)
+        ctx.call('robot.set_lights', {'on': state == 'on'}, 'lights %s' % state,
+                 readback=lambda v: None if v['robot.lights_on'] == (state == 'on') else 'lights %s' % v['robot.lights_on'])
+        return {'text': 'ok: deck lights %s\n' % state, 'json': {'lights': state == 'on'}, 'checks': ['power on']}
+    verb('lights', 'work', 'deck lights on or off', h_lights, positionals=[('on|off', 'on or off', True)], maps_to=['robot.set_lights'],
+         preconditions=['power on'], errors=['POWER_OFF (defined)'], example='chemlab run flex lights on', reference='HTTP API POST /robot/lights')
+
+    # ---- motion and tips
+    def h_move(ctx, pos, opts):
+        loc = f.parse_location(pos[0], ('liquid', 'tip', 'trash', 'home'))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        moved = f.move(ctx, loc)
+        return {'text': 'ok: %s %s\n' % ('moved to' if moved else 'already at', loc.name), 'json': {'position': loc.name}, 'checks': ['power on', 'not busy']}
+    verb('move-to', 'work', 'move the pipette to a named location', h_move, positionals=[('LOCATION', 'LABWARE:WELL, trash or home', True)],
+         maps_to=['motion.move'], preconditions=['power on', 'no run active', 'location is on the deck'],
+         errors=['UNKNOWN_LOCATION/UNKNOWN_LABWARE/UNKNOWN_WELL (validation)', 'POWER_OFF, BUSY (defined)'], example='chemlab run flex move-to plate:A1',
+         reference='Python API InstrumentContext.move_to()')
+
+    def h_pick(ctx, pos, opts):
+        if opts.get('tip') and opts.get('rack'):
+            raise ValidationError('CONFLICTING_OPTIONS', 'give --tip or --rack, not both.', 'use one of them.')
+        tip = f.parse_location(opts['tip'], ('tip',), '--tip') if opts.get('tip') else None
+        rack = opts.get('rack')
+        if rack and (rack not in f.labware or f.labware[rack]['kind'] != 'tiprack'):
+            raise ValidationError('UNKNOWN_RACK', 'there is no tip rack %r.' % rack, 'tip racks here: %s.' % ', '.join(f.tip_racks()))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        tip_id, loc = f.pick(ctx, tip, rack)
+        cap = f.tip_capacity(tip_id)
+        return {'text': 'ok: picked up tip %s (%s)\n' % (loc.name, fmt_ul(cap)), 'json': {'tip': loc.name, 'capacity_ul': ul(cap)},
+                'checks': ['power on', 'no tip attached', 'tip present at %s' % loc.name]}
+    verb('pick-up-tip', 'work', 'pick up a tip (default: the next unused tip)', h_pick,
+         options={'tip': Opt('a specific tip-rack well', metavar='RACK:WELL'), 'rack': Opt('take the next tip from this rack', metavar='RACK')},
+         maps_to=['motion.move', 'tip.attach'], preconditions=['power on', 'no run active', 'no tip attached', 'a tip is present'],
+         errors=['TIP_ALREADY_ATTACHED, NO_TIP_AT_LOCATION, RACK_EMPTY, OUT_OF_TIPS, POWER_OFF, BUSY (defined)'],
+         example='chemlab run flex pick-up-tip --rack tiprack200', reference='Python API InstrumentContext.pick_up_tip()')
+
+    def h_drop(ctx, pos, opts):
+        to = None
+        if opts.get('to') and opts['to'] != 'trash':
+            to = f.parse_location(opts['to'], ('tip', 'trash'), '--to')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        tip, target = f.drop(ctx, to)
+        return {'text': 'ok: dropped tip %s %s\n' % (f._tip_name(tip), 'in the trash' if target.kind == 'trash' else 'into ' + target.name),
+                'json': {'tip': f._tip_name(tip), 'to': target.name}, 'checks': ['power on', 'tip attached']}
+    verb('drop-tip', 'work', 'drop the tip (default: in the trash)', h_drop, options={'to': Opt('trash or an empty tip-rack well', metavar='trash|RACK:WELL')},
+         maps_to=['motion.move', 'tip.release'], preconditions=['power on', 'no run active', 'a tip is attached', 'trash bin configured (for trash)'],
+         errors=['NO_TIP, NO_TRASH, WELL_OCCUPIED, POWER_OFF, BUSY (defined)'], example='chemlab run flex drop-tip',
+         reference='Python API InstrumentContext.drop_tip(); Flex manual, deck fixtures (trash bin)')
+
+    def h_return(ctx, pos, opts):
+        tip = f.need_tip(ctx, 'return a tip')
+        home = f.tip_home.get(tip)
+        if home is None:
+            raise _defined('NO_HOME_WELL', 'the attached tip has no rack well to go back to.', 'drop it in the trash instead (`drop-tip`).')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        loc = f.parse_location('%s:%s' % home, ('tip',))
+        f.drop(ctx, loc)
+        return {'text': 'ok: returned tip to %s\n' % loc.name, 'json': {'tip': loc.name}, 'checks': ['power on', 'tip attached', '%s empty' % loc.name]}
+    verb('return-tip', 'work', 'put the attached tip back where it came from', h_return, maps_to=['motion.move', 'tip.release'],
+         preconditions=['power on', 'no run active', 'a tip is attached'], errors=['NO_TIP, WELL_OCCUPIED (defined)'],
+         example='chemlab run flex return-tip', reference='Python API InstrumentContext.return_tip()')
+
+    # ---- liquid handling
+    def _vol(text):
+        m3, v_ul = parse_volume(text)
+        f.check_volume(m3, '%s' % fmt_ul(m3))
+        return m3
+
+    def h_aspirate(ctx, pos, opts):
+        v = _vol(opts['volume'])
+        loc = f.parse_location(opts['from'], ('liquid',), '--from')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        f.aspirate(ctx, loc, v)
+        led = f.ledger(ctx)
+        held = '' if led['volume_m3'] is None else ' (tip now holds %s)' % fmt_ul(led['volume_m3'])
+        return {'text': 'ok: aspirated %s from %s%s\n' % (fmt_ul(v), loc.name, held), 'json': {'aspirated_ul': ul(v), 'from': loc.name,
+                'tip_volume_ul': None if led['volume_m3'] is None else ul(led['volume_m3'])},
+                'checks': ['power on', 'tip attached', '%s within %s-%s' % (fmt_ul(v), fmt_ul(f.vmin), fmt_ul(f.vmax)), 'fits in the tip'],
+                'unchecked': ['liquid available in %s' % loc.name]}
+    verb('aspirate', 'work', 'draw liquid into the attached tip', h_aspirate,
+         options={'volume': Opt('volume, uL (5-1000)', metavar='V', required=True), 'from': Opt('source well', metavar='LABWARE:WELL', required=True)},
+         maps_to=['motion.move', 'sample.aspirate'], preconditions=['volume within the pipette range 5-1000 uL', 'power on', 'no run active', 'a tip is attached',
+                                                                    'the volume fits in the tip (tip size minus what it holds)'],
+         errors=['VOLUME_OUT_OF_RANGE, UNIT_NOT_ALLOWED, UNKNOWN_* (validation)', 'NO_TIP, TIP_CAPACITY, INSUFFICIENT_LIQUID, POWER_OFF, BUSY (defined)'],
+         example='chemlab run flex aspirate --volume 50uL --from reservoir:A1', reference='Python API InstrumentContext.aspirate()')
+
+    def h_dispense(ctx, pos, opts):
+        v = _vol(opts['volume'])
+        loc = f.parse_location(opts['to'], ('liquid',), '--to')
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        f.dispense(ctx, loc, v)
+        led = f.ledger(ctx)
+        held = '' if led['volume_m3'] is None else ' (tip now holds %s)' % fmt_ul(led['volume_m3'])
+        return {'text': 'ok: dispensed %s into %s%s\n' % (fmt_ul(v), loc.name, held), 'json': {'dispensed_ul': ul(v), 'to': loc.name,
+                'tip_volume_ul': None if led['volume_m3'] is None else ul(led['volume_m3'])},
+                'checks': ['power on', 'tip attached', 'tip holds enough'], 'unchecked': ['room in %s' % loc.name]}
+    verb('dispense', 'work', 'push liquid out of the tip into a well', h_dispense,
+         options={'volume': Opt('volume, uL (5-1000)', metavar='V', required=True), 'to': Opt('destination well', metavar='LABWARE:WELL', required=True)},
+         maps_to=['motion.move', 'sample.dispense'], preconditions=['volume within 5-1000 uL', 'power on', 'no run active', 'a tip is attached', 'the tip holds that much'],
+         errors=['VOLUME_OUT_OF_RANGE (validation)', 'NO_TIP, TIP_HOLDS_LESS, DEST_FULL, POWER_OFF, BUSY (defined)'],
+         example='chemlab run flex dispense --volume 50uL --to plate:A1', reference='Python API InstrumentContext.dispense()')
+
+    def h_transfer(ctx, pos, opts):
+        srcs = f.parse_locations(opts['from'], ('liquid',), '--from')
+        dsts = f.parse_locations(opts['to'], ('liquid',), '--to')
+        vols = [parse_volume(x)[0] for x in opts['volume'].split(',') if x.strip()]
+        if len(srcs) == len(dsts):
+            pairs = list(zip(srcs, dsts))
+        elif len(srcs) == 1:
+            pairs = [(srcs[0], d) for d in dsts]
+        elif len(dsts) == 1:
+            pairs = [(s, dsts[0]) for s in srcs]
+        else:
+            raise ValidationError('PAIRING', '%d sources and %d destinations cannot be paired.' % (len(srcs), len(dsts)),
+                                  'give equal counts, or one source, or one destination.')
+        if len(vols) == 1:
+            vols = vols * len(pairs)
+        if len(vols) != len(pairs):
+            raise ValidationError('PAIRING', '%d volumes for %d transfers.' % (len(vols), len(pairs)), 'give one volume, or one per transfer.')
+        new_tip = opts.get('new-tip', 'once')
+        rack = opts.get('rack')
+        if rack and (rack not in f.labware or f.labware[rack]['kind'] != 'tiprack'):
+            raise ValidationError('UNKNOWN_RACK', 'there is no tip rack %r.' % rack, 'tip racks here: %s.' % ', '.join(f.tip_racks()))
+        f.check_not_busy(ctx)
+        f.check_power(ctx)
+        attached = ctx.view['tip.attached_id']
+        if new_tip == 'never':
+            if attached is None:
+                raise _defined('NO_TIP', 'no tip is attached and --new-tip never was given.%s' % f._lost_tip_note(ctx),
+                               'pick up a tip first, or use --new-tip once.')
+            cap = f.tip_capacity(attached) or f.vmax
+            racks_used = []
+        else:
+            if attached is not None:
+                raise _defined('TIP_ALREADY_ATTACHED', 'a tip (%s) is already attached; --new-tip %s picks up a fresh one.' % (f._tip_name(attached), new_tip),
+                               'drop or return it first, or use --new-tip never to keep using it.')
+            racks = [rack] if rack else [r for r in f.tip_racks() if f.rack_tips(ctx, r)]
+            if not racks or not f.rack_tips(ctx, racks[0]):
+                raise _defined('OUT_OF_TIPS', 'no tips left%s.' % (' in %s' % rack if rack else ''), 'use another rack or ask the operator to refill.')
+            cap = f.labware[racks[0]]['tip_capacity_m3']
+            need = 1 if new_tip == 'once' else len(pairs)
+            have = len(f.rack_tips(ctx, racks[0]))
+            if have < need:
+                raise _defined('OUT_OF_TIPS', '%s has %d tips left; this transfer needs %d.' % (racks[0], have, need), 'use another rack (--rack) or --new-tip once.')
+            racks_used = racks[:1]
+        trip = min(f.vmax, cap)
+        plan = []
+        for s, d, v in zip([p[0] for p in pairs], [p[1] for p in pairs], vols):
+            n = max(1, math.ceil(_nl(v) / _nl(trip) - 1e-12))
+            base, extra = divmod(_nl(v), n)
+            chunks = [_m3(base + (1 if i < extra else 0)) for i in range(n)]
+            for c in chunks:
+                f.check_volume(c, '%s (one trip of %s)' % (fmt_ul(c), fmt_ul(v)))
+            plan.append((s, d, v, chunks))
+        tips_used = []
+        for i, (s, d, v, chunks) in enumerate(plan):
+            if new_tip == 'always' and i > 0:
+                f.drop(ctx, None)
+            if (new_tip == 'once' and i == 0) or new_tip == 'always':     # a tip lost on the way is reported, never silently replaced
+                tip_id, _ = f.pick(ctx, None, racks_used[0])
+                tips_used.append(f._tip_name(tip_id))
+            for c in chunks:
+                f.aspirate(ctx, s, c)
+                f.dispense(ctx, d, c)
+        if new_tip != 'never':
+            f.drop(ctx, None)
+        moved = ', '.join('%s %s -> %s%s' % (fmt_ul(v), s.name, d.name, (' (%d trips)' % len(ch)) if len(ch) > 1 else '') for s, d, v, ch in plan)
+        return {'text': 'ok: transferred %s; tips: %s\n' % (moved, ', '.join(tips_used) or 'the attached tip'),
+                'json': {'transfers': [{'from': s.name, 'to': d.name, 'volume_ul': ul(v), 'trips': len(ch)} for s, d, v, ch in plan], 'tips': tips_used},
+                'checks': ['power on', 'not busy', 'volumes split to fit %s per trip' % fmt_ul(trip), 'enough tips'],
+                'unchecked': ['liquid available in the sources', 'room in the destinations']}
+    verb('transfer', 'work', 'move liquid between wells (picks tips, splits volumes over the tip size, drops tips)', h_transfer,
+         options={'volume': Opt('volume per transfer, uL (one value or a comma list)', metavar='V', required=True),
+                  'from': Opt('source well(s)', metavar='LOC[,LOC..]', required=True), 'to': Opt('destination well(s)', metavar='LOC[,LOC..]', required=True),
+                  'new-tip': Opt('once: one tip for everything; always: a fresh tip for each source->destination pair; never: use the attached tip',
+                                 choices=['once', 'always', 'never'], metavar='MODE'),
+                  'rack': Opt('take tips from this rack', metavar='RACK')},
+         maps_to=['motion.move', 'tip.attach', 'sample.aspirate', 'sample.dispense', 'tip.release'],
+         preconditions=['all locations exist and are liquid wells', 'power on', 'no run active', 'tip state matches --new-tip', 'enough tips',
+                        'every trip within the pipette range and tip size'],
+         errors=['PAIRING, VOLUME_OUT_OF_RANGE (validation)', 'NO_TIP, TIP_ALREADY_ATTACHED, OUT_OF_TIPS, INSUFFICIENT_LIQUID, DEST_FULL, BUSY (defined)'],
+         example='chemlab run flex transfer --volume 50 --from reservoir:A1 --to plate:A1-A6',
+         reference='Python API InstrumentContext.transfer() (complex commands; new_tip once/always/never)',
+         details='One source and many destinations, many sources and one destination, or equal lists (paired in order). Volumes larger than '
+                 'one tip are split into equal trips. Tips picked up by transfer are dropped in the trash at the end (or between pairs with --new-tip always).')
+
+    # ---- protocols and jobs
+    def h_protocols(ctx, pos, opts):
+        rows, js = [], []
+        for p in ctx.view.get('protocols.list') or []:
+            params = ', '.join('%s (%s%s, default %s)' % (x['name'], x.get('type'), (' %s-%s' % (x['min'], x['max'])) if 'min' in x else '',
+                                                           x.get('default')) for x in p.get('parameters') or [])
+            rows.append('  %-14s %-24s %3d steps  %s%s' % (p['protocol_id'], p['name'], p['n_steps'], 'ready' if p['ready'] else 'NOT ready',
+                                                          ('  parameters: ' + params) if params else ''))
+            js.append({k: p.get(k) for k in ('protocol_id', 'name', 'n_steps', 'ready', 'parameters', 'description', 'fixtures')})
+        return {'text': ('stored protocols:\n' + '\n'.join(rows) + '\n') if rows else 'no stored protocols\n', 'json': {'protocols': js}}
+    verb('protocols', 'work', 'list the protocols stored on the robot', h_protocols, readonly=True, example='chemlab run flex protocols',
+         reference='HTTP API GET /protocols')
+
+    def _param_value(par, text):
+        t = par.get('type')
+        try:
+            if t == 'int':
+                v = int(text)
+            elif t == 'float':
+                v = float(text)
+            elif t == 'bool':
+                if text.lower() not in ('true', 'false', 'on', 'off', '1', '0'):
+                    raise ValueError
+                v = text.lower() in ('true', 'on', '1')
+            else:
+                v = text
+        except ValueError:
+            raise ValidationError('BAD_PARAMETER', 'parameter %s takes a %s, not %r.' % (par['name'], t, text), 'give a %s value.' % t)
+        if par.get('choices'):
+            allowed = [c['value'] if isinstance(c, dict) else c for c in par['choices']]
+            if v not in allowed:
+                raise ValidationError('BAD_PARAMETER', 'parameter %s must be one of %s.' % (par['name'], allowed), 'pick one of them.')
+        if t in ('int', 'float') and not (par.get('min', -math.inf) <= v <= par.get('max', math.inf)):
+            raise ValidationError('PARAMETER_OUT_OF_RANGE', 'parameter %s=%s is outside %s-%s.' % (par['name'], text, par.get('min'), par.get('max')),
+                                  'give a value from %s to %s.' % (par.get('min'), par.get('max')))
+        return v
+
+    def h_run_protocol(ctx, pos, opts):
+        pid = pos[0]
+        proto = next((p for p in ctx.view.get('protocols.list') or [] if p['protocol_id'] == pid), None)
+        if proto is None:
+            raise ValidationError('UNKNOWN_PROTOCOL', 'there is no stored protocol %r.' % pid, 'stored: %s (see `protocols`).' % (
+                ', '.join(p['protocol_id'] for p in ctx.view.get('protocols.list') or []) or 'none'))
+        params = {}
+        for item in opts.get('param', []):
+            name, eq, val = item.partition('=')
+            par = next((x for x in proto.get('parameters') or [] if x['name'] == name), None)
+            if not eq or par is None:
+                raise ValidationError('BAD_PARAMETER', 'unknown parameter %r for %s.' % (item, pid), 'parameters: %s; write --param NAME=VALUE.' % (
+                    ', '.join(x['name'] for x in proto.get('parameters') or []) or 'none'))
+            params[name] = _param_value(par, val)
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        if ctx.view['tip.attached_id'] is not None:
+            raise _defined('TIP_ATTACHED', 'a tip is attached; a protocol run starts with an empty pipette.', 'drop it (`drop-tip`) or return it (`return-tip`) first.')
+        mounts = ctx.view.get('instruments.mounts') or {}
+        m = mounts.get(proto.get('pipette_mount') or 'left') if isinstance(mounts, dict) else None
+        if not m or not m.get('calibrated'):
+            raise _defined('RUN_NOT_READY', 'protocol %s needs a calibrated pipette on the left mount.' % pid,
+                           'attach and calibrate it (`chemlab help flex admin`).')
+        fixtures = ctx.view.get('deck.fixtures') or {}
+        conflicts = {s: fx for s, fx in (proto.get('fixtures') or {}).items() if fixtures.get(s) != fx}
+        if conflicts and not opts.get('update-deck'):
+            raise _defined('RUN_NOT_READY', 'protocol %s needs deck fixtures %s.' % (pid, ', '.join('%s=%s' % kv for kv in conflicts.items())),
+                           'add --update-deck to set them, or use `deck-config`.')
+        steps = [('run.setup', {'protocol_id': pid}, 'set up run of %s' % pid)]
+        steps += [('run.set_parameter', {'name': k, 'value': v}, 'set %s=%s' % (k, v)) for k, v in params.items()]
+        if proto.get('parameters'):
+            steps.append(('run.confirm_parameters', {}, 'confirm parameters'))
+        if conflicts:
+            steps.append(('run.update_deck', {}, 'update deck fixtures'))
+        if opts.get('apply-offsets'):
+            steps.append(('run.apply_offsets', {}, 'apply stored labware offsets'))
+        steps.append(('run.play', {}, 'start the run'))
+        try:
+            for cid, a, text in steps:
+                ctx.call(cid, a, text)
+        except ChemlabError as exc:
+            if not ctx.dry_run and ctx.changed and (ctx.view.get('run.state') or {}).get('status') == 'setup':
+                ctx.call('run.stop', {}, 'roll back the run setup')
+                ctx.changed = False
+                exc.changed, exc.done = 'no (the run setup was rolled back)', list(ctx.done)
+            raise
+        if ctx.dry_run:
+            return {'text': '', 'json': {}, 'checks': ['protocol stored', 'parameters valid', 'power on', 'not busy', 'no tip attached', 'pipette calibrated', 'deck fixtures']}
+        rs = ctx.view.get('run.state') or {}
+        f.job_n += 1
+        job = {'job': 'job-%d' % f.job_n, 'caller': ctx.caller, 'protocol_id': pid, 'name': proto['name'], 'started_s': rs.get('started_s'),
+               'params': params}
+        f.jobs[job['job']] = job
+        left = f.eta(rs, ctx.view['_time_s']) if rs.get('status') in ACTIVE else 0.0
+        return {'text': 'ok: %s started: protocol %r (%d steps, about %s of sim time%s)\nnext: `chemlab status %s` to follow it\n' % (
+            job['job'], proto['name'], rs.get('n_steps', 0), fmt_s(left), f.wall(left), job['job']),
+            'json': {'job': job['job'], 'protocol_id': pid, 'n_steps': rs.get('n_steps'), 'eta_s': left, 'status': JOB_STATUS.get(rs.get('status'), rs.get('status'))}}
+    verb('run-protocol', 'work', 'start a stored protocol as a job (returns a job id)', h_run_protocol,
+         positionals=[('PROTOCOL', 'protocol id (see `protocols`)', True)],
+         options={'param': Opt('runtime parameter, repeatable', kind='multi', metavar='NAME=VALUE'), 'update-deck': Opt('set the deck fixtures the protocol needs', 'flag'),
+                  'apply-offsets': Opt('apply the labware offsets stored from an earlier Labware Position Check', 'flag')},
+         maps_to=['run.setup', 'run.set_parameter', 'run.confirm_parameters', 'run.update_deck', 'run.apply_offsets', 'run.play', 'run.stop'],
+         preconditions=['protocol stored', 'parameters known and in range', 'power on', 'no other run active', 'no tip attached', 'pipette calibrated',
+                        'deck fixtures match (or --update-deck)'],
+         errors=['UNKNOWN_PROTOCOL, BAD_PARAMETER, PARAMETER_OUT_OF_RANGE (validation)', 'BUSY, TIP_ATTACHED, RUN_NOT_READY, POWER_OFF (defined)'],
+         example='chemlab run flex run-protocol plate_prep --param volume_ul=80', reference='HTTP API POST /runs, POST /runs/{id}/actions (play)')
+
+    def h_job(ctx, pos, opts):
+        return f.job_status(ctx, pos[0])
+    verb('job', 'work', 'progress of a job (same as `chemlab status JOB`)', h_job, positionals=[('JOB', 'job id', True)], readonly=True,
+         example='chemlab run flex job job-1')
+
+    def _job_action(action):
+        def h(ctx, pos, opts):
+            j = f.get_job(ctx, pos[0])
+            s = f._job_state(ctx, j)
+            st = s['status']
+            need = {'pause': ('running',), 'resume': ('paused',), 'cancel': ('setup', 'running', 'paused', 'awaiting_recovery')}[action]
+            if st not in need:
+                raise _defined('JOB_FINISHED' if st in ('completed', 'failed', 'canceled') else 'JOB_NOT_%s' % need[0].upper(),
+                               '%s is %s; cannot %s it.' % (j['job'], st, action), 'check `chemlab status %s`.' % j['job'])
+            cid = {'pause': 'run.pause', 'resume': 'run.play', 'cancel': 'run.stop'}[action]
+            ctx.call(cid, {}, '%s %s' % (action, j['job']))
+            if not ctx.dry_run and action == 'pause':
+                j['pause_t'] = ctx.view['_time_s']
+            elif not ctx.dry_run and action == 'resume' and j.get('pause_t') is not None:
+                j['paused_s'] = j.get('paused_s', 0.0) + ctx.view['_time_s'] - j.pop('pause_t')
+            s = f._job_state(ctx, j) if not ctx.dry_run else s
+            return {'text': 'ok: %s %s (now %s)\n' % (action, j['job'], s['status']), 'json': {'job': j['job'], 'status': s['status']},
+                    'checks': ['%s is yours and %s' % (j['job'], st)]}
+        return h
+    for action, summary, cid in (('pause', 'pause a running job', 'run.pause'), ('resume', 'resume a paused job', 'run.play'),
+                                 ('cancel', 'cancel a job (same as `chemlab cancel JOB`)', 'run.stop')):
+        verb(action, 'work', summary, _job_action(action), positionals=[('JOB', 'job id', True)], maps_to=[cid],
+             preconditions=['the job is yours', 'the job is in a state that allows it'], errors=['UNKNOWN_JOB, NOT_YOUR_JOB (validation)', 'JOB_FINISHED (defined)'],
+             example='chemlab run flex %s job-1' % action, reference='HTTP API POST /runs/{id}/actions (pause, play, stop)')
+
+    recovery_actions = f.contract.capabilities['run.recover'].input_schema['properties']['action']['enum']
+
+    def h_recover(ctx, pos, opts):
+        j = f.get_job(ctx, pos[0])
+        s = f._job_state(ctx, j)
+        if s['status'] != 'awaiting_recovery':
+            raise _defined('NOT_AWAITING_RECOVERY', '%s is %s, not waiting for error recovery.' % (j['job'], s['status']), 'check `chemlab status %s`.' % j['job'])
+        if opts['action'] not in s['recovery_options']:
+            raise _defined('ACTION_NOT_ALLOWED', '%s is not offered for error %s.' % (opts['action'], (s['error'] or {}).get('type')),
+                           'choose one of: %s.' % ', '.join(s['recovery_options']))
+        ctx.call('run.recover', {'action': opts['action']}, 'recover %s with %s' % (j['job'], opts['action']))
+        s = f._job_state(ctx, j) if not ctx.dry_run else s
+        return {'text': 'ok: %s recovered with %s (now %s)\n' % (j['job'], opts['action'], s['status']), 'json': {'job': j['job'], 'status': s['status']}}
+    verb('recover', 'work', 'answer the error-recovery question of a job (retry, skip, new tips, cancel...)', h_recover,
+         positionals=[('JOB', 'job id', True)], options={'action': Opt('recovery action', choices=recovery_actions, metavar='ACTION', required=True)},
+         maps_to=['run.recover'], preconditions=['the job waits for recovery', 'the action is offered for its error'],
+         errors=['NOT_AWAITING_RECOVERY, ACTION_NOT_ALLOWED (defined)'], example='chemlab run flex recover job-1 --action retry_same_tips',
+         reference='Flex manual, protocol run: error recovery; HTTP API /runs/{id}/actions (resume-from-recovery)')
+
+    # ---- maintenance / admin
+    def _simple(cid, args, text, check_busy=True, extra=None):
+        def h(ctx, pos, opts):
+            a = args(pos, opts) if callable(args) else dict(args)
+            if check_busy:
+                f.check_not_busy(ctx, run_command=True)
+            f.check_power(ctx)
+            if extra:
+                extra(ctx, a)
+            ctx.call(cid, a, text(a) if callable(text) else text)
+            return {'text': 'ok: %s\n' % (text(a) if callable(text) else text), 'json': {'capability': cid, 'arguments': a}, 'checks': ['power on', 'not busy']}
+        return h
+
+    mounts = f.contract.capabilities['instrument.calibrate'].input_schema['properties']['mount']['enum']
+    models = f.contract.capabilities['instrument.attach'].input_schema['properties']['model']['enum']
+
+    def h_pipettes(ctx, pos, opts):
+        m = ctx.view.get('instruments.mounts') or {}
+        lines = ['  %-9s %s' % (k, ('%s, %s' % (v['model'], 'calibrated' if v['calibrated'] else 'NOT calibrated')) if v else 'empty') for k, v in m.items()]
+        return {'text': 'mounts:\n' + '\n'.join(lines) + '\n', 'json': {'mounts': m}}
+    verb('pipettes', 'admin', 'what is on each mount and whether it is calibrated', h_pipettes, readonly=True)
+
+    def _need_mounted(ctx, a):
+        if not (ctx.view.get('instruments.mounts') or {}).get(a['mount']):
+            raise _defined('NO_PIPETTE', 'no pipette on the %s mount.' % a['mount'], 'attach one first (`attach-pipette`).')
+
+    def _no_tip(ctx, a):
+        _need_mounted(ctx, a)
+        if ctx.view['tip.attached_id']:
+            raise _defined('TIP_ATTACHED', 'a tip is attached.', 'drop it before detaching the pipette.')
+
+    def _mount_free(ctx, a):
+        if any((ctx.view.get('instruments.mounts') or {}).get(k) for k in ('left', 'right')):
+            raise _defined('MOUNT_TAKEN', 'a pipette is already attached (this Flex has one 1-channel pipette).', 'detach it first.')
+
+    verb('calibrate-pipette', 'admin', 'run the automatic pipette calibration', _simple('instrument.calibrate', lambda p, o: {'mount': o.get('mount', 'left')},
+         lambda a: 'calibrated the %s pipette' % a['mount'], extra=_need_mounted),
+         options={'mount': Opt('mount', choices=mounts, metavar='MOUNT')}, maps_to=['instrument.calibrate'],
+         preconditions=['power on', 'no run active', 'a pipette on that mount'], reference='Flex manual, instrument installation and calibration')
+    verb('attach-pipette', 'admin', 'record a pipette attached to a mount (needs calibration after)', _simple(
+        'instrument.attach', lambda p, o: {'mount': o['mount'], 'model': o.get('model', models[0])}, lambda a: 'attached %s on the %s mount' % (a['model'], a['mount']),
+        extra=_mount_free), options={'mount': Opt('mount', choices=mounts, metavar='MOUNT', required=True), 'model': Opt('model', choices=models, metavar='MODEL')},
+         maps_to=['instrument.attach'], preconditions=['power on', 'no run active', 'mount free'])
+    verb('detach-pipette', 'admin', 'record the pipette as removed (destructive: --yes)', _simple(
+        'instrument.detach', lambda p, o: {'mount': o['mount']}, lambda a: 'detached the %s pipette' % a['mount'], extra=_no_tip),
+         options={'mount': Opt('mount', choices=mounts, metavar='MOUNT', required=True)}, maps_to=['instrument.detach'], destructive=True,
+         preconditions=['power on', 'no run active', 'no tip attached'])
+
+    fixture_enum = f.contract.capabilities['deck.configure'].input_schema['properties']['fixture']['anyOf'][0]['enum']
+    cutouts = f.contract.capabilities['deck.configure'].input_schema['properties']['slot']['enum']
+
+    def h_deck(ctx, pos, opts):
+        if not pos:
+            fx = ctx.view.get('deck.fixtures') or {}
+            return {'text': 'deck fixtures:\n' + ''.join('  %s  %s\n' % kv for kv in sorted(fx.items())), 'json': {'fixtures': fx}}
+        if len(pos) != 2:
+            raise ValidationError('MISSING_ARGUMENT', 'deck-config needs SLOT and FIXTURE (or none).', 'example: deck-config A1 trash_bin')
+        slot, fixture = pos[0].upper(), pos[1]
+        if slot not in cutouts:
+            raise ValidationError('BAD_CHOICE', 'fixtures go in %s, not %s.' % (', '.join(cutouts), slot), 'pick one of those slots.')
+        fixture = None if fixture == 'none' else fixture
+        if fixture is not None and fixture not in fixture_enum:
+            raise ValidationError('BAD_CHOICE', 'unknown fixture %r.' % pos[1], 'fixtures: %s, or none.' % ', '.join(fixture_enum))
+        if fixture is not None and slot not in FIXTURE_SLOTS.get(fixture, ()):
+            raise ValidationError('FIXTURE_NOT_ALLOWED', '%s cannot go in %s.' % (fixture, slot), '%s goes in %s.' % (fixture, ', '.join(FIXTURE_SLOTS[fixture])))
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        ctx.call('deck.configure', {'slot': slot, 'fixture': fixture}, 'set %s to %s' % (slot, fixture or 'empty'))
+        return {'text': 'ok: %s is now %s\n' % (slot, fixture or 'empty'), 'json': {'slot': slot, 'fixture': fixture}}
+    verb('deck-config', 'admin', 'show or change the deck fixtures (trash bin, staging area, waste chute)', h_deck,
+         positionals=[('SLOT', 'cutout: ' + ', '.join(cutouts), False), ('FIXTURE', ', '.join(fixture_enum) + ' or none', False)], maps_to=['deck.configure'],
+         preconditions=['fixture allowed in that slot (Flex deck fixtures table)', 'power on', 'no run active'], reference='Flex manual, deck configuration')
+
+    keys = f.contract.capabilities['robot.configure'].input_schema['properties']['key']['enum']
+
+    def h_settings(ctx, pos, opts):
+        settings = ctx.view.get('robot.settings') or {}
+        if not pos:
+            return {'text': 'settings:\n' + ''.join('  %-24s %s\n' % kv for kv in sorted(settings.items())), 'json': {'settings': settings}}
+        key = pos[0]
+        if key not in keys:
+            raise ValidationError('BAD_CHOICE', 'unknown setting %r.' % key, 'settings: %s.' % ', '.join(keys))
+        if len(pos) == 1:
+            return {'text': '%s = %s\n' % (key, settings.get(key)), 'json': {key: settings.get(key)}}
+        raw = pos[1]
+        allowed = SETTING_VALUES.get(key, [True, False])
+        if allowed == [True, False]:
+            if raw.lower() not in ('on', 'off', 'true', 'false'):
+                raise ValidationError('BAD_CHOICE', '%s is on or off.' % key, 'write on or off.')
+            value = raw.lower() in ('on', 'true')
+        else:
+            value = int(raw) if raw.isdigit() else raw
+            if value not in allowed:
+                raise ValidationError('BAD_CHOICE', '%s cannot be %r.' % (key, raw), 'allowed: %s.' % ', '.join(map(str, allowed)))
+        f.check_not_busy(ctx, run_command=True)
+        f.check_power(ctx)
+        ctx.call('robot.configure', {'key': key, 'value': value}, 'set %s to %s' % (key, value))
+        return {'text': 'ok: %s = %s\n' % (key, value), 'json': {key: value}}
+    verb('settings', 'admin', 'show or change robot settings', h_settings, positionals=[('KEY', 'setting name', False), ('VALUE', 'new value', False)],
+         maps_to=['robot.configure'], preconditions=['value allowed (Flex robot settings)', 'power on', 'no run active'], reference='Flex manual, robot settings')
+    verb('set-name', 'admin', 'rename the robot', _simple('robot.set_name', lambda p, o: {'name': p[0]}, lambda a: 'robot renamed to %r' % a['name']),
+         positionals=[('NAME', '1-35 characters', True)], maps_to=['robot.set_name'])
+    verb('restart', 'admin', 'restart the robot software (destructive: --yes)', _simple('robot.restart', {}, 'restart the robot'), maps_to=['robot.restart'],
+         destructive=True, preconditions=['power on', 'no run active'])
+    verb('shutdown', 'admin', 'shut the robot software down (destructive: --yes)', _simple('robot.shutdown', {}, 'shut the robot down'), maps_to=['robot.shutdown'],
+         destructive=True, preconditions=['power on', 'no run active'])
+
+    def _proto_exists(ctx, a):
+        if not any(p['protocol_id'] == a['protocol_id'] for p in ctx.view.get('protocols.list') or []):
+            raise ValidationError('UNKNOWN_PROTOCOL', 'there is no stored protocol %r.' % a['protocol_id'], 'see `protocols`.')
+
+    def _pin_args(p, o):
+        if p[1] not in ('on', 'off'):
+            raise ValidationError('BAD_CHOICE', 'protocol-pin takes on or off.', 'write protocol-pin ID on|off.')
+        return {'protocol_id': p[0], 'pinned': p[1] == 'on'}
+    verb('protocol-pin', 'admin', 'pin or unpin a protocol on the touchscreen', _simple('protocol.pin', _pin_args, lambda a: '%s pinned=%s' % (a['protocol_id'], a['pinned']),
+         extra=_proto_exists), positionals=[('PROTOCOL', 'protocol id', True), ('on|off', 'pin or unpin', True)], maps_to=['protocol.pin'])
+    verb('protocol-delete', 'admin', 'delete a stored protocol and its run history (destructive: --yes)', _simple(
+        'protocol.delete', lambda p, o: {'protocol_id': p[0]}, lambda a: 'deleted protocol %s' % a['protocol_id'], extra=_proto_exists),
+         positionals=[('PROTOCOL', 'protocol id', True)], maps_to=['protocol.delete'], destructive=True)
+    reset_items = f.contract.capabilities['robot.device_reset'].input_schema['properties']['items']['items']['enum']
+
+    def _reset_args(p, o):
+        items = [x for x in p[0].split(',') if x]
+        bad = [x for x in items if x not in reset_items]
+        if bad or not items:
+            raise ValidationError('BAD_CHOICE', 'unknown reset item(s) %s.' % ', '.join(bad or ['(none)']), 'items: %s.' % ', '.join(reset_items))
+        return {'items': items}
+    verb('device-reset', 'admin', 'erase calibration, protocols, run history or offsets (destructive: --yes)', _simple(
+        'robot.device_reset', _reset_args, lambda a: 'reset %s' % ', '.join(a['items'])), positionals=[('ITEMS', 'comma list: ' + ', '.join(reset_items), True)],
+         maps_to=['robot.device_reset'], destructive=True, reference='Flex manual, robot settings: device reset')
+    return V
diff --git a/chemlab/chemlab/generic.py b/chemlab/chemlab/generic.py
new file mode 100644
index 0000000000000000000000000000000000000000..faede1ad08819e746803c0ab8ab4ab1f27d04fbf
--- /dev/null
+++ b/chemlab/chemlab/generic.py
@@ -0,0 +1,1268 @@
+"""Generic commands for every instrument of a lab, generated from the contracts (layer 2 of the generic agent layer).
+
+The same commands work for all 203 instruments; each instrument's own contract capabilities are exposed directly:
+
+    chemlab list | describe INST | help INST CAP | read INST [SLOT ...] | call INST CAP [--ARG VALUE ...] [--args JSON]
+    chemlab write INST SLOT VALUE | status [OP] | cancel OP | wait SECONDS | wait OP [--max S] | time
+    chemlab panel INST press KEY [--hold S] | turn KNOB N | switch SW POS | touch DISPLAY X Y [--hold S] [--to X2 Y2]
+    chemlab screen INST [DISPLAY] [-o FILE.png] | log [--last N] [--full] | run INST VERB ... (class-level verbs, step 2)
+
+What this layer does NOT do (on purpose): no verb tables per instrument class, no named locations, no unit conversion
+(values are what the contract defines, SI), no precondition checks or inference - the runtime checks every call itself and
+its answer is passed on with the contract's description of the error code.  What it does: hide everything that is not
+agent-visible (contract visibility, availability), turn command-line text into JSON values by the capability's schema,
+request ids and replay, operation handles for asynchronous capabilities, the lab clock (``wait`` is the only way time
+moves), screen captures into the work dir, an append-only log, and stable exit codes.
+
+Exit codes: 0 ok, 2 bad usage (nothing was sent), 3 refused or failed by the instrument (its error code), 4 unexpected
+(runtime crash or service fault), 5 service unreachable (printed by the client), 6 unsupported by this instrument twin.
+"""
+import copy
+import datetime
+import json
+import math
+import os
+import re
+import tempfile
+import threading
+from pathlib import Path
+
+from .adapters import load_adapters, route_job
+from .contract_text import (KIND_EN, arg_signature, example_call, summary_en, type_long, type_short, unit_of)
+from .core import REQUEST_ID_RE, AppendLog, Reply
+from .errors import EXIT_DEFINED, EXIT_OK, EXIT_UNDEFINED, EXIT_VALIDATION
+from .hosts import CHEMSIM_ROOT
+
+EXIT_USAGE, EXIT_REFUSED, EXIT_UNEXPECTED, EXIT_UNSUPPORTED = EXIT_VALIDATION, EXIT_DEFINED, EXIT_UNDEFINED, 6
+EXIT_FOR = {'usage': EXIT_USAGE, 'refused': EXIT_REFUSED, 'unexpected': EXIT_UNEXPECTED, 'unsupported': EXIT_UNSUPPORTED}
+SILA = {'usage': 'ValidationError', 'refused': 'DefinedExecutionError', 'unexpected': 'UndefinedExecutionError',
+        'unsupported': 'DefinedExecutionError'}
+RUNNING = {'accepted', 'running', 'queued', 'pending', 'started', 'starting', 'in_progress', 'paused', 'stopping', 'cancelling',
+           'waiting', 'injecting'}   # injecting: an HPLC/SFC run's first phase (call status succeeded, result phase injecting)
+OK_STATUSES = {'succeeded', 'accepted', 'running'}
+AUTO_RID = re.compile(r'^r-\d+$')
+TEXT_LIMIT = 400
+GESTURES = {
+    'press': ('panel.press', ['input_id'], 'KEY'),
+    'turn': ('panel.turn', ['input_id', 'detents'], 'KNOB DETENTS'),
+    'switch': ('panel.switch', ['input_id', 'position'], 'SWITCH POSITION'),
+    'touch': ('panel.touch', ['display_id', 'x', 'y'], 'DISPLAY X Y'),
+}
+# Protocol-level error codes any call can return (lab protocol 1.0.0); describe lists them once instead of per capability.
+PROTOCOL_ERRORS = ('INVALID_ARGUMENT', 'REQUEST_CONFLICT', 'UNKNOWN_INSTANCE', 'UNKNOWN_CAPABILITY', 'ACCESS_DENIED', 'UNSUPPORTED')
+# host paths are replaced by [host path] in every output: the folder holding this project, the home directory and the folder
+# that holds the home directories, the temp dir and the usual system roots ('/' itself is never a prefix here)
+_HOST_PATHS = sorted({p for p in (str(CHEMSIM_ROOT.parent), str(Path.home()), str(Path.home().parent), tempfile.gettempdir(), '/tmp',
+                                  '/var/tmp', '/home', '/root') if p.strip('/')}, key=len, reverse=True)
+_HOST_PATH_RE = re.compile('(?<![\\w.~-])(%s)(?=[/\\s"\']|$)[^\\s"\'<>|;,)]*' % '|'.join(re.escape(p) for p in _HOST_PATHS))
+
+
+class CmdError(Exception):
+    def __init__(self, kind, code, message, *, fix=None, contract=None, side_effects='none', runtime=None, see=None):
+        super().__init__(message)
+        self.kind, self.code, self.message, self.fix = kind, code, message, fix
+        self.contract, self.side_effects, self.runtime, self.see = contract, side_effects, runtime, see
+
+    @property
+    def exit_code(self):
+        return EXIT_FOR[self.kind]
+
+    def to_json(self):
+        out = {'class': self.kind, 'sila_class': SILA[self.kind], 'code': self.code, 'message': self.message,
+               'side_effects': self.side_effects}
+        if self.fix:
+            out['fix'] = self.fix
+        if self.contract is not None:
+            out['contract'] = self.contract
+        if self.runtime is not None:
+            out['runtime'] = self.runtime
+        if self.see:
+            out['see'] = self.see
+        return out
+
+    def to_text(self, request_id):
+        lines = ['error[%s/%s]: %s' % (self.kind, self.code, self.message)]
+        if self.contract is not None:
+            lines.append('contract: %s' % (self.contract or '(this code is not declared in the contract for this capability)'))
+        rt = self.runtime or {}
+        if rt.get('message') and rt.get('message') != self.contract:
+            lines.append('runtime message: %s' % rt['message'])
+        if self.fix:
+            lines.append('fix: %s' % self.fix)
+        lines.append('side effects: %s' % self.side_effects)
+        if self.see:
+            lines.append('see: %s' % self.see)
+        lines.append('request: %s' % request_id)
+        return '\n'.join(lines) + '\n'
+
+
+def usage(code, message, fix=None):
+    return CmdError('usage', code, message, fix=fix, side_effects='none (nothing was sent)')
+
+
+class Req:
+    def __init__(self, command, instrument, args, caller, request_id, flags):
+        self.command, self.instrument, self.args = command, instrument, list(args)
+        self.caller, self.request_id, self.flags = caller, request_id, flags
+
+
+def _now_iso():
+    return datetime.datetime.now().isoformat(timespec='milliseconds')
+
+
+def _types(schema):
+    if not isinstance(schema, dict):
+        return set()
+    t = schema.get('type')
+    out = set(t if isinstance(t, list) else [t] if t else [])
+    for key in ('anyOf', 'oneOf'):
+        for s in schema.get(key) or []:
+            out |= _types(s)
+    if 'enum' in schema and not out:
+        out |= {type(v).__name__ for v in schema['enum']}
+    return out
+
+
+def _json_type_ok(v, types):
+    if v is None:
+        return 'null' in types
+    if isinstance(v, bool):
+        return 'boolean' in types
+    if isinstance(v, int):
+        return bool(types & {'integer', 'number'})
+    if isinstance(v, float):
+        return 'number' in types or ('integer' in types and v.is_integer())
+    if isinstance(v, str):
+        return 'string' in types
+    if isinstance(v, list):
+        return 'array' in types
+    if isinstance(v, dict):
+        return 'object' in types
+    return False
+
+
+def coerce(text, schema, name):
+    """Command-line text -> JSON value, by the schema's type (no unit conversion, no range check: the runtime checks)."""
+    types = _types(schema)
+    if not types:
+        try:
+            return json.loads(text)
+        except ValueError:
+            return text
+    if types == {'string'}:
+        return text
+    src = text
+    if 'string' not in types and types & {'number', 'integer'} and re.fullmatch(r'\+\.?\d.*', text or ''):
+        src = text[1:]                                              # a signed number: "+20" detents, "+0.5" offset
+    try:
+        v = json.loads(src)
+    except ValueError:
+        v = _NOPE
+    if v is not _NOPE and _json_type_ok(v, types):
+        return v
+    if 'string' in types:
+        return text
+    want = '/'.join(sorted(t for t in types if t))
+    raise usage('BAD_VALUE', '--%s %s is not %s %s value.' % (name, text, 'an' if want[:1] in 'aeiou' else 'a', want),
+                'write it as JSON: numbers like 373.15, -2, +20 or 5e-9, true/false, "text", [..] or {..}.')
+
+
+_NOPE = object()
+
+
+def _short(v, limit=TEXT_LIMIT):
+    s = json.dumps(json_safe(v), ensure_ascii=False, default=str)
+    return s if len(s) <= limit else s[:limit] + ' ... (%d chars; use --json)' % len(s)
+
+
+def _class_text(r):
+    """A reply of the compile layer (class verbs, class jobs, class views): its human text and notes go through
+    compile.units.tidy_text (float noise, unit-suffixed labels); its JSON is left exact."""
+    if isinstance(r, dict) and (r.get('text') or r.get('notes')):
+        from .compile.units import tidy_text
+        r = dict(r, text=tidy_text(r.get('text', '')))
+        if r.get('notes'):
+            r['notes'] = [tidy_text(n) for n in r['notes']]
+    return r
+
+
+def _clip(s, limit):
+    return s if len(s) <= limit else s[:limit] + ' ... (%d chars; use --json)' % len(s)
+
+
+def json_safe(obj):
+    """JSON has no NaN / Infinity: such numbers are written as the strings "NaN", "Infinity", "-Infinity"."""
+    if isinstance(obj, float) and not math.isfinite(obj):
+        return 'NaN' if obj != obj else ('Infinity' if obj > 0 else '-Infinity')
+    if isinstance(obj, dict):
+        return {k: json_safe(v) for k, v in obj.items()}
+    if isinstance(obj, (list, tuple)):
+        return [json_safe(v) for v in obj]
+    return obj
+
+
+def scrub_paths(obj):
+    """Host file paths never reach the agent: replace them by [host path]."""
+    if isinstance(obj, dict):
+        return {k: scrub_paths(v) for k, v in obj.items()}
+    if isinstance(obj, list):
+        return [scrub_paths(v) for v in obj]
+    if isinstance(obj, str):
+        return _HOST_PATH_RE.sub('[host path]', obj)
+    return obj
+
+
+class GenericCore:
+    """Entry point ``handle(argv, caller) -> Reply`` (the same interface as the pilot's CoreService, so the pilot's socket
+    server serves it unchanged)."""
+
+    RESERVED_CALLERS = ('operator', 'evaluator', 'scene')
+
+    def __init__(self, backend, *, work_dir, log_path=None, adapters=None, max_wait_s=86400.0):
+        self.backend = backend
+        self.work_dir = Path(work_dir).resolve()
+        self.log = AppendLog(log_path)
+        self.adapters = load_adapters(backend.config) if adapters is None else dict(adapters)
+        self.max_wait_s = float(max_wait_s)
+        self._mutex = threading.RLock()
+        self._replies = {}
+        self._seq = 0
+        self.ops = {}                          # op handle -> {...}
+        self._op_seq = 0
+        self.leaks = []                        # host-side record of hidden ids removed from agent output
+        self._clock_seen = {}
+
+    # ================================================================ entry point
+    def handle(self, argv, caller):
+        if caller in self.RESERVED_CALLERS:
+            raise ValueError('reserved caller name %r' % caller)
+        self.backend.add_caller(caller)
+        with self._mutex:
+            self._seq += 1
+            seq = self._seq
+            tokens = list(argv[1:])
+            flags, rest, rid_given = {'json': False}, [], None
+            err = None
+            i = 0
+            while i < len(tokens):
+                t = tokens[i]
+                if t == '--json':
+                    flags['json'] = True
+                elif t in ('--help', '-h'):
+                    flags['help'] = True
+                elif t == '--request-id' or t.startswith('--request-id='):
+                    if '=' in t:
+                        rid_given = t.split('=', 1)[1]
+                    else:
+                        i += 1
+                        rid_given = tokens[i] if i < len(tokens) else ''
+                    if not REQUEST_ID_RE.match(rid_given or '') or AUTO_RID.match(rid_given):
+                        err = usage('BAD_REQUEST_ID', 'request id %r is not allowed.' % rid_given,
+                                    'use 1-64 letters, digits, ".", "_" or "-" (ids like r-12 are made by the service).')
+                else:
+                    rest.append(t)
+                i += 1
+            request_id = rid_given or 'r-%04d' % seq
+            if err is not None:
+                return self._finish(seq, caller, argv, request_id, flags, None, err, None, [])
+            fingerprint = json.dumps(argv)
+            key = (caller, request_id)
+            if rid_given and key in self._replies:
+                prev_fp, prev = self._replies[key]
+                if prev_fp == fingerprint:
+                    note = '' if flags['json'] else '(replayed the reply of request %s; nothing was sent again)\n' % request_id
+                    reply = Reply(prev.exit_code, prev.out, prev.err + note)
+                    self.log.append({'seq': seq, 'wall_time': _now_iso(), 'sim_time_s': self.backend.now(), 'caller': caller,
+                                     'request_id': request_id, 'argv': list(argv), 'replayed': True, 'exit': reply.exit_code,
+                                     'outcome': 'replay', 'stdout': reply.out, 'stderr': reply.err, 'backend_calls': []})
+                    return reply
+                exc = usage('REQUEST_ID_REUSED', 'request id %s was already used for a different command.' % request_id,
+                            'use a new request id (or none: the service makes one).')
+                return self._finish(seq, caller, argv, request_id, flags, None, exc, None, [])
+            calls = []
+            inst = None
+            if len(rest) > 1 and rest[0] in self.INSTRUMENT_SCOPED and rest[1] in self.backend.instruments:
+                inst = rest[1]                                               # errors of this request are filtered with its view
+            try:
+                result, inst = self._dispatch(rest, caller, request_id, flags, calls)
+                reply = self._finish(seq, caller, argv, request_id, flags, result, None, inst, calls)
+            except CmdError as exc:
+                reply = self._finish(seq, caller, argv, request_id, flags, None, exc, getattr(exc, 'inst', inst), calls)
+            except Exception as exc:                                        # never crash the service
+                wrapped = CmdError('unexpected', 'INTERNAL', 'the service hit an unexpected problem (%s).' % type(exc).__name__,
+                                   side_effects='unknown', fix='check the instrument with `chemlab read` before going on.')
+                wrapped.trace = repr(exc)
+                reply = self._finish(seq, caller, argv, request_id, flags, None, wrapped, inst, calls)
+            if rid_given:
+                self._replies[key] = (fingerprint, reply)
+            return reply
+
+    # ================================================================ output
+    def _finish(self, seq, caller, argv, request_id, flags, result, exc, inst, calls):
+        view = self.backend.instruments[inst].view if inst in getattr(self.backend, 'instruments', {}) else None
+        found = set()
+        if exc is None:
+            exit_code = EXIT_OK
+            payload = {'ok': True, 'request_id': request_id}
+            payload.update(result.get('json') or {})
+            text = result.get('text', '')
+            notes = result.get('notes') or []
+        else:
+            exit_code = exc.exit_code
+            payload = {'ok': False, 'request_id': request_id, 'error': exc.to_json()}
+            if getattr(exc, 'extra', None):
+                payload.update(exc.extra)
+            text = exc.to_text(request_id)
+            notes = []
+        typed = set(argv)
+        for v in (view, getattr(self.backend, 'global_view', None)):
+            if v is not None:
+                allow = typed & v.hidden_set
+                payload = v.redact(payload, found, allow)
+                text = v.redact(text, found, allow)
+                notes = v.redact(notes, found, allow)
+        payload, text, notes = scrub_paths(json_safe(payload)), scrub_paths(text), scrub_paths(notes)
+        if notes:
+            payload['notes'] = notes
+        if found:
+            self.leaks.append({'seq': seq, 'instrument': inst, 'argv': list(argv), 'removed': sorted(found)})
+        if flags.get('json'):
+            out, err = json.dumps(payload, ensure_ascii=False, indent=1, default=str) + '\n', ''
+        elif exc is None:
+            out, err = text + ''.join('note: %s\n' % n for n in notes), ''
+        else:
+            out, err = '', text
+        outcome = 'ok' if exc is None else '%s/%s' % (exc.kind, exc.code)
+        entry = {'seq': seq, 'wall_time': _now_iso(), 'sim_time_s': self.backend.now(), 'caller': caller, 'request_id': request_id,
+                 'argv': list(argv), 'instrument': inst, 'exit': exit_code, 'outcome': outcome, 'backend_calls': copy.deepcopy(calls),
+                 'stdout': out, 'stderr': err}
+        if exc is not None and getattr(exc, 'trace', None):
+            entry['internal'] = exc.trace
+        self.log.append(entry)
+        return Reply(exit_code, out, err)
+
+    # ================================================================ dispatch
+    COMMANDS = ('list', 'describe', 'help', 'read', 'call', 'write', 'status', 'cancel', 'wait', 'time', 'panel', 'screen',
+                'log', 'run')
+    INSTRUMENT_SCOPED = ('describe', 'help', 'read', 'call', 'write', 'panel', 'screen', 'run')
+
+    def _dispatch(self, rest, caller, request_id, flags, calls):
+        if not rest:
+            return {'text': overview_text(), 'json': {'commands': list(self.COMMANDS)}}, None
+        cmd, args = rest[0], rest[1:]
+        if cmd not in self.COMMANDS:
+            raise usage('UNKNOWN_COMMAND', 'unknown command %r.' % cmd, 'commands: %s (see `chemlab help`).' % ', '.join(self.COMMANDS))
+        inst = None
+        if cmd in self.INSTRUMENT_SCOPED and args:
+            inst = args[0] if args[0] in self.backend.instruments else None
+        if flags.get('help'):
+            if cmd == 'call' and len(args) >= 2 and inst:
+                return self._help(inst, args[1]), inst
+            if cmd == 'run' and inst and inst in self.adapters:          # class verb help (compile layer)
+                req = Req(cmd, inst, args, caller, request_id, flags)
+                req.calls = calls
+                return _class_text(self.adapters[inst].dispatch_run(self, req, args[1:])), inst
+            if inst:
+                return self._describe(inst, caller, full=False), inst
+            return {'text': overview_text()}, None
+        req = Req(cmd, inst, args, caller, request_id, flags)
+        req.calls = calls
+        if cmd in ('status', 'wait', 'cancel') and args and args[0].startswith('job-'):   # class-level jobs (compile layer)
+            r = route_job(self, req, cmd, args)
+            if r is not None:
+                return _class_text(r[0]), r[1]
+        if inst and inst in self.adapters:
+            r = self.adapters[inst].intercept(self, req)
+            if r is not None:
+                return _class_text(r), inst
+        if cmd == 'list':
+            return self._list(args), None
+        if cmd == 'time':
+            return {'text': 't = %.3f s (simulated)\n' % self.backend.now(), 'json': {'time_s': self.backend.now()}}, None
+        if cmd == 'log':
+            return self._log_view(caller, args), None
+        if cmd == 'wait':
+            return self._wait(req)
+        if cmd == 'status':
+            return self._status(req)
+        if cmd == 'cancel':
+            return self._cancel(req)
+        if cmd == 'help' and not args:
+            return {'text': overview_text()}, None
+        if not args:
+            raise usage('MISSING_INSTRUMENT', '%s needs an instrument.' % cmd, 'see `chemlab list`.')
+        if inst is None:
+            raise usage('UNKNOWN_INSTRUMENT', 'no instrument %r in this lab.' % args[0], 'see `chemlab list`.')
+        if cmd == 'describe':
+            if len(args) > 1:
+                raise usage('EXTRA_ARGUMENT', 'describe takes one instrument.', 'usage: chemlab describe INST [--json]')
+            return self._describe(inst, caller, full=flags['json']), inst
+        if cmd == 'help':
+            if len(args) == 1:
+                return self._describe(inst, caller, full=False), inst
+            if args[1] == 'panel':
+                return self._panel_help(inst), inst
+            return self._help(inst, args[1]), inst
+        if cmd == 'read':
+            return self._read(req), inst
+        if cmd == 'call':
+            return self._call(req), inst
+        if cmd == 'write':
+            return self._write(req), inst
+        if cmd == 'panel':
+            return self._panel(req), inst
+        if cmd == 'screen':
+            return self._screen(req), inst
+        if cmd == 'run':
+            ad = self.adapters.get(inst)
+            if ad is None:
+                raise usage('NO_CLASS_VERBS', '%s has no class-level verbs yet.' % inst,
+                            'use its own capabilities: `chemlab describe %s`, then `chemlab call %s CAP ...`.' % (inst, inst))
+            return _class_text(ad.dispatch_run(self, req, args[1:])), inst
+        raise usage('UNKNOWN_COMMAND', 'unknown command %r.' % cmd)
+
+    # ================================================================ helpers
+    def _inst(self, iid):
+        return self.backend.instruments[iid]
+
+    def _record(self, calls, iid, op, **kw):
+        e = {'instrument': iid, 'op': op}
+        e.update(kw)
+        calls.append(e)
+        return e
+
+    def _clock_notes(self, iid):
+        host = self._inst(iid).host
+        seen = self._clock_seen.get(iid, 0)
+        errs = host.clock_errors
+        if len(errs) > seen or (errs and seen > len(errs)):
+            self._clock_seen[iid] = len(errs)
+            kinds = sorted({e.split(' ', 2)[2].split(':', 1)[0] for e in errs[-5:] if len(e.split(' ', 2)) > 2})
+            return ['the simulation of %s raised %s during a clock step; its state may be off.' % (iid, ', '.join(kinds) or 'an error')]
+        return []
+
+    def _cap(self, iid, cap_id, for_call=True):
+        view = self._inst(iid).view
+        if for_call and cap_id in view.callable:
+            return view.capabilities.get(cap_id) or self._inst(iid).contract['capabilities'][cap_id]
+        if not for_call and cap_id in view.capabilities:
+            return view.capabilities[cap_id]
+        if cap_id in view.unsupported:
+            raise CmdError('unsupported', 'UNSUPPORTED', '%s is not supported by this %s twin (%s).' % (cap_id, iid, view.unsupported[cap_id]),
+                           side_effects='none (nothing was sent)', see='chemlab describe %s' % iid)
+        raise usage('UNKNOWN_CAPABILITY', '%s has no capability %r you can call.' % (iid, cap_id),
+                    'see `chemlab describe %s` for its capabilities.' % iid)
+
+    def _error_from_response(self, iid, cap_id, response, what='call'):
+        """A non-success protocol response -> CmdError with the runtime code, the contract's text for it and side effects."""
+        status = response.get('status')
+        err = response.get('error') or {}
+        code = err.get('code') or 'NO_CODE'
+        contract_text = self._contract_error(iid, cap_id, code)
+        side = err.get('side_effects') or (self._contract_side(iid, cap_id, code)) or 'not reported'
+        runtime = {'status': status, 'code': err.get('code'), 'message': err.get('message'), 'retryable': err.get('retryable')}
+        if response.get('raised'):
+            runtime['raised'] = response['raised']
+        if status == 'unsupported':
+            kind = 'unsupported'
+        elif code == 'RUNTIME_EXCEPTION' or status not in ('rejected', 'failed', 'unsupported'):
+            kind = 'unexpected'
+        else:
+            kind = 'refused'
+        target = '%s %s' % (cap_id, what) if what != 'call' else cap_id
+        if kind == 'unexpected' and code == 'RUNTIME_EXCEPTION':
+            msg = 'the %s runtime raised %s on %s.' % (iid, response.get('raised') or 'an exception', target)
+            runtime['message'] = None
+        elif kind == 'unexpected':
+            msg = '%s answered %s with status %r.' % (iid, target, status)
+        else:
+            msg = '%s %s %s (status %s).' % (iid, 'refused' if status == 'rejected' else 'reports' if kind == 'unsupported' else 'failed', target, status)
+        e = CmdError(kind, code, msg, contract=contract_text, side_effects=side, runtime=runtime,
+                     see='chemlab help %s %s' % (iid, cap_id) if cap_id and cap_id in self._inst(iid).view.capabilities else None)
+        e.inst = iid
+        return e
+
+    def _contract_error(self, iid, cap_id, code):
+        caps = self._inst(iid).contract['capabilities']
+        for e in (caps.get(cap_id) or {}).get('errors') or []:
+            if e.get('code') == code:
+                return e.get('meaning_zh') or e.get('meaning') or ''
+        return ''
+
+    def _contract_side(self, iid, cap_id, code):
+        for e in (self._inst(iid).contract['capabilities'].get(cap_id) or {}).get('errors') or []:
+            if e.get('code') == code:
+                return e.get('side_effects')
+        return None
+
+    # ================================================================ list / describe / help
+    def inventory(self):
+        """The lab's physical inventory (lab config "inventory", see chemlab/inventory.py)."""
+        from . import inventory as INV
+        return INV.resolve(self.backend.config)
+
+    def inventory_items(self, key=None):
+        """Containers of the lab's inventory; ``key``: an instrument id (what is for it or inside it) or a storage place id."""
+        inv = self.inventory()
+        recs = [dict(r) for r in (inv.get('containers') or []) + (inv.get('instrument_contents') or [])]
+        if key is None:
+            return recs
+        if key in self.backend.instruments:
+            return [r for r in recs if key in (r.get('for') or []) or r['location'].get('instrument') == key]
+        return [r for r in recs if r['location'].get('place') == key]
+
+    @staticmethod
+    def inventory_line(r):
+        from . import inventory as INV
+        return '%-34s %s - %s' % (r['id'], INV.contents_text(r), INV.where_text(r))
+
+    def _list_inventory(self, args):
+        inv = self.inventory()
+        places = {p['id']: p for p in inv.get('places') or []}
+        key = args[0] if args else None
+        if key is not None and key not in self.backend.instruments and key not in places:
+            raise usage('UNKNOWN_ID', 'no instrument or storage place %r in this lab.' % key,
+                        'see `chemlab list` (instruments) and `chemlab list --inventory` (places).')
+        recs = self.inventory_items(key)
+        lines = ['inventory of the lab%s: %d containers (what, how much, where); moving one is a hands / robot job, '
+                 'not a chemlab command' % (' for %s' % key if key else '', len(recs)), '']
+        by = {}
+        for r in recs:
+            by.setdefault(r['location'].get('place'), []).append(r)
+        for pid in [p for p in places if p in by] + [p for p in by if p not in places]:
+            p = places.get(pid) or {}
+            lines.append('%s%s' % (pid, ' - %s (%d positions)' % (p.get('type'), p.get('slots') or len(p.get('positions') or []))
+                                   if p.get('positions') else ''))
+            lines += ['  ' + self.inventory_line(r) for r in by[pid]]
+            lines.append('')
+        if not recs:
+            lines.append('  (nothing listed)')
+        return {'text': '\n'.join(lines).rstrip() + '\n', 'json': {'containers': recs, 'key': key,
+                                                                   'places': list(places.values()) if key is None else
+                                                                   [places[k] for k in by if k in places]}}
+
+    def _list(self, args):
+        dom = None
+        if args[:1] in (['--inventory'], ['--shelf']) and len(args) <= 2:
+            return self._list_inventory(args[1:])
+        if args[:1] == ['--domain'] and len(args) == 2:
+            dom = args[1]
+        elif args:
+            raise usage('BAD_OPTION', 'list takes --domain D or --inventory [ID].', 'usage: chemlab list [--domain D | --inventory [ID]] [--json]')
+        rows = []
+        for iid, inst in self.backend.instruments.items():
+            if dom and inst.domain != dom:
+                continue
+            rows.append({'id': iid, 'name': inst.name, 'brand': inst.brand, 'model': inst.model, 'domain': inst.domain,
+                         'front_panel': inst.panel is not None, 'class_verbs': bool(self.adapters.get(iid) and self.adapters[iid].verbs())})
+        w = max([len(r['id']) for r in rows] + [10])
+        lines = ['%d instruments, t = %.1f s (simulated)' % (len(rows), self.backend.now()), '',
+                 '%-*s  %-16s %s' % (w, 'ID', 'DOMAIN', 'NAME')]
+        for r in rows:
+            nm = r['name'] + (' - %s %s' % (r['brand'], r['model']) if r['brand'] else '')
+            lines.append('%-*s  %-16s %s%s' % (w, r['id'], r['domain'] or '-', nm, '  [panel]' if r['front_panel'] else ''))
+        lines += ['', 'next: chemlab describe ID; the lab\'s bottles, standards, consumables and gas cylinders: chemlab list --inventory [ID]']
+        return {'text': '\n'.join(lines) + '\n', 'json': {'time_s': self.backend.now(), 'instruments': rows}}
+
+    def _visible_ids(self, iid, ids):
+        v = self._inst(iid).view
+        return [x for x in ids or [] if x in v.slots]
+
+    def _cap_entry(self, iid, cid, c, full):
+        v = self._inst(iid).view
+        props = (c.get('input_schema') or {}).get('properties') or {}
+        req = set((c.get('input_schema') or {}).get('required') or [])
+        e = {'id': cid, 'kind': c.get('kind'), 'summary': summary_en(c),
+             'arguments': [{'name': k, 'type': type_short(s), 'unit': unit_of(s), 'required': k in req,
+                            **({k2: s[k2] for k2 in ('minimum', 'maximum', 'exclusiveMinimum', 'enum') if k2 in s})}
+                           for k, s in props.items()]}
+        if full:
+            ex = c.get('execution') or {}
+            e.update({'description_zh': c.get('function_zh'), 'input_schema': c.get('input_schema'), 'output_schema': c.get('output_schema'),
+                      'example_arguments': c.get('example_arguments'),
+                      'errors': [{'code': x.get('code'), 'meaning_zh': x.get('meaning_zh'), 'side_effects': x.get('side_effects')}
+                                 for x in c.get('errors') or []],
+                      'execution': {k: ex.get(k) for k in ('mode', 'time_domain', 'timeout_s', 'cancellation', 'retry', 'completion_criterion',
+                                                           'partial_failure_zh')},
+                      'preconditions': [{'state_ids': self._visible_ids(iid, p.get('state_ids')), 'description_zh': p.get('description_zh')}
+                                        for p in c.get('preconditions') or []],
+                      'effects': [{'state_id': x['state_id'], 'timing': x.get('timing')}
+                                  for x in c.get('state_effects') or [] if x.get('state_id') in v.slots],
+                      'observes': self._visible_ids(iid, c.get('observes')),
+                      'component_ids': c.get('component_ids'), 'limitations': c.get('limitations')})
+        return e
+
+    def _slot_entry(self, iid, sid, s, full):
+        wv = s.get('write_via') or None
+        e = {'id': sid, 'type': type_short(s.get('value_schema') or {}), 'unit': None if s.get('unit') in (None, '', '1') else s.get('unit'),
+             'access': s.get('access'), 'writable_via': (wv or {}).get('capability_id') if isinstance(wv, dict) else None}
+        if full:
+            e.update({'meaning_zh': s.get('meaning_zh'), 'value_schema': s.get('value_schema'), 'origin': s.get('origin'),
+                      'reference_conditions': s.get('reference_conditions'), 'sampling': s.get('sampling')})
+        return e
+
+    def _panel_view(self, iid):
+        inst = self._inst(iid)
+        if inst.panel is None:
+            return None
+        caps = inst.view.capabilities
+        spec = inst.panel.get('spec') or {}
+        sin, sdisp = spec.get('inputs') or {}, spec.get('displays') or {}
+
+        def enum(cap, prop):
+            return list((((caps.get(cap) or {}).get('input_schema') or {}).get('properties') or {}).get(prop, {}).get('enum') or [])
+        keys = enum('panel.press', 'input_id')
+        knobs = enum('panel.turn', 'input_id')
+        switches = enum('panel.switch', 'input_id')
+        touch = enum('panel.touch', 'display_id')
+        displays = enum('panel.capture', 'display_id')
+        out = {'ui_class': spec.get('ui_class'), 'main_display': inst.panel.get('main_display'),
+               'gestures': sorted(g for g, (cap, _, _) in GESTURES.items() if cap in caps),
+               'keys': [{'id': k, 'kind': (sin.get(k) or {}).get('kind'), 'name': (sin.get(k) or {}).get('name')} for k in keys],
+               'knobs': [{'id': k, 'kind': (sin.get(k) or {}).get('kind'), 'name': (sin.get(k) or {}).get('name')} for k in knobs],
+               'switches': [{'id': k, 'positions': (sin.get(k) or {}).get('positions'), 'name': (sin.get(k) or {}).get('name')} for k in switches],
+               'touch_displays': touch,
+               'displays': [{'id': d, 'kind': (sdisp.get(d) or {}).get('kind'), 'size': (sdisp.get(d) or {}).get('size')} for d in displays],
+               'capture': 'panel.capture' in caps}
+        return out
+
+    def _describe(self, iid, caller, full):
+        inst = self._inst(iid)
+        v = inst.view
+        caps = [self._cap_entry(iid, cid, c, full) for cid, c in sorted(v.capabilities.items())]
+        slots = [self._slot_entry(iid, sid, s, full) for sid, s in sorted(v.slots.items())]
+        panel = self._panel_view(iid)
+        ad = self.adapters.get(iid)
+        head = {'id': iid, 'name': inst.name, 'brand': inst.brand, 'model': inst.model, 'domain': inst.domain,
+                'asset_type_id': inst.asset_type_id, 'asset_version': inst.contract.get('asset_version')}
+        js = {'instrument': head, 'time_s': self.backend.now(), 'capabilities': caps, 'state_slots': slots, 'panel': panel,
+              'class_verbs': ad.verbs() if ad else {},
+              'conventions': {'values': 'as the contract defines them (SI units); no unit conversion',
+                              'checks': 'the instrument checks every call itself'}}
+        if full:
+            js['instrument']['description_zh'] = inst.contract.get('description_zh')
+            js['instrument']['name_zh'] = inst.contract.get('name_zh')
+        lines = ['%s - %s%s' % (iid, inst.name, ' (%s %s)' % (inst.brand, inst.model) if inst.brand else ''),
+                 'domain %s; t = %.1f s; values in SI units as the contract defines them; the instrument checks every call.'
+                 % (inst.domain or '-', self.backend.now()), '',
+                 'capabilities (%d)   chemlab call %s CAP [--ARG VALUE ...]   chemlab help %s CAP' % (len(caps), iid, iid)]
+        w = max([len(c['id']) for c in caps] + [8])
+        common = set(PROTOCOL_ERRORS)
+        for cid, c in sorted(v.capabilities.items()):
+            flag = ''
+            ex = c.get('execution') or {}
+            if ex.get('mode') and ex['mode'] != 'synchronous':
+                flag = '  [async]'
+            lines.append('  %-*s  %s%s' % (w, cid, arg_signature(c.get('input_schema')), flag))
+            lines.append('  %-*s    %s' % (w, '', self._short_help(iid, c, common)))
+        lines.insert(4, '  (every call can also return %s; those are not repeated below)' % ', '.join(PROTOCOL_ERRORS))
+        lines += ['', 'state (%d)   chemlab read %s [SLOT ...]' % (len(slots), iid)]
+        w = max([len(s['id']) for s in slots] + [8])
+        for s in slots:
+            acc = '' if s['access'] == 'read_only' else ('  writable (chemlab write, or %s)' % s['writable_via'] if s['writable_via'] else '  ' + str(s['access']))
+            unit = ' ' + s['unit'] if s['unit'] and s['unit'] not in s['type'] else ''
+            lines.append('  %-*s  %s%s%s' % (w, s['id'], s['type'], unit, acc))
+        if panel:
+            lines += ['', 'front panel (%s)   chemlab help %s panel' % (panel['ui_class'] or 'panel', iid)]
+            if panel['keys']:
+                lines.append('  chemlab panel %s press KEY [--hold S]      KEY: %s' % (iid, ', '.join(k['id'] for k in panel['keys'])))
+            if panel['knobs']:
+                lines.append('  chemlab panel %s turn KNOB DETENTS        KNOB: %s' % (iid, ', '.join(k['id'] for k in panel['knobs'])))
+            if panel['switches']:
+                lines.append('  chemlab panel %s switch SWITCH POSITION   %s' % (
+                    iid, '; '.join('%s: %s' % (k['id'], '|'.join(k['positions'] or []) or 'POSITION') for k in panel['switches'])))
+            if panel['touch_displays']:
+                lines.append('  chemlab panel %s touch DISPLAY X Y [--hold S] [--to X2 Y2]   DISPLAY: %s' % (iid, ', '.join(panel['touch_displays'])))
+            if panel['capture']:
+                lines.append('  chemlab screen %s [DISPLAY] -o FILE.png   DISPLAY: %s (main: %s)' % (
+                    iid, ', '.join('%s%s' % (d['id'], ' %dx%d' % tuple(d['size'][:2]) if d.get('size') else '') for d in panel['displays']),
+                    panel['main_display']))
+        inv = self.inventory_items(iid)          # before the class section (a class adapter replaces that part)
+        if inv:
+            lines += ['', 'inventory for %s (%d containers; moving one is a hands / robot job)   chemlab list --inventory %s' % (
+                iid, len(inv), iid)] + ['  ' + self.inventory_line(r) for r in inv[:12]]
+            if len(inv) > 12:
+                lines.append('  ... %d more: chemlab list --inventory %s' % (len(inv) - 12, iid))
+            js['inventory'] = inv
+        if ad and ad.verbs():
+            lines += ['', 'class-level verbs   chemlab run %s VERB ...' % iid] + ['  %-16s %s' % kv for kv in ad.verbs().items()]
+        lines += ['', 'full form: chemlab describe %s --json' % iid]
+        return {'text': '\n'.join(lines) + '\n', 'json': js}
+
+    def _short_help(self, iid, c, common):
+        """One line of English from the contract structure: kind, what it sets at once, the instrument's own error codes."""
+        v = self._inst(iid).view
+        bits = [KIND_EN.get(c.get('kind'), c.get('kind') or 'capability')]
+        sets = []
+        for x in c.get('state_effects') or []:
+            sid = x.get('state_id')
+            if x.get('timing') == 'immediate' and sid in v.slots and sid not in sets:
+                sets.append(sid)
+        if sets:
+            bits.append('sets ' + ', '.join(sets[:3]) + (' +%d' % (len(sets) - 3) if len(sets) > 3 else ''))
+        errs = [e.get('code') for e in c.get('errors') or [] if e.get('code') and e.get('code') not in common]
+        if errs:
+            bits.append('errors: ' + ' '.join(errs[:8]) + (' +%d' % (len(errs) - 8) if len(errs) > 8 else ''))
+        return '; '.join(bits)
+
+    def _help(self, iid, cap_id):
+        inst = self._inst(iid)
+        c = self._cap(iid, cap_id, for_call=False)
+        e = self._cap_entry(iid, cap_id, c, True)
+        lines = ['%s %s - %s' % (iid, cap_id, e['summary']), '',
+                 'usage: chemlab call %s %s %s' % (iid, cap_id, arg_signature(c.get('input_schema')))]
+        props = (c.get('input_schema') or {}).get('properties') or {}
+        req = set((c.get('input_schema') or {}).get('required') or [])
+        if props:
+            lines += ['', 'arguments (values as the contract defines them, SI units; give JSON for lists/objects):']
+            for k, s in props.items():
+                lines.append('  --%s%s' % (k, '' if k in req else ' (optional)'))
+                lines += type_long(s, '      ')
+            if (c.get('input_schema') or {}).get('additionalProperties') is False:
+                lines.append('  (no other arguments)')
+        lines += ['', 'example (the contract\'s example arguments):'] + ['  ' + x for x in example_call(iid, cap_id, c.get('example_arguments'))]
+        pre = [p for p in e['preconditions'] if p['state_ids'] or p['description_zh']]
+        if pre:
+            lines += ['', 'checked by the instrument (contract preconditions):']
+            for p in pre:
+                if p['state_ids']:
+                    lines.append('  state: %s' % ', '.join(p['state_ids']))
+                if p['description_zh']:
+                    lines.append('  (zh) %s' % p['description_zh'])
+        now = sorted({x['state_id'] for x in e['effects'] if x['timing'] == 'immediate'})
+        later = sorted({x['state_id'] for x in e['effects'] if x['timing'] != 'immediate'} - set(now))
+        if now:
+            lines += ['', 'changes at once: ' + ', '.join(now)]
+        if later:
+            lines += ['changes as time passes: ' + _clip(', '.join(later), 300)]
+        if e['errors']:
+            lines += ['', 'errors it may return (code, contract description, side effects):']
+            w = max(len(x['code'] or '') for x in e['errors'])
+            for x in e['errors']:
+                lines.append('  %-*s  %s  [%s]' % (w, x['code'], x['meaning_zh'] or '', x['side_effects'] or '-'))
+        out = (c.get('output_schema') or {}).get('properties') or {}
+        if out:
+            lines += ['', 'result: ' + _clip(', '.join('%s %s' % (k, type_short(s)) for k, s in out.items()), 600)]
+        ex = e['execution']
+        lines += ['', 'execution: %s%s; cancellation %s; retry %s' % (ex.get('mode') or '-', ', timeout %s s' % ex['timeout_s'] if ex.get('timeout_s') else '',
+                                                                   ex.get('cancellation') or '-', ex.get('retry') or '-')]
+        if ex.get('mode') and ex['mode'] != 'synchronous':
+            lines.append('  returns an operation: follow it with `chemlab status OP`, `chemlab wait OP`, `chemlab cancel OP`.')
+        if c.get('function_zh'):
+            lines += ['', 'contract description (zh): %s' % c['function_zh']]
+        return {'text': '\n'.join(lines) + '\n', 'json': {'instrument': iid, 'capability': e}}
+
+    def _panel_help(self, iid):
+        p = self._panel_view(iid)
+        if p is None:
+            raise usage('NO_PANEL', '%s has no front-panel model.' % iid, 'use its capabilities: `chemlab describe %s`.' % iid)
+        lines = ['%s front panel (%s); gestures go to the instrument\'s panel.* capabilities and act as you.' % (iid, p['ui_class']), '']
+        if 'press' in p['gestures']:
+            lines.append('chemlab panel %s press KEY [--hold SECONDS] [--with KEY2 ...]    -> panel.press' % iid)
+            lines += ['    %-22s %s' % (k['id'], k['name'] or k['kind'] or '') for k in p['keys']]
+        if 'turn' in p['gestures']:
+            lines.append('chemlab panel %s turn KNOB DETENTS   (+ clockwise)              -> panel.turn' % iid)
+            lines += ['    %-22s %s' % (k['id'], k['name'] or k['kind'] or '') for k in p['knobs']]
+        if 'switch' in p['gestures']:
+            lines.append('chemlab panel %s switch SWITCH POSITION [--with KEY ...]        -> panel.switch' % iid)
+            lines += ['    %-22s %s  (%s)' % (k['id'], '|'.join(k['positions'] or []), k['name'] or '') for k in p['switches']]
+        if 'touch' in p['gestures']:
+            lines.append('chemlab panel %s touch DISPLAY X Y [--hold S] [--to X2 Y2]      -> panel.touch (pixels of that display)' % iid)
+        if p['capture']:
+            lines.append('chemlab screen %s [DISPLAY] [-o FILE.png]   -> panel.capture, PNG in your work dir' % iid)
+            lines += ['    %-22s %s %s%s' % (d['id'], d['kind'] or '', 'x'.join(map(str, d['size'][:2])) if d.get('size') else '',
+                                             '  (main)' if d['id'] == p['main_display'] else '') for d in p['displays']]
+        return {'text': '\n'.join(lines) + '\n', 'json': {'instrument': iid, 'panel': p}}
+
+    # ================================================================ read / write
+    def _read(self, req):
+        iid = req.instrument
+        inst = self._inst(iid)
+        v = inst.view
+        want = req.args[1:]
+        if any(w.startswith('--') for w in want):
+            raise usage('BAD_OPTION', 'read takes slot ids only.', 'usage: chemlab read %s [SLOT ...] [--json]' % iid)
+        ids = None
+        if want:
+            ids = []
+            for w in want:
+                if w not in v.slots:
+                    raise usage('UNKNOWN_SLOT', '%s has no state slot %r you can read.' % (iid, w), 'see `chemlab describe %s`.' % iid)
+                ids.append(w)
+        r = self.backend.read(req.caller, iid, ids)
+        status = r.get('status')
+        self._record(req.calls, iid, 'read', state_ids=ids, status=status, code=(r.get('error') or {}).get('code'))
+        if status != 'succeeded':
+            raise self._error_from_response(iid, None, r, what='read')
+        obs = r.get('observations') or {}
+        out = {}
+        for sid, o in obs.items():
+            if sid in v.slots:                                               # agent reads show contract agent slots only
+                out[sid] = o
+        t = self.backend.now()
+        lines = ['%s at t = %.1f s%s' % (iid, t, ' (state revision %s)' % r['state_revision'] if r.get('state_revision') is not None else '')]
+        w = max([len(k) for k in out] + [8])
+        for k in sorted(out):
+            o = out[k] if isinstance(out[k], dict) else {'value': out[k]}
+            unit = o.get('unit')
+            q = o.get('quality')
+            extra = '  (%s)' % o['unavailable_reason'] if o.get('unavailable_reason') else ''
+            lines.append('  %-*s = %s%s%s%s' % (w, k, _short(o.get('value'), 200), ' ' + unit if unit not in (None, '', '1') else '',
+                                              '  [%s]' % q if q and q != 'valid' else '', extra))
+        notes = self._clock_notes(iid)
+        return {'text': '\n'.join(lines) + '\n', 'notes': notes,
+                'json': {'instrument': iid, 'time_s': t, 'state_revision': r.get('state_revision'), 'observations': out}}
+
+    def _write(self, req):
+        iid = req.instrument
+        v = self._inst(iid).view
+        a = req.args[1:]
+        if len(a) != 2:
+            raise usage('BAD_ARGUMENTS', 'write needs a slot and a value.', 'usage: chemlab write %s SLOT VALUE' % iid)
+        sid = a[0]
+        cid = sid if sid in v.slots else None
+        if cid is None:
+            raise usage('UNKNOWN_SLOT', '%s has no state slot %r you can write.' % (iid, sid), 'see `chemlab describe %s`.' % iid)
+        spec = v.slots[cid]
+        if spec.get('access') != 'read_write':
+            raise usage('READ_ONLY', '%s.%s is read-only.' % (iid, sid), 'see `chemlab describe %s` for writable slots.' % iid)
+        value = coerce(a[1], spec.get('value_schema') or {}, sid)
+        r = self.backend.write(req.caller, iid, cid, value, req.request_id)
+        self._record(req.calls, iid, 'write', state_id=cid, value=value, request_id=req.request_id, status=r.get('status'),
+                     code=(r.get('error') or {}).get('code'))
+        wv = spec.get('write_via') or {}
+        if r.get('status') not in OK_STATUSES:
+            raise self._error_from_response(iid, wv.get('capability_id'), r, what='write')
+        return {'text': 'ok: %s %s = %s (t = %.1f s)\n' % (iid, cid, _short(value, 100), self.backend.now()),
+                'json': {'instrument': iid, 'state_id': cid, 'value': value, 'status': r.get('status'), 'result': r.get('result')},
+                'notes': self._clock_notes(iid)}
+
+    # ================================================================ call
+    def _parse_call_args(self, iid, cap_id, c, tokens):
+        props = (c.get('input_schema') or {}).get('properties') or {}
+        args, given = {}, set()
+        save = None
+        i = 0
+        while i < len(tokens):
+            t = tokens[i]
+            if not t.startswith('--') or len(t) < 3:
+                raise usage('UNEXPECTED_ARGUMENT', 'unexpected %r.' % t, 'arguments are --NAME VALUE (see `chemlab help %s %s`).' % (iid, cap_id))
+            name, eq, val = t[2:].partition('=')
+            if not eq:
+                i += 1
+                if i >= len(tokens):
+                    raise usage('MISSING_VALUE', '--%s needs a value.' % name, 'see `chemlab help %s %s`.' % (iid, cap_id))
+                val = tokens[i]
+            if name == 'args':
+                try:
+                    obj = json.loads(val)
+                except ValueError as exc:
+                    raise usage('BAD_JSON', '--args is not valid JSON (%s).' % exc, 'give one JSON object, e.g. --args \'{"x": 1}\'.')
+                if not isinstance(obj, dict):
+                    raise usage('BAD_JSON', '--args must be a JSON object.', 'give one JSON object, e.g. --args \'{"x": 1}\'.')
+                for k, v in obj.items():
+                    if k in given:
+                        raise usage('REPEATED_ARGUMENT', '%s is given twice.' % k, 'give it once.')
+                    args[k] = v
+                    given.add(k)
+            elif name == 'save-to':
+                save = val
+            else:
+                if name in given:
+                    raise usage('REPEATED_ARGUMENT', '--%s is given twice.' % name, 'give it once.')
+                args[name] = coerce(val, props.get(name) or {}, name)
+                given.add(name)
+            i += 1
+        return args, save
+
+    def _invoke(self, req, iid, cap_id, args):
+        r = self.backend.invoke(req.caller, iid, cap_id, args, req.request_id)
+        err = r.get('error') or {}
+        self._record(req.calls, iid, 'invoke', capability=cap_id, arguments=copy.deepcopy(args), request_id=req.request_id,
+                     status=r.get('status'), code=err.get('code'), operation_id=r.get('operation_id'))
+        return r
+
+    def _call(self, req):
+        iid = req.instrument
+        if len(req.args) < 2:
+            raise usage('MISSING_CAPABILITY', 'call needs a capability.', 'usage: chemlab call %s CAP [--ARG VALUE ...]; see `chemlab describe %s`.' % (iid, iid))
+        cap_id = req.args[1]
+        c = self._cap(iid, cap_id)
+        args, save = self._parse_call_args(iid, cap_id, c, req.args[2:])
+        r = self._invoke(req, iid, cap_id, args)
+        return self._call_result(req, iid, cap_id, r, save)
+
+    def _call_result(self, req, iid, cap_id, r, save=None):
+        status = r.get('status')
+        if status not in OK_STATUSES:
+            e = self._error_from_response(iid, cap_id, r)
+            e.extra = {'instrument': iid, 'capability': cap_id, 'status': status}
+            raise e
+        result = copy.deepcopy(r.get('result'))
+        files = self._export_files(iid, result)
+        js = {'instrument': iid, 'capability': cap_id, 'status': status, 'time_s': self.backend.now(), 'result': result}
+        if files:
+            js['files'] = files
+        lines = []
+        op = r.get('operation_id')
+        if op and status in ('accepted', 'running'):
+            h = self._new_op(req, iid, cap_id, op, status)
+            js['operation'] = h
+            js['operation_id'] = op
+            lines.append('started: %s %s -> operation %s (%s, t = %.1f s)' % (iid, cap_id, h, status, self.backend.now()))
+            lines.append('follow it: chemlab status %s | chemlab wait %s | chemlab cancel %s' % (h, h, h))
+        else:
+            lines.append('ok: %s %s (%s, t = %.1f s)' % (iid, cap_id, status, self.backend.now()))
+        lines += self._result_lines(iid, cap_id, result)
+        for f in files:
+            lines.append('file: %s' % f)
+        if save:
+            p = self._work_path(save)
+            p.write_text(json.dumps(scrub_paths(self._inst(iid).view.redact(js)), ensure_ascii=False, indent=1, default=str) + '\n')
+            lines.append('saved the full reply to %s (in your work dir)' % p.relative_to(self.work_dir))
+        return {'text': '\n'.join(lines) + '\n', 'json': js, 'notes': self._clock_notes(iid)}
+
+    def _result_lines(self, iid, cap_id, result):
+        if not result:
+            return []
+        out = ((self._inst(iid).contract['capabilities'].get(cap_id) or {}).get('output_schema') or {}).get('properties') or {}
+        if not isinstance(result, dict):
+            return ['  result = %s' % _short(result)]
+        lines = []
+        w = max(len(k) for k in result)
+        for k, v in list(result.items())[:40]:
+            u = unit_of(out.get(k) or {})
+            lines.append('  %-*s = %s%s' % (w, k, _short(v, 300), ' ' + u if u and not isinstance(v, (dict, list)) else ''))
+        if len(result) > 40:
+            lines.append('  ... %d more fields (use --json)' % (len(result) - 40))
+        return lines
+
+    def _work_path(self, rel):
+        p = Path(rel)
+        if p.is_absolute():
+            try:
+                p.resolve().relative_to(self.work_dir)
+            except ValueError:
+                raise usage('OUTSIDE_WORK_DIR', '%s is outside your work dir.' % rel, 'give a path relative to your work dir.')
+            dst = p.resolve()
+        else:
+            dst = (self.work_dir / p).resolve()
+            try:
+                dst.relative_to(self.work_dir)
+            except ValueError:
+                raise usage('OUTSIDE_WORK_DIR', '%s is outside your work dir.' % rel, 'give a path relative to your work dir.')
+        dst.parent.mkdir(parents=True, exist_ok=True)
+        return dst
+
+    def _export_files(self, iid, result, dest=None):
+        """Files a runtime wrote (results with a 'path') are copied into the work dir; the result then names that copy."""
+        found = []
+
+        def walk(o):
+            if isinstance(o, dict):
+                p = o.get('path')
+                if isinstance(p, str) and os.path.isabs(p) and os.path.isfile(p):
+                    name = dest or 'files/%s_%s' % (iid, os.path.basename(p))
+                    dst = self._work_path(name)
+                    with open(p, 'rb') as fsrc, open(dst, 'wb') as fdst:
+                        fdst.write(fsrc.read())
+                    o['path'] = str(dst.relative_to(self.work_dir))
+                    found.append(o['path'])
+                for v in o.values():
+                    walk(v)
+            elif isinstance(o, list):
+                for v in o:
+                    walk(v)
+        walk(result)
+        return found
+
+    # ================================================================ operations
+    def _new_op(self, req, iid, cap_id, op_id, status):
+        self._op_seq += 1
+        h = 'op-%d' % self._op_seq
+        self.ops[h] = {'handle': h, 'caller': req.caller, 'instrument': iid, 'capability': cap_id, 'operation_id': op_id,
+                       'started_s': self.backend.now(), 'status': status, 'request_id': req.request_id}
+        return h
+
+    def _op(self, req, handle):
+        o = self.ops.get(handle)
+        if o is None or o['caller'] != req.caller:
+            raise usage('UNKNOWN_OPERATION', 'no operation %r of yours.' % handle, 'see `chemlab status` for your operations.')
+        return o
+
+    def _poll(self, req, o):
+        iid = o['instrument']
+        r = self.backend.poll(req.caller, iid, o['operation_id'])
+        if r is None:
+            raise CmdError('unsupported', 'NO_POLL', '%s has no operation status query.' % iid, side_effects='none',
+                           fix='read its state instead: `chemlab read %s`.' % iid)
+        st = self._op_status(r)
+        self._record(req.calls, iid, 'poll', operation_id=o['operation_id'], status=r.get('status'), op_status=st,
+                     code=(r.get('error') or {}).get('code'))
+        if r.get('raised') or ((r.get('status') in ('rejected', 'failed', 'unsupported')) and r.get('error')):
+            e = self._error_from_response(iid, o['capability'], r, what='status query')
+            raise e
+        o['status'] = st
+        return r, st
+
+    @staticmethod
+    def _op_status(r):
+        """The operation's state from a poll answer: the protocol's top-level status (accepted / running / succeeded / failed /
+        cancelled); an answer whose call status is 'succeeded' but whose result says the work is still running counts as
+        running."""
+        st = r.get('status')
+        res = r.get('result') if isinstance(r.get('result'), dict) else {}
+        if st == 'succeeded':
+            for k in ('operation_status', 'phase', 'state', 'status'):
+                if isinstance(res.get(k), str) and res[k] in RUNNING:
+                    return res[k]
+        return st
+
+    def _status(self, req):
+        if not req.args:
+            mine = [o for o in self.ops.values() if o['caller'] == req.caller]
+            lines = ['your operations (t = %.1f s):' % self.backend.now()] if mine else ['no operations yet']
+            for o in mine:
+                lines.append('  %-6s %-28s %-28s last status: %s' % (o['handle'], o['instrument'], o['capability'], o['status']))
+            js = {'operations': [dict(o, caller=None) for o in mine]}
+            if getattr(self, 'class_jobs', None):                         # class-level jobs (compile layer)
+                from .compile.jobs import listing
+                jl, jr = listing(self, req.caller)
+                if jr:
+                    lines += ['your jobs:'] + jl
+                    js['jobs'] = jr
+            return {'text': '\n'.join(lines) + '\n', 'json': js}, None
+        if len(req.args) != 1:
+            raise usage('BAD_ARGUMENTS', 'status takes one operation.', 'usage: chemlab status [OP]')
+        o = self._op(req, req.args[0])
+        r, st = self._poll(req, o)
+        res = r.get('result')
+        js = {'operation': o['handle'], 'instrument': o['instrument'], 'capability': o['capability'], 'operation_id': o['operation_id'],
+              'status': st, 'done': st not in RUNNING, 'time_s': self.backend.now(), 'result': res}
+        lines = ['%s %s %s: %s (t = %.1f s, started at %.1f s)' % (o['handle'], o['instrument'], o['capability'], st, self.backend.now(), o['started_s'])]
+        if isinstance(res, dict):
+            lines += self._result_lines(o['instrument'], o['capability'], res)
+        return {'text': '\n'.join(lines) + '\n', 'json': js, 'notes': self._clock_notes(o['instrument'])}, o['instrument']
+
+    def _cancel(self, req):
+        if len(req.args) != 1:
+            raise usage('BAD_ARGUMENTS', 'cancel takes one operation.', 'usage: chemlab cancel OP')
+        o = self._op(req, req.args[0])
+        iid = o['instrument']
+        r = self.backend.cancel(req.caller, iid, o['operation_id'], req.request_id)
+        if r is None:
+            raise CmdError('unsupported', 'NO_CANCEL', '%s cannot cancel operations.' % iid, side_effects='none (nothing was sent)',
+                           see='chemlab help %s %s' % (iid, o['capability']))
+        self._record(req.calls, iid, 'cancel', operation_id=o['operation_id'], request_id=req.request_id, status=r.get('status'),
+                     code=(r.get('error') or {}).get('code'))
+        if r.get('status') not in OK_STATUSES and r.get('status') not in ('cancelled', 'canceled'):
+            raise self._error_from_response(iid, o['capability'], r, what='cancel')
+        o['status'] = 'cancel requested'
+        return {'text': 'ok: cancel of %s sent (%s %s, t = %.1f s); check with chemlab status %s\n' % (o['handle'], iid, o['capability'],
+                                                                                                    self.backend.now(), o['handle']),
+                'json': {'operation': o['handle'], 'status': r.get('status'), 'result': r.get('result')}}, iid
+
+    # ================================================================ time
+    def _wait(self, req):
+        a = req.args
+        if not a:
+            raise usage('MISSING_ARGUMENT', 'wait needs seconds or an operation.', 'usage: chemlab wait SECONDS | chemlab wait OP [--max S]')
+        if a[0] in self.ops or a[0].startswith('op-'):
+            o = self._op(req, a[0])
+            mx = None
+            if len(a) == 3 and a[1] == '--max':
+                mx = _seconds(a[2])
+            elif len(a) != 1:
+                raise usage('BAD_ARGUMENTS', 'usage: chemlab wait OP [--max SECONDS]')
+            if mx is None:
+                to = ((self._inst(o['instrument']).contract['capabilities'].get(o['capability']) or {}).get('execution') or {}).get('timeout_s')
+                mx = float(to) if isinstance(to, (int, float)) and to > 0 else 3600.0
+            mx = min(mx, self.max_wait_s)
+            t0 = self.backend.now()
+            r, st = self._poll(req, o)
+            state = {'st': st}
+            if st in RUNNING:
+                def until():
+                    rr = self.backend.poll(req.caller, o['instrument'], o['operation_id']) or {}
+                    state['st'] = self._op_status(rr)
+                    return state['st'] not in RUNNING
+                self.backend.advance(mx, until=until)
+                r, st = self._poll(req, o)
+            waited = self.backend.now() - t0
+            done = st not in RUNNING
+            js = {'operation': o['handle'], 'status': st, 'done': done, 'waited_s': waited, 'time_s': self.backend.now(), 'result': r.get('result')}
+            text = '%s %s after %.1f s of waiting (t = %.1f s)%s\n' % (o['handle'], st, waited, self.backend.now(),
+                                                                     '' if done else '; still running (gave up after --max %.0f s)' % mx)
+            res = r.get('result')
+            if isinstance(res, dict):
+                text += '\n'.join(self._result_lines(o['instrument'], o['capability'], res)) + '\n'
+            return {'text': text, 'json': js, 'notes': self._clock_notes(o['instrument'])}, o['instrument']
+        if len(a) != 1:
+            raise usage('BAD_ARGUMENTS', 'wait takes one number of seconds.', 'usage: chemlab wait SECONDS')
+        s = _seconds(a[0])
+        if s > self.max_wait_s:
+            raise usage('TOO_LONG', 'wait at most %.0f s per command.' % self.max_wait_s, 'wait in several steps.')
+        t0 = self.backend.now()
+        self.backend.advance(s)
+        self._record(req.calls, None, 'advance', seconds=s)
+        return {'text': 't = %.1f s -> %.1f s (waited %g s)\n' % (t0, self.backend.now(), s),
+                'json': {'from_s': t0, 'time_s': self.backend.now(), 'waited_s': s}}, None
+
+    # ================================================================ front panel
+    def _panel(self, req):
+        iid = req.instrument
+        a = req.args[1:]
+        if not a or a[0] not in GESTURES:
+            raise usage('BAD_GESTURE', 'panel needs a gesture: %s.' % ', '.join(GESTURES), 'see `chemlab help %s panel`.' % iid)
+        g = a[0]
+        cap_id, names, meta = GESTURES[g]
+        inst = self._inst(iid)
+        if inst.panel is None or cap_id not in inst.view.capabilities:
+            raise usage('NO_SUCH_GESTURE', '%s has no %s gesture.' % (iid, g), 'see `chemlab help %s panel`.' % iid)
+        c = inst.view.capabilities[cap_id]
+        props = (c.get('input_schema') or {}).get('properties') or {}
+        pos, opts = [], {}
+        i = 1
+        while i < len(a):
+            t = a[i]
+            if t in ('--hold', '--with', '--to'):
+                n = 2 if t == '--to' else 1
+                vals = a[i + 1:i + 1 + n]
+                if len(vals) != n:
+                    raise usage('MISSING_VALUE', '%s needs %d value(s).' % (t, n), 'see `chemlab help %s panel`.' % iid)
+                opts.setdefault(t, []).append(vals)
+                i += 1 + n
+            elif t.startswith('--'):
+                raise usage('BAD_OPTION', 'unknown option %s.' % t, 'see `chemlab help %s panel`.' % iid)
+            else:
+                pos.append(t)
+                i += 1
+        if len(pos) != len(names):
+            raise usage('BAD_ARGUMENTS', 'usage: chemlab panel %s %s %s' % (iid, g, meta), 'see `chemlab help %s panel`.' % iid)
+        args = {n: coerce(v, props.get(n) or {}, n) for n, v in zip(names, pos)}
+        if '--hold' in opts:
+            if 'duration_s' not in props:
+                raise usage('BAD_OPTION', '%s does not take --hold.' % g)
+            args['duration_s'] = coerce(opts['--hold'][-1][0], props['duration_s'], 'hold')
+        if '--with' in opts:
+            if 'held' not in props:
+                raise usage('BAD_OPTION', '%s does not take --with on %s.' % (g, iid))
+            args['held'] = [v[0] for v in opts['--with']]
+        if '--to' in opts:
+            if 'to_x' not in props:
+                raise usage('BAD_OPTION', '%s does not take --to.' % g)
+            args['to_x'] = coerce(opts['--to'][-1][0], props['to_x'], 'to_x')
+            args['to_y'] = coerce(opts['--to'][-1][1], props['to_y'], 'to_y')
+        r = self._invoke(req, iid, cap_id, args)
+        if r.get('status') not in OK_STATUSES:
+            e = self._error_from_response(iid, cap_id, r)
+            e.extra = {'instrument': iid, 'capability': cap_id, 'status': r.get('status')}
+            raise e
+        res = r.get('result') or {}
+        acc = res.get('accepted') if isinstance(res, dict) else None
+        word = {True: 'accepted', False: 'ignored by the instrument', None: 'done'}[acc if acc in (True, False) else None]
+        text = '%s: %s %s -> %s (t = %.1f s); see it with chemlab screen %s\n' % (iid, g, ' '.join(pos), word, self.backend.now(), iid)
+        return {'text': text, 'json': {'instrument': iid, 'capability': cap_id, 'arguments': args, 'status': r.get('status'),
+                                       'accepted': acc, 'result': res, 'time_s': self.backend.now()}, 'notes': self._clock_notes(iid)}
+
+    def _screen(self, req):
+        iid = req.instrument
+        inst = self._inst(iid)
+        if 'panel.capture' not in inst.view.capabilities:
+            raise usage('NO_SCREEN', '%s has no screen capture.' % iid, 'read its state: `chemlab read %s`.' % iid)
+        a = req.args[1:]
+        out, disp = None, None
+        i = 0
+        while i < len(a):
+            if a[i] in ('-o', '--out'):
+                if i + 1 >= len(a):
+                    raise usage('MISSING_VALUE', '-o needs a file name.')
+                out = a[i + 1]
+                i += 2
+            elif a[i].startswith('-'):
+                raise usage('BAD_OPTION', 'unknown option %s.' % a[i], 'usage: chemlab screen %s [DISPLAY] [-o FILE.png]' % iid)
+            else:
+                if disp is not None:
+                    raise usage('EXTRA_ARGUMENT', 'one display at a time.', 'usage: chemlab screen %s [DISPLAY] [-o FILE.png]' % iid)
+                disp = a[i]
+                i += 1
+        disp = disp or (inst.panel or {}).get('main_display')
+        out = out or 'screen_%s_%s.png' % (iid, disp)
+        dst = self._work_path(out)
+        r = self._invoke(req, iid, 'panel.capture', {'display_id': disp})
+        if r.get('status') != 'succeeded':
+            e = self._error_from_response(iid, 'panel.capture', r)
+            raise e
+        src = self.backend.capture_file(r)
+        if src is None:
+            raise CmdError('unexpected', 'NO_IMAGE', 'panel.capture of %s returned no image file.' % iid, side_effects='none')
+        with open(src, 'rb') as fsrc, open(dst, 'wb') as fdst:
+            fdst.write(fsrc.read())
+        img = dict((r.get('result') or {}).get('image') or {})
+        img['path'] = str(dst.relative_to(self.work_dir))
+        js = {'instrument': iid, 'display_id': disp, 'file': img['path'], 'image': img, 'time_s': self.backend.now()}
+        text = 'wrote %s (%s x %s PNG of %s %s, t = %.1f s)\n' % (img['path'], img.get('width'), img.get('height'), iid, disp, self.backend.now())
+        return {'text': text, 'json': js, 'notes': self._clock_notes(iid)}
+
+    # ================================================================ log
+    def _log_view(self, caller, args):
+        last, full = 20, False
+        i = 0
+        while i < len(args):
+            if args[i] == '--last' and i + 1 < len(args) and args[i + 1].isdigit():
+                last = int(args[i + 1])
+                i += 2
+            elif args[i] == '--full':
+                full = True
+                i += 1
+            else:
+                raise usage('BAD_OPTION', 'log takes --last N and --full.', 'usage: chemlab log [--last N] [--full] [--json]')
+        mine = [e for e in self.log.entries if e['caller'] == caller][-last:]
+        lines = []
+        for e in mine:
+            outcome = 'ok' if e['exit'] == 0 else '%s (exit %d)' % (e.get('outcome'), e['exit'])
+            lines.append('%-10s t=%8.1fs  %-64s -> %s' % (e['request_id'], e['sim_time_s'], ' '.join(e['argv'])[:64], outcome))
+            if full:
+                lines += ['    ' + x for x in (e.get('stdout') or '').splitlines()[:30]]
+                lines += ['    ' + x for x in (e.get('stderr') or '').splitlines()[:30]]
+        public = [{k: e.get(k) for k in ('request_id', 'wall_time', 'sim_time_s', 'argv', 'exit', 'outcome', 'stdout', 'stderr')} for e in mine]
+        return {'text': ('\n'.join(lines) + '\n') if lines else 'no requests yet\n', 'json': {'entries': public}}
+
+
+def _seconds(text):
+    """Seconds: a bare number, or a number with a time unit (30s, 5min, 1.5h, 2d)."""
+    try:
+        s = float(text)
+    except ValueError:
+        from .compile.errors import CompileError
+        from .compile.units import parse
+        try:
+            s = parse(text, 'duration', what='time')
+        except CompileError:
+            raise usage('BAD_VALUE', '%r is not a time.' % text, 'e.g. chemlab wait 60 (seconds), 30s, 5min or 1.5h')
+    if not math.isfinite(s) or s <= 0:
+        raise usage('BAD_VALUE', 'the time must be > 0.', 'e.g. chemlab wait 60 (seconds), 30s, 5min or 1.5h')
+    return s
+
+
+def overview_text():
+    return ('chemlab - command line for the simulated lab (every instrument, its own contract capabilities)\n\n'
+            'usage:\n'
+            '  chemlab list [--domain D]                      instruments in the lab: id, name, domain\n'
+            '  chemlab describe INST                          its capabilities (arguments with types, units, ranges) and state slots\n'
+            '  chemlab help INST CAP                          one capability in full, with an example call\n'
+            '  chemlab read INST [SLOT ...]                   observations with units and quality\n'
+            '  chemlab call INST CAP [--ARG VALUE ...] [--args JSON] [--save-to FILE]\n'
+            '                                                 invoke one capability (values as the contract defines them, SI)\n'
+            '  chemlab write INST SLOT VALUE                  set a writable state slot\n'
+            '  chemlab status [OP] | chemlab cancel OP        asynchronous operations (op-N from call)\n'
+            '  chemlab wait TIME | chemlab wait OP [--max TIME]   let simulated time pass (the only way time moves); 60, 30s, 5min\n'
+            '  chemlab time                                   the simulated clock\n'
+            '  chemlab panel INST press KEY [--hold S] | turn KNOB N | switch SW POS | touch DISPLAY X Y [--hold S] [--to X2 Y2]\n'
+            '  chemlab screen INST [DISPLAY] [-o FILE.png]    capture a display into your work dir\n'
+            '  chemlab run INST [VERB ...] [--dry-run]        class-level verbs in plain units (80C, 50uL, 300rpm), where the\n'
+            '                                                 instrument has them; long ones give job-N (status / wait / cancel job-N)\n'
+            '  chemlab log [--last N] [--full]                your past requests and replies\n\n'
+            'every command takes --json; --request-id ID makes a repeat of the same command return the first reply.\n'
+            'exit codes: 0 ok, 2 bad usage (nothing sent), 3 refused or failed by the instrument, 4 unexpected error,\n'
+            '            5 service unreachable, 6 not supported by this instrument twin\n')
diff --git a/chemlab/chemlab/glab.py b/chemlab/chemlab/glab.py
new file mode 100644
index 0000000000000000000000000000000000000000..c4960669ec952dbb71b6edf3fc7a554de01060e6
--- /dev/null
+++ b/chemlab/chemlab/glab.py
@@ -0,0 +1,111 @@
+"""The generic lab, assembled: lab backend (1-203 instruments) + generic commands + the pilot's socket server, client and
+sandbox (reused unchanged).
+
+    lab = GenericLab(run_dir='build/labs/demo', config='configs/all203.json').start()
+    r = lab.sh('chemlab list')                       # inside the sandbox, through the client and the socket
+    r = lab.chemlab('describe', 'ika_plate_rctdigital')   # in-process, same core (tests, trusted host)
+    lab.backend.evaluator_read('ika_plate_rctdigital')    # evaluator view: host side only, never through the socket
+    lab.stop()
+
+The shell runs in the agent sandbox (sandbox.py: Landlock + seccomp; Linux x86_64).  ``sandbox=False`` is an explicit opt-in for
+local, trusted use on a machine without the sandbox: the same client and socket, but the shell runs as the calling user with
+no isolation (it can read the source, the contracts and the evaluator data, and use the network).  A warning is printed.
+"""
+import os
+import secrets
+import signal
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+from .generic import GenericCore
+from .lab import ShellResult, build_client
+from .labbackend import LabBackend, load_config
+from .sandbox import require as require_sandbox, sandbox_argv, sandbox_env
+from .server import LabServer
+
+NO_SANDBOX_WARNING = ('WARNING: chemlab is running WITHOUT the agent sandbox (--no-sandbox). Shell commands run as you, with no '
+                      'isolation: they can read the source, the contracts and the evaluator data, change files and use the '
+                      'network. Use this only for local, trusted use; never for evaluating an agent.')
+
+
+class GenericLab:
+    def __init__(self, run_dir, config=None, *, callers=('agent',), setup=True, step_s=None, adapters=None, max_wait_s=86400.0,
+                 sandbox=True):
+        self.run_dir = Path(run_dir).resolve()
+        self.work = self.run_dir / 'work'
+        self.work.mkdir(parents=True, exist_ok=True)
+        cfg = load_config(config)
+        self.backend = LabBackend(cfg, run_dir=self.run_dir, callers=callers, step_s=step_s, setup=setup)
+        self.core = GenericCore(self.backend, work_dir=self.work, log_path=str(self.run_dir / 'core_log.jsonl'), adapters=adapters,
+                                max_wait_s=max_wait_s)
+        self.tokens = {c: secrets.token_hex(16) for c in callers}
+        self.server = LabServer(self.core, self.run_dir, {t: c for c, t in self.tokens.items()})
+        self.sandbox = bool(sandbox)
+        self._bindir = None
+        self.transcript = []
+        if not self.sandbox:
+            print(NO_SANDBOX_WARNING, file=sys.stderr)
+
+    @property
+    def bindir(self):
+        """build/bin with the chemlab client (compiled on first use; the MCP and in-process paths do not need it)."""
+        if self._bindir is None:
+            self._bindir = str(build_client())
+        return self._bindir
+
+    def start(self):
+        self.server.start()
+        return self
+
+    def stop(self):
+        self.server.stop()
+
+    def __enter__(self):
+        return self.start()
+
+    def __exit__(self, *exc):
+        self.stop()
+
+    def env(self, caller='agent'):
+        return sandbox_env(str(self.work), self.bindir, {'CHEMLAB_SOCKET': self.server.path, 'CHEMLAB_TOKEN': self.tokens[caller]})
+
+    def shell_argv(self, command):
+        """argv that runs ``command`` with bash: inside the sandbox, or (opt-in, sandbox=False) as a plain bash in the work dir."""
+        if self.sandbox:
+            require_sandbox()
+            return sandbox_argv(str(self.work), self.bindir, command)
+        return ['/usr/bin/env', 'bash', '-c', 'cd "$HOME" && ' + command]
+
+    def sh(self, command, caller='agent', timeout=600):
+        """Run a bash command inside the sandbox, as an agent would."""
+        t0 = time.monotonic()
+        p = subprocess.Popen(self.shell_argv(command), env=self.env(caller), stdout=subprocess.PIPE,
+                             stderr=subprocess.PIPE, start_new_session=True)
+        timed_out = False
+        try:
+            out, err = p.communicate(timeout=timeout)
+        except subprocess.TimeoutExpired:
+            timed_out = True
+            os.killpg(p.pid, signal.SIGKILL)                                # our own child's process group
+            out, err = p.communicate()
+        r = ShellResult(command, p.returncode, out.decode('utf-8', 'replace'), err.decode('utf-8', 'replace'), time.monotonic() - t0, timed_out)
+        self.transcript.append({'caller': caller, 'command': command, 'exit': r.exit_code, 'stdout': r.out, 'stderr': r.err,
+                                'wall_s': round(r.wall_s, 3), 'timed_out': timed_out, 'sim_time_s': self.backend.now()})
+        return r
+
+    def chemlab(self, *args, caller='agent'):
+        """The same core in-process (no sandbox, no socket): for tests and the trusted host."""
+        return self.core.handle(['chemlab'] + list(args), caller)
+
+
+def single(instrument_ids, config=None):
+    """A lab config with only some instruments of a config (default: all203)."""
+    cfg = load_config(config)
+    want = [instrument_ids] if isinstance(instrument_ids, str) else list(instrument_ids)
+    cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] in want]
+    missing = set(want) - {e['id'] for e in cfg['instruments']}
+    if missing:
+        raise KeyError('not in the config: %s' % ', '.join(sorted(missing)))
+    return cfg
diff --git a/chemlab/chemlab/gserve.py b/chemlab/chemlab/gserve.py
new file mode 100644
index 0000000000000000000000000000000000000000..4515260c024b62e2ddfc04030fe77dd7051fd113
--- /dev/null
+++ b/chemlab/chemlab/gserve.py
@@ -0,0 +1,80 @@
+"""Start a generic lab (default: all 203 instruments) and use it by hand.
+
+    python -m chemlab.gserve --run 'chemlab list'                          # one sandboxed command
+    python -m chemlab.gserve --only ika_plate_rctdigital mt_xpr204e --shell   # interactive sandboxed bash
+    python -m chemlab.gserve --config configs/all203.json                   # serve; prints the client environment
+    python -m chemlab.gserve --mcp                                          # MCP server on stdio (same commands as tools)
+
+The run directory (socket, core_log.jsonl, captures/, work/) goes to --dir (default build/glab/<name>).  --no-setup starts every
+instrument as its runtime creates it (no world set-up, no bring-up).  --no-sandbox (opt-in, prints a warning) runs --run and
+--shell commands without the agent sandbox, for local, trusted use on machines without Landlock.
+"""
+import argparse
+import subprocess
+import sys
+import time
+
+from .glab import GenericLab, single
+from .labbackend import CHEMLAB_ROOT, load_config
+from .sandbox import SandboxUnavailable
+
+
+def make_lab(a):
+    cfg = load_config(a.config)
+    if a.only:
+        cfg = single(a.only, cfg)
+    name = a.name or ('all' if not a.only else '_'.join(a.only)[:60])
+    run_dir = a.dir or str(CHEMLAB_ROOT / 'build' / 'glab' / name)
+    t0 = time.monotonic()
+    lab = GenericLab(run_dir, cfg, setup=not a.no_setup, step_s=a.step, sandbox=not a.no_sandbox).start()
+    print('lab: %d instruments, t = %.1f s simulated, ready in %.1f s (run dir %s)' % (len(lab.backend.instruments), lab.backend.now(),
+                                                                                  time.monotonic() - t0, run_dir), file=sys.stderr)
+    return lab
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('--config')
+    ap.add_argument('--only', nargs='*', help='instrument ids (default: every instrument of the config)')
+    ap.add_argument('--name')
+    ap.add_argument('--dir')
+    ap.add_argument('--step', type=float, help='lab clock step in simulated seconds (default: the config, 1.0)')
+    ap.add_argument('--no-setup', action='store_true')
+    ap.add_argument('--no-sandbox', action='store_true',
+                    help='run --run / --shell commands WITHOUT the agent sandbox (no isolation; local, trusted use only)')
+    g = ap.add_mutually_exclusive_group()
+    g.add_argument('--run', help='run one bash command in the sandbox')
+    g.add_argument('--shell', action='store_true', help='interactive bash in the sandbox')
+    g.add_argument('--mcp', action='store_true', help='serve the generic commands as MCP tools on stdio')
+    a = ap.parse_args(argv)
+    lab = make_lab(a)
+    code = 0
+    try:
+        if a.run:
+            r = lab.sh(a.run)
+            sys.stdout.write(r.out)
+            sys.stderr.write(r.err)
+            code = r.exit_code
+        elif a.shell:
+            code = subprocess.call(lab.shell_argv('exec bash --norc --noprofile -i'), env=lab.env())
+        elif a.mcp:
+            from .mcp_shell import serve_stdio
+            serve_stdio(lab.core, caller='agent')
+        else:
+            env = lab.env()
+            print('serving; in another shell (no sandbox) use:\n  export CHEMLAB_SOCKET=%s CHEMLAB_TOKEN=%s\n  %s/chemlab list\n'
+                  'Ctrl-C to stop.' % (env['CHEMLAB_SOCKET'], env['CHEMLAB_TOKEN'], lab.bindir), file=sys.stderr)
+            while True:
+                time.sleep(1)
+    except KeyboardInterrupt:
+        pass
+    except (SandboxUnavailable, RuntimeError) as e:                     # no sandbox here, or no C compiler for the client
+        print('chemlab: %s' % e, file=sys.stderr)
+        code = 1
+    finally:
+        lab.stop()
+    return code
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/hosts.py b/chemlab/chemlab/hosts.py
new file mode 100644
index 0000000000000000000000000000000000000000..997fedc25407beda6aedf2b95cd40c6070b334e9
--- /dev/null
+++ b/chemlab/chemlab/hosts.py
@@ -0,0 +1,262 @@
+"""One Chemistry-Sim runtime host per instrument, built from its Matterix recipe (see recipes.py).
+
+This follows Matterix ``BridgedHost`` (runtime_bridge.py) and the release's ``examples/preview_menu.py``: constructor
+arguments, instance creation, host setup calls, sessions and the clock-advance mode all come from the recipe.  The runtimes
+are imported from Chemistry-Sim/scripts unchanged.
+
+Principals: every caller of the lab gets its own *agent* principal in each runtime (where the runtime has principals), and
+the lab has one *evaluator* principal.  The agent sessions are the only ones the chemlab service ever uses for callers;
+the evaluator session is for the trusted host side (set-up, checkers) and is never reachable through the socket.
+"""
+import importlib
+import inspect
+import json
+import sys
+import threading
+from pathlib import Path
+
+from . import recipes as R
+
+CHEMSIM_ROOT = Path(__file__).resolve().parents[2]
+SCRIPTS_DIR = CHEMSIM_ROOT / 'scripts'
+PROTOCOL_VERSION = '1.0.0'
+_IMPORT_LOCK = threading.Lock()
+
+
+def import_runtime(module):
+    """Import Chemistry-Sim/scripts/<module>.py (the project root is also put on sys.path, as runtime_bridge does)."""
+    with _IMPORT_LOCK:
+        for p in (str(CHEMSIM_ROOT), str(SCRIPTS_DIR)):
+            if p not in sys.path:
+                sys.path.insert(0, p)
+        return importlib.import_module(module)
+
+
+_CONTRACTS = None
+
+
+def contract_index():
+    """{asset_type_id: contract path} over every asset.contract.json in Chemistry-Sim/assets."""
+    global _CONTRACTS
+    if _CONTRACTS is None:
+        idx = {}
+        for f in sorted((CHEMSIM_ROOT / 'assets').rglob('asset.contract.json')):
+            try:
+                atid = json.loads(f.read_text(encoding='utf-8'))['asset_type_id']
+            except Exception:                                               # noqa: BLE001  (a broken file is reported by the caller)
+                continue
+            idx.setdefault(atid, f)
+        _CONTRACTS = idx
+    return _CONTRACTS
+
+
+class HostBuildError(Exception):
+    pass
+
+
+class RuntimeHost:
+    """One runtime host + one instance, its sessions and its clock.
+
+    ``clock`` is the lab clock (callable returning simulated seconds); runtimes with no clock call of their own (advance
+    mode None) read the host's local time through it.  ``t0`` is the lab time at which this host was built: absolute-time
+    runtimes are given local time (lab time - t0), as a Matterix host built at reset would be.
+    """
+
+    def __init__(self, asset_type_id, recipe, instance_id, *, t0=0.0, capture_dir=None):
+        self.asset_type_id, self.recipe, self.instance_id = asset_type_id, dict(recipe), instance_id
+        self.t0 = float(t0)
+        self.local_s = 0.0
+        self.scene_updates = {}
+        self.clock_counter = 0
+        self.clock_errors = []
+        self.pending = []                                           # queued clock steps [[dt, count], ...]
+        self.sessions = {}                                          # principal -> session object
+        self.session_info = {}                                      # principal -> how the session was obtained
+        module = import_runtime(self.recipe['module'])
+        cls = getattr(module, self.recipe['cls'])
+
+        def scene_adapter(instance, updates):
+            # The fast-sim lab is its own scene: there is no physics to lag behind, so every scene target is applied at once and
+            # confirmed (runtimes created with a scene adapter - Ziath DP5, Azenta a4S, Quantos Q2 - commit only on True).
+            # Matterix BridgedHost returns None here; with a 3D scene Matterix confirms through its own adapter.
+            self.scene_updates.setdefault(str(instance), {}).update(dict(updates))
+            return True
+
+        kwargs = dict(self.recipe.get('ctor') or {})
+        try:
+            params = inspect.signature(cls.__init__).parameters
+        except (TypeError, ValueError):
+            params = {}
+        if 'scene_adapter' in params and self.recipe.get('ctor_scene_adapter', True):
+            kwargs['scene_adapter'] = scene_adapter
+        if self.recipe.get('advance') in R.CLOCK_MODES and 'clock' in params and 'clock' not in kwargs:
+            kwargs['clock'] = lambda: self.local_s
+        if self.recipe.get('instance_kw'):
+            kwargs[self.recipe['instance_kw']] = instance_id
+            self.host = cls(**kwargs)
+        else:
+            self.host = cls(instance_id, **kwargs) if self.recipe.get('instance_in_ctor') else cls(**kwargs)
+        create = self.recipe.get('create')
+        if create == 'type':
+            self.host.create_instance(instance_id, asset_type_id)
+        elif create == 'plain':
+            self.host.create_instance(instance_id)
+        elif create == 'scene':
+            self.host.create_instance(instance_id, scene_adapter)
+        for method, kw in self.recipe.get('setup', []) or []:
+            # "$instance_id" in a setup argument is this host's instance id (as in Matterix runtime_bridge.py)
+            kw = {k: (instance_id if v == '$instance_id' else v) for k, v in dict(kw).items()}
+            getattr(self.host, method)(**kw)
+        if capture_dir is not None and hasattr(self.host, 'panel_capture_dir'):
+            Path(capture_dir).mkdir(parents=True, exist_ok=True)
+            self.host.panel_capture_dir = str(capture_dir)
+
+    # ------------------------------------------------------------------ sessions
+    def open_session(self, principal, visibility):
+        """Register ``principal`` with ``visibility`` ('agent' or 'evaluator') and return its session.
+
+        Order of attempts (the runtimes differ): host-is-session runtimes have no principals; recipe flags
+        agent_session_default / evaluator_register_positional; register_principal(name, visibility=...), then positional;
+        an agent that cannot be registered falls back to the runtime's default public agent session ``session()``.
+        """
+        if principal in self.sessions:
+            return self.sessions[principal]
+        h, r = self.host, self.recipe
+        how = None
+        if r.get('host_is_session'):
+            sess, how = h, 'host_is_session'
+        elif visibility == 'agent' and r.get('agent_session_default'):
+            sess, how = h.session(), 'default_session'
+        elif visibility == 'evaluator' and r.get('evaluator_register_positional'):
+            h.register_principal(principal)
+            sess, how = h.session(principal), 'register_positional'
+        elif not hasattr(h, 'register_principal'):
+            sess, how = (h.session() if hasattr(h, 'session') else h), 'no_principals'
+        else:
+            try:
+                h.register_principal(principal, visibility=visibility)
+                how = 'register_kw'
+            except TypeError:
+                try:
+                    h.register_principal(principal, visibility)
+                    how = 'register_positional_vis'
+                except TypeError:
+                    how = None
+            if how is None:
+                if visibility == 'agent':
+                    sess, how = h.session(), 'default_session'
+                else:
+                    h.register_principal(principal)
+                    sess, how = h.session(principal), 'register_name_only'
+            else:
+                sess = h.session(principal)
+        self.sessions[principal] = sess
+        self.session_info[principal] = how
+        return sess
+
+    def shared_session(self, principal):
+        """True when this principal's session is not its own identity in the runtime (shared default / host object)."""
+        return self.session_info.get(principal) in ('host_is_session', 'default_session', 'no_principals')
+
+    # ------------------------------------------------------------------ lab protocol 1.0.0 passthrough
+    def describe(self, principal):
+        self.flush()
+        return self.sessions[principal].describe(instance_id=self.instance_id)
+
+    def read(self, principal, state_ids=None):
+        self.flush()
+        return self.sessions[principal].read(instance_id=self.instance_id, state_ids=state_ids)
+
+    def invoke(self, principal, capability_id, arguments, request_id):
+        self.flush()
+        return self.sessions[principal].invoke(instance_id=self.instance_id, capability_id=capability_id, arguments=arguments,
+                                               request_id=request_id)
+
+    def write(self, principal, state_id, value, request_id):
+        self.flush()
+        return self.sessions[principal].write(instance_id=self.instance_id, state_id=state_id, value=value, request_id=request_id)
+
+    def _op_call(self, name, principal, operation_id, request_id=None):
+        sess = self.sessions[principal]
+        fn = getattr(sess, name, None)
+        if fn is None:
+            return None
+        self.flush()
+        params = inspect.signature(fn).parameters
+        kw = {}
+        if 'instance_id' in params:
+            kw['instance_id'] = self.instance_id
+        kw['operation_id'] = operation_id
+        if name == 'cancel' and 'request_id' in params:
+            kw['request_id'] = request_id
+        return fn(**kw)
+
+    def poll(self, principal, operation_id):
+        """The session's poll(operation_id) or None when the runtime has none."""
+        return self._op_call('poll', principal, operation_id)
+
+    def cancel(self, principal, operation_id, request_id):
+        return self._op_call('cancel', principal, operation_id, request_id)
+
+    def has_op(self, principal, name):
+        return callable(getattr(self.sessions.get(principal), name, None))
+
+    # ------------------------------------------------------------------ clock
+    def advance(self, dt):
+        """Advance this runtime by dt seconds with its recipe's advance mode (as BridgedHost.advance)."""
+        mode, h = self.recipe.get('advance'), self.host
+        t_new = self.local_s + dt
+        self.clock_counter += 1
+        if mode == R.STEP_DT:
+            h.step(dt)
+        elif mode == R.HOST_STEP_DT:
+            h.host_step(dt)
+        elif mode == R.HOST_STEP_DT_WORLD:
+            h.host_step(dt, world_time_s=t_new)
+        elif mode == R.STEP_DT_WORLD:
+            h.step(dt, world_time_s=t_new)
+        elif mode == R.HOST_STEP_ABS:
+            h.host_step(t_new)
+        elif mode == R.HOST_ADVANCE_ABS:
+            h.host_advance(t_new)
+        elif mode == R.HOST_SET_CLOCK_ABS:
+            h.host_set_clock(t_new)
+        elif mode == R.VICI_SET_TIME:
+            h.host_set_time(world_time_s=t_new, request_id='chemlab-clock-%d' % self.clock_counter)
+        elif mode == R.CLOCK_HOST_UPDATE:
+            self.local_s = t_new                                      # the runtime reads the new time through its clock callable,
+            h.host_update()                                           # then processes its timed events once
+        self.local_s = t_new                                          # mode None: the runtime reads local_s via its clock callable
+
+    def defer(self, dt, count=1):
+        """Queue clock steps (the lab clock is applied lazily: the same steps run, in order, before the next access)."""
+        if count <= 0 or dt <= 0:
+            return
+        if self.pending and self.pending[-1][0] == dt:
+            self.pending[-1][1] += count
+        else:
+            self.pending.append([dt, count])
+
+    def flush(self):
+        """Run the queued clock steps.  A step that raises is recorded and its time still passes (as in Matterix)."""
+        while self.pending:
+            dt, n = self.pending[0]
+            for _ in range(n):
+                try:
+                    self.advance(dt)
+                except Exception as exc:                                # noqa: BLE001
+                    self.local_s += dt
+                    self.clock_errors.append('t=%.3f s %s: %s' % (self.t0 + self.local_s, type(exc).__name__, exc))
+                    del self.clock_errors[:-20]
+                self.pending[0][1] -= 1
+            self.pending.pop(0)
+
+    def runtime_time(self):
+        """The time the runtime itself reports (host.time_s / t / read clock), or None."""
+        for attr in ('time_s', 't', '_time_s', 'world_time_s', 'now_s'):
+            v = getattr(self.host, attr, None)
+            if callable(v):
+                continue
+            if isinstance(v, (int, float)) and not isinstance(v, bool):
+                return float(v)
+        return None
diff --git a/chemlab/chemlab/inventory.py b/chemlab/chemlab/inventory.py
new file mode 100644
index 0000000000000000000000000000000000000000..7a4556b1a39ccdf6412f920c75b4c1970d1cfdf9
--- /dev/null
+++ b/chemlab/chemlab/inventory.py
@@ -0,0 +1,1053 @@
+"""The lab's physical inventory: one record per container (bottle, vial, box, plate, specimen holder, gas cylinder, ...) at a named
+storage place and position, with its contents (substance id, amount, concentration or purity, lot / certificate) and a storage
+class.
+
+The default lab's inventory is configs/inventory_default.json, written by chemlab/make_config.py (build()) from
+  * STOCK below: what a well-run lab keeps on its shelves and in its cabinets at the start of a working day - common solvents
+    and reagents, check standards and certified reference materials with their certificate values, consumables, gas cylinders
+    (with the instruments they feed);
+  * the default lab's set-up (chemlab/default_world.py + default_world_overrides.py): the reference samples, consumables and
+    liquids the lab has already put into the instruments - listed apart, in "instrument_contents" (the instruments' own state,
+    composition defined by each runtime; Matterix does not spawn them).
+Content rules (check()): every substance id is in substances.json, every amount is physical (AMOUNT_UNITS), a solution lists its
+solvent and each solute with its mass and concentration; packs use count / per_unit or units (see CONVENTIONS).
+Matterix can spawn the same containers at the same places from the same file.  Chemlab reads it (lab config "inventory": the
+file name, or the records inline) and shows it to the agent (`chemlab list --inventory [ID]`, `chemlab describe ID`).  Moving a
+container between storage and an instrument is a host or robot action: the agent cannot teleport containers.
+
+Substance ids are Chemistry-Sim's shared vocabulary: assets/reactions/substances.json, the spectral compound table
+(assets/reactions/spectral_library/compounds.json) and their crosswalk (assets/reactions/shared_id_crosswalk.json).  Ids used here
+that are in none of them are listed in NEW_SUBSTANCES (and in the file's "new_substances") for the materials owner to add; this
+module never edits the shared tables.  Container type ids follow the labware catalog (assets/labware/catalog.json); until it
+exists the ids here are provisional (PROVISIONAL_TYPES, also written to the file).
+
+Every stock record has a "source": a manual page (file and page number, no copied text) or a typical value with its reason.
+"""
+import json
+from functools import lru_cache
+from pathlib import Path
+
+from .hosts import CHEMSIM_ROOT
+
+STORAGE_CLASSES = ('flammable', 'acid', 'base', 'oxidizer', 'toxic', 'cold', 'compressed_gas', 'general')
+
+# Storage places of the default lab: named places with numbered positions (shelf-row, rack slot ...).  Sizes are typical lab
+# furniture (a 1.2 m four-shelf rack, a 90 cm safety cabinet, a 600 L lab fridge, a 6-cylinder wall rack).
+PLACES = [
+    {'id': 'bench_shelf', 'access': 'top_down', 'type': 'stepped two-tier shelf on the robot bench (T1 front/low, T2 rear/high), all positions within the '
+                                  'fixed arm\'s reach: the containers the robot handles (common solvents, pH buffers, the smoke '
+                                  'workflows\' standards)', 'storage_class': 'general',
+     'positions': ['T%d-%02d' % (t, p) for t in (1, 2) for p in range(1, 6)]},
+    {'id': 'reagent_shelf_a', 'type': 'open room reagent rack, 4 shelves x 8 positions (out of the fixed arm\'s reach)',
+     'storage_class': 'general',
+     'positions': ['S%d-%02d' % (s, p) for s in range(1, 5) for p in range(1, 9)]},
+    {'id': 'standards_cabinet', 'type': 'closed cabinet for check standards and certified reference materials, 3 shelves x 8',
+     'storage_class': 'general', 'positions': ['S%d-%02d' % (s, p) for s in range(1, 4) for p in range(1, 9)]},
+    {'id': 'flammables_cabinet', 'type': '90 cm safety cabinet for flammable liquids (EN 14470-1 type 90), 3 shelves x 6',
+     'storage_class': 'flammable', 'positions': ['S%d-%02d' % (s, p) for s in range(1, 4) for p in range(1, 7)]},
+    {'id': 'acids_cabinet', 'type': 'ventilated corrosives cabinet, acid compartment, 2 shelves x 6', 'storage_class': 'acid',
+     'positions': ['A:S%d-%02d' % (s, p) for s in range(1, 3) for p in range(1, 7)]},
+    {'id': 'bases_cabinet', 'type': 'ventilated corrosives cabinet, base compartment, 2 shelves x 6', 'storage_class': 'base',
+     'positions': ['B:S%d-%02d' % (s, p) for s in range(1, 3) for p in range(1, 7)]},
+    {'id': 'toxics_cabinet', 'type': 'ventilated, lockable cabinet for toxic substances, 2 shelves x 6', 'storage_class': 'toxic',
+     'positions': ['S%d-%02d' % (s, p) for s in range(1, 3) for p in range(1, 7)]},
+    {'id': 'oxidizers_cabinet', 'type': 'cabinet for oxidizers, 1 shelf x 6', 'storage_class': 'oxidizer',
+     'positions': ['S1-%02d' % p for p in range(1, 7)]},
+    {'id': 'fridge_4c', 'type': 'lab refrigerator 2-8 °C, 4 shelves x 8', 'storage_class': 'cold',
+     'positions': ['S%d-%02d' % (s, p) for s in range(1, 5) for p in range(1, 9)]},
+    {'id': 'freezer_m20c', 'type': 'lab freezer -20 °C, 3 drawers x 8', 'storage_class': 'cold',
+     'positions': ['D%d-%02d' % (s, p) for s in range(1, 4) for p in range(1, 9)]},
+    {'id': 'desiccator', 'type': 'benchtop desiccator cabinet with a hinged door on the robot bench, silica gel, 2 shelves x 6; side '
+                                 'access only for the fixed arm (161 mm headroom, the door sweep blocks the route: measured in the '
+                                 'Isaac Sim storage scene), so not for top-down robot picks', 'storage_class': 'general', 'access': 'side_only',
+     'positions': ['S%d-%02d' % (s, p) for s in range(1, 3) for p in range(1, 7)]},
+    {'id': 'vial_rack_bench', 'type': 'MACHEREY-NAGEL 702503 rack for 20 mL headspace vials (3 rows x 12) on the robot bench next to '
+                                      'the bench shelf, >= 0.25 m free above the vial tops; the robot uses rows A and C only (fingers '
+                                      'close along Y: a vial in row B would overlap them by 11 mm), so row B stays empty',
+     'storage_class': 'general', 'access': 'top_down', 'rack_type': 'vial_rack_20ml', 'robot_forbidden_prefixes': ['B'],
+     'positions': ['%s%02d' % (r, p) for r in 'ABC' for p in range(1, 13)]},
+    {'id': 'consumables_cabinet', 'type': 'cabinet for labware consumables, 4 shelves x 8', 'storage_class': 'general',
+     'positions': ['S%d-%02d' % (s, p) for s in range(1, 5) for p in range(1, 9)]},
+    {'id': 'cylinder_rack', 'type': 'wall rack for gas cylinders with chains, 8 slots (inert and oxidizing gases)',
+     'storage_class': 'compressed_gas', 'positions': ['C%d' % p for p in range(1, 9)]},
+    {'id': 'gas_cabinet_flammable', 'type': 'ventilated gas cabinet for flammable gases, 4 slots', 'storage_class': 'compressed_gas',
+     'positions': ['G%d' % p for p in range(1, 5)]},
+    {'id': 'instrument', 'type': 'inside an instrument (position named per instrument)', 'storage_class': 'general', 'positions': []},
+]
+
+
+
+# ------------------------------------------------------------------ container types (provisional until assets/labware/catalog.json)
+PROVISIONAL_TYPES = {
+    'bottle_gl45_1000ml_clear': 'borosilicate media bottle GL45, 1000 mL, clear, screw cap',
+    'bottle_gl45_500ml_clear': 'borosilicate media bottle GL45, 500 mL, clear, screw cap',
+    'bottle_gl45_2500ml_amber': 'solvent bottle GL45, 2.5 L, amber glass (supplier bottle)',
+    'bottle_hdpe_500ml': 'HDPE bottle 500 mL, screw cap (buffers, standards)',
+    'bottle_hdpe_1000ml': 'HDPE bottle 1 L, screw cap (bases, aqueous reagents)',
+    'jar_hdpe_500g': 'wide-neck HDPE jar for 500 g solids',
+    'bottle_glass_crm_unit': 'small glass bottle of a certified reference material unit (5-20 g), with certificate',
+    'ampoule_box_crm': 'box of sealed glass ampoules / vials of a certified solution standard',
+    'vial_crm_metal_shot': 'small vial with metal shot or foil of a calibration metal, with certificate',
+    'xrd_holder_zero_background': 'XRD specimen holder (glass / zero-background), powder packed, in a closed box',
+    'ir_film_card': 'IR standard film mounted in a card holder',
+    'case_reference_plate': 'storage case with a certified reference plate / disc',
+    'box_microplates_96_flat_ps': 'box of 96-well flat-bottom polystyrene plates (SBS)',
+    'plate_96_flat_ps': '96-well flat-bottom polystyrene plate (SBS footprint)',
+    'box_pcr_plates_96_skirted': 'box of skirted 96-well PCR plates (SBS)',
+    'bag_tubes_1p5ml': 'bag of 1.5 mL microcentrifuge tubes',
+    'bag_tubes_conical_15ml': 'bag of 15 mL conical tubes',
+    'bag_tubes_conical_50ml': 'bag of 50 mL conical tubes',
+    'bag_tubes_12x75mm_ps': 'bag of 12 x 75 mm polystyrene cytometry tubes',
+    'box_vials_2ml_crimp': 'box of 2 mL crimp vials with caps (GC)',
+    'box_vials_2ml_screw': 'box of 2 mL screw vials with caps (HPLC)',
+    'box_vials_20ml_headspace': 'box of 20 mL headspace vials with crimp caps',
+    'tiprack_flex_1000ul': 'Opentrons Flex tip rack, 96 x 1000 uL (SBS)',
+    'tiprack_flex_200ul': 'Opentrons Flex tip rack, 96 x 200 uL (SBS)',
+    'box_dsc_pans_tzero': 'box of aluminium DSC pans and lids',
+    'box_tin_capsules': 'box of tin capsules for CHNS combustion',
+    'box_cuvettes_ps_10mm': 'box of disposable 10 mm polystyrene cuvettes',
+    'cuvette_quartz_10mm_case': 'case with 10 mm quartz cuvettes',
+    'box_nmr_tubes_5mm': 'box of 5 mm NMR tubes',
+    'box_gels_precast_10well': 'box of precast mini polyacrylamide gels, 10 wells',
+    'roll_heat_seal_film': 'roll of peelable heat-seal film for microplates',
+    'box_sensor_chips_spr': 'pack of SPR sensor chips',
+    'vial_bead_standard': 'dropper vial of a fluorescent bead standard',
+    'kit_ce_reagents': 'capillary electrophoresis reagent kit (box)',
+    'vial_protein_ladder': 'vial of a prestained protein ladder',
+    'cylinder_50l_200bar': 'steel gas cylinder 50 L water capacity, 200 bar, with regulator',
+    'cylinder_10l_200bar': 'steel gas cylinder 10 L water capacity, 200 bar, with regulator',
+    'cylinder_10l_acetylene': 'acetylene cylinder 10 L (dissolved in acetone), with regulator',
+    'cylinder_10l_co2_liquefied': 'CO2 cylinder 10 L, liquefied, with regulator',
+    'in_instrument_item': 'an item already inside an instrument (its own holder: cell, cup, vial, cartridge, tank ...)',
+    'quantos_dosing_head': 'METTLER TOLEDO QH016-BNMW powder dosing head, 16 mL, 0.1-250 mg per dose (part 11141503)',
+    'quantos_head_container': 'plastic storage container supplied with each Quantos dosing head (holds one head upright)',
+    'quantos_target_vial': 'empty 20 mL glass target vial for the Quantos weighing pan',
+}
+
+# heights (m, with cap / lid) of provisional types the catalog has not built yet - typical, for the bench-shelf rule below
+PROVISIONAL_HEIGHTS_M = {'xrd_holder_zero_background': 0.03, 'ir_film_card': 0.01, 'case_reference_plate': 0.04, 'ampoule_box_crm': 0.06,
+                         'quantos_dosing_head': 0.1123, 'quantos_head_container': 0.06, 'quantos_target_vial': 0.0775}
+# bench shelf, tier T1: the robot grips a bottle with the fingers closing along the row, so the hand overhangs both neighbours at
+# about 0.19-0.26 m: both T1 neighbours of a container must be at most this tall (robot grasp constraint)
+BENCH_T1_NEIGHBOUR_MAX_M = 0.185
+
+
+# ------------------------------------------------------------------ substances not (yet) in the shared tables
+NEW_SUBSTANCES = {
+    'argon': {'formula': 'Ar', 'cas': '7440-37-1', 'why': 'plasma / carrier / inert gas cylinders'},
+    'helium': {'formula': 'He', 'cas': '7440-59-7', 'why': 'GC carrier, pycnometer and combustion-analyzer carrier gas'},
+    'silicon': {'formula': 'Si', 'cas': '7440-21-3', 'why': 'XRD line-position standard (SRM 640 type)'},
+    'aluminium_oxide': {'formula': 'Al2O3', 'cas': '1344-28-1', 'why': 'corundum XRD intensity standard (SRM 676 type); sapphire DSC disc'},
+    'indium': {'formula': 'In', 'cas': '7440-74-6', 'why': 'DSC / TMA temperature and enthalpy calibration metal'},
+    'potassium_hydrogen_phthalate': {'formula': 'C8H5KO4', 'cas': '877-24-7', 'why': 'TOC calibration standard, pH 4.01 buffer, titration primary standard'},
+    'sodium_dihydrogen_phosphate': {'formula': 'NaH2PO4', 'cas': '7558-80-7', 'why': 'phosphate buffers (pH 7.00); the pH 6.86 standard is KH2PO4 + Na2HPO4'},
+    'sodium_tetraborate_decahydrate': {'formula': 'Na2B4O7.10H2O', 'cas': '1303-96-4', 'why': 'pH 9.18 borax buffer'},
+    'lithium_chloride': {'formula': 'LiCl', 'cas': '7447-41-8', 'why': 'water-activity verification standards (0.250 / 0.500 aw)'},
+    'formazin': {'formula': '(C2H4N2)n', 'cas': '9004-77-7', 'why': 'stabilized formazin turbidity standards'},
+    'sulfanilic_acid': {'formula': 'C6H7NO3S', 'cas': '121-57-3', 'why': 'CHNS calibration standard'},
+    'ferrocene': {'formula': 'C10H10Fe', 'cas': '102-54-5', 'why': 'internal potential reference for non-aqueous voltammetry'},
+    'polystyrene_latex': {'formula': '(C8H8)n dispersion', 'cas': '9003-53-6', 'why': 'DLS size standard (100 nm latex)'},
+    'calibration_beads_fluorescent': {'formula': 'polystyrene beads, fluorescent', 'cas': '', 'why': 'cytometer setup and tracking beads'},
+    'protein_ladder_prestained': {'formula': 'protein mixture', 'cas': '', 'why': 'SDS-PAGE molecular-weight marker'},
+    'hbs_ep_plus_10x': {'formula': 'HEPES/NaCl/EDTA/P20 buffer concentrate', 'cas': '', 'why': 'SPR running buffer'},
+}
+
+# ------------------------------------------------------------------ the stock (hand-written, each with its source)
+# R(id, type, place, position, contents, storage_class, for_, source, extra)
+#   contents: [(substance, amount, unit, grade / concentration, lot / certificate dict or None)]
+
+
+def R(cid, ctype, place, pos, contents, sclass, for_, source, **extra):
+    rec = {'id': cid, 'type': ctype, 'contents': [_c(*c) for c in contents], 'location': {'place': place, 'position': pos},
+           'storage_class': sclass, 'for': list(for_), 'source': source}
+    if 'instrument' in extra:                            # a container the default set-up has put into an instrument
+        rec['location']['instrument'] = extra.pop('instrument')
+    rec.update(extra)
+    return rec
+
+
+def _c(sub, amount, unit, grade=None, cert=None, conc=None):
+    """One content: a shared substance id, a physical amount (AMOUNT_UNITS), optional grade text, certificate and concentration
+    (value, unit) - solutes carry their mass and their concentration in the solution."""
+    out = {'substance': sub, 'amount': {'value': amount, 'unit': unit}}
+    if grade:
+        out['grade'] = grade
+    if cert:
+        out['certificate'] = cert
+    if conc:
+        out['concentration'] = {'value': conc[0], 'unit': conc[1]}
+    return out
+
+
+AMOUNT_UNITS = ('g', 'kg', 'mg', 'mL', 'L', 'uL', 'mol', 'mmol')
+VOLUME_UNITS = ('mL', 'L', 'uL')
+
+
+PH = ('metrohm_914', 'metrohm_omnis', 'antonpaar_surpass3')
+ALKANES_C8_C20 = [(8, 'octane'), (9, 'nonane'), (10, 'decane'), (11, 'undecane'), (12, 'dodecane'), (13, 'tridecane'),
+                  (14, 'tetradecane'), (15, 'pentadecane'), (16, 'hexadecane'), (17, 'heptadecane'), (18, 'octadecane'),
+                  (19, 'nonadecane'), (20, 'icosane')]
+XRD = ('rigaku_miniflex600_external_cooling',)
+TYPICAL_CYL = 'typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C)'
+
+STOCK = [
+    # ---- bench shelf (within the robot's reach): what the robot handles most
+    R('water_ultrapure_1l', 'bottle_gl45_1000ml_clear', 'bench_shelf', 'T2-02', [('water', 1.0, 'L', 'ASTM type I, 18.2 MOhm cm')], 'general',
+      [], 'typical: filled each morning from the lab water system (elga_purelab_flex3)'),
+    R('ethanol_500ml', 'bottle_gl45_500ml_clear', 'bench_shelf', 'T1-02', [('ethanol', 0.5, 'L', '>= 99.8 %, absolute')], 'flammable',
+      [], 'typical: a 500 mL working bottle for rinsing and cleaning; the stock bottle stays in the flammables cabinet'),
+    R('acetone_500ml', 'bottle_gl45_500ml_clear', 'bench_shelf', 'T1-03', [('acetone', 0.5, 'L', '>= 99.5 %')], 'flammable',
+      [], 'typical: a 500 mL wash bottle for rinsing glassware'),
+    R('buffer_ph4_01', 'bottle_hdpe_500ml', 'bench_shelf', 'T1-04', [
+        ('potassium_hydrogen_phthalate', 5.106, 'g', 'primary standard buffer salt', {'value': 'pH 4.005 at 25 °C',
+         'standard': 'DIN 19266 / NIST SRM 185 type (KHP 0.05 mol/kg)'}, (0.05, 'mol/kg')),
+        ('water', 0.5, 'L', 'solvent (about 0.5 kg)')], 'general', PH,
+      'manual: 914_ph_do_conductometer_manual p.55, p.78 (buffer series for calibration); composition: DIN 19266 KHP standard, '
+      '0.05 mol/kg x 0.5 kg x 204.22 g/mol = 5.106 g'),
+    R('buffer_ph6_86', 'bottle_hdpe_500ml', 'bench_shelf', 'T1-05', [
+        ('potassium_dihydrogen_phosphate', 1.701, 'g', '0.025 mol/kg (phosphate pH 6.86 standard, with Na2HPO4)',
+         {'value': 'pH 6.865 at 25 °C', 'standard': 'DIN 19266 phosphate standard (KH2PO4 + Na2HPO4, each 0.025 mol/kg; NIST SRM 186 type)'}),
+        ('disodium_hydrogen_phosphate', 1.774, 'g', '0.025 mol/kg (phosphate pH 6.86 standard, with KH2PO4)'),
+        ('water', 0.5, 'L', 'solvent (about 0.5 kg)')], 'general', PH,
+      'manual: 914_ph_do_conductometer_manual p.55, p.78; composition: DIN 19266 / NIST equimolal phosphate standard; the 914 class world '
+      'uses the same buffer (template nist_srm_186g_phosphate_equimolal_buffer, pH 6.864)'),
+    R('buffer_ph9_18', 'bottle_hdpe_500ml', 'bench_shelf', 'T2-01', [
+        ('sodium_tetraborate_decahydrate', 1.907, 'g', 'borax', {'value': 'pH 9.180 at 25 °C', 'standard': 'DIN 19266 / NIST SRM 187 type '
+         '(borax 0.01 mol/kg)'}, (0.01, 'mol/kg')),
+        ('water', 0.5, 'L', 'solvent (about 0.5 kg)')], 'general', PH,
+      'manual: 914_ph_do_conductometer_manual p.55, p.78; composition: 0.01 mol/kg x 0.5 kg x 381.37 g/mol = 1.907 g',
+      keep_class='a 0.01 mol/kg borax solution (about 0.4 %) is below the concentration limit at which borax is classified toxic '
+      'for reproduction, so it is stored as a general reagent'),
+    R('xrd_si_srm640_holder', 'xrd_holder_zero_background', 'bench_shelf', 'T1-01', [('silicon', 0.5, 'g', 'NIST SRM 640 type line-position standard',
+      {'lattice_a_nm': 0.5431, 'note': 'certified lattice parameter of the SRM 640 series'})], 'general', XRD,
+      'typical: a Si powder standard checks the 2-theta zero of a powder diffractometer (manual: miniflex brochure p.3 lists '
+      'qualitative / quantitative use); load it with `chemlab run rigaku_miniflex600_external_cooling load xrd_si_srm640_holder`',
+      sample_id='si_srm640_holder'),
+    R('xrd_quartz_holder', 'xrd_holder_zero_background', 'standards_cabinet', 'S3-07', [('silica', 0.5, 'g', 'alpha-quartz powder, check sample')],
+      'general', XRD, 'the structure class world\'s quartz specimen (sample id quartz_holder)', sample_id='quartz_holder'),
+    R('ir_polystyrene_film', 'ir_film_card', 'standards_cabinet', 'S3-06', [('polystyrene', 0.05, 'g', 'film about 38 um',
+      {'bands_cm-1': [3060.0, 2849.5, 1601.2, 1028.3, 906.7], 'note': 'wavenumber check bands of polystyrene film'})], 'general',
+      ('jasco_ftir4700', 'thermo_nicoletis50'), 'manual: ftir4000_6000_series_brochure p.4 (standard sample: polystyrene film); '
+      'registered with the FT/IR-4700 as sample ir_polystyrene_film (template: NIST WebBook spectrum + SRM 1921b certified bands)',
+      sample_id='ir_polystyrene_film'),
+    R('plate_96_flat_ready', 'plate_96_flat_ps', 'bench_shelf', 'T2-05', [], 'general',
+      ('biotek_405ts', 'bmg_clariostarplus', 'opentrons_flex_single_5_1000ul'),
+      'typical: one empty plate staged for the plate washer / reader / robot', on_carrier='labware.sbs_plate_carrier'),
+    # ---- standards cabinet: check standards and certified reference materials
+    R('xrd_calcite_holder', 'xrd_holder_zero_background', 'standards_cabinet', 'S1-01', [('calcium_carbonate', 0.5, 'g', 'calcite powder')],
+      'general', XRD, 'the structure class world\'s calcite specimen (sample id calcite_holder)', sample_id='calcite_holder'),
+    R('xrd_corundum_srm676_holder', 'xrd_holder_zero_background', 'standards_cabinet', 'S1-02', [('aluminium_oxide', 0.5, 'g',
+      'corundum, SRM 676 type intensity standard')], 'general', XRD,
+      'typical: corundum is the reference intensity (RIR) standard of powder XRD; phase "corundum" is in the MiniFlex phase list',
+      sample_id='corundum_srm676_holder'),
+    R('crm_si_powder_srm640', 'bottle_glass_crm_unit', 'standards_cabinet', 'S1-03', [('silicon', 7.5, 'g', 'SRM 640 type unit',
+      {'lattice_a_nm': 0.5431})], 'general', XRD, 'typical: the unit bottle the holder above is packed from'),
+    R('aw_standard_0_760', 'ampoule_box_crm', 'standards_cabinet', 'S1-04', [
+        ('sodium_chloride', 0.7013, 'g', 'NaCl', {'aw_25C': 0.760, 'tolerance': 0.003}, (6.0, 'mol/kg')),
+        ('water', 2.0, 'mL', 'solvent (about 2 g per vial)')], 'general', ('aqualab_4te',),
+      'manual: aqualab4_manual p.8, p.44-45, p.48 (verification standards; the whole vial is emptied into a sample cup); per vial '
+      '(typical: about 2 mL, enough to cover a sample cup bottom): 6.0 mol/kg x 0.002 kg x 58.44 g/mol = 0.701 g NaCl',
+      count=5, per_unit=True),
+    R('aw_standard_0_250', 'ampoule_box_crm', 'standards_cabinet', 'S1-05', [
+        ('lithium_chloride', 1.1369, 'g', 'LiCl', {'aw_25C': 0.250, 'tolerance': 0.003}, (13.41, 'mol/kg')),
+        ('water', 2.0, 'mL', 'solvent (about 2 g per vial)')], 'general', ('aqualab_4te',),
+      'manual: aqualab4_manual p.44-45, p.49 (0.25 aw standard, whole vial into a sample cup); per vial (typical about 2 mL): '
+      '13.41 mol/kg x 0.002 kg x 42.39 g/mol = 1.137 g LiCl', count=5, per_unit=True),
+    R('turbidity_stablcal_kit', 'ampoule_box_crm', 'standards_cabinet', 'S1-06', [], 'general', ('hach_tl2300epa',),
+      'manual: tl23_series datasheet p.4 (StablCal calibration kit); tl2300 user manual p.16 (StablCal sealed vial standards); '
+      'per sealed vial about 25 mL (typical fill of a 25 mm sample cell)',
+      units=[{'name': 'StablCal sealed vial %s NTU' % v, 'count': 1,
+              'contents': [_c('formazin', 25.0, 'mL', 'stabilized formazin in water', {'turbidity_NTU': v}, (v, 'NTU'))]}
+             for v in (0.1, 20, 200, 1000, 4000, 7500)]),
+    R('osmolality_cal_400', 'ampoule_box_crm', 'standards_cabinet', 'S1-07', [
+        ('sodium_chloride', 0.01266, 'g', 'NaCl', {'osmolality_mOsmol_kg': 400}, (0.2166, 'mol/kg')),
+        ('water', 1.0, 'mL', 'solvent (about 1 g per vial)')], 'general', ('knauer_k7400s',),
+      'manual: k7400s brochure p.11 (400 mOsmol/kg calibration solution, 12 vials); 0.2166 mol/kg NaCl is the class world\'s '
+      '400 mOsmol/kg standard; per vial typical 1 mL (the osmometer uses 50-150 uL per measurement)', count=12, per_unit=True),
+    R('conductivity_std_1413', 'bottle_hdpe_500ml', 'standards_cabinet', 'S1-08', [
+        ('potassium_chloride', 0.3728, 'g', 'KCl', {'conductivity_uS_cm_25C': 1413}, (0.01, 'mol/L')),
+        ('water', 0.5, 'L', 'solvent')], 'general', PH + ('metrohm_856',),
+      'typical: 0.01 mol/L KCl is the usual conductivity cell standard (1413 uS/cm at 25 C); 0.01 mol/L x 0.5 L x 74.55 g/mol = '
+      '0.373 g; the SurPASS class workflow calibrates with 1.413 mS/cm'),
+    R('dsc_indium_crm', 'vial_crm_metal_shot', 'standards_cabinet', 'S2-01', [('indium', 1.0, 'g', '99.999 %',
+      {'onset_C': 156.6, 'enthalpy_J_g': 28.71})], 'general', ('ta_dsc2500', 'ta_tma450', 'netzsch_dsc214'),
+      'manual: dsc_q_series_getting_started_guide p.49-50 (cell constant / temperature calibration with indium)'),
+    R('dsc_zinc_crm', 'vial_crm_metal_shot', 'standards_cabinet', 'S2-02', [('zinc', 1.0, 'g', '99.999 %', {'onset_C': 419.5,
+      'enthalpy_J_g': 108.6})], 'general', ('ta_dsc2500',), 'typical: second temperature point next to indium'),
+    R('dsc_sapphire_disc', 'case_reference_plate', 'standards_cabinet', 'S2-03', [('aluminium_oxide', 0.025, 'g', 'sapphire disc, Cp reference')],
+      'general', ('ta_dsc2500',), 'manual: dsc_q_series_getting_started_guide p.65 (heat-capacity calibration with sapphire)'),
+    R('tga_nickel_curie', 'vial_crm_metal_shot', 'standards_cabinet', 'S2-04', [('nickel', 0.5, 'g', 'Curie-point standard',
+      {'curie_C': 358.0})], 'general', ('ta_tga5500',), 'manual: discovery_tga_brochure p.7, p.29 (Curie-point temperature calibration)'),
+    R('tga_calcium_oxalate', 'bottle_glass_crm_unit', 'standards_cabinet', 'S2-05', [('calcium_oxalate_monohydrate', 10.0, 'g', 'reference grade')],
+      'general', ('ta_tga5500',), 'typical: three-step mass-loss check sample of thermogravimetry'),
+    R('calorimetry_benzoic_acid', 'bottle_glass_crm_unit', 'desiccator', 'S1-01', [('benzoic_acid', 50.0, 'g', 'calorimetric standard, NBS 39 type',
+      {'gross_heat_J_g': 26434})], 'general', ('ika_c6000',), 'manual: c6000_isoperibol_package_1_10 datasheet p.1 (1 g benzoic acid NBS39i)'),
+    R('hplc_caffeine_std', 'box_vials_2ml_screw', 'standards_cabinet', 'S2-06', [
+        ('caffeine', 0.00015, 'g', 'caffeine', None, (100.0, 'mg/L')),
+        ('water', 1.5, 'mL', 'solvent')], 'general',
+      ('agilent_hplc1260', 'agilent_1290infinity', 'agilent_1260infinity'),
+      'manual: infinitylab_lc_series_specification_compendium p.13, p.16 (water / caffeine tracer for flow and delay checks); '
+      'per vial 1.5 mL of 100 mg/L (typical 2 mL vial fill)', count=10, per_unit=True),
+    R('gc_alkane_mix', 'box_vials_2ml_crimp', 'flammables_cabinet', 'S2-03',
+      [(a, 4.0e-05, 'g', 'n-%s (C%d)' % (a, n), None, (40.0, 'mg/L')) for n, a in ALKANES_C8_C20] + [('hexane', 1.0, 'mL', 'solvent')],
+      'flammable', ('agilent_7890b_ssl_fid', 'agilent_gc8890b'),
+      'product: Supelco (Sigma-Aldrich) 04070, alkane standard solution C8-C20, about 40 mg/L of each n-alkane C8...C20 in hexane, '
+      'analytical standard sold as 1 mL (product page sigmaaldrich.com/US/en/product/sial/04070: retention-index standard for GC); '
+      'per 1 mL unit 40 ug of each alkane; two units in stock (typical); a 2 mL GC vial stands in for the ampule (catalog substitute)',
+      count=2, per_unit=True, product={'maker': 'Supelco (Sigma-Aldrich)', 'catalogue_number': '04070',
+                                       'name': 'Alkane standard solution C8-C20, ~40 mg/L each component in hexane',
+                                       'pack': '1 mL', 'url': 'https://www.sigmaaldrich.com/US/en/product/sial/04070'},
+      description='Supelco 04070 alkane standard C8-C20 in hexane (1 mL units)'),
+    R('chns_sulfanilic_acid', 'bottle_glass_crm_unit', 'desiccator', 'S1-02', [('sulfanilic_acid', 10.0, 'g', 'CHNS standard',
+      {'C_pct': 41.61, 'H_pct': 4.07, 'N_pct': 8.09, 'S_pct': 18.51})], 'general', ('elementar_varioel',),
+      'quant_analyzer class world (the vario EL standards are sulfanilic acid; theoretical composition)'),
+    R('toc_khp_1000', 'bottle_hdpe_500ml', 'standards_cabinet', 'S2-08', [
+        ('potassium_hydrogen_phthalate', 1.0627, 'g', 'KHP', {'TC_mg_L': 1000}, (2.1254, 'g/L')),
+        ('water', 0.5, 'L', 'solvent')], 'general', ('shimadzu_tocl',),
+      'quant_analyzer class world (TOC calibration with a KHP CRM); 1000 mg C/L = 2.1254 g KHP per L (8 C of 204.22 g/mol)'),
+    R('ce_sds_mw_kit', 'kit_ce_reagents', 'fridge_4c', 'S1-01', [], 'cold', ('sciex_pa800',),
+      'manual: pa800plus_brochure p.10 (SDS-MW analysis kit 390953); sealed kit, its proprietary gel buffer, sample buffer and size '
+      'standards are not itemised (no amounts in the documents at hand)',
+      description='sealed SDS-MW analysis kit (proprietary reagents, not itemised)'),
+    R('ferrocene_ref', 'bottle_glass_crm_unit', 'flammables_cabinet', 'S2-04', [('ferrocene', 5.0, 'g', '98 %')], 'general',
+      ('ch_chi440c', 'ch_chi920d', 'gamry_reference620'), 'manual: chi_brochure p.20 (ferrocene oxidation as the example redox couple)'),
+    R('xps_ag_au_foils', 'case_reference_plate', 'standards_cabinet', 'S3-02', [('silver', 0.1, 'g', 'Ag foil, sputter-clean'),
+      ('copper', 0.1, 'g', 'Cu foil')], 'general', ('kratos_axissupra',),
+      'manual: axis_supra_getting_started_guide p.74 (Au 4f images); typical: Ag 3d5/2 and Cu 2p3/2 set the binding-energy scale'),
+    R('quartz_control_plate', 'case_reference_plate', 'standards_cabinet', 'S3-03', [('silica', 1.0, 'g', 'quartz control plate',
+      {'rotation_deg_589nm': 10.0})], 'general', ('jasco_p4200',),
+      'manual: p4000_instrument_management_appnote p.1-2 (calibrated quartz control plate); the plate in use sits in the instrument'),
+    R('cell_dummy_gamry', 'case_reference_plate', 'standards_cabinet', 'S3-04', [], 'general', ('gamry_reference620',),
+      'manual: reference620_operators_manual p.40, p.44 (calibration with the resistive dummy cell)'),
+    R('upyc_calibration_sphere', 'case_reference_plate', 'standards_cabinet', 'S3-05', [('iron', 80.0, 'g', 'stainless-steel sphere',
+      {'volume_cm3': 10.0})], 'general', ('antonpaar_ultrapyc5000',),
+      'the class workflow calibrates with a 10 cm3 sphere (sphere_volume_m3=1e-5)',
+      keep_class='a solid stainless-steel sphere, not the flammable iron powder of the substance table'),
+    R('dls_latex_100nm', 'vial_bead_standard', 'fridge_4c', 'S1-02', [('polystyrene_latex', 15, 'mL', '100 nm, 1 % solids',
+      {'diameter_nm': 100})], 'cold', ('antonpaar_litesizerdls',), 'the class workflow calibrates size with a 100 nm reference'),
+    R('cst_beads', 'vial_bead_standard', 'fridge_4c', 'S1-03', [('calibration_beads_fluorescent', 5, 'mL', 'CS&T research beads (bright, mid, '
+      'dim)')], 'cold', ('bd_facsariaiii',), 'manual: facsaria_iii_users_guide p.138 (preparing the CS&T beads); the runtime\'s bead library '
+      'has cst_bead_bright / mid / dim'),
+    R('hbs_ep_plus_10x', 'bottle_hdpe_500ml', 'fridge_4c', 'S1-04', [('hbs_ep_plus_10x', 0.5, 'L', '10x concentrate')], 'cold',
+      ('cytiva_biacoret200',), 'manual: biacore_t200_getting_started p.6 (10X HBS-EP+ buffer)'),
+    R('spr_chips_cm5', 'box_sensor_chips_spr', 'fridge_4c', 'S1-05', [], 'cold', ('cytiva_biacoret200',),
+      'typical: CM5 is the general-purpose sensor chip; the class workflow docks one (load chip1 --type CM5)'),
+    R('gels_tgx_4_20', 'box_gels_precast_10well', 'fridge_4c', 'S1-06', [], 'cold', ('biorad_miniprotean',),
+      'the chromatography class world installs a 4-20 % TGX 10-well gel; precast gels are stored at 2-8 °C'),
+    R('protein_ladder', 'vial_protein_ladder', 'freezer_m20c', 'D1-01', [('protein_ladder_prestained', 0.5, 'mL', 'prestained, 10-250 kD')],
+      'cold', ('biorad_miniprotean',), 'the default gel has ladder_1 (Precision Plus prestained); the ladder is stored at -20 °C'),
+    # ---- Quantos powder dosing: heads stand in their own storage containers on the bench shelf's rear tier (top-down grip); the
+    # CaCO3 check head is in the Quantos (its empty container waits at T2-03); empty target vials in the bench vial rack
+    R('qh_kbr_1', 'quantos_dosing_head', 'bench_shelf', 'T2-04', [('potassium_bromide', 11.4, 'g', 'for IR spectroscopy (Merck 104907)')],
+      'general', ('mt_quantos_q2_xpe206dr',),
+      'head: METTLER TOLEDO QH016-BNMW (part 11141503), 16 mL, 0.1-250 mg per dose (manual: quantos_operating_instructions p.102, '
+      'p.107); fill: 75 % of the 16 mL volume (12 mL, headspace left for the dosing mechanism: assumption) x KBr bulk density '
+      '950 kg/m3 (Merck 104907 product page: 900-1000 kg/m3) = 11.4 g. Stands in its storage container (manual p.27). KBr is '
+      'hygroscopic: in its closed head on the bench for a working day is acceptable (it takes up water only slowly below about 60 % '
+      'RH and deliquesces near 80 %); between working days the head belongs in the desiccator. A host or the robot inserts it; the '
+      'Quantos registers it as head qh_kbr_1 with 0.0114 kg of free-flowing powder',
+      head_id='qh_kbr_1', free_flowing=True, stored_in='quantos_head_container', product={'maker': 'METTLER TOLEDO', 'catalogue_number': '11141503', 'name': 'QH016-BNMW powder dosing head, 16 ml', 'source': 'Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)'}),
+    R('qh_caco3_1', 'quantos_dosing_head', 'instrument', 'head_slot', [('calcium_carbonate', 4.0, 'g', 'Sigma-Aldrich 21061 (BioUltra, '
+      'precipitated)')], 'general', ('mt_quantos_q2_xpe206dr',),
+      'the lab\'s check head, inserted in the Quantos by the default set-up: QH016-BNMW (part 11141503, manual p.102/p.107) with '
+      'calcium carbonate Sigma-Aldrich 21061, the powder the dosing specification is given for (manual p.102). Fill 4.0 g: no bulk '
+      'density is published for 21061; precipitated CaCO3 is a light powder (assumption 0.3-0.6 g/mL), so 4 g takes 7-13 mL of '
+      'the 16 mL head',
+      instrument='mt_quantos_q2_xpe206dr', sample_id='qh_caco3_1', head_id='qh_caco3_1', free_flowing=True, product={'maker': 'METTLER TOLEDO', 'catalogue_number': '11141503', 'name': 'QH016-BNMW powder dosing head, 16 ml', 'source': 'Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)'}),
+    R('qh_caco3_1_container', 'quantos_head_container', 'bench_shelf', 'T2-03', [], 'general', ('mt_quantos_q2_xpe206dr',),
+      'the empty storage container of the CaCO3 head (manual p.27: heads are stored in the plastic container they are supplied '
+      'in); the head goes back here when it is taken out of the Quantos', description='empty Quantos head storage container (lid off)'),
+    R('quantos_vial_pan', 'quantos_target_vial', 'instrument', 'balance_pan', [], 'general', ('mt_quantos_q2_xpe206dr',),
+      'empty target vial on the Quantos weighing pan (default set-up): Agilent 5188-2753 20 mL vial, within the sample-container '
+      'limits (31-178 mm high, opening >= 6 mm, manual p.103)', instrument='mt_quantos_q2_xpe206dr', sample_id='quantos_vial_pan'),
+    R('quantos_vial_1', 'quantos_target_vial', 'vial_rack_bench', 'A01', [], 'general', ('mt_quantos_q2_xpe206dr',),
+      'empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack '
+      '(top-down grip)'),
+    R('quantos_vial_2', 'quantos_target_vial', 'vial_rack_bench', 'A02', [], 'general', ('mt_quantos_q2_xpe206dr',),
+      'empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack '
+      '(top-down grip)'),
+    R('quantos_vial_3', 'quantos_target_vial', 'vial_rack_bench', 'A03', [], 'general', ('mt_quantos_q2_xpe206dr',),
+      'empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack '
+      '(top-down grip)'),
+    # ---- flammables cabinet: stock solvents
+    R('ethanol_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-01', [('ethanol', 2.5, 'L', '>= 99.8 %')], 'flammable', [],
+      'typical stock bottle'),
+    R('acetone_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-02', [('acetone', 2.5, 'L', '>= 99.5 %')], 'flammable', [],
+      'typical stock bottle'),
+    R('isopropanol_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-03', [('propan_2_ol', 2.5, 'L', '>= 99.5 %')], 'flammable', [],
+      'typical stock bottle (cleaning optics, wipes)'),
+    R('methanol_hplc_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-04', [('methanol', 2.5, 'L', 'HPLC grade')], 'flammable',
+      ('agilent_hplc1260', 'agilent_1290infinity', 'agilent_1260infinity'), 'typical HPLC mobile-phase solvent'),
+    R('acetonitrile_hplc_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-05', [('acetonitrile', 2.5, 'L', 'HPLC grade')],
+      'flammable', ('agilent_hplc1260', 'agilent_1290infinity'), 'typical HPLC mobile-phase solvent'),
+    R('hexane_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S1-06', [('hexane', 2.5, 'L', '>= 97 %')], 'flammable', [],
+      'typical stock bottle (GC dilutions, extraction)'),
+    R('toluene_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S2-01', [('toluene', 2.5, 'L', '>= 99.5 %')], 'flammable', [],
+      'typical stock bottle'),
+    R('ethyl_acetate_2_5l', 'bottle_gl45_2500ml_amber', 'flammables_cabinet', 'S2-02', [('ethyl_acetate', 2.5, 'L', '>= 99.5 %')], 'flammable',
+      [], 'typical stock bottle'),
+    # ---- acids / bases / oxidizers / toxics
+    R('hcl_37_1l', 'bottle_gl45_1000ml_clear', 'acids_cabinet', 'S1-01', [
+        ('hydrochloric_acid', 438.1, 'g', 'HCl', None, (37.0, '% w/w')), ('water', 745.9, 'g', 'solvent')], 'acid', [],
+      'typical stock: 1 L of 37 % w/w hydrochloric acid, density 1.184 g/mL at 20 C (1184 g: 438.1 g HCl + 745.9 g water)'),
+    R('hno3_65_1l', 'bottle_gl45_1000ml_clear', 'acids_cabinet', 'S1-02', [
+        ('nitric_acid', 904.2, 'g', 'HNO3, trace-metal grade', None, (65.0, '% w/w')), ('water', 486.9, 'g', 'solvent')], 'acid',
+      ('milestone_ethosup', 'cem_mars6', 'shimadzu_icpe9800', 'shimadzu_icpms2030'),
+      'typical: digestion and ICP sample acid; 1 L of 65 % w/w nitric acid, density 1.391 g/mL at 20 C (904.2 g HNO3 + 486.9 g water)'),
+    R('h2so4_96_1l', 'bottle_gl45_1000ml_clear', 'acids_cabinet', 'S1-03', [
+        ('sulfuric_acid', 1761.6, 'g', 'H2SO4', None, (96.0, '% w/w')), ('water', 73.4, 'g', 'solvent')], 'acid', [],
+      'typical stock: 1 L of 96 % w/w sulfuric acid, density 1.835 g/mL at 20 C (1761.6 g H2SO4 + 73.4 g water)'),
+    R('acetic_acid_1l', 'bottle_gl45_1000ml_clear', 'acids_cabinet', 'S1-04', [('acetic_acid', 1.0, 'L', 'glacial')], 'acid', [], 'typical stock'),
+    R('naoh_pellets_1kg', 'jar_hdpe_500g', 'bases_cabinet', 'S1-01', [('sodium_hydroxide', 500.0, 'g', 'pellets >= 98 %')], 'base', [],
+      'typical stock'),
+    R('naoh_0_1n_1l', 'bottle_hdpe_1000ml', 'bases_cabinet', 'S1-02', [
+        ('sodium_hydroxide', 4.000, 'g', 'NaOH', {'titer': '0.1000 mol/L +- 0.2 %'}, (0.1, 'mol/L')), ('water', 1.0, 'L', 'solvent')],
+      'base', ('metrohm_omnis', 'metrohm_899'), 'typical titrant: 0.1 mol/L x 1 L x 40.00 g/mol = 4.000 g NaOH'),
+    R('ammonia_25_1l', 'bottle_hdpe_1000ml', 'bases_cabinet', 'S1-03', [
+        ('ammonia', 226.8, 'g', 'NH3', None, (25.0, '% w/w')), ('water', 680.2, 'g', 'solvent')], 'base', [],
+      'typical stock: 1 L of 25 % w/w ammonia solution, density 0.907 g/mL at 20 C (226.8 g NH3 + 680.2 g water)'),
+    R('h2o2_30_500ml', 'bottle_hdpe_500ml', 'oxidizers_cabinet', 'S1-01', [
+        ('hydrogen_peroxide', 166.5, 'g', 'H2O2', None, (30.0, '% w/w')), ('water', 388.5, 'g', 'solvent')], 'oxidizer',
+      ('milestone_ethosup', 'cem_mars6'),
+      'typical: digestion oxidant; 0.5 L of 30 % w/w hydrogen peroxide, density 1.11 g/mL at 20 C (166.5 g H2O2 + 388.5 g water)'),
+    R('silver_nitrate_100g', 'bottle_glass_crm_unit', 'oxidizers_cabinet', 'S1-02', [('silver_nitrate', 100.0, 'g', '>= 99 %')], 'oxidizer', [],
+      'typical stock (chloride titrations)'),
+    R('phenol_100g', 'bottle_glass_crm_unit', 'toxics_cabinet', 'S1-01', [('phenol', 100.0, 'g', '>= 99 %')], 'toxic', [], 'typical stock'),
+    R('aniline_100ml', 'bottle_gl45_500ml_clear', 'toxics_cabinet', 'S1-02', [('aniline', 0.1, 'L', '>= 99 %')], 'toxic', [], 'typical stock'),
+    R('nitrobenzene_100ml', 'bottle_gl45_500ml_clear', 'toxics_cabinet', 'S1-03', [('nitrobenzene', 0.1, 'L', '>= 99 %')], 'toxic', [],
+      'typical stock'),
+    # ---- desiccator: hygroscopic primary standards
+    R('kbr_ir_grade', 'bottle_glass_crm_unit', 'desiccator', 'S1-03', [('potassium_bromide', 88.6, 'g', 'for IR spectroscopy (Uvasol)')],
+      'general', ('jasco_ftir4700', 'mt_quantos_q2_xpe206dr'),
+      'product: Merck 104907 potassium bromide for IR spectroscopy Uvasol (100 g pack; bulk density 900-1000 kg/m3, product page); '
+      '11.4 g of it filled the Quantos head qh_kbr_1; kept in the desiccator (hygroscopic); manual: ftir4600_kbr_procedure quick '
+      'guide (KBr pellet method)',
+      product={'maker': 'Merck', 'catalogue_number': '104907', 'name': 'Potassium bromide for IR spectroscopy Uvasol', 'pack': '100 g',
+               'bulk_density_kg_m3': [900, 1000], 'url': 'https://www.merckmillipore.com/product/Potassium-bromide,MDA_CHEM-104907'}),
+    R('khp_primary_std', 'bottle_glass_crm_unit', 'desiccator', 'S2-01', [('potassium_hydrogen_phthalate', 50.0, 'g', 'primary standard, dried')],
+      'general', ('metrohm_omnis', 'metrohm_899'), 'typical: titer determination of NaOH'),
+    R('sodium_carbonate_primary', 'bottle_glass_crm_unit', 'desiccator', 'S2-02', [('sodium_carbonate', 50.0, 'g', 'primary standard, dried')],
+      'general', ('metrohm_omnis',), 'typical: titer determination of acids'),
+    # ---- consumables cabinet
+    R('cons_plates_96_flat', 'box_microplates_96_flat_ps', 'consumables_cabinet', 'S1-01', [], 'general',
+      ('biotek_405ts', 'bmg_clariostarplus', 'opentrons_flex_single_5_1000ul'), 'typical', count=50),
+    R('cons_pcr_plates', 'box_pcr_plates_96_skirted', 'consumables_cabinet', 'S1-02', [], 'general',
+      ('biorad_cfxopus', 'azenta_automated_roll_heat_sealer_a4s'), 'typical', count=25),
+    R('cons_tubes_1p5ml', 'bag_tubes_1p5ml', 'consumables_cabinet', 'S1-03', [], 'general', [], 'typical', count=500),
+    R('cons_tubes_15ml', 'bag_tubes_conical_15ml', 'consumables_cabinet', 'S1-04', [], 'general', [], 'typical', count=50),
+    R('cons_tubes_50ml', 'bag_tubes_conical_50ml', 'consumables_cabinet', 'S1-05', [], 'general', [], 'typical', count=25),
+    R('cons_tubes_12x75', 'bag_tubes_12x75mm_ps', 'consumables_cabinet', 'S1-06', [], 'general', ('bd_facsariaiii',),
+      'manual: facsaria_iii_users_guide (12 x 75 mm sample tubes); the runtime\'s tube types include 12x75', count=125),
+    R('cons_vials_gc', 'box_vials_2ml_crimp', 'consumables_cabinet', 'S1-07', [], 'general', ('agilent_7890b_ssl_fid', 'agilent_gc8890b'),
+      'typical', count=100),
+    R('cons_vials_hplc', 'box_vials_2ml_screw', 'consumables_cabinet', 'S1-08', [], 'general',
+      ('agilent_hplc1260', 'agilent_1290infinity', 'agilent_1260infinity'), 'typical', count=100),
+    R('cons_vials_hs', 'box_vials_20ml_headspace', 'consumables_cabinet', 'S2-01', [], 'general', ('agilent_hs8697',), 'typical', count=100),
+    R('cons_tips_1000', 'tiprack_flex_1000ul', 'consumables_cabinet', 'S2-02', [], 'general', ('opentrons_flex_single_5_1000ul',),
+      'typical spare rack (one is on the deck)', count=96),
+    R('cons_tips_200', 'tiprack_flex_200ul', 'consumables_cabinet', 'S2-03', [], 'general', ('opentrons_flex_single_5_1000ul',),
+      'typical spare rack (one is on the deck)', count=96),
+    R('cons_dsc_pans', 'box_dsc_pans_tzero', 'consumables_cabinet', 'S2-04', [], 'general', ('ta_dsc2500',), 'typical', count=100),
+    R('cons_tin_capsules', 'box_tin_capsules', 'consumables_cabinet', 'S2-05', [], 'general', ('elementar_varioel',), 'typical', count=100),
+    R('cons_cuvettes_ps', 'box_cuvettes_ps_10mm', 'consumables_cabinet', 'S2-06', [], 'general', [], 'typical', count=100),
+    R('cons_cuvettes_quartz', 'cuvette_quartz_10mm_case', 'consumables_cabinet', 'S2-07', [], 'general', [], 'typical', count=4),
+    R('cons_nmr_tubes', 'box_nmr_tubes_5mm', 'consumables_cabinet', 'S2-08', [], 'general', ('magritek_spinsolve80',), 'typical', count=25),
+    R('cons_seal_film', 'roll_heat_seal_film', 'consumables_cabinet', 'S3-01', [], 'general', ('azenta_automated_roll_heat_sealer_a4s',),
+      'typical spare roll (one roll is threaded in the sealer)', count=1),
+]
+
+# ---- gas cylinders: (id, gas, cylinder type, amount mol, grade, place, position, instruments fed, source)
+CYLINDERS = [
+    ('cyl_n2_1', 'nitrogen', 'cylinder_50l_200bar', 410.0, '5.0 (99.999 %)', 'cylinder_rack', 'C1',
+     ('ta_dsc2500', 'ta_tga5500', 'ta_tma450', 'ta_dma850', 'netzsch_lfa467', 'surface_dvsresolution', 'porometer_poroluxrevo')),
+    ('cyl_n2_2', 'nitrogen', 'cylinder_50l_200bar', 400.1, '5.0 (99.999 %)', 'cylinder_rack', 'C2',
+     ('laboao_cvdltf12p50', 'bronkhorst_cemw', 'inert_puresolvmd', 'gas_flavourspec25gc', 'teledyne_atomxxyz', 'bronkhorst_p702cv_5bar_gauge_n2')),
+    ('cyl_ar_1', 'argon', 'cylinder_50l_200bar', 447.7, '5.0 (99.999 %)', 'cylinder_rack', 'C3',
+     ('shimadzu_icpe9800', 'shimadzu_icpms2030', 'laboao_cvdltf12p50', 'inert_purelab_he_2gb')),
+    ('cyl_he_1', 'helium', 'cylinder_50l_200bar', 410.0, '5.0 (99.999 %)', 'cylinder_rack', 'C4',
+     ('agilent_7890b_ssl_fid', 'agilent_gc8890b', 'antonpaar_ultrapyc5000', 'elementar_varioel', 'leco_onh836', 'markes_unityxr')),
+    ('cyl_o2_1', 'oxygen', 'cylinder_50l_200bar', 410.0, '4.8 (99.998 %)', 'cylinder_rack', 'C5',
+     ('ta_tga5500', 'elementar_varioel', 'shimadzu_tocl', 'ika_c6000')),
+    ('cyl_air_1', [('nitrogen', 0.795), ('oxygen', 0.205)], 'cylinder_50l_200bar', 410.0, 'synthetic air, hydrocarbon-free', 'cylinder_rack', 'C6',
+     ('agilent_7890b_ssl_fid', 'ta_dma850', 'jena_contraa800')),
+    ('cyl_co2_ref', 'carbon_dioxide', 'cylinder_10l_co2_liquefied', 170.0, '4.5, isotope reference gas', 'cylinder_rack', 'C7',
+     ('elementar_isoprimeprecision',)),
+    ('cyl_h2_1', 'hydrogen', 'cylinder_50l_200bar', 360.0, '5.0 (99.999 %)', 'gas_cabinet_flammable', 'G1', ('agilent_7890b_ssl_fid', 'agilent_gc8890b')),
+    ('cyl_ch4_1', 'methane', 'cylinder_50l_200bar', 525.1, '4.5 (99.995 %)', 'gas_cabinet_flammable', 'G2', ('laboao_cvdltf12p50',)),
+    ('cyl_c2h2_1', 'acetylene', 'cylinder_10l_acetylene', 77.0, '2.6, dissolved in acetone', 'gas_cabinet_flammable', 'G3', ('jena_contraa800',)),
+]
+CYL_SOURCE = {
+    'cylinder_50l_200bar': TYPICAL_CYL + ' (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)',
+    'cylinder_10l_200bar': 'typical: 10 L water capacity at 200 bar',
+    'cylinder_10l_acetylene': 'typical: a 10 L acetylene cylinder holds about 2 kg (77 mol) dissolved in acetone',
+    'cylinder_10l_co2_liquefied': 'typical: a 10 L CO2 cylinder holds 7.5 kg (170 mol) liquefied',
+}
+# cylinders whose content is computed from tabulated real-gas densities (the laboao gas panel)
+_NIST_CYL = ('NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and '
+             'query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json')
+CYL_SOURCE_BY_ID = {
+    'cyl_n2_2': 'full 50 L cylinder: 8.0018 mol/L x 50 L = 400.1 mol (' + _NIST_CYL + ')',
+    'cyl_ar_1': 'full 50 L cylinder: 8.9545 mol/L x 50 L = 447.7 mol (' + _NIST_CYL + ')',
+    'cyl_ch4_1': 'full 50 L cylinder: 10.502 mol/L x 50 L = 525.1 mol (' + _NIST_CYL + '); a 50 L cylinder like the hydrogen one (G1), was 10 L / 95 mol',
+}
+
+
+# ------------------------------------------------------------------ task-world variants of the inventory
+# name -> {"move": {record id: new location (+ "stored_in")}, "drop": [record ids], "entry_steps": {instrument: [set-up steps]}}
+# make_config writes configs/inventory_task_<name>.json and configs/all203_<name>.json (the lab config of that task world: same
+# default lab plus the entry steps, inventory = the variant file); chemlab and Matterix load the same pair.
+VARIANTS = {
+    # robot powder dosing: the Quantos starts empty (no head, no vial); the CaCO3 check head stands in its storage container on
+    # the bench shelf T2-03 and the pan vial waits in the vial rack; the robot inserts the KBr head and a vial itself
+    'quantos_powder': {
+        'move': {'qh_caco3_1': {'location': {'place': 'bench_shelf', 'position': 'T2-03'}, 'stored_in': 'quantos_head_container'},
+                 'quantos_vial_pan': {'location': {'place': 'vial_rack_bench', 'position': 'A04'}}},
+        'drop': ['qh_caco3_1_container'],              # the cup is the head's stored_in now
+        'set': {v: {'cap': 'off'} for v in ('quantos_vial_1', 'quantos_vial_2', 'quantos_vial_3', 'quantos_vial_pan')},   # opened for dosing
+        'entry_steps': {'mt_quantos_q2_xpe206dr': [{'replace_default': ['consumable']}]},
+        'about': 'robot powder dosing task (BRIEF_QUANTOS): Quantos empty at the start; heads in their containers on the bench '
+                 'shelf T2-03 (CaCO3) / T2-04 (KBr); empty 20 mL vials in the bench vial rack A01..A04 (row B stays empty)',
+    },
+}
+
+
+def variant(inv, name):
+    """The inventory of a task-world variant (VARIANTS[name]) built from the default inventory ``inv``."""
+    import copy as _copy
+    v = VARIANTS[name]
+    out = _copy.deepcopy(inv)
+    out['variant'] = name
+    out['about'] = inv['about'] + ' Variant %s: %s' % (name, v['about'])
+    out['containers'] = [r for r in out['containers'] if r['id'] not in set(v.get('drop') or [])]
+    for r in out['containers']:
+        r.update(_copy.deepcopy((v.get('set') or {}).get(r['id']) or {}))
+        mv = (v.get('move') or {}).get(r['id'])
+        if mv:
+            r['location'] = dict(mv['location'])
+            for k in ('stored_in',):
+                if k in mv:
+                    r[k] = catalog_type(mv[k])[0] if mv[k] in PROVISIONAL_TYPES else mv[k]
+    return out
+
+
+# ------------------------------------------------------------------ the labware catalog (assets/labware/catalog.json)
+CATALOG = CHEMSIM_ROOT / 'assets' / 'labware' / 'catalog.json'
+
+
+@lru_cache(maxsize=1)
+def _catalog():
+    return json.loads(CATALOG.read_text(encoding='utf-8')) if CATALOG.exists() else {}
+
+
+def _expand(rng, prefix=''):
+    """'S1-01..S2-06' -> S1-01 .. S1-06, S2-01 .. S2-06 (rows x positions); 'C1..C8' -> C1 .. C8; comma-separated ranges."""
+    import re
+    out = []
+    for part in [x.strip() for x in rng.split(',') if x.strip()]:
+        a, _, b = part.partition('..')
+        m1, m2 = re.match(r'^([A-Z]+)(\d+)(?:-(\d+))?$', a), re.match(r'^([A-Z]+)(\d+)(?:-(\d+))?$', b or a)
+        if m1.group(3) is None:
+            out += ['%s%s%d' % (prefix, m1.group(1), i) for i in range(int(m1.group(2)), int(m2.group(2)) + 1)]
+        else:
+            w = len(m1.group(3))
+            for r in range(int(m1.group(2)), int(m2.group(2)) + 1):
+                out += ['%s%s%d-%0*d' % (prefix, m1.group(1), r, w, i) for i in range(int(m1.group(3)), int(m2.group(3)) + 1)]
+    return out
+
+
+def places():
+    """PLACES with the furniture model and the position ids of the labware catalog (when it maps the place)."""
+    cat = _catalog().get('places') or {}
+    out = []
+    for p in PLACES:
+        p = dict(p)
+        if p.get('rack_type'):                              # a rack place: the catalog's rack model is its furniture
+            p['furniture'] = catalog_type(p['rack_type'])[0]
+        c = cat.get(p['id'])
+        if c:
+            p['furniture'] = c.get('furniture')
+            p['reach'] = c.get('reach')
+            p['positions'] = _expand(c['positions'], c.get('slot_prefix') or '')
+        out.append(p)
+    return out
+
+
+def catalog_type(provisional, record_id=None):
+    """(type id, status, note, count) of a provisional container type: the catalog's type when it is built (exact,
+    packaging_of, substitute; per record when the map gives per_record_units), else the provisional id (not_built)."""
+    m = (_catalog().get('inventory_type_map') or {}).get(provisional) or {}
+    m = (m.get('per_record_units') or {}).get(record_id) or m
+    if m.get('type') and m.get('status') in ('exact', 'packaging_of', 'substitute'):
+        return m['type'], m['status'], m.get('note'), m.get('count')
+    return provisional, m.get('status') or 'provisional', m.get('note'), None
+
+
+# ------------------------------------------------------------------ shared substance tables
+@lru_cache(maxsize=1)
+def _tables():
+    sub = json.loads((CHEMSIM_ROOT / 'assets' / 'reactions' / 'substances.json').read_text(encoding='utf-8'))['substances']
+    p = CHEMSIM_ROOT / 'assets' / 'reactions' / 'spectral_library' / 'compounds.json'
+    comp = json.loads(p.read_text(encoding='utf-8')) if p.exists() else {}
+    comp = comp.get('compounds', comp) if isinstance(comp, dict) else {c.get('id'): c for c in comp}
+    cw = json.loads((CHEMSIM_ROOT / 'assets' / 'reactions' / 'shared_id_crosswalk.json').read_text(encoding='utf-8'))
+    alias = dict(cw.get('substance_aliases') or {})
+    for lib in (cw.get('libraries') or {}).values():
+        for rec in lib.get('records') or []:
+            sh = rec.get('shared_ids') or {}
+            target = sh.get('substances') or sh.get('spectral_library')
+            if rec.get('record_id') and isinstance(target, str):
+                alias.setdefault(rec['record_id'], target)
+    return sub, comp, alias
+
+
+CLASS_ORDER = ('compressed_gas', 'flammable', 'oxidizer', 'toxic', 'acid', 'base', 'cold', 'general')
+
+
+def table_storage_class(sid):
+    """The shared substance table's storage class of ``sid`` (substances.json 1.1+), or None."""
+    sub, _, _ = _tables()
+    return (sub.get(sid) or {}).get('storage_class')
+
+
+def shared_substance(sid):
+    """(shared id, table) for an id: the id itself when substances.json / the compound table has it, else its crosswalk alias;
+    (sid, None) when neither knows it (a new substance)."""
+    sub, comp, alias = _tables()
+    for x in (sid, alias.get(sid)):
+        if x in sub:
+            return x, 'substances.json'
+        if x in comp:
+            return x, 'spectral_library/compounds.json'
+    return sid, None
+
+
+# ------------------------------------------------------------------ containers the default set-up put into instruments
+_ITEM_KEYS = ('sample_id', 'specimen_id', 'solution_id', 'tube_id', 'plate_id', 'gel_id', 'roll_id', 'head_id', 'container_id', 'rack_id',
+              'item_id', 'item', 'kit', 'reagent',
+              'bottle', 'label', 'standard_id', 'reference_id', 'template_id', 'substance_id')
+_LOADERS = ('load', 'place', 'install', 'mount', 'provide', 'prepare', 'fill', 'register', 'attach', 'insert', 'present', 'configure_bath')
+_SUBSTANCE_KEYS = ('substance_id', 'liquid', 'solvent', 'base', 'buffer_id', 'matrix_id', 'reagent', 'liquid_id', 'species_id')
+_POS_KEYS = ('slot', 'position', 'channel', 'station', 'cell', 'lane', 'slot_index', 'rack', 'vial_index', 'chamber')
+
+
+# runtime names of shared substances (CAS-style or abbreviations used by some runtimes)
+RUNTIME_ALIASES = {'THF': 'tetrahydrofuran', 'cas_67_56_1': 'methanol', 'DMF': 'dmf', 'DMSO': 'dmso', 'DCM': 'dichloromethane', 'NaCl': 'sodium_chloride'}
+
+
+def _substance_or_material(v):
+    """A shared substance id when the shared tables know the name (directly, by crosswalk or by RUNTIME_ALIASES); otherwise the
+    runtime's own material name (a mixture, a reagent kit, a template material), not claimed as a substance."""
+    sid, table = shared_substance(RUNTIME_ALIASES.get(v, v))
+    return {'substance': sid} if table else {'material': v}
+
+
+def _amount(args):
+    for k, unit, f in (('volume_m3', 'mL', 1e6), ('mass_kg', 'g', 1e3), ('source_mass_kg', 'g', 1e3), ('content_mass_kg', 'g', 1e3),
+                       ('amount_mol', 'mol', 1.0), ('initial_mol', 'mol', 1.0)):
+        v = args.get(k)
+        if isinstance(v, (int, float)) and v:
+            return {'value': round(v * f, 6), 'unit': unit}
+    return None
+
+
+# set-up steps that install hardware (mounts, accessories, columns, cartridges, slots ...), not contents
+HARDWARE_NOUNS = {'mount', 'accessory', 'slot', 'register gc', 'column', 'cartridge', 'head', 'probe', 'stage', 'piston', 'vessel',
+                  'cell', 'loading', 'grating', 'fixture', 'load template cell', 'stylus', 'pin'}
+
+
+def _phase(sid):
+    sub, _, _ = _tables()
+    s = sub.get(sid) or {}
+    return 'mixture' if s.get('kind') == 'mixture' else s.get('phase')
+
+
+def _instrument_records(cfg, stock_ids=()):
+    """What the default set-up put into each instrument (samples, standards, solutions, consumables; not hardware), one entry
+    per item, in plain words (no capability ids).  These are the instruments' own state: their composition is defined by each
+    instrument's runtime (its sample / template library), so a runtime material is named with "defined_by".  Items that are a
+    stock container registered with the instrument (``stock_ids``: the stock records' sample ids) stay with the stock record."""
+    from .hosts import contract_index
+    idx = contract_index()
+    out = []
+    for e in cfg['instruments']:
+        contract = None
+        seen = set()
+        mine = []
+        for st in e.get('setup') or []:
+            if st.get('default') not in ('standard', 'consumable', 'accessory'):
+                continue
+            name = st.get('host') or st.get('capability') or ''
+            if any(k in name for k in ('unload', 'remove', 'eject_sample')):     # the item taken out again (e.g. the blank)
+                noun = name.replace('host_', '').split('.', 1)[0].replace('_', ' ')
+                for i in range(len(mine) - 1, -1, -1):
+                    if mine[i]['kind'].split(' (')[0] == noun:
+                        seen.discard(mine[i].pop('_key'))
+                        del mine[i]
+                        break
+                continue
+            if not any(k in name for k in _LOADERS):
+                continue
+            args = st.get('arguments')
+            if args == 'contract_example':
+                if contract is None:
+                    contract = json.loads(idx[e['asset_type_id']].read_text(encoding='utf-8'))
+                args = (contract['capabilities'].get(name) or {}).get('example_arguments') or {}
+            if not isinstance(args, dict):
+                args = st.get('kwargs') or {}
+            item = next((str(args[k]) for k in _ITEM_KEYS if isinstance(args.get(k), (str, int)) and str(args.get(k)) != ''), None)
+            noun = name.replace('host_', '').split('.', 1)[0].replace('_', ' ')
+            item = item or noun.replace(' ', '_')
+            if item in stock_ids or noun in HARDWARE_NOUNS:
+                continue
+            pos = next(('%s %s' % (k, args[k]) for k in _POS_KEYS if args.get(k) not in (None, '')), None)
+            key = (item, noun, pos)
+            if key in seen:
+                continue
+            seen.add(key)
+            contents = []
+            defined_by = 'the %s runtime (sample / template %s)' % (e['id'], args.get('template_id') or item)
+            am = _amount(args)
+            for k in _SUBSTANCE_KEYS:
+                v = args.get(k)
+                if isinstance(v, str) and v:
+                    d = _substance_or_material(v)
+                    if d.get('substance') and am and am['unit'] in VOLUME_UNITS and _phase(d['substance']) not in ('liquid', 'mixture'):
+                        d = {'material': item, 'main_component': d['substance']}       # a solution of a solid / dissolved species
+                    if am:
+                        d['amount'] = am
+                    contents.append(d)
+                    break
+            for comp in args.get('components') or []:
+                if isinstance(comp, dict) and (comp.get('substance_id') or comp.get('species_id')):
+                    sid = comp.get('substance_id') or comp.get('species_id')
+                    d = _substance_or_material(sid)
+                    for ck, unit in (('molality_mol_kg', 'mol/kg'), ('concentration_mol_m3', 'mol/m3')):
+                        if comp.get(ck) is not None:
+                            d['concentration'] = {'value': comp[ck], 'unit': unit}
+                    if comp.get('amount_mol') is not None:
+                        d['amount'] = {'value': comp['amount_mol'], 'unit': 'mol'}
+                    elif comp.get('volume_m3') is not None:
+                        d['amount'] = {'value': round(comp['volume_m3'] * 1e6, 6), 'unit': 'mL'}
+                    contents.append(d)
+            if not contents:
+                d = {'material': item}
+                if args.get('template_id'):
+                    d['reference_template'] = args['template_id']
+                if am:
+                    d['amount'] = am
+                contents.append(d)
+            for d in contents:
+                if 'material' in d:
+                    d['defined_by'] = defined_by
+            kind = noun + (' (%s)' % args['kind'] if isinstance(args.get('kind'), str) and args['kind'] != noun else '')
+            mine.append({'id': '%s/%s' % (e['id'], item), 'kind': kind, 'contents': contents,
+                         'location': {'place': 'instrument', 'instrument': e['id'], 'position': pos},
+                         'for': [e['id']], 'source': st.get('why') or 'put in by the default lab set-up (%s)' % kind, '_key': key})
+        for r in mine:
+            r.pop('_key', None)
+        ids = {}
+        for r in mine:                                   # ids unique per instrument
+            n = ids.get(r['id'], 0)
+            ids[r['id']] = n + 1
+            if n:
+                r['id'] = '%s_%d' % (r['id'], n + 1)
+        out += mine
+    return out
+
+
+CONVENTIONS = (
+    'containers: one record per container in storage (Matterix spawns these). contents: shared substance ids '
+    '(assets/reactions/substances.json) with a physical amount (g, kg, mg, mL, L, uL, mol, mmol); a solution lists its solvent '
+    '(a liquid, by volume or mass) and every solute with its mass (or amount in mol) and its concentration; a mixture substance '
+    '(kind mixture in the table) describes itself. count = number of units in the container; per_unit = true: the contents '
+    'amounts are those of one unit; units = [{name, count, contents}] for a pack of different units (e.g. a kit or a standards '
+    'set). instrument_contents: what the default set-up put into each instrument (the instruments\' own state, not spawned): a '
+    'runtime material is named with defined_by (its composition is the instrument runtime\'s sample / template). cap: "on" | "off" - the closure of a container whose type '
+    'has one (catalog closure: screw cap, hinged or lift-off lid); absent = "on" (closed); "off" = opened, the cap set aside '
+    '(e.g. vials prepared open for a dosing run).')
+
+
+def all_contents(r):
+    """Every content of a record: its contents and those of its units."""
+    out = list(r.get('contents') or [])
+    for u in r.get('units') or []:
+        out += list(u.get('contents') or [])
+    return out
+
+
+def _storage_class(r, place_class):
+    """A container's storage class: the most restrictive class the shared substance table gives its contents; the record's own
+    class when the table knows none of them (mixtures, compound-table solvents); "cold" items keep "cold" unless hazardous."""
+    if r.get('keep_class'):                              # the record states why its class differs from the pure substance's
+        return r['storage_class']
+    found = [table_storage_class(c['substance']) for c in all_contents(r) if c.get('substance')]
+    found = [x for x in found if x]
+    if not found:
+        return r.get('storage_class') or 'general'
+    best = min(found, key=CLASS_ORDER.index)
+    if best == 'general' and (r.get('storage_class') == 'cold' or place_class == 'cold'):
+        return 'cold'
+    return best
+
+
+def build(cfg):
+    """The default inventory for a lab config whose set-up already holds the default world (make_config.build())."""
+    pls = places()
+    by_place = {p['id']: p for p in pls}
+    recs = [dict(r, location=dict(r['location'])) for r in STOCK]
+    for cid, gas, ctype, mol, grade, place, pos, feeds in CYLINDERS:
+        if isinstance(gas, str):
+            contents = [{'substance': gas, 'amount': {'value': mol, 'unit': 'mol'}, 'grade': grade}]
+        else:
+            contents = [{'substance': g, 'amount': {'value': round(mol * x, 3), 'unit': 'mol'}, 'mole_fraction': x, 'grade': grade}
+                        for g, x in gas]
+        recs.append({'id': cid, 'type': ctype, 'contents': contents,
+                     'location': {'place': place, 'position': pos}, 'storage_class': 'compressed_gas', 'for': list(feeds),
+                     'connected_to': list(feeds), 'source': CYL_SOURCE_BY_ID.get(cid, CYL_SOURCE[ctype])})
+    inside = _instrument_records(cfg, {r.get('sample_id') for r in STOCK if r.get('sample_id')})
+    ids = {e['id'] for e in cfg['instruments']}
+    cat_types = _catalog().get('types') or {}
+    for r in recs:
+        r['for'] = [i for i in r.get('for') or [] if i in ids]          # only instruments of this lab
+        if 'connected_to' in r:
+            r['connected_to'] = [i for i in r['connected_to'] if i in ids]
+        loc, p = r['location'], by_place.get(r['location']['place']) or {}
+        if p.get('positions') and loc.get('position') not in p['positions']:     # catalog slot prefixes (A: / B: compartments)
+            pref = next((x[:x.index(':') + 1] for x in p['positions'] if ':' in x), '')
+            if pref and pref + str(loc.get('position')) in p['positions']:
+                loc['position'] = pref + loc['position']
+        if r['type'] in PROVISIONAL_TYPES and r['type'] != 'in_instrument_item':
+            r.setdefault('description', PROVISIONAL_TYPES[r['type']])
+            t, status, note, count = catalog_type(r['type'], r['id'])
+            r['provisional_type'] = r['type']
+            r['type'], r['type_status'] = t, status
+            if note:
+                r['type_note'] = note
+            if count and not r.get('count'):
+                r['count'] = count
+        if r.get('stored_in') in PROVISIONAL_TYPES:                     # the container it stands in (e.g. a head's storage cup)
+            r['stored_in'] = catalog_type(r['stored_in'])[0]
+        if r['location']['place'] != 'instrument':
+            r['storage_class'] = _storage_class(r, p.get('storage_class'))
+    used = sorted({c['substance'] for r in recs + inside for c in all_contents(r) if c.get('substance')})
+    new = {s: NEW_SUBSTANCES.get(s, {'why': 'not in the shared tables'}) for s in used if shared_substance(s)[1] is None}
+    types = sorted({r['type'] for r in recs})
+    return {'about': 'The default lab\'s physical inventory (chemlab/inventory.py): one record per container at a storage place and '
+                     'position, with contents, storage class and source. Matterix can spawn the same containers; chemlab shows them '
+                     '(chemlab list --inventory [ID]). Moving a container is a host or robot action.',
+            'storage_classes': list(STORAGE_CLASSES),
+            'places': [dict(p, slots=len(p['positions'])) for p in pls],
+            'container_types': {t: (PROVISIONAL_TYPES.get(t) or (cat_types.get(t) or {}).get('name') or
+                                    (cat_types.get(t) or {}).get('description') or '') for t in types},
+            'container_types_source': 'assets/labware/catalog.json types (inventory_type_map); ids still provisional where the catalog '
+                                      'has not built the item (type_status not_built)',
+            'new_substances': new,
+            'conventions': CONVENTIONS,
+            'containers': recs,
+            'instrument_contents': inside}
+
+
+def height_m(r):
+    """A container's height (m, with cap): the catalog type's size, the plate carrier's when it sits on one, else the typical
+    height of a provisional type; None when unknown."""
+    cat_types = _catalog().get('types') or {}
+    h = None
+    if r.get('on_carrier'):
+        h = ((cat_types.get(r['on_carrier']) or {}).get('size_m') or [None] * 3)[2]
+    t = cat_types.get(r['type']) or {}
+    if t.get('size_m'):
+        h = max(h or 0.0, t['size_m'][2])
+    if h is None:
+        h = PROVISIONAL_HEIGHTS_M.get(r.get('provisional_type') or r['type'])
+    return h
+
+
+def _bench_rule(inv):
+    """Tier T1 of the bench shelf: both neighbours of every container at most BENCH_T1_NEIGHBOUR_MAX_M tall."""
+    t1 = {r['location']['position']: r for r in inv['containers']
+          if r['location']['place'] == 'bench_shelf' and str(r['location'].get('position', '')).startswith('T1-')}
+    bad = []
+    for pos, r in sorted(t1.items()):
+        n = int(pos.split('-')[1])
+        for m in (n - 1, n + 1):
+            nb = t1.get('T1-%02d' % m)
+            if nb is None:
+                continue
+            h = height_m(nb)
+            if h is None or h > BENCH_T1_NEIGHBOUR_MAX_M:
+                bad.append('bench_shelf %s: neighbour %s of %s is %s m tall (T1 neighbours at most %.3f m)' % (
+                    nb['location']['position'], nb['id'], r['id'], h if h is not None else 'unknown', BENCH_T1_NEIGHBOUR_MAX_M))
+    return sorted(set(bad))
+
+
+def _bench_grasp(inv):
+    """Everything on the bench shelf is for the robot: its type (or the carrier it sits on) must be graspable by the Franka hand
+    (catalog franka_grasp_ok), unless the record says it is stock only ("stock_only")."""
+    cat_types = _catalog().get('types') or {}
+    bad = []
+    for r in inv['containers']:
+        if r['location']['place'] != 'bench_shelf' or r.get('stock_only'):
+            continue
+        t = cat_types.get(r.get('on_carrier') or r['type']) or {}
+        if t.get('franka_grasp_ok') is False:
+            bad.append('bench_shelf %s: %s (%s) is not graspable by the robot hand' % (r['location'].get('position'), r['id'],
+                                                                                      r.get('on_carrier') or r['type']))
+    return bad
+
+
+def _content_rules(rid, contents, sub, strict=True):
+    """R1 every substance id is in substances.json; R2 amounts in AMOUNT_UNITS only; R3 a solution's solutes have a mass / amount
+    in mol (or a concentration) - a solid or dissolved species is never booked as a volume; a runtime material given as a volume
+    names its definition (defined_by) or reference template."""
+    bad = []
+    for c in contents:
+        am = c.get('amount')
+        if am is not None and (not isinstance(am, dict) or am.get('unit') not in AMOUNT_UNITS or not isinstance(am.get('value'), (int, float))):
+            bad.append('%s: amount %s is not a physical amount (%s)' % (rid, am, ', '.join(AMOUNT_UNITS)))
+        if strict and am is None:
+            bad.append('%s: content %s has no amount' % (rid, c.get('substance') or c.get('material')))
+        sid = c.get('substance')
+        if sid is not None:
+            if sid not in sub:
+                bad.append('%s: substance %s is not in substances.json' % (rid, sid))
+                continue
+            s = sub[sid]
+            if am and am.get('unit') in VOLUME_UNITS and s.get('phase') != 'liquid' and s.get('kind') != 'mixture':
+                bad.append('%s: %s (%s) booked as a volume: give the solute mass and its solvent' % (rid, sid, s.get('phase')))
+        elif c.get('material') is not None:
+            if strict:
+                bad.append('%s: content %s is not a shared substance' % (rid, c['material']))
+            elif am and am.get('unit') in VOLUME_UNITS and not (c.get('defined_by') or c.get('reference_template')):
+                bad.append('%s: material %s given as a volume without its definition' % (rid, c['material']))
+        else:
+            bad.append('%s: content without substance or material' % rid)
+    solvents = [c for c in contents if c.get('substance') in sub and (c.get('amount') or {}).get('unit') in VOLUME_UNITS]
+    if strict and len(contents) > 1 and not solvents and not all((c.get('amount') or {}).get('unit') in ('g', 'kg', 'mg', 'mol', 'mmol')
+                                                                   for c in contents):
+        bad.append('%s: a multi-component content list needs masses or a solvent volume' % rid)
+    return bad
+
+
+def check(inv):
+    """Problems of an inventory: unknown places / types, positions out of a place or used twice, storage class against the place,
+    the bench shelf's T1 neighbour-height rule, robot-graspable bench items, and the content rules (_content_rules)."""
+    places_ = {p['id']: p for p in inv['places']}
+    cat_types = _catalog().get('types') or {}
+    bad, used = [], {}
+    for r in inv['containers']:
+        loc = r['location']
+        p = places_.get(loc['place'])
+        if p is None:
+            bad.append('%s: unknown place %s' % (r['id'], loc['place']))
+            continue
+        if p['id'] == 'instrument' and not loc.get('instrument'):
+            bad.append('%s: at an instrument without naming it' % r['id'])
+        if p['positions']:
+            if loc.get('position') not in p['positions']:
+                bad.append('%s: position %s not in %s' % (r['id'], loc.get('position'), p['id']))
+            k = (p['id'], loc.get('position'))
+            if k in used:
+                bad.append('%s and %s share %s %s' % (used[k], r['id'], *k))
+            used[k] = r['id']
+        if r['type'] not in inv['container_types'] or (r['type'] not in PROVISIONAL_TYPES and cat_types and r['type'] not in cat_types):
+            bad.append('%s: unknown type %s' % (r['id'], r['type']))
+        if r['storage_class'] not in STORAGE_CLASSES:
+            bad.append('%s: unknown storage class %s' % (r['id'], r['storage_class']))
+        pc = p.get('storage_class')
+        if pc in ('flammable', 'acid', 'base', 'oxidizer', 'toxic') and r['storage_class'] != pc:
+            bad.append('%s (%s) in the %s place %s' % (r['id'], r['storage_class'], pc, p['id']))
+        if r['storage_class'] in ('acid', 'base', 'oxidizer', 'toxic', 'compressed_gas') and pc not in (r['storage_class'], 'compressed_gas') \
+                and p['id'] != 'instrument':
+            bad.append('%s (%s) stored in %s' % (r['id'], r['storage_class'], p['id']))
+        if r['storage_class'] == 'cold' and pc != 'cold' and p['id'] != 'instrument':
+            bad.append('%s (cold) stored in %s' % (r['id'], p['id']))
+    sub = _tables()[0]
+    for r in inv['containers']:
+        bad += _content_rules(r['id'], r.get('contents') or [], sub)
+        for u in r.get('units') or []:
+            if not isinstance(u.get('count'), int) or u['count'] < 1:
+                bad.append('%s: unit %s has no count' % (r['id'], u.get('name')))
+            bad += _content_rules('%s [%s]' % (r['id'], u.get('name')), u.get('contents') or [], sub)
+        if r.get('per_unit') and not (isinstance(r.get('count'), int) and r['count'] >= 1):
+            bad.append('%s: per_unit contents without a count' % r['id'])
+    for r in inv.get('instrument_contents') or []:
+        bad += _content_rules(r['id'], r.get('contents') or [], sub, strict=False)
+    for r in inv['containers']:                            # cap: on / off, and only on a type with a closure
+        if 'cap' in r:
+            if r['cap'] not in ('on', 'off'):
+                bad.append('%s: cap %r is not "on" or "off"' % (r['id'], r['cap']))
+            elif not (cat_types.get(r['type']) or {}).get('closure'):
+                bad.append('%s: cap given but its type %s has no closure' % (r['id'], r['type']))
+    for r in inv['containers']:                            # rack rows the robot cannot use stay empty (vial rack row B)
+        p = places_.get(r['location']['place']) or {}
+        pos = str(r['location'].get('position') or '')
+        if p.get('access') == 'top_down' and any(pos.startswith(x) for x in p.get('robot_forbidden_prefixes') or []):
+            bad.append('%s: %s %s is a position the robot cannot use (keep it empty)' % (r['id'], p['id'], pos))
+    for r in inv['containers']:                            # no "in reach" claim at a place the arm reaches only from the side
+        p = places_.get(r['location']['place']) or {}
+        text = ' '.join(str(r.get(k) or '') for k in ('source', 'description')).lower()
+        if p.get('access') == 'side_only' and ('in reach' in text or 'within reach' in text):
+            bad.append('%s: claims "in reach" at %s, a side-access-only place' % (r['id'], p['id']))
+    return bad + _bench_rule(inv) + _bench_grasp(inv)
+
+
+# ------------------------------------------------------------------ reading it (lab config "inventory")
+def resolve(cfg):
+    """The inventory of a lab config: config["inventory"] is the records inline (a dict) or a file name (configs/ or absolute)."""
+    inv = cfg.get('inventory')
+    if isinstance(inv, dict):
+        return inv
+    if isinstance(inv, str):
+        p = Path(inv)
+        cands = [p] if p.is_absolute() else ([Path(cfg['source']).parent / inv] if cfg.get('source') else []) + \
+            [Path(__file__).resolve().parents[1] / 'configs' / inv]
+        for c in cands:                                  # next to the config file, else configs/
+            if c.exists():
+                return _load_cached(str(c.resolve()), c.stat().st_mtime)
+    return {'containers': [], 'places': []}
+
+
+@lru_cache(maxsize=4)
+def _load_cached(path, mtime):
+    return json.loads(Path(path).read_text(encoding='utf-8'))
+
+
+def contents_text(r):
+    if r.get('units'):
+        return '; '.join('%s%s: %s' % ('%d x ' % u['count'] if u.get('count', 1) > 1 else '', u.get('name'),
+                                       contents_text({'contents': u.get('contents')})) for u in r['units'])
+    parts = []
+    for c in r.get('contents') or []:
+        what = c.get('substance') or c.get('material') or '?'
+        am = c.get('amount') or {}
+        s = what + (' %g %s' % (am['value'], am['unit']) if am.get('value') is not None else '')
+        if c.get('grade'):
+            s += ' (%s)' % c['grade']
+        if c.get('certificate'):
+            s += ' [certificate: %s]' % ', '.join('%s %s' % kv for kv in c['certificate'].items())
+        if c.get('concentration'):
+            s += ' [%g %s]' % (c['concentration']['value'], c['concentration']['unit'])
+        if c.get('reference_template'):
+            s += ' [reference %s]' % c['reference_template']
+        parts.append(s)
+    if not parts and r.get('description'):
+        parts.append(r['description'])
+    if r.get('count'):
+        if r.get('per_unit') and parts:
+            return '%d units, each: %s' % (r['count'], '; '.join(parts))
+        parts.append('%d pieces' % r['count'])
+    return '; '.join(parts) or 'empty'
+
+
+def where_text(r):
+    loc = r['location']
+    if loc['place'] == 'instrument':
+        return 'in %s%s' % (loc.get('instrument'), (' (%s)' % loc['position']) if loc.get('position') else '')
+    s = '%s %s' % (loc['place'], loc.get('position') or '')
+    if r.get('on_carrier'):
+        s += ', on a plate carrier'
+    if r.get('stored_in'):
+        s += ', in its storage container'
+    if r.get('connected_to'):
+        s += ', piped to ' + ', '.join(r['connected_to'])
+    return s.strip()
diff --git a/chemlab/chemlab/lab.py b/chemlab/chemlab/lab.py
new file mode 100644
index 0000000000000000000000000000000000000000..ddba37e178af0586fb61cc375040318b8d98a0cd
--- /dev/null
+++ b/chemlab/chemlab/lab.py
@@ -0,0 +1,108 @@
+"""Putting the layers together for one instrument session: backend + core service + socket server + sandboxed shell.
+
+    lab = Lab(deck, run_dir, speed=20).start()
+    r = lab.sh('chemlab run flex power on')      # runs inside the sandbox, through the client and the socket
+    state = lab.backend.evaluator_state()        # the evaluator view (checkers only; never reachable from the shell)
+    lab.stop()
+"""
+import os
+import secrets
+import shutil
+import signal
+import subprocess
+import time
+from pathlib import Path
+
+from .backend import FastSimFlexBackend
+from .core import CoreService
+from .flex_verbs import FlexInstrument
+from .sandbox import require as require_sandbox, sandbox_argv, sandbox_env
+from .server import LabServer
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[1]
+CLIENT_SRC = CHEMLAB_ROOT / 'client' / 'chemlab_client.c'
+BIN_DIR = CHEMLAB_ROOT / 'build' / 'bin'
+
+
+def build_client(force=False):
+    """Compile the thin client into build/bin/chemlab (static if possible).  Returns the bin directory."""
+    out = BIN_DIR / 'chemlab'
+    if not force and out.exists() and out.stat().st_mtime >= CLIENT_SRC.stat().st_mtime:
+        return BIN_DIR
+    BIN_DIR.mkdir(parents=True, exist_ok=True)
+    cc = os.environ.get('CC') or shutil.which('cc') or shutil.which('gcc') or shutil.which('clang')
+    if cc is None:
+        raise RuntimeError('a C compiler (cc, gcc or clang; or set CC) is needed once to build the chemlab command-line client '
+                           '%s into %s. Install one (e.g. "apt install gcc"), or build it elsewhere and copy the binary there.'
+                           % (CLIENT_SRC, out))
+    tmp = out.with_suffix('.tmp')
+    r = subprocess.run([cc, '-O2', '-Wall', '-static', '-o', str(tmp), str(CLIENT_SRC)], capture_output=True, text=True)
+    if r.returncode != 0:
+        r = subprocess.run([cc, '-O2', '-Wall', '-o', str(tmp), str(CLIENT_SRC)], capture_output=True, text=True)
+    if r.returncode != 0:
+        raise RuntimeError('building the chemlab client with %s failed:\n%s' % (cc, r.stderr))
+    os.replace(tmp, out)
+    return BIN_DIR
+
+
+class ShellResult:
+    def __init__(self, command, exit_code, out, err, wall_s, timed_out=False):
+        self.command, self.exit_code, self.out, self.err, self.wall_s, self.timed_out = command, exit_code, out, err, wall_s, timed_out
+
+    def __repr__(self):
+        return 'ShellResult(exit=%s, out=%r, err=%r)' % (self.exit_code, self.out[-200:], self.err[-200:])
+
+
+class Lab:
+    def __init__(self, deck, run_dir, *, faults=None, protocols=(), speed=None, callers=('agent',), lease_s=120.0):
+        self.run_dir = Path(run_dir).resolve()
+        self.work = self.run_dir / 'work'
+        self.work.mkdir(parents=True, exist_ok=True)
+        self.backend = FastSimFlexBackend(deck, faults=faults, protocols=protocols)
+        self.core = CoreService(self.backend, FlexInstrument, log_path=str(self.run_dir / 'core_log.jsonl'), lease_s=lease_s)
+        self.tokens = {c: secrets.token_hex(16) for c in callers}
+        self.server = LabServer(self.core, self.run_dir, {t: c for c, t in self.tokens.items()})
+        self.speed = speed
+        self.bindir = str(build_client())
+        self.transcript = []
+
+    def start(self):
+        self.server.start()
+        if self.speed:
+            self.backend.start_clock(self.speed)
+        return self
+
+    def stop(self):
+        self.backend.stop_clock()
+        self.server.stop()
+
+    def __enter__(self):
+        return self.start()
+
+    def __exit__(self, *exc):
+        self.stop()
+
+    def env(self, caller='agent'):
+        return sandbox_env(str(self.work), self.bindir, {'CHEMLAB_SOCKET': self.server.path, 'CHEMLAB_TOKEN': self.tokens[caller]})
+
+    def sh(self, command, caller='agent', timeout=600):
+        """Run a bash command inside the sandbox (as an agent would)."""
+        require_sandbox()
+        t0 = time.monotonic()
+        p = subprocess.Popen(sandbox_argv(str(self.work), self.bindir, command), env=self.env(caller), stdout=subprocess.PIPE,
+                             stderr=subprocess.PIPE, start_new_session=True)
+        timed_out = False
+        try:
+            out, err = p.communicate(timeout=timeout)
+        except subprocess.TimeoutExpired:
+            timed_out = True
+            os.killpg(p.pid, signal.SIGKILL)                                # our own child's process group
+            out, err = p.communicate()
+        r = ShellResult(command, p.returncode, out.decode('utf-8', 'replace'), err.decode('utf-8', 'replace'), time.monotonic() - t0, timed_out)
+        self.transcript.append({'caller': caller, 'command': command, 'exit': r.exit_code, 'stdout': r.out, 'stderr': r.err,
+                                'wall_s': round(r.wall_s, 3), 'timed_out': timed_out, 'sim_time_s': self.backend.now()})
+        return r
+
+    def chemlab(self, *args, caller='agent'):
+        """Call the core directly (in-process, no sandbox) - for tests and the trusted host."""
+        return self.core.handle(['chemlab'] + list(args), caller)
diff --git a/chemlab/chemlab/labbackend.py b/chemlab/chemlab/labbackend.py
new file mode 100644
index 0000000000000000000000000000000000000000..c707c124140cef124a947eec468e4368e410a700
--- /dev/null
+++ b/chemlab/chemlab/labbackend.py
@@ -0,0 +1,525 @@
+"""Layer 1 for the generic agent layer: a simulated lab of 1 to 203 instruments with one clock.
+
+Each instrument is a Chemistry-Sim runtime host built from its Matterix recipe (recipes.py, hosts.py).  The backend speaks
+only the lab protocol 1.0.0 to the runtimes (describe / read / invoke / write / poll / cancel) plus the clock:
+
+* principals: every caller gets its own agent principal ``chemlab_agent_<caller>`` in each runtime; the lab's
+  ``chemlab_operator`` (agent level) performs the operator gestures of the host set-up (power on, home screen); the lab's
+  ``chemlab_evaluator`` does the world set-up and is used by checkers.  The evaluator is never reachable from callers.
+* one clock: ``advance(dt)`` moves every runtime forward in lockstep steps of ``step_s`` with its recipe's advance mode.
+* host set-up (from the lab config): steps in the release bring-up format (capability + arguments or "contract_example",
+  ``evaluator`` flag, ``advance_s``) plus trusted ``host`` method calls.  The set-ups are aligned so that every instrument
+  finishes its set-up at the same lab time T0, which is where the lab clock starts.
+
+What the agent may see is decided here once per instrument (``AgentView``): contract visibility 'agent' (and, for
+capabilities, availability 'implemented' and present in the runtime's own agent describe).  Everything else is hidden.
+"""
+import copy
+import importlib
+import json
+import math
+import re
+import shutil
+import threading
+from pathlib import Path
+
+from . import recipes as R
+from .hosts import CHEMSIM_ROOT, RuntimeHost, contract_index
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[1]
+CONFIG_DIR = CHEMLAB_ROOT / 'configs'
+DEFAULT_CONFIG = CONFIG_DIR / 'all203.json'
+OPERATOR, EVALUATOR = 'chemlab_operator', 'chemlab_evaluator'
+CODE_RE = re.compile(r'^[A-Z][A-Z0-9_]{1,63}$')
+ID_RE = re.compile(r'^[a-z0-9][a-z0-9_]{0,63}$')
+
+
+class ConfigError(Exception):
+    pass
+
+
+def agent_principal(caller):
+    return 'chemlab_agent_%s' % caller
+
+
+def load_config(path_or_dict=None):
+    if isinstance(path_or_dict, dict):
+        cfg = copy.deepcopy(path_or_dict)
+    else:
+        p = Path(path_or_dict or DEFAULT_CONFIG)
+        cfg = json.loads(p.read_text(encoding='utf-8'))
+        cfg.setdefault('source', str(p))
+    if not isinstance(cfg.get('instruments'), list) or not cfg['instruments']:
+        raise ConfigError('the lab config needs a non-empty "instruments" list')
+    seen = set()
+    for e in cfg['instruments']:
+        if 'asset_type_id' not in e:
+            raise ConfigError('every instrument needs an asset_type_id')
+        e.setdefault('id', e['asset_type_id'].split('.', 1)[1])
+        if not ID_RE.match(e['id']) or e['id'] in seen:
+            raise ConfigError('bad or repeated instrument id %r (lower-case letters, digits, _)' % e['id'])
+        seen.add(e['id'])
+    return cfg
+
+
+def _exc_response(exc, request_id=None, side_effects='unknown'):
+    """A runtime raised instead of answering: an envelope with the exception kept (code when it carries one)."""
+    text = str(exc)
+    code = text if CODE_RE.match(text or '') else 'RUNTIME_EXCEPTION'
+    status = 'rejected' if code != 'RUNTIME_EXCEPTION' else 'failed'
+    return {'protocol_version': '1.0.0', 'request_id': request_id, 'operation_id': None, 'status': status, 'result': {},
+            'observations': {}, 'raised': type(exc).__name__,
+            'error': {'code': code, 'message': text if code == 'RUNTIME_EXCEPTION' else None, 'retryable': False,
+                      'side_effects': side_effects}}
+
+
+def _norm_caps(caps):
+    if isinstance(caps, dict):
+        return caps
+    if isinstance(caps, list):
+        return {c.get('capability_id') or c.get('id'): c for c in caps if isinstance(c, dict)}
+    return {}
+
+
+class Redactor:
+    """Removes a set of ids from agent output: dict keys that are such ids are dropped, mentions in text become [hidden]."""
+
+    def __init__(self, hidden):
+        self.hidden = sorted(h for h in hidden if h)
+        self.hidden_set = set(self.hidden)
+        self._hidden_re = None
+        if self.hidden:
+            self._hidden_re = re.compile(r'(?<![A-Za-z0-9_.])(%s)(?![A-Za-z0-9_])' % '|'.join(re.escape(h) for h in
+                                                                                          sorted(self.hidden, key=len, reverse=True)))
+
+    def redact(self, obj, found=None, allow=()):
+        """``allow``: ids the caller typed itself (echoing them back reveals nothing, and keeps hidden == nonexistent)."""
+        if isinstance(obj, dict):
+            out = {}
+            for k, v in obj.items():
+                if isinstance(k, str) and k in self.hidden_set and k not in allow:
+                    if found is not None:
+                        found.add(k)
+                    continue
+                out[k] = self.redact(v, found, allow)
+            return out
+        if isinstance(obj, list):
+            return [self.redact(v, found, allow) for v in obj]
+        if isinstance(obj, str) and self._hidden_re is not None:
+            def sub(m):
+                if m.group(1) in allow:
+                    return m.group(1)
+                if found is not None:
+                    found.add(m.group(1))
+                return '[hidden]'
+            return self._hidden_re.sub(sub, obj)
+        return obj
+
+
+class AgentView(Redactor):
+    """What one instrument shows to agents, decided from its contract and the runtime's own agent describe."""
+
+    def __init__(self, contract, agent_describe, evaluator_describe):
+        caps = contract['capabilities']
+        slots = contract['state_slots']
+        rcaps = _norm_caps((agent_describe or {}).get('capabilities'))
+        ecaps = _norm_caps((evaluator_describe or {}).get('capabilities'))
+        eslots = (evaluator_describe or {}).get('state_slots') or {}
+        self.callable = {cid for cid, c in caps.items() if c.get('visibility') == 'agent'}
+        self.capabilities = {cid: c for cid, c in caps.items()
+                             if c.get('visibility') == 'agent' and c.get('availability') == 'implemented' and (not rcaps or cid in rcaps)}
+        self.unsupported = {cid: c.get('availability') for cid, c in caps.items()
+                            if c.get('visibility') == 'agent' and c.get('availability') != 'implemented'}
+        # the agent slots are the contract's; reads are filtered to them.  Runtime and contract slot ids are identical for all 203.
+        self.slots = {sid: s for sid, s in slots.items() if s.get('visibility') == 'agent'}   # contract id -> spec
+        visible = set(self.callable) | set(self.slots)
+        hidden = {cid for cid, c in caps.items() if c.get('visibility') != 'agent'}
+        hidden |= {sid for sid, s in slots.items() if s.get('visibility') != 'agent'}
+        hidden |= set(ecaps) | set(eslots)
+        self.visible = visible
+        Redactor.__init__(self, hidden - visible)
+
+
+class LabInstrument:
+    def __init__(self, entry, recipe, contract_path, panel):
+        self.entry = entry
+        self.id = entry['id']
+        self.asset_type_id = entry['asset_type_id']
+        self.name = entry.get('name') or self.id
+        self.brand, self.model, self.domain = entry.get('brand'), entry.get('model'), entry.get('domain')
+        self.recipe = dict(recipe)
+        self.recipe.update(entry.get('recipe') or {})
+        self.contract_path = Path(contract_path)
+        self.contract = json.loads(self.contract_path.read_text(encoding='utf-8'))
+        self.panel = panel                       # {'spec': dict, 'main_display': str} or None
+        self.host = None
+        self.scene = None                        # optional host-side scene from the config entry ("scene": "module:Class")
+        self.view = None
+        self.setup_report = []
+
+
+class LabBackend:
+    """All instruments of one lab, their principals and the lab clock.  Thread-safe (one lock)."""
+
+    def __init__(self, config=None, *, run_dir, callers=('agent',), step_s=None, setup=True):
+        self.config = load_config(config)
+        self.run_dir = Path(run_dir).resolve()
+        self.capture_root = self.run_dir / 'captures'
+        self.step_s = float(step_s or self.config.get('step_s') or 1.0)
+        self.callers = list(callers)
+        self.time_s = 0.0
+        self._lock = threading.RLock()
+        recipes = R.all_recipes(self.config.get('recipes_path'))
+        index = contract_index()
+        self.instruments = {}
+        for e in self.config['instruments']:
+            atid = e['asset_type_id']
+            if atid not in recipes and not e.get('recipe'):
+                raise ConfigError('no Matterix recipe for %s' % atid)
+            if atid not in index:
+                raise ConfigError('no contract for %s' % atid)
+            self.instruments[e['id']] = LabInstrument(e, recipes.get(atid, {}), index[atid], None)
+            self.instruments[e['id']].panel = _panel_info(e, self.instruments[e['id']].contract)
+        for inst in self.instruments.values():
+            self._build(inst, t0=0.0)
+        hidden_any, visible_any = set(), set()
+        for inst in self.instruments.values():
+            hidden_any |= inst.view.hidden_set
+            visible_any |= inst.view.visible
+        # ids hidden on some instrument and visible on none: never shown in any output (contract prose of one instrument can
+        # mention another instrument's evaluator capability, e.g. "sim.step")
+        self.global_view = Redactor(hidden_any - visible_any)
+        if setup:
+            self._run_setups()
+
+    # ------------------------------------------------------------------ building
+    def _build(self, inst, t0):
+        inst.host = RuntimeHost(inst.asset_type_id, inst.recipe, inst.entry.get('instance_id') or inst.id, t0=t0,
+                                capture_dir=self.capture_root / inst.id)
+        rt = getattr(inst.host, 'host', None)
+        if inst.recipe.get('advance') is None and callable(getattr(rt, 'host_update', None)):
+            # no advance mode, but the runtime keeps timed events that only host_update() processes (Agilent 8697 sequences,
+            # diagnostics, tray calibration; DR6000 also syncs on access): run it after every clock step, as its firmware would.
+            # A recipe with advance "clock_host_update" calls host_update() itself (hosts.RuntimeHost.advance): no hook then.
+            orig, host = inst.host.advance, inst.host
+
+            def advance(dt, _orig=orig, _rt=rt, _host=host):
+                _orig(dt)                                                   # the clock moved; an update error must not move it again
+                try:
+                    _rt.host_update()
+                except Exception as exc:                                    # noqa: BLE001 - recorded like a failed clock step
+                    _host.clock_errors.append('t=%.3f s host_update %s: %s' % (_host.t0 + _host.local_s, type(exc).__name__, exc))
+                    del _host.clock_errors[:-20]
+            inst.host.advance = advance
+            inst.clock_hook = 'host_update'
+        else:
+            inst.clock_hook = None
+        inst.scene = None
+        if inst.entry.get('scene'):                                         # trusted host-side world (e.g. the Flex deck, compile layer)
+            mod, _, cls = inst.entry['scene'].partition(':')
+            inst.scene = getattr(importlib.import_module(mod), cls)(self, inst)
+        for c in self.callers:
+            inst.host.open_session(agent_principal(c), 'agent')
+        inst.host.open_session(OPERATOR, 'agent')
+        inst.host.open_session(EVALUATOR, 'evaluator')
+        a = self._safe(lambda: inst.host.describe(agent_principal(self.callers[0])) if self.callers else None)
+        ev = self._safe(lambda: inst.host.describe(EVALUATOR))
+        inst.view = AgentView(inst.contract, a if isinstance(a, dict) else None, ev if isinstance(ev, dict) else None)
+
+    @staticmethod
+    def _safe(fn):
+        try:
+            return fn()
+        except Exception as exc:                                            # noqa: BLE001
+            return {'raised': type(exc).__name__, 'message': str(exc)}
+
+    def add_caller(self, caller):
+        with self._lock:
+            if caller not in self.callers:
+                self.callers.append(caller)
+                for inst in self.instruments.values():
+                    inst.host.open_session(agent_principal(caller), 'agent')
+
+    @staticmethod
+    def _step_sig(inst, st):
+        """A set-up step's identity for de-duplication ("contract_example" resolved, so a world that spells the example out
+        matches the default step that names it)."""
+        d = {k: v for k, v in st.items() if k not in ('default', 'why', 'source')}
+        if d.get('arguments') == 'contract_example':
+            d['arguments'] = (inst.contract['capabilities'].get(d.get('capability')) or {}).get('example_arguments') or {}
+        if isinstance(d.get('kwargs'), dict):
+            iid = inst.entry.get('instance_id') or inst.id
+            d['kwargs'] = {k: (iid if v == '$instance' else v) for k, v in d['kwargs'].items()}
+        return json.dumps(d, sort_keys=True, default=str)
+
+    def _setup_steps(self, inst):
+        """The instrument's set-up steps.  Steps tagged ``"default": GROUP`` are the default lab's (make_config's default world:
+        utilities, accessories, consumables, reference standards).  A task world can drop them all (entry
+        ``"default_world": false``) or by group (a step ``{"replace_default": [GROUP, ...]}``); a world step identical to a kept
+        default step is not run a second time (worlds written before the default lab re-did the same set-up)."""
+        raw = [dict(st) for st in inst.entry.get('setup') or []]
+        off = inst.entry.get('default_world') is False
+        replace = set()
+        for st in raw:
+            replace |= set(st.get('replace_default') or [])
+        kept = {}
+        steps = []
+        for st in raw:
+            if 'replace_default' in st:
+                continue
+            if 'default' in st:
+                if off or st['default'] in replace:
+                    continue
+                sig = self._step_sig(inst, st)
+                kept[sig] = kept.get(sig, 0) + 1
+                steps.append(st)
+                continue
+            sig = self._step_sig(inst, st)
+            if kept.get(sig):
+                kept[sig] -= 1                                          # the world re-does a default step: once is enough
+                continue
+            steps.append(st)
+        return steps
+
+    def _run_setups(self):
+        """Run every instrument's set-up on the one lab clock, all starting at t = 0 (world set-up calls usually must come
+        before any time passes).  ``advance_s`` makes that instrument wait while the clock runs for everyone; the lab is
+        ready at T0 = the end of the longest set-up."""
+        plans = {iid: self._setup_steps(inst) for iid, inst in self.instruments.items()}
+        pos = {iid: 0 for iid in plans}
+        resume = {iid: 0.0 for iid in plans}
+        while True:
+            for iid, inst in self.instruments.items():
+                steps = plans[iid]
+                while pos[iid] < len(steps) and resume[iid] <= self.time_s + 1e-9:
+                    st = steps[pos[iid]]
+                    pos[iid] += 1
+                    if 'advance_s' in st:
+                        resume[iid] = self.time_s + float(st['advance_s'])
+                    else:
+                        self._setup_step(inst, st, pos[iid])
+            waiting = [resume[i] for i in plans if resume[i] > self.time_s + 1e-9]
+            if not waiting:
+                break
+            self.advance(min(waiting) - self.time_s)
+        self.t_setup = self.time_s
+
+    def _setup_step(self, inst, st, n):
+        inst.host.flush()
+        if 'host' in st:
+            iid = inst.entry.get('instance_id') or inst.id
+            kwargs = {k: (iid if v == '$instance' else v) for k, v in (st.get('kwargs') or {}).items()}
+            try:
+                getattr(inst.host.host, st['host'])(**kwargs)
+                inst.setup_report.append({'host': st['host'], 'status': 'ok'})
+            except Exception as exc:                                        # noqa: BLE001
+                inst.setup_report.append({'host': st['host'], 'status': 'raised', 'error': '%s: %s' % (type(exc).__name__, exc)})
+            return
+        cap = st['capability']
+        args = st.get('arguments')
+        if args == 'contract_example':
+            args = (inst.contract['capabilities'].get(cap) or {}).get('example_arguments') or {}
+        principal = EVALUATOR if st.get('evaluator') else OPERATOR
+        r = self._invoke_raw(inst, principal, cap, copy.deepcopy(args or {}), 'chemlab-setup-%s-%d' % (inst.id, n))
+        inst.setup_report.append({'capability': cap, 'principal': principal, 'time_s': self.time_s, 'status': r.get('status'),
+                                  'code': (r.get('error') or {}).get('code')})
+
+    def _advance_one(self, inst, seconds):
+        """Advance one host only (fresh copies built by reset_instrument)."""
+        n_full = int(math.floor(seconds / self.step_s + 1e-9))
+        rest = seconds - n_full * self.step_s
+        inst.host.defer(self.step_s, n_full)
+        if rest > 1e-9:
+            inst.host.defer(rest)
+        inst.host.flush()
+
+    def reset_instrument(self, iid, setup=False):
+        """Trusted host / tests: rebuild one instrument from its recipe (a fresh copy) at the current lab time."""
+        with self._lock:
+            inst = self.instruments[iid]
+            self._build(inst, t0=self.time_s)
+            inst.setup_report = []
+            if setup:
+                for n, st in enumerate(self._setup_steps(inst)):
+                    if 'advance_s' in st:
+                        self._advance_one(inst, float(st['advance_s']))
+                    else:
+                        self._setup_step(inst, st, n + 1)
+            return inst
+
+    # ------------------------------------------------------------------ the clock
+    def now(self):
+        return self.time_s
+
+    def advance(self, seconds, until=None):
+        """Advance the lab clock by ``seconds`` in lockstep steps of step_s (the last one shorter).  Every instrument gets the
+        same steps with its recipe's advance mode; they are applied lazily (before the next access to that instrument), or
+        at once with "clock": "eager" in the config.  ``until()`` (optional) is checked after every step and stops early when
+        true.  Returns the seconds advanced."""
+        with self._lock:
+            total = float(seconds)
+            if total <= 0:
+                return 0.0
+            n_full = int(math.floor(total / self.step_s + 1e-9))
+            rest = total - n_full * self.step_s
+            if rest < 1e-9:
+                rest = 0.0
+            steps = [self.step_s] * n_full + ([rest] if rest > 0 else [])
+            start = self.time_s
+            if until is None:
+                for inst in self.instruments.values():
+                    inst.host.defer(self.step_s, n_full)
+                    if rest > 0:
+                        inst.host.defer(rest)
+                done = total
+                self.time_s = start + total
+            else:
+                done = 0.0
+                for d in steps:
+                    for inst in self.instruments.values():
+                        inst.host.defer(d)
+                    done += d
+                    self.time_s = start + done
+                    if until():
+                        break
+            if self.config.get('clock') == 'eager':
+                for inst in self.instruments.values():
+                    inst.host.flush()
+            return done
+
+    def flush(self, iid=None):
+        """Apply queued clock steps (one instrument, or all)."""
+        with self._lock:
+            for inst in ([self.instruments[iid]] if iid else self.instruments.values()):
+                inst.host.flush()
+
+    def clock_errors(self):
+        return {iid: list(inst.host.clock_errors) for iid, inst in self.instruments.items() if inst.host.clock_errors}
+
+    def runtime_clock(self, iid):
+        """The time the runtime reports (read clock of the evaluator session), for checks."""
+        inst = self.instruments[iid]
+        r = self._safe(lambda: inst.host.read(EVALUATOR))
+        t = (r.get('clock') or {}).get('time_s') if isinstance(r, dict) else None
+        if t is None:
+            t = inst.host.runtime_time()
+        return None if t is None else inst.host.t0 + float(t)
+
+    # ------------------------------------------------------------------ protocol for callers (agent principals only)
+    def _principal(self, caller):
+        if caller not in self.callers:
+            raise KeyError('unknown caller %r' % caller)
+        return agent_principal(caller)
+
+    def _invoke_raw(self, inst, principal, cap, args, request_id):
+        try:
+            r = inst.host.invoke(principal, cap, args, request_id)
+        except Exception as exc:                                            # noqa: BLE001
+            return _exc_response(exc, request_id)
+        return r if isinstance(r, dict) else {'status': 'failed', 'raised': 'BadResponse', 'result': {},
+                                              'error': {'code': 'RUNTIME_EXCEPTION', 'message': 'non-dict response', 'side_effects': 'unknown'}}
+
+    def describe(self, caller, iid):
+        with self._lock:
+            inst = self.instruments[iid]
+            return self._safe(lambda: inst.host.describe(self._principal(caller)))
+
+    def read(self, caller, iid, state_ids=None):
+        with self._lock:
+            inst = self.instruments[iid]
+            try:
+                return inst.host.read(self._principal(caller), state_ids)
+            except Exception as exc:                                        # noqa: BLE001
+                return _exc_response(exc, None, 'none')
+
+    def invoke(self, caller, iid, cap, args, request_id):
+        with self._lock:
+            return self._invoke_raw(self.instruments[iid], self._principal(caller), cap, args, request_id)
+
+    def write(self, caller, iid, state_id, value, request_id):
+        with self._lock:
+            inst = self.instruments[iid]
+            try:
+                r = inst.host.write(self._principal(caller), state_id, value, request_id)
+            except Exception as exc:                                        # noqa: BLE001
+                return _exc_response(exc, request_id)
+            return r
+
+    def poll(self, caller, iid, operation_id):
+        with self._lock:
+            inst = self.instruments[iid]
+            p = self._principal(caller)
+            if not inst.host.has_op(p, 'poll'):
+                return None
+            try:
+                return inst.host.poll(p, operation_id)
+            except Exception as exc:                                        # noqa: BLE001
+                return _exc_response(exc, None, 'none')
+
+    def cancel(self, caller, iid, operation_id, request_id):
+        with self._lock:
+            inst = self.instruments[iid]
+            p = self._principal(caller)
+            if not inst.host.has_op(p, 'cancel'):
+                return None
+            try:
+                return inst.host.cancel(p, operation_id, request_id)
+            except Exception as exc:                                        # noqa: BLE001
+                return _exc_response(exc, request_id)
+
+    def capture_file(self, response):
+        """Path of the PNG a successful panel.capture response refers to (host side), or None."""
+        img = ((response or {}).get('result') or {}).get('image') or {}
+        p = img.get('path')
+        return Path(p) if isinstance(p, str) and Path(p).is_file() else None
+
+    # ------------------------------------------------------------------ trusted host side (never reachable from callers)
+    def evaluator_read(self, iid, state_ids=None):
+        with self._lock:
+            return self.instruments[iid].host.read(EVALUATOR, state_ids)
+
+    def evaluator_invoke(self, iid, cap, args, request_id):
+        with self._lock:
+            return self._invoke_raw(self.instruments[iid], EVALUATOR, cap, args, request_id)
+
+    def host_call(self, iid, method, **kwargs):
+        if method.startswith('_') or method in ('session', 'register_principal', 'describe', 'read', 'invoke', 'write'):
+            raise PermissionError(method)
+        with self._lock:
+            self.instruments[iid].host.flush()
+            return getattr(self.instruments[iid].host.host, method)(**kwargs)
+
+
+def _panel_info(entry, contract):
+    """{'spec': panel_ui.json content, 'main_display': id} for an instrument with a front-panel model, else None.
+
+    The spec is the contract's ``panel_ui`` artifact (extension chemistry_lab.panel_ui); the main display comes from the lab
+    config (the release's panel_instruments.json), else the first display of the spec.
+    """
+    ext = (contract.get('extensions') or {}).get('chemistry_lab.panel_ui')
+    if not ext:
+        return None
+    art = (contract.get('artifacts') or {}).get(ext.get('artifact_id') or 'panel_ui') or {}
+    path = CHEMSIM_ROOT / art['path'] if art.get('path') else None
+    spec = json.loads(path.read_text(encoding='utf-8')) if path is not None and path.exists() else {}
+    shots = ((((contract.get('capabilities') or {}).get('panel.capture') or {}).get('input_schema') or {}).get('properties') or {}) \
+        .get('display_id', {}).get('enum') or list(spec.get('displays') or {})
+    main = (entry.get('panel') or {}).get('main_display')
+    if main not in shots:                       # e.g. "all" (LED-only panels in the release preview): the first display instead
+        main = shots[0] if shots else None
+    return {'spec': spec, 'main_display': main}
+
+
+def copy_into(src, work_dir, rel):
+    """Copy a host file into the agent's work dir at the relative path rel (must stay inside).  Returns the target path."""
+    work = Path(work_dir).resolve()
+    dst = (work / rel).resolve()
+    if work not in dst.parents:
+        raise ValueError('outside the work directory')
+    dst.parent.mkdir(parents=True, exist_ok=True)
+    shutil.copyfile(src, dst)
+    return dst
+
+
+def finite(x):
+    return isinstance(x, (int, float)) and not isinstance(x, bool) and math.isfinite(x)
diff --git a/chemlab/chemlab/make_config.py b/chemlab/chemlab/make_config.py
new file mode 100644
index 0000000000000000000000000000000000000000..e811637bea774efed513add8cf3c1996787acce1
--- /dev/null
+++ b/chemlab/chemlab/make_config.py
@@ -0,0 +1,171 @@
+"""Write the default lab config (configs/all203.json): every instrument with a host recipe (recipes.py), in one lab.
+
+    python3 -m chemlab.make_config [--out configs/all203.json]
+
+Per instrument: id (= asset_type_id without "instrument."), English name / brand / model / domain (the release catalog,
+catalog/catalog.json), and the host set-up:
+
+* the 106 front-panel instruments: the release bring-up (examples/panel_instruments.json), which brings each one to its
+  home screen - world set-up calls as the evaluator, operator gestures (power switch, keys) as the lab operator;
+* the others: the world set-up ``plant.configure`` with the contract's example arguments (as the evaluator), when the
+  contract has that capability and it is not agent-visible; otherwise nothing.
+
+Only data is read (recipes are parsed, not imported).  The config can be edited by hand afterwards.
+"""
+import argparse
+import json
+from pathlib import Path
+
+from .hosts import CHEMSIM_ROOT, contract_index
+from .labbackend import CONFIG_DIR, DEFAULT_CONFIG
+from .recipes import all_recipes
+
+PROJECT = Path(__file__).resolve().parents[3]
+# names and the panel bring-up: the release builder's tables when they are next to this project, else the release's own copies
+NAMES_EN = PROJECT / 'release' / '_build' / 'names_en.json'
+CATALOG = CHEMSIM_ROOT / 'catalog' / 'catalog.json'
+PANEL_TABLE = next((p for p in (PROJECT / 'release' / '_build' / 'examples' / 'panel_instruments.json',
+                                CHEMSIM_ROOT / 'examples' / 'panel_instruments.json') if p.exists()), CHEMSIM_ROOT / 'examples' / 'panel_instruments.json')
+
+
+def _names():
+    """{'assets': {slug: [name, brand, model, domain]}, '_domains': {key: [name, ...]}} from names_en.json or catalog.json."""
+    if NAMES_EN.exists():
+        return json.loads(NAMES_EN.read_text(encoding='utf-8'))
+    if CATALOG.exists():
+        cat = json.loads(CATALOG.read_text(encoding='utf-8'))
+        return {'assets': {a['slug']: [a['name'], a['maker'], a['model'], a['domain']] for a in cat['assets']},
+                '_domains': {d['key']: [d['name']] for d in cat['domains']}}
+    return {'assets': {}, '_domains': {}}
+
+
+# Set-ups that need more than the default.  Each entry cites the contract precondition that asks for it.
+SETUP_OVERRIDES = {
+    # plant.configure precondition (contract): "首次打开罩和夹具" - cover and clamp open first (runtime: cover >= 0.079 m, clamp >= 0.039 m)
+    'cem_libertyblue': [{'capability': 'cover.set_lift', 'arguments': 'contract_example'},
+                        {'capability': 'clamp.set_lift', 'arguments': 'contract_example'},
+                        {'capability': 'plant.configure', 'arguments': 'contract_example', 'evaluator': True}],
+    # plant.configure precondition (contract): "首次开夹" - clamp open first (runtime: clamp >= 0.039 m)
+    'cytiva_ktaoligosynt': [{'capability': 'clamp.set_lift', 'arguments': 'contract_example'},
+                            {'capability': 'plant.configure', 'arguments': 'contract_example', 'evaluator': True}],
+}
+
+
+def _place(bringup, steps):
+    """Put the default-lab steps into the bring-up: "at": "start" (before it, e.g. configure while still off), "before:CAP" /
+    "after:CAP" (next to the first bring-up step with that capability), or at the end (the default)."""
+    out = list(bringup)
+    tail = []
+    groups = {}
+    for st in steps:
+        at = st.pop('at', None) or 'end'
+        groups.setdefault(at, []).append(st)
+    for at, sts in groups.items():
+        if at == 'end':
+            tail += sts
+            continue
+        if at == 'start':
+            out = sts + out
+            continue
+        where, _, cap = at.partition(':')
+        idx = next((i for i, x in enumerate(out) if x.get('capability') == cap), None)
+        if idx is None:
+            tail += sts
+        else:
+            out[idx + (1 if where == 'after' else 0):idx + (1 if where == 'after' else 0)] = sts
+    return out + tail
+
+
+def build(default_lab=True):
+    """The all-203 lab config; ``default_lab=False``: the bring-up only (what chemlab/default_world_gen.py diffs the class
+    worlds against)."""
+    from .default_world import DEFAULTS
+    from .default_world_overrides import OVERRIDES
+    recipes = all_recipes()
+    index = contract_index()
+    names = _names()
+    panels = json.loads(PANEL_TABLE.read_text(encoding='utf-8'))['instruments'] if PANEL_TABLE.exists() else {}
+    out = []
+    for atid in sorted(recipes, key=lambda a: a.split('.', 1)[1]):
+        slug = atid.split('.', 1)[1]
+        contract = json.loads(index[atid].read_text(encoding='utf-8'))
+        n = names['assets'].get(slug) or [contract.get('name_zh') or slug, None, None, None]
+        e = {'id': slug, 'asset_type_id': atid, 'name': n[0], 'brand': n[1], 'model': n[2], 'domain': n[3]}
+        if slug in SETUP_OVERRIDES:
+            e['setup'] = SETUP_OVERRIDES[slug]
+            e['setup_source'] = 'world set-up in the order the contract preconditions ask for'
+            if slug in panels:
+                e['panel'] = {'main_display': panels[slug].get('main_display')}
+        elif slug in panels:
+            e['panel'] = {'main_display': panels[slug].get('main_display')}
+            e['setup'] = panels[slug]['bringup']
+            e['setup_source'] = 'release panel bring-up (home screen)'
+        else:
+            pc = contract['capabilities'].get('plant.configure')
+            if pc and pc.get('visibility') != 'agent' and pc.get('availability') == 'implemented':
+                e['setup'] = [{'capability': 'plant.configure', 'arguments': 'contract_example', 'evaluator': True}]
+                e['setup_source'] = 'world set-up: plant.configure with the contract example'
+            else:
+                e['setup'] = []
+        dw, ov = (DEFAULTS.get(slug) or {}, OVERRIDES.get(slug) or {}) if default_lab else ({}, {})
+        if dw or ov:
+            drop_bring = set(ov.get('replace_bringup') or [])
+            e['setup'] = [st for st in e.get('setup') or [] if st.get('capability') not in drop_bring]
+            drop = ov.get('drop') or []
+            steps = [] if drop == '*' else [dict(st) for st in dw.get('setup') or [] if (st.get('capability') or st.get('host')) not in set(drop)]
+            steps += [dict(st) for st in ov.get('add') or []]
+            for st in steps:
+                st.setdefault('default', 'state')
+            e['setup'] = _place(list(e['setup']), steps)
+            e['setup_source'] = (e.get('setup_source') or 'none') + ' + the default lab (chemlab/default_world.py)'
+            for k, v in dict(dw.get('entry') or {}, **(ov.get('entry') or {})).items():
+                e[k] = v
+        out.append(e)
+    return {'name': 'all203', 'about': 'Every Chemistry-Sim instrument with a Matterix host recipe, in one simulated lab with one clock, '
+                                      'set up as a well-run lab at the start of a working day (the default lab: chemlab/default_world.py). '
+                                      'Generated by chemlab/make_config.py; set-up steps use the release bring-up format.',
+            'step_s': 1.0, 'domains': {k: v[0] for k, v in names.get('_domains', {}).items()}, 'instruments': out,
+            'inventory': INVENTORY_FILE}
+
+
+INVENTORY_FILE = 'inventory_default.json'
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser()
+    ap.add_argument('--out', default=str(DEFAULT_CONFIG))
+    a = ap.parse_args(argv)
+    cfg = build()
+    CONFIG_DIR.mkdir(parents=True, exist_ok=True)
+    Path(a.out).write_text(json.dumps(cfg, ensure_ascii=False, indent=1) + '\n', encoding='utf-8')
+    print('%s: %d instruments (%d with a front panel)' % (a.out, len(cfg['instruments']), sum(1 for e in cfg['instruments'] if 'panel' in e)))
+    from . import inventory
+    inv = inventory.build(cfg)                                      # the default lab's containers (one record each), next to it
+    bad = inventory.check(inv)
+    if bad:
+        raise SystemExit('inventory problems: %s' % bad)
+    ip = Path(a.out).with_name(INVENTORY_FILE)
+    ip.write_text(json.dumps(inv, ensure_ascii=False, indent=1) + '\n', encoding='utf-8')
+    print('%s: %d containers at %d places' % (ip, len(inv['containers']), len(inv['places'])))
+    import copy
+    for name, v in inventory.VARIANTS.items():                      # task-world variants: lab config + inventory, one pair each
+        vinv = inventory.variant(inv, name)
+        bad = inventory.check(vinv)
+        if bad:
+            raise SystemExit('inventory variant %s problems: %s' % (name, bad))
+        vfile = 'inventory_task_%s.json' % name
+        vcfg = copy.deepcopy(cfg)
+        vcfg['name'] = 'all203_%s' % name
+        vcfg['about'] = cfg['about'] + ' Task-world variant %s: %s' % (name, v['about'])
+        vcfg['inventory'] = vfile
+        for e in vcfg['instruments']:
+            if e['id'] in (v.get('entry_steps') or {}):
+                e['setup'] = list(e.get('setup') or []) + copy.deepcopy(v['entry_steps'][e['id']])
+        Path(a.out).with_name(vfile).write_text(json.dumps(vinv, ensure_ascii=False, indent=1) + '\n', encoding='utf-8')
+        cp = Path(a.out).with_name('%s_%s.json' % (Path(a.out).stem, name))
+        cp.write_text(json.dumps(vcfg, ensure_ascii=False, indent=1) + '\n', encoding='utf-8')
+        print('%s + %s: variant %s' % (cp, vfile, name))
+
+
+if __name__ == '__main__':
+    main()
diff --git a/chemlab/chemlab/mcp_shell.py b/chemlab/chemlab/mcp_shell.py
new file mode 100644
index 0000000000000000000000000000000000000000..ea6a047296641d89bf36be6f806b867a06e47d76
--- /dev/null
+++ b/chemlab/chemlab/mcp_shell.py
@@ -0,0 +1,228 @@
+"""MCP shell: the generic chemlab commands as MCP tools (JSON-RPC 2.0 over stdio).  No rules of its own.
+
+Each tool call is turned into the same argv the command line would send (``chemlab call INST CAP --args JSON`` ...) and handed
+to the same core service, either through the lab's unix socket with this caller's token (like the C client) or in-process.
+The reply text and exit code are returned as they are (exit code != 0 -> isError).  ``screen`` also returns the PNG as an
+image content block, so a multimodal model sees the display.
+
+    CHEMLAB_SOCKET=.../lab.sock CHEMLAB_TOKEN=... CHEMLAB_WORK=.../work python -m chemlab.mcp_shell
+    python -m chemlab.gserve --only mt_xpr204e --mcp            # in-process, for trying it out
+"""
+import base64
+import json
+import os
+import socket
+import sys
+from pathlib import Path
+
+PROTOCOL_VERSION = '2025-06-18'
+_J = {'type': 'boolean', 'description': 'machine-readable JSON reply instead of text'}
+
+
+def _tool(name, description, props, required=()):
+    p = dict(props)
+    p['json'] = _J
+    return {'name': name, 'description': description,
+            'inputSchema': {'type': 'object', 'properties': p, 'required': list(required), 'additionalProperties': False}}
+
+
+INST = {'type': 'string', 'description': 'instrument id (see chemlab_list)'}
+TOOLS = [
+    _tool('chemlab_list', 'Instruments in the lab: id, name, domain.', {'domain': {'type': 'string'}}),
+    _tool('chemlab_describe', "An instrument's agent-visible capabilities (arguments with types, units, ranges) and state slots.",
+          {'instrument': INST}, ['instrument']),
+    _tool('chemlab_help', 'One capability in full, with an example call; capability "panel" explains the front-panel gestures.',
+          {'instrument': INST, 'capability': {'type': 'string'}}, ['instrument', 'capability']),
+    _tool('chemlab_read', 'Observations with units and quality (all agent-visible slots, or the ones named).',
+          {'instrument': INST, 'slots': {'type': 'array', 'items': {'type': 'string'}}}, ['instrument']),
+    _tool('chemlab_call', 'Invoke one capability. Arguments exactly as the contract defines them (SI units); the instrument checks them.',
+          {'instrument': INST, 'capability': {'type': 'string'}, 'arguments': {'type': 'object'},
+           'request_id': {'type': 'string', 'description': 'repeat it to get the first reply again instead of a second execution'}},
+          ['instrument', 'capability']),
+    _tool('chemlab_write', 'Set a writable state slot.', {'instrument': INST, 'slot': {'type': 'string'}, 'value': {}},
+          ['instrument', 'slot', 'value']),
+    _tool('chemlab_status', 'Your asynchronous operations, or one of them (op-N).', {'operation': {'type': 'string'}}),
+    _tool('chemlab_cancel', 'Cancel an operation where the instrument supports it.', {'operation': {'type': 'string'}}, ['operation']),
+    _tool('chemlab_wait', 'Let simulated time pass: a number of seconds, or until an operation ends (max seconds). The only way time moves.',
+          {'seconds': {'type': 'number'}, 'operation': {'type': 'string'}, 'max': {'type': 'number'}}),
+    _tool('chemlab_panel', 'A front-panel gesture: press KEY [hold], turn KNOB by detents, switch SW to position, touch DISPLAY at x,y [to].',
+          {'instrument': INST, 'gesture': {'type': 'string', 'enum': ['press', 'turn', 'switch', 'touch']},
+           'target': {'type': 'string', 'description': 'key, knob, switch or display id'},
+           'detents': {'type': 'integer'}, 'position': {'type': 'string'}, 'x': {'type': 'integer'}, 'y': {'type': 'integer'},
+           'hold': {'type': 'number'}, 'to': {'type': 'array', 'items': {'type': 'integer'}, 'minItems': 2, 'maxItems': 2},
+           'with': {'type': 'array', 'items': {'type': 'string'}}}, ['instrument', 'gesture', 'target']),
+    _tool('chemlab_screen', 'Capture a display as a PNG (returned as an image, also saved in the work dir).',
+          {'instrument': INST, 'display': {'type': 'string'}, 'file': {'type': 'string'}}, ['instrument']),
+    _tool('chemlab_log', 'Your past requests and replies.', {'last': {'type': 'integer'}, 'full': {'type': 'boolean'}}),
+]
+
+
+def argv_for(name, a):
+    """Tool call -> the chemlab argv (the only thing this shell does)."""
+    inst = a.get('instrument')
+    if name == 'chemlab_list':
+        v = ['list'] + (['--domain', a['domain']] if a.get('domain') else [])
+    elif name == 'chemlab_describe':
+        v = ['describe', inst]
+    elif name == 'chemlab_help':
+        v = ['help', inst, a['capability']]
+    elif name == 'chemlab_read':
+        v = ['read', inst] + list(a.get('slots') or [])
+    elif name == 'chemlab_call':
+        v = ['call', inst, a['capability'], '--args', json.dumps(a.get('arguments') or {})]
+        if a.get('request_id'):
+            v += ['--request-id', a['request_id']]
+    elif name == 'chemlab_write':
+        val = a['value']
+        v = ['write', inst, a['slot'], val if isinstance(val, str) else json.dumps(val)]
+    elif name == 'chemlab_status':
+        v = ['status'] + ([a['operation']] if a.get('operation') else [])
+    elif name == 'chemlab_cancel':
+        v = ['cancel', a['operation']]
+    elif name == 'chemlab_wait':
+        if a.get('operation'):
+            v = ['wait', a['operation']] + (['--max', repr(float(a['max']))] if a.get('max') is not None else [])
+        else:
+            v = ['wait', repr(float(a.get('seconds', 0)))]
+    elif name == 'chemlab_panel':
+        g = a['gesture']
+        v = ['panel', inst, g, a['target']]
+        if g == 'turn':
+            v.append(str(a.get('detents', 0)))
+        elif g == 'switch':
+            v.append(str(a.get('position', '')))
+        elif g == 'touch':
+            v += [str(a.get('x', '')), str(a.get('y', ''))]
+            if a.get('to'):
+                v += ['--to', str(a['to'][0]), str(a['to'][1])]
+        if a.get('hold') is not None:
+            v += ['--hold', repr(float(a['hold']))]
+        for k in a.get('with') or []:
+            v += ['--with', k]
+    elif name == 'chemlab_screen':
+        v = ['screen', inst] + ([a['display']] if a.get('display') else []) + (['-o', a['file']] if a.get('file') else [])
+    elif name == 'chemlab_log':
+        v = ['log', '--last', str(int(a.get('last', 20)))] + (['--full'] if a.get('full') else [])
+    else:
+        raise KeyError(name)
+    if a.get('json') or name == 'chemlab_screen':
+        v.append('--json')
+    return ['chemlab'] + [str(x) for x in v]
+
+
+class CoreTransport:
+    """In-process: the core's handle() with a fixed caller."""
+
+    def __init__(self, core, caller='agent'):
+        self.core, self.caller = core, caller
+        self.work = Path(core.work_dir)
+
+    def send(self, argv):
+        r = self.core.handle(argv, self.caller)
+        return r.exit_code, r.out, r.err
+
+
+class SocketTransport:
+    """Through the lab's unix socket with a token, exactly like the C client (wire: one JSON line; CHEMLAB/1 header + bytes)."""
+
+    def __init__(self, path, token, work=None):
+        self.path, self.token = path, token
+        self.work = Path(work) if work else None
+
+    def send(self, argv):
+        s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+        here = os.getcwd()
+        try:
+            os.chdir(os.path.dirname(self.path) or '.')                      # socket paths are limited to 108 bytes
+            s.connect(os.path.basename(self.path))
+        except OSError as exc:
+            return 5, '', 'error[service/UNREACHABLE]: cannot connect to the chemlab service (%s).\n' % exc
+        finally:
+            os.chdir(here)
+        with s:
+            s.sendall((json.dumps({'token': self.token, 'argv': argv}) + '\n').encode())
+            s.shutdown(socket.SHUT_WR)
+            data = b''
+            while True:
+                chunk = s.recv(1 << 16)
+                if not chunk:
+                    break
+                data += chunk
+        head, _, body = data.partition(b'\n')
+        _, code, nout, nerr = head.decode().split()
+        nout, nerr = int(nout), int(nerr)
+        return int(code), body[:nout].decode('utf-8', 'replace'), body[nout:nout + nerr].decode('utf-8', 'replace')
+
+
+def call_tool(transport, name, arguments):
+    try:
+        argv = argv_for(name, arguments or {})
+    except KeyError as exc:
+        return {'content': [{'type': 'text', 'text': 'missing or unknown: %s' % exc}], 'isError': True}
+    code, out, err = transport.send(argv)
+    text = out if code == 0 else (err or out)
+    content = [{'type': 'text', 'text': text}]
+    if name == 'chemlab_screen' and code == 0 and transport.work is not None:
+        try:
+            rel = json.loads(out).get('file')
+            png = (transport.work / rel).read_bytes()
+            content.append({'type': 'image', 'data': base64.b64encode(png).decode('ascii'), 'mimeType': 'image/png'})
+        except (ValueError, OSError, TypeError):
+            pass
+    return {'content': content, 'isError': code != 0}
+
+
+def handle_message(transport, msg):
+    """One JSON-RPC message -> response dict, or None for notifications."""
+    mid, method, params = msg.get('id'), msg.get('method'), msg.get('params') or {}
+    if mid is None:
+        return None                                                          # notifications (initialized, cancelled, ...)
+    if method == 'initialize':
+        result = {'protocolVersion': params.get('protocolVersion') or PROTOCOL_VERSION, 'capabilities': {'tools': {}},
+                  'serverInfo': {'name': 'chemlab', 'version': '0.2.0'},
+                  'instructions': 'Simulated lab instruments. Start with chemlab_list, then chemlab_describe. Values are SI units as '
+                                  'each contract defines them. Time only moves with chemlab_wait.'}
+    elif method == 'ping':
+        result = {}
+    elif method == 'tools/list':
+        result = {'tools': TOOLS}
+    elif method == 'tools/call':
+        result = call_tool(transport, params.get('name'), params.get('arguments'))
+    else:
+        return {'jsonrpc': '2.0', 'id': mid, 'error': {'code': -32601, 'message': 'method not found: %s' % method}}
+    return {'jsonrpc': '2.0', 'id': mid, 'result': result}
+
+
+def serve(transport, inp=None, out=None):
+    inp, out = inp or sys.stdin, out or sys.stdout
+    for line in inp:
+        line = line.strip()
+        if not line:
+            continue
+        try:
+            msg = json.loads(line)
+        except ValueError:
+            out.write(json.dumps({'jsonrpc': '2.0', 'id': None, 'error': {'code': -32700, 'message': 'parse error'}}) + '\n')
+            out.flush()
+            continue
+        resp = handle_message(transport, msg)
+        if resp is not None:
+            out.write(json.dumps(resp, ensure_ascii=False) + '\n')
+            out.flush()
+
+
+def serve_stdio(core, caller='agent'):
+    serve(CoreTransport(core, caller))
+
+
+def main():
+    path, token = os.environ.get('CHEMLAB_SOCKET'), os.environ.get('CHEMLAB_TOKEN')
+    if not path or not token:
+        sys.stderr.write('set CHEMLAB_SOCKET and CHEMLAB_TOKEN (and CHEMLAB_WORK for screen images)\n')
+        return 2
+    serve(SocketTransport(path, token, os.environ.get('CHEMLAB_WORK')))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/recipes.py b/chemlab/chemlab/recipes.py
new file mode 100644
index 0000000000000000000000000000000000000000..d06cab1e1c8a904154a9aa5cbcc186d3305ec608
--- /dev/null
+++ b/chemlab/chemlab/recipes.py
@@ -0,0 +1,203 @@
+"""Host recipes for every instrument runtime: how each Chemistry-Sim runtime host is built and how its clock is advanced.
+
+A recipe records, per asset_type_id, the runtime module and class, constructor arguments, instance creation, sessions, host
+set-up calls and the clock-advance mode.  There are two tables, ``RECIPES`` and ``PANEL_RECIPES``.
+
+Where the recipes come from:
+
+* ``configs/host_recipes.json`` (shipped): both tables as plain JSON.  This is what a release checkout uses.
+* The simulator bridge ``runtime_bridge.py`` of the Matterix (Isaac Lab) integration, when that checkout is present
+  (``$MATTERIX_PATH``, default: a ``Matterix`` folder next to this project).  It is the original of the JSON file and wins
+  when it exists.  The module imports torch and Isaac Lab, so it is never imported here: its source is parsed with ``ast``
+  and only the recipe literals (dicts, strings, numbers, booleans and the module-level constants they name) are evaluated.
+
+Regenerate the JSON from the bridge (needs the Matterix checkout) and check that the two agree:
+
+    python -m chemlab.recipes --export          # write configs/host_recipes.json
+    python -m chemlab.recipes --check           # exit 1 if the JSON differs from the bridge
+    python -m chemlab.recipes                   # print where the recipes are read from and how many there are
+"""
+import argparse
+import ast
+import json
+import os
+import sys
+from pathlib import Path
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[1]
+HOST_RECIPES_JSON = CHEMLAB_ROOT / 'configs' / 'host_recipes.json'
+PROJECT = Path(__file__).resolve().parents[3]                      # the folder that holds this project
+MATTERIX_ROOT = Path(os.environ.get('MATTERIX_PATH') or PROJECT / 'Matterix')
+BRIDGE_REL = 'source/matterix/matterix/managers/semantics/primitive_semantics/chemsim/runtime_bridge.py'
+
+# advance modes (the same strings as runtime_bridge.py)
+STEP_DT, HOST_STEP_DT, HOST_STEP_DT_WORLD, STEP_DT_WORLD = 'step_dt', 'host_step_dt', 'host_step_dt_world', 'step_dt_world'
+HOST_STEP_ABS, HOST_ADVANCE_ABS, HOST_SET_CLOCK_ABS, VICI_SET_TIME, NO_CLOCK = ('host_step_abs', 'host_advance_abs', 'host_set_clock_abs',
+                                                                               'vici_set_time', None)
+# the runtime reads a clock callable (passed as clock=) and processes its own timed events in host_update(), called once after
+# every clock step (Agilent 8697)
+CLOCK_HOST_UPDATE = 'clock_host_update'
+CLOCK_MODES = (NO_CLOCK, CLOCK_HOST_UPDATE)                 # modes whose runtime reads the lab clock through a callable
+ADVANCE_MODES = (STEP_DT, HOST_STEP_DT, HOST_STEP_DT_WORLD, STEP_DT_WORLD, HOST_STEP_ABS, HOST_ADVANCE_ABS, HOST_SET_CLOCK_ABS,
+                 VICI_SET_TIME, CLOCK_HOST_UPDATE, NO_CLOCK)
+
+
+class RecipeError(Exception):
+    pass
+
+
+def _literal(node, names):
+    """Evaluate a recipe expression: literals, dict(...) calls with keywords, names of module constants."""
+    if isinstance(node, ast.Constant):
+        return node.value
+    if isinstance(node, ast.Name):
+        if node.id in names:
+            return names[node.id]
+        if node.id in ('True', 'False', 'None'):
+            return {'True': True, 'False': False, 'None': None}[node.id]
+        raise RecipeError('unknown name %r at line %d' % (node.id, node.lineno))
+    if isinstance(node, ast.Dict):
+        return {_literal(k, names): _literal(v, names) for k, v in zip(node.keys, node.values)}
+    if isinstance(node, (ast.List, ast.Tuple)):
+        items = [_literal(e, names) for e in node.elts]
+        return items if isinstance(node, ast.List) else tuple(items)
+    if isinstance(node, ast.Call) and isinstance(node.func, ast.Name) and node.func.id == 'dict' and not node.args:
+        return {kw.arg: _literal(kw.value, names) for kw in node.keywords}
+    if isinstance(node, ast.UnaryOp) and isinstance(node.op, ast.USub):
+        return -_literal(node.operand, names)
+    raise RecipeError('unsupported expression %s at line %d' % (type(node).__name__, getattr(node, 'lineno', 0)))
+
+
+def bridge_path():
+    """The Matterix bridge file, or None when it is not there."""
+    p = MATTERIX_ROOT / BRIDGE_REL
+    return p if p.is_file() else None
+
+
+def parse_bridge(path):
+    """{'RECIPES': {...}, 'PANEL_RECIPES': {...}} parsed from a runtime_bridge.py source (nothing is imported or run)."""
+    path = Path(path)
+    tree = ast.parse(path.read_text(encoding='utf-8'), filename=str(path))
+    names, tables = {}, {}
+    for stmt in tree.body:
+        targets = []
+        if isinstance(stmt, ast.Assign):
+            targets, value = stmt.targets, stmt.value
+        elif isinstance(stmt, ast.AnnAssign) and stmt.value is not None:
+            targets, value = [stmt.target], stmt.value
+        else:
+            continue
+        for tgt in targets:
+            if isinstance(tgt, ast.Tuple) and isinstance(value, ast.Tuple) and len(tgt.elts) == len(value.elts):
+                for t, v in zip(tgt.elts, value.elts):
+                    if isinstance(t, ast.Name):
+                        try:
+                            names[t.id] = _literal(v, names)
+                        except RecipeError:
+                            pass
+            elif isinstance(tgt, ast.Name):
+                if tgt.id in ('RECIPES', 'PANEL_RECIPES'):
+                    tables[tgt.id] = _literal(value, names)
+                else:
+                    try:
+                        names[tgt.id] = _literal(value, names)
+                    except RecipeError:
+                        pass
+    if 'RECIPES' not in tables:
+        raise RecipeError('RECIPES not found in %s' % path)
+    return {'RECIPES': tables['RECIPES'], 'PANEL_RECIPES': tables.get('PANEL_RECIPES', {})}
+
+
+def _plain(tables):
+    """The tables as JSON values (tuples become lists), keys sorted: the form stored in host_recipes.json."""
+    return json.loads(json.dumps(tables, sort_keys=True))
+
+
+def read_json(path=None):
+    path = Path(path or HOST_RECIPES_JSON)
+    data = json.loads(path.read_text(encoding='utf-8'))
+    return {'RECIPES': data['RECIPES'], 'PANEL_RECIPES': data.get('PANEL_RECIPES', {})}
+
+
+def load_recipes(path=None):
+    """-> {'recipes': {asset_type_id: recipe}, 'panel_recipes': {...}, 'source': path}.  Every recipe gets 'table'.
+
+    ``path``: a runtime_bridge.py or a host_recipes.json; default: the Matterix bridge when it is there, else the JSON."""
+    if path is None:
+        path = bridge_path() or HOST_RECIPES_JSON
+        if not Path(path).is_file():
+            raise RecipeError('no host recipes: %s is missing and no Matterix bridge was found (set MATTERIX_PATH)' % HOST_RECIPES_JSON)
+    path = Path(path)
+    tables = read_json(path) if path.suffix == '.json' else parse_bridge(path)
+    out = {'recipes': {}, 'panel_recipes': {}, 'source': str(path)}
+    for key, table in (('recipes', 'RECIPES'), ('panel_recipes', 'PANEL_RECIPES')):
+        for atid, r in tables.get(table, {}).items():
+            r = dict(r)
+            if r.get('advance', NO_CLOCK) not in ADVANCE_MODES:
+                raise RecipeError('%s: unknown advance mode %r' % (atid, r.get('advance')))
+            r['table'] = table
+            out[key][atid] = r
+    return out
+
+
+def all_recipes(path=None):
+    """{asset_type_id: recipe} over RECIPES and PANEL_RECIPES (RECIPES wins, as in the bridge's own lookup)."""
+    data = load_recipes(path)
+    merged = dict(data['panel_recipes'])
+    merged.update(data['recipes'])
+    return merged
+
+
+def export(out=None, bridge=None):
+    """Write host_recipes.json from the Matterix bridge.  Returns the path written."""
+    bridge = Path(bridge) if bridge else bridge_path()
+    if bridge is None:
+        raise RecipeError('the Matterix bridge is needed to export the recipes (set MATTERIX_PATH)')
+    tables = _plain(parse_bridge(bridge))
+    doc = {'about': 'Host recipes of the Chemistry-Sim runtimes (how each runtime host is built and how its clock is advanced), '
+                    'exported from the Matterix simulator bridge (runtime_bridge.py: RECIPES and PANEL_RECIPES) by '
+                    '"python -m chemlab.recipes --export". chemlab reads this file when the bridge is not present.',
+           'n_recipes': len(tables['RECIPES']), 'n_panel_recipes': len(tables['PANEL_RECIPES']), **tables}
+    out = Path(out or HOST_RECIPES_JSON)
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(json.dumps(doc, ensure_ascii=False, indent=1, sort_keys=False) + '\n', encoding='utf-8')
+    return out
+
+
+def diff(bridge=None, json_path=None):
+    """Differences between the bridge and the JSON file: [] when they agree."""
+    bridge = Path(bridge) if bridge else bridge_path()
+    if bridge is None:
+        raise RecipeError('no Matterix bridge to compare with (set MATTERIX_PATH)')
+    a, b = _plain(parse_bridge(bridge)), _plain(read_json(json_path))
+    out = []
+    for table in ('RECIPES', 'PANEL_RECIPES'):
+        for atid in sorted(set(a[table]) | set(b[table])):
+            if a[table].get(atid) != b[table].get(atid):
+                out.append('%s %s: %s' % (table, atid, 'only in the bridge' if atid not in b[table] else
+                                          'only in the JSON' if atid not in a[table] else 'differs'))
+    return out
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description='Host recipes: show the source, export the JSON from the Matterix bridge, or check it.')
+    g = ap.add_mutually_exclusive_group()
+    g.add_argument('--export', action='store_true', help='write configs/host_recipes.json from the Matterix bridge')
+    g.add_argument('--check', action='store_true', help='compare configs/host_recipes.json with the Matterix bridge')
+    ap.add_argument('--out', help='output file for --export (default: configs/host_recipes.json)')
+    a = ap.parse_args(argv)
+    if a.export:
+        p = export(a.out)
+        print('wrote %s from %s' % (p, bridge_path()))
+        return 0
+    if a.check:
+        d = diff()
+        print('\n'.join(d) if d else 'host_recipes.json equals the Matterix bridge')
+        return 1 if d else 0
+    data = load_recipes()
+    print('%s: %d recipes, %d panel recipes' % (data['source'], len(data['recipes']), len(data['panel_recipes'])))
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/sandbox.py b/chemlab/chemlab/sandbox.py
new file mode 100644
index 0000000000000000000000000000000000000000..6fea4fb047193473753256fec62f83f2686822df
--- /dev/null
+++ b/chemlab/chemlab/sandbox.py
@@ -0,0 +1,239 @@
+"""Agent sandbox without root: Landlock (file and exec allowlist) + seccomp (no signals, no ptrace, AF_UNIX sockets only).
+
+Containers need root (or the docker group) and unprivileged user namespaces are often blocked, so the sandbox uses the two
+kernel features an unprivileged process may apply to itself:
+
+* Landlock (ABI >= 3, Linux 6.2 or newer with Landlock enabled; TCP rules need ABI 4, Linux 6.7): the shell may read system
+  files (/usr, /etc), execute only an allowlist of shell tools plus the chemlab client, and write only inside its work
+  directory.  Everything else - the Chemistry-Sim source, the contracts, the evaluator data, the home directory, /proc,
+  /tmp - is invisible ("Permission denied").  TCP bind/connect is denied (ABI 4).
+* seccomp: kill/tkill/tgkill/pidfd*, ptrace, process_vm_*, bpf, perf_event_open, io_uring, memfd_create, execveat fail with
+  EPERM; socket() only for AF_UNIX.
+
+Limits (written in the README): Landlock ABI 4 does not restrict connect() on UNIX sockets, so any same-user UNIX socket on
+the host stays reachable by a program that can speak to it; only the allowlisted tools can run, and none of them opens UNIX
+sockets except the chemlab client, which only talks to a socket named lab.sock and authenticates with a per-run token.  A
+hand-written ELF shared object loaded with LD_PRELOAD into an allowed tool could run arbitrary code (Landlock does not check
+mmap); it would still be confined by Landlock and seccomp.  Processes share the user id and the PID namespace (no user
+namespaces), so /proc is simply not readable.
+
+Requirements: Linux on x86_64 (the seccomp filter uses x86_64 system-call numbers), Landlock ABI >= 3, /usr/bin/bash.
+``check()`` says what is missing on this machine; ``require()`` raises SandboxUnavailable with that text.  The sandbox is never
+weakened to make it run: without it, chemlab only offers an explicit, opt-in unsandboxed mode for local, trusted use
+(``python -m chemlab.gserve --no-sandbox``, see glab.py).
+
+Usage (the harness side):  argv = sandbox_argv(workdir, bindir, command); subprocess.run(argv, env=sandbox_env(...))
+"""
+import ctypes
+import os
+import platform
+import shutil
+import struct
+import subprocess
+import sys
+
+# ---- Landlock
+_SYS_CREATE, _SYS_ADD_RULE, _SYS_RESTRICT = 444, 445, 446
+FS = dict(EXECUTE=1 << 0, WRITE_FILE=1 << 1, READ_FILE=1 << 2, READ_DIR=1 << 3, REMOVE_DIR=1 << 4, REMOVE_FILE=1 << 5,
+          MAKE_CHAR=1 << 6, MAKE_DIR=1 << 7, MAKE_REG=1 << 8, MAKE_SOCK=1 << 9, MAKE_FIFO=1 << 10, MAKE_BLOCK=1 << 11,
+          MAKE_SYM=1 << 12, REFER=1 << 13, TRUNCATE=1 << 14)
+NET_BIND_TCP, NET_CONNECT_TCP = 1 << 0, 1 << 1
+FILE_RIGHTS = FS['EXECUTE'] | FS['WRITE_FILE'] | FS['READ_FILE'] | FS['TRUNCATE']
+READ = FS['READ_FILE'] | FS['READ_DIR']
+WRITE_TREE = (READ | FS['WRITE_FILE'] | FS['REMOVE_DIR'] | FS['REMOVE_FILE'] | FS['MAKE_DIR'] | FS['MAKE_REG']
+              | FS['MAKE_FIFO'] | FS['MAKE_SYM'] | FS['REFER'] | FS['TRUNCATE'])
+
+# System trees the shell may read (no execute right on them: executing needs a file rule below).
+READ_TREES = ['/usr', '/etc', '/lib', '/lib64']
+# The only programs the agent can run.  Interpreters with socket support (python, perl, nc, curl, ...) are not here.
+EXEC_ALLOW = ['bash', 'sh', 'dash', 'ls', 'cat', 'echo', 'printf', 'head', 'tail', 'wc', 'sort', 'uniq', 'cut', 'tr', 'seq',
+              'sleep', 'date', 'tee', 'true', 'false', 'env', 'xargs', 'grep', 'egrep', 'fgrep', 'sed', 'gawk', 'mawk', 'jq',
+              'bc', 'expr', 'test', '[', 'basename', 'dirname', 'mkdir', 'rm', 'cp', 'mv', 'touch', 'pwd', 'diff', 'cmp',
+              'paste', 'nl', 'fold', 'tac', 'rev', 'od', 'yes', 'numfmt', 'comm', 'join', 'column', 'which', 'stat', 'find']
+# The dynamic loader (a dynamically linked tool needs EXECUTE on it); the path differs between distributions.
+LOADERS = ['/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2', '/lib64/ld-linux-x86-64.so.2', '/usr/lib64/ld-linux-x86-64.so.2',
+           '/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2']
+LOADER = LOADERS[0]
+BASH = '/usr/bin/bash'
+
+
+class _RulesetAttr(ctypes.Structure):
+    _fields_ = [('handled_access_fs', ctypes.c_uint64), ('handled_access_net', ctypes.c_uint64)]
+
+
+_libc = ctypes.CDLL(None, use_errno=True)
+_libc.syscall.restype = ctypes.c_long
+
+
+class SandboxUnavailable(RuntimeError):
+    pass
+
+
+def landlock_abi():
+    if not sys.platform.startswith('linux'):
+        return 0
+    r = _libc.syscall(_SYS_CREATE, None, ctypes.c_size_t(0), ctypes.c_uint32(1))
+    return r if r > 0 else 0
+
+
+def check():
+    """What this machine lacks for the sandbox: a list of reasons, empty when the sandbox can run."""
+    if not sys.platform.startswith('linux'):
+        return ['the agent sandbox needs Linux (Landlock and seccomp); this is %s' % sys.platform]
+    out = []
+    if platform.machine() not in ('x86_64', 'AMD64'):
+        out.append('the seccomp filter is written for x86_64; this machine is %s' % platform.machine())
+    abi = landlock_abi()
+    if abi < 3:
+        out.append('Landlock ABI >= 3 is needed (Linux 6.2 or newer, with "landlock" in the kernel\'s LSM list); found %s'
+                   % (abi or 'none: Landlock is not available'))
+    if not os.access(BASH, os.X_OK):
+        out.append('%s is needed' % BASH)
+    return out
+
+
+_PROBED = None
+
+
+def require():
+    """Raise SandboxUnavailable unless the sandbox can be applied here (static checks, then one real run of `true`)."""
+    global _PROBED
+    if _PROBED is None:
+        problems = check()
+        if not problems:
+            r = subprocess.run(sandbox_argv(os.devnull, os.devnull, 'true'), env={'PATH': '/usr/bin:/bin'},
+                               stdout=subprocess.DEVNULL, stderr=subprocess.PIPE, cwd='/')
+            if r.returncode != 0:
+                problems = [r.stderr.decode('utf-8', 'replace').strip().splitlines()[-1:] or ['exit %d' % r.returncode]][0]
+        _PROBED = problems
+    if _PROBED:
+        raise SandboxUnavailable('the chemlab agent sandbox cannot run on this machine: %s. For local, trusted use only, start '
+                                 'the lab with --no-sandbox (no isolation: the shell runs as you).' % '; '.join(_PROBED))
+
+
+def _landlock(rules):
+    """rules: list of (path, access).  Paths that do not exist are skipped."""
+    abi = landlock_abi()
+    if abi < 3:
+        raise OSError('Landlock ABI >= 3 required (found %d)' % abi)
+    handled_fs = 0
+    for v in FS.values():
+        handled_fs |= v
+    attr = _RulesetAttr(handled_fs, (NET_BIND_TCP | NET_CONNECT_TCP) if abi >= 4 else 0)
+    size = ctypes.sizeof(_RulesetAttr) if abi >= 4 else 8
+    fd = _libc.syscall(_SYS_CREATE, ctypes.byref(attr), ctypes.c_size_t(size), ctypes.c_uint32(0))
+    if fd < 0:
+        raise OSError(ctypes.get_errno(), 'landlock_create_ruleset')
+    for path, access in rules:
+        try:
+            pfd = os.open(path, os.O_PATH | os.O_CLOEXEC)
+        except FileNotFoundError:
+            continue
+        try:
+            if not os.path.isdir(path):
+                access &= FILE_RIGHTS
+            pb = ctypes.create_string_buffer(struct.pack('<Qi', access, pfd))   # struct landlock_path_beneath_attr (packed)
+            if _libc.syscall(_SYS_ADD_RULE, ctypes.c_int(fd), ctypes.c_int(1), pb, ctypes.c_uint32(0)) < 0:
+                raise OSError(ctypes.get_errno(), 'landlock_add_rule %s' % path)
+        finally:
+            os.close(pfd)
+    if _libc.prctl(38, 1, 0, 0, 0) != 0:                                   # PR_SET_NO_NEW_PRIVS
+        raise OSError(ctypes.get_errno(), 'no_new_privs')
+    if _libc.syscall(_SYS_RESTRICT, ctypes.c_int(fd), ctypes.c_uint32(0)) < 0:
+        raise OSError(ctypes.get_errno(), 'landlock_restrict_self')
+    os.close(fd)
+
+
+# ---- seccomp (classic BPF)
+_DENY_SYSCALLS = {'kill': 62, 'tkill': 200, 'tgkill': 234, 'rt_sigqueueinfo': 129, 'rt_tgsigqueueinfo': 297,
+                  'pidfd_send_signal': 424, 'pidfd_open': 434, 'pidfd_getfd': 438, 'ptrace': 101, 'process_vm_readv': 310,
+                  'process_vm_writev': 311, 'bpf': 321, 'perf_event_open': 298, 'io_uring_setup': 425, 'memfd_create': 319,
+                  'execveat': 322, 'keyctl': 250, 'add_key': 248, 'request_key': 249, 'userfaultfd': 323}
+_SOCKET_NR = 41
+_AF_UNIX = 1
+_EPERM = 1
+_AUDIT_ARCH_X86_64 = 0xC000003E
+
+
+def _bpf(code, jt, jf, k):
+    return struct.pack('HBBI', code, jt, jf, k)
+
+
+def _seccomp():
+    LD_W_ABS, JEQ, JGE, RET = 0x20, 0x15, 0x35, 0x06
+    ALLOW, KILL, ERRNO = 0x7FFF0000, 0x80000000, 0x00050000 | _EPERM
+    prog = [_bpf(LD_W_ABS, 0, 0, 4), _bpf(JEQ, 1, 0, _AUDIT_ARCH_X86_64), _bpf(RET, 0, 0, KILL),
+            _bpf(LD_W_ABS, 0, 0, 0), _bpf(JGE, 0, 1, 0x40000000), _bpf(RET, 0, 0, ERRNO)]
+    for nr in sorted(_DENY_SYSCALLS.values()):
+        prog += [_bpf(JEQ, 0, 1, nr), _bpf(RET, 0, 0, ERRNO)]
+    # socket(domain, ...): allow AF_UNIX only
+    prog += [_bpf(JEQ, 0, 3, _SOCKET_NR), _bpf(LD_W_ABS, 0, 0, 16), _bpf(JEQ, 1, 0, _AF_UNIX), _bpf(RET, 0, 0, ERRNO),
+             _bpf(RET, 0, 0, ALLOW)]
+    buf = ctypes.create_string_buffer(b''.join(prog))
+
+    class _Fprog(ctypes.Structure):
+        _fields_ = [('len', ctypes.c_ushort), ('filter', ctypes.c_void_p)]
+    fprog = _Fprog(len(prog), ctypes.addressof(buf))
+    if _libc.prctl(38, 1, 0, 0, 0) != 0:
+        raise OSError(ctypes.get_errno(), 'no_new_privs')
+    if _libc.prctl(22, 2, ctypes.byref(fprog), 0, 0) != 0:                # PR_SET_SECCOMP, SECCOMP_MODE_FILTER
+        raise OSError(ctypes.get_errno(), 'seccomp')
+
+
+def _exec_rules(bindir):
+    rules = [(p, READ) for p in READ_TREES]
+    seen = set()
+    for name in EXEC_ALLOW:
+        path = shutil.which(name, path='/usr/bin:/usr/sbin')
+        if path:
+            real = os.path.realpath(path)
+            if real not in seen:
+                seen.add(real)
+                rules.append((real, FS['EXECUTE'] | FS['READ_FILE']))
+    for loader in LOADERS:
+        if os.path.exists(loader):
+            real = os.path.realpath(loader)
+            if real not in seen:
+                seen.add(real)
+                rules.append((real, FS['EXECUTE'] | FS['READ_FILE']))
+    rules.append((bindir, FS['EXECUTE'] | READ))
+    rules.append(('/dev/null', FS['READ_FILE'] | FS['WRITE_FILE'] | FS['TRUNCATE']))
+    rules.append(('/dev/zero', FS['READ_FILE']))
+    rules.append(('/dev/urandom', FS['READ_FILE']))
+    return rules
+
+
+def enter(workdir, bindir):
+    """Restrict the calling process (irreversible).  Call in the child right before exec."""
+    rules = _exec_rules(bindir) + [(workdir, WRITE_TREE)]
+    _landlock(rules)
+    _seccomp()
+
+
+def sandbox_env(workdir, bindir, extra=None):
+    env = {'PATH': '%s:/usr/bin:/bin' % bindir, 'HOME': workdir, 'TMPDIR': workdir, 'LANG': 'C.UTF-8', 'LC_ALL': 'C.UTF-8',
+           'TERM': 'dumb', 'PS1': '$ ', 'SHELL': '/usr/bin/bash'}
+    env.update(extra or {})
+    return env
+
+
+def sandbox_argv(workdir, bindir, command):
+    """argv for subprocess: this module re-executes itself as the launcher, applies the sandbox, then execs bash -c."""
+    return [sys.executable, '-I', '-S', os.path.abspath(__file__), workdir, bindir, command]
+
+
+def _main(argv):
+    workdir, bindir, command = argv[1], argv[2], argv[3]
+    if os.path.isdir(workdir):
+        os.chdir(workdir)
+    os.umask(0o077)
+    try:
+        enter(workdir, bindir)
+    except OSError as e:                                                    # never run the command unconfined
+        sys.stderr.write('chemlab sandbox: cannot confine the shell (%s)\n' % e)
+        sys.exit(126)
+    os.execve(BASH, ['bash', '-c', command], dict(os.environ))
+
+
+if __name__ == '__main__':
+    _main(sys.argv)
diff --git a/chemlab/chemlab/serve.py b/chemlab/chemlab/serve.py
new file mode 100644
index 0000000000000000000000000000000000000000..d271a125875d252834312705ddc8c34c567e7dbb
--- /dev/null
+++ b/chemlab/chemlab/serve.py
@@ -0,0 +1,61 @@
+"""Start one Flex lab (a task's deck) and use it by hand.
+
+    python3 -m chemlab.serve --task t02_single_transfer --run 'chemlab describe flex'   # one sandboxed command
+    python3 -m chemlab.serve --task t10_protocol_then_transfer --shell                   # interactive sandboxed bash
+    python3 -m chemlab.serve --task t09_busy_wait                                        # serve; prints the client env
+
+The run directory (socket, core_log.jsonl, work/) goes to --dir (default: build/serve/<task>).  --check prints the task's
+checker result (evaluator view) when the session ends.
+"""
+import argparse
+import json
+import os
+import subprocess
+import sys
+import time
+
+from .flex_tasks import BY_ID, check, make_lab
+from .lab import CHEMLAB_ROOT
+from .sandbox import sandbox_argv
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('--task', default='t02_single_transfer', choices=sorted(BY_ID))
+    ap.add_argument('--dir')
+    ap.add_argument('--speed', type=float, default=10.0, help='simulated seconds per wall second')
+    g = ap.add_mutually_exclusive_group()
+    g.add_argument('--run', help='run one bash command in the sandbox')
+    g.add_argument('--shell', action='store_true', help='interactive bash in the sandbox')
+    ap.add_argument('--check', action='store_true', help="print the task checker's result at the end")
+    a = ap.parse_args(argv)
+    task = BY_ID[a.task]
+    run_dir = a.dir or str(CHEMLAB_ROOT / 'build' / 'serve' / a.task)
+    lab = make_lab(task, run_dir, speed=a.speed).start()
+    print('task %s: %s' % (task['id'], task['instruction']), file=sys.stderr)
+    code = 0
+    try:
+        if a.run:
+            r = lab.sh(a.run)
+            sys.stdout.write(r.out)
+            sys.stderr.write(r.err)
+            code = r.exit_code
+        elif a.shell:
+            code = subprocess.call(sandbox_argv(str(lab.work), lab.bindir, 'exec bash --norc --noprofile -i'), env=lab.env())
+        else:
+            env = lab.env()
+            print('serving; in another shell (no sandbox) use:\n  export CHEMLAB_SOCKET=%s CHEMLAB_TOKEN=%s\n  %s/chemlab describe flex\n'
+                  'Ctrl-C to stop.' % (env['CHEMLAB_SOCKET'], env['CHEMLAB_TOKEN'], lab.bindir), file=sys.stderr)
+            while True:
+                time.sleep(1)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        lab.stop()
+        if a.check:
+            print(json.dumps(check(task, lab), indent=1))
+    return code
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/server.py b/chemlab/chemlab/server.py
new file mode 100644
index 0000000000000000000000000000000000000000..a0fe80dd3ad50efc826454377ade66b0d5a6c641
--- /dev/null
+++ b/chemlab/chemlab/server.py
@@ -0,0 +1,97 @@
+"""Layer 3 - the local socket the `chemlab` client talks to.
+
+One request per connection: a JSON line {"token": ..., "argv": [...]}; the reply is "CHEMLAB/1 <exit> <len out> <len err>\\n"
+followed by stdout and stderr bytes.  The token selects the caller identity (each caller is an agent-visibility principal of
+the backend); the evaluator identity is never reachable through this socket.
+"""
+import hmac
+import json
+import os
+import socket
+import threading
+
+MAX_REQUEST = 1 << 20
+
+
+class LabServer:
+    def __init__(self, core, socket_dir, tokens):
+        """tokens: {token: caller name}."""
+        self.core = core
+        self.socket_dir = os.path.abspath(socket_dir)
+        self.path = os.path.join(self.socket_dir, 'lab.sock')
+        self.tokens = dict(tokens)
+        self._sock = None
+        self._thread = None
+        self._stop = threading.Event()
+        self.rejected = []                                                # connections refused (bad token / bad request)
+
+    def start(self):
+        if os.path.exists(self.path):
+            os.unlink(self.path)
+        dfd = os.open(self.socket_dir, os.O_PATH | os.O_DIRECTORY)
+        try:
+            s = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+            s.bind('/proc/self/fd/%d/lab.sock' % dfd)                       # socket paths are limited to 108 bytes
+        finally:
+            os.close(dfd)
+        os.chmod(self.path, 0o600)
+        s.listen(16)
+        s.settimeout(0.2)
+        self._sock = s
+        self._thread = threading.Thread(target=self._serve, name='chemlab-server', daemon=True)
+        self._thread.start()
+        return self
+
+    def stop(self):
+        self._stop.set()
+        if self._thread:
+            self._thread.join(timeout=2)
+        if self._sock:
+            self._sock.close()
+        if os.path.exists(self.path):
+            os.unlink(self.path)
+
+    def _serve(self):
+        while not self._stop.is_set():
+            try:
+                conn, _ = self._sock.accept()
+            except socket.timeout:
+                continue
+            except OSError:
+                return
+            threading.Thread(target=self._handle, args=(conn,), daemon=True).start()
+
+    def _reply(self, conn, code, out, err):
+        ob, eb = out.encode('utf-8'), err.encode('utf-8')
+        conn.sendall(('CHEMLAB/1 %d %d %d\n' % (code, len(ob), len(eb))).encode() + ob + eb)
+
+    def _handle(self, conn):
+        with conn:
+            conn.settimeout(30)
+            data = b''
+            try:
+                while b'\n' not in data and len(data) < MAX_REQUEST:
+                    chunk = conn.recv(65536)
+                    if not chunk:
+                        break
+                    data += chunk
+                req = json.loads(data.split(b'\n', 1)[0].decode('utf-8'))
+                token, argv = req.get('token'), req.get('argv')
+                if not isinstance(argv, list) or not argv or not all(isinstance(a, str) for a in argv) or argv[0] != 'chemlab':
+                    raise ValueError('bad argv')
+            except Exception:
+                self.rejected.append('bad request')
+                self._reply(conn, 2, '', 'error[validation/BAD_REQUEST]: the request could not be read.\nfix: use the chemlab client.\n'
+                                         'instrument changed: no\n')
+                return
+            caller = next((c for t, c in self.tokens.items() if isinstance(token, str) and hmac.compare_digest(t, token)), None)
+            if caller is None:
+                self.rejected.append('bad token')
+                self._reply(conn, 2, '', 'error[validation/NOT_AUTHORIZED]: this shell is not authorized for the chemlab service.\n'
+                                         'fix: use the shell you were given (CHEMLAB_TOKEN).\ninstrument changed: no\n')
+                return
+            reply = self.core.handle(argv, caller)
+            try:
+                self._reply(conn, reply.exit_code, reply.out, reply.err)
+            except OSError:
+                pass
diff --git a/chemlab/chemlab/sweep.py b/chemlab/chemlab/sweep.py
new file mode 100644
index 0000000000000000000000000000000000000000..6cb00721c531b15e38cd9b347491147c9ed86027
--- /dev/null
+++ b/chemlab/chemlab/sweep.py
@@ -0,0 +1,470 @@
+"""Checks of the generic layer over all 203 instruments (used by tests_generic/ and runnable by hand).
+
+    python -m chemlab.sweep equivalence   # every agent capability with contract example arguments: chemlab call (sandbox) vs the
+                                          # runtime called directly, each on a fresh copy -> same status and code
+    python -m chemlab.sweep ready         # the default lab after set-up: describe / read / every example call through the CLI,
+                                          # twin lab called directly in the same order -> same status and code; visibility scan
+    python -m chemlab.sweep panels        # 106 front panels: chemlab screen == panel.capture; press / turn / touch frames equal
+                                          # to the runtime driven directly
+    python -m chemlab.sweep clock         # chemlab wait: every runtime clock equals the lab clock and equals a twin stepped directly
+    python -m chemlab.sweep all
+
+Results: generic_results/<part>.json and a line per part in generic_results/summary.md.  The runtimes are driven through
+their own sessions for the "direct" side; chemlab is not involved there.
+"""
+import argparse
+import copy
+import hashlib
+import json
+import os
+import re
+import shlex
+import shutil
+import sys
+import time
+from pathlib import Path
+
+from .contract_text import example_call
+from .glab import GenericLab, single
+from .hosts import RuntimeHost
+from .labbackend import EVALUATOR, OPERATOR, LabBackend, agent_principal, load_config
+
+CHEMLAB_ROOT = Path(__file__).resolve().parents[1]
+RESULTS = CHEMLAB_ROOT / 'generic_results'
+SWEEP_ROOT = CHEMLAB_ROOT / 'build' / 'sweep_runs'
+# one directory per process, so two sweeps running at once never delete each other's labs (they used to share build/sweep_runs/<part>)
+RUNS = SWEEP_ROOT / ('%d-%s' % (os.getpid(), time.strftime('%Y%m%d-%H%M%S')))
+KEEP_RUNS_S = 2 * 86400                          # older per-run directories are removed when a new sweep part starts
+
+
+def _prune_old_runs():
+    if RUNS.parent != SWEEP_ROOT or not SWEEP_ROOT.is_dir():
+        return
+    for d in SWEEP_ROOT.iterdir():
+        try:
+            if d.is_dir() and d != RUNS and time.time() - d.stat().st_mtime > KEEP_RUNS_S:
+                shutil.rmtree(d, ignore_errors=True)
+        except OSError:
+            pass
+
+
+def _fresh_dir(name):
+    _prune_old_runs()
+    d = RUNS / name
+    if d.exists():
+        shutil.rmtree(d)
+    d.mkdir(parents=True)
+    return d
+
+
+def direct_outcome(fn):
+    """(status, code, raised) of a direct runtime call; exceptions are kept as they are."""
+    try:
+        r = fn()
+    except Exception as exc:                                                 # noqa: BLE001
+        text = str(exc)
+        code = text if re.match(r'^[A-Z][A-Z0-9_]{1,63}$', text or '') else None
+        return {'status': 'raised', 'code': code, 'raised': type(exc).__name__}
+    if not isinstance(r, dict):
+        return {'status': 'non-dict', 'code': None, 'raised': None}
+    return {'status': r.get('status'), 'code': (r.get('error') or {}).get('code'), 'raised': None}
+
+
+def cli_outcome(stdout):
+    """(status, code, raised) from `chemlab ... --json` output."""
+    try:
+        p = json.loads(stdout)
+    except ValueError:
+        return {'status': 'unparsable', 'code': None, 'raised': None}
+    if p.get('ok'):
+        return {'status': p.get('status'), 'code': None, 'raised': None}
+    e = p.get('error') or {}
+    rt = e.get('runtime') or {}
+    if e.get('class') == 'usage':
+        return {'status': 'usage', 'code': e.get('code'), 'raised': None}
+    if rt.get('raised'):
+        return {'status': 'raised', 'code': None if e.get('code') == 'RUNTIME_EXCEPTION' else e.get('code'), 'raised': rt['raised']}
+    return {'status': rt.get('status', p.get('status')), 'code': rt.get('code', e.get('code')), 'raised': None}
+
+
+def same(a, b):
+    return a['status'] == b['status'] and a['code'] == b['code'] and a['raised'] == b['raised']
+
+
+def call_command(iid, cap, example):
+    """The chemlab command for a contract example: flag form when every value is a scalar, else --args JSON."""
+    lines = example_call(iid, cap, example)
+    use_flags = len(lines) == 2 and isinstance(example, dict) and example
+    return (lines[0] if use_flags else lines[-1]) + ' --json', bool(use_flags)
+
+
+def direct_host(inst, callers=('agent',)):
+    """A fresh copy of the instrument's runtime host, sessions opened in the lab's order, nothing else."""
+    h = RuntimeHost(inst.asset_type_id, inst.recipe, inst.entry.get('instance_id') or inst.id)
+    for c in callers:
+        h.open_session(agent_principal(c), 'agent')
+    h.open_session(OPERATOR, 'agent')
+    h.open_session(EVALUATOR, 'evaluator')
+    return h
+
+
+def _hidden_hits(view, text, global_view=None):
+    out = set()
+    for v in (view, global_view):
+        if v is not None and v._hidden_re is not None:
+            out |= set(m.group(1) for m in v._hidden_re.finditer(text))
+    return sorted(out)
+
+
+# ------------------------------------------------------------------------------------------------ part 1: fresh copies
+def equivalence(only=None, log=print):
+    run = _fresh_dir('equivalence')
+    cfg = load_config()
+    if only:
+        cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] in only]
+    lab = GenericLab(run / 'lab', cfg, setup=False, max_wait_s=10).start()
+    rows, t0 = [], time.time()
+    try:
+        for iid, inst in lab.backend.instruments.items():
+            n_ok = 0
+            for cap, c in sorted(inst.view.capabilities.items()):
+                ex = c.get('example_arguments')
+                if not isinstance(ex, dict):
+                    rows.append({'instrument': iid, 'capability': cap, 'skipped': 'no example arguments'})
+                    continue
+                lab.backend.reset_instrument(iid)
+                cmd, flags = call_command(iid, cap, ex)
+                n_log = len(lab.core.log.entries)
+                r = lab.sh(cmd, timeout=600)
+                cli = cli_outcome(r.out)
+                sent = None
+                new = lab.core.log.entries[n_log:]
+                if new and new[-1]['backend_calls']:
+                    sent = new[-1]['backend_calls'][0].get('arguments')
+                args_ok = sent is not None and json.dumps(sent, sort_keys=True) == json.dumps(ex, sort_keys=True)
+                h = direct_host(inst)
+                d = direct_outcome(lambda: h.sessions[agent_principal('agent')].invoke(
+                    instance_id=h.instance_id, capability_id=cap, arguments=copy.deepcopy(ex), request_id='direct-1'))
+                eq = same(cli, d)
+                n_ok += eq and args_ok
+                rows.append({'instrument': iid, 'capability': cap, 'cli': cli, 'direct': d, 'same': eq, 'flag_form': flags,
+                             'args_sent_equal': args_ok, 'exit': r.exit_code})
+            log('%-40s %3d/%3d  (%.0f s)' % (iid, n_ok, len(inst.view.capabilities), time.time() - t0))
+    finally:
+        lab.stop()
+    return _report('equivalence', rows)
+
+
+# ------------------------------------------------------------------------------------------------ part 2: the ready lab
+def ready(only=None, log=print):
+    run = _fresh_dir('ready')
+    cfg = load_config()
+    if only:
+        cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] in only]
+    t0 = time.time()
+    lab = GenericLab(run / 'lab', cfg).start()
+    twin = LabBackend(cfg, run_dir=run / 'twin')
+    log('labs built in %.0f s, T0 = %.0f s' % (time.time() - t0, lab.backend.now()))
+    out = {'describe_read': [], 'calls': [], 'visibility': [], 'setup': {}, 'leaks_removed': []}
+    try:
+        ids = list(lab.backend.instruments)
+        script = 'mkdir -p sweep; for i in %s; do ' \
+                 'chemlab describe $i --json > sweep/$i.describe.json; echo "$i describe_json $?"; ' \
+                 'chemlab describe $i > sweep/$i.describe.txt; echo "$i describe $?"; ' \
+                 'chemlab read $i --json > sweep/$i.read.json 2>&1; echo "$i read_json $?"; ' \
+                 'chemlab read $i > sweep/$i.read.txt 2>&1; echo "$i read $?"; done' % ' '.join(ids)
+        r = lab.sh(script, timeout=3600)
+        codes = {}
+        for line in r.out.splitlines():
+            iid, what, code = line.split()
+            codes.setdefault(iid, {})[what] = int(code)
+        work = lab.work / 'sweep'
+        for iid in ids:
+            inst = lab.backend.instruments[iid]
+            v = inst.view
+            row = {'instrument': iid, 'exit': codes.get(iid)}
+            dj = json.loads((work / ('%s.describe.json' % iid)).read_text())
+            rj = json.loads((work / ('%s.read.json' % iid)).read_text())
+            row['n_caps'] = len(dj.get('capabilities') or [])
+            row['n_caps_view'] = len(v.capabilities)
+            row['n_slots'] = len(dj.get('state_slots') or [])
+            row['n_obs'] = len(rj.get('observations') or {})
+            row['obs_not_visible'] = sorted(k for k in (rj.get('observations') or {}) if k not in v.slots)
+            row['visible_not_read'] = sorted(sid for sid in v.slots if sid not in (rj.get('observations') or {}))
+            row['ok'] = all(c == 0 for c in (codes.get(iid) or {'x': 1}).values()) and row['n_caps'] == row['n_caps_view'] \
+                and not row['obs_not_visible']
+            out['describe_read'].append(row)
+            out['setup'][iid] = inst.setup_report
+            for f in work.glob('%s.*' % iid):
+                hits = _hidden_hits(v, f.read_text(), lab.backend.global_view)
+                if hits:
+                    out['visibility'].append({'instrument': iid, 'file': f.name, 'hidden_ids': hits})
+        for iid in ids:                                                      # the twin sees the same reads
+            th = twin.instruments[iid].host
+            for _ in range(2):
+                direct_outcome(lambda: th.describe(agent_principal('agent')))
+                direct_outcome(lambda: th.describe(agent_principal('agent')))
+                direct_outcome(lambda: th.read(agent_principal('agent')))
+        log('describe/read done (%.0f s)' % (time.time() - t0))
+        # every example call, in order, from the set-up state: chemlab (sandbox) vs the twin's runtime directly
+        for iid in ids:
+            inst = lab.backend.instruments[iid]
+            th = twin.instruments[iid].host
+            lines, meta = [], []
+            for cap, c in sorted(inst.view.capabilities.items()):
+                ex = c.get('example_arguments')
+                if not isinstance(ex, dict):
+                    continue
+                cmd, _ = call_command(iid, cap, ex)
+                lines.append('%s > sweep/call_%s_%s.json 2>&1' % (cmd, iid, cap))
+                meta.append((cap, ex))
+            n_log = len(lab.core.log.entries)
+            r = lab.sh('; '.join(lines), timeout=3600)
+            for k, (cap, ex) in enumerate(meta):
+                f = lab.work / 'sweep' / ('call_%s_%s.json' % (iid, cap))
+                cli = cli_outcome(f.read_text())
+                d = direct_outcome(lambda: th.sessions[agent_principal('agent')].invoke(
+                    instance_id=th.instance_id, capability_id=cap, arguments=copy.deepcopy(ex), request_id='r-%04d' % (n_log + k + 1)))
+                hits = _hidden_hits(inst.view, f.read_text(), lab.backend.global_view)
+                if hits:
+                    out['visibility'].append({'instrument': iid, 'file': f.name, 'hidden_ids': hits})
+                out['calls'].append({'instrument': iid, 'capability': cap, 'cli': cli, 'direct': d, 'same': same(cli, d)})
+            log('%-40s calls done (%.0f s)' % (iid, time.time() - t0))
+        # the log as the agent sees it
+        r = lab.sh('chemlab log --last 100000 --json > sweep/log.json; chemlab log --last 100000 --full > sweep/log.txt')
+        logtext = (lab.work / 'sweep' / 'log.json').read_text() + (lab.work / 'sweep' / 'log.txt').read_text()
+        tokens = set(re.findall(r'(?<![A-Za-z0-9_.])[A-Za-z0-9_]+(?:\.[A-Za-z0-9_]+)+', logtext))
+        visible_anywhere = set()
+        for o in lab.backend.instruments.values():
+            visible_anywhere |= o.view.callable | set(o.view.slots)
+        for iid, inst in lab.backend.instruments.items():
+            # an id hidden on one instrument can be visible on another; only ids visible nowhere count in the shared log
+            hits = sorted((tokens & inst.view.hidden_set) - visible_anywhere)
+            if hits:
+                out['visibility'].append({'instrument': iid, 'file': 'log', 'hidden_ids': hits})
+        out['leaks_removed'] = lab.core.leaks
+        out['clock_errors'] = lab.backend.clock_errors()
+    finally:
+        lab.stop()
+    res = _report('ready', out['calls'], extra=out)
+    return res
+
+
+# ------------------------------------------------------------------------------------------------ part 3: front panels
+def _png_hash(path):
+    return hashlib.sha256(Path(path).read_bytes()).hexdigest()
+
+
+def _pixels_equal(a, b):
+    from PIL import Image
+    ia, ib = Image.open(a).convert('RGBA'), Image.open(b).convert('RGBA')
+    return ia.size == ib.size and ia.tobytes() == ib.tobytes()
+
+
+def _gestures(lab, iid):
+    """Candidate gestures per kind: every key (press), every knob (turn +1), touch points on the main touch display (centre, then a
+    3 x 3 grid).  panels() tries each kind in order until one gesture of that kind changes the frame."""
+    p = lab.core._panel_view(iid)
+    out = []
+    if p is None:
+        return out
+    for k in p['keys']:
+        out.append(('press', [k['id']], {'input_id': k['id']}, 'panel.press'))
+    for k in p['knobs']:
+        out.append(('turn', [k['id'], '1'], {'input_id': k['id'], 'detents': 1}, 'panel.turn'))
+    if p['touch_displays']:
+        d = p['touch_displays'][0]
+        size = next((x['size'] for x in p['displays'] if x['id'] == d and x.get('size')), None) or [320, 240]
+        w, h = int(size[0]), int(size[1])
+        pts = [(w // 2, h // 2)] + [(w * i // 6, h * j // 6) for j in (1, 3, 5) for i in (1, 3, 5) if (i, j) != (3, 3)]
+        pts += [(w * i // 8, y) for y in (h - max(4, h // 16), max(4, h // 24)) for i in (1, 3, 5, 7)]   # soft-key rows
+        pts += [(max(4, w // 24), h * j // 8) for j in (1, 3, 5, 7)]                                      # side bar
+        for x, y in pts:
+            out.append(('touch', [d, str(x), str(y)], {'display_id': d, 'x': x, 'y': y}, 'panel.touch'))
+    return out
+
+
+def panels(only=None, log=print):
+    run = _fresh_dir('panels')
+    cfg = load_config()
+    ids = [e['id'] for e in cfg['instruments'] if 'panel' in e or e['id'] in ('cem_libertyblue', 'cytiva_ktaoligosynt')]
+    rows, t0 = [], time.time()
+    for iid in ids:
+        if only and iid not in only:
+            continue
+        one = single(iid, cfg)
+        lab = GenericLab(run / iid / 'cli', one).start()
+        if lab.backend.instruments[iid].panel is None:
+            lab.stop()
+            continue
+        twin = LabBackend(one, run_dir=run / iid / 'direct')
+        th = twin.instruments[iid].host
+        p_agent = agent_principal('agent')
+        main = lab.backend.instruments[iid].panel['main_display']
+        row = {'instrument': iid, 'main_display': main, 'steps': []}
+        try:
+            def cli_screen(name):
+                r = lab.sh('chemlab screen %s %s -o shots/%s.png --json' % (iid, main, name))
+                return r, lab.work / 'shots' / ('%s.png' % name)
+
+            ncap = [0]
+
+            def direct_capture():
+                ncap[0] += 1
+                resp = th.invoke(p_agent, 'panel.capture', {'display_id': main}, 'direct-cap-%d' % ncap[0])
+                return Path(resp['result']['image']['path']) if resp.get('status') == 'succeeded' else None
+
+            r, f0 = cli_screen('00_home')
+            # screen == panel.capture of the same runtime at the same moment
+            same_file = lab.backend.invoke('agent', iid, 'panel.capture', {'display_id': main}, 'check-cap-0')
+            cap0 = lab.backend.capture_file(same_file)
+            row['screen_exit'] = r.exit_code
+            row['screen_equals_capture'] = r.exit_code == 0 and cap0 is not None and f0.read_bytes() == cap0.read_bytes()
+            d0 = direct_capture()
+            row['home_equals_twin'] = d0 is not None and f0.exists() and _pixels_equal(f0, d0)
+            prev_cli, prev_dir = f0, d0
+            changed_kind = set()
+            for k, (g, pos, args, cap) in enumerate(_gestures(lab, iid), 1):
+                if g in changed_kind:
+                    continue
+                rc = lab.sh('chemlab panel %s %s %s --json' % (iid, g, ' '.join(shlex.quote(x) for x in pos)))
+                cli = cli_outcome(rc.out)
+                lab.sh('chemlab wait 1')
+                rd = direct_outcome(lambda: th.invoke(p_agent, cap, dict(args), 'direct-g-%d' % k))
+                twin.advance(1)
+                r, fc = cli_screen('%02d_%s' % (k, g))
+                fd = direct_capture()
+                step = {'gesture': g, 'args': args, 'cli': cli, 'direct': rd, 'same_outcome': same(cli, rd),
+                        'frames_equal': fc.exists() and fd is not None and _pixels_equal(fc, fd),
+                        'cli_changed': fc.exists() and not _pixels_equal(fc, prev_cli),
+                        'direct_changed': fd is not None and prev_dir is not None and not _pixels_equal(fd, prev_dir)}
+                row['steps'].append(step)
+                if step['cli_changed']:
+                    changed_kind.add(g)
+                prev_cli, prev_dir = fc, fd
+            row['ok'] = row['screen_equals_capture'] and row['home_equals_twin'] and all(s['same_outcome'] and s['frames_equal']
+                                                                                          for s in row['steps'])
+            row['any_change'] = any(s['cli_changed'] for s in row['steps'])
+        except Exception as exc:                                             # noqa: BLE001
+            row['ok'] = False
+            row['error'] = '%s: %s' % (type(exc).__name__, exc)
+        finally:
+            lab.stop()
+        rows.append(row)
+        log('%-40s ok=%s changes=%s (%.0f s)' % (iid, row.get('ok'), [s['cli_changed'] for s in row['steps']], time.time() - t0))
+    return _report('panels', rows)
+
+
+# ------------------------------------------------------------------------------------------------ part 4: the clock
+def _direct_advance(h, mode, dt, t_new, n):
+    """The recipe's clock call, written out here (independent of hosts.RuntimeHost.advance)."""
+    x = h.host
+    if mode == 'step_dt':
+        x.step(dt)
+    elif mode == 'host_step_dt':
+        x.host_step(dt)
+    elif mode == 'host_step_dt_world':
+        x.host_step(dt, world_time_s=t_new)
+    elif mode == 'step_dt_world':
+        x.step(dt, world_time_s=t_new)
+    elif mode == 'host_step_abs':
+        x.host_step(t_new)
+    elif mode == 'host_advance_abs':
+        x.host_advance(t_new)
+    elif mode == 'host_set_clock_abs':
+        x.host_set_clock(t_new)
+    elif mode == 'vici_set_time':
+        x.host_set_time(world_time_s=t_new, request_id='twin-clock-%d' % n)
+    elif mode == 'clock_host_update':
+        h.local_s = t_new                                                    # the clock callable first, then the event update
+        x.host_update()
+    h.local_s = t_new                                                        # clock-callable runtimes read local_s
+
+
+def _scrub_obs(obs):
+    return json.loads(json.dumps(obs, sort_keys=True, default=str))
+
+
+def clock(only=None, log=print, waits=(7.5, 30.0)):
+    run = _fresh_dir('clock')
+    cfg = load_config()
+    if only:
+        cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] in only]
+    rows = []
+    from .make_config import build
+    bare = {e['id']: e for e in build(default_lab=False)['instruments']}
+    fresh = copy.deepcopy(cfg)                  # no set-up: also without the default lab's entry keys (scenes, decks, chillers ...)
+    for e in fresh['instruments']:
+        for k in [k for k in e if k != 'setup' and k not in (bare.get(e['id']) or e)]:
+            e.pop(k)
+    for setup in (False, True):
+        lab = GenericLab(run / ('lab_setup' if setup else 'lab_fresh'), cfg if setup else fresh, setup=setup).start()
+        twins = {}
+        if not setup:
+            for iid, inst in lab.backend.instruments.items():
+                h = direct_host(inst)
+                twins[iid] = h
+        try:
+            t_start = lab.backend.now()
+            steps_done = []
+            for w in waits:
+                r = lab.sh('chemlab wait %s --json' % w)
+                assert r.exit_code == 0, r.err
+                n_full = int(w // lab.backend.step_s)
+                rest = w - n_full * lab.backend.step_s
+                steps_done += [lab.backend.step_s] * n_full + ([rest] if rest > 1e-9 else [])
+            for iid, inst in lab.backend.instruments.items():
+                rt = lab.backend.runtime_clock(iid)
+                row = {'instrument': iid, 'setup': setup, 'mode': inst.recipe.get('advance'), 'lab_time_s': lab.backend.now(),
+                       'runtime_time_s': rt, 'clock_ok': rt is not None and abs(rt - lab.backend.now()) <= 1e-6 * max(1.0, lab.backend.now())}
+                if not setup:
+                    h = twins[iid]
+                    t, n = 0.0, 0
+                    for dt in steps_done:
+                        n += 1
+                        t += dt
+                        _direct_advance(h, inst.recipe.get('advance'), dt, t, n)
+                    a = lab.backend.evaluator_read(iid)
+                    b = h.sessions[EVALUATOR].read(instance_id=h.instance_id, state_ids=None)
+                    oa, ob = _scrub_obs(a.get('observations')), _scrub_obs(b.get('observations'))
+                    row['twin_equal'] = oa == ob
+                    if oa != ob:
+                        row['twin_diff'] = sorted(k for k in set(oa) | set(ob) if oa.get(k) != ob.get(k))[:10]
+                rows.append(row)
+            log('setup=%s: %d instruments, lab t=%.1f, clock ok %d, twin equal %d' % (
+                setup, len(lab.backend.instruments), lab.backend.now(), sum(r['clock_ok'] for r in rows if r['setup'] == setup),
+                sum(bool(r.get('twin_equal')) for r in rows if r['setup'] == setup)))
+        finally:
+            lab.stop()
+    return _report('clock', rows)
+
+
+# ------------------------------------------------------------------------------------------------ report
+def _report(part, rows, extra=None):
+    RESULTS.mkdir(parents=True, exist_ok=True)
+    data = {'part': part, 'time': time.strftime('%Y-%m-%d %H:%M:%S'), 'rows': rows}
+    if extra:
+        data.update({k: v for k, v in extra.items() if k != 'calls'})
+    out = RESULTS / ('%s.json' % part)
+    tmp = out.with_name('.%s.%d.tmp' % (out.name, os.getpid()))           # atomic: concurrent sweeps never leave half a file
+    tmp.write_text(json.dumps(data, ensure_ascii=False, indent=1, default=str) + '\n')
+    os.replace(tmp, out)
+    return data
+
+
+PARTS = {'equivalence': equivalence, 'ready': ready, 'panels': panels, 'clock': clock}
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument('part', choices=sorted(PARTS) + ['all'])
+    ap.add_argument('--only', nargs='*', help='instrument ids')
+    a = ap.parse_args(argv)
+    for name in (sorted(PARTS) if a.part == 'all' else [a.part]):
+        t0 = time.time()
+        PARTS[name](only=a.only)
+        print('%s done in %.0f s' % (name, time.time() - t0), file=sys.stderr)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/chemlab/chemlab/tasks.py b/chemlab/chemlab/tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..c6de90097679e64038ce4a1a01fd4060f06f72a9
--- /dev/null
+++ b/chemlab/chemlab/tasks.py
@@ -0,0 +1,154 @@
+"""Run the acceptance tasks with your own agent, a script, or by hand.
+
+Every instrument class of the compile layer comes with acceptance tasks: a task world (the instruments of the default lab,
+sometimes with a fault or an unusual state to recover from), an instruction for the agent, a reference solution and an
+automatic checker.  The checker reads the evaluator view (true instrument state, never visible to the agent), the lab's
+request log and the report files the instruction asks for.
+
+    python -m chemlab.tasks list [--class CLASS] [--json]      # every task: id, class, kind, instruments
+    python -m chemlab.tasks show TASK_ID [--json]               # the instruction (what the agent is told) and the instruments
+    python -m chemlab.tasks run TASK_ID --solution FILE         # run a bash script in the task's sandbox, then check it
+    python -m chemlab.tasks run TASK_ID --gold                  # the same with the reference solution
+    python -m chemlab.tasks shell TASK_ID                       # interactive sandboxed shell in the task world; checked on exit
+
+A solution is a bash script that runs inside the agent sandbox, where `chemlab` is the only way to reach the lab.  It starts
+in the agent's work directory; report files the instruction asks for are written there.  To put an agent on a task, show it
+the instruction, let it produce the commands (or drive `shell`), and run them as the solution.
+
+Results go to --out (default build/tasks/<TASK_ID>/<time>): transcript.json, core_log.jsonl (every request and reply),
+check.json and work/.  Exit code: 0 when the checker passes, 1 when it fails, 2 on bad usage.  --no-sandbox (opt-in, with a
+warning) runs without the agent sandbox for local, trusted use on machines without Landlock.
+"""
+import argparse
+import json
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+from .labbackend import CHEMLAB_ROOT
+
+
+def suites():
+    """{class: [task, ...]} over every class suite (chemlab/compile/tasks/<class>_tasks.py)."""
+    from .compile.acceptance import classes, suite
+    out = {}
+    for cls in classes():
+        try:
+            out[cls] = list(suite(cls).TASKS)
+        except ImportError:
+            continue
+    return out
+
+
+def _usage(msg):
+    print('chemlab.tasks: %s' % msg, file=sys.stderr)
+    raise SystemExit(2)
+
+
+def find(task_id):
+    for cls, tasks in suites().items():
+        for t in tasks:
+            if t['id'] == task_id:
+                return cls, t
+    _usage('no task %r (see: python -m chemlab.tasks list)' % task_id)
+
+
+def _out_dir(a, task_id):
+    return Path(a.out) if a.out else CHEMLAB_ROOT / 'build' / 'tasks' / task_id / time.strftime('%Y%m%d-%H%M%S')
+
+
+def _print_check(res, out):
+    for x in res['checks']:
+        print('  %s  %s%s' % ('ok  ' if x['ok'] else 'FAIL', x['check'], ('  (%s)' % x['detail']) if x['detail'] and not x['ok'] else ''))
+    print('%s: %s  (%d requests, %d refused, %.0f s simulated, %.1f s wall)' % (
+        res['task'], 'PASSED' if res['passed'] else 'FAILED', res['requests'], res['refused'], res['sim_time_s'], res['wall_s']))
+    print('results: %s' % out)
+
+
+def cmd_list(a):
+    rows = [{'id': t['id'], 'class': cls, 'kind': t.get('kind', ''), 'instruments': t.get('instruments', [])}
+            for cls, tasks in suites().items() if not a.cls or cls == a.cls for t in tasks]
+    if a.cls and not rows:
+        _usage('no class %r (classes: %s)' % (a.cls, ', '.join(suites())))
+    if a.json:
+        print(json.dumps(rows, ensure_ascii=False, indent=1))
+        return 0
+    for r in rows:
+        print('%-36s %-18s %-48s %s' % (r['id'], r['class'], r['kind'][:48], ', '.join(r['instruments'])))
+    print('%d tasks' % len(rows))
+    return 0
+
+
+def cmd_show(a):
+    cls, t = find(a.task)
+    info = {'id': t['id'], 'class': cls, 'kind': t.get('kind', ''), 'instruments': t.get('instruments', []),
+            'instruction': t['instruction']}
+    if a.json:
+        print(json.dumps(info, ensure_ascii=False, indent=1))
+    else:
+        print('%s (%s; %s)\ninstruments: %s\n\n%s' % (t['id'], cls, info['kind'], ', '.join(info['instruments']), t['instruction']))
+    return 0
+
+
+def cmd_run(a):
+    from .compile.tasks import common
+    _, t = find(a.task)
+    if a.gold == bool(a.solution):
+        _usage('give either --solution FILE or --gold')
+    script = Path(a.solution).read_text(encoding='utf-8') if a.solution else t['gold']
+    out = _out_dir(a, t['id'])
+    res = common.run_task(t, out, solution=script, timeout=a.timeout, sandbox=not a.no_sandbox)
+    _print_check(res, out)
+    return 0 if res['passed'] else 1
+
+
+def cmd_shell(a):
+    from .compile.tasks import common
+    _, t = find(a.task)
+    out = _out_dir(a, t['id'])
+    out.mkdir(parents=True, exist_ok=True)
+    t0 = time.monotonic()
+    lab = common.make_lab(t, out, sandbox=not a.no_sandbox)
+    try:
+        print('task %s\n\n%s\n\n(a sandboxed shell in the task world: use `chemlab ...`; type exit to finish and run the checker)\n'
+              % (t['id'], t['instruction']), file=sys.stderr)
+        subprocess.call(lab.shell_argv('exec bash --norc --noprofile -i'), env=lab.env())
+        if t.get('after'):
+            t['after'](lab)
+    finally:
+        lab.stop()
+    res = common.judge(t, lab, out, t0, None, '(interactive shell)')
+    _print_check(res, out)
+    return 0 if res['passed'] else 1
+
+
+def main(argv=None):
+    ap = argparse.ArgumentParser(prog='python -m chemlab.tasks', description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    sub = ap.add_subparsers(dest='command', required=True)
+    p = sub.add_parser('list', help='list the tasks')
+    p.add_argument('--class', dest='cls', help='only this class (e.g. balance, thermal, property_meter)')
+    p.add_argument('--json', action='store_true')
+    p = sub.add_parser('show', help="show a task's instruction")
+    p.add_argument('task')
+    p.add_argument('--json', action='store_true')
+    for name, hlp in (('run', 'run a solution script in the task world and check it'),
+                      ('shell', 'interactive sandboxed shell in the task world; the checker runs when it exits')):
+        p = sub.add_parser(name, help=hlp)
+        p.add_argument('task')
+        p.add_argument('--out', help='results directory (default build/tasks/TASK_ID/TIME)')
+        p.add_argument('--no-sandbox', action='store_true', help='no agent sandbox (no isolation; local, trusted use only)')
+        if name == 'run':
+            p.add_argument('--solution', help='bash script to run inside the sandbox')
+            p.add_argument('--gold', action='store_true', help="run the task's reference solution")
+            p.add_argument('--timeout', type=float, default=900.0, help='wall-clock limit in seconds (default 900)')
+    a = ap.parse_args(argv)
+    try:
+        return {'list': cmd_list, 'show': cmd_show, 'run': cmd_run, 'shell': cmd_shell}[a.command](a)
+    except RuntimeError as e:                                               # no sandbox here, no C compiler for the client
+        print('chemlab: %s' % e, file=sys.stderr)
+        return 2
+
+
+if __name__ == '__main__':
+    sys.exit(main())
diff --git a/chemlab/chemlab/units.py b/chemlab/chemlab/units.py
new file mode 100644
index 0000000000000000000000000000000000000000..307cc30e9c5eb6ca85f84d08958f80ed2f0aaf15
--- /dev/null
+++ b/chemlab/chemlab/units.py
@@ -0,0 +1,104 @@
+"""Units the agent types (uL, mL, mm, s, min, degC) <-> SI values the runtime takes (m^3, m, s, K).
+
+Decimal arithmetic avoids binary round-off: 7.5 uL becomes exactly float('7.5e-9').
+"""
+import math
+import re
+from decimal import Decimal, InvalidOperation
+
+from .errors import ValidationError
+
+_NUM = r'([+-]?(?:\d+(?:\.\d*)?|\.\d+)(?:[eE][+-]?\d+)?)'
+_VOLUME = {'nl': Decimal('1e-12'), 'ul': Decimal('1e-9'), 'µl': Decimal('1e-9'), 'μl': Decimal('1e-9'), 'ml': Decimal('1e-6'),
+           'l': Decimal('1e-3')}
+_LENGTH = {'um': Decimal('1e-6'), 'µm': Decimal('1e-6'), 'mm': Decimal('1e-3'), 'cm': Decimal('1e-2'), 'm': Decimal(1)}
+_TIME = {'ms': Decimal('1e-3'), 's': Decimal(1), 'sec': Decimal(1), 'min': Decimal(60), 'h': Decimal(3600)}
+_TEMP = ('c', '°c', 'degc', 'k')
+
+
+def _split(text, what, allowed, default_unit):
+    if not isinstance(text, str) or not text.strip():
+        raise ValidationError('MISSING_VALUE', '%s is missing.' % what, 'give a number with a unit, for example 50uL.')
+    m = re.fullmatch(_NUM + r'\s*([^\d\s][^\s]*)?', text.strip())
+    if not m:
+        raise ValidationError('BAD_NUMBER', '%r is not a number with a unit.' % text,
+                              'write the %s like 50uL (allowed units: %s).' % (what, ', '.join(allowed)))
+    try:
+        value = Decimal(m.group(1))
+    except InvalidOperation:
+        raise ValidationError('BAD_NUMBER', '%r is not a number.' % text, 'write a plain decimal number.')
+    unit = (m.group(2) or default_unit).lower()
+    if not value.is_finite():
+        raise ValidationError('BAD_NUMBER', '%r is not a finite number.' % text, 'write a plain decimal number.')
+    return value, unit
+
+
+def parse_volume(text):
+    """'50', '50uL', '50 µL', '0.05mL', '500nL' -> (m^3 float, uL float).  A bare number is uL (Opentrons convention)."""
+    value, unit = _split(text, 'volume', ['uL', 'mL', 'nL'], 'ul')
+    if unit not in _VOLUME:
+        raise ValidationError('UNIT_NOT_ALLOWED', 'unit %r is not a volume unit.' % unit,
+                              'give volumes in uL (default), mL or nL, for example 50uL.')
+    if value <= 0:
+        raise ValidationError('VOLUME_NOT_POSITIVE', 'volume %s must be greater than zero.' % text, 'give a positive volume.')
+    si = value * _VOLUME[unit]
+    if not math.isfinite(float(si)) or float(si) == 0.0:
+        raise ValidationError('BAD_NUMBER', 'volume %s is too large or too small to represent.' % text, 'give a volume in uL.')
+    return float(si), float(si / _VOLUME['ul'])
+
+
+def parse_length(text, default_unit='mm'):
+    value, unit = _split(text, 'length', ['mm', 'cm', 'um', 'm'], default_unit)
+    if unit not in _LENGTH:
+        raise ValidationError('UNIT_NOT_ALLOWED', 'unit %r is not a length unit.' % unit, 'give lengths in mm, for example 5mm.')
+    return float(value * _LENGTH[unit])
+
+
+def parse_duration(text, default_unit='s'):
+    value, unit = _split(text, 'duration', ['s', 'min', 'h', 'ms'], default_unit)
+    if unit not in _TIME:
+        raise ValidationError('UNIT_NOT_ALLOWED', 'unit %r is not a time unit.' % unit, 'give times in s or min, for example 30s.')
+    if value < 0:
+        raise ValidationError('DURATION_NEGATIVE', 'duration %s is negative.' % text, 'give a duration >= 0.')
+    return float(value * _TIME[unit])
+
+
+def parse_temperature(text, default_unit='c'):
+    """'37', '37C', '37°C', '310.15K' -> kelvin."""
+    value, unit = _split(text, 'temperature', ['C', 'K'], default_unit)
+    if unit not in _TEMP:
+        raise ValidationError('UNIT_NOT_ALLOWED', 'unit %r is not a temperature unit.' % unit, 'give temperatures in °C, for example 37C.')
+    kelvin = value if unit == 'k' else value + Decimal('273.15')
+    if kelvin < 0:
+        raise ValidationError('BELOW_ABSOLUTE_ZERO', 'temperature %s is below absolute zero.' % text, 'check the value and unit.')
+    return float(kelvin)
+
+
+def ul(m3):
+    """m^3 -> uL (rounded to the nL)."""
+    return round(m3 * 1e9, 3)
+
+
+def fmt_ul(m3):
+    v = ul(m3)
+    s = ('%.3f' % v).rstrip('0').rstrip('.')
+    return '%s µL' % s
+
+
+def fmt_s(seconds):
+    seconds = max(0.0, float(seconds))
+    if seconds < 90:
+        return '%.0f s' % seconds
+    m, s = divmod(int(round(seconds)), 60)
+    if m < 90:
+        return '%d min %02d s' % (m, s)
+    h, m = divmod(m, 60)
+    return '%d h %02d min' % (h, m)
+
+
+def fmt_mm(m):
+    return '%.1f mm' % (m * 1e3)
+
+
+def is_finite(x):
+    return isinstance(x, (int, float)) and not isinstance(x, bool) and math.isfinite(x)
diff --git a/chemlab/client/chemlab_client.c b/chemlab/client/chemlab_client.c
new file mode 100644
index 0000000000000000000000000000000000000000..e63fc5f885b0415e7546ba80617baa60001b8dd4
--- /dev/null
+++ b/chemlab/client/chemlab_client.c
@@ -0,0 +1,126 @@
+/* chemlab thin client: sends argv to the chemlab core service over a local UNIX socket and prints the reply.
+ *
+ * All parsing, checks and rules live in the core service; this program only carries the request.  It is the one
+ * program in the agent sandbox that can open a UNIX socket.
+ *
+ * Environment: CHEMLAB_SOCKET  path of the service socket (its file name must be lab.sock)
+ *              CHEMLAB_TOKEN   per-run token the service checks
+ * Wire: request  = one JSON line {"token": "...", "argv": ["chemlab", ...]}
+ *       reply    = "CHEMLAB/1 <exit> <stdout bytes> <stderr bytes>\n" + stdout + stderr
+ * Exit: the service's exit code; 5 when the service cannot be reached.
+ * Build: cc -O2 -static -o chemlab chemlab_client.c   (falls back to dynamic linking)
+ */
+#define _GNU_SOURCE
+#include <errno.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <unistd.h>
+
+static char *buf;
+static size_t len, cap;
+
+static void put(const char *s, size_t n) {
+    if (len + n + 1 > cap) {
+        cap = (len + n + 1) * 2;
+        buf = realloc(buf, cap);
+        if (!buf) { fputs("chemlab: out of memory\n", stderr); exit(5); }
+    }
+    memcpy(buf + len, s, n);
+    len += n;
+}
+
+static void put_json_string(const char *s) {
+    put("\"", 1);
+    for (const unsigned char *p = (const unsigned char *)s; *p; p++) {
+        char esc[8];
+        if (*p == '"' || *p == '\\') { esc[0] = '\\'; esc[1] = (char)*p; put(esc, 2); }
+        else if (*p < 0x20) { snprintf(esc, sizeof esc, "\\u%04x", *p); put(esc, 6); }
+        else put((const char *)p, 1);
+    }
+    put("\"", 1);
+}
+
+static int fail(const char *what) {
+    fprintf(stderr, "error[service/UNREACHABLE]: %s (%s).\nfix: the chemlab service is not running for this shell; "
+                    "ask the operator. Nothing was sent to the instrument.\ninstrument changed: no\n", what, strerror(errno));
+    return 5;
+}
+
+static int read_full(int fd, char *dst, size_t n) {
+    size_t got = 0;
+    while (got < n) {
+        ssize_t r = read(fd, dst + got, n - got);
+        if (r < 0 && errno == EINTR) continue;
+        if (r <= 0) return -1;
+        got += (size_t)r;
+    }
+    return 0;
+}
+
+int main(int argc, char **argv) {
+    const char *path = getenv("CHEMLAB_SOCKET"), *token = getenv("CHEMLAB_TOKEN");
+    if (!path || !*path) { errno = ENOENT; return fail("CHEMLAB_SOCKET is not set"); }
+    const char *slash = strrchr(path, '/');
+    const char *name = slash ? slash + 1 : path;
+    if (strcmp(name, "lab.sock") != 0) { errno = EINVAL; return fail("CHEMLAB_SOCKET must name a lab.sock file"); }
+
+    /* Connect with a relative name from inside the socket's directory: socket paths are limited to 108 bytes. */
+    int here = open(".", O_PATH | O_CLOEXEC);
+    if (slash) {
+        char *dir = strndup(path, (size_t)(slash - path));
+        int dfd = open(dir[0] ? dir : "/", O_PATH | O_DIRECTORY | O_CLOEXEC);
+        free(dir);
+        if (dfd < 0 || fchdir(dfd) != 0) return fail("cannot open the socket directory");
+        close(dfd);
+    }
+    int s = socket(AF_UNIX, SOCK_STREAM | SOCK_CLOEXEC, 0);
+    if (s < 0) return fail("cannot create a socket");
+    struct sockaddr_un addr;
+    memset(&addr, 0, sizeof addr);
+    addr.sun_family = AF_UNIX;
+    strcpy(addr.sun_path, "lab.sock");
+    int rc = connect(s, (struct sockaddr *)&addr, sizeof addr);
+    if (here >= 0) { if (fchdir(here) != 0) { /* keep going: cwd only matters for nothing below */ } close(here); }
+    if (rc != 0) return fail("cannot connect to the chemlab service");
+
+    put("{\"token\":", 9);
+    put_json_string(token ? token : "");
+    put(",\"argv\":[", 9);
+    for (int i = 0; i < argc; i++) {
+        const char *a = argv[i];
+        if (i == 0) { const char *b = strrchr(a, '/'); a = b ? b + 1 : a; }
+        if (i) put(",", 1);
+        put_json_string(a);
+    }
+    put("]}\n", 3);
+    for (size_t off = 0; off < len;) {
+        ssize_t w = write(s, buf + off, len - off);
+        if (w < 0 && errno == EINTR) continue;
+        if (w <= 0) return fail("cannot send the request");
+        off += (size_t)w;
+    }
+    shutdown(s, SHUT_WR);
+
+    char head[128];
+    size_t h = 0;
+    while (h + 1 < sizeof head) {
+        ssize_t r = read(s, head + h, 1);
+        if (r < 0 && errno == EINTR) continue;
+        if (r <= 0) return fail("the service closed the connection");
+        if (head[h++] == '\n') break;
+    }
+    head[h] = 0;
+    int code;
+    size_t nout, nerr;
+    if (sscanf(head, "CHEMLAB/1 %d %zu %zu", &code, &nout, &nerr) != 3) { errno = EPROTO; return fail("bad reply header"); }
+    char *out = malloc(nout + nerr + 1);
+    if (!out || read_full(s, out, nout + nerr) != 0) return fail("short reply");
+    fwrite(out, 1, nout, stdout);
+    fflush(stdout);
+    fwrite(out + nout, 1, nerr, stderr);
+    return code;
+}
diff --git a/chemlab/configs/adapters/agitation.json b/chemlab/configs/adapters/agitation.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaa5af1b591f5812a26f5f0331d50842a4bb5db6
--- /dev/null
+++ b/chemlab/configs/adapters/agitation.json
@@ -0,0 +1,846 @@
+{
+ "class": "agitation",
+ "adapter": "chemlab.compile.classes.agitation:AgitationAdapter",
+ "about": "Spin, shake, mix or sonicate: speed (rpm or --rcf), intensity, time, set-temp (centrifuge), safety-limit (probe sonicator), load / unload, start (job), stop, result, status. Power and lids from the shared layer; the KS 4000 and S60H temperature verbs from the thermal class.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "eppendorf_5910ri",
+   "thinky_are310s",
+   "ika_ks4000",
+   "ika_t25",
+   "sonics_vcx750",
+   "elma_elmasonics60h"
+  ],
+  "secondary": {},
+  "excluded": {},
+  "not_here": {
+   "ika_plate_rctdigital": "magnetic stirring is the thermal class verb stir",
+   "radleys_mya4, genevac_mivac2, gilson_cpc250, retsch_as200": "agitation is one step of their main job (reactor, evaporation, chromatography, sieving): their classes own it",
+   "ika_ks4000, elma_elmasonics60h": "also thermal secondary members (temperature verbs there; agitation primary here)"
+  }
+ },
+ "members": {
+  "eppendorf_5910ri": {
+   "role": "primary",
+   "path": "centrifuge",
+   "verbs": {
+    "speed": {
+     "cap": "centrifuge.set_method",
+     "arg": "speed_rad_s",
+     "rcf": true,
+     "time_arg": "duration_s",
+     "keep": {
+      "temperature_k": {
+       "from_slot": "method.temperature_k",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "temperature_k"
+      },
+      "duration_s": {
+       "from_slot": "method.duration_s",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "duration_s"
+      },
+      "acceleration_level": {
+       "from_slot": "method.acceleration_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "accel"
+      },
+      "braking_level": {
+       "from_slot": "method.braking_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "brake"
+      }
+     }
+    },
+    "time": {
+     "cap": "centrifuge.set_method",
+     "arg": "duration_s",
+     "keep": {
+      "speed_rad_s": {
+       "from_slot": "method.speed_rad_s",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "speed_rad_s"
+      },
+      "temperature_k": {
+       "from_slot": "method.temperature_k",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "temperature_k"
+      },
+      "acceleration_level": {
+       "from_slot": "method.acceleration_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "accel"
+      },
+      "braking_level": {
+       "from_slot": "method.braking_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "brake"
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "centrifuge.set_method",
+     "arg": "temperature_k",
+     "keep": {
+      "speed_rad_s": {
+       "from_slot": "method.speed_rad_s",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "speed_rad_s"
+      },
+      "duration_s": {
+       "from_slot": "method.duration_s",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "duration_s"
+      },
+      "acceleration_level": {
+       "from_slot": "method.acceleration_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "accel"
+      },
+      "braking_level": {
+       "from_slot": "method.braking_level",
+       "or_slot": "centrifuge.set_points",
+       "or_key": "brake"
+      }
+     }
+    },
+    "load": {
+     "cap": "sample.load",
+     "slot_arg": "slot_id",
+     "sample_arg": "sample_id"
+    },
+    "unload": {
+     "cap": "sample.unload",
+     "slot_arg": "slot_id"
+    },
+    "start": {
+     "cap": "centrifuge.measure",
+     "state": {
+      "slot": "run.status",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "centrifuge.stop",
+     "max_s": 360000
+    },
+    "stop": {
+     "cap": "centrifuge.stop"
+    },
+    "result": {
+     "cap": "centrifuge.get_curve",
+     "curve": "curve"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "speed": "display.speed_rad_s",
+    "speed_set": "method.speed_rad_s",
+    "phase": "run.status",
+    "temp": "display.temperature_k",
+    "lid": "lid.closed",
+    "rotor": "rotor.configuration",
+    "imbalance": "alarm.imbalance"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is not open far enough to reach the rotor.",
+      "fix": "open it: `chemlab run {inst} open lid`.",
+      "label": "lid open",
+      "min": 1.047
+     },
+     {
+      "slot": "rotor.configuration",
+      "code": "NO_ROTOR",
+      "message": "no rotor is selected on {inst}.",
+      "fix": "select the installed rotor: `chemlab call {inst} rotor.select --configuration large_capacity`.",
+      "label": "rotor selected",
+      "not": [
+       null
+      ]
+     }
+    ],
+    "unload": [
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is not open far enough to reach the rotor.",
+      "fix": "open it: `chemlab run {inst} open lid`.",
+      "label": "lid open",
+      "min": 1.047
+     }
+    ],
+    "start": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "label": "lid closed"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no run settings yet.",
+      "fix": "set them: `chemlab run {inst} speed 4000rpm --time 10min` (and `set-temp 4C`).",
+      "label": "speed and time set"
+     },
+     {
+      "slot": "sample.loaded_slots",
+      "code": "NO_LOAD",
+      "message": "the rotor of {inst} is empty.",
+      "fix": "load at least two equal tubes in opposite positions: `chemlab run {inst} load tube_a --slot slot_1`.",
+      "label": "tubes loaded",
+      "not": [
+       [],
+       null
+      ]
+     },
+     {
+      "slot": "alarm.imbalance",
+      "code": "IMBALANCE",
+      "message": "the rotor of {inst} is out of balance.",
+      "fix": "load an equal tube in the opposite position (slot_1/slot_2, slot_3/slot_4), or unload the odd one.",
+      "label": "balanced",
+      "falsy": true
+     }
+    ]
+   },
+   "codes": {
+    "centrifuge.measure:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs the lid closed, two or more balanced tubes and a speed within the rotor's limit.",
+     "fix": "check `chemlab run {inst} status`; lower the speed for this rotor."
+    },
+    "sample.load:PRECONDITION_FAILED": {
+     "code": "CANNOT_LOAD",
+     "message": "{inst} cannot load there: the position must exist on this rotor and be empty, and the tube must be known to the lab and not loaded elsewhere.",
+     "fix": "check the positions (slot_1..slot_4) and `chemlab read {inst} sample.loaded_slots`."
+    },
+    "centrifuge.stop:PRECONDITION_FAILED": {
+     "code": "NOT_YOURS",
+     "message": "the run on {inst} was started by someone else.",
+     "fix": "only its owner can stop it."
+    }
+   },
+   "unsupported": {
+    "intensity": "not an ultrasonic device",
+    "safety-limit": "no sample temperature limit: the chamber temperature is `set-temp`"
+   },
+   "params": {
+    "lid_word": "lid",
+    "lid_states": {
+     "True": "closed",
+     "False": "open"
+    }
+   },
+   "notes": {
+    "speed": [
+     "--rcf G is converted with the radius the lab declares for the rotor in use; speed, time and temperature go into one centrifuge.set_method call (the other settings are kept)"
+    ],
+    "start": [
+     "the run (centrifuge.measure) ends after its time and the braking; the lid unlocks then"
+    ]
+   }
+  },
+  "thinky_are310s": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "mixing.measure"
+   ],
+   "verbs": {
+    "speed": {
+     "cap": "method.configure",
+     "program": {
+      "arg": "program",
+      "mode_key": "mode",
+      "time_key": "duration_s",
+      "speed_key": "revolution_rpm"
+     },
+     "args": {
+      "speed_envelope": "family_SCE_reference_not_UL_verified"
+     }
+    },
+    "load": {
+     "cap": "balance.set",
+     "mass_arg": "gross_mass_kg"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 7200
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "mixing.measure",
+     "show": [
+      "phase",
+      "mode",
+      "revolution_rpm",
+      "stage_index",
+      "remaining_s",
+      "temperature_K"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "speed": "rotor.revolution_rpm",
+    "phase": "cycle.phase",
+    "remaining": "cycle.remaining_s",
+    "lid": "lid.locked"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "lid.open_target",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; the balance dial is set with the lid open.",
+      "fix": "open it: `chemlab run {inst} open lid`.",
+      "label": "lid open"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_MOVING",
+      "message": "the lid of {inst} is still opening.",
+      "fix": "wait a moment (`chemlab wait 2`) and retry.",
+      "label": "lid fully open",
+      "min": 1.0
+     }
+    ],
+    "start": [
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no container is in the holder of {inst}.",
+      "fix": "the container is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "container in"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no mixing program.",
+      "fix": "set it: `chemlab run {inst} speed 2000rpm --time 60s` (optional --defoam 2200rpm --defoam-time 30s).",
+      "label": "program set"
+     },
+     {
+      "slot": "lid.open_target",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "label": "lid closed",
+      "falsy": true
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_MOVING",
+      "message": "the lid of {inst} is still closing.",
+      "fix": "wait a moment (`chemlab wait 2`) and retry.",
+      "label": "lid fully closed",
+      "max": 0.01
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "IMBALANCE",
+     "message": "{inst} cannot start: the balance dial does not match the container mass (or the lid is not locked).",
+     "fix": "weigh the filled container and set the dial: `chemlab run {inst} open lid`, `load --mass M`, `close lid`; then start."
+    },
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} takes a program only with a container in, the balance set and the lid closed.",
+     "fix": "set the balance (`load --mass M`) and close the lid first."
+    }
+   },
+   "unsupported": {
+    "intensity": "not an ultrasonic device",
+    "time": "each mixing step has its own time: give it with the speed (`speed 2000rpm --time 60s`)",
+    "set-temp": "no temperature control",
+    "safety-limit": "no temperature control",
+    "unload": "the container is taken out by the lab operator"
+   },
+   "alternatives": {
+    "time": "`chemlab run INST speed 2000rpm --time 60s`"
+   },
+   "params": {
+    "lid_word": "lid",
+    "lid_states": {
+     "True": "locked",
+     "False": "unlocked"
+    }
+   },
+   "notes": {
+    "speed": [
+     "sets the mixing program (method.configure): one mix step, and a defoam step with --defoam / --defoam-time"
+    ],
+    "load": [
+     "--mass is the gross mass of the filled container; the counterbalance must match it within the mixer's tolerance"
+    ]
+   }
+  },
+  "ika_ks4000": {
+   "role": "primary",
+   "path": "shaking",
+   "path_exceptions": [
+    "status.measure"
+   ],
+   "verbs": {
+    "speed": {
+     "cap": "shaking.set_speed",
+     "arg": "speed_rad_s",
+     "idle": false
+    },
+    "time": {
+     "cap": "timer.configure",
+     "arg": "duration_s",
+     "timed": {
+      "mode": "timed"
+     },
+     "continuous": {
+      "mode": "continuous"
+     },
+     "keep": {
+      "duration_s": {
+       "from_slot": "timer.duration_s"
+      }
+     }
+    },
+    "start": {
+     "cap": "shaking.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "shaking.stop",
+     "max_s": 86400
+    },
+    "stop": {
+     "cap": "shaking.stop"
+    },
+    "result": {
+     "cap": "status.measure",
+     "show": [
+      "phase",
+      "speed_rad_s",
+      "elapsed_s",
+      "remaining_s",
+      "temperature_k",
+      "error"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "speed": "shaking.indicated_rad_s",
+    "speed_set": "shaking.target_rad_s",
+    "phase": "cycle.phase",
+    "remaining": "timer.remaining_s",
+    "temp": "thermal.indicated_temperature_k",
+    "lid": "hood.angle_rad",
+    "speed_limit": "safety.speed_limit_rad_s"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "hood.angle_rad",
+      "code": "HOOD_OPEN",
+      "message": "the hood of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close hood`.",
+      "label": "hood closed",
+      "max": 0.0001
+     },
+     {
+      "slot": "fixture.installed",
+      "code": "NO_FIXTURE",
+      "message": "no fixture (platform attachment) is installed on {inst}.",
+      "fix": "the fixture and the flasks are mounted by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "fixture installed"
+     }
+    ]
+   },
+   "codes": {
+    "shaking.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the hood closed, the fixture installed, every flask secured and a speed within the limit for this load.",
+     "fix": "check `chemlab run {inst} status`; lower the speed for a heavy load."
+    },
+    "shaking.set_speed:PRECONDITION_FAILED": {
+     "code": "ABOVE_SPEED_LIMIT",
+     "message": "the speed is above the limit of {inst} for this load (or its safety speed limit).",
+     "fix": "choose a lower speed."
+    }
+   },
+   "unsupported": {
+    "intensity": "not an ultrasonic device",
+    "set-temp": "temperature is handled by this instrument's thermal-class verbs (set-temp, heat, wait-temp)",
+    "safety-limit": "the safety limits (temperature and speed) are the thermal class verb safety-limit of this instrument",
+    "load": "flasks are clamped on the platform by the lab operator",
+    "unload": "flasks are taken off by the lab operator"
+   },
+   "shared_fallthrough": [
+    "set-temp",
+    "safety-limit"
+   ],
+   "params": {
+    "integer_rpm": true,
+    "lid_word": "hood",
+    "running_values": [
+     "running"
+    ]
+   },
+   "notes": {
+    "speed": [
+     "whole rpm; the shaker may change speed during a run"
+    ],
+    "time": [
+     "timed run (timer.configure mode timed) or `time continuous`"
+    ]
+   }
+  },
+  "ika_t25": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "dispersion.measure"
+   ],
+   "verbs": {
+    "speed": {
+     "cap": "motor.set_speed",
+     "arg": "speed_rad_s",
+     "idle": false
+    },
+    "time": {
+     "cap": "method.configure",
+     "arg": "duration_s",
+     "args": {
+      "head": "s25_n18g"
+     },
+     "keep": {
+      "speed_rad_s": {
+       "from_slot": "motor.target_rad_s"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 600
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "dispersion.measure",
+     "show": [
+      "phase",
+      "mode",
+      "indicated_speed_rad_s",
+      "host_elapsed_s",
+      "host_remaining_s"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "speed": "motor.indicated_speed_rad_s",
+    "speed_set": "motor.target_rad_s",
+    "phase": "cycle.phase",
+    "remaining": "cycle.remaining_s"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "mount.ready",
+      "code": "NOT_MOUNTED",
+      "message": "the dispersing tool of {inst} is not mounted and immersed, or the vessel is not clamped.",
+      "fix": "the stand and the vessel are set up by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "tool mounted"
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no vessel with sample is under the tool of {inst}.",
+      "fix": "the vessel is set up by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample in place"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no run time.",
+      "fix": "set it: `chemlab run {inst} time 30s`.",
+      "label": "run time set"
+     }
+    ]
+   },
+   "unsupported": {
+    "intensity": "not an ultrasonic device",
+    "set-temp": "no temperature control",
+    "safety-limit": "no temperature control",
+    "load": "the vessel is set under the tool by the lab operator",
+    "unload": "the vessel is taken away by the lab operator"
+   },
+   "params": {},
+   "notes": {
+    "time": [
+     "the timed run (method.configure: speed, time up to 55 s, the S 25 N-18 G tool) keeps the current speed"
+    ],
+    "speed": [
+     "the motor speed (motor.set_speed) also applies to a running run"
+    ]
+   }
+  },
+  "sonics_vcx750": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "sonication.measure"
+   ],
+   "verbs": {
+    "intensity": {
+     "cap": "sonication.set_amplitude",
+     "arg": "amplitude_fraction"
+    },
+    "time": {
+     "cap": "method.configure",
+     "arg": "duration_s",
+     "args": {
+      "probe": "630-0220"
+     },
+     "keep": {
+      "amplitude_fraction": {
+       "from_slot": "sonication.amplitude_fraction"
+      },
+      "pulse_enabled": {
+       "from_slot": "method.parameters",
+       "key": "pulse_on_s",
+       "is_set": true
+      },
+      "pulse_on_s": {
+       "from_slot": "method.parameters",
+       "key": "pulse_on_s",
+       "default": 1
+      },
+      "pulse_off_s": {
+       "from_slot": "method.parameters",
+       "key": "pulse_off_s",
+       "default": 1
+      },
+      "energy_endpoint_J": {
+       "from_slot": "method.parameters",
+       "key": "energy_J",
+       "default": 0
+      }
+     }
+    },
+    "safety-limit": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 36000
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "sonication.measure",
+     "show": [
+      "phase",
+      "mode",
+      "energy_J",
+      "on_time_s",
+      "elapsed_s",
+      "amplitude_fraction",
+      "temperature_K"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "amplitude": "sonication.amplitude_fraction",
+    "phase": "cycle.phase",
+    "remaining": "cycle.remaining_s",
+    "temp": "thermal.indicated_temperature_k"
+   },
+   "requires": {
+    "intensity": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet (the amplitude belongs to it).",
+      "fix": "set the run time first: `chemlab run {inst} time 60s`.",
+      "label": "method set"
+     }
+    ],
+    "start": [
+     {
+      "slot": "mount.ready",
+      "code": "NOT_MOUNTED",
+      "message": "the probe of {inst} is not clamped and immersed in the sample.",
+      "fix": "the converter, probe and vessel are set up by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "probe mounted"
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample vessel is under the probe of {inst}.",
+      "fix": "the vessel is set up by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample in place"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method (time, amplitude).",
+      "fix": "set it: `chemlab run {inst} time 60s`, then `intensity 40%`.",
+      "label": "method set"
+     }
+    ]
+   },
+   "unsupported": {
+    "speed": "no rotation: the sonicator's intensity is its amplitude (`intensity 40%`)",
+    "set-temp": "no heating: the probe temperature is a limit (`safety-limit 40C`)",
+    "load": "the vessel is set under the probe by the lab operator",
+    "unload": "the vessel is taken away by the lab operator"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run INST safety-limit 40C` pauses sonication above that sample temperature."
+   },
+   "params": {},
+   "notes": {
+    "time": [
+     "writes the method (method.configure) keeping the amplitude, pulser and energy end point the instrument reports; continuous runs are not offered"
+    ],
+    "safety-limit": [
+     "thermal.set_temperature sets the sample temperature limit of the probe controller"
+    ]
+   }
+  },
+  "elma_elmasonics60h": {
+   "role": "primary",
+   "path": "ultrasound",
+   "path_exceptions": [
+    "status.measure"
+   ],
+   "verbs": {
+    "intensity": {
+     "cap": "ultrasound.set_mode",
+     "arg": "mode"
+    },
+    "time": {
+     "cap": "timer.configure",
+     "arg": "duration_s",
+     "timed": {
+      "continuous": false
+     },
+     "continuous": {
+      "continuous": true
+     },
+     "keep": {
+      "duration_s": {
+       "from_slot": "timer.duration_s"
+      }
+     }
+    },
+    "start": {
+     "cap": "ultrasound.start",
+     "args": {
+      "temperature_controlled": false
+     },
+     "at_temp": {
+      "arg": "temperature_controlled",
+      "heater_slot": "heater.enabled"
+     },
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "ultrasound.stop",
+     "max_s": 7200
+    },
+    "stop": {
+     "cap": "ultrasound.stop"
+    },
+    "result": {
+     "cap": "status.measure",
+     "show": [
+      "phase",
+      "mode",
+      "elapsed_s",
+      "remaining_s",
+      "temperature_k",
+      "ultrasound_active"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "mode": "ultrasound.mode",
+    "phase": "cycle.phase",
+    "remaining": "timer.remaining_s",
+    "temp": "thermal.indicated_temperature_k",
+    "lid": "cover.lift_m"
+   },
+   "codes": {
+    "ultrasound.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power and a filled tank (and heating on for --at-temp).",
+     "fix": "check `chemlab run {inst} status`; the tank is filled by the lab operator."
+    }
+   },
+   "unsupported": {
+    "speed": "no rotation: the bath's intensity is its mode (`intensity sweep`)",
+    "set-temp": "temperature is handled by this instrument's thermal-class verbs (set-temp, heat, wait-temp)",
+    "safety-limit": "no separate limit: the heater set point is this instrument's thermal-class set-temp",
+    "load": "items go into the basket by the lab operator",
+    "unload": "items are taken out by the lab operator"
+   },
+   "shared_fallthrough": [
+    "set-temp",
+    "safety-limit"
+   ],
+   "params": {
+    "lid_word": "cover lift"
+   },
+   "notes": {
+    "intensity": [
+     "normal, sweep or degas (ultrasound.set_mode)"
+    ],
+    "start": [
+     "--at-temp waits for the bath set temperature before the ultrasound starts (heating on)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/balance.json b/chemlab/configs/adapters/balance.json
new file mode 100644
index 0000000000000000000000000000000000000000..765b510e8fbc7c78d83c0f8a22c2ad10d001e13b
--- /dev/null
+++ b/chemlab/configs/adapters/balance.json
@@ -0,0 +1,69 @@
+{
+ "class": "balance",
+ "adapter": "chemlab.compile.classes.balance:BalanceAdapter",
+ "about": "Laboratory balances: zero, tare, weigh [--stable], unit, door, power, status. Capacities, readability and the zero range come from each contract's parameters; argument ranges and enums from its input schemas.",
+ "membership": {
+  "decided": "2026-10-22",
+  "members": ["mt_xpr204e", "ohaus_px224e", "ohaus_spx2201"],
+  "excluded": {
+   "mt_hx204": "halogen moisture analyzer: weighing is a step inside its drying measurement (measurement.tare only in an open measurement, balance.indicated_kg a live readout); no free-standing zero, display unit or draft-shield door. Primary class: drying / moisture analysis.",
+   "mt_quantos_q2_xpe206dr": "powder dosing system: its XPE206DR balance works only inside a dosing set-up (container position selected, observation model from the host); balance.tare records the dosing baseline and is refused in a plain lab. Primary class: dosing, which can offer zero/tare/weigh in the dosing context.",
+   "ch_chi440c": "quartz-crystal microbalance: measures mass change through the crystal frequency; electrochemistry class.",
+   "ta_tga5500": "thermogravimetric analyzer: mass is a measured signal of a thermal method; thermal-analysis class."
+  }
+ },
+ "members": {
+  "mt_xpr204e": {
+   "role": "primary",
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "enabled"},
+    "zero": {"cap": "balance.zero"},
+    "tare": {"cap": "balance.tare"},
+    "weigh": {"cap": "balance.reading", "result": {"net": "net_kg", "gross": "gross_kg", "stable": "stable"}},
+    "unit": {"cap": "display.set_unit", "arg": "unit", "allowed_slot": "display.allowed_units", "slot": "display.unit"},
+    "door": {"cap": "door.operate", "style": "operate", "sides": ["left", "right", "both"], "default_side": "both", "side_arg": "side", "action_arg": "action"}
+   },
+   "slots": {"power": "power.enabled", "stable": "balance.stable", "net": "balance.net_kg", "gross": "balance.gross_kg", "tare": "balance.tare_kg",
+             "status": "balance.status", "unit": "display.unit", "doors": ["door.left.opening_m", "door.right.opening_m"]},
+   "notes": {
+    "tare": ["the terminal Tare key (balance.request) waits up to 40 s for stability by itself; chemlab sends balance.tare once the reading is stable and waits with --wait instead"],
+    "unit": ["the terminal display unit (display.set_unit); balance.set_display_unit only switches the weighing-cell label between g and kg"],
+    "door": ["the motorised side doors (door.operate); the top door has no motor"]
+   }
+  },
+  "ohaus_px224e": {
+   "role": "primary",
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "on"},
+    "zero": {"cap": "weighing.zero"},
+    "tare": {"cap": "weighing.tare"},
+    "weigh": {"reads": ["weighing.net_kg", "weighing.gross_kg", "weighing.stable"]},
+    "unit": {"cap": "weighing.set_unit", "arg": "unit", "allowed_slot": "weighing.units_enabled", "slot": "weighing.unit"},
+    "door": {"cap": "doors.set", "style": "fraction", "arg": "open_fraction"}
+   },
+   "slots": {"power": "power.on", "stable": "weighing.stable", "net": "weighing.net_kg", "gross": "weighing.gross_kg", "tare": "weighing.tare_kg",
+             "status": "status", "unit": "weighing.unit", "doors": ["doors.open_fraction"]},
+   "notes": {
+    "door": ["the draft-shield doors are moved by hand (doors.set is a physical action); any open door makes the reading unstable"],
+    "weigh": ["the PX has no weight query capability: weigh reads its state (the remote SP / IP commands print the same values)"]
+   }
+  },
+  "ohaus_spx2201": {
+   "role": "primary",
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "on"},
+    "zero": {"cap": "weighing.zero"},
+    "tare": {"cap": "weighing.tare"},
+    "weigh": {"reads": ["weighing.net_kg", "weighing.gross_kg", "weighing.stable"]},
+    "unit": {"cap": "weighing.set_unit", "arg": "unit", "allowed_slot": "weighing.units_enabled", "slot": "weighing.unit"}
+   },
+   "slots": {"power": "power.on", "stable": "weighing.stable", "net": "weighing.net_kg", "gross": "weighing.gross_kg", "tare": "weighing.tare_kg",
+             "status": "status", "unit": "weighing.unit"},
+   "unsupported": {"door": "it is a portable precision balance without a draft shield (no doors)"},
+   "alternatives": {"door": "nothing to do: an SPX has no doors; shield it from draughts by its position on the bench."},
+   "notes": {
+    "unit": ["the SPX offers no mg unit (readability 0.1 g); weigh reports mg values computed from grams"]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/bioassay.json b/chemlab/configs/adapters/bioassay.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dbf2ed83bc4b4cd764da4d7c2538c91293fc6af
--- /dev/null
+++ b/chemlab/configs/adapters/bioassay.json
@@ -0,0 +1,2443 @@
+{
+ "class": "bioassay",
+ "adapter": "chemlab.compile.classes.bioassay:BioassayAdapter",
+ "about": "Bioassay instruments (plate reader, plate washer, real-time PCR, SPR, ITC, flow cytometer): load the consumable, set the assay method, start the run as a job, read the record, evaluate it.",
+ "membership": {
+  "primary": [
+   "bmg_clariostarplus",
+   "biotek_405ts",
+   "biorad_cfxopus",
+   "cytiva_biacoret200",
+   "malvern_microcalpeaq",
+   "bd_facsariaiii"
+  ],
+  "secondary": {},
+  "declined_secondary": {
+   "thermo_ibrightfl1500": "gel / blot imaging: the imaging class covers its exposures and images; it runs no plate assay",
+   "biorad_miniprotean": "gel electrophoresis: the chromatography class covers it (method / start / stop of the power supply)",
+   "eppendorf_cellxpertc170i": "cell-culture incubation is temperature / gas control (thermal class); it loads no assay consumable and keeps no run record",
+   "wtw_oxitopi": "BOD bottles measured by pressure heads: the thin class covers its start / result; no plate, chip or tube to load"
+  },
+  "excluded": {}
+ },
+ "members": {
+  "bmg_clariostarplus": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "items": {
+      "slot": "plates.available",
+      "where": " on the bench",
+      "none": "prepare one first (`chemlab call INST plate.prepare ...`)."
+     },
+     "word": "plate",
+     "steps": [
+      {
+       "cap": "drawer.set",
+       "args": {
+        "open": true
+       },
+       "when": {
+        "slot": "drawer.position_m",
+        "max": 0.1849
+       },
+       "step": "move the plate carrier out"
+      },
+      {
+       "wait": {
+        "slot": "drawer.position_m",
+        "min": 0.1849
+       },
+       "max_s": 15,
+       "step": "wait until the plate carrier is out"
+      },
+      {
+       "cap": "plate.load",
+       "with": {
+        "plate_id": "$item"
+       },
+       "step": "put plate {item} on the carrier"
+      },
+      {
+       "cap": "drawer.set",
+       "args": {
+        "open": false
+       },
+       "step": "move the plate carrier in"
+      },
+      {
+       "wait": {
+        "slot": "drawer.position_m",
+        "max": 1e-06
+       },
+       "max_s": 15,
+       "step": "wait until the plate carrier is in"
+      }
+     ]
+    },
+    "unload": {
+     "item_slot": "carrier.plate",
+     "item_key": "plate_id",
+     "steps": [
+      {
+       "cap": "drawer.set",
+       "args": {
+        "open": true
+       },
+       "when": {
+        "slot": "drawer.position_m",
+        "max": 0.1849
+       },
+       "step": "move the plate carrier out"
+      },
+      {
+       "wait": {
+        "slot": "drawer.position_m",
+        "min": 0.1849
+       },
+       "max_s": 15,
+       "step": "wait until the plate carrier is out"
+      },
+      {
+       "cap": "plate.unload",
+       "step": "take plate {item} off the carrier"
+      },
+      {
+       "cap": "drawer.set",
+       "args": {
+        "open": false
+       },
+       "step": "move the plate carrier in"
+      },
+      {
+       "wait": {
+        "slot": "drawer.position_m",
+        "max": 1e-06
+       },
+       "max_s": 15,
+       "step": "wait until the plate carrier is in"
+      }
+     ]
+    },
+    "method": {
+     "cap": "protocol.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "wells": {
+       "arg": "wells"
+      },
+      "format": {
+       "arg": "format"
+      },
+      "wl": {
+       "arg": "wavelengths_m",
+       "kind": "wavelength"
+      },
+      "ex": {
+       "arg": "excitation_m",
+       "kind": "wavelength"
+      },
+      "em": {
+       "arg": "emission_m",
+       "kind": "wavelength"
+      },
+      "em2": {
+       "arg": "emission2_m",
+       "kind": "wavelength"
+      },
+      "bw-ex": {
+       "arg": "excitation_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "bw-em": {
+       "arg": "emission_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "cycles": {
+       "arg": "cycles"
+      },
+      "interval": {
+       "arg": "cycle_time_s",
+       "kind": "duration"
+      },
+      "flashes": {
+       "arg": "flashes"
+      },
+      "optic": {
+       "arg": "optic"
+      },
+      "gain": {
+       "arg": "gain"
+      },
+      "focus": {
+       "arg": "focal_height_m",
+       "kind": "length"
+      },
+      "settle": {
+       "arg": "settling_s",
+       "kind": "duration"
+      },
+      "order": {
+       "arg": "read_order"
+      }
+     },
+     "keep": {
+      "format": {
+       "slot": "carrier.plate",
+       "key": "format"
+      }
+     },
+     "passthrough": true
+    },
+    "start": {
+     "cap": "run.start",
+     "state": {
+      "slot": "run.status",
+      "key": "state",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped",
+       "aborted",
+       "error",
+       "failed"
+      ]
+     },
+     "max_s": 172800
+    },
+    "stop": {
+     "cap": "run.stop",
+     "running": {
+      "slot": "run.status",
+      "key": "state",
+      "value": "running"
+     }
+    },
+    "data": {
+     "cap": "data.read",
+     "opts": {
+      "cycle": {
+       "arg": "cycle",
+       "int": true
+      },
+      "max": {
+       "arg": "max_rows",
+       "int": true
+      }
+     }
+    },
+    "analyze": {
+     "cap": "data.analyze",
+     "models": {
+      "linear": {
+       "args": {
+        "fit": "linear"
+       }
+      },
+      "4pl": {
+       "args": {
+        "fit": "4pl"
+       }
+      },
+      "blank": {
+       "args": {
+        "fit": "none"
+       }
+      },
+      "zprime": {
+       "args": {
+        "fit": "none"
+       }
+      }
+     },
+     "keys": {
+      "blank": {
+       "arg": "blank_wells"
+      },
+      "std": {
+       "arg": "standards",
+       "kind": "concentration"
+      },
+      "pos": {
+       "arg": "positive_wells"
+      },
+      "neg": {
+       "arg": "negative_wells"
+      },
+      "cycle": {
+       "arg": "cycle"
+      }
+     }
+    },
+    "prime": {
+     "cap": "injector.prime",
+     "keys": {
+      "pump": {
+       "arg": "pump"
+      },
+      "volume": {
+       "arg": "volume_m3",
+       "kind": "volume"
+      }
+     },
+     "example": "prime pump=A volume=5uL"
+    },
+    "set-temp": {
+     "cap": "incubator.set",
+     "arg": "temperature_k",
+     "off": true
+    }
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "lamp.busy",
+      "code": "BUSY",
+      "message": "{inst} is busy (starting up after power-on, measuring, priming or focusing).",
+      "fix": "wait a little (`chemlab wait 20`) and retry.",
+      "value": false
+     },
+     {
+      "slot": "carrier.plate",
+      "code": "ALREADY_LOADED",
+      "message": "{inst} already holds a plate.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "null": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "lamp.busy",
+      "code": "BUSY",
+      "message": "{inst} is busy (measuring, priming or focusing).",
+      "fix": "wait for the run (`chemlab run {inst} status`) or stop it.",
+      "value": false
+     }
+    ],
+    "method": [
+     {
+      "slot": "run.status",
+      "code": "RUN_ACTIVE",
+      "message": "a plate read is running on {inst}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "key": "state",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "carrier.plate",
+      "code": "NOTHING_LOADED",
+      "message": "there is no plate in {inst}.",
+      "fix": "load one: `chemlab run {inst} load PLATE`.",
+      "null": false
+     },
+     {
+      "slot": "protocol.current",
+      "code": "NO_METHOD",
+      "message": "{inst} has no read protocol yet.",
+      "fix": "set one: `chemlab run {inst} method mode=... wells=... wl=...`.",
+      "null": false
+     },
+     {
+      "slot": "drawer.position_m",
+      "code": "DRAWER_OPEN",
+      "message": "the plate carrier of {inst} is out.",
+      "fix": "close it: `chemlab run {inst} close drawer`.",
+      "max": 1e-06
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "pause": "no pause: a plate read runs to its end or is stopped (`stop`)"
+   },
+   "path": "run",
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.on"
+    },
+    {
+     "label": "plate",
+     "slot": "carrier.plate",
+     "key": "plate_id"
+    },
+    {
+     "label": "run",
+     "slot": "run.status",
+     "key": "state"
+    },
+    {
+     "label": "cycle",
+     "slot": "run.status",
+     "key": "cycle"
+    },
+    {
+     "label": "progress",
+     "slot": "run.status",
+     "key": "progress"
+    },
+    {
+     "label": "chamber",
+     "slot": "chamber.temperature_k",
+     "kind": "temperature"
+    },
+    {
+     "label": "incubator set point",
+     "slot": "incubator.setpoint_k",
+     "kind": "temperature"
+    }
+   ],
+   "notes": {
+    "load": [
+     "the plate must be prepared on the bench first (`chemlab call INST plate.prepare` / `well.dispense`, or by the lab)"
+    ],
+    "analyze": [
+     "models: linear / 4pl (standard curve), blank (blank subtraction), zprime (pos= neg= wells); keys: blank=H1,H2 std.A1=0uM std.A2=1uM pos=A1:A6 neg=B1:B6 cycle=N"
+    ],
+    "start": [
+     "the run is followed in run.status; job-N ends when it is completed"
+    ]
+   },
+   "manual": {
+    "*": "BMG ActiveX/DDE interface manual 0415N0006J pp. 14-22 (PlateIn/PlateOut, Pump, Temp, run commands); PyLabRobot CLARIOstar backend (plate carrier, reads)"
+   },
+   "examples": {
+    "load": "load wp",
+    "method": "method mode=fi_endpoint wells=A1:A3 ex=485nm em=525nm",
+    "analyze": "analyze linear blank=H1,H2 std.A1=0uM std.A2=1uM",
+    "prime": "prime pump=A volume=500uL",
+    "set-temp": "set-temp 37C"
+   }
+  },
+  "biotek_405ts": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "items": {
+      "slot": "plate.bench_ids",
+      "where": " on the bench",
+      "none": "provide one first (`chemlab call INST plate.provide ...`, or by the lab)."
+     },
+     "word": "plate",
+     "steps": [
+      {
+       "cap": "plate.load",
+       "with": {
+        "plate_id": "$item"
+       },
+       "step": "put plate {item} on the carrier"
+      }
+     ]
+    },
+    "unload": {
+     "item_slot": "plate.on_carrier",
+     "steps": [
+      {
+       "cap": "plate.unload",
+       "with": {
+        "plate_id": "$item"
+       },
+       "step": "take plate {item} off the carrier"
+      }
+     ]
+    },
+    "start": {
+     "cap": "protocol.run",
+     "name": {
+      "arg": "name",
+      "required": true,
+      "list": {
+       "slot": "protocols.list",
+       "key": "name",
+       "code": "UNKNOWN_PROTOCOL"
+      },
+      "word": "protocol",
+      "example": "W-Corning_FLAT"
+     }
+    },
+    "stop": {
+     "cap": "run.stop",
+     "running": {
+      "slot": "operation.kind",
+      "null": false
+     }
+    },
+    "data": {
+     "cap": "measurement.result",
+     "id": {
+      "arg": "record_id",
+      "slot": "result.last_record_id",
+      "required": true,
+      "word": "record"
+     }
+    },
+    "prime": {
+     "cap": "prime.run",
+     "keys": {
+      "buffer": {
+       "arg": "buffer"
+      },
+      "volume": {
+       "arg": "volume_m3",
+       "kind": "volume"
+      },
+      "rate": {
+       "arg": "rate"
+      }
+     },
+     "defaults": "example"
+    }
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "operation.kind",
+      "code": "RUN_ACTIVE",
+      "message": "{inst} is running {value}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "null": true
+     },
+     {
+      "slot": "plate.on_carrier",
+      "code": "ALREADY_LOADED",
+      "message": "{inst} already holds plate {value}.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "null": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "operation.kind",
+      "code": "RUN_ACTIVE",
+      "message": "{inst} is running {value}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "null": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "operation.kind",
+      "code": "RUN_ACTIVE",
+      "message": "{inst} is already running {value}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "null": true
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "plate.on_carrier",
+      "code": "PLATE_IN",
+      "message": "plate {value} is on the carrier of {inst}; priming dispenses into the prime trough under it.",
+      "fix": "take it off first: `chemlab run {inst} unload`.",
+      "null": true
+     },
+     {
+      "slot": "operation.kind",
+      "code": "RUN_ACTIVE",
+      "message": "{inst} is running {value}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "null": true
+     }
+    ]
+   },
+   "unsupported": {
+    "method": "runs stored protocols by name (`start NAME`); protocols are written in its protocol editor",
+    "pause": "no pause (protocol.resume only continues a protocol after an error stop)",
+    "analyze": "a washer has no evaluation; its record (`data`) lists what was dispensed and aspirated",
+    "set-temp": "no temperature control"
+   },
+   "alternatives": {
+    "method": "run a stored protocol: `chemlab run INST start NAME` (names: `chemlab read INST protocols.list`); write a new one with `chemlab call INST protocol.edit_open ...`"
+   },
+   "path": "protocol",
+   "path_exceptions": [
+    "run.stop"
+   ],
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "plate",
+     "slot": "plate.on_carrier"
+    },
+    {
+     "label": "running",
+     "slot": "operation.kind"
+    },
+    {
+     "label": "protocol",
+     "slot": "protocol.run",
+     "key": "name"
+    },
+    {
+     "label": "protocol status",
+     "slot": "protocol.run",
+     "key": "status"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    },
+    {
+     "label": "waste full",
+     "slot": "sensor.waste_full"
+    }
+   ],
+   "notes": {
+    "prime": [
+     "keys: buffer=A..D volume=300mL rate=3..11; settings left out take the contract's documented example values"
+    ],
+    "start": [
+     "NAME is a stored protocol (W-Corning_FLAT, W-CELLWASH_96, W-DAY_RINSE, ...); the job follows the runtime operation"
+    ]
+   },
+   "manual": {
+    "*": "BioTek 405 TS getting started guide 1171009 pp. 31-48 (protocols, predefined protocols), pp. 77-86 (prime, maintenance)"
+   },
+   "examples": {
+    "load": "load p1",
+    "start": "start W-Corning_FLAT",
+    "data": "data",
+    "prime": "prime buffer=A volume=100mL"
+   }
+  },
+  "biorad_cfxopus": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "items": {
+      "slot": "plates.on_bench",
+      "where": " on the bench",
+      "none": "prepare one first (`chemlab call INST plate.prepare ...`)."
+     },
+     "word": "plate",
+     "steps": [
+      {
+       "cap": "lid.open",
+       "when": {
+        "slot": "lid.state",
+        "not": [
+         "open"
+        ]
+       },
+       "step": "open the lid"
+      },
+      {
+       "wait": {
+        "slot": "lid.state",
+        "value": "open"
+       },
+       "max_s": 30,
+       "step": "wait until the lid is open"
+      },
+      {
+       "cap": "plate.load",
+       "with": {
+        "plate_id": "$item"
+       },
+       "step": "put plate {item} into the block"
+      },
+      {
+       "cap": "lid.close",
+       "step": "close the lid"
+      },
+      {
+       "wait": {
+        "slot": "lid.state",
+        "value": "closed"
+       },
+       "max_s": 30,
+       "step": "wait until the lid is closed"
+      }
+     ]
+    },
+    "unload": {
+     "item_slot": "plate.id",
+     "steps": [
+      {
+       "cap": "lid.open",
+       "when": {
+        "slot": "lid.state",
+        "not": [
+         "open"
+        ]
+       },
+       "step": "open the lid"
+      },
+      {
+       "wait": {
+        "slot": "lid.state",
+        "value": "open"
+       },
+       "max_s": 30,
+       "step": "wait until the lid is open"
+      },
+      {
+       "cap": "plate.remove",
+       "step": "take plate {item} out"
+      },
+      {
+       "cap": "lid.close",
+       "step": "close the lid"
+      },
+      {
+       "wait": {
+        "slot": "lid.state",
+        "value": "closed"
+       },
+       "max_s": 30,
+       "step": "wait until the lid is closed"
+      }
+     ]
+    },
+    "method": {
+     "cap": "protocol.set",
+     "keys": {
+      "name": {
+       "arg": "name"
+      },
+      "volume": {
+       "arg": "sample_volume_m3",
+       "kind": "volume"
+      },
+      "lid": {
+       "arg": "lid_temperature_k",
+       "kind": "temperature"
+      },
+      "steps": {
+       "arg": "steps",
+       "parse": "qpcr_steps"
+      }
+     },
+     "passthrough": true
+    },
+    "start": {
+     "cap": "run.start",
+     "opts": {
+      "scan": {
+       "arg": "scan_mode",
+       "default": "all_channels"
+      }
+     },
+     "max_s": 172800
+    },
+    "pause": {
+     "on_cap": "run.pause",
+     "off_cap": "run.resume",
+     "running": {
+      "slot": "run.state",
+      "in": [
+       "running"
+      ]
+     },
+     "paused": {
+      "slot": "run.state",
+      "value": "paused"
+     }
+    },
+    "stop": {
+     "cap": "run.stop",
+     "running": {
+      "slot": "run.state",
+      "in": [
+       "lid_heating",
+       "running",
+       "paused"
+      ]
+     }
+    },
+    "data": {
+     "cap": "data.amplification",
+     "id": {
+      "arg": "run_id",
+      "slot": "run.id",
+      "word": "run"
+     },
+     "opts": {
+      "wells": {
+       "arg": "wells",
+       "list": true
+      }
+     }
+    },
+    "analyze": {
+     "models": {
+      "cq": {
+       "cap": "analysis.cq"
+      },
+      "standard-curve": {
+       "cap": "analysis.standard_curve"
+      },
+      "melt": {
+       "cap": "analysis.melt_peaks"
+      },
+      "gene-expression": {
+       "cap": "analysis.gene_expression"
+      }
+     },
+     "keys": {},
+     "id": {
+      "arg": "run_id",
+      "slot": "run.id",
+      "word": "run",
+      "required": true
+     }
+    }
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "lid_heating",
+       "running",
+       "paused"
+      ]
+     },
+     {
+      "slot": "plate.loaded",
+      "code": "ALREADY_LOADED",
+      "message": "{inst} already holds a plate.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "value": false
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "lid_heating",
+       "running",
+       "paused"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "lid_heating",
+       "running",
+       "paused"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "lid_heating",
+       "running",
+       "paused"
+      ]
+     },
+     {
+      "slot": "plate.loaded",
+      "code": "NOTHING_LOADED",
+      "message": "there is no plate in {inst}.",
+      "fix": "load one: `chemlab run {inst} load PLATE`.",
+      "value": true
+     },
+     {
+      "slot": "protocol.name",
+      "code": "NO_METHOD",
+      "message": "{inst} has no protocol yet.",
+      "fix": "set one: `chemlab run {inst} method name=... volume=20uL steps=...`.",
+      "null": false
+     },
+     {
+      "slot": "lid.state",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is {value}.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "value": "closed"
+     }
+    ]
+   },
+   "unsupported": {
+    "prime": "no fluidics (a thermal cycler with an optical lid)",
+    "set-temp": "block and lid temperatures are protocol steps"
+   },
+   "alternatives": {
+    "set-temp": "put the temperatures into the protocol: `chemlab run INST method steps=95C@3min,... lid=105C`"
+   },
+   "path": "run",
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "lid",
+     "slot": "lid.state"
+    },
+    {
+     "label": "plate",
+     "slot": "plate.id"
+    },
+    {
+     "label": "protocol",
+     "slot": "protocol.name"
+    },
+    {
+     "label": "run",
+     "slot": "run.state"
+    },
+    {
+     "label": "cycle",
+     "slot": "run.cycle"
+    },
+    {
+     "label": "remaining",
+     "slot": "run.remaining_s",
+     "kind": "duration"
+    },
+    {
+     "label": "block",
+     "slot": "sensor.block_temperature_k",
+     "kind": "temperature"
+    }
+   ],
+   "notes": {
+    "method": [
+     "steps: 95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s (goto2x39 = back to step 2, 39 more times)"
+    ],
+    "analyze": [
+     "models: cq (threshold_rfu=..), standard-curve, melt, gene-expression (reference_targets=.. control_group=..)"
+    ],
+    "start": [
+     "--scan all_channels (default), sybr_fam or fret"
+    ]
+   },
+   "manual": {
+    "*": "CFX Opus operation manual 10000119983 pp. 37-49 (loading the block), pp. 85-109 (protocol steps), pp. 111-123 (runs: pause, stop)"
+   },
+   "examples": {
+    "load": "load plate_1",
+    "method": "method name=SYBR volume=20uL lid=105C steps=95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s",
+    "start": "start --scan all_channels",
+    "data": "data --wells A1,B1",
+    "analyze": "analyze cq"
+   }
+  },
+  "cytiva_biacoret200": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "options": [
+      "type"
+     ],
+     "type_example": "CM5",
+     "word": "chip",
+     "steps": [
+      {
+       "cap": "chip.open_port",
+       "when": {
+        "slot": "chip.state",
+        "value": "none"
+       },
+       "step": "open the chip port"
+      },
+      {
+       "wait": {
+        "slot": "chip.port_cover_angle_rad",
+        "min": 1.0
+       },
+       "max_s": 15,
+       "step": "wait until the port cover is open"
+      },
+      {
+       "cap": "chip.insert",
+       "with": {
+        "chip_type": "$type",
+        "chip_id": "$item"
+       },
+       "step": "insert sensor chip {item} ({type})"
+      },
+      {
+       "cap": "chip.close_cover",
+       "step": "close the port cover"
+      },
+      {
+       "wait": {
+        "slot": "chip.port_cover_angle_rad",
+        "max": 1e-06
+       },
+       "max_s": 15,
+       "step": "wait until the port cover is closed"
+      },
+      {
+       "cap": "chip.dock",
+       "step": "dock the chip"
+      },
+      {
+       "wait": {
+        "slot": "chip.state",
+        "value": "docked"
+       },
+       "max_s": 180,
+       "step": "wait until the chip is docked",
+       "code": "DOCK_FAILED",
+       "message": "{inst} did not dock the chip.",
+       "fix": "check `chemlab run {inst} status`, unload and retry."
+      }
+     ]
+    },
+    "unload": {
+     "item_slot": "chip.id",
+     "steps": [
+      {
+       "cap": "chip.eject",
+       "when": {
+        "slot": "chip.state",
+        "value": "docked"
+       },
+       "step": "undock the chip"
+      },
+      {
+       "wait": {
+        "slot": "chip.state",
+        "in": [
+         "ejected",
+         "inserted",
+         "port_open"
+        ]
+       },
+       "max_s": 180,
+       "step": "wait until the chip is undocked"
+      },
+      {
+       "cap": "chip.open_port",
+       "when": {
+        "slot": "chip.state",
+        "in": [
+         "ejected",
+         "inserted"
+        ]
+       },
+       "step": "open the chip port"
+      },
+      {
+       "wait": {
+        "slot": "chip.port_cover_angle_rad",
+        "min": 1.0
+       },
+       "max_s": 15,
+       "step": "wait until the port cover is open"
+      },
+      {
+       "cap": "chip.remove",
+       "step": "take chip {item} out"
+      },
+      {
+       "cap": "chip.close_cover",
+       "step": "close the port cover"
+      },
+      {
+       "wait": {
+        "slot": "chip.port_cover_angle_rad",
+        "max": 1e-06
+       },
+       "max_s": 15,
+       "step": "wait until the port cover is closed"
+      }
+     ]
+    },
+    "start": {
+     "cap": "method.run",
+     "name": {
+      "arg": "run_id",
+      "required": true,
+      "word": "run id",
+      "example": "kin1"
+     },
+     "keys": {
+      "path": {
+       "arg": "flow_path"
+      },
+      "ref": {
+       "arg": "reference_subtraction"
+      },
+      "rate": {
+       "arg": "data_rate_hz"
+      },
+      "detection": {
+       "arg": "detection"
+      },
+      "buffer": {
+       "arg": "buffer_tube"
+      },
+      "temp": {
+       "arg": "sample_compartment_k",
+       "kind": "temperature"
+      },
+      "prime-first": {
+       "arg": "prime_before"
+      }
+     },
+     "series": true,
+     "passthrough": true,
+     "max_s": 172800
+    },
+    "pause": {
+     "on_cap": "run.pause",
+     "off_cap": "run.resume",
+     "running": {
+      "slot": "run.state",
+      "in": [
+       "waiting_temperature",
+       "preparing",
+       "running"
+      ]
+     },
+     "paused": {
+      "slot": "run.state",
+      "value": "paused"
+     }
+    },
+    "stop": {
+     "cap": "run.stop",
+     "running": {
+      "slot": "run.state",
+      "in": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     }
+    },
+    "data": {
+     "cap": "data.report_points",
+     "id": {
+      "arg": "run_id",
+      "slot": "run.id",
+      "required": true,
+      "word": "run"
+     },
+     "by_cycle": {
+      "cap": "data.sensorgram",
+      "opts": {
+       "cycle": {
+        "arg": "cycle",
+        "int": true
+       },
+       "curves": {
+        "arg": "curves",
+        "list": true,
+        "required": true,
+        "example": "2-1"
+       },
+       "max": {
+        "arg": "max_points",
+        "int": true
+       }
+      }
+     }
+    },
+    "analyze": {
+     "models": {
+      "kinetics": {
+       "cap": "eval.kinetics"
+      },
+      "affinity": {
+       "cap": "eval.affinity"
+      },
+      "concentration": {
+       "cap": "eval.concentration"
+      },
+      "solvent-correction": {
+       "cap": "eval.solvent_correction"
+      }
+     },
+     "keys": {
+      "blanks": {
+       "arg": "blank_cycles"
+      },
+      "concs": {
+       "arg": "concentrations_mol_m3",
+       "kind": "concentration"
+      }
+     },
+     "id": {
+      "arg": "run_id",
+      "slot": "run.id",
+      "required": true,
+      "word": "run"
+     }
+    },
+    "prime": {
+     "cap": "flow.prime"
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "analysis_k"
+    }
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "system.connected",
+      "code": "NOT_READY",
+      "message": "{inst} is still starting up (the control software is not connected yet).",
+      "fix": "wait about half a minute after power-on (`chemlab wait 35`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     },
+     {
+      "slot": "chip.state",
+      "code": "ALREADY_LOADED",
+      "message": "{inst} already holds a chip ({value}).",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "value": "none"
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "system.connected",
+      "code": "NOT_READY",
+      "message": "{inst} is still starting up (the control software is not connected yet).",
+      "fix": "wait about half a minute after power-on (`chemlab wait 35`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "system.connected",
+      "code": "NOT_READY",
+      "message": "{inst} is still starting up (the control software is not connected yet).",
+      "fix": "wait about half a minute after power-on (`chemlab wait 35`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     },
+     {
+      "slot": "chip.state",
+      "code": "NOTHING_LOADED",
+      "message": "no sensor chip is docked in {inst} ({value}).",
+      "fix": "load one: `chemlab run {inst} load CHIP --type CM5`.",
+      "value": "docked"
+     },
+     {
+      "slot": "rack.state",
+      "code": "RACK_OUT",
+      "message": "the sample rack of {inst} is not inside ({value}).",
+      "fix": "put it in: `chemlab call {inst} rack.retract`.",
+      "value": "inside"
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "system.connected",
+      "code": "NOT_READY",
+      "message": "{inst} is still starting up (the control software is not connected yet).",
+      "fix": "wait about half a minute after power-on (`chemlab wait 35`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     },
+     {
+      "slot": "chip.state",
+      "code": "NOTHING_LOADED",
+      "message": "no sensor chip is docked in {inst} ({value}).",
+      "fix": "load one: `chemlab run {inst} load CHIP --type CM5`.",
+      "value": "docked"
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "system.connected",
+      "code": "NOT_READY",
+      "message": "{inst} is still starting up (the control software is not connected yet).",
+      "fix": "wait about half a minute after power-on (`chemlab wait 35`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a run is going on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "waiting_temperature",
+       "preparing",
+       "running",
+       "paused"
+      ]
+     }
+    ]
+   },
+   "unsupported": {
+    "method": "a Biacore run takes its method when it starts"
+   },
+   "alternatives": {
+    "method": "give the method with start: `chemlab run INST start RUN samples=R1B1,R1B2 contact=120s dissociation=600s flow=30uL/min path=1-2 ref=2-1 rate=10`, or cycles=@cycles.json"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "method.run"
+   ],
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "connected",
+     "slot": "system.connected"
+    },
+    {
+     "label": "chip",
+     "slot": "chip.id"
+    },
+    {
+     "label": "chip state",
+     "slot": "chip.state"
+    },
+    {
+     "label": "flow",
+     "slot": "flow.state"
+    },
+    {
+     "label": "rack",
+     "slot": "rack.state"
+    },
+    {
+     "label": "run",
+     "slot": "run.state"
+    },
+    {
+     "label": "cycle",
+     "slot": "run.cycle"
+    },
+    {
+     "label": "analysis temperature",
+     "slot": "temperature.analysis_k",
+     "kind": "temperature"
+    }
+   ],
+   "notes": {
+    "load": [
+     "ITEM is the new chip id; --type is the chip type (CM5, SA, NTA, ...); it waits until the chip is docked (about a minute)"
+    ],
+    "start": [
+     "RUN is the new run id; method keys: samples= contact= dissociation= flow= regen= regen-contact= startup= path= ref= rate= detection= (or cycles=@file.json); the sample rack must be inside"
+    ],
+    "data": [
+     "without --cycle: the report points of the run; with --cycle N --curves 2-1: that cycle's sensorgram"
+    ],
+    "analyze": [
+     "models: kinetics, affinity, concentration, solvent-correction; keys: cycles=3,4,5 subtraction=2-1 blanks=2 concs=0,2nM,4nM"
+    ]
+   },
+   "manual": {
+    "*": "Biacore T200 instrument handbook 28976883 pp. 44-59 (operation); getting started 28-9768-63 pp. 33-45 (dock chip, prime, temperature); software handbook 28-9768-78 pp. 79-107 (methods), pp. 109-125 (evaluation)"
+   },
+   "examples": {
+    "load": "load chip_a --type CM5",
+    "start": "start kin1 samples=R1B1,R1B2 contact=120s dissociation=600s flow=30uL/min path=1-2 ref=2-1 rate=10",
+    "data": "data --cycle 2 --curves 2-1",
+    "analyze": "analyze kinetics cycles=2,3 subtraction=2-1 concs=10nM,20nM",
+    "set-temp": "set-temp 25C"
+   }
+  },
+  "malvern_microcalpeaq": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "default_into": "cell",
+     "into": {
+      "cell": {
+       "items": {
+        "slot": "solutions.available",
+        "none": "prepare one first (`chemlab call INST solution.prepare ...`)."
+       },
+       "word": "solution",
+       "options": [
+        "volume",
+        "no-rinse"
+       ],
+       "default_volume": "300uL",
+       "steps": [
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "rest"
+         },
+         "when": {
+          "slot": "pipette.location",
+          "value": "cell"
+         },
+         "step": "lift the syringe out of the cell"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "not": [
+           "moving"
+          ]
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is out of the cell"
+        },
+        {
+         "cap": "cell.load",
+         "with": {
+          "solution_id": "$item",
+          "volume_m3": "$volume",
+          "rinse": "$rinse"
+         },
+         "step": "fill the sample cell with {item}"
+        },
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "cell"
+         },
+         "when": [
+          {
+           "slot": "syringe.state",
+           "value": "loaded"
+          },
+          {
+           "slot": "pipette.location",
+           "value": "rest"
+          }
+         ],
+         "step": "lower the filled syringe into the cell"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "not": [
+           "moving"
+          ]
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is in place"
+        }
+       ]
+      },
+      "syringe": {
+       "items": {
+        "slot": "solutions.available",
+        "none": "prepare one first (`chemlab call INST solution.prepare ...`)."
+       },
+       "word": "solution",
+       "options": [
+        "volume"
+       ],
+       "default_volume": "60uL",
+       "steps": [
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "rest"
+         },
+         "when": {
+          "slot": "pipette.location",
+          "value": "cell"
+         },
+         "step": "lift the syringe out of the cell"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "not": [
+           "moving"
+          ]
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is out of the cell"
+        },
+        {
+         "cap": "tube.place",
+         "with": {
+          "solution_id": "$item",
+          "volume_m3": "$volume"
+         },
+         "step": "put a tube of {item} in the loading station"
+        },
+        {
+         "cap": "fpa.attach",
+         "when": {
+          "slot": "fpa.attached",
+          "truthy": false
+         },
+         "step": "attach the fill port adapter"
+        },
+        {
+         "cap": "syringe.plunger_down",
+         "step": "move the plunger down"
+        },
+        {
+         "wait": {
+          "slot": "syringe.plunger_position_m",
+          "min": 0.0599
+         },
+         "max_s": 60,
+         "step": "wait until the plunger is down"
+        },
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "load"
+         },
+         "step": "move the syringe to the loading station"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "value": "load"
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is at the loading station"
+        },
+        {
+         "cap": "syringe.load",
+         "step": "fill the syringe"
+        },
+        {
+         "wait": {
+          "slot": "syringe.state",
+          "value": "loaded"
+         },
+         "max_s": 900,
+         "step": "wait until the syringe is filled",
+         "code": "LOAD_FAILED",
+         "message": "the syringe of {inst} did not fill.",
+         "fix": "check `chemlab run {inst} status` (tube volume, wash module), then retry."
+        },
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "rest"
+         },
+         "step": "move the syringe to rest"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "value": "rest"
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is at rest"
+        },
+        {
+         "cap": "tube.remove",
+         "step": "take the tube out of the loading station"
+        },
+        {
+         "cap": "fpa.detach",
+         "step": "detach the fill port adapter"
+        },
+        {
+         "cap": "pipette.move",
+         "args": {
+          "location": "cell"
+         },
+         "when": {
+          "slot": "cell.solution_id",
+          "null": false
+         },
+         "step": "lower the syringe into the cell"
+        },
+        {
+         "wait": {
+          "slot": "pipette.location",
+          "not": [
+           "moving"
+          ]
+         },
+         "max_s": 90,
+         "step": "wait until the syringe is in place"
+        }
+       ]
+      }
+     }
+    },
+    "unload": {
+     "item_slot": "cell.solution_id",
+     "steps": [
+      {
+       "cap": "pipette.move",
+       "args": {
+        "location": "rest"
+       },
+       "when": {
+        "slot": "pipette.location",
+        "value": "cell"
+       },
+       "step": "lift the syringe out of the cell"
+      },
+      {
+       "wait": {
+        "slot": "pipette.location",
+        "not": [
+         "moving"
+        ]
+       },
+       "max_s": 90,
+       "step": "wait until the syringe is out of the cell"
+      },
+      {
+       "cap": "cell.empty",
+       "step": "empty the sample cell ({item})"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.set",
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "ref": {
+       "arg": "reference_power_w",
+       "kind": "power"
+      },
+      "feedback": {
+       "arg": "feedback"
+      },
+      "stir": {
+       "arg": "stir_rate_hz",
+       "kind": "rotation_hz"
+      },
+      "delay": {
+       "arg": "initial_delay_s",
+       "kind": "duration"
+      },
+      "injections": {
+       "arg": "injections",
+       "parse": "injections"
+      },
+      "cell": {
+       "arg": "cell_concentration_mol_m3",
+       "kind": "concentration"
+      },
+      "syringe": {
+       "arg": "syringe_concentration_mol_m3",
+       "kind": "concentration"
+      },
+      "comment": {
+       "arg": "comment"
+      }
+     },
+     "keep": {
+      "temperature_k": {
+       "slot": "method.current",
+       "key": "temperature_k"
+      },
+      "reference_power_w": {
+       "slot": "method.current",
+       "key": "reference_power_w"
+      },
+      "feedback": {
+       "slot": "method.current",
+       "key": "feedback"
+      },
+      "stir_rate_hz": {
+       "slot": "method.current",
+       "key": "stir_rate_hz"
+      },
+      "initial_delay_s": {
+       "slot": "method.current",
+       "key": "initial_delay_s"
+      },
+      "cell_concentration_mol_m3": {
+       "slot": "method.current",
+       "key": "cell_concentration_mol_m3"
+      },
+      "syringe_concentration_mol_m3": {
+       "slot": "method.current",
+       "key": "syringe_concentration_mol_m3"
+      }
+     },
+     "passthrough": true
+    },
+    "start": {
+     "cap": "run.start",
+     "name": {
+      "arg": "experiment_id",
+      "required": true,
+      "word": "experiment id",
+      "example": "e1"
+     },
+     "max_s": 172800
+    },
+    "stop": {
+     "cap": "instrument.stop",
+     "running": {
+      "any": [
+       {
+        "slot": "run.state",
+        "in": [
+         "equilibrating",
+         "initial_delay",
+         "injecting",
+         "spacing"
+        ]
+       },
+       {
+        "slot": "clean.state",
+        "value": "cleaning"
+       }
+      ]
+     }
+    },
+    "data": {
+     "cap": "data.read",
+     "id": {
+      "arg": "experiment_id",
+      "slot": "run.experiment_id",
+      "required": true,
+      "word": "experiment"
+     },
+     "opts": {
+      "max": {
+       "arg": "max_points",
+       "int": true
+      }
+     }
+    },
+    "analyze": {
+     "cap": "data.analyze",
+     "model_arg": "model",
+     "keys": {
+      "exclude": {
+       "arg": "exclude_injections"
+      },
+      "cell": {
+       "arg": "cell_concentration_mol_m3",
+       "kind": "concentration"
+      },
+      "syringe": {
+       "arg": "syringe_concentration_mol_m3",
+       "kind": "concentration"
+      }
+     },
+     "id": {
+      "arg": "experiment_id",
+      "slot": "run.experiment_id",
+      "required": true,
+      "word": "experiment"
+     }
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "temperature_k"
+    }
+   },
+   "requires": {
+    "load:cell": [
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     },
+     {
+      "slot": "cell.cleaning_tool_inserted",
+      "code": "CLEANING_TOOL_IN",
+      "message": "the cleaning tool is in the cell of {inst}.",
+      "fix": "take it out: `chemlab call {inst} cleaning_tool.remove`.",
+      "value": false
+     }
+    ],
+    "load:syringe": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     },
+     {
+      "slot": "wash.powered",
+      "code": "WASH_MODULE_OFF",
+      "message": "the wash module of {inst} is switched off (it fills the syringe).",
+      "fix": "switch it on: `chemlab call {inst} wash.power_set --enabled true`.",
+      "value": true
+     },
+     {
+      "slot": "loading_station.tube_solution_id",
+      "code": "TUBE_PRESENT",
+      "message": "a tube ({value}) is still in the loading station of {inst}.",
+      "fix": "take it out: `chemlab call {inst} tube.remove`.",
+      "null": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     },
+     {
+      "slot": "method.current",
+      "code": "NO_METHOD",
+      "message": "{inst} has no experiment method yet.",
+      "fix": "set one: `chemlab run {inst} method temp=25C injections=... ...`.",
+      "null": false
+     },
+     {
+      "slot": "syringe.state",
+      "code": "SYRINGE_NOT_LOADED",
+      "message": "the syringe of {inst} is {value}.",
+      "fix": "load it: `chemlab run {inst} load SOLUTION --into syringe`.",
+      "value": "loaded"
+     },
+     {
+      "slot": "pipette.seated_in_cell",
+      "code": "PIPETTE_NOT_IN_CELL",
+      "message": "the syringe of {inst} is not in the cell.",
+      "fix": "load the cell (`chemlab run {inst} load SOLUTION --into cell`): with a filled syringe it lowers the syringe into the cell.",
+      "value": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "run.state",
+      "code": "RUN_ACTIVE",
+      "message": "a titration is running on {inst} ({value}).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "not": [
+       "equilibrating",
+       "initial_delay",
+       "injecting",
+       "spacing"
+      ]
+     }
+    ]
+   },
+   "unsupported": {
+    "pause": "no pause: a titration runs to its end or is stopped (`stop`)",
+    "prime": "no fluid lines to prime; the cell and syringe are cleaned with the wash module"
+   },
+   "alternatives": {
+    "prime": "clean with the wash module: `chemlab call INST cleaning_tool.insert`, then `chemlab call INST clean.start ...`"
+   },
+   "params": {
+    "injection_rate_m3_s": 5e-10
+   },
+   "path": "run",
+   "path_exceptions": [
+    "instrument.stop"
+   ],
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "wash module",
+     "slot": "wash.powered"
+    },
+    {
+     "label": "cell",
+     "slot": "cell.solution_id"
+    },
+    {
+     "label": "syringe",
+     "slot": "syringe.state"
+    },
+    {
+     "label": "pipette",
+     "slot": "pipette.location"
+    },
+    {
+     "label": "run",
+     "slot": "run.state"
+    },
+    {
+     "label": "injection",
+     "slot": "run.injection_number"
+    },
+    {
+     "label": "cell temperature",
+     "slot": "temperature.cell_k",
+     "kind": "temperature"
+    },
+    {
+     "label": "set point",
+     "slot": "temperature.setpoint_k",
+     "kind": "temperature"
+    }
+   ],
+   "notes": {
+    "load": [
+     "--into cell (default; 300 uL, rinsed first unless --no-rinse) or --into syringe (from a 60 uL tube). The syringe ends in the cell when both are loaded, in either order. It moves the syringe and waits for each step (a few minutes for the syringe)."
+    ],
+    "method": [
+     "injection duration left out: volume / 0.5 uL/s (the contract example: 2 uL in 4 s)"
+    ],
+    "analyze": [
+     "MODEL is the fitting model (one_set_of_sites, two_sets_of_sites, ...); keys: exclude=1 cell=0.1mM syringe=1mM"
+    ]
+   },
+   "manual": {
+    "*": "PEAQ-ITC user manual MAN0573 pp. 51-68 (prepare and load instrument, start), pp. 91-100 (injection parameters); analysis manual MAN0576 pp. 54-76 (fitting models)"
+   },
+   "examples": {
+    "load": "load edta --into cell",
+    "method": "method temp=25C ref=5ucal/s stir=750rpm delay=60s injections=0.4uL@0.8s,18x2uL@4s spacing=150s cell=0.1mM syringe=1mM",
+    "start": "start e1",
+    "analyze": "analyze one_set_of_sites exclude=1",
+    "set-temp": "set-temp 25C"
+   }
+  },
+  "bd_facsariaiii": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "items": {
+      "slot": "tubes.on_bench",
+      "where": " on the bench",
+      "none": "prepare one first (`chemlab call INST tube.prepare ...`)."
+     },
+     "word": "tube",
+     "steps": [
+      {
+       "cap": "tube.install",
+       "with": {
+        "tube_id": "$item"
+       },
+       "step": "put tube {item} on the sample port"
+      },
+      {
+       "cap": "sample.load",
+       "step": "load the sample"
+      },
+      {
+       "wait": {
+        "slot": "sample.port_state",
+        "value": "up"
+       },
+       "max_s": 30,
+       "step": "wait until the tube is up and acquiring"
+      }
+     ]
+    },
+    "unload": {
+     "item_slot": "sample.tube_id",
+     "steps": [
+      {
+       "cap": "sample.unload",
+       "when": {
+        "slot": "sample.port_state",
+        "value": "up"
+       },
+       "step": "unload the sample"
+      },
+      {
+       "wait": {
+        "slot": "sample.port_state",
+        "value": "down"
+       },
+       "max_s": 30,
+       "step": "wait until the sample port is down"
+      },
+      {
+       "cap": "tube.remove",
+       "step": "take tube {item} off the port"
+      }
+     ]
+    },
+    "method": {
+     "cap": "cytometer.settings",
+     "keys": {
+      "voltage": {
+       "arg": "voltages",
+       "kind": "voltage"
+      },
+      "logic": {
+       "arg": "threshold_logic"
+      }
+     },
+     "passthrough": true
+    },
+    "start": {
+     "cap": "acquisition.record",
+     "name": {
+      "arg": "record_id",
+      "required": true,
+      "word": "record id",
+      "example": "unstained"
+     },
+     "opts": {
+      "events": {
+       "arg": "events",
+       "required": true,
+       "example": "10000"
+      },
+      "gate": {
+       "arg": "storage_gate"
+      }
+     }
+    },
+    "stop": {
+     "cap": "acquisition.set",
+     "args": {
+      "acquiring": false
+     },
+     "running": {
+      "slot": "sample.acquiring",
+      "value": true
+     }
+    },
+    "data": {
+     "cap": "statistics.read",
+     "id": {
+      "arg": "source",
+      "default": "live"
+     }
+    },
+    "analyze": {
+     "models": {
+      "compensation": {
+       "cap": "compensation.calculate"
+      }
+     },
+     "keys": {
+      "unstained": {
+       "arg": "unstained_record"
+      },
+      "controls": {
+       "arg": "controls"
+      }
+     }
+    },
+    "prime": {
+     "steps": [
+      {
+       "cap": "fluidics.startup",
+       "step": "start up the fluidics"
+      },
+      {
+       "wait": {
+        "slot": "fluidics.state",
+        "value": "ready"
+       },
+       "max_s": 1200,
+       "step": "wait until the fluidics are ready (about 8 min)",
+       "code": "FLUIDICS_FAILED",
+       "message": "the fluidics of {inst} did not become ready.",
+       "fix": "check `chemlab run {inst} status` (sheath, waste, nozzle), then retry."
+      },
+      {
+       "cap": "stream.set",
+       "args": {
+        "on": true
+       },
+       "step": "switch the stream on"
+      }
+     ]
+    },
+    "set-temp": {
+     "cap": "sample.temperature",
+     "arg": "setpoint_k",
+     "off": true
+    }
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "stream.on",
+      "code": "STREAM_OFF",
+      "message": "the stream of {inst} is off.",
+      "fix": "start the fluidics and the stream: `chemlab run {inst} prime`.",
+      "value": true
+     },
+     {
+      "slot": "sample.tube_id",
+      "code": "ALREADY_LOADED",
+      "message": "tube {value} is already on the sample port of {inst}.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "null": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.acquiring",
+      "code": "NOT_ACQUIRING",
+      "message": "{inst} is not acquiring (no sample tube is up).",
+      "fix": "load a tube: `chemlab run {inst} load TUBE`.",
+      "value": true
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "fluidics.state",
+      "code": "ALREADY_STARTED",
+      "message": "the fluidics of {inst} are {value}.",
+      "fix": "nothing to start; see `chemlab run {inst} status`.",
+      "value": "shutdown"
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "pause": "a recording is not paused; sorting has its own pause"
+   },
+   "alternatives": {
+    "pause": "stop acquiring (`chemlab run INST stop`); a sort is paused with `chemlab call INST sort.pause`"
+   },
+   "path": "acquisition",
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "fluidics",
+     "slot": "fluidics.state"
+    },
+    {
+     "label": "stream",
+     "slot": "stream.on"
+    },
+    {
+     "label": "tube",
+     "slot": "sample.tube_id"
+    },
+    {
+     "label": "port",
+     "slot": "sample.port_state"
+    },
+    {
+     "label": "acquiring",
+     "slot": "sample.acquiring"
+    },
+    {
+     "label": "records",
+     "slot": "records.count"
+    },
+    {
+     "label": "sample chamber",
+     "slot": "sample.chamber_temperature_k",
+     "kind": "temperature"
+    }
+   ],
+   "notes": {
+    "prime": [
+     "fluidics startup, then the stream on: it waits about 8 min of lab time"
+    ],
+    "start": [
+     "RECORD is the new record id; --events N is required; --gate G stores only that gate"
+    ],
+    "set-temp": [
+     "the sample chamber has fixed settings: 4C, 20C, 37C, 42C (or off)"
+    ]
+   },
+   "manual": {
+    "*": "FACSAria III user guide 23-11654-01 pp. 115-164 (fluidics startup, stream, loading samples, recording), pp. 165-198 (sorting)"
+   },
+   "examples": {
+    "load": "load t1",
+    "method": "method voltage.B530_30=520V",
+    "start": "start unstained --events 10000",
+    "data": "data unstained",
+    "analyze": "analyze compensation unstained=unstained controls.B530_30=fitc_ctrl",
+    "set-temp": "set-temp 4C"
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/chromatography.json b/chemlab/configs/adapters/chromatography.json
new file mode 100644
index 0000000000000000000000000000000000000000..618bf8a5ff84a6f99e0712c60ea9f3b5ea36ae64
--- /dev/null
+++ b/chemlab/configs/adapters/chromatography.json
@@ -0,0 +1,1841 @@
+{
+ "class": "chromatography",
+ "adapter": "chemlab.compile.classes.chromatography:ChromatographyAdapter",
+ "about": "Chromatography and electrophoresis: method (class keys: flow, inj, column-temp, oven, inlet, det, split, inlet-mode, run, wl, gradient, pmax, rate, speed, eluent, voltage, current, constant, lamp, plus native names), load, run (job), stop, chromatogram (trace + peak table), quantify, flow on|off, set-temp --zone, status. power / open / close come from the shared layer.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "agilent_gc8890b",
+   "agilent_7890b_ssl_fid",
+   "agilent_hplc1260",
+   "agilent_1260infinity",
+   "agilent_1290infinity",
+   "thermo_dionexintegrion",
+   "gas_flavourspec25gc",
+   "wyatt_eclipseaf4",
+   "sciex_pa800",
+   "camag_tlcscanner",
+   "biotage_selekt",
+   "gilson_cpc250",
+   "biorad_miniprotean"
+  ],
+  "secondary": {},
+  "not_in_this_class": {
+   "agilent_hs8697, markes_unityxr, frontier_egapy, teledyne_atomxxyz": "GC front ends (headspace, thermal desorption, pyrolysis, purge and trap): primary in sample_intro; they inject into a GC but run no separation themselves"
+  },
+  "verbs_changed_from_the_first_draft": {
+   "quantify": "kept for concentration from external standards (SFC, IC, GC-IMS); TLC (track amounts), GPC and AF4 (molar mass) answer not-supported with their own capability as the alternative",
+   "load": "IC (valve load position), Selekt (run.setup dialog) and the 7890B (syringe) are not sample loading on these twins: the sample comes from the lab, or `run` draws and injects it (7890B)",
+   "flow": "CPC rotor.start/stop is the rotor in local control, not the mobile phase: not supported; 8890 column carrier on/off (method.configure column on) and HPLC mobile-phase availability were added",
+   "chromatogram": "7890B (live FID current only) is not supported; 8890 reads the last run of the run path (gc.last_run) instead of the instant chromatography.measure fixture (one native path per verb); Selekt and CPC read the run history (a trace) instead of the live snapshot query"
+  },
+  "shared_verbs_redefined": {
+   "method": "one canonical dictionary over 1-6 native calls per member (oven programs, settings objects, per-zone temperatures, required arguments kept from the current method); the shared method maps one capability only",
+   "stop": "must use the same native path as run and chromatogram (one path per verb group, §5.2) and refuses NOT_RUNNING before sending"
+  }
+ },
+ "members": {
+  "agilent_gc8890b": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "style": "program",
+       "keys": {
+        "oven": "program"
+       },
+       "temp_cap": "thermal.set_temperature",
+       "temp_args": {
+        "zone": "oven"
+       },
+       "temp_arg": "temperature_K",
+       "prog_cap": "method.configure",
+       "prog_args": {
+        "component": "oven"
+       },
+       "object": "settings",
+       "hold0": "initial_time_s",
+       "rate": "ramp_{n}_rate_K_s",
+       "final": "ramp_{n}_final_K",
+       "hold": "ramp_{n}_final_time_s"
+      },
+      {
+       "cap": "thermal.set_temperature",
+       "args": {
+        "zone": "inlet"
+       },
+       "keys": {
+        "inlet": "temperature_K"
+       },
+       "passthrough": false
+      },
+      {
+       "cap": "thermal.set_temperature",
+       "args": {
+        "zone": "fid"
+       },
+       "keys": {
+        "det": "temperature_K"
+       },
+       "passthrough": false
+      },
+      {
+       "cap": "method.configure",
+       "args": {
+        "component": "inlet"
+       },
+       "object": "settings",
+       "keys": {
+        "split": {
+         "field": "split_ratio",
+         "kind": "number"
+        },
+        "inlet-mode": {
+         "field": "mode",
+         "kind": "choice",
+         "values": {
+          "split": "Split",
+          "splitless": "Splitless"
+         }
+        }
+       }
+      },
+      {
+       "cap": "method.configure",
+       "args": {
+        "component": "column"
+       },
+       "object": "settings",
+       "keys": {
+        "flow": {
+         "field": "flow_m3_s"
+        }
+       }
+      }
+     ]
+    },
+    "load": {
+     "cap": "sample.load",
+     "sample_arg": "sample_id",
+     "before": [
+      {
+       "cap": "lid.set_angle",
+       "args": {
+        "angle_rad": "$max"
+       },
+       "if": {
+        "state": "lid.angle_rad",
+        "lt": "$max"
+       },
+       "step": "open the oven lid (vial position)"
+      }
+     ],
+     "after": [
+      {
+       "cap": "lid.set_angle",
+       "args": {
+        "angle_rad": "$min"
+       },
+       "if": {
+        "state": "lid.angle_rad",
+        "gt": "$min"
+       },
+       "step": "close the oven lid"
+      }
+     ]
+    },
+    "run": {
+     "cap": "run.start",
+     "before": [
+      {
+       "cap": "run.prep",
+       "if": {
+        "state": "gc.status#ready",
+        "eq": false
+       },
+       "step": "Prep Run"
+      }
+     ],
+     "ready": {
+      "state": "gc.status#reasons",
+      "empty": true,
+      "reasons": "gc.status#reasons"
+     }
+    },
+    "stop": {
+     "cap": "run.stop"
+    },
+    "chromatogram": {
+     "reads": [
+      "gc.last_run",
+      "gc.run"
+     ],
+     "peaks": "gc.last_run#peaks",
+     "complete": "gc.last_run#",
+     "extra": [
+      "gc.last_run#sample_id",
+      "gc.last_run#elapsed_s",
+      "gc.last_run#aborted"
+     ],
+     "x_unit": "s",
+     "y_unit": "A"
+    },
+    "flow": {
+     "cap": "method.configure",
+     "args": {
+      "component": "column"
+     },
+     "object": "settings",
+     "key": "on"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K",
+     "default_zone": "oven"
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone",
+     "values": {
+      "oven": "oven",
+      "inlet": "inlet",
+      "detector": "fid"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "gc.run",
+    "last_run": "gc.last_run",
+    "sample": "sample.loaded",
+    "sample_id": "sample.id",
+    "flow": "gc.method#column.on",
+    "temps": [
+     "thermal.oven.indicated_k",
+     "thermal.inlet.indicated_k",
+     "thermal.fid.indicated_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "quantify": "it has no calibration / quantification capability; the peak areas are in `chromatogram`"
+   },
+   "path": "run",
+   "params": {
+    "running_when_set": true,
+    "method_needs_power": true,
+    "oven_ramps": 32,
+    "poll_s": 5.0
+   },
+   "notes": {
+    "run": [
+     "run sends Prep Run first when the GC is not READY yet (no Not-Ready reasons left), then Start; the run follows the oven program"
+    ],
+    "load": [
+     "the 8890 twin loads a virtual vial with the oven lid open (>= 60 deg) - the class opens and closes the lid"
+    ],
+    "method": [
+     "oven=... sets the oven start temperature (thermal.set_temperature) and the ramp table (method.configure oven); the ramp after the last one gets rate 0 so the program ends there"
+    ]
+   }
+  },
+  "agilent_7890b_ssl_fid": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "style": "program",
+       "keys": {
+        "oven": "program"
+       },
+       "temp_cap": "thermal.set_temperature",
+       "temp_args": {
+        "zone": "oven"
+       },
+       "temp_arg": "temperature_k",
+       "time_cap": "oven.set_initial_time",
+       "time_arg": "time_s",
+       "ramp_cap": "oven.set_ramp",
+       "index_arg": "index",
+       "rate_arg": "rate_k_s",
+       "final_arg": "final_k",
+       "hold_arg": "final_time_s"
+      },
+      {
+       "cap": "thermal.set_temperature",
+       "args": {
+        "zone": "inlet"
+       },
+       "keys": {
+        "inlet": "temperature_k"
+       },
+       "passthrough": false
+      },
+      {
+       "cap": "thermal.set_temperature",
+       "args": {
+        "zone": "detector"
+       },
+       "keys": {
+        "det": "temperature_k"
+       },
+       "passthrough": false
+      },
+      {
+       "cap": "inlet.configure",
+       "keys": {
+        "split": "split_ratio",
+        "inlet-mode": {
+         "arg": "mode",
+         "kind": "choice"
+        }
+       }
+      },
+      {
+       "cap": "column.configure",
+       "keys": {
+        "flow": "flow_m3_s"
+       }
+      },
+      {
+       "cap": "detector.configure",
+       "keys": {}
+      }
+     ]
+    },
+    "run": {
+     "cap": "run.start",
+     "before": [
+      {
+       "cap": "sample.aspirate",
+       "args": {
+        "fraction": "$param:aspirate_fraction"
+       },
+       "step": "draw the sample into the syringe"
+      }
+     ],
+     "after": [
+      {
+       "cap": "syringe.insert",
+       "step": "insert the needle into the inlet"
+      },
+      {
+       "cap": "syringe.depress",
+       "args": {
+        "fraction": 1.0
+       },
+       "step": "inject (depress the plunger)"
+      },
+      {
+       "cap": "syringe.retract",
+       "step": "withdraw the needle"
+      }
+     ],
+     "ready": {
+      "state": "run.ready",
+      "eq": true,
+      "reasons": "status.lines"
+     }
+    },
+    "stop": {
+     "cap": "run.stop"
+    },
+    "flow": {
+     "cap": "inlet.set_gas",
+     "arg": "on"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "default_zone": "oven"
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone",
+     "values": {
+      "oven": "oven",
+      "inlet": "inlet",
+      "detector": "detector"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "run": "run.state",
+    "flow": "inlet.method#gas_on",
+    "temps": [
+     "oven.temperature_k",
+     "inlet.temperature_k",
+     "detector.temperature_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "oven.program_length_s",
+      "code": "NO_PROGRAM",
+      "label": "oven program set",
+      "message": "the oven program of {inst} has no length (initial time 0 and no ramp), so the run would never end.",
+      "fix": "set an oven program: `chemlab run {inst} method oven=50C:1min..250C@20C/min:2min`.",
+      "not": [
+       0,
+       null
+      ]
+     },
+     {
+      "slot": "syringe.inserted",
+      "code": "SYRINGE_IN_INLET",
+      "label": "syringe at the vial",
+      "message": "the syringe needle of {inst} is still in the inlet.",
+      "fix": "withdraw it: `chemlab call {inst} syringe.retract`.",
+      "value": false
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "manual syringe injection: `run` draws the sample from the vial into the syringe and injects it after Start",
+    "chromatogram": "the 7890B keeps no trace (the FID signal goes to a data system); read the live signal with `chemlab read agilent_7890b_ssl_fid detector.output_a run.state run.time_s`",
+    "quantify": "it has no calibration / quantification capability"
+   },
+   "alternatives": {
+    "chromatogram": "`chemlab read agilent_7890b_ssl_fid detector.output_a run.state run.time_s` (live FID current), `chemlab call agilent_7890b_ssl_fid logs.read --log run` (run log)"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "sample.aspirate",
+    "syringe.insert",
+    "syringe.depress",
+    "syringe.retract"
+   ],
+   "params": {
+    "running": [
+     "run"
+    ],
+    "failed": [],
+    "aspirate_fraction": 0.01,
+    "method_needs_power": true,
+    "poll_s": 5.0
+   },
+   "notes": {
+    "run": [
+     "manual injection as on the instrument: draw the sample, press Start, insert the needle, inject, withdraw; the run ends at the end of the oven program"
+    ],
+    "method": [
+     "oven=... sets the oven start temperature, the initial time and one oven.set_ramp per ramp; the ramp after the last one gets rate 0 so the program ends there"
+    ]
+   }
+  },
+  "agilent_hplc1260": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "chromatography.set_method",
+       "keys": {
+        "flow": "flow_m3_s",
+        "inj": "injection_volume_m3",
+        "column-temp": "column_temperature_K",
+        "pmax": "pressure_limit_Pa",
+        "wl": "wavelength_m",
+        "gradient": {
+         "arg": "gradient",
+         "fraction": "fraction_b"
+        },
+        "run": "run_duration_s"
+       },
+       "keep": {
+        "flow_m3_s": "method.flow_m3_s",
+        "injection_volume_m3": "method.injection_volume_m3",
+        "column_temperature_K": "method.column_temperature_k",
+        "pressure_limit_Pa": "method.pressure_limit_pa",
+        "wavelength_m": "method.wavelength_m",
+        "gradient": "method.gradient",
+        "run_duration_s": "method.run_duration_s",
+        "sample_interval_s": "method.sample_interval_s",
+        "integration_method": "method.integration_method"
+       }
+      }
+     ]
+    },
+    "load": {
+     "cap": "sample.load",
+     "sample_arg": "sample_id",
+     "before": [
+      {
+       "cap": "door.set_angle",
+       "args": {
+        "angle_rad": "$max"
+       },
+       "if": {
+        "state": "door.angle_rad",
+        "lt": "$max"
+       },
+       "step": "open the injector door"
+      }
+     ],
+     "after": [
+      {
+       "cap": "door.set_angle",
+       "args": {
+        "angle_rad": "$min"
+       },
+       "if": {
+        "state": "door.angle_rad",
+        "gt": "$min"
+       },
+       "step": "close the injector door"
+      }
+     ]
+    },
+    "run": {
+     "cap": "chromatography.measure"
+    },
+    "stop": {
+     "cap": "chromatography.stop"
+    },
+    "chromatogram": {
+     "cap": "chromatography.get_chromatogram",
+     "base": "chromatogram",
+     "x": "time_s",
+     "y": "signal",
+     "complete": "complete",
+     "x_unit": "s",
+     "y_unit": "1"
+    },
+    "flow": {
+     "cap": "mobile_phase.set_available",
+     "arg": "available"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "run.status",
+    "method": "method.configured",
+    "sample": "sample.loaded",
+    "sample_id": "sample.id",
+    "flow": "mobile_phase.available"
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+      "value": true
+     },
+     {
+      "slot": "mobile_phase.available",
+      "code": "FLOW_OFF",
+      "label": "flow on",
+      "message": "the mobile phase of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} flow on`.",
+      "value": true
+     },
+     {
+      "slot": "door.closed",
+      "code": "DOOR_OPEN",
+      "label": "door closed",
+      "message": "the injector door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door` (or `chemlab call {inst} door.set_angle --angle_rad 0`).",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "chromatography.get_chromatogram:PRECONDITION_FAILED": {
+     "code": "NO_RUN",
+     "message": "{inst} has no run yet, so there is no chromatogram.",
+     "fix": "start one: `chemlab run {inst} run`."
+    }
+   },
+   "unsupported": {
+    "quantify": "it has no calibration / quantification capability; the peak areas are in `chromatogram`",
+    "set-temp": "it has no separate temperature command: the column temperature is part of the method (`method column-temp=40C`)"
+   },
+   "path": "chromatography",
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "method_needs_power": true
+   },
+   "notes": {
+    "flow": [
+     "the twin models the mobile phase only as \"available\" (no reservoir volume); flow on sets it"
+    ],
+    "method": [
+     "chromatography.set_method needs every setting; settings you do not give keep their current value, or the default method (contract example) the first time"
+    ]
+   }
+  },
+  "agilent_1260infinity": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "flow": "flow_m3_s",
+        "inj": "injection_volume_m3",
+        "column-temp": "column_temperature_k",
+        "wl": "wavelength_m",
+        "run": "run_time_s",
+        "rate": "data_rate_hz",
+        "gradient": {
+         "arg": "program",
+         "fraction": "modifier_fraction"
+        }
+       },
+       "keep": {
+        "flow_m3_s": "pump.flow_target_m3_s",
+        "bpr_pa": "bpr.target_pa",
+        "bpr_temperature_k": "bpr.temperature_target_k",
+        "column_temperature_k": "column.target_k",
+        "column_position": "column.selected",
+        "wavelength_m": "detector.wavelength_m"
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "run.start",
+     "pos": {
+      "args": [
+       "drawer",
+       "position"
+      ]
+     },
+     "ready": {
+      "state": "system.ready",
+      "eq": true
+     }
+    },
+    "stop": {
+     "cap": "run.abort"
+    },
+    "chromatogram": {
+     "cap": "chromatogram.read",
+     "x": "time_s",
+     "y": "absorbance_au",
+     "peaks": "peaks",
+     "complete": "complete",
+     "x_unit": "s",
+     "y_unit": "AU",
+     "extra": [
+      "run_id",
+      "wavelength_m"
+     ]
+    },
+    "quantify": {
+     "style": "pairs",
+     "cap": "peaks.quantify",
+     "cal_arg": "calibration",
+     "conc_key": "concentration_mol_m3",
+     "area_key": "area_au_s",
+     "window_arg": "retention_window_s",
+     "min_standards": 2
+    },
+    "flow": {
+     "cap": "pump.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "run.phase",
+    "method": "method.configured",
+    "flow": "pump.enabled",
+    "temps": [
+     "column.indicated_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "pump.enabled",
+      "code": "FLOW_OFF",
+      "label": "flow on",
+      "message": "the pump of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} flow on`.",
+      "value": true
+     }
+    ],
+    "flow": [
+     {
+      "slot": "co2.ready",
+      "code": "CO2_NOT_READY",
+      "label": "CO2 ready",
+      "message": "the CO2 supply of {inst} is not ready (supply pressure or the chiller is not there yet).",
+      "fix": "wait for the chiller (`chemlab wait 5min`) and check `chemlab read {inst} co2.ready supply.pressure_pa`; ask the lab operator if the supply is off.",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "pump.set:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start the pump: it needs all modules on, the CO2 ready, a method, a column at the method's position and modifier in the bottle.",
+     "fix": "check `chemlab run {inst} status` and `chemlab read {inst} column.installed solvent.b1`."
+    }
+   },
+   "unsupported": {
+    "load": "vials sit in the sampler drawers (placed by the lab); `run --pos DRAWER:POSITION` injects from one",
+    "set-temp": "it has no separate temperature command: the column temperature is part of the method (`method column-temp=40C`)"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "chromatogram.read"
+   ],
+   "params": {
+    "running": [
+     "injecting",
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 5.0
+   },
+   "notes": {
+    "run": [
+     "the SFC injects from a vial in a drawer: --pos DRAWER:POSITION, e.g. --pos 1:1; it starts when the flow, back pressure and column temperature are at the method (system.ready) - use --wait-ready"
+    ],
+    "quantify": [
+     "peaks.quantify fits the standards (concentration vs peak area) and returns the concentration of the largest peak in the window"
+    ]
+   }
+  },
+  "agilent_1290infinity": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "flow": "flow_m3_s",
+        "inj": "injection_m3",
+        "run": "run_s",
+        "column-temp": {
+         "arg": "zone_targets_k",
+         "like_example": true
+        }
+       },
+       "keep": {
+        "flow_m3_s": "pump.target_m3_s",
+        "column_index": "column.selected",
+        "zone_targets_k": [
+         "zone1.target_k",
+         "zone2.target_k"
+        ]
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "acquisition.start",
+     "ready": {
+      "near": [
+       [
+        "zone1.indicated_k",
+        "zone1.target_k"
+       ],
+       [
+        "zone2.indicated_k",
+        "zone2.target_k"
+       ]
+      ]
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "chromatogram": {
+     "cap": "process.measure",
+     "records": "points",
+     "x": "time_s",
+     "y": "delta_n",
+     "complete": "complete",
+     "x_unit": "s",
+     "y_unit": "RIU (delta n)"
+    },
+    "flow": {
+     "cap": "pump.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "acquisition.phase",
+    "method": "method.configured",
+    "sample": "sample.loaded",
+    "flow": "pump.enabled",
+    "temps": [
+     "zone1.indicated_k",
+     "zone2.indicated_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "ask the lab operator to place the sample (this instrument takes samples from the lab, not from a chemlab verb).",
+      "value": true
+     },
+     {
+      "slot": "pump.enabled",
+      "code": "FLOW_OFF",
+      "label": "flow on",
+      "message": "the pump of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} flow on`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the sample is placed by the lab (host), not by an agent capability (vial in the drawer)",
+    "quantify": "GPC calibrates molar mass, not concentration: `chemlab call agilent_1290infinity calibration.fit` then `molecular_weight.analyze`",
+    "set-temp": "the two column zones are set by the method (`method column-temp=40C`)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "ready_tol_k": 0.5,
+    "poll_s": 5.0
+   },
+   "notes": {
+    "run": [
+     "starts when both column zones are within 0.5 K of the method (use --wait-ready)"
+    ]
+   }
+  },
+  "thermo_dionexintegrion": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.update",
+       "keys": {
+        "flow": "flow_m3_s",
+        "eluent": "eluent_mol_m3"
+       }
+      },
+      {
+       "cap": "method.configure",
+       "keys": {
+        "column-temp": "column_k",
+        "inj": "injection_m3",
+        "run": "run_s"
+       },
+       "keep": {
+        "flow_m3_s": "pump.target_m3_s",
+        "eluent_mol_m3": "eluent.target_mol_m3",
+        "column_k": "column.target_k",
+        "suppression_current_a": "suppressor.current_a"
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "chromatogram": {
+     "cap": "process.measure",
+     "records": "points",
+     "x": "time_s",
+     "y": "conductivity_s_m",
+     "complete": "complete",
+     "x_unit": "s",
+     "y_unit": "S/m"
+    },
+    "quantify": {
+     "style": "slope",
+     "cap": "quantification.integrate",
+     "start_arg": "start_s",
+     "stop_arg": "stop_s",
+     "slope_arg": "calibration_s_m_s_per_mol_m3",
+     "min_standards": 1
+    },
+    "flow": {
+     "cap": "pump.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "setpoint_k",
+     "args": {
+      "enabled": true
+     },
+     "default_zone": "column"
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone",
+     "values": {
+      "column": "column",
+      "compartment": "compartment",
+      "cell": "cd_cell"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "acquisition.phase",
+    "method": "method.configured",
+    "sample": "sample.loaded",
+    "flow": "pump.enabled",
+    "temps": [
+     "column.indicated_k",
+     "temperature.compartment_k",
+     "temperature.cd_cell_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "ask the lab operator to place the sample (this instrument takes samples from the lab, not from a chemlab verb).",
+      "value": true
+     },
+     {
+      "slot": "pump.enabled",
+      "code": "FLOW_OFF",
+      "label": "flow on",
+      "message": "the pump of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} flow on`.",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:BUSY": {
+     "code": "SAMPLE_LOADED",
+     "message": "{inst} takes a full method (column temperature, injection, run time, mode) only before the sample is loaded, with the pump off and the column flushed.",
+     "fix": "change flow and eluent with `chemlab run {inst} method flow=... eluent=...` (method.update); the rest needs a new sample from the lab."
+    }
+   },
+   "unsupported": {
+    "load": "the sample loop is filled by the lab's autosampler (host); the run switches the injection valve itself"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 2.0
+   },
+   "notes": {
+    "quantify": [
+     "the response factor (area per concentration) is fitted through the origin from the standards and passed to quantification.integrate with the window"
+    ],
+    "run": [
+     "the pump stops at the end of a run: switch the flow on again before the next one"
+    ]
+   }
+  },
+  "gas_flavourspec25gc": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "column-temp": "gc_k",
+        "det": "ims_k",
+        "inlet": "injector_k",
+        "inj": "injection_m3",
+        "run": "run_s"
+       },
+       "keep": {
+        "gc_k": "gc.target_k",
+        "ims_k": "ims.target_k",
+        "injector_k": "injector.target_k",
+        "incubator_k": "incubator.target_k"
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "acquisition.start",
+     "ready": {
+      "near": [
+       [
+        "gc.indicated_k",
+        "gc.target_k"
+       ],
+       [
+        "ims.indicated_k",
+        "ims.target_k"
+       ],
+       [
+        "injector.indicated_k",
+        "injector.target_k"
+       ],
+       [
+        "incubator.indicated_k",
+        "incubator.target_k"
+       ]
+      ]
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "chromatogram": {
+     "cap": "process.measure",
+     "records": "points",
+     "x": "time_s",
+     "y": "signal",
+     "complete": "complete",
+     "x_unit": "s",
+     "y_unit": "IMS signal summed over drift time"
+    },
+    "quantify": {
+     "style": "fit",
+     "cap": "calibration.fit",
+     "analyze_cap": "concentration.analyze",
+     "roi_arg": "roi",
+     "start_key": "start_s",
+     "stop_key": "stop_s",
+     "drift_lo": "drift_min_ratio",
+     "drift_hi": "drift_max_ratio",
+     "std_arg": "standards",
+     "conc_key": "concentration_mol_m3",
+     "area_key": "area_s",
+     "label_arg": "label",
+     "min_standards": 2
+    },
+    "flow": {
+     "cap": "gas.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "acquisition.phase",
+    "method": "method.configured",
+    "sample": "sample.loaded",
+    "flow": "gas.enabled",
+    "temps": [
+     "gc.indicated_k",
+     "ims.indicated_k",
+     "injector.indicated_k",
+     "incubator.indicated_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "ask the lab operator to place the sample (this instrument takes samples from the lab, not from a chemlab verb).",
+      "value": true
+     },
+     {
+      "slot": "gas.enabled",
+      "code": "FLOW_OFF",
+      "label": "flow on",
+      "message": "the drift / carrier gas of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} flow on`.",
+      "value": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "gas.enabled",
+      "code": "GAS_ON",
+      "label": "gas off",
+      "message": "{inst} takes a new method only with the gas off.",
+      "fix": "switch it off first (`chemlab run {inst} flow off`), set the method, then `flow on` again.",
+      "value": false
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready to start: a temperature is not at the method yet, the cover is open, or the column still holds the last injection.",
+     "fix": "wait (`chemlab run {inst} run --wait-ready 10min`); after a stopped run let the gas flush the column for a few minutes (`chemlab wait 5min`)."
+    }
+   },
+   "unsupported": {
+    "load": "the sample is placed by the lab (host), not by an agent capability (headspace vial in the autosampler)",
+    "set-temp": "it has no separate temperature command: the GC, IMS, injector and incubator temperatures is part of the method (`method column-temp=40C`)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 5.0,
+    "ready_tol_k": 1.0
+   },
+   "notes": {
+    "quantify": [
+     "calibration.fit over the retention window (and the drift-ratio window, --drift) then concentration.analyze"
+    ],
+    "run": [
+     "the gas switches off at the end of a run: `flow on` before the next one"
+    ]
+   }
+  },
+  "wyatt_eclipseaf4": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.set",
+       "keys": {
+        "flow": "detector_flow_m3_s"
+       }
+      }
+     ]
+    },
+    "load": {
+     "cap": "sample.load",
+     "sample_arg": "sample_id",
+     "provided_arg": "provided_id",
+     "volume_arg": "volume_m3"
+    },
+    "run": {
+     "cap": "run.start"
+    },
+    "stop": {
+     "cap": "run.abort"
+    },
+    "chromatogram": {
+     "cap": "fractogram.read",
+     "table": "rows",
+     "columns": "columns",
+     "x": "time_s",
+     "y": "dri_riu",
+     "x_unit": "s",
+     "y_unit": "RIU",
+     "extra": [
+      "run_id"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "run": "run.state",
+    "method": "method.summary",
+    "sample": "sample.loaded"
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.summary",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method flow=1mL/min steps=[...]` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ]
+     }
+    ]
+   },
+   "unsupported": {
+    "quantify": "AF4 gives absolute molar mass and size from the light-scattering and dRI detectors, not a concentration calibration: `chemlab call wyatt_eclipseaf4 peaks.analyze`",
+    "flow": "the cross flow and the detector flow are steps of the method (method.set), not a separate switch",
+    "set-temp": "the twin has no temperature control"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "fractogram.read"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "aborted"
+    ],
+    "poll_s": 10.0
+   },
+   "notes": {
+    "load": [
+     "loads a sample the lab provided, by its id, into the injection loop: --volume is the injected volume"
+    ],
+    "chromatogram": [
+     "the trace is the dRI signal; --signal uv_au or ls90_per_m picks another detector"
+    ],
+    "method": [
+     "the elution programme is the native steps=[...] list (focus, focus_inject, elution with cross flows); flow= is the detector flow"
+    ]
+   }
+  },
+  "sciex_pa800": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {}
+      },
+      {
+       "cap": "detector.configure",
+       "keys": {
+        "wl": "wavelength_m",
+        "rate": "data_rate_hz"
+       },
+       "keep": {
+        "module": "detector.module",
+        "mode": "detector.mode",
+        "wavelength_m": "detector.wavelength_m",
+        "data_rate_hz": "detector.data_rate_hz"
+       }
+      },
+      {
+       "cap": "lamp.set",
+       "keys": {
+        "lamp": {
+         "arg": "on",
+         "kind": "choice",
+         "values": {
+          "on": true,
+          "off": false
+         }
+        }
+       },
+       "passthrough": false
+      }
+     ]
+    },
+    "run": {
+     "cap": "run.start",
+     "ready": {
+      "state": "lamp.ready",
+      "eq": true,
+      "strict": false,
+      "fix": "switch the deuterium lamp on (`chemlab run {inst} method lamp=on`) and let it warm up: `chemlab run {inst} run --wait-ready 10min` waits and then starts."
+     }
+    },
+    "stop": {
+     "cap": "run.stop"
+    },
+    "chromatogram": {
+     "cap": "electropherogram.read",
+     "x": "time_s",
+     "y": "absorbance_au",
+     "peaks": "peaks",
+     "complete": "available",
+     "x_unit": "s",
+     "y_unit": "AU",
+     "extra": [
+      "separation_voltage_v",
+      "mean_current_a",
+      "detection"
+     ]
+    },
+    "set-temp": {
+     "zones": {
+      "capillary": {
+       "cap": "capillary.set_temperature",
+       "arg": "temperature_k"
+      },
+      "sample": {
+       "cap": "sample_storage.set_temperature",
+       "arg": "temperature_k"
+      }
+     },
+     "default_zone": "capillary"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "cycle.phase",
+    "method": "method.configured",
+    "temps": [
+     "capillary.temperature_k",
+     "sample_storage.temperature_k"
+    ]
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "cartridge.installed",
+      "code": "NO_CARTRIDGE",
+      "label": "cartridge installed",
+      "message": "no capillary cartridge is installed in {inst}.",
+      "fix": "ask the lab operator to install one.",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "run.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs the covers closed and the insertion bar down, a cartridge, a method, every vial the method names in the trays and (with a separation step) a warm lamp.",
+     "fix": "check `chemlab run {inst} status`, `chemlab read {inst} lamp.ready trays.vials`; switch the lamp on with `chemlab call {inst} lamp.set --on true` and wait 5 min."
+    }
+   },
+   "unsupported": {
+    "load": "vials sit in the buffer and sample trays (placed by the lab); the method's inject step names the vial, e.g. SI:A1",
+    "quantify": "no calibration capability; corrected peak areas and area % are in `chromatogram`",
+    "flow": "rinse pressure and separation voltage are steps of the method, not a separate switch"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "electropherogram.read"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 5.0
+   },
+   "notes": {
+    "method": [
+     "the CE programme is the native steps=[...] list (rinse, inject, separate, wait); wl= and rate= set the detector; lamp=on|off switches the deuterium lamp"
+    ],
+    "run": [
+     "a method with a separation step needs the deuterium lamp on and warm (5 min): --wait-ready waits for it"
+    ]
+   }
+  },
+  "camag_tlcscanner": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "wl": "wavelengths_m"
+       },
+       "keep": {
+        "bandwidth_m": "method.bandwidth_m",
+        "mode": "method.mode"
+       }
+      },
+      {
+       "cap": "lamp.select",
+       "keys": {
+        "lamp": {
+         "arg": "source",
+         "kind": "choice"
+        }
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "scan.start",
+     "ready": {
+      "state": "lamp.ready",
+      "eq": true,
+      "fix": "select a lamp (`chemlab run {inst} method lamp=deuterium`) and let it warm up: `chemlab run {inst} run --wait-ready 10min` waits and then starts."
+     }
+    },
+    "stop": {
+     "cap": "scan.stop"
+    },
+    "chromatogram": {
+     "cap": "results.read",
+     "traces": "traces",
+     "label": "track_index",
+     "x": "y_m",
+     "y": "signal",
+     "trace_peaks": "peaks",
+     "complete": "complete",
+     "x_unit": "m (plate position)",
+     "y_unit": "AU"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "scan.phase",
+    "method": "method.configured",
+    "sample": "plate.loaded"
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "plate.loaded",
+      "code": "NO_PLATE",
+      "label": "plate on the stage",
+      "message": "no plate is on the stage of {inst}.",
+      "fix": "ask the lab operator to place the developed plate.",
+      "value": true
+     },
+     {
+      "slot": "door.closed",
+      "code": "DOOR_OPEN",
+      "label": "door closed",
+      "message": "the door of {inst} is open.",
+      "fix": "close it: `chemlab call {inst} door.set --opened false`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the developed plate is placed on the stage by the lab (host)",
+    "quantify": "TLC quantifies by standard tracks and amounts (not concentration standards): `chemlab call camag_tlcscanner quantify.fit`",
+    "flow": "a scanner has no mobile phase (the plate is already developed)",
+    "set-temp": "the scanner has no temperature control"
+   },
+   "path": "scan",
+   "path_exceptions": [
+    "results.read"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 2.0
+   },
+   "notes": {
+    "method": [
+     "method.configure needs the full track and scan geometry: what you do not give comes from the current method or the default; lamp=deuterium|halogen_tungsten|led_366|auto selects the lamp (it then warms up)"
+    ],
+    "chromatogram": [
+     "one densitogram per track: --pos TRACK picks the track (default: the first); positions are on the plate (m)"
+    ]
+   }
+  },
+  "biotage_selekt": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "flow": "flow_m3_s",
+        "gradient": {
+         "arg": "gradient",
+         "fraction": "strong_fraction"
+        },
+        "wl": "wavelengths_m"
+       },
+       "keep": {
+        "channel": "channel.selected"
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "chromatogram": {
+     "cap": "history.read",
+     "records": "records",
+     "x": "elapsed_s",
+     "y": "uv1",
+     "filter": [
+      "stage",
+      [
+       "standby"
+      ]
+     ],
+     "last_run_by": "elapsed_s",
+     "x_unit": "s",
+     "y_unit": "AU",
+     "live": []
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "cycle.phase"
+   },
+   "unsupported": {
+    "load": "the cartridge and the sample are loaded by the lab (host)",
+    "quantify": "a preparative system: it collects fractions instead of quantifying",
+    "flow": "the pump runs only inside a gradient run",
+    "set-temp": "the system has no temperature control"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "history.read"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 5.0
+   },
+   "notes": {
+    "run": [
+     "the acquisition core is used (acquisition.start); the touch-screen run path (run.begin) stays on `chemlab call`"
+    ],
+    "chromatogram": [
+     "the trace is UV channel 1 from the run history; --signal uv2 picks channel 2"
+    ]
+   }
+  },
+  "gilson_cpc250": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "flow": "flow_m3_s",
+        "speed": "speed_rad_s",
+        "run": "duration_s"
+       }
+      }
+     ]
+    },
+    "run": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "chromatogram": {
+     "cap": "history.read",
+     "records": "records",
+     "x": "elution_time_s",
+     "y": "total_concentration_kg_m3",
+     "last_run_by": "elution_time_s",
+     "x_unit": "s",
+     "y_unit": "kg/m3"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "cycle.phase",
+    "method": "method.configured",
+    "sample": "sample.configured"
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "label": "sample loaded",
+      "message": "no sample is loaded in {inst}.",
+      "fix": "ask the lab operator to place the sample (this instrument takes samples from the lab, not from a chemlab verb).",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "METHOD_LOCKED",
+     "message": "{inst} refused the method: it takes a new method only before the sample is configured, with the fraction collection inside the run time and speeds above 2000 rpm reviewed.",
+     "fix": "run with the current method (`chemlab run {inst} run`), or keep collection_end_s <= run time; a new sample set-up needs the lab operator."
+    }
+   },
+   "unsupported": {
+    "load": "the injection is configured by the lab (host)",
+    "quantify": "a preparative system: it collects fractions instead of quantifying",
+    "flow": "the pump runs only inside an acquisition; the rotor (rotor.start in local control) is not the mobile phase",
+    "set-temp": "the CPC has no temperature control"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "history.read"
+   ],
+   "params": {
+    "running": [
+     "running"
+    ],
+    "failed": [
+     "failed",
+     "cancelled"
+    ],
+    "poll_s": 10.0
+   },
+   "notes": {
+    "method": [
+     "method.configure needs every setting; what you do not give comes from the default method (contract example)"
+    ]
+   }
+  },
+  "biorad_miniprotean": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "psu.program",
+       "keys": {
+        "voltage": "voltage_v",
+        "current": "current_a",
+        "run": "time_s",
+        "constant": {
+         "arg": "constant",
+         "kind": "choice"
+        }
+       },
+       "keep": {
+        "constant": "psu.constant",
+        "voltage_v": "psu.voltage_set_v",
+        "current_a": "psu.current_set_a",
+        "time_s": "psu.time_set_s",
+        "power_failure_detection": "psu.power_failure_detection"
+       }
+      }
+     ]
+    },
+    "load": {
+     "cap": "sample.load",
+     "sample_arg": "sample_id",
+     "pos_arg": "position",
+     "lane_arg": "lane",
+     "volume_arg": "volume_m3",
+     "single": false,
+     "before": [
+      {
+       "cap": "leads.disconnect",
+       "if": {
+        "state": "leads.state",
+        "ne": "disconnected"
+       },
+       "step": "unplug the leads"
+      },
+      {
+       "cap": "lid.remove",
+       "if": {
+        "state": "lid.on",
+        "eq": true
+       },
+       "step": "take the lid off"
+      }
+     ]
+    },
+    "run": {
+     "cap": "psu.start",
+     "before": [
+      {
+       "cap": "lid.place",
+       "if": {
+        "state": "lid.on",
+        "eq": false
+       },
+       "step": "put the lid on"
+      },
+      {
+       "cap": "leads.connect",
+       "args": {
+        "polarity": "normal"
+       },
+       "if": {
+        "state": "leads.state",
+        "eq": "disconnected"
+       },
+       "step": "plug the leads into the power supply"
+      }
+     ]
+    },
+    "stop": {
+     "cap": "psu.stop"
+    },
+    "chromatogram": {
+     "cap": "gel.observe",
+     "pos_arg": "position",
+     "peaks": "visible_bands",
+     "complete": "dye_front_m",
+     "extra": [
+      "gel_id",
+      "dye_front_m"
+     ],
+     "x_unit": "m (migration distance)"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "run": "psu.state"
+   },
+   "requires": {
+    "run": [
+     {
+      "slot": "buffer.inner_m3",
+      "code": "NO_BUFFER",
+      "label": "buffer filled",
+      "message": "the inner buffer chamber of {inst} is empty.",
+      "fix": "ask the lab operator to fill the tank.",
+      "not": [
+       0,
+       0.0,
+       null
+      ]
+     }
+    ]
+   },
+   "unsupported": {
+    "quantify": "bands are only observed here; quantify on a gel imager (imaging class)",
+    "flow": "a gel has no flow",
+    "set-temp": "the buffer temperature is set when the tank is filled"
+   },
+   "path": "psu",
+   "path_exceptions": [
+    "lid.place",
+    "leads.connect",
+    "gel.observe"
+   ],
+   "params": {
+    "running": [
+     "running",
+     "paused"
+    ],
+    "failed": [
+     "error"
+    ],
+    "default_pos": 1,
+    "poll_s": 10.0
+   },
+   "notes": {
+    "load": [
+     "loads a prepared sample into a well: --pos GEL_POSITION --lane WELL --volume V; takes the lid off (leads unplugged) if it is on"
+    ],
+    "run": [
+     "puts the lid on and plugs the leads in (normal polarity) when needed, then starts the programme"
+    ],
+    "chromatogram": [
+     "the gel observation: dye front and the visible (pre-stained) bands per lane; --pos picks the gel position"
+    ],
+    "method": [
+     "voltage=200V run=35min constant=voltage programs the power supply (psu.program)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/coating.json b/chemlab/configs/adapters/coating.json
new file mode 100644
index 0000000000000000000000000000000000000000..6afc547ed10a67ae71081e018892bf7cb7d1125b
--- /dev/null
+++ b/chemlab/configs/adapters/coating.json
@@ -0,0 +1,1725 @@
+{
+ "class": "coating",
+ "adapter": "chemlab.compile.classes.coating:CoatingAdapter",
+ "about": "Coating and thin-film deposition: method (class keys with units), move, home, gap, set-temp, vacuum, prime, start (job), stop, result, status. power, open/close, estop, ack and wait come from the shared layer. Ranges come from each member's contract in the unit the argument declares.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "ossila_spincoater",
+   "ossila_dipcoater",
+   "ossila_doctorblade",
+   "ossila_slotdie",
+   "quorum_q150tes",
+   "laboao_cvdltf12p50",
+   "arradiance_gemstarxt",
+   "fujifilm_dmp2850"
+  ],
+  "secondary": {},
+  "excluded": {
+   "buchi_minispray": "spray dryer: its job is drying a feed to a powder (evaporation package, primary there); the twin has no coating operation or substrate, so no coating verb would lower to anything new",
+   "glatt_miniglatt": "fluid-bed processor: particle coating is one operation of its method (operation=coating, top or bottom spray) next to drying and granulation; it is primary in the formulation package, whose method / start / stop / result verbs cover it, so a coating part would only duplicate them"
+  }
+ },
+ "members": {
+  "ossila_spincoater": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "spin",
+     "cap": "method.configure",
+     "arg": "steps"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "elapsed": "cycle.elapsed_s",
+    "speed": "motor.indicated_rad_s",
+    "lid": "lid.angle_rad",
+    "method": "method.configured",
+    "sample": "sample.configured"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not spinning",
+      "message": "{inst} is spinning.",
+      "fix": "wait for the job or `chemlab run {inst} stop`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "sample.configured",
+      "value": true,
+      "code": "NO_SUBSTRATE",
+      "label": "substrate mounted",
+      "message": "no substrate is mounted on {inst}.",
+      "fix": "ask the lab operator to mount the substrate."
+     },
+     {
+      "slot": "lid.target_rad",
+      "max": 0.001,
+      "code": "LID_OPEN",
+      "label": "lid closed",
+      "message": "the lid of {inst} is open; it spins only with the lid closed.",
+      "fix": "close it: `chemlab run {inst} close lid`, give it a second (`chemlab wait 2`), then start."
+     },
+     {
+      "slot": "lid.angle_rad",
+      "max": 0.001,
+      "code": "LID_MOVING",
+      "label": "lid fully closed",
+      "message": "the lid of {inst} is still closing.",
+      "fix": "give it a second: `chemlab wait 2`, then start."
+     },
+     {
+      "slot": "motor.indicated_rad_s",
+      "max": 0,
+      "code": "SPINNING",
+      "label": "chuck at rest",
+      "message": "the chuck of {inst} is still turning.",
+      "fix": "wait until it stands still (`chemlab wait 5`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a programme, a substrate on the chuck, the lid closed and the chuck at rest.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "move": "no motion stage: the substrate sits on the spinning chuck",
+    "home": "no motion stage to home",
+    "gap": "no blade, die or clamp gap",
+    "set-temp": "no heater (an ambient process)",
+    "vacuum": "no vacuum: the chuck holds the substrate without vacuum (manual p.3-4)",
+    "prime": "no ink pump: the solution is dispensed by hand before spinning"
+   },
+   "params": {
+    "run_word": "spin programme",
+    "result_word": "spin record",
+    "method_example": "speed=3000rpm time=30s"
+   },
+   "notes": {
+    "method": [
+     "speed= and time= make one step; program=500rpm@5s,3000rpm@30s makes several (manual p.18-23: multi-step recipes of speed and time)"
+    ],
+    "start": [
+     "close the lid first (`close lid`); the substrate and the solution are placed by the lab operator"
+    ]
+   }
+  },
+  "ossila_dipcoater": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "length": "coating_length_m",
+      "dip-speed": "immersion_speed_m_s",
+      "withdraw": [
+       "withdrawal_initial_m_s",
+       "withdrawal_final_m_s"
+      ],
+      "dwell": "dwell_s",
+      "dry": "dry_s",
+      "dry-gap": "drying_gap_m",
+      "cycles": "cycles"
+     },
+     "then": {
+      "withdraw-final": "withdrawal_final_m_s"
+     },
+     "required": [
+      "length",
+      "dip-speed",
+      "withdraw",
+      "cycles"
+     ],
+     "defaults": "example"
+    },
+    "move": {
+     "cap": "stage.move_to",
+     "arg": "position_m",
+     "speed_arg": "speed_m_s"
+    },
+    "home": {
+     "cap": "stage.home"
+    },
+    "gap": {
+     "cap": "clamp.set_gap",
+     "arg": "gap_m",
+     "what": "the clamp gap"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "position": "stage.position_m",
+    "gap": "clamp.gap_m",
+    "homed": "stage.homed",
+    "method": "method.configured",
+    "sample": "substrate.configured"
+   },
+   "requires": {
+    "move": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     },
+     {
+      "slot": "safety.fault",
+      "value": false,
+      "code": "FAULT",
+      "label": "no fault",
+      "message": "{inst} shows a fault.",
+      "fix": "acknowledge it: `chemlab run {inst} ack`."
+     }
+    ],
+    "home": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     },
+     {
+      "slot": "substrate.configured",
+      "value": false,
+      "code": "SUBSTRATE_IN",
+      "label": "no substrate clamped",
+      "message": "a substrate is clamped on {inst}; homing drives the arm to its top end.",
+      "fix": "move instead: `chemlab run {inst} move 175mm`."
+     }
+    ],
+    "gap": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "bath.configured",
+      "value": true,
+      "code": "NO_BATH",
+      "label": "reservoir in place",
+      "message": "no solution reservoir is in place on {inst}.",
+      "fix": "ask the lab operator to fill and place the reservoir."
+     },
+     {
+      "slot": "substrate.configured",
+      "value": true,
+      "code": "NO_SUBSTRATE",
+      "label": "substrate mounted",
+      "message": "no substrate is mounted on {inst}.",
+      "fix": "ask the lab operator to mount the substrate."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "safety.crash",
+      "value": false,
+      "code": "CRASH",
+      "label": "no crash",
+      "message": "the crash-detection switch of {inst} has tripped.",
+      "fix": "ask the lab operator to clear the obstruction, then `chemlab run {inst} ack`."
+     },
+     {
+      "slot": "safety.fault",
+      "value": false,
+      "code": "FAULT",
+      "label": "no fault",
+      "message": "{inst} shows a fault.",
+      "fix": "acknowledge it: `chemlab run {inst} ack`."
+     },
+     {
+      "slot": "safety.system_error",
+      "value": false,
+      "code": "SYSTEM_ERROR",
+      "label": "no system error",
+      "message": "{inst} shows a system error.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: the clamp must hold the substrate (gap no wider than the substrate, e.g. `gap 1mm` for a 1 mm slide), with power, a programme, the reservoir, a homed arm and no fault.",
+     "fix": "close the clamp: `chemlab run {inst} gap 1mm`, then start."
+    },
+    "clamp.set_gap:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot open the clamp wider than the clamped substrate or while running.",
+     "fix": "stop first, or keep the gap at most the substrate thickness."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no heater (an ambient process)",
+    "vacuum": "no vacuum: an ambient process",
+    "prime": "no ink pump: the substrate dips into a reservoir"
+   },
+   "params": {
+    "run_word": "dip programme",
+    "result_word": "dip record",
+    "method_example": "length=40mm dip-speed=10mm/s withdraw=1mm/s cycles=1",
+    "motion_max_s": 900
+   },
+   "notes": {
+    "move": [
+     "the stage moves at --speed (default: the documented example speed) and the verb waits until it is there; --job returns a job instead"
+    ],
+    "home": [
+     "homing runs once after switching on (manual: turning on); the verb waits until it is home"
+    ],
+    "method": [
+     "programme: coating length, immersion speed, withdrawal speed (withdraw-final= for a speed ramp), dwell, dry time, drying gap, cycles (manual p.26-32)"
+    ],
+    "gap": [
+     "the clamp holds the substrate: give at most the substrate thickness (manual p.16-19)"
+    ]
+   }
+  },
+  "ossila_doctorblade": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "distance": "distance_m",
+      "speed": "speed_m_s"
+     },
+     "required": [
+      "distance",
+      "speed"
+     ]
+    },
+    "move": {
+     "cap": "stage.move_to",
+     "arg": "position_m",
+     "speed_arg": "speed_m_s"
+    },
+    "home": {
+     "cap": "stage.home"
+    },
+    "gap": {
+     "cap": "gap.set",
+     "left_arg": "left_m",
+     "right_arg": "right_m",
+     "left_slot": "gap.left_m",
+     "right_slot": "gap.right_m",
+     "steps": {
+      "left_m": [
+       1e-06,
+       "m"
+      ],
+      "right_m": [
+       1e-06,
+       "m"
+      ]
+     },
+     "what": "the gap"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "position": "stage.position_m",
+    "gap": "gap.mean_m",
+    "homed": "stage.homed",
+    "method": "method.configured",
+    "sample": "substrate.configured"
+   },
+   "requires": {
+    "move": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "home": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "gap": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "charge.configured",
+      "value": true,
+      "code": "NO_INK",
+      "label": "solution applied",
+      "message": "no coating solution is in front of the blade of {inst}.",
+      "fix": "ask the lab operator to apply the solution."
+     },
+     {
+      "slot": "substrate.configured",
+      "value": true,
+      "code": "NO_SUBSTRATE",
+      "label": "substrate mounted",
+      "message": "no substrate is mounted on {inst}.",
+      "fix": "ask the lab operator to mount the substrate."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "gap.mean_m",
+      "min": 1e-09,
+      "code": "NO_GAP",
+      "label": "a gap set",
+      "message": "the gap of {inst} is not set (0).",
+      "fix": "set it: `chemlab run {inst} gap 100um`."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a programme, the solution, a substrate, the stage at its home position and the blade gap reached on both sides.",
+     "fix": "home the stage (`chemlab run {inst} home`) and set the gap (`gap 100um`), then start."
+    },
+    "gap.set:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_STEP",
+     "message": "{inst} sets the gap in whole micrometres.",
+     "fix": "round it, e.g. 100um."
+    },
+    "stage.home:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} homes only switched on, with the emergency stop released, no run and no wet film or bead on the bed.",
+     "fix": "have the coated substrate removed first (lab operator)."
+    },
+    "stage.move_to:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} moves only switched on and homed, with the emergency stop released, no run and no wet film or bead on the bed.",
+     "fix": "have the coated substrate removed first (lab operator)."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no heated bed on this coater",
+    "vacuum": "no vacuum: an ambient process",
+    "prime": "no ink pump: the solution is applied in front of the blade"
+   },
+   "params": {
+    "run_word": "blade coating",
+    "result_word": "coating record",
+    "method_example": "distance=200mm speed=10mm/s",
+    "motion_max_s": 900
+   },
+   "notes": {
+    "move": [
+     "the stage moves at --speed (default: the documented example speed) and the verb waits until it is there; --job returns a job instead"
+    ],
+    "home": [
+     "homing runs once after switching on (manual: turning on); the verb waits until it is home"
+    ],
+    "method": [
+     "programme: travel distance and speed (manual p.22-23)"
+    ],
+    "gap": [
+     "left and right micrometer gauges, in whole µm (manual p.17-21)"
+    ]
+   }
+  },
+  "ossila_slotdie": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "distance": "distance_m",
+      "speed": "speed_m_s",
+      "flow": "flow_m3_s",
+      "delay": "stage_delay_s"
+     },
+     "required": [
+      "distance",
+      "speed",
+      "flow"
+     ],
+     "defaults": "example"
+    },
+    "move": {
+     "cap": "stage.move_to",
+     "arg": "position_m",
+     "speed_arg": "speed_m_s"
+    },
+    "home": {
+     "cap": "stage.home"
+    },
+    "gap": {
+     "cap": "gap.set",
+     "left_arg": "left_m",
+     "right_arg": "right_m",
+     "left_slot": "gap.left_m",
+     "right_slot": "gap.right_m"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "on_cap": "thermal.set_enabled",
+     "on_arg": "enabled"
+    },
+    "prime": {
+     "cap": "pump.dispense",
+     "arg": "volume_m3",
+     "flow_arg": "flow_m3_s"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "position": "stage.position_m",
+    "gap": "gap.mean_m",
+    "homed": "stage.homed",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k",
+    "heating": "thermal.enabled",
+    "method": "method.configured",
+    "sample": "substrate.configured"
+   },
+   "requires": {
+    "move": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "home": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "gap": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     }
+    ],
+    "prime": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     },
+     {
+      "slot": "ink.configured",
+      "value": true,
+      "code": "NO_INK",
+      "label": "ink connected",
+      "message": "no ink syringe is connected to {inst}.",
+      "fix": "ask the lab operator to fill and connect the syringe."
+     },
+     {
+      "slot": "gap.mean_m",
+      "min": 1e-09,
+      "code": "NO_GAP",
+      "label": "a gap set",
+      "message": "the gap of {inst} is not set (0).",
+      "fix": "set it: `chemlab run {inst} gap 100um`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "safety.latched",
+      "value": false,
+      "code": "ESTOP_LATCHED",
+      "label": "emergency stop released",
+      "message": "the emergency stop of {inst} is latched (it switched the coater off).",
+      "fix": "release the button (`chemlab call {inst} emergency.release`), switch off and on (`chemlab run {inst} power off`, `power on`), then `home`."
+     },
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "safety.crash_warning",
+      "value": false,
+      "code": "CRASH_WARNING",
+      "label": "no crash warning",
+      "message": "{inst} shows a crash warning.",
+      "fix": "switch it off and on (`chemlab run {inst} power off`, `power on`)."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "ink.configured",
+      "value": true,
+      "code": "NO_INK",
+      "label": "ink connected",
+      "message": "no ink syringe is connected to {inst}.",
+      "fix": "ask the lab operator to fill and connect the syringe."
+     },
+     {
+      "slot": "substrate.configured",
+      "value": true,
+      "code": "NO_SUBSTRATE",
+      "label": "substrate mounted",
+      "message": "no substrate is mounted on {inst}.",
+      "fix": "ask the lab operator to mount the substrate."
+     },
+     {
+      "slot": "stage.homed",
+      "value": true,
+      "code": "NOT_HOMED",
+      "label": "stage homed",
+      "message": "the stage of {inst} has not been homed since it was switched on.",
+      "fix": "home it: `chemlab run {inst} home`."
+     },
+     {
+      "slot": "gap.mean_m",
+      "min": 1e-09,
+      "code": "NO_GAP",
+      "label": "a gap set",
+      "message": "the gap of {inst} is not set (0).",
+      "fix": "set it: `chemlab run {inst} gap 100um`."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a programme, ink, a substrate, a homed stage and the die gap reached on both sides.",
+     "fix": "check `chemlab run {inst} status`; set the gap (`gap 100um`)."
+    },
+    "stage.move_to:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} moves only switched on and homed, with no run going on; with ink under the die the gap must be at least 1 mm (the die would smear the film).",
+     "fix": "lift the die first (`chemlab run {inst} gap 1mm`), then move."
+    },
+    "stage.home:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} homes only switched on, with no run going on; with ink under the die the gap must be at least 1 mm.",
+     "fix": "lift the die first (`chemlab run {inst} gap 1mm`)."
+    },
+    "pump.dispense:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} primes only switched on, homed, with ink, a die gap and no run.",
+     "fix": "set the gap first (`gap 100um`)."
+    }
+   },
+   "unsupported": {
+    "vacuum": "no vacuum: an ambient process (the bed is a hot plate)"
+   },
+   "params": {
+    "run_word": "slot-die coating",
+    "result_word": "coating record",
+    "method_example": "distance=120mm speed=10mm/s flow=1.2mL/min",
+    "motion_max_s": 900
+   },
+   "notes": {
+    "move": [
+     "the stage moves at --speed (default: the documented example speed) and the verb waits until it is there; --job returns a job instead"
+    ],
+    "home": [
+     "homing runs once after switching on (manual: turning on); the verb waits until it is home"
+    ],
+    "method": [
+     "one step: coating length, stage speed, pump flow, stage delay (manual p.19-29; the wet film is flow / (width x speed))"
+    ],
+    "prime": [
+     "fill the line and form the meniscus under the die before coating (manual p.30-38)"
+    ],
+    "gap": [
+     "gap of 1-10 x the wet film thickness (manual p.39-41)"
+    ],
+    "set-temp": [
+     "hot-plate set point; `set-temp off` switches the heater off"
+    ]
+   }
+  },
+  "quorum_q150tes": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "current": "sputter_current_a",
+      "pressure": "working_pressure_pa",
+      "time": "duration_s",
+      "tooling": "tooling",
+      "preclean": "preclean_s",
+      "lift": "stage_lift_m",
+      "carbon-current": "carbon_current_a",
+      "carbon-ramp": "carbon_ramp_a_s"
+     },
+     "flag_keys": {
+      "thickness": {
+       "arg": "endpoint_m",
+       "on": {
+        "thickness_endpoint": true,
+        "ftm_enabled": true
+       },
+       "off": {
+        "thickness_endpoint": false
+       }
+      },
+      "rotation": {
+       "arg": "rotation_rpm",
+       "on": {
+        "rotation_enabled": true
+       },
+       "off": {
+        "rotation_enabled": false
+       }
+      }
+     },
+     "required_any": [
+      [
+       "time",
+       "thickness"
+      ]
+     ],
+     "defaults": "example"
+    },
+    "vacuum": {
+     "cap": "vacuum.pump",
+     "arg": "enabled",
+     "vent_cap": "vacuum.vent"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "elapsed": "cycle.elapsed_s",
+    "pressure": "vacuum.pressure_pa",
+    "vacuum": "vacuum.pump_enabled",
+    "method": "method.configured"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not coating",
+      "message": "{inst} is coating.",
+      "fix": "wait for the job or `chemlab run {inst} stop`."
+     }
+    ],
+    "vacuum-pump": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "chamber.opened",
+      "value": false,
+      "code": "CHAMBER_OPEN",
+      "label": "chamber closed",
+      "message": "the chamber of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close chamber`."
+     }
+    ],
+    "vacuum-vent": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "chamber.opened",
+      "value": false,
+      "code": "CHAMBER_OPEN",
+      "label": "chamber closed",
+      "message": "the chamber of {inst} is open (already at room pressure).",
+      "fix": "nothing to vent."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "chamber.opened",
+      "value": false,
+      "code": "CHAMBER_OPEN",
+      "label": "chamber closed",
+      "message": "the chamber of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close chamber`, then start."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, the chamber closed, samples and a target in place, and a method.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "move": "no motion stage: the sample stage only rotates and its height is a method setting (lift=)",
+    "home": "no motion stage to home",
+    "gap": "no blade, die or clamp gap",
+    "set-temp": "no temperature set point: the samples warm only from the deposition",
+    "prime": "no ink pump: a sputter target or carbon rod is the source"
+   },
+   "params": {
+    "run_word": "coating run (pump, coat, vent)",
+    "result_word": "coating record",
+    "method_example": "current=50mA time=60s"
+   },
+   "notes": {
+    "method": [
+     "sputter current and time (or thickness= with the film-thickness monitor), rotation, tooling factor (manual p.21-42, profile parameters p.79-85)"
+    ],
+    "start": [
+     "a run pumps down, pre-cleans, coats and vents by itself (manual p.17-20)"
+    ],
+    "vacuum": [
+     "`vacuum vent` brings the chamber to room pressure before `open chamber`"
+    ]
+   }
+  },
+  "laboao_cvdltf12p50": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "segments",
+     "cap": "method.configure",
+     "seg_arg": "segments",
+     "keys": {
+      "flow": "flow_std_m3_s",
+      "pressure": "pressure_pa",
+      "purge": "purge_s",
+      "mode": "mode",
+      "pump": "pump_mode",
+      "valve": "manual_valve_fraction",
+      "curve": "curve_slot"
+     },
+     "defaults": "example"
+    },
+    "set-temp": {
+     "cap": "controller.set_sv",
+     "arg": "target_k"
+    },
+    "vacuum": {
+     "cap": "vacuum.set",
+     "arg": "enabled",
+     "full": true,
+     "pressure_arg": "pressure_pa",
+     "auto": {
+      "mode": "auto"
+     },
+     "vent_cap": "vacuum.vent"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "mode_arg": "mode",
+     "default_mode": "cvd"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "temp": "oven.temperature_k",
+    "set": "oven.setpoint_k",
+    "pressure": "vacuum.pressure_pa",
+    "vacuum": "pump.enabled",
+    "method": "method.configured"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not running",
+      "message": "{inst} is running a process.",
+      "fix": "wait for the job or `chemlab run {inst} stop`."
+     }
+    ],
+    "vacuum-pump": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "flange.opened",
+      "value": false,
+      "code": "FLANGE_OPEN",
+      "label": "flange closed",
+      "message": "the tube flange of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close flange`."
+     }
+    ],
+    "vacuum-vent": [
+     {
+      "slot": "flange.opened",
+      "value": false,
+      "code": "FLANGE_OPEN",
+      "label": "flange closed",
+      "message": "the tube flange of {inst} is open (already at room pressure).",
+      "fix": "nothing to vent."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "furnace.opened",
+      "value": false,
+      "code": "FURNACE_OPEN",
+      "label": "furnace closed",
+      "message": "the furnace lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close furnace`, then start."
+     },
+     {
+      "slot": "flange.opened",
+      "value": false,
+      "code": "FLANGE_OPEN",
+      "label": "flange closed",
+      "message": "the tube flange of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close flange`, then start."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, the furnace lid and flange closed, no venting, the gas supply, a method and (for cvd) a substrate.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "vacuum.set:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} pumps only switched on, with the flange closed and not venting.",
+     "fix": "close the flange; after venting wait until room pressure is reached."
+    }
+   },
+   "unsupported": {
+    "move": "no motion stage: the sample boat is placed by the lab operator",
+    "home": "no motion stage to home",
+    "gap": "no blade, die or clamp gap",
+    "prime": "no ink pump: process gases come from the mass-flow controllers (method flow=)"
+   },
+   "params": {
+    "run_word": "furnace process",
+    "result_word": "process record",
+    "method_example": "temp=600C rate=5K/min hold=30min flow=200,0,0"
+   },
+   "notes": {
+    "method": [
+     "one controller segment: temp, heating rate, hold; gas flows per channel in sccm (= mL/min), pressure, purge time (datasheet: controller curves, mass-flow channels)"
+    ],
+    "set-temp": [
+     "works in fixed controller mode (method mode=fixed); in programme mode the curve sets the temperature"
+    ],
+    "vacuum": [
+     "`vacuum pump --pressure 30Pa` pumps in automatic pressure control; plain `vacuum pump` uses the documented example settings"
+    ],
+    "start": [
+     "--mode cvd (default, needs a substrate) or --mode purge"
+    ]
+   }
+  },
+  "arradiance_gemstarxt": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "cycles": "cycles",
+      "temp": "reactor_k",
+      "door-temp": "door_k",
+      "manifold-temp": "manifold_k",
+      "pulse": "pulse_s",
+      "exposure": "exposure_s",
+      "purge": "purge_s",
+      "precursor-flow": "precursor_mol_s",
+      "carrier": "carrier_std_m3_s",
+      "rf": "rf_w"
+     },
+     "required": [
+      "cycles",
+      "temp"
+     ],
+     "defaults": "example"
+    },
+    "vacuum": {
+     "cap": "vacuum.set",
+     "arg": "enabled",
+     "vent_cap": "vacuum.vent"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "temp": "reactor.temperature_k",
+    "set": "reactor.setpoint_k",
+    "pressure": "vacuum.pressure_pa",
+    "vacuum": "vacuum.enabled",
+    "method": "method.configured"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not running",
+      "message": "{inst} is running a recipe.",
+      "fix": "wait for the job or `chemlab run {inst} stop`."
+     }
+    ],
+    "vacuum-pump": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     },
+     {
+      "slot": "door.opened",
+      "value": false,
+      "code": "DOOR_OPEN",
+      "label": "door closed",
+      "message": "the chamber door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door`."
+     }
+    ],
+    "vacuum-vent": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "door.opened",
+      "value": false,
+      "code": "DOOR_OPEN",
+      "label": "door closed",
+      "message": "the chamber door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door`, then start."
+     },
+     {
+      "slot": "safety.emo_latched",
+      "value": false,
+      "code": "EMO_LATCHED",
+      "label": "EMO released",
+      "message": "the emergency off of {inst} is latched.",
+      "fix": "switch off and reset it: `chemlab run {inst} power off`, `chemlab call {inst} safety.reset`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, the door closed, no EMO, the precursors, the substrate and a recipe (plasma recipes also RF on).",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "move": "no motion stage",
+    "home": "no motion stage to home",
+    "gap": "no blade, die or clamp gap",
+    "set-temp": "the zone temperatures are part of the recipe (reactor, door, manifold) and are set with it",
+    "prime": "no ink pump: precursors are dosed by the ALD valves of the recipe"
+   },
+   "alternatives": {
+    "set-temp": "set the reactor temperature in the recipe: `chemlab run INST method cycles=50 temp=250C`."
+   },
+   "params": {
+    "run_word": "ALD recipe",
+    "result_word": "process record",
+    "method_example": "cycles=50 temp=250C"
+   },
+   "notes": {
+    "method": [
+     "recipe: cycles, zone temperatures, pulse / exposure / purge times per precursor, carrier flow, RF power (operation notes p.3-6)"
+    ],
+    "start": [
+     "the run pumps to vacuum ready and runs the recipe; send `chemlab call arradiance_gemstarxt control.heartbeat` at least hourly during long runs (communication watchdog)"
+    ]
+   }
+  },
+  "fujifilm_dmp2850": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "dmp",
+     "cap": "method.configure",
+     "pattern_cap": "pattern.configure",
+     "keys": {
+      "spacing": "drop_spacing_m",
+      "height": "gap_m",
+      "voltage": "voltage_v",
+      "frequency": "frequency_hz",
+      "nozzles": "nozzles",
+      "rise": "rise_s",
+      "dwell": "dwell_s",
+      "fall": "fall_s",
+      "clean-every": "clean_every_drops",
+      "clean-time": "clean_duration_s"
+     },
+     "defaults": "example"
+    },
+    "move": {
+     "cap": "axis.move_to",
+     "axes": [
+      "x_m",
+      "y_m",
+      "z_m"
+     ]
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "zones": {
+      "platen": {
+       "arg": "platen_k",
+       "keep": "thermal.platen_target_k"
+      },
+      "cartridge": {
+       "arg": "cartridge_k",
+       "keep": "thermal.cartridge_target_k"
+      }
+     },
+     "default_zone": "platen",
+     "on_cap": "thermal.set_enabled",
+     "on_arg": "enabled"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "printing.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "printing.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "temp": "thermal.platen_k",
+    "set": "thermal.platen_target_k",
+    "heating": "thermal.enabled",
+    "method": "method.configured",
+    "sample": "substrate.configured"
+   },
+   "requires": {
+    "move": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not busy",
+      "message": "{inst} is busy (a move or a run).",
+      "fix": "wait for it (`chemlab run {inst} status`) or `chemlab run {inst} stop`."
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method ...` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "ink.configured",
+      "value": true,
+      "code": "NO_INK",
+      "label": "cartridge installed",
+      "message": "no ink cartridge is installed in {inst}.",
+      "fix": "ask the lab operator to install a filled cartridge."
+     },
+     {
+      "slot": "substrate.configured",
+      "value": true,
+      "code": "NO_SUBSTRATE",
+      "label": "substrate mounted",
+      "message": "no substrate is mounted on {inst}.",
+      "fix": "ask the lab operator to mount the substrate."
+     },
+     {
+      "slot": "pattern.configured",
+      "value": true,
+      "code": "NO_PATTERN",
+      "label": "a pattern set",
+      "message": "{inst} has no pattern to print.",
+      "fix": "set one: `chemlab run {inst} method pattern=010/111/010 at=50mm,50mm`."
+     },
+     {
+      "slot": "vacuum.enabled",
+      "value": true,
+      "code": "NO_VACUUM",
+      "label": "platen vacuum on",
+      "message": "the platen vacuum of {inst} is off, so the substrate is not held.",
+      "fix": "ask the lab operator to switch the platen vacuum on."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a method, an ink cartridge, a substrate held by the platen vacuum and a pattern.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "axis.move_to:PRECONDITION_FAILED": {
+     "code": "TOO_LOW",
+     "message": "{inst} keeps the head at least 0.1 mm above the substrate.",
+     "fix": "give a higher z."
+    }
+   },
+   "unsupported": {
+    "home": "no homing command: the axes move with `move X,Y,Z`",
+    "gap": "the head height above the substrate is the method key height=",
+    "vacuum": "the platen vacuum that holds the substrate is switched by the lab operator (no agent capability)",
+    "prime": "no priming pump: the cartridge is filled and purged by the lab operator"
+   },
+   "alternatives": {
+    "gap": "set the print height in the method: `chemlab run INST method height=1mm`."
+   },
+   "params": {
+    "run_word": "print",
+    "result_word": "print record",
+    "method_example": "spacing=20um voltage=24V"
+   },
+   "notes": {
+    "method": [
+     "jetting: drop spacing, print height, voltage, waveform (rise / dwell / fall), frequency, nozzles; pattern=ROWS of 0/1 with at=X,Y (quick guide p.1-3)"
+    ],
+    "set-temp": [
+     "--zone platen (default) or cartridge; the other zone keeps its set point; `set-temp off` switches the heaters off"
+    ],
+    "move": [
+     "move X,Y,Z of the print head (e.g. 50mm,40mm,2mm)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/digestion.json b/chemlab/configs/adapters/digestion.json
new file mode 100644
index 0000000000000000000000000000000000000000..b99887eec19959bbbd02a32bcf60bb798dcea293
--- /dev/null
+++ b/chemlab/configs/adapters/digestion.json
@@ -0,0 +1,736 @@
+{
+ "class": "digestion",
+ "adapter": "chemlab.compile.classes.digestion:DigestionAdapter",
+ "about": "Digestion and hydrolysis: method (temp / ramp / hold / program with units), load vessels at rack positions, set-temp, preheat, start (job), stop, result, status. power, open/close, ack and wait come from the shared layer. Ranges come from each member's contract in the unit the argument declares.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "multiwave_7101",
+   "scp_digiprepms",
+   "metrohm_909uv",
+   "buchi_hydrolexh"
+  ],
+  "secondary": {},
+  "excluded": {
+   "velp_udk159": "Kjeldahl distillation unit: its job is distillation and titration after a digestion done elsewhere (its primary class is titration); it has no digestion programme of its own, so it stays in the titration package"
+  }
+ },
+ "members": {
+  "multiwave_7101": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "editor",
+     "create_cap": "methods.create",
+     "step_cap": "methods.set_step",
+     "add_cap": "methods.add_step",
+     "select_cap": "methods.select",
+     "delete_cap": "methods.delete"
+    },
+    "load": {
+     "build": "template",
+     "slot_cap": "rack.set_slot",
+     "template_cap": "digestion.load_template",
+     "positions": 24
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "multiwave",
+     "max_s": 14400
+    },
+    "stop": {
+     "cap": "run.abort"
+    },
+    "result": {
+     "cap": "digestion.evaluate",
+     "slot_arg": "slot_index"
+    }
+   },
+   "path": "run",
+   "path_exceptions": [
+    "digestion.evaluate"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "run.status",
+    "elapsed": "run.elapsed_s",
+    "remaining": "run.remaining_s",
+    "door": "door.closed",
+    "selected": "methods.selected",
+    "library": "methods.library",
+    "occupied": "rack.occupied_slots",
+    "records": "data.experiments"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "users.current",
+      "not": [
+       null
+      ],
+      "code": "NOT_LOGGED_IN",
+      "label": "a user logged in",
+      "message": "nobody is logged in on {inst}; methods are edited by a logged-in user.",
+      "fix": "log in: `chemlab call {inst} user.login --user_name chemist`."
+     },
+     {
+      "slot": "run.status",
+      "not": [
+       "running",
+       "cooling"
+      ],
+      "code": "BUSY",
+      "label": "no run going on",
+      "message": "{inst} is running a method ({value}); the method library is locked.",
+      "fix": "wait for the run (`chemlab run {inst} status`), or `chemlab run {inst} stop`."
+     }
+    ],
+    "load": [
+     {
+      "slot": "door.closed",
+      "value": false,
+      "code": "DOOR_CLOSED",
+      "label": "door open",
+      "message": "the door of {inst} is closed; vessels go into the rack with the door open.",
+      "fix": "open it: `chemlab run {inst} open door`, then load."
+     },
+     {
+      "slot": "microwave.enabled",
+      "value": false,
+      "code": "HEATING",
+      "label": "microwave off",
+      "message": "the microwave of {inst} is on.",
+      "fix": "wait until the run has ended (`chemlab run {inst} status`)."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "door.closed",
+      "value": true,
+      "code": "DOOR_OPEN",
+      "label": "door closed",
+      "message": "the door of {inst} is open; a method starts only with the door closed.",
+      "fix": "close it: `chemlab run {inst} close door`, then start."
+     },
+     {
+      "slot": "error.code",
+      "value": null,
+      "code": "ERROR_SHOWN",
+      "label": "no error shown",
+      "message": "{inst} shows error {value}.",
+      "fix": "acknowledge it (`chemlab run {inst} ack`); if it stays, switch the instrument off and on."
+     },
+     {
+      "slot": "users.current",
+      "not": [
+       null
+      ],
+      "code": "NOT_LOGGED_IN",
+      "label": "a user logged in",
+      "message": "nobody is logged in on {inst}.",
+      "fix": "log in: `chemlab call {inst} user.login --user_name chemist`."
+     }
+    ]
+   },
+   "codes": {
+    "run.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power on, a logged-in user with run rights, the door closed, no error and no run going on.",
+     "fix": "check `chemlab run {inst} status`; log in as chemist or administrator if needed."
+    },
+    "methods.create:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_METHOD",
+     "message": "{inst} did not accept the method name (empty, longer than 40 characters, or already used).",
+     "fix": "give another name= (up to 40 characters)."
+    },
+    "methods.set_step:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_STEP",
+     "message": "{inst} did not accept a step (above the method's temperature or power limit).",
+     "fix": "lower the step temperature or raise power=."
+    },
+    "digestion.load_template:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} declares vessel contents only with the door open, the microwave off and a vessel at the position.",
+     "fix": "`chemlab run {inst} open door`, then load again."
+    },
+    "rack.set_slot:PRECONDITION_FAILED": {
+     "code": "DOOR_CLOSED",
+     "message": "the rack of {inst} is reached only with the door open and the microwave off.",
+     "fix": "`chemlab run {inst} open door`."
+    }
+   },
+   "unsupported": {
+    "set-temp": "the Multiwave has no stand-alone set point: the temperature comes from the steps of the method it runs (manual p.49-51); use `method temp=... ramp=... hold=...`",
+    "preheat": "no preheating step: the microwave heats from the first step of the method"
+   },
+   "alternatives": {
+    "set-temp": "set the temperature in the method: `chemlab run multiwave_7101 method temp=180C ramp=15min hold=15min`, then `start`."
+   },
+   "params": {
+    "busy_phases": [
+     "running",
+     "cooling"
+    ],
+    "running_phases": [
+     "running"
+    ],
+    "cooling_phases": [
+     "cooling"
+    ],
+    "run_word": "method run",
+    "result_word": "vessel evaluation",
+    "result_lines": 12
+   },
+   "notes": {
+    "method": [
+     "creates (or replaces) a user temperature method: step 1 ramps to temp within ramp=, step 2 holds for hold=; the limits default to the maximum values (Create Method, manual p.49-50); name=NAME alone selects a library method (e.g. name=\"EPA 3051A HNO3\")",
+     "pre-installed methods cannot be changed (manual p.48); give your own name="
+    ],
+    "load": [
+     "positions 1-24 are slot indexes 0-23; --material/--method/--mass/--acid declare the vessel contents (reference material, EPA method id) for `result --slot N`"
+    ],
+    "start": [
+     "the run ends with the safety cooling to 60 °C (manual p.50-52); the job succeeds when the run record says completed"
+    ],
+    "result": [
+     "evaluates one vessel against the EPA method window, ramp and hold (`--slot N`)"
+    ]
+   }
+  },
+  "scp_digiprepms": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "knots",
+     "cap": "method.configure",
+     "knots_arg": "knots",
+     "hold_arg": "hold_s",
+     "timeout_arg": "timeout_s"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "digestion.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "digestion.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "elapsed": "cycle.elapsed_s",
+    "method": "method.configured",
+    "sample": "sample.configured"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not running",
+      "message": "{inst} is running its programme.",
+      "fix": "stop it first: `chemlab run {inst} stop`."
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no programme yet; set-temp changes the temperature of a configured programme.",
+      "fix": "set one: `chemlab run {inst} method temp=95C ramp=10min hold=30min`."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not running",
+      "message": "{inst} is running its programme.",
+      "fix": "stop it first: `chemlab run {inst} stop`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no programme.",
+      "fix": "set one: `chemlab run {inst} method temp=95C ramp=10min hold=30min`."
+     },
+     {
+      "slot": "rack_left.lift_m",
+      "max": 0,
+      "code": "RACK_LIFTED",
+      "label": "left rack down",
+      "message": "the left tube rack of {inst} is lifted.",
+      "fix": "ask the lab operator to lower the racks."
+     },
+     {
+      "slot": "rack_right.lift_m",
+      "max": 0,
+      "code": "RACK_LIFTED",
+      "label": "right rack down",
+      "message": "the right tube rack of {inst} is lifted.",
+      "fix": "ask the lab operator to lower the racks."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a programme, an idle block (one cycle per programme) and both racks down.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "NOT_SET_UP",
+     "message": "{inst} is not set up in this lab (no controller and tube review declared by the lab).",
+     "fix": "ask the lab operator."
+    },
+    "thermal.set_temperature:PRECONDITION_FAILED": {
+     "code": "NO_METHOD",
+     "message": "{inst} changes the temperature only of a configured programme that has not run yet.",
+     "fix": "`chemlab run {inst} method temp=95C hold=30min`."
+    }
+   },
+   "unsupported": {
+    "load": "the 48 tubes are placed in the block by the lab operator; the twin has no agent capability for it",
+    "preheat": "no separate preheating: the programme starts from the current block temperature (use ramp=)"
+   },
+   "params": {
+    "busy_phases": [
+     "running"
+    ],
+    "running_phases": [
+     "running"
+    ],
+    "run_word": "digestion cycle",
+    "result_word": "cycle record",
+    "timeout_margin_s": 7200
+   },
+   "notes": {
+    "method": [
+     "the programme starts at the current block temperature and ramps linearly to temp within ramp=; the cycle ends after hold= within 1 K of the last temperature (controller profiles of ramp/hold steps: manual p.2, catalogue p.14-15)",
+     "timeout= defaults to the programme + hold + 2 h"
+    ],
+    "set-temp": [
+     "makes the configured programme a constant temperature (keeps hold and timeout)"
+    ]
+   }
+  },
+  "metrohm_909uv": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "keys",
+     "cap": "method.configure",
+     "keys": {
+      "temp": "temperature_K",
+      "hold": "duration_s"
+     },
+     "required": [
+      "temp",
+      "hold"
+     ],
+     "steps": {
+      "temperature_K": [
+       1,
+       "C"
+      ],
+      "duration_s": [
+       60,
+       "s"
+      ]
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K",
+     "steps": {
+      "temperature_K": [
+       1,
+       "C"
+      ]
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "digestion.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "digestion.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "elapsed": "cycle.elapsed_s",
+    "remaining": "cycle.remaining_s",
+    "method": "method.configured",
+    "sample": "sample.configured",
+    "shield": "shield.open_target"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method (temperature and radiation time).",
+      "fix": "set one: `chemlab run {inst} method temp=90C hold=90min`."
+     },
+     {
+      "slot": "sample.configured",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "samples in the holder",
+      "message": "no sample tubes are in the holder of {inst}.",
+      "fix": "ask the lab operator to place the sample tubes (with the shield open)."
+     },
+     {
+      "slot": "sensor.connected",
+      "value": true,
+      "code": "NO_SENSOR",
+      "label": "temperature sensor connected",
+      "message": "the temperature sensor of {inst} is not connected.",
+      "fix": "ask the lab operator to connect the sensor."
+     },
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "failed"
+      ],
+      "code": "FAULT",
+      "label": "no fault",
+      "message": "{inst} shows a fault ({value}).",
+      "fix": "acknowledge it: `chemlab run {inst} ack`, then start."
+     },
+     {
+      "slot": "shield.open_target",
+      "value": false,
+      "code": "SHIELD_OPEN",
+      "label": "shield closed",
+      "message": "the UV protective shield of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close shield`, give it a second (`chemlab wait 2`), then start."
+     },
+     {
+      "slot": "shield.angle_rad",
+      "max": 0,
+      "code": "SHIELD_MOVING",
+      "label": "shield fully closed",
+      "message": "the protective shield of {inst} is still closing.",
+      "fix": "give it a second: `chemlab wait 2`, then start."
+     },
+     {
+      "slot": "cycle.cooldown_s",
+      "max": 0,
+      "code": "COOLING",
+      "label": "lamp cooled down",
+      "message": "{inst} is cooling the samples after the last run ({value} left).",
+      "fix": "wait for it: `chemlab wait 600` (the fan cools for 10 min), then start.",
+      "show": "duration"
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: it needs power, a method, sample tubes, the sensor, the shield closed, no lamp cooling, a lamp within its lifetime and the samples below 105 °C.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "method.configure:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_STEP",
+     "message": "{inst} takes the temperature in whole °C and the time in whole minutes.",
+     "fix": "round them, e.g. temp=90C hold=90min."
+    },
+    "thermal.set_temperature:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_STEP",
+     "message": "{inst} takes the temperature in whole °C.",
+     "fix": "round it, e.g. 90C."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} is not running.",
+     "fix": "nothing to stop."
+    }
+   },
+   "unsupported": {
+    "load": "the sample tubes go into the holder by hand with the shield open (lab operator); the twin has no agent capability for it",
+    "preheat": "no preheating: the UV lamp heats the samples during the run"
+   },
+   "params": {
+    "busy_phases": [
+     "running"
+    ],
+    "running_phases": [
+     "running"
+    ],
+    "run_word": "UV digestion",
+    "result_word": "digestion status",
+    "method_example": "temp=90C hold=90min"
+   },
+   "notes": {
+    "method": [
+     "temperature 80-100 °C in whole degrees, radiation time in whole minutes (manual p.28-33); the fan then cools the samples for 10 min"
+    ],
+    "start": [
+     "close the protective shield first (`close shield`); the samples are placed by the lab operator (manual p.34-38)"
+    ]
+   }
+  },
+  "buchi_hydrolexh": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "build": "keys",
+     "cap": "method.configure",
+     "keys": {
+      "hold": "hydrolysis_s",
+      "rinse-temp": "rinse_water_K",
+      "rinse-cycles": "minimum_rinse_cycles",
+      "rinse-volume": "minimum_rinse_m3"
+     },
+     "args": {
+      "accept_host_manual_sequence_automation": true
+     },
+     "required": [
+      "hold"
+     ],
+     "defaults": "example"
+    },
+    "load": {
+     "build": "valves",
+     "valve_cap": "valve.set",
+     "rack_cap": "rack.set_raised",
+     "positions": 6
+    },
+    "preheat": {
+     "cap": "thermal.set_mode",
+     "arg": "mode",
+     "on": "preheat",
+     "off": "off"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "hydrolysis.measure"
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "hydrolysis.measure"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "elapsed": "cycle.elapsed_s",
+    "method": "method.configured",
+    "mode": "thermal.mode",
+    "preheat": "thermal.preheat_s",
+    "rack": "rack.lift_m"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "in": [
+       "idle"
+      ],
+      "code": "NOT_IDLE",
+      "label": "before a run",
+      "message": "{inst} takes a method only before a run (now {value}).",
+      "fix": "read the record (`chemlab run {inst} result`)."
+     }
+    ],
+    "load": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "not running",
+      "message": "{inst} is running.",
+      "fix": "wait for the job or `chemlab run {inst} stop`."
+     }
+    ],
+    "preheat": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "a method set",
+      "message": "{inst} has no method (hydrolysis time, rinse settings).",
+      "fix": "set one: `chemlab run {inst} method hold=30min`."
+     },
+     {
+      "slot": "cycle.phase",
+      "in": [
+       "idle"
+      ],
+      "code": "NOT_IDLE",
+      "label": "idle",
+      "message": "{inst} is not idle ({value}).",
+      "fix": "read the record (`chemlab run {inst} result`)."
+     },
+     {
+      "slot": "thermal.preheat_s",
+      "min": 600,
+      "code": "NOT_PREHEATED",
+      "label": "preheated 10 min",
+      "message": "{inst} has preheated only {value}; it needs 10 min before a hydrolysis.",
+      "fix": "`chemlab run {inst} preheat on --wait`, then start.",
+      "show": "duration"
+     },
+     {
+      "slot": "rack.lift_m",
+      "max": 0,
+      "code": "RACK_UP",
+      "label": "rack down",
+      "message": "the sample rack of {inst} is up.",
+      "fix": "load: `chemlab run {inst} load POSITIONS` (opens the stopcocks of the positions with samples and lowers the rack)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} did not start: the stopcocks must be open exactly at the positions that hold sample beakers (and closed elsewhere), with power on, a method, 10 min preheating, the rack down and the fume extraction of the lab running.",
+     "fix": "load the right positions (`chemlab run {inst} load 1,3` for samples at 1 and 3), then start."
+    },
+    "thermal.set_mode:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} heats only with power on, before or during a run, and with the fume extraction of the lab running.",
+     "fix": "`chemlab run {inst} power on`; ask the lab operator about the fume extraction."
+    },
+    "rack.set_raised:PRECONDITION_FAILED": {
+     "code": "HEATING",
+     "message": "the rack of {inst} is lifted only with the heater off and no run going on.",
+     "fix": "`chemlab run {inst} preheat off` first."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} is not running.",
+     "fix": "nothing to stop."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no temperature set point: the heater has fixed power steps (off / preheat / work) and the samples boil at the acid's boiling point (manual p.10-13); use `preheat on`, the run switches to work by itself"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run buchi_hydrolexh preheat on --wait`, then `start` (the run heats at the work step)."
+   },
+   "params": {
+    "busy_phases": [
+     "running"
+    ],
+    "running_phases": [
+     "running"
+    ],
+    "run_word": "hydrolysis",
+    "result_word": "hydrolysis status",
+    "preheat_s": 600,
+    "method_example": "hold=30min"
+   },
+   "notes": {
+    "method": [
+     "hold= is the hydrolysis time at boiling; the rinse settings default to the documented example when left out (manual p.19-22)"
+    ],
+    "load": [
+     "opens the stopcocks of the given positions (1-6, the beakers the lab operator filled), closes the others and lowers the rack onto the heater"
+    ],
+    "preheat": [
+     "preheat for 10 min before the hydrolysis (manual p.19-22)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/dosing.json b/chemlab/configs/adapters/dosing.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe6f1d3889150fd91a4cf7e8af3e9d2c7f85945
--- /dev/null
+++ b/chemlab/configs/adapters/dosing.json
@@ -0,0 +1,149 @@
+{
+ "class": "dosing",
+ "adapter": "chemlab.compile.classes.dosing:DosingAdapter",
+ "about": "Automated powder dosing: dose a target quantity into the vial on the balance (job), dosing head and vial as objects, draft-shield doors, tare, result. The trusted host side (head and vial placement, door geometry, dosing rate) is the lab set-up (tasks/dosing_world.py for the tasks); the default lab has none, so `dose` refuses there with NOT_SET_UP or NO_HEAD.",
+ "membership": {
+  "decided": "2026-10-22 (kept out of the balance class)",
+  "members": [
+   "mt_quantos_q2_xpe206dr"
+  ]
+ },
+ "members": {
+  "mt_quantos_q2_xpe206dr": {
+   "role": "primary",
+   "verbs": {
+    "dose": {
+     "cap": "dosing.start",
+     "target_cap": "dosing.set_target",
+     "target_arg": "target_mass_kg",
+     "tol_cap": "dosing.set_tolerance",
+     "tol_arg": "tolerance_kg",
+     "tol_pct_cap": "dosing.set_tolerance_percent",
+     "tol_pct_arg": "percent",
+     "tare_cap": "balance.tare",
+     "ids_cap": "dosing.set_ids",
+     "head_cap": "head.select",
+     "vial_cap": "container.select_position",
+     "front_cap": "door.set_opening",
+     "side_cap": "door.set_side"
+    },
+    "head": {
+     "select_cap": "head.select",
+     "select_arg": "head_id",
+     "lock_cap": "head.set_lock",
+     "lock_arg": "locked",
+     "height_cap": "head.set_height",
+     "height_arg": "position",
+     "reads": [
+      "head.data"
+     ]
+    },
+    "vial": {
+     "cap": "container.select_position",
+     "arg": "position_id",
+     "front_cap": "door.set_opening"
+    },
+    "open": {
+     "parts": {
+      "front": {
+       "cap": "door.set_opening",
+       "arg": "opening_m",
+       "close": 0.0
+      },
+      "side": {
+       "cap": "door.set_side",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "close": {
+     "parts": {
+      "front": {
+       "cap": "door.set_opening",
+       "arg": "opening_m",
+       "close": 0.0
+      },
+      "side": {
+       "cap": "door.set_side",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "tare": {
+     "cap": "balance.tare"
+    },
+    "result": {
+     "cap": "dosing.read"
+    },
+    "stop": {
+     "cap": "dosing.abort"
+    }
+   },
+   "path": "dosing",
+   "path_exceptions": [
+    "dosing.set_target",
+    "dosing.set_tolerance",
+    "dosing.set_tolerance_percent",
+    "dosing.set_ids",
+    "balance.tare",
+    "head.select",
+    "container.select_position",
+    "door.set_opening",
+    "door.set_side"
+   ],
+   "slots": {
+    "power": "power.enabled",
+    "configured": "simulation.rate_configured",
+    "head_loaded": "head.loaded_id",
+    "head_selected": "head.selected_id",
+    "head_locked": "head.locked",
+    "head_position": "head.position",
+    "head_data": "head.data",
+    "vial_loaded": "container.loaded_id",
+    "vial_position": "container.position_id",
+    "front_door": "scene.door_opening_m",
+    "side_door": "door.side_opening_fraction",
+    "doors": [
+     "scene.door_opening_m",
+     "door.side_opening_fraction"
+    ],
+    "tared": "balance.tared",
+    "net": "measurement.balance_net_kg",
+    "actual": "measurement.actual_dosed_kg",
+    "error": "measurement.error_kg",
+    "out_of_tolerance": "measurement.out_of_tolerance",
+    "status": "dosing.status",
+    "phase": "dosing.phase",
+    "target": "dosing.target_mass_kg",
+    "tolerance": "dosing.tolerance_kg",
+    "elapsed": "dosing.elapsed_s",
+    "last": "dosing.last_result",
+    "user_id": "dosing.user_id"
+   },
+   "params": {
+    "readability_kg": 1e-08,
+    "vial_position": "balance_pan",
+    "default_tolerance_percent": 1.0,
+    "max_dose_s": 1800.0,
+    "job_poll_s": 1.0
+   },
+   "notes": {
+    "dose": [
+     "target in mg as on the instrument (manual p.22); tolerance in % of the target or as a mass; the vial is tared before every dose (a previous dose is never counted)",
+     "front door: opened to the contract door_kinematics.authored_travel (0.5495 m since asset 1.2.2: the arc length of the top-hung door's hinge pin, lever fully lifted; manual p.25-26); closed = 0"
+    ],
+    "open": [
+     "parts: front (the draft-shield front door, door.set_opening) and side (the side doors, door.set_side)"
+    ],
+    "head": [
+     "inserting and taking out a head is the lab operator's work; `head remove` releases (unlocks) it (manual pp.22, 29)"
+    ]
+   },
+   "unsupported": {}
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/electrical.json b/chemlab/configs/adapters/electrical.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0cf89ce104ef3c9f59a258c1a1a8ec57f2f906
--- /dev/null
+++ b/chemlab/configs/adapters/electrical.json
@@ -0,0 +1,1502 @@
+{
+ "class": "electrical",
+ "adapter": "chemlab.compile.classes.electrical:ElectricalAdapter",
+ "about": "Electrical, magnetic and thermoelectric property testers: contact, move, set-field, set-temp, temp, wait-temp, method (class keys with units), calibrate, start (job-N), stop, result, status. power / estop / ack / wait come from the shared layer.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "lakeshore_measurereadym91",
+   "signatone_quadpro2",
+   "lakeshore_8604vsm",
+   "novocontrol_alphat",
+   "linseis_lsr3"
+  ],
+  "secondary": {},
+  "not_here": {
+   "hot_tps2500": "thermal conductivity tester: primary in thermal_analysis (this package); not an electrical measurement"
+  }
+ },
+ "members": {
+  "lakeshore_measurereadym91": {
+   "role": "primary",
+   "verbs": {
+    "contact": {
+     "check": {
+      "cap": "contact_check.auto",
+      "keys": {
+       "max-current": {
+        "arg": "max_current_a",
+        "kind": "current"
+       },
+       "max-voltage": {
+        "arg": "max_voltage_v",
+        "kind": "voltage"
+       },
+       "points": {
+        "arg": "points"
+       },
+       "r2": {
+        "arg": "minimum_r_squared"
+       }
+      },
+      "defaults": {
+       "max_current_a": "example",
+       "max_voltage_v": "example",
+       "points": "example",
+       "minimum_r_squared": "example"
+      },
+      "passthrough": true
+     },
+     "probe_alternative": "the M91 has no probe actuator (the sample card is clamped by the lab operator); `contact check` runs its contact check"
+    },
+    "temp": {
+     "reads": [
+      "thermal.indicated_k",
+      "field.indicated_t"
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "current": {
+       "arg": "current_a",
+       "kind": "current"
+      },
+      "range": {
+       "arg": "current_range_a",
+       "kind": "current"
+      },
+      "vrange": {
+       "arg": "voltage_range_v",
+       "kind": "voltage"
+      },
+      "phase": {
+       "arg": "phase_duration_s",
+       "kind": "duration"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "field-tol": {
+       "arg": "field_settling_tolerance_t",
+       "kind": "magnetic_field"
+      }
+     },
+     "need": [
+      "current"
+     ],
+     "defaults": {
+      "current_range_a": {
+       "auto_range_for": "current_a"
+      },
+      "voltage_range_v": "example",
+      "phase_duration_s": "example",
+      "repeats": "example",
+      "field_settling_tolerance_t": "example"
+     }
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "field_offset_t": {
+       "arg": "field_offset_t",
+       "kind": "magnetic_field"
+      },
+      "voltage_offset_v": {
+       "arg": "voltage_offset_v",
+       "kind": "voltage"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "voltage_v": [
+       "voltage",
+       "voltage"
+      ],
+      "current_a": [
+       "current",
+       "current"
+      ],
+      "field_t": [
+       "field",
+       "magnetic_field"
+      ]
+     }
+    },
+    "analyze": {
+     "default": "hall",
+     "models": {
+      "hall": {
+       "cap": "analysis.hall_vdp",
+       "objects": {
+        "observations": {
+         "fields": [
+          "host_time_s",
+          "contact_configuration",
+          "current_a",
+          "voltage_v",
+          "field_t"
+         ]
+        }
+       },
+       "min_rows": 18,
+       "fix": "the Hall analysis needs at least 18 readings (two repeats): `chemlab run INST method current=... repeats=2`, then start again",
+       "keys": {
+        "thickness": {
+         "arg": "thickness_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "thickness"
+       ],
+       "defaults": {
+        "hall_geometry_factor": "example",
+        "hall_factor": "example",
+        "field_symmetry_relative": "example",
+        "accept_single_carrier_model": "example"
+       }
+      }
+     },
+     "example": "hall thickness=500um"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_k",
+    "field": "field.indicated_t",
+    "field_set": "field.target_t",
+    "phase": "acquisition.phase",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "warmup": "warmup.ready",
+    "calibration": "calibration.state",
+    "voltage": "measured.voltage_v",
+    "current": "measured.current_a"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "contact-check": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "warmup.elapsed_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has been on for {value} s; it measures only after its 30 min warm-up.",
+      "fix": "wait: `chemlab wait 30min` (the warm-up counts from power-on).",
+      "label": "warmed up",
+      "min": 1800.0
+     },
+     {
+      "slot": "clamp.position_m",
+      "code": "CLAMP_OPEN",
+      "message": "the sample clamp of {inst} is open.",
+      "fix": "the lab operator closes the clamp; ask for it.",
+      "label": "clamp closed",
+      "max": 1e-09
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no sample card is in {inst}.",
+      "fix": "the lab operator mounts the sample; ask for it.",
+      "label": "sample mounted",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.position_m",
+      "code": "CLAMP_OPEN",
+      "message": "the sample clamp of {inst} is open.",
+      "fix": "the lab operator closes the clamp; ask for it.",
+      "label": "clamp closed",
+      "max": 1e-09
+     },
+     {
+      "slot": "warmup.elapsed_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has been on for {value} s; it measures only after its 30 min warm-up.",
+      "fix": "wait: `chemlab wait 30min` (the warm-up counts from power-on).",
+      "label": "warmed up",
+      "min": 1800.0
+     }
+    ]
+   },
+   "unsupported": {
+    "move": "no positioner: the specimen sits in a fixed holder",
+    "set-field": "the magnet is the lab's (its field is set by the lab operator, not by the M91 interface)",
+    "set-temp": "the sample temperature is set by the lab's temperature stage, not by the M91 interface",
+    "wait-temp": "no set point to wait for (the temperature is the lab's)"
+   },
+   "alternatives": {
+    "set-field": "read the field with `chemlab run INST temp`; the field of a Hall run is part of the lab set-up."
+   },
+   "notes": {
+    "method": [
+     "range=auto (default) picks the smallest current range that holds current=; the FastHall, resistivity and four-wire routines (fasthall.start, resistivity.start, four_wire.start) stay on `chemlab call`"
+    ],
+    "contact": [
+     "contact check [max-current=100mA max-voltage=10V points=11 r2=0.9999] runs contact_check.auto as job-N"
+    ]
+   },
+   "params": {
+    "manual": "M91 FastHall users manual pp. 11-33, 43-57 (SCPI command summary from p. 81)"
+   }
+  },
+  "signatone_quadpro2": {
+   "role": "primary",
+   "verbs": {
+    "contact": {
+     "probe": {
+      "cap": "probe.set_contact",
+      "arg": "contact",
+      "pos_slot": "probe.position_m",
+      "target_slot": "probe.target_m",
+      "down_value": 0.0,
+      "max_s": 60
+     },
+     "check_alternative": "the QuadPro2 has no separate contact check; every map point reports its own fit (see `result`)"
+    },
+    "move": {
+     "xy": {
+      "cap": "stage.move",
+      "x_arg": "x_m",
+      "y_arg": "y_m",
+      "busy": [
+       "stage.moving"
+      ],
+      "max_s": 120
+     }
+    },
+    "temp": {
+     "reads": [
+      "thermal.indicated_k"
+     ]
+    },
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keys": {
+        "current": {
+         "arg": "fixed_current_a",
+         "kind": "current",
+         "also": {
+          "auto_current": false
+         }
+        },
+        "auto": {
+         "arg": "auto_current"
+        },
+        "min-current": {
+         "arg": "current_min_a",
+         "kind": "current"
+        },
+        "max-current": {
+         "arg": "current_max_a",
+         "kind": "current"
+        },
+        "vrange": {
+         "arg": "voltage_range_v",
+         "kind": "voltage"
+        },
+        "compliance": {
+         "arg": "voltage_compliance_v",
+         "kind": "voltage"
+        },
+        "vmin": {
+         "arg": "target_voltage_min_v",
+         "kind": "voltage"
+        },
+        "vmax": {
+         "arg": "target_voltage_max_v",
+         "kind": "voltage"
+        },
+        "phase": {
+         "arg": "phase_duration_s",
+         "kind": "duration"
+        },
+        "settle": {
+         "arg": "settling_s",
+         "kind": "duration"
+        },
+        "calibration": {
+         "arg": "require_calibration"
+        },
+        "warmup": {
+         "arg": "require_warmup"
+        }
+       },
+       "defaults": {
+        "auto_current": "example",
+        "current_min_a": "example",
+        "current_max_a": "example",
+        "fixed_current_a": "example",
+        "voltage_range_v": "example",
+        "voltage_compliance_v": "example",
+        "target_voltage_min_v": "example",
+        "target_voltage_max_v": "example",
+        "phase_duration_s": "example",
+        "settling_s": "example",
+        "require_calibration": "example",
+        "require_warmup": "example"
+       }
+      },
+      {
+       "cap": "map.configure",
+       "keys": {
+        "point": {
+         "arg": "points",
+         "record": [
+          [
+           "x_m",
+           "length"
+          ],
+          [
+           "y_m",
+           "length"
+          ]
+         ],
+         "sep": ",",
+         "example": "20mm,0mm"
+        },
+        "edge": {
+         "arg": "edge_exclusion_m",
+         "kind": "length"
+        },
+        "thickness": {
+         "arg": "thickness_prior_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "point"
+       ],
+       "defaults": {
+        "edge_exclusion_m": "example",
+        "thickness_prior_m": "example"
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "cap": "calibration.start",
+     "keys": {
+      "ref": {
+       "arg": "reference_sheet_resistance_ohm_sq",
+       "kind": "sheet_resistance"
+      }
+     },
+     "need": [
+      "ref"
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "show": {
+      "statistics.mean_ohm_sq": [
+       "mean sheet resistance",
+       "sheet_resistance"
+      ],
+      "statistics.relative_std_percent": [
+       "non-uniformity (%)",
+       null
+      ],
+      "selected_current_a": [
+       "current",
+       "current"
+      ],
+      "calibration_gain": [
+       "calibration gain",
+       null
+      ]
+     },
+     "per_item": {
+      "path": "rows",
+      "label": "point",
+      "fields": {
+       "x_m": [
+        "x",
+        "length"
+       ],
+       "y_m": [
+        "y",
+        "length"
+       ],
+       "sheet_resistance_ohm_sq": [
+        "Rs",
+        "sheet_resistance"
+       ]
+      }
+     }
+    },
+    "analyze": {
+     "default": "sheet",
+     "models": {
+      "sheet": {
+       "cap": "analysis.sheet_resistance",
+       "pick": {
+        "key": "point",
+        "path": "rows"
+       },
+       "min_rows": 1,
+       "objects": {
+        "observations": {
+         "from": "it.observations",
+         "fields": [
+          "configuration",
+          "current_a",
+          "voltage_v"
+         ]
+        }
+       },
+       "scalars": {
+        "x_m": "it:x_m",
+        "y_m": "it:y_m",
+        "calibration_gain": "result:calibration_gain|1.0"
+       },
+       "keys": {
+        "point": {
+         "ctl": "point",
+         "kind": "number"
+        },
+        "diameter": {
+         "arg": "diameter_m",
+         "kind": "length"
+        },
+        "spacing": {
+         "arg": "spacing_m",
+         "kind": "length"
+        },
+        "thickness": {
+         "arg": "thickness_prior_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "diameter"
+       ],
+       "defaults": {
+        "spacing_m": "example",
+        "thickness_prior_m": "example"
+       }
+      }
+     },
+     "example": "sheet diameter=100mm point=1"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_k",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "probe": "probe.position_m",
+    "x": "stage.x_m",
+    "y": "stage.y_m",
+    "warmup": "source.warmup_ready",
+    "calibration": "calibration.valid",
+    "sheet": "measurement.last_sheet_resistance_ohm_sq"
+   },
+   "requires": {
+    "contact-on": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no wafer is on the chuck of {inst}.",
+      "fix": "the lab operator places the wafer; ask for it.",
+      "label": "wafer on the chuck",
+      "truthy": true
+     },
+     {
+      "slot": "hood.angle_rad",
+      "code": "HOOD_OPEN",
+      "message": "the dark hood of {inst} is open; the probe goes down only with it closed.",
+      "fix": "the lab operator closes the hood; ask for it.",
+      "label": "hood closed",
+      "max": 1e-09
+     },
+     {
+      "slot": "stage.moving",
+      "code": "MOVING",
+      "message": "the stage of {inst} is still moving.",
+      "fix": "wait (`chemlab wait 5`), then retry.",
+      "label": "stage at rest",
+      "falsy": true
+     }
+    ],
+    "contact-off": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "move-xy": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "probe.position_m",
+      "code": "PROBE_DOWN",
+      "message": "the probe of {inst} is down on the wafer; the stage moves only with it lifted.",
+      "fix": "lift it: `chemlab run {inst} contact off`.",
+      "label": "probe lifted",
+      "min": 0.0099
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no wafer is on the chuck of {inst}.",
+      "fix": "the lab operator places the wafer; ask for it.",
+      "label": "wafer on the chuck",
+      "truthy": true
+     },
+     {
+      "slot": "hood.angle_rad",
+      "code": "HOOD_OPEN",
+      "message": "the dark hood of {inst} is open.",
+      "fix": "the lab operator closes the hood; ask for it.",
+      "label": "hood closed",
+      "max": 1e-09
+     }
+    ]
+   },
+   "unsupported": {
+    "set-field": "no magnet control: the field is set by the lab (or not used)",
+    "set-temp": "no temperature chuck in this set-up (the TCR option is not fitted)",
+    "wait-temp": "no set point to wait for"
+   },
+   "notes": {
+    "method": [
+     "method point=X,Y (repeatable) edge=3mm sets the map (map.configure); current=1mA switches to a fixed current (auto_current off)",
+     "the example method requires a calibration (require_calibration=true): calibrate on a standard, or set calibration=false"
+    ],
+    "start": [
+     "start runs the whole map: lift, move, lower, measure at every point (the stage and probe move by themselves)"
+    ]
+   },
+   "params": {
+    "manual": "QuadPro2 data sheet rev 1.7 pp. 1-6, 8-15; Keithley 2450 reference manual pp. 80-121"
+   }
+  },
+  "lakeshore_8604vsm": {
+   "role": "primary",
+   "verbs": {
+    "move": {
+     "lift": {
+      "cap": "sample.set_lift",
+      "arg": "lift_m",
+      "pos_slot": "sample.lift_m",
+      "target_slot": "sample.target_lift_m",
+      "max_s": 180
+     },
+     "angle": {
+      "cap": "sample.set_angle",
+      "arg": "angle_rad",
+      "pos_slot": "sample.angle_rad",
+      "target_slot": "sample.target_angle_rad",
+      "max_s": 180
+     }
+    },
+    "set-field": {
+     "cap": "field.set_target",
+     "arg": "field_t",
+     "rate_arg": "ramp_rate_t_s"
+    },
+    "temp": {
+     "reads": [
+      "thermal.sample_k",
+      "field.indicated_t"
+     ]
+    },
+    "method": {
+     "calls": [
+      {
+       "cap": "coil.configure",
+       "keys": {
+        "coupling": {
+         "arg": "nominal_coupling_wb_per_a_m3"
+        },
+        "range": {
+         "arg": "moment_range_a_m2",
+         "kind": "moment"
+        }
+       },
+       "defaults": {
+        "nominal_coupling_wb_per_a_m3": "example",
+        "moment_range_a_m2": "example"
+       }
+      },
+      {
+       "cap": "vibration.configure",
+       "keys": {
+        "vibrate": {
+         "arg": "enabled"
+        },
+        "amplitude": {
+         "arg": "amplitude_m",
+         "kind": "length"
+        },
+        "vfreq": {
+         "arg": "frequency_hz",
+         "kind": "frequency"
+        }
+       },
+       "defaults": {
+        "enabled": {
+         "value": true,
+         "why": "vibration on"
+        },
+        "amplitude_m": "example",
+        "frequency_hz": "example"
+       }
+      },
+      {
+       "cap": "method.configure",
+       "keys": {
+        "field": {
+         "arg": "field_points_t",
+         "kind": "magnetic_field",
+         "list": true
+        },
+        "loop": {
+         "arg": "field_points_t",
+         "kind": "magnetic_field",
+         "loop": true
+        },
+        "rate": {
+         "arg": "ramp_rate_t_s",
+         "kind": "field_rate"
+        },
+        "average": {
+         "arg": "averaging_time_s",
+         "kind": "duration"
+        },
+        "settle": {
+         "arg": "settling_time_s",
+         "kind": "duration"
+        },
+        "calibration": {
+         "arg": "require_calibration"
+        }
+       },
+       "need": [
+        "field"
+       ],
+       "defaults": {
+        "ramp_rate_t_s": "example",
+        "averaging_time_s": "example",
+        "settling_time_s": "example",
+        "require_calibration": "example"
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "cap": "calibration.start",
+     "keys": {
+      "moment": {
+       "arg": "reference_moment_a_m2",
+       "kind": "moment"
+      },
+      "field": {
+       "arg": "field_t",
+       "kind": "magnetic_field"
+      },
+      "average": {
+       "arg": "averaging_time_s",
+       "kind": "duration"
+      }
+     },
+     "need": [
+      "moment"
+     ],
+     "defaults": {
+      "field_t": "example",
+      "averaging_time_s": "example"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "field_t": [
+       "field",
+       "magnetic_field"
+      ],
+      "moment_a_m2": [
+       "moment",
+       "moment"
+      ]
+     }
+    },
+    "analyze": {
+     "default": "loop",
+     "models": {
+      "loop": {
+       "cap": "analysis.loop",
+       "pass_rows": "rows"
+      }
+     },
+     "example": "loop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.sample_k",
+    "field": "field.indicated_t",
+    "field_set": "field.target_t",
+    "moment": "moment.indicated_a_m2",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "lift": "sample.lift_m",
+    "vibration": "vibration.enabled",
+    "calibration": "calibration.valid"
+   },
+   "requires": {
+    "move-lift": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "vibration.enabled",
+      "code": "VIBRATING",
+      "message": "the sample rod of {inst} is vibrating; it moves only at rest.",
+      "fix": "stop it: `chemlab run {inst} method vibrate=off`.",
+      "label": "vibration off",
+      "falsy": true
+     },
+     {
+      "slot": "field.target_t",
+      "code": "FIELD_ON",
+      "message": "the field set point of {inst} is {value} T; the rod moves only at zero field.",
+      "fix": "ramp it down: `chemlab run {inst} set-field 0 --wait`.",
+      "label": "zero field",
+      "min": -1e-09,
+      "max": 1e-09
+     },
+     {
+      "slot": "field.indicated_t",
+      "code": "FIELD_ON",
+      "message": "the field of {inst} is still {value} T; the rod moves only at zero field.",
+      "fix": "wait for it: `chemlab run {inst} set-field 0 --wait`.",
+      "label": "field at zero",
+      "min": -1e-09,
+      "max": 1e-09
+     }
+    ],
+    "move-angle": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "vibration.enabled",
+      "code": "VIBRATING",
+      "message": "the sample rod of {inst} is vibrating; it moves only at rest.",
+      "fix": "stop it: `chemlab run {inst} method vibrate=off`.",
+      "label": "vibration off",
+      "falsy": true
+     },
+     {
+      "slot": "field.target_t",
+      "code": "FIELD_ON",
+      "message": "the field set point of {inst} is {value} T; the rod moves only at zero field.",
+      "fix": "ramp it down: `chemlab run {inst} set-field 0 --wait`.",
+      "label": "zero field",
+      "min": -1e-09,
+      "max": 1e-09
+     },
+     {
+      "slot": "field.indicated_t",
+      "code": "FIELD_ON",
+      "message": "the field of {inst} is still {value} T; the rod moves only at zero field.",
+      "fix": "wait for it: `chemlab run {inst} set-field 0 --wait`.",
+      "label": "field at zero",
+      "min": -1e-09,
+      "max": 1e-09
+     }
+    ],
+    "set-field": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "coil.configured",
+      "code": "NO_COIL",
+      "message": "the pick-up coils of {inst} are not configured.",
+      "fix": "set them: `chemlab run {inst} method range=10emu`.",
+      "label": "coils configured",
+      "truthy": true
+     },
+     {
+      "slot": "vibration.enabled",
+      "code": "NOT_VIBRATING",
+      "message": "the sample of {inst} is not vibrating.",
+      "fix": "start it: `chemlab run {inst} method vibrate=on`.",
+      "label": "vibration on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.lift_m",
+      "code": "NOT_LOWERED",
+      "message": "the sample rod of {inst} is not in the measuring position (lift {value} m).",
+      "fix": "lower it: `chemlab run {inst} move --lift 0mm`.",
+      "label": "rod lowered",
+      "max": 1e-06
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no sample is on the rod of {inst}.",
+      "fix": "the lab operator mounts the sample; ask for it.",
+      "label": "sample mounted",
+      "truthy": true
+     },
+     {
+      "slot": "sample.lift_m",
+      "code": "NOT_LOWERED",
+      "message": "the sample of {inst} is not in the measuring position (lift {value} m).",
+      "fix": "lower it: `chemlab run {inst} move --lift 0mm`.",
+      "label": "sample lowered",
+      "max": 1e-06
+     },
+     {
+      "slot": "coil.configured",
+      "code": "NO_COIL",
+      "message": "the pick-up coils of {inst} are not configured.",
+      "fix": "set them: `chemlab run {inst} method range=10emu`.",
+      "label": "coils configured",
+      "truthy": true
+     },
+     {
+      "slot": "vibration.enabled",
+      "code": "NOT_VIBRATING",
+      "message": "the sample of {inst} is not vibrating.",
+      "fix": "start it: `chemlab run {inst} method vibrate=on`.",
+      "label": "vibration on",
+      "truthy": true
+     }
+    ]
+   },
+   "unsupported": {
+    "contact": "no probe contact: the sample hangs on the vibrating rod",
+    "set-temp": "no oven or cryostat in this set-up (the temperature is read only)",
+    "wait-temp": "no set point to wait for"
+   },
+   "params": {
+    "field_tolerance_t": 0.0001,
+    "manual": "8600 Series VSM catalog pp. 6-11, 16-21"
+   },
+   "notes": {
+    "method": [
+     "method range=10emu vibrate=on amplitude=0.5mm vfreq=82Hz sets the coils and the vibration; field=0.2T (repeatable) or loop=0.5T/0.1T the field points"
+    ],
+    "move": [
+     "move --lift 0mm lowers the sample into the coils; --angle 90deg rotates it (with the vibration off)"
+    ]
+   }
+  },
+  "novocontrol_alphat": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "thermal.indicated_k",
+      "thermal.target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.indicated_k",
+      "thermal.target_k"
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "freq": {
+       "arg": "frequencies_hz",
+       "kind": "frequency",
+       "list": true,
+       "sweep": "log"
+      },
+      "sweep": {
+       "arg": "frequencies_hz",
+       "kind": "frequency",
+       "list": true,
+       "sweep": "log"
+      },
+      "voltage": {
+       "arg": "source_voltage_rms_v",
+       "kind": "voltage"
+      },
+      "cycles": {
+       "arg": "cycles_per_point"
+      },
+      "settle": {
+       "arg": "settling_s",
+       "kind": "duration"
+      },
+      "calibration": {
+       "arg": "require_calibration"
+      }
+     },
+     "need": [
+      "freq"
+     ],
+     "defaults": {
+      "source_voltage_rms_v": "example",
+      "cycles_per_point": "example",
+      "settling_s": "example",
+      "require_calibration": "example"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "per_item": {
+      "path": "rows",
+      "label": "point",
+      "fields": {
+       "frequency_hz": [
+        "f",
+        "frequency"
+       ],
+       "epsilon_real": [
+        "eps'",
+        null
+       ],
+       "epsilon_loss": [
+        "eps''",
+        null
+       ],
+       "tan_delta": [
+        "tan delta",
+        null
+       ]
+      }
+     }
+    },
+    "analyze": {
+     "default": "dielectric",
+     "models": {
+      "dielectric": {
+       "cap": "analysis.dielectric",
+       "pick": {
+        "key": "point",
+        "path": "rows"
+       },
+       "min_rows": 1,
+       "scalars": {
+        "frequency_hz": "it:frequency_hz",
+        "voltage_rms": "it:voltage_rms",
+        "current_rms": "it:current_rms"
+       },
+       "keys": {
+        "point": {
+         "ctl": "point",
+         "kind": "number"
+        },
+        "diameter": {
+         "arg": "diameter_m",
+         "kind": "length"
+        },
+        "thickness": {
+         "arg": "thickness_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "diameter",
+        "thickness"
+       ]
+      }
+     },
+     "example": "dielectric diameter=20mm thickness=1mm point=1"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "points": "acquisition.points",
+    "sample": "sample.present"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no sample cell is mounted in {inst}.",
+      "fix": "the lab operator mounts the sample cell; ask for it.",
+      "label": "sample mounted",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.position_m",
+      "code": "CLAMP_OPEN",
+      "message": "the sample cell of {inst} is not clamped.",
+      "fix": "the lab operator clamps it; ask for it.",
+      "label": "cell clamped",
+      "max": 1e-09
+     }
+    ]
+   },
+   "unsupported": {
+    "contact": "no probe contact: the sample sits between fixed electrodes",
+    "move": "no positioner: the specimen sits in a fixed holder",
+    "set-field": "no magnet control: the field is set by the lab (or not used)",
+    "calibrate": "open / short / load calibration needs the fixture switched to its open, short and load standards, which only the lab operator can do; calibration.solve / calibration.apply stay on `chemlab call` for records you have"
+   },
+   "params": {
+    "tolerance_k": 0.3,
+    "manual": "Alpha/Beta series technical specification rev C pp. 4-11; Alpha GPIB command page"
+   },
+   "notes": {
+    "method": [
+     "freq=1kHz (repeatable, or a comma list) or sweep=10Hz..1MHz/13 (log-spaced points)"
+    ]
+   }
+  },
+  "linseis_lsr3": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "ramp_rate_k_min",
+     "off_cap": "thermal.disable",
+     "gradient": {
+      "cap": "thermal.set_gradient",
+      "arg": "delta_k"
+     }
+    },
+    "temp": {
+     "reads": [
+      "thermal.mean_k",
+      "thermal.target_k",
+      "thermal.delta_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.mean_k",
+      "thermal.target_k"
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "phase_interval_s",
+       "kind": "duration"
+      },
+      "current": {
+       "arg": "current_a",
+       "kind": "current"
+      },
+      "min-delta": {
+       "arg": "minimum_delta_k",
+       "kind": "temperature_delta"
+      },
+      "tolerance": {
+       "arg": "equilibrium_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "geometry": {
+       "arg": "geometry_factor"
+      },
+      "contact-r": {
+       "arg": "contact_resistance_correction_ohm",
+       "kind": "resistance"
+      }
+     },
+     "defaults": {
+      "duration_s": "example",
+      "phase_interval_s": "example",
+      "current_a": "example",
+      "minimum_delta_k": "example",
+      "equilibrium_tolerance_k": "example",
+      "geometry_factor": "example",
+      "contact_resistance_correction_ohm": "example"
+     }
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "hot_offset_k": {
+       "arg": "hot_offset_k",
+       "kind": "temperature_delta"
+      },
+      "cold_offset_k": {
+       "arg": "cold_offset_k",
+       "kind": "temperature_delta"
+      },
+      "voltage_offset_v": {
+       "arg": "voltage_offset_v",
+       "kind": "voltage"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "per_item": {
+      "path": "transport_points",
+      "label": "point",
+      "max": 4,
+      "fields": {
+       "temperature_k": [
+        "T",
+        "temperature"
+       ],
+       "seebeck_v_k": [
+        "S (V/K)",
+        null
+       ],
+       "resistivity_ohm_m": [
+        "rho (ohm m)",
+        null
+       ]
+      }
+     }
+    },
+    "analyze": {
+     "default": "transport",
+     "models": {
+      "transport": {
+       "cap": "analysis.transport",
+       "pick": {
+        "key": "point",
+        "path": "transport_points",
+        "group": 3
+       },
+       "scalars": {
+        "zero_voltage_v": "row:polarity=zero/voltage_v",
+        "positive_voltage_v": "row:polarity=positive/voltage_v",
+        "negative_voltage_v": "row:polarity=negative/voltage_v",
+        "positive_current_a": "row:polarity=positive/current_a",
+        "negative_current_a": "row:polarity=negative/current_a",
+        "hot_temperature_k": "row:polarity=zero/hot_temperature_k",
+        "cold_temperature_k": "row:polarity=zero/cold_temperature_k"
+       },
+       "keys": {
+        "point": {
+         "ctl": "point",
+         "kind": "number"
+        },
+        "width": {
+         "arg": "width_m",
+         "kind": "length"
+        },
+        "depth": {
+         "arg": "depth_m",
+         "kind": "length"
+        },
+        "spacing": {
+         "arg": "probe_spacing_m",
+         "kind": "length"
+        },
+        "geometry": {
+         "arg": "geometry_factor"
+        },
+        "contact-r": {
+         "arg": "contact_resistance_correction_ohm",
+         "kind": "resistance"
+        }
+       },
+       "need": [
+        "width",
+        "depth",
+        "spacing"
+       ],
+       "defaults": {
+        "geometry_factor": "example",
+        "contact_resistance_correction_ohm": "example"
+       }
+      }
+     },
+     "example": "transport width=3mm depth=3mm spacing=8mm point=1"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.mean_k",
+    "set": "thermal.target_k",
+    "control": "thermal.enabled",
+    "delta": "thermal.delta_k",
+    "phase": "acquisition.phase",
+    "points": "acquisition.points",
+    "sample": "sample.present"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no specimen is mounted in {inst}.",
+      "fix": "the lab operator mounts it; ask for it.",
+      "label": "specimen mounted",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.position_m",
+      "code": "FURNACE_OPEN",
+      "message": "the furnace of {inst} is not lowered over the specimen.",
+      "fix": "the lab operator closes it; ask for it.",
+      "label": "furnace closed",
+      "max": 1e-09
+     },
+     {
+      "slot": "clamp.position_m",
+      "code": "CLAMP_OPEN",
+      "message": "the specimen of {inst} is not clamped between the electrodes.",
+      "fix": "the lab operator clamps it; ask for it.",
+      "label": "clamped",
+      "max": 1e-09
+     }
+    ]
+   },
+   "unsupported": {
+    "contact": "no probe actuator: the thermocouple probes are set when the lab operator mounts the specimen",
+    "move": "no positioner: the specimen sits in a fixed holder",
+    "set-field": "no magnet control: the field is set by the lab (or not used)"
+   },
+   "params": {
+    "tolerance_k": 0.5,
+    "manual": "LSR-3 specifications pp. 1-2; LSR Seebeck/resistivity brochure pp. 4-14"
+   },
+   "notes": {
+    "set-temp": [
+     "--gradient 5K sets the temperature difference across the specimen for the Seebeck measurement",
+     "the furnace temperature programme (program.configure / program.start) stays on `chemlab call`"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/electrochem.json b/chemlab/configs/adapters/electrochem.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0b8102053962a6f89332609a2878290f86303ea
--- /dev/null
+++ b/chemlab/configs/adapters/electrochem.json
@@ -0,0 +1,1019 @@
+{
+ "class": "electrochem",
+ "adapter": "chemlab.compile.classes.electrochem:ElectrochemAdapter",
+ "about": "Electrochemical workstations and accessories: connect PORT=ID, technique (cv, lsv, ca, cp, steps, qcm, secm-line, secm-approach), start (job), stop, data, rotate (RRDE rotator), move (SECM probe), zero (QCM baseline), status. Ranges and units come from each member's contract.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "gamry_reference620",
+   "ch_chi920d",
+   "ch_chi440c",
+   "pine_wavevortex10"
+  ],
+  "secondary": {},
+  "secondary_not_mapped": {
+   "ika_electrasyn2": "preparative electrolysis with a CV mode; its primary class (reactor) owns the instrument and can reuse these handlers",
+   "metrohm_914": "pH / conductivity probes are measuring cells, not a potentiostat; property_meter owns it",
+   "pccell_ed64002": "electrodialysis stack (a separation process); its primary class (extraction) owns it"
+  },
+  "notes": "power and open / close of lids and the rotator enclosure come from the shared layer."
+ },
+ "members": {
+  "gamry_reference620": {
+   "role": "primary",
+   "verbs": {
+    "connect": {
+     "cap": "slot.set_connection",
+     "port_arg": "port_id",
+     "id_arg": "connection_id",
+     "ports": {
+      "working": "working_electrode",
+      "reference": "reference_electrode",
+      "counter": "counter_electrode",
+      "cell": "cell"
+     },
+     "slots": {
+      "working": "slot.working_electrode.connection_id",
+      "reference": "slot.reference_electrode.connection_id",
+      "counter": "slot.counter_electrode.connection_id",
+      "cell": "slot.cell.connection_id"
+     }
+    },
+    "technique": {
+     "cap": "electrochem.configure_waveform",
+     "arg": "program",
+     "style": "waveform",
+     "techniques": [
+      "cv",
+      "lsv",
+      "ca",
+      "cp",
+      "steps"
+     ],
+     "max_points": 10000
+    },
+    "start": {
+     "cap": "electrochem.start",
+     "job": {
+      "slot": "waveform.status",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped"
+      ],
+      "report": {
+       "samples": "waveform.sample_count",
+       "elapsed_s": "waveform.elapsed_s"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "electrochem.stop"
+    },
+    "data": {
+     "cap": "electrochem.read_series",
+     "show": [
+      "status",
+      "samples",
+      "synthetic",
+      "response_model"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "waveform.running",
+     "values": [
+      true
+     ]
+    }
+   },
+   "path": "electrochem",
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "status",
+     "waveform.status"
+    ],
+    [
+     "samples",
+     "waveform.sample_count"
+    ],
+    [
+     "elapsed",
+     "waveform.elapsed_s",
+     "duration"
+    ],
+    [
+     "output",
+     "output.commanded_potential_v",
+     "voltage"
+    ],
+    [
+     "working",
+     "slot.working_electrode.connection_id"
+    ],
+    [
+     "reference",
+     "slot.reference_electrode.connection_id"
+    ],
+    [
+     "counter",
+     "slot.counter_electrode.connection_id"
+    ],
+    [
+     "cell",
+     "slot.cell.connection_id"
+    ]
+   ],
+   "requires": {
+    "connect": [
+     {
+      "slot": "waveform.status",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "technique": [
+     {
+      "slot": "waveform.status",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "slot.working_electrode.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "working electrode connected",
+      "message": "no working electrode is connected to {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect working=ID` (the ids the lab gave you)."
+     },
+     {
+      "slot": "slot.reference_electrode.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "reference electrode connected",
+      "message": "no reference electrode is connected to {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect reference=ID`."
+     },
+     {
+      "slot": "slot.counter_electrode.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "counter electrode connected",
+      "message": "no counter electrode is connected to {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect counter=ID`."
+     },
+     {
+      "slot": "slot.cell.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "cell connected",
+      "message": "no cell is registered on {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect cell=ID`."
+     },
+     {
+      "slot": "waveform.program",
+      "set": true,
+      "code": "NO_TECHNIQUE",
+      "label": "a technique set",
+      "message": "{inst} has no technique (waveform) yet.",
+      "fix": "set one: `chemlab run {inst} technique cv --from 0.6V --to -0.2V`."
+     },
+     {
+      "slot": "waveform.status",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "waveform.status",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a technique running",
+      "message": "{inst} is not playing a technique.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "electrochem.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: power, the four connections and a technique are needed, and the waveform must fit the clock.",
+     "fix": "see `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "rotate": "no rotator (a potentiostat only)",
+    "move": "no positioner",
+    "zero": "no baseline to zero (no QCM)"
+   },
+   "notes": {
+    "technique": [
+     "the Gamry plays the waveform as discrete points: cv / lsv sweep in --step increments at --rate (interval = step / rate); at most 10000 points",
+     "measured current and potential channels of this twin are null (it records the commanded series only); the lab's template cell is for electrochem.template_cv",
+     "IUPAC sign convention (anodic current positive)"
+    ],
+    "connect": [
+     "ports: working, reference, counter, cell"
+    ]
+   },
+   "manual": "Reference 620 operator's manual 988-00086 (cell connections p.49-52, panels p.53-63); Framework Pstat class help",
+   "examples": {
+    "connect": "chemlab run INST connect working=we_01 reference=ref_01 counter=ce_01 cell=cell_01",
+    "technique": "chemlab run INST technique cv --from 0.6V --to -0.2V --rate 100mV/s --step 2mV"
+   }
+  },
+  "ch_chi440c": {
+   "role": "primary",
+   "verbs": {
+    "technique": {
+     "cap": "method.configure",
+     "style": "steps",
+     "techniques": [
+      "ca",
+      "cp",
+      "steps",
+      "qcm"
+     ],
+     "keep": {
+      "last": true,
+      "example": true
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "max_s": 3600,
+      "report": {
+       "points": "acquisition.completed_points",
+       "delta_hz": "frequency.delta_hz"
+      }
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "data": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "complete",
+      "elapsed_s",
+      "points",
+      "evidence",
+      "warnings"
+     ]
+    },
+    "zero": {
+     "cap": "baseline.zero",
+     "report_slot": "frequency.baseline_hz"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "sample",
+     "sample.loaded"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "frequency",
+     "frequency.hz",
+     "Hz"
+    ],
+    [
+     "shift",
+     "frequency.delta_hz",
+     "Hz"
+    ],
+    [
+     "mass change",
+     "mass.inferred_delta_kg",
+     "ug"
+    ],
+    [
+     "potential",
+     "potential.v",
+     "voltage"
+    ],
+    [
+     "current",
+     "current.a",
+     "current"
+    ],
+    [
+     "baseline",
+     "frequency.baseline_hz",
+     "Hz"
+    ],
+    [
+     "lid",
+     "lid.lift_m",
+     "length"
+    ]
+   ],
+   "requires": {
+    "technique": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_TECHNIQUE",
+      "label": "a technique set",
+      "message": "{inst} has no technique yet.",
+      "fix": "set one: `chemlab run {inst} technique cp --current 10uA --time 2s`."
+     },
+     {
+      "slot": "sample.loaded",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "solution in the cell",
+      "message": "there is no solution in the EQCM cell of {inst}.",
+      "fix": "ask the lab operator to fill the cell."
+     },
+     {
+      "slot": "lid.lift_m",
+      "max": 0.0,
+      "code": "LID_OPEN",
+      "label": "lid closed",
+      "message": "the cell lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a technique running",
+      "message": "{inst} is not running a technique.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "frequency.quality",
+      "value": "estimated",
+      "code": "NO_SIGNAL",
+      "label": "a valid frequency reading",
+      "message": "{inst} has no valid crystal frequency to zero on yet.",
+      "fix": "wait a few seconds after power on (`chemlab wait 5`), then zero."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:SAMPLE_GRID": {
+     "code": "BAD_STEP",
+     "message": "every step of {inst} must last a whole number of sample intervals.",
+     "fix": "make the step times multiples of --interval."
+    },
+    "method.configure:POINT_LIMIT": {
+     "code": "TOO_MANY_POINTS",
+     "message": "the technique has more than 20000 points on {inst}.",
+     "fix": "use a longer --interval or a shorter time."
+    },
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: power, a technique, the solution and a closed lid are needed.",
+     "fix": "see `chemlab run {inst} status`."
+    },
+    "acquisition.start:METHOD_PROCESS_MISMATCH": {
+     "code": "WRONG_TECHNIQUE",
+     "message": "the technique does not fit the cell of {inst}: qcm (frequency only) is for a film that adsorbs without current, while a plating bath needs a potential or current technique.",
+     "fix": "choose ca, cp or steps for a plating bath (`chemlab run {inst} technique cp --current 10uA --time 2s`)."
+    }
+   },
+   "unsupported": {
+    "connect": "the electrodes are fixed in the EQCM cell (no connection slots)",
+    "rotate": "no rotator",
+    "move": "no positioner"
+   },
+   "notes": {
+    "technique": [
+     "techniques: ca (potential step), cp (current step), steps (a staircase of potentials or currents), qcm (frequency only)",
+     "the reference electrode label keeps the last one, else the documented one; give --reference TEXT to change it",
+     "current sign as in this twin (and the CHI software default): a positive current is cathodic (reduces, plates the film); a negative potential vs the bath's E0 plates too"
+    ],
+    "zero": [
+     "sets the frequency baseline; frequency shifts and the inferred mass count from it (Sauerbrey)"
+    ]
+   },
+   "manual": "CHI 400C series EQCM product page (specifications) and CHI brochure p.3-7; CHI900D series user manual (setup and control menus)",
+   "examples": {
+    "technique": "chemlab run INST technique cp --current 10uA --time 2s",
+    "zero": "chemlab run INST zero"
+   }
+  },
+  "ch_chi920d": {
+   "role": "primary",
+   "verbs": {
+    "technique": {
+     "cap": "method.configure",
+     "style": "secm",
+     "techniques": [
+      "secm-line",
+      "secm-approach"
+     ],
+     "keep": {
+      "last": true,
+      "example": true
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "max_s": 7200,
+      "report": {
+       "points": "acquisition.completed_points"
+      }
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "data": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "complete",
+      "elapsed_s",
+      "points",
+      "evidence",
+      "warnings"
+     ]
+    },
+    "move": {
+     "cap": "stage.move",
+     "args_xyz": [
+      "x_m",
+      "y_m",
+      "z_m"
+     ],
+     "axes": [
+      "stage.x_m",
+      "stage.y_m",
+      "stage.z_m"
+     ],
+     "moving_slot": "positioner.moving",
+     "tolerance_m": 1e-08,
+     "max_s": 120
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "sample",
+     "sample.loaded"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "points",
+     "acquisition.completed_points"
+    ],
+    [
+     "x",
+     "stage.x_m",
+     "length"
+    ],
+    [
+     "y",
+     "stage.y_m",
+     "length"
+    ],
+    [
+     "z",
+     "stage.z_m",
+     "length"
+    ],
+    [
+     "moving",
+     "positioner.moving"
+    ],
+    [
+     "tip",
+     "tip.target_v",
+     "voltage"
+    ],
+    [
+     "tip current",
+     "tip.current_a",
+     "current"
+    ]
+   ],
+   "requires": {
+    "technique": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_TECHNIQUE",
+      "label": "a technique set",
+      "message": "{inst} has no SECM technique yet.",
+      "fix": "set one: `chemlab run {inst} technique secm-line --path ... --tip 0.5V --substrate 0V`."
+     },
+     {
+      "slot": "sample.loaded",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "a sample in the cell",
+      "message": "there is no sample in the SECM cell of {inst}.",
+      "fix": "ask the lab operator to mount the sample."
+     },
+     {
+      "slot": "positioner.moving",
+      "value": false,
+      "code": "MOVING",
+      "label": "probe at rest",
+      "message": "the probe of {inst} is still moving.",
+      "fix": "wait for it (`chemlab wait 5`)."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "move": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a technique running",
+      "message": "{inst} is not scanning.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: power, a technique, a sample and a probe at rest are needed.",
+     "fix": "see `chemlab run {inst} status`."
+    },
+    "stage.move:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} does not move the probe now (power off or not set up).",
+     "fix": "switch it on: `chemlab run {inst} power on`."
+    }
+   },
+   "unsupported": {
+    "connect": "the tip, substrate, reference and counter electrodes are wired in the SECM cell (no connection slots)",
+    "rotate": "no rotator",
+    "zero": "no baseline to zero (no QCM)"
+   },
+   "notes": {
+    "technique": [
+     "secm-line scans the probe along the --path at constant height; secm-approach records an approach curve along the path",
+     "path points are X,Y,Z separated by ';' (bare numbers in mm; µm is usual: -40um,-40um,5um)"
+    ],
+    "move": [
+     "moves the probe and waits until the positioner is at rest"
+    ]
+   },
+   "manual": "CHI900D series SECM user manual (SECM parameters p.103-112, control menu p.119-158, positioner p.27-29)",
+   "examples": {
+    "technique": "chemlab run INST technique secm-line --path -40um,0um,5um;40um,0um,5um --tip 0.5V --substrate 0V",
+    "move": "chemlab run INST move 0um 0um 1mm"
+   }
+  },
+  "pine_wavevortex10": {
+   "role": "primary",
+   "verbs": {
+    "start": {
+     "cap": "acquisition.start",
+     "time_arg": "duration_s",
+     "interval_arg": "sample_interval_s",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "max_s": 3600,
+      "report": {
+       "points": "acquisition.completed_points",
+       "rpm": "speed.rpm"
+      }
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "data": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "complete",
+      "elapsed_s",
+      "points",
+      "evidence",
+      "warnings"
+     ]
+    },
+    "rotate": {
+     "cap": "speed.set",
+     "arg": "angular_speed_rad_s",
+     "run_cap": "motor.run",
+     "run_arg": "enabled",
+     "run_slot": "motor.run_requested",
+     "min_rad_s": 10.471975511965976
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "motor",
+     "motor.run_requested"
+    ],
+    [
+     "set speed",
+     "speed.target_rad_s",
+     "rotation"
+    ],
+    [
+     "speed (rpm)",
+     "speed.rpm"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "points",
+     "acquisition.completed_points"
+    ],
+    [
+     "disk",
+     "disk.current_a",
+     "current"
+    ],
+    [
+     "ring",
+     "ring.current_a",
+     "current"
+    ],
+    [
+     "enclosure",
+     "enclosure.lift_m",
+     "length"
+    ],
+    [
+     "sample",
+     "sample.loaded"
+    ],
+    [
+     "potentiostat",
+     "electrochem.configured"
+    ]
+   ],
+   "requires": {
+    "rotate": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "electrochem.configured",
+      "value": true,
+      "code": "NO_POTENTIOSTAT",
+      "label": "bipotentiostat connected",
+      "message": "the external bipotentiostat of {inst} is not set up (the rotator has none of its own).",
+      "fix": "ask the lab operator to connect it."
+     },
+     {
+      "slot": "sample.loaded",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "electrode in the solution",
+      "message": "the electrode of {inst} is not in a solution.",
+      "fix": "ask the lab operator to fill the cell."
+     },
+     {
+      "slot": "enclosure.lift_m",
+      "max": 0.0,
+      "code": "ENCLOSURE_OPEN",
+      "label": "enclosure closed",
+      "message": "the enclosure window of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close enclosure`."
+     },
+     {
+      "slot": "motor.run_requested",
+      "value": true,
+      "code": "ROTATION_OFF",
+      "label": "rotating",
+      "message": "the electrode of {inst} is not rotating.",
+      "fix": "rotate it: `chemlab run {inst} rotate 1000rpm`."
+     },
+     {
+      "slot": "speed.target_rad_s",
+      "min": 10.471975511965976,
+      "code": "SPEED_TOO_LOW",
+      "label": "at least 100 rpm",
+      "message": "{inst} records only at 100 rpm or more.",
+      "fix": "rotate faster: `chemlab run {inst} rotate 1000rpm`."
+     },
+     {
+      "slot": "control.stop_blocked",
+      "value": false,
+      "code": "EXTERNAL_STOP",
+      "label": "external stop released",
+      "message": "the external stop input of {inst} holds the motor.",
+      "fix": "ask the lab operator to release the external stop."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "nothing running",
+      "message": "{inst} is running a technique.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a technique running",
+      "message": "{inst} is not recording.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "speed.set:TIP_SPEED_LIMIT": {
+     "code": "TOO_FAST",
+     "message": "{inst} keeps the electrode at or below 3000 rpm while it runs.",
+     "fix": "give 3000rpm or less, or stop first."
+    },
+    "speed.set:DRIVE_SPEED_RANGE": {
+     "code": "OUT_OF_RANGE",
+     "message": "{inst} rotates from 100 to 8000 rpm (or 0).",
+     "fix": "give a speed from 100rpm to 8000rpm."
+    },
+    "speed.set:LOCAL_ZERO_REQUIRED": {
+     "code": "EXTERNAL_CONTROL",
+     "message": "{inst} is under external rate control.",
+     "fix": "switch to local control first (`chemlab call {inst} control.configure ...`)."
+    },
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot record: power, rotation of at least 100 rpm, a closed enclosure, the solution and the bipotentiostat are needed.",
+     "fix": "see `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "connect": "the ring-disk electrode is mounted on the rotator shaft (no connection slots)",
+    "technique": "a rotator only: the disk and ring potentials are set on the external bipotentiostat",
+    "move": "no positioner",
+    "zero": "no baseline to zero"
+   },
+   "alternatives": {
+    "technique": "rotate the electrode (`chemlab run INST rotate 1600rpm`) and record (`chemlab run INST start --time 30s`); the lab sets the potentials."
+   },
+   "notes": {
+    "start": [
+     "start --time T [--interval DT] records the disk and ring currents for T (at most 600 s)",
+     "disk and ring currents follow IUPAC: a reducing (cathodic) disk current is negative"
+    ],
+    "rotate": [
+     "100 to 8000 rpm when idle, at most 3000 rpm while recording; `rotate off` stops the motor"
+    ]
+   },
+   "manual": "WaveVortex 10 user guide (specifications p.13-14, components p.24-28, operation p.34-40)",
+   "examples": {
+    "rotate": "chemlab run INST rotate 1600rpm",
+    "start": "chemlab run INST start --time 30s"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/chemlab/configs/adapters/enclosure.json b/chemlab/configs/adapters/enclosure.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2f131340c798849d6968f0ac7a0cc59228137e3
--- /dev/null
+++ b/chemlab/configs/adapters/enclosure.json
@@ -0,0 +1,484 @@
+{
+ "class": "enclosure",
+ "adapter": "chemlab.compile.classes.enclosure:EnclosureAdapter",
+ "about": "Enclosures: sash, fan, light, uv, mode, cycle (antechamber), read, open/close (antechamber doors), status. power, ack, estop come from the shared layer.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "inert_purelab_he_2gb",
+   "esco_ac24s8",
+   "esco_efa5uduvw"
+  ],
+  "secondary": {}
+ },
+ "members": {
+  "inert_purelab_he_2gb": {
+   "role": "primary",
+   "verbs": {
+    "fan": {
+     "speed_cap": "blower.configure",
+     "speed_arg": "speed_pct",
+     "values": {},
+     "hint": "the blower runs with the gas purification (`chemlab run INST start` / `stop`); give a speed, e.g. `fan 60%`.",
+     "notes": [
+      "the speed applies while the gas purification runs (`start`); with high O2 the blower may run at 100 % (O2 speed)"
+     ]
+    },
+    "light": {
+     "cap": "light.set",
+     "arg": "on",
+     "slot": "light.on"
+    },
+    "cycle": {
+     "start_cap": "antechamber.cycle.start",
+     "stop_cap": "antechamber.cycle.stop",
+     "cycles_cap": "antechamber.set_cycles",
+     "cycles_arg": "cycles",
+     "target_slot": "antechamber.target_cycles",
+     "progress_slot": "antechamber.completed_cycles",
+     "active_slot": "antechamber.cycle_active",
+     "state": {
+      "slot": "antechamber.phase",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped"
+      ]
+     }
+    },
+    "read": {
+     "reads": [
+      "atmosphere.oxygen_mole_fraction",
+      "atmosphere.water_mole_fraction",
+      "pressure.indicated_gauge_pa",
+      "antechamber.indicated_pressure_pa",
+      "antechamber.phase",
+      "antechamber.outer_door_open",
+      "antechamber.inner_door_open"
+     ]
+    },
+    "open": {
+     "parts": {
+      "outer": {
+       "cap": "antechamber.outer_door.set",
+       "arg": "open",
+       "open": true,
+       "close": false,
+       "slot": "antechamber.outer_door_open",
+       "other_slot": "antechamber.inner_door_open",
+       "other": "inner",
+       "cycle_slot": "antechamber.cycle_active",
+       "opens_to_air": true
+      },
+      "inner": {
+       "cap": "antechamber.inner_door.set",
+       "arg": "open",
+       "open": true,
+       "close": false,
+       "slot": "antechamber.inner_door_open",
+       "other_slot": "antechamber.outer_door_open",
+       "other": "outer",
+       "cycle_slot": "antechamber.cycle_active",
+       "needs_purge": true,
+       "phase_slot": "antechamber.phase"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "requires": {
+    "cycle": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "antechamber.outer_door_open",
+      "code": "DOOR_OPEN",
+      "message": "the outer antechamber door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close outer`.",
+      "value": false,
+      "label": "outer door closed"
+     },
+     {
+      "slot": "antechamber.inner_door_open",
+      "code": "DOOR_OPEN",
+      "message": "the inner antechamber door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close inner`.",
+      "value": false,
+      "label": "inner door closed"
+     },
+     {
+      "slot": "antechamber.cycle_active",
+      "code": "BUSY",
+      "message": "an antechamber cycle is already running on {inst}.",
+      "fix": "wait for it (`chemlab run {inst} status`).",
+      "value": false,
+      "label": "no cycle running"
+     }
+    ],
+    "open": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "fan:speed": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ]
+   },
+   "unsupported": {
+    "sash": "a closed glovebox: no sash (items go in through the antechamber: `open outer`, `cycle`, `open inner`)",
+    "uv": "no UV lamp",
+    "mode": "no operating modes; the gas purification is `start` / `stop` (gas_fluid)"
+   },
+   "notes": {
+    "open": [
+     "doors: outer (to the room) and inner (to the box); the inner door opens only after the antechamber was cycled since the outer door was opened"
+    ],
+    "cycle": [
+     "each cycle evacuates the antechamber and refills it with inert gas; `cycle --cycles 3 --wait` runs three and waits; without --wait you get job-N"
+    ]
+   }
+  },
+  "esco_ac24s8": {
+   "role": "primary",
+   "verbs": {
+    "sash": {
+     "style": "stops",
+     "cap": "sash.move",
+     "dir_arg": "direction",
+     "slot": "sash.opening_m",
+     "status_slot": "sash.status",
+     "stops": {
+      "close": 0.0,
+      "safe": 0.175,
+      "open": 0.47
+     },
+     "tolerance_m": 0.005,
+     "max_move_s": 60.0
+    },
+    "fan": {
+     "cap": "fan.set",
+     "arg": "state",
+     "values": {
+      "on": "on",
+      "off": "off",
+      "standby": "standby"
+     },
+     "already": {
+      "on": [
+       "on",
+       "warm_up"
+      ],
+      "off": [
+       "off"
+      ],
+      "standby": [
+       "standby"
+      ]
+     },
+     "ready": {
+      "slot": "airflow.status",
+      "values": [
+       "ok"
+      ]
+     }
+    },
+    "light": {
+     "toggle_cap": "lamp.toggle",
+     "slot": "lamp.on"
+    },
+    "uv": {
+     "toggle_cap": "uv.toggle",
+     "slot": "uv.on",
+     "timer_slot": "uv.remaining_s"
+    },
+    "mode": {
+     "cap": "settings.configure",
+     "arg": "mode",
+     "values": {
+      "normal": "normal",
+      "quickstart": "quickstart"
+     },
+     "slot": "settings.current#mode",
+     "other": {
+      "maintenance": "maintenance mode needs the admin PIN in the menu (`chemlab call INST menu.enter --pin ...`, then mode.set)"
+     }
+    },
+    "read": {
+     "reads": [
+      "display.inflow_m_s",
+      "display.downflow_m_s",
+      "airflow.status",
+      "fan.state",
+      "sash.status",
+      "sash.opening_m",
+      "lamp.on",
+      "uv.on"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "fan": "fan.state"
+   },
+   "requires": {
+    "sash": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "fan.state",
+      "code": "STANDBY",
+      "message": "{inst} is in standby: the sash does not move.",
+      "fix": "switch the fan on: `chemlab run {inst} fan on`.",
+      "not": [
+       "standby"
+      ],
+      "label": "not in standby"
+     }
+    ],
+    "fan:on": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "sash.status",
+      "code": "SASH_CLOSED",
+      "message": "the sash of {inst} is closed; the blower runs only with the sash at a working height.",
+      "fix": "raise it first: `chemlab run {inst} sash safe`.",
+      "not": [
+       "closed"
+      ],
+      "label": "sash open"
+     }
+    ],
+    "fan:off": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "fan:standby": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "light:on": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "sash.status",
+      "code": "SASH_CLOSED",
+      "message": "the sash of {inst} is closed; the light works only with the sash open.",
+      "fix": "raise it: `chemlab run {inst} sash safe`.",
+      "not": [
+       "closed"
+      ],
+      "label": "sash open"
+     }
+    ],
+    "light:off": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "uv:on": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "sash.status",
+      "code": "SASH_NOT_CLOSED",
+      "message": "the UV lamp of {inst} works only with the sash fully closed (now {value}).",
+      "fix": "close it: `chemlab run {inst} sash close`.",
+      "value": "closed",
+      "label": "sash closed"
+     },
+     {
+      "slot": "fan.state",
+      "code": "FAN_RUNNING",
+      "message": "the blower of {inst} is {value}; the UV lamp works only with the blower off.",
+      "fix": "switch it off and let the post-purge end: `chemlab run {inst} fan off`.",
+      "value": "off",
+      "label": "blower off"
+     }
+    ],
+    "uv:off": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "mode": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "fan.state",
+      "code": "NOT_RUNNING",
+      "message": "the mode of {inst} is changed only while it runs normally (fan {value}).",
+      "fix": "switch the fan on and wait for the warm-up: `chemlab run {inst} fan on --wait`.",
+      "value": "on",
+      "label": "fan on"
+     }
+    ]
+   },
+   "unsupported": {
+    "cycle": "no antechamber or decontamination cycle from the computer",
+    "open": "no doors (the sash is `sash`)",
+    "close": "no doors (the sash is `sash`)"
+   },
+   "notes": {
+    "sash": [
+     "positions: close (UV mode), safe (175 mm working height), open (470 mm, cleaning; alarms while the blower runs); the motor moves stop by stop and the verb waits"
+    ],
+    "fan": [
+     "fan on starts the warm-up (about 3 min); --wait waits until the airflow is OK"
+    ],
+    "uv": [
+     "UV only with the sash closed and the blower off; lifting the sash switches it off"
+    ]
+   }
+  },
+  "esco_efa5uduvw": {
+   "role": "primary",
+   "verbs": {
+    "sash": {
+     "style": "height",
+     "cap": "sash.set",
+     "arg": "height_m",
+     "hold_arg": "hold",
+     "slot": "sash.height_m",
+     "stops": {
+      "close": 0.0,
+      "safe": 0.457,
+      "open": 0.67
+     },
+     "stop_m": 0.457
+    },
+    "fan": {
+     "cap": "fan.set",
+     "arg": "on",
+     "values": {
+      "on": true,
+      "off": false
+     },
+     "already": {
+      "on": [
+       true
+      ],
+      "off": [
+       false
+      ]
+     }
+    },
+    "light": {
+     "cap": "light.set",
+     "arg": "on",
+     "slot": "light.on"
+    },
+    "mode": {
+     "cap": "monitor.night_setback",
+     "arg": "closed",
+     "values": {
+      "night": true,
+      "normal": false
+     },
+     "slot": "night_setback.closed"
+    },
+    "read": {
+     "reads": [
+      "monitor.reading_m_s",
+      "monitor.alarm",
+      "display.text",
+      "sash.height_m",
+      "fan.on",
+      "light.on"
+     ]
+    }
+   },
+   "slots": {
+    "fan": "fan.on",
+    "keylock": "keylock.mode"
+   },
+   "unsupported": {
+    "uv": "no UV lamp",
+    "cycle": "no cycles",
+    "open": "no doors (the sash is `sash`)",
+    "close": "no doors (the sash is `sash`)"
+   },
+   "notes": {
+    "sash": [
+     "positions: close, safe (457 mm, the sash stop and working height), open (670 mm; above the stop only with --hold)"
+    ],
+    "mode": [
+     "mode night tells the airflow monitor that the sash is closed for the night (night setback); mode normal ends it"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/evaporation.json b/chemlab/configs/adapters/evaporation.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b06ddee2add370c14505c503516374d76a53616
--- /dev/null
+++ b/chemlab/configs/adapters/evaporation.json
@@ -0,0 +1,1522 @@
+{
+ "class": "evaporation",
+ "adapter": "chemlab.compile.classes.evaporation:EvaporationAdapter",
+ "about": "Evaporation, drying and distillation: rotary evaporator, freeze dryer, spray dryer, critical point dryer, centrifugal concentrator, fractional distillation, wiped-film still.",
+ "membership": {
+  "primary": [
+   "ika_rv10_digital_v",
+   "buchi_lyovapor_l250_pro",
+   "buchi_minispray",
+   "tousimis_autosamdri815",
+   "genevac_mivac2",
+   "pilodist_pilodist104",
+   "uic_kdl1basic"
+  ],
+  "secondary": {},
+  "excluded": {
+   "binder_vd56": "a vacuum drying oven: its temperature control is in the thermal class and its vacuum valves are shared open/close parts; it has no drying run (start/stop/result) to put here",
+   "vacuubrand_pc3001_vario_select": "a vacuum source, primary in gas_fluid (setpoint pressure, start, stop, vent); the rotavap points to it as the vacuum source"
+  }
+ },
+ "members": {
+  "ika_rv10_digital_v": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "heat_cap": "thermal.start",
+     "heat_skip_if": {
+      "slot": "thermal.enabled",
+      "value": true
+     },
+     "off": {
+      "cap": "thermal.stop"
+     }
+    },
+    "rotate": {
+     "speed_cap": "rotation.set_speed",
+     "speed_arg": "speed_rad_s",
+     "on": {
+      "cap": "rotation.start",
+      "step": "start rotating",
+      "skip_if": {
+       "slot": "rotation.running",
+       "value": true
+      }
+     },
+     "off": {
+      "cap": "rotation.stop"
+     }
+    },
+    "method": {
+     "keys": {
+      "time": {
+       "cap": "timer.set_duration",
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "cap": "interval.set",
+       "arg": "interval_s",
+       "kind": "duration"
+      },
+      "temp": {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "speed": {
+       "cap": "rotation.set_speed",
+       "arg": "speed_rad_s",
+       "kind": "rotation"
+      }
+     }
+    },
+    "start": {
+     "calls": [
+      {
+       "cap": "thermal.start",
+       "step": "switch the bath heating on",
+       "skip_if": {
+        "slot": "thermal.enabled",
+        "value": true
+       }
+      },
+      {
+       "cap": "rotation.start",
+       "step": "start rotating",
+       "skip_if": {
+        "slot": "rotation.running",
+        "value": true
+       }
+      }
+     ],
+     "job": "until",
+     "until": {
+      "slot": "rotation.running",
+      "value": false,
+      "when": {
+       "slot": "timer.setting_s",
+       "min": 1
+      }
+     },
+     "max_s": 12000
+    },
+    "stop": {
+     "calls": [
+      {
+       "cap": "rotation.stop",
+       "step": "stop rotating"
+      },
+      {
+       "cap": "thermal.stop",
+       "step": "switch the bath heating off"
+      }
+     ]
+    },
+    "result": {
+     "reads": [
+      "evaporation.running",
+      "rotation.indicated_speed_rad_s",
+      "thermal.indicated_temperature_k",
+      "vacuum.indicated_pressure_pa",
+      "recovery.indicated_condensate_mass_kg",
+      "recovery.condensate_volume_m3",
+      "timer.remaining_s"
+     ]
+    },
+    "lift": {
+     "cap": "lift.set_position",
+     "arg": "position_m",
+     "moving": "lift.moving"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "temp_set": "thermal.target_temperature_k",
+    "heating": "thermal.enabled",
+    "pressure": "vacuum.indicated_pressure_pa",
+    "speed": "rotation.indicated_speed_rad_s",
+    "speed_set": "rotation.target_speed_rad_s",
+    "rotating": "rotation.running",
+    "lift": "lift.indicated_position_m",
+    "timer": "timer.remaining_s",
+    "collected": "recovery.indicated_condensate_mass_kg"
+   },
+   "requires": {
+    "set-temp:heat": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "thermal.indicated_temperature_k",
+      "code": "NO_BATH",
+      "message": "the heating bath of {inst} is not ready (no bath fluid registered by the lab; the bath temperature is unknown).",
+      "fix": "ask the lab to fill the bath; meanwhile `chemlab run {inst} rotate SPEED` works without heating.",
+      "not": [
+       null
+      ]
+     }
+    ],
+    "rotate": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "thermal.indicated_temperature_k",
+      "code": "NO_BATH",
+      "message": "the heating bath of {inst} is not ready (no bath fluid registered by the lab; the bath temperature is unknown).",
+      "fix": "ask the lab to fill the bath; meanwhile `chemlab run {inst} rotate SPEED` rotates without heating.",
+      "not": [
+       null
+      ]
+     }
+    ],
+    "lift": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ]
+   },
+   "codes": {
+    "thermal.set_temperature:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BELOW_AMBIENT",
+     "message": "{inst} heats only: the bath set point must be at least room temperature.",
+     "fix": "give a set point at or above room temperature (about 20 °C)."
+    },
+    "timer.set_duration:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "WHOLE_MINUTES",
+     "message": "the timer of {inst} takes whole minutes only.",
+     "fix": "give the time in whole minutes, e.g. time=30min."
+    },
+    "thermal.start:PRECONDITION_FAILED": {
+     "code": "NO_BATH",
+     "message": "the heating bath of {inst} is not ready (switched off, or no bath fluid registered).",
+     "fix": "switch {inst} on; if the bath temperature reads null, ask the lab to fill the bath."
+    }
+   },
+   "path": "rotation",
+   "path_exceptions": [
+    "thermal.start",
+    "thermal.stop"
+   ],
+   "unsupported": {
+    "vacuum": "the vacuum comes from an external pump (the vacuum source is a VACUUBRAND PC 3001 VARIO select); the RV 10 itself has no vacuum controller",
+    "endpoint": "no drying endpoint (a rotary evaporator runs until stopped or until its timer ends)",
+    "fraction": "no fraction collector",
+    "reflux": "no reflux head",
+    "condenser": "the condenser is cooled by an external chiller (no set point here)",
+    "feed": "no feed pump (the flask is charged by hand)",
+    "preheat": "no separate preheat (use `set-temp T --heat`)"
+   },
+   "alternatives": {
+    "vacuum": "set the pressure on the pump: `chemlab run vacuubrand_pc3001_vario_select` lists its verbs (or `chemlab call vacuubrand_pc3001_vario_select vacuum.set_pressure --pressure_pa 17500`); the rotavap reads it back as vacuum.indicated_pressure_pa.",
+    "preheat": "`chemlab run INST set-temp 40C --heat` switches the bath heating on."
+   },
+   "params": {
+    "labels": {
+     "temp": "bath",
+     "temp_set": "bath set point",
+     "heating": "bath heating",
+     "collected": "condensate"
+    }
+   },
+   "notes": {
+    "start": [
+     "start = bath heating on + rotation on (no single run object on the RV 10); with a timer set (method time=30min) it gives a job that ends when the timer stops the rotation.",
+     "manual: operating manual p. 22, p. 21 (START_X / STOP_X)"
+    ],
+    "method": [
+     "the RV 10 has no method object: keys time (timer, whole minutes; 0 = off), interval (rotation reversal, 0-60 s), temp, speed are sent to their own set points.",
+     "manual: operating manual p. 22 (interval, timer)"
+    ],
+    "lift": [
+     "up = flask raised out of the bath, down = lowest position (into the bath).",
+     "manual: operating manual p. 22 (lift)"
+    ],
+    "set-temp": [
+     "manual: operating manual pp. 18-20 (heating bath), p. 21 (NAMUR commands)"
+    ],
+    "rotate": [
+     "manual: operating manual p. 22 (speed)"
+    ]
+   }
+  },
+  "buchi_lyovapor_l250_pro": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "vacuum": {
+     "cap": "vacuum.set_pressure",
+     "arg": "pressure_pa"
+    },
+    "method": {
+     "keys": {
+      "freeze": {
+       "cap": "lyophilization.set_recipe",
+       "arg": "recipe",
+       "key": "pre_freeze_s",
+       "kind": "duration"
+      },
+      "primary": {
+       "cap": "lyophilization.set_recipe",
+       "arg": "recipe",
+       "key": "primary_drying_s",
+       "kind": "duration"
+      },
+      "secondary": {
+       "cap": "lyophilization.set_recipe",
+       "arg": "recipe",
+       "key": "secondary_drying_s",
+       "kind": "duration"
+      },
+      "shelf": {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "cap": "vacuum.set_pressure",
+       "arg": "pressure_pa",
+       "kind": "pressure"
+      },
+      "protect": {
+       "cap": "thermal.set_protection_temperature",
+       "arg": "temperature_k",
+       "kind": "temperature"
+      }
+     },
+     "keep": {
+      "lyophilization.set_recipe": {
+       "recipe": {
+        "slot": "cycle.recipe"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "lyophilization.start",
+     "job": "state",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "complete"
+      ],
+      "failed": [
+       "stopped",
+       "aborted"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "lyophilization.stop"
+    },
+    "result": {
+     "reads": [
+      "cycle.phase",
+      "cycle.elapsed_s",
+      "cycle.phase_elapsed_s",
+      "cycle.endpoint_status",
+      "cycle.wait_reason"
+     ]
+    },
+    "endpoint": {
+     "cap": "lyophilization.set_endpoint",
+     "mode_arg": "mode",
+     "threshold_arg": "moisture_threshold",
+     "modes": {
+      "schedule": "schedule_only",
+      "moisture": "model_moisture"
+     },
+     "keep_slot": "cycle.moisture_threshold"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.wait_reason",
+    "temp": "thermal.indicated_shelf_temperature_k",
+    "temp_set": "thermal.target_shelf_temperature_k",
+    "temp2": "condenser.indicated_temperature_k",
+    "pressure": "vacuum.indicated_pressure_pa",
+    "pressure_set": "vacuum.target_pressure_pa",
+    "progress": "cycle.endpoint_status"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "cycle.running",
+      "code": "CYCLE_RUNNING",
+      "message": "a freeze-drying cycle is running on {inst}; it takes this setting only between cycles.",
+      "fix": "wait for the cycle to end (`chemlab wait JOB`) or stop it: `chemlab run {inst} stop`.",
+      "falsy": true
+     }
+    ],
+    "vacuum": [
+     {
+      "slot": "cycle.running",
+      "code": "CYCLE_RUNNING",
+      "message": "a freeze-drying cycle is running on {inst}; it takes this setting only between cycles.",
+      "fix": "wait for the cycle to end (`chemlab wait JOB`) or stop it: `chemlab run {inst} stop`.",
+      "falsy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.running",
+      "code": "CYCLE_RUNNING",
+      "message": "a freeze-drying cycle is running on {inst}; it takes this setting only between cycles.",
+      "fix": "wait for the cycle to end (`chemlab wait JOB`) or stop it: `chemlab run {inst} stop`.",
+      "falsy": true
+     }
+    ],
+    "endpoint": [
+     {
+      "slot": "cycle.running",
+      "code": "CYCLE_RUNNING",
+      "message": "a freeze-drying cycle is running on {inst}; it takes this setting only between cycles.",
+      "fix": "wait for the cycle to end (`chemlab wait JOB`) or stop it: `chemlab run {inst} stop`.",
+      "falsy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "chamber.open",
+      "code": "CHAMBER_OPEN",
+      "message": "the drying chamber of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close chamber`.",
+      "falsy": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading frozen samples is the lab's set-up).",
+      "fix": "ask the lab to load the pre-frozen samples.",
+      "value": true
+     },
+     {
+      "slot": "sample.pre_frozen",
+      "code": "NOT_FROZEN",
+      "message": "the sample in {inst} is not confirmed pre-frozen.",
+      "fix": "the samples must be frozen before loading; ask the lab.",
+      "value": true
+     },
+     {
+      "slot": "cycle.recipe",
+      "code": "NO_RECIPE",
+      "message": "{inst} has no recipe (phase durations) yet.",
+      "fix": "set it: `chemlab run {inst} method freeze=2h primary=20h secondary=4h`.",
+      "not": [
+       null
+      ]
+     },
+     {
+      "slot": "vacuum.compatible",
+      "code": "VACUUM_UNREACHABLE",
+      "message": "the vacuum source of {inst} cannot reach the vacuum set point (or no source is connected).",
+      "fix": "raise the set point within what the pump reaches (`chemlab run {inst} vacuum 100Pa`), or ask the lab to connect a suitable pump.",
+      "value": true
+     },
+     {
+      "slot": "cycle.running",
+      "code": "CYCLE_RUNNING",
+      "message": "a cycle is already running on {inst}.",
+      "fix": "follow it with `chemlab wait JOB`, or stop it first.",
+      "falsy": true
+     }
+    ]
+   },
+   "unsupported": {
+    "rotate": "no rotation (the shelves are static)",
+    "lift": "no lift",
+    "fraction": "no fraction collector",
+    "reflux": "no reflux",
+    "condenser": "the ice condenser runs at its own fixed temperature (no set point)",
+    "feed": "no feed pump",
+    "preheat": "no preheat (shelf temperature: `set-temp`)"
+   },
+   "params": {
+    "labels": {
+     "temp": "shelf",
+     "temp_set": "shelf set point",
+     "temp2": "condenser",
+     "stage": "waiting for",
+     "progress": "endpoint"
+    }
+   },
+   "notes": {
+    "method": [
+     "keys freeze / primary / secondary (phase durations) make the recipe; a phase left out keeps the stored recipe; shelf, pressure, protect go to their own set points.",
+     "manual: operating manual pp. 43-51 (methods, steps and phases)"
+    ],
+    "start": [
+     "the cycle runs pre-freeze, primary and secondary drying and ends \"complete\"; it waits (cycle.wait_reason) while the vacuum or temperatures are not there.",
+     "manual: operating manual pp. 40-42 (manual freeze-drying), pp. 52-56 (method-based)"
+    ],
+    "endpoint": [
+     "manual: operating manual pp. 43-51 (end point definition)"
+    ],
+    "set-temp": [
+     "manual: operating manual pp. 40-42"
+    ],
+    "vacuum": [
+     "manual: operating manual pp. 40-42"
+    ]
+   },
+   "codes": {
+    "lyophilization.start:PRECONDITION_FAILED": {
+     "code": "NO_MOISTURE_MODEL",
+     "message": "{inst} refused the start although power, chamber, sample, recipe and vacuum are ready: the moisture endpoint needs a drying-rate model the lab has not configured.",
+     "fix": "end on schedule instead (`chemlab run {inst} endpoint schedule`), or ask the lab for the drying model."
+    },
+    "lyophilization.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no cycle to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   }
+  },
+  "buchi_minispray": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "heating.set",
+     "arg": "inlet_target_k",
+     "heat_arg": "enabled",
+     "off": {
+      "cap": "heating.set",
+      "args": {
+       "enabled": false
+      }
+     }
+    },
+    "method": {
+     "keys": {
+      "inlet": {
+       "cap": "heating.set",
+       "arg": "inlet_target_k",
+       "kind": "temperature"
+      },
+      "temp": {
+       "cap": "heating.set",
+       "arg": "inlet_target_k",
+       "kind": "temperature"
+      },
+      "feed": {
+       "cap": "pump.set",
+       "arg": "feed_m3_s",
+       "kind": "flow"
+      },
+      "aspirator": {
+       "cap": "drying_gas.set",
+       "arg": "drying_gas_m3_s",
+       "kind": "flow"
+      },
+      "spray": {
+       "cap": "dispersion_gas.set",
+       "arg": "spray_gas_m3_s",
+       "kind": "flow"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "drying.measure"
+    },
+    "feed": {
+     "cap": "pump.set",
+     "arg": "feed_m3_s"
+    },
+    "preheat": {
+     "on": {
+      "cap": "drying.prepare",
+      "step": "aspirator, heater and spray gas on"
+     },
+     "off": {
+      "cap": "drying.shutdown",
+      "step": "shut down (heater off, then cool and stop the aspirator)"
+     },
+     "wait": {
+      "slot": "thermal.inlet_k",
+      "target": "tiles.setpoints#inlet_target_k",
+      "tol_k": 3.0
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault",
+    "temp": "thermal.inlet_k",
+    "temp_set": "tiles.setpoints#inlet_target_k",
+    "heating": "heater.enabled",
+    "temp2": "thermal.outlet_k",
+    "flow": "flow.feed_m3_s"
+   },
+   "requires": {
+    "set-temp:heat": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "airflow.enabled",
+      "code": "NO_AIRFLOW",
+      "message": "the heater of {inst} runs only with the aspirator (drying gas) on.",
+      "fix": "`chemlab run {inst} preheat on` switches the aspirator, heater and spray gas on together.",
+      "value": true
+     }
+    ],
+    "preheat:on": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_RECIPE",
+      "message": "{inst} has no drying recipe loaded by the lab.",
+      "fix": "ask the lab to load the recipe.",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no feed is connected to {inst} (the feed is the lab's set-up).",
+      "fix": "ask the lab to connect the feed.",
+      "value": true
+     },
+     {
+      "slot": "airflow.enabled",
+      "code": "NOT_PREHEATED",
+      "message": "{inst} is not preheated (aspirator off).",
+      "fix": "run `chemlab run {inst} preheat on --wait` first.",
+      "value": true
+     },
+     {
+      "slot": "heater.enabled",
+      "code": "NOT_PREHEATED",
+      "message": "the heater of {inst} is off.",
+      "fix": "run `chemlab run {inst} preheat on --wait` first.",
+      "value": true
+     },
+     {
+      "slot": "thermal.inlet_k",
+      "code": "NOT_AT_TEMPERATURE",
+      "message": "the inlet of {inst} is not at its set point yet (inlet {value}).",
+      "fix": "wait for it: `chemlab run {inst} preheat on --wait`.",
+      "near": {
+       "slot": "tiles.setpoints",
+       "key": "inlet_target_k"
+      },
+      "tol": 3.0
+     }
+    ]
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "drying.measure"
+   ],
+   "unsupported": {
+    "vacuum": "an open-loop spray dryer: the aspirator draws the drying gas at near-atmospheric pressure (no vacuum set point)",
+    "rotate": "no rotation",
+    "lift": "no lift",
+    "endpoint": "no endpoint setting (the run ends when the feed is used up or on stop)",
+    "fraction": "one product collection vessel (no fraction collector)",
+    "reflux": "no reflux",
+    "condenser": "no condenser in the open-loop set-up"
+   },
+   "alternatives": {
+    "vacuum": "set the aspirator (drying gas) flow instead: `chemlab run INST method aspirator=25L/min`."
+   },
+   "params": {
+    "labels": {
+     "temp": "inlet",
+     "temp_set": "inlet set point",
+     "temp2": "outlet",
+     "flow": "feed"
+    }
+   },
+   "notes": {
+    "method": [
+     "the drying recipe itself is the lab's set-up; method keys inlet (or temp), feed, aspirator, spray set the running set points.",
+     "manual: operating manual pp. 47-54 (drying gas, inlet temperature, dispersion gas, pump)"
+    ],
+    "start": [
+     "before start: `preheat on --wait` (aspirator, heater, spray gas on; inlet within 3 K of its set point).",
+     "manual: operating manual pp. 55-60"
+    ],
+    "preheat": [
+     "manual: operating manual pp. 55-60 (start, end, shut down)"
+    ],
+    "feed": [
+     "manual: operating manual pp. 35-46 (peristaltic pump)"
+    ],
+    "set-temp": [
+     "manual: operating manual pp. 47-54"
+    ]
+   }
+  },
+  "tousimis_autosamdri815": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "purge": {
+       "arg": "purge_time_s",
+       "kind": "duration"
+      },
+      "bleed": {
+       "arg": "bleed_rate_pa_s"
+      }
+     },
+     "keep": {
+      "method.configure": {
+       "purge_time_s": {
+        "slot": "method.purge_time_s"
+       }
+      }
+     },
+     "keep_when": {
+      "slot": "method.configured",
+      "value": true
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "cpd.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "fault": "cycle.fault",
+    "temp": "thermal.indicated_k",
+    "pressure": "pressure.indicated_abs_pa",
+    "progress": "co2.phase"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method (purge time, bleed rate) yet.",
+      "fix": "set it: `chemlab run {inst} method purge=10min bleed=14364`.",
+      "value": true
+     },
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the chamber lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "max": 0.0
+     },
+     {
+      "slot": "holder.lift_m",
+      "code": "HOLDER_UP",
+      "message": "the sample holder of {inst} is raised.",
+      "fix": "lower it: `chemlab call {inst} holder.set_lift --lift_m 0`, then close the lid.",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and recharge before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "METHOD_LOCKED",
+     "message": "the method of {inst} cannot change after this sample has been run.",
+     "fix": "a new method needs a new sample from the lab."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "cpd.measure"
+   ],
+   "unsupported": {
+    "set-temp": "the chamber temperature follows the CO2 critical-point cycle (cooled for filling, heated past the critical point); there is no set point",
+    "vacuum": "the chamber pressure follows the CO2 cycle; only the bleed rate is set (method bleed=...)",
+    "rotate": "no rotation",
+    "lift": "no lift (the sample holder is part of the lab's loading)",
+    "endpoint": "the cycle ends after the bleed to atmosphere",
+    "fraction": "no fraction collector",
+    "reflux": "no reflux",
+    "condenser": "no condenser",
+    "feed": "no feed pump",
+    "preheat": "no preheat (the cycle heats itself)"
+   },
+   "params": {
+    "labels": {
+     "temp": "chamber",
+     "pressure": "chamber pressure (absolute)",
+     "progress": "CO2 state"
+    }
+   },
+   "notes": {
+    "method": [
+     "purge = purge time (0-45 min), bleed = bleed rate in Pa/s (a plain number); the method can change until the first run of a sample.",
+     "manual: operating manual pp. 15-20 (purge), pp. 39-43 (bleed rate)"
+    ],
+    "start": [
+     "manual: operating manual pp. 15-20 (automatic CPD cycle)"
+    ]
+   }
+  },
+  "genevac_mivac2": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "heat_time": {
+       "arg": "heating_time_s",
+       "kind": "duration"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "program": {
+       "arg": "program"
+      },
+      "pressure": {
+       "arg": "target_pressure_pa",
+       "kind": "pressure"
+      },
+      "endpoint": {
+       "arg": "endpoint_remaining_fraction",
+       "kind": "fraction"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "evaporation.measure"
+    },
+    "preheat": {
+     "on": {
+      "cap": "preheat.set",
+      "args": {
+       "on": true
+      }
+     },
+     "off": {
+      "cap": "preheat.set",
+      "args": {
+       "on": false
+      }
+     },
+     "wait": {
+      "slot": "thermal.temperature_k",
+      "target": "thermal.target_k",
+      "tol_k": 1.0
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault",
+    "temp": "thermal.temperature_k",
+    "temp_set": "thermal.target_k",
+    "pressure": "vacuum.pressure_pa",
+    "speed": "rotor.speed_rad_s",
+    "progress": "output.remaining_fraction",
+    "collected": "output.captured_mass_kg"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is charged (this instrument takes a method only before charging).",
+      "fix": "change only what has its own verb now (e.g. `chemlab run {inst} set-temp ...`); a new method needs a new charge from the lab.",
+      "value": false
+     }
+    ],
+    "preheat:on": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "lid.open",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "falsy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and recharge before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:ROTOR_IMBALANCE": {
+     "code": "ROTOR_IMBALANCE",
+     "message": "the rotor of {inst} is not balanced.",
+     "fix": "ask the lab to balance the rotor load."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "evaporation.measure"
+   ],
+   "unsupported": {
+    "vacuum": "the built-in pump always pumps down fully; a target pressure is a method setting (method pressure=...) and needs the optional pressure controller",
+    "rotate": "the rotor spins at its fixed speed during a run (no speed setting)",
+    "lift": "no lift",
+    "endpoint": "the end point is a method setting (method endpoint=...)",
+    "fraction": "no fraction collector",
+    "reflux": "no reflux",
+    "condenser": "the cold trap is external",
+    "feed": "no feed pump"
+   },
+   "params": {
+    "labels": {
+     "temp": "chamber",
+     "temp_set": "set point",
+     "speed": "rotor",
+     "progress": "solvent left (fraction)",
+     "collected": "captured solvent"
+    }
+   },
+   "notes": {
+    "method": [
+     "the method needs all of temp, heat_time, time, timeout, program (water|alcohol|other), pressure (or null), endpoint; it can change only before the lab loads the samples.",
+     "manual: operating manual (predecessor model) pp. 9-12 (temperature, run type, run time, heat time)"
+    ],
+    "set-temp": [
+     "manual: operating manual pp. 9-12"
+    ],
+    "preheat": [
+     "manual: operating manual pp. 9-12"
+    ],
+    "start": [
+     "manual: operating manual pp. 9-12"
+    ]
+   }
+  },
+  "pilodist_pilodist104": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "temp": {
+       "arg": "bath_target_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "arg": "pressure_pa",
+       "kind": "pressure"
+      },
+      "reflux": {
+       "arg": "reflux_ratio"
+      },
+      "total_reflux": {
+       "arg": "total_reflux"
+      },
+      "cut": {
+       "arg": "cut_volume_m3",
+       "kind": "volume"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "min_boiler": {
+       "arg": "min_boiler_volume_m3",
+       "kind": "volume"
+      }
+     },
+     "keep": {
+      "method.configure": {
+       "bath_target_k": {
+        "slot": "thermal.target_k"
+       },
+       "reflux_ratio": {
+        "slot": "reflux.target_ratio"
+       },
+       "total_reflux": {
+        "slot": "reflux.total_reflux"
+       }
+      }
+     },
+     "keep_when": {
+      "slot": "method.configured",
+      "value": true
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "distillation.measure"
+    },
+    "fraction": {
+     "cap": "fraction.select",
+     "arg": "index"
+    },
+    "reflux": {
+     "cap": "reflux.set",
+     "ratio_arg": "ratio",
+     "total_arg": "total_reflux",
+     "keep_slot": "reflux.target_ratio"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault",
+    "temp": "thermal.bath_temperature_k",
+    "temp_set": "thermal.target_k",
+    "temp2": "thermal.top_temperature_k",
+    "pressure": "vacuum.pressure_pa",
+    "fraction": "fraction.index",
+    "progress": "reflux.fraction"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is charged (this instrument takes a method only before charging).",
+      "fix": "change only what has its own verb now (e.g. `chemlab run {inst} set-temp ...`); a new method needs a new charge from the lab.",
+      "value": false
+     }
+    ],
+    "reflux": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "fraction": [
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "nothing is being distilled on {inst} (no charge).",
+      "fix": "ask the lab to charge the boiler.",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "bath.lift_m",
+      "code": "BATH_DOWN",
+      "message": "the heating bath of {inst} is not raised to the boiler (bath lift {value} m).",
+      "fix": "ask the lab to raise the bath lift (a manual stand), then retry.",
+      "min": 0.1499
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and recharge before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "fraction.select:RECEIVER_FULL": {
+     "code": "RECEIVER_FULL",
+     "message": "that receiver of {inst} already holds a full cut.",
+     "fix": "choose an empty receiver (see `chemlab run {inst} result`)."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "distillation.measure"
+   ],
+   "unsupported": {
+    "vacuum": "the column-head pressure is a method setting (method pressure=...), fixed before the charge; there is no separate vacuum set point",
+    "rotate": "no rotation",
+    "lift": "the bath lift is a manual stand (the lab's set-up)",
+    "endpoint": "the run ends by time, minimum boiler volume or full receivers (method time / min_boiler / cut)",
+    "condenser": "the condenser coolant is external",
+    "feed": "batch distillation (no feed pump)",
+    "preheat": "no separate preheat"
+   },
+   "params": {
+    "labels": {
+     "temp": "bath",
+     "temp_set": "bath set point",
+     "temp2": "column head",
+     "fraction": "receiver",
+     "progress": "reflux fraction (L/V)"
+    }
+   },
+   "notes": {
+    "method": [
+     "all of temp, pressure, reflux, total_reflux, cut, time, timeout, min_boiler are needed (a stored temp / reflux is kept); the method can change only before the lab charges the boiler.",
+     "manual: data sheet p. 2 (DCD4001 control functions)"
+    ],
+    "fraction": [
+     "receivers are numbered 0-5 as on the instrument; the selector moves in total reflux.",
+     "manual: data sheet p. 2 (fraction collector)"
+    ],
+    "reflux": [
+     "manual: data sheet p. 2 (reflux)"
+    ],
+    "set-temp": [
+     "manual: data sheet p. 2 (oil bath)"
+    ]
+   }
+  },
+  "uic_kdl1basic": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "temperature_k"
+    },
+    "vacuum": {
+     "cap": "vacuum.set",
+     "arg": "pressure_pa"
+    },
+    "rotate": {
+     "speed_cap": "wiper.set",
+     "speed_arg": "speed_rad_s",
+     "off": {
+      "cap": "wiper.set",
+      "args": {
+       "speed_rad_s": 0
+      }
+     }
+    },
+    "condenser": {
+     "cap": "condenser.set",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "temp": {
+       "arg": "wall_temperature_k",
+       "kind": "temperature"
+      },
+      "condenser": {
+       "arg": "condenser_temperature_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "arg": "pressure_pa",
+       "kind": "pressure"
+      },
+      "feed": {
+       "arg": "feed_rate_kg_s",
+       "kind": "mass_flow"
+      },
+      "speed": {
+       "arg": "wiper_speed_rad_s",
+       "kind": "rotation"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      }
+     },
+     "keep": {
+      "method.configure": {
+       "wall_temperature_k": {
+        "slot": "thermal.wall_target_k"
+       },
+       "condenser_temperature_k": {
+        "slot": "thermal.condenser_target_k"
+       },
+       "pressure_pa": {
+        "slot": "vacuum.target_pa"
+       },
+       "wiper_speed_rad_s": {
+        "slot": "wiper.target_rad_s"
+       }
+      }
+     },
+     "keep_when": {
+      "slot": "method.configured",
+      "value": true
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "distillation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault",
+    "temp": "thermal.wall_temperature_k",
+    "temp_set": "thermal.wall_target_k",
+    "temp2": "thermal.condenser_temperature_k",
+    "pressure": "vacuum.pressure_pa",
+    "pressure_set": "vacuum.target_pa",
+    "speed": "wiper.speed_rad_s",
+    "speed_set": "wiper.target_rad_s"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "vacuum": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "rotate": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "rotate:off": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "condenser": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and recharge before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     },
+     {
+      "slot": "wiper.target_rad_s",
+      "code": "WIPER_OFF",
+      "message": "the wiper of {inst} is set to 0 (the film needs the wiper).",
+      "fix": "set it: `chemlab run {inst} rotate 300rpm`.",
+      "min": 1e-06
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    },
+    "REFERENCE_RANGE": {
+     "code": "OUTSIDE_SUBSTANCE_DATA",
+     "message": "that wall temperature is outside the vapour-pressure data of the charged substances in {inst}.",
+     "fix": "choose a wall temperature closer to the current one (`chemlab run {inst} status`); the lab can tell the valid range of the charge."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "distillation.measure"
+   ],
+   "unsupported": {
+    "lift": "no lift",
+    "endpoint": "the run ends by time or when the feed is used up (method time=...)",
+    "fraction": "distillate and residue receivers are exchanged by the lab",
+    "reflux": "short-path still (no reflux)",
+    "feed": "the feed rate is a method setting (method feed=2g/min)",
+    "preheat": "no separate preheat"
+   },
+   "alternatives": {
+    "feed": "`chemlab run INST method feed=2g/min`."
+   },
+   "params": {
+    "labels": {
+     "temp": "wall",
+     "temp_set": "wall set point",
+     "temp2": "condenser",
+     "speed": "wiper",
+     "speed_set": "wiper set point"
+    }
+   },
+   "notes": {
+    "method": [
+     "the first method needs all of temp, condenser, pressure, feed, speed, time, timeout; later ones keep the stored temperatures, pressure and wiper speed.",
+     "manual: brochure p. 3 (KDL 1 BASIC features)"
+    ],
+    "rotate": [
+     "rotate sets the wiper speed (the film wiper of the still).",
+     "manual: brochure p. 2 (wiped film principle)"
+    ],
+    "set-temp": [
+     "manual: brochure p. 3"
+    ],
+    "vacuum": [
+     "manual: brochure p. 3"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/extraction.json b/chemlab/configs/adapters/extraction.json
new file mode 100644
index 0000000000000000000000000000000000000000..2166173cce25f0a684a0218fc41032652f68bfd7
--- /dev/null
+++ b/chemlab/configs/adapters/extraction.json
@@ -0,0 +1,1391 @@
+{
+ "class": "extraction",
+ "adapter": "chemlab.compile.classes.extraction:ExtractionAdapter",
+ "about": "Extraction and membrane separation: pressurized solvent extraction, solid-phase extraction, supercritical fluid extraction, flow liquid-liquid extraction, tangential-flow ultrafiltration, electrodialysis.",
+ "membership": {
+  "primary": [
+   "buchi_speedextractore",
+   "biotage_extrahera_classic",
+   "sft_sft110",
+   "syrris_asiafllex",
+   "sartorius_vivaflow200",
+   "pccell_ed64002"
+  ],
+  "secondary": {},
+  "excluded": {
+   "biotage_selekt": "a flash chromatography system: its run (gradient, fractions, detector) is the chromatography class; an extraction view would duplicate it",
+   "gilson_cpc250": "centrifugal partition chromatography: a chromatography run (mobile phase, rotor, fractions), primary in chromatography"
+  }
+ },
+ "members": {
+  "buchi_speedextractore": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "arg": "pressure_gauge_pa",
+       "kind": "pressure"
+      },
+      "cycles": {
+       "arg": "cycles"
+      },
+      "hold": {
+       "arg": "hold_s",
+       "kind": "duration"
+      },
+      "discharge": {
+       "arg": "discharge_s",
+       "kind": "duration"
+      },
+      "flow": {
+       "arg": "pump_total_m3_s",
+       "kind": "flow"
+      },
+      "solvents": {
+       "arg": "solvent_fractions",
+       "kind": "fractions"
+      },
+      "flush": {
+       "arg": "solvent_flush_s",
+       "kind": "duration"
+      },
+      "nitrogen": {
+       "arg": "nitrogen_flush_s",
+       "kind": "duration"
+      },
+      "vial": {
+       "arg": "vial"
+      },
+      "cell": {
+       "arg": "cell_volume_m3",
+       "kind": "volume"
+      }
+     },
+     "keep": {
+      "method.configure": {
+       "temperature_k": {
+        "slot": "method.current",
+        "key": "temperature_k"
+       },
+       "pressure_gauge_pa": {
+        "slot": "method.current",
+        "key": "pressure_gauge_pa"
+       },
+       "cycles": {
+        "slot": "method.current",
+        "key": "cycles"
+       },
+       "hold_s": {
+        "slot": "method.current",
+        "key": "hold_s"
+       },
+       "discharge_s": {
+        "slot": "method.current",
+        "key": "discharge_s"
+       },
+       "pump_total_m3_s": {
+        "slot": "method.current",
+        "key": "pump_total_m3_s"
+       },
+       "solvent_fractions": {
+        "slot": "method.current",
+        "key": "solvent_fractions"
+       },
+       "solvent_flush_s": {
+        "slot": "method.current",
+        "key": "solvent_flush_s"
+       },
+       "nitrogen_flush_s": {
+        "slot": "method.current",
+        "key": "nitrogen_flush_s"
+       },
+       "vial": {
+        "slot": "method.current",
+        "key": "vial"
+       },
+       "cell_volume_m3": {
+        "slot": "method.current",
+        "key": "cell_volume_m3"
+       },
+       "solvent_names": {
+        "slot": "method.current",
+        "key": "solvent_names"
+       }
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.preheat",
+     "arg": "temperature_k",
+     "args": {
+      "enabled": true
+     },
+     "off": {
+      "cap": "thermal.preheat",
+      "args": {
+       "enabled": false
+      }
+     }
+    },
+    "pressure": {
+     "cap": "method.configure",
+     "arg": "pressure_gauge_pa",
+     "keep_from": {
+      "slot": "method.current"
+     },
+     "keep_skip": [
+      "cycle_steps"
+     ]
+    },
+    "prime": {
+     "mode": "flush",
+     "cap": "flush.start",
+     "config_cap": "flush.configure",
+     "time_arg": "solvent_s",
+     "job": "state",
+     "state": {
+      "slot": "flush.status",
+      "key": "active",
+      "done": [
+       false
+      ],
+      "fault_key": "fault"
+     },
+     "max_s": 3600,
+     "poll_s": 1
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extraction.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "fault": "cycle.fault",
+    "temp": "thermal.indicated_k",
+    "temp_set": "method.current#temperature_k",
+    "pressure": "pressure.max_gauge_pa",
+    "pressure_set": "method.current#pressure_gauge_pa",
+    "progress": "cycle.index"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "pressure": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "CELLS_LOADED",
+      "message": "the cells are already in {inst}; preheating is set before loading.",
+      "fix": "the heating follows the method temperature now (`chemlab run {inst} status`).",
+      "value": false
+     },
+     {
+      "slot": "heater.lift_m",
+      "code": "HEATER_RAISED",
+      "message": "the heating block of {inst} is raised (cells sealed).",
+      "fix": "wait until the run has ended.",
+      "max": 0.0
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "shield.lift_m",
+      "code": "SHIELD_OPEN",
+      "message": "the protective shield of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close shield`.",
+      "max": 0.0
+     },
+     {
+      "slot": "drawer.extension_m",
+      "code": "DRAWER_OPEN",
+      "message": "the drawer (heating block) of {inst} is pulled out.",
+      "fix": "close it: `chemlab run {inst} close drawer`.",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "RUNNING",
+      "message": "{inst} is extracting.",
+      "fix": "flush after the run.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample cells are loaded in {inst} (loading is the lab's set-up).",
+      "fix": "ask the lab to load the cells.",
+      "value": true
+     },
+     {
+      "slot": "shield.lift_m",
+      "code": "SHIELD_OPEN",
+      "message": "the protective shield of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close shield`.",
+      "max": 0.0
+     },
+     {
+      "slot": "drawer.extension_m",
+      "code": "DRAWER_OPEN",
+      "message": "the drawer (heating block) of {inst} is pulled out.",
+      "fix": "close it: `chemlab run {inst} close drawer`.",
+      "max": 0.0
+     },
+     {
+      "slot": "thermal.indicated_k",
+      "code": "NOT_AT_TEMPERATURE",
+      "message": "the heating block of {inst} is not at the method temperature (block {value}).",
+      "fix": "preheat to it (`chemlab run {inst} set-temp T` with T = the method temperature) and wait.",
+      "near": {
+       "slot": "method.current",
+       "key": "temperature_k"
+      },
+      "tol": 1.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and reload before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "METHOD_LOCKED",
+     "message": "the method of {inst} cannot change now (cells loaded, a process ran, or a flush / test is active).",
+     "fix": "a new method needs new cells from the lab."
+    },
+    "method.configure:LIQUID_PHASE_GUARD": {
+     "kind": "usage",
+     "code": "PRESSURE_TOO_LOW",
+     "message": "at that temperature the solvent would boil at this pressure in {inst}.",
+     "fix": "raise the pressure or lower the temperature."
+    },
+    "flush.start:NO_POSITION_SELECTED": {
+     "code": "NO_POSITION",
+     "message": "no cell position of {inst} is selected for the flush.",
+     "fix": "select one: `chemlab call {inst} positions.set --position 1 --enabled true`."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "extraction.measure"
+   ],
+   "unsupported": {
+    "flow": "the extraction flow is a method setting (method flow=...); the free-running service pump needs a manual valve path",
+    "vent": "no vent function: each cycle depressurises the cells itself (discharge and gas flush)"
+   },
+   "alternatives": {
+    "flow": "`chemlab run INST method flow=2mL/min` (the service pump: `chemlab call INST pump.run`)."
+   },
+   "params": {
+    "labels": {
+     "temp": "heating block",
+     "temp_set": "method temperature",
+     "pressure": "highest cell pressure (gauge)",
+     "pressure_set": "method pressure (gauge)",
+     "progress": "cycle"
+    }
+   },
+   "notes": {
+    "method": [
+     "a setting left out is kept from the current method (the per-cycle step list is rebuilt from cycles / hold / discharge); the method can change only before the lab loads the cells.",
+     "manual: operating manual pp. 50-60 (creating methods, parameters)"
+    ],
+    "set-temp": [
+     "preheats the heating block (before loading the cells); the run needs the block at the method temperature.",
+     "manual: operating manual pp. 36-45 (preheating)"
+    ],
+    "pressure": [
+     "the pressure is a method setting: this sets the method pressure and keeps the rest of the method.",
+     "manual: operating manual pp. 50-60"
+    ],
+    "prime": [
+     "flushes the solvent lines of the selected cell positions (flush settings: --time = solvent flush time).",
+     "manual: operating manual pp. 36-45 (activating positions, flushing)"
+    ],
+    "start": [
+     "manual: operating manual pp. 50-60 (extraction cycle stages)"
+    ]
+   }
+  },
+  "biotage_extrahera_classic": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "mode": "spe",
+     "cap": "method.configure",
+     "arg": "steps",
+     "positions_slot": "deck.solvent_positions"
+    },
+    "pressure": {
+     "cap": "pressure.set",
+     "arg": "pressure_pa",
+     "step_si": 10000,
+     "off": {
+      "cap": "pressure.set",
+      "args": {
+       "pressure_pa": 0
+      }
+     }
+    },
+    "prime": {
+     "cap": "run.prime",
+     "inlet_arg": "inlet",
+     "volume_arg": "volume_m3",
+     "default_volume_m3": 1.5e-05,
+     "assign_cap": "solvent.lock",
+     "assign_arg": "locks",
+     "inlets_slot": "inlets.state",
+     "library_slot": "library.entries"
+    },
+    "start": {
+     "cap": "method.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "method.stop"
+    },
+    "result": {
+     "reads": [
+      "method.status",
+      "method.phase",
+      "method.completed_strokes"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "method.status",
+    "stage": "method.phase",
+    "pressure_set": "pressure.target_pa",
+    "progress": "method.completed_strokes",
+    "state": "system.state"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "deck.format",
+      "code": "NO_DECK",
+      "message": "the deck of {inst} is not configured (format, collection plate, solvent positions).",
+      "fix": "configure it: `chemlab call {inst} deck.configure --format cartridges24 --cartridge_volume_m3 3e-6 --collection_plate plate1 --solvent_positions '[\"load\",\"wash\",\"elute\"]'`.",
+      "not": [
+       null
+      ]
+     },
+     {
+      "slot": "method.status",
+      "code": "BUSY",
+      "message": "{inst} is running a method.",
+      "fix": "wait for it or stop it first.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "pressure": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "manifold.z_m",
+      "code": "MANIFOLD_UP",
+      "message": "the pressure manifold of {inst} is not lowered onto the columns.",
+      "fix": "lower it: `chemlab call {inst} manifold.set_position --z_m 0`.",
+      "max": 0.0
+     },
+     {
+      "slot": "utilities.compressed_air_ready",
+      "code": "NO_GAS",
+      "message": "the compressed-air supply of {inst} is not ready (a lab utility).",
+      "fix": "ask the lab to open the air supply.",
+      "value": true
+     },
+     {
+      "slot": "utilities.nitrogen_ready",
+      "code": "NO_GAS",
+      "message": "the nitrogen supply of {inst} is not ready (a lab utility).",
+      "fix": "ask the lab to open the nitrogen supply.",
+      "value": true
+     },
+     {
+      "slot": "method.status",
+      "code": "BUSY",
+      "message": "{inst} is running a method; the pressure is set between runs.",
+      "fix": "wait for it or stop it first.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "prime": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "manual.state",
+      "code": "DOOR_OPEN",
+      "message": "the door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door`.",
+      "key": "door",
+      "not": [
+       "open"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "deck.format",
+      "code": "NO_DECK",
+      "message": "the deck of {inst} is not configured.",
+      "fix": "configure it (`chemlab call {inst} deck.configure ...`), then set the method.",
+      "not": [
+       null
+      ]
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no SPE method.",
+      "fix": "set it: `chemlab run {inst} method load=1mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min`.",
+      "value": true
+     },
+     {
+      "slot": "utilities.vacuum_ready",
+      "code": "NO_UTILITIES",
+      "message": "the vacuum supply of {inst} is not ready (a lab utility).",
+      "fix": "ask the lab to connect the vacuum.",
+      "value": true
+     },
+     {
+      "slot": "utilities.compressed_air_ready",
+      "code": "NO_UTILITIES",
+      "message": "the compressed-air supply of {inst} is not ready (a lab utility).",
+      "fix": "ask the lab to open the air supply.",
+      "value": true
+     },
+     {
+      "slot": "utilities.nitrogen_ready",
+      "code": "NO_UTILITIES",
+      "message": "the nitrogen supply of {inst} is not ready (a lab utility).",
+      "fix": "ask the lab to open the nitrogen supply.",
+      "value": true
+     },
+     {
+      "slot": "manifold.z_m",
+      "code": "MANIFOLD_UP",
+      "message": "the pressure manifold of {inst} is not lowered onto the columns.",
+      "fix": "lower it: `chemlab call {inst} manifold.set_position --z_m 0`.",
+      "max": 0.0
+     },
+     {
+      "slot": "pressure.target_pa",
+      "code": "NO_PRESSURE",
+      "message": "{inst} has no positive-pressure set point (it pushes the liquids through the columns).",
+      "fix": "set one: `chemlab run {inst} pressure 1bar`.",
+      "min": 1.0
+     },
+     {
+      "slot": "method.status",
+      "code": "BUSY",
+      "message": "{inst} is already running a method.",
+      "fix": "follow it with `chemlab wait JOB`.",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "method.start:PRECONDITION_FAILED": {
+     "code": "NOT_ENOUGH_LIQUID",
+     "message": "{inst} refused the start although deck, method, utilities, manifold and pressure are ready: the solvent reservoirs do not hold enough for every stroke, or liquid is left in the pipette / extraction position.",
+     "fix": "ask the lab to refill the reservoirs (or use smaller volumes / fewer repetitions in the method)."
+    },
+    "run.prime:NOT_ENOUGH_SOLVENT": {
+     "code": "NOT_ENOUGH_SOLVENT",
+     "message": "the reservoir of that inlet on {inst} does not hold the prime volume.",
+     "fix": "prime a smaller volume, or ask the lab to refill it."
+    },
+    "run.prime:INVALID_ARGUMENT": {
+     "code": "NO_SOLVENT",
+     "message": "that inlet of {inst} has no solvent assigned.",
+     "fix": "add --solvent ID to assign one (see `chemlab help {inst} prime`)."
+    },
+    "pressure.set:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "NOT_ON_STEP",
+     "message": "{inst} takes pressure set points in 0.1 bar steps only.",
+     "fix": "give a multiple of 100 mbar."
+    }
+   },
+   "path": "method",
+   "unsupported": {
+    "set-temp": "runs at room temperature (no heater)",
+    "flow": "flows belong to each SPE step (method flow=... drain=...)",
+    "vent": "nothing to vent: the positive-pressure manifold releases itself (`pressure off` sets it to 0)"
+   },
+   "alternatives": {
+    "flow": "`chemlab run INST method load=1mL wash=1mL elute=1mL flow=6mL/min drain=6mL/min`.",
+    "vent": "`chemlab run INST pressure off`."
+   },
+   "params": {
+    "labels": {
+     "phase": "method",
+     "stage": "step",
+     "pressure_set": "pressure set point",
+     "progress": "strokes done",
+     "state": "system"
+    }
+   },
+   "notes": {
+    "method": [
+     "an SPE method is three steps: load, wash, elute (volume per stroke, at most 1 mL); flow / drain / reps apply to all steps, PHASE.flow etc. to one; each step draws from the deck solvent position of its name unless PHASE.solvent= says otherwise.",
+     "manual: user manual pp. 28-34 (method operations and parameters)"
+    ],
+    "prime": [
+     "primes one solvent inlet (S1-S5) with --volume (default 15 mL; about 2 x 15 mL replace a line); --solvent assigns a library solvent first (an inlet without one cannot be primed).",
+     "manual: user manual pp. 35-42 (assign solvents and prime)"
+    ],
+    "start": [
+     "the method run path (method.start); the touch-screen Prepare Run dialog (run.prepare / run.setup / run.start) stays available with `chemlab call`.",
+     "manual: user manual pp. 35-48 (start, monitor and control a run)"
+    ],
+    "pressure": [
+     "manual: user manual pp. 35-42 (adjust air pressure)"
+    ]
+   }
+  },
+  "sft_sft110": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "arg": "pressure_gauge_pa",
+       "kind": "pressure"
+      },
+      "flow": {
+       "arg": "liquid_flow_m3_s",
+       "kind": "flow"
+      },
+      "static": {
+       "arg": "static_s",
+       "kind": "duration"
+      },
+      "dynamic": {
+       "arg": "dynamic_s",
+       "kind": "duration"
+      },
+      "restrictor": {
+       "arg": "restrictor_temperature_k",
+       "kind": "temperature"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "modifier": {
+       "arg": "modifier_fraction",
+       "kind": "fraction"
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "setpoint.set",
+     "arg": "value",
+     "args": {
+      "setpoint": "temperature_k"
+     },
+     "unit": "K",
+     "range_from": {
+      "cap": "method.configure",
+      "arg": "temperature_k"
+     }
+    },
+    "pressure": {
+     "cap": "setpoint.set",
+     "arg": "value",
+     "args": {
+      "setpoint": "pressure_gauge_pa"
+     },
+     "unit": "Pa",
+     "range_from": {
+      "cap": "method.configure",
+      "arg": "pressure_gauge_pa"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extraction.measure"
+    },
+    "vent": {
+     "cap": "pressure.vent",
+     "job": "operation"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "fault": "cycle.fault",
+    "temp": "thermal.temperature_k",
+    "temp_set": "thermal.target_k",
+    "pressure": "pressure.indicated_gauge_pa",
+    "flow": "flow.liquid_inlet_m3_s"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "pressure": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "door.angle_rad",
+      "code": "DOOR_OPEN",
+      "message": "the oven door of {inst} is open.",
+      "fix": "ask the lab to close the vessel and the door.",
+      "max": 0.0
+     },
+     {
+      "slot": "cap.lift_m",
+      "code": "VESSEL_OPEN",
+      "message": "the extraction vessel cap of {inst} is not closed.",
+      "fix": "ask the lab to close the vessel.",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and reload before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ],
+    "vent": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "RUNNING",
+      "message": "{inst} is extracting; venting comes after the run.",
+      "fix": "stop the run first: `chemlab run {inst} stop`.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "pressure.indicated_gauge_pa",
+      "code": "NOTHING_TO_VENT",
+      "message": "{inst} has no pressure to release (gauge {value} Pa).",
+      "fix": "nothing to do.",
+      "min": 1.0001
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:RECONDITION_REQUIRED": {
+     "code": "RECONDITION_REQUIRED",
+     "message": "the oven of {inst} is not back at its set point after the stop.",
+     "fix": "wait until the oven is at the set point (`chemlab run {inst} status`), then start again."
+    },
+    "setpoint.set:TEMPLATE_RANGE_UNAVAILABLE": {
+     "code": "OUTSIDE_SOLUBILITY_DATA",
+     "message": "the solubility data of the loaded sample in {inst} do not cover that temperature / pressure.",
+     "fix": "stay closer to the method set points (`chemlab run {inst} status`)."
+    },
+    "setpoint.set:PUMP_PRESSURE_ENVELOPE": {
+     "kind": "usage",
+     "code": "PRESSURE_ENVELOPE",
+     "message": "that pressure plus the bed pressure drop is above what the pump of {inst} delivers.",
+     "fix": "give a lower pressure."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "extraction.measure"
+   ],
+   "unsupported": {
+    "flow": "the CO2 pump flow is a method setting (method flow=...)",
+    "prime": "no solvent lines to prime (liquid CO2 comes from the dip-tube cylinder)"
+   },
+   "alternatives": {
+    "flow": "`chemlab run INST method flow=10mL/min` before the sample is loaded."
+   },
+   "params": {
+    "labels": {
+     "temp": "oven",
+     "temp_set": "oven set point",
+     "flow": "CO2 pump"
+    }
+   },
+   "notes": {
+    "set-temp": [
+     "changes the oven set point of the method (allowed during a run)",
+     "manual: spec sheet pp. 1-2 (PID temperature control)"
+    ],
+    "pressure": [
+     "changes the extraction pressure (gauge) of the method (allowed during a run)",
+     "manual: spec sheet pp. 1-2 (PID pressure control)"
+    ],
+    "vent": [
+     "releases the residual pressure after a stopped run (a job; the vessel can be opened when it is done).",
+     "manual: brochure p. 4 (vent in the flow diagram)"
+    ],
+    "method": [
+     "manual: spec sheet pp. 1-2, brochure p. 3"
+    ],
+    "start": [
+     "manual: technical FAQ (static and dynamic extraction)"
+    ]
+   }
+  },
+  "syrris_asiafllex": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "aqueous": {
+       "arg": "aqueous_flow_m3_s",
+       "kind": "flow"
+      },
+      "organic": {
+       "arg": "organic_flow_m3_s",
+       "kind": "flow"
+      },
+      "bpr": {
+       "arg": "bpr_gauge_pa",
+       "kind": "pressure"
+      },
+      "cmp": {
+       "arg": "cross_membrane_pa",
+       "kind": "pressure"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "stop_on_breakthrough": {
+       "arg": "stop_on_breakthrough"
+      }
+     }
+    },
+    "pressure": {
+     "cap": "pressure.setpoint",
+     "arg": "value_pa",
+     "step_si": {
+      "main": 10000,
+      "cmp": 1000,
+      "*": 10000
+     },
+     "off": {
+      "cap": "pressure.setpoint",
+      "args": {
+       "setpoint": "main",
+       "value_pa": 0
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "separation.measure"
+    },
+    "vent": {
+     "cap": "pressure.release",
+     "job": "operation"
+    }
+   },
+   "targets": {
+    "channel": {
+     "arg": "setpoint",
+     "values": {
+      "bpr": "main",
+      "cmp": "cmp"
+     },
+     "default": "bpr"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "fault": "cycle.fault",
+    "pressure": "pressure.bpr_gauge_pa",
+    "pressure_set": "pressure.bpr_target_pa",
+    "pressure2": "pressure.cmp_pa",
+    "flow": "flow.aqueous_m3_s",
+    "flow2": "flow.organic_m3_s",
+    "state": "separation.state"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "tray.extension_m",
+      "code": "TRAY_OUT",
+      "message": "the tray of {inst} is pulled out.",
+      "fix": "ask the lab to close the tray.",
+      "max": 0.0
+     },
+     {
+      "slot": "separator.opening_m",
+      "code": "SEPARATOR_OPEN",
+      "message": "the membrane separator of {inst} is open.",
+      "fix": "ask the lab to close it.",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and reload before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ],
+    "vent": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "RUNNING",
+      "message": "{inst} is running; release the pressure after the run.",
+      "fix": "stop the run first: `chemlab run {inst} stop`.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "pressure.bpr_gauge_pa",
+      "code": "NOTHING_TO_VENT",
+      "message": "{inst} has no residual pressure (back pressure {value} Pa).",
+      "fix": "nothing to do.",
+      "min": 1.0001
+     }
+    ]
+   },
+   "codes": {
+    "pressure.setpoint:GAS_PRESSURE_MARGIN": {
+     "kind": "usage",
+     "code": "ABOVE_GAS_SUPPLY",
+     "message": "that back pressure is above what the gas supply of {inst} allows.",
+     "fix": "give a lower pressure."
+    },
+    "pressure.setpoint:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_PRESSURE",
+     "message": "{inst} takes the back pressure from 1 bar in 0.1 bar steps (or 0), and the cross-membrane pressure in 10 mbar steps within its limit.",
+     "fix": "give a value on those steps."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "separation.measure"
+   ],
+   "unsupported": {
+    "set-temp": "runs at room temperature (no heater)",
+    "flow": "the two phase flows come from the external pumps of the method (method aqueous=... organic=...)",
+    "prime": "the external pumps and the pre-wetted membrane are the lab's set-up (no prime function)"
+   },
+   "alternatives": {
+    "flow": "`chemlab run INST method aqueous=0.1mL/min organic=0.1mL/min ...` before the sample is connected."
+   },
+   "params": {
+    "labels": {
+     "pressure": "back pressure (gauge)",
+     "pressure_set": "back-pressure set point",
+     "pressure2": "cross-membrane",
+     "flow": "aqueous",
+     "flow2": "organic",
+     "state": "separation"
+    }
+   },
+   "notes": {
+    "pressure": [
+     "--channel bpr (default): the back-pressure regulator, 1-9 bar in 0.1 bar steps; --channel cmp: the cross-membrane pressure in 10 mbar steps.",
+     "manual: operating manual pp. 18-26 (main pressure and CMP)"
+    ],
+    "vent": [
+     "releases the residual back pressure after a run (a job)."
+    ],
+    "method": [
+     "manual: operating manual pp. 16-26"
+    ],
+    "start": [
+     "manual: operating manual pp. 16-17 (quick start)"
+    ]
+   }
+  },
+  "sartorius_vivaflow200": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "circulation": {
+       "arg": "circulation_m3_s",
+       "kind": "flow"
+      },
+      "tmp": {
+       "arg": "tmp_pa",
+       "kind": "pressure"
+      },
+      "retentate": {
+       "arg": "target_retentate_m3",
+       "kind": "volume"
+      },
+      "diavolumes": {
+       "arg": "target_diavolumes"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "filtration.measure"
+    }
+   },
+   "slots": {
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "fault": "cycle.fault",
+    "pressure": "pressure.tmp_pa",
+    "pressure2": "pressure.feed_gauge_pa",
+    "flow": "flow.permeate_m3_s",
+    "flow2": "flow.circulation_m3_s",
+    "volume": "volume.retentate_m3",
+    "volume2": "volume.permeate_m3",
+    "progress": "process.diavolumes",
+    "state": "method.mode"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "start": [
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and reload before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:PRESSURE_ENVELOPE": {
+     "kind": "usage",
+     "code": "PRESSURE_ENVELOPE",
+     "message": "at that flow and transmembrane pressure the feed or retentate pressure of {inst} would leave the cassette limits.",
+     "fix": "lower the transmembrane pressure or the circulation flow."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "filtration.measure"
+   ],
+   "unsupported": {
+    "set-temp": "a passive cassette at room temperature (no heater)",
+    "pressure": "the transmembrane pressure is a method setting (method tmp=...), set before the sample is attached; the cassette has no pressure controller",
+    "flow": "the circulation flow comes from the external peristaltic pump of the method (method circulation=...)",
+    "prime": "flushing the cassette is the lab's set-up (it is attached wet)",
+    "vent": "an open system: nothing to vent"
+   },
+   "alternatives": {
+    "pressure": "`chemlab run INST method tmp=2bar ...` before the sample is attached.",
+    "flow": "`chemlab run INST method circulation=300mL/min ...`."
+   },
+   "params": {
+    "labels": {
+     "pressure": "transmembrane",
+     "pressure2": "feed (gauge)",
+     "flow": "permeate flow",
+     "flow2": "circulation",
+     "volume": "retentate",
+     "volume2": "permeate collected",
+     "progress": "diavolumes",
+     "state": "mode"
+    }
+   },
+   "notes": {
+    "method": [
+     "all of mode (concentrate|diafilter), circulation, tmp, retentate (target retentate volume), diavolumes, timeout; only before the lab attaches the sample.",
+     "manual: operating manual pp. 15-20 (set-up), pp. 21-24 (concentration, diafiltration)"
+    ],
+    "start": [
+     "manual: operating manual pp. 21-24"
+    ]
+   }
+  },
+  "pccell_ed64002": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "voltage": {
+       "arg": "voltage_v",
+       "kind": "voltage"
+      },
+      "current": {
+       "arg": "current_a",
+       "kind": "current"
+      },
+      "flow": {
+       "arg": "flow_m3_s",
+       "kind": "flow"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "endpoint": {
+       "arg": "endpoint_conductivity_s_m",
+       "kind": "conductivity"
+      }
+     }
+    },
+    "flow": {
+     "cap": "flow.set_rate",
+     "arg": "flow_m3_s"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "electrodialysis.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault",
+    "voltage": "electrical.voltage_v",
+    "current": "electrical.current_a",
+    "flow": "flow.actual_m3_s",
+    "conductivity": "conductivity.diluate_s_m"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.configured",
+      "code": "METHOD_LOCKED",
+      "message": "the method of {inst} is fixed once the sample is loaded (this instrument takes a method only before loading).",
+      "fix": "change only what has its own verb now (set-temp / pressure / flow); a new method needs a new sample from the lab.",
+      "value": false
+     }
+    ],
+    "flow": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one first: `chemlab run {inst} method ...` (see `chemlab help {inst} method`).",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no sample is loaded in {inst} (loading is the lab's set-up, not an agent action).",
+      "fix": "ask the lab to load the sample; `chemlab run {inst} status` shows when it is there.",
+      "value": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "NOT_IDLE",
+      "message": "{inst} is not ready for a new run (run state {value}).",
+      "fix": "a running run: `chemlab run {inst} stop` first; a finished run: the lab must unload and reload before the next run.",
+      "in": [
+       "idle",
+       "cancelled"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "flow.set_rate:HOST_ENVELOPE": {
+     "kind": "usage",
+     "code": "ABOVE_PUMP_LIMIT",
+     "message": "that flow is above what the pumps of {inst} deliver.",
+     "fix": "give a lower flow."
+    },
+    "acquisition.stop:PRECONDITION_FAILED": {
+     "code": "NOT_RUNNING",
+     "message": "{inst} has no run to stop.",
+     "fix": "nothing to do; see `chemlab run {inst} status`."
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "electrodialysis.measure"
+   ],
+   "unsupported": {
+    "set-temp": "no temperature control (the stack runs at the solution temperature)",
+    "pressure": "no pressure setting (the loops run at the pump pressure)",
+    "prime": "the diluate, concentrate and electrode loops are filled by the lab",
+    "vent": "an open loop system: nothing to vent"
+   },
+   "params": {
+    "labels": {
+     "conductivity": "diluate conductivity"
+    }
+   },
+   "notes": {
+    "method": [
+     "all of mode (constant_current|constant_voltage), voltage, current, flow, time, timeout, endpoint (diluate conductivity); only before the lab fills the loops.",
+     "manual: technical manual pp. 10-22 (max voltage / current), pp. 28-37 (batch desalination)"
+    ],
+    "flow": [
+     "the loop flow; voltage and current outside the method: `chemlab call INST electrical.set_voltage` / `electrical.set_current`.",
+     "manual: technical manual pp. 4-9 (BED pump)"
+    ],
+    "start": [
+     "manual: technical manual pp. 28-37"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/formulation.json b/chemlab/configs/adapters/formulation.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fee9251742930158f7b0bbd8d28bbf6195571bb
--- /dev/null
+++ b/chemlab/configs/adapters/formulation.json
@@ -0,0 +1,1533 @@
+{
+ "class": "formulation",
+ "adapter": "chemlab.compile.classes.formulation:FormulationAdapter",
+ "about": "Formulation and particle / fibre processing: set-temp (per zone / channel), heat, temp, wait-temp, speed, vibration, feed, air, hv, humidity, prime, clean, method, start / stop / result with jobs.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "thermo_process11",
+   "linari_rtadvanced",
+   "buchi_encapsulatorb",
+   "cytiva_nanoassemblrignite",
+   "glatt_miniglatt"
+  ],
+  "secondary": {},
+  "excluded": {},
+  "not_here": {
+   "buchi_minispray": "spray dryer: evaporation class; its spray drying is drying, not particle formulation here"
+  }
+ },
+ "members": {
+  "thermo_process11": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermal.set_zone",
+       "arg": "temperature_k",
+       "target": true
+      }
+     ],
+     "by_target": {
+      "die": [
+       {
+        "cap": "die.set_temperature",
+        "arg": "temperature_k"
+       }
+      ]
+     }
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "thermal.set_enabled",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "thermal.set_enabled",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "thermal.enabled",
+     "word": "barrel heating"
+    },
+    "temp": {
+     "reads": [
+      "thermal.zone_0_k",
+      "die.temperature_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.zone_0_k",
+      "die.temperature_k"
+     ]
+    },
+    "speed": {
+     "set": [
+      {
+       "cap": "drive.set_speed",
+       "arg": "speed_rad_s"
+      }
+     ],
+     "on": [
+      {
+       "cap": "drive.set_enabled",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "drive.set_enabled",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "drive.enabled",
+     "word": "screws"
+    },
+    "feed": {
+     "kind": "mass_flow",
+     "set": [
+      {
+       "cap": "feed.set_rate",
+       "arg": "mass_rate_kg_s"
+      }
+     ],
+     "on": [
+      {
+       "cap": "feeder.set_running",
+       "args": {
+        "running": true,
+        "test": false
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "feeder.set_running",
+       "args": {
+        "running": false,
+        "test": false
+       }
+      }
+     ],
+     "state": "feeder.state#running",
+     "word": "feeder"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "speed": {
+       "arg": "speed_rad_s",
+       "kind": "rotation"
+      },
+      "feed": {
+       "arg": "feed_kg_s",
+       "kind": "mass_flow"
+      },
+      "die-radius": {
+       "arg": "die_radius_m",
+       "kind": "length"
+      },
+      "die-length": {
+       "arg": "die_length_m",
+       "kind": "length"
+      },
+      "mixing": {
+       "arg": "mixing_factor"
+      }
+     },
+     "keep": {
+      "speed_rad_s": "drive.target_rad_s",
+      "feed_kg_s": "feed.target_kg_s"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "extrusion run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extrusion.measure"
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone",
+     "values": {
+      "1": 0,
+      "2": 1,
+      "3": 2,
+      "4": 3,
+      "5": 4,
+      "6": 5,
+      "7": 6,
+      "die": "die"
+     },
+     "required": true,
+     "verbs": [
+      "set-temp",
+      "temp",
+      "wait-temp"
+     ],
+     "optional_for": [
+      "temp",
+      "wait-temp"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": {
+     "slot": "thermal.zone_0_k",
+     "per": "thermal.zone_{native}_k",
+     "per_map": {
+      "die": "die.temperature_k"
+     }
+    },
+    "set": {
+     "slot": "thermal.targets_k",
+     "per": "thermal.targets_k",
+     "per_map": {
+      "die": "die.target_k"
+     },
+     "index": true
+    },
+    "heat": "thermal.enabled",
+    "speed": "drive.speed_rad_s",
+    "drive": "drive.enabled",
+    "torque": "extrusion.torque_per_shaft_nm",
+    "die_pressure": "extrusion.die_pressure_gauge_pa",
+    "feed_mass": "feed.actual_kg_s",
+    "phase": "cycle.phase",
+    "fault": "safety.fault"
+   },
+   "requires": {
+    "heat": [
+     {
+      "slot": "coolant.connected",
+      "code": "NO_COOLANT",
+      "message": "the feed-throat cooling water of {inst} is not connected.",
+      "fix": "ask the lab operator to connect it.",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "coolant.connected",
+      "code": "NO_COOLANT",
+      "message": "the feed-throat cooling water of {inst} is not connected.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "barrel.position_m",
+      "code": "BARREL_OPEN",
+      "message": "the barrel of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close barrel`.",
+      "max": 0.0
+     },
+     {
+      "slot": "safety.latched",
+      "code": "SAFETY_LATCHED",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "release and reset it (see `chemlab describe {inst}`).",
+      "falsy": true
+     },
+     {
+      "slot": "drive.enabled",
+      "code": "DRIVE_OFF",
+      "message": "the screws of {inst} are not running.",
+      "fix": "start them: `chemlab run {inst} speed on`.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "speed": [
+     {
+      "slot": "safety.latched",
+      "code": "SAFETY_LATCHED",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "release and reset it first.",
+      "falsy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "drive.enabled",
+      "code": "DRIVE_ON",
+      "message": "{inst} takes a new method only with the screws stopped.",
+      "fix": "stop them first: `chemlab run {inst} speed off`.",
+      "falsy": true
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs the screws running, a method, material in the hopper, the barrel closed and the cooling water on.",
+     "fix": "check `chemlab run {inst} status`; `chemlab run {inst} speed on` starts the screws."
+    },
+    "thermal.set_enabled:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot heat: it needs power, the cooling water and the barrel closed.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "drive.set_enabled:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start the screws: the barrel must be closed and hot enough for the material, and no emergency stop latched.",
+     "fix": "heat the barrel first (`wait-temp`)."
+    }
+   },
+   "unsupported": {
+    "vibration": "no vibrating nozzle",
+    "air": "no fluidising air",
+    "hv": "no high voltage",
+    "humidity": "no climate chamber",
+    "prime": "no priming step (purge by running the screws)",
+    "clean": "the screws are cleaned by hand with the barrel open"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "extrusion.measure"
+   ],
+   "params": {
+    "tolerance_k": 2.0,
+    "wait_all": true
+   },
+   "notes": {
+    "set-temp": [
+     "--zone 1..7 are the barrel zones (feed to die), --zone die the die"
+    ],
+    "wait-temp": [
+     "without --zone it waits until every zone and the die are at their set points"
+    ],
+    "speed": [
+     "speed sets the screw speed; `speed on` runs the screws (the run itself uses the method speed)"
+    ],
+    "start": [
+     "start runs the method: the screws at the method speed, the feeder at the method rate, for the method time"
+    ]
+   }
+  },
+  "linari_rtadvanced": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "climate.set_targets",
+       "arg": "temperature_k",
+       "keep": {
+        "humidity": "climate.target_rh"
+       }
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "climate.set",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "climate.set",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "climate.enabled",
+     "word": "climate control"
+    },
+    "temp": {
+     "reads": [
+      "thermal.temperature_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.temperature_k"
+     ]
+    },
+    "humidity": {
+     "set": [
+      {
+       "cap": "climate.set_targets",
+       "arg": "humidity",
+       "keep": {
+        "temperature_k": "thermal.target_k"
+       }
+      }
+     ],
+     "on": [
+      {
+       "cap": "climate.set",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "climate.set",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "climate.enabled",
+     "word": "chamber humidity"
+    },
+    "hv": {
+     "on": [
+      {
+       "cap": "hv.set",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "hv.set",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "hv.enabled",
+     "word": "high voltage",
+     "value_fix": "the spinning voltage is part of the method: `chemlab run INST method voltage=15kV,15kV ...`; `chemlab run INST hv on|off` switches it."
+    },
+    "clean": {
+     "cap": "needle.clean",
+     "target": true,
+     "what": "clean the needle",
+     "done": "needles cleaned"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "voltage": {
+       "arg": "voltage_v",
+       "kind": "voltage"
+      },
+      "flows": {
+       "arg": "flows_m3_s",
+       "kind": "flow"
+      },
+      "rpm": {
+       "arg": "rpm",
+       "kind": "rotation",
+       "unit": "rpm"
+      },
+      "needle-low": {
+       "arg": "needle_low_m",
+       "kind": "length"
+      },
+      "needle-high": {
+       "arg": "needle_high_m",
+       "kind": "length"
+      },
+      "gap": {
+       "arg": "gap_m",
+       "kind": "length"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "electrospinning run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "spinning.measure"
+    }
+   },
+   "targets": {
+    "head": {
+     "arg": "group",
+     "values": {
+      "1": 0,
+      "2": 1
+     },
+     "required": true,
+     "verbs": [
+      "clean"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.temperature_k",
+    "set": "thermal.target_k",
+    "heat": "climate.enabled",
+    "humidity": "climate.humidity",
+    "hv": "hv.enabled",
+    "voltage": "hv.group_0_v",
+    "phase": "cycle.phase",
+    "fault": "safety.fault"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no spinning method yet.",
+      "fix": "set one: `chemlab run {inst} method voltage=... flows=... rpm=... needle-low=... needle-high=... gap=... time=...`.",
+      "truthy": true
+     },
+     {
+      "slot": "hv.enabled",
+      "code": "HV_OFF",
+      "message": "the high voltage of {inst} is off; spinning needs it switched on.",
+      "fix": "switch it on: `chemlab run {inst} hv on`.",
+      "truthy": true
+     },
+     {
+      "slot": "door.opened",
+      "code": "DOOR_OPEN",
+      "message": "the chamber door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door`.",
+      "falsy": true
+     },
+     {
+      "slot": "vent.enabled",
+      "code": "NO_EXHAUST",
+      "message": "the exhaust of {inst} is off.",
+      "fix": "ask the lab operator to switch the exhaust on.",
+      "truthy": true
+     },
+     {
+      "slot": "collector.present",
+      "code": "NO_COLLECTOR",
+      "message": "no collector is fitted in {inst}.",
+      "fix": "ask the lab operator to fit one.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "clean": [
+     {
+      "slot": "hv.enabled",
+      "code": "HV_ON",
+      "message": "the high voltage of {inst} is on; the needles may be cleaned only with it off.",
+      "fix": "switch it off: `chemlab run {inst} hv off`.",
+      "falsy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs a method, the high voltage on, the door closed, the exhaust on and a collector.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "speed": "the collector speed is the method key rpm",
+    "vibration": "no vibrating nozzle",
+    "feed": "the pump flows are the method key flows",
+    "air": "no fluidising air",
+    "prime": "no priming step (use clean for the needle tips)"
+   },
+   "alternatives": {
+    "speed": "`chemlab run INST method rpm=600rpm ...`.",
+    "feed": "`chemlab run INST method flows=0.2mL/h,0,0,0,0,0,0,0 ...`."
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "spinning.measure"
+   ],
+   "params": {
+    "tolerance_k": 1.0
+   },
+   "notes": {
+    "method": [
+     "every setting is needed each time (the instrument does not show the stored ones): voltage (2 groups), flows (8 pumps), rpm, needle-low, needle-high, gap (2 groups each), time"
+    ],
+    "hv": [
+     "after a run the needles stay charged while hv is on; switch it off before opening the door or cleaning"
+    ],
+    "set-temp": [
+     "the chamber climate: temperature and humidity are set together; the other stays as it is"
+    ]
+   }
+  },
+  "buchi_encapsulatorb": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_k"
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "thermal.toggle",
+       "toggle": true,
+       "state": "thermal.enabled",
+       "want": true
+      }
+     ],
+     "off": [
+      {
+       "cap": "thermal.toggle",
+       "toggle": true,
+       "state": "thermal.enabled",
+       "want": false
+      }
+     ],
+     "state": "thermal.enabled",
+     "word": "nozzle heating"
+    },
+    "vibration": {
+     "set": [
+      {
+       "cap": "vibration.set_frequency",
+       "arg": "frequency_hz"
+      }
+     ],
+     "on": [
+      {
+       "cap": "vibration.toggle",
+       "toggle": true,
+       "state": "vibration.enabled",
+       "want": true
+      }
+     ],
+     "off": [
+      {
+       "cap": "vibration.toggle",
+       "toggle": true,
+       "state": "vibration.enabled",
+       "want": false
+      }
+     ],
+     "state": "vibration.enabled",
+     "word": "vibration"
+    },
+    "hv": {
+     "set": [
+      {
+       "cap": "electrostatic.set_voltage",
+       "arg": "voltage_v"
+      }
+     ],
+     "on": [
+      {
+       "cap": "electrostatic.toggle",
+       "toggle": true,
+       "state": "electrostatic.enabled",
+       "want": true
+      }
+     ],
+     "off": [
+      {
+       "cap": "electrostatic.toggle",
+       "toggle": true,
+       "state": "electrostatic.enabled",
+       "want": false
+      }
+     ],
+     "state": "electrostatic.enabled",
+     "word": "electrostatic dispersion"
+    },
+    "feed": {
+     "kind": "pressure",
+     "set": [
+      {
+       "cap": "air.set_pressure",
+       "arg": "gauge_pa"
+      },
+      {
+       "cap": "valve.set_opening",
+       "args": {
+        "fraction": 1.0
+       },
+       "skip_if": {
+        "slot": "valve.target_fraction",
+        "value": 1.0
+       },
+       "step": "open the feed valve"
+      }
+     ],
+     "on": [
+      {
+       "cap": "valve.set_opening",
+       "args": {
+        "fraction": 1.0
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "valve.set_opening",
+       "args": {
+        "fraction": 0.0
+       },
+       "step": "close the feed valve"
+      },
+      {
+       "cap": "air.set_pressure",
+       "args": {
+        "gauge_pa": 0.0
+       },
+       "step": "release the feed pressure"
+      }
+     ],
+     "state": "valve.target_fraction",
+     "word": "feed pressure"
+    },
+    "method": {
+     "cap": "method.configure",
+     "args": {
+      "accept_host_observer_only": true
+     },
+     "keys": {
+      "volume": {
+       "arg": "target_volume_m3",
+       "kind": "volume"
+      },
+      "flow": {
+       "arg": "target_flow_m3_s",
+       "kind": "flow"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "encapsulation run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "encapsulation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "set": "thermal.target_k",
+    "heat": "thermal.enabled",
+    "vibration": "vibration.target_hz",
+    "vib_on": "vibration.enabled",
+    "hv": "electrostatic.enabled",
+    "voltage": "electrostatic.target_v",
+    "feed_pressure": "air.target_pa",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage"
+   },
+   "requires": {
+    "feed": [
+     {
+      "slot": "air.configured",
+      "code": "NO_AIR",
+      "message": "the compressed-air supply of {inst} is not connected in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no polymer solution is in the feed bottle of {inst}.",
+      "fix": "ask the lab operator to fill it.",
+      "truthy": true
+     },
+     {
+      "slot": "bath.configured",
+      "code": "NO_BATH",
+      "message": "no gelling bath is under the nozzle of {inst}.",
+      "fix": "ask the lab operator to place it.",
+      "truthy": true
+     }
+    ],
+    "feed:on": [],
+    "hv": [
+     {
+      "slot": "bath.configured",
+      "code": "NO_BATH",
+      "message": "no grounded gelling bath is under the electrode of {inst}.",
+      "fix": "ask the lab operator to place it.",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no target volume yet.",
+      "fix": "set it: `chemlab run {inst} method volume=5mL flow=6mL/min`.",
+      "truthy": true
+     },
+     {
+      "slot": "sample.configured",
+      "code": "NO_SAMPLE",
+      "message": "no polymer solution is in the feed bottle of {inst}.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "bath.configured",
+      "code": "NO_BATH",
+      "message": "no gelling bath is under the nozzle of {inst}.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "air.configured",
+      "code": "NO_AIR",
+      "message": "the compressed-air supply of {inst} is not connected.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, a target volume the feed bottle holds and the bath can take, the solution, the bath and the air supply.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "electrostatic.toggle:PRECONDITION_FAILED": {
+     "code": "NOT_GROUNDED",
+     "message": "the electrostatic dispersion of {inst} needs a grounded bath.",
+     "fix": "ask the lab operator to ground the bath."
+    }
+   },
+   "unsupported": {
+    "speed": "no screws or rotor",
+    "air": "no fluidising air (the air drives the feed: `feed`)",
+    "humidity": "no climate chamber",
+    "prime": "no priming step",
+    "clean": "the nozzle is cleaned by hand",
+    "temp": "no nozzle temperature reading (the heater set point is in `status`)",
+    "wait-temp": "no nozzle temperature reading (the heater set point only)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "encapsulation.measure"
+   ],
+   "notes": {
+    "feed": [
+     "feed P sets the feed pressure (gauge) and opens the feed valve; feed off closes the valve and releases the pressure"
+    ],
+    "start": [
+     "the run ends when the target volume has gone through the nozzle; it does not close the feed: `feed off` afterwards"
+    ],
+    "method": [
+     "volume = target volume to process, flow = expected flow (the instrument observes the volume; the class accepts this observer-only completion for you)"
+    ]
+   }
+  },
+  "cytiva_nanoassemblrignite": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "array": {
+        "arg": "targets_k",
+        "slots": [
+         "thermal.target_center_k",
+         "thermal.target_right_k"
+        ],
+        "by": "channel"
+       },
+       "cap": "heating.set",
+       "keep": {
+        "enabled": "heating.enabled"
+       }
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "heating.set",
+       "args": {
+        "enabled": true
+       },
+       "keep": {
+        "targets_k": [
+         "thermal.target_center_k",
+         "thermal.target_right_k"
+        ]
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "heating.set",
+       "args": {
+        "enabled": false
+       },
+       "keep": {
+        "targets_k": [
+         "thermal.target_center_k",
+         "thermal.target_right_k"
+        ]
+       }
+      }
+     ],
+     "state": "heating.enabled",
+     "word": "syringe heating"
+    },
+    "temp": {
+     "reads": [
+      "thermal.center_k",
+      "thermal.right_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.center_k",
+      "thermal.right_k"
+     ]
+    },
+    "prime": {
+     "cap": "cartridge.prime",
+     "job": "operation",
+     "what": "cartridge priming"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "flow": {
+       "arg": "flow_m3_s",
+       "kind": "flow"
+      },
+      "ratio": {
+       "arg": "flow_ratio_c_r"
+      },
+      "volume": {
+       "arg": "volume_m3",
+       "kind": "volume"
+      },
+      "dilution": {
+       "arg": "dilution_ratio"
+      },
+      "waste-start": {
+       "arg": "start_waste_equiv_m3",
+       "kind": "volume"
+      },
+      "waste-end": {
+       "arg": "end_waste_equiv_m3",
+       "kind": "volume"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "formulation run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "formulation.measure"
+    }
+   },
+   "targets": {
+    "channel": {
+     "arg": null,
+     "values": {
+      "center": 0,
+      "right": 1
+     },
+     "verbs": [
+      "set-temp",
+      "temp",
+      "wait-temp"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": {
+     "slot": "thermal.center_k",
+     "per": "thermal.{channel}_k"
+    },
+    "set": {
+     "slot": "thermal.target_center_k",
+     "per": "thermal.target_{channel}_k"
+    },
+    "heat": "heating.enabled",
+    "flow": "flow.total_m3_s",
+    "phase": "cycle.phase",
+    "stage": "cycle.stage",
+    "cartridge": "cartridge.state",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "heating.installed",
+      "code": "NO_HEATER",
+      "message": "the syringe heater of {inst} is not fitted in this lab.",
+      "fix": "ask the lab operator to fit it.",
+      "truthy": true
+     }
+    ],
+    "heat": [
+     {
+      "slot": "heating.installed",
+      "code": "NO_HEATER",
+      "message": "the syringe heater of {inst} is not fitted in this lab.",
+      "fix": "ask the lab operator to fit it.",
+      "truthy": true
+     },
+     {
+      "slot": "block.opened",
+      "code": "BLOCK_OPEN",
+      "message": "the loading block of {inst} is open; it heats only closed.",
+      "fix": "close it: `chemlab run {inst} close block`.",
+      "falsy": true
+     }
+    ],
+    "prime": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "falsy": true
+     },
+     {
+      "slot": "block.opened",
+      "code": "BLOCK_OPEN",
+      "message": "the loading block of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close block`.",
+      "falsy": true
+     },
+     {
+      "slot": "cartridge.present",
+      "code": "NO_CARTRIDGE",
+      "message": "no cartridge is fitted in {inst}.",
+      "fix": "ask the lab operator to fit one.",
+      "truthy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet (priming uses its syringes).",
+      "fix": "set one with `chemlab run {inst} method ...`.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one: `chemlab run {inst} method flow=4mL/min ratio=3 volume=2mL dilution=1 waste-start=0.2mL waste-end=0.05mL`.",
+      "truthy": true
+     },
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "falsy": true
+     },
+     {
+      "slot": "block.opened",
+      "code": "BLOCK_OPEN",
+      "message": "the loading block of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close block`.",
+      "falsy": true
+     },
+     {
+      "slot": "cartridge.present",
+      "code": "NO_CARTRIDGE",
+      "message": "no cartridge is fitted in {inst}.",
+      "fix": "ask the lab operator to fit a new one.",
+      "truthy": true
+     },
+     {
+      "slot": "cartridge.used",
+      "code": "CARTRIDGE_USED",
+      "message": "the cartridge of {inst} has been used already (one run per cartridge).",
+      "fix": "ask the lab operator for a new one.",
+      "falsy": true
+     },
+     {
+      "slot": "tubes.present",
+      "code": "NO_TUBES",
+      "message": "no collection tubes are in {inst}.",
+      "fix": "ask the lab operator to place them.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the lid and block closed, an unused cartridge, tubes, a method and a loaded syringe on every channel the method uses.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "heating.set:PRECONDITION_FAILED": {
+     "code": "NOT_POSSIBLE_NOW",
+     "message": "{inst} refused the heating: it needs the heater fitted, power, the block closed, and set points at or above room temperature.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "speed": "no screws or rotor",
+    "vibration": "no vibrating nozzle",
+    "feed": "the flows are the method keys flow and ratio",
+    "air": "no fluidising air",
+    "hv": "no high voltage",
+    "humidity": "no climate chamber",
+    "clean": "the cartridge is single-use (no cleaning)"
+   },
+   "alternatives": {
+    "feed": "`chemlab run INST method flow=12mL/min ratio=3 ...`."
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "formulation.measure"
+   ],
+   "params": {
+    "tolerance_k": 1.0,
+    "wait_all": true
+   },
+   "notes": {
+    "set-temp": [
+     "--channel center or right heats one syringe channel; without --channel both get the set point"
+    ],
+    "method": [
+     "every setting is needed each time: flow, ratio, volume, dilution, waste-start, waste-end"
+    ]
+   }
+  },
+  "glatt_miniglatt": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_k"
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "heating.set",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "heating.set",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "heating.enabled",
+     "word": "air heater"
+    },
+    "temp": {
+     "reads": [
+      "thermal.inlet_k",
+      "thermal.bed_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.inlet_k"
+     ]
+    },
+    "air": {
+     "set": [
+      {
+       "cap": "fluidization.set_flow",
+       "arg": "flow_normal_m3_s"
+      }
+     ],
+     "on": [
+      {
+       "cap": "air.set",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "air.set",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "air.enabled",
+     "word": "fluidising air"
+    },
+    "feed": {
+     "kind": "flow",
+     "set": [
+      {
+       "cap": "spray.set_rate",
+       "arg": "flow_m3_s"
+      }
+     ],
+     "off": [
+      {
+       "cap": "spray.set_rate",
+       "arg": "flow_m3_s",
+       "value": 0.0
+      }
+     ],
+     "word": "spray rate"
+    },
+    "clean": {
+     "cap": "filter.clean",
+     "what": "blow back the filter",
+     "done": "filter blow-back scheduled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "operation": {
+       "arg": "operation"
+      },
+      "spray-position": {
+       "arg": "spray_position"
+      },
+      "air": {
+       "arg": "air_normal_m3_s",
+       "kind": "flow"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "spray": {
+       "arg": "spray_m3_s",
+       "kind": "flow"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "spray-time": {
+       "arg": "spray_duration_s",
+       "kind": "duration"
+      }
+     },
+     "keep": {
+      "operation": "method.operation",
+      "spray_position": "method.spray_position",
+      "air_normal_m3_s": "flow.target_normal_m3_s",
+      "temperature_k": "thermal.target_k",
+      "spray_m3_s": "spray.target_m3_s"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "fluid-bed run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "granulation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.inlet_k",
+    "temp2": "thermal.bed_k",
+    "set": "thermal.target_k",
+    "heat": "heating.enabled",
+    "air": "flow.actual_normal_m3_s",
+    "air_on": "air.enabled",
+    "feed_flow": "spray.actual_m3_s",
+    "fluidized": "bed.fluidized",
+    "phase": "cycle.phase",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "heat": [
+     {
+      "slot": "air.enabled",
+      "code": "AIR_OFF",
+      "message": "the air heater of {inst} heats only with the fluidising air on.",
+      "fix": "switch the air on: `chemlab run {inst} air on`.",
+      "truthy": true
+     }
+    ],
+    "air": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} takes air, temperature and spray settings only after a process method is set (they edit the method).",
+      "fix": "set one first: `chemlab run {inst} method operation=granulation air=200L/min temp=60C spray=3.5mL/min time=10min spray-time=8min`.",
+      "truthy": true
+     },
+     {
+      "slot": "tower.opened",
+      "code": "TOWER_OPEN",
+      "message": "the product container (tower) of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close tower`.",
+      "falsy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} takes air, temperature and spray settings only after a process method is set (they edit the method).",
+      "fix": "set one first: `chemlab run {inst} method operation=granulation air=200L/min temp=60C spray=3.5mL/min time=10min spray-time=8min`.",
+      "truthy": true
+     }
+    ],
+    "feed": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} takes air, temperature and spray settings only after a process method is set (they edit the method).",
+      "fix": "set one first: `chemlab run {inst} method operation=granulation air=200L/min temp=60C spray=3.5mL/min time=10min spray-time=8min`.",
+      "truthy": true
+     }
+    ],
+    "clean": [
+     {
+      "slot": "air.enabled",
+      "code": "AIR_ON",
+      "message": "{inst} blows the filter back only with the fluidising air off.",
+      "fix": "switch the air off: `chemlab run {inst} air off`.",
+      "falsy": true
+     },
+     {
+      "slot": "filter.pulse_remaining_s",
+      "code": "BLOWBACK_RUNNING",
+      "message": "a filter blow-back of {inst} is still going ({value} s left).",
+      "fix": "wait a few seconds and retry.",
+      "max": 0.0
+     },
+     {
+      "slot": "tower.opened",
+      "code": "TOWER_OPEN",
+      "message": "the tower of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close tower`.",
+      "falsy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "tower.opened",
+      "code": "TOWER_OPEN",
+      "message": "the product container (tower) of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close tower`.",
+      "falsy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no process method yet.",
+      "fix": "set one: `chemlab run {inst} method operation=granulation air=200L/min temp=60C spray=3.5mL/min time=10min spray-time=8min`.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the tower closed, powder (and binder for granulation) loaded, a method, and air and power within its supply.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "air.set:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot switch the air on: it needs power and the tower closed.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "heating.set:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} heats only with power and the air on.",
+     "fix": "`chemlab run {inst} air on` first."
+    }
+   },
+   "unsupported": {
+    "speed": "no screws or rotor",
+    "vibration": "no vibrating nozzle",
+    "hv": "no high voltage",
+    "humidity": "no climate chamber",
+    "prime": "no priming step"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "granulation.measure"
+   ],
+   "params": {
+    "tolerance_k": 2.0,
+    "temp2_word": "bed"
+   },
+   "notes": {
+    "set-temp": [
+     "the inlet air temperature; the bed temperature follows (shown as bed); set a method first (the set points edit it)"
+    ],
+    "method": [
+     "duration and spray time are needed each time; operation, spray position, air, temperature and spray rate are kept when left out"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/gas_fluid.json b/chemlab/configs/adapters/gas_fluid.json
new file mode 100644
index 0000000000000000000000000000000000000000..060a5a0c006f5f1f1c99193f94ae556500964539
--- /dev/null
+++ b/chemlab/configs/adapters/gas_fluid.json
@@ -0,0 +1,1308 @@
+{
+ "class": "gas_fluid",
+ "adapter": "chemlab.compile.classes.gas_fluid:GasFluidAdapter",
+ "about": "Gas and fluid supply, control and monitoring: setpoint (unit decides flow / mass flow / pressure / temperature), start, stop, select, dispense, read, zero, calibrate, vent, status. power, open/close, ack, estop come from the shared layer.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "alicat_mc_1slpm_rev6",
+   "bronkhorst_p702cv_5bar_gauge_n2",
+   "bronkhorst_cemw",
+   "vici_euta_2sd6mwe",
+   "vacuubrand_pc3001_vario_select",
+   "peak_precisionhydrogen",
+   "elga_purelab_flex3",
+   "eco_ncld822",
+   "inficon_ul1000fab"
+  ],
+  "secondary": {
+   "inert_purelab_he_2gb": "glovebox: box pressure set point and gas purification on/off (enclosure primary)"
+  },
+  "not_mapped": {
+   "inert_puresolvmd": "thin class: manual valves per column, no set point or measurement",
+   "vaisala_dmt152": "thin class: a transmitter with one measurement query (its result is the shared `result`)"
+  }
+ },
+ "members": {
+  "alicat_mc_1slpm_rev6": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "flow": {
+      "cap": "flow.set_setpoint",
+      "arg": "flow_rate_m3_s",
+      "reading": "measurement.standard_flow_m3_s",
+      "set": "flow.setpoint_m3_s",
+      "label": "mass flow (standard)",
+      "tol_rel": 0.01,
+      "tol_abs": 1e-09,
+      "notes": [
+       "flows are standard flows (sccm, slpm) at the controller's reference conditions (25 C, 1 atm by default)"
+      ]
+     }
+    },
+    "select": {
+     "cap": "gas.select",
+     "arg": "gas_id",
+     "what": "gas",
+     "slot": "gas.selected_id",
+     "id_prefix": "gas_"
+    },
+    "read": {
+     "reads": [
+      "measurement.standard_flow_m3_s",
+      "measurement.actual_flow_m3_s",
+      "measurement.pressure_pa",
+      "measurement.temperature_k",
+      "gas.selected_id",
+      "flow.zeroed"
+     ]
+    },
+    "zero": {
+     "cap": "flow.zero"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "requires": {
+    "setpoint": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "gas.selected_id",
+      "code": "NO_GAS",
+      "message": "no gas is selected on {inst}, so it cannot meter a flow.",
+      "fix": "select the gas in the line first: `chemlab run {inst} select nitrogen`.",
+      "not": [
+       null
+      ],
+      "label": "a gas selected"
+     }
+    ],
+    "select": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "flow.setpoint_m3_s",
+      "code": "FLOWING",
+      "message": "gas is flowing through {inst}; it changes the gas only at zero flow.",
+      "fix": "set the flow to 0 first: `chemlab run {inst} setpoint 0sccm`.",
+      "value": 0.0,
+      "label": "set point 0"
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "gas.selected_id",
+      "code": "NO_GAS",
+      "message": "no gas is selected on {inst}.",
+      "fix": "select the gas first: `chemlab run {inst} select nitrogen`.",
+      "not": [
+       null
+      ],
+      "label": "a gas selected"
+     },
+     {
+      "slot": "flow.setpoint_m3_s",
+      "code": "FLOWING",
+      "message": "{inst} tares only at zero flow (its set point is not 0).",
+      "fix": "set the flow to 0 first: `chemlab run {inst} setpoint 0sccm`, then zero.",
+      "value": 0.0,
+      "label": "set point 0"
+     }
+    ]
+   },
+   "codes": {
+    "gas.select:PRECONDITION_FAILED": {
+     "code": "GAS_NOT_AVAILABLE",
+     "message": "{inst} cannot use that gas: it is not in its gas table (or the lab has not approved it).",
+     "fix": "pick a gas from `chemlab call {inst} template.list` (e.g. nitrogen, argon, helium, air)."
+    }
+   },
+   "unsupported": {
+    "start": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow)",
+    "stop": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "calibrate": "factory calibrated; no user calibration from the computer",
+    "vent": "no vent: set the flow to 0 to close its valve"
+   },
+   "notes": {
+    "select": [
+     "gas names are those of its gas table: `select nitrogen` means gas_nitrogen (see `chemlab call INST template.list`)"
+    ],
+    "zero": [
+     "zero (tare) needs zero flow: set point 0 and the line at rest"
+    ]
+   }
+  },
+  "bronkhorst_p702cv_5bar_gauge_n2": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "pressure": {
+      "cap": "pressure.set_setpoint",
+      "arg": "pressure_Pa",
+      "reading": "pressure.reading_pa",
+      "set": "pressure.setpoint_pa",
+      "pressure_ref": "(gauge)",
+      "label": "pressure (gauge)",
+      "tol_rel": 0.01,
+      "tol_abs": 1000.0,
+      "then": [
+       {
+        "cap": "control.set_mode",
+        "args": {
+         "mode": "automatic"
+        },
+        "unless": {
+         "slot": "control.mode",
+         "value": "automatic"
+        },
+        "step": "switch the controller to automatic pressure control"
+       }
+      ],
+      "notes": [
+       "the controller regulates the gauge pressure upstream of it (back-pressure); setpoint switches it to automatic control"
+      ]
+     }
+    },
+    "read": {
+     "reads": [
+      "pressure.reading_pa",
+      "pressure.active_setpoint_pa",
+      "control.status",
+      "valve.opening"
+     ]
+    },
+    "zero": {
+     "cap": "sensor.calibrate_zero"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "running": "control.status"
+   },
+   "requires": {
+    "setpoint": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "device.flash_mode",
+      "code": "FLASH_MODE",
+      "message": "{inst} is in FLASH (firmware) mode.",
+      "fix": "reset it: `chemlab call {inst} device.reset`.",
+      "value": false,
+      "label": "not in FLASH mode"
+     }
+    ]
+   },
+   "unsupported": {
+    "start": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow)",
+    "stop": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow); switch to manual valve control with `chemlab call INST control.set_mode --mode manual`",
+    "select": "a single gas line (no gas table or valve positions)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "calibrate": "no span / reference calibration from the computer (the sensor zero is `zero`)",
+    "vent": "no vent valve: lower the set point to let the upstream pressure down"
+   },
+   "alternatives": {
+    "start": "give a set point: `chemlab run INST setpoint 3bar` (it then regulates in automatic mode)."
+   },
+   "params": {
+    "running_word": "control"
+   },
+   "notes": {
+    "setpoint": [
+     "pressure set points are gauge pressure (1 to 5 bar g on this controller)",
+     "when the controller is in manual / valve-steering mode, setpoint also switches it to automatic control (control.set_mode)"
+    ]
+   }
+  },
+  "bronkhorst_cemw": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "flow": {
+      "cap": "gas.set_flow",
+      "arg": "setpoint_m3_s",
+      "reading": "measured.gas_m3_s",
+      "set": "setpoint.gas_m3_s",
+      "label": "carrier gas flow",
+      "full_scale": "controllers.full_scale#gas_m3_s",
+      "tol_rel": 0.02,
+      "tol_abs": 1e-08
+     },
+     "mass_flow": {
+      "cap": "liquid.set_flow",
+      "arg": "setpoint_kg_s",
+      "reading": "measured.liquid_kg_s",
+      "set": "setpoint.liquid_kg_s",
+      "label": "liquid flow",
+      "full_scale": "controllers.full_scale#liquid_kg_s",
+      "tol_rel": 0.03,
+      "tol_abs": 1e-09
+     },
+     "temperature": {
+      "cap": "heater.set_temperature",
+      "arg": "setpoint_k",
+      "reading": "measured.temperature_k",
+      "set": "setpoint.temperature_k",
+      "label": "mixer temperature",
+      "tol_abs": 1.0,
+      "tol_rel": 0.0
+     }
+    },
+    "read": {
+     "reads": [
+      "measured.gas_m3_s",
+      "measured.liquid_kg_s",
+      "measured.temperature_k",
+      "alarms.active"
+     ]
+    },
+    "vent": {
+     "on": {
+      "cap": "bleed.set",
+      "args": {
+       "open": true
+      },
+      "already": true,
+      "step": "open the bleed",
+      "say": "bleed open"
+     },
+     "off": {
+      "cap": "bleed.set",
+      "args": {
+       "open": false
+      },
+      "already": false,
+      "step": "close the bleed",
+      "say": "bleed closed"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "vent": "bleed.open"
+   },
+   "requires": {
+    "setpoint": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "setpoint:flow": [
+     {
+      "slot": "supply.gas",
+      "code": "NO_GAS_SUPPLY",
+      "message": "no carrier gas is connected to {inst}.",
+      "fix": "ask the lab operator to connect the gas supply (supply.connect_gas).",
+      "not": [
+       null
+      ],
+      "label": "carrier gas connected"
+     }
+    ],
+    "setpoint:mass_flow": [
+     {
+      "slot": "supply.liquid",
+      "code": "NO_LIQUID_SUPPLY",
+      "message": "no liquid is connected to {inst}.",
+      "fix": "ask the lab operator to connect the liquid supply (supply.connect_liquid).",
+      "not": [
+       null
+      ],
+      "label": "liquid connected"
+     },
+     {
+      "slot": "bleed.open",
+      "code": "BLEED_OPEN",
+      "message": "the bleed of {inst} is open, so it takes no liquid flow.",
+      "fix": "close it first: `chemlab run {inst} vent off`.",
+      "value": false,
+      "label": "bleed closed"
+     }
+    ],
+    "vent": [
+     {
+      "slot": "setpoint.liquid_kg_s",
+      "code": "LIQUID_FLOWING",
+      "message": "the liquid set point of {inst} is not zero; the bleed is opened only without liquid flow.",
+      "fix": "set the liquid flow to 0 first: `chemlab run {inst} setpoint 0g/h`.",
+      "value": 0.0,
+      "label": "liquid set point 0"
+     }
+    ]
+   },
+   "unsupported": {
+    "start": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow)",
+    "stop": "a continuous controller: it acts whenever it has a set point (`setpoint`; a set point of 0 stops the flow)",
+    "dispense": "it evaporates a liquid flow into the gas (`setpoint 12g/h`); it does not dispense volumes",
+    "select": "the carrier gas is the one plumbed to its inlet (declared by the lab operator)",
+    "zero": "no zero command from the computer",
+    "calibrate": "no calibration from the computer"
+   },
+   "alternatives": {
+    "select": "an operator declares the connected gas with `chemlab call INST supply.connect_gas --gas nitrogen --pressure_pa 400000`."
+   },
+   "notes": {
+    "setpoint": [
+     "a flow (500sccm, 1slpm) sets the carrier gas, a mass flow (12g/h) the liquid, a temperature (140C) the mixer",
+     "set points above the controller's full scale (`status`) are refused"
+    ],
+    "vent": [
+     "vent opens the bleed screw; it needs the liquid set point at 0 first"
+    ]
+   }
+  },
+  "vici_euta_2sd6mwe": {
+   "role": "primary",
+   "verbs": {
+    "select": {
+     "cap": "valve.select_position",
+     "arg": "position",
+     "what": "position",
+     "slot": "valve.position",
+     "in_position": "valve.in_position",
+     "busy": {
+      "pending": "valve.target_position",
+      "done": "valve.in_position"
+     },
+     "max_wait_s": 10.0
+    },
+    "read": {
+     "reads": [
+      "valve.position",
+      "valve.in_position",
+      "route.connected_port_id",
+      "valve.target_position"
+     ]
+    }
+   },
+   "slots": {
+    "positions": "actuator.positions",
+    "offset": "actuator.offset"
+   },
+   "unsupported": {
+    "setpoint": "a selection valve: no set point",
+    "start": "a selection valve: it only switches position (`select N`)",
+    "stop": "a selection valve: it only switches position (`select N`)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "zero": "no sensor to zero",
+    "calibrate": "no calibration (the actuator learns its stops: `chemlab call INST actuator.learn_stops`)",
+    "vent": "no vent"
+   },
+   "notes": {
+    "select": [
+     "the valve reports \"in position\" when the drive has arrived; --wait waits for that (a few seconds of lab time at most)"
+    ]
+   }
+  },
+  "vacuubrand_pc3001_vario_select": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "pressure": {
+      "cap": "vacuum.set_pressure",
+      "arg": "pressure_pa",
+      "reading": "vacuum.indicated_pressure_pa",
+      "set": "vacuum.target_pressure_pa",
+      "pressure_ref": "(absolute)",
+      "label": "vacuum (absolute)",
+      "tol_rel": 0.03,
+      "tol_abs": 100.0,
+      "needs_running": true,
+      "then": [
+       {
+        "cap": "vacuum.set_mode",
+        "args": {
+         "mode": "pressure_control"
+        },
+        "unless": {
+         "slot": "vacuum.mode",
+         "value": "pressure_control"
+        },
+        "step": "switch to pressure control"
+       }
+      ]
+     }
+    },
+    "start": {
+     "cap": "vacuum.start",
+     "step": "start pumping",
+     "running_values": [
+      true
+     ],
+     "ready": {
+      "slot": "vacuum.running",
+      "values": [
+       true
+      ]
+     }
+    },
+    "stop": {
+     "cap": "vacuum.stop",
+     "step": "stop pumping"
+    },
+    "read": {
+     "reads": [
+      "vacuum.indicated_pressure_pa",
+      "vacuum.target_pressure_pa",
+      "vacuum.mode",
+      "vacuum.running",
+      "vent.state"
+     ]
+    },
+    "calibrate": {
+     "cap": "sensor.adjust",
+     "keys": {
+      "reference": {
+       "arg": "reference_pa",
+       "kind": "pressure",
+       "required": true,
+       "example": "1013mbar"
+      }
+     },
+     "near_reading": {
+      "arg": "reference_pa",
+      "slot": "vacuum.indicated_pressure_pa",
+      "max_rel": 0.1,
+      "floor": 1000.0
+     }
+    },
+    "vent": {
+     "on": {
+      "cap": "vent.control",
+      "args": {
+       "action": "atmosphere"
+      },
+      "already": "atmosphere",
+      "step": "vent to atmosphere (stops the pump)",
+      "say": "venting to atmosphere (the pump stops)"
+     },
+     "off": {
+      "cap": "vent.control",
+      "args": {
+       "action": "stop"
+      },
+      "already": "closed",
+      "step": "close the vent valve",
+      "say": "vent valve closed"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "running": "vacuum.running",
+    "vent": "vent.state#mode"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "vacuum.indicated_pressure_pa",
+      "code": "NOT_CONNECTED",
+      "message": "no vessel is connected to {inst} (it shows no pressure).",
+      "fix": "ask the lab operator to connect the apparatus to the pump.",
+      "not": [
+       null
+      ],
+      "label": "a vessel connected"
+     }
+    ]
+   },
+   "unsupported": {
+    "select": "one pumping line",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "zero": "no zero: the gauge is adjusted with `calibrate reference=...`"
+   },
+   "params": {
+    "running_word": "pumping"
+   },
+   "notes": {
+    "setpoint": [
+     "vacuum set points are absolute pressure (2 to 1100 mbar); setpoint also selects pressure control mode"
+    ],
+    "calibrate": [
+     "calibrate reference=P adjusts the gauge to a known pressure P: vent fully first and give the room pressure from a barometer"
+    ],
+    "vent": [
+     "vent stops the pump and opens the vent valve to atmosphere; vent off closes it"
+    ]
+   }
+  },
+  "peak_precisionhydrogen": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "pressure": {
+      "cap": "settings.configure",
+      "arg": "pressure_set_pa",
+      "reading": "pressure.delivery_pa",
+      "set": "pressure.set_pa",
+      "pressure_ref": "(gauge, outlet)",
+      "label": "outlet pressure (gauge)",
+      "tol_rel": 0.02,
+      "tol_abs": 5000.0
+     }
+    },
+    "start": {
+     "cap": "cycle.start",
+     "step": "start hydrogen generation",
+     "running_values": [
+      "running"
+     ],
+     "ready": {
+      "slot": "state.current",
+      "values": [
+       "running"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "cycle.stop",
+     "step": "stop generation (standby)"
+    },
+    "read": {
+     "reads": [
+      "pressure.delivery_pa",
+      "flow.percent",
+      "state.current",
+      "water.level_ok",
+      "alarms.active"
+     ]
+    },
+    "vent": {
+     "on": {
+      "cap": "output.depressurise",
+      "step": "depressurise the outlet",
+      "say": "depressurising the outlet"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "running": "state.current"
+   },
+   "requires": {
+    "setpoint": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "water.level_ok",
+      "code": "LOW_WATER",
+      "message": "the water reservoir of {inst} is low.",
+      "fix": "ask the lab operator to refill it with deionised water.",
+      "value": true,
+      "label": "water level ok"
+     }
+    ],
+    "vent": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "state.current",
+      "code": "RUNNING",
+      "message": "{inst} is generating; it depressurises only in standby.",
+      "fix": "stop it first: `chemlab run {inst} stop`.",
+      "not": [
+       "running"
+      ],
+      "label": "in standby"
+     }
+    ]
+   },
+   "unsupported": {
+    "select": "it makes one gas (hydrogen)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "zero": "no sensor zero from the computer",
+    "calibrate": "no calibration from the computer"
+   },
+   "params": {
+    "running_word": "state"
+   },
+   "notes": {
+    "setpoint": [
+     "the outlet pressure set point is gauge pressure (0 to 100 psi g)"
+    ]
+   }
+  },
+  "elga_purelab_flex3": {
+   "role": "primary",
+   "verbs": {
+    "setpoint": {
+     "flow": {
+      "cap": "water.set_flow_rate",
+      "arg": "flow_m3_s",
+      "set": "water.flow_rate_m3_s",
+      "label": "dispense flow rate"
+     }
+    },
+    "start": {
+     "cap": "water.start",
+     "step": "start dispensing (the volume and rate set before)",
+     "running_values": [
+      "running"
+     ]
+    },
+    "stop": {
+     "cap": "water.stop",
+     "step": "stop dispensing"
+    },
+    "dispense": {
+     "volume_cap": "water.set_volume",
+     "volume_arg": "volume_m3",
+     "rate_cap": "water.set_flow_rate",
+     "rate_arg": "flow_m3_s",
+     "rate_slot": "water.flow_rate_m3_s",
+     "start_cap": "water.start",
+     "stop_cap": "water.stop",
+     "delivered": "water.indicated_dispensed_volume_m3",
+     "state": {
+      "slot": "water.dispense_status",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped",
+       "supply_empty",
+       "receiver_full",
+       "power_off"
+      ]
+     }
+    },
+    "read": {
+     "reads": [
+      "water.indicated_dispensed_volume_m3",
+      "water.dispense_status",
+      "water.resistivity_ohm_m",
+      "water.temperature_k",
+      "water.toc_mass_fraction"
+     ]
+    },
+    "calibrate": {
+     "cap": "calibration.control",
+     "action_arg": "action",
+     "actions": [
+      "start",
+      "enter",
+      "cancel"
+     ],
+     "default_action": "start",
+     "keys": {
+      "measured": {
+       "arg": "measured_m3",
+       "kind": "volume",
+       "required_for": [
+        "enter"
+       ],
+       "example": "0.98L"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "running": "water.dispense_status"
+   },
+   "requires": {
+    "setpoint": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "water.dispensing",
+      "code": "BUSY",
+      "message": "{inst} is dispensing; the rate changes only between dispenses.",
+      "fix": "wait until it has finished, or `chemlab run {inst} stop`.",
+      "value": false,
+      "label": "not dispensing"
+     }
+    ],
+    "dispense": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "water.dispensing",
+      "code": "BUSY",
+      "message": "{inst} is already dispensing.",
+      "fix": "wait for it (`chemlab status`) or `chemlab run {inst} stop`.",
+      "value": false,
+      "label": "not dispensing"
+     },
+     {
+      "slot": "water.source_connected",
+      "code": "NO_SUPPLY",
+      "message": "no feed water is connected to {inst}.",
+      "fix": "ask the lab operator to connect the feed.",
+      "value": true,
+      "label": "feed connected"
+     },
+     {
+      "slot": "water.receiver_connected",
+      "code": "NO_RECEIVER",
+      "message": "no receiving vessel is under the dispenser of {inst}.",
+      "fix": "ask the lab operator to place a vessel.",
+      "value": true,
+      "label": "a receiving vessel in place"
+     },
+     {
+      "slot": "consumables.installed",
+      "code": "NO_CARTRIDGE",
+      "message": "no purification pack is installed in {inst}.",
+      "fix": "ask the lab operator to install the pack.",
+      "value": true,
+      "label": "purification pack installed"
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "water.target_volume_m3",
+      "code": "NO_VOLUME",
+      "message": "no dispense volume is set on {inst}.",
+      "fix": "use `chemlab run {inst} dispense VOLUME --rate FLOW`.",
+      "not": [
+       null
+      ],
+      "label": "a volume set"
+     },
+     {
+      "slot": "water.flow_rate_m3_s",
+      "code": "NO_RATE",
+      "message": "no dispense flow rate is set on {inst}.",
+      "fix": "set one: `chemlab run {inst} setpoint 1L/min`.",
+      "not": [
+       null
+      ],
+      "label": "a flow rate set"
+     }
+    ]
+   },
+   "unsupported": {
+    "select": "one water outlet",
+    "zero": "no sensor zero from the computer",
+    "vent": "no vent"
+   },
+   "params": {
+    "running_word": "dispense",
+    "gas": false
+   },
+   "notes": {
+    "dispense": [
+     "dispense sets the volume (and --rate), starts and returns job-N; `chemlab wait job-N` or --wait blocks until it is delivered"
+    ],
+    "calibrate": [
+     "`calibrate start` dispenses the nominal calibration volume; weigh it, then `calibrate enter measured=0.98L`; `calibrate cancel` aborts"
+    ]
+   }
+  },
+  "eco_ncld822": {
+   "role": "primary",
+   "verbs": {
+    "start": {
+     "cap": "measurement.start",
+     "step": "start measuring",
+     "running_values": [
+      "measuring"
+     ],
+     "ready": {
+      "slot": "measurement.phase",
+      "values": [
+       "measuring"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "measurement.stop",
+     "step": "stop measuring"
+    },
+    "select": {
+     "cap": "inlet.connect_standard",
+     "arg": "standard_id",
+     "what": "inlet gas (calibration standard)",
+     "slot": "inlet.source",
+     "slot_is_value": false,
+     "off": {
+      "cap": "inlet.disconnect",
+      "words": [
+       "sample",
+       "ambient"
+      ]
+     }
+    },
+    "read": {
+     "reads": [
+      "display.no_mol_mol",
+      "display.no2_mol_mol",
+      "display.nox_mol_mol",
+      "range.active_full_scale_mol_mol",
+      "inlet.source",
+      "status.flags"
+     ]
+    },
+    "zero": {
+     "cap": "calibration.zero"
+    },
+    "calibrate": {
+     "cap": "calibration.span",
+     "pre_cap": "calibration.configure",
+     "pre_keep": {
+      "span_no_mol_mol": "calibration.span_no_mol_mol",
+      "span_nox_mol_mol": "calibration.span_nox_mol_mol",
+      "window_s": "calibration.window_s"
+     },
+     "keys": {
+      "span": {
+       "cap": "calibration.configure",
+       "arg": [
+        "span_no_mol_mol",
+        "span_nox_mol_mol"
+       ],
+       "kind": "fraction",
+       "example": "2954ppm"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "running": "measurement.phase"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "status.phase",
+      "code": "WARMING_UP",
+      "message": "{inst} is still warming up (converter and detector).",
+      "fix": "wait until it is ready (`chemlab run {inst} status`; about 15 min after switching on).",
+      "value": "ready",
+      "label": "warmed up"
+     }
+    ],
+    "zero": [
+     {
+      "slot": "status.phase",
+      "code": "WARMING_UP",
+      "message": "{inst} is still warming up.",
+      "fix": "wait until it is ready.",
+      "value": "ready",
+      "label": "warmed up"
+     },
+     {
+      "slot": "calibration.phase",
+      "code": "BUSY",
+      "message": "{inst} is already calibrating.",
+      "fix": "wait until it has finished.",
+      "value": "idle",
+      "label": "no calibration running"
+     },
+     {
+      "slot": "inlet.source",
+      "code": "NO_ZERO_GAS",
+      "message": "the inlet of {inst} is on {value}, not on zero gas.",
+      "fix": "connect zero gas first: `chemlab run {inst} select zero_air`, wait until the reading is steady, then zero.",
+      "in": [
+       "standard:zero_air",
+       "standard:zero_nitrogen"
+      ],
+      "label": "zero gas on the inlet"
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "status.phase",
+      "code": "WARMING_UP",
+      "message": "{inst} is still warming up.",
+      "fix": "wait until it is ready.",
+      "value": "ready",
+      "label": "warmed up"
+     },
+     {
+      "slot": "calibration.phase",
+      "code": "BUSY",
+      "message": "{inst} is already calibrating.",
+      "fix": "wait until it has finished.",
+      "value": "idle",
+      "label": "no calibration running"
+     },
+     {
+      "slot": "inlet.source",
+      "code": "NO_SPAN_GAS",
+      "message": "the inlet of {inst} is on {value}, not on a span gas standard.",
+      "fix": "connect the span standard first (`chemlab run {inst} select srm_2631a`), wait until the reading is steady, then calibrate.",
+      "prefix": [
+       "standard:srm"
+      ],
+      "label": "span gas on the inlet"
+     },
+     {
+      "slot": "status.flags",
+      "code": "OVER_RANGE",
+      "message": "the reading of {inst} is over its measuring range, so the span would be wrong.",
+      "fix": "select a higher range first (`chemlab call {inst} range.select --index 3`), wait until the reading is steady, then calibrate.",
+      "contains_not": "over_range",
+      "label": "reading within the range"
+     }
+    ]
+   },
+   "unsupported": {
+    "setpoint": "an analyzer: no set point (its range is `chemlab call INST range.select`)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "vent": "no vent"
+   },
+   "params": {
+    "running_word": "measurement"
+   },
+   "notes": {
+    "select": [
+     "select connects a calibration gas standard to the inlet (zero_air, zero_nitrogen, srm_...); `select sample` goes back to the sample inlet"
+    ],
+    "zero": [
+     "zero needs zero gas on the inlet (select zero_air) and a steady reading; it returns job-N"
+    ],
+    "calibrate": [
+     "calibrate runs the span with the standard on the inlet; span=VALUE (e.g. span=2954ppm, the certificate value) is set first; returns job-N"
+    ]
+   }
+  },
+  "inficon_ul1000fab": {
+   "role": "primary",
+   "verbs": {
+    "start": {
+     "cap": "measure.start",
+     "step": "start: evacuate the inlet and measure",
+     "running_values": [
+      "evacuation",
+      "measure"
+     ],
+     "ready": {
+      "slot": "state.current",
+      "values": [
+       "measure"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "measure.stop",
+     "step": "stop measuring (standby)"
+    },
+    "read": {
+     "reads": [
+      "leak.display_pa_m3_s",
+      "leak.status",
+      "state.current",
+      "pressure.inlet_pa",
+      "range.current",
+      "zero.enabled"
+     ]
+    },
+    "zero": {
+     "cap": "zero.set",
+     "arg": "enabled"
+    },
+    "calibrate": {
+     "cap": "calibration.start",
+     "action_arg": "kind",
+     "actions": [
+      "internal",
+      "external"
+     ],
+     "default_action": "internal",
+     "keys": {
+      "leak": {
+       "arg": "test_leak_pa_m3_s",
+       "required_for": [
+        "external"
+       ],
+       "example": "2e-8"
+      }
+     },
+     "duration_slot": "state.remaining_s"
+    },
+    "vent": {
+     "on": {
+      "cap": "measure.stop",
+      "hold_from": {
+       "slot": "settings.current",
+       "key": "vent_delay_s",
+       "plus": 1.0,
+       "arg": "hold_s",
+       "default": 2.0
+      },
+      "step": "stop and hold STOP until the inlet vents",
+      "say": "stopped; the inlet is vented"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "running": "state.current"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "state.current",
+      "code": "RUNNING_UP",
+      "message": "{inst} is still running up.",
+      "fix": "wait about 3 min after switching on (`chemlab wait 180`).",
+      "not": [
+       "run_up",
+       "off"
+      ],
+      "label": "run-up finished"
+     },
+     {
+      "slot": "part.connected",
+      "code": "NO_PART",
+      "message": "nothing is connected to the inlet of {inst} (no test part or blank flange).",
+      "fix": "ask the lab operator to connect the part to the inlet.",
+      "not": [
+       null
+      ],
+      "label": "a part on the inlet"
+     }
+    ],
+    "zero": [
+     {
+      "slot": "state.current",
+      "code": "NOT_MEASURING",
+      "message": "{inst} is not measuring.",
+      "fix": "start it first: `chemlab run {inst} start --wait`.",
+      "value": "measure",
+      "label": "measuring"
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "state.current",
+      "code": "NOT_READY",
+      "message": "{inst} calibrates only in standby or while measuring (now {value}).",
+      "fix": "wait for the run-up, or `chemlab run {inst} stop` first.",
+      "in": [
+       "standby",
+       "measure"
+      ],
+      "label": "standby or measuring"
+     }
+    ],
+    "vent": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ]
+   },
+   "unsupported": {
+    "setpoint": "a leak detector: no set point (trigger levels are settings: `chemlab call INST settings.configure`)",
+    "select": "one inlet",
+    "dispense": "a gas device: it does not dispense liquid volumes"
+   },
+   "params": {
+    "running_word": "state"
+   },
+   "notes": {
+    "start": [
+     "start evacuates the inlet and switches to measuring; --wait waits until it measures"
+    ],
+    "zero": [
+     "zero (on) subtracts the present helium background; zero off removes it"
+    ],
+    "calibrate": [
+     "calibrate internal (default) uses the built-in test leak; calibrate external leak=2e-8 (Pa·m³/s) uses an external one while measuring"
+    ]
+   }
+  },
+  "inert_purelab_he_2gb": {
+   "role": "secondary",
+   "verbs": {
+    "setpoint": {
+     "pressure": {
+      "cap": "pressure.set",
+      "arg": "pressure_pa",
+      "reading": "pressure.indicated_gauge_pa",
+      "set": "pressure.target_gauge_pa",
+      "pressure_ref": "(gauge, box)",
+      "label": "box pressure (gauge)",
+      "tol_abs": 50.0,
+      "tol_rel": 0.0
+     }
+    },
+    "start": {
+     "cap": "purification.set",
+     "args": {
+      "enabled": true
+     },
+     "step": "start gas purification",
+     "running_values": [
+      true
+     ]
+    },
+    "stop": {
+     "cap": "purification.set",
+     "args": {
+      "enabled": false
+     },
+     "step": "stop gas purification"
+    },
+    "read": {
+     "reads": [
+      "atmosphere.oxygen_mole_fraction",
+      "atmosphere.water_mole_fraction",
+      "pressure.indicated_gauge_pa"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "running": "purification.enabled"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ]
+   },
+   "unsupported": {
+    "select": "the box gas is chosen in its configuration (`chemlab call INST config.set --gas argon`)",
+    "dispense": "a gas device: it does not dispense liquid volumes",
+    "zero": "no sensor zero from the computer",
+    "calibrate": "no sensor calibration from the computer",
+    "vent": "no vent: lower the box pressure set point instead"
+   },
+   "params": {
+    "running_word": "purification"
+   },
+   "notes": {
+    "setpoint": [
+     "the box pressure set point is gauge pressure (-15 to +15 mbar)"
+    ],
+    "start": [
+     "start / stop switch the gas purification (circulation through the purifier)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/imaging.json b/chemlab/configs/adapters/imaging.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8f55cf39b93359df35f40c6da3d4abde01c7d52
--- /dev/null
+++ b/chemlab/configs/adapters/imaging.json
@@ -0,0 +1,4395 @@
+{
+ "class": "imaging",
+ "adapter": "chemlab.compile.classes.imaging:ImagingAdapter",
+ "about": "Microscopy and imaging: load, unload, move, focus, zoom, source, acquire (job), result, vacuum, approach / retract, status. Composite verbs are step lists per member (native calls, checks, waits); ranges and units come from the contracts.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "jeol_jsmit200",
+   "jeol_jem1400flash",
+   "keyence_vkx3000",
+   "evident_bx53p",
+   "thermo_ibrightfl1500",
+   "park_nx10",
+   "nanosurf_naiostm",
+   "bruker_x4poseidon"
+  ],
+  "secondary": {},
+  "excluded": {},
+  "not_members": {
+   "biolin_thetaflex": "drop imaging is part of its contact-angle measurement (particle_surface primary); no separate image verb",
+   "antonpaar_litesizerdia": "particle images are part of its size measurement (particle_surface primary); no separate image verb"
+  }
+ },
+ "members": {
+  "jeol_jsmit200": {
+   "role": "primary",
+   "slots": {
+    "sample": "specimen.loaded_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "specimen.loaded_id",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the holder of {inst} already carries {slot:specimen.loaded_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "holder free"
+      },
+      {
+       "check": {
+        "slot": "specimen.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "specimen {sample} is not on the bench next to {inst} (bench: {slot:specimen.bench_ids}).",
+       "fix": "load one of the specimens on the bench; the lab operator puts new ones there.",
+       "label": "specimen on the bench"
+      },
+      {
+       "check": {
+        "slot": "vacuum.state",
+        "eq": "vented"
+       },
+       "code": "NOT_VENTED",
+       "message": "the chamber of {inst} is not vented (vacuum {slot:vacuum.state}), so the drawer cannot be pulled out.",
+       "fix": "vent it first: `chemlab run {inst} vacuum vent --wait` (it switches the beam off).",
+       "label": "chamber vented"
+      },
+      {
+       "cap": "chamber.draw_out",
+       "say": "pull the specimen drawer out",
+       "unless": {
+        "slot": "chamber.door_state",
+        "eq": "open"
+       }
+      },
+      {
+       "wait": {
+        "slot": "chamber.door_state",
+        "eq": "open"
+       },
+       "say": "the drawer is fully out",
+       "max_s": 30
+      },
+      {
+       "cap": "specimen.load",
+       "args": {
+        "specimen_id": "$sample"
+       },
+       "say": "put {sample} on the specimen holder"
+      },
+      {
+       "cap": "chamber.draw_in",
+       "say": "push the drawer back in"
+      },
+      {
+       "wait": {
+        "slot": "chamber.door_state",
+        "eq": "closed"
+       },
+       "say": "the drawer is closed",
+       "max_s": 60
+      }
+     ],
+     "done": "loaded {sample}; the drawer is closed",
+     "next": "pump the chamber down: `chemlab run {inst} vacuum pump --wait` (about 3 min), then `chemlab run {inst} source on --wait`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "specimen.loaded_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no specimen in {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a specimen on the holder"
+      },
+      {
+       "check": {
+        "slot": "vacuum.state",
+        "eq": "vented"
+       },
+       "code": "NOT_VENTED",
+       "message": "the chamber of {inst} is not vented (vacuum {slot:vacuum.state}).",
+       "fix": "vent it first: `chemlab run {inst} vacuum vent --wait`.",
+       "label": "chamber vented"
+      },
+      {
+       "cap": "chamber.draw_out",
+       "say": "pull the specimen drawer out",
+       "unless": {
+        "slot": "chamber.door_state",
+        "eq": "open"
+       }
+      },
+      {
+       "wait": {
+        "slot": "chamber.door_state",
+        "eq": "open"
+       },
+       "say": "the drawer is fully out",
+       "max_s": 30
+      },
+      {
+       "cap": "specimen.unload",
+       "say": "take the specimen off the holder"
+      },
+      {
+       "cap": "chamber.draw_in",
+       "say": "push the drawer back in"
+      },
+      {
+       "wait": {
+        "slot": "chamber.door_state",
+        "eq": "closed"
+       },
+       "say": "the drawer is closed",
+       "max_s": 60
+      }
+     ],
+     "done": "unloaded the specimen back onto the bench"
+    },
+    "move": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "chamber.door_state",
+        "eq": "closed"
+       },
+       "code": "DOOR_OPEN",
+       "message": "the drawer of {inst} is out.",
+       "fix": "finish loading first (`chemlab run {inst} load SAMPLE` closes it).",
+       "label": "door closed"
+      },
+      {
+       "cap": "stage.move_xy",
+       "args": {
+        "x_m": "$x",
+        "y_m": "$y"
+       },
+       "say": "move the stage to {x}, {y}",
+       "if": {
+        "input": "x",
+        "given": true
+       }
+      },
+      {
+       "cap": "stage.set_z",
+       "args": {
+        "z_lift_m": "$opt:z"
+       },
+       "say": "move the stage Z lift to {opt:z}",
+       "if": {
+        "input": "opt:z",
+        "given": true
+       }
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage has stopped",
+       "max_s": 120
+      }
+     ]
+    },
+    "focus": {
+     "auto": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "beam.filament_state",
+         "eq": "saturated"
+        },
+        "code": "BEAM_NOT_READY",
+        "message": "the beam of {inst} is not ready (filament {slot:beam.filament_state}), so autofocus has no image.",
+        "fix": "switch it on: `chemlab run {inst} source on --wait`.",
+        "label": "beam ready"
+       },
+       {
+        "cap": "optics.autofocus",
+        "say": "autofocus"
+       }
+      ],
+      "done": "autofocus done"
+     },
+     "set": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "optics.set_focus",
+        "args": {
+         "focus_wd_m": "$value"
+        },
+        "say": "set the working distance to {value}"
+       }
+      ],
+      "done": "working distance set to {value}"
+     }
+    },
+    "zoom": {
+     "mag": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "scan.set_magnification",
+        "args": {
+         "magnification": "$value"
+        },
+        "say": "set the magnification"
+       }
+      ]
+     },
+     "why_objective": "an SEM has no objective turret; give a magnification: `zoom 2000x`."
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "vacuum.state",
+         "in": [
+          "hv_ready",
+          "lv_ready"
+         ]
+        },
+        "code": "VACUUM_NOT_READY",
+        "message": "the chamber of {inst} is not under vacuum (vacuum {slot:vacuum.state}).",
+        "fix": "pump it down first: `chemlab run {inst} vacuum pump --wait`.",
+        "label": "vacuum ready"
+       },
+       {
+        "cap": "beam.set_voltage",
+        "args": {
+         "voltage_v": "$opt:kv"
+        },
+        "say": "set the accelerating voltage to {opt:kv}",
+        "if": {
+         "input": "opt:kv",
+         "given": true
+        }
+       },
+       {
+        "cap": "beam.observation_on",
+        "say": "start observation (high tension and filament)",
+        "unless": {
+         "slot": "beam.ht_on",
+         "truthy": true
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "beam.filament_state",
+        "eq": "saturated"
+       },
+       "what": "beam warm-up",
+       "max_s": 300,
+       "progress": [
+        "beam.filament_state"
+       ]
+      },
+      "what": "beam warm-up",
+      "done": "beam on"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "beam.observation_off",
+        "say": "stop observation",
+        "if": {
+         "slot": "beam.ht_on",
+         "truthy": true
+        }
+       }
+      ],
+      "done": "beam off"
+     }
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "vacuum.state",
+        "in": [
+         "hv_ready",
+         "lv_ready"
+        ]
+       },
+       "code": "VACUUM_NOT_READY",
+       "message": "the chamber of {inst} is not under vacuum (vacuum {slot:vacuum.state}).",
+       "fix": "`chemlab run {inst} vacuum pump --wait`, then `chemlab run {inst} source on --wait`.",
+       "label": "vacuum ready"
+      },
+      {
+       "check": {
+        "slot": "beam.filament_state",
+        "eq": "saturated"
+       },
+       "code": "BEAM_NOT_READY",
+       "message": "the beam of {inst} is not ready (filament {slot:beam.filament_state}).",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "beam ready"
+      },
+      {
+       "cap": "image.acquire",
+       "args": {
+        "pixels": "$opt:pixels",
+        "dwell_s": "$opt:dwell"
+       },
+       "say": "acquire an image ({opt:pixels}, dwell {opt:dwell})"
+      }
+     ],
+     "defaults": {
+      "pixels": "640x480",
+      "dwell": "20us"
+     },
+     "job": "operation",
+     "what": "image acquisition"
+    },
+    "result": {
+     "cap": "image.result",
+     "arg": "image_id",
+     "last_slot": "result.last_image_id",
+     "show": [
+      "image_id",
+      "status",
+      "detector",
+      "accelerating_voltage_v",
+      "magnification",
+      "pixels",
+      "field_of_view_m",
+      "pixel_size_m",
+      "working_distance_m",
+      "effective_resolution_m",
+      "regions",
+      "contrast",
+      "charging_artifacts"
+     ]
+    },
+    "vacuum": {
+     "pump": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "chamber.door_state",
+         "eq": "closed"
+        },
+        "code": "DOOR_OPEN",
+        "message": "the drawer of {inst} is not closed.",
+        "fix": "`chemlab run {inst} load SAMPLE` closes it; or push it in.",
+        "label": "door closed"
+       },
+       {
+        "cap": "vacuum.evacuate",
+        "say": "pump the chamber down",
+        "unless": {
+         "slot": "vacuum.state",
+         "in": [
+          "roughing",
+          "hv_pumping",
+          "hv_ready",
+          "lv_pumping",
+          "lv_ready"
+         ]
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "vacuum.state",
+        "in": [
+         "hv_ready",
+         "lv_ready"
+        ]
+       },
+       "what": "pump-down",
+       "max_s": 900,
+       "progress": [
+        "vacuum.state",
+        "vacuum.chamber_pressure_indicated_pa"
+       ]
+      },
+      "what": "pump-down",
+      "done": "pumping the chamber down"
+     },
+     "vent": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "vacuum.vent",
+        "say": "vent the chamber (the beam goes off)",
+        "unless": {
+         "slot": "vacuum.state",
+         "in": [
+          "vented",
+          "venting"
+         ]
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "vacuum.state",
+        "eq": "vented"
+       },
+       "what": "venting",
+       "max_s": 900,
+       "progress": [
+        "vacuum.state",
+        "vacuum.chamber_pressure_indicated_pa"
+       ]
+      },
+      "what": "venting",
+      "done": "venting the chamber"
+     }
+    }
+   },
+   "unsupported": {
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "view": [
+    {
+     "label": "vacuum",
+     "slot": "vacuum.state"
+    },
+    {
+     "label": "drawer",
+     "slot": "chamber.door_state"
+    },
+    {
+     "label": "specimen",
+     "slot": "specimen.loaded_id"
+    },
+    {
+     "label": "beam",
+     "slot": "beam.filament_state"
+    },
+    {
+     "label": "HV",
+     "slot": "beam.accelerating_voltage_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "mag",
+     "slot": "scan.magnification",
+     "fmt": "x"
+    },
+    {
+     "label": "WD",
+     "slot": "optics.focus_wd_m",
+     "kind": "length"
+    },
+    {
+     "label": "stage x",
+     "slot": "stage.x_indicated_m",
+     "kind": "length"
+    },
+    {
+     "label": "stage y",
+     "slot": "stage.y_indicated_m",
+     "kind": "length"
+    },
+    {
+     "label": "detector",
+     "slot": "detector.selected"
+    },
+    {
+     "label": "acquiring",
+     "slot": "acquisition.kind"
+    },
+    {
+     "label": "last image",
+     "slot": "result.last_image_id"
+    }
+   ],
+   "path": "image",
+   "notes": {
+    "load": [
+     "on the JSM-IT200 the specimen goes in through the pull-out drawer: vent, draw out, mount, draw in (manual: specimen exchange); the drawer travel is waited for (seconds)",
+     "manual: JSM-IT200 operating instructions pp.3-5; JSM-IT300 instructions manual ch.3"
+    ],
+    "vacuum": [
+     "pump-down to high vacuum takes about 3 min; venting about 2.5 min",
+     "manual: JSM-IT200 operating instructions pp.3-5"
+    ],
+    "source": [
+     "observation on raises the high tension and heats the filament (about 15 s to saturation); --kv sets the accelerating voltage first",
+     "manual: JSM-IT300 instructions manual ch.4 (accelerating voltage, probe current)"
+    ],
+    "acquire": [
+     "--pixels one of 320x240, 640x480, 1280x960, 2560x1920, 5120x3840; --dwell per pixel (frame time = pixels x dwell)",
+     "manual: JSM-IT200 operating instructions p.7 (photo resolution / scan time)"
+    ],
+    "focus": [
+     "manual: JSM-IT200 operating instructions p.6; JSM-IT300 manual ch.4"
+    ]
+   }
+  },
+  "jeol_jem1400flash": {
+   "role": "primary",
+   "slots": {
+    "sample": "holder.grids"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "holder.position",
+        "eq": "bench"
+       },
+       "code": "OCCUPIED",
+       "message": "a specimen holder is already in {inst} (holder {slot:holder.position}).",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "goniometer free"
+      },
+      {
+       "check": {
+        "slot": "specimen.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "grid {sample} is not on the bench next to {inst} (bench: {slot:specimen.bench_ids}).",
+       "fix": "load one of the grids on the bench; the lab operator puts new ones there.",
+       "label": "grid on the bench"
+      },
+      {
+       "check": {
+        "slot": "filament.on",
+        "truthy": false
+       },
+       "code": "BEAM_ON",
+       "message": "the filament of {inst} is on; a holder may only go in with the filament off.",
+       "fix": "switch the beam off: `chemlab run {inst} source off`.",
+       "label": "filament off"
+      },
+      {
+       "cap": "stage.neutral",
+       "say": "send the stage to neutral",
+       "unless": {
+        "all": [
+         {
+          "slot": "stage.x_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.y_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.z_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.tilt_indicated_rad",
+          "near": 0.0,
+          "abs": 0.0087
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "stage.x_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.y_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.z_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.tilt_indicated_rad",
+          "near": 0.0,
+          "abs": 0.0087
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the stage is at neutral",
+       "max_s": 120
+      },
+      {
+       "cap": "holder.load_grid",
+       "args": {
+        "holder_id": "$opt:holder",
+        "specimen_id": "$sample"
+       },
+       "say": "put grid {sample} into the {opt:holder} holder"
+      },
+      {
+       "cap": "holder.insert_to_airlock",
+       "args": {
+        "holder_id": "$opt:holder"
+       },
+       "say": "push the holder into the airlock"
+      },
+      {
+       "wait": {
+        "slot": "holder.position",
+        "eq": "airlock"
+       },
+       "say": "the holder sits at the airlock stop",
+       "max_s": 60
+      },
+      {
+       "cap": "airlock.set_pump",
+       "args": {
+        "pump": true
+       },
+       "say": "pump the airlock (PUMP)"
+      },
+      {
+       "wait": {
+        "slot": "airlock.state",
+        "eq": "evacuated"
+       },
+       "say": "the airlock is pumped (Evac Ready)",
+       "max_s": 600,
+       "poll_s": 2.0
+      },
+      {
+       "cap": "holder.insert",
+       "say": "turn the holder into the column"
+      },
+      {
+       "wait": {
+        "slot": "holder.position",
+        "eq": "column"
+       },
+       "say": "the holder is in the column",
+       "max_s": 120
+      }
+     ],
+     "defaults": {
+      "holder": "quick_change"
+     },
+     "done": "loaded grid {sample} ({opt:holder} holder in the column)",
+     "next": "switch the beam on: `chemlab run {inst} source on --wait` (high tension ramps at about 1 kV/s, then the filament heats)."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.position",
+        "eq": "column"
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder in the column of {inst} (holder {slot:holder.position}).",
+       "fix": "nothing to unload.",
+       "label": "holder in the column"
+      },
+      {
+       "check": {
+        "slot": "filament.on",
+        "truthy": false
+       },
+       "code": "BEAM_ON",
+       "message": "the filament of {inst} is on; the holder may only come out with the filament off.",
+       "fix": "switch the beam off: `chemlab run {inst} source off`.",
+       "label": "filament off"
+      },
+      {
+       "cap": "stage.neutral",
+       "say": "send the stage to neutral",
+       "unless": {
+        "all": [
+         {
+          "slot": "stage.x_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.y_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.z_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.tilt_indicated_rad",
+          "near": 0.0,
+          "abs": 0.0087
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "stage.x_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.y_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.z_indicated_m",
+          "near": 0.0,
+          "abs": 5e-07
+         },
+         {
+          "slot": "stage.tilt_indicated_rad",
+          "near": 0.0,
+          "abs": 0.0087
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the stage is at neutral",
+       "max_s": 120
+      },
+      {
+       "cap": "holder.withdraw",
+       "say": "withdraw the holder to the airlock stop"
+      },
+      {
+       "wait": {
+        "slot": "holder.position",
+        "eq": "airlock"
+       },
+       "say": "the holder is back at the airlock stop",
+       "max_s": 120
+      },
+      {
+       "cap": "airlock.set_pump",
+       "args": {
+        "pump": false
+       },
+       "say": "vent the airlock (AIR)"
+      },
+      {
+       "wait": {
+        "slot": "airlock.state",
+        "eq": "vented"
+       },
+       "say": "the airlock is vented",
+       "max_s": 600,
+       "poll_s": 2.0
+      },
+      {
+       "cap": "holder.remove",
+       "say": "pull the holder out onto the bench"
+      },
+      {
+       "wait": {
+        "slot": "holder.position",
+        "eq": "bench"
+       },
+       "say": "the holder is on the bench",
+       "max_s": 60
+      },
+      {
+       "cap": "holder.unload_grid",
+       "args": {
+        "holder_id": "$slotkey:holder.grids"
+       },
+       "say": "take the grid out of the holder"
+      }
+     ],
+     "done": "unloaded: the grid is back on the bench"
+    },
+    "move": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.position",
+        "eq": "column"
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder in the column of {inst}.",
+       "fix": "load a grid first: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample in place"
+      },
+      {
+       "cap": "stage.move_xy",
+       "args": {
+        "x_m": "$x",
+        "y_m": "$y"
+       },
+       "say": "move the stage to {x}, {y}",
+       "if": {
+        "input": "x",
+        "given": true
+       }
+      },
+      {
+       "cap": "stage.set_z",
+       "args": {
+        "z_m": "$opt:z"
+       },
+       "say": "move the stage Z to {opt:z}",
+       "if": {
+        "input": "opt:z",
+        "given": true
+       }
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage has stopped",
+       "max_s": 300
+      }
+     ]
+    },
+    "focus": {
+     "auto": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "filament.state",
+         "eq": "saturated"
+        },
+        "code": "BEAM_NOT_READY",
+        "message": "the beam of {inst} is not ready (filament {slot:filament.state}).",
+        "fix": "`chemlab run {inst} source on --wait`.",
+        "label": "beam ready"
+       },
+       {
+        "check": {
+         "slot": "optics.mode",
+         "eq": "MAG"
+        },
+        "code": "WRONG_MODE",
+        "message": "autofocus works in MAG mode; {inst} is in {slot:optics.mode}.",
+        "fix": "set an imaging magnification of 200x or more: `chemlab run {inst} zoom 30000x`.",
+        "label": "MAG mode"
+       },
+       {
+        "cap": "screen.set",
+        "args": {
+         "up": true
+        },
+        "say": "lift the viewing screen (camera below it)",
+        "unless": {
+         "slot": "screen.up",
+         "truthy": true
+        }
+       },
+       {
+        "wait": {
+         "all": [
+          {
+           "slot": "screen.up",
+           "truthy": true
+          },
+          {
+           "slot": "screen.moving",
+           "truthy": false
+          }
+         ]
+        },
+        "say": "the screen is up",
+        "max_s": 30
+       },
+       {
+        "cap": "optics.auto_focus",
+        "say": "autofocus"
+       }
+      ],
+      "done": "autofocus done"
+     },
+     "set": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "optics.set_defocus",
+        "args": {
+         "defocus_m": "$value"
+        },
+        "say": "set the defocus to {value}"
+       }
+      ],
+      "done": "defocus set to {value} (positive = underfocus)"
+     }
+    },
+    "zoom": {
+     "mag": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "optics.mode",
+         "ne": "DIFF"
+        },
+        "code": "WRONG_MODE",
+        "message": "{inst} is in diffraction mode (camera length, not magnification).",
+        "fix": "switch back to imaging (`chemlab call {inst} optics.set_mode --mode MAG`).",
+        "label": "imaging mode"
+       },
+       {
+        "cap": "optics.set_magnification",
+        "args": {
+         "magnification": "$value"
+        },
+        "say": "set the magnification (nearest step)"
+       }
+      ]
+     },
+     "why_objective": "a TEM has no objective turret; give a magnification: `zoom 30000x`."
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "vacuum.state",
+         "eq": "ready"
+        },
+        "code": "VACUUM_NOT_READY",
+        "message": "the column of {inst} is not ready (vacuum {slot:vacuum.state}).",
+        "fix": "wait for the column vacuum (`chemlab wait 60`).",
+        "label": "column vacuum ready"
+       },
+       {
+        "check": {
+         "slot": "holder.position",
+         "in": [
+          "bench",
+          "column"
+         ]
+        },
+        "code": "HOLDER_MOVING",
+        "message": "the specimen holder of {inst} is being moved ({slot:holder.position}).",
+        "fix": "finish loading or unloading first.",
+        "label": "holder not moving"
+       },
+       {
+        "cap": "ht.set_voltage",
+        "args": {
+         "voltage_v": "$opt:kv"
+        },
+        "say": "set the high tension to {opt:kv}",
+        "if": {
+         "input": "opt:kv",
+         "given": true
+        }
+       },
+       {
+        "cap": "ht.set_on",
+        "args": {
+         "on": true
+        },
+        "say": "switch the high tension on",
+        "unless": {
+         "slot": "ht.on",
+         "truthy": true
+        }
+       },
+       {
+        "wait": {
+         "slot": "ht.voltage_indicated_v",
+         "near": "$slot:ht.voltage_setpoint_v",
+         "abs": 50.0
+        },
+        "say": "the high tension is at its set value (about 1 kV/s)",
+        "max_s": 600,
+        "poll_s": 2.0
+       },
+       {
+        "cap": "filament.set_on",
+        "args": {
+         "on": true
+        },
+        "say": "switch the filament on",
+        "unless": {
+         "slot": "filament.on",
+         "truthy": true
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "filament.state",
+        "eq": "saturated"
+       },
+       "what": "filament heating",
+       "max_s": 300,
+       "progress": [
+        "filament.state"
+       ]
+      },
+      "what": "filament heating",
+      "done": "high tension on and the filament lit"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "filament.set_on",
+        "args": {
+         "on": false
+        },
+        "say": "switch the filament off",
+        "if": {
+         "slot": "filament.on",
+         "truthy": true
+        }
+       }
+      ],
+      "done": "filament off (the high tension stays on, as at the end of a session)"
+     }
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.position",
+        "eq": "column"
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no specimen in the column of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder in the column"
+      },
+      {
+       "check": {
+        "slot": "filament.state",
+        "eq": "saturated"
+       },
+       "code": "BEAM_NOT_READY",
+       "message": "the beam of {inst} is not ready (filament {slot:filament.state}).",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "beam ready"
+      },
+      {
+       "check": {
+        "slot": "optics.mode",
+        "ne": "DIFF"
+       },
+       "code": "WRONG_MODE",
+       "message": "{inst} is in diffraction mode.",
+       "fix": "switch back to imaging (`chemlab call {inst} optics.set_mode --mode MAG`).",
+       "label": "imaging mode"
+      },
+      {
+       "cap": "screen.set",
+       "args": {
+        "up": true
+       },
+       "say": "lift the viewing screen (the camera is below it)",
+       "unless": {
+        "slot": "screen.up",
+        "truthy": true
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "screen.up",
+          "truthy": true
+         },
+         {
+          "slot": "screen.moving",
+          "truthy": false
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the screen is up and the stage still",
+       "max_s": 30
+      },
+      {
+       "cap": "image.acquire",
+       "args": {
+        "exposure_s": "$opt:exposure",
+        "binning": "$opt:binning"
+       },
+       "say": "expose the camera ({opt:exposure}, binning {opt:binning})"
+      }
+     ],
+     "defaults": {
+      "exposure": "1s",
+      "binning": "1"
+     },
+     "job": "operation",
+     "what": "camera exposure"
+    },
+    "result": {
+     "cap": "image.result",
+     "arg": "image_id",
+     "last_slot": "result.last_image_id",
+     "show": [
+      "image_id",
+      "status",
+      "mode",
+      "accelerating_voltage_v",
+      "magnification",
+      "exposure_s",
+      "binning",
+      "pixel_size_m",
+      "field_of_view_m",
+      "defocus_display_m",
+      "regions",
+      "lattice_fringes_m",
+      "thon_rings"
+     ]
+    }
+   },
+   "unsupported": {
+    "vacuum": "the column stays under vacuum by itself; the specimen airlock is pumped by `load` and vented by `unload`",
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "view": [
+    {
+     "label": "holder",
+     "slot": "holder.position"
+    },
+    {
+     "label": "grids",
+     "slot": "holder.grids"
+    },
+    {
+     "label": "airlock",
+     "slot": "airlock.state"
+    },
+    {
+     "label": "HT on",
+     "slot": "ht.on"
+    },
+    {
+     "label": "HT",
+     "slot": "ht.voltage_indicated_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "filament",
+     "slot": "filament.state"
+    },
+    {
+     "label": "mode",
+     "slot": "optics.mode"
+    },
+    {
+     "label": "mag",
+     "slot": "optics.magnification",
+     "fmt": "x"
+    },
+    {
+     "label": "defocus",
+     "slot": "optics.defocus_display_m",
+     "kind": "length"
+    },
+    {
+     "label": "screen up",
+     "slot": "screen.up"
+    },
+    {
+     "label": "acquiring",
+     "slot": "acquisition.kind"
+    },
+    {
+     "label": "last image",
+     "slot": "result.last_image_id"
+    }
+   ],
+   "path": "image",
+   "path_exceptions": [
+    "screen.set"
+   ],
+   "notes": {
+    "load": [
+     "grid into the holder, holder into the airlock, pump the airlock (about 1.5 min), turn it into the column (manual: specimen holder insertion); the stage goes to neutral first; waits are bounded by --max",
+     "manual: JEM-1400 SOP pp.9-17 (holder exchange via airlock); JEM-1400 usage notes pp.2-3"
+    ],
+    "source": [
+     "high tension on and ramped (about 1 kV/s from 0), then the filament (about 20 s to saturation); `source off` switches only the filament off",
+     "manual: JEM-1400 SOP pp.18-24 (filament heating)"
+    ],
+    "acquire": [
+     "the viewing screen is lifted first (the camera sits below it)",
+     "manual: JEM-1400 SOP pp.25-28"
+    ],
+    "focus": [
+     "manual: JEM-1400 usage notes pp.3-5"
+    ],
+    "unload": [
+     "manual: JEM-1400 SOP pp.29-31"
+    ]
+   }
+  },
+  "keyence_vkx3000": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_stage#sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the stage of {inst} already holds {slot:sample.on_stage}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "stage free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench; the lab operator puts new ones there.",
+       "label": "sample on the bench"
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample",
+        "x_m": "$opt:at_x",
+        "y_m": "$opt:at_y"
+       },
+       "say": "put {sample} on the stage"
+      }
+     ],
+     "defaults": {
+      "at_x": "0mm",
+      "at_y": "0mm"
+     },
+     "done": "loaded {sample} on the stage",
+     "next": "choose a measuring objective (`zoom --objective 10x`), bring the surface near focus (`focus Z`) and `focus auto`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample on the stage of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample on the stage"
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} off the stage"
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "move": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "cap": "stage.move",
+       "args": {
+        "x_m": "$x",
+        "y_m": "$y"
+       },
+       "say": "move the stage to {x}, {y}"
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage has stopped",
+       "max_s": 120
+      }
+     ]
+    },
+    "focus": {
+     "auto": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "sample.on_stage",
+         "ne": null
+        },
+        "code": "NO_SAMPLE",
+        "message": "there is no sample on the stage of {inst}.",
+        "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+        "label": "sample in place"
+       },
+       {
+        "check": {
+         "slot": "head.objective",
+         "ne": "2.5x"
+        },
+        "code": "LENS_NOT_FOR_MEASURING",
+        "message": "the 2.5x objective of {inst} is for viewing only; autofocus needs a measuring objective.",
+        "fix": "choose one: `chemlab run {inst} zoom --objective 10x` (10x, 20x, 50x, 150x).",
+        "label": "measuring objective"
+       },
+       {
+        "cap": "focus.auto",
+        "say": "autofocus (search near the current Z)"
+       }
+      ],
+      "job": "operation",
+      "what": "autofocus"
+     },
+     "set": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "focus.move",
+        "args": {
+         "z_m": "$value"
+        },
+        "say": "move the head Z to {value}"
+       },
+       {
+        "wait": {
+         "slot": "head.z_moving",
+         "truthy": false
+        },
+        "say": "the head has stopped",
+        "max_s": 120
+       }
+      ],
+      "done": "head Z at {value} (the focal plane moves down as Z grows)"
+     }
+    },
+    "zoom": {
+     "mag": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "zoom.set",
+        "args": {
+         "zoom": "$value"
+        },
+        "say": "set the optical zoom"
+       }
+      ]
+     },
+     "objective": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "lens.select",
+        "args": {
+         "slot": "$value"
+        },
+        "say": "turn the revolver"
+       },
+       {
+        "wait": {
+         "slot": "head.revolver_moving",
+         "truthy": false
+        },
+        "say": "the revolver has stopped",
+        "max_s": 60
+       }
+      ],
+      "table": {
+       "2.5x": 0,
+       "10x": 1,
+       "20x": 2,
+       "50x": 3,
+       "150x": 4,
+       "20x DI": 5
+      }
+     }
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample on the stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample on the stage"
+      },
+      {
+       "check": {
+        "slot": "head.objective",
+        "ne": "2.5x"
+       },
+       "code": "LENS_NOT_FOR_MEASURING",
+       "message": "the 2.5x objective of {inst} cannot measure heights.",
+       "fix": "choose a measuring objective: `chemlab run {inst} zoom --objective 10x`.",
+       "label": "measuring objective"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "head.z_moving",
+          "truthy": false
+         },
+         {
+          "slot": "head.revolver_moving",
+          "truthy": false
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the head, revolver and stage are still",
+       "max_s": 60
+      },
+      {
+       "cap": "measurement.auto_range",
+       "say": "find the upper and lower scan limits (auto range)",
+       "if": {
+        "slot": "measurement.z_range_m",
+        "eq": null
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "measurement.kind",
+          "eq": null
+         },
+         {
+          "slot": "measurement.z_range_m",
+          "ne": null
+         }
+        ]
+       },
+       "say": "the auto range has finished",
+       "max_s": 600
+      },
+      {
+       "cap": "measurement.start",
+       "say": "measure the height map of the field"
+      }
+     ],
+     "job": "operation",
+     "what": "height-map measurement"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    }
+   },
+   "unsupported": {
+    "source": "the laser switches on by itself while measuring (no separate switch)",
+    "vacuum": "an ambient instrument (no chamber)",
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "sample",
+     "slot": "sample.on_stage",
+     "key": "sample_id"
+    },
+    {
+     "label": "objective",
+     "slot": "head.objective"
+    },
+    {
+     "label": "zoom",
+     "slot": "optics.zoom",
+     "fmt": "x"
+    },
+    {
+     "label": "total mag",
+     "slot": "optics.total_magnification",
+     "fmt": "x"
+    },
+    {
+     "label": "head Z",
+     "slot": "head.z_m",
+     "kind": "length"
+    },
+    {
+     "label": "stage x",
+     "slot": "stage.x_m",
+     "kind": "length"
+    },
+    {
+     "label": "stage y",
+     "slot": "stage.y_m",
+     "kind": "length"
+    },
+    {
+     "label": "measuring",
+     "slot": "measurement.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "measurement",
+   "notes": {
+    "focus": [
+     "autofocus searches about +-0.3 mm around the current head Z: bring the surface near focus first (`focus Z`)",
+     "manual: VK-X3000 user manual pp.51-60"
+    ],
+    "zoom": [
+     "MAG is the optical zoom 1-8x; --objective chooses the revolver lens (2.5x is for viewing only)",
+     "manual: VK-X3000 user manual pp.51-60 (objective lens selection)"
+    ],
+    "acquire": [
+     "sets the Z scan limits with auto range when none are set, then measures (laser confocal by default)",
+     "manual: VK-X3000 user manual pp.22-28 (measurement principles); viewer application manual pp.29-52"
+    ],
+    "load": [
+     "manual: VK-X3000 user manual pp.51-60"
+    ]
+   }
+  },
+  "evident_bx53p": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_stage"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the stage of {inst} already holds {slot:sample.on_stage}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "stage free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "slide {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the slides on the bench.",
+       "label": "slide on the bench"
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "put slide {sample} on the stage"
+      }
+     ],
+     "done": "loaded slide {sample}"
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no slide on the stage of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a slide on the stage"
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take slide {sample} off the stage"
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "focus": {
+     "set": {
+      "steps": [
+       {
+        "cap": "focus.move",
+        "args": {
+         "stage_z_m": "$value"
+        },
+        "say": "move the stage height to {value}"
+       }
+      ],
+      "done": "stage height {value}"
+     },
+     "why_auto": "the BX53-P has no autofocus; set the stage height: `focus -4.9mm` (the coarse / fine knobs)"
+    },
+    "zoom": {
+     "objective": {
+      "steps": [
+       {
+        "cap": "objective.select",
+        "args": {
+         "index": "$value"
+        },
+        "say": "turn the nosepiece"
+       }
+      ],
+      "table": {
+       "4x": 0,
+       "10x": 1,
+       "40x": 2,
+       "100x": 3
+      }
+     },
+     "why_mag": "no zoom on this microscope; choose an objective: `zoom --objective 40x`"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "illumination.set_level",
+        "args": {
+         "level": "$opt:level"
+        },
+        "say": "set the lamp to {opt:level}"
+       }
+      ],
+      "defaults": {
+       "level": "50%"
+      },
+      "done": "lamp on at {opt:level}"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "illumination.set_level",
+        "args": {
+         "level": 0.0
+        },
+        "say": "turn the lamp down to 0"
+       }
+      ],
+      "done": "lamp off"
+     }
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "illumination.lamp_on",
+        "truthy": true
+       },
+       "code": "LAMP_OFF",
+       "message": "the lamp of {inst} is off, so the camera would see nothing.",
+       "fix": "`chemlab run {inst} source on`.",
+       "label": "lamp on"
+      },
+      {
+       "cap": "camera.configure",
+       "args": {
+        "exposure_s": "$opt:exposure",
+        "gain": "$slot:camera.gain"
+       },
+       "say": "set the camera exposure to {opt:exposure}",
+       "if": {
+        "input": "opt:exposure",
+        "given": true
+       }
+      },
+      {
+       "cap": "camera.acquire",
+       "say": "take a camera image"
+      }
+     ],
+     "job": "operation",
+     "what": "camera image"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    }
+   },
+   "unsupported": {
+    "move": "the stage only rotates (no XY drive from the computer)",
+    "vacuum": "an ambient instrument (no chamber)",
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "alternatives": {
+    "move": "rotate the stage: `chemlab call evident_bx53p stage.rotate --angle_rad 0.785`"
+   },
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "slide",
+     "slot": "sample.on_stage"
+    },
+    {
+     "label": "objective",
+     "slot": "objective.name"
+    },
+    {
+     "label": "lamp on",
+     "slot": "illumination.lamp_on"
+    },
+    {
+     "label": "lamp level",
+     "slot": "illumination.level"
+    },
+    {
+     "label": "stage height",
+     "slot": "focus.stage_z_m",
+     "kind": "length"
+    },
+    {
+     "label": "crossed polars",
+     "slot": "optics.crossed"
+    },
+    {
+     "label": "stage angle",
+     "slot": "stage.angle_rad",
+     "fmt": "deg"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "camera",
+   "path_exceptions": [
+    "measurement.result"
+   ],
+   "notes": {
+    "zoom": [
+     "objectives 4x, 10x, 40x, 100x oil (UPLFLN); --objective takes the position (0-3) or the magnification",
+     "manual: BX53/BX53M-P instructions p.5 (nomenclature: revolving nosepiece)"
+    ],
+    "source": [
+     "--level is the lamp level (0-100 %); off sets it to 0",
+     "manual: BX53-P brochure pp.2-4"
+    ]
+   }
+  },
+  "thermo_ibrightfl1500": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_stage"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the drawer of {inst} already holds {slot:sample.on_stage}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "drawer empty"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the gels / blots on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "wait": {
+        "slot": "operation.kind",
+        "eq": null
+       },
+       "say": "the imager is idle",
+       "max_s": 600
+      },
+      {
+       "cap": "drawer.open",
+       "say": "open the sample drawer",
+       "unless": {
+        "slot": "drawer.state",
+        "eq": "open"
+       }
+      },
+      {
+       "wait": {
+        "slot": "drawer.state",
+        "eq": "open"
+       },
+       "say": "the drawer is open",
+       "max_s": 60
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample",
+        "skew_rad": 0.0
+       },
+       "say": "put {sample} on the sample tray"
+      },
+      {
+       "cap": "drawer.close",
+       "say": "close the drawer"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "drawer.state",
+          "eq": "closed"
+         },
+         {
+          "slot": "operation.kind",
+          "eq": null
+         }
+        ]
+       },
+       "say": "the drawer is closed",
+       "max_s": 60
+      }
+     ],
+     "done": "loaded {sample}; the drawer is closed"
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample in {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample in the drawer"
+      },
+      {
+       "wait": {
+        "slot": "operation.kind",
+        "eq": null
+       },
+       "say": "the imager is idle",
+       "max_s": 600
+      },
+      {
+       "cap": "drawer.open",
+       "say": "open the sample drawer",
+       "unless": {
+        "slot": "drawer.state",
+        "eq": "open"
+       }
+      },
+      {
+       "wait": {
+        "slot": "drawer.state",
+        "eq": "open"
+       },
+       "say": "the drawer is open",
+       "max_s": 60
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} out"
+      },
+      {
+       "cap": "drawer.close",
+       "say": "close the drawer"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "drawer.state",
+          "eq": "closed"
+         },
+         {
+          "slot": "operation.kind",
+          "eq": null
+         }
+        ]
+       },
+       "say": "the drawer is closed",
+       "max_s": 60
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "focus": {
+     "auto": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "wait": {
+         "slot": "operation.kind",
+         "eq": null
+        },
+        "say": "the imager is idle",
+        "max_s": 600
+       },
+       {
+        "cap": "camera.set",
+        "args": {
+         "binning": "$slot:camera.binning",
+         "zoom": "$slot:camera.zoom",
+         "auto_focus": true,
+         "lock": "$slot:camera.locked"
+        },
+        "say": "switch the camera to auto focus"
+       }
+      ],
+      "done": "camera on auto focus"
+     },
+     "why_set": "the iBright camera focuses itself; use `focus auto`"
+    },
+    "zoom": {
+     "mag": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "wait": {
+         "slot": "operation.kind",
+         "eq": null
+        },
+        "say": "the imager is idle",
+        "max_s": 600
+       },
+       {
+        "cap": "camera.set",
+        "args": {
+         "binning": "$slot:camera.binning",
+         "zoom": "$value",
+         "auto_focus": true,
+         "lock": "$slot:camera.locked"
+        },
+        "say": "set the camera zoom (auto focus on)"
+       }
+      ]
+     },
+     "why_objective": "a fixed camera lens with digital zoom; give a zoom factor: `zoom 2x`"
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no gel or blot in {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample in"
+      },
+      {
+       "check": {
+        "any": [
+         {
+          "slot": "mode",
+          "ne": null
+         },
+         {
+          "input": "opt:mode",
+          "given": true
+         }
+        ]
+       },
+       "code": "NO_MODE",
+       "message": "{inst} has no imaging mode selected.",
+       "fix": "give one: `chemlab run {inst} acquire --mode nucleic_acid_gels` (chemi_blots, fluorescent_blots, nucleic_acid_gels, protein_gels, universal).",
+       "label": "imaging mode"
+      },
+      {
+       "wait": {
+        "slot": "operation.kind",
+        "eq": null
+       },
+       "say": "the imager is idle",
+       "max_s": 600
+      },
+      {
+       "check": {
+        "any": [
+         {
+          "input": "opt:hdr",
+          "eq": false
+         },
+         {
+          "input": "opt:mode",
+          "eq": "chemi_blots"
+         },
+         {
+          "all": [
+           {
+            "input": "opt:mode",
+            "given": false
+           },
+           {
+            "slot": "mode",
+            "eq": "chemi_blots"
+           }
+          ]
+         }
+        ]
+       },
+       "code": "HDR_CHEMI_ONLY",
+       "message": "high dynamic range capture works only in the chemi_blots mode on {inst} (mode now {slot:mode}).",
+       "fix": "leave out --hdr, or use `--mode chemi_blots`.",
+       "label": "HDR only for chemiluminescence"
+      },
+      {
+       "cap": "mode.select",
+       "args": {
+        "mode": "$opt:mode"
+       },
+       "say": "select the {opt:mode} mode",
+       "if": {
+        "input": "opt:mode",
+        "given": true
+       }
+      },
+      {
+       "cap": "capture.run",
+       "args": {
+        "hdr": "$opt:hdr"
+       },
+       "say": "capture"
+      }
+     ],
+     "defaults": {
+      "hdr": false
+     },
+     "options": [
+      "mode"
+     ],
+     "job": "operation",
+     "what": "capture"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "image_id",
+     "last_slot": "result.last_image_id"
+    }
+   },
+   "unsupported": {
+    "move": "no stage (an optional turntable only)",
+    "source": "the light sources are switched by the capture itself, per channel",
+    "vacuum": "an ambient instrument (no chamber)",
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "alternatives": {
+    "source": "the white-light transilluminator for the live view: `chemlab call thermo_ibrightfl1500 live.set_trans_light --enabled true`"
+   },
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "drawer",
+     "slot": "drawer.state"
+    },
+    {
+     "label": "sample",
+     "slot": "sample.on_stage"
+    },
+    {
+     "label": "mode",
+     "slot": "mode"
+    },
+    {
+     "label": "channels",
+     "slot": "channels.selected"
+    },
+    {
+     "label": "zoom",
+     "slot": "camera.zoom",
+     "fmt": "x"
+    },
+    {
+     "label": "binning",
+     "slot": "camera.binning"
+    },
+    {
+     "label": "busy with",
+     "slot": "operation.kind"
+    },
+    {
+     "label": "last image",
+     "slot": "result.last_image_id"
+    }
+   ],
+   "path": "capture",
+   "path_exceptions": [
+    "measurement.result",
+    "mode.select"
+   ],
+   "notes": {
+    "acquire": [
+     "--mode selects the imaging mode first (its default channels); --hdr for a high-dynamic-range capture",
+     "manual: iBright user guide pp.13-24 (imaging mode and capture)"
+    ],
+    "load": [
+     "manual: iBright user guide pp.13-24"
+    ]
+   }
+  },
+  "park_nx10": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_chuck#sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_chuck",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the chuck of {inst} already holds {slot:sample.on_chuck#sample_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "chuck free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "check": {
+        "slot": "engage.state",
+        "eq": "retracted"
+       },
+       "code": "TIP_ENGAGED",
+       "message": "the tip of {inst} is on the surface (engage {slot:engage.state}).",
+       "fix": "retract it first: `chemlab run {inst} retract`.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample",
+        "offset_x_m": "$opt:at_x",
+        "offset_y_m": "$opt:at_y"
+       },
+       "say": "put {sample} on the sample chuck"
+      }
+     ],
+     "defaults": {
+      "at_x": "0mm",
+      "at_y": "0mm"
+     },
+     "done": "loaded {sample} on the chuck",
+     "next": "switch the laser on (`chemlab run {inst} source on`), then `chemlab run {inst} approach --wait`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_chuck",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample on the chuck of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample on the chuck"
+      },
+      {
+       "check": {
+        "slot": "engage.state",
+        "eq": "retracted"
+       },
+       "code": "TIP_ENGAGED",
+       "message": "the tip of {inst} is on the surface (engage {slot:engage.state}).",
+       "fix": "retract it first: `chemlab run {inst} retract`.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} off the chuck"
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "move": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "engage.state",
+        "eq": "retracted"
+       },
+       "code": "TIP_ENGAGED",
+       "message": "the tip of {inst} is on the surface (engage {slot:engage.state}).",
+       "fix": "retract it first: `chemlab run {inst} retract`.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "stage.move_xy",
+       "args": {
+        "x_m": "$x",
+        "y_m": "$y"
+       },
+       "say": "move the XY stage to {x}, {y}"
+      },
+      {
+       "wait": {
+        "slot": "stage.xy_moving",
+        "truthy": false
+       },
+       "say": "the stage has stopped",
+       "max_s": 120
+      }
+     ]
+    },
+    "focus": {
+     "set": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "focus.move",
+        "args": {
+         "position_m": "$value"
+        },
+        "say": "move the optical focus to {value}"
+       },
+       {
+        "wait": {
+         "slot": "focus.moving",
+         "truthy": false
+        },
+        "say": "the focus stage has stopped",
+        "max_s": 120
+       }
+      ],
+      "done": "optical (camera) focus at {value}"
+     },
+     "why_auto": "the NX10 camera has no autofocus; the tip finds the surface with `approach`"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "beam.set",
+        "args": {
+         "on": true
+        },
+        "say": "switch the deflection laser on"
+       }
+      ],
+      "done": "deflection laser on"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "beam.set",
+        "args": {
+         "on": false
+        },
+        "say": "switch the deflection laser off"
+       }
+      ],
+      "done": "deflection laser off"
+     }
+    },
+    "approach": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "probe.mounted",
+        "ne": null
+       },
+       "code": "NO_PROBE",
+       "message": "there is no probe (cantilever) on {inst}.",
+       "fix": "ask the lab operator to mount one (probe exchange is set-up work).",
+       "label": "probe mounted"
+      },
+      {
+       "check": {
+        "slot": "sample.on_chuck",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample under the tip of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample on the chuck"
+      },
+      {
+       "check": {
+        "slot": "beam.emitting",
+        "truthy": true
+       },
+       "code": "LASER_OFF",
+       "message": "the deflection laser of {inst} is off, so the feedback cannot see the cantilever.",
+       "fix": "`chemlab run {inst} source on`.",
+       "label": "laser on"
+      },
+      {
+       "check": {
+        "slot": "engage.state",
+        "eq": "retracted"
+       },
+       "code": "ALREADY_ENGAGED",
+       "message": "the tip of {inst} is not retracted (engage {slot:engage.state}).",
+       "fix": "it is already on the surface; `acquire` scans, `retract` lifts it.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "approach",
+       "args": {
+        "setpoint_force_n": "$opt:setpoint",
+        "setpoint_amplitude_m": null,
+        "z_servo_gain": 1.0
+       },
+       "say": "approach in contact mode (set point {opt:setpoint})",
+       "if": {
+        "slot": "head.mode",
+        "eq": "contact"
+       }
+      },
+      {
+       "cap": "approach",
+       "args": {
+        "setpoint_force_n": null,
+        "setpoint_amplitude_m": "$opt:setpoint",
+        "z_servo_gain": 1.0
+       },
+       "say": "approach in {slot:head.mode} mode (set point {opt:setpoint})",
+       "if": {
+        "slot": "head.mode",
+        "in": [
+         "tapping",
+         "non_contact"
+        ]
+       }
+      }
+     ],
+     "defaults": {
+      "setpoint": [
+       {
+        "if": {
+         "slot": "head.mode",
+         "eq": "contact"
+        },
+        "value": "2nN"
+       },
+       {
+        "value": "20nm"
+       }
+      ]
+     },
+     "job": "operation",
+     "what": "tip approach"
+    },
+    "retract": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "cap": "retract",
+       "args": {
+        "distance_m": "$opt:distance"
+       },
+       "say": "retract the Z stage by {opt:distance}"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "engage.state",
+          "eq": "retracted"
+         },
+         {
+          "slot": "z_stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the tip is retracted and the Z stage still",
+       "max_s": 120
+      }
+     ],
+     "defaults": {
+      "distance": "3mm"
+     },
+     "done": "tip retracted by {opt:distance}"
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "engage.state",
+        "eq": "engaged"
+       },
+       "code": "NOT_ENGAGED",
+       "message": "the tip of {inst} is not on the surface (engage {slot:engage.state}).",
+       "fix": "approach first: `chemlab run {inst} approach --wait`.",
+       "label": "tip engaged"
+      },
+      {
+       "cap": "scan.start",
+       "args": {
+        "size_m": "$opt:size",
+        "pixels_x": "$opt:pixels",
+        "pixels_y": "$opt:pixels",
+        "rate_hz": "$opt:rate",
+        "angle_rad": 0.0,
+        "offset_x_m": 0.0,
+        "offset_y_m": 0.0,
+        "setpoint_force_n": "$slot:feedback.setpoint#setpoint_force_n",
+        "setpoint_amplitude_m": "$slot:feedback.setpoint#setpoint_amplitude_m",
+        "z_servo_gain": "$slot:feedback.setpoint#z_servo_gain",
+        "save_retrace": false,
+        "retract_after": false
+       },
+       "say": "scan {opt:size} at {opt:rate} ({opt:pixels} lines)"
+      }
+     ],
+     "defaults": {
+      "size": "5um",
+      "pixels": "256",
+      "rate": "1Hz"
+     },
+     "job": "operation",
+     "what": "AFM scan"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id",
+     "args": {
+      "channel": null,
+      "direction": null,
+      "region_px": null,
+      "max_values": 4096
+     }
+    }
+   },
+   "unsupported": {
+    "zoom": "the field of view is the scan size (`acquire --size 5um`)",
+    "vacuum": "an ambient instrument (no chamber)"
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "sample",
+     "slot": "sample.on_chuck",
+     "key": "sample_id"
+    },
+    {
+     "label": "probe",
+     "slot": "probe.mounted",
+     "key": "probe_id"
+    },
+    {
+     "label": "mode",
+     "slot": "head.mode"
+    },
+    {
+     "label": "laser",
+     "slot": "beam.emitting"
+    },
+    {
+     "label": "tip",
+     "slot": "engage.state"
+    },
+    {
+     "label": "stage x",
+     "slot": "stage.x_m",
+     "kind": "length"
+    },
+    {
+     "label": "stage y",
+     "slot": "stage.y_m",
+     "kind": "length"
+    },
+    {
+     "label": "busy with",
+     "slot": "operation.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "scan",
+   "path_exceptions": [
+    "measurement.result"
+   ],
+   "notes": {
+    "approach": [
+     "contact mode takes a force set point (default 2nN), tapping / non-contact an amplitude (default 20nm); about 3 min",
+     "manual: NX10 user manual pp.98-129 (approach), pp.130-150 (contact / tapping)"
+    ],
+    "acquire": [
+     "--size scan size (up to 50 um), --pixels lines and points per line, --rate line rate; the set point of the approach is kept",
+     "manual: NX10 user manual pp.98-129 (scan)"
+    ],
+    "load": [
+     "manual: NX10 user manual p.113 (sample loading)"
+    ],
+    "source": [
+     "manual: NX10 user manual pp.98-129 (laser alignment)"
+    ]
+   }
+  },
+  "nanosurf_naiostm": {
+   "role": "primary",
+   "slots": {
+    "sample": "holder.sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.sample_id",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the sample holder of {inst} already carries {slot:holder.sample_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "holder free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "check": {
+        "slot": "approach.state",
+        "eq": "retracted"
+       },
+       "code": "TIP_ENGAGED",
+       "message": "the tip of {inst} is not retracted ({slot:approach.state}).",
+       "fix": "`chemlab run {inst} retract` first.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "sample.mount",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "mount {sample} on the sample holder"
+      },
+      {
+       "cap": "cover.lift",
+       "say": "lift the magnifier cover",
+       "unless": {
+        "slot": "cover.lifted",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "holder.insert",
+       "args": {
+        "position_m": "$param:insert_position_m",
+        "angle_rad": 0.0
+       },
+       "say": "slide the holder into the scan head"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "holder.location",
+          "eq": "head"
+         },
+         {
+          "slot": "holder.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the holder sits in the head",
+       "max_s": 60
+      },
+      {
+       "cap": "cover.place",
+       "say": "put the magnifier cover back"
+      }
+     ],
+     "done": "loaded {sample} into the scan head",
+     "next": "`chemlab run {inst} approach --wait` (coarse approach, about 5 min)."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.sample_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample in {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample in the holder"
+      },
+      {
+       "check": {
+        "slot": "approach.state",
+        "eq": "retracted"
+       },
+       "code": "TIP_ENGAGED",
+       "message": "the tip of {inst} is not retracted ({slot:approach.state}).",
+       "fix": "`chemlab run {inst} retract` first.",
+       "label": "tip retracted"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "approach.state",
+          "eq": "retracted"
+         },
+         {
+          "slot": "holder.moving",
+          "truthy": false
+         },
+         {
+          "slot": "operation.kind",
+          "eq": null
+         }
+        ]
+       },
+       "say": "the approach motor has stopped",
+       "max_s": 60
+      },
+      {
+       "cap": "cover.lift",
+       "say": "lift the magnifier cover",
+       "unless": {
+        "slot": "cover.lifted",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "holder.remove",
+       "say": "take the holder out of the head",
+       "if": {
+        "slot": "holder.location",
+        "eq": "head"
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "holder.location",
+          "eq": "container"
+         },
+         {
+          "slot": "holder.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the holder is back in its container",
+       "max_s": 60
+      },
+      {
+       "cap": "sample.unmount",
+       "say": "take {sample} off the holder"
+      },
+      {
+       "cap": "cover.place",
+       "say": "put the magnifier cover back"
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "approach": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.location",
+        "eq": "head"
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample holder in the scan head of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder in the head"
+      },
+      {
+       "check": {
+        "slot": "tip.installed",
+        "truthy": true
+       },
+       "code": "NO_TIP",
+       "message": "there is no tip in {inst}.",
+       "fix": "ask the lab operator to prepare a tip (set-up work).",
+       "label": "tip installed"
+      },
+      {
+       "check": {
+        "slot": "approach.state",
+        "eq": "retracted"
+       },
+       "code": "ALREADY_ENGAGED",
+       "message": "the tip of {inst} is not retracted ({slot:approach.state}).",
+       "fix": "it is already in tunnelling range; `acquire` scans, `retract` withdraws it.",
+       "label": "tip retracted"
+      },
+      {
+       "cap": "cover.place",
+       "say": "put the magnifier cover back (shielding)",
+       "unless": {
+        "slot": "cover.lifted",
+        "truthy": false
+       }
+      },
+      {
+       "cap": "approach.start",
+       "args": {
+        "move_speed_percent": 100.0,
+        "max_steps": 200000
+       },
+       "say": "coarse approach until the tunnelling current is reached"
+      }
+     ],
+     "job": "operation",
+     "what": "tip approach"
+    },
+    "retract": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "cap": "approach.retract",
+       "args": {
+        "duration_s": 2.0
+       },
+       "say": "retract the tip for 2 s at full speed (about 0.5 mm)"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "approach.state",
+          "eq": "retracted"
+         },
+         {
+          "slot": "holder.moving",
+          "truthy": false
+         },
+         {
+          "slot": "operation.kind",
+          "eq": null
+         }
+        ]
+       },
+       "say": "the tip is retracted and the motor stopped",
+       "max_s": 120
+      }
+     ],
+     "done": "tip retracted (about 0.5 mm, enough to take the holder out)"
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "approach.state",
+        "eq": "engaged"
+       },
+       "code": "NOT_ENGAGED",
+       "message": "the tip of {inst} is not in tunnelling range ({slot:approach.state}).",
+       "fix": "approach first: `chemlab run {inst} approach --wait`.",
+       "label": "tip engaged"
+      },
+      {
+       "cap": "scan.start",
+       "args": {
+        "image_size_m": "$opt:size",
+        "time_per_line_s": "$opt:line-time",
+        "points": "$opt:points",
+        "rotation_rad": 0.0,
+        "offset_x_m": 0.0,
+        "offset_y_m": 0.0,
+        "slope_x_rad": 0.0,
+        "slope_y_rad": 0.0
+       },
+       "say": "scan {opt:size} ({opt:points} points, {opt:line-time} per line)"
+      }
+     ],
+     "defaults": {
+      "size": "10nm",
+      "line-time": "0.2s",
+      "points": "128"
+     },
+     "job": "operation",
+     "what": "STM scan"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id",
+     "args": {
+      "channel": null,
+      "direction": null,
+      "region_px": null,
+      "max_values": 4096
+     }
+    }
+   },
+   "unsupported": {
+    "move": "no XY stage (only the scan offset moves the field)",
+    "focus": "no optics to focus: the tip finds the surface with `approach`",
+    "zoom": "the field of view is the scan size (`acquire --size 10nm`)",
+    "source": "no beam or light source (tunnelling current only)",
+    "vacuum": "an ambient instrument (no chamber)"
+   },
+   "params": {
+    "insert_position_m": 0.006
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "sample",
+     "slot": "holder.sample_id"
+    },
+    {
+     "label": "holder",
+     "slot": "holder.location"
+    },
+    {
+     "label": "cover lifted",
+     "slot": "cover.lifted"
+    },
+    {
+     "label": "tip",
+     "slot": "approach.state"
+    },
+    {
+     "label": "current",
+     "slot": "current.reading_a",
+     "kind": "current"
+    },
+    {
+     "label": "busy with",
+     "slot": "operation.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "scan",
+   "path_exceptions": [
+    "measurement.result"
+   ],
+   "notes": {
+    "load": [
+     "mount on the holder, lift the cover, slide the holder into the head (6 mm), put the cover back",
+     "manual: NaioSTM operating instructions pp.25-32 (installing the sample)"
+    ],
+    "approach": [
+     "coarse approach at full speed until the tunnelling set point (about 5 min)",
+     "manual: NaioSTM operating instructions pp.36-38, 87-96"
+    ],
+    "acquire": [
+     "--size image size (up to 500 nm), --points per line, --line-time per line",
+     "manual: NaioSTM operating instructions p.39, pp.97-112"
+    ],
+    "retract": [
+     "manual: NaioSTM operating instructions pp.59-61"
+    ]
+   }
+  },
+  "bruker_x4poseidon": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_stage#sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the chuck of {inst} already holds {slot:sample.on_stage#sample_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "chuck free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "check": {
+        "slot": "measurement.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is measuring now.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "not measuring"
+      },
+      {
+       "check": {
+        "slot": "xray.on",
+        "truthy": false
+       },
+       "code": "SOURCE_ON",
+       "message": "the X-rays of {inst} are on, so the door stays locked.",
+       "fix": "switch them off first: `chemlab run {inst} source off`.",
+       "label": "X-rays off"
+      },
+      {
+       "cap": "door.open",
+       "say": "open the sliding door",
+       "unless": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": false
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": false
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the door is open",
+       "max_s": 60
+      },
+      {
+       "cap": "stage.go_to",
+       "args": {
+        "position": "load"
+       },
+       "say": "bring the stage to the load position",
+       "unless": {
+        "slot": "stage.position_label",
+        "eq": "load"
+       }
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage is at the load position",
+       "max_s": 120
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample",
+        "offset_x_m": 0.0,
+        "offset_y_m": 0.0
+       },
+       "say": "put {sample} on the rotation chuck"
+      },
+      {
+       "cap": "door.close",
+       "say": "close the door"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": true
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the door is closed",
+       "max_s": 60
+      },
+      {
+       "cap": "stage.go_to",
+       "args": {
+        "position": "center"
+       },
+       "say": "bring the sample into the beam (centre position)"
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage is in place",
+       "max_s": 120
+      }
+     ],
+     "done": "loaded {sample}; the door is closed and the sample is in the beam",
+     "next": "bring the sample into the beam (`chemlab run {inst} move --z H`: the beam is 400 mm above the bench, so a short sample needs the chuck top just below it, e.g. 397mm for a 6 mm pellet), then `chemlab run {inst} source on --wait` (warm-up about 3 min)."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample in {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample on the chuck"
+      },
+      {
+       "check": {
+        "slot": "measurement.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is measuring now.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "not measuring"
+      },
+      {
+       "check": {
+        "slot": "xray.on",
+        "truthy": false
+       },
+       "code": "SOURCE_ON",
+       "message": "the X-rays of {inst} are on, so the door stays locked.",
+       "fix": "switch them off first: `chemlab run {inst} source off`.",
+       "label": "X-rays off"
+      },
+      {
+       "cap": "door.open",
+       "say": "open the sliding door",
+       "unless": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": false
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": false
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the door is open",
+       "max_s": 60
+      },
+      {
+       "cap": "stage.go_to",
+       "args": {
+        "position": "load"
+       },
+       "say": "bring the stage to the load position",
+       "unless": {
+        "slot": "stage.position_label",
+        "eq": "load"
+       }
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage is at the load position",
+       "max_s": 120
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} off the chuck"
+      },
+      {
+       "cap": "door.close",
+       "say": "close the door"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "door.closed",
+          "truthy": true
+         },
+         {
+          "slot": "door.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the door is closed",
+       "max_s": 60
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "move": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "fail": "NO_LATERAL_STAGE",
+       "kind": "usage",
+       "message": "{inst} has no lateral (X Y) stage: the sample turns on a rotation chuck.",
+       "fix": "give only the chuck height: `chemlab run {inst} move --z 397mm` (the beam is 400 mm above the bench).",
+       "if": {
+        "input": "x",
+        "given": true
+       }
+      },
+      {
+       "check": {
+        "slot": "measurement.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is measuring now.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "not measuring"
+      },
+      {
+       "cap": "stage.move",
+       "args": {
+        "sod_m": "$slot:stage.sod_m",
+        "chuck_z_m": "$opt:z"
+       },
+       "say": "move the chuck top to {opt:z} (beam at 400 mm)"
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the stage has stopped",
+       "max_s": 120
+      }
+     ]
+    },
+    "zoom": {
+     "mag": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "measurement.id",
+         "eq": null
+        },
+        "code": "BUSY",
+        "message": "{inst} is measuring now.",
+        "fix": "wait for it (`chemlab status`).",
+        "label": "not measuring"
+       },
+       {
+        "cap": "stage.move",
+        "args": {
+         "sod_m": {
+          "$div": [
+           "$param:sdd_m",
+           "$value"
+          ],
+          "kind": "length"
+         },
+         "chuck_z_m": "$slot:stage.chuck_z_m"
+        },
+        "say": "move the sample along the beam (source-object distance) for {value}x"
+       },
+       {
+        "wait": {
+         "slot": "stage.moving",
+         "truthy": false
+        },
+        "say": "the stage has stopped",
+        "max_s": 120
+       }
+      ]
+     },
+     "why_objective": "geometric magnification only: `zoom 5x` sets the source-object distance"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "all": [
+          {
+           "slot": "door.closed",
+           "truthy": true
+          },
+          {
+           "slot": "door.moving",
+           "truthy": false
+          }
+         ]
+        },
+        "code": "DOOR_OPEN",
+        "message": "the door of {inst} is open; the X-rays are interlocked.",
+        "fix": "close it: `chemlab run {inst} close door`.",
+        "label": "door closed"
+       },
+       {
+        "cap": "xray.set",
+        "args": {
+         "voltage_v": {
+          "$or": [
+           "$opt:kv",
+           "$slot:xray.voltage_set_v"
+          ]
+         },
+         "current_a": {
+          "$or": [
+           "$opt:current",
+           "$slot:xray.current_set_a"
+          ]
+         }
+        },
+        "say": "set the tube to {slot:xray.voltage_set_v} V / {slot:xray.current_set_a} A",
+        "if": {
+         "any": [
+          {
+           "input": "opt:kv",
+           "given": true
+          },
+          {
+           "input": "opt:current",
+           "given": true
+          }
+         ]
+        }
+       },
+       {
+        "cap": "xray.enable",
+        "args": {
+         "enabled": true
+        },
+        "say": "switch the X-rays on",
+        "unless": {
+         "slot": "xray.enabled",
+         "truthy": true
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "xray.ready",
+        "truthy": true
+       },
+       "what": "X-ray warm-up",
+       "max_s": 1800,
+       "poll_s": 5.0,
+       "progress": [
+        "xray.warmup_remaining_s",
+        "xray.voltage_v"
+       ]
+      },
+      "what": "X-ray warm-up",
+      "done": "X-rays on and ready"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "xray.enable",
+        "args": {
+         "enabled": false
+        },
+        "say": "switch the X-rays off",
+        "if": {
+         "slot": "xray.enabled",
+         "truthy": true
+        }
+       }
+      ],
+      "done": "X-rays off"
+     }
+    },
+    "acquire": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample in {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample on the chuck"
+      },
+      {
+       "check": {
+        "slot": "xray.ready",
+        "truthy": true
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-rays of {inst} are not ready (on {slot:xray.on}, warm-up left {slot:xray.warmup_remaining_s} s).",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays ready"
+      },
+      {
+       "cap": "scan.configure",
+       "args": {
+        "range_deg": "$slot:scan.settings#range_deg",
+        "step_rad": "$slot:scan.settings#step_rad",
+        "exposure_s": {
+         "$or": [
+          "$opt:exposure",
+          "$slot:scan.settings#exposure_s"
+         ]
+        },
+        "averaging": "$slot:scan.settings#averaging",
+        "binning": {
+         "$or": [
+          "$opt:binning",
+          "$slot:scan.settings#binning"
+         ]
+        },
+        "random_movement": "$slot:scan.settings#random_movement"
+       },
+       "say": "set the scan settings (exposure / binning)",
+       "if": {
+        "any": [
+         {
+          "input": "opt:exposure",
+          "given": true
+         },
+         {
+          "input": "opt:binning",
+          "given": true
+         }
+        ]
+       }
+      },
+      {
+       "remember": "cz",
+       "value": "$slot:stage.chuck_z_m"
+      },
+      {
+       "cap": "stage.move",
+       "args": {
+        "sod_m": "$slot:stage.sod_m",
+        "chuck_z_m": "$param:reference_chuck_z_m"
+       },
+       "say": "lower the sample out of the beam for the references"
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the sample is out of the beam",
+       "max_s": 120
+      },
+      {
+       "cap": "calibration.flat_field",
+       "say": "take the dark / flat-field references for these settings"
+      },
+      {
+       "wait": {
+        "slot": "measurement.id",
+        "eq": null
+       },
+       "say": "the flat-field references are done",
+       "max_s": 600
+      },
+      {
+       "cap": "stage.move",
+       "args": {
+        "sod_m": "$slot:stage.sod_m",
+        "chuck_z_m": "$cz"
+       },
+       "say": "raise the sample back into the beam"
+      },
+      {
+       "wait": {
+        "slot": "stage.moving",
+        "truthy": false
+       },
+       "say": "the sample is back in the beam",
+       "max_s": 120
+      },
+      {
+       "cap": "scan.start",
+       "say": "start the tomography scan"
+      }
+     ],
+     "job": "operation",
+     "what": "CT scan"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    }
+   },
+   "unsupported": {
+    "focus": "no focusing optics: the magnification is geometric (`zoom 5x`)",
+    "vacuum": "an air-filled cabinet (no chamber vacuum)",
+    "approach": "not a scanning-probe microscope (no tip to approach)",
+    "retract": "not a scanning-probe microscope (no tip to approach)"
+   },
+   "params": {
+    "sdd_m": 0.45,
+    "reference_chuck_z_m": 0.25
+   },
+   "codes": {
+    "scan.start:SAMPLE_NOT_IN_FIELD": {
+     "code": "NOT_IN_FIELD",
+     "message": "the sample is not in the detector field of view of {inst}.",
+     "fix": "raise or lower it into the beam (`chemlab run {inst} move --z 397mm`: the beam is 400 mm above the bench) or lower the magnification (`zoom 2x`)."
+    }
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "door closed",
+     "slot": "door.closed"
+    },
+    {
+     "label": "sample",
+     "slot": "sample.on_stage",
+     "key": "sample_id"
+    },
+    {
+     "label": "chuck z",
+     "slot": "stage.chuck_z_m",
+     "kind": "length"
+    },
+    {
+     "label": "X-rays on",
+     "slot": "xray.on"
+    },
+    {
+     "label": "ready",
+     "slot": "xray.ready"
+    },
+    {
+     "label": "tube",
+     "slot": "xray.voltage_set_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "current",
+     "slot": "xray.current_set_a",
+     "fmt": "ua"
+    },
+    {
+     "label": "magnification",
+     "slot": "geometry.magnification",
+     "fmt": "x"
+    },
+    {
+     "label": "voxel",
+     "slot": "geometry.voxel_size_m",
+     "kind": "length"
+    },
+    {
+     "label": "measuring",
+     "slot": "measurement.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "scan",
+   "path_exceptions": [
+    "calibration.flat_field",
+    "stage.move",
+    "measurement.result"
+   ],
+   "notes": {
+    "zoom": [
+     "magnification = source-detector distance (0.45 m, from the geometry slots) / source-object distance",
+     "manual: X4 POSEIDON brochure pp.8-15 (field of view vs resolution); SkyScan 1272 manual pp.20-25 (variable geometry)"
+    ],
+    "acquire": [
+     "takes fresh dark / flat-field references for the current settings first, with the sample lowered out of the beam (the scan refuses without them); --exposure per projection, --binning 1x1 / 2x2 / 4x4",
+     "manual: X4 POSEIDON brochure p.18 (3DxSUITE acquisition)"
+    ],
+    "source": [
+     "--kv 20-100 kV, --current 1-500 uA; warm-up about 3 min"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/labware_automation.json b/chemlab/configs/adapters/labware_automation.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a65644914fb2c3206bfe503d34bfcfb8998a80
--- /dev/null
+++ b/chemlab/configs/adapters/labware_automation.json
@@ -0,0 +1,883 @@
+{
+ "class": "labware_automation",
+ "adapter": "chemlab.compile.classes.labware_automation:LabwareAdapter",
+ "about": "Labware automation (plate sealer, tube decapper, rack barcode reader, robot arm): settings, the seal / cap cycle / scan as a job, its record, and arm moves between named places.",
+ "membership": {
+  "primary": [
+   "azenta_automated_roll_heat_sealer_a4s",
+   "azenta_intellixcap_s1_46_0001",
+   "ziath_dp5_mirage_2023",
+   "brooks_preciseflex_400"
+  ],
+  "secondary": {},
+  "declined_secondary": {
+   "opentrons_flex_single_5_1000ul": "its deck motion is part of its protocol commands (liquid class: move labware with the gripper there); it has no arm joints or named-place grip of its own here",
+   "mt_quantos_q2_xpe206dr": "its vial handling is part of gravimetric dosing (balance class); no labware verbs (seal, cap, scan, move) apply"
+  },
+  "excluded": {}
+ },
+ "members": {
+  "azenta_automated_roll_heat_sealer_a4s": {
+   "role": "primary",
+   "verbs": {
+    "configure": {
+     "keys": {
+      "time": {
+       "cap": "sealing.set_time",
+       "arg": "press_time_s",
+       "kind": "duration"
+      },
+      "protocol": {
+       "cap": "protocol.select",
+       "arg": "name",
+       "args": {
+        "password": ""
+       },
+       "list": {
+        "slot": "protocol.list",
+        "key": "name",
+        "code": "UNKNOWN_PROTOCOL"
+       },
+       "word": "protocol"
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    },
+    "start": {
+     "cap": "sealing.seal_plate",
+     "word": "seal",
+     "step": "seal the plate",
+     "max_s": 600
+    },
+    "stop": {
+     "cap": "sealing.cancel",
+     "op_arg": "operation_id",
+     "word": "seal",
+     "running": {
+      "slot": "sealing.status",
+      "value": "running"
+     }
+    },
+    "result": {
+     "cap": "sealing.read"
+    },
+    "open": {
+     "parts": {
+      "carrier": {
+       "open_cap": "carrier.open",
+       "close_cap": "carrier.close_door",
+       "is": {
+        "open": {
+         "slot": "carrier.position",
+         "value": "out"
+        },
+        "close": {
+         "slot": "carrier.position",
+         "value": "in"
+        }
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "temp": "measurement.temperature_k"
+   },
+   "requires": {
+    "configure": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sealing.status",
+      "code": "BUSY",
+      "message": "{inst} is sealing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sealing.status",
+      "code": "BUSY",
+      "message": "{inst} is sealing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sealing.status",
+      "code": "BUSY",
+      "message": "{inst} is sealing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "plate.loaded",
+      "code": "NOTHING_LOADED",
+      "message": "there is no plate on the carrier of {inst}.",
+      "fix": "put a plate on its adapter (lab operator, or the arm).",
+      "value": true
+     },
+     {
+      "slot": "plate.simulated_sealed",
+      "code": "ALREADY_SEALED",
+      "message": "the plate on {inst} is already sealed.",
+      "fix": "take it off; seal a new plate.",
+      "value": false
+     },
+     {
+      "slot": "carrier.position",
+      "code": "CARRIER_IN",
+      "message": "the carrier of {inst} is {value}.",
+      "fix": "move it out: `chemlab run {inst} open carrier`.",
+      "value": "out"
+     },
+     {
+      "slot": "configuration.press_time_s",
+      "code": "NO_TIME",
+      "message": "{inst} has no seal time set.",
+      "fix": "set one: `chemlab run {inst} configure time=3s` (or protocol=NAME).",
+      "null": false
+     },
+     {
+      "slot": "thermal.target_reached",
+      "code": "NOT_AT_TEMPERATURE",
+      "message": "the sealing block of {inst} is not at its set point yet.",
+      "fix": "set the temperature (`chemlab run {inst} set-temp 170C`), let it heat (`chemlab wait 60`, see `chemlab run {inst} status`), then retry.",
+      "value": true
+     },
+     {
+      "slot": "film.remaining_seals",
+      "code": "NO_FILM",
+      "message": "the film roll of {inst} is empty or missing.",
+      "fix": "ask the lab operator for a new roll.",
+      "min": 1
+     },
+     {
+      "slot": "door.inspection_closed",
+      "code": "DOOR_OPEN",
+      "message": "the side inspection door of {inst} is open.",
+      "fix": "ask the lab operator to close it.",
+      "value": true
+     }
+    ],
+    "open:carrier": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sealing.status",
+      "code": "BUSY",
+      "message": "{inst} is sealing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "close:carrier": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "sealing.status",
+      "code": "BUSY",
+      "message": "{inst} is sealing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "plate.loaded",
+      "code": "PLATE_ON_CARRIER",
+      "message": "a plate is on the carrier of {inst}; the carrier goes in with a plate only to seal it.",
+      "fix": "seal it (`chemlab run {inst} start`) or have it taken off first.",
+      "value": false
+     }
+    ]
+   },
+   "unsupported": {
+    "move": "not an arm",
+    "pick": "not an arm",
+    "place": "not an arm"
+   },
+   "path": "sealing",
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "block",
+     "slot": "measurement.temperature_k",
+     "kind": "temperature"
+    },
+    {
+     "label": "set point",
+     "slot": "thermal.setpoint_k",
+     "kind": "temperature"
+    },
+    {
+     "label": "at temperature",
+     "slot": "thermal.target_reached"
+    },
+    {
+     "label": "seal time",
+     "slot": "configuration.press_time_s",
+     "kind": "duration"
+    },
+    {
+     "label": "protocol",
+     "slot": "protocol.current"
+    },
+    {
+     "label": "plate",
+     "slot": "plate.plate_id"
+    },
+    {
+     "label": "sealed",
+     "slot": "plate.simulated_sealed"
+    },
+    {
+     "label": "carrier",
+     "slot": "carrier.position"
+    },
+    {
+     "label": "sealing",
+     "slot": "sealing.status"
+    },
+    {
+     "label": "seals left",
+     "slot": "film.remaining_seals"
+    }
+   ],
+   "notes": {
+    "start": [
+     "the front-panel Seal: the carrier goes in, the plate is sealed for the set time and comes out (a few seconds); job-N follows it"
+    ],
+    "configure": [
+     "keys: time=3s (seal time), protocol=NAME (a stored protocol: its temperature and time; see `chemlab read INST protocol.list`)"
+    ]
+   },
+   "manual": {
+    "*": "a4S user manual 347598 pp. 18-37 (main screen, seal roll, door, sealing time / temperature, plate), pp. 38-41 (protocols); integration commands 357454 pp. 17-20"
+   },
+   "examples": {
+    "configure": "configure time=3s",
+    "set-temp": "set-temp 170C",
+    "open": "open carrier",
+    "close": "close carrier"
+   }
+  },
+  "azenta_intellixcap_s1_46_0001": {
+   "role": "primary",
+   "verbs": {
+    "configure": {
+     "keys": {
+      "mode": {
+       "cap": "cycle.set_mode",
+       "arg": "mode"
+      },
+      "operation": {
+       "cap": "cycle.set_operation_mode",
+       "arg": "mode"
+      },
+      "time": {
+       "cap": "cycle.set_time_setting",
+       "arg": "setting"
+      },
+      "tube": {
+       "cap": "consumable.select",
+       "arg": "consumable_id"
+      }
+     }
+    },
+    "start": {
+     "cap": "cycle.start",
+     "word": "cap cycle",
+     "step": "start the decap / recap cycle",
+     "max_s": 120
+    },
+    "result": {
+     "cap": "cycle.read"
+    }
+   },
+   "requires": {
+    "configure": [
+     {
+      "slot": "cycle.status",
+      "code": "BUSY",
+      "message": "a cycle is running on {inst} ({value}).",
+      "fix": "wait for it: `chemlab run {inst} wait`.",
+      "in": [
+       "idle",
+       "succeeded",
+       "failed",
+       "cancelled"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "cycle.status",
+      "code": "BUSY",
+      "message": "a cycle is running on {inst} ({value}).",
+      "fix": "wait for it: `chemlab run {inst} wait`.",
+      "in": [
+       "idle",
+       "succeeded",
+       "failed",
+       "cancelled"
+      ]
+     },
+     {
+      "slot": "sample.tube_id",
+      "code": "NOTHING_LOADED",
+      "message": "there is no tube in the holder of {inst}.",
+      "fix": "put a tube in (lab operator, or the arm).",
+      "null": false
+     },
+     {
+      "slot": "sample.consumable_id",
+      "code": "NO_TUBE_TYPE",
+      "message": "no tube type is selected on {inst}.",
+      "fix": "select it: `chemlab run {inst} configure tube=TYPE`.",
+      "null": false
+     },
+     {
+      "slot": "simulation.motion_configured",
+      "code": "NOT_SET_UP",
+      "message": "{inst} has no jaw / rotation set-up in this lab.",
+      "fix": "ask the lab operator.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no heater",
+    "stop": "no cancel: a cap cycle takes a few seconds and ends by itself",
+    "open": "no door or lid",
+    "close": "no door or lid",
+    "move": "not an arm",
+    "pick": "not an arm",
+    "place": "not an arm"
+   },
+   "path": "cycle",
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "tube",
+     "slot": "sample.tube_id"
+    },
+    {
+     "label": "cap",
+     "slot": "sample.cap_id"
+    },
+    {
+     "label": "tube type",
+     "slot": "sample.consumable_id"
+    },
+    {
+     "label": "mode",
+     "slot": "cycle.mode"
+    },
+    {
+     "label": "operation",
+     "slot": "cycle.operation_mode"
+    },
+    {
+     "label": "cycle",
+     "slot": "cycle.status"
+    },
+    {
+     "label": "holding cap",
+     "slot": "cycle.holding_cap"
+    },
+    {
+     "label": "thread ok",
+     "slot": "cycle.host_confirmed"
+    }
+   ],
+   "notes": {
+    "configure": [
+     "keys: mode=decap|recap, operation=hold_cap|release_cap|decap_only|cap_only|delayed_release, time=1|2|3 (cycle time setting), tube=TYPE (the registered tube type)"
+    ],
+    "start": [
+     "one decap or recap cycle (by mode); job-N follows it; the record (`result`) tells whether the thread turned"
+    ]
+   },
+   "manual": {
+    "*": "IntelliXcap S1 user manual 393573 pp. 18-22 (operation modes, capping / decapping, cycle time)"
+   },
+   "examples": {
+    "configure": "configure tube=tube_15ml mode=decap operation=release_cap"
+   }
+  },
+  "ziath_dp5_mirage_2023": {
+   "role": "primary",
+   "verbs": {
+    "configure": {
+     "cap": "configuration.set",
+     "keys": {
+      "format": {
+       "arg": "rack_format"
+      },
+      "matching": {
+       "arg": "identity_matching"
+      },
+      "export": {
+       "arg": "export_format"
+      }
+     },
+     "keep": {
+      "rack_format": {
+       "slot": "configuration.rack_format"
+      },
+      "identity_matching": {
+       "slot": "configuration.identity_matching"
+      },
+      "export_format": {
+       "slot": "configuration.export_format"
+      }
+     },
+     "len_check": {
+      "arg": "rack_format",
+      "slot": "rack.well_ids",
+      "when": {
+       "slot": "rack.loaded",
+       "value": true
+      },
+      "code": "FORMAT_MISMATCH",
+      "message": "the rack on {inst} has {n} positions, not {value}.",
+      "fix": "give format={n}, or have the rack changed first (lab operator)."
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "word": "scan",
+     "step": "scan the rack",
+     "max_s": 120
+    },
+    "stop": {
+     "cap": "acquisition.cancel",
+     "op_arg": "operation_id",
+     "word": "scan",
+     "running": {
+      "slot": "acquisition.status",
+      "value": "running"
+     }
+    },
+    "result": {
+     "cap": "results.export",
+     "format_arg": "format",
+     "format_slot": "configuration.export_format",
+     "content_json": true,
+     "headline": [
+      "rack_id",
+      "rack_format",
+      "missing_wells",
+      "mismatch_wells",
+      "unexpected_wells",
+      "duplicate_tube_ids"
+     ]
+    },
+    "open": {
+     "parts": {
+      "rack": {
+       "cap": "scene.set_rack_lift",
+       "arg": "lift_m",
+       "open": 0.05,
+       "close": 0.0,
+       "is": {
+        "open": {
+         "slot": "scene.rack_lift_m",
+         "min": 0.05
+        },
+        "close": {
+         "slot": "scene.rack_lift_m",
+         "max": 0.0
+        }
+       }
+      }
+     }
+    }
+   },
+   "requires": {
+    "configure": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "acquisition.status",
+      "code": "BUSY",
+      "message": "{inst} is scanning.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "open:rack": [
+     {
+      "slot": "acquisition.status",
+      "code": "BUSY",
+      "message": "{inst} is scanning.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "rack.loaded",
+      "code": "NOTHING_LOADED",
+      "message": "there is no rack on {inst}.",
+      "fix": "put one on (lab operator).",
+      "value": true
+     }
+    ],
+    "close:rack": [
+     {
+      "slot": "acquisition.status",
+      "code": "BUSY",
+      "message": "{inst} is scanning.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "rack.loaded",
+      "code": "NOTHING_LOADED",
+      "message": "there is no rack on {inst}.",
+      "fix": "put one on (lab operator).",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "acquisition.status",
+      "code": "BUSY",
+      "message": "{inst} is scanning.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it.",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "rack.loaded",
+      "code": "NOTHING_LOADED",
+      "message": "there is no rack on {inst}.",
+      "fix": "put one on (lab operator, or the arm).",
+      "value": true
+     },
+     {
+      "slot": "scene.rack_lift_m",
+      "code": "RACK_RAISED",
+      "message": "the rack on {inst} is lifted off the reader.",
+      "fix": "seat it: `chemlab run {inst} close rack`.",
+      "max": 0.0
+     }
+    ],
+    "result": [
+     {
+      "slot": "results.data",
+      "code": "NO_RESULT",
+      "message": "{inst} has no completed scan.",
+      "fix": "scan first: `chemlab run {inst} start`, then `chemlab run {inst} wait`.",
+      "null": false
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no heater",
+    "move": "not an arm",
+    "pick": "not an arm",
+    "place": "not an arm"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "results.export"
+   ],
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "rack",
+     "slot": "rack.rack_id"
+    },
+    {
+     "label": "format",
+     "slot": "configuration.rack_format"
+    },
+    {
+     "label": "matching",
+     "slot": "configuration.identity_matching"
+    },
+    {
+     "label": "export",
+     "slot": "configuration.export_format"
+    },
+    {
+     "label": "lift",
+     "slot": "scene.rack_lift_m",
+     "kind": "length"
+    },
+    {
+     "label": "scan",
+     "slot": "acquisition.status"
+    }
+   ],
+   "notes": {
+    "configure": [
+     "keys: format=24|48|96|240 (must match the rack on the reader), matching=on|off (compare with the task manifest), export=json|csv"
+    ],
+    "result": [
+     "the rack map of the last scan; with matching on it lists missing, mismatched and unexpected wells"
+    ],
+    "open": [
+     "open rack lifts the rack off the reader (5 cm, to take it off); close rack seats it for a scan"
+    ]
+   },
+   "manual": {
+    "*": "DP5 Mirage brochure 44008-SO-0823 p. 1 (rack formats, read time); DP5 decoding software product page"
+   },
+   "examples": {
+    "configure": "configure format=96 matching=on",
+    "result": "result --format csv --save-to rack.json",
+    "open": "open rack",
+    "close": "close rack"
+   }
+  },
+  "brooks_preciseflex_400": {
+   "role": "primary",
+   "verbs": {
+    "move": {
+     "cap": "motion.set_joints"
+    },
+    "pick": {
+     "cap": "sample.attach"
+    },
+    "place": {
+     "cap": "sample.release"
+    },
+    "result": {
+     "cap": "state.read"
+    }
+   },
+   "slots": {
+    "joints": "scene.joints",
+    "motion": "motion.status",
+    "holding": "sample.attached_container_id",
+    "tcp": "scene.tcp_position_m"
+   },
+   "requires": {
+    "move": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "host.scene_bound",
+      "code": "NO_SCENE",
+      "message": "{inst} has no scene in this lab (nothing confirms its poses).",
+      "fix": "ask the lab operator.",
+      "value": true
+     },
+     {
+      "slot": "motion.status",
+      "code": "ARM_FAULT",
+      "message": "the arm of {inst} is in a fault (the scene did not confirm a pose).",
+      "fix": "ask the lab operator to reconcile it.",
+      "not": [
+       "fault"
+      ]
+     }
+    ],
+    "pick": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "host.scene_bound",
+      "code": "NO_SCENE",
+      "message": "{inst} has no scene in this lab (nothing confirms its poses).",
+      "fix": "ask the lab operator.",
+      "value": true
+     },
+     {
+      "slot": "motion.status",
+      "code": "ARM_FAULT",
+      "message": "the arm of {inst} is in a fault (the scene did not confirm a pose).",
+      "fix": "ask the lab operator to reconcile it.",
+      "not": [
+       "fault"
+      ]
+     },
+     {
+      "slot": "sample.attached_container_id",
+      "code": "HOLDING",
+      "message": "the arm of {inst} already holds {value}.",
+      "fix": "place it first: `chemlab run {inst} place NEST`.",
+      "null": true
+     }
+    ],
+    "place": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     },
+     {
+      "slot": "host.scene_bound",
+      "code": "NO_SCENE",
+      "message": "{inst} has no scene in this lab (nothing confirms its poses).",
+      "fix": "ask the lab operator.",
+      "value": true
+     },
+     {
+      "slot": "motion.status",
+      "code": "ARM_FAULT",
+      "message": "the arm of {inst} is in a fault (the scene did not confirm a pose).",
+      "fix": "ask the lab operator to reconcile it.",
+      "not": [
+       "fault"
+      ]
+     },
+     {
+      "slot": "sample.attached_container_id",
+      "code": "NOT_HOLDING",
+      "message": "the arm of {inst} holds nothing.",
+      "fix": "pick a container first: `chemlab run {inst} pick NAME`.",
+      "null": false
+     }
+    ]
+   },
+   "unsupported": {
+    "configure": "no device settings (the arm is moved by joints and named poses)",
+    "set-temp": "no heater",
+    "start": "an arm has no run; it moves with move / pick / place",
+    "stop": "no stop capability: each move is one atomic motion",
+    "open": "no door or lid (the gripper closes with pick and opens with place)",
+    "close": "no door or lid (the gripper closes with pick)"
+   },
+   "alternatives": {
+    "start": "use `chemlab run INST move POSE`, `pick NAME`, `place NEST`"
+   },
+   "params": {
+    "move_max_s": 60.0
+   },
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "motion",
+     "slot": "motion.status"
+    },
+    {
+     "label": "holding",
+     "slot": "sample.attached_container_id"
+    },
+    {
+     "label": "joints",
+     "slot": "scene.joints"
+    },
+    {
+     "label": "tool at",
+     "slot": "scene.tcp_position_m"
+    }
+   ],
+   "notes": {
+    "move": [
+     "a named pose of the lab, or joints with units: z=100mm shoulder=30deg elbow=-45deg wrist=0deg (joints left out stay)"
+    ],
+    "pick": [
+     "moves to the container's pose first, then grips it (the lab names its containers)"
+    ],
+    "place": [
+     "moves to the nest's pose first, then releases the gripped container there"
+    ]
+   },
+   "manual": {
+    "*": "PreciseFlex 400 manual 615287 pp. 25-31 (joint motion), pp. 75-82 (gripper); TCS command server 3.0C2 (Standard Commands)"
+   },
+   "examples": {
+    "move": "move home",
+    "pick": "pick plate_1",
+    "place": "place sealer_nest",
+    "result": "result"
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/liquid.json b/chemlab/configs/adapters/liquid.json
new file mode 100644
index 0000000000000000000000000000000000000000..97585d1e56db0db6240b9a85bc0ae1b9928f9c3e
--- /dev/null
+++ b/chemlab/configs/adapters/liquid.json
@@ -0,0 +1,365 @@
+{
+ "class": "liquid",
+ "adapter": "chemlab.compile.classes.liquid:LiquidAdapter",
+ "about": "Liquid handling (the Flex pilot gate moved into the compile framework). The deck (labware, tips, trash) is lab-config data in the instrument's entry: \"deck\": {...} (chemlab/compile/deck.py), and the trusted host side is the entry's \"scene\": \"chemlab.compile.scenes.flex:FlexScene\". Without a deck only power, home, lights, status, protocols and the admin verbs work.",
+ "membership": {
+  "decided": "2026-10-22",
+  "members": [
+   "opentrons_flex_single_5_1000ul",
+   "newera_ne1000"
+  ],
+  "newera_ne1000": "added 2026-10-22: syringe pump with its own adapter (classes/syringe_pump.py); the Flex verbs are unchanged"
+ },
+ "members": {
+  "opentrons_flex_single_5_1000ul": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "home": {
+     "cap": "robot.home"
+    },
+    "lights": {
+     "cap": "robot.set_lights",
+     "arg": "on"
+    },
+    "labware": {
+     "reads": [
+      "deck.fixtures"
+     ]
+    },
+    "move-to": {
+     "cap": "motion.move"
+    },
+    "pick-up-tip": {
+     "move_cap": "motion.move",
+     "cap": "tip.attach",
+     "arg": "tip_id"
+    },
+    "drop-tip": {
+     "move_cap": "motion.move",
+     "cap": "tip.release",
+     "arg": "target_slot_id"
+    },
+    "return-tip": {
+     "move_cap": "motion.move",
+     "cap": "tip.release",
+     "arg": "target_slot_id"
+    },
+    "aspirate": {
+     "move_cap": "motion.move",
+     "cap": "sample.aspirate",
+     "container_arg": "container_id",
+     "volume_arg": "volume_m3"
+    },
+    "dispense": {
+     "move_cap": "motion.move",
+     "cap": "sample.dispense",
+     "container_arg": "container_id",
+     "volume_arg": "volume_m3"
+    },
+    "transfer": {
+     "caps": [
+      "motion.move",
+      "tip.attach",
+      "sample.aspirate",
+      "sample.dispense",
+      "tip.release"
+     ]
+    },
+    "protocols": {
+     "reads": [
+      "protocols.list"
+     ]
+    },
+    "run-protocol": {
+     "setup_cap": "run.setup",
+     "parameter_cap": "run.set_parameter",
+     "confirm_cap": "run.confirm_parameters",
+     "update_deck_cap": "run.update_deck",
+     "offsets_cap": "run.apply_offsets",
+     "play_cap": "run.play",
+     "stop_cap": "run.stop"
+    },
+    "job": {
+     "reads": [
+      "run.state",
+      "run.history"
+     ]
+    },
+    "pause": {
+     "cap": "run.pause"
+    },
+    "resume": {
+     "cap": "run.play"
+    },
+    "cancel": {
+     "cap": "run.stop"
+    },
+    "recover": {
+     "cap": "run.recover",
+     "arg": "action"
+    },
+    "pipettes": {
+     "reads": [
+      "instruments.mounts"
+     ]
+    },
+    "calibrate-pipette": {
+     "cap": "instrument.calibrate"
+    },
+    "attach-pipette": {
+     "cap": "instrument.attach"
+    },
+    "detach-pipette": {
+     "cap": "instrument.detach"
+    },
+    "deck-config": {
+     "cap": "deck.configure"
+    },
+    "settings": {
+     "cap": "robot.configure"
+    },
+    "set-name": {
+     "cap": "robot.set_name"
+    },
+    "restart": {
+     "cap": "robot.restart"
+    },
+    "shutdown": {
+     "cap": "robot.shutdown"
+    },
+    "protocol-pin": {
+     "cap": "protocol.pin"
+    },
+    "protocol-delete": {
+     "cap": "protocol.delete"
+    },
+    "device-reset": {
+     "cap": "robot.device_reset"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "tip": "tip.attached_id",
+    "run": "run.state"
+   },
+   "unsupported": {
+    "mix": "mixing is not modelled in this twin (sample.mix is unsupported); mixing after each addition is assumed ideal",
+    "detect-liquid": "there is no liquid-level sensing in this twin (liquid_level.detect is unsupported); a refused aspirate tells you the source is short",
+    "set-flow-rate": "flow rates are not modelled (velocity.set is unsupported); leave the defaults",
+    "blow-out": "blow-out is not modelled: the volume ledger leaves no residue in the tip",
+    "touch-tip": "touch-tip is not modelled and not needed in this twin",
+    "air-gap": "air gaps are not modelled and not needed in this twin",
+    "move-labware": "this Flex has no gripper; labware stays where the deck registry says (`labware`)",
+    "distribute": "use `transfer` with one source and several destinations",
+    "consolidate": "use `transfer` with several sources and one destination"
+   },
+   "alternatives": {
+    "distribute": "chemlab run INST transfer --from reservoir:A1 --to plate:A1-A6 --volume 50",
+    "consolidate": "chemlab run INST transfer --from plate:A1,plate:A2 --to tuberack:A1 --volume 50",
+    "mix": "repeat aspirate / dispense in the same well if you must; the twin treats mixing as ideal"
+   },
+   "params": {
+    "fixture_slots": {
+     "trash_bin": [
+      "A1",
+      "B1",
+      "C1",
+      "D1",
+      "A3",
+      "B3",
+      "C3",
+      "D3"
+     ],
+     "staging_area": [
+      "A3",
+      "B3",
+      "C3",
+      "D3"
+     ],
+     "waste_chute": [
+      "D3"
+     ],
+     "waste_chute_staging": [
+      "D3"
+     ]
+    },
+    "setting_values": {
+     "brightness_level": [
+      1,
+      2,
+      3,
+      4,
+      5,
+      6
+     ],
+     "sleep_min": [
+      "never",
+      3,
+      5,
+      10,
+      15,
+      30,
+      60
+     ],
+     "language": [
+      "English",
+      "Chinese"
+     ],
+     "update_channel": [
+      "stable",
+      "beta"
+     ]
+    }
+   },
+   "notes": {
+    "transfer": [
+     "chunks larger than the tip are split into equal trips; a tip lost on the way is reported, never silently replaced"
+    ],
+    "run-protocol": [
+     "the run is a job: chemlab status|wait|cancel job-N; tips used by the run are confirmed by the lab's scene"
+    ]
+   }
+  },
+  "newera_ne1000": {
+   "role": "primary",
+   "adapter": "chemlab.compile.classes.syringe_pump:SyringePumpAdapter",
+   "verbs": {
+    "syringe": {
+     "cap": "syringe.set_diameter",
+     "arg": "diameter_m"
+    },
+    "rate": {
+     "cap": "rate.set",
+     "arg": "rate_m3_s",
+     "units_arg": "units"
+    },
+    "volume": {
+     "cap": "volume.set",
+     "arg": "volume_m3",
+     "clear_cap": "volume.clear",
+     "clear_arg": "direction"
+    },
+    "direction": {
+     "cap": "direction.set",
+     "arg": "direction"
+    },
+    "run": {
+     "cap": "pump.run",
+     "phase_arg": "phase"
+    },
+    "stop": {
+     "cap": "pump.stop"
+    },
+    "purge": {
+     "cap": "pump.purge",
+     "arg": "on"
+    },
+    "phase": {
+     "select_cap": "phase.select",
+     "select_arg": "phase",
+     "cap": "phase.set_function",
+     "clear_cap": "program.clear"
+    }
+   },
+   "path": "pump",
+   "slots": {
+    "power": "power.on",
+    "configured": "plant.configured",
+    "run": "run.state",
+    "phase": "run.phase",
+    "alarm": "alarm.state",
+    "diameter": "syringe.diameter_m",
+    "rate": "pump.rate_m3_s",
+    "direction": "pump.direction",
+    "dispensed": "volume.dispensed",
+    "syringe": "syringe.state",
+    "program": "program.state"
+   },
+   "params": {
+    "syringe_inside_diameter_m": {
+     "bd_10ml": 0.01443,
+     "bd_1ml": 0.004699,
+     "bd_20ml": 0.01905,
+     "bd_30ml": 0.02159,
+     "bd_3ml": 0.008585,
+     "bd_5ml": 0.01199,
+     "bd_60ml": 0.02659,
+     "hamilton_0p5ul": 0.000103,
+     "hamilton_100ml": 0.03499,
+     "hamilton_10ml": 0.014570000000000001,
+     "hamilton_1ul": 0.000146,
+     "hamilton_25ml": 0.023030000000000002,
+     "hamilton_2ul": 0.000206,
+     "hamilton_50ml": 0.0275,
+     "hamilton_5ul": 0.000326,
+     "hsw_1ml": 0.004690000000000001,
+     "monoject_12ml": 0.01572,
+     "monoject_140ml": 0.038,
+     "monoject_1ml": 0.00574,
+     "monoject_20ml": 0.020120000000000002,
+     "monoject_35ml": 0.02352,
+     "monoject_3ml": 0.008941000000000001,
+     "monoject_60ml": 0.02664,
+     "monoject_6ml": 0.0127,
+     "normject_10ml": 0.0159,
+     "normject_20ml": 0.020050000000000002,
+     "normject_30ml": 0.0229,
+     "normject_3ml": 0.00965,
+     "normject_50ml": 0.0292,
+     "normject_5ml": 0.01245,
+     "poulten_10ml": 0.01467,
+     "poulten_1ml": 0.0067,
+     "poulten_20ml": 0.019620000000000002,
+     "poulten_2ml": 0.00891,
+     "poulten_30ml": 0.022690000000000002,
+     "poulten_3ml": 0.00906,
+     "poulten_50ml": 0.02696,
+     "poulten_5ml": 0.01175,
+     "sge_0p25ml": 0.002303,
+     "sge_0p5ml": 0.0032570000000000003,
+     "sge_100ul": 0.0014570000000000002,
+     "sge_10ul": 0.00048499999999999997,
+     "sge_1ml": 0.004606,
+     "sge_25ul": 0.000728,
+     "sge_2p5ml": 0.007284,
+     "sge_50ul": 0.00103,
+     "sge_5ml": 0.0103,
+     "sge_5ul": 0.00034300000000000004,
+     "steel_1ml": 0.009538,
+     "steel_20ml": 0.019129999999999998,
+     "steel_3ml": 0.009538,
+     "steel_50ml": 0.0286,
+     "steel_5ml": 0.0127,
+     "steel_8ml": 0.009538,
+     "terumo_10ml": 0.0158,
+     "terumo_1ml": 0.0047,
+     "terumo_20ml": 0.020149999999999998,
+     "terumo_30ml": 0.023100000000000002,
+     "terumo_3ml": 0.00895,
+     "terumo_5ml": 0.013000000000000001,
+     "terumo_60ml": 0.0297
+    },
+    "min_plunger_speed_m_s": 1.1680555555555555e-08,
+    "max_plunger_speed_m_s": 0.0008500833333333333,
+    "max_run_s": 7200.0,
+    "poll_s": 1.0
+   },
+   "notes": {
+    "syringe": [
+     "inside diameters of the syringe types: manual 12.7 p.50 (the asset syringe library)"
+    ],
+    "rate": [
+     "rate range = plunger speed 0.004205 cm/h .. 5.1005 cm/min times the syringe area (manual 12.5 p.49)"
+    ],
+    "run": [
+     "the job ends when run.state is stopped again (volume done, program STP) or an alarm shows (failed)"
+    ]
+   },
+   "unsupported": {}
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/mechanical.json b/chemlab/configs/adapters/mechanical.json
new file mode 100644
index 0000000000000000000000000000000000000000..94954048cc846bc93a258e888e55abafa3a8db4e
--- /dev/null
+++ b/chemlab/configs/adapters/mechanical.json
@@ -0,0 +1,456 @@
+{
+ "class": "mechanical",
+ "adapter": "chemlab.compile.classes.mechanical:MechanicalAdapter",
+ "about": "Mechanical testing and rheology: clamp, contact, zero, calibrate, move, method, set-temp, start (job), stop, result, analyze, status. Ranges, enums and units come from each contract; method templates are the contracts' reference arguments.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": ["antonpaar_trb", "antonpaar_rst300", "antonpaar_hit300", "shimadzu_ags10knxd", "zwick_hit5p", "zwick_mflow", "antonpaar_mcr503", "freeman_ft4powder"],
+  "secondary": {},
+  "excluded": {
+   "ta_dma850": "dynamic mechanical analyser: its load is part of a temperature programme (thermal_analysis primary); a second class on it would add only the run verbs it already has there.",
+   "ta_tma450": "thermomechanical analyser: the probe force is a method setting of a thermal programme (thermal_analysis primary).",
+   "specac_atlasmanual": "hydraulic pellet press: its load is applied by hand pump strokes, which the solid_prep class covers (pump, valve, method load=); no specimen response is measured, so the mechanical verbs (contact, zero, analyze) do not apply."
+  }
+ },
+ "members": {
+  "antonpaar_trb": {
+   "role": "primary",
+   "verbs": {
+    "contact": {"cap": "contact.set", "arg": "engaged"},
+    "zero": {"cap": "sensor.zero"},
+    "calibrate": {"cap": "sensor.calibrate", "keys": {"friction-gain": {"arg": "friction_gain_correction"}, "friction-zero": {"arg": "friction_zero_n", "kind": "force"},
+                                                      "normal-gain": {"arg": "normal_gain_correction"}, "normal-zero": {"arg": "normal_zero_n", "kind": "force"}}},
+    "move": {"cap": "radius.set", "arg": "radius_m", "slot": "radius.position_m"},
+    "method": {"cap": "method.configure",
+               "keys": {"time": {"arg": "duration_s", "kind": "duration"}, "interval": {"arg": "sample_interval_s", "kind": "duration"},
+                        "distance": {"arg": "stop_distance_m", "kind": "length"}, "temp-tol": {"arg": "temperature_tolerance_k", "kind": "temperature_delta"}},
+               "also": [{"cap": "normal_load.set", "keys": {"load": {"arg": "force_n", "kind": "force"}}},
+                        {"cap": "drive.configure", "keep": {"mode": "drive.mode"},
+                         "keys": {"drive": {"arg": "mode"}, "speed": {"arg": "angular_speed_rad_s", "kind": "rotation"}, "freq": {"arg": "frequency_hz", "kind": "frequency"},
+                                  "stroke": {"arg": "stroke_m", "kind": "length"}, "amplitude": {"arg": "angular_amplitude_rad", "kind": "angle"}}}]},
+    "set-temp": {"cap": "thermal.set_temperature", "arg": "temperature_k"},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "duration": ["elapsed_s", "duration"], "rows": "count(rows)",
+                                                     "sliding distance": ["last(rows:sliding_distance_m)", "length"],
+                                                     "mean friction coefficient": "mean(rows:friction_coefficient)",
+                                                     "last friction coefficient": "last(rows:friction_coefficient)",
+                                                     "normal force": ["last(rows:normal_force_n)", "force"]}}
+   },
+   "slots": {"power": "power.enabled", "contact": "contact.engaged", "phase": "acquisition.phase", "temp": "thermal.indicated_k"},
+   "status": [["power", "power.enabled", "bool"], ["lid open", "lid.open", "bool"], ["arm down", "contact.engaged", "bool"],
+              ["load", "normal.setting_n", "force"], ["track radius", "radius.position_m", "length"], ["drive", "drive.mode"],
+              ["friction coefficient", "friction.coefficient"], ["test", "acquisition.phase"], ["distance", "motion.distance_m", "length"],
+              ["temperature", "thermal.indicated_k", "temperature"]],
+   "requires": {
+    "contact": [{"slot": "lid.open", "value": true, "code": "LID_CLOSED", "message": "the arm of {inst} is lowered or lifted only with the lid open.",
+                 "fix": "open it: `chemlab run {inst} open lid` (close it again before `start`)."},
+                {"slot": "specimen.present", "value": true, "code": "NO_SPECIMEN", "message": "{inst} has no disk specimen loaded.", "fix": "ask the lab operator to load the disk and the pin."},
+                {"slot": "pin.present", "value": true, "code": "NO_PIN", "message": "{inst} has no pin (ball) loaded.", "fix": "ask the lab operator to load the pin."}],
+    "contact-off": [{"slot": "lid.open", "value": true, "code": "LID_CLOSED", "message": "the arm of {inst} is lowered or lifted only with the lid open.",
+                     "fix": "open it: `chemlab run {inst} open lid`."}],
+    "zero": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "contact.engaged", "value": false, "code": "ARM_LOADED", "message": "the arm of {inst} rests on the disk; the friction sensor is zeroed with the arm lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off` (lid open), then zero."},
+             {"slot": "lid.open", "value": true, "code": "LID_CLOSED", "message": "the lid of {inst} is closed; the zero is taken with the lid open and the arm lifted.",
+              "fix": "open it: `chemlab run {inst} open lid`."}],
+    "move": [{"slot": "contact.engaged", "value": false, "code": "ARM_LOADED", "message": "the arm of {inst} rests on the disk; the track radius is changed with the arm lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`, move, then `contact on`."},
+             {"slot": "lid.open", "value": true, "code": "LID_CLOSED", "message": "the lid of {inst} is closed; the radius is set with the lid open.", "fix": "open it: `chemlab run {inst} open lid`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "contact.engaged", "value": true, "code": "NO_CONTACT", "message": "the pin of {inst} is not on the disk (arm lifted).",
+               "fix": "lower it: `chemlab run {inst} contact on` (lid open), then close the lid."},
+              {"slot": "lid.open", "value": false, "code": "LID_OPEN", "message": "the lid of {inst} is open; the test runs only with the lid closed.",
+               "fix": "close it: `chemlab run {inst} close lid`."},
+              {"slot": "emergency.latched", "value": false, "code": "EMERGENCY_STOP", "message": "the emergency stop of {inst} is latched.",
+               "fix": "check the machine, then `chemlab call {inst} emergency.reset`."}]
+   },
+   "unsupported": {
+    "clamp": "the disk sits in its holder once the operator has loaded it; the TRB3 has no clamp to lock",
+    "analyze": "its evaluations need a wear-track profile from a profilometer (analysis.wear_profile) or material constants (analysis.hertz), not the test record; result already reports the friction coefficient"
+   },
+   "alternatives": {"clamp": "nothing to do: lower the arm with `chemlab run antonpaar_trb contact on`.",
+                    "analyze": "use `chemlab run antonpaar_trb result` for the friction coefficient; for contact pressure see `chemlab help antonpaar_trb analysis.hertz`."},
+   "params": {"run_word": "pin-on-disk test"},
+   "notes": {"move": ["on the tribometer `move` sets the wear-track radius of the pin on the disk (radius.set)"],
+             "method": ["load= sets the dead weight on the arm (normal_load.set) and the drive keys (speed=, freq=, stroke=, amplitude=, drive=) the drive (drive.configure); both only with the arm lifted and the lid open"],
+             "set-temp": ["works only with a heating module installed by the lab; the default lab has none (NO_HEATER)"]}
+  },
+  "antonpaar_rst300": {
+   "role": "primary",
+   "verbs": {
+    "clamp": {"cap": "clamp.set", "arg": "locked"},
+    "contact": {"cap": "contact.set", "arg": "engaged", "head": {"cap": "head.set_position", "arg": "distance_m", "slot": "head.lift_m", "moving_slot": "head.moving"}},
+    "zero": {"cap": "sensor.zero"},
+    "calibrate": {"cap": "sensor.calibrate", "keys": {"normal-gain": {"arg": "normal_gain_correction"}, "normal-zero": {"arg": "normal_zero_n", "kind": "force"},
+                                                      "friction-gain": {"arg": "friction_gain_correction"}, "friction-zero": {"arg": "friction_zero_n", "kind": "force"}}},
+    "move": {"cap": "stage.move", "arg": "x_m", "y_arg": "y_m", "y_slot": "stage.y_m", "speed_arg": "speed_m_s", "slot": "stage.x_m", "moving_slot": "stage.moving"},
+    "method": {"cap": "method.configure",
+               "keys": {"mode": {"arg": "pass_kind"}, "start": {"arg": "start_x_m", "kind": "length"}, "y": {"arg": "path_y_m", "kind": "length"},
+                        "length": {"arg": "length_m", "kind": "length"}, "speed": {"arg": "speed_m_s", "kind": "speed"},
+                        "load": {"args": ["initial_force_n", "final_force_n"], "kind": "force"}, "load-start": {"arg": "initial_force_n", "kind": "force"},
+                        "load-end": {"arg": "final_force_n", "kind": "force"}, "scan-load": {"arg": "scan_force_n", "kind": "force"},
+                        "interval": {"arg": "sample_interval_s", "kind": "duration"}}},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "pass": "pass_kind", "distance": ["distance_m", "length"], "rows": "count(rows)",
+                                                     "critical load": ["critical.critical_load_n", "force"], "critical reason": "critical.reason",
+                                                     "max normal force": ["max(rows:normal_force_n)", "force"], "max friction force": ["max(rows:friction_force_n)", "force"]}},
+    "analyze": {"cap": "analysis.critical_load", "rows_arg": "rows", "from_rows": ["load_rows"], "phases": ["succeeded", "cancelled"],
+                "keys": {"channel": {"arg": "channel"}, "threshold": {"arg": "threshold_n", "kind": "force"}, "persistence": {"arg": "persistence"}},
+                "show": {"critical load": ["critical_load_n", "force"], "position": ["position_m", "length"], "reason": "reason"}}
+   },
+   "slots": {"power": "power.enabled", "clamp": "clamp.locked", "contact": "contact.engaged", "phase": "acquisition.phase"},
+   "status": [["power", "power.enabled", "bool"], ["clamped", "clamp.locked", "bool"], ["contact", "contact.engaged", "bool"],
+              ["head lift", "head.lift_m", "length"], ["stage x", "stage.x_m", "length"], ["stage y", "stage.y_m", "length"],
+              ["normal force", "load.indicated_n", "force"], ["friction force", "friction.indicated_n", "force"], ["pass", "acquisition.pass_phase"],
+              ["test", "acquisition.phase"]],
+   "requires": {
+    "contact": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+                {"slot": "specimen.present", "value": true, "code": "NO_SPECIMEN", "message": "{inst} has no specimen loaded.", "fix": "ask the lab operator to load one."},
+                {"slot": "stylus.present", "value": true, "code": "NO_STYLUS", "message": "{inst} has no stylus mounted.", "fix": "ask the lab operator to mount the stylus."},
+                {"slot": "clamp.locked", "value": true, "code": "NOT_CLAMPED", "message": "the specimen on {inst} is not clamped; the head comes down only onto a clamped specimen.",
+                 "fix": "clamp it: `chemlab run {inst} clamp on`."},
+                {"slot": "tool.mode", "value": "stylus", "code": "MICROSCOPE_SELECTED", "message": "the microscope, not the stylus, is in the measuring position of {inst}.",
+                 "fix": "select the stylus: `chemlab call {inst} tool.select --mode stylus`."}],
+    "zero": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "contact.engaged", "value": false, "code": "CONTACT_ENGAGED", "message": "the stylus of {inst} is in contact; the sensors are zeroed without contact.",
+              "fix": "lift it: `chemlab run {inst} contact off`."}],
+    "move": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "contact.engaged", "value": false, "code": "HEAD_NOT_CLEAR", "message": "the stylus of {inst} is in contact; the stage moves only with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`, move, then `contact on`."},
+             {"slot": "head.lift_m", "min": 0.02, "code": "HEAD_NOT_CLEAR", "message": "the head of {inst} is down ({value} m); the stage moves only with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "clamp.locked", "value": true, "code": "NOT_CLAMPED", "message": "the specimen on {inst} is not clamped.", "fix": "`chemlab run {inst} clamp on`."},
+              {"slot": "contact.engaged", "value": true, "code": "NO_CONTACT", "message": "the stylus of {inst} is not in contact with the specimen.",
+               "fix": "`chemlab run {inst} contact on` (at the start of the path)."},
+              {"slot": "emergency.latched", "value": false, "code": "EMERGENCY_STOP", "message": "the emergency stop of {inst} is latched.",
+               "fix": "check the machine, then `chemlab call {inst} emergency.reset`."}]
+   },
+   "unsupported": {"set-temp": "the RST 300 tests at room temperature; it has no temperature control"},
+   "alternatives": {"set-temp": "nothing to set; the stage temperature follows the room (`chemlab run antonpaar_rst300 status`)."},
+   "params": {"move_speed": "5mm/s", "run_word": "scratch pass"},
+   "notes": {"method": ["a scratch needs a prescan of the same path first (mode=prescan, start, then mode=scratch); the stage must be at start= / y= before `start`"],
+             "analyze": ["the critical load of the last pass at a threshold of a channel (friction_force_n by default); the stage path rows of the same pass give the load"]}
+  },
+  "antonpaar_hit300": {
+   "role": "primary",
+   "verbs": {
+    "clamp": {"cap": "clamp.set", "arg": "locked"},
+    "contact": {"cap": "contact.set", "arg": "engaged", "head": {"cap": "head.set_position", "arg": "distance_m", "slot": "head.lift_m", "moving_slot": "head.moving"}},
+    "zero": {"cap": "sensor.zero"},
+    "calibrate": {"cap": "sensor.calibrate", "keys": {"force-gain": {"arg": "force_gain_correction"}, "force-zero": {"arg": "force_zero_n", "kind": "force"},
+                                                      "depth-gain": {"arg": "depth_gain_correction"}, "depth-zero": {"arg": "depth_zero_m", "kind": "length"},
+                                                      "compliance": {"arg": "frame_compliance_m_n"}}},
+    "move": {"cap": "stage.move_x", "arg": "position_m", "speed_arg": "speed_m_s", "slot": "stage.x_m", "moving_slot": "stage.moving",
+             "y_cap": "stage.set_y", "y_cap_arg": "position_m", "y_args": {"accept_manual": true}},
+    "method": {"cap": "method.configure",
+               "keys": {"load": {"arg": "peak_load_n", "kind": "force"}, "rate": {"arg": "loading_rate_n_s", "kind": "force_rate"},
+                        "unload-rate": {"arg": "unloading_rate_n_s", "kind": "force_rate"}, "hold": {"arg": "hold_s", "kind": "duration"},
+                        "positions": {"arg": "x_positions_m"}, "interval": {"arg": "sample_interval_s", "kind": "duration"},
+                        "time": {"arg": "timeout_s", "kind": "duration"}}},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "indents": "completed_indents", "rows": "count(rows)",
+                                                     "max force": ["max(rows:force_n)", "force"], "max depth": ["max(rows:depth_m)", "length"]}},
+    "analyze": {"cap": "analysis.oliver_pharr", "where": {"phase": "unloading"}, "group": "indent_index", "min_rows": 3,
+                "columns": {"load_n": "force_n", "depth_m": "depth_m"},
+                "keys": {"poisson": {"arg": "calibration", "field": "poisson_sample"}, "tip-modulus": {"arg": "calibration", "field": "young_tip_pa", "kind": "pressure"},
+                         "tip-poisson": {"arg": "calibration", "field": "poisson_tip"}, "compliance": {"arg": "calibration", "field": "frame_compliance_m_n"},
+                         "fit-min": {"arg": "calibration", "field": "fit_min_fraction"}, "fit-max": {"arg": "calibration", "field": "fit_max_fraction"}},
+                "show": {"hardness": ["hardness_pa", "stress"], "reduced modulus": ["reduced_modulus_pa", "stress"], "sample modulus": ["sample_modulus_pa", "stress"],
+                         "max depth": ["max_depth_m", "length"], "contact depth": ["contact_depth_m", "length"], "peak load": ["peak_load_n", "force"]}}
+   },
+   "slots": {"power": "power.enabled", "clamp": "clamp.locked", "contact": "contact.engaged", "phase": "acquisition.phase"},
+   "status": [["power", "power.enabled", "bool"], ["clamped", "clamp.locked", "bool"], ["contact", "contact.engaged", "bool"],
+              ["head lift", "head.lift_m", "length"], ["stage x", "stage.x_m", "length"], ["stage y", "stage.y_m", "length"],
+              ["force", "force.indicated_n", "force"], ["depth", "depth.indicated_m", "length"], ["indents done", "acquisition.completed_indents"],
+              ["test", "acquisition.phase"]],
+   "requires": {
+    "contact": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+                {"slot": "specimen.present", "value": true, "code": "NO_SPECIMEN", "message": "{inst} has no specimen loaded.", "fix": "ask the lab operator to load one."},
+                {"slot": "clamp.locked", "value": true, "code": "NOT_CLAMPED", "message": "the specimen on {inst} is not clamped; the head comes down only onto a clamped specimen.",
+                 "fix": "clamp it: `chemlab run {inst} clamp on`."}],
+    "zero": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "contact.engaged", "value": false, "code": "CONTACT_ENGAGED", "message": "the tip of {inst} is in contact; the sensors are zeroed with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`."},
+             {"slot": "head.lift_m", "min": 0.002, "code": "HEAD_NOT_CLEAR", "message": "the head of {inst} is down; the sensors are zeroed with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`."}],
+    "move": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "contact.engaged", "value": false, "code": "HEAD_NOT_CLEAR", "message": "the tip of {inst} is in contact; the stage moves only with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`, move, then `contact on`."},
+             {"slot": "head.lift_m", "min": 0.002, "code": "HEAD_NOT_CLEAR", "message": "the head of {inst} is down; the stage moves only with the head lifted.",
+              "fix": "lift it: `chemlab run {inst} contact off`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "clamp.locked", "value": true, "code": "NOT_CLAMPED", "message": "the specimen on {inst} is not clamped.", "fix": "`chemlab run {inst} clamp on`."},
+              {"slot": "contact.engaged", "value": true, "code": "NO_CONTACT", "message": "the tip of {inst} is not in contact with the specimen.",
+               "fix": "`chemlab run {inst} contact on` (with the stage at the first indent position)."},
+              {"slot": "emergency.latched", "value": false, "code": "EMERGENCY_STOP", "message": "the emergency stop of {inst} is latched.",
+               "fix": "check the machine, then `chemlab call {inst} emergency.reset`."}]
+   },
+   "unsupported": {"set-temp": "the HIT 300 tests at room temperature; it has no temperature control"},
+   "alternatives": {"set-temp": "nothing to set; the specimen follows the room (`chemlab run antonpaar_hit300 status`)."},
+   "params": {"move_speed": "5mm/s", "run_word": "indentation series"},
+   "notes": {"move": ["--y moves the manual Y table (stage.set_y with accept_manual): on the real HIT 300 a person turns it"],
+             "method": ["the first indent position (positions=, a JSON list in m) must be where the stage is when `start` is sent"],
+             "analyze": ["Oliver-Pharr on the unloading branch of one indent (--index N, 0 = first); the area function and the tip constants come from the template (contract reference) unless given"]}
+  },
+  "shimadzu_ags10knxd": {
+   "role": "primary",
+   "verbs": {
+    "zero": {"cap": "force.zero"},
+    "calibrate": {"cap": "force.calibrate", "keys": {"ref": {"arg": "reference_force_n", "kind": "force"}}, "template": false},
+    "move": {"cap": "crosshead.move_to", "arg": "position_m", "speed_arg": "speed_m_s", "slot": "crosshead.position_m"},
+    "method": {"cap": "method.configure",
+               "keys": {"mode": {"arg": "mode"}, "speed": {"arg": "speed_m_s", "kind": "speed"}, "target": {"arg": "target_crosshead_m", "kind": "length"},
+                        "load": {"arg": "target_force_n", "kind": "force"}, "strain": {"arg": "target_strain"}, "time": {"arg": "duration_s", "kind": "duration"},
+                        "stop-force": {"arg": "force_stop_n", "kind": "force"}, "break-stop": {"arg": "stop_on_break"}, "rate-hz": {"arg": "sample_rate_hz"}}},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "mode": "mode", "end": "terminal_reason", "duration": ["elapsed_s", "duration"],
+                                                     "rows": "count(rows)", "peak force": ["max(rows:force_n)", "force"],
+                                                     "final crosshead": ["last(rows:crosshead_m)", "length"]}},
+    "analyze": {"cap": "analysis.tensile", "rows_arg": "rows", "columns_required": ["force_n"], "min_rows": 3,
+                "keys": {"area": {"arg": "area_prior_m2", "kind": "area"}, "gauge": {"arg": "gauge_prior_m", "kind": "length"},
+                         "compliance": {"arg": "frame_compliance_prior_m_n"}, "fit-min": {"arg": "elastic_fit_min_strain"}, "fit-max": {"arg": "elastic_fit_max_strain"}},
+                "show": {"elastic modulus": ["elastic_modulus_pa", "stress"], "ultimate stress": ["ultimate_observed_stress_pa", "stress"],
+                         "max force": ["maximum_observed_force_n", "force"], "break strain": "observed_break_strain", "break extension": ["observed_break_extension_m", "length"]}}
+   },
+   "slots": {"power": "power.enabled", "phase": "acquisition.phase"},
+   "codes": {
+    "AUTOMATIC_CONTROL_MAX_100HZ": {"code": "SAMPLE_RATE", "message": "in force or strain control {inst} samples at most 100 Hz.", "fix": "add rate-hz=100 (or lower) to the method."},
+    "EXTENSOMETER_REQUIRED": {"code": "NO_EXTENSOMETER", "message": "strain control on {inst} needs the extensometer, which this fixture does not have.", "fix": "use mode=speed (crosshead speed control)."},
+    "SOFTWARE_OPTION_REQUIRED": {"code": "SOFTWARE_OPTION", "message": "without the TRAPEZIUM X software {inst} runs only speed control at up to 10 Hz.", "fix": "use mode=speed rate-hz=10."},
+    "FIXTURE_FORCE_LIMIT": {"code": "FIXTURE_FORCE_LIMIT", "message": "the force is above the 5 kN rating of the grips on {inst}.", "fix": "give load= / stop-force= at or below 5kN."},
+    "ZERO_CALIBRATION_SIGNAL": {"code": "NO_REFERENCE_FORCE", "message": "the load cell of {inst} reads no force, so there is nothing to calibrate against.", "fix": "calibration needs the reference force applied (the operator's calibration fixture or a loaded specimen at rest); then `calibrate ref=FORCE` with that force."},
+    "COMPRESSION_OR_SLACK_UNSUPPORTED": {"code": "BELOW_SLACK", "message": "{inst} would push the specimen (crosshead below its free length); only tension is modelled.", "fix": "give a position at or above the current specimen length."}
+   },
+   "status": [["power", "power.enabled", "bool"], ["specimen", "sample.present", "bool"], ["broken", "sample.broken", "bool"],
+              ["force", "force.indicated_n", "force"], ["crosshead", "crosshead.position_m", "length"], ["stroke", "display.stroke_m", "length"],
+              ["upper grip opening", "grip.upper_opening_m", "length"], ["lower grip opening", "grip.lower_opening_m", "length"],
+              ["test", "acquisition.phase"], ["peak force", "acquisition.peak_force_n", "force"]],
+   "requires": {
+    "zero": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."}],
+    "calibrate": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."}],
+    "move": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "emergency.engaged", "value": false, "code": "EMERGENCY_STOP", "message": "the emergency stop of {inst} is engaged.", "fix": "the lab operator releases it after checking the frame."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "emergency.engaged", "value": false, "code": "EMERGENCY_STOP", "message": "the emergency stop of {inst} is engaged.", "fix": "the lab operator releases it after checking the frame."},
+              {"slot": "sample.present", "value": true, "code": "NO_SAMPLE", "message": "there is no specimen in the grips of {inst}.", "fix": "ask the lab operator to mount one."},
+              {"slot": "sample.broken", "value": false, "code": "SAMPLE_BROKEN", "message": "the specimen in {inst} is already broken.", "fix": "ask the lab operator for a new specimen."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no test method set.", "fix": "set one: `chemlab run {inst} method speed=5mm/min`."}]
+   },
+   "unsupported": {
+    "clamp": "the grips are closed by the operator on this frame (grip.set_closed is not an agent action)",
+    "contact": "a tensile frame has no probe: the specimen is held in the grips",
+    "set-temp": "the AGS-10kNXD here has no temperature chamber; it tests at room temperature"
+   },
+   "alternatives": {"clamp": "ask the lab operator to close the grips; check them with `chemlab run shimadzu_ags10knxd status`.",
+                    "contact": "move the crosshead instead: `chemlab run shimadzu_ags10knxd move 1mm --wait`.",
+                    "set-temp": "nothing to set; the specimen temperature follows the room."},
+   "params": {"move_speed": "5mm/min", "run_word": "tensile test", "axis_word": "crosshead"},
+   "notes": {"calibrate": ["calibrate ref=FORCE: the load cell reads the reference force applied by the calibration fixture (force.calibrate)"],
+             "zero": ["the force zero is taken unloaded (the reading below the zero band) and with no axis moving (UNLOAD_REQUIRED otherwise)"],
+             "analyze": ["the tensile evaluation of the last test rows: area= (cross-section) and gauge= (gauge length) are the specimen priors; the template values are the contract reference specimen"]}
+  },
+  "zwick_hit5p": {
+   "role": "primary",
+   "verbs": {
+    "calibrate": {"cap": "calibration.start", "job": true},
+    "method": {"cap": "method.configure", "keys": {"interval": {"arg": "sample_interval_s", "kind": "duration"}, "time": {"arg": "timeout_s", "kind": "duration"},
+                                                   "area": {"arg": "remaining_area_prior_m2", "kind": "area"}}},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "mode": "mode", "outcome": "outcome", "validity": "validity",
+                                                     "absorbed energy": ["corrected_energy_j", "energy"], "raw energy": ["raw_energy_j", "energy"],
+                                                     "impact strength (J/m2)": "impact_strength_j_m2", "impact speed (m/s)": "observed_impact_speed_m_s"}},
+    "analyze": {"cap": "analysis.impact", "phases": ["succeeded"], "rows_ok": true,
+                "needs": {"mode=impact": "the last swing was the empty calibration swing; there is no impact to evaluate"},
+                "from": {"release_angle_rad": "release_angle_rad", "rebound_angle_rad": "rebound_angle_rad", "outcome": "outcome"},
+                "from_slots": {"friction_torque_nm": "calibration.friction_torque_nm"},
+                "keys": {"area": {"arg": "remaining_area_prior_m2", "kind": "area"}},
+                "show": {"absorbed energy": ["corrected_energy_j", "energy"], "raw energy": ["raw_energy_j", "energy"], "impact strength (J/m2)": "impact_strength_j_m2",
+                         "validity": "validity"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "acquisition.phase"},
+   "status": [["power", "power.enabled", "bool"], ["pendulum latched", "latch.engaged", "bool"], ["specimen", "sample.present", "bool"],
+              ["specimen struck", "sample.spent", "bool"], ["calibrated", "calibration.valid", "bool"], ["friction torque (N m)", "calibration.friction_torque_nm"],
+              ["swing", "acquisition.phase"], ["validity", "measurement.validity"], ["energy", "measurement.energy_j", "energy"]],
+   "requires": {
+    "calibrate": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+                  {"slot": "sample.present", "value": false, "code": "EMPTY_REQUIRED", "message": "a specimen lies on the supports of {inst}; the calibration swing is an empty swing.",
+                   "fix": "ask the lab operator to take the specimen out, then calibrate."},
+                  {"slot": "latch.engaged", "value": true, "code": "NOT_ARMED", "message": "the pendulum of {inst} is not raised and latched.", "fix": "ask the lab operator to raise the pendulum."},
+                  {"slot": "shield.angle_rad", "max": 1e-12, "code": "SHIELD_OPEN", "message": "the safety shield of {inst} is open.", "fix": "ask the lab operator to close it."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "calibration.valid", "value": true, "code": "CALIBRATION_REQUIRED", "message": "{inst} has no valid friction calibration (empty swing) yet.",
+               "fix": "with the supports empty, run `chemlab run {inst} calibrate` and wait for its job; then the operator re-arms the pendulum and places the specimen."},
+              {"slot": "sample.present", "value": true, "code": "NO_SAMPLE", "message": "there is no specimen on the supports of {inst}.", "fix": "ask the lab operator to place one."},
+              {"slot": "sample.spent", "value": false, "code": "SAMPLE_SPENT", "message": "the specimen on {inst} has already been struck.", "fix": "ask the lab operator for a new specimen."},
+              {"slot": "latch.engaged", "value": true, "code": "NOT_ARMED", "message": "the pendulum of {inst} is not raised and latched.", "fix": "ask the lab operator to raise the pendulum."},
+              {"slot": "shield.angle_rad", "max": 1e-12, "code": "SHIELD_OPEN", "message": "the safety shield of {inst} is open.", "fix": "ask the lab operator to close it."}]
+   },
+   "unsupported": {
+    "clamp": "the bar lies loose on the Charpy supports (placed by the operator); there is no clamp",
+    "contact": "the pendulum strikes the specimen during the swing; there is no probe to lower",
+    "zero": "the pendulum's friction and windage loss is measured by the empty calibration swing, not by a zero",
+    "move": "the pendulum is raised and latched by the operator; no axis is positioned by command",
+    "set-temp": "the HIT5P has no temperature chamber; specimens are conditioned outside"
+   },
+   "alternatives": {"zero": "run the empty calibration swing: `chemlab run zwick_hit5p calibrate`.",
+                    "move": "ask the lab operator to raise the pendulum.",
+                    "clamp": "ask the lab operator to place the specimen on the supports.",
+                    "contact": "start the swing with `chemlab run zwick_hit5p start`."},
+   "params": {"run_word": "impact swing"},
+   "notes": {"calibrate": ["the empty friction calibration swing (ISO 179-1); it returns job-N; afterwards the operator re-raises the pendulum"],
+             "analyze": ["recomputes the absorbed energy from the last swing's angles with the friction torque of the calibration; area= is the remaining cross-section behind the notch"]}
+  },
+  "zwick_mflow": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure",
+               "keys": {"load": {"arg": "test_load_kg", "kind": "mass"}, "preheat": {"arg": "preheat_time_s", "kind": "duration"}, "time": {"arg": "duration_s", "kind": "duration"},
+                        "interval": {"arg": "sample_interval_s", "kind": "duration"}, "cut": {"arg": "cut_interval_s", "kind": "duration"},
+                        "window": {"args": ["window_upper_m", "window_lower_m"], "kind": "length", "syntax": "range"}, "temp-tol": {"arg": "temperature_tolerance_k", "kind": "temperature_delta"},
+                        "weigh": {"arg": "automatic_weighing"}}},
+    "set-temp": {"cap": "thermal.set_temperature", "arg": "target_k"},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "validity": "validity", "end": "terminal_reason", "test temperature": ["test_temperature_k", "temperature"],
+                                                     "test load": ["test_load_kg", "mass"], "MVR (cm3/10min)": "flow.mvr_cm3_10min", "MFR (g/10min)": "flow.mfr_g_10min",
+                                                     "segments": "count(segments)", "rows": "count(rows)"}},
+    "analyze": {"cap": "analysis.flow", "phases": ["succeeded"], "rows_ok": true,
+                "from": {"start_position_m": "flow.window_positions_m.0", "end_position_m": "flow.window_positions_m.1", "start_time_s": "flow.window_times_s.0",
+                         "end_time_s": "flow.window_times_s.1"},
+                "from_list": {"weighed_segments": {"path": "segments", "where": {"measurement_segment": true}, "fields": {"mass_kg": "observed_mass_kg", "duration_s": "duration_s"}}},
+                "needs": {"flow.window_positions_m": "the last test did not traverse the measuring window, so there is no flow to evaluate"},
+                "keys": {"area": {"arg": "area_prior_m2", "kind": "area"}, "density": {"arg": "melt_density_prior_kg_m3", "kind": "density"}},
+                "show": {"MVR (cm3/10min)": "mvr_cm3_10min", "MFR (g/10min)": "mfr_g_10min", "MVR (m3/s)": "mvr_m3_s", "MFR (kg/s)": "mfr_kg_s",
+                         "MFR from density (kg/s)": "density_derived_mfr_kg_s"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "acquisition.phase", "temp": "thermal.indicated_k"},
+   "status": [["power", "power.enabled", "bool"], ["barrel", "thermal.indicated_k", "temperature"], ["set point", "thermal.target_k", "temperature"],
+              ["charge", "sample.present", "bool"], ["preheat", "preheat.elapsed_s", "duration"], ["piston on charge", "piston.contact", "bool"],
+              ["piston", "encoder.position_m", "length"], ["weight", "weight.total_load_kg", "mass"], ["method load", "method.test_load_kg", "mass"],
+              ["test", "acquisition.phase"], ["validity", "measurement.validity"]],
+   "requires": {
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "sample.present", "value": true, "code": "NO_SAMPLE", "message": "the barrel of {inst} is not charged.", "fix": "ask the lab operator to charge it."},
+              {"slot": "piston.contact", "value": true, "code": "PISTON_NOT_ON_CHARGE", "message": "the piston of {inst} is not resting on the charge.", "fix": "ask the lab operator to insert the piston."}]
+   },
+   "unsupported": {
+    "clamp": "the charge is poured into the barrel by the operator; there is no clamp",
+    "contact": "the piston is inserted by the operator and driven by the weight during the test",
+    "zero": "the piston encoder and the balance are calibrated by the operator (evaluator calibration functions), not zeroed by command",
+    "calibrate": "its encoder and balance calibrations are operator functions with reference gauges (not agent capabilities)",
+    "move": "the piston is driven by the weight; no axis is positioned by command"
+   },
+   "alternatives": {"move": "the measuring window is part of the method: `method window=40mm..10mm`."},
+   "params": {"tolerance_k": 0.5, "settle_s": 30, "run_word": "melt flow test"},
+   "notes": {"method": ["load= must equal the weight the operator placed (weight.total_load_kg); window=UPPER..LOWER piston positions of the measurement"],
+             "start": ["the preheat time of the method counts from the moment the barrel was charged (PREHEAT_NOT_COMPLETE before)"]}
+  },
+  "antonpaar_mcr503": {
+   "role": "primary",
+   "verbs": {
+    "zero": {"cap": "instrument.procedure", "args": {"procedure": "zero_gap"}, "wait": {"slot": "device.procedure", "done": [null]}},
+    "calibrate": {"cap": "sensor.calibrate", "keys": {"torque-gain": {"arg": "torque_gain_correction"}, "torque-zero": {"arg": "torque_zero_nm"}}},
+    "move": {"cap": "geometry.set_gap", "arg": "gap_m", "slot": "geometry.gap_m", "moving_slot": "geometry.moving"},
+    "method": {"cap": "method.configure",
+               "keys": {"mode": {"arg": "mode"}, "shear-rate": {"arg": "shear_rate_s_inv", "kind": "frequency"}, "strain": {"arg": "strain_amplitude"},
+                        "freq": {"arg": "frequency_hz", "kind": "frequency"}, "time": {"arg": "duration_s", "kind": "duration"},
+                        "interval": {"arg": "sample_interval_s", "kind": "duration"}, "discard": {"arg": "discard_time_s", "kind": "duration"},
+                        "temp-tol": {"arg": "temperature_tolerance_k", "kind": "temperature_delta"}}},
+    "set-temp": {"cap": "thermal.set_temperature", "arg": "temperature_k"},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "duration": ["elapsed_s", "duration"], "rows": "count(rows)",
+                                                     "mean viscosity (Pa s)": "mean_apparent_viscosity_pa_s",
+                                                     "storage modulus G'": ["oscillation_fit.storage_modulus_pa", "stress"],
+                                                     "loss modulus G''": ["oscillation_fit.loss_modulus_pa", "stress"]}},
+    "analyze": {"cap": "analysis.oscillation", "columns": {"time_s": "time_s", "torques_nm": "torque_nm"}, "min_rows": 20,
+                "keys": {"strain": {"arg": "strain_amplitude"}, "freq": {"arg": "frequency_hz", "kind": "frequency"}, "discard": {"arg": "discard_time_s", "kind": "duration"},
+                         "radius": {"arg": "radius_m", "kind": "length"}},
+                "needs": {"oscillation_fit": "the last run is not an oscillation run (mode=oscillation), so there is nothing to fit"},
+                "show": {"storage modulus G'": ["storage_modulus_pa", "stress"], "loss modulus G''": ["loss_modulus_pa", "stress"],
+                         "stress fit rms": ["stress_fit_rms_pa", "stress"], "points used": "points_used"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "acquisition.phase", "temp": "thermal.indicated_k"},
+   "status": [["power", "power.enabled", "bool"], ["sample", "sample.present", "bool"], ["gap", "geometry.gap_m", "length"],
+              ["moving", "geometry.moving", "bool"], ["temperature", "thermal.indicated_k", "temperature"], ["set point", "thermal.target_k", "temperature"],
+              ["torque (N m)", "torque.indicated_nm"], ["procedure", "device.procedure"], ["test", "acquisition.phase"]],
+   "requires": {
+    "zero": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "sample.present", "value": false, "code": "SAMPLE_PRESENT", "message": "a sample is on the lower plate of {inst}; the zero gap is found with the plates touching, so it needs the plate empty.",
+              "fix": "zero the gap before the sample is loaded (ask the lab operator to remove it first)."}],
+    "set-temp": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "sample.present", "value": true, "code": "NO_SAMPLE", "message": "there is no sample on the plate of {inst}.", "fix": "ask the lab operator to load one."},
+              {"slot": "geometry.moving", "value": false, "code": "MOVING", "message": "the measuring head of {inst} is still moving.", "fix": "wait for it: `chemlab run {inst} move GAP --wait`."}]
+   },
+   "unsupported": {
+    "clamp": "the sample sits between the plates; there is no clamp",
+    "contact": "the measuring gap is set with `move GAP` (the upper plate comes down to the gap)"
+   },
+   "alternatives": {"contact": "set the gap the sample was loaded for: `chemlab run antonpaar_mcr503 move 1mm --wait`."},
+   "params": {"tolerance_k": 0.05, "settle_s": 10, "run_word": "rheometer measurement", "axis_word": "measuring head"},
+   "path": "acquisition",
+   "notes": {"zero": ["the zero-gap procedure of the touch-screen device (instrument.procedure zero_gap); chemlab waits until it has finished"],
+             "move": ["on the rheometer `move` sets the measuring gap (geometry.set_gap); the gap must match the sample fill before `start`"],
+             "start": ["the acquisition core (acquisition.start), not the touch-screen guided test (test.start)"],
+             "analyze": ["the oscillation fit of the last oscillation run: give strain= and freq= of that run (the template is the contract's reference run)"]}
+  },
+  "freeman_ft4powder": {
+   "role": "primary",
+   "verbs": {
+    "clamp": {"cap": "clamp.set", "arg": "locked"},
+    "calibrate": {"cap": "sensor.calibrate", "keys": {"force-zero": {"arg": "force_zero_n", "kind": "force"}, "torque-zero": {"arg": "torque_zero_nm"},
+                                                      "pressure-zero": {"arg": "pressure_zero_pa", "kind": "pressure"}}},
+    "move": {"cap": "axis.move", "arg": "position_m", "speed_arg": "speed_m_s", "slot": "axis.position_m"},
+    "method": {"cap": "method.configure",
+               "keys": {"mode": {"arg": "mode"}, "start": {"arg": "start_position_m", "kind": "length"}, "end": {"arg": "end_position_m", "kind": "length"},
+                        "speed": {"arg": "axial_speed_m_s", "kind": "speed"}, "rotation": {"arg": "angular_speed_rad_s", "kind": "rotation"},
+                        "cycles": {"arg": "measurement_cycles"}, "conditioning": {"arg": "conditioning_cycles"}, "hold": {"arg": "hold_s", "kind": "duration"},
+                        "stresses": {"arg": "normal_stresses_pa"}, "gas-flow": {"arg": "gas_flow_m3_s", "kind": "flow"}, "mass": {"arg": "weighed_mass_kg", "kind": "mass"}}},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "acquisition.result", "show": {"phase": "phase", "mode": "mode", "duration": ["elapsed_s", "duration"], "rows": "count(rows)",
+                                                     "first down energy": ["first(points[kind=down]:energy_j)", "energy"],
+                                                     "last down energy": ["last(points[kind=down]:energy_j)", "energy"],
+                                                     "last up specific energy (J/kg)": "last(points[kind=up]:specific_energy_j_kg)"}},
+    "analyze": {"cap": "analysis.energy", "where": {"segment": "measure_down"}, "group": "cycle", "min_rows": 2,
+                "columns": {"position_m": "position_m", "rotation_rad": "rotation_rad", "force_n": "force_n", "torque_nm": "torque_nm"},
+                "show": {"energy": ["energy_j", "energy"]}}
+   },
+   "slots": {"power": "power.enabled", "clamp": "clamp.locked", "phase": "acquisition.phase"},
+   "status": [["power", "power.enabled", "bool"], ["door angle", "door.angle_rad", "angle"], ["vessel clamped", "clamp.locked", "bool"],
+              ["powder", "sample.present", "bool"], ["tool", "tool.type"], ["blade", "axis.position_m", "length"], ["force", "force.indicated_n", "force"],
+              ["test", "acquisition.phase"], ["cycle", "acquisition.cycle"], ["work", "acquisition.work_j", "energy"]],
+   "requires": {
+    "clamp": [{"slot": "door.angle_rad", "min": 0.5, "code": "DOOR_CLOSED", "message": "the safety door of {inst} is closed; the vessel is reached only with the door open.",
+               "fix": "open it: `chemlab run {inst} open door`."},
+              {"slot": "axis.position_m", "max": 1e-9, "code": "BLADE_NOT_PARKED", "message": "the blade of {inst} is not parked at the top ({value} m).",
+               "fix": "park it: `chemlab run {inst} move 0mm --wait`."}],
+    "move": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+             {"slot": "door.angle_rad", "max": 1e-9, "code": "DOOR_INTERLOCK", "message": "the safety door of {inst} is open; the axis moves only with the door closed.",
+              "fix": "close it: `chemlab run {inst} close door`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "sample.present", "value": true, "code": "NO_SAMPLE", "message": "there is no powder in the vessel of {inst}.", "fix": "ask the lab operator to fill it."},
+              {"slot": "clamp.locked", "value": true, "code": "CLAMP_REQUIRED", "message": "the vessel of {inst} is not clamped.",
+               "fix": "clamp it with the door open (`chemlab run {inst} clamp on`), then close the door."},
+              {"slot": "door.angle_rad", "max": 1e-9, "code": "DOOR_INTERLOCK", "message": "the safety door of {inst} is open.", "fix": "close it: `chemlab run {inst} close door`."}]
+   },
+   "unsupported": {
+    "contact": "the blade moves into the powder during the test itself; there is no probe contact to set",
+    "zero": "the FT4 takes its force / torque / pressure zero offsets as calibration values (`calibrate force-zero=...`), not as a zero command",
+    "set-temp": "the FT4 has no temperature control; it tests at room temperature"
+   },
+   "alternatives": {"zero": "give the offsets: `chemlab run freeman_ft4powder calibrate force-zero=0N torque-zero=0`.",
+                    "contact": "park the blade with `chemlab run freeman_ft4powder move 0mm --wait`; the test moves it."},
+   "params": {"move_speed": "10mm/s", "run_word": "powder test", "axis_word": "blade"},
+   "notes": {"method": ["the attachment must fit the mode (blade for dynamic; `chemlab call freeman_ft4powder tool.select --tool_type ...` with the door open)"],
+             "analyze": ["the flow energy (force and torque work) of one measurement traverse (--index N = cycle)"]}
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/particle_surface.json b/chemlab/configs/adapters/particle_surface.json
new file mode 100644
index 0000000000000000000000000000000000000000..162cd6eaa2f4253d62a63464ac1181b0a60b83e9
--- /dev/null
+++ b/chemlab/configs/adapters/particle_surface.json
@@ -0,0 +1,3715 @@
+{
+ "class": "particle_surface",
+ "adapter": "chemlab.compile.classes.particle_surface:ParticleSurfaceAdapter",
+ "about": "Particle, pore and surface characterisation: load / unload, prepare, method (only the keys that change), calibrate, set-temp, atmosphere, start (job) / stop / result in plain units, analyze, status.  Ranges, enums and units come from each member's contract; \"max\" / \"min\" positions are the contract argument limits.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "antonpaar_litesizerdls",
+   "antonpaar_psa1190",
+   "antonpaar_litesizerdia",
+   "microtrac_turbiscanlab",
+   "antonpaar_autosorb6100",
+   "antonpaar_poremaster60",
+   "porometer_poroluxrevo",
+   "antonpaar_ultrapyc5000",
+   "micromeritics_autochemiii",
+   "surface_dvsresolution",
+   "antonpaar_surpass3",
+   "biolin_sigma700",
+   "biolin_thetaflex",
+   "biolin_mediuml",
+   "ametek_oxtran"
+  ],
+  "secondary": {},
+  "excluded": {
+   "ta_tga5500": "considered as a possible secondary (gravimetric, sorption-like); it has no humidity / vapour step method, no sample access the class verbs would close and no sorption result - thermal_analysis owns it and no particle_surface verb would add anything",
+   "antonpaar_dma5002": "considered as a possible secondary (density); it measures liquid density in an oscillating U-tube (property_meter owns it); the class density instrument is the gas pycnometer (Ultrapyc 5000)"
+  }
+ },
+ "members": {
+  "antonpaar_litesizerdls": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "cell_cap.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "cell_cap.lift_m",
+       "label": "close the cell cap"
+      },
+      {
+       "cap": "cuvette.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "cuvette.lift_m",
+       "label": "lower the cuvette into the cell holder"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "lid.angle_rad",
+       "label": "close the lid"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "lid.release",
+       "slot": "lid.released",
+       "label": "release the lid",
+       "done": true,
+       "args": {}
+      },
+      {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "lid.angle_rad",
+       "label": "open the lid"
+      },
+      {
+       "cap": "cuvette.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "cuvette.lift_m",
+       "label": "lift the cuvette out"
+      },
+      {
+       "cap": "cell_cap.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "cell_cap.lift_m",
+       "label": "open the cell cap"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "angle": {
+       "arg": "angle_deg",
+       "kind": "angle"
+      },
+      "time": {
+       "arg": "acquisition_s",
+       "kind": "duration"
+      },
+      "runs": {
+       "arg": "acquisitions"
+      },
+      "equilibration": {
+       "arg": "equilibration_s",
+       "kind": "duration"
+      },
+      "viscosity": {
+       "arg": "entered_viscosity_pa_s"
+      },
+      "ri": {
+       "arg": "entered_refractive_index"
+      }
+     },
+     "extra": {
+      "cell": {
+       "cap": "cell.configure",
+       "arg": "kind"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "size": {
+       "cap": "dls.calibrate",
+       "keys": {
+        "reference": "reference_m",
+        "measured": "measured_m"
+       }
+      },
+      "mobility": {
+       "cap": "mobility.calibrate",
+       "keys": {
+        "reference": "reference_m2_v_s",
+        "measured": "measured_m2_v_s"
+       }
+      },
+      "temperature": {
+       "cap": "temperature.calibrate",
+       "keys": {
+        "reference": "reference_k",
+        "measured": "measured_k"
+       }
+      }
+     }
+    },
+    "atmosphere": {
+     "keys": {
+      "gas": {
+       "cap": "purge.set",
+       "arg": "enabled",
+       "kind": "switch",
+       "word": "dry-gas purge"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "figures": [
+      {
+       "path": "mode",
+       "label": "mode"
+      },
+      {
+       "path": "dls.z_average_m",
+       "label": "Z-average diameter",
+       "show": "nm"
+      },
+      {
+       "path": "dls.pdi",
+       "label": "polydispersity index"
+      },
+      {
+       "path": "els.zeta_v",
+       "label": "zeta potential",
+       "show": "mV"
+      },
+      {
+       "path": "acquisitions_done",
+       "label": "runs done"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.loaded",
+    "temp": "temperature.measured_k",
+    "set": "temperature.target_k"
+   },
+   "show": [
+    {
+     "slot": "laser.warmup_s",
+     "label": "laser warm-up done",
+     "show": "s"
+    },
+    {
+     "slot": "cell.kind",
+     "label": "cell"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample in place",
+      "message": "there is no sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "laser.warmup_s",
+      "code": "WARMING_UP",
+      "label": "laser warmed up",
+      "message": "the laser of {inst} is still warming up ({value} s of 6 min after switching on).",
+      "fix": "wait: `chemlab wait 360` (or less, see `chemlab run {inst} status`), then start again.",
+      "min": "slot_max"
+     }
+    ],
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} moves its cuvette holder only when switched on.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} releases its lid only when switched on.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "no separate preparation: the cell temperature is equilibrated inside each measurement (method equilibration=)",
+    "set-temp": "the cell temperature is part of the method (temp=), not a separate set point",
+    "analyze": "the result is already evaluated (Z-average, PDI, size distribution, zeta potential)"
+   },
+   "alternatives": {
+    "set-temp": "set it in the method: `chemlab run INST method temp=25C`"
+   },
+   "codes": {
+    "GAS_EXHAUSTED": {
+     "code": "NO_PURGE_GAS",
+     "message": "the dry-gas purge supply of {inst} is empty.",
+     "fix": "ask the lab operator to connect the purge gas; above the dew point no purge is needed."
+    },
+    "PURGE_REQUIRED": {
+     "code": "PURGE_REQUIRED",
+     "message": "the method temperature of {inst} is below the dew point, so the cell needs the dry-gas purge.",
+     "fix": "`chemlab run {inst} atmosphere gas=on` (the operator must have connected the purge gas)."
+    }
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "notes": {
+    "load": [
+     "order: cell cap, cuvette down, lid; steps already done are skipped"
+    ],
+    "atmosphere": [
+     "gas=on|off switches the dry-gas purge that keeps the cell dry below the dew point"
+    ],
+    "method": [
+     "cell=quartz|omega declares the cuvette (cell.configure); zeta needs the omega cell and angle=15deg"
+    ],
+    "start": [
+     "the laser needs 6 min after switching on (laser.warmup_s)"
+    ]
+   }
+  },
+  "antonpaar_psa1190": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "tank_lid.set",
+       "arg": "slide_m",
+       "to": "min",
+       "slot": "tank_lid.slide_m",
+       "label": "close the tank lid"
+      },
+      {
+       "cap": "dry_hood.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "dry_hood.lift_m",
+       "label": "close the dry-feed hood"
+      },
+      {
+       "cap": "cover.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "cover.angle_rad",
+       "label": "close the main cover"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "tank_lid.set",
+       "arg": "slide_m",
+       "to": "max",
+       "slot": "tank_lid.slide_m",
+       "label": "open the tank lid",
+       "if": {
+        "slot": "method.mode",
+        "value": "wet"
+       }
+      },
+      {
+       "cap": "dry_hood.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "dry_hood.lift_m",
+       "label": "open the dry-feed hood",
+       "if": {
+        "slot": "method.mode",
+        "value": "dry"
+       }
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "background.start",
+     "word": "background measurement"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "model": {
+       "arg": "model"
+      },
+      "time": {
+       "arg": "acquisition_s",
+       "kind": "duration"
+      },
+      "dispersion": {
+       "arg": "dispersion_s",
+       "kind": "duration"
+      },
+      "ultrasound": {
+       "arg": "ultrasound_enabled"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "size": {
+       "cap": "calibration.size",
+       "keys": {
+        "reference": "reference_m",
+        "measured": "observed_m"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "psd.d10_m",
+       "label": "d10",
+       "show": "um"
+      },
+      {
+       "path": "psd.d50_m",
+       "label": "d50 (median)",
+       "show": "um"
+      },
+      {
+       "path": "psd.d90_m",
+       "label": "d90",
+       "show": "um"
+      },
+      {
+       "path": "obscuration",
+       "label": "obscuration",
+       "show": "%"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s"
+   },
+   "show": [
+    {
+     "slot": "method.mode",
+     "label": "dispersion mode"
+    },
+    {
+     "slot": "background.ready",
+     "label": "background measured"
+    },
+    {
+     "slot": "liquid.level_ok",
+     "label": "liquid level ok"
+    },
+    {
+     "slot": "d50_m",
+     "label": "d50",
+     "show": "um"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "background.ready",
+      "code": "NO_BACKGROUND",
+      "label": "background measured",
+      "message": "{inst} has no valid background for this method (a new method or liquid needs a new one).",
+      "fix": "measure it: `chemlab run {inst} prepare` (a job), then start.",
+      "value": true
+     }
+    ],
+    "prepare": [
+     {
+      "slot": "laser.warmup_s",
+      "code": "WARMING_UP",
+      "label": "laser warmed up (60 s)",
+      "message": "the laser of {inst} is still warming up ({value} s of 60 s after switching on).",
+      "fix": "wait: `chemlab wait 60`, then retry.",
+      "min": 60
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no temperature control (the dispersion liquid stays at room temperature)",
+    "atmosphere": "no gas or humidity control (the dry-dispersion air pressure is a method setting: air_pressure_pa=)",
+    "analyze": "the result is already evaluated (Mie / Fraunhofer size distribution, d10 / d50 / d90)"
+   },
+   "codes": {
+    "BLANK_NOT_EMPTY": {
+     "code": "SAMPLE_PRESENT",
+     "message": "the background needs clean liquid, but there is sample in {inst}.",
+     "fix": "drain and refill (lab operator), then `chemlab run {inst} prepare`."
+    },
+    "LIQUID_LEVEL": {
+     "code": "NO_LIQUID",
+     "message": "the dispersion tank of {inst} is not filled.",
+     "fix": "ask the lab operator to fill it."
+    },
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready: switched off, the laser still warming up (60 s) or the main cover open.",
+     "fix": "`chemlab run {inst} power on`, `chemlab wait 60`, `chemlab run {inst} load` (closes the covers)."
+    }
+   },
+   "notes": {
+    "prepare": [
+     "measures the background of the clean dispersion liquid (a job of about 1 min)"
+    ]
+   }
+  },
+  "antonpaar_litesizerdia": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "module.withdraw",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "module.withdraw_m",
+       "label": "push the dispersion module in"
+      },
+      {
+       "cap": "latch.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "latch.angle_rad",
+       "label": "close the module latch"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "lid.angle_rad",
+       "label": "close the tank lid"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "lid.angle_rad",
+       "label": "open the tank lid"
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "background.capture",
+     "word": "background image"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "images": {
+       "arg": "target_images"
+      },
+      "magnification": {
+       "arg": "magnification"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "pixel": {
+       "cap": "calibration.pixel",
+       "keys": {
+        "reference": "reference_length_m",
+        "measured": "observed_pixels"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "summary.count",
+       "label": "particles"
+      },
+      {
+       "path": "summary.d10_m",
+       "label": "d10 (area-equivalent)",
+       "show": "um"
+      },
+      {
+       "path": "summary.d50_m",
+       "label": "d50",
+       "show": "um"
+      },
+      {
+       "path": "summary.d90_m",
+       "label": "d90",
+       "show": "um"
+      },
+      {
+       "path": "summary.median_aspect_ratio",
+       "label": "median aspect ratio"
+      },
+      {
+       "path": "summary.median_circularity",
+       "label": "median circularity"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s"
+   },
+   "show": [
+    {
+     "slot": "module.kind",
+     "label": "dispersion module"
+    },
+    {
+     "slot": "background.ready",
+     "label": "background captured"
+    },
+    {
+     "slot": "diameter.d50_m",
+     "label": "d50",
+     "show": "um"
+    },
+    {
+     "slot": "particles.accepted",
+     "label": "particles accepted"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "background.ready",
+      "code": "NO_BACKGROUND",
+      "label": "background captured",
+      "message": "{inst} has no background image for this method and module.",
+      "fix": "capture it: `chemlab run {inst} prepare`, then start.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no temperature control",
+    "atmosphere": "no gas or humidity control (dry-module suction is part of the module)",
+    "analyze": "the result is already evaluated (size and shape distributions)"
+   },
+   "codes": {
+    "BLANK_NOT_EMPTY": {
+     "code": "SAMPLE_PRESENT",
+     "message": "the background needs clean liquid, but there is sample in {inst}.",
+     "fix": "drain and refill (lab operator), then `chemlab run {inst} prepare`."
+    },
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready: switched off, the lid or the module open, or no liquid in the tank.",
+     "fix": "`chemlab run {inst} power on`; `chemlab run {inst} load`; ask the operator if the tank is empty."
+    },
+    "LIQUID_LEVEL": {
+     "code": "NO_LIQUID",
+     "message": "the tank of {inst} is not filled.",
+     "fix": "ask the lab operator to fill it."
+    }
+   }
+  },
+  "microtrac_turbiscanlab": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "lid.set",
+       "arg": "opened",
+       "to": false,
+       "slot": "lid.open",
+       "label": "close the lid"
+      },
+      {
+       "cap": "sample.set_position",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "sample.lift_m",
+       "label": "lower the vial into the measuring chamber"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "sample.set_position",
+       "arg": "distance_m",
+       "to": "max",
+       "slot": "sample.lift_m",
+       "label": "raise the vial holder"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "opened",
+       "to": true,
+       "slot": "lid.open",
+       "label": "open the lid"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "scan_interval_s",
+       "kind": "duration"
+      },
+      "from": {
+       "arg": "scan_start_m",
+       "kind": "length"
+      },
+      "to": {
+       "arg": "scan_end_m",
+       "kind": "length"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "sensor": {
+       "cap": "sensor.calibrate"
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "tsi",
+       "label": "TSI (stability index)"
+      },
+      {
+       "path": "migration_velocity_m_s",
+       "label": "migration velocity",
+       "show": "um/s"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "measured for",
+       "show": "s"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "tsi": {
+       "cap": "analysis.tsi",
+       "from_result": {
+        "transmission_fraction": "profiles[*].transmission_fraction",
+        "backscatter_fraction": "profiles[*].backscatter_fraction"
+       },
+       "defaults": {
+        "channel": "backscatter"
+       }
+      },
+      "two-flux": {
+       "cap": "analysis.two_flux"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k"
+   },
+   "show": [
+    {
+     "slot": "acquisition.scan_index",
+     "label": "scans done"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "vial in place",
+      "message": "there is no vial in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "no separate preparation: the sample is scanned as it is (temperature: `set-temp`)",
+    "atmosphere": "no gas or humidity control"
+   },
+   "notes": {
+    "analyze": [
+     "tsi recomputes the stability index from the profiles of the last result (channel=backscatter|transmission|auto_baseline)"
+    ]
+   }
+  },
+  "antonpaar_autosorb6100": {
+   "role": "primary",
+   "targets": {
+    "cell": {
+     "values": {
+      "1": {
+       "station": 0
+      },
+      "2": {
+       "station": 1
+      },
+      "3": {
+       "station": 2
+      }
+     },
+     "default": "1",
+     "list_var": "stations",
+     "list_of": "station",
+     "multi": [
+      "start"
+     ]
+    }
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "sample0.set",
+       "arg": "drop_m",
+       "to": "min",
+       "slot": "sample0.drop_m",
+       "label": "raise tube holder 1 onto its port"
+      },
+      {
+       "cap": "sample1.set",
+       "arg": "drop_m",
+       "to": "min",
+       "slot": "sample1.drop_m",
+       "label": "raise tube holder 2 onto its port"
+      },
+      {
+       "cap": "sample2.set",
+       "arg": "drop_m",
+       "to": "min",
+       "slot": "sample2.drop_m",
+       "label": "raise tube holder 3 onto its port"
+      },
+      {
+       "cap": "guard.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "guard.angle_rad",
+       "label": "close the safety guard"
+      },
+      {
+       "cap": "dewar.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "dewar.lift_m",
+       "label": "raise the liquid-nitrogen dewar"
+      }
+     ]
+    },
+    "unload": {
+     "cells": {
+      "1": {
+       "steps": [
+        {
+         "cap": "dewar.set",
+         "arg": "lift_m",
+         "to": "min",
+         "slot": "dewar.lift_m",
+         "label": "lower the dewar"
+        },
+        {
+         "cap": "sample.backfill",
+         "label": "backfill station 1 with nitrogen to ambient pressure",
+         "args": {
+          "station": 0
+         },
+         "if": {
+          "slot": "guard.angle_rad",
+          "max": 0.01
+         },
+         "wait": {
+          "slot": "station0.pressure_pa",
+          "near": 101325.0,
+          "tol": 20.0,
+          "max_s": 120,
+          "poll_s": 1
+         }
+        },
+        {
+         "cap": "guard.set",
+         "arg": "angle_rad",
+         "to": "max",
+         "slot": "guard.angle_rad",
+         "label": "open the safety guard"
+        },
+        {
+         "cap": "sample0.set",
+         "arg": "drop_m",
+         "to": "max",
+         "slot": "sample0.drop_m",
+         "label": "lower sample tube 1 off its port"
+        }
+       ]
+      },
+      "2": {
+       "steps": [
+        {
+         "cap": "dewar.set",
+         "arg": "lift_m",
+         "to": "min",
+         "slot": "dewar.lift_m",
+         "label": "lower the dewar"
+        },
+        {
+         "cap": "sample.backfill",
+         "label": "backfill station 2 with nitrogen to ambient pressure",
+         "args": {
+          "station": 1
+         },
+         "if": {
+          "slot": "guard.angle_rad",
+          "max": 0.01
+         },
+         "wait": {
+          "slot": "station1.pressure_pa",
+          "near": 101325.0,
+          "tol": 20.0,
+          "max_s": 120,
+          "poll_s": 1
+         }
+        },
+        {
+         "cap": "guard.set",
+         "arg": "angle_rad",
+         "to": "max",
+         "slot": "guard.angle_rad",
+         "label": "open the safety guard"
+        },
+        {
+         "cap": "sample1.set",
+         "arg": "drop_m",
+         "to": "max",
+         "slot": "sample1.drop_m",
+         "label": "lower sample tube 2 off its port"
+        }
+       ]
+      },
+      "3": {
+       "steps": [
+        {
+         "cap": "dewar.set",
+         "arg": "lift_m",
+         "to": "min",
+         "slot": "dewar.lift_m",
+         "label": "lower the dewar"
+        },
+        {
+         "cap": "sample.backfill",
+         "label": "backfill station 3 with nitrogen to ambient pressure",
+         "args": {
+          "station": 2
+         },
+         "if": {
+          "slot": "guard.angle_rad",
+          "max": 0.01
+         },
+         "wait": {
+          "slot": "station2.pressure_pa",
+          "near": 101325.0,
+          "tol": 20.0,
+          "max_s": 120,
+          "poll_s": 1
+         }
+        },
+        {
+         "cap": "guard.set",
+         "arg": "angle_rad",
+         "to": "max",
+         "slot": "guard.angle_rad",
+         "label": "open the safety guard"
+        },
+        {
+         "cap": "sample2.set",
+         "arg": "drop_m",
+         "to": "max",
+         "slot": "sample2.drop_m",
+         "label": "lower sample tube 3 off its port"
+        }
+       ]
+      }
+     }
+    },
+    "prepare": {
+     "cap": "degas.start",
+     "use_example": true,
+     "word": "degas programme",
+     "options": {
+      "temp": "steps.0.temperature_k",
+      "hold": "steps.0.hold_s",
+      "ramp": "ramp_k_s"
+     },
+     "state": {
+      "slot": "degas.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "stop_cap": "degas.stop"
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "args": {
+      "station": "{station}"
+     },
+     "keys": {
+      "mass": {
+       "arg": "entered_mass_kg",
+       "kind": "mass"
+      },
+      "steps": {
+       "arg": "relative_pressures"
+      },
+      "equilibration": {
+       "arg": "equilibration_s",
+       "kind": "duration"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "pressure": {
+       "cap": "pressure.calibrate",
+       "per_cell": true,
+       "args": {
+        "station": "{station}"
+       },
+       "keys": {
+        "reference": "reference_pa",
+        "measured": "measured_pa"
+       }
+      },
+      "volume": {
+       "cap": "volume.calibrate",
+       "per_cell": true,
+       "args": {
+        "station": "{station}"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "args": {
+      "stations": "{stations}"
+     },
+     "poll_s": 5
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "figures": [
+      {
+       "path": "stations[{station}].phase",
+       "label": "station result"
+      },
+      {
+       "path": "stations[{station}].bet.area_m2_kg",
+       "label": "BET surface area",
+       "show": "m2/g"
+      },
+      {
+       "path": "stations[{station}].bet.C",
+       "label": "BET C constant"
+      },
+      {
+       "path": "stations[{station}].bet.r_squared",
+       "label": "BET fit R²"
+      },
+      {
+       "path": "stations[{station}].bet.status",
+       "label": "BET status"
+      },
+      {
+       "path": "stations[{station}].total_pore_volume_m3_kg",
+       "label": "total pore volume",
+       "show": "cm3/g"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "bjh": {
+       "cap": "analysis.bjh",
+       "per_cell": true,
+       "from_result": {
+        "points": "stations[{station}].points"
+       },
+       "defaults": {
+        "branch": "unspecified"
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": [
+     "station0.loaded",
+     "station1.loaded",
+     "station2.loaded"
+    ]
+   },
+   "show": [
+    {
+     "slot": "coolant.volume_m3",
+     "label": "liquid nitrogen",
+     "show": "cm3"
+    },
+    {
+     "slot": "dewar.lift_m",
+     "label": "dewar lift",
+     "show": "mm"
+    },
+    {
+     "slot": "degas.phase",
+     "label": "degas programme"
+    },
+    {
+     "slot": "station0.bet_m2_kg",
+     "label": "BET station 1",
+     "show": "m2/g"
+    },
+    {
+     "slot": "station1.bet_m2_kg",
+     "label": "BET station 2",
+     "show": "m2/g"
+    },
+    {
+     "slot": "station2.bet_m2_kg",
+     "label": "BET station 3",
+     "show": "m2/g"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "station0.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample on station 1",
+      "message": "there is no sample tube on station 1 of {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload --cell 1` opens the access for it), then `chemlab run {inst} load --cell 1`.",
+      "value": true,
+      "cell": "1"
+     },
+     {
+      "slot": "station1.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample on station 2",
+      "message": "there is no sample tube on station 2 of {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload --cell 2` opens the access for it), then `chemlab run {inst} load --cell 2`.",
+      "value": true,
+      "cell": "2"
+     },
+     {
+      "slot": "station2.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample on station 3",
+      "message": "there is no sample tube on station 3 of {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload --cell 3` opens the access for it), then `chemlab run {inst} load --cell 3`.",
+      "value": true,
+      "cell": "3"
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "the analysis bath is liquid nitrogen (77 K, a fixed method value); degassing temperatures go with `prepare --temp`",
+    "atmosphere": "the adsorptive (N2) dosing follows the method's relative-pressure table (steps=)"
+   },
+   "codes": {
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready for this: it needs power, the station calibrated (pressure and free-space volume: `calibrate pressure|volume --cell N`), a method for the station, the guard closed and the dewar raised with liquid nitrogen.",
+     "fix": "check `chemlab run {inst} status`, `chemlab run {inst} load --cell N`, `chemlab help {inst} calibrate`."
+    },
+    "degas.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot degas: it needs power, a sample in a degas port, liquid nitrogen for the cold trap and the heating mantles in place.",
+     "fix": "ask the lab operator to load the degas port and fill the dewar; check `chemlab run {inst} status`."
+    },
+    "BACKFILL_INTERLOCK": {
+     "code": "ORDER",
+     "message": "{inst} backfills a station only with the dewar down, the guard closed and every tube on its port.",
+     "fix": "`chemlab run {inst} load`, then `unload --cell N`."
+    },
+    "TUBE_INTERLOCK": {
+     "code": "TUBE_DOWN",
+     "message": "a sample tube of {inst} is not on its port, so the dewar cannot rise.",
+     "fix": "`chemlab run {inst} load` raises every tube first."
+    },
+    "PRESSURE_ACCESS_INTERLOCK": {
+     "code": "ORDER",
+     "message": "{inst} moves a sample tube only with the safety guard open and the dewar down.",
+     "fix": "`chemlab run {inst} unload --cell N` opens it in order."
+    },
+    "dewar.set:COOLANT_OR_POWER": {
+     "code": "NO_COOLANT",
+     "message": "the dewar of {inst} is empty (or the instrument is off).",
+     "fix": "ask the lab operator to fill liquid nitrogen; `chemlab run {inst} power on`."
+    }
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "notes": {
+    "start": [
+     "--cell 1,2,3 measures several stations at once (one job)"
+    ],
+    "load": [
+     "load raises every tube holder, closes the guard and raises the dewar (the dewar rises only with all tubes on their ports)"
+    ],
+    "unload": [
+     "unload --cell N lowers the dewar, backfills the station with nitrogen to ambient pressure (waits for it), opens the guard and lowers tube N for the operator"
+    ],
+    "prepare": [
+     "degasses the samples in the degas ports (not the analysis stations): --temp, --hold, --ramp; a job that follows degas.phase"
+    ]
+   }
+  },
+  "antonpaar_poremaster60": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "guard0.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "guard0.angle_rad",
+       "label": "close guard of low-pressure port 1"
+      },
+      {
+       "cap": "guard1.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "guard1.angle_rad",
+       "label": "close guard of low-pressure port 2"
+      },
+      {
+       "cap": "cap.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "cap.lift_m",
+       "label": "close the high-pressure cap"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "guard0.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "guard0.angle_rad",
+       "label": "open guard of low-pressure port 1",
+       "if": {
+        "slot": "cell.position",
+        "value": "low0"
+       }
+      },
+      {
+       "cap": "guard1.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "guard1.angle_rad",
+       "label": "open guard of low-pressure port 2",
+       "if": {
+        "slot": "cell.position",
+        "value": "low1"
+       }
+      },
+      {
+       "cap": "cap.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "cap.lift_m",
+       "label": "open the high-pressure cap",
+       "if": {
+        "slot": "cell.position",
+        "value": "high"
+       }
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "stage"
+      },
+      "mass": {
+       "arg": "entered_mass_kg",
+       "kind": "mass"
+      },
+      "steps": {
+       "arg": "pressures_pa",
+       "kind": "pressure"
+      },
+      "equilibration": {
+       "arg": "equilibration_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "pressure": {
+       "cap": "pressure.calibrate",
+       "keys": {
+        "reference": "reference_pa",
+        "measured": "measured_pa",
+        "range": "range_index"
+       }
+      },
+      "volume": {
+       "cap": "volume.calibrate",
+       "keys": {
+        "reference": "reference_volume_m3",
+        "measured": "measured_capacitance_f"
+       }
+      },
+      "blank": {
+       "cap": "blank.calibrate",
+       "keys": {
+        "pressures": "pressures_pa",
+        "volumes": "volumes_m3"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "figures": [
+      {
+       "path": "max_pore_volume_m3_kg",
+       "label": "total intruded pore volume",
+       "show": "cm3/g"
+      },
+      {
+       "path": "distribution.status",
+       "label": "pore-size distribution"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "cell.loaded"
+   },
+   "show": [
+    {
+     "slot": "cell.position",
+     "label": "penetrometer position"
+    },
+    {
+     "slot": "pressure.measured_pa",
+     "label": "pressure",
+     "show": "kPa"
+    },
+    {
+     "slot": "mercury.stock_kg",
+     "label": "mercury stock",
+     "show": "mg"
+    },
+    {
+     "slot": "results.point_count",
+     "label": "points"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "cell.loaded",
+      "code": "NO_SAMPLE",
+      "label": "penetrometer with sample in place",
+      "message": "there is no penetrometer with sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "no separate preparation: the low-pressure stage evacuates and fills the penetrometer within the run (method mode=low)",
+    "set-temp": "no temperature control",
+    "atmosphere": "no gas or humidity control (the low-pressure stage uses its own gas supply)",
+    "analyze": "the result is already evaluated (Washburn pore-size distribution and pore volume)"
+   },
+   "codes": {
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready to measure: it needs power, the pressure, volume and blank calibrations, mercury, the penetrometer in a port with its guard closed, and a method.",
+     "fix": "see `chemlab run {inst} status` and `chemlab help {inst} calibrate`; `load` closes the guards."
+    },
+    "CALIBRATION_REQUIRED": {
+     "code": "NOT_CALIBRATED",
+     "message": "{inst} needs its pressure, volume and blank calibrations first.",
+     "fix": "`chemlab run {inst} calibrate pressure|volume|blank ...` (see `chemlab help {inst} calibrate`)."
+    }
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "notes": {
+    "method": [
+     "mode=low|high is the pressure stage; the penetrometer itself is declared with `chemlab call ... cell.configure` while it is empty"
+    ]
+   }
+  },
+  "porometer_poroluxrevo": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "holder.set",
+       "arg": "opened",
+       "to": false,
+       "slot": "holder.open",
+       "label": "close the sample holder"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "holder.set",
+       "arg": "opened",
+       "to": true,
+       "slot": "holder.open",
+       "label": "open the sample holder"
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "sample.wet",
+     "word": "wet the sample with the wetting liquid"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "steps": {
+       "arg": "pressure_steps_pa",
+       "kind": "pressure"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "sensor": {
+       "cap": "sensor.calibrate",
+       "keys": {
+        "pressure_zero": "pressure_zero_pa",
+        "flow_zero": "flow_zero_m3_s"
+       }
+      }
+     }
+    },
+    "atmosphere": {
+     "keys": {
+      "gas": {
+       "cap": "gas.open",
+       "arg": "enabled",
+       "kind": "switch",
+       "word": "nitrogen inlet"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "analysis.bubble_pressure_pa",
+       "label": "bubble point pressure",
+       "show": "kPa"
+      },
+      {
+       "path": "analysis.bubble_diameter_m",
+       "label": "largest pore (bubble point)",
+       "show": "um"
+      },
+      {
+       "path": "analysis.mean_flow_pressure_pa",
+       "label": "mean flow pressure",
+       "show": "kPa"
+      },
+      {
+       "path": "analysis.mean_flow_diameter_m",
+       "label": "mean flow pore size",
+       "show": "um"
+      },
+      {
+       "path": "analysis.smallest_diameter_m",
+       "label": "smallest pore",
+       "show": "um"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "porometry": {
+       "cap": "analysis.porometry",
+       "from_result": {
+        "wet_pressure_pa": "wet_points[*].pressure_pa",
+        "wet_flow_m3_s": "wet_points[*].flow_m3_s",
+        "dry_pressure_pa": "dry_points[*].pressure_pa",
+        "dry_flow_m3_s": "dry_points[*].flow_m3_s"
+       },
+       "keys": {
+        "tension": "surface_tension_n_m",
+        "angle": "contact_angle_rad",
+        "bubble": "bubble_fraction"
+       },
+       "defaults": {
+        "accept_monotone_projection": false
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present"
+   },
+   "show": [
+    {
+     "slot": "sample.wetted",
+     "label": "sample wetted"
+    },
+    {
+     "slot": "gas.enabled",
+     "label": "nitrogen inlet open"
+    },
+    {
+     "slot": "pressure.indicated_pa",
+     "label": "pressure",
+     "show": "kPa"
+    },
+    {
+     "slot": "acquisition.scan",
+     "label": "scan"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "membrane sample in place",
+      "message": "there is no membrane sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "gas.enabled",
+      "code": "GAS_CLOSED",
+      "label": "nitrogen inlet open",
+      "message": "the nitrogen inlet of {inst} is closed.",
+      "fix": "open it: `chemlab run {inst} atmosphere gas=on`.",
+      "value": true
+     }
+    ],
+    "prepare": [
+     {
+      "slot": "holder.open",
+      "code": "HOLDER_CLOSED",
+      "label": "holder open",
+      "message": "{inst} wets the sample only with the holder open.",
+      "fix": "open it: `chemlab run {inst} unload`, then `prepare`, then `load`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no temperature control"
+   },
+   "codes": {
+    "COMPLETE_WETTING_REQUIRED": {
+     "code": "NOT_WETTED",
+     "message": "the sample in {inst} is not completely wetted (a wet scan needs it).",
+     "fix": "`chemlab run {inst} unload`, `chemlab run {inst} prepare`, `chemlab run {inst} load`, then start."
+    },
+    "HOLDER_OPEN": {
+     "code": "ACCESS_OPEN",
+     "message": "the sample holder of {inst} is open.",
+     "fix": "close it: `chemlab run {inst} load`."
+    },
+    "HOLDER_CLOSED": {
+     "code": "HOLDER_CLOSED",
+     "message": "the sample holder of {inst} is closed.",
+     "fix": "open it: `chemlab run {inst} unload`."
+    }
+   },
+   "notes": {
+    "analyze": [
+     "porometry recomputes the pore sizes from the wet / dry curves of the last result; give tension= (N/m or mN/m) and angle= of the wetting liquid, bubble= the bubble-point flow fraction"
+    ]
+   }
+  },
+  "antonpaar_ultrapyc5000": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "cup.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "cup.lift_m",
+       "label": "lower the cup into the cell"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "lid.lift_m",
+       "label": "close the cell lid"
+      },
+      {
+       "cap": "lock.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "lock.angle_rad",
+       "label": "turn the lock ring"
+      },
+      {
+       "cap": "seal.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "seal.angle_rad",
+       "label": "turn the seal ring"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "seal.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "seal.angle_rad",
+       "label": "open the seal ring"
+      },
+      {
+       "cap": "lock.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "lock.angle_rad",
+       "label": "open the lock ring"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "lid.lift_m",
+       "label": "lift the cell lid"
+      },
+      {
+       "cap": "cup.set",
+       "arg": "lift_m",
+       "to": "max",
+       "slot": "cup.lift_m",
+       "label": "lift the cup out"
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "leak_check.start",
+     "word": "leak test",
+     "poll_s": 1
+    },
+    "method": {
+     "cap": "method.configure",
+     "current": "method.settings",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "runs": {
+       "arg": "max_runs"
+      },
+      "cell": {
+       "arg": "cell"
+      },
+      "pressure": {
+       "arg": "target_gauge_pa",
+       "kind": "pressure"
+      },
+      "equilibration": {
+       "arg": "equilibration_s",
+       "kind": "duration"
+      }
+     },
+     "extra": {
+      "mass": {
+       "cap": "sample.set_mass",
+       "arg": "mass_kg",
+       "kind": "mass"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "volume": {
+       "cap": "volume.calibrate"
+      },
+      "pressure": {
+       "cap": "pressure.calibrate"
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "figures": [
+      {
+       "path": "mean_density_kg_m3",
+       "label": "skeletal density",
+       "show": "g/cm3"
+      },
+      {
+       "path": "mean_volume_m3",
+       "label": "sample volume",
+       "show": "cm3"
+      },
+      {
+       "path": "rsd",
+       "label": "relative std. dev.",
+       "show": "%"
+      },
+      {
+       "path": "leak_rate_pa_s",
+       "label": "leak rate (Pa/s)"
+      },
+      {
+       "path": "leak_pass",
+       "label": "leak test passed"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.loaded",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k"
+   },
+   "show": [
+    {
+     "slot": "method.configured",
+     "label": "method set"
+    },
+    {
+     "slot": "volume.calibrated",
+     "label": "cell volume calibrated"
+    },
+    {
+     "slot": "sample.entered_mass_kg",
+     "label": "sample mass entered",
+     "show": "mg"
+    },
+    {
+     "slot": "result.density_kg_m3",
+     "label": "density",
+     "show": "g/cm3"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample in place",
+      "message": "there is no sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method mode=measure ...`.",
+      "value": true
+     },
+     {
+      "slot": "volume.calibrated",
+      "code": "NOT_CALIBRATED",
+      "label": "cell volume calibrated",
+      "message": "the cell and reference volumes of {inst} are not calibrated.",
+      "fix": "`chemlab run {inst} calibrate volume blank_ratio=... sphere_ratio=... sphere_volume_m3=...`.",
+      "value": true
+     },
+     {
+      "slot": "sample.entered_mass_kg",
+      "code": "NO_MASS",
+      "label": "sample mass entered",
+      "message": "the sample mass is not entered on {inst}, so it cannot give a density.",
+      "fix": "enter it: `chemlab run {inst} method mass=50g` (the weighed mass).",
+      "not": [
+       null
+      ]
+     }
+    ],
+    "prepare": [
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method.",
+      "fix": "set one first: `chemlab run {inst} method mode=leak`.",
+      "value": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "SAMPLE_PRESENT",
+      "label": "empty cell",
+      "message": "the leak test of {inst} needs the cell without a sample.",
+      "fix": "take the sample out first (`unload`; the lab operator removes it).",
+      "value": false
+     }
+    ]
+   },
+   "unsupported": {
+    "atmosphere": "the measuring gas (helium) is fixed by the lab set-up; there is no humidity or flow setting to change",
+    "analyze": "the result is already evaluated (volume and skeletal density per run, mean and RSD)"
+   },
+   "codes": {
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready: it needs power, a method, a calibrated cell volume, the sample mass and the cell closed (lid, lock and seal rings).",
+     "fix": "check `chemlab run {inst} status`; `chemlab run {inst} load` closes the cell."
+    }
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "notes": {
+    "method": [
+     "mass= enters the weighed sample mass (sample.set_mass); keys not given keep the method the instrument shows"
+    ],
+    "prepare": [
+     "the leak test needs the empty, closed cell and a method (mode=leak)"
+    ]
+   }
+  },
+  "micromeritics_autochemiii": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "sample.set_position",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "sample.withdraw_m",
+       "label": "push the sample tube into the furnace"
+      },
+      {
+       "cap": "sample.release",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "sample.release_rad",
+       "label": "lock the tube fitting"
+      },
+      {
+       "cap": "furnace.set_open",
+       "arg": "opened",
+       "to": false,
+       "slot": "furnace.opened",
+       "label": "close the furnace"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "gas.open",
+       "arg": "enabled",
+       "to": false,
+       "slot": "gas.enabled",
+       "label": "stop the gas flow"
+      },
+      {
+       "cap": "furnace.set_open",
+       "arg": "opened",
+       "to": true,
+       "slot": "furnace.opened",
+       "label": "open the furnace"
+      },
+      {
+       "cap": "sample.release",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "sample.release_rad",
+       "label": "release the tube fitting"
+      },
+      {
+       "cap": "sample.set_position",
+       "arg": "distance_m",
+       "to": "max",
+       "slot": "sample.withdraw_m",
+       "label": "withdraw the sample tube"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "temp": {
+       "path": "segments.0.target_k",
+       "kind": "temperature"
+      },
+      "rate": {
+       "path": "segments.0.ramp_k_s",
+       "kind": "heating_rate"
+      },
+      "hold": {
+       "path": "segments.0.hold_s",
+       "kind": "duration"
+      },
+      "time": {
+       "arg": "maximum_duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "runs": {
+       "arg": "pulse_count"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "detector": {
+       "cap": "detector.calibrate",
+       "keys": {
+        "reference": "known_moles_mol",
+        "measured": "observed_areas_v_s"
+       }
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "ramp_arg": "ramp_k_s"
+    },
+    "atmosphere": {
+     "keys": {
+      "flow": {
+       "cap": "gas.set_flow",
+       "arg": "reference_m3_s",
+       "kind": "flow"
+      },
+      "gas": {
+       "cap": "gas.open",
+       "arg": "enabled",
+       "kind": "switch",
+       "word": "gas flow"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "mode",
+       "label": "mode"
+      },
+      {
+       "path": "estimated_amount_mol",
+       "label": "gas evolved / taken up",
+       "show": "umol"
+      },
+      {
+       "path": "integral_v_s",
+       "label": "TCD peak area (V·s)"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "dispersion": {
+       "cap": "analysis.dispersion",
+       "from_result": {
+        "adsorbed_mol": "estimated_amount_mol"
+       },
+       "keys": {
+        "metal_mass": "metal_mass_kg",
+        "molar_mass": "metal_molar_mass_kg_mol",
+        "stoichiometry": "adsorbate_per_surface_atom"
+       }
+      },
+      "integrate": {
+       "cap": "analysis.integrate",
+       "from_result": {
+        "times_s": "rows[*].time_s",
+        "signals_v": "rows[*].tcd_v"
+       },
+       "keys": {
+        "baseline": "baseline_v",
+        "factor": "mol_per_v_s"
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k",
+    "ramp": "thermal.ramp_k_s"
+   },
+   "show": [
+    {
+     "slot": "gas.enabled",
+     "label": "gas flowing"
+    },
+    {
+     "slot": "gas.route",
+     "label": "gas route"
+    },
+    {
+     "slot": "flow.indicated_ref_m3_s",
+     "label": "flow (m³/s)"
+    },
+    {
+     "slot": "detector.calibrated",
+     "label": "TCD calibrated"
+    },
+    {
+     "slot": "method.mode",
+     "label": "mode"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "sample tube in place",
+      "message": "there is no sample tube in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "detector.calibrated",
+      "code": "NOT_CALIBRATED",
+      "label": "TCD calibrated",
+      "message": "the TCD of {inst} is not calibrated.",
+      "fix": "`chemlab run {inst} calibrate detector reference=1umol,2umol measured=0.1,0.2` (peak areas in V·s).",
+      "value": true
+     },
+     {
+      "slot": "gas.enabled",
+      "code": "GAS_CLOSED",
+      "label": "gas flowing",
+      "message": "no gas flows through {inst}.",
+      "fix": "open it: `chemlab run {inst} atmosphere gas=on`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "pretreatment is a programme like any other: choose the gas (`atmosphere`, `chemlab call ... gas.route`) and run a method"
+   },
+   "path_exceptions": [],
+   "notes": {
+    "method": [
+     "temp= rate= hold= set the first programme segment; several segments: segments='[{\"target_k\":..,\"ramp_k_s\":..,\"hold_s\":..}]'"
+    ],
+    "set-temp": [
+     "--ramp defaults to the current ramp rate of the furnace"
+    ]
+   }
+  },
+  "surface_dvsresolution": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "chamber.set_position",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "chamber.lower_m",
+       "label": "raise the sample chamber"
+      },
+      {
+       "cap": "reservoir.open",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "reservoir.cap_m",
+       "label": "close the water reservoir cap"
+      },
+      {
+       "cap": "door.set",
+       "arg": "opened",
+       "to": false,
+       "slot": "door.angle_rad",
+       "label": "close the door",
+       "done": 0.0
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "gas.open",
+       "arg": "enabled",
+       "to": false,
+       "slot": "gas.enabled",
+       "label": "stop the dry-gas flow"
+      },
+      {
+       "cap": "door.set",
+       "arg": "opened",
+       "to": true,
+       "slot": "door.angle_rad",
+       "label": "open the door",
+       "done": "slot_max"
+      },
+      {
+       "cap": "chamber.set_position",
+       "arg": "distance_m",
+       "to": "max",
+       "slot": "chamber.lower_m",
+       "label": "lower the sample chamber"
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "balance.tare",
+     "word": "tare the microbalance (empty pan)",
+     "settle": {
+      "slot": "mass.indicated_kg",
+      "tol": 1e-10,
+      "dt": 0.5,
+      "max_s": 30,
+      "word": "mass"
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "steps": {
+       "arg": "relative_humidity_steps"
+      },
+      "runs": {
+       "arg": "cycles"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "time": {
+       "arg": "maximum_dwell_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "balance": {
+       "cap": "balance.calibrate",
+       "keys": {
+        "reference": "reference_masses_kg",
+        "measured": "observed_masses_kg"
+       }
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "atmosphere": {
+     "keys": {
+      "rh": {
+       "cap": "humidity.set",
+       "arg": "relative_humidity",
+       "kind": "fraction"
+      },
+      "flow": {
+       "cap": "gas.set_flow",
+       "arg": "reference_m3_s",
+       "kind": "flow"
+      },
+      "gas": {
+       "cap": "gas.open",
+       "arg": "enabled",
+       "kind": "switch",
+       "word": "dry-gas flow"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "points[-1].observed_relative_humidity",
+       "label": "last step RH",
+       "show": "%"
+      },
+      {
+       "path": "points[-1].mass_kg",
+       "label": "last step mass",
+       "show": "mg"
+      },
+      {
+       "path": "all_equilibrated",
+       "label": "all steps equilibrated"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "hysteresis": {
+       "cap": "analysis.hysteresis"
+      },
+      "diffusion": {
+       "cap": "analysis.diffusion"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k"
+   },
+   "show": [
+    {
+     "slot": "humidity.indicated",
+     "label": "humidity",
+     "show": "%"
+    },
+    {
+     "slot": "mass.indicated_kg",
+     "label": "mass",
+     "show": "mg"
+    },
+    {
+     "slot": "gas.enabled",
+     "label": "gas flowing"
+    },
+    {
+     "slot": "balance.tared",
+     "label": "balance tared"
+    },
+    {
+     "slot": "acquisition.equilibria",
+     "label": "steps equilibrated"
+    }
+   ],
+   "codes": {
+    "GAS_ACCESS": {
+     "code": "GAS_FLOWING",
+     "message": "{inst} opens its chamber only with the gas flow stopped.",
+     "fix": "`chemlab run {inst} unload` stops it first (or `atmosphere gas=off`)."
+    }
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "sample in place",
+      "message": "there is no sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "gas.enabled",
+      "code": "GAS_CLOSED",
+      "label": "dry-gas flow on",
+      "message": "no dry gas flows through {inst}.",
+      "fix": "open it: `chemlab run {inst} atmosphere gas=on`.",
+      "value": true
+     }
+    ],
+    "prepare": [
+     {
+      "slot": "sample.present",
+      "code": "SAMPLE_ON_PAN",
+      "label": "empty sample pan",
+      "message": "there is a sample on the pan of {inst}; the microbalance is tared with the empty pan, before the sample goes in (taring now would zero the sample mass).",
+      "fix": "take the sample out first (`chemlab run {inst} unload`, the operator removes it), tare, then load it again.",
+      "value": false
+     }
+    ]
+   },
+   "unsupported": {},
+   "notes": {
+    "analyze": [
+     "hysteresis and diffusion take their data as KEY=VALUE lists (from the result record: points[].mass_kg, target RH)"
+    ]
+   }
+  },
+  "antonpaar_surpass3": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "cell.set",
+       "arg": "withdrawal_m",
+       "to": "min",
+       "slot": "cell.withdrawal_m",
+       "label": "insert the measuring cell"
+      },
+      {
+       "cap": "lock.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "lock.angle_rad",
+       "label": "clamp the cell with the lock lever"
+      },
+      {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "to": "min",
+       "slot": "lid.lift_m",
+       "label": "close the electrolyte beaker lid"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "lock.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "lock.angle_rad",
+       "label": "open the lock lever"
+      },
+      {
+       "cap": "cell.set",
+       "arg": "withdrawal_m",
+       "to": "max",
+       "slot": "cell.withdrawal_m",
+       "label": "withdraw the measuring cell"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "steps": {
+       "arg": "ph_targets"
+      },
+      "runs": {
+       "arg": "cycles"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "ph": {
+       "cap": "ph.calibrate",
+       "keys": {
+        "reference": "buffer_ph",
+        "measured": "measured_v"
+       }
+      },
+      "conductivity": {
+       "cap": "conductivity.calibrate",
+       "keys": {
+        "reference": "reference_s_m",
+        "measured": "indicated_s_m"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "poll_s": 5
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "figures": [
+      {
+       "path": "iep_ph",
+       "label": "isoelectric point (pH)"
+      },
+      {
+       "path": "fits[0].ph",
+       "label": "first pH"
+      },
+      {
+       "path": "fits[0].zeta_from_i_v",
+       "label": "zeta at the first pH",
+       "show": "mV"
+      },
+      {
+       "path": "fits[-1].ph",
+       "label": "last pH"
+      },
+      {
+       "path": "fits[-1].zeta_from_i_v",
+       "label": "zeta at the last pH",
+       "show": "mV"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      }
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.loaded",
+    "temp": "temperature.indicated_k"
+   },
+   "show": [
+    {
+     "slot": "electrolyte.loaded",
+     "label": "electrolyte"
+    },
+    {
+     "slot": "ph.indicated",
+     "label": "pH"
+    },
+    {
+     "slot": "ph.calibrated",
+     "label": "pH electrode calibrated"
+    },
+    {
+     "slot": "conductivity.calibrated",
+     "label": "conductivity calibrated"
+    },
+    {
+     "slot": "result.zeta_v",
+     "label": "zeta",
+     "show": "mV"
+    },
+    {
+     "slot": "result.iep_ph",
+     "label": "IEP (pH)"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "label": "sample in place",
+      "message": "there is no sample in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method steps=6,5,4`.",
+      "value": true
+     },
+     {
+      "slot": "ph.calibrated",
+      "code": "NOT_CALIBRATED",
+      "label": "pH electrode calibrated",
+      "message": "the pH electrode of {inst} is not calibrated.",
+      "fix": "`chemlab run {inst} calibrate ph reference=4,7 measured=<V at pH 4>,<V at pH 7>`.",
+      "value": true
+     },
+     {
+      "slot": "conductivity.calibrated",
+      "code": "NOT_CALIBRATED",
+      "label": "conductivity cell calibrated",
+      "message": "the conductivity cell of {inst} is not calibrated.",
+      "fix": "`chemlab run {inst} calibrate conductivity reference=1.413mS/cm measured=...`.",
+      "value": true
+     },
+     {
+      "slot": "electrolyte.loaded",
+      "code": "NO_ELECTROLYTE",
+      "label": "electrolyte in the beaker",
+      "message": "there is no electrolyte in {inst}.",
+      "fix": "ask the lab operator to fill the electrolyte beaker.",
+      "value": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "electrolyte.loaded",
+      "code": "ELECTROLYTE_IN",
+      "label": "electrolyte drained",
+      "message": "the electrolyte is still in the circuit of {inst}, so the cell cannot be withdrawn.",
+      "fix": "ask the lab operator to drain it, then `chemlab run {inst} unload`.",
+      "value": false
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "rinsing is a method mode: `method mode=rinse`, then `start`",
+    "set-temp": "no temperature control (room temperature)",
+    "atmosphere": "no gas or humidity control",
+    "analyze": "the result is already evaluated (zeta potential per pH, isoelectric point)"
+   },
+   "codes": {
+    "CELL_ACCESS": {
+     "code": "CELL_LOCKED",
+     "message": "the measuring cell of {inst} moves only with the lock lever open and no electrolyte in the circuit (and clamps only when inserted).",
+     "fix": "ask the lab operator to drain the electrolyte; `chemlab run {inst} unload` / `load` keep the order."
+    },
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready: it needs power, a method, a calibrated pH electrode and conductivity cell, the sample and the electrolyte, and the cell clamped.",
+     "fix": "check `chemlab run {inst} status`; `chemlab run {inst} load` clamps the cell."
+    }
+   },
+   "path_exceptions": [
+    "process.measure"
+   ]
+  },
+  "biolin_sigma700": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "to": "min",
+       "slot": "door.angle_rad",
+       "label": "close the draft-shield door"
+      }
+     ]
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "to": "max",
+       "slot": "door.angle_rad",
+       "label": "open the draft-shield door"
+      }
+     ]
+    },
+    "prepare": {
+     "cap": "balance.tare",
+     "word": "tare the force balance (probe in air)",
+     "settle": {
+      "slot": "force.indicated_n",
+      "tol": 1e-06,
+      "dt": 0.5,
+      "max_s": 30,
+      "word": "force"
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "speed": {
+       "arg": "speed_m_s",
+       "kind": "speed"
+      },
+      "depth": {
+       "arg": "immersion_m",
+       "kind": "length"
+      },
+      "hold": {
+       "arg": "hold_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      }
+     },
+     "extra": {
+      "probe": {
+       "cap": "probe.select",
+       "arg": "probe"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "balance": {
+       "cap": "balance.calibrate",
+       "keys": {
+        "reference": "reference_forces_n",
+        "measured": "observed_raw_forces_n"
+       }
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "tension_n_m",
+       "label": "surface tension",
+       "show": "mN/m"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "cmc": {
+       "cap": "analysis.cmc",
+       "keys": {
+        "concentrations": "concentrations_kg_m3",
+        "tensions": "tensions_n_m"
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present",
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k"
+   },
+   "show": [
+    {
+     "slot": "probe.kind",
+     "label": "probe"
+    },
+    {
+     "slot": "balance.tared",
+     "label": "balance tared"
+    },
+    {
+     "slot": "tension.indicated_n_m",
+     "label": "tension",
+     "show": "mN/m"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "liquid vessel in place",
+      "message": "there is no liquid vessel in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "balance.tared",
+      "code": "NOT_TARED",
+      "label": "balance tared",
+      "message": "the force balance of {inst} is not tared (probe in air).",
+      "fix": "tare it: `chemlab run {inst} prepare`, then start.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "atmosphere": "no gas or humidity control"
+   },
+   "codes": {
+    "probe.select:SAMPLE_ACCESS": {
+     "code": "DOOR_CLOSED",
+     "message": "the probe of {inst} is changed with the draft-shield door open.",
+     "fix": "`chemlab run {inst} unload`, `chemlab run {inst} method probe=ring`, `chemlab run {inst} load`."
+    },
+    "PROBE_NOT_IN_AIR": {
+     "code": "PROBE_WET",
+     "message": "the probe of {inst} is not in air, so the balance cannot be tared.",
+     "fix": "stop any run (`chemlab run {inst} stop`) so the stage moves down, then `prepare`."
+    }
+   },
+   "notes": {
+    "method": [
+     "probe=plate|ring selects the probe (probe.select, door open); selecting a probe clears the tare"
+    ],
+    "prepare": [
+     "waits until the force reading is steady (two readings 0.5 s apart within 1 µN), then tares"
+    ]
+   }
+  },
+  "biolin_thetaflex": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "check": false,
+     "steps": [
+      {
+       "cap": "stage.move",
+       "label": "move the stage to the measuring position under the needle",
+       "args": "example",
+       "done_args": {
+        "stage.x_m": "x_m",
+        "stage.y_m": "y_m",
+        "stage.z_m": "z_m"
+       },
+       "wait": {
+        "slot": "acquisition.phase",
+        "while": [
+         "running"
+        ],
+        "max_s": 120,
+        "failed": [
+         "failed"
+        ]
+       }
+      }
+     ],
+     "deposit": {
+      "cap": "liquid.transfer",
+      "arg": "volume_m3",
+      "word": "dispense a drop of",
+      "wait": {
+       "slot": "acquisition.phase",
+       "while": [
+        "running"
+       ],
+       "max_s": 120,
+       "failed": [
+        "failed"
+       ]
+      },
+      "before": [
+       {
+        "cap": "dispenser.move",
+        "arg": "position_m",
+        "to": 0.02,
+        "slot": "dispenser.z_m",
+        "label": "lower the needle to the dispensing height",
+        "wait": {
+         "slot": "acquisition.phase",
+         "while": [
+          "running"
+         ],
+         "max_s": 120,
+         "failed": [
+          "failed"
+         ]
+        }
+       }
+      ],
+      "after": [
+       {
+        "cap": "dispenser.move",
+        "arg": "position_m",
+        "to": "min",
+        "slot": "dispenser.z_m",
+        "label": "raise the needle out of the image",
+        "wait": {
+         "slot": "acquisition.phase",
+         "while": [
+          "running"
+         ],
+         "max_s": 120,
+         "failed": [
+          "failed"
+         ]
+        }
+       }
+      ]
+     }
+    },
+    "unload": {
+     "steps": [
+      {
+       "cap": "dispenser.move",
+       "arg": "position_m",
+       "to": "min",
+       "slot": "dispenser.z_m",
+       "label": "raise the needle",
+       "wait": {
+        "slot": "acquisition.phase",
+        "while": [
+         "running"
+        ],
+        "max_s": 120,
+        "failed": [
+         "failed"
+        ]
+       }
+      },
+      {
+       "cap": "stage.move",
+       "label": "move the stage to the loading position",
+       "args": {
+        "x_m": 0.0,
+        "y_m": 0.0,
+        "z_m": 0.0
+       },
+       "done_args": {
+        "stage.x_m": "x_m",
+        "stage.y_m": "y_m",
+        "stage.z_m": "z_m"
+       },
+       "wait": {
+        "slot": "acquisition.phase",
+        "while": [
+         "running"
+        ],
+        "max_s": 120,
+        "failed": [
+         "failed"
+        ]
+       }
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "runs": {
+       "arg": "frames"
+      },
+      "rate": {
+       "arg": "frame_rate_hz",
+       "kind": "frequency"
+      },
+      "fit": {
+       "arg": "fit"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "camera": {
+       "cap": "camera.calibrate",
+       "keys": {
+        "reference": "known_length_m",
+        "measured": "observed_pixels"
+       }
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "rows[-1].mean_rad",
+       "label": "contact angle (mean)",
+       "show": "deg"
+      },
+      {
+       "path": "rows[-1].left_rad",
+       "label": "left",
+       "show": "deg"
+      },
+      {
+       "path": "rows[-1].right_rad",
+       "label": "right",
+       "show": "deg"
+      },
+      {
+       "path": "rows[-1].observed_volume_m3",
+       "label": "drop volume",
+       "show": "uL"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "hysteresis": {
+       "cap": "analysis.hysteresis",
+       "keys": {
+        "advancing": "advancing_rad",
+        "receding": "receding_rad"
+       }
+      },
+      "surface-energy": {
+       "cap": "analysis.surface_energy_reference"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": "sample.present"
+   },
+   "show": [
+    {
+     "slot": "camera.calibrated",
+     "label": "camera calibrated"
+    },
+    {
+     "slot": "method.mode",
+     "label": "mode"
+    },
+    {
+     "slot": "angle.indicated_rad",
+     "label": "contact angle",
+     "show": "deg"
+    },
+    {
+     "slot": "dispenser.z_m",
+     "label": "needle down",
+     "show": "mm"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "label": "substrate in place",
+      "message": "there is no substrate in {inst}.",
+      "fix": "the lab operator must put the sample in (`chemlab run {inst} unload` opens the access for it), then `chemlab run {inst} load`.",
+      "value": true
+     },
+     {
+      "slot": "camera.calibrated",
+      "code": "NOT_CALIBRATED",
+      "label": "camera calibrated",
+      "message": "the camera scale of {inst} is not calibrated.",
+      "fix": "`chemlab run {inst} calibrate camera reference=1mm measured=<pixels>`.",
+      "value": true
+     }
+    ],
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} moves its stage and dispenser only when switched on.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} moves its stage and dispenser only when switched on.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true
+     }
+    ]
+   },
+   "params": {
+    "dispense_height_note": "the needle dispenses at 20 mm down (the runtime needs at least 14 mm)"
+   },
+   "unsupported": {
+    "prepare": "no separate preparation (focus and illumination stay as set: `chemlab call ... focus.set`)",
+    "set-temp": "no temperature control",
+    "atmosphere": "no gas or humidity control"
+   },
+   "notes": {
+    "load": [
+     "moves the stage under the needle, then dispenses a drop of --volume (default: the contract example, 0.2 µL) and raises the needle; it waits for the moves (a few seconds of lab time each)"
+    ]
+   }
+  },
+  "biolin_mediuml": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "check": false,
+     "deposit": {
+      "cap": "film.spread",
+      "arg": "volume_m3",
+      "word": "spread"
+     }
+    },
+    "prepare": {
+     "cap": "balance.tare",
+     "word": "tare the Wilhelmy balance on the clean subphase",
+     "steps": [
+      {
+       "cap": "probe.move",
+       "arg": "distance_m",
+       "to": "min",
+       "slot": "probe.lift_m",
+       "label": "lower the Wilhelmy plate into the subphase"
+      }
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "area": {
+       "arg": "target_area_m2",
+       "kind": "area"
+      },
+      "speed": {
+       "arg": "barrier_speed_m_s",
+       "kind": "speed"
+      },
+      "pressure": {
+       "arg": "target_pressure_n_m"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "kinds": {
+      "balance": {
+       "cap": "balance.calibrate"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "figures": [
+      {
+       "path": "rows[-1].surface_pressure_n_m",
+       "label": "final surface pressure",
+       "show": "mN/m"
+      },
+      {
+       "path": "rows[-1].area_m2",
+       "label": "final trough area",
+       "show": "cm2"
+      },
+      {
+       "path": "completed_strokes",
+       "label": "deposition strokes"
+      },
+      {
+       "path": "elapsed_s",
+       "label": "run time",
+       "show": "s"
+      },
+      {
+       "path": "error_code",
+       "label": "error"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "isotherm": {
+       "cap": "analysis.isotherm",
+       "from_result": {
+        "area_m2": "rows[*].area_m2",
+        "surface_pressure_n_m": "rows[*].surface_pressure_n_m"
+       },
+       "defaults": {
+        "constant_molecule_number": true
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "acquisition.phase",
+    "elapsed": "acquisition.elapsed_s",
+    "sample": [
+     "subphase.present",
+     "solution.present"
+    ],
+    "temp": "temperature.indicated_k"
+   },
+   "show": [
+    {
+     "slot": "balance.tared",
+     "label": "balance tared"
+    },
+    {
+     "slot": "pressure.indicated_n_m",
+     "label": "surface pressure",
+     "show": "mN/m"
+    },
+    {
+     "slot": "area.indicated_m2",
+     "label": "trough area",
+     "show": "cm2"
+    },
+    {
+     "slot": "probe.lift_m",
+     "label": "plate lifted",
+     "show": "mm"
+    }
+   ],
+   "requires": {
+    "load": [
+     {
+      "slot": "balance.tared",
+      "code": "NOT_TARED",
+      "label": "balance tared on the clean subphase",
+      "message": "the Wilhelmy balance of {inst} is not tared on the clean subphase, so the film pressure would have no zero.",
+      "fix": "tare it first: `chemlab run {inst} prepare`, then load.",
+      "value": true
+     },
+     {
+      "slot": "solution.present",
+      "code": "NO_SAMPLE",
+      "label": "spreading solution",
+      "message": "there is no spreading solution at {inst}.",
+      "fix": "ask the lab operator.",
+      "value": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "subphase.present",
+      "code": "NO_SUBPHASE",
+      "label": "subphase filled",
+      "message": "the trough of {inst} has no subphase.",
+      "fix": "ask the lab operator to fill it.",
+      "value": true
+     },
+     {
+      "slot": "balance.tared",
+      "code": "NOT_TARED",
+      "label": "balance tared",
+      "message": "the Wilhelmy balance of {inst} is not tared.",
+      "fix": "`chemlab run {inst} prepare`.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "unload": "cleaning the film off the subphase (aspiration) and changing the subphase are the lab operator's job",
+    "set-temp": "the subphase temperature comes from an external bath (not controlled here)",
+    "atmosphere": "no gas or humidity control"
+   },
+   "codes": {
+    "CLEAN_BASELINE_REQUIRED": {
+     "code": "NOT_TARED",
+     "message": "{inst} needs the balance tared on the clean subphase before spreading.",
+     "fix": "`chemlab run {inst} prepare`, then `load --volume V`."
+    }
+   },
+   "notes": {
+    "load": [
+     "spreads --volume of the spreading solution (default: the contract example, 50 µL); wait ~1 min for the solvent to evaporate"
+    ],
+    "method": [
+     "pressure= is the target surface pressure in N/m (or 20mN/m)"
+    ]
+   }
+  },
+  "ametek_oxtran": {
+   "role": "primary",
+   "targets": {
+    "cell": {
+     "values": {
+      "A": {
+       "cell": "A",
+       "c": "a"
+      },
+      "B": {
+       "cell": "B",
+       "c": "b"
+      }
+     }
+    }
+   },
+   "verbs": {
+    "load": {
+     "cells": {
+      "A": {
+       "steps": [
+        {
+         "cap": "cell.load_unload",
+         "slot": "cell_a.clamped",
+         "label": "clamp test cell A",
+         "done": true,
+         "args": {
+          "cell": "A"
+         },
+         "wait": {
+          "slot": "cell_a.clamp_moving",
+          "while": [
+           true
+          ],
+          "max_s": 30,
+          "poll_s": 1
+         }
+        }
+       ]
+      },
+      "B": {
+       "steps": [
+        {
+         "cap": "cell.load_unload",
+         "slot": "cell_b.clamped",
+         "label": "clamp test cell B",
+         "done": true,
+         "args": {
+          "cell": "B"
+         },
+         "wait": {
+          "slot": "cell_b.clamp_moving",
+          "while": [
+           true
+          ],
+          "max_s": 30,
+          "poll_s": 1
+         }
+        }
+       ]
+      }
+     }
+    },
+    "unload": {
+     "cells": {
+      "A": {
+       "steps": [
+        {
+         "cap": "cell.load_unload",
+         "slot": "cell_a.clamped",
+         "label": "unclamp test cell A",
+         "done": false,
+         "args": {
+          "cell": "A"
+         },
+         "wait": {
+          "slot": "cell_a.clamp_moving",
+          "while": [
+           true
+          ],
+          "max_s": 30,
+          "poll_s": 1
+         }
+        }
+       ]
+      },
+      "B": {
+       "steps": [
+        {
+         "cap": "cell.load_unload",
+         "slot": "cell_b.clamped",
+         "label": "unclamp test cell B",
+         "done": false,
+         "args": {
+          "cell": "B"
+         },
+         "wait": {
+          "slot": "cell_b.clamp_moving",
+          "while": [
+           true
+          ],
+          "max_s": 30,
+          "poll_s": 1
+         }
+        }
+       ]
+      }
+     }
+    },
+    "method": {
+     "cap": "test.configure",
+     "args": {
+      "cell": "{cell}"
+     },
+     "keys": {
+      "mode": {
+       "arg": "test_mode"
+      },
+      "runs": {
+       "arg": "cycles"
+      },
+      "time": {
+       "arg": "exam_minutes",
+       "kind": "duration"
+      },
+      "conditioning": {
+       "arg": "conditioning_hours",
+       "kind": "duration"
+      },
+      "area": {
+       "arg": "declared_area_m2",
+       "kind": "area"
+      },
+      "thickness": {
+       "arg": "declared_thickness_m",
+       "kind": "length"
+      }
+     },
+     "also": [
+      {
+       "cap": "instrument.configure",
+       "unless": "instrument.configured"
+      }
+     ]
+    },
+    "calibrate": {
+     "kinds": {
+      "adjustment": {
+       "cap": "sensor.adjustment_create",
+       "per_cell": true,
+       "args": {
+        "cell": "{cell}"
+       },
+       "keys": {
+        "reference": "reference_value"
+       }
+      }
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "target_k"
+    },
+    "atmosphere": {
+     "keys": {
+      "rh": {
+       "cap": "humidity.set",
+       "arg": "rh_fraction",
+       "kind": "fraction"
+      }
+     }
+    },
+    "start": {
+     "cap": "test.start",
+     "args": {
+      "cell": "{cell}"
+     },
+     "poll_s": 60
+    },
+    "stop": {
+     "cap": "test.stop",
+     "args": {
+      "cell": "{cell}"
+     }
+    },
+    "result": {
+     "cap": "test.result",
+     "args": {
+      "cell": "{cell}"
+     },
+     "figures": [
+      {
+       "path": "final_otr_cc_m2_day",
+       "label": "OTR (cm³/(m²·day))"
+      },
+      {
+       "path": "final_otr_cc_pkg_day",
+       "label": "OTR per package (cm³/day)"
+      },
+      {
+       "path": "permeability_barrer",
+       "label": "permeability (barrer)"
+      },
+      {
+       "path": "converged",
+       "label": "converged"
+      },
+      {
+       "path": "exam_count",
+       "label": "exams"
+      },
+      {
+       "path": "validity",
+       "label": "validity"
+      },
+      {
+       "path": "terminal_reason",
+       "label": "ended by"
+      }
+     ]
+    },
+    "analyze": {
+     "models": {
+      "otr": {
+       "cap": "analysis.otr",
+       "per_cell": true,
+       "from_result": {
+        "readings_mol_m2_s": "readings[kind=exam].otr_mol_m2_s",
+        "individual_zero_mol_m2_s": "?individual_zero_mol_m2_s"
+       },
+       "keys": {
+        "zero": "individual_zero_mol_m2_s",
+        "pressure": "driving_partial_pressure_pa",
+        "thickness": "thickness_m",
+        "convergence": "convergence_percent"
+       }
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": [
+     "cell_a.phase",
+     "cell_b.phase"
+    ],
+    "sample": [
+     "cell_a.film_mounted",
+     "cell_b.film_mounted"
+    ],
+    "temp": "thermal.indicated_k",
+    "set": "thermal.target_k"
+   },
+   "show": [
+    {
+     "slot": "cell_a.clamped",
+     "label": "cell A clamped"
+    },
+    {
+     "slot": "cell_b.clamped",
+     "label": "cell B clamped"
+    },
+    {
+     "slot": "humidity.indicated_fraction",
+     "label": "humidity",
+     "show": "%"
+    },
+    {
+     "slot": "gas.supply_ok",
+     "label": "gas supply ok"
+    },
+    {
+     "slot": "cell_a.exam_count",
+     "label": "cell A exams"
+    },
+    {
+     "slot": "cell_b.exam_count",
+     "label": "cell B exams"
+    },
+    {
+     "slot": "cell_a.last_otr_mol_m2_s",
+     "label": "cell A last OTR (mol/(m²·s))"
+    },
+    {
+     "slot": "cell_b.last_otr_mol_m2_s",
+     "label": "cell B last OTR (mol/(m²·s))"
+    }
+   ],
+   "requires": {
+    "start": [
+     {
+      "slot": "cell_a.film_mounted",
+      "code": "NO_SAMPLE",
+      "label": "film mounted (cell A)",
+      "message": "there is no film in cell {cell} of {inst}.",
+      "fix": "the lab operator must mount the film in the drawer of cell {cell}.",
+      "value": true,
+      "cell": "A"
+     },
+     {
+      "slot": "cell_b.film_mounted",
+      "code": "NO_SAMPLE",
+      "label": "film mounted (cell B)",
+      "message": "there is no film in cell {cell} of {inst}.",
+      "fix": "the lab operator must mount the film in the drawer of cell {cell}.",
+      "value": true,
+      "cell": "B"
+     },
+     {
+      "slot": "cell_a.clamped",
+      "code": "NOT_CLAMPED",
+      "label": "cell clamped (cell A)",
+      "message": "test cell {cell} of {inst} is not clamped.",
+      "fix": "clamp it: `chemlab run {inst} load --cell {cell}`.",
+      "value": true,
+      "cell": "A"
+     },
+     {
+      "slot": "cell_b.clamped",
+      "code": "NOT_CLAMPED",
+      "label": "cell clamped (cell B)",
+      "message": "test cell {cell} of {inst} is not clamped.",
+      "fix": "clamp it: `chemlab run {inst} load --cell {cell}`.",
+      "value": true,
+      "cell": "B"
+     },
+     {
+      "slot": "cell_a.method_configured",
+      "code": "NO_METHOD",
+      "label": "test method (cell A)",
+      "message": "cell {cell} of {inst} has no test method.",
+      "fix": "set one: `chemlab run {inst} method --cell {cell} mode=convergence ...`.",
+      "value": true,
+      "cell": "A"
+     },
+     {
+      "slot": "cell_b.method_configured",
+      "code": "NO_METHOD",
+      "label": "test method (cell B)",
+      "message": "cell {cell} of {inst} has no test method.",
+      "fix": "set one: `chemlab run {inst} method --cell {cell} mode=convergence ...`.",
+      "value": true,
+      "cell": "B"
+     },
+     {
+      "slot": "gas.supply_ok",
+      "code": "NO_GAS",
+      "label": "test gases connected",
+      "message": "the test-gas supply of {inst} is not ready.",
+      "fix": "ask the lab operator to connect the carrier and test gases.",
+      "value": true
+     }
+    ]
+   },
+   "unsupported": {
+    "prepare": "conditioning and zeroing are part of the test (method conditioning=, individual_zero=)"
+   },
+   "codes": {
+    "DRAWER_NOT_CLOSED": {
+     "code": "DRAWER_OPEN",
+     "message": "the drawer of that cell of {inst} is open.",
+     "fix": "ask the lab operator to close it."
+    }
+   },
+   "path": "test",
+   "notes": {
+    "method": [
+     "--cell A|B is required; the first method also sets the instrument settings (permeant %, ReZero, barometer) from the contract example when they were never set"
+    ],
+    "start": [
+     "a convergence test takes many hours of lab time; follow the job (`chemlab wait job-N --max 40h`)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/property_meter.json b/chemlab/configs/adapters/property_meter.json
new file mode 100644
index 0000000000000000000000000000000000000000..43838810162fd4c4645000dfb649848166cc23ca
--- /dev/null
+++ b/chemlab/configs/adapters/property_meter.json
@@ -0,0 +1,1915 @@
+{
+ "class": "property_meter",
+ "adapter": "chemlab.compile.classes.property_meter:PropertyMeterAdapter",
+ "about": "Benchtop property meters: set-temp, method, calibrate, check, zero, measure (job), result, clean, status. Power, lids, stop and wait come from the shared layer. Ranges, enums and units come from each member's contract.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "antonpaar_dma5002",
+   "antonpaar_abbematadvanced",
+   "jasco_p4200",
+   "metrohm_914",
+   "aqualab_4te",
+   "hach_tl2300epa",
+   "knauer_k7400s",
+   "mt_hx204",
+   "mt_mp70"
+  ],
+  "secondary": {},
+  "excluded": {},
+  "notes": {
+   "jasco_p4200": "polarimetry is optical (spectroscopy could list it as secondary)",
+   "mt_hx204": "built-in balance (balance class excluded it: weighing is a step of its drying run)",
+   "mt_mp70": "temperature program (thermal_analysis could list it as secondary)"
+  }
+ },
+ "members": {
+  "antonpaar_dma5002": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "density.measure"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "mode": {
+       "cap": "method.configure",
+       "arg": "mode"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keep": {
+        "mode": {
+         "from_slot": "method.mode"
+        }
+       }
+      }
+     ]
+    },
+    "check": {
+     "reference": {
+      "kind": "density",
+      "required": true,
+      "help": "the density of the reference liquid at the set temperature",
+      "example": "0.99820g/cm3"
+     },
+     "steps": [
+      {
+       "cap": "calibration.check",
+       "with": {
+        "reference_density_kg_m3": "$reference",
+        "reference_temperature_k": "$set_point"
+       },
+       "step": "compare the last density with the reference"
+      }
+     ]
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 900
+    },
+    "result": {
+     "cap": "density.measure",
+     "value": "density_kg_m3",
+     "label": "density",
+     "extra": [
+      "temperature_k",
+      "bubble_warning"
+     ],
+     "decimals": 5
+    },
+    "clean": {
+     "cap": "cleaning.start",
+     "arg": "volume_m3",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "value": "density.indicated_kg_m3",
+    "sample": "fill.detected"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "fill.detected",
+      "code": "NO_SAMPLE",
+      "message": "the U-tube of {inst} is not filled (fill.detected = {value}).",
+      "fix": "fill the sample bubble-free first - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "U-tube filled"
+     }
+    ],
+    "check": [
+     {
+      "slot": "density.indicated_kg_m3",
+      "code": "NO_READING",
+      "message": "{inst} has no finished density reading of the reference liquid.",
+      "fix": "measure the reference first: `chemlab run {inst} measure --wait`.",
+      "label": "a finished reading",
+      "not": [
+       null
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, a filled U-tube, the cell within 0.05 K of the set temperature and no other run.",
+     "fix": "check `chemlab run {inst} status`; wait for the temperature (`chemlab run {inst} set-temp T --wait`)."
+    },
+    "calibration.check:PRECONDITION_FAILED": {
+     "code": "NO_READING",
+     "message": "{inst} needs a finished density reading at the reference temperature to check against.",
+     "fix": "measure the reference liquid at its reference temperature first (`set-temp`, `measure --wait`)."
+    }
+   },
+   "unsupported": {
+    "calibrate": "every density adjustment of the DMA 5002 needs two fills exchanged by the operator during the procedure (air then water, or two standards; manual pp.24-33); a task has no operator mid-run",
+    "zero": "no blank or tare step: the U-tube is verified with air / water (`check`)"
+   },
+   "alternatives": {
+    "calibrate": "run `chemlab run antonpaar_dma5002 check --reference VALUE` with a reference liquid; the guided adjustment stays available with `chemlab call antonpaar_dma5002 adjustment.start` / `measurement.continue` / `adjustment.decide`."
+   },
+   "params": {
+    "value_label": "density",
+    "value_unit": "kg/m^3",
+    "value_decimals": 5,
+    "tolerance_k": 0.03,
+    "temp_ready_k": 0.05
+   },
+   "notes": {
+    "measure": [
+     "acquisition core (acquisition.start + density.measure); the touchscreen path measurement.start is not mixed in",
+     "the cell must be within 0.05 K of the set temperature (set-temp --wait first)"
+    ],
+    "check": [
+     "compares the last finished density with the reference at the set temperature (calibration.check); nothing is changed"
+    ]
+   }
+  },
+  "antonpaar_abbematadvanced": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "refractometry.measure"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "mode": {
+       "cap": "method.configure",
+       "arg": "mode"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keep": {
+        "mode": {
+         "from_slot": "method.mode"
+        }
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind": "nd",
+      "required": true,
+      "help": "the certified refractive index nD of the standard at the set temperature",
+      "example": "1.33299"
+     },
+     "name": {
+      "default": "Standard",
+      "what": "standard"
+     },
+     "state_slot": "adjustment.state",
+     "steps": [
+      {
+       "cap": "adjustment.start",
+       "args": {
+        "type": "one_point"
+       },
+       "with": {
+        "standards": "$standards_one_point"
+       },
+       "step": "start the one-point adjustment on the standard"
+      },
+      {
+       "wait": {
+        "slot": "cycle.phase",
+        "done": [
+         "succeeded"
+        ]
+       },
+       "max_s": 900,
+       "step": "the adjustment reading"
+      },
+      {
+       "cap": "adjustment.decide",
+       "with": {
+        "apply": "$apply_if_recommended"
+       },
+       "step": "apply the adjustment"
+      },
+      {
+       "report_slot": "adjustment.correction"
+      }
+     ]
+    },
+    "check": {
+     "name": {
+      "list_slot": "checks.list",
+      "field": "name",
+      "required": true,
+      "what": "check"
+     },
+     "steps": [
+      {
+       "cap": "check.start",
+       "with": {
+        "check": "$name"
+       },
+       "step": "start the check"
+      },
+      {
+       "wait": {
+        "slot": "cycle.phase",
+        "done": [
+         "succeeded"
+        ]
+       },
+       "max_s": 900,
+       "step": "the check reading"
+      },
+      {
+       "report_slot": "data.checks",
+       "last": true
+      }
+     ],
+     "pass_key": "result",
+     "pass_value": "passed"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 900
+    },
+    "result": {
+     "cap": "refractometry.measure",
+     "value": "index",
+     "label": "refractive index nD",
+     "extra": [
+      "temperature_k",
+      "mass_fraction"
+     ],
+     "decimals": 5
+    },
+    "clean": {
+     "cap": "cleaning.start",
+     "arg": "volume_m3",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "value": "optical.indicated_index",
+    "sample": "sample.filled"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "sample.filled",
+      "code": "NO_SAMPLE",
+      "message": "the prism of {inst} has no sample (sample.filled = {value}).",
+      "fix": "the sample is put on the prism with the lid open - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample on the prism"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open (angle {value} rad).",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_angle --angle_rad 0`).",
+      "label": "lid closed",
+      "max": 0.01
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "sample.filled",
+      "code": "NO_SAMPLE",
+      "message": "the prism of {inst} has no sample (sample.filled = {value}).",
+      "fix": "the sample is put on the prism with the lid open - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample on the prism"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open (angle {value} rad).",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_angle --angle_rad 0`).",
+      "label": "lid closed",
+      "max": 0.01
+     }
+    ],
+    "check": [
+     {
+      "slot": "sample.filled",
+      "code": "NO_SAMPLE",
+      "message": "the prism of {inst} has no sample (sample.filled = {value}).",
+      "fix": "the sample is put on the prism with the lid open - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample on the prism"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open (angle {value} rad).",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_angle --angle_rad 0`).",
+      "label": "lid closed",
+      "max": 0.01
+     }
+    ],
+    "clean": [
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; the prism is cleaned with the lid open.",
+      "fix": "open it: `chemlab run {inst} open lid` (or `chemlab call {inst} lid.set_angle --angle_rad 1.57`).",
+      "label": "lid open",
+      "min": 1.4
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the lid closed, enough sample on the prism, a constant cell temperature and a method that fits.",
+     "fix": "check `chemlab run {inst} status`; wait for the temperature (`chemlab run {inst} set-temp T --wait`)."
+    },
+    "adjustment.decide:NOT_ALLOWED": {
+     "code": "CALIBRATION_REJECTED",
+     "message": "the adjustment result of {inst} cannot be applied (no valid reading of the standard).",
+     "fix": "check that the standard is on the prism and the lid is closed; calibrate again."
+    }
+   },
+   "unsupported": {
+    "zero": "no blank or tare step: the prism is checked with a named check (`check \"Water Check\"`)"
+   },
+   "params": {
+    "value_label": "nD",
+    "value_decimals": 5,
+    "tolerance_k": 0.03
+   },
+   "notes": {
+    "calibrate": [
+     "one-point adjustment (adjustment.start type one_point) with the standard on the prism at the set temperature; applied only when the instrument recommends it (adjustment.decide)"
+    ],
+    "check": [
+     "NAME is one of the instrument's checks (checks.list, e.g. \"Water Check\"); the reference value belongs to the check"
+    ]
+   }
+  },
+  "jasco_p4200": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure",
+    "calibration.quartz",
+    "lamp.set"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "integration": {
+       "cap": "method.configure",
+       "arg": "integration_s"
+      },
+      "repeats": {
+       "cap": "method.configure",
+       "arg": "repeats"
+      },
+      "conc": {
+       "cap": "method.configure",
+       "arg": "declared_concentration_kg_m3",
+       "kind": "density"
+      },
+      "path": {
+       "cap": "method.configure",
+       "arg": "declared_path_m",
+       "kind": "length"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "args": {
+        "lamp": "Na",
+        "wavelength_m": 5.89e-07
+       },
+       "keep": {
+        "integration_s": {
+         "from_slot": "method.integration_s"
+        }
+       },
+       "names": {
+        "integration_s": "integration",
+        "repeats": "repeats",
+        "declared_concentration_kg_m3": "conc",
+        "declared_path_m": "path"
+       }
+      }
+     ]
+    },
+    "zero": {
+     "steps": [
+      {
+       "cap": "lamp.set",
+       "args": {
+        "enabled": true
+       },
+       "skip_if_slot": "lamp.enabled",
+       "step": "switch the Na lamp on (the P-4200 switches it off after each reading)"
+      },
+      {
+       "cap": "acquisition.start",
+       "args": {
+        "kind": "blank"
+       },
+       "step": "read the blank cell"
+      },
+      {
+       "wait": {
+        "slot": "scan.phase",
+        "done": [
+         "succeeded"
+        ]
+       },
+       "max_s": 600,
+       "step": "the blank reading"
+      },
+      {
+       "report_slot": "blank.ready"
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind": "angle",
+      "required": true,
+      "help": "the certified rotation of the quartz control plate",
+      "example": "10.000deg"
+     },
+     "steps": [
+      {
+       "cap": "lamp.set",
+       "args": {
+        "enabled": true
+       },
+       "skip_if_slot": "lamp.enabled",
+       "step": "switch the Na lamp on (the P-4200 switches it off after each reading)"
+      },
+      {
+       "cap": "acquisition.start",
+       "args": {
+        "kind": "quartz"
+       },
+       "step": "read the quartz plate"
+      },
+      {
+       "wait": {
+        "slot": "scan.phase",
+        "done": [
+         "succeeded"
+        ]
+       },
+       "max_s": 600,
+       "step": "the quartz reading"
+      },
+      {
+       "cap": "calibration.quartz",
+       "args": {
+        "accept_simulated_standard": true
+       },
+       "with": {
+        "certified_angle_rad": "$standard"
+       },
+       "step": "set the gain from the quartz plate"
+      }
+     ]
+    },
+    "measure": {
+     "before": [
+      {
+       "cap": "lamp.set",
+       "args": {
+        "enabled": true
+       },
+       "skip_if_slot": "lamp.enabled",
+       "step": "switch the Na lamp on (the P-4200 switches it off after each reading)"
+      }
+     ],
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "sample"
+     },
+     "state": {
+      "slot": "scan.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 1800
+    },
+    "result": {
+     "cap": "process.measure",
+     "value": "rotation_rad",
+     "label": "optical rotation",
+     "extra": [
+      "raw_rotation_rad"
+     ],
+     "decimals": 4
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.temperature_k",
+    "set": "thermal.setpoint_k",
+    "phase": "scan.phase",
+    "value": "scan.rotation_rad",
+    "sample": "sample.loaded",
+    "ready": "calibration.ready"
+   },
+   "requires": {
+    "zero": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set --opened false`).",
+      "label": "lid closed",
+      "falsy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method (integration, repeats, declared concentration and path).",
+      "fix": "set it: `chemlab run {inst} method integration=1s repeats=3 conc=100g/L path=100mm`.",
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no cell is in the sample compartment of {inst}.",
+      "fix": "the cell (blank, quartz plate or sample) is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "cell in place"
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set --opened false`).",
+      "label": "lid closed",
+      "falsy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method (integration, repeats, declared concentration and path).",
+      "fix": "set it: `chemlab run {inst} method integration=1s repeats=3 conc=100g/L path=100mm`.",
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no cell is in the sample compartment of {inst}.",
+      "fix": "the cell (blank, quartz plate or sample) is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "cell in place"
+     },
+     {
+      "slot": "blank.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank reading at these conditions.",
+      "fix": "zero it on the blank cell first: `chemlab run {inst} zero`.",
+      "label": "blank read"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set --opened false`).",
+      "label": "lid closed",
+      "falsy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method (integration, repeats, declared concentration and path).",
+      "fix": "set it: `chemlab run {inst} method integration=1s repeats=3 conc=100g/L path=100mm`.",
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no cell is in the sample compartment of {inst}.",
+      "fix": "the cell (blank, quartz plate or sample) is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "cell in place"
+     },
+     {
+      "slot": "blank.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank reading at these conditions.",
+      "fix": "zero it on the blank cell first: `chemlab run {inst} zero`.",
+      "label": "blank read"
+     },
+     {
+      "slot": "calibration.ready",
+      "code": "NOT_CALIBRATED",
+      "message": "{inst} has no quartz calibration at these conditions.",
+      "fix": "calibrate it with the quartz plate: `chemlab run {inst} calibrate --standard 10.000deg`.",
+      "label": "quartz calibration"
+     }
+    ]
+   },
+   "codes": {
+    "SAMPLE_KIND_MISMATCH": {
+     "code": "WRONG_CELL",
+     "message": "the cell in {inst} is not the kind this step needs (zero needs the blank cell, calibrate the quartz plate, measure the sample cell).",
+     "fix": "the lab operator puts the right cell in; then retry."
+    },
+    "REFERENCE_TEMPERATURE_MISMATCH": {
+     "code": "TEMPERATURE_MISMATCH",
+     "message": "the set temperature of {inst} is not the reference temperature of the cell in it, or the cell is not within 0.2 K of it yet.",
+     "fix": "set the reference temperature (`chemlab run {inst} set-temp 20C --wait`)."
+    },
+    "BLANK_REQUIRED": {
+     "code": "BLANK_REQUIRED",
+     "message": "{inst} needs a blank reading first.",
+     "fix": "`chemlab run {inst} zero` with the blank cell."
+    },
+    "QUARTZ_CALIBRATION_REQUIRED": {
+     "code": "NOT_CALIBRATED",
+     "message": "{inst} needs a fresh quartz-plate reading (and a blank) before this.",
+     "fix": "zero on the blank, then `calibrate --standard ...` on the quartz plate."
+    },
+    "OPTICS_NOT_READY": {
+     "code": "OPTICS_NOT_READY",
+     "message": "{inst} needs power, the lid closed and the Na lamp on.",
+     "fix": "close the lid and switch the lamp on (`chemlab call {inst} lamp.set --enabled true`)."
+    },
+    "SAMPLE_METHOD_REQUIRED": {
+     "code": "NO_METHOD",
+     "message": "{inst} needs a method and a cell in place.",
+     "fix": "`chemlab run {inst} method ...`; the cell is put in by the lab operator."
+    },
+    "INVALID_CALIBRATION": {
+     "code": "CALIBRATION_REJECTED",
+     "message": "the quartz factor of {inst} would be outside 0.1-10.",
+     "fix": "check the certified angle of the plate (sign and unit)."
+    }
+   },
+   "unsupported": {
+    "check": "the daily check runs on the touch-panel measurement path with registered jigs (daily_check.start, P-4000 application note pp.1-2); the class verbs use the acquisition core",
+    "clean": "no cell cleaning function (cells are cleaned off the instrument)"
+   },
+   "alternatives": {
+    "check": "`chemlab call jasco_p4200 daily_check.start --jig_id ...` on the touch-panel path."
+   },
+   "params": {
+    "value_label": "optical rotation",
+    "value_unit": "rad",
+    "value_decimals": 4,
+    "tolerance_k": 0.2,
+    "ready_word": "quartz calibration",
+    "sample_word": "cell in place"
+   },
+   "notes": {
+    "zero": [
+     "reads the blank cell (acquisition.start kind blank); a new blank clears the quartz calibration"
+    ],
+    "calibrate": [
+     "reads the quartz plate (acquisition.start kind quartz) and sets the gain (calibration.quartz); the simulated plate is acknowledged (accept_simulated_standard true)"
+    ]
+   }
+  },
+  "metrohm_914": {
+   "role": "primary",
+   "path": "electrochemistry",
+   "verbs": {
+    "method": {
+     "keys": {
+      "probe": {
+       "cap": "electrochemistry.select_probe",
+       "arg": "slot"
+      },
+      "hold": {
+       "cap": "electrochemistry.configure_endpoint",
+       "arg": "hold_s"
+      },
+      "tolerance": {
+       "cap": "electrochemistry.configure_endpoint",
+       "arg": "tolerance_fraction",
+       "kind": "fraction"
+      },
+      "temp": {
+       "cap": "electrochemistry.configure_temperature",
+       "arg": "manual_temperature_k",
+       "kind": "temperature",
+       "also": {
+        "mode": "manual"
+       },
+       "special": {
+        "auto": {
+         "mode": "automatic",
+         "manual_temperature_k": null
+        }
+       }
+      },
+      "interval": {
+       "cap": "acquisition.set_interval",
+       "arg": "interval_s"
+      }
+     },
+     "passthrough": false,
+     "calls": [
+      {
+       "cap": "electrochemistry.select_probe"
+      },
+      {
+       "cap": "electrochemistry.configure_endpoint",
+       "keep": {
+        "hold_s": {
+         "from_slot": "endpoint.hold_s"
+        },
+        "tolerance_fraction": {
+         "from_slot": "endpoint.tolerance_fraction"
+        }
+       },
+       "names": {
+        "hold_s": "hold",
+        "tolerance_fraction": "tolerance"
+       }
+      },
+      {
+       "cap": "electrochemistry.configure_temperature"
+      },
+      {
+       "cap": "acquisition.set_interval"
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind_slot": "probe.selected",
+      "kinds": {
+       "ph": "ph",
+       "conductance": "conductance",
+       "do": "density"
+      },
+      "required": true,
+      "help": "the certified value of the standard at its temperature (pH, or conductance in S)",
+      "example": "6.865"
+     },
+     "steps": [
+      {
+       "cap": "electrochemistry.calibrate",
+       "with": [
+        [
+         "slot",
+         "$probe"
+        ],
+        [
+         "standard_value",
+         "$standard"
+        ]
+       ],
+       "step": "calibrate the selected channel"
+      }
+     ]
+    },
+    "measure": {
+     "until": {
+      "slot": "endpoint.stable",
+      "value": true
+     },
+     "max_s": 900
+    },
+    "result": {
+     "cap": "electrochemistry.reading",
+     "value": "ph",
+     "value_keys": {
+      "ph": "ph",
+      "conductance": "conductance_s",
+      "do": "do_kg_m3"
+     },
+     "value_key_field": "slot",
+     "label": "reading",
+     "extra": [
+      "status",
+      "stable",
+      "potential_v",
+      "calibrated"
+     ],
+     "phase_key": "status"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "value": "measurement.ph",
+    "probe": "probe.selected",
+    "ready": "endpoint.stable"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "acquisition.running",
+      "code": "RECORDING",
+      "message": "{inst} is recording measured values.",
+      "fix": "stop the recording first: `chemlab run {inst} stop`.",
+      "label": "not recording",
+      "falsy": true
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "acquisition.running",
+      "code": "RECORDING",
+      "message": "{inst} is recording measured values.",
+      "fix": "stop the recording first: `chemlab run {inst} stop`.",
+      "label": "not recording",
+      "falsy": true
+     },
+     {
+      "slot": "endpoint.stable",
+      "code": "UNSTABLE",
+      "message": "the reading of {inst} is not stable yet.",
+      "fix": "wait for the endpoint: `chemlab run {inst} measure --wait`, then calibrate.",
+      "label": "stable reading"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "endpoint.hold_s",
+      "code": "NO_ENDPOINT",
+      "message": "{inst} has no endpoint criterion (hold time and tolerance).",
+      "fix": "set it: `chemlab run {inst} method hold=5s tolerance=0.1%`.",
+      "label": "endpoint set",
+      "not": [
+       null
+      ]
+     },
+     {
+      "slot": "measurement.status",
+      "code": "NO_PROBE",
+      "message": "the selected probe of {inst} is not installed or the meter is off (status {value}).",
+      "fix": "select an installed channel (`chemlab run {inst} method probe=ph`); probes are installed by the lab operator.",
+      "label": "probe installed",
+      "not": [
+       "OFF",
+       "PROBE_MISSING"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "electrochemistry.calibrate:PRECONDITION_FAILED": {
+     "code": "CALIBRATION_REJECTED",
+     "message": "{inst} did not calibrate: the value must be the certified value of the standard the probe stands in, for its channel and temperature (the meter recognises it within ±0.002 pH, or ±0.5 % for conductance and dissolved oxygen; manual p.88), with a fresh stable reading and no recording.",
+     "fix": "give the certified value of the buffer at its temperature (manual p.88 buffer tables) and check that the probe is in that standard; after a calibration measure again (`chemlab run {inst} measure --wait`), then retry."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no temperature control: the 914 only compensates its readings to a temperature (`method temp=25C` or `temp=auto`)",
+    "check": "no verification function: measure a second buffer and compare (`measure --wait`)",
+    "zero": "no blank step",
+    "clean": "no cleaning function"
+   },
+   "params": {
+    "value_label": "pH",
+    "ready_word": "endpoint stable"
+   },
+   "notes": {
+    "measure": [
+     "the 914 measures continuously: measure waits until the endpoint criterion (method hold= tolerance=) is met; no native call"
+    ],
+    "calibrate": [
+     "one-point calibration of the selected channel (electrochemistry.calibrate); the value is the standard's certified value at its temperature (accepted within ±0.002 pH or ±0.5 %); a calibration resets the endpoint, so measure again before the next one"
+    ]
+   }
+  },
+  "aqualab_4te": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "water_activity.measure"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "mode": {
+       "cap": "method.configure",
+       "arg": "mode"
+      },
+      "stability": {
+       "cap": "method.configure",
+       "arg": "stability_delta"
+      },
+      "tolerance": {
+       "cap": "method.configure",
+       "arg": "temperature_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "readings": {
+       "cap": "method.configure",
+       "arg": "consecutive_readings"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keep": {
+        "mode": {
+         "from_slot": "method.mode"
+        }
+       },
+       "names": {
+        "stability_delta": "stability",
+        "temperature_tolerance_k": "tolerance",
+        "consecutive_readings": "readings"
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind": "aw",
+      "required": true,
+      "help": "the certified water activity of the verification standard at the set temperature",
+      "example": "0.760"
+     },
+     "reading_slot": "water_activity.indicated",
+     "offset_slot": "calibration.offset_aw",
+     "steps": [
+      {
+       "cap": "calibration.configure",
+       "with": {
+        "offset_aw": "$offset_to_standard",
+        "source": "$source"
+       },
+       "step": "set the linear offset"
+      }
+     ]
+    },
+    "check": {
+     "reference": {
+      "kind": "aw",
+      "required": true,
+      "help": "the certified water activity of the verification standard",
+      "example": "0.760"
+     },
+     "steps": [
+      {
+       "cap": "calibration.verify",
+       "with": {
+        "reference_aw": "$reference"
+       },
+       "step": "compare the reading with the standard"
+      }
+     ],
+     "pass_key": "within_vendor_tolerance"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 1800
+    },
+    "result": {
+     "cap": "water_activity.measure",
+     "value": "water_activity",
+     "label": "water activity aw",
+     "extra": [
+      "temperature_k",
+      "equilibrated",
+      "quality"
+     ],
+     "decimals": 4
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "value": "water_activity.indicated",
+    "sample": "sample.loaded",
+    "ready": "warmup.ready"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample cup is in the chamber of {inst}.",
+      "fix": "the cup is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample cup in"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the chamber lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_angle --angle_rad 0`).",
+      "label": "lid closed",
+      "max": 0.0001
+     },
+     {
+      "slot": "latch.angle_rad",
+      "code": "NOT_LATCHED",
+      "message": "the chamber lever of {inst} is not in the READ position.",
+      "fix": "turn it to READ: `chemlab call {inst} latch.set_angle --angle_rad 1.57`.",
+      "label": "lever at READ",
+      "min": 1.4
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "equilibrium.stable",
+      "code": "NO_READING",
+      "message": "{inst} has no equilibrium reading of the standard.",
+      "fix": "measure the standard first: `chemlab run {inst} measure --wait`.",
+      "label": "equilibrium reading"
+     }
+    ],
+    "check": [
+     {
+      "slot": "warmup.elapsed_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has been on for {value} s; verification needs 15 min of warm-up.",
+      "fix": "wait (`chemlab wait 900`) and measure the standard again.",
+      "label": "warmed up",
+      "min": 900
+     },
+     {
+      "slot": "equilibrium.stable",
+      "code": "NO_READING",
+      "message": "{inst} has no equilibrium reading of the standard.",
+      "fix": "measure the standard first: `chemlab run {inst} measure --wait`.",
+      "label": "equilibrium reading"
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the lid closed and latched, a sample, and the set temperature equal to the sample's reference temperature.",
+     "fix": "check `chemlab run {inst} status`; set the temperature the sample was prepared for (e.g. `set-temp 25C`)."
+    }
+   },
+   "unsupported": {
+    "zero": "no blank step (the offset is set by calibrate)",
+    "clean": "no cleaning function (the chamber is cleaned by hand)"
+   },
+   "params": {
+    "value_label": "water activity",
+    "value_decimals": 4,
+    "tolerance_k": 0.1,
+    "ready_word": "warmed up"
+   },
+   "notes": {
+    "calibrate": [
+     "measure the verification standard first; calibrate sets the linear offset so it reads the certified value (calibration.configure); measure again to read with it"
+    ],
+    "check": [
+     "compares the last equilibrium reading with the reference (calibration.verify); needs 15 min of warm-up"
+    ]
+   }
+  },
+  "hach_tl2300epa": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "turbidity.measure",
+    "calibration.rapid"
+   ],
+   "verbs": {
+    "method": {
+     "keys": {
+      "ratio": {
+       "cap": "method.configure",
+       "arg": "ratio_enabled",
+       "bool": true
+      },
+      "average": {
+       "cap": "method.configure",
+       "arg": "average_count"
+      },
+      "mode": {
+       "cap": "method.configure",
+       "arg": "mode"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keep": {
+        "ratio_enabled": {
+         "from_slot": "method.ratio_enabled"
+        },
+        "average_count": {
+         "from_slot": "method.average_count"
+        },
+        "mode": {
+         "from_slot": "method.mode"
+        }
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind": "ntu",
+      "fixed": 20.0,
+      "fixed_text": "20NTU"
+     },
+     "steps": [
+      {
+       "cap": "calibration.rapid",
+       "step": "single-point calibration on the 20 NTU standard"
+      }
+     ]
+    },
+    "check": {
+     "reference": {
+      "kind": "ntu",
+      "required": true,
+      "help": "the value of the verification standard",
+      "example": "20NTU"
+     },
+     "steps": [
+      {
+       "cap": "calibration.verify",
+       "with": {
+        "reference_ntu": "$reference"
+       },
+       "step": "compare the reading with the standard"
+      }
+     ],
+     "pass_key": "within_five_percent"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 600
+    },
+    "result": {
+     "cap": "turbidity.measure",
+     "value": "ntu",
+     "label": "turbidity",
+     "extra": [
+      "stable",
+      "calibration_status"
+     ],
+     "decimals": 2
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "cycle.phase",
+    "value": "turbidity.indicated_ntu",
+    "sample": "sample.loaded",
+    "ready": "warmup.ready"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "warmup.ready",
+      "code": "WARMING_UP",
+      "message": "{inst} is still warming up (30 min with ratio on, 60 min with ratio off).",
+      "fix": "wait (`chemlab wait 600`) and retry.",
+      "label": "warmed up"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_angle --angle_rad 0`).",
+      "label": "lid closed",
+      "max": 0.01
+     },
+     {
+      "slot": "filter.installed",
+      "code": "NO_FILTER",
+      "message": "the EPA filter of {inst} is not installed.",
+      "fix": "the filter is installed by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "EPA filter"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample cell is in {inst}.",
+      "fix": "the cell is put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample cell in"
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "warmup.elapsed_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has been on for {value} s; calibration needs 60 min of warm-up.",
+      "fix": "wait (`chemlab wait 1800`) and retry.",
+      "label": "warmed up 60 min",
+      "min": 3600
+     },
+     {
+      "slot": "turbidity.stable",
+      "code": "UNSTABLE",
+      "message": "{inst} has no stable reading of the 20 NTU standard.",
+      "fix": "measure the standard first: `chemlab run {inst} measure --wait`.",
+      "label": "stable reading"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "label": "lid closed",
+      "max": 0.01
+     }
+    ],
+    "check": [
+     {
+      "slot": "warmup.elapsed_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has been on for {value} s; verification needs 60 min of warm-up.",
+      "fix": "wait (`chemlab wait 1800`) and retry.",
+      "label": "warmed up 60 min",
+      "min": 3600
+     },
+     {
+      "slot": "turbidity.stable",
+      "code": "UNSTABLE",
+      "message": "{inst} has no stable reading of the standard.",
+      "fix": "measure the standard first: `chemlab run {inst} measure --wait`.",
+      "label": "stable reading"
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no temperature control",
+    "zero": "no blank step",
+    "clean": "no cleaning function (sample cells are cleaned by hand)"
+   },
+   "params": {
+    "value_label": "turbidity",
+    "value_unit": "NTU",
+    "value_decimals": 2,
+    "ready_word": "warmed up"
+   },
+   "notes": {
+    "calibrate": [
+     "RapidCal: single-point calibration on a stable reading of the 20 NTU StablCal standard (calibration.rapid, 0-40 NTU); the full-curve calibration (calibration.start / read / store, the operator swaps several standards) stays available with chemlab call"
+    ]
+   }
+  },
+  "knauer_k7400s": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure",
+    "calibration.accept"
+   ],
+   "verbs": {
+    "method": {
+     "keys": {
+      "volume": {
+       "cap": "method.configure",
+       "arg": "sample_volume_m3",
+       "kind": "volume"
+      },
+      "freeze": {
+       "cap": "method.configure",
+       "arg": "freeze_k",
+       "kind": "temperature"
+      },
+      "cool": {
+       "cap": "method.configure",
+       "arg": "cooling_limit_k",
+       "kind": "temperature"
+      },
+      "interval": {
+       "cap": "method.configure",
+       "arg": "sample_interval_s"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "names": {
+        "sample_volume_m3": "volume",
+        "freeze_k": "freeze",
+        "cooling_limit_k": "cool",
+        "sample_interval_s": "interval"
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "standard": {
+      "kind": "osmolality",
+      "required": true,
+      "grid": 0.05,
+      "help": "the osmolality of the standard (0 for pure water, then e.g. 400mOsmol/kg)",
+      "example": "400mOsmol/kg"
+     },
+     "steps": [
+      {
+       "cap": "acquisition.start",
+       "args": {
+        "purpose": "calibration"
+       },
+       "step": "freeze the standard (calibration run)"
+      },
+      {
+       "wait": {
+        "slot": "acquisition.phase",
+        "done": [
+         "succeeded"
+        ]
+       },
+       "max_s": 600,
+       "step": "the calibration run"
+      },
+      {
+       "cap": "calibration.accept",
+       "with": {
+        "known_osmolality_mol_kg": "$standard"
+       },
+       "step": "accept the standard value"
+      }
+     ]
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "args": {
+      "purpose": "sample"
+     },
+     "state": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 900
+    },
+    "result": {
+     "cap": "process.measure",
+     "value": "osmolality_mol_kg",
+     "label": "osmolality",
+     "extra": [
+      "freezing_temperature_k",
+      "complete"
+     ],
+     "decimals": 4
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "temperature.k",
+    "phase": "acquisition.phase",
+    "value": "osmolality.mol_kg",
+    "sample": "sample.loaded",
+    "ready": "calibration.valid"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "sample.loaded",
+      "code": "TUBE_ON_HEAD",
+      "message": "the method of {inst} changes only with no tube on the head.",
+      "fix": "the lab operator takes the tube off first - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "no tube on the head",
+      "falsy": true
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample tube is on the measuring head of {inst}.",
+      "fix": "the tube is put on by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "tube on the head"
+     },
+     {
+      "slot": "sample.thawed",
+      "code": "NOT_THAWED",
+      "message": "the sample on {inst} is still frozen from the last run.",
+      "fix": "wait until it has thawed (`chemlab wait 60`).",
+      "label": "sample thawed"
+     },
+     {
+      "slot": "head.position",
+      "code": "HEAD_NOT_DOWN",
+      "message": "the measuring head of {inst} is not in the measuring position ({value}).",
+      "fix": "lower it: `chemlab call {inst} head.position --position measuring`.",
+      "label": "head down",
+      "value": "measuring"
+     },
+     {
+      "slot": "power.warmup_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has warmed up for {value} s of 300 s.",
+      "fix": "wait (`chemlab wait 300`) and retry.",
+      "label": "warmed up",
+      "min": 300
+     }
+    ],
+    "measure": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample tube is on the measuring head of {inst}.",
+      "fix": "the tube is put on by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "tube on the head"
+     },
+     {
+      "slot": "sample.thawed",
+      "code": "NOT_THAWED",
+      "message": "the sample on {inst} is still frozen from the last run.",
+      "fix": "wait until it has thawed (`chemlab wait 60`).",
+      "label": "sample thawed"
+     },
+     {
+      "slot": "head.position",
+      "code": "HEAD_NOT_DOWN",
+      "message": "the measuring head of {inst} is not in the measuring position ({value}).",
+      "fix": "lower it: `chemlab call {inst} head.position --position measuring`.",
+      "label": "head down",
+      "value": "measuring"
+     },
+     {
+      "slot": "power.warmup_s",
+      "code": "WARMING_UP",
+      "message": "{inst} has warmed up for {value} s of 300 s.",
+      "fix": "wait (`chemlab wait 300`) and retry.",
+      "label": "warmed up",
+      "min": 300
+     },
+     {
+      "slot": "calibration.valid",
+      "code": "NOT_CALIBRATED",
+      "message": "{inst} is not calibrated (water zero and at least one standard).",
+      "fix": "calibrate: `chemlab run {inst} calibrate --standard 0` on water, then on a standard.",
+      "label": "calibrated"
+     }
+    ]
+   },
+   "codes": {
+    "NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready: it needs power, 5 min warm-up, a method, a thawed sample tube on the head in the measuring position.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "NOT_CALIBRATED": {
+     "code": "NOT_CALIBRATED",
+     "message": "{inst} is not calibrated.",
+     "fix": "calibrate on water (--standard 0) and a standard first."
+    },
+    "CALIBRATION_GRID": {
+     "code": "BAD_STANDARD",
+     "message": "{inst} takes standard values in 50 mOsmol/kg steps.",
+     "fix": "give e.g. 400mOsmol/kg."
+    },
+    "CALIBRATION_INVALID": {
+     "code": "CALIBRATION_REJECTED",
+     "message": "the calibration points of {inst} would not be in order (a higher osmolality must freeze lower).",
+     "fix": "check the standard value and that the right standard is on the head."
+    },
+    "CALIBRATION_RUN_REQUIRED": {
+     "code": "NO_RUN",
+     "message": "{inst} has no finished calibration run to accept.",
+     "fix": "run calibrate again."
+    },
+    "METHOD_GRID": {
+     "code": "BAD_METHOD",
+     "message": "{inst} takes freezing and cooling temperatures in 0.5 °C steps (freeze above the cooling limit) and intervals in its time grid.",
+     "fix": "round them, e.g. freeze=-6C cool=-15C interval=1s."
+    },
+    "UNLOAD_REQUIRED": {
+     "code": "TUBE_ON_HEAD",
+     "message": "the method of {inst} changes only with no tube on the head.",
+     "fix": "the lab operator takes the tube off first."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no cell temperature set point: freezing and cooling temperatures are part of the method (`method freeze=-6C cool=-15C`)",
+    "check": "no verification function: measure a standard as a sample and compare (`measure --wait`)",
+    "zero": "the water zero is a calibration point: `calibrate --standard 0`",
+    "clean": "no cleaning function"
+   },
+   "params": {
+    "value_label": "osmolality",
+    "value_unit": "mol/kg",
+    "value_decimals": 4,
+    "ready_word": "calibrated",
+    "busy_values": [
+     "running"
+    ]
+   },
+   "notes": {
+    "calibrate": [
+     "a calibration run freezes the standard on the head (acquisition.start purpose calibration), then accepts its value (calibration.accept); water first (--standard 0)"
+    ]
+   }
+  },
+  "mt_hx204": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "moisture.measure"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "mode": {
+       "cap": "method.configure",
+       "arg": "mode"
+      },
+      "time": {
+       "cap": "method.configure",
+       "arg": "duration_s"
+      },
+      "basis": {
+       "cap": "method.configure",
+       "arg": "basis"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "keep": {
+        "mode": {
+         "from_slot": "method.mode"
+        },
+        "duration_s": {
+         "from_slot": "method.duration_s"
+        },
+        "basis": {
+         "from_slot": "method.basis"
+        }
+       }
+      }
+     ]
+    },
+    "calibrate": {
+     "name": {
+      "choices": {
+       "weight": "weight_adjustment_internal",
+       "temperature": "temperature_adjustment"
+      },
+      "default": "weight",
+      "what": "adjustment"
+     },
+     "steps": [
+      {
+       "cap": "procedure.start",
+       "with": {
+        "kind": "$name"
+       },
+       "step": "run the adjustment"
+      },
+      {
+       "report_slot": "procedure.state",
+       "key": "result"
+      }
+     ],
+     "pass_key": "passed"
+    },
+    "check": {
+     "name": {
+      "choices": {
+       "weight": "weight_test_internal",
+       "temperature": "temperature_test"
+      },
+      "default": "weight",
+      "what": "test"
+     },
+     "steps": [
+      {
+       "cap": "procedure.start",
+       "with": {
+        "kind": "$name"
+       },
+       "step": "run the test"
+      },
+      {
+       "report_slot": "procedure.state",
+       "key": "result"
+      }
+     ],
+     "pass_key": "passed"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 30000
+    },
+    "result": {
+     "cap": "moisture.measure",
+     "value": "reported_ratio",
+     "label": "moisture content",
+     "percent": true,
+     "extra": [
+      "mass_kg",
+      "basis",
+      "loss_fraction"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "value": "balance.indicated_kg"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "lid.position_m",
+      "code": "LID_OPEN",
+      "message": "the drying unit of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid` (or `chemlab call {inst} lid.set_position --position_m 0`).",
+      "label": "drying unit closed",
+      "max": 0.001
+     },
+     {
+      "slot": "balance.indicated_kg",
+      "code": "NO_SAMPLE",
+      "message": "the pan of {inst} is empty ({value} kg).",
+      "fix": "the sample is spread on the pan by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "sample on the pan",
+      "min": 1e-05
+     }
+    ]
+   },
+   "codes": {
+    "PAN_NOT_CLEAR": {
+     "code": "PAN_NOT_CLEAR",
+     "message": "the pan of {inst} is not empty; tests and adjustments need an empty pan.",
+     "fix": "the lab operator removes the sample; then retry."
+    },
+    "NO_TEMPERATURE_KIT": {
+     "code": "NO_TEMPERATURE_KIT",
+     "message": "the temperature kit of {inst} is not inserted.",
+     "fix": "the lab operator inserts the temperature kit, or use the weight test / adjustment."
+    }
+   },
+   "unsupported": {
+    "zero": "in its drying run (acquisition core) the analyzer weighs the sample at the start itself; tare (measurement.tare) belongs to the touchscreen measurement path (measurement.open), which is not mixed with it",
+    "clean": "no cleaning function"
+   },
+   "params": {
+    "value_label": "mass on the pan",
+    "value_unit": "kg",
+    "step_c": 1,
+    "wait_ok": false,
+    "wait_reason": "the halogen heater is on only during a drying run"
+   },
+   "notes": {
+    "calibrate": [
+     "NAME weight (default): internal weight adjustment; temperature: temperature adjustment (needs the temperature kit); procedure.start"
+    ],
+    "check": [
+     "NAME weight (default): internal weight test; temperature: temperature test (needs the kit)"
+    ],
+    "measure": [
+     "a drying run (acquisition.start) with the method's time; result = moisture content on the method basis"
+    ]
+   }
+  },
+  "mt_mp70": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "melting.measure"
+   ],
+   "verbs": {
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "method": {
+     "keys": {
+      "start": {
+       "cap": "method.configure",
+       "arg": "start_k",
+       "kind": "temperature"
+      },
+      "end": {
+       "cap": "method.configure",
+       "arg": "end_k",
+       "kind": "temperature"
+      },
+      "rate": {
+       "cap": "method.configure",
+       "arg": "ramp_k_s",
+       "kind": "heating_rate"
+      },
+      "criterion": {
+       "cap": "method.configure",
+       "arg": "criterion"
+      },
+      "name": {
+       "cap": "method.configure",
+       "arg": "method_id"
+      }
+     },
+     "calls": [
+      {
+       "cap": "method.configure",
+       "args": {
+        "method_id": "chemlab"
+       },
+       "names": {
+        "start_k": "start",
+        "end_k": "end",
+        "ramp_k_s": "rate",
+        "criterion": "criterion",
+        "method_id": "name"
+       },
+       "then": [
+        {
+         "cap": "method.select",
+         "from_args": {
+          "method_id": "method_id"
+         }
+        }
+       ]
+      }
+     ]
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "state": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ]
+     },
+     "stop_cap": "acquisition.stop",
+     "max_s": 14400
+    },
+    "result": {
+     "cap": "melting.measure",
+     "value": "clear_k",
+     "label": "clear point",
+     "channels": [
+      0,
+      1,
+      2,
+      3
+     ],
+     "channel_arg": "channel",
+     "channel_base": 1,
+     "extra": [
+      "onset_k"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "phase": "cycle.phase",
+    "value": "channel_0.clear_k",
+    "sample": "sample.loaded_count"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "method.selected",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method selected.",
+      "fix": "set one: `chemlab run {inst} method start=110C end=130C rate=1K/min criterion=transmission`.",
+      "label": "method selected",
+      "not": [
+       "",
+       null
+      ]
+     },
+     {
+      "slot": "sample.loaded_count",
+      "code": "NO_SAMPLE",
+      "message": "no capillary is in the furnace of {inst}.",
+      "fix": "the capillaries are put in by the lab operator - the lab operator does this (it is not an instrument command); tell them what is missing.",
+      "label": "capillary in",
+      "min": 1
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, a selected method, unused capillaries, and a start temperature below the expected melting point.",
+     "fix": "check the method start temperature and `chemlab run {inst} status`; used capillaries are replaced by the lab operator."
+    }
+   },
+   "unsupported": {
+    "calibrate": "the furnace adjustment needs stored calibration results of at least two reference substances 10 °C or more apart (touchscreen calibration analyses, user manual pp.17-23); use chemlab call analysis.* and adjustment.perform",
+    "check": "no verification function on the acquisition core: measure a reference substance and compare (`measure --wait`, `result`)",
+    "zero": "no blank step",
+    "clean": "no cleaning function (capillaries are single-use)"
+   },
+   "params": {
+    "value_label": "clear point (capillary 1)",
+    "value_unit": "K",
+    "tolerance_k": 0.5,
+    "sample_word": "capillaries"
+   },
+   "notes": {
+    "method": [
+     "stores the method (method.configure) and selects it (method.select); name= sets its id (default chemlab)"
+    ],
+    "result": [
+     "onset and clear point of each capillary (--channel 1..4; all four without it)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/quant_analyzer.json b/chemlab/configs/adapters/quant_analyzer.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2c77ca858250a5857f5c43be14ce1b51dcc8fa
--- /dev/null
+++ b/chemlab/configs/adapters/quant_analyzer.json
@@ -0,0 +1,2021 @@
+{
+ "class": "quant_analyzer",
+ "adapter": "chemlab.compile.classes.quant_analyzer:QuantAnalyzerAdapter",
+ "about": "Calibrated quantitation (elemental, TOC, AAS, ICP-OES / MS, XRF, Hg, RGA, Orbitrap, IRMS, SFA): source, method, load, calibrate, use-curve, blank, measure, stop, result, export, records, status. Ranges, enums and units come from each contract; samples are put in by the operator (task worlds in tasks/quant_analyzer_world.py).",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "elementar_varioel",
+   "shimadzu_tocl",
+   "jena_contraa800",
+   "shimadzu_icpe9800",
+   "shimadzu_icpms2030",
+   "shimadzu_edx7200",
+   "jena_multix",
+   "milestone_dma80",
+   "stanford_rga100",
+   "thermo_orbitrapexploris",
+   "leco_onh836",
+   "elementar_isoprimeprecision",
+   "seal_aa500"
+  ],
+  "secondary": {},
+  "excluded": {
+   "eco_ncld822": "continuous chemiluminescence NOx analyzer with zero / span gas checks, no blank-standards-curve-sample workflow: primary in gas_fluid; not added here",
+   "wtw_oxitopi": "BOD by head pressure on six manual measuring heads (thin class); no calibration or record object",
+   "hach_dr6000": "photometric concentration programs: primary in spectroscopy, whose blank / measure verbs cover it"
+  }
+ },
+ "members": {
+  "elementar_varioel": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "combustion": {
+       "arg": "combustion_s",
+       "kind": "duration"
+      },
+      "oxygen": {
+       "arg": "oxygen_dose_mol",
+       "kind": "amount"
+      },
+      "oxygen_time": {
+       "arg": "oxygen_admission_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "temperature_tolerance_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "vario_areas",
+     "read_cap": "result.read",
+     "curve_arg": "element",
+     "curve_word": "element (C|H|N|S)",
+     "curve_example": "C",
+     "observations_arg": "observations",
+     "args": {
+      "accept_same_method_basis": true
+     },
+     "from_word": "autosampler slots",
+     "from_example": "1,2,3",
+     "reference_example": "oem_sulfanilic_acid"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "sequence.start",
+     "style": "sequence",
+     "configure_cap": "sequence.configure",
+     "slots_arg": "slot_indices",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "sequence.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "chns"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "sequence.phase",
+    "ready": "furnace.ready",
+    "method": "method.mode",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "C": {
+     "slot": "result.c_fraction",
+     "show": "fraction"
+    },
+    "H": {
+     "slot": "result.h_fraction",
+     "show": "fraction"
+    },
+    "N": {
+     "slot": "result.n_fraction",
+     "show": "fraction"
+    },
+    "S": {
+     "slot": "result.s_fraction",
+     "show": "fraction"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "furnace.ready",
+      "code": "NOT_READY",
+      "message": "the furnaces of {inst} are not at their set temperatures (or no method is set).",
+      "fix": "set the furnaces (`chemlab call {inst} furnace.configure ...`) and the method, wait until ready (`chemlab run {inst} status`).",
+      "value": true,
+      "label": "furnaces ready"
+     }
+    ]
+   },
+   "unsupported": {
+    "source": "no source switch: the combustion and reduction furnaces are set with furnace.configure and heat whenever the power is on",
+    "load": "capsules are weighed into the autosampler by the lab operator (no agent capability for it); the agent chooses the slots with `measure --slots`",
+    "use-curve": "one curve per element (C, H, N, S), used as soon as it is fitted - nothing to select",
+    "records": "no record store: the last sequence is the result (`chemlab run INST result`)"
+   },
+   "alternatives": {
+    "source": "set the furnaces with `chemlab call INST furnace.configure --combustion_k 1373.15 --reduction_k 1123.15`.",
+    "load": "ask the operator which slots hold the capsules; run them with `chemlab run INST measure --slots 0,1,2 --wait`.",
+    "records": "`chemlab run INST result` shows every slot of the last sequence."
+   },
+   "path": "sequence",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "furnaces",
+    "manual": "INRAE vario EL cube operating guide (HAL hal-02959166) pp. 11-29 (sample table, standards, Auto/Single start, daily factor); flyer pp. 2-3",
+    "method_example": "mode=CHN combustion=90s"
+   },
+   "notes": {
+    "calibrate": [
+     "--from lists autosampler slots of the last sequence (the standards), --reference their reference id; the slot masses come from the sequence",
+     "CURVE is the element (C, H, N or S); fit each element you need"
+    ],
+    "measure": [
+     "--slots runs sequence.configure + sequence.start; the operator has weighed the capsules into those slots"
+    ]
+   }
+  },
+  "shimadzu_tocl": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "injection": {
+       "arg": "injection_volume_m3",
+       "kind": "volume"
+      },
+      "dilution": {
+       "arg": "dilution_factor"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "acid": {
+       "arg": "acid_volume_m3",
+       "kind": "volume"
+      },
+      "acidification": {
+       "arg": "acidification_s",
+       "kind": "duration"
+      },
+      "sparging": {
+       "arg": "sparging_s",
+       "kind": "duration"
+      },
+      "combustion": {
+       "arg": "combustion_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "temperature_tolerance_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "toc_peaks",
+     "curve_arg": "curve_id",
+     "channel_arg": "channel",
+     "observations_arg": "observations",
+     "args": {
+      "accept_source_channel_transfer": false,
+      "accept_same_response_conditions": true
+     },
+     "level": "dilution factor",
+     "levels_example": "10,2,1",
+     "from_example": "shimadzu_tocl:result:2,shimadzu_tocl:result:3,shimadzu_tocl:result:4",
+     "reference_example": "crm_altus_khp_10mg"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id",
+     "channel_arg": "channel",
+     "read_cap": "calibration.read"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "toc"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "list_args": {
+      "offset": 0,
+      "limit": 100
+     },
+     "read_cap": "records.read",
+     "curves_cap": "calibration.list"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "phase": "measurement.phase",
+    "ready": "furnace.ready",
+    "method": "method.mode",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "TC": {
+     "slot": "result.tc_kg_m3",
+     "show": "conc"
+    },
+    "IC": {
+     "slot": "result.ic_kg_m3",
+     "show": "conc"
+    },
+    "TOC": {
+     "slot": "result.toc_kg_m3",
+     "show": "conc"
+    },
+    "NPOC": {
+     "slot": "result.npoc_kg_m3",
+     "show": "conc"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "codes": {
+    "measurement.start:FURNACE_NOT_READY": {
+     "code": "NOT_READY",
+     "message": "the furnace of {inst} is not at 680 °C (or no method is set).",
+     "fix": "set it: `chemlab call {inst} furnace.configure --temperature_k 953.15`, wait until `chemlab run {inst} status` shows ready."
+    }
+   },
+   "unsupported": {
+    "source": "no source switch: the combustion furnace is set with furnace.configure (680 °C) and stays hot",
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "source": "`chemlab call INST furnace.configure --temperature_k 953.15`, then wait until `chemlab run INST status` shows ready.",
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "channel_of_mode": {
+     "TC": "TC",
+     "TOC": "TC",
+     "IC": "IC",
+     "NPOC": "NPOC"
+    },
+    "manual": "TOC-L shutdown/start-up guide pp. 1-9; brochure C391-E079 pp. 6-7 (680 °C combustion, NDIR, TC/IC/NPOC); TOC-L CPH SOP pp. 16-37 (sample table, standards)",
+    "method_example": "mode=TC injection=500uL repeats=2"
+   },
+   "notes": {
+    "calibrate": [
+     "TOC-L curves are per channel (TC, IC, NPOC): --channel, default the channel of the current mode; the standards are measured with dilution factors in the method, give them with --levels",
+     "observations: one per injection of each standard record (peak area, injection volume)"
+    ]
+   }
+  },
+  "jena_contraa800": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "on_cap": "flame.ignite",
+     "off_cap": "flame.extinguish"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "element": {
+       "arg": "element"
+      },
+      "line": {
+       "arg": "line_id"
+      },
+      "wavelength": {
+       "arg": "wavelength_m",
+       "kind": "wavelength"
+      },
+      "background": {
+       "arg": "background"
+      },
+      "injection": {
+       "arg": "injection_volume_m3",
+       "kind": "volume"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "baseline": {
+       "arg": "baseline_s",
+       "kind": "duration"
+      },
+      "flush": {
+       "arg": "flush_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "aa_absorbance",
+     "curve_arg": "curve_id",
+     "observations_arg": "observations",
+     "args": {
+      "accept_same_response_conditions": true
+     },
+     "level": "dilution factor",
+     "levels_example": "10,2,1",
+     "from_example": "jena_contraa800:result:2,jena_contraa800:result:3,jena_contraa800:result:4",
+     "reference_example": "aj_wastewater_std3_cu"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "aa"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "flame.lit",
+    "phase": "measurement.phase",
+    "method": "method.element",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "concentration": {
+     "slot": "result.concentration_kg_m3",
+     "show": "conc"
+    }
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "method.mode",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet (the burner is positioned by the method).",
+      "fix": "set the method first: `chemlab run {inst} method mode=flame element=Cu ...`.",
+      "not": [
+       "",
+       null
+      ],
+      "label": "method set"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "codes": {
+    "flame.ignite:IGNITION_INTERLOCK": {
+     "code": "SOURCE_INTERLOCK",
+     "message": "{inst} cannot light the flame now (method not flame, cover / doors open, burner not yet positioned or utilities not ready).",
+     "fix": "set a flame method, wait 2 s for the burner to turn into place, then `chemlab run {inst} source on --wait`."
+    },
+    "FLAME_REQUIRED": {
+     "code": "SOURCE_OFF",
+     "message": "the flame of {inst} is not lit.",
+     "fix": "`chemlab run {inst} source on --wait`, then measure."
+    }
+   },
+   "unsupported": {
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "flame",
+    "source_ready": {
+     "slot": "flame.lit",
+     "value": true
+    },
+    "method_needs_source_off": true,
+    "positioned": {
+     "slot": "atomizer.angle_rad",
+     "by": "method.mode",
+     "targets": {
+      "flame": 1.5707963267948966,
+      "furnace": 0.0
+     },
+     "what": "burner"
+    },
+    "manual": "contrAA 800 operating manual 10-1610-082-23 pp. 54-75 (flame technique, switching on/off); ASpect CS manual pp. 22-64 (method, calibration), 76-105 (run), 165-166 (export)",
+    "method_example": "repeats=3 flush=300ms"
+   }
+  },
+  "shimadzu_icpe9800": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "on_cap": "plasma.ignite",
+     "off_cap": "plasma.extinguish"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "lines": {
+       "arg": "line_ids"
+      },
+      "view": {
+       "arg": "view"
+      },
+      "rf": {
+       "arg": "rf_power_w",
+       "kind": "power"
+      },
+      "argon": {
+       "arg": "argon_flow_m3_s",
+       "kind": "flow"
+      },
+      "stabilization": {
+       "arg": "stabilization_s",
+       "kind": "duration"
+      },
+      "integration": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "flush": {
+       "arg": "flush_s",
+       "kind": "duration"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "background": {
+       "arg": "background"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "line_integrals",
+     "curve_arg": "curve_id",
+     "observations_arg": "observations",
+     "args": {
+      "accept_same_response_conditions": true
+     },
+     "level": "dilution factor",
+     "levels_example": "100,10,1",
+     "reference_example": "shimadzu_epa_ipc_assigned"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "icp_lines"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "plasma.lit",
+    "phase": "measurement.phase",
+    "method": "method.line_ids",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "Cu": {
+     "slot": "result.cu_kg_m3",
+     "show": "conc"
+    },
+    "Zn": {
+     "slot": "result.zn_kg_m3",
+     "show": "conc"
+    }
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "vacuum.ready",
+      "code": "VACUUM_NOT_READY",
+      "message": "the spectrometer vacuum of {inst} is not ready.",
+      "fix": "switch the vacuum pump on: `chemlab call {inst} vacuum.set --enabled true`, wait about a minute (`chemlab run {inst} status`).",
+      "value": true,
+      "label": "vacuum ready"
+     },
+     {
+      "slot": "method.view",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet (the view mirror is set by the method).",
+      "fix": "set the method first: `chemlab run {inst} method lines=cu_324754 view=axial`.",
+      "not": [
+       "",
+       null
+      ],
+      "label": "method set"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "plasma.lit",
+      "code": "SOURCE_OFF",
+      "message": "the plasma of {inst} is not lit.",
+      "fix": "`chemlab run {inst} source on --wait`, then measure.",
+      "value": true,
+      "label": "plasma lit"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "codes": {
+    "plasma.ignite:IGNITION_INTERLOCK": {
+     "code": "SOURCE_INTERLOCK",
+     "message": "{inst} cannot ignite now: power, method, vacuum, cover or the view mirror is not ready (the mirror moves for about 1 s after a method change).",
+     "fix": "wait a few seconds (`chemlab wait 5s`), check `chemlab run {inst} status`, then `chemlab run {inst} source on --wait`."
+    }
+   },
+   "unsupported": {
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "plasma",
+    "source_ready": {
+     "slot": "plasma.lit",
+     "value": true
+    },
+    "source_settle_s": 1.0,
+    "method_needs_source_off": true,
+    "positioned": {
+     "slot": "view_mirror.position_m",
+     "by": "method.view",
+     "targets": {
+      "axial": 0.04,
+      "radial": 0.0
+     },
+     "what": "view mirror"
+    },
+    "manual": "ICP shutdown/start-up guide pp. 1-4 (vacuum pump, plasma on/off); ICPE-9800 brochure C113-E015 pp. 6-9 (axial/radial view)",
+    "method_example": "lines=cu_324754,zn_213857 integration=0.5s"
+   }
+  },
+  "shimadzu_icpms2030": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "on_cap": "plasma.ignite",
+     "off_cap": "plasma.extinguish"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "masses": {
+       "arg": "mass_numbers"
+      },
+      "dwell": {
+       "arg": "dwell_s",
+       "kind": "duration"
+      },
+      "settling": {
+       "arg": "settling_s",
+       "kind": "duration"
+      },
+      "sweeps": {
+       "arg": "sweeps"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "stabilization": {
+       "arg": "stabilization_s",
+       "kind": "duration"
+      },
+      "flush": {
+       "arg": "flush_s",
+       "kind": "duration"
+      },
+      "rf": {
+       "arg": "rf_power_w",
+       "kind": "power"
+      },
+      "argon": {
+       "arg": "argon_flow_m3_s",
+       "kind": "flow"
+      },
+      "helium": {
+       "arg": "helium_flow_m3_s",
+       "kind": "flow"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "mass_channels",
+     "curve_arg": "curve_id",
+     "observations_arg": "observations",
+     "args": {
+      "accept_same_response_conditions": true
+     },
+     "level": "dilution factor",
+     "levels_example": "100,10,1",
+     "reference_example": "infant_cal4"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "icp_lines"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "plasma.lit",
+    "phase": "measurement.phase",
+    "method": "method.mass_numbers",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "first analyte": {
+     "slot": "result.concentration_kg_m3",
+     "show": "conc"
+    }
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "vacuum.ready",
+      "code": "VACUUM_NOT_READY",
+      "message": "the spectrometer vacuum of {inst} is not ready.",
+      "fix": "switch the vacuum pump on: `chemlab call {inst} vacuum.set --enabled true`, wait about a minute (`chemlab run {inst} status`).",
+      "value": true,
+      "label": "vacuum ready"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "plasma.lit",
+      "code": "SOURCE_OFF",
+      "message": "the plasma of {inst} is not lit.",
+      "fix": "`chemlab run {inst} source on --wait`, then measure.",
+      "value": true,
+      "label": "plasma lit"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "codes": {
+    "plasma.ignite:IGNITION_INTERLOCK": {
+     "code": "SOURCE_INTERLOCK",
+     "message": "{inst} cannot ignite now: power, method, vacuum, cover, torch position or a gas is not ready.",
+     "fix": "check `chemlab run {inst} status` (method set, vacuum ready), then `chemlab run {inst} source on --wait`."
+    }
+   },
+   "unsupported": {
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "plasma",
+    "source_ready": {
+     "slot": "plasma.lit",
+     "value": true
+    },
+    "source_settle_s": 1.0,
+    "method_needs_source_off": true,
+    "manual": "ICPMS shutdown/start-up guide pp. 1-4 (pump-down before plasma); ICPMS-2030 brochure C113-E018 pp. 4-5",
+    "method_example": "dwell=20ms sweeps=10"
+   },
+   "notes": {
+    "method": [
+     "quantifications (isotopes and basis) are a JSON list in native form: quantifications='[{\"isotope_id\":\"cu_65\",\"basis\":\"element\"}]'"
+    ]
+   }
+  },
+  "shimadzu_edx7200": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "voltage": {
+       "arg": "voltage_v",
+       "kind": "voltage"
+      },
+      "current": {
+       "arg": "current_a",
+       "kind": "current"
+      },
+      "lines": {
+       "arg": "selected_lines"
+      },
+      "energy_max": {
+       "arg": "energy_max_j",
+       "kind": "xray_energy"
+      },
+      "bins": {
+       "arg": "bins"
+      },
+      "integration": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "window": {
+       "arg": "window_s",
+       "kind": "duration"
+      },
+      "repeats": {
+       "arg": "repeats"
+      },
+      "deadtime": {
+       "arg": "deadtime_correction"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "observations",
+     "observation": "xrf_lines",
+     "curve_arg": "curve_id",
+     "observations_arg": "observations",
+     "args": {
+      "accept_same_matrix_response": true
+     },
+     "level": "reference fraction",
+     "levels_example": "0.25,0.5,1",
+     "reference_example": "blackmass_icp_f"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "xrf"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "ready": "instrument.ready",
+    "phase": "measurement.phase",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "mass fraction": {
+     "slot": "result.mass_fraction",
+     "show": "fraction"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready (no method, cover open, or the detector / atmosphere not ready).",
+      "fix": "set the method and wait until `chemlab run {inst} status` shows ready; the operator closes the cover after loading.",
+      "value": true,
+      "label": "ready"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "unsupported": {
+    "source": "the X-ray tube voltage and current are method settings (method voltage=50kV current=100uA); the tube switches with the measurement",
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "source": "`chemlab run INST method voltage=50kV current=100uA`.",
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "notes": {
+    "calibrate": [
+     "--levels are the reference fractions of the standards (the share of the reference material in each standard pellet)"
+    ]
+   },
+   "params": {
+    "manual": "EDX-7200 brochure C142-E047 pp. 5 (tube, filters, collimator), 8-10 (quantitation: calibration curve, FP), 12-15 (PCEDX Navi)",
+    "method_example": "voltage=50kV current=100uA"
+   }
+  },
+  "jena_multix": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "gas.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "feeding": {
+       "arg": "feeding_s",
+       "kind": "duration"
+      },
+      "combustion": {
+       "arg": "combustion_s",
+       "kind": "duration"
+      },
+      "integration": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "window": {
+       "arg": "window_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "records",
+     "curve_arg": "curve_id",
+     "records_arg": "record_ids"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "aox"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "gas.enabled",
+    "ready": "instrument.ready",
+    "phase": "measurement.phase",
+    "method": "method.mode",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "Cl-equivalent": {
+     "slot": "result.chlorine_equivalent_mass_kg",
+     "show": "mass"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready (gases, furnace temperature, cell or doors).",
+      "fix": "switch the gases on (`chemlab run {inst} source on`), set the method and wait until `chemlab run {inst} status` shows ready.",
+      "value": true,
+      "label": "ready"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the lab operator puts the sample in (no agent capability for it on this instrument); there is no sample table for the agent"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to put the sample in; then `chemlab run INST measure --wait`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "gases",
+    "source_ready": {
+     "slot": "instrument.ready",
+     "value": true
+    },
+    "manual": "multi X 2500 operating manual 11-889.691 pp. 14-16 (AOX/EOX/POX), 27-42 (measuring cells), 49-51 (switching on), 52-85 (measurement procedures)",
+    "method_example": "mode=AOX integration=60s"
+   },
+   "notes": {
+    "method": [
+     "integration must be long enough for the titration to end (about 60 s for AOX); too short gives an unresolved endpoint and an unusable standard"
+    ]
+   }
+  },
+  "milestone_dma80": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "gas.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "drying_temp": {
+       "arg": "drying_temperature_k",
+       "kind": "temperature"
+      },
+      "drying": {
+       "arg": "drying_s",
+       "kind": "duration"
+      },
+      "decomposition_temp": {
+       "arg": "decomposition_temperature_k",
+       "kind": "temperature"
+      },
+      "decomposition": {
+       "arg": "decomposition_s",
+       "kind": "duration"
+      },
+      "catalyst_temp": {
+       "arg": "catalyst_temperature_k",
+       "kind": "temperature"
+      },
+      "purge": {
+       "arg": "purge_s",
+       "kind": "duration"
+      },
+      "release_temp": {
+       "arg": "release_temperature_k",
+       "kind": "temperature"
+      },
+      "release": {
+       "arg": "release_s",
+       "kind": "duration"
+      },
+      "record": {
+       "arg": "record_s",
+       "kind": "duration"
+      },
+      "window": {
+       "arg": "window_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "load": {
+     "cap": "table.set_entry",
+     "style": "table"
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "records",
+     "curve_arg": "curve_id",
+     "records_arg": "record_ids"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "style": "slots",
+     "slot_arg": "slot_index",
+     "slots_cap": "sequence.start",
+     "slots_arg": "slot_indices",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "hg"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "gas.enabled",
+    "ready": "instrument.ready",
+    "phase": "measurement.phase",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "Hg": {
+     "slot": "result.mercury_mass_kg",
+     "show": "mass"
+    },
+    "Hg fraction": {
+     "slot": "result.mass_fraction_kg_kg",
+     "show": "fraction"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready (oxygen off, a cover open, or the catalyst / cell not at temperature).",
+      "fix": "switch the oxygen on (`chemlab run {inst} source on --wait`) and close the covers; see `chemlab run {inst} status`.",
+      "value": true,
+      "label": "ready"
+     }
+    ]
+   },
+   "unsupported": {},
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read",
+    "sequence.start"
+   ],
+   "params": {
+    "source_word": "oxygen",
+    "source_ready": {
+     "slot": "instrument.ready",
+     "value": true
+    },
+    "manual": "DMA-80 evo brochure CAT261EN pp. 3-6 (principle, single calibration, 40-position carousel); USGS OFR 02-223-O pp. 4-6 (operating procedure, sample weights); UBA guideline pp. 4-6 (calibration, blanks)",
+    "method_example": "decomposition_temp=650C decomposition=150s"
+   },
+   "notes": {
+    "load": [
+     "load writes the sample-table row of a carousel slot (name and weighed mass, table.set_entry); the operator puts the boat in the slot. The mass is needed for a mass fraction (mg/kg)."
+    ],
+    "measure": [
+     "--slot N measures one slot (measurement.start); --slots a,b,c runs them as a sequence (sequence.start)"
+    ]
+   }
+  },
+  "stanford_rga100": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "filament.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "from": {
+       "arg": "mass_min"
+      },
+      "to": {
+       "arg": "mass_max"
+      },
+      "masses": {
+       "arg": "mid_masses"
+      },
+      "cycles": {
+       "arg": "cycles"
+      },
+      "candidates": {
+       "arg": "candidates"
+      },
+      "electron_energy": {
+       "arg": "electron_energy_v",
+       "kind": "voltage"
+      },
+      "ion_energy": {
+       "arg": "ion_energy_v",
+       "kind": "voltage"
+      },
+      "focus": {
+       "arg": "focus_potential_v",
+       "kind": "voltage"
+      },
+      "emission": {
+       "arg": "emission_current_a",
+       "kind": "current"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "records",
+     "curve_arg": "curve_id",
+     "records_arg": "record_ids",
+     "species_arg": "species_id"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_ids",
+     "list": true
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "scan.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "rga"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "filament.enabled",
+    "ready": "instrument.ready",
+    "phase": "scan.phase",
+    "method": "method.mode",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "total pressure": {
+     "slot": "result.total_partial_pressure_pa",
+     "show": "pressure"
+    }
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "instrument.ready",
+      "code": "VACUUM_NOT_READY",
+      "message": "the RGA head is not under vacuum (or the electronics unit is off / detached).",
+      "fix": "the lab vacuum system pumps the chamber; check `chemlab run {inst} status` and switch the RGA on.",
+      "value": true,
+      "label": "vacuum ready"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "the RGA head is not under vacuum or not switched on.",
+      "fix": "see `chemlab run {inst} status`.",
+      "value": true,
+      "label": "ready"
+     }
+    ]
+   },
+   "codes": {
+    "filament.set:ZERO_EMISSION": {
+     "code": "NO_METHOD",
+     "message": "the method of {inst} has no emission current (or no method is set).",
+     "fix": "set one: `chemlab run {inst} method emission=1mA`."
+    }
+   },
+   "unsupported": {
+    "load": "the gas is let into the vacuum chamber by the lab (no agent capability for it; the chamber must be sealed and the filament off)"
+   },
+   "alternatives": {
+    "load": "ask the lab to admit the gas (switch the filament off first: `chemlab run INST source off`); then `source on` and `measure --wait`."
+   },
+   "path": "scan",
+   "path_exceptions": [
+    "measurement.stop",
+    "result.read"
+   ],
+   "params": {
+    "source_word": "filament",
+    "source_ready": {
+     "slot": "filament.enabled",
+     "value": true
+    },
+    "manual": "RGA operating manual rev. 1.9 pp. 33-46 (ionizer, filament, scan modes), 116-132 (programming: scans, total pressure), 133-172 (command set: FL, SC, MR, TP)",
+    "method_example": "mode=analog from=1 to=50"
+   },
+   "notes": {
+    "calibrate": [
+     "--species names the gas of the standard records (pure gas at three pressures); one curve per gas",
+     "use-curve takes a comma list: one curve per gas the method quantifies"
+    ]
+   }
+  },
+  "thermo_orbitrapexploris": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "source.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "polarity": {
+       "arg": "polarity"
+      },
+      "from": {
+       "arg": "mass_min"
+      },
+      "to": {
+       "arg": "mass_max"
+      },
+      "resolution": {
+       "arg": "resolution"
+      },
+      "precursor": {
+       "arg": "precursor_mz"
+      },
+      "isolation": {
+       "arg": "isolation_width_relative"
+      },
+      "nce": {
+       "arg": "normalized_collision_energy"
+      },
+      "agc": {
+       "arg": "agc_normalized"
+      },
+      "injection_time": {
+       "arg": "maximum_injection_s",
+       "kind": "duration"
+      },
+      "scans": {
+       "arg": "scans"
+      },
+      "spray": {
+       "arg": "spray_voltage_v",
+       "kind": "voltage"
+      },
+      "transfer_temp": {
+       "arg": "transfer_temperature_k",
+       "kind": "temperature"
+      },
+      "vaporizer_temp": {
+       "arg": "vaporizer_temperature_k",
+       "kind": "temperature"
+      },
+      "flow": {
+       "arg": "flow_m3_s",
+       "kind": "flow"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "records",
+     "curve_arg": "curve_id",
+     "records_arg": "record_ids"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "scan.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "orbitrap"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "source.enabled",
+    "ready": "instrument.ready",
+    "phase": "scan.phase",
+    "method": "method.mode",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "source.fluid_connected",
+      "code": "NOT_READY",
+      "message": "the ion source of {inst} has no liquid connected.",
+      "fix": "ask the lab to connect the source fluid line.",
+      "value": true,
+      "label": "fluid connected"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready (source off, or temperatures not reached).",
+      "fix": "switch the source on and wait: `chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "ready"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the solution is put on the source by the lab (no agent capability for it; only with the source off)"
+   },
+   "alternatives": {
+    "load": "switch the source off (`chemlab run INST source off`), ask the lab to put the solution on, then `source on --wait` and `measure --wait`."
+   },
+   "path": "scan",
+   "path_exceptions": [
+    "measurement.stop",
+    "result.read"
+   ],
+   "params": {
+    "source_word": "ion source",
+    "source_ready": {
+     "slot": "instrument.ready",
+     "value": true
+    },
+    "manual": "Orbitrap Exploris operating manual BRE0014471 pp. 107-123 (start-up, introduce sample, measure); Exploris 120 software manual pp. 12-60 (Tune: ion source, scan setup, calibration)",
+    "method_example": "resolution=60000 from=100 to=1000"
+   },
+   "notes": {
+    "calibrate": [
+     "a mass calibration: three or more standard records of mass references spanning at least 10 m/z, same polarity, with a blank"
+    ]
+   }
+  },
+  "leco_onh836": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "gas.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "base": "example",
+     "passthrough": true,
+     "keys": {
+      "carrier": {
+       "arg": "carrier"
+      },
+      "elements": {
+       "arg": "selected_elements"
+      },
+      "carrier_flow": {
+       "arg": "carrier_flow_m3_s",
+       "kind": "flow"
+      },
+      "outgas_power": {
+       "arg": "outgas_power_w",
+       "kind": "power"
+      },
+      "outgas": {
+       "arg": "outgas_s",
+       "kind": "duration"
+      },
+      "purge": {
+       "arg": "purge_s",
+       "kind": "duration"
+      },
+      "baseline": {
+       "arg": "baseline_s",
+       "kind": "duration"
+      },
+      "fusion_power": {
+       "arg": "fusion_power_w",
+       "kind": "power"
+      },
+      "fusion": {
+       "arg": "fusion_s",
+       "kind": "duration"
+      },
+      "integration": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "window": {
+       "arg": "window_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "calibrate": {
+     "cap": "calibration.fit",
+     "style": "records",
+     "records_arg": "record_ids",
+     "elements_arg": "elements"
+    },
+    "use-curve": {
+     "cap": "calibration.select",
+     "arg": "curve_id"
+    },
+    "blank": {
+     "cap": "blank.read"
+    },
+    "measure": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "result.read",
+     "style": "onh"
+    },
+    "export": {
+     "cap": "result.export",
+     "arg": "format"
+    },
+    "records": {
+     "list_cap": "records.list",
+     "read_cap": "records.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "source": "gas.enabled",
+    "ready": "instrument.ready",
+    "phase": "measurement.phase",
+    "method": "method.carrier",
+    "blank": "blank.valid",
+    "calibrated": "calibration.ready",
+    "sample": "sample.loaded",
+    "warning": "safety.warning"
+   },
+   "result_slots": {
+    "O": {
+     "slot": "result.o_fraction",
+     "show": "fraction"
+    },
+    "N": {
+     "slot": "result.n_fraction",
+     "show": "fraction"
+    },
+    "H": {
+     "slot": "result.h_fraction",
+     "show": "fraction"
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "the sample is put in by the lab operator (no agent capability); ask for it, then measure.",
+      "value": true,
+      "label": "a sample in place"
+     },
+     {
+      "slot": "instrument.ready",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready: carrier gas, a fresh crucible, the furnace closed and the loader back are all needed.",
+      "fix": "switch the gas on (`chemlab run {inst} source on`); close the furnace (`chemlab run {inst} close furnace`); the loader must be back (`chemlab call {inst} loading.set --loading false`).",
+      "value": true,
+      "label": "ready"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the lab operator drops the weighed sample into the loading head (no agent capability for it); the agent moves the loader with loading.set"
+   },
+   "alternatives": {
+    "load": "bring the loader to the load position (`chemlab call INST loading.set --loading true`), let the operator drop the sample, then `chemlab call INST loading.set --loading false`."
+   },
+   "path": "measurement",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "params": {
+    "source_word": "carrier gas",
+    "source_ready": {
+     "slot": "gas.enabled",
+     "value": true
+    },
+    "manual": "ONH836 brochure 209-215 pp. 3-6 (Cornerstone software, electrode furnace); refractory-metals application note 203-821-427 pp. 1-4 (instrument blank, calibration, sample analysis)",
+    "method_example": "carrier=He elements=O,N,H"
+   },
+   "notes": {
+    "calibrate": [
+     "LECO names its curves itself (curve_1, curve_2, ...): leave out CURVE; --elements O,N,H (those of the method)"
+    ]
+   }
+  },
+  "elementar_isoprimeprecision": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "source.set",
+     "arg": "filament"
+    },
+    "method": {
+     "base": "none",
+     "passthrough": false,
+     "keys": {
+      "species": {
+       "cap": "magnet.set_species",
+       "arg": "species"
+      },
+      "inlet": {
+       "cap": "centrion.set",
+       "arg": "inlet"
+      },
+      "carrier": {
+       "cap": "centrion.set",
+       "arg": "carrier_on"
+      },
+      "flow": {
+       "cap": "centrion.set",
+       "arg": "carrier_m3_s",
+       "kind": "flow"
+      },
+      "dilution": {
+       "cap": "centrion.set",
+       "arg": "dilution"
+      },
+      "sleep": {
+       "cap": "centrion.set",
+       "arg": "sleep"
+      },
+      "amplifier": {
+       "cap": "amplifier.configure",
+       "arg": "mode"
+      }
+     }
+    },
+    "load": {
+     "cap": "sample.inject",
+     "style": "inject"
+    },
+    "calibrate": {
+     "cap": "calibration.normalize",
+     "style": "normalize",
+     "curve_arg": "isotope",
+     "curve_word": "isotope (13C, 15N, 18O, 2H, 34S)",
+     "curve_example": "13C",
+     "standards_arg": "standards",
+     "from_word": "reference peaks as PEAK=SUBSTANCE",
+     "from_example": "2=usgs40,3=usgs41"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "style": "acquisition",
+     "job": "state",
+     "state": {
+      "slot": "acquisition.state",
+      "present": "run"
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "results.read",
+     "args": {
+      "since_peak": 0
+     },
+     "style": "irms"
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "source": "source.state#filament",
+    "method": "magnet.state#species",
+    "inlet": "centrion.state#inlet",
+    "species": "magnet.state#species"
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "vacuum.state",
+      "code": "VACUUM_NOT_READY",
+      "message": "the analyser of {inst} is not under vacuum ({value}).",
+      "fix": "pump it down: `chemlab call {inst} vacuum.pump_down`, wait until `chemlab read {inst} vacuum.state` is ready (about 5 min).",
+      "value": "ready",
+      "label": "vacuum ready"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "status.led",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready to acquire (status {value}: vacuum, filament or magnet).",
+      "fix": "switch the filament on (`chemlab run {inst} source on --wait`), set the gas (`method species=CO2 carrier=on`).",
+      "value": "green",
+      "label": "status green"
+     }
+    ]
+   },
+   "unsupported": {
+    "use-curve": "the delta-scale normalisation applies to the results as soon as it is fitted - nothing to select",
+    "blank": "no blank value: the reference-gas pulses of each acquisition are the working reference",
+    "export": "no export capability: results come from the peak table (`chemlab run INST result --save-to F`)",
+    "records": "no record store: the peak table of the session is the result (`chemlab run INST result`)"
+   },
+   "alternatives": {
+    "records": "`chemlab run INST result` lists every peak with its number (for calibrate --from PEAK=SUBSTANCE)."
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "results.read"
+   ],
+   "params": {
+    "source_word": "filament",
+    "source_ready": {
+     "slot": "status.led",
+     "value": "green"
+    },
+    "source_wait_s": 600.0,
+    "default_time_s": 300.0,
+    "reference_pulses": [
+     {
+      "gas": 1,
+      "start_s": 20.0,
+      "duration_s": 20.0
+     }
+    ],
+    "manual": "isoprime precisION brochure 05 005 646 pp. 2-6 (ionOS, centrION continuous-flow interface), 13-14 (technical data)",
+    "method_example": "species=CO2 carrier=on"
+   },
+   "notes": {
+    "method": [
+     "no method object: species= sets the magnet (magnet.set_species), inlet= carrier= flow= dilution= sleep= set the Centrion (centrion.set), amplifier= the amplifier mode; the working-reference deltas are assigned with `chemlab call INST reference.assign`"
+    ],
+    "measure": [
+     "a timed acquisition (--time, default 5 min) with one reference-gas pulse of gas 1 at 20 s; inject samples with `load` while it runs"
+    ],
+    "load": [
+     "NAME is a reference material id (substance_id) when the instrument knows it, else a sample id the lab declared"
+    ]
+   }
+  },
+  "seal_aa500": {
+   "role": "primary",
+   "verbs": {
+    "source": {
+     "cap": "lamp.set",
+     "arg": "on"
+    },
+    "method": {
+     "cap": "channel.configure",
+     "base": "none",
+     "passthrough": false,
+     "keys": {
+      "method": {
+       "arg": "method_id"
+      }
+     }
+    },
+    "load": {
+     "cap": "sampler.load",
+     "style": "sampler"
+    },
+    "calibrate": {
+     "cap": "data.recalculate",
+     "style": "recalculate"
+    },
+    "measure": {
+     "cap": "run.start",
+     "style": "run",
+     "job": "state",
+     "state": {
+      "slot": "run.status",
+      "key": "state",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped",
+       "failed",
+       "aborted"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "run.stop"
+    },
+    "result": {
+     "cap": "data.results",
+     "style": "sfa"
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "phase": "run.status#state",
+    "method": "system.state",
+    "warning": "warnings.active"
+   },
+   "targets": {
+    "channel": {
+     "arg": "channel",
+     "values": {
+      "1": "ch1",
+      "2": "ch2",
+      "3": "ch3",
+      "4": "ch4",
+      "ch1": "ch1",
+      "ch2": "ch2",
+      "ch3": "ch3",
+      "ch4": "ch4"
+     },
+     "required": true
+    }
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "pump.running",
+      "code": "NOT_READY",
+      "message": "the pump of {inst} is not running (the system is not started up).",
+      "fix": "start it up: `chemlab call {inst} system.startup`, wait until system.state is ready (about 35 min).",
+      "value": true,
+      "label": "pump running"
+     }
+    ]
+   },
+   "unsupported": {
+    "use-curve": "each run is calibrated from its own calibrant cups - nothing to select",
+    "blank": "no blank query: baseline and blank cups are part of the run (`measure --cups ...:baseline`)",
+    "export": "no export capability: `chemlab run INST result --save-to F` keeps the result",
+    "records": "no record store: the last run is the result (`chemlab run INST result`)"
+   },
+   "path": "run",
+   "path_exceptions": [
+    "data.results"
+   ],
+   "params": {
+    "source_word": "detector lamps",
+    "running": [
+     "running",
+     "draining"
+    ],
+    "sample_s": 60.0,
+    "wash_s": 30.0,
+    "cup_volume_m3": 1e-05,
+    "max_run_s": 7200.0,
+    "manual": "AA500 brochure (2024) pp. 2-3 (segmented flow, automated start-up, standards, lamps, baths); product page (run workflow: baseline, sample list, calibrants)",
+    "method_example": "method=MT508_A026_nitrate_nitrite --channel 1"
+   },
+   "notes": {
+    "calibrate": [
+     "recalculates the calibration of the last run from its calibrant cups (data.recalculate): --fit linear|quadratic|auto, --no-drift, --no-carryover"
+    ],
+    "measure": [
+     "--cups RACK:POS:TYPE,... in run order (types baseline, calibrant, sample, drift, ...); --time = sample time per cup, --wash = wash time"
+    ],
+    "source": [
+     "--channel 1..4: the detector LED of one channel"
+    ],
+    "method": [
+     "method method=MT508_A026_nitrate_nitrite --channel 1 (the channel needs the pump tubes of that method)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/reactor.json b/chemlab/configs/adapters/reactor.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b2a370f340628d51a90f2ff2a910578929ed59
--- /dev/null
+++ b/chemlab/configs/adapters/reactor.json
@@ -0,0 +1,1983 @@
+{
+ "class": "reactor",
+ "adapter": "chemlab.compile.classes.reactor:ReactorAdapter",
+ "about": "Reactors and reaction stations: set-temp (per zone / jacket / ramp), heat, temp, wait-temp, stir, flow, pressure, light, current, voltage, dose, program, safety-limit, method, start / stop / result with jobs, open / close with safety checks.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "antonpaar_monowave400",
+   "ika_electrasyn2",
+   "hepatochem_photoredoxbox",
+   "parr_4591",
+   "syrris_asiadiscovery",
+   "thalesnano_hcube",
+   "radleys_mya4",
+   "mt_rc1mxhfcal"
+  ],
+  "secondary": {},
+  "excluded": {},
+  "not_here": {
+   "cem_libertyblue": "peptide synthesizer: thin class (its contract has no reactor set points to map)",
+   "cytiva_ktaoligosynt": "oligo synthesizer: thin class",
+   "ika_plate_rctdigital": "hot-plate reactions are covered by its thermal class (set-temp, heat, stir); no reactor verb would add anything"
+  }
+ },
+ "members": {
+  "antonpaar_monowave400": {
+   "role": "primary",
+   "verbs": {
+    "temp": {
+     "reads": [
+      "thermal.indicated_k"
+     ]
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "temp": {
+       "arg": "target_k",
+       "kind": "temperature"
+      },
+      "ramp": {
+       "arg": "ramp_s",
+       "kind": "duration"
+      },
+      "hold": {
+       "arg": "hold_s",
+       "kind": "duration"
+      },
+      "cool": {
+       "arg": "cool_to_k",
+       "kind": "temperature"
+      },
+      "stir": {
+       "arg": "stir_rpm",
+       "kind": "rotation"
+      },
+      "power": {
+       "arg": "power_limit_w",
+       "kind": "power"
+      },
+      "pressure": {
+       "arg": "pressure_limit_pa",
+       "kind": "pressure"
+      }
+     },
+     "keep": {
+      "target_k": "method.target_k",
+      "stir_rpm": "method.stir_rpm",
+      "power_limit_w": "method.power_limit_w",
+      "pressure_limit_pa": "method.pressure_limit_pa"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "microwave programme"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "reaction.measure"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "open": [
+        {
+         "cap": "lock.set_travel",
+         "args": {
+          "travel_m": 0.0
+         },
+         "skip_if": {
+          "slot": "lock.travel_m",
+          "value": 0.0
+         },
+         "step": "unlock the lid"
+        },
+        {
+         "cap": "lid.set_lift",
+         "args": {
+          "lift_m": 0.15
+         },
+         "step": "open the lid"
+        }
+       ],
+       "close": [
+        {
+         "cap": "lid.set_lift",
+         "args": {
+          "lift_m": 0.0
+         },
+         "skip_if": {
+          "slot": "lid.lift_m",
+          "value": 0.0
+         },
+         "step": "close the lid"
+        },
+        {
+         "cap": "lock.set_travel",
+         "args": {
+          "travel_m": 0.01
+         },
+         "step": "lock the lid"
+        }
+       ],
+       "state_open": "lid.lift_m",
+       "state_closed": "lock.travel_m"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_k",
+    "set": "method.target_k",
+    "pressure": "pressure.indicated_pa",
+    "stir": "stir.actual_rpm",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sealed G30 vial is loaded in {inst}.",
+      "fix": "ask the lab operator to load the sample vial.",
+      "truthy": true
+     },
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close and lock it: `chemlab run {inst} close lid`.",
+      "max": 0.0
+     },
+     {
+      "slot": "lock.travel_m",
+      "code": "LID_NOT_LOCKED",
+      "message": "the lid of {inst} is closed but not locked.",
+      "fix": "lock it: `chemlab run {inst} close lid`.",
+      "min": 0.009
+     },
+     {
+      "slot": "gas.ready",
+      "code": "NO_COOLING_AIR",
+      "message": "the cooling air of {inst} is not connected or not at 5.5-6 bar.",
+      "fix": "ask the lab operator to connect it.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "open:lid": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     },
+     {
+      "slot": "thermal.indicated_k",
+      "code": "HOT",
+      "message": "the vial in {inst} is still hot ({value}); the lid unlocks only at 50 °C or below.",
+      "fix": "let it cool; check `chemlab run {inst} status` until it shows 50 °C or below.",
+      "max": 323.15,
+      "none_ok": true,
+      "kind": "temperature"
+     },
+     {
+      "slot": "pressure.indicated_pa",
+      "code": "PRESSURISED",
+      "message": "the vial in {inst} is still under pressure ({value}); the lid unlocks only at 1.2 bar or below.",
+      "fix": "let it cool down and check `chemlab run {inst} status`.",
+      "max": 120000.0,
+      "none_ok": true,
+      "kind": "pressure"
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "OUTSIDE_SAMPLE_MODEL",
+     "message": "{inst} refused the programme: its temperatures must lie inside the range the loaded sample's vapour-pressure model covers, and it cannot cool below 25 °C.",
+     "fix": "choose temperatures inside that range (`chemlab call {inst} template.read --substance_id ID` lists it; ethanol, for example, up to about 90 °C) and cool to 25 °C or more."
+    },
+    "method.configure:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "BAD_PROGRAMME",
+     "message": "{inst} refused the programme: cool-to is above the target, or ramp + hold is longer than 100 h.",
+     "fix": "give cool <= temp and a shorter programme."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, a sealed G30 vial, the lid closed and locked, cooling air, and a programme the sample allows (the vial must not already be above the target, its pressure under the limit).",
+     "fix": "check `chemlab run {inst} status`; `chemlab run {inst} close lid` closes and locks the lid."
+    },
+    "lock.set_travel:PRECONDITION_FAILED": {
+     "code": "HOT_OR_PRESSURISED",
+     "message": "the lid of {inst} stays locked while the vial is hot or under pressure (above 50 °C or 1.2 bar), or while a run is going.",
+     "fix": "wait until it has cooled (`chemlab run {inst} status`)."
+    }
+   },
+   "unsupported": {
+    "set-temp": "the reaction temperature is part of the heating programme (target, ramp, hold, cool), which this instrument takes only as a whole",
+    "heat": "microwave heating runs only inside a programme (`start`)",
+    "wait-temp": "the temperature follows the programme; follow the run with `start` and `wait` instead",
+    "stir": "the stirring speed is a programme setting",
+    "flow": "batch microwave reactor: no pump",
+    "pressure": "no pressure set point: the vial pressure follows the temperature (its limit is the method key pressure)",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "no dosing unit",
+    "program": "one programme per run: set it with `method`",
+    "safety-limit": "the safety limits are the programme's power and pressure limits (`method power=... pressure=...`)"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run INST method temp=80C ramp=2min hold=10min cool=50C`, then `chemlab run INST start`.",
+    "stir": "`chemlab run INST method stir=600rpm ramp=... hold=... cool=...`.",
+    "heat": "`chemlab run INST start` runs the programme set with `method`.",
+    "wait-temp": "`chemlab run INST start` gives a job; `chemlab wait job-N`."
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "reaction.measure"
+   ],
+   "params": {
+    "tolerance_k": 2.0
+   },
+   "notes": {
+    "method": [
+     "ramp, hold and cool are not shown by the instrument, so give them every time; temp, stir, power and pressure are kept from the last programme when left out",
+     "the IR sensor reads only from 30 °C up; below that the temperature shows n/a"
+    ],
+    "close": [
+     "closing the lid also locks it (the run needs the lid locked)"
+    ],
+    "open": [
+     "the lid unlocks only when the vial is at 50 °C or below and 1.2 bar or below"
+    ]
+   }
+  },
+  "ika_electrasyn2": {
+   "role": "primary",
+   "verbs": {
+    "stir": {
+     "set": [
+      {
+       "cap": "stir.set_speed",
+       "arg": "speed_rad_s"
+      }
+     ],
+     "off": [
+      {
+       "cap": "stir.set_speed",
+       "value": 0.0,
+       "arg": "speed_rad_s"
+      }
+     ],
+     "word": "stirring"
+    },
+    "current": {
+     "set": [
+      {
+       "cap": "method.configure",
+       "arg": "current_a",
+       "args": {
+        "mode": "constant_current"
+       },
+       "keep": {
+        "cell_voltage_v": "method.cell_voltage_v",
+        "voltage_limit_v": "method.voltage_limit_v",
+        "stop_by": "method.stop_by",
+        "duration_s": "method.duration_s",
+        "charge_target_c": "method.charge_target_c"
+       }
+      }
+     ],
+     "word": "constant current",
+     "power": false
+    },
+    "voltage": {
+     "set": [
+      {
+       "cap": "method.configure",
+       "arg": "cell_voltage_v",
+       "args": {
+        "mode": "constant_cell_voltage"
+       },
+       "keep": {
+        "current_a": "method.current_a",
+        "voltage_limit_v": "method.voltage_limit_v",
+        "stop_by": "method.stop_by",
+        "duration_s": "method.duration_s",
+        "charge_target_c": "method.charge_target_c"
+       }
+      }
+     ],
+     "word": "constant cell voltage",
+     "power": false
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "current": {
+       "arg": "current_a",
+       "kind": "current"
+      },
+      "voltage": {
+       "arg": "cell_voltage_v",
+       "kind": "voltage"
+      },
+      "voltage-limit": {
+       "arg": "voltage_limit_v",
+       "kind": "voltage"
+      },
+      "stop-by": {
+       "arg": "stop_by"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "charge": {
+       "arg": "charge_target_c"
+      }
+     },
+     "keep": {
+      "mode": "method.mode",
+      "current_a": "method.current_a",
+      "cell_voltage_v": "method.cell_voltage_v",
+      "voltage_limit_v": "method.voltage_limit_v",
+      "stop_by": "method.stop_by",
+      "duration_s": "method.duration_s",
+      "charge_target_c": "method.charge_target_c"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "electrolysis"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "electrochem.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "stir": "stir.actual_rad_s",
+    "current": "electrochem.indicated_current_a",
+    "voltage": "electrochem.indicated_cell_voltage_v",
+    "mode": "method.mode",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault"
+   },
+   "requires": {
+    "start": [
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no reaction vial is loaded in {inst}.",
+      "fix": "ask the lab operator to load the vial.",
+      "truthy": true
+     },
+     {
+      "slot": "cap.lift_m",
+      "code": "CAP_OPEN",
+      "message": "the vial cap (electrode head) of {inst} is raised.",
+      "fix": "lower it: `chemlab run {inst} close cap`.",
+      "max": 0.0
+     },
+     {
+      "slot": "electrodes.connected",
+      "code": "NO_ELECTRODES",
+      "message": "no electrodes are connected to {inst}.",
+      "fix": "ask the lab operator to fit the electrodes.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "current": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "voltage": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the vial loaded with its cap lowered, electrodes connected, and enough substrate and electrode capacity for the charge.",
+     "fix": "check `chemlab run {inst} status` and `chemlab run {inst} power on`."
+    }
+   },
+   "unsupported": {
+    "set-temp": "no temperature control (room-temperature electrolysis cell)",
+    "heat": "no heater",
+    "temp": "no temperature sensor",
+    "wait-temp": "no temperature sensor",
+    "flow": "batch cell: no pump",
+    "pressure": "open cell: no pressure control",
+    "light": "no light source",
+    "dose": "no dosing unit",
+    "program": "no temperature programme (the electrolysis settings are the method)",
+    "safety-limit": "no temperature limit (the compliance voltage is the method key voltage-limit)",
+    "open": "handled by the shared verbs (open cap)",
+    "close": "handled by the shared verbs (close cap)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "electrochem.measure"
+   ],
+   "notes": {
+    "current": [
+     "sets constant-current mode and the current; the other electrolysis settings stay as they are (`status`)"
+    ],
+    "voltage": [
+     "sets constant-cell-voltage mode and the voltage; the other settings stay"
+    ],
+    "stir": [
+     "the speed is set in 10 rpm steps"
+    ]
+   },
+   "shared_fallthrough": [
+    "open",
+    "close"
+   ]
+  },
+  "hepatochem_photoredoxbox": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "temperature.set",
+       "arg": "target_k"
+      }
+     ]
+    },
+    "temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "stir": {
+     "set": [
+      {
+       "cap": "stir.set_speed",
+       "arg": "speed_rad_s"
+      }
+     ],
+     "off": [
+      {
+       "cap": "stir.set_speed",
+       "value": 0.0,
+       "arg": "speed_rad_s"
+      }
+     ],
+     "word": "stirring"
+    },
+    "light": {
+     "set": [
+      {
+       "cap": "led.set_intensity",
+       "arg": "intensity"
+      }
+     ],
+     "off": [
+      {
+       "cap": "led.set_intensity",
+       "value": 0.0,
+       "arg": "intensity"
+      }
+     ],
+     "word": "LED intensity"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "irradiation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "irradiation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "temperature.indicated_k",
+    "set": "temperature.target_k",
+    "stir": "stir.actual_rad_s",
+    "light": "optics.intensities",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "thermal.configured",
+      "code": "NOT_SET_UP",
+      "message": "the chamber of {inst} is not set up in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     }
+    ],
+    "light": [
+     {
+      "slot": "optics.configured",
+      "code": "NO_LEDS",
+      "message": "the LED modules of {inst} are not fitted in this lab.",
+      "fix": "ask the lab operator to fit them.",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "max": 0.0
+     },
+     {
+      "slot": "sample.loaded_count",
+      "code": "NO_SAMPLE",
+      "message": "no vial is loaded in {inst}.",
+      "fix": "ask the lab operator to load the vials.",
+      "min": 1
+     },
+     {
+      "slot": "optics.configured",
+      "code": "NO_LEDS",
+      "message": "the LED modules of {inst} are not fitted.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "temperature.set:PRECONDITION_FAILED": {
+     "code": "BELOW_AMBIENT",
+     "message": "{inst} has no heater or chiller: its fan only keeps the chamber under the set point, so the set point cannot be below the room temperature.",
+     "fix": "give a set point at or above room temperature (25 °C or more)."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the lid closed, vials loaded and LEDs fitted.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "heat": "no heater switch: the LEDs warm the chamber and the fan holds it under the set point",
+    "flow": "batch vials: no pump",
+    "pressure": "open vials: no pressure control",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "no dosing unit",
+    "program": "no temperature programme",
+    "safety-limit": "the set point is the chamber maximum (fan cooling)",
+    "open": "handled by the shared verbs (open lid)",
+    "close": "handled by the shared verbs (close lid)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "irradiation.measure"
+   ],
+   "params": {
+    "tolerance_k": 1.0
+   },
+   "notes": {
+    "set-temp": [
+     "the set point is a maximum: the fan cools the chamber towards room temperature; only the LEDs warm it"
+    ],
+    "light": [
+     "one intensity for all four LED modules (0-100 %)"
+    ]
+   },
+   "shared_fallthrough": [
+    "open",
+    "close"
+   ]
+  },
+  "parr_4591": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_K"
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "heater.set_enabled",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "heater.set_enabled",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "heater.enabled",
+     "word": "heater"
+    },
+    "temp": {
+     "reads": [
+      "thermal.indicated_temperature_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "thermal.indicated_temperature_k"
+     ]
+    },
+    "stir": {
+     "set": [
+      {
+       "cap": "stirrer.set_speed",
+       "arg": "speed_rad_s"
+      }
+     ],
+     "off": [
+      {
+       "cap": "stirrer.set_speed",
+       "value": 0.0,
+       "arg": "speed_rad_s"
+      }
+     ],
+     "word": "stirring"
+    },
+    "stop": {
+     "steps": [
+      {
+       "cap": "heater.set_enabled",
+       "args": {
+        "enabled": false
+       },
+       "skip_if": {
+        "slot": "heater.enabled",
+        "falsy": true
+       },
+       "step": "heater off"
+      },
+      {
+       "cap": "stirrer.set_speed",
+       "args": {
+        "speed_rad_s": 0.0
+       },
+       "skip_if": {
+        "slot": "stirrer.speed_rad_s",
+        "value": 0.0
+       },
+       "step": "stirrer off"
+      }
+     ]
+    },
+    "result": {
+     "reads": [
+      "thermal.indicated_temperature_k",
+      "thermal.target_k",
+      "pressure.indicated_pressure_pa",
+      "stirrer.speed_rad_s",
+      "heater.enabled",
+      "heater.delivered_power_w"
+     ]
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "open": [
+        {
+         "cap": "lid.open",
+         "step": "open the lid"
+        }
+       ],
+       "close": [
+        {
+         "cap": "lid.close",
+         "step": "close the lid"
+        }
+       ],
+       "state_closed": "lid.closed"
+      },
+      "vent": {
+       "open": [
+        {
+         "cap": "vent.set_open",
+         "args": {
+          "open": true
+         },
+         "step": "open the vent valve"
+        }
+       ],
+       "close": [
+        {
+         "cap": "vent.set_open",
+         "args": {
+          "open": false
+         },
+         "step": "close the vent valve"
+        }
+       ],
+       "state_open": "vent.open"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "heat": "heater.enabled",
+    "stir": "stirrer.speed_rad_s",
+    "pressure": "pressure.indicated_pressure_pa",
+    "vent": "vent.open"
+   },
+   "requires": {
+    "heat": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the vessel of {inst} is open; it heats only closed.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "truthy": true
+     }
+    ],
+    "stir": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the vessel of {inst} is open; the magnetic drive runs only with the head on.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "truthy": true
+     }
+    ],
+    "open:lid": [
+     {
+      "slot": "heater.enabled",
+      "code": "HEATER_ON",
+      "message": "the heater of {inst} is on.",
+      "fix": "switch it off first: `chemlab run {inst} heat off`.",
+      "falsy": true
+     },
+     {
+      "slot": "stirrer.speed_rad_s",
+      "code": "STIRRING",
+      "message": "the stirrer of {inst} is running.",
+      "fix": "stop it first: `chemlab run {inst} stir off`.",
+      "max": 0.0
+     },
+     {
+      "slot": "thermal.indicated_temperature_k",
+      "code": "HOT",
+      "message": "the vessel of {inst} is at {value}; it may be opened only at 50 °C or below.",
+      "fix": "switch the heater off and let it cool: `chemlab run {inst} wait-temp --to 45C --max 2h`.",
+      "max": 323.15,
+      "kind": "temperature"
+     },
+     {
+      "slot": "pressure.indicated_pressure_pa",
+      "code": "PRESSURISED",
+      "message": "the vessel of {inst} is at {value}, not at ambient pressure.",
+      "fix": "release it first: `chemlab run {inst} open vent` (then wait a few seconds).",
+      "min": 99325.0,
+      "max": 103325.0,
+      "kind": "pressure"
+     }
+    ]
+   },
+   "codes": {
+    "thermal.set_temperature:PRECONDITION_FAILED": {
+     "code": "PRESSURE_FORECAST",
+     "message": "{inst} refused the set point: it must be at least room temperature, and the pressure the closed vessel would reach there must stay under its 207 bar rating.",
+     "fix": "choose a lower temperature, or vent first (`chemlab run {inst} open vent`)."
+    },
+    "lid.open:PRECONDITION_FAILED": {
+     "code": "NOT_SAFE_TO_OPEN",
+     "message": "{inst} may be opened only with the heater off, the stirrer stopped, at 50 °C or below and at ambient pressure.",
+     "fix": "see `chemlab run {inst} status`; vent with `chemlab run {inst} open vent`."
+    }
+   },
+   "unsupported": {
+    "flow": "batch vessel: no pump",
+    "pressure": "no pressure set point: the pressure follows the temperature and the gas in the closed vessel",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "no dosing unit",
+    "program": "the 4848 controller holds one set point (no ramp / soak programme in this twin)",
+    "safety-limit": "the pressure rating is fixed by the vessel (rupture disc); the twin has no settable cut-off",
+    "method": "manual controller: no run programme; use set-temp, heat and stir",
+    "start": "manual controller: heating starts with `heat on`"
+   },
+   "alternatives": {
+    "pressure": "watch it with `chemlab run INST status`; release it with `chemlab run INST open vent`.",
+    "start": "`chemlab run INST set-temp 100C`, `chemlab run INST heat on`, `chemlab run INST stir 500rpm`.",
+    "method": "`chemlab run INST set-temp ...`, `heat on`, `stir ...`."
+   },
+   "path": "heater",
+   "path_exceptions": [
+    "stirrer.set_speed"
+   ],
+   "params": {
+    "tolerance_k": 1.0
+   },
+   "notes": {
+    "stop": [
+     "stop switches the heater off and stops the stirrer (the vessel stays closed and under pressure)"
+    ],
+    "open": [
+     "the lid opens only with the heater off, the stirrer stopped, at 50 °C or below and at ambient pressure (vent first)"
+    ]
+   }
+  },
+  "syrris_asiadiscovery": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "temperature.set",
+       "arg": "target_k"
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "temperature.enable",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "temperature.enable",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "temperature.enabled",
+     "word": "chip temperature control"
+    },
+    "temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "flow": {
+     "set": [
+      {
+       "cap": "pump.set_flow",
+       "arg": "flow_m3_s",
+       "target": true
+      }
+     ],
+     "off": [
+      {
+       "cap": "pump.set_flow",
+       "arg": "flow_m3_s",
+       "value": 0.0,
+       "target": true
+      }
+     ],
+     "word": "pump flow"
+    },
+    "pressure": {
+     "set": [
+      {
+       "cap": "pressure.set",
+       "arg": "backpressure_pa"
+      }
+     ],
+     "on": [
+      {
+       "cap": "pressure.enable",
+       "args": {
+        "enabled": true
+       }
+      }
+     ],
+     "off": [
+      {
+       "cap": "pressure.enable",
+       "args": {
+        "enabled": false
+       }
+      }
+     ],
+     "state": "pressure.enabled",
+     "word": "back-pressure"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "flows": {
+       "arg": "flow_rates_m3_s",
+       "kind": "flow"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "inject": {
+       "arg": "injection_times_s",
+       "kind": "duration"
+      },
+      "collect": {
+       "arg": "collection_windows"
+      }
+     },
+     "keep": {
+      "flow_rates_m3_s": "flow.targets_m3_s",
+      "duration_s": "method.duration_s"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "flow run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "flow.measure"
+    }
+   },
+   "targets": {
+    "channel": {
+     "arg": "channel",
+     "values": {
+      "1": "P1",
+      "2": "P2"
+     },
+     "required": true,
+     "verbs": [
+      "flow"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "temperature.indicated_k",
+    "set": "temperature.target_k",
+    "heat": "temperature.enabled",
+    "flow": "flow.actual_m3_s",
+    "pressure": "pressure.indicated_pa",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault"
+   },
+   "requires": {
+    "flow": [
+     {
+      "slot": "plant.configured",
+      "code": "NOT_SET_UP",
+      "message": "the chip and reagents of {inst} are not set up in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.lift_m",
+      "code": "CLAMP_OPEN",
+      "message": "the chip clamp of {inst} is open.",
+      "fix": "ask the lab operator to clamp the chip (`chemlab call {inst} clamp.set_lift --lift_m 0`).",
+      "max": 0.0
+     }
+    ],
+    "start": [
+     {
+      "slot": "plant.configured",
+      "code": "NOT_SET_UP",
+      "message": "the chip and reagents of {inst} are not set up in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.lift_m",
+      "code": "CLAMP_OPEN",
+      "message": "the chip clamp of {inst} is open.",
+      "fix": "clamp the chip first (`chemlab call {inst} clamp.set_lift --lift_m 0`).",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "pump.set_flow:PRECONDITION_FAILED": {
+     "code": "PUMP_NOT_READY",
+     "message": "{inst} refused the flow: the pump channel must be initialised and idle (not in a method run), the flow inside the fitted syringe's range, the reagent bottle not empty, and the liquid must not boil at the chip temperature and back-pressure.",
+     "fix": "check `chemlab run {inst} status`; raise the back-pressure (`chemlab run {inst} pressure 5bar`) or lower the temperature."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the chip clamped, the system primed, a method, and pump pressure and boiling margins that allow it.",
+     "fix": "check `chemlab run {inst} status`; raise the back-pressure if the solvent would boil."
+    },
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "BAD_METHOD",
+     "message": "{inst} refused the method: the pumps must be stopped and the flows and collection windows valid for the fitted syringes and collector.",
+     "fix": "stop the pumps (`chemlab run {inst} flow off --channel N`) and check the values."
+    }
+   },
+   "unsupported": {
+    "stir": "flow reactor: mixing happens in the chip",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "reagents are pumped (`flow`), not dosed",
+    "program": "no temperature programme",
+    "safety-limit": "no settable temperature limit in this twin",
+    "open": "no lid (the chip clamp is a set-up step: `chemlab call INST clamp.set_lift`)",
+    "close": "no lid"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "flow.measure"
+   ],
+   "params": {
+    "tolerance_k": 1.0
+   },
+   "notes": {
+    "flow": [
+     "a flow on one pump starts manual pumping; flow off (or 0) stops that pump",
+     "--channel 1 is pump P1, --channel 2 is P2"
+    ],
+    "pressure": [
+     "the value is the back-pressure regulator setting (1-20 bar); pressure on|off switches the regulator"
+    ],
+    "method": [
+     "flows, inject and collect are lists: flows=0.5mL/min,0.5mL/min inject=0s,0s collect=[{\"start_s\":30,\"end_s\":120,\"slot\":0}]",
+     "the collector holds about 5 mL per run"
+    ]
+   }
+  },
+  "thalesnano_hcube": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "method.configure",
+       "arg": "temperature_k",
+       "keep": {
+        "liquid_flow_m3_s": "flow.target_m3_s",
+        "hydrogen_reference_flow_m3_s": "hydrogen.target_reference_m3_s",
+        "pressure_abs_pa": "pressure.target_abs_pa",
+        "duration_s": "method.duration_s"
+       }
+      }
+     ]
+    },
+    "temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "temperature.indicated_k"
+     ]
+    },
+    "flow": {
+     "set": [
+      {
+       "cap": "method.configure",
+       "arg": "liquid_flow_m3_s",
+       "keep": {
+        "hydrogen_reference_flow_m3_s": "hydrogen.target_reference_m3_s",
+        "temperature_k": "temperature.target_k",
+        "pressure_abs_pa": "pressure.target_abs_pa",
+        "duration_s": "method.duration_s"
+       }
+      }
+     ],
+     "word": "liquid flow",
+     "switch_fix": "the pump runs only during a run: `chemlab run INST start` / `chemlab run INST stop`."
+    },
+    "pressure": {
+     "set": [
+      {
+       "cap": "method.configure",
+       "arg": "pressure_abs_pa",
+       "keep": {
+        "liquid_flow_m3_s": "flow.target_m3_s",
+        "hydrogen_reference_flow_m3_s": "hydrogen.target_reference_m3_s",
+        "temperature_k": "temperature.target_k",
+        "duration_s": "method.duration_s"
+       }
+      }
+     ],
+     "word": "system pressure (absolute)",
+     "switch_fix": "the pressure is held only during a run; give a value, e.g. `chemlab run INST pressure 30bar`."
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "flow": {
+       "arg": "liquid_flow_m3_s",
+       "kind": "flow"
+      },
+      "h2": {
+       "arg": "hydrogen_reference_flow_m3_s",
+       "kind": "flow"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "pressure": {
+       "arg": "pressure_abs_pa",
+       "kind": "pressure"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      }
+     },
+     "keep": {
+      "liquid_flow_m3_s": "flow.target_m3_s",
+      "hydrogen_reference_flow_m3_s": "hydrogen.target_reference_m3_s",
+      "temperature_k": "temperature.target_k",
+      "pressure_abs_pa": "pressure.target_abs_pa",
+      "duration_s": "method.duration_s"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation",
+     "what": "hydrogenation run"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "hydrogenation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "temperature.indicated_k",
+    "set": "temperature.target_k",
+    "flow": "flow.indicated_m3_s",
+    "pressure": "pressure.indicated_abs_pa",
+    "phase": "cycle.phase",
+    "fault": "cycle.fault"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "flow": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "pressure": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ],
+    "start": [
+     {
+      "slot": "plant.configured",
+      "code": "NOT_SET_UP",
+      "message": "the cartridge, pump and recipe of {inst} are not set up in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "kinetics.configured",
+      "code": "NOT_SET_UP",
+      "message": "the catalyst model of {inst} is not set up in this lab.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.lift_m",
+      "code": "CLAMP_OPEN",
+      "message": "the cartridge clamp of {inst} is open.",
+      "fix": "ask the lab operator to close it.",
+      "max": 0.0
+     },
+     {
+      "slot": "water_lid.lift_m",
+      "code": "WATER_LID_OPEN",
+      "message": "the water reservoir lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close water_lid`.",
+      "max": 0.0
+     },
+     {
+      "slot": "cycle.phase",
+      "code": "BUSY",
+      "message": "{inst} is running; it takes no new settings now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`).",
+      "not": [
+       "running"
+      ]
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:INVALID_ARGUMENT": {
+     "kind": "usage",
+     "code": "OUT_OF_RANGE",
+     "message": "{inst} refused the method values (flow, hydrogen, temperature or pressure outside what the cartridge and pump allow).",
+     "fix": "see `chemlab help {inst} method` for the ranges (liquid flow up to 3 mL/min)."
+    },
+    "method.configure:PRECONDITION_FAILED": {
+     "code": "BUSY_OR_UNSUPPORTED",
+     "message": "{inst} refused the method: the pump must be stopped and the carrier's model must cover the temperature.",
+     "fix": "stop the run first; choose a lower temperature."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, the cartridge clamped, the water lid closed, the set-up confirmed, and a pressure drop and boiling margin that allow it.",
+     "fix": "check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "heat": "the column heater follows the set point; there is no separate switch",
+    "stir": "flow reactor: no stirrer",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "the substrate is pumped, not dosed",
+    "program": "no temperature programme",
+    "safety-limit": "no settable temperature limit in this twin",
+    "open": "handled by the shared verbs (open water_lid)",
+    "close": "handled by the shared verbs (close water_lid)"
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "hydrogenation.measure"
+   ],
+   "params": {
+    "tolerance_k": 1.0
+   },
+   "notes": {
+    "set-temp": [
+     "the H-Cube takes temperature, flow, pressure and time together; the others stay as they are"
+    ],
+    "pressure": [
+     "the value is the absolute system pressure (e.g. 30bar = 30 bar absolute)"
+    ],
+    "temp": [
+     "the cartridge clamp opens only at 50 °C or below: lower the set point after a hot run"
+    ]
+   },
+   "shared_fallthrough": [
+    "open",
+    "close"
+   ]
+  },
+  "radleys_mya4": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermal.set_temperature",
+       "arg": "temperature_K",
+       "target": true
+      }
+     ]
+    },
+    "heat": {
+     "on": [
+      {
+       "cap": "thermal.set_enabled",
+       "args": {
+        "enabled": true
+       },
+       "target": true
+      }
+     ],
+     "off": [
+      {
+       "cap": "thermal.set_enabled",
+       "args": {
+        "enabled": false
+       },
+       "target": true
+      }
+     ],
+     "state": {
+      "slot": "zone_1.thermal.enabled",
+      "per": "zone_{zone}.thermal.enabled"
+     },
+     "word": "zone temperature control"
+    },
+    "temp": {
+     "reads": [
+      "zone_1.thermal.indicated_temperature_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "zone_1.thermal.indicated_temperature_k"
+     ]
+    },
+    "stir": {
+     "set": [
+      {
+       "cap": "stirring.set_speed",
+       "arg": "angular_speed_rad_s",
+       "target": true
+      },
+      {
+       "cap": "stirring.set_enabled",
+       "args": {
+        "enabled": true
+       },
+       "target": true,
+       "skip_if": {
+        "slot": "zone_1.stirring.enabled",
+        "per": "zone_{zone}.stirring.enabled",
+        "value": true
+       },
+       "step": "start stirring"
+      }
+     ],
+     "off": [
+      {
+       "cap": "stirring.set_enabled",
+       "args": {
+        "enabled": false
+       },
+       "target": true
+      }
+     ],
+     "word": "stirring"
+    },
+    "program": {
+     "cap": "thermal.configure_program",
+     "arg": "segments",
+     "temp_key": "temperature_K",
+     "time_key": "hold_s",
+     "target": true
+    },
+    "start": {
+     "cap": "thermal.start_program",
+     "target": true,
+     "job": "state",
+     "what": "temperature programme",
+     "state": {
+      "slot": "zone_1.program.phase",
+      "per": "zone_{zone}.program.phase",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "interrupted_cooling",
+       "stopped",
+       "aborted",
+       "failed",
+       "idle"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "thermal.stop_program",
+     "target": true
+    },
+    "result": {
+     "roles": [
+      "temp",
+      "temp2",
+      "set",
+      "heat",
+      "stir",
+      "program",
+      "program_step",
+      "program_time"
+     ]
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone_index",
+     "values": {
+      "1": 0,
+      "2": 1,
+      "3": 2,
+      "4": 3
+     },
+     "required": true,
+     "optional_for": [
+      "temp",
+      "status"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": {
+     "slot": "zone_1.thermal.indicated_temperature_k",
+     "per": "zone_{zone}.thermal.indicated_temperature_k"
+    },
+    "temp2": {
+     "slot": "zone_1.thermal.indicated_liquid_temperature_k",
+     "per": "zone_{zone}.thermal.indicated_liquid_temperature_k"
+    },
+    "set": {
+     "slot": "zone_1.thermal.target_k",
+     "per": "zone_{zone}.thermal.target_k"
+    },
+    "heat": {
+     "slot": "zone_1.thermal.enabled",
+     "per": "zone_{zone}.thermal.enabled"
+    },
+    "stir": {
+     "slot": "zone_1.stirring.actual_rad_s",
+     "per": "zone_{zone}.stirring.actual_rad_s"
+    },
+    "stir_on": {
+     "slot": "zone_1.stirring.enabled",
+     "per": "zone_{zone}.stirring.enabled"
+    },
+    "program": {
+     "slot": "zone_1.program.phase",
+     "per": "zone_{zone}.program.phase"
+    },
+    "program_step": {
+     "slot": "zone_1.program.segment_index",
+     "per": "zone_{zone}.program.segment_index"
+    },
+    "program_time": {
+     "slot": "zone_1.program.reaction_elapsed_s",
+     "per": "zone_{zone}.program.reaction_elapsed_s"
+    }
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "zone_1.program.running",
+      "code": "PROGRAM_RUNNING",
+      "message": "a programme is running in {target} of {inst}; it owns the set point.",
+      "fix": "stop it first: `chemlab run {inst} stop --zone N`.",
+      "per": "zone_{zone}.program.running",
+      "falsy": true
+     }
+    ],
+    "heat": [
+     {
+      "slot": "cooling.available",
+      "code": "NO_COOLING",
+      "message": "{inst} heats or cools a zone only with its cooling water confirmed (2-5 L/min, 5-35 °C).",
+      "fix": "ask the lab operator to connect the cooling source, then retry.",
+      "truthy": true
+     }
+    ],
+    "program": [
+     {
+      "slot": "zone_1.program.running",
+      "code": "PROGRAM_RUNNING",
+      "message": "a programme is already running in {target} of {inst}.",
+      "fix": "stop it first: `chemlab run {inst} stop --zone N`.",
+      "per": "zone_{zone}.program.running",
+      "falsy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "cooling.available",
+      "code": "NO_COOLING",
+      "message": "{inst} runs a programme only with its cooling water confirmed.",
+      "fix": "ask the lab operator.",
+      "truthy": true
+     },
+     {
+      "slot": "zone_1.program.segments",
+      "code": "NO_PROGRAM",
+      "message": "no programme is loaded in {target} of {inst}.",
+      "fix": "load one: `chemlab run {inst} program 80C@30min,25C@0s --zone N`.",
+      "per": "zone_{zone}.program.segments",
+      "not": [
+       [],
+       null
+      ]
+     },
+     {
+      "slot": "zone_1.program.running",
+      "code": "PROGRAM_RUNNING",
+      "message": "the programme in {target} of {inst} is already running.",
+      "fix": "follow it with `chemlab run {inst} wait`.",
+      "per": "zone_{zone}.program.running",
+      "falsy": true
+     }
+    ]
+   },
+   "codes": {
+    "thermal.set_temperature:PRECONDITION_FAILED": {
+     "code": "NOT_POSSIBLE_NOW",
+     "message": "{inst} refused the zone set point: below room temperature it needs the cooling water cold enough, all four zone targets must lie within 200 K of each other, and the machine must be on.",
+     "fix": "check `chemlab run {inst} status`; choose a set point closer to the other zones."
+    },
+    "thermal.set_enabled:PRECONDITION_FAILED": {
+     "code": "NOT_POSSIBLE_NOW",
+     "message": "{inst} refused to switch the zone control on: it needs power, the cooling water confirmed and a set point the cooling allows.",
+     "fix": "check `chemlab run {inst} status`."
+    },
+    "thermal.start_program:PRECONDITION_FAILED": {
+     "code": "NOT_POSSIBLE_NOW",
+     "message": "{inst} cannot start that programme: it needs power, the cooling water, a loaded programme and no programme running.",
+     "fix": "load one with `program`."
+    }
+   },
+   "unsupported": {
+    "flow": "batch station: no pump",
+    "pressure": "open vessels: no pressure control",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "dose": "no dosing unit",
+    "safety-limit": "the zone limits belong to the touch-pad experiments (pad.set_limits) and do not guard the direct set points",
+    "method": "no single method: the zone settings are separate (set-temp, stir) and the temperature profile is `program`",
+    "open": "no lid",
+    "close": "no lid"
+   },
+   "alternatives": {
+    "method": "`chemlab run INST program 80C@30min,25C@0s --zone 1`, then `chemlab run INST start --zone 1`."
+   },
+   "path": "thermal",
+   "params": {
+    "tolerance_k": 1.0,
+    "temp2_word": "liquid"
+   },
+   "notes": {
+    "set-temp": [
+     "every zone is separate: --zone 1..4"
+    ],
+    "start": [
+     "start runs the zone's loaded programme (`program`) and gives a job"
+    ],
+    "heat": [
+     "heat on needs the cooling water confirmed by the lab (heating and cooling share the Peltier block)"
+    ]
+   }
+  },
+  "mt_rc1mxhfcal": {
+   "role": "primary",
+   "verbs": {
+    "set-temp": {
+     "set": [
+      {
+       "cap": "thermostat.set_tr",
+       "arg": "end_k"
+      }
+     ],
+     "ramp_arg": "ramp_s",
+     "controller_arg": "controller",
+     "jacket": {
+      "set": [
+       {
+        "cap": "thermostat.set_tj",
+        "arg": "end_k"
+       }
+      ],
+      "ramp_arg": "ramp_s",
+      "set_slot": "thermostat.tj_setpoint_k"
+     }
+    },
+    "temp": {
+     "reads": [
+      "reactor.indicated_k",
+      "jacket.indicated_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "reactor.indicated_k"
+     ]
+    },
+    "stir": {
+     "set": [
+      {
+       "cap": "stirrer.set",
+       "arg": "rpm"
+      }
+     ],
+     "off": [
+      {
+       "cap": "stirrer.set",
+       "arg": "rpm",
+       "value": 0.0
+      }
+     ],
+     "word": "stirrer",
+     "min": "30rpm",
+     "max_slot": "safety.rmax_rpm"
+    },
+    "dose": {
+     "cap": "dosing.start",
+     "substance_arg": "substance_id",
+     "rate_arg": "rate_kg_s",
+     "mass_arg": "total_mass_kg",
+     "feed_arg": "feed_temperature_k",
+     "stop_cap": "dosing.stop",
+     "state": "dosing.active"
+    },
+    "safety-limit": {
+     "set": [
+      {
+       "cap": "safety.configure",
+       "arg": "tr_max_k",
+       "keep": {
+        "tsafe_k": "safety.tsafe_k",
+        "tr_min_k": "safety.tr_min_k",
+        "tr_max_k": "safety.tr_max_k",
+        "tj_min_k": "safety.tj_min_k",
+        "tj_max_k": "safety.tj_max_k",
+        "tdiff_max_k": "safety.tdiff_max_k",
+        "rsafe_rpm": "safety.rsafe_rpm",
+        "rmin_rpm": "safety.rmin_rpm",
+        "rmax_rpm": "safety.rmax_rpm",
+        "tc_max_k": "safety.tc_max_k"
+       }
+      }
+     ],
+     "above_role": "tsafe",
+     "jacket": {
+      "arg": "tj_max_k",
+      "set_role": "jacket_set",
+      "limit_role": "jacket_limit",
+      "above_role": null
+     }
+    },
+    "start": {
+     "cap": "experiment.start",
+     "name_arg": "name",
+     "id_key": "experiment_id",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "experiment.end",
+     "args": {
+      "end_mode": "keep"
+     },
+     "cool_arg": "end_temperature_k",
+     "cool_args": {
+      "end_mode": "cool_to"
+     },
+     "skip_if": {
+      "slot": "experiment.running",
+      "falsy": true
+     }
+    },
+    "result": {
+     "cap": "experiment.data",
+     "id_arg": "experiment_id",
+     "id_slot": "experiment.id"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "reactor.indicated_k",
+    "set": "thermostat.tr_setpoint_k",
+    "jacket": "jacket.indicated_k",
+    "jacket_set": "thermostat.tj_setpoint_k",
+    "limit": "safety.tr_max_k",
+    "jacket_limit": "safety.tj_max_k",
+    "tsafe": "safety.tsafe_k",
+    "stir": "stirrer.indicated_rpm",
+    "mode": "thermostat.mode",
+    "dosing": "dosing.active",
+    "dosed": "dosing.indicated_mass_kg",
+    "record": "experiment.id"
+   },
+   "wait_while": "thermostat.ramp_active",
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "emergency.active",
+      "code": "EMERGENCY_ACTIVE",
+      "message": "the emergency programme of {inst} is active; it takes no new settings.",
+      "fix": "remove the cause, then reset it (`chemlab call {inst} emergency.reset`).",
+      "falsy": true
+     }
+    ],
+    "set-temp:jacket": [
+     {
+      "slot": "emergency.active",
+      "code": "EMERGENCY_ACTIVE",
+      "message": "the emergency programme of {inst} is active; it takes no new settings.",
+      "fix": "remove the cause, then reset it (`chemlab call {inst} emergency.reset`).",
+      "falsy": true
+     }
+    ],
+    "stir": [
+     {
+      "slot": "emergency.active",
+      "code": "EMERGENCY_ACTIVE",
+      "message": "the emergency programme of {inst} is active; it takes no new settings.",
+      "fix": "remove the cause, then reset it (`chemlab call {inst} emergency.reset`).",
+      "falsy": true
+     }
+    ],
+    "safety-limit": [
+     {
+      "slot": "emergency.active",
+      "code": "EMERGENCY_ACTIVE",
+      "message": "the emergency programme of {inst} is active; it takes no new settings.",
+      "fix": "remove the cause, then reset it (`chemlab call {inst} emergency.reset`).",
+      "falsy": true
+     }
+    ],
+    "dose": [
+     {
+      "slot": "emergency.active",
+      "code": "EMERGENCY_ACTIVE",
+      "message": "the emergency programme of {inst} is active; it takes no new settings.",
+      "fix": "remove the cause, then reset it (`chemlab call {inst} emergency.reset`).",
+      "falsy": true
+     },
+     {
+      "slot": "dosing.active",
+      "code": "DOSING_ACTIVE",
+      "message": "{inst} is already dosing.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} dose stop`).",
+      "falsy": true
+     },
+     {
+      "slot": "drain.open",
+      "code": "DRAIN_OPEN",
+      "message": "the bottom valve of {inst} is open.",
+      "fix": "ask the lab operator to close it.",
+      "falsy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "experiment.running",
+      "code": "EXPERIMENT_RUNNING",
+      "message": "an experiment is already recording on {inst}.",
+      "fix": "end it first: `chemlab run {inst} stop`.",
+      "falsy": true
+     }
+    ]
+   },
+   "codes": {
+    "dosing.start:PRECONDITION_FAILED": {
+     "code": "DOSING_NOT_POSSIBLE",
+     "message": "{inst} refused the dosing: the substance must be in its library and liquid at the feed temperature, the rate within the dosing unit, the filled volume at most 2 L, and the mixture must not boil near the current or safe temperature.",
+     "fix": "check the substance id and amounts; see `chemlab run {inst} status`."
+    },
+    "thermostat.set_tr:PRECONDITION_FAILED": {
+     "code": "NOT_POSSIBLE_NOW",
+     "message": "{inst} refused the Tr set point: it needs power, no emergency programme, at least 0.5 L in the reactor and an end value below the boiling point minus 2 K.",
+     "fix": "choose a lower temperature (`chemlab run {inst} status`)."
+    },
+    "safety.configure:PRECONDITION_FAILED": {
+     "code": "LIMITS_NOT_CONSISTENT",
+     "message": "{inst} refused the limits: Tr min < Tsafe <= Tr max, the current readings inside the new limits, and Tsafe below the boiling point minus 2 K.",
+     "fix": "choose a limit above the current temperatures and Tsafe."
+    }
+   },
+   "unsupported": {
+    "heat": "the thermostat controls whenever the instrument is on (Tr or Tj mode)",
+    "flow": "batch reactor: no pump",
+    "pressure": "no pressure control in this twin",
+    "light": "no light source",
+    "current": "no electrolysis",
+    "voltage": "no electrolysis",
+    "program": "no stored programme: ramps are given per set point (`set-temp T --ramp 30min`)",
+    "method": "no method: the RC1 runs its steps live (set-temp --ramp, stir, dose) while an experiment records (`start`)",
+    "open": "no lid to open from chemlab",
+    "close": "no lid"
+   },
+   "alternatives": {
+    "heat": "`chemlab run INST set-temp 50C` (Tr mode) or `chemlab run INST set-temp 40C --jacket` (Tj mode).",
+    "program": "`chemlab run INST set-temp 60C --ramp 30min`."
+   },
+   "path": "experiment",
+   "params": {
+    "tolerance_k": 0.5,
+    "controller": "aqueous",
+    "run_name": "chemlab run"
+   },
+   "notes": {
+    "set-temp": [
+     "without --jacket it sets the reaction temperature Tr (the jacket follows); --jacket sets the jacket Tj",
+     "--ramp reaches the end value over that time; --controller aqueous|organic|aqueous_pi|organic_pi (default aqueous)"
+    ],
+    "start": [
+     "start begins an experiment record (named with --name); the thermostat, stirrer and dosing keep running"
+    ],
+    "stop": [
+     "stop ends the experiment record; --cool-to T also cools the jacket to T"
+    ],
+    "dose": [
+     "dosing gives a job; `chemlab wait job-N` waits until the mass is dosed"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/sample_intro.json b/chemlab/configs/adapters/sample_intro.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1b4e72bff4b33c41fc23fb64b6033120859327
--- /dev/null
+++ b/chemlab/configs/adapters/sample_intro.json
@@ -0,0 +1,1473 @@
+{
+ "class": "sample_intro",
+ "adapter": "chemlab.compile.classes.sample_intro:SampleIntroAdapter",
+ "about": "Sample introduction front ends (headspace, purge and trap, laser ablation, pyrolysis, thermal desorption): method KEY=VALUE, load / unload vials, set-temp per zone, start (job), inject (manual pyrolyzer step), stop, result, position (laser stage), status. Ranges and units come from each member's contract.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "agilent_hs8697",
+   "teledyne_atomxxyz",
+   "teledyne_analyteexcite",
+   "frontier_egapy",
+   "markes_unityxr"
+  ],
+  "secondary": {},
+  "notes": "power, open / close of lids, guards, drawers and shields come from the shared layer on every member."
+ },
+ "members": {
+  "agilent_hs8697": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.set_equilibration_time",
+       "keys": {
+        "equilibration": "duration_s"
+       },
+       "passthrough": true
+      },
+      {
+       "cap": "hs.method.configure",
+       "object": "settings",
+       "passthrough": true,
+       "keys": {
+        "gc-cycle": "gc_cycle_s",
+        "shake": "shake",
+        "vial-size": "vial_size_m3",
+        "fill-pressure": "fill_pressure_Pa"
+       }
+      }
+     ]
+    },
+    "load": {
+     "cap": "sample.load",
+     "id_arg": "sample_id",
+     "slot_arg": "slot_id",
+     "slot_format": "tray_{:02d}",
+     "positions": 48,
+     "occupancy": "tray.occupancy",
+     "lid": {
+      "cap": "lid.set_angle",
+      "arg": "angle_rad",
+      "open": 1.5707963267948966,
+      "close": 0.0,
+      "slot": "lid.angle_rad",
+      "min_open": 1.0471975511965976
+     }
+    },
+    "unload": {
+     "cap": "sample.unload",
+     "slot_arg": "slot_id",
+     "slot_format": "tray_{:02d}",
+     "positions": 48,
+     "occupancy": "tray.occupancy",
+     "lid": {
+      "cap": "lid.set_angle",
+      "arg": "angle_rad",
+      "open": 1.5707963267948966,
+      "close": 0.0,
+      "slot": "lid.angle_rad",
+      "min_open": 1.0471975511965976
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    },
+    "start": {
+     "cap": "sequence.start",
+     "vials_arg": "vials",
+     "injections_arg": "injections_per_vial",
+     "positions": 48,
+     "occupancy": "tray.occupancy",
+     "job": {
+      "slot": "hs.sequence",
+      "null_done": true,
+      "report": {
+       "injections": "measurement.count"
+      },
+      "max_s": 86400,
+      "poll_s": 5.0
+     }
+    },
+    "stop": {
+     "cap": "sequence.stop",
+     "args": {
+      "scope": "sequence"
+     }
+    },
+    "result": {
+     "reads": [
+      "measurement.count",
+      "injection.log",
+      "measurement.chromatogram"
+     ],
+     "show": [
+      "measurement.count",
+      "injection.log",
+      "measurement.chromatogram"
+     ]
+    }
+   },
+   "targets": {
+    "zone": {
+     "arg": "zone",
+     "values": {
+      "oven": "oven",
+      "loop": "loop_valve",
+      "transfer": "transfer_line"
+     },
+     "required": true
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "ambient": "ambient.temperature_k"
+   },
+   "params": {
+    "above_ambient_k": 5.0,
+    "busy": {
+     "slot": "hs.sequence",
+     "not_null": true
+    }
+   },
+   "path_exceptions": [
+    "measurement.count",
+    "injection.log",
+    "measurement.chromatogram"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "status",
+     "hs.status#text"
+    ],
+    [
+     "oven set",
+     "thermal.oven.setpoint_k",
+     "temperature"
+    ],
+    [
+     "loop set",
+     "thermal.loop_valve.setpoint_k",
+     "temperature"
+    ],
+    [
+     "transfer line set",
+     "thermal.transfer_line.setpoint_k",
+     "temperature"
+    ],
+    [
+     "equilibration",
+     "method.equilibration_time_s",
+     "duration"
+    ],
+    [
+     "tray",
+     "tray.occupancy"
+    ],
+    [
+     "sequence",
+     "hs.sequence"
+    ],
+    [
+     "injections",
+     "measurement.count"
+    ],
+    [
+     "lid closed",
+     "lid.closed"
+    ]
+   ],
+   "requires": {
+    "load": [
+     {
+      "slot": "hs.sequence",
+      "value": null,
+      "code": "BUSY",
+      "label": "no sequence running",
+      "message": "{inst} is running a sequence; the tray is in use.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "unload": [
+     {
+      "slot": "hs.sequence",
+      "value": null,
+      "code": "BUSY",
+      "label": "no sequence running",
+      "message": "{inst} is running a sequence; the tray is in use.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it (`chemlab run {inst} stop`)."
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "ambient.temperature_k",
+      "set": true,
+      "code": "NO_AMBIENT",
+      "label": "room temperature known",
+      "message": "{inst} does not know the room temperature yet, so it takes no zone set points (the lab sets it up).",
+      "fix": "ask the lab operator to set the instrument up; nothing to do from chemlab."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.equilibration_time_s",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "equilibration time set",
+      "message": "{inst} has no equilibration time in its method, so a sequence cannot start.",
+      "fix": "set it: `chemlab run {inst} method equilibration=10min`."
+     },
+     {
+      "slot": "gc.connected",
+      "truthy": true,
+      "code": "GC_NOT_CONNECTED",
+      "label": "GC connected",
+      "message": "{inst} is not connected to a GC, so it cannot inject.",
+      "fix": "ask the lab operator to connect the GC."
+     },
+     {
+      "slot": "lid.closed",
+      "truthy": true,
+      "code": "LID_OPEN",
+      "label": "lid closed",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "hs.sequence",
+      "set": true,
+      "code": "NOT_RUNNING",
+      "label": "a sequence running",
+      "message": "{inst} has no sequence running.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "sample.load:PRECONDITION_FAILED": {
+     "code": "NOT_REGISTERED",
+     "message": "{inst} did not take that vial: the vial id is not one the lab prepared, or it is already in the tray.",
+     "fix": "use a vial id the lab gave you; see the tray with `chemlab run {inst} status`."
+    },
+    "thermal.set_temperature:PRECONDITION_FAILED": {
+     "code": "TOO_LOW",
+     "message": "{inst} refused the set point: it must be at least 5 K above the room temperature and the instrument must be on.",
+     "fix": "give a higher set point; check `chemlab run {inst} status`."
+    },
+    "sequence.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start a sequence: the method needs an equilibration time and the instrument must be idle.",
+     "fix": "set `chemlab run {inst} method equilibration=10min`; see `chemlab run {inst} status`."
+    },
+    "sequence.start:BUSY": {
+     "code": "BUSY",
+     "message": "{inst} is busy (a sequence, a test, a calibration or its start-up).",
+     "fix": "wait for it: `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "inject": "the 8697 injects only within a sequence (its direct `measure` path is a second native path the class does not use)",
+    "position": "no sample stage (vials move on the tray)",
+    "rinse": "no rinse step (the sample loop is purged by the method's purge settings)"
+   },
+   "alternatives": {
+    "inject": "run a one-vial sequence: `chemlab run INST start --vials N`."
+   },
+   "notes": {
+    "start": [
+     "the sequence waits until the oven is at temperature and the instrument is ready; the job ends when every vial is back in the tray",
+     "the GC runs belong to the GC; the lab connects it"
+    ],
+    "set-temp": [
+     "zones: oven (vials), loop (sample loop and valve), transfer (transfer line); set points at least 5 K above the room temperature"
+    ],
+    "method": [
+     "equilibration goes to the method's equilibration time; the other keys go to the headspace method (only what you give changes)"
+    ]
+   },
+   "manual": "Agilent 8697 headspace operation manual G4511-90004 (method, tray, sequences, Park; see manifest key sections); 8697 brochure p.5-6 (method parameters)",
+   "examples": {
+    "method": "chemlab run INST method equilibration=10min gc-cycle=5min shake=3",
+    "start": "chemlab run INST start --vials 1,2",
+    "load": "chemlab run INST load v1 --vial 1",
+    "set-temp": "chemlab run INST set-temp 70C --zone oven",
+    "stop": "chemlab run INST stop"
+   }
+  },
+  "teledyne_atomxxyz": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": true,
+       "keep": {
+        "last": true,
+        "example": true
+       },
+       "keys": {
+        "matrix": "matrix",
+        "sample-volume": "sample_volume_m3",
+        "dilution": "dilution",
+        "purge-temp": "purge_k",
+        "purge-time": "purge_s",
+        "purge-flow": "purge_flow_m3_s",
+        "dry-purge-time": "dry_purge_s",
+        "desorb-temp": "desorb_k",
+        "desorb-time": "desorb_s",
+        "bake-temp": "bake_k",
+        "bake-time": "bake_s"
+       }
+      }
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "vial_arg": "vial_index",
+     "vial_base": 0,
+     "positions": 84,
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "report": {
+       "stage": "acquisition.stage"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "stage",
+      "complete",
+      "elapsed_s",
+      "gc_start",
+      "points",
+      "quality",
+      "evidence",
+      "warnings"
+     ]
+    },
+    "rinse": {
+     "cap": "system.rinse",
+     "arg": "volume_m3"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "vials",
+     "sample.count"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "stage",
+     "acquisition.stage"
+    ],
+    [
+     "elapsed",
+     "acquisition.elapsed_s",
+     "duration"
+    ],
+    [
+     "trap",
+     "trap.temperature_k",
+     "temperature"
+    ],
+    [
+     "guard",
+     "guard.angle_rad",
+     "angle"
+    ],
+    [
+     "trap door",
+     "trap_door.angle_rad",
+     "angle"
+    ]
+   ],
+   "requires": {
+    "method": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running; the method cannot change now.",
+      "fix": "wait for the run (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method yet.",
+      "fix": "set one: `chemlab run {inst} method matrix=water purge-time=11min` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "guard.angle_rad",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "guard closed",
+      "message": "the guard of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close guard`."
+     },
+     {
+      "slot": "trap_door.angle_rad",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "trap door closed",
+      "message": "the trap door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close trap_door`."
+     },
+     {
+      "slot": "sample.count",
+      "min": 1,
+      "code": "NO_SAMPLE",
+      "label": "a vial on the tray",
+      "message": "there is no sample vial on the tray of {inst}.",
+      "fix": "ask the lab operator to place the vials."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a run in progress",
+      "message": "{inst} has no run in progress.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ],
+    "rinse": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running; it rinses after the run by itself.",
+      "fix": "wait for the run (`chemlab run {inst} wait`) or stop it."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:EMPTY_POSITION": {
+     "code": "EMPTY_POSITION",
+     "message": "there is no vial at that tray position of {inst}.",
+     "fix": "give the position the lab put the vial at (`--vial N`)."
+    },
+    "acquisition.start:METHOD_MATRIX": {
+     "code": "WRONG_MATRIX",
+     "message": "the vial's matrix does not match the method's matrix on {inst}.",
+     "fix": "set `chemlab run {inst} method matrix=...` to the sample's matrix."
+    },
+    "acquisition.start:HOT_TRAP": {
+     "code": "HOT",
+     "message": "the trap of {inst} is still hot from the last run.",
+     "fix": "wait a few minutes, then start again."
+    },
+    "method.configure:METHOD_GRID": {
+     "code": "BAD_STEP",
+     "message": "{inst} takes times and temperatures only on its setting grid.",
+     "fix": "round the values (whole seconds, whole °C)."
+    },
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready to take that vial: there is no vial at that tray position, or the sparge vessel still holds liquid from a stopped run.",
+     "fix": "rinse it (`chemlab run {inst} rinse`), and check the tray position (`--vial N`)."
+    }
+   },
+   "unsupported": {
+    "load": "the vials are placed on the tray by the lab operator (no load command)",
+    "unload": "the vials are taken off the tray by the lab operator (no unload command)",
+    "set-temp": "its temperatures are method settings (purge-temp, desorb-temp, bake-temp)",
+    "inject": "the run transfers the sample by itself (no manual step)",
+    "position": "no sample stage"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run INST method purge-temp=40C desorb-temp=250C`."
+   },
+   "notes": {
+    "start": [
+     "--vial N is the tray position (1..84); the contract counts from 0, so position 1 is vial_index 0",
+     "one run takes about 20 min with the documented method; follow it with the job"
+    ],
+    "method": [
+     "method.configure needs every setting; the ones you leave out stay as in the last accepted method, else the documented defaults (the reply lists them)"
+    ],
+    "rinse": [
+     "water rinse of the sparger after a stopped or failed run; the default volume is the documented 7 mL; the trap is not cleaned by it"
+    ]
+   },
+   "manual": "Atomx XYZ user manual (purge and trap operation p.24-32, TekLink method and schedule p.75-120)",
+   "examples": {
+    "method": "chemlab run INST method purge-temp=40C purge-time=10min desorb-temp=250C",
+    "start": "chemlab run INST start --vial 1",
+    "rinse": "chemlab run INST rinse 7mL"
+   }
+  },
+  "teledyne_analyteexcite": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": true,
+       "keep": {
+        "last": true,
+        "example": true
+       },
+       "keys": {
+        "mode": "mode",
+        "shape": "shape",
+        "spot": "spot_size_m",
+        "fluence": "fluence_j_m2",
+        "frequency": "frequency_hz",
+        "shots": "shots",
+        "washout": "washout_s",
+        "scan-speed": "scan_speed_m_s"
+       }
+      }
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "report": {
+       "stage": "acquisition.stage",
+       "pulses": "laser.pulse_count"
+      },
+      "max_s": 3600
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "stage",
+      "elapsed_s",
+      "pulses",
+      "quality",
+      "evidence",
+      "warnings"
+     ]
+    },
+    "position": {
+     "cap": "stage.move",
+     "arg": "position_m",
+     "axes": [
+      "stage.x_m",
+      "stage.y_m",
+      "stage.z_m"
+     ],
+     "tolerance_m": 1e-07,
+     "max_s": 60
+    },
+    "rinse": {
+     "cap": "washout.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "max_s": 600
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "sample",
+     "sample.loaded"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "stage",
+     "acquisition.stage"
+    ],
+    [
+     "pulses",
+     "laser.pulse_count"
+    ],
+    [
+     "x",
+     "stage.x_m",
+     "length"
+    ],
+    [
+     "y",
+     "stage.y_m",
+     "length"
+    ],
+    [
+     "z",
+     "stage.z_m",
+     "length"
+    ],
+    [
+     "drawer",
+     "drawer.open_m",
+     "length"
+    ],
+    [
+     "guard",
+     "guard.angle_rad",
+     "angle"
+    ]
+   ],
+   "requires": {
+    "method": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running; the method cannot change now.",
+      "fix": "wait for the run (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no ablation method yet.",
+      "fix": "set one: `chemlab run {inst} method mode=spot spot=80um shots=10` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "drawer.open_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "sample drawer closed",
+      "message": "the sample drawer of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close drawer`."
+     },
+     {
+      "slot": "guard.angle_rad",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "guard closed",
+      "message": "the guard of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close guard`."
+     },
+     {
+      "slot": "service.angle_rad",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "service cover closed",
+      "message": "the service cover of {inst} is open.",
+      "fix": "close it: `chemlab call {inst} service.set --angle_rad 0`."
+     },
+     {
+      "slot": "sample.loaded",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "a sample in the cell",
+      "message": "there is no sample in the ablation cell of {inst}.",
+      "fix": "ask the lab operator to load the sample."
+     }
+    ],
+    "position": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "drawer.open_m",
+      "max": 0.0,
+      "code": "DRAWER_OPEN",
+      "label": "sample drawer closed",
+      "message": "the sample drawer of {inst} is open, so the stage does not move.",
+      "fix": "close it: `chemlab run {inst} close drawer`."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is ablating; the stage follows the method now.",
+      "fix": "wait for the run (`chemlab run {inst} wait`)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a run in progress",
+      "message": "{inst} has no run in progress.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ],
+    "rinse": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} needs a method for the washout gas flows.",
+      "fix": "set one: `chemlab run {inst} method mode=spot` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "drawer.open_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "sample drawer closed",
+      "message": "the sample drawer of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close drawer`."
+     },
+     {
+      "slot": "guard.angle_rad",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "guard closed",
+      "message": "the guard of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close guard`."
+     },
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running.",
+      "fix": "wait for the run (`chemlab run {inst} wait`)."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:SAMPLE_BOUNDS": {
+     "code": "OUTSIDE_SAMPLE",
+     "message": "the laser path of the method leaves the sample on {inst}.",
+     "fix": "set a path inside the sample (`chemlab run {inst} method path_m=[[x,y,z]]`, metres)."
+    },
+    "acquisition.start:GRID_RESOLUTION": {
+     "code": "SPOT_TOO_SMALL",
+     "message": "the spot is too small for the sample model of {inst}.",
+     "fix": "use a larger spot (`method spot=80um`)."
+    },
+    "method.configure:APERTURE_LIST_UNAVAILABLE": {
+     "code": "UNKNOWN_APERTURE",
+     "message": "{inst} knows only the 50 µm circle and the 80 µm square apertures.",
+     "fix": "use `method shape=square spot=80um` or `shape=circle spot=50um`, or add accept_aperture_interpolation=true."
+    },
+    "method.configure:PATH_INVALID": {
+     "code": "BAD_PATH",
+     "message": "the laser path does not fit the mode (spot: one point, scan: two or more, z at most 50 mm).",
+     "fix": "give path_m=[[x,y,z]] for spot mode."
+    }
+   },
+   "unsupported": {
+    "load": "the sample is placed in the ablation cell drawer by the lab operator (no load command)",
+    "unload": "the sample is taken out of the drawer by the lab operator (no unload command)",
+    "set-temp": "no heated zone",
+    "inject": "the ablated aerosol goes to the ICP-MS by itself (no manual step)"
+   },
+   "notes": {
+    "start": [
+     "the laser fires along the method's path; a spot of 10 shots takes about 2 s plus the washout"
+    ],
+    "position": [
+     "moves the stage (bare numbers in mm, the stage travel is 0..100 mm) and waits until it is there"
+    ],
+    "method": [
+     "fluence is in J/m² (60000 J/m² = 6 J/cm²); path_m is a JSON list of [x, y, z] points in metres"
+    ],
+    "rinse": [
+     "a gas washout of the ablation cell into the ICP-MS for the method's washout time (a job)"
+    ]
+   },
+   "manual": "Analyte Excite+ specification sheet p.1-2 (laser, stage, gas handling, triggering); HelEx II cell brochure p.1-4",
+   "examples": {
+    "method": "chemlab run INST method mode=spot shape=square spot=80um shots=20 path_m=[[0.03,0.03,0.01]]",
+    "start": "chemlab run INST start",
+    "position": "chemlab run INST position 30mm 30mm 10mm",
+    "rinse": "chemlab run INST rinse"
+   }
+  },
+  "frontier_egapy": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": true,
+       "keep": {
+        "last": true,
+        "example": true
+       },
+       "keys": {
+        "mode": "mode",
+        "pyrolysis-temp": "pyrolysis_k",
+        "pyrolysis-time": "pyrolysis_s",
+        "td-start": "td_start_k",
+        "td-end": "td_end_k",
+        "ramp": "ramp_k_s",
+        "hold": "hold_s",
+        "interface-temp": "interface_k",
+        "carrier-flow": "carrier_flow_m3_s"
+       }
+      }
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "report": {
+       "stage": "acquisition.stage"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "stage",
+      "elapsed_s",
+      "thermal_trace",
+      "quality",
+      "template_source",
+      "warnings"
+     ]
+    },
+    "inject": {
+     "stage_slot": "acquisition.stage",
+     "phase_slot": "acquisition.phase",
+     "gc_slot": "gc.ready",
+     "temp_slot": "furnace.temperature_k",
+     "steps": {
+      "wait_drop": {
+       "gc": true,
+       "calls": [
+        {
+         "cap": "cup.drop",
+         "what": "drop the sample cup into the furnace"
+        },
+        {
+         "cap": "acquisition.confirm",
+         "what": "confirm the drop"
+        }
+       ]
+      },
+      "wait_insert": {
+       "gc": true,
+       "calls": [
+        {
+         "cap": "sampler.set",
+         "arg": "down_m",
+         "value": "max",
+         "what": "lower the sampler into the furnace"
+        },
+        {
+         "cap": "acquisition.confirm",
+         "what": "confirm the insertion"
+        }
+       ]
+      },
+      "wait_retract": {
+       "calls": [
+        {
+         "cap": "sampler.set",
+         "arg": "down_m",
+         "value": "min",
+         "what": "raise the sampler"
+        },
+        {
+         "cap": "acquisition.confirm",
+         "what": "confirm the retraction"
+        }
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "carrier gas",
+     "gas.enabled"
+    ],
+    [
+     "sample",
+     "sample.loaded"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "stage",
+     "acquisition.stage"
+    ],
+    [
+     "furnace",
+     "furnace.temperature_k",
+     "temperature"
+    ],
+    [
+     "interface",
+     "interface.temperature_k",
+     "temperature"
+    ],
+    [
+     "GC ready",
+     "gc.ready"
+    ],
+    [
+     "GC starts",
+     "gc.trigger_count"
+    ]
+   ],
+   "requires": {
+    "method": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running; the method cannot change now.",
+      "fix": "wait for the run (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method yet.",
+      "fix": "set one: `chemlab run {inst} method mode=single pyrolysis-temp=600C` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "gas.enabled",
+      "value": true,
+      "code": "GAS_OFF",
+      "label": "carrier gas on",
+      "message": "the carrier gas of {inst} is off.",
+      "fix": "switch it on: `chemlab call {inst} gas.set --enabled true`."
+     },
+     {
+      "slot": "sample.loaded",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "a sample cup loaded",
+      "message": "there is no sample cup in the sampler of {inst}.",
+      "fix": "ask the lab operator to load the sample cup."
+     },
+     {
+      "slot": "guard.lift_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "guard closed",
+      "message": "the guard of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close guard`."
+     },
+     {
+      "slot": "sampler.down_m",
+      "max": 0.0,
+      "code": "SAMPLER_DOWN",
+      "label": "sampler up",
+      "message": "the sampler of {inst} is lowered.",
+      "fix": "raise it: `chemlab call {inst} sampler.set --down_m 0`."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a run in progress",
+      "message": "{inst} has no run in progress.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "method.configure:INVALID_ARGUMENT": {
+     "code": "BAD_STEP",
+     "message": "{inst} takes temperatures in whole °C, times in 6 s steps and ramps in 1 K/min steps, the end temperature not below the start, and every temperature at least 10 K above the room.",
+     "fix": "round the values (e.g. pyrolysis-time=0.1min, ramp=20K/min)."
+    },
+    "cup.drop:MANUAL_INTERLOCK": {
+     "code": "NOT_NOW",
+     "message": "{inst} does not take the cup now (the run is not waiting for the drop, the sampler is down or the GC is not ready).",
+     "fix": "see `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "load": "the sample cup is filled and put into the sampler by the lab operator (no load command)",
+    "unload": "the sample cup is taken out by the lab operator (no unload command)",
+    "set-temp": "its temperatures are method settings (pyrolysis-temp, td-start, td-end, interface-temp)",
+    "position": "no sample stage",
+    "rinse": "no rinse step (the furnace is cleaned by heating, not by the agent)"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run INST method pyrolysis-temp=600C interface-temp=300C`."
+   },
+   "notes": {
+    "start": [
+     "the run heats the furnace and then waits for the manual step: use `chemlab run INST inject --wait` (single shot: the cup drop)",
+     "the GC must be ready (the lab runs it); the job ends when the furnace has cooled after the shot"
+    ],
+    "inject": [
+     "single shot: drop the cup and confirm; double shot / EGA: lower the sampler and confirm, later raise it and confirm"
+    ]
+   },
+   "manual": "PY-3030D operation manual v1.29 (pyrolyzer ch.1 p.10-14, control software p.30-35, single / double shot and EGA operation)",
+   "examples": {
+    "method": "chemlab run INST method mode=single pyrolysis-temp=600C pyrolysis-time=0.1min",
+    "start": "chemlab run INST start",
+    "inject": "chemlab run INST inject --wait"
+   }
+  },
+  "markes_unityxr": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": true,
+       "keep": {
+        "last": true,
+        "example": true
+       },
+       "keys": {
+        "mode": "mode",
+        "desorb-temp": "tube_k",
+        "desorb-time": "tube_hold_s",
+        "trap-low": "trap_low_k",
+        "trap-high": "trap_high_k",
+        "trap-time": "trap_hold_s",
+        "trap-ramp": "trap_ramp_k_s",
+        "valve-temp": "valve_k",
+        "line-temp": "line_k",
+        "purge-flow": "purge_flow_m3_s",
+        "purge-time": "prepurge_s"
+       }
+      }
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "acquisition.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "failed",
+       "cancelled"
+      ],
+      "report": {
+       "stage": "acquisition.stage"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure",
+     "show": [
+      "phase",
+      "stage",
+      "elapsed_s",
+      "leak_result",
+      "thermal_trace",
+      "quality",
+      "template_source",
+      "warnings"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "acquisition.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "method set",
+     "method.configured"
+    ],
+    [
+     "tube",
+     "sample.loaded"
+    ],
+    [
+     "phase",
+     "acquisition.phase"
+    ],
+    [
+     "stage",
+     "acquisition.stage"
+    ],
+    [
+     "tube temp",
+     "tube.temperature_k",
+     "temperature"
+    ],
+    [
+     "trap",
+     "trap.temperature_k",
+     "temperature"
+    ],
+    [
+     "leak test",
+     "leak.result"
+    ],
+    [
+     "GC ready",
+     "gc.ready"
+    ],
+    [
+     "GC starts",
+     "gc.trigger_count"
+    ],
+    [
+     "lid",
+     "lid.lift_m",
+     "length"
+    ]
+   ],
+   "requires": {
+    "method": [
+     {
+      "slot": "acquisition.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no run in progress",
+      "message": "{inst} is running; the method cannot change now.",
+      "fix": "wait for the run (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method yet.",
+      "fix": "set one: `chemlab run {inst} method mode=analyze desorb-temp=300C` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "lid.lift_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "lid closed",
+      "message": "the lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`."
+     },
+     {
+      "slot": "shield.lift_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "shield closed",
+      "message": "the shield of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close shield`."
+     },
+     {
+      "slot": "rear.slide_m",
+      "max": 0.0,
+      "code": "COVER_OPEN",
+      "label": "rear panel closed",
+      "message": "the rear panel of {inst} is open.",
+      "fix": "close it: `chemlab call {inst} rear.set --slide_m 0`."
+     },
+     {
+      "slot": "sample_lever.angle_rad",
+      "max": 0.0,
+      "code": "LEVER_OPEN",
+      "label": "sample lever closed",
+      "message": "the sample tube lever of {inst} is open.",
+      "fix": "close it: `chemlab call {inst} sample_lever.set --angle_rad 0`."
+     },
+     {
+      "slot": "recollect_lever.angle_rad",
+      "max": 0.0,
+      "code": "LEVER_OPEN",
+      "label": "re-collection lever closed",
+      "message": "the re-collection lever of {inst} is open.",
+      "fix": "close it: `chemlab call {inst} recollect_lever.set --angle_rad 0`."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "acquisition.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "a run in progress",
+      "message": "{inst} has no run in progress.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:NOT_READY": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready to start: in analyze mode it needs a sample tube loaded and a cool tube oven, and a method with recollect=true needs the re-collection tube installed.",
+     "fix": "check `chemlab run {inst} status`; set `method recollect=false` if no re-collection tube is installed."
+    },
+    "method.configure:TENAX_TEMPERATURE_LIMIT": {
+     "code": "TOO_HOT",
+     "message": "{inst} keeps the tube and the trap at or below 350 °C (sorbent limit).",
+     "fix": "give desorb-temp and trap-high of 350C or less."
+    },
+    "method.configure:FLOW_RANGE": {
+     "code": "BAD_FLOW",
+     "message": "{inst} takes the purge, trap and split flows in whole mL/min from 2 to 500 mL/min (250 with nitrogen), or 0 for the splits.",
+     "fix": "round the flows to whole mL/min."
+    },
+    "method.configure:INVALID_ARGUMENT": {
+     "code": "BAD_STEP",
+     "message": "{inst} takes temperatures in whole °C and times in 6 s steps, with trap-high not below trap-low.",
+     "fix": "round the values."
+    }
+   },
+   "unsupported": {
+    "load": "the sample tube is put in by the lab operator (no load command; the lid and levers are manual)",
+    "unload": "the sample tube is taken out by the lab operator (no unload command)",
+    "set-temp": "its temperatures are method settings (desorb-temp, trap-low, trap-high, valve-temp, line-temp)",
+    "inject": "the desorbed sample goes to the GC by itself once the GC is ready (no manual step)",
+    "position": "no sample stage",
+    "rinse": "no rinse step (tube and trap conditioning are method modes: `method mode=tube_condition`)"
+   },
+   "alternatives": {
+    "set-temp": "`chemlab run INST method desorb-temp=300C trap-high=300C`.",
+    "rinse": "`chemlab run INST method mode=trap_condition` then `chemlab run INST start`."
+   },
+   "notes": {
+    "start": [
+     "the run does a leak test, purges, desorbs the tube onto the cold trap, waits for the GC to be ready and then desorbs the trap into the GC"
+    ],
+    "method": [
+     "method.configure needs every setting; the ones you leave out stay as in the last accepted method, else the documented defaults (the reply lists them); set recollect=false if no re-collection tube is installed"
+    ]
+   },
+   "manual": "UNITY-xr user manual (quick start p.11-14, tube and trap p.15-21, method editor p.25-42)",
+   "examples": {
+    "method": "chemlab run INST method mode=analyze desorb-temp=280C recollect=false",
+    "start": "chemlab run INST start"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/chemlab/configs/adapters/shared.json b/chemlab/configs/adapters/shared.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37040dddc26d643be78963ac34b5ff3fc73d444
--- /dev/null
+++ b/chemlab/configs/adapters/shared.json
@@ -0,0 +1,7462 @@
+{
+ "class": "shared",
+ "layer": "shared",
+ "adapter": "chemlab.compile.shared:SharedAdapter",
+ "about": "The shared layer, generated from the contracts by chemlab/compile/shared_gen.py: power, status, open/close of named parts, ack, estop and method / start / stop / result / wait wherever the contract supports them.  Class fragments override it verb by verb (fragments.py precedence).  Regenerate, do not hand-edit.",
+ "generated_by": "python -m chemlab.compile.shared_gen --write",
+ "membership": {
+  "members": 198,
+  "thin_class_members_left_out": [
+   "cem_libertyblue",
+   "cytiva_ktaoligosynt",
+   "inert_puresolvmd",
+   "vaisala_dmt152",
+   "wtw_oxitopi"
+  ]
+ },
+ "members": {
+  "agilent_1260infinity": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "drawer_1": {
+       "cap": "drawer_1.set",
+       "arg": "position_m",
+       "open": 0.3,
+       "close": 0
+      },
+      "drawer_2": {
+       "cap": "drawer_2.set",
+       "arg": "position_m",
+       "open": 0.3,
+       "close": 0
+      },
+      "drawer_3": {
+       "cap": "drawer_3.set",
+       "arg": "position_m",
+       "open": 0.3,
+       "close": 0
+      },
+      "drawer_4": {
+       "cap": "drawer_4.set",
+       "arg": "position_m",
+       "open": 0.3,
+       "close": 0
+      },
+      "mct_door": {
+       "cap": "mct_door.set",
+       "arg": "angle_rad",
+       "open": 1.5,
+       "close": 0
+      },
+      "sampler_door": {
+       "cap": "sampler_door.set",
+       "arg": "angle_rad",
+       "open": 1.75,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "run.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "agilent_1290infinity": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "column_cover": {
+       "cap": "column_cover.set",
+       "arg": "angle_rad",
+       "open": 1.75,
+       "close": 0
+      },
+      "door": {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "open": 1.8,
+       "close": 0
+      },
+      "drawer": {
+       "cap": "drawer.set",
+       "arg": "position_m",
+       "open": 0.22,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "agilent_7890b_ssl_fid": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "oven_door": {
+       "cap": "oven.set_door",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.silence"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "run.state",
+    "sequence.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "agilent_gc8890b": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.9198621771937625,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "agilent_hplc1260": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "chromatography.set_method"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "run.status"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "agilent_hs8697": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "alicat_mc_1slpm_rev6": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ametek_oxtran": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cell_a.phase",
+    "cell_b.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "antonpaar_abbematadvanced": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "refractometry.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "refractometry.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_autosorb6100": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "guard": {
+       "cap": "guard.set",
+       "arg": "angle_rad",
+       "open": 1.5,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "degas.phase",
+    "station0.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "antonpaar_dma5002": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "density.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "density.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_hit300": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "antonpaar_litesizerdia": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "latch": {
+       "cap": "latch.set",
+       "arg": "angle_rad",
+       "open": 0.65,
+       "close": 0
+      },
+      "lid": {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "open": 1.55,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_litesizerdls": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cell_cap": {
+       "cap": "cell_cap.set",
+       "arg": "lift_m",
+       "open": 0.022,
+       "close": 0
+      },
+      "lid": {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "open": 1.7,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_mcr503": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_monowave400": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_lift",
+       "arg": "lift_m",
+       "open": 0.15,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "reaction.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "reaction.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_poremaster60": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cap": {
+       "cap": "cap.set",
+       "arg": "lift_m",
+       "open": 0.19,
+       "close": 0
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "antonpaar_psa1190": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "cap": "cover.set",
+       "arg": "angle_rad",
+       "open": 1.2,
+       "close": 0
+      },
+      "dry_hood": {
+       "cap": "dry_hood.set",
+       "arg": "lift_m",
+       "open": 0.2,
+       "close": 0
+      },
+      "tank_lid": {
+       "cap": "tank_lid.set",
+       "arg": "slide_m",
+       "open": 0.17,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_rst300": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "tool.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "antonpaar_saxspace": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "asx_door": {
+       "cap": "asx.set_door",
+       "arg": "open",
+       "open": true,
+       "close": false
+      },
+      "chamber_door": {
+       "cap": "chamber.set_door",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "generator.acknowledge"
+    },
+    "estop": {
+     "cap": "generator.emergency_stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "collimation.mode",
+    "system.state"
+   ],
+   "unsupported": {
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "antonpaar_surpass3": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "open": 0.105,
+       "close": 0.0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "antonpaar_trb": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "drive.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "antonpaar_ultrapyc5000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "open": 0.13,
+       "close": 0
+      }
+     }
+    },
+    "ack": {
+     "cap": "error.clear"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability"
+   }
+  },
+  "applied_sx20": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "aqualab_4te": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "latch": {
+       "cap": "latch.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      },
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "water_activity.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "water_activity.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "arradiance_gemstarxt": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "safety.emo"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "azenta_automated_roll_heat_sealer_a4s": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "sealing.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "azenta_intellixcap_s1_46_0001": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "start": {
+     "cap": "cycle.start",
+     "job": "operation"
+    },
+    "result": {
+     "cap": "cycle.read"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.status",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "stop": "no stop for its start capability"
+   }
+  },
+  "bd_facsariaiii": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "drawer": {
+       "cap": "drawer.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "warnings.dismiss"
+    },
+    "estop": {
+     "cap": "safety.emergency_stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "amo.mode",
+    "cst.status",
+    "fluidics.state"
+   ],
+   "unsupported": {
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "binder_fd056": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "open": 1.806415775814131,
+       "close": 0.0
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "binder_kbf115": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.move",
+       "arg": "angle_rad",
+       "open": 1.75,
+       "close": 0.0
+      },
+      "glass_door": {
+       "cap": "glass_door.move",
+       "arg": "angle_rad",
+       "open": 1.65,
+       "close": 0.0
+      },
+      "water_supply": {
+       "cap": "water.supply",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.reset"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "binder_vd56": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "vacuum_valve": {
+       "cap": "vacuum.set_valve",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "vent_valve": {
+       "cap": "vent.set_valve",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "messages.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "safety.mode"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "biolin_mediuml": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "biolin_sigma700": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "open": 2.35,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "biolin_thetaflex": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "biorad_cfxopus": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "open_cap": "lid.open",
+       "close_cap": "lid.close"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "lid.state",
+    "run.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "biorad_miniprotean": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "display.mode",
+    "leads.state",
+    "psu.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "biotage_extrahera_classic": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.silence"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "operation"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "method.status",
+    "method.phase",
+    "sample.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "biotage_selekt": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "chromatography.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "chromatography.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "biotek_405ts": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "bmg_clariostarplus": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "drawer": {
+       "cap": "drawer.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      },
+      "lid": {
+       "cap": "lid.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "bronkhorst_cemw": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "bleed": {
+       "cap": "bleed.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "bronkhorst_p702cv_5bar_gauge_n2": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "alarm.reset"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "alarm.mode",
+    "control.mode",
+    "control.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "brooks_preciseflex_400": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "motion.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "bruker_magnettechesr5000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "bruker_minispecmq20": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "bruker_x4poseidon": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "open_cap": "door.open",
+       "close_cap": "door.close"
+      }
+     }
+    },
+    "ack": {
+     "cap": "system.acknowledge"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "start": {
+     "cap": "scan.start",
+     "job": "operation"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "system.state"
+   ],
+   "unsupported": {
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "buchi_encapsulatorb": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "encapsulation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "encapsulation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "buchi_hydrolexh": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "hydrolysis.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "hydrolysis.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "thermal.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "buchi_lyovapor_l250_pro": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "chamber": {
+       "cap": "chamber.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "messages.acknowledge"
+    },
+    "start": {
+     "cap": "process.start",
+     "job": "none"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "system.status",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "buchi_minispray": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "notifications.acknowledge"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "drying.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "drying.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)"
+   }
+  },
+  "buchi_speedextractore": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "drawer": {
+       "cap": "drawer.set_extension",
+       "arg": "extension_m",
+       "open": 0.16,
+       "close": 0
+      },
+      "shield": {
+       "cap": "shield.set_lift",
+       "arg": "lift_m",
+       "open": 0.18,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extraction.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "extraction.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "camag_tlcscanner": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "scan.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "scan.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "carbolite_tf1_12_60_300": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "alarm.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ch_chi440c": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "open": 0.05,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ch_chi920d": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "cytiva_biacoret200": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "clamp": {
+       "cap": "clamp.set",
+       "arg": "closed",
+       "open": false,
+       "close": true
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "chip.state",
+    "flow.state",
+    "rack.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "cytiva_nanoassemblrignite": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "block": {
+       "cap": "block.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "formulation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "formulation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cartridge.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "eco_ncld822": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "nox.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "nox.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase",
+    "calibration.phase",
+    "status.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)"
+   }
+  },
+  "edinburgh_fls1000tcspc": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "elementar_isoprimeprecision": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "hood": {
+       "cap": "hood.set",
+       "arg": "angle_rad",
+       "open": 1.9,
+       "close": 0.0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "vacuum.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "elementar_varioel": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "sequence.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "sequence.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "sequence.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "elga_purelab_flex3": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "consumables.status",
+    "water.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "elma_elmasonics60h": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "cap": "cover.set_lift",
+       "arg": "lift_m",
+       "open": 0.3,
+       "close": 0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "ultrasound.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "eppendorf_5910ri": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "ack": {
+     "cap": "message.confirm"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "run.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "eppendorf_cellxpertc170i": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door_inner": {
+       "cap": "door.inner",
+       "arg": "open",
+       "open": true,
+       "close": false
+      },
+      "door_latch": {
+       "cap": "door.latch",
+       "arg": "open",
+       "open": true,
+       "close": false
+      },
+      "door_outer": {
+       "cap": "door.outer",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.mute"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "contamination.status",
+    "htd.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "eppendorf_cryocubef570n": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.move",
+       "arg": "angle_rad",
+       "open": 1.75,
+       "close": 0.0
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarm.mute"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "esco_ac24s8": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "ack": {
+     "cap": "alarm.mute"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "airflow.status",
+    "fan.state",
+    "sash.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "esco_efa5uduvw": {
+   "verbs": {},
+   "status_slots": [
+    "keylock.mode"
+   ],
+   "unsupported": {
+    "power": "its contract gives agents no power switch capability",
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "evident_bx53p": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "freeman_ft4powder": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "frontier_egapy": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "guard": {
+       "cap": "guard.set",
+       "arg": "lift_m",
+       "open": 0.18,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "fujifilm_dmp2850": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "printing.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "printing.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "gamry_reference620": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "waveform.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "gas_flavourspec25gc": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "cap": "cover.set",
+       "arg": "angle_rad",
+       "open": 1.45,
+       "close": 0
+      }
+     }
+    },
+    "ack": {
+     "cap": "pressure_alarm.confirm"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "workflow.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability"
+   }
+  },
+  "genevac_mivac2": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "evaporation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "evaporation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "gilson_cpc250": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "cpc.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "cpc.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "rotor.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "glatt_miniglatt": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "tower": {
+       "cap": "tower.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "granulation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "granulation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "hach_dr6000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "ack": {
+     "cap": "message.confirm"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "measurement.mode"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "hach_tl2300epa": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.7,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "turbidity.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "turbidity.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "calibration.status",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "hepatochem_photoredoxbox": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_lift",
+       "arg": "lift_m",
+       "open": 0.12,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "irradiation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "irradiation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "rack.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "hot_tps2500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ika_c6000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "open_cap": "cover.open",
+       "close_cap": "cover.close"
+      }
+     }
+    },
+    "ack": {
+     "cap": "error.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cover.state",
+    "system.state"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ika_electrasyn2": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cap": {
+       "cap": "cap.set_lift",
+       "arg": "lift_m",
+       "open": 0.08,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "electrochem.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "electrochem.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ika_ks4000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "hood": {
+       "cap": "hood.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "timer.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ika_plate_rctdigital": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ika_rv10_digital_v": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ika_t25": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "dispersion.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "dispersion.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "inert_purelab_he_2gb": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "antechamber_inner_door": {
+       "cap": "antechamber.inner_door.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      },
+      "antechamber_outer_door": {
+       "cap": "antechamber.outer_door.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarms.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "antechamber.phase",
+    "regeneration.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "inficon_ul1000fab": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "ack": {
+     "cap": "warning.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "leak.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ja_alphase": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "system.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "system.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jasco_cpl300": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "shutter": {
+       "cap": "shutter.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "jasco_fp8350": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "shutter": {
+       "cap": "shutter.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.mode",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jasco_ftir4700": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "accessory.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jasco_fvs6000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "jasco_j1500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "shutter": {
+       "cap": "shutter.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jasco_nrs5500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "jasco_p4200": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jena_contraa800": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "jena_multix": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "jeol_jem1400flash": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "error.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "airlock.state",
+    "filament.state",
+    "optics.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "jeol_jsmit200": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "error.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.mode",
+    "system.state",
+    "vacuum.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "julabo_corio_cd200f": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cooling.mode",
+    "timer.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "keyence_vkx3000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "system.acknowledge"
+    },
+    "method": {
+     "cap": "measurement.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "system.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "knauer_k7400s": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "kratos_axissupra": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "flexilock_lid": {
+       "cap": "flexilock.set_lid",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "system.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "flexilock.mode",
+    "system.state"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "laboao_cvdltf12p50": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "flange": {
+       "cap": "flange.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "lakeshore_8604vsm": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "lakeshore_measurereadym91": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "excitation.mode",
+    "calibration.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "leco_onh836": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "linari_rtadvanced": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "safety.trip"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "spinning.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "spinning.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "linseis_lsr3": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "magritek_spinsolve80": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "acquisition.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "malvern_leneo": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "fusion.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "fusion.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "malvern_microcalpeaq": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.set"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "clean.state",
+    "run.state",
+    "syringe.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "markes_unityxr": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "lift_m",
+       "open": 0.18,
+       "close": 0
+      },
+      "shield": {
+       "cap": "shield.set",
+       "arg": "lift_m",
+       "open": 0.12,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "metrohm_899": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "device.status",
+    "coulometry.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "metrohm_909uv": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "shield": {
+       "cap": "shield.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "digestion.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "digestion.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability"
+   }
+  },
+  "metrohm_914": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "device.status",
+    "measurement.status",
+    "temperature.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "metrohm_omnis": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "titration.phase",
+    "titration.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "micromeritics_autochemiii": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "front_cover": {
+       "cap": "front_cover.set",
+       "arg": "distance_m",
+       "open": 0.16,
+       "close": 0
+      },
+      "furnace": {
+       "cap": "furnace.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "microtrac_turbiscanlab": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "miele_plw6111": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "open_cap": "door.open",
+       "close_cap": "door.close"
+      }
+     }
+    },
+    "ack": {
+     "cap": "faults.reset"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "program.phase",
+    "programme.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "milestone_dma80": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "mt_hx204": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_position",
+       "arg": "position_m",
+       "open": 0.1085,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "moisture.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "moisture.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "mt_mp70": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "mt_quantos_q2_xpe206dr": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door_side": {
+       "cap": "door.set_side",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "dosing.status"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "mt_rc1mxhfcal": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.trigger"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "thermostat.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "mt_xpr204e": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "balance.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "multiwave_7101": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "open_cap": "door.open",
+       "close_cap": "door.close"
+      }
+     }
+    },
+    "ack": {
+     "cap": "error.acknowledge"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.abort"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "run.status"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "nabertherm_l9": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "open_cap": "door.open",
+       "close_cap": "door.close"
+      }
+     }
+    },
+    "ack": {
+     "cap": "messages.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "program.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "nanosurf_naiostm": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "approach.state",
+    "system.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "netzsch_lfa467": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "netzsch_mmc315": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "test.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "test.stop"
+    },
+    "result": {
+     "cap": "test.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "jacket.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "newera_ne1000": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "run.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "novocontrol_alphat": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ohaus_px224e": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "doors": {
+       "cap": "doors.set",
+       "arg": "open_fraction",
+       "open": 1.0,
+       "close": 0.0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "status"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ohaus_spx2201": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "opentrons_flex_single_5_1000ul": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "robot.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ossila_dipcoater": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ossila_doctorblade": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "ossila_slotdie": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "ossila_spincoater": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.7,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "park_nx10": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "system.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "engage.state",
+    "head.state",
+    "system.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "parr_4591": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "open_cap": "lid.open",
+       "close_cap": "lid.close"
+      },
+      "vent": {
+       "cap": "vent.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "pccell_ed64002": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "electrodialysis.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "electrodialysis.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "peak_precisionhydrogen": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "ack": {
+     "cap": "alarm.mute"
+    },
+    "start": {
+     "cap": "cycle.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "cycle.stop"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "pilodist_pilodist104": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "distillation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "distillation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "pine_wavevortex10": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "enclosure": {
+       "cap": "enclosure.set",
+       "arg": "lift_m",
+       "open": 0.285,
+       "close": 0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "porometer_poroluxrevo": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "holder": {
+       "cap": "holder.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "quorum_q150tes": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "chamber": {
+       "cap": "chamber.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "coating.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "coating.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "radleys_mya4": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "pad.status",
+    "zone_1.program.phase",
+    "zone_2.program.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "retsch_as200": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "cap": "cover.set",
+       "arg": "lift_m",
+       "open": 0.14,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "sieving.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "sieving.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "retsch_pm100": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "angle_rad",
+       "open": 1.55,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "milling.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "milling.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "retsch_pt100": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "dividing.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "dividing.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "rigaku_miniflex600_external_cooling": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "scan.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "rigaku_xtalabsynergy": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "safety.emergency_stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cryostream.state",
+    "system.state",
+    "xray.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "sartorius_vivaflow200": {
+   "verbs": {
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "filtration.measure"
+    }
+   },
+   "path_exceptions": [
+    "filtration.measure"
+   ],
+   "status_slots": [
+    "cycle.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "power": "its contract gives agents no power switch capability",
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "sciex_pa800": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "cartridge_cover": {
+       "cap": "cartridge_cover.set_position",
+       "arg": "angle_rad",
+       "open": 1.4,
+       "close": 0.0
+      },
+      "sample_cover": {
+       "cap": "sample_cover.set_position",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0.0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "run.stop"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "detector.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "scp_digiprepms": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "digestion.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "digestion.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "probe.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "seal_aa500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "pump_lid": {
+       "cap": "pump.lid_set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "system.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "sft_sft110": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extraction.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "extraction.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "shimadzu_ags10knxd": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "estop": {
+     "cap": "emergency.engage"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "shimadzu_edx7200": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase",
+    "atmosphere.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "shimadzu_icpe9800": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "shimadzu_icpms2030": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "shimadzu_tocl": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "measurement.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "measurement.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "measurement.phase",
+    "maintenance.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "signatone_quadpro2": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "sonics_vcx750": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "sonication.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "sonication.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "specac_atlasmanual": {
+   "verbs": {
+    "open": {
+     "parts": {
+      "valve": {
+       "cap": "valve.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "press.measure"
+    }
+   },
+   "path_exceptions": [
+    "press.measure"
+   ],
+   "status_slots": [
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "power": "its contract gives agents no power switch capability",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "stanford_rga100": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "scan.start",
+     "job": "operation"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "stop": "no stop for its start capability"
+   }
+  },
+  "surface_dvsresolution": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "syrris_asiadiscovery": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "flow.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "flow.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "syrris_asiafllex": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "separation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "separation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "separation.state",
+    "panel.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ta_dma850": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "drive.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "ta_dsc2500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "ta_tamiv": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ta_tga5500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "ta_tma450": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase",
+    "probe.mode"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability"
+   }
+  },
+  "teledyne_analyteexcite": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "drawer": {
+       "cap": "drawer.set",
+       "arg": "open_m",
+       "open": 0.23,
+       "close": 0
+      },
+      "guard": {
+       "cap": "guard.set",
+       "arg": "angle_rad",
+       "open": 1.1,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "eqc.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "eqc.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "teledyne_atomxxyz": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "guard": {
+       "cap": "guard.set",
+       "arg": "angle_rad",
+       "open": 1.4,
+       "close": 0
+      },
+      "trap_door": {
+       "cap": "trap_door.set",
+       "arg": "angle_rad",
+       "open": 1.45,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "thalesnano_hcube": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "water_lid": {
+       "cap": "water_lid.set_lift",
+       "arg": "lift_m",
+       "open": 0.03,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "hydrogenation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "hydrogenation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "thermo_dionexintegrion": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "display_door": {
+       "cap": "display_door.set",
+       "arg": "angle_rad",
+       "open": 1.6580627893946132,
+       "close": 0
+      },
+      "door": {
+       "cap": "door.set",
+       "arg": "angle_rad",
+       "open": 1.9198621771937625,
+       "close": 0
+      },
+      "priming_valve": {
+       "cap": "priming_valve.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "thermo_ibrightfl1500": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "drawer": {
+       "open_cap": "drawer.open",
+       "close_cap": "drawer.close"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "drawer.state"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "thermo_orbitrapexploris": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "scan.start",
+     "job": "operation"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase",
+    "method.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "stop": "no stop for its start capability"
+   }
+  },
+  "thermo_process11": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "barrel": {
+       "cap": "barrel.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "alarms.acknowledge"
+    },
+    "estop": {
+     "cap": "emergency.stop"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "extrusion.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "extrusion.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ]
+  },
+  "thinky_are310s": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "mixing.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "mixing.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "cycle.mode",
+    "conditions.mode"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability"
+   }
+  },
+  "tousimis_autosamdri815": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_lift",
+       "arg": "lift_m",
+       "open": 0.065,
+       "close": 0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "cpd.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "cpd.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase",
+    "co2.phase"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "tuttnauer_3870elvd": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "start": {
+     "cap": "cycle.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "cycle.stop"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on"
+   ],
+   "unsupported": {
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "uic_kdl1basic": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "distillation.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "distillation.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "ultrafast_helios": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "process.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "process.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "scan.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "vacuubrand_pc3001_vario_select": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "vacuum.mode"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "velp_udk159": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set_open",
+       "arg": "open",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "ack": {
+     "cap": "fault.acknowledge"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "analysis.measure"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "path_exceptions": [
+    "analysis.measure"
+   ],
+   "status_slots": [
+    "power.enabled",
+    "cycle.phase"
+   ],
+   "unsupported": {
+    "estop": "no emergency stop capability"
+   }
+  },
+  "vici_euta_2sd6mwe": {
+   "verbs": {},
+   "status_slots": [
+    "actuator.mode"
+   ],
+   "unsupported": {
+    "power": "its contract gives agents no power switch capability",
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "start": "no run or measurement start that needs no arguments (see `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "wyatt_eclipseaf4": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "method": {
+     "cap": "method.set"
+    },
+    "start": {
+     "cap": "run.start",
+     "job": "none"
+    },
+    "stop": {
+     "cap": "run.abort"
+    }
+   },
+   "slots": {
+    "power": "power.on"
+   },
+   "status_slots": [
+    "power.on",
+    "run.state"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "ziath_dp5_mirage_2023": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.status"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability",
+    "method": "no method capability (its settings are separate capabilities: `chemlab describe INST`)",
+    "stop": "no stop for its start capability",
+    "result": "no result query on the same path as its start"
+   }
+  },
+  "zwick_hit5p": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  },
+  "zwick_mflow": {
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure"
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result"
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "status_slots": [
+    "power.enabled",
+    "acquisition.phase"
+   ],
+   "unsupported": {
+    "open": "no door, lid or cover that opens with a single setting (see `chemlab describe INST` for its own capabilities)",
+    "close": "no door, lid or cover that closes with a single setting (see `chemlab describe INST`)",
+    "ack": "no alarm or message acknowledge capability",
+    "estop": "no emergency stop capability"
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/solid_prep.json b/chemlab/configs/adapters/solid_prep.json
new file mode 100644
index 0000000000000000000000000000000000000000..c62d107bcd5611c013706265a5679312553328bc
--- /dev/null
+++ b/chemlab/configs/adapters/solid_prep.json
@@ -0,0 +1,259 @@
+{
+ "class": "solid_prep",
+ "adapter": "chemlab.compile.classes.solid_prep:SolidPrepAdapter",
+ "about": "Solid sample preparation: method, intensity, set-temp, program, start (job), pause, stop, rearm, result, and for the manual press pump, valve, leadscrew and the guards; status. Ranges, enums and units come from each contract; method templates are the contracts' reference arguments.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": ["retsch_pm100", "retsch_as200", "retsch_pt100", "specac_atlasmanual", "malvern_leneo"],
+  "secondary": {},
+  "excluded": {
+   "ika_t25": "the disperser homogenises a liquid suspension (wet dispersion); its verbs (speed, start/stop) are the agitation class's, which owns it as primary; a solid_prep secondary would add no verb it lacks there."
+  }
+ },
+ "members": {
+  "retsch_pm100": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure",
+               "keys": {"speed": {"arg": "speed_rad_s", "kind": "rotation"}, "time": {"arg": "duration_s", "kind": "duration"},
+                        "interval": {"arg": "interval_s", "kind": "duration"}, "pause": {"arg": "pause_s", "kind": "duration"},
+                        "reverse": {"arg": "reverse"}, "direction": {"arg": "direction"}}},
+    "intensity": {"cap": "milling.set_speed", "arg": "speed_rad_s", "kind": "rotation"},
+    "program": {"cap": "program.select", "arg": "slot"},
+    "start": {"cap": "acquisition.start", "delay_cap": "acquisition.start_in", "delay_arg": "delay_s"},
+    "stop": {"cap": "acquisition.stop"},
+    "rearm": {"cap": "cycle.rearm"},
+    "result": {"cap": "milling.measure", "show": {"phase": "phase", "mode": "mode", "speed": ["speed_rad_s", "rotation"], "grinding time": ["active_s", "duration"],
+                                                  "elapsed": ["wall_s", "duration"], "remaining": ["remaining_s", "duration"], "fault": "fault"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "cycle.phase"},
+   "status": [["power", "power.enabled", "bool"], ["lid", "lid.angle_rad", "angle"], ["jar clamped", "mount.clamped", "bool"], ["balanced", "mount.balanced", "bool"],
+              ["cycle", "cycle.phase"], ["mode", "cycle.mode"], ["speed", "milling.speed_rad_s", "rotation"], ["set speed", "milling.target_rad_s", "rotation"],
+              ["grinding time", "cycle.active_s", "duration"], ["program", "program.selected"], ["fault", "fault.code"]],
+   "requires": {
+    "method": [{"slot": "cycle.phase", "not": ["running"], "code": "BUSY", "message": "{inst} is grinding.", "fix": "wait for the job, or stop it."},
+               {"slot": "cycle.active_s", "max": 0, "code": "CYCLE_FINISHED", "message": "{inst} still holds the last cycle ({value} s ground); a new method is set after re-arming.",
+                "fix": "`chemlab run {inst} rearm`, then set the method."}],
+    "intensity": [{"slot": "cycle.phase", "not": ["running"], "code": "BUSY", "message": "{inst} is grinding.", "fix": "wait for the job, or stop it."},
+                  {"slot": "cycle.active_s", "max": 0, "code": "CYCLE_FINISHED", "message": "{inst} still holds the last cycle; the speed is set after re-arming.",
+                   "fix": "`chemlab run {inst} rearm`, then set the speed."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "lid.target_rad", "max": 1e-8, "code": "LID_OPEN", "message": "the lid of {inst} is open.", "fix": "close it: `chemlab run {inst} close lid`."},
+              {"slot": "lid.angle_rad", "max": 1e-8, "code": "LID_MOVING", "message": "the lid of {inst} is still closing ({value} rad).", "fix": "wait a few seconds (`chemlab wait 5`) and start again."},
+              {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "no grinding jar with sample is in {inst}.", "fix": "ask the lab operator to load the jar."},
+              {"slot": "mount.clamped", "value": true, "code": "JAR_NOT_CLAMPED", "message": "the grinding jar in {inst} is not clamped.", "fix": "ask the lab operator to clamp it."},
+              {"slot": "mount.balanced", "value": true, "code": "NOT_BALANCED", "message": "the counterweight of {inst} is not set for the jar.", "fix": "ask the lab operator to balance it."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no grinding parameters set.", "fix": "`chemlab run {inst} method speed=300rpm time=5min`."},
+              {"slot": "cycle.phase", "not": ["succeeded", "failed"], "code": "CYCLE_FINISHED", "message": "the last cycle of {inst} has ended ({value}).", "fix": "`chemlab run {inst} rearm`, then start."},
+              {"slot": "cycle.phase", "not": ["running"], "code": "BUSY", "message": "{inst} is already grinding.", "fix": "wait for the job, or stop it."}],
+    "rearm": [{"slot": "cycle.phase", "not": ["idle", "running"], "code": "NOTHING_TO_REARM", "message": "{inst} has no finished or stopped cycle ({value}).", "fix": "nothing to do."}],
+    "program": [{"slot": "cycle.phase", "not": ["running"], "code": "BUSY", "message": "{inst} is grinding.", "fix": "wait for the job, or stop it."}]
+   },
+   "unsupported": {
+    "set-temp": "the mill has no heating or cooling (the jar warms by grinding)",
+    "pause": "the PM 100 has Start and Stop only; a stopped cycle resumes with `start`",
+    "feeder": "no vibratory feeder (the jar is filled by hand)",
+    "pump": "not a press", "valve": "not a press", "leadscrew": "not a press"
+   },
+   "alternatives": {"pause": "stop it (`chemlab run INST stop`) and resume with `chemlab run INST start` (the remaining time is kept)."},
+   "path": "acquisition", "path_exceptions": ["milling.measure"],
+   "params": {"run_word": "grinding cycle", "stop_ok_slot": "cycle.start_in_s", "running_phases": ["running"], "done_phases": ["succeeded"], "failed_phases": ["failed", "cancelled"]},
+   "notes": {"start": ["--delay T uses the start-delay function of the mill (acquisition.start_in)"],
+             "intensity": ["the mill speed (milling.set_speed) before the cycle starts"]}
+  },
+  "retsch_as200": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure",
+               "keys": {"amplitude": {"arg": "total_lift_m", "kind": "length"}, "time": {"arg": "duration_s", "kind": "duration"},
+                        "interval-on": {"arg": "interval_enabled"}, "interval": {"arg": "interval_drive_s", "kind": "duration"}}},
+    "intensity": {"cap": "sieving.set_lift", "arg": "total_lift_m", "kind": "length"},
+    "program": {"cap": "program.select", "arg": "slot"},
+    "start": {"cap": "acquisition.start"},
+    "pause": {"on_cap": "acquisition.pause", "off_cap": "acquisition.resume"},
+    "stop": {"cap": "acquisition.stop"},
+    "rearm": {"cap": "cycle.rearm"},
+    "result": {"cap": "sieving.measure", "show": {"phase": "phase", "mode": "mode", "elapsed": ["elapsed_s", "duration"], "driven": ["driven_s", "duration"],
+                                                  "remaining": ["remaining_s", "duration"], "amplitude": ["indicated_total_lift_m", "length"],
+                                                  "acceleration (m/s2)": "indicated_acceleration_m_s2"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "cycle.phase"},
+   "status": [["power", "power.enabled", "bool"], ["cover lift", "cover.lift_m", "length"], ["stack clamped", "mount.clamped", "bool"], ["cycle", "cycle.phase"],
+              ["mode", "cycle.mode"], ["amplitude", "sieving.indicated_total_lift_m", "length"], ["set amplitude", "sieving.target_total_lift_m", "length"],
+              ["elapsed", "cycle.elapsed_s", "duration"], ["remaining", "cycle.remaining_s", "duration"], ["program", "program.selected"], ["fault", "fault.code"]],
+   "requires": {
+    "method": [{"slot": "cycle.elapsed_s", "max": 0, "code": "CYCLE_FINISHED", "message": "{inst} still holds the last sieving ({value} s); a new method is set after re-arming.",
+                "fix": "`chemlab run {inst} rearm`, then set the method."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "no sieve stack with sample is on {inst}.", "fix": "ask the lab operator to load it."},
+              {"slot": "cover.target_m", "max": 1e-9, "code": "COVER_OPEN", "message": "the clamping cover of {inst} is not down.", "fix": "close it: `chemlab run {inst} close cover`; the operator then clamps the stack."},
+              {"slot": "cover.lift_m", "max": 1e-9, "code": "COVER_MOVING", "message": "the cover of {inst} is still coming down ({value} m).", "fix": "wait a few seconds (`chemlab wait 5`) and start again."},
+              {"slot": "mount.clamped", "value": true, "code": "STACK_NOT_CLAMPED", "message": "the sieve stack on {inst} is not clamped.", "fix": "ask the lab operator to clamp it."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no sieving parameters set.", "fix": "`chemlab run {inst} method amplitude=1.2mm time=5min`."},
+              {"slot": "cycle.phase", "value": "idle", "code": "CYCLE_FINISHED", "message": "the last sieving of {inst} has ended ({value}).", "fix": "`chemlab run {inst} rearm`, then start."}],
+    "pause": [{"slot": "cycle.phase", "value": "running", "code": "NOT_RUNNING", "message": "{inst} is not sieving.", "fix": "start it first."}],
+    "resume": [{"slot": "cycle.mode", "value": "paused", "code": "NOT_PAUSED", "message": "{inst} is not paused ({value}).", "fix": "nothing to resume."}],
+    "rearm": [{"slot": "cycle.phase", "not": ["idle", "running"], "code": "NOTHING_TO_REARM", "message": "{inst} has no finished or stopped cycle ({value}).", "fix": "nothing to do."}],
+    "program": [{"slot": "cycle.phase", "not": ["running"], "code": "BUSY", "message": "{inst} is sieving.", "fix": "wait for the job, or stop it."}]
+   },
+   "unsupported": {
+    "set-temp": "the sieve shaker has no heating",
+    "feeder": "no vibratory feeder (the top sieve is filled by hand)",
+    "pump": "not a press", "valve": "not a press", "leadscrew": "not a press"
+   },
+   "path": "acquisition", "path_exceptions": ["sieving.measure"],
+   "params": {"run_word": "sieving", "running_phases": ["running"], "done_phases": ["succeeded"], "failed_phases": ["failed", "cancelled"]},
+   "notes": {"method": ["time= in whole minutes (the AS 200 counts minutes); amplitude= is the total lift (peak to peak), 0.2 to 3 mm"],
+             "intensity": ["the sieving amplitude (sieving.set_lift), also while sieving"]}
+  },
+  "retsch_pt100": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure", "keys": {"time": {"arg": "duration_s", "kind": "duration"}, "intensity": {"arg": "intensity"}},
+               "also": [{"cap": "hopper.set_gap", "keys": {"gap": {"arg": "gap_m", "kind": "length"}}}]},
+    "intensity": {"cap": "feeder.set_intensity", "arg": "intensity"},
+    "start": {"cap": "acquisition.start"},
+    "pause": {"on_cap": "acquisition.pause", "off_cap": "acquisition.resume"},
+    "stop": {"cap": "acquisition.stop"},
+    "feeder": {"cap": "feeder.set_power", "arg": "enabled"},
+    "result": {"cap": "dividing.measure", "show": {"phase": "phase", "mode": "mode", "elapsed": ["elapsed_s", "duration"], "remaining": ["remaining_s", "duration"],
+                                                   "rotor": ["rotation_rad_s", "rotation"], "feeder intensity": "intensity", "feeding": "feeder_running"}}
+   },
+   "slots": {"power": "power.enabled", "phase": "cycle.phase", "feeder": "feeder.powered"},
+   "status": [["power", "power.enabled", "bool"], ["bottles", "mount.ready", "bool"], ["feeder on", "feeder.powered", "bool"], ["feeding", "feeder.running", "bool"],
+              ["intensity", "feeder.intensity"], ["hopper gap", "hopper.gap_m", "length"], ["cycle", "cycle.phase"], ["mode", "cycle.mode"],
+              ["rotor", "rotor.speed_rad_s", "rotation"], ["elapsed", "cycle.elapsed_s", "duration"], ["remaining", "cycle.remaining_s", "duration"]],
+   "requires": {
+    "method": [{"slot": "cycle.elapsed_s", "max": 0, "code": "CYCLE_DONE", "message": "{inst} has already divided this sample ({value} s); the method is set before the run.",
+                "fix": "ask the lab operator for the next sample."}],
+    "intensity": [{"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no method yet.", "fix": "`chemlab run {inst} method time=1min intensity=60`."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no run time and feeder intensity set.", "fix": "`chemlab run {inst} method time=1min intensity=60`."},
+              {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "the hopper of {inst} is empty.", "fix": "ask the lab operator to fill it."},
+              {"slot": "mount.ready", "value": true, "code": "BOTTLES_MISSING", "message": "not all sample bottles are attached to {inst}.", "fix": "ask the lab operator to attach them."},
+              {"slot": "feeder.powered", "value": true, "code": "FEEDER_OFF", "message": "the vibratory feeder of {inst} is switched off.", "fix": "switch it on: `chemlab run {inst} feeder on`."},
+              {"slot": "hopper.gap_m", "equals_slot": "hopper.target_gap_m", "code": "GAP_MOVING", "message": "the hopper gap of {inst} is still moving ({value} m).", "fix": "wait a moment (`chemlab wait 3`) and start again."},
+              {"slot": "cycle.phase", "value": "idle", "code": "CYCLE_DONE", "message": "{inst} has already run on this sample ({value}).", "fix": "ask the lab operator for the next sample."}],
+    "pause": [{"slot": "cycle.mode", "value": "dividing", "code": "NOT_RUNNING", "message": "{inst} is not dividing ({value}).", "fix": "start it first."}],
+    "resume": [{"slot": "cycle.mode", "value": "paused", "code": "NOT_PAUSED", "message": "{inst} is not paused ({value}).", "fix": "nothing to resume."}]
+   },
+   "unsupported": {
+    "set-temp": "the divider has no heating",
+    "program": "the PT 100 has no program memory (time and feed intensity only)",
+    "rearm": "one run per loaded sample: the operator empties the bottles and refills the hopper for the next one",
+    "pump": "not a press", "valve": "not a press", "leadscrew": "not a press"
+   },
+   "path": "acquisition", "path_exceptions": ["dividing.measure"],
+   "params": {"run_word": "division", "running_phases": ["running"], "done_phases": ["succeeded"], "failed_phases": ["failed", "cancelled"]},
+   "notes": {"method": ["time= takes the PT 100 timer steps (1, 3, 5, 10, 20, 30 ... min); gap= sets the hopper gap (at least 3 x the largest grain)"],
+             "intensity": ["the DR 100 feeder intensity, 0..99"]}
+  },
+  "specac_atlasmanual": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure", "keys": {"load": {"arg": "target_load_N", "kind": "force"}, "hold": {"arg": "hold_s", "kind": "duration"},
+                                                   "tolerance": {"arg": "tolerance_fraction"}},
+               "also": [{"cap": "relief.set_limit", "keys": {"limit": {"arg": "load_N", "kind": "force"}}}]},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "press.measure", "show": {"phase": "phase", "stage": "stage", "load": ["indicated_load_N", "force"], "held": ["hold_elapsed_s", "duration"]}},
+    "pump": {"cap": "pump.stroke"},
+    "valve": {"cap": "valve.set_open", "arg": "open", "slot": "valve.angle_rad", "opened": 6.283185307179586, "closed": 0.0,
+              "release_slot": "load.indicated_n", "released_below": 10},
+    "leadscrew": {"cap": "screw.set_position", "arg": "position_m", "slot": "screw.position_m"},
+    "open": {"parts": {"guard": {"cap": "guard.set_raised", "arg": "raised", "args": {"side": "front"}, "open": true, "close": false,
+                                 "slot": "guard_front.lift_m", "open_at": 0.18, "close_at": 0.0},
+                       "rear-guard": {"cap": "guard.set_raised", "arg": "raised", "args": {"side": "rear"}, "open": true, "close": false,
+                                      "slot": "guard_rear.lift_m", "open_at": 0.18, "close_at": 0.0}}}
+   },
+   "slots": {"phase": "cycle.phase", "load": "load.indicated_n", "active": "pump.active", "limit": "relief.limit_n"},
+   "status": [["load", "load.indicated_n", "force"], ["limit", "relief.limit_n", "force"], ["cycle", "cycle.phase"], ["stage", "cycle.stage"],
+              ["held", "cycle.hold_s", "duration"], ["front guard", "guard_front.lift_m", "length"], ["rear guard", "guard_rear.lift_m", "length"],
+              ["valve", "valve.angle_rad", "angle"], ["leadscrew", "screw.position_m", "length"], ["ram", "ram.lift_m", "length"], ["die", "die.configured", "bool"],
+              ["sample", "sample.configured", "bool"]],
+   "requires": {
+    "pump": [{"slot": "die.configured", "value": true, "code": "NO_DIE", "message": "no die is in {inst}.", "fix": "ask the lab operator to put the die in."},
+             {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "the die in {inst} is empty.", "fix": "ask the lab operator to fill it."},
+             {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no target load set.", "fix": "`chemlab run {inst} method load=68kN hold=2min`."},
+             {"slot": "guard_front.lift_m", "max": 1e-9, "code": "GUARD_OPEN", "message": "the front guard of {inst} is not down ({value} m).", "fix": "`chemlab run {inst} close guard`."},
+             {"slot": "guard_rear.lift_m", "max": 1e-9, "code": "GUARD_OPEN", "message": "the rear guard of {inst} is not down ({value} m).", "fix": "`chemlab run {inst} close rear-guard`."},
+             {"slot": "valve.angle_rad", "max": 1e-9, "code": "VALVE_OPEN", "message": "the release valve of {inst} is open, so the pump cannot build pressure.", "fix": "`chemlab run {inst} valve close`."},
+             {"slot": "cycle.phase", "not": ["succeeded", "failed", "cancelled"], "code": "CYCLE_DONE", "message": "the press cycle of {inst} has ended ({value}).", "fix": "release the load (`chemlab run {inst} valve open`)."}],
+    "start": [{"slot": "die.configured", "value": true, "code": "NO_DIE", "message": "no die is in {inst}.", "fix": "ask the lab operator to put the die in."},
+              {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "the die in {inst} is empty.", "fix": "ask the lab operator to fill it."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no target load set.", "fix": "`chemlab run {inst} method load=68kN hold=2min`."},
+              {"slot": "guard_front.lift_m", "max": 1e-9, "code": "GUARD_OPEN", "message": "the front guard of {inst} is not down ({value} m).", "fix": "`chemlab run {inst} close guard`."},
+              {"slot": "guard_rear.lift_m", "max": 1e-9, "code": "GUARD_OPEN", "message": "the rear guard of {inst} is not down ({value} m).", "fix": "`chemlab run {inst} close rear-guard`."},
+              {"slot": "valve.angle_rad", "max": 1e-9, "code": "VALVE_OPEN", "message": "the release valve of {inst} is open.", "fix": "`chemlab run {inst} valve close`."},
+              {"slot": "cycle.phase", "value": "idle", "code": "CYCLE_DONE", "message": "{inst} has already pressed this sample ({value}).", "fix": "release the load and ask the operator for the next die fill."}],
+    "open:guard": [{"slot": "load.indicated_n", "max": 10, "code": "UNDER_LOAD", "message": "{inst} is under load ({value} N); the guard stays down.", "fix": "release it: `chemlab run {inst} valve open`."},
+                   {"slot": "cycle.phase", "not": ["running"], "code": "CYCLE_RUNNING", "message": "a press cycle of {inst} is running; the guard stays down.", "fix": "release the load (`valve open`) and stop it (`chemlab run {inst} stop`) first."}],
+    "open:rear-guard": [{"slot": "load.indicated_n", "max": 10, "code": "UNDER_LOAD", "message": "{inst} is under load ({value} N); the guard stays down.", "fix": "release it: `chemlab run {inst} valve open`."},
+                        {"slot": "cycle.phase", "not": ["running"], "code": "CYCLE_RUNNING", "message": "a press cycle of {inst} is running; the guard stays down.", "fix": "release the load (`valve open`) and stop it (`chemlab run {inst} stop`) first."}],
+    "leadscrew": [{"slot": "cycle.phase", "not": ["running"], "code": "CYCLE_RUNNING", "message": "a press cycle of {inst} is running; the leadscrew is set before `start`.",
+                   "fix": "release the load (`valve open`), `stop`, and set the leadscrew before the next cycle."},
+                  {"slot": "load.indicated_n", "max": 10, "code": "UNDER_LOAD", "message": "{inst} is under load ({value} N).", "fix": "release it: `chemlab run {inst} valve open`."},
+                  {"slot": "ram.lift_m", "max": 1e-6, "code": "RAM_UP", "message": "the ram of {inst} is not down.", "fix": "open the valve and let it return (`chemlab run {inst} valve open`)."}]
+   },
+   "codes": {"PRECONDITION_FAILED": {"code": "NOT_READY", "message": "{inst} refused ({cap}); a check the class could not see failed (load above the relief limit, the die stack does not fit, or the pump still moving).",
+                                     "fix": "check `chemlab run {inst} status` (limit >= method load; leadscrew position)."}},
+   "unsupported": {
+    "intensity": "a manual press has no speed or amplitude: the load is pumped up to the method load (`pump --to LOAD`)",
+    "set-temp": "the Atlas Manual press has no heated platens here",
+    "program": "a manual press has no program memory",
+    "pause": "the hold cannot be paused; release the load with `valve open`",
+    "rearm": "one press cycle per die fill: the operator ejects the pellet and refills the die",
+    "feeder": "no feeder"
+   },
+   "path": "acquisition", "path_exceptions": ["press.measure"],
+   "params": {"run_word": "press cycle", "running_phases": ["running"], "done_phases": ["succeeded"], "failed_phases": ["failed", "cancelled"]},
+   "notes": {"start": ["start begins the observed press cycle; the load is then pumped by hand (`pump --to LOAD --hold`) and held for the method hold time"],
+             "pump": ["each stroke takes about 0.8 s; --hold keeps topping the load up while the compacting powder relaxes, until the cycle is complete"],
+             "method": ["limit= sets the relief-valve load limit (relief.set_limit); it must be at least the target load"]}
+  },
+  "malvern_leneo": {
+   "role": "primary",
+   "verbs": {
+    "method": {"cap": "method.configure",
+               "keys": {"segments": {"arg": "segments", "syntax": "segments"}, "rocking": {"arg": "rocking_rad", "kind": "angle"},
+                        "rocking-freq": {"arg": "rocking_Hz", "kind": "frequency"}, "pour": {"arg": "pour_mode"}, "air": {"arg": "cooling_air_fraction"},
+                        "cooling": {"arg": "minimum_cooling_s", "kind": "duration"}, "output": {"arg": "output"}, "stirring": {"arg": "stirring_fraction"}}},
+    "set-temp": {"cap": "thermal.set_temperature", "arg": "temperature_K"},
+    "program": {"cap": "program.load", "arg": "name"},
+    "start": {"cap": "acquisition.start"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "fusion.measure", "show": {"phase": "phase", "stage": "stage", "elapsed": ["elapsed_s", "duration"],
+                                                 "chamber": ["chamber_temperature_K", "temperature"], "target": ["target_temperature_K", "temperature"]}}
+   },
+   "slots": {"power": "power.enabled", "phase": "cycle.phase", "temp": "panel.temperature_c"},
+   "status": [["power", "power.enabled", "bool"], ["door", "door.angle_rad", "angle"], ["sample", "sample.configured", "bool"], ["cycle", "cycle.phase"],
+              ["stage", "cycle.stage"], ["chamber", "panel.temperature_c", "temperature"], ["set point", "thermal.target_k", "temperature"],
+              ["elapsed", "cycle.elapsed_s", "duration"], ["program", "program.current"], ["access", "access.level"]],
+   "requires": {
+    "method": [{"slot": "cycle.phase", "value": "idle", "code": "BUSY", "message": "{inst} is in a fusion cycle ({value}); the method is set before the start.", "fix": "wait for the job."}],
+    "set-temp": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."}],
+    "program": [{"slot": "cycle.phase", "value": "idle", "code": "BUSY", "message": "{inst} is in a fusion cycle ({value}).", "fix": "wait for the job."}],
+    "start": [{"slot": "power.enabled", "value": true, "code": "POWER_OFF", "message": "{inst} is switched off.", "fix": "switch it on: `chemlab run {inst} power on`."},
+              {"slot": "sample.configured", "value": true, "code": "NO_SAMPLE", "message": "no crucible with sample and flux is in {inst}.", "fix": "ask the lab operator to load it."},
+              {"slot": "method.configured", "value": true, "code": "NO_METHOD", "message": "{inst} has no fusion method set.",
+               "fix": "`chemlab run {inst} method segments=10min@1065C,9min@1065C` (or load a program)."},
+              {"slot": "door.open_target", "value": false, "code": "DOOR_OPEN", "message": "the door of {inst} is open.", "fix": "close it: `chemlab run {inst} close door`."},
+              {"slot": "door.angle_rad", "max": 1e-9, "code": "DOOR_MOVING", "message": "the door of {inst} is still closing ({value} rad).", "fix": "wait a few seconds (`chemlab wait 5`) and start again."},
+              {"slot": "cycle.phase", "value": "idle", "code": "CYCLE_DONE", "message": "{inst} has already fused this sample ({value}).", "fix": "ask the lab operator to take the bead out and load the next crucible."}]
+   },
+   "unsupported": {
+    "intensity": "the rocking of the crucible is part of the fusion method (`method rocking=10deg rocking-freq=0.3Hz`)",
+    "pause": "a fusion cycle cannot be paused (the melt would set in the crucible)",
+    "rearm": "one fusion cycle per loaded crucible: the operator takes the bead out and loads the next one",
+    "feeder": "no feeder (crucibles are loaded by hand)",
+    "pump": "not a press", "valve": "not a press", "leadscrew": "not a press"
+   },
+   "alternatives": {"intensity": "set the rocking in the method: `chemlab run malvern_leneo method rocking=10deg rocking-freq=0.3Hz`."},
+   "path": "acquisition", "path_exceptions": ["fusion.measure"],
+   "params": {"run_word": "fusion cycle", "tolerance_k": 5.0, "running_phases": ["running"], "done_phases": ["succeeded"], "failed_phases": ["failed", "cancelled"],
+              "job_max_s": 7200},
+   "notes": {"set-temp": ["the furnace idle / preheat set point; the fusion cycle itself follows the method segments"],
+             "method": ["segments=TIME@TEMP,... is the heating programme (each segment ends at TEMP after TIME); the four pouring profiles come from the template"]}
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/spectroscopy.json b/chemlab/configs/adapters/spectroscopy.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d2ec0ff12125850e96752bed35aae444d55239
--- /dev/null
+++ b/chemlab/configs/adapters/spectroscopy.json
@@ -0,0 +1,2905 @@
+{
+ "class": "spectroscopy",
+ "adapter": "chemlab.compile.classes.spectroscopy:SpectroscopyAdapter",
+ "about": "Molecular spectroscopy and magnetic resonance: power, open/close, source, purge, method, load/unload, blank, measure, stop, spectrum, set-temp, analyze, status. Ranges, enums and units come from each member's contract; the method baseline is the contract's example method.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "hach_dr6000",
+   "jasco_j1500",
+   "jasco_fp8350",
+   "jasco_ftir4700",
+   "jasco_nrs5500",
+   "applied_sx20",
+   "edinburgh_fls1000tcspc",
+   "ultrafast_helios",
+   "jasco_fvs6000",
+   "jasco_cpl300",
+   "magritek_spinsolve80",
+   "bruker_magnettechesr5000",
+   "bruker_minispecmq20"
+  ],
+  "secondary": {},
+  "not_here": {
+   "jasco_p4200": "polarimeter: property_meter primary (optical rotation is one value, not a spectrum)",
+   "bmg_clariostarplus": "plate reader: bioassay primary (plate spectra are a secondary use)",
+   "ja_alphase": "spectroscopic ellipsometry: structure primary",
+   "camag_tlcscanner": "TLC scanner: chromatography primary"
+  },
+  "note": {
+   "bruker_minispecmq20": "no runtime/contract change was needed; set-temp works only with the VT accessory (contract), the runtime answers UNSUPPORTED without it -> NO_ACCESSORY"
+  }
+ },
+ "members": {
+  "hach_dr6000": {
+   "role": "primary",
+   "path": "reading",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0.0
+      }
+     }
+    },
+    "source": {
+     "cap": "lamp.set",
+     "arg": "on",
+     "lamp_arg": "lamp"
+    },
+    "method": {
+     "program_cap": "program.start",
+     "options_cap": "program.options",
+     "passthrough": true,
+     "modes": {
+      "scan": {
+       "keys": {
+        "from": {
+         "arg": "start_m",
+         "kind": "wavelength"
+        },
+        "to": {
+         "arg": "stop_m",
+         "kind": "wavelength"
+        },
+        "step": {
+         "arg": "step_m",
+         "kind": "wavelength"
+        }
+       }
+      },
+      "single": {
+       "keys": {
+        "wavelength": {
+         "arg": "wavelength_m",
+         "kind": "wavelength"
+        }
+       }
+      }
+     }
+    },
+    "load": {
+     "cap": "sample.load",
+     "arg": "sample_id"
+    },
+    "unload": {
+     "cap": "sample.unload"
+    },
+    "blank": {
+     "cap": "reading.zero"
+    },
+    "measure": {
+     "cap": "reading.read"
+    },
+    "spectrum": {
+     "reads": [
+      "dr.scan",
+      "dr.result"
+     ],
+     "x": "dr.scan/wavelength_m",
+     "y": "dr.scan/absorbance",
+     "x_kind": "wavelength",
+     "x_name": "wavelength",
+     "y_name": "absorbance",
+     "x_unit": "m",
+     "y_unit": "1",
+     "alternatives": [
+      {
+       "x": "dr.result/wavelengths_m",
+       "y": "dr.result/abs"
+      }
+     ],
+     "fields": [
+      "dr.result/conc",
+      "dr.result/unit"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "closed": "lid.closed",
+    "sample": "sample.loaded",
+    "sample_id": "sample.id",
+    "method": "dr.mode",
+    "blank": "dr.zero"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; open it to reach the sample holder.",
+      "fix": "`chemlab run {inst} open lid`.",
+      "value": false,
+      "label": "lid open"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "OCCUPIED",
+      "message": "a cuvette is already in {inst}.",
+      "fix": "`chemlab run {inst} unload` first.",
+      "value": false,
+      "label": "holder empty"
+     }
+    ],
+    "unload": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; open it to reach the sample holder.",
+      "fix": "`chemlab run {inst} open lid`.",
+      "value": false,
+      "label": "lid open"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cuvette in {inst}.",
+      "fix": "nothing to take out.",
+      "value": true,
+      "label": "a cuvette in"
+     }
+    ],
+    "blank": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": true,
+      "label": "lid closed"
+     },
+     {
+      "slot": "dr.mode",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": true,
+      "label": "lid closed"
+     },
+     {
+      "slot": "dr.mode",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "dr.zero",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no zero (blank reading) for this program or range.",
+      "fix": "put the blank cuvette in and `chemlab run {inst} blank`, then the sample and `measure`.",
+      "not": [
+       null
+      ],
+      "label": "zeroed"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cuvette in {inst}.",
+      "fix": "`chemlab run {inst} load SAMPLE`.",
+      "value": true,
+      "label": "cuvette in"
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ]
+   },
+   "unsupported": {
+    "purge": "no nitrogen purge control on this instrument",
+    "stop": "readings take no time on the DR6000 (zero and read are instant)",
+    "set-temp": "no sample temperature control in this twin",
+    "analyze": "concentrations come from the running program itself (`method program=N`, then `measure`)"
+   },
+   "alternatives": {
+    "stop": "to leave the running program: `chemlab call hach_dr6000 program.exit`.",
+    "analyze": "start the stored program (`chemlab run hach_dr6000 method program=N`), zero, read; standard additions: `chemlab call hach_dr6000 standard_addition.control`."
+   },
+   "params": {
+    "source_word": "lamp",
+    "blank_word": "zero",
+    "manual": "DR6000 user manual DOC022.53.90367: pp. 21-22 (start-up), 60 (zero / read), 98-112 (single wavelength, wavelength scan, time course), 55-76 (stored programs)",
+    "method_example": "from=400nm to=700nm step=2nm"
+   },
+   "notes": {
+    "method": [
+     "from/to/step start a wavelength scan; wavelength=... the single-wavelength mode; program=N a stored Hach program. Each new program or range needs a new zero (`blank`)."
+    ],
+    "source": [
+     "the DR6000 has a UV and a VIS lamp: give --lamp uv or --lamp vis"
+    ]
+   }
+  },
+  "jasco_j1500": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "spectrum.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "source": {
+     "cap": "lamp.set",
+     "arg": "enabled"
+    },
+    "purge": {
+     "cap": "purge.set",
+     "arg": "flow_std_m3_s"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "from": {
+       "arg": "start_m",
+       "kind": "wavelength"
+      },
+      "to": {
+       "arg": "stop_m",
+       "kind": "wavelength"
+      },
+      "step": {
+       "arg": "interval_m",
+       "kind": "wavelength"
+      },
+      "mode": {
+       "arg": "scan_mode"
+      },
+      "speed": {
+       "arg": "speed_m_s",
+       "kind": "scan_speed"
+      },
+      "bw": {
+       "arg": "bandwidth_m",
+       "kind": "wavelength"
+      },
+      "time": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "scans": {
+       "arg": "accumulations"
+      }
+     }
+    },
+    "blank": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "blank"
+     },
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "sample"
+     },
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "spectrum.read",
+     "x": "points/*/wavelength_m",
+     "y": "points/*/ellipticity_rad",
+     "x_kind": "wavelength",
+     "x_name": "wavelength",
+     "y_name": "ellipticity",
+     "y_label": "CD (mdeg)",
+     "y_factor": 57295.77951308232,
+     "x_unit": "m",
+     "y_unit": "rad",
+     "fields": [
+      "phase",
+      "kind",
+      "complete"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "structure": {
+       "cap": "structure.fit",
+       "about": "secondary structure (helix / sheet / turn / disorder) from the sample CD spectrum (needs 190..230 nm, 20+ points)",
+       "keys": {
+        "conc": {
+         "arg": "residue_concentration_mol_m3",
+         "kind": "concentration",
+         "required": true
+        },
+        "path": {
+         "arg": "path_length_m",
+         "kind": "length",
+         "required": true
+        }
+       },
+       "example": "analyze structure conc=0.2mM path=1mm",
+       "show": [
+        "fractions",
+        "rms_delta_epsilon_m2_mol",
+        "converged"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "lid.opened",
+    "source": "lamp.enabled",
+    "source_ready": "lamp.ready",
+    "purge_ready": "purge.ready",
+    "purge_flow": "purge.flow_std_m3_s",
+    "sample": "sample.loaded",
+    "method": "method.configured",
+    "blank": "blank.ready",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "purge.ready",
+      "code": "PURGE_NOT_READY",
+      "message": "{inst} needs the nitrogen purge flowing and the air flushed out before the xenon lamp is lit (ozone).",
+      "fix": "`chemlab run {inst} purge 5L/min --wait`, then `source on --wait`.",
+      "value": true,
+      "label": "purge flushed"
+     }
+    ],
+    "blank": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "lamp on and warm"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     },
+     {
+      "slot": "purge.ready",
+      "code": "PURGE_NOT_READY",
+      "message": "the optics of {inst} are not flushed with nitrogen.",
+      "fix": "`chemlab run {inst} purge 5L/min --wait`.",
+      "value": true,
+      "label": "purge flushed"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "lamp on and warm"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     },
+     {
+      "slot": "purge.ready",
+      "code": "PURGE_NOT_READY",
+      "message": "the optics of {inst} are not flushed with nitrogen.",
+      "fix": "`chemlab run {inst} purge 5L/min --wait`.",
+      "value": true,
+      "label": "purge flushed"
+     },
+     {
+      "slot": "blank.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank recorded with the current method (a new method, temperature or cell type needs a new one).",
+      "fix": "record it first: `chemlab run {inst} blank --wait` with the blank reference in place, then measure.",
+      "value": true,
+      "label": "blank recorded"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "set-temp": "the standard cell holder has no temperature control (the Peltier accessory is not supported in this twin)"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run jasco_j1500 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run jasco_j1500 status`."
+   },
+   "params": {
+    "source_word": "xenon lamp",
+    "manual": "J-1100/1500 hardware function manual pp. 14-21, 36-41; Spectra Manager v2.5 CFR software manual pp. 48-79 (spectra measurement), 112-136 (parameters)",
+    "method_example": "from=235nm to=190nm step=1nm scans=2"
+   },
+   "codes": {
+    "acquisition.start:TEMPLATE_RANGE": {
+     "code": "OUT_OF_RANGE",
+     "message": "this twin has CD data for 175..240 nm only; with the band width the method must stay inside it.",
+     "fix": "keep from / to within about 177..238 nm (e.g. from=235nm to=190nm)."
+    },
+    "acquisition.start:SAMPLE_METHOD_REQUIRED": {
+     "code": "WRONG_CELL",
+     "message": "the cell in jasco_j1500 is not the right kind for this step (a blank cell for `blank`, a sample cell for `measure`), or no method is set.",
+     "fix": "ask the lab operator to change the cell; then wait for the purge again (`purge 5L/min --wait`), since opening the lid lets air in."
+    }
+   },
+   "notes": {
+    "purge": [
+     "the J-1500 lamp may only be lit with nitrogen flowing and the air flushed out; opening the lid lets air in, so wait for the purge again after the cell is changed"
+    ],
+    "measure": [
+     "the sample needs a blank recorded with the same method, cell path and solvent"
+    ]
+   }
+  },
+  "jasco_fp8350": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "spectrum.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "source": {
+     "cap": "lamp.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "ex": {
+       "arg": "excitation_m",
+       "kind": "wavelength"
+      },
+      "em": {
+       "arg": "emission_m",
+       "kind": "wavelength"
+      },
+      "from": {
+       "arg": "start_m",
+       "kind": "wavelength"
+      },
+      "to": {
+       "arg": "stop_m",
+       "kind": "wavelength"
+      },
+      "step": {
+       "arg": "interval_m",
+       "kind": "wavelength"
+      },
+      "ex-bw": {
+       "arg": "excitation_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "em-bw": {
+       "arg": "emission_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "time": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "gain": {
+       "arg": "gain"
+      }
+     }
+    },
+    "blank": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "blank"
+     },
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "sample"
+     },
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "spectrum.read",
+     "x": "points/*/emission_m",
+     "y": "points/*/intensity",
+     "x_kind": "wavelength",
+     "x_name": "emission wavelength",
+     "y_name": "intensity",
+     "x_unit": "m",
+     "y_unit": "1",
+     "fields": [
+      "phase",
+      "kind",
+      "mode",
+      "complete"
+     ]
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "analyze": {
+     "models": {
+      "quantify": {
+       "cap": "quantify.fit",
+       "about": "calibration line from standards and the concentration of an unknown (you give the standards' intensities)",
+       "keys": {
+        "conc": {
+         "arg": "concentrations_mol_m3",
+         "kind": "concentration",
+         "required": true
+        },
+        "signal": {
+         "arg": "intensities",
+         "required": true
+        },
+        "unknown": {
+         "arg": "unknown_intensity",
+         "required": true
+        },
+        "same-method": {
+         "arg": "accept_same_method",
+         "required": true
+        }
+       },
+       "example": "analyze quantify conc=0.1uM,0.2uM,0.4uM signal=1200,2350,4800 unknown=3000 same-method=yes"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "lid.opened",
+    "source": "lamp.enabled",
+    "source_ready": "lamp.ready",
+    "sample": "sample.loaded",
+    "method": "method.configured",
+    "blank": "blank.ready",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning",
+    "temp": "thermal.temperature_k",
+    "set": "thermal.setpoint_k"
+   },
+   "requires": {
+    "blank": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the xenon lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "xenon lamp on and warm"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the xenon lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "xenon lamp on and warm"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     },
+     {
+      "slot": "blank.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank recorded with the current method (a new method, temperature or cell type needs a new one).",
+      "fix": "record it first: `chemlab run {inst} blank --wait` with the blank reference in place, then measure.",
+      "value": true,
+      "label": "blank recorded"
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "thermal.installed",
+      "code": "NO_ACCESSORY",
+      "message": "{inst} has no Peltier cell holder installed in this lab, so it cannot set a sample temperature.",
+      "fix": "measure at room temperature, or ask the lab operator to fit the temperature accessory.",
+      "value": true,
+      "label": "temperature accessory installed"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "purge": "no nitrogen purge control on this instrument"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run jasco_fp8350 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run jasco_fp8350 status`."
+   },
+   "params": {
+    "source_word": "xenon lamp",
+    "temp_tolerance_k": 0.2,
+    "manual": "FP-8000 series brochure p. 27 (specifications); YNU FP-8500 procedure pp. 4 (lamp warm-up), 6-11 (parameters, excitation / emission spectra)",
+    "method_example": "mode=emission ex=480nm from=500nm to=620nm step=2nm"
+   }
+  },
+  "jasco_ftir4700": {
+   "role": "primary",
+   "path": "measure",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set_angle",
+       "arg": "angle_rad",
+       "open": 1.5707963267948966,
+       "close": 0.0
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "from": {
+       "arg": "start_wavenumber_m_inv",
+       "kind": "wavenumber"
+      },
+      "to": {
+       "arg": "stop_wavenumber_m_inv",
+       "kind": "wavenumber"
+      },
+      "resolution": {
+       "arg": "resolution_m_inv",
+       "kind": "wavenumber"
+      },
+      "scans": {
+       "arg": "scan_count"
+      },
+      "mode": {
+       "arg": "output_mode"
+      }
+     },
+     "current": {
+      "start_wavenumber_m_inv": "method.start_wavenumber_m_inv",
+      "stop_wavenumber_m_inv": "method.stop_wavenumber_m_inv",
+      "resolution_m_inv": "method.resolution_m_inv",
+      "scan_count": "method.scan_count",
+      "output_mode": "method.output_mode"
+     }
+    },
+    "load": {
+     "cap": "sample.load",
+     "arg": "sample_id"
+    },
+    "unload": {
+     "cap": "sample.unload"
+    },
+    "blank": {
+     "cap": "background.acquire"
+    },
+    "measure": {
+     "cap": "measure"
+    },
+    "spectrum": {
+     "reads": [
+      "measurement.spectrum"
+     ],
+     "x": "measurement.spectrum/wavenumber_m_inv",
+     "y": "measurement.spectrum/absorbance",
+     "x_kind": "wavenumber",
+     "x_name": "wavenumber",
+     "y_name": "absorbance",
+     "x_unit": "m^-1",
+     "y_unit": "1",
+     "fields": [
+      "measurement.spectrum/reported_mode",
+      "measurement.spectrum/resolution_m_inv"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "closed": "lid.closed",
+    "sample": "sample.loaded",
+    "sample_id": "sample.id",
+    "blank": "background.ready"
+   },
+   "extra_status": {
+    "accessory.mode": "accessory"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "load": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; open it to reach the sample holder.",
+      "fix": "`chemlab run {inst} open lid`.",
+      "value": false,
+      "label": "lid open"
+     },
+     {
+      "slot": "accessory.mode",
+      "code": "NO_ACCESSORY",
+      "message": "{inst} has no sampling accessory installed (ATR or transmission).",
+      "fix": "with the lid open and no sample: `chemlab call {inst} accessory.install --mode atr`.",
+      "not": [
+       "none"
+      ],
+      "label": "accessory installed"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "OCCUPIED",
+      "message": "a sample is already on {inst}.",
+      "fix": "`chemlab run {inst} unload` first.",
+      "value": false,
+      "label": "no sample"
+     }
+    ],
+    "unload": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed; open it to reach the sample holder.",
+      "fix": "`chemlab run {inst} open lid`.",
+      "value": false,
+      "label": "lid open"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample on {inst}.",
+      "fix": "nothing to take out.",
+      "value": true,
+      "label": "a sample in"
+     }
+    ],
+    "blank": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": true,
+      "label": "lid closed"
+     },
+     {
+      "slot": "accessory.mode",
+      "code": "NO_ACCESSORY",
+      "message": "{inst} has no sampling accessory installed.",
+      "fix": "open the lid and `chemlab call {inst} accessory.install --mode atr`, close it.",
+      "not": [
+       "none"
+      ],
+      "label": "accessory installed"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "SAMPLE_IN",
+      "message": "the background of {inst} is measured with the empty accessory, but a sample is on it.",
+      "fix": "`chemlab run {inst} open lid`, `unload`, `close lid`, then `blank`.",
+      "value": false,
+      "label": "accessory empty"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": true,
+      "label": "lid closed"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample on {inst}.",
+      "fix": "`chemlab run {inst} open lid`, `load SAMPLE`, `close lid`.",
+      "value": true,
+      "label": "sample in"
+     },
+     {
+      "slot": "background.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no background with the current method and accessory.",
+      "fix": "take the sample out, record the background (`chemlab run {inst} blank`), put the sample back, measure.",
+      "value": true,
+      "label": "background recorded"
+     }
+    ]
+   },
+   "unsupported": {
+    "source": "the IR source is not separately switchable",
+    "purge": "no nitrogen purge control on this instrument",
+    "stop": "a measurement is a single synchronous call",
+    "set-temp": "no sample temperature control in this twin",
+    "analyze": "no analysis capability on this instrument"
+   },
+   "alternatives": {
+    "analyze": "save the spectrum (`chemlab run jasco_ftir4700 spectrum --save-to ir.json`) and compare it with `chemlab call jasco_ftir4700 template.read --substance_id ID`."
+   },
+   "params": {
+    "blank_word": "background",
+    "manual": "FT/IR-4000/6000 operation manual (2004) pp. 17-33 (parameters, background + sample measurement); UCI FT/IR-4700 instructions pp. 2-11",
+    "method_example": "from=400cm-1 to=4000cm-1 resolution=4cm-1"
+   },
+   "notes": {
+    "blank": [
+     "the background is measured with the accessory empty and the lid closed; power, accessory or method changes discard it"
+    ],
+    "spectrum": [
+     "opening the lid or any other call discards the last spectrum: read (or save) it right after `measure`"
+    ]
+   }
+  },
+  "jasco_nrs5500": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "cap": "door.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "source": {
+     "cap": "laser.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "laser": {
+       "arg": "laser_wavelength_m",
+       "kind": "wavelength"
+      },
+      "power": {
+       "arg": "power_w",
+       "kind": "power"
+      },
+      "from": {
+       "arg": "start_m_inv",
+       "kind": "wavenumber"
+      },
+      "to": {
+       "arg": "stop_m_inv",
+       "kind": "wavenumber"
+      },
+      "time": {
+       "arg": "integration_s",
+       "kind": "duration"
+      },
+      "grating": {
+       "arg": "grating_lines_m_inv",
+       "kind": "wavenumber"
+      }
+     }
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "spectra/-1/raman_shift_m_inv",
+     "y": "spectra/-1/count_rate_s_inv",
+     "x_kind": "wavenumber",
+     "x_name": "Raman shift",
+     "y_name": "count rate",
+     "y_label": "count rate (1/s)",
+     "x_unit": "m^-1",
+     "y_unit": "1/s",
+     "fields": [
+      "phase",
+      "complete"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "peaks": {
+       "cap": "spectrum.peaks",
+       "about": "Raman peak positions of the last spectrum",
+       "result_cap": "result.read",
+       "keys": {
+        "prominence": {
+         "arg": "minimum_prominence_s_inv",
+         "kind": "rate"
+        }
+       },
+       "args": {
+        "minimum_prominence_s_inv": 1.0
+       },
+       "fill": {
+        "raman_shift_m_inv": {
+         "path": "spectra/-1/raman_shift_m_inv"
+        },
+        "count_rate_s_inv": {
+         "path": "spectra/-1/count_rate_s_inv"
+        }
+       },
+       "show": [
+        "peak_shift_m_inv",
+        "peak_rate_s_inv"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "door.opened",
+    "source": "laser.enabled",
+    "sample": "sample.loaded",
+    "method": "method.configured",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "door.opened",
+      "code": "LID_OPEN",
+      "message": "the door of {inst} is open; it measures only with the door closed.",
+      "fix": "`chemlab run {inst} close door`.",
+      "value": false,
+      "label": "door closed"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "door.opened",
+      "code": "LID_OPEN",
+      "message": "the door of {inst} is open; it measures only with the door closed.",
+      "fix": "`chemlab run {inst} close door`.",
+      "value": false,
+      "label": "door closed"
+     },
+     {
+      "slot": "laser.enabled",
+      "code": "SOURCE_OFF",
+      "message": "the laser of {inst} is off.",
+      "fix": "`chemlab run {inst} source on`.",
+      "value": true,
+      "label": "laser on"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the sample.",
+      "value": true,
+      "label": "sample in place"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "purge": "no nitrogen purge control on this instrument",
+    "set-temp": "no sample temperature control in this twin",
+    "blank": "Raman needs no blank (the axis calibration is `chemlab call jasco_nrs5500 calibration.axis`)"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run jasco_nrs5500 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run jasco_nrs5500 status`."
+   },
+   "params": {
+    "source_word": "laser",
+    "manual": "NRS-5500 specification pages (spectrograph, lasers, ranges)",
+    "method_example": "from=200cm-1 to=1100cm-1 time=0.5s"
+   },
+   "codes": {
+    "acquisition.start:SOURCE_COVERAGE": {
+     "code": "OUT_OF_RANGE",
+     "message": "the Raman shift range is outside the reference data of the sample on jasco_nrs5500.",
+     "fix": "narrow the range (the standard method is 250..1200 cm-1)."
+    }
+   }
+  },
+  "applied_sx20": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "wavelength": {
+       "arg": "wavelength_m",
+       "kind": "wavelength"
+      },
+      "path": {
+       "arg": "path_m",
+       "kind": "length"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "points": {
+       "arg": "points"
+      },
+      "timebase": {
+       "arg": "timebase"
+      },
+      "volume": {
+       "arg": "stop_volume_m3",
+       "kind": "volume"
+      },
+      "delay": {
+       "arg": "delay_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "points/*/trigger_time_s",
+     "y": "points/*/signal",
+     "x_kind": "duration",
+     "x_name": "time",
+     "y_name": "signal",
+     "x_unit": "s",
+     "fields": [
+      "phase",
+      "complete"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "kinetics": {
+       "cap": "kinetics.fit",
+       "about": "single-exponential rate constant of the last trace",
+       "result_cap": "result.read",
+       "fill": {
+        "time_s": {
+         "path": "points/*/trigger_time_s"
+        },
+        "signal": {
+         "path": "points/*/signal"
+        }
+       },
+       "show": [
+        "k_s_inv",
+        "k_std_s_inv",
+        "amplitude",
+        "offset",
+        "rmse"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "cover.opened",
+    "sample": "sample.loaded",
+    "method": "method.wavelength_m",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning"
+   },
+   "extra_status": {
+    "fluid.needs_flush": "flow circuit needs flushing"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the bath cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "bath cover closed"
+     },
+     {
+      "slot": "method.wavelength_m",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no loaded drive syringes in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the loaded drive syringes.",
+      "value": true,
+      "label": "loaded drive syringes in place"
+     },
+     {
+      "slot": "gas.enabled",
+      "code": "NOT_SET_UP",
+      "message": "the drive gas of {inst} is off (set up by the lab operator).",
+      "fix": "ask the lab operator.",
+      "value": true,
+      "label": "drive gas on"
+     },
+     {
+      "slot": "fluid.needs_flush",
+      "code": "NEEDS_FLUSH",
+      "message": "the flow circuit of {inst} must be flushed before the next shot (by the lab operator).",
+      "fix": "ask the lab operator to flush it.",
+      "value": false,
+      "label": "flushed"
+     }
+    ]
+   },
+   "unsupported": {
+    "open": "the bath cover is handled by the lab operator",
+    "close": "the bath cover is handled by the lab operator",
+    "source": "the lamp is not separately switchable",
+    "purge": "no nitrogen purge control on this instrument",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "set-temp": "the circulating bath is not controllable in this twin",
+    "blank": "the zero correction needs a blank reading you take yourself"
+   },
+   "alternatives": {
+    "blank": "shoot buffer, read the signal, then `chemlab call applied_sx20 calibration.zero --observed_blank X --mode absorbance`."
+   },
+   "params": {
+    "source_word": "lamp",
+    "manual": "SX20 user manual 4140Q001 pp. 24-62 (quick start), 76-89 (sample handling, cells, drive), 122-149 (Pro-Data SX control)",
+    "method_example": "wavelength=480nm time=0.5s points=101"
+   },
+   "notes": {
+    "method": [
+     "change the mode or cell path only with the power off (the optics are re-aligned at power-on)"
+    ]
+   }
+  },
+  "edinburgh_fls1000tcspc": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "ex": {
+       "arg": "excitation_wavelength_m",
+       "kind": "wavelength"
+      },
+      "em": {
+       "arg": "emission_wavelength_m",
+       "kind": "wavelength"
+      },
+      "rate": {
+       "arg": "repetition_hz",
+       "kind": "frequency"
+      },
+      "window": {
+       "arg": "time_window_s",
+       "kind": "duration"
+      },
+      "bins": {
+       "arg": "bins"
+      },
+      "slit": {
+       "arg": "slit_width_m",
+       "kind": "length"
+      },
+      "stop": {
+       "arg": "stop_kind"
+      },
+      "counts": {
+       "arg": "target_count"
+      },
+      "time": {
+       "arg": "max_acquisition_s",
+       "kind": "duration"
+      },
+      "fit": {
+       "arg": "fit_model"
+      }
+     }
+    },
+    "blank": {
+     "cap": "irf.start",
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "histograms/-1/edges_s",
+     "y": "histograms/-1/counts",
+     "x_kind": "duration",
+     "x_name": "time",
+     "y_name": "counts",
+     "x_unit": "s",
+     "fields": [
+      "phase",
+      "complete",
+      "histograms/-1/response_kind",
+      "histograms/-1/stop_reason"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "lifetime": {
+       "cap": "lifetime.fit",
+       "about": "fluorescence lifetime(s) by reconvolution with the IRF you saved (`spectrum --save-to irf.json` after `blank`)",
+       "result_cap": "result.read",
+       "keys": {
+        "tau": {
+         "arg": "initial_lifetimes_s",
+         "kind": "duration",
+         "required": true
+        },
+        "irf": {
+         "arg": "irf_histogram",
+         "file": "record/histograms/-1",
+         "required": true
+        }
+       },
+       "fill": {
+        "histogram": {
+         "path": "histograms/-1"
+        }
+       },
+       "example": "analyze lifetime irf=irf.json tau=4ns",
+       "show": [
+        "lifetimes_s",
+        "photon_amplitudes_per_pulse",
+        "relative_rmse",
+        "warning"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "cover.opened",
+    "source": "source.armed",
+    "sample": "sample.loaded",
+    "method": "method.excitation_m",
+    "phase": "scan.phase",
+    "points": "scan.total_counts",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "blank": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "source.armed",
+      "code": "SOURCE_OFF",
+      "message": "the pulsed laser of {inst} is not armed (the lab operator arms it).",
+      "fix": "ask the lab operator to arm it.",
+      "value": true,
+      "label": "pulsed laser armed"
+     },
+     {
+      "slot": "method.excitation_m",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cuvette in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cuvette.",
+      "value": true,
+      "label": "cuvette in place"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "source.armed",
+      "code": "SOURCE_OFF",
+      "message": "the pulsed laser of {inst} is not armed (the lab operator arms it).",
+      "fix": "ask the lab operator to arm it.",
+      "value": true,
+      "label": "pulsed laser armed"
+     },
+     {
+      "slot": "method.excitation_m",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cuvette in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cuvette.",
+      "value": true,
+      "label": "cuvette in place"
+     }
+    ]
+   },
+   "unsupported": {
+    "open": "the sample compartment cover is handled by the lab operator",
+    "close": "the sample compartment cover is handled by the lab operator",
+    "source": "the pulsed laser is armed by the lab operator",
+    "purge": "no nitrogen purge control on this instrument",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "set-temp": "no sample temperature control in this twin"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run edinburgh_fls1000tcspc status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run edinburgh_fls1000tcspc status`."
+   },
+   "params": {
+    "source_word": "pulsed laser (armed)",
+    "blank_word": "IRF",
+    "points_word": "counts",
+    "manual": "FLS1000 user guide pp. 57-62 (start-up), 79-97 (TCSPC, IRF, decays), 109-122 (reconvolution fit)",
+    "method_example": "em=519nm counts=10000"
+   },
+   "notes": {
+    "blank": [
+     "the IRF is measured with the scatterer in the holder and em = ex; save it (`spectrum --save-to irf.json`) for `analyze lifetime irf=irf.json`"
+    ]
+   }
+  },
+  "ultrafast_helios": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "laser": {
+       "arg": "pump_wavelength_m",
+       "kind": "wavelength"
+      },
+      "power": {
+       "arg": "pump_average_power_W",
+       "kind": "power"
+      },
+      "from": {
+       "arg": "wavelength_start_m",
+       "kind": "wavelength"
+      },
+      "to": {
+       "arg": "wavelength_stop_m",
+       "kind": "wavelength"
+      },
+      "step": {
+       "arg": "wavelength_step_m",
+       "kind": "wavelength"
+      },
+      "delays": {
+       "arg": "delay_sequence_s",
+       "kind": "duration"
+      },
+      "averages": {
+       "arg": "averages"
+      },
+      "scans": {
+       "arg": "scans"
+      }
+     }
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "wavelength_m",
+     "y": "points/-1/delta_absorbance",
+     "x_kind": "wavelength",
+     "x_name": "probe wavelength",
+     "y_name": "delta A (last delay)",
+     "x_unit": "m",
+     "fields": [
+      "phase",
+      "complete",
+      "points/-1/actual_delay_s"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "kinetics": {
+       "cap": "kinetics.fit",
+       "about": "lifetimes from the delta-A decay at one probe wavelength",
+       "result_cap": "result.read",
+       "keys": {
+        "at": {
+         "local": true,
+         "kind": "wavelength",
+         "required": true
+        },
+        "irf": {
+         "arg": "irf_fwhm_s",
+         "kind": "duration"
+        },
+        "t0": {
+         "arg": "time_zero_s",
+         "kind": "duration"
+        },
+        "tau": {
+         "arg": "initial_lifetimes_s",
+         "kind": "duration",
+         "required": true
+        }
+       },
+       "fill": {
+        "delay_s": {
+         "path": "points/*/actual_delay_s"
+        },
+        "delta_absorbance": {
+         "path": "points/*/delta_absorbance",
+         "pick": {
+          "axis": "wavelength_m",
+          "key": "at"
+         }
+        }
+       },
+       "args": {
+        "irf_fwhm_s": 1e-13,
+        "time_zero_s": 0.0
+       },
+       "example": "analyze kinetics at=600nm tau=150ps",
+       "hint": "the fit needs at least 12 delays: set them first, e.g. `method delays=-1ps,0ps,1ps,2ps,5ps,10ps,20ps,50ps,100ps,200ps,500ps,1000ps`, measure again.",
+       "show": [
+        "lifetimes_s",
+        "amplitudes",
+        "baseline",
+        "relative_rmse"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "cover.opened",
+    "source": "laser.armed",
+    "sample": "sample.loaded",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "laser.armed",
+      "code": "SOURCE_OFF",
+      "message": "the pump/probe laser of {inst} is not armed (the lab operator arms it).",
+      "fix": "ask the lab operator to arm it.",
+      "value": true,
+      "label": "pump/probe laser armed"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the sample cell.",
+      "value": true,
+      "label": "sample cell in place"
+     }
+    ]
+   },
+   "unsupported": {
+    "open": "the sample cover is handled by the lab operator",
+    "close": "the sample cover is handled by the lab operator",
+    "source": "the external laser is armed by the lab operator",
+    "purge": "no nitrogen purge control on this instrument",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "set-temp": "no sample temperature control in this twin",
+    "blank": "transient absorption is a pump-on / pump-off difference: no blank"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run ultrafast_helios status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run ultrafast_helios status`."
+   },
+   "params": {
+    "source_word": "laser (armed)",
+    "points_word": "delays",
+    "manual": "HELIOS datasheet pp. 1-2; Surface Xplorer manual pp. 37-53 (kinetics fitting)",
+    "method_example": "from=480nm to=660nm step=2nm delays=-1ps,0ps,1ps,2ps,5ps,10ps,20ps,50ps,100ps,200ps,500ps,1000ps"
+   }
+  },
+  "jasco_fvs6000": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "from": {
+       "arg": "wavenumber_start_m_inv",
+       "kind": "wavenumber"
+      },
+      "to": {
+       "arg": "wavenumber_stop_m_inv",
+       "kind": "wavenumber"
+      },
+      "step": {
+       "arg": "spacing_m_inv",
+       "kind": "wavenumber"
+      },
+      "resolution": {
+       "arg": "resolution_m_inv",
+       "kind": "wavenumber"
+      },
+      "time": {
+       "arg": "accumulation_s",
+       "kind": "duration"
+      }
+     }
+    },
+    "blank": {
+     "cap": "blank.start",
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "wavenumber_m_inv",
+     "y": "vcd_delta_absorbance",
+     "x_kind": "wavenumber",
+     "x_name": "wavenumber",
+     "y_name": "VCD delta A",
+     "x_unit": "m^-1",
+     "fields": [
+      "phase",
+      "kind",
+      "complete"
+     ]
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "target_k"
+    },
+    "analyze": {
+     "models": {
+      "compare": {
+       "cap": "reference.compare",
+       "about": "similarity of the measured VCD with a reference spectrum you give on the same grid",
+       "result_cap": "result.read",
+       "keys": {
+        "reference": {
+         "arg": "reference",
+         "required": true
+        }
+       },
+       "fill": {
+        "observed": {
+         "path": "vcd_delta_absorbance"
+        }
+       },
+       "example": "analyze compare reference=[...] (same length as the spectrum)"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "cover.opened",
+    "sample": "sample.loaded",
+    "method": "method.resolution_m_inv",
+    "blank": "blank.valid",
+    "phase": "scan.phase",
+    "points": "scan.frames",
+    "warning": "safety.warning",
+    "temp": "temperature.actual_k",
+    "set": "temperature.target_k"
+   },
+   "requires": {
+    "blank": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "method.resolution_m_inv",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "method.resolution_m_inv",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     },
+     {
+      "slot": "blank.valid",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank recorded with the current method (a new method, temperature or cell type needs a new one).",
+      "fix": "record it first: `chemlab run {inst} blank --wait` with the blank reference in place, then measure.",
+      "value": true,
+      "label": "blank recorded"
+     }
+    ]
+   },
+   "unsupported": {
+    "open": "the sample cover is handled by the lab operator",
+    "close": "the sample cover is handled by the lab operator",
+    "source": "the IR source is not separately switchable",
+    "purge": "the purge is part of the lab set-up (not controllable)",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run jasco_fvs6000 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run jasco_fvs6000 status`."
+   },
+   "params": {
+    "temp_tolerance_k": 0.1,
+    "points_word": "frames",
+    "manual": "FVS-6000 spec sheet pp. 1-2; FVS brochure p. 6",
+    "method_example": "from=1500cm-1 to=1800cm-1 time=10s"
+   }
+  },
+  "jasco_cpl300": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "result.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "shutter": {
+       "cap": "shutter.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "source": {
+     "cap": "lamp.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "axis": {
+       "arg": "scan_axis"
+      },
+      "mode": {
+       "arg": "scan_mode"
+      },
+      "ex": {
+       "arg": "excitation_m",
+       "kind": "wavelength"
+      },
+      "em": {
+       "arg": "emission_m",
+       "kind": "wavelength"
+      },
+      "from": {
+       "arg": "start_m",
+       "kind": "wavelength"
+      },
+      "to": {
+       "arg": "stop_m",
+       "kind": "wavelength"
+      },
+      "step": {
+       "arg": "interval_m",
+       "kind": "wavelength"
+      },
+      "time": {
+       "arg": "response_s",
+       "kind": "duration"
+      },
+      "speed": {
+       "arg": "scan_speed_m_s",
+       "kind": "scan_speed"
+      },
+      "ex-bw": {
+       "arg": "ex_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "em-bw": {
+       "arg": "em_bandwidth_m",
+       "kind": "wavelength"
+      },
+      "detector": {
+       "arg": "detector_band"
+      }
+     }
+    },
+    "blank": {
+     "cap": "blank.start",
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "result.read",
+     "x": "points/*/requested_wavelength_m",
+     "y": "points/*/glum",
+     "x_kind": "wavelength",
+     "x_name": "wavelength",
+     "y_name": "g_lum",
+     "x_unit": "m",
+     "fields": [
+      "phase",
+      "kind",
+      "complete"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "glum": {
+       "cap": "glum.compute",
+       "about": "luminescence dissymmetry g_lum from left / right intensities you give",
+       "passthrough": true,
+       "keys": {
+        "left": {
+         "arg": "left_relative",
+         "required": true
+        },
+        "right": {
+         "arg": "right_relative",
+         "required": true
+        },
+        "counts": {
+         "arg": "net_counts",
+         "required": true
+        },
+        "min-counts": {
+         "arg": "minimum_net_counts"
+        }
+       },
+       "args": {
+        "minimum_net_counts": 25
+       },
+       "example": "analyze glum left=1.02 right=0.98 counts=50000"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "cover.opened",
+    "source": "lamp.enabled",
+    "source_ready": "lamp.ready",
+    "sample": "sample.loaded",
+    "method": "method.scan_mode",
+    "blank": "blank.valid",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning"
+   },
+   "requires": {
+    "blank": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the xenon lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "xenon lamp on and warm"
+     },
+     {
+      "slot": "method.scan_mode",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null,
+       ""
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "cover.opened",
+      "code": "LID_OPEN",
+      "message": "the sample compartment cover of {inst} is open (it is opened and closed by the lab operator).",
+      "fix": "ask the lab operator to close it.",
+      "value": false,
+      "label": "sample compartment cover closed"
+     },
+     {
+      "slot": "lamp.ready",
+      "code": "SOURCE_NOT_READY",
+      "message": "the xenon lamp of {inst} is off or still warming up.",
+      "fix": "`chemlab run {inst} source on --wait`.",
+      "value": true,
+      "label": "xenon lamp on and warm"
+     },
+     {
+      "slot": "method.scan_mode",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null,
+       ""
+      ],
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no cell in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the cell.",
+      "value": true,
+      "label": "cell in place"
+     },
+     {
+      "slot": "blank.valid",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank recorded with the current method (a new method, temperature or cell type needs a new one).",
+      "fix": "record it first: `chemlab run {inst} blank --wait` with the blank reference in place, then measure.",
+      "value": true,
+      "label": "blank recorded"
+     }
+    ]
+   },
+   "unsupported": {
+    "purge": "no nitrogen purge control on this instrument",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "set-temp": "no sample temperature control in this twin"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run jasco_cpl300 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run jasco_cpl300 status`."
+   },
+   "params": {
+    "source_word": "xenon lamp",
+    "compartment_word": "sample cover",
+    "manual": "CPL-300 catalog pp. 2-3; Westlake CPL-300 SOP pp. 12-19 (power on, sample loading, measurement parameters, g_lum)",
+    "method_example": "em=520nm from=500nm to=560nm step=5nm"
+   },
+   "notes": {
+    "open": [
+     "only the shutter: the sample cover is opened and closed by the lab operator"
+    ]
+   }
+  },
+  "magritek_spinsolve80": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "nmr.read_spectrum"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "acquisition.configure",
+     "passthrough": true,
+     "keys": {
+      "nucleus": {
+       "arg": "nucleus"
+      },
+      "scans": {
+       "arg": "scans"
+      },
+      "delay": {
+       "arg": "relaxation_delay_s",
+       "kind": "duration"
+      },
+      "time": {
+       "arg": "acquisition_time_s",
+       "kind": "duration"
+      },
+      "points": {
+       "arg": "points"
+      },
+      "sequence": {
+       "arg": "pulse_sequence"
+      }
+     },
+     "current": {
+      "nucleus": "method.nucleus",
+      "pulse_sequence": "method.pulse_sequence",
+      "scans": "method.scans",
+      "relaxation_delay_s": "method.relaxation_delay_s",
+      "acquisition_time_s": "method.acquisition_time_s",
+      "points": "method.points",
+      "decoupling": "method.decoupling",
+      "gradient_enabled": "method.gradient_enabled"
+     }
+    },
+    "load": {
+     "cap": "sample.insert",
+     "arg": "sample_id"
+    },
+    "unload": {
+     "cap": "sample.remove"
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "nmr.read_spectrum",
+     "x": "samples/*/frequency_offset_hz",
+     "y": "samples/*/amplitude",
+     "x_kind": "offset",
+     "x_name": "frequency offset",
+     "y_name": "amplitude",
+     "x_unit": "Hz",
+     "fields": [
+      "nucleus",
+      "status",
+      "carrier_frequency_hz"
+     ]
+    },
+    "analyze": {
+     "models": {
+      "integrate": {
+       "cap": "nmr.integrate",
+       "about": "integral of the spectrum between two frequency offsets",
+       "keys": {
+        "from": {
+         "arg": "frequency_min_hz",
+         "kind": "offset",
+         "required": true
+        },
+        "to": {
+         "arg": "frequency_max_hz",
+         "kind": "offset",
+         "required": true
+        }
+       },
+       "example": "analyze integrate from=-50Hz to=50Hz",
+       "show": [
+        "integral_hz"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "sample": "slot.sample_tube.connection_id",
+    "sample_id": "slot.sample_tube.connection_id",
+    "method": "method.nucleus",
+    "phase": "acquisition.status",
+    "points": "acquisition.completed_scans"
+   },
+   "job": {
+    "done": [
+     "completed"
+    ],
+    "failed": [
+     "stopped",
+     "failed"
+    ]
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "slot.sample_tube.connection_id",
+      "code": "OCCUPIED",
+      "message": "a tube is already in {inst}.",
+      "fix": "`chemlab run {inst} unload` first.",
+      "value": null,
+      "label": "magnet bore empty"
+     }
+    ],
+    "unload": [
+     {
+      "slot": "slot.sample_tube.connection_id",
+      "code": "NO_SAMPLE",
+      "message": "there is no tube in {inst}.",
+      "fix": "nothing to take out.",
+      "not": [
+       null
+      ],
+      "label": "a tube in"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "slot.sample_tube.connection_id",
+      "code": "NO_SAMPLE",
+      "message": "there is no tube in {inst}.",
+      "fix": "`chemlab run {inst} load SAMPLE`.",
+      "not": [
+       null
+      ],
+      "label": "a tube in"
+     },
+     {
+      "slot": "method.nucleus",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "not": [
+       null,
+       ""
+      ],
+      "label": "method set"
+     }
+    ]
+   },
+   "unsupported": {
+    "open": "no lid: tubes go straight into the magnet bore (`load`)",
+    "close": "no lid",
+    "source": "no separately switchable source",
+    "purge": "no nitrogen purge control on this instrument",
+    "set-temp": "no sample temperature control in this twin",
+    "blank": "NMR needs no blank (lock and shim are internal)"
+   },
+   "params": {
+    "blank_word": "blank",
+    "points_word": "scans",
+    "manual": "Spinsolve 80 datasheet p. 4 (sequences); Spinsolve remote-control protocol options; CEITEC quick guide pp. 1-2",
+    "method_example": "nucleus=1H scans=8 points=512"
+   },
+   "codes": {
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "magritek_spinsolve80 cannot start: it needs power, a tube in, a method, and every signal inside the spectral window (+- points / acquisition time / 2).",
+     "fix": "widen the window: more points or a shorter acquisition time (e.g. `method points=512 time=0.5s`), then measure again."
+    },
+    "sample.insert:PRECONDITION_FAILED": {
+     "code": "UNKNOWN_SAMPLE",
+     "message": "magritek_spinsolve80 has no tube with that id, or a tube is already in.",
+     "fix": "check the id the lab gave you and `status`."
+    },
+    "nmr.integrate:PRECONDITION_FAILED": {
+     "code": "OUT_OF_RANGE",
+     "message": "there is no spectrum, or the range is outside it.",
+     "fix": "measure first; give from < to inside the spectrum (see `spectrum`)."
+    }
+   },
+   "alternatives": {}
+  },
+  "bruker_magnettechesr5000": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "spectrum.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "source": {
+     "cap": "microwave.set",
+     "arg": "enabled"
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "center": {
+       "arg": "field_center_t",
+       "kind": "field"
+      },
+      "width": {
+       "arg": "sweep_width_t",
+       "kind": "field"
+      },
+      "freq": {
+       "arg": "microwave_frequency_hz",
+       "kind": "frequency"
+      },
+      "power": {
+       "arg": "microwave_power_w",
+       "kind": "power"
+      },
+      "mod": {
+       "arg": "modulation_pp_t",
+       "kind": "field"
+      },
+      "mod-freq": {
+       "arg": "modulation_frequency_hz",
+       "kind": "frequency"
+      },
+      "points": {
+       "arg": "points"
+      },
+      "time": {
+       "arg": "dwell_s",
+       "kind": "duration"
+      },
+      "tc": {
+       "arg": "lockin_time_constant_s",
+       "kind": "duration"
+      },
+      "gain": {
+       "arg": "gain"
+      }
+     }
+    },
+    "blank": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "blank"
+     },
+     "job": true
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "args": {
+      "kind": "sample"
+     },
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "spectrum.read",
+     "x": "points/*/field_t",
+     "y": "points/*/intensity",
+     "x_kind": "field",
+     "x_name": "field",
+     "y_name": "first-derivative intensity",
+     "x_unit": "T",
+     "fields": [
+      "phase",
+      "kind",
+      "complete"
+     ]
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "analyze": {
+     "models": {
+      "g-factor": {
+       "cap": "spectrum.analyze",
+       "about": "apparent g value, centre field, peak-to-peak width and double integral of an isolated line",
+       "result_cap": "spectrum.read",
+       "keys": {
+        "isolated": {
+         "arg": "isolated_line_assertion"
+        }
+       },
+       "args": {
+        "isolated_line_assertion": true
+       },
+       "fill": {
+        "trace": {
+         "object": {
+          "field_t": "points/*/field_t",
+          "intensity": "points/*/intensity"
+         },
+         "path": "points"
+        },
+        "microwave_frequency_hz": {
+         "slot": "method.frequency_hz"
+        }
+       },
+       "show": [
+        "g_apparent",
+        "center_field_t",
+        "linewidth_pp_t",
+        "double_integral_t2"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "lid.opened",
+    "source": "microwave.enabled",
+    "sample": "sample.loaded",
+    "method": "method.configured",
+    "blank": "blank.ready",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning",
+    "temp": "thermal.temperature_k",
+    "set": "thermal.setpoint_k"
+   },
+   "requires": {
+    "source": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     }
+    ],
+    "blank": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "microwave.enabled",
+      "code": "SOURCE_OFF",
+      "message": "the microwave bridge of {inst} is off.",
+      "fix": "`chemlab run {inst} source on`.",
+      "value": true,
+      "label": "microwave bridge on"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample tube in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the sample tube.",
+      "value": true,
+      "label": "sample tube in place"
+     }
+    ],
+    "measure": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "microwave.enabled",
+      "code": "SOURCE_OFF",
+      "message": "the microwave bridge of {inst} is off.",
+      "fix": "`chemlab run {inst} source on`.",
+      "value": true,
+      "label": "microwave bridge on"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample tube in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the sample tube.",
+      "value": true,
+      "label": "sample tube in place"
+     },
+     {
+      "slot": "blank.ready",
+      "code": "BLANK_REQUIRED",
+      "message": "{inst} has no blank recorded with the current method (a new method, temperature or cell type needs a new one).",
+      "fix": "record it first: `chemlab run {inst} blank --wait` with the blank reference in place, then measure.",
+      "value": true,
+      "label": "blank recorded"
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "thermal.installed",
+      "code": "NO_ACCESSORY",
+      "message": "{inst} has no temperature accessory installed in this lab.",
+      "fix": "measure at room temperature, or ask the lab operator.",
+      "value": true,
+      "label": "temperature accessory installed"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "purge": "no nitrogen purge control on this instrument"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run bruker_magnettechesr5000 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run bruker_magnettechesr5000 status`."
+   },
+   "params": {
+    "source_word": "microwave bridge",
+    "temp_tolerance_k": 0.2,
+    "manual": "Magnettech ESR5000 brochure T177515 pp. 4 (ESRStudio), 6-8 (accessories, specifications)",
+    "method_example": "center=338.4mT width=16mT power=1mW"
+   },
+   "notes": {
+    "source": [
+     "the microwave bridge needs the lid closed and a method set; this twin switches it off at the end of every scan, so switch it on again before the next blank or measurement"
+    ],
+    "measure": [
+     "the sample tube needs a blank (empty tube / solvent) recorded with the same method and temperature"
+    ]
+   }
+  },
+  "bruker_minispecmq20": {
+   "role": "primary",
+   "path": "acquisition",
+   "path_exceptions": [
+    "signal.read"
+   ],
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false
+      }
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "passthrough": true,
+     "keys": {
+      "sequence": {
+       "arg": "sequence"
+      },
+      "power": {
+       "arg": "rf_power_w",
+       "kind": "power"
+      },
+      "p90": {
+       "arg": "pulse90_s",
+       "kind": "duration"
+      },
+      "p180": {
+       "arg": "pulse180_s",
+       "kind": "duration"
+      },
+      "delay": {
+       "arg": "recycle_s",
+       "kind": "duration"
+      },
+      "delays": {
+       "arg": "delays_s",
+       "kind": "duration"
+      },
+      "echo": {
+       "arg": "echo_spacing_s",
+       "kind": "duration"
+      },
+      "points": {
+       "arg": "points"
+      },
+      "scans": {
+       "arg": "averages"
+      }
+     }
+    },
+    "measure": {
+     "cap": "acquisition.start",
+     "job": true
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "spectrum": {
+     "cap": "signal.read",
+     "x": "points/*/delay_s",
+     "y": "points/*/signal",
+     "x_kind": "duration",
+     "x_name": "delay",
+     "y_name": "signal",
+     "x_unit": "s",
+     "fields": [
+      "phase",
+      "complete",
+      "sequence"
+     ]
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "analyze": {
+     "models": {
+      "relaxation": {
+       "cap": "relaxation.fit",
+       "about": "T1 (inversion recovery) or T2 (CPMG) from the last run",
+       "show": [
+        "quantity",
+        "time_s",
+        "rate_s_inv",
+        "r_squared",
+        "points"
+       ]
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "opened": "lid.opened",
+    "sample": "sample.loaded",
+    "method": "method.configured",
+    "phase": "scan.phase",
+    "points": "scan.completed_points",
+    "warning": "safety.warning",
+    "temp": "thermal.temperature_k",
+    "set": "thermal.target_k"
+   },
+   "requires": {
+    "measure": [
+     {
+      "slot": "lid.opened",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is open; it measures only with the lid closed.",
+      "fix": "`chemlab run {inst} close lid`.",
+      "value": false,
+      "label": "lid closed"
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method set.",
+      "fix": "set one: `chemlab run {inst} method KEY=VALUE ...` (see `chemlab help {inst} method`).",
+      "value": true,
+      "label": "method set"
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "there is no sample tube in {inst}.",
+      "fix": "cells are placed by the lab operator; ask for the sample tube.",
+      "value": true,
+      "label": "sample tube in place"
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "probe.vt_installed",
+      "code": "NO_ACCESSORY",
+      "message": "bruker_minispecmq20 has no VT (variable temperature) accessory installed, so it cannot set a sample temperature.",
+      "fix": "measure at the magnet temperature, or ask the lab operator to install the VT accessory.",
+      "value": true,
+      "label": "VT accessory installed"
+     }
+    ]
+   },
+   "codes": {
+    "thermal.set_temperature:UNSUPPORTED": {
+     "code": "NO_ACCESSORY",
+     "message": "bruker_minispecmq20 sets a sample temperature only with the VT accessory installed, and it is not.",
+     "fix": "measure at the magnet temperature, or ask the lab operator to install the VT accessory."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "bruker_minispecmq20 cannot start: it needs power, a method, a tube in and the lid closed.",
+     "fix": "see `chemlab run bruker_minispecmq20 status`."
+    },
+    "TEMPLATE_TEMPERATURE_MISMATCH": {
+     "code": "TEMPERATURE",
+     "message": "the sample of bruker_minispecmq20 must be at its reference temperature (within 0.1 K) to measure.",
+     "fix": "set it (`set-temp T --wait`) - the sample's temperature is in the lab's sample sheet."
+    },
+    "TIMING_GRID": {
+     "code": "BAD_TIMING",
+     "message": "pulse and delay times of bruker_minispecmq20 must be multiples of the 20 ns timing resolution.",
+     "fix": "round the times (e.g. p90=50us)."
+    },
+    "DELAY_GRID": {
+     "code": "BAD_TIMING",
+     "message": "for inversion recovery the delay list must have `points` increasing values.",
+     "fix": "give delays=... with as many increasing values as points=."
+    },
+    "ECHO_OVERLAP": {
+     "code": "BAD_TIMING",
+     "message": "the echo spacing is too short for the 180-degree pulse and receiver dead time.",
+     "fix": "make echo= longer."
+    }
+   },
+   "unsupported": {
+    "source": "the RF transmitter is part of the pulse sequence (not separately switchable)",
+    "purge": "no nitrogen purge control on this instrument",
+    "load": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "unload": "the cell is placed by the lab operator (no agent capability on this instrument)",
+    "blank": "time-domain NMR needs no blank"
+   },
+   "alternatives": {
+    "load": "ask the lab operator to change the cell; then `chemlab run bruker_minispecmq20 status`.",
+    "unload": "ask the lab operator to change the cell; then `chemlab run bruker_minispecmq20 status`."
+   },
+   "params": {
+    "temp_tolerance_k": 0.1,
+    "manual": "minispec mq series user manual E1400011 pp. 33-37 (getting started), 41-60 (measurement and parameter menus); ExpSpel applications manual pp. 33-42 (FID, CPMG examples)",
+    "method_example": "sequence=cpmg echo=2ms points=100 delays=1ms"
+   },
+   "notes": {
+    "set-temp": [
+     "needs the VT accessory (probe.vt_installed); without it the instrument answers UNSUPPORTED"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/structure.json b/chemlab/configs/adapters/structure.json
new file mode 100644
index 0000000000000000000000000000000000000000..344e78b61a89d2147c9cb33a3483a7159a71a99c
--- /dev/null
+++ b/chemlab/configs/adapters/structure.json
@@ -0,0 +1,2983 @@
+{
+ "class": "structure",
+ "adapter": "chemlab.compile.classes.structure:StructureAdapter",
+ "about": "Diffraction, scattering, XPS and ellipsometry: load, unload, source, vacuum, align, scan KEY=VALUE (job), result, analyze, status. Composite verbs are step lists per member (the imaging step engine); ranges and units come from the contracts.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "rigaku_miniflex600_external_cooling",
+   "rigaku_xtalabsynergy",
+   "antonpaar_saxspace",
+   "kratos_axissupra",
+   "ja_alphase"
+  ],
+  "secondary": {},
+  "not_members": {
+   "shimadzu_edx7200": "XRF: elemental quantification (quant_analyzer primary); its verbs are those of that class",
+   "bruker_x4poseidon": "X-ray CT is an imaging member (load / source / acquire / zoom); no diffraction verbs to add"
+  }
+ },
+ "members": {
+  "rigaku_miniflex600_external_cooling": {
+   "role": "primary",
+   "slots": {
+    "sample": "slot.sample.connection_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "scan.running",
+        "truthy": false
+       },
+       "code": "BUSY",
+       "message": "{inst} is scanning.",
+       "fix": "wait for the scan (`chemlab status`) or cancel it.",
+       "label": "not scanning"
+      },
+      {
+       "check": {
+        "slot": "slot.sample.connection_id",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the sample slot of {inst} already holds {slot:slot.sample.connection_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "sample slot free"
+      },
+      {
+       "cap": "access.set_door_angle",
+       "args": {
+        "angle_rad": 1.5
+       },
+       "say": "open the door",
+       "if": {
+        "slot": "access.door_angle_rad",
+        "le": 0.0
+       }
+      },
+      {
+       "cap": "slot.set_sample",
+       "args": {
+        "connection_id": "$sample"
+       },
+       "say": "put the sample holder {sample} into the sample slot"
+      },
+      {
+       "cap": "access.set_door_angle",
+       "args": {
+        "angle_rad": 0.0
+       },
+       "say": "close the door"
+      }
+     ],
+     "done": "loaded sample holder {sample}; the door is closed",
+     "next": "set the tube (`chemlab run {inst} source on --kv 40kV --ma 15mA`), then `chemlab run {inst} scan from=10deg to=80deg step=0.02deg time=0.5s`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "scan.running",
+        "truthy": false
+       },
+       "code": "BUSY",
+       "message": "{inst} is scanning.",
+       "fix": "wait for the scan (`chemlab status`) or cancel it.",
+       "label": "not scanning"
+      },
+      {
+       "check": {
+        "slot": "slot.sample.connection_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "the sample slot of {inst} is empty.",
+       "fix": "nothing to unload.",
+       "label": "a sample in the slot"
+      },
+      {
+       "cap": "access.set_door_angle",
+       "args": {
+        "angle_rad": 1.5
+       },
+       "say": "open the door",
+       "if": {
+        "slot": "access.door_angle_rad",
+        "le": 0.0
+       }
+      },
+      {
+       "cap": "slot.set_sample",
+       "args": {
+        "connection_id": null
+       },
+       "say": "take the sample holder out"
+      },
+      {
+       "cap": "access.set_door_angle",
+       "args": {
+        "angle_rad": 0.0
+       },
+       "say": "close the door"
+      }
+     ],
+     "done": "unloaded the sample holder"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "scan.running",
+         "truthy": false
+        },
+        "code": "BUSY",
+        "message": "{inst} is scanning; the tube setting cannot change now.",
+        "fix": "wait for the scan.",
+        "label": "not scanning"
+       },
+       {
+        "cap": "xray.configure",
+        "args": {
+         "voltage_v": "$opt:kv",
+         "current_a": "$opt:ma"
+        },
+        "say": "set the tube to {opt:kv}, {opt:ma}"
+       }
+      ],
+      "defaults": {
+       "kv": "40kV",
+       "ma": "15mA"
+      },
+      "done": "tube set (the X-rays come on only while a scan runs)"
+     },
+     "off": {
+      "steps": [],
+      "done": "nothing to switch off: the X-rays of the MiniFlex are on only while a scan runs (stop a scan with `chemlab cancel job-N`)"
+     }
+    },
+    "scan": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "slot.sample.connection_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "the sample slot of {inst} is empty.",
+       "fix": "load a sample holder: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample loaded"
+      },
+      {
+       "check": {
+        "slot": "access.door_angle_rad",
+        "le": 0.0
+       },
+       "code": "DOOR_OPEN",
+       "message": "the door of {inst} is open.",
+       "fix": "close it: `chemlab run {inst} close door`.",
+       "label": "door closed"
+      },
+      {
+       "check": {
+        "slot": "cooling.ready",
+        "truthy": true
+       },
+       "code": "NO_COOLING",
+       "message": "the external chiller of {inst} is not connected or not ready.",
+       "fix": "ask the lab operator to start the chiller.",
+       "label": "chiller ready"
+      },
+      {
+       "check": {
+        "slot": "xray.voltage_v",
+        "ne": null
+       },
+       "code": "SOURCE_NOT_SET",
+       "message": "the tube voltage / current of {inst} are not set.",
+       "fix": "`chemlab run {inst} source on --kv 40kV --ma 15mA`.",
+       "label": "tube set"
+      },
+      {
+       "cap": "xrd.set_slit",
+       "args": {
+        "slit_id": {
+         "$or": [
+          "$opt:slit",
+          "$param:default_slit"
+         ]
+        }
+       },
+       "say": "record the slit set-up",
+       "if": {
+        "any": [
+         {
+          "input": "opt:slit",
+          "given": true
+         },
+         {
+          "slot": "slit.configuration_id",
+          "eq": null
+         }
+        ]
+       }
+      },
+      {
+       "cap": "xrd.configure_scan",
+       "args": {
+        "start_rad": "$opt:from",
+        "stop_rad": "$opt:to",
+        "step_rad": "$opt:step",
+        "integration_time_s": "$opt:time"
+       },
+       "say": "set the scan {opt:from} to {opt:to}, step {opt:step}, {opt:time} per step"
+      },
+      {
+       "cap": "xrd.start_scan",
+       "say": "start the 2theta scan"
+      }
+     ],
+     "keys": {
+      "from": [
+       "angle"
+      ],
+      "to": [
+       "angle"
+      ],
+      "step": [
+       "angle"
+      ],
+      "time": [
+       "duration"
+      ]
+     },
+     "defaults": {
+      "from": "10deg",
+      "to": "80deg",
+      "step": "0.02deg",
+      "time": "0.5s"
+     },
+     "options": [
+      "slit"
+     ],
+     "job": {
+      "state": {
+       "slot": "scan.status",
+       "done": [
+        "completed"
+       ],
+       "failed": [
+        "stopped",
+        "cooling_lost",
+        "power_lost",
+        "idle"
+       ]
+      },
+      "stop_cap": "xrd.stop_scan",
+      "what": "2theta scan",
+      "max_s": 36000,
+      "progress": [
+       "scan.completed_points",
+       "scan.total_points"
+      ]
+     },
+     "what": "2theta scan"
+    },
+    "result": {
+     "cap": "xrd.read_pattern",
+     "arg": null,
+     "show": [
+      "status",
+      "two_theta_coverage_rad",
+      "wavelengths_m",
+      "samples"
+     ]
+    }
+   },
+   "unsupported": {
+    "align": "no alignment capability (the goniometer is factory-aligned)",
+    "vacuum": "an air-path diffractometer (no vacuum)",
+    "analyze": "no phase search or refinement on this twin (its xrd.phase_search and xrd.refine are not implemented)"
+   },
+   "alternatives": {
+    "analyze": "compare with reference patterns: `chemlab call INST template.read --phase_id quartz` (d values, 2theta, intensities)"
+   },
+   "params": {
+    "default_slit": "standard_divergence_slit"
+   },
+   "codes": {
+    "xrd.start_scan:INVALID_STATE": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: the sample, the chiller or the tube set-up is missing, or the sample gives no pattern over this range.",
+     "fix": "check `chemlab run {inst} status`; scan a narrower 2theta range if the sample is set up."
+    }
+   },
+   "view": [
+    {
+     "label": "power",
+     "slot": "power.enabled"
+    },
+    {
+     "label": "door",
+     "slot": "access.door_angle_rad",
+     "fmt": "deg"
+    },
+    {
+     "label": "sample",
+     "slot": "slot.sample.connection_id"
+    },
+    {
+     "label": "chiller ready",
+     "slot": "cooling.ready"
+    },
+    {
+     "label": "tube",
+     "slot": "xray.voltage_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "current",
+     "slot": "xray.current_a",
+     "fmt": "ma"
+    },
+    {
+     "label": "X-rays on",
+     "slot": "xray.active"
+    },
+    {
+     "label": "scan",
+     "slot": "scan.status"
+    },
+    {
+     "label": "points",
+     "slot": "scan.completed_points"
+    },
+    {
+     "label": "of",
+     "slot": "scan.total_points"
+    },
+    {
+     "label": "2theta",
+     "slot": "goniometer.two_theta_rad",
+     "fmt": "deg"
+    }
+   ],
+   "path": "xrd",
+   "notes": {
+    "scan": [
+     "settings from= to= step= (angles, 2theta) time= (per step) slit= (a slit label); angles on the 0.005 deg grid and the range a whole number of steps",
+     "manual: MiniFlex 600 SOP pp.4-5 (General Measurement); operation manual pp.1-3"
+    ],
+    "result": [
+     "the MiniFlex keeps only its current pattern (no record ids)"
+    ],
+    "load": [
+     "manual: MiniFlex 600 SOP pp.4-5 (sample loading)"
+    ],
+    "source": [
+     "manual: MiniFlex 600 SOP p.3 (X-ray generator)"
+    ]
+   }
+  },
+  "rigaku_xtalabsynergy": {
+   "role": "primary",
+   "slots": {
+    "sample": "crystal.mounted_sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "crystal.mounted_sample_id",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the goniometer head of {inst} already carries {slot:crystal.mounted_sample_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "goniometer head free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "crystal {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the crystals on the bench.",
+       "label": "crystal on the bench"
+      },
+      {
+       "check": {
+        "slot": "operation.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is busy ({slot:operation.kind}).",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "idle"
+      },
+      {
+       "cap": "door.open",
+       "args": {
+        "door": "left",
+        "angle_rad": 1.5
+       },
+       "say": "open the main door",
+       "if": {
+        "slot": "door.left_angle_rad",
+        "lt": 0.79
+       }
+      },
+      {
+       "cap": "motion_enable.hold",
+       "args": {
+        "held": true
+       },
+       "say": "hold both Motion Enable keys",
+       "unless": {
+        "slot": "motion_enable.held",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "goniometer.mount_position",
+       "say": "drive the goniometer to the mounting pose",
+       "unless": {
+        "all": [
+         {
+          "slot": "goniometer.kappa_rad",
+          "near": 0.0,
+          "abs": 0.087
+         },
+         {
+          "slot": "detector.distance_m",
+          "ge": 0.06
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "operation.id",
+          "eq": null
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the goniometer is at the mounting pose",
+       "max_s": 300
+      },
+      {
+       "cap": "crystal.mount",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "mount crystal {sample} on the goniometer head"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "operation.id",
+          "eq": null
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the mounting is done",
+       "max_s": 300
+      }
+     ],
+     "done": "mounted crystal {sample} (the main door stays open for centring)",
+     "next": "centre it: `chemlab run {inst} align --wait`, then `chemlab run {inst} source on --wait`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "crystal.mounted_sample_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no crystal on {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a crystal mounted"
+      },
+      {
+       "check": {
+        "slot": "operation.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is busy ({slot:operation.kind}).",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "idle"
+      },
+      {
+       "cap": "door.open",
+       "args": {
+        "door": "left",
+        "angle_rad": 1.5
+       },
+       "say": "open the main door",
+       "if": {
+        "slot": "door.left_angle_rad",
+        "lt": 0.79
+       }
+      },
+      {
+       "cap": "motion_enable.hold",
+       "args": {
+        "held": true
+       },
+       "say": "hold both Motion Enable keys",
+       "unless": {
+        "slot": "motion_enable.held",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "goniometer.mount_position",
+       "say": "drive the goniometer to the mounting pose",
+       "unless": {
+        "all": [
+         {
+          "slot": "goniometer.kappa_rad",
+          "near": 0.0,
+          "abs": 0.087
+         },
+         {
+          "slot": "detector.distance_m",
+          "ge": 0.06
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "operation.id",
+          "eq": null
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the goniometer is at the mounting pose",
+       "max_s": 300
+      },
+      {
+       "cap": "crystal.unmount",
+       "say": "take the crystal off and put it back on the bench"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "operation.id",
+          "eq": null
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the unmounting is done",
+       "max_s": 300
+      }
+     ],
+     "done": "unmounted the crystal (the main door is open)"
+    },
+    "align": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "crystal.mounted_sample_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no crystal on {inst}.",
+       "fix": "mount one: `chemlab run {inst} load SAMPLE`.",
+       "label": "a crystal mounted"
+      },
+      {
+       "check": {
+        "slot": "operation.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is busy ({slot:operation.kind}).",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "idle"
+      },
+      {
+       "cap": "door.open",
+       "args": {
+        "door": "left",
+        "angle_rad": 1.5
+       },
+       "say": "open the main door",
+       "if": {
+        "slot": "door.left_angle_rad",
+        "lt": 0.79
+       }
+      },
+      {
+       "cap": "motion_enable.hold",
+       "args": {
+        "held": true
+       },
+       "say": "hold both Motion Enable keys",
+       "unless": {
+        "slot": "motion_enable.held",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "goniometer.mount_position",
+       "say": "drive the goniometer to the mounting pose",
+       "unless": {
+        "all": [
+         {
+          "slot": "goniometer.kappa_rad",
+          "near": 0.0,
+          "abs": 0.087
+         },
+         {
+          "slot": "detector.distance_m",
+          "ge": 0.06
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       }
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "operation.id",
+          "eq": null
+         },
+         {
+          "slot": "goniometer.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the goniometer is at the mounting pose",
+       "max_s": 300
+      },
+      {
+       "cap": "crystal.center",
+       "say": "centre the crystal (video microscope, phi steps of 90 deg)"
+      }
+     ],
+     "job": "operation",
+     "what": "crystal centring"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "motion_enable.hold",
+        "args": {
+         "held": false
+        },
+        "say": "release the Motion Enable keys",
+        "if": {
+         "slot": "motion_enable.held",
+         "truthy": true
+        }
+       },
+       {
+        "cap": "door.close",
+        "args": {
+         "door": "left"
+        },
+        "say": "close the main door",
+        "if": {
+         "slot": "door.left_angle_rad",
+         "gt": 0.0
+        }
+       },
+       {
+        "cap": "door.close",
+        "args": {
+         "door": "right"
+        },
+        "say": "close the right door",
+        "if": {
+         "slot": "door.right_angle_rad",
+         "gt": 0.0
+        }
+       },
+       {
+        "cap": "safety.doors_ok",
+        "say": "press Doors OK (safety circuit)",
+        "unless": {
+         "slot": "safety.armed",
+         "truthy": true
+        }
+       },
+       {
+        "cap": "xray.set_key",
+        "args": {
+         "angle_rad": 1.5707963
+        },
+        "say": "turn the X-ray key to ON",
+        "unless": {
+         "slot": "xray.key_on",
+         "truthy": true
+        }
+       },
+       {
+        "cap": "xray.on",
+        "args": {
+         "voltage_v": {
+          "$or": [
+           "$opt:kv",
+           "$slot:xray.target#voltage_v"
+          ]
+         },
+         "current_a": {
+          "$or": [
+           "$opt:ma",
+           "$slot:xray.target#current_a"
+          ]
+         }
+        },
+        "say": "switch the generator on",
+        "if": {
+         "slot": "xray.state",
+         "eq": "off"
+        }
+       },
+       {
+        "cap": "xray.set",
+        "args": {
+         "voltage_v": "$opt:kv",
+         "current_a": "$opt:ma"
+        },
+        "say": "change the tube setting to {opt:kv}, {opt:ma}",
+        "if": {
+         "all": [
+          {
+           "slot": "xray.state",
+           "ne": "off"
+          },
+          {
+           "input": "opt:kv",
+           "given": true
+          },
+          {
+           "input": "opt:ma",
+           "given": true
+          }
+         ]
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "xray.state",
+        "eq": "on"
+       },
+       "what": "X-ray start and ramp",
+       "max_s": 900,
+       "progress": [
+        "xray.state",
+        "xray.voltage_v",
+        "xray.current_a"
+       ]
+      },
+      "what": "X-ray start and ramp",
+      "done": "X-rays on"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "xray.off",
+        "say": "switch the high voltage off",
+        "if": {
+         "slot": "xray.state",
+         "ne": "off"
+        }
+       }
+      ],
+      "done": "X-rays off"
+     }
+    },
+    "scan": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "crystal.mounted_sample_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no crystal on {inst}.",
+       "fix": "mount one: `chemlab run {inst} load SAMPLE`.",
+       "label": "a crystal mounted"
+      },
+      {
+       "check": {
+        "slot": "xray.state",
+        "eq": "on"
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-rays of {inst} are not on and stable ({slot:xray.state}).",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays stable"
+      },
+      {
+       "check": {
+        "slot": "safety.armed",
+        "truthy": true
+       },
+       "code": "NOT_ARMED",
+       "message": "the safety circuit of {inst} is open (a door was opened).",
+       "fix": "`chemlab run {inst} source on` closes the doors and re-arms it.",
+       "label": "safety circuit armed"
+      },
+      {
+       "cap": "experiment.pre_experiment",
+       "args": {
+        "exposure_s": "$opt:exposure",
+        "frame_width_rad": "$opt:width",
+        "distance_m": "$opt:distance"
+       },
+       "say": "pre-experiment: three 20 deg omega runs ({opt:exposure} per {opt:width} frame, {opt:distance})",
+       "if": {
+        "input": "opt:strategy",
+        "given": false
+       }
+      },
+      {
+       "cap": "data.collect",
+       "args": {
+        "runs": null,
+        "strategy_record_id": "$opt:strategy",
+        "frame_width_rad": "$opt:width"
+       },
+       "say": "collect the data set of strategy {opt:strategy}",
+       "if": {
+        "input": "opt:strategy",
+        "given": true
+       }
+      }
+     ],
+     "keys": {
+      "exposure": [
+       "duration"
+      ],
+      "width": [
+       "angle"
+      ],
+      "distance": [
+       "length"
+      ]
+     },
+     "defaults": {
+      "exposure": "1s",
+      "width": "0.5deg",
+      "distance": "45mm"
+     },
+     "options": [
+      "strategy"
+     ],
+     "job": "operation",
+     "what": "diffraction measurement"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id",
+     "args": {
+      "max_values": 4096
+     }
+    },
+    "analyze": {
+     "steps": [
+      {
+       "cap": "processing.index",
+       "args": {
+        "record_id": "$id",
+        "threshold_i_sigma": "$opt:threshold"
+       },
+       "say": "find peaks and index record {id}",
+       "if": {
+        "input": "opt:what",
+        "eq": "index"
+       }
+      },
+      {
+       "cap": "strategy.calculate",
+       "args": {
+        "record_id": "$id",
+        "resolution_m": "$opt:resolution",
+        "completeness": "$opt:completeness",
+        "redundancy": "$opt:redundancy",
+        "exposure_low_s": "$opt:exposure",
+        "exposure_high_s": "$opt:exposure_high",
+        "frame_width_rad": "$opt:width",
+        "distance_m": "$opt:distance"
+       },
+       "say": "calculate a collection strategy from {id}",
+       "if": {
+        "input": "opt:what",
+        "eq": "strategy"
+       }
+      },
+      {
+       "cap": "processing.reduce",
+       "args": {
+        "record_id": "$id",
+        "index_record_id": {
+         "$or": [
+          "$opt:index",
+          null
+         ]
+        }
+       },
+       "say": "reduce data set {id}",
+       "if": {
+        "input": "opt:what",
+        "eq": "reduce"
+       }
+      },
+      {
+       "cap": "processing.what_is_this",
+       "args": {
+        "record_id": "$id"
+       },
+       "say": "identify the structure of {id} (\"What is this?\")",
+       "if": {
+        "input": "opt:what",
+        "eq": "identify"
+       }
+      },
+      {
+       "fail": "UNKNOWN_ANALYSIS",
+       "kind": "usage",
+       "message": "what={opt:what} is not an analysis of {inst}.",
+       "fix": "what=index, strategy, reduce or identify.",
+       "if": {
+        "not": {
+         "input": "opt:what",
+         "in": [
+          "index",
+          "strategy",
+          "reduce",
+          "identify"
+         ]
+        }
+       }
+      }
+     ],
+     "keys": {
+      "resolution": [
+       "length"
+      ],
+      "exposure": [
+       "duration"
+      ],
+      "exposure_high": [
+       "duration"
+      ],
+      "width": [
+       "angle"
+      ],
+      "distance": [
+       "length"
+      ]
+     },
+     "defaults": {
+      "what": "index",
+      "threshold": "5",
+      "resolution": "0.084nm",
+      "completeness": "1.0",
+      "redundancy": "4",
+      "exposure": "0.5s",
+      "exposure_high": "2s",
+      "width": "0.5deg",
+      "distance": "45mm"
+     },
+     "options": [
+      "index",
+      "what"
+     ],
+     "last_slot": "result.last_record_id",
+     "what": "analysis ({opt:what})"
+    }
+   },
+   "unsupported": {
+    "vacuum": "no vacuum to operate (the tube vacuum is internal; air path to the crystal)"
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "crystal",
+     "slot": "crystal.mounted_sample_id"
+    },
+    {
+     "label": "main door",
+     "slot": "door.left_angle_rad",
+     "fmt": "deg"
+    },
+    {
+     "label": "armed",
+     "slot": "safety.armed"
+    },
+    {
+     "label": "key",
+     "slot": "xray.key_on"
+    },
+    {
+     "label": "X-rays",
+     "slot": "xray.state"
+    },
+    {
+     "label": "tube",
+     "slot": "xray.voltage_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "current",
+     "slot": "xray.current_a",
+     "fmt": "ma"
+    },
+    {
+     "label": "distance",
+     "slot": "detector.distance_m",
+     "kind": "length"
+    },
+    {
+     "label": "busy with",
+     "slot": "operation.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "experiment",
+   "path_exceptions": [
+    "data.collect",
+    "measurement.result"
+   ],
+   "notes": {
+    "load": [
+     "open the main door, hold Motion Enable, drive to the mounting pose, mount the crystal (about 1 min); the door stays open for centring (user manual: mounting and centring)",
+     "manual: XtaLAB Synergy user manual pp.10-15 (mounting and centring)"
+    ],
+    "source": [
+     "closes the doors and presses Doors OK, turns the key, starts the generator (about 30 s) and ramps it (2 kV/s, 2 mA/s)",
+     "manual: XtaLAB Synergy user manual p.6 (door interlock), pp.7-10 (Motion Enable)"
+    ],
+    "scan": [
+     "without strategy= a pre-experiment (quick screening, auto-indexed); with strategy=ID the full data set of that strategy record",
+     "manual: XtaLAB Synergy user manual pp.10-24 (pre-experiment, strategy, data collection)"
+    ],
+    "analyze": [
+     "what=index (threshold=), what=strategy (resolution= completeness= redundancy= exposure= exposure_high= width= distance=), what=reduce (index=ID), what=identify",
+     "manual: XtaLAB Synergy user manual pp.15-24; CrysAlisPro note pp.1-8"
+    ],
+    "align": [
+     "manual: XtaLAB Synergy user manual pp.10-15"
+    ]
+   }
+  },
+  "antonpaar_saxspace": {
+   "role": "primary",
+   "slots": {
+    "sample": "holder.sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "holder.type",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the sample stage of {inst} already holds a {slot:holder.type} holder ({slot:holder.sample_id}).",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "holder seat free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "check": {
+        "any": [
+         {
+          "slot": "vacuum.pressure_indicated_pa",
+          "gt": 90000.0
+         },
+         {
+          "slot": "chamber.door_open",
+          "truthy": true
+         }
+        ]
+       },
+       "code": "NOT_VENTED",
+       "message": "the sample chamber of {inst} is under vacuum, so its door cannot open.",
+       "fix": "vent it first: `chemlab run {inst} vacuum off --wait`.",
+       "label": "chamber vented"
+      },
+      {
+       "check": {
+        "slot": "vacuum.pump_on",
+        "truthy": false
+       },
+       "code": "PUMP_ON",
+       "message": "the vacuum pump of {inst} is running.",
+       "fix": "`chemlab run {inst} vacuum off --wait` first.",
+       "label": "pump off"
+      },
+      {
+       "cap": "chamber.set_door",
+       "args": {
+        "open": true
+       },
+       "say": "open the sample chamber door",
+       "unless": {
+        "slot": "chamber.door_open",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "sample.load",
+       "args": {
+        "sample_id": "$sample",
+        "holder": "$opt:holder"
+       },
+       "say": "fill {sample} into a {opt:holder} and seat it"
+      },
+      {
+       "cap": "chamber.set_door",
+       "args": {
+        "open": false
+       },
+       "say": "close the chamber door"
+      }
+     ],
+     "defaults": {
+      "holder": "capillary_1mm"
+     },
+     "done": "loaded {sample} ({opt:holder}); the door is closed",
+     "next": "pump the flight path (`chemlab run {inst} vacuum on --wait`), `source on --wait`, `align --wait`, then `scan`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.type",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the sample stage of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a holder seated"
+      },
+      {
+       "check": {
+        "any": [
+         {
+          "slot": "vacuum.pressure_indicated_pa",
+          "gt": 90000.0
+         },
+         {
+          "slot": "chamber.door_open",
+          "truthy": true
+         }
+        ]
+       },
+       "code": "NOT_VENTED",
+       "message": "the sample chamber of {inst} is under vacuum, so its door cannot open.",
+       "fix": "vent it first: `chemlab run {inst} vacuum off --wait`.",
+       "label": "chamber vented"
+      },
+      {
+       "cap": "chamber.set_door",
+       "args": {
+        "open": true
+       },
+       "say": "open the sample chamber door",
+       "unless": {
+        "slot": "chamber.door_open",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "sample.unload",
+       "say": "take the holder out"
+      },
+      {
+       "cap": "chamber.set_door",
+       "args": {
+        "open": false
+       },
+       "say": "close the chamber door"
+      }
+     ],
+     "done": "unloaded the sample holder"
+    },
+    "vacuum": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "chamber.door_open",
+         "truthy": false
+        },
+        "code": "DOOR_OPEN",
+        "message": "the chamber door of {inst} is open.",
+        "fix": "close it: `chemlab run {inst} close chamber_door`.",
+        "label": "door closed"
+       },
+       {
+        "cap": "vacuum.set_pump",
+        "args": {
+         "on": true
+        },
+        "say": "pump the flight path and sample chamber",
+        "unless": {
+         "slot": "vacuum.pump_on",
+         "truthy": true
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "vacuum.ready",
+        "truthy": true
+       },
+       "what": "pump-down",
+       "max_s": 1800,
+       "poll_s": 5.0,
+       "progress": [
+        "vacuum.pressure_indicated_pa"
+       ]
+      },
+      "what": "pump-down",
+      "done": "vacuum ready (below 3 mbar)"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "vacuum.set_pump",
+        "args": {
+         "on": false
+        },
+        "say": "vent the flight path",
+        "if": {
+         "any": [
+          {
+           "slot": "vacuum.pump_on",
+           "truthy": true
+          },
+          {
+           "not": {
+            "slot": "vacuum.pressure_indicated_pa",
+            "gt": 90000.0
+           }
+          }
+         ]
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "vacuum.pressure_indicated_pa",
+        "gt": 90000.0
+       },
+       "what": "venting",
+       "max_s": 1800,
+       "poll_s": 5.0,
+       "progress": [
+        "vacuum.pressure_indicated_pa"
+       ]
+      },
+      "what": "venting",
+      "done": "vented"
+     }
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "generator.set_power",
+        "args": {
+         "voltage_v": {
+          "$or": [
+           "$opt:kv",
+           "$slot:generator.voltage_setpoint_v"
+          ]
+         },
+         "current_a": {
+          "$or": [
+           "$opt:ma",
+           "$slot:generator.current_setpoint_a"
+          ]
+         }
+        },
+        "say": "set the generator to {slot:generator.voltage_setpoint_v} V",
+        "if": {
+         "any": [
+          {
+           "input": "opt:kv",
+           "given": true
+          },
+          {
+           "input": "opt:ma",
+           "given": true
+          }
+         ]
+        }
+       },
+       {
+        "cap": "generator.set_key",
+        "args": {
+         "on": true
+        },
+        "say": "turn the generator key to I",
+        "unless": {
+         "slot": "generator.key_on",
+         "truthy": true
+        }
+       },
+       {
+        "cap": "generator.xray_on",
+        "say": "press X-RAY ON",
+        "unless": {
+         "slot": "generator.xray_on",
+         "truthy": true
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "all": [
+         {
+          "slot": "generator.voltage_indicated_v",
+          "near": "$slot:generator.voltage_setpoint_v",
+          "abs": 100.0
+         },
+         {
+          "slot": "generator.current_indicated_a",
+          "near": "$slot:generator.current_setpoint_a",
+          "abs": 0.0002
+         }
+        ]
+       },
+       "what": "X-ray ramp",
+       "max_s": 600,
+       "progress": [
+        "generator.voltage_indicated_v",
+        "generator.current_indicated_a"
+       ]
+      },
+      "what": "X-ray ramp",
+      "done": "X-rays on at the set values"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "generator.xray_off",
+        "say": "press X-RAY OFF",
+        "if": {
+         "slot": "generator.xray_on",
+         "truthy": true
+        }
+       }
+      ],
+      "done": "X-rays off"
+     }
+    },
+    "align": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.type",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the sample stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder seated"
+      },
+      {
+       "check": {
+        "slot": "generator.xray_on",
+        "truthy": true
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-rays of {inst} are off.",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays on"
+      },
+      {
+       "check": {
+        "slot": "vacuum.ready",
+        "truthy": true
+       },
+       "code": "VACUUM_NOT_READY",
+       "message": "the flight path of {inst} is not evacuated.",
+       "fix": "`chemlab run {inst} vacuum on --wait`.",
+       "label": "vacuum ready"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         },
+         {
+          "slot": "detector.arm_moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the stage and detector arm are still",
+       "max_s": 120
+      },
+      {
+       "cap": "stage.auto_align",
+       "say": "TrueFocus auto-alignment (scan Y for the capillary axis)"
+      }
+     ],
+     "job": "operation",
+     "what": "auto-alignment"
+    },
+    "scan": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "holder.type",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the sample stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder seated"
+      },
+      {
+       "check": {
+        "slot": "generator.xray_on",
+        "truthy": true
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-rays of {inst} are off.",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays on"
+      },
+      {
+       "check": {
+        "any": [
+         {
+          "slot": "vacuum.ready",
+          "truthy": true
+         },
+         {
+          "slot": "vacuum.pressure_indicated_pa",
+          "gt": 90000.0
+         }
+        ]
+       },
+       "code": "VACUUM_NOT_READY",
+       "message": "the flight path of {inst} is neither evacuated nor vented (pressure {slot:vacuum.pressure_indicated_pa} Pa).",
+       "fix": "wait for the pump-down: `chemlab run {inst} vacuum on --wait`.",
+       "label": "vacuum ready (or air)"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         },
+         {
+          "slot": "detector.arm_moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "the stage and detector arm are still",
+       "max_s": 120
+      },
+      {
+       "cap": "acquisition.start",
+       "args": {
+        "exposure_s": "$opt:exposure",
+        "frames": "$opt:frames"
+       },
+       "say": "expose {opt:frames} frame(s) of {opt:exposure}"
+      }
+     ],
+     "keys": {
+      "exposure": [
+       "duration"
+      ]
+     },
+     "defaults": {
+      "exposure": "60s",
+      "frames": "1"
+     },
+     "job": "operation",
+     "what": "SAXS exposure"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    },
+    "analyze": {
+     "steps": [
+      {
+       "cap": "data.reduce",
+       "args": {
+        "record_id": "$id",
+        "background_record_id": {
+         "$or": [
+          "$opt:background",
+          null
+         ]
+        },
+        "calibration_id": {
+         "$or": [
+          "$opt:calibration",
+          null
+         ]
+        },
+        "thickness_m": "$opt:thickness",
+        "desmear": "$opt:desmear"
+       },
+       "say": "reduce record {id} (thickness {opt:thickness})"
+      }
+     ],
+     "keys": {
+      "thickness": [
+       "length"
+      ]
+     },
+     "defaults": {
+      "thickness": "1mm",
+      "desmear": "false"
+     },
+     "options": [
+      "background",
+      "calibration"
+     ],
+     "last_slot": "result.last_record_id",
+     "what": "data reduction"
+    }
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "holder",
+     "slot": "holder.type"
+    },
+    {
+     "label": "sample",
+     "slot": "holder.sample_id"
+    },
+    {
+     "label": "door open",
+     "slot": "chamber.door_open"
+    },
+    {
+     "label": "pressure",
+     "slot": "vacuum.pressure_indicated_pa",
+     "fmt": "pa"
+    },
+    {
+     "label": "vacuum ready",
+     "slot": "vacuum.ready"
+    },
+    {
+     "label": "X-rays",
+     "slot": "generator.xray_on"
+    },
+    {
+     "label": "tube",
+     "slot": "generator.voltage_indicated_v",
+     "fmt": "kv"
+    },
+    {
+     "label": "current",
+     "slot": "generator.current_indicated_a",
+     "fmt": "ma"
+    },
+    {
+     "label": "acquiring",
+     "slot": "acquisition.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "acquisition",
+   "notes": {
+    "load": [
+     "--holder capillary_1mm (default, liquids), mu_cell, paste_cell (powders), solid_holder"
+    ],
+    "scan": [
+     "settings exposure= (per frame) frames=",
+     "manual: SAXSpace brochure p.8 (SAXSdrive)"
+    ],
+    "analyze": [
+     "data reduction: thickness= desmear=true|false background=ID calibration=ID",
+     "manual: SAXSpace brochure pp.6-7"
+    ],
+    "align": [
+     "manual: SAXSpace brochure pp.2-5 (TrueFocus self-alignment)"
+    ]
+   }
+  },
+  "kratos_axissupra": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "stage.holder_id",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the analysis stage of {inst} already carries holder {slot:stage.holder_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload SAMPLE`.",
+       "label": "stage free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "check": {
+        "all": [
+         {
+          "slot": "transfer.busy",
+          "truthy": false
+         },
+         {
+          "slot": "acquisition.id",
+          "eq": null
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "code": "BUSY",
+       "message": "{inst} is transferring or acquiring now.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "idle"
+      },
+      {
+       "cap": "flexilock.vent",
+       "say": "vent the Flexi-lock",
+       "unless": {
+        "slot": "flexilock.mode",
+        "eq": "vented"
+       }
+      },
+      {
+       "wait": {
+        "slot": "flexilock.mode",
+        "eq": "vented"
+       },
+       "say": "the Flexi-lock is at atmosphere",
+       "max_s": 900,
+       "poll_s": 5.0
+      },
+      {
+       "cap": "holder.mount_sample",
+       "args": {
+        "holder_id": "$opt:holder",
+        "sample_id": "$sample",
+        "x_m": "$opt:at_x",
+        "y_m": "$opt:at_y"
+       },
+       "say": "mount {sample} on holder {opt:holder}"
+      },
+      {
+       "cap": "flexilock.set_lid",
+       "args": {
+        "open": true
+       },
+       "say": "open the Flexi-lock lid"
+      },
+      {
+       "cap": "flexilock.load_holder",
+       "args": {
+        "holder_id": "$opt:holder",
+        "slot": "$opt:magazine"
+       },
+       "say": "put holder {opt:holder} into magazine slot {opt:magazine}"
+      },
+      {
+       "cap": "flexilock.set_lid",
+       "args": {
+        "open": false
+       },
+       "say": "close the lid"
+      },
+      {
+       "cap": "flexilock.pump",
+       "say": "pump the Flexi-lock (roughing, then turbo)"
+      },
+      {
+       "wait": {
+        "slot": "flexilock.mode",
+        "eq": "pumped"
+       },
+       "say": "the Flexi-lock is pumped to transfer pressure",
+       "max_s": 1800,
+       "poll_s": 5.0
+      },
+      {
+       "cap": "transfer.to_stage",
+       "args": {
+        "slot": "$opt:magazine"
+       },
+       "say": "transfer holder {opt:holder} from slot {opt:magazine} to the analysis stage"
+      }
+     ],
+     "defaults": {
+      "holder": "H1",
+      "magazine": "1",
+      "at_x": "0mm",
+      "at_y": "0mm"
+     },
+     "job": "operation",
+     "what": "transfer to the analysis stage",
+     "next": "switch the X-rays on (`chemlab run {inst} source on --wait`), `align --wait` (auto height), then `scan region=survey`."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "stage.holder_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the analysis stage of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "holder on the stage"
+      },
+      {
+       "check": {
+        "all": [
+         {
+          "slot": "transfer.busy",
+          "truthy": false
+         },
+         {
+          "slot": "acquisition.id",
+          "eq": null
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "code": "BUSY",
+       "message": "{inst} is transferring or acquiring now.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "idle"
+      },
+      {
+       "remember": "holder",
+       "value": "$slot:stage.holder_id"
+      },
+      {
+       "cap": "transfer.to_magazine",
+       "args": {
+        "slot": "$opt:magazine"
+       },
+       "say": "transfer the holder back to magazine slot {opt:magazine}"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "transfer.busy",
+          "truthy": false
+         },
+         {
+          "slot": "stage.holder_id",
+          "eq": null
+         }
+        ]
+       },
+       "say": "the holder is back in the magazine",
+       "max_s": 900
+      },
+      {
+       "cap": "flexilock.vent",
+       "say": "vent the Flexi-lock"
+      },
+      {
+       "wait": {
+        "slot": "flexilock.mode",
+        "eq": "vented"
+       },
+       "say": "the Flexi-lock is at atmosphere",
+       "max_s": 900,
+       "poll_s": 5.0
+      },
+      {
+       "cap": "flexilock.set_lid",
+       "args": {
+        "open": true
+       },
+       "say": "open the lid"
+      },
+      {
+       "cap": "flexilock.unload_holder",
+       "args": {
+        "slot": "$opt:magazine"
+       },
+       "say": "take the holder out of slot {opt:magazine}"
+      },
+      {
+       "cap": "flexilock.set_lid",
+       "args": {
+        "open": false
+       },
+       "say": "close the lid"
+      },
+      {
+       "cap": "holder.unmount_sample",
+       "args": {
+        "holder_id": "$holder",
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} off the holder"
+      }
+     ],
+     "defaults": {
+      "magazine": "1"
+     },
+     "options": [
+      "magazine"
+     ],
+     "done": "unloaded {sample} back onto the bench"
+    },
+    "source": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "xray.set_source",
+        "args": {
+         "on": true,
+         "emission_a": "$opt:ma"
+        },
+        "say": "switch the Al Ka source on at {opt:ma} emission (15 kV anode)"
+       }
+      ],
+      "defaults": {
+       "ma": "15mA"
+      },
+      "job": {
+       "until": {
+        "all": [
+         {
+          "slot": "xray.on",
+          "truthy": true
+         },
+         {
+          "slot": "xray.power_indicated_w",
+          "ge": {
+           "$mul": [
+            14850.0,
+            "$slot:xray.emission_setpoint_a"
+           ]
+          }
+         }
+        ]
+       },
+       "what": "X-ray source start",
+       "max_s": 600,
+       "progress": [
+        "xray.power_indicated_w"
+       ]
+      },
+      "what": "X-ray source start",
+      "done": "Al Ka source on at its set power"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "cap": "xray.set_source",
+        "args": {
+         "on": false,
+         "emission_a": "$slot:xray.emission_setpoint_a"
+        },
+        "say": "switch the source off",
+        "if": {
+         "slot": "xray.on",
+         "truthy": true
+        }
+       }
+      ],
+      "done": "X-ray source off"
+     }
+    },
+    "vacuum": {
+     "on": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "check": {
+         "slot": "flexilock.lid_open",
+         "truthy": false
+        },
+        "code": "LID_OPEN",
+        "message": "the Flexi-lock lid of {inst} is open.",
+        "fix": "close it first.",
+        "label": "lid closed"
+       },
+       {
+        "cap": "flexilock.pump",
+        "say": "pump the Flexi-lock",
+        "unless": {
+         "slot": "flexilock.mode",
+         "in": [
+          "pumping",
+          "pumped"
+         ]
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "flexilock.mode",
+        "eq": "pumped"
+       },
+       "what": "load-lock pump-down",
+       "max_s": 1800,
+       "poll_s": 5.0,
+       "progress": [
+        "flexilock.mode",
+        "vacuum.fl_pressure_indicated_pa"
+       ]
+      },
+      "what": "load-lock pump-down",
+      "done": "Flexi-lock pumped"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "power.enabled",
+         "truthy": true
+        },
+        "code": "POWER_OFF",
+        "message": "{inst} is switched off.",
+        "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+        "label": "power on"
+       },
+       {
+        "check": {
+         "slot": "system.state",
+         "in": [
+          "ready"
+         ]
+        },
+        "code": "NOT_READY",
+        "message": "{inst} is not ready (system state {slot:system.state}).",
+        "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+        "label": "ready"
+       },
+       {
+        "cap": "flexilock.vent",
+        "say": "vent the Flexi-lock",
+        "unless": {
+         "slot": "flexilock.mode",
+         "eq": "vented"
+        }
+       }
+      ],
+      "job": {
+       "until": {
+        "slot": "flexilock.mode",
+        "eq": "vented"
+       },
+       "what": "load-lock venting",
+       "max_s": 1800,
+       "poll_s": 5.0,
+       "progress": [
+        "flexilock.mode"
+       ]
+      },
+      "what": "load-lock venting",
+      "done": "Flexi-lock vented"
+     }
+    },
+    "align": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "stage.holder_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the analysis stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder on the stage"
+      },
+      {
+       "check": {
+        "slot": "xray.on",
+        "truthy": true
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-ray source of {inst} is off.",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays on"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "transfer.busy",
+          "truthy": false
+         },
+         {
+          "slot": "acquisition.id",
+          "eq": null
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "no transfer or acquisition is running",
+       "max_s": 900
+      },
+      {
+       "cap": "stage.auto_height",
+       "say": "auto height (count rate against Z)"
+      }
+     ],
+     "job": "operation",
+     "what": "auto height"
+    },
+    "scan": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "stage.holder_id",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no holder on the analysis stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "holder on the stage"
+      },
+      {
+       "check": {
+        "slot": "xray.on",
+        "truthy": true
+       },
+       "code": "SOURCE_NOT_READY",
+       "message": "the X-ray source of {inst} is off.",
+       "fix": "`chemlab run {inst} source on --wait`.",
+       "label": "X-rays on"
+      },
+      {
+       "wait": {
+        "all": [
+         {
+          "slot": "transfer.busy",
+          "truthy": false
+         },
+         {
+          "slot": "acquisition.id",
+          "eq": null
+         },
+         {
+          "slot": "stage.moving",
+          "truthy": false
+         }
+        ]
+       },
+       "say": "no transfer or acquisition is running",
+       "max_s": 900
+      },
+      {
+       "cap": "acquisition.spectrum",
+       "args": {
+        "regions": {
+         "$records": "$opt:region",
+         "fields": [
+          "name",
+          "start_be_ev",
+          "end_be_ev",
+          "step_ev",
+          "dwell_s",
+          "sweeps"
+         ],
+         "ints": [
+          "sweeps"
+         ],
+         "presets": {
+          "survey": [
+           "survey",
+           0.0,
+           1200.0,
+           1.0,
+           0.1,
+           1
+          ],
+          "C1s": [
+           "C1s",
+           280.0,
+           296.0,
+           0.1,
+           0.1,
+           2
+          ],
+          "O1s": [
+           "O1s",
+           525.0,
+           540.0,
+           0.1,
+           0.1,
+           2
+          ],
+          "Si2p": [
+           "Si2p",
+           95.0,
+           110.0,
+           0.1,
+           0.1,
+           2
+          ],
+          "N1s": [
+           "N1s",
+           393.0,
+           408.0,
+           0.1,
+           0.1,
+           2
+          ]
+         }
+        },
+        "mode": "$opt:mode"
+       },
+       "say": "acquire the spectrum ({opt:region}, {opt:mode})"
+      }
+     ],
+     "defaults": {
+      "region": "survey",
+      "mode": "scanned"
+     },
+     "job": "operation",
+     "what": "XPS acquisition"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    },
+    "analyze": {
+     "steps": [
+      {
+       "cap": "data.quantify",
+       "args": {
+        "record_id": "$id",
+        "regions": {
+         "$list": "$opt:regions"
+        },
+        "shift_ev": "$opt:shift"
+       },
+       "say": "quantify {opt:regions} of record {id}"
+      }
+     ],
+     "defaults": {
+      "regions": "survey",
+      "shift": "0"
+     },
+     "last_slot": "result.last_record_id",
+     "what": "quantification"
+    }
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "lock",
+     "slot": "flexilock.mode"
+    },
+    {
+     "label": "lid open",
+     "slot": "flexilock.lid_open"
+    },
+    {
+     "label": "magazine",
+     "slot": "flexilock.magazine"
+    },
+    {
+     "label": "stage holder",
+     "slot": "stage.holder_id"
+    },
+    {
+     "label": "transfer",
+     "slot": "transfer.busy"
+    },
+    {
+     "label": "X-rays",
+     "slot": "xray.on"
+    },
+    {
+     "label": "power W",
+     "slot": "xray.power_indicated_w"
+    },
+    {
+     "label": "acquiring",
+     "slot": "acquisition.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    }
+   ],
+   "path": "acquisition",
+   "notes": {
+    "load": [
+     "mount on the holder (--holder H1..H3, --at X,Y on the holder), vent / open / load / close the Flexi-lock, pump it (about 5 min) and transfer to the analysis stage (job-N); --magazine is the magazine slot",
+     "manual: AXIS Supra+ getting started guide pp.15-28 (sample mounting, holders); brochure p.4 (Flexi-lock)"
+    ],
+    "scan": [
+     "region=survey | C1s | O1s | Si2p | N1s | NAME:FROM:TO:STEP:DWELL[:SWEEPS] (binding energies in eV), several with commas; mode=scanned | snapshot",
+     "manual: AXIS Supra+ brochure p.3 (ESCApe)"
+    ],
+    "analyze": [
+     "quantification: regions=NAME,NAME (the region names of the record) shift=EV (charge correction)",
+     "manual: AXIS Supra+ brochure p.3 (quantification)"
+    ],
+    "source": [
+     "manual: AXIS Supra+ getting started guide pp.7-14 (X-ray generator)"
+    ]
+   }
+  },
+  "ja_alphase": {
+   "role": "primary",
+   "slots": {
+    "sample": "sample.on_stage#sample_id"
+   },
+   "verbs": {
+    "load": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "eq": null
+       },
+       "code": "OCCUPIED",
+       "message": "the stage of {inst} already holds {slot:sample.on_stage#sample_id}.",
+       "fix": "unload it first: `chemlab run {inst} unload`.",
+       "label": "stage free"
+      },
+      {
+       "check": {
+        "slot": "sample.bench_ids",
+        "has": "$sample"
+       },
+       "code": "NO_SUCH_SAMPLE",
+       "message": "sample {sample} is not on the bench next to {inst} (bench: {slot:sample.bench_ids}).",
+       "fix": "load one of the samples on the bench.",
+       "label": "sample on the bench"
+      },
+      {
+       "cap": "sample.place",
+       "args": {
+        "sample_id": "$sample",
+        "offset_x_m": "$opt:at_x",
+        "offset_y_m": "$opt:at_y"
+       },
+       "say": "put {sample} on the sample platform"
+      },
+      {
+       "cap": "vacuum.set",
+       "args": {
+        "on": true
+       },
+       "say": "switch the sample vacuum on (hold the wafer)"
+      }
+     ],
+     "defaults": {
+      "at_x": "0mm",
+      "at_y": "0mm"
+     },
+     "done": "loaded {sample} (held by vacuum)",
+     "next": "`chemlab run {inst} scan mode=standard` (alignment is part of each measurement)."
+    },
+    "unload": {
+     "steps": [
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample on the stage of {inst}.",
+       "fix": "nothing to unload.",
+       "label": "a sample on the stage"
+      },
+      {
+       "check": {
+        "slot": "measurement.id",
+        "eq": null
+       },
+       "code": "BUSY",
+       "message": "{inst} is measuring.",
+       "fix": "wait for it (`chemlab status`).",
+       "label": "not measuring"
+      },
+      {
+       "cap": "vacuum.set",
+       "args": {
+        "on": false
+       },
+       "say": "release the sample vacuum",
+       "if": {
+        "slot": "vacuum.switch_on",
+        "truthy": true
+       }
+      },
+      {
+       "cap": "sample.remove",
+       "args": {
+        "sample_id": "$sample"
+       },
+       "say": "take {sample} off the platform"
+      }
+     ],
+     "done": "unloaded {sample}"
+    },
+    "vacuum": {
+     "on": {
+      "steps": [
+       {
+        "cap": "vacuum.set",
+        "args": {
+         "on": true
+        },
+        "say": "switch the sample vacuum on"
+       }
+      ],
+      "done": "sample vacuum on (holds the sample)"
+     },
+     "off": {
+      "steps": [
+       {
+        "check": {
+         "slot": "measurement.id",
+         "eq": null
+        },
+        "code": "BUSY",
+        "message": "{inst} is measuring.",
+        "fix": "wait for it.",
+        "label": "not measuring"
+       },
+       {
+        "cap": "vacuum.set",
+        "args": {
+         "on": false
+        },
+        "say": "switch the sample vacuum off"
+       }
+      ],
+      "done": "sample vacuum off"
+     }
+    },
+    "scan": {
+     "steps": [
+      {
+       "check": {
+        "slot": "power.enabled",
+        "truthy": true
+       },
+       "code": "POWER_OFF",
+       "message": "{inst} is switched off.",
+       "fix": "switch it on (`chemlab run {inst} power on`, or `chemlab call {inst} power.set --enabled true`) and let it start up.",
+       "label": "power on"
+      },
+      {
+       "check": {
+        "slot": "system.state",
+        "in": [
+         "ready"
+        ]
+       },
+       "code": "NOT_READY",
+       "message": "{inst} is not ready (system state {slot:system.state}).",
+       "fix": "wait until it has started up (`chemlab wait 60`), then retry; see `chemlab run {inst} status`.",
+       "label": "ready"
+      },
+      {
+       "check": {
+        "slot": "sample.on_stage",
+        "ne": null
+       },
+       "code": "NO_SAMPLE",
+       "message": "there is no sample on the stage of {inst}.",
+       "fix": "load one: `chemlab run {inst} load SAMPLE`.",
+       "label": "sample on the stage"
+      },
+      {
+       "check": {
+        "slot": "lamp.on",
+        "truthy": true
+       },
+       "code": "LAMP_OFF",
+       "message": "the lamp of {inst} is off.",
+       "fix": "switch the instrument off and on (`chemlab run {inst} power off`, `power on`).",
+       "label": "lamp on"
+      },
+      {
+       "cap": "measure",
+       "args": {
+        "mode": "$opt:mode",
+        "alignment": "$opt:align",
+        "fixed_height_m": {
+         "$or": [
+          "$opt:height",
+          null
+         ]
+        },
+        "model_id": {
+         "$or": [
+          "$opt:model",
+          null
+         ]
+        }
+       },
+       "say": "measure ({opt:mode}, alignment {opt:align})"
+      }
+     ],
+     "keys": {
+      "height": [
+       "length"
+      ]
+     },
+     "defaults": {
+      "mode": "standard",
+      "align": "standard"
+     },
+     "options": [
+      "model"
+     ],
+     "job": "operation",
+     "what": "ellipsometry measurement"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "arg": "record_id",
+     "last_slot": "result.last_record_id"
+    },
+    "analyze": {
+     "steps": [
+      {
+       "cap": "analysis.fit",
+       "args": {
+        "record_ids": [
+         "$id"
+        ],
+        "model_id": "$opt:model",
+        "parameters": {
+         "film.thickness_m": "$opt:thickness"
+        },
+        "fit": {
+         "$list": "$opt:fit"
+        },
+        "thickness_prefit": "$opt:prefit"
+       },
+       "say": "fit model {opt:model} to record {id} (start thickness {opt:thickness})"
+      }
+     ],
+     "keys": {
+      "thickness": [
+       "length"
+      ]
+     },
+     "defaults": {
+      "model": "cauchy_on_si",
+      "thickness": "100nm",
+      "fit": "film.thickness_m,film.A,film.B",
+      "prefit": "true"
+     },
+     "last_slot": "result.last_record_id",
+     "what": "model fit"
+    }
+   },
+   "unsupported": {
+    "source": "the lamp is on whenever the instrument is on (no separate switch)",
+    "align": "alignment is part of every measurement"
+   },
+   "alternatives": {
+    "align": "choose it with the measurement: `chemlab run INST scan align=standard` (none, standard, robust, fixed_height with height=)"
+   },
+   "view": [
+    {
+     "label": "system",
+     "slot": "system.state"
+    },
+    {
+     "label": "lamp",
+     "slot": "lamp.on"
+    },
+    {
+     "label": "warmed up",
+     "slot": "lamp.warmed_up"
+    },
+    {
+     "label": "sample",
+     "slot": "sample.on_stage",
+     "key": "sample_id"
+    },
+    {
+     "label": "vacuum",
+     "slot": "vacuum.switch_on"
+    },
+    {
+     "label": "AOI",
+     "slot": "aoi.position"
+    },
+    {
+     "label": "stage z",
+     "slot": "stage.z_m",
+     "kind": "length"
+    },
+    {
+     "label": "measuring",
+     "slot": "measurement.kind"
+    },
+    {
+     "label": "last record",
+     "slot": "result.last_record_id"
+    },
+    {
+     "label": "thickness",
+     "slot": "result.last_thickness_m",
+     "kind": "length"
+    },
+    {
+     "label": "MSE",
+     "slot": "result.last_mse"
+    }
+   ],
+   "path": "measure",
+   "path_exceptions": [
+    "measurement.result"
+   ],
+   "notes": {
+    "scan": [
+     "settings mode=fast|standard|long|mm|mm_long align=none|standard|robust|fixed_height height= model=ID (fit right away)",
+     "manual: alpha-SE facility procedure pp.1-4 (modes, alignment)"
+    ],
+    "analyze": [
+     "model fit: model=ID (see `chemlab call INST models.list`) thickness= (start value) fit=PARAM,PARAM prefit=true|false",
+     "manual: Woollam ellipsometry tutorial pp.8-14 (data analysis)"
+    ],
+    "load": [
+     "manual: alpha-SE facility procedure pp.2-7 (mount sample + vacuum)"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/thermal.json b/chemlab/configs/adapters/thermal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9943ec529a520fda72f4fe1bda2ff97ed82853f8
--- /dev/null
+++ b/chemlab/configs/adapters/thermal.json
@@ -0,0 +1,522 @@
+{
+ "class": "thermal",
+ "adapter": "chemlab.compile.classes.thermal:ThermalAdapter",
+ "about": "Temperature control: power, set-temp, heat on|off, temp, wait-temp, stir, safety-limit, remote, status. Ranges come from each member's contract input schema (in the unit the argument declares); temperatures are shown in °C.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "julabo_corio_cd200f",
+   "ika_plate_rctdigital",
+   "binder_fd056",
+   "binder_vd56",
+   "nabertherm_l9",
+   "carbolite_tf1_12_60_300",
+   "eppendorf_cellxpertc170i",
+   "binder_kbf115",
+   "eppendorf_cryocubef570n"
+  ],
+  "secondary": {
+   "ika_ks4000": "incubated shaker: temperature + shaking (agitation primary)",
+   "elma_elmasonics60h": "ultrasonic bath with a heater (agitation primary)"
+  },
+  "not_in_phase_a": {
+   "radleys_mya4": "four heated zones; its runtime is being fixed (F-list) - add as a member with --zone in the reactor package",
+   "scp_digiprepms": "digestion block: thermal.set_temperature only inside a configured digestion cycle (sample.configured) - digestion class",
+   "laboao_cvdltf12p50": "CVD tube furnace: set value only with furnace and flange states of a deposition run - coating class",
+   "parr_4591, mt_rc1mxhfcal, ika_rv10_digital_v, sonics_vcx750, antonpaar_dma5002 and the other instruments with a thermal.set_temperature": "temperature is one parameter of their main job (reaction, calorimetry, evaporation, measurement); their classes can reuse this class's set-temp / wait-temp handlers"
+  },
+  "verbs_not_yet_covered": "program (ramp/soak), timer and atmosphere (rh / CO2 / O2); add them here later"
+ },
+ "members": {
+  "julabo_corio_cd200f": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    },
+    "heat": {
+     "cap": "circulation.set_running",
+     "arg": "running"
+    },
+    "safety-limit": {
+     "cap": "safety.set_cutoff",
+     "arg": "temperature_K"
+    },
+    "remote": {
+     "cap": "interface.set_remote",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "limit": "safety.cutoff_k",
+    "heat": "circulation.running",
+    "remote": "interface.remote"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "interface.remote",
+      "value": true,
+      "code": "REMOTE_OFF",
+      "label": "remote control on",
+      "message": "{inst} takes set points from the computer only in remote control mode, which is off.",
+      "fix": "switch it on: `chemlab run {inst} remote on` (manual: OUT commands work only in remote mode)."
+     }
+    ],
+    "heat": [
+     {
+      "slot": "interface.remote",
+      "value": true,
+      "code": "REMOTE_OFF",
+      "label": "remote control on",
+      "message": "{inst} starts or stops from the computer only in remote control mode, which is off.",
+      "fix": "switch it on: `chemlab run {inst} remote on`."
+     }
+    ]
+   },
+   "codes": {
+    "circulation.set_running:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: it needs power, a bath filled and declared by the lab, no alarm and remote mode.",
+     "fix": "check `chemlab run {inst} status` (alarm code, remote) and ask the lab operator if the bath is not set up."
+    }
+   },
+   "unsupported": {
+    "stir": "no stirrer: the bath is mixed by the circulation pump (`heat on`)"
+   },
+   "params": {
+    "tolerance_k": 0.5,
+    "heat_word": "circulation and temperature control"
+   },
+   "notes": {
+    "heat": [
+     "on a circulator, heat on starts the pump and the temperature control (circulation.set_running)"
+    ],
+    "set-temp": [
+     "the over-temperature cut-off (safety-limit) must stay above the set point"
+    ]
+   }
+  },
+  "ika_plate_rctdigital": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "set-temp": {
+     "cap": "heating.set_temperature",
+     "arg": "temperature_k"
+    },
+    "heat": {
+     "cap": "heating.set",
+     "arg": "on"
+    },
+    "stir": {
+     "speed_cap": "stirring.set_speed",
+     "speed_arg": "speed_rad_s",
+     "on_cap": "stirring.set",
+     "on_arg": "on"
+    },
+    "safety-limit": {
+     "cap": "safety.set_limit",
+     "arg": "limit_k"
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "temp": "display.temperature",
+    "set": "heating.set_k",
+    "limit": "safety.limit_k",
+    "heat": "heating.on",
+    "stir_on": "stirring.on",
+    "stir_speed": "stirring.set_rad_s"
+   },
+   "unsupported": {
+    "remote": "no remote/local mode: it takes commands whenever its interface is connected"
+   },
+   "params": {
+    "tolerance_k": 1.0,
+    "limit_margin_k": 0.0
+   },
+   "notes": {
+    "safety-limit": [
+     "the safety-circuit screw is turned by hand (safety.set_limit is a physical action)"
+    ],
+    "temp": [
+     "the plate temperature, or the probe's when a sensor is immersed"
+    ]
+   }
+  },
+  "binder_fd056": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "temperature_k"
+    },
+    "safety-limit": {
+     "cap": "safety.set_limit",
+     "arg": "limit_k"
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "temp": {
+     "slot": "display.temperature",
+     "unit_slot": "unit"
+    },
+    "set": "temperature.set_k",
+    "limit": "safety.limit_k"
+   },
+   "unsupported": {
+    "heat": "the oven controls to its set point whenever it is switched on (use `power`)",
+    "stir": "no stirrer",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 1.0
+   }
+  },
+  "binder_vd56": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    },
+    "heat": {
+     "cap": "thermal.set_control",
+     "arg": "enabled"
+    },
+    "safety-limit": {
+     "cap": "safety.configure",
+     "arg": "limit_K",
+     "args": {
+      "mode": "limit"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "heat": "thermal.control_enabled"
+   },
+   "unsupported": {
+    "stir": "no stirrer",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 1.0,
+    "heat_word": "temperature control"
+   },
+   "notes": {
+    "safety-limit": [
+     "sets the safety controller to an absolute limit (mode limit); its other mode is an offset above the set point"
+    ]
+   }
+  },
+  "nabertherm_l9": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "program.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no programme running",
+      "message": "a temperature programme is running on {inst}; it owns the set point.",
+      "fix": "wait for it to end, or stop it (`chemlab call {inst} thermal.stop_program`)."
+     }
+    ]
+   },
+   "unsupported": {
+    "heat": "a plain set point holds while the furnace is on; ramp/soak programmes are not class verbs yet (chemlab call thermal.start_program)",
+    "stir": "no stirrer",
+    "safety-limit": "the over-temperature limiter is not exposed by the controller",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 3.0
+   }
+  },
+  "carbolite_tf1_12_60_300": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_K"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k"
+   },
+   "unsupported": {
+    "heat": "the controller holds its set point while on; programmes (program.*) are not class verbs yet",
+    "stir": "no stirrer",
+    "safety-limit": "not exposed (loop.configure only)",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 3.0
+   }
+  },
+  "eppendorf_cellxpertc170i": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "temperature.set",
+     "arg": "setpoint_k"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sensor.temperature_k",
+    "set": "setpoint.temperature_k"
+   },
+   "requires": {
+    "set-temp": [
+     {
+      "slot": "htd.phase",
+      "value": "idle",
+      "code": "BUSY",
+      "label": "no disinfection running",
+      "message": "{inst} is running its high-temperature disinfection (phase {value}).",
+      "fix": "wait until it has finished (`chemlab run {inst} status`)."
+     }
+    ]
+   },
+   "unsupported": {
+    "heat": "temperature control is always active while the incubator is on",
+    "stir": "no stirrer",
+    "safety-limit": "no user safety limit (alarm limits only)",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 0.3,
+    "step_c": 0.1
+   }
+  },
+  "binder_kbf115": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "set-temp": {
+     "cap": "setpoint.set",
+     "arg": "temperature_k"
+    },
+    "safety-limit": {
+     "cap": "safety.configure",
+     "arg": "value_k",
+     "args": {
+      "mode": "limit"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "temp": "temperature.chamber_k",
+    "set": "setpoint.fixed#temperature_k"
+   },
+   "unsupported": {
+    "heat": "the chamber controls to its set point whenever it is on",
+    "stir": "no stirrer",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 0.5
+   },
+   "notes": {
+    "set-temp": [
+     "only the temperature changes; humidity and fan keep their set points"
+    ]
+   }
+  },
+  "eppendorf_cryocubef570n": {
+   "role": "primary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "on"
+    },
+    "set-temp": {
+     "cap": "settings.configure",
+     "arg": "set_point_k"
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "temp": "temperature.interior_k",
+    "set": "settings.current#set_point_k"
+   },
+   "unsupported": {
+    "heat": "refrigeration runs whenever the freezer is on",
+    "stir": "no stirrer",
+    "safety-limit": "the freezer has alarm limits, not a cut-off (chemlab call settings.configure --high_alarm_k ...)",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 2.0,
+    "heat_word": "cooling"
+   }
+  },
+  "ika_ks4000": {
+   "role": "secondary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "heat": {
+     "cap": "thermal.set_enabled",
+     "arg": "enabled"
+    },
+    "stir": {
+     "speed_cap": "shaking.set_speed",
+     "speed_arg": "speed_rad_s",
+     "start_cap": "shaking.start",
+     "stop_cap": "shaking.stop"
+    },
+    "safety-limit": {
+     "cap": "safety.configure",
+     "arg": "temperature_limit_k",
+     "keep": {
+      "speed_limit_rad_s": "safety.speed_limit_rad_s"
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "limit": "safety.temperature_limit_k",
+    "heat": "heater.enabled",
+    "stir_speed": "shaking.target_rad_s"
+   },
+   "codes": {
+    "thermal.set_enabled:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot heat now: it needs power, the hood closed, no error, and a set point below the safety limit.",
+     "fix": "close the hood (`chemlab call {inst} hood.set_angle --angle_rad 0` if it is open) and check `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 1.0,
+    "stir_word": "shaking"
+   },
+   "requires": {
+    "safety-limit": [
+     {
+      "slot": "heater.enabled",
+      "value": false,
+      "code": "HEATING_ON",
+      "label": "heating off",
+      "message": "{inst} takes new safety limits only while heating and shaking are stopped (heating is on).",
+      "fix": "`chemlab run {inst} heat off`, set the limit, then `heat on` again."
+     }
+    ],
+    "stir": [
+     {
+      "slot": "fixture.installed",
+      "value": true,
+      "code": "NO_FIXTURE",
+      "label": "fixture installed",
+      "message": "{inst} has no shaking fixture (platform) installed, so it cannot shake.",
+      "fix": "ask the lab operator to install a fixture and secure the vessels; temperature control works without it."
+     }
+    ]
+   }
+  },
+  "elma_elmasonics60h": {
+   "role": "secondary",
+   "verbs": {
+    "power": {
+     "cap": "power.set",
+     "arg": "enabled"
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k"
+    },
+    "heat": {
+     "cap": "thermal.set_enabled",
+     "arg": "enabled"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "thermal.indicated_temperature_k",
+    "set": "thermal.target_k",
+    "heat": "heater.enabled"
+   },
+   "codes": {
+    "thermal.set_enabled:PRECONDITION_FAILED": {
+     "code": "BATH_NOT_READY",
+     "message": "the bath heater of {inst} cannot start: it needs power, liquid in the bath, the drain closed and no error.",
+     "fix": "have the bath filled (lab operator) and the drain closed, switch it on, then `heat on`."
+    }
+   },
+   "unsupported": {
+    "stir": "no stirrer (ultrasound is the agitation class's verb)",
+    "safety-limit": "no user safety limit",
+    "remote": "no remote mode"
+   },
+   "params": {
+    "tolerance_k": 1.0,
+    "heat_word": "bath heating"
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/thermal_analysis.json b/chemlab/configs/adapters/thermal_analysis.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdd2ba69382f1f254e259cc6f7e859cfa375bd1
--- /dev/null
+++ b/chemlab/configs/adapters/thermal_analysis.json
@@ -0,0 +1,3068 @@
+{
+ "class": "thermal_analysis",
+ "adapter": "chemlab.compile.classes.thermal_analysis:ThermalAnalysisAdapter",
+ "about": "Thermal analysis and calorimetry: load, unload, method (class keys with units), set-temp, temp, wait-temp, gas, start (job-N), stop, result, zero, calibrate, status. power / open / close / estop / ack / wait come from the shared layer. Ranges come from each member's contract (in the unit the argument declares); temperatures are shown in °C.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "ta_dsc2500",
+   "ta_tga5500",
+   "ta_dma850",
+   "ta_tma450",
+   "netzsch_lfa467",
+   "hot_tps2500",
+   "ta_tamiv",
+   "netzsch_mmc315",
+   "ika_c6000"
+  ],
+  "secondary": {},
+  "not_here": {
+   "mt_mp70": "melting point apparatus: primary in property_meter; its temperature programme is that class's method",
+   "malvern_microcalpeaq": "ITC: primary in bioassay; titration injections are not a thermal programme",
+   "mt_rc1mxhfcal": "reaction calorimeter: primary in reactor",
+   "novocontrol_alphat": "temperature-dependent dielectric: primary in electrical (this package)",
+   "micromeritics_autochemiii": "TPR/TPD: primary in particle_surface"
+  }
+ },
+ "members": {
+  "ta_dsc2500": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "transfer",
+     "cap": "autosampler.load",
+     "arg": "position",
+     "tray_slot": "autosampler.tray_occupied",
+     "loaded_slot": "sample.present",
+     "busy": [
+      "autosampler.transfer",
+      "sampler.moving"
+     ],
+     "max_s": 300
+    },
+    "unload": {
+     "kind": "transfer",
+     "cap": "autosampler.unload",
+     "arg": "position",
+     "loaded_slot": "sample.present",
+     "origin_slot": "autosampler.cell_origin",
+     "busy": [
+      "autosampler.transfer",
+      "sampler.moving"
+     ],
+     "max_s": 300
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "start": {
+       "arg": "start_temperature_k",
+       "kind": "temperature"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "start_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "modulation": {
+       "arg": "modulation_amplitude_k",
+       "kind": "temperature_delta"
+      },
+      "period": {
+       "arg": "modulation_period_s",
+       "kind": "duration"
+      }
+     },
+     "program": {
+      "arg": "segments",
+      "key": "ramp",
+      "style": "ramp",
+      "iso": "iso",
+      "hold_key": "hold",
+      "start_arg": "start_temperature_k",
+      "fields": {
+       "target": {
+        "field": "target_k",
+        "kind": "temperature"
+       },
+       "rate": {
+        "field": "rate_k_s",
+        "kind": "heating_rate"
+       },
+       "hold": {
+        "field": "hold_s",
+        "kind": "duration"
+       }
+      },
+      "item_defaults": {
+       "hold_s": 0.0
+      }
+     },
+     "need": [
+      "start",
+      "ramp"
+     ],
+     "defaults": {
+      "sample_interval_s": "example",
+      "modulation_amplitude_k": "example",
+      "modulation_period_s": "example",
+      "start_tolerance_k": "example",
+      "timeout_s": "auto_timeout"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "rate_k_s",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "sample.indicated_k",
+      "furnace.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "sample.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "gas": {
+     "flow_cap": "gas.set_flow",
+     "flow_arg": "flow_m3_s",
+     "open_cap": "gas.set_open",
+     "open_arg": "opened",
+     "open_slot": "gas.opened"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "sample_k": [
+       "sample temperature",
+       "temperature"
+      ],
+      "heatflow_w": [
+       "heat flow (W)",
+       null
+      ]
+     }
+    },
+    "zero": {
+     "cap": "sensor.zero"
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "temperature_zero_k": {
+       "arg": "temperature_zero_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "lid.opened",
+       "moving": [
+        "lid.moving"
+       ],
+       "main": true,
+       "max_s": 180
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "gas.opened"
+      }
+     }
+    },
+    "analyze": {
+     "default": "integrate",
+     "models": {
+      "integrate": {
+       "cap": "analysis.integrate",
+       "arrays": {
+        "time_s": "elapsed_s",
+        "heatflow_w": "heatflow_w",
+        "temperature_k": "sample_k"
+       },
+       "window": {
+        "col": "sample_k"
+       },
+       "baseline": {
+        "arg": "baseline_w",
+        "of": "heatflow_w",
+        "default": "linear"
+       },
+       "keys": {
+        "from": {
+         "ctl": "from",
+         "kind": "temperature"
+        },
+        "to": {
+         "ctl": "to",
+         "kind": "temperature"
+        },
+        "mass": {
+         "arg": "sample_mass_kg",
+         "kind": "mass"
+        },
+        "baseline": {
+         "ctl": "baseline",
+         "kind": "number",
+         "choices": [
+          "linear",
+          "zero"
+         ]
+        }
+       },
+       "need": [
+        "mass"
+       ]
+      }
+     },
+     "example": "integrate mass=2mg from=150C to=170C"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sample.indicated_k",
+    "furnace": "furnace.indicated_k",
+    "set": "thermal.final_target_k",
+    "ramp": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "open": "lid.opened",
+    "gas": "gas.opened",
+    "flow": "gas.flow_m3_s"
+   },
+   "diagnose": {
+    "*": [
+     {
+      "slot": "lid.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (lid.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "sampler.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (sampler.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "emergency.latched",
+      "code": "ESTOP",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "clear it (`chemlab call {inst} emergency.reset`) once it is safe.",
+      "falsy": true
+     },
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the cell lid of {inst} is not closed (lift {value} m).",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "max": 1e-09
+     }
+    ]
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "lid.opened",
+      "code": "LID_CLOSED",
+      "message": "the cell lid of {inst} is closed; the autosampler needs it open.",
+      "fix": "open it: `chemlab run {inst} open lid`.",
+      "label": "lid open",
+      "truthy": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "lid.opened",
+      "code": "LID_CLOSED",
+      "message": "the cell lid of {inst} is closed; the autosampler needs it open.",
+      "fix": "open it: `chemlab run {inst} open lid`.",
+      "label": "lid open",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "gas": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the cell lid of {inst} is open; the cell heats only closed.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "label": "lid closed",
+      "max": 1e-09
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no pan is in the DSC cell of {inst}.",
+      "fix": "load one: `chemlab run {inst} load N` (N = tray position).",
+      "label": "pan in the cell",
+      "truthy": true
+     },
+     {
+      "slot": "lid.lift_m",
+      "code": "LID_OPEN",
+      "message": "the cell lid of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "label": "lid closed",
+      "max": 1e-09
+     },
+     {
+      "slot": "gas.opened",
+      "code": "NO_PURGE",
+      "message": "the purge gas of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} gas 50mL/min`.",
+      "label": "purge on",
+      "truthy": true
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NOT_EMPTY",
+      "message": "a pan is in the cell of {inst}; it zeroes only empty.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "label": "empty cell",
+      "falsy": true
+     },
+     {
+      "slot": "thermal.enabled",
+      "code": "CONTROL_ON",
+      "message": "the temperature control of {inst} is on; it zeroes only with the control off.",
+      "fix": "switch it off: `chemlab run {inst} set-temp off`.",
+      "label": "control off",
+      "falsy": true
+     },
+     {
+      "slot": "furnace.indicated_k",
+      "code": "NOT_AMBIENT",
+      "message": "the empty cell of {inst} is at {value} K, not yet at the room temperature of the lab (25 °C); it zeroes only in equilibrium with the room.",
+      "fix": "wait: `chemlab run {inst} wait-temp --to 25C --within 0.001K --max 1h`, then zero.",
+      "label": "cell at room temperature",
+      "min": 298.149,
+      "max": 298.151
+     }
+    ]
+   },
+   "params": {
+    "tolerance_k": 0.25,
+    "manual": "DSC 2500 TRIOS guide (UCSB MRL) pp. 2-13; DSC 2500 quick start (UCSB MRL) pp. 1-3; Discovery DSC brochure pp. 7-12"
+   },
+   "notes": {
+    "method": [
+     "the run starts only when the cell is at start= (within tolerance=): `set-temp START` and `wait-temp` first",
+     "ramps: ramp=TARGET@RATE[:HOLD]; iso=TIME holds at the last temperature; timeout defaults to the programme time x 1.5 + 30 min"
+    ],
+    "load": [
+     "the autosampler moves the pan from the tray into the cell (about a minute of lab time); the lid must be open (`open lid`)"
+    ]
+   }
+  },
+  "ta_tga5500": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "transfer",
+     "cap": "autosampler.load",
+     "arg": "position",
+     "tray_slot": "autosampler.tray_occupied",
+     "loaded_slot": "sample.present",
+     "busy": [
+      "autosampler.transfer",
+      "carousel.moving",
+      "furnace.moving"
+     ],
+     "max_s": 400
+    },
+    "unload": {
+     "kind": "transfer",
+     "cap": "autosampler.unload",
+     "arg": "position",
+     "loaded_slot": "sample.present",
+     "origin_slot": "autosampler.balance_origin",
+     "busy": [
+      "autosampler.transfer",
+      "carousel.moving",
+      "furnace.moving"
+     ],
+     "max_s": 400
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "start": {
+       "arg": "start_temperature_k",
+       "kind": "temperature"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "start_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      }
+     },
+     "program": {
+      "arg": "segments",
+      "key": "ramp",
+      "style": "ramp",
+      "iso": "iso",
+      "hold_key": "hold",
+      "start_arg": "start_temperature_k",
+      "fields": {
+       "target": {
+        "field": "target_k",
+        "kind": "temperature"
+       },
+       "rate": {
+        "field": "rate_k_s",
+        "kind": "heating_rate"
+       },
+       "hold": {
+        "field": "hold_s",
+        "kind": "duration"
+       }
+      },
+      "sticky": {
+       "gas": {
+        "field": "gas"
+       }
+      },
+      "item_defaults": {
+       "hold_s": 0.0,
+       "gas": {
+        "slot": "gas.selected"
+       }
+      }
+     },
+     "need": [
+      "start",
+      "ramp"
+     ],
+     "defaults": {
+      "sample_interval_s": "example",
+      "start_tolerance_k": "example",
+      "timeout_s": "auto_timeout"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "rate_k_s",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "sample.indicated_k",
+      "furnace.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "sample.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "gas": {
+     "select_cap": "gas.select",
+     "select_arg": "gas",
+     "flow_cap": "gas.set_flow",
+     "flow_arg": "sample_flow_m3_s",
+     "balance_arg": "balance_flow_m3_s",
+     "balance_slot": "gas.balance_flow_m3_s",
+     "open_cap": "gas.set_open",
+     "open_arg": "opened",
+     "open_slot": "gas.opened",
+     "selected_slot": "gas.selected",
+     "open_needs_flow": true,
+     "flow_slot": "gas.sample_flow_m3_s"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "sample_k": [
+       "sample temperature",
+       "temperature"
+      ],
+      "mass_kg": [
+       "mass",
+       "mass"
+      ]
+     }
+    },
+    "zero": {
+     "cap": "balance.tare"
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "temperature_zero_k": {
+       "arg": "temperature_zero_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "furnace.opened",
+       "moving": [
+        "furnace.moving"
+       ],
+       "main": true,
+       "max_s": 180
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "gas.opened"
+      }
+     }
+    },
+    "analyze": {
+     "default": "stages",
+     "models": {
+      "stages": {
+       "cap": "analysis.mass_stages",
+       "arrays": {
+        "time_s": "elapsed_s",
+        "temperature_k": "sample_k",
+        "mass_kg": "mass_kg"
+       },
+       "zeros": [
+        "baseline_kg"
+       ],
+       "scalars": {
+        "initial_mass_kg": "first:mass_kg"
+       },
+       "indices": {
+        "arg": "stage_boundaries",
+        "key": "split",
+        "col": "sample_k",
+        "ends": true
+       },
+       "keys": {
+        "split": {
+         "ctl": "split",
+         "kind": "temperature",
+         "list": true,
+         "example": "380C,450C"
+        },
+        "initial": {
+         "arg": "initial_mass_kg",
+         "kind": "mass"
+        }
+       }
+      }
+     },
+     "example": "stages split=380C,450C"
+    }
+   },
+   "diagnose": {
+    "*": [
+     {
+      "slot": "furnace.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (furnace.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "carousel.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (carousel.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "punch.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (punch.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "emergency.latched",
+      "code": "ESTOP",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "clear it (`chemlab call {inst} emergency.reset`) once it is safe.",
+      "falsy": true
+     }
+    ]
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sample.indicated_k",
+    "furnace": "furnace.indicated_k",
+    "set": "thermal.final_target_k",
+    "ramp": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "open": "furnace.opened",
+    "gas": "gas.opened",
+    "flow": "gas.sample_flow_m3_s",
+    "gas_name": "gas.selected",
+    "mass": "mass.indicated_kg"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_CLOSED",
+      "message": "the furnace of {inst} is closed; the autosampler reaches the balance only with it open.",
+      "fix": "open it: `chemlab run {inst} open furnace`.",
+      "label": "furnace open",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "gas": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_CLOSED",
+      "message": "the furnace of {inst} is closed; the autosampler reaches the balance only with it open.",
+      "fix": "open it: `chemlab run {inst} open furnace` (once the furnace is below about 40 °C).",
+      "label": "furnace open",
+      "truthy": true
+     },
+     {
+      "slot": "thermal.enabled",
+      "code": "CONTROL_ON",
+      "message": "the furnace temperature control of {inst} is on.",
+      "fix": "switch it off and let it cool: `chemlab run {inst} set-temp off`, then `chemlab run {inst} wait-temp --to 40C --within 15K`.",
+      "label": "control off",
+      "falsy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no pan hangs on the balance of {inst}.",
+      "fix": "load one: `chemlab run {inst} load N` (N = tray position).",
+      "label": "pan on the balance",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_OPEN",
+      "message": "the furnace of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close furnace`.",
+      "label": "furnace closed",
+      "falsy": true
+     },
+     {
+      "slot": "gas.opened",
+      "code": "NO_PURGE",
+      "message": "the purge gas of {inst} is off.",
+      "fix": "switch it on: `chemlab run {inst} gas N2 25mL/min`.",
+      "label": "purge on",
+      "truthy": true
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NOT_EMPTY",
+      "message": "a pan hangs on the balance of {inst}; it tares only empty.",
+      "fix": "unload it first: `chemlab run {inst} unload`.",
+      "label": "balance empty",
+      "falsy": true
+     }
+    ]
+   },
+   "params": {
+    "tolerance_k": 0.4,
+    "manual": "TGA 5500 SOPs (WWU) pp. 3-9; Discovery TGA brochure pp. 10-14"
+   },
+   "notes": {
+    "zero": [
+     "tare the empty balance before loading a pan (TGA SOP p. 3)"
+    ],
+    "method": [
+     "each ramp uses the gas given before it with gas=N2|O2 (default: the gas selected now)"
+    ],
+    "gas": [
+     "gas N2 25mL/min sets the sample purge; --balance 10mL/min the balance purge (default: unchanged)"
+    ]
+   }
+  },
+  "ta_dma850": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "set",
+     "cap": "clamp.set",
+     "arg": "locked",
+     "value": true,
+     "done_slot": "clamp.locked",
+     "busy": [
+      "clamp.moving"
+     ],
+     "word": "specimen clamped",
+     "max_s": 120,
+     "preload": {
+      "cap": "drive.preload",
+      "force_arg": "force_n",
+      "ramp_arg": "ramp_s",
+      "busy": [
+       "drive.moving"
+      ]
+     }
+    },
+    "unload": {
+     "kind": "set",
+     "cap": "clamp.set",
+     "arg": "locked",
+     "value": false,
+     "done_slot": "clamp.locked",
+     "busy": [
+      "clamp.moving"
+     ],
+     "word": "clamp released",
+     "max_s": 120,
+     "release": {
+      "cap": "drive.unload",
+      "ramp_arg": "ramp_s",
+      "slot": "drive.preload_n",
+      "busy": [
+       "drive.moving"
+      ]
+     }
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "rate": {
+       "arg": "heating_rate_k_s",
+       "kind": "heating_rate"
+      },
+      "cool": {
+       "arg": "cooling_rate_k_s",
+       "kind": "heating_rate"
+      },
+      "tolerance": {
+       "arg": "temperature_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      },
+      "samples": {
+       "arg": "samples_per_cycle"
+      }
+     },
+     "program": {
+      "arg": "blocks",
+      "key": "step",
+      "style": "step",
+      "range_key": "steps",
+      "fields": {
+       "target": {
+        "field": "temperature_k",
+        "kind": "temperature"
+       }
+      },
+      "sticky": {
+       "freq": {
+        "field": "frequency_hz",
+        "kind": "frequency"
+       },
+       "control": {
+        "field": "control"
+       },
+       "strain": {
+        "field": "strain_amplitude",
+        "kind": "fraction"
+       },
+       "amplitude": {
+        "field": "force_amplitude_n",
+        "kind": "force"
+       },
+       "settle": {
+        "field": "settle_cycles"
+       },
+       "cycles": {
+        "field": "measure_cycles"
+       }
+      },
+      "item_defaults": {
+       "*": "example"
+      }
+     },
+     "need": [
+      "step"
+     ],
+     "defaults": {
+      "heating_rate_k_s": "example",
+      "cooling_rate_k_s": "example",
+      "temperature_tolerance_k": "example",
+      "timeout_s": "example",
+      "samples_per_cycle": "example"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "rate_k_s",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "sample.indicated_k",
+      "furnace.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "sample.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "gas": {
+     "open_cap": "gas.set_open",
+     "open_arg": "opened",
+     "open_slot": "gas.opened"
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "sample_temperature_k": [
+       "sample temperature",
+       "temperature"
+      ],
+      "force_n": [
+       "force",
+       "force"
+      ],
+      "displacement_m": [
+       "displacement",
+       "length"
+      ]
+     },
+     "per_item": {
+      "path": "blocks",
+      "label": "block",
+      "fields": {
+       "mean_temperature_k": [
+        "at",
+        "temperature"
+       ],
+       "frequency_hz": [
+        "f",
+        "frequency"
+       ],
+       "analysis.storage_modulus_pa": [
+        "E' (Pa)",
+        null
+       ],
+       "analysis.loss_modulus_pa": [
+        "E'' (Pa)",
+        null
+       ],
+       "analysis.tan_delta": [
+        "tan delta",
+        null
+       ],
+       "analysis_error": [
+        "error",
+        null
+       ]
+      }
+     }
+    },
+    "zero": {
+     "cap": "sensor.zero"
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "temperature_zero_k": {
+       "arg": "temperature_zero_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "furnace.opened",
+       "moving": [
+        "furnace.moving"
+       ],
+       "main": true,
+       "max_s": 180
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "gas.opened"
+      }
+     }
+    },
+    "analyze": {
+     "default": "modulus",
+     "models": {
+      "modulus": {
+       "cap": "analysis.modulus",
+       "pick": {
+        "key": "block",
+        "path": "blocks",
+        "rows_match": "block_index"
+       },
+       "filter": {
+        "stage": "measure"
+       },
+       "arrays": {
+        "time_s": "elapsed_s",
+        "force_n": "force_n",
+        "displacement_m": "displacement_m"
+       },
+       "scalars": {
+        "frequency_hz": "it:frequency_hz"
+       },
+       "keys": {
+        "block": {
+         "ctl": "block",
+         "kind": "number"
+        },
+        "length": {
+         "arg": "length_m",
+         "kind": "length"
+        },
+        "area": {
+         "arg": "area_m2",
+         "kind": "area"
+        }
+       },
+       "need": [
+        "length",
+        "area"
+       ]
+      },
+      "transition": {
+       "cap": "analysis.transition",
+       "rows": "blocks",
+       "arrays": {
+        "temperature_k": "mean_temperature_k",
+        "tan_delta": "analysis.tan_delta",
+        "frequency_hz": "frequency_hz"
+       },
+       "fix": "the transition needs at least 3 temperature blocks: `chemlab run INST method steps=FROM..TO/STEP`"
+      }
+     },
+     "example": "modulus length=10mm area=0.8mm2"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sample.indicated_k",
+    "furnace": "furnace.indicated_k",
+    "set": "thermal.final_target_k",
+    "ramp": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "open": "furnace.opened",
+    "gas": "gas.opened",
+    "clamp": "clamp.locked",
+    "force": "force.indicated_n"
+   },
+   "diagnose": {
+    "*": [
+     {
+      "slot": "furnace.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (furnace.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "clamp.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (clamp.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "drive.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (drive.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "emergency.latched",
+      "code": "ESTOP",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "clear it (`chemlab call {inst} emergency.reset`) once it is safe.",
+      "falsy": true
+     }
+    ]
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no specimen is mounted in the clamp of {inst}.",
+      "fix": "the lab operator mounts the specimen (it is not an agent action); ask for it.",
+      "label": "specimen mounted",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_CLOSED",
+      "message": "the furnace of {inst} is closed; the clamp moves only with it fully open.",
+      "fix": "open it: `chemlab run {inst} open furnace`.",
+      "label": "furnace open",
+      "truthy": true
+     }
+    ],
+    "load-preload": [
+     {
+      "slot": "gas.opened",
+      "code": "NO_AIR",
+      "message": "the purge / air bearing of {inst} is off; the drive applies a preload only with it on.",
+      "fix": "switch it on: `chemlab run {inst} gas on`.",
+      "label": "purge on",
+      "truthy": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_CLOSED",
+      "message": "the furnace of {inst} is closed; the clamp moves only with it fully open.",
+      "fix": "open it: `chemlab run {inst} open furnace`.",
+      "label": "furnace open",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "gas": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "clamp.locked",
+      "code": "NOT_CLAMPED",
+      "message": "the specimen of {inst} is not clamped.",
+      "fix": "clamp it with a preload: `chemlab run {inst} load --preload 0.01N`.",
+      "label": "clamped",
+      "truthy": true
+     },
+     {
+      "slot": "drive.preload_n",
+      "code": "NO_PRELOAD",
+      "message": "the specimen of {inst} has no static preload.",
+      "fix": "apply one: `chemlab run {inst} load --preload 0.01N`.",
+      "label": "preload applied",
+      "min": 1e-09
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_OPEN",
+      "message": "the furnace of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close furnace`.",
+      "label": "furnace closed",
+      "falsy": true
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NOT_EMPTY",
+      "message": "a specimen is mounted in {inst}; it zeroes only without one.",
+      "fix": "zero before the specimen is mounted.",
+      "label": "no specimen",
+      "falsy": true
+     }
+    ]
+   },
+   "params": {
+    "tolerance_k": 0.5,
+    "manual": "DMA 850 quick start (UCSB MRL) pp. 1-3; Discovery DMA 850 brochure pp. 9-28"
+   },
+   "notes": {
+    "load": [
+     "the specimen is mounted by the lab operator; load clamps it, --preload applies the static force the run needs"
+    ],
+    "method": [
+     "steps: step=TEMP (one isothermal block) or steps=FROM..TO/STEP; freq=, strain= (e.g. 0.01%), control=strain|force, amplitude=, settle=, cycles= apply to the blocks that follow (default: the contract's example block)"
+    ]
+   }
+  },
+  "ta_tma450": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "set",
+     "cap": "probe.contact",
+     "arg": "engaged",
+     "value": true,
+     "done_slot": "probe.engaged",
+     "busy": [
+      "probe.moving"
+     ],
+     "word": "probe on the specimen",
+     "max_s": 180
+    },
+    "unload": {
+     "kind": "set",
+     "cap": "probe.contact",
+     "arg": "engaged",
+     "value": false,
+     "done_slot": "probe.engaged",
+     "busy": [
+      "probe.moving"
+     ],
+     "word": "probe lifted",
+     "max_s": 180
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "start": {
+       "arg": "start_temperature_k",
+       "kind": "temperature"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "start_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      }
+     },
+     "program": {
+      "arg": "segments",
+      "key": "ramp",
+      "style": "ramp",
+      "iso": "iso",
+      "hold_key": "hold",
+      "start_arg": "start_temperature_k",
+      "fields": {
+       "target": {
+        "field": "target_temperature_k",
+        "kind": "temperature"
+       },
+       "rate": {
+        "field": "temperature_rate_k_s",
+        "kind": "heating_rate"
+       },
+       "hold": {
+        "field": "hold_s",
+        "kind": "duration"
+       }
+      },
+      "sticky": {
+       "force": {
+        "field": "motor_force_n",
+        "kind": "force"
+       },
+       "force-rate": {
+        "field": "force_rate_n_s",
+        "kind": "force_rate"
+       }
+      },
+      "item_defaults": {
+       "hold_s": 0.0,
+       "motor_force_n": {
+        "slot": "load.motor_target_n"
+       },
+       "force_rate_n_s": "example"
+      }
+     },
+     "need": [
+      "start",
+      "ramp"
+     ],
+     "defaults": {
+      "sample_interval_s": "example",
+      "start_tolerance_k": "example",
+      "timeout_s": "auto_timeout",
+      "accept_condition_transfer": "example"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "rate_k_s",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "sample.indicated_k",
+      "furnace.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "sample.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "gas": {
+     "select_cap": "gas.select",
+     "select_arg": "port",
+     "flow_cap": "gas.set_flow",
+     "flow_arg": "flow_m3_s",
+     "open_cap": "gas.set_open",
+     "open_arg": "opened",
+     "open_slot": "gas.opened",
+     "selected_slot": "gas.selected_port",
+     "close_to_select": true
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "columns": {
+      "temperature_k": [
+       "sample temperature",
+       "temperature"
+      ],
+      "displacement_m": [
+       "displacement",
+       "length"
+      ],
+      "force_n": [
+       "force",
+       "force"
+      ]
+     }
+    },
+    "zero": {
+     "cap": "displacement.zero"
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "temperature_zero_k": {
+       "arg": "temperature_zero_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "furnace.opened",
+       "moving": [
+        "furnace.moving"
+       ],
+       "main": true,
+       "max_s": 180
+      },
+      "gas": {
+       "cap": "gas.set_open",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "gas.opened"
+      }
+     }
+    },
+    "analyze": {
+     "default": "cte",
+     "models": {
+      "cte": {
+       "cap": "analysis.cte",
+       "arrays": {
+        "temperature_k": "temperature_k",
+        "displacement_m": "displacement_m"
+       },
+       "zeros": [
+        "blank_m"
+       ],
+       "window": {
+        "col": "temperature_k"
+       },
+       "window_index": {
+        "start_index": [
+         "from",
+         "first"
+        ],
+        "end_index": [
+         "to",
+         "last"
+        ]
+       },
+       "keys": {
+        "from": {
+         "ctl": "from",
+         "kind": "temperature"
+        },
+        "to": {
+         "ctl": "to",
+         "kind": "temperature"
+        },
+        "length": {
+         "arg": "initial_length_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "length"
+       ]
+      }
+     },
+     "example": "cte length=1.6mm from=35C to=75C"
+    }
+   },
+   "diagnose": {
+    "*": [
+     {
+      "slot": "furnace.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (furnace.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "probe.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (probe.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "emergency.latched",
+      "code": "ESTOP",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "clear it (`chemlab call {inst} emergency.reset`) once it is safe.",
+      "falsy": true
+     }
+    ]
+   },
+   "targets": {
+    "channel": {
+     "arg": "port",
+     "values": {
+      "1": 1,
+      "2": 2
+     },
+     "verbs": [
+      "gas"
+     ]
+    }
+   },
+   "codes": {
+    "PURGE_NOT_READY": {
+     "code": "NO_PURGE",
+     "message": "the purge of {inst} is off or too weak to heat (it needs at least 100 mL/min; 200 mL/min below -100 °C).",
+     "fix": "set it: `chemlab run {inst} gas 100mL/min`."
+    },
+    "PURGE_FLOW_TOO_LOW": {
+     "code": "NO_PURGE",
+     "message": "the purge flow of {inst} is too low (at least 100 mL/min).",
+     "fix": "`chemlab run {inst} gas 100mL/min`."
+    },
+    "GAS_VALVE_OPEN": {
+     "code": "VALVE_OPEN",
+     "message": "{inst} switches the gas port only with the purge valve closed.",
+     "fix": "`chemlab run {inst} gas off`, then select."
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sample.indicated_k",
+    "furnace": "furnace.indicated_k",
+    "set": "thermal.final_target_k",
+    "ramp": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "open": "furnace.opened",
+    "gas": "gas.opened",
+    "flow": "gas.flow_m3_s",
+    "probe": "probe.engaged",
+    "force": "force.indicated_n"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no specimen sits on the stage of {inst}.",
+      "fix": "the lab operator places the specimen; ask for it.",
+      "label": "specimen on the stage",
+      "truthy": true
+     }
+    ],
+    "unload": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_CLOSED",
+      "message": "the furnace of {inst} is closed; the probe lifts only with it open.",
+      "fix": "open it: `chemlab run {inst} open furnace`.",
+      "label": "furnace open",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "gas": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "probe.engaged",
+      "code": "NO_CONTACT",
+      "message": "the probe of {inst} does not touch the specimen.",
+      "fix": "bring it down: `chemlab run {inst} load`.",
+      "label": "probe on the specimen",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_OPEN",
+      "message": "the furnace of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close furnace`.",
+      "label": "furnace closed",
+      "falsy": true
+     }
+    ],
+    "zero": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "probe.engaged",
+      "code": "NO_CONTACT",
+      "message": "the probe of {inst} does not touch the specimen; it zeroes the displacement in contact.",
+      "fix": "bring it down first: `chemlab run {inst} load`.",
+      "label": "probe in contact",
+      "truthy": true
+     }
+    ]
+   },
+   "params": {
+    "tolerance_k": 0.5,
+    "manual": "Discovery TMA 450 brochure pp. 5-8, 16-18, 21-30; TMA Q400 SOP (TXST) pp. 3-8"
+   },
+   "notes": {
+    "method": [
+     "ramps take the probe force given before them with force=0.05N (default: the force set now) and force-rate=0.1N/s"
+    ],
+    "gas": [
+     "--channel 1|2 selects the gas inlet port"
+    ]
+   }
+  },
+  "netzsch_lfa467": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "select",
+     "cap": "sampler.select",
+     "arg": "position",
+     "busy": [
+      "sampler.moving"
+     ],
+     "max_s": 120,
+     "position_slot": "sample.position"
+    },
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "rate": {
+       "arg": "rate_k_s",
+       "kind": "heating_rate"
+      },
+      "tolerance": {
+       "arg": "equilibrium_tolerance_k",
+       "kind": "temperature_delta"
+      },
+      "dwell": {
+       "arg": "equilibrium_dwell_s",
+       "kind": "duration"
+      },
+      "pretrigger": {
+       "arg": "pretrigger_s",
+       "kind": "duration"
+      },
+      "energy": {
+       "arg": "pulse_energy_j",
+       "kind": "energy"
+      },
+      "width": {
+       "arg": "pulse_width_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "record": {
+       "arg": "record_duration_s",
+       "kind": "duration"
+      },
+      "timeout": {
+       "arg": "timeout_s",
+       "kind": "duration"
+      }
+     },
+     "need": [
+      "temp"
+     ],
+     "defaults": {
+      "rate_k_s": "example",
+      "equilibrium_dwell_s": "example",
+      "pretrigger_s": "example",
+      "pulse_energy_j": "example",
+      "pulse_width_s": "example",
+      "sample_interval_s": "example",
+      "record_duration_s": "example",
+      "equilibrium_tolerance_k": {
+       "value": 0.2,
+       "why": "class default: the furnace settles about 0.08 K off its set point, so the example 0.05 K is not reached above room temperature"
+      },
+      "timeout_s": {
+       "value": 3600.0,
+       "why": "class default: 1 h for heating and equilibration"
+      },
+      "accept_condition_transfer": "example"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "rate_arg": "rate_k_s",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "furnace.indicated_k",
+      "detector.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "furnace.indicated_k",
+      "thermal.final_target_k"
+     ]
+    },
+    "gas": {
+     "flow_cap": "gas.set_flow",
+     "flow_arg": "flow_m3_s",
+     "open_cap": "gas.set_open",
+     "open_arg": "opened",
+     "channel_arg": "channel",
+     "open_slot": {
+      "purge1": "gas.purge1.opened",
+      "purge2": "gas.purge2.opened",
+      "protective": "gas.protective.opened"
+     }
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "show": {
+      "pulse_time_s": [
+       "pulse at (s)",
+       null
+      ],
+      "stage": [
+       "stage",
+       null
+      ]
+     },
+     "columns": {
+      "temperature_k": [
+       "rear-face temperature",
+       "temperature"
+      ]
+     }
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "temperature_zero_k": {
+       "arg": "temperature_zero_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "furnace": {
+       "cap": "furnace.set",
+       "arg": "opened",
+       "open": true,
+       "close": false,
+       "state_slot": "furnace.opened",
+       "moving": [
+        "furnace.moving"
+       ],
+       "main": true,
+       "max_s": 180
+      }
+     }
+    },
+    "analyze": {
+     "default": "parker",
+     "models": {
+      "parker": {
+       "cap": "analysis.parker",
+       "arrays": {
+        "time_s": "time_s",
+        "temperature_k": "temperature_k"
+       },
+       "scalars": {
+        "pulse_time_s": "result:pulse_time_s",
+        "baseline_k": "mean_before:temperature_k<time_s@pulse_time_s",
+        "plateau_k": "max:temperature_k"
+       },
+       "keys": {
+        "thickness": {
+         "arg": "thickness_m",
+         "kind": "length"
+        }
+       },
+       "need": [
+        "thickness"
+       ],
+       "defaults": {
+        "accept_adiabatic_instant_pulse": "example"
+       }
+      }
+     },
+     "example": "parker thickness=2mm"
+    }
+   },
+   "diagnose": {
+    "*": [
+     {
+      "slot": "furnace.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (furnace.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "sampler.moving",
+      "code": "MOVING",
+      "message": "{inst} is still moving (sampler.moving).",
+      "fix": "wait until it has stopped (`chemlab wait 30`), then retry.",
+      "falsy": true
+     },
+     {
+      "slot": "emergency.latched",
+      "code": "ESTOP",
+      "message": "the emergency stop of {inst} is latched.",
+      "fix": "clear it (`chemlab call {inst} emergency.reset`) once it is safe.",
+      "falsy": true
+     }
+    ]
+   },
+   "targets": {
+    "channel": {
+     "arg": "channel",
+     "values": {
+      "purge1": "purge1",
+      "purge2": "purge2",
+      "protective": "protective"
+     },
+     "required": true,
+     "verbs": [
+      "gas"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "furnace.indicated_k",
+    "rear": "detector.indicated_k",
+    "set": "thermal.final_target_k",
+    "ramp": "thermal.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "stage": "acquisition.stage",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "open": "furnace.opened",
+    "detector": "detector.enabled"
+   },
+   "requires": {
+    "load": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "gas.protective.opened",
+      "code": "NO_PURGE",
+      "message": "the protective gas of {inst} is off (it heats only with the protective gas and a purge line).",
+      "fix": "open them: `chemlab run {inst} gas 50mL/min --channel protective` and `... --channel purge1`.",
+      "label": "protective gas on",
+      "truthy": true
+     }
+    ],
+    "gas": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "the sample changer of {inst} holds no specimen.",
+      "fix": "the lab operator inserts the specimen; ask for it.",
+      "label": "specimen in the changer",
+      "truthy": true
+     },
+     {
+      "slot": "furnace.opened",
+      "code": "FURNACE_OPEN",
+      "message": "the furnace of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close furnace`.",
+      "label": "furnace closed",
+      "falsy": true
+     },
+     {
+      "slot": "detector.ready",
+      "code": "DETECTOR_OFF",
+      "message": "the IR detector of {inst} is not ready (off or still cooling down).",
+      "fix": "switch it on: `chemlab call {inst} detector.set_enabled --enabled true`, then wait about a minute (`chemlab wait 60`).",
+      "label": "detector ready",
+      "truthy": true
+     },
+     {
+      "slot": "gas.protective.opened",
+      "code": "NO_PURGE",
+      "message": "the protective gas of {inst} is off (it needs the protective gas and a purge line to heat).",
+      "fix": "open them: `chemlab run {inst} gas 50mL/min --channel protective` and `chemlab run {inst} gas 50mL/min --channel purge1`.",
+      "label": "protective gas on",
+      "truthy": true
+     }
+    ]
+   },
+   "unsupported": {
+    "unload": "the 16-position sample changer keeps the specimens in the furnace; removing one is done by the lab operator (select another with `load N`)",
+    "zero": "no zero capability: the detector signal is evaluated against its own pre-pulse baseline"
+   },
+   "alternatives": {
+    "unload": "select another position: `chemlab run INST load N`."
+   },
+   "params": {
+    "tolerance_k": 0.3,
+    "labels": {
+     "temp": "furnace"
+    },
+    "manual": "LFA 467 HyperFlash brochure pp. 3-5, 9-20; LFA 467 key technical data p. 1"
+   },
+   "notes": {
+    "start": [
+     "the run heats to temp=, waits for equilibrium (tolerance=, dwell=), fires the pulse and records the rear face"
+    ],
+    "gas": [
+     "--channel purge1|purge2|protective is required; heating needs the protective gas and one purge line"
+    ]
+   }
+  },
+  "hot_tps2500": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "power": {
+       "arg": "power_w",
+       "kind": "power"
+      },
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "temp": {
+       "arg": "temperature_k",
+       "kind": "temperature"
+      },
+      "model": {
+       "arg": "geometry_model"
+      }
+     },
+     "defaults": {
+      "power_w": {
+       "slot": "method.power_w"
+      },
+      "duration_s": {
+       "slot": "method.duration_s"
+      },
+      "sample_interval_s": "example",
+      "temperature_k": {
+       "slot": "method.temperature_k"
+      },
+      "geometry_model": "example",
+      "accept_gaussian_plane_approximation": "example"
+     }
+    },
+    "temp": {
+     "reads": [
+      "measurement.indicated_k"
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "show": {
+      "fit.conductivity_w_m_k": [
+       "conductivity (W/m/K)",
+       null
+      ],
+      "fit.diffusivity_m2_s": [
+       "diffusivity (m2/s)",
+       null
+      ],
+      "fit.volumetric_heat_capacity_j_m3_k": [
+       "heat capacity (J/m3/K)",
+       null
+      ]
+     },
+     "columns": {
+      "temperature_rise_k": [
+       "temperature rise",
+       "temperature_delta"
+      ]
+     }
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate",
+     "keys": {
+      "offset_correction_k": {
+       "arg": "offset_correction_k",
+       "kind": "temperature_delta"
+      }
+     }
+    },
+    "analyze": {
+     "default": "fit",
+     "models": {
+      "fit": {
+       "cap": "analysis.fit",
+       "arrays": {
+        "time_s": "time_s",
+        "temperature_rise_k": "temperature_rise_k"
+       },
+       "scalars": {
+        "power_w": "first:power_w"
+       },
+       "keys": {
+        "radius": {
+         "arg": "radius_m",
+         "kind": "length"
+        }
+       },
+       "defaults": {
+        "radius_m": "example",
+        "minimum_diffusivity_m2_s": "example",
+        "maximum_diffusivity_m2_s": "example",
+        "accept_gaussian_plane_approximation": "example"
+       }
+      }
+     },
+     "example": "fit"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "measurement.indicated_k",
+    "phase": "acquisition.phase",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "sensor": "probe.connected"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "probe.connected",
+      "code": "NO_SENSOR",
+      "message": "no sensor is connected to {inst}.",
+      "fix": "the lab operator connects the Kapton sensor; ask for it.",
+      "label": "sensor connected",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no specimen halves are in the holder of {inst}.",
+      "fix": "the lab operator mounts the specimen; ask for it.",
+      "label": "specimen mounted",
+      "truthy": true
+     },
+     {
+      "slot": "fixture.closed",
+      "code": "NOT_CLAMPED",
+      "message": "the specimen holder of {inst} is not clamped.",
+      "fix": "the lab operator clamps the sensor between the halves; ask for it.",
+      "label": "holder clamped",
+      "truthy": true
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the specimen halves, the sensor clamp and the hood are set by the lab operator (no agent capability)",
+    "unload": "the specimen is removed by the lab operator (no agent capability)",
+    "set-temp": "no temperature control: the transient plane source measures at the room temperature of the lab",
+    "wait-temp": "no set point to wait for (room temperature measurement)",
+    "gas": "no purge gas",
+    "zero": "no zero capability",
+    "open": "the hood and the specimen clamp are moved by the lab operator (no agent capability)",
+    "close": "the hood and the specimen clamp are moved by the lab operator (no agent capability)"
+   },
+   "notes": {
+    "method": [
+     "temp= is the room-temperature boundary and must equal it: leave it out to keep the current one"
+    ]
+   },
+   "params": {
+    "manual": "TPS 2500 S brochure (2026) pp. 2-7, 10-11; Hot Disk Desktop App page"
+   }
+  },
+  "ta_tamiv": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "time": {
+       "arg": "duration_s",
+       "kind": "duration"
+      },
+      "interval": {
+       "arg": "sample_interval_s",
+       "kind": "duration"
+      },
+      "tolerance": {
+       "arg": "equilibrium_tolerance_k",
+       "kind": "temperature_delta"
+      }
+     },
+     "need": [
+      "time"
+     ],
+     "defaults": {
+      "sample_interval_s": "example",
+      "equilibrium_tolerance_k": "example"
+     }
+    },
+    "set-temp": {
+     "cap": "thermal.set_temperature",
+     "arg": "temperature_k",
+     "off_cap": "thermal.disable"
+    },
+    "temp": {
+     "reads": [
+      "bath.indicated_k",
+      "bath.target_k"
+     ]
+    },
+    "wait-temp": {
+     "reads": [
+      "bath.indicated_k",
+      "bath.target_k"
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start"
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "result": {
+     "cap": "acquisition.result",
+     "show": {
+      "recorded_heat_j": [
+       "recorded heat (J)",
+       null
+      ]
+     },
+     "columns": {
+      "heat_flow_w": [
+       "heat flow (W)",
+       null
+      ],
+      "bath_temperature_k": [
+       "bath",
+       "temperature"
+      ]
+     }
+    },
+    "calibrate": {
+     "cap": "sensor.calibrate"
+    },
+    "analyze": {
+     "default": "baseline",
+     "models": {
+      "baseline": {
+       "cap": "analysis.baseline",
+       "arrays": {
+        "time_s": "time_s",
+        "heat_flow_w": "heat_flow_w"
+       }
+      }
+     },
+     "example": "baseline"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "bath.indicated_k",
+    "set": "bath.target_k",
+    "control": "thermal.enabled",
+    "phase": "acquisition.phase",
+    "points": "acquisition.points",
+    "sample": "sample.present",
+    "ref": "reference.present"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "set-temp": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "sample.present",
+      "code": "NO_SAMPLE",
+      "message": "no sample ampoule is in {inst}.",
+      "fix": "the lab operator inserts the ampoules; ask for it.",
+      "label": "sample ampoule",
+      "truthy": true
+     },
+     {
+      "slot": "reference.present",
+      "code": "NO_REFERENCE",
+      "message": "no reference ampoule is in {inst}.",
+      "fix": "the lab operator inserts the reference ampoule; ask for it.",
+      "label": "reference ampoule",
+      "truthy": true
+     },
+     {
+      "slot": "sample.lift_m",
+      "code": "NOT_LOWERED",
+      "message": "the sample ampoule of {inst} is not lowered into the measuring position (lift {value} m).",
+      "fix": "the lab operator lowers it (in steps, to avoid a heat shock); ask for it.",
+      "label": "ampoule lowered",
+      "max": 1e-06
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the ampoules are inserted and lowered by the lab operator (no agent capability)",
+    "unload": "the ampoules are lifted and removed by the lab operator (no agent capability)",
+    "gas": "no purge gas (closed ampoules in a liquid thermostat)",
+    "zero": "no zero capability: the baseline is set with calibrate",
+    "open": "no lid or door with an agent capability",
+    "close": "no lid or door with an agent capability"
+   },
+   "params": {
+    "tolerance_k": 0.1,
+    "poll_s": 10.0,
+    "manual": "TAM IV brochure pp. 4-13, 45-46; TAM basic theory and applications pp. 15, 50-62"
+   },
+   "notes": {
+    "set-temp": [
+     "the thermostat scans slowly (manual: at most about 2 °C/h); wait-temp waits for the bath"
+    ]
+   }
+  },
+  "netzsch_mmc315": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "cap": "method.configure",
+     "keys": {
+      "mode": {
+       "arg": "mode"
+      },
+      "start": {
+       "arg": "start_temperature_k",
+       "kind": "temperature"
+      },
+      "end": {
+       "arg": "end_temperature_k",
+       "kind": "temperature"
+      },
+      "step": {
+       "arg": "step_k",
+       "kind": "temperature_delta"
+      },
+      "rate": {
+       "arg": "heat_rate_k_min",
+       "kind": "heating_rate"
+      },
+      "wait": {
+       "arg": "wait_min",
+       "kind": "duration"
+      },
+      "search": {
+       "arg": "search_min",
+       "kind": "duration"
+      },
+      "threshold": {
+       "arg": "threshold_k_min",
+       "kind": "heating_rate"
+      },
+      "max-pressure": {
+       "arg": "max_pressure_pa",
+       "kind": "pressure"
+      },
+      "max-rate": {
+       "arg": "max_rate_k_min",
+       "kind": "heating_rate"
+      },
+      "iso": {
+       "arg": "iso_temperature_k",
+       "kind": "temperature"
+      },
+      "iso-time": {
+       "arg": "iso_hours",
+       "kind": "duration"
+      },
+      "cool-to": {
+       "arg": "cool_to_k",
+       "kind": "temperature"
+      },
+      "interval": {
+       "arg": "data_interval_s",
+       "kind": "duration"
+      }
+     },
+     "need": [
+      "start",
+      "end"
+     ],
+     "defaults": {
+      "mode": "example",
+      "step_k": "example",
+      "heat_rate_k_min": "example",
+      "wait_min": "example",
+      "search_min": "example",
+      "threshold_k_min": "example",
+      "max_pressure_pa": "example",
+      "max_rate_k_min": "example",
+      "iso_temperature_k": "example",
+      "iso_hours": "example",
+      "cool_to_k": "example",
+      "data_interval_s": "example"
+     }
+    },
+    "temp": {
+     "reads": [
+      "sample.indicated_k",
+      "jacket.indicated_k"
+     ]
+    },
+    "start": {
+     "cap": "test.start"
+    },
+    "stop": {
+     "cap": "test.stop"
+    },
+    "result": {
+     "cap": "test.result",
+     "rows": "points",
+     "show": {
+      "exotherm_count": [
+       "exotherms",
+       null
+      ],
+      "max_temperature_k": [
+       "max temperature",
+       "temperature"
+      ],
+      "max_pressure_pa": [
+       "max pressure",
+       "pressure"
+      ],
+      "phi": [
+       "phi factor",
+       null
+      ],
+      "validity": [
+       "validity",
+       null
+      ]
+     },
+     "columns": {
+      "sample_k": [
+       "sample temperature",
+       "temperature"
+      ],
+      "pressure_pa": [
+       "pressure",
+       "pressure"
+      ],
+      "self_heat_rate_k_min": [
+       "self-heat rate (K/min)",
+       null
+      ]
+     }
+    },
+    "analyze": {
+     "default": "kinetics",
+     "models": {
+      "kinetics": {
+       "cap": "analysis.kinetics",
+       "rows": "points",
+       "filter": {
+        "stage": "exotherm"
+       },
+       "positive": "self_heat_rate_k_min",
+       "arrays": {
+        "temperatures_k": "sample_k",
+        "self_heat_rates_k_min": "self_heat_rate_k_min"
+       },
+       "scalars": {
+        "onset_temperature_k": "result:exotherms.0.onset_temperature_k",
+        "final_temperature_k": "result:exotherms.0.max_temperature_k",
+        "phi": "result:phi"
+       },
+       "keys": {
+        "n": {
+         "arg": "n"
+        }
+       },
+       "defaults": {
+        "n": "example"
+       },
+       "fix": "the kinetics need a test with an exotherm (`chemlab run INST result` shows exotherms)"
+      }
+     },
+     "example": "kinetics"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "sample.indicated_k",
+    "jacket": "jacket.indicated_k",
+    "phase": "test.running",
+    "stage": "test.stage",
+    "sample": "sample.loaded",
+    "pressure": "pressure.indicated_pa"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "method.configured",
+      "code": "NO_METHOD",
+      "message": "{inst} has no method yet.",
+      "fix": "set one: `chemlab run {inst} method start=50C end=220C`.",
+      "label": "method set",
+      "truthy": true
+     },
+     {
+      "slot": "sample.loaded",
+      "code": "NO_SAMPLE",
+      "message": "no sample bomb is in the calorimeter of {inst}.",
+      "fix": "the lab operator loads the bomb; ask for it.",
+      "label": "bomb loaded",
+      "truthy": true
+     },
+     {
+      "slot": "lid.closed",
+      "code": "LID_OPEN",
+      "message": "the calorimeter lid of {inst} is open.",
+      "fix": "the lab operator closes it; ask for it.",
+      "label": "lid closed",
+      "truthy": true
+     },
+     {
+      "slot": "tray.docked",
+      "code": "TRAY_OUT",
+      "message": "the sample tray of {inst} is not docked.",
+      "fix": "the lab operator docks it; ask for it.",
+      "label": "tray docked",
+      "truthy": true
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "the bomb, lid and tray are handled by the lab operator (no agent capability)",
+    "unload": "the bomb is removed by the lab operator (no agent capability)",
+    "set-temp": "no separate set point: the jacket follows the method (heat-wait-search, ramp or isothermal)",
+    "wait-temp": "no set point to wait for (the method drives the temperature)",
+    "gas": "no purge gas",
+    "zero": "no zero capability",
+    "calibrate": "no calibration capability",
+    "open": "the calorimeter lid is moved by the lab operator (no agent capability)",
+    "close": "the calorimeter lid is moved by the lab operator (no agent capability)"
+   },
+   "params": {
+    "job_poll_s": 60.0,
+    "manual": "MMC 274 Nexus brochure pp. 3, 5-9; NETZSCH advanced materials testing overview p. 24 (MMC 315)"
+   },
+   "notes": {
+    "method": [
+     "mode=hws|iso_fixed|iso_track|ramp (default: hws); start= and end= are needed; the other settings default to the contract's heat-wait-search example"
+    ]
+   }
+  },
+  "ika_c6000": {
+   "role": "primary",
+   "verbs": {
+    "load": {
+     "kind": "vessel",
+     "cap": "vessel.hang",
+     "scan_cap": "vessel.scan",
+     "confirm_cap": "measurement.confirm",
+     "phase_slot": "measurement.phase",
+     "await_phase": "awaiting_vessel",
+     "auto_slot": "settings.auto_vessel_detection"
+    },
+    "unload": {
+     "kind": "vessel",
+     "cap": "vessel.remove",
+     "hung_slot": "vessel.hung_rfid"
+    },
+    "method": {
+     "calls": [
+      {
+       "cap": "mode.set",
+       "keys": {
+        "mode": {
+         "arg": "mode"
+        }
+       },
+       "passthrough": false
+      },
+      {
+       "cap": "measurement.create",
+       "keys": {
+        "name": {
+         "arg": "name"
+        },
+        "mass": {
+         "arg": "sample_mass_kg",
+         "kind": "mass"
+        },
+        "kind": {
+         "arg": "kind"
+        },
+        "vessel": {
+         "arg": "vessel_name"
+        },
+        "aid": {
+         "arg": "aids",
+         "record": [
+          [
+           "aid_name",
+           null
+          ],
+          [
+           "mass_kg",
+           "mass"
+          ]
+         ],
+         "sep": ":",
+         "example": "IKA cotton wool thread"
+        }
+       },
+       "need": [
+        "name",
+        "mass"
+       ],
+       "defaults": {
+        "kind": {
+         "value": "measurement",
+         "why": "a measurement (kind=calibration for a benzoic acid calibration)"
+        },
+        "vessel_name": {
+         "value": null,
+         "why": "automatic vessel detection (RFID)"
+        },
+        "aids": {
+         "value": [],
+         "why": "no combustion aids"
+        }
+       }
+      }
+     ]
+    },
+    "temp": {
+     "reads": [
+      "inner.indicated_k",
+      "outer.indicated_k"
+     ]
+    },
+    "start": {
+     "cap": "measurement.start",
+     "id_arg": "measurement_id",
+     "list_slot": "measurements.list",
+     "id_field": "measurement_id",
+     "status": "created"
+    },
+    "stop": {
+     "cap": "measurement.cancel"
+    },
+    "result": {
+     "cap": "measurement.result",
+     "id_arg": "measurement_id",
+     "list_slot": "measurements.list",
+     "id_field": "measurement_id",
+     "current_slot": "measurement.id",
+     "rows": "points",
+     "show": {
+      "name": [
+       "name",
+       null
+      ],
+      "delta_t_k": [
+       "corrected temperature rise",
+       "temperature_delta"
+      ],
+      "gross_calorific_value_j_kg": [
+       "gross calorific value (J/kg)",
+       null
+      ],
+      "c_value_j_k": [
+       "C value (J/K)",
+       null
+      ],
+      "total_heat_j": [
+       "total heat",
+       "energy"
+      ]
+     }
+    },
+    "calibrate": {
+     "cap": "vessel.set_c_value",
+     "keys": {
+      "c": {
+       "arg": "c_value_j_k",
+       "kind": "heat_capacity"
+      },
+      "vessel": {
+       "arg": "vessel_name"
+      },
+      "mode": {
+       "arg": "mode"
+      }
+     },
+     "need": [
+      "c"
+     ],
+     "defaults": {
+      "vessel_name": {
+       "slot": "vessels.registered",
+       "only_key": true
+      },
+      "mode": {
+       "slot": "mode.working"
+      }
+     }
+    },
+    "open": {
+     "parts": {
+      "cover": {
+       "open_cap": "cover.open",
+       "close_cap": "cover.close",
+       "state_slot": "cover.state",
+       "open_state": "open",
+       "close_state": "closed",
+       "main": true,
+       "max_s": 120
+      }
+     }
+    },
+    "analyze": {
+     "default": "evaluate",
+     "models": {
+      "evaluate": {
+       "cap": "measurement.evaluate",
+       "id_arg": "measurement_id",
+       "keys": {
+        "sulfur": {
+         "arg": "sulfur_mass_fraction",
+         "kind": "fraction"
+        },
+        "acid": {
+         "arg": "total_acid_mol"
+        },
+        "hydrogen": {
+         "arg": "hydrogen_mass_fraction",
+         "kind": "fraction"
+        },
+        "moisture": {
+         "arg": "moisture_mass_fraction",
+         "kind": "fraction"
+        }
+       },
+       "defaults": {
+        "sulfur_mass_fraction": {
+         "value": 0.0,
+         "why": "no sulfur given"
+        },
+        "total_acid_mol": {
+         "value": null,
+         "why": "no titration"
+        },
+        "hydrogen_mass_fraction": {
+         "value": null,
+         "why": "no net calorific value"
+        },
+        "moisture_mass_fraction": {
+         "value": 0.0,
+         "why": "dry sample"
+        }
+       }
+      }
+     },
+     "example": "evaluate sulfur=0.1% hydrogen=4.95%"
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "temp": "inner.indicated_k",
+    "jacket": "outer.indicated_k",
+    "busy": "measurement.id",
+    "system": "system.state",
+    "mode": "mode.working",
+    "cover": "cover.state",
+    "record": "measurement.id",
+    "record_phase": "measurement.phase",
+    "vessel": "vessel.hung_rfid",
+    "result": "result.gross_calorific_value_j_kg"
+   },
+   "requires": {
+    "method": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     },
+     {
+      "slot": "mode.working",
+      "code": "MODE_MISMATCH",
+      "message": "the working mode {value} of {inst} does not match the cooling water (the offered modes are in mode.available).",
+      "fix": "choose an offered mode: `chemlab run {inst} method mode=MODE` (see `chemlab read {inst} mode.available`), then wait for the system test (`chemlab wait 7min`).",
+      "label": "working mode offered",
+      "in_slot": "mode.available"
+     },
+     {
+      "slot": "system.state",
+      "code": "NOT_READY",
+      "message": "{inst} is not ready to measure (system state {value}).",
+      "fix": "wait until the system test has finished (`chemlab wait 7min`, then `chemlab run {inst} status`).",
+      "label": "system waiting",
+      "value": "wait"
+     }
+    ],
+    "calibrate": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "label": "power on",
+      "truthy": true
+     }
+    ]
+   },
+   "codes": {
+    "RUN_MODE_NOT_POSSIBLE": {
+     "code": "MODE_MISMATCH",
+     "message": "the working mode of {inst} does not match the cooling water temperature (E26).",
+     "fix": "choose an offered mode: `chemlab run {inst} method mode=MODE`, then wait for the system test (about 7 min: `chemlab wait 7min`).",
+     "show": [
+      "mode.working",
+      "mode.available"
+     ]
+    }
+   },
+   "params": {
+    "labels": {
+     "temp": "inner vessel",
+     "jacket": "outer jacket"
+    },
+    "manual": "C 6000 operating instructions pp. 2-3, 6-11"
+   },
+   "diagnose": {
+    "start": [
+     {
+      "slot": "cover.state",
+      "code": "COVER_CLOSED",
+      "message": "the cover of {inst} is {value}; a measurement starts with it open.",
+      "fix": "open it: `chemlab run {inst} open cover`.",
+      "value": "open"
+     }
+    ]
+   },
+   "unsupported": {
+    "set-temp": "no free set point: the jacket start temperature (22, 25 or 30 °C) is part of the working mode, matched to the cooling water",
+    "wait-temp": "no set point to wait for (the measurement controls the temperatures)",
+    "gas": "no purge gas: oxygen filling is a step of every measurement",
+    "zero": "no zero capability: drift is corrected from the fore and after periods"
+   },
+   "alternatives": {
+    "set-temp": "choose the working mode: `chemlab run INST method mode=isoperibol_25` (only modes that match the cooling water are offered)."
+   },
+   "notes": {
+    "start": [
+     "after start the C 6000 waits for the vessel: `chemlab run INST load RFID` scans, hangs and confirms it"
+    ],
+    "start-after": [
+     "the C 6000 now waits for the vessel: hang it with `chemlab run ika_c6000 load RFID` (the bomb's RFID)"
+    ],
+    "method": [
+     "method name=... mass=1g creates a measurement record (kind=calibration for a calibration); mode= changes the working mode first",
+     "aid=NAME[:MASS] adds a combustion aid (repeatable)"
+    ],
+    "calibrate": [
+     "calibrate c=8700J/K sets the C value of the vessel (default: the only registered vessel) in the working mode"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/thin.json b/chemlab/configs/adapters/thin.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ec933ae30363dfdc61c5a7e7e0b324b191d21ea
--- /dev/null
+++ b/chemlab/configs/adapters/thin.json
@@ -0,0 +1,87 @@
+{
+ "class": "thin",
+ "adapter": "chemlab.compile.classes.thin:ThinAdapter",
+ "about": "Thin class: shared verbs only, reviewed by hand; the rest stays on chemlab call.",
+ "membership": {
+  "decided": "2026-10-22",
+  "members": ["wtw_oxitopi", "inert_puresolvmd", "vaisala_dmt152", "cem_libertyblue", "cytiva_ktaoligosynt"],
+  "why_thin": {
+   "wtw_oxitopi": "the BOD workflow is manual bottle preparation on six independent measuring heads; no method or calibration object",
+   "inert_puresolvmd": "solvent dispensing is a manual valve, needle and regulator procedure per column; no run or measurement",
+   "vaisala_dmt152": "a transmitter: installation, cap and analog-output configuration and one measurement query; no set point or run",
+   "cem_libertyblue": "the twin exposes power, cover, clamp, start / stop and one synthesis query; no reactor verbs exist",
+   "cytiva_ktaoligosynt": "the twin exposes power, clamp, start / stop and one synthesis query; no reactor verbs exist"
+  }
+ },
+ "members": {
+  "wtw_oxitopi": {
+   "verbs": {
+    "power": {"cap": "platform.set_power", "arg": "on"},
+    "open": {"parts": {"incubator_door": {"cap": "incubator.set_door", "arg": "open", "open": true, "close": false}}},
+    "method": {"cap": "head.configure", "keys": {"days": {"arg": "duration_days"}}},
+    "start": {"cap": "head.start", "job": "none"},
+    "stop": {"cap": "head.stop"},
+    "result": {"cap": "head.read"}
+   },
+   "targets": {"head": {"arg": "head", "values": {"h1": "h1", "h2": "h2", "h3": "h3", "h4": "h4", "h5": "h5", "h6": "h6"}, "required": true}},
+   "slots": {"power": "platform.powered"},
+   "status_slots": ["platform.powered", "incubator.door_open", "incubator.temperature_k", "warnings.active"],
+   "unsupported": {"ack": "no alarm acknowledge (the heads show warnings on their displays)", "estop": "no emergency stop"},
+   "notes": {"start": ["a BOD run lasts days: start returns at once; follow the head with `result --head hN` or `chemlab read`"],
+             "method": ["head settings (duration_days, unit, sample_volume_m3) per head: method --head h1 duration_days=5 unit=mg/l"]}
+  },
+  "inert_puresolvmd": {
+   "verbs": {
+    "open": {"parts": {"cabinet_left_door": {"cap": "cabinet.door", "arg": "angle_rad", "open": 1.7, "close": 0.0, "args": {"side": "left"}},
+                       "cabinet_right_door": {"cap": "cabinet.door", "arg": "angle_rad", "open": 1.7, "close": 0.0, "args": {"side": "right"}},
+                       "gas_isolation_valve": {"cap": "gas.isolation", "arg": "open", "open": true, "close": false}}}
+   },
+   "status_slots": ["pump.on", "gas.isolation_open", "gauge.vacuum_pa", "gauge.pressure_pa"],
+   "unsupported": {"power": "no mains switch for agents (the vacuum pump is `chemlab call inert_puresolvmd pump.set`)",
+                   "ack": "no alarm acknowledge", "estop": "no emergency stop", "method": "no method: dispensing is a manual valve procedure",
+                   "start": "no run: dispense with valve.turn / needle.set / regulator.set per channel (`chemlab call`)",
+                   "stop": "no run to stop", "result": "no measurement (water.measure is not supported by this twin)"},
+   "alternatives": {"start": "chemlab describe inert_puresolvmd (flask.attach, valve.turn, needle.set per channel)"}
+  },
+  "vaisala_dmt152": {
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "on", "args": {"voltage_v": 24.0}},
+    "result": {"cap": "measurement.send"}
+   },
+   "slots": {"power": "power.on"},
+   "status_slots": ["power.on", "state.current", "reading.tdf_k", "alarms.active"],
+   "unsupported": {"open": "no door or lid", "close": "no door or lid", "ack": "no alarm acknowledge", "estop": "no emergency stop",
+                   "method": "no method (settings.configure and output.configure are its own capabilities)",
+                   "start": "a continuous transmitter: it measures whenever it is powered", "stop": "a continuous transmitter: switch it off"},
+   "notes": {"power": ["switches the 24 V supply (the transmitter takes 10-35 V; the contract example is 24 V)"],
+             "result": ["one SEND reading: dew point (tdf_k), ppm and mg/kg"]}
+  },
+  "cem_libertyblue": {
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "enabled"},
+    "open": {"parts": {"cover": {"cap": "cover.set_lift", "arg": "lift_m", "open": 0.08, "close": 0.0},
+                       "clamp": {"cap": "clamp.set_lift", "arg": "lift_m", "open": 0.04, "close": 0.0}}},
+    "start": {"cap": "acquisition.start", "job": "operation"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "synthesis.measure"}
+   },
+   "path_exceptions": ["synthesis.measure"],
+   "slots": {"power": "power.enabled"},
+   "status_slots": ["power.enabled", "cycle.phase", "cycle.stage", "cycle.fault"],
+   "unsupported": {"ack": "no alarm acknowledge", "estop": "no emergency stop", "method": "the synthesis queue and kinetics are set up by the lab (host)"}
+  },
+  "cytiva_ktaoligosynt": {
+   "verbs": {
+    "power": {"cap": "power.set", "arg": "enabled"},
+    "open": {"parts": {"clamp": {"cap": "clamp.set_lift", "arg": "lift_m", "open": 0.04, "close": 0.0}}},
+    "start": {"cap": "acquisition.start", "job": "operation"},
+    "stop": {"cap": "acquisition.stop"},
+    "result": {"cap": "synthesis.measure"}
+   },
+   "path_exceptions": ["synthesis.measure"],
+   "slots": {"power": "power.enabled"},
+   "status_slots": ["power.enabled", "cycle.phase", "cycle.stage", "cycle.fault"],
+   "unsupported": {"ack": "no alarm acknowledge", "estop": "no emergency stop", "method": "the synthesis method and kinetics are set up by the lab (host)"}
+  }
+ }
+}
diff --git a/chemlab/configs/adapters/titration.json b/chemlab/configs/adapters/titration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20dfed812e38d69aa395a4e51a4637b912252d4
--- /dev/null
+++ b/chemlab/configs/adapters/titration.json
@@ -0,0 +1,979 @@
+{
+ "class": "titration",
+ "adapter": "chemlab.compile.classes.titration:TitrationAdapter",
+ "about": "Titrators (potentiometric, Karl Fischer coulometric, Kjeldahl distillation-titration): titrant, method KEY=VALUE, sample, stir, connect, start (job), stop, curve, result, status. Ranges and units come from each member's contract.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "metrohm_omnis",
+   "metrohm_899",
+   "velp_udk159"
+  ],
+  "secondary": {},
+  "secondary_not_mapped": {
+   "malvern_microcalpeaq": "isothermal titration calorimetry: injections into a calorimeter cell with heat as the signal; its primary class (bioassay) owns the instrument and can reuse these handlers"
+  },
+  "notes": "power comes from the shared layer; the UDK 159 door and fault acknowledge too (open / close door, ack)."
+ },
+ "members": {
+  "metrohm_omnis": {
+   "role": "primary",
+   "verbs": {
+    "titrant": {
+     "cap": "titration.configure_titrant",
+     "arg": "concentration_mol_m3",
+     "cylinder_cap": "dosing.configure_cylinder",
+     "cylinder_arg": "volume_m3"
+    },
+    "method": {
+     "calls": [
+      {
+       "cap": "titration.configure_method",
+       "passthrough": true,
+       "keys": {
+        "mode": {
+         "arg": "mode",
+         "values": {
+          "dynamic": "dynamic_equivalent",
+          "set": "endpoint"
+         }
+        },
+        "ep": "endpoint_potential_v",
+        "increment": "dose_increment_m3",
+        "max": "maximum_volume_m3"
+       },
+       "keep": {
+        "slots": {
+         "mode": "method.mode",
+         "dose_increment_m3": "method.dose_increment_m3",
+         "maximum_volume_m3": "method.maximum_volume_m3",
+         "endpoint_potential_v": "method.endpoint_potential_v"
+        },
+        "last": true,
+        "example": true
+       },
+       "null_when": {
+        "endpoint_potential_v": {
+         "mode": "dynamic_equivalent"
+        }
+       }
+      },
+      {
+       "cap": "titration.configure_stability",
+       "passthrough": true,
+       "keys": {
+        "hold": "hold_s",
+        "tolerance": "tolerance_v"
+       },
+       "keep": {
+        "slots": {
+         "hold_s": "stability.hold_s",
+         "tolerance_v": "stability.tolerance_v"
+        },
+        "last": true,
+        "example": true
+       }
+      },
+      {
+       "cap": "dosing.set_rate",
+       "passthrough": true,
+       "keys": {
+        "rate": "rate_m3_s"
+       }
+      }
+     ]
+    },
+    "stir": {
+     "cap": "stirring.set_speed",
+     "arg": "angular_speed_rad_s"
+    },
+    "connect": {
+     "cap": "slot.set_connection",
+     "port_arg": "port_id",
+     "id_arg": "connection_id",
+     "ports": {
+      "electrode": "electrode",
+      "cell": "titration_cell"
+     },
+     "slots": {
+      "electrode": "slot.electrode.connection_id",
+      "cell": "slot.titration_cell.connection_id"
+     }
+    },
+    "start": {
+     "cap": "titration.start",
+     "job": {
+      "slot": "titration.status",
+      "done": [
+       "completed"
+      ],
+      "failed": [
+       "stopped",
+       "out_of_range",
+       "limit_reached"
+      ],
+      "report": {
+       "phase": "titration.phase",
+       "dosed_m3": "dosing.delivered_volume_m3",
+       "endpoint_m3": "titration.endpoint_volume_m3"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "titration.stop"
+    },
+    "curve": {
+     "cap": "titration.read_curve",
+     "show": [
+      "status",
+      "endpoint_volume_m3",
+      "samples",
+      "synthetic"
+     ]
+    },
+    "result": {
+     "cap": "titration.calculate_content",
+     "sample_arg": "sample_volume_m3",
+     "ratio_arg": "stoichiometric_ratio",
+     "endpoint_slot": "titration.endpoint_volume_m3",
+     "reads": [
+      "titration.status",
+      "titration.endpoint_volume_m3",
+      "titration.content_mol_m3"
+     ],
+     "show": [
+      "content_mol_m3",
+      "titration.status",
+      "titration.endpoint_volume_m3",
+      "titration.content_mol_m3",
+      "synthetic"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "titration.running",
+     "values": [
+      true
+     ]
+    }
+   },
+   "path": "titration",
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "status",
+     "titration.status"
+    ],
+    [
+     "phase",
+     "titration.phase"
+    ],
+    [
+     "titrant",
+     "titrant.concentration_mol_m3",
+     "concentration"
+    ],
+    [
+     "cylinder",
+     "dosing.cylinder_volume_m3",
+     "volume"
+    ],
+    [
+     "mode",
+     "method.mode"
+    ],
+    [
+     "dosed",
+     "dosing.delivered_volume_m3",
+     "volume"
+    ],
+    [
+     "pH",
+     "measurement.ph"
+    ],
+    [
+     "potential",
+     "measurement.potential_v",
+     "voltage"
+    ],
+    [
+     "end point",
+     "titration.endpoint_volume_m3",
+     "volume"
+    ],
+    [
+     "stirring",
+     "stirring.angular_speed_rad_s",
+     "rotation"
+    ],
+    [
+     "electrode",
+     "slot.electrode.connection_id"
+    ],
+    [
+     "cell",
+     "slot.titration_cell.connection_id"
+    ]
+   ],
+   "requires": {
+    "titrant": [
+     {
+      "slot": "titration.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no titration running",
+      "message": "{inst} is titrating; the titrant cannot change now.",
+      "fix": "wait for the titration (`chemlab run {inst} wait`) or stop it."
+     },
+     {
+      "slot": "dosing.delivered_volume_m3",
+      "max": 0.0,
+      "code": "ALREADY_DOSED",
+      "label": "nothing dosed yet",
+      "message": "{inst} has already dosed titrant into this sample; the titrant and the cylinder stay as they are until the next sample.",
+      "fix": "ask the lab operator for a new sample, then declare the titrant."
+     }
+    ],
+    "method": [
+     {
+      "slot": "titration.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no titration running",
+      "message": "{inst} is titrating; the method cannot change now.",
+      "fix": "wait for the titration (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "connect": [
+     {
+      "slot": "titration.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no titration running",
+      "message": "{inst} is titrating.",
+      "fix": "wait for the titration (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "stir-off": [
+     {
+      "slot": "titration.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no titration running",
+      "message": "{inst} is titrating; the stirrer must keep running.",
+      "fix": "wait for the titration (`chemlab run {inst} wait`) or stop it first."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "slot.electrode.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "electrode connected",
+      "message": "no electrode is connected to {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect electrode=ELECTRODE_ID` (the id the lab gave you)."
+     },
+     {
+      "slot": "slot.titration_cell.connection_id",
+      "set": true,
+      "code": "NOT_CONNECTED",
+      "label": "titration cell connected",
+      "message": "no titration cell (beaker) is registered on {inst}.",
+      "fix": "connect it: `chemlab run {inst} connect cell=BEAKER_ID`."
+     },
+     {
+      "slot": "dosing.cylinder_volume_m3",
+      "set": true,
+      "code": "NO_TITRANT",
+      "label": "dosing cylinder chosen",
+      "message": "{inst} has no dosing cylinder chosen.",
+      "fix": "declare the titrant with its cylinder: `chemlab run {inst} titrant 0.1M --cylinder 20mL`."
+     },
+     {
+      "slot": "titrant.concentration_mol_m3",
+      "set": true,
+      "code": "NO_TITRANT",
+      "label": "titrant declared",
+      "message": "{inst} has no titrant concentration.",
+      "fix": "declare it: `chemlab run {inst} titrant 0.1M`."
+     },
+     {
+      "slot": "method.mode",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no titration method.",
+      "fix": "set one: `chemlab run {inst} method mode=dynamic increment=0.1mL max=15mL`."
+     },
+     {
+      "slot": "stability.hold_s",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "stability rule set",
+      "message": "{inst} has no stability rule (hold time and tolerance).",
+      "fix": "set it: `chemlab run {inst} method hold=0.5s tolerance=1mV`."
+     },
+     {
+      "slot": "dosing.rate_m3_s",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "dosing rate set",
+      "message": "{inst} has no dosing rate.",
+      "fix": "set it: `chemlab run {inst} method rate=30mL/min`."
+     },
+     {
+      "slot": "stirring.angular_speed_rad_s",
+      "min": 1e-09,
+      "code": "NOT_STIRRING",
+      "label": "stirring",
+      "message": "the stirrer of {inst} is off; it titrates only while stirring.",
+      "fix": "stir: `chemlab run {inst} stir 300rpm`."
+     },
+     {
+      "slot": "dosing.delivered_volume_m3",
+      "max": 0.0,
+      "code": "ALREADY_DOSED",
+      "label": "fresh sample",
+      "message": "{inst} has already titrated this sample.",
+      "fix": "ask the lab operator for a new sample."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "titration.running",
+      "value": true,
+      "code": "NOT_RUNNING",
+      "label": "a titration running",
+      "message": "{inst} is not titrating.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "titration.start:PRECONDITION_FAILED": {
+     "code": "NO_SAMPLE",
+     "message": "{inst} has no sample in the titration cell (the lab places it), or a setting is missing.",
+     "fix": "ask the lab operator for the sample; check `chemlab run {inst} status`."
+    },
+    "titration.configure_method:PRECONDITION_FAILED": {
+     "code": "BAD_STEP",
+     "message": "{inst} takes the dose increment and the maximum volume only as whole steps of its dosing cylinder (choose the cylinder first), not more than the cylinder holds, and an end-point potential only in endpoint mode.",
+     "fix": "declare the cylinder (`chemlab run {inst} titrant 0.1M --cylinder 20mL`) and give volumes in whole cylinder steps."
+    },
+    "titration.calculate_content:PRECONDITION_FAILED": {
+     "code": "NO_ENDPOINT",
+     "message": "{inst} has no end point to compute a content from.",
+     "fix": "run the titration to its end first."
+    }
+   },
+   "unsupported": {
+    "sample": "the sample volume is given to the result calculation"
+   },
+   "alternatives": {
+    "sample": "`chemlab run INST result --sample 25mL` after the titration."
+   },
+   "notes": {
+    "titrant": [
+     "the titrant concentration is in mol/L (M); --cylinder is the exchange unit volume 5, 10, 20 or 50 mL"
+    ],
+    "method": [
+     "mode=endpoint titrates to ep (a potential); mode=dynamic finds the equivalence point (ep is then not used)",
+     "increment and max must be whole steps of the cylinder (20 mL cylinder: 0.2 µL steps)"
+    ],
+    "result": [
+     "with --sample V (and --ratio R) it computes the content = end-point volume x titrant concentration x R / V"
+    ]
+   },
+   "manual": "OMNIS titrator product manual (titration system p.17-35, stirrer and dosing unit p.36-38)",
+   "examples": {
+    "titrant": "chemlab run INST titrant 0.1M --cylinder 20mL",
+    "method": "chemlab run INST method mode=dynamic increment=0.1mL max=15mL hold=0.5s tolerance=0V rate=30mL/min",
+    "stir": "chemlab run INST stir 300rpm",
+    "connect": "chemlab run INST connect electrode=electrode_01 cell=beaker_01",
+    "result": "chemlab run INST result --sample 25mL"
+   }
+  },
+  "metrohm_899": {
+   "role": "primary",
+   "verbs": {
+    "method": {
+     "calls": [
+      {
+       "cap": "coulometry.configure",
+       "passthrough": true,
+       "keys": {
+        "current": "current_a",
+        "drift-comp": "drift_compensation_kg_s",
+        "start-drift": "start_drift_threshold_kg_s",
+        "extraction": "extraction_time_s",
+        "stir": "stirring_level",
+        "hold": "endpoint_hold_s"
+       }
+      }
+     ]
+    },
+    "sample": {
+     "cap": "coulometry.configure",
+     "arg": "sample_mass_kg"
+    },
+    "stir": {
+     "cap": "stirrer.set",
+     "on_arg": "on",
+     "level_arg": "rate"
+    },
+    "start": {
+     "cap": "coulometry.start",
+     "job": {
+      "slot": "coulometry.status",
+      "done": [
+       "COMPLETED"
+      ],
+      "failed": [
+       "STOPPED",
+       "OFF"
+      ],
+      "report": {
+       "water_kg": "measurement.water_mass_kg",
+       "drift_kg_s": "measurement.drift_kg_s"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "coulometry.stop"
+    },
+    "curve": {
+     "cap": "coulometry.curve",
+     "show": [
+      "records"
+     ]
+    },
+    "result": {
+     "cap": "coulometry.reading",
+     "show": [
+      "status",
+      "water_mass_kg",
+      "water_fraction",
+      "charge_c",
+      "elapsed_s",
+      "drift_kg_s",
+      "synthetic"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "coulometry.running",
+     "values": [
+      true
+     ]
+    }
+   },
+   "path": "coulometry",
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "status",
+     "coulometry.status"
+    ],
+    [
+     "sample",
+     "sample.present"
+    ],
+    [
+     "reagent ready",
+     "reagent.ready"
+    ],
+    [
+     "water",
+     "measurement.water_mass_kg",
+     "mass"
+    ],
+    [
+     "water fraction",
+     "measurement.water_fraction"
+    ],
+    [
+     "drift",
+     "measurement.drift_kg_s",
+     "ug/min"
+    ],
+    [
+     "current",
+     "settings.current_a",
+     "current"
+    ],
+    [
+     "sample size",
+     "settings.sample_mass_kg",
+     "mass"
+    ],
+    [
+     "stirring level",
+     "settings.stirring_level"
+    ],
+    [
+     "cell",
+     "slot.cell.installed"
+    ]
+   ],
+   "requires": {
+    "method": [
+     {
+      "slot": "coulometry.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no determination running",
+      "message": "{inst} is titrating; the method cannot change now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "sample": [
+     {
+      "slot": "coulometry.running",
+      "value": false,
+      "code": "BUSY",
+      "label": "no determination running",
+      "message": "{inst} is titrating; give the sample size before the start.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "stir": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "slot.cell.installed",
+      "value": true,
+      "code": "NOT_ASSEMBLED",
+      "label": "titration cell installed",
+      "message": "the titration cell of {inst} is not installed.",
+      "fix": "ask the lab operator to assemble the cell and electrodes."
+     },
+     {
+      "slot": "slot.generator.installed",
+      "value": true,
+      "code": "NOT_ASSEMBLED",
+      "label": "generator electrode installed",
+      "message": "the generator electrode of {inst} is not installed.",
+      "fix": "ask the lab operator to assemble the cell and electrodes."
+     },
+     {
+      "slot": "slot.indicator.installed",
+      "value": true,
+      "code": "NOT_ASSEMBLED",
+      "label": "indicator electrode installed",
+      "message": "the indicator electrode of {inst} is not installed.",
+      "fix": "ask the lab operator to assemble the cell and electrodes."
+     },
+     {
+      "slot": "reagent.ready",
+      "value": true,
+      "code": "NO_REAGENT",
+      "label": "reagent ready",
+      "message": "the KF reagent of {inst} is not ready.",
+      "fix": "ask the lab operator to fill fresh reagent."
+     },
+     {
+      "slot": "sample.present",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "a sample added",
+      "message": "no sample has been added to the cell of {inst}.",
+      "fix": "ask the lab operator to add the sample."
+     },
+     {
+      "slot": "settings.endpoint_hold_s",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "end-point hold set",
+      "message": "{inst} has no end-point hold time in its method.",
+      "fix": "set it: `chemlab run {inst} method hold=1s`."
+     },
+     {
+      "slot": "settings.drift_compensation_kg_s",
+      "set": true,
+      "code": "NO_METHOD",
+      "label": "drift compensation set",
+      "message": "{inst} has no drift compensation in its method.",
+      "fix": "set it: `chemlab run {inst} method drift-comp=0ug/min` (or the measured drift)."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "coulometry.running",
+      "value": true,
+      "code": "NOT_RUNNING",
+      "label": "a determination running",
+      "message": "{inst} is not titrating.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "coulometry.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} cannot start: the drift is above the start-drift threshold, or this sample was already titrated.",
+     "fix": "check the drift (`chemlab run {inst} status`); raise `method start-drift=...` only if the method allows; a titrated sample needs a new one from the lab."
+    },
+    "coulometry.configure:PRECONDITION_FAILED": {
+     "code": "BUSY",
+     "message": "{inst} is titrating; the method cannot change now.",
+     "fix": "wait for it or stop it."
+    }
+   },
+   "unsupported": {
+    "titrant": "a coulometric KF titrator generates its iodine at the generator electrode (no titrant to declare)",
+    "connect": "the cell and the electrodes are installed by the lab operator with the power off"
+   },
+   "alternatives": {
+    "connect": "ask the lab operator, or `chemlab call INST slot.set_installed --slot cell --installed true` with the power off."
+   },
+   "notes": {
+    "method": [
+     "current 100mA | 200mA | 400mA; drift-comp and start-drift in µg/min (e.g. 20ug/min); stir is the level (-15..15) used during the determination"
+    ],
+    "stir": [
+     "the manual stirrer takes levels: `stir on --level 8`, `stir off`"
+    ],
+    "sample": [
+     "the sample mass turns the titrated water into a water fraction"
+    ]
+   },
+   "manual": "899 Coulometer manual (KF principle and drift p.38-44, operation and methods p.45-71)",
+   "examples": {
+    "method": "chemlab run INST method current=400mA drift-comp=0ug/min hold=1s",
+    "sample": "chemlab run INST sample 10mg",
+    "stir": "chemlab run INST stir on --level 8",
+    "result": "chemlab run INST result"
+   }
+  },
+  "velp_udk159": {
+   "role": "primary",
+   "verbs": {
+    "titrant": {
+     "key": "titrant",
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": false,
+       "keys": {
+        "titrant": "titrant_equivalents_mol_m3"
+       },
+       "keep": {
+        "last": true,
+        "example": true
+       }
+      }
+     ]
+    },
+    "method": {
+     "calls": [
+      {
+       "cap": "method.configure",
+       "passthrough": true,
+       "keep": {
+        "last": true,
+        "example": true
+       },
+       "keys": {
+        "steam": "steam_fraction",
+        "window": "distillation_window_s",
+        "water": "water_volume_m3",
+        "base": "base_volume_m3",
+        "boric": "boric_volume_m3",
+        "base-conc": "base_concentration_mol_m3",
+        "boric-capacity": "boric_capacity_mol_m3",
+        "titrant": "titrant_equivalents_mol_m3",
+        "blank": "blank_titrant_volume_m3",
+        "factor": "protein_factor"
+       }
+      }
+     ]
+    },
+    "start": {
+     "cap": "acquisition.start",
+     "job": {
+      "slot": "cycle.phase",
+      "done": [
+       "succeeded"
+      ],
+      "failed": [
+       "cancelled",
+       "failed"
+      ],
+      "report": {
+       "stage": "cycle.stage",
+       "titrant_ml": "panel.titrant_ml"
+      },
+      "max_s": 7200
+     }
+    },
+    "stop": {
+     "cap": "acquisition.stop"
+    },
+    "curve": {
+     "cap": "curve.read",
+     "show": [
+      "points",
+      "evidence"
+     ]
+    },
+    "result": {
+     "cap": "analysis.measure",
+     "show": [
+      "phase",
+      "stage",
+      "nitrogen_kg",
+      "protein_mass_fraction",
+      "titrant_volume_m3",
+      "nominal_range",
+      "evidence"
+     ]
+    }
+   },
+   "slots": {
+    "power": "power.enabled"
+   },
+   "params": {
+    "busy": {
+     "slot": "cycle.phase",
+     "values": [
+      "running"
+     ]
+    }
+   },
+   "path": "acquisition",
+   "path_exceptions": [
+    "curve.read",
+    "analysis.measure"
+   ],
+   "show": [
+    [
+     "power",
+     "power.enabled"
+    ],
+    [
+     "phase",
+     "cycle.phase"
+    ],
+    [
+     "stage",
+     "cycle.stage"
+    ],
+    [
+     "method",
+     "method.selected#name"
+    ],
+    [
+     "steam",
+     "panel.steam_percent"
+    ],
+    [
+     "titrant used (mL)",
+     "panel.titrant_ml"
+    ],
+    [
+     "nitrogen (mg)",
+     "panel.nitrogen_mg"
+    ],
+    [
+     "door",
+     "door.angle_rad",
+     "angle"
+    ],
+    [
+     "tube clamped",
+     "tube.clamped_target"
+    ],
+    [
+     "coolant ok",
+     "coolant.valid"
+    ],
+    [
+     "cooling down",
+     "cycle.cooldown_s",
+     "duration"
+    ]
+   ],
+   "requires": {
+    "titrant": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no analysis running",
+      "message": "{inst} is running an analysis.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "method": [
+     {
+      "slot": "cycle.phase",
+      "not": [
+       "running"
+      ],
+      "code": "BUSY",
+      "label": "no analysis running",
+      "message": "{inst} is running an analysis; the method cannot change now.",
+      "fix": "wait for it (`chemlab run {inst} wait`) or stop it."
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "value": true,
+      "code": "POWER_OFF",
+      "label": "power on",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`."
+     },
+     {
+      "slot": "method.configured",
+      "value": true,
+      "code": "NO_METHOD",
+      "label": "method set",
+      "message": "{inst} has no method.",
+      "fix": "set one: `chemlab run {inst} method base=70mL boric=30mL` (see `chemlab help {inst} method`)."
+     },
+     {
+      "slot": "sample.configured",
+      "value": true,
+      "code": "NO_SAMPLE",
+      "label": "a digested sample tube",
+      "message": "there is no digested sample tube in {inst}.",
+      "fix": "ask the lab operator to put the digested tube in."
+     },
+     {
+      "slot": "door.open_target",
+      "value": false,
+      "code": "DOOR_OPEN",
+      "label": "door shut",
+      "message": "the safety door of {inst} is open (or still closing).",
+      "fix": "close it: `chemlab run {inst} close door`, then give it a few seconds."
+     },
+     {
+      "slot": "door.angle_rad",
+      "max": 0.0,
+      "code": "DOOR_MOVING",
+      "label": "door closed",
+      "message": "the safety door of {inst} is still moving shut.",
+      "fix": "wait a few seconds (`chemlab wait 10`), then start."
+     },
+     {
+      "slot": "tube.clamped_target",
+      "value": true,
+      "code": "TUBE_NOT_CLAMPED",
+      "label": "tube clamped",
+      "message": "the sample tube of {inst} is not clamped.",
+      "fix": "ask the lab operator to clamp the tube (the lever is reached through the open door)."
+     },
+     {
+      "slot": "coolant.valid",
+      "value": true,
+      "code": "NO_COOLANT",
+      "label": "cooling water",
+      "message": "{inst} has no valid cooling water flow.",
+      "fix": "ask the lab operator to open the cooling water."
+     },
+     {
+      "slot": "cycle.cooldown_s",
+      "max": 0.0,
+      "code": "COOLING",
+      "label": "not cooling down",
+      "message": "{inst} is still cooling down after the last analysis.",
+      "fix": "wait a few minutes (`chemlab run {inst} status`)."
+     },
+     {
+      "slot": "cycle.phase",
+      "value": "idle",
+      "code": "NOT_IDLE",
+      "label": "idle",
+      "message": "{inst} is not idle (the last analysis is over but its tube is still in place, or one is running).",
+      "fix": "the lab operator drains the residue and puts the next tube in; see `chemlab run {inst} status`."
+     }
+    ],
+    "stop": [
+     {
+      "slot": "cycle.phase",
+      "value": "running",
+      "code": "NOT_RUNNING",
+      "label": "an analysis running",
+      "message": "{inst} is not running an analysis.",
+      "fix": "nothing to stop; see `chemlab run {inst} status`."
+     }
+    ]
+   },
+   "codes": {
+    "acquisition.start:CAPACITY_LIMIT": {
+     "code": "CAPACITY_LIMIT",
+     "message": "the method needs more liquid than {inst} has (tube volume over 250 mL, or a reagent tank too low), or the base / boric acid cannot hold the sample's acid or nitrogen.",
+     "fix": "lower water / base volumes in the method, or ask the lab operator to refill the tanks."
+    },
+    "acquisition.start:PRECONDITION_FAILED": {
+     "code": "NOT_READY",
+     "message": "{inst} is not ready to start (door, tube clamp, cooling water, sample tube or the last analysis).",
+     "fix": "see `chemlab run {inst} status`."
+    }
+   },
+   "unsupported": {
+    "sample": "the sample is the digested tube; its mass is part of the lab's sample record, not a setting",
+    "stir": "no stirrer (the receiver is mixed by the distillate)",
+    "connect": "no electrode or cell slots (colorimetric end point)"
+   },
+   "notes": {
+    "titrant": [
+     "the titrant concentration is a field of the method; the other method settings are kept"
+    ],
+    "method": [
+     "method.configure needs every setting; the ones you leave out stay as in the last accepted method, else the documented defaults (the reply lists them); steam takes a percentage (steam=80%)"
+    ]
+   },
+   "manual": "UDK 159 leaflet p.1-2 (operation, technical data); UDK series brochure rev.3 p.4-5",
+   "examples": {
+    "titrant": "chemlab run INST titrant 0.2M",
+    "method": "chemlab run INST method base=70mL boric=30mL steam=100%",
+    "result": "chemlab run INST result"
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/chemlab/configs/adapters/wash_sterilize.json b/chemlab/configs/adapters/wash_sterilize.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d38b184c78706a5c7017961d98cc62565f588d
--- /dev/null
+++ b/chemlab/configs/adapters/wash_sterilize.json
@@ -0,0 +1,454 @@
+{
+ "class": "wash_sterilize",
+ "adapter": "chemlab.compile.classes.wash_sterilize:WashSterilizeAdapter",
+ "about": "Washing and sterilization cycles: program, configure, load, unload, start (job), stop, pause, open/close (door / lid), status. power, ack, estop come from the shared layer.",
+ "membership": {
+  "decided": "2026-10-22",
+  "primary": [
+   "miele_plw6111",
+   "tuttnauer_3870elvd"
+  ],
+  "secondary": {},
+  "not_mapped": {
+   "elma_elmasonics60h": "ultrasonic cleaning bath: its cleaning is sonication with heat (agitation primary, thermal secondary); no programme object",
+   "biotek_405ts": "plate washer: its wash programmes belong to the bioassay class (primary) with plate handling"
+  }
+ },
+ "members": {
+  "miele_plw6111": {
+   "role": "primary",
+   "verbs": {
+    "program": {
+     "cap": "programme.select",
+     "arg": "programme_id"
+    },
+    "configure": {
+     "cap": "programme.set_drying",
+     "keys": {
+      "drying": {
+       "cap": "programme.set_drying",
+       "arg": "enabled"
+      }
+     },
+     "not_here": {
+      "temp": "the temperatures are fixed in the programme blocks (customer programmes: `chemlab call INST programmes.set_block`)",
+      "time": "the hold times are fixed in the programme blocks (customer programmes: `chemlab call INST programmes.set_block`)"
+     }
+    },
+    "start": {
+     "cap": "programme.start",
+     "job": "state",
+     "max_s": 14400,
+     "state": {
+      "slot": "programme.status",
+      "done": [
+       "end"
+      ],
+      "failed": [
+       "cancelled",
+       "malfunction",
+       "power_fail"
+      ],
+      "paused": [
+       "interrupted"
+      ]
+     }
+    },
+    "stop": {
+     "cap": "programme.cancel"
+    },
+    "pause": {
+     "on_cap": "programme.interrupt",
+     "off_cap": "programme.resume"
+    },
+    "open": {
+     "parts": {
+      "door": {
+       "open_cap": "door.open",
+       "close_cap": "door.close",
+       "closed_slot": "door.closed"
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.enabled",
+    "program": "programme.selected",
+    "state": "programme.status",
+    "phase": "program.phase",
+    "remaining": "programme.remaining_s",
+    "door": "door.closed",
+    "locked": "door.locked",
+    "temp": "water.indicated_temperature_k"
+   },
+   "requires": {
+    "program": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "programme.status",
+      "code": "BUSY",
+      "message": "a programme is {value} on {inst}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "in": [
+       "ready",
+       "end",
+       "cancelled"
+      ],
+      "label": "no programme running"
+     }
+    ],
+    "configure": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "programme.status",
+      "code": "BUSY",
+      "message": "a programme is {value} on {inst}.",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "in": [
+       "ready",
+       "end",
+       "cancelled"
+      ],
+      "label": "no programme running"
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.enabled",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "programme.status",
+      "code": "BUSY",
+      "message": "a programme is {value} on {inst}.",
+      "fix": "wait for it (`chemlab status`) or stop it: `chemlab run {inst} stop`.",
+      "in": [
+       "ready",
+       "end",
+       "cancelled"
+      ],
+      "label": "no programme running"
+     },
+     {
+      "slot": "door.closed",
+      "code": "DOOR_OPEN",
+      "message": "the door of {inst} is open.",
+      "fix": "close it: `chemlab run {inst} close door`.",
+      "value": true,
+      "label": "door closed"
+     },
+     {
+      "slot": "basket.lower.extension_m",
+      "code": "BASKET_OUT",
+      "message": "the lower basket of {inst} is pulled out.",
+      "fix": "push it in: `chemlab call {inst} basket.set_position --slot lower --extension_m 0`.",
+      "value": 0.0,
+      "label": "lower basket in"
+     },
+     {
+      "slot": "basket.middle.extension_m",
+      "code": "BASKET_OUT",
+      "message": "the middle basket of {inst} is pulled out.",
+      "fix": "push it in: `chemlab call {inst} basket.set_position --slot middle --extension_m 0`.",
+      "value": 0.0,
+      "label": "middle basket in"
+     },
+     {
+      "slot": "basket.upper.extension_m",
+      "code": "BASKET_OUT",
+      "message": "the upper basket of {inst} is pulled out.",
+      "fix": "push it in: `chemlab call {inst} basket.set_position --slot upper --extension_m 0`.",
+      "value": 0.0,
+      "label": "upper basket in"
+     },
+     {
+      "slot": "water.model_configured",
+      "code": "NOT_SET_UP",
+      "message": "{inst} has no water supply / heater declared by the lab.",
+      "fix": "ask the lab operator.",
+      "value": true,
+      "label": "water declared"
+     }
+    ],
+    "stop": [
+     {
+      "slot": "programme.status",
+      "code": "NO_CYCLE",
+      "message": "no programme is running on {inst} (it is {value}).",
+      "fix": "nothing to stop.",
+      "in": [
+       "running",
+       "interrupted",
+       "power_fail"
+      ],
+      "label": "a programme running"
+     }
+    ],
+    "pause:on": [
+     {
+      "slot": "programme.status",
+      "code": "NOT_RUNNING",
+      "message": "no programme is running on {inst} (it is {value}).",
+      "fix": "start one first: `chemlab run {inst} start`.",
+      "value": "running",
+      "label": "a programme running"
+     }
+    ],
+    "pause:off": [
+     {
+      "slot": "programme.status",
+      "code": "NOT_PAUSED",
+      "message": "the programme of {inst} is not interrupted (it is {value}).",
+      "fix": "nothing to resume.",
+      "value": "interrupted",
+      "label": "a programme interrupted"
+     }
+    ],
+    "open:door": [
+     {
+      "slot": "programme.status",
+      "code": "DOOR_LOCKED",
+      "message": "the door of {inst} stays locked while a programme is {value} (also when interrupted).",
+      "fix": "wait until it has ended (`chemlab run {inst} status`), or cancel it first: `chemlab run {inst} stop`.",
+      "in": [
+       "ready",
+       "end",
+       "cancelled"
+      ],
+      "label": "no programme active"
+     }
+    ],
+    "close:door": [
+     {
+      "slot": "basket.lower.extension_m",
+      "code": "BASKET_OUT",
+      "message": "the lower basket of {inst} is pulled out; the door does not close over it.",
+      "fix": "push it in: `chemlab call {inst} basket.set_position --slot lower --extension_m 0`.",
+      "value": 0.0,
+      "label": "lower basket in"
+     }
+    ]
+   },
+   "unsupported": {
+    "load": "glassware goes into its baskets by hand (the operator); the twin has no item ledger (baskets: `chemlab call INST basket.set_position`)",
+    "unload": "glassware is taken out of its baskets by hand (the operator)"
+   },
+   "notes": {
+    "start": [
+     "start returns job-N; the door locks until the programme has ended; `chemlab wait job-N` or --wait blocks (a programme takes about 30-90 min)"
+    ],
+    "configure": [
+     "only drying=on|off can be changed from the computer for the standard programmes"
+    ],
+    "pause": [
+     "pause on interrupts (the current wash block is repeated on resume); pause off resumes"
+    ]
+   }
+  },
+  "tuttnauer_3870elvd": {
+   "role": "primary",
+   "verbs": {
+    "program": {
+     "cap": "program.select",
+     "arg": "program"
+    },
+    "configure": {
+     "cap": "program.configure",
+     "program_arg": "program",
+     "keys": {
+      "temp": {
+       "arg": "temperature_k"
+      },
+      "time": {
+       "arg": "time_s"
+      },
+      "exhaust": {
+       "arg": "exhaust"
+      },
+      "end_temp": {
+       "arg": "end_temperature_k"
+      }
+     },
+     "not_here": {
+      "drying": "drying times are custom-program parameters (`chemlab call INST program.set_parameters`)"
+     }
+    },
+    "load": {
+     "cap": "load.add"
+    },
+    "unload": {
+     "cap": "load.remove",
+     "arg": "load_id"
+    },
+    "start": {
+     "cap": "cycle.start",
+     "job": "operation"
+    },
+    "stop": {
+     "cap": "cycle.stop"
+    },
+    "open": {
+     "parts": {
+      "lid": {
+       "cap": "lid.set",
+       "arg": "open",
+       "open": true,
+       "close": false,
+       "angle_slot": "lid.angle_rad",
+       "open_angle": 0.875,
+       "settle_s": 5.0
+      }
+     }
+    }
+   },
+   "slots": {
+    "power": "power.on",
+    "program": "program.current#program",
+    "program_params": "program.current",
+    "state": "cycle.status#stage",
+    "phase": "cycle.phase",
+    "remaining": "cycle.status#remaining_hold_s",
+    "locked": "lid.locked",
+    "temp": "chamber.temperature_k",
+    "temp2": "chamber.temperature2_k",
+    "pressure": "chamber.pressure_pa",
+    "loads": "loads.present"
+   },
+   "requires": {
+    "program": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "lid.locked",
+      "code": "BUSY",
+      "message": "a cycle is running on {inst} (the lid is locked).",
+      "fix": "wait for it or stop it: `chemlab run {inst} stop`.",
+      "value": false,
+      "label": "no cycle running"
+     }
+    ],
+    "configure": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     }
+    ],
+    "load": [
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed.",
+      "fix": "open it first: `chemlab run {inst} open lid`.",
+      "not": [
+       0.0
+      ],
+      "label": "lid open"
+     }
+    ],
+    "unload": [
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_CLOSED",
+      "message": "the lid of {inst} is closed.",
+      "fix": "open it first: `chemlab run {inst} open lid`.",
+      "not": [
+       0.0
+      ],
+      "label": "lid open"
+     }
+    ],
+    "start": [
+     {
+      "slot": "power.on",
+      "code": "POWER_OFF",
+      "message": "{inst} is switched off.",
+      "fix": "switch it on: `chemlab run {inst} power on`.",
+      "value": true,
+      "label": "power on"
+     },
+     {
+      "slot": "lid.angle_rad",
+      "code": "LID_OPEN",
+      "message": "the lid of {inst} is not closed.",
+      "fix": "close it: `chemlab run {inst} close lid`.",
+      "value": 0.0,
+      "label": "lid closed"
+     },
+     {
+      "slot": "lid.locked",
+      "code": "BUSY",
+      "message": "a cycle is already running on {inst}.",
+      "fix": "wait for it (`chemlab status`).",
+      "value": false,
+      "label": "no cycle running"
+     }
+    ],
+    "stop": [
+     {
+      "slot": "lid.locked",
+      "code": "NO_CYCLE",
+      "message": "no cycle is running on {inst}.",
+      "fix": "nothing to stop.",
+      "value": true,
+      "label": "a cycle running"
+     }
+    ],
+    "open:lid": [
+     {
+      "slot": "lid.locked",
+      "code": "LID_LOCKED",
+      "message": "the pressure lock of {inst} is engaged: a cycle runs, or the chamber is under pressure or above its end temperature.",
+      "fix": "wait until the cycle has ended and the chamber has cooled (`chemlab run {inst} status`), then open.",
+      "value": false,
+      "label": "lid not locked"
+     }
+    ]
+   },
+   "unsupported": {
+    "pause": "no pause: the start/stop key aborts a running cycle (`stop`)"
+   },
+   "alternatives": {
+    "pause": "stop it with `chemlab run INST stop` (the cycle ends as failed) and start a new one later."
+   },
+   "notes": {
+    "configure": [
+     "only custom_1, custom_2 and extended_time can be edited: temp=121C..138C, time=, exhaust=fast|slow_liquids|slow_waste|cooling, end_temp="
+    ],
+    "load": [
+     "loads go in with the lid open; liquids need --liquid and --volume (container); biological indicators: --organism and --log10"
+    ],
+    "start": [
+     "start returns job-N (a cycle takes about 20-60 min of lab time); the lid stays locked until the chamber is depressurised and cooled"
+    ]
+   }
+  }
+ }
+}
diff --git a/chemlab/configs/all203.json b/chemlab/configs/all203.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfcd346dbe21156ed3195b7557effd8e122ecd69
--- /dev/null
+++ b/chemlab/configs/all203.json
@@ -0,0 +1,12448 @@
+{
+ "name": "all203",
+ "about": "Every Chemistry-Sim instrument with a Matterix host recipe, in one simulated lab with one clock, set up as a well-run lab at the start of a working day (the default lab: chemlab/default_world.py). Generated by chemlab/make_config.py; set-up steps use the release bring-up format.",
+ "step_s": 1.0,
+ "domains": {
+  "metrology": "Basic Metrology & Sample Handling",
+  "synthesis": "Reaction & Molecular Synthesis",
+  "separation": "Extraction, Purification & Drying",
+  "digestion": "Digestion & Solid Sample Prep",
+  "materials": "Thin-Film & Functional Materials",
+  "spectroscopy": "Molecular Spectroscopy & Structure",
+  "elemental": "Elemental & Mass Spectrometry",
+  "chromatography": "Chromatography & Electrophoresis",
+  "electrochem": "Electrochemistry & Titration",
+  "sampling": "Analytical Sampling & Interfaces",
+  "particles": "Particles, Pores & Interfaces",
+  "thermal": "Thermal, Mechanical & Transport",
+  "imaging": "Microscopy, Imaging & Diffraction",
+  "bio": "Biochemical & Wet-Chemistry Assays",
+  "automation": "Automation & Gas/Liquid Supply",
+  "facility": "Lab Environment & Utilities"
+ },
+ "instruments": [
+  {
+   "id": "agilent_1260infinity",
+   "asset_type_id": "instrument.agilent_1260infinity",
+   "name": "Supercritical fluid chromatograph (SFC)",
+   "brand": "Agilent",
+   "model": "1260 Infinity III SFC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "supply.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solvent.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "mct_door.set",
+     "arguments": {
+      "angle_rad": 1.5
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "column.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "mct_door.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer_1.set",
+     "arguments": {
+      "position_m": 0.3
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register_vial",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer_1.set",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 900.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_1290infinity",
+   "asset_type_id": "instrument.agilent_1290infinity",
+   "name": "GPC/SEC system",
+   "brand": "Agilent",
+   "model": "1290 Infinity II GPC/SEC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "position_m": 0.2
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_7890b_ssl_fid",
+   "asset_type_id": "instrument.agilent_7890b_ssl_fid",
+   "name": "Gas chromatograph (S/SL inlet + FID)",
+   "brand": "Agilent",
+   "model": "7890B",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "power.connect_mains",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "carrier",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "hydrogen",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "air",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "makeup",
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 1500.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "agilent_gc8890b",
+   "asset_type_id": "instrument.agilent_gc8890b",
+   "name": "Gas chromatograph",
+   "brand": "Agilent",
+   "model": "8890B GC",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "host": "set_gas_supply",
+     "kwargs": {
+      "carrier": true,
+      "hydrogen": true,
+      "air": true,
+      "makeup": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 40.0
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "mix1"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_hplc1260",
+   "asset_type_id": "instrument.agilent_hplc1260",
+   "name": "HPLC system",
+   "brand": "Agilent",
+   "model": "1260 Infinity III LC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "mix1"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_hs8697",
+   "asset_type_id": "instrument.agilent_hs8697",
+   "name": "Headspace autosampler (48-vial tray)",
+   "brand": "Agilent",
+   "model": "8697",
+   "domain": "sampling",
+   "panel": {
+    "main_display": "gc_touch"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 25.0
+    },
+    {
+     "host": "set_ambient_temperature",
+     "kwargs": {
+      "temperature_K": 293.15
+     },
+     "default": "utility"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v1",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v2",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v3",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v4",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_gc",
+     "kwargs": {
+      "gc_instance_id": "gc_01"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "alicat_mc_1slpm_rev6",
+   "asset_type_id": "instrument.alicat_mc_1slpm_rev6",
+   "name": "Gas mass-flow controller",
+   "brand": "Alicat Scientific",
+   "model": "MC, 1 SLPM full scale, Rev6",
+   "domain": "automation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "host": "host_configure_dynamics",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "time_constant_s": 0.5,
+      "evidence": "task world: engineering response time of the MC control loop"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_connect_ports",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "upstream_node_id": "n2_cylinder_regulator",
+      "downstream_node_id": "reactor_inlet"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_set_boundary",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "upstream_pressure_Pa": 300000.0,
+      "downstream_pressure_Pa": 101325.0,
+      "temperature_K": 298.15,
+      "equilibrium": true,
+      "no_flow": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.alicat:AlicatScene"
+  },
+  {
+   "id": "ametek_oxtran",
+   "asset_type_id": "instrument.ametek_oxtran",
+   "name": "Oxygen transmission-rate analyzer",
+   "brand": "AMETEK MOCON",
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+    }
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+  },
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+   "asset_type_id": "instrument.antonpaar_abbematadvanced",
+   "name": "Digital refractometer",
+   "brand": "Anton Paar",
+   "model": "Abbemat Advanced 5201",
+   "domain": "metrology",
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+      "volume_m3": 1e-07,
+      "matrix_id": "ethanol",
+      "contamination_fraction": 0.0
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+     "capability": "lid.set_angle",
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+    }
+   ],
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+  },
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+   "id": "antonpaar_autosorb6100",
+   "asset_type_id": "instrument.antonpaar_autosorb6100",
+   "name": "Gas physisorption surface-area & pore analyzer",
+   "brand": "Anton Paar",
+   "model": "Autosorb 6100",
+   "domain": "particles",
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+     "arguments": "contract_example",
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+     "arguments": {
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+      "accept_branch_and_equilibrium_transfer": true
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+     "default": "utility"
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+   ],
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+   "id": "antonpaar_dma5002",
+   "asset_type_id": "instrument.antonpaar_dma5002",
+   "name": "Oscillating U-tube density meter",
+   "brand": "Anton Paar",
+   "model": "DMA 5002",
+   "domain": "metrology",
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+      "position": "on"
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+      "volume_m3": 2e-06,
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+      "contamination_fraction": 0.0
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+    }
+   ],
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+   "id": "antonpaar_hit300",
+   "asset_type_id": "instrument.antonpaar_hit300",
+   "name": "Nanoindentation tester",
+   "brand": "Anton Paar",
+   "model": "HIT 300",
+   "domain": "thermal",
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+     "arguments": "contract_example",
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+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
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+   "id": "antonpaar_litesizerdia",
+   "asset_type_id": "instrument.antonpaar_litesizerdia",
+   "name": "Dynamic image analyzer (particle shape)",
+   "brand": "Anton Paar",
+   "model": "Litesizer DIA 700",
+   "domain": "particles",
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+     "arguments": "contract_example",
+     "evaluator": true
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+     "arguments": {
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+     "evaluator": true,
+     "default": "consumable"
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+    {
+     "capability": "liquid.fill",
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+     "default": "consumable"
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+     "default": "consumable"
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+     "default": "utility"
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+     "default": "standard"
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+     "capability": "sample.load",
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+      "density_kg_m3": 2650.0
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+    }
+   ],
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+   "asset_type_id": "instrument.antonpaar_litesizerdls",
+   "name": "DLS & zeta-potential analyzer",
+   "brand": "Anton Paar",
+   "model": "Litesizer DLS 701",
+   "domain": "particles",
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+     "arguments": "contract_example",
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+     "default": "utility"
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+     "arguments": {},
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+     "default": "state"
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+     "arguments": {
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+     "evaluator": true,
+     "default": "state"
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+    {
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+     "arguments": {
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+     "evaluator": true,
+     "default": "state"
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+     "capability": "cell.configure",
+     "arguments": {
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+     "evaluator": true,
+     "default": "accessory"
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+    {
+     "capability": "cell_cap.set",
+     "arguments": {
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+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
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+     "arguments": {
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+      "reference_id": "cad_09",
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+      "particle_mass_kg": 7e-07,
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+      "aqueous": true,
+      "bubble_free": true,
+      "accept_cross_instrument_transfer": true
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+     "default": "standard"
+    },
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+     "arguments": {
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+     "default": "accessory"
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+     "default": "state"
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+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
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+   "id": "antonpaar_mcr503",
+   "asset_type_id": "instrument.antonpaar_mcr503",
+   "name": "Rotational & oscillatory rheometer",
+   "brand": "Anton Paar",
+   "model": "MCR 503",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
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+     "arguments": "contract_example",
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+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "panel.switch",
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+      "position": "on"
+     }
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+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_monowave400",
+   "asset_type_id": "instrument.antonpaar_monowave400",
+   "name": "Microwave synthesis reactor",
+   "brand": "Anton Paar",
+   "model": "Monowave 400",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
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+     "capability": "panel.switch",
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+      "input_id": "mains_switch",
+      "position": "on"
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+     "capability": "panel.touch",
+     "arguments": {
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+      "x": 400,
+      "y": 166
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+    {
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+    {
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+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "lid.set_lift",
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+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
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+   "id": "antonpaar_poremaster60",
+   "asset_type_id": "instrument.antonpaar_poremaster60",
+   "name": "Mercury intrusion porosimeter",
+   "brand": "Anton Paar",
+   "model": "PoreMaster 60",
+   "domain": "particles",
+   "setup": [
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "power.set",
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+     "evaluator": true,
+     "default": "utility"
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+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "guard0.set",
+     "arguments": {
+      "angle_rad": 1.4
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+     "evaluator": true,
+     "default": "standard"
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+      "reference_id": "hemp_shiv",
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+      "accept_cross_instrument_transfer": true
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+     "default": "standard"
+    }
+   ],
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+  },
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+   "id": "antonpaar_psa1190",
+   "asset_type_id": "instrument.antonpaar_psa1190",
+   "name": "Laser-diffraction particle sizer",
+   "brand": "Anton Paar",
+   "model": "PSA 1190",
+   "domain": "particles",
+   "setup": [
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "tank_lid.set",
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+     "evaluator": true,
+     "default": "consumable"
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+    {
+     "capability": "liquid.fill",
+     "arguments": {
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+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "tank_lid.set",
+     "arguments": {
+      "slide_m": 0.0
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+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
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+     "evaluator": true,
+     "default": "utility"
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+     "default": "state"
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+     "evaluator": true,
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+      "accept_range_truncation": true,
+      "accept_quantile_reconstruction": true
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+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_rst300",
+   "asset_type_id": "instrument.antonpaar_rst300",
+   "name": "Coating scratch tester",
+   "brand": "Anton Paar",
+   "model": "RST 300",
+   "domain": "thermal",
+   "setup": [
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+     "arguments": "contract_example",
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+    },
+    {
+     "capability": "stylus.load",
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+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_saxspace",
+   "asset_type_id": "instrument.antonpaar_saxspace",
+   "name": "Small-angle X-ray scattering system",
+   "brand": "Anton Paar",
+   "model": "SAXSpace",
+   "domain": "imaging",
+   "setup": [
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+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
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+     "arguments": {
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+     "default": "utility"
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+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_surpass3",
+   "asset_type_id": "instrument.antonpaar_surpass3",
+   "name": "Solid-surface streaming-potential analyzer",
+   "brand": "Anton Paar",
+   "model": "SurPASS 3",
+   "domain": "particles",
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
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+     "evaluator": true,
+     "default": "state"
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+    {
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+     "arguments": {
+      "withdrawal_m": 0.095
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "private_cotton_equivalent",
+      "reference_id": "cotton_agcl",
+      "ph_slope_v": -0.01,
+      "accept_geometry_transfer": true,
+      "accept_ph_extrapolation": true
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+     "evaluator": true,
+     "default": "standard"
+    },
+    {
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+     "default": "state"
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+     "capability": "lid.set",
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+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "electrolyte.load",
+     "arguments": {
+      "volume_m3": 0.0002,
+      "kcl_mol_m3": 10.0,
+      "initial_ph": 6.0,
+      "acid_stock_m3": 1e-05,
+      "base_stock_m3": 1e-05,
+      "titrant_mol_m3": 50.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_trb",
+   "asset_type_id": "instrument.antonpaar_trb",
+   "name": "Pin-on-disk tribometer",
+   "brand": "Anton Paar",
+   "model": "TRB³",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": {
+      "accept_engineering": true,
+      "ambient_k": 296.15,
+      "relative_humidity": 0.5,
+      "humidity_offset": 0.0,
+      "thermal_capacity_j_k": 100.0,
+      "heat_loss_w_k": 1.0,
+      "heater_installed": true,
+      "heater_max_w": 400.0,
+      "heater_gain_w_k": 10.0,
+      "safe_access_temperature_k": 313.15,
+      "temperature_max_k": 723.15,
+      "stage_mass_kg": 0.2,
+      "rotational_inertia_kg_m2": 0.0001,
+      "linear_drive_limit_n": 100.0,
+      "normal_force_factor": 1.0,
+      "normal_read_gain": 1.0,
+      "normal_read_offset_n": 0.0,
+      "friction_gain_left": 1.0,
+      "friction_gain_right": 1.0,
+      "friction_offset_left_n": 0.0,
+      "friction_offset_right_n": 0.0,
+      "common_drift_n_s": 0.0,
+      "thermal_common_drift_n_k": 0.0,
+      "force_sensor_tau_s": 0.002,
+      "minimum_observable_load_n": 0.05,
+      "wear_sensor_enabled": false,
+      "wear_gain": 1.0,
+      "wear_offset_m": 0.0,
+      "temperature_sensor_offset_k": 0.0
+     },
+     "evaluator": true,
+     "default": "accessory",
+     "why": "heating stage installed: temperature_max 723.15 K = 450 °C (manual: trb3_product_page p.1, options); heater 400 W (typical cartridge-heater stage, stated); the rest is the contract example"
+    },
+    {
+     "capability": "specimen.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "pin.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_ultrapyc5000",
+   "asset_type_id": "instrument.antonpaar_ultrapyc5000",
+   "name": "Gas pycnometer (true density)",
+   "brand": "Anton Paar",
+   "model": "Ultrapyc 5000",
+   "domain": "particles",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "cell": "medium",
+      "reference": "auto",
+      "direction": "powder_protect",
+      "preparation": "none",
+      "flow_m3_s": 1e-06,
+      "preparation_s": 60.0,
+      "purge_pulses": 3,
+      "target_gauge_pa": 100000.0,
+      "max_runs": 3,
+      "runs_to_average": 3,
+      "automatic": false,
+      "finish_rsd": 0.0001,
+      "stage_timeout_s": 600.0,
+      "equilibration_s": 0.5,
+      "mode": "measure",
+      "leak_hold_s": 20.0,
+      "leak_limit_pa_s": 1.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "seal.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lock.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.13
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cup.set",
+     "arguments": {
+      "lift_m": 0.12
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "private_al_powder",
+      "reference_id": "nist_al",
+      "true_mass_kg": 0.05,
+      "closed_pore_m3": 0.0,
+      "open_pore_m3": 1e-05,
+      "reference_temperature_k": 298.15,
+      "volume_expansion_per_k": 0.0,
+      "accept_reference_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "applied_sx20",
+   "asset_type_id": "instrument.applied_sx20",
+   "name": "Stopped-flow kinetics spectrometer",
+   "brand": "Applied Photophysics",
+   "model": "SX20",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.cover",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "valves.set",
+     "arguments": {
+      "drive": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "aqualab_4te",
+   "asset_type_id": "instrument.aqualab_4te",
+   "name": "Water-activity meter",
+   "brand": "AQUALAB",
+   "model": "4TE",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 4.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "sodium_chloride",
+      "record_index": 0,
+      "mass_kg": 0.003,
+      "volume_m3": 3e-06,
+      "matrix_id": "salt",
+      "initial_temperature_k": 298.15,
+      "equilibration_tau_s": 35.0,
+      "volatile_interference": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "latch.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "arradiance_gemstarxt",
+   "asset_type_id": "instrument.arradiance_gemstarxt",
+   "name": "Atomic layer deposition system",
+   "brand": "Arradiance",
+   "model": "GEMStar XT-SP (PEALD / thermal ALD)",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s",
+   "asset_type_id": "instrument.azenta_automated_roll_heat_sealer_a4s",
+   "name": "Automated microplate heat sealer",
+   "brand": "Azenta Life Sciences",
+   "model": "Automated Roll Heat Sealer (a4S)",
+   "domain": "automation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    },
+    {
+     "host": "host_set_temperature",
+     "kwargs": {
+      "temperature_K": 295.15,
+      "evidence": "task world: the block is at room temperature",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_configure_thermal_rate",
+     "kwargs": {
+      "thermal_rate_K_s": 0.5,
+      "evidence": "engineering heating rate 0.5 K/s",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_load_film",
+     "kwargs": {
+      "roll_id": "roll_1",
+      "width_m": 0.08,
+      "remaining_seals": 100,
+      "film_roll_position_id": "roll_position",
+      "compatibility_evidence": "task world: peelable seal film threaded",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_load_plate",
+     "kwargs": {
+      "plate_id": "pcr_plate_1",
+      "height_m": 0.0155,
+      "plate_adapter_id": "pcr_adapter",
+      "compatibility_evidence": "task world: skirted PCR plate on the PCR adapter",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001",
+   "asset_type_id": "instrument.azenta_intellixcap_s1_46_0001",
+   "name": "Automated tube decapper/recapper",
+   "brand": "Azenta Life Sciences",
+   "model": "IntelliXcap S1 46-0001",
+   "domain": "automation",
+   "panel": {
+    "main_display": "all"
+   },
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "host": "host_register_consumable",
+     "kwargs": {
+      "consumable_id": "tube_15ml",
+      "cap_diameter_m": 0.02,
+      "compatibility_evidence": "task world: 15 mL screw-cap tube, 20 mm cap"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "host_present_sample",
+     "kwargs": {
+      "tube_id": "t1",
+      "cap_id": "c1",
+      "consumable_id": "tube_15ml",
+      "evidence": "task world: tube t1 in the holder",
+      "instance_id": "azenta_intellixcap_s1_46_0001"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "host_configure_motion",
+     "kwargs": {
+      "open_gap_m": 0.03,
+      "closed_gap_m": 0.019,
+      "rotation_delta_rad": 12.566370614359172,
+      "initial_rotation_rad": 0.0,
+      "clamp_duration_s": 1.0,
+      "rotation_duration_s": 2.0,
+      "release_duration_s": 1.0,
+      "evidence": "engineering motion values",
+      "instance_id": "azenta_intellixcap_s1_46_0001"
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.intellixcap:IntelliXcapScene",
+   "thread_ok": true
+  },
+  {
+   "id": "bd_facsariaiii",
+   "asset_type_id": "instrument.bd_facsariaiii",
+   "name": "Flow cytometer & cell sorter",
+   "brand": "BD Biosciences",
+   "model": "FACSAria III",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "lasers.set",
+     "arguments": {
+      "laser": "blue",
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "binder_fd056",
+   "asset_type_id": "instrument.binder_fd056",
+   "name": "Forced-convection drying oven",
+   "brand": "BINDER",
+   "model": "FD 56",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "binder_kbf115",
+   "asset_type_id": "instrument.binder_kbf115",
+   "name": "Constant climate (T/RH) chamber",
+   "brand": "BINDER",
+   "model": "KBF 115",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "binder_vd56",
+   "asset_type_id": "instrument.binder_vd56",
+   "name": "Vacuum drying oven",
+   "brand": "BINDER",
+   "model": "VD 56",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "biolin_mediuml",
+   "asset_type_id": "instrument.biolin_mediuml",
+   "name": "Langmuir / Langmuir–Blodgett trough",
+   "brand": "Biolin Scientific KSV NIMA",
+   "model": "Medium L&LB Trough",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "probe.move",
+     "arguments": {
+      "distance_m": 0.04
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "subphase.load",
+     "arguments": {
+      "volume_m3": 0.000176,
+      "density_kg_m3": 997.0,
+      "surface_tension_n_m": 0.071972205,
+      "identity": "PBS",
+      "ph": 7.4,
+      "buffer_concentration_mol_m3": 10.0,
+      "accept_engineering": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.load",
+     "arguments": {
+      "reference_id": "statins2020_dmpc_control",
+      "volume_m3": 1e-07,
+      "concentration_mol_m3": 1.0,
+      "molar_mass_kg_mol": 0.677933,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_condition_transfer": true,
+      "accept_quasistatic_branch_reuse": true,
+      "allow_dilute_extension": false
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biolin_sigma700",
+   "asset_type_id": "instrument.biolin_sigma700",
+   "name": "Force tensiometer",
+   "brand": "Biolin Scientific",
+   "model": "Sigma 700",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "angle_rad": 2.35
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "substance_id": "cas_67_56_1",
+      "volume_m3": 3e-05,
+      "concentration_kg_m3": 0.0,
+      "temperature_k": 293.15,
+      "accept_unknown_conditions": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biolin_thetaflex",
+   "asset_type_id": "instrument.biolin_thetaflex",
+   "name": "Optical contact-angle meter",
+   "brand": "Biolin Scientific",
+   "model": "Theta Flex",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "al_ctab_a_row7",
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "stock.load",
+     "arguments": {
+      "reference_id": "al_ctab_a_row7",
+      "volume_m3": 2e-07
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biorad_cfxopus",
+   "asset_type_id": "instrument.biorad_cfxopus",
+   "name": "Real-time qPCR system",
+   "brand": "Bio-Rad",
+   "model": "CFX Opus 96",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 15.0
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 512,
+      "y": 120
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "gapdh_std",
+      "kind": "standard",
+      "copies_per_m3": {
+       "hs_gapdh": 500000000000000.0
+      },
+      "declared_copies_per_m3": {
+       "hs_gapdh": 500000000000000.0
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.prepare",
+     "arguments": {
+      "plate_id": "plate_1",
+      "plate_type": "white_lowprofile_96",
+      "seal": "optical_film",
+      "wells": [
+       {
+        "well": "A1",
+        "sample_type": "standard",
+        "sample_id": "gapdh_std",
+        "dilution": 1.0,
+        "template_volume_m3": 2e-09,
+        "reaction_volume_m3": 2e-08,
+        "assays": [
+         "hs_gapdh"
+        ],
+        "chemistry": "sybr",
+        "quantity_copies": 1000000.0
+       },
+       {
+        "well": "B1",
+        "sample_type": "ntc",
+        "reaction_volume_m3": 2e-08,
+        "assays": [
+         "hs_gapdh"
+        ],
+        "chemistry": "sybr"
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biorad_miniprotean",
+   "asset_type_id": "instrument.biorad_miniprotean",
+   "name": "Gel electrophoresis system",
+   "brand": "Bio-Rad",
+   "model": "Mini-PROTEAN Tetra + power supply",
+   "domain": "bio",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "leads.disconnect",
+     "arguments": {},
+     "default": "utility"
+    },
+    {
+     "capability": "lid.remove",
+     "arguments": {},
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.provide",
+     "arguments": {
+      "gel_id": "gel_a",
+      "gel_type": "tgx_4_20_10w_50ul"
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.prepare",
+     "arguments": {
+      "gel_id": "gel_a",
+      "remove_comb": false,
+      "remove_tape": true,
+      "rinse_wells": false
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.install",
+     "arguments": {
+      "item": "gel_a",
+      "position": 1
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.install",
+     "arguments": {
+      "item": "buffer_dam",
+      "position": 2
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.prepare",
+     "arguments": {
+      "gel_id": "gel_a",
+      "remove_comb": true,
+      "remove_tape": false,
+      "rinse_wells": true
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "buffer.fill",
+     "arguments": {
+      "chamber": "inner",
+      "buffer_id": "tris_glycine_sds_1x",
+      "volume_m3": 0.00015,
+      "temperature_k": 295.15
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "buffer.fill",
+     "arguments": {
+      "chamber": "outer",
+      "buffer_id": "tris_glycine_sds_1x",
+      "volume_m3": 0.0006,
+      "temperature_k": 295.15
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "sample.prepare",
+     "arguments": {
+      "sample_id": "ladder_1",
+      "proteins_kg": {},
+      "marker": "precision_plus_prestained",
+      "marker_volume_m3": 1e-08,
+      "sample_buffer": "laemmli_2x_reducing",
+      "heat": "none",
+      "volume_m3": 1e-08
+     },
+     "default": "standard",
+     "why": "protein ladder: prestained marker, 10 µL (typical mini-gel loading)"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotage_extrahera_classic",
+   "asset_type_id": "instrument.biotage_extrahera_classic",
+   "name": "Automated solid-phase extraction workstation",
+   "brand": "Biotage",
+   "model": "Extrahera Classic",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 35.0
+    },
+    {
+     "host": "connect_vacuum_source",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "source_instance_id": "vacuum_line_1"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "set_utilities",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "vacuum_ready": true,
+      "compressed_air_ready": true,
+      "nitrogen_ready": true,
+      "evidence": "task world (extraction): set up by the lab before the agent starts: vacuum, air and nitrogen supplies open"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "initialize_liquids",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "sources_m3": {
+       "load": 5e-05,
+       "wash": 5e-05,
+       "elute": 5e-05,
+       "S1": 0.0002,
+       "S2": 0.0002,
+       "S3": 0.0002
+      },
+      "evidence": "task world (extraction): set up by the lab before the agent starts: reservoirs filled"
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "deck.configure",
+     "arguments": {
+      "format": "cartridges24",
+      "cartridge_volume_m3": 3e-06,
+      "collection_plate": "collection_a",
+      "solvent_positions": [
+       "load",
+       "wash",
+       "elute"
+      ]
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotage_selekt",
+   "asset_type_id": "instrument.biotage_selekt",
+   "name": "Automated flash chromatography system",
+   "brand": "Biotage",
+   "model": "Selekt (UV, single bed)",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 25.0
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
+      "extension_m": 0.12
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
+      "extension_m": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "column.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotek_405ts",
+   "asset_type_id": "instrument.biotek_405ts",
+   "name": "Microplate washer",
+   "brand": "Agilent BioTek",
+   "model": "405 TS (96-tube manifold)",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "A",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "B",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "C",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "D",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "plate.provide",
+     "arguments": {
+      "plate_id": "p1",
+      "plate_type": "costar_3590",
+      "fill_volume_m3": 1e-07,
+      "liquid_id": "pbs_1x",
+      "unbound_mol": 1e-12,
+      "nonspecific_mol": 2e-14,
+      "specific_mol": 5e-14,
+      "cells_per_well": 0.0,
+      "cell_adhesion": "none",
+      "wells": null
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bmg_clariostarplus",
+   "asset_type_id": "instrument.bmg_clariostarplus",
+   "name": "Multi-mode microplate reader",
+   "brand": "BMG LABTECH",
+   "model": "CLARIOstar Plus",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "fluorescein_standard"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "water"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "plate.prepare",
+     "arguments": {
+      "plate_id": "wp",
+      "format": "96",
+      "type": "black"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "well.dispense",
+     "arguments": {
+      "plate_id": "wp",
+      "wells": [
+       "A1:A3"
+      ],
+      "source_id": "fluorescein_standard",
+      "volume_m3": 1e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "well.dispense",
+     "arguments": {
+      "plate_id": "wp",
+      "wells": [
+       "B1:B3"
+      ],
+      "source_id": "water",
+      "volume_m3": 1e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bronkhorst_cemw",
+   "asset_type_id": "instrument.bronkhorst_cemw",
+   "name": "Controlled evaporator & mixer",
+   "brand": "Bronkhorst",
+   "model": "CEM W-202A",
+   "domain": "automation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "supply.connect_gas",
+     "arguments": {
+      "gas": "nitrogen",
+      "pressure_pa": 400000.0
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "supply.connect_liquid",
+     "arguments": {
+      "composition": {
+       "water": 1.0
+      },
+      "pressure_pa": 300000.0
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bronkhorst_p702cv_5bar_gauge_n2",
+   "asset_type_id": "instrument.bronkhorst_p702cv_5bar_gauge_n2",
+   "name": "Electronic back-pressure controller",
+   "brand": "Bronkhorst",
+   "model": "EL-PRESS P-702CV",
+   "domain": "automation",
+   "panel": {
+    "main_display": "all"
+   },
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "brooks_preciseflex_400",
+   "asset_type_id": "instrument.brooks_preciseflex_400",
+   "name": "Lab sample-transfer robot arm",
+   "brand": "Brooks Automation",
+   "model": "PreciseFlex 400",
+   "domain": "automation",
+   "setup": [],
+   "setup_source": "none + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.preciseflex:PreciseFlexScene",
+   "arm": {
+    "home": {
+     "z_m": 0.2,
+     "shoulder_rad": 0.0,
+     "elbow_rad": 0.0,
+     "wrist_rad": 0.0
+    },
+    "containers": {
+     "plate_1": {
+      "pose": {
+       "z_m": 0.05,
+       "shoulder_rad": 0.5,
+       "elbow_rad": -0.8,
+       "wrist_rad": 0.3
+      },
+      "port": "bench_nest",
+      "payload_kg": 0.1
+     }
+    },
+    "ports": {
+     "sealer_nest": {
+      "pose": {
+       "z_m": 0.08,
+       "shoulder_rad": -0.6,
+       "elbow_rad": 0.9,
+       "wrist_rad": 0.0
+      }
+     }
+    },
+    "tolerance_m": 0.005,
+    "joint_speed_rad_s": 1.0,
+    "z_speed_m_s": 0.2
+   },
+   "locations": {
+    "home": {
+     "joints": {
+      "z_m": 0.2,
+      "shoulder_rad": 0.0,
+      "elbow_rad": 0.0,
+      "wrist_rad": 0.0
+     }
+    },
+    "plate_1": {
+     "container_id": "plate_1",
+     "constraint_id": "grip_plate_1",
+     "joints": {
+      "z_m": 0.05,
+      "shoulder_rad": 0.5,
+      "elbow_rad": -0.8,
+      "wrist_rad": 0.3
+     }
+    },
+    "sealer_nest": {
+     "receiver_port_id": "sealer_nest",
+     "joints": {
+      "z_m": 0.08,
+      "shoulder_rad": -0.6,
+      "elbow_rad": 0.9,
+      "wrist_rad": 0.0
+     }
+    }
+   }
+  },
+  {
+   "id": "bruker_magnettechesr5000",
+   "asset_type_id": "instrument.bruker_magnettechesr5000",
+   "name": "Benchtop EPR spectrometer",
+   "brand": "Bruker",
+   "model": "Magnettech ESR5000",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.register",
+     "arguments": {
+      "sample_id": "blank_01",
+      "kind": "blank",
+      "material_phase": "liquid",
+      "template_id": "",
+      "solvent_code": "BZ",
+      "volume_m3": 1e-07,
+      "mass_kg": 0.0,
+      "concentration_mol_m3": 0.0,
+      "solid_spin_count": 0.0,
+      "g_assumed": null,
+      "linewidth_pp_t": 0.0004,
+      "saturation_power_w": 0.1,
+      "reference_temperature_k": 298.15,
+      "tube_od_m": 0.005,
+      "accept_missing_source_conditions": true,
+      "accept_synthetic_solid": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_01"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bruker_minispecmq20",
+   "asset_type_id": "instrument.bruker_minispecmq20",
+   "name": "Time-domain NMR relaxometer",
+   "brand": "Bruker",
+   "model": "minispec mq20",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bruker_x4poseidon",
+   "asset_type_id": "instrument.bruker_x4poseidon",
+   "name": "Micro X-ray computed tomography",
+   "brand": "Bruker",
+   "model": "X4 POSEIDON",
+   "domain": "imaging",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button_mains",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 61.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "alumina_pellet",
+      "kind": "cylinder",
+      "diameter_m": 0.006,
+      "height_m": 0.006,
+      "layers": [
+       {
+        "thickness_m": 0.006,
+        "materials": [
+         {
+          "substance_id": "alumina",
+          "volume_fraction": 1.0
+         }
+        ]
+       }
+      ],
+      "pores": {
+       "count": 120,
+       "median_radius_m": 0.00012,
+       "sigma_ln": 0.35,
+       "layer": 0,
+       "seed": 7
+      },
+      "cracks": [
+       {
+        "center_m": [
+         0.0,
+         0.0,
+         0.003
+        ],
+        "normal": [
+         1.0,
+         0.0,
+         0.0
+        ],
+        "radius_m": 0.0018,
+        "aperture_m": 3e-05
+       }
+      ],
+      "inclusions": [],
+      "container": null,
+      "pin": null
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_encapsulatorb",
+   "asset_type_id": "instrument.buchi_encapsulatorb",
+   "name": "Vibrating-nozzle encapsulator",
+   "brand": "BUCHI",
+   "model": "Encapsulator B-390",
+   "domain": "materials",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "air.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_hydrolexh",
+   "asset_type_id": "instrument.buchi_hydrolexh",
+   "name": "Acid hydrolysis unit",
+   "brand": "BUCHI",
+   "model": "HydrolEx H-506",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "ventilation.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "water.configure",
+     "arguments": {
+      "volume_m3": 0.005
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "buchi_milk_powder",
+      "sample_mass_kg": 0.002,
+      "sample_liquid_m3": 0.0,
+      "acid_volume_m3": 0.0001,
+      "acid_mol_m3": 4000.0,
+      "bound_fat_fraction": 0.8,
+      "release_rate_s_inverse": 0.003,
+      "fat_capture_fraction": 0.995,
+      "accept_reference_not_hydrolysis_calibration": true,
+      "position": 1
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "buchi_milk_powder",
+      "sample_mass_kg": 0.002,
+      "sample_liquid_m3": 0.0,
+      "acid_volume_m3": 0.0001,
+      "acid_mol_m3": 4000.0,
+      "bound_fat_fraction": 0.8,
+      "release_rate_s_inverse": 0.003,
+      "fat_capture_fraction": 0.995,
+      "accept_reference_not_hydrolysis_calibration": true,
+      "position": 3
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_lyovapor_l250_pro",
+   "asset_type_id": "instrument.buchi_lyovapor_l250_pro",
+   "name": "Freeze dryer",
+   "brand": "BUCHI",
+   "model": "Lyovapor L-250 Pro",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "master_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "chamber.set_open",
+     "arguments": {
+      "open": true
+     },
+     "default": "utility"
+    },
+    {
+     "host": "initialize_sample",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "dry_mass_kg": 0.01,
+      "ice_mass_kg": 0.09,
+      "bound_water_mass_kg": 0.005,
+      "pre_frozen": true,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: 100 g pre-frozen product"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "configure_kinetics",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "sublimation_rate_kg_s": 2e-05,
+      "desorption_rate_kg_s": 2e-06,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: drying-rate model for the moisture endpoint"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "chamber.set_open",
+     "arguments": {
+      "open": false
+     },
+     "default": "utility"
+    },
+    {
+     "host": "connect_vacuum",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "source_instance_id": "rotary_vane_pump_1",
+      "asset_type_id": "instrument.rotary_vane_pump",
+      "minimum_pressure_pa": 5.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: two-stage rotary vane pump, 5 Pa"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "set_boundary",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "pressure_pa": 20.0,
+      "shelf_temperature_k": 253.15,
+      "sample_temperature_k": 243.15,
+      "condenser_temperature_k": 188.15,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: measured boundary"
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_minispray",
+   "asset_type_id": "instrument.buchi_minispray",
+   "name": "Lab spray dryer",
+   "brand": "BUCHI",
+   "model": "Mini Spray Dryer S-300",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "master",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_speedextractore",
+   "asset_type_id": "instrument.buchi_speedextractore",
+   "name": "Pressurized solvent extractor",
+   "brand": "BUCHI",
+   "model": "SpeedExtractor E-916",
+   "domain": "separation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "thermal.preheat",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 900.0,
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_lift",
+     "arguments": {
+      "lift_m": 0.18
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set_extension",
+     "arguments": {
+      "extension_m": 0.16
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set_extension",
+     "arguments": {
+      "extension_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "camag_tlcscanner",
+   "asset_type_id": "instrument.camag_tlcscanner",
+   "name": "TLC scanner (densitometer)",
+   "brand": "CAMAG",
+   "model": "TLC Scanner 4",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": true
+     },
+     "default": "state"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "stage.load",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.place",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "stage.home",
+     "arguments": {},
+     "default": "consumable"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": false
+     },
+     "default": "consumable"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "carbolite_tf1_12_60_300",
+   "asset_type_id": "instrument.carbolite_tf1_12_60_300",
+   "name": "Tube furnace (controlled atmosphere)",
+   "brand": "Carbolite Gero",
+   "model": "TF1 12/60/300",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "instrument_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 8.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "cem_libertyblue",
+   "asset_type_id": "instrument.cem_libertyblue",
+   "name": "Automated microwave peptide synthesizer",
+   "brand": "CEM",
+   "model": "Liberty Blue 2.0",
+   "domain": "synthesis",
+   "setup": [
+    {
+     "capability": "cover.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "queue.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up in the order the contract preconditions ask for + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ch_chi440c",
+   "asset_type_id": "instrument.ch_chi440c",
+   "name": "Electrochemical quartz crystal microbalance",
+   "brand": "CH Instruments",
+   "model": "CHI440C",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "crystal.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ch_chi920d",
+   "asset_type_id": "instrument.ch_chi920d",
+   "name": "Scanning electrochemical microscope",
+   "brand": "CH Instruments",
+   "model": "CHI920D",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_biacoret200",
+   "asset_type_id": "instrument.cytiva_biacoret200",
+   "name": "Surface plasmon resonance system",
+   "brand": "Cytiva",
+   "model": "Biacore T200",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "advance_s": 40.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "run_buffer",
+      "volume_m3": 0.001,
+      "base": "hbs_ep_plus"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "dist_water",
+      "volume_m3": 0.0005,
+      "base": "water"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.place",
+     "arguments": {
+      "slot": "buffer_a",
+      "solution_id": "run_buffer",
+      "volume_m3": 0.00095
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.place",
+     "arguments": {
+      "slot": "water",
+      "solution_id": "dist_water",
+      "volume_m3": 0.00045
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.empty_waste",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.eject",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": {
+      "config": "sample_and_reagent_rack",
+      "plate": "none"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "buf_s",
+      "volume_m3": 6e-07,
+      "base": "hbs_ep_plus"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.place",
+     "arguments": {
+      "position": "R1B1",
+      "solution_id": "buf_s",
+      "volume_m3": 4e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.retract",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_ktaoligosynt",
+   "asset_type_id": "instrument.cytiva_ktaoligosynt",
+   "name": "Oligonucleotide synthesizer",
+   "brand": "Cytiva",
+   "model": "ÄKTA oligosynt",
+   "domain": "synthesis",
+   "setup": [
+    {
+     "capability": "clamp.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up in the order the contract preconditions ask for + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite",
+   "asset_type_id": "instrument.cytiva_nanoassemblrignite",
+   "name": "Microfluidic nanoparticle formulation system",
+   "brand": "Cytiva / Precision NanoSystems",
+   "model": "NanoAssemblr Ignite",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 15.0
+    },
+    {
+     "capability": "cartridge.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tubes.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 0,
+      "source_tag": "diluent",
+      "volume_m3": 1e-05,
+      "capacity_m3": 1e-05,
+      "inner_diameter_m": 0.0145,
+      "density_kg_m3": 1000.0,
+      "solute_kg_m3": 0.0,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 1,
+      "source_tag": "aqueous_reagent",
+      "volume_m3": 3e-06,
+      "capacity_m3": 3e-06,
+      "inner_diameter_m": 0.009,
+      "density_kg_m3": 1000.0,
+      "solute_kg_m3": 0.1,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 2,
+      "source_tag": "ethanol_lipids",
+      "volume_m3": 1e-06,
+      "capacity_m3": 1e-06,
+      "inner_diameter_m": 0.0047,
+      "density_kg_m3": 789.0,
+      "solute_kg_m3": 10.0,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "heating.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "eco_ncld822",
+   "asset_type_id": "instrument.eco_ncld822",
+   "name": "Chemiluminescence NO/NOx analyzer",
+   "brand": "ECO PHYSICS",
+   "model": "nCLD 822 M",
+   "domain": "elemental",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 900.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "edinburgh_fls1000tcspc",
+   "asset_type_id": "instrument.edinburgh_fls1000tcspc",
+   "name": "Time-resolved fluorescence (TCSPC) spectrometer",
+   "brand": "Edinburgh Instruments",
+   "model": "FLS1000",
+   "domain": "spectroscopy",
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
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+     "default": "standard"
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+     "capability": "sample.cover",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+     "capability": "power.set",
+     "arguments": {
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+    {
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+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
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+  },
+  {
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+   "asset_type_id": "instrument.elementar_isoprimeprecision",
+   "name": "Stable isotope-ratio mass spectrometer",
+   "brand": "Elementar",
+   "model": "isoprime precisION",
+   "domain": "elemental",
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+     "arguments": "contract_example",
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+     "arguments": {
+      "species": "CO2"
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+     "default": "standard"
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+    {
+     "capability": "centrion.set",
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+      "carrier_on": true
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+     "default": "standard"
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+    {
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+     "arguments": {
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+   "asset_type_id": "instrument.elementar_varioel",
+   "name": "Organic elemental (CHNS) analyzer",
+   "brand": "Elementar",
+   "model": "vario EL cube",
+   "domain": "elemental",
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+     "arguments": "contract_example",
+     "evaluator": true
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+      "reduction_k": 1123.15
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+    {
+     "capability": "sample.load",
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+      "sample_class": "organic",
+      "template_id": "oem_sulfanilic_acid",
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+      "sample_class": "organic",
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+      "template_id": "oem_sulfanilic_acid",
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+      "sample_id": "sample_4",
+      "kind": "sample",
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+      "template_id": "oem_wheat_flour",
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+   "asset_type_id": "instrument.elga_purelab_flex3",
+   "name": "Lab ultrapure water system",
+   "brand": "ELGA LabWater",
+   "model": "PURELAB flex 3",
+   "domain": "facility",
+   "panel": {
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+      "qualified_feed": true,
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+      "receiver_id": "bottle_2l",
+      "volume_m3": 0.0,
+      "capacity_m3": 0.002,
+      "evidence": "task world: empty 2 L bottle under the dispenser"
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+     "default": "consumable"
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+     "host": "install_consumables",
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+      "instance_id": "elga_purelab_flex3",
+      "evidence": "task world: purification pack installed"
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+     "default": "consumable"
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+     "kwargs": {
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+      "resistivity_ohm_m": 182000.0,
+      "temperature_k": 298.15,
+      "source_kind": "synthetic",
+      "evidence": "task world: 18.2 MOhm.cm at 25 C"
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+     "default": "utility"
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+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_supply",
+      "position": "on"
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+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_accept",
+      "duration_s": 0.1
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+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_accept",
+      "duration_s": 0.1
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+     "advance_s": 2.0
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+   ],
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+   "id": "elma_elmasonics60h",
+   "asset_type_id": "instrument.elma_elmasonics60h",
+   "name": "Ultrasonic cleaning bath",
+   "brand": "Elma",
+   "model": "Elmasonic S60H",
+   "domain": "metrology",
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+     "capability": "cover.set_lift",
+     "arguments": {
+      "lift_m": 0.3
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+     "default": "state"
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+    {
+     "capability": "bath.configure",
+     "arguments": {
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+      "density_kg_m3": 1000.0,
+      "cp_j_kg_k": 4180.0,
+      "initial_temperature_k": 298.15,
+      "compatible_aqueous": true
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+     "evaluator": true,
+     "default": "state"
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+     "capability": "cover.set_lift",
+     "arguments": {
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+     "default": "state"
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+   "setup_source": "none + the default lab (chemlab/default_world.py)"
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+   "asset_type_id": "instrument.eppendorf_5910ri",
+   "name": "Refrigerated multipurpose centrifuge",
+   "brand": "Eppendorf",
+   "model": "5910 Ri",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "touch"
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+     "host": "configure_synthetic_rotor",
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+      "slot_positions_xy_m": {
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+        0
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+        0
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+       5.0,
+       8.0,
+       11.0,
+       14.0,
+       17.0,
+       20.0,
+       23.0,
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+       29.0
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+       4.0,
+       7.0,
+       10.0,
+       13.0,
+       16.0,
+       19.0,
+       22.0,
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+      "sample_interval_s": 10.0,
+      "evidence": "synthetic"
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+     "default": "utility"
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+    {
+     "host": "register_sample",
+     "kwargs": {
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+      "mass_kg": 0.05
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+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "tube_b",
+      "mass_kg": 0.05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "tube_c",
+      "mass_kg": 0.06
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+     "default": "standard"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
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+    {
+     "capability": "lid.set_angle",
+     "arguments": {
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+    {
+     "capability": "rotor.select",
+     "arguments": {
+      "configuration": "large_capacity"
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+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "rotor_radius_m": {
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+    "fixed_angle": 0.1
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+   "asset_type_id": "instrument.eppendorf_cellxpertc170i",
+   "name": "CO₂ cell-culture incubator",
+   "brand": "Eppendorf",
+   "model": "CellXpert C170i",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_mains",
+      "position": "on"
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+    {
+     "advance_s": 600.0
+    }
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+   "setup_source": "release panel bring-up (home screen)"
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+  {
+   "id": "eppendorf_cryocubef570n",
+   "asset_type_id": "instrument.eppendorf_cryocubef570n",
+   "name": "Ultra-low temperature freezer",
+   "brand": "Eppendorf",
+   "model": "CryoCube F570n",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "battery_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "esco_ac24s8",
+   "asset_type_id": "instrument.esco_ac24s8",
+   "name": "Biological safety cabinet",
+   "brand": "Esco Lifesciences",
+   "model": "AC2-4S8-TU",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
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+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "key_switch",
+      "position": "on"
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+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "esco_efa5uduvw",
+   "asset_type_id": "instrument.esco_efa5uduvw",
+   "name": "Chemical fume hood",
+   "brand": "Esco Lifesciences",
+   "model": "Frontier Acela EFA-5UDUVW-9",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
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+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "exhaust.configure",
+     "arguments": {
+      "mode": "blower",
+      "blower_speed": 0.9
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "fan_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "light_switch",
+      "position": "on"
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+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
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+  {
+   "id": "evident_bx53p",
+   "asset_type_id": "instrument.evident_bx53p",
+   "name": "Polarizing microscope",
+   "brand": "Evident / Olympus",
+   "model": "BX53-P",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "quartz_section",
+      "kind": "thin_section",
+      "substance_id": "main_sio2",
+      "thickness_m": 3e-05,
+      "slide_thickness_m": 0.001,
+      "grains": 40,
+      "defects": 0,
+      "orientation": null,
+      "immersion_oil": false
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "freeman_ft4powder",
+   "asset_type_id": "instrument.freeman_ft4powder",
+   "name": "Powder rheometer",
+   "brand": "Freeman Technology / Micromeritics",
+   "model": "FT4 Powder Rheometer",
+   "domain": "particles",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
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+   "id": "frontier_egapy",
+   "asset_type_id": "instrument.frontier_egapy",
+   "name": "Multi-shot pyrolyzer (GC inlet)",
+   "brand": "Frontier Laboratories",
+   "model": "EGA/PY-3030D",
+   "domain": "sampling",
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "gc.ready",
+     "arguments": {
+      "ready": true
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+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "fujifilm_dmp2850",
+   "asset_type_id": "instrument.fujifilm_dmp2850",
+   "name": "Materials inkjet printer",
+   "brand": "FUJIFILM Dimatix",
+   "model": "DMP-2850",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "ink.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vacuum.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "gamry_reference620",
+   "asset_type_id": "instrument.gamry_reference620",
+   "name": "Potentiostat / electrochemical workstation",
+   "brand": "Gamry",
+   "model": "Reference 620",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "host": "host_load_template_cell",
+     "kwargs": {
+      "instance_id": "gamry_reference620",
+      "cell": {
+       "couple_id": "redox_fep3_to_fep2",
+       "oxidant_concentration_mol_m3": 1.0,
+       "reductant_concentration_mol_m3": 0.0,
+       "electrode_area_m2": 7.07e-06,
+       "reference_electrode_id": "refel_she"
+      }
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "gas_flavourspec25gc",
+   "asset_type_id": "instrument.gas_flavourspec25gc",
+   "name": "GC–ion mobility spectrometer",
+   "brand": "G.A.S.",
+   "model": "FlavourSpec25 GC-IMS",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     }
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "genevac_mivac2",
+   "asset_type_id": "instrument.genevac_mivac2",
+   "name": "Centrifugal vacuum concentrator",
+   "brand": "Genevac / SP Industries",
+   "model": "miVac 2 Duo",
+   "domain": "separation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "rotor.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "temperature_k": 313.15,
+      "heating_time_s": 300.0,
+      "duration_s": 600.0,
+      "timeout_s": 86400.0,
+      "program": "other",
+      "target_pressure_pa": 1000.0,
+      "endpoint_remaining_fraction": 0.0
+     }
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_open",
+     "arguments": {
+      "open": false
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "gilson_cpc250",
+   "asset_type_id": "instrument.gilson_cpc250",
+   "name": "Centrifugal partition chromatograph",
+   "brand": "Gilson",
+   "model": "CPC 250",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "glatt_miniglatt",
+   "asset_type_id": "instrument.glatt_miniglatt",
+   "name": "Fluid-bed granulator / coater",
+   "brand": "Glatt",
+   "model": "Mini-Glatt",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "powder.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "liquid.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hach_dr6000",
+   "asset_type_id": "instrument.hach_dr6000",
+   "name": "UV-Vis spectrophotometer",
+   "brand": "Hach",
+   "model": "DR6000",
+   "domain": "spectroscopy",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 170.0
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "blank_01",
+      "kind": "blank"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "sample_01",
+      "kind": "sample",
+      "peaks": [
+       [
+        5.2e-07,
+        4e-08,
+        0.8
+       ]
+      ],
+      "baseline_absorbance": 0.02
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hach_tl2300epa",
+   "asset_type_id": "instrument.hach_tl2300epa",
+   "name": "Benchtop turbidimeter",
+   "brand": "Hach",
+   "model": "TL2300 EPA",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1800.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.7
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "stablcal_20",
+      "volume_m3": 2e-05,
+      "mass_kg": 0.02,
+      "temperature_k": 296.15,
+      "clean_indexed_cell": true,
+      "particle_response_gain": 1.0,
+      "color_absorbance": 0.0,
+      "bubble_excess_ntu": 0.0,
+      "bubble_tau_s": 30.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hepatochem_photoredoxbox",
+   "asset_type_id": "instrument.hepatochem_photoredoxbox",
+   "name": "Photochemical reactor",
+   "brand": "HepatoChem",
+   "model": "PhotoRedOx Box UV-Vis",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.12
+     }
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "led.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "hot_tps2500",
+   "asset_type_id": "instrument.hot_tps2500",
+   "name": "Transient plane source thermal-conductivity analyzer",
+   "brand": "Hot Disk",
+   "model": "TPS 2500 S",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "probe.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "fixture.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "state"
+    },
+    {
+     "capability": "fixture.set_hood",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_c6000",
+   "asset_type_id": "instrument.ika_c6000",
+   "name": "Oxygen bomb calorimeter",
+   "brand": "IKA",
+   "model": "C 6000 isoperibol",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "advance_s": 300.0,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.prepare",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.scan",
+     "arguments": {
+      "rfid": "C6012-0001"
+     },
+     "evaluator": false,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.register",
+     "arguments": "contract_example",
+     "evaluator": false,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.set_c_value",
+     "arguments": {
+      "vessel_name": "C6012 no. 1",
+      "mode": "isoperibol_25",
+      "c_value_j_k": 8700.0
+     },
+     "evaluator": false,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_electrasyn2",
+   "asset_type_id": "instrument.ika_electrasyn2",
+   "name": "Electro-organic synthesis system",
+   "brand": "IKA",
+   "model": "ElectraSyn 2.0",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "tft"
+   },
+   "setup": [
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.08
+     }
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "electrodes.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ika_ks4000",
+   "asset_type_id": "instrument.ika_ks4000",
+   "name": "Incubated orbital shaker",
+   "brand": "IKA",
+   "model": "KS 4000 i control",
+   "domain": "metrology",
+   "setup": [
+    {
+     "capability": "hood.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "state"
+    },
+    {
+     "capability": "fixture.configure",
+     "arguments": {
+      "installed": true,
+      "mass_kg": 3.2
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "load.configure",
+     "arguments": {
+      "slot": 4,
+      "vessel_id": "synthetic_demo",
+      "container_mass_kg": 0.2,
+      "liquid_mass_kg": 0.2,
+      "volume_m3": 0.0002,
+      "effective_cp_j_kg_k": 3000.0,
+      "initial_temperature_k": 298.15,
+      "secured": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "hood.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "state"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_plate_rctdigital",
+   "asset_type_id": "instrument.ika_plate_rctdigital",
+   "name": "Magnetic hotplate stirrer",
+   "brand": "IKA",
+   "model": "Plate RCT digital",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ika_rv10_digital_v",
+   "asset_type_id": "instrument.ika_rv10_digital_v",
+   "name": "Rotary evaporator",
+   "brand": "IKA",
+   "model": "RV 10 digital V",
+   "domain": "separation",
+   "panel": {
+    "main_display": "drive"
+   },
+   "setup": [
+    {
+     "host": "configure_bath",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "effective_heat_capacity_j_k": 12000.0,
+      "initial_temperature_k": 293.15,
+      "heat_loss_w_k": 3.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: bath filled with 3 L of water"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "configure_template_charge",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "solvent_id": "ethanol",
+      "volume_m3": 0.0002,
+      "condensation_efficiency": 0.95,
+      "heat_transfer_w_k": 20.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: 200 mL ethanol"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "connect_vacuum_source",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "source_instance_id": "vacuubrand_pc3001_vario_select",
+      "pressure_pa": 17500.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: pump at 175 mbar"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "on_off_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_t25",
+   "asset_type_id": "instrument.ika_t25",
+   "name": "Rotor–stator disperser",
+   "brand": "IKA",
+   "model": "T 25 digital ULTRA-TURRAX",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "sample_id": "host_emulsion",
+      "carrier_id": "water",
+      "carrier_mass_kg": 0.9,
+      "carrier_density_kg_m3": 1000.0,
+      "dispersed_label": "hypothetical_oil",
+      "dispersed_mass_kg": 0.08,
+      "dispersed_density_kg_m3": 800.0,
+      "dispersed_cp_J_kg_K": 2000.0,
+      "kind": "emulsion",
+      "viscosity_Pa_s": 0.01,
+      "interfacial_tension_N_m": 0.03,
+      "initial_size_m": 0.0002,
+      "temperature_K": 298.15,
+      "material_evidence": "host_assumption_except_NIST_water_Cp"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "head_locked": true,
+      "vessel_clamped": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "inert_purelab_he_2gb",
+   "asset_type_id": "instrument.inert_purelab_he_2gb",
+   "name": "Inert-atmosphere glovebox",
+   "brand": "Inert",
+   "model": "PureLab HE 2GB",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.glovebox:GloveboxScene",
+   "glovebox": {
+    "o2_ppm": 0.8,
+    "h2o_ppm": 0.5,
+    "box_gauge_pa": 800.0,
+    "evacuation_pa": 300.0,
+    "backfill_pa": 95000.0,
+    "vacuum_source": "lab_vacuum_line"
+   }
+  },
+  {
+   "id": "inert_puresolvmd",
+   "asset_type_id": "instrument.inert_puresolvmd",
+   "name": "Solvent purification system",
+   "brand": "Inert",
+   "model": "PureSolv MD 7",
+   "domain": "facility",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "inficon_ul1000fab",
+   "asset_type_id": "instrument.inficon_ul1000fab",
+   "name": "Helium leak detector",
+   "brand": "INFICON",
+   "model": "UL1000 Fab",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 181.0
+    },
+    {
+     "capability": "part.connect",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ja_alphase",
+   "asset_type_id": "instrument.ja_alphase",
+   "name": "Spectroscopic ellipsometer",
+   "brand": "J.A. Woollam",
+   "model": "alpha-SE",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 620.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_cpl300",
+   "asset_type_id": "instrument.jasco_cpl300",
+   "name": "Circularly polarized luminescence spectrometer",
+   "brand": "JASCO",
+   "model": "CPL-300",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "solvent_blank",
+      "kind": "blank",
+      "template_id": "",
+      "solvent": "basic ethanol",
+      "volume_m3": 2e-06,
+      "concentration_mol_m3": 0.0,
+      "peak_pl_relative": 0.0,
+      "synthetic_glum": 0.0,
+      "accept_unknown_conditions": true,
+      "accept_synthetic_cpl": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_fp8350",
+   "asset_type_id": "instrument.jasco_fp8350",
+   "name": "Spectrofluorometer",
+   "brand": "JASCO",
+   "model": "FP-8350",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.register",
+     "arguments": {
+      "sample_id": "blank_01",
+      "kind": "blank",
+      "template_id": "",
+      "concentration_mol_m3": 0.0,
+      "volume_m3": 2e-06,
+      "solvent_id": "ethanol",
+      "solvent_background_s_inv": 40.0,
+      "reference_temperature_k": 298.15,
+      "accept_unknown_temperature": true,
+      "accept_source_mirror": true
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+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "solution.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_01"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
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+   "id": "jasco_ftir4700",
+   "asset_type_id": "instrument.jasco_ftir4700",
+   "name": "FT-IR spectrometer",
+   "brand": "JASCO",
+   "model": "FT/IR-4700",
+   "domain": "spectroscopy",
+   "setup": [
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+     "host": "register_template_sample",
+     "kwargs": {
+      "sample_id": "ethanol_01",
+      "substance_id": "ethanol",
+      "phase": "liquid"
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
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+     "default": "accessory"
+    },
+    {
+     "capability": "accessory.install",
+     "arguments": {
+      "mode": "atr"
+     },
+     "default": "accessory",
+     "why": "ATR accessory installed: the contract example (the usual sampling accessory of the FT/IR-4700 in a teaching / analytical lab)"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "accessory"
+    },
+    {
+     "host": "register_template_sample",
+     "kwargs": {
+      "sample_id": "ir_polystyrene_film",
+      "substance_id": "polystyrene",
+      "phase": "solid"
+     },
+     "default": "standard",
+     "why": "polystyrene film wavenumber check standard (manual: ftir4000_6000_series_brochure p.4, standard sample: polystyrene film); template = NIST WebBook spectrum + SRM 1921b certified bands (jasco_ftir4700 1.1.2); the card is inventory ir_polystyrene_film"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_fvs6000",
+   "asset_type_id": "instrument.jasco_fvs6000",
+   "name": "Vibrational circular dichroism spectrometer",
+   "brand": "JASCO",
+   "model": "FVS-6000",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "solvent_blank",
+      "kind": "blank",
+      "template_id": "",
+      "solvent": "DMSO-d6",
+      "is_aqueous": false,
+      "volume_m3": 5e-08,
+      "concentration_kg_m3": 0.0,
+      "ir_peak_absorbance": 0.0,
+      "synthetic_vcd_ratio": 0.0,
+      "accept_inferred_units": true,
+      "accept_unknown_conditions": true,
+      "accept_surrogate": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
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+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_j1500",
+   "asset_type_id": "instrument.jasco_j1500",
+   "name": "Circular dichroism spectrometer",
+   "brand": "JASCO",
+   "model": "J-1500",
+   "domain": "spectroscopy",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
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+      "path_length_m": 0.001,
+      "cell_shape": "rectangular",
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+      "solvent_id": "buffer_01",
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+    },
+    {
+     "capability": "solution.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_01"
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+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_nrs5500",
+   "asset_type_id": "instrument.jasco_nrs5500",
+   "name": "Raman microscope",
+   "brand": "JASCO",
+   "model": "NRS-5500",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_p4200",
+   "asset_type_id": "instrument.jasco_p4200",
+   "name": "Digital polarimeter",
+   "brand": "JASCO",
+   "model": "P-4200",
+   "domain": "spectroscopy",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "sample.register",
+     "arguments": {
+      "sample_id": "blank_water",
+      "kind": "blank",
+      "template_id": "",
+      "solvent": "water",
+      "volume_m3": 1e-06,
+      "concentration_kg_m3": 0.0,
+      "path_m": 0.1,
+      "reference_temperature_k": 293.15,
+      "transmittance": 0.8,
+      "quartz_angle_rad": null,
+      "accept_missing_source_concentration": false,
+      "accept_ideal_quartz": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register",
+     "arguments": {
+      "sample_id": "quartz_10deg",
+      "kind": "quartz",
+      "template_id": "",
+      "solvent": "",
+      "volume_m3": 0.0,
+      "concentration_kg_m3": 0.0,
+      "path_m": 0.1,
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+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register",
+     "arguments": {
+      "sample_id": "sample_01",
+      "kind": "sample",
+      "template_id": "pubchem_5988",
+      "solvent": "water",
+      "volume_m3": 1e-06,
+      "concentration_kg_m3": 100.0,
+      "path_m": 0.1,
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+      "quartz_angle_rad": null,
+      "accept_missing_source_concentration": true,
+      "accept_ideal_quartz": false
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "lid.set",
+     "arguments": {
+      "opened": true
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+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_water"
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+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "opened": false
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jena_contraa800",
+   "asset_type_id": "instrument.jena_contraa800",
+   "name": "Atomic absorption spectrometer",
+   "brand": "Analytik Jena",
+   "model": "contrAA 800 D",
+   "domain": "elemental",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
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+     "default": "utility"
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+    {
+     "capability": "method.configure",
+     "arguments": {
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+      "element": "Cu",
+      "line_id": "cu_324754",
+      "wavelength_m": 3.24754e-07,
+      "background": "linear_reference",
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+      "baseline_s": 0.02,
+      "flush_s": 0.2,
+      "furnace_program": [
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+        "temperature_k": 393.15,
+        "ramp_k_s": 3000.0,
+        "hold_s": 0.08,
+        "argon_on": true
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+       {
+        "stage": "pyrolysis",
+        "temperature_k": 673.15,
+        "ramp_k_s": 3000.0,
+        "hold_s": 0.04,
+        "argon_on": true
+       },
+       {
+        "stage": "atomize",
+        "temperature_k": 2273.15,
+        "ramp_k_s": 3000.0,
+        "hold_s": 0.15,
+        "argon_on": false
+       },
+       {
+        "stage": "clean",
+        "temperature_k": 2473.15,
+        "ramp_k_s": 3000.0,
+        "hold_s": 0.04,
+        "argon_on": true
+       }
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "flame.ignite",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 0.5,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "kind": "blank",
+      "template_id": "",
+      "volume_m3": 1e-05,
+      "vial_index": 0,
+      "dilution_factor": 1.0,
+      "background_absorbance": 0.0,
+      "background_slope": 0.0,
+      "accept_unknown_conditions": true,
+      "accept_assumed_matrix": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.unload",
+     "arguments": {
+      "recipient_id": "external_bottle"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "standard",
+      "kind": "standard",
+      "template_id": "aj_wastewater_std3_cu",
+      "volume_m3": 1e-05,
+      "vial_index": 0,
+      "dilution_factor": 2.0,
+      "background_absorbance": 0.02,
+      "background_slope": 0.005,
+      "accept_unknown_conditions": true,
+      "accept_assumed_matrix": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jena_multix",
+   "asset_type_id": "instrument.jena_multix",
+   "name": "Total organic halogen (AOX/TOX) analyzer",
+   "brand": "Analytik Jena",
+   "model": "multi X 2500",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "door": "chlorine",
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "cell.prepare",
+     "arguments": {
+      "cell_type": "sensitive"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "door": "chlorine",
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "AOX",
+      "temperature_k": 1223.15,
+      "feeding_s": 0.4,
+      "combustion_s": 0.6,
+      "integration_s": 60.0,
+      "window_s": 0.2
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "",
+      "kind": "blank",
+      "input_form": "loaded_carbon",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "accept_prepared_input": true,
+      "accept_source_condition_mismatch": true,
+      "halogen_moles": []
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.unload",
+     "arguments": {
+      "recipient_id": "host"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "aox_linear_100_r1_c1",
+      "kind": "standard",
+      "input_form": "loaded_carbon",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 0.2,
+      "accept_prepared_input": true,
+      "accept_source_condition_mismatch": true,
+      "halogen_moles": []
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jeol_jem1400flash",
+   "asset_type_id": "instrument.jeol_jem1400flash",
+   "name": "Transmission electron microscope",
+   "brand": "JEOL",
+   "model": "JEM-1400Flash",
+   "domain": "imaging",
+   "panel": {
+    "main_display": "tem_center"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_beam_blank",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "tem_center",
+      "x": 640,
+      "y": 400
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "airlock_lever",
+      "position": "PUMP"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "panel.turn",
+     "arguments": {
+      "input_id": "knob_brightness",
+      "detents": 1
+     }
+    },
+    {
+     "capability": "panel.turn",
+     "arguments": {
+      "input_id": "knob_brightness",
+      "detents": -1
+     }
+    },
+    {
+     "capability": "specimen.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jeol_jsmit200",
+   "asset_type_id": "instrument.jeol_jsmit200",
+   "name": "Scanning electron microscope",
+   "brand": "JEOL",
+   "model": "JSM-IT200 LA",
+   "domain": "imaging",
+   "panel": {
+    "main_display": "monitor_screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_power",
+      "position": "START"
+     }
+    },
+    {
+     "advance_s": 61.0
+    },
+    {
+     "capability": "specimen.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "julabo_corio_cd200f",
+   "asset_type_id": "instrument.julabo_corio_cd200f",
+   "name": "Heating/refrigerated circulator",
+   "brand": "JULABO",
+   "model": "CORIO CD-200F",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "host": "configure_bath_fluid",
+     "kwargs": {
+      "instance_id": "julabo_corio_cd200f",
+      "mass_kg": 4.5,
+      "specific_heat_J_kg_K": 4186.0,
+      "heat_loss_W_K": 2.0,
+      "lid_open_loss_W_K": 6.0,
+      "initial_temperature_K": 293.15,
+      "minimum_temperature_K": 278.15,
+      "maximum_temperature_K": 368.15,
+      "evidence": "task world: bath filled with 4.5 L of water"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_down",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "keyence_vkx3000",
+   "asset_type_id": "instrument.keyence_vkx3000",
+   "name": "3D laser-scanning profilometer microscope",
+   "brand": "KEYENCE",
+   "model": "VK-X3000 / VK-X3100",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 90.0,
+     "default": "state"
+    },
+    {
+     "capability": "focus.move",
+     "arguments": {
+      "z_m": 0.0322
+     },
+     "default": "state"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "knauer_k7400s",
+   "asset_type_id": "instrument.knauer_k7400s",
+   "name": "Freezing-point osmometer",
+   "brand": "KNAUER",
+   "model": "K-7400S",
+   "domain": "electrochem",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 303.0
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "sample_volume_m3": 1.5e-07,
+      "freeze_k": 267.15,
+      "cooling_limit_k": 258.15,
+      "sample_interval_s": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "head.position",
+     "arguments": {
+      "position": "raised"
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "water",
+      "kind": "reference",
+      "volume_m3": 1.5e-07,
+      "water_mass_kg": 0.00015,
+      "initial_temperature_k": 293.15,
+      "components": [],
+      "reference_osmolality_mol_kg": 0.0,
+      "accept_temperature_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "head.position",
+     "arguments": {
+      "position": "measuring"
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "kratos_axissupra",
+   "asset_type_id": "instrument.kratos_axissupra",
+   "name": "X-ray photoelectron spectrometer",
+   "brand": "Kratos / Shimadzu",
+   "model": "AXIS Supra+",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": {
+      "room_k": 295.15,
+      "mains_voltage_v": 200.0,
+      "noise_seed": 1
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 700.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "laboao_cvdltf12p50",
+   "asset_type_id": "instrument.laboao_cvdltf12p50",
+   "name": "Chemical vapour deposition system",
+   "brand": "LABOAO",
+   "model": "CVD-LTF12P50",
+   "domain": "materials",
+   "panel": {
+    "main_display": "pv"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.install",
+     "arguments": {
+      "species": [
+       "N2",
+       "AR",
+       "CH4"
+      ],
+      "initial_mol": [
+       400.1,
+       447.7,
+       525.1
+      ],
+      "inlet_gauge_pa": [
+       100000.0,
+       100000.0,
+       100000.0
+      ],
+      "full_scale_std_m3_s": [
+       5e-06,
+       5e-06,
+       5e-06
+      ],
+      "actual_gas_factor": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "accept_host_supply": true
+     },
+     "evaluator": true,
+     "default": "utility",
+     "why": "N2 / Ar / CH4 cylinders on the gas panel, full 50 L cylinders at 200 bar gauge and 15 C = 400.1 / 447.7 / 525.1 mol (NIST Chemistry WebBook SRD 69 densities at 288.15 K, 201.01 bar abs: 8.0018 / 8.9545 / 10.502 mol/L; table outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json); regulators at 1 bar gauge and 300 sccm full-scale MFCs as in the contract example"
+    },
+    {
+     "capability": "sample.install",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "lakeshore_8604vsm",
+   "asset_type_id": "instrument.lakeshore_8604vsm",
+   "name": "Vibrating sample magnetometer",
+   "brand": "Lake Shore Cryotronics",
+   "model": "8604 VSM",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "lakeshore_measurereadym91",
+   "asset_type_id": "instrument.lakeshore_measurereadym91",
+   "name": "Hall-effect measurement system",
+   "brand": "Lake Shore Cryotronics",
+   "model": "MeasureReady M91 FastHall",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "field.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power_button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "leco_onh836",
+   "asset_type_id": "instrument.leco_onh836",
+   "name": "Inert-gas fusion O/N/H analyzer",
+   "brand": "LECO",
+   "model": "ONH836",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "carrier": "He",
+      "selected_elements": [
+       "O",
+       "N",
+       "H"
+      ],
+      "carrier_flow_m3_s": 8.166666666666666e-06,
+      "outgas_power_w": 6000.0,
+      "outgas_s": 0.16,
+      "purge_s": 0.12,
+      "baseline_s": 0.08,
+      "fusion_power_w": 4800.0,
+      "fusion_s": 0.4,
+      "integration_s": 0.3,
+      "window_s": 0.02,
+      "endpoint_relative": 0.001
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.install",
+     "arguments": {
+      "graphite_mass_kg": 0.002,
+      "blank_element_masses_kg": {
+       "O": 1e-09,
+       "N": 2e-10,
+       "H": 1e-10
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "",
+      "kind": "blank",
+      "mass_kg": 0.0,
+      "declared_elements": [],
+      "mass_basis": "source_conditioned",
+      "dry_mass_fraction": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.remove",
+     "arguments": {
+      "recipient_id": "host_crucible_waste"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.install",
+     "arguments": {
+      "graphite_mass_kg": 0.002,
+      "blank_element_masses_kg": {
+       "O": 1e-09,
+       "N": 2e-10,
+       "H": 1e-10
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "leco_503558_reference",
+      "kind": "sample",
+      "mass_kg": 0.00012,
+      "declared_elements": [
+       "O",
+       "N",
+       "H"
+      ],
+      "mass_basis": "source_conditioned",
+      "dry_mass_fraction": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "linari_rtadvanced",
+   "asset_type_id": "instrument.linari_rtadvanced",
+   "name": "Electrospinning system",
+   "brand": "Linari Nanotech",
+   "model": "RT Advanced",
+   "domain": "materials",
+   "panel": {
+    "main_display": "tablet"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "collector.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "vent.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "tablet",
+      "x": 512,
+      "y": 118
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "linseis_lsr3",
+   "asset_type_id": "instrument.linseis_lsr3",
+   "name": "Thermoelectric (Seebeck) tester",
+   "brand": "Linseis",
+   "model": "LSR-3",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "magritek_spinsolve80",
+   "asset_type_id": "instrument.magritek_spinsolve80",
+   "name": "Benchtop NMR spectrometer",
+   "brand": "Magritek",
+   "model": "Spinsolve 80 Carbon",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "host": "register_template_sample",
+     "kwargs": {
+      "instance_id": "magritek_spinsolve80",
+      "sample_id": "ethanol_01",
+      "composition": [
+       {
+        "substance_id": "ethanol",
+        "amount_mol": 0.0001
+       }
+      ],
+      "solvent": "CDCl3"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "malvern_leneo",
+   "asset_type_id": "instrument.malvern_leneo",
+   "name": "Automated fusion bead maker",
+   "brand": "Malvern Panalytical / Claisse",
+   "model": "LeNeo",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "malvern_microcalpeaq",
+   "asset_type_id": "instrument.malvern_microcalpeaq",
+   "name": "Isothermal titration calorimeter",
+   "brand": "Malvern Panalytical",
+   "model": "MicroCal PEAQ-ITC",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "wash.power_set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "edta",
+      "volume_m3": 3e-06,
+      "buffer": {
+       "buffer_id": "mes",
+       "concentration_mol_m3": 10.0,
+       "ph": 5.6
+      },
+      "solutes": [
+       {
+        "species_id": "edta",
+        "concentration_mol_m3": 0.1
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "ca",
+      "volume_m3": 1e-06,
+      "buffer_from": "edta",
+      "solutes": [
+       {
+        "species_id": "ca2+",
+        "concentration_mol_m3": 1.0
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.degas",
+     "arguments": {
+      "solution_id": "edta"
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.degas",
+     "arguments": {
+      "solution_id": "ca"
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "markes_unityxr",
+   "asset_type_id": "instrument.markes_unityxr",
+   "name": "Thermal desorber",
+   "brand": "Markes International",
+   "model": "UNITY-xr",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.18
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample_lever.set",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample_lever.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "gc.ready",
+     "arguments": {
+      "ready": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_899",
+   "asset_type_id": "instrument.metrohm_899",
+   "name": "Karl Fischer coulometer",
+   "brand": "Metrohm",
+   "model": "899 Coulometer",
+   "domain": "electrochem",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "cell",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "generator",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "indicator",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "back",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "host": "load_template_sample",
+     "kwargs": {
+      "substance_id": "copper_ii_sulfate_pentahydrate",
+      "sample_mass_kg": 1e-05,
+      "background_drift_kg_s": 0.0,
+      "reagent_ready": true,
+      "request_id": "world_sample",
+      "instance_id": "metrohm_899"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_909uv",
+   "asset_type_id": "instrument.metrohm_909uv",
+   "name": "UV digester",
+   "brand": "Metrohm",
+   "model": "909 UV Digester",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "start",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "open": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_914",
+   "asset_type_id": "instrument.metrohm_914",
+   "name": "pH / DO / conductivity meter",
+   "brand": "Metrohm",
+   "model": "914 pH/DO/Conductometer",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "tft"
+   },
+   "setup": [
+    {
+     "capability": "probe.set_installed",
+     "arguments": {
+      "slot": "ph",
+      "installed": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "probe.set_installed",
+     "arguments": {
+      "slot": "conductance",
+      "installed": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "onoff",
+      "duration_s": 0.1
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "right",
+      "duration_s": 0.1
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.metrohm914:Metrohm914Scene",
+   "solution": {
+    "kind": "ph_buffer",
+    "substance_id": "nist_srm_186g_phosphate_equimolal_buffer",
+    "temperature_k": 298.15,
+    "standard_channel": "ph"
+   }
+  },
+  {
+   "id": "metrohm_omnis",
+   "asset_type_id": "instrument.metrohm_omnis",
+   "name": "Automatic potentiometric titrator",
+   "brand": "Metrohm",
+   "model": "OMNIS Professional Titrator",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "host": "host_load_template_sample",
+     "kwargs": {
+      "instance_id": "metrohm_omnis",
+      "analyte": {
+       "components": [
+        {
+         "substance_id": "acetic_acid",
+         "amount_mol": 0.001
+        }
+       ],
+       "volume_m3": 2.5e-05,
+       "titrant_id": "titrant_sodium_hydroxide"
+      }
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "micromeritics_autochemiii",
+   "asset_type_id": "instrument.micromeritics_autochemiii",
+   "name": "Temperature-programmed chemisorption analyzer",
+   "brand": "Micromeritics",
+   "model": "AutoChem III",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "microtrac_turbiscanlab",
+   "asset_type_id": "instrument.microtrac_turbiscanlab",
+   "name": "Dispersion stability analyzer",
+   "brand": "Microtrac",
+   "model": "TURBISCAN LAB",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.set_position",
+     "arguments": {
+      "distance_m": 0.105
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "lentil_soybean_hipe_untreated",
+      "volume_m3": 2e-05,
+      "height_m": 0.040419661425538086,
+      "particle_diameter_m": 5e-05,
+      "volume_fraction": 0.75,
+      "particle_density_kg_m3": 920.0,
+      "liquid_density_kg_m3": 1000.0,
+      "dynamic_viscosity_pa_s": 0.01,
+      "maximum_packing_fraction": 0.95,
+      "hindered_exponent": 4.65,
+      "extra_diffusion_m2_s": 0.0,
+      "aggregation_rate_s": 0.005,
+      "particle_absorption_m_inv": 10.0,
+      "carrier_absorption_m_inv": 0.0,
+      "scattering_m_inv": 100.0,
+      "optical_path_m": 0.025,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_template_condition_transfer": false,
+      "accept_concentrated_stokes_proxy": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "miele_plw6111",
+   "asset_type_id": "instrument.miele_plw6111",
+   "name": "Laboratory glassware washer",
+   "brand": "Miele",
+   "model": "PLW 6111",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "host": "configure_water_model",
+     "kwargs": {
+      "instance_id": "miele_plw6111",
+      "effective_heat_capacity_J_K": 104650.0,
+      "heat_loss_W_K": 8.0,
+      "initial_temperature_K": 293.15,
+      "maximum_temperature_K": 368.15,
+      "evidence": "task world: 25 L wash water, mains water, liquid-water envelope"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_stop",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "milestone_dma80",
+   "asset_type_id": "instrument.milestone_dma80",
+   "name": "Direct mercury analyzer",
+   "brand": "Milestone",
+   "model": "DMA-80 evo",
+   "domain": "elemental",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "drying_temperature_k": 473.15,
+      "drying_s": 0.12,
+      "decomposition_temperature_k": 923.15,
+      "decomposition_s": 1.0,
+      "catalyst_temperature_k": 838.15,
+      "purge_s": 0.2,
+      "release_temperature_k": 1173.15,
+      "release_s": 0.5,
+      "record_s": 0.8,
+      "window_s": 0.05,
+      "range_min_kg": 1e-14,
+      "range_max_kg": 1.5e-09
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "dust_cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 0,
+      "template_id": "",
+      "kind": "blank",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 0.0001,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 1,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 2e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 2,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 3,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 0.0001,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 5,
+      "template_id": "nist_2448_certified",
+      "kind": "sample",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "dust_cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {
+      "slot_index": 0
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 4.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_hx204",
+   "asset_type_id": "instrument.mt_hx204",
+   "name": "Halogen moisture analyzer",
+   "brand": "METTLER TOLEDO",
+   "model": "HX204",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_onoff",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "lid.set_position",
+     "arguments": {
+      "position_m": 0.1085
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "species_kg": {
+       "water": 0.0005
+      },
+      "residue_kg": 0.0045
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_position",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_mp70",
+   "asset_type_id": "instrument.mt_mp70",
+   "name": "Automatic melting-point system",
+   "brand": "METTLER TOLEDO",
+   "model": "MP70",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "channel": 0,
+      "substance_id": "benzoic_acid",
+      "mass_kg": 2e-06,
+      "purity": 1.0,
+      "particle_size_m": 5e-05,
+      "decomposition_onset_k": null,
+      "decomposition_source": ""
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "channel": 1,
+      "substance_id": "benzoic_acid",
+      "mass_kg": 2e-06,
+      "purity": 1.0,
+      "particle_size_m": 5e-05,
+      "decomposition_onset_k": null,
+      "decomposition_source": ""
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_quantos_q2_xpe206dr",
+   "asset_type_id": "instrument.mt_quantos_q2_xpe206dr",
+   "name": "Automated powder dosing system",
+   "brand": "METTLER TOLEDO",
+   "model": "Quantos Q2 + XPE206DR",
+   "domain": "automation",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "on_off",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "host": "host_configure_geometry",
+     "kwargs": {
+      "iid": "$instance",
+      "door_travel_m": 0.5494645551128549,
+      "evidence": "lab set-up: front door travel"
+     },
+     "default": "utility",
+     "why": "front-door travel = the contract door_kinematics.authored_travel (0.5495 m since asset 1.2.2: the arc length of the top-hung door's hinge pin, lever fully lifted; manual p.25-26)"
+    },
+    {
+     "capability": "door.set_opening",
+     "arguments": {
+      "opening_m": 0.5494645551128549
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_load_head",
+     "kwargs": {
+      "iid": "$instance",
+      "head_id": "qh_caco3_1",
+      "source_mass_kg": 0.004,
+      "free_flowing": true,
+      "evidence": "lab set-up: CaCO3 check head (QH016-BNMW, 4 g) inserted"
+     },
+     "default": "consumable",
+     "why": "head = inventory qh_caco3_1: METTLER TOLEDO QH016-BNMW powder dosing head (16 mL, 0.1-250 mg per dose; part 11141503; manual: quantos_operating_instructions p.102, p.107) with 4 g calcium carbonate Sigma-Aldrich 21061, the powder of the dosing specification (p.102); 4 g of the light precipitated powder fills 7-13 mL (assumed 0.3-0.6 g/mL)"
+    },
+    {
+     "host": "host_load_container",
+     "kwargs": {
+      "iid": "$instance",
+      "container_id": "quantos_vial_pan",
+      "position_id": "balance_pan",
+      "content_mass_kg": 0.0,
+      "evidence": "lab set-up: empty target vial on the pan"
+     },
+     "default": "consumable",
+     "why": "inventory quantos_vial_pan (empty target vial)"
+    },
+    {
+     "capability": "door.set_opening",
+     "arguments": {
+      "opening_m": 0.0
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_configure_dosing",
+     "kwargs": {
+      "iid": "$instance",
+      "rate_kg_s": 5e-07,
+      "rate_evidence": "lab set-up: powder rate",
+      "observation_evidence": "lab set-up: ideal mass observation"
+     },
+     "default": "utility",
+     "why": "dosing rate 0.5 mg/s (dosing class world: about 20 s for 10 mg; manual p.102 gives 40 s typical for 50 mg CaCO3)"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_rc1mxhfcal",
+   "asset_type_id": "instrument.mt_rc1mxhfcal",
+   "name": "Heat-flow reaction calorimeter",
+   "brand": "METTLER TOLEDO",
+   "model": "RC1mx + HFCal",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "reactor.charge",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 60.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "mt_xpr204e",
+   "asset_type_id": "instrument.mt_xpr204e",
+   "name": "Analytical balance",
+   "brand": "METTLER TOLEDO",
+   "model": "XPR204E",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_door_left",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "terminal",
+      "x": 400,
+      "y": 240
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "multiwave_7101",
+   "asset_type_id": "instrument.multiwave_7101",
+   "name": "Microwave acid digestion system",
+   "brand": "Anton Paar",
+   "model": "Multiwave 7101",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "nabertherm_l9",
+   "asset_type_id": "instrument.nabertherm_l9",
+   "name": "Muffle furnace",
+   "brand": "Nabertherm",
+   "model": "L 9/11/SKM",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "nanosurf_naiostm",
+   "asset_type_id": "instrument.nanosurf_naiostm",
+   "name": "Scanning tunneling microscope",
+   "brand": "Nanosurf",
+   "model": "NaioSTM",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "netzsch_lfa467",
+   "asset_type_id": "instrument.netzsch_lfa467",
+   "name": "Laser/light flash thermal diffusivity analyzer",
+   "brand": "NETZSCH",
+   "model": "LFA 467 HyperFlash",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "channel": "protective",
+      "gas": "N2",
+      "amount_mol": 1.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "coolant.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "pulse.charge",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "netzsch_mmc315",
+   "asset_type_id": "instrument.netzsch_mmc315",
+   "name": "Adiabatic (ARC) reaction calorimeter",
+   "brand": "NETZSCH",
+   "model": "MMC 315 Nexus",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "tray.move",
+     "arguments": {
+      "extend": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "open": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "open": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "tray.move",
+     "arguments": {
+      "extend": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "newera_ne1000",
+   "asset_type_id": "instrument.newera_ne1000",
+   "name": "Programmable syringe pump",
+   "brand": "New Era Pump Systems",
+   "model": "NE-1000 Multi-Phaser",
+   "domain": "automation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "syringe": "bd_10ml",
+      "liquid_id": "water",
+      "fill_volume_m3": 8e-06
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "outlet.connect",
+     "arguments": {
+      "tubing": "ptfe_0p8mm",
+      "tubing_length_m": 0.5,
+      "needle": "none",
+      "backpressure_pa": 0.0,
+      "reservoir_liquid_m3": 2e-05
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "novocontrol_alphat",
+   "asset_type_id": "instrument.novocontrol_alphat",
+   "name": "Broadband dielectric spectrometer",
+   "brand": "Novocontrol Technologies",
+   "model": "Alpha-T",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ohaus_px224e",
+   "asset_type_id": "instrument.ohaus_px224e",
+   "name": "Analytical balance",
+   "brand": "OHAUS",
+   "model": "Pioneer PX224/E",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.connect_adapter",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_zero",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ohaus_spx2201",
+   "asset_type_id": "instrument.ohaus_spx2201",
+   "name": "Portable precision balance",
+   "brand": "OHAUS",
+   "model": "Scout SPX2201",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "power.connect_adapter",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_zero",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "opentrons_flex_single_5_1000ul",
+   "asset_type_id": "instrument.opentrons_flex_single_5_1000ul",
+   "name": "Automated liquid-handling robot",
+   "brand": "Opentrons",
+   "model": "Flex (1-channel 5–1000 µL)",
+   "domain": "automation",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.flex:FlexScene",
+   "deck": {
+    "labware": [
+     {
+      "name": "tiprack1000",
+      "type": "opentrons_flex_96_tiprack_1000ul",
+      "slot": "B2"
+     },
+     {
+      "name": "tiprack200",
+      "type": "opentrons_flex_96_tiprack_200ul",
+      "slot": "C3"
+     },
+     {
+      "name": "reservoir",
+      "type": "nest_12_reservoir_15ml",
+      "slot": "B3",
+      "volumes_ul": {
+       "A1": 10000,
+       "A2": 10000
+      }
+     },
+     {
+      "name": "plate",
+      "type": "corning_96_wellplate_360ul_flat",
+      "slot": "C2"
+     },
+     {
+      "name": "tuberack",
+      "type": "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
+      "slot": "D1"
+     }
+    ],
+    "trash": "A1",
+    "home_m": {
+     "x_m": 0.24,
+     "y_m": 0.21,
+     "z_m": 0.22
+    },
+    "command_s": 1.0
+   }
+  },
+  {
+   "id": "ossila_dipcoater",
+   "asset_type_id": "instrument.ossila_dipcoater",
+   "name": "Dip coater",
+   "brand": "Ossila",
+   "model": "Dip Coater V2",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "bath.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "clamp.set_gap",
+     "arguments": {
+      "gap_m": 0.012
+     },
+     "default": "consumable"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_doctorblade",
+   "asset_type_id": "instrument.ossila_doctorblade",
+   "name": "Automated doctor-blade coater",
+   "brand": "Ossila",
+   "model": "Doctor Blade Coater",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_left_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_right_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "charge.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_slotdie",
+   "asset_type_id": "instrument.ossila_slotdie",
+   "name": "Slot-die coater",
+   "brand": "Ossila",
+   "model": "Slot-Die Coater V2",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_left_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_right_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "ink.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_spincoater",
+   "asset_type_id": "instrument.ossila_spincoater",
+   "name": "Spin coater",
+   "brand": "Ossila",
+   "model": "Spin Coater V3",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "start",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "park_nx10",
+   "asset_type_id": "instrument.park_nx10",
+   "name": "Atomic force microscope",
+   "brand": "Park Systems",
+   "model": "NX10",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "probe.provide",
+     "arguments": {
+      "probe_id": "c1",
+      "type_id": "contal_g"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.remove",
+     "arguments": {},
+     "default": "accessory"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "state"
+    },
+    {
+     "capability": "probe.mount",
+     "arguments": {
+      "probe_id": "c1"
+     },
+     "default": "accessory"
+    },
+    {
+     "advance_s": 25.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.attach",
+     "arguments": {},
+     "default": "accessory"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.configure",
+     "arguments": {
+      "mode": "contact",
+      "cantilever_db": "contal_g"
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "parr_4591",
+   "asset_type_id": "instrument.parr_4591",
+   "name": "Micro high-pressure stirred reactor",
+   "brand": "Parr Instrument",
+   "model": "4591",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "ptm"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "pccell_ed64002",
+   "asset_type_id": "instrument.pccell_ed64002",
+   "name": "Lab electrodialysis stack",
+   "brand": "PCCell",
+   "model": "ED 64002 + BED1-2 Basic",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "membrane.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "peak_precisionhydrogen",
+   "asset_type_id": "instrument.peak_precisionhydrogen",
+   "name": "Laboratory hydrogen generator",
+   "brand": "PEAK Scientific",
+   "model": "Precision Hydrogen Trace 500",
+   "domain": "facility",
+   "panel": {
+    "main_display": "hmi"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 400.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "pilodist_pilodist104",
+   "asset_type_id": "instrument.pilodist_pilodist104",
+   "name": "High-efficiency lab fractional distillation unit",
+   "brand": "PILODIST",
+   "model": "PILODIST 104",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "column.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.set_engaged",
+     "arguments": {
+      "engaged": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 6.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "pine_wavevortex10",
+   "asset_type_id": "instrument.pine_wavevortex10",
+   "name": "Rotating ring-disk electrode rotator",
+   "brand": "Pine Research",
+   "model": "WaveVortex 10",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "enclosure.set",
+     "arguments": {
+      "lift_m": 0.285
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "enclosure.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "electrochem.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "porometer_poroluxrevo",
+   "asset_type_id": "instrument.porometer_poroluxrevo",
+   "name": "Capillary flow porometer",
+   "brand": "POROMETER",
+   "model": "POROLUX Revo",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "pvdf_fc43_2016",
+      "diameter_m": 0.025,
+      "active_diameter_m": 0.0184,
+      "dry_mass_kg": 0.0001,
+      "liquid_capacity_kg": 1e-06,
+      "drain_tau_s": 0.05,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_pressure_transform": false,
+      "accept_monotone_projection": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "liquid.load",
+     "arguments": {
+      "name": "FC-43",
+      "mass_kg": 0.001,
+      "density_kg_m3": 1800.0,
+      "surface_tension_n_m": 0.016,
+      "contact_angle_rad": 0.0,
+      "accept_engineering": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "amount_mol": 1.0
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "quorum_q150tes",
+   "asset_type_id": "instrument.quorum_q150tes",
+   "name": "Sputter & carbon coater",
+   "brand": "Quorum Technologies",
+   "model": "Q150T ES Plus",
+   "domain": "materials",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "source.install",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "samples.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "chamber.set",
+     "arguments": {
+      "opened": false
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "radleys_mya4",
+   "asset_type_id": "instrument.radleys_mya4",
+   "name": "Parallel reaction station (4 independent zones)",
+   "brand": "Radleys",
+   "model": "Mya 4",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "pad"
+   },
+   "setup": [
+    {
+     "host": "configure_cooling_source",
+     "kwargs": {
+      "available": true,
+      "temperature_K": 288.15,
+      "flow_m3_s": 5e-05
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "station_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "retsch_as200",
+   "asset_type_id": "instrument.retsch_as200",
+   "name": "Vibratory sieve shaker",
+   "brand": "RETSCH",
+   "model": "AS 200 control",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "amplitude"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "clamped": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "retsch_pm100",
+   "asset_type_id": "instrument.retsch_pm100",
+   "name": "Planetary ball mill",
+   "brand": "RETSCH",
+   "model": "PM 100",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "kd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 1.55
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "clamped": true,
+      "balanced": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 0.0
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "settings.configure",
+     "arguments": {
+      "language": "English"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "retsch_pt100",
+   "asset_type_id": "instrument.retsch_pt100",
+   "name": "Rotary sample divider",
+   "brand": "RETSCH",
+   "model": "PT 100",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "all_bottles_attached": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "rigaku_miniflex600_external_cooling",
+   "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
+   "name": "Powder X-ray diffractometer",
+   "brand": "Rigaku",
+   "model": "MiniFlex600",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.miniflex:MiniFlexScene",
+   "chiller": "chiller_01",
+   "samples": {
+    "quartz_holder": [
+     {
+      "phase_id": "quartz",
+      "weight_fraction": 1.0
+     }
+    ],
+    "calcite_holder": [
+     {
+      "phase_id": "calcite",
+      "weight_fraction": 1.0
+     }
+    ],
+    "si_srm640_holder": [
+     {
+      "phase_id": "silicon",
+      "weight_fraction": 1.0
+     }
+    ],
+    "corundum_srm676_holder": [
+     {
+      "phase_id": "corundum",
+      "weight_fraction": 1.0
+     }
+    ]
+   }
+  },
+  {
+   "id": "rigaku_xtalabsynergy",
+   "asset_type_id": "instrument.rigaku_xtalabsynergy",
+   "name": "Single-crystal X-ray diffractometer",
+   "brand": "Rigaku Oxford Diffraction",
+   "model": "XtaLAB Synergy-R",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sartorius_vivaflow200",
+   "asset_type_id": "instrument.sartorius_vivaflow200",
+   "name": "Tangential-flow ultrafiltration module",
+   "brand": "Sartorius",
+   "model": "Vivaflow 200",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cassette.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sciex_pa800",
+   "asset_type_id": "instrument.sciex_pa800",
+   "name": "Capillary electrophoresis system",
+   "brand": "SCIEX",
+   "model": "PA 800 Plus",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "sample_cover.set_position",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BI:A1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "rinse buffer"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BO:A1",
+      "volume_m3": 6e-07,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "waste"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BI:B1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "run buffer in"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BO:B1",
+      "volume_m3": 1e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "run buffer out"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "SI:A1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "benzoic_acid": 0.5
+      },
+      "label": "sample 1"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "cartridge_cover.set_position",
+     "arguments": {
+      "angle_rad": 1.4
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "insertion_bar.set_position",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "state"
+    },
+    {
+     "capability": "cartridge.install",
+     "arguments": "contract_example",
+     "default": "accessory"
+    },
+    {
+     "capability": "insertion_bar.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "state"
+    },
+    {
+     "capability": "cartridge_cover.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "sample_cover.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "scp_digiprepms",
+   "asset_type_id": "instrument.scp_digiprepms",
+   "name": "Graphite block digestion system",
+   "brand": "SCP SCIENCE",
+   "model": "DigiPREP MS",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "seal_aa500",
+   "asset_type_id": "instrument.seal_aa500",
+   "name": "Segmented continuous-flow analyzer",
+   "brand": "SEAL Analytical",
+   "model": "AA500",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "nitrate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "nitrite_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "ammonium_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "phosphate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "silicate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_nitrate_nitrite",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_nitrite",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_ammonia",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_phosphate",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_silicate",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "wash_water",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "cadmium_activation",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch1",
+      "reagent": "imidazole_buffer",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch1",
+      "reagent": "colour_reagent",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "complexing_reagent",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "alkaline_phenol",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "hypochlorite_nitroprusside",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch3",
+      "reagent": "molybdate_antimony",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch3",
+      "reagent": "ascorbic_acid",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch4",
+      "reagent": "molybdate",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch4",
+      "reagent": "oxalic_acid",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch4",
+      "reagent": "ascorbic_acid",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "sampler.load",
+     "arguments": {
+      "rack": "S",
+      "position": 22,
+      "item_id": "wash_water",
+      "volume_m3": 1e-05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "standard.prepare",
+     "arguments": {
+      "standard_id": "std0",
+      "volume_m3": 0.0001,
+      "components": [
+       {
+        "source_id": "wash_water",
+        "volume_m3": 0.0001
+       }
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sampler.load",
+     "arguments": {
+      "rack": "S",
+      "position": 1,
+      "item_id": "std0",
+      "volume_m3": 1e-05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "standard.prepare",
+     "arguments": {
+      "standard_id": "std1",
+      "volume_m3": 0.0001,
+      "components": [
+       {
+        "source_id": "nitrate_stock",
+        "volume_m3": 7e-08
+       },
+       {
+        "source_id": "ammonium_stock",
+        "volume_m3": 1.5000000000000002e-07
+       },
+       {
+        "source_id": "phosphate_stock",
+        "volume_m3": 2e-06
+       },
+       {
+        "source_id": "silicate_stock",
+        "volume_m3": 6.5e-06
+       },
+       {
+        "source_id": "wash_water",
+        "volume_m3": 9.128000000000001e-05
+       }
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sampler.load",
+     "arguments": {
+      "rack": "S",
+      "position": 2,
+      "item_id": "std1",
+      "volume_m3": 1e-05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "standard.prepare",
+     "arguments": {
+      "standard_id": "std2",
+      "volume_m3": 0.0001,
+      "components": [
+       {
+        "source_id": "nitrate_stock",
+        "volume_m3": 1.4e-07
+       },
+       {
+        "source_id": "ammonium_stock",
+        "volume_m3": 3.0000000000000004e-07
+       },
+       {
+        "source_id": "phosphate_stock",
+        "volume_m3": 4e-06
+       },
+       {
+        "source_id": "silicate_stock",
+        "volume_m3": 1.3e-05
+       },
+       {
+        "source_id": "wash_water",
+        "volume_m3": 8.256000000000001e-05
+       }
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sampler.load",
+     "arguments": {
+      "rack": "S",
+      "position": 3,
+      "item_id": "std2",
+      "volume_m3": 1e-05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "standard.prepare",
+     "arguments": {
+      "standard_id": "std3",
+      "volume_m3": 0.0001,
+      "components": [
+       {
+        "source_id": "nitrate_stock",
+        "volume_m3": 2.8e-07
+       },
+       {
+        "source_id": "ammonium_stock",
+        "volume_m3": 6.000000000000001e-07
+       },
+       {
+        "source_id": "phosphate_stock",
+        "volume_m3": 8e-06
+       },
+       {
+        "source_id": "silicate_stock",
+        "volume_m3": 2.6e-05
+       },
+       {
+        "source_id": "wash_water",
+        "volume_m3": 6.512e-05
+       }
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sampler.load",
+     "arguments": {
+      "rack": "S",
+      "position": 4,
+      "item_id": "std3",
+      "volume_m3": 1e-05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "system.startup",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "host": "release_to_lab",
+     "kwargs": {},
+     "default": "consumable",
+     "why": "the cups and standards the lab set-up loaded are the lab's, usable by any caller (seal_aa500 1.0.1)"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sft_sft110",
+   "asset_type_id": "instrument.sft_sft110",
+   "name": "Supercritical fluid extractor",
+   "brand": "Supercritical Fluid Technologies",
+   "model": "SFT-110",
+   "domain": "separation",
+   "panel": {
+    "main_display": "pressure_led"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "door.set_angle",
+     "arguments": {
+      "angle_rad": 1.2
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.07
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard",
+     "why": "the contract example charge (the documented reference matrix of the asset) in the extraction vessel"
+    },
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "door.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "shimadzu_ags10knxd",
+   "asset_type_id": "instrument.shimadzu_ags10knxd",
+   "name": "Universal testing machine",
+   "brand": "Shimadzu",
+   "model": "AGS-10kNXD",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "vfd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "fixture.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "grip.set_closed",
+     "arguments": {
+      "which": "upper",
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "grip.set_closed",
+     "arguments": {
+      "which": "lower",
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "shimadzu_edx7200",
+   "asset_type_id": "instrument.shimadzu_edx7200",
+   "name": "Energy-dispersive XRF spectrometer",
+   "brand": "Shimadzu",
+   "model": "EDX-7200",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "voltage_v": 50000.0,
+      "current_a": 0.0001,
+      "selected_lines": [
+       "co_ka1",
+       "cu_ka1",
+       "ni_ka1"
+      ],
+      "energy_max_j": 8.010883169999999e-15,
+      "bins": 2048,
+      "integration_s": 0.5,
+      "window_s": 0.1,
+      "repeats": 1,
+      "deadtime_correction": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "",
+      "kind": "blank",
+      "mass_kg": 0.01,
+      "dimensions_m": [
+       0.02,
+       0.02,
+       0.01
+      ],
+      "phase": "powder",
+      "sealed_cup": true,
+      "reference_fraction": 1.0,
+      "matrix_factor": 1.0,
+      "accept_conditional_response": true,
+      "accept_geometric_clearance_assumption": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.unload",
+     "arguments": {
+      "recipient_id": "host"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "blackmass_icp_f",
+      "kind": "standard",
+      "mass_kg": 0.01,
+      "dimensions_m": [
+       0.02,
+       0.02,
+       0.01
+      ],
+      "phase": "powder",
+      "sealed_cup": true,
+      "reference_fraction": 0.5,
+      "matrix_factor": 1.0,
+      "accept_conditional_response": true,
+      "accept_geometric_clearance_assumption": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "shimadzu_icpe9800",
+   "asset_type_id": "instrument.shimadzu_icpe9800",
+   "name": "ICP optical emission spectrometer",
+   "brand": "Shimadzu",
+   "model": "ICPE-9800",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "vacuum.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "line_ids": [
+       "cu_324754",
+       "zn_213857"
+      ],
+      "view": "axial",
+      "rf_power_w": 1300.0,
+      "argon_flow_m3_s": 0.000195,
+      "stabilization_s": 0.2,
+      "integration_s": 0.4,
+      "flush_s": 0.3,
+      "repeats": 1,
+      "background": "linear_reference"
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "plasma.ignite",
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+   "asset_type_id": "instrument.shimadzu_tocl",
+   "name": "Total organic carbon analyzer",
+   "brand": "Shimadzu",
+   "model": "TOC-L CSH",
+   "domain": "elemental",
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+   "asset_type_id": "instrument.signatone_quadpro2",
+   "name": "Automated four-point-probe sheet-resistance mapper",
+   "brand": "Signatone",
+   "model": "QuadPro2",
+   "domain": "thermal",
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+      "duration_s": 0.1
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+      "position": "on"
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "power.set",
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+     "evaluator": true
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+     "arguments": "contract_example",
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+     "default": "state"
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+    {
+     "capability": "probe.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
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+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "enclosure.set_open",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+     "default": "standard"
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+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
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+   "asset_type_id": "instrument.sonics_vcx750",
+   "name": "Probe ultrasonic processor",
+   "brand": "Sonics",
+   "model": "VCX 750",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "lcd"
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_on",
+      "duration_s": 0.1
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+      "carrier_id": "water",
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+      "material_evidence": "host_assumption_except_NIST_water_Cp"
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "mount.configure",
+     "arguments": {
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+      "probe_tight": true,
+      "vessel_fixed": true,
+      "temperature_probe_present": true
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+     "default": "accessory"
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+   ],
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+  },
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+   "asset_type_id": "instrument.specac_atlasmanual",
+   "name": "Hydraulic pellet press",
+   "brand": "Specac",
+   "model": "Atlas Manual 15T",
+   "domain": "digestion",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "die.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
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+   "asset_type_id": "instrument.stanford_rga100",
+   "name": "Residual gas analyzer",
+   "brand": "Stanford Research Systems",
+   "model": "RGA100",
+   "domain": "elemental",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "vacuum.pump",
+     "arguments": {
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+     "evaluator": true,
+     "default": "utility"
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+     "arguments": {
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+     "default": "utility"
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+    {
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+      "mass_min": 12,
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+      "emission_current_a": 0.001,
+      "candidates": [
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+      "accept_unknown_ei_conditions": true
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+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "accept_unknown_ei_conditions": true
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+    {
+     "capability": "filament.set",
+     "arguments": {
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+     "default": "standard"
+    },
+    {
+     "capability": "scan.start",
+     "arguments": {},
+     "default": "standard"
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+    {
+     "advance_s": 1.0,
+     "default": "standard"
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+   ],
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+  },
+  {
+   "id": "surface_dvsresolution",
+   "asset_type_id": "instrument.surface_dvsresolution",
+   "name": "Dynamic vapour sorption analyzer",
+   "brand": "Surface Measurement Systems",
+   "model": "DVS Resolution",
+   "domain": "particles",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "stock.load",
+     "arguments": {
+      "solvent": "water",
+      "mass_kg": 0.001
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+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "amount_mol": 0.01
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "bam_p109_water_nitrogen_298p15k",
+      "form": "powder",
+      "dry_mass_kg": 1e-06,
+      "initial_water_kg": 0.0,
+      "accept_engineering_kinetics": true,
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+      "sorption_tau_s": 0.5,
+      "desorption_tau_s": 1.0,
+      "sorption_heat_j_kg": 100000.0
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+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
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+   "asset_type_id": "instrument.syrris_asiadiscovery",
+   "name": "Continuous-flow chemistry system",
+   "brand": "Syrris",
+   "model": "Asia Discovery",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "pressure_led"
+   },
+   "setup": [
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+     "capability": "clamp.set_lift",
+     "arguments": {
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+     "evaluator": true
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+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.0
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+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 8.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "syrris_asiafllex",
+   "asset_type_id": "instrument.syrris_asiafllex",
+   "name": "Flow liquid–liquid extraction module",
+   "brand": "Syrris",
+   "model": "Asia FLLEX",
+   "domain": "separation",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
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+    {
+     "advance_s": 5.0
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+    {
+     "capability": "tray.set_extension",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
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+    {
+     "capability": "separator.set_opening",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "membrane.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "separator.set_opening",
+     "arguments": {
+      "opening_m": 0.0
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+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
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+   "asset_type_id": "instrument.ta_dma850",
+   "name": "Dynamic mechanical analyzer",
+   "brand": "TA Instruments",
+   "model": "DMA 850",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
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+     "arguments": {
+      "gas": "air",
+      "amount_mol": 100.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 100.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
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+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power_button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_dsc2500",
+   "asset_type_id": "instrument.ta_dsc2500",
+   "name": "Differential scanning calorimeter",
+   "brand": "TA Instruments",
+   "model": "DSC 2500",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "tray.place",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "gas.unload",
+     "arguments": {},
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 410.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true,
+     "default": "utility",
+     "why": "purge gas: one 50 L N2 cylinder at 200 bar = 410 mol (p V / R T); lasts ~8 months at 50 mL/min (manual: dsc_q_series_getting_started_guide p.35, purge gases)"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tamiv",
+   "asset_type_id": "instrument.ta_tamiv",
+   "name": "Isothermal microcalorimeter",
+   "brand": "TA Instruments",
+   "model": "TAM IV",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "reference.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tga5500",
+   "asset_type_id": "instrument.ta_tga5500",
+   "name": "Thermogravimetric analyzer",
+   "brand": "TA Instruments",
+   "model": "TGA 5500",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 0.1,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "O2",
+      "amount_mol": 0.1,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "tray.place",
+     "arguments": {
+      "position": 1,
+      "sample": {
+       "reference_id": "fsri_abs_n2_10k_r1",
+       "mass_kg": 1e-05,
+       "pan_material": "ceramic",
+       "heat_capacity_j_kg_k": 1000.0,
+       "loss_relaxation_s": 1.0,
+       "loss_heat_j_kg": 0.0,
+       "oxidation_capacity_fraction": 0.0,
+       "oxidation_rate_s_inv": 0.1,
+       "oxidation_activation_j_mol": 50000.0,
+       "oxidation_reference_temperature_k": 600.0,
+       "oxidation_heat_j_kg": 0.0,
+       "accept_engineering": true,
+       "accept_curve_projection": true,
+       "accept_condition_transfer": true,
+       "accept_cold_extension": true
+      }
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tma450",
+   "asset_type_id": "instrument.ta_tma450",
+   "name": "Thermomechanical analyzer",
+   "brand": "TA Instruments",
+   "model": "TMA 450",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "teledyne_analyteexcite",
+   "asset_type_id": "instrument.teledyne_analyteexcite",
+   "name": "Laser ablation sampling system",
+   "brand": "Teledyne CETAC",
+   "model": "Analyte Excite+",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "guard.set",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "open_m": 0.2
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "open_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "guard.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "teledyne_atomxxyz",
+   "asset_type_id": "instrument.teledyne_atomxxyz",
+   "name": "Purge-and-trap autosampler",
+   "brand": "Teledyne Tekmar",
+   "model": "Atomx XYZ",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "evaluator": true,
+     "arguments": {
+      "sample_id": "aqueous_toluene",
+      "vial_index": 2,
+      "matrix": "water",
+      "liquid_volume_m3": 2e-05,
+      "soil_mass_kg": 0.0,
+      "components": [
+       {
+        "substance_id": "toluene",
+        "moles": 1e-08,
+        "soil_kd_m3_kg": 0.0
+       }
+      ]
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thalesnano_hcube",
+   "asset_type_id": "instrument.thalesnano_hcube",
+   "name": "Continuous-flow hydrogenation reactor",
+   "brand": "ThalesNano",
+   "model": "H-Cube Pro",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.05
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "water_lid.set_lift",
+     "arguments": {
+      "lift_m": 0.03
+     }
+    },
+    {
+     "capability": "water.fill",
+     "arguments": {
+      "volume_m3": 0.0001,
+      "conductivity_s_m": 1e-06
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "water_lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thermo_dionexintegrion",
+   "asset_type_id": "instrument.thermo_dionexintegrion",
+   "name": "Ion chromatograph",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Dionex Integrion HPIC",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "tablet"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 11.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thermo_ibrightfl1500",
+   "asset_type_id": "instrument.thermo_ibrightfl1500",
+   "name": "Gel & blot imager",
+   "brand": "Thermo Fisher Scientific",
+   "model": "iBright FL1500",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 300.0
+    },
+    {
+     "capability": "settings.configure",
+     "arguments": {
+      "sleep_mode": false
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 382,
+      "y": 548
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "gel1",
+      "support": "agarose_gel",
+      "width_m": 0.1,
+      "height_m": 0.08,
+      "lanes": [
+       {
+        "x_m": 0.02,
+        "width_m": 0.005,
+        "bands": []
+       },
+       {
+        "x_m": 0.04,
+        "width_m": 0.005,
+        "bands": []
+       }
+      ]
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thermo_orbitrapexploris",
+   "asset_type_id": "instrument.thermo_orbitrapexploris",
+   "name": "High-resolution Orbitrap mass spectrometer",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Orbitrap Exploris 120",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "ms1",
+      "polarity": "positive",
+      "mass_min": 40.0,
+      "mass_max": 500.0,
+      "resolution": 30000,
+      "precursor_mz": 122.06,
+      "isolation_width_relative": 1.0,
+      "collision_type": "nce",
+      "normalized_collision_energy": 0.35,
+      "collision_potential_v": 25.0,
+      "agc_normalized": 0.1,
+      "maximum_injection_s": 0.02,
+      "scans": 1,
+      "spray_voltage_v": 3500.0,
+      "transfer_temperature_k": 323.15,
+      "vaporizer_temperature_k": null,
+      "flow_m3_s": 1e-09,
+      "sheath_gas_arbitrary": 10.0,
+      "auxiliary_gas_arbitrary": 2.0,
+      "sweep_gas_arbitrary": 0.0,
+      "reference_condition_policy": "matching_energy"
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "label": "blank",
+      "kind": "blank",
+      "volume_m3": 1e-07,
+      "components": [],
+      "accept_transferred_reference": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "scan.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": false
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "label": "host_prepared_benzamide_solution",
+      "kind": "sample",
+      "volume_m3": 1e-07,
+      "components": [
+       {
+        "template_id": "sm808001",
+        "amount_mol": 1e-08
+       }
+      ],
+      "accept_transferred_reference": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thermo_process11",
+   "asset_type_id": "instrument.thermo_process11",
+   "name": "Lab twin-screw extruder",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Process 11",
+   "domain": "materials",
+   "panel": {
+    "main_display": "hmi"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "material.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "coolant.set_connected",
+     "arguments": {
+      "connected": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "isolator",
+      "position": "1"
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "hmi",
+      "x": 400,
+      "y": 300
+     }
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thinky_are310s",
+   "asset_type_id": "instrument.thinky_are310s",
+   "name": "Planetary centrifugal mixer",
+   "brand": "THINKY",
+   "model": "ARE-310",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "panel"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "sample_id": "aqueous_resin_proxy",
+      "carrier_id": "water",
+      "carrier_mass_kg": 0.08,
+      "carrier_density_kg_m3": 1000.0,
+      "solid_label": "host_inert_solid",
+      "solid_mass_kg": 0.02,
+      "solid_density_kg_m3": 2000.0,
+      "solid_cp_J_kg_K": 800.0,
+      "viscosity_Pa_s": 1.0,
+      "entrained_gas_mol": 2e-05,
+      "temperature_K": 298.15,
+      "cup_volume_m3": 0.0003,
+      "cup_tare_kg": 0.04,
+      "adapter_mass_kg": 0.0,
+      "material_evidence": "host_assumptions_except_NIST_liquid_Cp"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "tousimis_autosamdri815",
+   "asset_type_id": "instrument.tousimis_autosamdri815",
+   "name": "Critical point dryer",
+   "brand": "Tousimis",
+   "model": "Autosamdri-815 Series B",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.065
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "holder.set_lift",
+     "arguments": {
+      "lift_m": 0.035
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "holder.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "tuttnauer_3870elvd",
+   "asset_type_id": "instrument.tuttnauer_3870elvd",
+   "name": "Steam autoclave",
+   "brand": "Tuttnauer",
+   "model": "3870ELV-D",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "main_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "uic_kdl1basic",
+   "asset_type_id": "instrument.uic_kdl1basic",
+   "name": "Short-path wiped-film molecular still",
+   "brand": "UIC",
+   "model": "KDL1 Basic",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ultrafast_helios",
+   "asset_type_id": "instrument.ultrafast_helios",
+   "name": "Femtosecond transient absorption spectrometer",
+   "brand": "Ultrafast Systems",
+   "model": "HELIOS",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.cover",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "laser.arm",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "vacuubrand_pc3001_vario_select",
+   "asset_type_id": "instrument.vacuubrand_pc3001_vario_select",
+   "name": "Chemistry vacuum pumping unit",
+   "brand": "VACUUBRAND",
+   "model": "PC 3001 VARIO select",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "host": "create_chamber",
+     "kwargs": {
+      "chamber_id": "flask_2l",
+      "volume_m3": 0.002,
+      "initial_pressure_pa": 101325.0,
+      "leak_throughput_pa_m3_s": 0.0,
+      "evidence": "task world: 2 L round-bottom flask with a cold trap on the pump inlet"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "connect_source",
+     "kwargs": {
+      "instance_id": "vacuubrand_pc3001_vario_select",
+      "chamber_id": "flask_2l"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "rocker",
+      "position": "I"
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "onoff",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 31.0
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 240,
+      "y": 483
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "vaisala_dmt152",
+   "asset_type_id": "instrument.vaisala_dmt152",
+   "name": "Trace-moisture dew-point transmitter",
+   "brand": "Vaisala",
+   "model": "DMT152",
+   "domain": "facility",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "velp_udk159",
+   "asset_type_id": "instrument.velp_udk159",
+   "name": "Automatic Kjeldahl distillation & titration unit",
+   "brand": "VELP",
+   "model": "UDK 159",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "stocks.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "coolant.set",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_selector",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "library.select",
+     "arguments": {
+      "index": 1
+     }
+    },
+    {
+     "capability": "tube.set_clamped",
+     "arguments": {
+      "clamped": true
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "door.set_open",
+     "arguments": {
+      "open": false
+     }
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "vici_euta_2sd6mwe",
+   "asset_type_id": "instrument.vici_euta_2sd6mwe",
+   "name": "Multi-position gas stream-selection valve",
+   "brand": "VICI Valco",
+   "model": "EUTA-2SD6MWE",
+   "domain": "automation",
+   "panel": {
+    "main_display": "remote_display"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "up",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.vici:ViciScene"
+  },
+  {
+   "id": "wtw_oxitopi",
+   "asset_type_id": "instrument.wtw_oxitopi",
+   "name": "Respirometric BOD system",
+   "brand": "WTW (Xylem)",
+   "model": "OxiTop-i",
+   "domain": "bio",
+   "panel": {
+    "main_display": "h1_lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h1_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h2_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h3_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h4_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h5_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h6_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h1",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h2",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h3",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h4",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h5",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h6",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "wyatt_eclipseaf4",
+   "asset_type_id": "instrument.wyatt_eclipseaf4",
+   "name": "Asymmetric-flow field-flow fractionation (AF4) system",
+   "brand": "Wyatt Technology",
+   "model": "Eclipse AF4",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ziath_dp5_mirage_2023",
+   "asset_type_id": "instrument.ziath_dp5_mirage_2023",
+   "name": "2D-barcode rack reader",
+   "brand": "Azenta Ziath",
+   "model": "DP5 Mirage",
+   "domain": "automation",
+   "setup": [
+    {
+     "host": "host_load_rack",
+     "kwargs": {
+      "rack_id": "rack_1",
+      "rack_format": 96,
+      "well_ids": [
+       "A1",
+       "A2",
+       "A3",
+       "A4",
+       "A5",
+       "A6",
+       "A7",
+       "A8",
+       "A9",
+       "A10",
+       "A11",
+       "A12",
+       "B1",
+       "B2",
+       "B3",
+       "B4",
+       "B5",
+       "B6",
+       "B7",
+       "B8",
+       "B9",
+       "B10",
+       "B11",
+       "B12",
+       "C1",
+       "C2",
+       "C3",
+       "C4",
+       "C5",
+       "C6",
+       "C7",
+       "C8",
+       "C9",
+       "C10",
+       "C11",
+       "C12",
+       "D1",
+       "D2",
+       "D3",
+       "D4",
+       "D5",
+       "D6",
+       "D7",
+       "D8",
+       "D9",
+       "D10",
+       "D11",
+       "D12",
+       "E1",
+       "E2",
+       "E3",
+       "E4",
+       "E5",
+       "E6",
+       "E7",
+       "E8",
+       "E9",
+       "E10",
+       "E11",
+       "E12",
+       "F1",
+       "F2",
+       "F3",
+       "F4",
+       "F5",
+       "F6",
+       "F7",
+       "F8",
+       "F9",
+       "F10",
+       "F11",
+       "F12",
+       "G1",
+       "G2",
+       "G3",
+       "G4",
+       "G5",
+       "G6",
+       "G7",
+       "G8",
+       "G9",
+       "G10",
+       "G11",
+       "G12",
+       "H1",
+       "H2",
+       "H3",
+       "H4",
+       "H5",
+       "H6",
+       "H7",
+       "H8",
+       "H9",
+       "H10",
+       "H11",
+       "H12"
+      ],
+      "visible_barcodes": {
+       "A1": "TB0000",
+       "A2": "TB0001",
+       "A3": "TB0002",
+       "A4": "TB0003",
+       "A5": "TB0004",
+       "A6": "TB0005",
+       "A7": "TB0006",
+       "A8": "TB0007",
+       "A9": "TB0008",
+       "A10": "TB0009",
+       "A11": "TB0010",
+       "A12": "TB0011",
+       "B1": "TB0012",
+       "B2": "TB0013",
+       "B3": "TB0014",
+       "B4": "TB0015",
+       "B5": "TB0016",
+       "B6": "TB0017",
+       "B7": "TB0018",
+       "B8": "TB0019",
+       "B9": "TB0020",
+       "B10": "TB0021",
+       "B11": "TB0022",
+       "B12": "TB0023",
+       "C1": "TB0024",
+       "C2": "TB0025",
+       "C3": "TB0026",
+       "C4": "TB0027",
+       "C5": "TB0028",
+       "C6": "TB0029",
+       "C7": "TB0030",
+       "C8": "TB0031",
+       "C9": "TB0032",
+       "C10": "TB0033",
+       "C11": "TB0034",
+       "C12": "TB0035",
+       "D1": "TB0036",
+       "D2": "TB0037",
+       "D3": "TB0038",
+       "D4": "TB0039",
+       "D5": "TB0040",
+       "D6": "TB0041",
+       "D7": "TB0042",
+       "D8": "TB0043",
+       "D9": "TB0044",
+       "D10": "TB0045",
+       "D11": "TB0046",
+       "D12": "TB0047",
+       "E1": "TB0048",
+       "E2": "TB0049",
+       "E3": "TB0050",
+       "E4": "TB0051",
+       "E5": "TB0052",
+       "E6": "TB0053",
+       "E7": "TB0054",
+       "E8": "TB0055",
+       "E9": "TB0056",
+       "E10": "TB0057",
+       "E11": "TB0058",
+       "E12": "TB0059",
+       "F1": "TB0060",
+       "F2": "TB0061",
+       "F3": "TB0062",
+       "F4": "TB0063",
+       "F5": "TB0064",
+       "F6": "TB0065",
+       "F7": "TB0066",
+       "F8": "TB0067",
+       "F9": "TB0068",
+       "F10": "TB0069",
+       "F11": "TB0070",
+       "F12": "TB0071",
+       "G1": "TB0072",
+       "G2": "TB0073",
+       "G3": "TB0074",
+       "G4": "TB0075",
+       "G5": "TB0076",
+       "G6": "TB0077",
+       "G7": "TB0078",
+       "G8": "TB0079",
+       "G9": "TB0080",
+       "G10": "TB0081",
+       "G11": "TB0082",
+       "G12": "TB0083",
+       "H1": "TB0084",
+       "H2": "TB0085",
+       "H3": "TB0086",
+       "H4": "TB0087",
+       "H5": "TB0088",
+       "H6": "TB0089",
+       "H7": "TB0090",
+       "H8": "TB0091",
+       "H9": "TB0092",
+       "H10": "TB0093",
+       "H11": "TB0094",
+       "H12": "TB0095"
+      },
+      "task_manifest": {
+       "A1": "TB0000",
+       "A2": "TB0001",
+       "A3": "TB0002",
+       "A4": "TB0003",
+       "A5": "TB0004",
+       "A6": "TB0005",
+       "A7": "TB0006",
+       "A8": "TB0007",
+       "A9": "TB0008",
+       "A10": "TB0009",
+       "A11": "TB0010",
+       "A12": "TB0011",
+       "B1": "TB0012",
+       "B2": "TB0013",
+       "B3": "TB0014",
+       "B4": "TB0015",
+       "B5": "TB0016",
+       "B6": "TB0017",
+       "B7": "TB0018",
+       "B8": "TB0019",
+       "B9": "TB0020",
+       "B10": "TB0021",
+       "B11": "TB0022",
+       "B12": "TB0023",
+       "C1": "TB0024",
+       "C2": "TB0025",
+       "C3": "TB0026",
+       "C4": "TB0027",
+       "C5": "TB0028",
+       "C6": "TB0029",
+       "C7": "TB0030",
+       "C8": "TB0031",
+       "C9": "TB0032",
+       "C10": "TB0033",
+       "C11": "TB0034",
+       "C12": "TB0035",
+       "D1": "TB0036",
+       "D2": "TB0037",
+       "D3": "TB0038",
+       "D4": "TB0039",
+       "D5": "TB0040",
+       "D6": "TB0041",
+       "D7": "TB0042",
+       "D8": "TB0043",
+       "D9": "TB0044",
+       "D10": "TB0045",
+       "D11": "TB0046",
+       "D12": "TB0047",
+       "E1": "TB0048",
+       "E2": "TB0049",
+       "E3": "TB0050",
+       "E4": "TB0051",
+       "E5": "TB0052",
+       "E6": "TB0053",
+       "E7": "TB0054",
+       "E8": "TB0055",
+       "E9": "TB0056",
+       "E10": "TB0057",
+       "E11": "TB0058",
+       "E12": "TB0059",
+       "F1": "TB0060",
+       "F2": "TB0061",
+       "F3": "TB0062",
+       "F4": "TB0063",
+       "F5": "TB0064",
+       "F6": "TB0065",
+       "F7": "TB0066",
+       "F8": "TB0067",
+       "F9": "TB0068",
+       "F10": "TB0069",
+       "F11": "TB0070",
+       "F12": "TB0071",
+       "G1": "TB0072",
+       "G2": "TB0073",
+       "G3": "TB0074",
+       "G4": "TB0075",
+       "G5": "TB0076",
+       "G6": "TB0077",
+       "G7": "TB0078",
+       "G8": "TB0079",
+       "G9": "TB0080",
+       "G10": "TB0081",
+       "G11": "TB0082",
+       "G12": "TB0083",
+       "H1": "TB0084",
+       "H2": "TB0085",
+       "H3": "TB0086",
+       "H4": "TB0087",
+       "H5": "TB0088",
+       "H6": "TB0089",
+       "H7": "TB0090",
+       "H8": "TB0091",
+       "H9": "TB0092",
+       "H10": "TB0093",
+       "H11": "TB0094",
+       "H12": "TB0095"
+      },
+      "instance_id": "ziath_dp5_mirage_2023"
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "zwick_hit5p",
+   "asset_type_id": "instrument.zwick_hit5p",
+   "name": "Pendulum impact tester",
+   "brand": "ZwickRoell",
+   "model": "HIT5P",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "fixture.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "pendulum.raise",
+     "arguments": {},
+     "evaluator": true
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "calibration.start",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "standard"
+    },
+    {
+     "capability": "pendulum.catch",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "pendulum.raise",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard",
+     "why": "the contract example notched bar (reference specimen)"
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "zwick_mflow",
+   "asset_type_id": "instrument.zwick_mflow",
+   "name": "Melt flow indexer",
+   "brand": "ZwickRoell",
+   "model": "Mflow",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "balance.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "thermal.set_temperature",
+     "arguments": {
+      "target_k": 523.15
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 1500.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "basf_ultradur_b6550",
+      "reference_temperature_k": 523.15,
+      "reference_load_kg": 2.16,
+      "mass_kg": 0.006,
+      "bulk_density_kg_m3": 800.0,
+      "melt_density_kg_m3": 1110.0,
+      "specific_heat_j_kg_k": 1900.0,
+      "initial_temperature_k": 296.15,
+      "melting_low_k": 488.15,
+      "melting_high_k": 498.15,
+      "latent_heat_j_kg": 48000.0,
+      "power_law_index": 0.75,
+      "activation_energy_j_mol": 50000.0,
+      "history_rate_per_s": 5e-05,
+      "accept_rheology_thermal_density_and_packing_assumptions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "weight.configure",
+     "arguments": {
+      "total_load_kg": 2.16
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "piston.insert",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  }
+ ],
+ "inventory": "inventory_default.json"
+}
diff --git a/chemlab/configs/all203_quantos_powder.json b/chemlab/configs/all203_quantos_powder.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ceb5f03bc7ee13062071d21dd7f1d632baac26
--- /dev/null
+++ b/chemlab/configs/all203_quantos_powder.json
@@ -0,0 +1,12453 @@
+{
+ "name": "all203_quantos_powder",
+ "about": "Every Chemistry-Sim instrument with a Matterix host recipe, in one simulated lab with one clock, set up as a well-run lab at the start of a working day (the default lab: chemlab/default_world.py). Generated by chemlab/make_config.py; set-up steps use the release bring-up format. Task-world variant quantos_powder: robot powder dosing task (BRIEF_QUANTOS): Quantos empty at the start; heads in their containers on the bench shelf T2-03 (CaCO3) / T2-04 (KBr); empty 20 mL vials in the bench vial rack A01..A04 (row B stays empty)",
+ "step_s": 1.0,
+ "domains": {
+  "metrology": "Basic Metrology & Sample Handling",
+  "synthesis": "Reaction & Molecular Synthesis",
+  "separation": "Extraction, Purification & Drying",
+  "digestion": "Digestion & Solid Sample Prep",
+  "materials": "Thin-Film & Functional Materials",
+  "spectroscopy": "Molecular Spectroscopy & Structure",
+  "elemental": "Elemental & Mass Spectrometry",
+  "chromatography": "Chromatography & Electrophoresis",
+  "electrochem": "Electrochemistry & Titration",
+  "sampling": "Analytical Sampling & Interfaces",
+  "particles": "Particles, Pores & Interfaces",
+  "thermal": "Thermal, Mechanical & Transport",
+  "imaging": "Microscopy, Imaging & Diffraction",
+  "bio": "Biochemical & Wet-Chemistry Assays",
+  "automation": "Automation & Gas/Liquid Supply",
+  "facility": "Lab Environment & Utilities"
+ },
+ "instruments": [
+  {
+   "id": "agilent_1260infinity",
+   "asset_type_id": "instrument.agilent_1260infinity",
+   "name": "Supercritical fluid chromatograph (SFC)",
+   "brand": "Agilent",
+   "model": "1260 Infinity III SFC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "supply.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solvent.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "mct_door.set",
+     "arguments": {
+      "angle_rad": 1.5
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "column.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "mct_door.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer_1.set",
+     "arguments": {
+      "position_m": 0.3
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register_vial",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer_1.set",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 900.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_1290infinity",
+   "asset_type_id": "instrument.agilent_1290infinity",
+   "name": "GPC/SEC system",
+   "brand": "Agilent",
+   "model": "1290 Infinity II GPC/SEC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "position_m": 0.2
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_7890b_ssl_fid",
+   "asset_type_id": "instrument.agilent_7890b_ssl_fid",
+   "name": "Gas chromatograph (S/SL inlet + FID)",
+   "brand": "Agilent",
+   "model": "7890B",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "power.connect_mains",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "carrier",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "hydrogen",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "air",
+      "connected": true
+     }
+    },
+    {
+     "capability": "gas.connect",
+     "arguments": {
+      "gas": "makeup",
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 1500.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "agilent_gc8890b",
+   "asset_type_id": "instrument.agilent_gc8890b",
+   "name": "Gas chromatograph",
+   "brand": "Agilent",
+   "model": "8890B GC",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "host": "set_gas_supply",
+     "kwargs": {
+      "carrier": true,
+      "hydrogen": true,
+      "air": true,
+      "makeup": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 40.0
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "mix1"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_hplc1260",
+   "asset_type_id": "instrument.agilent_hplc1260",
+   "name": "HPLC system",
+   "brand": "Agilent",
+   "model": "1260 Infinity III LC",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "mix1"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "agilent_hs8697",
+   "asset_type_id": "instrument.agilent_hs8697",
+   "name": "Headspace autosampler (48-vial tray)",
+   "brand": "Agilent",
+   "model": "8697",
+   "domain": "sampling",
+   "panel": {
+    "main_display": "gc_touch"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 25.0
+    },
+    {
+     "host": "set_ambient_temperature",
+     "kwargs": {
+      "temperature_K": 293.15
+     },
+     "default": "utility"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v1",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v2",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v3",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "v4",
+      "volume_m3": 2e-05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_gc",
+     "kwargs": {
+      "gc_instance_id": "gc_01"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "alicat_mc_1slpm_rev6",
+   "asset_type_id": "instrument.alicat_mc_1slpm_rev6",
+   "name": "Gas mass-flow controller",
+   "brand": "Alicat Scientific",
+   "model": "MC, 1 SLPM full scale, Rev6",
+   "domain": "automation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "host": "host_configure_dynamics",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "time_constant_s": 0.5,
+      "evidence": "task world: engineering response time of the MC control loop"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_connect_ports",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "upstream_node_id": "n2_cylinder_regulator",
+      "downstream_node_id": "reactor_inlet"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_set_boundary",
+     "kwargs": {
+      "instance_id": "alicat_mc_1slpm_rev6",
+      "upstream_pressure_Pa": 300000.0,
+      "downstream_pressure_Pa": 101325.0,
+      "temperature_K": 298.15,
+      "equilibrium": true,
+      "no_flow": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.alicat:AlicatScene"
+  },
+  {
+   "id": "ametek_oxtran",
+   "asset_type_id": "instrument.ametek_oxtran",
+   "name": "Oxygen transmission-rate analyzer",
+   "brand": "AMETEK MOCON",
+   "model": "OX-TRAN 2/22 L",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "gas.configure",
+     "arguments": {
+      "carrier_h2_fraction": 0.02,
+      "carrier_o2_impurity_fraction": 2e-06,
+      "carrier_supply_gauge_pa": 172400.0,
+      "test_o2_fraction": 0.999,
+      "test_supply_gauge_pa": 172400.0,
+      "accept_gas_supply": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "drawer.move",
+     "arguments": {
+      "cell": "A",
+      "open": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.mount",
+     "arguments": {
+      "cell": "A",
+      "template_id": "poly_ethylene_terephthalate",
+      "thickness_m": 0.0001,
+      "exposed_area_m2": 0.005,
+      "permeability_override_mol_m_per_m2_s_pa": null,
+      "diffusivity_override_m2_s": null,
+      "permeability_activation_energy_j_mol": 45000.0,
+      "diffusivity_activation_energy_j_mol": 45000.0,
+      "humidity_coefficient": null,
+      "accept_transport_assumptions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.move",
+     "arguments": {
+      "cell": "A",
+      "open": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_abbematadvanced",
+   "asset_type_id": "instrument.antonpaar_abbematadvanced",
+   "name": "Digital refractometer",
+   "brand": "Anton Paar",
+   "model": "Abbemat Advanced 5201",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "volume_fractions": {
+       "ethanol": 1.0
+      },
+      "volume_m3": 1e-07,
+      "matrix_id": "ethanol",
+      "contamination_fraction": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_autosorb6100",
+   "asset_type_id": "instrument.antonpaar_autosorb6100",
+   "name": "Gas physisorption surface-area & pore analyzer",
+   "brand": "Anton Paar",
+   "model": "Autosorb 6100",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "guard.set",
+     "arguments": {
+      "angle_rad": 1.5
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample0.set",
+     "arguments": {
+      "drop_m": 0.18
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "station": 0,
+      "sample_id": "sample_0",
+      "reference_id": "NIST-MATDB-6dace77b3b8fb4e96269941e6971a912",
+      "true_dry_mass_kg": 0.0001,
+      "predegassed": true,
+      "accept_branch_and_equilibrium_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "coolant.fill",
+     "arguments": {
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_dma5002",
+   "asset_type_id": "instrument.antonpaar_dma5002",
+   "name": "Oscillating U-tube density meter",
+   "brand": "Anton Paar",
+   "model": "DMA 5002",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "ethanol",
+      "volume_m3": 2e-06,
+      "bubble_fraction": 0.0,
+      "contamination_fraction": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_hit300",
+   "asset_type_id": "instrument.antonpaar_hit300",
+   "name": "Nanoindentation tester",
+   "brand": "Anton Paar",
+   "model": "HIT 300",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "specimen.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_litesizerdia",
+   "asset_type_id": "instrument.antonpaar_litesizerdia",
+   "name": "Dynamic image analyzer (particle shape)",
+   "brand": "Anton Paar",
+   "model": "Litesizer DIA 700",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 1.55
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "liquid.fill",
+     "arguments": {
+      "volume_m3": 0.0003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "background.capture",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 1.55
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "substance_id": "grain_capecod",
+      "particle_count": 128,
+      "density_kg_m3": 2650.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_litesizerdls",
+   "asset_type_id": "instrument.antonpaar_litesizerdls",
+   "name": "DLS & zeta-potential analyzer",
+   "brand": "Anton Paar",
+   "model": "Litesizer DLS 701",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "lid.release",
+     "arguments": {},
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 1.7
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "cuvette.set",
+     "arguments": {
+      "lift_m": 0.12
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "cell.configure",
+     "arguments": {
+      "kind": "omega"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "cell_cap.set",
+     "arguments": {
+      "lift_m": 0.022
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "cad9_aqueous",
+      "reference_id": "cad_09",
+      "volume_m3": 7e-07,
+      "particle_mass_kg": 7e-07,
+      "initial_temperature_k": 293.15,
+      "aqueous": true,
+      "bubble_free": true,
+      "accept_cross_instrument_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cell_cap.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "cuvette.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": false
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_mcr503",
+   "asset_type_id": "instrument.antonpaar_mcr503",
+   "name": "Rotational & oscillatory rheometer",
+   "brand": "Anton Paar",
+   "model": "MCR 503",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_monowave400",
+   "asset_type_id": "instrument.antonpaar_monowave400",
+   "name": "Microwave synthesis reactor",
+   "brand": "Anton Paar",
+   "model": "Monowave 400",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 400,
+      "y": 166
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "gas.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.15
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_poremaster60",
+   "asset_type_id": "instrument.antonpaar_poremaster60",
+   "name": "Mercury intrusion porosimeter",
+   "brand": "Anton Paar",
+   "model": "PoreMaster 60",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "mercury.fill",
+     "arguments": {
+      "mass_kg": 0.1
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "guard0.set",
+     "arguments": {
+      "angle_rad": 1.4
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "hemp_01",
+      "reference_id": "hemp_shiv",
+      "true_dry_mass_kg": 6.55e-05,
+      "true_bulk_volume_m3": 2.1398235870630514e-07,
+      "dry": true,
+      "accept_cross_instrument_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_psa1190",
+   "asset_type_id": "instrument.antonpaar_psa1190",
+   "name": "Laser-diffraction particle sizer",
+   "brand": "Anton Paar",
+   "model": "PSA 1190",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "tank_lid.set",
+     "arguments": {
+      "slide_m": 0.17
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "liquid.fill",
+     "arguments": {
+      "volume_m3": 0.00045
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "tank_lid.set",
+     "arguments": {
+      "slide_m": 0.0
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "advance_s": 61.0,
+     "default": "state"
+    },
+    {
+     "capability": "background.start",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "standard"
+    },
+    {
+     "capability": "tank_lid.set",
+     "arguments": {
+      "slide_m": 0.17
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "substance_id": "steel_batch_1",
+      "mass_kg": 0.008,
+      "true_density_kg_m3": 7837.3,
+      "agglomerated_fraction": 0.0,
+      "accept_cross_method": false,
+      "accept_range_truncation": true,
+      "accept_quantile_reconstruction": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "tank_lid.set",
+     "arguments": {
+      "slide_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_rst300",
+   "asset_type_id": "instrument.antonpaar_rst300",
+   "name": "Coating scratch tester",
+   "brand": "Anton Paar",
+   "model": "RST 300",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "specimen.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "stylus.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_saxspace",
+   "asset_type_id": "instrument.antonpaar_saxspace",
+   "name": "Small-angle X-ray scattering system",
+   "brand": "Anton Paar",
+   "model": "SAXSpace",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 90.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_surpass3",
+   "asset_type_id": "instrument.antonpaar_surpass3",
+   "name": "Solid-surface streaming-potential analyzer",
+   "brand": "Anton Paar",
+   "model": "SurPASS 3",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lock.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "cell.set",
+     "arguments": {
+      "withdrawal_m": 0.095
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "private_cotton_equivalent",
+      "reference_id": "cotton_agcl",
+      "ph_slope_v": -0.01,
+      "accept_geometry_transfer": true,
+      "accept_ph_extrapolation": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cell.set",
+     "arguments": {
+      "withdrawal_m": 0.0
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "lock.set",
+     "arguments": {
+      "angle_rad": 1.2
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.105
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "electrolyte.load",
+     "arguments": {
+      "volume_m3": 0.0002,
+      "kcl_mol_m3": 10.0,
+      "initial_ph": 6.0,
+      "acid_stock_m3": 1e-05,
+      "base_stock_m3": 1e-05,
+      "titrant_mol_m3": 50.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_trb",
+   "asset_type_id": "instrument.antonpaar_trb",
+   "name": "Pin-on-disk tribometer",
+   "brand": "Anton Paar",
+   "model": "TRB³",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": {
+      "accept_engineering": true,
+      "ambient_k": 296.15,
+      "relative_humidity": 0.5,
+      "humidity_offset": 0.0,
+      "thermal_capacity_j_k": 100.0,
+      "heat_loss_w_k": 1.0,
+      "heater_installed": true,
+      "heater_max_w": 400.0,
+      "heater_gain_w_k": 10.0,
+      "safe_access_temperature_k": 313.15,
+      "temperature_max_k": 723.15,
+      "stage_mass_kg": 0.2,
+      "rotational_inertia_kg_m2": 0.0001,
+      "linear_drive_limit_n": 100.0,
+      "normal_force_factor": 1.0,
+      "normal_read_gain": 1.0,
+      "normal_read_offset_n": 0.0,
+      "friction_gain_left": 1.0,
+      "friction_gain_right": 1.0,
+      "friction_offset_left_n": 0.0,
+      "friction_offset_right_n": 0.0,
+      "common_drift_n_s": 0.0,
+      "thermal_common_drift_n_k": 0.0,
+      "force_sensor_tau_s": 0.002,
+      "minimum_observable_load_n": 0.05,
+      "wear_sensor_enabled": false,
+      "wear_gain": 1.0,
+      "wear_offset_m": 0.0,
+      "temperature_sensor_offset_k": 0.0
+     },
+     "evaluator": true,
+     "default": "accessory",
+     "why": "heating stage installed: temperature_max 723.15 K = 450 °C (manual: trb3_product_page p.1, options); heater 400 W (typical cartridge-heater stage, stated); the rest is the contract example"
+    },
+    {
+     "capability": "specimen.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "pin.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "antonpaar_ultrapyc5000",
+   "asset_type_id": "instrument.antonpaar_ultrapyc5000",
+   "name": "Gas pycnometer (true density)",
+   "brand": "Anton Paar",
+   "model": "Ultrapyc 5000",
+   "domain": "particles",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "cell": "medium",
+      "reference": "auto",
+      "direction": "powder_protect",
+      "preparation": "none",
+      "flow_m3_s": 1e-06,
+      "preparation_s": 60.0,
+      "purge_pulses": 3,
+      "target_gauge_pa": 100000.0,
+      "max_runs": 3,
+      "runs_to_average": 3,
+      "automatic": false,
+      "finish_rsd": 0.0001,
+      "stage_timeout_s": 600.0,
+      "equilibration_s": 0.5,
+      "mode": "measure",
+      "leak_hold_s": 20.0,
+      "leak_limit_pa_s": 1.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "seal.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lock.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.13
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cup.set",
+     "arguments": {
+      "lift_m": 0.12
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "private_al_powder",
+      "reference_id": "nist_al",
+      "true_mass_kg": 0.05,
+      "closed_pore_m3": 0.0,
+      "open_pore_m3": 1e-05,
+      "reference_temperature_k": 298.15,
+      "volume_expansion_per_k": 0.0,
+      "accept_reference_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "applied_sx20",
+   "asset_type_id": "instrument.applied_sx20",
+   "name": "Stopped-flow kinetics spectrometer",
+   "brand": "Applied Photophysics",
+   "model": "SX20",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.cover",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "valves.set",
+     "arguments": {
+      "drive": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "aqualab_4te",
+   "asset_type_id": "instrument.aqualab_4te",
+   "name": "Water-activity meter",
+   "brand": "AQUALAB",
+   "model": "4TE",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 4.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "sodium_chloride",
+      "record_index": 0,
+      "mass_kg": 0.003,
+      "volume_m3": 3e-06,
+      "matrix_id": "salt",
+      "initial_temperature_k": 298.15,
+      "equilibration_tau_s": 35.0,
+      "volatile_interference": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "latch.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "arradiance_gemstarxt",
+   "asset_type_id": "instrument.arradiance_gemstarxt",
+   "name": "Atomic layer deposition system",
+   "brand": "Arradiance",
+   "model": "GEMStar XT-SP (PEALD / thermal ALD)",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s",
+   "asset_type_id": "instrument.azenta_automated_roll_heat_sealer_a4s",
+   "name": "Automated microplate heat sealer",
+   "brand": "Azenta Life Sciences",
+   "model": "Automated Roll Heat Sealer (a4S)",
+   "domain": "automation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    },
+    {
+     "host": "host_set_temperature",
+     "kwargs": {
+      "temperature_K": 295.15,
+      "evidence": "task world: the block is at room temperature",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_configure_thermal_rate",
+     "kwargs": {
+      "thermal_rate_K_s": 0.5,
+      "evidence": "engineering heating rate 0.5 K/s",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "host_load_film",
+     "kwargs": {
+      "roll_id": "roll_1",
+      "width_m": 0.08,
+      "remaining_seals": 100,
+      "film_roll_position_id": "roll_position",
+      "compatibility_evidence": "task world: peelable seal film threaded",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_load_plate",
+     "kwargs": {
+      "plate_id": "pcr_plate_1",
+      "height_m": 0.0155,
+      "plate_adapter_id": "pcr_adapter",
+      "compatibility_evidence": "task world: skirted PCR plate on the PCR adapter",
+      "instance_id": "azenta_automated_roll_heat_sealer_a4s"
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001",
+   "asset_type_id": "instrument.azenta_intellixcap_s1_46_0001",
+   "name": "Automated tube decapper/recapper",
+   "brand": "Azenta Life Sciences",
+   "model": "IntelliXcap S1 46-0001",
+   "domain": "automation",
+   "panel": {
+    "main_display": "all"
+   },
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "host": "host_register_consumable",
+     "kwargs": {
+      "consumable_id": "tube_15ml",
+      "cap_diameter_m": 0.02,
+      "compatibility_evidence": "task world: 15 mL screw-cap tube, 20 mm cap"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "host_present_sample",
+     "kwargs": {
+      "tube_id": "t1",
+      "cap_id": "c1",
+      "consumable_id": "tube_15ml",
+      "evidence": "task world: tube t1 in the holder",
+      "instance_id": "azenta_intellixcap_s1_46_0001"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "host_configure_motion",
+     "kwargs": {
+      "open_gap_m": 0.03,
+      "closed_gap_m": 0.019,
+      "rotation_delta_rad": 12.566370614359172,
+      "initial_rotation_rad": 0.0,
+      "clamp_duration_s": 1.0,
+      "rotation_duration_s": 2.0,
+      "release_duration_s": 1.0,
+      "evidence": "engineering motion values",
+      "instance_id": "azenta_intellixcap_s1_46_0001"
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.intellixcap:IntelliXcapScene",
+   "thread_ok": true
+  },
+  {
+   "id": "bd_facsariaiii",
+   "asset_type_id": "instrument.bd_facsariaiii",
+   "name": "Flow cytometer & cell sorter",
+   "brand": "BD Biosciences",
+   "model": "FACSAria III",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "lasers.set",
+     "arguments": {
+      "laser": "blue",
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "binder_fd056",
+   "asset_type_id": "instrument.binder_fd056",
+   "name": "Forced-convection drying oven",
+   "brand": "BINDER",
+   "model": "FD 56",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "binder_kbf115",
+   "asset_type_id": "instrument.binder_kbf115",
+   "name": "Constant climate (T/RH) chamber",
+   "brand": "BINDER",
+   "model": "KBF 115",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "binder_vd56",
+   "asset_type_id": "instrument.binder_vd56",
+   "name": "Vacuum drying oven",
+   "brand": "BINDER",
+   "model": "VD 56",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "biolin_mediuml",
+   "asset_type_id": "instrument.biolin_mediuml",
+   "name": "Langmuir / Langmuir–Blodgett trough",
+   "brand": "Biolin Scientific KSV NIMA",
+   "model": "Medium L&LB Trough",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "probe.move",
+     "arguments": {
+      "distance_m": 0.04
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "subphase.load",
+     "arguments": {
+      "volume_m3": 0.000176,
+      "density_kg_m3": 997.0,
+      "surface_tension_n_m": 0.071972205,
+      "identity": "PBS",
+      "ph": 7.4,
+      "buffer_concentration_mol_m3": 10.0,
+      "accept_engineering": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.load",
+     "arguments": {
+      "reference_id": "statins2020_dmpc_control",
+      "volume_m3": 1e-07,
+      "concentration_mol_m3": 1.0,
+      "molar_mass_kg_mol": 0.677933,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_condition_transfer": true,
+      "accept_quasistatic_branch_reuse": true,
+      "allow_dilute_extension": false
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biolin_sigma700",
+   "asset_type_id": "instrument.biolin_sigma700",
+   "name": "Force tensiometer",
+   "brand": "Biolin Scientific",
+   "model": "Sigma 700",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "angle_rad": 2.35
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "substance_id": "cas_67_56_1",
+      "volume_m3": 3e-05,
+      "concentration_kg_m3": 0.0,
+      "temperature_k": 293.15,
+      "accept_unknown_conditions": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biolin_thetaflex",
+   "asset_type_id": "instrument.biolin_thetaflex",
+   "name": "Optical contact-angle meter",
+   "brand": "Biolin Scientific",
+   "model": "Theta Flex",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "al_ctab_a_row7",
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "stock.load",
+     "arguments": {
+      "reference_id": "al_ctab_a_row7",
+      "volume_m3": 2e-07
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biorad_cfxopus",
+   "asset_type_id": "instrument.biorad_cfxopus",
+   "name": "Real-time qPCR system",
+   "brand": "Bio-Rad",
+   "model": "CFX Opus 96",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 15.0
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 512,
+      "y": 120
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "gapdh_std",
+      "kind": "standard",
+      "copies_per_m3": {
+       "hs_gapdh": 500000000000000.0
+      },
+      "declared_copies_per_m3": {
+       "hs_gapdh": 500000000000000.0
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.prepare",
+     "arguments": {
+      "plate_id": "plate_1",
+      "plate_type": "white_lowprofile_96",
+      "seal": "optical_film",
+      "wells": [
+       {
+        "well": "A1",
+        "sample_type": "standard",
+        "sample_id": "gapdh_std",
+        "dilution": 1.0,
+        "template_volume_m3": 2e-09,
+        "reaction_volume_m3": 2e-08,
+        "assays": [
+         "hs_gapdh"
+        ],
+        "chemistry": "sybr",
+        "quantity_copies": 1000000.0
+       },
+       {
+        "well": "B1",
+        "sample_type": "ntc",
+        "reaction_volume_m3": 2e-08,
+        "assays": [
+         "hs_gapdh"
+        ],
+        "chemistry": "sybr"
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biorad_miniprotean",
+   "asset_type_id": "instrument.biorad_miniprotean",
+   "name": "Gel electrophoresis system",
+   "brand": "Bio-Rad",
+   "model": "Mini-PROTEAN Tetra + power supply",
+   "domain": "bio",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "leads.disconnect",
+     "arguments": {},
+     "default": "utility"
+    },
+    {
+     "capability": "lid.remove",
+     "arguments": {},
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.provide",
+     "arguments": {
+      "gel_id": "gel_a",
+      "gel_type": "tgx_4_20_10w_50ul"
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.prepare",
+     "arguments": {
+      "gel_id": "gel_a",
+      "remove_comb": false,
+      "remove_tape": true,
+      "rinse_wells": false
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.install",
+     "arguments": {
+      "item": "gel_a",
+      "position": 1
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.install",
+     "arguments": {
+      "item": "buffer_dam",
+      "position": 2
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "gel.prepare",
+     "arguments": {
+      "gel_id": "gel_a",
+      "remove_comb": true,
+      "remove_tape": false,
+      "rinse_wells": true
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "buffer.fill",
+     "arguments": {
+      "chamber": "inner",
+      "buffer_id": "tris_glycine_sds_1x",
+      "volume_m3": 0.00015,
+      "temperature_k": 295.15
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "buffer.fill",
+     "arguments": {
+      "chamber": "outer",
+      "buffer_id": "tris_glycine_sds_1x",
+      "volume_m3": 0.0006,
+      "temperature_k": 295.15
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "sample.prepare",
+     "arguments": {
+      "sample_id": "ladder_1",
+      "proteins_kg": {},
+      "marker": "precision_plus_prestained",
+      "marker_volume_m3": 1e-08,
+      "sample_buffer": "laemmli_2x_reducing",
+      "heat": "none",
+      "volume_m3": 1e-08
+     },
+     "default": "standard",
+     "why": "protein ladder: prestained marker, 10 µL (typical mini-gel loading)"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotage_extrahera_classic",
+   "asset_type_id": "instrument.biotage_extrahera_classic",
+   "name": "Automated solid-phase extraction workstation",
+   "brand": "Biotage",
+   "model": "Extrahera Classic",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 35.0
+    },
+    {
+     "host": "connect_vacuum_source",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "source_instance_id": "vacuum_line_1"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "set_utilities",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "vacuum_ready": true,
+      "compressed_air_ready": true,
+      "nitrogen_ready": true,
+      "evidence": "task world (extraction): set up by the lab before the agent starts: vacuum, air and nitrogen supplies open"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "initialize_liquids",
+     "kwargs": {
+      "instance_id": "biotage_extrahera_classic",
+      "sources_m3": {
+       "load": 5e-05,
+       "wash": 5e-05,
+       "elute": 5e-05,
+       "S1": 0.0002,
+       "S2": 0.0002,
+       "S3": 0.0002
+      },
+      "evidence": "task world (extraction): set up by the lab before the agent starts: reservoirs filled"
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "deck.configure",
+     "arguments": {
+      "format": "cartridges24",
+      "cartridge_volume_m3": 3e-06,
+      "collection_plate": "collection_a",
+      "solvent_positions": [
+       "load",
+       "wash",
+       "elute"
+      ]
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotage_selekt",
+   "asset_type_id": "instrument.biotage_selekt",
+   "name": "Automated flash chromatography system",
+   "brand": "Biotage",
+   "model": "Selekt (UV, single bed)",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 25.0
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
+      "extension_m": 0.12
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
+      "extension_m": 0.0
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "column.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "biotek_405ts",
+   "asset_type_id": "instrument.biotek_405ts",
+   "name": "Microplate washer",
+   "brand": "Agilent BioTek",
+   "model": "405 TS (96-tube manifold)",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "A",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "B",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "C",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "buffer.load",
+     "arguments": {
+      "bottle": "D",
+      "liquid_id": "water_0_1pct_tween20",
+      "volume_m3": 0.004
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "plate.provide",
+     "arguments": {
+      "plate_id": "p1",
+      "plate_type": "costar_3590",
+      "fill_volume_m3": 1e-07,
+      "liquid_id": "pbs_1x",
+      "unbound_mol": 1e-12,
+      "nonspecific_mol": 2e-14,
+      "specific_mol": 5e-14,
+      "cells_per_well": 0.0,
+      "cell_adhesion": "none",
+      "wells": null
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bmg_clariostarplus",
+   "asset_type_id": "instrument.bmg_clariostarplus",
+   "name": "Multi-mode microplate reader",
+   "brand": "BMG LABTECH",
+   "model": "CLARIOstar Plus",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "fluorescein_standard"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "water"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "plate.prepare",
+     "arguments": {
+      "plate_id": "wp",
+      "format": "96",
+      "type": "black"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "well.dispense",
+     "arguments": {
+      "plate_id": "wp",
+      "wells": [
+       "A1:A3"
+      ],
+      "source_id": "fluorescein_standard",
+      "volume_m3": 1e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "well.dispense",
+     "arguments": {
+      "plate_id": "wp",
+      "wells": [
+       "B1:B3"
+      ],
+      "source_id": "water",
+      "volume_m3": 1e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bronkhorst_cemw",
+   "asset_type_id": "instrument.bronkhorst_cemw",
+   "name": "Controlled evaporator & mixer",
+   "brand": "Bronkhorst",
+   "model": "CEM W-202A",
+   "domain": "automation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "supply.connect_gas",
+     "arguments": {
+      "gas": "nitrogen",
+      "pressure_pa": 400000.0
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "supply.connect_liquid",
+     "arguments": {
+      "composition": {
+       "water": 1.0
+      },
+      "pressure_pa": 300000.0
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bronkhorst_p702cv_5bar_gauge_n2",
+   "asset_type_id": "instrument.bronkhorst_p702cv_5bar_gauge_n2",
+   "name": "Electronic back-pressure controller",
+   "brand": "Bronkhorst",
+   "model": "EL-PRESS P-702CV",
+   "domain": "automation",
+   "panel": {
+    "main_display": "all"
+   },
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "brooks_preciseflex_400",
+   "asset_type_id": "instrument.brooks_preciseflex_400",
+   "name": "Lab sample-transfer robot arm",
+   "brand": "Brooks Automation",
+   "model": "PreciseFlex 400",
+   "domain": "automation",
+   "setup": [],
+   "setup_source": "none + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.preciseflex:PreciseFlexScene",
+   "arm": {
+    "home": {
+     "z_m": 0.2,
+     "shoulder_rad": 0.0,
+     "elbow_rad": 0.0,
+     "wrist_rad": 0.0
+    },
+    "containers": {
+     "plate_1": {
+      "pose": {
+       "z_m": 0.05,
+       "shoulder_rad": 0.5,
+       "elbow_rad": -0.8,
+       "wrist_rad": 0.3
+      },
+      "port": "bench_nest",
+      "payload_kg": 0.1
+     }
+    },
+    "ports": {
+     "sealer_nest": {
+      "pose": {
+       "z_m": 0.08,
+       "shoulder_rad": -0.6,
+       "elbow_rad": 0.9,
+       "wrist_rad": 0.0
+      }
+     }
+    },
+    "tolerance_m": 0.005,
+    "joint_speed_rad_s": 1.0,
+    "z_speed_m_s": 0.2
+   },
+   "locations": {
+    "home": {
+     "joints": {
+      "z_m": 0.2,
+      "shoulder_rad": 0.0,
+      "elbow_rad": 0.0,
+      "wrist_rad": 0.0
+     }
+    },
+    "plate_1": {
+     "container_id": "plate_1",
+     "constraint_id": "grip_plate_1",
+     "joints": {
+      "z_m": 0.05,
+      "shoulder_rad": 0.5,
+      "elbow_rad": -0.8,
+      "wrist_rad": 0.3
+     }
+    },
+    "sealer_nest": {
+     "receiver_port_id": "sealer_nest",
+     "joints": {
+      "z_m": 0.08,
+      "shoulder_rad": -0.6,
+      "elbow_rad": 0.9,
+      "wrist_rad": 0.0
+     }
+    }
+   }
+  },
+  {
+   "id": "bruker_magnettechesr5000",
+   "asset_type_id": "instrument.bruker_magnettechesr5000",
+   "name": "Benchtop EPR spectrometer",
+   "brand": "Bruker",
+   "model": "Magnettech ESR5000",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.register",
+     "arguments": {
+      "sample_id": "blank_01",
+      "kind": "blank",
+      "material_phase": "liquid",
+      "template_id": "",
+      "solvent_code": "BZ",
+      "volume_m3": 1e-07,
+      "mass_kg": 0.0,
+      "concentration_mol_m3": 0.0,
+      "solid_spin_count": 0.0,
+      "g_assumed": null,
+      "linewidth_pp_t": 0.0004,
+      "saturation_power_w": 0.1,
+      "reference_temperature_k": 298.15,
+      "tube_od_m": 0.005,
+      "accept_missing_source_conditions": true,
+      "accept_synthetic_solid": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_01"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bruker_minispecmq20",
+   "asset_type_id": "instrument.bruker_minispecmq20",
+   "name": "Time-domain NMR relaxometer",
+   "brand": "Bruker",
+   "model": "minispec mq20",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "bruker_x4poseidon",
+   "asset_type_id": "instrument.bruker_x4poseidon",
+   "name": "Micro X-ray computed tomography",
+   "brand": "Bruker",
+   "model": "X4 POSEIDON",
+   "domain": "imaging",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button_mains",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 61.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "alumina_pellet",
+      "kind": "cylinder",
+      "diameter_m": 0.006,
+      "height_m": 0.006,
+      "layers": [
+       {
+        "thickness_m": 0.006,
+        "materials": [
+         {
+          "substance_id": "alumina",
+          "volume_fraction": 1.0
+         }
+        ]
+       }
+      ],
+      "pores": {
+       "count": 120,
+       "median_radius_m": 0.00012,
+       "sigma_ln": 0.35,
+       "layer": 0,
+       "seed": 7
+      },
+      "cracks": [
+       {
+        "center_m": [
+         0.0,
+         0.0,
+         0.003
+        ],
+        "normal": [
+         1.0,
+         0.0,
+         0.0
+        ],
+        "radius_m": 0.0018,
+        "aperture_m": 3e-05
+       }
+      ],
+      "inclusions": [],
+      "container": null,
+      "pin": null
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_encapsulatorb",
+   "asset_type_id": "instrument.buchi_encapsulatorb",
+   "name": "Vibrating-nozzle encapsulator",
+   "brand": "BUCHI",
+   "model": "Encapsulator B-390",
+   "domain": "materials",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "air.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_hydrolexh",
+   "asset_type_id": "instrument.buchi_hydrolexh",
+   "name": "Acid hydrolysis unit",
+   "brand": "BUCHI",
+   "model": "HydrolEx H-506",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "ventilation.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "water.configure",
+     "arguments": {
+      "volume_m3": 0.005
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "buchi_milk_powder",
+      "sample_mass_kg": 0.002,
+      "sample_liquid_m3": 0.0,
+      "acid_volume_m3": 0.0001,
+      "acid_mol_m3": 4000.0,
+      "bound_fat_fraction": 0.8,
+      "release_rate_s_inverse": 0.003,
+      "fat_capture_fraction": 0.995,
+      "accept_reference_not_hydrolysis_calibration": true,
+      "position": 1
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "buchi_milk_powder",
+      "sample_mass_kg": 0.002,
+      "sample_liquid_m3": 0.0,
+      "acid_volume_m3": 0.0001,
+      "acid_mol_m3": 4000.0,
+      "bound_fat_fraction": 0.8,
+      "release_rate_s_inverse": 0.003,
+      "fat_capture_fraction": 0.995,
+      "accept_reference_not_hydrolysis_calibration": true,
+      "position": 3
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_lyovapor_l250_pro",
+   "asset_type_id": "instrument.buchi_lyovapor_l250_pro",
+   "name": "Freeze dryer",
+   "brand": "BUCHI",
+   "model": "Lyovapor L-250 Pro",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "master_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "chamber.set_open",
+     "arguments": {
+      "open": true
+     },
+     "default": "utility"
+    },
+    {
+     "host": "initialize_sample",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "dry_mass_kg": 0.01,
+      "ice_mass_kg": 0.09,
+      "bound_water_mass_kg": 0.005,
+      "pre_frozen": true,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: 100 g pre-frozen product"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "configure_kinetics",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "sublimation_rate_kg_s": 2e-05,
+      "desorption_rate_kg_s": 2e-06,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: drying-rate model for the moisture endpoint"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "chamber.set_open",
+     "arguments": {
+      "open": false
+     },
+     "default": "utility"
+    },
+    {
+     "host": "connect_vacuum",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "source_instance_id": "rotary_vane_pump_1",
+      "asset_type_id": "instrument.rotary_vane_pump",
+      "minimum_pressure_pa": 5.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: two-stage rotary vane pump, 5 Pa"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "set_boundary",
+     "kwargs": {
+      "instance_id": "buchi_lyovapor_l250_pro",
+      "pressure_pa": 20.0,
+      "shelf_temperature_k": 253.15,
+      "sample_temperature_k": 243.15,
+      "condenser_temperature_k": 188.15,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: measured boundary"
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_minispray",
+   "asset_type_id": "instrument.buchi_minispray",
+   "name": "Lab spray dryer",
+   "brand": "BUCHI",
+   "model": "Mini Spray Dryer S-300",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "master",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "buchi_speedextractore",
+   "asset_type_id": "instrument.buchi_speedextractore",
+   "name": "Pressurized solvent extractor",
+   "brand": "BUCHI",
+   "model": "SpeedExtractor E-916",
+   "domain": "separation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "thermal.preheat",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 900.0,
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_lift",
+     "arguments": {
+      "lift_m": 0.18
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set_extension",
+     "arguments": {
+      "extension_m": 0.16
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set_extension",
+     "arguments": {
+      "extension_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "camag_tlcscanner",
+   "asset_type_id": "instrument.camag_tlcscanner",
+   "name": "TLC scanner (densitometer)",
+   "brand": "CAMAG",
+   "model": "TLC Scanner 4",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": true
+     },
+     "default": "state"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "stage.load",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "plate.place",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "stage.home",
+     "arguments": {},
+     "default": "consumable"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": false
+     },
+     "default": "consumable"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "carbolite_tf1_12_60_300",
+   "asset_type_id": "instrument.carbolite_tf1_12_60_300",
+   "name": "Tube furnace (controlled atmosphere)",
+   "brand": "Carbolite Gero",
+   "model": "TF1 12/60/300",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "instrument_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 8.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "cem_libertyblue",
+   "asset_type_id": "instrument.cem_libertyblue",
+   "name": "Automated microwave peptide synthesizer",
+   "brand": "CEM",
+   "model": "Liberty Blue 2.0",
+   "domain": "synthesis",
+   "setup": [
+    {
+     "capability": "cover.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "queue.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up in the order the contract preconditions ask for + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ch_chi440c",
+   "asset_type_id": "instrument.ch_chi440c",
+   "name": "Electrochemical quartz crystal microbalance",
+   "brand": "CH Instruments",
+   "model": "CHI440C",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "crystal.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.05
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ch_chi920d",
+   "asset_type_id": "instrument.ch_chi920d",
+   "name": "Scanning electrochemical microscope",
+   "brand": "CH Instruments",
+   "model": "CHI920D",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_biacoret200",
+   "asset_type_id": "instrument.cytiva_biacoret200",
+   "name": "Surface plasmon resonance system",
+   "brand": "Cytiva",
+   "model": "Biacore T200",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "advance_s": 40.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "run_buffer",
+      "volume_m3": 0.001,
+      "base": "hbs_ep_plus"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "dist_water",
+      "volume_m3": 0.0005,
+      "base": "water"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.place",
+     "arguments": {
+      "slot": "buffer_a",
+      "solution_id": "run_buffer",
+      "volume_m3": 0.00095
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.place",
+     "arguments": {
+      "slot": "water",
+      "solution_id": "dist_water",
+      "volume_m3": 0.00045
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "bottle.empty_waste",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.eject",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": {
+      "config": "sample_and_reagent_rack",
+      "plate": "none"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "buf_s",
+      "volume_m3": 6e-07,
+      "base": "hbs_ep_plus"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.place",
+     "arguments": {
+      "position": "R1B1",
+      "solution_id": "buf_s",
+      "volume_m3": 4e-07
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "rack.retract",
+     "arguments": {},
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_ktaoligosynt",
+   "asset_type_id": "instrument.cytiva_ktaoligosynt",
+   "name": "Oligonucleotide synthesizer",
+   "brand": "Cytiva",
+   "model": "ÄKTA oligosynt",
+   "domain": "synthesis",
+   "setup": [
+    {
+     "capability": "clamp.set_lift",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up in the order the contract preconditions ask for + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite",
+   "asset_type_id": "instrument.cytiva_nanoassemblrignite",
+   "name": "Microfluidic nanoparticle formulation system",
+   "brand": "Cytiva / Precision NanoSystems",
+   "model": "NanoAssemblr Ignite",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 15.0
+    },
+    {
+     "capability": "cartridge.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tubes.install",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 0,
+      "source_tag": "diluent",
+      "volume_m3": 1e-05,
+      "capacity_m3": 1e-05,
+      "inner_diameter_m": 0.0145,
+      "density_kg_m3": 1000.0,
+      "solute_kg_m3": 0.0,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 1,
+      "source_tag": "aqueous_reagent",
+      "volume_m3": 3e-06,
+      "capacity_m3": 3e-06,
+      "inner_diameter_m": 0.009,
+      "density_kg_m3": 1000.0,
+      "solute_kg_m3": 0.1,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "channel": 2,
+      "source_tag": "ethanol_lipids",
+      "volume_m3": 1e-06,
+      "capacity_m3": 1e-06,
+      "inner_diameter_m": 0.0047,
+      "density_kg_m3": 789.0,
+      "solute_kg_m3": 10.0,
+      "accept_host_compatibility": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "heating.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "eco_ncld822",
+   "asset_type_id": "instrument.eco_ncld822",
+   "name": "Chemiluminescence NO/NOx analyzer",
+   "brand": "ECO PHYSICS",
+   "model": "nCLD 822 M",
+   "domain": "elemental",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 900.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "edinburgh_fls1000tcspc",
+   "asset_type_id": "instrument.edinburgh_fls1000tcspc",
+   "name": "Time-resolved fluorescence (TCSPC) spectrometer",
+   "brand": "Edinburgh Instruments",
+   "model": "FLS1000",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.cover",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "source.arm",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "elementar_isoprimeprecision",
+   "asset_type_id": "instrument.elementar_isoprimeprecision",
+   "name": "Stable isotope-ratio mass spectrometer",
+   "brand": "Elementar",
+   "model": "isoprime precisION",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "vacuum.pump_down",
+     "arguments": {},
+     "default": "utility"
+    },
+    {
+     "advance_s": 300.0,
+     "default": "state"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "filament": true
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "magnet.set_species",
+     "arguments": {
+      "species": "CO2"
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "centrion.set",
+     "arguments": {
+      "inlet": 1,
+      "carrier_on": true
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "reference.assign",
+     "arguments": {
+      "gas": 1,
+      "deltas": {
+       "13C": -0.0367,
+       "18O": 0.0251
+      }
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "elementar_varioel",
+   "asset_type_id": "instrument.elementar_varioel",
+   "name": "Organic elemental (CHNS) analyzer",
+   "brand": "Elementar",
+   "model": "vario EL cube",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "furnace.configure",
+     "arguments": {
+      "combustion_k": 1373.15,
+      "reduction_k": 1123.15
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "CHNS",
+      "combustion_s": 0.1,
+      "oxygen_dose_mol": 0.0005,
+      "oxygen_admission_s": 0.02,
+      "baseline_threshold": 1e-05,
+      "baseline_samples": 2,
+      "minimum_release_s": 0.025,
+      "maximum_release_s": 1.0,
+      "temperature_tolerance_k": 2.0
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 0,
+      "sample_id": "blank_0",
+      "kind": "blank",
+      "sample_class": "organic",
+      "template_id": "",
+      "mass_kg": 0.0,
+      "mass_basis": "as_reported_unspecified_dry_basis",
+      "assumed_unreported_fractions": {
+       "C": null,
+       "H": null,
+       "N": null,
+       "S": null
+      },
+      "accept_assumed_missing_elements": false,
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 1,
+      "sample_id": "standard_1",
+      "kind": "standard",
+      "sample_class": "organic",
+      "template_id": "oem_sulfanilic_acid",
+      "mass_kg": 1e-06,
+      "mass_basis": "as_reported_unspecified_dry_basis",
+      "assumed_unreported_fractions": {
+       "C": null,
+       "H": null,
+       "N": null,
+       "S": null
+      },
+      "accept_assumed_missing_elements": false,
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 2,
+      "sample_id": "standard_2",
+      "kind": "standard",
+      "sample_class": "organic",
+      "template_id": "oem_sulfanilic_acid",
+      "mass_kg": 2e-06,
+      "mass_basis": "as_reported_unspecified_dry_basis",
+      "assumed_unreported_fractions": {
+       "C": null,
+       "H": null,
+       "N": null,
+       "S": null
+      },
+      "accept_assumed_missing_elements": false,
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 3,
+      "sample_id": "standard_3",
+      "kind": "standard",
+      "sample_class": "organic",
+      "template_id": "oem_sulfanilic_acid",
+      "mass_kg": 3e-06,
+      "mass_basis": "as_reported_unspecified_dry_basis",
+      "assumed_unreported_fractions": {
+       "C": null,
+       "H": null,
+       "N": null,
+       "S": null
+      },
+      "accept_assumed_missing_elements": false,
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 4,
+      "sample_id": "sample_4",
+      "kind": "sample",
+      "sample_class": "organic",
+      "template_id": "oem_wheat_flour",
+      "mass_kg": 2e-06,
+      "mass_basis": "as_reported_unspecified_dry_basis",
+      "assumed_unreported_fractions": {
+       "C": null,
+       "H": null,
+       "N": null,
+       "S": null
+      },
+      "accept_assumed_missing_elements": false,
+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sequence.configure",
+     "arguments": {
+      "slot_indices": [
+       0
+      ]
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sequence.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "elga_purelab_flex3",
+   "asset_type_id": "instrument.elga_purelab_flex3",
+   "name": "Lab ultrapure water system",
+   "brand": "ELGA LabWater",
+   "model": "PURELAB flex 3",
+   "domain": "facility",
+   "panel": {
+    "main_display": "handset"
+   },
+   "setup": [
+    {
+     "host": "configure_supply",
+     "kwargs": {
+      "instance_id": "elga_purelab_flex3",
+      "feed_volume_m3": 0.05,
+      "purified_volume_m3": 0.02,
+      "buffer_capacity_m3": 0.03,
+      "qualified_feed": true,
+      "evidence": "task world: RO feed connected, 20 L reservoir filled"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "connect_receiver",
+     "kwargs": {
+      "instance_id": "elga_purelab_flex3",
+      "receiver_id": "bottle_2l",
+      "volume_m3": 0.0,
+      "capacity_m3": 0.002,
+      "evidence": "task world: empty 2 L bottle under the dispenser"
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "install_consumables",
+     "kwargs": {
+      "instance_id": "elga_purelab_flex3",
+      "evidence": "task world: purification pack installed"
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "set_readings",
+     "kwargs": {
+      "instance_id": "elga_purelab_flex3",
+      "resistivity_ohm_m": 182000.0,
+      "temperature_k": 298.15,
+      "source_kind": "synthetic",
+      "evidence": "task world: 18.2 MOhm.cm at 25 C"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_supply",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_accept",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_accept",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "elma_elmasonics60h",
+   "asset_type_id": "instrument.elma_elmasonics60h",
+   "name": "Ultrasonic cleaning bath",
+   "brand": "Elma",
+   "model": "Elmasonic S60H",
+   "domain": "metrology",
+   "setup": [
+    {
+     "capability": "cover.set_lift",
+     "arguments": {
+      "lift_m": 0.3
+     },
+     "default": "state"
+    },
+    {
+     "capability": "bath.configure",
+     "arguments": {
+      "volume_m3": 0.0038,
+      "density_kg_m3": 1000.0,
+      "cp_j_kg_k": 4180.0,
+      "initial_temperature_k": 298.15,
+      "compatible_aqueous": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "cover.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "state"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "eppendorf_5910ri",
+   "asset_type_id": "instrument.eppendorf_5910ri",
+   "name": "Refrigerated multipurpose centrifuge",
+   "brand": "Eppendorf",
+   "model": "5910 Ri",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "host": "configure_synthetic_rotor",
+     "kwargs": {
+      "configuration": "large_capacity",
+      "slot_positions_xy_m": {
+       "slot_1": [
+        0.2,
+        0
+       ],
+       "slot_2": [
+        -0.2,
+        0
+       ],
+       "slot_3": [
+        0,
+        0.2
+       ],
+       "slot_4": [
+        0,
+        -0.2
+       ]
+      },
+      "operating_speed_limit_rad_s": 471.23889803846896,
+      "imbalance_threshold_kg_m": 0.0001,
+      "evidence": "synthetic"
+     },
+     "default": "accessory"
+    },
+    {
+     "host": "configure_synthetic_rotor",
+     "kwargs": {
+      "configuration": "fixed_angle",
+      "slot_positions_xy_m": {
+       "slot_1": [
+        0.1,
+        0
+       ],
+       "slot_2": [
+        -0.1,
+        0
+       ],
+       "slot_3": [
+        0,
+        0.1
+       ],
+       "slot_4": [
+        0,
+        -0.1
+       ]
+      },
+      "operating_speed_limit_rad_s": 1466.0765716752367,
+      "imbalance_threshold_kg_m": 0.0001,
+      "evidence": "synthetic"
+     },
+     "default": "accessory"
+    },
+    {
+     "host": "configure_synthetic_process",
+     "kwargs": {
+      "acceleration_rad_s2": [
+       2.0,
+       5.0,
+       8.0,
+       11.0,
+       14.0,
+       17.0,
+       20.0,
+       23.0,
+       26.0,
+       29.0
+      ],
+      "braking_rad_s2": [
+       1.0,
+       4.0,
+       7.0,
+       10.0,
+       13.0,
+       16.0,
+       19.0,
+       22.0,
+       25.0,
+       28.0
+      ],
+      "poweroff_deceleration_rad_s2": 2.0,
+      "temperature_time_constant_s": 300.0,
+      "ambient_temperature_k": 295.15,
+      "initial_temperature_k": 295.15,
+      "sample_interval_s": 10.0,
+      "evidence": "synthetic"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "tube_a",
+      "mass_kg": 0.05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "tube_b",
+      "mass_kg": 0.05
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "tube_c",
+      "mass_kg": 0.06
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 95.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "rotor.select",
+     "arguments": {
+      "configuration": "large_capacity"
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "rotor_radius_m": {
+    "large_capacity": 0.2,
+    "fixed_angle": 0.1
+   }
+  },
+  {
+   "id": "eppendorf_cellxpertc170i",
+   "asset_type_id": "instrument.eppendorf_cellxpertc170i",
+   "name": "CO₂ cell-culture incubator",
+   "brand": "Eppendorf",
+   "model": "CellXpert C170i",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "switch_mains",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 600.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "eppendorf_cryocubef570n",
+   "asset_type_id": "instrument.eppendorf_cryocubef570n",
+   "name": "Ultra-low temperature freezer",
+   "brand": "Eppendorf",
+   "model": "CryoCube F570n",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "battery_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "esco_ac24s8",
+   "asset_type_id": "instrument.esco_ac24s8",
+   "name": "Biological safety cabinet",
+   "brand": "Esco Lifesciences",
+   "model": "AC2-4S8-TU",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "key_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "esco_efa5uduvw",
+   "asset_type_id": "instrument.esco_efa5uduvw",
+   "name": "Chemical fume hood",
+   "brand": "Esco Lifesciences",
+   "model": "Frontier Acela EFA-5UDUVW-9",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "exhaust.configure",
+     "arguments": {
+      "mode": "blower",
+      "blower_speed": 0.9
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "fan_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "light_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "evident_bx53p",
+   "asset_type_id": "instrument.evident_bx53p",
+   "name": "Polarizing microscope",
+   "brand": "Evident / Olympus",
+   "model": "BX53-P",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "quartz_section",
+      "kind": "thin_section",
+      "substance_id": "main_sio2",
+      "thickness_m": 3e-05,
+      "slide_thickness_m": 0.001,
+      "grains": 40,
+      "defects": 0,
+      "orientation": null,
+      "immersion_oil": false
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "freeman_ft4powder",
+   "asset_type_id": "instrument.freeman_ft4powder",
+   "name": "Powder rheometer",
+   "brand": "Freeman Technology / Micromeritics",
+   "model": "FT4 Powder Rheometer",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "frontier_egapy",
+   "asset_type_id": "instrument.frontier_egapy",
+   "name": "Multi-shot pyrolyzer (GC inlet)",
+   "brand": "Frontier Laboratories",
+   "model": "EGA/PY-3030D",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "gc.ready",
+     "arguments": {
+      "ready": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "fujifilm_dmp2850",
+   "asset_type_id": "instrument.fujifilm_dmp2850",
+   "name": "Materials inkjet printer",
+   "brand": "FUJIFILM Dimatix",
+   "model": "DMP-2850",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "ink.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vacuum.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "gamry_reference620",
+   "asset_type_id": "instrument.gamry_reference620",
+   "name": "Potentiostat / electrochemical workstation",
+   "brand": "Gamry",
+   "model": "Reference 620",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "host": "host_load_template_cell",
+     "kwargs": {
+      "instance_id": "gamry_reference620",
+      "cell": {
+       "couple_id": "redox_fep3_to_fep2",
+       "oxidant_concentration_mol_m3": 1.0,
+       "reductant_concentration_mol_m3": 0.0,
+       "electrode_area_m2": 7.07e-06,
+       "reference_electrode_id": "refel_she"
+      }
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "gas_flavourspec25gc",
+   "asset_type_id": "instrument.gas_flavourspec25gc",
+   "name": "GC–ion mobility spectrometer",
+   "brand": "G.A.S.",
+   "model": "FlavourSpec25 GC-IMS",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     }
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "genevac_mivac2",
+   "asset_type_id": "instrument.genevac_mivac2",
+   "name": "Centrifugal vacuum concentrator",
+   "brand": "Genevac / SP Industries",
+   "model": "miVac 2 Duo",
+   "domain": "separation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "rotor.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "temperature_k": 313.15,
+      "heating_time_s": 300.0,
+      "duration_s": 600.0,
+      "timeout_s": 86400.0,
+      "program": "other",
+      "target_pressure_pa": 1000.0,
+      "endpoint_remaining_fraction": 0.0
+     }
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_open",
+     "arguments": {
+      "open": false
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "gilson_cpc250",
+   "asset_type_id": "instrument.gilson_cpc250",
+   "name": "Centrifugal partition chromatograph",
+   "brand": "Gilson",
+   "model": "CPC 250",
+   "domain": "separation",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "glatt_miniglatt",
+   "asset_type_id": "instrument.glatt_miniglatt",
+   "name": "Fluid-bed granulator / coater",
+   "brand": "Glatt",
+   "model": "Mini-Glatt",
+   "domain": "materials",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "powder.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "liquid.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hach_dr6000",
+   "asset_type_id": "instrument.hach_dr6000",
+   "name": "UV-Vis spectrophotometer",
+   "brand": "Hach",
+   "model": "DR6000",
+   "domain": "spectroscopy",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 170.0
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "blank_01",
+      "kind": "blank"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "register_sample",
+     "kwargs": {
+      "sample_id": "sample_01",
+      "kind": "sample",
+      "peaks": [
+       [
+        5.2e-07,
+        4e-08,
+        0.8
+       ]
+      ],
+      "baseline_absorbance": 0.02
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hach_tl2300epa",
+   "asset_type_id": "instrument.hach_tl2300epa",
+   "name": "Benchtop turbidimeter",
+   "brand": "Hach",
+   "model": "TL2300 EPA",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1800.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.7
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "substance_id": "stablcal_20",
+      "volume_m3": 2e-05,
+      "mass_kg": 0.02,
+      "temperature_k": 296.15,
+      "clean_indexed_cell": true,
+      "particle_response_gain": 1.0,
+      "color_absorbance": 0.0,
+      "bubble_excess_ntu": 0.0,
+      "bubble_tau_s": 30.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "hepatochem_photoredoxbox",
+   "asset_type_id": "instrument.hepatochem_photoredoxbox",
+   "name": "Photochemical reactor",
+   "brand": "HepatoChem",
+   "model": "PhotoRedOx Box UV-Vis",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.12
+     }
+    },
+    {
+     "capability": "rack.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "led.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "hot_tps2500",
+   "asset_type_id": "instrument.hot_tps2500",
+   "name": "Transient plane source thermal-conductivity analyzer",
+   "brand": "Hot Disk",
+   "model": "TPS 2500 S",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "probe.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "fixture.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "state"
+    },
+    {
+     "capability": "fixture.set_hood",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "advance_s": 15.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_c6000",
+   "asset_type_id": "instrument.ika_c6000",
+   "name": "Oxygen bomb calorimeter",
+   "brand": "IKA",
+   "model": "C 6000 isoperibol",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "advance_s": 300.0,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.prepare",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.scan",
+     "arguments": {
+      "rfid": "C6012-0001"
+     },
+     "evaluator": false,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.register",
+     "arguments": "contract_example",
+     "evaluator": false,
+     "default": "standard"
+    },
+    {
+     "capability": "vessel.set_c_value",
+     "arguments": {
+      "vessel_name": "C6012 no. 1",
+      "mode": "isoperibol_25",
+      "c_value_j_k": 8700.0
+     },
+     "evaluator": false,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_electrasyn2",
+   "asset_type_id": "instrument.ika_electrasyn2",
+   "name": "Electro-organic synthesis system",
+   "brand": "IKA",
+   "model": "ElectraSyn 2.0",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "tft"
+   },
+   "setup": [
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.08
+     }
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "electrodes.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ika_ks4000",
+   "asset_type_id": "instrument.ika_ks4000",
+   "name": "Incubated orbital shaker",
+   "brand": "IKA",
+   "model": "KS 4000 i control",
+   "domain": "metrology",
+   "setup": [
+    {
+     "capability": "hood.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "state"
+    },
+    {
+     "capability": "fixture.configure",
+     "arguments": {
+      "installed": true,
+      "mass_kg": 3.2
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "load.configure",
+     "arguments": {
+      "slot": 4,
+      "vessel_id": "synthetic_demo",
+      "container_mass_kg": 0.2,
+      "liquid_mass_kg": 0.2,
+      "volume_m3": 0.0002,
+      "effective_cp_j_kg_k": 3000.0,
+      "initial_temperature_k": 298.15,
+      "secured": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "hood.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "state"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_plate_rctdigital",
+   "asset_type_id": "instrument.ika_plate_rctdigital",
+   "name": "Magnetic hotplate stirrer",
+   "brand": "IKA",
+   "model": "Plate RCT digital",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ika_rv10_digital_v",
+   "asset_type_id": "instrument.ika_rv10_digital_v",
+   "name": "Rotary evaporator",
+   "brand": "IKA",
+   "model": "RV 10 digital V",
+   "domain": "separation",
+   "panel": {
+    "main_display": "drive"
+   },
+   "setup": [
+    {
+     "host": "configure_bath",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "effective_heat_capacity_j_k": 12000.0,
+      "initial_temperature_k": 293.15,
+      "heat_loss_w_k": 3.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: bath filled with 3 L of water"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "configure_template_charge",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "solvent_id": "ethanol",
+      "volume_m3": 0.0002,
+      "condensation_efficiency": 0.95,
+      "heat_transfer_w_k": 20.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: 200 mL ethanol"
+     },
+     "default": "standard"
+    },
+    {
+     "host": "connect_vacuum_source",
+     "kwargs": {
+      "instance_id": "ika_rv10_digital_v",
+      "source_instance_id": "vacuubrand_pc3001_vario_select",
+      "pressure_pa": 17500.0,
+      "evidence": "task world (evaporation): set up by the lab before the agent starts: pump at 175 mbar"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "on_off_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ika_t25",
+   "asset_type_id": "instrument.ika_t25",
+   "name": "Rotor–stator disperser",
+   "brand": "IKA",
+   "model": "T 25 digital ULTRA-TURRAX",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "sample_id": "host_emulsion",
+      "carrier_id": "water",
+      "carrier_mass_kg": 0.9,
+      "carrier_density_kg_m3": 1000.0,
+      "dispersed_label": "hypothetical_oil",
+      "dispersed_mass_kg": 0.08,
+      "dispersed_density_kg_m3": 800.0,
+      "dispersed_cp_J_kg_K": 2000.0,
+      "kind": "emulsion",
+      "viscosity_Pa_s": 0.01,
+      "interfacial_tension_N_m": 0.03,
+      "initial_size_m": 0.0002,
+      "temperature_K": 298.15,
+      "material_evidence": "host_assumption_except_NIST_water_Cp"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "head_locked": true,
+      "vessel_clamped": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "inert_purelab_he_2gb",
+   "asset_type_id": "instrument.inert_purelab_he_2gb",
+   "name": "Inert-atmosphere glovebox",
+   "brand": "Inert",
+   "model": "PureLab HE 2GB",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.glovebox:GloveboxScene",
+   "glovebox": {
+    "o2_ppm": 0.8,
+    "h2o_ppm": 0.5,
+    "box_gauge_pa": 800.0,
+    "evacuation_pa": 300.0,
+    "backfill_pa": 95000.0,
+    "vacuum_source": "lab_vacuum_line"
+   }
+  },
+  {
+   "id": "inert_puresolvmd",
+   "asset_type_id": "instrument.inert_puresolvmd",
+   "name": "Solvent purification system",
+   "brand": "Inert",
+   "model": "PureSolv MD 7",
+   "domain": "facility",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "inficon_ul1000fab",
+   "asset_type_id": "instrument.inficon_ul1000fab",
+   "name": "Helium leak detector",
+   "brand": "INFICON",
+   "model": "UL1000 Fab",
+   "domain": "facility",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 181.0
+    },
+    {
+     "capability": "part.connect",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ja_alphase",
+   "asset_type_id": "instrument.ja_alphase",
+   "name": "Spectroscopic ellipsometer",
+   "brand": "J.A. Woollam",
+   "model": "alpha-SE",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 620.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_cpl300",
+   "asset_type_id": "instrument.jasco_cpl300",
+   "name": "Circularly polarized luminescence spectrometer",
+   "brand": "JASCO",
+   "model": "CPL-300",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "solvent_blank",
+      "kind": "blank",
+      "template_id": "",
+      "solvent": "basic ethanol",
+      "volume_m3": 2e-06,
+      "concentration_mol_m3": 0.0,
+      "peak_pl_relative": 0.0,
+      "synthetic_glum": 0.0,
+      "accept_unknown_conditions": true,
+      "accept_synthetic_cpl": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_fp8350",
+   "asset_type_id": "instrument.jasco_fp8350",
+   "name": "Spectrofluorometer",
+   "brand": "JASCO",
+   "model": "FP-8350",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.register",
+     "arguments": {
+      "sample_id": "blank_01",
+      "kind": "blank",
+      "template_id": "",
+      "concentration_mol_m3": 0.0,
+      "volume_m3": 2e-06,
+      "solvent_id": "ethanol",
+      "solvent_background_s_inv": 40.0,
+      "reference_temperature_k": 298.15,
+      "accept_unknown_temperature": true,
+      "accept_source_mirror": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "solution.register",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "blank_01"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_ftir4700",
+   "asset_type_id": "instrument.jasco_ftir4700",
+   "name": "FT-IR spectrometer",
+   "brand": "JASCO",
+   "model": "FT/IR-4700",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "host": "register_template_sample",
+     "kwargs": {
+      "sample_id": "ethanol_01",
+      "substance_id": "ethanol",
+      "phase": "liquid"
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "accessory.install",
+     "arguments": {
+      "mode": "atr"
+     },
+     "default": "accessory",
+     "why": "ATR accessory installed: the contract example (the usual sampling accessory of the FT/IR-4700 in a teaching / analytical lab)"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "accessory"
+    },
+    {
+     "host": "register_template_sample",
+     "kwargs": {
+      "sample_id": "ir_polystyrene_film",
+      "substance_id": "polystyrene",
+      "phase": "solid"
+     },
+     "default": "standard",
+     "why": "polystyrene film wavenumber check standard (manual: ftir4000_6000_series_brochure p.4, standard sample: polystyrene film); template = NIST WebBook spectrum + SRM 1921b certified bands (jasco_ftir4700 1.1.2); the card is inventory ir_polystyrene_film"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_fvs6000",
+   "asset_type_id": "instrument.jasco_fvs6000",
+   "name": "Vibrational circular dichroism spectrometer",
+   "brand": "JASCO",
+   "model": "FVS-6000",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "solvent_blank",
+      "kind": "blank",
+      "template_id": "",
+      "solvent": "DMSO-d6",
+      "is_aqueous": false,
+      "volume_m3": 5e-08,
+      "concentration_kg_m3": 0.0,
+      "ir_peak_absorbance": 0.0,
+      "synthetic_vcd_ratio": 0.0,
+      "accept_inferred_units": true,
+      "accept_unknown_conditions": true,
+      "accept_surrogate": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "jasco_j1500",
+   "asset_type_id": "instrument.jasco_j1500",
+   "name": "Circular dichroism spectrometer",
+   "brand": "JASCO",
+   "model": "J-1500",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.register",
+     "arguments": {
+      "sample_id": "blank_01",
+      "kind": "blank",
+      "template_id": "",
+      "residue_concentration_mol_m3": 0.0,
+      "path_length_m": 0.001,
+      "cell_shape": "rectangular",
+      "volume_m3": 2e-07,
+      "solvent_id": "buffer_01",
+      "mean_epsilon_m2_mol": [
+       600.0,
+       600.0,
+       600.0,
+       600.0,
+       600.0,
+       600.0,
+       600.0,
+       600.0,
+       600.0,
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+   "brand": "JEOL",
+   "model": "JSM-IT200 LA",
+   "domain": "imaging",
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+   "brand": "JULABO",
+   "model": "CORIO CD-200F",
+   "domain": "facility",
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+   "asset_type_id": "instrument.keyence_vkx3000",
+   "name": "3D laser-scanning profilometer microscope",
+   "brand": "KEYENCE",
+   "model": "VK-X3000 / VK-X3100",
+   "domain": "imaging",
+   "setup": [
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+     "arguments": "contract_example",
+     "evaluator": true
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+     "arguments": "contract_example",
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+   "asset_type_id": "instrument.knauer_k7400s",
+   "name": "Freezing-point osmometer",
+   "brand": "KNAUER",
+   "model": "K-7400S",
+   "domain": "electrochem",
+   "panel": {
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+     "capability": "method.configure",
+     "arguments": {
+      "sample_volume_m3": 1.5e-07,
+      "freeze_k": 267.15,
+      "cooling_limit_k": 258.15,
+      "sample_interval_s": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "head.position",
+     "arguments": {
+      "position": "raised"
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "water",
+      "kind": "reference",
+      "volume_m3": 1.5e-07,
+      "water_mass_kg": 0.00015,
+      "initial_temperature_k": 293.15,
+      "components": [],
+      "reference_osmolality_mol_kg": 0.0,
+      "accept_temperature_transfer": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "head.position",
+     "arguments": {
+      "position": "measuring"
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "kratos_axissupra",
+   "asset_type_id": "instrument.kratos_axissupra",
+   "name": "X-ray photoelectron spectrometer",
+   "brand": "Kratos / Shimadzu",
+   "model": "AXIS Supra+",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": {
+      "room_k": 295.15,
+      "mains_voltage_v": 200.0,
+      "noise_seed": 1
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 700.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "laboao_cvdltf12p50",
+   "asset_type_id": "instrument.laboao_cvdltf12p50",
+   "name": "Chemical vapour deposition system",
+   "brand": "LABOAO",
+   "model": "CVD-LTF12P50",
+   "domain": "materials",
+   "panel": {
+    "main_display": "pv"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.install",
+     "arguments": {
+      "species": [
+       "N2",
+       "AR",
+       "CH4"
+      ],
+      "initial_mol": [
+       400.1,
+       447.7,
+       525.1
+      ],
+      "inlet_gauge_pa": [
+       100000.0,
+       100000.0,
+       100000.0
+      ],
+      "full_scale_std_m3_s": [
+       5e-06,
+       5e-06,
+       5e-06
+      ],
+      "actual_gas_factor": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "accept_host_supply": true
+     },
+     "evaluator": true,
+     "default": "utility",
+     "why": "N2 / Ar / CH4 cylinders on the gas panel, full 50 L cylinders at 200 bar gauge and 15 C = 400.1 / 447.7 / 525.1 mol (NIST Chemistry WebBook SRD 69 densities at 288.15 K, 201.01 bar abs: 8.0018 / 8.9545 / 10.502 mol/L; table outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json); regulators at 1 bar gauge and 300 sccm full-scale MFCs as in the contract example"
+    },
+    {
+     "capability": "sample.install",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "lakeshore_8604vsm",
+   "asset_type_id": "instrument.lakeshore_8604vsm",
+   "name": "Vibrating sample magnetometer",
+   "brand": "Lake Shore Cryotronics",
+   "model": "8604 VSM",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "lakeshore_measurereadym91",
+   "asset_type_id": "instrument.lakeshore_measurereadym91",
+   "name": "Hall-effect measurement system",
+   "brand": "Lake Shore Cryotronics",
+   "model": "MeasureReady M91 FastHall",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "field.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power_button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "leco_onh836",
+   "asset_type_id": "instrument.leco_onh836",
+   "name": "Inert-gas fusion O/N/H analyzer",
+   "brand": "LECO",
+   "model": "ONH836",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "carrier": "He",
+      "selected_elements": [
+       "O",
+       "N",
+       "H"
+      ],
+      "carrier_flow_m3_s": 8.166666666666666e-06,
+      "outgas_power_w": 6000.0,
+      "outgas_s": 0.16,
+      "purge_s": 0.12,
+      "baseline_s": 0.08,
+      "fusion_power_w": 4800.0,
+      "fusion_s": 0.4,
+      "integration_s": 0.3,
+      "window_s": 0.02,
+      "endpoint_relative": 0.001
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.install",
+     "arguments": {
+      "graphite_mass_kg": 0.002,
+      "blank_element_masses_kg": {
+       "O": 1e-09,
+       "N": 2e-10,
+       "H": 1e-10
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "",
+      "kind": "blank",
+      "mass_kg": 0.0,
+      "declared_elements": [],
+      "mass_basis": "source_conditioned",
+      "dry_mass_fraction": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.remove",
+     "arguments": {
+      "recipient_id": "host_crucible_waste"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "crucible.install",
+     "arguments": {
+      "graphite_mass_kg": 0.002,
+      "blank_element_masses_kg": {
+       "O": 1e-09,
+       "N": 2e-10,
+       "H": 1e-10
+      }
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.open",
+     "arguments": {
+      "opened": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "template_id": "leco_503558_reference",
+      "kind": "sample",
+      "mass_kg": 0.00012,
+      "declared_elements": [
+       "O",
+       "N",
+       "H"
+      ],
+      "mass_basis": "source_conditioned",
+      "dry_mass_fraction": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "loading.set",
+     "arguments": {
+      "loading": false
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "linari_rtadvanced",
+   "asset_type_id": "instrument.linari_rtadvanced",
+   "name": "Electrospinning system",
+   "brand": "Linari Nanotech",
+   "model": "RT Advanced",
+   "domain": "materials",
+   "panel": {
+    "main_display": "tablet"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "collector.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "solution.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "vent.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "door.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "tablet",
+      "x": 512,
+      "y": 118
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "linseis_lsr3",
+   "asset_type_id": "instrument.linseis_lsr3",
+   "name": "Thermoelectric (Seebeck) tester",
+   "brand": "Linseis",
+   "model": "LSR-3",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "furnace.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "magritek_spinsolve80",
+   "asset_type_id": "instrument.magritek_spinsolve80",
+   "name": "Benchtop NMR spectrometer",
+   "brand": "Magritek",
+   "model": "Spinsolve 80 Carbon",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "host": "register_template_sample",
+     "kwargs": {
+      "instance_id": "magritek_spinsolve80",
+      "sample_id": "ethanol_01",
+      "composition": [
+       {
+        "substance_id": "ethanol",
+        "amount_mol": 0.0001
+       }
+      ],
+      "solvent": "CDCl3"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "malvern_leneo",
+   "asset_type_id": "instrument.malvern_leneo",
+   "name": "Automated fusion bead maker",
+   "brand": "Malvern Panalytical / Claisse",
+   "model": "LeNeo",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "malvern_microcalpeaq",
+   "asset_type_id": "instrument.malvern_microcalpeaq",
+   "name": "Isothermal titration calorimeter",
+   "brand": "Malvern Panalytical",
+   "model": "MicroCal PEAQ-ITC",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "wash.power_set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "edta",
+      "volume_m3": 3e-06,
+      "buffer": {
+       "buffer_id": "mes",
+       "concentration_mol_m3": 10.0,
+       "ph": 5.6
+      },
+      "solutes": [
+       {
+        "species_id": "edta",
+        "concentration_mol_m3": 0.1
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.prepare",
+     "arguments": {
+      "solution_id": "ca",
+      "volume_m3": 1e-06,
+      "buffer_from": "edta",
+      "solutes": [
+       {
+        "species_id": "ca2+",
+        "concentration_mol_m3": 1.0
+       }
+      ]
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "solution.degas",
+     "arguments": {
+      "solution_id": "edta"
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "solution.degas",
+     "arguments": {
+      "solution_id": "ca"
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "markes_unityxr",
+   "asset_type_id": "instrument.markes_unityxr",
+   "name": "Thermal desorber",
+   "brand": "Markes International",
+   "model": "UNITY-xr",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.18
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample_lever.set",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample_lever.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "gc.ready",
+     "arguments": {
+      "ready": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_899",
+   "asset_type_id": "instrument.metrohm_899",
+   "name": "Karl Fischer coulometer",
+   "brand": "Metrohm",
+   "model": "899 Coulometer",
+   "domain": "electrochem",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "cell",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "generator",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "slot.set_installed",
+     "arguments": {
+      "slot": "indicator",
+      "installed": true
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "back",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "host": "load_template_sample",
+     "kwargs": {
+      "substance_id": "copper_ii_sulfate_pentahydrate",
+      "sample_mass_kg": 1e-05,
+      "background_drift_kg_s": 0.0,
+      "reagent_ready": true,
+      "request_id": "world_sample",
+      "instance_id": "metrohm_899"
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_909uv",
+   "asset_type_id": "instrument.metrohm_909uv",
+   "name": "UV digester",
+   "brand": "Metrohm",
+   "model": "909 UV Digester",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "start",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "open": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "metrohm_914",
+   "asset_type_id": "instrument.metrohm_914",
+   "name": "pH / DO / conductivity meter",
+   "brand": "Metrohm",
+   "model": "914 pH/DO/Conductometer",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "tft"
+   },
+   "setup": [
+    {
+     "capability": "probe.set_installed",
+     "arguments": {
+      "slot": "ph",
+      "installed": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "probe.set_installed",
+     "arguments": {
+      "slot": "conductance",
+      "installed": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "onoff",
+      "duration_s": 0.1
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "right",
+      "duration_s": 0.1
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.metrohm914:Metrohm914Scene",
+   "solution": {
+    "kind": "ph_buffer",
+    "substance_id": "nist_srm_186g_phosphate_equimolal_buffer",
+    "temperature_k": 298.15,
+    "standard_channel": "ph"
+   }
+  },
+  {
+   "id": "metrohm_omnis",
+   "asset_type_id": "instrument.metrohm_omnis",
+   "name": "Automatic potentiometric titrator",
+   "brand": "Metrohm",
+   "model": "OMNIS Professional Titrator",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "host": "host_load_template_sample",
+     "kwargs": {
+      "instance_id": "metrohm_omnis",
+      "analyte": {
+       "components": [
+        {
+         "substance_id": "acetic_acid",
+         "amount_mol": 0.001
+        }
+       ],
+       "volume_m3": 2.5e-05,
+       "titrant_id": "titrant_sodium_hydroxide"
+      }
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "micromeritics_autochemiii",
+   "asset_type_id": "instrument.micromeritics_autochemiii",
+   "name": "Temperature-programmed chemisorption analyzer",
+   "brand": "Micromeritics",
+   "model": "AutoChem III",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "microtrac_turbiscanlab",
+   "asset_type_id": "instrument.microtrac_turbiscanlab",
+   "name": "Dispersion stability analyzer",
+   "brand": "Microtrac",
+   "model": "TURBISCAN LAB",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.set_position",
+     "arguments": {
+      "distance_m": 0.105
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "lentil_soybean_hipe_untreated",
+      "volume_m3": 2e-05,
+      "height_m": 0.040419661425538086,
+      "particle_diameter_m": 5e-05,
+      "volume_fraction": 0.75,
+      "particle_density_kg_m3": 920.0,
+      "liquid_density_kg_m3": 1000.0,
+      "dynamic_viscosity_pa_s": 0.01,
+      "maximum_packing_fraction": 0.95,
+      "hindered_exponent": 4.65,
+      "extra_diffusion_m2_s": 0.0,
+      "aggregation_rate_s": 0.005,
+      "particle_absorption_m_inv": 10.0,
+      "carrier_absorption_m_inv": 0.0,
+      "scattering_m_inv": 100.0,
+      "optical_path_m": 0.025,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_template_condition_transfer": false,
+      "accept_concentrated_stokes_proxy": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "miele_plw6111",
+   "asset_type_id": "instrument.miele_plw6111",
+   "name": "Laboratory glassware washer",
+   "brand": "Miele",
+   "model": "PLW 6111",
+   "domain": "facility",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "host": "configure_water_model",
+     "kwargs": {
+      "instance_id": "miele_plw6111",
+      "effective_heat_capacity_J_K": 104650.0,
+      "heat_loss_W_K": 8.0,
+      "initial_temperature_K": 293.15,
+      "maximum_temperature_K": 368.15,
+      "evidence": "task world: 25 L wash water, mains water, liquid-water envelope"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_stop",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "milestone_dma80",
+   "asset_type_id": "instrument.milestone_dma80",
+   "name": "Direct mercury analyzer",
+   "brand": "Milestone",
+   "model": "DMA-80 evo",
+   "domain": "elemental",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "gas.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "drying_temperature_k": 473.15,
+      "drying_s": 0.12,
+      "decomposition_temperature_k": 923.15,
+      "decomposition_s": 1.0,
+      "catalyst_temperature_k": 838.15,
+      "purge_s": 0.2,
+      "release_temperature_k": 1173.15,
+      "release_s": 0.5,
+      "record_s": 0.8,
+      "window_s": 0.05,
+      "range_min_kg": 1e-14,
+      "range_max_kg": 1.5e-09
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "dust_cover.set",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 0,
+      "template_id": "",
+      "kind": "blank",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 0.0001,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 1,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 2e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 2,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 3,
+      "template_id": "nist_2448_certified",
+      "kind": "standard",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 0.0001,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "slot_index": 5,
+      "template_id": "nist_2448_certified",
+      "kind": "sample",
+      "input_form": "solid",
+      "boat_material": "metal",
+      "mass_kg": 5e-05,
+      "volume_m3": 0.0,
+      "reference_fraction": 1.0,
+      "dry_mass_fraction": null,
+      "host_mercury_mass_kg": null,
+      "accept_source_condition_mismatch": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "dust_cover.set",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "measurement.start",
+     "arguments": {
+      "slot_index": 0
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 4.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_hx204",
+   "asset_type_id": "instrument.mt_hx204",
+   "name": "Halogen moisture analyzer",
+   "brand": "METTLER TOLEDO",
+   "model": "HX204",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_onoff",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "lid.set_position",
+     "arguments": {
+      "position_m": 0.1085
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "species_kg": {
+       "water": 0.0005
+      },
+      "residue_kg": 0.0045
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_position",
+     "arguments": {
+      "position_m": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_mp70",
+   "asset_type_id": "instrument.mt_mp70",
+   "name": "Automatic melting-point system",
+   "brand": "METTLER TOLEDO",
+   "model": "MP70",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "channel": 0,
+      "substance_id": "benzoic_acid",
+      "mass_kg": 2e-06,
+      "purity": 1.0,
+      "particle_size_m": 5e-05,
+      "decomposition_onset_k": null,
+      "decomposition_source": ""
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "channel": 1,
+      "substance_id": "benzoic_acid",
+      "mass_kg": 2e-06,
+      "purity": 1.0,
+      "particle_size_m": 5e-05,
+      "decomposition_onset_k": null,
+      "decomposition_source": ""
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_quantos_q2_xpe206dr",
+   "asset_type_id": "instrument.mt_quantos_q2_xpe206dr",
+   "name": "Automated powder dosing system",
+   "brand": "METTLER TOLEDO",
+   "model": "Quantos Q2 + XPE206DR",
+   "domain": "automation",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "on_off",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    },
+    {
+     "host": "host_configure_geometry",
+     "kwargs": {
+      "iid": "$instance",
+      "door_travel_m": 0.5494645551128549,
+      "evidence": "lab set-up: front door travel"
+     },
+     "default": "utility",
+     "why": "front-door travel = the contract door_kinematics.authored_travel (0.5495 m since asset 1.2.2: the arc length of the top-hung door's hinge pin, lever fully lifted; manual p.25-26)"
+    },
+    {
+     "capability": "door.set_opening",
+     "arguments": {
+      "opening_m": 0.5494645551128549
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_load_head",
+     "kwargs": {
+      "iid": "$instance",
+      "head_id": "qh_caco3_1",
+      "source_mass_kg": 0.004,
+      "free_flowing": true,
+      "evidence": "lab set-up: CaCO3 check head (QH016-BNMW, 4 g) inserted"
+     },
+     "default": "consumable",
+     "why": "head = inventory qh_caco3_1: METTLER TOLEDO QH016-BNMW powder dosing head (16 mL, 0.1-250 mg per dose; part 11141503; manual: quantos_operating_instructions p.102, p.107) with 4 g calcium carbonate Sigma-Aldrich 21061, the powder of the dosing specification (p.102); 4 g of the light precipitated powder fills 7-13 mL (assumed 0.3-0.6 g/mL)"
+    },
+    {
+     "host": "host_load_container",
+     "kwargs": {
+      "iid": "$instance",
+      "container_id": "quantos_vial_pan",
+      "position_id": "balance_pan",
+      "content_mass_kg": 0.0,
+      "evidence": "lab set-up: empty target vial on the pan"
+     },
+     "default": "consumable",
+     "why": "inventory quantos_vial_pan (empty target vial)"
+    },
+    {
+     "capability": "door.set_opening",
+     "arguments": {
+      "opening_m": 0.0
+     },
+     "default": "consumable"
+    },
+    {
+     "host": "host_configure_dosing",
+     "kwargs": {
+      "iid": "$instance",
+      "rate_kg_s": 5e-07,
+      "rate_evidence": "lab set-up: powder rate",
+      "observation_evidence": "lab set-up: ideal mass observation"
+     },
+     "default": "utility",
+     "why": "dosing rate 0.5 mg/s (dosing class world: about 20 s for 10 mg; manual p.102 gives 40 s typical for 50 mg CaCO3)"
+    },
+    {
+     "replace_default": [
+      "consumable"
+     ]
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "mt_rc1mxhfcal",
+   "asset_type_id": "instrument.mt_rc1mxhfcal",
+   "name": "Heat-flow reaction calorimeter",
+   "brand": "METTLER TOLEDO",
+   "model": "RC1mx + HFCal",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "reactor.charge",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_power",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 60.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "mt_xpr204e",
+   "asset_type_id": "instrument.mt_xpr204e",
+   "name": "Analytical balance",
+   "brand": "METTLER TOLEDO",
+   "model": "XPR204E",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "terminal"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_door_left",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "terminal",
+      "x": 400,
+      "y": 240
+     }
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "multiwave_7101",
+   "asset_type_id": "instrument.multiwave_7101",
+   "name": "Microwave acid digestion system",
+   "brand": "Anton Paar",
+   "model": "Multiwave 7101",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 30.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "nabertherm_l9",
+   "asset_type_id": "instrument.nabertherm_l9",
+   "name": "Muffle furnace",
+   "brand": "Nabertherm",
+   "model": "L 9/11/SKM",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "nanosurf_naiostm",
+   "asset_type_id": "instrument.nanosurf_naiostm",
+   "name": "Scanning tunneling microscope",
+   "brand": "Nanosurf",
+   "model": "NaioSTM",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "netzsch_lfa467",
+   "asset_type_id": "instrument.netzsch_lfa467",
+   "name": "Laser/light flash thermal diffusivity analyzer",
+   "brand": "NETZSCH",
+   "model": "LFA 467 HyperFlash",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "channel": "protective",
+      "gas": "N2",
+      "amount_mol": 1.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "coolant.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "pulse.charge",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "netzsch_mmc315",
+   "asset_type_id": "instrument.netzsch_mmc315",
+   "name": "Adiabatic (ARC) reaction calorimeter",
+   "brand": "NETZSCH",
+   "model": "MMC 315 Nexus",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "tray.move",
+     "arguments": {
+      "extend": true
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "open": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "open": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    },
+    {
+     "capability": "tray.move",
+     "arguments": {
+      "extend": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "newera_ne1000",
+   "asset_type_id": "instrument.newera_ne1000",
+   "name": "Programmable syringe pump",
+   "brand": "New Era Pump Systems",
+   "model": "NE-1000 Multi-Phaser",
+   "domain": "automation",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "syringe.load",
+     "arguments": {
+      "syringe": "bd_10ml",
+      "liquid_id": "water",
+      "fill_volume_m3": 8e-06
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "outlet.connect",
+     "arguments": {
+      "tubing": "ptfe_0p8mm",
+      "tubing_length_m": 0.5,
+      "needle": "none",
+      "backpressure_pa": 0.0,
+      "reservoir_liquid_m3": 2e-05
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "novocontrol_alphat",
+   "asset_type_id": "instrument.novocontrol_alphat",
+   "name": "Broadband dielectric spectrometer",
+   "brand": "Novocontrol Technologies",
+   "model": "Alpha-T",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "geometry.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "thermal.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_clamp",
+     "arguments": {
+      "closed": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ohaus_px224e",
+   "asset_type_id": "instrument.ohaus_px224e",
+   "name": "Analytical balance",
+   "brand": "OHAUS",
+   "model": "Pioneer PX224/E",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.connect_adapter",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_zero",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "ohaus_spx2201",
+   "asset_type_id": "instrument.ohaus_spx2201",
+   "name": "Portable precision balance",
+   "brand": "OHAUS",
+   "model": "Scout SPX2201",
+   "domain": "metrology",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "power.connect_adapter",
+     "arguments": {
+      "connected": true
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_zero",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "opentrons_flex_single_5_1000ul",
+   "asset_type_id": "instrument.opentrons_flex_single_5_1000ul",
+   "name": "Automated liquid-handling robot",
+   "brand": "Opentrons",
+   "model": "Flex (1-channel 5–1000 µL)",
+   "domain": "automation",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.flex:FlexScene",
+   "deck": {
+    "labware": [
+     {
+      "name": "tiprack1000",
+      "type": "opentrons_flex_96_tiprack_1000ul",
+      "slot": "B2"
+     },
+     {
+      "name": "tiprack200",
+      "type": "opentrons_flex_96_tiprack_200ul",
+      "slot": "C3"
+     },
+     {
+      "name": "reservoir",
+      "type": "nest_12_reservoir_15ml",
+      "slot": "B3",
+      "volumes_ul": {
+       "A1": 10000,
+       "A2": 10000
+      }
+     },
+     {
+      "name": "plate",
+      "type": "corning_96_wellplate_360ul_flat",
+      "slot": "C2"
+     },
+     {
+      "name": "tuberack",
+      "type": "opentrons_24_tuberack_eppendorf_1.5ml_safelock_snapcap",
+      "slot": "D1"
+     }
+    ],
+    "trash": "A1",
+    "home_m": {
+     "x_m": 0.24,
+     "y_m": 0.21,
+     "z_m": 0.22
+    },
+    "command_s": 1.0
+   }
+  },
+  {
+   "id": "ossila_dipcoater",
+   "asset_type_id": "instrument.ossila_dipcoater",
+   "name": "Dip coater",
+   "brand": "Ossila",
+   "model": "Dip Coater V2",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "bath.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "clamp.set_gap",
+     "arguments": {
+      "gap_m": 0.012
+     },
+     "default": "consumable"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_doctorblade",
+   "asset_type_id": "instrument.ossila_doctorblade",
+   "name": "Automated doctor-blade coater",
+   "brand": "Ossila",
+   "model": "Doctor Blade Coater",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_left_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_right_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "charge.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_slotdie",
+   "asset_type_id": "instrument.ossila_slotdie",
+   "name": "Slot-die coater",
+   "brand": "Ossila",
+   "model": "Slot-Die Coater V2",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "ok",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_left_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "gauge_right_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "ink.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "substrate.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ossila_spincoater",
+   "asset_type_id": "instrument.ossila_spincoater",
+   "name": "Spin coater",
+   "brand": "Ossila",
+   "model": "Spin Coater V3",
+   "domain": "materials",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "start",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 1.5
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_angle",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "park_nx10",
+   "asset_type_id": "instrument.park_nx10",
+   "name": "Atomic force microscope",
+   "brand": "Park Systems",
+   "model": "NX10",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "probe.provide",
+     "arguments": {
+      "probe_id": "c1",
+      "type_id": "contal_g"
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 60.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.remove",
+     "arguments": {},
+     "default": "accessory"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "state"
+    },
+    {
+     "capability": "probe.mount",
+     "arguments": {
+      "probe_id": "c1"
+     },
+     "default": "accessory"
+    },
+    {
+     "advance_s": 25.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.attach",
+     "arguments": {},
+     "default": "accessory"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "state"
+    },
+    {
+     "capability": "head.configure",
+     "arguments": {
+      "mode": "contact",
+      "cantilever_db": "contal_g"
+     },
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "parr_4591",
+   "asset_type_id": "instrument.parr_4591",
+   "name": "Micro high-pressure stirred reactor",
+   "brand": "Parr Instrument",
+   "model": "4591",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "ptm"
+   },
+   "setup": [
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "pccell_ed64002",
+   "asset_type_id": "instrument.pccell_ed64002",
+   "name": "Lab electrodialysis stack",
+   "brand": "PCCell",
+   "model": "ED 64002 + BED1-2 Basic",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "membrane.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "peak_precisionhydrogen",
+   "asset_type_id": "instrument.peak_precisionhydrogen",
+   "name": "Laboratory hydrogen generator",
+   "brand": "PEAK Scientific",
+   "model": "Precision Hydrogen Trace 500",
+   "domain": "facility",
+   "panel": {
+    "main_display": "hmi"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "mains_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 400.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "pilodist_pilodist104",
+   "asset_type_id": "instrument.pilodist_pilodist104",
+   "name": "High-efficiency lab fractional distillation unit",
+   "brand": "PILODIST",
+   "model": "PILODIST 104",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "column.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "bath.set_engaged",
+     "arguments": {
+      "engaged": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 6.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "pine_wavevortex10",
+   "asset_type_id": "instrument.pine_wavevortex10",
+   "name": "Rotating ring-disk electrode rotator",
+   "brand": "Pine Research",
+   "model": "WaveVortex 10",
+   "domain": "electrochem",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "enclosure.set",
+     "arguments": {
+      "lift_m": 0.285
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "enclosure.set",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "electrochem.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "porometer_poroluxrevo",
+   "asset_type_id": "instrument.porometer_poroluxrevo",
+   "name": "Capillary flow porometer",
+   "brand": "POROMETER",
+   "model": "POROLUX Revo",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "pvdf_fc43_2016",
+      "diameter_m": 0.025,
+      "active_diameter_m": 0.0184,
+      "dry_mass_kg": 0.0001,
+      "liquid_capacity_kg": 1e-06,
+      "drain_tau_s": 0.05,
+      "accept_engineering": true,
+      "accept_unknown_conditions": true,
+      "accept_pressure_transform": false,
+      "accept_monotone_projection": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "liquid.load",
+     "arguments": {
+      "name": "FC-43",
+      "mass_kg": 0.001,
+      "density_kg_m3": 1800.0,
+      "surface_tension_n_m": 0.016,
+      "contact_angle_rad": 0.0,
+      "accept_engineering": true
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "amount_mol": 1.0
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "quorum_q150tes",
+   "asset_type_id": "instrument.quorum_q150tes",
+   "name": "Sputter & carbon coater",
+   "brand": "Quorum Technologies",
+   "model": "Q150T ES Plus",
+   "domain": "materials",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "source.install",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "samples.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "chamber.set",
+     "arguments": {
+      "opened": false
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "mains_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "radleys_mya4",
+   "asset_type_id": "instrument.radleys_mya4",
+   "name": "Parallel reaction station (4 independent zones)",
+   "brand": "Radleys",
+   "model": "Mya 4",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "pad"
+   },
+   "setup": [
+    {
+     "host": "configure_cooling_source",
+     "kwargs": {
+      "available": true,
+      "temperature_K": 288.15,
+      "flow_m3_s": 5e-05
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "station_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 10.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "retsch_as200",
+   "asset_type_id": "instrument.retsch_as200",
+   "name": "Vibratory sieve shaker",
+   "brand": "RETSCH",
+   "model": "AS 200 control",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "amplitude"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cover.set",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "clamped": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "retsch_pm100",
+   "asset_type_id": "instrument.retsch_pm100",
+   "name": "Planetary ball mill",
+   "brand": "RETSCH",
+   "model": "PM 100",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "kd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 1.55
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "clamped": true,
+      "balanced": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set",
+     "arguments": {
+      "angle_rad": 0.0
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "settings.configure",
+     "arguments": {
+      "language": "English"
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "main_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "retsch_pt100",
+   "asset_type_id": "instrument.retsch_pt100",
+   "name": "Rotary sample divider",
+   "brand": "RETSCH",
+   "model": "PT 100",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "all_bottles_attached": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "rigaku_miniflex600_external_cooling",
+   "asset_type_id": "instrument.rigaku_miniflex600_external_cooling",
+   "name": "Powder X-ray diffractometer",
+   "brand": "Rigaku",
+   "model": "MiniFlex600",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.miniflex:MiniFlexScene",
+   "chiller": "chiller_01",
+   "samples": {
+    "quartz_holder": [
+     {
+      "phase_id": "quartz",
+      "weight_fraction": 1.0
+     }
+    ],
+    "calcite_holder": [
+     {
+      "phase_id": "calcite",
+      "weight_fraction": 1.0
+     }
+    ],
+    "si_srm640_holder": [
+     {
+      "phase_id": "silicon",
+      "weight_fraction": 1.0
+     }
+    ],
+    "corundum_srm676_holder": [
+     {
+      "phase_id": "corundum",
+      "weight_fraction": 1.0
+     }
+    ]
+   }
+  },
+  {
+   "id": "rigaku_xtalabsynergy",
+   "asset_type_id": "instrument.rigaku_xtalabsynergy",
+   "name": "Single-crystal X-ray diffractometer",
+   "brand": "Rigaku Oxford Diffraction",
+   "model": "XtaLAB Synergy-R",
+   "domain": "imaging",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "state"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sartorius_vivaflow200",
+   "asset_type_id": "instrument.sartorius_vivaflow200",
+   "name": "Tangential-flow ultrafiltration module",
+   "brand": "Sartorius",
+   "model": "Vivaflow 200",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "cassette.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sciex_pa800",
+   "asset_type_id": "instrument.sciex_pa800",
+   "name": "Capillary electrophoresis system",
+   "brand": "SCIEX",
+   "model": "PA 800 Plus",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "sample_cover.set_position",
+     "arguments": {
+      "angle_rad": 1.5707963267948966
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BI:A1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "rinse buffer"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BO:A1",
+      "volume_m3": 6e-07,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "waste"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BI:B1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "run buffer in"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "BO:B1",
+      "volume_m3": 1e-06,
+      "composition_mol_m3": {
+       "boric_acid": 50.0,
+       "sodium_ion": 25.0
+      },
+      "label": "run buffer out"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "vial.place",
+     "arguments": {
+      "position": "SI:A1",
+      "volume_m3": 1.5e-06,
+      "composition_mol_m3": {
+       "benzoic_acid": 0.5
+      },
+      "label": "sample 1"
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "cartridge_cover.set_position",
+     "arguments": {
+      "angle_rad": 1.4
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "insertion_bar.set_position",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "state"
+    },
+    {
+     "capability": "cartridge.install",
+     "arguments": "contract_example",
+     "default": "accessory"
+    },
+    {
+     "capability": "insertion_bar.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "state"
+    },
+    {
+     "capability": "cartridge_cover.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "accessory"
+    },
+    {
+     "capability": "sample_cover.set_position",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "scp_digiprepms",
+   "asset_type_id": "instrument.scp_digiprepms",
+   "name": "Graphite block digestion system",
+   "brand": "SCP SCIENCE",
+   "model": "DigiPREP MS",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "seal_aa500",
+   "asset_type_id": "instrument.seal_aa500",
+   "name": "Segmented continuous-flow analyzer",
+   "brand": "SEAL Analytical",
+   "model": "AA500",
+   "domain": "bio",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "nitrate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "nitrite_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "ammonium_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "phosphate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "silicate_stock",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_nitrate_nitrite",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_nitrite",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_ammonia",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_phosphate",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "reagents_silicate",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "wash_water",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "kit.provide",
+     "arguments": {
+      "kit": "cadmium_activation",
+      "volume_m3": 0.003
+     },
+     "evaluator": true,
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch1",
+      "reagent": "imidazole_buffer",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch1",
+      "reagent": "colour_reagent",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "complexing_reagent",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "alkaline_phenol",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch2",
+      "reagent": "hypochlorite_nitroprusside",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch3",
+      "reagent": "molybdate_antimony",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch3",
+      "reagent": "ascorbic_acid",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
+    },
+    {
+     "capability": "reagent.load",
+     "arguments": {
+      "channel": "ch4",
+      "reagent": "molybdate",
+      "volume_m3": 0.0004
+     },
+     "default": "consumable"
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+      "reagent": "ascorbic_acid",
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+        "volume_m3": 1.4e-07
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+        "source_id": "silicate_stock",
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+        "source_id": "wash_water",
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+      "item_id": "std3",
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+    {
+     "capability": "system.startup",
+     "arguments": {},
+     "default": "standard"
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+     "why": "the cups and standards the lab set-up loaded are the lab's, usable by any caller (seal_aa500 1.0.1)"
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+   "asset_type_id": "instrument.sft_sft110",
+   "name": "Supercritical fluid extractor",
+   "brand": "Supercritical Fluid Technologies",
+   "model": "SFT-110",
+   "domain": "separation",
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+     "evaluator": true
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+     "default": "standard"
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+     "evaluator": true,
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+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard",
+     "why": "the contract example charge (the documented reference matrix of the asset) in the extraction vessel"
+    },
+    {
+     "capability": "cap.set_lift",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+     "capability": "door.set_angle",
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+     "default": "standard"
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+      "position": "on"
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+   "asset_type_id": "instrument.shimadzu_ags10knxd",
+   "name": "Universal testing machine",
+   "brand": "Shimadzu",
+   "model": "AGS-10kNXD",
+   "domain": "thermal",
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+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
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+     "default": "accessory"
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+      "closed": true
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+     "default": "accessory"
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+     "default": "state"
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+   "asset_type_id": "instrument.shimadzu_edx7200",
+   "name": "Energy-dispersive XRF spectrometer",
+   "brand": "Shimadzu",
+   "model": "EDX-7200",
+   "domain": "elemental",
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+     "arguments": "contract_example",
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+     "capability": "power.set",
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+      "current_a": 0.0001,
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+       "ni_ka1"
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+    {
+     "capability": "cover.set",
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+     "default": "standard"
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+      "kind": "blank",
+      "mass_kg": 0.01,
+      "dimensions_m": [
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+      "reference_fraction": 1.0,
+      "matrix_factor": 1.0,
+      "accept_conditional_response": true,
+      "accept_geometric_clearance_assumption": true
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "cover.set",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "measurement.start",
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+     "default": "standard"
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+    {
+     "capability": "cover.set",
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+     "evaluator": true,
+     "default": "standard"
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+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "mass_kg": 0.01,
+      "dimensions_m": [
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+       0.02,
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+      "accept_geometric_clearance_assumption": true
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+     "default": "standard"
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+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+  },
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+   "asset_type_id": "instrument.shimadzu_icpe9800",
+   "name": "ICP optical emission spectrometer",
+   "brand": "Shimadzu",
+   "model": "ICPE-9800",
+   "domain": "elemental",
+   "setup": [
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+     "arguments": "contract_example",
+     "evaluator": true
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+    {
+     "capability": "power.set",
+     "arguments": {
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+     "default": "utility"
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+     "capability": "vacuum.set",
+     "arguments": {
+      "enabled": true
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+     "default": "utility"
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+    {
+     "capability": "method.configure",
+     "arguments": {
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+       "zn_213857"
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+      "flush_s": 0.3,
+      "repeats": 1,
+      "background": "linear_reference"
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+     "default": "standard"
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+    {
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+     "default": "standard"
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+    {
+     "capability": "plasma.ignite",
+     "arguments": {},
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+    },
+    {
+     "advance_s": 2.5,
+     "default": "standard"
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+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "accept_unknown_conditions": true,
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+     "default": "standard"
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+    {
+     "capability": "measurement.start",
+     "arguments": {},
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+    {
+     "advance_s": 1.0,
+     "default": "standard"
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+    {
+     "capability": "sample.unload",
+     "arguments": {
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "standard",
+      "template_id": "shimadzu_epa_ipc_assigned",
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+      "volume_m3": 1e-05,
+      "dilution_factor": 10.0,
+      "background_relative": 0.02,
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+      "accept_assumed_elements": false,
+      "accept_unknown_conditions": true,
+      "is_aqueous": true
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+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "shimadzu_icpms2030",
+   "asset_type_id": "instrument.shimadzu_icpms2030",
+   "name": "ICP mass spectrometer",
+   "brand": "Shimadzu",
+   "model": "ICPMS-2030",
+   "domain": "elemental",
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
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+     "default": "utility"
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+    {
+     "capability": "vacuum.set",
+     "arguments": {
+      "enabled": true
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+     "default": "utility"
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+    {
+     "capability": "method.configure",
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+       66
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+      "quantifications": [
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+        "basis": "element"
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+        "isotope_id": "zn_66",
+        "basis": "element"
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+    {
+     "advance_s": 30.0,
+     "default": "standard"
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+    {
+     "capability": "plasma.ignite",
+     "arguments": {},
+     "default": "standard"
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+    {
+     "advance_s": 2.5,
+     "default": "standard"
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+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "template_id": "",
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+      "dilution_factor": 1.0,
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+      "interferences": [],
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+      "accept_natural_isotope_assumption": true,
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
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+    {
+     "advance_s": 1.0,
+     "default": "standard"
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+    {
+     "capability": "sample.unload",
+     "arguments": {
+      "recipient_id": "host"
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+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "standard",
+      "template_id": "infant_cal4",
+      "kind": "standard",
+      "volume_m3": 1e-05,
+      "dilution_factor": 10.0,
+      "internal_standard_reference_id": "",
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+      "accept_natural_isotope_assumption": true,
+      "accept_unknown_conditions": true
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+     "evaluator": true,
+     "default": "standard"
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+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "shimadzu_tocl",
+   "asset_type_id": "instrument.shimadzu_tocl",
+   "name": "Total organic carbon analyzer",
+   "brand": "Shimadzu",
+   "model": "TOC-L CSH",
+   "domain": "elemental",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
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+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "furnace.configure",
+     "arguments": {
+      "temperature_k": 953.15
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "TC",
+      "injection_volume_m3": 5e-07,
+      "dilution_factor": 1.0,
+      "repeats": 1,
+      "acid_volume_m3": 1e-09,
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+      "minimum_peak_s": 0.03,
+      "maximum_peak_s": 1.0,
+      "baseline_threshold": 1e-05,
+      "baseline_samples": 2,
+      "temperature_tolerance_k": 2.0
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+     "default": "standard"
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+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
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+      "template_id": "",
+      "template_channel": "TC",
+      "volume_m3": 2e-05,
+      "assumed_ic_kg_m3": null,
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+      "assumed_npoc_kg_m3": null,
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+      "accept_unknown_conditions": true
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+     "evaluator": true,
+     "default": "standard"
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+    {
+     "capability": "measurement.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.unload",
+     "arguments": {
+      "recipient_id": "external_bottle"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "sample_id": "standard",
+      "kind": "standard",
+      "template_id": "crm_altus_khp_10mg",
+      "template_channel": "TC",
+      "volume_m3": 2e-05,
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+      "assumed_poc_kg_m3": 0.0,
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+      "accept_unknown_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "signatone_quadpro2",
+   "asset_type_id": "instrument.signatone_quadpro2",
+   "name": "Automated four-point-probe sheet-resistance mapper",
+   "brand": "Signatone",
+   "model": "QuadPro2",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "smu_screen"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "home_key",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "smu_screen",
+      "x": 400,
+      "y": 240
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 150.0
+    },
+    {
+     "capability": "wafer.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "probe.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "enclosure.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 30.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "sonics_vcx750",
+   "asset_type_id": "instrument.sonics_vcx750",
+   "name": "Probe ultrasonic processor",
+   "brand": "Sonics",
+   "model": "VCX 750",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "key_on",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "sample_id": "aqueous_suspension",
+      "carrier_id": "water",
+      "carrier_mass_kg": 0.099,
+      "carrier_density_kg_m3": 1000.0,
+      "solid_label": "host_inert_solid",
+      "solid_mass_kg": 0.002,
+      "solid_density_kg_m3": 2000.0,
+      "solid_cp_J_kg_K": 800.0,
+      "initial_size_m": 0.0001,
+      "temperature_K": 298.15,
+      "material_evidence": "host_assumption_except_NIST_water_Cp"
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "mount.configure",
+     "arguments": {
+      "converter_clamped_upper": true,
+      "probe_tight": true,
+      "vessel_fixed": true,
+      "temperature_probe_present": true
+     },
+     "evaluator": true,
+     "default": "accessory"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "specac_atlasmanual",
+   "asset_type_id": "instrument.specac_atlasmanual",
+   "name": "Hydraulic pellet press",
+   "brand": "Specac",
+   "model": "Atlas Manual 15T",
+   "domain": "digestion",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "die.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "stanford_rga100",
+   "asset_type_id": "instrument.stanford_rga100",
+   "name": "Residual gas analyzer",
+   "brand": "Stanford Research Systems",
+   "model": "RGA100",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "vacuum.pump",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "analog",
+      "mass_min": 12,
+      "mass_max": 46,
+      "points_per_u": 10,
+      "mid_masses": [
+       14,
+       18,
+       28,
+       40,
+       44
+      ],
+      "cycles": 1,
+      "noise_floor": 7,
+      "electron_energy_v": 70.0,
+      "ion_energy_v": 12,
+      "focus_potential_v": -100.0,
+      "emission_current_a": 0.001,
+      "candidates": [
+       "nitrogen"
+      ],
+      "accept_unknown_ei_conditions": true
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "label": "blank",
+      "kind": "blank",
+      "components": [],
+      "standard_species_id": null,
+      "accept_unknown_ei_conditions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "filament.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "scan.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "surface_dvsresolution",
+   "asset_type_id": "instrument.surface_dvsresolution",
+   "name": "Dynamic vapour sorption analyzer",
+   "brand": "Surface Measurement Systems",
+   "model": "DVS Resolution",
+   "domain": "particles",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "stock.load",
+     "arguments": {
+      "solvent": "water",
+      "mass_kg": 0.001
+     },
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "amount_mol": 0.01
+     },
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "bam_p109_water_nitrogen_298p15k",
+      "form": "powder",
+      "dry_mass_kg": 1e-06,
+      "initial_water_kg": 0.0,
+      "accept_engineering_kinetics": true,
+      "accept_reversible_reference": false,
+      "sorption_tau_s": 0.5,
+      "desorption_tau_s": 1.0,
+      "sorption_heat_j_kg": 100000.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "syrris_asiadiscovery",
+   "asset_type_id": "instrument.syrris_asiadiscovery",
+   "name": "Continuous-flow chemistry system",
+   "brand": "Syrris",
+   "model": "Asia Discovery",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "pressure_led"
+   },
+   "setup": [
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.04
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 8.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "syrris_asiafllex",
+   "asset_type_id": "instrument.syrris_asiafllex",
+   "name": "Flow liquid–liquid extraction module",
+   "brand": "Syrris",
+   "model": "Asia FLLEX",
+   "domain": "separation",
+   "panel": {
+    "main_display": "display"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "separator.set_opening",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "membrane.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "separator.set_opening",
+     "arguments": {
+      "opening_m": 0.0
+     },
+     "evaluator": true,
+     "default": "accessory"
+    },
+    {
+     "capability": "tray.set_extension",
+     "arguments": {
+      "extension_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_dma850",
+   "asset_type_id": "instrument.ta_dma850",
+   "name": "Dynamic mechanical analyzer",
+   "brand": "TA Instruments",
+   "model": "DMA 850",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "air",
+      "amount_mol": 100.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 100.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "power_button",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_dsc2500",
+   "asset_type_id": "instrument.ta_dsc2500",
+   "name": "Differential scanning calorimeter",
+   "brand": "TA Instruments",
+   "model": "DSC 2500",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "tray.place",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "state"
+    },
+    {
+     "capability": "gas.unload",
+     "arguments": {},
+     "evaluator": true,
+     "default": "utility"
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 410.0,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true,
+     "default": "utility",
+     "why": "purge gas: one 50 L N2 cylinder at 200 bar = 410 mol (p V / R T); lasts ~8 months at 50 mL/min (manual: dsc_q_series_getting_started_guide p.35, purge gases)"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tamiv",
+   "asset_type_id": "instrument.ta_tamiv",
+   "name": "Isothermal microcalorimeter",
+   "brand": "TA Instruments",
+   "model": "TAM IV",
+   "domain": "thermal",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "reference.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tga5500",
+   "asset_type_id": "instrument.ta_tga5500",
+   "name": "Thermogravimetric analyzer",
+   "brand": "TA Instruments",
+   "model": "TGA 5500",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "N2",
+      "amount_mol": 0.1,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": {
+      "gas": "O2",
+      "amount_mol": 0.1,
+      "reference_temperature_k": 298.15,
+      "reference_pressure_pa": 101325.0,
+      "accept_reference_conditions": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "tray.place",
+     "arguments": {
+      "position": 1,
+      "sample": {
+       "reference_id": "fsri_abs_n2_10k_r1",
+       "mass_kg": 1e-05,
+       "pan_material": "ceramic",
+       "heat_capacity_j_kg_k": 1000.0,
+       "loss_relaxation_s": 1.0,
+       "loss_heat_j_kg": 0.0,
+       "oxidation_capacity_fraction": 0.0,
+       "oxidation_rate_s_inv": 0.1,
+       "oxidation_activation_j_mol": 50000.0,
+       "oxidation_reference_temperature_k": 600.0,
+       "oxidation_heat_j_kg": 0.0,
+       "accept_engineering": true,
+       "accept_curve_projection": true,
+       "accept_condition_transfer": true,
+       "accept_cold_extension": true
+      }
+     },
+     "evaluator": true,
+     "default": "state"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ta_tma450",
+   "asset_type_id": "instrument.ta_tma450",
+   "name": "Thermomechanical analyzer",
+   "brand": "TA Instruments",
+   "model": "TMA 450",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touchscreen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "gas.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "teledyne_analyteexcite",
+   "asset_type_id": "instrument.teledyne_analyteexcite",
+   "name": "Laser ablation sampling system",
+   "brand": "Teledyne CETAC",
+   "model": "Analyte Excite+",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "guard.set",
+     "arguments": {
+      "angle_rad": 1.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "open_m": 0.2
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "drawer.set",
+     "arguments": {
+      "open_m": 0.0
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "guard.set",
+     "arguments": {
+      "angle_rad": 0.0
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "teledyne_atomxxyz",
+   "asset_type_id": "instrument.teledyne_atomxxyz",
+   "name": "Purge-and-trap autosampler",
+   "brand": "Teledyne Tekmar",
+   "model": "Atomx XYZ",
+   "domain": "sampling",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "evaluator": true,
+     "arguments": {
+      "sample_id": "aqueous_toluene",
+      "vial_index": 2,
+      "matrix": "water",
+      "liquid_volume_m3": 2e-05,
+      "soil_mass_kg": 0.0,
+      "components": [
+       {
+        "substance_id": "toluene",
+        "moles": 1e-08,
+        "soil_kd_m3_kg": 0.0
+       }
+      ]
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thalesnano_hcube",
+   "asset_type_id": "instrument.thalesnano_hcube",
+   "name": "Continuous-flow hydrogenation reactor",
+   "brand": "ThalesNano",
+   "model": "H-Cube Pro",
+   "domain": "synthesis",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.05
+     }
+    },
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "kinetics.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "clamp.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "water_lid.set_lift",
+     "arguments": {
+      "lift_m": 0.03
+     }
+    },
+    {
+     "capability": "water.fill",
+     "arguments": {
+      "volume_m3": 0.0001,
+      "conductivity_s_m": 1e-06
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "water_lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     }
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thermo_dionexintegrion",
+   "asset_type_id": "instrument.thermo_dionexintegrion",
+   "name": "Ion chromatograph",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Dionex Integrion HPIC",
+   "domain": "chromatography",
+   "panel": {
+    "main_display": "tablet"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 11.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thermo_ibrightfl1500",
+   "asset_type_id": "instrument.thermo_ibrightfl1500",
+   "name": "Gel & blot imager",
+   "brand": "Thermo Fisher Scientific",
+   "model": "iBright FL1500",
+   "domain": "bio",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 300.0
+    },
+    {
+     "capability": "settings.configure",
+     "arguments": {
+      "sleep_mode": false
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 382,
+      "y": 548
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": {
+      "sample_id": "gel1",
+      "support": "agarose_gel",
+      "width_m": 0.1,
+      "height_m": 0.08,
+      "lanes": [
+       {
+        "x_m": 0.02,
+        "width_m": 0.005,
+        "bands": []
+       },
+       {
+        "x_m": 0.04,
+        "width_m": 0.005,
+        "bands": []
+       }
+      ]
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thermo_orbitrapexploris",
+   "asset_type_id": "instrument.thermo_orbitrapexploris",
+   "name": "High-resolution Orbitrap mass spectrometer",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Orbitrap Exploris 120",
+   "domain": "elemental",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "method.configure",
+     "arguments": {
+      "mode": "ms1",
+      "polarity": "positive",
+      "mass_min": 40.0,
+      "mass_max": 500.0,
+      "resolution": 30000,
+      "precursor_mz": 122.06,
+      "isolation_width_relative": 1.0,
+      "collision_type": "nce",
+      "normalized_collision_energy": 0.35,
+      "collision_potential_v": 25.0,
+      "agc_normalized": 0.1,
+      "maximum_injection_s": 0.02,
+      "scans": 1,
+      "spray_voltage_v": 3500.0,
+      "transfer_temperature_k": 323.15,
+      "vaporizer_temperature_k": null,
+      "flow_m3_s": 1e-09,
+      "sheath_gas_arbitrary": 10.0,
+      "auxiliary_gas_arbitrary": 2.0,
+      "sweep_gas_arbitrary": 0.0,
+      "reference_condition_policy": "matching_energy"
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "label": "blank",
+      "kind": "blank",
+      "volume_m3": 1e-07,
+      "components": [],
+      "accept_transferred_reference": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "standard"
+    },
+    {
+     "advance_s": 2.0,
+     "default": "standard"
+    },
+    {
+     "capability": "scan.start",
+     "arguments": {},
+     "default": "standard"
+    },
+    {
+     "advance_s": 1.0,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": false
+     },
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "label": "host_prepared_benzamide_solution",
+      "kind": "sample",
+      "volume_m3": 1e-07,
+      "components": [
+       {
+        "template_id": "sm808001",
+        "amount_mol": 1e-08
+       }
+      ],
+      "accept_transferred_reference": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "source.set",
+     "arguments": {
+      "enabled": true
+     },
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "thermo_process11",
+   "asset_type_id": "instrument.thermo_process11",
+   "name": "Lab twin-screw extruder",
+   "brand": "Thermo Fisher Scientific",
+   "model": "Process 11",
+   "domain": "materials",
+   "panel": {
+    "main_display": "hmi"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example"
+    },
+    {
+     "capability": "material.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "coolant.set_connected",
+     "arguments": {
+      "connected": true
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "isolator",
+      "position": "1"
+     }
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "hmi",
+      "x": 400,
+      "y": 300
+     }
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "thinky_are310s",
+   "asset_type_id": "instrument.thinky_are310s",
+   "name": "Planetary centrifugal mixer",
+   "brand": "THINKY",
+   "model": "ARE-310",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "panel"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "I"
+     }
+    },
+    {
+     "advance_s": 2.0
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": {
+      "sample_id": "aqueous_resin_proxy",
+      "carrier_id": "water",
+      "carrier_mass_kg": 0.08,
+      "carrier_density_kg_m3": 1000.0,
+      "solid_label": "host_inert_solid",
+      "solid_mass_kg": 0.02,
+      "solid_density_kg_m3": 2000.0,
+      "solid_cp_J_kg_K": 800.0,
+      "viscosity_Pa_s": 1.0,
+      "entrained_gas_mol": 2e-05,
+      "temperature_K": 298.15,
+      "cup_volume_m3": 0.0003,
+      "cup_tare_kg": 0.04,
+      "adapter_mass_kg": 0.0,
+      "material_evidence": "host_assumptions_except_NIST_liquid_Cp"
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "tousimis_autosamdri815",
+   "asset_type_id": "instrument.tousimis_autosamdri815",
+   "name": "Critical point dryer",
+   "brand": "Tousimis",
+   "model": "Autosamdri-815 Series B",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.065
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "holder.set_lift",
+     "arguments": {
+      "lift_m": 0.035
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "holder.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "lid.set_lift",
+     "arguments": {
+      "lift_m": 0.0
+     },
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "tuttnauer_3870elvd",
+   "asset_type_id": "instrument.tuttnauer_3870elvd",
+   "name": "Steam autoclave",
+   "brand": "Tuttnauer",
+   "model": "3870ELV-D",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "main_switch",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 5.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "uic_kdl1basic",
+   "asset_type_id": "instrument.uic_kdl1basic",
+   "name": "Short-path wiped-film molecular still",
+   "brand": "UIC",
+   "model": "KDL1 Basic",
+   "domain": "separation",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ultrafast_helios",
+   "asset_type_id": "instrument.ultrafast_helios",
+   "name": "Femtosecond transient absorption spectrometer",
+   "brand": "Ultrafast Systems",
+   "model": "HELIOS",
+   "domain": "spectroscopy",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.cover",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "laser.arm",
+     "arguments": {
+      "enabled": true
+     },
+     "evaluator": true,
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "vacuubrand_pc3001_vario_select",
+   "asset_type_id": "instrument.vacuubrand_pc3001_vario_select",
+   "name": "Chemistry vacuum pumping unit",
+   "brand": "VACUUBRAND",
+   "model": "PC 3001 VARIO select",
+   "domain": "facility",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "host": "create_chamber",
+     "kwargs": {
+      "chamber_id": "flask_2l",
+      "volume_m3": 0.002,
+      "initial_pressure_pa": 101325.0,
+      "leak_throughput_pa_m3_s": 0.0,
+      "evidence": "task world: 2 L round-bottom flask with a cold trap on the pump inlet"
+     },
+     "default": "utility"
+    },
+    {
+     "host": "connect_source",
+     "kwargs": {
+      "instance_id": "vacuubrand_pc3001_vario_select",
+      "chamber_id": "flask_2l"
+     },
+     "default": "utility"
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "rocker",
+      "position": "I"
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "onoff",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 31.0
+    },
+    {
+     "capability": "panel.touch",
+     "arguments": {
+      "display_id": "screen",
+      "x": 240,
+      "y": 483
+     }
+    },
+    {
+     "advance_s": 2.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "vaisala_dmt152",
+   "asset_type_id": "instrument.vaisala_dmt152",
+   "name": "Trace-moisture dew-point transmitter",
+   "brand": "Vaisala",
+   "model": "DMT152",
+   "domain": "facility",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example"
+  },
+  {
+   "id": "velp_udk159",
+   "asset_type_id": "instrument.velp_udk159",
+   "name": "Automatic Kjeldahl distillation & titration unit",
+   "brand": "VELP",
+   "model": "UDK 159",
+   "domain": "digestion",
+   "panel": {
+    "main_display": "screen"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "stocks.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "coolant.set",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_selector",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "library.select",
+     "arguments": {
+      "index": 1
+     }
+    },
+    {
+     "capability": "tube.set_clamped",
+     "arguments": {
+      "clamped": true
+     }
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "door.set_open",
+     "arguments": {
+      "open": false
+     }
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "vici_euta_2sd6mwe",
+   "asset_type_id": "instrument.vici_euta_2sd6mwe",
+   "name": "Multi-position gas stream-selection valve",
+   "brand": "VICI Valco",
+   "model": "EUTA-2SD6MWE",
+   "domain": "automation",
+   "panel": {
+    "main_display": "remote_display"
+   },
+   "setup": [
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "up",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "advance_s": 150.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)",
+   "scene": "chemlab.compile.scenes.vici:ViciScene"
+  },
+  {
+   "id": "wtw_oxitopi",
+   "asset_type_id": "instrument.wtw_oxitopi",
+   "name": "Respirometric BOD system",
+   "brand": "WTW (Xylem)",
+   "model": "OxiTop-i",
+   "domain": "bio",
+   "panel": {
+    "main_display": "h1_lcd"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h1_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h2_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h3_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h4_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h5_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "panel.press",
+     "arguments": {
+      "input_id": "h6_m",
+      "duration_s": 0.1
+     }
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h1",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h2",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h3",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h4",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h5",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "capability": "head.set_system",
+     "arguments": {
+      "head": "h6",
+      "switch_off_s": 540.0
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen)"
+  },
+  {
+   "id": "wyatt_eclipseaf4",
+   "asset_type_id": "instrument.wyatt_eclipseaf4",
+   "name": "Asymmetric-flow field-flow fractionation (AF4) system",
+   "brand": "Wyatt Technology",
+   "model": "Eclipse AF4",
+   "domain": "chromatography",
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "sample.provide",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "power.set",
+     "arguments": {
+      "on": true
+     },
+     "default": "utility"
+    }
+   ],
+   "setup_source": "world set-up: plant.configure with the contract example + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "ziath_dp5_mirage_2023",
+   "asset_type_id": "instrument.ziath_dp5_mirage_2023",
+   "name": "2D-barcode rack reader",
+   "brand": "Azenta Ziath",
+   "model": "DP5 Mirage",
+   "domain": "automation",
+   "setup": [
+    {
+     "host": "host_load_rack",
+     "kwargs": {
+      "rack_id": "rack_1",
+      "rack_format": 96,
+      "well_ids": [
+       "A1",
+       "A2",
+       "A3",
+       "A4",
+       "A5",
+       "A6",
+       "A7",
+       "A8",
+       "A9",
+       "A10",
+       "A11",
+       "A12",
+       "B1",
+       "B2",
+       "B3",
+       "B4",
+       "B5",
+       "B6",
+       "B7",
+       "B8",
+       "B9",
+       "B10",
+       "B11",
+       "B12",
+       "C1",
+       "C2",
+       "C3",
+       "C4",
+       "C5",
+       "C6",
+       "C7",
+       "C8",
+       "C9",
+       "C10",
+       "C11",
+       "C12",
+       "D1",
+       "D2",
+       "D3",
+       "D4",
+       "D5",
+       "D6",
+       "D7",
+       "D8",
+       "D9",
+       "D10",
+       "D11",
+       "D12",
+       "E1",
+       "E2",
+       "E3",
+       "E4",
+       "E5",
+       "E6",
+       "E7",
+       "E8",
+       "E9",
+       "E10",
+       "E11",
+       "E12",
+       "F1",
+       "F2",
+       "F3",
+       "F4",
+       "F5",
+       "F6",
+       "F7",
+       "F8",
+       "F9",
+       "F10",
+       "F11",
+       "F12",
+       "G1",
+       "G2",
+       "G3",
+       "G4",
+       "G5",
+       "G6",
+       "G7",
+       "G8",
+       "G9",
+       "G10",
+       "G11",
+       "G12",
+       "H1",
+       "H2",
+       "H3",
+       "H4",
+       "H5",
+       "H6",
+       "H7",
+       "H8",
+       "H9",
+       "H10",
+       "H11",
+       "H12"
+      ],
+      "visible_barcodes": {
+       "A1": "TB0000",
+       "A2": "TB0001",
+       "A3": "TB0002",
+       "A4": "TB0003",
+       "A5": "TB0004",
+       "A6": "TB0005",
+       "A7": "TB0006",
+       "A8": "TB0007",
+       "A9": "TB0008",
+       "A10": "TB0009",
+       "A11": "TB0010",
+       "A12": "TB0011",
+       "B1": "TB0012",
+       "B2": "TB0013",
+       "B3": "TB0014",
+       "B4": "TB0015",
+       "B5": "TB0016",
+       "B6": "TB0017",
+       "B7": "TB0018",
+       "B8": "TB0019",
+       "B9": "TB0020",
+       "B10": "TB0021",
+       "B11": "TB0022",
+       "B12": "TB0023",
+       "C1": "TB0024",
+       "C2": "TB0025",
+       "C3": "TB0026",
+       "C4": "TB0027",
+       "C5": "TB0028",
+       "C6": "TB0029",
+       "C7": "TB0030",
+       "C8": "TB0031",
+       "C9": "TB0032",
+       "C10": "TB0033",
+       "C11": "TB0034",
+       "C12": "TB0035",
+       "D1": "TB0036",
+       "D2": "TB0037",
+       "D3": "TB0038",
+       "D4": "TB0039",
+       "D5": "TB0040",
+       "D6": "TB0041",
+       "D7": "TB0042",
+       "D8": "TB0043",
+       "D9": "TB0044",
+       "D10": "TB0045",
+       "D11": "TB0046",
+       "D12": "TB0047",
+       "E1": "TB0048",
+       "E2": "TB0049",
+       "E3": "TB0050",
+       "E4": "TB0051",
+       "E5": "TB0052",
+       "E6": "TB0053",
+       "E7": "TB0054",
+       "E8": "TB0055",
+       "E9": "TB0056",
+       "E10": "TB0057",
+       "E11": "TB0058",
+       "E12": "TB0059",
+       "F1": "TB0060",
+       "F2": "TB0061",
+       "F3": "TB0062",
+       "F4": "TB0063",
+       "F5": "TB0064",
+       "F6": "TB0065",
+       "F7": "TB0066",
+       "F8": "TB0067",
+       "F9": "TB0068",
+       "F10": "TB0069",
+       "F11": "TB0070",
+       "F12": "TB0071",
+       "G1": "TB0072",
+       "G2": "TB0073",
+       "G3": "TB0074",
+       "G4": "TB0075",
+       "G5": "TB0076",
+       "G6": "TB0077",
+       "G7": "TB0078",
+       "G8": "TB0079",
+       "G9": "TB0080",
+       "G10": "TB0081",
+       "G11": "TB0082",
+       "G12": "TB0083",
+       "H1": "TB0084",
+       "H2": "TB0085",
+       "H3": "TB0086",
+       "H4": "TB0087",
+       "H5": "TB0088",
+       "H6": "TB0089",
+       "H7": "TB0090",
+       "H8": "TB0091",
+       "H9": "TB0092",
+       "H10": "TB0093",
+       "H11": "TB0094",
+       "H12": "TB0095"
+      },
+      "task_manifest": {
+       "A1": "TB0000",
+       "A2": "TB0001",
+       "A3": "TB0002",
+       "A4": "TB0003",
+       "A5": "TB0004",
+       "A6": "TB0005",
+       "A7": "TB0006",
+       "A8": "TB0007",
+       "A9": "TB0008",
+       "A10": "TB0009",
+       "A11": "TB0010",
+       "A12": "TB0011",
+       "B1": "TB0012",
+       "B2": "TB0013",
+       "B3": "TB0014",
+       "B4": "TB0015",
+       "B5": "TB0016",
+       "B6": "TB0017",
+       "B7": "TB0018",
+       "B8": "TB0019",
+       "B9": "TB0020",
+       "B10": "TB0021",
+       "B11": "TB0022",
+       "B12": "TB0023",
+       "C1": "TB0024",
+       "C2": "TB0025",
+       "C3": "TB0026",
+       "C4": "TB0027",
+       "C5": "TB0028",
+       "C6": "TB0029",
+       "C7": "TB0030",
+       "C8": "TB0031",
+       "C9": "TB0032",
+       "C10": "TB0033",
+       "C11": "TB0034",
+       "C12": "TB0035",
+       "D1": "TB0036",
+       "D2": "TB0037",
+       "D3": "TB0038",
+       "D4": "TB0039",
+       "D5": "TB0040",
+       "D6": "TB0041",
+       "D7": "TB0042",
+       "D8": "TB0043",
+       "D9": "TB0044",
+       "D10": "TB0045",
+       "D11": "TB0046",
+       "D12": "TB0047",
+       "E1": "TB0048",
+       "E2": "TB0049",
+       "E3": "TB0050",
+       "E4": "TB0051",
+       "E5": "TB0052",
+       "E6": "TB0053",
+       "E7": "TB0054",
+       "E8": "TB0055",
+       "E9": "TB0056",
+       "E10": "TB0057",
+       "E11": "TB0058",
+       "E12": "TB0059",
+       "F1": "TB0060",
+       "F2": "TB0061",
+       "F3": "TB0062",
+       "F4": "TB0063",
+       "F5": "TB0064",
+       "F6": "TB0065",
+       "F7": "TB0066",
+       "F8": "TB0067",
+       "F9": "TB0068",
+       "F10": "TB0069",
+       "F11": "TB0070",
+       "F12": "TB0071",
+       "G1": "TB0072",
+       "G2": "TB0073",
+       "G3": "TB0074",
+       "G4": "TB0075",
+       "G5": "TB0076",
+       "G6": "TB0077",
+       "G7": "TB0078",
+       "G8": "TB0079",
+       "G9": "TB0080",
+       "G10": "TB0081",
+       "G11": "TB0082",
+       "G12": "TB0083",
+       "H1": "TB0084",
+       "H2": "TB0085",
+       "H3": "TB0086",
+       "H4": "TB0087",
+       "H5": "TB0088",
+       "H6": "TB0089",
+       "H7": "TB0090",
+       "H8": "TB0091",
+       "H9": "TB0092",
+       "H10": "TB0093",
+       "H11": "TB0094",
+       "H12": "TB0095"
+      },
+      "instance_id": "ziath_dp5_mirage_2023"
+     },
+     "default": "consumable"
+    }
+   ],
+   "setup_source": "none + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "zwick_hit5p",
+   "asset_type_id": "instrument.zwick_hit5p",
+   "name": "Pendulum impact tester",
+   "brand": "ZwickRoell",
+   "model": "HIT5P",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "fixture.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true
+    },
+    {
+     "advance_s": 1.0
+    },
+    {
+     "capability": "pendulum.raise",
+     "arguments": {},
+     "evaluator": true
+    },
+    {
+     "advance_s": 3.0
+    },
+    {
+     "capability": "calibration.start",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 20.0,
+     "default": "standard"
+    },
+    {
+     "capability": "pendulum.catch",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "pendulum.raise",
+     "arguments": {},
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 5.0,
+     "default": "standard"
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard",
+     "why": "the contract example notched bar (reference specimen)"
+    },
+    {
+     "capability": "shield.set_open",
+     "arguments": {
+      "opened": false
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 3.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  },
+  {
+   "id": "zwick_mflow",
+   "asset_type_id": "instrument.zwick_mflow",
+   "name": "Melt flow indexer",
+   "brand": "ZwickRoell",
+   "model": "Mflow",
+   "domain": "thermal",
+   "panel": {
+    "main_display": "touch"
+   },
+   "setup": [
+    {
+     "capability": "plant.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "balance.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "method.configure",
+     "arguments": "contract_example",
+     "evaluator": true
+    },
+    {
+     "capability": "panel.switch",
+     "arguments": {
+      "input_id": "power_switch",
+      "position": "on"
+     }
+    },
+    {
+     "advance_s": 5.0
+    },
+    {
+     "capability": "thermal.set_temperature",
+     "arguments": {
+      "target_k": 523.15
+     },
+     "default": "utility"
+    },
+    {
+     "advance_s": 1500.0,
+     "default": "standard"
+    },
+    {
+     "capability": "sample.load",
+     "arguments": {
+      "reference_id": "basf_ultradur_b6550",
+      "reference_temperature_k": 523.15,
+      "reference_load_kg": 2.16,
+      "mass_kg": 0.006,
+      "bulk_density_kg_m3": 800.0,
+      "melt_density_kg_m3": 1110.0,
+      "specific_heat_j_kg_k": 1900.0,
+      "initial_temperature_k": 296.15,
+      "melting_low_k": 488.15,
+      "melting_high_k": 498.15,
+      "latent_heat_j_kg": 48000.0,
+      "power_law_index": 0.75,
+      "activation_energy_j_mol": 50000.0,
+      "history_rate_per_s": 5e-05,
+      "accept_rheology_thermal_density_and_packing_assumptions": true
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "weight.configure",
+     "arguments": {
+      "total_load_kg": 2.16
+     },
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "capability": "piston.insert",
+     "arguments": "contract_example",
+     "evaluator": true,
+     "default": "standard"
+    },
+    {
+     "advance_s": 10.0,
+     "default": "standard"
+    }
+   ],
+   "setup_source": "release panel bring-up (home screen) + the default lab (chemlab/default_world.py)"
+  }
+ ],
+ "inventory": "inventory_task_quantos_powder.json"
+}
diff --git a/chemlab/configs/host_recipes.json b/chemlab/configs/host_recipes.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9eb3dea3c0394e4cf595caaed35beaf2b737b36
--- /dev/null
+++ b/chemlab/configs/host_recipes.json
@@ -0,0 +1,1259 @@
+{
+ "about": "Host recipes of the Chemistry-Sim runtimes (how each runtime host is built and how its clock is advanced), exported from the Matterix simulator bridge (runtime_bridge.py: RECIPES and PANEL_RECIPES) by \"python -m chemlab.recipes --export\". chemlab reads this file when the bridge is not present.",
+ "n_recipes": 195,
+ "n_panel_recipes": 8,
+ "PANEL_RECIPES": {
+  "instrument.agilent_7890b_ssl_fid": {
+   "advance": "step_dt",
+   "cls": "GC7890BRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.agilent_7890b_ssl_fid"
+  },
+  "instrument.binder_vd56": {
+   "advance": "step_dt",
+   "cls": "BinderVD56Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.carbolite_tf1_12_60_300": {
+   "advance": "step_dt",
+   "cls": "CarboliteTF1Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.multiwave_7101": {
+   "advance": "step_dt",
+   "cls": "Multiwave7101Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.nabertherm_l9": {
+   "advance": "step_dt",
+   "cls": "NaberthermL9Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.ohaus_px224e": {
+   "advance": "step_dt",
+   "cls": "OhausBalanceRuntime",
+   "ctor": {
+    "model": "PX224E"
+   },
+   "instance_kw": "instance_id",
+   "module": "asset_runtime.ohaus_balance"
+  },
+  "instrument.ohaus_spx2201": {
+   "advance": "step_dt",
+   "cls": "OhausBalanceRuntime",
+   "ctor": {
+    "model": "SPX2201"
+   },
+   "instance_kw": "instance_id",
+   "module": "asset_runtime.ohaus_balance"
+  },
+  "instrument.parr_4591": {
+   "advance": "step_dt",
+   "cls": "Parr4591Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  }
+ },
+ "RECIPES": {
+  "instrument.agilent_1260infinity": {
+   "advance": "step_dt",
+   "cls": "Agilent1260infinityRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.agilent_1260infinity"
+  },
+  "instrument.agilent_1290infinity": {
+   "advance": "step_dt",
+   "cls": "Agilent1290infinityRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.agilent_1290infinity"
+  },
+  "instrument.agilent_gc8890b": {
+   "advance": "host_step_dt",
+   "cls": "AgilentGC8890B",
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.agilent_hplc1260": {
+   "advance": "host_advance_abs",
+   "cls": "AgilentHPLC1260Runtime",
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.agilent_hs8697": {
+   "advance": "clock_host_update",
+   "cls": "AgilentHS8697",
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.alicat_mc_1slpm_rev6": {
+   "advance": "host_step_dt",
+   "cls": "AlicatMCRuntime",
+   "create": "type",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.ametek_oxtran": {
+   "advance": "step_dt",
+   "cls": "AmetekOxtranRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ametek_oxtran"
+  },
+  "instrument.antonpaar_abbematadvanced": {
+   "advance": "step_dt",
+   "cls": "AntonpaarAbbematadvancedRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_abbematadvanced"
+  },
+  "instrument.antonpaar_autosorb6100": {
+   "advance": "step_dt",
+   "cls": "AntonpaarAutosorb6100Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_autosorb6100"
+  },
+  "instrument.antonpaar_dma5002": {
+   "advance": "step_dt",
+   "cls": "AntonpaarDma5002Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_dma5002"
+  },
+  "instrument.antonpaar_hit300": {
+   "advance": "step_dt",
+   "cls": "AntonpaarHit300Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_hit300"
+  },
+  "instrument.antonpaar_litesizerdia": {
+   "advance": "step_dt",
+   "cls": "AntonpaarLitesizerdiaRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_litesizerdia"
+  },
+  "instrument.antonpaar_litesizerdls": {
+   "advance": "step_dt",
+   "cls": "AntonpaarLitesizerdlsRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_litesizerdls"
+  },
+  "instrument.antonpaar_mcr503": {
+   "advance": "step_dt",
+   "cls": "AntonpaarMcr503Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_mcr503"
+  },
+  "instrument.antonpaar_monowave400": {
+   "advance": "step_dt",
+   "cls": "AntonpaarMonowave400Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_monowave400"
+  },
+  "instrument.antonpaar_poremaster60": {
+   "advance": "step_dt",
+   "cls": "AntonpaarPoremaster60Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_poremaster60"
+  },
+  "instrument.antonpaar_psa1190": {
+   "advance": "step_dt",
+   "cls": "AntonpaarPsa1190Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_psa1190"
+  },
+  "instrument.antonpaar_rst300": {
+   "advance": "step_dt",
+   "cls": "AntonpaarRst300Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_rst300"
+  },
+  "instrument.antonpaar_saxspace": {
+   "advance": "step_dt",
+   "cls": "AntonpaarSaxspaceRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_saxspace"
+  },
+  "instrument.antonpaar_surpass3": {
+   "advance": "step_dt",
+   "cls": "AntonpaarSurpass3Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_surpass3"
+  },
+  "instrument.antonpaar_trb": {
+   "advance": "step_dt",
+   "cls": "AntonpaarTrbRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_trb"
+  },
+  "instrument.antonpaar_ultrapyc5000": {
+   "advance": "step_dt",
+   "cls": "AntonpaarUltrapyc5000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.antonpaar_ultrapyc5000"
+  },
+  "instrument.applied_sx20": {
+   "advance": "step_dt",
+   "cls": "AppliedSx20Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.applied_sx20"
+  },
+  "instrument.aqualab_4te": {
+   "advance": "step_dt",
+   "cls": "Aqualab4teRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.aqualab_4te"
+  },
+  "instrument.arradiance_gemstarxt": {
+   "advance": "step_dt",
+   "cls": "ArradianceGemstarxtRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.arradiance_gemstarxt"
+  },
+  "instrument.azenta_automated_roll_heat_sealer_a4s": {
+   "advance": "host_step_dt_world",
+   "cls": "AzentaHeatSealerRuntime",
+   "create": "scene",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.azenta_intellixcap_s1_46_0001": {
+   "advance": "host_step_dt",
+   "cls": "IntelliXcapS1Runtime",
+   "create": "plain",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.bd_facsariaiii": {
+   "advance": "step_dt",
+   "cls": "BdFacsariaiiiRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bd_facsariaiii"
+  },
+  "instrument.binder_fd056": {
+   "advance": "step_dt",
+   "cls": "BinderFd056Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.binder_fd056"
+  },
+  "instrument.binder_kbf115": {
+   "advance": "step_dt",
+   "cls": "BinderKbf115Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.binder_kbf115"
+  },
+  "instrument.biolin_mediuml": {
+   "advance": "step_dt",
+   "cls": "BiolinMediumlRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biolin_mediuml"
+  },
+  "instrument.biolin_sigma700": {
+   "advance": "step_dt",
+   "cls": "BiolinSigma700Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biolin_sigma700"
+  },
+  "instrument.biolin_thetaflex": {
+   "advance": "step_dt",
+   "cls": "BiolinThetaFlexRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biolin_thetaflex"
+  },
+  "instrument.biorad_cfxopus": {
+   "advance": "step_dt",
+   "cls": "BioradCfxOpusRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biorad_cfxopus"
+  },
+  "instrument.biorad_miniprotean": {
+   "advance": "step_dt",
+   "cls": "BioradMiniproteanRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biorad_miniprotean"
+  },
+  "instrument.biotage_extrahera_classic": {
+   "advance": "step_dt",
+   "cls": "ExtraheraHost",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.biotage_selekt": {
+   "advance": "step_dt",
+   "cls": "BiotageSelektRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biotage_selekt"
+  },
+  "instrument.biotek_405ts": {
+   "advance": "step_dt",
+   "cls": "Biotek405tsRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.biotek_405ts"
+  },
+  "instrument.bmg_clariostarplus": {
+   "advance": "step_dt",
+   "cls": "BmgClariostarplusRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bmg_clariostarplus"
+  },
+  "instrument.bronkhorst_cemw": {
+   "advance": "step_dt",
+   "cls": "BronkhorstCemwRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bronkhorst_cemw"
+  },
+  "instrument.bronkhorst_p702cv_5bar_gauge_n2": {
+   "advance": "step_dt_world",
+   "cls": "P702CVRuntime",
+   "ctor": {
+    "control_gain_per_Pa_s": 1e-06,
+    "downstream_absolute_pressure_Pa": 101325.0,
+    "inflow_mol_s": 0.0001,
+    "initial_upstream_absolute_pressure_Pa": 301325.0,
+    "pressure_reference_Pa": 101325.0,
+    "temperature_K": 293.15,
+    "upstream_volume_m3": 0.001,
+    "valve_conductance_mol_s_Pa": 1e-08
+   },
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.brooks_preciseflex_400": {
+   "advance": "host_set_clock_abs",
+   "cls": "PreciseFlex400Runtime",
+   "create": "plain",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.bruker_magnettechesr5000": {
+   "advance": "step_dt",
+   "cls": "BrukerMagnettechesr5000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bruker_magnettechesr5000"
+  },
+  "instrument.bruker_minispecmq20": {
+   "advance": "step_dt",
+   "cls": "BrukerMinispecMq20Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bruker_minispecmq20"
+  },
+  "instrument.bruker_x4poseidon": {
+   "advance": "step_dt",
+   "cls": "BrukerX4PoseidonRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.bruker_x4poseidon"
+  },
+  "instrument.buchi_encapsulatorb": {
+   "advance": "step_dt",
+   "cls": "BuchiEncapsulatorbRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.buchi_encapsulatorb"
+  },
+  "instrument.buchi_hydrolexh": {
+   "advance": "step_dt",
+   "cls": "BuchiHydrolexhRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.buchi_hydrolexh"
+  },
+  "instrument.buchi_lyovapor_l250_pro": {
+   "advance": "step_dt",
+   "cls": "LyovaporHost",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.buchi_minispray": {
+   "advance": "step_dt",
+   "cls": "BuchiMinisprayRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.buchi_minispray"
+  },
+  "instrument.buchi_speedextractore": {
+   "advance": "step_dt",
+   "cls": "BuchiSpeedextractoreRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.buchi_speedextractore"
+  },
+  "instrument.camag_tlcscanner": {
+   "advance": "step_dt",
+   "cls": "CamagTlcscannerRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.camag_tlcscanner"
+  },
+  "instrument.cem_libertyblue": {
+   "advance": "step_dt",
+   "cls": "CemLibertyblueRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.cem_libertyblue"
+  },
+  "instrument.ch_chi440c": {
+   "advance": "step_dt",
+   "cls": "ChChi440cRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ch_chi440c"
+  },
+  "instrument.ch_chi920d": {
+   "advance": "step_dt",
+   "cls": "ChChi920dRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ch_chi920d"
+  },
+  "instrument.cytiva_biacoret200": {
+   "advance": "step_dt",
+   "cls": "CytivaBiacoret200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.cytiva_biacoret200"
+  },
+  "instrument.cytiva_ktaoligosynt": {
+   "advance": "step_dt",
+   "cls": "CytivaKtaoligosyntRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.cytiva_ktaoligosynt"
+  },
+  "instrument.cytiva_nanoassemblrignite": {
+   "advance": "step_dt",
+   "cls": "CytivaNanoassemblrigniteRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.cytiva_nanoassemblrignite"
+  },
+  "instrument.eco_ncld822": {
+   "advance": "step_dt",
+   "cls": "EcoNcld822Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.eco_ncld822"
+  },
+  "instrument.edinburgh_fls1000tcspc": {
+   "advance": "step_dt",
+   "cls": "EdinburghFls1000tcspcRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.edinburgh_fls1000tcspc"
+  },
+  "instrument.elementar_isoprimeprecision": {
+   "advance": "step_dt",
+   "cls": "ElementarIsoprimeprecisionRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.elementar_isoprimeprecision"
+  },
+  "instrument.elementar_varioel": {
+   "advance": "step_dt",
+   "cls": "ElementarVarioelRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.elementar_varioel"
+  },
+  "instrument.elga_purelab_flex3": {
+   "advance": "step_dt",
+   "cls": "PurelabHost",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.elma_elmasonics60h": {
+   "advance": "step_dt",
+   "cls": "ElmaElmasonics60hRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.elma_elmasonics60h"
+  },
+  "instrument.eppendorf_5910ri": {
+   "advance": "host_advance_abs",
+   "agent_session_default": true,
+   "cls": "Eppendorf5910Ri",
+   "evaluator_register_positional": true,
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.eppendorf_cellxpertc170i": {
+   "advance": "step_dt",
+   "cls": "EppendorfCellxpertC170iRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.eppendorf_cellxpertc170i"
+  },
+  "instrument.eppendorf_cryocubef570n": {
+   "advance": "step_dt",
+   "cls": "EppendorfCryocubef570nRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.eppendorf_cryocubef570n"
+  },
+  "instrument.esco_ac24s8": {
+   "advance": "step_dt",
+   "cls": "EscoAc24s8Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.esco_ac24s8"
+  },
+  "instrument.esco_efa5uduvw": {
+   "advance": "step_dt",
+   "cls": "EscoEfa5uduvwRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.esco_efa5uduvw"
+  },
+  "instrument.evident_bx53p": {
+   "advance": "step_dt",
+   "cls": "EvidentBx53pRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.evident_bx53p"
+  },
+  "instrument.freeman_ft4powder": {
+   "advance": "step_dt",
+   "cls": "FreemanFt4powderRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.freeman_ft4powder"
+  },
+  "instrument.frontier_egapy": {
+   "advance": "step_dt",
+   "cls": "FrontierEgapyRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.frontier_egapy"
+  },
+  "instrument.fujifilm_dmp2850": {
+   "advance": "step_dt",
+   "cls": "FujifilmDmp2850Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.fujifilm_dmp2850"
+  },
+  "instrument.gamry_reference620": {
+   "advance": "step_dt",
+   "cls": "GamryReference620Runtime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.gas_flavourspec25gc": {
+   "advance": "step_dt",
+   "cls": "GasFlavourspec25gcRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.gas_flavourspec25gc"
+  },
+  "instrument.genevac_mivac2": {
+   "advance": "step_dt",
+   "cls": "GenevacMivac2Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.genevac_mivac2"
+  },
+  "instrument.gilson_cpc250": {
+   "advance": "step_dt",
+   "cls": "GilsonCpc250Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.gilson_cpc250"
+  },
+  "instrument.glatt_miniglatt": {
+   "advance": "step_dt",
+   "cls": "GlattMiniglattRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.glatt_miniglatt"
+  },
+  "instrument.hach_dr6000": {
+   "advance": null,
+   "cls": "HachDR6000",
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.hach_tl2300epa": {
+   "advance": "step_dt",
+   "cls": "HachTl2300epaRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.hach_tl2300epa"
+  },
+  "instrument.hepatochem_photoredoxbox": {
+   "advance": "step_dt",
+   "cls": "HepatochemPhotoredoxboxRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.hepatochem_photoredoxbox"
+  },
+  "instrument.hot_tps2500": {
+   "advance": "step_dt",
+   "cls": "HotTps2500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.hot_tps2500"
+  },
+  "instrument.ika_c6000": {
+   "advance": "step_dt",
+   "cls": "IkaC6000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ika_c6000"
+  },
+  "instrument.ika_electrasyn2": {
+   "advance": "step_dt",
+   "cls": "IkaElectrasyn2Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ika_electrasyn2"
+  },
+  "instrument.ika_ks4000": {
+   "advance": "step_dt",
+   "cls": "IkaKs4000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ika_ks4000"
+  },
+  "instrument.ika_plate_rctdigital": {
+   "advance": "step_dt",
+   "cls": "IkaPlateRctdigitalRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ika_plate_rctdigital"
+  },
+  "instrument.ika_rv10_digital_v": {
+   "advance": "step_dt",
+   "cls": "RV10Host",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.ika_t25": {
+   "advance": "step_dt",
+   "cls": "IkaT25Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ika_t25"
+  },
+  "instrument.inert_purelab_he_2gb": {
+   "advance": "step_dt",
+   "cls": "InertPureLabHost",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.inert_puresolvmd": {
+   "advance": "step_dt",
+   "cls": "InertPuresolvmdRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.inert_puresolvmd"
+  },
+  "instrument.inficon_ul1000fab": {
+   "advance": "step_dt",
+   "cls": "InficonUl1000fabRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.inficon_ul1000fab"
+  },
+  "instrument.ja_alphase": {
+   "advance": "step_dt",
+   "cls": "JaAlphaseRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ja_alphase"
+  },
+  "instrument.jasco_cpl300": {
+   "advance": "step_dt",
+   "cls": "JascoCpl300Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_cpl300"
+  },
+  "instrument.jasco_fp8350": {
+   "advance": "step_dt",
+   "cls": "JascoFp8350Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_fp8350"
+  },
+  "instrument.jasco_ftir4700": {
+   "advance": null,
+   "cls": "JascoFTIR4700",
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_analytical"
+  },
+  "instrument.jasco_fvs6000": {
+   "advance": "step_dt",
+   "cls": "JascoFvs6000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_fvs6000"
+  },
+  "instrument.jasco_j1500": {
+   "advance": "step_dt",
+   "cls": "JascoJ1500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_j1500"
+  },
+  "instrument.jasco_nrs5500": {
+   "advance": "step_dt",
+   "cls": "JascoNrs5500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_nrs5500"
+  },
+  "instrument.jasco_p4200": {
+   "advance": "step_dt",
+   "cls": "JascoP4200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jasco_p4200"
+  },
+  "instrument.jena_contraa800": {
+   "advance": "step_dt",
+   "cls": "JenaContraa800Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jena_contraa800"
+  },
+  "instrument.jena_multix": {
+   "advance": "step_dt",
+   "cls": "JenaMultixRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jena_multix"
+  },
+  "instrument.jeol_jem1400flash": {
+   "advance": "step_dt",
+   "cls": "JeolJem1400flashRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jeol_jem1400flash"
+  },
+  "instrument.jeol_jsmit200": {
+   "advance": "step_dt",
+   "cls": "JeolJsmit200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.jeol_jsmit200"
+  },
+  "instrument.julabo_corio_cd200f": {
+   "advance": "step_dt",
+   "cls": "JulaboCorioCD200FRuntime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.keyence_vkx3000": {
+   "advance": "step_dt",
+   "cls": "KeyenceVkx3000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.keyence_vkx3000"
+  },
+  "instrument.knauer_k7400s": {
+   "advance": "step_dt",
+   "cls": "KnauerK7400sRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.knauer_k7400s"
+  },
+  "instrument.kratos_axissupra": {
+   "advance": "step_dt",
+   "cls": "KratosAxissupraRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.kratos_axissupra"
+  },
+  "instrument.laboao_cvdltf12p50": {
+   "advance": "step_dt",
+   "cls": "LaboaoCvdltf12p50Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.laboao_cvdltf12p50"
+  },
+  "instrument.lakeshore_8604vsm": {
+   "advance": "step_dt",
+   "cls": "LakeShore8604VsmRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.lakeshore_8604vsm"
+  },
+  "instrument.lakeshore_measurereadym91": {
+   "advance": "step_dt",
+   "cls": "LakeShoreMeasurereadyM91Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.lakeshore_measurereadym91"
+  },
+  "instrument.leco_onh836": {
+   "advance": "step_dt",
+   "cls": "LecoOnh836Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.leco_onh836"
+  },
+  "instrument.linari_rtadvanced": {
+   "advance": "step_dt",
+   "cls": "LinariRtadvancedRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.linari_rtadvanced"
+  },
+  "instrument.linseis_lsr3": {
+   "advance": "step_dt",
+   "cls": "LinseisLsr3Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.linseis_lsr3"
+  },
+  "instrument.magritek_spinsolve80": {
+   "advance": "host_step_abs",
+   "cls": "MagritekSpinsolve80Runtime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.malvern_leneo": {
+   "advance": "step_dt",
+   "cls": "MalvernLeneoRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.malvern_leneo"
+  },
+  "instrument.malvern_microcalpeaq": {
+   "advance": "step_dt",
+   "cls": "MalvernMicrocalpeaqRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.malvern_microcalpeaq"
+  },
+  "instrument.markes_unityxr": {
+   "advance": "step_dt",
+   "cls": "MarkesUnityxrRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.markes_unityxr"
+  },
+  "instrument.metrohm_899": {
+   "advance": "step_dt",
+   "cls": "Metrohm899DeviceHost",
+   "create": "plain",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.metrohm_909uv": {
+   "advance": "step_dt",
+   "cls": "Metrohm909uvRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.metrohm_909uv"
+  },
+  "instrument.metrohm_914": {
+   "advance": "host_step_abs",
+   "cls": "Metrohm914DeviceRuntime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.metrohm_omnis": {
+   "advance": "host_step_abs",
+   "cls": "MetrohmOmnisRuntime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.micromeritics_autochemiii": {
+   "advance": "step_dt",
+   "cls": "MicromeriticsAutochemiiiRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.micromeritics_autochemiii"
+  },
+  "instrument.microtrac_turbiscanlab": {
+   "advance": "step_dt",
+   "cls": "MicrotracTurbiscanlabRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.microtrac_turbiscanlab"
+  },
+  "instrument.miele_plw6111": {
+   "advance": "step_dt",
+   "cls": "MielePLW6111Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.milestone_dma80": {
+   "advance": "step_dt",
+   "cls": "MilestoneDma80Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.milestone_dma80"
+  },
+  "instrument.mt_hx204": {
+   "advance": "step_dt",
+   "cls": "MtHx204Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.mt_hx204"
+  },
+  "instrument.mt_mp70": {
+   "advance": "step_dt",
+   "cls": "MtMp70Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.mt_mp70"
+  },
+  "instrument.mt_quantos_q2_xpe206dr": {
+   "advance": "host_step_dt_world",
+   "cls": "QuantosQ2Runtime",
+   "create": "scene",
+   "module": "basic40_runtime_automation",
+   "scene_confirm": {
+    "scene.door_opening_m": null
+   },
+   "setup": [
+    [
+     "host_configure_geometry",
+     {
+      "door_travel_m": 0.5494645551128549,
+      "evidence": "Matterix scene: front door of the converted asset 1.2.2 (top-hung glass on levers, opening_m = arc of the door's top hinge pin = lever angle x 0.198 m, full open 159 deg = 0.5495 m; brochure p.10 side view, manual p.25-26)",
+      "iid": "$instance_id"
+     }
+    ]
+   ]
+  },
+  "instrument.mt_rc1mxhfcal": {
+   "advance": "step_dt",
+   "cls": "MtRc1mxhfcalRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.mt_rc1mxhfcal"
+  },
+  "instrument.mt_xpr204e": {
+   "advance": "step_dt",
+   "cls": "XPR204ERuntime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.nanosurf_naiostm": {
+   "advance": "step_dt",
+   "cls": "NanosurfNaiostmRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.nanosurf_naiostm"
+  },
+  "instrument.netzsch_lfa467": {
+   "advance": "step_dt",
+   "cls": "NetzschLfa467Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.netzsch_lfa467"
+  },
+  "instrument.netzsch_mmc315": {
+   "advance": "step_dt",
+   "cls": "NetzschMmc315Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.netzsch_mmc315"
+  },
+  "instrument.newera_ne1000": {
+   "advance": "step_dt",
+   "cls": "NeweraNe1000Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.newera_ne1000"
+  },
+  "instrument.novocontrol_alphat": {
+   "advance": "step_dt",
+   "cls": "NovocontrolAlphatRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.novocontrol_alphat"
+  },
+  "instrument.opentrons_flex_single_5_1000ul": {
+   "advance": "host_set_clock_abs",
+   "cls": "OpentronsFlexRuntime",
+   "create": "type",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.ossila_dipcoater": {
+   "advance": "step_dt",
+   "cls": "OssilaDipcoaterRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ossila_dipcoater"
+  },
+  "instrument.ossila_doctorblade": {
+   "advance": "step_dt",
+   "cls": "OssilaDoctorbladeRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ossila_doctorblade"
+  },
+  "instrument.ossila_slotdie": {
+   "advance": "step_dt",
+   "cls": "OssilaSlotdieRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ossila_slotdie"
+  },
+  "instrument.ossila_spincoater": {
+   "advance": "step_dt",
+   "cls": "OssilaSpincoaterRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ossila_spincoater"
+  },
+  "instrument.park_nx10": {
+   "advance": "step_dt",
+   "cls": "ParkNx10Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.park_nx10"
+  },
+  "instrument.pccell_ed64002": {
+   "advance": "step_dt",
+   "cls": "PccellEd64002Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.pccell_ed64002"
+  },
+  "instrument.peak_precisionhydrogen": {
+   "advance": "step_dt",
+   "cls": "PeakPrecisionhydrogenRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.peak_precisionhydrogen"
+  },
+  "instrument.pilodist_pilodist104": {
+   "advance": "step_dt",
+   "cls": "PilodistPilodist104Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.pilodist_pilodist104"
+  },
+  "instrument.pine_wavevortex10": {
+   "advance": "step_dt",
+   "cls": "PineWavevortex10Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.pine_wavevortex10"
+  },
+  "instrument.porometer_poroluxrevo": {
+   "advance": "step_dt",
+   "cls": "PorometerPoroluxrevoRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.porometer_poroluxrevo"
+  },
+  "instrument.quorum_q150tes": {
+   "advance": "step_dt",
+   "cls": "QuorumQ150tesRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.quorum_q150tes"
+  },
+  "instrument.radleys_mya4": {
+   "advance": "step_dt",
+   "cls": "RadleysMya4Runtime",
+   "create": "type",
+   "module": "basic40_runtime_thermal"
+  },
+  "instrument.retsch_as200": {
+   "advance": "step_dt",
+   "cls": "RetschAs200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.retsch_as200"
+  },
+  "instrument.retsch_pm100": {
+   "advance": "step_dt",
+   "cls": "RetschPm100Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.retsch_pm100"
+  },
+  "instrument.retsch_pt100": {
+   "advance": "step_dt",
+   "cls": "RetschPt100Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.retsch_pt100"
+  },
+  "instrument.rigaku_miniflex600_external_cooling": {
+   "advance": "host_step_abs",
+   "cls": "RigakuMiniFlex600Runtime",
+   "create": "type",
+   "module": "basic40_runtime_measure"
+  },
+  "instrument.rigaku_xtalabsynergy": {
+   "advance": "step_dt",
+   "cls": "RigakuXtalabsynergyRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.rigaku_xtalabsynergy"
+  },
+  "instrument.sartorius_vivaflow200": {
+   "advance": "step_dt",
+   "cls": "SartoriusVivaflow200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.sartorius_vivaflow200"
+  },
+  "instrument.sciex_pa800": {
+   "advance": "step_dt",
+   "cls": "SciexPa800Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.sciex_pa800"
+  },
+  "instrument.scp_digiprepms": {
+   "advance": "step_dt",
+   "cls": "ScpDigiprepmsRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.scp_digiprepms"
+  },
+  "instrument.seal_aa500": {
+   "advance": "step_dt",
+   "cls": "SealAa500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.seal_aa500"
+  },
+  "instrument.sft_sft110": {
+   "advance": "step_dt",
+   "cls": "SftSft110Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.sft_sft110"
+  },
+  "instrument.shimadzu_ags10knxd": {
+   "advance": "step_dt",
+   "cls": "ShimadzuAgs10knxdRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.shimadzu_ags10knxd"
+  },
+  "instrument.shimadzu_edx7200": {
+   "advance": "step_dt",
+   "cls": "ShimadzuEdx7200Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.shimadzu_edx7200"
+  },
+  "instrument.shimadzu_icpe9800": {
+   "advance": "step_dt",
+   "cls": "ShimadzuIcpe9800Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.shimadzu_icpe9800"
+  },
+  "instrument.shimadzu_icpms2030": {
+   "advance": "step_dt",
+   "cls": "ShimadzuIcpms2030Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.shimadzu_icpms2030"
+  },
+  "instrument.shimadzu_tocl": {
+   "advance": "step_dt",
+   "cls": "ShimadzuToclRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.shimadzu_tocl"
+  },
+  "instrument.signatone_quadpro2": {
+   "advance": "step_dt",
+   "cls": "SignatoneQuadpro2Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.signatone_quadpro2"
+  },
+  "instrument.sonics_vcx750": {
+   "advance": "step_dt",
+   "cls": "SonicsVcx750Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.sonics_vcx750"
+  },
+  "instrument.specac_atlasmanual": {
+   "advance": "step_dt",
+   "cls": "SpecacAtlasmanualRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.specac_atlasmanual"
+  },
+  "instrument.stanford_rga100": {
+   "advance": "step_dt",
+   "cls": "StanfordRga100Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.stanford_rga100"
+  },
+  "instrument.surface_dvsresolution": {
+   "advance": "step_dt",
+   "cls": "SurfaceDvsresolutionRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.surface_dvsresolution"
+  },
+  "instrument.syrris_asiadiscovery": {
+   "advance": "step_dt",
+   "cls": "SyrrisAsiadiscoveryRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.syrris_asiadiscovery"
+  },
+  "instrument.syrris_asiafllex": {
+   "advance": "step_dt",
+   "cls": "SyrrisAsiaFllexRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.syrris_asiafllex"
+  },
+  "instrument.ta_dma850": {
+   "advance": "step_dt",
+   "cls": "TaDma850Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ta_dma850"
+  },
+  "instrument.ta_dsc2500": {
+   "advance": "step_dt",
+   "cls": "TaDsc2500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ta_dsc2500"
+  },
+  "instrument.ta_tamiv": {
+   "advance": "step_dt",
+   "cls": "TaTamivRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ta_tamiv"
+  },
+  "instrument.ta_tga5500": {
+   "advance": "step_dt",
+   "cls": "TaTga5500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ta_tga5500"
+  },
+  "instrument.ta_tma450": {
+   "advance": "step_dt",
+   "cls": "TaTma450Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ta_tma450"
+  },
+  "instrument.teledyne_analyteexcite": {
+   "advance": "step_dt",
+   "cls": "TeledyneAnalyteexciteRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.teledyne_analyteexcite"
+  },
+  "instrument.teledyne_atomxxyz": {
+   "advance": "step_dt",
+   "cls": "TeledyneAtomxxyzRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.teledyne_atomxxyz"
+  },
+  "instrument.thalesnano_hcube": {
+   "advance": "step_dt",
+   "cls": "ThalesnanoHcubeRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thalesnano_hcube"
+  },
+  "instrument.thermo_dionexintegrion": {
+   "advance": "step_dt",
+   "cls": "ThermoDionexintegrionRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thermo_dionexintegrion"
+  },
+  "instrument.thermo_ibrightfl1500": {
+   "advance": "step_dt",
+   "cls": "ThermoIbrightFl1500Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thermo_ibrightfl1500"
+  },
+  "instrument.thermo_orbitrapexploris": {
+   "advance": "step_dt",
+   "cls": "ThermoOrbitrapexplorisRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thermo_orbitrapexploris"
+  },
+  "instrument.thermo_process11": {
+   "advance": "step_dt",
+   "cls": "ThermoProcess11Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thermo_process11"
+  },
+  "instrument.thinky_are310s": {
+   "advance": "step_dt",
+   "cls": "ThinkyAre310sRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.thinky_are310s"
+  },
+  "instrument.tousimis_autosamdri815": {
+   "advance": "step_dt",
+   "cls": "TousimisAutosamdri815Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.tousimis_autosamdri815"
+  },
+  "instrument.tuttnauer_3870elvd": {
+   "advance": "step_dt",
+   "cls": "TuttnauerElvdRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.tuttnauer_3870elvd"
+  },
+  "instrument.uic_kdl1basic": {
+   "advance": "step_dt",
+   "cls": "UicKdl1basicRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.uic_kdl1basic"
+  },
+  "instrument.ultrafast_helios": {
+   "advance": "step_dt",
+   "cls": "UltrafastHeliosRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.ultrafast_helios"
+  },
+  "instrument.vacuubrand_pc3001_vario_select": {
+   "advance": "step_dt",
+   "cls": "VacuumHost",
+   "create": "type",
+   "module": "basic40_runtime_vacuum"
+  },
+  "instrument.vaisala_dmt152": {
+   "advance": "step_dt",
+   "cls": "VaisalaDmt152Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.vaisala_dmt152"
+  },
+  "instrument.velp_udk159": {
+   "advance": "step_dt",
+   "cls": "VelpUdk159Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.velp_udk159"
+  },
+  "instrument.vici_euta_2sd6mwe": {
+   "advance": "vici_set_time",
+   "cls": "ViciEutaValveRuntime",
+   "host_is_session": true,
+   "instance_in_ctor": true,
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.wtw_oxitopi": {
+   "advance": "step_dt",
+   "cls": "WtwOxitopiRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.wtw_oxitopi"
+  },
+  "instrument.wyatt_eclipseaf4": {
+   "advance": "step_dt",
+   "cls": "WyattEclipseaf4Runtime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.wyatt_eclipseaf4"
+  },
+  "instrument.ziath_dp5_mirage_2023": {
+   "advance": "host_step_dt_world",
+   "cls": "ZiathDP5Runtime",
+   "create": "scene",
+   "module": "basic40_runtime_automation"
+  },
+  "instrument.zwick_hit5p": {
+   "advance": "step_dt",
+   "cls": "ZwickHit5pRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.zwick_hit5p"
+  },
+  "instrument.zwick_mflow": {
+   "advance": "step_dt",
+   "cls": "ZwickMflowRuntime",
+   "instance_in_ctor": true,
+   "module": "asset_runtime.zwick_mflow"
+  }
+ }
+}
diff --git a/chemlab/configs/inventory_default.json b/chemlab/configs/inventory_default.json
new file mode 100644
index 0000000000000000000000000000000000000000..1591823c37f7c8f5d10333b25e6e4c1977aee5d2
--- /dev/null
+++ b/chemlab/configs/inventory_default.json
@@ -0,0 +1,7602 @@
+{
+ "about": "The default lab's physical inventory (chemlab/inventory.py): one record per container at a storage place and position, with contents, storage class and source. Matterix can spawn the same containers; chemlab shows them (chemlab list --inventory [ID]). Moving a container is a host or robot action.",
+ "storage_classes": [
+  "flammable",
+  "acid",
+  "base",
+  "oxidizer",
+  "toxic",
+  "cold",
+  "compressed_gas",
+  "general"
+ ],
+ "places": [
+  {
+   "id": "bench_shelf",
+   "access": "top_down",
+   "type": "stepped two-tier shelf on the robot bench (T1 front/low, T2 rear/high), all positions within the fixed arm's reach: the containers the robot handles (common solvents, pH buffers, the smoke workflows' standards)",
+   "storage_class": "general",
+   "positions": [
+    "T1-01",
+    "T1-02",
+    "T1-03",
+    "T1-04",
+    "T1-05",
+    "T2-01",
+    "T2-02",
+    "T2-03",
+    "T2-04",
+    "T2-05"
+   ],
+   "furniture": "furniture.trippnt_step_shelf_2tier",
+   "reach": "franka_bench",
+   "slots": 10
+  },
+  {
+   "id": "reagent_shelf_a",
+   "type": "open room reagent rack, 4 shelves x 8 positions (out of the fixed arm's reach)",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.metro_super_erecta_1848_4shelf",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "standards_cabinet",
+   "type": "closed cabinet for check standards and certified reference materials, 3 shelves x 8",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_standards",
+   "reach": "room",
+   "slots": 24
+  },
+  {
+   "id": "flammables_cabinet",
+   "type": "90 cm safety cabinet for flammable liquids (EN 14470-1 type 90), 3 shelves x 6",
+   "storage_class": "flammable",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06"
+   ],
+   "furniture": "furniture.asecos_q90_195_120",
+   "reach": "room",
+   "slots": 18
+  },
+  {
+   "id": "acids_cabinet",
+   "type": "ventilated corrosives cabinet, acid compartment, 2 shelves x 6",
+   "storage_class": "acid",
+   "positions": [
+    "A:S1-01",
+    "A:S1-02",
+    "A:S1-03",
+    "A:S1-04",
+    "A:S1-05",
+    "A:S1-06",
+    "A:S2-01",
+    "A:S2-02",
+    "A:S2-03",
+    "A:S2-04",
+    "A:S2-05",
+    "A:S2-06"
+   ],
+   "furniture": "furniture.asecos_sl_196_120",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "bases_cabinet",
+   "type": "ventilated corrosives cabinet, base compartment, 2 shelves x 6",
+   "storage_class": "base",
+   "positions": [
+    "B:S1-01",
+    "B:S1-02",
+    "B:S1-03",
+    "B:S1-04",
+    "B:S1-05",
+    "B:S1-06",
+    "B:S2-01",
+    "B:S2-02",
+    "B:S2-03",
+    "B:S2-04",
+    "B:S2-05",
+    "B:S2-06"
+   ],
+   "furniture": "furniture.asecos_sl_196_120",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "toxics_cabinet",
+   "type": "ventilated, lockable cabinet for toxic substances, 2 shelves x 6",
+   "storage_class": "toxic",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "furniture": "furniture.asecos_cs_195_105",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "oxidizers_cabinet",
+   "type": "cabinet for oxidizers, 1 shelf x 6",
+   "storage_class": "oxidizer",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_oxidizers",
+   "reach": "room",
+   "slots": 6
+  },
+  {
+   "id": "fridge_4c",
+   "type": "lab refrigerator 2-8 °C, 4 shelves x 8",
+   "storage_class": "cold",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.liebherr_lkv3910",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "freezer_m20c",
+   "type": "lab freezer -20 °C, 3 drawers x 8",
+   "storage_class": "cold",
+   "positions": [
+    "D1-01",
+    "D1-02",
+    "D1-03",
+    "D1-04",
+    "D1-05",
+    "D1-06",
+    "D1-07",
+    "D1-08",
+    "D2-01",
+    "D2-02",
+    "D2-03",
+    "D2-04",
+    "D2-05",
+    "D2-06",
+    "D2-07",
+    "D2-08",
+    "D3-01",
+    "D3-02",
+    "D3-03",
+    "D3-04",
+    "D3-05",
+    "D3-06",
+    "D3-07",
+    "D3-08"
+   ],
+   "furniture": "furniture.liebherr_lguex1500",
+   "reach": "room",
+   "slots": 24
+  },
+  {
+   "id": "desiccator",
+   "type": "benchtop desiccator cabinet with a hinged door on the robot bench, silica gel, 2 shelves x 6; side access only for the fixed arm (161 mm headroom, the door sweep blocks the route: measured in the Isaac Sim storage scene), so not for top-down robot picks",
+   "storage_class": "general",
+   "access": "side_only",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "furniture": "furniture.belart_secador_2_vertical",
+   "reach": "franka_bench",
+   "slots": 12
+  },
+  {
+   "id": "vial_rack_bench",
+   "type": "MACHEREY-NAGEL 702503 rack for 20 mL headspace vials (3 rows x 12) on the robot bench next to the bench shelf, >= 0.25 m free above the vial tops; the robot uses rows A and C only (fingers close along Y: a vial in row B would overlap them by 11 mm), so row B stays empty",
+   "storage_class": "general",
+   "access": "top_down",
+   "rack_type": "vial_rack_20ml",
+   "robot_forbidden_prefixes": [
+    "B"
+   ],
+   "positions": [
+    "A01",
+    "A02",
+    "A03",
+    "A04",
+    "A05",
+    "A06",
+    "A07",
+    "A08",
+    "A09",
+    "A10",
+    "A11",
+    "A12",
+    "B01",
+    "B02",
+    "B03",
+    "B04",
+    "B05",
+    "B06",
+    "B07",
+    "B08",
+    "B09",
+    "B10",
+    "B11",
+    "B12",
+    "C01",
+    "C02",
+    "C03",
+    "C04",
+    "C05",
+    "C06",
+    "C07",
+    "C08",
+    "C09",
+    "C10",
+    "C11",
+    "C12"
+   ],
+   "furniture": "labware.mn_702503_vial_rack_23mm",
+   "slots": 36
+  },
+  {
+   "id": "consumables_cabinet",
+   "type": "cabinet for labware consumables, 4 shelves x 8",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_consumables",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "cylinder_rack",
+   "type": "wall rack for gas cylinders with chains, 8 slots (inert and oxidizing gases)",
+   "storage_class": "compressed_gas",
+   "positions": [
+    "C1",
+    "C2",
+    "C3",
+    "C4",
+    "C5",
+    "C6",
+    "C7",
+    "C8"
+   ],
+   "furniture": "furniture.denios_cylinder_stand_x4",
+   "reach": "room",
+   "slots": 8
+  },
+  {
+   "id": "gas_cabinet_flammable",
+   "type": "ventilated gas cabinet for flammable gases, 4 slots",
+   "storage_class": "compressed_gas",
+   "positions": [
+    "G1",
+    "G2",
+    "G3",
+    "G4"
+   ],
+   "furniture": "furniture.asecos_g90_205_140",
+   "reach": "room",
+   "slots": 4
+  },
+  {
+   "id": "instrument",
+   "type": "inside an instrument (position named per instrument)",
+   "storage_class": "general",
+   "positions": [],
+   "slots": 0
+  }
+ ],
+ "container_types": {
+  "labware.agilent_hs_vial_20ml": "",
+  "labware.agilent_vial_2ml_screw": "",
+  "labware.azenta_seal_roll_4ti0520": "",
+  "labware.biorad_hardshell_pcr_plate_96": "",
+  "labware.biorad_tgx_gel_4_20_10well": "",
+  "labware.brand_ps_macro_cuvette_759005": "",
+  "labware.corning_96_wellplate_360ul_flat": "",
+  "labware.cytiva_series_s_sensor_chip_cm5": "",
+  "labware.duran_gl45_1000ml_clear": "",
+  "labware.duran_gl45_100ml_amber": "",
+  "labware.duran_gl45_500ml_clear": "",
+  "labware.elementar_tin_capsule_11x8": "",
+  "labware.eppendorf_safelock_1p5ml": "",
+  "labware.falcon_352052_tube_12x75": "",
+  "labware.falcon_tube_15ml": "",
+  "labware.falcon_tube_50ml": "",
+  "labware.gas_cylinder_10l_200bar": "",
+  "labware.gas_cylinder_50l_200bar": "",
+  "labware.gelpak_ad1135_case": "",
+  "labware.hach_tl2300_sample_cell_25mm": "",
+  "labware.hellma_100_10_40_quartz_cuvette": "",
+  "labware.mt_quantos_head_container": "",
+  "labware.mt_quantos_qh016_bnmw": "",
+  "labware.nalgene_nm_hdpe_1000ml": "",
+  "labware.nalgene_nm_hdpe_500ml": "",
+  "labware.nalgene_wm_hdpe_500ml": "",
+  "labware.norell_nmr_tube_5mm_7in": "",
+  "labware.opentrons_flex_tiprack_1000ul": "",
+  "labware.opentrons_flex_tiprack_200ul": "",
+  "labware.rigaku_glass_holder_0p2mm": "",
+  "labware.sciex_universal_vial_2ml": "",
+  "labware.sigma_ir_polystyrene_card_z804290": "",
+  "labware.ta_tzero_pan_lid": "",
+  "labware.winchester_2500ml_amber": ""
+ },
+ "container_types_source": "assets/labware/catalog.json types (inventory_type_map); ids still provisional where the catalog has not built the item (type_status not_built)",
+ "new_substances": {},
+ "conventions": "containers: one record per container in storage (Matterix spawns these). contents: shared substance ids (assets/reactions/substances.json) with a physical amount (g, kg, mg, mL, L, uL, mol, mmol); a solution lists its solvent (a liquid, by volume or mass) and every solute with its mass (or amount in mol) and its concentration; a mixture substance (kind mixture in the table) describes itself. count = number of units in the container; per_unit = true: the contents amounts are those of one unit; units = [{name, count, contents}] for a pack of different units (e.g. a kit or a standards set). instrument_contents: what the default set-up put into each instrument (the instruments' own state, not spawned): a runtime material is named with defined_by (its composition is the instrument runtime's sample / template). cap: \"on\" | \"off\" - the closure of a container whose type has one (catalog closure: screw cap, hinged or lift-off lid); absent = \"on\" (closed); \"off\" = opened, the cap set aside (e.g. vials prepared open for a dosing run).",
+ "containers": [
+  {
+   "id": "water_ultrapure_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "ASTM type I, 18.2 MOhm cm"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-02"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical: filled each morning from the lab water system (elga_purelab_flex3)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "ethanol_500ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.8 %, absolute"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical: a 500 mL working bottle for rinsing and cleaning; the stock bottle stays in the flammables cabinet",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "acetone_500ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "acetone",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-03"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical: a 500 mL wash bottle for rinsing glassware",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph4_01",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 5.106,
+      "unit": "g"
+     },
+     "grade": "primary standard buffer salt",
+     "certificate": {
+      "value": "pH 4.005 at 25 °C",
+      "standard": "DIN 19266 / NIST SRM 185 type (KHP 0.05 mol/kg)"
+     },
+     "concentration": {
+      "value": 0.05,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78 (buffer series for calibration); composition: DIN 19266 KHP standard, 0.05 mol/kg x 0.5 kg x 204.22 g/mol = 5.106 g",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph6_86",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_dihydrogen_phosphate",
+     "amount": {
+      "value": 1.701,
+      "unit": "g"
+     },
+     "grade": "0.025 mol/kg (phosphate pH 6.86 standard, with Na2HPO4)",
+     "certificate": {
+      "value": "pH 6.865 at 25 °C",
+      "standard": "DIN 19266 phosphate standard (KH2PO4 + Na2HPO4, each 0.025 mol/kg; NIST SRM 186 type)"
+     }
+    },
+    {
+     "substance": "disodium_hydrogen_phosphate",
+     "amount": {
+      "value": 1.774,
+      "unit": "g"
+     },
+     "grade": "0.025 mol/kg (phosphate pH 6.86 standard, with KH2PO4)"
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78; composition: DIN 19266 / NIST equimolal phosphate standard; the 914 class world uses the same buffer (template nist_srm_186g_phosphate_equimolal_buffer, pH 6.864)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph9_18",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "sodium_tetraborate_decahydrate",
+     "amount": {
+      "value": 1.907,
+      "unit": "g"
+     },
+     "grade": "borax",
+     "certificate": {
+      "value": "pH 9.180 at 25 °C",
+      "standard": "DIN 19266 / NIST SRM 187 type (borax 0.01 mol/kg)"
+     },
+     "concentration": {
+      "value": 0.01,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78; composition: 0.01 mol/kg x 0.5 kg x 381.37 g/mol = 1.907 g",
+   "keep_class": "a 0.01 mol/kg borax solution (about 0.4 %) is below the concentration limit at which borax is classified toxic for reproduction, so it is stored as a general reagent",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "xrd_si_srm640_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "silicon",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "NIST SRM 640 type line-position standard",
+     "certificate": {
+      "lattice_a_nm": 0.5431,
+      "note": "certified lattice parameter of the SRM 640 series"
+     }
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: a Si powder standard checks the 2-theta zero of a powder diffractometer (manual: miniflex brochure p.3 lists qualitative / quantitative use); load it with `chemlab run rigaku_miniflex600_external_cooling load xrd_si_srm640_holder`",
+   "sample_id": "si_srm640_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "xrd_quartz_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "silica",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "alpha-quartz powder, check sample"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "the structure class world's quartz specimen (sample id quartz_holder)",
+   "sample_id": "quartz_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "ir_polystyrene_film",
+   "type": "labware.sigma_ir_polystyrene_card_z804290",
+   "contents": [
+    {
+     "substance": "polystyrene",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "grade": "film about 38 um",
+     "certificate": {
+      "bands_cm-1": [
+       3060.0,
+       2849.5,
+       1601.2,
+       1028.3,
+       906.7
+      ],
+      "note": "wavenumber check bands of polystyrene film"
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_ftir4700"
+   ],
+   "source": "manual: ftir4000_6000_series_brochure p.4 (standard sample: polystyrene film); registered with the FT/IR-4700 as sample ir_polystyrene_film (template: NIST WebBook spectrum + SRM 1921b certified bands)",
+   "sample_id": "ir_polystyrene_film",
+   "description": "IR standard film mounted in a card holder",
+   "provisional_type": "ir_film_card",
+   "type_status": "exact"
+  },
+  {
+   "id": "plate_96_flat_ready",
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "contents": [],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "biotek_405ts",
+    "bmg_clariostarplus",
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical: one empty plate staged for the plate washer / reader / robot",
+   "on_carrier": "labware.sbs_plate_carrier",
+   "description": "96-well flat-bottom polystyrene plate (SBS footprint)",
+   "provisional_type": "plate_96_flat_ps",
+   "type_status": "exact"
+  },
+  {
+   "id": "xrd_calcite_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "calcium_carbonate",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "calcite powder"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "the structure class world's calcite specimen (sample id calcite_holder)",
+   "sample_id": "calcite_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "xrd_corundum_srm676_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "aluminium_oxide",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "corundum, SRM 676 type intensity standard"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: corundum is the reference intensity (RIR) standard of powder XRD; phase \"corundum\" is in the MiniFlex phase list",
+   "sample_id": "corundum_srm676_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "crm_si_powder_srm640",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "silicon",
+     "amount": {
+      "value": 7.5,
+      "unit": "g"
+     },
+     "grade": "SRM 640 type unit",
+     "certificate": {
+      "lattice_a_nm": 0.5431
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: the unit bottle the holder above is packed from",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "aw_standard_0_760",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "sodium_chloride",
+     "amount": {
+      "value": 0.7013,
+      "unit": "g"
+     },
+     "grade": "NaCl",
+     "certificate": {
+      "aw_25C": 0.76,
+      "tolerance": 0.003
+     },
+     "concentration": {
+      "value": 6.0,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 2 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "aqualab_4te"
+   ],
+   "source": "manual: aqualab4_manual p.8, p.44-45, p.48 (verification standards; the whole vial is emptied into a sample cup); per vial (typical: about 2 mL, enough to cover a sample cup bottom): 6.0 mol/kg x 0.002 kg x 58.44 g/mol = 0.701 g NaCl",
+   "count": 5,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "METER verification standards are small sealed vials emptied into a disposable sample cup"
+  },
+  {
+   "id": "aw_standard_0_250",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "lithium_chloride",
+     "amount": {
+      "value": 1.1369,
+      "unit": "g"
+     },
+     "grade": "LiCl",
+     "certificate": {
+      "aw_25C": 0.25,
+      "tolerance": 0.003
+     },
+     "concentration": {
+      "value": 13.41,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 2 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "aqualab_4te"
+   ],
+   "source": "manual: aqualab4_manual p.44-45, p.49 (0.25 aw standard, whole vial into a sample cup); per vial (typical about 2 mL): 13.41 mol/kg x 0.002 kg x 42.39 g/mol = 1.137 g LiCl",
+   "count": 5,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "as aw_standard_0_760"
+  },
+  {
+   "id": "turbidity_stablcal_kit",
+   "type": "labware.hach_tl2300_sample_cell_25mm",
+   "contents": [],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "hach_tl2300epa"
+   ],
+   "source": "manual: tl23_series datasheet p.4 (StablCal calibration kit); tl2300 user manual p.16 (StablCal sealed vial standards); per sealed vial about 25 mL (typical fill of a 25 mm sample cell)",
+   "units": [
+    {
+     "name": "StablCal sealed vial 0.1 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 0.1
+       },
+       "concentration": {
+        "value": 0.1,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 20 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 20
+       },
+       "concentration": {
+        "value": 20,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 200 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 200
+       },
+       "concentration": {
+        "value": 200,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 1000 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 1000
+       },
+       "concentration": {
+        "value": 1000,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 4000 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 4000
+       },
+       "concentration": {
+        "value": 4000,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 7500 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 7500
+       },
+       "concentration": {
+        "value": 7500,
+        "unit": "NTU"
+       }
+      }
+     ]
+    }
+   ],
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "exact",
+   "type_note": "StablCal standards are sealed 95 x 25 mm cells (TL23 data sheet p.3)",
+   "count": 6
+  },
+  {
+   "id": "osmolality_cal_400",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "sodium_chloride",
+     "amount": {
+      "value": 0.01266,
+      "unit": "g"
+     },
+     "grade": "NaCl",
+     "certificate": {
+      "osmolality_mOsmol_kg": 400
+     },
+     "concentration": {
+      "value": 0.2166,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 1 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "knauer_k7400s"
+   ],
+   "source": "manual: k7400s brochure p.11 (400 mOsmol/kg calibration solution, 12 vials); 0.2166 mol/kg NaCl is the class world's 400 mOsmol/kg standard; per vial typical 1 mL (the osmometer uses 50-150 uL per measurement)",
+   "count": 12,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "Knauer calibration solution: 12 small vials per box (K7400S brochure p.11)"
+  },
+  {
+   "id": "conductivity_std_1413",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_chloride",
+     "amount": {
+      "value": 0.3728,
+      "unit": "g"
+     },
+     "grade": "KCl",
+     "certificate": {
+      "conductivity_uS_cm_25C": 1413
+     },
+     "concentration": {
+      "value": 0.01,
+      "unit": "mol/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "typical: 0.01 mol/L KCl is the usual conductivity cell standard (1413 uS/cm at 25 C); 0.01 mol/L x 0.5 L x 74.55 g/mol = 0.373 g; the SurPASS class workflow calibrates with 1.413 mS/cm",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "dsc_indium_crm",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "indium",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "99.999 %",
+     "certificate": {
+      "onset_C": 156.6,
+      "enthalpy_J_g": 28.71
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500",
+    "ta_tma450"
+   ],
+   "source": "manual: dsc_q_series_getting_started_guide p.49-50 (cell constant / temperature calibration with indium)",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "dsc_zinc_crm",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "zinc",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "99.999 %",
+     "certificate": {
+      "onset_C": 419.5,
+      "enthalpy_J_g": 108.6
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "typical: second temperature point next to indium",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "dsc_sapphire_disc",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "aluminium_oxide",
+     "amount": {
+      "value": 0.025,
+      "unit": "g"
+     },
+     "grade": "sapphire disc, Cp reference"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "manual: dsc_q_series_getting_started_guide p.65 (heat-capacity calibration with sapphire)",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "tga_nickel_curie",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "nickel",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "Curie-point standard",
+     "certificate": {
+      "curie_C": 358.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_tga5500"
+   ],
+   "source": "manual: discovery_tga_brochure p.7, p.29 (Curie-point temperature calibration)",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "tga_calcium_oxalate",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "calcium_oxalate_monohydrate",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "grade": "reference grade"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_tga5500"
+   ],
+   "source": "typical: three-step mass-loss check sample of thermogravimetry",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "calorimetry_benzoic_acid",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "benzoic_acid",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "calorimetric standard, NBS 39 type",
+     "certificate": {
+      "gross_heat_J_g": 26434
+     }
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "ika_c6000"
+   ],
+   "source": "manual: c6000_isoperibol_package_1_10 datasheet p.1 (1 g benzoic acid NBS39i)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "hplc_caffeine_std",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "caffeine",
+     "amount": {
+      "value": 0.00015,
+      "unit": "g"
+     },
+     "grade": "caffeine",
+     "concentration": {
+      "value": 100.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "manual: infinitylab_lc_series_specification_compendium p.13, p.16 (water / caffeine tracer for flow and delay checks); per vial 1.5 mL of 100 mg/L (typical 2 mL vial fill)",
+   "count": 10,
+   "per_unit": true,
+   "description": "box of 2 mL screw vials with caps (HPLC)",
+   "provisional_type": "box_vials_2ml_screw",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5182-0715 is sold 100/pk"
+  },
+  {
+   "id": "gc_alkane_mix",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "octane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-octane (C8)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "nonane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-nonane (C9)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "decane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-decane (C10)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "undecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-undecane (C11)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "dodecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-dodecane (C12)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "tridecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-tridecane (C13)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "tetradecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-tetradecane (C14)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "pentadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-pentadecane (C15)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "hexadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-hexadecane (C16)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "heptadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-heptadecane (C17)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "octadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-octadecane (C18)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "nonadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-nonadecane (C19)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "icosane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-icosane (C20)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "hexane",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "product: Supelco (Sigma-Aldrich) 04070, alkane standard solution C8-C20, about 40 mg/L of each n-alkane C8...C20 in hexane, analytical standard sold as 1 mL (product page sigmaaldrich.com/US/en/product/sial/04070: retention-index standard for GC); per 1 mL unit 40 ug of each alkane; two units in stock (typical); a 2 mL GC vial stands in for the ampule (catalog substitute)",
+   "count": 2,
+   "per_unit": true,
+   "product": {
+    "maker": "Supelco (Sigma-Aldrich)",
+    "catalogue_number": "04070",
+    "name": "Alkane standard solution C8-C20, ~40 mg/L each component in hexane",
+    "pack": "1 mL",
+    "url": "https://www.sigmaaldrich.com/US/en/product/sial/04070"
+   },
+   "description": "Supelco 04070 alkane standard C8-C20 in hexane (1 mL units)",
+   "provisional_type": "box_vials_2ml_crimp",
+   "type_status": "substitute",
+   "type_note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"
+  },
+  {
+   "id": "chns_sulfanilic_acid",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "sulfanilic_acid",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "grade": "CHNS standard",
+     "certificate": {
+      "C_pct": 41.61,
+      "H_pct": 4.07,
+      "N_pct": 8.09,
+      "S_pct": 18.51
+     }
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "quant_analyzer class world (the vario EL standards are sulfanilic acid; theoretical composition)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "toc_khp_1000",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 1.0627,
+      "unit": "g"
+     },
+     "grade": "KHP",
+     "certificate": {
+      "TC_mg_L": 1000
+     },
+     "concentration": {
+      "value": 2.1254,
+      "unit": "g/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "shimadzu_tocl"
+   ],
+   "source": "quant_analyzer class world (TOC calibration with a KHP CRM); 1000 mg C/L = 2.1254 g KHP per L (8 C of 204.22 g/mol)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "ce_sds_mw_kit",
+   "type": "labware.sciex_universal_vial_2ml",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-01"
+   },
+   "storage_class": "cold",
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "manual: pa800plus_brochure p.10 (SDS-MW analysis kit 390953); sealed kit, its proprietary gel buffer, sample buffer and size standards are not itemised (no amounts in the documents at hand)",
+   "description": "sealed SDS-MW analysis kit (proprietary reagents, not itemised)",
+   "provisional_type": "kit_ce_reagents",
+   "type_status": "packaging_of",
+   "type_note": "SDS-MW kit 390953 (box not modelled); its liquids are run from PA 800 universal vials (A62251 + caps A62250)"
+  },
+  {
+   "id": "ferrocene_ref",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "ferrocene",
+     "amount": {
+      "value": 5.0,
+      "unit": "g"
+     },
+     "grade": "98 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "ch_chi440c",
+    "ch_chi920d",
+    "gamry_reference620"
+   ],
+   "source": "manual: chi_brochure p.20 (ferrocene oxidation as the example redox couple)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "xps_ag_au_foils",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "silver",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "grade": "Ag foil, sputter-clean"
+    },
+    {
+     "substance": "copper",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "grade": "Cu foil"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "kratos_axissupra"
+   ],
+   "source": "manual: axis_supra_getting_started_guide p.74 (Au 4f images); typical: Ag 3d5/2 and Cu 2p3/2 set the binding-energy scale",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "quartz_control_plate",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "silica",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "quartz control plate",
+     "certificate": {
+      "rotation_deg_589nm": 10.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "manual: p4000_instrument_management_appnote p.1-2 (calibrated quartz control plate); the plate in use sits in the instrument",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "cell_dummy_gamry",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "gamry_reference620"
+   ],
+   "source": "manual: reference620_operators_manual p.40, p.44 (calibration with the resistive dummy cell)",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "upyc_calibration_sphere",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "iron",
+     "amount": {
+      "value": 80.0,
+      "unit": "g"
+     },
+     "grade": "stainless-steel sphere",
+     "certificate": {
+      "volume_cm3": 10.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "antonpaar_ultrapyc5000"
+   ],
+   "source": "the class workflow calibrates with a 10 cm3 sphere (sphere_volume_m3=1e-5)",
+   "keep_class": "a solid stainless-steel sphere, not the flammable iron powder of the substance table",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "dls_latex_100nm",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "polystyrene_latex",
+     "amount": {
+      "value": 15,
+      "unit": "mL"
+     },
+     "grade": "100 nm, 1 % solids",
+     "certificate": {
+      "diameter_nm": 100
+     }
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-02"
+   },
+   "storage_class": "cold",
+   "for": [
+    "antonpaar_litesizerdls"
+   ],
+   "source": "the class workflow calibrates size with a 100 nm reference",
+   "description": "dropper vial of a fluorescent bead standard",
+   "provisional_type": "vial_bead_standard",
+   "type_status": "substitute",
+   "type_note": "small reagent vial stands in"
+  },
+  {
+   "id": "cst_beads",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "calibration_beads_fluorescent",
+     "amount": {
+      "value": 5,
+      "unit": "mL"
+     },
+     "grade": "CS&T research beads (bright, mid, dim)"
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-03"
+   },
+   "storage_class": "cold",
+   "for": [
+    "bd_facsariaiii"
+   ],
+   "source": "manual: facsaria_iii_users_guide p.138 (preparing the CS&T beads); the runtime's bead library has cst_bead_bright / mid / dim",
+   "description": "dropper vial of a fluorescent bead standard",
+   "provisional_type": "vial_bead_standard",
+   "type_status": "substitute",
+   "type_note": "small reagent vial stands in"
+  },
+  {
+   "id": "hbs_ep_plus_10x",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "hbs_ep_plus_10x",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "10x concentrate"
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-04"
+   },
+   "storage_class": "cold",
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "manual: biacore_t200_getting_started p.6 (10X HBS-EP+ buffer)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "spr_chips_cm5",
+   "type": "labware.cytiva_series_s_sensor_chip_cm5",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-05"
+   },
+   "storage_class": "cold",
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "typical: CM5 is the general-purpose sensor chip; the class workflow docks one (load chip1 --type CM5)",
+   "description": "pack of SPR sensor chips",
+   "provisional_type": "box_sensor_chips_spr",
+   "type_status": "packaging_of",
+   "type_note": "BR100530 = pack of 3",
+   "count": 3
+  },
+  {
+   "id": "gels_tgx_4_20",
+   "type": "labware.biorad_tgx_gel_4_20_10well",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-06"
+   },
+   "storage_class": "cold",
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "the chromatography class world installs a 4-20 % TGX 10-well gel; precast gels are stored at 2-8 °C",
+   "description": "box of precast mini polyacrylamide gels, 10 wells",
+   "provisional_type": "box_gels_precast_10well",
+   "type_status": "packaging_of",
+   "type_note": "box of 10 gels (4561094)",
+   "count": 10
+  },
+  {
+   "id": "protein_ladder",
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "contents": [
+    {
+     "substance": "protein_ladder_prestained",
+     "amount": {
+      "value": 0.5,
+      "unit": "mL"
+     },
+     "grade": "prestained, 10-250 kD"
+    }
+   ],
+   "location": {
+    "place": "freezer_m20c",
+    "position": "D1-01"
+   },
+   "storage_class": "cold",
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "the default gel has ladder_1 (Precision Plus prestained); the ladder is stored at -20 °C",
+   "description": "vial of a prestained protein ladder",
+   "provisional_type": "vial_protein_ladder",
+   "type_status": "substitute",
+   "type_note": "ladders ship in 0.5-1.5 mL tubes"
+  },
+  {
+   "id": "qh_kbr_1",
+   "type": "labware.mt_quantos_qh016_bnmw",
+   "contents": [
+    {
+     "substance": "potassium_bromide",
+     "amount": {
+      "value": 11.4,
+      "unit": "g"
+     },
+     "grade": "for IR spectroscopy (Merck 104907)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "head: METTLER TOLEDO QH016-BNMW (part 11141503), 16 mL, 0.1-250 mg per dose (manual: quantos_operating_instructions p.102, p.107); fill: 75 % of the 16 mL volume (12 mL, headspace left for the dosing mechanism: assumption) x KBr bulk density 950 kg/m3 (Merck 104907 product page: 900-1000 kg/m3) = 11.4 g. Stands in its storage container (manual p.27). KBr is hygroscopic: in its closed head on the bench for a working day is acceptable (it takes up water only slowly below about 60 % RH and deliquesces near 80 %); between working days the head belongs in the desiccator. A host or the robot inserts it; the Quantos registers it as head qh_kbr_1 with 0.0114 kg of free-flowing powder",
+   "head_id": "qh_kbr_1",
+   "free_flowing": true,
+   "stored_in": "labware.mt_quantos_head_container",
+   "product": {
+    "maker": "METTLER TOLEDO",
+    "catalogue_number": "11141503",
+    "name": "QH016-BNMW powder dosing head, 16 ml",
+    "source": "Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)"
+   },
+   "description": "METTLER TOLEDO QH016-BNMW powder dosing head, 16 mL, 0.1-250 mg per dose (part 11141503)",
+   "provisional_type": "quantos_dosing_head",
+   "type_status": "exact",
+   "type_note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part"
+  },
+  {
+   "id": "qh_caco3_1",
+   "type": "labware.mt_quantos_qh016_bnmw",
+   "contents": [
+    {
+     "substance": "calcium_carbonate",
+     "amount": {
+      "value": 4.0,
+      "unit": "g"
+     },
+     "grade": "Sigma-Aldrich 21061 (BioUltra, precipitated)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "position": "head_slot",
+    "instrument": "mt_quantos_q2_xpe206dr"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "the lab's check head, inserted in the Quantos by the default set-up: QH016-BNMW (part 11141503, manual p.102/p.107) with calcium carbonate Sigma-Aldrich 21061, the powder the dosing specification is given for (manual p.102). Fill 4.0 g: no bulk density is published for 21061; precipitated CaCO3 is a light powder (assumption 0.3-0.6 g/mL), so 4 g takes 7-13 mL of the 16 mL head",
+   "sample_id": "qh_caco3_1",
+   "head_id": "qh_caco3_1",
+   "free_flowing": true,
+   "product": {
+    "maker": "METTLER TOLEDO",
+    "catalogue_number": "11141503",
+    "name": "QH016-BNMW powder dosing head, 16 ml",
+    "source": "Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)"
+   },
+   "description": "METTLER TOLEDO QH016-BNMW powder dosing head, 16 mL, 0.1-250 mg per dose (part 11141503)",
+   "provisional_type": "quantos_dosing_head",
+   "type_status": "exact",
+   "type_note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part"
+  },
+  {
+   "id": "qh_caco3_1_container",
+   "type": "labware.mt_quantos_head_container",
+   "contents": [],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "the empty storage container of the CaCO3 head (manual p.27: heads are stored in the plastic container they are supplied in); the head goes back here when it is taken out of the Quantos",
+   "description": "empty Quantos head storage container (lid off)",
+   "provisional_type": "quantos_head_container",
+   "type_status": "exact",
+   "type_note": "plastic container supplied with each head (manual p.27/p.94); holds one head upright on the bench shelf"
+  },
+  {
+   "id": "quantos_vial_pan",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "instrument",
+    "position": "balance_pan",
+    "instrument": "mt_quantos_q2_xpe206dr"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial on the Quantos weighing pan (default set-up): Agilent 5188-2753 20 mL vial, within the sample-container limits (31-178 mm high, opening >= 6 mm, manual p.103)",
+   "sample_id": "quantos_vial_pan",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"
+  },
+  {
+   "id": "quantos_vial_1",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A01"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"
+  },
+  {
+   "id": "quantos_vial_2",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A02"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"
+  },
+  {
+   "id": "quantos_vial_3",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A03"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"
+  },
+  {
+   "id": "ethanol_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.8 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "acetone_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "acetone",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "isopropanol_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "propan_2_ol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle (cleaning optics, wipes)",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "methanol_hplc_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "methanol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": "HPLC grade"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "typical HPLC mobile-phase solvent",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "acetonitrile_hplc_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "acetonitrile",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": "HPLC grade"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity"
+   ],
+   "source": "typical HPLC mobile-phase solvent",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "hexane_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "hexane",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 97 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle (GC dilutions, extraction)",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "toluene_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "toluene",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "ethyl_acetate_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "ethyl_acetate",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "hcl_37_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "hydrochloric_acid",
+     "amount": {
+      "value": 438.1,
+      "unit": "g"
+     },
+     "grade": "HCl",
+     "concentration": {
+      "value": 37.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 745.9,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-01"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock: 1 L of 37 % w/w hydrochloric acid, density 1.184 g/mL at 20 C (1184 g: 438.1 g HCl + 745.9 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "hno3_65_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "nitric_acid",
+     "amount": {
+      "value": 904.2,
+      "unit": "g"
+     },
+     "grade": "HNO3, trace-metal grade",
+     "concentration": {
+      "value": 65.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 486.9,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-02"
+   },
+   "storage_class": "acid",
+   "for": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030"
+   ],
+   "source": "typical: digestion and ICP sample acid; 1 L of 65 % w/w nitric acid, density 1.391 g/mL at 20 C (904.2 g HNO3 + 486.9 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "h2so4_96_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "sulfuric_acid",
+     "amount": {
+      "value": 1761.6,
+      "unit": "g"
+     },
+     "grade": "H2SO4",
+     "concentration": {
+      "value": 96.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 73.4,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-03"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock: 1 L of 96 % w/w sulfuric acid, density 1.835 g/mL at 20 C (1761.6 g H2SO4 + 73.4 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "acetic_acid_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "acetic_acid",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "glacial"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-04"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "naoh_pellets_1kg",
+   "type": "labware.nalgene_wm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "sodium_hydroxide",
+     "amount": {
+      "value": 500.0,
+      "unit": "g"
+     },
+     "grade": "pellets >= 98 %"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-01"
+   },
+   "storage_class": "base",
+   "for": [],
+   "source": "typical stock",
+   "description": "wide-neck HDPE jar for 500 g solids",
+   "provisional_type": "jar_hdpe_500g",
+   "type_status": "exact"
+  },
+  {
+   "id": "naoh_0_1n_1l",
+   "type": "labware.nalgene_nm_hdpe_1000ml",
+   "contents": [
+    {
+     "substance": "sodium_hydroxide",
+     "amount": {
+      "value": 4.0,
+      "unit": "g"
+     },
+     "grade": "NaOH",
+     "certificate": {
+      "titer": "0.1000 mol/L +- 0.2 %"
+     },
+     "concentration": {
+      "value": 0.1,
+      "unit": "mol/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-02"
+   },
+   "storage_class": "base",
+   "for": [
+    "metrohm_omnis",
+    "metrohm_899"
+   ],
+   "source": "typical titrant: 0.1 mol/L x 1 L x 40.00 g/mol = 4.000 g NaOH",
+   "description": "HDPE bottle 1 L, screw cap (bases, aqueous reagents)",
+   "provisional_type": "bottle_hdpe_1000ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "ammonia_25_1l",
+   "type": "labware.nalgene_nm_hdpe_1000ml",
+   "contents": [
+    {
+     "substance": "ammonia",
+     "amount": {
+      "value": 226.8,
+      "unit": "g"
+     },
+     "grade": "NH3",
+     "concentration": {
+      "value": 25.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 680.2,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-03"
+   },
+   "storage_class": "base",
+   "for": [],
+   "source": "typical stock: 1 L of 25 % w/w ammonia solution, density 0.907 g/mL at 20 C (226.8 g NH3 + 680.2 g water)",
+   "description": "HDPE bottle 1 L, screw cap (bases, aqueous reagents)",
+   "provisional_type": "bottle_hdpe_1000ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "h2o2_30_500ml",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "hydrogen_peroxide",
+     "amount": {
+      "value": 166.5,
+      "unit": "g"
+     },
+     "grade": "H2O2",
+     "concentration": {
+      "value": 30.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 388.5,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "oxidizers_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "oxidizer",
+   "for": [],
+   "source": "typical: digestion oxidant; 0.5 L of 30 % w/w hydrogen peroxide, density 1.11 g/mL at 20 C (166.5 g H2O2 + 388.5 g water)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "silver_nitrate_100g",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "silver_nitrate",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "oxidizers_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "oxidizer",
+   "for": [],
+   "source": "typical stock (chloride titrations)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "phenol_100g",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "phenol",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "aniline_100ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "aniline",
+     "amount": {
+      "value": 0.1,
+      "unit": "L"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "nitrobenzene_100ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "nitrobenzene",
+     "amount": {
+      "value": 0.1,
+      "unit": "L"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "kbr_ir_grade",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "potassium_bromide",
+     "amount": {
+      "value": 88.6,
+      "unit": "g"
+     },
+     "grade": "for IR spectroscopy (Uvasol)"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_ftir4700",
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "product: Merck 104907 potassium bromide for IR spectroscopy Uvasol (100 g pack; bulk density 900-1000 kg/m3, product page); 11.4 g of it filled the Quantos head qh_kbr_1; kept in the desiccator (hygroscopic); manual: ftir4600_kbr_procedure quick guide (KBr pellet method)",
+   "product": {
+    "maker": "Merck",
+    "catalogue_number": "104907",
+    "name": "Potassium bromide for IR spectroscopy Uvasol",
+    "pack": "100 g",
+    "bulk_density_kg_m3": [
+     900,
+     1000
+    ],
+    "url": "https://www.merckmillipore.com/product/Potassium-bromide,MDA_CHEM-104907"
+   },
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "khp_primary_std",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "primary standard, dried"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_omnis",
+    "metrohm_899"
+   ],
+   "source": "typical: titer determination of NaOH",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "sodium_carbonate_primary",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "sodium_carbonate",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "primary standard, dried"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_omnis"
+   ],
+   "source": "typical: titer determination of acids",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "cons_plates_96_flat",
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "biotek_405ts",
+    "bmg_clariostarplus",
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical",
+   "count": 50,
+   "description": "box of 96-well flat-bottom polystyrene plates (SBS)",
+   "provisional_type": "box_microplates_96_flat_ps",
+   "type_status": "packaging_of",
+   "type_note": "sleeve of 25 plates; sleeve not modelled"
+  },
+  {
+   "id": "cons_pcr_plates",
+   "type": "labware.biorad_hardshell_pcr_plate_96",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "biorad_cfxopus",
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "typical",
+   "count": 25,
+   "description": "box of skirted 96-well PCR plates (SBS)",
+   "provisional_type": "box_pcr_plates_96_skirted",
+   "type_status": "packaging_of",
+   "type_note": "HSP9655 pkg of 50 (CFX Opus flier p.2)"
+  },
+  {
+   "id": "cons_tubes_1p5ml",
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 500,
+   "description": "bag of 1.5 mL microcentrifuge tubes",
+   "provisional_type": "bag_tubes_1p5ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 500 tubes; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_15ml",
+   "type": "labware.falcon_tube_15ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 50,
+   "description": "bag of 15 mL conical tubes",
+   "provisional_type": "bag_tubes_conical_15ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 50; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_50ml",
+   "type": "labware.falcon_tube_50ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 25,
+   "description": "bag of 50 mL conical tubes",
+   "provisional_type": "bag_tubes_conical_50ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 25; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_12x75",
+   "type": "labware.falcon_352052_tube_12x75",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "bd_facsariaiii"
+   ],
+   "source": "manual: facsaria_iii_users_guide (12 x 75 mm sample tubes); the runtime's tube types include 12x75",
+   "count": 125,
+   "description": "bag of 12 x 75 mm polystyrene cytometry tubes",
+   "provisional_type": "bag_tubes_12x75mm_ps",
+   "type_status": "packaging_of",
+   "type_note": "125 per bag (FACSAria guide p.286)"
+  },
+  {
+   "id": "cons_vials_gc",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 2 mL crimp vials with caps (GC)",
+   "provisional_type": "box_vials_2ml_crimp",
+   "type_status": "substitute",
+   "type_note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"
+  },
+  {
+   "id": "cons_vials_hplc",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 2 mL screw vials with caps (HPLC)",
+   "provisional_type": "box_vials_2ml_screw",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5182-0715 is sold 100/pk"
+  },
+  {
+   "id": "cons_vials_hs",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 20 mL headspace vials with crimp caps",
+   "provisional_type": "box_vials_20ml_headspace",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5188-2753 is sold 100/pk"
+  },
+  {
+   "id": "cons_tips_1000",
+   "type": "labware.opentrons_flex_tiprack_1000ul",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical spare rack (one is on the deck)",
+   "count": 96,
+   "description": "Opentrons Flex tip rack, 96 x 1000 uL (SBS)",
+   "provisional_type": "tiprack_flex_1000ul",
+   "type_status": "exact"
+  },
+  {
+   "id": "cons_tips_200",
+   "type": "labware.opentrons_flex_tiprack_200ul",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical spare rack (one is on the deck)",
+   "count": 96,
+   "description": "Opentrons Flex tip rack, 96 x 200 uL (SBS)",
+   "provisional_type": "tiprack_flex_200ul",
+   "type_status": "exact"
+  },
+  {
+   "id": "cons_dsc_pans",
+   "type": "labware.ta_tzero_pan_lid",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of aluminium DSC pans and lids",
+   "provisional_type": "box_dsc_pans_tzero",
+   "type_status": "packaging_of",
+   "type_note": "pkg of 100 pans + 100 lids (DSC guide p.64)"
+  },
+  {
+   "id": "cons_tin_capsules",
+   "type": "labware.elementar_tin_capsule_11x8",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of tin capsules for CHNS combustion",
+   "provisional_type": "box_tin_capsules",
+   "type_status": "packaging_of",
+   "type_note": "100 pcs package (Elementar 200006458)"
+  },
+  {
+   "id": "cons_cuvettes_ps",
+   "type": "labware.brand_ps_macro_cuvette_759005",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-06"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 100,
+   "description": "box of disposable 10 mm polystyrene cuvettes",
+   "provisional_type": "box_cuvettes_ps_10mm",
+   "type_status": "packaging_of",
+   "type_note": "pack of 100"
+  },
+  {
+   "id": "cons_cuvettes_quartz",
+   "type": "labware.hellma_100_10_40_quartz_cuvette",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-07"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 4,
+   "description": "case with 10 mm quartz cuvettes",
+   "provisional_type": "cuvette_quartz_10mm_case",
+   "type_status": "packaging_of",
+   "type_note": "cuvette case not modelled"
+  },
+  {
+   "id": "cons_nmr_tubes",
+   "type": "labware.norell_nmr_tube_5mm_7in",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "magritek_spinsolve80"
+   ],
+   "source": "typical",
+   "count": 25,
+   "description": "box of 5 mm NMR tubes",
+   "provisional_type": "box_nmr_tubes_5mm",
+   "type_status": "packaging_of"
+  },
+  {
+   "id": "cons_seal_film",
+   "type": "labware.azenta_seal_roll_4ti0520",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S3-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "typical spare roll (one roll is threaded in the sealer)",
+   "count": 1,
+   "description": "roll of peelable heat-seal film for microplates",
+   "provisional_type": "roll_heat_seal_film",
+   "type_status": "exact",
+   "type_note": "mesh reused from the a4S asset's film_roll part"
+  },
+  {
+   "id": "cyl_n2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C1"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "ta_dsc2500",
+    "ta_tga5500",
+    "ta_tma450",
+    "ta_dma850",
+    "netzsch_lfa467",
+    "surface_dvsresolution",
+    "porometer_poroluxrevo"
+   ],
+   "connected_to": [
+    "ta_dsc2500",
+    "ta_tga5500",
+    "ta_tma450",
+    "ta_dma850",
+    "netzsch_lfa467",
+    "surface_dvsresolution",
+    "porometer_poroluxrevo"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_n2_2",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 400.1,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C2"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "laboao_cvdltf12p50",
+    "bronkhorst_cemw",
+    "inert_puresolvmd",
+    "gas_flavourspec25gc",
+    "teledyne_atomxxyz",
+    "bronkhorst_p702cv_5bar_gauge_n2"
+   ],
+   "connected_to": [
+    "laboao_cvdltf12p50",
+    "bronkhorst_cemw",
+    "inert_puresolvmd",
+    "gas_flavourspec25gc",
+    "teledyne_atomxxyz",
+    "bronkhorst_p702cv_5bar_gauge_n2"
+   ],
+   "source": "full 50 L cylinder: 8.0018 mol/L x 50 L = 400.1 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_ar_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "argon",
+     "amount": {
+      "value": 447.7,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C3"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030",
+    "laboao_cvdltf12p50",
+    "inert_purelab_he_2gb"
+   ],
+   "connected_to": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030",
+    "laboao_cvdltf12p50",
+    "inert_purelab_he_2gb"
+   ],
+   "source": "full 50 L cylinder: 8.9545 mol/L x 50 L = 447.7 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_he_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "helium",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C4"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b",
+    "antonpaar_ultrapyc5000",
+    "elementar_varioel",
+    "leco_onh836",
+    "markes_unityxr"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b",
+    "antonpaar_ultrapyc5000",
+    "elementar_varioel",
+    "leco_onh836",
+    "markes_unityxr"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_o2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "oxygen",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "4.8 (99.998 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C5"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "ta_tga5500",
+    "elementar_varioel",
+    "shimadzu_tocl",
+    "ika_c6000"
+   ],
+   "connected_to": [
+    "ta_tga5500",
+    "elementar_varioel",
+    "shimadzu_tocl",
+    "ika_c6000"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_air_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 325.95,
+      "unit": "mol"
+     },
+     "mole_fraction": 0.795,
+     "grade": "synthetic air, hydrocarbon-free"
+    },
+    {
+     "substance": "oxygen",
+     "amount": {
+      "value": 84.05,
+      "unit": "mol"
+     },
+     "mole_fraction": 0.205,
+     "grade": "synthetic air, hydrocarbon-free"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C6"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "ta_dma850",
+    "jena_contraa800"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "ta_dma850",
+    "jena_contraa800"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_co2_ref",
+   "type": "labware.gas_cylinder_10l_200bar",
+   "contents": [
+    {
+     "substance": "carbon_dioxide",
+     "amount": {
+      "value": 170.0,
+      "unit": "mol"
+     },
+     "grade": "4.5, isotope reference gas"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C7"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "elementar_isoprimeprecision"
+   ],
+   "connected_to": [
+    "elementar_isoprimeprecision"
+   ],
+   "source": "typical: a 10 L CO2 cylinder holds 7.5 kg (170 mol) liquefied",
+   "description": "CO2 cylinder 10 L, liquefied, with regulator",
+   "provisional_type": "cylinder_10l_co2_liquefied",
+   "type_status": "substitute",
+   "type_note": "same 10 L steel shell; liquefied CO2 at ~57 bar (20 C) is a ledger property, no dip tube modelled"
+  },
+  {
+   "id": "cyl_h2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "hydrogen",
+     "amount": {
+      "value": 360.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G1"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_ch4_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "methane",
+     "amount": {
+      "value": 525.1,
+      "unit": "mol"
+     },
+     "grade": "4.5 (99.995 %)"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G2"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "laboao_cvdltf12p50"
+   ],
+   "connected_to": [
+    "laboao_cvdltf12p50"
+   ],
+   "source": "full 50 L cylinder: 10.502 mol/L x 50 L = 525.1 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json); a 50 L cylinder like the hydrogen one (G1), was 10 L / 95 mol",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_c2h2_1",
+   "type": "labware.gas_cylinder_10l_200bar",
+   "contents": [
+    {
+     "substance": "acetylene",
+     "amount": {
+      "value": 77.0,
+      "unit": "mol"
+     },
+     "grade": "2.6, dissolved in acetone"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G3"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "jena_contraa800"
+   ],
+   "connected_to": [
+    "jena_contraa800"
+   ],
+   "source": "typical: a 10 L acetylene cylinder holds about 2 kg (77 mol) dissolved in acetone",
+   "description": "acetylene cylinder 10 L (dissolved in acetone), with regulator",
+   "provisional_type": "cylinder_10l_acetylene",
+   "type_status": "substitute",
+   "type_note": "acetylene cylinders hold a porous mass + acetone at ~19 bar and are wider; shape of the 10 L cylinder stands in until a sourced model is built"
+  }
+ ],
+ "instrument_contents": [
+  {
+   "id": "agilent_1260infinity/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_1260infinity runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_1260infinity",
+    "position": "position 1"
+   },
+   "for": [
+    "agilent_1260infinity"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "agilent_1290infinity/PS_mix",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "tetrahydrofuran",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_1290infinity",
+    "position": null
+   },
+   "for": [
+    "agilent_1290infinity"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "agilent_gc8890b/mix1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "mix1",
+     "defined_by": "the agilent_gc8890b runtime (sample / template mix1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_gc8890b",
+    "position": null
+   },
+   "for": [
+    "agilent_gc8890b"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hplc1260/mix1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "mix1",
+     "defined_by": "the agilent_hplc1260 runtime (sample / template mix1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hplc1260",
+    "position": null
+   },
+   "for": [
+    "agilent_hplc1260"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v1",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v2",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v2",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v3",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v3",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v4",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v4",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v4)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "ametek_oxtran/poly_ethylene_terephthalate",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "poly_ethylene_terephthalate",
+     "reference_template": "poly_ethylene_terephthalate",
+     "defined_by": "the ametek_oxtran runtime (sample / template poly_ethylene_terephthalate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ametek_oxtran",
+    "position": "cell A"
+   },
+   "for": [
+    "ametek_oxtran"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_autosorb6100/sample_0",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_0",
+     "defined_by": "the antonpaar_autosorb6100 runtime (sample / template sample_0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_autosorb6100",
+    "position": "station 0"
+   },
+   "for": [
+    "antonpaar_autosorb6100"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_hit300/borofloat33_5mn_rep1",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "borofloat33_5mn_rep1",
+     "defined_by": "the antonpaar_hit300 runtime (sample / template borofloat33_5mn_rep1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_hit300",
+    "position": null
+   },
+   "for": [
+    "antonpaar_hit300"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_litesizerdia/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 300.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_litesizerdia runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdia",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdia"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "antonpaar_litesizerdia/grain_capecod",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "grain_capecod",
+     "defined_by": "the antonpaar_litesizerdia runtime (sample / template grain_capecod)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdia",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdia"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_litesizerdls/cad9_aqueous",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "cad9_aqueous",
+     "amount": {
+      "value": 0.7,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_litesizerdls runtime (sample / template cad9_aqueous)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdls",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdls"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_mcr503/water",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "water",
+     "amount": {
+      "value": 0.490874,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_mcr503 runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_mcr503",
+    "position": null
+   },
+   "for": [
+    "antonpaar_mcr503"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_poremaster60/mercury",
+   "kind": "mercury",
+   "contents": [
+    {
+     "material": "mercury",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "defined_by": "the antonpaar_poremaster60 runtime (sample / template mercury)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_poremaster60",
+    "position": null
+   },
+   "for": [
+    "antonpaar_poremaster60"
+   ],
+   "source": "put in by the default lab set-up (mercury)"
+  },
+  {
+   "id": "antonpaar_poremaster60/hemp_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "hemp_01",
+     "defined_by": "the antonpaar_poremaster60 runtime (sample / template hemp_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_poremaster60",
+    "position": null
+   },
+   "for": [
+    "antonpaar_poremaster60"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_psa1190/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 450.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_psa1190 runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_psa1190",
+    "position": null
+   },
+   "for": [
+    "antonpaar_psa1190"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "antonpaar_psa1190/steel_batch_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "steel_batch_1",
+     "amount": {
+      "value": 8.0,
+      "unit": "g"
+     },
+     "defined_by": "the antonpaar_psa1190 runtime (sample / template steel_batch_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_psa1190",
+    "position": null
+   },
+   "for": [
+    "antonpaar_psa1190"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_rst300/borofloat33_10n_r1",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "borofloat33_10n_r1",
+     "defined_by": "the antonpaar_rst300 runtime (sample / template borofloat33_10n_r1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_rst300",
+    "position": null
+   },
+   "for": [
+    "antonpaar_rst300"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_saxspace/lysozyme_5",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_saxspace",
+    "position": null
+   },
+   "for": [
+    "antonpaar_saxspace"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_surpass3/private_cotton_equivalent",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_cotton_equivalent",
+     "defined_by": "the antonpaar_surpass3 runtime (sample / template private_cotton_equivalent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_surpass3",
+    "position": null
+   },
+   "for": [
+    "antonpaar_surpass3"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_trb/cr100_leadbronze_dry_003",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "cr100_leadbronze_dry_003",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_trb runtime (sample / template cr100_leadbronze_dry_003)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_trb",
+    "position": null
+   },
+   "for": [
+    "antonpaar_trb"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_ultrapyc5000/private_al_powder",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_al_powder",
+     "defined_by": "the antonpaar_ultrapyc5000 runtime (sample / template private_al_powder)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_ultrapyc5000",
+    "position": null
+   },
+   "for": [
+    "antonpaar_ultrapyc5000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "applied_sx20/fluorescein_demo",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "ethanol"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "applied_sx20",
+    "position": null
+   },
+   "for": [
+    "applied_sx20"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "arradiance_gemstarxt/substrate_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "substrate_01",
+     "defined_by": "the arradiance_gemstarxt runtime (sample / template substrate_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "arradiance_gemstarxt",
+    "position": null
+   },
+   "for": [
+    "arradiance_gemstarxt"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s/roll_1",
+   "kind": "load film",
+   "contents": [
+    {
+     "material": "roll_1",
+     "defined_by": "the azenta_automated_roll_heat_sealer_a4s runtime (sample / template roll_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_automated_roll_heat_sealer_a4s",
+    "position": null
+   },
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "put in by the default lab set-up (load film)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s/pcr_plate_1",
+   "kind": "load plate",
+   "contents": [
+    {
+     "material": "pcr_plate_1",
+     "defined_by": "the azenta_automated_roll_heat_sealer_a4s runtime (sample / template pcr_plate_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_automated_roll_heat_sealer_a4s",
+    "position": null
+   },
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "put in by the default lab set-up (load plate)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001/register_consumable",
+   "kind": "register consumable",
+   "contents": [
+    {
+     "material": "register_consumable",
+     "defined_by": "the azenta_intellixcap_s1_46_0001 runtime (sample / template register_consumable)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_intellixcap_s1_46_0001",
+    "position": null
+   },
+   "for": [
+    "azenta_intellixcap_s1_46_0001"
+   ],
+   "source": "put in by the default lab set-up (register consumable)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001/t1",
+   "kind": "present sample",
+   "contents": [
+    {
+     "material": "t1",
+     "defined_by": "the azenta_intellixcap_s1_46_0001 runtime (sample / template t1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_intellixcap_s1_46_0001",
+    "position": null
+   },
+   "for": [
+    "azenta_intellixcap_s1_46_0001"
+   ],
+   "source": "put in by the default lab set-up (present sample)"
+  },
+  {
+   "id": "biolin_sigma700/cas_67_56_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "methanol",
+     "amount": {
+      "value": 30.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_sigma700",
+    "position": null
+   },
+   "for": [
+    "biolin_sigma700"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "biolin_thetaflex/al_ctab_a_row7",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "al_ctab_a_row7",
+     "defined_by": "the biolin_thetaflex runtime (sample / template al_ctab_a_row7)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_thetaflex",
+    "position": null
+   },
+   "for": [
+    "biolin_thetaflex"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "biolin_thetaflex/al_ctab_a_row7_2",
+   "kind": "stock",
+   "contents": [
+    {
+     "material": "al_ctab_a_row7",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the biolin_thetaflex runtime (sample / template al_ctab_a_row7)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_thetaflex",
+    "position": null
+   },
+   "for": [
+    "biolin_thetaflex"
+   ],
+   "source": "put in by the default lab set-up (stock)"
+  },
+  {
+   "id": "biorad_cfxopus/gapdh_std",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "gapdh_std",
+     "defined_by": "the biorad_cfxopus runtime (sample / template gapdh_std)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_cfxopus",
+    "position": null
+   },
+   "for": [
+    "biorad_cfxopus"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "biorad_cfxopus/plate_1",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "plate_1",
+     "defined_by": "the biorad_cfxopus runtime (sample / template plate_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_cfxopus",
+    "position": null
+   },
+   "for": [
+    "biorad_cfxopus"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "biorad_miniprotean/gel_a",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "gel_a",
+     "defined_by": "the biorad_miniprotean runtime (sample / template gel_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": null
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/gel_a_2",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "gel_a",
+     "defined_by": "the biorad_miniprotean runtime (sample / template gel_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "position 1"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer_dam",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "buffer_dam",
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer_dam)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "position 2"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer",
+   "kind": "buffer",
+   "contents": [
+    {
+     "material": "tris_glycine_sds_1x",
+     "amount": {
+      "value": 150.0,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "chamber inner"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (buffer)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer_2",
+   "kind": "buffer",
+   "contents": [
+    {
+     "material": "tris_glycine_sds_1x",
+     "amount": {
+      "value": 600.0,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "chamber outer"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (buffer)"
+  },
+  {
+   "id": "biorad_miniprotean/ladder_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "ladder_1",
+     "amount": {
+      "value": 0.01,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template ladder_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": null
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "protein ladder: prestained marker, 10 µL (typical mini-gel loading)"
+  },
+  {
+   "id": "biotek_405ts/p1",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "pbs_1x",
+     "defined_by": "the biotek_405ts runtime (sample / template p1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biotek_405ts",
+    "position": null
+   },
+   "for": [
+    "biotek_405ts"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "bmg_clariostarplus/fluorescein_standard",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "fluorescein_standard",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template fluorescein_standard)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "bmg_clariostarplus/water",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "water",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "bmg_clariostarplus/wp",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "wp",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template wp)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "bruker_magnettechesr5000/blank_01",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_magnettechesr5000 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_magnettechesr5000",
+    "position": null
+   },
+   "for": [
+    "bruker_magnettechesr5000"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "bruker_magnettechesr5000/sample_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "niehs_109",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_magnettechesr5000 runtime (sample / template niehs_109)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_magnettechesr5000",
+    "position": null
+   },
+   "for": [
+    "bruker_magnettechesr5000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "bruker_minispecmq20/sample_01",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "patent_picolinate_p04218_pc2a1pa_sym",
+     "amount": {
+      "value": 0.5,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_minispecmq20 runtime (sample / template patent_picolinate_p04218_pc2a1pa_sym)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_minispecmq20",
+    "position": null
+   },
+   "for": [
+    "bruker_minispecmq20"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "bruker_minispecmq20/sample_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_01",
+     "defined_by": "the bruker_minispecmq20 runtime (sample / template sample_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_minispecmq20",
+    "position": null
+   },
+   "for": [
+    "bruker_minispecmq20"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "bruker_x4poseidon/alumina_pellet",
+   "kind": "sample (cylinder)",
+   "contents": [
+    {
+     "material": "alumina_pellet",
+     "defined_by": "the bruker_x4poseidon runtime (sample / template alumina_pellet)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_x4poseidon",
+    "position": null
+   },
+   "for": [
+    "bruker_x4poseidon"
+   ],
+   "source": "put in by the default lab set-up (sample (cylinder))"
+  },
+  {
+   "id": "camag_tlcscanner/hptlc_01",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "hptlc_01",
+     "defined_by": "the camag_tlcscanner runtime (sample / template hptlc_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "camag_tlcscanner",
+    "position": null
+   },
+   "for": [
+    "camag_tlcscanner"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "camag_tlcscanner/plate",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "plate",
+     "defined_by": "the camag_tlcscanner runtime (sample / template plate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "camag_tlcscanner",
+    "position": null
+   },
+   "for": [
+    "camag_tlcscanner"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "ch_chi440c/copper_bath",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "copper_bath",
+     "main_component": "copper",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the ch_chi440c runtime (sample / template copper_bath)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ch_chi440c",
+    "position": null
+   },
+   "for": [
+    "ch_chi440c"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ch_chi920d/synthetic_surface",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "o2_neutral",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the ch_chi920d runtime (sample / template synthetic_surface)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ch_chi920d",
+    "position": null
+   },
+   "for": [
+    "ch_chi920d"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "cytiva_biacoret200/run_buffer",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "hbs_ep_plus",
+     "amount": {
+      "value": 1000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template run_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/dist_water",
+   "kind": "solution",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 500.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/run_buffer_2",
+   "kind": "bottle",
+   "contents": [
+    {
+     "material": "run_buffer",
+     "amount": {
+      "value": 950.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template run_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "slot buffer_a"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (bottle)"
+  },
+  {
+   "id": "cytiva_biacoret200/dist_water_2",
+   "kind": "bottle",
+   "contents": [
+    {
+     "material": "dist_water",
+     "amount": {
+      "value": 450.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template dist_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "slot water"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (bottle)"
+  },
+  {
+   "id": "cytiva_biacoret200/buf_s",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "hbs_ep_plus",
+     "amount": {
+      "value": 0.6,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template buf_s)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/buf_s_2",
+   "kind": "rack",
+   "contents": [
+    {
+     "material": "buf_s",
+     "amount": {
+      "value": 0.4,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template buf_s)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "position R1B1"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (rack)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/tubes",
+   "kind": "tubes",
+   "contents": [
+    {
+     "material": "tubes",
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template tubes)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": null
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (tubes)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 0"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe_2",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 3.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 1"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe_3",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 2"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "edinburgh_fls1000tcspc/reference_488",
+   "kind": "sample (fluorescent)",
+   "contents": [
+    {
+     "material": "reference_488",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the edinburgh_fls1000tcspc runtime (sample / template reference_488)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "edinburgh_fls1000tcspc",
+    "position": null
+   },
+   "for": [
+    "edinburgh_fls1000tcspc"
+   ],
+   "source": "put in by the default lab set-up (sample (fluorescent))"
+  },
+  {
+   "id": "elementar_varioel/blank_0",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank_0",
+     "defined_by": "the elementar_varioel runtime (sample / template blank_0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 0"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "elementar_varioel/standard_1",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_1",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.001,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 1"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/standard_2",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_2",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.002,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 2"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/standard_3",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_3",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.003,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 3"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/sample_4",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_4",
+     "reference_template": "oem_wheat_flour",
+     "amount": {
+      "value": 0.002,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_wheat_flour)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 4"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "elga_purelab_flex3/install_consumables",
+   "kind": "install consumables",
+   "contents": [
+    {
+     "material": "install_consumables",
+     "defined_by": "the elga_purelab_flex3 runtime (sample / template install_consumables)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elga_purelab_flex3",
+    "position": null
+   },
+   "for": [
+    "elga_purelab_flex3"
+   ],
+   "source": "put in by the default lab set-up (install consumables)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_a",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_a",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_b",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_b",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_b)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_c",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_c",
+     "amount": {
+      "value": 60.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_c)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "evident_bx53p/quartz_section",
+   "kind": "sample (thin_section)",
+   "contents": [
+    {
+     "material": "main_sio2",
+     "defined_by": "the evident_bx53p runtime (sample / template quartz_section)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "evident_bx53p",
+    "position": null
+   },
+   "for": [
+    "evident_bx53p"
+   ],
+   "source": "put in by the default lab set-up (sample (thin_section))"
+  },
+  {
+   "id": "freeman_ft4powder/tablettose_70_2026",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "tablettose_70_2026",
+     "amount": {
+      "value": 51.0,
+      "unit": "g"
+     },
+     "defined_by": "the freeman_ft4powder runtime (sample / template tablettose_70_2026)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "freeman_ft4powder",
+    "position": null
+   },
+   "for": [
+    "freeman_ft4powder"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "frontier_egapy/private_PS",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_PS",
+     "defined_by": "the frontier_egapy runtime (sample / template private_PS)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "frontier_egapy",
+    "position": null
+   },
+   "for": [
+    "frontier_egapy"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "glatt_miniglatt/powder",
+   "kind": "powder",
+   "contents": [
+    {
+     "material": "powder",
+     "defined_by": "the glatt_miniglatt runtime (sample / template powder)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "glatt_miniglatt",
+    "position": null
+   },
+   "for": [
+    "glatt_miniglatt"
+   ],
+   "source": "put in by the default lab set-up (powder)"
+  },
+  {
+   "id": "glatt_miniglatt/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 30.0,
+      "unit": "mL"
+     },
+     "defined_by": "the glatt_miniglatt runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "glatt_miniglatt",
+    "position": null
+   },
+   "for": [
+    "glatt_miniglatt"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "hach_dr6000/blank_01",
+   "kind": "register sample (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the hach_dr6000 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hach_dr6000",
+    "position": null
+   },
+   "for": [
+    "hach_dr6000"
+   ],
+   "source": "put in by the default lab set-up (register sample (blank))"
+  },
+  {
+   "id": "hach_dr6000/sample_01",
+   "kind": "register sample (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "defined_by": "the hach_dr6000 runtime (sample / template sample_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hach_dr6000",
+    "position": null
+   },
+   "for": [
+    "hach_dr6000"
+   ],
+   "source": "put in by the default lab set-up (register sample (sample))"
+  },
+  {
+   "id": "hot_tps2500/stainless_steel_316l_hotdisk",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "stainless_steel_316l_hotdisk",
+     "defined_by": "the hot_tps2500 runtime (sample / template stainless_steel_316l_hotdisk)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hot_tps2500",
+    "position": null
+   },
+   "for": [
+    "hot_tps2500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ja_alphase/pmma_on_si",
+   "kind": "sample (film_stack)",
+   "contents": [
+    {
+     "material": "pmma_on_si",
+     "defined_by": "the ja_alphase runtime (sample / template pmma_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ja_alphase",
+    "position": null
+   },
+   "for": [
+    "ja_alphase"
+   ],
+   "source": "put in by the default lab set-up (sample (film_stack))"
+  },
+  {
+   "id": "jasco_cpl300/solvent_blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "basic ethanol",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_cpl300 runtime (sample / template solvent_blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_cpl300",
+    "position": null
+   },
+   "for": [
+    "jasco_cpl300"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_fp8350/blank_01",
+   "kind": "solution (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fp8350 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (solution (blank))"
+  },
+  {
+   "id": "jasco_fp8350/sample_01",
+   "kind": "solution (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "pcad_083",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fp8350 runtime (sample / template pcad_083)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (solution (sample))"
+  },
+  {
+   "id": "jasco_fp8350/blank_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the jasco_fp8350 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_ftir4700/ethanol_01",
+   "kind": "register template sample",
+   "contents": [
+    {
+     "substance": "ethanol"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_ftir4700",
+    "position": null
+   },
+   "for": [
+    "jasco_ftir4700"
+   ],
+   "source": "put in by the default lab set-up (register template sample)"
+  },
+  {
+   "id": "jasco_fvs6000/solvent_blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "DMSO-d6",
+     "amount": {
+      "value": 0.05,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fvs6000 runtime (sample / template solvent_blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fvs6000",
+    "position": null
+   },
+   "for": [
+    "jasco_fvs6000"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_j1500/blank_01",
+   "kind": "solution (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_j1500 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (solution (blank))"
+  },
+  {
+   "id": "jasco_j1500/sample_01",
+   "kind": "solution (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "sp175_hsa",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_j1500 runtime (sample / template sp175_hsa)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (solution (sample))"
+  },
+  {
+   "id": "jasco_j1500/blank_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the jasco_j1500 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_nrs5500/mineral_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "mineral_01",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "defined_by": "the jasco_nrs5500 runtime (sample / template mineral_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_nrs5500",
+    "position": null
+   },
+   "for": [
+    "jasco_nrs5500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_p4200/blank_water",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_p4200/quartz_10deg",
+   "kind": "sample (quartz)",
+   "contents": [
+    {
+     "material": "quartz_10deg",
+     "defined_by": "the jasco_p4200 runtime (sample / template quartz_10deg)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample (quartz))"
+  },
+  {
+   "id": "jasco_p4200/sample_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jena_contraa800/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "aj_wastewater_std3_cu",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jena_contraa800 runtime (sample / template aj_wastewater_std3_cu)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jena_contraa800",
+    "position": "vial_index 0"
+   },
+   "for": [
+    "jena_contraa800"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "jena_multix/aox_linear_100_r1_c1",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "aox_linear_100_r1_c1",
+     "reference_template": "aox_linear_100_r1_c1",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the jena_multix runtime (sample / template aox_linear_100_r1_c1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jena_multix",
+    "position": null
+   },
+   "for": [
+    "jena_multix"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "jeol_jem1400flash/au_np_on_carbon",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "au_np_on_carbon",
+     "defined_by": "the jeol_jem1400flash runtime (sample / template au_np_on_carbon)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jeol_jem1400flash",
+    "position": null
+   },
+   "for": [
+    "jeol_jem1400flash"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "jeol_jsmit200/fe_si_polished",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "fe_si_polished",
+     "defined_by": "the jeol_jsmit200 runtime (sample / template fe_si_polished)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jeol_jsmit200",
+    "position": null
+   },
+   "for": [
+    "jeol_jsmit200"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "keyence_vkx3000/sio2_step_on_si",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sio2_step_on_si",
+     "defined_by": "the keyence_vkx3000 runtime (sample / template sio2_step_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "keyence_vkx3000",
+    "position": null
+   },
+   "for": [
+    "keyence_vkx3000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "knauer_k7400s/water",
+   "kind": "sample (reference)",
+   "contents": [
+    {
+     "material": "water",
+     "amount": {
+      "value": 0.15,
+      "unit": "mL"
+     },
+     "defined_by": "the knauer_k7400s runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "knauer_k7400s",
+    "position": null
+   },
+   "for": [
+    "knauer_k7400s"
+   ],
+   "source": "put in by the default lab set-up (sample (reference))"
+  },
+  {
+   "id": "kratos_axissupra/sio2_on_si",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sio2_on_si",
+     "defined_by": "the kratos_axissupra runtime (sample / template sio2_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "kratos_axissupra",
+    "position": null
+   },
+   "for": [
+    "kratos_axissupra"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "lakeshore_8604vsm/kuleuven_cf_300k",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "kuleuven_cf_300k",
+     "amount": {
+      "value": 0.006283,
+      "unit": "mL"
+     },
+     "defined_by": "the lakeshore_8604vsm runtime (sample / template kuleuven_cf_300k)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "lakeshore_8604vsm",
+    "position": null
+   },
+   "for": [
+    "lakeshore_8604vsm"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "leco_onh836/sample",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "sample",
+     "defined_by": "the leco_onh836 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "leco_onh836/crucible",
+   "kind": "crucible",
+   "contents": [
+    {
+     "material": "crucible",
+     "defined_by": "the leco_onh836 runtime (sample / template crucible)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (crucible)"
+  },
+  {
+   "id": "leco_onh836/leco_503558_reference",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "leco_503558_reference",
+     "reference_template": "leco_503558_reference",
+     "amount": {
+      "value": 0.12,
+      "unit": "g"
+     },
+     "defined_by": "the leco_onh836 runtime (sample / template leco_503558_reference)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "linseis_lsr3/tematdb_00009",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "tematdb_00009",
+     "defined_by": "the linseis_lsr3 runtime (sample / template tematdb_00009)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "linseis_lsr3",
+    "position": null
+   },
+   "for": [
+    "linseis_lsr3"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "magritek_spinsolve80/ethanol_01",
+   "kind": "register template sample",
+   "contents": [
+    {
+     "material": "CDCl3",
+     "defined_by": "the magritek_spinsolve80 runtime (sample / template ethanol_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "magritek_spinsolve80",
+    "position": null
+   },
+   "for": [
+    "magritek_spinsolve80"
+   ],
+   "source": "put in by the default lab set-up (register template sample)"
+  },
+  {
+   "id": "malvern_microcalpeaq/edta",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "edta",
+     "amount": {
+      "value": 3.0,
+      "unit": "mL"
+     },
+     "defined_by": "the malvern_microcalpeaq runtime (sample / template edta)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "malvern_microcalpeaq",
+    "position": null
+   },
+   "for": [
+    "malvern_microcalpeaq"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "malvern_microcalpeaq/ca",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "ca",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the malvern_microcalpeaq runtime (sample / template ca)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "malvern_microcalpeaq",
+    "position": null
+   },
+   "for": [
+    "malvern_microcalpeaq"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "markes_unityxr/private_air",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_air",
+     "defined_by": "the markes_unityxr runtime (sample / template private_air)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "markes_unityxr",
+    "position": null
+   },
+   "for": [
+    "markes_unityxr"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "metrohm_899/copper_ii_sulfate_pentahydrate",
+   "kind": "load template sample",
+   "contents": [
+    {
+     "substance": "copper_sulfate_pentahydrate"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "metrohm_899",
+    "position": null
+   },
+   "for": [
+    "metrohm_899"
+   ],
+   "source": "put in by the default lab set-up (load template sample)"
+  },
+  {
+   "id": "metrohm_omnis/load_template_sample",
+   "kind": "load template sample",
+   "contents": [
+    {
+     "material": "load_template_sample",
+     "defined_by": "the metrohm_omnis runtime (sample / template load_template_sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "metrohm_omnis",
+    "position": null
+   },
+   "for": [
+    "metrohm_omnis"
+   ],
+   "source": "put in by the default lab set-up (load template sample)"
+  },
+  {
+   "id": "microtrac_turbiscanlab/lentil_soybean_hipe_untreated",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "lentil_soybean_hipe_untreated",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the microtrac_turbiscanlab runtime (sample / template lentil_soybean_hipe_untreated)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "microtrac_turbiscanlab",
+    "position": null
+   },
+   "for": [
+    "microtrac_turbiscanlab"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "milestone_dma80/sample",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 0"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.02,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 1"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_2",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 2"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_3",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 3"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_4",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 5"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "nanosurf_naiostm/hopg",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "hopg",
+     "reference_template": "hopg_kit",
+     "defined_by": "the nanosurf_naiostm runtime (sample / template hopg_kit)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "nanosurf_naiostm",
+    "position": null
+   },
+   "for": [
+    "nanosurf_naiostm"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "netzsch_lfa467/nist_sic",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "nist_sic",
+     "defined_by": "the netzsch_lfa467 runtime (sample / template nist_sic)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "netzsch_lfa467",
+    "position": "position 1"
+   },
+   "for": [
+    "netzsch_lfa467"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "netzsch_mmc315/di_tbutyl_peroxide",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "toluene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "netzsch_mmc315",
+    "position": null
+   },
+   "for": [
+    "netzsch_mmc315"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "newera_ne1000/syringe",
+   "kind": "syringe",
+   "contents": [
+    {
+     "substance": "water"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "newera_ne1000",
+    "position": null
+   },
+   "for": [
+    "newera_ne1000"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "novocontrol_alphat/water_crc_7732_18_5",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "water_crc_7732_18_5",
+     "defined_by": "the novocontrol_alphat runtime (sample / template water_crc_7732_18_5)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "novocontrol_alphat",
+    "position": null
+   },
+   "for": [
+    "novocontrol_alphat"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "park_nx10/grating",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "grating",
+     "reference_template": "calibration_grating_xyz",
+     "defined_by": "the park_nx10 runtime (sample / template calibration_grating_xyz)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "park_nx10",
+    "position": null
+   },
+   "for": [
+    "park_nx10"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "pine_wavevortex10/private_oxygen_bath",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "o2_neutral",
+     "amount": {
+      "value": 50.0,
+      "unit": "mL"
+     },
+     "defined_by": "the pine_wavevortex10 runtime (sample / template private_oxygen_bath)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "pine_wavevortex10",
+    "position": null
+   },
+   "for": [
+    "pine_wavevortex10"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "porometer_poroluxrevo/pvdf_fc43_2016",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "pvdf_fc43_2016",
+     "defined_by": "the porometer_poroluxrevo runtime (sample / template pvdf_fc43_2016)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "porometer_poroluxrevo",
+    "position": null
+   },
+   "for": [
+    "porometer_poroluxrevo"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "porometer_poroluxrevo/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "defined_by": "the porometer_poroluxrevo runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "porometer_poroluxrevo",
+    "position": null
+   },
+   "for": [
+    "porometer_poroluxrevo"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "rigaku_xtalabsynergy/aspirin_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "aspirin"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "rigaku_xtalabsynergy",
+    "position": null
+   },
+   "for": [
+    "rigaku_xtalabsynergy"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "sciex_pa800/rinse buffer",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "rinse buffer",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template rinse buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BI:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/waste",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "waste",
+     "amount": {
+      "value": 0.6,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template waste)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BO:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/run buffer in",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "run buffer in",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template run buffer in)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BI:B1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/run buffer out",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "run buffer out",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template run buffer out)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BO:B1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/sample 1",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "sample 1",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template sample 1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position SI:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "seal_aa500/nitrate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "nitrate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template nitrate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/nitrite_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "nitrite_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template nitrite_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/ammonium_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "ammonium_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ammonium_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/phosphate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "phosphate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template phosphate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/silicate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "silicate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template silicate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_nitrate_nitrite",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_nitrate_nitrite",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_nitrate_nitrite)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_nitrite",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_nitrite",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_nitrite)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_ammonia",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_ammonia",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_ammonia)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_phosphate",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_phosphate",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_phosphate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_silicate",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_silicate",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_silicate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/wash_water",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "wash_water",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template wash_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/cadmium_activation",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "cadmium_activation",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template cadmium_activation)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/imidazole_buffer",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "imidazole_buffer",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template imidazole_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/colour_reagent",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "colour_reagent",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template colour_reagent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/complexing_reagent",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "complexing_reagent",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template complexing_reagent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/alkaline_phenol",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "alkaline_phenol",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template alkaline_phenol)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/hypochlorite_nitroprusside",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "hypochlorite_nitroprusside",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template hypochlorite_nitroprusside)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/molybdate_antimony",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "molybdate_antimony",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template molybdate_antimony)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/ascorbic_acid",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "ascorbic_acid",
+     "main_component": "ascorbic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ascorbic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/molybdate",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "molybdate",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template molybdate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/oxalic_acid",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "oxalic_acid",
+     "main_component": "oxalic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template oxalic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/ascorbic_acid_2",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "ascorbic_acid",
+     "main_component": "ascorbic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ascorbic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/wash_water_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "wash_water",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template wash_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 22"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std0",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std0",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std0_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std0",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std1",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std1",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std1_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std1",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std2",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std2",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std2_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std2",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std3",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std3",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std3_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std3",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "shimadzu_ags10knxd/epfl_s355_j2m_hem320_web",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "epfl_s355_j2m_hem320_web",
+     "amount": {
+      "value": 0.11,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_ags10knxd runtime (sample / template epfl_s355_j2m_hem320_web)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_ags10knxd",
+    "position": null
+   },
+   "for": [
+    "shimadzu_ags10knxd"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "shimadzu_edx7200/blackmass_icp_f",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "blackmass_icp_f",
+     "reference_template": "blackmass_icp_f",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "defined_by": "the shimadzu_edx7200 runtime (sample / template blackmass_icp_f)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_edx7200",
+    "position": null
+   },
+   "for": [
+    "shimadzu_edx7200"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_icpe9800/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "shimadzu_epa_ipc_assigned",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_icpe9800 runtime (sample / template shimadzu_epa_ipc_assigned)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_icpe9800",
+    "position": null
+   },
+   "for": [
+    "shimadzu_icpe9800"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_icpms2030/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "infant_cal4",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_icpms2030 runtime (sample / template infant_cal4)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_icpms2030",
+    "position": null
+   },
+   "for": [
+    "shimadzu_icpms2030"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_tocl/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "crm_altus_khp_10mg",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_tocl runtime (sample / template crm_altus_khp_10mg)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_tocl",
+    "position": null
+   },
+   "for": [
+    "shimadzu_tocl"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "signatone_quadpro2/starry_40927",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "starry_40927",
+     "defined_by": "the signatone_quadpro2 runtime (sample / template starry_40927)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "signatone_quadpro2",
+    "position": null
+   },
+   "for": [
+    "signatone_quadpro2"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "stanford_rga100/blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank",
+     "defined_by": "the stanford_rga100 runtime (sample / template blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "stanford_rga100",
+    "position": null
+   },
+   "for": [
+    "stanford_rga100"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "surface_dvsresolution/bam_p109_water_nitrogen_298p15k",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "bam_p109_water_nitrogen_298p15k",
+     "defined_by": "the surface_dvsresolution runtime (sample / template bam_p109_water_nitrogen_298p15k)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "surface_dvsresolution",
+    "position": null
+   },
+   "for": [
+    "surface_dvsresolution"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_dma850/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 0.01,
+      "unit": "g"
+     },
+     "defined_by": "the ta_dma850 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_dma850",
+    "position": null
+   },
+   "for": [
+    "ta_dma850"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_tamiv/halite_dissolution",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "halite_dissolution",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the ta_tamiv runtime (sample / template halite_dissolution)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tamiv",
+    "position": null
+   },
+   "for": [
+    "ta_tamiv"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_tamiv/reference",
+   "kind": "reference",
+   "contents": [
+    {
+     "material": "reference",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the ta_tamiv runtime (sample / template reference)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tamiv",
+    "position": null
+   },
+   "for": [
+    "ta_tamiv"
+   ],
+   "source": "put in by the default lab set-up (reference)"
+  },
+  {
+   "id": "ta_tma450/ptfe_tma450em_expansion",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "ptfe_tma450em_expansion",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the ta_tma450 runtime (sample / template ptfe_tma450em_expansion)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tma450",
+    "position": null
+   },
+   "for": [
+    "ta_tma450"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_analyteexcite/private_glass",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_glass",
+     "defined_by": "the teledyne_analyteexcite runtime (sample / template private_glass)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_analyteexcite",
+    "position": null
+   },
+   "for": [
+    "teledyne_analyteexcite"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_atomxxyz/aqueous_benzene",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "benzene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_atomxxyz",
+    "position": "vial_index 0"
+   },
+   "for": [
+    "teledyne_atomxxyz"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_atomxxyz/aqueous_toluene",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "toluene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_atomxxyz",
+    "position": "vial_index 2"
+   },
+   "for": [
+    "teledyne_atomxxyz"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "thermo_ibrightfl1500/gel1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "gel1",
+     "defined_by": "the thermo_ibrightfl1500 runtime (sample / template gel1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_ibrightfl1500",
+    "position": null
+   },
+   "for": [
+    "thermo_ibrightfl1500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "thermo_orbitrapexploris/blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the thermo_orbitrapexploris runtime (sample / template blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_orbitrapexploris",
+    "position": null
+   },
+   "for": [
+    "thermo_orbitrapexploris"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "thermo_orbitrapexploris/host_prepared_benzamide_solution",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "host_prepared_benzamide_solution",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the thermo_orbitrapexploris runtime (sample / template host_prepared_benzamide_solution)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_orbitrapexploris",
+    "position": null
+   },
+   "for": [
+    "thermo_orbitrapexploris"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ultrafast_helios/rhodamine_b_demo",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ultrafast_helios",
+    "position": null
+   },
+   "for": [
+    "ultrafast_helios"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "wyatt_eclipseaf4/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "defined_by": "the wyatt_eclipseaf4 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "wyatt_eclipseaf4",
+    "position": null
+   },
+   "for": [
+    "wyatt_eclipseaf4"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ziath_dp5_mirage_2023/rack_1",
+   "kind": "load rack",
+   "contents": [
+    {
+     "material": "rack_1",
+     "defined_by": "the ziath_dp5_mirage_2023 runtime (sample / template rack_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ziath_dp5_mirage_2023",
+    "position": null
+   },
+   "for": [
+    "ziath_dp5_mirage_2023"
+   ],
+   "source": "put in by the default lab set-up (load rack)"
+  },
+  {
+   "id": "zwick_hit5p/basf_ultradur_b4520",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "basf_ultradur_b4520",
+     "amount": {
+      "value": 3.192,
+      "unit": "mL"
+     },
+     "defined_by": "the zwick_hit5p runtime (sample / template basf_ultradur_b4520)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "zwick_hit5p",
+    "position": null
+   },
+   "for": [
+    "zwick_hit5p"
+   ],
+   "source": "the contract example notched bar (reference specimen)"
+  },
+  {
+   "id": "zwick_mflow/basf_ultradur_b6550",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "basf_ultradur_b6550",
+     "amount": {
+      "value": 6.0,
+      "unit": "g"
+     },
+     "defined_by": "the zwick_mflow runtime (sample / template basf_ultradur_b6550)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "zwick_mflow",
+    "position": null
+   },
+   "for": [
+    "zwick_mflow"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  }
+ ]
+}
diff --git a/chemlab/configs/inventory_task_quantos_powder.json b/chemlab/configs/inventory_task_quantos_powder.json
new file mode 100644
index 0000000000000000000000000000000000000000..e969bb0beca4643cd230d13c97178ee1ec8a6e88
--- /dev/null
+++ b/chemlab/configs/inventory_task_quantos_powder.json
@@ -0,0 +1,7588 @@
+{
+ "about": "The default lab's physical inventory (chemlab/inventory.py): one record per container at a storage place and position, with contents, storage class and source. Matterix can spawn the same containers; chemlab shows them (chemlab list --inventory [ID]). Moving a container is a host or robot action. Variant quantos_powder: robot powder dosing task (BRIEF_QUANTOS): Quantos empty at the start; heads in their containers on the bench shelf T2-03 (CaCO3) / T2-04 (KBr); empty 20 mL vials in the bench vial rack A01..A04 (row B stays empty)",
+ "storage_classes": [
+  "flammable",
+  "acid",
+  "base",
+  "oxidizer",
+  "toxic",
+  "cold",
+  "compressed_gas",
+  "general"
+ ],
+ "places": [
+  {
+   "id": "bench_shelf",
+   "access": "top_down",
+   "type": "stepped two-tier shelf on the robot bench (T1 front/low, T2 rear/high), all positions within the fixed arm's reach: the containers the robot handles (common solvents, pH buffers, the smoke workflows' standards)",
+   "storage_class": "general",
+   "positions": [
+    "T1-01",
+    "T1-02",
+    "T1-03",
+    "T1-04",
+    "T1-05",
+    "T2-01",
+    "T2-02",
+    "T2-03",
+    "T2-04",
+    "T2-05"
+   ],
+   "furniture": "furniture.trippnt_step_shelf_2tier",
+   "reach": "franka_bench",
+   "slots": 10
+  },
+  {
+   "id": "reagent_shelf_a",
+   "type": "open room reagent rack, 4 shelves x 8 positions (out of the fixed arm's reach)",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.metro_super_erecta_1848_4shelf",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "standards_cabinet",
+   "type": "closed cabinet for check standards and certified reference materials, 3 shelves x 8",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_standards",
+   "reach": "room",
+   "slots": 24
+  },
+  {
+   "id": "flammables_cabinet",
+   "type": "90 cm safety cabinet for flammable liquids (EN 14470-1 type 90), 3 shelves x 6",
+   "storage_class": "flammable",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06"
+   ],
+   "furniture": "furniture.asecos_q90_195_120",
+   "reach": "room",
+   "slots": 18
+  },
+  {
+   "id": "acids_cabinet",
+   "type": "ventilated corrosives cabinet, acid compartment, 2 shelves x 6",
+   "storage_class": "acid",
+   "positions": [
+    "A:S1-01",
+    "A:S1-02",
+    "A:S1-03",
+    "A:S1-04",
+    "A:S1-05",
+    "A:S1-06",
+    "A:S2-01",
+    "A:S2-02",
+    "A:S2-03",
+    "A:S2-04",
+    "A:S2-05",
+    "A:S2-06"
+   ],
+   "furniture": "furniture.asecos_sl_196_120",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "bases_cabinet",
+   "type": "ventilated corrosives cabinet, base compartment, 2 shelves x 6",
+   "storage_class": "base",
+   "positions": [
+    "B:S1-01",
+    "B:S1-02",
+    "B:S1-03",
+    "B:S1-04",
+    "B:S1-05",
+    "B:S1-06",
+    "B:S2-01",
+    "B:S2-02",
+    "B:S2-03",
+    "B:S2-04",
+    "B:S2-05",
+    "B:S2-06"
+   ],
+   "furniture": "furniture.asecos_sl_196_120",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "toxics_cabinet",
+   "type": "ventilated, lockable cabinet for toxic substances, 2 shelves x 6",
+   "storage_class": "toxic",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "furniture": "furniture.asecos_cs_195_105",
+   "reach": "room",
+   "slots": 12
+  },
+  {
+   "id": "oxidizers_cabinet",
+   "type": "cabinet for oxidizers, 1 shelf x 6",
+   "storage_class": "oxidizer",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_oxidizers",
+   "reach": "room",
+   "slots": 6
+  },
+  {
+   "id": "fridge_4c",
+   "type": "lab refrigerator 2-8 °C, 4 shelves x 8",
+   "storage_class": "cold",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.liebherr_lkv3910",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "freezer_m20c",
+   "type": "lab freezer -20 °C, 3 drawers x 8",
+   "storage_class": "cold",
+   "positions": [
+    "D1-01",
+    "D1-02",
+    "D1-03",
+    "D1-04",
+    "D1-05",
+    "D1-06",
+    "D1-07",
+    "D1-08",
+    "D2-01",
+    "D2-02",
+    "D2-03",
+    "D2-04",
+    "D2-05",
+    "D2-06",
+    "D2-07",
+    "D2-08",
+    "D3-01",
+    "D3-02",
+    "D3-03",
+    "D3-04",
+    "D3-05",
+    "D3-06",
+    "D3-07",
+    "D3-08"
+   ],
+   "furniture": "furniture.liebherr_lguex1500",
+   "reach": "room",
+   "slots": 24
+  },
+  {
+   "id": "desiccator",
+   "type": "benchtop desiccator cabinet with a hinged door on the robot bench, silica gel, 2 shelves x 6; side access only for the fixed arm (161 mm headroom, the door sweep blocks the route: measured in the Isaac Sim storage scene), so not for top-down robot picks",
+   "storage_class": "general",
+   "access": "side_only",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06"
+   ],
+   "furniture": "furniture.belart_secador_2_vertical",
+   "reach": "franka_bench",
+   "slots": 12
+  },
+  {
+   "id": "vial_rack_bench",
+   "type": "MACHEREY-NAGEL 702503 rack for 20 mL headspace vials (3 rows x 12) on the robot bench next to the bench shelf, >= 0.25 m free above the vial tops; the robot uses rows A and C only (fingers close along Y: a vial in row B would overlap them by 11 mm), so row B stays empty",
+   "storage_class": "general",
+   "access": "top_down",
+   "rack_type": "vial_rack_20ml",
+   "robot_forbidden_prefixes": [
+    "B"
+   ],
+   "positions": [
+    "A01",
+    "A02",
+    "A03",
+    "A04",
+    "A05",
+    "A06",
+    "A07",
+    "A08",
+    "A09",
+    "A10",
+    "A11",
+    "A12",
+    "B01",
+    "B02",
+    "B03",
+    "B04",
+    "B05",
+    "B06",
+    "B07",
+    "B08",
+    "B09",
+    "B10",
+    "B11",
+    "B12",
+    "C01",
+    "C02",
+    "C03",
+    "C04",
+    "C05",
+    "C06",
+    "C07",
+    "C08",
+    "C09",
+    "C10",
+    "C11",
+    "C12"
+   ],
+   "furniture": "labware.mn_702503_vial_rack_23mm",
+   "slots": 36
+  },
+  {
+   "id": "consumables_cabinet",
+   "type": "cabinet for labware consumables, 4 shelves x 8",
+   "storage_class": "general",
+   "positions": [
+    "S1-01",
+    "S1-02",
+    "S1-03",
+    "S1-04",
+    "S1-05",
+    "S1-06",
+    "S1-07",
+    "S1-08",
+    "S2-01",
+    "S2-02",
+    "S2-03",
+    "S2-04",
+    "S2-05",
+    "S2-06",
+    "S2-07",
+    "S2-08",
+    "S3-01",
+    "S3-02",
+    "S3-03",
+    "S3-04",
+    "S3-05",
+    "S3-06",
+    "S3-07",
+    "S3-08",
+    "S4-01",
+    "S4-02",
+    "S4-03",
+    "S4-04",
+    "S4-05",
+    "S4-06",
+    "S4-07",
+    "S4-08"
+   ],
+   "furniture": "furniture.asecos_cs_195_105_consumables",
+   "reach": "room",
+   "slots": 32
+  },
+  {
+   "id": "cylinder_rack",
+   "type": "wall rack for gas cylinders with chains, 8 slots (inert and oxidizing gases)",
+   "storage_class": "compressed_gas",
+   "positions": [
+    "C1",
+    "C2",
+    "C3",
+    "C4",
+    "C5",
+    "C6",
+    "C7",
+    "C8"
+   ],
+   "furniture": "furniture.denios_cylinder_stand_x4",
+   "reach": "room",
+   "slots": 8
+  },
+  {
+   "id": "gas_cabinet_flammable",
+   "type": "ventilated gas cabinet for flammable gases, 4 slots",
+   "storage_class": "compressed_gas",
+   "positions": [
+    "G1",
+    "G2",
+    "G3",
+    "G4"
+   ],
+   "furniture": "furniture.asecos_g90_205_140",
+   "reach": "room",
+   "slots": 4
+  },
+  {
+   "id": "instrument",
+   "type": "inside an instrument (position named per instrument)",
+   "storage_class": "general",
+   "positions": [],
+   "slots": 0
+  }
+ ],
+ "container_types": {
+  "labware.agilent_hs_vial_20ml": "",
+  "labware.agilent_vial_2ml_screw": "",
+  "labware.azenta_seal_roll_4ti0520": "",
+  "labware.biorad_hardshell_pcr_plate_96": "",
+  "labware.biorad_tgx_gel_4_20_10well": "",
+  "labware.brand_ps_macro_cuvette_759005": "",
+  "labware.corning_96_wellplate_360ul_flat": "",
+  "labware.cytiva_series_s_sensor_chip_cm5": "",
+  "labware.duran_gl45_1000ml_clear": "",
+  "labware.duran_gl45_100ml_amber": "",
+  "labware.duran_gl45_500ml_clear": "",
+  "labware.elementar_tin_capsule_11x8": "",
+  "labware.eppendorf_safelock_1p5ml": "",
+  "labware.falcon_352052_tube_12x75": "",
+  "labware.falcon_tube_15ml": "",
+  "labware.falcon_tube_50ml": "",
+  "labware.gas_cylinder_10l_200bar": "",
+  "labware.gas_cylinder_50l_200bar": "",
+  "labware.gelpak_ad1135_case": "",
+  "labware.hach_tl2300_sample_cell_25mm": "",
+  "labware.hellma_100_10_40_quartz_cuvette": "",
+  "labware.mt_quantos_head_container": "",
+  "labware.mt_quantos_qh016_bnmw": "",
+  "labware.nalgene_nm_hdpe_1000ml": "",
+  "labware.nalgene_nm_hdpe_500ml": "",
+  "labware.nalgene_wm_hdpe_500ml": "",
+  "labware.norell_nmr_tube_5mm_7in": "",
+  "labware.opentrons_flex_tiprack_1000ul": "",
+  "labware.opentrons_flex_tiprack_200ul": "",
+  "labware.rigaku_glass_holder_0p2mm": "",
+  "labware.sciex_universal_vial_2ml": "",
+  "labware.sigma_ir_polystyrene_card_z804290": "",
+  "labware.ta_tzero_pan_lid": "",
+  "labware.winchester_2500ml_amber": ""
+ },
+ "container_types_source": "assets/labware/catalog.json types (inventory_type_map); ids still provisional where the catalog has not built the item (type_status not_built)",
+ "new_substances": {},
+ "conventions": "containers: one record per container in storage (Matterix spawns these). contents: shared substance ids (assets/reactions/substances.json) with a physical amount (g, kg, mg, mL, L, uL, mol, mmol); a solution lists its solvent (a liquid, by volume or mass) and every solute with its mass (or amount in mol) and its concentration; a mixture substance (kind mixture in the table) describes itself. count = number of units in the container; per_unit = true: the contents amounts are those of one unit; units = [{name, count, contents}] for a pack of different units (e.g. a kit or a standards set). instrument_contents: what the default set-up put into each instrument (the instruments' own state, not spawned): a runtime material is named with defined_by (its composition is the instrument runtime's sample / template). cap: \"on\" | \"off\" - the closure of a container whose type has one (catalog closure: screw cap, hinged or lift-off lid); absent = \"on\" (closed); \"off\" = opened, the cap set aside (e.g. vials prepared open for a dosing run).",
+ "containers": [
+  {
+   "id": "water_ultrapure_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "ASTM type I, 18.2 MOhm cm"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-02"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical: filled each morning from the lab water system (elga_purelab_flex3)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "ethanol_500ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.8 %, absolute"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical: a 500 mL working bottle for rinsing and cleaning; the stock bottle stays in the flammables cabinet",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "acetone_500ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "acetone",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-03"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical: a 500 mL wash bottle for rinsing glassware",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph4_01",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 5.106,
+      "unit": "g"
+     },
+     "grade": "primary standard buffer salt",
+     "certificate": {
+      "value": "pH 4.005 at 25 °C",
+      "standard": "DIN 19266 / NIST SRM 185 type (KHP 0.05 mol/kg)"
+     },
+     "concentration": {
+      "value": 0.05,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78 (buffer series for calibration); composition: DIN 19266 KHP standard, 0.05 mol/kg x 0.5 kg x 204.22 g/mol = 5.106 g",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph6_86",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_dihydrogen_phosphate",
+     "amount": {
+      "value": 1.701,
+      "unit": "g"
+     },
+     "grade": "0.025 mol/kg (phosphate pH 6.86 standard, with Na2HPO4)",
+     "certificate": {
+      "value": "pH 6.865 at 25 °C",
+      "standard": "DIN 19266 phosphate standard (KH2PO4 + Na2HPO4, each 0.025 mol/kg; NIST SRM 186 type)"
+     }
+    },
+    {
+     "substance": "disodium_hydrogen_phosphate",
+     "amount": {
+      "value": 1.774,
+      "unit": "g"
+     },
+     "grade": "0.025 mol/kg (phosphate pH 6.86 standard, with KH2PO4)"
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78; composition: DIN 19266 / NIST equimolal phosphate standard; the 914 class world uses the same buffer (template nist_srm_186g_phosphate_equimolal_buffer, pH 6.864)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "buffer_ph9_18",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "sodium_tetraborate_decahydrate",
+     "amount": {
+      "value": 1.907,
+      "unit": "g"
+     },
+     "grade": "borax",
+     "certificate": {
+      "value": "pH 9.180 at 25 °C",
+      "standard": "DIN 19266 / NIST SRM 187 type (borax 0.01 mol/kg)"
+     },
+     "concentration": {
+      "value": 0.01,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent (about 0.5 kg)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "manual: 914_ph_do_conductometer_manual p.55, p.78; composition: 0.01 mol/kg x 0.5 kg x 381.37 g/mol = 1.907 g",
+   "keep_class": "a 0.01 mol/kg borax solution (about 0.4 %) is below the concentration limit at which borax is classified toxic for reproduction, so it is stored as a general reagent",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "xrd_si_srm640_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "silicon",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "NIST SRM 640 type line-position standard",
+     "certificate": {
+      "lattice_a_nm": 0.5431,
+      "note": "certified lattice parameter of the SRM 640 series"
+     }
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: a Si powder standard checks the 2-theta zero of a powder diffractometer (manual: miniflex brochure p.3 lists qualitative / quantitative use); load it with `chemlab run rigaku_miniflex600_external_cooling load xrd_si_srm640_holder`",
+   "sample_id": "si_srm640_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "xrd_quartz_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "silica",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "alpha-quartz powder, check sample"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "the structure class world's quartz specimen (sample id quartz_holder)",
+   "sample_id": "quartz_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "ir_polystyrene_film",
+   "type": "labware.sigma_ir_polystyrene_card_z804290",
+   "contents": [
+    {
+     "substance": "polystyrene",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "grade": "film about 38 um",
+     "certificate": {
+      "bands_cm-1": [
+       3060.0,
+       2849.5,
+       1601.2,
+       1028.3,
+       906.7
+      ],
+      "note": "wavenumber check bands of polystyrene film"
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_ftir4700"
+   ],
+   "source": "manual: ftir4000_6000_series_brochure p.4 (standard sample: polystyrene film); registered with the FT/IR-4700 as sample ir_polystyrene_film (template: NIST WebBook spectrum + SRM 1921b certified bands)",
+   "sample_id": "ir_polystyrene_film",
+   "description": "IR standard film mounted in a card holder",
+   "provisional_type": "ir_film_card",
+   "type_status": "exact"
+  },
+  {
+   "id": "plate_96_flat_ready",
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "contents": [],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "biotek_405ts",
+    "bmg_clariostarplus",
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical: one empty plate staged for the plate washer / reader / robot",
+   "on_carrier": "labware.sbs_plate_carrier",
+   "description": "96-well flat-bottom polystyrene plate (SBS footprint)",
+   "provisional_type": "plate_96_flat_ps",
+   "type_status": "exact"
+  },
+  {
+   "id": "xrd_calcite_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "calcium_carbonate",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "calcite powder"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "the structure class world's calcite specimen (sample id calcite_holder)",
+   "sample_id": "calcite_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "xrd_corundum_srm676_holder",
+   "type": "labware.rigaku_glass_holder_0p2mm",
+   "contents": [
+    {
+     "substance": "aluminium_oxide",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "corundum, SRM 676 type intensity standard"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: corundum is the reference intensity (RIR) standard of powder XRD; phase \"corundum\" is in the MiniFlex phase list",
+   "sample_id": "corundum_srm676_holder",
+   "description": "XRD specimen holder (glass / zero-background), powder packed, in a closed box",
+   "provisional_type": "xrd_holder_zero_background",
+   "type_status": "substitute",
+   "type_note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"
+  },
+  {
+   "id": "crm_si_powder_srm640",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "silicon",
+     "amount": {
+      "value": 7.5,
+      "unit": "g"
+     },
+     "grade": "SRM 640 type unit",
+     "certificate": {
+      "lattice_a_nm": 0.5431
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "rigaku_miniflex600_external_cooling"
+   ],
+   "source": "typical: the unit bottle the holder above is packed from",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "aw_standard_0_760",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "sodium_chloride",
+     "amount": {
+      "value": 0.7013,
+      "unit": "g"
+     },
+     "grade": "NaCl",
+     "certificate": {
+      "aw_25C": 0.76,
+      "tolerance": 0.003
+     },
+     "concentration": {
+      "value": 6.0,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 2 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "aqualab_4te"
+   ],
+   "source": "manual: aqualab4_manual p.8, p.44-45, p.48 (verification standards; the whole vial is emptied into a sample cup); per vial (typical: about 2 mL, enough to cover a sample cup bottom): 6.0 mol/kg x 0.002 kg x 58.44 g/mol = 0.701 g NaCl",
+   "count": 5,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "METER verification standards are small sealed vials emptied into a disposable sample cup"
+  },
+  {
+   "id": "aw_standard_0_250",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "lithium_chloride",
+     "amount": {
+      "value": 1.1369,
+      "unit": "g"
+     },
+     "grade": "LiCl",
+     "certificate": {
+      "aw_25C": 0.25,
+      "tolerance": 0.003
+     },
+     "concentration": {
+      "value": 13.41,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 2 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "aqualab_4te"
+   ],
+   "source": "manual: aqualab4_manual p.44-45, p.49 (0.25 aw standard, whole vial into a sample cup); per vial (typical about 2 mL): 13.41 mol/kg x 0.002 kg x 42.39 g/mol = 1.137 g LiCl",
+   "count": 5,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "as aw_standard_0_760"
+  },
+  {
+   "id": "turbidity_stablcal_kit",
+   "type": "labware.hach_tl2300_sample_cell_25mm",
+   "contents": [],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "hach_tl2300epa"
+   ],
+   "source": "manual: tl23_series datasheet p.4 (StablCal calibration kit); tl2300 user manual p.16 (StablCal sealed vial standards); per sealed vial about 25 mL (typical fill of a 25 mm sample cell)",
+   "units": [
+    {
+     "name": "StablCal sealed vial 0.1 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 0.1
+       },
+       "concentration": {
+        "value": 0.1,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 20 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 20
+       },
+       "concentration": {
+        "value": 20,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 200 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 200
+       },
+       "concentration": {
+        "value": 200,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 1000 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 1000
+       },
+       "concentration": {
+        "value": 1000,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 4000 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 4000
+       },
+       "concentration": {
+        "value": 4000,
+        "unit": "NTU"
+       }
+      }
+     ]
+    },
+    {
+     "name": "StablCal sealed vial 7500 NTU",
+     "count": 1,
+     "contents": [
+      {
+       "substance": "formazin",
+       "amount": {
+        "value": 25.0,
+        "unit": "mL"
+       },
+       "grade": "stabilized formazin in water",
+       "certificate": {
+        "turbidity_NTU": 7500
+       },
+       "concentration": {
+        "value": 7500,
+        "unit": "NTU"
+       }
+      }
+     ]
+    }
+   ],
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "exact",
+   "type_note": "StablCal standards are sealed 95 x 25 mm cells (TL23 data sheet p.3)",
+   "count": 6
+  },
+  {
+   "id": "osmolality_cal_400",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "sodium_chloride",
+     "amount": {
+      "value": 0.01266,
+      "unit": "g"
+     },
+     "grade": "NaCl",
+     "certificate": {
+      "osmolality_mOsmol_kg": 400
+     },
+     "concentration": {
+      "value": 0.2166,
+      "unit": "mol/kg"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "grade": "solvent (about 1 g per vial)"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "knauer_k7400s"
+   ],
+   "source": "manual: k7400s brochure p.11 (400 mOsmol/kg calibration solution, 12 vials); 0.2166 mol/kg NaCl is the class world's 400 mOsmol/kg standard; per vial typical 1 mL (the osmometer uses 50-150 uL per measurement)",
+   "count": 12,
+   "per_unit": true,
+   "description": "box of sealed glass ampoules / vials of a certified solution standard",
+   "provisional_type": "ampoule_box_crm",
+   "type_status": "substitute",
+   "type_note": "Knauer calibration solution: 12 small vials per box (K7400S brochure p.11)"
+  },
+  {
+   "id": "conductivity_std_1413",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_chloride",
+     "amount": {
+      "value": 0.3728,
+      "unit": "g"
+     },
+     "grade": "KCl",
+     "certificate": {
+      "conductivity_uS_cm_25C": 1413
+     },
+     "concentration": {
+      "value": 0.01,
+      "unit": "mol/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S1-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_914",
+    "metrohm_omnis",
+    "antonpaar_surpass3"
+   ],
+   "source": "typical: 0.01 mol/L KCl is the usual conductivity cell standard (1413 uS/cm at 25 C); 0.01 mol/L x 0.5 L x 74.55 g/mol = 0.373 g; the SurPASS class workflow calibrates with 1.413 mS/cm",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "dsc_indium_crm",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "indium",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "99.999 %",
+     "certificate": {
+      "onset_C": 156.6,
+      "enthalpy_J_g": 28.71
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500",
+    "ta_tma450"
+   ],
+   "source": "manual: dsc_q_series_getting_started_guide p.49-50 (cell constant / temperature calibration with indium)",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "dsc_zinc_crm",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "zinc",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "99.999 %",
+     "certificate": {
+      "onset_C": 419.5,
+      "enthalpy_J_g": 108.6
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "typical: second temperature point next to indium",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "dsc_sapphire_disc",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "aluminium_oxide",
+     "amount": {
+      "value": 0.025,
+      "unit": "g"
+     },
+     "grade": "sapphire disc, Cp reference"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "manual: dsc_q_series_getting_started_guide p.65 (heat-capacity calibration with sapphire)",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "tga_nickel_curie",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [
+    {
+     "substance": "nickel",
+     "amount": {
+      "value": 0.5,
+      "unit": "g"
+     },
+     "grade": "Curie-point standard",
+     "certificate": {
+      "curie_C": 358.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_tga5500"
+   ],
+   "source": "manual: discovery_tga_brochure p.7, p.29 (Curie-point temperature calibration)",
+   "description": "small vial with metal shot or foil of a calibration metal, with certificate",
+   "provisional_type": "vial_crm_metal_shot",
+   "type_status": "substitute",
+   "type_note": "metal-shot CRM unit (small glass vial) stands in"
+  },
+  {
+   "id": "tga_calcium_oxalate",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "calcium_oxalate_monohydrate",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "grade": "reference grade"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_tga5500"
+   ],
+   "source": "typical: three-step mass-loss check sample of thermogravimetry",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "calorimetry_benzoic_acid",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "benzoic_acid",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "calorimetric standard, NBS 39 type",
+     "certificate": {
+      "gross_heat_J_g": 26434
+     }
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "ika_c6000"
+   ],
+   "source": "manual: c6000_isoperibol_package_1_10 datasheet p.1 (1 g benzoic acid NBS39i)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "hplc_caffeine_std",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "caffeine",
+     "amount": {
+      "value": 0.00015,
+      "unit": "g"
+     },
+     "grade": "caffeine",
+     "concentration": {
+      "value": 100.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "manual: infinitylab_lc_series_specification_compendium p.13, p.16 (water / caffeine tracer for flow and delay checks); per vial 1.5 mL of 100 mg/L (typical 2 mL vial fill)",
+   "count": 10,
+   "per_unit": true,
+   "description": "box of 2 mL screw vials with caps (HPLC)",
+   "provisional_type": "box_vials_2ml_screw",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5182-0715 is sold 100/pk"
+  },
+  {
+   "id": "gc_alkane_mix",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "octane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-octane (C8)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "nonane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-nonane (C9)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "decane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-decane (C10)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "undecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-undecane (C11)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "dodecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-dodecane (C12)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "tridecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-tridecane (C13)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "tetradecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-tetradecane (C14)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "pentadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-pentadecane (C15)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "hexadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-hexadecane (C16)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "heptadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-heptadecane (C17)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "octadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-octadecane (C18)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "nonadecane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-nonadecane (C19)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "icosane",
+     "amount": {
+      "value": 4e-05,
+      "unit": "g"
+     },
+     "grade": "n-icosane (C20)",
+     "concentration": {
+      "value": 40.0,
+      "unit": "mg/L"
+     }
+    },
+    {
+     "substance": "hexane",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "product: Supelco (Sigma-Aldrich) 04070, alkane standard solution C8-C20, about 40 mg/L of each n-alkane C8...C20 in hexane, analytical standard sold as 1 mL (product page sigmaaldrich.com/US/en/product/sial/04070: retention-index standard for GC); per 1 mL unit 40 ug of each alkane; two units in stock (typical); a 2 mL GC vial stands in for the ampule (catalog substitute)",
+   "count": 2,
+   "per_unit": true,
+   "product": {
+    "maker": "Supelco (Sigma-Aldrich)",
+    "catalogue_number": "04070",
+    "name": "Alkane standard solution C8-C20, ~40 mg/L each component in hexane",
+    "pack": "1 mL",
+    "url": "https://www.sigmaaldrich.com/US/en/product/sial/04070"
+   },
+   "description": "Supelco 04070 alkane standard C8-C20 in hexane (1 mL units)",
+   "provisional_type": "box_vials_2ml_crimp",
+   "type_status": "substitute",
+   "type_note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"
+  },
+  {
+   "id": "chns_sulfanilic_acid",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "sulfanilic_acid",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "grade": "CHNS standard",
+     "certificate": {
+      "C_pct": 41.61,
+      "H_pct": 4.07,
+      "N_pct": 8.09,
+      "S_pct": 18.51
+     }
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "quant_analyzer class world (the vario EL standards are sulfanilic acid; theoretical composition)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "toc_khp_1000",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 1.0627,
+      "unit": "g"
+     },
+     "grade": "KHP",
+     "certificate": {
+      "TC_mg_L": 1000
+     },
+     "concentration": {
+      "value": 2.1254,
+      "unit": "g/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S2-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "shimadzu_tocl"
+   ],
+   "source": "quant_analyzer class world (TOC calibration with a KHP CRM); 1000 mg C/L = 2.1254 g KHP per L (8 C of 204.22 g/mol)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "ce_sds_mw_kit",
+   "type": "labware.sciex_universal_vial_2ml",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-01"
+   },
+   "storage_class": "cold",
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "manual: pa800plus_brochure p.10 (SDS-MW analysis kit 390953); sealed kit, its proprietary gel buffer, sample buffer and size standards are not itemised (no amounts in the documents at hand)",
+   "description": "sealed SDS-MW analysis kit (proprietary reagents, not itemised)",
+   "provisional_type": "kit_ce_reagents",
+   "type_status": "packaging_of",
+   "type_note": "SDS-MW kit 390953 (box not modelled); its liquids are run from PA 800 universal vials (A62251 + caps A62250)"
+  },
+  {
+   "id": "ferrocene_ref",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "ferrocene",
+     "amount": {
+      "value": 5.0,
+      "unit": "g"
+     },
+     "grade": "98 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "ch_chi440c",
+    "ch_chi920d",
+    "gamry_reference620"
+   ],
+   "source": "manual: chi_brochure p.20 (ferrocene oxidation as the example redox couple)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "xps_ag_au_foils",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "silver",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "grade": "Ag foil, sputter-clean"
+    },
+    {
+     "substance": "copper",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "grade": "Cu foil"
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "kratos_axissupra"
+   ],
+   "source": "manual: axis_supra_getting_started_guide p.74 (Au 4f images); typical: Ag 3d5/2 and Cu 2p3/2 set the binding-energy scale",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "quartz_control_plate",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "silica",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "grade": "quartz control plate",
+     "certificate": {
+      "rotation_deg_589nm": 10.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "manual: p4000_instrument_management_appnote p.1-2 (calibrated quartz control plate); the plate in use sits in the instrument",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "cell_dummy_gamry",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "gamry_reference620"
+   ],
+   "source": "manual: reference620_operators_manual p.40, p.44 (calibration with the resistive dummy cell)",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "upyc_calibration_sphere",
+   "type": "labware.gelpak_ad1135_case",
+   "contents": [
+    {
+     "substance": "iron",
+     "amount": {
+      "value": 80.0,
+      "unit": "g"
+     },
+     "grade": "stainless-steel sphere",
+     "certificate": {
+      "volume_cm3": 10.0
+     }
+    }
+   ],
+   "location": {
+    "place": "standards_cabinet",
+    "position": "S3-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "antonpaar_ultrapyc5000"
+   ],
+   "source": "the class workflow calibrates with a 10 cm3 sphere (sphere_volume_m3=1e-5)",
+   "keep_class": "a solid stainless-steel sphere, not the flammable iron powder of the substance table",
+   "description": "storage case with a certified reference plate / disc",
+   "provisional_type": "case_reference_plate",
+   "type_status": "exact",
+   "type_note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"
+  },
+  {
+   "id": "dls_latex_100nm",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "polystyrene_latex",
+     "amount": {
+      "value": 15,
+      "unit": "mL"
+     },
+     "grade": "100 nm, 1 % solids",
+     "certificate": {
+      "diameter_nm": 100
+     }
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-02"
+   },
+   "storage_class": "cold",
+   "for": [
+    "antonpaar_litesizerdls"
+   ],
+   "source": "the class workflow calibrates size with a 100 nm reference",
+   "description": "dropper vial of a fluorescent bead standard",
+   "provisional_type": "vial_bead_standard",
+   "type_status": "substitute",
+   "type_note": "small reagent vial stands in"
+  },
+  {
+   "id": "cst_beads",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [
+    {
+     "substance": "calibration_beads_fluorescent",
+     "amount": {
+      "value": 5,
+      "unit": "mL"
+     },
+     "grade": "CS&T research beads (bright, mid, dim)"
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-03"
+   },
+   "storage_class": "cold",
+   "for": [
+    "bd_facsariaiii"
+   ],
+   "source": "manual: facsaria_iii_users_guide p.138 (preparing the CS&T beads); the runtime's bead library has cst_bead_bright / mid / dim",
+   "description": "dropper vial of a fluorescent bead standard",
+   "provisional_type": "vial_bead_standard",
+   "type_status": "substitute",
+   "type_note": "small reagent vial stands in"
+  },
+  {
+   "id": "hbs_ep_plus_10x",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "hbs_ep_plus_10x",
+     "amount": {
+      "value": 0.5,
+      "unit": "L"
+     },
+     "grade": "10x concentrate"
+    }
+   ],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-04"
+   },
+   "storage_class": "cold",
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "manual: biacore_t200_getting_started p.6 (10X HBS-EP+ buffer)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "spr_chips_cm5",
+   "type": "labware.cytiva_series_s_sensor_chip_cm5",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-05"
+   },
+   "storage_class": "cold",
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "typical: CM5 is the general-purpose sensor chip; the class workflow docks one (load chip1 --type CM5)",
+   "description": "pack of SPR sensor chips",
+   "provisional_type": "box_sensor_chips_spr",
+   "type_status": "packaging_of",
+   "type_note": "BR100530 = pack of 3",
+   "count": 3
+  },
+  {
+   "id": "gels_tgx_4_20",
+   "type": "labware.biorad_tgx_gel_4_20_10well",
+   "contents": [],
+   "location": {
+    "place": "fridge_4c",
+    "position": "S1-06"
+   },
+   "storage_class": "cold",
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "the chromatography class world installs a 4-20 % TGX 10-well gel; precast gels are stored at 2-8 °C",
+   "description": "box of precast mini polyacrylamide gels, 10 wells",
+   "provisional_type": "box_gels_precast_10well",
+   "type_status": "packaging_of",
+   "type_note": "box of 10 gels (4561094)",
+   "count": 10
+  },
+  {
+   "id": "protein_ladder",
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "contents": [
+    {
+     "substance": "protein_ladder_prestained",
+     "amount": {
+      "value": 0.5,
+      "unit": "mL"
+     },
+     "grade": "prestained, 10-250 kD"
+    }
+   ],
+   "location": {
+    "place": "freezer_m20c",
+    "position": "D1-01"
+   },
+   "storage_class": "cold",
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "the default gel has ladder_1 (Precision Plus prestained); the ladder is stored at -20 °C",
+   "description": "vial of a prestained protein ladder",
+   "provisional_type": "vial_protein_ladder",
+   "type_status": "substitute",
+   "type_note": "ladders ship in 0.5-1.5 mL tubes"
+  },
+  {
+   "id": "qh_kbr_1",
+   "type": "labware.mt_quantos_qh016_bnmw",
+   "contents": [
+    {
+     "substance": "potassium_bromide",
+     "amount": {
+      "value": 11.4,
+      "unit": "g"
+     },
+     "grade": "for IR spectroscopy (Merck 104907)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "head: METTLER TOLEDO QH016-BNMW (part 11141503), 16 mL, 0.1-250 mg per dose (manual: quantos_operating_instructions p.102, p.107); fill: 75 % of the 16 mL volume (12 mL, headspace left for the dosing mechanism: assumption) x KBr bulk density 950 kg/m3 (Merck 104907 product page: 900-1000 kg/m3) = 11.4 g. Stands in its storage container (manual p.27). KBr is hygroscopic: in its closed head on the bench for a working day is acceptable (it takes up water only slowly below about 60 % RH and deliquesces near 80 %); between working days the head belongs in the desiccator. A host or the robot inserts it; the Quantos registers it as head qh_kbr_1 with 0.0114 kg of free-flowing powder",
+   "head_id": "qh_kbr_1",
+   "free_flowing": true,
+   "stored_in": "labware.mt_quantos_head_container",
+   "product": {
+    "maker": "METTLER TOLEDO",
+    "catalogue_number": "11141503",
+    "name": "QH016-BNMW powder dosing head, 16 ml",
+    "source": "Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)"
+   },
+   "description": "METTLER TOLEDO QH016-BNMW powder dosing head, 16 mL, 0.1-250 mg per dose (part 11141503)",
+   "provisional_type": "quantos_dosing_head",
+   "type_status": "exact",
+   "type_note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part"
+  },
+  {
+   "id": "qh_caco3_1",
+   "type": "labware.mt_quantos_qh016_bnmw",
+   "contents": [
+    {
+     "substance": "calcium_carbonate",
+     "amount": {
+      "value": 4.0,
+      "unit": "g"
+     },
+     "grade": "Sigma-Aldrich 21061 (BioUltra, precipitated)"
+    }
+   ],
+   "location": {
+    "place": "bench_shelf",
+    "position": "T2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "the lab's check head, inserted in the Quantos by the default set-up: QH016-BNMW (part 11141503, manual p.102/p.107) with calcium carbonate Sigma-Aldrich 21061, the powder the dosing specification is given for (manual p.102). Fill 4.0 g: no bulk density is published for 21061; precipitated CaCO3 is a light powder (assumption 0.3-0.6 g/mL), so 4 g takes 7-13 mL of the 16 mL head",
+   "sample_id": "qh_caco3_1",
+   "head_id": "qh_caco3_1",
+   "free_flowing": true,
+   "product": {
+    "maker": "METTLER TOLEDO",
+    "catalogue_number": "11141503",
+    "name": "QH016-BNMW powder dosing head, 16 ml",
+    "source": "Quantos operating instructions p.102 (16 ml, 0.1-250 mg) and p.107 (part number)"
+   },
+   "description": "METTLER TOLEDO QH016-BNMW powder dosing head, 16 mL, 0.1-250 mg per dose (part 11141503)",
+   "provisional_type": "quantos_dosing_head",
+   "type_status": "exact",
+   "type_note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part",
+   "stored_in": "labware.mt_quantos_head_container"
+  },
+  {
+   "id": "quantos_vial_pan",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A04"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial on the Quantos weighing pan (default set-up): Agilent 5188-2753 20 mL vial, within the sample-container limits (31-178 mm high, opening >= 6 mm, manual p.103)",
+   "sample_id": "quantos_vial_pan",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder",
+   "cap": "off"
+  },
+  {
+   "id": "quantos_vial_1",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A01"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder",
+   "cap": "off"
+  },
+  {
+   "id": "quantos_vial_2",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A02"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder",
+   "cap": "off"
+  },
+  {
+   "id": "quantos_vial_3",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "vial_rack_bench",
+    "position": "A03"
+   },
+   "storage_class": "general",
+   "for": [
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "empty target vial for Quantos dosing (Agilent 5188-2753 20 mL vial, fits the pan: manual p.103), in the bench vial rack (top-down grip)",
+   "description": "empty 20 mL glass target vial for the Quantos weighing pan",
+   "provisional_type": "quantos_target_vial",
+   "type_status": "exact",
+   "type_note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder",
+   "cap": "off"
+  },
+  {
+   "id": "ethanol_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.8 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "acetone_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "acetone",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "isopropanol_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "propan_2_ol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle (cleaning optics, wipes)",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "methanol_hplc_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "methanol",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": "HPLC grade"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "typical HPLC mobile-phase solvent",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "acetonitrile_hplc_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "acetonitrile",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": "HPLC grade"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "flammable",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity"
+   ],
+   "source": "typical HPLC mobile-phase solvent",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "hexane_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "hexane",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 97 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle (GC dilutions, extraction)",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "toluene_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "toluene",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "ethyl_acetate_2_5l",
+   "type": "labware.winchester_2500ml_amber",
+   "contents": [
+    {
+     "substance": "ethyl_acetate",
+     "amount": {
+      "value": 2.5,
+      "unit": "L"
+     },
+     "grade": ">= 99.5 %"
+    }
+   ],
+   "location": {
+    "place": "flammables_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "flammable",
+   "for": [],
+   "source": "typical stock bottle",
+   "description": "solvent bottle GL45, 2.5 L, amber glass (supplier bottle)",
+   "provisional_type": "bottle_gl45_2500ml_amber",
+   "type_status": "substitute",
+   "type_note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"
+  },
+  {
+   "id": "hcl_37_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "hydrochloric_acid",
+     "amount": {
+      "value": 438.1,
+      "unit": "g"
+     },
+     "grade": "HCl",
+     "concentration": {
+      "value": 37.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 745.9,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-01"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock: 1 L of 37 % w/w hydrochloric acid, density 1.184 g/mL at 20 C (1184 g: 438.1 g HCl + 745.9 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "hno3_65_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "nitric_acid",
+     "amount": {
+      "value": 904.2,
+      "unit": "g"
+     },
+     "grade": "HNO3, trace-metal grade",
+     "concentration": {
+      "value": 65.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 486.9,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-02"
+   },
+   "storage_class": "acid",
+   "for": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030"
+   ],
+   "source": "typical: digestion and ICP sample acid; 1 L of 65 % w/w nitric acid, density 1.391 g/mL at 20 C (904.2 g HNO3 + 486.9 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "h2so4_96_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "sulfuric_acid",
+     "amount": {
+      "value": 1761.6,
+      "unit": "g"
+     },
+     "grade": "H2SO4",
+     "concentration": {
+      "value": 96.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 73.4,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-03"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock: 1 L of 96 % w/w sulfuric acid, density 1.835 g/mL at 20 C (1761.6 g H2SO4 + 73.4 g water)",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "acetic_acid_1l",
+   "type": "labware.duran_gl45_1000ml_clear",
+   "contents": [
+    {
+     "substance": "acetic_acid",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "glacial"
+    }
+   ],
+   "location": {
+    "place": "acids_cabinet",
+    "position": "A:S1-04"
+   },
+   "storage_class": "acid",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 1000 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_1000ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "naoh_pellets_1kg",
+   "type": "labware.nalgene_wm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "sodium_hydroxide",
+     "amount": {
+      "value": 500.0,
+      "unit": "g"
+     },
+     "grade": "pellets >= 98 %"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-01"
+   },
+   "storage_class": "base",
+   "for": [],
+   "source": "typical stock",
+   "description": "wide-neck HDPE jar for 500 g solids",
+   "provisional_type": "jar_hdpe_500g",
+   "type_status": "exact"
+  },
+  {
+   "id": "naoh_0_1n_1l",
+   "type": "labware.nalgene_nm_hdpe_1000ml",
+   "contents": [
+    {
+     "substance": "sodium_hydroxide",
+     "amount": {
+      "value": 4.0,
+      "unit": "g"
+     },
+     "grade": "NaOH",
+     "certificate": {
+      "titer": "0.1000 mol/L +- 0.2 %"
+     },
+     "concentration": {
+      "value": 0.1,
+      "unit": "mol/L"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "L"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-02"
+   },
+   "storage_class": "base",
+   "for": [
+    "metrohm_omnis",
+    "metrohm_899"
+   ],
+   "source": "typical titrant: 0.1 mol/L x 1 L x 40.00 g/mol = 4.000 g NaOH",
+   "description": "HDPE bottle 1 L, screw cap (bases, aqueous reagents)",
+   "provisional_type": "bottle_hdpe_1000ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "ammonia_25_1l",
+   "type": "labware.nalgene_nm_hdpe_1000ml",
+   "contents": [
+    {
+     "substance": "ammonia",
+     "amount": {
+      "value": 226.8,
+      "unit": "g"
+     },
+     "grade": "NH3",
+     "concentration": {
+      "value": 25.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 680.2,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "bases_cabinet",
+    "position": "B:S1-03"
+   },
+   "storage_class": "base",
+   "for": [],
+   "source": "typical stock: 1 L of 25 % w/w ammonia solution, density 0.907 g/mL at 20 C (226.8 g NH3 + 680.2 g water)",
+   "description": "HDPE bottle 1 L, screw cap (bases, aqueous reagents)",
+   "provisional_type": "bottle_hdpe_1000ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "h2o2_30_500ml",
+   "type": "labware.nalgene_nm_hdpe_500ml",
+   "contents": [
+    {
+     "substance": "hydrogen_peroxide",
+     "amount": {
+      "value": 166.5,
+      "unit": "g"
+     },
+     "grade": "H2O2",
+     "concentration": {
+      "value": 30.0,
+      "unit": "% w/w"
+     }
+    },
+    {
+     "substance": "water",
+     "amount": {
+      "value": 388.5,
+      "unit": "g"
+     },
+     "grade": "solvent"
+    }
+   ],
+   "location": {
+    "place": "oxidizers_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "oxidizer",
+   "for": [],
+   "source": "typical: digestion oxidant; 0.5 L of 30 % w/w hydrogen peroxide, density 1.11 g/mL at 20 C (166.5 g H2O2 + 388.5 g water)",
+   "description": "HDPE bottle 500 mL, screw cap (buffers, standards)",
+   "provisional_type": "bottle_hdpe_500ml",
+   "type_status": "exact"
+  },
+  {
+   "id": "silver_nitrate_100g",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "silver_nitrate",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "oxidizers_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "oxidizer",
+   "for": [],
+   "source": "typical stock (chloride titrations)",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "phenol_100g",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "phenol",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "aniline_100ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "aniline",
+     "amount": {
+      "value": 0.1,
+      "unit": "L"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "nitrobenzene_100ml",
+   "type": "labware.duran_gl45_500ml_clear",
+   "contents": [
+    {
+     "substance": "nitrobenzene",
+     "amount": {
+      "value": 0.1,
+      "unit": "L"
+     },
+     "grade": ">= 99 %"
+    }
+   ],
+   "location": {
+    "place": "toxics_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "toxic",
+   "for": [],
+   "source": "typical stock",
+   "description": "borosilicate media bottle GL45, 500 mL, clear, screw cap",
+   "provisional_type": "bottle_gl45_500ml_clear",
+   "type_status": "exact"
+  },
+  {
+   "id": "kbr_ir_grade",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "potassium_bromide",
+     "amount": {
+      "value": 88.6,
+      "unit": "g"
+     },
+     "grade": "for IR spectroscopy (Uvasol)"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "jasco_ftir4700",
+    "mt_quantos_q2_xpe206dr"
+   ],
+   "source": "product: Merck 104907 potassium bromide for IR spectroscopy Uvasol (100 g pack; bulk density 900-1000 kg/m3, product page); 11.4 g of it filled the Quantos head qh_kbr_1; kept in the desiccator (hygroscopic); manual: ftir4600_kbr_procedure quick guide (KBr pellet method)",
+   "product": {
+    "maker": "Merck",
+    "catalogue_number": "104907",
+    "name": "Potassium bromide for IR spectroscopy Uvasol",
+    "pack": "100 g",
+    "bulk_density_kg_m3": [
+     900,
+     1000
+    ],
+    "url": "https://www.merckmillipore.com/product/Potassium-bromide,MDA_CHEM-104907"
+   },
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "khp_primary_std",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "potassium_hydrogen_phthalate",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "primary standard, dried"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_omnis",
+    "metrohm_899"
+   ],
+   "source": "typical: titer determination of NaOH",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "sodium_carbonate_primary",
+   "type": "labware.duran_gl45_100ml_amber",
+   "contents": [
+    {
+     "substance": "sodium_carbonate",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "grade": "primary standard, dried"
+    }
+   ],
+   "location": {
+    "place": "desiccator",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "metrohm_omnis"
+   ],
+   "source": "typical: titer determination of acids",
+   "description": "small glass bottle of a certified reference material unit (5-20 g), with certificate",
+   "provisional_type": "bottle_glass_crm_unit",
+   "type_status": "substitute",
+   "type_note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"
+  },
+  {
+   "id": "cons_plates_96_flat",
+   "type": "labware.corning_96_wellplate_360ul_flat",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "biotek_405ts",
+    "bmg_clariostarplus",
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical",
+   "count": 50,
+   "description": "box of 96-well flat-bottom polystyrene plates (SBS)",
+   "provisional_type": "box_microplates_96_flat_ps",
+   "type_status": "packaging_of",
+   "type_note": "sleeve of 25 plates; sleeve not modelled"
+  },
+  {
+   "id": "cons_pcr_plates",
+   "type": "labware.biorad_hardshell_pcr_plate_96",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "biorad_cfxopus",
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "typical",
+   "count": 25,
+   "description": "box of skirted 96-well PCR plates (SBS)",
+   "provisional_type": "box_pcr_plates_96_skirted",
+   "type_status": "packaging_of",
+   "type_note": "HSP9655 pkg of 50 (CFX Opus flier p.2)"
+  },
+  {
+   "id": "cons_tubes_1p5ml",
+   "type": "labware.eppendorf_safelock_1p5ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-03"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 500,
+   "description": "bag of 1.5 mL microcentrifuge tubes",
+   "provisional_type": "bag_tubes_1p5ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 500 tubes; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_15ml",
+   "type": "labware.falcon_tube_15ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-04"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 50,
+   "description": "bag of 15 mL conical tubes",
+   "provisional_type": "bag_tubes_conical_15ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 50; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_50ml",
+   "type": "labware.falcon_tube_50ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-05"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 25,
+   "description": "bag of 50 mL conical tubes",
+   "provisional_type": "bag_tubes_conical_50ml",
+   "type_status": "packaging_of",
+   "type_note": "bag of 25; bag not modelled"
+  },
+  {
+   "id": "cons_tubes_12x75",
+   "type": "labware.falcon_352052_tube_12x75",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-06"
+   },
+   "storage_class": "general",
+   "for": [
+    "bd_facsariaiii"
+   ],
+   "source": "manual: facsaria_iii_users_guide (12 x 75 mm sample tubes); the runtime's tube types include 12x75",
+   "count": 125,
+   "description": "bag of 12 x 75 mm polystyrene cytometry tubes",
+   "provisional_type": "bag_tubes_12x75mm_ps",
+   "type_status": "packaging_of",
+   "type_note": "125 per bag (FACSAria guide p.286)"
+  },
+  {
+   "id": "cons_vials_gc",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-07"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 2 mL crimp vials with caps (GC)",
+   "provisional_type": "box_vials_2ml_crimp",
+   "type_status": "substitute",
+   "type_note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"
+  },
+  {
+   "id": "cons_vials_hplc",
+   "type": "labware.agilent_vial_2ml_screw",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S1-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hplc1260",
+    "agilent_1290infinity",
+    "agilent_1260infinity"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 2 mL screw vials with caps (HPLC)",
+   "provisional_type": "box_vials_2ml_screw",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5182-0715 is sold 100/pk"
+  },
+  {
+   "id": "cons_vials_hs",
+   "type": "labware.agilent_hs_vial_20ml",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of 20 mL headspace vials with crimp caps",
+   "provisional_type": "box_vials_20ml_headspace",
+   "type_status": "packaging_of",
+   "type_note": "Agilent 5188-2753 is sold 100/pk"
+  },
+  {
+   "id": "cons_tips_1000",
+   "type": "labware.opentrons_flex_tiprack_1000ul",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-02"
+   },
+   "storage_class": "general",
+   "for": [
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical spare rack (one is on the deck)",
+   "count": 96,
+   "description": "Opentrons Flex tip rack, 96 x 1000 uL (SBS)",
+   "provisional_type": "tiprack_flex_1000ul",
+   "type_status": "exact"
+  },
+  {
+   "id": "cons_tips_200",
+   "type": "labware.opentrons_flex_tiprack_200ul",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-03"
+   },
+   "storage_class": "general",
+   "for": [
+    "opentrons_flex_single_5_1000ul"
+   ],
+   "source": "typical spare rack (one is on the deck)",
+   "count": 96,
+   "description": "Opentrons Flex tip rack, 96 x 200 uL (SBS)",
+   "provisional_type": "tiprack_flex_200ul",
+   "type_status": "exact"
+  },
+  {
+   "id": "cons_dsc_pans",
+   "type": "labware.ta_tzero_pan_lid",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-04"
+   },
+   "storage_class": "general",
+   "for": [
+    "ta_dsc2500"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of aluminium DSC pans and lids",
+   "provisional_type": "box_dsc_pans_tzero",
+   "type_status": "packaging_of",
+   "type_note": "pkg of 100 pans + 100 lids (DSC guide p.64)"
+  },
+  {
+   "id": "cons_tin_capsules",
+   "type": "labware.elementar_tin_capsule_11x8",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-05"
+   },
+   "storage_class": "general",
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "typical",
+   "count": 100,
+   "description": "box of tin capsules for CHNS combustion",
+   "provisional_type": "box_tin_capsules",
+   "type_status": "packaging_of",
+   "type_note": "100 pcs package (Elementar 200006458)"
+  },
+  {
+   "id": "cons_cuvettes_ps",
+   "type": "labware.brand_ps_macro_cuvette_759005",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-06"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 100,
+   "description": "box of disposable 10 mm polystyrene cuvettes",
+   "provisional_type": "box_cuvettes_ps_10mm",
+   "type_status": "packaging_of",
+   "type_note": "pack of 100"
+  },
+  {
+   "id": "cons_cuvettes_quartz",
+   "type": "labware.hellma_100_10_40_quartz_cuvette",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-07"
+   },
+   "storage_class": "general",
+   "for": [],
+   "source": "typical",
+   "count": 4,
+   "description": "case with 10 mm quartz cuvettes",
+   "provisional_type": "cuvette_quartz_10mm_case",
+   "type_status": "packaging_of",
+   "type_note": "cuvette case not modelled"
+  },
+  {
+   "id": "cons_nmr_tubes",
+   "type": "labware.norell_nmr_tube_5mm_7in",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S2-08"
+   },
+   "storage_class": "general",
+   "for": [
+    "magritek_spinsolve80"
+   ],
+   "source": "typical",
+   "count": 25,
+   "description": "box of 5 mm NMR tubes",
+   "provisional_type": "box_nmr_tubes_5mm",
+   "type_status": "packaging_of"
+  },
+  {
+   "id": "cons_seal_film",
+   "type": "labware.azenta_seal_roll_4ti0520",
+   "contents": [],
+   "location": {
+    "place": "consumables_cabinet",
+    "position": "S3-01"
+   },
+   "storage_class": "general",
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "typical spare roll (one roll is threaded in the sealer)",
+   "count": 1,
+   "description": "roll of peelable heat-seal film for microplates",
+   "provisional_type": "roll_heat_seal_film",
+   "type_status": "exact",
+   "type_note": "mesh reused from the a4S asset's film_roll part"
+  },
+  {
+   "id": "cyl_n2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C1"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "ta_dsc2500",
+    "ta_tga5500",
+    "ta_tma450",
+    "ta_dma850",
+    "netzsch_lfa467",
+    "surface_dvsresolution",
+    "porometer_poroluxrevo"
+   ],
+   "connected_to": [
+    "ta_dsc2500",
+    "ta_tga5500",
+    "ta_tma450",
+    "ta_dma850",
+    "netzsch_lfa467",
+    "surface_dvsresolution",
+    "porometer_poroluxrevo"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_n2_2",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 400.1,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C2"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "laboao_cvdltf12p50",
+    "bronkhorst_cemw",
+    "inert_puresolvmd",
+    "gas_flavourspec25gc",
+    "teledyne_atomxxyz",
+    "bronkhorst_p702cv_5bar_gauge_n2"
+   ],
+   "connected_to": [
+    "laboao_cvdltf12p50",
+    "bronkhorst_cemw",
+    "inert_puresolvmd",
+    "gas_flavourspec25gc",
+    "teledyne_atomxxyz",
+    "bronkhorst_p702cv_5bar_gauge_n2"
+   ],
+   "source": "full 50 L cylinder: 8.0018 mol/L x 50 L = 400.1 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_ar_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "argon",
+     "amount": {
+      "value": 447.7,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C3"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030",
+    "laboao_cvdltf12p50",
+    "inert_purelab_he_2gb"
+   ],
+   "connected_to": [
+    "shimadzu_icpe9800",
+    "shimadzu_icpms2030",
+    "laboao_cvdltf12p50",
+    "inert_purelab_he_2gb"
+   ],
+   "source": "full 50 L cylinder: 8.9545 mol/L x 50 L = 447.7 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_he_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "helium",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C4"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b",
+    "antonpaar_ultrapyc5000",
+    "elementar_varioel",
+    "leco_onh836",
+    "markes_unityxr"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b",
+    "antonpaar_ultrapyc5000",
+    "elementar_varioel",
+    "leco_onh836",
+    "markes_unityxr"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_o2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "oxygen",
+     "amount": {
+      "value": 410.0,
+      "unit": "mol"
+     },
+     "grade": "4.8 (99.998 %)"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C5"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "ta_tga5500",
+    "elementar_varioel",
+    "shimadzu_tocl",
+    "ika_c6000"
+   ],
+   "connected_to": [
+    "ta_tga5500",
+    "elementar_varioel",
+    "shimadzu_tocl",
+    "ika_c6000"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_air_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "nitrogen",
+     "amount": {
+      "value": 325.95,
+      "unit": "mol"
+     },
+     "mole_fraction": 0.795,
+     "grade": "synthetic air, hydrocarbon-free"
+    },
+    {
+     "substance": "oxygen",
+     "amount": {
+      "value": 84.05,
+      "unit": "mol"
+     },
+     "mole_fraction": 0.205,
+     "grade": "synthetic air, hydrocarbon-free"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C6"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "ta_dma850",
+    "jena_contraa800"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "ta_dma850",
+    "jena_contraa800"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_co2_ref",
+   "type": "labware.gas_cylinder_10l_200bar",
+   "contents": [
+    {
+     "substance": "carbon_dioxide",
+     "amount": {
+      "value": 170.0,
+      "unit": "mol"
+     },
+     "grade": "4.5, isotope reference gas"
+    }
+   ],
+   "location": {
+    "place": "cylinder_rack",
+    "position": "C7"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "elementar_isoprimeprecision"
+   ],
+   "connected_to": [
+    "elementar_isoprimeprecision"
+   ],
+   "source": "typical: a 10 L CO2 cylinder holds 7.5 kg (170 mol) liquefied",
+   "description": "CO2 cylinder 10 L, liquefied, with regulator",
+   "provisional_type": "cylinder_10l_co2_liquefied",
+   "type_status": "substitute",
+   "type_note": "same 10 L steel shell; liquefied CO2 at ~57 bar (20 C) is a ledger property, no dip tube modelled"
+  },
+  {
+   "id": "cyl_h2_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "hydrogen",
+     "amount": {
+      "value": 360.0,
+      "unit": "mol"
+     },
+     "grade": "5.0 (99.999 %)"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G1"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "connected_to": [
+    "agilent_7890b_ssl_fid",
+    "agilent_gc8890b"
+   ],
+   "source": "typical: a 50 L cylinder at 200 bar holds about 410 mol of a permanent gas (pV/RT at 20 °C) (hydrogen about 360 mol: compressibility about 1.13 at 200 bar)",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_ch4_1",
+   "type": "labware.gas_cylinder_50l_200bar",
+   "contents": [
+    {
+     "substance": "methane",
+     "amount": {
+      "value": 525.1,
+      "unit": "mol"
+     },
+     "grade": "4.5 (99.995 %)"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G2"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "laboao_cvdltf12p50"
+   ],
+   "connected_to": [
+    "laboao_cvdltf12p50"
+   ],
+   "source": "full 50 L cylinder: 10.502 mol/L x 50 L = 525.1 mol (NIST Chemistry WebBook SRD 69 density at 288.15 K and 201.01 bar abs (200 bar gauge fill at 15 C), x water capacity; table and query URLs: outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json); a 50 L cylinder like the hydrogen one (G1), was 10 L / 95 mol",
+   "description": "steel gas cylinder 50 L water capacity, 200 bar, with regulator",
+   "provisional_type": "cylinder_50l_200bar",
+   "type_status": "exact"
+  },
+  {
+   "id": "cyl_c2h2_1",
+   "type": "labware.gas_cylinder_10l_200bar",
+   "contents": [
+    {
+     "substance": "acetylene",
+     "amount": {
+      "value": 77.0,
+      "unit": "mol"
+     },
+     "grade": "2.6, dissolved in acetone"
+    }
+   ],
+   "location": {
+    "place": "gas_cabinet_flammable",
+    "position": "G3"
+   },
+   "storage_class": "compressed_gas",
+   "for": [
+    "jena_contraa800"
+   ],
+   "connected_to": [
+    "jena_contraa800"
+   ],
+   "source": "typical: a 10 L acetylene cylinder holds about 2 kg (77 mol) dissolved in acetone",
+   "description": "acetylene cylinder 10 L (dissolved in acetone), with regulator",
+   "provisional_type": "cylinder_10l_acetylene",
+   "type_status": "substitute",
+   "type_note": "acetylene cylinders hold a porous mass + acetone at ~19 bar and are wider; shape of the 10 L cylinder stands in until a sourced model is built"
+  }
+ ],
+ "instrument_contents": [
+  {
+   "id": "agilent_1260infinity/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_1260infinity runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_1260infinity",
+    "position": "position 1"
+   },
+   "for": [
+    "agilent_1260infinity"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "agilent_1290infinity/PS_mix",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "tetrahydrofuran",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_1290infinity",
+    "position": null
+   },
+   "for": [
+    "agilent_1290infinity"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "agilent_gc8890b/mix1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "mix1",
+     "defined_by": "the agilent_gc8890b runtime (sample / template mix1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_gc8890b",
+    "position": null
+   },
+   "for": [
+    "agilent_gc8890b"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hplc1260/mix1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "mix1",
+     "defined_by": "the agilent_hplc1260 runtime (sample / template mix1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hplc1260",
+    "position": null
+   },
+   "for": [
+    "agilent_hplc1260"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v1",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v1",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v2",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v2",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v3",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v3",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "agilent_hs8697/v4",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "v4",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the agilent_hs8697 runtime (sample / template v4)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "agilent_hs8697",
+    "position": null
+   },
+   "for": [
+    "agilent_hs8697"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "ametek_oxtran/poly_ethylene_terephthalate",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "poly_ethylene_terephthalate",
+     "reference_template": "poly_ethylene_terephthalate",
+     "defined_by": "the ametek_oxtran runtime (sample / template poly_ethylene_terephthalate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ametek_oxtran",
+    "position": "cell A"
+   },
+   "for": [
+    "ametek_oxtran"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_autosorb6100/sample_0",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_0",
+     "defined_by": "the antonpaar_autosorb6100 runtime (sample / template sample_0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_autosorb6100",
+    "position": "station 0"
+   },
+   "for": [
+    "antonpaar_autosorb6100"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_hit300/borofloat33_5mn_rep1",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "borofloat33_5mn_rep1",
+     "defined_by": "the antonpaar_hit300 runtime (sample / template borofloat33_5mn_rep1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_hit300",
+    "position": null
+   },
+   "for": [
+    "antonpaar_hit300"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_litesizerdia/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 300.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_litesizerdia runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdia",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdia"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "antonpaar_litesizerdia/grain_capecod",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "grain_capecod",
+     "defined_by": "the antonpaar_litesizerdia runtime (sample / template grain_capecod)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdia",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdia"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_litesizerdls/cad9_aqueous",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "cad9_aqueous",
+     "amount": {
+      "value": 0.7,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_litesizerdls runtime (sample / template cad9_aqueous)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_litesizerdls",
+    "position": null
+   },
+   "for": [
+    "antonpaar_litesizerdls"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_mcr503/water",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "water",
+     "amount": {
+      "value": 0.490874,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_mcr503 runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_mcr503",
+    "position": null
+   },
+   "for": [
+    "antonpaar_mcr503"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_poremaster60/mercury",
+   "kind": "mercury",
+   "contents": [
+    {
+     "material": "mercury",
+     "amount": {
+      "value": 100.0,
+      "unit": "g"
+     },
+     "defined_by": "the antonpaar_poremaster60 runtime (sample / template mercury)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_poremaster60",
+    "position": null
+   },
+   "for": [
+    "antonpaar_poremaster60"
+   ],
+   "source": "put in by the default lab set-up (mercury)"
+  },
+  {
+   "id": "antonpaar_poremaster60/hemp_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "hemp_01",
+     "defined_by": "the antonpaar_poremaster60 runtime (sample / template hemp_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_poremaster60",
+    "position": null
+   },
+   "for": [
+    "antonpaar_poremaster60"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_psa1190/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 450.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_psa1190 runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_psa1190",
+    "position": null
+   },
+   "for": [
+    "antonpaar_psa1190"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "antonpaar_psa1190/steel_batch_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "steel_batch_1",
+     "amount": {
+      "value": 8.0,
+      "unit": "g"
+     },
+     "defined_by": "the antonpaar_psa1190 runtime (sample / template steel_batch_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_psa1190",
+    "position": null
+   },
+   "for": [
+    "antonpaar_psa1190"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_rst300/borofloat33_10n_r1",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "borofloat33_10n_r1",
+     "defined_by": "the antonpaar_rst300 runtime (sample / template borofloat33_10n_r1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_rst300",
+    "position": null
+   },
+   "for": [
+    "antonpaar_rst300"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_saxspace/lysozyme_5",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_saxspace",
+    "position": null
+   },
+   "for": [
+    "antonpaar_saxspace"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_surpass3/private_cotton_equivalent",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_cotton_equivalent",
+     "defined_by": "the antonpaar_surpass3 runtime (sample / template private_cotton_equivalent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_surpass3",
+    "position": null
+   },
+   "for": [
+    "antonpaar_surpass3"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "antonpaar_trb/cr100_leadbronze_dry_003",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "cr100_leadbronze_dry_003",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the antonpaar_trb runtime (sample / template cr100_leadbronze_dry_003)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_trb",
+    "position": null
+   },
+   "for": [
+    "antonpaar_trb"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "antonpaar_ultrapyc5000/private_al_powder",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_al_powder",
+     "defined_by": "the antonpaar_ultrapyc5000 runtime (sample / template private_al_powder)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "antonpaar_ultrapyc5000",
+    "position": null
+   },
+   "for": [
+    "antonpaar_ultrapyc5000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "applied_sx20/fluorescein_demo",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "ethanol"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "applied_sx20",
+    "position": null
+   },
+   "for": [
+    "applied_sx20"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "arradiance_gemstarxt/substrate_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "substrate_01",
+     "defined_by": "the arradiance_gemstarxt runtime (sample / template substrate_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "arradiance_gemstarxt",
+    "position": null
+   },
+   "for": [
+    "arradiance_gemstarxt"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s/roll_1",
+   "kind": "load film",
+   "contents": [
+    {
+     "material": "roll_1",
+     "defined_by": "the azenta_automated_roll_heat_sealer_a4s runtime (sample / template roll_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_automated_roll_heat_sealer_a4s",
+    "position": null
+   },
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "put in by the default lab set-up (load film)"
+  },
+  {
+   "id": "azenta_automated_roll_heat_sealer_a4s/pcr_plate_1",
+   "kind": "load plate",
+   "contents": [
+    {
+     "material": "pcr_plate_1",
+     "defined_by": "the azenta_automated_roll_heat_sealer_a4s runtime (sample / template pcr_plate_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_automated_roll_heat_sealer_a4s",
+    "position": null
+   },
+   "for": [
+    "azenta_automated_roll_heat_sealer_a4s"
+   ],
+   "source": "put in by the default lab set-up (load plate)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001/register_consumable",
+   "kind": "register consumable",
+   "contents": [
+    {
+     "material": "register_consumable",
+     "defined_by": "the azenta_intellixcap_s1_46_0001 runtime (sample / template register_consumable)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_intellixcap_s1_46_0001",
+    "position": null
+   },
+   "for": [
+    "azenta_intellixcap_s1_46_0001"
+   ],
+   "source": "put in by the default lab set-up (register consumable)"
+  },
+  {
+   "id": "azenta_intellixcap_s1_46_0001/t1",
+   "kind": "present sample",
+   "contents": [
+    {
+     "material": "t1",
+     "defined_by": "the azenta_intellixcap_s1_46_0001 runtime (sample / template t1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "azenta_intellixcap_s1_46_0001",
+    "position": null
+   },
+   "for": [
+    "azenta_intellixcap_s1_46_0001"
+   ],
+   "source": "put in by the default lab set-up (present sample)"
+  },
+  {
+   "id": "biolin_sigma700/cas_67_56_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "methanol",
+     "amount": {
+      "value": 30.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_sigma700",
+    "position": null
+   },
+   "for": [
+    "biolin_sigma700"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "biolin_thetaflex/al_ctab_a_row7",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "al_ctab_a_row7",
+     "defined_by": "the biolin_thetaflex runtime (sample / template al_ctab_a_row7)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_thetaflex",
+    "position": null
+   },
+   "for": [
+    "biolin_thetaflex"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "biolin_thetaflex/al_ctab_a_row7_2",
+   "kind": "stock",
+   "contents": [
+    {
+     "material": "al_ctab_a_row7",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the biolin_thetaflex runtime (sample / template al_ctab_a_row7)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biolin_thetaflex",
+    "position": null
+   },
+   "for": [
+    "biolin_thetaflex"
+   ],
+   "source": "put in by the default lab set-up (stock)"
+  },
+  {
+   "id": "biorad_cfxopus/gapdh_std",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "gapdh_std",
+     "defined_by": "the biorad_cfxopus runtime (sample / template gapdh_std)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_cfxopus",
+    "position": null
+   },
+   "for": [
+    "biorad_cfxopus"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "biorad_cfxopus/plate_1",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "plate_1",
+     "defined_by": "the biorad_cfxopus runtime (sample / template plate_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_cfxopus",
+    "position": null
+   },
+   "for": [
+    "biorad_cfxopus"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "biorad_miniprotean/gel_a",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "gel_a",
+     "defined_by": "the biorad_miniprotean runtime (sample / template gel_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": null
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/gel_a_2",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "gel_a",
+     "defined_by": "the biorad_miniprotean runtime (sample / template gel_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "position 1"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer_dam",
+   "kind": "gel",
+   "contents": [
+    {
+     "material": "buffer_dam",
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer_dam)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "position 2"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (gel)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer",
+   "kind": "buffer",
+   "contents": [
+    {
+     "material": "tris_glycine_sds_1x",
+     "amount": {
+      "value": 150.0,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "chamber inner"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (buffer)"
+  },
+  {
+   "id": "biorad_miniprotean/buffer_2",
+   "kind": "buffer",
+   "contents": [
+    {
+     "material": "tris_glycine_sds_1x",
+     "amount": {
+      "value": 600.0,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": "chamber outer"
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "put in by the default lab set-up (buffer)"
+  },
+  {
+   "id": "biorad_miniprotean/ladder_1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "ladder_1",
+     "amount": {
+      "value": 0.01,
+      "unit": "mL"
+     },
+     "defined_by": "the biorad_miniprotean runtime (sample / template ladder_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biorad_miniprotean",
+    "position": null
+   },
+   "for": [
+    "biorad_miniprotean"
+   ],
+   "source": "protein ladder: prestained marker, 10 µL (typical mini-gel loading)"
+  },
+  {
+   "id": "biotek_405ts/p1",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "pbs_1x",
+     "defined_by": "the biotek_405ts runtime (sample / template p1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "biotek_405ts",
+    "position": null
+   },
+   "for": [
+    "biotek_405ts"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "bmg_clariostarplus/fluorescein_standard",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "fluorescein_standard",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template fluorescein_standard)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "bmg_clariostarplus/water",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "water",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "bmg_clariostarplus/wp",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "wp",
+     "defined_by": "the bmg_clariostarplus runtime (sample / template wp)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bmg_clariostarplus",
+    "position": null
+   },
+   "for": [
+    "bmg_clariostarplus"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "bruker_magnettechesr5000/blank_01",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_magnettechesr5000 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_magnettechesr5000",
+    "position": null
+   },
+   "for": [
+    "bruker_magnettechesr5000"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "bruker_magnettechesr5000/sample_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "niehs_109",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_magnettechesr5000 runtime (sample / template niehs_109)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_magnettechesr5000",
+    "position": null
+   },
+   "for": [
+    "bruker_magnettechesr5000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "bruker_minispecmq20/sample_01",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "patent_picolinate_p04218_pc2a1pa_sym",
+     "amount": {
+      "value": 0.5,
+      "unit": "mL"
+     },
+     "defined_by": "the bruker_minispecmq20 runtime (sample / template patent_picolinate_p04218_pc2a1pa_sym)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_minispecmq20",
+    "position": null
+   },
+   "for": [
+    "bruker_minispecmq20"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "bruker_minispecmq20/sample_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_01",
+     "defined_by": "the bruker_minispecmq20 runtime (sample / template sample_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_minispecmq20",
+    "position": null
+   },
+   "for": [
+    "bruker_minispecmq20"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "bruker_x4poseidon/alumina_pellet",
+   "kind": "sample (cylinder)",
+   "contents": [
+    {
+     "material": "alumina_pellet",
+     "defined_by": "the bruker_x4poseidon runtime (sample / template alumina_pellet)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "bruker_x4poseidon",
+    "position": null
+   },
+   "for": [
+    "bruker_x4poseidon"
+   ],
+   "source": "put in by the default lab set-up (sample (cylinder))"
+  },
+  {
+   "id": "camag_tlcscanner/hptlc_01",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "hptlc_01",
+     "defined_by": "the camag_tlcscanner runtime (sample / template hptlc_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "camag_tlcscanner",
+    "position": null
+   },
+   "for": [
+    "camag_tlcscanner"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "camag_tlcscanner/plate",
+   "kind": "plate",
+   "contents": [
+    {
+     "material": "plate",
+     "defined_by": "the camag_tlcscanner runtime (sample / template plate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "camag_tlcscanner",
+    "position": null
+   },
+   "for": [
+    "camag_tlcscanner"
+   ],
+   "source": "put in by the default lab set-up (plate)"
+  },
+  {
+   "id": "ch_chi440c/copper_bath",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "copper_bath",
+     "main_component": "copper",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the ch_chi440c runtime (sample / template copper_bath)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ch_chi440c",
+    "position": null
+   },
+   "for": [
+    "ch_chi440c"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ch_chi920d/synthetic_surface",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "o2_neutral",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the ch_chi920d runtime (sample / template synthetic_surface)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ch_chi920d",
+    "position": null
+   },
+   "for": [
+    "ch_chi920d"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "cytiva_biacoret200/run_buffer",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "hbs_ep_plus",
+     "amount": {
+      "value": 1000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template run_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/dist_water",
+   "kind": "solution",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 500.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/run_buffer_2",
+   "kind": "bottle",
+   "contents": [
+    {
+     "material": "run_buffer",
+     "amount": {
+      "value": 950.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template run_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "slot buffer_a"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (bottle)"
+  },
+  {
+   "id": "cytiva_biacoret200/dist_water_2",
+   "kind": "bottle",
+   "contents": [
+    {
+     "material": "dist_water",
+     "amount": {
+      "value": 450.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template dist_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "slot water"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (bottle)"
+  },
+  {
+   "id": "cytiva_biacoret200/buf_s",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "hbs_ep_plus",
+     "amount": {
+      "value": 0.6,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template buf_s)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": null
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "cytiva_biacoret200/buf_s_2",
+   "kind": "rack",
+   "contents": [
+    {
+     "material": "buf_s",
+     "amount": {
+      "value": 0.4,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_biacoret200 runtime (sample / template buf_s)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_biacoret200",
+    "position": "position R1B1"
+   },
+   "for": [
+    "cytiva_biacoret200"
+   ],
+   "source": "put in by the default lab set-up (rack)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/tubes",
+   "kind": "tubes",
+   "contents": [
+    {
+     "material": "tubes",
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template tubes)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": null
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (tubes)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 0"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe_2",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 3.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 1"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "cytiva_nanoassemblrignite/syringe_3",
+   "kind": "syringe",
+   "contents": [
+    {
+     "material": "syringe",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the cytiva_nanoassemblrignite runtime (sample / template syringe)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "cytiva_nanoassemblrignite",
+    "position": "channel 2"
+   },
+   "for": [
+    "cytiva_nanoassemblrignite"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "edinburgh_fls1000tcspc/reference_488",
+   "kind": "sample (fluorescent)",
+   "contents": [
+    {
+     "material": "reference_488",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the edinburgh_fls1000tcspc runtime (sample / template reference_488)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "edinburgh_fls1000tcspc",
+    "position": null
+   },
+   "for": [
+    "edinburgh_fls1000tcspc"
+   ],
+   "source": "put in by the default lab set-up (sample (fluorescent))"
+  },
+  {
+   "id": "elementar_varioel/blank_0",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank_0",
+     "defined_by": "the elementar_varioel runtime (sample / template blank_0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 0"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "elementar_varioel/standard_1",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_1",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.001,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 1"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/standard_2",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_2",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.002,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 2"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/standard_3",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard_3",
+     "reference_template": "oem_sulfanilic_acid",
+     "amount": {
+      "value": 0.003,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_sulfanilic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 3"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "elementar_varioel/sample_4",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample_4",
+     "reference_template": "oem_wheat_flour",
+     "amount": {
+      "value": 0.002,
+      "unit": "g"
+     },
+     "defined_by": "the elementar_varioel runtime (sample / template oem_wheat_flour)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elementar_varioel",
+    "position": "slot_index 4"
+   },
+   "for": [
+    "elementar_varioel"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "elga_purelab_flex3/install_consumables",
+   "kind": "install consumables",
+   "contents": [
+    {
+     "material": "install_consumables",
+     "defined_by": "the elga_purelab_flex3 runtime (sample / template install_consumables)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "elga_purelab_flex3",
+    "position": null
+   },
+   "for": [
+    "elga_purelab_flex3"
+   ],
+   "source": "put in by the default lab set-up (install consumables)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_a",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_a",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_a)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_b",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_b",
+     "amount": {
+      "value": 50.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_b)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "eppendorf_5910ri/tube_c",
+   "kind": "register sample",
+   "contents": [
+    {
+     "material": "tube_c",
+     "amount": {
+      "value": 60.0,
+      "unit": "g"
+     },
+     "defined_by": "the eppendorf_5910ri runtime (sample / template tube_c)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "eppendorf_5910ri",
+    "position": null
+   },
+   "for": [
+    "eppendorf_5910ri"
+   ],
+   "source": "put in by the default lab set-up (register sample)"
+  },
+  {
+   "id": "evident_bx53p/quartz_section",
+   "kind": "sample (thin_section)",
+   "contents": [
+    {
+     "material": "main_sio2",
+     "defined_by": "the evident_bx53p runtime (sample / template quartz_section)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "evident_bx53p",
+    "position": null
+   },
+   "for": [
+    "evident_bx53p"
+   ],
+   "source": "put in by the default lab set-up (sample (thin_section))"
+  },
+  {
+   "id": "freeman_ft4powder/tablettose_70_2026",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "tablettose_70_2026",
+     "amount": {
+      "value": 51.0,
+      "unit": "g"
+     },
+     "defined_by": "the freeman_ft4powder runtime (sample / template tablettose_70_2026)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "freeman_ft4powder",
+    "position": null
+   },
+   "for": [
+    "freeman_ft4powder"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "frontier_egapy/private_PS",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_PS",
+     "defined_by": "the frontier_egapy runtime (sample / template private_PS)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "frontier_egapy",
+    "position": null
+   },
+   "for": [
+    "frontier_egapy"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "glatt_miniglatt/powder",
+   "kind": "powder",
+   "contents": [
+    {
+     "material": "powder",
+     "defined_by": "the glatt_miniglatt runtime (sample / template powder)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "glatt_miniglatt",
+    "position": null
+   },
+   "for": [
+    "glatt_miniglatt"
+   ],
+   "source": "put in by the default lab set-up (powder)"
+  },
+  {
+   "id": "glatt_miniglatt/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 30.0,
+      "unit": "mL"
+     },
+     "defined_by": "the glatt_miniglatt runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "glatt_miniglatt",
+    "position": null
+   },
+   "for": [
+    "glatt_miniglatt"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "hach_dr6000/blank_01",
+   "kind": "register sample (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the hach_dr6000 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hach_dr6000",
+    "position": null
+   },
+   "for": [
+    "hach_dr6000"
+   ],
+   "source": "put in by the default lab set-up (register sample (blank))"
+  },
+  {
+   "id": "hach_dr6000/sample_01",
+   "kind": "register sample (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "defined_by": "the hach_dr6000 runtime (sample / template sample_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hach_dr6000",
+    "position": null
+   },
+   "for": [
+    "hach_dr6000"
+   ],
+   "source": "put in by the default lab set-up (register sample (sample))"
+  },
+  {
+   "id": "hot_tps2500/stainless_steel_316l_hotdisk",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "stainless_steel_316l_hotdisk",
+     "defined_by": "the hot_tps2500 runtime (sample / template stainless_steel_316l_hotdisk)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "hot_tps2500",
+    "position": null
+   },
+   "for": [
+    "hot_tps2500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ja_alphase/pmma_on_si",
+   "kind": "sample (film_stack)",
+   "contents": [
+    {
+     "material": "pmma_on_si",
+     "defined_by": "the ja_alphase runtime (sample / template pmma_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ja_alphase",
+    "position": null
+   },
+   "for": [
+    "ja_alphase"
+   ],
+   "source": "put in by the default lab set-up (sample (film_stack))"
+  },
+  {
+   "id": "jasco_cpl300/solvent_blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "basic ethanol",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_cpl300 runtime (sample / template solvent_blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_cpl300",
+    "position": null
+   },
+   "for": [
+    "jasco_cpl300"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_fp8350/blank_01",
+   "kind": "solution (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fp8350 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (solution (blank))"
+  },
+  {
+   "id": "jasco_fp8350/sample_01",
+   "kind": "solution (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "pcad_083",
+     "amount": {
+      "value": 2.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fp8350 runtime (sample / template pcad_083)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (solution (sample))"
+  },
+  {
+   "id": "jasco_fp8350/blank_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the jasco_fp8350 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fp8350",
+    "position": null
+   },
+   "for": [
+    "jasco_fp8350"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_ftir4700/ethanol_01",
+   "kind": "register template sample",
+   "contents": [
+    {
+     "substance": "ethanol"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_ftir4700",
+    "position": null
+   },
+   "for": [
+    "jasco_ftir4700"
+   ],
+   "source": "put in by the default lab set-up (register template sample)"
+  },
+  {
+   "id": "jasco_fvs6000/solvent_blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "DMSO-d6",
+     "amount": {
+      "value": 0.05,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_fvs6000 runtime (sample / template solvent_blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_fvs6000",
+    "position": null
+   },
+   "for": [
+    "jasco_fvs6000"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_j1500/blank_01",
+   "kind": "solution (blank)",
+   "contents": [
+    {
+     "material": "blank_01",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_j1500 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (solution (blank))"
+  },
+  {
+   "id": "jasco_j1500/sample_01",
+   "kind": "solution (sample)",
+   "contents": [
+    {
+     "material": "sample_01",
+     "reference_template": "sp175_hsa",
+     "amount": {
+      "value": 0.2,
+      "unit": "mL"
+     },
+     "defined_by": "the jasco_j1500 runtime (sample / template sp175_hsa)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (solution (sample))"
+  },
+  {
+   "id": "jasco_j1500/blank_01_2",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "blank_01",
+     "defined_by": "the jasco_j1500 runtime (sample / template blank_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_j1500",
+    "position": null
+   },
+   "for": [
+    "jasco_j1500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_nrs5500/mineral_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "mineral_01",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "defined_by": "the jasco_nrs5500 runtime (sample / template mineral_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_nrs5500",
+    "position": null
+   },
+   "for": [
+    "jasco_nrs5500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jasco_p4200/blank_water",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "jasco_p4200/quartz_10deg",
+   "kind": "sample (quartz)",
+   "contents": [
+    {
+     "material": "quartz_10deg",
+     "defined_by": "the jasco_p4200 runtime (sample / template quartz_10deg)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample (quartz))"
+  },
+  {
+   "id": "jasco_p4200/sample_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "water",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jasco_p4200",
+    "position": null
+   },
+   "for": [
+    "jasco_p4200"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "jena_contraa800/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "aj_wastewater_std3_cu",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the jena_contraa800 runtime (sample / template aj_wastewater_std3_cu)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jena_contraa800",
+    "position": "vial_index 0"
+   },
+   "for": [
+    "jena_contraa800"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "jena_multix/aox_linear_100_r1_c1",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "aox_linear_100_r1_c1",
+     "reference_template": "aox_linear_100_r1_c1",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the jena_multix runtime (sample / template aox_linear_100_r1_c1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jena_multix",
+    "position": null
+   },
+   "for": [
+    "jena_multix"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "jeol_jem1400flash/au_np_on_carbon",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "au_np_on_carbon",
+     "defined_by": "the jeol_jem1400flash runtime (sample / template au_np_on_carbon)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jeol_jem1400flash",
+    "position": null
+   },
+   "for": [
+    "jeol_jem1400flash"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "jeol_jsmit200/fe_si_polished",
+   "kind": "specimen",
+   "contents": [
+    {
+     "material": "fe_si_polished",
+     "defined_by": "the jeol_jsmit200 runtime (sample / template fe_si_polished)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "jeol_jsmit200",
+    "position": null
+   },
+   "for": [
+    "jeol_jsmit200"
+   ],
+   "source": "put in by the default lab set-up (specimen)"
+  },
+  {
+   "id": "keyence_vkx3000/sio2_step_on_si",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sio2_step_on_si",
+     "defined_by": "the keyence_vkx3000 runtime (sample / template sio2_step_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "keyence_vkx3000",
+    "position": null
+   },
+   "for": [
+    "keyence_vkx3000"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "knauer_k7400s/water",
+   "kind": "sample (reference)",
+   "contents": [
+    {
+     "material": "water",
+     "amount": {
+      "value": 0.15,
+      "unit": "mL"
+     },
+     "defined_by": "the knauer_k7400s runtime (sample / template water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "knauer_k7400s",
+    "position": null
+   },
+   "for": [
+    "knauer_k7400s"
+   ],
+   "source": "put in by the default lab set-up (sample (reference))"
+  },
+  {
+   "id": "kratos_axissupra/sio2_on_si",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sio2_on_si",
+     "defined_by": "the kratos_axissupra runtime (sample / template sio2_on_si)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "kratos_axissupra",
+    "position": null
+   },
+   "for": [
+    "kratos_axissupra"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "lakeshore_8604vsm/kuleuven_cf_300k",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "kuleuven_cf_300k",
+     "amount": {
+      "value": 0.006283,
+      "unit": "mL"
+     },
+     "defined_by": "the lakeshore_8604vsm runtime (sample / template kuleuven_cf_300k)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "lakeshore_8604vsm",
+    "position": null
+   },
+   "for": [
+    "lakeshore_8604vsm"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "leco_onh836/sample",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "sample",
+     "defined_by": "the leco_onh836 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "leco_onh836/crucible",
+   "kind": "crucible",
+   "contents": [
+    {
+     "material": "crucible",
+     "defined_by": "the leco_onh836 runtime (sample / template crucible)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (crucible)"
+  },
+  {
+   "id": "leco_onh836/leco_503558_reference",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "leco_503558_reference",
+     "reference_template": "leco_503558_reference",
+     "amount": {
+      "value": 0.12,
+      "unit": "g"
+     },
+     "defined_by": "the leco_onh836 runtime (sample / template leco_503558_reference)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "leco_onh836",
+    "position": null
+   },
+   "for": [
+    "leco_onh836"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "linseis_lsr3/tematdb_00009",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "tematdb_00009",
+     "defined_by": "the linseis_lsr3 runtime (sample / template tematdb_00009)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "linseis_lsr3",
+    "position": null
+   },
+   "for": [
+    "linseis_lsr3"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "magritek_spinsolve80/ethanol_01",
+   "kind": "register template sample",
+   "contents": [
+    {
+     "material": "CDCl3",
+     "defined_by": "the magritek_spinsolve80 runtime (sample / template ethanol_01)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "magritek_spinsolve80",
+    "position": null
+   },
+   "for": [
+    "magritek_spinsolve80"
+   ],
+   "source": "put in by the default lab set-up (register template sample)"
+  },
+  {
+   "id": "malvern_microcalpeaq/edta",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "edta",
+     "amount": {
+      "value": 3.0,
+      "unit": "mL"
+     },
+     "defined_by": "the malvern_microcalpeaq runtime (sample / template edta)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "malvern_microcalpeaq",
+    "position": null
+   },
+   "for": [
+    "malvern_microcalpeaq"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "malvern_microcalpeaq/ca",
+   "kind": "solution",
+   "contents": [
+    {
+     "material": "ca",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the malvern_microcalpeaq runtime (sample / template ca)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "malvern_microcalpeaq",
+    "position": null
+   },
+   "for": [
+    "malvern_microcalpeaq"
+   ],
+   "source": "put in by the default lab set-up (solution)"
+  },
+  {
+   "id": "markes_unityxr/private_air",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_air",
+     "defined_by": "the markes_unityxr runtime (sample / template private_air)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "markes_unityxr",
+    "position": null
+   },
+   "for": [
+    "markes_unityxr"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "metrohm_899/copper_ii_sulfate_pentahydrate",
+   "kind": "load template sample",
+   "contents": [
+    {
+     "substance": "copper_sulfate_pentahydrate"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "metrohm_899",
+    "position": null
+   },
+   "for": [
+    "metrohm_899"
+   ],
+   "source": "put in by the default lab set-up (load template sample)"
+  },
+  {
+   "id": "metrohm_omnis/load_template_sample",
+   "kind": "load template sample",
+   "contents": [
+    {
+     "material": "load_template_sample",
+     "defined_by": "the metrohm_omnis runtime (sample / template load_template_sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "metrohm_omnis",
+    "position": null
+   },
+   "for": [
+    "metrohm_omnis"
+   ],
+   "source": "put in by the default lab set-up (load template sample)"
+  },
+  {
+   "id": "microtrac_turbiscanlab/lentil_soybean_hipe_untreated",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "lentil_soybean_hipe_untreated",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the microtrac_turbiscanlab runtime (sample / template lentil_soybean_hipe_untreated)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "microtrac_turbiscanlab",
+    "position": null
+   },
+   "for": [
+    "microtrac_turbiscanlab"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "milestone_dma80/sample",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 0"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.02,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 1"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_2",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 2"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_3",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 3"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "milestone_dma80/nist_2448_certified_4",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "nist_2448_certified",
+     "reference_template": "nist_2448_certified",
+     "amount": {
+      "value": 0.05,
+      "unit": "g"
+     },
+     "defined_by": "the milestone_dma80 runtime (sample / template nist_2448_certified)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "milestone_dma80",
+    "position": "slot_index 5"
+   },
+   "for": [
+    "milestone_dma80"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "nanosurf_naiostm/hopg",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "hopg",
+     "reference_template": "hopg_kit",
+     "defined_by": "the nanosurf_naiostm runtime (sample / template hopg_kit)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "nanosurf_naiostm",
+    "position": null
+   },
+   "for": [
+    "nanosurf_naiostm"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "netzsch_lfa467/nist_sic",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "nist_sic",
+     "defined_by": "the netzsch_lfa467 runtime (sample / template nist_sic)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "netzsch_lfa467",
+    "position": "position 1"
+   },
+   "for": [
+    "netzsch_lfa467"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "netzsch_mmc315/di_tbutyl_peroxide",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "toluene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "netzsch_mmc315",
+    "position": null
+   },
+   "for": [
+    "netzsch_mmc315"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "newera_ne1000/syringe",
+   "kind": "syringe",
+   "contents": [
+    {
+     "substance": "water"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "newera_ne1000",
+    "position": null
+   },
+   "for": [
+    "newera_ne1000"
+   ],
+   "source": "put in by the default lab set-up (syringe)"
+  },
+  {
+   "id": "novocontrol_alphat/water_crc_7732_18_5",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "water_crc_7732_18_5",
+     "defined_by": "the novocontrol_alphat runtime (sample / template water_crc_7732_18_5)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "novocontrol_alphat",
+    "position": null
+   },
+   "for": [
+    "novocontrol_alphat"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "park_nx10/grating",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "grating",
+     "reference_template": "calibration_grating_xyz",
+     "defined_by": "the park_nx10 runtime (sample / template calibration_grating_xyz)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "park_nx10",
+    "position": null
+   },
+   "for": [
+    "park_nx10"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "pine_wavevortex10/private_oxygen_bath",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "o2_neutral",
+     "amount": {
+      "value": 50.0,
+      "unit": "mL"
+     },
+     "defined_by": "the pine_wavevortex10 runtime (sample / template private_oxygen_bath)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "pine_wavevortex10",
+    "position": null
+   },
+   "for": [
+    "pine_wavevortex10"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "porometer_poroluxrevo/pvdf_fc43_2016",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "pvdf_fc43_2016",
+     "defined_by": "the porometer_poroluxrevo runtime (sample / template pvdf_fc43_2016)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "porometer_poroluxrevo",
+    "position": null
+   },
+   "for": [
+    "porometer_poroluxrevo"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "porometer_poroluxrevo/liquid",
+   "kind": "liquid",
+   "contents": [
+    {
+     "material": "liquid",
+     "amount": {
+      "value": 1.0,
+      "unit": "g"
+     },
+     "defined_by": "the porometer_poroluxrevo runtime (sample / template liquid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "porometer_poroluxrevo",
+    "position": null
+   },
+   "for": [
+    "porometer_poroluxrevo"
+   ],
+   "source": "put in by the default lab set-up (liquid)"
+  },
+  {
+   "id": "rigaku_xtalabsynergy/aspirin_01",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "aspirin"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "rigaku_xtalabsynergy",
+    "position": null
+   },
+   "for": [
+    "rigaku_xtalabsynergy"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "sciex_pa800/rinse buffer",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "rinse buffer",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template rinse buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BI:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/waste",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "waste",
+     "amount": {
+      "value": 0.6,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template waste)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BO:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/run buffer in",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "run buffer in",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template run buffer in)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BI:B1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/run buffer out",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "run buffer out",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template run buffer out)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position BO:B1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "sciex_pa800/sample 1",
+   "kind": "vial",
+   "contents": [
+    {
+     "material": "sample 1",
+     "amount": {
+      "value": 1.5,
+      "unit": "mL"
+     },
+     "defined_by": "the sciex_pa800 runtime (sample / template sample 1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "sciex_pa800",
+    "position": "position SI:A1"
+   },
+   "for": [
+    "sciex_pa800"
+   ],
+   "source": "put in by the default lab set-up (vial)"
+  },
+  {
+   "id": "seal_aa500/nitrate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "nitrate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template nitrate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/nitrite_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "nitrite_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template nitrite_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/ammonium_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "ammonium_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ammonium_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/phosphate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "phosphate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template phosphate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/silicate_stock",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "silicate_stock",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template silicate_stock)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_nitrate_nitrite",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_nitrate_nitrite",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_nitrate_nitrite)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_nitrite",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_nitrite",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_nitrite)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_ammonia",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_ammonia",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_ammonia)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_phosphate",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_phosphate",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_phosphate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/reagents_silicate",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "reagents_silicate",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template reagents_silicate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/wash_water",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "wash_water",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template wash_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/cadmium_activation",
+   "kind": "kit",
+   "contents": [
+    {
+     "material": "cadmium_activation",
+     "amount": {
+      "value": 3000.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template cadmium_activation)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (kit)"
+  },
+  {
+   "id": "seal_aa500/imidazole_buffer",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "imidazole_buffer",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template imidazole_buffer)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/colour_reagent",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "colour_reagent",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template colour_reagent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/complexing_reagent",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "complexing_reagent",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template complexing_reagent)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/alkaline_phenol",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "alkaline_phenol",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template alkaline_phenol)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/hypochlorite_nitroprusside",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "hypochlorite_nitroprusside",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template hypochlorite_nitroprusside)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/molybdate_antimony",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "molybdate_antimony",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template molybdate_antimony)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/ascorbic_acid",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "ascorbic_acid",
+     "main_component": "ascorbic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ascorbic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/molybdate",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "molybdate",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template molybdate)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/oxalic_acid",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "oxalic_acid",
+     "main_component": "oxalic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template oxalic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/ascorbic_acid_2",
+   "kind": "reagent",
+   "contents": [
+    {
+     "material": "ascorbic_acid",
+     "main_component": "ascorbic_acid",
+     "amount": {
+      "value": 400.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template ascorbic_acid)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "channel ch4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (reagent)"
+  },
+  {
+   "id": "seal_aa500/wash_water_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "wash_water",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template wash_water)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 22"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std0",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std0",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std0_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std0",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std0)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 1"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std1",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std1",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std1_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std1",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 2"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std2",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std2",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std2_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std2",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std2)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 3"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "seal_aa500/std3",
+   "kind": "standard",
+   "contents": [
+    {
+     "material": "std3",
+     "amount": {
+      "value": 100.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": null
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (standard)"
+  },
+  {
+   "id": "seal_aa500/std3_2",
+   "kind": "sampler",
+   "contents": [
+    {
+     "material": "std3",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the seal_aa500 runtime (sample / template std3)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "seal_aa500",
+    "position": "position 4"
+   },
+   "for": [
+    "seal_aa500"
+   ],
+   "source": "put in by the default lab set-up (sampler)"
+  },
+  {
+   "id": "shimadzu_ags10knxd/epfl_s355_j2m_hem320_web",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "epfl_s355_j2m_hem320_web",
+     "amount": {
+      "value": 0.11,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_ags10knxd runtime (sample / template epfl_s355_j2m_hem320_web)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_ags10knxd",
+    "position": null
+   },
+   "for": [
+    "shimadzu_ags10knxd"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "shimadzu_edx7200/blackmass_icp_f",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "blackmass_icp_f",
+     "reference_template": "blackmass_icp_f",
+     "amount": {
+      "value": 10.0,
+      "unit": "g"
+     },
+     "defined_by": "the shimadzu_edx7200 runtime (sample / template blackmass_icp_f)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_edx7200",
+    "position": null
+   },
+   "for": [
+    "shimadzu_edx7200"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_icpe9800/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "shimadzu_epa_ipc_assigned",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_icpe9800 runtime (sample / template shimadzu_epa_ipc_assigned)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_icpe9800",
+    "position": null
+   },
+   "for": [
+    "shimadzu_icpe9800"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_icpms2030/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "infant_cal4",
+     "amount": {
+      "value": 10.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_icpms2030 runtime (sample / template infant_cal4)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_icpms2030",
+    "position": null
+   },
+   "for": [
+    "shimadzu_icpms2030"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "shimadzu_tocl/standard",
+   "kind": "sample (standard)",
+   "contents": [
+    {
+     "material": "standard",
+     "reference_template": "crm_altus_khp_10mg",
+     "amount": {
+      "value": 20.0,
+      "unit": "mL"
+     },
+     "defined_by": "the shimadzu_tocl runtime (sample / template crm_altus_khp_10mg)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "shimadzu_tocl",
+    "position": null
+   },
+   "for": [
+    "shimadzu_tocl"
+   ],
+   "source": "put in by the default lab set-up (sample (standard))"
+  },
+  {
+   "id": "signatone_quadpro2/starry_40927",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "starry_40927",
+     "defined_by": "the signatone_quadpro2 runtime (sample / template starry_40927)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "signatone_quadpro2",
+    "position": null
+   },
+   "for": [
+    "signatone_quadpro2"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "stanford_rga100/blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank",
+     "defined_by": "the stanford_rga100 runtime (sample / template blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "stanford_rga100",
+    "position": null
+   },
+   "for": [
+    "stanford_rga100"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "surface_dvsresolution/bam_p109_water_nitrogen_298p15k",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "bam_p109_water_nitrogen_298p15k",
+     "defined_by": "the surface_dvsresolution runtime (sample / template bam_p109_water_nitrogen_298p15k)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "surface_dvsresolution",
+    "position": null
+   },
+   "for": [
+    "surface_dvsresolution"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_dma850/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "amount": {
+      "value": 0.01,
+      "unit": "g"
+     },
+     "defined_by": "the ta_dma850 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_dma850",
+    "position": null
+   },
+   "for": [
+    "ta_dma850"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_tamiv/halite_dissolution",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "halite_dissolution",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the ta_tamiv runtime (sample / template halite_dissolution)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tamiv",
+    "position": null
+   },
+   "for": [
+    "ta_tamiv"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ta_tamiv/reference",
+   "kind": "reference",
+   "contents": [
+    {
+     "material": "reference",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the ta_tamiv runtime (sample / template reference)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tamiv",
+    "position": null
+   },
+   "for": [
+    "ta_tamiv"
+   ],
+   "source": "put in by the default lab set-up (reference)"
+  },
+  {
+   "id": "ta_tma450/ptfe_tma450em_expansion",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "ptfe_tma450em_expansion",
+     "amount": {
+      "value": 0.1,
+      "unit": "g"
+     },
+     "defined_by": "the ta_tma450 runtime (sample / template ptfe_tma450em_expansion)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ta_tma450",
+    "position": null
+   },
+   "for": [
+    "ta_tma450"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_analyteexcite/private_glass",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "private_glass",
+     "defined_by": "the teledyne_analyteexcite runtime (sample / template private_glass)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_analyteexcite",
+    "position": null
+   },
+   "for": [
+    "teledyne_analyteexcite"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_atomxxyz/aqueous_benzene",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "benzene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_atomxxyz",
+    "position": "vial_index 0"
+   },
+   "for": [
+    "teledyne_atomxxyz"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "teledyne_atomxxyz/aqueous_toluene",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "toluene"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "teledyne_atomxxyz",
+    "position": "vial_index 2"
+   },
+   "for": [
+    "teledyne_atomxxyz"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "thermo_ibrightfl1500/gel1",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "gel1",
+     "defined_by": "the thermo_ibrightfl1500 runtime (sample / template gel1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_ibrightfl1500",
+    "position": null
+   },
+   "for": [
+    "thermo_ibrightfl1500"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "thermo_orbitrapexploris/blank",
+   "kind": "sample (blank)",
+   "contents": [
+    {
+     "material": "blank",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the thermo_orbitrapexploris runtime (sample / template blank)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_orbitrapexploris",
+    "position": null
+   },
+   "for": [
+    "thermo_orbitrapexploris"
+   ],
+   "source": "put in by the default lab set-up (sample (blank))"
+  },
+  {
+   "id": "thermo_orbitrapexploris/host_prepared_benzamide_solution",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "host_prepared_benzamide_solution",
+     "amount": {
+      "value": 0.1,
+      "unit": "mL"
+     },
+     "defined_by": "the thermo_orbitrapexploris runtime (sample / template host_prepared_benzamide_solution)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "thermo_orbitrapexploris",
+    "position": null
+   },
+   "for": [
+    "thermo_orbitrapexploris"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ultrafast_helios/rhodamine_b_demo",
+   "kind": "sample",
+   "contents": [
+    {
+     "substance": "ethanol",
+     "amount": {
+      "value": 1.0,
+      "unit": "mL"
+     }
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ultrafast_helios",
+    "position": null
+   },
+   "for": [
+    "ultrafast_helios"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "wyatt_eclipseaf4/sample",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "sample",
+     "defined_by": "the wyatt_eclipseaf4 runtime (sample / template sample)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "wyatt_eclipseaf4",
+    "position": null
+   },
+   "for": [
+    "wyatt_eclipseaf4"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  },
+  {
+   "id": "ziath_dp5_mirage_2023/rack_1",
+   "kind": "load rack",
+   "contents": [
+    {
+     "material": "rack_1",
+     "defined_by": "the ziath_dp5_mirage_2023 runtime (sample / template rack_1)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "ziath_dp5_mirage_2023",
+    "position": null
+   },
+   "for": [
+    "ziath_dp5_mirage_2023"
+   ],
+   "source": "put in by the default lab set-up (load rack)"
+  },
+  {
+   "id": "zwick_hit5p/basf_ultradur_b4520",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "basf_ultradur_b4520",
+     "amount": {
+      "value": 3.192,
+      "unit": "mL"
+     },
+     "defined_by": "the zwick_hit5p runtime (sample / template basf_ultradur_b4520)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "zwick_hit5p",
+    "position": null
+   },
+   "for": [
+    "zwick_hit5p"
+   ],
+   "source": "the contract example notched bar (reference specimen)"
+  },
+  {
+   "id": "zwick_mflow/basf_ultradur_b6550",
+   "kind": "sample",
+   "contents": [
+    {
+     "material": "basf_ultradur_b6550",
+     "amount": {
+      "value": 6.0,
+      "unit": "g"
+     },
+     "defined_by": "the zwick_mflow runtime (sample / template basf_ultradur_b6550)"
+    }
+   ],
+   "location": {
+    "place": "instrument",
+    "instrument": "zwick_mflow",
+    "position": null
+   },
+   "for": [
+    "zwick_mflow"
+   ],
+   "source": "put in by the default lab set-up (sample)"
+  }
+ ],
+ "variant": "quantos_powder"
+}
diff --git a/chemlab/tests/helpers.py b/chemlab/tests/helpers.py
new file mode 100644
index 0000000000000000000000000000000000000000..cfcd55c29b3048d01f0f787f7badebc51f941d66
--- /dev/null
+++ b/chemlab/tests/helpers.py
@@ -0,0 +1,42 @@
+import json
+import os
+import shlex
+import sys
+
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+if ROOT not in sys.path:
+    sys.path.insert(0, ROOT)
+
+from chemlab.backend import FastSimFlexBackend          # noqa: E402
+from chemlab.core import CoreService                    # noqa: E402
+from chemlab.flex_tasks import _proto_fill, deck        # noqa: E402
+from chemlab.flex_verbs import FlexInstrument           # noqa: E402
+
+CONTENTS = {'reservoir:A1': ('buffer', 10000), 'reservoir:A3': ('buffer', 400), 'tuberack:A1': ('dye', 1000), 'plate:H12': ('buffer', 350)}
+
+
+def make_core(contents=None, power=True, faults=None, protocols=(), lease_s=120.0, log_path=None, labware_override=None):
+    d = deck(contents or CONTENTS, power=power)
+    if labware_override:
+        for lw in d['labware']:
+            lw.update(labware_override.get(lw['name'], {}))
+    backend = FastSimFlexBackend(d, faults=faults, protocols=protocols)
+    return backend, CoreService(backend, FlexInstrument, lease_s=lease_s, log_path=log_path)
+
+
+def run(core, cmd, caller='agent'):
+    return core.handle(['chemlab'] + shlex.split(cmd), caller)
+
+
+def run_json(core, cmd, caller='agent'):
+    r = run(core, cmd + ' --json', caller)
+    return r.exit_code, json.loads(r.out)
+
+
+def snapshot(backend):
+    s = backend.evaluator_state()
+    s.pop('time_s', None)
+    return json.dumps(s, sort_keys=True)
+
+
+PLATE_PREP = _proto_fill('plate_prep', 'Plate prep', 'tiprack1000_H12', 'reservoir_A1', ['plate_C%d' % i for i in range(1, 4)], None, 60, params=True)
diff --git a/chemlab/tests/test_contract.py b/chemlab/tests/test_contract.py
new file mode 100644
index 0000000000000000000000000000000000000000..5e8242d83991bb36d53408e7fbb1e7fa9b1ebe63
--- /dev/null
+++ b/chemlab/tests/test_contract.py
@@ -0,0 +1,83 @@
+"""The verb table against the asset contract: every verb maps to agent-usable capabilities; hidden ones are unreachable."""
+import unittest
+
+from helpers import make_core, run, run_json
+from chemlab.contract import NOT_A_VERB, validate
+
+
+class VerbTableVsContract(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.backend, cls.core = make_core()
+        cls.inst, cls.contract = cls.core.inst, cls.core.contract
+
+    def test_contract_is_the_flex_contract(self):
+        self.assertEqual(self.contract.asset_type_id, self.backend.asset_type_id)
+        self.assertEqual(len(self.contract.capabilities), 41)
+
+    def test_every_verb_maps_to_agent_usable_capabilities(self):
+        for v in self.inst.verbs.values():
+            for cid in v.maps_to:
+                cap = self.contract.capabilities[cid]
+                self.assertTrue(cap.agent_usable, (v.name, cid))
+                self.assertNotIn(cid, self.contract.hidden(), (v.name, cid))
+
+    def test_every_capability_has_a_verb_or_a_reason(self):
+        mapped = {cid for v in self.inst.verbs.values() for cid in v.maps_to}
+        for cid, cap in self.contract.capabilities.items():
+            self.assertTrue(cid in mapped or cap.hidden_reason(), '%s has neither a verb nor a reason to be hidden' % cid)
+
+    def test_hidden_set(self):
+        hidden = self.contract.hidden()
+        for cid in ('velocity.set', 'sample.mix', 'liquid_level.detect'):          # unsupported in the contract
+            self.assertIn('not supported', hidden[cid])
+        self.assertIn('evaluator', hidden['panel.frame'])
+        for cid in NOT_A_VERB:
+            self.assertIn(cid, hidden)
+
+    def test_describe_lists_only_working_verbs_first(self):
+        code, d = run_json(self.core, 'describe flex')
+        self.assertEqual(code, 0)
+        names = [v['name'] for v in d['verbs']]
+        for n in ('power', 'home', 'status', 'labware', 'move-to', 'pick-up-tip', 'drop-tip', 'return-tip', 'aspirate', 'dispense', 'transfer',
+                  'lights', 'protocols', 'run-protocol', 'pause', 'resume', 'cancel', 'recover'):
+            self.assertIn(n, names)
+        for n in ('shutdown', 'device-reset', 'deck-config', 'settings', 'detach-pipette'):
+            self.assertNotIn(n, names)
+        self.assertNotIn('not_offered', d)
+        code, d = run_json(self.core, 'describe flex --all')
+        names = [v['name'] for v in d['verbs']]
+        for n in ('shutdown', 'device-reset', 'deck-config', 'settings', 'detach-pipette', 'protocol-delete', 'restart'):
+            self.assertIn(n, names)
+        self.assertIn('sample.mix', d['not_offered'])
+
+    def test_destructive_verbs(self):
+        destructive = {v.name for v in self.inst.verbs.values() if v.destructive}
+        self.assertEqual(destructive, {'shutdown', 'restart', 'protocol-delete', 'device-reset', 'detach-pipette'})
+
+    def test_help_admin_and_verb_help(self):
+        r = run(self.core, 'help flex admin')
+        self.assertEqual(r.exit_code, 0)
+        self.assertIn('device-reset', r.out)
+        r = run(self.core, 'run flex aspirate --help')
+        self.assertIn('usage: chemlab run flex aspirate', r.out)
+        self.assertIn('sample.aspirate', r.out)
+
+    def test_contract_ranges_used_by_the_gate(self):
+        self.assertEqual((self.inst.vmin, self.inst.vmax), (5e-9, 1e-6))
+        self.assertTrue(self.contract.check('motion.move', {'x_m': 0.5, 'y_m': 0, 'z_m': 0}))
+        self.assertFalse(self.contract.check('motion.move', {'x_m': 0.1, 'y_m': 0, 'z_m': 0}))
+        self.assertTrue(self.contract.check('sample.mix', {}))                  # unsupported -> refused by the gate
+
+    def test_schema_validator(self):
+        s = {'type': 'object', 'properties': {'a': {'type': 'number', 'minimum': 0}, 'b': {'anyOf': [{'type': 'string'}, {'type': 'null'}]}},
+             'required': ['a'], 'additionalProperties': False}
+        self.assertEqual(validate(s, {'a': 1, 'b': None}), [])
+        self.assertTrue(validate(s, {'a': -1}))
+        self.assertTrue(validate(s, {'b': 'x'}))
+        self.assertTrue(validate(s, {'a': 1, 'c': 2}))
+        self.assertTrue(validate(s, {'a': True}))
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests/test_gate.py b/chemlab/tests/test_gate.py
new file mode 100644
index 0000000000000000000000000000000000000000..33eb8f9a1c5ee032d1c4afb4ec6e905d4e712fa0
--- /dev/null
+++ b/chemlab/tests/test_gate.py
@@ -0,0 +1,417 @@
+"""The gate: units, ranges, preconditions, error format, exit codes, dry-run, job ids, lock, request ids, log, hidden
+capabilities, read-back, agent/evaluator split."""
+import json
+import os
+import tempfile
+import unittest
+
+from helpers import PLATE_PREP, make_core, run, run_json, snapshot
+from chemlab.core import Ctx
+from chemlab.errors import UndefinedExecutionError
+
+
+def vol(backend, cid):
+    return next(c['volume_m3'] for c in backend.evaluator_state()['truth.containers'] if c['container_id'] == cid) * 1e9
+
+
+class Base(unittest.TestCase):
+    def setUp(self):
+        self.backend, self.core = make_core()
+
+    def ok(self, cmd, caller='agent'):
+        r = run(self.core, cmd, caller)
+        self.assertEqual(r.exit_code, 0, '%s -> %s%s' % (cmd, r.out, r.err))
+        return r
+
+    def err(self, cmd, code, exit_code, caller='agent'):
+        n_calls = len(self.backend_calls())
+        before = snapshot(self.backend)
+        c, d = run_json(self.core, cmd, caller)
+        self.assertEqual(c, exit_code, '%s -> %s' % (cmd, d))
+        self.assertFalse(d['ok'])
+        self.assertEqual(d['error']['code'], code, d)
+        if d['error']['instrument_changed'] == 'no':
+            self.assertEqual(snapshot(self.backend), before, 'instrument changed although the error says no: %s' % cmd)
+        return d['error'], len(self.backend_calls()) - n_calls
+
+    def backend_calls(self):
+        return [c for e in self.core.log.entries for c in e['backend_calls']]
+
+
+class UnitsAndRanges(Base):
+    def test_volume_out_of_range_is_validation_and_sends_nothing(self):
+        self.ok('run flex pick-up-tip')
+        e, calls = self.err('run flex aspirate --volume 1500uL --from reservoir:A1', 'VOLUME_OUT_OF_RANGE', 2)
+        self.assertEqual(calls, 0)
+        self.assertEqual(e['sila_class'], 'ValidationError')
+        e, calls = self.err('run flex aspirate --volume 2uL --from reservoir:A1', 'VOLUME_OUT_OF_RANGE', 2)
+        self.assertEqual(calls, 0)
+        self.err('run flex aspirate --volume 1.5mL --from reservoir:A1', 'VOLUME_OUT_OF_RANGE', 2)
+
+    def test_units_are_converted(self):
+        self.ok('run flex pick-up-tip --rack tiprack200')
+        self.ok('run flex aspirate --volume 0.05mL --from reservoir:A1')
+        self.ok('run flex dispense --volume 50000nL --to plate:A1')
+        self.assertAlmostEqual(vol(self.backend, 'plate_A1'), 50.0, places=6)
+        calls = [c for c in self.backend_calls() if c['capability'] == 'sample.aspirate']
+        self.assertEqual(calls[0]['arguments']['volume_m3'], 5e-08)
+        self.err('run flex aspirate --volume 5mg --from reservoir:A1', 'UNIT_NOT_ALLOWED', 2)
+
+    def test_named_locations(self):
+        self.err('run flex move-to plate:Z9', 'UNKNOWN_WELL', 2)
+        e, _ = self.err('run flex move-to plat:A1', 'UNKNOWN_LABWARE', 2)
+        self.assertIn('plate', e['fix'])
+        self.err('run flex move-to plate', 'WELL_MISSING', 2)
+        self.err('run flex aspirate --volume 10 --from tiprack1000:A1', 'WRONG_LOCATION_KIND', 2)
+        self.ok('run flex move-to plate:B3')
+        st = run_json(self.core, 'status flex')[1]
+        self.assertEqual(st['position'], 'plate:B3')
+        # the gate sent joint targets from the registry, never coordinates typed by the agent
+        move = [c for c in self.backend_calls() if c['capability'] == 'motion.move'][-1]['arguments']
+        well = self.core.inst.labware['plate']['wells']['B3']['position_m']
+        self.assertEqual(move, well)
+
+    def test_ranges_and_lists(self):
+        self.ok('run flex transfer --volume 10 --from reservoir:A1 --to plate:A1-A3,plate:B1')
+        for w in ('A1', 'A2', 'A3', 'B1'):
+            self.assertAlmostEqual(vol(self.backend, 'plate_' + w), 10.0, places=6)
+        self.err('run flex transfer --volume 10 --from reservoir:A1,reservoir:A3 --to plate:A1-A3', 'PAIRING', 2)
+
+
+class Preconditions(Base):
+    def test_power_off(self):
+        backend, core = make_core(power=False)
+        c, d = run_json(core, 'run flex pick-up-tip')
+        self.assertEqual((c, d['error']['code'], d['error']['instrument_changed']), (3, 'POWER_OFF', 'no'))
+        self.assertIn('power on', d['error']['fix'])
+
+    def test_no_tip_and_tip_already_attached(self):
+        e, calls = self.err('run flex aspirate --volume 50 --from reservoir:A1', 'NO_TIP', 3)
+        self.assertEqual(calls, 0)
+        self.assertEqual(e['sila_class'], 'DefinedExecutionError')
+        self.ok('run flex pick-up-tip')
+        self.err('run flex pick-up-tip', 'TIP_ALREADY_ATTACHED', 3)
+        self.err('run flex transfer --volume 10 --from reservoir:A1 --to plate:A1', 'TIP_ALREADY_ATTACHED', 3)
+
+    def test_tip_capacity_and_contents(self):
+        self.ok('run flex pick-up-tip --rack tiprack200')
+        e, calls = self.err('run flex aspirate --volume 350 --from reservoir:A1', 'TIP_CAPACITY', 3)
+        self.assertEqual(calls, 0)
+        self.assertIn('200 µL', e['message'])
+        self.ok('run flex aspirate --volume 150 --from reservoir:A1')
+        e, _ = self.err('run flex aspirate --volume 60 --from reservoir:A1', 'TIP_CAPACITY', 3)
+        self.assertIn('50 µL', e['fix'])
+        self.err('run flex dispense --volume 160 --to plate:A1', 'TIP_HOLDS_LESS', 3)
+
+    def test_transfer_splits_over_the_tip_size(self):
+        c, d = run_json(self.core, 'run flex transfer --volume 350 --from reservoir:A1 --to tuberack:A2 --rack tiprack200')
+        self.assertEqual(c, 0, d)
+        self.assertEqual(d['transfers'][0]['trips'], 2)
+        asp = [x['arguments']['volume_m3'] for x in self.backend_calls() if x['capability'] == 'sample.aspirate']
+        self.assertEqual(asp, [1.75e-07, 1.75e-07])
+        self.assertAlmostEqual(vol(self.backend, 'tuberack_A2'), 350.0, places=6)
+
+    def test_insufficient_liquid_is_inferred_from_the_device_refusal(self):
+        self.ok('run flex pick-up-tip')
+        e, _ = self.err('run flex aspirate --volume 600 --from reservoir:A3', 'INSUFFICIENT_LIQUID', 3)
+        self.assertEqual(e['instrument_changed'], 'yes')                     # the gantry moved to the source first
+        self.assertEqual(e['backend']['code'], 'PRECONDITION_FAILED')
+        self.assertAlmostEqual(vol(self.backend, 'reservoir_A3'), 400.0, places=6)
+
+    def test_destination_full(self):
+        self.ok('run flex pick-up-tip')
+        self.ok('run flex aspirate --volume 50 --from reservoir:A1')
+        e, _ = self.err('run flex dispense --volume 50 --to plate:H12', 'DEST_FULL', 3)   # 350 of 360 uL
+        self.assertIn('360 µL', e['message'])
+
+    def test_tips_run_out_and_specific_tip(self):
+        backend, core = make_core(labware_override={'tiprack200': {'tips': ['A1']}})
+        self.assertEqual(run(core, 'run flex pick-up-tip --tip tiprack200:B1').exit_code, 3)
+        self.assertEqual(run(core, 'run flex pick-up-tip --rack tiprack200').exit_code, 0)
+        self.assertEqual(run(core, 'run flex drop-tip').exit_code, 0)
+        c, d = run_json(core, 'run flex pick-up-tip --rack tiprack200')
+        self.assertEqual(d['error']['code'], 'RACK_EMPTY')
+        self.assertIn('tiprack1000', d['error']['fix'])
+
+    def test_return_tip_makes_it_available_again(self):
+        self.ok('run flex pick-up-tip')
+        self.ok('run flex return-tip')
+        c, d = run_json(self.core, 'run flex pick-up-tip')
+        self.assertEqual(d['tip'], 'tiprack1000:A1')
+        self.err('run flex drop-tip --to tiprack1000:B1', 'WELL_OCCUPIED', 3)
+
+    def test_no_trash_configured(self):
+        self.ok('run flex pick-up-tip')
+        self.ok('run flex deck-config A1 none')
+        self.err('run flex drop-tip', 'NO_TRASH', 3)
+        self.err('run flex deck-config A1 staging_area', 'FIXTURE_NOT_ALLOWED', 2)
+        self.ok('run flex deck-config A1 trash_bin')
+        self.ok('run flex drop-tip')
+
+    def test_lost_tip_is_reported_not_hidden(self):
+        backend, core = make_core(faults={'tip_off_after_dispenses': 2})
+        c, d = run_json(core, 'run flex transfer --volume 20 --from reservoir:A1 --to plate:A1-A4')
+        self.assertEqual((c, d['error']['code'], d['error']['instrument_changed']), (3, 'NO_TIP', 'yes'))
+        self.assertIn('fallen off', d['error']['message'])
+        self.assertEqual(sum(1 for s in d['error']['done'] if s.startswith('dispense')), 2)
+        st = run(core, 'status flex').out
+        self.assertIn('fallen off', st)
+
+    def test_unsupported_and_unknown_verbs(self):
+        e, _ = self.err('run flex mix', 'NOT_SUPPORTED', 2)
+        self.assertIn('sample.mix', e['message'])
+        self.err('run flex detect-liquid', 'NOT_SUPPORTED', 2)
+        e, _ = self.err('run flex aspriate --volume 5 --from plate:A1', 'UNKNOWN_VERB', 2)
+        self.assertIn('aspirate', e['fix'])
+        self.err('run flex aspirate --volume 5 --from plate:A1 --speed 3', 'UNKNOWN_OPTION', 2)
+
+
+class ErrorFormatAndExitCodes(Base):
+    def test_text_format(self):
+        r = run(self.core, 'run flex aspirate --volume 50 --from reservoir:A1')
+        self.assertEqual(r.exit_code, 3)
+        lines = r.err.strip().splitlines()
+        self.assertRegex(lines[0], r'^error\[defined/NO_TIP\]: ')
+        self.assertTrue(lines[1].startswith('fix: '))
+        self.assertEqual(lines[2], 'instrument changed: no')
+        self.assertRegex(lines[3], r'^request: r-\d{4}$')
+        self.assertEqual(r.out, '')
+
+    def test_json_format(self):
+        c, d = run_json(self.core, 'run flex aspirate --volume 50 --from reservoir:A1')
+        self.assertEqual(set(d['error']) >= {'class', 'sila_class', 'code', 'message', 'fix', 'instrument_changed', 'done'}, True)
+        self.assertEqual(d['error']['class'], 'defined')
+
+    def test_partial_progress_is_reported(self):
+        self.ok('run flex pick-up-tip')
+        r = run(self.core, 'run flex aspirate --volume 600 --from reservoir:A3')
+        self.assertIn('instrument changed: yes', r.err)
+
+    def test_undefined_error_exit_4(self):
+        backend, core = make_core(faults={'raise_on': 'robot.set_lights'})
+        c, d = run_json(core, 'run flex lights on')
+        self.assertEqual((c, d['error']['class'], d['error']['sila_class'], d['error']['instrument_changed']), (4, 'undefined', 'UndefinedExecutionError', 'unknown'))
+
+    def test_readback_mismatch_is_undefined(self):
+        original = self.backend.invoke
+
+        def lying(principal, cid, args, rid):
+            if cid == 'robot.set_lights':                                   # claims success without doing it
+                r = original(principal, 'state.read', {}, rid)
+                r['result'] = {}
+                return r
+            return original(principal, cid, args, rid)
+        self.backend.invoke = lying
+        c, d = run_json(self.core, 'run flex lights on')
+        self.assertEqual((c, d['error']['code']), (4, 'READBACK_MISMATCH'))
+
+    def test_gate_never_sends_an_invalid_call(self):
+        ctx = Ctx(self.core, self.core.inst, 'agent', 'r-test', {})
+        with self.assertRaises(UndefinedExecutionError) as cm:
+            ctx.call('motion.move', {'x_m': 1.0, 'y_m': 0.0, 'z_m': 0.0}, 'bad move')
+        self.assertEqual(cm.exception.code, 'GATE_BUILT_INVALID_CALL')
+        with self.assertRaises(UndefinedExecutionError):
+            ctx.call('velocity.set', {}, 'hidden capability')
+        self.assertEqual(ctx.calls, [])
+
+    def test_usage_errors(self):
+        self.assertEqual(run(self.core, 'frobnicate').exit_code, 2)
+        self.assertEqual(run(self.core, 'run gc aspirate').exit_code, 2)
+        self.assertEqual(run(self.core, 'run flex aspirate --volume 5').exit_code, 2)
+        self.assertEqual(run(self.core, '--help').exit_code, 0)
+        self.assertIn('exit codes', run(self.core, '--help').out)
+
+
+class DryRun(Base):
+    def test_dry_run_changes_nothing(self):
+        before = snapshot(self.backend)
+        c, d = run_json(self.core, 'run flex transfer --volume 150 --from reservoir:A1 --to plate:A1 --dry-run')
+        self.assertEqual(c, 0)
+        self.assertTrue(d['dry_run'])
+        self.assertEqual([x['capability'] for x in d['backend_calls']],
+                         ['motion.move', 'tip.attach', 'motion.move', 'sample.aspirate', 'motion.move', 'sample.dispense', 'motion.move', 'tip.release'])
+        self.assertEqual(snapshot(self.backend), before)
+        self.assertEqual(self.backend_calls(), [])
+        r = run(self.core, 'run flex transfer --volume 150 --from reservoir:A1 --to plate:A1 --dry-run')
+        self.assertIn('dry-run (nothing was sent', r.out)
+        self.assertIn('checked only when it runs', r.out)
+
+    def test_dry_run_still_checks(self):
+        e, calls = self.err('run flex aspirate --volume 50 --from reservoir:A1 --dry-run', 'NO_TIP', 3)
+        self.assertEqual(calls, 0)
+        # the shadow follows the plan: a later step sees the tip a former step picked up
+        c, d = run_json(self.core, 'run flex transfer --volume 50 --from reservoir:A1 --to plate:A1-A3 --new-tip always --dry-run')
+        self.assertEqual(c, 0)
+        self.assertEqual(sum(1 for x in d['backend_calls'] if x['capability'] == 'tip.attach'), 3)
+
+    def test_destructive_needs_yes(self):
+        before = snapshot(self.backend)
+        r = self.ok('run flex shutdown')
+        self.assertIn('add --yes', r.out)
+        self.assertEqual(snapshot(self.backend), before)
+        r = self.ok('run flex device-reset run_history,offsets')
+        self.assertEqual(snapshot(self.backend), before)
+        self.ok('run flex shutdown --yes')
+        self.assertFalse(self.backend.evaluator_state()['power.enabled'])
+
+
+class JobsAndBusy(Base):
+    def setUp(self):
+        self.backend, self.core = make_core(protocols=[PLATE_PREP])
+
+    def test_job_lifecycle(self):
+        self.err('run flex run-protocol plate_prep --param volume_ul=500', 'PARAMETER_OUT_OF_RANGE', 2)
+        self.err('run flex run-protocol nope', 'UNKNOWN_PROTOCOL', 2)
+        c, d = run_json(self.core, 'run flex run-protocol plate_prep --param volume_ul=80')
+        self.assertEqual((c, d['job'], d['status']), (0, 'job-1', 'running'))
+        self.assertGreater(d['eta_s'], 60)
+        self.err('run flex aspirate --volume 10 --from reservoir:A1', 'BUSY_OWN_JOB', 3)
+        self.err('run flex power off', 'BUSY_OWN_JOB', 3)
+        self.backend.advance(3)
+        c, s = run_json(self.core, 'status job-1')
+        self.assertEqual(s['status'], 'running')
+        self.ok('run flex pause job-1')
+        self.err('run flex pause job-1', 'JOB_NOT_RUNNING', 3)
+        self.ok('run flex resume job-1')
+        self.backend.advance(200)
+        c, s = run_json(self.core, 'status job-1')
+        self.assertEqual(s['status'], 'completed')
+        self.err('cancel job-1', 'JOB_FINISHED', 3)
+        self.assertAlmostEqual(vol(self.backend, 'plate_C3'), 80.0, places=6)
+
+    def test_cancel_and_ownership(self):
+        self.ok('run flex run-protocol plate_prep')
+        self.err('status job-1', 'NOT_YOUR_JOB', 2, caller='other')
+        self.err('cancel job-1', 'LOCKED', 3, caller='other')              # the owner holds the instrument while its job runs
+        self.err('cancel job-9', 'UNKNOWN_JOB', 2)
+        self.ok('cancel job-1')
+        self.assertEqual(run_json(self.core, 'status job-1')[1]['status'], 'canceled')
+
+    def test_recovery(self):
+        self.ok('run flex run-protocol plate_prep')
+        self.backend.rt.host_inject_error(self.backend.iid, kind='general')
+        self.backend.advance(3)
+        c, s = run_json(self.core, 'status job-1')
+        self.assertEqual(s['status'], 'awaiting_recovery')
+        self.assertIn('retry', s['recovery_options'])
+        self.err('run flex recover job-1 --action retry_new_tips', 'ACTION_NOT_ALLOWED', 3)
+        self.ok('run flex recover job-1 --action retry')
+        self.backend.advance(200)
+        self.assertEqual(run_json(self.core, 'status job-1')[1]['status'], 'completed')
+
+    def test_other_users_run_makes_the_flex_busy(self):
+        self.backend.start_run_as('colleague', 'plate_prep')
+        self.backend.advance(2)
+        e, calls = self.err('run flex transfer --volume 10 --from reservoir:A1 --to plate:H1', 'BUSY', 3)
+        self.assertEqual(calls, 0)
+        self.assertIn('left', e['message'])
+        self.assertIn('power', e['fix'])                                     # do not power off
+        self.err('run flex power off', 'BUSY', 3)                            # the gate refuses to abort their run
+        self.err('run flex run-protocol plate_prep', 'BUSY', 3)
+        self.assertTrue(run_json(self.core, 'status flex')[1]['busy'])
+        self.backend.advance(200)
+        self.ok('run flex transfer --volume 10 --from reservoir:A1 --to plate:H1')
+
+    def test_failed_start_rolls_the_setup_back(self):
+        backend, core = make_core(protocols=[PLATE_PREP], faults={'raise_on': 'run.play'})
+        c, d = run_json(core, 'run flex run-protocol plate_prep')
+        self.assertEqual((c, d['error']['class']), (4, 'undefined'))
+        self.assertIn('rolled back', d['error']['instrument_changed'])
+        self.assertIsNone(backend.evaluator_state()['run.state'])
+        self.assertEqual([x['capability'] for x in core.log.entries[-1]['backend_calls']][-1], 'run.stop')
+
+    def test_tip_attached_blocks_a_run(self):
+        self.ok('run flex pick-up-tip')
+        self.err('run flex run-protocol plate_prep', 'TIP_ATTACHED', 3)
+
+    def test_uncalibrated_pipette_blocks_a_run(self):
+        self.ok('run flex device-reset calibration --yes')
+        self.err('run flex run-protocol plate_prep', 'RUN_NOT_READY', 3)
+        self.ok('run flex calibrate-pipette')
+        self.ok('run flex run-protocol plate_prep')
+
+
+class LockRequestIdsLog(Base):
+    def test_lease_lock(self):
+        backend, core = make_core(lease_s=60)
+        self.assertEqual(run(core, 'run flex lights on', 'alice').exit_code, 0)
+        c, d = run_json(core, 'run flex lights off', 'bob')
+        self.assertEqual((c, d['error']['code']), (3, 'LOCKED'))
+        self.assertIn('alice', d['error']['message'])
+        self.assertEqual(run(core, 'status flex', 'bob').exit_code, 0)       # reading is always allowed
+        core.lock.last -= 61                                                 # alice idle past the lease
+        self.assertEqual(run(core, 'run flex lights off', 'bob').exit_code, 0)
+
+    def test_request_id_replay(self):
+        r1 = run(self.core, 'run flex pick-up-tip --request-id my-1')
+        n = len(self.backend_calls())
+        r2 = run(self.core, 'run flex pick-up-tip --request-id my-1')
+        self.assertEqual(r2.exit_code, 0)
+        self.assertEqual(r1.out, r2.out)
+        self.assertIn('replayed', r2.err)
+        self.assertEqual(len(self.backend_calls()), n)                       # not executed twice
+        self.err('run flex drop-tip --request-id my-1', 'REQUEST_ID_REUSED', 2)
+        self.err('run flex drop-tip --request-id "bad id!"', 'BAD_REQUEST_ID', 2)
+        r = run(self.core, 'status flex --request-id my-1', 'other')                 # ids are per caller: no replay, no conflict
+        self.assertEqual(r.exit_code, 0)
+        self.assertNotIn('replayed', r.err)
+
+    def test_backend_request_ids_derive_from_the_request(self):
+        self.ok('run flex transfer --volume 10 --from reservoir:A1 --to plate:A1 --request-id job-x')
+        ids = [c['request_id'] for c in self.backend_calls()]
+        self.assertEqual(ids[0], 'job-x.1')
+        self.assertEqual(len(set(ids)), len(ids))
+
+    def test_append_only_log(self):
+        with tempfile.TemporaryDirectory(dir=os.path.dirname(os.path.abspath(__file__))) as d:
+            path = os.path.join(d, 'log.jsonl')
+            backend, core = make_core(log_path=path)
+            run(core, 'run flex pick-up-tip')
+            run(core, 'run flex aspirate --volume 5000 --from reservoir:A1')
+            size = os.path.getsize(path)
+            run(core, 'status flex', 'other')
+            with open(path) as f:
+                head = f.read(size)
+                lines = [json.loads(x) for x in (head + f.read()).splitlines()]
+            self.assertEqual(len(lines), 3)
+            self.assertEqual(lines[0]['backend_calls'][-1]['capability'], 'tip.attach')
+            self.assertEqual(lines[1]['outcome'], 'validation/VOLUME_OUT_OF_RANGE')
+            self.assertIn('stderr', lines[1])                                # full reply text kept for failure analysis
+            with open(path) as f:
+                self.assertTrue(f.read().startswith(head))                   # earlier entries untouched
+            mine = run_json(core, 'log')[1]['entries']
+            self.assertEqual(len(mine), 2)                                   # only my own requests (the log call is logged after)
+            self.assertNotIn('stdout', mine[0])
+
+
+class AgentEvaluatorSplit(Base):
+    def test_core_uses_only_the_callers_agent_principal(self):
+        seen = []
+        for name in ('read', 'invoke', 'write', 'describe'):
+            orig = getattr(self.backend, name)
+
+            def spy(principal, *a, _orig=orig, **k):
+                seen.append(principal)
+                return _orig(principal, *a, **k)
+            setattr(self.backend, name, spy)
+        self.ok('run flex transfer --volume 10 --from reservoir:A1 --to plate:A1')
+        self.ok('status flex')
+        self.ok('run flex labware')
+        self.assertEqual(set(seen), {'agent'})
+        self.assertEqual(self.backend._visibility['agent'], 'agent')
+
+    def test_agent_view_has_no_truth(self):
+        ctx = Ctx(self.core, self.core.inst, 'agent', 'r-x', {})
+        self.assertFalse([k for k in ctx.view if k.startswith('truth.')])
+        out = run(self.core, 'status flex --json').out + run(self.core, 'run flex labware --json').out
+        self.assertNotIn('volume_m3', out)
+        self.assertNotIn('truth', out)
+
+    def test_reserved_identities_cannot_call(self):
+        for who in ('evaluator', 'scene'):
+            with self.assertRaises(ValueError):
+                self.core.handle(['chemlab', 'status'], who)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests/test_sandbox.py b/chemlab/tests/test_sandbox.py
new file mode 100644
index 0000000000000000000000000000000000000000..634456c32f4ee5652114d1ad9b0a5128477ced12
--- /dev/null
+++ b/chemlab/tests/test_sandbox.py
@@ -0,0 +1,127 @@
+"""The sandbox really confines the agent's shell: no source, no runtime import, no hidden data, no way around the gate.
+
+Each probe runs as an agent command inside the sandbox through the real client; the instrument must be unchanged after all
+bypass attempts and only the chemlab client may reach the service.
+"""
+import os
+import shutil
+import tempfile
+import unittest
+
+from helpers import ROOT, snapshot
+from chemlab.backend import SCRIPTS_DIR
+from chemlab.flex_tasks import deck
+from chemlab.lab import Lab
+from chemlab.sandbox import check as sandbox_problems
+
+RUNS = os.path.join(ROOT, 'build', 'test_runs')
+DENIED = ('Permission denied', 'Operation not permitted', 'No such file')
+
+
+class SandboxBypass(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        if sandbox_problems():
+            raise unittest.SkipTest('agent sandbox not available here: %s' % '; '.join(sandbox_problems()))
+        os.makedirs(RUNS, exist_ok=True)
+        cls.tmp = tempfile.mkdtemp(dir=RUNS)
+        cls.lab = Lab(deck({'reservoir:A1': ('buffer', 10000)}), os.path.join(cls.tmp, 'lab'), speed=None).start()
+        cls.before = snapshot(cls.lab.backend)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def denied(self, command, *needles):
+        r = self.lab.sh(command)
+        text = r.out + r.err
+        self.assertNotEqual(r.exit_code, 0, 'not refused: %s\n%s' % (command, text))
+        self.assertTrue(any(n in text for n in (needles or DENIED)), 'unexpected output for %s:\n%s' % (command, text))
+        return r
+
+    # -- source code, contract, hidden data
+    def test_cannot_read_runtime_source_or_contract(self):
+        self.denied('cat %s/basic40_runtime_automation.py' % SCRIPTS_DIR)
+        self.denied('cat %s/chemlab/core.py' % ROOT)
+        self.denied('cat %s' % self.lab.backend.contract_path)
+        self.denied('ls %s' % os.path.dirname(ROOT))
+        self.denied('ls ~/..')
+        self.denied('grep -r OpentronsFlexRuntime %s' % SCRIPTS_DIR)
+
+    def test_cannot_read_the_run_dir_log_or_other_runs(self):
+        self.denied('cat %s/core_log.jsonl' % self.lab.run_dir)
+        self.denied('ls %s' % self.lab.run_dir)
+        self.denied('ls %s' % RUNS)
+
+    def test_no_proc_no_tmp_no_home(self):
+        self.denied('cat /proc/self/environ')
+        self.denied('cat /proc/%d/environ' % os.getpid())
+        self.denied('ls /proc')
+        self.denied('ls /tmp')
+        self.denied('echo x > /tmp/chemlab_probe')
+        self.denied('echo x > %s/probe' % self.lab.run_dir)
+        self.denied('ls %s' % os.path.dirname(os.path.expanduser('~')))
+        self.denied('ls %s' % os.path.expanduser('~'))
+
+    def test_no_interpreters_no_runtime_import(self):
+        self.denied('python3 -c "import sys; sys.path.insert(0, \'%s\'); import basic40_runtime_automation"' % SCRIPTS_DIR)
+        for exe in ('/usr/bin/python3', shutil.which('python3') or '/usr/bin/python3', '/usr/bin/perl', '/usr/bin/nc', '/usr/bin/curl', '/usr/bin/wget',
+                    '/usr/bin/socat', '/usr/bin/ssh', '/usr/bin/gcc', '/usr/bin/systemd-run', '/usr/bin/dbus-send'):
+            self.denied('%s --version' % exe, 'Permission denied', 'No such file')
+
+    def test_no_exec_of_own_files_and_no_link_tricks(self):
+        self.denied('cp /usr/bin/ls ./myls && ./myls')
+        self.denied('printf "#!/bin/sh\\necho hi\\n" > x.sh && chmod +x x.sh && ./x.sh')
+        self.denied('ln -s %s/basic40_runtime_automation.py link.py && cat link.py' % SCRIPTS_DIR)
+        self.denied('ln %s/basic40_runtime_automation.py hard.py && cat hard.py' % SCRIPTS_DIR, 'Permission denied', 'Invalid cross-device',
+                    'Operation not permitted')
+
+    def test_no_network_no_signals(self):
+        self.denied('exec 3<>/dev/tcp/127.0.0.1/22')
+        self.denied('exec 3<>/dev/udp/127.0.0.1/53')
+        self.denied('kill -0 %d' % os.getpid())
+        self.denied('kill -0 $PPID')
+
+    # -- only the client reaches the service, only with this shell's token
+    def test_client_auth_and_socket_checks(self):
+        n = len(self.lab.core.log.entries)
+        self.denied('CHEMLAB_TOKEN=0000 chemlab run flex power off', 'NOT_AUTHORIZED')
+        self.denied('CHEMLAB_SOCKET=/run/user/%d/bus chemlab status' % os.getuid(), 'UNREACHABLE')
+        self.denied('CHEMLAB_SOCKET=%s/other/lab.sock chemlab status' % self.tmp, 'UNREACHABLE')
+        self.assertEqual(len(self.lab.core.log.entries), n)                  # nothing reached the core
+        self.assertIn('bad token', self.lab.server.rejected)
+
+    def test_other_labs_token_is_refused(self):
+        other = Lab(deck({}), os.path.join(self.tmp, 'other'), speed=None).start()
+        try:
+            r = self.lab.sh('CHEMLAB_SOCKET=%s chemlab status' % other.server.path)   # own token, someone else's socket
+            self.assertEqual(r.exit_code, 2)
+            self.assertIn('NOT_AUTHORIZED', r.err)
+            self.assertEqual(other.core.log.entries, [])
+        finally:
+            other.stop()
+
+    def test_service_down_is_exit_5(self):
+        other = Lab(deck({}), os.path.join(self.tmp, 'down'), speed=None)    # never started: no socket
+        r = other.sh('chemlab status; echo "exit=$?"')
+        self.assertIn('exit=5', r.out)
+        self.assertIn('UNREACHABLE', r.err)
+
+    # -- the shell still works
+    def test_shell_still_works(self):
+        r = self.lab.sh('for i in 1 2 3; do echo $i; done | wc -l; cat <<EOF > n.txt\nnote\nEOF\ncat n.txt; '
+                        'chemlab status flex --json | jq -r .power; seq 3 | awk \'{s+=$1} END {print s}\'; env | sort | cut -d= -f1 | paste -sd, -')
+        self.assertEqual(r.exit_code, 0, r.err)
+        lines = r.out.splitlines()
+        self.assertEqual(lines[:4], ['3', 'note', 'true', '6'])
+        allowed = {'CHEMLAB_SOCKET', 'CHEMLAB_TOKEN', 'HOME', 'LANG', 'LC_ALL', 'PATH', 'PS1', 'SHELL', 'TERM', 'TMPDIR', 'PWD', 'SHLVL', '_', 'OLDPWD'}
+        self.assertLessEqual(set(lines[4].split(',')), allowed)          # nothing leaks in from the harness environment
+        self.assertIn('CHEMLAB_TOKEN', lines[4])
+
+    def test_zz_instrument_unchanged_by_all_probes(self):
+        self.assertEqual(snapshot(self.lab.backend), self.before)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests/test_tasks.py b/chemlab/tests/test_tasks.py
new file mode 100644
index 0000000000000000000000000000000000000000..51c3d2f4f86e5bd658504ef8034b56b5bcb4e795
--- /dev/null
+++ b/chemlab/tests/test_tasks.py
@@ -0,0 +1,38 @@
+"""Acceptance: each task's gold solution, run through the chemlab client in the sandbox, passes its checker; NoAct fails."""
+import os
+import shutil
+import tempfile
+import unittest
+
+from helpers import ROOT
+from chemlab.flex_tasks import TASKS, run_task
+
+RUNS = os.path.join(ROOT, 'build', 'test_runs')
+
+
+class Acceptance(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        os.makedirs(RUNS, exist_ok=True)
+        cls.tmp = tempfile.mkdtemp(dir=RUNS)
+
+    @classmethod
+    def tearDownClass(cls):
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+
+def _make(task):
+    def test(self):
+        gold = run_task(task, os.path.join(self.tmp, task['id'], 'gold'), speed=40.0)
+        self.assertTrue(gold['passed'], [c for c in gold['checks'] if not c['ok']])
+        self.assertFalse(gold['timed_out'])
+        noact = run_task(task, os.path.join(self.tmp, task['id'], 'noact'), solution='', speed=40.0)
+        self.assertFalse(noact['passed'], 'an empty solution must fail %s' % task['id'])
+    return test
+
+
+for _t in TASKS:
+    setattr(Acceptance, 'test_' + _t['id'], _make(_t))
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests/test_units.py b/chemlab/tests/test_units.py
new file mode 100644
index 0000000000000000000000000000000000000000..c26433fac4a8f77fa917d197b2e9a5b310b540a2
--- /dev/null
+++ b/chemlab/tests/test_units.py
@@ -0,0 +1,53 @@
+import math
+import unittest
+
+import helpers  # noqa: F401  (sets sys.path)
+from chemlab.errors import ValidationError
+from chemlab.units import fmt_s, fmt_ul, parse_duration, parse_length, parse_temperature, parse_volume
+
+
+class Volume(unittest.TestCase):
+    def test_units_and_bare_numbers(self):
+        for text, ul in (('50', 50), ('50uL', 50), ('50 uL', 50), ('50ul', 50), ('50µL', 50), ('50μL', 50), ('0.05mL', 50),
+                         ('500nL', 0.5), ('1e3uL', 1000), ('.5uL', 0.5)):
+            m3, got = parse_volume(text)
+            self.assertAlmostEqual(got, ul, places=9, msg=text)
+            self.assertAlmostEqual(m3, ul * 1e-9, delta=1e-21, msg=text)
+
+    def test_exact_decimal_conversion(self):
+        self.assertEqual(parse_volume('7.5uL')[0], float('7.5e-9'))
+        self.assertEqual(parse_volume('0.1mL')[0], float('1e-7'))
+
+    def test_rejects(self):
+        for text, code in (('5mg', 'UNIT_NOT_ALLOWED'), ('5e-9m3', 'UNIT_NOT_ALLOWED'), ('-5uL', 'VOLUME_NOT_POSITIVE'), ('0', 'VOLUME_NOT_POSITIVE'),
+                           ('abc', 'BAD_NUMBER'), ('', 'MISSING_VALUE'), ('nan', 'BAD_NUMBER'), ('1e999mL', 'BAD_NUMBER')):
+            with self.assertRaises(ValidationError, msg=text) as cm:
+                parse_volume(text)
+            self.assertEqual(cm.exception.code, code, text)
+            self.assertTrue(cm.exception.fix)
+
+
+class OtherUnits(unittest.TestCase):
+    def test_length_time_temperature(self):
+        self.assertAlmostEqual(parse_length('5'), 0.005)
+        self.assertAlmostEqual(parse_length('2cm'), 0.02)
+        self.assertEqual(parse_duration('2min'), 120.0)
+        self.assertEqual(parse_duration('30'), 30.0)
+        self.assertAlmostEqual(parse_temperature('37C'), 310.15)
+        self.assertAlmostEqual(parse_temperature('37°C'), 310.15)
+        self.assertAlmostEqual(parse_temperature('300K'), 300.0)
+        with self.assertRaises(ValidationError):
+            parse_temperature('-300C')
+        with self.assertRaises(ValidationError):
+            parse_duration('5kg')
+
+    def test_formatting(self):
+        self.assertEqual(fmt_ul(7.5e-9), '7.5 µL')
+        self.assertEqual(fmt_ul(1e-6), '1000 µL')
+        self.assertEqual(fmt_s(30), '30 s')
+        self.assertEqual(fmt_s(314), '5 min 14 s')
+        self.assertTrue(math.isfinite(parse_volume('1000')[0]))
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/helpers.py b/chemlab/tests_compile/helpers.py
new file mode 100644
index 0000000000000000000000000000000000000000..6b37331c260a3df4f2b3c86072b81e16f8708708
--- /dev/null
+++ b/chemlab/tests_compile/helpers.py
@@ -0,0 +1,90 @@
+import json
+import os
+import shlex
+import sys
+import tempfile
+
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+if ROOT not in sys.path:
+    sys.path.insert(0, ROOT)
+
+RUNS = os.path.join(ROOT, 'build', 'test_runs_compile')
+
+
+def host_paths():
+    """Paths of this machine that must never appear in agent-visible output: the project folder, the home directory and the
+    folder holding the home directories (when it is not '/'), plus the temp dir prefix and the runtime source folder name."""
+    from pathlib import Path
+    from chemlab.hosts import CHEMSIM_ROOT
+    roots = {str(CHEMSIM_ROOT), str(Path.home()), str(Path.home().parent)}
+    return tuple(sorted(p for p in roots if p.strip('/'))) + ('/tmp/', 'Chemistry-Sim/scripts')
+
+
+def host_path_re():
+    import re
+    return '|'.join(re.escape(p) for p in host_paths())
+
+
+def tmpdir():
+    os.makedirs(RUNS, exist_ok=True)
+    return tempfile.mkdtemp(dir=RUNS)
+
+
+def run(lab, cmd, caller='agent'):
+    return lab.core.handle(['chemlab'] + shlex.split(cmd), caller)
+
+
+def run_json(lab, cmd, caller='agent'):
+    r = run(lab, cmd + ' --json', caller)
+    return r.exit_code, json.loads(r.out)
+
+
+def native(lab, since):
+    """Native invoke / write / advance ops recorded since log entry ``since``."""
+    return [c for e in lab.core.log.entries[since:] for c in e['backend_calls'] if c.get('op') in ('invoke', 'write', 'advance')]
+
+
+def class_suite(cls, lowering=True, acceptance=True):
+    """A TestCase class for one instrument class: every member's mapping fits its contract, the lowering table (native calls
+    and twin equality) and the acceptance tasks (gold passes in the sandbox, NoAct fails).  A class test module is two lines:
+
+        from helpers import class_suite
+        BalanceClass = class_suite('balance')
+    """
+    import unittest
+
+    class ClassSuite(unittest.TestCase):
+        def test_1_mapping_fits_every_contract(self):
+            from chemlab.compile.fragments import adapters_for, load_fragments
+            from chemlab.glab import GenericLab, single
+            frag = [f for f in load_fragments() if f['class'] == cls]
+            self.assertEqual(len(frag), 1, 'one fragment configs/adapters/%s.json' % cls)
+            members = list(frag[0]['members'])
+            self.assertTrue(members)
+            tmp = tmpdir()
+            lab = GenericLab(tmp + '/lab', single(members), setup=False)
+            for slug, ad in adapters_for(single(members), frag, strict=True).items():   # strict: a class module error fails here
+                self.assertEqual(ad.check_mapping(lab.backend.instruments[slug]), [], slug)
+
+        if lowering:
+            def test_2_lowering(self):
+                from chemlab.compile.lowering import run_class
+                out = run_class(cls, log=lambda *a: None)
+                bad = [(m['instrument'], s['command'], s['native_calls'], s['expected'], s['diff']) for m in out['members']
+                       for s in m['steps'] if not (s['calls_ok'] and s['state_equal'])]
+                self.assertEqual(bad, [])
+                self.assertEqual([(m['instrument'], m['path_problems']) for m in out['members'] if m['path_problems']], [])
+                self.assertTrue(all(m['start_equal'] for m in out['members']))
+                self.assertTrue(out['passed'])
+
+        if acceptance:
+            def test_3_acceptance(self):
+                from chemlab.compile.acceptance import suite
+                s = suite(cls).main()
+                self.assertEqual([r['task'] for r in s['tasks'] if not r['gold_passed']], [], 'gold must pass')
+                self.assertEqual([r['task'] for r in s['tasks'] if not r['noact_failed']], [], 'NoAct must fail')
+                self.assertGreaterEqual(len(s['tasks']), 5)                 # 8-10 for big classes, at least 5 (BRIEF_B)
+                self.assertTrue(any('recovery' in r['kind'] for r in s['tasks']))
+
+    ClassSuite.__name__ = ClassSuite.__qualname__ = '%sClass' % cls.capitalize()
+    return ClassSuite
diff --git a/chemlab/tests_compile/test_class_agitation.py b/chemlab/tests_compile/test_class_agitation.py
new file mode 100644
index 0000000000000000000000000000000000000000..ffbf1cc3d0751c80f9f736abace299797897c444
--- /dev/null
+++ b/chemlab/tests_compile/test_class_agitation.py
@@ -0,0 +1,8 @@
+"""Agitation class: mappings (6 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+AgitationClass = class_suite('agitation')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_balance.py b/chemlab/tests_compile/test_class_balance.py
new file mode 100644
index 0000000000000000000000000000000000000000..59da272a2cdd7aee3db9630c7bd31f393d5bc0c4
--- /dev/null
+++ b/chemlab/tests_compile/test_class_balance.py
@@ -0,0 +1,8 @@
+"""Balance class: mappings, lowering table (3 members) and the 10 acceptance tasks."""
+from helpers import class_suite
+
+BalanceClass = class_suite('balance')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_bioassay.py b/chemlab/tests_compile/test_class_bioassay.py
new file mode 100644
index 0000000000000000000000000000000000000000..110038fbdda467b3c2073b5b8b2c38e9d4fd20e5
--- /dev/null
+++ b/chemlab/tests_compile/test_class_bioassay.py
@@ -0,0 +1,8 @@
+"""Bioassay class: mappings (6 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+BioassayClass = class_suite('bioassay')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_chromatography.py b/chemlab/tests_compile/test_class_chromatography.py
new file mode 100644
index 0000000000000000000000000000000000000000..7270237e9f277d1dd75747af43fdd7fc1a1678f0
--- /dev/null
+++ b/chemlab/tests_compile/test_class_chromatography.py
@@ -0,0 +1,8 @@
+"""Chromatography class: mappings (13 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+ChromatographyClass = class_suite('chromatography')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_coating.py b/chemlab/tests_compile/test_class_coating.py
new file mode 100644
index 0000000000000000000000000000000000000000..0aa210cef76fd08ac7f558629957f0601612c56e
--- /dev/null
+++ b/chemlab/tests_compile/test_class_coating.py
@@ -0,0 +1,8 @@
+"""Coating class: mappings (8 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+CoatingClass = class_suite('coating')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_digestion.py b/chemlab/tests_compile/test_class_digestion.py
new file mode 100644
index 0000000000000000000000000000000000000000..675f23c142e8511999f66372d54ebdb19cc2dbfd
--- /dev/null
+++ b/chemlab/tests_compile/test_class_digestion.py
@@ -0,0 +1,8 @@
+"""Digestion class: mappings (4 members), lowering table and the 9 acceptance tasks."""
+from helpers import class_suite
+
+DigestionClass = class_suite('digestion')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_dosing.py b/chemlab/tests_compile/test_class_dosing.py
new file mode 100644
index 0000000000000000000000000000000000000000..b43b08b7392349fb0a0df5426035e25a48ee8752
--- /dev/null
+++ b/chemlab/tests_compile/test_class_dosing.py
@@ -0,0 +1,8 @@
+"""Dosing class: the Quantos Q2 + XPE206DR powder dosing system (mapping, lowering, acceptance)."""
+from helpers import class_suite
+
+DosingClass = class_suite('dosing')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_electrical.py b/chemlab/tests_compile/test_class_electrical.py
new file mode 100644
index 0000000000000000000000000000000000000000..2b0c6de08e3090cccfe442f912e25407cf3b8461
--- /dev/null
+++ b/chemlab/tests_compile/test_class_electrical.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+ElectricalClass = class_suite('electrical')
diff --git a/chemlab/tests_compile/test_class_electrochem.py b/chemlab/tests_compile/test_class_electrochem.py
new file mode 100644
index 0000000000000000000000000000000000000000..1364a4594d5d4f3d6fe58f9f5866b9b259683d32
--- /dev/null
+++ b/chemlab/tests_compile/test_class_electrochem.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+ElectrochemClass = class_suite('electrochem')
diff --git a/chemlab/tests_compile/test_class_enclosure.py b/chemlab/tests_compile/test_class_enclosure.py
new file mode 100644
index 0000000000000000000000000000000000000000..f19dfb3131035a9ea0cdccbab5451a38a06fa62a
--- /dev/null
+++ b/chemlab/tests_compile/test_class_enclosure.py
@@ -0,0 +1,8 @@
+"""Enclosure class: mappings (3 members), lowering table and the 6 acceptance tasks."""
+from helpers import class_suite
+
+EnclosureClass = class_suite('enclosure')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_evaporation.py b/chemlab/tests_compile/test_class_evaporation.py
new file mode 100644
index 0000000000000000000000000000000000000000..be62e591fe790a1909c1ab517947b6bed71e2905
--- /dev/null
+++ b/chemlab/tests_compile/test_class_evaporation.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+EvaporationClass = class_suite('evaporation')
diff --git a/chemlab/tests_compile/test_class_extraction.py b/chemlab/tests_compile/test_class_extraction.py
new file mode 100644
index 0000000000000000000000000000000000000000..a31c4b0b37b9b3d3054d825d58b6ae31fa3906fb
--- /dev/null
+++ b/chemlab/tests_compile/test_class_extraction.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+ExtractionClass = class_suite('extraction')
diff --git a/chemlab/tests_compile/test_class_formulation.py b/chemlab/tests_compile/test_class_formulation.py
new file mode 100644
index 0000000000000000000000000000000000000000..1fb62d59149e0b41a857997df182d83379ec83c8
--- /dev/null
+++ b/chemlab/tests_compile/test_class_formulation.py
@@ -0,0 +1,8 @@
+"""Formulation class: mappings (5 members), lowering table and the 8 acceptance tasks."""
+from helpers import class_suite
+
+FormulationClass = class_suite('formulation')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_gas_fluid.py b/chemlab/tests_compile/test_class_gas_fluid.py
new file mode 100644
index 0000000000000000000000000000000000000000..f76c87b974ec1c6aa8c083f09eba79682ab54875
--- /dev/null
+++ b/chemlab/tests_compile/test_class_gas_fluid.py
@@ -0,0 +1,8 @@
+"""gas_fluid class: mappings (9 primary + the glovebox as secondary), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+Gas_fluidClass = class_suite('gas_fluid')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_imaging.py b/chemlab/tests_compile/test_class_imaging.py
new file mode 100644
index 0000000000000000000000000000000000000000..9a638207d16a0805626e9f48140240fd300c440b
--- /dev/null
+++ b/chemlab/tests_compile/test_class_imaging.py
@@ -0,0 +1,8 @@
+"""Imaging class: mappings, lowering table and acceptance tasks."""
+from helpers import class_suite
+
+ImagingClass = class_suite('imaging')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_labware_automation.py b/chemlab/tests_compile/test_class_labware_automation.py
new file mode 100644
index 0000000000000000000000000000000000000000..96f89297509844fc5ea74812122a5abd37ef0e59
--- /dev/null
+++ b/chemlab/tests_compile/test_class_labware_automation.py
@@ -0,0 +1,8 @@
+"""Labware automation class: mappings (4 members), lowering table and the 8 acceptance tasks."""
+from helpers import class_suite
+
+Labware_automationClass = class_suite('labware_automation')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_liquid.py b/chemlab/tests_compile/test_class_liquid.py
new file mode 100644
index 0000000000000000000000000000000000000000..ac5c8864fd43ace8b6f1990a7ccc7613e5668534
--- /dev/null
+++ b/chemlab/tests_compile/test_class_liquid.py
@@ -0,0 +1,8 @@
+"""Liquid class (the Flex pilot gate in the framework): mapping, lowering table and the pilot's 10 tasks in the generic lab."""
+from helpers import class_suite
+
+LiquidClass = class_suite('liquid')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_mechanical.py b/chemlab/tests_compile/test_class_mechanical.py
new file mode 100644
index 0000000000000000000000000000000000000000..e13536692824a66fbe3f2d54e955f90c17387c87
--- /dev/null
+++ b/chemlab/tests_compile/test_class_mechanical.py
@@ -0,0 +1,8 @@
+"""Mechanical class: mappings (8 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+MechanicalClass = class_suite('mechanical')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_particle_surface.py b/chemlab/tests_compile/test_class_particle_surface.py
new file mode 100644
index 0000000000000000000000000000000000000000..cc298442df11e8bb570b9a4e566c87acc14d9c25
--- /dev/null
+++ b/chemlab/tests_compile/test_class_particle_surface.py
@@ -0,0 +1,8 @@
+"""particle_surface class: mappings (15 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+Particle_surfaceClass = class_suite('particle_surface')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_property_meter.py b/chemlab/tests_compile/test_class_property_meter.py
new file mode 100644
index 0000000000000000000000000000000000000000..11fe02c601247498b55201d870d967934f85d7c9
--- /dev/null
+++ b/chemlab/tests_compile/test_class_property_meter.py
@@ -0,0 +1,8 @@
+"""Property-meter class: mappings (9 members), lowering table (+ staged entries) and the 10 acceptance tasks."""
+from helpers import class_suite
+
+Property_meterClass = class_suite('property_meter')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_quant_analyzer.py b/chemlab/tests_compile/test_class_quant_analyzer.py
new file mode 100644
index 0000000000000000000000000000000000000000..ae8fba117ffce5c843ca951f219673ff3e99e63e
--- /dev/null
+++ b/chemlab/tests_compile/test_class_quant_analyzer.py
@@ -0,0 +1,8 @@
+"""quant_analyzer class: mappings (13 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+QuantAnalyzerClass = class_suite('quant_analyzer')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_reactor.py b/chemlab/tests_compile/test_class_reactor.py
new file mode 100644
index 0000000000000000000000000000000000000000..2abfa5c7b04aff76eb254fe0d58b1cab7251e65c
--- /dev/null
+++ b/chemlab/tests_compile/test_class_reactor.py
@@ -0,0 +1,8 @@
+"""Reactor class: mappings (8 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+ReactorClass = class_suite('reactor')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_sample_intro.py b/chemlab/tests_compile/test_class_sample_intro.py
new file mode 100644
index 0000000000000000000000000000000000000000..765d83eb5f45ea16e3f2b454d4de296b8149594f
--- /dev/null
+++ b/chemlab/tests_compile/test_class_sample_intro.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+SampleIntroClass = class_suite('sample_intro')
diff --git a/chemlab/tests_compile/test_class_solid_prep.py b/chemlab/tests_compile/test_class_solid_prep.py
new file mode 100644
index 0000000000000000000000000000000000000000..9aa416379606ce2232a2ba86663d1df31199f26f
--- /dev/null
+++ b/chemlab/tests_compile/test_class_solid_prep.py
@@ -0,0 +1,8 @@
+"""solid_prep class: mappings (5 members), lowering table and the 8 acceptance tasks."""
+from helpers import class_suite
+
+Solid_prepClass = class_suite('solid_prep')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_spectroscopy.py b/chemlab/tests_compile/test_class_spectroscopy.py
new file mode 100644
index 0000000000000000000000000000000000000000..134e5a5d6c22a190aec33447112d35b54bd1f193
--- /dev/null
+++ b/chemlab/tests_compile/test_class_spectroscopy.py
@@ -0,0 +1,91 @@
+import json
+import unittest
+
+from helpers import class_suite, run, tmpdir
+
+SpectroscopyClass = class_suite('spectroscopy')
+
+
+class AnalysisInputs(unittest.TestCase):
+    """The lowering table leaves the analysis steps whose inputs are measured arrays unchecked (None); here the native analysis
+    call must carry exactly the arrays the instrument's own result holds (and, for HELIOS, the column at the asked wavelength)."""
+
+    @classmethod
+    def setUpClass(cls):
+        from chemlab.compile.tasks.spectroscopy_world import config
+        from chemlab.glab import GenericLab, single
+        cls.lab = GenericLab(tmpdir() + '/lab', config(single(['jasco_nrs5500', 'applied_sx20', 'ultrafast_helios'])))
+        for cmd in ('run jasco_nrs5500 power on', 'run jasco_nrs5500 close door', 'run jasco_nrs5500 source on',
+                    'run jasco_nrs5500 method from=200cm-1 to=1100cm-1', 'run jasco_nrs5500 measure --wait',
+                    'run applied_sx20 method wavelength=480nm', 'run applied_sx20 power on', 'run applied_sx20 measure --wait',
+                    'run ultrafast_helios power on',
+                    'run ultrafast_helios method delays=-1ps,0ps,1ps,2ps,5ps,10ps,20ps,50ps,100ps,200ps,500ps,1000ps',
+                    'run ultrafast_helios measure --wait'):
+            r = run(cls.lab, cmd)
+            assert r.exit_code == 0, (cmd, r.out, r.err)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+
+    def calls(self, cmd):
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, cmd + ' --json')
+        self.assertEqual(r.exit_code, 0, r.out + r.err)
+        return [c for e in self.lab.core.log.entries[n:] for c in e['backend_calls'] if c.get('op') == 'invoke'], json.loads(r.out)
+
+    def result(self, iid, cap):
+        return self.lab.backend.invoke('agent', iid, cap, {}, 'test-%s-%d' % (iid, len(self.lab.core.log.entries)))['result']
+
+    def test_raman_peaks(self):
+        calls, out = self.calls('run jasco_nrs5500 analyze peaks prominence=50/s')
+        self.assertEqual([c['capability'] for c in calls], ['result.read', 'spectrum.peaks'])
+        spec = self.result('jasco_nrs5500', 'result.read')['spectra'][-1]
+        a = calls[1]['arguments']
+        self.assertEqual(a['raman_shift_m_inv'], spec['raman_shift_m_inv'])
+        self.assertEqual(a['count_rate_s_inv'], spec['count_rate_s_inv'])
+        self.assertEqual(a['minimum_prominence_s_inv'], 50.0)
+        self.assertIn(46400.0, out['result']['peak_shift_m_inv'])            # quartz 464 cm-1
+
+    def test_stopped_flow_kinetics(self):
+        calls, out = self.calls('run applied_sx20 analyze kinetics')
+        pts = self.result('applied_sx20', 'result.read')['points']
+        a = calls[1]['arguments']
+        self.assertEqual(a['time_s'], [p['trigger_time_s'] for p in pts])
+        self.assertEqual(a['signal'], [p['signal'] for p in pts])
+        self.assertGreater(out['result']['k_s_inv'], 0)
+
+    def test_transient_absorption_column(self):
+        calls, out = self.calls('run ultrafast_helios analyze kinetics at=600nm tau=150ps')
+        res = self.result('ultrafast_helios', 'result.read')
+        i = min(range(len(res['wavelength_m'])), key=lambda k: abs(res['wavelength_m'][k] - 6e-07))
+        a = calls[1]['arguments']
+        self.assertEqual(a['delay_s'], [p['actual_delay_s'] for p in res['points']])
+        self.assertEqual(a['delta_absorbance'], [p['delta_absorbance'][i] for p in res['points']])
+        self.assertEqual((a['initial_lifetimes_s'], a['irf_fwhm_s'], a['time_zero_s']), ([1.5e-10], 1e-13, 0.0))
+        self.assertNotIn('_at', a)
+
+
+class Units(unittest.TestCase):
+    """The class's own units (until the framework table has them): wavenumber, magnetic field, short times, GHz."""
+
+    def test_local_kinds(self):
+        from chemlab.compile.classes.spectroscopy import fmt_q, parse_q
+        self.assertEqual(parse_q('1650cm-1', 'wavenumber'), 165000.0)
+        self.assertEqual(parse_q('338.4mT', 'field'), 0.3384)
+        self.assertEqual(parse_q('3384G', 'field'), 0.3384)
+        self.assertEqual(parse_q('150ps', 'duration'), 1.5e-10)
+        self.assertEqual(parse_q('9.5GHz', 'frequency'), 9.5e9)
+        self.assertEqual(parse_q('-250Hz', 'offset'), -250.0)
+        self.assertAlmostEqual(parse_q('50nm/min', 'scan_speed'), 50e-9 / 60, delta=1e-24)
+        self.assertEqual(parse_q('0.2mM', 'concentration'), 0.2)
+        self.assertEqual(parse_q('100nm', 'wavelength'), 1e-07)
+        self.assertEqual(fmt_q(165000.0, 'wavenumber'), '1650 cm-1')
+        self.assertEqual(fmt_q(1.5e-10, 'duration'), '150 ps')
+        for bad, kind in (('5 kelvin', 'wavenumber'), ('-5cm-1', 'wavenumber'), ('3 furlong', 'field')):
+            with self.assertRaises(Exception):
+                parse_q(bad, kind)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_structure.py b/chemlab/tests_compile/test_class_structure.py
new file mode 100644
index 0000000000000000000000000000000000000000..ecca573f2ffc402c4b5aa440281a24f5fe3aeb6f
--- /dev/null
+++ b/chemlab/tests_compile/test_class_structure.py
@@ -0,0 +1,8 @@
+"""Structure class: mappings, lowering table and acceptance tasks."""
+from helpers import class_suite
+
+StructureClass = class_suite('structure')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_thermal.py b/chemlab/tests_compile/test_class_thermal.py
new file mode 100644
index 0000000000000000000000000000000000000000..67cf8357dbfe3564f6afd80b1d98c6265fdf6360
--- /dev/null
+++ b/chemlab/tests_compile/test_class_thermal.py
@@ -0,0 +1,8 @@
+"""Thermal class: mappings (11 members), lowering table and the 10 acceptance tasks."""
+from helpers import class_suite
+
+ThermalClass = class_suite('thermal')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_thermal_analysis.py b/chemlab/tests_compile/test_class_thermal_analysis.py
new file mode 100644
index 0000000000000000000000000000000000000000..18371a4f7dd12f935866575631894dbedf1d47a4
--- /dev/null
+++ b/chemlab/tests_compile/test_class_thermal_analysis.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+ThermalAnalysisClass = class_suite('thermal_analysis')
diff --git a/chemlab/tests_compile/test_class_thin.py b/chemlab/tests_compile/test_class_thin.py
new file mode 100644
index 0000000000000000000000000000000000000000..234c5df5ad0e1f539f84c59c7d90aa0e681f02bd
--- /dev/null
+++ b/chemlab/tests_compile/test_class_thin.py
@@ -0,0 +1,8 @@
+"""Thin class: the five one-of-a-kind instruments with the shared verbs only (mapping, lowering, acceptance)."""
+from helpers import class_suite
+
+ThinClass = class_suite('thin')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_class_titration.py b/chemlab/tests_compile/test_class_titration.py
new file mode 100644
index 0000000000000000000000000000000000000000..ec5879533a280dcf7776638defda6ee66d9f7292
--- /dev/null
+++ b/chemlab/tests_compile/test_class_titration.py
@@ -0,0 +1,2 @@
+from helpers import class_suite
+TitrationClass = class_suite('titration')
diff --git a/chemlab/tests_compile/test_class_wash_sterilize.py b/chemlab/tests_compile/test_class_wash_sterilize.py
new file mode 100644
index 0000000000000000000000000000000000000000..7cf3ce2b111a4a454c15f3fd00fbd545696796e8
--- /dev/null
+++ b/chemlab/tests_compile/test_class_wash_sterilize.py
@@ -0,0 +1,8 @@
+"""wash_sterilize class: mappings (2 members), lowering table and the 5 acceptance tasks."""
+from helpers import class_suite
+
+Wash_sterilizeClass = class_suite('wash_sterilize')
+
+if __name__ == '__main__':
+    import unittest
+    unittest.main()
diff --git a/chemlab/tests_compile/test_framework.py b/chemlab/tests_compile/test_framework.py
new file mode 100644
index 0000000000000000000000000000000000000000..fe5e361253246b25726b3c523027fea46ed16962
--- /dev/null
+++ b/chemlab/tests_compile/test_framework.py
@@ -0,0 +1,235 @@
+"""The compile-layer framework on a small lab: fragments, mapping checks, dry-run, partial-progress reports, jobs, composite
+adapters, error format, help and describe, the generic commands unchanged, and visibility of every adapter output.
+
+Run with the matterix python:  cd chemlab/tests_compile && <python> -m unittest test_framework
+"""
+import json
+import os
+import shutil
+import unittest
+
+from helpers import ROOT, host_path_re, native, run, run_json, tmpdir
+from chemlab.compile.base import ClassAdapter
+from chemlab.compile.fragments import CompositeAdapter, adapters_for, load_fragments
+from chemlab.compile.jobs import ConditionJob
+from chemlab.compile.tasks.balance_tasks import place
+from chemlab.compile.verbs import Verb
+from chemlab.glab import GenericLab, single
+from chemlab.labbackend import load_config
+from chemlab.sweep import _hidden_hits
+
+IDS = ['mt_xpr204e', 'ohaus_px224e', 'ohaus_spx2201']
+
+
+class ProbeAdapter(ClassAdapter):
+    """A second class on the PX224E for the tests: a composite verb whose second call is refused, a job, and a verb name that the
+    balance class also has."""
+    CLASS = 'probe'
+    TITLE = 'test class'
+    ALWAYS = ('status', 'twostep', 'waitstable', 'tare')
+
+    def build_verbs(self):
+        return {'twostep': Verb('twostep', 'set the unit to mg, then zero (refused with a load)', self.h_two),
+                'waitstable': Verb('waitstable', 'a job that ends when the reading is stable', self.h_job),
+                'tare': Verb('tare', 'never used: the balance class owns tare', self.h_two)}
+
+    def h_two(self, ctx, p):
+        ctx.call('weighing.set_unit', {'unit': 'mg'}, 'set the display unit to mg')
+        ctx.call('weighing.zero', {}, 'zero')
+        return {'text': 'done\n'}
+
+    def h_job(self, ctx, p):
+        def test(c):
+            return bool(c.v('weighing.stable')), 'stable' if c.v('weighing.stable') else 'settling'
+        j = ConditionJob(ctx.core, self, ctx.req, 'wait until stable', test, max_s=120, poll_s=1.0)
+        return {'text': 'started %s\n' % j.handle, 'json': {'job': j.handle}}
+
+
+def probe_fragments(tmp):
+    d = os.path.join(tmp, 'fragments')
+    os.makedirs(d)
+    shutil.copy(os.path.join(ROOT, 'configs', 'adapters', 'balance.json'), d)
+    with open(os.path.join(d, 'probe.json'), 'w') as f:
+        json.dump({'class': 'probe', 'adapter': 'test_framework:ProbeAdapter',
+                   'members': {'ohaus_px224e': {'role': 'secondary', 'verbs': {}}}}, f)
+    return d
+
+
+class Framework(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        cfg = single(IDS)
+        cfg['class_adapters'] = probe_fragments(cls.tmp)
+        cls.lab = GenericLab(cls.tmp + '/lab', cfg, callers=('agent', 'other')).start()
+        place(cls.lab, 'ohaus_px224e', 0.030)
+        cls.lab.backend.advance(30)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    # ------------------------------------------------------------------ fragments
+    def test_fragments_and_switches(self):
+        ad = self.lab.core.adapters
+        self.assertEqual(type(ad['mt_xpr204e']).__name__, 'BalanceAdapter')
+        self.assertIsInstance(ad['ohaus_px224e'], CompositeAdapter)
+        self.assertEqual([p.CLASS for p in ad['ohaus_px224e'].parts], ['balance', 'probe'])       # primary first
+        cfg = single(IDS)
+        self.assertEqual(sorted(adapters_for(cfg)), sorted(IDS))
+        cfg['class_adapters'] = False
+        self.assertEqual(adapters_for(cfg), {})
+        cfg = single(IDS)
+        cfg['instruments'][0]['adapter'] = 'chemlab.adapters:InstrumentAdapter'                   # an entry's own adapter wins
+        self.assertNotIn(cfg['instruments'][0]['id'], adapters_for(cfg))
+        names = [f['class'] for f in load_fragments()]
+        self.assertIn('balance', names)
+
+    def test_every_member_mapping_fits_its_contract(self):
+        frags = load_fragments()
+        cfg = load_config()
+        known = {e['asset_type_id'].split('.', 1)[1] for e in cfg['instruments']}
+        for frag in frags:
+            for slug in frag['members']:
+                self.assertIn(slug, known, '%s: %s is not one of the 203' % (frag['class'], slug))
+        for frag in frags:
+            ids = [s for s in frag['members'] if s in IDS]
+            for slug in ids:
+                ad = adapters_for(single([slug]), [frag])[slug]
+                self.assertEqual(ad.check_mapping(self.lab.backend.instruments[slug]), [], slug)
+
+    # ------------------------------------------------------------------ dry-run, partial progress, errors
+    def test_dry_run_sends_nothing(self):
+        for iid in IDS:
+            before = self.lab.backend.evaluator_read(iid)['observations']
+            n = len(self.lab.core.log.entries)
+            for cmd in ('tare', 'zero', 'unit kg', 'door close', 'power off', 'weigh --stable', 'power on'):
+                r = run(self.lab, 'run %s %s --dry-run' % (iid, cmd))
+                self.assertIn(r.exit_code, (0, 2, 3, 6), r.err)
+                if r.exit_code == 0:
+                    self.assertTrue(r.out.startswith('dry-run'), r.out)
+            self.assertEqual(native(self.lab, n), [], iid)
+            after = self.lab.backend.evaluator_read(iid)['observations']
+            self.assertEqual(json.dumps(before, sort_keys=True, default=str), json.dumps(after, sort_keys=True, default=str), iid)
+        code, js = run_json(self.lab, 'run ohaus_px224e unit kg --dry-run')
+        self.assertEqual(code, 0)
+        self.assertEqual(js['backend_calls'], [{'capability': 'weighing.set_unit', 'arguments': {'unit': 'kg'}}])
+        self.assertTrue(js['dry_run'])
+
+    def test_refused_composite_lists_the_steps_done(self):
+        run(self.lab, 'run ohaus_px224e unit g')
+        r = run(self.lab, 'run ohaus_px224e twostep')
+        self.assertEqual(r.exit_code, 3, r.out + r.err)
+        self.assertIn('instrument changed: yes - done before the error: set the display unit to mg', r.err)
+        self.assertIn('instrument said: weighing.zero -> rejected ZERO_RANGE', r.err)
+        code, js = run_json(self.lab, 'run ohaus_px224e twostep')
+        self.assertEqual(js['error']['done'], ['set the display unit to mg'])
+        self.assertEqual(js['error']['instrument_changed'], 'yes')
+        self.assertEqual(js['error']['code'], 'ZERO_RANGE')
+        self.assertEqual([c['capability'] for c in js['native_calls']], ['weighing.set_unit', 'weighing.zero'])
+        run(self.lab, 'run ohaus_px224e unit g')
+
+    def test_error_format_and_exit_codes(self):
+        r = run(self.lab, 'run ohaus_spx2201 door close')
+        self.assertEqual(r.exit_code, 6)
+        for part in ('error[unsupported/NOT_SUPPORTED]', 'fix:', 'instrument changed: no', 'request:'):
+            self.assertIn(part, r.err)
+        r = run(self.lab, 'run mt_xpr204e tare --wait 5parsecs')
+        self.assertEqual(r.exit_code, 2)
+        self.assertIn('UNIT_NOT_ALLOWED', r.err)
+        r = run(self.lab, 'run mt_xpr204e frobnicate')
+        self.assertEqual(r.exit_code, 2)
+        self.assertIn('UNKNOWN_VERB', r.err)
+        code, js = run_json(self.lab, 'run mt_xpr204e door open --side top')
+        self.assertEqual(code, 2)
+        self.assertEqual(set(js['error']) >= {'class', 'sila_class', 'code', 'message', 'fix', 'instrument_changed', 'done'}, True)
+        r = run(self.lab, 'run vaisala_dmt152 tare')
+        self.assertEqual(r.exit_code, 2)
+
+    # ------------------------------------------------------------------ jobs
+    def test_jobs_status_wait_cancel_and_ownership(self):
+        place(self.lab, 'ohaus_px224e', 0.031)
+        self.lab.backend.advance(1)
+        code, js = run_json(self.lab, 'run ohaus_px224e waitstable')
+        self.assertEqual(code, 0, js)
+        job = js['job']
+        code, st = run_json(self.lab, 'status %s' % job)
+        self.assertEqual((code, st['done']), (0, False))
+        self.assertEqual(run(self.lab, 'status %s' % job, caller='other').exit_code, 2)
+        self.assertEqual(run(self.lab, 'wait %s' % job, caller='other').exit_code, 2)
+        code, w = run_json(self.lab, 'wait %s --max 60s' % job)
+        self.assertEqual((code, w['status'], w['done']), (0, 'succeeded', True))
+        self.assertGreater(w['waited_s'], 0)
+        code, lst = run_json(self.lab, 'status')
+        self.assertIn(job, [j['job'] for j in lst['jobs']])
+        r = run(self.lab, 'cancel %s' % job)
+        self.assertEqual(r.exit_code, 3)
+        self.assertIn('JOB_FINISHED', r.err)
+        self.assertEqual(run(self.lab, 'status job-999').exit_code, 2)
+        place(self.lab, 'ohaus_px224e', 0.030)
+        self.lab.backend.advance(1)
+        code, js = run_json(self.lab, 'run ohaus_px224e waitstable')
+        code, c = run_json(self.lab, 'cancel %s' % js['job'])
+        self.assertEqual((code, c['status']), (0, 'cancelled'))
+        self.lab.backend.advance(30)
+
+    # ------------------------------------------------------------------ describe / help / composite
+    def test_describe_help_and_composite(self):
+        r = run(self.lab, 'describe ohaus_px224e')
+        self.assertIn('class-level verbs (balance', r.out)
+        self.assertIn('class-level verbs (probe', r.out)
+        self.assertIn('tare', r.out)
+        code, js = run_json(self.lab, 'describe mt_xpr204e')
+        self.assertEqual(js['class']['name'], 'balance')
+        self.assertIn('weigh', [v['verb'] for v in js['class']['verbs']])
+        r = run(self.lab, 'run ohaus_spx2201')
+        self.assertIn('not on this instrument: door', r.out)
+        for cmd in ('help mt_xpr204e tare', 'run mt_xpr204e tare --help'):
+            r = run(self.lab, cmd)
+            self.assertEqual(r.exit_code, 0, r.err)
+            self.assertIn('on mt_xpr204e this uses: balance.tare', r.out)
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'run ohaus_px224e tare --dry-run')                 # the balance class owns tare (primary)
+        self.assertIn('weighing.tare', r.out)
+        self.assertEqual(native(self.lab, n), [])
+        r = run(self.lab, 'read ohaus_px224e')
+        self.assertIn('balance view: net', r.out)
+        code, js = run_json(self.lab, 'read mt_xpr204e')
+        self.assertIn('class_view', js)
+
+    # ------------------------------------------------------------------ the generic commands do not change
+    def test_generic_commands_unchanged_with_adapters(self):
+        tmp = tmpdir()
+        try:
+            cfg = single(['mt_xpr204e'])
+            cfg['class_adapters'] = False
+            plain = GenericLab(tmp + '/plain', cfg)
+            withad = GenericLab(tmp + '/with', single(['mt_xpr204e']))
+            self.assertIn('mt_xpr204e', withad.core.adapters)
+            for cmd in ('describe mt_xpr204e', 'read mt_xpr204e', 'call mt_xpr204e balance.reading', 'call mt_xpr204e balance.tare',
+                        'help mt_xpr204e balance.tare', 'call mt_xpr204e door.operate --side left --action open', 'read mt_xpr204e'):
+                a, b = run_json(plain, cmd), run_json(withad, cmd)
+                self.assertEqual(a[0], b[0], cmd)
+                for k in ('capabilities', 'state_slots', 'observations', 'status', 'result', 'capability'):
+                    if k in a[1]:
+                        self.assertEqual(json.dumps(a[1][k], sort_keys=True, default=str), json.dumps(b[1][k], sort_keys=True, default=str), (cmd, k))
+            self.assertEqual(plain.backend.evaluator_read('mt_xpr204e')['observations'].keys(),
+                             withad.backend.evaluator_read('mt_xpr204e')['observations'].keys())
+        finally:
+            shutil.rmtree(tmp, ignore_errors=True)
+
+    # ------------------------------------------------------------------ visibility
+    def test_zz_no_hidden_ids_in_any_adapter_output(self):
+        for iid in IDS:
+            for cmd in ('describe %s', 'describe %s --json', 'read %s', 'read %s --json', 'run %s', 'run %s status --json',
+                        'help %s tare', 'run %s weigh --json', 'run %s unit', 'run %s door open --dry-run --json', 'run %s frob'):
+                r = run(self.lab, cmd % iid)
+                hits = _hidden_hits(self.lab.backend.instruments[iid].view, r.out + r.err, self.lab.backend.global_view)
+                self.assertEqual(hits, [], cmd % iid)
+        for e in self.lab.core.log.entries:
+            self.assertNotRegex(e['stdout'] + e['stderr'], host_path_re())
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/test_framework_rules.py b/chemlab/tests_compile/test_framework_rules.py
new file mode 100644
index 0000000000000000000000000000000000000000..36f9c749517eadac8e1c749190ecd1a378839744
--- /dev/null
+++ b/chemlab/tests_compile/test_framework_rules.py
@@ -0,0 +1,530 @@
+"""Framework rules of the compile layer: verb ownership on multi-class members, job states, generic usage errors from class
+handlers, mapping check of slot references, requirement tests, INST in notes, non-zero formatting, units, the shared method's
+full argument set, the 8697 event clock, lowering helpers and lenient adapter loading."""
+import copy
+import json
+import os
+import shutil
+import unittest
+
+from helpers import native, run, run_json, tmpdir
+from chemlab.compile import fragments, jobs, units
+from chemlab.compile.base import ClassAdapter
+from chemlab.compile.fragments import adapters_for, load_fragments
+from chemlab.compile.verbs import Verb
+from chemlab.generic import usage
+from chemlab.glab import GenericLab, single
+
+SHARED = {
+    'class': 'shared', 'layer': 'shared', 'adapter': 'chemlab.compile.shared:SharedAdapter',
+    'members': {'retsch_as200': {
+        'verbs': {'power': {'cap': 'power.set', 'arg': 'enabled'},
+                  'open': {'parts': {'cover': {'cap': 'cover.set', 'arg': 'lift_m', 'open': 0.14, 'close': 0.0}}},
+                  'method': {'cap': 'method.configure', 'keys': {'time': {'arg': 'duration_s', 'kind': 'duration'},
+                                                                'lift': {'arg': 'total_lift_m', 'kind': 'length'}}},
+                  'start': {'cap': 'acquisition.start', 'job': 'operation'},
+                  'stop': {'cap': 'acquisition.stop'},
+                  'result': {'cap': 'sieving.measure'}},
+        'path_exceptions': ['sieving.measure'],
+        'slots': {'power': 'power.enabled'}, 'status_slots': ['cycle.phase', 'power.enabled']}}}
+
+
+class NoOpenAdapter(ClassAdapter):
+    """Test class A: has `open` and `status`; the member marks `open` unsupported."""
+    CLASS = 'probea'
+    TITLE = 'test class A'
+
+    def build_verbs(self):
+        return {'open': Verb('open', 'open (class A)', lambda ctx, p: {'text': 'A opened\n'}),
+                'bad': Verb('bad', 'raises a generic usage error', self.h_bad)}
+
+    def h_bad(self, ctx, p):
+        raise usage('BAD_VALUE', 'a generic usage error from a class handler (test).', 'nothing to fix (test)')
+
+
+class OpenAdapter(ClassAdapter):
+    """Test class B: supports `open` (no native call)."""
+    CLASS = 'probeb'
+    TITLE = 'test class B'
+
+    def build_verbs(self):
+        return {'open': Verb('open', 'open (class B)', lambda ctx, p: {'text': 'B opened\n'})}
+
+
+class RunClassAdapter(ClassAdapter):
+    """Test class C: replaces the shared `start` by its own verb (class HIDES)."""
+    CLASS = 'probec'
+    TITLE = 'test class C'
+    HIDES = {'start': 'use `chemlab run INST go` (test)'}
+
+    def build_verbs(self):
+        return {'go': Verb('go', 'start a run (class C)', lambda ctx, p: {'text': 'C started\n'})}
+
+
+class BrokenAdapter(ClassAdapter):
+    CLASS = 'probebroken'
+
+    def __init__(self, *a, **k):
+        raise AttributeError('broken on purpose (test)')
+
+
+def _lab(frags):
+    tmp = tmpdir()
+    d = os.path.join(tmp, 'fragments')
+    os.makedirs(d)
+    for f in frags:
+        with open(os.path.join(d, f['class'] + '.json'), 'w') as fh:
+            json.dump(f, fh)
+    cfg = single(['retsch_as200'])
+    cfg['class_adapters'] = d
+    return tmp, GenericLab(tmp + '/lab', cfg)
+
+
+def frag(cls, adapter, member, role='primary'):
+    m = dict(member, role=role)
+    names = {'NoOpenAdapter': ['open', 'bad'], 'OpenAdapter': ['open'], 'RunClassAdapter': ['go']}.get(adapter, [])
+    m.setdefault('verbs', {n: {} for n in names})                         # the test classes' verbs need no mapping data
+    return {'class': cls, 'adapter': 'test_framework_rules:' + adapter, 'members': {'retsch_as200': m}}
+
+
+class Ownership(unittest.TestCase):
+    """A class's "unsupported" blocks only the shared layer; another class that supports the verb still answers it."""
+
+    def lab(self, frags):
+        tmp, lab = _lab(frags)
+        self.addCleanup(shutil.rmtree, tmp, True)
+        self.addCleanup(lab.stop)
+        return lab
+
+    def test_two_class_member_other_class_wins(self):
+        lab = self.lab([SHARED, frag('probea', 'NoOpenAdapter', {'unsupported': {'open': 'class A has no opening (test)'}}),
+                        frag('probeb', 'OpenAdapter', {}, role='secondary')])
+        ad = lab.core.adapters['retsch_as200']
+        self.assertEqual(ad.owner('open').CLASS, 'probeb')
+        r = run(lab, 'run retsch_as200 open')
+        self.assertEqual((r.exit_code, r.out), (0, 'B opened\n'), r.err)
+        out = run(lab, 'run retsch_as200').out
+        self.assertNotIn('class A has no opening', out)                  # A does not claim a verb B answers
+        self.assertIn('open (class B)', out)
+
+    def test_class_unsupported_still_beats_shared(self):
+        lab = self.lab([SHARED, frag('probea', 'NoOpenAdapter', {'unsupported': {'open': 'class A has no opening (test)'}})])
+        n = len(lab.core.log.entries)
+        r = run(lab, 'run retsch_as200 open cover')
+        self.assertEqual(r.exit_code, 6, r.out + r.err)
+        self.assertIn('class A has no opening', r.err)
+        self.assertEqual(native(lab, n), [])
+
+    def test_real_member_agitation_plus_thermal(self):
+        """ika_ks4000: agitation (primary) marks set-temp unsupported; thermal (secondary) supports it -> thermal answers, with or
+        without "shared_fallthrough" in the agitation fragment."""
+        frs = {f['class']: f for f in load_fragments()}
+        if 'agitation' not in frs or 'ika_ks4000' not in frs['agitation']['members']:
+            self.skipTest('no agitation fragment')
+        agit = copy.deepcopy(frs['agitation'])
+        agit['members']['ika_ks4000'].pop('shared_fallthrough', None)
+        agit['members']['ika_ks4000'].setdefault('unsupported', {})['set-temp'] = 'thermal verbs handle it (test)'
+        ad = adapters_for(single(['ika_ks4000']), [agit, frs['thermal'], frs['shared']], strict=True)['ika_ks4000']
+        self.assertEqual(ad.owner('set-temp').CLASS, 'thermal')
+        self.assertIn('set-temp', ad.verbs())
+
+    def test_hidden_shared_verb(self):
+        lab = self.lab([SHARED, frag('probec', 'RunClassAdapter', {})])
+        n = len(lab.core.log.entries)
+        r = run(lab, 'run retsch_as200 start')
+        self.assertEqual(r.exit_code, 6, r.out + r.err)
+        self.assertIn('use `chemlab run retsch_as200 go`', r.err)
+        self.assertEqual(native(lab, n), [])
+        self.assertNotIn('start', lab.core.adapters['retsch_as200'].verbs())
+        h = run(lab, 'help retsch_as200 start')
+        self.assertEqual(h.exit_code, 0, h.err)
+        self.assertIn('replaced here', h.out)
+        self.assertIn('start (replaced here: use `chemlab run retsch_as200 go`', run(lab, 'run retsch_as200').out)
+        self.assertEqual(run(lab, 'run retsch_as200 go').out, 'C started\n')
+
+    def test_member_hides_and_fallthrough(self):
+        lab = self.lab([SHARED, frag('probeb', 'OpenAdapter', {'hides': {'stop': 'stop with the class verb (test)'}})])
+        self.assertEqual(run(lab, 'run retsch_as200 stop').exit_code, 6)
+        lab = self.lab([SHARED, frag('probec', 'RunClassAdapter', {'shared_fallthrough': ['start']})])
+        self.assertEqual(lab.core.adapters['retsch_as200'].owner('start').CLASS, 'shared')
+
+    def test_generic_usage_error_from_a_handler_is_usage(self):
+        lab = self.lab([SHARED, frag('probea', 'NoOpenAdapter', {})])
+        r = run(lab, 'run retsch_as200 bad')
+        self.assertEqual(r.exit_code, 2, r.out + r.err)
+        self.assertIn('BAD_VALUE', r.err)
+        r = run(lab, 'run retsch_as200 method duration_s=[1')
+        self.assertEqual(r.exit_code, 2, r.out + r.err)
+
+    def test_lenient_loading(self):
+        n = len(fragments.LOAD_ERRORS)
+        lab = self.lab([SHARED, frag('probebroken', 'BrokenAdapter', {})])
+        self.assertEqual(lab.core.adapters['retsch_as200'].CLASS, 'shared')    # the lab loads without the broken class
+        self.assertTrue(any(e[0] == 'probebroken' for e in fragments.LOAD_ERRORS[n:]))
+        with self.assertRaises(AttributeError):
+            adapters_for(single(['retsch_as200']), [SHARED, frag('probebroken', 'BrokenAdapter', {})], strict=True)
+
+
+class SharedMethod(unittest.TestCase):
+    """The shared `method` sends the full argument set; values not given come from the instrument, the last method chemlab
+    sent, or the contract example, and the reply says which."""
+
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp, cls.lab = _lab([SHARED])
+        run(cls.lab, 'run retsch_as200 power on')
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def test_1_partial_method_is_completed_from_the_example(self):
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'run retsch_as200 method time=2min')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertIn("from the contract's example method", r.out)
+        self.assertIn('total_lift_m=1.2 mm', r.out)
+        calls = [(c['capability'], c['arguments']) for c in native(self.lab, n) if c['op'] == 'invoke']
+        self.assertEqual(calls, [('method.configure', {'duration_s': 120.0, 'total_lift_m': 0.0012, 'interval_enabled': True,
+                                                       'interval_drive_s': 3.0})])
+        code, js = run_json(self.lab, 'run retsch_as200 method time=2min')
+        self.assertEqual(code, 0, js)
+        self.assertEqual(js['sources'], {'duration_s': 'given', 'total_lift_m': 'last', 'interval_enabled': 'last',
+                                         'interval_drive_s': 'last'})
+
+    def test_2_last_sent_beats_the_example(self):
+        self.assertEqual(run(self.lab, 'run retsch_as200 method lift=2mm interval_drive_s=5').exit_code, 0)
+        n = len(self.lab.core.log.entries)
+        code, js = run_json(self.lab, 'run retsch_as200 method time=3min')
+        self.assertEqual(code, 0, js)
+        args = [c['arguments'] for c in native(self.lab, n) if c['op'] == 'invoke'][0]
+        self.assertEqual(args, {'duration_s': 180.0, 'total_lift_m': 0.002, 'interval_enabled': True, 'interval_drive_s': 5.0})
+        self.assertEqual(js['sources']['total_lift_m'], 'last')
+
+    def test_3_out_of_range_is_a_usage_error_and_dry_run_shows_the_full_call(self):
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'run retsch_as200 method time=200h')
+        self.assertEqual(r.exit_code, 2, r.out + r.err)
+        self.assertIn('BAD_SETTING', r.err)
+        r = run(self.lab, 'run retsch_as200 method time=2min --dry-run')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertIn('interval_drive_s', r.out)
+        self.assertEqual([c for c in native(self.lab, n) if c['op'] == 'invoke'], [])
+
+    def test_4_no_source_is_a_usage_error(self):
+        tmp, lab = _lab([SHARED])
+        try:
+            inst = lab.backend.instruments['retsch_as200']
+            inst.contract = copy.deepcopy(inst.contract)
+            inst.contract['capabilities']['method.configure']['example_arguments'] = {}
+            run(lab, 'run retsch_as200 power on')
+            r = run(lab, 'run retsch_as200 method time=2min')
+            self.assertEqual(r.exit_code, 2, r.out + r.err)
+            self.assertIn('MISSING_SETTING', r.err)
+            self.assertIn('total_lift_m', r.err)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+    def test_5_reported_values_are_kept(self):
+        frs = {f['class']: f for f in load_fragments()}
+        if 'keyence_vkx3000' not in frs['shared']['members']:
+            self.skipTest('keyence_vkx3000 not in the shared fragment')
+        tmp = tmpdir()
+        cfg = single(['keyence_vkx3000'])
+        cfg['class_adapters'] = ['shared']
+        lab = GenericLab(tmp + '/lab', cfg)
+        try:
+            run(lab, 'run keyence_vkx3000 power on')
+            code, js = run_json(lab, 'run keyence_vkx3000 method gain=2')
+            self.assertEqual(code, 0, js)
+            self.assertEqual(js['sources']['mode'], 'instrument:measurement.settings#mode')
+            self.assertIn('kept from what the instrument reports', run(lab, 'run keyence_vkx3000 method gain=3').out)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+class Small(unittest.TestCase):
+    def test_job_states(self):
+        self.assertIn('injecting', jobs.RUNNING)
+        self.assertIn('some_member_phase', jobs.RUNNING)               # unknown non-terminal: running
+        for st in ('completed', 'succeeded', 'failed', 'cancelled', 'idle', None, ''):
+            self.assertNotIn(st, jobs.RUNNING)
+        self.assertEqual(jobs.op_status({'status': 'succeeded', 'result': {'phase': 'injecting'}}), 'injecting')
+        self.assertEqual(jobs.op_status({'status': 'succeeded', 'result': {'status': 'measured'}}), 'succeeded')
+        self.assertIn('running', tuple(jobs.RUNNING))
+
+    def test_requirement_ops(self):
+        ok = ClassAdapter.requirement_ok
+        self.assertTrue(ok('standard:zero_air', {'in': ['standard:zero_air']}))
+        self.assertFalse(ok('sample', {'in': ['standard:zero_air']}))
+        self.assertTrue(ok('standard:srm_2631a', {'prefix': ['standard:srm']}))
+        self.assertTrue(ok('standard:srm_2631a', {'prefix': 'standard:'}))
+        self.assertFalse(ok(None, {'prefix': ['standard:srm']}))
+        self.assertTrue(ok(['low_flow'], {'contains_not': 'over_range'}))
+        self.assertFalse(ok(['over_range'], {'contains_not': 'over_range'}))
+        self.assertTrue(ok(None, {'contains_not': 'over_range'}))
+        self.assertTrue(ok(5, {'min': 5, 'max': 6}))
+        self.assertFalse(ok(None, {'max': 6}))
+        self.assertTrue(ok(True, {'value': True}))
+        self.assertFalse(ok(1, {'not': [1, 2]}))
+        self.assertTrue(ok(0, {'falsy': True}))
+        self.assertTrue(ok(None, {'null': True}))
+        self.assertTrue(ok('x', {}))
+
+    def test_mapping_slot_references(self):
+        tmp, lab = _lab([SHARED])
+        try:
+            ad = lab.core.adapters['retsch_as200']
+            ad.bind(lab.core)
+            inst = lab.backend.instruments['retsch_as200']
+            base = copy.deepcopy(ad.map)
+            ad.map['verbs']['result'] = {'cap': 'sieving.measure', 'done': {'slot': 'cycle.phase#state'}, 'rack': {'slot': 'A1'},
+                                         'pos': {'slot': 3}}
+            self.assertEqual([p for p in ad.check_mapping(inst) if 'slot' in p], [])
+            ad.map['verbs']['result'] = {'cap': 'sieving.measure', 'done': {'slot': 'nope.phase#state'}}
+            self.assertTrue(any('nope.phase' in p for p in ad.check_mapping(inst)))
+            ad.map = base
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+    def test_inst_in_notes(self):
+        tmp, lab = _lab([SHARED])
+        try:
+            ad = lab.core.adapters['retsch_as200']
+            ad.map.setdefault('notes', {})['method'] = ['see `chemlab describe INST` (test)']
+            self.assertIn('see `chemlab describe retsch_as200` (test)', run(lab, 'help retsch_as200 method').out)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+    def test_nonzero_formatting(self):
+        self.assertEqual(units.fmt(1.0, 'pressure'), '0.01 mbar')
+        self.assertEqual(units.fmt(5.0, 'pressure'), '0.05 mbar')                 # sub-mbar with 3 significant digits
+        self.assertEqual(units.fmt(12.34, 'pressure'), '0.123 mbar')
+        self.assertEqual(units.fmt(20000.0, 'pressure'), '200 mbar')
+        self.assertEqual(units.fmt(0.0, 'pressure'), '0 mbar')
+        self.assertEqual(units.fmt_s(0.02), '20 ms')
+        self.assertEqual(units.fmt_s(2e-6), '2 µs')
+        self.assertEqual(units.fmt_s(0), '0 s')
+        self.assertEqual(units.fmt_s(30), '30 s')
+        self.assertEqual(units.fmt(2e-6, 'fraction'), '2 ppm')
+        self.assertEqual(units.fmt(5e-12, 'force'), '5 pN')
+
+    def test_units_more(self):
+        self.assertAlmostEqual(units.parse('100sccm', 'flow'), 100e-6 / 60)
+        self.assertAlmostEqual(units.parse('1.5slpm', 'flow'), 1.5e-3 / 60)
+        self.assertAlmostEqual(units.parse('2slm', 'flow'), 2e-3 / 60)
+        self.assertAlmostEqual(units.parse('3sccs', 'flow'), 3e-6)
+        self.assertAlmostEqual(units.parse('2m3/h', 'flow'), 2 / 3600)
+        self.assertAlmostEqual(units.parse('30L/h', 'flow'), 30e-3 / 3600)
+        self.assertAlmostEqual(units.parse_for('1L/min', {'type': 'number', 'x-unit': 'L/h'}), 60.0)
+        self.assertAlmostEqual(units.parse_for('1L/min', {'type': 'number', 'x-unit': 'm3/h'}), 0.06)
+        self.assertAlmostEqual(units.parse_for('500sccm', {'type': 'number', 'x-unit': 'SLPM'}), 0.5)
+        self.assertAlmostEqual(units.parse('5ppm', 'fraction'), 5e-6)
+        self.assertAlmostEqual(units.parse('7ppb', 'fraction'), 7e-9)
+        self.assertAlmostEqual(units.parse_for('1%', {'type': 'number', 'x-unit': 'ppm'}), 10000.0)
+        self.assertAlmostEqual(units.parse('5pN', 'force'), 5e-12)
+        self.assertAlmostEqual(units.parse('5nN', 'force'), 5e-9)
+        self.assertAlmostEqual(units.parse('5uN', 'force'), 5e-6)
+        self.assertAlmostEqual(units.parse('5µN', 'force'), 5e-6)
+        self.assertAlmostEqual(units.parse('2us', 'duration'), 2e-6)
+        self.assertAlmostEqual(units.parse('2μs', 'duration'), 2e-6)
+        self.assertAlmostEqual(units.from_declared(1.0, 'eV'), 1.602176634e-19)
+        self.assertAlmostEqual(units.parse_for('8keV', {'type': 'number', 'x-unit': 'eV'}), 8000.0)
+        self.assertEqual(units.sig(0.02 * 3.141592653589793 / 180), 0.000349065850398866)
+        self.assertEqual(units.sig(353.15000000000003), 353.15)
+
+
+if __name__ == '__main__':
+    unittest.main()
+
+
+class HS8697Clock(unittest.TestCase):
+    """The Agilent 8697 runtime moves its events only in host_update().  Its host recipe now has the advance mode
+    clock_host_update (hosts.RuntimeHost.advance calls host_update() after every clock step); a recipe without an advance mode
+    gets the lab's clock hook instead.  Either way a started headspace sequence finishes in the default lab (world: vials and GC as
+    the lab operator sets them up, no scene)."""
+
+    def test_sequence_finishes_without_the_scene(self):
+        from chemlab.compile.tasks.sample_intro_world import config
+        from chemlab.labbackend import load_config
+        cfg = config()
+        cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] == 'agilent_hs8697']
+        for e in cfg['instruments']:
+            e.pop('scene', None)
+        self.assertIn('agilent_hs8697', [e['id'] for e in load_config()['instruments']])
+        tmp = tmpdir()
+        lab = GenericLab(tmp + '/lab', cfg)
+        try:
+            inst = lab.backend.instruments['agilent_hs8697']
+            self.assertTrue(inst.recipe.get('advance') == 'clock_host_update' or inst.clock_hook == 'host_update',
+                            (inst.recipe.get('advance'), inst.clock_hook))
+            for c in ('run agilent_hs8697 load v1 --vial 1', 'run agilent_hs8697 set-temp 70C --zone oven',
+                      'run agilent_hs8697 set-temp 80C --zone loop', 'run agilent_hs8697 set-temp 90C --zone transfer',
+                      'run agilent_hs8697 method equilibration=10min'):
+                r = run(lab, c)
+                self.assertEqual(r.exit_code, 0, c + '\n' + r.out + r.err)
+            code, js = run_json(lab, 'run agilent_hs8697 start --vials 1')
+            self.assertEqual(code, 0, js)
+            code, w = run_json(lab, 'wait %s --max 2h' % js['job'])
+            self.assertEqual(code, 0, w)
+            self.assertTrue(w['done'], w)
+            self.assertEqual(w['status'], 'succeeded', w)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+class LoweringHelpers(unittest.TestCase):
+    """('#host', fn) steps on lab and twin; Measured / Obs matchers in expected arguments; callable expectations."""
+
+    def test_matchers(self):
+        from chemlab.compile.lowering import Measured, Obs, calls_match
+        got = [('analysis.fit', {'points': [{'x': 1.0, 'y': 0.52}, {'x': 2.0, 'y': 1.01}], 'gain': 3.2, 'label': 'a'})]
+        self.assertTrue(calls_match(got, [('analysis.fit', {'points': Obs(2, {}, ['x', 'y']), 'gain': Measured(), 'label': 'a'})]))
+        self.assertTrue(calls_match(got, [('analysis.fit', {'points': Obs(2, [{'x': 1.0}, {'x': 2.0}], ['y']), 'gain': Measured(),
+                                                            'label': 'a'})]))
+        self.assertFalse(calls_match(got, [('analysis.fit', {'points': Obs(3, {}, ['x']), 'gain': Measured(), 'label': 'a'})]))
+        self.assertFalse(calls_match(got, [('analysis.fit', {'points': Obs(2, {}, ['z']), 'gain': Measured(), 'label': 'a'})]))
+        self.assertFalse(calls_match([('a', {'v': None})], [('a', {'v': Measured()})]))
+        self.assertTrue(calls_match(got, [('analysis.fit', lambda a: len(a['points']) == 2)]))
+        self.assertTrue(calls_match(got, lambda g: g[0][0] == 'analysis.fit'))
+
+    def test_host_step_runs_on_lab_and_twin(self):
+        from chemlab.compile.lowering import check_member
+        seen = []
+
+        def swap(backend):
+            seen.append(backend)
+            backend.advance(2.0)
+        tmp = tmpdir()
+        try:
+            out = check_member('retsch_as200', {'steps': [('status', []), ('#host swap the sample', swap), ('status', [])]},
+                               log=lambda *a: None, run_root=tmp)
+        finally:
+            shutil.rmtree(tmp, ignore_errors=True)
+        self.assertEqual(len(seen), 2)
+        self.assertIsNot(seen[0], seen[1])
+        self.assertEqual([r['outcome'] for r in out['steps']][1], 'host')
+        self.assertTrue(out['ok'], out)
+
+
+class MoreUnits(unittest.TestCase):
+    """Amount of substance, X-ray energies, mass concentration display."""
+
+    def test_amount_energy_concentration(self):
+        self.assertAlmostEqual(units.parse('2umol', 'amount'), 2e-6)
+        self.assertAlmostEqual(units.parse('5pmol', 'amount'), 5e-12)
+        self.assertAlmostEqual(units.parse_for('3µmol', {'type': 'number', 'x-unit': 'mol'}), 3e-6)
+        self.assertEqual(units.fmt(2e-3, 'amount'), '2 mmol')
+        self.assertEqual(units.fmt(5e-9, 'amount'), '5 nmol')
+        self.assertEqual(units.fmt(8 * 1.602176634e-16, 'energy'), '8 keV')
+        self.assertEqual(units.fmt(998.2, 'density'), '0.9982 g/cm³')
+        self.assertEqual(units.fmt(0.005, 'density'), '5 mg/L')
+        self.assertEqual(units.fmt(2e-6, 'density'), '2 µg/L')
+        self.assertAlmostEqual(units.parse_for('5mg/L', {'type': 'number', 'x-unit': 'kg/m^3'}), 0.005)
+        self.assertAlmostEqual(units.parse_for('5mg/L', {'type': 'number', 'x-unit': 'ug/L'}), 5000.0)
+
+    def test_covers(self):
+        tmp, lab = _lab([SHARED, frag('probeb', 'OpenAdapter', {'covers': {'start': 'open'}})])
+        try:
+            r = run(lab, 'run retsch_as200 start')
+            self.assertEqual(r.exit_code, 6, r.out + r.err)
+            self.assertIn('use `chemlab run retsch_as200 open`', r.err)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+        # the covering verb unsupported on this member: the shared verb stays
+        tmp, lab = _lab([SHARED, frag('probeb', 'OpenAdapter', {'covers': {'start': 'open'},
+                                                                'unsupported': {'open': 'no opening here (test)'}})])
+        try:
+            self.assertEqual(lab.core.adapters['retsch_as200'].owner('start').CLASS, 'shared')
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+class ConcentrationUnits(unittest.TestCase):
+    def test_units(self):
+        self.assertAlmostEqual(units.parse('5uM', 'concentration'), 5e-3)
+        self.assertAlmostEqual(units.parse('5nM', 'concentration'), 5e-6)
+        self.assertAlmostEqual(units.parse('5pM', 'concentration'), 5e-9)
+        self.assertAlmostEqual(units.parse_for('5pM', {'type': 'number', 'x-unit': 'nM'}), 0.005)
+        self.assertAlmostEqual(units.parse('3µcal/s', 'power'), 3 * 4.184e-6)
+        self.assertAlmostEqual(units.parse('2uW', 'power'), 2e-6)
+        self.assertAlmostEqual(units.parse_for('300rpm', {'type': 'number', 'x-unit': '1/min'}), 300.0)
+        self.assertAlmostEqual(units.parse_for('10sccm', {'type': 'number', 'x-unit': 'cm^3/min'}), 10.0)
+        self.assertEqual(units.fmt(2e-6, 'power'), '2 µW')
+
+    def test_temperature_difference_is_not_celsius(self):
+        self.assertIsNone(units.friendly(50, 'K', 'safety.tdiff_max_k'))
+        self.assertIsNone(units.friendly(5, 'K', 'jacket.delta_k'))
+        self.assertIsNone(units.friendly(5, 'K', 'x.limit_k', '夹套与反应物温差上限'))
+        self.assertEqual(units.friendly(323.15, 'K', 'thermal.temperature_k'), '50.0 °C')
+
+    def test_atomic_write_and_retry(self):
+        import threading
+        from chemlab.compile.fragments import write_json_atomic
+        tmp = tmpdir()
+        try:
+            p = os.path.join(tmp, 'probe.json')
+            write_json_atomic(p, {'class': 'probe', 'members': {}})
+            self.assertEqual(sorted(os.listdir(tmp)), ['probe.json'])
+            with open(p, 'w') as f:
+                f.write('{"class": "pro')                            # half written
+            t = threading.Timer(0.15, write_json_atomic, (p, {'class': 'probe', 'members': {'x': {}}}))
+            t.start()
+            frs = load_fragments(tmp)
+            t.join()
+            self.assertEqual(frs[0]['members'], {'x': {}})
+        finally:
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+class MoreKinds(unittest.TestCase):
+    def test_kinds(self):
+        self.assertAlmostEqual(units.parse('10mT/s', 'field_rate'), 0.01)
+        self.assertAlmostEqual(units.parse('6mN/min', 'force_rate'), 1e-4)
+        self.assertAlmostEqual(units.parse('5kohm', 'resistance'), 5000.0)
+        self.assertAlmostEqual(units.parse('2megohm/sq', 'sheet_resistance'), 2e6)
+        self.assertAlmostEqual(units.parse('3.47emu', 'moment'), 3.47e-3)
+        self.assertAlmostEqual(units.parse('8.7kJ/K', 'heat_capacity'), 8700.0)
+        self.assertAlmostEqual(units.parse('2.5', 'number'), 2.5)
+        self.assertEqual(units.unit_kind('ohm'), 'resistance')
+        self.assertEqual(units.unit_kind('A*m^2'), 'moment')
+        self.assertEqual(units.fmt(1500.0, 'resistance'), '1.5 kΩ')
+
+    def test_operation_job_poll_interval(self):
+        class Ad:
+            def __init__(self, params):
+                self.params = params
+
+            def param(self, name, default=None):
+                return self.params.get(name, default)
+        tmp, lab = _lab([SHARED])
+        try:
+            from chemlab.generic import Req
+            req = Req('run', 'retsch_as200', [], 'agent', 'r-x', {})
+            self.assertEqual(jobs.OperationJob(lab.core, Ad({}), req, 'd', 'acquisition.start', 'op-1').poll_s(), 1.0)
+            self.assertEqual(jobs.OperationJob(lab.core, Ad({'job_poll_s': 30}), req, 'd', 'acquisition.start', 'op-1').poll_s(), 30.0)
+            self.assertEqual(jobs.OperationJob(lab.core, Ad({'job_poll_s': 30}), req, 'd', 'acquisition.start', 'op-1', poll_s=5).poll_s(), 5.0)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+    def test_wait_until(self):
+        self.assertTrue(callable(ClassAdapter.wait_until))
+        t = ClassAdapter.moving_done(['a.moving', 'b.moving'])
+
+        class C:
+            def __init__(self, v):
+                self.view = v
+
+            def v(self, s):
+                return self.view.get(s)
+        self.assertTrue(t(C({'a.moving': False, 'b.moving': None})))
+        self.assertFalse(t(C({'a.moving': True})))
diff --git a/chemlab/tests_compile/test_generic_parity.py b/chemlab/tests_compile/test_generic_parity.py
new file mode 100644
index 0000000000000000000000000000000000000000..9150b3f78c2d67f8a6dcfcd4427e6eccbee06b83
--- /dev/null
+++ b/chemlab/tests_compile/test_generic_parity.py
@@ -0,0 +1,63 @@
+"""The generic layer is unchanged for every instrument that has a class adapter: the generic sweeps (chemlab/sweep.py) on just
+those instruments, with the adapters loaded (the default config merges configs/adapters/*.json):
+
+* equivalence: every agent capability with the contract's example arguments, `chemlab call` in the sandbox vs the runtime
+  called directly on a fresh copy -> same status and error code, same arguments sent;
+* ready: describe / read (text and --json) in the sandbox, every example call in order vs a twin lab, and the visibility scan
+  of all output (now including the class sections of describe and the friendly read).
+
+Which instruments: the members of the class fragments (the generated shared layer, "layer": "shared", is checked on all 203 by
+test_shared_all203).  Set CHEMLAB_PARITY_CLASSES=chromatography[,spectroscopy] to check only those classes' members (what a
+class package runs).  Each run writes to its own directory build/compile_parity/<pid>-<time>/ (generic_results/ is not touched),
+so runs at the same time never collide.
+"""
+import os
+import time
+import unittest
+from pathlib import Path
+
+from helpers import ROOT
+from chemlab import sweep
+from chemlab.compile.fragments import load_fragments
+
+
+def members():
+    only = [c.strip() for c in os.environ.get('CHEMLAB_PARITY_CLASSES', '').split(',') if c.strip()]
+    out = []
+    for f in load_fragments():
+        if f.get('layer') == 'shared' or (only and f['class'] not in only):
+            continue
+        for slug in f['members']:
+            if slug not in out:
+                out.append(slug)
+    return out
+
+
+class Parity(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.saved = (sweep.RESULTS, sweep.RUNS)
+        d = Path(ROOT) / 'build' / 'compile_parity' / ('%d-%s' % (os.getpid(), time.strftime('%H%M%S')))
+        sweep.RESULTS, sweep.RUNS = d, d / 'runs'
+        cls.ids = members()
+
+    @classmethod
+    def tearDownClass(cls):
+        sweep.RESULTS, sweep.RUNS = cls.saved
+
+    def test_1_equivalence(self):
+        res = sweep.equivalence(only=self.ids, log=lambda *a: None)
+        rows = [r for r in res['rows'] if 'cli' in r]
+        self.assertEqual({r['instrument'] for r in rows}, set(self.ids))
+        bad = [r for r in rows if not (r['same'] and r['args_sent_equal'])]
+        self.assertEqual(bad, [])
+
+    def test_2_ready_and_visibility(self):
+        res = sweep.ready(only=self.ids, log=lambda *a: None)
+        self.assertEqual([r['instrument'] for r in res['describe_read'] if not r['ok']], [])
+        self.assertEqual([r for r in res['rows'] if not r['same']], [])
+        self.assertEqual(res['visibility'], [])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/test_hs8697_clock.py b/chemlab/tests_compile/test_hs8697_clock.py
new file mode 100644
index 0000000000000000000000000000000000000000..58edd59dd2c69f4bf665bdcecdd6aa88ff9fc8e5
--- /dev/null
+++ b/chemlab/tests_compile/test_hs8697_clock.py
@@ -0,0 +1,97 @@
+"""The Agilent 8697 headspace sampler's event clock.
+
+The 8697 runtime has no step / advance call: it reads a clock callable and moves its timed events only in host_update().  Its
+host recipe has the advance mode "clock_host_update" (clock= passed, host_update() once after each clock step),
+which chemlab runs in hosts.RuntimeHost.advance; the lab's clock hook (labbackend._build) is then off.  A recipe without an advance
+mode (the old one) still works through the clock hook.  Either way there must be exactly one host_update() per clock step - in the
+default lab and in the sample_intro class world (which also attaches the 8697 scene) - and the default-lab workflow must finish.
+
+Both modes are tested by setting the lab-config entry's "recipe" key (it overrides the loaded RECIPES record).
+
+    cd chemlab/tests_compile && python -m unittest test_hs8697_clock
+"""
+import copy
+import json
+import os
+import shutil
+import sys
+import unittest
+
+from helpers import ROOT, tmpdir  # noqa: F401  (puts chemlab on sys.path)
+from chemlab import recipes as R
+from chemlab.labbackend import LabBackend, load_config
+from chemlab.glab import single
+from chemlab.compile.tasks import sample_intro_world as SI
+
+HS = 'agilent_hs8697'
+MODES = (R.CLOCK_HOST_UPDATE, None)                 # the current host recipe, and the old recipe (no advance mode)
+
+
+def lab_config(world, mode):
+    cfg = single([HS], load_config())
+    if world == 'sample_intro':
+        cfg = SI.config(cfg)
+        cfg['instruments'] = [e for e in cfg['instruments'] if e['id'] == HS]
+    e = cfg['instruments'][0]
+    e['recipe'] = dict(e.get('recipe') or {}, advance=mode)
+    return cfg
+
+
+class HS8697Clock(unittest.TestCase):
+    def test_0_mode_is_known(self):
+        self.assertIn(R.CLOCK_HOST_UPDATE, R.ADVANCE_MODES)
+        self.assertIn(R.CLOCK_HOST_UPDATE, R.CLOCK_MODES)
+        self.assertEqual(R.all_recipes()['instrument.' + HS].get('advance'), R.CLOCK_HOST_UPDATE,
+                         'host recipes: the 8697 recipe is expected to use clock_host_update')
+
+    def test_1_one_host_update_per_clock_step(self):
+        for world in ('default', 'sample_intro'):
+            for mode in MODES:
+                with self.subTest(world=world, mode=mode):
+                    t = tmpdir()
+                    try:
+                        b = LabBackend(lab_config(world, mode), run_dir=os.path.join(t, 'b'))
+                        inst = b.instruments[HS]
+                        rt = inst.host.host
+                        self.assertEqual(inst.clock_hook, 'host_update' if mode is None else None)
+                        if world == 'sample_intro':
+                            self.assertIsNotNone(inst.scene)
+                            self.assertFalse(inst.scene.wrapped, 'the scene must not add a second host_update')
+                        calls = []
+                        orig = rt.host_update
+
+                        def counted(*a, **k):
+                            calls.append(inst.host.local_s)
+                            return orig(*a, **k)
+                        rt.host_update = counted
+                        inst.host.flush()
+                        n0 = inst.host.clock_counter
+                        b.advance(7.5)                              # 7 steps of 1 s and one of 0.5 s
+                        inst.host.flush()
+                        steps = inst.host.clock_counter - n0
+                        self.assertEqual(steps, 8)
+                        self.assertEqual(len(calls), steps, 'host_update calls per clock step')
+                        # the runtime sees the new time when it updates (the clock callable is set first)
+                        self.assertAlmostEqual(calls[-1], inst.host.local_s)
+                        self.assertAlmostEqual(rt.clock() if callable(getattr(rt, 'clock', None)) else inst.host.local_s,
+                                               inst.host.local_s)
+                    finally:
+                        shutil.rmtree(t, ignore_errors=True)
+
+    def test_2_default_lab_workflow_finishes_in_both_modes(self):
+        sys.path.insert(0, os.path.join(ROOT, 'tests_generic'))
+        from test_default_world import SPEC, run_spec
+        with open(SPEC, encoding='utf-8') as f:
+            sp = json.load(f)[HS]
+        for mode in MODES:
+            with self.subTest(mode=mode):
+                cfg = load_config()
+                e = next(x for x in cfg['instruments'] if x['id'] == HS)
+                e['recipe'] = dict(e.get('recipe') or {}, advance=mode)
+                res = run_spec(cfg, HS, sp)
+                self.assertTrue(res['ok'], json.dumps(res['rows'][-3:])[:600])
+                self.assertIn('measurement.count = 1', res['check']['out'])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/test_shared.py b/chemlab/tests_compile/test_shared.py
new file mode 100644
index 0000000000000000000000000000000000000000..4e7d2e31b805c109ad66dda1f53bcbaa52723a77
--- /dev/null
+++ b/chemlab/tests_compile/test_shared.py
@@ -0,0 +1,182 @@
+"""The shared verb layer: power / open / close / method / start / stop / result / wait on a generated-style fragment
+("layer": "shared"), the three job kinds, the one-path rule, --save-to, and precedence of a class fragment over the shared one."""
+import json
+import os
+import shutil
+import unittest
+
+from helpers import ROOT, native, run, run_json, tmpdir
+from chemlab.compile.fragments import adapters_for, load_fragments
+from chemlab.glab import GenericLab, single
+
+SHARED = {
+    'class': 'shared', 'layer': 'shared', 'adapter': 'chemlab.compile.shared:SharedAdapter',
+    'members': {
+        'retsch_as200': {
+            'verbs': {'power': {'cap': 'power.set', 'arg': 'enabled'},
+                      'open': {'parts': {'cover': {'cap': 'cover.set', 'arg': 'lift_m', 'open': 0.14, 'close': 0.0}}},
+                      'method': {'cap': 'method.configure', 'keys': {'time': {'arg': 'duration_s', 'kind': 'duration'},
+                                                                    'lift': {'arg': 'total_lift_m', 'kind': 'length'}}},
+                      'start': {'cap': 'acquisition.start', 'job': 'operation'},
+                      'stop': {'cap': 'acquisition.stop'},
+                      'result': {'cap': 'sieving.measure'}},
+            'path_exceptions': ['sieving.measure'],
+            'slots': {'power': 'power.enabled'}, 'status_slots': ['cycle.phase', 'cycle.remaining_s', 'power.enabled']},
+        'mt_xpr204e': {
+            'verbs': {'power': {'cap': 'power.set', 'arg': 'enabled'},
+                      'open': {'parts': {'left_door': {'cap': 'door.operate', 'arg': 'action', 'open': 'open', 'close': 'close',
+                                                       'args': {'side': 'left'}}}}},
+            'slots': {'power': 'power.enabled'}},
+    }}
+
+
+class Shared(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        d = os.path.join(cls.tmp, 'fragments')
+        os.makedirs(d)
+        shutil.copy(os.path.join(ROOT, 'configs', 'adapters', 'balance.json'), d)
+        with open(os.path.join(d, 'shared.json'), 'w') as f:
+            json.dump(SHARED, f)
+        cfg = single(['retsch_as200', 'mt_xpr204e'])
+        cfg['class_adapters'] = d
+        cls.dir = d
+        cls.lab = GenericLab(cls.tmp + '/lab', cfg).start()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def test_precedence_class_over_shared(self):
+        ad = self.lab.core.adapters['mt_xpr204e']
+        self.assertEqual([p.CLASS for p in ad.parts], ['balance', 'shared'])
+        self.assertEqual(ad.owner('power').CLASS, 'balance')                   # the class verb wins
+        self.assertEqual(ad.owner('open').CLASS, 'shared')                     # the shared layer answers what the class lacks
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'run mt_xpr204e open left_door')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertEqual([(c['capability'], c['arguments']) for c in native(self.lab, n)], [('door.operate', {'side': 'left', 'action': 'open'})])
+        run(self.lab, 'run mt_xpr204e close')
+        self.assertEqual(type(self.lab.core.adapters['retsch_as200']).__name__, 'SharedAdapter')
+
+    def test_one_path_rule(self):
+        frags = load_fragments(self.dir)
+        lab_inst = self.lab.backend.instruments['retsch_as200']
+        ad = adapters_for(single(['retsch_as200']), [f for f in frags if f['class'] == 'shared'])['retsch_as200']
+        self.assertEqual(ad.check_mapping(lab_inst), [])
+        del ad.map['path_exceptions']                                          # result through a second native path: caught
+        probs = ad.check_mapping(lab_inst)
+        self.assertTrue(any('sieving.measure' in p and 'path' in p for p in probs), probs)
+        ad.map['verbs']['result'] = {'reads': ['cycle.phase', 'power.enabled']}
+        probs = ad.check_mapping(lab_inst)
+        self.assertTrue(any('power.enabled' in p and 'does not change' in p for p in probs), probs)
+
+    def test_method_with_class_keys_units_and_native_names(self):
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'run retsch_as200 method time=2min lift=1.2mm interval_enabled=false interval_drive_s=3')
+        self.assertEqual(r.exit_code, 0, r.err)
+        calls = [(c['capability'], c['arguments']) for c in native(self.lab, n)]
+        self.assertEqual(calls, [('method.configure', {'duration_s': 120.0, 'total_lift_m': 0.0012, 'interval_enabled': False,
+                                                       'interval_drive_s': 3.0})])
+        self.assertEqual(run(self.lab, 'run retsch_as200 method speed=9').exit_code, 2)
+        self.assertEqual(run(self.lab, 'run retsch_as200 method time=2parsecs').exit_code, 2)
+
+    def test_operation_job_state_job_and_save_to(self):
+        code, js = run_json(self.lab, 'run retsch_as200 start')
+        self.assertEqual(code, 0, js)
+        self.assertEqual(js['kind'], 'operation')
+        job = js['job']
+        code, st = run_json(self.lab, 'status %s' % job)
+        self.assertEqual(st['done'], False)
+        code, w = run_json(self.lab, 'run retsch_as200 wait --max 30min')
+        self.assertEqual((code, w['status'], w['done']), (0, 'succeeded', True))
+        r = run(self.lab, 'run retsch_as200 result --save-to out/sieve.json')
+        self.assertEqual(r.exit_code, 0, r.err)
+        rec = json.loads((self.lab.work / 'out' / 'sieve.json').read_text())
+        self.assertEqual(rec['verb'], 'result')
+        self.assertEqual(run(self.lab, 'run retsch_as200 result --save-to ../x.json').exit_code, 2)
+        # the same start as a run-type job read from cycle.phase
+        ad = self.lab.core.adapters['retsch_as200']
+        ad.map['verbs']['start'] = {'cap': 'acquisition.start', 'job': 'state',
+                                    'state': {'slot': 'cycle.phase', 'done': ['succeeded'], 'failed': ['cancelled']}}
+        try:
+            run(self.lab, 'call retsch_as200 cycle.rearm')
+            code, js = run_json(self.lab, 'run retsch_as200 start')
+            self.assertEqual((code, js['kind']), (0, 'state'), js)
+            code, c = run_json(self.lab, 'cancel %s' % js['job'])
+            self.assertEqual((code, c['status']), (0, 'cancelled'), c)
+            self.assertIn('acquisition.stop', c['what'])
+        finally:
+            ad.map['verbs']['start'] = SHARED['members']['retsch_as200']['verbs']['start']
+
+    def test_open_close_refusal_explained_and_describe(self):
+        r = run(self.lab, 'run retsch_as200 open cover')                       # the sieve tower is clamped: refused, explained
+        self.assertEqual(r.exit_code, 3, r.out)
+        self.assertIn('mount.clamped=true', r.err)
+        self.assertIn('instrument said: cover.set -> rejected PRECONDITION_FAILED', r.err)
+        for cmd in ('run retsch_as200 status', 'describe retsch_as200', 'help retsch_as200 method'):
+            r = run(self.lab, cmd)
+            self.assertEqual(r.exit_code, 0, cmd + r.err)
+        self.assertEqual(run(self.lab, 'run retsch_as200 open hatch').exit_code, 2)
+        self.assertEqual(run(self.lab, 'run retsch_as200 estop').exit_code, 6)  # not mapped: not on this instrument
+
+
+if __name__ == '__main__':
+    unittest.main()
+
+
+from chemlab.compile.base import ClassAdapter as _CA          # noqa: E402
+from chemlab.compile.verbs import Verb as _Verb               # noqa: E402
+
+
+class ShutterOnlyAdapter(_CA):
+    """A test class whose verb `open` exists in its table; the member mapping marks it unsupported (only a shutter opens)."""
+    CLASS = 'probeopen'
+    TITLE = 'test class'
+
+    def build_verbs(self):
+        return {'open': _Verb('open', 'open the shutter', lambda ctx, p: {'text': 'never\n'})}
+
+
+class UnsupportedBeatsShared(unittest.TestCase):
+    """A class's explicit "unsupported" verb is not answered by the shared layer on that member (unless "shared_fallthrough")."""
+
+    def lab(self, fallthrough):
+        tmp = tmpdir()
+        self.addCleanup(shutil.rmtree, tmp, True)
+        d = os.path.join(tmp, 'fragments')
+        os.makedirs(d)
+        with open(os.path.join(d, 'shared.json'), 'w') as f:
+            json.dump(SHARED, f)
+        m = {'unsupported': {'open': 'only the shutter opens on this instrument (test)'},
+             'alternatives': {'open': 'use the shutter verb (test)'}}
+        if fallthrough:
+            m['shared_fallthrough'] = ['open']
+        with open(os.path.join(d, 'probeopen.json'), 'w') as f:
+            json.dump({'class': 'probeopen', 'adapter': 'test_shared:ShutterOnlyAdapter', 'members': {'retsch_as200': m}}, f)
+        cfg = single(['retsch_as200'])
+        cfg['class_adapters'] = d
+        return GenericLab(tmp + '/lab', cfg)
+
+    def test_class_unsupported_wins(self):
+        lab = self.lab(False)
+        n = len(lab.core.log.entries)
+        r = run(lab, 'run retsch_as200 open cover')
+        self.assertEqual(r.exit_code, 6, r.out + r.err)
+        self.assertIn('only the shutter opens', r.err)
+        self.assertIn('use the shutter verb', r.err)
+        self.assertEqual(native(lab, n), [])
+        self.assertEqual(run(lab, 'run retsch_as200 close cover').exit_code, 3)   # close is not a probeopen verb: shared answers it
+        out = run(lab, 'run retsch_as200').out
+        self.assertIn('not on this instrument: open (only the shutter opens', out)
+        shared_part = out[out.find('shared:'):]
+        self.assertNotIn('  open ', shared_part)
+        self.assertNotIn('open', lab.core.adapters['retsch_as200'].verbs())
+
+    def test_fallthrough_to_shared(self):
+        lab = self.lab(True)
+        n = len(lab.core.log.entries)
+        r = run(lab, 'run retsch_as200 open cover')
+        self.assertEqual([c['capability'] for c in native(lab, n)], ['cover.set'], r.out + r.err)
diff --git a/chemlab/tests_compile/test_shared_all203.py b/chemlab/tests_compile/test_shared_all203.py
new file mode 100644
index 0000000000000000000000000000000000000000..251ec80e3d6ce2e326b7bf3f751380d2c4aca87f
--- /dev/null
+++ b/chemlab/tests_compile/test_shared_all203.py
@@ -0,0 +1,116 @@
+"""The shared layer on all 203 instruments.
+
+Fast parts (always): the shared fragment plus the thin fragment cover all 203; every generated mapping fits its contract; the
+generator reproduces configs/adapters/shared.json exactly (nobody hand-edits it); the power and open/close values agree with the
+contract (power = the write_via of the power slot; open/close = the argument's range ends or true/false).
+
+Slow parts (CHEMLAB_ALL203=1): the shared lowering table on all 198 members (native calls + twin state + one path), and the
+visibility scan of every adapter output (describe / read / run / status / help of every verb) in one lab of all 203.
+The generic sweeps on all 203 with every adapter loaded are `python -m chemlab.compile.parity_all` (about an hour).
+"""
+import json
+import os
+import shutil
+import unittest
+
+from helpers import host_path_re, run, tmpdir
+from chemlab.compile import shared_gen
+from chemlab.compile.fragments import FRAGMENT_DIR, adapters_for, load_fragments
+from chemlab.glab import GenericLab, single
+from chemlab.labbackend import LabBackend, load_config
+from chemlab.sweep import _hidden_hits
+
+SLOW = os.environ.get('CHEMLAB_ALL203') == '1'
+
+
+class SharedLayer(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.frags = {f['class']: f for f in load_fragments()}
+        cls.shared = cls.frags['shared']
+        cfg = load_config()
+        cfg['class_adapters'] = False
+        cls.tmp = tmpdir()
+        cls.backend = LabBackend(cfg, run_dir=cls.tmp + '/b', setup=False)
+
+    @classmethod
+    def tearDownClass(cls):
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def test_1_all_203_covered(self):
+        slugs = {e['asset_type_id'].split('.', 1)[1] for e in load_config()['instruments']}
+        self.assertEqual(len(slugs), 203)
+        covered = set(self.shared['members']) | set(self.frags['thin']['members'])
+        self.assertEqual(covered, slugs)
+        self.assertFalse(set(self.shared['members']) & set(self.frags['thin']['members']))
+        self.assertEqual(self.shared.get('layer'), 'shared')
+
+    def test_2_every_mapping_fits_its_contract(self):
+        bad = {}
+        for slug in self.shared['members']:
+            ad = adapters_for(single([slug]), [self.shared])[slug]
+            p = ad.check_mapping(self.backend.instruments[slug])
+            if p:
+                bad[slug] = p
+        self.assertEqual(bad, {})
+
+    def test_3_generator_reproduces_the_fragment(self):
+        members, bad, thin = shared_gen.build(log=lambda *a: None)
+        self.assertEqual(bad, {})
+        on_disk = json.loads((FRAGMENT_DIR / 'shared.json').read_text())
+        self.assertEqual(json.dumps(on_disk['members'], sort_keys=True), json.dumps(members, sort_keys=True),
+                         'configs/adapters/shared.json differs from `python -m chemlab.compile.shared_gen --write`')
+
+    def test_4_power_and_parts_agree_with_the_contract(self):
+        for slug, m in self.shared['members'].items():
+            c = self.backend.instruments[slug].contract
+            p = m['verbs'].get('power')
+            if p and not p.get('toggle'):
+                sid = (m.get('slots') or {}).get('power')
+                wv = (c['state_slots'].get(sid) or {}).get('write_via') or {}
+                if wv.get('capability_id'):
+                    self.assertEqual((p['cap'], p['arg']), (wv['capability_id'], wv['argument']), slug)
+                self.assertEqual(sorted((c['capabilities'][p['cap']]['input_schema'].get('required') or [])),
+                                 sorted(set([p['arg']]) | set((p.get('args') or {}))), slug)
+            for name, part in ((m['verbs'].get('open') or {}).get('parts') or {}).items():
+                if 'cap' not in part:
+                    continue
+                s = c['capabilities'][part['cap']]['input_schema']['properties'][part['arg']]
+                if s.get('type') == 'boolean':
+                    self.assertEqual({part['open'], part['close']}, {True, False}, (slug, name))
+                elif 'minimum' in s:
+                    self.assertEqual({part['open'], part['close']}, {s['minimum'], s['maximum']}, (slug, name))
+                    self.assertEqual(part['open'], s['maximum'] if 'closed' not in part['arg'] else s['minimum'], (slug, name))
+
+    @unittest.skipUnless(SLOW, 'set CHEMLAB_ALL203=1 (about 10 minutes)')
+    def test_5_lowering_all_members(self):
+        from chemlab.compile.lowering import run_class
+        out = run_class('shared', log=lambda *a: None)
+        bad = [(m['instrument'], s['command'], s['native_calls'], s['expected'], s['diff']) for m in out['members']
+               for s in m['steps'] if not (s['calls_ok'] and s['state_equal'])]
+        self.assertEqual(bad, [])
+        self.assertEqual([m['instrument'] for m in out['members'] if m['path_problems'] or not m['start_equal']], [])
+        self.assertEqual(len(out['members']), len(self.shared['members']))
+
+    @unittest.skipUnless(SLOW, 'set CHEMLAB_ALL203=1 (a few minutes)')
+    def test_6_visibility_all_203(self):
+        tmp = tmpdir()
+        lab = GenericLab(tmp + '/lab', load_config())
+        try:
+            for iid, ad in lab.core.adapters.items():
+                cmds = ['describe %s', 'describe %s --json', 'read %s', 'run %s', 'run %s --json', 'run %s status', 'run %s status --json']
+                cmds += ['help %%s %s' % v for v in ad.verbs()]
+                for c in cmds:
+                    r = run(lab, c % iid)
+                    self.assertIn(r.exit_code, (0, 2, 3, 6), (c % iid, r.out, r.err))
+                    hits = _hidden_hits(lab.backend.instruments[iid].view, r.out + r.err, lab.backend.global_view)
+                    self.assertEqual(hits, [], c % iid)
+                    self.assertNotRegex(r.out + r.err, host_path_re(), c % iid)
+            self.assertEqual(len(lab.core.adapters), 203)
+        finally:
+            lab.stop()
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_compile/test_units.py b/chemlab/tests_compile/test_units.py
new file mode 100644
index 0000000000000000000000000000000000000000..be011c85dc3167549b15ad4f3faa47c7bcb245db
--- /dev/null
+++ b/chemlab/tests_compile/test_units.py
@@ -0,0 +1,171 @@
+"""Unit parsing and display of the compile layer (no lab needed)."""
+import unittest
+
+import helpers  # noqa: F401
+from chemlab.compile import units
+from chemlab.compile.errors import CompileError
+
+
+class Parse(unittest.TestCase):
+    def test_temperature(self):
+        self.assertAlmostEqual(units.parse('80C', 'temperature'), 353.15)
+        self.assertAlmostEqual(units.parse('80', 'temperature'), 353.15)                 # bare number: °C
+        self.assertAlmostEqual(units.parse('80 °C', 'temperature'), 353.15)
+        self.assertAlmostEqual(units.parse('353.15K', 'temperature'), 353.15)
+        self.assertAlmostEqual(units.parse('212F', 'temperature'), 373.15)
+        self.assertAlmostEqual(units.parse('-80C', 'temperature'), 193.15)
+        self.assertEqual(units.fmt(353.15, 'temperature'), '80.0 °C')
+
+    def test_volume_exact(self):
+        self.assertEqual(units.parse('7.5uL', 'volume'), 7.5e-9)
+        self.assertEqual(units.parse('50', 'volume'), 5e-8)
+        self.assertEqual(units.parse('0.05mL', 'volume'), 5e-8)
+        self.assertEqual(units.parse('50 µL', 'volume'), 5e-8)
+        self.assertEqual(units.fmt(1.5e-7, 'volume'), '150 µL')
+        self.assertEqual(units.fmt(2.5e-6, 'volume'), '2.5 mL')
+
+    def test_mass_rotation_pressure_duration_flow(self):
+        self.assertAlmostEqual(units.parse('12.5mg', 'mass'), 1.25e-5)
+        self.assertAlmostEqual(units.parse('52.3', 'mass'), 0.0523)                    # bare number: g
+        self.assertAlmostEqual(units.parse('300rpm', 'rotation'), 31.41592653589793)
+        self.assertAlmostEqual(units.parse('200mbar', 'pressure'), 20000.0)
+        self.assertAlmostEqual(units.parse('1bar', 'pressure'), 1e5)
+        self.assertAlmostEqual(units.parse('5min', 'duration'), 300.0)
+        self.assertAlmostEqual(units.parse('1.5h', 'duration'), 5400.0)
+        self.assertAlmostEqual(units.parse('1mL/min', 'flow'), 1e-6 / 60)
+        self.assertAlmostEqual(units.parse('50%', 'fraction'), 0.5)
+        self.assertAlmostEqual(units.parse('0.5K', 'temperature_delta'), 0.5)
+        self.assertEqual(units.fmt(31.41592653589793, 'rotation'), '300 rpm')
+        self.assertEqual(units.fmt(0.0523, 'mass'), '52.3 g')
+        self.assertEqual(units.fmt(20000.0, 'pressure'), '200 mbar')
+        self.assertEqual(units.fmt(5400, 'duration'), '1 h 30 min')
+
+    def test_rejects_are_usage_errors(self):
+        for text, kind in (('80X', 'temperature'), ('abc', 'volume'), ('', 'mass'), ('-5uL', 'volume'), ('-300K', 'temperature'),
+                           ('5 parsecs', 'duration'), ('nan', 'mass'), ('1e999', 'pressure')):
+            with self.assertRaises(CompileError, msg=text) as c:
+                units.parse(text, kind)
+            self.assertEqual(c.exception.exit_code, 2, text)
+            self.assertTrue(c.exception.fix, text)
+
+    def test_friendly_contract_units(self):
+        self.assertEqual(units.friendly(353.15, 'K'), '80.0 °C')
+        self.assertEqual(units.friendly(5e-8, 'm^3'), '50 µL')
+        self.assertEqual(units.friendly(31.41592653589793, 'rad/s'), '300 rpm')
+        self.assertIsNone(units.friendly(True, 'K'))
+        self.assertIsNone(units.friendly(10.0, 's'))
+
+
+if __name__ == '__main__':
+    unittest.main()
+
+
+class RealArguments(unittest.TestCase):
+    """The agent's value lands in the unit each real contract argument declares (°C / degC, g, mL, min, h, nm, rpm-as-rad/s,
+    m3 / m^3, m3/s, K/min, g/cm3, %), and passes that argument's schema."""
+
+    CASES = [  # slug, capability, argument, typed, expected value in the declared unit, kind override
+        ('ohaus_px224e', 'density.configure', 'water_temp_c', '21C', 21.0, None),               # degC
+        ('ohaus_px224e', 'density.configure', 'water_temp_c', '294.15K', 21.0, None),
+        ('antonpaar_monowave400', 'experiment.insert_step', 'temperature_c', '120', 120.0, None),  # °C, bare number = °C
+        ('miele_plw6111', 'programmes.set_block', 'temperature_C', '140F', 60.0, None),
+        ('mt_mp70', 'substance.save', 'tol_c', '0.5K', 0.5, 'temperature_delta'),                # a °C difference
+        ('agilent_7890b_ssl_fid', 'thermal.set_temperature', 'temperature_k', '80C', 353.15, None),
+        ('ohaus_px224e', 'density.configure', 'liquid_density', '998kg/m3', 0.998, None),        # g/cm3
+        ('ohaus_px224e', 'density.configure', 'sinker_volume_ml', '0.01L', 10.0, None),          # mL
+        ('ohaus_px224e', 'density.configure', 'porous_weight_g', '500mg', 0.5, None),            # g
+        ('miele_plw6111', 'programmes.set_block', 'time_min', '2h', 120.0, None),                # min
+        ('vacuubrand_pc3001_vario_select', 'settings.configure', 'maintenance_h', '2d', 48.0, None),   # h
+        ('thermo_ibrightfl1500', 'dye.define', 'excitation_nm', '0.488um', 488.0, None),         # nm
+        ('biotage_selekt', 'flush.start', 'flow_ml_min', '0.05mL/s', 3.0, None),                 # mL/min
+        ('agilent_hplc1260', 'chromatography.set_method', 'injection_volume_m3', '10uL', 1e-8, None),   # m3
+        ('multiwave_7101', 'digestion.load_template', 'acid_volume_m3', '5mL', 5e-6, None),     # m^3
+        ('agilent_7890b_ssl_fid', 'inlet.configure', 'split_flow_m3_s', '50mL/min', 5e-5 / 60, None),   # m3/s
+        ('linseis_lsr3', 'thermal.set_temperature', 'ramp_rate_k_min', '0.5K/s', 30.0, None),   # K/min
+        ('parr_4591', 'stirrer.set_speed', 'speed_rad_s', '300rpm', 31.41592653589793, None),   # rad/s
+        ('binder_vd56', 'rinsing.set_percent', 'percent', '50%', 50.0, None),                   # %
+    ]
+
+    @classmethod
+    def setUpClass(cls):
+        import glob
+        import json
+        import os
+        from helpers import ROOT
+        cls.contracts = {}
+        for f in glob.glob(os.path.join(ROOT, '..', 'assets', '**', 'asset.contract.json'), recursive=True):
+            with open(f, encoding='utf-8') as fh:
+                d = json.load(fh)
+            cls.contracts[d['asset_type_id'].split('.', 1)[1]] = d
+
+    def test_values_land_in_the_declared_unit(self):
+        from chemlab.contract import validate
+        for slug, cap, arg, text, want, kind in self.CASES:
+            schema = self.contracts[slug]['capabilities'][cap]['input_schema']['properties'][arg]
+            got = units.parse_for(text, schema, kind)
+            self.assertAlmostEqual(got, want, delta=1e-9 * max(1.0, abs(want)), msg=(slug, arg, text, schema.get('x-unit')))
+            self.assertEqual(validate(schema, got, arg), [], (slug, arg, got))
+
+    def test_spellings_and_round_trips(self):
+        self.assertEqual(units.declared({'x-unit': 'degC'}), '°C')
+        self.assertEqual(units.declared({'x-unit': 'm3/s'}), 'm^3/s')
+        self.assertEqual(units.declared({'x-unit': '1'}), None)
+        self.assertEqual(units.declared({'anyOf': [{'type': 'number', 'x-unit': 'K'}, {'type': 'null'}]}), 'K')
+        for u, v in (('°C', 25.0), ('degC', 25.0), ('g', 52.3), ('min', 5.0), ('rpm', 300.0), ('mL', 2.5), ('mbar', 200.0), ('nm', 450.0),
+                     ('d', 2.0), ('m3', 1e-6), ('K/min', 10.0), ('g/cm3', 0.998), ('%', 50.0)):
+            self.assertAlmostEqual(units.to_declared(units.from_declared(v, u), u), v, places=9, msg=u)
+        self.assertAlmostEqual(units.from_declared(25.0, 'degC'), 298.15)
+        self.assertEqual(units.fmt_declared(60.3, 'degC'), '60.3 °C')
+        self.assertEqual(units.fmt_declared(300.0, 'rpm'), '300 rpm')
+        with self.assertRaises(CompileError):
+            units.parse_for('5 apples', {'x-unit': 'kg'})
+        self.assertEqual(units.parse_for('7', {'type': 'integer'}), 7.0)              # unitless: a plain number
+        with self.assertRaises(CompileError):
+            units.parse_for('7mL', {'type': 'integer'})
+
+
+class SpectroscopyUnits(unittest.TestCase):
+    """Units the spectroscopy class needs: wavenumber, magnetic field, fast times, GHz, uM / nM, count rate,
+    signed frequency offset; and the generic `wait` with units; and callable expectations in the lowering harness."""
+
+    def test_new_kinds(self):
+        self.assertAlmostEqual(units.parse('1650cm-1', 'wavenumber'), 165000.0)
+        self.assertAlmostEqual(units.parse_for('1650cm-1', {'x-unit': 'm^-1'}), 165000.0)
+        self.assertAlmostEqual(units.parse_for('1650cm-1', {'x-unit': '1/m'}), 165000.0)
+        self.assertAlmostEqual(units.parse_for('1650cm-1', {'x-unit': '/cm'}), 1650.0)
+        self.assertEqual(units.fmt(165000.0, 'wavenumber'), '1650 cm⁻¹')
+        self.assertAlmostEqual(units.parse('340mT', 'magnetic_field'), 0.34)
+        self.assertAlmostEqual(units.parse('3400G', 'magnetic_field'), 0.34)
+        self.assertEqual(units.friendly(0.34, 'T'), '340 mT')
+        self.assertAlmostEqual(units.parse('5ns', 'duration'), 5e-9)
+        self.assertAlmostEqual(units.parse('120fs', 'duration'), 1.2e-13)
+        self.assertAlmostEqual(units.parse('2us', 'duration'), 2e-6)
+        self.assertAlmostEqual(units.parse('9.4GHz', 'frequency'), 9.4e9)
+        self.assertEqual(units.fmt(9.4e9, 'frequency'), '9.4 GHz')
+        self.assertAlmostEqual(units.parse('50uM', 'concentration'), 0.05)
+        self.assertAlmostEqual(units.parse('20nM', 'concentration'), 2e-5)
+        self.assertAlmostEqual(units.parse_for('50uM', {'x-unit': 'mol/m3'}), 0.05)
+        self.assertAlmostEqual(units.parse('-120Hz', 'frequency_offset'), -120.0)
+        self.assertAlmostEqual(units.parse('50kcps', 'count_rate'), 50000.0)
+        with self.assertRaises(CompileError):
+            units.parse('-5Hz', 'frequency')                                     # a frequency is not negative; an offset may be
+
+    def test_generic_wait_takes_units(self):
+        from chemlab.generic import CmdError, _seconds
+        self.assertEqual(_seconds('60'), 60.0)
+        self.assertEqual(_seconds('60s'), 60.0)
+        self.assertEqual(_seconds('5min'), 300.0)
+        self.assertEqual(_seconds('1.5h'), 5400.0)
+        for bad in ('0', '-5', '5 parsecs', 'abc', '0min'):
+            with self.assertRaises(CmdError, msg=bad):
+                _seconds(bad)
+
+    def test_lowering_callable_expectations(self):
+        from chemlab.compile.lowering import calls_match
+        got = [('analysis.fit', {'x': [1.0, 2.0, 3.0], 'model': 'lorentz'})]
+        self.assertTrue(calls_match(got, None))
+        self.assertTrue(calls_match(got, [('analysis.fit', lambda a: len(a['x']) == 3 and a['model'] == 'lorentz')]))
+        self.assertFalse(calls_match(got, [('analysis.fit', lambda a: len(a['x']) == 4)]))
+        self.assertTrue(calls_match(got, lambda calls: calls[0][0] == 'analysis.fit'))
+        self.assertTrue(calls_match(got, [('analysis.fit', {'x': [1.0, 2.0, 3.0], 'model': 'lorentz'})]))
+        self.assertFalse(calls_match(got, [('analysis.other', {})]))
diff --git a/chemlab/tests_compile/test_visibility.py b/chemlab/tests_compile/test_visibility.py
new file mode 100644
index 0000000000000000000000000000000000000000..e32c9600286b56f0293085c7959eb19c3206e850
--- /dev/null
+++ b/chemlab/tests_compile/test_visibility.py
@@ -0,0 +1,66 @@
+"""Visibility of everything the compile layer prints: for every member of the class fragments (CHEMLAB_PARITY_CLASSES=a,b
+limits it to those classes, as in test_generic_parity), describe / read / the class overview / status / every verb's help (text
+and --json), plus every request and reply of the acceptance runs (compile_results/<class>/*/gold|noact/core_log.jsonl) - no
+evaluator-only or debug id, no host path.  The shared layer on all 203 is scanned by test_shared_all203."""
+import glob
+import json
+import os
+import shutil
+import unittest
+
+from helpers import ROOT, host_paths, run, tmpdir
+from chemlab.compile.fragments import load_fragments
+from chemlab.glab import GenericLab, single
+from chemlab.sweep import _hidden_hits
+
+HOST_PATH = host_paths()
+
+
+class Visibility(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        from test_generic_parity import members                     # class-fragment members (CHEMLAB_PARITY_CLASSES filters)
+        cls.ids = sorted(members())
+        cls.lab = GenericLab(cls.tmp + '/lab', single(cls.ids)).start()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def scan(self, iid, text, what):
+        hits = _hidden_hits(self.lab.backend.instruments[iid].view, text, self.lab.backend.global_view)
+        self.assertEqual(hits, [], what)
+        for p in HOST_PATH:
+            self.assertNotIn(p, text, what)
+
+    def test_adapter_views_of_every_member(self):
+        for iid in self.ids:
+            ad = self.lab.core.adapters[iid]
+            cmds = ['describe %s', 'describe %s --json', 'read %s', 'read %s --json', 'run %s', 'run %s --json', 'run %s status', 'run %s status --json']
+            cmds += ['help %%s %s' % v for v in ad.verbs()] + ['run %%s %s --help' % v for v in list(ad.verbs())[:3]]
+            for c in cmds:
+                r = run(self.lab, c % iid)
+                self.assertIn(r.exit_code, (0, 2, 3, 6), (c % iid, r.err))
+                self.scan(iid, r.out + r.err, c % iid)
+
+    def test_acceptance_logs(self):
+        only = [c.strip() for c in os.environ.get('CHEMLAB_PARITY_CLASSES', '').split(',') if c.strip()]
+        logs = [f for f in glob.glob(os.path.join(ROOT, 'compile_results', '*', '*', '*', 'core_log.jsonl'))
+                if not only or f.split(os.sep)[-4] in only]
+        n = 0
+        for f in logs:
+            with open(f, encoding='utf-8') as fh:
+                lines = fh.readlines()
+            for line in lines:
+                e = json.loads(line)
+                iid = {'flex': 'opentrons_flex_single_5_1000ul'}.get(e.get('instrument'), e.get('instrument'))   # task lab names
+                if iid in self.lab.backend.instruments:
+                    self.scan(iid, e.get('stdout', '') + e.get('stderr', ''), '%s %s' % (f, e['argv']))
+                    n += 1
+        self.assertGreater(n, 0) if logs else None
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/default_world_smoke.json b/chemlab/tests_generic/default_world_smoke.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ad8517aa520059da19470b7844493835c9aa96
--- /dev/null
+++ b/chemlab/tests_generic/default_world_smoke.json
@@ -0,0 +1,2557 @@
+{
+ "_about": "default-lab smoke workflows per instrument, read by test_default_world.py. steps: \"VERB ...\" = chemlab run INST VERB; \"#wait N\" = chemlab wait N; \"!CMD\" = chemlab CMD (INST = the instrument). check: run after the steps; expect: a regex its output must match. from: the class lowering case the workflow was taken from (or \"default lab\").",
+ "agilent_1260infinity": {
+  "steps": [
+   "method flow=1.5mL/min column-temp=40C gradient=0:2%,1min:2%,5min:45%,6min:45% run=7min wl=254nm",
+   "flow on",
+   "run --pos 1:1 --wait-ready 10min",
+   "#wait 600"
+  ],
+  "check": "chromatogram",
+  "from": "default lab",
+  "expect": "chromatogram: complete"
+ },
+ "agilent_1290infinity": {
+  "steps": [
+   "method flow=0.8mL/min column-temp=35C run=3min",
+   "flow on",
+   "run --wait-ready 30min",
+   "#wait 200"
+  ],
+  "check": "chromatogram",
+  "from": "agilent_1290infinity"
+ },
+ "agilent_7890b_ssl_fid": {
+  "steps": [
+   "method oven=80C:1min..200C@30C/min:1min inlet=250C det=300C split=50 inlet-mode=split flow=1.2mL/min",
+   "run --wait-ready 20min",
+   "#wait 600"
+  ],
+  "check": "!status job-1",
+  "from": "default lab",
+  "expect": "succeeded|completed|done|finished"
+ },
+ "agilent_gc8890b": {
+  "steps": [
+   "method oven=80C:1min..200C@30C/min:1min inlet=250C split=20 flow=1.2mL/min det=300C",
+   "method inlet-mode=splitless",
+   "load mix1",
+   "run --wait-ready 20min",
+   "#wait 60",
+   "stop"
+  ],
+  "check": "chromatogram",
+  "from": "agilent_gc8890b"
+ },
+ "agilent_hplc1260": {
+  "steps": [
+   "power on",
+   "method flow=0.5mL/min run=2min gradient=0:5%,1min:95%",
+   "method column-temp=35C inj=5uL",
+   "load mix1",
+   "flow on",
+   "run",
+   "#wait 200"
+  ],
+  "check": "chromatogram",
+  "from": "default lab",
+  "expect": "chromatogram: complete"
+ },
+ "agilent_hs8697": {
+  "steps": [
+   "load v1 --vial 1",
+   "load v2 --vial 2",
+   "unload --vial 2",
+   "close lid",
+   "set-temp 70C --zone oven",
+   "set-temp 80C --zone loop",
+   "set-temp 90C --zone transfer",
+   "method equilibration=10min gc-cycle=5min shake=3",
+   "method vial-size=20mL",
+   "start --vials 1",
+   "#wait 600",
+   "stop",
+   "start --vial 1 --injections 2",
+   "wait --max 3h",
+   "result"
+  ],
+  "check": "result --save-to hs_result.json",
+  "from": "agilent_hs8697"
+ },
+ "alicat_mc_1slpm_rev6": {
+  "steps": [
+   "select nitrogen",
+   "select nitrogen",
+   "zero",
+   "setpoint 500sccm --wait --max 1min"
+  ],
+  "check": "read",
+  "from": "alicat_mc_1slpm_rev6"
+ },
+ "ametek_oxtran": {
+  "steps": [
+   "load --cell A",
+   "set-temp 23C",
+   "atmosphere rh=0%",
+   "method --cell A mode=standard runs=3 time=30min conditioning=0h",
+   "start --cell A",
+   "#wait 86400",
+   "#wait 57600"
+  ],
+  "check": "result --cell A",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_abbematadvanced": {
+  "steps": [
+   "measure --wait",
+   "calibrate --standard 1.3614 ethanol",
+   "check 'Water Check'",
+   "method mode=calibrated_concentration",
+   "method mode=refractive_index",
+   "set-temp 25C --wait",
+   "measure",
+   "#wait 30"
+  ],
+  "check": "result --save-to abbemat.json",
+  "from": "antonpaar_abbematadvanced"
+ },
+ "antonpaar_autosorb6100": {
+  "steps": [
+   "load",
+   "calibrate pressure --cell 1 reference=0,1000mbar measured=0,1000mbar",
+   "calibrate volume --cell 1 warm_temperature_k=308.15 warm_dosed_mol=0.00039030457583950266 warm_pressure_pa=50000 cold_dosed_mol=0.0009761416063934054 cold_pressure_pa=50000",
+   "method --cell 1 mass=100mg",
+   "start --cell 1",
+   "#wait 7200"
+  ],
+  "check": "result --cell 1",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_dma5002": {
+  "steps": [
+   "set-temp 20C --wait",
+   "measure",
+   "#wait 40",
+   "result",
+   "check --reference 0.7893g/cm3",
+   "method mode=density",
+   "measure --wait"
+  ],
+  "check": "result",
+  "from": "antonpaar_dma5002"
+ },
+ "antonpaar_hit300": {
+  "steps": [
+   "power on",
+   "zero",
+   "clamp on",
+   "move 20mm --y 20mm --wait",
+   "contact on",
+   "method load=5mN rate=0.2mN/s unload-rate=0.2mN/s hold=5s",
+   "start",
+   "#wait 150",
+   "result"
+  ],
+  "check": "analyze poisson=0.2 --index 1",
+  "from": "antonpaar_hit300"
+ },
+ "antonpaar_litesizerdia": {
+  "steps": [
+   "method time=4s",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_litesizerdls": {
+  "steps": [
+   "power on",
+   "method temp=25C",
+   "#wait 360",
+   "start",
+   "#wait 900"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_mcr503": {
+  "steps": [
+   "move 1mm --wait",
+   "set-temp 25C --wait",
+   "method mode=oscillation strain=10% freq=5Hz time=2s interval=1ms discard=1s",
+   "start",
+   "#wait 5",
+   "result"
+  ],
+  "check": "analyze strain=0.1 freq=5Hz",
+  "from": "antonpaar_mcr503"
+ },
+ "antonpaar_monowave400": {
+  "steps": [
+   "close lid",
+   "method temp=80C ramp=1min hold=2min cool=50C stir=800rpm",
+   "start",
+   "wait --max 10min",
+   "result",
+   "#wait 1800",
+   "open lid",
+   "temp"
+  ],
+  "check": "result",
+  "from": "antonpaar_monowave400"
+ },
+ "antonpaar_poremaster60": {
+  "steps": [
+   "load",
+   "calibrate pressure range=0 reference=0,50psi measured=0,50psi",
+   "calibrate volume reference=0,0.2mL measured=1pF,11pF",
+   "calibrate blank pressures_pa=0,413685437.59 volumes_m3=0,0",
+   "method mass=65.5mg",
+   "start",
+   "#wait 3600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_psa1190": {
+  "steps": [
+   "method time=4s",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "d50"
+ },
+ "antonpaar_rst300": {
+  "steps": [
+   "power on",
+   "zero",
+   "clamp on",
+   "move 10mm --wait",
+   "contact on",
+   "method mode=prescan start=10mm length=3mm",
+   "start",
+   "#wait 30",
+   "result",
+   "contact off",
+   "move 10mm --wait",
+   "contact on",
+   "method mode=scratch start=10mm length=3mm load-start=1N load-end=30N",
+   "start",
+   "#wait 30",
+   "result --save-to rst.json"
+  ],
+  "check": "analyze threshold=1N",
+  "from": "antonpaar_rst300"
+ },
+ "antonpaar_saxspace": {
+  "steps": [
+   "load lysozyme_5",
+   "vacuum on --wait",
+   "source on --kv 40kV --ma 50mA",
+   "#wait 30",
+   "align --wait",
+   "scan exposure=60s frames=2 --wait",
+   "result"
+  ],
+  "check": "analyze thickness=1mm",
+  "from": "antonpaar_saxspace"
+ },
+ "antonpaar_surpass3": {
+  "steps": [
+   "power on",
+   "method steps=6,5,4 runs=1",
+   "calibrate ph reference=4,7 measured=-0.23664,-0.41412",
+   "calibrate conductivity reference=1.413mS/cm measured=1.413mS/cm",
+   "start",
+   "#wait 3600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_trb": {
+  "steps": [
+   "contact off",
+   "power on",
+   "zero",
+   "method load=5N speed=100rpm time=30s",
+   "move 8mm",
+   "contact on",
+   "close lid",
+   "start",
+   "#wait 40"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "antonpaar_ultrapyc5000": {
+  "steps": [
+   "load",
+   "calibrate volume blank_ratio=1 sphere_ratio=0.8 sphere_volume_m3=1e-5",
+   "method mass=50g",
+   "start",
+   "#wait 1800"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "applied_sx20": {
+  "steps": [
+   "method wavelength=480nm",
+   "power on",
+   "measure --wait",
+   "spectrum"
+  ],
+  "check": "analyze kinetics",
+  "from": "applied_sx20"
+ },
+ "aqualab_4te": {
+  "steps": [
+   "measure --wait",
+   "calibrate --standard 0.880",
+   "#wait 900"
+  ],
+  "check": "measure --wait",
+  "from": "aqualab_4te"
+ },
+ "arradiance_gemstarxt": {
+  "steps": [
+   "method cycles=5 temp=250C",
+   "power on",
+   "close door",
+   "vacuum pump",
+   "start",
+   "#wait 1200"
+  ],
+  "check": "result",
+  "from": "arradiance_gemstarxt"
+ },
+ "azenta_automated_roll_heat_sealer_a4s": {
+  "steps": [
+   "configure time=3s",
+   "set-temp 170C",
+   "#wait 400",
+   "open carrier",
+   "start",
+   "stop",
+   "result",
+   "open carrier",
+   "start",
+   "#wait 10"
+  ],
+  "check": "result",
+  "from": "azenta_automated_roll_heat_sealer_a4s"
+ },
+ "azenta_intellixcap_s1_46_0001": {
+  "steps": [
+   "configure tube=tube_15ml mode=decap operation=release_cap time=2",
+   "start",
+   "#wait 15",
+   "result",
+   "configure mode=recap",
+   "start",
+   "#wait 15"
+  ],
+  "check": "result",
+  "from": "azenta_intellixcap_s1_46_0001"
+ },
+ "bd_facsariaiii": {
+  "steps": [
+   "!call INST tube.prepare --args '{\"tube_id\": \"t1\", \"tube_type\": \"12x75\", \"sources\": [{\"bead_id\": \"cst_bead_mid\", \"volume_m3\": 5e-07}], \"buffer_volume_m3\": 5e-07}'",
+   "prime",
+   "load t1",
+   "start r1 --events 5000",
+   "#wait 20"
+  ],
+  "check": "data r1",
+  "from": "default lab"
+ },
+ "binder_fd056": {
+  "steps": [
+   "set-temp 105C",
+   "wait-temp --max 1h",
+   "safety-limit 120C"
+  ],
+  "check": "temp --save-to fd056.json",
+  "from": "binder_fd056"
+ },
+ "binder_kbf115": {
+  "steps": [
+   "set-temp 30C"
+  ],
+  "check": "wait-temp --within 0.3K --max 1h",
+  "from": "binder_kbf115"
+ },
+ "binder_vd56": {
+  "steps": [
+   "power on",
+   "set-temp 60C",
+   "heat off",
+   "heat on",
+   "safety-limit 80C"
+  ],
+  "check": "wait-temp --max 2h",
+  "from": "binder_vd56"
+ },
+ "biolin_mediuml": {
+  "steps": [
+   "prepare",
+   "load --volume 50uL",
+   "#wait 30",
+   "method mode=compression area=140cm2 time=60s",
+   "start",
+   "#wait 1800"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "biolin_sigma700": {
+  "steps": [
+   "power on",
+   "load",
+   "prepare",
+   "start",
+   "#wait 600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "biolin_thetaflex": {
+  "steps": [
+   "power on",
+   "calibrate camera reference=1mm measured=566.86",
+   "load --volume 0.2uL",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "biorad_cfxopus": {
+  "steps": [
+   "load plate_1",
+   "method name=SYBR volume=20uL lid=105C steps=95C@3min,95C@10s,60C@30s+read,goto2x39,melt65C..95C@0.5C/5s",
+   "start",
+   "#wait 120",
+   "pause on",
+   "pause off",
+   "stop",
+   "data",
+   "data --wells A1,B1",
+   "analyze cq"
+  ],
+  "check": "analyze cq threshold_rfu=50",
+  "from": "biorad_cfxopus"
+ },
+ "biorad_miniprotean": {
+  "steps": [
+   "method voltage=200V run=35min constant=voltage",
+   "load ladder_1 --lane 2 --volume 10uL",
+   "run",
+   "#wait 2160"
+  ],
+  "check": "chromatogram",
+  "from": "default lab",
+  "expect": "peaks? \\(|band|[1-9] peaks|#"
+ },
+ "biotage_extrahera_classic": {
+  "steps": [
+   "!call INST manifold.set_position --z_m 0",
+   "pressure 1bar",
+   "method load=1mL wash=0.5mL elute=1mL flow=6mL/min drain=3mL/min",
+   "start",
+   "#wait 200"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "biotage_selekt": {
+  "steps": [
+   "method flow=30mL/min gradient=0:0%,4min:80% wl=300nm,350nm",
+   "run",
+   "#wait 60",
+   "stop"
+  ],
+  "check": "chromatogram",
+  "from": "biotage_selekt"
+ },
+ "biotek_405ts": {
+  "steps": [
+   "load p1",
+   "start W-Corning_FLAT",
+   "#wait 40"
+  ],
+  "check": "data",
+  "from": "default lab"
+ },
+ "bmg_clariostarplus": {
+  "steps": [
+   "power on",
+   "#wait 25",
+   "load wp",
+   "method mode=fi_endpoint wells=A1:A3 ex=485nm em=525nm",
+   "start",
+   "#wait 10",
+   "data",
+   "data --cycle 1 --max 10",
+   "analyze blank blank=B1,B2,B3"
+  ],
+  "check": "analyze linear std.A1=0uM std.A2=1uM",
+  "from": "bmg_clariostarplus"
+ },
+ "bronkhorst_cemw": {
+  "steps": [
+   "power on",
+   "setpoint 500sccm",
+   "setpoint 140C",
+   "setpoint 3.6g/h --wait --max 20min",
+   "setpoint 0g/h",
+   "vent",
+   "vent off"
+  ],
+  "check": "read",
+  "from": "bronkhorst_cemw"
+ },
+ "bronkhorst_p702cv_5bar_gauge_n2": {
+  "steps": [
+   "setpoint 3bar",
+   "setpoint 2.5bar --wait --max 20min"
+  ],
+  "check": "read",
+  "from": "bronkhorst_p702cv_5bar_gauge_n2"
+ },
+ "brooks_preciseflex_400": {
+  "steps": [
+   "power on",
+   "move home",
+   "move z=100mm",
+   "move z=50mm shoulder=30deg elbow=-45deg wrist=0deg",
+   "pick plate_1",
+   "place sealer_nest"
+  ],
+  "check": "result",
+  "from": "brooks_preciseflex_400"
+ },
+ "bruker_magnettechesr5000": {
+  "steps": [
+   "power on",
+   "close",
+   "method center=338.4mT width=16mT",
+   "source on",
+   "set-temp 30C --wait",
+   "set-temp 25C --wait",
+   "blank --wait",
+   "source on"
+  ],
+  "check": "spectrum",
+  "from": "bruker_magnettechesr5000"
+ },
+ "bruker_minispecmq20": {
+  "steps": [
+   "set-temp 30C",
+   "power on",
+   "close",
+   "method sequence=inversion_recovery delays=1ms,10ms,50ms,100ms,200ms,400ms,800ms,1200ms,2000ms points=9",
+   "set-temp 37C --wait",
+   "measure --wait",
+   "spectrum"
+  ],
+  "check": "analyze relaxation",
+  "from": "bruker_minispecmq20"
+ },
+ "bruker_x4poseidon": {
+  "steps": [
+   "load alumina_pellet",
+   "move --z 397mm",
+   "source on --kv 80kV --current 100uA",
+   "#wait 200",
+   "zoom 3x",
+   "acquire --exposure 0.1s --binning 4x4",
+   "#wait 300"
+  ],
+  "check": "result",
+  "from": "bruker_x4poseidon"
+ },
+ "buchi_encapsulatorb": {
+  "steps": [
+   "method volume=5mL flow=6mL/min",
+   "vibration 1000Hz",
+   "vibration on",
+   "vibration on",
+   "hv 1500V",
+   "hv on",
+   "set-temp 40C",
+   "heat on",
+   "start",
+   "feed 300mbar",
+   "wait --max 30min"
+  ],
+  "check": "result",
+  "from": "buchi_encapsulatorb"
+ },
+ "buchi_hydrolexh": {
+  "steps": [
+   "method hold=20min rinse-temp=45C rinse-cycles=4 rinse-volume=300mL",
+   "power on",
+   "preheat on --wait",
+   "load 1,3",
+   "start",
+   "#wait 3600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "buchi_lyovapor_l250_pro": {
+  "steps": [
+   "method freeze=1min primary=2min secondary=1min shelf=-30C",
+   "method primary=3min",
+   "vacuum 0.3mbar",
+   "set-temp -10C",
+   "endpoint moisture --max-moisture 2%",
+   "endpoint schedule",
+   "start",
+   "#wait 100",
+   "stop"
+  ],
+  "check": "result",
+  "from": "buchi_lyovapor_l250_pro"
+ },
+ "buchi_minispray": {
+  "steps": [
+   "set-temp 160C",
+   "method inlet=150C feed=4mL/min aspirator=400L/min spray=10L/min",
+   "preheat on --wait",
+   "set-temp 150C --heat",
+   "start",
+   "feed 3mL/min",
+   "#wait 60",
+   "stop"
+  ],
+  "check": "result",
+  "from": "buchi_minispray"
+ },
+ "buchi_speedextractore": {
+  "steps": [
+   "open shield",
+   "close shield",
+   "start",
+   "#wait 600"
+  ],
+  "check": "result",
+  "from": "buchi_speedextractore"
+ },
+ "camag_tlcscanner": {
+  "steps": [
+   "method wl=254nm lamp=deuterium",
+   "run --wait-ready 10min",
+   "stop",
+   "chromatogram",
+   "run",
+   "#wait 30"
+  ],
+  "check": "chromatogram --pos 1",
+  "from": "camag_tlcscanner"
+ },
+ "carbolite_tf1_12_60_300": {
+  "steps": [
+   "set-temp 300C",
+   "wait-temp --max 2h"
+  ],
+  "check": "temp",
+  "from": "carbolite_tf1_12_60_300"
+ },
+ "cem_libertyblue": {
+  "steps": [
+   "power on",
+   "close cover",
+   "close clamp",
+   "start",
+   "#wait 30"
+  ],
+  "check": "result",
+  "from": "cem_libertyblue"
+ },
+ "ch_chi440c": {
+  "steps": [
+   "technique cp --current 10uA --time 2s",
+   "power on",
+   "#wait 2",
+   "zero",
+   "open lid",
+   "close lid",
+   "start"
+  ],
+  "check": "wait",
+  "from": "ch_chi440c"
+ },
+ "ch_chi920d": {
+  "steps": [
+   "power on",
+   "move 0 0 1mm",
+   "technique secm-line --path -40um,-40um,5um;0um,-40um,5um;40um,-40um,5um --tip 0.5V --substrate 0V",
+   "start"
+  ],
+  "check": "wait",
+  "from": "ch_chi920d"
+ },
+ "cytiva_biacoret200": {
+  "steps": [
+   "load chip1 --type CM5",
+   "prime",
+   "#wait 400",
+   "set-temp 25C",
+   "start r1 samples=R1B1 contact=60s dissociation=60s flow=30uL/min path=1-2 ref=2-1 rate=1 startup=1",
+   "#wait 400"
+  ],
+  "check": "data",
+  "from": "default lab"
+ },
+ "cytiva_ktaoligosynt": {
+  "steps": [
+   "power on",
+   "close clamp",
+   "start",
+   "#wait 30"
+  ],
+  "check": "result",
+  "from": "cytiva_ktaoligosynt"
+ },
+ "cytiva_nanoassemblrignite": {
+  "steps": [
+   "set-temp 37C",
+   "close block",
+   "heat on",
+   "set-temp 50C --channel right",
+   "temp",
+   "wait-temp --max 30min",
+   "method flow=4mL/min ratio=3 volume=2mL dilution=1 waste-start=0.2mL waste-end=0.05mL",
+   "close lid",
+   "prime",
+   "wait --max 10min",
+   "start",
+   "wait --max 10min"
+  ],
+  "check": "result",
+  "from": "cytiva_nanoassemblrignite"
+ },
+ "eco_ncld822": {
+  "steps": [
+   "select zero_air",
+   "start",
+   "#wait 60",
+   "zero",
+   "#wait 60",
+   "select srm_2631a",
+   "#wait 60",
+   "#wait 60",
+   "select sample"
+  ],
+  "check": "read",
+  "from": "eco_ncld822"
+ },
+ "edinburgh_fls1000tcspc": {
+  "steps": [
+   "power on",
+   "method em=520nm",
+   "method em=520nm",
+   "measure --wait"
+  ],
+  "check": "spectrum --save-to decay.json",
+  "from": "edinburgh_fls1000tcspc"
+ },
+ "elementar_isoprimeprecision": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "elementar_varioel": {
+  "steps": [
+   "measure --slots 4 --wait"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "elga_purelab_flex3": {
+  "steps": [
+   "dispense 500mL --rate 1L/min --wait",
+   "setpoint 0.5L/min",
+   "dispense 200mL",
+   "stop",
+   "#wait 5",
+   "start",
+   "stop"
+  ],
+  "check": "read",
+  "from": "elga_purelab_flex3"
+ },
+ "elma_elmasonics60h": {
+  "steps": [
+   "power on",
+   "intensity sweep",
+   "time 2min",
+   "start --wait"
+  ],
+  "check": "result",
+  "from": "elma_elmasonics60h"
+ },
+ "eppendorf_5910ri": {
+  "steps": [
+   "load tube_a --slot slot_1",
+   "load tube_c --slot slot_2",
+   "unload --slot slot_2",
+   "load tube_b --slot slot_2",
+   "speed --rcf 2000g --time 2min",
+   "set-temp 4C",
+   "close lid",
+   "start --wait"
+  ],
+  "check": "result --save-to run.json",
+  "from": "eppendorf_5910ri"
+ },
+ "eppendorf_cellxpertc170i": {
+  "steps": [
+   "set-temp 39C"
+  ],
+  "check": "wait-temp --max 1h",
+  "from": "eppendorf_cellxpertc170i"
+ },
+ "eppendorf_cryocubef570n": {
+  "steps": [
+   "set-temp -75C"
+  ],
+  "check": "temp",
+  "from": "eppendorf_cryocubef570n"
+ },
+ "esco_ac24s8": {
+  "steps": [
+   "uv on",
+   "uv off",
+   "sash safe",
+   "fan on --wait --max 10min",
+   "light off",
+   "light on",
+   "mode quickstart",
+   "sash open"
+  ],
+  "check": "read",
+  "from": "esco_ac24s8"
+ },
+ "esco_efa5uduvw": {
+  "steps": [
+   "sash open --hold",
+   "sash safe",
+   "sash 300mm",
+   "mode night",
+   "mode night",
+   "mode normal",
+   "fan off",
+   "fan on",
+   "light off"
+  ],
+  "check": "read",
+  "from": "esco_efa5uduvw"
+ },
+ "evident_bx53p": {
+  "steps": [
+   "load quartz_section",
+   "zoom --objective 40x",
+   "focus -4.9mm",
+   "source off",
+   "source on --level 70%",
+   "acquire --exposure 50ms --wait"
+  ],
+  "check": "result",
+  "from": "evident_bx53p"
+ },
+ "freeman_ft4powder": {
+  "steps": [
+   "clamp on",
+   "power on",
+   "close door",
+   "move 10mm --wait",
+   "move 0mm --speed 20mm/s --wait",
+   "calibrate force-zero=0.01N torque-zero=0",
+   "method cycles=3",
+   "start",
+   "#wait 60",
+   "result"
+  ],
+  "check": "analyze --index 1",
+  "from": "freeman_ft4powder"
+ },
+ "frontier_egapy": {
+  "steps": [
+   "power on",
+   "method mode=single pyrolysis-temp=600C pyrolysis-time=0.1min",
+   "start",
+   "inject --wait",
+   "wait --max 1h"
+  ],
+  "check": "result",
+  "from": "frontier_egapy"
+ },
+ "fujifilm_dmp2850": {
+  "steps": [
+   "method spacing=20um voltage=24V",
+   "method pattern=010/111/010 at=50mm,50mm pattern-name=cross",
+   "set-temp 40C",
+   "set-temp 30C --zone cartridge",
+   "move 10mm,20mm,2mm",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "fujifilm_dmp2850"
+ },
+ "gamry_reference620": {
+  "steps": [
+   "power on",
+   "technique cv --from 0.6V --to -0.2V --rate 100mV/s --step 2mV",
+   "connect working=we_01 reference=ref_01 counter=ce_01 cell=cell_01",
+   "start"
+  ],
+  "check": "wait --max 10min",
+  "from": "gamry_reference620"
+ },
+ "gas_flavourspec25gc": {
+  "steps": [
+   "flow off",
+   "method run=200s inlet=90C",
+   "flow on",
+   "run --wait-ready 10min",
+   "#wait 30",
+   "stop",
+   "chromatogram",
+   "flow on",
+   "#wait 300",
+   "run --wait-ready 10min",
+   "#wait 260"
+  ],
+  "check": "chromatogram",
+  "from": "gas_flavourspec25gc"
+ },
+ "genevac_mivac2": {
+  "steps": [
+   "set-temp 45C",
+   "preheat on --wait",
+   "open lid",
+   "close lid",
+   "start",
+   "#wait 3600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "gilson_cpc250": {
+  "steps": [
+   "run",
+   "#wait 60",
+   "stop"
+  ],
+  "check": "chromatogram",
+  "from": "gilson_cpc250"
+ },
+ "glatt_miniglatt": {
+  "steps": [
+   "power on",
+   "method time=2min spray-time=90s",
+   "close tower",
+   "air 240L/min",
+   "air on",
+   "set-temp 60C",
+   "heat on",
+   "wait-temp --max 30min",
+   "feed 3.5mL/min",
+   "start",
+   "wait --max 10min"
+  ],
+  "check": "result",
+  "from": "glatt_miniglatt"
+ },
+ "hach_dr6000": {
+  "steps": [
+   "method from=400nm to=700nm step=2nm",
+   "open lid",
+   "load blank_01",
+   "close",
+   "blank",
+   "open",
+   "unload",
+   "load sample_01",
+   "close",
+   "measure",
+   "spectrum"
+  ],
+  "check": "spectrum --save-to dr_scan.json",
+  "from": "hach_dr6000"
+ },
+ "hach_tl2300epa": {
+  "steps": [
+   "measure --wait",
+   "#wait 1800",
+   "calibrate",
+   "measure --wait",
+   "check --reference 20NTU"
+  ],
+  "check": "status",
+  "from": "default lab"
+ },
+ "hepatochem_photoredoxbox": {
+  "steps": [
+   "set-temp 35C",
+   "light 80%",
+   "stir 600rpm",
+   "method time=10min",
+   "open lid",
+   "close lid",
+   "start",
+   "stop",
+   "start",
+   "wait --max 20min",
+   "result",
+   "temp"
+  ],
+  "check": "result",
+  "from": "hepatochem_photoredoxbox"
+ },
+ "hot_tps2500": {
+  "steps": [
+   "power on",
+   "method time=1.5s power=0.5W",
+   "start",
+   "wait",
+   "result",
+   "analyze",
+   "calibrate gain_correction=1 offset_correction_k=0.1K",
+   "temp"
+  ],
+  "check": "analyze",
+  "from": "hot_tps2500"
+ },
+ "ika_c6000": {
+  "steps": [
+   "method name=BA_1 mass=1g",
+   "method mode=isoperibol_25",
+   "#wait 420",
+   "start",
+   "load C6012-0001",
+   "wait --max 1h",
+   "result"
+  ],
+  "check": "analyze sulfur=0.1% hydrogen=4.95%",
+  "from": "ika_c6000"
+ },
+ "ika_electrasyn2": {
+  "steps": [
+   "stir 400rpm",
+   "current 10mA",
+   "voltage 3V",
+   "method mode=constant_current time=1min",
+   "open cap",
+   "close cap",
+   "start",
+   "stop",
+   "start",
+   "wait --max 5min"
+  ],
+  "check": "result --save-to es.json",
+  "from": "ika_electrasyn2"
+ },
+ "ika_ks4000": {
+  "steps": [
+   "power on",
+   "speed 200rpm --time 2min",
+   "start",
+   "#wait 150"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "ika_plate_rctdigital": {
+  "steps": [
+   "set-temp 80C",
+   "heat on",
+   "stir 300rpm",
+   "stir 500rpm"
+  ],
+  "check": "wait-temp --within 1K --max 20min",
+  "from": "ika_plate_rctdigital"
+ },
+ "ika_rv10_digital_v": {
+  "steps": [
+   "set-temp 40C --heat",
+   "set-temp 45C --heat",
+   "rotate 120rpm",
+   "rotate 150rpm",
+   "method time=2min interval=10s",
+   "lift up --wait",
+   "lift 30mm",
+   "stop",
+   "method time=3min",
+   "start",
+   "#wait 60"
+  ],
+  "check": "result",
+  "from": "ika_rv10_digital_v"
+ },
+ "ika_t25": {
+  "steps": [
+   "power on",
+   "time 30s",
+   "speed 15000rpm",
+   "start --wait"
+  ],
+  "check": "result",
+  "from": "ika_t25"
+ },
+ "inert_purelab_he_2gb": {
+  "steps": [
+   "open outer",
+   "close outer",
+   "cycle --cycles 2 --wait --max 20min",
+   "open inner",
+   "close inner",
+   "cycle",
+   "cycle stop",
+   "fan 60%",
+   "light on",
+   "light on"
+  ],
+  "check": "read",
+  "from": "inert_purelab_he_2gb"
+ },
+ "inert_puresolvmd": {
+  "steps": [
+   "open gas_isolation_valve",
+   "!call INST pump.set --on true",
+   "!call INST flask.attach --channel 1 --volume_m3 0.0005 --oven_dried true",
+   "!call INST valve.turn --channel 1 --position evacuate",
+   "#wait 60",
+   "!call INST valve.turn --channel 1 --position refill",
+   "#wait 10",
+   "!call INST valve.turn --channel 1 --position evacuate",
+   "#wait 60",
+   "!call INST valve.turn --channel 1 --position refill",
+   "#wait 10",
+   "!call INST valve.turn --channel 1 --position dispense",
+   "!call INST needle.set --channel 1 --opening 0.5",
+   "#wait 60",
+   "!call INST needle.set --channel 1 --opening 0",
+   "!call INST valve.turn --channel 1 --position closed"
+  ],
+  "check": "!read INST flask.ch1",
+  "expect": "\"liquid_m3\": [0-9]",
+  "from": "default lab"
+ },
+ "inficon_ul1000fab": {
+  "steps": [
+   "start --wait",
+   "zero",
+   "zero off"
+  ],
+  "check": "read",
+  "from": "inficon_ul1000fab"
+ },
+ "ja_alphase": {
+  "steps": [
+   "load pmma_on_si",
+   "scan mode=fast --wait",
+   "result"
+  ],
+  "check": "analyze thickness=110nm",
+  "from": "ja_alphase"
+ },
+ "jasco_cpl300": {
+  "steps": [
+   "power on",
+   "source on --wait",
+   "method em=520nm",
+   "blank --wait"
+  ],
+  "check": "spectrum",
+  "from": "default lab"
+ },
+ "jasco_fp8350": {
+  "steps": [
+   "power on",
+   "source on --wait",
+   "close",
+   "method mode=emission ex=480nm from=500nm to=620nm step=2nm",
+   "blank --wait"
+  ],
+  "check": "spectrum",
+  "from": "default lab"
+ },
+ "jasco_ftir4700": {
+  "steps": [
+   "power on",
+   "method from=400cm-1 to=4000cm-1 resolution=4cm-1",
+   "blank --wait",
+   "open",
+   "load ir_polystyrene_film",
+   "close",
+   "measure --wait"
+  ],
+  "check": "spectrum",
+  "expect": "maximum absorbance [0-9.]+ at (69[0-9]|70[0-9]) cm-1",
+  "from": "default lab"
+ },
+ "jasco_fvs6000": {
+  "steps": [
+   "power on",
+   "method from=1500cm-1 to=1800cm-1",
+   "set-temp 30C --wait",
+   "blank --wait"
+  ],
+  "check": "spectrum",
+  "from": "jasco_fvs6000"
+ },
+ "jasco_j1500": {
+  "steps": [
+   "power on",
+   "purge 5L/min --wait",
+   "source on --wait",
+   "close lid",
+   "method from=260nm",
+   "method from=235nm to=190nm step=1nm scans=2",
+   "blank --wait"
+  ],
+  "check": "spectrum",
+  "from": "jasco_j1500"
+ },
+ "jasco_nrs5500": {
+  "steps": [
+   "power on",
+   "close door",
+   "source on",
+   "method from=200cm-1 to=1100cm-1",
+   "measure --wait",
+   "spectrum"
+  ],
+  "check": "analyze peaks",
+  "from": "jasco_nrs5500"
+ },
+ "jasco_p4200": {
+  "steps": [
+   "method integration=1s repeats=3 conc=100g/L path=100mm",
+   "zero"
+  ],
+  "check": "status",
+  "from": "default lab"
+ },
+ "jena_contraa800": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "jena_multix": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "jeol_jem1400flash": {
+  "steps": [
+   "load au_np_on_carbon",
+   "source on --kv 100kV",
+   "#wait 30",
+   "zoom 50000x",
+   "focus auto",
+   "focus 1um",
+   "move 100um -50um",
+   "acquire --exposure 0.5s --binning 2 --wait"
+  ],
+  "check": "result",
+  "from": "jeol_jem1400flash"
+ },
+ "jeol_jsmit200": {
+  "steps": [
+   "load fe_si_polished",
+   "vacuum pump",
+   "#wait 240",
+   "source on --kv 10kV --wait",
+   "focus auto",
+   "focus 10mm",
+   "zoom 2000x",
+   "move 2mm -1mm --z 3mm",
+   "acquire --pixels 640x480 --dwell 20us --wait"
+  ],
+  "check": "result",
+  "from": "jeol_jsmit200"
+ },
+ "julabo_corio_cd200f": {
+  "steps": [
+   "remote on",
+   "set-temp 40C",
+   "heat on",
+   "wait-temp --max 30min"
+  ],
+  "check": "temp",
+  "from": "julabo_corio_cd200f"
+ },
+ "keyence_vkx3000": {
+  "steps": [
+   "load sio2_step_on_si",
+   "zoom --objective 10x",
+   "focus auto --wait",
+   "zoom 2x",
+   "acquire --wait --max 30min"
+  ],
+  "check": "result",
+  "from": "keyence_vkx3000"
+ },
+ "knauer_k7400s": {
+  "steps": [
+   "calibrate --standard 0"
+  ],
+  "check": "status",
+  "from": "default lab"
+ },
+ "kratos_axissupra": {
+  "steps": [
+   "load sio2_on_si --wait --max 1h",
+   "source on --ma 10mA --wait",
+   "align --wait",
+   "scan region=survey,C1s --wait --max 1h",
+   "result"
+  ],
+  "check": "analyze regions=C1s",
+  "from": "kratos_axissupra"
+ },
+ "laboao_cvdltf12p50": {
+  "steps": [
+   "method temp=600C rate=5K/min hold=10min flow=200,0,0 mode=fixed",
+   "set-temp 650C",
+   "close flange",
+   "vacuum pump --pressure 30Pa",
+   "vacuum off",
+   "close furnace",
+   "start --mode purge",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "laboao_cvdltf12p50"
+ },
+ "lakeshore_8604vsm": {
+  "steps": [
+   "power on",
+   "move --lift 0mm",
+   "method field=0.1T",
+   "method range=10emu vibrate=on loop=0.2T/0.1T",
+   "set-field 0.1T --rate 10mT/s --wait",
+   "start",
+   "wait",
+   "result"
+  ],
+  "check": "analyze",
+  "from": "lakeshore_8604vsm"
+ },
+ "lakeshore_measurereadym91": {
+  "steps": [
+   "method current=0.5mA",
+   "method current=0.5mA range=10mA",
+   "#wait 1800",
+   "contact check max-current=10mA",
+   "wait --max 10min",
+   "start",
+   "wait",
+   "result",
+   "calibrate voltage_gain_correction=1 voltage_offset_v=0 field_gain_correction=1 field_offset_t=0.1mT",
+   "temp"
+  ],
+  "check": "result",
+  "from": "lakeshore_measurereadym91"
+ },
+ "leco_onh836": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "linari_rtadvanced": {
+  "steps": [
+   "set-temp 30C",
+   "humidity 35%",
+   "heat on",
+   "humidity on",
+   "wait-temp --max 30min",
+   "method voltage=15kV,15kV flows=0.2mL/h,0,0,0,0,0,0,0 rpm=600rpm needle-low=50mm,50mm needle-high=450mm,450mm gap=40mm,40mm time=10s",
+   "hv on",
+   "start",
+   "wait --max 5min"
+  ],
+  "check": "result",
+  "from": "linari_rtadvanced"
+ },
+ "linseis_lsr3": {
+  "steps": [
+   "power on",
+   "set-temp 100C --rate 10K/min --gradient 5K",
+   "wait-temp --max 1h",
+   "method current=10mA time=3s",
+   "start",
+   "wait",
+   "result"
+  ],
+  "check": "analyze width=3mm depth=3mm spacing=8mm point=5",
+  "from": "linseis_lsr3"
+ },
+ "magritek_spinsolve80": {
+  "steps": [
+   "power on",
+   "load ethanol_01",
+   "method nucleus=1H scans=4",
+   "method points=512",
+   "measure",
+   "#wait 10",
+   "spectrum"
+  ],
+  "check": "analyze integrate from=-400Hz to=-350Hz",
+  "from": "magritek_spinsolve80"
+ },
+ "malvern_leneo": {
+  "steps": [
+   "method segments=10min@1065C,9min@1065C rocking=10deg",
+   "set-temp 900C",
+   "close door",
+   "#wait 5",
+   "start",
+   "#wait 600"
+  ],
+  "check": "result",
+  "from": "malvern_leneo"
+ },
+ "malvern_microcalpeaq": {
+  "steps": [
+   "method temp=25C ref=5ucal/s feedback=high stir=750rpm delay=60s injections=0.4uL@0.8s,4x2uL@4s spacing=150s cell=0.1mM syringe=1mM",
+   "load edta",
+   "load ca --into syringe",
+   "set-temp 25C",
+   "start e1",
+   "#wait 300"
+  ],
+  "check": "data",
+  "from": "default lab"
+ },
+ "markes_unityxr": {
+  "steps": [
+   "power on",
+   "method mode=analyze desorb-temp=280C recollect=false",
+   "open lid",
+   "close lid",
+   "start",
+   "wait --max 1h"
+  ],
+  "check": "result --save-to unity.json",
+  "from": "markes_unityxr"
+ },
+ "metrohm_899": {
+  "steps": [
+   "method current=400mA drift-comp=0ug/min hold=1s",
+   "method stir=9 start-drift=20ug/min",
+   "sample 10mg",
+   "stir on --level 8",
+   "stir off",
+   "start",
+   "wait --max 1h",
+   "curve --save-to kf_curve.json"
+  ],
+  "check": "result",
+  "from": "metrohm_899"
+ },
+ "metrohm_909uv": {
+  "steps": [
+   "method temp=90C hold=30min",
+   "close shield",
+   "#wait 2",
+   "start",
+   "#wait 3000"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "metrohm_914": {
+  "steps": [
+   "method hold=5s tolerance=0.1%",
+   "measure --wait",
+   "calibrate --standard 6.865",
+   "measure --wait",
+   "calibrate --standard 6.864",
+   "#wait 10"
+  ],
+  "check": "result",
+  "from": "metrohm_914"
+ },
+ "metrohm_omnis": {
+  "steps": [
+   "power on",
+   "connect electrode=electrode_01 cell=beaker_01",
+   "connect electrode=electrode_01",
+   "titrant 0.1M --cylinder 20mL",
+   "method mode=dynamic increment=0.1mL max=15mL",
+   "method hold=0.5s tolerance=0V rate=30mL/min",
+   "stir 300rpm",
+   "start",
+   "wait --max 1h",
+   "curve",
+   "result --sample 25mL",
+   "result --sample 25mL --ratio 0.5 --save-to omnis.json"
+  ],
+  "check": "result",
+  "from": "metrohm_omnis"
+ },
+ "micromeritics_autochemiii": {
+  "steps": [
+   "load",
+   "power on",
+   "atmosphere flow=30mL/min",
+   "set-temp 40C --ramp 100K/min",
+   "set-temp 50C",
+   "method mode=tpd temp=40C rate=100K/min hold=1s time=60s",
+   "calibrate detector reference=1umol,2umol measured=0.1,0.2",
+   "#wait 15",
+   "result"
+  ],
+  "check": "analyze dispersion metal_mass=10mg molar_mass=58.69g/mol stoichiometry=1",
+  "from": "micromeritics_autochemiii"
+ },
+ "microtrac_turbiscanlab": {
+  "steps": [
+   "power on",
+   "load",
+   "set-temp 30C --wait --max 1h",
+   "method time=60s interval=10s",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "miele_plw6111": {
+  "steps": [
+   "program quick_wash",
+   "program quick_wash",
+   "configure drying=on",
+   "open door",
+   "close door",
+   "start",
+   "pause on",
+   "pause off",
+   "#wait 600",
+   "stop"
+  ],
+  "check": "start --wait --max 3h",
+  "from": "miele_plw6111"
+ },
+ "milestone_dma80": {
+  "steps": [
+   "measure --slots 5 --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "mt_hx204": {
+  "steps": [
+   "set-temp 110C",
+   "method time=5min",
+   "method basis=dry mode=rapid",
+   "measure --wait"
+  ],
+  "check": "result",
+  "from": "mt_hx204"
+ },
+ "mt_mp70": {
+  "steps": [
+   "method start=110C end=130C rate=1K/min criterion=transmission",
+   "measure --wait --max 3h"
+  ],
+  "check": "result --channel 2",
+  "from": "mt_mp70"
+ },
+ "mt_quantos_q2_xpe206dr": {
+  "steps": [
+   "head",
+   "vial",
+   "tare",
+   "open side",
+   "dose 10mg --tolerance 1%",
+   "#wait 30",
+   "result",
+   "dose 5mg --tolerance 0.1mg --sample-id S-1",
+   "stop",
+   "result",
+   "head lower",
+   "head raise",
+   "vial place",
+   "dose 20mg",
+   "#wait 50"
+  ],
+  "check": "result",
+  "from": "mt_quantos_q2_xpe206dr"
+ },
+ "mt_rc1mxhfcal": {
+  "steps": [
+   "stir 300rpm",
+   "safety-limit 140C",
+   "set-temp 50C --ramp 10min",
+   "start --name acetylation",
+   "wait-temp --max 1h",
+   "dose acetic_anhydride --rate 9g/min --mass 102g",
+   "wait --max 30min",
+   "stop --cool-to 25C"
+  ],
+  "check": "result",
+  "from": "mt_rc1mxhfcal"
+ },
+ "mt_xpr204e": {
+  "steps": [
+   "door close",
+   "!call INST adjustment.start",
+   "#wait 120",
+   "weigh --stable"
+  ],
+  "check": "!read INST history.adjustments",
+  "from": "default lab",
+  "expect": "\"status\": \"Done\""
+ },
+ "multiwave_7101": {
+  "steps": [
+   "method temp=180C ramp=15min hold=15min name=MYDIG",
+   "method program=150C@5min,180C@5min hold=10min name=MYDIG fan=2",
+   "method name=\"EPA 3051A HNO3\"",
+   "open door",
+   "load 1,2 --material nist_srm_2711a --method epa_3051a_hno3 --mass 0.2g --acid 4mL",
+   "close door",
+   "start",
+   "stop",
+   "#wait 7200"
+  ],
+  "check": "result --slot 1",
+  "from": "multiwave_7101"
+ },
+ "nabertherm_l9": {
+  "steps": [
+   "set-temp 500C"
+  ],
+  "check": "wait-temp --max 2h",
+  "from": "nabertherm_l9"
+ },
+ "nanosurf_naiostm": {
+  "steps": [
+   "load hopg",
+   "approach",
+   "#wait 320",
+   "acquire --size 10nm --points 64 --line-time 0.2s --wait"
+  ],
+  "check": "result",
+  "from": "nanosurf_naiostm"
+ },
+ "netzsch_lfa467": {
+  "steps": [
+   "!call INST detector.set_enabled --enabled true",
+   "#wait 60",
+   "load 1",
+   "close",
+   "gas 50mL/min --channel protective",
+   "gas 50mL/min --channel purge1",
+   "method temp=25C",
+   "start",
+   "wait --max 1h"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "netzsch_mmc315": {
+  "steps": [
+   "power on",
+   "method start=50C end=220C",
+   "start",
+   "#wait 3600",
+   "stop"
+  ],
+  "check": "result",
+  "from": "netzsch_mmc315"
+ },
+ "newera_ne1000": {
+  "steps": [
+   "syringe",
+   "syringe loaded",
+   "syringe 14.43mm",
+   "rate 1mL/min",
+   "volume 0.5mL",
+   "direction infuse",
+   "run",
+   "#wait 40",
+   "direction withdraw",
+   "volume 0.2mL",
+   "run --wait",
+   "volume clear",
+   "phase",
+   "phase 1 rate rate=2mL/min volume=0.1mL direction=infuse",
+   "phase 2 pause param=5",
+   "phase 3 rate rate=2mL/min volume=0.1mL direction=withdraw",
+   "phase 4 stop"
+  ],
+  "check": "run --phase 1 --wait",
+  "from": "newera_ne1000"
+ },
+ "novocontrol_alphat": {
+  "steps": [
+   "power on",
+   "method freq=1kHz,10kHz voltage=0.3V",
+   "method sweep=10Hz..100kHz/5",
+   "set-temp 20.05C",
+   "wait-temp --within 0.1K",
+   "start",
+   "wait",
+   "result --save-to eps.json"
+  ],
+  "check": "analyze diameter=20mm thickness=1mm point=3",
+  "from": "novocontrol_alphat"
+ },
+ "ohaus_px224e": {
+  "steps": [
+   "door close",
+   "zero --wait 30s"
+  ],
+  "check": "weigh --stable",
+  "from": "default lab",
+  "noact_exempt": "external-calibration balance: every load (sample, container or calibration weight) is put on the pan by a host or the robot, which the chemlab-only default lab does not have; the smoke only shows a stable zero reading"
+ },
+ "ohaus_spx2201": {
+  "steps": [
+   "zero --wait 30s"
+  ],
+  "check": "weigh --stable",
+  "from": "default lab",
+  "noact_exempt": "external-calibration balance: every load (sample, container or calibration weight) is put on the pan by a host or the robot, which the chemlab-only default lab does not have; the smoke only shows a stable zero reading"
+ },
+ "opentrons_flex_single_5_1000ul": {
+  "steps": [
+   "power on",
+   "home",
+   "transfer --volume 100 --from reservoir:A1 --to plate:A1"
+  ],
+  "check": "labware",
+  "expect": "95 left",
+  "from": "default lab"
+ },
+ "ossila_dipcoater": {
+  "steps": [
+   "method length=40mm dip-speed=10mm/s withdraw=1mm/s withdraw-final=2mm/s cycles=1 dwell=10s",
+   "gap 1mm",
+   "start",
+   "#wait 300"
+  ],
+  "check": "result",
+  "from": "ossila_dipcoater"
+ },
+ "ossila_doctorblade": {
+  "steps": [
+   "method distance=200mm speed=10mm/s",
+   "gap 100um",
+   "start",
+   "#wait 60"
+  ],
+  "check": "result",
+  "from": "ossila_doctorblade"
+ },
+ "ossila_slotdie": {
+  "steps": [
+   "method distance=120mm speed=10mm/s flow=1.2mL/min",
+   "gap 100um",
+   "prime 70uL --flow 1mL/min",
+   "set-temp 50C",
+   "set-temp 45C",
+   "start",
+   "#wait 60"
+  ],
+  "check": "result",
+  "from": "ossila_slotdie"
+ },
+ "ossila_spincoater": {
+  "steps": [
+   "method program=500rpm@5s,3000rpm@30s",
+   "open lid",
+   "#wait 2",
+   "close lid",
+   "#wait 2",
+   "start",
+   "#wait 40"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "park_nx10": {
+  "steps": [
+   "load grating",
+   "source on",
+   "approach --setpoint 2nN --wait",
+   "acquire --size 5um --pixels 64 --rate 2Hz --wait"
+  ],
+  "check": "result",
+  "from": "park_nx10"
+ },
+ "parr_4591": {
+  "steps": [
+   "set-temp 120C",
+   "heat on",
+   "heat on",
+   "stir 500rpm",
+   "wait-temp --max 1h",
+   "stop",
+   "wait-temp --to 45C --max 3h",
+   "open vent",
+   "#wait 30",
+   "open lid",
+   "close lid",
+   "close vent"
+  ],
+  "check": "result",
+  "from": "parr_4591"
+ },
+ "pccell_ed64002": {
+  "steps": [
+   "flow 1mL/min",
+   "power on",
+   "start",
+   "#wait 60",
+   "stop"
+  ],
+  "check": "result",
+  "from": "pccell_ed64002"
+ },
+ "peak_precisionhydrogen": {
+  "steps": [
+   "setpoint 60psi",
+   "start --wait",
+   "stop",
+   "vent"
+  ],
+  "check": "read",
+  "from": "peak_precisionhydrogen"
+ },
+ "pilodist_pilodist104": {
+  "steps": [
+   "set-temp 95C",
+   "reflux 4",
+   "reflux total",
+   "fraction 1",
+   "power on",
+   "start",
+   "#wait 30",
+   "fraction 2"
+  ],
+  "check": "result",
+  "from": "pilodist_pilodist104"
+ },
+ "pine_wavevortex10": {
+  "steps": [
+   "power on",
+   "open enclosure",
+   "close enclosure",
+   "rotate 1000rpm",
+   "rotate 1600rpm",
+   "start --time 3s"
+  ],
+  "check": "wait",
+  "from": "pine_wavevortex10"
+ },
+ "porometer_poroluxrevo": {
+  "steps": [
+   "power on",
+   "unload",
+   "prepare",
+   "load",
+   "atmosphere gas=on",
+   "start",
+   "#wait 1800"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "quorum_q150tes": {
+  "steps": [
+   "method current=50mA time=60s",
+   "method current=50mA thickness=5nm rotation=off",
+   "vacuum pump",
+   "vacuum off",
+   "vacuum vent",
+   "#wait 30",
+   "start",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "radleys_mya4": {
+  "steps": [
+   "set-temp 60C --zone 1",
+   "heat on --zone 1",
+   "stir 500rpm --zone 1",
+   "stir 600rpm --zone 1",
+   "wait-temp --zone 1 --max 30min",
+   "temp",
+   "program 50C@2min,30C@0s --zone 2",
+   "start --zone 2",
+   "wait --max 1h"
+  ],
+  "check": "result --zone 2",
+  "from": "radleys_mya4"
+ },
+ "retsch_as200": {
+  "steps": [
+   "intensity 1.5mm",
+   "method amplitude=1mm time=2min",
+   "program 0",
+   "start",
+   "#wait 10",
+   "pause on",
+   "pause off",
+   "#wait 200"
+  ],
+  "check": "result",
+  "from": "retsch_as200"
+ },
+ "retsch_pm100": {
+  "steps": [
+   "intensity 300rpm",
+   "method speed=400rpm time=1min",
+   "program 1",
+   "program 0",
+   "start",
+   "#wait 5",
+   "stop",
+   "#wait 10",
+   "rearm",
+   "start --delay 30s",
+   "stop",
+   "result",
+   "start",
+   "#wait 150"
+  ],
+  "check": "result --save-to pm100.json",
+  "from": "retsch_pm100"
+ },
+ "retsch_pt100": {
+  "steps": [
+   "power on",
+   "method time=1min intensity=60 gap=5mm",
+   "intensity 70",
+   "#wait 3",
+   "feeder on",
+   "feeder on",
+   "start",
+   "#wait 10",
+   "pause on",
+   "pause off",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "retsch_pt100"
+ },
+ "rigaku_miniflex600_external_cooling": {
+  "steps": [
+   "load si_srm640_holder",
+   "source on --kv 40kV --ma 15mA",
+   "scan from=20deg to=50deg step=0.05deg time=0.5s",
+   "#wait 400"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "rigaku_xtalabsynergy": {
+  "steps": [
+   "load aspirin_01",
+   "align --wait",
+   "source on --wait",
+   "scan exposure=1s --wait --max 2h",
+   "result"
+  ],
+  "check": "analyze what=index",
+  "from": "rigaku_xtalabsynergy"
+ },
+ "sartorius_vivaflow200": {
+  "steps": [
+   "start",
+   "#wait 120",
+   "stop"
+  ],
+  "check": "result",
+  "from": "sartorius_vivaflow200"
+ },
+ "sciex_pa800": {
+  "steps": [
+   "method wl=200nm",
+   "method steps='[{\"type\":\"rinse\",\"inlet\":\"BI:A1\",\"outlet\":\"BO:A1\",\"pressure_pa\":137895.14586336,\"duration_s\":120.0},{\"type\":\"inject\",\"injection_mode\":\"pressure\",\"inlet\":\"SI:A1\",\"outlet\":\"BO:B1\",\"pressure_pa\":3447.378646584,\"duration_s\":5.0},{\"type\":\"separate\",\"inlet\":\"BI:B1\",\"outlet\":\"BO:B1\",\"control\":\"voltage\",\"voltage_v\":25000.0,\"current_limit_a\":0.0003,\"ramp_s\":10.0,\"duration_s\":600.0}]' wl=214nm",
+   "method lamp=on",
+   "run --wait-ready 10min",
+   "#wait 900"
+  ],
+  "check": "chromatogram",
+  "from": "default lab",
+  "expect": "chromatogram: complete"
+ },
+ "scp_digiprepms": {
+  "steps": [
+   "power on",
+   "method temp=95C ramp=10min hold=20min",
+   "method program=60C@5min,90C@10min hold=10min timeout=3h",
+   "start",
+   "#wait 60",
+   "stop",
+   "result",
+   "start",
+   "#wait 9000",
+   "start",
+   "#wait 60",
+   "stop",
+   "method temp=80C hold=5min",
+   "set-temp 85C",
+   "start",
+   "#wait 2400"
+  ],
+  "check": "result",
+  "from": "scp_digiprepms"
+ },
+ "seal_aa500": {
+  "steps": [
+   "#wait 2100",
+   "measure --cups S:22:baseline,S:1:calibrant,S:2:calibrant,S:3:calibrant,S:4:calibrant,S:22:baseline --wait --max 2h"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "result \\(completed\\)"
+ },
+ "sft_sft110": {
+  "steps": [
+   "pressure 250bar",
+   "start",
+   "#wait 300",
+   "stop",
+   "vent",
+   "#wait 120"
+  ],
+  "check": "result",
+  "from": "sft_sft110"
+ },
+ "shimadzu_ags10knxd": {
+  "steps": [
+   "zero",
+   "method speed=1mm/min target=3mm",
+   "method speed=1mm/min target=3mm",
+   "start",
+   "#wait 20",
+   "result"
+  ],
+  "check": "analyze area=2mm2 gauge=25mm",
+  "from": "shimadzu_ags10knxd"
+ },
+ "shimadzu_edx7200": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "shimadzu_icpe9800": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "shimadzu_icpms2030": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "shimadzu_tocl": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "signatone_quadpro2": {
+  "steps": [
+   "method point=0mm,0mm point=20mm,0mm edge=3mm",
+   "method current=0.1mA",
+   "method calibration=false current=0.1mA",
+   "start",
+   "wait --max 10min",
+   "result"
+  ],
+  "check": "analyze diameter=100mm point=2",
+  "from": "signatone_quadpro2"
+ },
+ "sonics_vcx750": {
+  "steps": [
+   "time 60s",
+   "intensity 40%",
+   "safety-limit 40C",
+   "start --wait"
+  ],
+  "check": "result",
+  "from": "sonics_vcx750"
+ },
+ "specac_atlasmanual": {
+  "steps": [
+   "method load=68kN hold=12s",
+   "method limit=70kN",
+   "close guard",
+   "valve close",
+   "leadscrew 73mm",
+   "start",
+   "pump 2",
+   "pump --to 68kN --hold"
+  ],
+  "check": "result",
+  "from": "specac_atlasmanual"
+ },
+ "stanford_rga100": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "surface_dvsresolution": {
+  "steps": [
+   "power on",
+   "load",
+   "set-temp 25C",
+   "method temp=25C steps=10%,40% time=10s",
+   "atmosphere rh=10% gas=on",
+   "start",
+   "#wait 1800"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "syrris_asiadiscovery": {
+  "steps": [
+   "set-temp 60C --wait",
+   "pressure 5bar",
+   "flow 1mL/min --channel 1",
+   "#wait 30",
+   "flow off --channel 1",
+   "method flows=1mL/min,1mL/min time=2min inject=0s,0s 'collect=[{\"start_s\":30,\"end_s\":100,\"slot\":0}]'",
+   "start",
+   "wait --max 10min"
+  ],
+  "check": "result",
+  "from": "syrris_asiadiscovery"
+ },
+ "syrris_asiafllex": {
+  "steps": [
+   "pressure 3bar",
+   "pressure 100mbar --channel cmp",
+   "start",
+   "#wait 200"
+  ],
+  "check": "result",
+  "from": "syrris_asiafllex"
+ },
+ "ta_dma850": {
+  "steps": [
+   "gas on",
+   "load --preload 0.01N",
+   "close furnace",
+   "method step=25C freq=1Hz strain=0.01%",
+   "set-temp 25C --rate 5K/min",
+   "start",
+   "wait --max 1h",
+   "result"
+  ],
+  "check": "analyze length=10mm area=0.8mm2",
+  "from": "ta_dma850"
+ },
+ "ta_dsc2500": {
+  "steps": [
+   "load 1",
+   "close lid",
+   "gas 50mL/min",
+   "method start=140C ramp=180C@10K/min hold=1min",
+   "set-temp 140C --rate 20K/min",
+   "wait-temp --within 0.3K --max 1h",
+   "start",
+   "wait --max 1h",
+   "result",
+   "analyze integrate mass=2mg from=150C to=170C",
+   "set-temp off",
+   "wait-temp --to 35C --within 3K --max 1h",
+   "open lid",
+   "unload",
+   "wait-temp --to 25C --within 0.001K --max 1h"
+  ],
+  "check": "analyze integrate mass=2mg from=150C to=170C",
+  "from": "ta_dsc2500"
+ },
+ "ta_tamiv": {
+  "steps": [
+   "power on",
+   "set-temp 25C",
+   "wait-temp --max 1h",
+   "method time=20s interval=0.1s",
+   "start",
+   "wait --max 10min",
+   "result"
+  ],
+  "check": "analyze",
+  "from": "ta_tamiv"
+ },
+ "ta_tga5500": {
+  "steps": [
+   "zero",
+   "load 1",
+   "close",
+   "gas O2",
+   "gas N2 25mL/min --balance 10mL/min",
+   "method start=40C ramp=300C@20K/min gas=N2 iso=2min",
+   "set-temp 40C --rate 20K/min",
+   "wait-temp --max 30min",
+   "start",
+   "wait --max 2h",
+   "result --save-to tga.json",
+   "analyze split=380C,450C",
+   "wait-temp --to 35C --within 3K --max 2h"
+  ],
+  "check": "analyze split=380C,450C",
+  "from": "ta_tga5500"
+ },
+ "ta_tma450": {
+  "steps": [
+   "load",
+   "zero",
+   "close",
+   "gas --channel 1 100mL/min",
+   "method start=30C ramp=60C@5K/min hold=30s force=0.05N",
+   "set-temp 30C --rate 10K/min",
+   "wait-temp --max 30min",
+   "start",
+   "wait --max 1h",
+   "result",
+   "analyze length=1.6234mm from=35C to=55C",
+   "set-temp off",
+   "wait-temp --to 35C --within 3K --max 1h"
+  ],
+  "check": "analyze length=1.6234mm from=35C to=55C",
+  "from": "ta_tma450"
+ },
+ "teledyne_analyteexcite": {
+  "steps": [
+   "power on",
+   "position 30mm 30mm 10mm",
+   "method mode=spot spot=80um shots=20 path_m=[[0.03,0.03,0.01]]",
+   "open guard",
+   "open drawer",
+   "close drawer",
+   "close guard",
+   "start",
+   "wait",
+   "result",
+   "rinse",
+   "wait"
+  ],
+  "check": "result",
+  "from": "teledyne_analyteexcite"
+ },
+ "teledyne_atomxxyz": {
+  "steps": [
+   "power on",
+   "method purge-temp=40C purge-time=10min",
+   "method desorb-temp=245C",
+   "open guard",
+   "close guard",
+   "start --vial 1",
+   "#wait 60",
+   "stop",
+   "rinse",
+   "start --vial 3",
+   "wait --max 1h"
+  ],
+  "check": "result",
+  "from": "teledyne_atomxxyz"
+ },
+ "thalesnano_hcube": {
+  "steps": [
+   "set-temp 60C",
+   "flow 0.5mL/min",
+   "pressure 30bar",
+   "method time=5min",
+   "open water_lid",
+   "close water_lid",
+   "start",
+   "wait --max 10min",
+   "result",
+   "wait-temp --max 5min",
+   "temp"
+  ],
+  "check": "result",
+  "from": "thalesnano_hcube"
+ },
+ "thermo_dionexintegrion": {
+  "steps": [
+   "method flow=1.2mL/min eluent=20mM",
+   "flow on",
+   "run",
+   "#wait 70"
+  ],
+  "check": "chromatogram",
+  "from": "thermo_dionexintegrion"
+ },
+ "thermo_ibrightfl1500": {
+  "steps": [
+   "load gel1",
+   "acquire --mode nucleic_acid_gels --wait"
+  ],
+  "check": "result",
+  "from": "thermo_ibrightfl1500"
+ },
+ "thermo_orbitrapexploris": {
+  "steps": [
+   "measure --wait"
+  ],
+  "check": "records",
+  "from": "default lab",
+  "expect": "records \\(([2-9]|[1-9][0-9])\\)"
+ },
+ "thermo_process11": {
+  "steps": [
+   "set-temp 180C --zone 1",
+   "set-temp 180C --zone 2",
+   "set-temp 180C --zone 3",
+   "set-temp 180C --zone 4",
+   "set-temp 180C --zone 5",
+   "set-temp 180C --zone 6",
+   "set-temp 180C --zone 7",
+   "set-temp 180C --zone die",
+   "heat on",
+   "wait-temp --max 1h",
+   "temp",
+   "method time=30s speed=150rpm feed=0.5g/min die-radius=1mm die-length=5mm mixing=1",
+   "speed 100rpm",
+   "speed on",
+   "feed 0.5g/min",
+   "start",
+   "wait --max 5min"
+  ],
+  "check": "result",
+  "from": "thermo_process11"
+ },
+ "thinky_are310s": {
+  "steps": [
+   "load --mass 140g",
+   "speed 2000rpm --time 60s --defoam 2200rpm --defoam-time 30s",
+   "close lid",
+   "#wait 2",
+   "start --wait"
+  ],
+  "check": "result",
+  "from": "thinky_are310s"
+ },
+ "tousimis_autosamdri815": {
+  "steps": [
+   "power on",
+   "method purge=10min bleed=14364",
+   "method bleed=15000",
+   "open lid",
+   "close lid",
+   "start",
+   "#wait 3600"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "tuttnauer_3870elvd": {
+  "steps": [
+   "program custom_1",
+   "configure temp=121C time=20min exhaust=slow_liquids end_temp=80C",
+   "open lid",
+   "load media_1 --kind liquid --mass 700g --liquid water --volume 1L --material borosilicate_glass --closure loose",
+   "close lid",
+   "start",
+   "#wait 14400",
+   "open lid",
+   "unload media_1"
+  ],
+  "check": "status",
+  "from": "default lab"
+ },
+ "uic_kdl1basic": {
+  "steps": [
+   "set-temp 60C",
+   "vacuum 0.05mbar",
+   "rotate 300rpm",
+   "condenser 15C",
+   "method time=3min timeout=5min feed=1.5g/min",
+   "rotate off",
+   "power on",
+   "rotate 250rpm",
+   "start",
+   "#wait 30",
+   "stop"
+  ],
+  "check": "result",
+  "from": "uic_kdl1basic"
+ },
+ "ultrafast_helios": {
+  "steps": [
+   "power on",
+   "method delays=-1ps,0ps,1ps,2ps,5ps,10ps,20ps,50ps,100ps,200ps,500ps,1000ps",
+   "measure --wait",
+   "spectrum"
+  ],
+  "check": "analyze kinetics at=600nm tau=150ps",
+  "from": "ultrafast_helios"
+ },
+ "vacuubrand_pc3001_vario_select": {
+  "steps": [
+   "setpoint 50mbar",
+   "start",
+   "setpoint 30mbar --wait --max 10min",
+   "vent",
+   "#wait 300",
+   "calibrate reference=1013mbar",
+   "vent off",
+   "start",
+   "stop"
+  ],
+  "check": "read",
+  "from": "vacuubrand_pc3001_vario_select"
+ },
+ "vaisala_dmt152": {
+  "steps": [
+   "power on",
+   "#wait 60"
+  ],
+  "check": "result",
+  "from": "vaisala_dmt152"
+ },
+ "velp_udk159": {
+  "steps": [
+   "titrant 0.1M",
+   "method base=80mL boric=35mL",
+   "open door",
+   "close door",
+   "#wait 10",
+   "start",
+   "#wait 900"
+  ],
+  "check": "result",
+  "from": "default lab",
+  "expect": "succeeded"
+ },
+ "vici_euta_2sd6mwe": {
+  "steps": [
+   "select 3 --wait",
+   "select 3",
+   "select 5",
+   "#wait 2"
+  ],
+  "check": "read",
+  "from": "vici_euta_2sd6mwe"
+ },
+ "wtw_oxitopi": {
+  "steps": [
+   "power on",
+   "open incubator_door",
+   "close incubator_door",
+   "method --head h2 days=3",
+   "start --head h1"
+  ],
+  "check": "result --head h1",
+  "from": "wtw_oxitopi"
+ },
+ "wyatt_eclipseaf4": {
+  "steps": [
+   "method flow=1mL/min",
+   "load unknown_1 --volume 20uL",
+   "run",
+   "#wait 100",
+   "stop",
+   "chromatogram"
+  ],
+  "check": "chromatogram --signal uv_au",
+  "from": "wyatt_eclipseaf4"
+ },
+ "ziath_dp5_mirage_2023": {
+  "steps": [
+   "power on",
+   "open rack",
+   "open rack",
+   "close rack",
+   "configure matching=off",
+   "configure matching=on export=csv",
+   "start",
+   "stop",
+   "start",
+   "#wait 5",
+   "result"
+  ],
+  "check": "result --format json",
+  "from": "ziath_dp5_mirage_2023"
+ },
+ "zwick_hit5p": {
+  "steps": [
+   "method interval=2ms time=10s",
+   "start",
+   "#wait 10"
+  ],
+  "check": "result",
+  "from": "default lab"
+ },
+ "zwick_mflow": {
+  "steps": [
+   "set-temp 250C",
+   "method window=40mm..10mm time=300s",
+   "#wait 300",
+   "start",
+   "#wait 300",
+   "result"
+  ],
+  "check": "analyze density=1.1g/cm3",
+  "from": "zwick_mflow"
+ }
+}
\ No newline at end of file
diff --git a/chemlab/tests_generic/helpers.py b/chemlab/tests_generic/helpers.py
new file mode 100644
index 0000000000000000000000000000000000000000..a548f9f0eb348a8a97233b2cd4b53c035f71f3cd
--- /dev/null
+++ b/chemlab/tests_generic/helpers.py
@@ -0,0 +1,40 @@
+import json
+import os
+import shlex
+import sys
+import tempfile
+
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+if ROOT not in sys.path:
+    sys.path.insert(0, ROOT)
+
+RUNS = os.path.join(ROOT, 'build', 'test_runs_generic')
+
+
+def host_paths():
+    """Paths of this machine that must never appear in agent-visible output: the project folder, the home directory and the
+    folder holding the home directories (when it is not '/'), plus the temp dir prefix and the runtime source folder name."""
+    from pathlib import Path
+    from chemlab.hosts import CHEMSIM_ROOT
+    roots = {str(CHEMSIM_ROOT), str(Path.home()), str(Path.home().parent)}
+    return tuple(sorted(p for p in roots if p.strip('/'))) + ('/tmp/', 'Chemistry-Sim/scripts')
+
+
+def host_path_re():
+    import re
+    return '|'.join(re.escape(p) for p in host_paths())
+
+
+def tmpdir():
+    os.makedirs(RUNS, exist_ok=True)
+    return tempfile.mkdtemp(dir=RUNS)
+
+
+def run(lab, cmd, caller='agent'):
+    """In-process call of the generic core (same core the socket serves)."""
+    return lab.core.handle(['chemlab'] + shlex.split(cmd), caller)
+
+
+def run_json(lab, cmd, caller='agent'):
+    r = run(lab, cmd + ' --json', caller)
+    return r.exit_code, json.loads(r.out)
diff --git a/chemlab/tests_generic/test_all203.py b/chemlab/tests_generic/test_all203.py
new file mode 100644
index 0000000000000000000000000000000000000000..155f8eae1141edab62739fb738801ebbc494af19
--- /dev/null
+++ b/chemlab/tests_generic/test_all203.py
@@ -0,0 +1,49 @@
+"""The all-203 acceptance checks of the generic layer (slow: about 15 minutes with the matterix python).
+
+Each part is in chemlab/sweep.py and writes generic_results/<part>.json.  Known, reported exceptions (runtime findings) are
+listed here with the reason; anything else fails the test.
+
+    cd chemlab/tests_generic && <matterix python> -m unittest test_all203
+"""
+import unittest
+
+from helpers import ROOT  # noqa: F401  (puts chemlab on sys.path)
+from chemlab import sweep
+
+# capability -> reason, for calls whose chemlab result may differ from the direct runtime call (none known).
+EQUIVALENCE_EXCEPTIONS = {}
+
+
+class All203(unittest.TestCase):
+    def test_1_equivalence_on_fresh_copies(self):
+        res = sweep.equivalence(log=lambda *a: None)
+        rows = [r for r in res['rows'] if 'cli' in r]
+        self.assertGreaterEqual(len({r['instrument'] for r in rows}), 203)
+        bad = [r for r in rows if not (r['same'] and r['args_sent_equal']) and (r['instrument'], r['capability']) not in EQUIVALENCE_EXCEPTIONS]
+        self.assertEqual(bad, [], 'chemlab call differs from the runtime called directly')
+
+    def test_2_ready_lab_describe_read_calls_visibility(self):
+        res = sweep.ready(log=lambda *a: None)
+        dr = res['describe_read']
+        self.assertEqual(len(dr), 203)
+        self.assertEqual([r['instrument'] for r in dr if not r['ok']], [])
+        self.assertEqual([r for r in res['rows'] if not r['same']], [])
+        self.assertEqual(res['visibility'], [], 'a hidden id reached agent output')
+
+    def test_3_panels(self):
+        res = sweep.panels(log=lambda *a: None)
+        rows = res['rows']
+        self.assertEqual(len(rows), 106)
+        self.assertEqual([r['instrument'] for r in rows if not r.get('ok')], [])
+        self.assertTrue(all(r['screen_equals_capture'] for r in rows))
+
+    def test_4_clock(self):
+        res = sweep.clock(log=lambda *a: None)
+        rows = res['rows']
+        self.assertEqual(len(rows), 2 * 203)
+        self.assertEqual([r['instrument'] for r in rows if not r['clock_ok']], [])
+        self.assertEqual([r['instrument'] for r in rows if r.get('twin_equal') is False], [])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_contract_examples.py b/chemlab/tests_generic/test_contract_examples.py
new file mode 100644
index 0000000000000000000000000000000000000000..16a8723246a69c6a15a16489d538b64f213a0fbd
--- /dev/null
+++ b/chemlab/tests_generic/test_contract_examples.py
@@ -0,0 +1,43 @@
+"""Contract examples that must work as written : every ``template.read`` example of every contract.
+
+``template.read`` looks up a public reference library, so its example must resolve on a fresh instrument whatever the
+lab state.  gamry_reference620 named ``redox_fe3_fe2``, which its library does not have (INVALID_ARGUMENT on every
+state; fixed in its 1.1.1).  The lab here has only the instruments whose contract has ``template.read`` and no set-up.
+"""
+import json
+import shutil
+import unittest
+
+from helpers import tmpdir
+from chemlab.hosts import contract_index
+from chemlab.labbackend import LabBackend, load_config
+
+
+class TemplateReadExamples(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        cfg, index = load_config(), contract_index()
+        cfg['instruments'] = [e for e in cfg['instruments']
+                              if 'template.read' in json.loads(index[e['asset_type_id']].read_text(encoding='utf-8'))['capabilities']]
+        cls.backend = LabBackend(cfg, run_dir=cls.tmp + '/lab', setup=False)
+
+    @classmethod
+    def tearDownClass(cls):
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def test_every_template_read_example_resolves(self):
+        n = 0
+        for iid, inst in sorted(self.backend.instruments.items()):
+            cap = inst.contract['capabilities']['template.read']
+            examples = cap.get('example_arguments')
+            for i, args in enumerate(examples if isinstance(examples, list) else [examples]):
+                n += 1
+                with self.subTest(instrument=iid, arguments=args):
+                    r = self.backend.invoke('agent', iid, 'template.read', args, 'example_%d' % i)
+                    self.assertIn(r.get('status'), ('succeeded', 'accepted'), (r.get('error') or {}).get('code'))
+        self.assertGreaterEqual(n, 40)                                          # 49 examples when this test was written
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_default_world.py b/chemlab/tests_generic/test_default_world.py
new file mode 100644
index 0000000000000000000000000000000000000000..68e2a048d85b679791dd8603944d85a076951dcb
--- /dev/null
+++ b/chemlab/tests_generic/test_default_world.py
@@ -0,0 +1,252 @@
+"""The default lab (configs/all203.json): every instrument runs its main workflow as the agent, with no task-world set-up.
+
+For each instrument (default_world_smoke.json) a short workflow of chemlab commands runs in a one-instrument lab built from
+the default config, then a check command:
+  * gold:   every step succeeds, the check succeeds and (when the spec has "expect") its output matches the pattern;
+  * no-act: in a fresh default lab, the check command alone must NOT give that result (it fails, or the pattern is missing,
+            or for specs without a pattern the output differs) - doing nothing does not produce the result.  Specs with
+            "noact_exempt" (the reason) skip this: the two external-calibration balances, whose loads need a host or the robot.
+
+Steps: "VERB ..." is `chemlab run INST VERB ...`; "#wait N" is `chemlab wait N` (lab time); "!CMD" is a generic command
+(`chemlab CMD`, e.g. `call INST cap ...`, `read INST slot`).  Also checks the default lab's inventory and load time.
+
+    cd chemlab/tests_generic && <matterix python> -m unittest test_default_world      (about 4 minutes)
+"""
+import json
+import os
+import re
+import shlex
+import shutil
+import time
+import unittest
+
+from helpers import ROOT, tmpdir
+from chemlab.glab import GenericLab, single
+from chemlab.labbackend import load_config, LabBackend
+
+SPEC = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'default_world_smoke.json')
+
+
+def argv_of(slug, c):
+    c = c.replace('INST', slug)
+    if c.startswith('#wait '):
+        return ['wait', c.split()[1]]
+    if c.startswith('!'):
+        return shlex.split(c[1:])
+    return ['run', slug] + shlex.split(c)
+
+
+def _norm(text):
+    """Output without times and request ids, to compare a no-act output with gold."""
+    text = re.sub(r'request: r-\d+', '', text)
+    return re.sub(r't = [0-9.]+ s|lab time [0-9.]+ s|at t = [0-9.]+ s|state revision \d+', '', text)
+
+
+def run_spec(cfg, slug, sp, noact=False):
+    """Run one spec; returns {'ok', 'rows', 'check': {'exit', 'out', 'match'}}."""
+    t = tmpdir()
+    rows, chk = [], None
+    try:
+        lab = GenericLab(os.path.join(t, 'lab'), single([slug], cfg))
+        try:
+            for c in ([] if noact else sp['steps']):
+                r = lab.core.handle(['chemlab'] + argv_of(slug, c), 'agent')
+                rows.append({'cmd': c, 'exit': r.exit_code, 'err': (r.err or '')[:300]})
+                if r.exit_code != 0:
+                    break
+            if all(r['exit'] == 0 for r in rows):
+                r = lab.core.handle(['chemlab'] + argv_of(slug, sp['check']), 'agent')
+                out = (r.out or '') + (r.err or '')
+                chk = {'exit': r.exit_code, 'out': out[:4000],
+                       'match': bool(re.search(sp['expect'], out, re.S)) if sp.get('expect') else None}
+        finally:
+            lab.stop()
+    finally:
+        shutil.rmtree(t, ignore_errors=True)
+    ok = chk is not None and chk['exit'] == 0 and chk['match'] is not False
+    return {'ok': ok, 'rows': rows, 'check': chk}
+
+
+def noact_differs(gold, noact):
+    """True when doing nothing does not give gold's result."""
+    c = noact['check']
+    if c is None or c['exit'] != 0 or c['match'] is False:
+        return True
+    if c['match'] is None:
+        return _norm(c['out']) != _norm(gold['check']['out'])
+    return False
+
+
+class DefaultWorld(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.cfg = load_config()
+        with open(SPEC, encoding='utf-8') as f:
+            cls.spec = {k: v for k, v in json.load(f).items() if not k.startswith('_')}
+
+    def test_0_every_instrument_has_a_workflow(self):
+        ids = [e['id'] for e in self.cfg['instruments']]
+        self.assertEqual(len(ids), 203)
+        self.assertEqual(sorted(set(ids) - set(self.spec)), [], 'instruments without a default-lab workflow')
+        self.assertEqual(sorted(set(self.spec) - set(ids)), [])
+
+    def test_1_load_time_and_ready_time(self):
+        t = tmpdir()
+        try:
+            t0 = time.time()
+            b = LabBackend(self.cfg, run_dir=os.path.join(t, 'b'))
+            load_s = time.time() - t0
+            self.assertEqual(b.t_setup, 1800.0)
+            bad = {i: [r for r in inst.setup_report if r.get('status') not in ('succeeded', 'accepted', 'ok')]
+                   for i, inst in b.instruments.items()}
+            self.assertEqual({k: v for k, v in bad.items() if v}, {}, 'set-up steps of the default lab failed')
+            self.assertLess(load_s, 60.0)
+        finally:
+            shutil.rmtree(t, ignore_errors=True)
+
+    def test_2_gold_and_noact(self):
+        fails = {}
+        for slug, sp in sorted(self.spec.items()):
+            gold = run_spec(self.cfg, slug, sp)
+            if not gold['ok']:
+                last = gold['rows'][-1] if gold['rows'] and gold['rows'][-1]['exit'] else {'cmd': sp['check'], 'err': gold['check']}
+                fails[slug] = 'gold failed at %r: %s' % (last['cmd'], str(last['err'])[:200])
+                continue
+            if sp.get('noact_exempt'):                                  # stated in the spec (a load needs a host or the robot)
+                continue
+            noact = run_spec(self.cfg, slug, sp, noact=True)
+            if not noact_differs(gold, noact):
+                fails[slug] = 'doing nothing gives the same result'
+        self.assertEqual(fails, {})
+
+    def test_3_inventory(self):
+        from chemlab import inventory as INV
+        inv = INV.resolve(self.cfg)
+        self.assertEqual(INV.check(inv), [])
+        # the bench shelf's T1 rule (the robot hand overhangs both T1 neighbours): a 1 L bottle next to a handled bottle is reported
+        moved = json.loads(json.dumps(inv))
+        for r in moved['containers']:
+            if r['location']['place'] == 'bench_shelf' and r['location']['position'] == 'T1-01':
+                r['location']['position'] = 'T2-09'
+            if r['id'] == 'water_ultrapure_1l':
+                r['location']['position'] = 'T1-01'
+        self.assertTrue(any('T1 neighbours' in x for x in INV.check(moved)))
+        places = {p['id']: p for p in inv.get('places') or []}
+        self.assertTrue(places)
+        recs = inv.get('containers') or []
+        self.assertGreater(len(recs), 80)
+        self.assertGreater(len(inv.get('instrument_contents') or []), 100)
+        # the content rules: substance ids in substances.json, physical amounts only, solutions with their solutes
+        bad = json.loads(json.dumps(inv))
+        for r in bad['containers']:
+            if r['id'] == 'buffer_ph9_18':
+                r['contents'] = [{'substance': 'sodium_tetraborate_decahydrate', 'amount': {'value': 0.5, 'unit': 'L'}}]
+            if r['id'] == 'osmolality_cal_400':
+                r['contents'][0]['amount'] = {'value': 12, 'unit': 'vial'}
+            if r['id'] == 'hexane_2_5l':
+                r['contents'][0]['substance'] = 'not_a_shared_id'
+        msgs = INV.check(bad)
+        self.assertTrue(any('booked as a volume' in m for m in msgs))
+        self.assertTrue(any('not a physical amount' in m for m in msgs))
+        self.assertTrue(any('not in substances.json' in m for m in msgs))
+        # the reach rule: no "in reach" claim at a side-access-only place (the desiccator)
+        reach = json.loads(json.dumps(inv))
+        for r in reach['containers']:
+            if r['id'] == 'kbr_ir_grade':
+                r['source'] += ' (in reach)'
+        self.assertTrue(any('side-access-only' in m for m in INV.check(reach)))
+        # the vial rack's row B stays empty (the robot's fingers would hit a vial there)
+        rowb = json.loads(json.dumps(inv))
+        for r in rowb['containers']:
+            if r['id'] == 'quantos_vial_1':
+                r['location']['position'] = 'B01'
+        self.assertTrue(any('cannot use' in m for m in INV.check(rowb)))
+        used = {}
+        for r in recs:
+            for k in ('id', 'type', 'contents', 'location', 'storage_class'):
+                self.assertIn(k, r, r.get('id'))
+            loc = r['location']
+            self.assertIn(loc['place'], places, r['id'])
+            if places[loc['place']].get('slots'):
+                key = (loc['place'], loc.get('position'))
+                self.assertNotIn(key, used, 'two containers in one position: %s, %s' % (used.get(key), r['id']))
+                used[key] = r['id']
+        self.assertEqual(len({r['id'] for r in recs}), len(recs))
+        t = tmpdir()
+        try:
+            lab = GenericLab(os.path.join(t, 'lab'), single(['rigaku_miniflex600_external_cooling'], self.cfg))
+            try:
+                r = lab.core.handle(['chemlab', 'list', '--inventory'], 'agent')
+                self.assertEqual(r.exit_code, 0, r.err)
+                self.assertIn('cylinder_rack', r.out)
+                r = lab.core.handle(['chemlab', 'list', '--inventory', 'rigaku_miniflex600_external_cooling'], 'agent')
+                self.assertEqual(r.exit_code, 0, r.err)
+                self.assertIn('silicon', r.out.lower())
+            finally:
+                lab.stop()
+        finally:
+            shutil.rmtree(t, ignore_errors=True)
+
+    def test_4_quantos_powder_task_variant(self):
+        """The task-world variant quantos_powder (configs/all203_quantos_powder.json + inventory_task_quantos_powder.json, made by
+        make_config from inventory.VARIANTS): the Quantos starts empty, the heads stand in their containers on the bench shelf and
+        the empty vials in the bench vial rack (top-down places); a host / the robot inserts the KBr head and a vial (the runtime's
+        head / container registration) and the agent doses 50 mg; the head loses what the vial gains."""
+        from chemlab import inventory as INV
+        from chemlab.labbackend import CONFIG_DIR
+        vcfg = load_config(str(CONFIG_DIR / 'all203_quantos_powder.json'))
+        inv = INV.resolve(vcfg)
+        self.assertEqual(inv.get('variant'), 'quantos_powder')
+        self.assertEqual(INV.check(inv), [])
+        places = {p['id']: p for p in inv['places']}
+        recs = {r['id']: r for r in inv['containers']}
+        for rid in ('qh_kbr_1', 'qh_caco3_1', 'quantos_vial_1', 'quantos_vial_pan'):
+            self.assertEqual(places[recs[rid]['location']['place']].get('access'), 'top_down', rid)
+        for rid in ('qh_kbr_1', 'qh_caco3_1'):
+            self.assertTrue(recs[rid].get('stored_in'), rid)
+        for rid in ('quantos_vial_1', 'quantos_vial_2', 'quantos_vial_3', 'quantos_vial_pan'):
+            self.assertEqual(recs[rid].get('cap'), 'off', rid)            # prepared open for dosing
+        default = {r['id']: r for r in INV.resolve(self.cfg)['containers']}
+        self.assertTrue(all(default[rid].get('cap', 'on') == 'on' for rid in ('quantos_vial_1', 'quantos_vial_pan')))
+        bad = json.loads(json.dumps(inv))
+        for r in bad['containers']:
+            if r['id'] == 'quantos_vial_1':
+                r['cap'] = 'half'
+            if r['id'] == 'qh_kbr_1':
+                r['cap'] = 'off'                                         # a dosing head type has no closure
+        msgs = INV.check(bad)
+        self.assertTrue(any('is not "on" or "off"' in m for m in msgs) and any('has no closure' in m for m in msgs))
+        head, vial = recs['qh_kbr_1'], recs['quantos_vial_1']
+        fill_kg = head['contents'][0]['amount']['value'] / 1000.0
+        q = 'mt_quantos_q2_xpe206dr'
+        from chemlab.compile.tasks.dosing_world import TRAVEL_M as TRAVEL      # the contract's front-door travel (0.5495 m)
+        t = tmpdir()
+        try:
+            lab = GenericLab(os.path.join(t, 'lab'), single([q], vcfg))
+            try:
+                b, inst = lab.backend, lab.backend.instruments[q]
+                self.assertIn('none inserted', lab.core.handle(['chemlab', 'run', q, 'head'], 'agent').out)
+                self.assertEqual(b.invoke('agent', q, 'door.set_opening', {'opening_m': TRAVEL}, 't4-open').get('status'), 'succeeded')
+                inst.host.flush()
+                inst.host.host.host_load_head(iid=q, head_id=head['head_id'], source_mass_kg=fill_kg, free_flowing=True,
+                                              evidence='test: the robot inserted head %s' % head['id'])
+                inst.host.host.host_load_container(iid=q, container_id=vial['id'], position_id='balance_pan', content_mass_kg=0.0,
+                                                   evidence='test: the robot placed vial %s' % vial['id'])
+                self.assertEqual(b.invoke('agent', q, 'door.set_opening', {'opening_m': 0.0}, 't4-close').get('status'), 'succeeded')
+                for c in ('tare', 'dose 50mg --tolerance 1%'):
+                    r = lab.core.handle(['chemlab', 'run', q] + shlex.split(c), 'agent')
+                    self.assertEqual(r.exit_code, 0, r.err)
+                lab.core.handle(['chemlab', 'wait', '200'], 'agent')
+                out = lab.core.handle(['chemlab', 'run', q, 'result'], 'agent').out
+                self.assertIn('succeeded', out)
+                truth = {k: (v.get('value') if isinstance(v, dict) else v) for k, v in b.evaluator_read(q)['observations'].items()}
+                dosed = truth['truth.container_mass_kg']
+                self.assertAlmostEqual(dosed, 5e-05, delta=5e-07)
+                self.assertAlmostEqual(truth['truth.source_mass_kg'], fill_kg - dosed, delta=1e-12)
+            finally:
+                lab.stop()
+        finally:
+            shutil.rmtree(t, ignore_errors=True)
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_generic_core.py b/chemlab/tests_generic/test_generic_core.py
new file mode 100644
index 0000000000000000000000000000000000000000..4de7da8f1b0fb08797d2af627a5d1d3e63aac9e3
--- /dev/null
+++ b/chemlab/tests_generic/test_generic_core.py
@@ -0,0 +1,281 @@
+"""The generic commands on a small lab: parsing, exit codes, visibility, replay, operations, time, panel, adapter hook.
+
+Run with the matterix python (the runtimes need numpy):  cd chemlab && <matterix python> -m unittest discover -s tests_generic
+"""
+import json
+import os
+import re
+import shutil
+import unittest
+
+from helpers import host_path_re, run, run_json, tmpdir
+from chemlab.adapters import InstrumentAdapter
+from chemlab.contract_text import type_short
+from chemlab.generic import EXIT_REFUSED, EXIT_UNEXPECTED, EXIT_UNSUPPORTED, EXIT_USAGE, CmdError, coerce, json_safe
+from chemlab.glab import GenericLab, single
+from chemlab.labbackend import load_config
+from chemlab.recipes import ADVANCE_MODES, all_recipes
+
+IDS = ['ika_plate_rctdigital', 'retsch_as200', 'vaisala_dmt152', 'mt_xpr204e', 'alicat_mc_1slpm_rev6']
+
+
+class Pure(unittest.TestCase):
+    def test_recipes_and_default_config(self):
+        rec = all_recipes()
+        self.assertEqual(len(rec), 203)
+        self.assertTrue(all(r.get('advance') in ADVANCE_MODES for r in rec.values()))
+        cfg = load_config()
+        self.assertEqual(len(cfg['instruments']), 203)
+        self.assertEqual(len({e['id'] for e in cfg['instruments']}), 203)
+        self.assertEqual(sum(1 for e in cfg['instruments'] if 'panel' in e), 106)
+
+    def test_coerce_by_schema(self):
+        self.assertEqual(coerce('373.15', {'type': 'number'}, 'x'), 373.15)
+        self.assertIs(type(coerce('5', {'type': 'integer'}, 'x')), int)
+        self.assertIs(coerce('true', {'type': 'boolean'}, 'x'), True)
+        self.assertEqual(coerce('true', {'type': 'string'}, 'x'), 'true')          # strings stay text
+        self.assertEqual(coerce('5e-9', {'type': 'number'}, 'x'), 5e-9)              # no unit conversion: SI as given
+        self.assertIsNone(coerce('null', {'anyOf': [{'type': 'number'}, {'type': 'null'}]}, 'x'))
+        self.assertEqual(coerce('{"a": [1, 2]}', {'type': 'object'}, 'x'), {'a': [1, 2]})
+        self.assertEqual(coerce('abc', {'type': ['string', 'null']}, 'x'), 'abc')
+        self.assertEqual(coerce('900', {'type': 'number', 'maximum': 10}, 'x'), 900)  # no range check: the runtime checks
+        with self.assertRaises(CmdError) as c:
+            coerce('maybe', {'type': 'boolean'}, 'on')
+        self.assertEqual(c.exception.exit_code, EXIT_USAGE)
+
+    def test_type_short(self):
+        self.assertEqual(type_short({'type': 'number', 'x-unit': 'K', 'minimum': 273.15, 'maximum': 583.15}), 'NUM(K, 273.15..583.15)')
+        self.assertEqual(type_short({'type': 'string', 'enum': ['a', 'b']}), '{a|b}')
+        self.assertEqual(type_short({'anyOf': [{'type': 'number', 'x-unit': 'K'}, {'type': 'null'}]}), 'NUM(K)|null')
+
+    def test_json_safe(self):
+        self.assertEqual(json_safe([float('nan'), float('inf'), 1.5]), ['NaN', 'Infinity', 1.5])
+
+    def test_option_names_never_collide_with_contract_arguments(self):
+        import glob
+        import os
+        from helpers import ROOT
+        names = set()
+        for f in glob.glob(os.path.join(ROOT, '..', 'assets', '**', 'asset.contract.json'), recursive=True):
+            with open(f, encoding='utf-8') as fh:
+                caps = json.load(fh)['capabilities']
+            for c in caps.values():
+                names |= set((c.get('input_schema') or {}).get('properties') or {})
+        self.assertFalse(names & {'args', 'json', 'help', 'request-id', 'request_id', 'save-to'})
+
+
+class SmallLab(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        cls.lab = GenericLab(cls.tmp + '/lab', single(IDS), callers=('agent', 'other')).start()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def calls_since(self, n):
+        return [c for e in self.lab.core.log.entries[n:] for c in e['backend_calls'] if c['op'] in ('invoke', 'write', 'cancel')]
+
+    def test_list_and_describe(self):
+        code, js = run_json(self.lab, 'list')
+        self.assertEqual(code, 0)
+        self.assertEqual(sorted(r['id'] for r in js['instruments']), sorted(IDS))
+        code, js = run_json(self.lab, 'describe ika_plate_rctdigital')
+        caps = {c['id'] for c in js['capabilities']}
+        self.assertIn('heating.set_temperature', caps)
+        self.assertNotIn('truth.inspect', caps)                                # evaluator-only
+        self.assertNotIn('ph.measure', caps)                                   # unsupported
+        self.assertNotIn('panel.frame', caps)                                  # evaluator-only panel view
+        slots = {s['id'] for s in js['state_slots']}
+        self.assertNotIn('truth.process', slots)
+        arg = next(c for c in js['capabilities'] if c['id'] == 'heating.set_temperature')['arguments'][0]
+        self.assertEqual((arg['name'], arg['unit'], arg['minimum'], arg['maximum']), ('temperature_k', 'K', 273.15, 583.15))
+        r = run(self.lab, 'describe ika_plate_rctdigital')
+        self.assertIn('heating.set_temperature', r.out)
+        self.assertNotIn('truth', r.out)
+
+    def test_help_has_example_and_errors(self):
+        r = run(self.lab, 'help ika_plate_rctdigital heating.set_temperature')
+        self.assertEqual(r.exit_code, 0)
+        self.assertIn('chemlab call ika_plate_rctdigital heating.set_temperature --temperature_k 373.15', r.out)
+        self.assertIn('POWER_OFF', r.out)
+        self.assertIn('(zh)', r.out)
+
+    def test_hidden_is_the_same_as_nonexistent(self):
+        a = run(self.lab, 'call ika_plate_rctdigital truth.inspect')
+        b = run(self.lab, 'call ika_plate_rctdigital no.such_capability')
+        self.assertEqual((a.exit_code, b.exit_code), (EXIT_USAGE, EXIT_USAGE))
+        self.assertEqual(a.err.replace('truth.inspect', 'X').split('request:')[0], b.err.replace('no.such_capability', 'X').split('request:')[0])
+        r = run(self.lab, 'read ika_plate_rctdigital truth.process')
+        self.assertEqual(r.exit_code, EXIT_USAGE)
+        self.assertIn('UNKNOWN_SLOT', r.err)
+        r = run(self.lab, 'help mt_xpr204e panel.frame')
+        self.assertEqual(r.exit_code, EXIT_USAGE)
+
+    def test_unsupported_is_exit_6(self):
+        n = len(self.lab.core.log.entries)
+        r = run(self.lab, 'call ika_plate_rctdigital ph.measure')
+        self.assertEqual(r.exit_code, EXIT_UNSUPPORTED, r.err)
+        self.assertIn('unsupported', r.err)
+        self.assertEqual(len(self.calls_since(n)), 1)                         # the runtime answered it itself
+
+    def test_refused_prints_code_contract_and_side_effects(self):
+        r = run(self.lab, 'call ika_plate_rctdigital heating.set_temperature --temperature_k 900')
+        self.assertEqual(r.exit_code, EXIT_REFUSED)
+        self.assertIn('error[refused/INVALID_ARGUMENT]', r.err)
+        self.assertIn('contract: 参数不符合输入模式或取值范围', r.err)
+        self.assertIn('side effects: none', r.err)
+        code, js = run_json(self.lab, 'call ika_plate_rctdigital heating.set_temperature --temperature_k 900')
+        self.assertEqual(js['error']['runtime']['code'], 'INVALID_ARGUMENT')
+        self.assertEqual(js['error']['side_effects'], 'none')
+
+    def test_bad_usage_sends_nothing(self):
+        n = len(self.lab.core.log.entries)
+        for cmd in ('call ika_plate_rctdigital power.set --on maybe', 'call ika_plate_rctdigital', 'read nosuch', 'frobnicate',
+                    'call ika_plate_rctdigital power.set --args [1]', 'wait 0', 'wait -5', 'screen ika_plate_rctdigital -o ../escape.png',
+                    'screen ika_plate_rctdigital -o /etc/x.png', 'panel ika_plate_rctdigital dance', 'write ika_plate_rctdigital power.on true'):
+            r = run(self.lab, cmd)
+            self.assertEqual(r.exit_code, EXIT_USAGE, cmd + '\n' + r.err)
+            self.assertIn('nothing was sent', r.err, cmd)
+        self.assertEqual(self.calls_since(n), [])
+
+    def test_request_id_replay(self):
+        n = len(self.lab.core.log.entries)
+        a = run(self.lab, 'call vaisala_dmt152 power.set --on true --voltage_v 24 --request-id p1')
+        b = run(self.lab, 'call vaisala_dmt152 power.set --on true --voltage_v 24 --request-id p1')
+        self.assertEqual(a.exit_code, 0, a.err)
+        self.assertEqual(a.out, b.out)
+        self.assertIn('replayed', b.err)
+        self.assertEqual(len(self.calls_since(n)), 1)
+        c = run(self.lab, 'call vaisala_dmt152 power.set --on false --request-id p1')
+        self.assertEqual(c.exit_code, EXIT_USAGE)
+        self.assertIn('REQUEST_ID_REUSED', c.err)
+        d = run(self.lab, 'time --request-id r-0001')
+        self.assertIn('BAD_REQUEST_ID', d.err)
+
+    def test_runtime_exception_is_exit_4(self):
+        host = self.lab.backend.instruments['vaisala_dmt152'].host
+        orig = host.invoke
+
+        def boom(*a, **k):
+            raise RuntimeError('secret internals %s/x' % os.path.expanduser('~'))
+        host.invoke = boom
+        try:
+            r = run(self.lab, 'call vaisala_dmt152 errors.read')
+        finally:
+            host.invoke = orig
+        self.assertEqual(r.exit_code, EXIT_UNEXPECTED)
+        self.assertIn('RuntimeError', r.err)
+        self.assertNotIn('secret internals', r.err)
+
+    def test_operation_status_wait_and_ownership(self):
+        code, js = run_json(self.lab, 'call retsch_as200 acquisition.start')
+        self.assertEqual(code, 0, js)
+        op = js['operation']
+        code, st = run_json(self.lab, 'status %s' % op)
+        self.assertEqual((code, st['status'], st['done']), (0, 'running', False))
+        r = run(self.lab, 'status %s' % op, caller='other')                    # another caller cannot see it
+        self.assertEqual(r.exit_code, EXIT_USAGE)
+        t0 = self.lab.backend.now()
+        code, w = run_json(self.lab, 'wait %s' % op)
+        self.assertEqual((code, w['status'], w['done']), (0, 'succeeded', True))
+        self.assertGreater(self.lab.backend.now(), t0)
+        code, mine = run_json(self.lab, 'status')
+        self.assertIn(op, [o['handle'] for o in mine['operations']])
+
+    def test_wait_moves_every_clock(self):
+        t0 = self.lab.backend.now()
+        r = run(self.lab, 'wait 2.5')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertAlmostEqual(self.lab.backend.now(), t0 + 2.5)
+        for iid in IDS:
+            self.assertAlmostEqual(self.lab.backend.runtime_clock(iid), t0 + 2.5, places=6)
+        self.assertEqual(run(self.lab, 'wait 1e9').exit_code, EXIT_USAGE)
+
+    def test_write_and_contract_slot_ids(self):
+        r = run(self.lab, 'write mt_xpr204e balance.filter_level High')
+        self.assertEqual(r.exit_code, 0, r.err)
+        code, js = run_json(self.lab, 'read mt_xpr204e balance.filter_level')
+        self.assertEqual(js['observations']['balance.filter_level']['value'], 'High')
+        # runtime and contract slot ids are identical (alicat 1.4.1 and later): no case aliases
+        code, js = run_json(self.lab, 'read alicat_mc_1slpm_rev6 measurement.pressure_pa')
+        self.assertEqual(code, 0, js)
+        self.assertEqual(list(js['observations']), ['measurement.pressure_pa'])
+        self.assertEqual(run(self.lab, 'read alicat_mc_1slpm_rev6 measurement.pressure_Pa').exit_code, EXIT_USAGE)
+        code, js = run_json(self.lab, 'read alicat_mc_1slpm_rev6')
+        self.assertIn('gas.reference_temperature_k', js['observations'])
+        self.assertFalse([k for k in js['observations'] if k != k.lower()])
+
+    def test_screen_and_panel(self):
+        r = run(self.lab, 'screen mt_xpr204e -o shots/a.png')
+        self.assertEqual(r.exit_code, 0, r.err)
+        f = self.lab.work / 'shots' / 'a.png'
+        self.assertTrue(f.read_bytes().startswith(b'\x89PNG'))
+        resp = self.lab.backend.invoke('agent', 'mt_xpr204e', 'panel.capture', {'display_id': 'terminal'}, 'cap-test')
+        self.assertEqual(f.read_bytes(), self.lab.backend.capture_file(resp).read_bytes())
+        r = run(self.lab, 'panel ika_plate_rctdigital press menu_key')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertIn('accepted', r.out)
+        r = run(self.lab, 'panel ika_plate_rctdigital turn knob_temperature 3')
+        self.assertEqual(r.exit_code, 0, r.err)
+        r = run(self.lab, 'panel vaisala_dmt152 press x')
+        self.assertEqual(r.exit_code, EXIT_USAGE)
+
+    def test_log_is_per_caller_and_json_everywhere(self):
+        run(self.lab, 'time', caller='other')
+        code, js = run_json(self.lab, 'log --last 1000')
+        self.assertTrue(all('other' not in json.dumps(e) for e in js['entries'] if 'caller' in e))
+        code, other = run_json(self.lab, 'log --last 1000', caller='other')
+        mine = {e['request_id'] for e in js['entries']}
+        self.assertFalse(mine & {e['request_id'] for e in other['entries']})
+        for cmd in ('list', 'time', 'status', 'describe retsch_as200', 'help retsch_as200 acquisition.start', 'read retsch_as200',
+                    'help mt_xpr204e panel', 'call vaisala_dmt152 errors.read', 'wait 1', 'call x y', 'log'):
+            r = run(self.lab, cmd + ' --json')
+            json.loads(r.out)
+
+    def test_no_host_paths_in_outputs(self):
+        for e in self.lab.core.log.entries:
+            self.assertNotRegex(e['stdout'] + e['stderr'], host_path_re())
+
+
+class Probe(InstrumentAdapter):
+    """A step-2 style adapter for the hook test: one class verb and an intercepted describe."""
+
+    def verbs(self):
+        return {'hello': 'say hello through the hook'}
+
+    def intercept(self, core, req):
+        if req.command == 'describe' and '--json' not in req.args:
+            return None
+        return None
+
+    def run(self, core, req, verb, args):
+        r = core.backend.read(req.caller, req.instrument, None)
+        return {'text': 'hello from %s at t=%.1f\n' % (req.instrument, r['clock']['time_s']), 'json': {'verb': verb}}
+
+
+class AdapterHook(unittest.TestCase):
+    def test_hook_empty_by_default_and_pluggable(self):
+        tmp = tmpdir()
+        try:
+            cfg = single(['vaisala_dmt152'])
+            cfg['class_adapters'] = False                     # no class fragments: the hook is empty (compile layer off)
+            lab = GenericLab(tmp + '/a', cfg)
+            r = run(lab, 'run vaisala_dmt152 hello')
+            self.assertEqual(r.exit_code, EXIT_USAGE)
+            self.assertIn('no class-level verbs yet', r.err)
+            lab2 = GenericLab(tmp + '/b', single(['vaisala_dmt152']), adapters={'vaisala_dmt152': Probe('vaisala_dmt152', {})})
+            r = run(lab2, 'run vaisala_dmt152 hello')
+            self.assertEqual(r.exit_code, 0, r.err)
+            self.assertIn('hello from vaisala_dmt152', r.out)
+            self.assertIn('class-level verbs', run(lab2, 'describe vaisala_dmt152').out)
+            self.assertEqual(run(lab2, 'read vaisala_dmt152').exit_code, 0)                    # generic commands unchanged
+            self.assertEqual(run(lab2, 'call vaisala_dmt152 power.set --on true').exit_code, 0)
+        finally:
+            shutil.rmtree(tmp, ignore_errors=True)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_generic_sandbox.py b/chemlab/tests_generic/test_generic_sandbox.py
new file mode 100644
index 0000000000000000000000000000000000000000..105bc81ba409d5a62c74cb0a30ccfb6031fd7b3d
--- /dev/null
+++ b/chemlab/tests_generic/test_generic_sandbox.py
@@ -0,0 +1,142 @@
+"""The pilot's sandbox bypass probes, against the generic lab (several instruments, the default set-up).
+
+Each probe runs as an agent command inside the sandbox through the real client; the instruments must be unchanged after all
+bypass attempts and only the chemlab client may reach the service.
+"""
+import json
+import os
+import shutil
+import unittest
+
+from helpers import ROOT, RUNS, tmpdir
+from chemlab.glab import GenericLab, single
+from chemlab.hosts import SCRIPTS_DIR
+from chemlab.sandbox import check as sandbox_problems
+
+DENIED = ('Permission denied', 'Operation not permitted', 'No such file')
+IDS = ['ika_plate_rctdigital', 'mt_xpr204e', 'vaisala_dmt152']
+
+
+def snapshot(lab):
+    return json.dumps({i: lab.backend.evaluator_read(i)['observations'] for i in IDS}, sort_keys=True, default=str)
+
+
+class GenericSandboxBypass(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        if sandbox_problems():
+            raise unittest.SkipTest('agent sandbox not available here: %s' % '; '.join(sandbox_problems()))
+        cls.tmp = tmpdir()
+        cls.lab = GenericLab(os.path.join(cls.tmp, 'lab'), single(IDS)).start()
+        cls.before = snapshot(cls.lab)
+        cls.contract = str(cls.lab.backend.instruments['ika_plate_rctdigital'].contract_path)
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def denied(self, command, *needles):
+        r = self.lab.sh(command)
+        text = r.out + r.err
+        self.assertNotEqual(r.exit_code, 0, 'not refused: %s\n%s' % (command, text))
+        self.assertTrue(any(n in text for n in (needles or DENIED)), 'unexpected output for %s:\n%s' % (command, text))
+        return r
+
+    def test_cannot_read_runtime_source_contract_or_panel_spec(self):
+        self.denied('cat %s/asset_runtime/ika_plate_rctdigital.py' % SCRIPTS_DIR)
+        self.denied('cat %s/chemlab/generic.py' % ROOT)
+        self.denied('cat %s' % self.contract)
+        self.denied('cat %s' % self.contract.replace('asset.contract.json', 'panel_ui.json'))
+        self.denied('ls %s' % os.path.dirname(ROOT))
+        self.denied('cat %s/configs/all203.json' % ROOT)
+        self.denied('grep -r IkaPlateRctdigitalRuntime %s' % SCRIPTS_DIR)
+
+    def test_cannot_read_the_run_dir_captures_or_log(self):
+        self.denied('cat %s/core_log.jsonl' % self.lab.run_dir)
+        self.denied('ls %s/captures' % self.lab.run_dir)
+        self.denied('ls %s' % self.lab.run_dir)
+        self.denied('ls %s' % RUNS)
+
+    def test_no_proc_no_tmp_no_home(self):
+        self.denied('cat /proc/self/environ')
+        self.denied('cat /proc/%d/environ' % os.getpid())
+        self.denied('ls /proc')
+        self.denied('ls /tmp')
+        self.denied('ls /tmp/chemistry_sim_panel')
+        self.denied('echo x > /tmp/chemlab_probe')
+        self.denied('ls %s' % os.path.dirname(os.path.expanduser('~')))
+        self.denied('ls %s' % os.path.expanduser('~'))
+
+    def test_no_interpreters_no_runtime_import(self):
+        self.denied('python3 -c "import sys; sys.path.insert(0, \'%s\'); import basic40_runtime_measure"' % SCRIPTS_DIR)
+        for exe in ('/usr/bin/python3', shutil.which('python3') or '/usr/bin/python3', '/usr/bin/perl', '/usr/bin/nc', '/usr/bin/curl',
+                    '/usr/bin/wget', '/usr/bin/socat', '/usr/bin/ssh', '/usr/bin/gcc', '/usr/bin/systemd-run', '/usr/bin/dbus-send'):
+            self.denied('%s --version' % exe, 'Permission denied', 'No such file')
+
+    def test_no_exec_of_own_files_and_no_link_tricks(self):
+        self.denied('cp /usr/bin/ls ./myls && ./myls')
+        self.denied('printf "#!/bin/sh\\necho hi\\n" > x.sh && chmod +x x.sh && ./x.sh')
+        self.denied('ln -s %s link.json && cat link.json' % self.contract)
+        self.denied('ln %s hard.json && cat hard.json' % self.contract, 'Permission denied', 'Invalid cross-device', 'Operation not permitted')
+
+    def test_no_network_no_signals(self):
+        self.denied('exec 3<>/dev/tcp/127.0.0.1/22')
+        self.denied('exec 3<>/dev/udp/127.0.0.1/53')
+        self.denied('kill -0 %d' % os.getpid())
+        self.denied('kill -0 $PPID')
+
+    def test_client_auth_and_socket_checks(self):
+        n = len(self.lab.core.log.entries)
+        self.denied('CHEMLAB_TOKEN=0000 chemlab call vaisala_dmt152 power.set --on true', 'NOT_AUTHORIZED')
+        self.denied('CHEMLAB_SOCKET=/run/user/%d/bus chemlab list' % os.getuid(), 'UNREACHABLE')
+        self.denied('CHEMLAB_SOCKET=%s/other/lab.sock chemlab list' % self.tmp, 'UNREACHABLE')
+        self.assertEqual(len(self.lab.core.log.entries), n)
+        self.assertIn('bad token', self.lab.server.rejected)
+
+    def test_other_labs_socket_refuses_this_token(self):
+        other = GenericLab(os.path.join(self.tmp, 'other'), single(['vaisala_dmt152']), setup=False).start()
+        try:
+            r = self.lab.sh('CHEMLAB_SOCKET=%s chemlab list' % other.server.path)
+            self.assertEqual(r.exit_code, 2)
+            self.assertIn('NOT_AUTHORIZED', r.err)
+            self.assertEqual(other.core.log.entries, [])
+        finally:
+            other.stop()
+
+    def test_service_down_is_exit_5(self):
+        down = GenericLab(os.path.join(self.tmp, 'down'), single(['vaisala_dmt152']), setup=False)      # never started
+        r = down.sh('chemlab list; echo "exit=$?"')
+        self.assertIn('exit=5', r.out)
+        self.assertIn('UNREACHABLE', r.err)
+
+    def test_screen_lands_in_the_work_dir_only(self):
+        r = self.lab.sh('chemlab screen mt_xpr204e -o shots/home.png && head -c 8 shots/home.png | od -c | head -1')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertIn('P   N   G', r.out)
+        r = self.lab.sh('chemlab screen mt_xpr204e -o ../../escape.png; echo "exit=$?"')
+        self.assertIn('exit=2', r.out)
+        self.assertFalse(os.path.exists(os.path.join(self.lab.run_dir, '..', 'escape.png')))
+        r = self.lab.sh('chemlab screen mt_xpr204e -o "$HOME/abs.png" && ls abs.png')
+        self.assertEqual(r.exit_code, 0, r.err)
+
+    def test_shell_still_works(self):
+        r = self.lab.sh('for i in 1 2 3; do echo $i; done | wc -l; chemlab list --json | jq -r ".instruments | length"; '
+                        'chemlab read vaisala_dmt152 --json | jq -r .instrument; env | sort | cut -d= -f1 | paste -sd, -')
+        self.assertEqual(r.exit_code, 0, r.err)
+        lines = r.out.splitlines()
+        self.assertEqual(lines[:3], ['3', '3', 'vaisala_dmt152'])
+        allowed = {'CHEMLAB_SOCKET', 'CHEMLAB_TOKEN', 'HOME', 'LANG', 'LC_ALL', 'PATH', 'PS1', 'SHELL', 'TERM', 'TMPDIR', 'PWD', 'SHLVL', '_', 'OLDPWD'}
+        self.assertLessEqual(set(lines[3].split(',')), allowed)
+
+    def test_scripts_of_chemlab_calls_run_with_bash(self):
+        r = self.lab.sh('printf "chemlab time\\nchemlab read vaisala_dmt152 power.on --json | jq -r .instrument\\n" > s.sh; bash s.sh; . ./s.sh | tail -1')
+        self.assertEqual(r.exit_code, 0, r.err)
+        self.assertEqual(r.out.count('vaisala_dmt152'), 2, r.out)
+
+    def test_zz_instruments_unchanged_by_all_probes(self):
+        self.assertEqual(snapshot(self.lab), self.before)
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_host_recipes.py b/chemlab/tests_generic/test_host_recipes.py
new file mode 100644
index 0000000000000000000000000000000000000000..7e7246c5f4113c2114a7ed0cfb97a87e89ddf2b6
--- /dev/null
+++ b/chemlab/tests_generic/test_host_recipes.py
@@ -0,0 +1,43 @@
+"""Host recipes: configs/host_recipes.json is complete and loads on its own; when the Matterix bridge is present, the JSON
+equals the recipes parsed from it (otherwise that test is skipped).
+
+    cd chemlab/tests_generic && python -m unittest test_host_recipes
+"""
+import os
+import unittest
+from pathlib import Path
+from unittest import mock
+
+import helpers  # noqa: F401  (puts the chemlab package on sys.path)
+from chemlab import recipes as R
+from chemlab.hosts import SCRIPTS_DIR
+
+
+class HostRecipesJson(unittest.TestCase):
+    def test_json_is_complete(self):
+        rec = R.all_recipes(R.HOST_RECIPES_JSON)
+        self.assertEqual(len(rec), 203)
+        for atid, r in rec.items():
+            self.assertTrue(atid.startswith('instrument.'), atid)
+            self.assertIn(r.get('advance'), R.ADVANCE_MODES, atid)
+            self.assertTrue(r.get('module') and r.get('cls'), atid)
+            mod = Path(SCRIPTS_DIR, *r['module'].split('.'))
+            self.assertTrue(mod.with_suffix('.py').is_file() or (mod / '__init__.py').is_file(), (atid, r['module']))
+
+    def test_json_is_the_default_without_matterix(self):
+        with mock.patch.object(R, 'MATTERIX_ROOT', Path(os.devnull) / 'no_matterix'):
+            self.assertIsNone(R.bridge_path())
+            data = R.load_recipes()
+        self.assertEqual(Path(data['source']), R.HOST_RECIPES_JSON)
+        self.assertEqual(len(data['recipes']) + len(data['panel_recipes']), 203)
+
+    def test_json_equals_the_bridge(self):
+        if R.bridge_path() is None:
+            self.skipTest('the Matterix bridge is not present (set MATTERIX_PATH to compare)')
+        self.assertEqual(R.diff(), [], 'run: python -m chemlab.recipes --export')
+        bridge = R.all_recipes(R.bridge_path())
+        self.assertEqual(R._plain(bridge), R.all_recipes(R.HOST_RECIPES_JSON))
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/chemlab/tests_generic/test_mcp_shell.py b/chemlab/tests_generic/test_mcp_shell.py
new file mode 100644
index 0000000000000000000000000000000000000000..f99c4a8833e374519fe1cf882687b8b623b2892b
--- /dev/null
+++ b/chemlab/tests_generic/test_mcp_shell.py
@@ -0,0 +1,74 @@
+"""The optional MCP shell: same commands, same core, no rules of its own (it only builds argv)."""
+import json
+import os
+import re
+import shutil
+import subprocess
+import sys
+import unittest
+
+from helpers import ROOT, run, tmpdir
+from chemlab.glab import GenericLab, single
+from chemlab.mcp_shell import TOOLS, argv_for
+
+
+def strip_ids(text):
+    return re.sub(r'(request: |"request_id": ")r-\d+', r'\1r-N', text)
+
+
+class McpShell(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        cls.tmp = tmpdir()
+        cls.lab = GenericLab(os.path.join(cls.tmp, 'lab'), single(['vaisala_dmt152', 'mt_xpr204e'])).start()
+        env = dict(os.environ, CHEMLAB_SOCKET=cls.lab.server.path, CHEMLAB_TOKEN=cls.lab.tokens['agent'], CHEMLAB_WORK=str(cls.lab.work),
+                   PYTHONPATH=ROOT)
+        cls.proc = subprocess.Popen([sys.executable, '-m', 'chemlab.mcp_shell'], cwd=ROOT, env=env, stdin=subprocess.PIPE,
+                                    stdout=subprocess.PIPE, text=True)
+        cls.n = 0
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.proc.stdin.close()
+        cls.proc.wait(timeout=10)
+        cls.lab.stop()
+        shutil.rmtree(cls.tmp, ignore_errors=True)
+
+    def rpc(self, method, params=None):
+        type(self).n += 1
+        self.proc.stdin.write(json.dumps({'jsonrpc': '2.0', 'id': self.n, 'method': method, 'params': params or {}}) + '\n')
+        self.proc.stdin.flush()
+        return json.loads(self.proc.stdout.readline())
+
+    def test_initialize_and_tools(self):
+        r = self.rpc('initialize', {'protocolVersion': '2025-06-18', 'capabilities': {}, 'clientInfo': {'name': 't', 'version': '0'}})
+        self.assertEqual(r['result']['serverInfo']['name'], 'chemlab')
+        names = {t['name'] for t in self.rpc('tools/list')['result']['tools']}
+        self.assertEqual(names, {t['name'] for t in TOOLS})
+
+    def test_same_replies_as_the_command_line(self):
+        for tool, args, cmd in [('chemlab_describe', {'instrument': 'vaisala_dmt152'}, 'describe vaisala_dmt152'),
+                                ('chemlab_help', {'instrument': 'vaisala_dmt152', 'capability': 'power.set'}, 'help vaisala_dmt152 power.set'),
+                                ('chemlab_call', {'instrument': 'vaisala_dmt152', 'capability': 'truth.inspect'}, 'call vaisala_dmt152 truth.inspect'),
+                                ('chemlab_call', {'instrument': 'vaisala_dmt152', 'capability': 'power.set', 'arguments': {'on': True, 'voltage_v': 99}},
+                                 'call vaisala_dmt152 power.set --on true --voltage_v 99')]:
+            r = self.rpc('tools/call', {'name': tool, 'arguments': args})['result']
+            c = run(self.lab, cmd)
+            self.assertEqual(r['isError'], c.exit_code != 0, tool)
+            self.assertEqual(strip_ids(r['content'][0]['text']), strip_ids(c.out if c.exit_code == 0 else c.err), tool)
+
+    def test_screen_returns_the_image(self):
+        r = self.rpc('tools/call', {'name': 'chemlab_screen', 'arguments': {'instrument': 'mt_xpr204e', 'file': 'mcp.png'}})['result']
+        self.assertFalse(r['isError'], r)
+        img = [c for c in r['content'] if c['type'] == 'image']
+        self.assertEqual(len(img), 1)
+        self.assertTrue((self.lab.work / 'mcp.png').exists())
+
+    def test_argv_only(self):
+        self.assertEqual(argv_for('chemlab_panel', {'instrument': 'x', 'gesture': 'touch', 'target': 'd', 'x': 1, 'y': 2, 'to': [3, 4], 'hold': 1}),
+                         ['chemlab', 'panel', 'x', 'touch', 'd', '1', '2', '--to', '3', '4', '--hold', '1.0'])
+        self.assertEqual(argv_for('chemlab_wait', {'seconds': 5}), ['chemlab', 'wait', '5.0'])
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/media/figs/chemlab_panel.webp b/media/figs/chemlab_panel.webp
new file mode 100644
index 0000000000000000000000000000000000000000..6a9f0dd85017aba09f6aace1ba6bf54a20c5b695
--- /dev/null
+++ b/media/figs/chemlab_panel.webp
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_doors_head_support.py b/outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_doors_head_support.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff80429a489b32b7a34d7567d38c9a085dc5d13c
--- /dev/null
+++ b/outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_doors_head_support.py
@@ -0,0 +1,253 @@
+"""CHEM-174 doors and dosing-head support check (2026-10-23 fix).  Plain python (numpy), no Blender:
+
+    python outputs/basic40_batch02/t5_automation/mt_quantos_q2/verify_doors_head_support.py [--no-write]
+
+Reads model.urdf, geometry_manifest.json and collision_proxies.json and writes doors_head_support_validation.json:
+* the four door joints (front-door lever, front door as its mimic, left / right side doors) with the limits of the manifest;
+* the front door at closed / open: hinge pin, lower edge and lever tip against the brochure p.10 side-view reading;
+* swept collision of every moving door link (8-21 poses) against the static links (oriented-box separating-axis test; cylinders
+  as their bounding boxes, so the result is conservative); self-collision is off in the simulator, the sweep shows the
+  geometry stays clear anyway;
+* the open dosing-head support: the head (dosing_head proxies) at the seat and along the insertion path of the manual
+  (slide on along +Y 30 mm at +3 mm, press down 3 mm; p.21) does not touch the support, and it rests on the lower fork.
+"""
+import json
+import math
+import sys
+import xml.etree.ElementTree as ET
+from datetime import datetime, timezone
+from pathlib import Path
+
+import numpy as np
+
+HERE = Path(__file__).resolve().parent
+ROOT = HERE.parents[3]
+ASSET = ROOT / 'assets/basic40_batch02/t5_automation/mt_quantos_q2'
+SEAT_PRESS_M, SLIDE_M = 0.003, 0.030
+
+
+def rot(axis, q):
+    a = np.asarray(axis, float) / np.linalg.norm(axis)
+    K = np.array([[0, -a[2], a[1]], [a[2], 0, -a[0]], [-a[1], a[0], 0]])
+    R = np.eye(4)
+    R[:3, :3] = np.eye(3) + math.sin(q) * K + (1 - math.cos(q)) * K @ K
+    return R
+
+
+def trans(v):
+    T = np.eye(4)
+    T[:3, 3] = v
+    return T
+
+
+def rpy(r, p, y):
+    return rot([0, 0, 1], y) @ rot([0, 1, 0], p) @ rot([1, 0, 0], r)
+
+
+def load_urdf():
+    tree = ET.parse(ASSET / 'model.urdf').getroot()
+    links = {}
+    for l in tree.findall('link'):
+        prims = []
+        for c in l.findall('collision'):
+            o = c.find('origin')
+            xyz = [float(v) for v in o.get('xyz').split()]
+            r = [float(v) for v in o.get('rpy').split()]
+            g = list(c.find('geometry'))[0]
+            if g.tag == 'box':
+                half = [float(v) / 2 for v in g.get('size').split()]
+            elif g.tag == 'cylinder':
+                rad, ln = float(g.get('radius')), float(g.get('length'))
+                half = [rad, rad, ln / 2]
+            else:
+                rad = float(g.get('radius'))
+                half = [rad, rad, rad]
+            prims.append((trans(xyz) @ rpy(*r), np.array(half), c.get('name')))
+        links[l.get('name')] = prims
+    joints = {}
+    for j in tree.findall('joint'):
+        o = j.find('origin')
+        ax = j.find('axis')
+        lim = j.find('limit')
+        mim = j.find('mimic')
+        joints[j.get('name')] = dict(type=j.get('type'), parent=j.find('parent').get('link'), child=j.find('child').get('link'),
+                                     origin=[float(v) for v in o.get('xyz').split()], axis=[float(v) for v in ax.get('xyz').split()] if ax is not None else None,
+                                     limit=[float(lim.get('lower')), float(lim.get('upper'))] if lim is not None else None,
+                                     mimic=dict(joint=mim.get('joint'), multiplier=float(mim.get('multiplier')), offset=float(mim.get('offset'))) if mim is not None else None)
+    return links, joints
+
+
+def link_poses(joints, q):
+    """World transform of every link for joint values q {joint: value}; mimic joints follow their master."""
+    by_child = {j['child']: (name, j) for name, j in joints.items()}
+    cache = {'base_link': np.eye(4)}
+
+    def pose(link):
+        if link in cache:
+            return cache[link]
+        name, j = by_child[link]
+        v = 0.0
+        if j['type'] in ('revolute', 'prismatic'):
+            v = q.get(name, 0.0)
+            if j['mimic']:
+                v = j['mimic']['multiplier'] * q.get(j['mimic']['joint'], 0.0) + j['mimic']['offset']
+        T = pose(j['parent']) @ trans(j['origin'])
+        if j['type'] == 'revolute':
+            T = T @ rot(j['axis'], v)
+        elif j['type'] == 'prismatic':
+            T = T @ trans(np.asarray(j['axis']) * v)
+        cache[link] = T
+        return T
+    return {l: pose(l) for l in [j['child'] for j in joints.values()] + ['base_link']}
+
+
+def sat(a, b):
+    """Oriented boxes (T, half): penetration depth > 0 if they overlap, else -(largest separation found)."""
+    Ta, ha = a
+    Tb, hb = b
+    Aa, Ab = Ta[:3, :3], Tb[:3, :3]
+    d = Tb[:3, 3] - Ta[:3, 3]
+    axes = [Aa[:, i] for i in range(3)] + [Ab[:, i] for i in range(3)]
+    for i in range(3):
+        for k in range(3):
+            c = np.cross(Aa[:, i], Ab[:, k])
+            if np.linalg.norm(c) > 1e-9:
+                axes.append(c / np.linalg.norm(c))
+    depth = float('inf')
+    for ax in axes:
+        ra = sum(ha[i] * abs(Aa[:, i] @ ax) for i in range(3))
+        rb = sum(hb[i] * abs(Ab[:, i] @ ax) for i in range(3))
+        depth = min(depth, ra + rb - abs(d @ ax))
+    return depth
+
+
+def world(prims, T):
+    return [(T @ P, h, n) for P, h, n in prims]
+
+
+def worst(moving, static):
+    best = (-1.0, None, None)
+    for Pa, ha, na in moving:
+        for Pb, hb, nb in static:
+            dep = sat((Pa, ha), (Pb, hb))
+            if dep > best[0]:
+                best = (dep, na, nb)
+    return best
+
+
+def main():
+    links, joints = load_urdf()
+    man = json.loads((ASSET / 'geometry_manifest.json').read_text())
+    mj = {j['id']: j for j in man['mechanical_joints']}
+    checks = []
+
+    def check(cid, ok, details):
+        checks.append(dict(check_id=cid, result='passed' if ok else 'failed', details=details))
+
+    lever, door, left, right = (joints.get(n) for n in ('front_door_lever_joint', 'front_door_joint', 'side_door_left_joint', 'side_door_right_joint'))
+    check('door_joints_present', all((lever, door, left, right)), sorted(n for n in joints if joints[n]['type'] != 'fixed'))
+    bmax = lever['limit'][1]
+    check('front_door_lever_joint', lever['type'] == 'revolute' and lever['parent'] == 'base_link' and lever['child'] == 'draft_door_lever'
+          and np.allclose(lever['axis'], [-1, 0, 0]) and np.allclose(lever['limit'], mj['front_door_lever_joint']['limit']),
+          dict(origin=lever['origin'], limit=lever['limit'], axis=lever['axis']))
+    check('front_door_joint_mimic', door['type'] == 'revolute' and door['parent'] == 'draft_door_lever' and door['child'] == 'draft_door'
+          and door['mimic'] and door['mimic']['joint'] == 'front_door_lever_joint' and abs(door['limit'][0] - door['mimic']['multiplier'] * bmax) < 1e-6,
+          dict(mimic=door['mimic'], limit=door['limit']))
+    for name, j in (('side_door_left_joint', left), ('side_door_right_joint', right)):
+        check(name, j['type'] == 'prismatic' and np.allclose(j['axis'], [0, 1, 0]) and np.allclose(j['limit'], mj[name]['limit']),
+              dict(limit=j['limit'], axis=j['axis']))
+    R = mj['front_door_lever_joint']['origin_m'][1] - mj['front_door_joint']['origin_m'][1]
+    travel = R * bmax
+    check('front_door_travel_m', abs(travel - man['mechanical_joint']['travel_m']) < 1e-9, dict(lever_length_m=R, lever_max_rad=bmax, travel_m=travel))
+
+    # front door poses against the drawing reading (brochure p.10 side view; coordinates from the front plane y=-0.1445, +rear)
+    front = mj['front_door_joint']['origin_m'][1]
+    glass_bottom = np.array([0.0, front, 0.059, 1.0])
+    pin = np.array([0.0, front, mj['front_door_joint']['origin_m'][2], 1.0])
+
+    def door_points(beta):
+        P = link_poses(joints, {'front_door_lever_joint': beta})
+        T0 = trans(mj['front_door_joint']['origin_m'])          # door link frame at rest
+        M = P['draft_door'] @ np.linalg.inv(T0)
+        return (M @ glass_bottom)[:3], (M @ pin)[:3]
+    reading = man['dimension_evidence']['front_door_drawing_reading']
+    rows = []
+    for item in reading['open_positions_read']:
+        b = math.radians(item['lever_deg'])
+        low, tip = door_points(b)
+        rel = [low[1] - front, low[2]]
+        err = math.hypot(rel[0] - item['lower_edge_m'][0], rel[1] - item['lower_edge_m'][1])
+        rows.append(dict(lever_deg=item['lever_deg'], model_lower_edge_m=[round(v, 4) for v in rel], drawing_lower_edge_m=item['lower_edge_m'],
+                         deviation_m=round(err, 4), hinge_pin_m=[round(tip[1] - front, 4), round(tip[2], 4)]))
+    check('front_door_vs_drawing', all(r['deviation_m'] < 0.020 for r in rows), dict(positions=rows, tolerance_m=0.020,
+          note='lower-edge deviation from the three drawn open positions; the door follows the lever by a linear mimic of the guided motion'))
+    tip92 = door_points(math.radians(92))[1]
+    check('open_envelope_height', abs(tip92[2] + 0.004 - 0.668) < 0.008, dict(hinge_pin_height_at_92deg_m=round(tip92[2], 4), drawing_m=0.668,
+          note='lever tip pin centre + pin radius 4 mm vs the 668 mm open height'))
+
+    # swept collision: moving door links against static links
+    static_links = [l for l, j in ((j['child'], j) for j in joints.values()) if j['type'] == 'fixed' and l not in ('sample_container', 'dosing_head')]
+    sweeps = []
+    for name, links_moving, values in (
+            ('front_door', ('draft_door', 'draft_door_lever'), [bmax * k / 20 for k in range(21)]),
+            ('side_door_left', ('side_door_left',), [left['limit'][1] * k / 8 for k in range(9)]),
+            ('side_door_right', ('side_door_right',), [right['limit'][1] * k / 8 for k in range(9)])):
+        jn = {'front_door': 'front_door_lever_joint', 'side_door_left': 'side_door_left_joint', 'side_door_right': 'side_door_right_joint'}[name]
+        worst_all = (-1.0, None, None, None)
+        for v in values:
+            P = link_poses(joints, {jn: v, 'side_door_left_joint': left['limit'][1] if name == 'front_door' else 0.0,
+                                    'side_door_right_joint': right['limit'][1] if name == 'front_door' else 0.0})
+            moving = [p for l in links_moving for p in world(links[l], P[l])]
+            stat = [p for l in static_links for p in world(links[l], P[l])]
+            if name == 'front_door':
+                stat += [p for l in ('side_door_left', 'side_door_right') for p in world(links[l], P[l])]
+            dep, a, b = worst(moving, stat)
+            if dep > worst_all[0]:
+                worst_all = (dep, a, b, v)
+        sweeps.append(dict(door=name, joint=jn, poses=len(values), max_penetration_m=round(max(worst_all[0], 0.0), 4),
+                           worst_pair=[worst_all[1], worst_all[2]] if worst_all[0] > 0 else None, at_q=worst_all[3] if worst_all[0] > 0 else None))
+    check('door_sweeps_clear', all(s['max_penetration_m'] <= 0.002 for s in sweeps), dict(sweeps=sweeps, tolerance_m=0.002,
+          method='oriented-box SAT of collision proxies (cylinders as boxes); front door swept with both side doors open'))
+
+    # side opening
+    sd = [p for p in world(links['side_door_right'], link_poses(joints, {'side_door_right_joint': right['limit'][1]})['side_door_right'])]
+    glass = max(sd, key=lambda p: p[1][1])
+    front_edge = glass[0][1, 3] - glass[1][1]
+    check('side_opening', abs(front_edge - (-0.137 + right['limit'][1])) < 1e-4,
+          dict(side_door_front_edge_open_y_m=round(front_edge, 4), chamber_front_y_m=-0.1445, clear_opening_depth_m=round(front_edge + 0.1445, 4)))
+
+    # dosing-head support: head proxies at the seat and on the insertion path
+    head = links['dosing_head']
+    slot = links['head_slot']
+    path = [(0.0, -SLIDE_M * k / 10, SEAT_PRESS_M) for k in range(10, -1, -1)] + [(0.0, 0.0, SEAT_PRESS_M * k / 6) for k in range(5, -1, -1)]
+    path_rows = []
+    for off in path:
+        dep, a, b = worst(world(head, trans(off)), slot)
+        path_rows.append(dict(offset_m=[round(v, 4) for v in off], max_penetration_m=round(max(dep, 0.0), 5), clearance_lower_bound_m=round(-dep, 5) if dep < 0 else 0.0,
+                              pair=[a, b] if dep > 0 else None))
+    check('head_insertion_path_clear', all(r['max_penetration_m'] == 0 for r in path_rows),
+          dict(path=path_rows, note='manual p.21: slide onto the support until it stops (+Y), press down into the holding pins; head proxies = dosing_head collision proxies'))
+    body = [h for h in head if abs(h[1][0] - 0.010) < 1e-9 and abs(h[1][2] - 0.015) < 1e-9]
+    lower_arms = [s for s in slot if abs(s[0][2, 3] - 0.208) < 1e-6]
+    gap = (body[0][0][2, 3] - body[0][1][2]) - (lower_arms[0][0][2, 3] + lower_arms[0][1][2]) if body and lower_arms else None
+    check('head_rests_on_lower_fork', gap is not None and 0 <= gap <= 0.001, dict(outlet_body_bottom_to_lower_fork_top_m=None if gap is None else round(gap, 5)))
+    solid = [n for _, _, n in slot]
+    check('head_space_open', not any(sat((P, h), hb[:2]) > 0 for P, h, _ in slot for hb in world(head, np.eye(4))),
+          dict(head_slot_proxies=len(solid), note='no head_slot proxy intersects the installed head (the old solid slot_receiver box is gone)'))
+
+    ok = all(c['result'] == 'passed' for c in checks)
+    out = dict(catalog_id='CHEM-174', check_id='doors_and_head_support', result='passed' if ok else 'failed', timestamp_utc=datetime.now(timezone.utc).isoformat(),
+               method='URDF forward kinematics + oriented-box separating-axis tests of the collision proxies (numpy)', checks=checks,
+               sources=['brochure 30084648A p.10 side and plan view (door geometry)', 'operating instructions p.11, p.21-22 (head support, holding pins), p.25-26, p.65, p.67-68, p.71 (doors)'],
+               not_run=['contact dynamics', 'robot insertion', 'hardware'])
+    if '--no-write' not in sys.argv:                                          # tests check without touching the pinned evidence file
+        (HERE / 'doors_head_support_validation.json').write_text(json.dumps(out, ensure_ascii=False, indent=2) + '\n')
+    print(json.dumps(dict(result=out['result'], checks={c['check_id']: c['result'] for c in checks}), ensure_ascii=False))
+    for c in checks:
+        if c['check_id'] in ('front_door_vs_drawing', 'door_sweeps_clear', 'side_opening', 'head_rests_on_lower_fork', 'open_envelope_height'):
+            print(c['check_id'], json.dumps(c['details'])[:900])
+    raise SystemExit(0 if ok else 1)
+
+
+if __name__ == '__main__':
+    main()
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_closed.webp b/previews/mt_quantos_q2_xpe206dr/preview_closed.webp
index f63f37046ff8c0db52adbc657f8b49022ccf2c17..48a323fc2c406b009c6bacc36b8ca447ce3110c6 100644
--- a/previews/mt_quantos_q2_xpe206dr/preview_closed.webp
+++ b/previews/mt_quantos_q2_xpe206dr/preview_closed.webp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83546c8ece3223869fedcccfd3567bd73475fa40fc626ae6ea589531228db362
-size 38766
+oid sha256:3e932caff21d04fc4c24fa804cc7b0ea66cae34b49e1f0aa199558761b1da0b9
+size 39108
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_door_half_side.webp b/previews/mt_quantos_q2_xpe206dr/preview_door_half_side.webp
new file mode 100644
index 0000000000000000000000000000000000000000..a81b52563a831c3c307dda35f075aca71b44db17
--- /dev/null
+++ b/previews/mt_quantos_q2_xpe206dr/preview_door_half_side.webp
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50dbfe4588ab9dc8db25c90ff535295079bf50ecb20ac7a787782807b672b851
+size 25640
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_door_open.webp b/previews/mt_quantos_q2_xpe206dr/preview_door_open.webp
index 92ccbb88c52c2d0123c88efe5f04e6aed6f38f7a..0b31b5a6c76c31f0f397244297df9e280d43170c 100644
--- a/previews/mt_quantos_q2_xpe206dr/preview_door_open.webp
+++ b/previews/mt_quantos_q2_xpe206dr/preview_door_open.webp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b4c35198f20e7063d8556a77e11d285b31b8511dca2254e8abaa432ea40611ff
-size 34824
+oid sha256:145fa6cdf47ebbfadb63d672a0d1197ec1a1759df9a4a0a833ab43dab4c20223
+size 35248
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_door_open_side.webp b/previews/mt_quantos_q2_xpe206dr/preview_door_open_side.webp
new file mode 100644
index 0000000000000000000000000000000000000000..d084ded91205d31d013f3bfe909d67559d31a87d
--- /dev/null
+++ b/previews/mt_quantos_q2_xpe206dr/preview_door_open_side.webp
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3a51bed77850d9311a091a9f61f072dbc8c75087d41c3d5110873ea5a3c1dd8
+size 26140
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_optional_autosampler.webp b/previews/mt_quantos_q2_xpe206dr/preview_optional_autosampler.webp
index e0ab8d29b2be8d011acf0a388225e2c5d8d4d526..7b1745e291f44263b578d6275bbe1d72b6fe4a6e 100644
--- a/previews/mt_quantos_q2_xpe206dr/preview_optional_autosampler.webp
+++ b/previews/mt_quantos_q2_xpe206dr/preview_optional_autosampler.webp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:94bedb6e0567f53d2420c68669dadf1a7dd34ab5aa0679ce24fa975cfb4491a0
-size 41770
+oid sha256:a2d547c9cd91e712b6852f35b87932e406eaea19e738db922dcb98ae949382c3
+size 40800
diff --git a/previews/mt_quantos_q2_xpe206dr/preview_rear.webp b/previews/mt_quantos_q2_xpe206dr/preview_rear.webp
index 59fc611283a12dc14bfc15fe0b5905a60e5f2942..b4b733fe224e75eadd0f44bc2fc9cc0179082023 100644
--- a/previews/mt_quantos_q2_xpe206dr/preview_rear.webp
+++ b/previews/mt_quantos_q2_xpe206dr/preview_rear.webp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 20446
+oid sha256:920c2f1f28c87b8dfaf66e1a0753234200feae0b412a8e21a73a645b0dac9af8
+size 20936
diff --git a/previews/ta_dsc2500/chart.webp b/previews/ta_dsc2500/chart.webp
index 16f932e5eb0a24fcb5e7129a7d91e80d29ab0d24..97ea5bf2e51eb40c7582d5a0065b3fad5d89387f 100644
--- a/previews/ta_dsc2500/chart.webp
+++ b/previews/ta_dsc2500/chart.webp
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:920a9419e10485746c528e2556c1d467a6e310306774edbf519b64f38b072f27
-size 12454
+oid sha256:2a8c0fb3bd5c83f3426e45879289270979dd527401b222004820c8de69e5c469
+size 12438
diff --git a/release_manifest.json b/release_manifest.json
index 2032525fa8721d6f2fd1215874d448b8d5316194..de441d766d2833dcf2446940a27dc83e3b07cfe1 100644
--- a/release_manifest.json
+++ b/release_manifest.json
@@ -995,7 +995,7 @@
    }
   },
   "instrument.jasco_ftir4700": {
-   "shipped": 29,
+   "shipped": 30,
    "not_published": {
     "build_or_validation_record": [
      "runtime_extension",
@@ -1022,7 +1022,9 @@
      "template_validation",
      "template_validator",
      "template_test_log",
-     "template_overlay_check"
+     "template_overlay_check",
+     "contract_fixes_patch_py",
+     "template_standards_builder"
     ],
     "survey_workbook": [
      "source_workbook"
@@ -1120,7 +1122,8 @@
      "template_build",
      "template_validation_script",
      "template_validation",
-     "template_test_log"
+     "template_test_log",
+     "contract_fixes_patch_py"
     ],
     "survey_workbook": [
      "source_workbook"
@@ -1518,7 +1521,7 @@
    }
   },
   "instrument.mt_quantos_q2_xpe206dr": {
-   "shipped": 30,
+   "shipped": 34,
    "not_published": {
     "build_or_validation_record": [
      "runtime_metadata",
@@ -1550,7 +1553,8 @@
      "panel_render_home_png",
      "panel_render_menu_png",
      "panel_render_error_png",
-     "panel_render_result_png"
+     "panel_render_result_png",
+     "doors_head_support_validation"
     ],
     "survey_workbook": [
      "source_workbook"
@@ -1562,7 +1566,9 @@
      "preview_closed",
      "preview_open",
      "preview_rear",
-     "preview_optional"
+     "preview_optional",
+     "preview_open_side",
+     "preview_half_side"
     ]
    }
   },
@@ -1702,7 +1708,8 @@
      "runtime_metadata",
      "runtime_validation",
      "runtime_test_log",
-     "manufacturer_pdf"
+     "manufacturer_pdf",
+     "contract_fixes_patch_py"
     ],
     "survey_workbook": [
      "source_workbook"
@@ -2729,7 +2736,8 @@
      "source_phases_manual",
      "source_probe",
      "source_product",
-     "reaction_templates_validation"
+     "reaction_templates_validation",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_front",
@@ -2914,7 +2922,8 @@
      "source_manufacturer_html",
      "source_nist_densities_html",
      "source_solid_pack_pdf",
-     "source_solid_pack_txt"
+     "source_solid_pack_txt",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_front",
@@ -3936,7 +3945,8 @@
      "output_verify_geometry",
      "output_verify_gpu",
      "output_verify_physics",
-     "output_verify_protocol"
+     "output_verify_protocol",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_collector",
@@ -6265,7 +6275,8 @@
      "spectrum_source_templates_lines_nist_yb_398p799_csv",
      "spectrum_source_templates_lines_nist_yb_398p799_json",
      "spectrum_source_templates_lines_nist_zn_213p857351_csv",
-     "spectrum_source_templates_lines_nist_zn_213p857351_json"
+     "spectrum_source_templates_lines_nist_zn_213p857351_json",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_asgf_png",
@@ -9148,7 +9159,8 @@
      "refine_geometry",
      "interface_definition",
      "fetch_isotherms",
-     "blender_states"
+     "blender_states",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "visual_review",
@@ -9701,7 +9713,8 @@
      "runtime_reaudit",
      "evidence_reaudit",
      "verify_mounts",
-     "geometry_mounts_validation"
+     "geometry_mounts_validation",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "visual_review",
@@ -9763,7 +9776,8 @@
      "thin_sources",
      "validate_thin_sources",
      "thin_library_validation",
-     "extend_source_evidence"
+     "extend_source_evidence",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "visual_review",
@@ -10628,7 +10642,8 @@
      "verify_geometry",
      "verify_mass",
      "verify_mounts",
-     "verify_rigid_usd"
+     "verify_rigid_usd",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "preview_closed",
@@ -12017,7 +12032,8 @@
      "verify_matterix_metadata_py",
      "workflow_preflight",
      "template_readme",
-     "usage_notes"
+     "usage_notes",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "independent_contract_review",
@@ -12417,7 +12433,8 @@
      "verify_source_independent_py",
      "verify_thermal_equation_py",
      "workbook_snapshot",
-     "implementation_notes"
+     "implementation_notes",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "plot_scientific_preview_py",
@@ -18120,7 +18137,8 @@
      "source_photo_j1500_front_jpg",
      "source_photo_j1500_right_end_jpg",
      "source_photo_sample_chamber_open_jpg",
-     "source_spec_page1_jpg"
+     "source_spec_page1_jpg",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_cd_outputs_png",
@@ -21688,7 +21706,8 @@
      "iteration_upward_button_axis_matterix_scene_validation_json",
      "iteration_upward_button_axis_matterix_snapshot_usda",
      "iteration_upward_button_axis_readouts_index_json",
-     "iteration_upward_button_axis_slots_index_json"
+     "iteration_upward_button_axis_slots_index_json",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_geometry_generated_previews_json",
@@ -31881,7 +31900,8 @@
      "spectrum_source_records_water_csv",
      "spectrum_source_records_water_json",
      "iteration_layout_mass_fallback_observed_failure_json",
-     "iteration_layout_mass_fallback_persist_matterix_metadata_before_py"
+     "iteration_layout_mass_fallback_persist_matterix_metadata_before_py",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_geometry_generated_previews_json",
@@ -35897,7 +35917,8 @@
      "cubes_pcad_114_json",
      "cubes_pcad_115_json",
      "cubes_pcad_116_json",
-     "cubes_pcad_124_json"
+     "cubes_pcad_124_json",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_cabinet_png",
@@ -36437,7 +36458,8 @@
      "output_example",
      "matterix_rigid_bbox_validation",
      "verify_rigid_usd",
-     "convert_rigid_scoped"
+     "convert_rigid_scoped",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "preview_eqcm_output",
@@ -36945,7 +36967,8 @@
      "verify_sfa_libraries_py",
      "workflow_body_py",
      "workflow_preflight",
-     "reaction_templates_validation"
+     "reaction_templates_validation",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "preview_chemistry_deck_png",
@@ -37456,7 +37479,8 @@
      "source_specification_2_jpg",
      "source_specification_pdf",
      "source_specification_txt",
-     "source_specification_jp_html"
+     "source_specification_jp_html",
+     "contract_fixes_patch_py"
     ],
     "review_record": [
      "output_preview_front_png",
@@ -38795,6 +38819,254 @@
      "preview_stall_png"
     ]
    }
+  },
+  "labware.azenta_seal_roll_4ti0520": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.biorad_tgx_gel_4_20_10well": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.brand_ps_macro_cuvette_759005": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.cytiva_series_s_sensor_chip_cm5": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.elementar_tin_capsule_11x8": {
+   "shipped": 5,
+   "not_published": {}
+  },
+  "labware.falcon_352052_tube_12x75": {
+   "shipped": 5,
+   "not_published": {}
+  },
+  "labware.gelpak_ad1135_case": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.hellma_100_10_40_quartz_cuvette": {
+   "shipped": 6,
+   "not_published": {}
+  },
+  "labware.mt_quantos_head_container": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.mt_quantos_qh016_bnmw": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.rigaku_glass_holder_0p2mm": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.sigma_ir_polystyrene_card_z804290": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.ta_tzero_pan_lid": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.agilent_hs_vial_20ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.agilent_vial_2ml_screw": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_1000ml_amber": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_1000ml_clear": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_100ml_amber": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_100ml_clear": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_250ml_amber": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_250ml_clear": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_500ml_amber": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.duran_gl45_500ml_clear": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.eppendorf_safelock_1p5ml": {
+   "shipped": 5,
+   "not_published": {}
+  },
+  "labware.falcon_tube_15ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.falcon_tube_50ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.gas_cylinder_10l_200bar": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.gas_cylinder_50l_200bar": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.hach_tl2300_sample_cell_25mm": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.nalgene_nm_hdpe_1000ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.nalgene_nm_hdpe_500ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.nalgene_wm_hdpe_1000ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.nalgene_wm_hdpe_250ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.nalgene_wm_hdpe_500ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.norell_nmr_tube_5mm_7in": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.sciex_universal_vial_2ml": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "labware.winchester_2500ml_amber": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "furniture.asecos_cs_195_105": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_cs_195_105_consumables": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_cs_195_105_oxidizers": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_cs_195_105_standards": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_g90_205_140": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_q90_195_120": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.asecos_sl_196_120": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.belart_secador_2_vertical": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.denios_cylinder_stand_x4": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.duran_desiccator_dn250": {
+   "shipped": 7,
+   "not_published": {}
+  },
+  "furniture.liebherr_lguex1500": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.liebherr_lkv3910": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.metro_super_erecta_1848_4shelf": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "furniture.trippnt_step_shelf_2tier": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.mn_702503_vial_rack_23mm": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.biorad_hardshell_pcr_plate_96": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.corning_96_wellplate_360ul_flat": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.nest_12_reservoir_15ml": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.nest_96_wellplate_2ml_deep": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.opentrons_flex_tiprack_1000ul": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.opentrons_flex_tiprack_200ul": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.opentrons_flex_tiprack_50ul": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.sbs_plate_carrier": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.bochem_spatula_3340": {
+   "shipped": 4,
+   "not_published": {}
+  },
+  "labware.globe_weighing_boat_3620": {
+   "shipped": 4,
+   "not_published": {}
   }
  }
 }
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index c5cc58c27d2d648c6b9d1cc6c747f25e4e25bce4..7c5720b062dd305f3169216250d73dc40d00b36e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,5 +1,11 @@
-numpy>=1.26
-scipy>=1.11
-pytest>=8          # tests
-huggingface_hub>=0.24  # tools/download_assets.py
-CoolProp==7.2.0    # only for the sft_sft110 and tousimis_autosamdri815 runtimes
+# runtimes (tested with Python 3.12)
+numpy>=2.0,<2.4        # np.trapz is used by three runtimes and was removed in NumPy 2.4
+scipy>=1.13
+pillow>=10
+opencv-python-headless>=4.10
+CoolProp==7.2.0        # sft_sft110 and tousimis_autosamdri815 only
+# tests
+pytest>=8
+jsonschema>=4.10
+# tools/download_assets.py
+huggingface_hub>=0.24
diff --git a/scripts/asset_runtime/antonpaar_abbematadvanced.py b/scripts/asset_runtime/antonpaar_abbematadvanced.py
index 59a92f0a92cb2af890cb4b2a97450a0106b70bcd..ac14238487e2f4ba4f2d401f08ffec5222afeca7 100644
--- a/scripts/asset_runtime/antonpaar_abbematadvanced.py
+++ b/scripts/asset_runtime/antonpaar_abbematadvanced.py
@@ -11,6 +11,10 @@ import json
 import math
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT,PHASE
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.1.3: a refusal whose message names the cause
 ROOT=Path(__file__).resolve().parents[2]
 ASSET_TYPE_ID='instrument.antonpaar_abbematadvanced'; CATALOG_ID='CHEM-004'; PROTOCOL_VERSION='1.0.0'
 TEMPLATE_REL='assets/reactions/antonpaar_abbematadvanced_refractive_library/templates.json'
@@ -86,7 +90,7 @@ def validate(schema,value):
 
 # ---------------------------------------------------------------- device layer and front panel (Abbemat 350/550 manual D22IB001PL-G, 'abm p.N')
 from asset_runtime import _antonpaar_touch as _ap
-ASSET_VERSION='1.1.2'
+ASSET_VERSION='1.1.3'
 ASSET_DIR=ROOT/'assets/expansion_batch03/t4_measure/antonpaar_abbematadvanced'
 SERIAL='AB5201-0001'                                                     # assumption: serial number of the simulated instrument
 WAVELENGTH_NM=589.3
@@ -434,9 +438,9 @@ class AntonpaarAbbematadvancedRuntime:
             if a['index']<=n<=b['index']: return a['mass_fraction']+(b['mass_fraction']-a['mass_fraction'])*(n-a['index'])/(b['index']-a['index'])
     def _check_phase(self,sid,temp):
         row=self.templates[sid]
-        if not row['runtime_eligible']: raise ActionRejected('PRECONDITION_FAILED')
-        if not (row.get('melting_point_k') or 0)<temp<(row.get('boiling_point_k') or 10000): raise ActionRejected('PRECONDITION_FAILED')
-        if (row.get('melting_point_k') is None or row.get('boiling_point_k') is None) and abs(temp-row['temperature_k'])>.001: raise ActionRejected('PRECONDITION_FAILED')
+        if not row['runtime_eligible']: raise _rejected('PRECONDITION_FAILED','%s has no runtime refractive-index reference'%sid)
+        if not (row.get('melting_point_k') or 0)<temp<(row.get('boiling_point_k') or 10000): raise _rejected('PRECONDITION_FAILED','%.2f K is outside the liquid range of %s'%(temp,sid))
+        if (row.get('melting_point_k') is None or row.get('boiling_point_k') is None) and abs(temp-row['temperature_k'])>.001: raise _rejected('PRECONDITION_FAILED','the refractive-index reference of %s exists only at %.2f K'%(sid,row['temperature_k']))
     def _start(self,kind):
         self._operation_count+=1; self.operation_id=f'{self.instance_id}:{kind}:{self._operation_count}'
         self.phase='running'; self.operation=kind; self.elapsed_s=0.; self.result=None
@@ -464,7 +468,9 @@ class AntonpaarAbbematadvancedRuntime:
         elif capability=='sample.configure':
             f=a['volume_fractions']
             if not f or not set(f)<=self.templates.keys() or not math.isclose(sum(f.values()),1.,abs_tol=1e-9) or not a['matrix_id'].strip() or any(x<=0 for x in f.values()): raise ActionRejected('INVALID_ARGUMENT')
-            if not self.powered or self.lid_angle<1.4 or sum(self.remaining.values())>1e-15 or self.cleaner_remaining_m3>1e-15: raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'the lid is not open (lid.set_angle about pi/2)' if self.lid_angle<1.4 else
+                 'sample is still on the prism; clean it first' if sum(self.remaining.values())>1e-15 else 'cleaning liquid is still on the prism; finish the cleaning first' if self.cleaner_remaining_m3>1e-15 else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.1.3: the message names the cause
             for sid in f: self._check_phase(sid,self.temperature_k)
             self.remaining={sid:fraction*a['volume_m3'] for sid,fraction in f.items()}
             for sid,v in self.remaining.items(): self.initial_species[sid]=self.initial_species.get(sid,0.)+v; self.waste_species.setdefault(sid,0.)
@@ -472,13 +478,17 @@ class AntonpaarAbbematadvancedRuntime:
             self.phase='idle'; self.operation='none'; self.elapsed_s=0.; r={'configured':True}
             if self.ap['run'] is None: self.operation_id=None   # a run waiting for the next fill keeps its operation (and owner)
         elif capability=='acquisition.start':
-            if not self.powered or self.lid_angle>1e-6 or not self._values()['sample.filled'] or abs(self.temperature_k-self.target_k)>.05: raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'the lid is not closed (lid.set_angle 0)' if self.lid_angle>1e-6 else 'no sample is on the prism' if not self._values()['sample.filled'] else
+                 'the prism temperature %.3f K has not reached the set point %.3f K within 0.05 K'%(self.temperature_k,self.target_k) if abs(self.temperature_k-self.target_k)>.05 else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.1.3: the message names the cause
             for sid in self.remaining: self._check_phase(sid,self.target_k)
             n=self._index()
-            if not 1.26<=n<=1.72 or (self.mode=='calibrated_concentration' and self._concentration(n) is None): raise ActionRejected('PRECONDITION_FAILED')
+            if not 1.26<=n<=1.72: raise _rejected('PRECONDITION_FAILED','the refractive index %.4f is outside the measuring range 1.26..1.72'%n)
+            if self.mode=='calibrated_concentration' and self._concentration(n) is None:
+                raise _rejected('PRECONDITION_FAILED','no concentration calibration covers this reading (calibration.configure for this matrix, at this temperature, spanning the index)')
             self._reading_s=10.; r=self._start('measurement')
         elif capability=='cleaning.start':
-            if not self.powered or self.lid_angle<1.4: raise ActionRejected('PRECONDITION_FAILED')
+            if not self.powered or self.lid_angle<1.4: raise _rejected('PRECONDITION_FAILED','the instrument is switched off' if not self.powered else 'the lid is not open (lid.set_angle about pi/2)')
             self.cleaner_input_m3+=a['volume_m3']; self.cleaner_remaining_m3+=a['volume_m3']; self._clean_start_m3=self.cleaner_remaining_m3
             r=self._start('cleaning')
         elif capability=='acquisition.stop':
@@ -559,7 +569,7 @@ class AntonpaarAbbematadvancedSession:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/antonpaar_autosorb6100.py b/scripts/asset_runtime/antonpaar_autosorb6100.py
index 9406038555b1cd8ecb6e3b70eb3de9bf55b369e4..b7e0075e60fda648a81b7fa57cb5fc8185920692 100644
--- a/scripts/asset_runtime/antonpaar_autosorb6100.py
+++ b/scripts/asset_runtime/antonpaar_autosorb6100.py
@@ -1,7 +1,7 @@
 """CHEM-115 finite volumetric N2 physisorption with explicit source-branch uncertainty."""
 from pathlib import Path
 import copy,math,json,importlib.util
-PROTOCOL_VERSION='1.0.0';SLUG='antonpaar_autosorb6100';CATALOG_ID='CHEM-115';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';SLUG='antonpaar_autosorb6100';CATALOG_ID='CHEM-115';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t4_measure'/SLUG
 class ActionRejected(ValueError):pass
 def number(unit='1',lo=None,hi=None):
@@ -127,7 +127,7 @@ for i in range(3):
 slot('degas.phase',PHASE,'1','两温区脱气程序状态');slot('degas.target_k',number('K',280,730),'K','脱气程序当前温度目标','setpoint')
 for i in range(2):slot('degas'+str(i)+'.temperature_k',number('K',280,730),'K','脱气加热套温度','sensor',c='heater_'+str(i))
 slot('degas.water_kg',number('kg',0),'kg','当前脱气水分真值','process_truth','evaluator');slot('degas.dry_enough',BOOL,'1','达到宿主水分阈值，非经验脱气完成判据')
-cap('sample.backfill',obj({'station':STATION}),obj({'started':BOOL}),['sample_0','sample_1','sample_2'],'杜瓦放下后用有限N2回填至环境压力，step完成后才能拆管',ex={'station':0})
+cap('sample.backfill',obj({'station':STATION}),obj({'started':BOOL}),['sample_0','sample_1','sample_2'],'杜瓦放下后用有限N2回填至环境压力，step完成后才能拆管；升温样品仍在脱附时超出环境压力的气体经放空阀排出，压力回到环境压力且样品余下的吸附量最多再使压力升高10 Pa时才结束',ex={'station':0})
 class AntonpaarAutosorb6100Runtime:
  def __init__(self,instance_id='autosorb6100_01'):
   self.instance_id=instance_id;self.time_s=0.;self.pending=0.;self.revision=0;self.plant=None;self.powered=False;self.motion={k:0. for k,p,a,h,u in MOTIONS};self.temp=308.15;self.target=308.15;self.source=0.;self.source_initial=0.;self.n_initial=0.;self.pumped=0.;self.mass_loaded=0.;self.mass_returned=0.;self.ln2=0.;self.ln2_added=0.;self.boiled=0.;self.heat=0.;self.loss=0.;self.cold_energy=0.;self.phase='idle';self.stage='idle';self.failure='';self.elapsed=0.;self.active=[];self.serial=0;self.operation_id=None;self.records={};self.trace=[];self._principals={};self._owners={};self._requests={};self.stations=[dict(sample=None,method=None,pcal=None,vcal=None,n=0.,ads=0.,p=0.,phase='idle',stage='idle',time=0.,stable=0.,index=0,points=[],baseline=0.,admitted=0.,removed=0.,mass_run=None,bet=bet_fit([])) for _ in range(3)];self.degas=[None]*6;self.dtemps=[298.15]*2;self.dstart=[298.15]*2;self.dheat=[0.]*2;self.dloss=[0.]*2;self.degas_phase='idle';self.dprogram=None;self.dindex=0;self.dhold=0.;self.dtarget=298.15;self.water_loaded=0.;self.water_returned=0.;self.trap=0.
@@ -282,6 +282,11 @@ class AntonpaarAutosorb6100Runtime:
   s=self.stations[i];p=self.pressure(i);sp=self.source*R*self.plant['ambient_k']/self.plant['source_volume_m3'];alpha=self.alpha(i);delta=min(target-p,sp-p)
   if delta<=0:return
   dn=min(self.source,max(0.,self.plant['source_conductance']*(sp-p)*DT),max(0.,delta*alpha),max(0.,(sp-p)/(1/alpha+R*self.plant['ambient_k']/self.plant['source_volume_m3'])));self.source-=dn;s['n']+=dn;s['admitted']+=dn
+ def _vent(self,i,target):
+  # 1.0.1 (2026-10-22): over-pressure relief of the station during the backfill (vent valve to the room); the vented N2 is booked with the pumped
+  # gas (the N2 ledger's outflow); without it a run cancelled at high loading stuck at ~105-110 kPa (BUSY, tube locked) forever
+  s=self.stations[i];p=self.pressure(i);alpha=self.alpha(i)
+  dn=min(max(0.,s['n']-s['ads']),max(0.,self.plant['source_conductance']*(p-target)*DT),max(0.,(p-target)*alpha));s['n']-=dn;s['removed']+=dn;self.pumped+=dn
  def _pump(self,i):
   s=self.stations[i];dn=min(max(0.,s['n']-s['ads']),self.plant['pump_conductance']*self.pressure(i)*DT);s['n']-=dn;s['removed']+=dn;self.pumped+=dn
  def _relax(self,i,pump=0.):
@@ -302,10 +307,12 @@ class AntonpaarAutosorb6100Runtime:
   return max(0.,s['ads']-old)*self.plant['adsorption_heat_j_mol']
  def _station_tick(self,i):
   s=self.stations[i];previous=self.pressure(i);stage=s['stage'];s['time']+=DT
-  if stage=='backfill' and self.powered:self._fill(i,101325.)
+  if stage=='backfill' and self.powered:
+   if self.pressure(i)>101325.+10.:self._vent(i,101325.)   # 1.0.1: a warming sample still releases adsorbate: the excess leaves through the vent
+   else:self._fill(i,101325.)
   elif stage=='dose' and self.phase=='running':self._fill(i,s['method']['relative_pressures'][s['index']]*self.pzero())
   cold=self._relax(i,self.plant['pump_conductance'] if stage in ['evacuate','finish','pump'] else 0.);now=self.indicated(i)
-  if stage=='backfill' and abs(self.pressure(i)-101325.)<10.:s['stage']='idle'
+  if stage=='backfill' and abs(self.pressure(i)-101325.)<10. and s['ads']<=10.*self.alpha(i):s['stage']='idle'   # 1.0.1: ends once what the sample still holds could add at most 10 Pa (stays inside the 30 Pa access window)
   if stage=='pump' and s['n']<1e-10:s['stage']='idle'
   if self.phase=='running' and i in self.active and s['phase']=='running':
    if s['time']>s['method']['point_timeout_s']:self._end('failed','POINT_TIMEOUT');return cold
@@ -362,7 +369,7 @@ class AntonpaarAutosorb6100Session:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  m=export_antonpaar_autosorb6100_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  m=export_antonpaar_autosorb6100_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/antonpaar_dma5002.py b/scripts/asset_runtime/antonpaar_dma5002.py
index 767620a2f1ea71127097db61d51f1ce457607b45..883b63a51886f4db6a7a863dcd12021c628cf750 100644
--- a/scripts/asset_runtime/antonpaar_dma5002.py
+++ b/scripts/asset_runtime/antonpaar_dma5002.py
@@ -12,6 +12,10 @@ import json
 import math
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected, number, obj, validate, BOOL, TEXT, PHASE
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.2.1: a refusal whose message names the cause
 ROOT=Path(__file__).resolve().parents[2]
 PROTOCOL_VERSION='1.0.0'
 ASSET_TYPE_ID='instrument.antonpaar_dma5002'
@@ -55,7 +59,7 @@ SLOTS={
 # ---------------------------------------------------------------- device layer and front panel (DMA M manual C76IB003EN-U 'dma p.N' = PDF page;
 # M series General Software Functions XPAIB001EN-V 'gsf p.N')
 from asset_runtime import _antonpaar_touch as _ap
-ASSET_VERSION='1.2.0'
+ASSET_VERSION='1.2.1'
 ASSET_DIR=ROOT/'assets/expansion_batch03/t4_measure/antonpaar_dma5002'
 SERIAL='DMA5002-0001'                                                     # assumption: serial number of the simulated instrument
 AMBIENT_HPA=1013.25                                                      # assumption: ambient pressure seen by the built-in sensor
@@ -602,25 +606,29 @@ class AntonpaarDma5002Runtime:
         elif capability=='method.configure': self.mode=a['mode']; r=dict(a)
         elif capability=='sample.configure':
             sid=a['substance_id']
-            if not self.powered or self.cell_kg>1e-12 or self.cleaner_remaining_kg>1e-12: raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'the cell still holds sample; drain or clean it first' if self.cell_kg>1e-12 else
+                 'cleaning liquid is still in the cell; finish the cleaning first' if self.cleaner_remaining_kg>1e-12 else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.2.1: the message names the cause
             if sid not in self.templates: raise ActionRejected('INVALID_ARGUMENT')
             t=self.templates[sid]
-            if not t.get('runtime_eligible',False): raise ActionRejected('PRECONDITION_FAILED')
-            if t['phase']=='unresolved' and abs(self.temperature_k-t['temperature_k'])>.001: raise ActionRejected('PRECONDITION_FAILED')
-            if not (t.get('melting_point_k') or 0)<self.temperature_k<(t.get('boiling_point_k') or 10000): raise ActionRejected('PRECONDITION_FAILED')
+            if not t.get('runtime_eligible',False): raise _rejected('PRECONDITION_FAILED','this substance has no runtime density reference')
+            if t['phase']=='unresolved' and abs(self.temperature_k-t['temperature_k'])>.001: raise _rejected('PRECONDITION_FAILED','the density reference exists only at %.2f K; the cell is at %.2f K'%(t['temperature_k'],self.temperature_k))
+            if not (t.get('melting_point_k') or 0)<self.temperature_k<(t.get('boiling_point_k') or 10000): raise _rejected('PRECONDITION_FAILED','the cell temperature %.2f K is outside the liquid range of the substance'%self.temperature_k)
             self.sid=sid; self.volume_m3=a['volume_m3']; self.bubbles=a['bubble_fraction']; self.contamination=a['contamination_fraction']
             self.cell_kg=template_density(t,self.temperature_k)*self.volume_m3*(1-self.bubbles)
             self.input_kg+=self.cell_kg; self.result=None; self.phase='idle'; self.operation='none'; self.elapsed_s=0.
             if self.ap['run'] is None: self.operation_id=None   # a run waiting for the next fill keeps its operation (and owner)
             r={'configured':True}
         elif capability=='acquisition.start':
-            if not self.powered or not self._values()['fill.detected'] or abs(self.temperature_k-self.target_k)>.05: raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'the measuring cell is not filled' if not self._values()['fill.detected'] else
+                 'the cell temperature %.3f K has not reached the set point %.3f K within 0.05 K'%(self.temperature_k,self.target_k) if abs(self.temperature_k-self.target_k)>.05 else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.2.1: the message names the cause
             t=self.templates[self.sid]
-            if t['phase']=='unresolved' and abs(self.target_k-t['temperature_k'])>.001: raise ActionRejected('PRECONDITION_FAILED')
-            if not (t.get('melting_point_k') or 0)<self.target_k<(t.get('boiling_point_k') or 10000): raise ActionRejected('PRECONDITION_FAILED')
+            if t['phase']=='unresolved' and abs(self.target_k-t['temperature_k'])>.001: raise _rejected('PRECONDITION_FAILED','the density reference exists only at %.2f K; set that temperature'%t['temperature_k'])
+            if not (t.get('melting_point_k') or 0)<self.target_k<(t.get('boiling_point_k') or 10000): raise _rejected('PRECONDITION_FAILED','the set point %.2f K is outside the liquid range of the sample'%self.target_k)
             self._reading_s=30.; r=self._start('measurement')
         elif capability=='cleaning.start':
-            if not self.powered: raise ActionRejected('PRECONDITION_FAILED')
+            if not self.powered: raise _rejected('PRECONDITION_FAILED','the instrument is switched off')
             mass=a['volume_m3']*1000.; self.cleaner_input_kg+=mass; self.cleaner_remaining_kg+=mass; self._clean_start_kg=self.cleaner_remaining_kg
             r=self._start('cleaning')
         elif capability=='acquisition.stop':
@@ -628,7 +636,8 @@ class AntonpaarDma5002Runtime:
             _ap.run_cancel(self)                                          # also a multiple filling / adjustment waiting for the next fill
             r={'phase':self.phase}
         elif capability=='calibration.check':
-            if not self.result or abs(a['reference_temperature_k']-self.result['temperature_k'])>.05: raise ActionRejected('PRECONDITION_FAILED')
+            if not self.result: raise _rejected('PRECONDITION_FAILED','there is no measurement result to check')
+            if abs(a['reference_temperature_k']-self.result['temperature_k'])>.05: raise _rejected('PRECONDITION_FAILED','the reference temperature differs from the measured %.2f K by more than 0.05 K'%self.result['temperature_k'])
             return dict(deviation_kg_m3=self.result['density_kg_m3']-a['reference_density_kg_m3'],adjusted=False)
         else: return self._measure()
         self.revision+=1; return copy.deepcopy(r)
@@ -714,7 +723,7 @@ class AntonpaarDma5002Session:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/aqualab_4te.py b/scripts/asset_runtime/aqualab_4te.py
index 9d381c43c1f049916ba79661a4c591a9cc931cfe..e59045669868183020e1149e77e2c06f596e4ea7 100644
--- a/scripts/asset_runtime/aqualab_4te.py
+++ b/scripts/asset_runtime/aqualab_4te.py
@@ -11,6 +11,8 @@ import copy,datetime,hashlib,json,math,os,tempfile,weakref
 from asset_runtime import _annotations as _ann
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT,PHASE
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.3.1: a refusal whose message names the cause
 from asset_runtime.antonpaar_abbematadvanced import validate
 ROOT=Path(__file__).resolve().parents[2];ASSET_TYPE_ID='instrument.aqualab_4te';CATALOG_ID='CHEM-007';PROTOCOL_VERSION='1.0.0'
 TEMPLATE_REL='assets/reactions/aqualab_4te_water_activity_library/templates.json'
@@ -22,7 +24,7 @@ CAPS={
  'thermal.set_temperature':(obj({'temperature_k':TEMP}),obj({'temperature_k':TEMP}),['sample_peltier','mirror_peltier'],'15–50C、0.1C步进目标，设置不推进温度','device_command','agent',{'temperature_k':298.15},['thermal.target_k','water_activity.indicated']),
  'lid.set_angle':(obj({'angle_rad':ANGLE}),obj({'angle_rad':ANGLE}),['lid'],'锁杆释放后才能开盖；被动盖宿主姿态，不是机器人技能','device_command','agent',{'angle_rad':math.pi/2},['lid.angle_rad']),
  'latch.set_angle':(obj({'angle_rad':ANGLE}),obj({'angle_rad':ANGLE}),['lever_lock'],'闭盖后锁定READ；释放锁杆取消采集','device_command','agent',{'angle_rad':0.},['latch.angle_rad','cycle.phase']),
- 'sample.configure':(obj({'substance_id':TEXT,'record_index':number('1',0),'mass_kg':number('kg',1e-5,.02),'volume_m3':number('m^3',1e-7,7e-6),'matrix_id':TEXT,'initial_temperature_k':TEMP,'equilibration_tau_s':number('s',5,600),'volatile_interference':BOOL}),obj({'configured':BOOL}),['sample_cup','cup_interface'],'宿主装样，选择实测溶液组成；质量和体积为独立输入，非隐含密度换算','configuration','evaluator',{'substance_id':'sodium_chloride','record_index':0,'mass_kg':.003,'volume_m3':3e-6,'matrix_id':'salt','initial_temperature_k':298.15,'equilibration_tau_s':35.,'volatile_interference':False},['sample.loaded','sample.input_kg','sample.retained_kg','water_activity.indicated']),
+ 'sample.configure':(obj({'substance_id':TEXT,'record_index':number('1',0),'mass_kg':number('kg',1e-5,.02),'volume_m3':number('m^3',1e-7,7e-6),'matrix_id':TEXT,'initial_temperature_k':TEMP,'equilibration_tau_s':number('s',5,600),'volatile_interference':BOOL}),obj({'configured':BOOL}),['sample_cup','cup_interface'],'宿主装样，选择实测溶液组成；质量和体积为独立输入，非隐含密度换算','configuration','evaluator',{'substance_id':'sodium_chloride','record_index':1,'mass_kg':.003,'volume_m3':3e-6,'matrix_id':'salt','initial_temperature_k':298.15,'equilibration_tau_s':35.,'volatile_interference':False},['sample.loaded','sample.input_kg','sample.retained_kg','water_activity.indicated']),
  'sample.unload':(obj({}),obj({'unloaded':BOOL}),['sample_cup','cup_interface'],'开盖后宿主移出样品，守恒账本保留实际水分交换','configuration','evaluator',{},['sample.loaded','sample.retained_kg','sample.removed_kg']),
  'method.configure':(obj({'mode':MODE,'stability_delta':number('1',.0003,.02),'temperature_tolerance_k':number('K',.1,4.),'consecutive_readings':number('1',1,9)}),obj({'configured':BOOL}),['display_digits'],'单次、连续、自定义与低释放模式的平衡代理，非厂家完整算法','configuration','agent',{'mode':'single','stability_delta':.0005,'temperature_tolerance_k':.5,'consecutive_readings':1},['method.mode','equilibrium.stable']),
  'calibration.configure':(obj({'offset_aw':number('1',-.03,.03),'source':TEXT}),obj({'offset_aw':number('1',-.03,.03)}),['chilled_mirror','display_digits'],'有来源的线性偏置代理，不宣称真实工厂校准','configuration','agent',{'offset_aw':0.,'source':'synthetic zero-offset example'},['calibration.offset_aw']),
@@ -64,7 +66,7 @@ SLOTS={
 # ---------------------------------------------------------------- 1.1.0 device layer: settings, clock, data store, models, users (aq p.25-38)
 def _fmt_date(iso,fmt):
     d=datetime.datetime.fromisoformat(iso);return f"{d:%m/%d/%y}" if fmt=='mm/dd/yy' else f"{d:%d/%m/%y}"
-ASSET_VERSION='1.3.0'
+ASSET_VERSION='1.3.1'   # 1.3.1 (2026-10-22): sample example = the template's headline record; refusal messages
 ASSET_DIR=ROOT/'assets/expansion_batch04/t4_measure/aqualab_4te'
 SERIAL='AL400000001'                                                    # assumption: serial number shown on About (format of aq p.37 Figure 44)
 LID_SERIAL='ALB00000001'
@@ -254,7 +256,11 @@ class Aqualab4teRuntime:
             if not a['source'].strip() or not a['matrix_id'].strip() or any(b['water_activity']<=x['water_activity'] or b['moisture_dry_basis']<x['moisture_dry_basis'] for x,b in zip(p,p[1:])):raise ActionRejected('INVALID_ARGUMENT')
             self.isotherm=dict(copy.deepcopy(a),offset=0.);self.models[a['matrix_id']]=self.isotherm;self.model_selected=a['matrix_id'];r={'configured':True}   # also stored as a model on the instrument
         elif capability=='acquisition.start':
-            if not self.powered or self.fault or not self.sample or self.lid_angle>1e-4 or self.latch_angle<1.4 or abs(self.target_k-self.sample['reference']['temperature_k'])>.050001:raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'a fault is shown (%s)'%self.fault if self.fault else 'no sample cup is loaded' if not self.sample else
+                 'the drawer lid is open' if self.lid_angle>1e-4 else 'the drawer is not latched' if self.latch_angle<1.4 else
+                 'the block set point %.2f K differs from the sample reference temperature %.2f K by more than 0.05 K'%(self.target_k,self.sample['reference']['temperature_k'])
+                 if abs(self.target_k-self.sample['reference']['temperature_k'])>.050001 else None)
+            if why:raise _rejected('PRECONDITION_FAILED',why)   # 1.3.1: the message names the cause
             self._operation_count+=1;self.operation_id=f'{self.instance_id}:aw:{self._operation_count}';self.phase='running';self.elapsed_s=0.;self.history=[];self._stable_count=0;self.stable=False;self.indicated_aw=None;r={'phase':'running','operation_id':self.operation_id}
             self.last_reading=None;self._was_stable=False;self.beep_until=-1.;self.raw_aw=None
         elif capability=='acquisition.stop':
@@ -452,7 +458,7 @@ class Aqualab4teSession:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/biolin_sigma700.py b/scripts/asset_runtime/biolin_sigma700.py
index 333b82b9c1d285e3c4465de2968853f8f7fd87d0..2ccb06ec553963b3591b4302de423d0f52d710b8 100644
--- a/scripts/asset_runtime/biolin_sigma700.py
+++ b/scripts/asset_runtime/biolin_sigma700.py
@@ -1,7 +1,7 @@
 """CHEM-120 finite force tensiometry with literature surface tension references."""
 from pathlib import Path
 import copy,math,json,importlib.util
-PROTOCOL_VERSION='1.0.0';SLUG='biolin_sigma700';CATALOG_ID='CHEM-120';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';SLUG='biolin_sigma700';CATALOG_ID='CHEM-120';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t4_measure'/SLUG
 class ActionRejected(ValueError):pass
 def number(unit='1',lo=None,hi=None):
@@ -85,7 +85,7 @@ cap('sample.load',SAMPLE,obj({'loaded':BOOL}),['sample_vessel'],'宿主加载有
 cap('sample.remove',obj({}),obj({'removed':BOOL}),['sample_vessel'],'宿主取出样品并记入外部收集账本','configuration','evaluator',effects=['sample.present','truth.liquid_volume_m3'])
 STOCK=obj({'volume_m3':number('m^3',0,2e-5),'concentration_kg_m3':number('kg/m^3',0,100)})
 cap('stock.load',STOCK,obj({'loaded':BOOL}),['dispenser_port'],'外接20mL计量滴定器库存初始化','configuration','evaluator',dict(volume_m3=2e-5,concentration_kg_m3=1.),['truth.stock_volume_m3'])
-cap('balance.tare',obj({}),obj({'tared':BOOL}),['balance'],'空中探针去皮，不扣除后续浮力',effects=['balance.tared'])
+cap('balance.tare',obj({}),obj({'tared':BOOL}),['balance'],'空中探针去皮，不扣除后续浮力；读数稳定前（开机后力传感器读数从零建立，未稳定到半个0.1 µN分辨率内）拒绝FORCE_NOT_SETTLED',effects=['balance.tared'])
 CAL=obj({'reference_forces_n':arr(number('N',-2,2),2),'observed_raw_forces_n':arr(number('N',-3,3),2)})
 cap('balance.calibrate',CAL,obj({'gain':number('1'),'offset_n':number('N')}),['balance','calibration_weight'],'按外部独立参比作两点仿射校准，非原厂内校序列','configuration',ex=dict(reference_forces_n=[0.,.1],observed_raw_forces_n=[0.,.1]))
 for k,inp,ex,z in [('stage.move',obj({'position_m':number('m',0,STAGE_MAX_M)}),{'position_m':0.},'按当前速度异步升降载台'),('acquisition.start',obj({}),{},'板浸入保持撤回或环拉脱峰值测量'),('dose.start',obj({'volume_m3':number('m^3',1e-9,2e-5),'flow_m3_s':number('m^3/s',1e-10,1e-6)}),{'volume_m3':1e-6,'flow_m3_s':1e-7},'有限外接滴定液异步加入')]:cap(k,inp,obj({'operation_id':TEXT}),['stage' if k!='dose.start' else 'dispenser_port','balance'],z,ex=ex,effects=['acquisition.phase'])
@@ -189,6 +189,7 @@ class BiolinSigma700Runtime:
    self.plant=copy.deepcopy(a);self.temperature=self.thermal_target=a['ambient_k'];return {'configured':True}
   if k=='power.set':
    if a['enabled'] and (not self.plant or self.service>1e-6):raise ActionRejected('NOT_READY')
+   if a['enabled'] and not self.power:self.raw=0.;self._on_ticks=0   # 1.0.1: switching on restarts the force electronics (the reading settles from zero)
    self.power=a['enabled'];return a
   if k=='door.set':self.door=a['angle_rad'];return a
   if k=='service.set':
@@ -212,6 +213,7 @@ class BiolinSigma700Runtime:
   self._ready()
   if k=='balance.tare':
    if self._depth()>=-.0005:raise ActionRejected('PROBE_NOT_IN_AIR')
+   if getattr(self,'_on_ticks',1)<1 or abs(self.raw-getattr(self,'_signal',self.raw))>.5e-7:raise ActionRejected('FORCE_NOT_SETTLED')   # 1.0.1: half a 0.1 uN digit
    self.tare=self.gain*self.raw+self.offset;self.tared=True;self.force=0.;return {'tared':True}
   if k=='balance.calibrate':
    x=a['observed_raw_forces_n'];y=a['reference_forces_n']
@@ -262,7 +264,7 @@ class BiolinSigma700Runtime:
     theta=p['contact_rec_rad'] if moving and sign<0 else p['contact_adv_rad'];capillary=2*(m['plate_width_m']+m['plate_thickness_m'])*self.gamma*math.cos(theta);buoy=(p['liquid_density_kg_m3']-p['upper_density_kg_m3'])*G*m['plate_width_m']*m['plate_thickness_m']*min(depth,.020)
    elif self.probe=='ring' and self.stage=='withdraw' and -p['film_height_m']<=depth<=0:
     u=-depth/p['film_height_m'];capillary=4*math.pi*m['ring_radius_m']*self.gamma/p['true_ring_factor']*4*u*(1-u)
-  self.trueforce=p['probe_mass_kg']*G+capillary-buoy;signal=p['force_gain']*self.trueforce+p['force_offset_n'];self.raw=signal+(self.raw-signal)*math.exp(-DT/p['sensor_tau_s']);quant=round(self.raw/1e-7)*1e-7;self.force=self.gain*quant+self.offset-self.tare
+  self.trueforce=p['probe_mass_kg']*G+capillary-buoy;signal=p['force_gain']*self.trueforce+p['force_offset_n'];self._signal=signal;self._on_ticks=getattr(self,'_on_ticks',1)+1;self.raw=signal+(self.raw-signal)*math.exp(-DT/p['sensor_tau_s']);quant=round(self.raw/1e-7)*1e-7;self.force=self.gain*quant+self.offset-self.tare
   indicated=None
   if self.probe=='plate' and depth>=0 and self.tared and self.volume:indicated=(self.force+m['analysis_density_difference_kg_m3']*G*m['plate_width_m']*m['plate_thickness_m']*min(depth,.020))/(2*(m['plate_width_m']+m['plate_thickness_m'])*math.cos(m['analysis_contact_rad']))
   if self.probe=='ring' and self.stage=='withdraw' and depth<=0 and self.tared:indicated=self.force*m['ring_correction']/(4*math.pi*m['ring_radius_m'])
@@ -301,7 +303,7 @@ class BiolinSigma700Session:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  m=export_biolin_sigma700_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  m=export_biolin_sigma700_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
@@ -348,7 +350,7 @@ class BiolinSigma700Session:
 def export_biolin_sigma700_contract_metadata():
  caps={};slots={}
  for k,(s,u,o,v,c,w) in SLOTS.items():slots[k]=dict(meaning_zh=SLOT_ZH[k],component_ids=c,value_schema=copy.deepcopy(s),unit=u,reference_conditions='SI; stage relative to fixed home, force downward positive, bath absolute temperature; concentration is mass per liquid volume',origin=o,visibility=v,access='read_write' if w else 'read_only',read_binding=dict(backend='host',artifact_id='runtime',accessor=f'BiolinSigma700Session.read(state_ids=[{k!r}])'),write_via=dict(capability_id=w[0],argument=w[1],fixed_arguments={}) if w else None,sampling=dict(mode='instant',time_domain='simulation',window_description='0.01s physical ticks; readings use0.1µN quantization; tension mean from latehold observations'),source_ids=['simulation_assumption'])
- errors=['INVALID_ARGUMENT','UNKNOWN_INSTANCE','UNKNOWN_CAPABILITY','UNKNOWN_OPERATION','UNSUPPORTED','ACCESS_DENIED','REQUEST_CONFLICT','INITIALIZATION_ONLY','BUSY','NOT_READY','NOT_RUNNING','MODEL_NOT_ACCEPTED','SAMPLE_ACCESS','POWER_INTERLOCK','SAMPLE_PRESENT','NO_SAMPLE','STOCK_PRESENT','PROBE_NOT_IN_AIR','INVALID_CALIBRATION','NOT_TARED','RING_MODEL_NOT_ACCEPTED','STAGE_NOT_HOME','STAGE_RANGE','FINITE_STOCK_OR_CAPACITY','INVALID_REFERENCE','TEMPERATURE_RANGE','CONCENTRATION_RANGE','UNKNOWN_CONDITIONS','NO_BREAKPOINT','OVERIMMERSION','STOCK_EXHAUSTED']
+ errors=['INVALID_ARGUMENT','UNKNOWN_INSTANCE','UNKNOWN_CAPABILITY','UNKNOWN_OPERATION','UNSUPPORTED','ACCESS_DENIED','REQUEST_CONFLICT','INITIALIZATION_ONLY','BUSY','NOT_READY','NOT_RUNNING','MODEL_NOT_ACCEPTED','SAMPLE_ACCESS','POWER_INTERLOCK','SAMPLE_PRESENT','NO_SAMPLE','STOCK_PRESENT','PROBE_NOT_IN_AIR','FORCE_NOT_SETTLED','INVALID_CALIBRATION','NOT_TARED','RING_MODEL_NOT_ACCEPTED','STAGE_NOT_HOME','STAGE_RANGE','FINITE_STOCK_OR_CAPACITY','INVALID_REFERENCE','TEMPERATURE_RANGE','CONCENTRATION_RANGE','UNKNOWN_CONDITIONS','NO_BREAKPOINT','OVERIMMERSION','STOCK_EXHAUSTED']
  async_ids=['acquisition.start','stage.move','dose.start']
  for k,(inp,out,c,z,kind,vis,ex,effects) in CAPS.items():
   un=k in UNSUPPORTED;asyn=k in async_ids;caps[k]=dict(function_zh=z,kind=kind,visibility=vis,component_ids=c,availability='unsupported' if un else 'implemented',input_schema=copy.deepcopy(inp),output_schema=copy.deepcopy(out),implementation=dict(process='absent' if un else 'implemented',scene='absent',robot='absent',hardware='absent',host='absent' if un else 'implemented'),binding=None if un else dict(backend='host',artifact_id='runtime',entrypoint='asset_runtime.biolin_sigma700.BiolinSigma700Session.invoke',invocation=f'session.invoke(instance_id="sigma700_01",capability_id={k!r},arguments={ex!r},request_id="unique")'),preconditions=[] if kind in ['query','analysis'] or un else [dict(description_zh='原子化参数、访问、防风罩/样品/去皮/载台/供电及库存检查；仿真操作互锁，非原厂硬件认证',state_ids=['power.enabled','plant.configured','acquisition.phase','door.angle_rad','stage.position_m'],enforced_by='runtime',check='atomic invoke;registered Session;host step only')],state_effects=[dict(state_id=x,timing='immediate',description_zh='直接命令状态') for x in IMMEDIATE_EFFECTS.get(k,effects)],observes=[],model_effects=dict(mode='none',description_zh='联动须由实际姿态与读数另行验证',binding_ids=[]),execution=dict(mode='asynchronous' if asyn else 'synchronous',time_domain='simulation',completion_criterion='到达位置、测量撤回完成、有限剂量已加完' if asyn else '命令已接受；物理时间仅宿主step推进',completion_state_ids=['acquisition.phase'] if asyn else [],timeout_s=None,cancellation='supported' if asyn else 'unsupported',retry='same_request_id',resources=['host_clock','balance','stage','liquid','stock'],partial_failure_zh='已移动位置、已加库存、热量和采样保留，不回滚真实部分效果'),errors=[dict(code=x,meaning_zh=x,side_effects='partial' if asyn and x=='STOCK_EXHAUSTED' else 'none') for x in errors],example_arguments=copy.deepcopy(ex),verification=[],limitations=['硬件误差、污染、蒸发、故障和噪声统计未取得','环法有限薄膜峰形及校正系数是明确工程代理；不声称Huh-Mason'],source_ids=['manufacturer_specs','simulation_assumption'])
diff --git a/scripts/asset_runtime/biolin_thetaflex.py b/scripts/asset_runtime/biolin_thetaflex.py
index 75a1ffeb2ed2dbbc2172be1efb53d19562e004fe..22549dddb622a9db6eb960299e4bbe6ace7b63c5 100644
--- a/scripts/asset_runtime/biolin_thetaflex.py
+++ b/scripts/asset_runtime/biolin_thetaflex.py
@@ -1,7 +1,7 @@
 """CHEM-121 finite optical sessile-drop imaging; explicit assumptions, literature references."""
 from pathlib import Path
 import copy,math,json,importlib.util
-PROTOCOL_VERSION='1.0.0';SLUG='biolin_thetaflex';CATALOG_ID='CHEM-121';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.1';SLUG='biolin_thetaflex';CATALOG_ID='CHEM-121';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t4_measure'/SLUG
 class ActionRejected(ValueError):pass
 def number(unit='1',lo=None,hi=None):
@@ -150,7 +150,7 @@ cap('stock.unload',obj({}),obj({'unloaded':BOOL}),['syringe'],'宿主回收剩
 cap('drop.clean',obj({}),obj({'cleaned':BOOL}),['sample_plate'],'宿主吸走样片上的液滴入回收账本','configuration','evaluator',effects=['truth.drop_m3'])
 CAL=obj({'known_length_m':number('m',1e-5,.05),'observed_pixels':number('1',10,4096)})
 cap('camera.calibrate',CAL,obj({'pixel_pitch_m':number('m')}),['camera','calibration_socket'],'独立外部长度/图像像素标定；不代替C216证书','configuration',ex=dict(known_length_m=.001,observed_pixels=.001/(.0035/W)),effects=['camera.calibrated'])
-for k,i,e,c,z in [('stage.move',obj({'x_m':number('m',0,.08),'y_m':number('m',0,.04),'z_m':number('m',0,STAGE_Z_MAX_M)}),dict(x_m=.04,y_m=.02,z_m=.025),'stage_z','按受限速度移动手动XYZ台，过程代理'),('dispenser.move',obj({'position_m':number('m',0,.035)}),dict(position_m=.010),'dispenser','异步上下移动自动滴放支架'),('liquid.transfer',obj({'volume_m3':number('m^3',-1e-8,1e-8)}),dict(volume_m3=2e-10),'syringe','有限针筒滴放或回吸，动态模式保留针下液滴，体积守恒'),('acquisition.start',obj({}),{},'camera','按方法频率捕获有限帧数并独立拟合轮廓')]:cap(k,i,obj({'operation_id':TEXT}),[c],z,ex=e,effects=['acquisition.phase'])
+for k,i,e,c,z in [('stage.move',obj({'x_m':number('m',0,.08),'y_m':number('m',0,.04),'z_m':number('m',0,STAGE_Z_MAX_M)}),dict(x_m=.04,y_m=.02,z_m=.025),'stage_z','按受限速度移动手动XYZ台，过程代理'),('dispenser.move',obj({'position_m':number('m',0,.035)}),dict(position_m=.016),'dispenser','异步上下移动自动滴放支架'),('liquid.transfer',obj({'volume_m3':number('m^3',-1e-8,1e-8)}),dict(volume_m3=2e-10),'syringe','有限针筒滴放或回吸，动态模式保留针下液滴，体积守恒'),('acquisition.start',obj({}),{},'camera','按方法频率捕获有限帧数并独立拟合轮廓')]:cap(k,i,obj({'operation_id':TEXT}),[c],z,ex=e,effects=['acquisition.phase'])
 cap('acquisition.stop',obj({}),obj({'phase':PHASE}),['controller'],'取消保留已移动位置、已转移液体与图像',effects=['acquisition.phase'])
 cap('acquisition.result',obj({}),RESULT,['camera'],'只读最后异步操作结果与像素图像','query')
 cap('image.capture',obj({}),obj({'image_png_base64':TEXT,'baseline_px':INT(0,H),'pixel_pitch_m':number('m'),'measurement':FIT_RESULT}),['camera'],'返回由物理轮廓形成的像素图像及图像拟合；模拟图像明确标注','analysis')
@@ -383,7 +383,7 @@ class BiolinThetaFlexSession:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  m=export_biolin_thetaflex_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.1.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  m=export_biolin_thetaflex_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/biorad_miniprotean.py b/scripts/asset_runtime/biorad_miniprotean.py
index 6e8d1fb4ad08c0b59d4fb84d7e6d2b1cb4ee3b30..6866c156ce10720faa3255f374554e4c9792fc2e 100644
--- a/scripts/asset_runtime/biorad_miniprotean.py
+++ b/scripts/asset_runtime/biorad_miniprotean.py
@@ -101,7 +101,7 @@ PANEL_KEYS = ['display_mode', 'up', 'down', 'stop', 'run_pause', 'constant']
 KEY_REPEAT_DELAY_S, KEY_REPEAT_HZ = 0.5, 5.0  # a held scroll key repeats after 0.5 s at 5 steps/s (engineering: the manual gives no timing)
 KEY_FAST_AFTER, KEY_FAST_STEP = 5, 10       # held for more than 5 units the scroll key steps by 10 (manual p.3-4)
 STOP_HOLD_S = 2.0                           # stop held ~2 s: Pfd on the time display, dE9 on the current display (manual p.5)
-ASSET_VERSION = '1.2.1'
+ASSET_VERSION = '1.2.2'   # 1.2.2 (2026-10-22): gel.inspect lanes[].sample_id
 
 
 class ActionRejected(ValueError):
@@ -1032,6 +1032,7 @@ class BioradMiniproteanRuntime:
                                  geo=(1.0e-3 / thick) * (0.086 / width) * lfac, rfac=gl.get('resistance_factor', 1.0),
                                  qfac=gl['run_charge_factor'] * (thick / 1.0e-3) * (width / 0.086) * lfac,
                                  lanes={n: [] for n in range(1, gl['wells'] + 1)}, well_ul={n: 0.0 for n in range(1, gl['wells'] + 1)},
+                                 lane_samples={n: [] for n in range(1, gl['wells'] + 1)},
                                  T=self._room(), T_max=self._room(), damaged=False, runs=[], smile=0.0, template_source=f'gel_buffer_library.json#{gel_type}')
         self._event('gel', 'GEL_READY', f'胶{gel_id}（{gel_type}）放在实验台上')
         return dict(gel_id=gel_id, location='bench')
@@ -1212,6 +1213,8 @@ class BioradMiniproteanRuntime:
                     self._add_band(g, n, sp, kda, part * v / volume_ul, s)
                 self.led['protein_spilled_kg'].add(part * lost / volume_ul * UG)
         g['well_ul'][lane] += into
+        if into > 0 and sample_id not in g['lane_samples'][lane]:
+            g['lane_samples'][lane].append(sample_id)                            # what was pipetted into this lane (spill-over into neighbours does not count)
         for n, v in give.items():
             g['well_ul'][n] += v
         s['ug'] = {k: v * (1 - frac_of_sample) for k, v in s['ug'].items()}
@@ -1314,7 +1317,8 @@ class BioradMiniproteanRuntime:
                     prof += b['ug'] * UG * w / w.sum() if w.sum() > 0 else 0.0
                 out.append(dict(species=b['species'], apparent_molar_mass_kg_mol=b['kda'], amount_kg=b['ug'] * UG, distance_m=dist, sigma_m=sig, state=b['state'],
                                 template_source=b['template_source']))
-            lanes.append(dict(lane=lane, sample_id=None, bands=out, profile=[float(v) for v in prof]))
+            loaded = g.get('lane_samples', {}).get(lane) or []
+            lanes.append(dict(lane=lane, sample_id='+'.join(loaded) if loaded else None, bands=out, profile=[float(v) for v in prof]))
         return dict(gel_id=gel_id, gel_type=g['gel_type'], lanes=lanes, dye_front_m=self._front_m(g), resolving_height_m=res, smile_fraction=g['smile'],
                     heat_damaged=bool(g['damaged']), max_temperature_k=float(g['T_max']))
 
diff --git a/scripts/asset_runtime/ch_chi440c.py b/scripts/asset_runtime/ch_chi440c.py
index fa919823b95cd2c005f88c53ed12fb294fee5221..09e751e2dcc9a177c5a3e04253ffaf22b0743a5d 100644
--- a/scripts/asset_runtime/ch_chi440c.py
+++ b/scripts/asset_runtime/ch_chi440c.py
@@ -1,7 +1,7 @@
 """CHEM-105 finite EQCM educational process; trusted host API, no experimental calibration."""
 from pathlib import Path
 import copy,math,json,importlib.util
-PROTOCOL_VERSION='1.0.0';SLUG='ch_chi440c';CATALOG_ID='CHEM-105';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';SLUG='ch_chi440c';CATALOG_ID='CHEM-105';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];TEMPLATE_REL='assets/expansion_batch04/t4_measure/'+SLUG+'/qcm_material_library.json'
 class ActionRejected(ValueError):pass
 def number(unit='1',lo=None,hi=None):
@@ -51,7 +51,7 @@ LEDGER=obj({'loaded_mass_kg':number('kg',0),'solution_mass_kg':number('kg',0),'f
 CAPS={};UNSUPPORTED={'voltammetry.full_suite','qcmd.acquire','resistance.acquire','hardware.connect'}
 def cap(k,i,o,c,z,kind='device_command',vis='agent',ex=None,effects=None):CAPS[k]=(i,o,c,z,kind,vis,ex or {},effects or [])
 cap('crystal.configure',CRYSTAL,obj({'configured':BOOL,'sensitivity_hz_kg':number('Hz/kg',0)}),['quartz_crystal','oscillator'],'显式晶体与薄膜适用性参数；初始化时设置','configuration','evaluator',CRYSTAL_EXAMPLE,['crystal.configured'])
-cap('method.configure',METHOD,obj({'configured':BOOL}),['controller'],'电位/电流台阶或仅QCM；采样≥1ms','configuration','agent',METHOD_EXAMPLE,['method.configured'])
+cap('method.configure',METHOD,obj({'configured':BOOL}),['controller'],'电位/电流台阶或仅QCM；采样≥1ms；电流台阶current_a的符号：正值为阴极（还原）电流、负值为阳极（氧化）电流（CHI阴极为正约定）','configuration','agent',METHOD_EXAMPLE,['method.configured'])
 cap('sample.load',SAMPLE,obj({'loaded':BOOL}),['sample_cell','gold_electrode'],'宿主装入有限浴液和显式动力学参数','configuration','evaluator',SAMPLE_EXAMPLE,['sample.loaded','sample.identity'])
 cap('sample.unload',obj({}),obj({'returned_mass_kg':number('kg',0)}),['sample_cell'],'开盖后归还剩余浴液；晶体膜保留','device_command','evaluator',effects=['sample.loaded','sample.identity'])
 cap('crystal.clean',obj({}),obj({'waste_mass_kg':number('kg',0)}),['quartz_crystal','gold_electrode'],'开盖且排液后将膜转入废物账本；不凭空抹除质量','device_command','evaluator')
@@ -69,7 +69,7 @@ def slot(k,s,u,z,o='derived',v='agent',c='controller',w=None):SLOTS[k]=(s,u,o,v,
 for k in ['crystal','method']:slot(k+'.configured',BOOL,'1',k+'参数已配置','setpoint')
 slot('power.enabled',BOOL,'1','逻辑电源','setpoint',w=('power.set','enabled'));slot('lid.lift_m',number('m',0,.05),'m','盖实际抬升；人工拆装抽象','scene',c='cell_lid',w=('lid.set','lift_m'))
 slot('sample.loaded',BOOL,'1','有限浴液已装入');slot('sample.identity',TEXT,'1','样品身份','process_truth','evaluator','sample_cell');slot('film.true_mass_kg',number('kg',0),'kg','有限薄膜真实质量','process_truth','evaluator','gold_electrode')
-for k,u,z in [('frequency.true_hz','Hz','过程真频率'),('frequency.hz','Hz','理想计数量化后的频率'),('frequency.delta_hz','Hz','相对观测基线频移'),('mass.inferred_delta_kg','kg','从观测频移换算的质量变化'),('current.a','A','区间平均电流'),('potential.v','V','相对明确参比的区间电位')]:slot(k,nullable(number(u)),u,z,'process_truth' if k=='frequency.true_hz' else 'derived','evaluator' if k=='frequency.true_hz' else 'agent',c='oscillator' if k.startswith('frequency') else 'controller')
+for k,u,z in [('frequency.true_hz','Hz','过程真频率'),('frequency.hz','Hz','理想计数量化后的频率'),('frequency.delta_hz','Hz','相对观测基线频移'),('mass.inferred_delta_kg','kg','从观测频移换算的质量变化'),('current.a','A','区间平均电流；符号：阴极（还原）电流为正、阳极（氧化）电流为负（CHI软件的阴极为正约定，系统设置可改，手册p.113；Gamry、Pine资产用IUPAC约定，阳极为正）'),('potential.v','V','相对明确参比的区间电位')]:slot(k,nullable(number(u)),u,z,'process_truth' if k=='frequency.true_hz' else 'derived','evaluator' if k=='frequency.true_hz' else 'agent',c='oscillator' if k.startswith('frequency') else 'controller')
 slot('frequency.baseline_hz',nullable(number('Hz',0)),'Hz','观测零点，不是过程真质量归零','setpoint',c='oscillator');slot('frequency.quality',enum(['unavailable','estimated','invalid']),'1','薄膜条件与理想频率质量状态',c='oscillator');slot('acquisition.phase',PHASE,'1','采集任务状态');slot('acquisition.elapsed_s',number('s',0),'s','已处理采样时长');slot('acquisition.failure',TEXT,'1','无私有身份的失败码');slot('acquisition.completed_points',dict(number('1',0),type='integer'),'1','有效记录数')
 def adsorb_exact(x,total,sites,ka,kd,volume,dt):
  a=ka/volume
@@ -211,7 +211,7 @@ class ChChi440cSession:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  m=export_ch_chi440c_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  m=export_ch_chi440c_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/fujifilm_dmp2850.py b/scripts/asset_runtime/fujifilm_dmp2850.py
index 64f0bc1125dad51a371c73d8e8709f5db966a520..c6cfc6cfe5bccf184482afe3c89ff37e8de42a8d 100644
--- a/scripts/asset_runtime/fujifilm_dmp2850.py
+++ b/scripts/asset_runtime/fujifilm_dmp2850.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='fujifilm_dmp2850'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-058'; PROTOCOL_VERSION='1.0.0'
+SLUG='fujifilm_dmp2850'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-058'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.1.1'
 TEMPLATE_REL='assets/reactions/fujifilm_dmp2850_ink_library/templates.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
 
@@ -176,7 +176,7 @@ class FujifilmDmp2850Runtime:
         if self.phase=='running':self.phase=phase;self.stage='stopped'
         self.target=self.q[:]
     def _start(self,purpose,stage):
-        self.phase='running';self.purpose=purpose;self.stage=stage;self.elapsed_s=0.;self._operation_count+=1;self.operation_id=self.instance_id+':job:'+str(self._operation_count)
+        self._archive_op();self.phase='running';self.purpose=purpose;self.stage=stage;self.elapsed_s=0.;self._operation_count+=1;self.operation_id=self.instance_id+':job:'+str(self._operation_count)
         return dict(phase=self.phase,operation_id=self.operation_id)
     def _factor(self,m=None,c=None):
         m=m or self.method;c=c or self.ink_cfg
@@ -344,6 +344,11 @@ class FujifilmDmp2850Runtime:
             for s in self.spots:
                 dm=min(s['m'][0],p['mass_transfer_m_s']*math.pi*s['radius']**2*pv*mw/(8.314462618*self.temps[0])*dt)
                 s['m'][0]-=dm;self.evaporated[0]+=dm
+    def _archive_op(self):
+        # 2026-10-22 (chemlab findings B D4): the final record (status and printing.measure) of a finished operation is kept, so an older operation of a
+        # caller stays pollable after a newer one started (poll used to accept only the latest operation)
+        op=self.operation_id;arch=self.__dict__.setdefault('_op_final',{})
+        if op and self.phase not in ('running',) and op not in arch:arch[op]=dict(status=self.phase,result=self.invoke('printing.measure'))
     def step(self,dt_s):
         if isinstance(dt_s,bool) or not isinstance(dt_s,(int,float)) or not math.isfinite(dt_s) or not 0<dt_s<=3600:raise ActionRejected('INVALID_ARGUMENT')
         left=float(dt_s)
@@ -356,7 +361,7 @@ class FujifilmDmp2850Runtime:
             if self.flight and self.flight['left']>1e-12:dt=min(dt,self.flight['left'])
             if self.phase=='running' and self.stage=='flight' and self.wait_left>1e-12:dt=min(dt,self.wait_left)
             if self.phase=='running' and self.stage=='clean' and self.clean_left>1e-12:dt=min(dt,self.clean_left)
-            self._advance(dt);self.time_s+=dt;left-=dt;self._events()
+            self._advance(dt);self.time_s+=dt;left-=dt;self._events();self._archive_op()
         self.revision+=1;return self.read('evaluator')
 class FujifilmDmp2850Session:
     """Only the trusted host assigns roles; returned data obey the same boundary."""
@@ -369,7 +374,7 @@ class FujifilmDmp2850Session:
         if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
         if instance_id is not None:self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-        m=export_fujifilm_dmp2850_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.1.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+        m=export_fujifilm_dmp2850_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
     def read(self,*,instance_id,state_ids=None):
         self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
         if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
@@ -388,6 +393,7 @@ class FujifilmDmp2850Session:
                 if old!=digest:raise ActionRejected('REQUEST_CONFLICT')
                 return copy.deepcopy(result)
             result=h.invoke(capability_id,**arguments);op=result.get('operation_id')
+            if CAPS[capability_id][4]!='query':h._archive_op()
             if op:h._owners[op]=self._principal
             response=dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=op,status='accepted' if op else 'succeeded',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result=result,observations={},error=None);h._requests[key]=(digest,copy.deepcopy(response));return response
         except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
@@ -397,10 +403,16 @@ class FujifilmDmp2850Session:
         cap,arg=SLOTS[state_id][5];return self.invoke(instance_id=instance_id,capability_id=cap,arguments={arg:value},request_id=request_id)
     def poll(self,operation_id):
         h=self._host
-        if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if operation_id!=h.operation_id:                                    # an older operation of this caller: its final record (2026-10-22)
+            rec=h.__dict__.get('_op_final',{}).get(operation_id)
+            if rec is None:raise ActionRejected('ACCESS_DENIED')
+            return dict(operation_id=operation_id,status=rec['status'],result=copy.deepcopy(rec['result']))
         return dict(operation_id=operation_id,status=h.phase,result=h.invoke('printing.measure'))
     def cancel(self,operation_id,request_id):
-        self.poll(operation_id);return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
+        r=self.poll(operation_id)
+        if operation_id!=self._host.operation_id:return r                 # finished before a newer operation started: nothing to cancel
+        return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
 
 
 
diff --git a/scripts/asset_runtime/inficon_ul1000fab.py b/scripts/asset_runtime/inficon_ul1000fab.py
index 0ac0becd3c2b1105f6b4166051b39a9d54896202..8d37dbcf53530ee495a45498d3b6f7d9b21557ae 100644
--- a/scripts/asset_runtime/inficon_ul1000fab.py
+++ b/scripts/asset_runtime/inficon_ul1000fab.py
@@ -320,7 +320,8 @@ for _k, _v in UNSUPPORTED.items():
 
 
 # ---------------------------------------------------------------- softkey menu (operating manual chapters 5-8): device settings and functions
-ASSET_VERSION = '1.3.0'
+ASSET_VERSION = '1.3.1'   # 1.3.1 (2026-10-22): recorder p1/p2 output clamped to the TPR265 chart end (an evacuated empty inlet crashed read)
+TPR265_CHART_MIN_PA = 1e-2   # the TPR265 recorder chart (appendix fig. 11-1) starts at 1e-4 mbar = 1.5 V; lower inlet pressures read as the chart end
 PRESSURE_UNITS = {'mbar': 100.0, 'Pa': 1.0, 'Torr': 133.322368, 'atm': 101325.0}                      # Pa per unit (manual 6.4.4)
 LEAK_UNITS = {'mbar l/s': 0.1, 'Pa m3/s': 1.0, 'Torr l/s': 0.133322368, 'atm cc/s': 0.101325}      # Pa m3/s per unit
 SNIFF_UNITS = ['ppm', 'g/a eq', 'oz/yr eq']                                                       # sniff mode only (R134a equivalent)
@@ -1755,9 +1756,9 @@ class InficonUl1000fabRuntime:
             return 0.0
         if signal in ('p1', 'p2'):
             p = p1 if signal == 'p1' else (ENG['foreline_pressure_measure_pa'] if self.state in ('measure', 'evacuation', 'calibration') else 5.0)
-            if p is None or p <= 0:
+            if p is None:
                 return 0.0
-            u = math.log10(p / 100.0) + 5.5
+            u = math.log10(max(p, TPR265_CHART_MIN_PA) / 100.0) + 5.5     # an evacuated empty inlet (p1 -> 0) reads the chart end, 1.5 V
         elif disp is None:
             return 0.0
         else:
diff --git a/scripts/asset_runtime/jasco_j1500.py b/scripts/asset_runtime/jasco_j1500.py
index e22418788896fee58862bd1a63e528c76c777f4a..6b8a880b5c8ef4f0f5a6b72f7f4702a56af57602 100644
--- a/scripts/asset_runtime/jasco_j1500.py
+++ b/scripts/asset_runtime/jasco_j1500.py
@@ -3,7 +3,7 @@ from __future__ import annotations
 import copy,hashlib,importlib.util,json,math
 from pathlib import Path
 import numpy as np
-ROOT=Path(__file__).resolve().parents[2];SLUG='jasco_j1500';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-065';PROTOCOL_VERSION='1.0.0'
+ROOT=Path(__file__).resolve().parents[2];SLUG='jasco_j1500';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-065';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1'
 TEMPLATE_REL='assets/reactions/jasco_j1500_cd_library/templates.json'
 R=8.31446261815324;STD_T=273.15;STD_P=101325.;MDEG=math.pi/180000;CD_FACTOR=math.log(10)/4;CD_LIMIT=8000*MDEG
 BOOL={'type':'boolean'};TEXT={'type':'string'}
@@ -59,7 +59,7 @@ cap('plant.configure',PLANT,obj({'configured':BOOL}),['body'],'显式一次性
 cap('solution.register',SOLUTION,obj({'registered':BOOL}),['cell_holder'],'宿主注册已填充样品池与独立UV输入','configuration','evaluator',SAMPLE_EXAMPLE)
 cap('sample.load',obj({'sample_id':TEXT}),obj({'loaded':BOOL,'attachment_event':TEXT}),['cell_holder','sample_cell'],'开盖由宿主挂接预填池，不自动移液','device_command','evaluator',{'sample_id':'sample_01'})
 cap('sample.unload',obj({'recipient_id':TEXT}),obj({'unloaded':BOOL,'attachment_event':TEXT}),['cell_holder','sample_cell'],'开盖卸下池，全部液体回外部账本','device_command','evaluator',{'recipient_id':'external_rack'})
-cap('method.configure',METHOD,obj({'configured':BOOL}),['monochromator','host_screen'],'波长/扫描/带宽/DIT/累积；修改使空白失效','configuration','agent',METHOD_EXAMPLE)
+cap('method.configure',METHOD,obj({'configured':BOOL}),['monochromator','host_screen'],'波长/扫描/带宽/DIT/累积；修改使空白失效；设置按仪器硬件范围163–950 nm接受，但仿真只覆盖CD模板数据175–240 nm：扫描端点加带宽高斯±3σ超出175–240 nm时acquisition.start返回TEMPLATE_RANGE','configuration','agent',METHOD_EXAMPLE)
 cap('power.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['power_inlet'],'供电逻辑，关机停灯关快门并使空白失效',ex={'enabled':True})
 cap('purge.set',obj({'flow_std_m3_s':number('m^3/s',0,30e-3/60)}),obj({'flow_std_m3_s':number('m^3/s',0,30e-3/60)}),['nitrogen_inlet'],'有限氮气；标准体积参考273.15K/101325Pa为显式宿主假设',ex={'flow_std_m3_s':2e-3/60})
 cap('lid.set',obj({'opened':BOOL}),obj({'opened':BOOL}),['sample_lid'],'开盖取消扫描、关闭快门；单区吹扫污染重置',ex={'opened':False})
@@ -323,7 +323,7 @@ class JascoJ1500Session:
         if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
         if instance_id is not None:self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-        m=export_jasco_j1500_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+        m=export_jasco_j1500_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
     def read(self,*,instance_id,state_ids=None):
         self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
         if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/jena_contraa800.py b/scripts/asset_runtime/jena_contraa800.py
index fefe8b03ff297292fc5c49122fedb831d537a3c3..eb03e0c59b298bc71b1f3db210fca17fd3486885 100644
--- a/scripts/asset_runtime/jena_contraa800.py
+++ b/scripts/asset_runtime/jena_contraa800.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 import numpy as np
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='jena_contraa800'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-081'; PROTOCOL_VERSION='1.0.0'
+SLUG='jena_contraa800'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-081'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.1.1'
 TEMPLATE_REL='assets/expansion_batch03/t3_analytical/jena_contraa800/output_templates/library.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
 class ActionRejected(ValueError): pass
@@ -89,7 +89,7 @@ cap('blank.read',obj({}),obj({'valid':BOOL,'blank_json':TEXT}),['display_panel']
 cap('calibration.fit',CAL_INPUT,CAL_OUTPUT,['display_panel'],'三条以上真实参考液体浓度与实测模拟面积拟合，按元素/线/模式/温程分开','configuration','agent',CALIBRATION_EXAMPLE)
 cap('calibration.select',obj({'curve_id':TEXT}),obj({'selected':BOOL}),['display_panel'],'选择已有本方法响应签名标线，禁止跨元素/原子化模式错用','configuration','agent',{'curve_id':'illustrative_cu'})
 cap('calibration.read',obj({'curve_id':TEXT}),obj({'curve_json':TEXT}),['display_panel'],'纯读取标线与参考来源','query','agent',{'curve_id':'illustrative_cu'})
-cap('records.list',obj({}),obj({'capacity':integer(RESULT_CAPACITY,RESULT_CAPACITY),'count':integer(0,RESULT_CAPACITY),'record_ids':arr(TEXT),'curve_count':integer(0,CURVE_CAPACITY)}),['display_panel'],'实例256结果/32标线为工程内存边界，不宣称厂家容量','query')
+cap('records.list',obj({}),obj({'capacity':integer(RESULT_CAPACITY,RESULT_CAPACITY),'count':integer(0,RESULT_CAPACITY),'record_ids':arr(TEXT),'curve_count':integer(0,CURVE_CAPACITY),'curve_ids':arr(TEXT)}),['display_panel'],'列出结果记录ID与已拟合标线ID（curve_ids，1.1.1起；可用于calibration.select/calibration.read）；实例256结果/32标线为工程内存边界，不宣称厂家容量','query')
 cap('records.read',obj({'record_id':TEXT}),RESULT,['display_panel'],'按ID读历史完整峰和冻结方法','query','agent',{'record_id':'contraa_01:result:1'})
 cap('records.remove',obj({'record_id':TEXT}),obj({'removed':BOOL}),['display_panel'],'显式释放结果容量，受保护异步历史独立保留','configuration','agent',{'record_id':'contraa_01:result:1'})
 cap('template.read',obj({'substance_id':TEXT}),TEMPLATE,['display_panel'],'查询实测/赋值浓度或纯原子谱线，保留介质和缺测字段','query','agent',{'substance_id':SAMPLE_EXAMPLE['template_id']})
@@ -283,7 +283,7 @@ class JenaContraa800Runtime:
   if k=='calibration.read':
    if a['curve_id'] not in self._curves:raise ActionRejected('UNKNOWN_CURVE')
    return {'curve_json':json.dumps(self._curves[a['curve_id']],allow_nan=False)}
-  if k=='records.list':return dict(capacity=RESULT_CAPACITY,count=len(self._records),record_ids=list(self._records),curve_count=len(self._curves))
+  if k=='records.list':return dict(capacity=RESULT_CAPACITY,count=len(self._records),record_ids=list(self._records),curve_count=len(self._curves),curve_ids=list(self._curves))   # 1.1.1: curve ids
   if k=='records.read':
    if a['record_id'] not in self._records:raise ActionRejected('UNKNOWN_RECORD')
    return self._records[a['record_id']]
@@ -462,7 +462,7 @@ class JenaContraa800Session:
         if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
         if instance_id is not None:self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-        m=export_jena_contraa800_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.1',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+        m=export_jena_contraa800_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
     def read(self,*,instance_id,state_ids=None):
         self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
         if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/jena_multix.py b/scripts/asset_runtime/jena_multix.py
index f5afe00c8669156cf02cf7f52c7836639f0a83ca..ed0b65375e05dccbfa626cbd0f5b98a61b661063 100644
--- a/scripts/asset_runtime/jena_multix.py
+++ b/scripts/asset_runtime/jena_multix.py
@@ -3,7 +3,7 @@ from __future__ import annotations
 import ast,copy,csv,hashlib,importlib.util,io,json,math
 from pathlib import Path
 import numpy as np
-ROOT=Path(__file__).resolve().parents[2];SLUG='jena_multix';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-085';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.0'
+ROOT=Path(__file__).resolve().parents[2];SLUG='jena_multix';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-085';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.1'
 TEMPLATE_REL='assets/expansion_batch04/t3_analytical/jena_multix/output_templates/library.json'
 FARADAY=96485.33212331001;M_CL=.03545;M_O2=.031998;MAX_RESULTS=256;MAX_CURVES=32;MAX_WINDOWS=10000
 class ActionRejected(ValueError):pass
@@ -38,7 +38,8 @@ def validate(s,v):
 PLANT=obj(dict(seed=integer(0,2**32-1),optional_boat_drive_installed=BOOL,optional_pox_installed=BOOL,ambient_temperature_k=number('K',278.15,308.15),heating_rate_k_s=number('K/s',.1,10000),cooling_rate_k_s=number('K/s',.1,10000),thermal_capacity_j_k=number('J/K',1,1e5),heat_loss_w_k=number('W/K',0,100),cold_threshold_k=number('K',308.15,373.15),rotation_speed_rad_s=number('rad/s',.01,20),feed_speed_m_s=number('m/s',.001,2),oxygen_supply_mol=number('mol',0,1000),argon_supply_mol=number('mol',0,1000),oxygen_flow_mol_s=number('mol/s',1e-8,.1),argon_flow_mol_s=number('mol/s',1e-8,.1),oxygen_demand_mol_kg=number('mol/kg',0,1000),solid_residue_fraction=number('1',0,1),combustion_recovery=number('1',.01,1),transport_tau_s=number('s',.01,10),cell_tau_s=number('s',.01,10),silver_initial_mol=number('mol',0,1),detector_gain=number('1',.01,100),baseline_current_a=number('A',-1e-3,1e-3),current_noise_density_a_sqrt_s=number('A*s^0.5',0,1e-3),maximum_current_a=number('A',1e-6,1),cell_temperature_k=number('K',278.15,308.15)))
 PLANT_EXAMPLE=dict(seed=850,optional_boat_drive_installed=False,optional_pox_installed=False,ambient_temperature_k=298.15,heating_rate_k_s=2000.,cooling_rate_k_s=2000.,thermal_capacity_j_k=10.,heat_loss_w_k=.2,cold_threshold_k=323.15,rotation_speed_rad_s=3.,feed_speed_m_s=1.,oxygen_supply_mol=10.,argon_supply_mol=10.,oxygen_flow_mol_s=.001,argon_flow_mol_s=.001,oxygen_demand_mol_kg=2.,solid_residue_fraction=.05,combustion_recovery=.98,transport_tau_s=.08,cell_tau_s=.06,silver_initial_mol=.001,detector_gain=1.03,baseline_current_a=2e-7,current_noise_density_a_sqrt_s=0.,maximum_current_a=.1,cell_temperature_k=298.15)
 METHOD=obj(dict(mode=enum(['AOX','EOX','POX','TX']),temperature_k=number('K',973.15,1373.15),feeding_s=number('s',.1,30),combustion_s=number('s',.1,120),integration_s=number('s',.5,600),window_s=number('s',.01,10)))
-METHOD_EXAMPLE=dict(mode='AOX',temperature_k=1223.15,feeding_s=.4,combustion_s=.6,integration_s=12.,window_s=.2)
+METHOD_EXAMPLE=dict(mode='AOX',temperature_k=1223.15,feeding_s=.4,combustion_s=.6,integration_s=12.,window_s=.2)   # short test fixture
+METHOD_CONTRACT_EXAMPLE=dict(METHOD_EXAMPLE,integration_s=60.)   # 1.2.1: the contract example; 60 s resolves the AOX endpoint of the standards (12 s did not)
 HALOGEN=obj(dict(element=enum(['Cl','Br','I','F']),amount_mol=number('mol',0,.001)))
 SAMPLE=obj(dict(template_id=TEXT,kind=enum(['sample','standard','blank']),input_form=enum(['loaded_carbon','extract','solid','liquid','purged_gas']),mass_kg=number('kg',1e-9,1e-4),volume_m3=number('m^3',0,1e-7),reference_fraction=number('1',1e-6,1),accept_prepared_input=BOOL,accept_source_condition_mismatch=BOOL,halogen_moles=arr(HALOGEN,0,4)))
 SAMPLE_EXAMPLE=dict(template_id='aox_linear_100_r1_c1',kind='sample',input_form='loaded_carbon',mass_kg=5e-5,volume_m3=0.,reference_fraction=.2,accept_prepared_input=True,accept_source_condition_mismatch=True,halogen_moles=[])
@@ -55,7 +56,7 @@ cap('cover.set',obj({'door':enum(['main_left','main_right','chlorine']),'opened'
 cap('power.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['combustion_furnace','coulometer_cell'],'上电/断电；断电取消并保留不可逆消耗',example={'enabled':True})
 cap('gas.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['gas_box'],'开关载气；运行中停气取消并保留残留',example={'enabled':True})
 cap('direction.set',obj({'direction':enum(['vertical','horizontal'])}),obj({'direction':TEXT}),['furnace_tilt'],'冷态断电停气的单炉有限倾转；水平需ABD选件','device_command','evaluator',{'direction':'vertical'})
-cap('method.configure',METHOD,obj({'configured':BOOL}),['combustion_furnace','coulometer_cell'],'AOX/EOX/POX/TX对应已预处理入口与积分窗口','configuration',example=METHOD_EXAMPLE)
+cap('method.configure',METHOD,obj({'configured':BOOL}),['combustion_furnace','coulometer_cell'],'AOX/EOX/POX/TX对应已预处理入口与积分窗口','configuration',example=METHOD_CONTRACT_EXAMPLE)
 cap('temperature.set',obj({'temperature_k':number('K',298.15,1373.15)}),obj({'target_k':number('K')}),['combustion_furnace'],'设置炉温目标，step有限推进',example={'temperature_k':1223.15})
 cap('cell.prepare',obj({'cell_type':enum(['sensitive','high_sensitive','high_concentration'])}),obj({'prepared':BOOL}),['coulometer_cell','silver_anode'],'宿主装妥电解液/电极的声明，不冒充OEM终点标定','device_command','evaluator',{'cell_type':'sensitive'})
 cap('measurement.start',obj({}),obj({'operation_id':TEXT}),['sample_inlet','combustion_furnace','coulometer_cell'],'启动消耗型燃烧/微库仑积分')
@@ -494,5 +495,5 @@ def export_jena_multix_contract_metadata():
   unsupported=k in UNSUPPORTED;async_=k=='measurement.start';effects=[dict(state_id=s,description_zh=SLOT_ZH[s],timing=t) for t,mapping in [('immediate',immediate),('on_step',onstep)] for s in dict.fromkeys(mapping.get(k,[]))]
   caps[k]=dict(function_zh=label,kind=kind,visibility=vis,component_ids=components,availability='unsupported' if unsupported else 'implemented',input_schema=copy.deepcopy(inp),output_schema=copy.deepcopy(out),implementation={layer:('implemented' if layer in ['process','host'] and not unsupported else 'absent') for layer in ['process','scene','robot','hardware','host']},binding=None if unsupported else dict(backend='host',artifact_id='runtime',entrypoint='asset_runtime.jena_multix.JenaMultixSession.invoke',invocation=f'session.invoke(instance_id="multix_01",capability_id={k!r},arguments={example!r},request_id="unique")'),preconditions=[] if kind=='query' or unsupported else [dict(description_zh='运行入口检查真实权限、模式/方向/管型/已安装附件、炉温、对应进样口与观测记录签名；时钟由宿主推进',state_ids=['power.enabled','instrument.ready','measurement.phase'],enforced_by='runtime',check='Runtime._invoke/_start/_fit and authenticated Session')],state_effects=[] if unsupported or kind=='query' else effects,observes=[] if unsupported else observes.get(k,[]),model_effects=dict(mode='none',description_zh='真实场景绑定由独立几何验证补充，查询不产生运动',binding_ids=[]),execution=dict(mode='asynchronous' if async_ else 'synchronous',time_domain='simulation',completion_criterion='完整方法积分窗口完成；发生极受所选池电流限制，未滴定残留不会偷偷还样' if async_ else '原子返回；有限动作/热过程只在step中推进',completion_state_ids=['measurement.phase'] if async_ else [],timeout_s=None,cancellation='supported' if async_ else 'unsupported',retry='same_request_id',resources=['host_clock','prepared_sample','combustion_furnace','coulometer_cell','silver','carrier_gas'],partial_failure_zh='保留部分观测电荷、燃烧消耗和气路/池残留；样品原样不可恢复'),errors=[dict(code=e,meaning_zh=e,side_effects='none') for e in errors],example_arguments=copy.deepcopy(example),verification=[],limitations=LIMITATIONS,source_ids=['manufacturer_primary','manufacturer_manual','manufacturer_abd','simulation_assumption'])
  mech=dict(component_ids=['sample_inlet','combustion_furnace','combustion_tube','gas_box','coulometer_cell','silver_anode'],state_ids=list(slots),meaning_zh='已预处理输入经有限燃烧和输运进入银库仑池；公开观测空白/标准反演Cl当量',implementation='lumped',equations=['n_equivalent=sum(nCl,nBr,nI); fluorine is excluded, proportions unknown for operational AOX source records.','Ag+ + X- -> AgX; physical Q=F*nAg, generator current capped at documented cell100uA/1mA/10mA.','Measured dQ=gain*physical_dQ+baseline*dt+explicit host noise; observations integrate actual window lengths.','Net observed charge=slope*reference_Cl_equivalent_mass+intercept; actual saved standards, >=3 distinct masses, interpolation only.','Registered sample + reacted oxygen = unburned + returned + residue + removed residue + uncharacterized reaction products.','Equivalent registered=unburned+returned+gas+cell+precipitated+unrecovered+drained.','Electrical input=thermal stored+thermal rejected; no invented matrix heat release.'],parameters={},source_ids=['manufacturer_primary','manufacturer_manual','simulation_assumption'],limitations=LIMITATIONS)
- spec=importlib.util.spec_from_file_location('_multix_annotations',ROOT/'scripts/asset_runtime/_annotations.py');ann=importlib.util.module_from_spec(spec);spec.loader.exec_module(ann);ann.KEY_ZH.update(SLOT_ZH);ann.TRUTH_ZH.update(SLOT_ZH);ann.annotate_export(SLUG,caps,slots,{'combustion_microcoulometry':mech},inputs={'plant.configure':(PLANT,PLANT_EXAMPLE),'method.configure':(METHOD,METHOD_EXAMPLE),'sample.load':(SAMPLE,SAMPLE_EXAMPLE)})
+ spec=importlib.util.spec_from_file_location('_multix_annotations',ROOT/'scripts/asset_runtime/_annotations.py');ann=importlib.util.module_from_spec(spec);spec.loader.exec_module(ann);ann.KEY_ZH.update(SLOT_ZH);ann.TRUTH_ZH.update(SLOT_ZH);ann.annotate_export(SLUG,caps,slots,{'combustion_microcoulometry':mech},inputs={'plant.configure':(PLANT,PLANT_EXAMPLE),'method.configure':(METHOD,METHOD_CONTRACT_EXAMPLE),'sample.load':(SAMPLE,SAMPLE_EXAMPLE)})
  return dict(capabilities=caps,state_slots=slots,mechanisms={'combustion_microcoulometry':mech})
diff --git a/scripts/asset_runtime/laboao_cvdltf12p50.py b/scripts/asset_runtime/laboao_cvdltf12p50.py
index 2b3e6384c1821cf746917f48d534a359e6efcfe1..85fdbd6e936f08da466d3d8f2d03261cb2cea0b0 100644
--- a/scripts/asset_runtime/laboao_cvdltf12p50.py
+++ b/scripts/asset_runtime/laboao_cvdltf12p50.py
@@ -6,12 +6,14 @@ from __future__ import annotations
 import copy,hashlib,importlib.util,json,math,os,tempfile,weakref
 from pathlib import Path
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='laboao_cvdltf12p50';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-063';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.2'
+SLUG='laboao_cvdltf12p50';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-063';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.3'
 TEMPLATE_REL='assets/reactions/laboao_cvdltf12p50_thermo_library/templates.json'
 R=8.31446261815324;STD_T=273.15;STD_P=101325.;SPECIES=['CH4','H2','N2','AR','O2'];ELEMENTS=['C','H','N','Ar','O']
 ATOMS={'CH4':[1,4,0,0,0],'H2':[0,2,0,0,0],'N2':[0,0,2,0,0],'AR':[0,0,0,1,0],'O2':[0,0,0,0,2]};CARBON_KG_MOL=.012011
 BOOL={'type':'boolean'};TEXT={'type':'string'}
 class ActionRejected(ValueError):pass
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.1.3: a refusal whose message names the cause
 def number(unit,low=None,high=None):
     s={'type':'number','x-unit':unit}
     if low is not None:s['minimum']=low
@@ -45,7 +47,13 @@ GASMAP=obj({s:number('mol',0) for s in SPECIES})
 PLANT=obj({'ambient_k':number('K',303.15,318.15),'ambient_pa':number('Pa',90000,110000),'oven_capacity_j_k':number('J/K',500,1e6),'body_capacity_j_k':number('J/K',500,1e6),'oven_body_w_k':number('W/K',.001,2),'body_ambient_w_k':number('W/K',.01,100),'fan_extra_w_k':number('W/K',0,100),'heated_fraction':number('1',.1,1),'effective_pump_m3_s':number('m^3/s',1e-5,.004),'vent_tau_s':number('s',.1,60),'mfc_tau_s':number('s',.05,4),'pi_kp_w_k':number('W/K',.1,1000),'pi_ki_w_ks':number('W/(K*s)',0,100),'high_band_limit_k_s':number('K/s',.001,20/60),'oxygen_limit_fraction':number('1',1e-8,.001),'pressure_hysteresis_pa':number('Pa',.1,5),'pump_timeout_s':number('s',10,3600),'rate_ref_s_1':number('1/s',1e-8,10),'activation_j_mol':number('J/mol',0,5e5),'rate_ref_k':number('K',573.15,1473.15),'capture_fraction':number('1',0,1),'film_density_kg_m3':number('kg/m^3',100,4000),'initial_oven_k':number('K',303.15,1473.15),'initial_body_k':number('K',303.15,573.15),'initial_pressure_pa':number('Pa',10,110000),'initial_warm_snapshot':BOOL,'accept_uncalibrated_model':BOOL})
 PLANT_EXAMPLE=dict(ambient_k=303.15,ambient_pa=101325.,oven_capacity_j_k=12000.,body_capacity_j_k=15000.,oven_body_w_k=.12,body_ambient_w_k=2.,fan_extra_w_k=8.,heated_fraction=.42,effective_pump_m3_s=.004,vent_tau_s=.5,mfc_tau_s=.7,pi_kp_w_k=80.,pi_ki_w_ks=2.,high_band_limit_k_s=2/60,oxygen_limit_fraction=1e-4,pressure_hysteresis_pa=1.,pump_timeout_s=600.,rate_ref_s_1=.01,activation_j_mol=8e4,rate_ref_k=1173.15,capture_fraction=.4,film_density_kg_m3=2000.,initial_oven_k=303.15,initial_body_k=303.15,initial_pressure_pa=101325.,initial_warm_snapshot=False,accept_uncalibrated_model=True)
 WARM_EXAMPLE=dict(PLANT_EXAMPLE,initial_oven_k=1173.15,initial_body_k=340.,initial_pressure_pa=30.,initial_warm_snapshot=True)
-GASES=obj({'species':arr(GAS,3),'initial_mol':arr(number('mol',1e-8,100),3),'inlet_gauge_pa':arr(number('Pa',50000,300000),3),'full_scale_std_m3_s':arr(number('m^3/s',1e-10,1e-3),3),'actual_gas_factor':arr(number('1',.01,10),3),'accept_host_supply':BOOL})
+# 1.1.3: one source channel holds at most one full 50 L water-capacity cylinder filled to 200 bar (gauge) at 15 C:
+# n = rho(T=288.15 K, p=201.01 bar abs) x 50 L with the densities of NIST Chemistry WebBook SRD 69 (Thermophysical Properties of Fluid
+# Systems; tables in outputs/expansion_batch04/t5_automation/laboao_cvdltf12p50/sources/nist_fluid_288K_201bar.json).  Was 100 mol.
+CYLINDER_WATER_CAPACITY_M3=.050
+CYLINDER_DENSITY_MOL_M3={'N2':8001.8,'AR':8954.5,'CH4':10502.,'H2':7444.2}
+CYLINDER_MOL={k:round(v*CYLINDER_WATER_CAPACITY_M3,1) for k,v in CYLINDER_DENSITY_MOL_M3.items()}   # N2 400.1, AR 447.7, CH4 525.1, H2 372.2
+GASES=obj({'species':arr(GAS,3),'initial_mol':arr(number('mol',1e-8,max(CYLINDER_MOL.values())),3),'inlet_gauge_pa':arr(number('Pa',50000,300000),3),'full_scale_std_m3_s':arr(number('m^3/s',1e-10,1e-3),3),'actual_gas_factor':arr(number('1',.01,10),3),'accept_host_supply':BOOL})
 GASES_EXAMPLE=dict(species=['N2','AR','CH4'],initial_mol=[.05,.05,.05],inlet_gauge_pa=[100000.]*3,full_scale_std_m3_s=[5e-6]*3,actual_gas_factor=[1.]*3,accept_host_supply=True)
 SAMPLE=obj({'sample_id':TEXT,'area_m2':number('m^2',1e-8,.043*.21),'heat_capacity_j_k':number('J/K',.001,10000),'accept_host_attachment':BOOL,'accept_initial_hot_snapshot':BOOL})
 SAMPLE_EXAMPLE=dict(sample_id='substrate_01',area_m2=1e-4,heat_capacity_j_k=1.,accept_host_attachment=True,accept_initial_hot_snapshot=False)
@@ -60,7 +68,7 @@ LEDGER=obj({'source_remaining_mol':arr(number('mol',0),3),'gas_initial_mol':GASM
 CAPS={}
 def cap(k,i,o,c,z,kind='device_command',vis='agent',ex=None):CAPS[k]=(i,o,c,z,kind,vis,ex or {},[])
 cap('plant.configure',PLANT,obj({'configured':BOOL}),['body'],'显式热/泵/沉积假设及一次性t0初始快照','configuration','evaluator',PLANT_EXAMPLE)
-cap('gas.install',GASES,obj({'installed':BOOL,'attachment_event':TEXT}),['gas_inlet_0','gas_inlet_1','gas_inlet_2'],'三路有限气源和未知满量程显式赋值','configuration','evaluator',GASES_EXAMPLE)
+cap('gas.install',GASES,obj({'installed':BOOL,'attachment_event':TEXT}),['gas_inlet_0','gas_inlet_1','gas_inlet_2'],'三路有限气源和未知满量程显式赋值；每路初始量不超过该气体一只满瓶（50 L水容积、200 bar表压、15 °C）的含量：N2 400.1、Ar 447.7、CH4 525.1、H2 372.2 mol（NIST WebBook SRD 69密度），超过则INVALID_ARGUMENT','configuration','evaluator',GASES_EXAMPLE)
 cap('sample.install',SAMPLE,obj({'loaded':BOOL,'attachment_event':TEXT}),['sample_boat'],'冷态法兰开口装样；热态仅t0显式宿主快照','configuration','evaluator',SAMPLE_EXAMPLE)
 cap('sample.collect',obj({'recipient_id':TEXT}),obj({'recipient_id':TEXT,'attachment_event':TEXT}),['sample_boat'],'冷却回常压卸样，膜和显热转移不消失','device_command','evaluator',{'recipient_id':'holder'})
 cap('method.configure',METHOD,obj({'configured':BOOL}),['control_panel'],'P型4曲线合计40段；3流量/压力/吹扫与分段升温','configuration','agent',METHOD_EXAMPLE)
@@ -240,6 +248,8 @@ class LaboaoCvdltf12p50Runtime:
         if k=='gas.install':
             if self.gases or self.time_s!=self.initialized_at_s or self.powered or not a['accept_host_supply']:raise ActionRejected('INITIALIZATION_ONLY')
             if not any(s in ['N2','AR'] for s in a['species']):raise ActionRejected('INERT_PURGE_REQUIRED')
+            for s,n in zip(a['species'],a['initial_mol']):   # 1.1.3: over the content of one full cylinder of that gas
+                if n>CYLINDER_MOL[s]+1e-9:raise _rejected('INVALID_ARGUMENT','%s channel: %.1f mol is more than one full 50 L / 200 bar cylinder holds (%.1f mol)'%(s,n,CYLINDER_MOL[s]))
             self.gases=copy.deepcopy(a);self.remaining=list(a['initial_mol']);return dict(installed=True,attachment_event='host_supply_attach')
         if k=='sample.install':
             self._idle()
@@ -500,7 +510,7 @@ class LaboaoCvdltf12p50Session:
             if op:h._owners[op]=self._principal
             elif capability_id in PANEL_CAPS and h.operation_id and h.operation_id!=before:h._owners[h.operation_id]=self._principal   # a run started with R/S or the green button belongs to the caller
             response=dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=op,status='accepted' if op else 'succeeded',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result=result,observations={},error=None);h._requests[key]=(digest,copy.deepcopy(response));return response
-        except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+        except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
     def write(self,*,instance_id,state_id,value,request_id):
         self._target(instance_id)
         if state_id not in SLOTS or not SLOTS[state_id][5]:raise ActionRejected('ACCESS_DENIED')
diff --git a/scripts/asset_runtime/lakeshore_8604vsm.py b/scripts/asset_runtime/lakeshore_8604vsm.py
index f32bf827027712703a13994a0c9336ee14f50a76..cc56e368ace2cd9a6aebf3bf65161c6829386381 100644
--- a/scripts/asset_runtime/lakeshore_8604vsm.py
+++ b/scripts/asset_runtime/lakeshore_8604vsm.py
@@ -7,10 +7,12 @@ from __future__ import annotations
 import copy,importlib.util,json,math
 from pathlib import Path
 import numpy as np
-PROTOCOL_VERSION='1.0.0';SLUG='lakeshore_8604vsm';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-143'
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';SLUG='lakeshore_8604vsm';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-143'
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch04/t1_thermal'/SLUG;LIBRARY_PATH=ASSET/'magnetic_library.json'
 MU0=4e-7*math.pi;MAX_FIELD_T=2.37;FIELD_RESOLUTION_T=1e-7;MIN_MOMENT_A_M2=2.5e-11;MAX_MOMENT_A_M2=1.
 class ActionRejected(ValueError):pass
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.0.1: a refusal whose message names the cause
 
 def number(unit='1',lo=None,hi=None):
     s={'type':'number','x-unit':unit}
@@ -352,14 +354,17 @@ class LakeShore8604VsmRuntime:
         elif capability=='calibration.clear':self.calibration_valid=False;self.calibration_gain=1.;self.calibration_offset=0.;out=dict(valid=False)
         elif capability in ('acquisition.start','calibration.start'):
             iscal=capability=='calibration.start'
-            if not self.power or not self.plant or not self.coil or not self.vibration['enabled']:raise ActionRejected('NOT_CONFIGURED')
+            # 1.0.1: power off is the declared POWER_OFF; vibration off keeps NOT_CONFIGURED (no finer code) with the cause
+            if not self.power:raise _rejected('POWER_OFF','the instrument is switched off')
+            if not self.plant or not self.coil:raise _rejected('NOT_CONFIGURED','the host has not configured the magnet (plant.configure)' if not self.plant else 'no pickup coil set is configured (coil.configure)')
+            if not self.vibration['enabled']:raise _rejected('NOT_CONFIGURED','the sample vibration is off (vibration.configure enabled=true)')
             if not self.sample:raise ActionRejected('NO_SAMPLE')
             if self._pos('lift')>1e-9 or self._moving('lift') or self._moving('angle'):raise ActionRejected('MEASUREMENT_POSITION_REQUIRED')
             if not self._temperature_valid():raise ActionRejected('REFERENCE_TEMPERATURE_RANGE')
             if iscal:
                 method=dict(ramp_rate_t_s=1.,averaging_time_s=a['averaging_time_s'],settling_time_s=max(.05,10*self.plant['detector_tau_s']));sequence=[dict(field_t=quant(B,FIELD_RESOLUTION_T),record=True,reversal_field_t=None) for B in [a['field_t'],-a['field_t']]]
             else:
-                if not self.method:raise ActionRejected('NOT_CONFIGURED')
+                if not self.method:raise _rejected('NOT_CONFIGURED','no measurement method is configured (method.configure)')
                 if self.method['require_calibration'] and not self.calibration_valid:raise ActionRejected('CALIBRATION_REQUIRED')
                 method=copy.deepcopy(self.method);sequence=[]
                 if method['kind']=='points':sequence=[dict(field_t=quant(B,FIELD_RESOLUTION_T),record=True,reversal_field_t=None) for B in method['field_points_t']]
@@ -405,7 +410,7 @@ class LakeShore8604VsmSession:
         if instance_id is not None: self._target(instance_id)
         if asset_type_id is not None and asset_type_id != ASSET_TYPE_ID: raise ActionRejected('UNKNOWN_INSTANCE')
         meta = export_lakeshore_8604vsm_contract_metadata()
-        return dict(protocol_version=PROTOCOL_VERSION, asset_type_id=ASSET_TYPE_ID, asset_version='1.0.0', capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'}, state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+        return dict(protocol_version=PROTOCOL_VERSION, asset_type_id=ASSET_TYPE_ID, asset_version=ASSET_VERSION, capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'}, state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
     def read(self, *, instance_id, state_ids=None):
         self._target(instance_id); h=self._host; values=h.read(self._role); ids=list(values) if state_ids is None else state_ids
         if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids): raise ActionRejected('INVALID_ARGUMENT')
@@ -439,7 +444,7 @@ class LakeShore8604VsmSession:
             response=dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=operation,status='accepted' if operation else 'succeeded',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result=result,observations={},error=None)
             h._requests[key]=(digest,copy.deepcopy(response)); return response
         except ActionRejected as exc:
-            return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+            return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
     def write(self, *, instance_id, state_id, value, request_id):
         self._target(instance_id); entry=SLOTS.get(state_id)
         if not entry or not entry['write']: raise ActionRejected('ACCESS_DENIED')
diff --git a/scripts/asset_runtime/metrohm_909uv.py b/scripts/asset_runtime/metrohm_909uv.py
index 50f2b95c71aba93843a863b62ea12ff74f70b295..9ba7fe9f0e14b5939f3329bad974d63260817695 100644
--- a/scripts/asset_runtime/metrohm_909uv.py
+++ b/scripts/asset_runtime/metrohm_909uv.py
@@ -13,7 +13,7 @@ import copy,importlib.util,json,math,os
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT
 from asset_runtime.pccell_ed64002 import validate
-ROOT=Path(__file__).resolve().parents[2];SLUG='metrohm_909uv';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-046';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.1';ASSET_DIR=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG;TEMPLATE_REL='assets/reactions/metrohm_909uv_digestion_library/templates.json'
+ROOT=Path(__file__).resolve().parents[2];SLUG='metrohm_909uv';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-046';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.2';ASSET_DIR=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG;TEMPLATE_REL='assets/reactions/metrohm_909uv_digestion_library/templates.json'
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 CONTRAST_STEPS=10;CONTRAST_DEFAULT=6;LIFETIME_DEFAULT_H=750
 # instrument defects of manual p.45-46 that only an evaluator can cause (fault.inject); the firmware's "no increase in temperature" check of
@@ -26,7 +26,7 @@ def nullable(s):return dict(anyOf=[s,dict(type='null')])
 def array(s,n=None):return dict(type='array',items=s,minItems=n or 0,**({'maxItems':n} if n else {}))
 PLANT=obj({'ambient_K':number('K',283.15,308.15),'density_kg_m3':number('kg/m^3',950,1100),'liquid_cp_J_kg_K':number('J/(kg*K)',3800,4500),'dry_heat_capacity_J_K':number('J/K',10,5000),'absorbed_electrical_fraction':number('1',0,1),'passive_UA_W_K':number('W/K',0,10),'fan_UA_W_K':number('W/K',1,30),'lamp_power_limit_W':number('W',300,600),'oh_concentration_mol_m3':number('mol/m^3',0,1e-5),'site_weights':array(number('1',0,2),12),'temperature_rate_factor':number('1',0,100),'shield_speed_rad_s':number('rad/s',.1,5),'reviewed_aqueous_uv_h2o2_compatibility':BOOL,'accept_unverified_thermal_kinetics':BOOL,'coefficient_evidence':TEXT})
 PLANT_EXAMPLE=dict(ambient_K=298.15,density_kg_m3=1000.,liquid_cp_J_kg_K=4180.,dry_heat_capacity_J_K=200.,absorbed_electrical_fraction=.7,passive_UA_W_K=.4,fan_UA_W_K=8.,lamp_power_limit_W=600.,oh_concentration_mol_m3=1e-9,site_weights=[1.]*12,temperature_rate_factor=1.,shield_speed_rad_s=math.pi,reviewed_aqueous_uv_h2o2_compatibility=True,accept_unverified_thermal_kinetics=True,coefficient_evidence='explicit_host_teaching_assumptions_not_device_calibration')
-METHOD=obj({'temperature_K':number('K',353.15,373.15),'duration_s':number('s',60,59940)})
+METHOD=obj({'temperature_K':dict(number('K',353.15,373.15),description='whole degrees Celsius: temperature_K - 273.15 is an integer (the panel sets 1 degC steps); other values are refused (INVALID_ARGUMENT)'),'duration_s':dict(number('s',60,59940),multipleOf=60)})   # 1.2.2: the whole-degree / whole-minute grids in the schema
 METHOD_EXAMPLE=dict(temperature_K=363.15,duration_s=120.)
 TUBE=obj({'sample_id':TEXT,'substance_id':TEXT,'volume_m3':number('m^3',1e-6,12e-6),'parent_mol':number('mol',0,1e-5),'pH':nullable(number('1',0,14)),'accept_unknown_reference_pH':BOOL})
 SAMPLE=obj({'tubes':array(TUBE,12),'temperature_K':number('K',283.15,308.15),'sensor_connected':BOOL,'sensor_position':dict(type='integer',const=6,**{'x-unit':'1'})})
@@ -36,7 +36,7 @@ PRODUCT=obj({'parent_mol':array(number('mol',0),12),'transformed_parent_equivale
 CAPS={
  'plant.configure':(PLANT,obj({'configured':BOOL}),['body','lamp','fan'],'宿主光化学/热模型输入；没有从灯电功率虚构光强','configuration','evaluator',PLANT_EXAMPLE),
  'method.configure':(METHOD,obj({'configured':BOOL}),['display_digits','button_set'],'80–100°C整度、1–999整分钟；照射期间可修改','configuration','agent',METHOD_EXAMPLE),
- 'thermal.set_temperature':(obj({'temperature_K':number('K',353.15,373.15)}),obj({'temperature_K':number('K',353.15,373.15)}),['display_digits','button_up','button_down'],'仅写温度目标，step推进实际温度','device_command','agent',dict(temperature_K=363.15)),
+ 'thermal.set_temperature':(obj({'temperature_K':dict(number('K',353.15,373.15),description='whole degrees Celsius: temperature_K - 273.15 is an integer (the panel sets 1 degC steps); other values are refused (INVALID_ARGUMENT)')}),obj({'temperature_K':number('K',353.15,373.15)}),['display_digits','button_up','button_down'],'仅写温度目标，step推进实际温度','device_command','agent',dict(temperature_K=363.15)),
  'sample.configure':(SAMPLE,obj({'configured':BOOL,'attachment_event':TEXT}),['sample_holder','pt1000'],'12支石英管装样，空位必须有水；Pt1000固定6号位','configuration','evaluator',example_sample()),
  'power.set':(obj({'enabled':BOOL}),obj({'enabled':BOOL}),['button_power','power_inlet'],'供电；正常关机须完成冷却','device_command','agent',dict(enabled=True)),
  'power.interrupt':(obj({}),obj({'phase':PHASE}),['power_inlet'],'意外断电保留已反应样品，冷却计时暂停','simulation','evaluator',{}),
diff --git a/scripts/asset_runtime/mt_mp70.py b/scripts/asset_runtime/mt_mp70.py
index 7a1f66f97741a6feddc247e4aa99853b55dd7fff..817585be8370045b7e0d0f6fc384683525774322 100644
--- a/scripts/asset_runtime/mt_mp70.py
+++ b/scripts/asset_runtime/mt_mp70.py
@@ -12,9 +12,13 @@ import copy, json, math
 from asset_runtime import _annotations as _ann
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected, number, obj, BOOL, TEXT, PHASE
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.2.2: a refusal whose message names the cause
 from asset_runtime.antonpaar_abbematadvanced import validate
 ROOT=Path(__file__).resolve().parents[2]
-ASSET_TYPE_ID='instrument.mt_mp70'; CATALOG_ID='CHEM-006'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.2.1'
+ASSET_TYPE_ID='instrument.mt_mp70'; CATALOG_ID='CHEM-006'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.2.2'
 ASSET_DIR=ROOT/'assets/expansion_batch03/t4_measure/mt_mp70'
 TEMPLATE_REL='assets/reactions/mt_mp70_thermal_library/templates.json'
 TEMP=number('K',293.15,623.15); NULL_TEMP={'anyOf':[TEMP,{'type':'null'}]}; FRAC=number('1',0,1); NULL_FRAC={'anyOf':[FRAC,{'type':'null'}]}
@@ -648,24 +652,31 @@ class MtMp70Runtime:
         elif capability=='thermal.set_temperature': self.target_k=a['temperature_k']; self.furnace_on=True; r=dict(a)
         elif capability=='method.configure':
             if not a['method_id'].strip() or a['start_k']>=a['end_k']: raise ActionRejected('INVALID_ARGUMENT')
-            if a['method_id'] not in self.methods and len(self.methods)>=20: raise ActionRejected('PRECONDITION_FAILED')
+            if a['method_id'] not in self.methods and len(self.methods)>=20: raise _rejected('PRECONDITION_FAILED','all 20 method slots are in use; overwrite an existing method_id')
             self.methods[a['method_id']]=copy.deepcopy(a); r={'stored_count':len(self.methods)}
         elif capability=='method.select':
-            if a['method_id'] not in self.methods: raise ActionRejected('PRECONDITION_FAILED')
+            if a['method_id'] not in self.methods: raise _rejected('PRECONDITION_FAILED','no stored method %r (method.configure first)'%a['method_id'])
             self.selected=a['method_id']; r=dict(a)
         elif capability=='sample.configure':
             t=self.templates.get(a['substance_id'])
-            if not t or not t['runtime_eligible'] or a['channel'] in self.samples or self.temperature_k>323.15 or self.temperature_k>=t['value']-1: raise ActionRejected('PRECONDITION_FAILED')
+            why=('substance %r has no runtime melting-point reference'%a['substance_id'] if not t or not t['runtime_eligible'] else 'capillary channel %d is occupied'%a['channel'] if a['channel'] in self.samples else
+                 'the furnace is above 50 C (%.2f K); let it cool before inserting capillaries'%self.temperature_k if self.temperature_k>323.15 else
+                 'the furnace (%.2f K) is within 1 K of the melting point of the substance'%self.temperature_k if self.temperature_k>=t['value']-1 else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.2.2: the message names the cause
             if a['decomposition_onset_k'] is not None and not a['decomposition_source'].strip(): raise ActionRejected('INVALID_ARGUMENT')
             s=copy.deepcopy(a); s.update(temperature_k=self.temperature_k,melt_fraction=0.,degraded=0.,onset_k=None,clear_k=None,transmission=.05,curve=[],truncated=False,used=False)
             self.samples[int(a['channel'])]=s; self.input_kg+=a['mass_kg']; r={'configured':True}
         elif capability=='sample.unload':
-            if a['channel'] not in self.samples or self.temperature_k>323.15: raise ActionRejected('PRECONDITION_FAILED')
+            if a['channel'] not in self.samples or self.temperature_k>323.15:
+                raise _rejected('PRECONDITION_FAILED','capillary channel %d is empty'%a['channel'] if a['channel'] not in self.samples else 'the furnace is above 50 C (%.2f K); let it cool first'%self.temperature_k)
             self.removed_kg+=self.samples.pop(a['channel'])['mass_kg']; r={'unloaded':True}
         elif capability=='acquisition.start':
-            if not self.powered or self.selected not in self.methods or not self.samples or any(s['used'] for s in self.samples.values()): raise ActionRejected('PRECONDITION_FAILED')
+            why=('the instrument is switched off' if not self.powered else 'no method is selected (method.select)' if self.selected not in self.methods else
+                 'no capillary is inserted' if not self.samples else 'a capillary has already been measured; replace it (sample.unload, then a fresh one)' if any(s['used'] for s in self.samples.values()) else None)
+            if why: raise _rejected('PRECONDITION_FAILED',why)   # 1.2.2: the message names the cause
             m=self.methods[self.selected]
-            if any(m['start_k']>=self.templates[s['substance_id']]['value']-1 for s in self.samples.values()): raise ActionRejected('PRECONDITION_FAILED')
+            if any(m['start_k']>=self.templates[s['substance_id']]['value']-1 for s in self.samples.values()):
+                raise _rejected('PRECONDITION_FAILED','the method start temperature %.2f K is not at least 1 K below the melting point of every sample'%m['start_k'])
             self._operation_count+=1; self.operation_id=f'{self.instance_id}:measurement:{self._operation_count}'; self.phase='running'; self.stage='preheat'; self.elapsed_s=0.; self.target_k=m['start_k']
             self.analysis=None; self.furnace_on=True
             for s in self.samples.values(): s['used']=True
@@ -847,7 +858,7 @@ class MtMp70Session:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/mt_rc1mxhfcal.py b/scripts/asset_runtime/mt_rc1mxhfcal.py
index 93471c100ec5fe13a4cdebffdbb885134c5b5587..4a376f83ff461bd492b8c92e21dff3439c6b5c16 100644
--- a/scripts/asset_runtime/mt_rc1mxhfcal.py
+++ b/scripts/asset_runtime/mt_rc1mxhfcal.py
@@ -58,7 +58,7 @@ import re
 from pathlib import Path
 
 PROTOCOL_VERSION = '1.0.0'
-ASSET_VERSION = '1.2.0'
+ASSET_VERSION = '1.2.1'   # 1.2.1 (2026-10-22): experiment.id keeps the last ended experiment
 SLUG = 'mt_rc1mxhfcal'
 ASSET_TYPE_ID = 'instrument.' + SLUG
 CATALOG_ID = 'CHEM-149'
@@ -711,7 +711,7 @@ slot('reactor.charged_mass_kg', number('kg'), 'kg', 'derived', 'reactor_vessel',
 slot('emergency.program', nullable(PROGRAM), '1', 'derived', 'electronics_cabinet', '当前急停程序A/B1/B2/C；无为null')
 slot('fault.injected', array(TEXT, 0, 14), '1', 'setpoint', 'electronics_cabinet', '评测者注入且尚未消除的RC1e硬件故障原因（fault.inject）', 'evaluator')
 slot('emergency.cause', nullable(TEXT), '1', 'derived', 'electronics_cabinet', '触发急停的原因代码；无为null')
-slot('experiment.id', nullable(TEXT), '1', 'derived', 'touch_display', '当前实验ID；无为null')
+slot('experiment.id', nullable(TEXT), '1', 'derived', 'touch_display', '当前实验ID；没有进行中的实验时为最近结束的实验ID（experiment.running区分），供experiment.data / calorimetry.evaluate使用；从未开始过实验为null')
 slot('touchscreen.warning', BOOL, '1', 'derived', 'touch_display', '触摸屏显示开机操作篡改警告（待确认或拒绝）')
 for k, sch, u, c, m in [('safety.tsafe_k', number('K'), 'K', 'electronics_cabinet', '安全温度Tsafe（急停程序B1/C的目标）'),
                         ('safety.tr_min_k', number('K'), 'K', 'tr_sensor', 'Tr下限（低于→急停程序C）'), ('safety.tr_max_k', number('K'), 'K', 'tr_sensor', 'Tr上限（高于→急停程序A）'),
@@ -940,7 +940,7 @@ class MtRc1mxhfcalRuntime:
             'dosing.rate_kg_s': self.dosing['rate'] if self.dosing else 0.0, 'reactor.charged_mass_kg': self.charged_kg,
             'emergency.program': self.emergency['program'] if self.emergency else None, 'emergency.cause': self.emergency['cause'] if self.emergency else None,
             'fault.injected': list(self.faults),
-            'experiment.id': self.experiment['id'] if self.experiment else None, 'touchscreen.warning': self.power and self.warning_pending,
+            'experiment.id': self.experiment['id'] if self.experiment else self.__dict__.get('last_experiment_id'), 'touchscreen.warning': self.power and self.warning_pending,
             'safety.tsafe_k': self.safety['tsafe_k'], 'safety.tr_min_k': self.safety['tr_min_k'], 'safety.tr_max_k': self.safety['tr_max_k'],
             'safety.tj_min_k': self.safety['tj_min_k'], 'safety.tj_max_k': self.safety['tj_max_k'], 'safety.tdiff_max_k': self.safety['tdiff_max_k'],
             'safety.rsafe_rpm': self.safety['rsafe_rpm'], 'safety.rmin_rpm': self.safety['rmin_rpm'], 'safety.rmax_rpm': self.safety['rmax_rpm'],
@@ -1181,6 +1181,7 @@ class MtRc1mxhfcalRuntime:
         self.experiment = None
         e['running'] = False
         e['t1'] = self.time_s
+        self.last_experiment_id = e['id']                                    # 1.2.1: stays readable for experiment.data after the end
         self.records[e['id']] = e
         if len(self.records) > MAX_RECORDS:
             self.records.pop(next(iter(self.records)))
diff --git a/scripts/asset_runtime/netzsch_lfa467.py b/scripts/asset_runtime/netzsch_lfa467.py
index 79198d53aad80b8fedeb5c5dde45a08e6ca5efcc..66ac3827564631bf1960147b42c3da63f2db7d21 100644
--- a/scripts/asset_runtime/netzsch_lfa467.py
+++ b/scripts/asset_runtime/netzsch_lfa467.py
@@ -6,6 +6,8 @@ from scipy.optimize import brentq,minimize_scalar
 PROTOCOL_VERSION='1.0.0';SLUG='netzsch_lfa467';CATALOG_ID='CHEM-135';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch04/t1_thermal'/SLUG
 HOST_DT=.1;R_GAS=8.31446261815324
+ASSET_VERSION='1.1.2'   # 1.1.1 (2026-10-22): idle and held intervals stepped analytically (F4); describe reported 1.0.0 since 1.1.0; 1.1.2: feed-forward (no set-point offset), cheap acquisition equilibration
+_HOLD_PERIOD_NS=10000000;_HOLD_CACHE={}   # controller period (see _control); one-period maps of held set-points, shared by instances
 class ActionRejected(ValueError):pass
 def number(unit='1',lo=None,hi=None):
  s={'type':'number','x-unit':unit}
@@ -441,7 +443,7 @@ class NetzschLfa467Runtime:
   self._ensure_model();end=(self.time_ns//10000000+1)*10000000;h=(end-self.time_ns)/1e9;p=self.plant
   if not self.thermal_enabled:P=0.
   else:
-   desired=self._toward(self.target,self.final_target,self.rate*h);zero=propagate_modes(self.model,self.theta,0.,0.,h,detector_tau_s=p['detector_tau_s']);_,phi,_=modal_kernels(self.model['eigenvalues'],[h]);response=float(np.sum(self.model['eigenvectors'][0,:]**2*phi[:,0])/p['furnace_capacity_j_k']);raw=p['controller_gain_w_k']*(desired-p['ambient_k']-zero['temperature_delta_k'][0])/(1+p['controller_gain_w_k']*response);cold=p['cooler_max_w'] if p['cooler']=='LN2' and self.coolant_remaining['furnace']>0 else 0.;P=max(-cold,min(p['heater_max_w'],raw))
+   desired=self._toward(self.target,self.final_target,self.rate*h);zero=propagate_modes(self.model,self.theta,0.,0.,h,detector_tau_s=p['detector_tau_s']);_,phi,_=modal_kernels(self.model['eigenvalues'],[h]);response=float(np.sum(self.model['eigenvectors'][0,:]**2*phi[:,0])/p['furnace_capacity_j_k']);raw=(self.model['ambient_conductance_w_k']*(desired-p['ambient_k'])+p['controller_gain_w_k']*(desired-p['ambient_k']-zero['temperature_delta_k'][0]))/(1+p['controller_gain_w_k']*response);cold=p['cooler_max_w'] if p['cooler']=='LN2' and self.coolant_remaining['furnace']>0 else 0.;P=max(-cold,min(p['heater_max_w'],raw))
   self._cached_power=float(P);self._control_until_ns=end;return self._cached_power
  def _equilibrated(self):
   tol=self.method['equilibrium_tolerance_k'];return abs(self.target-self.final_target)<1e-10 and abs(self._furnace()-self.final_target)<=tol and abs(self._mean()-self.final_target)<=tol and (not self.sample or float(np.ptp(self.theta[1:]))<=tol)
@@ -487,6 +489,113 @@ class NetzschLfa467Runtime:
   if self.thermal_enabled:self.target=self._toward(self.target,self.final_target,self.rate*h)
   if self.phase=='running' and self.stage=='equilibrating':self.equilibrium_ns=self.equilibrium_ns+ns if self._equilibrated() else 0
   if self.phase=='running' and self.stage in ['pulse','recording'] and self.sample and float(np.max(self.theta[1:]))+p['ambient_k']-self.shot_base_k>p['maximum_local_temperature_rise_k']:self.model_fault='PULSE_LINEAR_DOMAIN';self.pending_fault='PULSE_LINEAR_DOMAIN'
+ # 1.1.1 (2026-10-22): a held set-point between operations costs O(log N), not N, control periods.  With thermal control on, the target
+ # reached (target == final target), nothing moving and no acquisition, one 10 ms period of the sampled controller plus the exact modal
+ # propagation is an affine map of (theta, detector state) that also yields the heater energy and the ambient loss of the period, as long as
+ # the commanded power keeps one sign inside its limits (no clamp: [0, heater_max], or [-cooler_max, 0] with LN2 left, whose use then follows
+ # the power).  N periods are the N-th power of that map (cached binary powers, exact up to
+ # rounding).  The jump is taken only when a bound on the power over all N periods (closed-loop eigen-decomposition) keeps it inside that
+ # range; otherwise the periods are stepped one by one as before.  Gas and detector coolant use are linear in time and must last the window.
+ def _hold_data(self):
+  p=self.plant;key=(self.model_key,json.dumps(self.sample,sort_keys=True),json.dumps(p,sort_keys=True),self.final_target)
+  if key in _HOLD_CACHE:return _HOLD_CACHE[key]
+  m=self.model;h=_HOLD_PERIOD_NS/1e9;V=m['eigenvectors'];lam=m['eigenvalues'];s=m['sqrtC'];n=len(s);v0=V[0,:]
+  E,p1,p2=(x[:,0] for x in modal_kernels(lam,[h]));A,B,decay,one=detector_kernels(lam,[h],p['detector_tau_s']);c=(m['rear']/s)@V
+  Phi=((V*E)@V.T)*np.outer(1/s,s);Gam=(V@(p1*v0))/s/s[0]                  # theta' = Phi theta + Gam P
+  rr=float(np.sum(v0**2*p1))/p['furnace_capacity_j_k'];g=p['controller_gain_w_k']/(1+p['controller_gain_w_k']*rr)
+  q=-g*Phi[0,:];q1=g*(self.final_target-p['ambient_k'])+m['ambient_conductance_w_k']*(self.final_target-p['ambient_k'])/(1+p['controller_gain_w_k']*rr)   # P = q theta + q1 (see _control; 1.1.2 feed-forward)
+  d_th=p['detector_gain']*((c*A[:,0])@V.T)*s;d_p=p['detector_gain']*float((c*B[:,0])@v0)/s[0]
+  i_th=((v0*p1)@V.T)*s/s[0];i_p=float((v0*p2)@v0)/s[0]/s[0];Ga=m['ambient_conductance_w_k']
+  T=np.zeros((n+4,n+4));th=slice(0,n);S,H,L,O=n,n+1,n+2,n+3
+  T[th,th]=Phi+np.outer(Gam,q);T[th,O]=Gam*q1
+  T[S,th]=d_th+d_p*q;T[S,S]=float(decay[0]);T[S,O]=p['detector_offset_k']*float(one[0])+d_p*q1
+  T[H,th]=h*q;T[H,H]=1.;T[H,O]=h*q1
+  T[L,th]=Ga*(i_th+i_p*q);T[L,L]=1.;T[L,O]=Ga*i_p*q1;T[O,O]=1.
+  M=T[th,th];data=None
+  try:                                                                     # an adiabatic disk keeps its mean (eigenvalue 1): any fixed point will do
+   star=np.linalg.lstsq(np.eye(n)-M,T[th,O],rcond=None)[0];mu,W=np.linalg.eig(M);Winv=np.linalg.inv(W)
+   fixed=np.max(abs((np.eye(n)-M)@star-T[th,O]))<=1e-12*max(1.,float(np.max(abs(T[th,O]))))
+   if fixed and np.max(abs(mu))<=1+1e-12 and np.linalg.cond(W)<1e8:data=dict(powers=[T],star=star,P_star=float(q@star+q1),qW=q@W,Winv=Winv,n=n,W=W,mu=mu)
+  except np.linalg.LinAlgError:pass
+  if len(_HOLD_CACHE)>=8:_HOLD_CACHE.pop(next(iter(_HOLD_CACHE)))
+  _HOLD_CACHE[key]=data;return data
+ def _jump_plan(self,end):
+  """The one-period map of the held set point and the longest window of whole periods it may cover (power inside its limits and of one sign
+  for every period by the closed-loop bound, supplies lasting the window); None when it does not apply."""
+  P=_HOLD_PERIOD_NS;p=self.plant
+  self._ensure_model();J=self._hold_data()
+  if J is None:return None
+  beta=float(np.sum(abs(J['qW'])*abs(J['Winv']@(self.theta-J['star']))));Ps=J['P_star']   # |P_k - P*| <= beta for every period k
+  lat=p['coolant_latent_j_kg']*p['coolant_efficiency'];cold=p['cooler_max_w'] if p['cooler']=='LN2' and self.coolant_remaining['furnace']>0 else 0.
+  if Ps-2*beta>=0 or abs(Ps)+2*beta<=1e-12:cooling=False                 # heater power (or none) over the whole window
+  elif Ps+2*beta<=0 and Ps-2*beta>=-cold+1e-9:cooling=True               # LN2 cooling power over the whole window
+  else:return None
+  if Ps+2*beta>p['heater_max_w']-1e-9:return None
+  n=(end-self.time_ns)//P;rates=[]
+  for g in CHANNELS:
+   if self.gas_open[g] and self.gas_flow[g]>0:stock=self.gases[g];rates.append(('gas',g,self.gas_flow[g]*stock['reference_pressure_pa']/(R_GAS*stock['reference_temperature_k'])))
+  if self._detector_ready():rates.append(('cold','detector',p['detector_cooling_w']/lat))
+  bounds=rates+([('cold','furnace',(abs(Ps)+2*beta)/lat)] if cooling else [])   # furnace coolant: bound of its use rate
+  for kind,name,rate in bounds:                                           # the window must end strictly before any supply runs out
+   left=self.gas_remaining[name] if kind=='gas' else self.coolant_remaining[name];n=min(n,(int(math.floor(left/rate*1e9+1e-6))-1)//P)
+  return J,n,rates,cooling,lat
+ def _jump_apply(self,J,n,rates,cooling,lat):
+  """Advance n whole control periods with the binary powers of the one-period map (state, detector, heater energy, ambient loss)."""
+  P=_HOLD_PERIOD_NS
+  z=np.r_[self.theta,self.sensor_delta,0.,0.,1.];k=0;powers=J['powers']
+  while n>>k:
+   if len(powers)<=k:powers.append(powers[-1]@powers[-1])
+   if n>>k&1:z=powers[k]@z
+   k+=1
+  t=n*P/1e9;nn=J['n'];heat=float(z[nn+1]);self.theta=z[:nn].copy();self.sensor_delta=float(z[nn]);self.ambient_loss+=float(z[nn+2])
+  if cooling:used=-heat/lat;self.furnace_cooling-=heat;self.coolant_remaining['furnace']-=used;self.coolant_used['furnace']+=used;self.cold_used['furnace']-=heat
+  else:self.heater_input+=heat
+  for kind,name,rate in rates:
+   if kind=='gas':self.gas_remaining[name]-=rate*t;self.gas_used[name]+=rate*t
+   else:used=rate*t;self.coolant_remaining[name]-=used;self.coolant_used[name]+=used;self.cold_used[name]+=used*lat
+  self.time_ns+=n*P;self._invalidate_control()
+ def _hold_jump(self,end):
+  P=_HOLD_PERIOD_NS
+  if self.phase=='running' or not self.thermal_enabled or self.target!=self.final_target or self.time_ns%P or end-self.time_ns<2*P or self._moving():return False
+  plan=self._jump_plan(end)
+  if plan is None or plan[1]<2:return False
+  self._jump_apply(*plan);return True
+ # 1.1.2 (2026-10-22): the equilibration inside an acquisition (stage 'equilibrating', target reached, nothing moving) uses the same one-period
+ # map.  The equilibrium test of every period of the window (furnace, sample mean and sample spread within the method tolerance) is evaluated
+ # from the closed-loop eigen-decomposition theta_k = theta* + W diag(mu^k) W^-1 (theta_0 - theta*), so the jump ends one period before the
+ # dwell completes; the window also ends before the operation timeout and before any period whose test lies within 1e-9 K of the tolerance
+ # (those periods and the completion are stepped one by one, so the stage change happens at the same time as with per-period stepping).
+ def _equil_jump(self,end):
+  P=_HOLD_PERIOD_NS;p=self.plant
+  if (self.phase!='running' or self.stage!='equilibrating' or not self.thermal_enabled or self.target!=self.final_target or self.time_ns%P
+      or end-self.time_ns<2*P or self._moving() or self.pending_fault):return False
+  plan=self._jump_plan(end)
+  if plan is None:return False
+  J,n,rates,cooling,lat=plan
+  if 'W' not in J:return False
+  n=min(n,(self.operation_start_ns+round(self.method['timeout_s']*1e9)-self.time_ns)//P-1)
+  if n<2:return False
+  tol=self.method['equilibrium_tolerance_k'];dwell=round(self.method['equilibrium_dwell_s']*1e9);ref=self.final_target-p['ambient_k']
+  W,mu,a=J['W'],J['mu'],J['Winv']@(self.theta-J['star']);star=J['star'];eq=self.equilibrium_ns;take=0;k0=0;block=4096
+  while k0<n:
+   k=np.arange(k0+1,min(n,k0+block)+1);th=star[None,:]+np.real((mu[None,:]**k[:,None]*a[None,:])@W.T)
+   err=np.abs(th[:,0]-ref)
+   if self.sample:err=np.maximum(err,np.maximum(np.abs(th[:,1:].mean(axis=1)-ref),np.ptp(th[:,1:],axis=1)))
+   margin=tol-err;near=np.abs(margin)<=1e-9*max(1.,tol)+1e-12
+   for i in range(len(k)):
+    if near[i]:return self._equil_apply(plan,take,eq)
+    eq=eq+P if margin[i]>=0 else 0
+    if eq>=dwell:return self._equil_apply(plan,take,eq-P if margin[i]>=0 else eq)
+    take+=1
+   k0+=block
+  return self._equil_apply(plan,take,eq)
+ def _equil_apply(self,plan,take,eq_ns):
+  """Apply `take` periods of an equilibration window and the equilibrium time accumulated by then."""
+  if take<2:return False
+  J,_,rates,cooling,lat=plan
+  self._jump_apply(J,take,rates,cooling,lat)
+  self.equilibrium_ns=eq_ns;self.elapsed=(self.time_ns-self.operation_start_ns)/1e9
+  return True
  def step(self,dt_s):
   validate(number('s',0,3600),dt_s);delta=round(dt_s*1e9)
   if dt_s>0 and delta==0:raise ActionRejected('TIME_RESOLUTION')
@@ -494,7 +603,10 @@ class NetzschLfa467Runtime:
   end=self.time_ns+delta
   if self.plant is None:self.time_ns=end;self.revision+=int(delta>0);return
   while self.time_ns<end:
-   self._transitions();power=self._control();ns=min(end-self.time_ns,self._control_until_ns-self.time_ns)
+   self._transitions()
+   if self._hold_jump(end) or self._equil_jump(end):continue
+   power=self._control();ns=min(end-self.time_ns,self._control_until_ns-self.time_ns)
+   if self.phase!='running' and not self.thermal_enabled:ns=end-self.time_ns   # 1.1.1: no control action (power 0 for the whole call): one exact interval
    if self.phase=='running':
     ns=min(ns,max(1,self.operation_start_ns+round(self.method['timeout_s']*1e9)-self.time_ns))
     if self.stage=='equilibrating' and self._equilibrated():ns=min(ns,max(1,round(self.method['equilibrium_dwell_s']*1e9)-self.equilibrium_ns))
@@ -537,7 +649,7 @@ class NetzschLfa467Session:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  meta=export_netzsch_lfa467_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  meta=export_netzsch_lfa467_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;values=h.read(self._role);ids=list(values) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
@@ -618,7 +730,7 @@ def export_netzsch_lfa467_contract_metadata():
  'kappa=alpha*rho*Cp. Slab finite volumes C=rho*Cp*A*dx and intercell G=kappa*A/dx; furnace finite Cf. Half-cell Robin face G=h*A/(1+h*dx/(2*kappa)); rear surface=(Tlast+h*dx/(2*kappa)*Tf)/(1+h*dx/(2*kappa)).',
  'Front absorbed power enters first cell by fraction1/(1+hfront*dx/(2*kappa)), remainder enters furnace via face Robin path; surface direct temperature includes Pabs/(2*kappa*A/dx+hfront*A). Uniform absorption is assumed over disk front face.',
  'Capacity-scaled symmetric thermal graph is diagonalized; exact constant-power propagator gives temperatures, stored energy, heat-loss integral and internally timed rear observations. Every ungrounded connected component has an explicit sqrt(C)-weighted null mode, preserving uniform equilibrium even for thin/high-alpha stiff limits.',
- 'Controller predicts next fixed10ms-grid furnace state and uses bounded P=K*(target_end-Tfree_end)/(1+K*dTf_end/dP). None cooler has no negative heater; passive/forced heat goes to ambient. LN2 cooling consumes exactly removedQ/(latent*efficiency), in an independent furnace tank.',
+ 'Controller predicts next fixed10ms-grid furnace state and uses bounded P=(G_amb*(target_end-Tamb)+K*(target_end-Tfree_end))/(1+K*dTf_end/dP) (1.1.2: feed-forward of the steady ambient loss, so a held set point has no proportional droop). None cooler has no negative heater; passive/forced heat goes to ambient. LN2 cooling consumes exactly removedQ/(latent*efficiency), in an independent furnace tank.',
  'Optical budget<=10J: loaded=remaining+emitted+recovered; emitted=absorbed+reflected. Finite10..1500us rectangular pulse is1us-grid input; partial cancellation keeps consumed energy. Sample mass is unchanged by ideal heat diffusion; removal exports remaining sensible energy.',
  'IR first-order detector dy/dt=(gain*rear_delta+offset-y)/tau is propagated by exact modal convolution, then delta-temperature calibration ycorrected=Tamb+(ydelta-zero)*gain, quantization and range checked. Thermal and pulse observations have explicit internal timestamps up to2MHz; acquisition is not an instantaneous0.1s-host sample.',
  'Three finite gas branches consume Qref*Pref/(R*Tref)*dt and exhaust accounting. Two independent detector/furnace LN2 inventories use explicit latent and efficiency. Residual sub-nanosecond resource quantities are exhausted at the event-clock resolution and recorded, not replenished.',
diff --git a/scripts/asset_runtime/ossila_dipcoater.py b/scripts/asset_runtime/ossila_dipcoater.py
index 24348fbb0a87f6f0c5755d85690243afdd604666..46a725ddca979f61e4008ee4b8729e25c1246a81 100644
--- a/scripts/asset_runtime/ossila_dipcoater.py
+++ b/scripts/asset_runtime/ossila_dipcoater.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='ossila_dipcoater'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-054'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.1'
+SLUG='ossila_dipcoater'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-054'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.2'
 ASSET_DIR=ROOT/'assets/expansion_batch04/t5_automation/ossila_dipcoater'
 TEMPLATE_REL='assets/reactions/ossila_dipcoater_film_library/templates.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
@@ -284,7 +284,7 @@ class OssilaDipcoaterRuntime:
     def _stop(self,result='cancelled'):
         if self.phase=='running':self.phase=result;self.stage='stopped';self.target=self.q;self.speed=0.
     def _new_operation(self,stage,target):
-        self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self.wait_elapsed=0.;self._operation_count+=1
+        self._archive_op();self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self.wait_elapsed=0.;self._operation_count+=1
         self.operation_id=self.instance_id+':motion:'+str(self._operation_count);return dict(phase=self.phase,operation_id=self.operation_id)
     def invoke(self,capability,**a):
         if capability not in ALL_CAPS:raise ActionRejected('UNKNOWN_CAPABILITY')
@@ -429,6 +429,11 @@ class OssilaDipcoaterRuntime:
             if self.cycle_index>=self.method['cycles']:self.phase='succeeded';self.stage='idle'
             else:self.cycle_index+=1;self.stage='immersing';self.target=self._targets()[0]
         self.speed=0.
+    def _archive_op(self):
+        # 2026-10-22 (chemlab findings B D4): the final record (status and coating.measure) of a finished operation is kept, so an older operation of a
+        # caller stays pollable after a newer one started (poll used to accept only the latest operation)
+        op=self.operation_id;arch=self.__dict__.setdefault('_op_final',{})
+        if op and self.phase not in ('running',) and op not in arch:arch[op]=dict(status=self.phase,result=self.invoke('coating.measure'))
     def step(self,dt_s):
         validate(number('s',1e-12,1000),dt_s);left=float(dt_s)
         while left>1e-12:
@@ -466,7 +471,7 @@ class OssilaDipcoaterRuntime:
                 self.elapsed_s+=dt
                 if self.phase=='running' and self.stage in ['dwelling','drying']:self.wait_elapsed+=dt
                 if self.phase=='running' and moving and abs(self.q-self.target)<1e-11:self._next_stage()
-            self.time_s+=dt;left-=dt
+            self.time_s+=dt;left-=dt;self._archive_op()
         self.revision+=1;return self.read('evaluator')
 
 class OssilaDipcoaterSession:
@@ -501,6 +506,7 @@ class OssilaDipcoaterSession:
             before=h.operation_id;h._caller=self._principal
             try:result=h.invoke(capability_id,**arguments)
             finally:h._caller=None
+            if ALL_CAPS[capability_id][4]!='query':h._archive_op()
             op=result.get('operation_id')
             if op:h._owners[op]=self._principal
             elif capability_id in PANEL_CAPS and h.operation_id and h.operation_id!=before:h._owners[h.operation_id]=self._principal   # a run, homing or jog started by a key belongs to the caller
@@ -512,10 +518,16 @@ class OssilaDipcoaterSession:
         cap,arg=SLOTS[state_id][5];return self.invoke(instance_id=instance_id,capability_id=cap,arguments={arg:value},request_id=request_id)
     def poll(self,operation_id):
         h=self._host
-        if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if operation_id!=h.operation_id:                                    # an older operation of this caller: its final record (2026-10-22)
+            rec=h.__dict__.get('_op_final',{}).get(operation_id)
+            if rec is None:raise ActionRejected('ACCESS_DENIED')
+            return dict(operation_id=operation_id,status=rec['status'],result=copy.deepcopy(rec['result']))
         return dict(operation_id=operation_id,status=h.phase,result=h.invoke('coating.measure'))
     def cancel(self,operation_id,request_id):
-        self.poll(operation_id);return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
+        r=self.poll(operation_id)
+        if operation_id!=self._host.operation_id:return r                 # finished before a newer operation started: nothing to cancel
+        return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
 
 
 
diff --git a/scripts/asset_runtime/ossila_doctorblade.py b/scripts/asset_runtime/ossila_doctorblade.py
index 88633a00ea8c78cf8066c91b5cc1f8251def0dab..99d79b5a8892e1288352e359ee39dfafb91453de 100644
--- a/scripts/asset_runtime/ossila_doctorblade.py
+++ b/scripts/asset_runtime/ossila_doctorblade.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='ossila_doctorblade'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-055'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.1'
+SLUG='ossila_doctorblade'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-055'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.2'
 ASSET_DIR=ROOT/'assets/expansion_batch04/t5_automation/ossila_doctorblade'
 TEMPLATE_REL='assets/reactions/ossila_doctorblade_film_library/templates.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
@@ -44,7 +44,7 @@ SPEED=number('m/s',.00005,.25);POS=number('m',0,.29);GAP=number('m',0,.01)
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 PLANT=obj({'temperature_k':number('K',278.15,313.15),'mass_transfer_m_s':number('m/s',0,.1),'manual_gap_speed_m_s':number('m/s',.00001,.1),'accept_uncalibrated_model':BOOL})
 PLANT_EXAMPLE=dict(temperature_k=298.15,mass_transfer_m_s=.0002,manual_gap_speed_m_s=.005,accept_uncalibrated_model=True)
-METHOD=obj({'distance_m':number('m',.001,.29),'speed_m_s':SPEED})
+METHOD=obj({'distance_m':number('m',.001,.29),'speed_m_s':dict(SPEED,multipleOf=1e-5)})   # 1.3.2: the panel grids in the schemas (0.01 mm/s)
 METHOD_EXAMPLE=dict(distance_m=.26,speed_m_s=.02)
 CHARGE=obj({'solvent_id':TEXT,'solvent_kg':number('kg',1e-9,.1),'solute_kg':number('kg',0,.1),'solvent_density_kg_m3':number('kg/m^3',100,3000),'solute_density_kg_m3':number('kg/m^3',100,10000),'viscosity_pa_s':number('Pa*s',.0001,100),'reservoir_area_m2':number('m^2',.0001,.01),'blade_contact_length_m':number('m',.001,.02),'accept_newtonian_compatibility':BOOL})
 CHARGE_EXAMPLE=dict(solvent_id='ethanol',solvent_kg=.0008,solute_kg=.0018,solvent_density_kg_m3=789.,solute_density_kg_m3=2500.,viscosity_pa_s=.5,reservoir_area_m2=.0025,blade_contact_length_m=.005,accept_newtonian_compatibility=True)
@@ -61,8 +61,8 @@ for key,s,ex,vis,c in [('plant',PLANT,PLANT_EXAMPLE,'evaluator','motor'),('metho
 cap('power.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['switch_power'],'后部电源；急停释放后须关开电源才复位',ex={'enabled':True},effects=['power.enabled','stage.homed','cycle.phase','safety.latched'])
 cap('power.toggle',obj({}),obj({'enabled':BOOL}),['switch_power'],'后部电源开关翻转',effects=['power.enabled','stage.homed','cycle.phase','safety.latched'])
 cap('stage.home',obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['button_return','motor','carriage'],'规定速度回回零位置（回零参考端+回零偏移，默认后端）；空料无膜时才允许',effects=['cycle.phase','stage.target_m'])
-cap('stage.move_to',obj({'position_m':POS,'speed_m_s':SPEED}),obj({'phase':PHASE,'operation_id':TEXT}),['carriage','motor'],'无料轴定位，非自动涂布',ex={'position_m':.05,'speed_m_s':.02},effects=['cycle.phase','stage.target_m'])
-cap('gap.set',obj({'left_m':GAP,'right_m':GAP}),obj({'left_m':GAP,'right_m':GAP}),['blade','gauge_left','gauge_right'],'宿主手动双端调隙目标；非机载电动执行','configuration','agent',{'left_m':.0001,'right_m':.0001},['gap.left_target_m','gap.right_target_m'])
+cap('stage.move_to',obj({'position_m':POS,'speed_m_s':dict(SPEED,multipleOf=1e-5)}),obj({'phase':PHASE,'operation_id':TEXT}),['carriage','motor'],'无料轴定位，非自动涂布',ex={'position_m':.05,'speed_m_s':.02},effects=['cycle.phase','stage.target_m'])
+cap('gap.set',obj({'left_m':dict(GAP,multipleOf=1e-6),'right_m':dict(GAP,multipleOf=1e-6)}),obj({'left_m':GAP,'right_m':GAP}),['blade','gauge_left','gauge_right'],'宿主手动双端调隙目标；非机载电动执行','configuration','agent',{'left_m':.0001,'right_m':.0001},['gap.left_target_m','gap.right_target_m'])
 cap('emergency.stop',obj({}),obj({'latched':BOOL}),['button_emergency'],'急停锁存；驱动停止且回零失效',effects=['safety.pressed','safety.latched','power.enabled','stage.homed','cycle.phase'])
 cap('emergency.release',obj({}),obj({'released':BOOL}),['button_emergency'],'宿主顺时针释放按钮，尚未重置驱动故障','configuration','agent',{},['safety.pressed'])
 cap('acquisition.start',obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['button_start','motor','carriage','blade'],'运行所选程序：从回零位置按各步长度与速度分段恒速刮涂（延时步停留），离开回零端方向；有限浆料',effects=['cycle.phase','cycle.elapsed_s','stage.target_m'])
@@ -95,12 +95,12 @@ GAUGE=obj({'on':BOOL,'unit':dict(type='string',enum=['mm','in']),'zero_m':GAP,'r
 GAUGES_VIEW=obj({'left':GAUGE,'right':GAUGE})
 PROGRAM_CAPS={}
 def pcap(k,i,o,c,z,ex,effects,kind='configuration'):PROGRAM_CAPS[k]=(i,o,c,z,kind,'agent',ex,effects)
-pcap('settings.configure',opt(SETTINGS_FIELDS),SETTINGS_VIEW,['display_digits'],'面板设定：LCD亮度（5%步进）、回零参考（后端BACK/前端FRONT：改变离开回零端的行进方向并清零回零偏移）、停止方式（HARD立即停/SOFT短时减速停）、手动模式速度',
+pcap('settings.configure',opt(dict(SETTINGS_FIELDS,brightness_pct=dict(INT(5,100),multipleOf=5),manual_speed_m_s=dict(SPEED,multipleOf=1e-6))),SETTINGS_VIEW,['display_digits'],'面板设定：LCD亮度（5%步进）、回零参考（后端BACK/前端FRONT：改变离开回零端的行进方向并清零回零偏移）、停止方式（HARD立即停/SOFT短时减速停）、手动模式速度',
      {'stop_mode':'soft'},['settings.state'])
 pcap('stage.set_home_offset',obj({}),SETTINGS_VIEW,['button_return','carriage'],'手动模式按住Return：回零偏移设为当前位置距回零参考端的距离，此后回零与程序起点都在该位置',{},['settings.state'])
 pcap('program.select',obj({'program':INT(1,PROGRAMS)}),PROGRAM_VIEW,['display_digits'],'选择程序1–20；所选程序即运行的方法（每步为涂布长度+速度，或延时步）',{'program':2},['programs.state','method.configured'])
 pcap('program.set_steps_count',obj({'count':INT(1,MAX_STEPS)}),PROGRAM_VIEW,['display_digits'],'所选程序的步数1–100（增加的步为0 mm/0 mm/s/0 s未编程，减少即删去末尾步）',{'count':2},['programs.state','method.configured'])
-pcap('program.set_step',opt(dict(step=INT(1,MAX_STEPS),**STEP_FIELDS),['step']),PROGRAM_VIEW,['display_digits'],
+pcap('program.set_step',opt(dict(step=INT(1,MAX_STEPS),length_m=dict(POS,multipleOf=1e-5),speed_m_s=dict(STEP_FIELDS['speed_m_s'],multipleOf=1e-5),delay_s=dict(STEP_FIELDS['delay_s'],multipleOf=.01)),['step']),PROGRAM_VIEW,['display_digits'],
      '所选程序某一步：涂布长度0–290 mm与速度0.05–250 mm/s（网格0.01 mm、0.01 mm/s），或延时0.01–999.99 s（延时步的长度与速度为0；设长度或速度即清除延时）',
      {'step':1,'length_m':.2,'speed_m_s':.02},['programs.state','method.configured'])
 pcap('stage.jog',obj({'direction':dict(type='string',enum=['forward','back']),'duration_s':number('s',.02,60)}),obj({'phase':PHASE,'operation_id':TEXT}),['carriage','motor'],
@@ -287,7 +287,7 @@ class OssilaDoctorbladeRuntime:
     def _stop(self,result='cancelled'):
         if self.phase=='running':self.phase=result;self.stage='stopped';self.target=self.q;self.speed=0.
     def _new_operation(self,stage,target):
-        self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self._operation_count+=1
+        self._archive_op();self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self._operation_count+=1
         self.operation_id=self.instance_id+':motion:'+str(self._operation_count)
         return dict(phase=self.phase,operation_id=self.operation_id)
     def _model_check(self):
@@ -458,6 +458,11 @@ class OssilaDoctorbladeRuntime:
         for masses,exposed in [(self.bead,self.charge_cfg['reservoir_area_m2'])]+[(f,area) for f in self.film]:
             ev=min(masses[0],self.evap_flux*exposed*masses[0]/max(sum(masses),1e-30)*dt)
             masses[0]-=ev;self.evaporated[0]+=ev
+    def _archive_op(self):
+        # 2026-10-22 (chemlab findings B D4): the final record (status and coating.measure) of a finished operation is kept, so an older operation of a
+        # caller stays pollable after a newer one started (poll used to accept only the latest operation)
+        op=self.operation_id;arch=self.__dict__.setdefault('_op_final',{})
+        if op and self.phase not in ('running',) and op not in arch:arch[op]=dict(status=self.phase,result=self.invoke('coating.measure'))
     def step(self,dt_s):
         validate(number('s',1e-12,1000),dt_s);remaining=float(dt_s)
         while remaining>1e-12:
@@ -485,7 +490,7 @@ class OssilaDoctorbladeRuntime:
             if self.plant:
                 for i in range(2):
                     dx=self.plant['manual_gap_speed_m_s']*dt;self.gaps[i]+=max(-dx,min(dx,self.gap_targets[i]-self.gaps[i]))
-            self._evaporate(dt);self.time_s+=dt;remaining-=dt
+            self._evaporate(dt);self.time_s+=dt;remaining-=dt;self._archive_op()
         self.revision+=1;return self.read('evaluator')
 class OssilaDoctorbladeSession:
     """Only the trusted host assigns roles; returned data obey the same boundary."""
@@ -519,6 +524,7 @@ class OssilaDoctorbladeSession:
             before=h.operation_id;h._caller=self._principal
             try:result=h.invoke(capability_id,**arguments)
             finally:h._caller=None
+            if ALL_CAPS[capability_id][4]!='query':h._archive_op()
             op=result.get('operation_id')
             if op:h._owners[op]=self._principal
             elif capability_id in PANEL_CAPS and h.operation_id and h.operation_id!=before:h._owners[h.operation_id]=self._principal   # a run, homing or jog started by a key belongs to the caller
@@ -530,10 +536,16 @@ class OssilaDoctorbladeSession:
         cap,arg=SLOTS[state_id][5];return self.invoke(instance_id=instance_id,capability_id=cap,arguments={arg:value},request_id=request_id)
     def poll(self,operation_id):
         h=self._host
-        if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if operation_id!=h.operation_id:                                    # an older operation of this caller: its final record (2026-10-22)
+            rec=h.__dict__.get('_op_final',{}).get(operation_id)
+            if rec is None:raise ActionRejected('ACCESS_DENIED')
+            return dict(operation_id=operation_id,status=rec['status'],result=copy.deepcopy(rec['result']))
         return dict(operation_id=operation_id,status=h.phase,result=h.invoke('coating.measure'))
     def cancel(self,operation_id,request_id):
-        self.poll(operation_id);return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
+        r=self.poll(operation_id)
+        if operation_id!=self._host.operation_id:return r                 # finished before a newer operation started: nothing to cancel
+        return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
 
 
 
diff --git a/scripts/asset_runtime/ossila_slotdie.py b/scripts/asset_runtime/ossila_slotdie.py
index c966d336f5163f8dc412234ea8bd7daf9f4b4fe4..f772c831a3c7648e7b3d0ee3ff1dc0d4132bc69b 100644
--- a/scripts/asset_runtime/ossila_slotdie.py
+++ b/scripts/asset_runtime/ossila_slotdie.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='ossila_slotdie'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-056'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.1'
+SLUG='ossila_slotdie'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-056'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.3.2'
 ASSET_DIR=ROOT/'assets/expansion_batch04/t5_automation/ossila_slotdie'
 TEMPLATE_REL='assets/reactions/ossila_slotdie_film_library/templates.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
@@ -363,7 +363,7 @@ class OssilaSlotdieRuntime:
         if self.phase=='running':self.phase=result;self.stage='stopped';self.target=self.q
         self.speed=0.;self.flow=0.
     def _new_operation(self,stage,target):
-        self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self._operation_count+=1
+        self._archive_op();self.phase='running';self.stage=stage;self.target=target;self.elapsed_s=0.;self._operation_count+=1
         self.operation_id=self.instance_id+':motion:'+str(self._operation_count)
         return dict(phase=self.phase,operation_id=self.operation_id)
     def _bead_capacity(self):return .1*sum(self.gaps)/2*self.plant['bead_length_m']
@@ -595,6 +595,11 @@ class OssilaSlotdieRuntime:
         for f,e in zip(self.film,evaps):f[0]-=e
         self.evaporated[0]+=ev;self.energy_input+=heat*dt;self.energy_loss+=loss*dt;self.latent+=latent
         self.temp+=((heat-loss)*dt-latent)/p['heat_capacity_j_k']
+    def _archive_op(self):
+        # 2026-10-22 (chemlab findings B D4): the final record (status and coating.measure) of a finished operation is kept, so an older operation of a
+        # caller stays pollable after a newer one started (poll used to accept only the latest operation)
+        op=self.operation_id;arch=self.__dict__.setdefault('_op_final',{})
+        if op and self.phase not in ('running',) and op not in arch:arch[op]=dict(status=self.phase,result=self.invoke('coating.measure'))
     def step(self,dt_s):
         validate(number('s',1e-12,1000),dt_s);left=float(dt_s)
         while left>1e-12:
@@ -634,7 +639,7 @@ class OssilaSlotdieRuntime:
             if self.plant:
                 for i in range(2):
                     dx=self.plant['manual_gap_speed_m_s']*dt;self.gaps[i]+=max(-dx,min(dx,self.gap_targets[i]-self.gaps[i]))
-            self._thermal(dt);self.time_s+=dt;left-=dt
+            self._thermal(dt);self.time_s+=dt;left-=dt;self._archive_op()
         self.revision+=1;return self.read('evaluator')
 class OssilaSlotdieSession:
     """Only the trusted host assigns roles; returned data obey the same boundary."""
@@ -668,6 +673,7 @@ class OssilaSlotdieSession:
             before=h.operation_id;h._caller=self._principal
             try:result=h.invoke(capability_id,**arguments)
             finally:h._caller=None
+            if ALL_CAPS[capability_id][4]!='query':h._archive_op()
             op=result.get('operation_id')
             if op:h._owners[op]=self._principal
             elif capability_id in PANEL_CAPS and h.operation_id and h.operation_id!=before:h._owners[h.operation_id]=self._principal   # a run, homing, jog or priming started by a key belongs to the caller
@@ -679,10 +685,16 @@ class OssilaSlotdieSession:
         cap,arg=SLOTS[state_id][5];return self.invoke(instance_id=instance_id,capability_id=cap,arguments={arg:value},request_id=request_id)
     def poll(self,operation_id):
         h=self._host
-        if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if operation_id!=h.operation_id:                                    # an older operation of this caller: its final record (2026-10-22)
+            rec=h.__dict__.get('_op_final',{}).get(operation_id)
+            if rec is None:raise ActionRejected('ACCESS_DENIED')
+            return dict(operation_id=operation_id,status=rec['status'],result=copy.deepcopy(rec['result']))
         return dict(operation_id=operation_id,status=h.phase,result=h.invoke('coating.measure'))
     def cancel(self,operation_id,request_id):
-        self.poll(operation_id);return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
+        r=self.poll(operation_id)
+        if operation_id!=self._host.operation_id:return r                 # finished before a newer operation started: nothing to cancel
+        return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
 
 
 
diff --git a/scripts/asset_runtime/ossila_spincoater.py b/scripts/asset_runtime/ossila_spincoater.py
index 82be3fa5341c9de95901e94d14144028f54f4f2a..42a18ad5f6b37bcfe125c2c5aa687c191d751528 100644
--- a/scripts/asset_runtime/ossila_spincoater.py
+++ b/scripts/asset_runtime/ossila_spincoater.py
@@ -4,7 +4,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='ossila_spincoater'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-053'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.2.2'
+SLUG='ossila_spincoater'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-053'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.2.3'
 ASSET_DIR=ROOT/'assets/expansion_batch04/t5_automation/ossila_spincoater'
 TEMPLATE_REL='assets/reactions/ossila_spincoater_film_library/templates.json'
 RPM=2*math.pi/60; BOOL={'type':'boolean'}; TEXT={'type':'string'}
@@ -246,7 +246,7 @@ class OssilaSpincoaterRuntime:
             out=a.copy()
         elif capability=='acquisition.start':
             if not all([self.plant,self.method,self.sample_present,self.powered]) or self.lid_angle>.001 or self.lid_target>.001 or self.speed>1e-12 or self.phase in ('running','stopping'):raise ActionRejected('PRECONDITION_FAILED')
-            self.phase='running';self.elapsed_s=0.;self.step_elapsed=0.;self.step_index=1;self.target_speed=self.method['steps'][0]['speed_rad_s'];self._operation_count+=1;self.operation_id=self.instance_id+':spin:'+str(self._operation_count);out=dict(phase=self.phase,operation_id=self.operation_id)
+            self._archive_op();self.phase='running';self.elapsed_s=0.;self.step_elapsed=0.;self.step_index=1;self.target_speed=self.method['steps'][0]['speed_rad_s'];self._operation_count+=1;self.operation_id=self.instance_id+':spin:'+str(self._operation_count);out=dict(phase=self.phase,operation_id=self.operation_id)
         elif capability=='acquisition.stop':
             if self._foreign_run():raise ActionRejected('ACCESS_DENIED')
             self._stop();out={'phase':self.phase}
@@ -278,6 +278,11 @@ class OssilaSpincoaterRuntime:
             expelled=self.film[i]*(1-remaining);self.film[i]-=expelled;self.waste[i]+=expelled
         pressure=self._reference(s['solvent_id'],self.plant['temperature_k'])['vapor_pressure_pa'];mw=self.templates[s['solvent_id']]['molar_mass_kg_mol'];f=self.film[0]/max(1e-30,sum(self.film))
         rate=self.plant['mass_transfer_m_s']*area*pressure*mw/(8.314462618*self.plant['temperature_k'])*f;ev=min(self.film[0],rate*dt);self.film[0]-=ev;self.evaporated[0]+=ev
+    def _archive_op(self):
+        # 2026-10-22 (chemlab findings B D4): the final record (status and coating.measure) of a finished operation is kept, so an older operation of a
+        # caller stays pollable after a newer one started (poll used to accept only the latest operation)
+        op=self.operation_id;arch=self.__dict__.setdefault('_op_final',{})
+        if op and self.phase not in ('running','stopping') and op not in arch:arch[op]=dict(status=self.phase,result=self.invoke('coating.measure'))
     def step(self,dt_s):
         validate(number('s',1e-12,1000),dt_s);remaining=float(dt_s)
         while remaining>1e-12:
@@ -291,7 +296,7 @@ class OssilaSpincoaterRuntime:
                     if self.step_index==len(self.method['steps']):self._stop('succeeded')
                     else:self.step_index+=1;self.step_elapsed=0.;self.target_speed=self.method['steps'][self.step_index-1]['speed_rad_s']
             elif self.phase=='stopping' and self.speed<=1e-12:self.speed=0.;self.phase=self.stop_result
-            self.time_s+=dt;remaining-=dt
+            self.time_s+=dt;remaining-=dt;self._archive_op()
         self.revision+=1;return self.read('evaluator')
 
 class OssilaSpincoaterSession:
@@ -326,6 +331,7 @@ class OssilaSpincoaterSession:
             before=h.operation_id;h._caller=self._principal
             try:result=h.invoke(capability_id,**arguments)
             finally:h._caller=None
+            if ALL_CAPS[capability_id][4]!='query':h._archive_op()
             op=result.get('operation_id')
             if op:h._owners[op]=self._principal
             elif capability_id in PANEL_CAPS and h.operation_id and h.operation_id!=before:h._owners[h.operation_id]=self._principal   # a run started by the START key belongs to the caller
@@ -337,10 +343,16 @@ class OssilaSpincoaterSession:
         cap,arg=SLOTS[state_id][5];return self.invoke(instance_id=instance_id,capability_id=cap,arguments={arg:value},request_id=request_id)
     def poll(self,operation_id):
         h=self._host
-        if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if h._owners.get(operation_id)!=self._principal:raise ActionRejected('ACCESS_DENIED')
+        if operation_id!=h.operation_id:                                    # an older operation of this caller: its final record (2026-10-22)
+            rec=h.__dict__.get('_op_final',{}).get(operation_id)
+            if rec is None:raise ActionRejected('ACCESS_DENIED')
+            return dict(operation_id=operation_id,status=rec['status'],result=copy.deepcopy(rec['result']))
         return dict(operation_id=operation_id,status=h.phase,result=h.invoke('coating.measure'))
     def cancel(self,operation_id,request_id):
-        self.poll(operation_id);return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
+        r=self.poll(operation_id)
+        if operation_id!=self._host.operation_id:return r                 # finished before a newer operation started: nothing to cancel
+        return self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
 
 def export_ossila_spincoater_contract_metadata():
     caps={};slots={}
diff --git a/scripts/asset_runtime/pilodist_pilodist104.py b/scripts/asset_runtime/pilodist_pilodist104.py
index e0961b78752e2bb2eef09b4bdd70fed4d98d48a6..a818a378378721403c4f654857db40cf141c5964 100644
--- a/scripts/asset_runtime/pilodist_pilodist104.py
+++ b/scripts/asset_runtime/pilodist_pilodist104.py
@@ -8,8 +8,12 @@ import copy, importlib.util, json, math
 from pathlib import Path
 import numpy as np
 from asset_runtime.mt_hx204 import ActionRejected, number, obj, BOOL, TEXT
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.0.1: a refusal whose message names the cause
 from asset_runtime.pccell_ed64002 import validate
-ROOT=Path(__file__).resolve().parents[2]; SLUG='pilodist_pilodist104'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-037'; PROTOCOL_VERSION='1.0.0'
+ROOT=Path(__file__).resolve().parents[2]; SLUG='pilodist_pilodist104'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-037'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.0.1'
 TEMPLATE_REL='assets/reactions/pilodist_pilodist104_vle_library/templates.json'
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 def integer(lo,hi):return dict(type='integer',minimum=lo,maximum=hi,**{'x-unit':'1'})
@@ -125,7 +129,8 @@ class PilodistPilodist104Runtime:
    if not self.method:raise ActionRejected('PRECONDITION_FAILED')
    self.method.update(reflux_ratio=a['ratio'],total_reflux=a['total_reflux']);out=a
   elif capability=='fraction.select':
-   if not self.sample or float(self.fractions[a['index']]@self.vm)>=self.method['cut_volume_m3']-1e-12:raise ActionRejected('RECEIVER_FULL')
+   if not self.sample:raise _rejected('PRECONDITION_FAILED','no charge is in the boiler yet (sample.configure)')   # 1.0.1: was RECEIVER_FULL
+   if float(self.fractions[a['index']]@self.vm)>=self.method['cut_volume_m3']-1e-12:raise _rejected('RECEIVER_FULL','receiver %d already holds the cut volume'%a['index'])
    self.receiver=a['index'];out=a
   elif capability=='acquisition.start':
    if not self.powered or not self.sample or self.lift<.15-1e-9 or not self.engaged or self.phase not in ['idle','cancelled']:raise ActionRejected('PRECONDITION_FAILED')
@@ -193,7 +198,7 @@ class PilodistPilodist104Session:
         if instance_id is not None: self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID: raise ActionRejected('UNKNOWN_INSTANCE')
         meta=export_pilodist_pilodist104_contract_metadata()
-        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',
+        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,
           capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},
           state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
 
@@ -210,7 +215,7 @@ class PilodistPilodist104Session:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/scp_digiprepms.py b/scripts/asset_runtime/scp_digiprepms.py
index 710d4c447a57fbe5f20f259321c2750a83139639..ecf6cd113b2d53d523aa17544279971c7894a4a4 100644
--- a/scripts/asset_runtime/scp_digiprepms.py
+++ b/scripts/asset_runtime/scp_digiprepms.py
@@ -8,7 +8,7 @@ import copy,importlib.util,json,math
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT
 from asset_runtime.pccell_ed64002 import validate
-ROOT=Path(__file__).resolve().parents[2];SLUG='scp_digiprepms';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-039';PROTOCOL_VERSION='1.0.0';TEMPLATE_REL='assets/reactions/scp_digiprepms_digestion_library/templates.json'
+ROOT=Path(__file__).resolve().parents[2];SLUG='scp_digiprepms';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-039';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';TEMPLATE_REL='assets/reactions/scp_digiprepms_digestion_library/templates.json'
 def integer(lo,hi):return dict(type='integer',minimum=lo,maximum=hi,**{'x-unit':'1'})
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 SIDE=dict(type='string',enum=['left','right'])
@@ -25,13 +25,13 @@ PRODUCT_ROW=obj({'position':integer(0,47),'substance_id':TEXT,'initial_solid_mol
 POINT=obj({'time_s':number('s',0),'block_temperature_k':number('K',293.15,453.15),'indicated_temperature_k':number('K',293.15,453.15),'target_k':number('K',293.15,453.15),'heater_w':number('W',0,2000)})
 CAPS={
  'plant.configure':(PLANT,obj({'configured':BOOL}),['heater','internal_probe','port_controller'],'宿主外置控制器/通风/管材审查与热学系数，不冒充现行额定','configuration','evaluator',PLANT_EXAMPLE),
- 'method.configure':(METHOD,obj({'configured':BOOL}),['port_controller','heater'],'严格递增时间节点的线性温度程序及达温保温时间','configuration','agent',METHOD_EXAMPLE),
- 'sample.configure':(SAMPLE,obj({'configured':BOOL,'attachment_event':TEXT}),['rack_left','rack_right'],'宿主初始化最多48管、每管50mL有限样品；不是机器人装管','configuration','evaluator',example_sample()),
+ 'method.configure':(METHOD,obj({'configured':BOOL}),['port_controller','heater'],'严格递增时间节点的线性温度程序及达温保温时间；未运行时可改，周期结束或停止之后设新方法即开始新周期（时间与保温计时清零）','configuration','agent',METHOD_EXAMPLE),
+ 'sample.configure':(SAMPLE,obj({'configured':BOOL,'attachment_event':TEXT}),['rack_left','rack_right'],'宿主初始化最多48管、每管50mL有限样品；不是机器人装管；不需先有方法；未运行且块与管都不高于50 °C时可再次调用换管（取下原管，原管显热计入散热）','configuration','evaluator',example_sample()),
  'power.set':(obj({'enabled':BOOL}),obj({'enabled':BOOL}),['port_controller'],'虚拟供电目标，断电取消并保留样品','device_command','agent',dict(enabled=True)),
- 'thermal.set_temperature':(obj({'temperature_k':number('K',293.15,453.15)}),obj({'temperature_k':number('K',293.15,453.15)}),['heater','port_controller'],'未运行时改为恒温程序目标；不瞬时加热','device_command','agent',dict(temperature_k=368.15)),
+ 'thermal.set_temperature':(obj({'temperature_k':number('K',293.15,453.15)}),obj({'temperature_k':number('K',293.15,453.15)}),['heater','port_controller'],'未运行时改恒温程序（单节点）的目标温度，保温与超时不变；已配置的程序有升温斜坡（多个节点）时拒绝RAMP_PROGRAM（改用method.configure）；周期结束或停止之后即开始新周期；不瞬时加热','device_command','agent',dict(temperature_k=368.15)),
  'probe.configure':(obj({'mode':dict(type='string',enum=['block','external']),'position':integer(0,47),'connected':BOOL}),obj({'mode':TEXT,'position':integer(0,47)}),['internal_probe','port_probe'],'外接DigiPROBE选配边界；不虚构已建实体探头','configuration','evaluator',dict(mode='block',position=0,connected=False)),
  'rack.set':(obj({'side':SIDE,'lift_m':number('m',0,.12)}),obj({'side':SIDE,'lift_m':number('m',0,.12)}),['rack_left','rack_right'],'宿主手动提架目标；热/运行时互锁，非自驱动或机器人','configuration','evaluator',dict(side='left',lift_m=.1)),
- 'acquisition.start':(obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['heater','block','port_controller'],'运行热程序；完成不等于消解完全','device_command','agent',{}),
+ 'acquisition.start':(obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['heater','block','port_controller'],'运行热程序；完成不等于消解完全；周期succeeded/failed之后再启动为同一方法的新周期，cancelled之后为续跑','device_command','agent',{}),
  'acquisition.stop':(obj({}),obj({'phase':PHASE}),['heater','port_controller'],'取消保留所有部分转移；温度继续冷却','device_command','agent',{}),
  'digestion.measure':(obj({}),MEASURE,['internal_probe','port_probe'],'理想温度历史观察，不输出隐藏样品标签/真值','query','agent',{}),
  'product.read':(obj({}),obj({'records':dict(type='array',items=PRODUCT_ROW),'evidence':TEXT,'template_source':TEXT}),['rack_left','rack_right'],'评价器逐管矿物当量/酸当量/空白账本，不是实验回收率','query','evaluator',{}),
@@ -79,6 +79,10 @@ class ScpDigiprepmsRuntime:
   if any(not p['ambient_k']<=k['temperature_k']<=p['tube_limit_k'] for k in ks):raise ActionRejected('TUBE_TEMPERATURE_LIMIT')
   for t in self.tubes:
    for k in ks:self._logk(t['substance_id'],k['temperature_k'])
+ def _new_cycle_if_ended(self):
+  # 1.0.1 (2026-10-22): after a finished (succeeded / failed) or stopped cycle a new programme starts a new cycle: the cycle clock and the
+  # hold timer restart; the tubes stay in the block (their ledgers continue) unless the host reloads them
+  if self.phase in ['succeeded','failed','cancelled'] or self.elapsed_s>0:self.phase='idle';self.fault='';self.elapsed_s=0.;self.hold_s=0.
  def _program(self,t):
   ks=self.method['knots']
   for a,b in zip(ks,ks[1:]):
@@ -93,24 +97,25 @@ class ScpDigiprepmsRuntime:
    self.plant=copy.deepcopy(a);self.block_t=self.target=a['ambient_k'];out=dict(configured=True)
   elif capability=='method.configure':
    self._check_method(a)
-   if self.elapsed_s>0:raise ActionRejected('CYCLE_ALREADY_STARTED')
-   self.method=copy.deepcopy(a);self.target=a['knots'][0]['temperature_k'];out=dict(configured=True)
+   self._new_cycle_if_ended();self.method=copy.deepcopy(a);self.target=a['knots'][0]['temperature_k'];out=dict(configured=True)
   elif capability=='sample.configure':
-   if self.sample or not self.method or self.phase!='idle' or self.block_t>323.15:raise ActionRejected('PRECONDITION_FAILED')
+   if max([self.block_t]+[t['temperature_k'] for t in self.tubes])>323.15:raise ActionRejected('PRECONDITION_FAILED')   # 1.0.1: no method needed; a cool block can be reloaded
    if len({x['position'] for x in a['tubes']})!=len(a['tubes']):raise ActionRejected('DUPLICATE_POSITION')
    rows=[]
    for x in a['tubes']:
     self._logk(x['substance_id'],self.plant['ambient_k'])
-    for k in self.method['knots']:self._logk(x['substance_id'],k['temperature_k'])
+    for k in (self.method['knots'] if self.method else []):self._logk(x['substance_id'],k['temperature_k'])
     rows.append(dict(position=x['position'],substance_id=x['substance_id'],initial_solid_mol=x['solid_mol'],solid_mol=x['solid_mol'],dissolved_mol=0.,initial_acid_mol=x['acid_mol'],acid_mol=x['acid_mol'],acid_consumed_mol=0.,acid_exhaust_mol=0.,initial_blank_mol=x['blank_reservoir_mol'],blank_remaining_mol=x['blank_reservoir_mol'],blank_dissolved_mol=0.,temperature_k=self.plant['ambient_k'],_input=copy.deepcopy(x),_c=x['volume_m3']*x['density_kg_m3']*x['heat_capacity_j_kg_k']))
+   if self.tubes:self.loss_j+=sum(t['_c']*(t['temperature_k']-self.plant['ambient_k']) for t in self.tubes)   # unloaded tubes take their sensible heat away
    self.tubes=rows;self.sample=copy.deepcopy(a);out=dict(configured=True,attachment_event='host_sample_ledger_initialization_not_robot')
   elif capability=='power.set':
    self.powered=a['enabled']
    if not self.powered and self.phase=='running':self.phase='cancelled'
    out=a
   elif capability=='thermal.set_temperature':
-   if not self.method or self.elapsed_s>0:raise ActionRejected('PRECONDITION_FAILED')
-   m=copy.deepcopy(self.method);m['knots']=[dict(time_s=0.,temperature_k=a['temperature_k'])];self._check_method(m);self.method=m;self.target=a['temperature_k'];out=a
+   if not self.method:raise ActionRejected('PRECONDITION_FAILED')
+   if len(self.method['knots'])>1:raise ActionRejected('RAMP_PROGRAM')   # 1.0.1: a ramp programme is not silently replaced by a constant one
+   m=copy.deepcopy(self.method);m['knots']=[dict(time_s=0.,temperature_k=a['temperature_k'])];self._check_method(m);self._new_cycle_if_ended();self.method=m;self.target=a['temperature_k'];out=a
   elif capability=='probe.configure':
    if a['mode']=='external' and (not a['connected'] or not any(t['position']==a['position'] for t in self.tubes)):raise ActionRejected('PROBE_NOT_CONNECTED')
    self.probe_mode=a['mode'];self.probe_position=a['position'];out=dict(mode=a['mode'],position=a['position'])
@@ -118,8 +123,10 @@ class ScpDigiprepmsRuntime:
    if max([self.block_t]+[t['temperature_k'] for t in self.tubes])>323.15:raise ActionRejected('HOT_RACK')
    self.lift_target[0 if a['side']=='left' else 1]=a['lift_m'];out=a
   elif capability=='acquisition.start':
-   if not self.powered or not self.method or self.phase not in ['idle','cancelled'] or any(abs(q)>1e-8 for q in self.lift+self.lift_target) or self.elapsed_s>=self.method['timeout_s']:raise ActionRejected('PRECONDITION_FAILED')
-   self._check_method(self.method);self.phase='running';self.fault='';self._operation_count+=1;self.operation_id=self.instance_id+':'+str(self._operation_count);out=dict(phase=self.phase,operation_id=self.operation_id)
+   if not self.powered or not self.method or self.phase not in ['idle','cancelled','succeeded','failed'] or any(abs(q)>1e-8 for q in self.lift+self.lift_target) or (self.phase=='cancelled' and self.elapsed_s>=self.method['timeout_s']):raise ActionRejected('PRECONDITION_FAILED')
+   self._check_method(self.method)
+   if self.phase in ['succeeded','failed']:self._new_cycle_if_ended()   # 1.0.1: a new cycle of the same programme (cancelled: resume)
+   self.phase='running';self.fault='';self._operation_count+=1;self.operation_id=self.instance_id+':'+str(self._operation_count);out=dict(phase=self.phase,operation_id=self.operation_id)
   elif capability=='acquisition.stop':
    if self.phase=='running':self.phase='cancelled'
    out=dict(phase=self.phase)
@@ -180,7 +187,7 @@ class ScpDigiprepmsSession:
         if instance_id is not None: self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID: raise ActionRejected('UNKNOWN_INSTANCE')
         meta=export_scp_digiprepms_contract_metadata()
-        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',
+        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,
           capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},
           state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
 
@@ -232,6 +239,9 @@ class ScpDigiprepmsSession:
         response=self.invoke(instance_id=self._host.instance_id,capability_id='acquisition.stop',arguments={},request_id=request_id)
         return dict(operation_id=operation_id,status=self._host.phase,result=response['result'])
 
+ERR_ZH={'RAMP_PROGRAM':'thermal.set_temperature只改恒温程序；已配置的程序有升温斜坡（多个节点），请用method.configure改程序'}   # 1.0.1
+
+
 def export_scp_digiprepms_contract_metadata():
     caps={};slots={}
     for k,(schema,unit,origin,visibility,components,write) in SLOTS.items():
@@ -240,7 +250,7 @@ def export_scp_digiprepms_contract_metadata():
     advancing=['cycle.phase','cycle.fault','cycle.elapsed_s','cycle.hold_elapsed_s','thermal.target_k','thermal.block_temperature_k','thermal.indicated_temperature_k','thermal.heater_w','truth.solid_mol','truth.dissolved_mol','truth.acid_mol','truth.sensible_energy_j','truth.input_energy_j','truth.loss_energy_j']
     for k,(inp,out,components,meaning,kind,vis,example) in CAPS.items():
         async_=k=='acquisition.start'
-        caps[k]=dict(function_zh=meaning,kind=kind,visibility=vis,component_ids=components,availability='implemented',input_schema=copy.deepcopy(inp),output_schema=copy.deepcopy(out),implementation=dict(process='implemented',scene='absent',robot='absent',hardware='absent',host='implemented'),binding=dict(backend='host',artifact_id='runtime',entrypoint='asset_runtime.scp_digiprepms.ScpDigiprepmsSession.invoke',invocation=f'session.invoke(instance_id="digiprep_01",capability_id={k!r},arguments={example!r},request_id="unique")'),preconditions=[] if kind=='query' else [dict(description_zh='外置控制器/管材/通风宿主确认，50mL×48容量、单调程序、原数据温区、冷热管架互锁；拒绝不变状态',state_ids=['cycle.phase','plant.configured','sample.configured','power.enabled'],enforced_by='runtime',check='ScpDigiprepmsRuntime.invoke capability-specific guards')],state_effects=[dict(state_id=i,timing='immediate',description_zh='配置/目标或操作状态，不推进时间') for i in immediate.get(k,[])]+([dict(state_id=i,timing='on_step',description_zh='宿主步进显热交换、有限酸/矿物/空白当量账本与程序') for i in advancing] if async_ else [])+([dict(state_id='rack_'+side+'.lift_m',timing='on_step',description_zh='宿主管架速度0.02m/s教学代理') for side in ['left','right']] if k=='rack.set' else []),observes=[],model_effects=dict(mode='none',description_zh='本体没有一体式面板；只有经过独立求值验证的管架绑定才能升格为联动',binding_ids=[]),execution=dict(mode='asynchronous' if async_ else 'synchronous',time_domain='simulation',completion_criterion='最终目标±1K内累计保温达到hold_s；程序完成不保证完全消解' if async_ else '同步返回；目标不是已达物理状态',completion_state_ids=['cycle.phase'] if async_ else [],timeout_s=None,cancellation='supported' if async_ else 'unsupported',retry='same_request_id',resources=['48_finite_tubes','two_manual_racks','host_controller_boundary','principal_request_cache'],partial_failure_zh='取消保留全部矿物/酸/空白库存并继续显热冷却；冻结化学账本不是热酸安全状态证明。'),errors=[dict(code=e,meaning_zh=e,side_effects='none') for e in ['UNKNOWN_INSTANCE','UNKNOWN_CAPABILITY','ACCESS_DENIED','INVALID_ARGUMENT','PRECONDITION_FAILED','BUSY','REQUEST_CONFLICT','UNKNOWN_REFERENCE','REFERENCE_RANGE','PROGRAM_ORDER','TUBE_TEMPERATURE_LIMIT','CYCLE_ALREADY_STARTED','DUPLICATE_POSITION','PROBE_NOT_CONNECTED','HOT_RACK']],example_arguments=copy.deepcopy(example),verification=[],limitations=['宿主教学控制器与手动提架代理；不是原厂固件、机器人或硬件；公开会话不代替文件/进程隔离。'],source_ids=['manufacturer_primary','simulation_assumption'])
+        caps[k]=dict(function_zh=meaning,kind=kind,visibility=vis,component_ids=components,availability='implemented',input_schema=copy.deepcopy(inp),output_schema=copy.deepcopy(out),implementation=dict(process='implemented',scene='absent',robot='absent',hardware='absent',host='implemented'),binding=dict(backend='host',artifact_id='runtime',entrypoint='asset_runtime.scp_digiprepms.ScpDigiprepmsSession.invoke',invocation=f'session.invoke(instance_id="digiprep_01",capability_id={k!r},arguments={example!r},request_id="unique")'),preconditions=[] if kind=='query' else [dict(description_zh='外置控制器/管材/通风宿主确认，50mL×48容量、单调程序、原数据温区、冷热管架互锁；拒绝不变状态',state_ids=['cycle.phase','plant.configured','sample.configured','power.enabled'],enforced_by='runtime',check='ScpDigiprepmsRuntime.invoke capability-specific guards')],state_effects=[dict(state_id=i,timing='immediate',description_zh='配置/目标或操作状态，不推进时间') for i in immediate.get(k,[])]+([dict(state_id=i,timing='on_step',description_zh='宿主步进显热交换、有限酸/矿物/空白当量账本与程序') for i in advancing] if async_ else [])+([dict(state_id='rack_'+side+'.lift_m',timing='on_step',description_zh='宿主管架速度0.02m/s教学代理') for side in ['left','right']] if k=='rack.set' else []),observes=[],model_effects=dict(mode='none',description_zh='本体没有一体式面板；只有经过独立求值验证的管架绑定才能升格为联动',binding_ids=[]),execution=dict(mode='asynchronous' if async_ else 'synchronous',time_domain='simulation',completion_criterion='最终目标±1K内累计保温达到hold_s；程序完成不保证完全消解' if async_ else '同步返回；目标不是已达物理状态',completion_state_ids=['cycle.phase'] if async_ else [],timeout_s=None,cancellation='supported' if async_ else 'unsupported',retry='same_request_id',resources=['48_finite_tubes','two_manual_racks','host_controller_boundary','principal_request_cache'],partial_failure_zh='取消保留全部矿物/酸/空白库存并继续显热冷却；冻结化学账本不是热酸安全状态证明。'),errors=[dict(code=e,meaning_zh=ERR_ZH.get(e,e),side_effects='none') for e in ['UNKNOWN_INSTANCE','UNKNOWN_CAPABILITY','ACCESS_DENIED','INVALID_ARGUMENT','PRECONDITION_FAILED','BUSY','REQUEST_CONFLICT','UNKNOWN_REFERENCE','REFERENCE_RANGE','PROGRAM_ORDER','TUBE_TEMPERATURE_LIMIT','RAMP_PROGRAM','DUPLICATE_POSITION','PROBE_NOT_CONNECTED','HOT_RACK']],example_arguments=copy.deepcopy(example),verification=[],limitations=['宿主教学控制器与手动提架代理；不是原厂固件、机器人或硬件；公开会话不代替文件/进程隔离。'],source_ids=['manufacturer_primary','simulation_assumption'])
         if async_:caps[k]['errors'].append(dict(code='TIMEOUT',meaning_zh='超时终止，保留部分效果',side_effects='partial'))
     mechanism=dict(component_ids=['block','heater','internal_probe','port_controller','port_probe','rack_left','rack_right'],state_ids=list(slots),meaning_zh='历史配置功率/升温时间热代理，48管显热负载，LLNL矿物温变logK，宿主有限酸与空白代理',implementation='lumped',equations=['Historical proxy Cb=-UA*2100/log(1-UA*(368.15-293.15)/925); UA=2W/K assumed, not current model calibration','Cb*dTb/dt=Pheater-UA*(Tb-Ta)-sum(Ki*(Tb-Ti)); Ci=Vreference*rho_host*Cp_host','Exact block source/loss exponential and sequential energy-conserving block/tube pair exchange; dt<=0.5s; no latent/reaction heat','Target is piecewise-linear program; final hold counts only while selected sensor within1K; start/stop do not advance time','log10K=A1+A2*T+A3/T+A4*log10(T)+A5/T^2+A6*T^2 within each LLNL source interval','logQ=logQ0_host+nu_H*log10(H0/H); fixed product-activity proxy, NOT aqueous speciation','dn=min(nsolid*(1-exp(-k298_host*exp(Ea_host/R*(1/298.15-1/T))*max(0,1-Q/K)*dt)),H/nu_H)','acid evaporation and blank release use finite first-order host rates scaled by exp((T-298.15)/30); removed equivalents enter explicit ledgers','nsolid+ndissolved=n0; Hremaining+Hconsumed+Hexhaust=H0; blank_remaining+blank_dissolved=blank0','Only step advances physics, including manual rack position at0.02m/s; cold interlock323.15K is simulation guard, not safe handling instruction'],parameters={},source_ids=['manufacturer_primary','manufacturer_old_en','llnl_phases','simulation_assumption'],limitations=['Current power,mass,heatup unknown;925W35min historical reference is not current configuration calibration.','296 mineral reaction references are not measured digestion recoveries or a validated acid procedure. Some phases polymorphs; preserve exact reaction/name.','No complete aqueous speciation, variable activities, precipitation, redox, aerosol, chemistry heat, latent heat, solvent loss or elemental/water balance.','Energy closes only the deliberately limited sensible-heat model; fixed reference-volume density/Cp are host coefficients.','Mineral equivalents,acid equivalents and blank reservoir conserve separately; do not call this total chemical mass/volume conservation.','Temperature uniformity±1K is manufacturer nominal information, not derived from a measured48-position field.','Program completion is not complete dissolution; all reaction,volatilization,blank kinetics explicitly synthetic.','No integral display/buttons,optional controller/probe remain host boundary; physical probe/cable or robot attachment not built.','Cancellation freezes chemistry while sensible cooling continues; not validated safe-state or post-stop acid behavior.','No factory UI,hardware,safety approval or file/process isolation; Matterixack differs from native operation completion.'])
     spec=importlib.util.spec_from_file_location('_digiprep_local_annotations',ROOT/'scripts/asset_runtime/_annotations.py');ann=importlib.util.module_from_spec(spec);spec.loader.exec_module(ann);ann.KEY_ZH.update(SLOT_ZH);ann.TRUTH_ZH.update(SLOT_ZH);ann.annotate_export(SLUG,caps,slots,{'digestion':mechanism},inputs={'plant.configure':(PLANT,PLANT_EXAMPLE)})
diff --git a/scripts/asset_runtime/seal_aa500.py b/scripts/asset_runtime/seal_aa500.py
index d8a8b5fe380a7770cdf047abf612c41bcb2d6ecb..c275b489131bbd66c52787ee9d4981762ebce90f 100644
--- a/scripts/asset_runtime/seal_aa500.py
+++ b/scripts/asset_runtime/seal_aa500.py
@@ -28,6 +28,7 @@ import zlib
 from pathlib import Path
 
 PROTOCOL_VERSION = "1.0.0"
+ASSET_VERSION = "1.0.1"   # 1.0.1 (2026-10-23): release_to_lab - a set-up's cups and standards become the lab's
 ASSET_TYPE_ID = "instrument.seal_aa500"
 CATALOG_ID = "CHEM-172"
 ROOT = Path(__file__).resolve().parents[2]
@@ -499,6 +500,22 @@ class SealAa500Runtime:
         if self._caller is not None:
             self._owners[object_id] = self._caller
 
+    def release_to_lab(self, principal=None):
+        """Trusted host (the lab's set-up), 1.0.1: the samples, standards and sampler cups that ``principal`` (default: every caller so far)
+        loaded become the lab's - usable by every caller, as cups a technician puts on the tray are in a real lab.  A lab set-up that runs
+        through an agent-level operator session (chemlab's ``chemlab_operator``) calls this at its end; what the evaluator / host loads is
+        the lab's already.  The owner rule (an agent cannot use another agent's samples, standards or cups) applies again to everything an
+        agent loads afterwards.  Opens no evaluator data (truth slots, faults and evaluator capabilities stay hidden).  Returns the
+        released object ids ('item:<id>', 'tube:<rack><position>')."""
+        if principal is not None and principal not in self._principals:
+            raise ActionRejected('INVALID_ARGUMENT')
+        released = sorted(k for k, v in self._owners.items() if principal is None or v == principal)
+        for k in released:
+            del self._owners[k]
+        if released:
+            self.revision += 1
+        return released
+
     def _need_plant(self):
         if self.plant is None:
             raise ActionRejected('PLANT_REQUIRED')
@@ -1627,7 +1644,7 @@ class SealAa500Session:
                 c['execution']['completion_state_ids'] = [x for x in c['execution']['completion_state_ids'] if x in slots]
             for m in meta['mechanisms'].values():
                 m['state_ids'] = [x for x in m['state_ids'] if x in slots]
-        return dict(protocol_version=PROTOCOL_VERSION, asset_type_id=ASSET_TYPE_ID, asset_version='1.0.0', capabilities=caps, state_slots=slots)
+        return dict(protocol_version=PROTOCOL_VERSION, asset_type_id=ASSET_TYPE_ID, asset_version=ASSET_VERSION, capabilities=caps, state_slots=slots)
 
     def _foreign(self, object_id):
         owner = self._host._owners.get(object_id)
@@ -1887,7 +1904,8 @@ def _pre_slots(k):
 
 def _foreign_text(k):
     if k in ('sampler.unload', 'run.start', 'sampler.load', 'standard.prepare'):
-        return '；agent只能用自己的样品/标准与自己装的管（ACCESS_DENIED）'
+        return ('；agent不能用另一个agent的样品/标准与它装的管（ACCESS_DENIED）；评测者/宿主提供的与实验室准备后交给实验室的'
+                '（宿主release_to_lab）任何调用者可用')
     return ''
 
 
diff --git a/scripts/asset_runtime/sft_sft110.py b/scripts/asset_runtime/sft_sft110.py
index 56a27b12f61148077de81774b909779481c66dfe..5743f3c0e73f51c496207e938e08301d7bc2f6be 100644
--- a/scripts/asset_runtime/sft_sft110.py
+++ b/scripts/asset_runtime/sft_sft110.py
@@ -8,7 +8,7 @@ import copy,functools,importlib.util,json,math,sys
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT
 from asset_runtime.antonpaar_abbematadvanced import validate
-ROOT=Path(__file__).resolve().parents[2];ASSET_VERSION='1.1.2';SLUG='sft_sft110';OUT=ROOT/'outputs/expansion_batch03/t2_vacuum/sft_sft110';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-032';PROTOCOL_VERSION='1.0.0';TEMPLATE_REL='assets/reactions/sft_sft110_solubility_library/templates.json';VMAX=100e-6;PMAX=68.9e6;MWCO2=.0440098
+ROOT=Path(__file__).resolve().parents[2];ASSET_VERSION='1.1.3';SLUG='sft_sft110';OUT=ROOT/'outputs/expansion_batch03/t2_vacuum/sft_sft110';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-032';PROTOCOL_VERSION='1.0.0';TEMPLATE_REL='assets/reactions/sft_sft110_solubility_library/templates.json';VMAX=100e-6;PMAX=68.9e6;MWCO2=.0440098
 def cp():
  sys.path.insert(0,str(OUT/'vendor')) if str(OUT/'vendor') not in sys.path else None
  import CoolProp.CoolProp as C
@@ -39,7 +39,7 @@ CAPS={
  'power.set':(obj({'enabled':BOOL}),obj({'enabled':BOOL}),['pump_housing','heater','restrictor'],'开关电；断电不自动放空，残压保留','device_command','agent',{'enabled':True},['power.enabled']),
  'acquisition.start':(obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['vessel','static_dynamic_valve','pump_head_0','restrictor'],'开始/取消续作教学升温加压静动放空序列','device_command','agent',{},['cycle.phase','cycle.stage']),
  'acquisition.stop':(obj({}),obj({'phase':PHASE}),['pump_head_0','static_dynamic_valve'],'停止模型泵/阀，保留残压和部分萃取效果','device_command','agent',{},['cycle.phase']),
- 'pressure.vent':(obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['static_dynamic_valve','restrictor','vent_port'],'宿主受控减压回收；不是急停或安全释放保证','device_command','agent',{},['cycle.phase','cycle.stage']),
+ 'pressure.vent':(obj({}),obj({'phase':PHASE,'operation_id':TEXT}),['static_dynamic_valve','restrictor','vent_port'],'宿主受控减压回收；不是急停或安全释放保证；本周期还没萃取时的放气（如预热残压）结束后回到idle（standby），之后照常开始萃取，该放气操作的poll为succeeded；萃取停止后的放气结束为succeeded/depressurized（周期结束）','device_command','agent',{},['cycle.phase','cycle.stage']),
  'extraction.measure':(obj({}),RESULT,['display_digits_temperature','display_digits_restrictor','display_digits_pressure','gas_flowmeter'],'模型派生温压流量与文献平衡参考，不是实测产率','query','agent',{},[]),
  'product.read':(obj({}),PRODUCT,['collection_vial','vessel','restrictor'],'萃取物/残余/溶解/沉积真值；非真实回收标定','query','evaluator',{},[]),
  'history.read':(obj({}),obj({'records':arr(POINT),'evidence':TEXT}),['display_digits_pressure'],'教学程序过程曲线','query','agent',{},[]),
@@ -138,6 +138,9 @@ class SftSft110Runtime:
    if capability=='pressure.vent':self.stage='venting';self.stage_elapsed=0.;self.fault=''
    elif self.phase=='idle':self.stage='conditioning';self.stage_elapsed=0.
    elif self.stage!='venting' and abs(self.temperature-self.method['temperature_k'])>.1:raise ActionRejected('RECONDITION_REQUIRED')
+   if capability=='pressure.vent':self._vent_alone=self.phase=='idle' or (self.phase=='cancelled' and getattr(self,'_vent_alone',False))   # 1.1.3: no extraction yet in this cycle
+   elif self.stage!='venting':self._vent_alone=False
+   self._vent_done_op=None
    self.phase='running';self._operation_count+=1;self.operation_id=f'{self.instance_id}:op{self._operation_count}';out=dict(phase=self.phase,operation_id=self.operation_id)
   elif capability=='acquisition.stop':
    if self.phase!='running':raise ActionRejected('PRECONDITION_FAILED')
@@ -226,7 +229,9 @@ class SftSft110Runtime:
    self._update_pressure()
    if self.pressure<=self._ambient()+1:
     # Residual dissolved solute precipitates back into bed; an explicit uncalibrated limit.
-    self.residue+=self.dissolved;self.dissolved=0.;self.phase='succeeded';self.stage='depressurized';self.qin=self.qgas=self.drop=0.
+    self.residue+=self.dissolved;self.dissolved=0.;self.qin=self.qgas=self.drop=0.
+    if getattr(self,'_vent_alone',False):self.phase='idle';self.stage='standby';self.elapsed_s=0.;self.stage_elapsed=0.;self._vent_alone=False;self._vent_done_op=self.operation_id   # 1.1.3: the cycle has not started: still idle
+    else:self.phase='succeeded';self.stage='depressurized'
  def step(self,dt_s):
   if isinstance(dt_s,bool) or not isinstance(dt_s,(int,float)) or not math.isfinite(dt_s) or dt_s<0:raise ActionRejected('INVALID_ARGUMENT')
   if dt_s==0:return
@@ -311,7 +316,7 @@ class SftSft110Session:
     def poll(self,operation_id):
         h=self._host
         if operation_id!=h.operation_id or h._owners.get(operation_id)!=self._principal: raise ActionRejected('ACCESS_DENIED')
-        return dict(operation_id=operation_id,status=h.phase,result=h.invoke('extraction.measure'))
+        return dict(operation_id=operation_id,status='succeeded' if operation_id==getattr(h,'_vent_done_op',None) else h.phase,result=h.invoke('extraction.measure'))
 
     def cancel(self,operation_id,request_id):
         self.poll(operation_id)
diff --git a/scripts/asset_runtime/shimadzu_tocl.py b/scripts/asset_runtime/shimadzu_tocl.py
index 082fb1faafb87df3d120d99f4d29a91fd5efc007..c80e27c7e09c0024114b4c5289e8a9412a684b44 100644
--- a/scripts/asset_runtime/shimadzu_tocl.py
+++ b/scripts/asset_runtime/shimadzu_tocl.py
@@ -118,7 +118,7 @@ slot('method.mode',TEXT,'1','TC/IC/TOC/NPOC模式','setpoint');slot('blank.valid
 # Main power switch, standalone shutdown, catalyst type and syringe washes, the Maintenance items (bubble removal, TC catalyst regeneration,
 # IC reagent delivery, residue removal, syringe zero point, TC blank check) with their counters, the Background Monitor / READY lamp and
 # clearing of the measurement log.  The panel layer (panel_ui.json) drives these and the 1.0.x commands; CAPS keep their meaning.
-ASSET_VERSION='1.3.0'
+ASSET_VERSION='1.3.1'
 CATALYSTS=['regular','high'];MAINT_ITEMS=['bubble_removal','catalyst_regeneration','ic_regeneration','residue_removal','syringe_zero']
 MAINT_S={'bubble_removal':60.,'catalyst_regeneration':300.,'ic_regeneration':10.,'residue_removal':120.,'syringe_zero':20.}
 BUBBLE_DILUENT_M3=1e-6;BUBBLE_ACID_M3=1e-7;REGEN_ACID_M3=5e-7;RESIDUE_FLUSH_M3=2e-6;IC_REAGENT_STEP=.25
@@ -260,7 +260,8 @@ class ShimadzuToclRuntime:
   if visibility not in ('agent','debug','evaluator'):raise ActionRejected('ACCESS_DENIED')
   v={'plant.configured':self.plant is not None,'sample.loaded':self.sample is not None,'power.enabled':self.powered,'cover.opened':self.opened,'cover.angle_rad':1.60 if self.opened else 0.,'top_cover.opened':self.top_opened,'top_cover.lift_m':.15 if self.top_opened else 0.,'syringe.position_m':min(SYRINGE_STROKE_M,max(0.,self._syringe_v/SYRINGE_MAX_M3*SYRINGE_STROKE_M)),'valve.angle_rad':self.valve,'ic_pump.angle_rad':self.pump,'furnace.target_k':self.target,'furnace.actual_k':self.temperature,'furnace.ready':self._ready(),'measurement.phase':self.phase,'measurement.stage':self.stage,'measurement.elapsed_s':self.elapsed_s,'measurement.progress':len(self.assays)/len(self._plan) if self._plan else 0.,'measurement.channel':self._channel,'measurement.completed_aliquots':len(self.assays),'detector.ndir_signal':self._signal,'detector.last_sample_time_s':self._last_point['time_s'] if self._last_point else None,'method.mode':self.method['mode'] if self.method else '', 'blank.valid':self._blank_valid(),'calibration.ready':self._calibration_ready(),'storage.result_count':len(self._records),'storage.curve_count':len(self._curves),'safety.warning':self.warning,'truth.ledger':self._ledger()}
   v.update({'result.'+q.lower()+'_kg_m3':self._summary[q] for q in QUANTITIES});v.update(self._key_values())
-  if visibility=='agent':v.pop('truth.ledger')
+  if visibility=='agent':                                                 # agents see only agent slots (truth.ledger, fault.injected: evaluator; 1.3.1)
+   for k in [k for k in v if SLOTS[k][3]!='agent']:v.pop(k)
   return copy.deepcopy(v)
  def invoke(self,k,**a):
   if k in PANEL_CAPS:                                                     # panel gestures: optional arguments, checked by the engine's validator
diff --git a/scripts/asset_runtime/signatone_quadpro2.py b/scripts/asset_runtime/signatone_quadpro2.py
index fb86f012a09bbd5e657124160d584ea4402ce0d9..eeb849ebab90650079a4cd0543fd1249a5d4a9ce 100644
--- a/scripts/asset_runtime/signatone_quadpro2.py
+++ b/scripts/asset_runtime/signatone_quadpro2.py
@@ -8,7 +8,7 @@ import copy,hashlib,importlib.util,json,math,os,sys,tempfile
 from pathlib import Path
 import numpy as np
 from scipy.integrate import solve_ivp
-PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.3.0';SLUG='signatone_quadpro2';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-142'
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.3.1';SLUG='signatone_quadpro2';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-142'
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch04/t1_thermal'/SLUG;LIBRARY_PATH=ASSET/'sheet_resistance_library.json'
 
 class ActionRejected(ValueError):pass
@@ -104,6 +104,7 @@ SAMPLE=obj(dict(THERMAL_PROPERTIES,reference_id=TEXT,gradient_x_fraction=number(
 STANDARD_EXAMPLE=dict(THERMAL_SAMPLE,actual_sheet_resistance_ohm_sq=100.,accept_host_standard_not_certified=True)
 STANDARD=obj(dict(THERMAL_PROPERTIES,actual_sheet_resistance_ohm_sq=number('ohm/sq',1e-12,1e15),accept_host_standard_not_certified=BOOL))
 POINT=obj({'x_m':number('m',-.15,.15),'y_m':number('m',-.15,.15)})
+STAGE_POINT=obj({'x_m':number('m',-.13,.13),'y_m':number('m',-.13,.13)})   # 1.3.1: stage.move schema = the modelled +-130 mm XY travel (map points may lie outside: excluded with STAGE_TRAVEL)
 MAP_EXAMPLE=dict(points=[dict(x_m=x,y_m=y) for x,y in [(0,0),(.02,0),(0,.02),(-.02,0),(0,-.02),(.049,0)]],edge_exclusion_m=.003,thickness_prior_m=1e-6)
 MAP=obj({'points':array(POINT,1,14000),'edge_exclusion_m':number('m',0,.15),'thickness_prior_m':nullable(number('m',1e-9,5e-5))})
 METHOD_EXAMPLE=dict(auto_current=True,current_min_a=1e-8,current_max_a=.001,fixed_current_a=.0001,voltage_range_v=.2,voltage_compliance_v=20.,target_voltage_min_v=.005,target_voltage_max_v=.08,phase_duration_s=.3,settling_s=.2,require_calibration=True,require_warmup=False)
@@ -128,7 +129,7 @@ cap('sample.load',SAMPLE,obj({'loaded':BOOL}),['sample_wafer'],'装载真实rho
 cap('standard.load',STANDARD,obj({'loaded':BOOL}),['sample_wafer'],'宿主装入独立给定实际Rs的薄膜标样代理，证书/NIST真实性未验证','configuration','evaluator',STANDARD_EXAMPLE)
 cap('sample.remove',obj({}),obj({'loaded':BOOL}),['sample_wafer'],'卸除全部膜/基底质量和显热，既有测量与耗散账不回滚','configuration','evaluator')
 cap('power.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['power_switch','source_meter'],'整系统源与自动运动电源，2450额定精度预热状态随真实时间累计',example={'enabled':True})
-cap('stage.move',POINT,obj({'target_x_m':number('m'),'target_y_m':number('m')}),['stage_x','sample_stage'],'安全抬针后移动真实XY机械坐标，测点坐标与样品台位移取反',example={'x_m':.01,'y_m':-.01})
+cap('stage.move',STAGE_POINT,obj({'target_x_m':number('m'),'target_y_m':number('m')}),['stage_x','sample_stage'],'安全抬针后移动真实XY机械坐标，测点坐标与样品台位移取反',example={'x_m':.01,'y_m':-.01})
 cap('probe.set_contact',obj({'contact':BOOL}),obj({'target_m':number('m',0,PROBE_RAISED_M)}),['probe_head'],'有限速度下降接触或抬针，不跳跃针尖姿态',example={'contact':True})
 cap('enclosure.set_open',obj({'opened':BOOL}),obj({'target_rad':number('rad',0,1.1)}),['hood'],'宿主手动暗箱翻盖有限速度代理，打开装样、关闭测量','simulation','evaluator',{'opened':False})
 cap('map.configure',MAP,obj({'configured':BOOL,'accepted_points':dict(type='integer',minimum=0,maximum=14000,**{'x-unit':'1'}),'excluded_points':dict(type='integer',minimum=0,maximum=14000,**{'x-unit':'1'})}),['sample_stage','controller'],'最多14000自定义点及边缘排除；无导电厚度先验时仅报告Rs','configuration',example=MAP_EXAMPLE)
diff --git a/scripts/asset_runtime/specac_atlasmanual.py b/scripts/asset_runtime/specac_atlasmanual.py
index 694c5f0d19332d5117c1918d4c9f891eb974e6ba..64b4569b69456e7de77e0b46a857bd73cf64037d 100644
--- a/scripts/asset_runtime/specac_atlasmanual.py
+++ b/scripts/asset_runtime/specac_atlasmanual.py
@@ -3,9 +3,13 @@ from __future__ import annotations
 import copy,importlib.util,json,math
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.0.1: a refusal whose message names the cause
 from asset_runtime.pccell_ed64002 import validate
 ROOT=Path(__file__).resolve().parents[4] if 'outputs' in str(__file__) else Path(__file__).resolve().parents[2]
-SLUG='specac_atlasmanual';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-051';PROTOCOL_VERSION='1.0.0';TEMPLATE_REL='assets/reactions/specac_atlasmanual_compaction_library/templates.json';TF=9806.65;MAX_LOAD=15*TF;OIL=.000284
+SLUG='specac_atlasmanual';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-051';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1';TEMPLATE_REL='assets/reactions/specac_atlasmanual_compaction_library/templates.json';TF=9806.65;MAX_LOAD=15*TF;OIL=.000284
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 def nullable(s):return dict(anyOf=[s,dict(type='null')])
 PLANT=obj({'hydraulic_area_m2':number('m^2',.0005,.01),'oil_compliance_m3_Pa':number('m^3/Pa',1e-15,1e-11),'pump_stroke_m3':number('m^3',1e-8,5e-6),'stroke_period_s':number('s',.2,5),'internal_leak_m3_Pa_s':number('m^3/Pa/s',0,1e-12),'release_rate_s':number('1/s',.1,10),'frame_stiffness_N_m':number('N/m',1e7,1e10),'compaction_rate_s':number('1/s',.001,10),'gauge_tau_s':number('s',.01,10),'screw_speed_m_s':number('m/s',.001,.05),'screw_pitch_m_rev':number('m',.0005,.01),'guard_speed_m_s':number('m/s',.05,1),'valve_speed_rad_s':number('rad/s',.5,20),'accept_uncalibrated_model':BOOL,'coefficient_evidence':TEXT})
@@ -96,6 +100,18 @@ class SpecacAtlasmanualRuntime:
   return v
  def read(self,visibility='agent'):return copy.deepcopy({k:v for k,v in self._values().items() if SLOTS[k][3]=='agent' or visibility in ['debug','evaluator']})
  def debug_snapshot(self):return copy.deepcopy({k:v for k,v in self.__dict__.items() if k!='templates'})
+ def _not_ready(self):
+  """1.0.1: the first unmet press condition of _ready, as a message (None = ready)."""
+  if not self.plant:return 'the trusted host has not configured the press (plant.configure)'
+  if not self.method:return 'no pressing method is set (method.configure)'
+  if not self.die:return 'no die is installed (die.configure)'
+  if not self.sample:return 'the die holds no sample (sample.configure)'
+  if any(self.guards.values()) or any(x>=1e-9 for x in self.guard_lifts.values()):return 'lower both safety guards first (guard.set_raised false)'
+  if self.valve_open or self.valve_angle>=1e-9:return 'close the release valve first (valve.set_open false)'
+  if abs(self.screw-self.screw_target)>=1e-9:return 'the top screw is still moving to its target'
+  if self.gap()<-1e-9:return 'the top screw is too low for the die stack'
+  if self.die['vacuum_required'] and not self.vacuum:return 'this die needs the vacuum on (vacuum.set true)'
+  return None
  def _ready(self):return bool(self.plant and self.method and self.sample and self.die and all(not x for x in self.guards.values()) and all(x<1e-9 for x in self.guard_lifts.values()) and not self.valve_open and self.valve_angle<1e-9 and abs(self.screw-self.screw_target)<1e-9 and self.gap()>=-1e-9 and (not self.die['vacuum_required'] or self.vacuum))
  def invoke(self,capability,**a):
   if capability not in CAPS:raise ActionRejected('UNKNOWN_CAPABILITY')
@@ -105,7 +121,8 @@ class SpecacAtlasmanualRuntime:
    if self.plant or not a['accept_uncalibrated_model'] or a['hydraulic_area_m2']*.0254+a['oil_compliance_m3_Pa']*MAX_LOAD/a['hydraulic_area_m2']>OIL:raise ActionRejected('PRECONDITION_FAILED')
    self.plant=copy.deepcopy(a);out=dict(configured=True)
   elif capability=='method.configure':
-   if self.phase!='idle' or not a['accept_host_observer_not_auto_press']:raise ActionRejected('PRECONDITION_FAILED')
+   if self.phase!='idle' or not a['accept_host_observer_not_auto_press']:
+    raise _rejected('PRECONDITION_FAILED','the method can only change while the press is idle' if self.phase!='idle' else 'accept_host_observer_not_auto_press must be true: the press has no automatic pump')
    self.method=copy.deepcopy(a);out=dict(configured=True)
   elif capability=='die.configure':
    if self.die or self.sample or not all(a[k] for k in ['centered','dry_clean','accept_geometry_estimate']) or self.guard_lifts['front']<.179 or abs(a['diameter_m']-.013)<1e-8 and a['maximum_load_N']>10*TF or abs(a['diameter_m']-.010)<1e-8 and a['maximum_load_N']>5*TF:raise ActionRejected('PRECONDITION_FAILED')
@@ -117,31 +134,41 @@ class SpecacAtlasmanualRuntime:
    if h+self.die['fixed_stack_height_m']>.152-self.screw:raise ActionRejected('CAPACITY_LIMIT')
    self.sample=copy.deepcopy(a);self.solid_volume=vs;self.phi=a['initial_relative_density'];self.initial_height=h;out=dict(configured=True)
   elif capability=='guard.set_raised':
-   if a['raised'] and (self.force>10 or self.pump_active or self.phase=='running'):raise ActionRejected('PRECONDITION_FAILED')
+   if a['raised'] and (self.force>10 or self.pump_active or self.phase=='running'):
+    raise _rejected('PRECONDITION_FAILED','a guard cannot be raised while the ram is under load, a pump stroke runs or a pressing is in progress')
    self.guards[a['side']]=a['raised'];out=dict(raised=a['raised'])
   elif capability=='screw.set_position':
-   if self.force>10 or self.pump_active or self.ram>1e-6 or self.phase=='running' or self.sample and .152-a['position_m']<self.die['fixed_stack_height_m']+self.initial_height:raise ActionRejected('PRECONDITION_FAILED')
+   if self.force>10 or self.pump_active or self.ram>1e-6 or self.phase=='running':
+    raise _rejected('PRECONDITION_FAILED','the screw turns only with the ram fully down and unloaded and no pressing in progress (open the release valve)')
+   if self.sample and .152-a['position_m']<self.die['fixed_stack_height_m']+self.initial_height:
+    raise _rejected('PRECONDITION_FAILED','this screw position leaves no room for the die stack and the sample')
    self.screw_target=a['position_m'];out=a
   elif capability=='valve.set_open':self.valve_open=a['open'];out=a
   elif capability=='relief.set_limit':
-   if self.force>10 or self.pump_active:raise ActionRejected('PRECONDITION_FAILED')
+   if self.force>10 or self.pump_active:raise _rejected('PRECONDITION_FAILED','the relief limit cannot be changed under load or during a pump stroke')
    self.relief_limit=a['load_N'];out=a
   elif capability=='vacuum.set':
-   if not a['enabled'] and self.phase=='running' and self.die['vacuum_required']:raise ActionRejected('PRECONDITION_FAILED')
+   if not a['enabled'] and self.phase=='running' and self.die['vacuum_required']:raise _rejected('PRECONDITION_FAILED','this die needs the vacuum during the pressing')
    self.vacuum=a['enabled'];out=a
   elif capability=='pump.stroke':
-   if not self._ready() or self.pump_active or self.phase not in ['idle','running']:raise ActionRejected('PRECONDITION_FAILED')
+   why=self._not_ready() or ('a pump stroke is still running' if self.pump_active else 'the pressing has ended (%s)'%self.phase if self.phase not in ['idle','running'] else None)
+   if why:raise _rejected('PRECONDITION_FAILED',why)
    self.pump_active=True;self.stroke_elapsed=0.;out=dict(queued=True)
   elif capability=='acquisition.start':
-   if not self._ready() or self.phase!='idle' or self.method['target_load_N']>min(self.relief_limit,self.die['maximum_load_N']):raise ActionRejected('PRECONDITION_FAILED')
+   why=self._not_ready() or ('the press is not idle (%s)'%self.phase if self.phase!='idle' else None)
+   if not why and self.method['target_load_N']>min(self.relief_limit,self.die['maximum_load_N']):
+    why='the method target load %.0f N exceeds the %s %.0f N'%(self.method['target_load_N'],'relief-valve limit' if self.relief_limit<=self.die['maximum_load_N'] else 'die maximum load',min(self.relief_limit,self.die['maximum_load_N']))
+   if why:raise _rejected('PRECONDITION_FAILED',why)
    self._operation_count+=1;self.operation_id=self.instance_id+':'+str(self._operation_count);self.phase='running';self.stage='awaiting_manual_pump';out=dict(phase=self.phase,operation_id=self.operation_id)
   elif capability=='acquisition.stop':
-   if self.phase!='running':raise ActionRejected('PRECONDITION_FAILED')
+   if self.phase!='running':raise _rejected('PRECONDITION_FAILED','no pressing is in progress')
    self.phase='cancelled';self.stage='cancelled_under_load' if self.force>10 else 'cancelled';self.pump_active=False;out=dict(phase=self.phase)
   elif capability=='press.measure':return dict(phase=self.phase,stage=self.stage,indicated_load_N=self.indicated,hold_elapsed_s=self.hold_s,evidence='synthetic_ideal_lagged_force_gauge;NOT_pressure_or_electronic_sensor',template_source=TEMPLATE_REL)
   elif capability=='product.read':return self._product()
   elif capability=='product.collect':
-   if self.phase!='succeeded' or self.force>10 or self.ram>1e-6 or self.guard_lifts['front']<.179 or not a['accept_external_manual_ejection']:raise ActionRejected('PRECONDITION_FAILED')
+   why=('no completed pressing (phase %s)'%self.phase if self.phase!='succeeded' else 'release the load and let the ram return (valve.set_open true)' if self.force>10 or self.ram>1e-6 else
+        'raise the front guard fully first' if self.guard_lifts['front']<.179 else 'accept_external_manual_ejection must be true' if not a['accept_external_manual_ejection'] else None)
+   if why:raise _rejected('PRECONDITION_FAILED',why)
    ms=(self.sample['mass_kg']-self.collected_s)*a['fraction'];mb=(self.sample['binder_kg']-self.collected_b)*a['fraction'];self.collected_s+=ms;self.collected_b+=mb;out=dict(transferred_kg=ms+mb,recipient_id=a['recipient_id'])
   elif capability=='reference.lookup':
    if a['substance_id'] not in self.templates:raise ActionRejected('UNKNOWN_REFERENCE')
@@ -185,7 +212,7 @@ class SpecacAtlasmanualSession:
         if instance_id is not None: self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID: raise ActionRejected('UNKNOWN_INSTANCE')
         meta=export_specac_atlasmanual_contract_metadata()
-        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',
+        return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,
           capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},
           state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
 
@@ -202,7 +229,7 @@ class SpecacAtlasmanualSession:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/stanford_rga100.py b/scripts/asset_runtime/stanford_rga100.py
index 93d2ea2e903f07187789b13dd5bee9f82ee7c9ec..b0f7ef4f1536f267248834e3e1589d33a3a0075b 100644
--- a/scripts/asset_runtime/stanford_rga100.py
+++ b/scripts/asset_runtime/stanford_rga100.py
@@ -3,7 +3,7 @@ from __future__ import annotations
 import ast,copy,csv,hashlib,importlib.util,io,json,math
 from pathlib import Path
 import numpy as np
-ROOT=Path(__file__).resolve().parents[2];SLUG='stanford_rga100';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-087';PROTOCOL_VERSION=ASSET_VERSION='1.0.0'
+ROOT=Path(__file__).resolve().parents[2];SLUG='stanford_rga100';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-087';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.1'
 TEMPLATE_REL='assets/expansion_batch04/t3_analytical/stanford_rga100/output_templates/library.json'
 R_GAS=8.31446261815324;TORR_PA=101325./760.;U_KG=1.66053906892e-27;E_C=1.602176634e-19
 OPERATING_MAX_PA=1e-4*TORR_PA;LINEAR_MAX_PA=1e-5*TORR_PA;FC_MIN_PA=5e-11*TORR_PA;N2_REFERENCE_A_PA=2e-4/TORR_PA
@@ -419,6 +419,12 @@ class StanfordRga100Runtime:
       row['quality']=qc
       if not qc and not quality:row['partial_pressure_pa']=value;row['mass_concentration_kg_m3']=value*self._molar(s)/(R_GAS*self.plant['temperature_k'])
      if all(r['partial_pressure_pa'] is not None for r in rows):total=sum(r['partial_pressure_pa'] for r in rows)
+   # 1.0.1: a species row without a value says why: its own missing calibration, and the record-level reasons that
+   # blocked the joint inference as 'record_quality:<reason>'; matrix_rank stays 0 when no inference matrix was built
+   for row in rows:
+    if row['partial_pressure_pa'] is None and not row['quality']:
+     own=['calibration_missing_or_signature'] if row['species_id'] not in self._run_curves else []
+     row['quality']=(own+['record_quality:'+q for q in dict.fromkeys(quality) if not (own and q=='calibration_missing_or_signature')])[:15] or ['not_inferred']
   provenance['analysis_observation_space']='native analog windows' if self._run_method['mode']=='analog' else 'native reported peak maxima only; seven subcurrents are not independent analysis observations'
   provenance['analysis_observation_count']=len(self.points) if self._run_method['mode']=='analog' else len(self.peaks)
   result=dict(record_id=rid,kind=self._run_kind,status=status,complete=complete,points=copy.deepcopy(self.points),reported_peaks=copy.deepcopy(self.peaks),species=rows,total_partial_pressure_pa=total,relative_residual=residual,matrix_rank=rank,condition_number=cond,acquisition_signature=self._run_key,method_json=json.dumps(self._run_method,sort_keys=True),provenance_json=json.dumps(provenance,sort_keys=True),quality=list(dict.fromkeys(quality)));validate(RESULT,result);self._result_cache=result;self._records[rid]=copy.deepcopy(result);self._operation_records[self.operation_id]=self._operation_snapshot()
diff --git a/scripts/asset_runtime/surface_dvsresolution.py b/scripts/asset_runtime/surface_dvsresolution.py
index 4e38435bb84a0195e7f69fc1e2e8ba6c7a6dcc09..c7b035fc1bea3e11c0a026e70698ce3658e36ae7 100644
--- a/scripts/asset_runtime/surface_dvsresolution.py
+++ b/scripts/asset_runtime/surface_dvsresolution.py
@@ -2,7 +2,7 @@
 from pathlib import Path
 import copy,json,math,importlib.util
 import numpy as np
-PROTOCOL_VERSION='1.0.0';SLUG='surface_dvsresolution';CATALOG_ID='CHEM-123';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.1';SLUG='surface_dvsresolution';CATALOG_ID='CHEM-123';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t4_measure'/SLUG
 R=8.31446261815324;PREF=101325.;TREF=273.15;NREF=PREF/(R*TREF);MW=.0180153;MN=.0280134;DT=.1
 class ActionRejected(ValueError):pass
@@ -96,7 +96,7 @@ cap('humidity.set',obj({'relative_humidity':number('1',0,.98)}),obj({'relative_h
 cap('vapor.set_pressure',obj({'pressure_pa':number('Pa',0,20000)}),obj({'relative_humidity':number('1')}),['gas_manifold'],'水蒸气分压按目标温度IAPWS饱和压换算RH',example={'pressure_pa':1000.},effects=['humidity.target','acquisition.branch'])
 cap('gas.set_flow',obj({'reference_m3_s':number('m^3/s',0,1e-4)}),obj({'reference_m3_s':number('m^3/s')}),['gas_manifold'],'氮气水蒸气混合物参考总流量，范围由显式工程配置限定',example={'reference_m3_s':100e-6/60},effects=['flow.target_ref_m3_s'])
 cap('gas.open',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['gas_manifold'],'关闭仓体和水瓶后开关有限气路',example={'enabled':True},effects=['gas.enabled'])
-cap('balance.tare',obj({}),obj({'tared':BOOL}),['balance'],'以当前观测值去皮；不声明原厂精度认证',effects=['mass.indicated_kg','balance.tared'])
+cap('balance.tare',obj({}),obj({'tared':BOOL}),['balance'],'以当前观测值去皮；不声明原厂精度认证。去皮把秤盘上现有的一切（含样品）记为零点和质量变化的基准：带样品去皮后mass.indicated_kg是相对去皮时的质量变化，±150 mg质量变化范围以去皮点为中心（宣传册p.6 Ultrabalance Mass change ±150 mg）；要读样品绝对质量须在装样前空盘去皮',effects=['mass.indicated_kg','balance.tared'])
 CAL=obj({'reference_masses_kg':array(number('kg',0,1e-3),2,2),'observed_masses_kg':array(number('kg',-1e-3,1e-3),2,2)})
 cap('balance.calibrate',CAL,obj({'gain':number('1'),'offset_kg':number('kg')}),['balance'],'外部标准砝码及独立观测的两点标定','configuration',example=dict(reference_masses_kg=[0.,1e-4],observed_masses_kg=[0.,1e-4]),effects=['balance.calibrated','balance.tared','mass.indicated_kg'])
 cap('method.configure',METHOD,METHOD,['controller','chamber','humidity_sensor'],'RH阶跃、循环、最小最大驻留及滑窗dm/dt，不将最大驻留称为平衡','configuration',example=METHOD_EXAMPLE)
@@ -359,7 +359,7 @@ class SurfaceDvsresolutionSession:
   if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
   if instance_id is not None:self._target(instance_id)
   if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-  meta=export_surface_dvsresolution_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.0',capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+  meta=export_surface_dvsresolution_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in meta['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in meta['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
  def read(self,*,instance_id,state_ids=None):
   self._target(instance_id);h=self._host;values=h.read(self._role);ids=list(values) if state_ids is None else state_ids
   if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/ta_dma850.py b/scripts/asset_runtime/ta_dma850.py
index 649d30886d4bb7f4a563730126b214d180246b65..575dedec1348ed3cce7e5277e2808b65c7a9bba2 100644
--- a/scripts/asset_runtime/ta_dma850.py
+++ b/scripts/asset_runtime/ta_dma850.py
@@ -6,10 +6,12 @@ generic engine _panel_ui.py on top of the capabilities below (no second copy of
 from pathlib import Path
 import copy,json,math,importlib.util,bisect,hashlib,os,tempfile,weakref
 import numpy as np
-PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.1';SLUG='ta_dma850';CATALOG_ID='CHEM-133';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.2';SLUG='ta_dma850';CATALOG_ID='CHEM-133';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch04/t1_thermal'/SLUG
 DT=.1;R_GAS=8.31446261815324
 class ActionRejected(ValueError):pass
+def _rejected(code,detail):
+ e=ActionRejected(code);e.detail=detail;return e   # 1.2.2: a refusal whose message names the cause
 def number(unit='1',lo=None,hi=None):
  s={'type':'number','x-unit':unit}
  if lo is not None:s['minimum']=lo
@@ -395,7 +397,10 @@ class TaDma850Runtime:
    self.furnace_target=.15 if a['opened'] else 0.;return {'opened':a['opened']}
   if k=='clamp.set':
    self._mechanical()
-   if self.furnace_lift<.15-1e-12 or not self.power or abs(self._force())>1e-4 or abs(self._strain())>1e-6:raise ActionRejected('CLAMP_UNDER_LOAD')
+   # 1.2.2: CLAMP_UNDER_LOAD only for a loaded clamp; power off / furnace not fully open are NOT_READY with the cause
+   if not self.power:raise _rejected('NOT_READY','the instrument is switched off')
+   if self.furnace_lift<.15-1e-12:raise _rejected('NOT_READY','open the furnace fully (furnace.set opened=true) before moving the clamp')
+   if abs(self._force())>1e-4 or abs(self._strain())>1e-6:raise _rejected('CLAMP_UNDER_LOAD','the clamp carries force or strain; release the load first')
    self.clamp_target=0. if a['locked'] else .002;return {'locked':a['locked']}
   if k=='drive.move':
    self._mechanical()
@@ -604,7 +609,7 @@ class TaDma850Session:
    if operation:h._owners[operation]=self._principal
    if capability_id in PANEL_CAPS and h.operation_id!=started:h._owners[h.operation_id]=self._principal  # Start on the touch screen: the run belongs to the operator who pressed it
    response=dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=operation,status='accepted' if operation else 'succeeded',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result=result,observations={},error=None);h._requests[key]=(digest,copy.deepcopy(response));return response
-  except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+  except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
  def write(self,*,instance_id,state_id,value,request_id):
   self._target(instance_id);entry=SLOTS.get(state_id)
   if not entry or not entry['write']:raise ActionRejected('ACCESS_DENIED')
diff --git a/scripts/asset_runtime/ta_dsc2500.py b/scripts/asset_runtime/ta_dsc2500.py
index c1de3999c1d270051cdaf39ec42557aa76175e2e..1c16de915c4cb9b9ed287f87a5bd205413c23735 100644
--- a/scripts/asset_runtime/ta_dsc2500.py
+++ b/scripts/asset_runtime/ta_dsc2500.py
@@ -6,7 +6,7 @@ of the capabilities below (no second copy of the logic)."""
 from pathlib import Path
 import copy,json,math,importlib.util,hashlib,os,tempfile,weakref
 import numpy as np
-PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.1';SLUG='ta_dsc2500';CATALOG_ID='CHEM-131';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.1.2';SLUG='ta_dsc2500';CATALOG_ID='CHEM-131';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG
 DT=.1;R_GAS=8.31446261815324
 SAMPLER_REGISTERED_XY=[(0.,0.),(.012,0.)]+[(round(.165+.020*c,12),round(y+.075,12)) for y in [-.075,-.055,-.035,-.005,.015,.035] for c in range(9)]
@@ -486,16 +486,18 @@ class TaDsc2500Runtime:
  def _heat_step(self,dt,target):
   target=self._control_k(target)   # the controller acts on the device's furnace reading
   p=self.plant;ambient=p['ambient_k'];cf=p['furnace_capacity_j_k'];cr=p['reference_pan_capacity_j_k'];gs=p['sample_conductance_w_k'];gr=p['reference_conductance_w_k'];oldf=self.furnace;oldr=self.reference_temperature;olds=self.sample_energy;cs=self._cp();latent=self._latent();tm=self._tm();width=self._width();active=self.power and self.thermal_enabled and not self.emergency
+  # 1.1.2: feed-forward of the steady ambient loss G*(T-Ta): proportional control toward aim = target + G*(target-Ta)/K settles on the target
+  aim=target+p['ambient_conductance_w_k']*(target-ambient)/p['controller_gain_w_k']
   # Endpoint implicit coupling, a monotone piecewise-affine scalar equation. Power saturates continuously.
   def evaluate(Tf):
-   Ts=enthalpy_temperature(olds+dt*gs*(Tf-ambient),ambient,cs+dt*gs,latent,tm,width);Tr=(cr*oldr+dt*gr*Tf)/(cr+dt*gr);command=p['controller_gain_w_k']*(target-Tf) if active else 0.;heat=min(p['heater_max_w'],max(0.,command));cool=0.
+   Ts=enthalpy_temperature(olds+dt*gs*(Tf-ambient),ambient,cs+dt*gs,latent,tm,width);Tr=(cr*oldr+dt*gr*Tf)/(cr+dt*gr);command=p['controller_gain_w_k']*(aim-Tf) if active else 0.;heat=min(p['heater_max_w'],max(0.,command));cool=0.
    if active and command<0:
     available=p['facs_conductance_w_k']*max(0.,Tf-ambient) if p['cooler']=='FACS' else p['cooler_max_w'] if p['cooler']!='LN2P' or self.ln2_level>0 else 0.
     cool=min(-command,p['cooler_max_w'],available)
    loss=p['ambient_conductance_w_k']*(Tf-ambient);qs=gs*(Tf-Ts);qr=gr*(Tf-Tr);residual=cf*(Tf-oldf)-dt*(heat-cool-loss-qs-qr)
    return residual,Ts,Tr,heat,cool,loss,qs,qr
   # all breakpoints are physical min/max temperatures; stable for arbitrarily stiff accepted G/C.
-  lo=min(oldf,oldr,self.sample_temperature,ambient,target);hi=max(oldf,oldr,self.sample_temperature,ambient,target)
+  lo=min(oldf,oldr,self.sample_temperature,ambient,target,aim);hi=max(oldf,oldr,self.sample_temperature,ambient,target,aim)
   if hi-lo<1e-12:Tf=lo
   else:
    from scipy.optimize import brentq
@@ -650,7 +652,7 @@ def export_ta_dsc2500_contract_metadata():
  mechanism=dict(component_ids=['controller','furnace','sample_pan','reference_pan','purge_inlet'],state_ids=list(slots),meaning_zh='保能三节点差示热量与真实物性锚定相变',implementation='lumped',equations=[
  'Ef=Cf*(Tf-Tamb); Es=(Csample_pan+m*Cp)*(Ts-Tamb)+m*Lf*f(Ts); Er=Cref*(Tr-Tamb). f=clip((Ts-(Tm-width/2))/width,0,1). Tm/Lf from explicit measured source; Cp/pan/G/width engineering inputs. Reversible equilibrium mushy interval is not nucleation, supercooling or Tg kinetics.',
  'Cf*dTf/dt=Pheat-Pcool-Gambient*(Tf-Tamb)-Gs*(Tf-Ts)-Gr*(Tf-Tr); dEs/dt=Gs*(Tf-Ts); Cr*dTr/dt=Gr*(Tf-Tr). All three are solved together by monotone implicit enthalpy inversion and a scalar furnace residual each<=0.01s. Equal/opposite pan fluxes conserve energy for arbitrarily stiff accepted capacities/conductances.',
- 'Pcommand=Kcontroller*(Tcontrol-Tf) with Tcontrol=(Tprogram*temperature_gain_correction+temperature_zero_k-temperature_offset_k)/temperature_gain: the controller holds the device reading (same affine map as the indicated temperatures) at the program temperature, so sensor errors and the stored temperature calibration move the cell; identity with the default zero errors and no calibration. Bounded by explicit heating/cooling powers. FACS Pcool<=Gfacs*max(Tf-Tamb,0), so it cannot extract heat below ambient. External RCS/LN2P use explicit engineering power but distinct manufacturer temperature domains; no OEM full-range cooling-rate curve or external hardware geometry is claimed.',
+ 'Pcommand=Kcontroller*(Tcontrol-Tf)+G_ambient*(Tcontrol-T_ambient) (1.1.2: feed-forward of the steady ambient loss, so the cell settles on the set point instead of the proportional droop G(T-Ta)/K, about 0.2 K at 400 K) with Tcontrol=(Tprogram*temperature_gain_correction+temperature_zero_k-temperature_offset_k)/temperature_gain: the controller holds the device reading (same affine map as the indicated temperatures) at the program temperature, so sensor errors and the stored temperature calibration move the cell; identity with the default zero errors and no calibration. Bounded by explicit heating/cooling powers. FACS Pcool<=Gfacs*max(Tf-Tamb,0), so it cannot extract heat below ambient. External RCS/LN2P use explicit engineering power but distinct manufacturer temperature domains; no OEM full-range cooling-rate curve or external hardware geometry is claimed.',
  'Program targets use actual elapsed host time, piecewise linear ramps then holds, with optional A*sin(2*pi*t/period). Combined |ramp|+A*omega must respect explicit engineering program-rate limit. Actual furnace never becomes target instantaneously.',
  'Independent sample/reference heatflow gain/offset and first-order observations give calibrated qobs_s-qobs_r, endothermic positive. No direct latent-fraction or true enthalpy is returned to agents; no random noise or certified accuracy is fabricated.',
  'analysis.integrate uses externally supplied observed times/heatflows/temperatures/baseline/measured mass: DeltaH_obs=trapz(qobs-baseline,time)/mass. Peak temperature is the sampled heatflow peak, not an extrapolated onset or certified melting temperature. Partial windows remain partial.',
diff --git a/scripts/asset_runtime/ta_tga5500.py b/scripts/asset_runtime/ta_tga5500.py
index 3858542fa3634d47992d2291ac2b92c36cf17564..fef963e34833d8fe0a9d58d33fa41f9ee20679b1 100644
--- a/scripts/asset_runtime/ta_tga5500.py
+++ b/scripts/asset_runtime/ta_tga5500.py
@@ -6,10 +6,12 @@ of the capabilities below (no second copy of the logic)."""
 from pathlib import Path
 import copy,json,math,importlib.util,bisect,hashlib,os,tempfile,weakref
 import numpy as np
-PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.1';SLUG='ta_tga5500';CATALOG_ID='CHEM-132';ASSET_TYPE_ID='instrument.'+SLUG
+PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.2';SLUG='ta_tga5500';CATALOG_ID='CHEM-132';ASSET_TYPE_ID='instrument.'+SLUG
 ROOT=Path(__file__).resolve().parents[2];ASSET=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG
 DT=.1;R_GAS=8.31446261815324
 class ActionRejected(ValueError):pass
+def _rejected(code,detail):
+ e=ActionRejected(code);e.detail=detail;return e   # 1.2.2: a refusal with a message naming the cause
 def number(unit='1',lo=None,hi=None):
  s={'type':'number','x-unit':unit}
  if lo is not None:s['minimum']=lo
@@ -159,7 +161,8 @@ for k in ['thermal.target_k','thermal.final_target_k']:slot(k,number('K',283.15,
 for k,u in [('furnace.indicated_k','K'),('sample.indicated_k','K'),('mass.indicated_kg','kg'),('gas.oxygen_fraction','1')]:slot(k,nullable(number(u)),u,'独立工程传感器观测',component='balance' if k.startswith('mass') else 'controller')
 for k,u in [('truth.furnace_k','K'),('truth.sample_k','K'),('truth.sample_mass_kg','kg'),('truth.loss_kg','kg'),('truth.oxygen_uptake_kg','kg'),('truth.n2_mol','mol'),('truth.o2_mol','mol'),('truth.chamber_n2_mol','mol'),('truth.chamber_o2_mol','mol'),('truth.chamber_pressure_pa','Pa'),('truth.heater_w','W')]:slot(k,number(u),u,'过程真值，仅评估器','process_truth','evaluator')
 slot('clock.time_s',number('s',0),'s','唯一宿主时钟');slot('acquisition.phase',PHASE,'1','异步状态');slot('acquisition.elapsed_s',number('s',0),'s','实际运行时间');slot('acquisition.points',integer(0,2000000),'1','观测点');slot('acquisition.segment_index',integer(0,99),'1','当前温度段');slot('acquisition.stage',enum(['ramp','hold']),'1','当前阶段');slot('panel.temperature_text',TEXT,'1','断电空；温度粗显示°C一位小数');slot('panel.mass_text',TEXT,'1','断电空；质量mg六位小数')
-SAMPLE_EXAMPLE['reference_id']='fsri_abs_n2_10k_r1';CAPS['sample.load']['example_arguments']=copy.deepcopy(SAMPLE_EXAMPLE);CAPS['reference.query']['example_arguments']={'reference_id':SAMPLE_EXAMPLE['reference_id']}
+SAMPLE_EXAMPLE['reference_id']='fsri_abs_n2_10k_r1';CAPS['sample.load']['example_arguments']=copy.deepcopy(SAMPLE_EXAMPLE);CAPS['tray.place']['example_arguments']={'position':2,'sample':copy.deepcopy(SAMPLE_EXAMPLE)};   # 1.2.2: the tray example had kept the placeholder reference
+CAPS['reference.query']['example_arguments']={'reference_id':SAMPLE_EXAMPLE['reference_id']}
 slot('model.fault',nullable(TEXT),'1','超工程温域/源温域后停止未校准反应，已产生物料不复原')
 slot('autosampler.tray_occupied',array(BOOL,CAROUSEL_N,CAROUSEL_N),'1','转盘25个位置是否有样品盘',component='carousel');slot('autosampler.balance_origin',nullable(CPOS),'1','天平上样品盘来自的转盘位置（手工挂上时为空）',component='sample_pan');slot('autosampler.transfer',nullable(enum(['load','unload'])),'1','正在进行的取放',component='carousel')
 def _panel_engine():
@@ -367,7 +370,11 @@ class TaTga5500Runtime:
    self.selected=a['gas'];return {'gas':self.selected}
   if k=='gas.set_open':
    if self.phase=='running':raise ActionRejected('BUSY')
-   if a['opened'] and (not self.power or self.emergency or self.gas_remaining['N2']<=0 or self.gas_remaining[self.selected]<=0 or self.sample_flow<=0 or self.balance_flow<=0):raise ActionRejected('NO_GAS')
+   if a['opened']:
+    why=('the instrument is switched off' if not self.power else 'the emergency stop is latched' if self.emergency else
+         'no N2 left for the balance purge' if self.gas_remaining['N2']<=0 else 'no %s left in the selected sample gas source'%self.selected if self.gas_remaining[self.selected]<=0 else
+         'the %s purge flow is 0: set both flows with gas.set_flow first'%('sample' if self.sample_flow<=0 else 'balance') if self.sample_flow<=0 or self.balance_flow<=0 else None)
+    if why:raise _rejected('NO_GAS',why)   # 1.2.2: the message names the cause (the code stays NO_GAS)
    self.gas_open=a['opened'];return {'opened':self.gas_open}
   if k=='power.set':
    if self.phase=='running' and not a['enabled']:self._finish('failed','POWER_LOSS')  # the power switch is a hard switch (final sync): never refused; a running experiment ends as on a power loss
@@ -591,7 +598,7 @@ class TaTga5500Session:
    if operation:h._owners[operation]=self._principal
    if capability_id in PANEL_CAPS and h.operation_id!=started:h._owners[h.operation_id]=self._principal  # Start on the touch screen: the run belongs to the operator who pressed it
    response=dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=operation,status='accepted' if operation else 'succeeded',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result=result,observations={},error=None);h._requests[key]=(digest,copy.deepcopy(response));return response
-  except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+  except ActionRejected as exc:return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,status='unsupported' if str(exc)=='UNSUPPORTED' else 'rejected',state_revision=h.revision,clock={'domain':'simulation','time_s':h.time_s},result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
  def write(self,*,instance_id,state_id,value,request_id):
   self._target(instance_id);entry=SLOTS.get(state_id)
   if not entry or not entry['write']:raise ActionRejected('ACCESS_DENIED')
diff --git a/scripts/asset_runtime/thermo_ibrightfl1500.py b/scripts/asset_runtime/thermo_ibrightfl1500.py
index e3d50598b8f42d5e7cd15a3e7df6aca9dac3a114..963529c061d42aef5752a33bd088e64cfa30e4cf 100644
--- a/scripts/asset_runtime/thermo_ibrightfl1500.py
+++ b/scripts/asset_runtime/thermo_ibrightfl1500.py
@@ -2732,7 +2732,7 @@ def _panel_engine():
 
 
 # ---------------------------------------------------------------- front panel: the touch screen (panel_ui.json) on the shared engine; panel.* stay out of CAPS
-ASSET_VERSION = '1.2.0'
+ASSET_VERSION = '1.2.1'   # 1.2.1 (2026-10-22): no evaluator capability id in agent-visible texts
 _panel_ui = _panel_engine()
 PANEL_SPEC = None if os.environ.get('IBRIGHT_PANEL_BUILD') else _panel_ui.load_spec(ASSET_DIR / 'panel_ui.json', capabilities=set(CAPS))
 PANEL_CAPS = _panel_ui.capability_definitions(PANEL_SPEC) if PANEL_SPEC else {}
@@ -3646,7 +3646,7 @@ CAP_LIMITS.update({
     'image.view': ['显示调整只改变屏幕图像（panel.capture），不改图像数据与分析；自动对比按百分位（高2–98 %、中0.5–99.5 %、低最小–最大）为假设；Auto Enhance为显示用滚动最小背景扣除。'],
     'export.run': ['仿真配置只有U盘（侧面USB口）可写；文件名用图库名称（命名规则在拍摄时生成，可在Edit中改）；出版用格式可同时导出合成图与各通道。'],
     'diagnostics.run': ['自检项与时序（第5 min开关抽屉）为工程假设；各项结果由注入故障与CCD就绪决定。'],
-    'service.pixel_mapping': ['约2 min暗场曝光（工程值）找出额外暗电荷超过正常像元5σ的像元（评测者sensor.configure_error设置的热像元；默认没有，图为空），存入像元图；'
+    'service.pixel_mapping': ['约2 min暗场曝光（工程值）找出额外暗电荷超过正常像元5σ的像元（评测者设置的CCD热像元；默认没有，图为空），存入像元图；'
                               '之后的拍摄把图中的像元校正为正常暗值，新出现的热像元要再做一次Pixel Mapping。'],
     'service.ship_prep': ['按用户指南“Prepare for shipping”：抽屉打开→取下转台→Next→关机（关机结束该模式）；Cancel退出为假设（指南未写）；'
                           '“取下转台后才能关机”按步骤提示实现（后部电源开关是机械开关，运行层不阻止关机）。'],
diff --git a/scripts/asset_runtime/thermo_process11.py b/scripts/asset_runtime/thermo_process11.py
index 0eaad5cd654255f75e28044125a37a995da07bab..10199db20c1782604c489bd4459142859d087d03 100644
--- a/scripts/asset_runtime/thermo_process11.py
+++ b/scripts/asset_runtime/thermo_process11.py
@@ -10,7 +10,7 @@ import copy, importlib.util, json, math
 from pathlib import Path
 
 ROOT=Path(__file__).resolve().parents[2]
-SLUG='thermo_process11'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-057'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.4.0'
+SLUG='thermo_process11'; ASSET_TYPE_ID='instrument.'+SLUG; CATALOG_ID='CHEM-057'; PROTOCOL_VERSION='1.0.0'; ASSET_VERSION='1.4.1'
 TEMPLATE_REL='assets/reactions/thermo_process11_extrusion_library/templates.json'
 BOOL={'type':'boolean'}; TEXT={'type':'string'}
 
@@ -98,7 +98,7 @@ LOAD_REF_EXAMPLE={'reference_id':'kollidon_va64','mass_kg':.02,'accept_uncalibra
 CAPS={}
 def cap(k,i,o,c,z,kind='device_command',vis='agent',ex=None,effects=()):CAPS[k]=(i,o,c,z,kind,vis,ex or {},list(effects))
 for key,s,ex,vis,c in [('plant',PLANT,PLANT_EXAMPLE,'evaluator','body'),('method',METHOD,METHOD_EXAMPLE,'agent','display_digits'),('material',MATERIAL,MATERIAL_EXAMPLE,'evaluator','feed_port')]:
-    cap(key+'.configure',s,obj({'configured':BOOL}),[c],'宿主配置显式参数或单次有限装料','configuration',vis,ex,[key+'.configured'])
+    cap(key+'.configure',s,obj({'configured':BOOL}),[c],'宿主配置显式参数或单次有限装料'+('；螺杆转动（drive.enabled）或运行中时返回BUSY：先停螺杆再改方法' if key=='method' else ''),'configuration',vis,ex,[key+'.configured'])   # 1.4.1: BUSY stated
 cap('power.set',obj({'enabled':BOOL}),obj({'enabled':BOOL}),['switch_power'],'主电源目标；断电停止驱动及加热',ex={'enabled':True},effects=['power.enabled','drive.enabled','thermal.enabled','cycle.phase'])
 cap('power.toggle',obj({}),obj({'enabled':BOOL}),['switch_power'],'主电源目标翻转',effects=['power.enabled','drive.enabled','thermal.enabled','cycle.phase'])
 cap('coolant.set_connected',obj({'connected':BOOL}),obj({'connected':BOOL}),['coolant_in','coolant_out'],'宿主确认进料段冷却水回路，非流量传感器','configuration','evaluator',{'connected':True},['coolant.connected','drive.enabled','cycle.phase'])
diff --git a/scripts/asset_runtime/thinky_are310s.py b/scripts/asset_runtime/thinky_are310s.py
index 5cd89dcf5b1c7691c35ddba4e5ba4d96252e13b5..f12d490342eda876b6d3d8841d989a5e3645fb24 100644
--- a/scripts/asset_runtime/thinky_are310s.py
+++ b/scripts/asset_runtime/thinky_are310s.py
@@ -8,8 +8,12 @@ from __future__ import annotations
 import copy,hashlib,importlib.util,json,math,os,tempfile,weakref
 from pathlib import Path
 from asset_runtime.mt_hx204 import ActionRejected,number,obj,BOOL,TEXT
+
+
+def _rejected(code,detail):
+    e=ActionRejected(code);e.detail=detail;return e   # 1.2.1: a refusal whose message names the cause
 from asset_runtime.pccell_ed64002 import validate
-ROOT=Path(__file__).resolve().parents[2];SLUG='thinky_are310s';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-045';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.0';ASSET_DIR=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG;TEMPLATE_REL='assets/reactions/thinky_are310s_mixing_library/templates.json'
+ROOT=Path(__file__).resolve().parents[2];SLUG='thinky_are310s';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-045';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.2.1';ASSET_DIR=ROOT/'assets/expansion_batch03/t1_thermal'/SLUG;TEMPLATE_REL='assets/reactions/thinky_are310s_mixing_library/templates.json'
 ORBIT_RADIUS=.07;ROTOR_Z=.225;TILT=math.pi/4;LID_Z=.315;LID_Y=.135
 PHASE=dict(type='string',enum=['idle','running','succeeded','cancelled','failed'])
 def nullable(s):return dict(anyOf=[s,dict(type='null')])
@@ -112,8 +116,24 @@ class ThinkyAre310sRuntime:
  def _values(self):return {'plant.configured':bool(self.plant),'method.configured':bool(self.method),'sample.configured':bool(self.sample),'power.enabled':self.powered,'lid.open_target':self.lid_open,'lid.angle_rad':self.lid_angle,'lid.locked':bool(self.phase=='running' or self.rpm>1e-9 or not self.lid_open),'balance.gross_mass_kg':self.balance,'balance.dial_angle_rad':-math.pi*5/6+self.balance/.31*math.pi*5/3,'cycle.phase':self.phase,'cycle.mode':self.mode,'cycle.stage_index':self.stage_index,'cycle.elapsed_s':self.elapsed_s,'cycle.remaining_s':self.remaining(),'rotor.revolution_rpm':self.rpm,'rotor.spin_rpm':self.spin,'rotor.angle_rad':self.angle,'cup.angle_rad':self.cup_angle,'panel.rpm':round(self.rpm),'panel.remaining_s':math.ceil(self.remaining()-1e-9),'thermal.indicated_temperature_k':None,'truth.mass_kg':self.mass,'truth.initial_mass_kg':self.initial,'truth.collected_mass_kg':self.collected,'truth.temperature_k':self.temperature,'truth.mixing_index':self.mixed,'truth.entrained_gas_mol':self.gas,'truth.headspace_gas_mol':self.headgas,'truth.collected_gas_mol':self.collected_gas,'truth.dissipated_energy_j':self.heat,'truth.heat_to_ambient_j':self.loss,'truth.thermal_storage_j':self.storage,'truth.collected_heat_j':self.collected_heat,'conditions.mode':self.cond_mode,'conditions.memory':self.memory_no[self.cond_mode],'conditions.step':self.step_no,'conditions.current':self.working[self.step_no-1],'conditions.working':self.working,'conditions.memories':self.memories,'fault.code':self.fault['code'] if self.fault else None}
  def read(self,visibility='agent'):return copy.deepcopy({k:v for k,v in self._values().items() if SLOTS[k][3]=='agent' or visibility in ['debug','evaluator']})
  def debug_snapshot(self):return copy.deepcopy({k:v for k,v in self.__dict__.items() if k!='templates'})
+ def _start_refusal(self):
+  """1.2.1: why a start is refused; no IMBALANCE code is declared, so the code stays PRECONDITION_FAILED."""
+  if not self.plant:return 'the trusted host has not configured the mixer (plant.configure)'
+  if not self.method:return 'no mixing program is set (method.configure)'
+  if not self.sample:return 'no cup is loaded'
+  if not self.powered:return 'the mixer is switched off'
+  if self.fault:return 'Err%s is shown; remove the cause and clear it first'%self.fault['code']
+  if self.phase=='running' or self.rpm>1e-9:return 'the rotor is still turning'
+  if self.mode=='reference_limit':return 'an earlier run stopped at the temperature limit of the sample reference data; this sample cannot be mixed further'
+  if self.lid_open or self.lid_angle>1e-9:return 'the lid is not closed'
+  if sum(self.mass)<=0:return 'the cup is empty'
+  if abs(self.balance-self.gross())>self.plant['balance_tolerance_kg']+1e-12:
+   return ('the rotation balance does not match the loaded container: set the balance scale (balance.set) to the gross mass of cup, adapter and '
+           'sample within the tolerance (manual 5-4, Err2: adjust the rotation balance)')
+  return None
  def _start(self):
-  if not all([self.plant,self.method,self.sample,self.powered]) or self.fault or self.phase=='running' or self.mode=='reference_limit' or self.rpm>1e-9 or self.lid_open or self.lid_angle>1e-9 or sum(self.mass)<=0 or abs(self.balance-self.gross())>self.plant['balance_tolerance_kg']+1e-12:raise ActionRejected('PRECONDITION_FAILED')
+  why=self._start_refusal()
+  if why:raise _rejected('PRECONDITION_FAILED',why)
   self._operation_count+=1;self.operation_id=self.instance_id+':'+str(self._operation_count);self.phase='running';self.mode=self.method['program'][0]['mode'];self.elapsed_s=self.stage_time=0.;self.stage_index=0
  @property
  def panel(self):
@@ -230,14 +250,15 @@ class ThinkyAre310sRuntime:
    if self.phase=='running':self.phase='cancelled';self.mode='power_loss_braking'
    out=dict(phase=self.phase)
   elif capability=='lid.set_open':
-   if a['open'] and (self.phase=='running' or self.rpm>1e-9 or not self.powered):raise ActionRejected('PRECONDITION_FAILED')
+   if a['open'] and (self.phase=='running' or self.rpm>1e-9 or not self.powered):
+    raise _rejected('PRECONDITION_FAILED','the lid lock opens only with the power on' if not self.powered else 'the lid stays locked while the rotor turns')
    self.lid_open=a['open'];out=a
   elif capability=='balance.set':
-   if self.lid_angle<1.4:raise ActionRejected('PRECONDITION_FAILED')
+   if self.lid_angle<1.4:raise _rejected('PRECONDITION_FAILED','open the lid fully before turning the balance knob')
    self.balance=a['gross_mass_kg'];out=a
   elif capability=='acquisition.start':self._start();out=dict(phase=self.phase,operation_id=self.operation_id)
   elif capability=='acquisition.stop':
-   if self.phase!='running':raise ActionRejected('PRECONDITION_FAILED')
+   if self.phase!='running':raise _rejected('PRECONDITION_FAILED','no run is in progress')
    self.phase='cancelled';self.mode='braking';out=dict(phase=self.phase)
   elif capability=='mixing.toggle':
    if self.phase=='running':self.phase='cancelled';self.mode='braking';out=dict(phase=self.phase)
@@ -245,7 +266,8 @@ class ThinkyAre310sRuntime:
   elif capability=='mixing.measure':return dict(phase=self.phase,mode=self.mode,revolution_rpm=round(self.rpm),remaining_s=self.remaining(),stage_index=self.stage_index,temperature_K=None,evidence='ideal_panel_quantization_not_factory_precision;no_optional_MultiSensor',template_source=TEMPLATE_REL)
   elif capability=='product.read':return dict(sample_id=self.sample['sample_id'] if self.sample else '',mass_kg=self.mass.copy(),initial_mass_kg=self.initial.copy(),collected_mass_kg=self.collected.copy(),temperature_K=self.temperature,mixing_index=self.mixed,entrained_gas_mol=self.gas,headspace_gas_mol=self.headgas,collected_gas_mol=self.collected_gas,dissipated_energy_J=self.heat,heat_to_ambient_J=self.loss,thermal_storage_J=self.storage,collected_sensible_heat_J=self.collected_heat,evidence='synthetic_mixing_escape_rates;NIST_Cp_not_mixing_curve',template_source=TEMPLATE_REL)
   elif capability=='product.collect':
-   if not self.sample or self.phase=='idle' or self.lid_angle<1.4:raise ActionRejected('PRECONDITION_FAILED')
+   if not self.sample or self.phase=='idle' or self.lid_angle<1.4:
+    raise _rejected('PRECONDITION_FAILED','no cup is loaded' if not self.sample else 'nothing has been mixed yet' if self.phase=='idle' else 'open the lid fully first')
    oldcap=self.capacity;moved=[m*a['fraction'] for m in self.mass]
    for i,m in enumerate(moved):self.mass[i]-=m;self.collected[i]+=m
    gas=self.gas*a['fraction'];self.gas-=gas;self.collected_gas+=gas;self.capacity=self.mass[0]*self.templates[self.sample['carrier_id']]['value']+self.mass[1]*self.sample['solid_cp_J_kg_K']+self.plant['vessel_heat_capacity_J_K'];carried=(oldcap-self.capacity)*(self.temperature-self.sample['temperature_K']);self.storage-=carried;self.collected_heat+=carried;out=dict(transferred_kg=sum(moved),recipient_id=a['recipient_id'])
@@ -309,7 +331,7 @@ class ThinkyAre310sSession:
         except ActionRejected as exc:
             return dict(protocol_version=PROTOCOL_VERSION,instance_id=instance_id,request_id=request_id,operation_id=None,
                 status='rejected',state_revision=self._host.revision,clock={'domain':'simulation','time_s':self._host.time_s},
-                result={},observations={},error=dict(code=str(exc),message=str(exc),retryable=False,side_effects='none'))
+                result={},observations={},error=dict(code=str(exc),message=getattr(exc,'detail',None) or str(exc),retryable=False,side_effects='none'))
 
     def _invoke(self,*,instance_id,capability_id,arguments,request_id):
         self._target(instance_id); h=self._host
diff --git a/scripts/asset_runtime/tuttnauer_3870elvd.py b/scripts/asset_runtime/tuttnauer_3870elvd.py
index e2b7e105337c8ddf6ddbfb9a803b477db8476781..bbd6dddc65e01e41b178f5da2dae72a9a0db3be0 100644
--- a/scripts/asset_runtime/tuttnauer_3870elvd.py
+++ b/scripts/asset_runtime/tuttnauer_3870elvd.py
@@ -30,7 +30,7 @@ import zlib
 from pathlib import Path
 
 PROTOCOL_VERSION = "1.0.0"
-ASSET_VERSION = "1.2.0"
+ASSET_VERSION = "1.2.1"   # 1.2.1 (2026-10-22): lid interlock on the end temperature below 100 C
 SLUG = 'tuttnauer_3870elvd'
 ASSET_TYPE_ID = "instrument.tuttnauer_3870elvd"
 CATALOG_ID = "CHEM-192"
@@ -639,8 +639,10 @@ class TuttnauerElvdRuntime:
             return False
         running = self.cycle is not None and self.cycle['stage'] not in ('complete', 'failed')
         end_t = self.params[self.program]['end_temperature_k']
-        return bool(running or self._pressure() - self._P_atm() > ENG['door_open_pressure_pa'] or (self.T_w is not None and self.T_w > max(end_t, 373.15) + 0.5
-                                                                                                 and self._pressure() - self._P_atm() > 0.0))
+        # door interlock (manual p.16; p.42 sec. 9.1 point 4; p.41 'Temp2 High'): locked while either temperature sensor reads above the preset
+        # end temperature (0.5 K hysteresis), whatever the end temperature (1.2.1: the old max(end_t, 100 C) let a liquids lid open hot)
+        hot = self.T_w is not None and max(self._t1_true_reading(), self._reference_temperature()) > end_t + 0.5
+        return bool(running or self._pressure() - self._P_atm() > ENG['door_open_pressure_pa'] or hot)
 
     def _area(self, L):
         if L['kind'] == 'liquid':
diff --git a/scripts/asset_runtime/ultrafast_helios.py b/scripts/asset_runtime/ultrafast_helios.py
index 0fab1a8f4263921aac38b660c3cde9e75a99fbc1..e3f8357a6e8560f3f8484ca43913bf8493478a83 100644
--- a/scripts/asset_runtime/ultrafast_helios.py
+++ b/scripts/asset_runtime/ultrafast_helios.py
@@ -7,7 +7,7 @@ from scipy.optimize import least_squares,nnls
 from scipy.special import log_ndtr
 from scipy.ndimage import gaussian_filter1d
 from functools import lru_cache
-ROOT=Path(__file__).resolve().parents[2];SLUG='ultrafast_helios';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-076';PROTOCOL_VERSION='1.0.0'
+ROOT=Path(__file__).resolve().parents[2];SLUG='ultrafast_helios';ASSET_TYPE_ID='instrument.'+SLUG;CATALOG_ID='CHEM-076';PROTOCOL_VERSION='1.0.0';ASSET_VERSION='1.0.2'
 TEMPLATE_REL='assets/reactions/ultrafast_helios_ta_library/templates.json'
 BOOL={'type':'boolean'};TEXT={'type':'string'}
 class ActionRejected(ValueError):pass
@@ -57,7 +57,7 @@ SAMPLE=obj({'sample_id':TEXT,'template_id':TEXT,'solvent':TEXT,'concentration_mo
 METHOD=obj({'pump_wavelength_m':number('m',250e-9,800e-9),'pump_average_power_W':number('W',1e-9,.01),'probe_segment':enum(['Ti_420_820']),'wavelength_start_m':number('m',420e-9,820e-9),'wavelength_stop_m':number('m',420e-9,820e-9),'wavelength_step_m':number('m',.1e-9,10e-9),'delay_sequence_s':vector(number('s',-8e-9,8e-9),1,256),'averages':integer(1,1000),'scans':integer(1,8),'reference_enabled':BOOL,'sample_pattern_xy_m':vector(arr(number('m',-.006,.006),2),1,256),'sample_speed_m_s':number('m/s',1e-5,.002)})
 PLANT_EXAMPLE=dict(laser_wavelength_m=530e-9,laser_average_power_W=50e-6,laser_repetition_hz=1000.,pump_fwhm_s=35e-15,probe_fwhm_s=50e-15,timing_jitter_fwhm_s=14e-15,pump_radius_m=200e-6,delay_zero_offset_s=.2e-9,delay_speed_s_s=12e-9,delay_acceleration_s_s2=270e-9,xy_installed=True,reference_installed=True,manual_800nm_filter_ready=False,probe_photoelectrons=1e7,pulse_relative_noise=.03,adc_max_photoelectrons=100000000,seed=76,accept_surrogate_model=True)
 SAMPLE_EXAMPLE=dict(sample_id='rhodamine_b_demo',template_id='pcad_009',solvent='ethanol',concentration_mol_m3=.001,path_length_m=.002,volume_m3=1e-6,lifetimes_s=[150e-12],kinetic_weights=[1.],esa_center_m=600e-9,esa_fwhm_m=60e-9,esa_relative_strength=.5,accept_assumed_kinetics=True)
-METHOD_EXAMPLE=dict(pump_wavelength_m=530e-9,pump_average_power_W=50e-6,probe_segment='Ti_420_820',wavelength_start_m=480e-9,wavelength_stop_m=660e-9,wavelength_step_m=2e-9,delay_sequence_s=[-2e-12,0.,20e-12,100e-12,500e-12,1e-9],averages=20,scans=1,reference_enabled=True,sample_pattern_xy_m=[[0.,0.],[.001,-.001]],sample_speed_m_s=.002)
+METHOD_EXAMPLE=dict(pump_wavelength_m=530e-9,pump_average_power_W=50e-6,probe_segment='Ti_420_820',wavelength_start_m=480e-9,wavelength_stop_m=660e-9,wavelength_step_m=2e-9,delay_sequence_s=[-2e-12,-1e-12,0.,.5e-12,1e-12,2e-12,5e-12,10e-12,20e-12,50e-12,100e-12,200e-12,500e-12,1e-9],averages=20,scans=1,reference_enabled=True,sample_pattern_xy_m=[[0.,0.],[.001,-.001]],sample_speed_m_s=.002)
 POINT=obj({'scan_index':integer(0,7),'delay_index':integer(0,255),'requested_delay_s':number('s'),'actual_delay_s':number('s'),'pairs':integer(0,1000),'valid_pairs':arr(integer(0,1000)),'delta_absorbance':arr(nullable(number('1'))),'complete':BOOL,'last_sample_time_s':nullable(number('s',0))})
 RESULT=obj({'template_source':TEXT,'phase':PHASE,'complete':BOOL,'wavelength_m':arr(number('m')),'points':arr(POINT),'active_point':nullable(POINT),'settings_json':TEXT,'evidence':TEXT,'limitations':arr(TEXT)})
 MEASURE=obj({'template_source':TEXT,'phase':PHASE,'stage':TEXT,'elapsed_s':number('s',0),'pairs':integer(0,100000),'completed_points':integer(0,2048),'delta_absorbance_center':nullable(number('1')),'warning':TEXT})
@@ -355,7 +355,7 @@ class UltrafastHeliosSession:
         if (instance_id is None)==(asset_type_id is None):raise ActionRejected('INVALID_ARGUMENT')
         if instance_id is not None:self._target(instance_id)
         if asset_type_id is not None and asset_type_id!=ASSET_TYPE_ID:raise ActionRejected('UNKNOWN_INSTANCE')
-        m=export_ultrafast_helios_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version='1.0.1',capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
+        m=export_ultrafast_helios_contract_metadata();return dict(protocol_version=PROTOCOL_VERSION,asset_type_id=ASSET_TYPE_ID,asset_version=ASSET_VERSION,capabilities={k:v for k,v in m['capabilities'].items() if v['visibility']=='agent' or self._role!='agent'},state_slots={k:v for k,v in m['state_slots'].items() if v['visibility']=='agent' or self._role!='agent'})
     def read(self,*,instance_id,state_ids=None):
         self._target(instance_id);h=self._host;v=h.read(self._role);ids=list(v) if state_ids is None else state_ids
         if not isinstance(ids,list) or any(not isinstance(k,str) for k in ids):raise ActionRejected('INVALID_ARGUMENT')
diff --git a/scripts/asset_runtime/zwick_mflow.py b/scripts/asset_runtime/zwick_mflow.py
index 7a8c01e59b69574f43d370faa8870f0599b5b1a6..2593ed2c6aae330fe70013e4f9f8daeb8ad8bbf3 100644
--- a/scripts/asset_runtime/zwick_mflow.py
+++ b/scripts/asset_runtime/zwick_mflow.py
@@ -231,7 +231,7 @@ cap('power.set', obj(dict(enabled=BOOL)), obj(dict(enabled=BOOL)), dict(enabled=
 cap('thermal.set_temperature', obj(dict(target_k=number('K', *TEMPERATURE_RANGE_K))), obj(dict(target_k=number('K'))), dict(target_k=523.15), 'heater',
     '只写入料筒目标温度（50–450°C）；实际温度由PI控温随宿主step演化')
 cap('weight.configure', obj(dict(total_load_kg=number('kg', *LOAD_RANGE_KG))), obj(dict(total_load_kg=number('kg'))), dict(total_load_kg=2.16), 'test_weight',
-    '宿主手动在活塞上放/换砝码，设定总试验载荷（含0.325kg活塞，不重复加算）；砝码势能变化计入宿主功', 'evaluator')
+    '宿主手动放/换砝码，设定总试验载荷（含0.325kg活塞，不重复加算）；装料后的预热期内只有活塞压在料上，预热时间到时砝码放上活塞（ISO 1133-1；手册砝码支架/提升装置使预热期不受载）；砝码势能变化计入宿主功', 'evaluator')
 cap('sample.load', SAMPLE, obj(dict(present=BOOL, column_height_m=number('m'))), SAMPLE_EXAMPLE, 'barrel',
     '宿主经漏斗把颗粒/粉末装入料筒（活塞须已抽出）；绑定厂家MVR参考记录与显式熔体密度/比热/潜热/幂律/活化能/热历史先验', 'evaluator')
 cap('sample.remove', obj({}), obj(dict(removed_mass_kg=number('kg'))), {}, 'barrel', '宿主清筒带走剩余料及其焓；已挤出的挤出丝/切段不受影响', 'evaluator')
@@ -292,7 +292,7 @@ for k, c, m in [('plant.configured', 'heater', '工程过程参数已声明'), (
 slot('thermal.target_k', number('K'), 'K', 'setpoint', 'heater', '料筒目标温度，只是目标')
 slot('thermal.indicated_k', nullable(number('K')), 'K', 'sensor', 'heater', '料筒温度显示（0.01K量化）；断电为null；未按ISO 1133-2认证')
 slot('heater.output_fraction', number('1', 0.0, 1.0), '1', 'derived', 'heater', 'PI控温输出占加热器上限的比例', 'evaluator')
-slot('weight.total_load_kg', nullable(number('kg')), 'kg', 'setpoint', 'test_weight', '当前放在活塞上的总载荷（含0.325kg活塞）；未配置为null')
+slot('weight.total_load_kg', nullable(number('kg')), 'kg', 'setpoint', 'test_weight', '宿主备好的总试验载荷（含0.325kg活塞）；装料后预热期内只有活塞压在料上，预热结束时砝码放上；未配置为null')
 slot('method.test_load_kg', nullable(number('kg')), 'kg', 'setpoint', 'controller', '方法声明的试验载荷，采集开始时须与实际载荷一致')
 slot('preheat.elapsed_s', nullable(number('s')), 's', 'derived', 'barrel', '装料后经过的时间（预热计时）；无试样为null')
 slot('piston.position_m', number('m', 0.0, PISTON_TRAVEL_M), 'm', 'scene', 'piston', '活塞底面到口模上表面的精确距离（场景关节）；agent须通过位移传感器读数观测', 'evaluator',
@@ -334,7 +334,7 @@ for k, u, c, m, ref in [('truth.barrel_temperature_k', 'K', 'heater', '料筒/
 # ---------------------------------------------------------------- touch operating unit (approximate: product information p.1-3 and the product page
 # describe the 7 in touch display - guided test configuration, parameter sets, live MVR graph, results stored and exported to a USB stick, a user
 # density for the MVR / MFR conversion; the operating instructions are not public)
-ASSET_VERSION = '1.1.2'
+ASSET_VERSION = '1.1.3'   # 1.1.3 (2026-10-22): the test weight goes on after the preheat (ISO 1133-1)
 FRONT_ERRORS = ['METHOD_REQUIRED', 'UNKNOWN_PARAMETER_SET', 'TOO_MANY_PARAMETER_SETS', 'NO_USB_STICK']
 MAX_PARAMETER_SETS = 200                     # product information p.3: more than 100 parameter sets
 RESULT_ROW = obj(dict(n=INT, operation_id=TEXT, phase=PHASE, validity=VALIDITY, test_temperature_k=nullable(number('K')), test_load_kg=nullable(number('kg')),
@@ -393,6 +393,7 @@ class ZwickMflowRuntime:
         self.integral_w = 0.0
         self.heater_w = 0.0
         self.load_kg = None
+        self.applied_kg = PISTON_LOAD_KG   # mass actually on the charge (1.1.3: the piston alone during the preheat, the test weight after it)
         # piston: position = height of the piston bottom above the die top
         self.x = PISTON_TRAVEL_M
         self.x_target = PISTON_TRAVEL_M
@@ -514,7 +515,23 @@ class ZwickMflowRuntime:
         return self.m_s * (self.pellet / s['bulk_density_kg_m3'] + (1.0 - self.pellet) / s['melt_density_kg_m3']) / STANDARD_AREA_M2
 
     def _load_mass(self):
-        return PISTON_LOAD_KG if self.load_kg is None else self.load_kg
+        return self.applied_kg
+
+    def _preheat_end_ns(self):
+        """End of the preheat of the loaded charge (method preheat time, else the ISO 1133-1 5 min), or None without a charge."""
+        if self.sample is None or self.load_ns is None:
+            return None
+        return self.load_ns + round((self.method['preheat_time_s'] if self.method else 300.0) * 1e9)
+
+    def _sync_load(self):
+        """1.1.3 (2026-10-22, ISO 1133-1; product information: weight lifting unit / weight support keep the test weight off the melt in the
+        preheating position): while a loaded charge preheats only the piston (0.325 kg) acts on it; the configured test weight goes on when
+        the preheat time is over.  A change of the mass on the piston at height x is host work (m g x), so the energy ledger stays closed."""
+        end = self._preheat_end_ns()
+        want = PISTON_LOAD_KG if self.load_kg is None or (end is not None and self.time_ns < end) else self.load_kg
+        if want != self.applied_kg:
+            self.book['host_work_j'] += (want - self.applied_kg) * GRAVITY * self.x
+            self.applied_kg = want
 
     def _flow(self, T, phi):
         """True melt volume flow through the die (m^3/s) for the loaded, contacting piston."""
@@ -916,6 +933,7 @@ class ZwickMflowRuntime:
             if a['duration_s'] / a['sample_interval_s'] + 2 > MAX_ROWS:
                 raise ActionRejected('TOO_MANY_SAMPLES')
             self.method = a
+            self._sync_load()                                                # a new preheat time moves the end of the preheat
             out = dict(configured=True)
         elif k == 'power.set':
             if self.plant is None:
@@ -941,9 +959,8 @@ class ZwickMflowRuntime:
                 raise ActionRejected('PLANT_REQUIRED')
             if self._move is not None:
                 raise ActionRejected('PISTON_MOVING')
-            old = self._load_mass()
             self.load_kg = a['total_load_kg']
-            self.book['host_work_j'] += (self._load_mass() - old) * GRAVITY * self.x
+            self._sync_load()
             out = dict(total_load_kg=self.load_kg)
         elif k == 'sample.load':
             if self.plant is None:
@@ -981,6 +998,7 @@ class ZwickMflowRuntime:
             self.book['loaded_mass_kg'] += a['mass_kg']
             self.book['loaded_enthalpy_j'] += self.H_s
             self.load_ns = self.time_ns
+            self._sync_load()                                                # the preheat starts: only the piston on the charge
             out = dict(present=True, column_height_m=height)
         elif k == 'sample.remove':
             if self.sample is None:
@@ -996,6 +1014,7 @@ class ZwickMflowRuntime:
             self.pellet = 0.0
             self.t_hist = 0.0
             self.load_ns = None
+            self._sync_load()
             out = dict(removed_mass_kg=removed)
         elif k in ('piston.withdraw', 'piston.insert'):
             if self.plant is None:
@@ -1121,6 +1140,9 @@ class ZwickMflowRuntime:
     # ------------------------------------------------------------ time integration
     def _next_events(self, end):
         ev = [end, self.time_ns + round(MAX_SUBSTEP_S * 1e9)]
+        pe = self._preheat_end_ns()
+        if pe is not None and pe > self.time_ns and self.applied_kg != (self.load_kg if self.load_kg is not None else PISTON_LOAD_KG):
+            ev.append(pe)                                                    # the test weight goes on at the end of the preheat
         if self._move is not None:
             m = self._move
             dist = abs(self.x_target - m['x0'])
@@ -1245,6 +1267,7 @@ class ZwickMflowRuntime:
                 frac = min(1.0, (nxt - c['start_ns']) / max(1, c['end_ns'] - c['start_ns']))
                 self.cutter_angle = c['a0'] + (c['a1'] - c['a0']) * frac
             self.time_ns = nxt
+            self._sync_load()
             if self._cut is not None:
                 c = self._cut
                 if not c['severed'] and self.time_ns >= c['mid_ns']:
diff --git a/scripts/basic40_runtime_analytical.py b/scripts/basic40_runtime_analytical.py
index 4029fd7d6f3fe90d9542d0a630db0f4802b250e9..052d19455070a5f8cf67fd77f0e92af437bdaffe 100644
--- a/scripts/basic40_runtime_analytical.py
+++ b/scripts/basic40_runtime_analytical.py
@@ -283,6 +283,12 @@ class HachDR6000Session:
         self._host = host
         self._principal_id = principal_id
 
+    def _refused(self, request_id, why):
+        """PRECONDITION_FAILED keeps its code; the message names the precondition that failed."""
+        response = self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+        response["error"]["message"] = why
+        return response
+
     def _visible(self, sid):
         slot = self._host._metadata["state_slots"].get(sid)
         return bool(slot and (slot["visibility"] == "agent" or self._host._principals[self._principal_id] in ("debug", "evaluator")))
@@ -405,7 +411,7 @@ class HachDR6000Session:
                 return self._response("unsupported", request_id=request_id, code="UNSUPPORTED")
             state = _dr6000_copy.deepcopy(host._state)
             if capability_id.startswith("spectroscopy.") and not state["power.enabled"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "The spectrophotometer is switched off (power.set enabled=true).")
             if capability_id == "power.set":
                 state["power.enabled"] = arguments["enabled"]
                 result = {"enabled": arguments["enabled"]}
@@ -415,16 +421,18 @@ class HachDR6000Session:
                 result = {"angle_rad": state["lid.angle_rad"], "closed": state["lid.closed"]}
             elif capability_id in ("sample.load", "sample.unload"):
                 if state["lid.angle_rad"] < _dr6000_math.pi / 3:
-                    return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                    return self._refused(request_id, "Open the cell-compartment cover to at least 60 degrees (pi/3 rad) first.")
                 loading = capability_id == "sample.load"
                 if loading:
                     sample = host._samples.get(arguments["sample_id"])
-                    if state["sample.loaded"] or sample is None:
-                        return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                    if state["sample.loaded"]:
+                        return self._refused(request_id, "A cuvette is already in the cell compartment; unload it first.")
+                    if sample is None:
+                        return self._refused(request_id, "Unknown sample_id: no such sample is present at the instrument.")
                     state.update({"sample.loaded": True, "sample.id": arguments["sample_id"], "sample.kind": sample["kind"], "sample.truth": _dr6000_copy.deepcopy(sample["truth"])})
                 else:
                     if not state["sample.loaded"]:
-                        return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                        return self._refused(request_id, "No cuvette is loaded.")
                     state.update({"sample.loaded": False, "sample.id": None, "sample.kind": None, "sample.truth": None})
                 result = {"loaded": loading, "sample_id": state["sample.id"]}
             elif capability_id == "spectroscopy.set_scan":
@@ -448,11 +456,13 @@ class HachDR6000Session:
                     return self._response("rejected", request_id=request_id, code="INVALID_ARGUMENT")
                 return self._response(request_id=request_id, result=record)
             elif capability_id == "spectroscopy.measure":
-                if not state["lid.closed"] or not state["sample.loaded"]:
-                    return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                if not state["lid.closed"]:
+                    return self._refused(request_id, "Close the cell-compartment cover (lid.set_angle 0) before reading.")
+                if not state["sample.loaded"]:
+                    return self._refused(request_id, "No cuvette is loaded.")
                 spectrum = host._spectrum(state)
                 if spectrum is None:
-                    return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                    return self._refused(request_id, "The scan range misses every wavelength of the sample's reference spectrum; widen it (spectroscopy.set_scan / set_wavelength).")
                 state["measurement.spectrum"] = spectrum
                 state["measurement.count"] += 1
                 result = {"spectrum": spectrum}
@@ -673,7 +683,7 @@ def export_jasco_ftir4700_contract_metadata():
     add("background.count", _ftir_numeric("1", 0, integer=True), "1", "derived")
     add("measurement.spectrum", {"anyOf": [_ftir_spectrum_schema(), {"type": "null"}]}, "1", "derived")
     add("measurement.count", _ftir_numeric("1", 0, integer=True), "1", "derived")
-    return {"asset_type_id": JASCO_FTIR4700_TYPE, "asset_version": "1.1.0", "catalog_id": "CHEM-072", "model": "JASCO FT/IR-4700",
+    return {"asset_type_id": JASCO_FTIR4700_TYPE, "asset_version": "1.1.2", "catalog_id": "CHEM-072", "model": "JASCO FT/IR-4700",
         "capabilities": capabilities, "state_slots": slots,
         "parameters": {
             "wavenumber_min_m_inv": {"value": 35000, "unit": "m^-1", "evidence": "catalog"},
@@ -770,7 +780,9 @@ class JascoFTIR4700:
             self._samples[sample_id] = {"phase": phase, "peaks": _ftir_copy.deepcopy(peaks), "baseline": float(baseline), "truth": _ftir_copy.deepcopy(truth or {})}
 
     def register_template_sample(self, sample_id, *, substance_id, phase, peak_absorbance=1.0, truth=None):
-        """Trusted host: one spectral_library compound; measure returns its NIST IR spectrum at the method resolution."""
+        """Trusted host: one spectral_library compound, or a reference standard of assets/reactions/ir_reference_standards.json
+        (1.1.2: substance_id="polystyrene", the film wavenumber standard, phase "solid"); measure returns its IR spectrum at the
+        method resolution."""
         from scripts.basic40_templates import jasco_ftir4700 as _ftir_templates
         with self._lock:
             if not isinstance(sample_id, str) or not sample_id or sample_id in self._samples or (truth is not None and not isinstance(truth, dict)):
@@ -853,7 +865,7 @@ class JascoFTIR4700Session:
     def _target(self, instance_id):
         return instance_id is None or (isinstance(instance_id, str) and instance_id == self._host.instance_id)
 
-    def _response(self, status="succeeded", *, request_id=None, result=None, observations=None, code=None, side_effects="none"):
+    def _response(self, status="succeeded", *, request_id=None, result=None, observations=None, code=None, side_effects="none", message=None):
         messages = {"UNKNOWN_INSTANCE": "Instance is unavailable.", "UNKNOWN_CAPABILITY": "Capability is unavailable.",
             "INVALID_ARGUMENT": "Arguments do not match the declared schema or supported range.",
             "PRECONDITION_FAILED": "Declared operation preconditions are not satisfied.",
@@ -866,7 +878,7 @@ class JascoFTIR4700Session:
             "status": status, "state_revision": self._host._revision,
             "clock": {"domain": "simulation", "time_s": self._host._time()},
             "result": _ftir_copy.deepcopy(result or {}), "observations": _ftir_copy.deepcopy(observations or {}),
-            "error": None if code is None else {"code": code, "message": messages[code], "retryable": False, "side_effects": side_effects}}
+            "error": None if code is None else {"code": code, "message": message or messages[code], "retryable": False, "side_effects": side_effects}}
 
     def describe(self, *, asset_type_id=None, instance_id=None):
         with self._host._lock:
@@ -964,10 +976,10 @@ class JascoFTIR4700Session:
                 return self._response("rejected", request_id=request_id, code="INVALID_ARGUMENT")
             return self._response(request_id=request_id, result=record)
         state = _ftir_copy.deepcopy(host._state)
-        def reject():
-            return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+        def reject(why):  # the code stays PRECONDITION_FAILED, the message names the cause
+            return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED", message=why)
         if capability_id in ("method.configure", "background.acquire", "measure") and not state["power.enabled"]:
-            return reject()
+            return reject("The spectrometer is switched off (power.set enabled=true).")
         if capability_id == "power.set":
             state["power.enabled"] = arguments["enabled"]
             result = {"enabled": arguments["enabled"]}
@@ -976,24 +988,30 @@ class JascoFTIR4700Session:
             state["lid.closed"] = state["lid.angle_rad"] <= 1e-6
             result = {"angle_rad": state["lid.angle_rad"], "closed": state["lid.closed"]}
         elif capability_id == "accessory.install":
-            if state["lid.angle_rad"] < _ftir_math.pi / 3 or state["sample.loaded"]:
-                return reject()
+            if state["lid.angle_rad"] < _ftir_math.pi / 3:
+                return reject("Open the sample-compartment lid to at least 60 degrees (pi/3 rad) before changing the accessory.")
+            if state["sample.loaded"]:
+                return reject("Unload the sample before changing the accessory.")
             state["accessory.mode"] = arguments["mode"]
             result = {"mode": arguments["mode"]}
         elif capability_id in ("sample.load", "sample.unload"):
             if state["lid.angle_rad"] < _ftir_math.pi / 3:
-                return reject()
+                return reject("Open the sample-compartment lid to at least 60 degrees (pi/3 rad) first.")
             loading = capability_id == "sample.load"
             if loading:
                 sample = host._samples.get(arguments["sample_id"])
-                if state["sample.loaded"] or sample is None or state["accessory.mode"] == "none":
-                    return reject()
+                if state["sample.loaded"]:
+                    return reject("A sample is already loaded; unload it first.")
+                if sample is None:
+                    return reject("Unknown sample_id: no such sample is present at the instrument.")
+                if state["accessory.mode"] == "none":
+                    return reject("No sampling accessory is installed (accessory.install).")
                 if sample["phase"] == "gas" and state["accessory.mode"] != "transmission":
-                    return reject()
+                    return reject("A gas sample needs the transmission accessory (gas cell).")
                 state.update({"sample.loaded": True, "sample.id": arguments["sample_id"], "sample.phase": sample["phase"], "sample.truth": _ftir_copy.deepcopy(sample["truth"])})
             else:
                 if not state["sample.loaded"]:
-                    return reject()
+                    return reject("No sample is loaded.")
                 state.update({"sample.loaded": False, "sample.id": None, "sample.phase": None, "sample.truth": None})
             result = {"loaded": loading, "sample_id": state["sample.id"]}
         elif capability_id == "method.configure":
@@ -1003,21 +1021,25 @@ class JascoFTIR4700Session:
                 state["method." + key] = float(value) if key.endswith("m_inv") else value
             result = {key: state["method." + key] for key in properties}
         elif capability_id in ("background.acquire", "measure"):
-            if not state["lid.closed"] or state["accessory.mode"] == "none":
-                return reject()
+            if not state["lid.closed"]:
+                return reject("Close the sample-compartment lid (lid.set_angle 0) before scanning.")
+            if state["accessory.mode"] == "none":
+                return reject("No sampling accessory is installed (accessory.install).")
             if capability_id == "background.acquire":
                 if state["sample.loaded"]:
-                    return reject()
+                    return reject("A background is taken with no sample loaded; unload the sample first.")
                 state["background.spectrum"] = host._background(state)
                 state["background.ready"] = True
                 state["background.count"] += 1
                 result = {"background": state["background.spectrum"]}
             else:
-                if not state["sample.loaded"] or not state["background.ready"]:
-                    return reject()
+                if not state["sample.loaded"]:
+                    return reject("No sample is loaded.")
+                if not state["background.ready"]:
+                    return reject("No valid background: acquire one (background.acquire) after the last power, accessory or method change.")
                 state["measurement.spectrum"] = host._spectrum(state)
                 if state["measurement.spectrum"] is None:
-                    return reject()
+                    return reject("The configured wavenumber range misses the coverage of the sample's reference spectrum; widen it (method.configure).")
                 state["measurement.count"] += 1
                 result = {"spectrum": state["measurement.spectrum"]}
         else:
@@ -1399,10 +1421,14 @@ class AgilentGC8890B(HachDR6000):
             self._revision += 1
             return self.read()
 
+    def _template_oven_program(self):
+        """Oven program for a template run; the CHEM-096 layer has none (isothermal at the oven setpoint)."""
+        return None
+
     def _chromatogram(self, state):
         if "template" in self._samples[state["sample.id"]]:  # None => FID cannot be lit at the setpoint
             from scripts.basic40_templates import agilent_gc8890b as _gc8890b_templates
-            return _gc8890b_templates.chromatogram(self._samples[state["sample.id"]]["template"], state)
+            return _gc8890b_templates.chromatogram(self._samples[state["sample.id"]]["template"], state, self._template_oven_program())
         peaks = self._samples[state["sample.id"]]["peaks"]
         axis = [float(i) for i in range(301)]
         current = [sum(height * _dr6000_math.exp(-0.5 * ((time - center) / width) ** 2)
@@ -3012,6 +3038,12 @@ class Eppendorf5910RiSession:
             "result": result if result is not None else {}, "observations": observations if observations is not None else {},
             "error": None if code is None else {"code": code, "message": self._messages[code], "retryable": False, "side_effects": side_effects}})
 
+    def _refused(self, request_id, why):
+        """PRECONDITION_FAILED keeps its code; the message names the precondition that failed."""
+        response = self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+        response["error"]["message"] = why
+        return response
+
     def _target(self, instance_id):
         return instance_id is None or instance_id == self._host.instance_id
 
@@ -3109,13 +3141,14 @@ class Eppendorf5910RiSession:
             result = dict(arguments)
         elif capability_id == "lid.set_angle":
             if state["lid.locked"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "The lid is locked while the rotor turns.")
             state["lid.angle_rad"] = float(arguments["angle_rad"])
             state["lid.closed"] = state["lid.angle_rad"] <= 1e-6
             result = {"angle_rad": state["lid.angle_rad"], "closed": state["lid.closed"]}
         elif capability_id == "rotor.select":
             if state["lid.angle_rad"] < _epp_math.pi / 3 or state["sample.loaded_slots"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "Open the lid to at least 60 degrees (pi/3 rad) first." if state["lid.angle_rad"] < _epp_math.pi / 3
+                                     else "Unload every tube before changing the rotor.")
             if arguments["configuration"] not in h._profiles:
                 return self._response("rejected", request_id=request_id, code="MISSING_PARAMETER")
             state["rotor.configuration"] = arguments["configuration"]
@@ -3125,35 +3158,44 @@ class Eppendorf5910RiSession:
         elif capability_id in ("sample.load", "sample.unload"):
             profile = h._profiles.get(state["rotor.configuration"])
             if state["lid.angle_rad"] < _epp_math.pi / 3 or profile is None or arguments["slot_id"] not in profile["slot_positions_xy_m"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "Open the lid to at least 60 degrees (pi/3 rad) first." if state["lid.angle_rad"] < _epp_math.pi / 3
+                                     else "No rotor is installed (rotor.select)." if profile is None
+                                     else "Slot %r does not exist on the %s rotor." % (arguments["slot_id"], state["rotor.configuration"]))
             occupant = next((s for s in state["sample.loaded_slots"] if s["slot_id"] == arguments["slot_id"]), None)
             loading = capability_id == "sample.load"
             if loading:
                 if occupant is not None or arguments["sample_id"] not in h._samples or any(s["sample_id"] == arguments["sample_id"] for s in state["sample.loaded_slots"]):
-                    return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                    return self._refused(request_id, "Slot %r is occupied." % arguments["slot_id"] if occupant is not None
+                                         else "Unknown sample_id: no such sample is present at the instrument." if arguments["sample_id"] not in h._samples
+                                         else "Sample %r is already loaded in another slot." % arguments["sample_id"])
                 state["sample.loaded_slots"].append(dict(arguments))
             elif occupant is None:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "Slot %r is empty." % arguments["slot_id"])
             else:
                 state["sample.loaded_slots"].remove(occupant)
             h._balance(state)
             result = dict(arguments, loaded=loading)
         elif capability_id == "centrifuge.set_method":
             if not state["power.enabled"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "The centrifuge is switched off (power.set enabled=true).")
             state.update({"method." + key: value for key, value in arguments.items()})
             state["method.configured"] = True
             result = _epp_copy.deepcopy(arguments)
         elif capability_id == "centrifuge.measure":
             if not state["power.enabled"] or not state["lid.closed"] or not state["method.configured"] or len(state["sample.loaded_slots"]) < 2:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "The centrifuge is switched off (power.set enabled=true)." if not state["power.enabled"]
+                                     else "Close the lid (lid.set_angle 0) first." if not state["lid.closed"]
+                                     else "No method is set for the current rotor (centrifuge.set_method after rotor.select)." if not state["method.configured"]
+                                     else "Load at least two tubes, balanced opposite each other.")
             profile = h._profiles.get(state["rotor.configuration"])
             if profile is None or h._process is None or state["alarm.imbalance"] is None:
                 return self._response("rejected", request_id=request_id, code="MISSING_PARAMETER")
             if state["alarm.imbalance"]:
                 return self._response("rejected", request_id=request_id, code="IMBALANCE")
             if state["method.speed_rad_s"] > profile["operating_speed_limit_rad_s"]:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                limit = profile["operating_speed_limit_rad_s"]
+                return self._refused(request_id, "The method speed %.1f rad/s exceeds the operating speed limit of the %s rotor, %.1f rad/s (%.0f rpm); "
+                                     "lower it with centrifuge.set_method." % (state["method.speed_rad_s"], state["rotor.configuration"], limit, limit * 30 / _epp_math.pi))
             new_counter += 1
             operation_id = h.instance_id + ":centrifuge:" + str(new_counter)
             op = h._make_operation(state, self._principal_id, operation_id)
@@ -3167,14 +3209,14 @@ class Eppendorf5910RiSession:
             operation_id = state["run.operation_id"]
             op = operations.get(operation_id)
             if op is None or op["status"] != "running":
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "No run is in progress.")
             if op["owner"] != self._principal_id:
                 return self._response("rejected", request_id=request_id, code="ACCESS_DENIED")
             h._request_stop(state, op)
             result = {"operation_id": operation_id, "run_status": state["run.status"]}
         elif capability_id == "centrifuge.get_curve":
             if state["measurement.curve"] is None:
-                return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")
+                return self._refused(request_id, "No run curve has been recorded yet.")
             return self._response(request_id=request_id, result={"curve": state["measurement.curve"]})
         else:
             return self._response("unsupported", request_id=request_id, code="UNSUPPORTED")
@@ -3532,7 +3574,7 @@ import bisect as _g8_bisect
 import dataclasses as _g8_dataclasses
 import textwrap as _g8_textwrap
 
-GC8890B_ASSET_VERSION = "1.5.1"  # 1.4.0 (2026-10-20): the 8890 front panel in the 3D model; 1.5.0 (2026-10-21): body lowered to the 8890 proportions (geometry only); 1.5.1: oven-interior limitation documented
+GC8890B_ASSET_VERSION = "1.6.0"  # 1.6.0 (2026-10-23): oven program in the template path + chromatography.set_oven_program implemented (contract gains a capability: Y); 1.5.2 (2026-10-23): the shared GC library holds the whole C8-C20 n-alkane standard; 1.4.0 (2026-10-20): the 8890 front panel in the 3D model; 1.5.0 (2026-10-21): body lowered to the 8890 proportions (geometry only); 1.5.1: oven-interior limitation documented
 GC8890B_ASSET_DIR = _AT_ROOT / "assets/basic40_batch02/t3_analytical/agilent_gc8890b"
 _G8_ML = 1e-6 / 60.0                                     # m3/s per mL/min
 _G8_PSI = 6894.757293168                                 # Pa per psi
@@ -4617,6 +4659,54 @@ def _g8_c_method(rt, dev, process, state, a, t):
     return {"component": comp, "settings": {k: new[k] for k in a["settings"]}}
 
 
+def _g8_c_oven_program(rt, dev, process, state, a, t):
+    """chromatography.set_oven_program (1.6.0): the Active Method oven program in one call - initial temperature (the oven setpoint, as
+    thermal.set_temperature) and hold, then up to 32 ramps (manual p.90-91); ramps not given get Rate 0 (an empty list = isothermal).
+    Same checks as the touchscreen editor (method.configure oven, the configured maximum oven temperature)."""
+    _g8_gate(dev, process)
+    from scripts.basic40_templates import agilent_gc8890b as _gc8890b_templates
+    try:
+        prog = _gc8890b_templates.validate_oven_program(a)
+    except ValueError:
+        raise _ATReject("INVALID_ARGUMENT") from None
+    top = dev["settings"]["oven.max_temp_K"] + 1e-9
+    _at_need(prog["initial_temperature_K"] <= top and all(r["final_temperature_K"] <= top for r in prog["ramps"]), "INVALID_ARGUMENT")
+    try:
+        process.perform("set_temperature", zone="oven", temperature_K=prog["initial_temperature_K"])
+    except ValueError:
+        raise _ATReject("INVALID_ARGUMENT") from None
+    o = dev["method"]["oven"]
+    o["initial_K"], o["initial_time_s"] = prog["initial_temperature_K"], prog["initial_hold_s"]
+    for k in range(1, 33):
+        r = prog["ramps"][k - 1] if k <= len(prog["ramps"]) else None
+        o[f"ramp_{k}_rate_K_s"] = r["rate_K_s"] if r else 0.0
+        if r:
+            o[f"ramp_{k}_final_K"], o[f"ramp_{k}_final_time_s"] = r["final_temperature_K"], r["final_hold_s"]
+    if dev["run"] is not None:
+        _at_log(dev["logs"]["run"], dict(time=f"{dev['run']['elapsed_s'] / 60:.2f}", text="Setpoint changed: oven program"))
+    if dev["standby"]:
+        dev["standby"] = False
+    _g8_wake(dev, process, t, "Wake: setpoint change")
+    _g8_sync_process(dev, process)
+    if dev["run"] is None:
+        _g8_apply_temperatures(dev, process)
+    return {"initial_temperature_K": prog["initial_temperature_K"], "ramps": len(prog["ramps"]),
+            "run_length_s": _g8_program_length(o["initial_K"], o["initial_time_s"], _g8_oven_ramps(dev["method"]))}
+
+
+def _g8_active_oven_program(dev):
+    """The Active Method oven program in the template form, or None for an isothermal method (Rate 1 = 0, p.91)."""
+    o = dev["method"]["oven"]
+    ramps = []
+    for rate, final, hold in _g8_oven_ramps(dev["method"]):
+        if rate <= 0:
+            break
+        ramps.append({"rate_K_s": rate, "final_temperature_K": final, "final_hold_s": hold})
+    if not ramps:
+        return None
+    return {"initial_temperature_K": o["initial_K"], "initial_hold_s": o["initial_time_s"], "ramps": ramps}
+
+
 def _g8_c_event_save(rt, dev, process, state, a, t):
     _g8_gate(dev, process)
     ev = dict(time_s=float(a["time_s"]), type=a["type"], position=a.get("position"), setpoint=a.get("setpoint"))
@@ -4857,6 +4947,7 @@ def _g8_c_wake(rt, dev, process, state, a, t):
 
 _G8_COMMANDS = {
     "run.prep": _g8_c_prep, "run.start": _g8_c_start, "run.stop": _g8_c_stop, "method.configure": _g8_c_method,
+    "chromatography.set_oven_program": _g8_c_oven_program,
     "method.event_save": _g8_c_event_save, "method.event_delete": _g8_c_event_delete, "settings.configure": _g8_c_settings,
     "clock.set": _g8_c_clock, "status.configure": _g8_c_status_params, "plot.configure": _g8_c_plot,
     "diagnostics.resolve": _g8_c_resolve, "diagnostics.start_test": _g8_c_test_start, "diagnostics.cancel_test": _g8_c_test_cancel,
@@ -4936,6 +5027,18 @@ _G8_CAPDEFS = {
                          {"component": _AT_STR, "settings": _AT_ANY}, {"component": "inlet", "settings": {"split_ratio": 50.0}},
                          "编辑Active Method的一个部件（柱温箱程序、前进样口、色谱柱1、前检测器FID、模拟输出1），触摸屏修改立即生效（p.63、p.79）；温度设定点经"
                          "thermal.set_temperature", _G8_E_METHOD, "configuration"),
+    "chromatography.set_oven_program": (
+        {"initial_temperature_K": _at_num("K", 302.15, 723.15), "initial_hold_s": _at_num("s", 0, 59999.4),
+         "ramps": {"type": "array", "maxItems": 32, "items": {"type": "object", "additionalProperties": False,
+                                                              "required": ["rate_K_s", "final_temperature_K", "final_hold_s"],
+                                                              "properties": {"rate_K_s": {"type": "number", "x-unit": "K/s", "exclusiveMinimum": 0, "maximum": 2.0},
+                                                                             "final_temperature_K": _at_num("K", 302.15, 723.15),
+                                                                             "final_hold_s": _at_num("s", 0, 59999.4)}}}}, (),
+        {"initial_temperature_K": _at_num("K", 0), "ramps": _at_num("1", 0, 32, True), "run_length_s": _at_num("s", 0)},
+        {"initial_temperature_K": 313.15, "initial_hold_s": 60.0, "ramps": [{"rate_K_s": 10 / 60, "final_temperature_K": 573.15, "final_hold_s": 300.0}]},
+        "设置Active Method的柱温箱程序：初始温度（即柱温箱设定点，同thermal.set_temperature）与初始保持时间，然后最多32段升温（速率、终温、终温保持时间；"
+        "速率≤120 °C/min；p.90-91）；未给出的段速率为0，空列表即等温运行（p.91：Rate 1为0）。与触摸屏方法编辑同一检查（含配置的柱温箱最高温度）；"
+        "运行（run.start）与模板样品瓶的chromatography.measure都按该程序升温", _G8_E_METHOD + ["thermal.cooling_damper_open"], "configuration"),
     "method.event_save": ({"time_s": _at_num("s", 0, 59999.4), "type": {"type": "string", "enum": list(G8_EVENT_TYPES)},
                            "position": {"anyOf": [{"type": "string", "enum": ["On", "Off"]}, {"type": "null"}]},
                            "setpoint": {"anyOf": [_at_num("1", -1e6, 1e6), {"type": "null"}]}, "index": {"anyOf": [_at_num("1", 0, 49, True), {"type": "null"}]}},
@@ -5025,7 +5128,8 @@ _G8_LIMITS = [
     "Start / Stop, readiness, shutdowns and setpoint actions, diagnostic tests, EMF counters, maintenance procedures, logs, configuration, "
     "instrument schedule and clock table, sensor zeroing and system settings follow the 8890/8850 operation manual as a minimal device model, "
     "not Agilent firmware.",
-    "A panel run uses the instant synthetic chromatogram of the loaded virtual vial (the injection at Start); the signal follows run time. "
+    "A panel run uses the instant synthetic chromatogram of the loaded virtual vial (the injection at Start), computed along the Active "
+    "Method oven program when it has ramps (1.6.0; isothermal at the oven setpoint otherwise); the signal follows run time. "
     "Manual injections do not increment EMF injection counters (p.130). Sensor error parameters are evaluator settings, 0 (ideal) by default.",
     "Absent hardware: ALS, valves, cryo, MSD, a second inlet / detector, sequences (enabled only from the Browser Interface), USB storage; "
     "Browser Interface, data system and network services are not simulated (network settings are kept). Pulsed SSL modes are not modelled.",
@@ -5324,6 +5428,10 @@ class AgilentGC8890B(_G8BaseRuntime):
         session = self._panel_session if who == "__panel__" else AgilentGC8890BSession(self, who)
         return session._invoke_once(capability_id=capability_id, arguments=arguments, request_id="__panel__")
 
+    def _template_oven_program(self):
+        """1.6.0: a template run (chromatography.measure or the run at Start) follows the Active Method oven program when it has ramps."""
+        return _g8_active_oven_program(self._device)
+
     def _chromatogram(self, state):
         """The recorded FID signal carries the detector's electrometer leakage (evaluator error, default 0) like the live signal; peak areas
         are baseline-corrected and unchanged."""
@@ -5497,7 +5605,7 @@ class AgilentGC8890BSession(_G8BaseSession):
 # data system stand-in, the touchscreen Stop prompt, sequence actions, diagnostic tests, tray and EPC calibration, service mode with factory
 # reset, EMF counters, logs and the front panel (panel_ui.json run by scripts/asset_runtime/_panel_ui.py).  The CHEM-108 capabilities keep
 # their meaning.  Time comes from the host clock; host_update() processes the events up to its current time.
-HS8697_ASSET_VERSION = "1.4.0"  # 1.4.0 (2026-10-20): front-control parts in the 3D model (geometry only)
+HS8697_ASSET_VERSION = "1.4.1"  # 1.4.0 (2026-10-20): front-control parts in the 3D model (geometry only); 1.4.1: sequence.start effects (2026-10-22)
 HS8697_ASSET_DIR = _AT_ROOT / "assets/basic40_batch02/t3_analytical/agilent_hs8697"
 _HS_ML = 1e-6 / 60.0
 _HS_PSI = 6894.757293168
@@ -6770,7 +6878,7 @@ class AgilentHS8697Session(_HSBaseSession):
 # clean-screen lock, standby and the front panel (panel_ui.json run by scripts/asset_runtime/_panel_ui.py).  The CHEM-010 capabilities keep
 # their meaning; a run started from the panel goes through centrifuge.measure.  Rotor radius for rcf = the largest slot radius of the trusted
 # host's synthetic rotor.
-EPP5910_ASSET_VERSION = "1.2.2"
+EPP5910_ASSET_VERSION = "1.2.3"  # 1.2.3 (2026-10-22): PRECONDITION_FAILED refusals name their cause, the rotor speed limit included
 EPP5910_ASSET_DIR = _AT_ROOT / "assets/basic40_batch02/t3_analytical/eppendorf_5910ri"
 _EPP_RPM = 2 * _epp_math.pi / 60.0
 _EPP_G = 9.80665
@@ -7900,7 +8008,7 @@ import functools as _dr_functools
 import json as _dr_json
 import random as _dr_random
 
-DR6000_ASSET_VERSION = "1.4.0"  # 1.4.0 (2026-10-21): the real 7-inch WVGA window (152.4 x 91.44 mm, plain glass) in the 3D model (geometry only)
+DR6000_ASSET_VERSION = "1.4.1"  # 1.4.1 (2026-10-22): PRECONDITION_FAILED refusals name their cause; 1.4.0 (2026-10-21): the real 7-inch WVGA window (152.4 x 91.44 mm, plain glass) in the 3D model (geometry only)
 DR6000_ASSET_DIR = _AT_ROOT / "assets/basic40_batch02/t3_analytical/hach_dr6000"
 _DR_LIBRARY = _AT_ROOT / "assets/reactions/hach_dr6000_colorimetric_library/templates.json"
 _DR_STARTUP_S = 45.0                                    # startup with the logo and melody (p.21)
@@ -10313,7 +10421,7 @@ class HachDR6000Session(_DRBaseSession):
                 h._sync()
             if not isinstance(capability_id, str) or (capability_id not in _DR_TERMINAL and capability_id not in DR6000_PANEL_CAPS):
                 if capability_id == "sample.load" and h._device["kit"]["placed"] is not None and self._target(instance_id):
-                    return self._response("rejected", request_id=request_id, code="PRECONDITION_FAILED")     # a kit filter occupies the adapter
+                    return self._refused(request_id, "A Verification Kit filter occupies the cell adapter; remove it first.")     # a kit filter occupies the adapter
                 if capability_id == "spectroscopy.measure" and arguments == {} and self._target(instance_id) and h._state["power.enabled"]:
                     # the direct reading is a reading of the same instrument: startup / self-check done, not asleep, lamps on and warm (as
                     # _dr_measure; switching the UV lamp on is committed even though the reading is refused)
diff --git a/scripts/basic40_runtime_automation.py b/scripts/basic40_runtime_automation.py
index 2ec034ce55e4f0414f2528d9921df135979e9955..4dadefec149844d3342e09e54b171b05174591e5 100644
--- a/scripts/basic40_runtime_automation.py
+++ b/scripts/basic40_runtime_automation.py
@@ -228,8 +228,8 @@ _AMC_NULL_STRING = {"anyOf": [{"type": "string"}, {"type": "null"}]}
 _AMC_SLOTS = {
     "power.enabled": _amc_slot({"type": "boolean"}, "1", "setpoint", capability="power.set", parameter="enabled"),
     "gas.selected_id": _amc_slot(_AMC_NULL_STRING, "1", "setpoint", capability="gas.select", parameter="gas_id"),
-    "gas.reference_temperature_K": _amc_slot(_amc_num("K", 0), "K", "setpoint"),
-    "gas.reference_pressure_Pa": _amc_slot(_amc_num("Pa", 0), "Pa", "setpoint"),
+    "gas.reference_temperature_k": _amc_slot(_amc_num("K", 0), "K", "setpoint"),
+    "gas.reference_pressure_pa": _amc_slot(_amc_num("Pa", 0), "Pa", "setpoint"),
     "flow.setpoint_m3_s": _amc_slot(_amc_num("m^3/s", 0, ALICAT_MC_FS_M3_S), "m^3/s", "setpoint", capability="flow.set_setpoint", parameter="flow_rate_m3_s"),
     "flow.zeroed": _amc_slot({"type": "boolean"}, "1", "derived"),
     "ports.upstream_node_id": _amc_slot(_AMC_NULL_STRING, "1", "scene"),
@@ -238,16 +238,16 @@ _AMC_SLOTS = {
     "measurement.standard_flow_m3_s": _amc_slot(_amc_num("m^3/s", 0, nullable=True), "m^3/s", "derived"),
     "measurement.actual_flow_m3_s": _amc_slot(_amc_num("m^3/s", 0, nullable=True), "m^3/s", "derived"),
     "measurement.mass_flow_kg_s": _amc_slot(_amc_num("kg/s", 0, nullable=True), "kg/s", "derived"),
-    "measurement.pressure_Pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "derived"),
-    "measurement.temperature_K": _amc_slot(_amc_num("K", 0, nullable=True), "K", "derived"),
+    "measurement.pressure_pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "derived"),
+    "measurement.temperature_k": _amc_slot(_amc_num("K", 0, nullable=True), "K", "derived"),
     "measurement.total_standard_volume_m3": _amc_slot(_amc_num("m^3", 0, nullable=True), "m^3", "derived"),
     "measurement.standard_accuracy_bound_m3_s": _amc_slot(_amc_num("m^3/s", 0, nullable=True), "m^3/s", "derived"),
     "measurement.accuracy_conditions_met": _amc_slot({"type": "boolean"}, "1", "derived"),
     "truth.standard_flow_m3_s": _amc_slot(_amc_num("m^3/s", 0, nullable=True), "m^3/s", "process_truth", "debug"),
     "truth.total_standard_volume_m3": _amc_slot(_amc_num("m^3", 0, nullable=True), "m^3", "process_truth", "debug"),
-    "truth.upstream_pressure_Pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "process_truth", "debug"),
-    "truth.downstream_pressure_Pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "process_truth", "debug"),
-    "truth.temperature_K": _amc_slot(_amc_num("K", 0, nullable=True), "K", "process_truth", "debug"),
+    "truth.upstream_pressure_pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "process_truth", "debug"),
+    "truth.downstream_pressure_pa": _amc_slot(_amc_num("Pa", 0, nullable=True), "Pa", "process_truth", "debug"),
+    "truth.temperature_k": _amc_slot(_amc_num("K", 0, nullable=True), "K", "process_truth", "debug"),
     "truth.equilibrium": _amc_slot({"type": "boolean"}, "1", "process_truth", "debug"),
     "truth.no_flow": _amc_slot({"type": "boolean"}, "1", "process_truth", "debug"),
     "truth.response_time_constant_s": _amc_slot(_amc_num("s", 0, nullable=True), "s", "process_truth", "debug"),
@@ -255,7 +255,7 @@ _AMC_SLOTS = {
     "device.settings": _amc_slot(_AMC_SETTINGS_SCHEMA, "1", "setpoint"),
     "flow.active_setpoint_m3_s": _amc_slot(_amc_num("m^3/s", 0, ALICAT_MC_FS_M3_S), "m^3/s", "derived"),
     "flow.ramp_rate_m3_s2": _amc_slot(_amc_num("m^3/s^2", 0), "m^3/s^2", "derived"),
-    "setpoint.analog_input_V": _amc_slot(_amc_num("V", 0, ALICAT_MC_ANALOG_FS_V), "V", "scene"),
+    "setpoint.analog_input_v": _amc_slot(_amc_num("V", 0, ALICAT_MC_ANALOG_FS_V), "V", "scene"),
     "totalizer.batch_size_m3": _amc_slot(_amc_num("m^3", 0, ALICAT_MC_BATCH_MAX_M3, nullable=True), "m^3", "setpoint", capability="totalizer.set_batch",
                                          parameter="batch_size_m3"),
     "totalizer.batch_remaining_m3": _amc_slot(_amc_num("m^3", 0, nullable=True), "m^3", "derived"),
@@ -312,7 +312,7 @@ def export_alicat_mc_contract_metadata(panel=True):
     for sid, slot in slots.items():
         slot["read_binding"] = "AlicatMCSession.read(instance_id=..., state_ids=['%s'])" % sid
         if "standard" in sid or sid == "flow.setpoint_m3_s" or sid.startswith("totalizer.batch"):
-            slot["reference_conditions"] = "Standard volume at gas.reference_temperature_K and gas.reference_pressure_Pa; defaults 298.15 K and 101325 Pa"
+            slot["reference_conditions"] = "Standard volume at gas.reference_temperature_k and gas.reference_pressure_pa; defaults 298.15 K and 101325 Pa"
         elif sid == "flow.active_setpoint_m3_s":
             slot["reference_conditions"] = "Control variable: standard flow (mass flow control) or actual flow at inlet conditions (volumetric flow control)"
         elif "pressure" in sid:
@@ -323,7 +323,7 @@ def export_alicat_mc_contract_metadata(panel=True):
         "power.set": {"enabled": {"type": "boolean"}},
         "gas.select": {"gas_id": {"type": "string", "description": "An explicitly host-registered compatible gas ID; no bundled gas library"}},
         "gas.set_reference_conditions": {"temperature_K": {"type": "number", "exclusiveMinimum": 0, "x-unit": "K"}, "pressure_Pa": {"type": "number", "exclusiveMinimum": 0, "x-unit": "Pa"}},
-        "flow.set_setpoint": {"flow_rate_m3_s": {"type": "number", "minimum": 0, "maximum": ALICAT_MC_FS_M3_S, "x-unit": "m^3/s", "x-reference-conditions": "gas.reference_temperature_K, gas.reference_pressure_Pa", "description": "0 stops the target; positive values must be >= 0.0001 full scale"}},
+        "flow.set_setpoint": {"flow_rate_m3_s": {"type": "number", "minimum": 0, "maximum": ALICAT_MC_FS_M3_S, "x-unit": "m^3/s", "x-reference-conditions": "gas.reference_temperature_k, gas.reference_pressure_pa", "description": "0 stops the target; positive values must be >= 0.0001 full scale"}},
         "flow.zero": {}, "flow.reset_total": {}, "flow.read": {}, "control.set_pid": {},
         "menu.configure": {k: _amc_copy.deepcopy(v[0]) for k, v in _AMC_SETTINGS.items()},
         "totalizer.set_batch": {"batch_size_m3": dict(_amc_num("m^3", 0, ALICAT_MC_BATCH_MAX_M3, nullable=True), **{"x-unit": "m^3"})},
@@ -340,12 +340,12 @@ def export_alicat_mc_contract_metadata(panel=True):
         "fault.clear": {},
     }
     direct = {"power.set": ["power.enabled"], "gas.select": ["gas.selected_id"],
-              "gas.set_reference_conditions": ["gas.reference_temperature_K", "gas.reference_pressure_Pa"],
+              "gas.set_reference_conditions": ["gas.reference_temperature_k", "gas.reference_pressure_pa"],
               "flow.set_setpoint": ["flow.setpoint_m3_s", "truth.equilibrium"], "flow.zero": ["flow.zeroed", "truth.standard_flow_m3_s"],
               "flow.reset_total": ["truth.total_standard_volume_m3"], "flow.read": [], "control.set_pid": [],
               "menu.configure": ["device.settings"], "totalizer.set_batch": ["totalizer.batch_size_m3"], "display.set_backlight": ["display.backlight_on"],
               "display.set_lock": ["display.locked"], "gas.create_mix": ["gas.user_mixes"], "gas.delete_mix": ["gas.user_mixes"],
-              "device.factory_restore": ["device.settings", "gas.selected_id", "gas.reference_temperature_K", "gas.reference_pressure_Pa"],
+              "device.factory_restore": ["device.settings", "gas.selected_id", "gas.reference_temperature_k", "gas.reference_pressure_pa"],
               "valve.set_drive_setpoint": ["valve.drive_setpoint_percent"], "fault.inject": ["device.alarms"], "fault.clear": ["device.alarms"]}
     # effects of the device functions behind the front panel on the original commands (new slots only; the old effects are unchanged)
     added = {"power.set": ["flow.setpoint_m3_s", "flow.active_setpoint_m3_s", "truth.equilibrium", "display.backlight_on", "totalizer.elapsed_s",
@@ -448,7 +448,7 @@ def export_alicat_mc_contract_metadata(panel=True):
                 "completion_criterion_zh": "手势瞬时完成（不推进仿真时钟）；结果只说明是否被仪器接受，屏幕须用panel.capture查看" if gesture else "同步返回当前画面",
                 "model_effects": {"mode": "none", "binding_ids": [], "description_zh": "没有3D模型绑定：屏幕纹理与按键关节联动属于后续Matterix步骤"}}
     return {"asset_types": {ALICAT_MC_TYPE: {"catalog_id": "CHEM-180", "model": "Alicat Scientific MC, 1 SLPM, standard accuracy, Rev6 (2025-07)",
-        "asset_version": "1.4.0", "state_slots": slots, "capabilities": caps, "panel_capabilities": panel_caps,
+        "asset_version": "1.4.1", "state_slots": slots, "capabilities": caps, "panel_capabilities": panel_caps,
         "parameters": {
             "full_scale_standard_flow_m3_s": {"value": ALICAT_MC_FS_M3_S, "unit": "m^3/s", "evidence": "catalog"},
             "minimum_positive_control_m3_s": {"value": ALICAT_MC_MIN_M3_S, "unit": "m^3/s", "evidence": "catalog"},
@@ -495,11 +495,11 @@ class AlicatMCRuntime:
             if not isinstance(instance_id, str) or not instance_id or instance_id in self._instances or asset_type_id != ALICAT_MC_TYPE:
                 raise ValueError("Unique nonempty instance ID and CHEM-180 asset type required")
             values = {sid: None for sid in _AMC_SLOTS}
-            values.update({"power.enabled": False, "gas.reference_temperature_K": 298.15, "gas.reference_pressure_Pa": 101325.0,
+            values.update({"power.enabled": False, "gas.reference_temperature_k": 298.15, "gas.reference_pressure_pa": 101325.0,
                 "flow.setpoint_m3_s": 0.0, "flow.zeroed": False, "simulation.dynamic_model_configured": False,
                 "measurement.accuracy_conditions_met": False, "truth.equilibrium": False, "truth.no_flow": False,
                 "device.settings": {k: _amc_copy.deepcopy(v[1]) for k, v in _AMC_SETTINGS.items()}, "flow.active_setpoint_m3_s": 0.0, "flow.ramp_rate_m3_s2": 0.0,
-                "setpoint.analog_input_V": 0.0, "totalizer.elapsed_s": 0.0, "display.backlight_on": True, "display.locked": False,
+                "setpoint.analog_input_v": 0.0, "totalizer.elapsed_s": 0.0, "display.backlight_on": True, "display.locked": False,
                 "gas.user_mixes": [], "gas.recent_ids": [], "valve.drive_percent": 0.0, "valve.drive_setpoint_percent": 0.0,
                 "device.alarms": [], "truth.adc_fault": False})
             self._instances[instance_id] = {"instance_id": instance_id, "values": values, "revision": 0, "dynamics_evidence": None,
@@ -551,9 +551,9 @@ class AlicatMCRuntime:
     def _boundaries_valid(s):
         lower, upper = 11.5 * ALICAT_MC_PSI_PA, 160 * ALICAT_MC_PSI_PA
         return (s["ports.upstream_node_id"] is not None and s["ports.downstream_node_id"] is not None
-            and all(_amc_number(s[key]) for key in ("truth.upstream_pressure_Pa", "truth.downstream_pressure_Pa", "truth.temperature_K"))
-            and lower <= s["truth.upstream_pressure_Pa"] <= upper and lower <= s["truth.downstream_pressure_Pa"] <= upper
-            and 263.15 <= s["truth.temperature_K"] <= 333.15)
+            and all(_amc_number(s[key]) for key in ("truth.upstream_pressure_pa", "truth.downstream_pressure_pa", "truth.temperature_k"))
+            and lower <= s["truth.upstream_pressure_pa"] <= upper and lower <= s["truth.downstream_pressure_pa"] <= upper
+            and 263.15 <= s["truth.temperature_k"] <= 333.15)
 
     @staticmethod
     def _stopped_for_configuration(s):
@@ -595,7 +595,7 @@ class AlicatMCRuntime:
     @staticmethod
     def _open_flow(s):
         """True standard flow at 100 % valve drive: full scale at the datasheet pressure drop, linear in the pressure difference (assumption)."""
-        up, down = s["truth.upstream_pressure_Pa"], s["truth.downstream_pressure_Pa"]
+        up, down = s["truth.upstream_pressure_pa"], s["truth.downstream_pressure_pa"]
         return None if up is None or down is None else ALICAT_MC_FS_M3_S * (up - down) / ALICAT_MC_DP_FS_PA
 
     def _drive(self, s):
@@ -619,7 +619,7 @@ class AlicatMCRuntime:
         self._readings(raw, inst)
         store, st = inst.setdefault("averages", {}), s["device.settings"]
         for sid, key in (("measurement.standard_flow_m3_s", "flow_averaging_ms"), ("measurement.actual_flow_m3_s", "flow_averaging_ms"),
-                         ("measurement.mass_flow_kg_s", "flow_averaging_ms"), ("measurement.pressure_Pa", "pressure_averaging_ms")):
+                         ("measurement.mass_flow_kg_s", "flow_averaging_ms"), ("measurement.pressure_pa", "pressure_averaging_ms")):
             tau, value, previous = st[key] / 1000.0, raw[sid], store.get(sid)
             if tau <= 0 or value is None:
                 store.pop(sid, None)
@@ -630,24 +630,24 @@ class AlicatMCRuntime:
     def _readings(self, s, inst=None):
         for sid in _AMC_MEASUREMENTS:
             s[sid] = False if sid == "measurement.accuracy_conditions_met" else None
-        p, temp, lo, hi = s["truth.upstream_pressure_Pa"], s["truth.temperature_K"], *ALICAT_MC_TEMPERATURE_RANGE_K
+        p, temp, lo, hi = s["truth.upstream_pressure_pa"], s["truth.temperature_k"], *ALICAT_MC_TEMPERATURE_RANGE_K
         s["device.alarms"] = [] if not s["power.enabled"] else \
             (["ADC"] if s["truth.adc_fault"] else []) + (["POV"] if _amc_number(p) and p > ALICAT_MC_FS_PRESSURE_PA else []) + \
             (["TOV"] if _amc_number(temp) and not lo <= temp <= hi else [])          # status messages of the main display (manual p.6)
         if not s["power.enabled"] or s["gas.selected_id"] is None or not self._boundaries_valid(s):
             return
-        s["measurement.pressure_Pa"] = s["truth.upstream_pressure_Pa"]
-        s["measurement.temperature_K"] = s["truth.temperature_K"]
+        s["measurement.pressure_pa"] = s["truth.upstream_pressure_pa"]
+        s["measurement.temperature_k"] = s["truth.temperature_k"]
         q = s["truth.standard_flow_m3_s"]
         if not s["flow.zeroed"] or q is None:
             return
         if _amc_template_backed(self, s, inst):  # template hook: library gas (NIST real-gas density, LFE viscosity)
             return _amc_templates().refresh_readings(self, s, inst)
         s["measurement.standard_flow_m3_s"] = q
-        s["measurement.actual_flow_m3_s"] = _amc_finite_result(q * (s["truth.temperature_K"] / s["gas.reference_temperature_K"]) * (s["gas.reference_pressure_Pa"] / s["truth.upstream_pressure_Pa"]))
+        s["measurement.actual_flow_m3_s"] = _amc_finite_result(q * (s["truth.temperature_k"] / s["gas.reference_temperature_k"]) * (s["gas.reference_pressure_pa"] / s["truth.upstream_pressure_pa"]))
         molar_mass = self._gases[s["gas.selected_id"]]["molar_mass_kg_mol"]
         if molar_mass is not None:
-            s["measurement.mass_flow_kg_s"] = _amc_finite_result(q * s["gas.reference_pressure_Pa"] * molar_mass / (ALICAT_MC_R * s["gas.reference_temperature_K"]))
+            s["measurement.mass_flow_kg_s"] = _amc_finite_result(q * s["gas.reference_pressure_pa"] * molar_mass / (ALICAT_MC_R * s["gas.reference_temperature_k"]))
         s["measurement.total_standard_volume_m3"] = s["truth.total_standard_volume_m3"]
         if s["truth.equilibrium"]:
             s["measurement.accuracy_conditions_met"] = True
@@ -665,7 +665,7 @@ class AlicatMCRuntime:
                 raise ValueError("Stop flow before reconnecting topology")
             s.update({"ports.upstream_node_id": upstream_node_id, "ports.downstream_node_id": downstream_node_id,
                 "flow.zeroed": False, "truth.standard_flow_m3_s": None, "truth.total_standard_volume_m3": None,
-                "truth.upstream_pressure_Pa": None, "truth.downstream_pressure_Pa": None, "truth.temperature_K": None,
+                "truth.upstream_pressure_pa": None, "truth.downstream_pressure_pa": None, "truth.temperature_k": None,
                 "truth.no_flow": False, "truth.equilibrium": False})
             self._commit(inst, s)
 
@@ -675,8 +675,8 @@ class AlicatMCRuntime:
             if any(not _amc_number(v) or v <= 0 for v in (upstream_pressure_Pa, downstream_pressure_Pa, temperature_K)) or type(equilibrium) is not bool or type(no_flow) is not bool:
                 raise ValueError("Positive finite SI boundaries and boolean host assertions required")
             s = _amc_copy.deepcopy(inst["values"])
-            s.update({"truth.upstream_pressure_Pa": float(upstream_pressure_Pa), "truth.downstream_pressure_Pa": float(downstream_pressure_Pa),
-                "truth.temperature_K": float(temperature_K), "truth.equilibrium": equilibrium, "truth.no_flow": no_flow})
+            s.update({"truth.upstream_pressure_pa": float(upstream_pressure_Pa), "truth.downstream_pressure_pa": float(downstream_pressure_Pa),
+                "truth.temperature_k": float(temperature_K), "truth.equilibrium": equilibrium, "truth.no_flow": no_flow})
             if no_flow:
                 s["truth.standard_flow_m3_s"] = 0.0
             elif not self._boundaries_valid(s) or upstream_pressure_Pa <= downstream_pressure_Pa:
@@ -718,7 +718,7 @@ class AlicatMCRuntime:
                 valve = s["device.settings"]["control_variable"] == "valve_drive"
                 if ready and s["truth.no_flow"]:
                     s["truth.standard_flow_m3_s"] = 0.0
-                elif ready and valve and tau is not None and old is not None and s["truth.upstream_pressure_Pa"] > s["truth.downstream_pressure_Pa"]:
+                elif ready and valve and tau is not None and old is not None and s["truth.upstream_pressure_pa"] > s["truth.downstream_pressure_pa"]:
                     # open loop: the drive setpoint sets the linear valve, the flow follows with the host tau (loop gains bypassed)
                     target = s["valve.drive_setpoint_percent"] / 100.0 * self._open_flow(s) * factor
                     s["truth.standard_flow_m3_s"], integral = self._integrate(s, old, tau, factor, 1.0, [(dt_s, target, 0.0)])
@@ -726,7 +726,7 @@ class AlicatMCRuntime:
                         if templated:
                             _amc_templates().totalize(inst, s["truth.total_standard_volume_m3"], integral, factor)
                         s["truth.total_standard_volume_m3"] += integral
-                elif ready and conv is not None and tau is not None and old is not None and s["truth.upstream_pressure_Pa"] > s["truth.downstream_pressure_Pa"]:
+                elif ready and conv is not None and tau is not None and old is not None and s["truth.upstream_pressure_pa"] > s["truth.downstream_pressure_pa"]:
                     # controller servos on the indicated (k * true) flow; k=1.0 legacy
                     s["truth.standard_flow_m3_s"], integral = self._integrate(s, old, self._loop_tau(s, tau), factor, conv, segments, self._open_flow(s))
                     if s["truth.total_standard_volume_m3"] is not None:
@@ -782,10 +782,10 @@ class AlicatMCRuntime:
         if _amc_template_backed(self, s, inst) and s["gas.selected_id"] not in self._gases:
             t = _amc_templates()
             users = t.user_records(s)
-            actual = t.gas_state(s["gas.selected_id"], s["truth.temperature_K"], s["truth.upstream_pressure_Pa"], users)
-            standard = t.gas_state(s["gas.selected_id"], s["gas.reference_temperature_K"], s["gas.reference_pressure_Pa"], users)
+            actual = t.gas_state(s["gas.selected_id"], s["truth.temperature_k"], s["truth.upstream_pressure_pa"], users)
+            standard = t.gas_state(s["gas.selected_id"], s["gas.reference_temperature_k"], s["gas.reference_pressure_pa"], users)
             return None if actual is None or standard is None else actual["density_kg_m3"] / standard["density_kg_m3"]
-        return _amc_finite_result((s["gas.reference_temperature_K"] / s["truth.temperature_K"]) * (s["truth.upstream_pressure_Pa"] / s["gas.reference_pressure_Pa"]))
+        return _amc_finite_result((s["gas.reference_temperature_k"] / s["truth.temperature_k"]) * (s["truth.upstream_pressure_pa"] / s["gas.reference_pressure_pa"]))
 
     def _integrate(self, s, old, tau, factor, conv, segments, q_open=None):
         """Exact first-order response x' = (target(t) - x) / tau over the active-setpoint segments (a ramp makes the target linear in time); the
@@ -844,9 +844,9 @@ class AlicatMCRuntime:
             return
         if st["control_variable"] == "valve_drive":                           # 0-5 V is 0-100 % drive, within the limits as % of full scale
             lo, hi = (100.0 * st[k] / ALICAT_MC_FS_M3_S for k in ("setpoint_min_m3_s", "setpoint_max_m3_s"))
-            s["valve.drive_setpoint_percent"] = min(max(s["setpoint.analog_input_V"] / ALICAT_MC_ANALOG_FS_V * 100.0, lo), hi)
+            s["valve.drive_setpoint_percent"] = min(max(s["setpoint.analog_input_v"] / ALICAT_MC_ANALOG_FS_V * 100.0, lo), hi)
             return
-        value = min(max(s["setpoint.analog_input_V"] / ALICAT_MC_ANALOG_FS_V * ALICAT_MC_FS_M3_S, st["setpoint_min_m3_s"]), st["setpoint_max_m3_s"])
+        value = min(max(s["setpoint.analog_input_v"] / ALICAT_MC_ANALOG_FS_V * ALICAT_MC_FS_M3_S, st["setpoint_min_m3_s"]), st["setpoint_max_m3_s"])
         self._new_setpoint(s, inst, 0.0 if value < ALICAT_MC_MIN_M3_S else value)
 
     def _autotare(self, s, inst, dt_s):
@@ -880,7 +880,7 @@ class AlicatMCRuntime:
             if not _amc_number(volts) or not 0 <= volts <= ALICAT_MC_ANALOG_FS_V:
                 raise ValueError("Analog setpoint input must be finite in 0..5 V")
             s = _amc_copy.deepcopy(inst["values"])
-            s["setpoint.analog_input_V"] = float(volts)
+            s["setpoint.analog_input_v"] = float(volts)
             self._apply_analog(s, inst)
             self._commit(inst, s)
 
@@ -1057,7 +1057,7 @@ class AlicatMCSession:
             s.update({"flow.zeroed": False, "truth.standard_flow_m3_s": None, "truth.total_standard_volume_m3": None})
             s["gas.recent_ids"] = ([args["gas_id"]] + [g for g in s["gas.recent_ids"] if g != args["gas_id"]])[:ALICAT_MC_RECENT]
         elif cid == "gas.set_reference_conditions":
-            s["gas.reference_temperature_K"], s["gas.reference_pressure_Pa"] = float(args["temperature_K"]), float(args["pressure_Pa"])
+            s["gas.reference_temperature_k"], s["gas.reference_pressure_pa"] = float(args["temperature_K"]), float(args["pressure_Pa"])
             s.update({"flow.zeroed": False, "truth.standard_flow_m3_s": None, "truth.total_standard_volume_m3": None})
         elif cid == "flow.set_setpoint":
             value = args["flow_rate_m3_s"]
@@ -1144,7 +1144,7 @@ class AlicatMCSession:
             s["gas.recent_ids"] = [g for g in s["gas.recent_ids"] if g != gas_id]
         elif cid == "device.factory_restore":
             s["device.settings"] = {k: _amc_copy.deepcopy(v[1]) for k, v in _AMC_SETTINGS.items()}
-            s.update({"gas.reference_temperature_K": 298.15, "gas.reference_pressure_Pa": 101325.0, "totalizer.batch_size_m3": None,
+            s.update({"gas.reference_temperature_k": 298.15, "gas.reference_pressure_pa": 101325.0, "totalizer.batch_size_m3": None,
                       "flow.zeroed": False, "truth.standard_flow_m3_s": None, "truth.total_standard_volume_m3": None})
             if templates.is_selectable(host, "mix_air"):
                 s["gas.selected_id"] = "mix_air"
@@ -2507,7 +2507,7 @@ def export_ziath_dp5_contract_metadata():
                 ('BUSY', '扫描资源正在使用。', 'none'), ('REQUEST_CONFLICT', '同一请求ID被用于不同参数。', 'none'),
                 ('UNSUPPORTED', '需要的场景回调尚未绑定。', 'none'), ('DEVICE_ERROR', '外部回调未确认；内部状态未提交，外部可能已部分改变。', 'unknown'),
                 ('UNKNOWN_OPERATION', '操作不存在或不属于当前实例和调用者。', 'none')]]}
-    return {'asset_type_id': ZIATH_DP5_TYPE, 'asset_version': '1.0.1', 'catalog_id': 'CHEM-179', 'state_slots': slots, 'capabilities': caps,
+    return {'asset_type_id': ZIATH_DP5_TYPE, 'asset_version': '1.0.2', 'catalog_id': 'CHEM-179', 'state_slots': slots, 'capabilities': caps,
         'parameters': {'scan_time_s': {'value': 2.0, 'unit': 's', 'evidence': 'catalog_approximation', 'note_zh': '约2 s规格用于固定时长仿真近似。'},
             'supported_rack_capacities': {'value': list(ZIATH_DP5_FORMATS), 'unit': '1', 'evidence': 'catalog'},
             'rack_lift_limit_m': {'value': .10, 'unit': 'm', 'evidence': 'assumed'},
@@ -2676,12 +2676,12 @@ class ZiathDP5Runtime:
         with self._lock:
             return _dp5_copy.deepcopy({'time_s': self.time_s, 'instances': {k: {field: val for field, val in v.items() if field != 'adapter'} for k, v in self._instances.items()}, 'operations': self._operations})
 
-    def _response(self, instance_id, request_id=None, *, status='succeeded', result=None, operation_id=None, code=None, side_effects='none'):
+    def _response(self, instance_id, request_id=None, *, status='succeeded', result=None, operation_id=None, code=None, side_effects='none', message=None):
         item = self._get(instance_id)
         return {'protocol_version': '1.0.0', 'instance_id': instance_id, 'request_id': request_id, 'operation_id': operation_id,
             'status': status, 'state_revision': item['revision'] if item else None, 'clock': {'domain': 'simulation', 'time_s': self.time_s},
             'result': _dp5_copy.deepcopy(result), 'observations': {},
-            'error': None if code is None else {'code': code, 'message': 'Operation not permitted or could not be confirmed: ' + code,
+            'error': None if code is None else {'code': code, 'message': message or 'Operation not permitted or could not be confirmed: ' + code,
                 'retryable': False, 'side_effects': side_effects, 'known_progress': None}}
 
     @staticmethod
@@ -2691,7 +2691,7 @@ class ZiathDP5Runtime:
 
     def _invoke(self, principal_id, instance_id, cid, args, request_id):
         with self._lock:
-            reject = lambda code, status='rejected', side='none': self._response(instance_id, request_id, status=status, code=code, side_effects=side)
+            reject = lambda code, status='rejected', side='none', why=None: self._response(instance_id, request_id, status=status, code=code, side_effects=side, message=why)
             item = self._get(instance_id, principal_id)
             if item is None:
                 return reject('UNKNOWN_INSTANCE')
@@ -2719,23 +2719,26 @@ class ZiathDP5Runtime:
             if not valid:
                 return reject('INVALID_ARGUMENT')
             s = item['state']
+            # 1.0.2: PRECONDITION_FAILED keeps its code (no finer one is declared); the message names the cause
             if cid in ('configuration.set', 'acquisition.start') and not s['power.enabled']:
-                return reject('PRECONDITION_FAILED')
+                return reject('PRECONDITION_FAILED', why='The reader is switched off (power.set enabled=true).')
             if cid in ('configuration.set', 'acquisition.start', 'scene.set_rack_lift') and s['acquisition.status'] == 'running':
                 return reject('BUSY')
             if cid == 'configuration.set' and s['rack.loaded'] and args['rack_format'] != item['rack_format']:
-                return reject('PRECONDITION_FAILED')
+                return reject('PRECONDITION_FAILED', why='The loaded rack has %d positions; rack_format %d does not match it (remove the rack first).' % (item['rack_format'], args['rack_format']))
             if cid == 'acquisition.start' and (not s['rack.loaded'] or s['scene.rack_lift_m'] != 0.0 or s['configuration.rack_format'] != item['rack_format']):
-                return reject('PRECONDITION_FAILED')
+                return reject('PRECONDITION_FAILED', why='No rack is on the reader.' if not s['rack.loaded'] else
+                              'The rack is not seated (scene.set_rack_lift lift_m=0).' if s['scene.rack_lift_m'] != 0.0 else
+                              'The configured rack format %d does not match the loaded %d-position rack (configuration.set).' % (s['configuration.rack_format'], item['rack_format']))
             if cid == 'scene.set_rack_lift' and not s['rack.loaded']:
-                return reject('PRECONDITION_FAILED')
+                return reject('PRECONDITION_FAILED', why='No rack is on the reader.')
             op = None
             if cid in ('acquisition.poll', 'acquisition.cancel'):
                 op = self._operations.get(args['operation_id'])
                 if op is None or op['instance_id'] != instance_id or op['principal_id'] != principal_id:
                     return reject('UNKNOWN_OPERATION')
             if cid == 'results.export' and s['results.data'] is None:
-                return reject('PRECONDITION_FAILED')
+                return reject('PRECONDITION_FAILED', why='There are no scan results to export (run acquisition.start to completion).')
             if cid in ('power.set', 'configuration.set', 'scene.set_rack_lift'):
                 if item['adapter'] is None:
                     return reject('UNSUPPORTED', 'unsupported')
@@ -3675,8 +3678,8 @@ _AHS_Q = _ahs_num('m', 0, AZENTA_HEAT_SEALER_Q_MAX_M)
 _AHS_STATUS = {'type': 'string', 'enum': ['idle', 'running', 'succeeded', 'cancelled', 'failed']}
 _AHS_SLOTS = {
     'power.enabled': _ahs_slot(_AHS_BOOL, '1', 'setpoint', via=('power.set', 'enabled')),
-    'thermal.setpoint_K': _ahs_slot(_ahs_nullable(_AHS_TEMP), 'K', 'setpoint', via=('thermal.set_temperature', 'temperature_K')),
-    'measurement.temperature_K': _ahs_slot(_ahs_nullable(_ahs_num('K')), 'K', 'derived'),
+    'thermal.setpoint_k': _ahs_slot(_ahs_nullable(_AHS_TEMP), 'K', 'setpoint', via=('thermal.set_temperature', 'temperature_K')),
+    'measurement.temperature_k': _ahs_slot(_ahs_nullable(_ahs_num('K')), 'K', 'derived'),
     'thermal.target_reached': _ahs_slot(_AHS_BOOL, '1', 'derived'),
     'simulation.thermal_rate_configured': _ahs_slot(_AHS_BOOL, '1', 'derived'),
     'configuration.press_time_s': _ahs_slot(_ahs_nullable(_AHS_DURATION), 's', 'setpoint'),
@@ -3694,12 +3697,12 @@ _AHS_SLOTS = {
     'sealing.status': _ahs_slot(_AHS_STATUS, '1', 'derived'),
     'sealing.elapsed_s': _ahs_slot(_ahs_num('s', 0, 10), 's', 'derived'),
     'sealing.progress': _ahs_slot(_ahs_num('1', 0, 1), '1', 'derived'),
-    'truth.temperature_K': _ahs_slot(_ahs_nullable(_ahs_num('K')), 'K', 'process_truth', 'debug'),
-    'truth.thermal_rate_K_s': _ahs_slot(_ahs_nullable(_ahs_num('K/s')), 'K/s', 'process_truth', 'debug'),
+    'truth.temperature_k': _ahs_slot(_ahs_nullable(_ahs_num('K')), 'K', 'process_truth', 'debug'),
+    'truth.thermal_rate_k_s': _ahs_slot(_ahs_nullable(_ahs_num('K/s')), 'K/s', 'process_truth', 'debug'),
 }
 _AHS_OPERATION = _ahs_obj({'operation_id': _AHS_STR, 'status': _AHS_STATUS, 'elapsed_s': _ahs_num('s', 0, 10),
     'progress': _ahs_num('1', 0, 1), 'simulated_sealed': _AHS_BOOL})
-_AHS_READ_IDS = ['measurement.temperature_K', 'thermal.target_reached', 'film.remaining_seals', 'plate.simulated_sealed', 'sealing.status', 'sealing.elapsed_s', 'sealing.progress']
+_AHS_READ_IDS = ['measurement.temperature_k', 'thermal.target_reached', 'film.remaining_seals', 'plate.simulated_sealed', 'sealing.status', 'sealing.elapsed_s', 'sealing.progress']
 _AHS_COMPONENTS = {'power.set': ['power_data_panel'], 'thermal.set_temperature': ['press_head'],
     'configuration.set': ['plate_adapter', 'roll_support'], 'scene.set_press_displacement': ['press_head', 'guide_rails'],
     'sealing.start': ['press_head', 'film_path', 'external_plate'], 'sealing.poll': ['status_display'],
@@ -3707,7 +3710,7 @@ _AHS_COMPONENTS = {'power.set': ['power_data_panel'], 'thermal.set_temperature':
 _AHS_LIMITATIONS = [
     '温度100–195°C、时间0.1–10s、板高3–60mm、膜宽75–85mm来自CHEM-176三表；SI接口采用K、s、m。',
     '热初始值和热速率没有缺省值；温度推进只采用宿主明确给定且附证据的线性接近设定值模型，无热容、功率、冷却曲线或PID推断。',
-    'measurement.temperature_K为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。',
+    'measurement.temperature_k为理想化过程代理且quality=estimated；target_reached只比较模型目标，不是实测稳定性或厂家互锁。±1K均匀性只作为规格，不作为目标公差。',
     '压合q=0..0.074m、压头底z=.105-q、板顶z=.028+height和接触q=.077-height均是几何假设，非厂家行程或接触力学。',
     '一卷最多5000次是上限；宿主须提供实际剩余次数，默认null。每次已接受封膜消耗1次膜配额；取消或失败不退回膜。未推断膜长度或实际进给距离。',
     'film_roll_position_id与plate_adapter_id引用宿主装载的兼容配置；真实位置坐标和厂家适配器枚举未知，不生成任意假坐标。',
@@ -3723,8 +3726,8 @@ def export_azenta_heat_sealer_contract_metadata():
         slot['read_binding'] = 'AzentaHeatSealerSession.read(instance_id=..., state_ids=[%r])' % sid
     slots['scene.press_displacement_m']['reference_conditions'] = 'q positive down; ahs__press_joint.location.z=-q; 0..0.074m geometric assumption'
     specs = {
-        'power.set': ({'enabled': _AHS_BOOL}, _ahs_obj({'enabled': _AHS_BOOL}), {'enabled': True}, ['power.enabled', 'thermal.target_reached', 'measurement.temperature_K', 'sealing.status'], 'device_command', '设置仿真供电；断电取消封膜并保留压头、时间和已消耗膜。'),
-        'thermal.set_temperature': ({'temperature_K': _AHS_TEMP}, _ahs_obj({'setpoint_K': _AHS_TEMP}), {'temperature_K': 423.15}, ['thermal.setpoint_K', 'thermal.target_reached'], 'device_command', '写入封膜温度目标；只在宿主推进时才更新已配置的温度过程。'),
+        'power.set': ({'enabled': _AHS_BOOL}, _ahs_obj({'enabled': _AHS_BOOL}), {'enabled': True}, ['power.enabled', 'thermal.target_reached', 'measurement.temperature_k', 'sealing.status'], 'device_command', '设置仿真供电；断电取消封膜并保留压头、时间和已消耗膜。'),
+        'thermal.set_temperature': ({'temperature_K': _AHS_TEMP}, _ahs_obj({'setpoint_K': _AHS_TEMP}), {'temperature_K': 423.15}, ['thermal.setpoint_k', 'thermal.target_reached'], 'device_command', '写入封膜温度目标；只在宿主推进时才更新已配置的温度过程。'),
         'configuration.set': ({'press_time_s': _AHS_DURATION, 'plate_adapter_id': _AHS_STR, 'film_roll_position_id': _AHS_STR}, _ahs_obj({'press_time_s': _AHS_DURATION, 'plate_adapter_id': _AHS_STR, 'film_roll_position_id': _AHS_STR}), {'press_time_s': 1.0, 'plate_adapter_id': 'host_adapter', 'film_roll_position_id': 'host_roll_position'}, ['configuration.press_time_s', 'configuration.plate_adapter_id', 'configuration.film_roll_position_id'], 'configuration', '选择时间和宿主已装载的板适配器、膜卷位置标识。'),
         'scene.set_press_displacement': ({'displacement_m': _AHS_Q}, _ahs_obj({'displacement_m': _AHS_Q}), {'displacement_m': .017}, ['scene.press_displacement_m'], 'configuration', '宿主确认压合展示关节；装板时不能穿过几何接触平面。'),
         'sealing.start': ({}, _AHS_OPERATION, {}, ['sealing.status', 'sealing.elapsed_s', 'sealing.progress', 'plate.simulated_sealed', 'film.remaining_seals'], 'device_command', '开始计时封膜，立即消耗1次膜配额；accepted不表示密封完成。'),
@@ -3743,7 +3746,7 @@ def export_azenta_heat_sealer_contract_metadata():
     for cid, (props, out, example, effects, kind, desc) in specs.items():
         entries = [{'state_id': k, 'timing': 'immediate', 'description_zh': '本调用成功后的明确状态更新。'} for k in effects]
         if cid == 'thermal.set_temperature':
-            entries += [{'state_id': k, 'timing': 'on_step', 'description_zh': '仅宿主已给出初值、线性热速率及证据时，随共同时间更新。'} for k in ['truth.temperature_K', 'measurement.temperature_K', 'thermal.target_reached']]
+            entries += [{'state_id': k, 'timing': 'on_step', 'description_zh': '仅宿主已给出初值、线性热速率及证据时，随共同时间更新。'} for k in ['truth.temperature_k', 'measurement.temperature_k', 'thermal.target_reached']]
         if cid == 'sealing.start':
             entries += [{'state_id': k, 'timing': 'on_step', 'description_zh': '只由宿主共同时间推进；满设定持续时间后改变模拟密封状态。'} for k in ['sealing.status', 'sealing.elapsed_s', 'sealing.progress', 'plate.simulated_sealed']]
         unsupported = cid == 'sealing.set_pressure'
@@ -3832,8 +3835,8 @@ class AzentaHeatSealerRuntime:
 
     @staticmethod
     def _refresh(s):
-        s['measurement.temperature_K'] = s['truth.temperature_K'] if s['power.enabled'] else None
-        s['thermal.target_reached'] = bool(s['power.enabled'] and s['truth.temperature_K'] is not None and s['thermal.setpoint_K'] is not None and _ahs_math.isclose(s['truth.temperature_K'], s['thermal.setpoint_K'], rel_tol=0, abs_tol=1e-9))
+        s['measurement.temperature_k'] = s['truth.temperature_k'] if s['power.enabled'] else None
+        s['thermal.target_reached'] = bool(s['power.enabled'] and s['truth.temperature_k'] is not None and s['thermal.setpoint_k'] is not None and _ahs_math.isclose(s['truth.temperature_k'], s['thermal.setpoint_k'], rel_tol=0, abs_tol=1e-9))
 
     def _stop(self, item, status):
         s = item['state']
@@ -3878,7 +3881,7 @@ class AzentaHeatSealerRuntime:
             item = self._get(instance_id)
             if item is None or not _ahs_number(temperature_K) or temperature_K <= 0 or not _ahs_string(evidence):
                 raise ValueError('Positive finite host temperature and evidence required')
-            item['state']['truth.temperature_K'] = float(temperature_K)
+            item['state']['truth.temperature_k'] = float(temperature_K)
             item['evidence']['temperature'] = evidence
             self._refresh(item['state'])
             if not item['state']['thermal.target_reached']:
@@ -3890,7 +3893,7 @@ class AzentaHeatSealerRuntime:
             item = self._require_idle(instance_id)
             if not _ahs_number(thermal_rate_K_s) or thermal_rate_K_s <= 0 or not _ahs_string(evidence):
                 raise ValueError('Positive finite explicit linear thermal rate and evidence required')
-            item['state'].update({'truth.thermal_rate_K_s': float(thermal_rate_K_s), 'simulation.thermal_rate_configured': True})
+            item['state'].update({'truth.thermal_rate_k_s': float(thermal_rate_K_s), 'simulation.thermal_rate_configured': True})
             item['evidence']['thermal_rate'] = evidence
             item['revision'] += 1
 
@@ -3924,12 +3927,12 @@ class AzentaHeatSealerRuntime:
             for item in self._instances.values():
                 s = item['state']
                 before = _ahs_copy.deepcopy(s)
-                temp, target, rate = s['truth.temperature_K'], s['thermal.setpoint_K'], s['truth.thermal_rate_K_s']
+                temp, target, rate = s['truth.temperature_k'], s['thermal.setpoint_k'], s['truth.thermal_rate_k_s']
                 if s['power.enabled'] and temp is not None and target is not None and rate is not None:
                     # Clamp before multiplication so even a huge finite rate cannot overflow.
                     span = abs(target - temp)
                     change = span if dt_s >= span / rate else dt_s * rate
-                    s['truth.temperature_K'] = target if change >= span else temp + _ahs_math.copysign(change, target - temp)
+                    s['truth.temperature_k'] = target if change >= span else temp + _ahs_math.copysign(change, target - temp)
                 self._refresh(s)
                 if s['sealing.status'] == 'running':
                     op = self._operations[item['active_operation']]
@@ -4034,9 +4037,9 @@ class AzentaHeatSealerRuntime:
                     self._stop(item, 'cancelled')
                 result = {'enabled': args['enabled']}
             elif cid == 'thermal.set_temperature':
-                s['thermal.setpoint_K'] = float(args['temperature_K'])
+                s['thermal.setpoint_k'] = float(args['temperature_K'])
                 self._refresh(s)
-                result = {'setpoint_K': s['thermal.setpoint_K']}
+                result = {'setpoint_K': s['thermal.setpoint_k']}
             elif cid == 'configuration.set':
                 for k, v in args.items(): s['configuration.' + k] = v
                 result = args
@@ -4315,6 +4318,17 @@ def export_opentrons_flex_contract_metadata():
         'limitations': list(_FLEX_LIMITATIONS), 'output_schema_scope': 'output_schema validates response.result; observations and describe are filtered by trusted host identity'}
 
 
+# read(): why a slot has no value (quality 'unavailable')
+_FLEX_EMPTY_REASONS = {
+    'tip.attached_id': 'No tip is attached.',
+    'tip.last_slot_id': 'No tip has been picked up or dropped yet.',
+    'truth.tip_volume_m3': 'No tip is attached.',
+    'run.state': 'No protocol run is set up.',
+    'protocols.newest_id': 'No protocol is stored on the robot.',
+    'usb.drive': 'No USB drive is inserted.',
+}
+
+
 class OpentronsFlexRuntime:
     """Trusted host for isolated instrument inventories, joint states and sessions."""
     def __init__(self):
@@ -4596,7 +4610,7 @@ class OpentronsFlexSession:
                 value = _flex_copy.deepcopy(item['state'][sid])
                 response['observations'][sid] = {'value': value, 'unit': _FLEX_SLOTS[sid]['unit'], 'quality': 'unavailable' if value is None else 'estimated' if _FLEX_SLOTS[sid]['origin'] == 'process_truth' else 'valid', 'sample_time_s': h.time_s, 'sample_window_s': None}
                 if value is None:
-                    response['observations'][sid]['reason'] = 'No current attached tip or prior slot event.'
+                    response['observations'][sid]['reason'] = _FLEX_EMPTY_REASONS.get(sid, 'No value yet.')
             return response
 
     def invoke(self, *, instance_id, capability_id, arguments, request_id):
@@ -4618,6 +4632,7 @@ import copy as _qt_copy
 import json as _qt_json
 import math as _qt_math
 import threading as _qt_threading
+import sys as _qt_sys
 
 QUANTOS_Q2_TYPE = 'instrument.mt_quantos_q2_xpe206dr'
 
@@ -4685,7 +4700,7 @@ _QT_LIMITATIONS = [
     '范围1 mg–5 g仅适用于宿主明确确认的自由流动粉末；无默认物料、库存、允许偏差、速率、天平容量或读数精度。',
     '碳酸钙10 mg典型22 s、RSD 1.15%；50 mg RSD 0.26%；1000 mg典型71 s仅作为清单资料，不计算任意粉末速率、RSD或随机误差。',
     '投料采用显式宿主速率与理想闭环连续停止模型，实际读数为estimated理想质量代理；没有粉体流变、扬尘、残留、天平动态或真实误差模型。',
-    '门为宿主确认的展示滑移关节，几何行程由宿主带证据配置；不声称是原厂门行程、速度或安全互锁认证。',
+    '前门为杠杆抬起的上挂玻璃门（说明书p.25-26、p.67-68；宣传册p.10侧视图）：scene.door_opening_m为门上沿铰销沿杠杆圆弧走过的距离（杠杆转角=开度/0.198 m，全开0.5495 m，图纸推算），宿主带证据配置行程并经场景回调确认；左右侧门沿+Y后滑，Doorway 100 %行程0.16 m为图纸估计（说明书未给数值）；不声称原厂门速度或安全互锁认证。',
     'attach/release仅在外部约束回调明确确认后登记；没有机器人规划、接触抓取或硬件驱动。',
     '只有可信宿主管理库存、物质转移账本、身份和时间；API过滤不是Python或共享文件系统隔离。请求去重仅当前内存有效。',
 ]
@@ -4695,7 +4710,9 @@ def export_quantos_q2_contract_metadata():
     slots = _qt_copy.deepcopy(_QT_SLOTS)
     for sid, slot in slots.items():
         slot['read_binding'] = 'QuantosQ2Session.read(instance_id=..., state_ids=[%r])' % sid
-    slots['scene.door_opening_m']['reference_conditions'] = 'quantos__door_slide.location.y=q; +Y opening from authored closed pose; host-configured geometric upper bound'
+    slots['scene.door_opening_m']['reference_conditions'] = ('front door: q = path of the door top hinge pin along the lever arc; quantos__front_door_lever.rotation_euler.x=-q/%g, '
+                                                             'quantos__front_door_hinge follows as mimic (x%g); 0 = closed, full open %.4f m; host-configured upper bound'
+                                                             % (QUANTOS_FRONT_DOOR['lever_length_m'], QUANTOS_FRONT_DOOR['mimic'], QUANTOS_FRONT_DOOR['travel_m']))
     specs = {
         'power.set': ({'enabled': _QT_BOOL}, ['power.enabled'] + _QT_MEASURE_IDS + ['balance.tared', 'dosing.status'], ['power.enabled'], {'enabled': True}, ['terminal'], []),
         'dosing.set_target': ({'target_mass_kg': _qt_num('kg', 1e-6, .005)}, ['dosing.target_mass_kg'] + _QT_MEASURE_IDS, ['dosing.target_mass_kg'], {'target_mass_kg': 1e-5}, ['terminal'], ['上电且无运行操作；范围仅自由流动粉末。']),
@@ -4710,7 +4727,7 @@ def export_quantos_q2_contract_metadata():
         'dosing.cancel': ({'operation_id': _QT_STR}, ['dosing.status'], _QT_READ_IDS, {'operation_id': 'qt_op_1'}, ['terminal', 'dosing_head'], ['操作属于当前身份与实例；取消保留已转移粉末与耗时。']),
         'autosampler.advance': ({}, [], [], {}, ['autosampler_option'], ['该批次单头配置未安装可选30位自动进样器。']),
     }
-    desc = {'power.set': '设置仿真供电，断电取消任务并保留已投料。', 'dosing.set_target': '设置目标质量。', 'dosing.set_tolerance': '设置绝对允许偏差。', 'head.select': '选择宿主装入的粉末头。', 'container.select_position': '选择宿主已经放置容器的位置。', 'door.set_opening': '设置门展示滑移位置并等待宿主场景确认。', 'balance.tare': '记录显式理想读数模型的容器质量基线。', 'dosing.start': '启动有源库存守恒的异步仿真投料。', 'dosing.read': '读取投料结果且不推进时间。', 'dosing.poll': '读取当前身份拥有的投料进度。', 'dosing.cancel': '取消投料且保留部分转移。', 'autosampler.advance': '可选自动进样器未装配，不支持转位。'}
+    desc = {'power.set': '设置仿真供电，断电取消任务并保留已投料。', 'dosing.set_target': '设置目标质量。', 'dosing.set_tolerance': '设置绝对允许偏差。', 'head.select': '选择宿主装入的粉末头。', 'container.select_position': '选择宿主已经放置容器的位置。', 'door.set_opening': '设置前门开度（门上沿铰销沿杠杆圆弧的行程，0为关）并等待宿主场景确认。', 'balance.tare': '记录显式理想读数模型的容器质量基线。', 'dosing.start': '启动有源库存守恒的异步仿真投料。', 'dosing.read': '读取投料结果且不推进时间。', 'dosing.poll': '读取当前身份拥有的投料进度。', 'dosing.cancel': '取消投料且保留部分转移。', 'autosampler.advance': '可选自动进样器未装配，不支持转位。'}
     caps = {}
     for cid, (props, effects, observed, example, components, prereq) in specs.items():
         scene, unsupported = cid == 'door.set_opening', cid == 'autosampler.advance'
@@ -4722,7 +4739,7 @@ def export_quantos_q2_contract_metadata():
             'state_effects': entries, 'preconditions_zh': prereq, 'example_arguments': [_qt_copy.deepcopy(example)],
             'binding': None if unsupported else 'basic40_runtime_automation.QuantosQ2Session.invoke(instance_id=..., capability_id=%r, arguments=..., request_id=...)' % cid,
             'implementation': {'process': 'absent' if unsupported else 'implemented', 'scene': 'implemented' if scene else 'not_applicable', 'host': 'absent' if unsupported else 'implemented', 'hardware': 'absent', 'robot': 'absent'},
-            'model_effects': {'mode': 'host_required' if scene else 'none', 'binding_ids': [], 'description_zh': 'scene_adapter(instance_id,{scene.door_opening_m:q})返回True后提交，apply_quantos_q2_scene_patch映射quantos__door_slide.location.y=q。' if scene else '逻辑装载、称量和投料读数不驱动额外几何；粒子粉末流和屏幕同步未实现。'},
+            'model_effects': {'mode': 'host_required' if scene else 'none', 'binding_ids': [], 'description_zh': 'scene_adapter(instance_id,{scene.door_opening_m:q})返回True后提交，apply_quantos_q2_scene_patch把前门杠杆转到q/0.198 rad，门板按mimic跟随。' if scene else '逻辑装载、称量和投料读数不驱动额外几何；粒子粉末流和屏幕同步未实现。'},
             'execution_notes': {'mode': 'asynchronous' if cid == 'dosing.start' else 'synchronous', 'time_domain': 'simulation', 'cancellable': cid == 'dosing.start', 'completion_zh': '理想观测达到目标即停止，缺料则failed保留部分转移。' if cid == 'dosing.start' else '返回succeeded表示本次操作完成。', 'partial_failure_zh': '取消、断电和缺料保留已转移的质量和已用时间；外部场景回调失败的副作用为unknown。', 'retry_zh': '当前内存中相同请求ID及参数返回原响应；不同参数拒绝；不保证跨重启。'},
             'errors': [{'code': c, 'description_zh': d, 'side_effects': s} for c, d, s in [('INVALID_ARGUMENT', '参数类型、范围或额外字段无效。', 'none'), ('UNKNOWN_INSTANCE', '实例不存在或不在身份范围。', 'none'), ('UNKNOWN_CAPABILITY', '能力不存在。', 'none'), ('ACCESS_DENIED', '槽不可写或身份不能访问。', 'none'), ('PRECONDITION_FAILED', '供电、装载、门、去皮、配置或库存条件不满足。', 'none'), ('BUSY', '投料占用设备。', 'none'), ('REQUEST_CONFLICT', '请求ID参数冲突。', 'none'), ('UNKNOWN_OPERATION', '操作不属于当前身份与实例。', 'none'), ('UNSUPPORTED', '能力未装配或门场景未绑定。', 'none'), ('DEVICE_ERROR', '场景回调失败或未确认。', 'unknown'), ('SOURCE_DEPLETED', '粉末源在达到目标前耗尽；保留部分投料。', 'partial')]]}
     return {'asset_type_id': QUANTOS_Q2_TYPE, 'asset_version': '1.0.2', 'catalog_id': 'CHEM-174', 'state_slots': slots, 'capabilities': caps,
@@ -4732,21 +4749,55 @@ def export_quantos_q2_contract_metadata():
         'limitations': list(_QT_LIMITATIONS), 'output_schema_scope': 'capabilities.output_schema validates response.result; no process truth/evidence in agent response'}
 
 
-def apply_quantos_q2_scene_patch(scene, patch):
-    """Blender scene bridge; caller must separately verify evaluated geometry."""
-    if not isinstance(patch, dict) or set(patch) != {'scene.door_opening_m'} or not _qt_number(patch['scene.door_opening_m']) or patch['scene.door_opening_m'] < 0:
-        raise ValueError('Only a finite nonnegative door patch is accepted')
-    door = scene.objects.get('quantos__door_slide')
-    if door is None:
-        raise ValueError('Quantos door target missing')
-    if door.animation_data and (door.animation_data.action or door.animation_data.drivers):
+# Doors (2026-10-23): the front door is lifted by a lever on each side and guided at the front top edge (brochure 30084648A p.10
+# side view, manual p.25-26, p.67-68); the side doors slide back (+Y), travel at Doorway 100 % is a drawing estimate (p.10).
+QUANTOS_FRONT_DOOR = {'lever_length_m': 0.198, 'lever_max_rad': 2.775073510670984, 'mimic': -0.51264, 'travel_m': 0.198 * 2.775073510670984,
+                      'lever_object': 'quantos__front_door_lever', 'hinge_object': 'quantos__front_door_hinge'}
+QUANTOS_SIDE_DOOR = {'travel_m': 0.16, 'objects': ('quantos__side_door_left_slide', 'quantos__side_door_right_slide')}
+
+
+def _qt_scene_target(scene, name):
+    o = scene.objects.get(name)
+    if o is None:
+        raise ValueError('Quantos door target missing: ' + name)
+    if o.animation_data and (o.animation_data.action or o.animation_data.drivers):
         raise ValueError('Door must have a single host authority without animation/driver override')
-    if len(door.constraints):
+    if len(o.constraints):
         raise ValueError('Door constraints require explicit authority reconciliation')
-    door.location.y = float(patch['scene.door_opening_m'])
+    return o
+
+
+def apply_quantos_q2_scene_patch(scene, patch):
+    """Blender scene bridge; caller must separately verify evaluated geometry.  scene.door_opening_m (m, path of the front door's top
+    hinge pin along the lever arc): lever angle q / 0.198 m, the door hinge follows as the URDF mimic; door.side_opening_fraction (the
+    process state mirrored by the host): both side doors slide fraction x 0.16 m."""
+    keys = {'scene.door_opening_m', 'door.side_opening_fraction'}
+    if not isinstance(patch, dict) or not patch or not set(patch) <= keys or not all(_qt_number(v) and v >= 0 for v in patch.values()):
+        raise ValueError('Only a finite nonnegative door patch is accepted')
+    if 'scene.door_opening_m' in patch:
+        q = float(patch['scene.door_opening_m'])
+        if q > QUANTOS_FRONT_DOOR['travel_m'] + 1e-9:
+            raise ValueError('Front door opening beyond the geometric travel %.4f m' % QUANTOS_FRONT_DOOR['travel_m'])
+        lever, hinge = (_qt_scene_target(scene, QUANTOS_FRONT_DOOR[k]) for k in ('lever_object', 'hinge_object'))
+        beta = q / QUANTOS_FRONT_DOOR['lever_length_m']
+        lever.rotation_euler.x = -beta                                       # joint axis -X: positive lever angle lifts the door
+        hinge.rotation_euler.x = -QUANTOS_FRONT_DOOR['mimic'] * beta
+    if 'door.side_opening_fraction' in patch:
+        f = float(patch['door.side_opening_fraction'])
+        if f > 1:
+            raise ValueError('Side door fraction above 1')
+        for name in QUANTOS_SIDE_DOOR['objects']:
+            _qt_scene_target(scene, name).location.y = f * QUANTOS_SIDE_DOOR['travel_m']
     return True
 
 
+def _qt_resolution(s):
+    """Numerical resolution of the dosed mass (kg): relative 1e-12 of the target, at least a few ulp of the masses involved (2026-10-22)."""
+    big = max(abs(s['dosing.target_mass_kg'] or 0.0), abs(s['truth.container_mass_kg'] or 0.0), abs(s['truth.source_mass_kg'] or 0.0),
+              abs(s['truth.actual_dosed_kg'] or 0.0))
+    return max(1e-12 * abs(s['dosing.target_mass_kg'] or 0.0), 8.0 * _qt_sys.float_info.epsilon * big)
+
+
 class QuantosQ2Runtime:
     """Trusted host. Hand an authenticated QuantosQ2Session to the caller."""
     def __init__(self):
@@ -4904,15 +4955,20 @@ class QuantosQ2Runtime:
                 if i['active_operation'] is None:
                     continue
                 s, rate = i['state'], i['rate_kg_s']
-                remaining = max(0.0, s['dosing.target_mass_kg'] - s['truth.actual_dosed_kg'])
+                # 2026-10-22 (1.2.1): the dose sum of many steps can stop a few ulp short of the target (20 mg at 5e-7 kg/s in 1 s steps ends
+                # 1e-20 kg short); that residue is below the resolution of the masses.  The target counts as reached within the numerical
+                # resolution res of the dose (relative 1e-12 of the target, or a few ulp of the masses involved), and a step whose transfer is
+                # below the resolution moves nothing but still advances the clock (it used to raise and drop the clock step).
+                res = _qt_resolution(s)
+                remaining = s['dosing.target_mass_kg'] - s['truth.actual_dosed_kg']
+                remaining = 0.0 if remaining <= res else remaining
                 amount = min(remaining, s['truth.source_mass_kg'], rate * dt_s)
-                if amount == 0 and remaining > 0 and s['truth.source_mass_kg'] > 0:
-                    raise ValueError('Transfer below numerical resolution; no instance advanced')
+                if amount > 0 and (s['truth.container_mass_kg'] + amount == s['truth.container_mass_kg'] or s['truth.source_mass_kg'] - amount == s['truth.source_mass_kg']):
+                    amount = 0.0                                                    # below the resolution of the masses: nothing moves this step
+                amount = max(0.0, amount)
                 elapsed = min(dt_s, amount / rate)
                 if not all(_qt_number(v) for v in [amount, elapsed, s['truth.container_mass_kg'] + amount, s['dosing.elapsed_s'] + elapsed]):
                     raise ValueError('Transfer would overflow; no instance advanced')
-                if amount > 0 and (s['truth.container_mass_kg'] + amount == s['truth.container_mass_kg'] or s['truth.source_mass_kg'] - amount == s['truth.source_mass_kg']):
-                    raise ValueError('Mass change below numerical resolution; no instance advanced')
                 updates.append((iid, i, amount, elapsed))
             for iid,i,amount,elapsed in updates:
                 s, opid = i['state'], i['active_operation']
@@ -4923,9 +4979,10 @@ class QuantosQ2Runtime:
                 self._refresh(i)
                 if amount > 0:
                     self._ledger.append({'transaction_id': '%s_transfer_%d' % (opid,len(self._ledger)+1), 'operation_id': opid, 'instance_id': iid, 'donor_id': s['head.loaded_id'], 'receiver_id': s['container.loaded_id'], 'mass_kg': amount, 'unit': 'kg', 'time_s': self.time_s + elapsed})
-                if s['truth.actual_dosed_kg'] >= s['dosing.target_mass_kg']:
+                res = _qt_resolution(s)
+                if s['truth.actual_dosed_kg'] >= s['dosing.target_mass_kg'] - res:
                     self._stop(i, 'succeeded')
-                elif s['truth.source_mass_kg'] <= 0:
+                elif s['truth.source_mass_kg'] <= res:                             # what is left in the head is below the resolution: empty
                     self._stop(i, 'failed', 'SOURCE_DEPLETED')
                 self._operations[opid]['result'] = self._result(i)
                 i['revision'] += 1
@@ -5126,34 +5183,9 @@ class QuantosQ2Session:
         return self.invoke(instance_id=instance_id,capability_id='dosing.cancel',arguments={'operation_id':operation_id},request_id=request_id)
 # END CHEM-174 QUANTOS Q2 XPE206DR APPEND-ONLY RUNTIME
 
-# CHEM-176 canonical contract state IDs are lowercase; preserve legacy SI-suffix labels.
-_AHS_CONTRACT_STATE_ALIASES = {sid.lower(): sid for sid in _AHS_SLOTS}
-_ahs_session_read_legacy = AzentaHeatSealerSession.read
-_ahs_session_write_legacy = AzentaHeatSealerSession.write
-_ahs_session_describe_legacy = AzentaHeatSealerSession.describe
-def _ahs_session_read_contract(self, *, instance_id, state_ids=None):
-    if state_ids is None or not isinstance(state_ids, list) or any(not isinstance(sid,str) for sid in state_ids):
-        return _ahs_session_read_legacy(self, instance_id=instance_id, state_ids=state_ids)
-    actual = [_AHS_CONTRACT_STATE_ALIASES.get(sid,sid) for sid in state_ids]
-    response = _ahs_session_read_legacy(self, instance_id=instance_id, state_ids=actual)
-    if response['status'] == 'succeeded':
-        response['observations'] = {requested: _ahs_copy.deepcopy(response['observations'][source]) for requested,source in zip(state_ids,actual)}
-    return response
-def _ahs_session_write_contract(self, *, instance_id, state_id, value, request_id):
-    actual = _AHS_CONTRACT_STATE_ALIASES.get(state_id,state_id) if isinstance(state_id,str) else state_id
-    return _ahs_session_write_legacy(self, instance_id=instance_id, state_id=actual, value=value, request_id=request_id)
-def _ahs_session_describe_contract(self, *, asset_type_id=None, instance_id=None):
-    metadata = _ahs_session_describe_legacy(self, asset_type_id=asset_type_id, instance_id=instance_id)
-    if 'state_slots' in metadata:
-        metadata['state_slots'] = {sid.lower():slot for sid,slot in metadata['state_slots'].items()}
-        for cap in metadata['capabilities'].values():
-            cap['observes'] = [sid.lower() for sid in cap['observes']]
-            for effect in cap['state_effects']: effect['state_id'] = effect['state_id'].lower()
-        metadata['limitations'].append('合同状态ID采用小写_k/_k_s；显式read/write接受这些规范ID。省略state_ids的旧便捷read保留原实现的SI后缀标签；标准lab.read应显式传入合同状态ID。')
-    return metadata
-AzentaHeatSealerSession.read = _ahs_session_read_contract
-AzentaHeatSealerSession.write = _ahs_session_write_contract
-AzentaHeatSealerSession.describe = _ahs_session_describe_contract
+# CHEM-176 state IDs are the contract IDs (lower case _k / _k_s).  Until 1.2.1 the runtime kept SI-suffix labels (thermal.setpoint_K, ...)
+# and a wrapper here lower-cased describe() and mapped explicit reads/writes, while read() without state_ids still returned the old labels;
+# 1.2.2 (2026-10-22) renamed the slots themselves, so describe, read, write and the contract use one set of IDs and the wrapper is gone.
 
 # BEGIN CHEM-176 AZENTA HEAT SEALER FRONT PANEL
 # Front panel (panel.touch / panel.switch / panel.capture / panel.frame): the colour touch screen and the rear power switch of the user manual
@@ -5191,7 +5223,7 @@ _AHS_PANEL_SLOTS = {
     'protocol.unlocked': _ahs_slot(_AHS_BOOL, '1', 'derived'),
     'power_saving.enabled': _ahs_slot(_AHS_BOOL, '1', 'setpoint'),
     'power_saving.idle_time_s': _ahs_slot(_ahs_num('s', 1800, 43200), 's', 'setpoint'),
-    'power_saving.hold_temperature_K': _ahs_slot(_ahs_nullable({'type': 'number', 'enum': [323.15, 373.15], 'x-unit': 'K'}), 'K', 'setpoint'),
+    'power_saving.hold_temperature_k': _ahs_slot(_ahs_nullable({'type': 'number', 'enum': [323.15, 373.15], 'x-unit': 'K'}), 'K', 'setpoint'),
     'power_saving.active': _ahs_slot(_AHS_BOOL, '1', 'derived'),
     'carrier.position': _ahs_slot({'type': 'string', 'enum': ['out', 'in', 'loading']}, '1', 'derived'),
     'carrier.cut_seal_present': _ahs_slot(_AHS_BOOL, '1', 'derived'),
@@ -5200,9 +5232,8 @@ _AHS_PANEL_SLOTS = {
     'device.error_code': _ahs_slot(_ahs_nullable({'type': 'integer', 'enum': sorted(AZENTA_HEAT_SEALER_ERRORS), 'x-unit': '1'}), '1', 'derived'),
 }
 _AHS_SLOTS.update(_AHS_PANEL_SLOTS)
-_AHS_CONTRACT_STATE_ALIASES.update({sid.lower(): sid for sid in _AHS_PANEL_SLOTS})
 _AHS_PANEL_DEFAULTS = {'device.seal_count': 0, 'protocol.current': None, 'protocol.unlocked': False, 'power_saving.enabled': True,
-                       'power_saving.idle_time_s': 3600.0, 'power_saving.hold_temperature_K': 373.15, 'power_saving.active': False,
+                       'power_saving.idle_time_s': 3600.0, 'power_saving.hold_temperature_k': 373.15, 'power_saving.active': False,
                        'carrier.position': 'out', 'carrier.cut_seal_present': False, 'door.inspection_closed': True, 'film.released': False,
                        'device.error_code': None}
 _AHS_PANEL_CAPS = {   # id: (input properties, output slots, example, effects, kind, component ids, meaning, preconditions)
@@ -5214,8 +5245,8 @@ _AHS_PANEL_CAPS = {   # id: (input properties, output slots, example, effects, k
                            '前面板Seal：载板收入、压头压下、保持封膜时间、压头抬起、载板送出；采用宿主已装的板与膜，消耗1次膜配额；accepted不表示完成。',
                            ['已上电；载板在外；已装未封的板与未释放且有余量的膜；温度到达设定（Seal图标绿色）；封膜时间已设；侧检修门关闭；有场景回调时须确认压头位置']),
     'power_saving.configure': ({'enabled': _AHS_BOOL, 'idle_time_s': _ahs_num('s', 1800, 43200), 'hold_temperature_K': _ahs_nullable({'type': 'number', 'enum': [323.15, 373.15], 'x-unit': 'K'})},
-                               ['power_saving.enabled', 'power_saving.idle_time_s', 'power_saving.hold_temperature_K'], {'enabled': True, 'idle_time_s': 3600.0, 'hold_temperature_K': 373.15},
-                               ['power_saving.enabled', 'power_saving.idle_time_s', 'power_saving.hold_temperature_K', 'power_saving.active'], 'configuration', ['status_display'],
+                               ['power_saving.enabled', 'power_saving.idle_time_s', 'power_saving.hold_temperature_k'], {'enabled': True, 'idle_time_s': 3600.0, 'hold_temperature_K': 373.15},
+                               ['power_saving.enabled', 'power_saving.idle_time_s', 'power_saving.hold_temperature_k', 'power_saving.active'], 'configuration', ['status_display'],
                                '节能：开关、空闲时间0.5–12 h（0.5 h步长）、节能时加热块温度（关加热/50 °C/100 °C）。', ['已上电；空闲时间为0.5 h的整数倍']),
     'power_saving.wake': ({}, ['power_saving.active'], {}, ['power_saving.active'], 'device_command', ['status_display'],
                           '结束节能、重新计空闲时间（触摸屏幕）。', ['已上电']),
@@ -5237,8 +5268,8 @@ _AHS_PANEL_CAPS = {   # id: (input properties, output slots, example, effects, k
                       ['protocol.list', 'protocol.current'], 'configuration', ['status_display'],
                       '新建（original_name为null）或修改协议：名称、温度、时间、信息、安全级别与密码（≤4位）；修改有锁协议须给当前密码。',
                       ['已上电；名称非空且新名称不重复；温度100–195 °C；时间0.1–10 s；low/high须有1–4位密码']),
-    'protocol.select': ({'name': _AHS_NAME, 'password': _AHS_PASSWORD}, ['protocol.current', 'thermal.setpoint_K', 'configuration.press_time_s'], {'name': '4ti-0520', 'password': ''},
-                        ['protocol.current', 'protocol.unlocked', 'thermal.setpoint_K', 'configuration.press_time_s', 'thermal.target_reached'], 'configuration', ['status_display'],
+    'protocol.select': ({'name': _AHS_NAME, 'password': _AHS_PASSWORD}, ['protocol.current', 'thermal.setpoint_k', 'configuration.press_time_s'], {'name': '4ti-0520', 'password': ''},
+                        ['protocol.current', 'protocol.unlocked', 'thermal.setpoint_k', 'configuration.press_time_s', 'thermal.target_reached'], 'configuration', ['status_display'],
                         '选用协议：其温度与时间载入主屏；红锁协议须给密码。', ['已上电；无封膜任务；协议存在；红锁协议密码正确']),
     'protocol.delete': ({'name': _AHS_NAME, 'password': _AHS_PASSWORD}, ['protocol.list'], {'name': 'MyPlate', 'password': ''}, ['protocol.list', 'protocol.current'],
                         'configuration', ['status_display'], '删除协议；有锁协议须给其密码或Administrator密码。', ['已上电；协议存在；密码正确']),
@@ -5286,7 +5317,7 @@ _ahs_export_metadata_v1b = export_azenta_heat_sealer_contract_metadata
 
 def _ahs_export_metadata_v2(panel=True):
     m = _ahs_export_metadata_v1b()
-    m['asset_version'] = '1.2.1'
+    m['asset_version'] = '1.2.2'   # 1.2.2: slot ids = contract ids (lower case, 2026-10-22)
     errors = m['capabilities']['power.set']['errors'] + [{'code': 'ACCESS_DENIED', 'description_zh': '协议密码或Administrator密码不正确；或另一会话的封膜进行中'
                                                           '（改温度/时间/协议被拒）。', 'side_effects': 'none'}]
     for cid, (props, outs, example, effects, kind, comps, desc, pre) in _AHS_PANEL_CAPS.items():
@@ -5533,7 +5564,7 @@ def _ahs_invoke_panel_device(self, principal, iid, item, cid, args, request_id):
             if not float(args['idle_time_s'] / 1800.0).is_integer():
                 return reject('INVALID_ARGUMENT')
             s.update({'power_saving.enabled': args['enabled'], 'power_saving.idle_time_s': float(args['idle_time_s']),
-                      'power_saving.hold_temperature_K': args['hold_temperature_K']})
+                      'power_saving.hold_temperature_k': args['hold_temperature_K']})
         elif cid == 'power_saving.wake':
             pass
         elif cid == 'carrier.close_door':
@@ -5584,7 +5615,7 @@ def _ahs_invoke_panel_device(self, principal, iid, item, cid, args, request_id):
                 return reject('PRECONDITION_FAILED' if p is None else 'BUSY')
             if p['security'] == 'high' and args['password'] != p['password']:
                 return reject('ACCESS_DENIED')
-            s.update({'protocol.current': p['name'], 'protocol.unlocked': False, 'thermal.setpoint_K': p['temperature_K'], 'configuration.press_time_s': p['press_time_s']})
+            s.update({'protocol.current': p['name'], 'protocol.unlocked': False, 'thermal.setpoint_k': p['temperature_K'], 'configuration.press_time_s': p['press_time_s']})
             self._refresh(s)
         elif cid == 'protocol.delete':
             p = _ahs_protocol(item, args['name'])
@@ -5679,15 +5710,15 @@ def _ahs_host_step(self, dt_s, *, world_time_s):
         for iid, item in self._instances.items():                                 # power saving: the block heads for the hold temperature
             s = item['state']
             if s['power.enabled'] and s['power_saving.active']:
-                saved[iid] = s['thermal.setpoint_K']
-                hold = s['power_saving.hold_temperature_K']
-                s['thermal.setpoint_K'] = AZENTA_HEAT_SEALER_ROOM_K if hold is None else hold
+                saved[iid] = s['thermal.setpoint_k']
+                hold = s['power_saving.hold_temperature_k']
+                s['thermal.setpoint_k'] = AZENTA_HEAT_SEALER_ROOM_K if hold is None else hold
         statuses = {iid: item['state']['sealing.status'] for iid, item in self._instances.items()}
         try:
             result = _ahs_step_legacy(self, dt_s, world_time_s=world_time_s)
         finally:
             for iid, setpoint in saved.items():
-                self._instances[iid]['state']['thermal.setpoint_K'] = setpoint
+                self._instances[iid]['state']['thermal.setpoint_k'] = setpoint
                 self._refresh(self._instances[iid]['state'])
         for iid, item in self._instances.items():
             s = item['state']
@@ -6818,8 +6849,9 @@ def _qtp_cap_specs():
                                     '[Adjust.int]：用内置砝码校正，记入校正历史（p.36-37）；理想天平无校正误差。', 'device_command'),
         'balance.test_internal': ({}, ['balance.adjustment_history'], ['balance.adjustment_history'], {}, ['balance'], ['上电、空闲、门关。'],
                                   '[Test int]：用内置砝码检查校正（p.37），记入历史。', 'device_command'),
-        'door.set_side': ({'open': B}, ['door.side_opening_fraction', 'balance.tared'] + _QT_MEASURE_IDS, ['door.side_opening_fraction'], {'open': True}, ['draft_shield'],
-                          ['空闲。'], '侧门开/关（侧门键），开启宽度按用户设置Doorway（p.25、p.71）；侧门无独立几何。', 'device_command'),
+        'door.set_side': ({'open': B}, ['door.side_opening_fraction', 'balance.tared'] + _QT_MEASURE_IDS, ['door.side_opening_fraction'], {'open': True},
+                          ['side_door_left', 'side_door_right'], ['空闲。'],
+                          '左右侧门开/关（侧门键，内部电机同时驱动两扇），开启宽度按用户设置Doorway（p.25、p.71）：两扇侧门沿+Y后滑Doorway×0.16 m（行程为图纸估计）。', 'device_command'),
         'tapper.tap': ({}, ['tapper.taps', 'tapper.last_tap_s', 'tapper.last_tap'], ['tapper.taps', 'tapper.last_tap'], {}, ['dosing_head'], ['上电、空闲、已装头。'],
                        '[Tapper]：按设定强度与时长手动拍打一次并记录（p.66-67）；没有粉末流动模型，强度不改变出粉。', 'device_command'),
         'display.set_resolution': ({'resolution': {'type': 'string', 'enum': list(QUANTOS_RESOLUTIONS)}}, ['display.resolution'], ['display.resolution'], {'resolution': '1/10d'},
@@ -6905,7 +6937,10 @@ def export_quantos_q2_contract_metadata(panel=False):
                                           'description_zh': '宿主（场景）给出水平泡位置（以水平玻璃半径计，-1..1；0,0为水平）与依据；水平传感器据此报告balance.level_ok。'}
     for cid in ('fault.inject', 'fault.clear'):
         caps[cid]['visibility'] = 'evaluator'
-    meta['asset_version'] = '1.2.0'
+    meta['asset_version'] = '1.2.2'   # 1.2.1 (2026-10-22): dose residue below the numerical resolution ends the dosing; the clock always advances
+    #                                   1.2.2 (2026-10-23): real front door (lever-lifted), left / right side doors with travel, open dosing head support
+    caps['door.set_side']['model_effects'] = {'mode': 'coupled', 'binding_ids': ['side_door_left_slide', 'side_door_right_slide'],
+                                              'description_zh': '两扇侧门的平移关节跟随door.side_opening_fraction（宿主镜像，apply_quantos_q2_scene_patch：位置=比例×0.16 m）。'}
     if panel:
         meta['panel_capabilities'] = _qtp_panel_caps()
     return meta
@@ -8229,6 +8264,11 @@ def _fts_check_protocol(item, p):
     for c in p.get('commands') or []:
         if c.get('cmd') not in ('pick_up_tip', 'drop_tip', 'aspirate', 'dispense', 'delay', 'move', 'comment', 'capture_image'):
             raise ValueError('command %r' % c.get('cmd'))
+        for k_, v_ in c.items():                                          # parameter references: {param}, {param, unit} or {param, scale}
+            if isinstance(v_, dict) and 'param' in v_:
+                if set(v_) not in ({'param'}, {'param', 'unit'}, {'param', 'scale'}) or \
+                        ('unit' in v_ and (k_ != 'volume_m3' or v_['unit'] not in _FTS_PARAM_UNITS)) or ('scale' in v_ and not _flex_number(v_['scale'])):
+                    raise ValueError('parameter reference %r in %r' % (v_, c.get('cmd')))
     return dict(_flex_copy.deepcopy(p), kind=p.get('kind', 'protocol'), pipette_mount=p.get('pipette_mount', 'left'), fixtures=dict(p.get('fixtures') or {}),
                 labware=list(p.get('labware') or []), liquids=list(p.get('liquids') or []), parameters=list(p.get('parameters') or []), tips=list(p.get('tips') or []),
                 commands=list(p.get('commands') or []))
@@ -8449,7 +8489,7 @@ def _fts_advance(host, iid, item):
             break
         if out == 'done':
             run['index'] += 1
-            run['next_t'] = max(run['next_t'], host.time_s - FLEX_COMMAND_S) + (c.get('s', FLEX_COMMAND_S) if c['cmd'] == 'delay' else FLEX_COMMAND_S)
+            run['next_t'] += c.get('s', FLEX_COMMAND_S) if c['cmd'] == 'delay' else FLEX_COMMAND_S   # keep the schedule, so one long clock jump runs every command due in it
             continue
         kind = out[1]
         run['error'] = {'type': kind, 'index': run['index'], 'step': _fts_step_text(c), 'time_s': host.time_s}
@@ -8495,7 +8535,7 @@ def _fts_confirm(self, instance_id, *, event, tip_id, slot_id, position_m, evide
         item = self._instances[instance_id]
         run = item.get('ts', {}).get('run')
         if run is not None and run['status'] == 'running' and run['waiting'] is not None:
-            run['next_t'] = min(run['next_t'], self.time_s)
+            run['next_t'] = self.time_s                                    # the waiting step ends now; the next one is due a step later
             _fts_advance(self, instance_id, item)
 
 
@@ -8913,11 +8953,18 @@ def _fts_param_ok(par, v, ts):
     return isinstance(v, str)
 
 
+_FTS_PARAM_UNITS = {'uL': 1e-9, 'mL': 1e-6}                              # protocol parameter given in uL / mL for a volume_m3 field
+
+
 def _fts_resolve(c, params):
     out = _flex_copy.deepcopy(c)
     for k_, v_ in list(out.items()):
+        if isinstance(v_, dict) and 'param' in v_ and v_['param'] not in params:
+            raise ValueError('protocol parameter %r is not defined' % v_['param'])     # run.play refuses with INVALID_ARGUMENT
         if isinstance(v_, dict) and set(v_) == {'param'}:
-            out[k_] = params[v_['param']] if k_ != 'volume_m3' else float(params[v_['param']]) * 1e-9 if v_.get('unit') == 'uL' else params[v_['param']]
+            out[k_] = params[v_['param']]
+        elif isinstance(v_, dict) and set(v_) == {'param', 'unit'}:
+            out[k_] = float(params[v_['param']]) * _FTS_PARAM_UNITS[v_['unit']]
         elif isinstance(v_, dict) and set(v_) == {'param', 'scale'}:
             out[k_] = float(params[v_['param']]) * v_['scale']
     return out
diff --git a/scripts/basic40_runtime_measure.py b/scripts/basic40_runtime_measure.py
index 996a9b27bae826e875b5206b64faa4aacee6b9af..6f36f76ba9a17d6376129c1aa3025499c8998522 100644
--- a/scripts/basic40_runtime_measure.py
+++ b/scripts/basic40_runtime_measure.py
@@ -86,6 +86,8 @@ class FilteredAnalyticalBalance(_XPRLegacyBalance):
         self.filter_age_s = 0.0
         self._stability_samples = _xpr_deque()
         self._window_range_kg = None
+        self._raw_samples = _xpr_deque()                                     # (time, dt, raw force) of the stability window (settle check)
+        self._settled_since = None                                          # time of the first sample of the current settled run
 
     @classmethod
     def for_model(cls, model):
@@ -101,10 +103,48 @@ class FilteredAnalyticalBalance(_XPRLegacyBalance):
         self.last_environment_valid = False
         self._stability_samples.clear()
         self._window_range_kg = None
+        self._raw_samples.clear()
+        self._settled_since = None
         if clear_filter:
             self.filtered_force_N = None
             self.filter_age_s = 0.0
 
+    def _settled(self, dt_s, cutoff):
+        """Settle check of the stability detector (2026-10-22, CHEM-001 1.3.1).  The N-division window alone let the flag rise while the
+        low-pass reading was still approaching a new load (Standard: about 68 d short of the settled value), and kept it up for a moment after
+        a load change.  The reading must also have reached its input: |input force now - filtered force| / g <= max(0.5 d, 4 s) and
+        |time mean of the input over the stability window - filtered force| / g <= max(0.5 d, 4 s / sqrt(n)), s = robust input noise
+        (1.4826 / sqrt(2) x median of successive input differences, 0 without noise; a load step does not count as noise), n = effective
+        number of input samples in the window.  The update holds the check for the stability window before the flag rises.  0.5 d follows the
+        MT-SICS stability criteria (a tolerance in digits held for an observation time; USTB / I100 examples 0.5-1 d), so a stable reading is
+        within one display step of the settled one; the noise terms keep the specified white-noise experiment able to reach STABLE
+        (assumption)."""
+        raw = self._raw_samples
+        raw.append((self.sample_time_s, dt_s, self.raw_force_N))
+        while raw and raw[0][0] <= cutoff + 1e-10:
+            raw.popleft()
+        w = [min(d, t - cutoff) for t, d, _ in raw]
+        total = sum(w)
+        if total <= 0:
+            return False
+        forces = [f for _, _, f in raw]
+        steps = sorted(abs(b - a) for a, b in zip(forces, forces[1:]))
+        noise = 1.4826 / _xpr_math.sqrt(2) * steps[len(steps) // 2] if steps else 0.0
+        mean = sum(wi * f for wi, f in zip(w, forces)) / total
+        n_eff = total * total / sum(wi * wi for wi in w)
+        floor = 0.5 * self.readability_kg * self.g_cal
+        return (abs(self.raw_force_N - self.filtered_force_N) <= max(floor, 4 * noise) + 1e-15
+                and abs(mean - self.filtered_force_N) <= max(floor, 4 * noise / _xpr_math.sqrt(n_eff)) + 1e-15)
+
+    def _settle_hold(self, dt_s, cutoff):
+        """_settled held without a break for the stability window (the settling time), counted like the window: from the first settled sample."""
+        if not self._settled(dt_s, cutoff):
+            self._settled_since = None
+            return False
+        if self._settled_since is None:
+            self._settled_since = self.sample_time_s
+        return self.sample_time_s - self._settled_since + 1e-10 >= self.settling_s - dt_s
+
     @property
     def stability_band_kg(self):
         return XPR204E_FILTERS[self.filter_level]["stability_divisions"] * self.readability_kg
@@ -168,7 +208,8 @@ class FilteredAnalyticalBalance(_XPRLegacyBalance):
         self.elapsed_s = min(self.settling_s, self.sample_time_s - samples[0][0]) if inside else 0.0
         warmed = self.filter_age_s + 1e-10 >= 5 * XPR204E_FILTERS[self.filter_level]["time_constant_s"]
         self.last_environment_valid = True
-        self.stable = bool(inside and warmed and self.elapsed_s + 1e-10 >= self.settling_s)
+        settled = self._settle_hold(dt_s, cutoff)
+        self.stable = bool(inside and warmed and settled and self.elapsed_s + 1e-10 >= self.settling_s)
         return self.read()
 
     def read(self):
@@ -883,7 +924,7 @@ def export_gamry_reference620_contract_metadata():
         "electrode_area_m2": {"value": None, "unit": "m^2", "evidence": "unknown", "note_zh": "未提供电极几何或有效面积。"},
         "calibration_error_v": {"value": None, "unit": "V", "evidence": "unknown", "note_zh": "未提供校准或误差数据。"},
     }
-    return {"asset_types": {GAMRY_REFERENCE620_TYPE: {"catalog_id": "CHEM-103", "model": "Gamry Reference 620", "asset_version": "1.1.0",
+    return {"asset_types": {GAMRY_REFERENCE620_TYPE: {"catalog_id": "CHEM-103", "model": "Gamry Reference 620", "asset_version": "1.1.1",   # 1.1.1: template.read example (2026-10-22)
         "state_slots": slots, "capabilities": caps, "parameters": parameters}},
         "host_capabilities": {"sim.step": {"kind": "simulation", "visibility": "trusted_host_only",
             "binding": "GamryReference620Runtime.step(dt_s)", "effects": playback_effects,
@@ -1264,6 +1305,32 @@ METROHM914_CHANNELS = {"ph": (-13.0, 20.0, "1"), "conductance": (1e-7, 0.5, "S")
 METROHM914_TEMPLATE_CAPABILITIES = ("template.list", "template.read", "electrochemistry.template_reading")
 
 
+def _m914_standard_tolerance(slot, value):
+    """2026-10-22 (1.2.4): the entered standard identifies the standard in the cell to the meter's resolution, as the buffer recognition maps a
+    value to one entry of the selected buffer series (manual p.55, p.88-99): 0.002 pH (two digits of the 0.001 pH display; the value of another
+    series, e.g. a nominal 4.00 for the NIST 4.005 buffer, stays a different standard); conductance and DO standards 0.5 % relative.  Before,
+    float equality was required (6.864 vs 6.865 refused)."""
+    return 0.002 + 1e-12 if slot == "ph" else 0.005 * abs(value) + 1e-12
+
+
+def _m914_calibrate_refusal(host, inst, args):
+    """The reason electrochemistry.calibrate is refused (None: accepted); the code stays PRECONDITION_FAILED, the message names the cause."""
+    slot, value, truth = args["slot"], args["standard_value"], inst["truth"]
+    if inst["running"]:
+        return "A recording is running; stop it before calibrating."
+    if not inst["power"]:
+        return "The meter is switched off."
+    if inst["selected"] != slot or not inst["installed"][slot]:
+        return "Select the installed %s channel before calibrating it." % slot
+    if truth["standard_slot"] != slot or truth["standard_value"] is None:
+        return "No %s calibration standard is in the measuring cell (the host has not supplied one)." % slot
+    if abs(truth["standard_value"] - value) > _m914_standard_tolerance(slot, truth["standard_value"]):
+        return "The entered standard %g does not match the standard in the cell (buffer recognition tolerance %g)." % (value, _m914_standard_tolerance(slot, truth["standard_value"]))
+    if inst["sample_time"] != host.time_s or not inst["stable"]:
+        return "The reading is not stable yet (wait for the endpoint criterion on a current reading)."
+    return None
+
+
 def _m914_template_module():
     """Lazy import of the public-data template extension (scripts/basic40_templates/metrohm_914.py)."""
     try:
@@ -1355,7 +1422,7 @@ def export_metrohm914_contract_metadata():
         "electrochemistry.configure_temperature": cap({"mode": {"type": "string", "enum": ["automatic", "manual"]}, "manual_temperature_k": _m914_num("K", nullable=True)}, {"mode": {"type": "string"}, "manual_temperature_k": _m914_num("K", nullable=True)}, {"mode": "automatic", "manual_temperature_k": None}, "自动模式使用宿主样品温度；手动模式必须明确给定正开尔文温度；Nernst及可选电导线性温补均为工程假设。", ["temperature.mode", "temperature.manual_k"] + measurement_effects, ["temperature.mode", "temperature.manual_k"], "未在记录；manual需正有限温度，automatic需null。"),
         "electrochemistry.configure_endpoint": cap({"hold_s": _m914_num("s", 0, 3600), "tolerance_fraction": _m914_num("1", 0, 1)}, {"hold_s": _m914_num("s"), "tolerance_fraction": _m914_num("1")}, {"hold_s": 2, "tolerance_fraction": 0.001}, "显式设定稳定窗口与全量程比例阈值；同窗口最大最小值差不超过阈值时为稳定；上限仅为运行层资源边界。", ["endpoint.hold_s", "endpoint.tolerance_fraction"] + measurement_effects, ["endpoint.hold_s", "endpoint.tolerance_fraction"], "未在记录；hold_s必须大于零。"),
         "acquisition.set_interval": cap({"interval_s": _m914_num("s", 1, 86400)}, {"interval_s": _m914_num("s")}, {"interval_s": 1}, "记录间隔为1s的整数倍；上限86400s是运行层资源边界，非厂家规格。", ["acquisition.interval_s"], ["acquisition.interval_s"], "未在记录；间隔为整数秒。"),
-        "electrochemistry.calibrate": cap({"slot": channel, "standard_value": _m914_num("1", -13, 20)}, {"slot": channel, "calibrated": boolean, "synthetic": {"type": "boolean", "const": True}}, {"slot": "ph", "standard_value": 7}, "有界单点合成校准：标准值按slot单位解释（ph=1、conductance=S、do=kg/m3）；建立加性偏置修正，不声称厂家校准算法、精度或溯源。", calibration_effects + measurement_effects, [f"probe.{n}.calibrated" for n in METROHM914_CHANNELS], "供电、选中且安装槽、当前新鲜读数稳定、未记录；宿主明确标定匹配槽与已知标准值；标准值在该槽规格范围内。"),
+        "electrochemistry.calibrate": cap({"slot": channel, "standard_value": _m914_num("1", -13, 20)}, {"slot": channel, "calibrated": boolean, "synthetic": {"type": "boolean", "const": True}}, {"slot": "ph", "standard_value": 7}, "有界单点合成校准：标准值按slot单位解释（ph=1、conductance=S、do=kg/m3）；建立加性偏置修正，不声称厂家校准算法、精度或溯源。", calibration_effects + measurement_effects, [f"probe.{n}.calibrated" for n in METROHM914_CHANNELS], "供电、选中且安装槽、当前新鲜读数稳定、未记录；宿主明确标定匹配槽与已知标准值，输入的标准值与池中标准值之差不超过识别容差（pH 0.002，即0.001 pH显示的两个数字，其他缓冲系列的值如4.00对NIST 4.005仍算不同标准；电导与溶解氧相对0.5%；手册p.55、p.88–99缓冲表），校准用输入值；标准值在该槽规格范围内；拒绝时消息写明原因。"),
         "acquisition.start": cap({}, {"running": boolean}, {}, "开始记录后续实际宿主样本；不补造中间记录或推进时间。", ["acquisition.running"], ["acquisition.running"], "供电、已安装选中槽、已配置终点。"),
         "acquisition.stop": cap({}, {"running": boolean}, {}, "停止后保留已记录数据。", ["acquisition.running"], ["acquisition.running"]),
         "electrochemistry.reading": cap({}, reading_fields, {}, "返回所选配置的同版本合成读数；不暴露宿主真值，不推进时间。", [], [sid for sid in slots if sid.startswith("measurement.")] + ["endpoint.stable"], kind="query"),
@@ -1643,12 +1710,12 @@ class Metrohm914Session:
             "state_revision": inst["revision"] if inst else None, "clock": {"domain": "simulation", "time_s": self.__host.time_s},
             "result": _m914_copy.deepcopy(result or {}), "observations": _m914_copy.deepcopy(observations or {}), "error": error}
 
-    def _error(self, instance_id, code, request_id=None, status="rejected"):
+    def _error(self, instance_id, code, request_id=None, status="rejected", message=None):
         messages = {"UNKNOWN_INSTANCE": "Instance unavailable to this session.", "UNKNOWN_CAPABILITY": "Capability unavailable.",
             "INVALID_ARGUMENT": "Arguments do not match schema or bounded configuration.", "ACCESS_DENIED": "Request is outside session access policy.",
             "PRECONDITION_FAILED": "Required operating state, calibration fixture or configuration unavailable.",
             "REQUEST_CONFLICT": "Request ID already belongs to different arguments.", "DEVICE_ERROR": "Scene synchronization did not complete."}
-        return self._envelope(instance_id, request_id, status=status, error={"code": code, "message": messages[code], "retryable": False,
+        return self._envelope(instance_id, request_id, status=status, error={"code": code, "message": message or messages[code], "retryable": False,
             "side_effects": "unknown" if code == "DEVICE_ERROR" else "none", "progress": None})
 
     def describe(self, *, asset_type_id=None, instance_id=None):
@@ -1751,8 +1818,10 @@ class Metrohm914Session:
             return fail("PRECONDITION_FAILED")
         if cap in ("electrochemistry.configure_temperature", "electrochemistry.configure_endpoint", "acquisition.set_interval") and inst["running"]:
             return fail("PRECONDITION_FAILED")
-        if cap == "electrochemistry.calibrate" and (inst["running"] or not inst["power"] or not inst["stable"] or inst["sample_time"] != host.time_s or inst["selected"] != args["slot"] or not inst["installed"][args["slot"]] or inst["truth"]["standard_slot"] != args["slot"] or inst["truth"]["standard_value"] != args["standard_value"]):
-            return fail("PRECONDITION_FAILED")
+        if cap == "electrochemistry.calibrate":
+            why = _m914_calibrate_refusal(host, inst, args)
+            if why:
+                return self._error(instance_id, "PRECONDITION_FAILED", request_id, message=why)
         if cap == "acquisition.start" and (not inst["power"] or not inst["installed"][inst["selected"]] or inst["hold"] is None or len(inst["records"]) >= 1024):
             return fail("PRECONDITION_FAILED")
         if cap == "electrochemistry.reading":
@@ -3260,7 +3329,7 @@ def export_magritek_spinsolve80_contract_metadata():
     limitations = ["所有FID、1D频谱与数值积分均为synthetic；工程假设教学模型不能声称复现Spinsolve响应、Classic线宽、灵敏度或真实测量。", "只实现1H/13C单脉冲1D、宿主显式扫描计时与无噪声平均；2D、耦合多重峰自动求解、解耦、梯度、结构约束、定量核磁、真实校准与故障概率未实现。", "每扫描耗时=用户弛豫延迟+用户采集时间；不模拟T1饱和恢复、脉冲时宽、接收器死区、磁场漂移或厂商固件。", "幅度任意且无量纲，积分单位Hz；积分不是浓度或核数。13C载频未知，不输出ppm横轴。", "样品槽仅逻辑关联；插入占比为示意映射，不执行机器人插入、接触或真实磁场作用。", "注册样品、共同绝对时钟由可信宿主管理；公开session过滤是API边界，不是同进程Python或文件系统沙箱。请求幂等缓存仅在内存中。", "可选scene_adapter失败时过程不提交；外部场景可能已部分修改，需宿主协调恢复。"]
     mechanisms = {"synthetic_nmr_signal": {"component_ids": ["magnet_module", "sample_port"], "state_ids": ["truth.registered_samples", "method.nucleus", "method.acquisition_time_s", "method.points", "measurement.fid", "measurement.spectrum", "measurement.integral_hz"], "meaning_zh": "engineering_assumption：阻尼复正弦合成FID、归一化DFT和观测频带积分；全部输出synthetic。", "implementation": "numerical", "equations": ["FID[n]=sum(A_j*exp(-t_n/T2_j)*exp(i*2*pi*f_j*t_n)); t_n=n*T_acq/N", "S[k]=sum(FID[n]*exp(-i*2*pi*k*n/N))/N; f_k=(k-floor(N/2))/T_acq", "integral=piecewise-linear trapezoid integral of abs(S) over explicit observed frequency interval"], "parameters": parameters, "source_ids": ["runtime_code", "workbook_parameters"], "limitations": limitations[:4]},
         "host_timed_scanning": {"component_ids": ["magnet_module", "control_panel"], "state_ids": ["method.scans", "method.relaxation_delay_s", "method.acquisition_time_s", "acquisition.elapsed_s", "acquisition.completed_scans", "acquisition.progress", "acquisition.status"], "meaning_zh": "engineering_assumption：由共享宿主绝对时钟推进离散完整扫描。", "implementation": "numerical", "equations": ["cycle=T_relax+T_acq; completed_scans=min(scans,floor((host_time-start_time)/cycle)); progress=min(1,elapsed/(scans*cycle))"], "parameters": {}, "source_ids": ["runtime_code"], "limitations": ["无自动世界推进；read/describe/query不推进时钟。", "未完成扫描不产生伪完整谱；取消保留已完成扫描。"]}}
-    return {"asset_types": {SPINSOLVE80_TYPE: {"catalog_id": "CHEM-068", "model": "Magritek | Spinsolve 80 Carbon", "asset_version": "1.1.0", "state_slots": slots, "capabilities": caps, "parameters": parameters}}, "mechanisms": mechanisms, "scene_snapshot_keys": list(SPINSOLVE80_SCENE_KEYS), "limitations": limitations,
+    return {"asset_types": {SPINSOLVE80_TYPE: {"catalog_id": "CHEM-068", "model": "Magritek | Spinsolve 80 Carbon", "asset_version": "1.1.1", "state_slots": slots, "capabilities": caps, "parameters": parameters}}, "mechanisms": mechanisms, "scene_snapshot_keys": list(SPINSOLVE80_SCENE_KEYS), "limitations": limitations,
         "host_capabilities": {"sim.host_step": {"kind": "simulation", "visibility": "trusted_host_only", "binding": "MagritekSpinsolve80Runtime.host_step(time_s)", "state_effects": reset}, "sim.register_sample": {"kind": "simulation", "visibility": "trusted_host_only", "binding": "MagritekSpinsolve80Runtime.register_sample(instance_id, sample_id, signals)", "state_effects": ["truth.registered_samples"]}}, "host_sample_schema": fixture}
 
 
@@ -3430,8 +3499,8 @@ class MagritekSpinsolve80Session:
         inst = self._instance(instance_id)
         return {"protocol_version": "1.0.0", "instance_id": instance_id, "request_id": request_id, "operation_id": None, "status": status, "state_revision": inst["revision"] if inst else None, "clock": {"domain": "simulation", "time_s": self.__host.time_s}, "result": _sp80_copy.deepcopy(result or {}), "observations": _sp80_copy.deepcopy(observations or {}), "error": error}
 
-    def _error(self, instance_id, code, request_id=None):
-        return self._envelope(instance_id, request_id, status="failed" if code == "DEVICE_ERROR" else "rejected", error={"code": code, "message": "Request unavailable under current arguments, state or access policy." if code != "DEVICE_ERROR" else "External scene synchronization failed; process not committed.", "retryable": False, "side_effects": "unknown" if code == "DEVICE_ERROR" else "none", "progress": None})
+    def _error(self, instance_id, code, request_id=None, message=None):
+        return self._envelope(instance_id, request_id, status="failed" if code == "DEVICE_ERROR" else "rejected", error={"code": code, "message": message or ("Request unavailable under current arguments, state or access policy." if code != "DEVICE_ERROR" else "External scene synchronization failed; process not committed."), "retryable": False, "side_effects": "unknown" if code == "DEVICE_ERROR" else "none", "progress": None})
 
     def describe(self, *, asset_type_id=None, instance_id=None):
         with self.__host._lock:
@@ -3497,20 +3566,34 @@ class MagritekSpinsolve80Session:
             return self._error(instance_id, "UNSUPPORTED", request_id)
         if inst["running"] and cap in ("sample.insert", "sample.remove", "acquisition.configure", "acquisition.start"):
             return self._error(instance_id, "BUSY", request_id)
-        if cap == "sample.insert" and (inst["sample_id"] is not None or args["sample_id"] not in inst["samples"]):
-            return self._error(instance_id, "PRECONDITION_FAILED", request_id)
+        # 2026-10-22 (1.1.1): the refusals keep PRECONDITION_FAILED (the only declared code) and say why
+        why = lambda m: self._error(instance_id, "PRECONDITION_FAILED", request_id, m)   # noqa: E731
+        if cap == "sample.insert" and inst["sample_id"] is not None:
+            return why("A sample tube is already in the magnet; remove it first.")
+        if cap == "sample.insert" and args["sample_id"] not in inst["samples"]:
+            return why("No sample %r has been prepared by the host." % args["sample_id"])
         if cap == "acquisition.start":
             cfg = inst["method"]
-            if not inst["power"] or inst["sample_id"] is None or cfg is None:
-                return self._error(instance_id, "PRECONDITION_FAILED", request_id)
+            if not inst["power"]:
+                return why("The spectrometer is switched off.")
+            if inst["sample_id"] is None:
+                return why("No sample tube is in the magnet.")
+            if cfg is None:
+                return why("No acquisition is configured (acquisition.configure).")
             signals = inst["samples"][inst["sample_id"]][cfg["nucleus"]]
             nyquist = cfg["points"] / cfg["acquisition_time_s"] / 2
-            if not signals or any(abs(p["frequency_offset_hz"]) >= nyquist for p in signals) or host.time_s + cfg["scans"] * (cfg["relaxation_delay_s"] + cfg["acquisition_time_s"]) <= host.time_s:
-                return self._error(instance_id, "PRECONDITION_FAILED", request_id)
+            if not signals:
+                return why("The sample has no %s signal to acquire." % cfg["nucleus"])
+            if any(abs(p["frequency_offset_hz"]) >= nyquist for p in signals):
+                return why("A signal lies outside the spectral window (+-%.0f Hz): more points or a shorter acquisition time." % nyquist)
+            if host.time_s + cfg["scans"] * (cfg["relaxation_delay_s"] + cfg["acquisition_time_s"]) <= host.time_s:
+                return why("The scan is too short to advance the clock.")
         if cap == "nmr.integrate":
             a, b, spectrum = args["frequency_min_hz"], args["frequency_max_hz"], inst["spectrum"]
-            if not spectrum or not spectrum[0]["frequency_offset_hz"] <= a < b <= spectrum[-1]["frequency_offset_hz"]:
-                return self._error(instance_id, "PRECONDITION_FAILED", request_id)
+            if not spectrum:
+                return why("There is no spectrum yet.")
+            if not spectrum[0]["frequency_offset_hz"] <= a < b <= spectrum[-1]["frequency_offset_hz"]:
+                return why("The integration range must lie inside the spectrum (%.1f..%.1f Hz) with min < max." % (spectrum[0]["frequency_offset_hz"], spectrum[-1]["frequency_offset_hz"]))
         new = _sp80_copy.deepcopy(inst)
         if cap == "power.set":
             new["power"] = args["enabled"]
@@ -4460,7 +4543,7 @@ import tempfile as _xt_tempfile
 from collections import deque as _xt_deque
 from pathlib import Path as _xt_Path
 
-XPR204E_ASSET_VERSION = "1.3.0"   # 1.3.0 (2026-10-20): XPR terminal + draft shield geometry (contract only; runtime behaviour unchanged)
+XPR204E_ASSET_VERSION = "1.3.1"   # 1.3.0 (2026-10-20): XPR terminal + draft shield geometry (contract only; runtime behaviour unchanged); 1.3.1 (2026-10-22): stability settle check
 XPR204E_ASSET_DIR =_xt_Path(__file__).resolve().parents[1] / "assets/basic40_batch02/t4_measure/mt_xpr204e"
 _XT_G0 = 9.80665
 _XT_EPOCH = _xt_dt.datetime(2026, 1, 1, 0, 0, 0)        # device clock at simulation time 0 until clock.set (assumption)
@@ -5121,7 +5204,8 @@ class XPRWeighingCell(FilteredAnalyticalBalance):
         self.elapsed_s = min(self.settling_s, self.sample_time_s - samples[0][0]) if inside else 0.0
         warmed = self.filter_age_s + 1e-10 >= 5 * tau
         self.last_environment_valid = True
-        self.stable = bool(inside and warmed and self.elapsed_s + 1e-10 >= self.settling_s)
+        settled = self._settle_hold(dt_s, cutoff)                            # the reading has reached its input (FilteredAnalyticalBalance._settled)
+        self.stable = bool(inside and warmed and settled and self.elapsed_s + 1e-10 >= self.settling_s)
         self.stable_age_s = self.stable_age_s + dt_s if self.stable else 0.0
         if self.zero_drift and self.stable and self.tare_kg == 0.0 and 0.0 < abs(self.gross_kg - self.zero_kg) <= 0.5 * self.readability_kg:
             self.zero_kg = self.gross_kg                                     # zero drift compensation (AZT)
@@ -9325,7 +9409,7 @@ class Metrohm899DeviceSession(Metrohm899Session):
 # the sensor's slope / pH(0), its conductivity from the conductance and the cell constant, its DO from the optical phase angle (dphi) of the
 # O2 Lumitrode (Stern-Volmer) and the stored 0 % / 100 % phase angles.  Sensor errors (pH asymmetry is the host's reference potential; the
 # cell constant follows the host's conductance; the phase-angle errors here) are trusted-host parameters, 0 (ideal) by default.
-KS_ASSET_VERSION = "1.2.3"
+KS_ASSET_VERSION = "1.2.4"   # 1.2.4 (2026-10-22): calibrate standard tolerance (buffer recognition) and refusal messages
 KS_ASSET_DIR = _kd_Path(__file__).resolve().parents[1] / "assets/basic40_batch02/t4_measure/metrohm_914"
 KS_BOOT_S = 3.0                                            # start image (p.33 'takes some time'; assumption)
 KS_K = _m914_math.log(10) * 8.31446261815324 / 96485.33212331001       # ln10 R / F (V/K)
diff --git a/scripts/basic40_runtime_thermal.py b/scripts/basic40_runtime_thermal.py
index e8f219b29fba7d6113f2ca0375027b0e12cce852..0ba138350e208e9e3eaf9ba09ea782254eaa6a63 100644
--- a/scripts/basic40_runtime_thermal.py
+++ b/scripts/basic40_runtime_thermal.py
@@ -5501,7 +5501,7 @@ def export_miele_plw6111_metadata(panel=True):
         if name == 'thermal.set_temperature':
             pre.append({'description_zh': '目标不低于宿主环境，若水模型已配置则不得超过其明确液态适用上限；273.15..373.15K仅模拟输入域', 'state_ids': ['water.model_configured'], 'enforced_by': 'adapter', 'check': 'ambient_K <= temperature_K <= configured maximum if configured'})
         if name in ('door.open', 'door.close', 'basket.set_position'):
-            pre.append({'description_zh': '程序停止且已注册同步场景适配器', 'state_ids': ['program.running'], 'enforced_by': 'adapter', 'check': 'not program.running and scene_adapter is not None'})
+            pre.append({'description_zh': '程序停止（program.running为false）且程序状态不是running/interrupted/malfunction/power_fail（中断、故障或断电时门与篮架被锁，返回BUSY），并已注册同步场景适配器', 'state_ids': ['program.running', 'programme.status'], 'enforced_by': 'adapter', 'check': "not program.running and programme.status not in ('running', 'interrupted', 'malfunction', 'power_fail') and scene_adapter is not None"})   # 1.3.1 (2026-10-22): text follows the runtime
         if name == 'door.close':
             pre.append({'description_zh': '三层篮架均归位', 'state_ids': ['basket.' + s + '.extension_m' for s in MIELE_PLW6111_BASKETS], 'enforced_by': 'adapter', 'check': 'all extensions == 0'})
         if name == 'basket.set_position':
@@ -5772,7 +5772,7 @@ def _miele_extend_metadata(meta, panel):
         effects = list({e['state_id']: dict(e, description_zh='面板动作调用的能力的效果：' + e['description_zh']) for c in called for e in caps[c]['state_effects']
                         if e['timing'] == 'immediate'}.values())
         panel_caps = _g02_panel_capabilities(p, "basic40_runtime_thermal.MielePLW6111Session.invoke(instance_id=..., capability_id='{}', arguments=..., request_id=...)", effects)
-    spec.update(controller_capabilities=controller, evaluator_capabilities=evaluator, panel_capabilities=panel_caps, asset_version='1.3.0')   # 1.2.0: fault.inject / clear; 1.3.0: control-strip 3D parts (TFT, touch keys, power rocker)
+    spec.update(controller_capabilities=controller, evaluator_capabilities=evaluator, panel_capabilities=panel_caps, asset_version='1.3.1')   # 1.2.0: fault.inject / clear; 1.3.0: control-strip 3D parts (TFT, touch keys, power rocker); 1.3.1: door precondition text, BUSY declared (2026-10-22)
     meta['limitations'] = meta['limitations'] + [
         'MP.CON 3 functions behind the front panel: the 18 standard programmes of the programme overview (p.35-38) and 20 customer positions run block by block on the '
         'same single water node (heated blocks heat at 7500 W to the block temperature, then hold; unheated blocks only time; drying is timed, then 120 s cooling). '
@@ -6978,7 +6978,7 @@ def _mw_extend_metadata(meta, panel):
                         if e['timing'] == 'immediate'}.values())
         panel_caps = _g02_panel_capabilities(p, "basic40_runtime_thermal.Multiwave7101Session.invoke(instance_id=..., capability_id='{}', arguments=..., request_id=...)", effects)
     spec.update(controller_capabilities=controller, evaluator_capabilities=evaluator, panel_capabilities=panel_caps,
-                asset_version='1.3.0')   # 1.3.0: users and roles, fan, pressure, error codes (2026-10-19)
+                asset_version='1.3.1')   # 1.3.0: users and roles, fan, pressure, error codes (2026-10-19); 1.3.1: digestion.evaluate judges the run's set point (2026-10-22)
     meta['limitations'] = meta['limitations'] + [
         'Touchscreen software behind the front panel (approximate: no Multiwave 7101 manual saved; the Multiwave 5000 reference guide of the same software family): '
         'method library with the EPA programs of the digestion template library as pre-installed methods, user methods with up to 10 steps, temperature programs '
@@ -8550,6 +8550,7 @@ def export_radleys_mya4_metadata(panel=True):
         if name in ('thermal.set_enabled','thermal.start_program'): prerequisites += ['启用需宿主确认冷源可用、2..5L/min且5..35°C；低于环境的目标另受冷源最低可达温度限制。']
         if name in ('thermal.set_temperature','thermal.set_probe_mode','thermal.configure_program'): prerequisites += ['本区温程未运行；目标须符合当前探头模式及全部区目标跨度<=200K。']
         if name == 'vessel.configure': prerequisites += ['本区温控、搅拌、程序均停止；块温和液温在环境温度±1e-9K内。']
+        if name in ('thermal.set_temperature','thermal.set_probe_mode','thermal.configure_program','thermal.set_enabled','thermal.start_program'): prerequisites += ['目标（及温程各段）须在本区Control Pad安全限值内：块模式Min/Max Tb，液模式Min/Max Tr（说明书p.101：设了安全限值后不能输入限值外的值；出厂限值即全范围）。']
         effects = [{'state_id': sid, 'timing': 'immediate', 'description_zh': '仅所选区发生所声明配置/控制变化；power.set可涉及四区。'} for sid in changed[name]]
         if True:
             effects += [{'state_id': z+'.'+f, 'timing': 'on_step', 'description_zh': '宿主积分推进块/液温、理想显示、热量账目、转子和温程；跨区导热允许未启用邻区缓慢改变温度。'} for z in MYA4_ZONES for f in ('thermal.temperature_k','thermal.liquid_temperature_k','thermal.indicated_temperature_k','thermal.indicated_liquid_temperature_k','thermal.control_energy_j','thermal.environment_energy_j','thermal.adjacent_energy_j','stirring.angle_rad')]
@@ -8760,7 +8761,7 @@ def _mya4_extend_metadata(meta, panel):
                                     'read_binding': "RadleysMya4Session.read(instance_id=..., state_ids=['%s'])" % sid, 'meaning_zh': meaning}
     examples = {'pad.new_experiment': {'zone_index': 0, 'name': 'Experiment 5'}, 'pad.open_experiment': {'zone_index': 0, 'source': 'Experiment 1', 'name': 'Experiment 6'},
                 'pad.save_experiment': {'zone_index': 0}, 'pad.save_experiment_as': {'zone_index': 0, 'name': 'Experiment 7'}, 'pad.set_mode': {'zone_index': 0, 'mode': 'profile'},
-                'pad.set_option': {'zone_index': 0, 'option': 'B'}, 'pad.set_limits': {'zone_index': 0, 'max_tb_C': 120}, 'pad.set_manual': {'zone_index': 0, 'setpoint_C': 60},
+                'pad.set_option': {'zone_index': 0, 'option': 'B'}, 'pad.set_limits': {'zone_index': 0, 'max_tb_C': 120, 'max_tr_C': 115}, 'pad.set_manual': {'zone_index': 0, 'setpoint_C': 60},
                 'pad.set_temperature_control': {'zone_index': 0, 'on': True}, 'pad.set_stirrer_control': {'zone_index': 0, 'on': True},
                 'pad.set_step': {'zone_index': 0, 'index': 0, 'duration_min': 30, 'speed_rpm': 250, 'from_C': 20, 'to_C': 50, 'control': 'tb', 'end': 'time'},
                 'pad.add_step': {'zone_index': 0, 'index': 0}, 'pad.delete_step': {'zone_index': 0, 'index': 1}, 'pad.profile_start': {'zone_index': 0},
@@ -8803,7 +8804,7 @@ def _mya4_extend_metadata(meta, panel):
         eff = list({e['state_id']: dict(e, description_zh='面板动作调用的能力的效果：' + e['description_zh']) for c in called for e in caps[c]['state_effects']
                     if e['timing'] == 'immediate'}.values())
         panel_caps = _g02_panel_capabilities(p, "basic40_runtime_thermal.RadleysMya4Session.invoke(instance_id=..., capability_id='{}', arguments=..., request_id=...)", eff)
-    spec.update(controller_capabilities=controller, evaluator_capabilities=evaluator, panel_capabilities=panel_caps, asset_version='1.2.1')   # 1.2.1: sync fixes 2026-10-19 (PID logging, caller)
+    spec.update(controller_capabilities=controller, evaluator_capabilities=evaluator, panel_capabilities=panel_caps, asset_version='1.2.3')   # 1.2.1: sync fixes 2026-10-19 (PID logging, caller); 1.2.2: pad.set_limits example (2026-10-22); 1.2.3: pad safety limits bound the direct set points (2026-10-22)
     meta['limitations'] = meta['limitations'] + [
         'Control Pad software behind the front panel: experiments with names, Manual and Profile runs (linear From -> To steps over 1-960 min, Time / Value end '
         'conditions, Pause / Skip / Stop, up to 10 steps), zone safety limits with the T3 / T4 / T5 / T6 / T9 trips (2 degC tolerance), coolant loss T1, the 7-day '
@@ -9195,6 +9196,13 @@ class RadleysMya4Runtime(_Mya4Pad):
                         if s[z+'.program.running']: s[z+'.program.running'],s[z+'.program.phase']=False,'interrupted_cooling'
                 if s!=before: inst['revision']+=1
             self._publish_scene()
+    def _zone_limits(self,s,z,mode):
+        """(min, max) degC of the zone's Control Pad safety limits for the probe mode (block: Min/Max Tb, liquid: Min/Max Tr), OM p.101."""
+        lim=(s.get(z+'.pad.experiment') or {}).get('limits') or _PAD_LIMITS_DEFAULT
+        return (lim['min_tb_C'],lim['max_tb_C']) if mode=='block' else (lim['min_tr_C'],lim['max_tr_C'])
+    def _zone_limits_ok(self,s,z,target,mode):
+        lo,hi=self._zone_limits(s,z,mode)
+        return lo-1e-9<=target-273.15<=hi+1e-9
     def _target_valid(self,s,z,target,mode):
         low,high=(243.15,453.15) if mode=='block' else (253.15,448.15)      # Tr up to 175 C (OM p.105, p.161)
         if not low<=target<=high: return False
@@ -9324,10 +9332,10 @@ class RadleysMya4Session:
         inst=self._instance(sid)
         return {'protocol_version':PROTOCOL_VERSION,'instance_id':sid if isinstance(sid,str) else None,'request_id':request_id if isinstance(request_id,str) else None,'operation_id':None,'status':status,
             'state_revision':inst['revision'] if inst else None,'clock':{'domain':'simulation','time_s':self.__host.time_s},'result':copy.deepcopy(result or {}),'observations':copy.deepcopy(observations or {}),'error':error}
-    def _error(self,sid,code,request_id=None,status='rejected'):
+    def _error(self,sid,code,request_id=None,status='rejected',message=None):
         messages={'UNKNOWN_INSTANCE':'Instance unavailable.','UNKNOWN_CAPABILITY':'Capability unavailable.','INVALID_ARGUMENT':'Arguments violate schema or bounds.','ACCESS_DENIED':'Request outside session policy.',
             'PRECONDITION_FAILED':'Required configuration or operating state unavailable.','BUSY':'Zone program is running.','REQUEST_CONFLICT':'Request ID already belongs to different arguments.','UNSUPPORTED':'Execution unavailable in this adapter.','DEVICE_ERROR':'Scene callback did not complete command.'}
-        return self._envelope(sid,request_id,status=status,error={'code':code,'message':messages[code],'retryable':False,'side_effects':'unknown' if code=='DEVICE_ERROR' else 'none','progress':None})
+        return self._envelope(sid,request_id,status=status,error={'code':code,'message':message or messages[code],'retryable':False,'side_effects':'unknown' if code=='DEVICE_ERROR' else 'none','progress':None})
     def describe(self,*,asset_type_id=None,instance_id=None):
         host=self.__host
         with host._lock:
@@ -9414,6 +9422,18 @@ class RadleysMya4Session:
         if cap=='thermal.set_temperature' and not host._target_valid(old,z,args['temperature_K'],old[z+'.thermal.probe_mode']):return fail('PRECONDITION_FAILED')
         if cap=='thermal.set_probe_mode' and not host._target_valid(old,z,old[z+'.thermal.target_k'],args['mode']):return fail('PRECONDITION_FAILED')
         if cap=='thermal.configure_program' and any(not host._target_valid(old,z,seg['temperature_K'],old[z+'.thermal.probe_mode']) for seg in args['segments']):return fail('PRECONDITION_FAILED')
+        # 1.2.3 (2026-10-22): the zone's Control Pad safety limits (Min/Max Tb in block mode, Min/Max Tr in liquid mode) bound the direct set points
+        # too (OM p.101: once safety limits are set for a zone, values outside them cannot be entered); default limits = the full range
+        lim_t={'thermal.set_temperature':[args.get('temperature_K')],'thermal.configure_program':[seg['temperature_K'] for seg in args.get('segments') or []],
+               'thermal.set_probe_mode':[old[z+'.thermal.target_k']] if z else []}.get(cap)
+        if cap in ('thermal.start_program','thermal.set_enabled') and (cap=='thermal.start_program' or args.get('enabled')):
+            lim_t=[old[z+'.thermal.target_k']]+([seg['temperature_K'] for seg in old[z+'.program.segments']] if cap=='thermal.start_program' else [])
+        if lim_t:
+            mode=args['mode'] if cap=='thermal.set_probe_mode' else old[z+'.thermal.probe_mode']
+            bad=[t for t in lim_t if not host._zone_limits_ok(old,z,t,mode)]
+            if bad:
+                lo,hi=host._zone_limits(old,z,mode)
+                return self._error(sid,'PRECONDITION_FAILED',request_id,message='%.2f K is outside the safety limits of this zone (%s %g..%g degC, set on the Control Pad).'%(bad[0],'Tb' if mode=='block' else 'Tr',lo,hi))
         if cap in ('thermal.start_program','thermal.set_enabled') and (cap=='thermal.start_program' or args['enabled']):
             if not old['cooling.available'] or not host._target_valid(old,z,old[z+'.thermal.target_k'],old[z+'.thermal.probe_mode']):return fail('PRECONDITION_FAILED')
         if cap=='thermal.start_program':
diff --git a/scripts/basic40_runtime_vacuum.py b/scripts/basic40_runtime_vacuum.py
index e451079752b96d50029c30182149ba31324f27e2..6a6ba01a7c34838b070cd2440acf0b3c19f2331b 100644
--- a/scripts/basic40_runtime_vacuum.py
+++ b/scripts/basic40_runtime_vacuum.py
@@ -632,9 +632,9 @@ def export_rv10_contract_metadata():
             "state_effects": [{"state_id": s, "timing": "immediate", "description_zh": summaries[cap] if s == sid else "同步派生控制状态；不推进时间"} for s in (sid, *immediate[cap])] + [{"state_id": s, "timing": "on_step", "description_zh": "仅宿主step推进工程模型，保留各过程独立性"} for s in on_step],
             "observes": [sid], "example_arguments": [examples[cap]], "binding": f"basic40_runtime_vacuum.RV10Session.invoke(instance_id=..., capability_id='{cap}', arguments=..., request_id=...)"}
     for cap, arg, unit, explanation in (
-            ("vacuum.set_pressure", "pressure_pa", "Pa", "压力设定归外部真空源；本仪器无内部泵或压力控制驱动。"),
+            ("vacuum.set_pressure", "pressure_pa", "Pa", "不支持：压力设定归外接真空控制器/真空泵（本仪器无内部泵或压力控制驱动），本仪器上调用返回UNSUPPORTED；外部腔体抽气由vacuum.start/vacuum.stop表示。"),
             ("timer.set_duration", "duration_s", "s", "目录计时功能已登记，但无已核实的计时范围/完成行为与运行绑定。")):
-        caps[cap] = {"availability": "declared", "visibility": "agent", "kind": "device_command", "description_zh": explanation,
+        caps[cap] = {"availability": "unsupported" if cap == "vacuum.set_pressure" else "declared", "visibility": "agent", "kind": "device_command", "description_zh": explanation,   # 1.3.1: set_pressure is unsupported, not planned
             "input_schema": {"type": "object", "properties": {arg: {"type": "number", "exclusiveMinimum": 0, "x-unit": unit}}, "required": [arg], "additionalProperties": False},
             "output_schema": {"type": "object", "properties": {}, "additionalProperties": False}, "state_effects": [], "observes": [], "example_arguments": [{arg: 1000.0 if unit == "Pa" else 60.0}], "binding": None}
     params = {
@@ -3617,7 +3617,7 @@ def g03_owner_note(g, before, after, principal, visibility, panel_principal):
 # lumped liquid balance above (pause / resume / abort / restore, scheduled pauses, out-of-tips pause, blue / red alarm), Maintenance settings,
 # Manual Control, pipette pump calibration (coefficient and offset applied to the run volumes), Flush Solvent Inlets, Re-Initialize, reports,
 # Shut Down, and the front panel.  The CHEM-031 commands keep their meaning; the pipette error model (evaluator only) is 0 by default.
-EXTRAHERA_ASSET_VERSION = "1.3.0"
+EXTRAHERA_ASSET_VERSION = "1.3.1"
 EXTRAHERA_ASSET_DIR = G03_ASSET_ROOT / "biotage_extrahera"
 EXTRAHERA_MANUAL = "references/manuals/biotage_extrahera_classic/operating_manual__extrahera_user_manual_414158.pdf"
 EXTRAHERA_INSTRUMENT_TYPES = {"24 Positions, Column Rack": (6, 4, 4, 3), "48 Positions, Column Rack": (12, 4, 4, 3), "48 Positions, Plate": (6, 8, 8, 7),
@@ -4420,9 +4420,9 @@ def _exh_summary(state, sources):
 
 
 class _ExhRefused(Exception):
-    def __init__(self, code):
+    def __init__(self, code, detail=None):
         super().__init__(code)
-        self.code = code
+        self.code, self.detail = code, detail   # 1.3.1: detail = a message naming the cause
 
 
 _g03_ExtraheraHostBase = ExtraheraHost
@@ -4790,7 +4790,10 @@ class ExtraheraSession(_g03_ExtraheraSessionBase):
             result, operation_id, status = getattr(self, "_exh_" + cap.replace(".", "_"))(candidate, args)
         except _ExhRefused as exc:
             if exc.code in ("INVALID_ARGUMENT", "PRECONDITION_FAILED", "BUSY", "UNKNOWN_CAPABILITY", "ACCESS_DENIED"):
-                return self._error(inst.instance_id, exc.code, rid)
+                response = self._error(inst.instance_id, exc.code, rid)
+                if exc.detail:
+                    response["error"]["message"] = exc.detail
+                return response
             return self._envelope(inst.instance_id, rid, status="rejected", error={"code": exc.code, "message": EXTRAHERA_DEVICE_ERRORS[exc.code],
                                                                                    "retryable": False, "side_effects": "none", "known_progress": None})
         candidate.state["lights.state"] = self._lights(candidate.state)
@@ -4994,7 +4997,8 @@ class ExtraheraSession(_g03_ExtraheraSessionBase):
         self._ready(c)
         s = c.state
         inlet = s["inlets.state"][args["inlet"]]
-        if inlet["assigned"] is None: raise _ExhRefused("INVALID_ARGUMENT")
+        if inlet["assigned"] is None:   # 1.3.1: a state refusal (was INVALID_ARGUMENT) that names the cause
+            raise _ExhRefused("PRECONDITION_FAILED", "No solvent bottle is assigned to inlet %s (Prepare Run: run.setup section 'bottles')." % args["inlet"])
         if s["manual.state"]["door"] == "open": raise _ExhRefused("DOOR_OPEN")
         if c.sources is None or c.sources.get(args["inlet"], 0.0) + 1e-15 < args["volume_m3"]: raise _ExhRefused("NOT_ENOUGH_SOLVENT")
         if inlet["line"] != inlet["assigned"]:
@@ -7063,7 +7067,7 @@ PURELAB_G03_LIMITATIONS = [
 # end a beep, the rotation stops and the lift goes up), Int (direction change every 1-60 s, speed limited to 200 rpm), and an approximate
 # HB 10 digital bath panel (its manual is not available).  The CHEM-024 commands keep their meaning; timer.set_duration, declared before,
 # is now implemented with the manual's behaviour.
-RV10_ASSET_VERSION = "1.3.0"
+RV10_ASSET_VERSION = "1.3.1"   # 1.3.1 (2026-10-22): vacuum.set_pressure unsupported (was declared)
 RV10_ASSET_DIR = G03_ASSET_ROOT / "ika_rv10"
 RV10_MANUAL = "references/manuals/ika_rv10_digital_v/operating_manual__rv10_basic_digital_nist.pdf"
 RV10_PANEL_MIN_RPM, RV10_PANEL_MAX_RPM, RV10_INTERVAL_MAX_RPM = 20, 270, 200   # p.22 (speed range 20-270 rpm, 200 rpm in interval mode)
diff --git a/scripts/basic40_templates/agilent_gc8890b.py b/scripts/basic40_templates/agilent_gc8890b.py
index 8ab85a02b3b9b2f0aea1dd5a39e459748c26338d..4fb323268aae2128a57889e2d6e935fb8078132d 100644
--- a/scripts/basic40_templates/agilent_gc8890b.py
+++ b/scripts/basic40_templates/agilent_gc8890b.py
@@ -6,8 +6,11 @@ alkane calibration of the model column is an assumption, see ``gc_model.calibrat
 
 A trusted host registers a vial whose contents are spectral_library compound ids -> mass in kg (e.g. from a
 reaction ledger). ``chromatography.measure`` then runs the real :mod:`scripts.gc_runtime` mass transport
-(liner split, Gaussian band broadening, FID charge from ECN response) isothermally at the instrument's current oven,
-inlet and FID setpoints, instead of returning the legacy Gaussian fixture. The agent sees an unlabeled FID trace and
+(liner split, Gaussian band broadening, FID charge from ECN response) at the instrument's current inlet and FID setpoints
+and either isothermally at the oven setpoint or (1.6.0, 2026-10-23) along the Active Method oven program: initial temperature
+and hold, then up to 32 ramps of rate / final temperature / final time (manual p.90-91).  Under a program the oven zone
+setpoint follows the program each step and every band moves with the retention factor at the zone's actual temperature (the
+approach of the 7890B firmware over the same gc_runtime process), instead of returning the legacy Gaussian fixture. The agent sees an unlabeled FID trace and
 an automatically detected peak table; species identities stay in the trusted host's registration.
 """
 from __future__ import annotations
@@ -27,15 +30,23 @@ FID_IGNITION_MINIMUM_K = Method().fid_ignition_minimum_K
 SAMPLE_INTERVAL_S = 1.0
 MIN_RUN_S = 120.0
 MAX_RUN_S = 3600.0
+# oven program (8890/8850 Operation Manual): up to 32 ramps (p.90); isothermal = Rate 1 zero, the initial time is the run (p.91);
+# ramp rates up to 120 C/min (p.91, Table 4, fastest typical rate); oven 302.15-723.15 K and times up to 999.99 min as the method fields
+MAX_RAMPS = 32
+RAMP_RATE_MAX_K_S = 2.0
+OVEN_MIN_K, OVEN_MAX_K = 302.15, 723.15
+PROGRAM_TIME_MAX_S = 59999.4
+MAX_PROGRAM_RUN_S = 10800.0          # template sub-simulation bound (assumption: compute); longer programs are cut there
 MAX_SPECIES = 16
 MAX_VIAL_MASS_KG = 2e-3
 WARMUP_STEP_S = 30.0
 WARMUP_LIMIT_S = 7200.0
-PEAK_RELATIVE_THRESHOLD = 1e-3
+PEAK_RELATIVE_THRESHOLD = 1e-6   # 2026-10-23 (D-1): was 1e-3, which hid every analyte of a dilute standard behind its solvent peak (40 mg/L alkanes
+                                 # in hexane are ~3e-5 of the solvent apex); FID linear range >= 1e7 and the model trace has no noise
 
 LIMITATIONS = [
     "Retention indices are NIST measured_literature values; k_ref/delta_h/response are derived fingerprints whose alkane calibration of the 30 m x 0.25 mm x 0.25 um model column is an assumption (gc_retention.json gc_model.calibration), not an Agilent column certificate.",
-    "Isothermal run at the current oven setpoint; oven programs, pressure/flow control, column bleed, detector noise, baseline drift and FID saturation are not modelled.",
+    "Oven: isothermal at the current oven setpoint, or the Active Method oven program (initial temperature and hold, up to 32 ramps; the run lasts the program, at most 3 h in the template sub-simulation); the oven follows the program through the model's thermal lag. Pressure/flow programs, column bleed, detector noise, baseline drift and FID saturation are not modelled.",
     "FID response = 15 C/kg(carbon) x ECN (Scanlon & Willis 1985) is an order-of-magnitude detector assumption; peak areas are not a calibrated quantitation.",
     "Species without a fingerprint for the selected column (glycerol, hydrogen peroxide, ammonia on the non-polar model; nine compounds on the polar model) cannot be registered.",
     "Acetic acid and ethyl acetate nearly co-elute on the non-polar model column (NIST RI 610 vs 612); co-eluting species form one detected peak.",
@@ -106,6 +117,53 @@ def validate_sample(composition_kg: Any, *, column: str = "nonpolar", injection_
             "composition_kg": out, "fingerprints": fingerprints}
 
 
+def validate_oven_program(program: Any) -> dict[str, Any]:
+    """{initial_temperature_K, initial_hold_s, ramps: [{rate_K_s, final_temperature_K, final_hold_s}]} -> normalised copy; raises ValueError."""
+    if not isinstance(program, dict) or set(program) != {"initial_temperature_K", "initial_hold_s", "ramps"}:
+        raise ValueError("oven program needs initial_temperature_K, initial_hold_s and ramps")
+    def num(v, lo, hi, what, open_lo=False):
+        if not common.finite(v) or v > hi or v < lo or (open_lo and v <= lo):
+            raise ValueError(f"{what} out of range")
+        return float(v)
+    out = {"initial_temperature_K": num(program["initial_temperature_K"], OVEN_MIN_K, OVEN_MAX_K, "initial temperature"),
+           "initial_hold_s": num(program["initial_hold_s"], 0.0, PROGRAM_TIME_MAX_S, "initial hold"), "ramps": []}
+    ramps = program["ramps"]
+    if not isinstance(ramps, list) or len(ramps) > MAX_RAMPS:
+        raise ValueError(f"ramps must be a list of at most {MAX_RAMPS}")
+    for r in ramps:
+        if not isinstance(r, dict) or set(r) != {"rate_K_s", "final_temperature_K", "final_hold_s"}:
+            raise ValueError("a ramp needs rate_K_s, final_temperature_K and final_hold_s")
+        out["ramps"].append({"rate_K_s": num(r["rate_K_s"], 0.0, RAMP_RATE_MAX_K_S, "ramp rate", open_lo=True),
+                             "final_temperature_K": num(r["final_temperature_K"], OVEN_MIN_K, OVEN_MAX_K, "final temperature"),
+                             "final_hold_s": num(r["final_hold_s"], 0.0, PROGRAM_TIME_MAX_S, "final hold")})
+    return out
+
+
+def program_setpoint_K(program: dict[str, Any], elapsed_s: float) -> float:
+    """Oven setpoint of a program at run time t: the semantics of the instrument's own _g8_program (initial hold, then ramps of rate /
+    final temperature / final time, falling or rising; after the last ramp the final temperature is held)."""
+    v, t = program["initial_temperature_K"], program["initial_hold_s"]
+    if elapsed_s <= t:
+        return v
+    for r in program["ramps"]:
+        dur = abs(r["final_temperature_K"] - v) / r["rate_K_s"]
+        if elapsed_s <= t + dur:
+            return v + math.copysign(r["rate_K_s"] * (elapsed_s - t), r["final_temperature_K"] - v)
+        v, t = r["final_temperature_K"], t + dur
+        if elapsed_s <= t + r["final_hold_s"]:
+            return v
+        t += r["final_hold_s"]
+    return v
+
+
+def program_length_s(program: dict[str, Any]) -> float:
+    v, t = program["initial_temperature_K"], program["initial_hold_s"]
+    for r in program["ramps"]:
+        t += abs(r["final_temperature_K"] - v) / r["rate_K_s"] + r["final_hold_s"]
+        v = r["final_temperature_K"]
+    return t
+
+
 def _species(template: dict[str, Any]) -> list[Species]:
     return [Species(sid, fp["k_ref"], fp["delta_h_J_mol"], fp["response_C_kg"], fp["reference_temperature_K"])
             for sid, fp in template["fingerprints"].items()]
@@ -125,19 +183,25 @@ def _run_length_s(template: dict[str, Any], oven_K: float, method: Method) -> fl
 
 
 def simulate(template: dict[str, Any], *, oven_K: float, inlet_K: float, fid_K: float,
-             split_ratio: float | None = None) -> dict[str, Any] | None:
-    """Run gc_runtime with library species; returns None when the FID cannot be lit at fid_K."""
+             split_ratio: float | None = None, oven_program: dict[str, Any] | None = None) -> dict[str, Any] | None:
+    """Run gc_runtime with library species; returns None when the FID cannot be lit at fid_K.  With an oven program that has at least one
+    ramp, the oven starts at its initial temperature (oven_K is ignored) and follows the program for its length."""
+    program = validate_oven_program(oven_program) if oven_program is not None else None
+    if program is not None and not program["ramps"]:
+        oven_K, program = program["initial_temperature_K"], None            # Rate 1 = 0: an isothermal run at the initial temperature
     key = json.dumps([template["composition_kg"], template["column"], template["injection_fraction"],
-                      oven_K, inlet_K, fid_K, split_ratio], sort_keys=True)
+                      oven_K, inlet_K, fid_K, split_ratio, program], sort_keys=True)
     result = _simulate_cached(key)
     return copy.deepcopy(result)
 
 
 @lru_cache(maxsize=64)
 def _simulate_cached(key: str) -> dict[str, Any] | None:
-    composition, column, fraction, oven_K, inlet_K, fid_K, split_ratio = json.loads(key)
+    composition, column, fraction, oven_K, inlet_K, fid_K, split_ratio, program = json.loads(key)
     if fid_K < FID_IGNITION_MINIMUM_K:
         return None
+    if program is not None:
+        oven_K = program["initial_temperature_K"]
     template = validate_sample(composition, column=column, injection_fraction=fraction)
     options = {"oven_temperature_K": oven_K, "inlet_temperature_K": inlet_K, "fid_temperature_K": fid_K}
     if split_ratio is not None:
@@ -161,12 +225,17 @@ def _simulate_cached(key: str) -> dict[str, Any] | None:
     gc.perform("insert_syringe")
     gc.perform("depress_plunger")
     gc.perform("retract_syringe")
-    run_s = _run_length_s(template, oven_K, method)
+    run_s = (min(MAX_PROGRAM_RUN_S, max(MIN_RUN_S, math.ceil(program_length_s(program)))) if program is not None
+             else _run_length_s(template, oven_K, method))
     times, current = [0.0], [0.0]
     eluted_prev = {sid: 0.0 for sid in template["composition_kg"]}
     profiles = {sid: [] for sid in template["composition_kg"]}
     steps = int(round(run_s / SAMPLE_INTERVAL_S))
-    for _ in range(steps):
+    final_K = oven_K
+    for i in range(steps):
+        if program is not None:                       # the oven setpoint follows the program; bands move with k(T_oven actual)
+            final_K = program_setpoint_K(program, i * SAMPLE_INTERVAL_S)
+            gc.zones["oven"].setpoint_K = final_K
         state = gc.step(SAMPLE_INTERVAL_S)
         times.append(state["run_time_s"])
         current.append(state["fid_current_A"])
@@ -188,7 +257,8 @@ def _simulate_cached(key: str) -> dict[str, Any] | None:
     public = {"time_s": times, "fid_current_A": current,
               "retention_time_s": [p["retention_time_s"] for p in peaks], "peak_area_C": [p["area_C"] for p in peaks],
               "peaks": peaks, "calibrated_concentration_mol_m3": None, "measurement_duration_s": None,
-              "run_duration_s": run_s, "oven_temperature_K": oven_K, "inlet_temperature_K": inlet_K,
+              "run_duration_s": run_s, "oven_temperature_K": oven_K, "oven_program": program,
+              "oven_final_setpoint_K": final_K, "inlet_temperature_K": inlet_K,
               "fid_temperature_K": fid_K, "column_model": column, "split_ratio": method.split_ratio,
               "quality": "estimated", "signal_unit": "A", "axis_unit": "s", "sampling": "template_transport_simulation",
               **common.provenance([LIB_REL], "retention: NIST measured_literature retention indices -> derived model fingerprints (column calibration assumption); transport: gc_runtime simulation",
@@ -196,21 +266,23 @@ def _simulate_cached(key: str) -> dict[str, Any] | None:
     return {"public": public, "species": species_detail}
 
 
-def chromatogram(template: dict[str, Any], state: dict[str, Any]) -> dict[str, Any] | None:
-    """Agent-visible chromatogram for the public adapter state (setpoints from thermal.*.setpoint_k)."""
+def chromatogram(template: dict[str, Any], state: dict[str, Any], oven_program: dict[str, Any] | None = None) -> dict[str, Any] | None:
+    """Agent-visible chromatogram for the public adapter state (setpoints from thermal.*.setpoint_k) and, when the instrument's Active
+    Method has one, its oven program."""
     run = simulate(template, oven_K=float(state["thermal.oven.setpoint_k"]), inlet_K=float(state["thermal.inlet.setpoint_k"]),
-                   fid_K=float(state["thermal.fid.setpoint_k"]))
+                   fid_K=float(state["thermal.fid.setpoint_k"]), oven_program=oven_program)
     return None if run is None else run["public"]
 
 
 def chromatogram_schema() -> dict[str, Any]:
     n, obj, nullable = common.number, common.obj, common.nullable
-    series = lambda unit: {"type": "array", "items": n(unit, 0), "minItems": 2, "maxItems": int(MAX_RUN_S / SAMPLE_INTERVAL_S) + 1}
+    series = lambda unit: {"type": "array", "items": n(unit, 0), "minItems": 2, "maxItems": int(max(MAX_RUN_S, MAX_PROGRAM_RUN_S) / SAMPLE_INTERVAL_S) + 1}
     peak = obj({"retention_time_s": n("s", 0), "area_C": n("C", 0), "height_A": n("A", 0), "width_half_height_s": nullable(n("s", 0))})
     return obj({"time_s": series("s"), "fid_current_A": series("A"),
                 "retention_time_s": {"type": "array", "items": n("s", 0)}, "peak_area_C": {"type": "array", "items": n("C", 0)},
                 "peaks": {"type": "array", "items": peak}, "calibrated_concentration_mol_m3": {"type": "null"},
                 "measurement_duration_s": {"type": "null"}, "run_duration_s": n("s", 0), "oven_temperature_K": n("K", 0),
+                "oven_program": nullable(oven_program_schema()), "oven_final_setpoint_K": n("K", 0),
                 "inlet_temperature_K": n("K", 0), "fid_temperature_K": n("K", 0),
                 "column_model": {"type": "string", "enum": list(COLUMNS)}, "split_ratio": n("1", 0),
                 "quality": {"type": "string", "const": "estimated"}, "signal_unit": {"type": "string", "const": "A"},
@@ -218,6 +290,14 @@ def chromatogram_schema() -> dict[str, Any]:
                 **common.provenance_schema()})
 
 
+def oven_program_schema() -> dict[str, Any]:
+    n, obj = common.number, common.obj
+    ramp = obj({"rate_K_s": {**n("K/s", None, RAMP_RATE_MAX_K_S), "exclusiveMinimum": 0}, "final_temperature_K": n("K", OVEN_MIN_K, OVEN_MAX_K),
+                "final_hold_s": n("s", 0, PROGRAM_TIME_MAX_S)})
+    return obj({"initial_temperature_K": n("K", OVEN_MIN_K, OVEN_MAX_K), "initial_hold_s": n("s", 0, PROGRAM_TIME_MAX_S),
+                "ramps": {"type": "array", "items": ramp, "maxItems": MAX_RAMPS}})
+
+
 def template_read_schema() -> dict[str, Any]:
     obj, n = common.obj, common.number
     return obj({"substance_id": common.TEXT, "name": common.TEXT, "name_zh": common.TEXT, "cas": common.nullable(common.TEXT),
@@ -238,7 +318,7 @@ def extend_metadata(metadata: dict[str, Any]) -> dict[str, Any]:
     measure = metadata["capabilities"]["chromatography.measure"]
     measure["output_schema"]["properties"]["chromatogram"] = {"anyOf": [legacy, template]}
     measure["preconditions"] = measure["preconditions"] + [
-        "Template-backed vial only: FID setpoint >= 423.15 K (gc_runtime ignition minimum); the run uses the current oven/inlet/FID setpoints isothermally."]
+        "Template-backed vial only: FID setpoint >= 423.15 K (gc_runtime ignition minimum); the run uses the current inlet/FID setpoints and the oven setpoint isothermally, or the Active Method oven program when it has ramps (chromatography.set_oven_program / method.configure oven)."]
     slot = metadata["state_slots"]["measurement.chromatogram"]
     slot["value_schema"] = {"anyOf": [legacy, template, {"type": "null"}]}
     metadata["capabilities"]["template.read"] = common.template_read_capability(
diff --git a/scripts/basic40_templates/alicat_mc.py b/scripts/basic40_templates/alicat_mc.py
index 17e3efa1b1bad254a7ce532f742d50b1656d2c8b..36fa88e807839c4df38afda79061ddd563ca6917 100644
--- a/scripts/basic40_templates/alicat_mc.py
+++ b/scripts/basic40_templates/alicat_mc.py
@@ -41,7 +41,7 @@ CAPABILITY_IDS = ("template.list", "template.read", "flow.read_template")
 LINE_KEY = "template_line_gas_id"
 TOTALIZER_KEY = "template_totalizer"
 ENABLED_ATTR = "_amc_template_enabled_gases"
-CONTRACT_ASSET_VERSION = "1.4.0"   # 1.2.0: front panel (panel_ui.json) and the device functions behind it; 1.3.0: valve-drive control (2026-10-19); 1.4.0: status alarms ADC/POV/TOV, fault.inject (2026-10-19 sweep)
+CONTRACT_ASSET_VERSION = "1.4.1"   # 1.2.0: front panel (panel_ui.json) and the device functions behind it; 1.3.0: valve-drive control (2026-10-19); 1.4.0: status alarms ADC/POV/TOV, fault.inject (2026-10-19 sweep); 1.4.1: slot ids = contract ids (lower case, 2026-10-22)
 
 LIMITATIONS = [
     "Pure-gas density/viscosity are NIST SRD 69 reference-correlation values on a 253.15-343.15 K x 0.01-1.2 MPa grid; values between nodes are linear interpolations of Z and viscosity (derived).",
@@ -304,14 +304,14 @@ def indication_factor(host, values, inst):
     selected, line = values["gas.selected_id"], inst.get(LINE_KEY)
     if selected in host._gases:
         return 1.0 if line is None else None
-    temperature, pressure = values["truth.temperature_K"], values["truth.upstream_pressure_Pa"]
+    temperature, pressure = values["truth.temperature_k"], values["truth.upstream_pressure_pa"]
     users = user_records(values)
     selected_actual = gas_state(selected, temperature, pressure, users)
     if selected_actual is None:
         return None
     if line is None or line == selected:
         return 1.0
-    t_ref, p_ref = values["gas.reference_temperature_K"], values["gas.reference_pressure_Pa"]
+    t_ref, p_ref = values["gas.reference_temperature_k"], values["gas.reference_pressure_pa"]
     line_actual = gas_state(line, temperature, pressure)
     selected_std, line_std = gas_state(selected, t_ref, p_ref, users), gas_state(line, t_ref, p_ref)
     states = (selected_actual, line_actual, selected_std, line_std)
@@ -341,8 +341,8 @@ def refresh_readings(host, values, inst):
     selected = values["gas.selected_id"]
     if q is not None and selected not in host._gases:
         users = user_records(values)
-        actual = gas_state(selected, values["truth.temperature_K"], values["truth.upstream_pressure_Pa"], users)
-        standard = gas_state(selected, values["gas.reference_temperature_K"], values["gas.reference_pressure_Pa"], users)
+        actual = gas_state(selected, values["truth.temperature_k"], values["truth.upstream_pressure_pa"], users)
+        standard = gas_state(selected, values["gas.reference_temperature_k"], values["gas.reference_pressure_pa"], users)
         if actual is not None and standard is not None:
             values["measurement.actual_flow_m3_s"] = _finite(float(q * standard["density_kg_m3"] / actual["density_kg_m3"]))
         if standard is not None:
@@ -397,7 +397,7 @@ FLOW_OUTPUT = _obj({
     "gas_id": _TEXT, "gas_name": _TEXT, "kind": {"type": "string", "enum": ["pure", "mixture"]},
     "measurement.standard_flow_m3_s": _num("m^3/s", minimum=0), "measurement.actual_flow_m3_s": _num("m^3/s", minimum=0),
     "measurement.mass_flow_kg_s": _num("kg/s", minimum=0), "measurement.total_standard_volume_m3": _num("m^3", minimum=0),
-    "measurement.pressure_Pa": _num("Pa", minimum=0), "measurement.temperature_K": _num("K", minimum=0),
+    "measurement.pressure_pa": _num("Pa", minimum=0), "measurement.temperature_k": _num("K", minimum=0),
     "reference_temperature_K": _num("K", False, 0), "reference_pressure_Pa": _num("Pa", False, 0),
     "viscosity_actual_Pa_s": _num("Pa*s"), "density_actual_kg_m3": _num("kg/m^3"), "compressibility_actual": _num("1"),
     "density_standard_kg_m3": _num("kg/m^3"), "compressibility_standard": _num("1"), "molar_mass_kg_mol": _num("kg/mol", False, 0),
@@ -422,7 +422,7 @@ def capability_metadata():
         "flow.read_template": dict(common, description_zh="读取当前所选库气体的流量读数及所用物性（黏度、实际/标准密度、Z）和来源；不推进时间。",
                                    input_schema=_obj({}), output_schema=copy.deepcopy(FLOW_OUTPUT),
                                    observes=["measurement.standard_flow_m3_s", "measurement.actual_flow_m3_s", "measurement.mass_flow_kg_s",
-                                             "measurement.total_standard_volume_m3", "measurement.pressure_Pa", "measurement.temperature_K"],
+                                             "measurement.total_standard_volume_m3", "measurement.pressure_pa", "measurement.temperature_k"],
                                    preconditions_zh=["已经通过gas.select选择库气体（非宿主登记气体）"], example_arguments=[{}],
                                    binding=binding % "flow.read_template"),
     }
@@ -500,14 +500,14 @@ def invoke(session, host, inst, capability_id, arguments, request_id):
         return fail("PRECONDITION_FAILED")
     rec = users.get(selected) or record(selected)
     actual = standard = None
-    if values["measurement.pressure_Pa"] is not None and values["measurement.temperature_K"] is not None:
-        actual = gas_state(selected, values["measurement.temperature_K"], values["measurement.pressure_Pa"], users)
-    standard = gas_state(selected, values["gas.reference_temperature_K"], values["gas.reference_pressure_Pa"], users)
+    if values["measurement.pressure_pa"] is not None and values["measurement.temperature_k"] is not None:
+        actual = gas_state(selected, values["measurement.temperature_k"], values["measurement.pressure_pa"], users)
+    standard = gas_state(selected, values["gas.reference_temperature_k"], values["gas.reference_pressure_pa"], users)
     result = {"gas_id": selected, "gas_name": rec["name"], "kind": rec["kind"]}
     for key in ("measurement.standard_flow_m3_s", "measurement.actual_flow_m3_s", "measurement.mass_flow_kg_s",
-                "measurement.total_standard_volume_m3", "measurement.pressure_Pa", "measurement.temperature_K"):
+                "measurement.total_standard_volume_m3", "measurement.pressure_pa", "measurement.temperature_k"):
         result[key] = values[key]
-    result.update({"reference_temperature_K": values["gas.reference_temperature_K"], "reference_pressure_Pa": values["gas.reference_pressure_Pa"],
+    result.update({"reference_temperature_K": values["gas.reference_temperature_k"], "reference_pressure_Pa": values["gas.reference_pressure_pa"],
                    "viscosity_actual_Pa_s": None if actual is None else actual["viscosity_Pa_s"],
                    "density_actual_kg_m3": None if actual is None else actual["density_kg_m3"],
                    "compressibility_actual": None if actual is None else actual["compressibility_factor"],
diff --git a/scripts/basic40_templates/gamry_ref620.py b/scripts/basic40_templates/gamry_ref620.py
index a16074d4ed7553aaebdef7da31df93c1f7f40659..cfe2e012aa097c54ced6028af8a946af3556cb5e 100644
--- a/scripts/basic40_templates/gamry_ref620.py
+++ b/scripts/basic40_templates/gamry_ref620.py
@@ -312,7 +312,7 @@ def capability_metadata() -> dict[str, dict[str, Any]]:
     return {
         "template.list": entry("template.list", obj({}), LIST_OUTPUT, {}, "query",
                                "列出公开氧化还原电对参考库条目（标准电位、电子数、扩散系数来源）；不透露当前电解池。", "实例可用。", ["root"]),
-        "template.read": entry("template.read", READ_INPUT, READ_OUTPUT, {"substance_id": "redox_fe3_fe2"}, "query",
+        "template.read": entry("template.read", READ_INPUT, READ_OUTPUT, {"substance_id": "redox_fep3_to_fep2"}, "query",   # 1.1.1: was redox_fe3_fe2 (not in the library)
                                "读取一条公开参考记录（电对或参比电极）及来源证据；不透露当前电解池内容。", "实例可用；substance_id为库内条目。", ["root"]),
         "electrochem.template_cv": entry("electrochem.template_cv", CV_INPUT, CV_OUTPUT,
                                          {"e_start_v": 0.6, "e_vertex_v": -0.2, "scan_rate_v_s": 0.1, "points_per_segment": None}, "analysis",
diff --git a/scripts/basic40_templates/jasco_ftir4700.py b/scripts/basic40_templates/jasco_ftir4700.py
index 13ea16f673714c0cea49bfefea0dee14953d76e6..5c391126b31b32a2989531c0a26a472654b7ddbd 100644
--- a/scripts/basic40_templates/jasco_ftir4700.py
+++ b/scripts/basic40_templates/jasco_ftir4700.py
@@ -15,6 +15,12 @@ the configured range and scales the normalised band to a host-chosen peak absorb
 
 NIST spectra are transmission spectra (gas cell, neat film, CCl4/CS2 solution, KBr/mull); none is an ATR spectrum and
 no ATR penetration-depth correction is applied.
+
+Reference standards (2026-10-23): ``assets/reactions/ir_reference_standards.json`` holds standards that are
+not compounds of the shared 200-compound library - so far ``polystyrene``, the film wavenumber standard (brochure p.4):
+the NIST WebBook / PNNL optical-constant spectrum (public domain) on a 1 cm^-1 grid plus the NIST SRM 1921b certified band
+positions.  A host registers the film like any template sample (``register_template_sample(sample_id,
+substance_id="polystyrene", phase="solid")``); ``template.read("polystyrene")`` also lists the certified bands.
 """
 from __future__ import annotations
 
@@ -27,8 +33,10 @@ from typing import Any
 from scripts.basic40_templates import _analytical_common as common
 
 LIB_REL = common.SPECTRAL + "/ir_spectra.json"
+STANDARDS_REL = "assets/reactions/ir_reference_standards.json"
 DECODER_FIX = "scripts/spectral_library/jcamp.py (2026-10-14 decoder fix; replaces the retired jasco_ftir4700_ir_library overlay)"
-SOURCES = [LIB_REL]
+SOURCES = [LIB_REL, STANDARDS_REL]
+MAX_OUTPUT_POINTS = 901
 GRID_START_CM = 400.0
 GRID_STEP_CM = 4.0
 CM_TO_M_INV = 100.0
@@ -43,13 +51,23 @@ LIMITATIONS = [
     "Gas-phase and condensed-phase spectra differ (rotational structure, hydrogen bonding); when no reference spectrum matches the sample phase the closest available one is used and phase_matched=false is reported.",
     "Solution spectra contain CCl4/CS2 solvent-compensated regions; no noise, water-vapour/CO2 background, baseline drift or scan-averaging model.",
     "Only one compound per sample; mixtures are not supported.",
+    "Reference standard polystyrene (ir_reference_standards.json): PNNL liquid-phase optical constants (absorption maxima within 0.0-2.1 cm^-1, "
+    "median 0.2 cm^-1, of the NIST SRM 1921b certified film band minima); the measured positions are not shifted to the certified values; "
+    "1 cm^-1 grid, so output spacing follows max(1 cm^-1, effective resolution / 2, range / 900).",
 ]
 SYNTHETIC_PARTS = ["host-chosen peak absorbance scale", "Gaussian instrument line shape", "cosine-synthesized interferogram"]
 
 
+@lru_cache(maxsize=None)
+def _standards() -> dict[str, Any]:
+    """IR reference standards outside the shared compound library (polystyrene film, 2026-10-23)."""
+    return common.load_json(STANDARDS_REL)["standards"]
+
+
 @lru_cache(maxsize=None)
 def _table() -> dict[str, Any]:
-    """Shared spectra; records corrected by the 2026-10-14 decoder fix are tagged with corrected_by / correction."""
+    """Shared spectra (records corrected by the 2026-10-14 decoder fix are tagged with corrected_by / correction) plus the
+    reference standards."""
     table = copy.deepcopy(common.load_json(LIB_REL)["compounds"])
     for spectra in table.values():
         for spectrum in spectra:
@@ -57,9 +75,26 @@ def _table() -> dict[str, Any]:
             if note:
                 spectrum["corrected_by"] = DECODER_FIX
                 spectrum["correction"] = note
+    for sid, standard in _standards().items():
+        table.setdefault(sid, copy.deepcopy(standard["spectra"]))
     return table
 
 
+def resolve_id(identifier: Any) -> str | None:
+    """A spectral-library compound id or a reference-standard id."""
+    if isinstance(identifier, str) and identifier in _standards():
+        return identifier
+    return common.resolve_compound_id(identifier)
+
+
+def grid_step_cm(spectrum: dict[str, Any]) -> float:
+    return float((spectrum.get("grid_cm-1") or {}).get("step") or GRID_STEP_CM)
+
+
+def grid_start_cm(spectrum: dict[str, Any]) -> float:
+    return float((spectrum.get("grid_cm-1") or {}).get("start") or GRID_START_CM)
+
+
 def state_class(spectrum: dict[str, Any]) -> str:
     text = (spectrum.get("state") or "").upper()
     if "GAS" in text or "VAPOR" in text or "VAPOUR" in text:
@@ -75,8 +110,8 @@ def state_class(spectrum: dict[str, Any]) -> str:
 
 def source_resolution_cm(spectrum: dict[str, Any]) -> float:
     match = re.search(r"[0-9]+(?:\.[0-9]+)?", str(spectrum.get("resolution") or ""))
-    value = float(match.group(0)) if match else GRID_STEP_CM
-    return max(value, GRID_STEP_CM)
+    value = float(match.group(0)) if match else grid_step_cm(spectrum)
+    return max(value, grid_step_cm(spectrum))
 
 
 PREFERENCE = {"liquid": ("liquid", "solution", "solid"), "solid": ("solid", "solution", "liquid"), "gas": ("gas",)}
@@ -93,25 +128,35 @@ def select_spectrum(substance_id: str, phase: str) -> tuple[int, dict[str, Any],
     return 0, spectra[0], False
 
 
+def _certified_bands(sid: str) -> dict[str, Any] | None:
+    cert = (_standards().get(sid) or {}).get("certified_bands")
+    if not cert:
+        return None
+    return {"band_minimum_m_inv": [[nu * CM_TO_M_INV, u * CM_TO_M_INV] for _, nu, u in cert["band_minimum_cm-1"]],
+            "centroid_m_inv": [[nu * CM_TO_M_INV, u * CM_TO_M_INV] for _, nu, u in cert["centroid_cm-1"]],
+            "source": cert["source"]}
+
+
 def template_read(substance_id: Any) -> dict[str, Any] | None:
-    sid = common.resolve_compound_id(substance_id)
+    sid = resolve_id(substance_id)
     spectra = _table().get(sid) if sid else None
     if not spectra:
         return None
-    compound = common.compounds()[sid]
+    compound = _standards().get(sid) or common.compounds()[sid]
     listing = []
     for index, spectrum in enumerate(spectra):
         values = spectrum["absorbance_normalized"]
         covered = [i for i, v in enumerate(values) if v is not None]
+        start, step = grid_start_cm(spectrum), grid_step_cm(spectrum)
         listing.append({"index": index, "state": spectrum.get("state"), "state_class": state_class(spectrum),
                         "sampling": spectrum.get("sampling"), "source_resolution_m_inv": source_resolution_cm(spectrum) * CM_TO_M_INV,
-                        "coverage_m_inv": [(GRID_START_CM + covered[0] * GRID_STEP_CM) * CM_TO_M_INV,
-                                           (GRID_START_CM + covered[-1] * GRID_STEP_CM) * CM_TO_M_INV],
+                        "coverage_m_inv": [(start + covered[0] * step) * CM_TO_M_INV,
+                                           (start + covered[-1] * step) * CM_TO_M_INV],
                         "peaks_m_inv": [[p[0] * CM_TO_M_INV, p[1]] for p in spectrum.get("peaks_cm-1") or []],
                         "evidence": spectrum.get("evidence"), "source": spectrum.get("source"),
                         "corrected_by": spectrum.get("corrected_by")})
     return {"substance_id": sid, "name": compound["name_en"], "name_zh": compound["name_zh"], "cas": compound["cas"],
-            "spectra": listing,
+            "spectra": listing, "certified_bands": _certified_bands(sid),
             **common.provenance(SOURCES, "measured (NIST WebBook IR JCAMP-DX, transmission), normalised and resampled; records corrected by the 2026-10-14 decoder fix are flagged corrected_by",
                                 SYNTHETIC_PARTS, LIMITATIONS)}
 
@@ -119,9 +164,9 @@ def template_read(substance_id: Any) -> dict[str, Any] | None:
 def validate_sample(substance_id: Any, *, phase: str, peak_absorbance: float = 1.0) -> dict[str, Any]:
     if phase not in PHASES:
         raise ValueError("phase must be solid, liquid or gas")
-    sid = common.resolve_compound_id(substance_id)
+    sid = resolve_id(substance_id)
     if sid is None or not _table().get(sid):
-        raise ValueError(f"{substance_id!r} has no IR spectrum in {LIB_REL}")
+        raise ValueError(f"{substance_id!r} has no IR spectrum in {LIB_REL} or {STANDARDS_REL}")
     if not common.finite(peak_absorbance) or not 0 < peak_absorbance <= MAX_PEAK_ABSORBANCE:
         raise ValueError(f"peak_absorbance must be in (0, {MAX_PEAK_ABSORBANCE}]")
     index, spectrum, matched = select_spectrum(sid, phase)
@@ -129,12 +174,13 @@ def validate_sample(substance_id: Any, *, phase: str, peak_absorbance: float = 1
             "state": spectrum.get("state"), "peak_absorbance": float(peak_absorbance)}
 
 
-def _broadened(values: list[float | None], extra_fwhm_cm: float) -> tuple[list[float], float, float]:
+def _broadened(values: list[float | None], extra_fwhm_cm: float, step_cm: float = GRID_STEP_CM,
+               start_cm: float = GRID_START_CM) -> tuple[list[float], float, float]:
     covered = [i for i, v in enumerate(values) if v is not None]
     lo, hi = covered[0], covered[-1]
     data = [float(values[i]) for i in range(lo, hi + 1)]
     if extra_fwhm_cm > 1e-9:
-        sigma = extra_fwhm_cm / (2 * math.sqrt(2 * math.log(2))) / GRID_STEP_CM
+        sigma = extra_fwhm_cm / (2 * math.sqrt(2 * math.log(2))) / step_cm
         half = max(1, int(math.ceil(4 * sigma)))
         kernel = [math.exp(-0.5 * (j / sigma) ** 2) for j in range(-half, half + 1)]
         out = []
@@ -146,7 +192,7 @@ def _broadened(values: list[float | None], extra_fwhm_cm: float) -> tuple[list[f
                     den += weight
             out.append(num / den)
         data = out
-    return data, GRID_START_CM + lo * GRID_STEP_CM, GRID_START_CM + hi * GRID_STEP_CM
+    return data, start_cm + lo * step_cm, start_cm + hi * step_cm
 
 
 def spectrum(template: dict[str, Any], state: dict[str, Any]) -> dict[str, Any] | None:
@@ -156,14 +202,17 @@ def spectrum(template: dict[str, Any], state: dict[str, Any]) -> dict[str, Any]
     source_cm = source_resolution_cm(reference)
     effective_cm = max(requested_cm, source_cm)
     extra = math.sqrt(max(0.0, effective_cm ** 2 - source_cm ** 2))
-    data, first_cm, last_cm = _broadened(reference["absorbance_normalized"], extra)
+    grid_step = grid_step_cm(reference)
+    data, first_cm, last_cm = _broadened(reference["absorbance_normalized"], extra, grid_step, grid_start_cm(reference))
     start_cm = max(state["method.start_wavenumber_m_inv"] / CM_TO_M_INV, first_cm)
     stop_cm = min(state["method.stop_wavenumber_m_inv"] / CM_TO_M_INV, last_cm)
-    step_cm = max(GRID_STEP_CM, effective_cm / 2)
+    # output spacing: the reference grid, half the effective resolution, and at most MAX_OUTPUT_POINTS points (for the 4 cm^-1
+    # library grid the last term never binds: 3600 cm^-1 / 900 = 4 cm^-1)
+    step_cm = max(grid_step, effective_cm / 2, (stop_cm - start_cm) / (MAX_OUTPUT_POINTS - 1))
     if stop_cm - start_cm < step_cm:
         return None
-    count = int(math.floor((stop_cm - start_cm) / step_cm + 1e-9)) + 1
-    grid_cm = [first_cm + i * GRID_STEP_CM for i in range(len(data))]
+    count = min(MAX_OUTPUT_POINTS, int(math.floor((stop_cm - start_cm) / step_cm + 1e-9)) + 1)
+    grid_cm = [first_cm + i * grid_step for i in range(len(data))]
     top = max(data) or 1.0
     axis, absorbance = [], []
     for i in range(count):
@@ -191,7 +240,7 @@ def spectrum(template: dict[str, Any], state: dict[str, Any]) -> dict[str, Any]
 
 def spectrum_schema() -> dict[str, Any]:
     n, obj, nullable = common.number, common.obj, common.nullable
-    series = lambda unit, minimum=None: {"type": "array", "items": n(unit, minimum), "minItems": 2, "maxItems": 901}
+    series = lambda unit, minimum=None: {"type": "array", "items": n(unit, minimum), "minItems": 2, "maxItems": MAX_OUTPUT_POINTS}
     pair = lambda unit: {"type": "array", "items": n(unit, 0), "minItems": 2, "maxItems": 2}
     interferogram = obj({"optical_path_difference_m": {"type": "array", "items": n("m"), "minItems": INTERFEROGRAM_POINTS, "maxItems": INTERFEROGRAM_POINTS},
                          "relative_intensity": {"type": "array", "items": n("1"), "minItems": INTERFEROGRAM_POINTS, "maxItems": INTERFEROGRAM_POINTS},
@@ -202,7 +251,7 @@ def spectrum_schema() -> dict[str, Any]:
                 "reported_mode": {"type": "string", "enum": ["absorbance", "transmittance", "interferogram"]},
                 "quality": {"type": "string", "const": "estimated"}, "axis_unit": {"type": "string", "const": "m^-1"},
                 "signal_unit": {"type": "string", "const": "1"}, "resolution_m_inv": n("m^-1", 40),
-                "effective_resolution_m_inv": n("m^-1", 400), "point_spacing_m_inv": n("m^-1", 400),
+                "effective_resolution_m_inv": n("m^-1", 100), "point_spacing_m_inv": n("m^-1", 100),
                 "scan_count": {"type": "integer", "minimum": 1, "maximum": 1024, "x-unit": "1"},
                 "spectral_resolution_applied": {"type": "boolean", "const": True},
                 "scan_averaging_applied": {"type": "boolean", "const": False}, "measurement_duration_s": {"type": "null"},
@@ -219,8 +268,11 @@ def template_read_schema() -> dict[str, Any]:
                 "coverage_m_inv": {"type": "array", "items": n("m^-1", 0), "minItems": 2, "maxItems": 2},
                 "peaks_m_inv": {"type": "array", "items": {"type": "array", "items": n("1"), "minItems": 2, "maxItems": 2}},
                 "evidence": common.TEXT, "source": common.TEXT, "corrected_by": nullable(common.TEXT)})
+    pairs = {"type": "array", "items": {"type": "array", "items": n("m^-1", 0), "minItems": 2, "maxItems": 2}}
+    certified = obj({"band_minimum_m_inv": pairs, "centroid_m_inv": pairs, "source": common.TEXT})
     return obj({"substance_id": common.TEXT, "name": common.TEXT, "name_zh": common.TEXT, "cas": nullable(common.TEXT),
-                "spectra": {"type": "array", "items": item, "minItems": 1}, **common.provenance_schema()})
+                "spectra": {"type": "array", "items": item, "minItems": 1}, "certified_bands": nullable(certified),
+                **common.provenance_schema()})
 
 
 def extend_metadata(metadata: dict[str, Any]) -> dict[str, Any]:
@@ -236,7 +288,9 @@ def extend_metadata(metadata: dict[str, Any]) -> dict[str, Any]:
     cap["errors"] = ["UNKNOWN_INSTANCE", "UNKNOWN_CAPABILITY", "INVALID_ARGUMENT", "REQUEST_CONFLICT"]
     metadata["capabilities"]["template.read"] = cap
     metadata["parameters"]["template_library"] = {"value": SOURCES, "unit": "1", "evidence": "measured",
-        "conditions": "NIST WebBook IR transmission spectra, normalised absorbance on a 400-4000 cm^-1, 4 cm^-1 grid; not ATR"}
+        "conditions": "NIST WebBook IR transmission spectra, normalised absorbance on a 400-4000 cm^-1, 4 cm^-1 grid; not ATR; reference "
+                      "standards (polystyrene film: PNNL optical constants on a 1 cm^-1 grid + NIST SRM 1921b certified bands) in "
+                      + STANDARDS_REL}
     metadata["parameters"]["template_grid_step_m_inv"] = {"value": GRID_STEP_CM * CM_TO_M_INV, "unit": "m^-1", "evidence": "derived",
         "conditions": "library resampling grid; output spacing = max(grid, effective resolution / 2)"}
     metadata["limits"] = metadata["limits"] + [
diff --git a/scripts/basic40_templates/multiwave_7101.py b/scripts/basic40_templates/multiwave_7101.py
index f9a855f2e4907f4bfc3a0d40580395d513d109fd..d6486a1fb6ccc4994c60b696d35bc6a5dd55903f 100644
--- a/scripts/basic40_templates/multiwave_7101.py
+++ b/scripts/basic40_templates/multiwave_7101.py
@@ -167,7 +167,7 @@ def capability_specs() -> dict[str, dict]:
                                     "example_arguments": [{"slot_index": 0, "material_id": "nist_srm_2711a", "method_id": "epa_3051a_hno3", "sample_mass_kg": 0.0002, "acid_volume_m3": 4e-06}],
                                     "observes": [], "state_effects": [], "preconditions": load_pre,
                                     "binding": "basic40_runtime_thermal.Multiwave7101Session.invoke(instance_id=..., capability_id='digestion.load_template', arguments=..., request_id=...)"},
-        "digestion.evaluate": {**common, "kind": "analysis", "description_zh": "对照方法温窗、升温与保持时间检查已运行的显示温度历史，并按证书/EPA回收率表列出消解液中预期的分析元素。",
+        "digestion.evaluate": {**common, "kind": "analysis", "description_zh": "对照方法温窗、升温与保持时间检查已运行的显示温度历史，并按证书/EPA回收率表列出消解液中预期的分析元素；设定点按运行中加热时用过的最高设定（程序平台）判断，加热之前按当前设定。",
                                "component_ids": ["controller", "rack"], "input_schema": _obj({"slot_index": SLOT}), "output_schema": EVALUATE_OUT,
                                "example_arguments": [{"slot_index": 0}], "observes": ["thermal.indicated_temperature_k", "thermal.target_k"], "state_effects": [],
                                "preconditions": eval_pre,
@@ -234,7 +234,7 @@ def plan(args: dict) -> dict:
         deviations.append(f"matrix '{material['matrix']}' not listed in {method.get('method', meth)} scope")
     return {"slot_index": slot, "material_id": mid, "method_id": meth, "sample_mass_kg": float(mass), "acid_volume_m3": float(vol),
             "method_deviations": deviations, "heating_started_s": None, "entered_window_s": None, "hold_in_window_s": 0.0,
-            "left_window_after_entry": False, "max_indicated_temperature_K": None, "exceeded_window": False}
+            "left_window_after_entry": False, "max_indicated_temperature_K": None, "exceeded_window": False, "program_setpoint_K": None}
 
 
 def load_result(rec: dict) -> dict:
@@ -294,7 +294,11 @@ def evaluate(rec: dict, state: dict) -> dict:
         ramp_ok = abs(ramp - p["ramp_time_s"]) <= p["ramp_tolerance_s"] + 1e-9
     else:
         ramp_ok = ramp <= (p.get("ramp_time_max_s") or p["ramp_time_s"]) + 1e-9
-    setpoint = float(state["thermal.target_k"])
+    # the run's programme set point: the highest set point in force while the microwave heated (the programme plateau; a ramp and the
+    # safety cooling after the run lie below it); before any heating, the current set point (2026-10-22: the post-run ambient set point
+    # made every completed run non-conformant)
+    run_sp = rec.get("program_setpoint_K")
+    setpoint = float(state["thermal.target_k"]) if run_sp is None else float(run_sp)
     boiling = []
     for reag in method["reagents"]:
         r = records().get(reag["reagent_id"]) or {}
@@ -402,6 +406,9 @@ def track_step(advance, inst: dict, before: dict, t0: float, dt: float) -> None:
         hold_done_before = rec["hold_in_window_s"] >= method["program"]["hold_time_s"] - 1e-9
         if heating and rec["heating_started_s"] is None:
             rec["heating_started_s"] = t0
+        if heating:
+            sp, prev = float(before["thermal.target_k"]), rec.get("program_setpoint_K")
+            rec["program_setpoint_K"] = sp if prev is None else max(prev, sp)
         if T1 >= T0:  # rising or flat
             if T1 < lo or T0 > hi:
                 enter = exit_ = None
diff --git a/scripts/labware/appearance.py b/scripts/labware/appearance.py
new file mode 100644
index 0000000000000000000000000000000000000000..998681d05e4a86fbb75df2fa6ad27c09235e1c06
--- /dev/null
+++ b/scripts/labware/appearance.py
@@ -0,0 +1,242 @@
+"""Real appearance of the storage furniture: body / door colours from the makers' data sheets (RAL codes), the safety
+labels the cabinets carry, and simple decals for the fridge / freezer controllers and the Secador hygrometer.
+
+Visual only: geometry, collisions, frames and slots are unchanged.  Labels are decals (textured quads 0.6 mm in front of
+the door face) added as extra visual elements of the door link.  Sign artwork: ISO 7010 safety signs and UNECE GHS
+pictograms as rendered on Wikimedia Commons (public domain; per-file licence in assets/labware/_textures/signs/LICENCES.json),
+composed onto a white label plate here.  Controller / dial decals are drawn here (project drawing, no maker artwork, no logos).
+Colours: RAL Classic sRGB approximations from the Wikipedia 'List of RAL colours' (accessed 2026-10-23); the kit converts
+them to linear for glTF / URDF and keeps sRGB in the MTL files.
+"""
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+from PIL import Image, ImageDraw, ImageFont
+
+from labware_kit import TEXTURES_DIR, LabwareAsset, decal_quad, hex_rgba
+
+SIGNS = TEXTURES_DIR / "signs"
+LABELS = TEXTURES_DIR / "labels"
+SIGN_LICENCES = json.loads((SIGNS / "LICENCES.json").read_text(encoding="utf-8"))["signs"]
+
+RAL = {"RAL 7016": "#373F43", "RAL 7035": "#CBD0CC", "RAL 1004": "#E49E00", "RAL 9016": "#F7FBF5", "RAL 9010": "#F7F9EF", "RAL 5010": "#13447C"}
+RAL_SOURCE = "RAL Classic sRGB approximations, Wikipedia 'List of RAL colours' (https://en.wikipedia.org/wiki/List_of_RAL_colours), accessed 2026-10-23"
+
+SOURCES = {
+    "asecos_q90_30001041": {"kind": "manufacturer", "reference": "asecos product data sheet ID 30001-041, model Q90.195.120 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30001041-product-data-sheet_IN.pdf)",
+                            "locator": "p.1 colouring: body RAL 7016 anthracite grey, wing doors RAL 7035 light grey", "note": "Standard 3-shelf Q90.195.120 colours.", "licence": "facts"},
+    "asecos_cs_30496040": {"kind": "manufacturer", "reference": "asecos product data sheet ID 30496-040, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+                           "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors warning yellow RAL 1004; internal 996 x 493 x 1835 mm; 75 kg; depth with open doors 1026 mm",
+                           "note": "Variant used for the toxics and oxidizers cabinets.", "licence": "facts"},
+    "asecos_cs_30496041": {"kind": "manufacturer", "reference": "asecos product data sheet ID 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496041-product-data-sheet_IN.pdf)",
+                           "locator": "p.1: body RAL 7016 anthracite grey, glass-paneled wing doors light grey RAL 7035; 75 kg", "note": "Variant used for the standards and consumables cabinets.", "licence": "facts"},
+    "asecos_g90_30641001": {"kind": "manufacturer", "reference": "asecos product data sheet ID 30641-001, model G90.205.140 (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30641001-product-data-sheet_IN.pdf)",
+                            "locator": "p.1: body and doors RAL 7035 light grey; 690 kg without interior; 2 doors, door opening angle 180 deg; depth with open doors 1337 mm",
+                            "note": "Gas cylinder cabinet colours, mass and door angle.", "licence": "facts"},
+    "asecos_sl_30606005": {"kind": "manufacturer", "reference": "asecos product data sheet ID 30606-005, model SL.196.120.MV",
+                           "locator": "p.1: body and doors laboratory white (sim. RAL 9016)", "note": "Acid/base cabinet colour.", "licence": "facts"},
+    "liebherr_white": {"kind": "manufacturer", "reference": "Liebherr LKv 3910 MediLine listings (https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910; machineseeker listing)",
+                       "locator": "exterior white painted steel, PS interior; electronic controller with digital display (+3...+16 C in 0.1 C steps)",
+                       "note": "White finish (no RAL code published; RAL 9016 sRGB used for display) and controller with digital display; the LGUex 1500 of the same MediLine series is taken as the same white.", "licence": "facts"},
+    "trippnt_white": {"kind": "manufacturer", "reference": "TrippNT 24 in step shelf 50123, white PVC (VWR 'Step shelves, white PVC' https://b2b-uk.vwr.com/store/product/39705954/null; Avantor 16117910 'Step Shelf, White PVC, TrippNT')",
+                      "locator": "material: white PVC", "note": "White (RAL not published; RAL 9010 sRGB used for display).", "licence": "facts"},
+    "denios_blue": {"kind": "manufacturer", "reference": "DENIOS 115873W listing (blue powder-coated steel)", "locator": "finish: blue powder coating",
+                    "note": "Blue (RAL not published; RAL 5010 gentian blue sRGB used for display).", "licence": "facts"},
+    "secador_hygrometer": {"kind": "manufacturer", "reference": "SP Bel-Art Secador vertical desiccator cabinets product page (https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/)",
+                           "locator": "hygrometer dial in the door shows relative humidity", "note": "Hygrometer dial decal (drawn here).", "licence": "facts"},
+    "public_domain_signs": {"kind": "publication", "reference": "ISO 7010 safety signs and UNECE GHS pictograms as SVG files on Wikimedia Commons (licence per file: public domain), list in assets/labware/_textures/signs/LICENCES.json",
+                            "locator": "W021 flammable, W023 corrosive, W016 toxic, W028 oxidizing, W029 gas cylinder, P003 no open flame; GHS02/03/04/05/06",
+                            "note": "Safety labels on the cabinet doors (EN 14470-1/-2 and the hazard classes stored).", "licence": "public domain"},
+    "ral_srgb": {"kind": "publication", "reference": RAL_SOURCE, "locator": "RAL 1004 #E49E00, 5010 #13447C, 7016 #373F43, 7035 #CBD0CC, 9010 #F7F9EF, 9016 #F7FBF5",
+                 "note": "Display colours for the RAL codes.", "licence": "facts"},
+}
+
+
+# ------------------------------------------------------------------------------------------------ textures
+def label(sign: str, plate_px=(600, 600)) -> Path:
+    """White label plate with a thin grey border and the sign centred (no alpha: safe for OBJ/URDF importers)."""
+    LABELS.mkdir(parents=True, exist_ok=True)
+    out = LABELS / f"label_{sign}.png"
+    if out.exists():
+        return out
+    W, H = plate_px
+    img = Image.new("RGB", (W, H), (250, 250, 248))
+    d = ImageDraw.Draw(img)
+    d.rectangle([4, 4, W - 5, H - 5], outline=(150, 150, 150), width=6)
+    s = Image.open(SIGNS / f"{sign}.png").convert("RGBA")
+    k = min((W - 80) / s.width, (H - 80) / s.height)
+    s = s.resize((int(s.width * k), int(s.height * k)), Image.LANCZOS)
+    img.paste(s, ((W - s.width) // 2, (H - s.height) // 2), s)
+    img.save(out)
+    return out
+
+
+def _font(px):
+    try:
+        return ImageFont.load_default(size=px)
+    except TypeError:
+        return ImageFont.load_default()
+
+
+def controller_panel(name: str, text: str, size_px=(1200, 160)) -> Path:
+    """Drawn controller strip: dark panel, backlit display with the set-point text, four round keys, status LED."""
+    LABELS.mkdir(parents=True, exist_ok=True)
+    out = LABELS / f"panel_{name}.png"
+    W, H = size_px
+    img = Image.new("RGB", (W, H), (58, 62, 66))
+    d = ImageDraw.Draw(img)
+    dx0, dy0, dx1, dy1 = int(W * 0.38), int(H * 0.18), int(W * 0.62), int(H * 0.82)
+    d.rectangle([dx0, dy0, dx1, dy1], fill=(20, 30, 36), outline=(110, 110, 110), width=3)
+    d.text(((dx0 + dx1) // 2, (dy0 + dy1) // 2), text, fill=(120, 230, 255), font=_font(int(H * 0.42)), anchor="mm")
+    for i in range(4):
+        cx = int(W * 0.68) + i * int(H * 0.55)
+        d.ellipse([cx - H * 0.18, H * 0.32, cx + H * 0.18, H * 0.68], fill=(200, 202, 205), outline=(30, 30, 30), width=2)
+    d.ellipse([W * 0.30, H * 0.42, W * 0.30 + H * 0.16, H * 0.58], fill=(60, 200, 90))
+    img.save(out)
+    return out
+
+
+def hygrometer_dial() -> Path:
+    LABELS.mkdir(parents=True, exist_ok=True)
+    out = LABELS / "dial_hygrometer.png"
+    S = 400
+    img = Image.new("RGB", (S, S), (235, 235, 232))
+    d = ImageDraw.Draw(img)
+    d.ellipse([10, 10, S - 10, S - 10], fill=(250, 250, 248), outline=(40, 40, 40), width=8)
+    import math
+    for i in range(11):
+        a = math.radians(225 - 27 * i)
+        r0, r1 = S * 0.36, S * 0.44
+        d.line([S / 2 + r0 * math.cos(a), S / 2 - r0 * math.sin(a), S / 2 + r1 * math.cos(a), S / 2 - r1 * math.sin(a)], fill=(30, 30, 30), width=5)
+    a = math.radians(225 - 27 * 2.5)
+    d.line([S / 2, S / 2, S / 2 + S * 0.33 * math.cos(a), S / 2 - S * 0.33 * math.sin(a)], fill=(200, 30, 30), width=7)
+    d.text((S / 2, S * 0.70), "% RH", fill=(30, 30, 30), font=_font(44), anchor="mm")
+    img.save(out)
+    return out
+
+
+# ------------------------------------------------------------------------------------------------ application
+def set_colour(a: LabwareAsset, link_id: str, ral: str, source_id: str, element: int = 0, alpha: float = 1.0, metallic: float = 0.15):
+    l = a.link(link_id)
+    el = list(l.visual[element])
+    opts = dict(el[2]) if len(el) > 2 and el[2] else {}
+    opts.update({"ral": ral, "source_id": source_id, "metallic": metallic, "roughness": 0.55})
+    l.visual[element] = (el[0], hex_rgba(RAL[ral], alpha), opts)
+
+
+def door_decal(a: LabwareAsset, door: str, png: Path, z_world: float, size, x_frac: float = 0.5, name: str = "", licence: str = ""):
+    """Decal on the front face of a door leaf; x_frac 0 = hinge edge, 1 = free edge; z_world = centre height above the floor."""
+    dd = a.labware["doors"][door]
+    w, t, h = dd["leaf_size_m"]
+    sgn = 1.0 if dd["hinge_side"] == "left" else -1.0
+    z0 = dd["hinge_origin_m"][2]
+    mesh, uv = decal_quad((sgn * w * x_frac, -t, z_world - z0), size[0], size[1], "-y")
+    a.link(door).visual.append((mesh, (1.0, 1.0, 1.0, 1.0), {"texture": str(png), "uv": uv, "name": f"decal_{name or png.stem}",
+                                                              "texture_licence": licence, "source_id": "public_domain_signs" if "label_" in png.name else "project_drawing"}))
+
+
+def glass_panel(a: LabwareAsset, door: str, z0_world: float, z1_world: float, width: float):
+    """WDFW glass panel: a tinted translucent pane 1 mm proud of the door face (visual only)."""
+    import trimesh
+    dd = a.labware["doors"][door]
+    w, t, h = dd["leaf_size_m"]
+    sgn = 1.0 if dd["hinge_side"] == "left" else -1.0
+    zc = (z0_world + z1_world) / 2 - dd["hinge_origin_m"][2]
+    pane = trimesh.creation.box(extents=[width, 0.001, z1_world - z0_world])
+    pane.apply_translation([sgn * w * 0.5, -t - 0.0007, zc])
+    a.link(door).visual.append((pane, (0.55, 0.65, 0.72, 0.55), {"name": "glass_panel", "note_zh": "门上玻璃观察窗（WDFW 型）", "source_id": "asecos_cs"}))
+
+
+def _lic(sign: str) -> str:
+    rec = SIGN_LICENCES[sign]
+    return f"{rec['licence']} ({rec['source_page']})"
+
+
+def _record(a: LabwareAsset, body: dict, labels: list, extra_sources: list):
+    a.sources.update({k: SOURCES[k] for k in extra_sources + ["ral_srgb"]})
+    a.labware["appearance"] = {"body": body, "labels": labels, "colour_source": RAL_SOURCE,
+                               "note_zh": "外观（颜色、标签、面板贴花）只影响显示；几何、碰撞、坐标与存放位不变。"}
+
+
+def hazard_doors(a: LabwareAsset, doors: list, signs: list, ghs: str | None):
+    labels = []
+    for door in doors:
+        for k, sign in enumerate(signs):
+            png = label(sign)
+            door_decal(a, door, png, 1.55 - 0.22 * k, (0.17, 0.17), x_frac=0.5, name=sign, licence=_lic(sign))
+            labels.append({"door": door, "sign": sign, "licence": SIGN_LICENCES[sign]["licence"], "source_page": SIGN_LICENCES[sign]["source_page"]})
+        if ghs:
+            png = label(ghs)
+            door_decal(a, door, png, 1.55 - 0.22 * len(signs), (0.13, 0.13), x_frac=0.5, name=ghs, licence=_lic(ghs))
+            labels.append({"door": door, "sign": ghs, "licence": SIGN_LICENCES[ghs]["licence"], "source_page": SIGN_LICENCES[ghs]["source_page"]})
+    return labels
+
+
+def apply(a: LabwareAsset) -> LabwareAsset:
+    slug = a.slug
+    if slug == "asecos_q90_195_120":
+        set_colour(a, "carcass", "RAL 7016", "asecos_q90_30001041")
+        for door in ("door_left", "door_right"):
+            set_colour(a, door, "RAL 7035", "asecos_q90_30001041")
+        labels = hazard_doors(a, ["door_left", "door_right"], ["iso7010_w021_flammable"], "ghs02_flame")
+        png = label("iso7010_p003_no_open_flame")
+        door_decal(a, "door_left", png, 1.11, (0.13, 0.13), x_frac=0.5, name="iso7010_p003_no_open_flame", licence=_lic("iso7010_p003_no_open_flame"))
+        labels.append({"door": "door_left", "sign": "iso7010_p003_no_open_flame", "licence": "Public domain"})
+        _record(a, {"body": "RAL 7016 anthracite grey", "doors": "RAL 7035 light grey", "source_id": "asecos_q90_30001041"}, labels,
+                ["asecos_q90_30001041", "public_domain_signs"])
+    elif slug == "asecos_sl_196_120":
+        set_colour(a, "carcass", "RAL 9016", "asecos_sl_30606005")
+        for door in ("door_left", "door_right"):
+            set_colour(a, door, "RAL 9016", "asecos_sl_30606005")
+        labels = hazard_doors(a, ["door_left", "door_right"], ["iso7010_w023_corrosive"], "ghs05_corrosion")
+        _record(a, {"body": "laboratory white (sim. RAL 9016)", "doors": "laboratory white (sim. RAL 9016)", "source_id": "asecos_sl_30606005"}, labels,
+                ["asecos_sl_30606005", "public_domain_signs"])
+    elif slug.startswith("asecos_cs_195_105"):
+        hazardous = slug in ("asecos_cs_195_105", "asecos_cs_195_105_oxidizers")
+        src = "asecos_cs_30496040" if hazardous else "asecos_cs_30496041"
+        set_colour(a, "carcass", "RAL 7016", src)
+        for door in ("door_left", "door_right"):
+            set_colour(a, door, "RAL 1004" if hazardous else "RAL 7035", src)
+            glass_panel(a, door, 0.45, 1.20, 0.26)
+        labels = []
+        if slug == "asecos_cs_195_105":
+            labels = hazard_doors(a, ["door_left", "door_right"], ["iso7010_w016_toxic"], "ghs06_skull")
+        elif slug == "asecos_cs_195_105_oxidizers":
+            labels = hazard_doors(a, ["door_left", "door_right"], ["iso7010_w028_oxidizing"], "ghs03_flame_over_circle")
+        _record(a, {"body": "RAL 7016 anthracite grey", "doors": "RAL 1004 warning yellow" if hazardous else "RAL 7035 light grey",
+                    "glass_panels": "WDFW glass-paneled wing doors", "source_id": src}, labels, [src] + (["public_domain_signs"] if labels else []))
+        for l in a.links:
+            for el in l.visual:
+                if len(el) > 2 and el[2].get("source_id") == "asecos_cs":
+                    el[2]["source_id"] = src
+    elif slug == "asecos_g90_205_140":
+        set_colour(a, "carcass", "RAL 7035", "asecos_g90_30641001")
+        for door in ("door_left", "door_right"):
+            set_colour(a, door, "RAL 7035", "asecos_g90_30641001")
+        labels = hazard_doors(a, ["door_left", "door_right"], ["iso7010_w029_gas_cylinder", "iso7010_w021_flammable"], "ghs04_gas_cylinder")
+        _record(a, {"body": "RAL 7035 light grey", "doors": "RAL 7035 light grey", "source_id": "asecos_g90_30641001"}, labels,
+                ["asecos_g90_30641001", "public_domain_signs"])
+    elif slug in ("liebherr_lkv3910", "liebherr_lguex1500"):
+        set_colour(a, "carcass", "RAL 9016", "liebherr_white", metallic=0.1)
+        set_colour(a, "door", "RAL 9016", "liebherr_white", metallic=0.1)
+        fridge = slug == "liebherr_lkv3910"
+        png = controller_panel(slug, "+5.0°C" if fridge else "-20.0°C")
+        dd = a.labware["doors"]["door"]
+        top = dd["hinge_origin_m"][2] + dd["leaf_size_m"][2]
+        door_decal(a, "door", png, top - 0.05, (dd["leaf_size_m"][0] * 0.92, 0.07), x_frac=0.5, name="controller_panel", licence="project drawing (no maker artwork)")
+        _record(a, {"body": "white painted steel", "doors": "white", "controller": "electronic controller with digital display (decal)", "source_id": "liebherr_white"},
+                [{"door": "door", "decal": "controller_panel", "licence": "project drawing"}], ["liebherr_white"])
+    elif slug == "belart_secador_2_vertical":
+        png = hygrometer_dial()
+        door_decal(a, "door", png, 0.30, (0.06, 0.06), x_frac=0.5, name="hygrometer", licence="project drawing (no maker artwork)")
+        _record(a, {"body": "clear (F42072-1000)", "doors": "clear", "hygrometer": "dial in the door (decal)", "source_id": "secador_hygrometer"},
+                [{"door": "door", "decal": "hygrometer", "licence": "project drawing"}], ["secador_hygrometer"])
+    elif slug == "trippnt_step_shelf_2tier":
+        set_colour(a, "shelf", "RAL 9010", "trippnt_white", metallic=0.0)
+        _record(a, {"body": "white PVC", "source_id": "trippnt_white"}, [], ["trippnt_white"])
+    elif slug == "denios_cylinder_stand_x4":
+        set_colour(a, "stands", "RAL 5010", "denios_blue", metallic=0.2)
+        _record(a, {"body": "blue powder coating", "source_id": "denios_blue"}, [], ["denios_blue"])
+    return a
diff --git a/scripts/labware/build_labware.py b/scripts/labware/build_labware.py
new file mode 100644
index 0000000000000000000000000000000000000000..19c9d8d9061ea843918bd439640427613957f108
--- /dev/null
+++ b/scripts/labware/build_labware.py
@@ -0,0 +1,249 @@
+"""Build the labware / storage-furniture assets and assets/labware/catalog.json.
+
+    python scripts/labware/build_labware.py                 # build everything, verify, write catalog.json
+    python scripts/labware/build_labware.py --only duran_gl45_500ml_clear --no-verify
+    python scripts/labware/build_labware.py --catalog-only  # rewrite catalog.json from the existing manifests
+
+catalog.json lists
+  * "types": every container / consumable / tool type: our new assets (source chemistry_sim) and the reused LabUtopia /
+    Matterix assets (source labutopia / matterix, MIT, pointing at the existing USD) with frames, interior, capacity, mass;
+  * "furniture": storage furniture with its storage slots and doors;
+  * "places": the default-lab inventory's storage places (chemlab/chemlab/inventory.py) -> furniture type + position names;
+  * "inventory_type_map": the inventory's provisional container type ids -> catalog types.
+The Isaac Sim storage scene reads this file; chemlab reads it for capacities and storage hints.
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import time
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE))
+from labware_kit import FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, LABWARE_DIR, ROOT  # noqa: E402
+from sources import SOURCES  # noqa: E402
+
+MATTERIX_DATA = ROOT.parent / "Matterix" / "source" / "matterix_assets" / "data"
+
+# the inventory's provisional container type ids (chemlab/chemlab/inventory.py PROVISIONAL_TYPES, 2026-10-22) -> catalog types.
+# status: exact = the asset is that item; packaging_of = the unit item is built, the box/bag is not modelled (count = units per pack);
+# substitute = a built asset stands in with a stated difference; not_built = no asset yet (reason).
+INVENTORY_TYPE_MAP = {
+    "bottle_gl45_1000ml_clear": {"type": "labware.duran_gl45_1000ml_clear", "status": "exact"},
+    "bottle_gl45_500ml_clear": {"type": "labware.duran_gl45_500ml_clear", "status": "exact"},
+    "bottle_gl45_2500ml_amber": {"type": "labware.winchester_2500ml_amber", "status": "substitute",
+                                 "note": "2.5 L amber Winchester (38 mm screw neck); DURAN makes no 2.5 L GL45 bottle"},
+    "bottle_hdpe_500ml": {"type": "labware.nalgene_nm_hdpe_500ml", "status": "exact"},
+    "bottle_hdpe_1000ml": {"type": "labware.nalgene_nm_hdpe_1000ml", "status": "exact"},
+    "jar_hdpe_500g": {"type": "labware.nalgene_wm_hdpe_500ml", "status": "exact"},
+    "bottle_glass_crm_unit": {"type": "labware.duran_gl45_100ml_amber", "status": "substitute",
+                              "note": "CRM unit bottles are small amber glass bottles of the issuing body; the 100 mL amber GL45 bottle stands in"},
+    "plate_96_flat_ps": {"type": "labware.corning_96_wellplate_360ul_flat", "status": "exact", "carrier": "labware.sbs_plate_carrier"},
+    "box_microplates_96_flat_ps": {"type": "labware.corning_96_wellplate_360ul_flat", "status": "packaging_of", "count": 25,
+                                   "note": "sleeve of 25 plates; sleeve not modelled"},
+    "tiprack_flex_1000ul": {"type": "labware.opentrons_flex_tiprack_1000ul", "status": "exact", "carrier": "labware.sbs_plate_carrier"},
+    "tiprack_flex_200ul": {"type": "labware.opentrons_flex_tiprack_200ul", "status": "exact", "carrier": "labware.sbs_plate_carrier"},
+    "bag_tubes_1p5ml": {"type": "labware.eppendorf_safelock_1p5ml", "status": "packaging_of", "count": 500, "note": "bag of 500 tubes; bag not modelled"},
+    "bag_tubes_conical_15ml": {"type": "labware.falcon_tube_15ml", "status": "packaging_of", "count": 50, "note": "bag of 50; bag not modelled"},
+    "bag_tubes_conical_50ml": {"type": "labware.falcon_tube_50ml", "status": "packaging_of", "count": 25, "note": "bag of 25; bag not modelled"},
+    "box_vials_2ml_screw": {"type": "labware.agilent_vial_2ml_screw", "status": "packaging_of", "count": 100, "note": "Agilent 5182-0715 is sold 100/pk"},
+    "box_vials_2ml_crimp": {"type": "labware.agilent_vial_2ml_screw", "status": "substitute", "count": 100,
+                            "note": "crimp-top vial has the same 12 x 32 mm body; crimp cap not modelled (screw vial stands in)"},
+    "box_vials_20ml_headspace": {"type": "labware.agilent_hs_vial_20ml", "status": "packaging_of", "count": 100, "note": "Agilent 5188-2753 is sold 100/pk"},
+    "cylinder_50l_200bar": {"type": "labware.gas_cylinder_50l_200bar", "status": "exact"},
+    "cylinder_10l_200bar": {"type": "labware.gas_cylinder_10l_200bar", "status": "exact"},
+    "cylinder_10l_co2_liquefied": {"type": "labware.gas_cylinder_10l_200bar", "status": "substitute",
+                                   "note": "same 10 L steel shell; liquefied CO2 at ~57 bar (20 C) is a ledger property, no dip tube modelled"},
+    "cylinder_10l_acetylene": {"type": "labware.gas_cylinder_10l_200bar", "status": "substitute",
+                               "note": "acetylene cylinders hold a porous mass + acetone at ~19 bar and are wider; shape of the 10 L cylinder stands in until a sourced model is built"},
+    "vial_bead_standard": {"type": "labware.agilent_vial_2ml_screw", "status": "substitute", "note": "small reagent vial stands in"},
+    "vial_protein_ladder": {"type": "labware.eppendorf_safelock_1p5ml", "status": "substitute", "note": "ladders ship in 0.5-1.5 mL tubes"},
+    "vial_crm_metal_shot": {"type": "labware.agilent_hs_vial_20ml", "status": "substitute", "note": "metal-shot CRM unit (small glass vial) stands in"},
+    "ampoule_box_crm": {"type": "labware.hach_tl2300_sample_cell_25mm", "status": "packaging_of",
+                        "note": "box of sealed standards; the unit depends on the record (per_record_units); the box itself is not modelled",
+                        "per_record_units": {
+                            "turbidity_stablcal_kit": {"type": "labware.hach_tl2300_sample_cell_25mm", "status": "exact", "count": 6,
+                                                       "note": "StablCal standards are sealed 95 x 25 mm cells (TL23 data sheet p.3)"},
+                            "aw_standard_0_760": {"type": "labware.agilent_hs_vial_20ml", "status": "substitute", "count": 5,
+                                                  "note": "METER verification standards are small sealed vials emptied into a disposable sample cup"},
+                            "aw_standard_0_250": {"type": "labware.agilent_hs_vial_20ml", "status": "substitute", "count": 5,
+                                                  "note": "as aw_standard_0_760"},
+                            "osmolality_cal_400": {"type": "labware.agilent_vial_2ml_screw", "status": "substitute", "count": 12,
+                                                   "note": "Knauer calibration solution: 12 small vials per box (K7400S brochure p.11)"}}},
+    "xrd_holder_zero_background": {"type": "labware.rigaku_glass_holder_0p2mm", "status": "substitute",
+                                   "note": "glass 0.2 mm well plate for the MiniFlex standard stage; a zero-background Si plate has the same role, its outer size is not published"},
+    "ir_film_card": {"type": "labware.sigma_ir_polystyrene_card_z804290", "status": "exact"},
+    "case_reference_plate": {"type": "labware.gelpak_ad1135_case", "status": "exact",
+                             "note": "Gel-Pak AD-1135 hinged case; the reference item inside (sapphire disc, foils, quartz plate, dummy cell) is ledger content"},
+    "box_pcr_plates_96_skirted": {"type": "labware.biorad_hardshell_pcr_plate_96", "status": "packaging_of", "count": 50, "note": "HSP9655 pkg of 50 (CFX Opus flier p.2)"},
+    "bag_tubes_12x75mm_ps": {"type": "labware.falcon_352052_tube_12x75", "status": "packaging_of", "count": 125, "note": "125 per bag (FACSAria guide p.286)"},
+    "box_dsc_pans_tzero": {"type": "labware.ta_tzero_pan_lid", "status": "packaging_of", "count": 100, "note": "pkg of 100 pans + 100 lids (DSC guide p.64)"},
+    "box_tin_capsules": {"type": "labware.elementar_tin_capsule_11x8", "status": "packaging_of", "count": 100, "note": "100 pcs package (Elementar 200006458)"},
+    "box_cuvettes_ps_10mm": {"type": "labware.brand_ps_macro_cuvette_759005", "status": "packaging_of", "count": 100, "note": "pack of 100"},
+    "cuvette_quartz_10mm_case": {"type": "labware.hellma_100_10_40_quartz_cuvette", "status": "packaging_of", "count": 4, "note": "cuvette case not modelled"},
+    "box_nmr_tubes_5mm": {"type": "labware.norell_nmr_tube_5mm_7in", "status": "packaging_of", "count": 25},
+    "box_gels_precast_10well": {"type": "labware.biorad_tgx_gel_4_20_10well", "status": "packaging_of", "count": 10, "note": "box of 10 gels (4561094)"},
+    "roll_heat_seal_film": {"type": "labware.azenta_seal_roll_4ti0520", "status": "exact", "note": "mesh reused from the a4S asset's film_roll part"},
+    "box_sensor_chips_spr": {"type": "labware.cytiva_series_s_sensor_chip_cm5", "status": "packaging_of", "count": 3, "note": "BR100530 = pack of 3"},
+    "kit_ce_reagents": {"type": "labware.sciex_universal_vial_2ml", "status": "packaging_of",
+                        "note": "SDS-MW kit 390953 (box not modelled); its liquids are run from PA 800 universal vials (A62251 + caps A62250)"},
+    "quantos_dosing_head": {"type": "labware.mt_quantos_qh016_bnmw", "status": "exact",
+                            "note": "QH016-BNMW 16 mL powder head (Quantos manual p.102/p.107); geometry from the mt_quantos_q2 asset's dosing_head part"},
+    "quantos_head_container": {"type": "labware.mt_quantos_head_container", "status": "exact",
+                               "note": "plastic container supplied with each head (manual p.27/p.94); holds one head upright on the bench shelf"},
+    "quantos_target_vial": {"type": "labware.agilent_hs_vial_20ml", "status": "exact",
+                            "note": "fits the Quantos sample-container limits (manual p.103); the instrument asset's sample_container part is an authored placeholder"},
+    "vial_rack_20ml": {"type": "labware.mn_702503_vial_rack_23mm", "status": "exact",
+                       "note": "MACHEREY-NAGEL 702503 36-position rack for 23.1 mm headspace vials (20 mL Agilent vials); robot slots A01-A12 and C01-C12 "
+                               "(fingers close along Y), row B stays empty; needs >= 0.25 m free above the vial tops (bench top)"},
+    "in_instrument_item": {"type": None, "status": "not_applicable", "note": "items already inside instruments are not spawned on shelves"},
+}
+
+
+def registries() -> dict:
+    regs = {}
+    import containers
+    regs.update(containers.ALL_CONTAINER_BUILDERS)
+    for mod in ("sbs", "tools", "furniture", "consumables", "quantos", "racks"):
+        try:
+            m = __import__(mod)
+            regs.update(getattr(m, "BUILDERS"))
+        except ModuleNotFoundError:
+            pass
+    return regs
+
+
+def labutopia_types() -> dict:
+    """Reused assets: LabUtopia glassware / props (MIT) and the Matterix / Chemistry-Sim accessories already in Matterix."""
+    out = {}
+    idx_p = MATTERIX_DATA / "labutopia" / "labutopia_index.json"
+    idx = json.loads(idx_p.read_text(encoding="utf-8")) if idx_p.exists() else {}
+    nominal = {"beaker_50ml": 50, "beaker_100ml": 100, "beaker_150ml": 150, "beaker_250ml": 250, "beaker_600ml": 600, "beaker_wide_500ml": 500,
+               "beaker_wide_1000ml": 1000, "beaker_opaque_100ml": 100, "erlenmeyer_100ml": 100, "erlenmeyer_250ml": 250, "erlenmeyer_500ml": 500,
+               "erlenmeyer_1000ml": 1000, "erlenmeyer_wide_1000ml": 1000, "graduated_cylinder_500ml": 500}
+    for name, e in idx.items():
+        if e.get("category") not in ("labware", "prop", "appliance"):
+            continue
+        sx, sy, h = e["size_m"]
+        entry = {"source": "labutopia", "licence": e.get("license", "MIT (LabUtopia)"), "reused": True,
+                 "usd": f"Matterix:source/matterix_assets/data/{e['usd']}", "name_en": name.replace("_", " "), "note_zh": e.get("note_zh", ""),
+                 "size_m": e["size_m"], "empty_mass_kg": e.get("mass_kg"), "mass_evidence": "LabUtopia index value (not weighed)",
+                 "frames_index": e.get("frames"), "grasp_height_m": e.get("grasp_height_m"), "category": e.get("category"),
+                 "source_detail": e.get("source")}
+        if name in nominal:
+            r = min(sx, sy) / 2
+            wall = 0.0025 if h > 0.06 else 0.0015
+            entry.update({"family": "open_vessel", "labware_class": name.split("_")[0] if not name.startswith("graduated") else "cylinder",
+                          "nominal_capacity_m3": nominal[name] * 1e-6, "nominal_capacity_evidence": "documented (name of the LabUtopia asset)",
+                          "interior": {"shape": "cylinder_estimate", "radius_m": round(max(r - wall, 0.004), 5), "floor_m": 0.004, "height_m": round(h, 5),
+                                       "note_zh": "与 Matterix chemsim_slots.labware_spec 相同的估计（外径 − 壁厚 2.5/1.5 mm，底 4 mm）；锥形瓶/量筒的实际内腔不是圆柱"},
+                          "franka_grasp_ok": bool(min(sx, sy) <= FRANKA_MAX_GRASP_M) or name.startswith("erlenmeyer"),
+                          "closure": None, "storage_class_hint": "labware (empty glassware: consumables cabinet / bench)"})
+        out[f"labutopia.{name}"] = entry
+    geo_p = MATTERIX_DATA / "chemsim" / "geometry_index.json"
+    geo = json.loads(geo_p.read_text(encoding="utf-8")) if geo_p.exists() else {}
+    for tid in ("labware.gc_sample_vial", "labware.gc_syringe"):
+        if tid in geo:
+            g = geo[tid]
+            out[f"matterix.{tid.split('.', 1)[1]}"] = {
+                "source": "matterix (Chemistry-Sim accessory)", "licence": "project", "reused": True,
+                "usd": f"Matterix:source/matterix_assets/data/{g['usd']}", "size_m": g["size_m"], "empty_mass_kg": g.get("mass_kg"),
+                "frames_index": g.get("frames"), "note_zh": "Chemistry-Sim GC 附件（已在 Matterix 中转换）；origin 在包围盒中心（base_offset = −bbox_min z）",
+                "family": "vial" if "vial" in tid else "syringe"}
+    for name, usd in (("beaker500ml", "labware/beaker500ml/beaker-500ml-inst.usda"),
+                      ("table_thorlabs_75x90", "infrastructure/tables/table-thorlabs-75x90/table-inst.usda")):
+        if (MATTERIX_DATA / usd).exists():
+            out[f"matterix.{name}"] = {"source": "matterix", "licence": "Matterix (BSD-3-Clause)", "reused": True,
+                                       "usd": f"Matterix:source/matterix_assets/data/{usd}",
+                                       "family": "open_vessel" if "beaker" in name else "furniture",
+                                       "nominal_capacity_m3": 5e-4 if "beaker" in name else None,
+                                       "note_zh": "Matterix 自带资产（matterix_assets/labware/beakers.py / infrastructure）"}
+    return out
+
+
+def manifest_entry(d: Path) -> dict:
+    man = json.loads((d / "geometry_manifest.json").read_text(encoding="utf-8"))
+    lw = man.get("labware") or {}
+    rel = d.relative_to(ROOT).as_posix()
+    srcs = [{"source_id": s["source_id"], "kind": s["kind"], "reference": s["reference"], "locator": s["locator"],
+             "licence": s.get("licence") or SOURCES.get(s["source_id"], {}).get("licence")} for s in man.get("sources", [])]
+    arts = {k: (f"{rel}/{v}" if v else None) for k, v in man["artifacts"].items() if k != "meshes_dir"}
+    e = {"source": "chemistry_sim", "licence": "project asset (dimensions: cited facts; Opentrons-derived data Apache-2.0)", "reused": False,
+         "dir": rel, "contract": f"{rel}/asset.contract.json", "manifest": f"{rel}/geometry_manifest.json", **arts,
+         "name_zh": man["name_zh"], "name_en": man.get("name_en"), "size_m": man["overall_dimensions_m"], "total_mass_kg": man["total_mass_kg"],
+         "links": [c["id"] for c in man["components"]],
+         "joints": {k: {kk: v[kk] for kk in v if kk in ("type", "axis", "limits_rad", "limits_m", "note_zh")} for k, v in man["joint_definitions"].items()},
+         "sources": srcs}
+    e.update({k: v for k, v in lw.items() if k not in ("volume_table_m_ml",)})
+    if man.get("ports"):
+        e["slots"] = man["ports"]
+    return e
+
+
+def write_catalog() -> dict:
+    types, furniture = {}, {}
+    for m in sorted(LABWARE_DIR.glob("*/*/geometry_manifest.json")):
+        d = m.parent
+        e = manifest_entry(d)
+        tid = json.loads(m.read_text(encoding="utf-8"))["asset_type_id"]
+        (furniture if d.parent.name == "furniture" else types)[tid] = e
+    types.update(labutopia_types())
+    places = {}
+    try:
+        import furniture as F
+        places = F.PLACE_MAP
+    except ModuleNotFoundError:
+        pass
+    cat = {
+        "schema_version": "1.0.0",
+        "generated_at": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+        "generator": "scripts/labware/build_labware.py",
+        "description_zh": "实验室容器、耗材、器具与存放家具目录：新建资产（assets/labware/，几何+合同+抓取坐标+内腔）与复用资产（LabUtopia MIT / Matterix）。"
+                          "chemlab 的 configs/inventory_default.json 用 type id 引用这里的类型，用 place id 引用 places。",
+        "conventions": {"units": "SI (m, kg, m3, rad)", "up_axis": "+Z", "front": "-Y", "origin": "footprint centre, base at z = 0",
+                        "quaternion": "(x, y, z, w)", "frames": "TCP target positions in the asset frame (closed state); rot (1,0,0,0) = top-down",
+                        "frame_names": ["grasp", "pre_grasp", "post_grasp", "place", "pre_place", "cap_grasp", "cap_seat", "pour_lip", "sbs_grasp", "handle_<door>"]},
+        "robot_constraints": {"gripper": "Franka Hand", "max_open_m": 0.08, "max_grasp_width_m": FRANKA_MAX_GRASP_M, "hand_above_tcp_m": HAND_ABOVE_TCP_M,
+                              "approach": "top-down", "source": "robot set-up constraints, 2026-10-22"},
+        "types": types, "furniture": furniture, "places": places, "inventory_type_map": INVENTORY_TYPE_MAP,
+        "sources_licences": {k: v.get("licence") for k, v in SOURCES.items()},
+    }
+    (LABWARE_DIR / "catalog.json").write_text(json.dumps(cat, ensure_ascii=False, indent=1), encoding="utf-8")
+    return cat
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--only", nargs="*")
+    ap.add_argument("--no-verify", action="store_true")
+    ap.add_argument("--catalog-only", action="store_true")
+    a = ap.parse_args()
+    if not a.catalog_only:
+        for slug, fn in registries().items():
+            if a.only and slug not in a.only:
+                continue
+            asset = fn()
+            asset.export()
+            asset.write_contract()
+            print(f"built {asset.asset_type_id:55s} -> {asset.rel_dir}", flush=True)
+    cat = write_catalog()
+    print(f"catalog: {len(cat['types'])} types, {len(cat['furniture'])} furniture, {len(cat['places'])} places")
+    if not a.no_verify:
+        import verify_labware as V
+        reports = [V.verify_asset(d) for d in V.asset_dirs(a.only)]
+        bad = [r for r in reports if r["status"] != "passed"]
+        for r in reports:
+            failed = [c["id"] for c in r["checks"] if c["status"] != "passed"]
+            print(f"{r['status']:6s} {r['asset']:55s} {len(r['checks']):2d} checks" + (f" FAILED {failed}" if failed else ""))
+        if not a.only:
+            (LABWARE_DIR / "verification_report.json").write_text(json.dumps(
+                {"checked_at": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()), "method": "scripts/labware/verify_labware.py",
+                 "assets": reports}, ensure_ascii=False, indent=1), encoding="utf-8")
+        return 1 if bad else 0
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scripts/labware/closure.py b/scripts/labware/closure.py
new file mode 100644
index 0000000000000000000000000000000000000000..fdd23f190eb1267926b7082ff551863c613cf318
--- /dev/null
+++ b/scripts/labware/closure.py
@@ -0,0 +1,82 @@
+"""Closure rule for capped / lidded labware (touch + intent), shared by tests, chemlab hosts and Matterix.
+
+The user's rule for robot interaction is "touch + intent, don't fight contact physics": a screw cap comes off when the gripper
+holds the cap and the wrist has turned it far enough in the unscrew sense; it goes back on when the cap sits at its seat and is
+turned back the same angle.  The asset data (geometry_manifest.json "labware.closure") gives the axis, the sign and the angle.
+
+    c = Closure.from_manifest(manifest["labware"]["closure"])
+    c.twist(+3.0, cap_grasped=True)   -> "loosened"
+    c.twist(+5.0, cap_grasped=True)   -> "detached"       (cap is now a free rigid body: parts/cap.urdf)
+    c.seat(at_seat=True); c.twist(-7.9, cap_grasped=True) -> "closed"
+
+Hinged lids (Safe-Lock tube, desiccator cabinet door ...) use HingedClosure: open when the joint passes open_fraction of its range.
+"""
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+
+
+class ClosureError(RuntimeError):
+    pass
+
+
+@dataclass
+class Closure:
+    detach_after_rad: float
+    unscrew_sign: int = 1
+    state: str = "closed"                 # closed | loosened | detached
+    turned_rad: float = 0.0               # cumulative unscrew angle while on the thread (0 .. detach_after_rad)
+    at_seat: bool = True
+    log: list = field(default_factory=list)
+
+    @classmethod
+    def from_manifest(cls, closure: dict) -> "Closure":
+        if closure.get("type") != "screw_cap":
+            raise ClosureError(f"not a screw cap: {closure.get('type')}")
+        return cls(detach_after_rad=float(closure["detach_after_rad"]), unscrew_sign=int(closure.get("unscrew_sign", 1)))
+
+    def twist(self, delta_rad: float, cap_grasped: bool) -> str:
+        """Wrist rotation about the cap axis while touching the cap (delta in the asset's +Z sense)."""
+        if not cap_grasped:
+            self.log.append(("ignored_no_grasp", delta_rad))
+            return self.state                 # touching without a grasp does nothing (no contact-physics unscrewing)
+        d = delta_rad * self.unscrew_sign
+        if self.state == "detached":
+            if not self.at_seat:
+                self.log.append(("ignored_not_seated", delta_rad))
+                return self.state             # a free cap turned in the air stays free
+            self.turned_rad = self.detach_after_rad
+            self.state = "loosened"
+        self.turned_rad = min(max(self.turned_rad + d, 0.0), self.detach_after_rad)
+        if self.turned_rad >= self.detach_after_rad - 1e-9 and d > 0:
+            self.state, self.at_seat = "detached", False
+        elif self.turned_rad <= 1e-9:
+            self.state = "closed"
+        else:
+            self.state = "loosened"
+        self.log.append(("twist", delta_rad, self.state))
+        return self.state
+
+    def seat(self, at_seat: bool) -> None:
+        """The host reports that a detached cap was put back on the thread (pose within tolerance of cap_seat)."""
+        if self.state == "detached":
+            self.at_seat = bool(at_seat)
+
+    @property
+    def is_open(self) -> bool:
+        return self.state == "detached"
+
+
+@dataclass
+class HingedClosure:
+    open_rad: float
+    open_fraction: float = 0.5
+    q: float = 0.0
+
+    def set_angle(self, q: float) -> str:
+        self.q = max(0.0, min(q, self.open_rad))
+        return self.state
+
+    @property
+    def state(self) -> str:
+        return "open" if self.q >= self.open_fraction * self.open_rad else "closed"
diff --git a/scripts/labware/consumables.py b/scripts/labware/consumables.py
new file mode 100644
index 0000000000000000000000000000000000000000..392e3bc901688330ef1e5da1eb8e0463b075e36d
--- /dev/null
+++ b/scripts/labware/consumables.py
@@ -0,0 +1,525 @@
+"""Instrument consumables the robot uses to load samples (the default-lab inventory's not_built types, 2026-10-22).
+
+Each item is the specific model the instrument's own documents use (manual / brochure page cited, local copies under
+references/manuals - page references only) with the consumable's catalogue data, and it fits the instrument's slot in the
+Chemistry-Sim / Matterix slot tables.  Where the instrument asset already models the accessory, its geometry is reused
+(a4S film roll mesh; TL2300 cell and DSC pan dimensions; Spinsolve tube and port size).
+"""
+from __future__ import annotations
+
+import json
+import math
+
+import numpy as np
+import trimesh
+
+from containers import (CAP_SILVER, CAP_WHITE, GLASS_CLEAR, PP_BLACK, PP_CLEAR, ScrewCapSpec, build_screwcap, DENSITY)
+from labware_kit import (FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, ROOT, LabwareAsset, Link, Prim, fill_height, frame,
+                         inner_volume_below, profile_volume, revolve, ring_boxes, top_down_frames)
+import sbs
+
+ACCESS = "accessed 2026-10-22"
+MAN = "references/manuals"           # local copies (never published); cited by file + page only
+
+SRC = {
+    "spinsolve_brochure": {"kind": "manufacturer", "reference": f"Magritek Spinsolve 80 brochure 2026 ({MAN}/magritek_spinsolve80/datasheet__spinsolve80_brochure_2026.pdf)",
+                           "locator": "p.8 specifications: standard 5 mm OD NMR sample tubes, 7 in long; minimum sample volume 250 uL", "note": "Tube the Spinsolve takes.", "licence": "facts"},
+    "norell_s5_500_7": {"kind": "manufacturer", "reference": "Norell S-5-500-7 NMR tube (Sigma-Aldrich NORS55007, https://b2b.sigmaaldrich.com/US/en/product/aldrich/nors55007)",
+                        "locator": "OD 5 mm, ID 4.2 mm, length 7 in (178 mm), with cap", "note": "5 mm x 7 in NMR tube. " + ACCESS + ".", "licence": "facts"},
+    "spinsolve_asset": {"kind": "code", "reference": "Chemistry-Sim assets/basic40_batch02/t4_measure/magritek_spinsolve80 (sample_tube part O5 x 180 mm; Matterix slot sample_port r 5 mm)",
+                        "locator": "geometry_manifest.json components.sample_tube; slots_index sample_port", "note": "The instrument asset's own tube proxy (reuse check).", "licence": "project"},
+    "tl23_datasheet": {"kind": "manufacturer", "reference": f"Hach TL23 series benchtop turbidimeter data sheet DOC052.53.25013 ({MAN}/hach_tl2300epa/)",
+                       "locator": "p.3: sample cell = round cells 95 x 25 mm borosilicate glass with rubber-lined screw caps; 25 mm cell: 20 mL minimum sample",
+                       "note": "Cell the TL2300 takes (also the sealed StablCal standard format).", "licence": "facts"},
+    "tl2300_asset": {"kind": "code", "reference": "Chemistry-Sim assets/expansion_batch03/t4_measure/hach_tl2300epa (sample_cell + cell_cap parts; Matterix slot `cell` hole r 12.5 mm)",
+                     "locator": "geometry_manifest.json components.sample_cell / cell_cap", "note": "Reused dimensions of the instrument asset's cell.", "licence": "project"},
+    "pa800_brochure": {"kind": "manufacturer", "reference": f"SCIEX PA 800 Plus brochure ({MAN}/sciex_pa800/datasheet__pa800plus_brochure.pdf) and system overview guide",
+                       "locator": "brochure p.10 accessories: Universal vials (100 pack) A62251, universal vial caps A62250, SDS-MW analysis kit 390953; overview guide p.21: buffer trays 36 universal vials, sample tray 48 universal vials",
+                       "note": "Vials the PA 800 Plus trays take.", "licence": "facts"},
+    "sciex_a62251": {"kind": "manufacturer", "reference": "SCIEX Universal Vials 100 pack A62251 / Universal Vial Caps A62250 (https://us-store.sciex.com/USD/capillary-electrophoresis/Universal-Vials-100-Pack-zidA62251)",
+                     "locator": "polymethylpentene vial, single use; caps sold separately", "note": "No dimensions published on the store page. " + ACCESS + ".", "licence": "facts"},
+    "pa800_asset": {"kind": "code", "reference": "Chemistry-Sim assets/expansion_batch04/t3_analytical/sciex_pa800 + Matterix slots_index (BI_/BO_/SI_/SO_ holes r 6 mm)",
+                    "locator": "slot radius 0.006 m", "note": "Tray hole size the vial must fit.", "licence": "project"},
+    "facsaria_guide": {"kind": "manufacturer", "reference": f"BD FACSAria III User's Guide ({MAN}/bd_facsariaiii/operating_manual__facsaria_iii_users_guide_*.pdf); tech specs 2018",
+                       "locator": "guide p.286: 5-mL polystyrene test tubes 12 x 75 mm (BD Falcon), uncapped, 125 per bag, 352052; tech specs p.3: 12 x 75 mm sample tubes",
+                       "note": "Sample tube the FACSAria III takes.", "licence": "facts"},
+    "cfx_flier": {"kind": "manufacturer", "reference": f"Bio-Rad CFX Opus 96 flier bulletin 7299 ({MAN}/biorad_cfxopus/datasheet__cfx_opus_96_flier_bulletin_7299.pdf)",
+                  "locator": "p.2 ordering: HSP9655 Hard-Shell 96-well PCR plates, pkg of 50, low profile, thin wall, skirted, white shell / white wells",
+                  "note": "Plate the CFX Opus 96 uses.", "licence": "facts"},
+    "ot_biorad_pcr": {"kind": "code", "reference": "Opentrons labware definition biorad_96_wellplate_200ul_pcr v1 (Apache-2.0; brandId hsp9601); local copy references/labware/opentrons/",
+                      "locator": "127.76 x 85.48 x 16.06 mm; wells d 5.46 mm, depth 14.81 mm, bottom z 1.25 mm, 200 uL", "note": "Same Hard-Shell low-profile skirted geometry as HSP9655 (white wells).", "licence": "Apache-2.0 (Opentrons)"},
+    "dsc_guide": {"kind": "manufacturer", "reference": f"TA Instruments DSC Q Series Getting Started Guide rev N ({MAN}/ta_dsc2500/); UCSB DSC2500 quick start",
+                  "locator": "p.64 consumables: Tzero aluminum pans 901683.901, Tzero aluminum lids 901671.901 (pkg of 100); quick start p.1: Tzero pans for solids",
+                  "note": "Pans the DSC 2500 Fusion cell takes.", "licence": "facts"},
+    "dsc_asset": {"kind": "code", "reference": "Chemistry-Sim assets/expansion_batch03/t1_thermal/ta_dsc2500 (sample_pan cylinder r 3.1 mm x 2.5 mm incl. rim; Matterix slot `sample` r 3 mm)",
+                  "locator": "geometry_manifest.json components.sample_pan / sample_pan_rim", "note": "Reused pan dimensions (photo estimate in that asset; TA does not publish them).", "licence": "project"},
+    "elementar_capsule": {"kind": "manufacturer", "reference": "Elementar tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs, SKU 200006458 (former S05 003 400) (https://portal.elementar.com/us/tin-capsules-11-x-8-mm-v-0-5-ml-100-pcs-package.html)",
+                          "locator": "11 mm high x 8 mm diameter, 0.5 mL, for solids", "note": "Tin capsule for CHNS combustion (vario EL cube carousel). " + ACCESS + ".", "licence": "facts"},
+    "varioel_asset": {"kind": "code", "reference": "Matterix slots_index instrument.elementar_varioel sample_mount (port r 4 mm)", "locator": "slot radius 0.004 m",
+                      "note": "Carousel position size the capsule must fit.", "licence": "project"},
+    "hellma_100_10_40": {"kind": "manufacturer", "reference": "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid, cat. 100-10-40 (https://analytics-shop.com/us/hl100-10-40)",
+                         "locator": "external 12.5 x 12.5 x 45 mm, internal width 9.5 mm, light path 10 mm, 200-2500 nm, PTFE lid", "note": "Quartz cuvette for UV-vis / fluorescence cell holders (12.5 mm square standard). " + ACCESS + ".", "licence": "facts"},
+    "brand_759005": {"kind": "manufacturer", "reference": "BRAND macro PS cuvette 759005 (Fisher 10549301, https://fishersci.co.uk/shop/products/polystyrene-macro-cuvette/10549301; VWR listing)",
+                     "locator": "12.5 x 12.5 x 45 mm, light path 10 mm, 2.5-4.5 mL, 340-900 nm, window 10 x 35 mm, 100 per pack", "note": "Disposable visible-range cuvette. " + ACCESS + ".", "licence": "facts"},
+    "protean_gels_manual": {"kind": "manufacturer", "reference": f"Bio-Rad Mini-PROTEAN Precast Gels instruction manual 1658100 ({MAN}/biorad_miniprotean/other__mini-protean_precast_gels_manual_1658100.pdf)",
+                            "locator": "p.8 1.4 Specifications: gel 7.2 x 8.6 cm, 1.0 mm thick; cassette 8.5 x 10 cm, styrene copolymer; 10-well comb 50 uL",
+                            "note": "Mini-PROTEAN TGX 4-20 % 10-well precast gel (cat. 4561094).", "licence": "facts"},
+    "biacore_handbook": {"kind": "manufacturer", "reference": f"Biacore T200 Instrument Handbook ({MAN}/cytiva_biacoret200/operating_manual__biacore_t200_instrument_handbook.pdf)",
+                         "locator": "p.21 sensor chip port; p.29 sensor chip = gold-coated glass slide on a supporting frame, normally in a protective sheath; p.30 Sensor Chip CM5 general-purpose chip",
+                         "note": "Chip the Biacore T200 docks.", "licence": "facts"},
+    "cytiva_cm5": {"kind": "manufacturer", "reference": "Cytiva Series S Sensor Chip CM5, BR100530 (3 pack) / 29104988 (1) / 29149603 (10) (https://www.cytivalifesciences.com/en/us/products/items/sensor-chip-cm5-p-05858)",
+                   "locator": "Series S chip for Biacore T200; carboxymethylated dextran on gold", "note": "Chip and sheath dimensions are not published (assumption below). " + ACCESS + ".", "licence": "facts"},
+    "biacore_asset": {"kind": "code", "reference": "Chemistry-Sim assets/expansion_batch04/t4_measure/cytiva_biacoret200 (sensor_chip_port 90 x 40 x 60 mm) + Matterix slot sensor_chip_slot (port r 12 mm, insert +Y)",
+                      "locator": "geometry_manifest.json components.sensor_chip_port; slots_index", "note": "Port the chip cassette must fit.", "licence": "project"},
+    "ftir_manual": {"kind": "manufacturer", "reference": f"JASCO FT/IR-4000/6000 operation manual and FT/IR-4000/6000 brochure LFT1309 ({MAN}/jasco_ftir4700/)",
+                    "locator": "operation manual p.25 and p.30: the supplied polystyrene film is inserted into the sample holder; brochure p.4: standard sample = polystyrene film",
+                    "note": "Wavenumber check standard of the FT/IR-4700.", "licence": "facts"},
+    "sigma_z804290": {"kind": "manufacturer", "reference": "Sigma-Aldrich Z804290 polystyrene IR calibration films (https://perfqws.sigmaaldrich.com/MY/en/product/aldrich/z804290)",
+                      "locator": "38 um certified film (+ 76 um film) mounted on 2 x 3 in cardstock holders with a 19 mm aperture, for the universal slide holder",
+                      "note": "Card format standard for the FTIR slide holder. " + ACCESS + ".", "licence": "facts"},
+    "miniflex_docs": {"kind": "manufacturer", "reference": f"Rigaku MiniFlex brochure rev0723 and MiniFlex 600 SOPs ({MAN}/rigaku_miniflex600_external_cooling/)",
+                      "locator": "brochure p.6: various sample holders (glass 0.2 mm / 0.5 mm, zero-background, air-sensitive); Boise State SOP p.4: standard plate-type sample holder; UNT quick guide p.1: glass holder on the standard stage",
+                      "note": "Holder type the MiniFlex standard stage takes.", "licence": "facts"},
+    "glass_holder_dims": {"kind": "manufacturer", "reference": "Machined Quartz glass XRD sample holder 50 x 35 x 2 mm, O15 x 0.2 mm well (https://machinedquartz.com/?p=7266)",
+                          "locator": "rectangular 50 x 35 mm, 2 mm thick, round reception O15 mm, depth 0.2 mm", "note": "Closest published footprint for a 0.2 mm glass plate holder; Rigaku does not publish its outer size. " + ACCESS + ".", "licence": "facts"},
+    "gelpak_ad1135": {"kind": "manufacturer", "reference": "Gel-Pak AD series hinged box AD-1135 (Ted Pella listing https://www.tedpella.com/storage-boxes-bags_html/gel-pak-boxes.aspx; Fisher 3.5 x 4.5 x 0.5 in hinged box)",
+                      "locator": "3.5 x 4.5 x 0.5 in (89 x 114 x 12.7 mm), clear hinged box, gel-coated floor", "note": "Case for flat reference items (sapphire disc, XPS foils, quartz plate, dummy cell). " + ACCESS + ".", "licence": "facts"},
+    "a4s_manual": {"kind": "manufacturer", "reference": f"Azenta a4S Automated Roll Heat Sealer user manual 347598 ({MAN}/azenta_automated_roll_heat_sealer_a4s/)",
+                   "locator": "p.16 seal roll supports: <265 mm and <140 mm roll diameter; p.30: seal rolls 75-85 mm wide; p.41 seal profiles incl. 4ti-0520 Peel Seal (175 C, 3 s)",
+                   "note": "Roll format the a4S takes.", "licence": "facts"},
+    "a4s_asset": {"kind": "code", "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/azenta_heat_sealer (film_roll part: O126 x 80 mm mesh)",
+                  "locator": "meshes/film_roll.obj, model.urdf link film_roll", "note": "Reused roll mesh.", "licence": "project"},
+    "consumable_assumption": {"kind": "assumption", "reference": "consumable sizes not published by the maker", "locator": "engineering value",
+                              "note": "Wall thicknesses, caps, lids and the few unpublished outer sizes are chosen to fit the instrument slot named in each asset; each is listed in that asset's limitations.",
+                              "licence": "n/a"},
+    "pp_hdpe_density": {"kind": "assumption", "reference": "typical resin densities (PP 900, PS 1050, PE 950, PMP 830, PTFE 2200 kg/m3; tin 7290, aluminium 2700, fused silica 2200)",
+                        "locator": "engineering value", "note": "Used to compute masses from modelled volumes.", "licence": "n/a"},
+    "robot_access": {"kind": "code", "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22", "locator": "Franka <= 74 mm grasp, hand 37 mm above TCP",
+                     "note": "Grasp frames.", "licence": "project"},
+}
+
+from sources import SOURCES as _GLOBAL_SOURCES  # noqa: E402
+
+for _k, _v in SRC.items():                       # make these ids usable by containers.build_screwcap (sources.pick)
+    _GLOBAL_SOURCES.setdefault(_k, _v)
+
+QUARTZ = (0.90, 0.95, 0.98, 0.30)
+PS_CLEAR = (0.92, 0.94, 0.96, 0.45)
+TIN = (0.80, 0.80, 0.78, 1.0)
+ALU = (0.82, 0.83, 0.85, 1.0)
+CARD = (0.95, 0.93, 0.85, 1.0)
+GOLD = (0.85, 0.70, 0.30, 1.0)
+PMP = (0.93, 0.93, 0.93, 0.6)
+GEL_CASSETTE = (0.80, 0.88, 0.92, 0.55)
+
+
+def _src(*ids):
+    return {i: _GLOBAL_SOURCES[i] for i in ids}
+
+
+def _finish(a: LabwareAsset, family: str, cls: str, fits, maker, model, cat, frames, extra: dict, limitations):
+    a.labware.update({"type_id": a.asset_type_id, "family": family, "labware_class": cls, "fits": list(fits), "maker": maker, "model": model,
+                      "catalogue_no": cat, "frames": frames, **extra})
+    a.labware.setdefault("empty_mass_kg", round(sum(l.mass_kg for l in a.links), 6))
+    a.limitations_zh = limitations
+
+
+# ------------------------------------------------------------------------------------------------ screw / push-cap items
+def nmr_tube() -> LabwareAsset:
+    s = ScrewCapSpec(slug="norell_nmr_tube_5mm_7in", type_id="labware.norell_nmr_tube_5mm_7in", name_zh="Norell 5 mm × 7 in NMR 管（S-5-500-7，带盖）",
+                     name_en="Norell S-5-500-7 NMR tube 5 mm x 7 in with cap", family="tube", nominal_ml=0.6, od_m=0.005, h_body_m=0.178, h_total_m=0.1835,
+                     neck_r_m=0.0025, neck_in_r_m=0.0021, thread_zone_m=0.0075, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.0, wall_m=0.0004,
+                     bottom_m=0.0005, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR, cap_od_m=0.0068, cap_h_m=0.013, cap_top_m=0.002,
+                     cap_material="pe", cap_rgba=CAP_WHITE, turns=0.25, pitch_m=None, thread_name="push-on PE cap", bottom_shape="round", cone_h_m=0.0021,
+                     tip_r_m=0.0006, n_ring=8, stands_upright=False, labware_class="nmr_tube", fits=("nmr_tube_5mm", "spinsolve_sample_port"),
+                     sources=("spinsolve_brochure", "norell_s5_500_7", "spinsolve_asset", "consumable_assumption", "wall_assumption", "closure_turns", "pp_hdpe_density", "robot_access"),
+                     dims_source="norell_s5_500_7", nominal_source="spinsolve_brochure", maker="Norell", model="Standard Series 500 MHz NMR tube, 5 mm x 7 in",
+                     catalogue_no="S-5-500-7 (Sigma NORS55007)", storage_note_zh="放在 NMR 管架；样品 0.3–0.5 mL（Spinsolve 手册：最少 250 µL）",
+                     extra_limitations=("推入式 PE 盖：按 touch + intent 规则“转 1/4 圈 + 提起”即取下；盖尺寸为假设。",
+                                        "Spinsolve 实例中的 sample_tube 部件（Ø5×180 mm）与本管一致；装样还需转子（spinner，仪器侧，未单独建模）。"),
+                     notes_zh="Spinsolve 80 使用标准 5 mm 外径、7 in 长的 NMR 管（Magritek 资料 p.8）；Norell S-5-500-7：外径 5 mm、内径 4.2 mm、长 178 mm。")
+    a = build_screwcap(s)
+    a.sources = _src(*s.sources)
+    a.labware["nominal_capacity_m3"] = 6.0e-7
+    a.labware["nominal_capacity_evidence"] = "typical NMR fill 0.6 mL (Spinsolve minimum 0.25 mL, brochure p.8)"
+    a.labware["instrument_fit"] = {"instrument.magritek_spinsolve80": {"slot": "sample_port", "slot_radius_m": 0.005, "item_radius_m": 0.0025}}
+    return a
+
+
+def tl2300_cell() -> LabwareAsset:
+    s = ScrewCapSpec(slug="hach_tl2300_sample_cell_25mm", type_id="labware.hach_tl2300_sample_cell_25mm", name_zh="Hach TL2300 样品池（Ø25 × 95 mm 硼硅玻璃，内衬螺旋盖）",
+                     name_en="Hach TL23 round sample cell 95 x 25 mm with rubber-lined screw cap", family="vial", nominal_ml=20.0, od_m=0.025, h_body_m=0.095,
+                     h_total_m=0.104, neck_r_m=0.0118, neck_in_r_m=0.0102, thread_zone_m=0.012, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=1.0,
+                     wall_m=0.0012, bottom_m=0.0015, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR, cap_od_m=0.027, cap_h_m=0.013, cap_top_m=0.002,
+                     cap_material="pp", cap_rgba=PP_BLACK, turns=1.0, pitch_m=0.0021, thread_name="cell screw cap (rubber-lined)", n_ring=16,
+                     labware_class="turbidity_cell", fits=("turbidity_cell_25mm", "tl2300_cell"),
+                     sources=("tl23_datasheet", "tl2300_asset", "consumable_assumption", "wall_assumption", "closure_turns", "pp_hdpe_density", "robot_access"),
+                     dims_source="tl23_datasheet", maker="Hach", model="Round sample cell 95 x 25 mm, borosilicate, rubber-lined screw cap (TL23 series)",
+                     catalogue_no="TL23 sample cell (data sheet DOC052.53.25013 p.3)", storage_note_zh="样品或 StablCal 密封标准（同规格）；放在架上或标准物质柜",
+                     extra_limitations=("95×25 mm 为目录值；盖尺寸（Ø27×13 mm）与壁厚为假设（TL2300 实例中的 cell_cap 只建了露出部分）。",),
+                     notes_zh="TL2300 浊度仪样品池：Ø25×95 mm 硼硅玻璃圆池 + 内衬螺旋盖（TL23 数据表 p.3）；StablCal 密封标准用同规格样品池。")
+    a = build_screwcap(s)
+    a.sources = _src(*s.sources)
+    a.mechanisms["closure.thread"]["source_ids"] = ["consumable_assumption"]
+    a.mechanisms["closure.thread"]["parameters"]["detach_after_rad"]["source_ids"] = ["consumable_assumption"]
+    a.mechanisms["closure.thread"]["parameters"]["thread_pitch_m"]["source_ids"] = ["consumable_assumption"]
+    a.state_slots["closure.state"]["source_ids"] = ["consumable_assumption"]
+    a.prop("cap", "release_turns", s.turns, "1", "拧下所需圈数", "assumption", ["consumable_assumption"])
+    for l in a.links:
+        if l.joint:
+            l.joint["source_ids"] = ["consumable_assumption"]
+    a.labware["instrument_fit"] = {"instrument.hach_tl2300epa": {"slot": "cell", "slot_radius_m": 0.0125, "item_radius_m": 0.0125}}
+    return a
+
+
+def sciex_vial() -> LabwareAsset:
+    s = ScrewCapSpec(slug="sciex_universal_vial_2ml", type_id="labware.sciex_universal_vial_2ml", name_zh="SCIEX PA 800 Plus 通用样品瓶（A62251）+ 盖（A62250）",
+                     name_en="SCIEX universal vial A62251 with universal vial cap A62250", family="vial", nominal_ml=2.0, od_m=0.0115, h_body_m=0.031,
+                     h_total_m=0.0335, neck_r_m=0.0055, neck_in_r_m=0.0048, thread_zone_m=0.006, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5,
+                     wall_m=0.0007, bottom_m=0.001, body_material="pp", body_rgba=PMP, cap_od_m=0.0125, cap_h_m=0.0085, cap_top_m=0.0015,
+                     cap_material="pe", cap_rgba=(0.20, 0.35, 0.80, 1.0), turns=0.25, pitch_m=None, thread_name="push-on cap", n_ring=12,
+                     labware_class="vial", fits=("ce_universal_vial", "pa800_tray_hole"),
+                     sources=("pa800_brochure", "sciex_a62251", "pa800_asset", "consumable_assumption", "wall_assumption", "closure_turns", "pp_hdpe_density", "robot_access"),
+                     dims_source="pa800_asset", nominal_source="consumable_assumption", maker="SCIEX", model="Universal vial (polymethylpentene) + universal vial cap",
+                     catalogue_no="A62251 (vials, 100) / A62250 (caps, 100)", storage_note_zh="CE 缓冲液 / 样品；SDS-MW 试剂盒的液体分装进这些瓶",
+                     extra_limitations=("SCIEX 不公布样品瓶外形：外径 11.5 mm、高 31 mm、容量 2 mL 为按 PA 800 托盘孔（r 6 mm）选的假设；材料按聚甲基戊烯（密度近似用 PP）。",
+                                        "推入式盖：按“转 1/4 圈 + 提起”取下（touch + intent）。"),
+                     notes_zh="PA 800 Plus 缓冲液托盘（36 位）与样品托盘（48 位）用的通用样品瓶与瓶盖（SCIEX A62251 / A62250，系统指南 p.21、资料 p.10）。")
+    a = build_screwcap(s)
+    a.sources = _src(*s.sources)
+    a.labware["nominal_capacity_evidence"] = "assumption (2 mL class vial; not published)"
+    a.labware["instrument_fit"] = {"instrument.sciex_pa800": {"slot": "BI_F1..SO_* tray holes", "slot_radius_m": 0.006, "item_radius_m": 0.00575}}
+    return a
+
+
+# ------------------------------------------------------------------------------------------------ open revolved items
+def _open_revolved(slug, name_zh, name_en, family, cls, outer, inner, material, rgba, nominal_m3, nominal_ev, fits, maker, model, cat, sources, dims_src,
+                   limitations, notes, n_ring=12, min_t=0.0008, upright=True, lid=None, fit=None):
+    a = LabwareAsset(slug, f"labware.{slug}", name_zh, name_en, "consumables", f"labware.consumable.{family}", "passive", description_zh=notes, sources=_src(*sources))
+    body_mesh = revolve(outer + inner, sections=48)
+    H = outer[-1][1]
+    R = max(r for r, _ in outer)
+    col = [Prim("cylinder", [max(outer[1][0], 0.0006), max(inner[-1][1], 0.0004)], [0, 0, max(inner[-1][1], 0.0004) / 2])]
+    pts = outer[1:]
+    for (r0, z0), (r1, z1) in zip(pts[:-1], pts[1:]):
+        if z1 - z0 > 1e-5 and max(r0, r1) > 0.0004:
+            col += ring_boxes(r0, z0, r1, z1, min_t, n_ring)
+    mass = body_mesh.volume * DENSITY.get(material, 1000.0)
+    a.add(Link("body", name_zh.split("（")[0], "盛放样品", f"{material} 外壳", visual=[(body_mesh, rgba)], collision=col,
+               solid_collision=[Prim("cylinder", [R, H], [0, 0, H / 2])], mass_kg=mass, mass_evidence="assumption",
+               mass_note_zh=f"建模体积 × {material} 密度", material=material, geometry_evidence="documented"))
+    interior = [(r, z) for r, z in reversed(inner)]
+    brim = profile_volume(interior + [(0.0, H)])
+    top = H
+    if lid:
+        lid(a, H)
+        top = a.bounds()[1][2]
+    z_g = max(min(top - HAND_ABOVE_TCP_M + 0.004, top * 0.6), min(0.004, top / 2))
+    fr = top_down_frames(z_g, top, 2 * R, yaw_free=True, contact_z=(max(0.0, z_g - 0.009), z_g + 0.009),
+                         note_zh="俯抓外壁；小件贴近台面时指尖会触台（捏取）")
+    extra = {"nominal_capacity_m3": nominal_m3, "nominal_capacity_evidence": nominal_ev, "brim_capacity_m3": round(brim, 10),
+             "interior": {"shape": "revolved", "radius_m": round(max(r for r, _ in inner), 5), "floor_m": round(inner[-1][1], 5), "height_m": H,
+                          "profile_rz_m": [[round(r, 5), round(z, 5)] for r, z in interior],
+                          "nominal_fill_height_m": round(fill_height(interior, nominal_m3), 6) if nominal_m3 and nominal_m3 < brim else None},
+             "outer": {"diameter_m": 2 * R, "height_body_m": H, "source_id": dims_src}, "stands_upright": upright,
+             "franka_grasp_ok": bool(2 * R <= FRANKA_MAX_GRASP_M)}
+    if fit:
+        extra["instrument_fit"] = fit
+    _finish(a, family, cls, fits, maker, model, cat, fr, extra, limitations)
+    a.prop("body", "outer_diameter_m", 2 * R, "m", "外径", "documented", [dims_src])
+    a.prop("body", "height_m", H, "m", "高度", "documented", [dims_src])
+    return a
+
+
+def falcon_352052() -> LabwareAsset:
+    R, L, t = 0.006, 0.075, 0.0008
+    outer = [(0.0, 0.0)] + [(R * math.sin(a_), R * (1 - math.cos(a_))) for a_ in np.linspace(0.25, math.pi / 2, 6)] + [(R, L - 0.001), (R + 0.0004, L)]
+    inner = [(R - t, L), (R - t, R)] + [((R - t) * math.sin(a_), t + (R - t) * (1 - math.cos(a_))) for a_ in np.linspace(math.pi / 2, 0.25, 6)] + [(0.0, t)]
+    return _open_revolved("falcon_352052_tube_12x75", "Falcon 352052 圆底聚苯乙烯管 5 mL（12 × 75 mm，无盖）", "Falcon 352052 5 mL polystyrene round-bottom tube 12 x 75 mm",
+                          "tube", "tube_12x75", outer, inner, "ps", PS_CLEAR, 5e-6, "documented (5-mL test tube, FACSAria guide p.286)",
+                          ("tube_12x75", "facs_sample_tube"), "Corning (BD Falcon)", "5 mL polystyrene round-bottom test tube, 12 x 75 mm, uncapped, 125/bag", "352052",
+                          ("facsaria_guide", "consumable_assumption", "pp_hdpe_density", "robot_access"), "facsaria_guide",
+                          ["12×75 mm 与 5 mL 按 BD 指南 p.286；壁厚 0.8 mm 为假设。", "圆底管不能自立：放管架或仪器管座；无盖（上机前不加盖）。"],
+                          "FACSAria III 上样管：BD Falcon 5 mL 聚苯乙烯圆底管 12×75 mm（无盖，125 支/袋，352052；BD 用户指南 p.286）。", upright=False,
+                          fit={"instrument.bd_facsariaiii": {"slot": "sample_tube_seat", "slot_radius_m": 0.02, "item_radius_m": R}})
+
+
+def elementar_capsule() -> LabwareAsset:
+    R, H, t = 0.004, 0.011, 0.00012
+    outer = [(0.0, 0.0), (R, 0.0), (R, H)]
+    inner = [(R - t, H), (R - t, t), (0.0, t)]
+    return _open_revolved("elementar_tin_capsule_11x8", "Elementar 锡囊 11 × 8 mm（0.5 mL，200006458）", "Elementar tin capsule 11 x 8 mm, 0.5 mL",
+                          "capsule", "tin_capsule", outer, inner, "tin", TIN, 5e-7, "documented (Elementar: V 0.5 mL)",
+                          ("tin_capsule", "varioel_carousel"), "Elementar", "Tin capsules 11 x 8 mm, V 0.5 mL, 100 pcs", "200006458 (former S05 003 400)",
+                          ("elementar_capsule", "varioel_asset", "consumable_assumption", "pp_hdpe_density", "robot_access"), "elementar_capsule",
+                          ["Ø8×11 mm 与 0.5 mL 按 Elementar 目录；锡箔厚 0.12 mm 为假设（碰撞壁 0.8 mm）。",
+                           "实际使用时称样后把锡囊捏扁折叠成小块再放入自动进样盘；折叠由宿主记账（不模拟变形）。"],
+                          "vario EL cube CHNS 分析用锡囊：Elementar 200006458（11×8 mm，0.5 mL，100 个/包）；进样盘位 r 4 mm。",
+                          fit={"instrument.elementar_varioel": {"slot": "sample_mount", "slot_radius_m": 0.004, "item_radius_m": R}})
+
+
+def tzero_pan() -> LabwareAsset:
+    R, H, t = 0.0031, 0.0018, 0.0001
+
+    def lid(a: LabwareAsset, Hb):
+        disc = Prim("cylinder", [R - 0.0001, 0.0002], [0, 0, 0.0001])
+        a.add(Link("lid", "Tzero 盖（901671.901）", "盖住样品，压机压合", "铝盖；压合后与盘不可分（宿主记录压合状态）", parent="body",
+                   origin_m=[0.0, 0.0, Hb], joint={"type": "prismatic", "axis": [0, 0, 1], "limits": [0.0, 0.01], "evidence": "assumption",
+                                                   "source_ids": ["consumable_assumption"], "note_zh": "未压合时可提起；压合（crimp）由 Tzero 压机完成，宿主记录"},
+                   visual=[(disc.mesh(), ALU)], collision=[disc], mass_kg=disc.mesh().volume * 2700.0, mass_evidence="assumption",
+                   mass_note_zh="铝盖体积 × 2700 kg/m3", material="aluminium", geometry_evidence="assumption", detachable=True))
+
+    outer = [(0.0, 0.0), (R - 0.0002, 0.0), (R, 0.0002), (R, H)]
+    inner = [(R - t, H), (R - t, t), (0.0, t)]
+    a = _open_revolved("ta_tzero_pan_lid", "TA Tzero 铝坩埚 + 盖（901683.901 / 901671.901）", "TA Instruments Tzero aluminum pan + Tzero lid",
+                       "dsc_pan", "dsc_pan", outer, inner, "aluminium", ALU, 2e-8, "assumption (sample ~5 mg; Tzero pan volume not published)",
+                       ("dsc_pan", "dsc2500_sample_platform"), "TA Instruments", "Tzero aluminum pan + Tzero aluminum lid", "901683.901 + 901671.901",
+                       ("dsc_guide", "dsc_asset", "consumable_assumption", "pp_hdpe_density", "robot_access"), "dsc_asset",
+                       ["零件号按 TA 手册 p.64；盘径 6.2 mm 取自 DSC2500 实例的 sample_pan 部件（照片估计，TA 不公布尺寸），高 1.8 mm、壁厚 0.1 mm 为假设。",
+                        "盖为可提起的独立刚体；压合（crimp）由 Tzero 压机完成，属宿主动作。"],
+                       "DSC 2500 Fusion 池用 Tzero 铝坩埚与盖（TA 零件 901683.901 / 901671.901，入门指南 p.64）。", n_ring=12, min_t=0.0003, lid=lid,
+                       fit={"instrument.ta_dsc2500": {"slot": "sample / reference", "slot_radius_m": 0.003, "item_radius_m": R}})
+    a.labware["closure"] = {"type": "lift_off_lid", "link": "lid", "joint": "lid_joint", "axis": [0, 0, 1], "clear_lift_m": 0.002,
+                            "rule_zh": "未压合：盖可提起/放回；压合后由宿主标记为 sealed（不可再分）", "parts": {"body": "parts/body.urdf", "lid": "parts/lid.urdf"}}
+    return a
+
+
+# ------------------------------------------------------------------------------------------------ box-shaped items
+def _box_link(a, lid_name, prims, rgba, material, rho, name_zh, func, phys, parent=None, origin=(0, 0, 0), joint=None, detachable=False, mass_note=None):
+    m = trimesh.util.concatenate([p.mesh() for p in prims])
+    vol = sum(p.mesh().volume for p in prims)
+    return a.add(Link(lid_name, name_zh, func, phys, parent=parent, origin_m=list(origin), joint=joint, visual=[(m, rgba)], collision=prims,
+                      mass_kg=vol * rho, mass_evidence="assumption", mass_note_zh=mass_note or f"体积 × {material} 密度 {rho:.0f} kg/m3", material=material,
+                      geometry_evidence="documented", detachable=detachable))
+
+
+def square_cuvette(slug, name_zh, name_en, material, rgba, rho, nominal_m3, fits, maker, model, cat, sources, dims_src, with_lid, limitations, notes,
+                   inner=(0.0100, 0.0095), tb=0.0015):
+    a = LabwareAsset(slug, f"labware.{slug}", name_zh, name_en, "consumables", "labware.consumable.cuvette", "passive", description_zh=notes, sources=_src(*sources))
+    X, H = 0.0125, 0.045
+    ix, iy = inner                               # light path 10 mm (along X) x internal width
+    wx, wy = (X - ix) / 2, (X - iy) / 2
+    prims = [Prim("box", [X, X, tb], [0, 0, tb / 2]),
+             Prim("box", [wx, X, H - tb], [-(X - wx) / 2, 0, tb + (H - tb) / 2]), Prim("box", [wx, X, H - tb], [(X - wx) / 2, 0, tb + (H - tb) / 2]),
+             Prim("box", [ix, wy, H - tb], [0, -(X - wy) / 2, tb + (H - tb) / 2]), Prim("box", [ix, wy, H - tb], [0, (X - wy) / 2, tb + (H - tb) / 2])]
+    _box_link(a, "body", prims, rgba, material, rho, "比色皿", "盛放样品；光程 10 mm（沿 X）", f"{material} 方形比色皿 12.5×12.5×45 mm")
+    top = H
+    if with_lid:
+        lid = [Prim("box", [ix - 0.0003, iy - 0.0003, 0.006], [0, 0, -0.003]), Prim("box", [X, X, 0.002], [0, 0, 0.001])]
+        _box_link(a, "lid", lid, (0.96, 0.96, 0.96, 1.0), "ptfe", 2200.0, "PTFE 盖", "防挥发/防尘", "PTFE 塞式盖", parent="body", origin=(0, 0, H),
+                  joint={"type": "prismatic", "axis": [0, 0, 1], "limits": [0.0, 0.02], "evidence": "assumption", "source_ids": ["consumable_assumption"],
+                         "note_zh": "盖为塞入式：提起即取下（touch + intent）"}, detachable=True)
+        top = H + 0.002
+        a.labware["closure"] = {"type": "lift_off_lid", "link": "lid", "joint": "lid_joint", "axis": [0, 0, 1], "clear_lift_m": 0.008,
+                                "rule_zh": "抓盖提起 ≥ clear_lift_m 即取下；放回对准后压下", "parts": {"body": "parts/body.urdf", "lid": "parts/lid.urdf"}}
+    z_g = top - HAND_ABOVE_TCP_M + 0.004
+    fr = top_down_frames(z_g, top, X, yaw_free=False, contact_z=(z_g - 0.009, z_g + 0.009),
+                         note_zh="俯抓磨砂侧面：手指沿 Y 合拢（光学窗在 ±X 面，不要夹光路面）")
+    fr["optical_axis"] = frame([0, 0, 0.015], "base_link", rot=[0, 0.70710678, 0, 0.70710678], note_zh="光路沿 +X，中心高 15 mm（标准 15 mm 光束中心高）")
+    brim = ix * iy * (H - tb)
+    _finish(a, "cuvette", "cuvette_10mm", fits, maker, model, cat, fr,
+            {"nominal_capacity_m3": nominal_m3, "nominal_capacity_evidence": "documented", "brim_capacity_m3": round(brim, 10),
+             "interior": {"shape": "box", "size_m": [ix, iy], "radius_m": round(min(ix, iy) / 2, 5), "floor_m": tb, "height_m": H,
+                          "note_zh": "方形内腔 10 × 9.5 mm（radius_m 为内切圆，供圆柱近似）"},
+             "light_path_m": 0.010, "outer": {"size_m": [X, X, H], "source_id": dims_src}, "stands_upright": True, "franka_grasp_ok": True},
+            limitations)
+    a.prop("body", "outer_size_m", [X, X, H], "m", "外形 12.5×12.5×45 mm", "documented", [dims_src])
+    a.prop("body", "light_path_m", 0.010, "m", "光程 10 mm", "documented", [dims_src])
+    return a
+
+
+def flat_item(slug, name_zh, name_en, family, cls, size, rgba, material, rho, fits, maker, model, cat, sources, dims_src, limitations, notes,
+              features=(), grasp_axis="Y", fit=None, extra=None, franka_ok=True):
+    """A flat rectangular item lying on its largest face (card, holder, chip cassette, gel cassette)."""
+    a = LabwareAsset(slug, f"labware.{slug}", name_zh, name_en, "consumables", f"labware.consumable.{family}", "passive", description_zh=notes, sources=_src(*sources))
+    X, Y, Z = size
+    prims = [Prim("box", [X, Y, Z], [0, 0, Z / 2])] + list(features)
+    _box_link(a, "body", prims, rgba, material, rho, name_zh.split("（")[0], "承载样品/标准", f"{material} 平板件 {X*1000:.1f}×{Y*1000:.1f}×{Z*1000:.1f} mm")
+    top = max(p.mesh().bounds[1][2] for p in prims)
+    w = Y if grasp_axis == "Y" else X
+    z_g = top / 2
+    fr = top_down_frames(z_g, top, w, yaw_free=False, contact_z=(0.0, top),
+                         note_zh=f"沿 {grasp_axis} 方向夹两侧边（平放件：指尖贴台面捏取）")
+    if grasp_axis == "X":
+        fr["grasp"]["rot_xyzw"] = [0.70710678, 0.70710678, 0.0, 0.0]
+    fr["grasp"]["franka_ok"] = bool(franka_ok and w <= FRANKA_MAX_GRASP_M)
+    if not franka_ok and w <= FRANKA_MAX_GRASP_M:
+        fr["grasp"]["franka_blocked_reason"] = "flat item lying on the bench: no finger clearance under it (stand it in a holder or use a wider / suction gripper)"
+    ext = {"outer": {"size_m": [X, Y, Z], "source_id": dims_src}, "stands_upright": True, "franka_grasp_ok": fr["grasp"]["franka_ok"]}
+    if fit:
+        ext["instrument_fit"] = fit
+    ext.update(extra or {})
+    _finish(a, family, cls, fits, maker, model, cat, fr, ext, limitations)
+    a.prop("body", "outer_size_m", [X, Y, Z], "m", "外形", "documented" if dims_src not in ("consumable_assumption",) else "assumption", [dims_src])
+    return a
+
+
+def gel_cassette() -> LabwareAsset:
+    X, Y, Z = 0.100, 0.085, 0.0055               # 10 cm wide, 8.5 cm high (manual p.8), lying flat; thickness assumed
+    comb = Prim("box", [0.080, 0.004, 0.003], [0, Y / 2 - 0.002, Z + 0.0015])
+    wells = [Prim("box", [0.0055, 0.008, 0.0004], [-0.0315 + 0.007 * k, Y / 2 - 0.012, Z + 0.0002]) for k in range(10)]
+    a = flat_item("biorad_tgx_gel_4_20_10well", "Bio-Rad Mini-PROTEAN TGX 预制胶 4–20 %（10 孔，4561094）", "Bio-Rad Mini-PROTEAN TGX precast gel 4-20 %, 10-well, 50 uL",
+                  "gel", "precast_gel_mini", (X, Y, Z), GEL_CASSETTE, "ps", 1050.0, ("mini_protean_gel", "protean_gel_slot"), "Bio-Rad",
+                  "Mini-PROTEAN TGX Precast Gel, 4-20 %, 10-well, 50 uL", "4561094", ("protean_gels_manual", "consumable_assumption", "pp_hdpe_density", "robot_access"),
+                  "protean_gels_manual",
+                  ["卡盒 8.5×10 cm、胶 7.2×8.6 cm×1.0 mm 按手册 p.8；卡盒厚 5.5 mm、梳子与孔位为假设；平放时 8.5 cm 方向沿 Y。",
+                   "上电泳槽时竖直插入电极组件（Matterix 槽位 gel_1..4，沿 −Z 插入）；拔梳、加样由宿主/移液器记录。",
+                   "10 cm 宽超出 Franka 可抓宽度：沿 Y 夹 8.5 cm 边也超出；需宽口夹爪或竖放在架上从短边抓取（franka_ok=false）。"],
+                  "Mini-PROTEAN Tetra 电泳槽用 TGX 预制胶卡盒（卡盒 8.5×10 cm，手册 p.8）。", features=[comb] + wells, franka_ok=False,
+                  fit={"instrument.biorad_miniprotean": {"slot": "gel_1..gel_4", "slot_radius_m": 0.05, "item_half_width_m": X / 2}},
+                  extra={"gel": {"size_m": [0.086, 0.072, 0.001], "wells": 10, "well_volume_m3": 5e-8, "percent": "4-20"},
+                         "nominal_capacity_m3": 5e-7, "nominal_capacity_evidence": "10 wells x 50 uL (catalogue)", "storage_note_zh": "2–8 °C 保存"})
+    return a
+
+
+def sensor_chip() -> LabwareAsset:
+    X, Y, Z = 0.022, 0.070, 0.004
+    window = Prim("box", [0.010, 0.012, 0.0004], [0, -0.020, Z + 0.0002])
+    return flat_item("cytiva_series_s_sensor_chip_cm5", "Cytiva Series S 传感芯片 CM5（含保护套，BR100530）", "Cytiva Series S Sensor Chip CM5 in its sheath",
+                     "sensor_chip", "spr_chip", (X, Y, Z), (0.20, 0.22, 0.26, 1.0), "ps", 1050.0, ("spr_sensor_chip", "biacore_chip_port"), "Cytiva",
+                     "Series S Sensor Chip CM5", "BR100530 (3) / 29104988 (1) / 29149603 (10)",
+                     ("biacore_handbook", "cytiva_cm5", "biacore_asset", "consumable_assumption", "pp_hdpe_density", "robot_access"), "consumable_assumption",
+                     ["芯片与保护套外形 Cytiva 未公布：22×70×4 mm 为按 Biacore 实例芯片口（r 12 mm，沿 +Y 插入）选的假设；金膜窗口位置为示意。",
+                      "插入/对接（dock）由仪器 chip.dock 能力与宿主完成；芯片表面状态只在运行层记录。"],
+                     "Biacore T200 用 Series S Sensor Chip CM5：金膜玻片装在支撑框与保护套内（手册 p.29–30），沿箭头方向插入芯片口。",
+                     features=[window], grasp_axis="X",
+                     fit={"instrument.cytiva_biacoret200": {"slot": "sensor_chip_slot", "slot_radius_m": 0.012, "item_half_width_m": X / 2, "insert_axis": [0, 1, 0]}},
+                     extra={"insert_direction_zh": "沿 +Y（窗口端朝前插入）", "storage_note_zh": "2–8 °C 干燥保存"})
+
+
+def ir_card() -> LabwareAsset:
+    X, Y, Z = 0.0762, 0.0508, 0.0008
+    film = Prim("cylinder", [0.0095, 0.0001], [0, 0, Z + 0.00005])
+    return flat_item("sigma_ir_polystyrene_card_z804290", "红外聚苯乙烯校准膜卡（38 µm，2 × 3 in 卡，Ø19 mm 窗，Z804290）", "Polystyrene IR calibration film 38 um on 2 x 3 in card (Sigma-Aldrich Z804290)",
+                     "ir_standard", "ir_film_card", (X, Y, Z), CARD, "cardstock", 800.0, ("ir_film_card", "ftir_slide_holder"), "Sigma-Aldrich",
+                     "Polystyrene IR calibration films (38 um certified + 76 um), 2 x 3 in cardstock holders, 19 mm aperture", "Z804290",
+                     ("ftir_manual", "sigma_z804290", "consumable_assumption", "robot_access"), "sigma_z804290",
+                     ["2×3 in 卡与 Ø19 mm 窗按目录；卡厚 0.8 mm 为假设；膜只建一层示意。", "平放薄卡：Franka 俯抓需指尖贴台面，或把卡立放在卡架上（franka_ok=false）。"],
+                     "FT/IR-4700 波数检查标准：聚苯乙烯膜（仪器附带，操作手册 p.25/p.30），这里用通用 2×3 in 片夹规格的 Sigma Z804290 膜卡。",
+                     features=[film], franka_ok=False,
+                     fit={"instrument.jasco_ftir4700": {"slot": "accessory (slide holder in the sample compartment)", "slot_radius_m": 0.0755, "item_half_width_m": X / 2}},
+                     extra={"film": {"thickness_m": 3.8e-5, "aperture_diameter_m": 0.019, "bands_cm-1": [3060.0, 2849.5, 1601.2, 1028.3, 906.7]}})
+
+
+def xrd_holder() -> LabwareAsset:
+    X, Y, Z = 0.050, 0.035, 0.002
+    well = Prim("cylinder", [0.0075, 0.0002], [0, 0, Z - 0.0001])
+    return flat_item("rigaku_glass_holder_0p2mm", "XRD 玻璃样品板（0.2 mm 槽，MiniFlex 标准平板样品架）", "XRD glass sample holder plate, 0.2 mm well (MiniFlex standard stage)",
+                     "xrd_holder", "xrd_flat_holder", (X, Y, Z), (0.86, 0.93, 0.96, 0.5), "soda_lime_glass", 2500.0, ("xrd_flat_holder", "miniflex_standard_stage"),
+                     "Rigaku (holder type) / Machined Quartz (published footprint)", "Glass sample holder, 0.2 mm deep well (MiniFlex standard plate-type holder)",
+                     "Rigaku glass holder 0.2 mm (outer size per Machined Quartz 50 x 35 x 2 mm, O15 x 0.2 mm well)",
+                     ("miniflex_docs", "glass_holder_dims", "consumable_assumption", "robot_access"), "glass_holder_dims",
+                     ["Rigaku 不公布玻璃样品板外形：50×35×2 mm、Ø15×0.2 mm 槽取最接近的公开规格（Machined Quartz）；与 MiniFlex 标准样品台（槽位 r 30 mm）匹配为假设。",
+                      "清单类型名为 zero_background：零背景硅板外形同样未公布，暂以 0.2 mm 玻璃板代表（材料差异只影响背景，不影响几何）。",
+                      "装粉、压平由宿主记录；平放薄板：Franka 需指尖贴台面捏取。"],
+                     "MiniFlex 600 标准平板型样品架（Boise State SOP p.4；手册列出玻璃 0.2/0.5 mm 与零背景硅板，brochure p.6）。",
+                     features=[well], grasp_axis="Y",
+                     fit={"instrument.rigaku_miniflex600_external_cooling": {"slot": "sample_holder (standard stage)", "slot_radius_m": 0.03, "item_half_diagonal_m": 0.0305}},
+                     extra={"well": {"diameter_m": 0.015, "depth_m": 0.0002}, "nominal_capacity_m3": 3.5e-8,
+                            "nominal_capacity_evidence": "computed: O15 x 0.2 mm well"})
+
+
+def gelpak_case() -> LabwareAsset:
+    X, Y, Zb, Zl = 0.1143, 0.0889, 0.0090, 0.0037
+    t = 0.0012
+    base = [Prim("box", [X, Y, t], [0, 0, t / 2])] + [Prim("box", [X, t, Zb - t], [0, s * (Y - t) / 2, t + (Zb - t) / 2]) for s in (-1, 1)] + \
+           [Prim("box", [t, Y - 2 * t, Zb - t], [s * (X - t) / 2, 0, t + (Zb - t) / 2]) for s in (-1, 1)]
+    a = LabwareAsset("gelpak_ad1135_case", "labware.gelpak_ad1135_case", "Gel-Pak AD-1135 透明翻盖样品盒（3.5 × 4.5 × 0.5 in）",
+                     "Gel-Pak AD-1135 clear hinged box 3.5 x 4.5 x 0.5 in", "consumables", "labware.consumable.case", "passive",
+                     description_zh="放平板标准件的翻盖盒（蓝宝石盘、XPS 金属箔、石英控制片、假电解池等）：Gel-Pak AD-1135，89×114×12.7 mm，底面带凝胶。",
+                     sources=_src("gelpak_ad1135", "consumable_assumption", "robot_access"))
+    _box_link(a, "body", base, (0.88, 0.92, 0.95, 0.5), "ps", 1050.0, "盒底", "承放标准件（凝胶面固定）", "透明 PS 盒底")
+    lid = [Prim("box", [X, Y, t], [X / 2, 0, Zl - t / 2])] + [Prim("box", [X, t, Zl - t], [X / 2, s * (Y - t) / 2, (Zl - t) / 2]) for s in (-1, 1)] + \
+          [Prim("box", [t, Y - 2 * t, Zl - t], [X / 2 + s * (X - t) / 2, 0, (Zl - t) / 2]) for s in (-1, 1)]
+    _box_link(a, "lid", lid, (0.88, 0.92, 0.95, 0.5), "ps", 1050.0, "翻盖", "盖住标准件", "透明 PS 翻盖，铰链在 −X 边", parent="body",
+              origin=(-X / 2, 0, Zb), joint={"type": "revolute", "axis": [0, -1, 0], "limits": [0.0, round(math.radians(170), 6)], "evidence": "assumption",
+                                             "source_ids": ["consumable_assumption"], "note_zh": "正方向 = 绕 −X 边铰链向上翻开"})
+    top = Zb + Zl
+    fr = top_down_frames(top / 2, top, Y, yaw_free=False, contact_z=(0.0, top), note_zh="沿 Y 夹 89 mm 边：超出 Franka 张开宽度")
+    fr["grasp"]["franka_ok"] = False
+    fr["lid_tab"] = frame([X / 2, 0, Zb + Zl], "base_link", rot=[0, 0, 0, 1], note_zh="翻盖自由边（+X）：向上推开")
+    _finish(a, "case", "reference_case", ("reference_case",), "Gel-Pak (Delphon)", "AD series hinged box AD-1135, 3.5 x 4.5 x 0.5 in", "AD-1135", fr,
+            {"outer": {"size_m": [X, Y, top], "source_id": "gelpak_ad1135"}, "closure": {"type": "hinged_lid", "link": "lid", "joint": "lid_joint", "axis": [0, -1, 0],
+                                                                                         "open_rad": round(math.radians(170), 6), "rule_zh": "推 lid_tab 翻开；翻盖不脱离盒底"},
+             "franka_grasp_ok": False, "stands_upright": True,
+             "contents_note_zh": "盒内标准件只记账（蓝宝石盘 / Ag、Cu 箔 / 石英控制片 / 假电解池）；取出放入仪器由宿主或宽口夹爪完成"},
+            ["外形按 Gel-Pak AD-1135 目录；壁厚、盖高分配与铰链为假设。", "89 mm 短边超出 Franka 可抓宽度（franka_ok=false）。"])
+    a.prop("body", "outer_size_m", [X, Y, top], "m", "外形 4.5×3.5×0.5 in", "documented", ["gelpak_ad1135"])
+    return a
+
+
+def pcr_plate() -> LabwareAsset:
+    a = sbs.build_plate("biorad_96_wellplate_200ul_pcr", "biorad_hardshell_pcr_plate_96", "Bio-Rad Hard-Shell 96 孔 PCR 板（低型，有裙边，HSP9655/HSP9601）",
+                        "ot_biorad_pcr", "pcr_plate", (0.95, 0.95, 0.95, 1.0), sbs.PP)
+    a.sources.update(_src("cfx_flier", "ot_biorad_pcr"))
+    a.labware["catalogue_no"] = "HSP9655 (white wells, CFX Opus flier p.2) / HSP9601 (Opentrons definition)"
+    a.labware["maker"] = "Bio-Rad"
+    a.labware["instrument_fit"] = {"instrument.biorad_cfxopus": {"slot": "sample_block", "slot_radius_m": 0.06, "item": "96-well block, 9 mm pitch"}}
+    a.limitations_zh.append("几何来自 Opentrons 的 HSP9601 定义；CFX Opus 资料列出的 HSP9655 是同一 Hard-Shell 低型裙边板的白孔版本。")
+    return a
+
+
+def a4s_roll() -> LabwareAsset:
+    src = ROOT / "assets" / "basic40_batch02" / "t5_automation" / "azenta_heat_sealer" / "meshes" / "film_roll.obj"
+    mesh = trimesh.load(src, force="mesh")
+    b = mesh.bounds
+    mesh.apply_translation([-(b[0][0] + b[1][0]) / 2, -(b[0][1] + b[1][1]) / 2, -b[0][2]])
+    W, D = float(b[1][0] - b[0][0]), float(b[1][2] - b[0][2])
+    a = LabwareAsset("azenta_seal_roll_4ti0520", "labware.azenta_seal_roll_4ti0520", "Azenta a4S 封板膜卷（可剥离透明膜 4ti-0520 型，宽 80 mm）",
+                     "Azenta peelable clear seal roll for the a4S (4ti-0520 type), 80 mm wide", "consumables", "labware.consumable.seal_roll", "passive",
+                     description_zh="a4S 自动封膜机用的封板膜卷：几何直接取自 a4S 实例的 film_roll 部件（Ø126×80 mm）；规格符合手册（卷宽 75–85 mm，p.30；小卷支架 <140 mm，p.16）。",
+                     sources=_src("a4s_manual", "a4s_asset", "consumable_assumption", "robot_access"))
+    R = D / 2
+    col = [Prim("cylinder", [R, W], [0, 0, R], [0.0, math.pi / 2, 0.0])]
+    vol = math.pi * (R ** 2 - 0.038 ** 2) * W
+    a.add(Link("body", "膜卷", "a4S 封板用的膜材", "PET/PP 复合膜卷绕在纸芯上（实例网格复用）", visual=[(mesh, (0.92, 0.94, 0.96, 0.8))], collision=col,
+               mass_kg=vol * 1100.0 * 0.9, mass_evidence="assumption", mass_note_zh="膜卷体积（扣 Ø76 mm 纸芯）× 约 1000 kg/m3",
+               material="pet_film", geometry_evidence="documented", geometry_note_zh="网格来自 azenta_heat_sealer/meshes/film_roll.obj"))
+    fr = top_down_frames(R, D, D, yaw_free=False, contact_z=(R - 0.009, R + 0.009), note_zh="卷径 126 mm、宽 80 mm 都超出 Franka 张开宽度")
+    fr["grasp"]["franka_ok"] = False
+    _finish(a, "seal_roll", "seal_roll", ("a4s_seal_roll",), "Azenta (4titude)", "Clear peelable heat seal, roll format, for the a4S (seal profile 4ti-0520)",
+            "4ti-0520 (seal profile in the a4S, manual p.41; roll catalogue variant not verified)", fr,
+            {"outer": {"diameter_m": D, "width_m": W, "source_id": "a4s_asset"}, "franka_grasp_ok": False, "stands_upright": False, "reused_from": "instrument.azenta_heat_sealer:film_roll",
+             "instrument_fit": {"instrument.azenta_heat_sealer": {"slot": "roll_support (small roll < 140 mm)", "roll_width_range_m": [0.075, 0.085]}}},
+            ["几何复用 a4S 实例的 film_roll 网格；卷宽 80 mm、卷径 126 mm 在手册范围内（宽 75–85 mm、小卷 <140 mm）。",
+             "膜型号按 a4S 内置封膜程序 4ti-0520（Peel Seal）；对应卷装货号未核实。", "Franka 无法抓取（直径与宽度都 >74 mm）：换卷是人工/宿主步骤。"])
+    a.prop("body", "roll_diameter_m", D, "m", "卷径（实例网格）", "documented", ["a4s_asset"])
+    a.prop("body", "roll_width_m", W, "m", "卷宽（实例网格；手册范围 75–85 mm）", "documented", ["a4s_manual"])
+    return a
+
+
+def hellma() -> LabwareAsset:
+    return square_cuvette("hellma_100_10_40_quartz_cuvette", "Hellma 100-QS 石英比色皿（10 mm，3.5 mL，PTFE 盖，100-10-40）",
+                          "Hellma macro cell 100-QS, 10 mm, 3500 uL, PTFE lid", "fused_silica", QUARTZ, 2200.0, 3.5e-6, ("cuvette_12p5", "cell_holder_12p5"),
+                          "Hellma", "Macro cell type 100-QS, HP quartz, 10 mm, 3500 uL, PTFE lid", "100-10-40",
+                          ("hellma_100_10_40", "consumable_assumption", "pp_hdpe_density", "robot_access"), "hellma_100_10_40", True,
+                          ["外形 12.5×12.5×45 mm、内宽 9.5 mm、光程 10 mm 按目录；底厚 1.5 mm、盖尺寸为假设。",
+                           "适配 12.5 mm 方形样品池架（UV-vis / 荧光 / CD）；装到具体仪器样品池由宿主或 Matterix 槽位决定。"],
+                          "石英比色皿 Hellma 100-10-40：12.5 mm 方形标准外形，适配 JASCO FP-8350 / J-1500 / Hach DR6000 等 12.5 mm 池架。")
+
+
+def brand_ps() -> LabwareAsset:
+    return square_cuvette("brand_ps_macro_cuvette_759005", "BRAND PS 一次性比色皿（10 mm，2.5–4.5 mL，759005）", "BRAND macro PS cuvette 10 mm 2.5-4.5 mL",
+                          "ps", PS_CLEAR, 1050.0, 4.5e-6, ("cuvette_12p5", "cell_holder_12p5"), "BRAND", "Macro cuvette, PS, 10 mm, 2.5-4.5 mL, 340-900 nm",
+                          "759005", ("brand_759005", "consumable_assumption", "pp_hdpe_density", "robot_access"), "brand_759005", False,
+                          ["外形与光程按目录；内腔 10×10.5 mm（壁厚约 1 mm）与底厚 1 mm 为假设（使满口 ≥ 目录上限 4.5 mL）。", "PS 只用于 340–900 nm（可见区）。"],
+                          "一次性可见光比色皿 BRAND 759005：12.5×12.5×45 mm、光程 10 mm、2.5–4.5 mL、100 个/包。", inner=(0.0100, 0.0105), tb=0.0010)
+
+
+BUILDERS = {
+    "norell_nmr_tube_5mm_7in": nmr_tube,
+    "hach_tl2300_sample_cell_25mm": tl2300_cell,
+    "sciex_universal_vial_2ml": sciex_vial,
+    "falcon_352052_tube_12x75": falcon_352052,
+    "elementar_tin_capsule_11x8": elementar_capsule,
+    "ta_tzero_pan_lid": tzero_pan,
+    "biorad_tgx_gel_4_20_10well": gel_cassette,
+    "cytiva_series_s_sensor_chip_cm5": sensor_chip,
+    "sigma_ir_polystyrene_card_z804290": ir_card,
+    "rigaku_glass_holder_0p2mm": xrd_holder,
+    "gelpak_ad1135_case": gelpak_case,
+    "biorad_hardshell_pcr_plate_96": pcr_plate,
+    "azenta_seal_roll_4ti0520": a4s_roll,
+    "hellma_100_10_40_quartz_cuvette": hellma,
+    "brand_ps_macro_cuvette_759005": brand_ps,
+}
diff --git a/scripts/labware/containers.py b/scripts/labware/containers.py
new file mode 100644
index 0000000000000000000000000000000000000000..0b6bf50b5f38bdf20da9fca9aa3ee778a74dad6a
--- /dev/null
+++ b/scripts/labware/containers.py
@@ -0,0 +1,570 @@
+"""Revolved containers with a separate closure link: GL 45 reagent bottles, the 2.5 L solvent bottle, wide-mouth powder jars,
+screw vials, conical screw-cap tubes (one builder) and the Safe-Lock snap-cap tube (hinged lid).
+
+Each builder returns a LabwareAsset ready to export.  Documented values (catalogue OD / height / capacity / thread / cap size)
+are used exactly; neck / shoulder proportions are photo estimates; wall thicknesses are assumptions (sources.py).
+"""
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass, field
+
+import numpy as np
+
+from labware_kit import (FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, LabwareAsset, Link, Prim, TOP_DOWN, fill_height, frame,
+                         inner_volume_below, profile_volume, revolve, ring_boxes, top_down_frames)
+from sources import pick
+
+DENSITY = {"borosilicate_3_3": 2230.0, "soda_lime_glass": 2500.0, "pp": 900.0, "hdpe": 950.0, "ps": 1050.0, "pe": 950.0,
+           "stainless_18_10": 7900.0, "steel": 7850.0, "brass": 8500.0, "tin": 7290.0, "aluminium": 2700.0, "fused_silica": 2200.0, "pmp": 830.0}
+GLASS_CLEAR = (0.86, 0.93, 0.96, 0.35)
+GLASS_AMBER = (0.55, 0.30, 0.08, 0.72)
+PP_BLUE = (0.10, 0.32, 0.78, 1.0)
+PP_BLACK = (0.08, 0.08, 0.09, 1.0)
+HDPE_WHITE = (0.94, 0.94, 0.92, 1.0)
+PP_CLEAR = (0.92, 0.93, 0.92, 0.55)
+CAP_WHITE = (0.96, 0.96, 0.96, 1.0)
+CAP_ORANGE = (0.95, 0.45, 0.10, 1.0)
+CAP_SILVER = (0.70, 0.71, 0.74, 1.0)
+FINGER_PAD_HALF_M = 0.009            # Franka finger pad ~18 mm tall along the approach axis (engineering estimate)
+
+
+@dataclass
+class ScrewCapSpec:
+    slug: str
+    type_id: str
+    name_zh: str
+    name_en: str
+    family: str                      # reagent_bottle | solvent_bottle | powder_jar | vial | tube
+    nominal_ml: float
+    od_m: float                      # body outside diameter (documented)
+    h_body_m: float                  # body height to the lip (documented or derived from the documented capped height)
+    h_total_m: float                 # height with the cap on (documented or derived)
+    neck_r_m: float                  # thread major radius
+    neck_in_r_m: float               # neck inner radius (pour opening)
+    thread_zone_m: float             # height of the threaded neck below the lip
+    collar_r_m: float | None         # neck collar below the thread (None = none)
+    collar_h_m: float
+    shoulder_dzdr: float             # shoulder steepness (dz per dr), photo estimate
+    wall_m: float
+    bottom_m: float
+    body_material: str
+    body_rgba: tuple
+    cap_od_m: float
+    cap_h_m: float
+    cap_top_m: float
+    cap_material: str
+    cap_rgba: tuple
+    turns: float
+    pitch_m: float | None
+    thread_name: str
+    bottom_shape: str = "flat"       # flat | conical | round
+    cone_h_m: float = 0.0            # conical / round bottom height
+    tip_r_m: float = 0.0
+    sources: tuple = ()
+    dims_source: str = ""            # source id for OD / height
+    cap_source: str = ""
+    nominal_source: str = ""
+    labware_class: str = "bottle"
+    storage_note_zh: str = ""
+    extra_limitations: tuple = ()
+    n_ring: int = 16
+    stands_upright: bool = True
+    notes_zh: str = ""
+    fits: tuple = ()
+    maker: str = ""
+    model: str = ""
+    catalogue_no: str = ""
+
+
+def _profiles(s: ScrewCapSpec):
+    """(outer, inner) (r, z) polylines; outer bottom-axis -> lip, inner lip -> bottom-axis."""
+    R, H = s.od_m / 2, s.h_body_m
+    t, tb = s.wall_m, s.bottom_m
+    cap_z0 = s.h_total_m - s.cap_h_m
+    z_thread0 = H - s.thread_zone_m                                  # threaded neck below the lip
+    cr = s.collar_r_m if s.collar_r_m else s.neck_r_m
+    z_c1 = min(z_thread0, cap_z0 - 0.0005)                          # collar / shoulder (wider than the thread) stay below the cap skirt
+    z_c0 = z_c1 - (s.collar_h_m if s.collar_r_m else 0.0)
+    z_s = z_c0 - s.shoulder_dzdr * max(R - cr, 0.0)                  # shoulder start (body top)
+    f = min(0.004, R * 0.15)                                         # base fillet
+    outer, inner = [], []
+    if s.bottom_shape == "flat":
+        outer += [(0.0, 0.0), (R - f, 0.0), (R, f)]
+        inner_bottom = [(R - t, tb + f * 0.7), (R - t - f * 0.7, tb), (0.0, tb)]
+    else:                                                            # conical / round: tip at z = 0
+        ch = s.cone_h_m
+        outer += [(0.0, 0.0), (s.tip_r_m, 0.0005)]
+        if s.bottom_shape == "round":
+            for k in range(1, 6):
+                a = k / 6 * math.pi / 2
+                outer.append((s.tip_r_m + (R - s.tip_r_m) * math.sin(a), ch * (1 - math.cos(a))))
+        outer.append((R, ch))
+        tip_in = max(s.tip_r_m - t, 0.0005)
+        inner_bottom = [(R - t, ch + t * 0.5), (tip_in, tb), (0.0, tb)]
+    if z_s > outer[-1][1] + 1e-4:
+        outer.append((R, z_s))
+    if s.collar_r_m:
+        outer += [(cr, z_c0), (cr, z_c1)]
+    outer += [(s.neck_r_m, z_c1), (s.neck_r_m, H)]
+    # inner: lip -> down
+    rin_body = R - t
+    inner += [(s.neck_in_r_m, H), (s.neck_in_r_m, z_c0 if s.collar_r_m else z_c1)]
+    z_s_in = z_s - t * 0.5
+    if rin_body > s.neck_in_r_m + 1e-4:
+        inner.append((rin_body, max(z_s_in, inner_bottom[0][1] + 1e-3)))
+    inner += inner_bottom
+    return outer, inner, dict(R=R, H=H, cap_z0=cap_z0, z_c0=z_c0, z_c1=z_c1, z_s=z_s, cr=cr, f=f)
+
+
+def _ring_collision(outer, inner, s: ScrewCapSpec, geo: dict) -> list[Prim]:
+    """Wall-ring boxes along the outer profile with the thickness reaching the inner profile, plus the bottom."""
+    prims: list[Prim] = []
+    R, n = geo["R"], s.n_ring
+    t_body = max(s.wall_m, 0.0015)
+    if s.bottom_shape == "flat":
+        prims.append(Prim("cylinder", [R - geo["f"] * 0.3, s.bottom_m], [0.0, 0.0, s.bottom_m / 2]))
+        z_body0 = geo["f"] * 0.5
+    else:
+        # cone: rings from the tip to the cone top
+        prims.append(Prim("cylinder", [max(s.tip_r_m, 0.002), max(s.bottom_m, 0.0015)], [0.0, 0.0, max(s.bottom_m, 0.0015) / 2]))
+        prims += ring_boxes(max(s.tip_r_m, 0.002), 0.0008, R, s.cone_h_m, t_body, n)
+        z_body0 = s.cone_h_m
+    z_s = geo["z_s"]
+    if z_s > z_body0 + 1e-3:
+        prims += ring_boxes(R, z_body0, R, z_s, t_body, n)
+    cr = geo["cr"]
+    z_neck0 = geo["z_c0"] if s.collar_r_m else geo["z_c1"]
+    if R - cr > 1e-4:                                                 # shoulder
+        prims += ring_boxes(R, z_s, cr, z_neck0, max(t_body, 0.002), n)
+    if s.collar_r_m:
+        prims += ring_boxes(cr, geo["z_c0"], cr, geo["z_c1"], cr - s.neck_in_r_m, n)
+    prims += ring_boxes(s.neck_r_m, geo["z_c1"], s.neck_r_m, geo["H"], s.neck_r_m - s.neck_in_r_m, n)
+    return prims
+
+
+def _cap_meshes(s: ScrewCapSpec):
+    ro, h, top = s.cap_od_m / 2, s.cap_h_m, s.cap_top_m
+    w = 2 * math.pi * s.neck_r_m / s.n_ring * 1.08                    # neck ring-box width; its corners reach beyond neck_r
+    ri = math.hypot(s.neck_r_m, w / 2) + 0.0003
+    prof = [(0.0, h - top), (ri, h - top), (ri, 0.0), (ro, 0.0), (ro, h), (0.0, h)]
+    vis = revolve(prof, sections=48)
+    col = [Prim("cylinder", [ro, top], [0.0, 0.0, h - top / 2])]
+    col += ring_boxes(ro, 0.0, ro, h - top, ro - ri, max(12, s.n_ring))
+    return vis, col, ri
+
+
+def _outer_radius_at(outer, z):
+    pts = list(outer)
+    best = 0.0
+    for (r0, z0), (r1, z1) in zip(pts[:-1], pts[1:]):
+        lo, hi = min(z0, z1), max(z0, z1)
+        if lo - 1e-9 <= z <= hi + 1e-9:
+            r = r0 if abs(z1 - z0) < 1e-12 else r0 + (r1 - r0) * (z - z0) / (z1 - z0)
+            best = max(best, r, max(r0, r1) if abs(z1 - z0) < 1e-12 else 0.0)
+    return best
+
+
+def build_screwcap(s: ScrewCapSpec) -> LabwareAsset:
+    outer, inner, geo = _profiles(s)
+    body_mesh = revolve(outer + inner, sections=64)
+    cap_vis, cap_col, cap_ri = _cap_meshes(s)
+    cap_z0 = geo["cap_z0"]
+    assert cap_ri - s.neck_r_m > 0, "cap inner radius must clear the thread"
+    assert cap_z0 + s.cap_h_m - s.cap_top_m >= s.h_body_m - 1e-6, f"{s.slug}: cap top must clear the lip"
+    body_vol = body_mesh.volume
+    body_mass = body_vol * DENSITY[s.body_material]
+    cap_mass = cap_vis.volume * DENSITY[s.cap_material]
+    src = pick(*s.sources)
+    a = LabwareAsset(s.slug, s.type_id, s.name_zh, s.name_en, "containers", f"labware.container.{s.family}", "passive",
+                     description_zh=s.notes_zh, sources=src)
+    body_col = _ring_collision(outer, inner, s, geo)
+    body = a.add(Link("body", "瓶身" if s.family != "tube" else "管身", "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈",
+                      f"{s.body_material} 壳体；外径 {s.od_m*1000:.1f} mm、本体高 {s.h_body_m*1000:.1f} mm；内腔为 LiquidContents 的计数区",
+                      visual=[(body_mesh, s.body_rgba)], collision=body_col,
+                      solid_collision=[Prim("cylinder", [geo["R"], s.h_body_m], [0.0, 0.0, s.h_body_m / 2])],
+                      mass_kg=body_mass, mass_evidence="assumption",
+                      mass_note_zh=f"由建模壁厚体积 {body_vol*1e6:.1f} cm3 × {s.body_material} 密度 {DENSITY[s.body_material]:.0f} kg/m3 计算",
+                      material=s.body_material, geometry_evidence="documented",
+                      geometry_note_zh="外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设"))
+    turns_rad = 2 * math.pi * s.turns
+    cap = a.add(Link("cap", "螺旋盖", "密封瓶口；拧松后整体取下，可放回再拧紧",
+                     f"{s.cap_material} 螺旋盖 Ø{s.cap_od_m*1000:.1f}×{s.cap_h_m*1000:.1f} mm；{s.thread_name} 螺纹",
+                     parent="body", origin_m=[0.0, 0.0, cap_z0],
+                     joint={"type": "revolute", "axis": [0, 0, 1], "limits": [0.0, round(turns_rad, 6)], "evidence": "assumption",
+                            "source_ids": ["closure_turns"],
+                            "note_zh": f"正方向 = 俯视逆时针 = 拧松；累计 {s.turns} 圈（{turns_rad:.3f} rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"},
+                     visual=[(cap_vis, s.cap_rgba)], collision=cap_col,
+                     solid_collision=[Prim("cylinder", [s.cap_od_m / 2, s.cap_h_m], [0.0, 0.0, s.cap_h_m / 2])],
+                     mass_kg=cap_mass, mass_evidence="assumption",
+                     mass_note_zh=f"由建模体积 {cap_vis.volume*1e6:.2f} cm3 × {s.cap_material} 密度计算",
+                     material=s.cap_material, geometry_evidence="documented", detachable=True,
+                     geometry_note_zh="外径与高度按目录值；顶厚/裙厚为假设"))
+    # ---------------------------------------------------------------- labware data
+    interior = [(r, z) for r, z in reversed(inner)]                  # bottom -> lip
+    brim = profile_volume(interior + [(0.0, s.h_body_m)])
+    nominal = s.nominal_ml * 1e-6
+    vol_table = [[round(h, 5), round(inner_volume_below(interior, h) * 1e6, 3)] for h in np.linspace(s.bottom_m, s.h_body_m, 21)]
+    top = s.h_total_m
+    # top-down grasp: palm (37 mm above TCP) must clear the cap top; fingers on the neck / shoulder / body
+    z_g = top - HAND_ABOVE_TCP_M + 0.004
+    z_g = min(z_g, top - 0.006)
+    span = (z_g - FINGER_PAD_HALF_M, z_g + FINGER_PAD_HALF_M)
+    widths = []
+    for z in np.linspace(max(span[0], 0.0), span[1], 19):
+        r = _outer_radius_at(outer, z)
+        if cap_z0 <= z <= top:
+            r = max(r, s.cap_od_m / 2)
+        widths.append(2 * r)
+    width = max(widths)
+    grasp_note = "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用"
+    body_grasp_ok = width <= FRANKA_MAX_GRASP_M
+    if not body_grasp_ok and s.cap_od_m <= FRANKA_MAX_GRASP_M:
+        z_g, width = cap_z0 + s.cap_h_m / 2, s.cap_od_m        # carry by the (screwed-on) cap: the body is wider than the hand opens
+        span = (z_g - FINGER_PAD_HALF_M, z_g + FINGER_PAD_HALF_M)
+        grasp_note = f"瓶身外径 {s.od_m*1000:.0f} mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取"
+    frames = top_down_frames(z_g, top, width, yaw_free=True, contact_z=span, note_zh=grasp_note)
+    frames["grasp"]["holds"] = "body" if body_grasp_ok else "cap_closed_only"
+    cap_mid = cap_z0 + s.cap_h_m / 2
+    frames["cap_grasp"] = frame([0, 0, cap_mid], "base_link", width_m=round(s.cap_od_m, 5),
+                                franka_ok=bool(s.cap_od_m <= FRANKA_MAX_GRASP_M), yaw_free=True,
+                                note_zh="盖中心高度；夹住后绕 +Z 正向转动 = 拧松")
+    frames["cap_grasp_local"] = frame([0, 0, s.cap_h_m / 2], "cap", note_zh="同一抓取点，用盖自身坐标表示（盖已取下时）")
+    frames["cap_pre_grasp"] = frame([0, 0, top + 0.08], "base_link")
+    frames["cap_seat"] = frame([0, 0, cap_z0], "body", rot=[0.0, 0.0, 0.0, 1.0],
+                               note_zh="盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动")
+    frames["pour_lip"] = frame([s.neck_r_m, 0.0, s.h_body_m], "body", rot=[0.0, 0.0, 0.0, 1.0],
+                               note_zh="+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）")
+    a.labware = {
+        "type_id": s.type_id, "family": s.family, "labware_class": s.labware_class, "fits": list(s.fits or (s.labware_class,)),
+        "maker": s.maker, "model": s.model, "catalogue_no": s.catalogue_no,
+        "nominal_capacity_m3": nominal, "brim_capacity_m3": round(brim, 9),
+        "nominal_capacity_evidence": "documented", "nominal_source_id": s.nominal_source or s.dims_source,
+        "outer": {"diameter_m": s.od_m, "height_body_m": s.h_body_m, "height_with_cap_m": s.h_total_m, "source_id": s.dims_source},
+        "interior": {"shape": "revolved", "radius_m": round(geo["R"] - s.wall_m, 5), "floor_m": s.bottom_m, "height_m": s.h_body_m,
+                     "body_top_m": round(geo["z_s"], 5), "neck_radius_m": s.neck_in_r_m,
+                     "nominal_fill_height_m": round(fill_height(interior, nominal), 5) if nominal < brim else None,
+                     "volume_table_m_ml": vol_table, "profile_rz_m": [[round(r, 5), round(z, 5)] for r, z in interior],
+                     "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"},
+        "closure": {"type": "screw_cap", "thread": s.thread_name, "link": "cap", "joint": "cap_joint", "axis": [0, 0, 1],
+                    "unscrew_sign": 1, "turns": s.turns, "pitch_m": s.pitch_m, "detach_after_rad": round(turns_rad, 6),
+                    "lift_at_detach_m": round(s.turns * (s.pitch_m or 0.0), 5), "cap_seat_z_m": round(cap_z0, 5),
+                    "clear_lift_m": round(s.h_body_m - cap_z0 + 0.002, 5),
+                    "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），"
+                               "盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。",
+                    "parts": {"body": "parts/body.urdf", "cap": "parts/cap.urdf"}},
+        "frames": frames,
+        "materials": {"body": s.body_material, "cap": s.cap_material},
+        "empty_mass_kg": round(body_mass + cap_mass, 5), "mass_body_kg": round(body_mass, 5), "mass_cap_kg": round(cap_mass, 5),
+        "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)",
+        "stands_upright": s.stands_upright, "franka_grasp_ok": bool(width <= FRANKA_MAX_GRASP_M),
+        "storage_note_zh": s.storage_note_zh,
+    }
+    # ---------------------------------------------------------------- contract data
+    sid = s.dims_source
+    a.prop("body", "outer_diameter_m", s.od_m, "m", "瓶身外径（目录）", "documented", [sid])
+    a.prop("body", "height_with_cap_m", s.h_total_m, "m", "带盖总高（目录或由目录推得）", "documented", [sid])
+    a.prop("body", "nominal_capacity_m3", nominal, "m3", "标称容量（目录）", "documented", [s.nominal_source or sid])
+    a.prop("body", "brim_capacity_m3", round(brim, 9), "m3", "建模内腔到瓶口的满口容量（由壁厚假设计算）", "assumption", ["wall_assumption"])
+    a.prop("body", "wall_thickness_m", s.wall_m, "m", "壁厚（假设，厂家不公布）", "assumption", ["wall_assumption"])
+    a.prop("cap", "outer_diameter_m", s.cap_od_m, "m", "盖外径", "documented" if s.cap_source else "assumption",
+           [s.cap_source] if s.cap_source else ["wall_assumption"])
+    a.prop("cap", "release_turns", s.turns, "1", "拧下所需圈数", "assumption", ["closure_turns"])
+    a.state_slots = {"closure.state": {
+        "component_ids": ["cap"], "value_schema": {"type": "string", "enum": ["closed", "loosened", "detached"]}, "unit": "1",
+        "reference_conditions": None, "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）",
+        "origin": "scene", "access": "read_only", "visibility": "agent", "read_binding": None, "write_via": None,
+        "sampling": {"mode": "instant", "time_domain": "simulation", "window_description": None}, "source_ids": ["closure_turns"]}}
+    a.mechanisms = {"closure.thread": {
+        "component_ids": ["body", "cap"], "state_ids": ["closure.state"],
+        "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。",
+        "implementation": "qualitative",
+        "equations": ["state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)",
+                      "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"],
+        "parameters": {"detach_after_rad": {"value": round(turns_rad, 6), "unit": "rad", "meaning_zh": "拧下所需累计转角", "evidence": "assumption",
+                                            "source_ids": ["closure_turns"], "uncertainty": "±0.5 圈"},
+                       "thread_pitch_m": {"value": s.pitch_m, "unit": "m", "meaning_zh": "螺距", "evidence": "documented" if s.thread_name == "GL45" else "assumption",
+                                          "source_ids": ["gl45_thread"] if s.thread_name == "GL45" else ["closure_turns"], "uncertainty": None}},
+        "source_ids": ["closure_turns"], "limitations": ["不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"]}}
+    a.contract_ports = {"mouth": {"component_id": "body", "medium": "liquid", "direction": "bidirectional", "frame": "frame:pour_lip",
+                                  "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）",
+                                  "connection_constraints": ["盖必须为 detached 状态才能倒出或加入", "倾倒属于机器人技能，转移量由宿主账本记录"]}}
+    a.limitations_zh = [
+        "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。",
+        "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。",
+        "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。",
+        "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。",
+    ] + list(s.extra_limitations)
+    return a
+
+
+# ======================================================================================================== specs
+def gl45_spec(ml: int, amber: bool) -> ScrewCapSpec:
+    table = {100: (0.056, 0.105), 250: (0.070, 0.143), 500: (0.086, 0.181), 1000: (0.101, 0.230)}   # OD, height with cap
+    od, hc = table[ml]
+    colour = "amber" if amber else "clear"
+    return ScrewCapSpec(
+        slug=f"duran_gl45_{ml}ml_{colour}", type_id=f"labware.duran_gl45_{ml}ml_{colour}",
+        name_zh=f"DURAN GL45 试剂瓶 {ml} mL（{'棕色' if amber else '透明'}，蓝色 PP 螺旋盖）",
+        name_en=f"DURAN GL 45 laboratory bottle {ml} mL, {colour}, PP screw cap",
+        family="reagent_bottle", nominal_ml=ml, od_m=od, h_body_m=round(hc - 0.005, 4), h_total_m=hc,
+        neck_r_m=0.0225, neck_in_r_m=0.0170, thread_zone_m=0.020, collar_r_m=0.0250, collar_h_m=0.006, shoulder_dzdr=1.3,
+        wall_m=0.0025 if ml >= 250 else 0.0022, bottom_m=0.004, body_material="borosilicate_3_3",
+        body_rgba=GLASS_AMBER if amber else GLASS_CLEAR, cap_od_m=0.058, cap_h_m=0.027, cap_top_m=0.003, cap_material="pp",
+        cap_rgba=PP_BLUE, turns=1.25, pitch_m=0.004, thread_name="GL45",
+        sources=("duran_gl45_amber", "duran_gl45_clear", "gl45_thread", "duran_gl45_cap", "iso3585", "pp_hdpe_density",
+                 "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access") if amber else
+                ("duran_gl45_clear", "gl45_thread", "duran_gl45_cap", "iso3585", "pp_hdpe_density", "wall_assumption",
+                 "neck_profile_estimate", "closure_turns", "robot_access"),
+        dims_source="duran_gl45_amber" if amber else "duran_gl45_clear", cap_source="duran_gl45_cap",
+        labware_class="bottle", fits=("bottle", "gl45_bottle"),
+        storage_note_zh="试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质" if amber else "试剂/缓冲液/标准溶液/溶剂",
+        maker="DWK Life Sciences (DURAN)", model=f"DURAN {'GL 45 laboratory bottle, amber' if amber else 'Original GL 45 laboratory bottle, clear'}, {ml} mL, PP screw cap + pouring ring",
+        catalogue_no={100: "21801 24 5 / 21806 24 5", 250: "21801 36 5 / 21806 36 5", 500: "21801 44 5 / 21806 44 5", 1000: "21801 54 5 / 21806 54 5"}[ml].split(" / ")[1 if amber else 0],
+        notes_zh=f"DURAN Original GL 45 试剂瓶 {ml} mL（{colour}），带蓝色 PP 螺旋盖；外径 {od*1000:.0f} mm、带盖高 {hc*1000:.0f} mm（目录）。"
+                 "盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。",
+    )
+
+
+def winchester_25l_spec() -> ScrewCapSpec:
+    return ScrewCapSpec(
+        slug="winchester_2500ml_amber", type_id="labware.winchester_2500ml_amber",
+        name_zh="2.5 L 棕色玻璃溶剂瓶（Winchester，黑色内衬螺旋盖）", name_en="Winchester solvent bottle 2.5 L, amber glass",
+        family="solvent_bottle", nominal_ml=2500, od_m=0.1329, h_body_m=0.292, h_total_m=0.297,
+        neck_r_m=0.0190, neck_in_r_m=0.0140, thread_zone_m=0.016, collar_r_m=0.0215, collar_h_m=0.006, shoulder_dzdr=0.9,
+        wall_m=0.0035, bottom_m=0.006, body_material="soda_lime_glass", body_rgba=GLASS_AMBER,
+        cap_od_m=0.042, cap_h_m=0.022, cap_top_m=0.003, cap_material="pp", cap_rgba=PP_BLACK, turns=1.0, pitch_m=0.0042,
+        thread_name="38 mm (SPI 400-type, assumed)",
+        sources=("winchester_25l", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+        dims_source="winchester_25l", cap_source="", labware_class="bottle", fits=("bottle", "solvent_bottle"),
+        storage_note_zh="2.5 L 溶剂（乙醇、丙酮、甲醇等易燃液体放易燃品柜）",
+        maker="Philip Harris (Findel Education)", model="Winchester bottle, amber glass, 2.5 L", catalogue_no="FE00001092",
+        extra_limitations=("瓶口螺纹与盖尺寸（38 mm、Ø42×22 mm）为假设：清单只给出高 297 mm、宽 132.9 mm；玻璃按钠钙玻璃 2500 kg/m3。",
+                           "满瓶约 2.5 kg 液体 + 瓶重，超出单手倾倒的舒适范围；Franka 负载 3 kg 以内可搬运但倾倒需慢速。"),
+        notes_zh="2.5 L 棕色 Winchester 溶剂瓶：高 297 mm、宽 132.9 mm（Philip Harris FE00001092）；抓取点在瓶颈。",
+    )
+
+
+def nalgene_jar_spec(ml: int) -> ScrewCapSpec:
+    if ml == 250:
+        return ScrewCapSpec(
+            slug="nalgene_wm_hdpe_250ml", type_id="labware.nalgene_wm_hdpe_250ml",
+            name_zh="Nalgene 广口 HDPE 粉末瓶 250 mL（43 mm 螺旋盖）", name_en="Nalgene wide-mouth HDPE bottle 250 mL (powder jar)",
+            family="powder_jar", nominal_ml=250, od_m=0.061, h_body_m=0.118, h_total_m=0.131,
+            neck_r_m=0.0205, neck_in_r_m=0.0165, thread_zone_m=0.012, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.8,
+            wall_m=0.0012, bottom_m=0.0015, body_material="hdpe", body_rgba=HDPE_WHITE,
+            cap_od_m=0.0465, cap_h_m=0.017, cap_top_m=0.0025, cap_material="pp", cap_rgba=CAP_WHITE, turns=2.0, pitch_m=0.0042,
+            thread_name="43-415", sources=("nalgene_wm_250", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+            dims_source="nalgene_wm_250", cap_source="", labware_class="jar", fits=("jar", "powder_jar"),
+            storage_note_zh="固体试剂（盐、标准物质粉末）", n_ring=16,
+            maker="Thermo Scientific (Nalgene)", model="Wide-mouth HDPE packaging bottle 250 mL, 43-415 closure", catalogue_no="312189-0008",
+            extra_limitations=("盖外径 46.5 mm、高 17 mm 为假设（43-415 盖的典型尺寸）；瓶身高 118 mm 由总高 131 mm 减盖露出部分推得。",),
+            notes_zh="Nalgene 312189-0008 广口 HDPE 瓶：外径 61 mm、高 131 mm、瓶口内径 33 mm、43-415 盖；用作粉末瓶。")
+    return ScrewCapSpec(
+        slug="nalgene_wm_hdpe_1000ml", type_id="labware.nalgene_wm_hdpe_1000ml",
+        name_zh="Nalgene 广口 HDPE 粉末瓶 1 L（63 mm 螺旋盖）", name_en="Nalgene wide-mouth HDPE bottle 1 L (powder jar)",
+        family="powder_jar", nominal_ml=1000, od_m=0.091, h_body_m=0.188, h_total_m=0.199,
+        neck_r_m=0.0315, neck_in_r_m=0.0275, thread_zone_m=0.012, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.6,
+        wall_m=0.0016, bottom_m=0.002, body_material="hdpe", body_rgba=HDPE_WHITE,
+        cap_od_m=0.068, cap_h_m=0.020, cap_top_m=0.003, cap_material="pp", cap_rgba=CAP_WHITE, turns=1.0, pitch_m=0.0042,
+        thread_name="63 mm (SPI 400-type, assumed)",
+        sources=("nalgene_wm_1000", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+        dims_source="nalgene_wm_1000", cap_source="", labware_class="jar", fits=("jar", "powder_jar"),
+        storage_note_zh="大包装固体试剂", n_ring=16,
+        maker="Thermo Scientific (Nalgene)", model="Wide-mouth HDPE packaging bottle 1000 mL, 63 mm closure", catalogue_no="312189-0032",
+        extra_limitations=("盖外径 68 mm、高 20 mm 与螺纹类型为假设；瓶身高 188 mm 由总高 199 mm 推得（盖露出 11 mm）。",),
+        notes_zh="Nalgene 312189-0032 广口 HDPE 1 L 瓶：外径 91 mm、高 199 mm、63 mm 盖；瓶身 91 mm 超出 Franka 张开宽度，只能在盖拧紧时抓盖搬运。")
+
+
+def vial_spec(kind: str) -> ScrewCapSpec:
+    if kind == "2ml":
+        return ScrewCapSpec(
+            slug="agilent_vial_2ml_screw", type_id="labware.agilent_vial_2ml_screw",
+            name_zh="Agilent 2 mL 螺口样品瓶（12×32 mm，9 mm 螺纹盖）", name_en="Agilent 5182-0715 2 mL screw-top vial 12 x 32 mm",
+            family="vial", nominal_ml=2.0, od_m=0.0116, h_body_m=0.0305, h_total_m=0.032,
+            neck_r_m=0.0047, neck_in_r_m=0.0033, thread_zone_m=0.0045, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5,
+            wall_m=0.0007, bottom_m=0.0010, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR,
+            cap_od_m=0.0118, cap_h_m=0.0065, cap_top_m=0.0012, cap_material="pp", cap_rgba=PP_BLUE, turns=1.0, pitch_m=0.0015,
+            thread_name="9 mm short thread", sources=("agilent_5182_0715", "iso3585", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"),
+            dims_source="agilent_5182_0715", cap_source="agilent_5182_0715", labware_class="vial", fits=("vial", "vial_12x32"),
+            storage_note_zh="自动进样瓶；装样后放样品架或仪器托盘", n_ring=12,
+            maker="Agilent", model="Screw top vial 2 mL, clear, 12 x 32 mm", catalogue_no="5182-0715",
+            extra_limitations=("12×32 mm 为带盖外形；瓶身外径 11.6 mm、盖高 6.5 mm、颈部尺寸为按标准 9 mm 短螺纹瓶的假设。",),
+            notes_zh="Agilent 5182-0715 2 mL 螺口样品瓶，12×32 mm、12 mm 盖（9 mm 螺纹）。与 Matterix 现有 GC 样品瓶（chemsim/sample_vial）不同：这是螺口版本。")
+    return ScrewCapSpec(
+        slug="agilent_hs_vial_20ml", type_id="labware.agilent_hs_vial_20ml",
+        name_zh="Agilent 20 mL 螺口顶空瓶（22.75×75 mm，18 mm 磁性螺旋盖）", name_en="Agilent 5188-2753 20 mL screw-top headspace vial",
+        family="vial", nominal_ml=20.0, od_m=0.02275, h_body_m=0.075, h_total_m=0.0775,
+        neck_r_m=0.0090, neck_in_r_m=0.0063, thread_zone_m=0.008, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.7,
+        wall_m=0.0012, bottom_m=0.002, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR,
+        cap_od_m=0.0205, cap_h_m=0.0105, cap_top_m=0.0015, cap_material="steel", cap_rgba=CAP_SILVER, turns=1.0, pitch_m=0.0021,
+        thread_name="18 mm screw", bottom_shape="round", cone_h_m=0.004, tip_r_m=0.008,
+        sources=("agilent_5188_2753", "iso3585", "wall_assumption", "closure_turns", "robot_access"),
+        dims_source="agilent_5188_2753", cap_source="", labware_class="vial", fits=("vial", "headspace_vial_20ml"),
+        storage_note_zh="顶空进样瓶（HS 8697）", n_ring=12,
+        maker="Agilent", model="Headspace vial, screw top, 20 mL, 22.75 x 75 mm", catalogue_no="5188-2753",
+        extra_limitations=("盖外径 20.5 mm、高 10.5 mm（磁性钢盖 + 隔垫）与颈部尺寸为假设；22.75×75 mm 为瓶身（目录）。",),
+        notes_zh="Agilent 5188-2753 20 mL 螺口顶空瓶：22.75×75 mm、18 mm 螺旋盖、圆底。")
+
+
+def falcon_spec(ml: int) -> ScrewCapSpec:
+    if ml == 15:
+        return ScrewCapSpec(
+            slug="falcon_tube_15ml", type_id="labware.falcon_tube_15ml",
+            name_zh="Falcon 15 mL 锥底离心管（352096，PE 螺旋盖）", name_en="Corning Falcon 352096 15 mL conical tube",
+            family="tube", nominal_ml=15.0, od_m=0.017, h_body_m=0.1105, h_total_m=0.120,
+            neck_r_m=0.0083, neck_in_r_m=0.0072, thread_zone_m=0.009, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5,
+            wall_m=0.0009, bottom_m=0.0012, body_material="pp", body_rgba=PP_CLEAR,
+            cap_od_m=0.0205, cap_h_m=0.0125, cap_top_m=0.0015, cap_material="pe", cap_rgba=CAP_WHITE, turns=1.5, pitch_m=0.003,
+            thread_name="Falcon 15 mL", bottom_shape="conical", cone_h_m=0.022, tip_r_m=0.0015,
+            sources=("falcon_352096", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"),
+            dims_source="falcon_352096", cap_source="", labware_class="tube", fits=("tube", "conical_15ml"),
+            storage_note_zh="锥底管不能自立：放在管架中", n_ring=12, stands_upright=False,
+            maker="Corning (Falcon)", model="15 mL PP conical centrifuge tube", catalogue_no="352096",
+            extra_limitations=("17×120 mm 按带盖外形；锥底高 22 mm、盖 Ø20.5×12.5 mm 为照片估计。", "锥底管不能自立，需要管架（未建模；可用 LabUtopia test_tube_rack 或专用架）。"),
+            notes_zh="Corning Falcon 352096 15 mL PP 锥底离心管，约 17 mm 外径 × 120 mm 长。")
+    return ScrewCapSpec(
+        slug="falcon_tube_50ml", type_id="labware.falcon_tube_50ml",
+        name_zh="Falcon 50 mL 锥底离心管（352070，螺旋盖）", name_en="Corning Falcon 352070 50 mL conical tube",
+        family="tube", nominal_ml=50.0, od_m=0.0295, h_body_m=0.1035, h_total_m=0.115,
+        neck_r_m=0.0148, neck_in_r_m=0.0136, thread_zone_m=0.010, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5,
+        wall_m=0.0011, bottom_m=0.0014, body_material="pp", body_rgba=PP_CLEAR,
+        cap_od_m=0.0345, cap_h_m=0.0135, cap_top_m=0.0016, cap_material="pe", cap_rgba=CAP_WHITE, turns=1.5, pitch_m=0.0035,
+        thread_name="Falcon 50 mL", bottom_shape="conical", cone_h_m=0.020, tip_r_m=0.002,
+        sources=("falcon_352070", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"),
+        dims_source="falcon_352070", cap_source="", labware_class="tube", fits=("tube", "conical_50ml"),
+        storage_note_zh="锥底管不能自立：放在管架中", n_ring=14, stands_upright=False,
+        maker="Corning (Falcon)", model="50 mL PP conical centrifuge tube", catalogue_no="352070",
+        extra_limitations=("30×115 mm 按带盖外形（管身外径取 29.5 mm）；锥底高 20 mm、盖 Ø34.5×13.5 mm 为照片估计。", "锥底管不能自立，需要管架。"),
+        notes_zh="Corning Falcon 352070 50 mL PP 锥底离心管，约 30 mm 外径 × 115 mm 长。")
+
+
+def nalgene_hdpe_spec(kind: str) -> ScrewCapSpec:
+    """Narrow-mouth HDPE reagent bottles 500 mL / 1 L and the 500 mL wide-mouth jar (inventory types bottle_hdpe_500ml/_1000ml, jar_hdpe_500g)."""
+    common = dict(family="reagent_bottle", wall_m=0.0014, bottom_m=0.0018, body_material="hdpe", body_rgba=HDPE_WHITE, cap_material="pp",
+                  cap_rgba=CAP_WHITE, collar_r_m=None, collar_h_m=0.0, labware_class="bottle", n_ring=16, maker="Thermo Scientific (Nalgene)")
+    if kind == "nm500":
+        return ScrewCapSpec(slug="nalgene_nm_hdpe_500ml", type_id="labware.nalgene_nm_hdpe_500ml", name_zh="Nalgene 窄口 HDPE 试剂瓶 500 mL（28 mm 盖）",
+                            name_en="Nalgene narrow-mouth HDPE bottle 500 mL", nominal_ml=500, od_m=0.073, h_body_m=0.160, h_total_m=0.170,
+                            neck_r_m=0.0140, neck_in_r_m=0.0105, thread_zone_m=0.011, shoulder_dzdr=0.9, cap_od_m=0.0315, cap_h_m=0.016, cap_top_m=0.0025,
+                            turns=1.0, pitch_m=0.0042, thread_name="28 mm (SPI 400-type, assumed)",
+                            sources=("nalgene_nm_500", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+                            dims_source="nalgene_nm_500", fits=("bottle", "hdpe_bottle"), storage_note_zh="水溶液、碱液（HDPE 耐碱）", model="Narrow-mouth HDPE lab quality bottle 500 mL, 28 mm PP closure",
+                            catalogue_no="2002-0016", extra_limitations=("盖外径 31.5 mm、高 16 mm 为 28 mm 盖的典型尺寸（假设）；瓶身高 160 mm 由总高 170 mm 推得。",),
+                            notes_zh="Nalgene 2002-0016 窄口 HDPE 瓶 500 mL：外径 73 mm、高 170 mm、瓶口内径 21 mm、28 mm 盖。", **common)
+    if kind == "nm1000":
+        return ScrewCapSpec(slug="nalgene_nm_hdpe_1000ml", type_id="labware.nalgene_nm_hdpe_1000ml", name_zh="Nalgene 窄口 HDPE 试剂瓶 1 L（38-430 盖）",
+                            name_en="Nalgene narrow-mouth HDPE bottle 1000 mL", nominal_ml=1000, od_m=0.092, h_body_m=0.205, h_total_m=0.217,
+                            neck_r_m=0.0185, neck_in_r_m=0.0135, thread_zone_m=0.012, shoulder_dzdr=0.9, cap_od_m=0.042, cap_h_m=0.019, cap_top_m=0.003,
+                            turns=1.0, pitch_m=0.0042, thread_name="38-430",
+                            sources=("nalgene_nm_1000", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+                            dims_source="nalgene_nm_1000", fits=("bottle", "hdpe_bottle"), storage_note_zh="水溶液、碱液", model="Narrow-mouth natural HDPE packaging bottle 1000 mL, 38-430 closure",
+                            catalogue_no="312089-0032", extra_limitations=("盖外径 42 mm、高 19 mm 为 38-430 盖的典型尺寸（假设）；瓶身高 205 mm 由总高 217 mm 推得。",),
+                            notes_zh="Nalgene 312089-0032 窄口 HDPE 1 L 瓶：外径 92 mm、高 217 mm、瓶口内径 27 mm、38-430 盖；抓取点在瓶颈。", **common)
+    common["family"], common["labware_class"] = "powder_jar", "jar"
+    return ScrewCapSpec(slug="nalgene_wm_hdpe_500ml", type_id="labware.nalgene_wm_hdpe_500ml", name_zh="Nalgene 广口 HDPE 粉末瓶 500 mL（53 mm 盖）",
+                        name_en="Nalgene wide-mouth HDPE bottle 500 mL (powder jar)", nominal_ml=500, od_m=0.073, h_body_m=0.155, h_total_m=0.168,
+                        neck_r_m=0.0255, neck_in_r_m=0.0220, thread_zone_m=0.012, shoulder_dzdr=0.8, cap_od_m=0.057, cap_h_m=0.018, cap_top_m=0.0028,
+                        turns=2.0, pitch_m=0.0042, thread_name="53-415",
+                        sources=("nalgene_wm_500", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"),
+                        dims_source="nalgene_wm_500", fits=("jar", "powder_jar"), storage_note_zh="约 500 g 固体试剂", model="Wide-mouth HDPE packaging bottle 500 mL, 53-415 closure",
+                        catalogue_no="312189-0016", extra_limitations=("盖外径 57 mm、高 18 mm 为 53-415 盖的典型尺寸（假设）；瓶身高 155 mm 由总高 168 mm 推得。",),
+                        notes_zh="Nalgene 312189-0016 广口 HDPE 瓶 500 mL：外径 73 mm、高 168 mm、瓶口内径 44 mm、53-415 盖；用作 500 g 粉末瓶。", **common)
+
+
+# ------------------------------------------------------------------------------------------------ Safe-Lock tube
+def build_safelock_15() -> LabwareAsset:
+    """Eppendorf Safe-Lock 1.5 mL (drawing p.6): hinged lid on a revolute joint (opens 90 deg per the drawing)."""
+    src = pick("eppendorf_safelock_15", "pp_hdpe_density", "wall_assumption", "robot_access")
+    a = LabwareAsset("eppendorf_safelock_1p5ml", "labware.eppendorf_safelock_1p5ml", "Eppendorf Safe-Lock 1.5 mL 微量离心管（翻盖）",
+                     "Eppendorf Safe-Lock Tube 1.5 mL", "containers", "labware.container.tube", "passive",
+                     description_zh="Eppendorf Safe-Lock 1.5 mL PP 管（0030120086）：长 38.9 mm、上段外径 10.8 mm、管口 2 mm 边沿、铰链翻盖；尺寸按 Eppendorf 技术数据表第 6 页图。",
+                     sources=src)
+    L, rim_h = 0.0389, 0.002
+    R_top, r_cone_top, tip_r = 0.0054, 0.00535, 0.0012
+    z_cone = L - rim_h - 0.020            # straight 20 mm section below the 2 mm rim
+    t = 0.0008
+    outer = [(0.0, 0.0), (tip_r, 0.0004), (0.0028, 0.0025), (r_cone_top, z_cone), (R_top, L - rim_h), (0.0062, L - rim_h), (0.0062, L)]
+    inner = [(0.0052, L), (R_top - t, L - rim_h - 0.001), (r_cone_top - t, z_cone), (0.002, 0.0028), (0.0, 0.0012)]
+    body_mesh = revolve(outer + inner, sections=48)
+    col = [Prim("cylinder", [0.0018, 0.0012], [0, 0, 0.0006])]
+    col += ring_boxes(0.0018, 0.0008, r_cone_top, z_cone, 0.0009, 12)
+    col += ring_boxes(r_cone_top, z_cone, R_top, L - rim_h, 0.0009, 12)
+    col += ring_boxes(0.0062, L - rim_h, 0.0062, L, 0.0062 - 0.0052, 12)
+    mass_body = body_mesh.volume * DENSITY["pp"]
+    a.add(Link("body", "管身", "盛放样品（≤1.5 mL）", "PP 锥底管；上段外径 10.8 mm", visual=[(body_mesh, PP_CLEAR)], collision=col,
+               solid_collision=[Prim("cylinder", [R_top, L], [0, 0, L / 2])], mass_kg=mass_body, mass_evidence="assumption",
+               mass_note_zh="建模体积 × PP 密度", material="pp", geometry_evidence="documented"))
+    # lid: a disc with a plug, hinged at +Y side of the rim; joint axis along X, opening rotates the lid up and back (+Y)
+    import trimesh
+    lid_r, lid_t = 0.0062, 0.0012
+    plug = trimesh.creation.cylinder(radius=0.0050, height=0.0035, sections=32)
+    plug.apply_translation([0.0, -0.0063, -0.00175])
+    disc = trimesh.creation.cylinder(radius=lid_r, height=lid_t, sections=32)
+    disc.apply_translation([0.0, -0.0063, lid_t / 2])
+    tab = trimesh.creation.box(extents=[0.008, 0.007, lid_t])
+    tab.apply_translation([0.0, -0.0063 - lid_r - 0.0025, lid_t / 2])
+    lid_mesh = trimesh.util.concatenate([disc, plug, tab])
+    mass_lid = (disc.volume + plug.volume + tab.volume) * DENSITY["pp"]
+    a.add(Link("lid", "翻盖（Safe-Lock）", "密封管口；向上翻开 90°", "PP 翻盖，铰链在 +Y 侧管沿；带推开用的舌片（−Y 侧）",
+               parent="body", origin_m=[0.0, 0.0063, L],
+               joint={"type": "revolute", "axis": [-1, 0, 0], "limits": [0.0, round(math.pi / 2, 6)], "evidence": "documented",
+                      "source_ids": ["eppendorf_safelock_15"],
+                      "note_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）"},
+               visual=[(lid_mesh, PP_CLEAR)], collision=[Prim("cylinder", [lid_r, lid_t], [0.0, -0.0063, lid_t / 2]),
+                                                         Prim("box", [0.008, 0.007, lid_t], [0.0, -0.0063 - lid_r - 0.0025, lid_t / 2])],
+               solid_collision=[Prim("cylinder", [lid_r, lid_t], [0.0, -0.0063, lid_t / 2])],
+               mass_kg=mass_lid, mass_evidence="assumption", mass_note_zh="建模体积 × PP 密度", material="pp", geometry_evidence="documented"))
+    interior = [(r, z) for r, z in reversed(inner)]
+    brim = profile_volume(interior + [(0.0, L)])
+    z_g = L - 0.012
+    frames = top_down_frames(z_g, L + 0.0015, 2 * R_top, yaw_free=False, contact_z=(z_g - 0.009, z_g + 0.009),
+                             note_zh="俯抓管上段（外径 10.8 mm）；手指沿 Y 合拢会碰铰链，宜沿 X 合拢（yaw 90°）")
+    frames["grasp"]["rot_xyzw"] = [0.70710678, 0.70710678, 0.0, 0.0]
+    frames["lid_tab"] = frame([0.0, -0.0063 - lid_r - 0.0045 + 0.0063, L + 0.0006], "base_link", rot=[0.0, 0.0, 0.0, 1.0],
+                              note_zh="翻盖舌片：向上推（+Z）即开盖")
+    frames["cap_seat"] = frame([0.0, 0.0063, L], "body", rot=[0.0, 0.0, 0.0, 1.0], note_zh="盖铰链原点（关闭位）")
+    a.labware = {
+        "type_id": a.asset_type_id, "family": "tube", "labware_class": "tube", "fits": ["tube", "microtube_1p5ml"],
+        "maker": "Eppendorf", "model": "Safe-Lock Tubes 1.5 mL, PP, colourless", "catalogue_no": "0030120086",
+        "nominal_capacity_m3": 1.5e-6, "brim_capacity_m3": round(brim, 10), "nominal_capacity_evidence": "documented",
+        "nominal_source_id": "eppendorf_safelock_15",
+        "outer": {"diameter_m": 0.0108, "height_body_m": L, "height_closed_m": 0.041, "source_id": "eppendorf_safelock_15"},
+        "interior": {"shape": "revolved", "radius_m": R_top - t, "floor_m": 0.0012, "height_m": L, "body_top_m": L - rim_h,
+                     "nominal_fill_height_m": round(fill_height(interior, 1.5e-6), 5),
+                     "volume_table_m_ml": [[round(h, 5), round(inner_volume_below(interior, h) * 1e6, 4)] for h in np.linspace(0.0012, L, 11)],
+                     "profile_rz_m": [[round(r, 5), round(z, 5)] for r, z in interior]},
+        "closure": {"type": "hinged_lid", "link": "lid", "joint": "lid_joint", "axis": [-1, 0, 0], "open_rad": round(math.pi / 2, 6),
+                    "rule_zh": "开盖 = 推舌片（lid_tab）向上，盖关节转到 open_rad；关盖 = 压回 0。翻盖不脱离管身。"},
+        "frames": frames, "materials": {"body": "pp", "lid": "pp"},
+        "empty_mass_kg": round(mass_body + mass_lid, 6), "mass_evidence": "computed from modelled volume x PP density",
+        "stands_upright": False, "franka_grasp_ok": True, "storage_note_zh": "放在管架或冰箱的管盒中（锥底不能自立）",
+    }
+    a.prop("body", "outer_diameter_m", 0.0108, "m", "上段外径（数据表图）", "documented", ["eppendorf_safelock_15"])
+    a.prop("body", "length_m", L, "m", "管长（数据表图）", "documented", ["eppendorf_safelock_15"])
+    a.prop("body", "nominal_capacity_m3", 1.5e-6, "m3", "标称容量", "documented", ["eppendorf_safelock_15"])
+    a.state_slots = {"closure.state": {
+        "component_ids": ["lid"], "value_schema": {"type": "string", "enum": ["closed", "open"]}, "unit": "1", "reference_conditions": None,
+        "meaning_zh": "翻盖状态（由场景按盖关节角记录）", "origin": "scene", "access": "read_only", "visibility": "agent",
+        "read_binding": None, "write_via": None, "sampling": {"mode": "instant", "time_domain": "simulation", "window_description": None},
+        "source_ids": ["eppendorf_safelock_15"]}}
+    a.contract_ports = {"mouth": {"component_id": "body", "medium": "liquid", "direction": "bidirectional", "frame": "frame:grasp",
+                                  "meaning_zh": "管口：移液进出", "connection_constraints": ["翻盖须为 open"]}}
+    a.limitations_zh = ["被动容器；翻盖开合由机器人推舌片（touch + intent）。", "锥底管不能自立，需要管架（未建模）。",
+                        "外形按 Eppendorf 数据表图；壁厚、盖厚为假设。"]
+    return a
+
+
+ALL_CONTAINER_BUILDERS = {}
+for _ml in (100, 250, 500, 1000):
+    for _amber in (False, True):
+        _s = gl45_spec(_ml, _amber)
+        ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s))
+for _fn in (winchester_25l_spec, lambda: nalgene_jar_spec(250), lambda: nalgene_jar_spec(1000), lambda: vial_spec("2ml"),
+            lambda: vial_spec("20ml"), lambda: falcon_spec(15), lambda: falcon_spec(50)):
+    _s = _fn()
+    ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s))
+ALL_CONTAINER_BUILDERS["eppendorf_safelock_1p5ml"] = build_safelock_15
+for _k in ("nm500", "nm1000", "wm500"):
+    _s = nalgene_hdpe_spec(_k)
+    ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s))
diff --git a/scripts/labware/furniture.py b/scripts/labware/furniture.py
new file mode 100644
index 0000000000000000000000000000000000000000..70c58ead64716c26151c562385b14cf6569a0bb5
--- /dev/null
+++ b/scripts/labware/furniture.py
@@ -0,0 +1,721 @@
+"""Storage furniture for the default lab: bench step shelf, Secador desiccator cabinet, DURAN glass desiccator, asecos safety
+cabinets (flammables Q90, acids/bases SL-CLASSIC, toxics CS-CLASSIC), Liebherr lab refrigerator, DENIOS gas-cylinder stands.
+
+Every piece follows a real product (maker, model, catalogue number, data sheet in sources.py); where the real product does not
+give a value it is an assumption with a reason.  Panels are boxes (visual = collision).  Doors are revolute links with:
+hinge axis + origin in the asset frame, limits, a `handle` frame (pull point, TCP approach along the door normal), mass.
+Storage positions are "ports" of kind `storage` (same format as the expansion geometry manifests) named like the default-lab inventory's places.
+"""
+from __future__ import annotations
+
+import math
+
+import numpy as np
+import trimesh
+from trimesh.transformations import quaternion_from_matrix
+
+from labware_kit import FRANKA_MAX_GRASP_M, LabwareAsset, Link, Prim, frame, revolve, ring_boxes
+from sources import pick
+
+STEEL = 7850.0
+PVC = 1400.0
+COPOLYESTER = 1200.0
+GLASS33 = 2230.0
+
+RAL7016 = (0.22, 0.24, 0.27, 1.0)      # anthracite grey
+RAL7035 = (0.80, 0.81, 0.79, 1.0)      # light grey
+RAL1004 = (0.89, 0.66, 0.05, 1.0)      # golden yellow (flammables warning stripe / not used for Q90 body)
+LAB_WHITE = (0.94, 0.94, 0.92, 1.0)
+PVC_GREY = (0.62, 0.64, 0.66, 1.0)
+SECADOR_CLEAR = (0.85, 0.92, 0.95, 0.40)
+HANDLE_BLACK = (0.10, 0.10, 0.11, 1.0)
+SHELF_GREY = (0.70, 0.71, 0.72, 1.0)
+GALV = (0.72, 0.74, 0.76, 1.0)
+DENIOS_BLUE = (0.12, 0.30, 0.60, 1.0)
+
+
+def prims_mesh(prims: list[Prim]) -> trimesh.Trimesh:
+    return trimesh.util.concatenate([p.mesh() for p in prims])
+
+
+def prims_volume(prims: list[Prim]) -> float:
+    return float(sum(p.mesh().volume for p in prims))
+
+
+def box(cx, cy, cz, sx, sy, sz) -> Prim:
+    return Prim("box", [sx, sy, sz], [cx, cy, cz])
+
+
+def quat_from_axes(x_axis, y_axis, z_axis) -> list[float]:
+    M = np.eye(4)
+    M[:3, 0], M[:3, 1], M[:3, 2] = x_axis, y_axis, z_axis
+    w, x, y, z = quaternion_from_matrix(M)
+    return [round(float(x), 6), round(float(y), 6), round(float(z), 6), round(float(w), 6)]
+
+
+# TCP for pulling a vertical bar handle on a front (-Y facing) door: approach +Y (into the door), fingers close along X.
+PULL_FRONT = quat_from_axes([0, 0, 1], [1, 0, 0], [0, 1, 0])
+# grasping a knob from above (desiccator lid knob)
+TOP_DOWN = [1.0, 0.0, 0.0, 0.0]
+
+
+def add_slots(a: LabwareAsset, place_id: str, prefix: str, xs, ys, z: float, link: str, part: str, headroom: float, fits,
+              access, pitch_note: str, start_index: int = 1, radius: float | None = None):
+    k = start_index
+    for y in ys:
+        for x in xs:
+            a.ports.append({"name": f"{prefix}-{k:02d}", "place_id": place_id, "part": part, "kind": "storage",
+                            "position_m": [round(x, 5), round(y, 5), round(z, 5)], "insert_axis": [0.0, 0.0, -1.0],
+                            "capture_m": 0.03, "radius_m": round(radius if radius else 0.04, 4), "moves_with": link,
+                            "headroom_m": round(headroom, 4), "fits": list(fits), "access": list(access),
+                            "note_zh": pitch_note})
+            k += 1
+
+
+def door_link(a: LabwareAsset, name: str, name_zh: str, hinge_x: float, hinge_y: float, z0: float, width: float, height: float,
+              thick: float, hinge_side: str, open_rad: float, mass: float, mass_note: str, rgba, handle_z: float,
+              handle_inset: float, limit_evidence: str, limit_source: list[str], parent: str = "carcass",
+              handle_len: float = 0.20, handle_offset: float = 0.035, door_sources=()) -> dict:
+    """A front door (closed in the plane y = hinge_y .. hinge_y - thick) hinged on a vertical axis at (hinge_x, hinge_y).
+
+    hinge_side "left": the leaf extends to +X from the hinge, opens with +rotation about -Z; "right": extends to -X, about +Z.
+    """
+    sgn = 1.0 if hinge_side == "left" else -1.0
+    axis = [0.0, 0.0, -1.0] if hinge_side == "left" else [0.0, 0.0, 1.0]
+    # leaf in the door link frame (origin on the hinge line at the bottom of the leaf, front face at y = -thick)
+    leaf = box(sgn * width / 2, -thick / 2, height / 2, width, thick, height)
+    hx_local = sgn * (width - handle_inset)
+    bar = Prim("cylinder", [0.008, handle_len], [hx_local, -thick - handle_offset, handle_z - z0])
+    posts = [box(hx_local, -thick - handle_offset / 2, handle_z - z0 + s * (handle_len / 2 - 0.01), 0.012, handle_offset, 0.012) for s in (-1, 1)]
+    vis_leaf = leaf.mesh()
+    vis_h = prims_mesh([bar] + posts)
+    link = a.add(Link(name, name_zh, "关闭/打开存放空间；外侧竖直拉手", "被动门扇：绕竖直铰链轴转动，资产无执行器",
+                      parent=parent, origin_m=[hinge_x, hinge_y, z0],
+                      joint={"type": "revolute", "axis": axis, "limits": [0.0, round(open_rad, 6)], "evidence": limit_evidence,
+                             "source_ids": list(limit_source),
+                             "note_zh": f"正方向 = 门向外（−Y）打开；铰链在{'左' if hinge_side == 'left' else '右'}侧；最大 {math.degrees(open_rad):.1f}°"},
+                      visual=[(vis_leaf, rgba), (vis_h, HANDLE_BLACK, {"name": "handle"})], collision=[leaf, bar] + posts,
+                      mass_kg=mass, mass_evidence="assumption", mass_note_zh=mass_note, geometry_evidence="documented"))
+    handle_asset = [hinge_x + hx_local, hinge_y - thick - handle_offset, handle_z]
+    a.labware.setdefault("doors", {})[name] = {
+        "link": name, "joint": f"{name}_joint", "hinge_axis": axis, "hinge_origin_m": [round(hinge_x, 5), round(hinge_y, 5), round(z0, 5)],
+        "hinge_side": hinge_side, "limits": [0.0, round(open_rad, 6)], "open_direction_zh": "门扇自由边向 −Y（操作者方向）转出",
+        "leaf_size_m": [round(width, 5), round(thick, 5), round(height, 5)], "mass_kg": round(mass, 3), "mass_note_zh": mass_note,
+        "handle": {"pos_m": [round(v, 5) for v in handle_asset], "rot_xyzw": PULL_FRONT, "approach_axis": [0.0, 1.0, 0.0],
+                   "finger_axis": [1.0, 0.0, 0.0], "bar_diameter_m": 0.016, "bar_length_m": handle_len, "franka_ok": True,
+                   "note_zh": "拉手中点（关门状态，资产坐标）；TCP 沿门法线 +Y 接近，手指沿 X 合拢夹住竖杆；开门 = 夹住后绕铰链轴沿圆弧向 −Y 拉"},
+        "handle_local": {"link": name, "pos_m": [round(hx_local, 5), round(-thick - handle_offset, 5), round(handle_z - z0, 5)]},
+        "radius_handle_to_hinge_m": round(abs(hx_local), 5),
+    }
+    a.labware.setdefault("frames", {})[f"handle_{name}"] = frame(handle_asset, "base_link", rot=PULL_FRONT,
+                                                                 approach_axis=[0.0, 1.0, 0.0], note_zh=f"{name_zh}拉手（关门位）")
+    return a.labware["doors"][name]
+
+
+def _storage(a: LabwareAsset, place_ids, min_pitch, headroom, positions, maker, model, catalogue_no, notes):
+    a.labware.update({"type_id": a.asset_type_id, "family": "storage_furniture", "maker": maker, "model": model, "catalogue_no": catalogue_no,
+                      "storage": {"place_ids": list(place_ids), "min_pitch_m": min_pitch, "headroom_m": headroom,
+                                  "expected_positions": positions, "note_zh": notes}})
+
+
+# ===================================================================================================== bench step shelf
+def build_bench_shelf() -> LabwareAsset:
+    src = pick("trippnt_step_shelf", "inventory_places", "robot_access")
+    a = LabwareAsset("trippnt_step_shelf_2tier", "furniture.trippnt_step_shelf_2tier", "台面阶梯试剂架（两层 × 5 位，TrippNT 24 in PVC 阶梯架 + 前托盘）",
+                     "Bench reagent step shelf, 2 tiers x 5 (TrippNT 24 in PVC step shelf + front tray)", "furniture", "furniture.storage.bench_shelf", "passive",
+                     description_zh="机器人可达的台面试剂架：后层是 TrippNT 24 in 无底 PVC 阶梯架（宽 610 mm、高 254 mm、深 229 mm、四周 25 mm 挡边），"
+                                    "前层是同宽的低托盘；后层在前层之后而不在其上方，顶部敞开，两层各 5 个位置、间距 0.12 m。",
+                     sources=src)
+    W, D_top, H_top, lip, t = 0.610, 0.229, 0.254, 0.025, 0.006
+    D_front = 0.150
+    y_front0 = -(D_top + D_front) / 2
+    y_step0 = y_front0 + D_front
+    y_back = y_step0 + D_top
+    prims = []
+    # front tray: plate + lips (front, left, right)
+    prims.append(box(0, y_front0 + D_front / 2, t / 2, W, D_front, t))
+    prims.append(box(0, y_front0 + t / 2, lip / 2, W, t, lip))
+    for sx in (-1, 1):
+        prims.append(box(sx * (W / 2 - t / 2), y_front0 + D_front / 2, lip / 2, t, D_front, lip))
+    # step: top plate at H_top, two side panels (bottomless), front fascia, back panel with a cord cut-out (open lower 60 mm)
+    prims.append(box(0, y_step0 + D_top / 2, H_top - t / 2, W, D_top, t))
+    for sx in (-1, 1):
+        prims.append(box(sx * (W / 2 - t / 2), y_step0 + D_top / 2, (H_top - t) / 2, t, D_top, H_top - t))
+    prims.append(box(0, y_step0 + t / 2, (H_top - t) / 2, W - 2 * t, t, H_top - t))
+    prims.append(box(0, y_back - t / 2, 0.060 + (H_top - t - 0.060) / 2, W - 2 * t, t, H_top - t - 0.060))
+    # 1 in lip around the top
+    prims.append(box(0, y_step0 + t / 2, H_top + lip / 2, W, t, lip))
+    prims.append(box(0, y_back - t / 2, H_top + lip / 2, W, t, lip))
+    for sx in (-1, 1):
+        prims.append(box(sx * (W / 2 - t / 2), y_step0 + D_top / 2, H_top + lip / 2, t, D_top, lip))
+    mass = prims_volume(prims) * PVC
+    a.add(Link("shelf", "阶梯架（前托盘 + 后层台阶）", "存放试剂瓶；两层都从正上方可达", "PVC 板件；前层台面 z=0.006 m，后层台面 z=0.254 m",
+               visual=[(prims_mesh(prims), PVC_GREY)], collision=prims, mass_kg=mass, mass_evidence="assumption",
+               mass_note_zh=f"PVC 板体积 × {PVC:.0f} kg/m3", material="pvc", geometry_evidence="documented",
+               geometry_note_zh="后层宽/高/深与 25 mm 挡边按 TrippNT/Avantor 目录；前托盘（深 150 mm）为本资产补充"))
+    xs = [-0.24, -0.12, 0.0, 0.12, 0.24]
+    common = dict(link="shelf", fits=("bottle", "jar", "gl45_bottle", "powder_jar", "vial_rack"), access=[],
+                  pitch_note="0.12 m 间距；俯视无遮挡（机器人约束：≥11 cm、瓶顶上方 ≥25 cm 空间）")
+    add_slots(a, "bench_shelf", "T1", xs, [y_front0 + D_front / 2 + 0.005], t, part="front_tray", headroom=1.0, radius=0.055, **common)
+    add_slots(a, "bench_shelf", "T2", xs, [y_step0 + D_top / 2], H_top, part="step_top", headroom=1.0, radius=0.055, **common)
+    _storage(a, ["bench_shelf"], 0.11, 0.25 + 0.23, [f"T{t_}-{k:02d}" for t_ in (1, 2) for k in range(1, 6)],
+             "TrippNT (distributed by Weber Scientific / Avantor)", "Step shelf, bottomless, PVC, 24 in + matching front tray (project addition)",
+             "Weber TNT24W10-8 / Avantor 11376-388 (supplier no. 50123)",
+             "两层 × 5 位；T1 前层（台面 z=0.006），T2 后层（z=0.254）；顶部敞开，headroom_m=1.0 表示上方无遮挡（仅受房间限制）")
+    a.labware["tiers"] = {"T1": {"surface_z_m": t, "y_m": round(y_front0 + D_front / 2, 4), "depth_m": D_front},
+                          "T2": {"surface_z_m": H_top, "y_m": round(y_step0 + D_top / 2, 4), "depth_m": D_top}}
+    a.labware["frames"] = {"place_reference": frame([0, 0, 0], "base_link", rot=[0, 0, 0, 1], note_zh="资产原点：占地中心，台面高 z=0")}
+    a.prop("shelf", "width_m", W, "m", "宽 24 in", "documented", ["trippnt_step_shelf"])
+    a.prop("shelf", "step_height_m", H_top, "m", "后层台面高 10 in", "documented", ["trippnt_step_shelf"])
+    a.prop("shelf", "step_depth_m", D_top, "m", "后层深 9 in", "documented", ["trippnt_step_shelf"])
+    a.prop("shelf", "lip_height_m", lip, "m", "挡边 1 in", "documented", ["trippnt_step_shelf"])
+    a.prop("shelf", "front_tray_depth_m", D_front, "m", "前托盘深度（本资产补充，容纳 1 L GL45 瓶 Ø101 mm）", "assumption", ["robot_access"])
+    a.limitations_zh = [
+        "后层按 TrippNT 24 in 无底 PVC 阶梯架（宽 610、高 254、深 229 mm，25 mm 挡边）；产品本身是单层台阶，前层托盘是为“两层同属一个资产、"
+        "上层在下层之后”而补的同宽 PVC 托盘（深 150 mm，非目录件）。",
+        "目录各渠道对深/高的标注不一致（Weber 24×10×8 in，Avantor 宽24/高10/深9 in）；采用 Avantor 的分项标注。",
+        "两层各 5 位、间距 0.12 m 按机器人约束（≥0.11 m、俯视无遮挡）排布；挡边 25 mm，放瓶需抬过挡边。",
+    ]
+    return a
+
+
+# ===================================================================================================== Secador cabinet
+def build_secador() -> LabwareAsset:
+    src = {"belart_secador_2": {"kind": "manufacturer",
+                                "reference": "SP Bel-Art F42072-1000 Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (https://www.belart.com/bel-art-f42072-1000-secador-clear-2-0-vertical-desiccator-cabinet-2-shelves-13-4-x-16-3-x-12-4.html); product family page https://belart.com/products/dry-storage/standard-desiccators/secador-1-0-2-0-3-0-4-0-vertical-desiccator-cabinets/; NIST listing https://www.nist.gov/node/412726",
+                                "locator": "34.1 x 41.4 x 31.4 cm (13.4 x 16.3 x 12.4 in: depth x height x width), internal volume 1.2 ft3 (NIST: 33.1 L), 2 perforated shelves, desiccant space under the bottom shelf, side-swinging door opening to the left, door seal + tab latches, Durastar copolyester",
+                                "note": "Benchtop desiccator cabinet (the default lab's `desiccator` place). accessed 2026-10-22.",
+                                "licence": "facts"},
+           **pick("inventory_places", "robot_access")}
+    src["secador_assumption"] = {"kind": "assumption", "reference": "Secador wall / door thickness, shelf heights, door opening angle",
+                                 "locator": "engineering value",
+                                 "note": "Walls 12 mm and door 10 mm copolyester (gives ~34 L inside, matching the 1.2 ft3 listing); shelves split the inside height evenly above a 60 mm desiccant space; door opens 100 deg (not listed); copolyester density 1200 kg/m3.",
+                                 "licence": "n/a"}
+    a = LabwareAsset("belart_secador_2_vertical", "furniture.belart_secador_2_vertical", "Bel-Art Secador 2.0 立式干燥柜（透明，2 层隔板，左开门）",
+                     "Bel-Art Secador 2.0 vertical desiccator cabinet, clear, 2 shelves (F42072-1000)", "furniture", "furniture.storage.desiccator_cabinet", "passive",
+                     description_zh="台面干燥柜 Bel-Art Secador 2.0 立式（F42072-1000）：宽 314、深 341、高 414 mm，两层带孔隔板，底层下方放干燥剂，侧开门向左打开。"
+                                    "默认实验室的 desiccator 存放位；放在台面上 Franka 可达，机器人开门技能用它验证。", sources=src)
+    W, D, H = 0.314, 0.341, 0.414
+    tw, tdoor = 0.012, 0.010
+    yf = -D / 2                      # front plane (door outer face)
+    yi0 = yf + tdoor                 # inside front (door inner face)
+    prims = [box(0, yi0 + (D - tdoor) / 2, tw / 2, W, D - tdoor, tw),                # base
+             box(0, yi0 + (D - tdoor) / 2, H - tw / 2, W, D - tdoor, tw),            # top
+             box(0, D / 2 - tw / 2, H / 2, W - 2 * tw, tw, H - 2 * tw)]              # back
+    for sx in (-1, 1):
+        prims.append(box(sx * (W / 2 - tw / 2), yi0 + (D - tdoor) / 2, H / 2, tw, D - tdoor, H - 2 * tw))
+    z_desic = tw + 0.060
+    inner_h = H - tw - z_desic
+    shelf_t = 0.004
+    z_s1, z_s2 = z_desic, z_desic + inner_h / 2
+    sh_w, sh_d = W - 2 * tw - 0.004, D - tdoor - tw - 0.006
+    shelves = [box(0, yi0 + 0.003 + sh_d / 2, z - shelf_t / 2, sh_w, sh_d, shelf_t) for z in (z_s1, z_s2)]
+    vol = prims_volume(prims + shelves)
+    a.add(Link("carcass", "柜体（含两层隔板）", "密封存放吸湿样品与标准物质", "透明共聚酯箱体；隔板带孔，底层下方为干燥剂空间",
+               visual=[(prims_mesh(prims), SECADOR_CLEAR), (prims_mesh(shelves), (0.80, 0.86, 0.90, 0.6), {"name": "shelves"})], collision=prims + shelves,
+               mass_kg=vol * COPOLYESTER, mass_evidence="assumption", mass_note_zh="板件体积 × 共聚酯 1200 kg/m3（厂家未公布质量）",
+               material="copolyester", geometry_evidence="documented", geometry_note_zh="外形 314×341×414 mm 按目录；壁厚/隔板高度为假设"))
+    door_w, door_h = W - 0.004, H - 0.004
+    door_mass = door_w * door_h * tdoor * COPOLYESTER
+    door_link(a, "door", "侧开门（左铰链）", hinge_x=-W / 2 + 0.002, hinge_y=yf + tdoor, z0=0.002, width=door_w, height=door_h, thick=tdoor,
+              hinge_side="left", open_rad=math.radians(100), mass=door_mass, mass_note=f"门板 {door_w*1000:.0f}×{door_h*1000:.0f}×{tdoor*1000:.0f} mm × 1200 kg/m3",
+              rgba=SECADOR_CLEAR, handle_z=0.22, handle_inset=0.030, limit_evidence="assumption", limit_source=["secador_assumption"],
+              handle_len=0.10, handle_offset=0.025)
+    xs = [-0.09, 0.0, 0.09]
+    ys = [yi0 + 0.075, yi0 + 0.075 + 0.150]
+    for i, z in enumerate((z_s1, z_s2), start=1):
+        add_slots(a, "desiccator", f"S{i}", xs, ys, z, link="carcass", part=f"shelf_{i}", headroom=round((inner_h / 2) - shelf_t, 4),
+                  fits=("bottle", "vial", "jar", "weighing_boat"), access=["door_joint"], radius=0.04,
+                  pitch_note="3×2 位/层（0.09 × 0.15 m）；柜内只能侧向取放（上方有隔板/柜顶）")
+    _storage(a, ["desiccator"], 0.085, 0.15, [f"S{s}-{k:02d}" for s in (1, 2) for k in range(1, 7)],
+             "SP Bel-Art (SP Industries)", "Secador 2.0 vertical desiccator cabinet, clear, 2 shelves", "F42072-1000",
+             "2 层 × 6 位 = 12 位（S1 下层、S2 上层）；适合 100/250 mL 瓶、样品瓶、称量舟；放取须先开门，柜内无俯视空间")
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高（目录 12.4×13.4×16.3 in）", "documented", ["belart_secador_2"])
+    a.prop("carcass", "internal_volume_m3", 0.034, "m3", "内容积 1.2 ft3（目录）", "documented", ["belart_secador_2"])
+    a.prop("door", "open_limit_rad", round(math.radians(100), 5), "rad", "最大开门角（未公布，假设）", "assumption", ["secador_assumption"])
+    a.limitations_zh = ["外形、隔板数、开门方向、内容积按 Bel-Art 目录；壁厚、门厚、隔板高度、最大开门角与质量为假设。",
+                        "门的密封、卡扣、湿度计与挂锁环未建模；门是被动铰链（机器人拉手开门）。",
+                        "柜内位置只能侧向取放；Franka 俯抓不适用于柜内物品。"]
+    return a
+
+
+# ===================================================================================================== DURAN glass desiccator
+def build_duran_desiccator() -> LabwareAsset:
+    src = pick("duran_desiccator_250", "iso3585", "inventory_places", "robot_access")
+    src["desiccator_assumption"] = {"kind": "assumption", "reference": "DN 250 desiccator bottom / lid profile, plate, knob",
+                                    "locator": "engineering value",
+                                    "note": "Bowl and dome profiles scaled to the documented flange (O274 / O320 mm), complete height 357 mm and lid height 122 mm; glass 5 mm; porcelain plate O235 x 8 mm at 95 mm; knob O40 x 35 mm; glass density 2230 kg/m3, porcelain 2400 kg/m3.",
+                                    "licence": "n/a"}
+    a = LabwareAsset("duran_desiccator_dn250", "furniture.duran_desiccator_dn250", "DURAN 玻璃干燥器 DN 250（旋钮盖，瓷板）",
+                     "DURAN desiccator DN 250 with knob lid (247816604) and porcelain plate", "furniture", "furniture.storage.desiccator", "passive",
+                     description_zh="DURAN 玻璃干燥器 DN 250（247816604 = 底 247706605 + 旋钮盖 244106608）：法兰内径 274、外径 320 mm，总高 357 mm，盖高 122 mm；"
+                                    "盖为可整体取下的独立刚体（抓盖钮 + 上提），瓷板上 6 个位置。", sources=src)
+    t = 0.005
+    R_fl, r_fl_in, H_tot, H_lid = 0.160, 0.137, 0.357, 0.122
+    z_fl = H_tot - H_lid                 # flange plane (bottom of the lid)
+    # bottom bowl: foot ring, narrow lower bowl (desiccant), wider upper body to the flange
+    outer = [(0.0, 0.0), (0.095, 0.0), (0.098, 0.006), (0.090, 0.012), (0.085, 0.085), (0.124, 0.098), (0.128, 0.200), (R_fl, z_fl - 0.010), (R_fl, z_fl)]
+    inner = [(r_fl_in, z_fl), (0.123, z_fl - 0.020), (0.123, 0.200), (0.121, 0.110), (0.112, 0.104), (0.080, 0.096), (0.080, 0.015), (0.0, 0.015)]
+    bowl = revolve(outer + inner, sections=72)
+    plate_r, plate_z = 0.1175, 0.106
+    plate = trimesh.creation.cylinder(radius=plate_r, height=0.008, sections=72)
+    plate.apply_translation([0, 0, plate_z + 0.004])
+    col = [Prim("cylinder", [0.095, 0.015], [0, 0, 0.0075])]
+    col += ring_boxes(0.090, 0.012, 0.085, 0.085, t, 20) + ring_boxes(0.085, 0.085, 0.124, 0.098, t, 20) + ring_boxes(0.124, 0.098, 0.128, 0.200, t, 20)
+    col += ring_boxes(0.128, 0.200, R_fl, z_fl - 0.010, t + 0.004, 24) + ring_boxes(R_fl, z_fl - 0.010, R_fl, z_fl, R_fl - r_fl_in, 24)
+    col.append(Prim("cylinder", [plate_r, 0.008], [0, 0, plate_z + 0.004]))
+    m_bowl = bowl.volume * GLASS33 + plate.volume * 2400.0
+    a.add(Link("body", "干燥器底（含瓷板）", "下部放干燥剂，瓷板上放样品", "硼硅玻璃 3.3 碗体 + 瓷板 Ø235 mm（瓷板顶面 z=0.114 m）",
+               visual=[(bowl, (0.86, 0.93, 0.96, 0.35)), (plate, (0.95, 0.95, 0.93, 1.0), {"name": "porcelain_plate"})], collision=col,
+               solid_collision=[Prim("cylinder", [R_fl, z_fl], [0, 0, z_fl / 2])], mass_kg=m_bowl, mass_evidence="assumption",
+               mass_note_zh="玻璃体积 × 2230 + 瓷板体积 × 2400 kg/m3", material="borosilicate_3_3", geometry_evidence="documented"))
+    lid_profile = [(0.0, H_lid - 0.046), (0.055, H_lid - 0.048), (0.112, H_lid - 0.071), (0.140, 0.028), (r_fl_in, 0.010), (r_fl_in, 0.0),
+                   (R_fl, 0.0), (R_fl, 0.010), (0.150, 0.030), (0.120, H_lid - 0.065), (0.060, H_lid - 0.042), (0.020, H_lid - 0.035),
+                   (0.020, H_lid), (0.0, H_lid)]
+    lid = revolve(lid_profile, sections=72)
+    lcol = [Prim("cylinder", [0.020, 0.035], [0, 0, H_lid - 0.0175])]
+    lcol += ring_boxes(R_fl, 0.0, R_fl, 0.010, R_fl - r_fl_in, 24) + ring_boxes(R_fl, 0.010, 0.150, 0.030, 0.008, 24)
+    lcol += ring_boxes(0.150, 0.030, 0.120, H_lid - 0.065, 0.006, 24) + ring_boxes(0.120, H_lid - 0.065, 0.060, H_lid - 0.042, 0.006, 20)
+    lcol.append(Prim("cylinder", [0.060, 0.006], [0, 0, H_lid - 0.045]))
+    m_lid = lid.volume * GLASS33
+    a.add(Link("lid", "旋钮盖", "密封干燥器；抓盖钮取下/盖回", "硼硅玻璃 3.3 圆顶盖 + 顶部盖钮（法兰磨口）", parent="body", origin_m=[0, 0, z_fl],
+               joint={"type": "prismatic", "axis": [0, 0, 1], "limits": [0.0, 0.15], "evidence": "assumption", "source_ids": ["desiccator_assumption"],
+                      "note_zh": "正方向 = 竖直上提；实际操作为侧推 + 提起，按 touch + intent：抓住盖钮上提超过 clear_lift 即为独立刚体（parts/lid.urdf）"},
+               visual=[(lid, (0.86, 0.93, 0.96, 0.35))], collision=lcol, solid_collision=[Prim("cylinder", [R_fl, H_lid], [0, 0, H_lid / 2])],
+               mass_kg=m_lid, mass_evidence="assumption", mass_note_zh="玻璃体积 × 2230 kg/m3", material="borosilicate_3_3",
+               geometry_evidence="documented", detachable=True))
+    xs_r = 0.072
+    for k in range(6):
+        ang = math.pi / 2 + 2 * math.pi * k / 6
+        a.ports.append({"name": f"P1-{k + 1:02d}", "place_id": "desiccator_glass", "part": "plate", "kind": "storage",
+                        "position_m": [round(xs_r * math.cos(ang), 5), round(xs_r * math.sin(ang), 5), round(plate_z + 0.008, 5)],
+                        "insert_axis": [0.0, 0.0, -1.0], "capture_m": 0.02, "radius_m": 0.03, "moves_with": "body",
+                        "headroom_m": round(z_fl - (plate_z + 0.008) + H_lid - 0.05, 4), "fits": ["vial", "weighing_boat", "crucible", "bottle_small"],
+                        "access": ["lid_joint"], "note_zh": "瓷板上 6 位（半径 72 mm 圆周）；取放前先取下盖"})
+    _storage(a, ["desiccator_glass"], 0.07, 0.10, [f"P1-{k:02d}" for k in range(1, 7)], "DWK Life Sciences (DURAN)",
+             "Desiccator with knobbed lid DN 250 (bottom 247706605 + lid 244106608) + porcelain plate DU297256609", "247816604",
+             "瓷板 1 层 × 6 位（与 清单原 desiccator 位置名 P1-01..06 相同）；默认实验室的 desiccator 位改为 Secador 柜，此玻璃干燥器可作 desiccator_glass")
+    top = H_tot
+    a.labware["closure"] = {"type": "lift_off_lid", "link": "lid", "joint": "lid_joint", "axis": [0, 0, 1], "clear_lift_m": 0.13,
+                            "rule_zh": "开盖 = 抓盖钮（lid_grasp）上提 ≥ clear_lift_m → 盖为独立刚体；盖回 = 盖对准 lid_seat 放下",
+                            "parts": {"body": "parts/body.urdf", "lid": "parts/lid.urdf"}}
+    a.labware["frames"] = {
+        "lid_grasp": frame([0, 0, top - 0.0175], "base_link", width_m=0.040, franka_ok=True, yaw_free=True, note_zh="盖钮中心（Ø40 mm）"),
+        "lid_pre_grasp": frame([0, 0, top + 0.10], "base_link"),
+        "lid_seat": frame([0, 0, z_fl], "body", rot=[0, 0, 0, 1], note_zh="盖 link 原点（法兰面中心）盖好时在底座坐标中的位置"),
+    }
+    a.labware["mass_note_zh"] = f"盖 {m_lid:.2f} kg（Franka 负载 3 kg 以内）"
+    a.prop("body", "flange_outer_diameter_m", 0.320, "m", "法兰外径 320±2 mm", "documented", ["duran_desiccator_250"])
+    a.prop("body", "flange_inner_diameter_m", 0.274, "m", "法兰内径", "documented", ["duran_desiccator_250"])
+    a.prop("body", "height_complete_m", H_tot, "m", "总高（含盖）", "documented", ["duran_desiccator_250"])
+    a.prop("lid", "height_m", H_lid, "m", "盖高", "documented", ["duran_desiccator_250"])
+    a.limitations_zh = ["法兰直径、总高、盖高按 DWK 表；碗体与盖的曲面、瓷板直径与高度、盖钮尺寸为按比例的假设。",
+                        "磨口密封与真空未建模；盖按 touch + intent 上提取下（实际是侧推）。"]
+    return a
+
+
+# ===================================================================================================== cabinets
+def _cabinet(a: LabwareAsset, W, D, H, inner_w, inner_d, inner_h, z_in0, wall_rgba, door_rgba, n_doors, door_thick, door_z0, door_h,
+             door_mass, door_mass_note, open_rad, open_ev, open_src, handle_z, partitions_x=(), shelf_levels=(), shelf_t=0.025,
+             shelf_spans=None, body_mass=None, body_mass_note="", hinge_inset=0.0, handle_len=0.20):
+    yf = -D / 2
+    yi0 = yf + door_thick
+    yi1 = yi0 + inner_d
+    side = (W - inner_w) / 2
+    prims = [box(0, (yi0 + D / 2) / 2, z_in0 / 2, W, D / 2 - yi0, z_in0),                                    # plinth / base
+             box(0, (yi0 + D / 2) / 2, (z_in0 + inner_h + H) / 2, W, D / 2 - yi0, H - z_in0 - inner_h),     # top
+             box(0, (yi1 + D / 2) / 2, z_in0 + inner_h / 2, W, D / 2 - yi1, inner_h)]                       # back
+    for sx in (-1, 1):
+        prims.append(box(sx * (W / 2 - side / 2), (yi0 + yi1) / 2, z_in0 + inner_h / 2, side, inner_d, inner_h))
+    for px, pw in partitions_x:
+        prims.append(box(px, (yi0 + yi1) / 2, z_in0 + inner_h / 2, pw, inner_d, inner_h))
+    shelves = []
+    for z in shelf_levels:
+        for (x0, x1) in (shelf_spans or [(-inner_w / 2, inner_w / 2)]):
+            shelves.append(box((x0 + x1) / 2, (yi0 + yi1) / 2 + 0.005, z - shelf_t / 2, x1 - x0 - 0.004, inner_d - 0.01, shelf_t))
+    a.add(Link("carcass", "柜体（含隔板/托盘）", "存放容器；通风与锁未建模", "钢制柜体与隔板",
+               visual=[(prims_mesh(prims), wall_rgba)] + ([(prims_mesh(shelves), SHELF_GREY, {"name": "shelves"})] if shelves else []),
+               collision=prims + shelves, mass_kg=body_mass, mass_evidence="assumption" if body_mass_note else "documented",
+               mass_note_zh=body_mass_note, material="steel", geometry_evidence="documented"))
+    return yf, yi0, yi1
+
+
+def build_asecos_q90() -> LabwareAsset:
+    src = pick("asecos_q90_195_120", "inventory_places")
+    src["cabinet_assumption"] = {"kind": "assumption", "reference": "asecos cabinet door leaves, shelf heights and door mass", "locator": "engineering value",
+                                 "note": "Door leaf 545 x 1750 x 30 mm per wing (data-sheet drawing: 1007 mm between the open leaves, 551 mm swing depth); handle at 1.0 m on the meeting edges; "
+                                         "3 shelves at 0.40 m pitch above the bottom sump (32 mm interior grid allows this); door mass from a steel-skin (2 x 1 mm) + 25 mm fire-board (450 kg/m3) sandwich.",
+                                 "licence": "n/a"}
+    a = LabwareAsset("asecos_q90_195_120", "furniture.asecos_q90_195_120", "asecos Q-CLASSIC-90 易燃品安全柜 Q90.195.120（EN 14470-1 type 90，两扇门，3 层隔板）",
+                     "asecos safety storage cabinet Q-CLASSIC-90, Q90.195.120 (EN 14470-1 type 90)", "furniture", "furniture.storage.flammables_cabinet", "passive",
+                     description_zh="易燃液体安全柜 asecos Q90.195.120：外形 1193×615×1953 mm、内部 1050×522×1647 mm、两扇翼门最大 89.5°、3 层可调隔板 + 底部集液槽。"
+                                    "清单位置 flammables_cabinet：3 层 × 6 位。", sources=src)
+    W, D, H = 1.193, 0.615, 1.953
+    iw, idp, ih = 1.050, 0.522, 1.647
+    z0 = 0.090 + (H - 0.090 - ih) / 2
+    door_t, door_w, door_h = 0.030, 0.545, 1.750
+    m_door = door_w * door_h * (2 * 0.001 * STEEL + 0.025 * 450.0)
+    levels = [z0 + 0.40, z0 + 0.80, z0 + 1.20]
+    yf, yi0, yi1 = _cabinet(a, W, D, H, iw, idp, ih, z0, RAL7016, RAL7035, 2, door_t, 0.15, door_h, m_door, "", math.radians(89.5), "documented",
+                            ["asecos_q90_195_120"], 1.0, shelf_levels=levels, body_mass=460.0 - 2 * m_door,
+                            body_mass_note=f"数据表整机 460 kg（无内部装备）减两扇门 {2*m_door:.1f} kg")
+    a.links[-1].mass_evidence = "documented"
+    a.properties["_mass_sources"] = {"carcass": ["asecos_q90_195_120"]}
+    note = f"门：钢皮 2×1 mm + 25 mm 防火板（450 kg/m3）夹层 × {door_w*1000:.0f}×{door_h*1000:.0f} mm"
+    door_link(a, "door_left", "左门", -door_w - 0.002, yf + door_t, 0.15, door_w, door_h, door_t, "left", math.radians(89.5), m_door, note, RAL7035,
+              1.0, 0.04, "documented", ["asecos_q90_195_120"])
+    door_link(a, "door_right", "右门", door_w + 0.002, yf + door_t, 0.15, door_w, door_h, door_t, "right", math.radians(89.5), m_door, note, RAL7035,
+              1.0, 0.04, "documented", ["asecos_q90_195_120"])
+    xs = [-0.4375 + 0.175 * k for k in range(6)]
+    for i, z in enumerate(levels, start=1):
+        head = (levels[i] - z - 0.025) if i < len(levels) else (z0 + ih - z)
+        add_slots(a, "flammables_cabinet", f"S{i}", xs, [(yi0 + yi1) / 2], z, link="carcass", part=f"shelf_{i}", headroom=head,
+                  fits=("bottle", "solvent_bottle", "gl45_bottle", "jar"), access=["door_left_joint", "door_right_joint"], radius=0.08,
+                  pitch_note="每层一排 6 位（0.175 m 间距，可放 2.5 L 溶剂瓶 Ø133 mm）")
+    _storage(a, ["flammables_cabinet"], 0.17, 0.30, [f"S{s}-{k:02d}" for s in (1, 2, 3) for k in range(1, 7)], "asecos GmbH",
+             "Q-CLASSIC-90 safety storage cabinet, model Q90.195.120 (3 shelves + bottom sump)", "Q90.195.120 (data sheet ID 34192-041 for .MM)",
+             "3 层 × 6 位（S1 最低隔板）；底部集液槽不放容器；Franka 固定基座不可达（房间家具）")
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["asecos_q90_195_120"])
+    a.prop("carcass", "inner_size_m", [iw, idp, ih], "m", "内部 宽×深×高", "documented", ["asecos_q90_195_120"])
+    a.prop("carcass", "fire_resistance_min", 90, "min", "EN 14470-1 耐火 90 min", "documented", ["asecos_q90_195_120"])
+    a.limitations_zh = ["外形、内部尺寸、整机质量、门数与开门角按 asecos 数据表；门扇尺寸、隔板高度、门质量为按图纸比例的假设。",
+                        "门的自闭、锁、通风管与热熔连杆未建模；门为被动铰链。", "本数据表为 .MM（多隔间）版本；3 层隔板配置按经销商对 Q90.195.120 的描述。"]
+    return a
+
+
+def build_asecos_sl() -> LabwareAsset:
+    src = pick("asecos_sl_196_120", "inventory_places")
+    src["cabinet_assumption"] = {"kind": "assumption", "reference": "SL-CLASSIC door leaves, compartment walls, trays and door mass", "locator": "engineering value",
+                                 "note": "Two doors 590 x 1880 x 20 mm, each closing one compartment (485 mm wide inside); 2 tray levels per compartment as used by the default-lab inventory (the cabinet takes up to 4 pull-out trays per side); door mass from 1.2 mm steel + 8 mm insulation board (300 kg/m3); doors open 110 deg.",
+                                 "licence": "n/a"}
+    a = LabwareAsset("asecos_sl_196_120", "furniture.asecos_sl_196_120", "asecos SL-CLASSIC 酸碱柜 SL.196.120.MV（左酸右碱两隔间）",
+                     "asecos cabinet for acids and alkalis SL-CLASSIC, SL.196.120.MV", "furniture", "furniture.storage.corrosives_cabinet", "passive",
+                     description_zh="酸碱柜 asecos SL.196.120.MV：外形 1197×603×1965 mm，两个密封隔间（每间内部 485×570×1869 mm），两扇门；左隔间放酸、右隔间放碱。"
+                                    "清单位置 acids_cabinet（左）与 bases_cabinet（右）：各 2 层 × 6 位。", sources=src)
+    W, D, H = 1.197, 0.603, 1.965
+    iw_c, idp, ih = 0.485, 0.570, 1.869
+    door_t = 0.020
+    z0 = 0.050
+    centre_wall = W - 2 * iw_c - 2 * 0.060
+    cx = centre_wall / 2 + iw_c / 2
+    levels = [z0 + 0.06, z0 + 0.55]
+    m_door = 0.590 * 1.880 * (0.0012 * STEEL + 0.008 * 300.0)
+    yf, yi0, yi1 = _cabinet(a, W, D, H, 2 * iw_c + centre_wall, idp, ih, z0, LAB_WHITE, LAB_WHITE, 2, door_t, 0.03, 1.88, m_door, "",
+                            math.radians(110), "assumption", ["cabinet_assumption"], 1.0, partitions_x=[(0.0, centre_wall)],
+                            shelf_levels=levels, shelf_spans=[(-cx - iw_c / 2, -cx + iw_c / 2), (cx - iw_c / 2, cx + iw_c / 2)],
+                            body_mass=215.0 - 2 * m_door, body_mass_note=f"数据表 215 kg（无内部装备）减两扇门 {2*m_door:.1f} kg")
+    a.links[-1].mass_evidence = "documented"
+    a.properties["_mass_sources"] = {"carcass": ["asecos_sl_196_120"]}
+    note = f"门：1.2 mm 钢板 + 8 mm 板（300 kg/m3）× 590×1880 mm"
+    door_link(a, "door_left", "左门（酸隔间）", -W / 2 + 0.005, yf + door_t, 0.03, 0.590, 1.880, door_t, "left", math.radians(110), m_door, note, LAB_WHITE,
+              1.0, 0.04, "assumption", ["cabinet_assumption"])
+    door_link(a, "door_right", "右门（碱隔间）", W / 2 - 0.005, yf + door_t, 0.03, 0.590, 1.880, door_t, "right", math.radians(110), m_door, note, LAB_WHITE,
+              1.0, 0.04, "assumption", ["cabinet_assumption"])
+    ys = [yi0 + 0.15, yi0 + 0.42]
+    for side, place, sx, door in (("acid", "acids_cabinet", -1, "door_left_joint"), ("base", "bases_cabinet", 1, "door_right_joint")):
+        xs = [sx * cx - 0.15, sx * cx, sx * cx + 0.15]
+        for i, z in enumerate(levels, start=1):
+            head = (levels[1] - z - 0.025) if i == 1 else (z0 + ih - z)
+            add_slots(a, place, f"S{i}", xs, ys, z, link="carcass", part=f"{side}_tray_{i}", headroom=head,
+                      fits=("bottle", "gl45_bottle", "solvent_bottle", "jar"), access=[door], radius=0.07,
+                      pitch_note=f"{'酸' if side == 'acid' else '碱'}隔间 3×2 位/层（0.15 × 0.27 m）")
+    for p in a.ports:
+        p["name"] = ("A:" if p["place_id"] == "acids_cabinet" else "B:") + p["name"]
+    _storage(a, ["acids_cabinet", "bases_cabinet"], 0.15, 0.30, [f"{c}:S{s}-{k:02d}" for c in ("A", "B") for s in (1, 2) for k in range(1, 7)],
+             "asecos GmbH", "Cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV (laboratory white)", "SL.196.120.MV (ID 30606-005)",
+             "槽位名 A:S1-01..A:S2-06 = acids_cabinet 的 S1-01..S2-06；B:... = bases_cabinet；Franka 固定基座不可达（房间家具）")
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["asecos_sl_196_120"])
+    a.prop("carcass", "compartment_inner_size_m", [iw_c, idp, ih], "m", "每隔间内部 宽×深×高", "documented", ["asecos_sl_196_120"])
+    a.limitations_zh = ["外形、隔间内部尺寸、质量、门数按 asecos 数据表；门扇尺寸、托盘高度、门质量与开门角为假设。",
+                        "实际为抽拉托盘（每侧最多 4 层）；这里按清单的 2 层建为固定托盘。", "通风、锁未建模。"]
+    return a
+
+
+def build_asecos_cs(place_id: str = "toxics_cabinet", n_shelves: int = 2, nx: int = 3, ny: int = 2, slug_suffix: str = "",
+                    title_zh: str = "有毒品，可上锁，通风") -> LabwareAsset:
+    src = pick("asecos_cs_195_105", "inventory_places")
+    src["cabinet_assumption"] = {"kind": "assumption", "reference": "CS-CLASSIC door leaves, internal depth, shelves and masses", "locator": "engineering value",
+                                 "note": "Internal depth 470 mm (520 external minus walls/door, not listed); two wing doors 520 x 1830 x 20 mm; 2 shelves at 0.45 m pitch for the inventory's toxics place; body mass from 1 mm steel sheet volume + 20 % for frame; door mass 1.2 mm steel + 8 mm board.",
+                                 "licence": "n/a"}
+    slug = "asecos_cs_195_105" + slug_suffix
+    a = LabwareAsset(slug, f"furniture.{slug}", f"asecos CS-CLASSIC 化学品柜 CS.195.105（{title_zh}，{n_shelves} 层 × {nx*ny} 位）",
+                     f"asecos chemical cabinet CS-CLASSIC, CS.195.105 ({place_id}, {n_shelves} shelves)", "furniture", f"furniture.storage.{place_id}", "passive",
+                     description_zh=f"asecos CS-CLASSIC CS.195.105：外形 1055×520×1950 mm，内部宽 996、高 1835 mm，两扇门，可上锁，适合非易燃化学品与有毒物质；"
+                                    f"隔板数可选（经销商列出 2/3/4/6 层配置）。清单位置 {place_id}：{n_shelves} 层 × {nx*ny} 位。", sources=src)
+    W, D, H = 1.055, 0.520, 1.950
+    iw, idp, ih = 0.996, 0.470, 1.835
+    door_t, z0 = 0.020, 0.060
+    pitch_z = min(0.45, (ih - 0.35) / max(n_shelves, 1))
+    levels = [z0 + 0.30 + pitch_z * k for k in range(n_shelves)]
+    m_door = 0.520 * 1.830 * (0.0012 * STEEL + 0.008 * 300.0)
+    sheet = 75.0 - 2 * m_door                      # data sheet ID 30496-040/-041: 75 kg without interior equipment
+    yf, yi0, yi1 = _cabinet(a, W, D, H, iw, idp, ih, z0, LAB_WHITE, LAB_WHITE, 2, door_t, 0.06, 1.83, m_door, "", math.radians(110), "assumption",
+                            ["cabinet_assumption"], 1.0, shelf_levels=levels, body_mass=sheet,
+                            body_mass_note=f"数据表 ID 30496-040/-041：75 kg（无内部装备）减两扇门 {2*m_door:.1f} kg")
+    a.links[-1].mass_evidence = "documented"
+    a.sources["asecos_cs_30496040"] = {"kind": "manufacturer", "reference": "asecos product data sheets ID 30496-040 / 30496-041, model CS.195.105.WDFW (https://www.asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_30496040-product-data-sheet_IN.pdf)",
+                                       "locator": "p.1: external 1055 x 520 x 1950 mm, internal 996 x 493 x 1835 mm, 75 kg, 2 doors, depth with open doors 1026 mm",
+                                       "note": "Mass; the modelled internal depth (470 mm) is 23 mm less than the data sheet's 493 mm (geometry kept unchanged in the 2026-10-23 appearance pass).", "licence": "facts"}
+    a.properties["_mass_sources"] = {"carcass": ["asecos_cs_30496040"]}
+    note = "门：1.2 mm 钢板 + 8 mm 板 × 520×1830 mm"
+    door_link(a, "door_left", "左门", -0.522, yf + door_t, 0.06, 0.520, 1.830, door_t, "left", math.radians(110), m_door, note, LAB_WHITE, 1.0, 0.04,
+              "assumption", ["cabinet_assumption"])
+    door_link(a, "door_right", "右门", 0.522, yf + door_t, 0.06, 0.520, 1.830, door_t, "right", math.radians(110), m_door, note, LAB_WHITE, 1.0, 0.04,
+              "assumption", ["cabinet_assumption"])
+    px = 0.90 / nx
+    xs = [-0.45 + px / 2 + px * k for k in range(nx)]
+    ys = [yi0 + 0.12, yi0 + 0.35][:ny]
+    for i, z in enumerate(levels, start=1):
+        head = (levels[i] - z - 0.025) if i < len(levels) else (z0 + ih - z)
+        add_slots(a, place_id, f"S{i}", xs, ys, z, link="carcass", part=f"shelf_{i}", headroom=head,
+                  fits=("bottle", "gl45_bottle", "jar", "sbs", "box"), access=["door_left_joint", "door_right_joint"], radius=0.07,
+                  pitch_note=f"{nx}×{ny} 位/层（{px:.3f} × 0.23 m）")
+    _storage(a, [place_id], min(px, 0.23) - 0.001, 0.25, [f"S{s}-{k:02d}" for s in range(1, n_shelves + 1) for k in range(1, nx * ny + 1)], "asecos GmbH",
+             f"Chemical cabinet CS-CLASSIC, model CS.195.105, {n_shelves} shelves", "CS.195.105",
+             f"{n_shelves} 层 × {nx*ny} 位；可上锁、接通风；Franka 固定基座不可达")
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["asecos_cs_195_105"])
+    a.prop("carcass", "inner_width_m", iw, "m", "内部宽", "documented", ["asecos_cs_195_105"])
+    a.prop("carcass", "inner_height_m", ih, "m", "内部高", "documented", ["asecos_cs_195_105"])
+    a.limitations_zh = ["外形、内部宽与高、质量按 asecos 数据表 ID 30496-040/-041；建模内深 470 mm 比数据表 493 mm 浅 23 mm（外观轮次未改几何）；门扇、隔板高度为假设。",
+                        f"锁与通风未建模；隔板数按清单的 {place_id} 位置数（{n_shelves} 层 × {nx*ny}）。"]
+    return a
+
+
+def build_liebherr_lkv3910() -> LabwareAsset:
+    src = pick("liebherr_lkv3910", "inventory_places")
+    src["fridge_assumption"] = {"kind": "assumption", "reference": "LKv 3910 wall / door split, shelf heights, door mass, hinge side", "locator": "engineering value",
+                                "note": "Side walls 78.5 mm, back 80 mm, door 100 mm, base 130 mm, top 75 mm (external minus internal); hinge on the right as delivered (door hinge is reversible); door opens 110 deg; door mass: 2 x 0.6 mm steel skins + 90 mm PU foam (40 kg/m3) + 2 kg liner/handle; 4 of the 5 shelves carry the inventory's 4 x 8 positions at 0.36 m pitch.",
+                                "licence": "n/a"}
+    a = LabwareAsset("liebherr_lkv3910", "furniture.liebherr_lkv3910", "Liebherr LKv 3910 MediLine 实验室冷藏柜（+3…+16 °C，360 L，防爆内腔）",
+                     "Liebherr laboratory refrigerator LKv 3910 MediLine", "furniture", "furniture.storage.lab_refrigerator", "passive",
+                     description_zh="实验室冷藏柜 Liebherr LKv 3910：外形 597×615×1840 mm、内部 440×435×1635 mm、5 层可调隔板（每层 45 kg）、内腔无火花；"
+                                    "清单位置 fridge_4c：4 层 × 8 位。", sources=src)
+    W, D, H = 0.597, 0.615, 1.840
+    iw, idp, ih = 0.440, 0.435, 1.635
+    door_t, z0 = 0.100, 0.130
+    levels = [z0 + 0.06 + 0.36 * k for k in range(4)]
+    door_w, door_h = W - 0.004, H - 0.010
+    m_door = door_w * door_h * (2 * 0.0006 * STEEL + 0.090 * 40.0) + 2.0
+    shell = 2 * (W * H + D * H + W * D) * 0.0006 * STEEL + (W * D * H - iw * idp * ih - door_w * door_h * door_t) * 40.0
+    yf, yi0, yi1 = _cabinet(a, W, D, H, iw, idp, ih, z0, LAB_WHITE, LAB_WHITE, 1, door_t, 0.005, door_h, m_door, "", math.radians(110), "assumption",
+                            ["fridge_assumption"], 1.1, shelf_levels=levels, shelf_t=0.005, body_mass=shell + 25.0,
+                            body_mass_note="钢外壳 0.6 mm + PU 发泡 40 kg/m3 + 压缩机/制冷系统约 25 kg（假设；厂家质量未取得）")
+    note = "门：2×0.6 mm 钢皮 + 90 mm PU 发泡（40 kg/m3）+ 内衬/拉手 2 kg"
+    door_link(a, "door", "冷藏门（右铰链）", W / 2 - 0.002, yf + door_t, 0.005, door_w, door_h, door_t, "right", math.radians(110), m_door, note, LAB_WHITE,
+              1.1, 0.035, "assumption", ["fridge_assumption"], handle_len=0.30)
+    xs = [-0.165, -0.055, 0.055, 0.165]
+    ys = [yi0 + 0.11, yi0 + 0.32]
+    for i, z in enumerate(levels, start=1):
+        head = (levels[i] - z - 0.005) if i < len(levels) else (z0 + ih - z)
+        add_slots(a, "fridge_4c", f"S{i}", xs, ys, z, link="carcass", part=f"shelf_{i}", headroom=head,
+                  fits=("bottle", "gl45_bottle", "vial", "tube_rack", "jar"), access=["door_joint"], radius=0.05,
+                  pitch_note="4×2 位/层（0.11 × 0.21 m）")
+    _storage(a, ["fridge_4c"], 0.10, 0.30, [f"S{s}-{k:02d}" for s in (1, 2, 3, 4) for k in range(1, 9)], "Liebherr",
+             "LKv 3910 MediLine laboratory refrigerator (spark-free interior)", "LKv 3910",
+             "4 层 × 8 位（S1 最低）；2–8 °C 存放；Franka 固定基座不可达（房间家具）")
+    a.labware["temperature_range_c"] = [3, 16]
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["liebherr_lkv3910"])
+    a.prop("carcass", "inner_size_m", [iw, idp, ih], "m", "内部 宽×深×高", "documented", ["liebherr_lkv3910"])
+    a.prop("carcass", "temperature_range_c", [3, 16], "degC", "温度范围", "documented", ["liebherr_lkv3910"])
+    a.limitations_zh = ["外形、内部尺寸、温度范围、隔板数按经销商列出的 Liebherr LKv 3910 数据；墙厚分配、门质量、铰链侧（出厂右侧，可换）、隔板高度为假设。",
+                        "制冷过程、温度控制与报警未建模（家具资产）；温度作为存放条件记录。"]
+    return a
+
+
+def build_denios_stands() -> LabwareAsset:
+    src = {"denios_115873": {"kind": "manufacturer",
+                             "reference": "DENIOS steel gas cylinder stand for 2 gas cylinders max. O 230 mm, for wall mounting, item 115873W (https://denios.co.uk/gas-cylinder-stand-galvanized-for-2-x-o-230-mm-gas-cylinders-115873/Gas Cylinder Handling)",
+                             "locator": "560 x 410 x 1005 mm (W x D x H), blue powder-coated steel, securing chain, load 150 kg, can be joined to further stands",
+                             "note": "Four stands joined side by side give the 8 cylinder positions of the default lab's cylinder_rack. accessed 2026-10-22.",
+                             "licence": "facts"},
+           **pick("inventory_places")}
+    src["stand_assumption"] = {"kind": "assumption", "reference": "stand tube sections and chain height", "locator": "engineering value",
+                               "note": "Base plate 4 mm, two 40 x 40 mm rear posts, cradle rail at 0.95 m with two half-ring cradles per stand; mass from steel volume.",
+                               "licence": "n/a"}
+    a = LabwareAsset("denios_cylinder_stand_x4", "furniture.denios_cylinder_stand_x4", "DENIOS 气瓶架 115873W × 4（8 个 Ø230 mm 气瓶位，链条固定）",
+                     "DENIOS gas cylinder stand 115873W x 4 (8 cylinders, O <= 230 mm)", "furniture", "furniture.storage.cylinder_rack", "passive",
+                     description_zh="四个 DENIOS 115873W 落地靠墙气瓶架并排（每个 560×410×1005 mm，2 瓶 Ø≤230 mm，链条固定），共 8 位 C1..C8；清单位置 cylinder_rack。",
+                     sources=src)
+    n, Ws, Ds, Hs = 4, 0.560, 0.410, 1.005
+    W = n * Ws
+    prims = []
+    for i in range(n):
+        x0 = -W / 2 + i * Ws + Ws / 2
+        prims.append(box(x0, 0, 0.002, Ws - 0.004, Ds, 0.004))
+        for sx in (-1, 1):
+            prims.append(box(x0 + sx * (Ws / 2 - 0.022), Ds / 2 - 0.022, Hs / 2, 0.040, 0.040, Hs))
+        prims.append(box(x0, Ds / 2 - 0.022, 0.95, Ws - 0.004, 0.040, 0.040))
+        for sx in (-1, 1):
+            prims.append(box(x0 + sx * 0.14, Ds / 2 - 0.06, 0.95, 0.20, 0.008, 0.030))
+    mass = prims_volume(prims) * STEEL
+    a.add(Link("stands", "气瓶架（4 个并排）", "竖直固定 8 个气瓶", "钢制底板 + 后立柱 + 托架与链条（链条未建模）",
+               visual=[(prims_mesh(prims), DENIOS_BLUE)], collision=prims, mass_kg=mass, mass_evidence="assumption",
+               mass_note_zh="钢件体积 × 7850 kg/m3", material="steel", geometry_evidence="documented"))
+    k = 1
+    for i in range(n):
+        x0 = -W / 2 + i * Ws + Ws / 2
+        for sx in (-1, 1):
+            a.ports.append({"name": f"C{k}", "place_id": "cylinder_rack", "part": f"stand_{i + 1}", "kind": "storage",
+                            "position_m": [round(x0 + sx * 0.14, 5), round(Ds / 2 - 0.06 - 0.1145 - 0.01, 5), 0.004],
+                            "insert_axis": [0.0, 0.0, -1.0], "capture_m": 0.05, "radius_m": 0.115, "moves_with": "stands",
+                            "headroom_m": 1.0, "fits": ["gas_cylinder_50l"], "access": [], "note_zh": "气瓶底中心；托架 + 链条在 0.95 m"})
+            k += 1
+    _storage(a, ["cylinder_rack"], 0.24, None, [f"C{k}" for k in range(1, 9)], "DENIOS", "Steel gas cylinder stand for 2 cylinders O<=230 mm, wall mounting (x4)",
+             "115873W", "8 位 C1..C8（每架 2 位，间距 0.28 m）；Franka 不可达（房间设施）")
+    a.labware["storage"]["headroom_m"] = None
+    a.labware["frames"] = {"place_reference": frame([0, 0, 0], "base_link", rot=[0, 0, 0, 1], note_zh="资产原点：占地中心，地面 z=0；+Y 为墙侧")}
+    a.prop("stands", "stand_size_m", [Ws, Ds, Hs], "m", "单架 宽×深×高", "documented", ["denios_115873"])
+    a.prop("stands", "max_cylinder_diameter_m", 0.230, "m", "最大气瓶直径", "documented", ["denios_115873"])
+    a.limitations_zh = ["单架外形与容量按 DENIOS 目录；管材截面、托架高度、质量为假设；链条未建模（气瓶由场景固定）。"]
+    return a
+
+
+def build_asecos_g90() -> LabwareAsset:
+    src = pick("asecos_g90_205_140", "inventory_places", "rama_50l_cylinder")
+    src["cabinet_assumption"] = {"kind": "assumption", "reference": "G90 door leaves, cylinder positions and door mass", "locator": "engineering value",
+                                 "note": "Two wing doors 620 x 1900 x 60 mm (fire-resistant sandwich: 2 x 1.5 mm steel + 55 mm fire board at 450 kg/m3); 4 cylinder positions on the floor at 0.30 m pitch. (Door angle 180 deg and 690 kg from data sheet ID 30641-001.)",
+                                 "licence": "n/a"}
+    a = LabwareAsset("asecos_g90_205_140", "furniture.asecos_g90_205_140", "asecos G-ULTIMATE-90 可燃气体钢瓶柜 G90.205.140（4 × 50 L）",
+                     "asecos gas cylinder cabinet G-ULTIMATE-90, G90.205.140", "furniture", "furniture.storage.gas_cabinet", "passive",
+                     description_zh="可燃气体钢瓶柜 asecos G90.205.140：外形 1398×615×2050 mm、内部 1245×400×1858 mm、可放 4 × 50 L 或 8 × 10 L 钢瓶，约 707.5 kg；清单位置 gas_cabinet_flammable：4 位。",
+                     sources=src)
+    W, D, H = 1.398, 0.615, 2.050
+    iw, idp, ih = 1.245, 0.400, 1.858
+    door_t, z0 = 0.060, 0.090
+    m_door = 0.620 * 1.900 * (2 * 0.0015 * STEEL + 0.055 * 450.0)
+    yf, yi0, yi1 = _cabinet(a, W, D, H, iw, idp, ih, z0, RAL7016, RAL7035, 2, door_t, 0.10, 1.90, m_door, "", math.radians(180), "documented",
+                            ["asecos_g90_205_140"], 1.0, body_mass=690.0 - 2 * m_door,
+                            body_mass_note=f"数据表 ID 30641-001：690 kg（无内部装备）减两扇门 {2*m_door:.1f} kg")
+    a.links[-1].mass_evidence = "documented"
+    a.properties["_mass_sources"] = {"carcass": ["asecos_g90_205_140"]}
+    note = "门：2×1.5 mm 钢板 + 55 mm 防火板（450 kg/m3）× 620×1900 mm"
+    door_link(a, "door_left", "左门", -0.622, yf + door_t, 0.10, 0.620, 1.900, door_t, "left", math.radians(180), m_door, note, RAL7035, 1.0, 0.04,
+              "documented", ["asecos_g90_205_140"])
+    door_link(a, "door_right", "右门", 0.622, yf + door_t, 0.10, 0.620, 1.900, door_t, "right", math.radians(180), m_door, note, RAL7035, 1.0, 0.04,
+              "documented", ["asecos_g90_205_140"])
+    for k in range(4):
+        a.ports.append({"name": f"G{k + 1}", "place_id": "gas_cabinet_flammable", "part": "floor", "kind": "storage",
+                        "position_m": [round(-0.45 + 0.30 * k, 5), round((yi0 + yi1) / 2, 5), z0], "insert_axis": [0.0, 0.0, -1.0],
+                        "capture_m": 0.05, "radius_m": 0.115, "moves_with": "carcass", "headroom_m": round(ih, 4), "fits": ["gas_cylinder_50l", "gas_cylinder_10l"],
+                        "access": ["door_left_joint", "door_right_joint"], "note_zh": "气瓶底中心（柜内地板）"})
+    _storage(a, ["gas_cabinet_flammable"], 0.24, 1.6, [f"G{k}" for k in range(1, 5)], "asecos GmbH",
+             "Gas cylinder cabinet G-ULTIMATE-90, model G90.205.140", "G90.205.140 (ID 30641-001-30642)",
+             "4 位 G1..G4（50 L 钢瓶；8 × 10 L 时可两两并放）；Franka 不可达（房间设施）")
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["asecos_g90_205_140"])
+    a.prop("carcass", "inner_size_m", [iw, idp, ih], "m", "内部 宽×深×高", "documented", ["asecos_g90_205_140"])
+    a.limitations_zh = ["外形、内部尺寸、质量（690 kg）、开门角（180°）按 asecos 数据表 ID 30641-001；门扇尺寸、门质量与瓶位为假设。", "通风、气瓶固定架、管路穿板未建模。"]
+    return a
+
+
+def build_liebherr_lguex1500() -> LabwareAsset:
+    src = pick("liebherr_lguex1500", "inventory_places")
+    src["freezer_assumption"] = {"kind": "assumption", "reference": "LGUex 1500 door, interior and drawer geometry", "locator": "engineering value",
+                                 "note": "Door 70 mm (foam-insulated), interior 440 x 440 x 620 mm (~120 L of the 129 L gross), 3 drawers 420 x 400 x 150 mm pulling out 0.30 m; door hinge right, opens 110 deg; door mass from 2 x 0.6 mm steel + 60 mm PU foam + 1 kg; body mass not found (assumed 40 kg).",
+                                 "licence": "n/a"}
+    a = LabwareAsset("liebherr_lguex1500", "furniture.liebherr_lguex1500", "Liebherr MediLine LGUex 1500 实验室冷冻柜（−26 °C，3 抽屉，防爆内腔）",
+                     "Liebherr MediLine laboratory freezer LGUex 1500", "furniture", "furniture.storage.lab_freezer", "passive",
+                     description_zh="台下式实验室冷冻柜 Liebherr LGUex 1500：外形 600×615×820 mm、129 L、3 个抽屉 + 网篮、最低 −26 °C；清单位置 freezer_m20c：3 抽屉 × 8 位。",
+                     sources=src)
+    W, D, H = 0.600, 0.615, 0.820
+    iw, idp, ih = 0.440, 0.440, 0.620
+    door_t, z0 = 0.070, 0.120
+    m_door = (W - 0.004) * (H - 0.010) * (2 * 0.0006 * STEEL + 0.060 * 40.0) + 1.0
+    yf, yi0, yi1 = _cabinet(a, W, D, H, iw, idp, ih, z0, LAB_WHITE, LAB_WHITE, 1, door_t, 0.005, H - 0.010, m_door, "", math.radians(110), "assumption",
+                            ["freezer_assumption"], 0.6, body_mass=40.0, body_mass_note="厂家质量未取得：按同尺寸台下冷冻柜假设 40 kg")
+    note = "门：2×0.6 mm 钢皮 + 60 mm PU 发泡 + 1 kg"
+    door_link(a, "door", "冷冻门（右铰链）", W / 2 - 0.002, yf + door_t, 0.005, W - 0.004, H - 0.010, door_t, "right", math.radians(110), m_door, note,
+              LAB_WHITE, 0.62, 0.035, "assumption", ["freezer_assumption"], handle_len=0.20)
+    dw, dd, dh, dt = 0.420, 0.400, 0.150, 0.003
+    for i in range(3):
+        zb = z0 + 0.02 + i * 0.20
+        prims = [box(0, -dd / 2, dt / 2, dw, dd, dt), box(0, -dt / 2, dh / 2, dw, dt, dh), box(0, -dd + dt / 2, dh / 2, dw, dt, dh)]
+        prims += [box(sx * (dw / 2 - dt / 2), -dd / 2, dh / 2, dt, dd, dh) for sx in (-1, 1)]
+        a.add(Link(f"drawer_{i + 1}", f"抽屉 {i + 1}", "放冷冻样品；向前拉出", "透明塑料抽屉（被动滑轨）", parent="carcass", origin_m=[0.0, yi1 - 0.01, zb],
+                   joint={"type": "prismatic", "axis": [0, -1, 0], "limits": [0.0, 0.30], "evidence": "assumption", "source_ids": ["freezer_assumption"],
+                          "note_zh": "正方向 = 向前（−Y）拉出；须先开门"},
+                   visual=[(prims_mesh(prims), (0.85, 0.90, 0.95, 0.6))], collision=prims, mass_kg=prims_volume(prims) * 1050.0, mass_evidence="assumption",
+                   mass_note_zh="塑料体积 × 1050 kg/m3", material="ps", geometry_evidence="assumption"))
+        xs = [-0.15, -0.05, 0.05, 0.15]
+        add_slots(a, "freezer_m20c", f"D{i + 1}", xs, [yi1 - 0.01 - dd + 0.10, yi1 - 0.01 - 0.10], zb + dt, link=f"drawer_{i + 1}", part=f"drawer_{i + 1}",
+                  headroom=dh - dt, fits=("vial", "tube", "tube_box", "bottle_small"), access=["door_joint", f"drawer_{i + 1}_joint"], radius=0.045,
+                  pitch_note="抽屉内 4×2 位（0.10 × 0.20 m）；位置随抽屉移动")
+    _storage(a, ["freezer_m20c"], 0.095, 0.12, [f"D{d}-{k:02d}" for d in (1, 2, 3) for k in range(1, 9)], "Liebherr",
+             "MediLine LGUex 1500 laboratory freezer (3 drawers + basket)", "LGUex 1500", "3 抽屉 × 8 位（D1 最低）；−20 °C 存放；Franka 不可达（房间设施）")
+    a.labware["temperature_range_c"] = [-26, -9]
+    a.prop("carcass", "outer_size_m", [W, D, H], "m", "外形 宽×深×高", "documented", ["liebherr_lguex1500"])
+    a.prop("carcass", "gross_volume_m3", 0.129, "m3", "总容积 129 L", "documented", ["liebherr_lguex1500"])
+    a.limitations_zh = ["外形、容积、抽屉数与最低温度按经销商列出的 Liebherr 数据；内部尺寸、抽屉尺寸、门/柜质量与铰链侧为假设。", "制冷与温控未建模。"]
+    return a
+
+
+def build_metro_rack() -> LabwareAsset:
+    src = pick("metro_super_erecta", "inventory_places")
+    src["rack_assumption"] = {"kind": "assumption", "reference": "shelf heights and wire-shelf thickness", "locator": "engineering value",
+                              "note": "Shelves at 0.15 / 0.60 / 1.05 / 1.50 m (posts adjustable on 1 in grooves), wire shelf modelled as a 30 mm deep frame plate; chrome steel mass from the listed shelf weight not found -> steel volume.",
+                              "licence": "n/a"}
+    a = LabwareAsset("metro_super_erecta_1848_4shelf", "furniture.metro_super_erecta_1848_4shelf", "Metro Super Erecta 镀铬线网架（1848NC × 4 层，74P 立柱）",
+                     "Metro Super Erecta chrome wire shelving, 1848NC shelves x 4, 74P posts", "furniture", "furniture.storage.open_rack", "passive",
+                     description_zh="开放式试剂架 Metro Super Erecta：4 层 1848NC 线网板（1219×457 mm）+ 4 根 74P 立柱（1880 mm）；清单位置 reagent_shelf_a（房间里，Franka 不可达）：4 层 × 8 位。",
+                     sources=src)
+    W, D, H = 1.219, 0.457, 1.880
+    levels = [0.15, 0.60, 1.05, 1.50]
+    prims = [Prim("cylinder", [0.0127, H], [sx * (W / 2 - 0.0127), sy * (D / 2 - 0.0127), H / 2]) for sx in (-1, 1) for sy in (-1, 1)]
+    for z in levels:
+        prims.append(box(0, 0, z - 0.015, W - 0.03, D - 0.03, 0.006))
+        prims += [box(0, sy * (D / 2 - 0.02), z - 0.015, W - 0.03, 0.008, 0.03) for sy in (-1, 1)]
+    a.add(Link("rack", "线网架", "开放存放试剂瓶", "镀铬钢线网板与立柱", visual=[(prims_mesh(prims), (0.80, 0.81, 0.83, 1.0))], collision=prims,
+               mass_kg=prims_volume(prims) * STEEL * 0.35, mass_evidence="assumption", mass_note_zh="网板按 35 % 实心钢体积估算", material="steel",
+               geometry_evidence="documented"))
+    xs = [-0.5325 + 0.1521 * k for k in range(8)]
+    for i, z in enumerate(levels, start=1):
+        head = (levels[i] - z - 0.03) if i < len(levels) else 0.35
+        add_slots(a, "reagent_shelf_a", f"S{i}", xs, [0.0], z - 0.009, link="rack", part=f"shelf_{i}", headroom=head,
+                  fits=("bottle", "gl45_bottle", "jar", "box"), access=[], radius=0.07, pitch_note="每层一排 8 位（0.152 m）")
+    _storage(a, ["reagent_shelf_a"], 0.15, 0.30, [f"S{s}-{k:02d}" for s in (1, 2, 3, 4) for k in range(1, 9)], "InterMetro (Metro)",
+             "Super Erecta chrome wire shelving, 4 x 1848NC shelves on 74P posts", "1848NC + 74P", "4 层 × 8 位；房间开放架，Franka 不可达")
+    a.labware["frames"] = {"place_reference": frame([0, 0, 0], "base_link", rot=[0, 0, 0, 1], note_zh="资产原点：占地中心，地面 z=0")}
+    a.prop("rack", "shelf_size_m", [W, D], "m", "网板 48×18 in", "documented", ["metro_super_erecta"])
+    a.prop("rack", "post_height_m", H, "m", "立柱 74 in", "documented", ["metro_super_erecta"])
+    a.limitations_zh = ["网板与立柱尺寸按 Metro 目录；层高、网板厚度与质量为假设；线网按实心薄板建碰撞。"]
+    return a
+
+
+BUILDERS = {
+    "trippnt_step_shelf_2tier": build_bench_shelf,
+    "belart_secador_2_vertical": build_secador,
+    "duran_desiccator_dn250": build_duran_desiccator,
+    "asecos_q90_195_120": build_asecos_q90,
+    "asecos_sl_196_120": build_asecos_sl,
+    "asecos_cs_195_105": build_asecos_cs,
+    "liebherr_lkv3910": build_liebherr_lkv3910,
+    "denios_cylinder_stand_x4": build_denios_stands,
+    "asecos_cs_195_105_oxidizers": lambda: build_asecos_cs("oxidizers_cabinet", 1, 3, 2, "_oxidizers", "氧化剂柜"),
+    "asecos_cs_195_105_standards": lambda: build_asecos_cs("standards_cabinet", 3, 4, 2, "_standards", "标准物质柜"),
+    "asecos_cs_195_105_consumables": lambda: build_asecos_cs("consumables_cabinet", 4, 4, 2, "_consumables", "耗材柜"),
+    "asecos_g90_205_140": build_asecos_g90,
+    "liebherr_lguex1500": build_liebherr_lguex1500,
+    "metro_super_erecta_1848_4shelf": build_metro_rack,
+}
+
+import appearance as _appearance  # noqa: E402
+
+BUILDERS = {k: (lambda f=f: _appearance.apply(f())) for k, f in BUILDERS.items()}
+
+# inventory place id -> furniture type and position prefix (chemlab/chemlab/inventory.py PLACES, 2026-10-22)
+PLACE_MAP = {
+    "bench_shelf": {"furniture": "furniture.trippnt_step_shelf_2tier", "positions": "T1-01..T1-05, T2-01..T2-05", "slot_prefix": "", "reach": "franka_bench"},
+    "desiccator": {"furniture": "furniture.belart_secador_2_vertical", "positions": "S1-01..S1-06, S2-01..S2-06", "slot_prefix": "", "reach": "franka_bench"},
+    "desiccator_glass": {"furniture": "furniture.duran_desiccator_dn250", "positions": "P1-01..P1-06", "slot_prefix": "", "reach": "franka_bench"},
+    "flammables_cabinet": {"furniture": "furniture.asecos_q90_195_120", "positions": "S1-01..S3-06", "slot_prefix": "", "reach": "room"},
+    "acids_cabinet": {"furniture": "furniture.asecos_sl_196_120", "positions": "S1-01..S2-06", "slot_prefix": "A:", "reach": "room"},
+    "bases_cabinet": {"furniture": "furniture.asecos_sl_196_120", "positions": "S1-01..S2-06", "slot_prefix": "B:", "reach": "room"},
+    "toxics_cabinet": {"furniture": "furniture.asecos_cs_195_105", "positions": "S1-01..S2-06", "slot_prefix": "", "reach": "room"},
+    "fridge_4c": {"furniture": "furniture.liebherr_lkv3910", "positions": "S1-01..S4-08", "slot_prefix": "", "reach": "room"},
+    "cylinder_rack": {"furniture": "furniture.denios_cylinder_stand_x4", "positions": "C1..C8", "slot_prefix": "", "reach": "room"},
+    "oxidizers_cabinet": {"furniture": "furniture.asecos_cs_195_105_oxidizers", "positions": "S1-01..S1-06", "slot_prefix": "", "reach": "room"},
+    "standards_cabinet": {"furniture": "furniture.asecos_cs_195_105_standards", "positions": "S1-01..S3-08", "slot_prefix": "", "reach": "room"},
+    "consumables_cabinet": {"furniture": "furniture.asecos_cs_195_105_consumables", "positions": "S1-01..S4-08", "slot_prefix": "", "reach": "room"},
+    "gas_cabinet_flammable": {"furniture": "furniture.asecos_g90_205_140", "positions": "G1..G4", "slot_prefix": "", "reach": "room"},
+    "freezer_m20c": {"furniture": "furniture.liebherr_lguex1500", "positions": "D1-01..D3-08", "slot_prefix": "", "reach": "room"},
+    "reagent_shelf_a": {"furniture": "furniture.metro_super_erecta_1848_4shelf", "positions": "S1-01..S4-08", "slot_prefix": "", "reach": "room"},
+}
diff --git a/scripts/labware/labware_kit.py b/scripts/labware/labware_kit.py
new file mode 100644
index 0000000000000000000000000000000000000000..1e83a2f641c61ee9851646cf5ca645f8ec727bcc
--- /dev/null
+++ b/scripts/labware/labware_kit.py
@@ -0,0 +1,575 @@
+"""labware_kit — build, export and check the Chemistry-Sim labware and storage-furniture assets (assets/labware/).
+
+The instrument assets use skills/chemistry-asset-expansion/scripts/geometry_kit.py (boxes / cylinders / spheres only).
+Containers need hollow, revolved shells, separate cap links and pouring / liquid data, so this kit writes the same file
+set with the same conventions, plus labware data:
+
+    <asset_dir>/meshes/<slug>__<link>.obj + .mtl      visual mesh per link (link frame)
+    <asset_dir>/model.glb                             Z-up scene, one node per link (no Y-up conversion, like geometry_kit)
+    <asset_dir>/model.urdf                            base_link + links; hollow containers get wall-ring collisions
+    <asset_dir>/model_solid.urdf                      same links, one solid collision per link (ledger-only / stored use)
+    <asset_dir>/parts/<link>.urdf                     each detachable link (body, cap, lid) as its own rigid object
+    <asset_dir>/geometry_manifest.json                geometry_kit keys + "labware" (frames, interior, closure) + "ports"
+    <asset_dir>/collision_proxies.json                primitives per link
+    <asset_dir>/asset.contract.json                   Chemistry Lab Asset Contract 1.0.0 (asset_kind passive / tool)
+
+Conventions (docs/模型与物理注释说明.md, same as geometry_kit): SI units, right-handed, +Z up, +Y towards the back,
+origin at the centre of the footprint, base at z = 0.  Quaternions are (x, y, z, w) as in Isaac Lab 3.
+Frames are positions of the robot tool centre point (TCP) in the asset frame (closed state).  Top-down grasps use
+rot_xyzw (1, 0, 0, 0): the TCP z axis points down (-Z); the fingers close along the TCP y axis, which is the asset's
+-Y axis after that rotation, i.e. the fingers close front-to-back unless yaw_free is true (rotationally symmetric parts).
+"""
+from __future__ import annotations
+
+import hashlib
+import json
+import math
+import time
+import xml.etree.ElementTree as ET
+from dataclasses import dataclass, field
+from pathlib import Path
+
+import numpy as np
+import trimesh
+from trimesh.transformations import euler_matrix, translation_matrix, quaternion_matrix
+
+ROOT = Path(__file__).resolve().parents[2]          # Chemistry-Sim
+TEXTURES_DIR = ROOT / "assets" / "labware" / "_textures"
+
+
+def srgb_to_linear(c: float) -> float:
+    """sRGB (0..1, what colour charts / RAL hex give) -> linear (what glTF baseColorFactor and USD diffuse expect)."""
+    return c / 12.92 if c <= 0.04045 else ((c + 0.055) / 1.055) ** 2.4
+
+
+def hex_rgba(hexstr: str, alpha: float = 1.0) -> tuple:
+    h = hexstr.lstrip("#")
+    return (int(h[0:2], 16) / 255.0, int(h[2:4], 16) / 255.0, int(h[4:6], 16) / 255.0, alpha)
+
+
+def decal_quad(center, width: float, height: float, facing: str = "-y", offset: float = 0.0006) -> tuple:
+    """A textured quad (mesh, uv) in a link frame, facing -Y (front) or +Z (top); the image is upright seen from that side."""
+    cx, cy, cz = center
+    w, h = width / 2, height / 2
+    if facing == "-y":
+        y = cy - offset
+        v = [(cx - w, y, cz - h), (cx + w, y, cz - h), (cx + w, y, cz + h), (cx - w, y, cz + h)]
+    elif facing == "+z":
+        z = cz + offset
+        v = [(cx - w, cy - h, z), (cx + w, cy - h, z), (cx + w, cy + h, z), (cx - w, cy + h, z)]
+    else:
+        raise ValueError(facing)
+    m = trimesh.Trimesh(vertices=np.array(v), faces=np.array([[0, 1, 2], [0, 2, 3]]), process=False)
+    uv = np.array([[0.0, 0.0], [1.0, 0.0], [1.0, 1.0], [0.0, 1.0]])
+    return m, uv
+LABWARE_DIR = ROOT / "assets" / "labware"
+TOP_DOWN = [1.0, 0.0, 0.0, 0.0]                      # TCP z axis -> world -Z (x, y, z, w)
+FRANKA_MAX_OPEN_M = 0.080                            # Franka Hand stroke (2 x 40 mm), robot set-up constraint 2026-10-22
+FRANKA_MAX_GRASP_M = 0.074                           # usable grasp width (robot set-up: <= about 74 mm across)
+HAND_ABOVE_TCP_M = 0.037                             # Franka hand collision starts ~3.7 cm above the TCP (memory: LabUtopia import lessons)
+PRE_GRASP_LIFT_M = 0.10
+
+
+# ---------------------------------------------------------------------------------------------------------- primitives
+@dataclass
+class Prim:
+    shape: str                      # box | cylinder | sphere
+    size_m: list                    # box [x, y, z]; cylinder [radius, length]; sphere [radius]
+    origin_m: list = field(default_factory=lambda: [0.0, 0.0, 0.0])
+    rpy_rad: list = field(default_factory=lambda: [0.0, 0.0, 0.0])
+
+    def matrix(self) -> np.ndarray:
+        return translation_matrix(self.origin_m) @ euler_matrix(*self.rpy_rad, axes="sxyz")
+
+    def mesh(self) -> trimesh.Trimesh:
+        if self.shape == "box":
+            m = trimesh.creation.box(extents=self.size_m)
+        elif self.shape == "cylinder":
+            m = trimesh.creation.cylinder(radius=self.size_m[0], height=self.size_m[1], sections=32)
+        elif self.shape == "sphere":
+            m = trimesh.creation.icosphere(subdivisions=2, radius=self.size_m[0])
+        else:
+            raise ValueError(self.shape)
+        m.apply_transform(self.matrix())
+        return m
+
+    def obb(self) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+        """(centre, axes 3x3 columns, half extents) of the primitive's bounding box (cylinders/spheres conservatively)."""
+        T = self.matrix()
+        if self.shape == "box":
+            half = np.asarray(self.size_m, float) / 2
+        elif self.shape == "cylinder":
+            half = np.array([self.size_m[0], self.size_m[0], self.size_m[1] / 2])
+        else:
+            half = np.array([self.size_m[0]] * 3)
+        return T[:3, 3].copy(), T[:3, :3].copy(), half
+
+    def to_json(self) -> dict:
+        return {"shape": self.shape, "size_m": [round(float(v), 6) for v in self.size_m],
+                "origin_m": [round(float(v), 6) for v in self.origin_m], "rpy_rad": [round(float(v), 6) for v in self.rpy_rad]}
+
+    def urdf_geometry(self) -> ET.Element:
+        g = ET.Element("geometry")
+        if self.shape == "box":
+            ET.SubElement(g, "box", size=" ".join(f"{v:.6g}" for v in self.size_m))
+        elif self.shape == "cylinder":
+            ET.SubElement(g, "cylinder", radius=f"{self.size_m[0]:.6g}", length=f"{self.size_m[1]:.6g}")
+        else:
+            ET.SubElement(g, "sphere", radius=f"{self.size_m[0]:.6g}")
+        return g
+
+
+def transform_prim(p: Prim, T: np.ndarray) -> Prim:
+    """The primitive expressed in another frame (T maps the primitive's frame into it)."""
+    M = T @ p.matrix()
+    rpy = trimesh.transformations.euler_from_matrix(M, axes="sxyz")
+    return Prim(p.shape, list(p.size_m), M[:3, 3].tolist(), list(rpy))
+
+
+def obb_overlap(a: Prim, b: Prim, tol: float = 1e-5) -> bool:
+    """Separating-axis test between the bounding boxes of two primitives (same frame). True = they intersect."""
+    ca, Aa, ha = a.obb()
+    cb, Ab, hb = b.obb()
+    axes = [Aa[:, i] for i in range(3)] + [Ab[:, i] for i in range(3)]
+    for i in range(3):
+        for j in range(3):
+            c = np.cross(Aa[:, i], Ab[:, j])
+            if np.linalg.norm(c) > 1e-9:
+                axes.append(c / np.linalg.norm(c))
+    d = cb - ca
+    for ax in axes:
+        ra = sum(ha[i] * abs(np.dot(Aa[:, i], ax)) for i in range(3))
+        rb = sum(hb[i] * abs(np.dot(Ab[:, i], ax)) for i in range(3))
+        if abs(np.dot(d, ax)) > ra + rb - tol:
+            return False
+    return True
+
+
+def ring_boxes(r0: float, z0: float, r1: float, z1: float, thickness: float, n: int, overlap: float = 1.08) -> list[Prim]:
+    """A ring of n boxes along one segment (r0, z0)-(r1, z1) of a revolved wall, outer face on the profile.
+
+    Box local axes: x radial (thickness), y tangential, z along the segment; rpy = (0, pitch, yaw)."""
+    dr, dz = r1 - r0, z1 - z0
+    L = math.hypot(dr, dz)
+    pitch = math.atan2(dr, dz)
+    rm, zm = (r0 + r1) / 2, (z0 + z1) / 2
+    # move the box centre inwards by half the thickness along the inward normal of the segment
+    nx, nz = -dz / L, dr / L                    # inward normal in the (r, z) half plane (for a segment going upwards)
+    rc, zc = rm + nx * thickness / 2, zm + nz * thickness / 2
+    width = 2 * math.pi * max(r0, r1) / n * overlap
+    out = []
+    for k in range(n):
+        yaw = 2 * math.pi * k / n
+        out.append(Prim("box", [thickness, width, L], [rc * math.cos(yaw), rc * math.sin(yaw), zc], [0.0, pitch, yaw]))
+    return out
+
+
+def revolve(profile_rz, sections: int = 64) -> trimesh.Trimesh:
+    """Revolve an (r, z) polyline that starts and ends on the axis into a closed (watertight) solid."""
+    m = trimesh.creation.revolve(np.asarray(profile_rz, float), sections=sections)
+    m.merge_vertices()
+    if m.volume < 0:
+        m.invert()
+    return m
+
+
+def profile_volume(profile_rz) -> float:
+    """Volume of the solid of revolution bounded by an (r, z) polyline closed to the axis (Pappus, signed area)."""
+    p = np.asarray(profile_rz, float)
+    v = 0.0
+    for (r0, z0), (r1, z1) in zip(p[:-1], p[1:]):
+        # frustum slice between consecutive points, integrated with the shoelace form of Pappus' theorem
+        v += math.pi * (z1 - z0) * (r0 * r0 + r0 * r1 + r1 * r1) / 3.0
+    return abs(v)
+
+
+def inner_volume_below(inner_rz, h: float) -> float:
+    """Liquid volume up to height h inside an inner profile given bottom-up as [(r, z), ...] (r(z) piecewise linear)."""
+    pts = sorted(inner_rz, key=lambda p: p[1])
+    v = 0.0
+    for (r0, z0), (r1, z1) in zip(pts[:-1], pts[1:]):
+        if z1 <= z0 or h <= z0:
+            continue
+        zt = min(h, z1)
+        rt = r0 + (r1 - r0) * (zt - z0) / (z1 - z0)
+        v += math.pi * (zt - z0) * (r0 * r0 + r0 * rt + rt * rt) / 3.0
+    return v
+
+
+def fill_height(inner_rz, volume_m3: float) -> float:
+    lo, hi = min(p[1] for p in inner_rz), max(p[1] for p in inner_rz)
+    for _ in range(60):
+        mid = (lo + hi) / 2
+        if inner_volume_below(inner_rz, mid) < volume_m3:
+            lo = mid
+        else:
+            hi = mid
+    return (lo + hi) / 2
+
+
+# ---------------------------------------------------------------------------------------------------------- links
+@dataclass
+class Link:
+    id: str
+    name_zh: str
+    function_zh: str
+    physical_meaning_zh: str
+    parent: str | None = None                 # None: child of base_link
+    origin_m: list = field(default_factory=lambda: [0.0, 0.0, 0.0])
+    rpy_rad: list = field(default_factory=lambda: [0.0, 0.0, 0.0])
+    joint: dict | None = None                 # {"type", "axis", "limits", "evidence", "note_zh"}
+    visual: list = field(default_factory=list)        # [(trimesh, rgba)] in link frame
+    collision: list = field(default_factory=list)     # [Prim] in link frame (hollow where it matters)
+    solid_collision: list = field(default_factory=list)   # [Prim] one solid hull-like primitive set (model_solid.urdf)
+    mass_kg: float = 0.01
+    mass_evidence: str = "assumption"
+    mass_note_zh: str = ""
+    material: str = ""
+    geometry_evidence: str = "documented"
+    geometry_note_zh: str = ""
+    detachable: bool = False                  # exported as parts/<id>.urdf too
+
+    def visual_mesh(self) -> trimesh.Trimesh:
+        meshes = []
+        for el in self.visual:
+            m, rgba = el[0], el[1]
+            mm = m.copy()
+            mm.visual = trimesh.visual.TextureVisuals(material=trimesh.visual.material.PBRMaterial(
+                name=f"mat_{self.id}", baseColorFactor=[int(255 * c) for c in rgba], metallicFactor=0.0,
+                roughnessFactor=0.35 if rgba[3] < 1 else 0.6, alphaMode="BLEND" if rgba[3] < 1 else "OPAQUE"))
+            meshes.append(mm)
+        return trimesh.util.concatenate(meshes) if len(meshes) > 1 else meshes[0]
+
+    def rgba(self):
+        return self.visual[0][1]
+
+
+def link_local(link: Link) -> np.ndarray:
+    return translation_matrix(link.origin_m) @ euler_matrix(*link.rpy_rad, axes="sxyz")
+
+
+def joint_motion(joint: dict | None, q: float) -> np.ndarray:
+    if not joint or joint["type"] == "fixed":
+        return np.eye(4)
+    axis = np.asarray(joint["axis"], float)
+    axis = axis / np.linalg.norm(axis)
+    if joint["type"] in ("revolute", "continuous"):
+        return trimesh.transformations.rotation_matrix(q, axis)
+    return translation_matrix(axis * q)
+
+
+class LabwareAsset:
+    """One asset type: links + labware data -> files + manifest + contract."""
+
+    def __init__(self, slug: str, asset_type_id: str, name_zh: str, name_en: str, group: str, category: str,
+                 asset_kind: str = "passive", description_zh: str = "", sources: dict | None = None):
+        self.slug, self.asset_type_id, self.name_zh, self.name_en = slug, asset_type_id, name_zh, name_en
+        self.group, self.category, self.asset_kind = group, category, asset_kind
+        self.description_zh = description_zh
+        self.sources: dict = dict(sources or {})
+        self.links: list[Link] = []
+        self.labware: dict = {}             # frames, interior, closure, capacity ... (manifest "labware" + catalog)
+        self.ports: list[dict] = []         # slots in the expansion manifest format (kind storage / surface / hole ...)
+        self.properties: dict = {}          # component_id -> {prop: property dict} for the contract
+        self.limitations_zh: list[str] = []
+        self.mechanisms: dict = {}
+        self.state_slots: dict = {}
+        self.contract_ports: dict = {}
+        self.dims_sources: list[str] = []
+
+    @property
+    def asset_dir(self) -> Path:
+        return LABWARE_DIR / self.group / self.slug
+
+    @property
+    def rel_dir(self) -> str:
+        return f"assets/labware/{self.group}/{self.slug}"
+
+    def add(self, link: Link) -> Link:
+        if any(l.id == link.id for l in self.links):
+            raise ValueError(f"duplicate link {link.id}")
+        if link.parent is not None and not any(l.id == link.parent for l in self.links):
+            raise ValueError(f"{link.id}: parent {link.parent} must be added first")
+        self.links.append(link)
+        return link
+
+    def elements(self, l: Link) -> list:
+        """(object name, mesh, rgba sRGB, opts) per visual element; element 0 is <slug>__<link>, the others <slug>__<link>__<name>."""
+        out, used = [], set()
+        for k, el in enumerate(l.visual):
+            opts = dict(el[2]) if len(el) > 2 and el[2] else {}
+            if k == 0:
+                name = f"{self.slug}__{l.id}"
+            else:
+                base = opts.get("name") or f"part{k}"
+                name = f"{self.slug}__{l.id}__{base}"
+                j = 2
+                while name in used:
+                    name = f"{self.slug}__{l.id}__{base}{j}"
+                    j += 1
+            used.add(name)
+            out.append((name, el[0], el[1], opts))
+        return out
+
+    def link(self, lid: str) -> Link:
+        return next(l for l in self.links if l.id == lid)
+
+    def world(self, lid: str, q: dict | None = None) -> np.ndarray:
+        l = self.link(lid)
+        T = link_local(l) @ joint_motion(l.joint, (q or {}).get(l.id, 0.0))
+        return T if l.parent is None else self.world(l.parent, q) @ T
+
+    def bounds(self, q: dict | None = None) -> np.ndarray:
+        pts = []
+        for l in self.links:
+            m = l.visual_mesh().copy()
+            m.apply_transform(self.world(l.id, q))
+            pts.append(m.bounds)
+        return np.array([np.min([b[0] for b in pts], axis=0), np.max([b[1] for b in pts], axis=0)])
+
+    def prop(self, component: str, key: str, value, unit: str, meaning_zh: str, evidence: str, source_ids: list[str],
+             uncertainty: str | None = None):
+        self.properties.setdefault(component, {})[key] = {"value": value, "unit": unit, "meaning_zh": meaning_zh, "evidence": evidence,
+                                                         "source_ids": list(source_ids), "uncertainty": uncertainty}
+
+    # ------------------------------------------------------------------------------------------------------ export
+    def export(self) -> dict:
+        d = self.asset_dir
+        import shutil
+        for sub in ("meshes", "parts"):
+            if (d / sub).exists():
+                shutil.rmtree(d / sub)                 # drop stale objects of an earlier build (only inside this asset dir)
+        (d / "meshes").mkdir(parents=True, exist_ok=True)
+        scene = trimesh.Scene()
+        root_node = f"{self.slug}__root"
+        scene.graph.update(frame_to=root_node, matrix=np.eye(4))
+        tex_out = d / "meshes" / "textures"
+        for l in self.links:
+            parent_node = f"{self.slug}__{l.parent}" if l.parent else root_node
+            for k, (name, mesh, rgba, opts) in enumerate(self.elements(l)):
+                tex = opts.get("texture")
+                r, g, b, a = rgba
+                lin = [srgb_to_linear(r), srgb_to_linear(g), srgb_to_linear(b), a]
+                if tex:
+                    import shutil
+                    from PIL import Image
+                    tex_out.mkdir(parents=True, exist_ok=True)
+                    tname = Path(tex).name
+                    shutil.copyfile(tex, tex_out / tname)
+                    uv = opts["uv"]
+                    lines = [f"mtllib {name}.mtl", f"usemtl {name}"] + [f"v {x:.6f} {y:.6f} {z:.6f}" for x, y, z in mesh.vertices] + \
+                            [f"vt {u:.6f} {v:.6f}" for u, v in uv] + [f"f {f0 + 1}/{f0 + 1} {f1 + 1}/{f1 + 1} {f2 + 1}/{f2 + 1}" for f0, f1, f2 in mesh.faces]
+                    (d / "meshes" / f"{name}.obj").write_text("\n".join(lines) + "\n", encoding="utf-8")
+                    (d / "meshes" / f"{name}.mtl").write_text(f"newmtl {name}\nKd 1 1 1\nKa 0 0 0\nKs 0.05 0.05 0.05\nNs 20\nd 1\nmap_Kd textures/{tname}\n", encoding="utf-8")
+                    gm = mesh.copy()
+                    gm.visual = trimesh.visual.TextureVisuals(uv=uv, material=trimesh.visual.material.PBRMaterial(
+                        name=f"mat_{name}", baseColorTexture=Image.open(tex).convert("RGB"), baseColorFactor=[1.0, 1.0, 1.0, 1.0],
+                        metallicFactor=0.0, roughnessFactor=0.6, doubleSided=False))
+                else:
+                    gm = mesh.copy()
+                    gm.visual = trimesh.visual.TextureVisuals(material=trimesh.visual.material.PBRMaterial(
+                        name=f"mat_{name}", baseColorFactor=lin, metallicFactor=float(opts.get("metallic", 0.0)),
+                        roughnessFactor=float(opts.get("roughness", 0.35 if a < 1 else 0.6)), alphaMode="BLEND" if a < 1 else "OPAQUE"))
+                    text = gm.export(file_type="obj", include_normals=False, include_color=False)
+                    text = f"mtllib {name}.mtl\nusemtl {name}\n" + "\n".join(x for x in text.splitlines() if not x.startswith(("mtllib", "usemtl")))
+                    (d / "meshes" / f"{name}.obj").write_text(text + "\n", encoding="utf-8")
+                    (d / "meshes" / f"{name}.mtl").write_text(f"newmtl {name}\nKd {r:.4f} {g:.4f} {b:.4f}\nKa 0 0 0\nKs 0.1 0.1 0.1\nNs 40\nd {a:.3f}\n", encoding="utf-8")
+                if k == 0:
+                    scene.add_geometry(gm, node_name=name, geom_name=name, parent_node_name=parent_node, transform=link_local(l))
+                else:
+                    scene.add_geometry(gm, node_name=name, geom_name=name, parent_node_name=f"{self.slug}__{l.id}", transform=np.eye(4))
+        scene.export(d / "model.glb")
+        self._write_urdf(d / "model.urdf", self.links, solid=False)
+        has_hollow = any(l.solid_collision for l in self.links)
+        if has_hollow:
+            self._write_urdf(d / "model_solid.urdf", self.links, solid=True)
+        detachable = [l for l in self.links if l.detachable]
+        if detachable:
+            (d / "parts").mkdir(exist_ok=True)
+            for l in self.links:
+                if l.detachable or l.parent is None:
+                    part = Link(**{**l.__dict__, "parent": None, "origin_m": [0.0, 0.0, 0.0], "rpy_rad": [0.0, 0.0, 0.0], "joint": None})
+                    self._write_urdf(d / "parts" / f"{l.id}.urdf", [part], solid=False, name=f"{self.slug}__{l.id}", mesh_prefix="../")
+        manifest = self._manifest()
+        (d / "geometry_manifest.json").write_text(json.dumps(manifest, ensure_ascii=False, indent=1), encoding="utf-8")
+        proxies = {"asset_type_id": self.asset_type_id, "units": "m", "frame": "link_local",
+                   "note_zh": "按 link 分解的接触代理：model.urdf 用 collision（空心容器为壁环盒 + 底盘），model_solid.urdf 用 solid_collision（每个 link 一个实心基元，适合只记账、不倒液的存放容器）。",
+                   "components": {l.id: {"origin_m": l.origin_m, "parent": l.parent or "base_link", "joint": (l.joint or {}).get("type"),
+                                         "primitives": [p.to_json() for p in l.collision],
+                                         "solid_primitives": [p.to_json() for p in l.solid_collision]} for l in self.links}}
+        (d / "collision_proxies.json").write_text(json.dumps(proxies, ensure_ascii=False, indent=1), encoding="utf-8")
+        return manifest
+
+    def _write_urdf(self, path: Path, links: list[Link], solid: bool, name: str | None = None, mesh_prefix: str = ""):
+        robot = ET.Element("robot", name=name or self.slug)
+        single = len(links) == 1 and links[0].parent is None and name is not None
+        if not single:
+            ET.SubElement(robot, "link", name="base_link")
+        for l in links:
+            link = ET.SubElement(robot, "link", name=l.id)
+            inertial = ET.SubElement(link, "inertial")
+            vm = l.visual_mesh()
+            com = vm.center_mass if vm.is_watertight and vm.volume > 1e-12 else vm.bounds.mean(axis=0)
+            ET.SubElement(inertial, "origin", xyz=" ".join(f"{v:.6g}" for v in com), rpy="0 0 0")
+            ET.SubElement(inertial, "mass", value=f"{l.mass_kg:.6g}")
+            ext = vm.bounding_box.extents
+            m = l.mass_kg
+            ixx = m / 12 * (ext[1] ** 2 + ext[2] ** 2); iyy = m / 12 * (ext[0] ** 2 + ext[2] ** 2); izz = m / 12 * (ext[0] ** 2 + ext[1] ** 2)
+            ET.SubElement(inertial, "inertia", ixx=f"{ixx:.6g}", ixy="0", ixz="0", iyy=f"{iyy:.6g}", iyz="0", izz=f"{izz:.6g}")
+            for oname, _m, rgba, opts in self.elements(l):
+                vis = ET.SubElement(link, "visual", name=oname)
+                ET.SubElement(vis, "origin", xyz="0 0 0", rpy="0 0 0")
+                g = ET.SubElement(vis, "geometry")
+                ET.SubElement(g, "mesh", filename=f"{mesh_prefix}meshes/{oname}.obj")
+                mat = ET.SubElement(vis, "material", name=f"mat_{oname}")
+                if opts.get("texture"):
+                    ET.SubElement(mat, "color", rgba="1 1 1 1")
+                    ET.SubElement(mat, "texture", filename=f"{mesh_prefix}meshes/textures/{Path(opts['texture']).name}")
+                else:
+                    r, gg, b, a = rgba
+                    ET.SubElement(mat, "color", rgba=f"{srgb_to_linear(r):.5f} {srgb_to_linear(gg):.5f} {srgb_to_linear(b):.5f} {a:.3f}")
+            prims = (l.solid_collision or l.collision) if solid else l.collision
+            for p in prims:
+                col = ET.SubElement(link, "collision")
+                ET.SubElement(col, "origin", xyz=" ".join(f"{v:.6g}" for v in p.origin_m), rpy=" ".join(f"{v:.6g}" for v in p.rpy_rad))
+                col.append(p.urdf_geometry())
+            if single:
+                continue
+            j = l.joint or {}
+            jt = j.get("type", "fixed")
+            joint = ET.SubElement(robot, "joint", name=f"{l.id}_joint", type=jt)
+            ET.SubElement(joint, "parent", link=l.parent or "base_link")
+            ET.SubElement(joint, "child", link=l.id)
+            ET.SubElement(joint, "origin", xyz=" ".join(f"{v:.6g}" for v in l.origin_m), rpy=" ".join(f"{v:.6g}" for v in l.rpy_rad))
+            if jt != "fixed":
+                ET.SubElement(joint, "axis", xyz=" ".join(f"{v:.6g}" for v in j["axis"]))
+                ET.SubElement(joint, "limit", lower=f"{j['limits'][0]:.10g}", upper=f"{j['limits'][1]:.10g}", effort=str(j.get("effort", 10)), velocity="1")
+                ET.SubElement(joint, "dynamics", damping=str(j.get("damping", 0.5)), friction="0.0")
+        ET.indent(robot)
+        path.write_text('<?xml version="1.0"?>\n' + ET.tostring(robot, encoding="unicode") + "\n", encoding="utf-8")
+
+    def _manifest(self) -> dict:
+        b = self.bounds()
+        size = (b[1] - b[0]).round(5).tolist()
+        joint_defs = {l.id: {"type": l.joint["type"], "axis": l.joint["axis"], ("limits_rad" if l.joint["type"] == "revolute" else "limits_m"): l.joint["limits"],
+                             "accessor": f"joint[{l.id}_joint]", "state_id": l.joint.get("state_id"), "range_evidence": l.joint.get("evidence", "assumption"),
+                             "note_zh": l.joint.get("note_zh", "")}
+                      for l in self.links if l.joint and l.joint["type"] != "fixed"}
+        arts = {"model_glb": "model.glb", "model_urdf": "model.urdf", "meshes_dir": "meshes", "model_blend": None}
+        if (self.asset_dir / "model_solid.urdf").exists():
+            arts["model_solid_urdf"] = "model_solid.urdf"
+        for l in self.links:
+            if (self.asset_dir / "parts" / f"{l.id}.urdf").exists():
+                arts[f"part_{l.id}_urdf"] = f"parts/{l.id}.urdf"
+        return {
+            "asset_type_id": self.asset_type_id, "catalog_id": None, "name_zh": self.name_zh, "name_en": self.name_en,
+            "created_at": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+            "builder": "scripts/labware/build_labware.py", "builder_backend": "trimesh revolved shells / primitives (labware_kit.py)",
+            "coordinate_system": {"unit": "m", "angle_unit": "rad", "up_axis": "+Z", "back_axis": "+Y", "handedness": "right",
+                                  "root_origin_zh": "底面占地中心，z=0 为底面（放置面）；+X 向右，+Y 向后，正面朝 −Y",
+                                  "glb_coordinate_conversion_zh": "GLB 按本项目 +Z 向上导出，无 Y-up 转换；节点层级与 URDF link 一一对应。"},
+            "overall_dimensions_m": size, "bounds_m": b.round(5).tolist(),
+            "total_mass_kg": round(sum(l.mass_kg for l in self.links), 5),
+            "mass_evidence": "+".join(sorted({l.mass_evidence for l in self.links})),
+            "sources": [{"source_id": k, **v} for k, v in self.sources.items()],
+            "components": [{
+                "id": l.id, "name_zh": l.name_zh, "function_zh": l.function_zh, "physical_meaning_zh": l.physical_meaning_zh,
+                "parent": l.parent or "root", "origin_m": [float(v) for v in l.origin_m], "rpy_rad": [float(v) for v in l.rpy_rad],
+                "joint": l.joint, "mass_kg": round(l.mass_kg, 6), "mass_evidence": l.mass_evidence, "mass_note_zh": l.mass_note_zh,
+                "material": l.material, "geometry_evidence": l.geometry_evidence, "geometry_note_zh": l.geometry_note_zh,
+                "objects": [e[0] for e in self.elements(l)], "detachable": l.detachable,
+                "appearance": [{"object": n, "rgba_srgb": [round(float(c), 4) for c in rgba], "hex": "#%02X%02X%02X" % tuple(int(round(255 * c)) for c in rgba[:3]),
+                                "rgba_linear": [round(srgb_to_linear(float(c)), 5) for c in rgba[:3]] + [round(float(rgba[3]), 3)],
+                                **{kk: vv for kk, vv in o.items() if kk in ("ral", "source_id", "note_zh", "texture_licence")},
+                                **({"texture": f"meshes/textures/{Path(o['texture']).name}"} if o.get("texture") else {})}
+                               for n, _m, rgba, o in self.elements(l)],
+                "collisions": [p.to_json() for p in l.collision]} for l in self.links],
+            "root_object": f"{self.slug}__root", "joint_definitions": joint_defs, "artifacts": arts,
+            "ports": self.ports, "labware": self.labware,
+            "limitations_zh": self.limitations_zh,
+        }
+
+    # ------------------------------------------------------------------------------------------------------ contract
+    def write_contract(self) -> dict:
+        d = self.asset_dir
+        rel = self.rel_dir
+
+        def art(path: str, fmt: str):
+            f = d / path
+            return {"path": f"{rel}/{path}", "format": fmt, "status": "available", "sha256": hashlib.sha256(f.read_bytes()).hexdigest()}
+
+        artifacts = {"model_glb": art("model.glb", "glb"), "model_urdf": art("model.urdf", "urdf"),
+                     "geometry_manifest": art("geometry_manifest.json", "json"), "collision_proxies": art("collision_proxies.json", "json")}
+        if (d / "model_solid.urdf").exists():
+            artifacts["model_solid_urdf"] = art("model_solid.urdf", "urdf")
+        for l in self.links:
+            if (d / "parts" / f"{l.id}.urdf").exists():
+                artifacts[f"part_{l.id}_urdf"] = art(f"parts/{l.id}.urdf", "urdf")
+        components = {}
+        for l in self.links:
+            geo = [{"artifact_id": "model_urdf", "selector": f"link:{l.id}", "role": "both"},
+                   {"artifact_id": "model_glb", "selector": f"{self.slug}__{l.id}", "role": "visual"}]
+            props = dict(self.properties.get(l.id, {}))
+            props.setdefault("mass_kg", {"value": round(l.mass_kg, 6), "unit": "kg", "meaning_zh": "该 link 的仿真质量" + (f"（{l.mass_note_zh}）" if l.mass_note_zh else ""),
+                                         "evidence": l.mass_evidence if l.mass_evidence in ("documented", "measured", "photo_estimate", "assumption", "unknown") else "assumption",
+                                         "source_ids": [s for s in self.properties.get("_mass_sources", {}).get(l.id, []) if s in self.sources], "uncertainty": None})
+            if props["mass_kg"]["evidence"] in ("documented", "measured", "photo_estimate") and not props["mass_kg"]["source_ids"]:
+                props["mass_kg"]["evidence"] = "assumption"
+            components[l.id] = {"name_zh": l.name_zh, "function_zh": l.function_zh, "physical_meaning_zh": l.physical_meaning_zh,
+                                "parent": l.parent, "geometry_status": "bound", "geometry": geo, "capability_ids": [],
+                                "passive_reason": self._passive_reason(l), "properties": props}
+        model_bindings = {}
+        for l in self.links:
+            if l.joint and l.joint["type"] != "fixed":
+                model_bindings[f"joint_{l.id}"] = {
+                    "component_id": l.id, "artifact_id": "model_urdf", "target": f"{l.id}_joint", "channel": "joint", "attribute": "position",
+                    "unit": "rad" if l.joint["type"] == "revolute" else "m", "limits": [float(v) for v in l.joint["limits"]], "state_id": None,
+                    "mapping_zh": l.joint.get("note_zh") or "被动关节：由场景接触或宿主动作驱动，资产本身没有执行器。",
+                    "authority": "none", "direction": "none", "sync_status": "unbound", "source_ids": [s for s in l.joint.get("source_ids", []) if s in self.sources]}
+        contract = {
+            "schema_version": "1.0.0", "asset_type_id": self.asset_type_id, "asset_version": "1.0.0", "name_zh": self.name_zh,
+            "category": self.category, "asset_kind": self.asset_kind, "coverage": "full", "description_zh": self.description_zh,
+            "coordinate_system": {"status": "defined", "length_unit": "m", "angle_unit": "rad", "handedness": "right", "up_axis": "+Z",
+                                  "frame": "资产根坐标：底面占地中心，z=0 为放置面；+X 向右，+Y 向后，正面朝 −Y；四元数按 (x, y, z, w)"},
+            "artifacts": artifacts,
+            "sources": {k: {"kind": v["kind"], "reference": v["reference"], "locator": v["locator"], "note": v["note"]} for k, v in self.sources.items()},
+            "components": components, "state_slots": self.state_slots, "capabilities": {}, "model_bindings": model_bindings,
+            "ports": self.contract_ports, "mechanisms": self.mechanisms,
+            "limitations": self.limitations_zh or ["被动资产：没有主动硬件 API；抓取、开盖、倾倒和搬运属于机器人技能与宿主记账。"],
+            "extensions": {"chemistry_lab.labware": {k: v for k, v in self.labware.items()}},
+        }
+        (d / "asset.contract.json").write_text(json.dumps(contract, ensure_ascii=False, indent=1), encoding="utf-8")
+        return contract
+
+    def _passive_reason(self, l: Link) -> str:
+        if self.category.startswith("furniture"):
+            return "家具构件没有执行器或传感器；门、抽屉、盖由机器人或人推动（被动关节），存放位只记录位置与容纳关系。"
+        if l.joint and l.joint["type"] != "fixed":
+            return "被动部件：开合/旋下由机器人抓握+意图触发（touch + intent），资产本身没有执行器、传感器或自驱动 API。"
+        return "被动容器/器具：只提供几何、容积、质量与抓取/放置坐标；盛装物由宿主的物质账本记录，倾倒和搬运属于机器人技能。"
+
+
+# ---------------------------------------------------------------------------------------------------------- helpers
+def frame(pos, link: str = "base_link", rot=None, **extra) -> dict:
+    out = {"link": link, "pos_m": [round(float(v), 5) for v in pos], "rot_xyzw": list(rot or TOP_DOWN)}
+    out.update(extra)
+    return out
+
+
+def top_down_frames(grasp_z: float, top_z: float, width_m: float, yaw_free: bool = True, link: str = "base_link",
+                    xy=(0.0, 0.0), contact_z=None, note_zh: str = "") -> dict:
+    """grasp / pre_grasp / post_grasp / place / pre_place for a top-down grasp at height grasp_z (object frame)."""
+    clear = max(grasp_z + PRE_GRASP_LIFT_M, top_z + HAND_ABOVE_TCP_M + 0.05)
+    g = frame([xy[0], xy[1], grasp_z], link, width_m=round(width_m, 5), franka_ok=bool(width_m <= FRANKA_MAX_GRASP_M),
+              yaw_free=yaw_free, hand_bottom_z_m=round(grasp_z + HAND_ABOVE_TCP_M, 5), note_zh=note_zh)
+    if contact_z is not None:
+        g["finger_contact_z_m"] = [round(contact_z[0], 5), round(contact_z[1], 5)]
+    return {"grasp": g,
+            "pre_grasp": frame([xy[0], xy[1], clear], link, note_zh="抓取前悬停点：竖直下降到 grasp"),
+            "post_grasp": frame([xy[0], xy[1], clear], link, note_zh="抓取后竖直抬起到此"),
+            "place": frame([xy[0], xy[1], grasp_z], link, note_zh="放置时 TCP 在物体坐标中的位置（= grasp）；目标位姿 = 存放位/仪器位 ⊗ place"),
+            "pre_place": frame([xy[0], xy[1], clear], link, note_zh="放置前悬停点")}
+
+
+def sha256(path: Path) -> str:
+    return hashlib.sha256(Path(path).read_bytes()).hexdigest()
diff --git a/scripts/labware/quantos.py b/scripts/labware/quantos.py
new file mode 100644
index 0000000000000000000000000000000000000000..468637af933d6cbae44c425e0e503b90910e32ed
--- /dev/null
+++ b/scripts/labware/quantos.py
@@ -0,0 +1,219 @@
+"""Mettler Toledo Quantos powder-dosing labware (2026-10-23).
+
+* labware.mt_quantos_qh016_bnmw  - QH016-BNMW powder dosing head: geometry REUSED from the mt_quantos_q2 instrument asset's
+  `dosing_head` part (mesh objects + collision proxies), re-based to the outlet tip; real model data from the Quantos operating
+  instructions (p.102 technical data, p.107 part number, p.21 installation, p.29 filling, p.94 storage).
+* labware.mt_quantos_head_container - the plastic container each head is delivered and stored in (manual p.27, p.94); used as the
+  head's holder on the bench shelf (Mettler lists no head rack among the Quantos accessories, manual p.107-110).
+* target vial: the Agilent 20 mL screw-top vial already in the catalog (real model, fits the Quantos sample-container limits of
+  manual p.103); the instrument asset's `sample_container` part is an authored placeholder (its contract says the size is not a
+  maker dimension), so it is not exported as a type.
+Fit checks against the instrument asset (head_slot, container seat, powder outlet) are computed here and stored in
+labware.instrument_fit; tests/test_labware_assets.py asserts them.
+"""
+from __future__ import annotations
+
+import json
+import math
+
+import numpy as np
+import trimesh
+
+from labware_kit import (FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, ROOT, LabwareAsset, Link, Prim, frame, obb_overlap, revolve, ring_boxes,
+                         top_down_frames, transform_prim)
+from sources import SOURCES as _GLOBAL_SOURCES
+
+QDIR = ROOT / "assets" / "basic40_batch02" / "t5_automation" / "mt_quantos_q2"
+MAN = "references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf"
+TID = "instrument.mt_quantos_q2_xpe206dr"
+
+SRC = {
+    "quantos_manual": {"kind": "manufacturer", "reference": f"METTLER TOLEDO Quantos operating instructions ({MAN}, local copy, page references only)",
+                       "locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are "
+                                  "supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the "
+                                  "delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, "
+                                  "typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, "
+                                  "diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
+                       "note": "Real-model data for the dosing head, its storage and the target container limits.", "licence": "facts"},
+    "quantos_asset": {"kind": "code", "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
+                      "locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
+                      "note": "Reused head geometry and the instrument interfaces for the fit check (authored geometry; the asset marks its part sizes as not maker CAD).", "licence": "project"},
+    "quantos_assumption": {"kind": "assumption", "reference": "head mass, head-container size", "locator": "engineering value",
+                           "note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not "
+                                   "published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp.",
+                           "licence": "n/a"},
+    "robot_access": _GLOBAL_SOURCES["robot_access"],
+}
+for _k, _v in SRC.items():
+    _GLOBAL_SOURCES.setdefault(_k, _v)
+
+AMBER = (0.55, 0.30, 0.10, 0.85)
+BLACK = (0.06, 0.07, 0.08, 1.0)
+SILVER = (0.70, 0.74, 0.78, 1.0)
+PP_NATURAL = (0.93, 0.93, 0.90, 0.8)
+TIP = np.array([0.0, -0.031, 0.200])            # outlet tip in the instrument frame = head origin (powder_outlet port)
+
+
+def _proxies(part: str) -> list[Prim]:
+    cp = json.loads((QDIR / "collision_proxies.json").read_text(encoding="utf-8"))["components"][part]
+    out = []
+    for p in cp:
+        if p["shape"] == "cylinder":
+            out.append(Prim("cylinder", [p["radius_m"], p["length_m"]], list(p["origin_m"]), list(p["rpy_rad"])))
+        elif p["shape"] == "box":
+            out.append(Prim("box", list(p["dimensions_m"]), list(p["origin_m"]), list(p["rpy_rad"])))
+    return out
+
+
+def _shift(prims, d):
+    return [Prim(p.shape, list(p.size_m), list(np.asarray(p.origin_m) + d), list(p.rpy_rad)) for p in prims]
+
+
+def build_head() -> LabwareAsset:
+    a = LabwareAsset("mt_quantos_qh016_bnmw", "labware.mt_quantos_qh016_bnmw", "METTLER TOLEDO Quantos 粉末加样头 QH016-BNMW（16 mL，11141503）",
+                     "METTLER TOLEDO Quantos powder dosing head QH016-BNMW, 16 mL", "consumables", "labware.consumable.dosing_head", "passive",
+                     description_zh="Quantos 粉末加样头 QH016-BNMW（零件号 11141503）：16 mL 粉末容器（DIN 18 mm 螺纹）、目标 0.1–250 mg、建议 250 次加样（手册 p.102、p.107）。"
+                                    "几何直接取自 mt_quantos_q2 实例的 dosing_head 部件（4 个网格对象 + 4 个碰撞基元），原点移到出粉口下端。",
+                     sources={k: _GLOBAL_SOURCES[k] for k in ("quantos_manual", "quantos_asset", "quantos_assumption", "robot_access")})
+    sc = trimesh.load(QDIR / "meshes" / "dosing_head.obj", split_object=True, group_material=False, force="scene", process=False)
+    geoms = sorted(sc.geometry.values(), key=lambda g: g.bounds[0][2])           # tip, outlet body, cap, powder bottle (by height)
+    names_cols = [("outlet_tip", BLACK), ("outlet_body", SILVER), ("bottle_cap", BLACK), ("powder_bottle", AMBER)]
+    visual = []
+    for (nm, col), g in zip(names_cols, geoms):
+        m = g.copy()
+        m.apply_translation(-TIP)
+        visual.append((m, col, {"name": nm} if visual else {}))
+    col = _shift(_proxies("dosing_head"), -TIP)
+    vol = sum(float(abs(g.volume)) for g in geoms)
+    a.add(Link("body", "加样头（含粉末瓶）", "装粉并按质量目标出粉；RFID 记录物质与剩余量", "塑料机身 + 钢制计量销 + 琥珀色粉末瓶（倒装在头上）",
+               visual=visual, collision=col, mass_kg=vol * 1200.0, mass_evidence="assumption",
+               mass_note_zh=f"网格体积 {vol*1e6:.1f} cm3 × 1200 kg/m3（Mettler 未公布质量）", material="pp_pom_steel",
+               geometry_evidence="documented", geometry_note_zh="网格与碰撞基元复用 mt_quantos_q2 的 dosing_head 部件（作者几何，非厂家 CAD）"))
+    top = float(max(g.bounds[1][2] for g in geoms) - TIP[2])
+    # top-down grasp on the inclined powder bottle (24 deg about X), fingers closing along X across its 24-26 mm
+    z_g = top - HAND_ABOVE_TCP_M + 0.004
+    ax = np.array([0.0, -math.sin(0.4188790204786391), math.cos(0.4188790204786391)])
+    c0 = np.array([0.0, -0.056, 0.278]) - TIP
+    y_g = float(c0[1] + ax[1] * (z_g - c0[2]) / ax[2])
+    fr = top_down_frames(z_g, top, 0.026, yaw_free=False, xy=(0.0, y_g), contact_z=(z_g - 0.009, z_g + 0.009),
+                         note_zh="俯抓倾斜的粉末瓶上部（宽 26 mm），手指沿 X 合拢；手掌碰撞面高于瓶顶")
+    fr["grasp"]["rot_xyzw"] = [0.70710678, 0.70710678, 0.0, 0.0]
+    # installed pose and insertion path (manual p.21: slide onto the support until it stops, then press down into the pins)
+    seat = [float(v) for v in TIP]
+    fr["instrument_seat"] = frame(seat, "instrument:" + TID, rot=[0, 0, 0, 1],
+                                  note_zh="头原点（出粉口下端）装好后在 Quantos 坐标中的位置 = 实例 powder_outlet 端口")
+    fr["insert_pre"] = frame([seat[0], seat[1] - 0.030, seat[2] + 0.003], "instrument:" + TID, rot=[0, 0, 0, 1],
+                             note_zh="插入前：在支架前方 30 mm、高 3 mm；沿 +Y 滑入到底，再下压 3 mm 进定位销（手册 p.21）")
+    a.labware = {"type_id": a.asset_type_id, "family": "dosing_head", "labware_class": "quantos_powder_head", "fits": ["quantos_head_slot", "quantos_head_container"],
+                 "maker": "METTLER TOLEDO", "model": "Quantos powder dosing head QH016-BNMW (16 mL, DIN 18 mm container thread)", "catalogue_no": "11141503",
+                 "nominal_capacity_m3": 1.6e-5, "nominal_capacity_evidence": "documented (manual p.102: volume 16 mL)",
+                 "dosing": {"target_range_kg": [1e-7, 2.5e-4], "min_dose_kg": 1e-7, "recommended_dosings": 250,
+                            "typical_offset_kg_at_50mg": 2e-7, "typical_sd_kg_at_50mg": 2e-7, "source_id": "quantos_manual"},
+                 "rfid_zh": "头内 RFID 存物质名、批号、装填量与剩余量（手册 p.28）；运行层 head.set_content / head.select 对应",
+                 "frames": fr, "empty_mass_kg": round(vol * 1200.0, 5), "franka_grasp_ok": True, "stands_upright": False,
+                 "storage_note_zh": "存放在随头附带的塑料容器中（labware.mt_quantos_head_container，手册 p.94）；吸湿粉末（如 KBr）长期存放放干燥柜"}
+    a.prop("body", "volume_m3", 1.6e-5, "m3", "粉末容器容积 16 mL", "documented", ["quantos_manual"])
+    a.prop("body", "container_thread", "DIN 18 mm", "1", "粉末容器螺纹", "documented", ["quantos_manual"])
+    a.prop("body", "authored_size_m", [0.026, 0.0589, round(top, 4)], "m", "复用网格外形（作者几何）", "assumption", ["quantos_asset"])
+    a.contract_ports = {"powder_outlet": {"component_id": "body", "medium": "mechanical", "direction": "out", "frame": "frame:instrument_seat",
+                                          "meaning_zh": "出粉口（装在 Quantos 上时位于样品容器正上方）",
+                                          "connection_constraints": ["加样由 Quantos 运行层 dosing.* 完成；粉末量由宿主账本记录（头减少 = 容器增加）"]}}
+    a.limitations_zh = ["几何复用 Quantos 实例的 dosing_head 作者网格与碰撞基元（非厂家 CAD）；容积、螺纹、加样范围与零件号按 Mettler 手册。",
+                        "质量为按体积估计的假设；粉末质量由账本记录，不计入空头质量。",
+                        "插入按手册是水平滑入支架再下压（不是竖直插入）；锁紧由仪器在开始加样或写头数据时完成（手册 p.22）。"]
+    a.labware["instrument_fit"] = {TID: head_fit(col)}
+    return a
+
+
+def head_fit(col_local: list[Prim]) -> dict:
+    """Head collision proxies at the installed pose vs the instrument's head_slot proxies; port inside the head; outlet over the seat."""
+    T = trimesh.transformations.translation_matrix(TIP)
+    head_w = [transform_prim(p, T) for p in col_local]
+    slot = _proxies("head_slot")
+    overlaps = [(i, j) for i, h in enumerate(head_w) for j, s in enumerate(slot) if obb_overlap(h, s, tol=1e-4)]
+    # insertion path of the manual p.21 (slide on along +Y at +3 mm, then press down 3 mm) against the open support (instrument 1.2.2)
+    path = [(0.0, -0.030 * k / 10, 0.003) for k in range(10, -1, -1)] + [(0.0, 0.0, 0.003 * k / 6) for k in range(5, -1, -1)]
+    path_hits = [list(off) for off in path for h in col_local for s in slot
+                 if obb_overlap(transform_prim(h, trimesh.transformations.translation_matrix(TIP + np.array(off))), s, tol=1e-4)]
+    man = json.loads((QDIR / "geometry_manifest.json").read_text(encoding="utf-8"))
+    ports = dict(man["ports"]) if isinstance(man["ports"], list) else man["ports"]
+    hb = np.array(next(c for k, c in man["components"].items() if k == "dosing_head")["bbox_m"])
+    port = np.array(ports["head_slot"]["position_m"])
+    port_in = bool(np.all(port >= hb[0] - 0.002) and np.all(port <= hb[1] + 0.002))
+    outlet = np.array(ports["powder_outlet"]["position_m"])
+    seat = np.array(ports["container_seat"]["position_m"])
+    head_names = {0: "powder_bottle", 1: "bottle_cap", 2: "outlet_body", 3: "outlet_tip"}
+    interface_ok = port_in and abs(outlet[0] - seat[0]) < 1e-6 and abs(outlet[1] - seat[1]) < 1e-6
+    return {"slot": "head_slot", "seat_pose_m": [float(v) for v in TIP], "insert_direction": [0.0, 1.0, 0.0], "press_down_m": 0.003,
+            "head_slot_port_inside_head": port_in,
+            "outlet_above_container_seat_xy": bool(abs(outlet[0] - seat[0]) < 1e-6 and abs(outlet[1] - seat[1]) < 1e-6),
+            "ok": bool(interface_ok),
+            "collision_free_against_instrument_proxies": not overlaps,
+            "proxy_overlaps": [{"head": head_names.get(i, i), "instrument_head_slot_proxy_index": j} for i, j in overlaps],
+            "insertion_path_clear": not path_hits, "insertion_path_hits_m": path_hits[:5],
+            "note_zh": "安装位与仪器接口一致（head_slot 端口在头内、出粉口在样品座正上方）。仪器 1.2.2 起 head_slot 是开放式投料头支架（背板、上下叉臂、"
+                       "四颗定位销；说明书 p.11、p.21）：装好的头与支架代理不相交，沿 +Y 滑入（高 3 mm）再下压 3 mm 的路径也不相交；头的出粉体落在下叉臂上。"
+                       "仿真里仍按 touch + intent 把头运动学挂接到 seat_pose。",
+            "method": "OBB separating-axis test of the head's collision proxies at the installed pose and along the manual's insertion path against the instrument's head_slot proxies"}
+
+
+def build_head_container() -> LabwareAsset:
+    a = LabwareAsset("mt_quantos_head_container", "labware.mt_quantos_head_container", "Quantos 加样头存放容器（随头附带的塑料容器，开口放置）",
+                     "Quantos dosing-head storage container (supplied with each head)", "consumables", "labware.consumable.head_container", "passive",
+                     description_zh="每个 Quantos 加样头随附的塑料容器（手册 p.27 运输/存放，p.94 防吸潮存放）。Mettler 附件表（p.107–110）没有加样头架，"
+                                    "所以加样头放在各自容器里、容器放在台面阶梯架上（机器人俯抓可达）。容器尺寸未公布，按头的外形取假设。",
+                     sources={k: _GLOBAL_SOURCES[k] for k in ("quantos_manual", "quantos_assumption", "robot_access")})
+    R, H, t = 0.035, 0.060, 0.0015
+    outer = [(0.0, 0.0), (R - 0.003, 0.0), (R, 0.003), (R, H)]
+    inner = [(R - t, H), (R - t, t + 0.002), (R - t - 0.002, t), (0.0, t)]
+    cup = revolve(outer + inner, sections=48)
+    col = [Prim("cylinder", [R - 0.001, t], [0, 0, t / 2])] + ring_boxes(R, 0.002, R, H, 0.002, 16)
+    a.add(Link("body", "存放容器", "竖直容纳一个加样头（出粉口朝下）", "PP 开口杯（盖在默认实验室里取下，便于机器人取放）",
+               visual=[(cup, PP_NATURAL)], collision=col, mass_kg=abs(cup.volume) * 900.0, mass_evidence="assumption",
+               mass_note_zh="建模体积 × PP 900 kg/m3", material="pp", geometry_evidence="assumption"))
+    head_y = 0.0195                       # head origin offset so that the inclined bottle is centred in the cup
+    a.ports = [{"name": "head", "kind": "holder", "part": "body", "position_m": [0.0, head_y, t], "insert_axis": [0.0, 0.0, -1.0], "capture_m": 0.01,
+                "radius_m": 0.03, "moves_with": "body", "fits": ["quantos_powder_head"],
+                "note_zh": "加样头原点（出粉口下端）放到杯底这里；头上部约 50 mm 露出杯口供俯抓"}]
+    fr = top_down_frames(H * 0.6, H, 2 * R, yaw_free=True, contact_z=(H * 0.6 - 0.009, H * 0.6 + 0.009), note_zh="杯外径 70 mm（≤74 mm，可抓）")
+    fr["head_seat"] = frame([0.0, head_y, t], "base_link", rot=[0, 0, 0, 1], note_zh="加样头在杯中的位置（头坐标原点）")
+    a.labware = {"type_id": a.asset_type_id, "family": "head_container", "labware_class": "quantos_head_container", "fits": ["bottle", "jar"],
+                 "maker": "METTLER TOLEDO (supplied with each dosing head)", "model": "Plastic container delivered with Quantos dosing heads (manual p.27, p.94)",
+                 "catalogue_no": None, "frames": fr, "empty_mass_kg": round(abs(cup.volume) * 900.0, 5), "franka_grasp_ok": True, "stands_upright": True,
+                 "holds": "labware.mt_quantos_qh016_bnmw", "storage_place_zh": "台面阶梯架 bench_shelf（T2 后层），每杯一个加样头"}
+    a.prop("body", "size_m", [2 * R, H], "m", "外径 × 高（假设：厂家未公布）", "assumption", ["quantos_assumption"])
+    a.limitations_zh = ["容器为 Mettler 随头附带的实物（手册 p.27/p.94），尺寸未公布：Ø70×60 mm 为按加样头外形取的假设。",
+                        "实际容器带盖；默认实验室里盖已取下（机器人直接取头），吸湿粉末长期存放仍应盖好或放干燥柜。"]
+    return a
+
+
+def target_vial_with_fit():
+    """The Agilent 20 mL screw-top vial (already built) + its fit check against the Quantos sample-container limits (manual p.103)."""
+    import containers
+    a = containers.build_screwcap(containers.vial_spec("20ml"))
+    man = json.loads((QDIR / "geometry_manifest.json").read_text(encoding="utf-8"))
+    ports = dict(man["ports"]) if isinstance(man["ports"], list) else man["ports"]
+    seat_z = float(ports["container_seat"]["position_m"][2])
+    outlet_z = float(ports["powder_outlet"]["position_m"][2])
+    lw = a.labware
+    h_open, h_capped = lw["outer"]["height_body_m"], lw["outer"]["height_with_cap_m"]
+    opening = 2 * lw["interior"]["neck_radius_m"]
+    od = lw["outer"]["diameter_m"]
+    limits = {"height_m": [0.031, 0.178], "min_opening_m": 0.006, "max_diameter_m": 0.100, "platform_m": [0.078, 0.073]}
+    ok = limits["height_m"][0] <= h_open <= limits["height_m"][1] and opening >= limits["min_opening_m"] and od <= limits["max_diameter_m"]
+    lw.setdefault("instrument_fit", {})[TID] = {
+        "slot": "container_seat (balance pan)", "limits_source": "quantos_manual p.103 (QB1/QB3/QB7 column)", "limits": limits,
+        "vial_height_open_m": h_open, "vial_opening_m": round(opening, 5), "vial_diameter_m": od,
+        "seat_z_m": seat_z, "outlet_z_m": outlet_z, "outlet_gap_open_vial_m": round(outlet_z - seat_z - h_open, 4),
+        "note_zh": "开盖后上机；出粉口在瓶口正上方（实例 powder_outlet 与 container_seat 同 XY）；Quantos 用头高调节把出粉口降到瓶口上 0.5–1 mm（手册 p.23），实例未建该运动",
+        "ok": bool(ok)}
+    a.sources.setdefault("quantos_manual", _GLOBAL_SOURCES["quantos_manual"])
+    a.sources.setdefault("quantos_asset", _GLOBAL_SOURCES["quantos_asset"])
+    return a
+
+
+BUILDERS = {
+    "mt_quantos_qh016_bnmw": build_head,
+    "mt_quantos_head_container": build_head_container,
+    "agilent_hs_vial_20ml": target_vial_with_fit,
+}
diff --git a/scripts/labware/racks.py b/scripts/labware/racks.py
new file mode 100644
index 0000000000000000000000000000000000000000..692196873b0fd740511e46d24dac3b99f4b669e0
--- /dev/null
+++ b/scripts/labware/racks.py
@@ -0,0 +1,206 @@
+"""Bench racks (2026-10-23: a real-model bench rack for the 20 mL headspace vials, inventory type `vial_rack_20ml`).
+
+* labware.mn_702503_vial_rack_23mm - MACHEREY-NAGEL vial rack 702503 (36 positions, alpha-numeric index, max. vial diameter 23.1 mm,
+  323 x 91 x 30 mm, blue polypropylene, stackable when empty; the same 36-position 23.1 mm rack is sold as WHEATON/DWK 064088 and
+  Restek 22643).  It holds the Agilent 20 mL headspace vial (O 22.75 mm, labware.agilent_hs_vial_20ml).
+  The maker does not publish the hole pitch: the 3 x 12 grid is laid out evenly inside a 3 mm rim (26.42 x 28.33 mm, assumption);
+  deck height, floor and stacking pins follow the product photo.
+* Robot access (Franka Hand, top-down): fingers close along Y.  The finger sizes come from the franka_description collision mesh
+  (fingertip 17.8 mm wide x 16.4 mm thick over its last 19 mm, finger base 21 x 26.2 mm from 24 mm above the tip; tip 8.9 mm below
+  the TCP).  At 26.42 mm pitch the fingers do not fit between neighbours along the closing direction, so only rows A and C are robot
+  slots (24) and row B stays empty (manual use only); the finger clearance to every occupied neighbour is computed here.
+"""
+from __future__ import annotations
+
+import math
+
+import numpy as np
+import trimesh
+
+from labware_kit import FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, LabwareAsset, Link, Prim, frame
+from sources import SOURCES as _GLOBAL_SOURCES
+
+SRC = {
+    "mn_702503": {"kind": "manufacturer",
+                  "reference": "MACHEREY-NAGEL vial rack REF 702503 product page "
+                               "(https://www.mn-net.com/Vial-racks-max.-diameter-23.1-mm-36-pos.-stackable-if-empty-702503)",
+                  "locator": "Technical data: positions 36, alpha-numerical index, dimensions L x W x H 323 x 91 x 30 mm, polypropylene (PP), blue, "
+                             "stackable (only when empty), maximal vial diameter 23 mm / for headspace vials with a diameter of 23.1 mm, 5 pieces per pack; "
+                             "product photo 6506_702503 (3 rows x 12 holes, raised rim, stacking pins at the corners and mid sides)",
+                  "note": "Real model of the bench rack for 20 mL headspace vials.", "licence": "facts"},
+    "dwk_064088": {"kind": "manufacturer",
+                   "reference": "DWK Life Sciences WHEATON 36-Position Rack for 23.1 mm Open ID, cat. 064088 "
+                                "(https://www.thermofisher.com/order/catalog/product/kr/en/064088; Fisher 11571325)",
+                   "locator": "36 positions, 23.1 mm open ID, for 6/10/20 mL headspace 23 mm OD vials; 12.6 x 3.5 x 1.12 in (320 x 89 x 28 mm)",
+                   "note": "Same rack design from a second supplier (corroborates the footprint and the hole size).", "licence": "facts"},
+    "restek_22643": {"kind": "manufacturer", "reference": "Restek vial storage rack cat. 22643 (https://www.restek.com/p/22643)",
+                     "locator": "polypropylene rack for 6, 10 or 20 mL headspace vials, holds up to 36, autoclavable 121 C 20 min",
+                     "note": "Same 36-position headspace-vial rack class.", "licence": "facts"},
+    "franka_finger": {"kind": "code", "reference": "franka_description (Franka Emika, Apache-2.0): meshes/collision/finger.stl, hand.stl, panda_arm_hand.urdf "
+                                                   "(copy shipped with the Isaac Sim URDF importer)",
+                      "locator": "finger.stl: last 19 mm 17.8 mm wide (x) x 16.4 mm thick (closing axis); base part 21 x 26.2 mm from 24 mm above the tip; "
+                                 "length 53.9 mm; panda_finger_joint 0..0.04 m; hand_tcp 0.1034 m -> fingertip end 8.9 mm below the TCP; "
+                                 "hand.stl 63 x 204 x 92 mm, lowest point 37 mm above the TCP",
+                      "note": "Finger and hand sizes for the clearance check.", "licence": "Apache-2.0"},
+    "rack_assumption": {"kind": "assumption", "reference": "MN 702503 details not in the data sheet", "locator": "engineering value",
+                        "note": "Hole pitch not published: 12 x 3 cells laid out evenly inside a 3 mm rim of the documented 323 x 91 mm footprint "
+                                "(26.42 x 28.33 mm); deck top 22 mm (3 mm thick) 4 mm below the rim top (26 mm), 2 mm floor, six 3 x 4 mm stacking pins "
+                                "on the rim (30 mm overall) after the product photo; mass = modelled PP volume x 905 kg/m3.",
+                        "licence": "n/a"},
+    "robot_access": _GLOBAL_SOURCES["robot_access"],
+}
+for _k, _v in SRC.items():
+    _GLOBAL_SOURCES.setdefault(_k, _v)
+
+PP_BLUE = (0.09, 0.20, 0.62, 1.0)
+PP_RHO = 905.0
+# Franka finger / hand (franka_description collision meshes)
+FINGER_TIP = {"width": 0.0178, "thick": 0.0165, "z0": 0.0, "z1": 0.019}          # z above the fingertip end
+FINGER_BASE = {"width": 0.021, "thick": 0.0262, "z0": 0.024, "z1": 0.0539}
+TIP_BELOW_TCP = 0.0089
+VIAL_D, VIAL_H = 0.02275, 0.0775            # Agilent 20 mL headspace vial (labware.agilent_hs_vial_20ml, with cap)
+VIAL_GRASP_Z = 0.0445                        # its grasp frame above the vial bottom
+OPEN_W = 0.031                               # finger opening for the approach (4.1 mm per side around the vial)
+
+
+def _cell_grid(L=0.323, W=0.091, rim=0.003, nx=12, ny=3):
+    px, py = (L - 2 * rim) / nx, (W - 2 * rim) / ny
+    xs = [-(L - 2 * rim) / 2 + px * (i + 0.5) for i in range(nx)]
+    ys = [-(W - 2 * rim) / 2 + py * (j + 0.5) for j in range(ny)]
+    return px, py, xs, ys
+
+
+def finger_clearance(target, occupied, w=OPEN_W, seat_z=0.002) -> dict:
+    """Smallest XY gap between the Franka fingers (closing along Y, top-down) around the vial in `target` and the occupied neighbours."""
+    tcp_z = seat_z + VIAL_GRASP_Z
+    tip_z = tcp_z - TIP_BELOW_TCP
+    v0, v1 = seat_z, seat_z + VIAL_H
+    worst = (1.0, None)
+    for part in (FINGER_TIP, FINGER_BASE):
+        z0, z1 = tip_z + part["z0"], tip_z + part["z1"]
+        if z1 < v0 or z0 > v1:
+            continue
+        for s in (-1, 1):
+            y_in, y_out = target[1] + s * w / 2, target[1] + s * (w / 2 + part["thick"])
+            ylo, yhi = min(y_in, y_out), max(y_in, y_out)
+            xlo, xhi = target[0] - part["width"] / 2, target[0] + part["width"] / 2
+            for n in occupied:
+                if abs(n[0] - target[0]) < 1e-9 and abs(n[1] - target[1]) < 1e-9:
+                    continue
+                dx = max(xlo - n[0], 0.0, n[0] - xhi)
+                dy = max(ylo - n[1], 0.0, n[1] - yhi)
+                gap = math.hypot(dx, dy) - VIAL_D / 2
+                if gap < worst[0]:
+                    worst = (gap, [round(n[0], 5), round(n[1], 5)])
+    return {"min_gap_m": round(worst[0], 5), "nearest_vial_m": worst[1], "hand_bottom_above_vial_tops_m": round(tcp_z + HAND_ABOVE_TCP_M - (seat_z + VIAL_H), 5)}
+
+
+def build_vial_rack_23mm() -> LabwareAsset:
+    L, W, H = 0.323, 0.091, 0.030
+    rim, rim_top, deck_top, deck_t, floor_t, hole_d = 0.003, 0.026, 0.022, 0.003, 0.002, 0.0231
+    px, py, xs, ys = _cell_grid(L, W, rim)
+    rows = ["A", "B", "C"]
+    a = LabwareAsset("mn_702503_vial_rack_23mm", "labware.mn_702503_vial_rack_23mm",
+                     "MACHEREY-NAGEL 顶空瓶架 702503（36 位，孔径 23.1 mm，PP 蓝）", "MACHEREY-NAGEL vial rack 702503, 36 positions, max. vial O 23.1 mm",
+                     "racks", "labware.rack.vial", "passive",
+                     description_zh="MN 702503 顶空瓶架：36 位（3 行 × 12 列，字母数字索引），外形 323×91×30 mm，蓝色聚丙烯，空架可叠放；放 O23 mm 的 6/10/20 mL "
+                                    "顶空瓶（Agilent 20 mL 顶空瓶 O22.75 mm）。同款 36 位 23.1 mm 架另有 WHEATON 064088、Restek 22643。"
+                                    "孔距厂家未公布：在 3 mm 边框内均分（26.42×28.33 mm，假设）。机器人（Franka 俯抓、手指沿 Y 合拢）只用 A、C 两行 24 位，B 行留空。",
+                     sources={k: _GLOBAL_SOURCES[k] for k in SRC})
+    # deck with 36 holes (visual by boolean), rim, floor, pins
+    deck = trimesh.creation.box([L - 2 * rim, W - 2 * rim, deck_t])
+    deck.apply_translation([0, 0, deck_top - deck_t / 2])
+    cutters = []
+    for y in ys:
+        for x in xs:
+            c = trimesh.creation.cylinder(radius=hole_d / 2, height=deck_t * 3, sections=40)
+            c.apply_translation([x, y, deck_top - deck_t / 2])
+            ch = trimesh.creation.cone(radius=hole_d / 2 + 0.0012, height=0.0024, sections=40)   # 1.2 mm entry chamfer (photo: rounded hole edges)
+            ch.apply_transform(trimesh.transformations.rotation_matrix(math.pi, [1, 0, 0]))
+            ch.apply_translation([x, y, deck_top + 0.0012])
+            cutters += [c, ch]
+    deck_v = deck.difference(trimesh.util.concatenate(cutters))
+    walls = [Prim("box", [L, rim, rim_top], [0, -(W - rim) / 2, rim_top / 2]), Prim("box", [L, rim, rim_top], [0, (W - rim) / 2, rim_top / 2]),
+             Prim("box", [rim, W - 2 * rim, rim_top], [-(L - rim) / 2, 0, rim_top / 2]), Prim("box", [rim, W - 2 * rim, rim_top], [(L - rim) / 2, 0, rim_top / 2])]
+    floor = Prim("box", [L - 2 * rim, W - 2 * rim, floor_t], [0, 0, floor_t / 2])
+    pin_xy = [(sx * (L / 2 - 0.006), sy * (W / 2 - 0.0015 - 0.0)) for sx in (-1, 1) for sy in (-1, 1)] + [(0.0, -(W / 2 - 0.0015)), (0.0, W / 2 - 0.0015)]
+    pins = [Prim("cylinder", [0.0015, H - rim_top], [x, y, rim_top + (H - rim_top) / 2]) for x, y in pin_xy]
+    # deck collision: border strips + strips between the holes (square openings of the hole diameter)
+    deck_c = []
+    gx, gy = px - hole_d, py - hole_d
+    zc = deck_top - deck_t / 2
+    for i in range(len(xs) + 1):                                       # strips between columns (along Y)
+        x = (xs[0] - px / 2) + i * px
+        wx = gx / 2 if i in (0, len(xs)) else gx
+        cx = x + (wx / 2 if i == 0 else -wx / 2 if i == len(xs) else 0.0)
+        deck_c.append(Prim("box", [wx, W - 2 * rim, deck_t], [cx, 0.0, zc]))
+    for j in range(len(ys) + 1):                                       # strips between rows (along X)
+        y = (ys[0] - py / 2) + j * py
+        wy = gy / 2 if j in (0, len(ys)) else gy
+        cy = y + (wy / 2 if j == 0 else -wy / 2 if j == len(ys) else 0.0)
+        deck_c.append(Prim("box", [L - 2 * rim, wy, deck_t], [0.0, cy, zc]))
+    solid = walls + [floor] + pins
+    vis = [(deck_v, PP_BLUE)] + [(trimesh.util.concatenate([p.mesh() for p in solid]), PP_BLUE, {"name": "frame"})]
+    vol = float(deck_v.volume) + sum(p.mesh().volume for p in solid)
+    a.add(Link("body", "瓶架（边框、孔板、底板）", "竖直承放 36 个 O23 mm 顶空瓶；空架可叠放",
+               "注塑聚丙烯托盘：3 行 × 12 列孔（O23.1 mm），孔板低于边框 4 mm，四角与长边中点有叠放销",
+               visual=vis, collision=walls + [floor] + deck_c + pins, mass_kg=vol * PP_RHO, mass_evidence="assumption",
+               mass_note_zh=f"建模 PP 体积 {vol * 1e6:.0f} cm3 × 905 kg/m3（厂家未公布质量）", material="pp", geometry_evidence="documented",
+               geometry_note_zh="外形 323×91×30 mm、36 位、孔径 23.1 mm 按 MN 数据；孔距、孔板高度、底板与叠放销为假设/照片估计"))
+    # robot slots: rows A and C (fingers close along Y); row B manual only
+    robot_rows = ["A", "C"]
+    occupied = [(x, ys[rows.index(r)]) for r in robot_rows for x in xs]
+    clear = [finger_clearance((x, ys[rows.index(r)]), occupied) for r in robot_rows for x in xs]
+    worst = min(clear, key=lambda c: c["min_gap_m"])
+    clear_b = finger_clearance((xs[5], ys[0]), [(x, y) for y in ys for x in xs])           # if row B were filled too
+    fr = {}
+    for r in robot_rows:
+        y = ys[rows.index(r)]
+        for i, x in enumerate(xs):
+            name = f"{r}{i + 1:02d}"
+            seat = [x, y, floor_t]
+            tcp = [x, y, floor_t + VIAL_GRASP_Z]
+            a.ports.append({"name": name, "place_id": "vial_rack_20ml", "part": "body", "kind": "storage", "position_m": [round(v, 5) for v in seat],
+                            "insert_axis": [0.0, 0.0, -1.0], "capture_m": 0.01, "radius_m": round(hole_d / 2, 5), "moves_with": "body",
+                            "headroom_m": None, "required_free_above_vial_top_m": 0.25, "fits": ["headspace_vial_20ml", "vial"],
+                            "access": ["franka_top_down"],
+                            "vial_grasp_tcp_m": [round(v, 5) for v in tcp], "vial_grasp_rot_xyzw": [1.0, 0.0, 0.0, 0.0], "finger_axis": [0.0, 1.0, 0.0],
+                            "approach_open_width_m": OPEN_W,
+                            "note_zh": "顶空瓶瓶底中心（孔底）；俯抓 TCP = 瓶 grasp（瓶底上 44.5 mm），手指沿 Y 合拢、张开 31 mm；架上方须留 ≥0.25 m 空间"})
+            fr[f"slot_{name}"] = frame(seat, "base_link", rot=[0.0, 0.0, 0.0, 1.0], note_zh=f"{name} 位：瓶底中心")
+    a.labware = {"type_id": a.asset_type_id, "family": "rack", "labware_class": "vial_rack", "fits": ["bench"],
+                 "maker": "MACHEREY-NAGEL", "model": "Vial rack, max. diameter 23.1 mm, 36 positions, stackable if empty (blue PP)", "catalogue_no": "702503",
+                 "also_sold_as": ["DWK WHEATON 064088", "Restek 22643 (36-position rack for 6/10/20 mL headspace vials)"],
+                 "holds": "labware.agilent_hs_vial_20ml", "positions_total": 36, "grid": {"rows": rows, "columns": 12, "pitch_x_m": round(px, 5), "pitch_y_m": round(py, 5),
+                                                                                         "hole_diameter_m": hole_d, "pitch_evidence": "assumption (not published)"},
+                 "frames": fr, "seat_z_m": floor_t, "deck_top_m": deck_top, "franka_grasp_ok": False,
+                 "franka_blocked_reason": "91 mm wide (> 74 mm grip): the rack stays on the bench; the robot moves the vials",
+                 "storage": {"place_ids": ["vial_rack_20ml"], "min_pitch_m": math.floor(px * 1e5) / 1e5 - 1e-5, "expected_positions": [p["name"] for p in a.ports],
+                             "robot_rows": robot_rows, "manual_only_rows": ["B"], "required_free_above_vial_top_m": 0.25,
+                             "note_zh": "A、C 两行 24 位给机器人；B 行留空（手指沿 Y 合拢时会碰到 B 行的瓶）"},
+                 "robot_access": {"gripper": "Franka Hand", "approach": "top-down", "finger_axis": [0.0, 1.0, 0.0], "approach_open_width_m": OPEN_W,
+                                  "max_grasp_width_m": FRANKA_MAX_GRASP_M, "vial_diameter_m": VIAL_D, "vial_height_with_cap_m": VIAL_H,
+                                  "finger_tip_m": FINGER_TIP, "finger_base_m": FINGER_BASE, "tip_below_tcp_m": TIP_BELOW_TCP,
+                                  "min_finger_gap_rows_A_C_m": worst["min_gap_m"], "nearest_vial_m": worst["nearest_vial_m"],
+                                  "hand_bottom_above_vial_tops_m": worst["hand_bottom_above_vial_tops_m"],
+                                  "min_finger_gap_if_row_B_filled_m": clear_b["min_gap_m"],
+                                  "fingertip_end_above_deck_m": round(floor_t + VIAL_GRASP_Z - TIP_BELOW_TCP - deck_top, 5),
+                                  "free_space_above_vial_tops_m": 0.25,
+                                  "note_zh": "手指尺寸取 franka_description 碰撞网格；A、C 行全部装满时，手指与最近的瓶最小间隙见 min_finger_gap_rows_A_C_m；"
+                                             "若 B 行也放瓶，手指会压到 B 行（间隙为负）。手掌底面高于瓶盖顶。架上方需 ≥0.25 m 空间（放在台面或开放层板上）。",
+                                  "source_ids": ["franka_finger", "robot_access"]}}
+    a.prop("body", "size_m", [L, W, H], "m", "外形 L×W×H（MN 702503）", "documented", ["mn_702503"])
+    a.prop("body", "positions", 36, "1", "孔位数（3 行 × 12 列，字母数字索引）", "documented", ["mn_702503"])
+    a.prop("body", "hole_diameter_m", hole_d, "m", "孔径（最大瓶径 23.1 mm）", "documented", ["mn_702503", "dwk_064088"])
+    a.prop("body", "pitch_m", [round(px, 5), round(py, 5)], "m", "孔距 X×Y：厂家未公布，按外形在 3 mm 边框内均分", "assumption", ["rack_assumption"])
+    a.prop("body", "deck_top_m", deck_top, "m", "孔板顶面高（照片估计：低于边框 4 mm）", "photo_estimate", ["mn_702503", "rack_assumption"])
+    a.prop("body", "material", "polypropylene, blue", "1", "材料与颜色", "documented", ["mn_702503"])
+    a.limitations_zh = ["孔距、孔板高度、底板和叠放销尺寸厂家未公布：孔距按外形均分（26.42×28.33 mm），其余按产品照片估计。",
+                        "孔径 23.1 mm 与瓶径 22.75 mm 只差 0.35 mm：仿真里放瓶按 touch + intent 吸附到槽位（capture 10 mm），不靠接触求解插入。",
+                        "机器人只用 A、C 两行（24 位）；B 行留空，否则手指沿 Y 合拢时会碰到 B 行的瓶。架子本身 91 mm 宽，不由机器人搬运。"]
+    return a
+
+
+BUILDERS = {
+    "mn_702503_vial_rack_23mm": build_vial_rack_23mm,
+}
diff --git a/scripts/labware/sbs.py b/scripts/labware/sbs.py
new file mode 100644
index 0000000000000000000000000000000000000000..7e445b7cae9d397b4d47c5b94c24a906704a98e7
--- /dev/null
+++ b/scripts/labware/sbs.py
@@ -0,0 +1,270 @@
+"""SBS-footprint labware from the Opentrons labware definitions (Apache-2.0, local copies in references/labware/opentrons/):
+Corning 96-well flat plate 360 uL, NEST 96 deep-well plate 2 mL, Opentrons Flex tip racks 50 / 200 / 1000 uL (tips included),
+NEST 12-well reservoir 15 mL, and an SBS plate carrier with a robot handle (design on the ANSI/SLAS footprint).
+
+Well positions, depths, diameters and volumes come straight from the definition JSON; the asset origin is the footprint centre
+(Opentrons origin = front-left-bottom corner, so x_asset = x_def - X/2, y_asset = y_def - Y/2, z unchanged; row A at the back = +Y).
+The 85.5 mm short side is wider than the Franka hand opens (80 mm): `sbs_grasp` (franka_ok false) is for wide plate grippers such as
+the lab's Brooks PreciseFlex 400 plate gripper; the Franka moves SBS labware on the plate carrier.
+"""
+from __future__ import annotations
+
+import json
+import math
+from pathlib import Path
+
+import numpy as np
+import trimesh
+
+from labware_kit import FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, ROOT, LabwareAsset, Link, Prim, frame, top_down_frames
+from sources import pick
+
+OT_DIR = ROOT / "references" / "labware" / "opentrons"
+PS_CLEAR = (0.90, 0.93, 0.96, 0.55)
+PP_NATURAL = (0.93, 0.93, 0.90, 0.85)
+RACK_BLACK = (0.12, 0.12, 0.13, 1.0)
+TIP_CLEAR = (0.92, 0.94, 0.96, 0.60)
+ALU = (0.75, 0.77, 0.80, 1.0)
+PS, PP, ALU_RHO = 1050.0, 900.0, 2700.0
+
+
+def ot_def(name: str) -> dict:
+    return json.loads((OT_DIR / f"{name}.json").read_text(encoding="utf-8"))
+
+
+# ------------------------------------------------------------------------------------------------ mesh helpers
+def _tri(verts: list, faces: list, a, b, c):
+    i = len(verts)
+    verts += [a, b, c]
+    faces.append([i, i + 1, i + 2])
+
+
+def _quad(verts, faces, a, b, c, d):          # a-b-c-d counter-clockwise seen from the normal side
+    _tri(verts, faces, a, b, c)
+    _tri(verts, faces, a, c, d)
+
+
+def _square_ring(cx, cy, hx, hy, n=16):
+    pts = []
+    for k in range(n):
+        t = 2 * math.pi * k / n
+        c, s = math.cos(t), math.sin(t)
+        d = min(hx / abs(c) if abs(c) > 1e-12 else 1e9, hy / abs(s) if abs(s) > 1e-12 else 1e9)
+        pts.append((cx + d * c, cy + d * s))
+    return pts
+
+
+def deck_with_wells(X, Y, Z, wells: list[dict], cells: tuple[float, float], border=None, n=16, skirt=True) -> trimesh.Trimesh:
+    """Top deck at z=Z with one hole per well (circular or rectangular), well walls down to the well bottom, flat bottoms,
+    the deck border out to the footprint edge and the outer skirt walls (open underneath, like a real plate)."""
+    V, F = [], []
+    px, py = cells
+    xs = [w["x"] for w in wells]
+    ys = [w["y"] for w in wells]
+    gx0, gx1 = min(xs) - px / 2, max(xs) + px / 2
+    gy0, gy1 = min(ys) - py / 2, max(ys) + py / 2
+    for w in wells:
+        cx, cy, zb = w["x"], w["y"], w["z"]
+        if w["shape"] == "circular":
+            r = w["d"] / 2
+            sq = _square_ring(cx, cy, px / 2, py / 2, n)
+            ci = [(cx + r * math.cos(2 * math.pi * k / n), cy + r * math.sin(2 * math.pi * k / n)) for k in range(n)]
+        else:
+            ax, ay = w["xd"] / 2, w["yd"] / 2
+            sq = _square_ring(cx, cy, px / 2, py / 2, n)
+            ci = _square_ring(cx, cy, ax, ay, n)
+        for k in range(n):
+            k1 = (k + 1) % n
+            s0, s1, c0, c1 = sq[k], sq[k1], ci[k], ci[k1]
+            _quad(V, F, (*s0, Z), (*s1, Z), (*c1, Z), (*c0, Z))
+            _quad(V, F, (*c0, zb), (*c0, Z), (*c1, Z), (*c1, zb))            # wall, normal towards the well axis
+            _tri(V, F, (cx, cy, zb), (*c0, zb), (*c1, zb))                    # bottom, normal up
+    # deck border (frame between the cell grid and the footprint edge)
+    ex0, ex1, ey0, ey1 = -X / 2, X / 2, -Y / 2, Y / 2
+    _quad(V, F, (ex0, ey0, Z), (ex1, ey0, Z), (gx1, gy0, Z), (gx0, gy0, Z))
+    _quad(V, F, (ex1, ey0, Z), (ex1, ey1, Z), (gx1, gy1, Z), (gx1, gy0, Z))
+    _quad(V, F, (ex1, ey1, Z), (ex0, ey1, Z), (gx0, gy1, Z), (gx1, gy1, Z))
+    _quad(V, F, (ex0, ey1, Z), (ex0, ey0, Z), (gx0, gy0, Z), (gx0, gy1, Z))
+    if skirt:
+        _quad(V, F, (ex0, ey0, 0), (ex1, ey0, 0), (ex1, ey0, Z), (ex0, ey0, Z))
+        _quad(V, F, (ex1, ey0, 0), (ex1, ey1, 0), (ex1, ey1, Z), (ex1, ey0, Z))
+        _quad(V, F, (ex1, ey1, 0), (ex0, ey1, 0), (ex0, ey1, Z), (ex1, ey1, Z))
+        _quad(V, F, (ex0, ey1, 0), (ex0, ey0, 0), (ex0, ey0, Z), (ex0, ey1, Z))
+    m = trimesh.Trimesh(vertices=np.array(V), faces=np.array(F), process=True)
+    return m
+
+
+def wells_from_def(d: dict) -> list[dict]:
+    X, Y = d["dimensions"]["xDimension"] / 1000, d["dimensions"]["yDimension"] / 1000
+    out = []
+    for name in [w for col in d["ordering"] for w in col]:
+        w = d["wells"][name]
+        e = {"name": name, "x": w["x"] / 1000 - X / 2, "y": w["y"] / 1000 - Y / 2, "z": w["z"] / 1000, "depth": w["depth"] / 1000,
+             "shape": w["shape"], "volume_m3": w["totalLiquidVolume"] * 1e-9}
+        if w["shape"] == "circular":
+            e["d"] = w["diameter"] / 1000
+        else:
+            e["xd"], e["yd"] = w["xDimension"] / 1000, w["yDimension"] / 1000
+        out.append(e)
+    return out
+
+
+def _sbs_common(a: LabwareAsset, d: dict, X, Y, Z, wells, grip_z, family, kind_zh, defname, src_id):
+    a.labware.update({
+        "type_id": a.asset_type_id, "family": family, "labware_class": "sbs_" + family, "fits": ["sbs", f"sbs_{family}"],
+        "opentrons_load_name": defname, "maker": d["brand"]["brand"], "model": d["metadata"]["displayName"],
+        "catalogue_no": ", ".join(d["brand"].get("brandId", [])[:4]) or None,
+        "footprint_m": [X, Y], "height_m": Z,
+        "wells": {w["name"]: {"pos_m": [round(w["x"], 5), round(w["y"], 5), round(w["z"], 5)], "depth_m": round(w["depth"], 5),
+                              "shape": w["shape"], **({"diameter_m": round(w["d"], 5)} if w["shape"] == "circular" else {"size_m": [round(w["xd"], 5), round(w["yd"], 5)]}),
+                              "volume_m3": w["volume_m3"]} for w in wells},
+        "n_wells": len(wells), "well_volume_m3": wells[0]["volume_m3"],
+        "nominal_capacity_m3": wells[0]["volume_m3"] * len(wells), "nominal_capacity_evidence": "documented (Opentrons definition totalLiquidVolume x wells)",
+        "nominal_source_id": src_id, "stands_upright": True, "franka_grasp_ok": False,
+    })
+    g = frame([0, 0, grip_z], "base_link", width_m=Y, franka_ok=False, yaw_free=False, finger_axis=[0.0, 1.0, 0.0],
+              note_zh=f"SBS 夹持：手指沿 Y 夹短边（{Y*1000:.2f} mm），高度 {grip_z*1000:.1f} mm；宽于 Franka 张开 80 mm，"
+                      "供宽口板夹爪使用（如本实验室 Brooks PreciseFlex 400 的板夹爪）；Franka 用 sbs_plate_carrier 搬运")
+    clear = Z + HAND_ABOVE_TCP_M + 0.05
+    a.labware["frames"] = {"sbs_grasp": g, "grasp": dict(g), "pre_grasp": frame([0, 0, clear], "base_link"),
+                           "place": frame([0, 0, grip_z], "base_link", note_zh="放置时 TCP（= sbs_grasp）"),
+                           "pre_place": frame([0, 0, clear], "base_link"),
+                           "a1": frame([round(wells[0]["x"], 5), round(wells[0]["y"], 5), Z], "base_link", rot=[0, 0, 0, 1], note_zh="A1 孔口中心")}
+    a.prop("body", "footprint_m", [X, Y], "m", f"{kind_zh}外形（Opentrons 定义 / ANSI SLAS 1-2004）", "documented", [src_id, "ansi_slas_1_2004"])
+    a.prop("body", "height_m", Z, "m", "高度（Opentrons 定义）", "documented", [src_id])
+    a.prop("body", "well_volume_m3", wells[0]["volume_m3"], "m3", "单孔总液体体积（Opentrons totalLiquidVolume）", "documented", [src_id])
+    a.contract_ports = {"wells": {"component_id": "body", "medium": "liquid", "direction": "bidirectional", "frame": "frame:a1",
+                                  "meaning_zh": f"{len(wells)} 个孔（位置见 labware.wells）；移液由移液器/宿主记账",
+                                  "connection_constraints": ["孔位坐标与体积来自 Opentrons 定义（Apache-2.0）"]}}
+
+
+def _material_volume(X, Y, Z, wells, t_deck=0.0012, t_wall=0.0009, t_skirt=0.0012) -> float:
+    v = X * Y * t_deck
+    for w in wells:
+        if w["shape"] == "circular":
+            per, area = math.pi * w["d"], math.pi * w["d"] ** 2 / 4
+        else:
+            per, area = 2 * (w["xd"] + w["yd"]), w["xd"] * w["yd"]
+        v += -area * t_deck + per * (Z - w["z"]) * t_wall + area * t_deck
+    v += 2 * (X + Y) * Z * t_skirt
+    return v
+
+
+def build_plate(defname: str, slug: str, name_zh: str, src_id: str, family: str, rgba, material_rho, grip_z=None) -> LabwareAsset:
+    d = ot_def(defname)
+    X, Y, Z = (d["dimensions"][k] / 1000 for k in ("xDimension", "yDimension", "zDimension"))
+    wells = wells_from_def(d)
+    pitch = (abs(wells[1]["x"] - wells[0]["x"]) or 0.009, abs(wells[1]["y"] - wells[0]["y"]) or 0.009) if len(wells) > 1 else (X * 0.9, Y * 0.9)
+    if family == "reservoir":
+        pitch = (0.009, wells[0]["yd"] + 0.004)
+    mesh = deck_with_wells(X, Y, Z, wells, pitch, n=16 if wells[0]["shape"] == "circular" else 8)
+    src = pick(src_id, "ansi_slas_1_2004", "plate_ps_mass", "robot_access")
+    a = LabwareAsset(slug, f"labware.{slug}", name_zh, d["metadata"]["displayName"], "sbs", f"labware.sbs.{family}", "passive",
+                     description_zh=f"{name_zh}：按 Opentrons 定义 {defname}（Apache-2.0）建模，外形 {X*1000:.2f}×{Y*1000:.2f}×{Z*1000:.2f} mm，{len(wells)} 孔。", sources=src)
+    vol = _material_volume(X, Y, Z, wells)
+    a.add(Link("body", name_zh, "盛放样品/试剂；SBS 标准外形可放入仪器板位", f"{'PS' if material_rho == PS else 'PP'} 注塑件",
+               visual=[(mesh, rgba)], collision=[Prim("box", [X, Y, Z], [0, 0, Z / 2])], mass_kg=vol * material_rho, mass_evidence="assumption",
+               mass_note_zh=f"由壁厚 ~1 mm 的材料体积 {vol*1e6:.1f} cm3 × {material_rho:.0f} kg/m3 估算", material="ps" if material_rho == PS else "pp",
+               geometry_evidence="documented", geometry_note_zh="外形与孔位/孔深/孔径来自 Opentrons 定义；壁厚为假设"))
+    _sbs_common(a, d, X, Y, Z, wells, grip_z if grip_z is not None else min(Z / 2, 0.010), family, name_zh, defname, src_id)
+    a.limitations_zh = ["外形、孔位、孔深、孔径/孔尺寸和单孔体积来自 Opentrons labware 定义（Apache-2.0）；壁厚与质量为估计。",
+                        "碰撞体为实心盒（板作刚体搬运）；孔内液体只记账，不生成粒子。",
+                        f"短边 {Y*1000:.1f} mm 宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运；sbs_grasp 供宽口板夹爪（PreciseFlex 400）。"]
+    return a
+
+
+def build_tiprack(volume_ul: int) -> LabwareAsset:
+    defname = f"opentrons_flex_96_tiprack_{volume_ul}ul"
+    src_id = f"ot_flex_tiprack_{volume_ul}"
+    d = ot_def(defname)
+    X, Y, Z = (d["dimensions"][k] / 1000 for k in ("xDimension", "yDimension", "zDimension"))
+    wells = wells_from_def(d)
+    tip_len = d["parameters"]["tipLength"] / 1000
+    rack = deck_with_wells(X, Y, Z, [dict(w, z=Z - 0.004) for w in wells], (0.009, 0.009), n=12)
+    tips = []
+    r_top = wells[0]["d"] / 2 + 0.0008
+    for w in wells:
+        prof = [(0.0, Z - tip_len), (0.0004, Z - tip_len), (0.0012, Z - tip_len + 0.006), (r_top - 0.0012, Z - 0.012), (r_top - 0.0006, Z - 0.004),
+                (r_top, Z - 0.004), (r_top, Z + 0.001), (0.0, Z + 0.001)]
+        m = trimesh.creation.revolve(np.array(prof), sections=12)
+        m.apply_translation([w["x"], w["y"], 0])
+        tips.append(m)
+    tips_mesh = trimesh.util.concatenate(tips)
+    src = pick(src_id, "ansi_slas_1_2004", "plate_ps_mass", "robot_access")
+    slug = f"opentrons_flex_tiprack_{volume_ul}ul"
+    a = LabwareAsset(slug, f"labware.{slug}", f"Opentrons Flex 96 吸头盒 {volume_ul} µL（满盒）", d["metadata"]["displayName"], "sbs",
+                     "labware.sbs.tiprack", "passive",
+                     description_zh=f"Opentrons Flex 96 吸头盒 {volume_ul} µL（{defname}）：外形 {X*1000:.2f}×{Y*1000:.2f}×{Z*1000:.0f} mm，吸头长 {tip_len*1000:.2f} mm（含 96 支吸头）。",
+                     sources=src)
+    rack_vol = 2 * (X + Y) * Z * 0.0015 + X * Y * 0.002
+    tip_vol = sum(abs(t.volume) for t in tips) * 0.25           # hollow tips: ~25 % of the solid envelope (wall ~0.5 mm)
+    a.add(Link("body", "吸头盒（含吸头）", "存放 96 支一次性吸头；移液器从孔位取头", "PP 盒体 + PP 吸头",
+               visual=[(rack, RACK_BLACK), (tips_mesh, TIP_CLEAR, {"name": "tips"})], collision=[Prim("box", [X, Y, Z], [0, 0, Z / 2])],
+               mass_kg=rack_vol * PP + tip_vol * PP, mass_evidence="assumption", mass_note_zh="盒体壁厚 1.5 mm 与吸头壁 ~0.5 mm 的 PP 体积估算",
+               material="pp", geometry_evidence="documented", geometry_note_zh="外形、孔位、吸头长度按 Opentrons 定义；吸头外形为近似"))
+    _sbs_common(a, d, X, Y, Z, wells, d.get("gripHeightFromLabwareBottom", 23.9) / 1000, "tiprack", "吸头盒", defname, src_id)
+    a.labware.update({"tip_length_m": tip_len, "tip_overlap_m": d["parameters"].get("tipOverlap", 0) / 1000, "is_tiprack": True,
+                      "nominal_capacity_m3": None, "tip_volume_m3": volume_ul * 1e-9, "grip_force_n": d.get("gripForce")})
+    a.labware["frames"]["sbs_grasp"]["note_zh"] += f"；Opentrons gripHeightFromLabwareBottom = {d.get('gripHeightFromLabwareBottom')} mm，gripForce {d.get('gripForce')} N"
+    a.labware["frames"]["grasp"] = dict(a.labware["frames"]["sbs_grasp"])
+    a.limitations_zh = ["外形、孔位、吸头长度/重叠、夹持高度来自 Opentrons 定义（Apache-2.0）；吸头外形与质量为近似。",
+                        "吸头的取用（哪个孔还有吸头）由移液器运行层/宿主记录，几何中 96 支吸头始终显示。",
+                        "短边宽于 Franka 张开 80 mm：Franka 用 labware.sbs_plate_carrier 搬运。"]
+    return a
+
+
+def build_carrier() -> LabwareAsset:
+    src = pick("ansi_slas_1_2004", "thermo_75006449", "robot_access")
+    src["carrier_design"] = {"kind": "assumption", "reference": "SBS plate carrier with a robot handle (project design)", "locator": "engineering value",
+                             "note": "Pocket = ANSI/SLAS footprint + 0.5 mm clearance per side, 4 mm walls 6 mm high, 3 mm floor, anodised aluminium; handle post 30 x 30 mm, 130 mm tall on a 45 mm arm at +X so the Franka hand (palm 37 mm above the TCP) clears a full Flex tip rack (102 mm) on the carrier.",
+                             "licence": "n/a"}
+    a = LabwareAsset("sbs_plate_carrier", "labware.sbs_plate_carrier", "SBS 板托架（带机器人抓手柱）", "SBS plate carrier with robot handle (design)",
+                     "sbs", "labware.sbs.carrier", "accessory",
+                     description_zh="SBS 板托架：按 ANSI/SLAS 外形的托盘 + +X 端 30 mm 抓手柱，使 Franka（最大 80 mm）能搬运孔板/吸头盒/储液槽。"
+                                    "未找到带 ≤74 mm 机器人抓手的目录托架；最接近的实物是 Thermo Scientific 75006449 带提手的微孔板托架（离心机附件）。", sources=src)
+    X, Y = 0.12776, 0.08548
+    cl, wall, h_wall, floor = 0.0005, 0.004, 0.006, 0.003
+    ix, iy = X + 2 * cl, Y + 2 * cl
+    ox, oy = ix + 2 * wall, iy + 2 * wall
+    prims = [Prim("box", [ox, oy, floor], [0, 0, floor / 2]),
+             Prim("box", [ox, wall, h_wall], [0, -(iy + wall) / 2, floor + h_wall / 2]), Prim("box", [ox, wall, h_wall], [0, (iy + wall) / 2, floor + h_wall / 2]),
+             Prim("box", [wall, iy, h_wall], [-(ix + wall) / 2, 0, floor + h_wall / 2]), Prim("box", [wall, iy, h_wall], [(ix + wall) / 2, 0, floor + h_wall / 2])]
+    arm_len, post, post_h = 0.045, 0.030, 0.130
+    x_post = ox / 2 + arm_len - post / 2
+    prims += [Prim("box", [arm_len, post, floor + h_wall], [ox / 2 + arm_len / 2, 0, (floor + h_wall) / 2]),
+              Prim("box", [post, post, post_h], [x_post, 0, post_h / 2])]
+    vol = sum(p.mesh().volume for p in prims)
+    a.add(Link("body", "托架（托盘 + 抓手柱）", "承托 SBS 板件；机器人抓柱搬运", "阳极氧化铝",
+               visual=[(trimesh.util.concatenate([p.mesh() for p in prims]), ALU)], collision=prims, mass_kg=vol * ALU_RHO, mass_evidence="assumption",
+               mass_note_zh=f"铝件体积 {vol*1e6:.0f} cm3 × 2700 kg/m3", material="aluminium", geometry_evidence="assumption",
+               geometry_note_zh="设计件：托盘内腔按 ANSI/SLAS 外形 + 0.5 mm 间隙"))
+    zg = 0.110
+    fr = top_down_frames(zg, post_h, post, yaw_free=False, xy=(x_post, 0.0), contact_z=(zg - 0.009, zg + 0.009),
+                         note_zh="抓手柱（30×30 mm），手指沿 Y 合拢；手掌在 TCP 上方 37 mm，高于满载吸头盒（102 mm）")
+    fr["plate_seat"] = frame([0, 0, floor], "base_link", rot=[0, 0, 0, 1], note_zh="SBS 板件底面中心放在这里（托盘内腔）")
+    a.labware = {"type_id": a.asset_type_id, "family": "carrier", "labware_class": "sbs_carrier", "fits": ["sbs_carrier"],
+                 "maker": "project design (closest real: Thermo Scientific 75006449)", "model": "SBS plate carrier with 30 mm handle post", "catalogue_no": None,
+                 "frames": fr, "pocket_m": [ix, iy], "seat_z_m": floor, "accepts": ["sbs_plate", "sbs_tiprack", "sbs_reservoir"],
+                 "franka_grasp_ok": True, "max_payload_height_m": 0.102,
+                 "usage_zh": "Franka 抓 grasp（柱）→ 托架连同板件一起移动；在仪器板位处由宿主/场景把板件从托架转到板位（touch + intent），或使用宽口板夹爪。"}
+    a.ports = [{"name": "plate_seat", "kind": "plate_slot", "part": "body", "position_m": [0.0, 0.0, floor], "insert_axis": [0.0, 0.0, -1.0],
+                "capture_m": 0.01, "radius_m": 0.06, "moves_with": "body", "fits": ["sbs"], "note_zh": "SBS 板件底面中心"}]
+    a.prop("body", "pocket_m", [ix, iy], "m", "托盘内腔（ANSI/SLAS 外形 + 0.5 mm）", "documented", ["ansi_slas_1_2004"])
+    a.prop("body", "handle_post_m", [post, post, post_h], "m", "抓手柱尺寸（设计）", "assumption", ["carrier_design"])
+    a.limitations_zh = ["设计件，不对应目录产品：托盘按 ANSI/SLAS 外形，抓手柱尺寸按 Franka 约束设计；最接近的实物（Thermo 75006449）是离心机用带提手托架。",
+                        "托架外缘比 SBS 外形大 4.5 mm/边，不能直接放进仪器的 SBS 板位：板件从托架到板位的转移由宿主（touch + intent）或宽口板夹爪完成。"]
+    return a
+
+
+BUILDERS = {
+    "corning_96_wellplate_360ul_flat": lambda: build_plate("corning_96_wellplate_360ul_flat", "corning_96_wellplate_360ul_flat",
+                                                           "Corning 96 孔平底板 360 µL", "ot_corning_96_flat", "plate", PS_CLEAR, PS),
+    "nest_96_wellplate_2ml_deep": lambda: build_plate("nest_96_wellplate_2ml_deep", "nest_96_wellplate_2ml_deep", "NEST 96 深孔板 2 mL",
+                                                      "ot_nest_96_deep", "deepwell", PP_NATURAL, PP),
+    "nest_12_reservoir_15ml": lambda: build_plate("nest_12_reservoir_15ml", "nest_12_reservoir_15ml", "NEST 12 槽储液槽 15 mL",
+                                                  "ot_nest_12_reservoir", "reservoir", PP_NATURAL, PP),
+    "opentrons_flex_tiprack_50ul": lambda: build_tiprack(50),
+    "opentrons_flex_tiprack_200ul": lambda: build_tiprack(200),
+    "opentrons_flex_tiprack_1000ul": lambda: build_tiprack(1000),
+    "sbs_plate_carrier": build_carrier,
+}
diff --git a/scripts/labware/sources.py b/scripts/labware/sources.py
new file mode 100644
index 0000000000000000000000000000000000000000..d4da042125300bcdf6f2120e07c1a9571cb0e06a
--- /dev/null
+++ b/scripts/labware/sources.py
@@ -0,0 +1,297 @@
+"""Sources for the labware and storage-furniture assets (assets/labware/).
+
+Every entry: kind (contract source kind), reference (URL / document), locator (page, table row, catalogue number), note
+(which values were taken), licence.  Vendor pages behind bot protection (dwk.com, sigmaaldrich, fishersci, analytics-shop ...)
+returned HTTP 403 to direct download on 2026-10-22; for those the values were read from the vendor / distributor listing as
+indexed by a web search on that date, and the note says so.  Dimensions are facts; no manual or catalogue text is copied.
+"""
+
+ACCESS = "accessed 2026-10-22"
+
+SOURCES = {
+    # ---------------------------------------------------------------- bottles, jars, vials, tubes
+    "duran_gl45_clear": {
+        "kind": "manufacturer",
+        "reference": "DWK Life Sciences, DURAN Original GL 45 laboratory bottle, clear (e.g. https://www.dwk.com/na/duran-original-gl-45-laboratory-bottle-clear-with-screw-cap-and-pouring-ring-pp-blue-1000-ml-218015455); dimension table also listed by Parkes Scientific (https://parkesscientific.com/p/duran-21801-original-laboratory-bottles-with-high-temperature-closures-red)",
+        "locator": "cat. 21801 24 5x (100 mL), 21801 36 5x (250 mL), 21801 44 5x (500 mL), 21801 54 5x (1000 mL), with screw cap + pouring ring PP blue; table columns capacity / thread / OD / height",
+        "note": "OD x height with cap and pouring ring: 100 mL 56 x 105 mm, 250 mL 70 x 143 mm, 500 mL 86 x 181 mm, 1000 mL 101 x 230 mm; the bottle-only versions are 5 mm lower (100/138/176/225 mm). Read from the vendor/distributor tables via web search, " + ACCESS + " (dwk.com 403 to direct download).",
+        "licence": "facts (catalogue dimensions)"},
+    "duran_gl45_amber": {
+        "kind": "manufacturer",
+        "reference": "DWK Life Sciences, DURAN GL 45 laboratory bottle, amber (e.g. Sigma-Aldrich DWK218062405, https://www.sigmaaldrich.com/US/en/product/sigma/dwk218062405)",
+        "locator": "cat. 21806 xx (amber series, same capacities as 21801)",
+        "note": "Amber series uses the same bottle geometry as the clear Original series (same capacity / thread / OD / height columns); colour from the amber glass. " + ACCESS + ".",
+        "licence": "facts"},
+    "gl45_thread": {
+        "kind": "publication",
+        "reference": "DIN 168-1 (knuckle threads for glass containers); GL 45 values as quoted from 'Guide to World Screw Threads' in https://www.practicalmachinist.com/forum/threads/gl-45-threads.264357/",
+        "locator": "GL 45: neck major diameter 45.00 mm, pitch 4 mm, thread depth 1.36 mm",
+        "note": "DIN 168-1 is paywalled; the secondary quotation is used for the neck major diameter (45 mm) and pitch (4 mm). " + ACCESS + ".",
+        "licence": "facts"},
+    "duran_gl45_cap": {
+        "kind": "manufacturer",
+        "reference": "DWK DURAN screw cap PP blue GL 45 (type K, DWK 293032803), distributor listing https://www.labfriend.com.au/dwk-duran-screw-caps-pp-blue-gl45-k",
+        "locator": "dimensions (O x H) 58 x 27 mm",
+        "note": "Blue PP GL 45 screw cap: 58 mm outside diameter, 27 mm high. " + ACCESS + ".",
+        "licence": "facts"},
+    "iso3585": {
+        "kind": "publication",
+        "reference": "ISO 3585:1998 Borosilicate glass 3.3 - Properties (DURAN is borosilicate glass 3.3)",
+        "locator": "Table 1: density 2.23 g/cm3",
+        "note": "Density of borosilicate glass 3.3 = 2230 kg/m3, used to compute empty glass masses from the modelled wall volume.",
+        "licence": "facts"},
+    "winchester_25l": {
+        "kind": "manufacturer",
+        "reference": "Philip Harris / Findel 'Winchester Bottle - Amber Glass - 2.5L', product FE00001092 (https://www.philipharris.co.uk/product/fe00001092)",
+        "locator": "product dimensions: 297 mm height x 132.9 mm width",
+        "note": "2.5 L amber glass Winchester solvent bottle; listing gives height 297 mm and width (= body diameter) 132.9 mm; narrow screw mouth with black plastic lined cap. " + ACCESS + ".",
+        "licence": "facts"},
+    "nalgene_wm_250": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 250 mL, cat. 312189-0008 (listing https://www.calpaclab.com/nalgene-312189-0008-8-ounce-250ml-wide-mouth-hdpe-bottles-nalgene/ng-312189-0008)",
+        "locator": "OD 61 mm, height 131 mm, neck ID 33 mm, closure 43-415",
+        "note": "Wide-mouth HDPE bottle with PP screw closure used as a powder jar. " + ACCESS + ".",
+        "licence": "facts"},
+    "nalgene_wm_1000": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 1000 mL, cat. 312189-0032 (https://www.thermofisher.com/order/catalog/product/312189-0032)",
+        "locator": "diameter 91 mm, height 199 mm, closure 63 mm",
+        "note": "Wide-mouth HDPE 1 L bottle with 63 mm PP closure used as a large powder jar. " + ACCESS + ".",
+        "licence": "facts"},
+    "nalgene_nm_500": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific Nalgene narrow-mouth HDPE lab quality bottle with closure 500 mL, cat. 2002-0016 (https://www.thermofisher.com/order/catalog/product/2002-0016)",
+        "locator": "diameter 73 mm, height 170 mm, inner neck 21 mm, 28 mm closure (PP)",
+        "note": "Narrow-mouth HDPE reagent bottle. " + ACCESS + ".",
+        "licence": "facts"},
+    "nalgene_nm_1000": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific Nalgene narrow-mouth natural HDPE packaging bottle with closure 1000 mL, cat. 312089-0032 (https://www.thermofisher.com/order/catalog/product/mx/en/312089-0032)",
+        "locator": "diameter 92 mm, height 217 mm, inner neck 27 mm, 38-430 closure",
+        "note": "Narrow-mouth HDPE 1 L reagent bottle. " + ACCESS + ".",
+        "licence": "facts"},
+    "nalgene_wm_500": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific Nalgene wide-mouth HDPE packaging bottle 500 mL, cat. 312189-0016 (https://www.thermofisher.com/order/catalog/product/312189-0016); economy version 2189-0016",
+        "locator": "diameter 73 mm, height 168 mm, inner neck 44 mm, 53-415 closure",
+        "note": "Wide-mouth HDPE jar for ~500 g of a solid reagent. " + ACCESS + ".",
+        "licence": "facts"},
+    "rama_10l_cylinder": {
+        "kind": "manufacturer",
+        "reference": "PWENT / Rama Cylinders steel gas cylinder 10 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/product_tag/10-liter/)",
+        "locator": "10 L / 200 bar / 140 mm diameter / 850 mm length / 14.9 kg",
+        "note": "Small lab gas cylinder. " + ACCESS + ".",
+        "licence": "facts"},
+    "agilent_5182_0715": {
+        "kind": "manufacturer",
+        "reference": "Agilent 5182-0715 screw top vial, 2 mL, clear (https://www.agilent.com/store/en/Prod-5182-0715/5182-0715)",
+        "locator": "vial size 12 x 32 mm, 12 mm cap (9 mm thread)",
+        "note": "Standard 2 mL autosampler screw vial. " + ACCESS + ".",
+        "licence": "facts"},
+    "agilent_5188_2753": {
+        "kind": "manufacturer",
+        "reference": "Agilent 5188-2753 headspace vial, screw top, 20 mL (https://www.agilent.com/store/es_ES/Prod-5188-2753/5188-2753); also Crawford Scientific listing",
+        "locator": "vial size 22.75 x 75 mm, 18 mm screw cap, round bottom",
+        "note": "20 mL screw-top headspace vial (fits the HS 8697 headspace sampler). " + ACCESS + ".",
+        "licence": "facts"},
+    "falcon_352096": {
+        "kind": "manufacturer",
+        "reference": "Corning Falcon 352096 15 mL PP conical centrifuge tube (Corning page for the racked version 352097: https://ecatalog.corning.com/life-sciences/b2b/SE/en/p/352097)",
+        "locator": "approx. 17 mm O.D. x 120 mm length",
+        "note": "15 mL conical tube with PE flat-top screw cap. " + ACCESS + ".",
+        "licence": "facts"},
+    "falcon_352070": {
+        "kind": "manufacturer",
+        "reference": "Corning Falcon 352070 50 mL PP conical centrifuge tube (listing https://www.capitolscientific.com/Falcon-a-Corning-Brand-352070-Falcon-a-Corning-Brand-352070-High-Clarity-50mL-Polypropylene-Co)",
+        "locator": "approx. 30 mm O.D. x 115 mm length",
+        "note": "50 mL conical tube with screw cap. " + ACCESS + ".",
+        "licence": "facts"},
+    "eppendorf_safelock_15": {
+        "kind": "manufacturer",
+        "reference": "Eppendorf Tubes Snap Cap - Technical Data Sheet (document 0012 595 671-00/2026-03), https://www.eppendorf.com/product-media/doc/en/17238493/Consumables_Technical-data_Eppendorf-Tubes-snap-caps.pdf",
+        "locator": "p. 6 'Safe-Lock Tubes 1.5 mL' drawing: length 38.9 mm (37.8 inner), OD 10.8 mm (top 20 mm), cone OD 10.7 -> tip, rim 2 mm, lid span 37.2 mm, closed approx. 41 mm high / 20 mm wide, lid opens to 90 deg (approx. 59 mm high)",
+        "note": "Safe-Lock 1.5 mL tube (cat. 0030120086, PP); values read from the data-sheet drawing.",
+        "licence": "facts (drawing dimensions only; no figure copied)"},
+    "pp_hdpe_density": {
+        "kind": "assumption",
+        "reference": "typical resin densities: PP 900 kg/m3, HDPE 950 kg/m3, PS 1050 kg/m3, PE 950 kg/m3",
+        "locator": "engineering value",
+        "note": "Used only to compute the mass of plastic parts from their modelled volume; the grade-to-grade spread is about +/-2 %.",
+        "licence": "n/a"},
+    "wall_assumption": {
+        "kind": "assumption",
+        "reference": "wall and bottom thicknesses of containers / caps",
+        "locator": "engineering value",
+        "note": "Manufacturers do not publish wall thicknesses; glass bottles 2.5 mm wall / 4 mm bottom, plastic tubes 0.8-1.0 mm, caps 2-3 mm, chosen from typical pressed-glass and moulded-PP practice. They set the empty mass and the interior volume (the computed brim volume is checked against the nominal capacity).",
+        "licence": "n/a"},
+    "neck_profile_estimate": {
+        "kind": "photo",
+        "reference": "product photographs of the same catalogue items (vendor pages)",
+        "locator": "shoulder / neck / collar proportions",
+        "note": "Shoulder height, collar and thread-zone heights are estimated from product photos and scaled to the documented OD / height; the documented values (OD, height, thread) are kept exactly.",
+        "licence": "n/a"},
+    "closure_turns": {
+        "kind": "assumption",
+        "reference": "screw-cap release angle",
+        "locator": "engineering value",
+        "note": "Turns until a screw cap is free: GL 45 1.25 turns (pitch 4 mm, ~5 mm engagement), SPI 400-type finishes 1 turn, 415-type 2 turns, vial and tube caps 1-1.5 turns. No manufacturer publishes these; the detach rule only needs a threshold.",
+        "licence": "n/a"},
+    # ---------------------------------------------------------------- SBS / Opentrons
+    "ansi_slas_1_2004": {
+        "kind": "publication",
+        "reference": "ANSI/SLAS 1-2004 Microplates - Footprint Dimensions (and ANSI/SLAS 4-2004 Well Positions)",
+        "locator": "outside footprint 127.76 x 85.48 mm; well A1 at 14.38 / 11.24 mm, 9 mm pitch",
+        "note": "Microplate footprint used for the plates, tip racks, reservoir and the plate carrier pocket.",
+        "licence": "facts"},
+    "ot_corning_96_flat": {
+        "kind": "code",
+        "reference": "Opentrons labware definition corning_96_wellplate_360ul_flat v1 (shared-data/labware/definitions/2/corning_96_wellplate_360ul_flat/1.json, Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "dimensions 127.76 x 85.47 x 14.22 mm; wells circular d 6.86 mm, depth 10.67 mm, bottom z 3.55 mm, 360 uL; A1 x 14.38 y 74.24; brandId Corning 3650/3590/...",
+        "note": "Corning 96-well flat-bottom plate (e.g. Corning 3590), as used by the default Flex deck in chemlab.",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "ot_nest_96_deep": {
+        "kind": "code",
+        "reference": "Opentrons labware definition nest_96_wellplate_2ml_deep v1 (Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "127.6 x 85.3 x 41 mm; square wells 8.2 x 8.2 mm, depth 38 mm, bottom z 3 mm, 2000 uL; NEST 503001/503501",
+        "note": "NEST 96 deep-well plate 2 mL.",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "ot_flex_tiprack_50": {
+        "kind": "code",
+        "reference": "Opentrons labware definition opentrons_flex_96_tiprack_50ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "127.75 x 85.75 x 99 mm; tip length 57.9 mm, overlap 10.5 mm; wells d 5.58 mm from z 1.5 mm; gripHeightFromLabwareBottom 23.9 mm, gripForce 16 N",
+        "note": "Opentrons Flex 96 tip rack 50 uL (tips included).",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "ot_flex_tiprack_200": {
+        "kind": "code",
+        "reference": "Opentrons labware definition opentrons_flex_96_tiprack_200ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "127.75 x 85.75 x 99 mm; tip length 58.35 mm; wells d 5.59 mm; grip height 23.9 mm",
+        "note": "Opentrons Flex 96 tip rack 200 uL (tips included).",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "ot_flex_tiprack_1000": {
+        "kind": "code",
+        "reference": "Opentrons labware definition opentrons_flex_96_tiprack_1000ul v1 (Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "127.75 x 85.75 x 99 mm; tip length 95.6 mm; wells d 5.47 mm; grip height 23.9 mm",
+        "note": "Opentrons Flex 96 tip rack 1000 uL (tips included).",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "ot_nest_12_reservoir": {
+        "kind": "code",
+        "reference": "Opentrons labware definition nest_12_reservoir_15ml v1 (Apache-2.0); local copy references/labware/opentrons/",
+        "locator": "127.76 x 85.48 x 31.4 mm; 12 troughs 8.2 x 71.2 mm, depth 26.85 mm, bottom z 4.55 mm, 15 mL; NEST 360102",
+        "note": "NEST 12-well reservoir 15 mL, as used by the default Flex deck in chemlab.",
+        "licence": "Apache-2.0 (Opentrons)"},
+    "thermo_75006449": {
+        "kind": "manufacturer",
+        "reference": "Thermo Scientific microtitre (microplate) carrier 75006449 with metal handle (listing https://www.djblabcare.co.uk/djb/product/203/Accessories-75006449-Microtitre_carrier_for_4_microtitre_plates)",
+        "locator": "carrier for microplates with a carrying handle (centrifuge accessory)",
+        "note": "Closest real product found to a handled SBS carrier; no catalogue carrier with a robot handle <= 74 mm was found, so the plate carrier is a design on the ANSI/SLAS footprint (see limitations).",
+        "licence": "facts"},
+    "plate_ps_mass": {
+        "kind": "assumption",
+        "reference": "mass of SBS polystyrene / polypropylene labware",
+        "locator": "engineering value",
+        "note": "Empty masses of plates, tip racks and the reservoir are computed from the modelled solid volume x resin density; no vendor publishes them.",
+        "licence": "n/a"},
+    # ---------------------------------------------------------------- tools
+    "globe_3620": {
+        "kind": "manufacturer",
+        "reference": "Globe Scientific 3620 antistatic square polystyrene weighing dish (listing https://www.calpaclab.com/weighing-boat-plastic-square-antistatic-41x41x8mm-polystyrene-white-20ml/gsci-3620); same size as Heathrow HS1421A / Sigma Z708542",
+        "locator": "41 x 41 x 8 mm, 20 mL, PS, antistatic",
+        "note": "Small square weighing boat. " + ACCESS + ".",
+        "licence": "facts"},
+    "bochem_3340": {
+        "kind": "manufacturer",
+        "reference": "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm (Fisher UK listing https://fishersci.co.uk/shop/products/18-10-stainless-steel-micro-spoon-spatulas-6/p-8000566)",
+        "locator": "length 150 mm, spoon 9 mm, blade 40 mm (blade width 5 mm)",
+        "note": "Double-ended micro spoon spatula for powders. " + ACCESS + ".",
+        "licence": "facts"},
+    # ---------------------------------------------------------------- gas
+    "rama_50l_cylinder": {
+        "kind": "manufacturer",
+        "reference": "PWENT / Rama Cylinders steel seamless gas cylinder 50 L, 200 bar, ISO 9809-1 (https://pwent.eu/en/products/products/gas-cylinder-products-high-pressure-low-pressure/steel-50-liter-gas-cylinder-seaproof-200-bar-european-producer/); cross-check Unique Group 50 L 229 x 1460 mm",
+        "locator": "50 L / 200 bar working pressure / 229 mm diameter / 1500 mm length / 54 kg",
+        "note": "Typical European 50 L industrial / lab gas cylinder; the listing does not say whether 54 kg is tare - used as the empty mass. " + ACCESS + ".",
+        "licence": "facts"},
+    "linde_c200_2": {
+        "kind": "manufacturer",
+        "reference": "Linde REDLINE C 200/2 two-stage cylinder pressure regulator, data sheet (https://static.prd.echannel.linde.com/wcsstore/DK_REN_Industrial_Gas_Store/pdf/Linde%20REN%20data%20sheet%20REDLINE%20C%20200-2%20v1_tcm575-547262.pdf)",
+        "locator": "p.1 article table (e.g. Art. 4461 chrome-plated brass 1-10 bar); p.3 technical data (max primary 230 bar, DIN 477 inlet, 6 mm compression outlet, weight 3.33 kg max.); p.4 drawing approx. 178 x 150 mm",
+        "note": "Regulator mounted on the 50 L cylinder.",
+        "licence": "facts"},
+    # ---------------------------------------------------------------- furniture
+    "asecos_q90_195_120": {
+        "kind": "manufacturer",
+        "reference": "asecos safety storage cabinet Q-CLASSIC-90, model Q90.195.120, product data sheet ID 34192-041 (https://asecos-configurator.com/EN/DE/asecos/download/DAT_EXT_34192041-product-data-sheet_IN.pdf); 3-shelf version listed by LabFriend (https://www.labfriend.com.my/asecos-q-classic-90-safety-storage-cabinet-1200x615x1955mm-3-shelves)",
+        "locator": "data sheet p.1: external 1193 x 615 x 1953 mm, internal 1050 x 522 x 1647 mm, 460 kg, 2 wing doors, opening angle 89.5 deg, depth with open doors 1165 mm, interior grid 32 mm, transport base 90 mm, RAL 7016 body / RAL 7035 doors; p.2 drawing (door leaves); listing: 3 height-adjustable shelves (75 kg each) + bottom collecting sump",
+        "note": "EN 14470-1 type 90 cabinet for flammable liquids.",
+        "licence": "facts"},
+    "asecos_sl_196_120": {
+        "kind": "manufacturer",
+        "reference": "asecos cabinet for acids and alkalis SL-CLASSIC, model SL.196.120.MV, product data sheet ID 30606-005 (https://www.asecos-configurator.com/EN/IT/download/DAT_EXT_30606005-product-data-sheet_IN.pdf); pull-out trays per Fisher Scientific listing 15231035",
+        "locator": "p.1: external 1197 x 603 x 1965 mm, internal (per compartment) 485 x 570 x 1869 mm, 215 kg, 2 doors, depth with open doors 1153 mm, two hermetically separated compartments (acids / bases), laboratory white",
+        "note": "Non-flammable acids and bases in separate compartments.",
+        "licence": "facts"},
+    "asecos_cs_195_105": {
+        "kind": "manufacturer",
+        "reference": "asecos chemical cabinet CS-CLASSIC, model CS.195.105 (Fisher Scientific listing 15995516, https://www.fishersci.pt/shop/products/cabinet-chemicals-cs-classic-right-hinged-14/15995516; dicsa listing CS.195.105)",
+        "locator": "external 1055 x 520 x 1950 mm; internal width 996 mm, internal height 1835 mm; lockable; for non-flammable chemicals and toxic substances",
+        "note": "Used for the ventilated, lockable toxics cabinet (variant of the corrosive cabinet family). Internal depth not listed: assumed 470 mm (external 520 minus walls). " + ACCESS + ".",
+        "licence": "facts"},
+    "liebherr_lkv3910": {
+        "kind": "manufacturer",
+        "reference": "Liebherr laboratory refrigerator LKv 3910 MediLine (Reagecon listing https://www.reagecon.com/zh-cn/liebherr-laboratory-refrigerator-lkv-3910-3-16-c-9698683; Remma https://remma.fr/en/model/laboratory-refrigerator-mediline-lkv-3910)",
+        "locator": "external 597 x 615 x 1840 mm, internal 440 x 435 x 1635 mm, 360 L gross, +3...+16 C, 5 height-adjustable shelves (45 kg each), spark-free interior",
+        "note": "Lab refrigerator for the 2-8 C store. " + ACCESS + ".",
+        "licence": "facts"},
+    "duran_desiccator_250": {
+        "kind": "manufacturer",
+        "reference": "DWK DURAN desiccator with knobbed lid, DN 250, cat. 247816604 = bottom 247706605 + lid 244106608 (https://www.dwk.com/duran-desiccator-with-knobbed-lid; faust.ch article 247816604); porcelain plate DN 250 DU297256609",
+        "locator": "DN 250: flange inner 274 mm, flange outer 320 +/- 2 mm, height (complete) 357 mm; knob lid height 122 mm",
+        "note": "Glass desiccator for hygroscopic solids and check standards. Plate diameter not listed: 235 mm assumed (fits the DN 250 bottom). " + ACCESS + ".",
+        "licence": "facts"},
+    "denios_wh230_s2": {
+        "kind": "manufacturer",
+        "reference": "DENIOS gas cylinder wall bracket in steel, model WH 230-S2, item 115878W (https://denios.co.uk/steel-gas-cylinder-mounting-support-model-wh-230-s2-2-cylinders-115878/Gas Cylinder Handling)",
+        "locator": "for 2 cylinders max. O 230 mm, external 560 x 175 x 60 mm, 3 kg, galvanised, securing chain",
+        "note": "Four brackets side by side hold the 8 cylinder positions of the default lab. " + ACCESS + ".",
+        "licence": "facts"},
+    "trippnt_step_shelf": {
+        "kind": "manufacturer",
+        "reference": "TrippNT bottomless PVC step shelf 24 in, Weber Scientific TNT24W10-8 (https://weberscientific.com/step-shelves-workstation), Avantor 11376-388 / supplier no. 50123 (https://avantorsciences.com/ca/en/product/10053831/step-shelf-pvc-trippnt)",
+        "locator": "24 in (610 mm) wide, 10 in (254 mm) high, 9 in (229 mm) deep; 1 in (25 mm) safety lip; chemically resistant PVC; for reagent bottles",
+        "note": "Closest real bench step shelf. Our asset adds a matching low front tray so both tiers belong to one asset (the product is a single bottomless step standing on the bench); see limitations. " + ACCESS + ".",
+        "licence": "facts"},
+    "asecos_g90_205_140": {
+        "kind": "manufacturer",
+        "reference": "asecos gas cylinder cabinet G-ULTIMATE-90, model G90.205.140 (ID 30641-001-30642), listings Fisher Scientific 15185564 (https://fishersci.dk/shop/products/g-ultimate-90-gas-cylinders-storage-cabinet/15185564) and LabFriend (https://www.labfriend.com.my/asecos-gas-cylinder-cabinet-g-ultimate-90-wd)",
+        "locator": "external 1398 x 615 x 2050 mm, internal 1245 x 400 x 1858 mm, 4 x 50 L or 8 x 10 L cylinders, 707.5 kg (another listing 690 kg), EN 14470-2 type G90, two wing doors",
+        "note": "Ventilated fire-resistant cabinet for flammable gas cylinders. " + ACCESS + ".",
+        "licence": "facts"},
+    "liebherr_lguex1500": {
+        "kind": "manufacturer",
+        "reference": "Liebherr MediLine LGUex 1500 laboratory freezer (listings https://ssllc.com/product/Liebherr-mediline-A135965, https://sydneycommercialkitchens.com.au/catering-equipment/freezers-medical/Liebherr)",
+        "locator": "external 600 x 615 x 820 mm, 129 L, 3 drawers + basket, down to -26 C, explosion-protected interior",
+        "note": "Under-bench lab freezer for the -20 C store. " + ACCESS + ".",
+        "licence": "facts"},
+    "metro_super_erecta": {
+        "kind": "manufacturer",
+        "reference": "Metro Super Erecta chrome wire shelving: shelf 1848NC (48 x 18 in) and posts 74P (74 in); listing https://www.katom.com/index.php/001-1848NC.html",
+        "locator": "shelf 48 in L x 18 in W (1219 x 457 mm), post 74 in (1880 mm), 4-shelf unit",
+        "note": "Open room reagent rack (out of the fixed arm's reach). " + ACCESS + ".",
+        "licence": "facts"},
+    "inventory_places": {
+        "kind": "code",
+        "reference": "Chemistry-Sim chemlab/chemlab/inventory.py PLACES (the default-lab inventory, 2026-10-22)",
+        "locator": "place ids and position names (S<shelf>-<nn>, T<tier>-<nn>, P1-<nn>, C<n>)",
+        "note": "Slot counts and position names follow the default-lab inventory's storage-place list.",
+        "licence": "project"},
+    "robot_access": {
+        "kind": "code",
+        "reference": "robot-access constraints of the Franka arm set-up for the storage tasks, 2026-10-22",
+        "locator": "Franka gripper <= 80 mm open (grasp zones <= 74 mm), hand collision 37 mm above TCP, top-down access, bench-shelf pitch >= 11 cm and >= 25 cm free above bottle tops",
+        "note": "Used to place grasp frames and the bench-shelf slot layout.",
+        "licence": "project"},
+}
+
+
+def pick(*ids: str) -> dict:
+    return {i: SOURCES[i] for i in ids}
diff --git a/scripts/labware/tools.py b/scripts/labware/tools.py
new file mode 100644
index 0000000000000000000000000000000000000000..e9f39815c3755be1397e32b5eb3dd2860abe61a0
--- /dev/null
+++ b/scripts/labware/tools.py
@@ -0,0 +1,189 @@
+"""Powder tools and the gas cylinder: Globe Scientific 3620 weighing boat, Bochem 3340 micro spoon spatula, 50 L / 200 bar steel
+cylinder (Rama / PWENT, ISO 9809-1) with a DIN 477 valve and a Linde REDLINE C 200/2 two-stage regulator."""
+from __future__ import annotations
+
+import math
+
+import numpy as np
+import trimesh
+
+from labware_kit import FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, LabwareAsset, Link, Prim, frame, revolve, top_down_frames
+from sources import pick
+
+PS = 1050.0
+STEEL18_10 = 7900.0
+STEEL = 7850.0
+BRASS = 8500.0
+WHITE_PS = (0.97, 0.97, 0.97, 1.0)
+STAINLESS = (0.78, 0.79, 0.81, 1.0)
+CYL_GREY = (0.45, 0.47, 0.50, 1.0)
+BRASS_C = (0.78, 0.65, 0.32, 1.0)
+CHROME = (0.82, 0.83, 0.85, 1.0)
+KNOB_BLACK = (0.10, 0.10, 0.10, 1.0)
+
+
+def build_weighing_boat() -> LabwareAsset:
+    src = pick("globe_3620", "pp_hdpe_density", "robot_access")
+    src["boat_assumption"] = {"kind": "assumption", "reference": "weighing boat floor size and wall thickness", "locator": "engineering value",
+                              "note": "Floor 31 x 31 mm (walls taper from the 41 x 41 mm rim over 8 mm), PS sheet 0.5 mm visual / 1.2 mm collision; mass from the sheet volume x 1050 kg/m3.",
+                              "licence": "n/a"}
+    a = LabwareAsset("globe_weighing_boat_3620", "labware.globe_weighing_boat_3620", "Globe Scientific 3620 防静电方形称量舟（41×41×8 mm，PS）",
+                     "Globe Scientific 3620 antistatic square weighing boat 41 x 41 x 8 mm", "tools", "labware.tool.weighing_boat", "passive",
+                     description_zh="小号防静电聚苯乙烯方形称量舟 Globe Scientific 3620（与 Heathrow HS1421A / Sigma Z708542 同尺寸）：口部 41×41 mm、深 8 mm，目录标称 20 mL。", sources=src)
+    top, bot, h = 0.041, 0.031, 0.008
+    tv, tc = 0.0005, 0.0012
+    prims_v, prims_c = [Prim("box", [bot, bot, tv], [0, 0, tv / 2])], [Prim("box", [bot, bot, tc], [0, 0, tc / 2])]
+    slope = math.atan2((top - bot) / 2, h)
+    L = math.hypot((top - bot) / 2, h)
+    rm = (top + bot) / 4
+    for k in range(4):
+        yaw = k * math.pi / 2
+        for lst, t in ((prims_v, tv), (prims_c, tc)):
+            rc, zc = rm - t / 2 * math.cos(slope), h / 2 + t / 2 * math.sin(slope)    # outer face through (bot/2, 0)-(top/2, h)
+            lst.append(Prim("box", [t, top - 2 * t, L], [rc * math.cos(yaw), rc * math.sin(yaw), zc], [0.0, slope, yaw]))
+    vis = trimesh.util.concatenate([p.mesh() for p in prims_v])
+    vol = sum(p.mesh().volume for p in prims_v)
+    a.add(Link("body", "称量舟", "称量粉末；放在天平秤盘上", "PS 薄片方舟（防静电）", visual=[(vis, WHITE_PS)], collision=prims_c, mass_kg=vol * PS,
+               mass_evidence="assumption", mass_note_zh=f"0.5 mm PS 片体积 × {PS:.0f} kg/m3", material="ps", geometry_evidence="documented",
+               geometry_note_zh="口部 41×41 mm、深 8 mm 按目录；底面 31×31 mm 与壁厚为假设"))
+    cap = h / 3 * (top * top + bot * bot + top * bot)
+    zg = h - 0.003
+    fr = top_down_frames(zg, h, top, yaw_free=False, contact_z=(0.0, h),
+                         note_zh="俯抓两侧壁（41 mm），手指沿 Y 合拢；装粉后保持水平")
+    a.labware = {"type_id": a.asset_type_id, "family": "weighing_boat", "labware_class": "weighing_boat", "fits": ["weighing_boat", "balance_pan"],
+                 "maker": "Globe Scientific", "model": "Weighing boat, square, antistatic PS, 41 x 41 x 8 mm, 20 mL", "catalogue_no": "3620",
+                 "nominal_capacity_m3": round(cap, 9), "catalogue_capacity_label_m3": 2.0e-5, "brim_capacity_m3": round(cap, 9),
+                 "nominal_capacity_evidence": "computed from the documented rim size and depth (the catalogue label says 20 mL, more than the 13.4 mL of a 41 x 41 x 8 mm box: label kept separately)",
+                 "interior": {"shape": "frustum_square", "top_m": top, "bottom_m": bot, "floor_m": tv, "height_m": h, "radius_m": bot / 2},
+                 "frames": fr, "empty_mass_kg": round(vol * PS, 6), "franka_grasp_ok": True, "stands_upright": True,
+                 "powder_note_zh": "粉末量由宿主账本记录；称量舟放在天平秤盘（SPX2201 敞开秤盘）上读数"}
+    a.prop("body", "rim_size_m", [top, top], "m", "口部尺寸", "documented", ["globe_3620"])
+    a.prop("body", "depth_m", h, "m", "深度", "documented", ["globe_3620"])
+    a.prop("body", "catalogue_capacity_m3", 2.0e-5, "m3", "目录标称容量 20 mL（大于几何容积，作标签保留）", "documented", ["globe_3620"])
+    a.contract_ports = {"tray": {"component_id": "body", "medium": "mechanical", "direction": "bidirectional", "frame": "frame:grasp",
+                                 "meaning_zh": "舟内放粉末/固体", "connection_constraints": ["加入/倒出属于机器人技能（药匙）与宿主记账"]}}
+    a.limitations_zh = ["口部尺寸与深度按目录；底面尺寸与壁厚为假设；碰撞壁加厚到 1.2 mm 便于物理稳定。", "粉末不生成粒子，只记账。"]
+    return a
+
+
+def build_spatula() -> LabwareAsset:
+    src = pick("bochem_3340", "robot_access")
+    src["spatula_assumption"] = {"kind": "assumption", "reference": "spatula rod diameter, spoon depth, blade thickness", "locator": "engineering value",
+                                 "note": "Rod O3.5 mm, spoon bowl O9 x 2.5 mm deep, flat blade 40 x 5 x 0.8 mm; 18/10 stainless 7900 kg/m3.", "licence": "n/a"}
+    a = LabwareAsset("bochem_spatula_3340", "labware.bochem_spatula_3340", "Bochem 3340 微量药匙（18/10 不锈钢，150 mm，Ø9 mm 匙头 + 平铲）",
+                     "Bochem 3340 micro spoon spatula, 18/10 stainless steel, 150 mm", "tools", "labware.tool.spatula", "tool",
+                     description_zh="双头微量药匙 Bochem 3340：总长 150 mm、Ø9 mm 匙头、40 mm 平铲；平放在台面上（沿 X 轴）。", sources=src)
+    r_rod = 0.00175
+    rod = Prim("cylinder", [r_rod, 0.090], [-0.010, 0, r_rod], [0, math.pi / 2, 0])
+    blade = Prim("box", [0.040, 0.005, 0.0008], [0.055, 0, 0.0004])
+    neck = Prim("box", [0.006, 0.0035, 0.0012], [0.036, 0, 0.0006 + 0.0004])
+    bowl_r, bowl_d = 0.0045, 0.0025
+    prof = [(0.0, 0.0)] + [(bowl_r * math.sin(t), bowl_d * (1 - math.cos(t))) for t in np.linspace(0.15, math.pi / 2, 8)] + [(0.0, bowl_d)]
+    bowl = revolve(prof, sections=24)                                 # solid half-ellipsoid spoon bowl, flat side up
+    bowl.apply_translation([-0.0705, 0, 0])
+    vis = trimesh.util.concatenate([rod.mesh(), blade.mesh(), neck.mesh(), bowl])
+    col = [rod, blade, neck, Prim("cylinder", [bowl_r, bowl_d], [-0.0705, 0, bowl_d / 2])]
+    vol = rod.mesh().volume + blade.mesh().volume + neck.mesh().volume + abs(bowl.volume) * 0.35
+    a.add(Link("body", "药匙", "取粉末/固体（匙头）或刮平（平铲）", "18/10 不锈钢", visual=[(vis, STAINLESS)], collision=col, mass_kg=vol * STEEL18_10,
+               mass_evidence="assumption", mass_note_zh="钢件体积 × 7900 kg/m3（匙头按 35 % 实心）", material="stainless_18_10", geometry_evidence="documented",
+               geometry_note_zh="总长 150、匙头 Ø9、平铲 40×5 mm 按目录；杆径与厚度为假设"))
+    bowl_vol = (2.0 / 3.0) * math.pi * bowl_r * bowl_r * bowl_d
+    fr = top_down_frames(r_rod, 2 * r_rod, 2 * r_rod, yaw_free=False, xy=(-0.010, 0.0), contact_z=(0.0, 2 * r_rod),
+                         note_zh="俯抓杆中部（Ø3.5 mm），手指沿 Y 合拢；平放时 TCP 贴近台面")
+    fr["spoon"] = frame([-0.0705, 0, bowl_d], "base_link", rot=[0, 0, 0, 1], note_zh="匙头中心（取粉点）")
+    fr["blade_tip"] = frame([0.075, 0, 0.0004], "base_link", rot=[0, 0, 0, 1], note_zh="平铲端")
+    a.labware = {"type_id": a.asset_type_id, "family": "spatula", "labware_class": "spatula", "fits": ["spatula", "tool_holder"],
+                 "maker": "Bochem", "model": "Micro spoon spatula, 18/10 stainless steel, 150 mm (spoon O9 mm, blade 40 mm)", "catalogue_no": "3340",
+                 "spoon_capacity_level_m3": round(bowl_vol, 10), "spoon_capacity_heaped_m3": round(bowl_vol * 1.6, 10),
+                 "frames": fr, "empty_mass_kg": round(vol * STEEL18_10, 5), "franka_grasp_ok": True, "stands_upright": False,
+                 "powder_note_zh": "一匙平/堆取量 ≈ spoon_capacity × 粉末堆密度；转移量由宿主账本记录（powder handling）"}
+    a.prop("body", "length_m", 0.150, "m", "总长", "documented", ["bochem_3340"])
+    a.prop("body", "spoon_diameter_m", 0.009, "m", "匙头直径", "documented", ["bochem_3340"])
+    a.prop("body", "blade_length_m", 0.040, "m", "平铲长", "documented", ["bochem_3340"])
+    a.prop("body", "rod_diameter_m", 2 * r_rod, "m", "杆径", "assumption", ["spatula_assumption"])
+    a.limitations_zh = ["总长、匙头直径、平铲长度按目录；杆径、匙深、厚度为假设。", "取粉量按匙头容积 × 堆密度由宿主计算，不模拟颗粒。"]
+    return a
+
+
+def build_gas_cylinder(size: str = "50l") -> LabwareAsset:
+    big = size == "50l"
+    src = pick("rama_50l_cylinder" if big else "rama_10l_cylinder", "linde_c200_2", "inventory_places")
+    src["cylinder_assumption"] = {"kind": "assumption", "reference": "cylinder shoulder/foot profile, DIN 477 valve and handwheel, regulator body",
+                                  "locator": "engineering value",
+                                  "note": "Shoulder from z 1.32 m to the neck at 1.50 m; brass valve 50 x 50 x 95 mm with O60 mm handwheel (2 turns from closed to open) and a side outlet to the regulator; regulator body O62 x 50 mm with two O50 gauges and an O45 adjusting knob (5 turns over its outlet range) laid out to the 178 x 150 mm drawing; valve mass 1.2 kg.",
+                                  "licence": "n/a"}
+    cyl_src = "rama_50l_cylinder" if big else "rama_10l_cylinder"
+    R, L, M, V = (0.1145, 1.50, 54.0, 0.050) if big else (0.070, 0.85, 14.9, 0.010)
+    tag = "50l" if big else "10l"
+    a = LabwareAsset(f"gas_cylinder_{tag}_200bar", f"labware.gas_cylinder_{tag}_200bar",
+                     f"{V*1000:.0f} L / 200 bar 钢瓶（Ø{2*R*1000:.0f}×{L*1000:.0f} mm，DIN 477 瓶阀 + Linde C 200/2 两级减压器）",
+                     f"Steel gas cylinder {V*1000:.0f} L 200 bar with DIN 477 valve and Linde REDLINE C 200/2 regulator", "containers", "labware.container.gas_cylinder", "passive",
+                     description_zh=f"欧洲常用 {V*1000:.0f} L、200 bar 无缝钢瓶（Rama / PWENT，ISO 9809-1）：直径 {2*R*1000:.0f} mm、长 {L*1000:.0f} mm、约 {M} kg；装 DIN 477 瓶阀与 Linde REDLINE C 200/2 两级减压器（3.33 kg）。"
+                                    "放在 cylinder_rack（DENIOS 气瓶架）上；气体量由宿主账本记录（清单的默认气源）。", sources=src)
+    k = R / 0.1145                                                       # shoulder profile scaled from the 50 L shape
+    prof = [(0.0, 0.0), (R - 0.0145 * k, 0.0), (R - 0.0045 * k, 0.004), (R, 0.020), (R, L - 0.18 * k), (0.105 * k, L - 0.12 * k), (0.085 * k, L - 0.07 * k),
+            (0.055 * k, L - 0.03 * k), (max(0.030 * k, 0.027), L - 0.01), (0.026, L), (0.0, L)]
+    shell = revolve(prof, sections=64)
+    a.add(Link("body", "钢瓶", "储存压缩气体（200 bar）", "无缝钢瓶（ISO 9809-1）",
+               visual=[(shell, CYL_GREY)], collision=[Prim("cylinder", [R, L - 0.14 * k], [0, 0, (L - 0.14 * k) / 2]), Prim("cylinder", [0.075 * k, 0.14 * k], [0, 0, L - 0.07 * k])],
+               mass_kg=M, mass_evidence="documented", mass_note_zh=f"目录 {M} kg（未注明是否含阀；按空瓶质量）", material="steel",
+               geometry_evidence="documented", geometry_note_zh=f"直径 {2*R*1000:.0f}、长 {L*1000:.0f} mm 按目录；肩部轮廓为假设"))
+    a.properties["_mass_sources"] = {"body": [cyl_src]}
+    valve_prims = [Prim("box", [0.050, 0.050, 0.095], [0, 0, 0.0475]), Prim("cylinder", [0.010, 0.040], [0, -0.045, 0.055], [math.pi / 2, 0, 0])]
+    a.add(Link("valve", "DIN 477 瓶阀", "开关钢瓶；侧出口接减压器", "黄铜阀体", parent="body", origin_m=[0, 0, L],
+               visual=[(trimesh.util.concatenate([p.mesh() for p in valve_prims]), BRASS_C)], collision=valve_prims, mass_kg=1.2,
+               mass_evidence="assumption", mass_note_zh="黄铜阀 1.2 kg（假设）", material="brass", geometry_evidence="assumption"))
+    hw = [Prim("cylinder", [0.030, 0.012], [0, 0, 0.006]), Prim("cylinder", [0.008, 0.012], [0, 0, -0.006])]
+    a.add(Link("handwheel", "瓶阀手轮", "逆时针（俯视）开阀", "手轮；转角对应阀开度（宿主记录）", parent="valve", origin_m=[0, 0, 0.107],
+               joint={"type": "revolute", "axis": [0, 0, 1], "limits": [0.0, round(4 * math.pi, 6)], "evidence": "assumption", "source_ids": ["cylinder_assumption"],
+                      "note_zh": "正方向 = 俯视逆时针 = 开阀；0 = 关，2 圈 = 全开"},
+               visual=[(trimesh.util.concatenate([p.mesh() for p in hw]), KNOB_BLACK)], collision=hw, mass_kg=0.12, mass_evidence="assumption",
+               mass_note_zh="手轮 0.12 kg（假设）", material="pa", geometry_evidence="assumption"))
+    reg = [Prim("cylinder", [0.031, 0.050], [0, 0, 0], [math.pi / 2, 0, 0]),
+           Prim("cylinder", [0.025, 0.030], [-0.040, 0, 0.055], [math.pi / 2, 0, 0]), Prim("cylinder", [0.025, 0.030], [0.040, 0, 0.055], [math.pi / 2, 0, 0]),
+           Prim("box", [0.060, 0.016, 0.016], [-0.060, 0, 0]), Prim("box", [0.070, 0.016, 0.016], [0.065, 0, 0])]
+    a.add(Link("regulator", "Linde REDLINE C 200/2 两级减压器", "把 200 bar 降到工作压力（1–10 bar）", "镀铬黄铜，两只压力表，出口 6 mm 卡套",
+               parent="valve", origin_m=[0, -0.095, 0.055],
+               visual=[(trimesh.util.concatenate([p.mesh() for p in reg]), CHROME)], collision=reg, mass_kg=3.33, mass_evidence="documented",
+               mass_note_zh="数据表最大 3.33 kg", material="brass_chrome", geometry_evidence="documented", detachable=False,
+               geometry_note_zh="外形约 178×150 mm 按数据表图；部件布局为近似"))
+    a.properties["_mass_sources"]["regulator"] = ["linde_c200_2"]
+    kn = [Prim("cylinder", [0.0225, 0.030], [0, 0, 0], [math.pi / 2, 0, 0])]
+    a.add(Link("regulator_knob", "减压器调节旋钮", "顺时针（从前看）升高出口压力", "调节弹簧预紧；转角对应出口设定压力（宿主记录）",
+               parent="regulator", origin_m=[0, -0.040, 0],
+               joint={"type": "revolute", "axis": [0, -1, 0], "limits": [0.0, round(10 * math.pi, 6)], "evidence": "assumption", "source_ids": ["cylinder_assumption"],
+                      "note_zh": "正方向 = 从前看顺时针 = 加压；0 = 卸载，5 圈 = 出口满量程"},
+               visual=[(trimesh.util.concatenate([p.mesh() for p in kn]), KNOB_BLACK)], collision=kn, mass_kg=0.08, mass_evidence="assumption",
+               mass_note_zh="旋钮 0.08 kg（假设）", material="pa", geometry_evidence="assumption"))
+    volume = V
+    a.labware = {"type_id": a.asset_type_id, "family": "gas_cylinder", "labware_class": f"gas_cylinder_{tag}", "fits": [f"gas_cylinder_{tag}", "gas_cylinder"],
+                 "maker": "Rama Cylinders (via PWENT) + Linde (regulator)", "model": f"Steel seamless cylinder {V*1000:.0f} L / 200 bar, ISO 9809-1; REDLINE C 200/2",
+                 "catalogue_no": "regulator Art. 4461 (chrome-plated brass, 1-10 bar)",
+                 "water_capacity_m3": volume, "service_pressure_pa": 200e5, "nominal_capacity_m3": volume,
+                 "contents_note_zh": f"气体量由宿主账本记录：理想气体估计 n ≈ pV/RT（N2 在 200 bar、20 °C 约 {410*V/0.05:.0f} mol，考虑压缩因子约 {390*V/0.05:.0f} mol）",
+                 "frames": {"handwheel": frame([0, 0, L + 0.107 + 0.012], "base_link", width_m=0.060, franka_ok=True, yaw_free=True, note_zh="瓶阀手轮（不在 Franka 可达范围）"),
+                            "regulator_knob": frame([0, -0.095 - 0.040 - 0.015, L + 0.055], "base_link", rot=[0.70710678, 0, 0, 0.70710678],
+                                                    note_zh="减压器旋钮，从前（−Y）接近"),
+                            "outlet": frame([0.10, -0.095, L + 0.055], "base_link", rot=[0, 0, 0, 1], note_zh="减压器出口（6 mm 卡套）")},
+                 "empty_mass_kg": round(M + 1.2 + 0.12 + 3.33 + 0.08, 3), "franka_grasp_ok": False, "stands_upright": True,
+                 "storage_note_zh": "放在 DENIOS 气瓶架（cylinder_rack）并用链条固定；可燃气放可燃气体柜"}
+    a.state_slots = {}
+    a.contract_ports = {"gas_outlet": {"component_id": "regulator", "medium": "gas", "direction": "out", "frame": "frame:outlet",
+                                       "meaning_zh": "减压后供气出口", "connection_constraints": ["瓶阀须打开；出口压力由减压器设定；流量与用量由宿主记账"]}}
+    a.prop("body", "diameter_m", 2 * R, "m", "外径", "documented", [cyl_src])
+    a.prop("body", "length_m", L, "m", "长度", "documented", [cyl_src])
+    a.prop("body", "water_capacity_m3", volume, "m3", f"水容积 {V*1000:.0f} L", "documented", [cyl_src])
+    a.prop("body", "working_pressure_pa", 200e5, "Pa", "工作压力 200 bar", "documented", [cyl_src])
+    a.prop("regulator", "max_inlet_pressure_pa", 230e5, "Pa", "最大进口压力 230 bar", "documented", ["linde_c200_2"])
+    a.limitations_zh = ["钢瓶直径、长度、容积、工作压力与质量按目录；肩部轮廓、瓶阀与手轮为假设；减压器质量与外形按 Linde 数据表，布局为近似。",
+                        "瓶阀开度与减压器设定只作为关节角给出，压力/流量过程由宿主记账；ISO 11117 护帽在装减压器时取下，未建模。",
+                        "不在固定 Franka 可达范围内（房间设施）。"]
+    return a
+
+
+BUILDERS = {
+    "globe_weighing_boat_3620": build_weighing_boat,
+    "bochem_spatula_3340": build_spatula,
+    "gas_cylinder_50l_200bar": build_gas_cylinder,
+    "gas_cylinder_10l_200bar": lambda: build_gas_cylinder("10l"),
+}
diff --git a/scripts/labware/verify_labware.py b/scripts/labware/verify_labware.py
new file mode 100644
index 0000000000000000000000000000000000000000..0dfae72fb25f68a4848630129cd6932dea687b3a
--- /dev/null
+++ b/scripts/labware/verify_labware.py
@@ -0,0 +1,317 @@
+"""Offline checks for every asset under assets/labware/ (no Isaac, no GPU).
+
+For each asset directory (one with geometry_manifest.json) the checks read the written files, not the builder's objects:
+  files / urdf      every artifact and every mesh the URDFs reference exists; URDF links == manifest components
+  watertight        each link's visual OBJ is watertight, or the link has collision primitives
+  collision         every link has at least one collision primitive in model.urdf
+  glb               model.glb loads with one geometry per link
+  envelope          URDF forward kinematics at joint limits: nothing below z = 0; closed size == manifest size
+  frames            labware frames lie inside the closed bounding box (+5 mm), pre_* frames above the top;
+                    franka_ok <=> width <= 74 mm; the hand (37 mm above the TCP) clears the object's top for top-down grasps
+  interior          brim volume >= nominal capacity; interior radius < outer radius; fill height below the lip
+  cap_detach        closed cap and body collisions do not overlap; the cap lifted by clear_lift is free of the body and above
+                    the lip; the closure rule (closure.py) gives loosened -> detached -> (seat, turn back) -> closed, and a
+                    touch without a grasp changes nothing
+  doors             every door / lid joint has a hinge axis + origin, limits, a handle frame and a door mass
+  slots             storage slots lie inside the furniture, on a shelf surface, with the declared pitch and headroom
+  contract          skills/chemistry-lab-assets/scripts/asset_tool.py validate --check-files
+Usage:  python scripts/labware/verify_labware.py [--only slug ...] [--out assets/labware/verification_report.json]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import subprocess
+import sys
+import time
+import xml.etree.ElementTree as ET
+from pathlib import Path
+
+import numpy as np
+import trimesh
+from trimesh.transformations import euler_matrix, translation_matrix
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE))
+from closure import Closure, HingedClosure  # noqa: E402
+from labware_kit import FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, Prim, obb_overlap, transform_prim  # noqa: E402
+
+ROOT = HERE.parents[1]
+LABWARE = ROOT / "assets" / "labware"
+ASSET_TOOL = ROOT / "skills" / "chemistry-lab-assets" / "scripts" / "asset_tool.py"
+
+
+def _vec(el, key, default="0 0 0"):
+    return np.array([float(v) for v in ((el.get(key) if el is not None and el.get(key) else default).split())])
+
+
+def _joint_motion(jtype, axis, q):
+    axis = axis / (np.linalg.norm(axis) or 1.0)
+    if jtype in ("revolute", "continuous"):
+        return trimesh.transformations.rotation_matrix(q, axis)
+    if jtype == "prismatic":
+        return translation_matrix(axis * q)
+    return np.eye(4)
+
+
+class Urdf:
+    def __init__(self, path: Path):
+        self.path = path
+        self.root = ET.parse(path).getroot()
+        self.links = {l.get("name"): l for l in self.root.findall("link")}
+        self.joints = {j.find("child").get("link"): j for j in self.root.findall("joint")}
+
+    def world(self, link: str, q: dict) -> np.ndarray:
+        if link not in self.joints:
+            return np.eye(4)
+        j = self.joints[link]
+        o = j.find("origin")
+        T = translation_matrix(_vec(o, "xyz")) @ euler_matrix(*_vec(o, "rpy"), axes="sxyz")
+        if j.get("type") != "fixed":
+            T = T @ _joint_motion(j.get("type"), _vec(j.find("axis"), "xyz", "1 0 0"), q.get(j.get("name"), 0.0))
+        return self.world(j.find("parent").get("link"), q) @ T
+
+    def collisions(self, link: str) -> list[Prim]:
+        out = []
+        for c in self.links[link].findall("collision"):
+            o = c.find("origin")
+            g = c.find("geometry")[0]
+            if g.tag == "box":
+                size = [float(v) for v in g.get("size").split()]
+            elif g.tag == "cylinder":
+                size = [float(g.get("radius")), float(g.get("length"))]
+            else:
+                size = [float(g.get("radius"))]
+            out.append(Prim(g.tag, size, list(_vec(o, "xyz")), list(_vec(o, "rpy"))))
+        return out
+
+    def movable(self):
+        return {j.get("name"): (float(j.find("limit").get("lower")), float(j.find("limit").get("upper")))
+                for j in self.joints.values() if j.get("type") in ("revolute", "prismatic")}
+
+
+def _check(results, cid, ok, data=None):
+    results.append({"id": cid, "status": "passed" if ok else "failed", "data": data})
+    return ok
+
+
+def verify_asset(d: Path, run_contract: bool = True) -> dict:
+    res: list = []
+    man = json.loads((d / "geometry_manifest.json").read_text(encoding="utf-8"))
+    lw = man.get("labware") or {}
+    slug = d.name
+    u = Urdf(d / "model.urdf")
+    comp_ids = [c["id"] for c in man["components"]]
+    # ---------------------------------------------------------------- files / urdf
+    missing = [p for k, p in man["artifacts"].items() if p and k != "meshes_dir" and not (d / p).exists()]
+    _check(res, "files", not missing and (d / "asset.contract.json").exists() and (d / "collision_proxies.json").exists(), missing)
+    _check(res, "urdf_links_match_manifest", set(u.links) - {"base_link"} == set(comp_ids), sorted(u.links))
+    bad_mesh = []
+    for urdf_path in [d / "model.urdf", d / "model_solid.urdf", *sorted((d / "parts").glob("*.urdf"))]:
+        if not urdf_path.exists():
+            continue
+        for m in ET.parse(urdf_path).getroot().iter("mesh"):
+            if not (urdf_path.parent / m.get("filename")).exists():
+                bad_mesh.append(f"{urdf_path.name}:{m.get('filename')}")
+    _check(res, "urdf_meshes_exist", not bad_mesh, bad_mesh)
+    # ---------------------------------------------------------------- watertight / collision
+    wt = {}
+    for cid in comp_ids:
+        mesh = trimesh.load(d / "meshes" / f"{slug}__{cid}.obj", force="mesh")
+        n_col = len(u.collisions(cid))
+        wt[cid] = {"watertight": bool(mesh.is_watertight), "collisions": n_col}
+    _check(res, "watertight_or_collision", all(v["watertight"] or v["collisions"] > 0 for v in wt.values()), wt)
+    _check(res, "collision_present", all(v["collisions"] > 0 for v in wt.values()), {k: v["collisions"] for k, v in wt.items()})
+    objects = {c["id"]: c.get("objects") or [f"{slug}__{c['id']}"] for c in man["components"]}
+    n_obj = sum(len(v) for v in objects.values())
+    scene = trimesh.load(d / "model.glb", force="scene")
+    _check(res, "glb_loads", len(scene.geometry) == n_obj, {"geometries": len(scene.geometry), "objects": n_obj})
+    missing_obj = [o for v in objects.values() for o in v if not (d / "meshes" / f"{o}.obj").exists()]
+    _check(res, "object_meshes_exist", not missing_obj, missing_obj)
+
+    # ---------------------------------------------------------------- envelope (FK)
+    def bounds(q):
+        pts = []
+        for cid in comp_ids:
+            for o in objects[cid]:
+                m = trimesh.load(d / "meshes" / f"{o}.obj", force="mesh")
+                m.apply_transform(u.world(cid, q))
+                pts.append(m.bounds)
+        return np.array([np.min([b[0] for b in pts], axis=0), np.max([b[1] for b in pts], axis=0)])
+
+    b0 = bounds({})
+    size_ok = np.allclose(b0[1] - b0[0], man["overall_dimensions_m"], atol=2e-4)
+    _check(res, "envelope_closed", size_ok and b0[0][2] >= -1e-6, {"bounds": b0.round(5).tolist()})
+    lows = {}
+    for jn, (lo, hi) in u.movable().items():
+        for qv in (lo, hi):
+            bb = bounds({jn: qv})
+            lows[f"{jn}={qv:.3g}"] = round(float(bb[0][2]), 5)
+    _check(res, "envelope_joint_limits_above_floor", all(v >= -1e-6 for v in lows.values()), lows)
+    top = float(b0[1][2])
+    # ---------------------------------------------------------------- frames
+    frames = lw.get("frames") or {}
+    bad = []
+    for name, f in frames.items():
+        if f.get("link") not in ("base_link", None):
+            continue
+        p = np.array(f["pos_m"])
+        if name.startswith(("pre_", "post_")) or name.endswith(("_pre_grasp", "_pre_place")):
+            if not (p[2] >= top - 1e-6 and np.all(p[:2] >= b0[0][:2] - 0.005) and np.all(p[:2] <= b0[1][:2] + 0.005)):
+                bad.append(name)
+        elif name.startswith("handle"):
+            if not (np.all(p >= b0[0] - 0.08) and np.all(p <= b0[1] + 0.08)):
+                bad.append(name)
+        elif not (np.all(p >= b0[0] - 0.005) and np.all(p <= b0[1] + 0.005)):
+            bad.append(name)
+    _check(res, "frames_inside_bounds", not bad, bad)
+    width_bad, clear_bad = [], []
+    for name, f in frames.items():
+        if "width_m" in f and "franka_ok" in f:
+            if bool(f["franka_ok"]) != bool(f["width_m"] <= FRANKA_MAX_GRASP_M + 1e-9) and not (not f["franka_ok"] and f.get("franka_blocked_reason")):
+                width_bad.append(name)
+            if f["franka_ok"] and f.get("rot_xyzw", [0, 0, 0, 1])[:2] != [0.0, 0.0] and f.get("link") == "base_link":
+                # top-down grasp: the hand (37 mm above the TCP) must clear the top of everything within the finger footprint
+                if f["pos_m"][2] + HAND_ABOVE_TCP_M < local_top(d, man, u, f) - 1e-4:
+                    clear_bad.append(name)
+    _check(res, "grasp_width_flag_consistent", not width_bad, width_bad)
+    _check(res, "hand_clears_top", not clear_bad, clear_bad)
+    if lw.get("family") in ("reagent_bottle", "solvent_bottle", "powder_jar", "vial", "tube"):
+        g = frames.get("grasp", {})
+        _check(res, "franka_grasp_available", bool(g.get("franka_ok")), {"width_m": g.get("width_m")})
+    # ---------------------------------------------------------------- interior
+    it = lw.get("interior")
+    if it and lw.get("nominal_capacity_m3"):
+        outer_r = (lw.get("outer") or {}).get("diameter_m", 1.0) / 2
+        fh = it.get("nominal_fill_height_m")
+        ok = (lw["brim_capacity_m3"] >= lw["nominal_capacity_m3"]) and (it.get("radius_m", 0) < outer_r or it.get("shape") != "revolved") \
+            and it["floor_m"] < it["height_m"] and (fh is None or fh < it["height_m"])
+        _check(res, "interior_consistent", ok, {"brim_mL": round(lw["brim_capacity_m3"] * 1e6, 3), "nominal_mL": lw["nominal_capacity_m3"] * 1e6,
+                                                "fill_h": fh, "lip": it["height_m"]})
+    # ---------------------------------------------------------------- cap detach
+    cl = lw.get("closure") or {}
+    if cl.get("type") == "screw_cap":
+        body_c, cap_c = u.collisions("body"), u.collisions(cl["link"])
+        Tcap = u.world(cl["link"], {})
+        cap_w = [transform_prim(p, Tcap) for p in cap_c]
+        overl = [(i, j) for i, a in enumerate(cap_w) for j, b in enumerate(body_c) if obb_overlap(a, b)]
+        lift = cl["clear_lift_m"]
+        Tl = translation_matrix([0, 0, lift]) @ Tcap
+        cap_l = [transform_prim(p, Tl) for p in cap_c]
+        overl_l = [(i, j) for i, a in enumerate(cap_l) for j, b in enumerate(body_c) if obb_overlap(a, b)]
+        cap_mesh = trimesh.load(d / "meshes" / f"{slug}__{cl['link']}.obj", force="mesh")
+        cap_mesh.apply_transform(Tl)
+        lip = (lw.get("interior") or {}).get("height_m", 0)
+        c = Closure.from_manifest(cl)
+        seq = [c.twist(0.5 * c.detach_after_rad, cap_grasped=False), c.twist(0.5 * c.detach_after_rad, cap_grasped=True),
+               c.twist(0.6 * c.detach_after_rad, cap_grasped=True), c.twist(-1.0, cap_grasped=True)]
+        c.seat(True)
+        seq += [c.twist(-0.5 * c.detach_after_rad, cap_grasped=True), c.twist(-0.6 * c.detach_after_rad, cap_grasped=True)]
+        rule_ok = seq == ["closed", "loosened", "detached", "detached", "loosened", "closed"]
+        parts_ok = all((d / p).exists() for p in (cl.get("parts") or {}).values())
+        _check(res, "cap_detaches", not overl and not overl_l and cap_mesh.bounds[0][2] >= lip - 1e-6 and rule_ok and parts_ok,
+               {"closed_overlaps": len(overl), "lifted_overlaps": len(overl_l), "lift_m": lift,
+                "cap_bottom_after_lift": round(float(cap_mesh.bounds[0][2]), 5), "lip": lip, "rule_sequence": seq, "parts": parts_ok})
+    elif cl.get("type") == "hinged_lid":
+        h = HingedClosure(open_rad=cl["open_rad"])
+        seq = [h.state, h.set_angle(cl["open_rad"]), h.set_angle(0.0)]
+        lowz = lows.get(f"{cl['joint']}={cl['open_rad']:.3g}", 0)
+        _check(res, "lid_opens", seq == ["closed", "open", "closed"] and lowz >= -1e-6, {"sequence": seq})
+    elif cl.get("type") == "lift_off_lid":
+        body_c, lid_c = u.collisions("body"), u.collisions(cl["link"])
+        Tl = u.world(cl["link"], {})
+        lid_w = [transform_prim(p, Tl) for p in lid_c]
+        ov = [(i, j) for i, a in enumerate(lid_w) for j, b in enumerate(body_c) if obb_overlap(a, b)]
+        Tl2 = translation_matrix([0, 0, cl["clear_lift_m"]]) @ Tl
+        ov2 = [(i, j) for i, a in enumerate([transform_prim(p, Tl2) for p in lid_c]) for j, b in enumerate(body_c) if obb_overlap(a, b)]
+        _check(res, "lid_lifts_off", not ov and not ov2 and (d / cl["parts"]["lid"]).exists(), {"closed_overlaps": len(ov), "lifted_overlaps": len(ov2)})
+    # ---------------------------------------------------------------- doors
+    doors = lw.get("doors") or {}
+    if doors:
+        bad = []
+        for name, dd in doors.items():
+            j = u.joints.get(dd["link"])
+            okd = j is not None and j.get("name") == dd["joint"] and dd.get("hinge_axis") and dd.get("hinge_origin_m") is not None \
+                and dd.get("limits") and dd.get("mass_kg", 0) > 0 and dd.get("handle", {}).get("pos_m") is not None
+            if okd:
+                lo, hi = dd["limits"]
+                okd = abs(float(j.find("limit").get("lower")) - lo) < 1e-6 and abs(float(j.find("limit").get("upper")) - hi) < 1e-6
+            if not okd:
+                bad.append(name)
+        _check(res, "doors_hinge_handle_mass", not bad, {"doors": sorted(doors), "bad": bad})
+    # ---------------------------------------------------------------- slots
+    ports = [p for p in man.get("ports") or [] if p.get("kind") == "storage"]
+    if ports:
+        out = [p["name"] for p in ports if not (np.all(np.array(p["position_m"]) >= b0[0] - 1e-6) and np.all(np.array(p["position_m"]) <= b0[1] + 1e-6))]
+        _check(res, "slots_inside", not out, {"n": len(ports), "outside": out})
+        sl = lw.get("storage") or {}
+        if sl.get("min_pitch_m"):
+            P = np.array([p["position_m"] for p in ports])
+            dmin = min(float(np.linalg.norm(P[i, :2] - P[j, :2])) for i in range(len(P)) for j in range(i + 1, len(P))
+                       if abs(P[i, 2] - P[j, 2]) < 1e-3) if len(P) > 1 else 1.0
+            _check(res, "slot_pitch", dmin >= sl["min_pitch_m"] - 1e-6, {"min_pitch_m": round(dmin, 4), "required": sl["min_pitch_m"]})
+        if sl.get("headroom_m") is not None:
+            short = [p["name"] for p in ports if p.get("headroom_m", 0) < sl["headroom_m"] - 1e-6]
+            _check(res, "slot_headroom", not short, {"required_m": sl["headroom_m"], "short": short})
+        if sl.get("expected_positions"):
+            names = sorted(p["name"] for p in ports)
+            _check(res, "slot_names_match_place", names == sorted(sl["expected_positions"]), {"n": len(names)})
+    # ---------------------------------------------------------------- appearance (colours, decal textures + licences)
+    app = [a_ for c in man["components"] for a_ in c.get("appearance") or []]
+    if app:
+        bad_tex = [a_["object"] for a_ in app if a_.get("texture") and not ((d / a_["texture"]).exists() and a_.get("texture_licence"))]
+        _check(res, "appearance_textures_licensed", not bad_tex, {"objects": len(app), "textured": sum(1 for a_ in app if a_.get("texture")), "bad": bad_tex})
+    # ---------------------------------------------------------------- contract
+    if run_contract:
+        r = subprocess.run([sys.executable, str(ASSET_TOOL), "validate", str(d / "asset.contract.json"), "--check-files", "--asset-root", str(ROOT)],
+                           capture_output=True, text=True)
+        try:
+            out = json.loads(r.stdout)
+        except Exception:
+            out = {"valid": False, "errors": [r.stdout[-400:], r.stderr[-400:]]}
+        _check(res, "contract_valid_check_files", bool(out.get("valid")), out.get("errors"))
+    status = "passed" if all(x["status"] == "passed" for x in res) else "failed"
+    return {"asset": man["asset_type_id"], "dir": str(Path(d).resolve().relative_to(ROOT)), "status": status, "checks": res}
+
+
+def local_top(d: Path, man: dict, u: Urdf, f: dict) -> float:
+    """Highest point of the closed asset inside the hand's footprint around the grasp (a 0.10 x 0.03 m box)."""
+    x, y = f["pos_m"][0], f["pos_m"][1]
+    zmax = 0.0
+    for c in man["components"]:
+        for o in c.get("objects") or [f"{d.name}__{c['id']}"]:
+            m = trimesh.load(d / "meshes" / f"{o}.obj", force="mesh")
+            m.apply_transform(u.world(c["id"], {}))
+            v = m.vertices
+            sel = (np.abs(v[:, 0] - x) <= 0.05) & (np.abs(v[:, 1] - y) <= 0.05)
+            if sel.any():
+                zmax = max(zmax, float(v[sel, 2].max()))
+    return zmax
+
+
+def asset_dirs(only=None):
+    for m in sorted(LABWARE.glob("*/*/geometry_manifest.json")):
+        if only and m.parent.name not in only:
+            continue
+        yield m.parent
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--only", nargs="*")
+    ap.add_argument("--out", default=str(LABWARE / "verification_report.json"))
+    ap.add_argument("--no-contract", action="store_true")
+    a = ap.parse_args()
+    reports = [verify_asset(d, run_contract=not a.no_contract) for d in asset_dirs(a.only)]
+    for r in reports:
+        failed = [c["id"] for c in r["checks"] if c["status"] != "passed"]
+        print(f"{r['status']:6s} {r['asset']:52s} {len(r['checks']):2d} checks" + (f"  FAILED: {failed}" if failed else ""))
+    if not a.only:
+        Path(a.out).write_text(json.dumps({"checked_at": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()), "method": "scripts/labware/verify_labware.py (offline: URDF FK, trimesh, OBB SAT, closure rule, asset_tool)",
+                                           "environment": {"trimesh": trimesh.__version__, "isaac": "not used"}, "assets": reports}, ensure_ascii=False, indent=1), encoding="utf-8")
+    return 0 if all(r["status"] == "passed" for r in reports) else 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scripts/spectral_library/apply_to_substances.py b/scripts/spectral_library/apply_to_substances.py
index bd102a9dae3b460cedc8546db017d95b202303b8..0ede305f6fd454ac439cb8477f3e19d4b69398bf 100644
--- a/scripts/spectral_library/apply_to_substances.py
+++ b/scripts/spectral_library/apply_to_substances.py
@@ -3,10 +3,16 @@
 Since 2026-10-14 this script never changes an existing value: it only adds a ``gc_7890b_fid`` block to species that do
 not have one yet and whose id has a fingerprint in ``spectral_library/gc_retention.json`` (non-polar column by
 default).  Species that already carry a fingerprint (derived or assumed), and every other field, are left untouched;
-the file is rewritten only when something was added, with the same serializer (``json.dumps(indent=2)``, no trailing
-newline) so unchanged content stays byte-identical.  The Matterix reaction tests read this file.
+the file is rewritten only when something was added, with the serializer of scripts/substances/apply_storage_hazard.py
+(``json.dumps(indent=1)`` + newline, the file's format since 2026-10-22; it was indent=2 without a newline before) so
+unchanged content stays byte-identical.  ``--only`` limits the additions to the given ids (2026-10-23: the C8-C20 n-alkane
+standard and its hexane solvent).  The Matterix reaction tests read this file.
 
-Usage: python apply_to_substances.py [--dry-run] [--column nonpolar|polar]
+``--refresh`` (with ``--only``) also replaces a fingerprint that this script wrote earlier (evidence ``derived`` and source
+``spectral_library/gc_retention.json ...``), e.g. after a library rule changed (2026-10-23 D-2: the C8-C20 alkane dvapH series);
+assumed or hand-made fingerprints are never replaced.
+
+Usage: python apply_to_substances.py [--dry-run] [--column nonpolar|polar] [--only id ...] [--refresh]
 """
 from __future__ import annotations
 
@@ -33,34 +39,46 @@ def main():
     ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument("--dry-run", action="store_true")
     ap.add_argument("--column", default="nonpolar", choices=["nonpolar", "polar"])
+    ap.add_argument("--only", nargs="*", help="add fingerprints only for these substance ids")
+    ap.add_argument("--refresh", action="store_true", help="with --only: replace fingerprints this script derived earlier")
     args = ap.parse_args()
     raw = SUBS.read_text(encoding="utf-8")
     subs = json.loads(raw)
     lib = json.load(open(LIB, encoding="utf-8"))["compounds"]
-    added, kept = [], []
+    if args.refresh and not args.only:
+        ap.error("--refresh needs --only")
+    added, kept, refreshed = [], [], []
     for sid, rec in subs["substances"].items():
         fp = lib.get(sid, {}).get("model_fingerprint", {}).get(args.column)
-        if not fp:
+        if not fp or (args.only and sid not in args.only):
             continue
         if "gc_7890b_fid" in rec:
-            kept.append(sid)          # never overwrite an existing fingerprint (derived or assumption)
+            old = rec["gc_7890b_fid"]
+            ours = old.get("evidence") == "derived" and str(old.get("source", "")).startswith("spectral_library/gc_retention.json")
+            new = fingerprint_block(fp, rec.get("fid_visible", True), args.column)
+            if args.refresh and ours and new != old:
+                rec["gc_7890b_fid"] = new
+                refreshed.append(sid)
+            else:
+                kept.append(sid)      # never overwrite an assumed / hand-made fingerprint
             continue
         rec["gc_7890b_fid"] = fingerprint_block(fp, rec.get("fid_visible", True), args.column)
         added.append(sid)
-    for sid in added:
+    for sid in added + refreshed:
         f = subs["substances"][sid]["gc_7890b_fid"]
-        print(f"add {sid:18} k_ref {f['k_ref']}  dH {f['delta_h_J_mol']}  resp {f['response_C_kg']}")
-    print(f"{len(added)} added, {len(kept)} species already had a fingerprint (unchanged)")
-    if added and not args.dry_run:
-        text = json.dumps(subs, ensure_ascii=False, indent=2)
+        print(f"{'add' if sid in added else 'refresh'} {sid:18} k_ref {f['k_ref']}  dH {f['delta_h_J_mol']}  resp {f['response_C_kg']}")
+    print(f"{len(added)} added, {len(refreshed)} refreshed, {len(kept)} species already had a fingerprint (unchanged)")
+    if (added or refreshed) and not args.dry_run:
+        text = json.dumps(subs, ensure_ascii=False, indent=1) + "\n"
         # safety: the only difference to the previous content must be the added blocks
         before = json.loads(raw)
         after = json.loads(text)
         for sid, rec in before["substances"].items():
-            assert {k: v for k, v in after["substances"][sid].items() if not (sid in added and k == "gc_7890b_fid")} == rec, sid
+            assert {k: v for k, v in after["substances"][sid].items() if not (sid in added + refreshed and k == "gc_7890b_fid")} == \
+                {k: v for k, v in rec.items() if not (sid in refreshed and k == "gc_7890b_fid")}, sid
         assert {k: v for k, v in after.items() if k != "substances"} == {k: v for k, v in before.items() if k != "substances"}
         SUBS.write_text(text, encoding="utf-8")
-        print(f"updated {len(added)} substances in {SUBS.relative_to(ROOT)}")
+        print(f"updated {len(added) + len(refreshed)} substances in {SUBS.relative_to(ROOT)}")
 
 
 if __name__ == "__main__":
diff --git a/scripts/spectral_library/build_crosswalk.py b/scripts/spectral_library/build_crosswalk.py
index af9588bed3f03b4bf64edfdc2664a9cc7dc6a1eb..f49c834210ebab0257fbdc069059be6b779041ca 100644
--- a/scripts/spectral_library/build_crosswalk.py
+++ b/scripts/spectral_library/build_crosswalk.py
@@ -165,9 +165,12 @@ def asset_batches() -> dict[str, str]:
     for c in glob.glob(str(ROOT / "assets" / "**" / "asset.contract.json"), recursive=True):
         rel = Path(c).resolve().relative_to(ROOT).parts
         try:
-            aid = json.loads(Path(c).read_text(encoding="utf-8")).get("asset_type_id")
+            contract = json.loads(Path(c).read_text(encoding="utf-8"))
         except json.JSONDecodeError:
             continue
+        if rel[1] == "labware":
+            continue                      # assets/labware/ (containers, consumables, furniture) are not instruments
+        aid = contract.get("asset_type_id")
         out[aid] = rel[1] if len(rel) > 3 else "assets"
     return out
 
diff --git a/scripts/spectral_library/build_library.py b/scripts/spectral_library/build_library.py
index 3d5cb8d84b8ae78945b938c8917bc071054027b8..84ed6a221bc767ce74a6d46fb3226a8933d8909c 100644
--- a/scripts/spectral_library/build_library.py
+++ b/scripts/spectral_library/build_library.py
@@ -234,6 +234,53 @@ def thermo(sid: str) -> dict:
     return out
 
 
+ALKANE_SERIES_RANGE = (8, 20)            # n-alkanes whose NIST tables bracket 373 K (the C8-C20 retention-index standard)
+# 2026-10-23 D-1: a compound's own pick further than 3 kJ/mol from the fit was replaced by it; D-2: the 105-point series fit is
+# better evidence than the single closest entry, so every C8-C20 n-alkane uses it (tolerance 0)
+ALKANE_SERIES_TOLERANCE_KJ = 0.0
+
+
+def alkane_dvap_series() -> dict | None:
+    """Homologous-series fit of the NIST WebBook enthalpies of vaporization of the C8-C20 n-alkanes (2026-10-23).
+
+    Per-compound picks (choose_delta_vap: the entry closest to 373 K) are noisy for the heavy alkanes (C17: one 304 K value;
+    C20: 110 kJ/mol at 368 K beside 89.6 at 378 K), and the model uses delta_h for the temperature dependence of k, so an
+    outlier swaps the elution order in a temperature program.  All entries 300-480 K of the C8-C20 n-alkanes in the list are
+    fitted with dvapH = a + b n + c (T - 373) + d n (T - 373) by least squares with iterative 3 x MAD outlier rejection;
+    the series value of n is a + b n (at 373 K)."""
+    rows = []
+    for sid, _, _, _, cls in COMPOUNDS:
+        props_file = RAW / sid / "pubchem_props.json"
+        if cls != "alkane" or not props_file.exists():
+            continue
+        try:
+            smiles = (lambda p: p.get("SMILES") or p.get("ConnectivitySMILES"))(json.loads(props_file.read_text())["PropertyTable"]["Properties"][0])
+        except Exception:
+            continue
+        if not smiles or not re.fullmatch(r"C+", smiles) or not ALKANE_SERIES_RANGE[0] <= len(smiles) <= ALKANE_SERIES_RANGE[1]:
+            continue
+        for v in thermo(sid).get("enthalpy_of_vaporization") or []:
+            if v["T_K"] and 300 <= v["T_K"] <= 480:
+                rows.append((len(smiles), v["T_K"], v["delta_vap_H_kJ_mol"]))
+    if len(rows) < 8:
+        return None
+    keep = np.array(rows, dtype=float)
+    dropped = []
+    for _ in range(10):
+        A = np.c_[np.ones(len(keep)), keep[:, 0], keep[:, 1] - 373.0, keep[:, 0] * (keep[:, 1] - 373.0)]
+        coef = np.linalg.lstsq(A, keep[:, 2], rcond=None)[0]
+        res = keep[:, 2] - A @ coef
+        mad = float(np.median(np.abs(res - np.median(res)))) * 1.4826
+        bad = np.abs(res) > 3 * mad
+        if not bad.any():
+            break
+        dropped += keep[bad].tolist()
+        keep = keep[~bad]
+    return {"coefficients_kJ_mol": [round(float(x), 5) for x in coef], "points": len(rows), "points_kept": len(keep), "dropped": len(dropped),
+            "range_n": list(ALKANE_SERIES_RANGE), "reference_temperature_K": 373.0,
+            "value": lambda n: float(coef[0] + coef[1] * n)}
+
+
 def choose_delta_vap(th: dict) -> tuple[float | None, str]:
     vap = th.get("enthalpy_of_vaporization") or []
     with_T = [v for v in vap if v["T_K"] and 300 <= v["T_K"] <= 480]
@@ -473,6 +520,17 @@ def main():
     m = GC_MODEL["column"]
     core = m["inner_diameter_m"] - 2 * m["film_thickness_m"]
     t0 = m["length_m"] / (m["flow_m3_s"] / (math.pi * core**2 / 4))
+    series = alkane_dvap_series()
+    if series:
+        GC_MODEL["alkane_delta_vap_series"] = {
+            "rule": "n-alkanes C%d-C%d: delta_vap_H = the homologous-series fit of all their NIST entries 300-480 K (dvapH = a + b n + "
+                    "c (T-373) + d n (T-373), least squares, iterative 3 x MAD outlier rejection) at 373 K; the compound's own closest-to-373 K "
+                    "NIST value is quoted in delta_vap_H_source (2026-10-23 D-1 used the fit only when that value was > 3 kJ/mol off; D-2 uses "
+                    "it for all, since 105 points are better evidence than one entry)" % ALKANE_SERIES_RANGE,
+            "changes": ["2026-10-23 D-1: series rule added for C16-C20 (own values > 3 kJ/mol off)",
+                        "2026-10-23 D-2: applied to all C8-C20 (C8 37.8 -> 37.76, C9 42.7 -> 42.16, C10 45.5 -> 46.55, C11 49.1 -> 50.95, "
+                        "C12 57.4 -> 55.34, C13 62.3 -> 59.74, C14 64.1 -> 64.14, C15 68.8 -> 68.53 kJ/mol)"],
+            **{k: v for k, v in series.items() if k != "value"}}
     for sid, name_en, name_zh, cas, cls in COMPOUNDS:
         d = RAW / sid
         if not d.exists():
@@ -507,6 +565,14 @@ def main():
                 ri.setdefault(cls_name, {"median": 100.0 * len(smiles), "mean": 100.0 * len(smiles), "std": 0.0, "min": 100.0 * len(smiles), "max": 100.0 * len(smiles),
                                          "n": 0, "n_raw": 0, "n_references": 0, "phases": [], "source": "Kovats retention index definition (n-alkane anchor)", "evidence": "definition"})
         dh, dh_src = choose_delta_vap(th)
+        n_alkane = len(smiles) if smiles and re.fullmatch(r"C+", smiles) else None
+        if series and n_alkane and ALKANE_SERIES_RANGE[0] <= n_alkane <= ALKANE_SERIES_RANGE[1]:
+            fit_kj = series["value"](n_alkane)
+            if dh is None or abs(dh / 1000.0 - fit_kj) >= ALKANE_SERIES_TOLERANCE_KJ:
+                own = f"own NIST value {dh / 1000.0:.1f} kJ/mol ({dh_src}) is {dh / 1000.0 - fit_kj:+.1f} kJ/mol off the series" if dh else "no own NIST value"
+                dh = round(fit_kj, 2) * 1000.0
+                dh_src = (f"NIST WebBook enthalpies of vaporization of the C{ALKANE_SERIES_RANGE[0]}-C{ALKANE_SERIES_RANGE[1]} n-alkanes, homologous-series "
+                          f"fit at 373 K (gc_model.alkane_delta_vap_series); {own}")
         if dh is None and ri:
             dh, dh_src = 60000.0, "assumption: 60 kJ/mol for a high-boiling solid without a NIST boiling point"
         fp = {}
diff --git a/scripts/spectral_library/compounds_list.py b/scripts/spectral_library/compounds_list.py
index 4614e744c481f23a9312b84dbf9a9330ee75eae1..b51680c876a6d2447eb5d039e55daeabed5827f7 100644
--- a/scripts/spectral_library/compounds_list.py
+++ b/scripts/spectral_library/compounds_list.py
@@ -98,6 +98,16 @@ COMPOUNDS = [
     ("nonane", "nonane", "正壬烷", "111-84-2", "alkane"),
     ("decane", "decane", "正癸烷", "124-18-5", "alkane"),
     ("dodecane", "dodecane", "正十二烷", "112-40-3", "alkane"),
+    # 2026-10-23 : the rest of the C8-C20 n-alkane retention-index standard (Supelco 04070) in the default lab
+    ("undecane", "undecane", "正十一烷", "1120-21-4", "alkane"),
+    ("tridecane", "tridecane", "正十三烷", "629-50-5", "alkane"),
+    ("tetradecane", "tetradecane", "正十四烷", "629-59-4", "alkane"),
+    ("pentadecane", "pentadecane", "正十五烷", "629-62-9", "alkane"),
+    ("hexadecane", "hexadecane", "正十六烷", "544-76-3", "alkane"),
+    ("heptadecane", "heptadecane", "正十七烷", "629-78-7", "alkane"),
+    ("octadecane", "octadecane", "正十八烷", "593-45-3", "alkane"),
+    ("nonadecane", "nonadecane", "正十九烷", "629-92-5", "alkane"),
+    ("icosane", "icosane (eicosane)", "正二十烷", "112-95-8", "alkane"),
     ("cyclohexane", "cyclohexane", "环己烷", "110-82-7", "alkane"),
     ("cyclohexene", "cyclohexene", "环己烯", "110-83-8", "alkene"),
     ("limonene", "limonene", "柠檬烯", "138-86-3", "terpene"),
diff --git a/scripts/substances/apply_storage_hazard.py b/scripts/substances/apply_storage_hazard.py
new file mode 100644
index 0000000000000000000000000000000000000000..fca4e075adb277cd4eb78e29369f2348606cfa38
--- /dev/null
+++ b/scripts/substances/apply_storage_hazard.py
@@ -0,0 +1,424 @@
+"""Add storage class, GHS hazard data and liquid boiling point / viscosity to assets/reactions/substances.json (schema 1.1.0),
+and add the new substances the default-lab inventory needs (new_substances.py).
+
+Inputs: the PubChem records cached by fetch_pubchem_safety.py under references/substance_safety_raw/<id>/ (public data; each
+value keeps its PubChem CID, the depositing source and that source's own reference, e.g. HSDB citing the CRC Handbook page).
+
+Added per substance (all additive; existing keys untouched):
+  ghs              {hazard_codes, pictograms, signal_word, basis, source{...}, notified_codes{code: %}, note}
+  storage_class    flammable | acid | base | oxidizer | toxic | cold | compressed_gas | general   (rule below)
+  storage          {class, flags[], rule, temperature_c|null, evidence, source}
+  boiling_point_K  (+ boiling_point_source)                 liquids only (phase == "liquid")
+  viscosity_Pa_s, viscosity_T_K (+ viscosity_source)         liquids only, dynamic viscosity
+GHS basis, in order: (1) the EU harmonised classification (Regulation (EC) No 1272/2008 Annex VI, as listed by PubChem);
+(2) else the ECHA C&L notification summary, codes notified by >= 10 % of notifiers; (3) else another listed authority
+(Safe Work Australia HCIS, NITE-CMC Japan, HSDB).  Gas-only codes (H220/H221/H280/H281) are dropped for non-gas phases (the
+aqueous / liquid stock is not the compressed gas).
+Storage-class rule (first match wins), from the H codes and the substance's identity:
+  1 gas phase -> compressed_gas
+  2 H224 / H225 (flammable liquid cat 1-2), H228 (flammable solid), H250 / H260 / H261 (pyrophoric / water-reactive),
+    H240-H242 (self-reactive / peroxides) -> flammable
+  3 H270 / H271 / H272 (oxidizer) and not an acid -> oxidizer      (nitric acid stays with the acids, flagged oxidizer)
+  4 H314 or H290 (corrosive) -> acid if a Bronsted / Lewis acid or acid-forming, base if a base   (ACIDS / BASES below)
+  5 H226 (flammable liquid cat 3) -> flammable
+  6 H300 / H301 / H310 / H311 / H330 / H331 (acute tox cat 1-3), H340 / H350 / H360* (CMR cat 1) -> toxic  (H370/H372 = flag only)
+  7 must be kept cold (2-8 C or frozen) with no other class -> cold
+  8 otherwise general
+Every other matching group is kept in storage.flags (segregation), e.g. triethylamine: flammable + flags corrosive_base, toxic.
+Idempotent: re-run it after any script that rebuilds substances.json (build_reactions.py keeps these keys since 2026-10-22).
+Usage: python scripts/substances/apply_storage_hazard.py [--dry-run]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import re
+import sys
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+ROOT = HERE.parents[1]
+sys.path.insert(0, str(HERE))
+from new_substances import NEW_MIXTURES, NEW_PURE  # noqa: E402
+
+SUBSTANCES = ROOT / "assets" / "reactions" / "substances.json"
+RAW = ROOT / "references" / "substance_safety_raw"
+PUBCHEM = "https://pubchem.ncbi.nlm.nih.gov/compound/{cid}"
+
+ACIDS = {"acetic_acid", "sulfuric_acid", "hydrochloric_acid", "nitric_acid", "hydriodic_acid", "dichloroacetic_acid", "acetic_anhydride",
+         "maleic_acid", "succinic_acid", "salicylic_acid", "benzoic_acid", "boric_acid", "ascorbic_acid", "methyl_hydrogen_sulfate",
+         "sulfur_dioxide_dissolved", "phenylboronic_acid", "sulfanilic_acid", "potassium_hydrogen_phthalate", "palmitic_acid",
+         "zinc_chloride", "hydrogen_chloride", "dehydroascorbic_acid", "ytterbium_triflate", "sodium_dihydrogen_phosphate"}
+BASES = {"sodium_hydroxide", "potassium_hydroxide", "ammonia", "triethylamine", "piperidine", "benzylamine", "diisopropylamine",
+         "calcium_oxide", "sodium_carbonate", "potassium_carbonate", "sodium_hypochlorite", "aniline", "imidazole", "magnesium_oxide",
+         "sodium_tetraborate_decahydrate", "lithium_chloride_never"}
+GAS_ONLY = {"H220", "H221", "H280", "H281"}
+TOXIC = {"H300", "H301", "H310", "H311", "H330", "H331", "H340", "H350", "H350i", "H360", "H360D", "H360F", "H360FD", "H360Fd", "H360Df"}
+STOT = {"H370", "H372"}                       # target-organ toxicity: a segregation flag, not a storage class
+TRANSIENT_GAS = {"water_vapor", "ethanol_vapor", "methanol_vapor", "acetone_vapor", "ethyl_acetate_vapor", "formaldehyde"}
+COLD_RE = re.compile(r"(?:recommended storage temperature|store[sd]? (?:at|between)|storage temperature)\s*:?\s*(2\s*[-–]\s*8|-\s?20|−\s?20)\s*°?\s*C", re.I)
+
+
+# ------------------------------------------------------------------------------------------------ PubChem parsing
+def _load(sid: str, fn: str) -> dict | None:
+    p = RAW / sid / fn
+    if not p.exists():
+        return None
+    d = json.loads(p.read_text(encoding="utf-8"))
+    return d if "Record" in d else None
+
+
+def _infos(rec: dict):
+    refs = {r["ReferenceNumber"]: r for r in rec["Record"].get("Reference", [])}
+    out = []
+
+    def walk(sec):
+        for s in sec.get("Section", []):
+            walk(s)
+        for inf in sec.get("Information", []):
+            out.append(inf)
+    walk(rec["Record"])
+    return out, refs
+
+
+def _text(inf) -> str:
+    v = inf.get("Value", {})
+    t = " ".join(m.get("String", "") for m in v.get("StringWithMarkup", []))
+    if not t and "Number" in v:
+        t = " ".join(str(x) for x in v["Number"]) + " " + v.get("Unit", "")
+    return t.strip()
+
+
+def parse_ghs(sid: str, phase: str, name_hint: str) -> dict:
+    rec = _load(sid, "ghs.json")
+    if rec is None:
+        return {"hazard_codes": [], "basis": "no_data", "note": "PubChem has no GHS classification record for this CAS"}
+    infos, refs = _infos(rec)
+    cid = rec.get("_cid")
+    by: dict[int, dict] = {}
+    for inf in infos:
+        rn = inf.get("ReferenceNumber")
+        e = by.setdefault(rn, {"codes": {}, "pictograms": [], "signal": None, "summary": None, "not_classified": False})
+        if inf.get("Name") == "GHS Hazard Statements":
+            for m in inf["Value"].get("StringWithMarkup", []):
+                s = m.get("String", "")
+                if s.lower().startswith("not classified"):
+                    e["not_classified"] = True
+                mm = re.match(r"\s*((?:EU)?H\d{3}[A-Za-z]*(?:\+(?:EU)?H\d{3}[A-Za-z]*)*)\s*(?:\(\s*([<>]?)\s*([\d.]+)\s*%\))?", s)
+                if mm:
+                    pct = float(mm.group(3)) if mm.group(3) else None
+                    for code in mm.group(1).split("+"):
+                        e["codes"][code] = pct
+        elif inf.get("Name") == "Pictogram(s)":
+            for m in inf["Value"].get("StringWithMarkup", []):
+                for mk in m.get("Markup", []):
+                    g = re.search(r"(GHS0\d)", mk.get("URL", ""))
+                    if g and g.group(1) not in e["pictograms"]:
+                        e["pictograms"].append(g.group(1))
+        elif inf.get("Name") == "Signal":
+            e["signal"] = _text(inf)
+        elif inf.get("Name") == "ECHA C&L Notifications Summary":
+            e["summary"] = _text(inf)[:300]
+    harmonised = [rn for rn in by if "1272/2008" in (refs.get(rn, {}).get("SourceName") or "") and by[rn]["codes"]]
+    echa = [rn for rn in by if refs.get(rn, {}).get("SourceName", "").startswith("European Chemicals Agency") and (by[rn]["codes"] or by[rn]["not_classified"])]
+    others = [rn for rn in by if by[rn]["codes"] and rn not in harmonised and rn not in echa]
+
+    def score_name(rn):
+        nm = (refs.get(rn, {}).get("Name") or "").lower()
+        s = 0
+        if phase in ("aqueous",) and any(k in nm for k in ("solution", "...%", "%", "acid")):
+            s += 2
+        if phase == "gas" and "solution" not in nm:
+            s += 1
+        if name_hint and name_hint.lower().split("_")[0] in nm:
+            s += 1
+        if "pyrophoric" in nm and "non-pyrophoric" not in nm and "non pyrophoric" not in nm:
+            s -= 3                                # bulk lab metal, not the pyrophoric powder entry
+        if "stabilised" in nm or "stabilized" in nm or "non-pyrophoric" in nm:
+            s += 1
+        return s
+
+    notified = {}
+    if echa:
+        e0 = by[echa[0]]
+        notified = {c: p for c, p in e0["codes"].items() if p is not None}
+    if harmonised:
+        rn = sorted(harmonised, key=score_name, reverse=True)[0]
+        basis = "eu_harmonised_clp_annex_vi"
+        codes = list(by[rn]["codes"])
+    elif echa and (by[echa[0]]["codes"] or by[echa[0]]["not_classified"]):
+        rn = echa[0]
+        basis = "echa_cl_notifications_ge10pct"
+        codes = [c for c, p in by[rn]["codes"].items() if p is None or p >= 10.0]
+    elif others:
+        pref = ["Hazardous Chemical Information System", "NITE-CMC", "Hazardous Substances Data Bank"]
+        rn = sorted(others, key=lambda r: next((i for i, k in enumerate(pref) if k in (refs.get(r, {}).get("SourceName") or "")), 9))[0]
+        basis = "other_authority"
+        codes = list(by[rn]["codes"])
+    else:
+        return {"hazard_codes": [], "basis": "no_data", "note": "no hazard statements in the PubChem GHS record"}
+    dropped = []
+    if phase != "gas":
+        dropped = [c for c in codes if c in GAS_ONLY]
+        codes = [c for c in codes if c not in GAS_ONLY]
+    e = by[rn]
+    r = refs.get(rn, {})
+    out = {"hazard_codes": sorted(set(codes), key=lambda c: (c.startswith("EU"), c)), "pictograms": e["pictograms"], "signal_word": e["signal"],
+           "basis": basis, "not_classified": bool(e["not_classified"] and not codes),
+           "source": {"database": "PubChem", "cid": cid, "url": PUBCHEM.format(cid=cid), "heading": "Safety and Hazards > GHS Classification",
+                      "depositor": r.get("SourceName"), "record_name": r.get("Name"), "reference_number": rn, "accessed": rec.get("_fetched")}}
+    if notified and basis != "echa_cl_notifications_ge10pct":
+        out["notified_codes_pct"] = notified
+    if dropped:
+        out["dropped_gas_only_codes"] = dropped
+    return out
+
+
+def _num_temp(s: str):
+    """First temperature in a PubChem string -> (value_C, unit) handling °F / K; None if not numeric."""
+    s2 = s.replace("deg C", "°C").replace("deg F", "°F").replace("° C", "°C").replace("° F", "°F")
+    m = re.search(r"(-?\d+(?:\.\d+)?)\s*(?:to|-|–)?\s*(?:-?\d+(?:\.\d+)?)?\s*(°C|°F|K\b|C\b|F\b)", s2)
+    if not m:
+        m2 = re.search(r"\[(-?\d+(?:\.\d+)?)\]\s*°C", s2)
+        return (float(m2.group(1)), "°C") if m2 else None
+    v, u = float(m.group(1)), m.group(2)
+    if u in ("°F", "F"):
+        v = (v - 32) * 5 / 9
+    elif u == "K":
+        v = v - 273.15
+    return (v, u)
+
+
+def _pick(sid: str, fn: str, parse) -> dict | None:
+    rec = _load(sid, fn)
+    if rec is None:
+        return None
+    infos, refs = _infos(rec)
+    cands = []
+    for inf in infos:
+        t = _text(inf)
+        val = parse(t)
+        if val is None:
+            continue
+        r = refs.get(inf.get("ReferenceNumber"), {})
+        src = r.get("SourceName") or ""
+        cite = " ".join(inf.get("Reference", []) or [])
+        rank = 0 if ("Hazardous Substances Data Bank" in src and re.search(r"CRC|Haynes|Lide", cite)) else \
+            1 if "Hazardous Substances Data Bank" in src else 2 if "International Chemical Safety Cards" in src else 3
+        cands.append((rank, val, t, src, cite, r.get("Name"), inf.get("ReferenceNumber")))
+    if not cands:
+        return None
+    cands.sort(key=lambda c: (c[0], abs((c[1].get("T_C") or 25.0) - 25.0) if isinstance(c[1], dict) else 0))
+    rank, val, t, src, cite, nm, rn = cands[0]
+    return {"value": val, "text": t[:160], "source": {"database": "PubChem", "cid": rec.get("_cid"), "url": PUBCHEM.format(cid=rec.get("_cid")),
+                                                      "heading": rec.get("_heading"), "depositor": src, "record_name": nm, "original_reference": cite[:240] or None,
+                                                      "accessed": rec.get("_fetched")}}
+
+
+def parse_bp(t: str):
+    if re.search(r"decompos|sublim", t, re.I) and not re.search(r"\d\s*°", t):
+        return None
+    tt = _num_temp(t)
+    if tt is None:
+        return None
+    if re.search(r"mm\s*Hg|kPa|torr|mbar", t, re.I) and not re.search(r"760\s*\[?\s*mm|101\.3", t):
+        return None                                   # reduced-pressure boiling points are not the normal boiling point
+    return {"T_C": tt[0]}
+
+
+def parse_visc(t: str):
+    """Dynamic viscosity closest to 25 C from a PubChem string; kinematic values and solution values are skipped."""
+    best = None
+    for seg in re.split(r";|\|\|", t):
+        if re.search(r"kinematic|mm2/s|mm²/s|cSt|sq mm/s|soln|solution|%", seg, re.I):
+            continue
+        sg = seg.replace("·", ".").replace("*", ".").replace("deg C", "°C")
+        for m in re.finditer(r"(\d+(?:\.\d+)?(?:[eE]-?\d+)?)\s*(mPa[\.\-\s]?s|centipoises?|cP\b|Pa[\.\-\s]?s|mN\.?s/(?:sq )?m2?)", sg, re.I):
+            v = float(m.group(1))
+            unit = m.group(2).lower()
+            pa_s = v * (1.0 if unit.startswith("pa") else 1e-3)
+            tt = re.search(r"(?:at|@)\s*(-?\d+(?:\.\d+)?)\s*(°C|°F|K\b|C\b)", sg[m.end():m.end() + 30], re.I)
+            T = None
+            if tt:
+                T = float(tt.group(1))
+                if tt.group(2) == "°F":
+                    T = (T - 32) * 5 / 9
+                elif tt.group(2) == "K":
+                    T -= 273.15
+            key = abs((T if T is not None else 40.0) - 25.0)
+            if best is None or key < best[0]:
+                best = (key, {"Pa_s": pa_s, "T_C": T})
+    return best[1] if best else None
+
+
+def cold_hint(sid: str):
+    rec = _load(sid, "storage.json")
+    if rec is None:
+        return None
+    infos, refs = _infos(rec)
+    for inf in infos:
+        t = _text(inf)
+        m = COLD_RE.search(t)
+        if m:
+            r = refs.get(inf.get("ReferenceNumber"), {})
+            rng = [2, 8] if "8" in m.group(1) else [-20, -20]
+            return {"temperature_c": rng, "text": t[max(0, m.start() - 40): m.end() + 40], "depositor": r.get("SourceName"), "cid": rec.get("_cid")}
+    return None
+
+
+# ------------------------------------------------------------------------------------------------ storage class
+def storage_for(sid: str, rec: dict, ghs: dict, cold: dict | None) -> dict:
+    codes = set(ghs.get("hazard_codes") or [])
+    phase = rec.get("phase")
+    flags = []
+    is_acid, is_base = sid in ACIDS, sid in BASES
+    corrosive = bool(codes & {"H314", "H290"})
+    if codes & {"H224", "H225", "H226", "H228", "H250", "H260", "H261", "H240", "H241", "H242"}:
+        flags.append("flammable")
+    if codes & {"H270", "H271", "H272"}:
+        flags.append("oxidizer")
+    if corrosive:
+        flags.append("corrosive_acid" if is_acid else "corrosive_base" if is_base else "corrosive")
+    if codes & TOXIC:
+        flags.append("toxic")
+    if codes & STOT:
+        flags.append("target_organ_toxicity")
+    if codes & {"H400", "H410", "H411"}:
+        flags.append("environment")
+    if cold:
+        flags.append("cold_recommended")
+    if sid in TRANSIENT_GAS:
+        cls, rule = "general", "vapour / gas species that exists only in reaction ledgers (the stock is the liquid or solution)"
+    elif phase == "gas":
+        cls, rule = "compressed_gas", "1 gas"
+    elif codes & {"H224", "H225", "H228", "H250", "H260", "H261", "H240", "H241", "H242"}:
+        cls, rule = "flammable", "2 flammable cat 1-2 / flammable solid / pyrophoric / self-reactive"
+    elif codes & {"H270", "H271", "H272"} and not is_acid:
+        cls, rule = "oxidizer", "3 oxidizer"
+    elif corrosive and is_acid:
+        cls, rule = "acid", "4 corrosive acid"
+    elif corrosive and is_base:
+        cls, rule = "base", "4 corrosive base"
+    elif "H226" in codes:
+        cls, rule = "flammable", "5 flammable liquid cat 3"
+    elif codes & TOXIC:
+        cls, rule = "toxic", "6 acute toxicity cat 1-3 / CMR cat 1"
+    elif corrosive:
+        cls, rule = "toxic" if codes & TOXIC else "general", "4 corrosive (neither acid nor base) -> see flags"
+    elif cold:
+        cls, rule = "cold", "7 keep cold"
+    else:
+        cls, rule = "general", "8 no storage-relevant hazard"
+    return {"class": cls, "flags": [f for f in flags if f != cls], "rule": rule,
+            "temperature_c": (cold or {}).get("temperature_c"),
+            "evidence": "derived" if ghs.get("basis") not in (None, "no_data") else "assumption",
+            "source": "storage rule in scripts/substances/apply_storage_hazard.py applied to the ghs codes" +
+                      (f"; cold: PubChem CID {cold['cid']} storage conditions ({cold['depositor']})" if cold else "")}
+
+
+# ------------------------------------------------------------------------------------------------ main
+def new_entries() -> dict:
+    out = {}
+    for sid, (cas, name_zh, phase, fid, note) in NEW_PURE.items():
+        if sid == "formazin":
+            continue
+        props = json.loads((RAW / sid / "props.json").read_text(encoding="utf-8"))["PropertyTable"]["Properties"][0]
+        dens = _pick(sid, "density.json", lambda t: (lambda m: {"g_cm3": float(m.group(1))} if m else None)(
+            re.search(r"^\s*(?:approx(?:\.|imately)?\s+)?(\d+(?:\.\d+)?)\s*(?:g/cu\s*cm|g/cm³|g/cm3|\(NIOSH|\(NTP|at|@|$)", t)) if "kg/cu m" not in t else
+            (lambda m: {"g_cm3": float(m.group(1)) / 1000} if m else None)(re.search(r"(\d+(?:\.\d+)?)\s*kg/cu m", t)))
+        dens_val = None if phase == "gas" or dens is None else round(dens["value"]["g_cm3"] * 1000.0, 1)
+        e = {"name_zh": name_zh, "formula": props["MolecularFormula"], "molar_mass_kg_mol": round(float(props["MolecularWeight"]) / 1000.0, 6),
+             "phase": phase, "density_kg_m3": dens_val, "fid_visible": fid, "evidence": "documented",
+             "source": f"PubChem CID {props['CID']} (molecular formula / weight" + (", density: " + dens["source"]["depositor"] if dens_val else "") + ")",
+             "cas": cas, "added_for": "default-lab inventory (2026-10-22)", "use_note": note}
+        if dens_val:
+            e["density_source"] = dens["source"]
+        out[sid] = e
+    cas_f, name_zh_f, phase_f, fid_f, note_f = NEW_PURE["formazin"]
+    out["formazin"] = {"name_zh": name_zh_f, "formula": "(C2H4N2)n polymer suspension (hexamethylenetetramine + hydrazine sulfate product)",
+                       "molar_mass_kg_mol": None, "phase": "aqueous", "density_kg_m3": None, "fid_visible": False, "evidence": "documented",
+                       "source": "CAS 9004-77-7 (formazin polymer); PubChem resolves this CAS to an unrelated compound, so no PubChem properties are used",
+                       "cas": cas_f, "kind": "mixture", "added_for": "default-lab inventory (2026-10-22)", "use_note": note_f}
+    for sid, m in NEW_MIXTURES.items():
+        out[sid] = {"name_zh": m["name_zh"], "formula": m["formula"], "molar_mass_kg_mol": None, "phase": m["phase"], "density_kg_m3": m["density_kg_m3"],
+                    "fid_visible": False, "evidence": "assumption", "source": "product-type description (composition typical of the product class)",
+                    "kind": "mixture", "composition": m["composition"], "added_for": "default-lab inventory (2026-10-22)", "use_note": m["note"]}
+    return out
+
+
+MIXTURE_STORAGE = {
+    "formazin": ("general", [], None, "4000 NTU formazin suspensions are kept at room temperature, protected from light (assumption: typical supplier practice)"),
+    "polystyrene_latex": ("cold", [], [2, 8], "latex standards are stored at 2-8 C, not frozen (assumption: typical supplier practice)"),
+    "calibration_beads_fluorescent": ("cold", ["toxic_trace_azide"], [2, 8], "bead standards are stored at 2-8 C in the dark (assumption: typical supplier practice)"),
+    "protein_ladder_prestained": ("cold", [], [-20, -20], "prestained ladders are stored at -20 C (assumption: typical supplier practice)"),
+    "hbs_ep_plus_10x": ("cold", [], [2, 8], "HBS-EP+ concentrate is stored at 2-8 C (assumption: typical supplier practice)"),
+}
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--dry-run", action="store_true")
+    a = ap.parse_args()
+    data = json.loads(SUBSTANCES.read_text(encoding="utf-8"))
+    subs = data["substances"]
+    added = []
+    for sid, e in new_entries().items():
+        if sid not in subs:
+            subs[sid] = e
+            added.append(sid)
+    report = {"storage": {}, "liquids_missing_bp": [], "liquids_missing_visc": [], "no_ghs": []}
+    for sid, rec in subs.items():
+        if rec.get("kind") == "mixture":
+            cls, flags, temp, why = MIXTURE_STORAGE[sid]
+            rec["ghs"] = {"hazard_codes": [], "basis": "no_data", "note": "mixture / product: classification depends on the supplier's SDS (not in PubChem)"}
+            rec["storage_class"] = cls
+            rec["storage"] = {"class": cls, "flags": flags, "rule": "mixture: supplier storage condition", "temperature_c": temp, "evidence": "assumption", "source": why}
+            report["storage"].setdefault(cls, []).append(sid)
+            continue
+        ghs = parse_ghs(sid, rec.get("phase"), rec.get("name_zh", ""))
+        if ghs.get("basis") == "no_data":
+            report["no_ghs"].append(sid)
+        cold = cold_hint(sid)
+        st = storage_for(sid, rec, ghs, cold)
+        if rec.get("cas") is None:
+            ghs = {"hazard_codes": [], "basis": "no_data", "note": "no CAS number (reaction intermediate / transient species): never stocked as a reagent"}
+            st = {"class": "general", "flags": [], "rule": "transient species, not stocked", "temperature_c": None, "evidence": "assumption",
+                  "source": "no CAS; exists only inside reaction ledgers"}
+        rec["ghs"] = ghs
+        rec["storage_class"] = st["class"]
+        rec["storage"] = st
+        report["storage"].setdefault(st["class"], []).append(sid)
+        if rec.get("phase") == "liquid":
+            bp = _pick(sid, "bp.json", parse_bp)
+            if bp:
+                rec["boiling_point_K"] = round(bp["value"]["T_C"] + 273.15, 2)
+                rec["boiling_point_source"] = {**bp["source"], "text": bp["text"]}
+            else:
+                rec["boiling_point_K"] = None
+                rec["boiling_point_note"] = "not sourced: PubChem has no normal boiling point for this compound (or only reduced-pressure / decomposition values)"
+                report["liquids_missing_bp"].append(sid)
+            vi = _pick(sid, "viscosity.json", parse_visc)
+            if vi:
+                rec["viscosity_Pa_s"] = float(f"{vi['value']['Pa_s']:.4g}")
+                rec["viscosity_T_K"] = round(vi["value"]["T_C"] + 273.15, 2) if vi["value"]["T_C"] is not None else None
+                rec["viscosity_source"] = {**vi["source"], "text": vi["text"]}
+            else:
+                rec["viscosity_Pa_s"] = None
+                rec["viscosity_T_K"] = None
+                rec["viscosity_note"] = "not sourced: PubChem has no dynamic viscosity for this compound"
+                report["liquids_missing_visc"].append(sid)
+    data["schema_version"] = "1.1.0"
+    data["schema_notes_zh"] = (
+        "1.1.0（2026-10-22，向后兼容，只增不改）：每个物质增加 ghs（危害代码、象形图、信号词、依据与 PubChem 来源）、storage_class / storage"
+        "（存放类别、隔离标记、规则、温度）；液体增加 boiling_point_K 与 viscosity_Pa_s / viscosity_T_K（各带 PubChem 来源与原始文献）。"
+        "新增默认实验室库存需要的物质（added_for）；混合物 kind = mixture、molar_mass_kg_mol 为 null。规则见 scripts/substances/apply_storage_hazard.py。")
+    data["storage_classes"] = ["flammable", "acid", "base", "oxidizer", "toxic", "cold", "compressed_gas", "general"]
+    if not a.dry_run:
+        SUBSTANCES.write_text(json.dumps(data, ensure_ascii=False, indent=1) + "\n", encoding="utf-8")
+    print(json.dumps({"added": added, "classes": {k: len(v) for k, v in report["storage"].items()}, "no_ghs": report["no_ghs"],
+                      "liquids_missing_bp": report["liquids_missing_bp"], "liquids_missing_visc": report["liquids_missing_visc"]}, ensure_ascii=False, indent=1))
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scripts/substances/fetch_pubchem_safety.py b/scripts/substances/fetch_pubchem_safety.py
new file mode 100644
index 0000000000000000000000000000000000000000..0e13e87b351ee22d18f7e3f70fd432bc424c2b0e
--- /dev/null
+++ b/scripts/substances/fetch_pubchem_safety.py
@@ -0,0 +1,119 @@
+"""Fetch the public PubChem records behind the storage / hazard / liquid-property fields of assets/reactions/substances.json.
+
+For every substance with a CAS number (or an explicit CID override) this caches, under
+references/substance_safety_raw/<substance_id>/:
+
+    cid.json        PUG REST  compound/name/<CAS>/cids           (CAS -> PubChem CID)
+    ghs.json        PUG-View  heading "GHS Classification"       (harmonised EU CLP entry, ECHA C&L notification summary, ...)
+    bp.json         PUG-View  heading "Boiling Point"            (HSDB entries cite the CRC Handbook page)
+    viscosity.json  PUG-View  heading "Viscosity"
+    storage.json    PUG-View  heading "Storage Conditions"       (HSDB / supplier text, used only for the 'cold' class)
+
+Boiling point / viscosity are fetched for every substance, not only liquids, so a later phase correction needs no re-fetch.
+Requests go out one at a time (~3 per second, under PubChem's 5/s limit) with a generic User-Agent and nothing else: no
+e-mail, no personal data, no API key.  Already cached files are not fetched again (delete a file to refresh it).
+
+Usage:  python scripts/substances/fetch_pubchem_safety.py [--only id ...]
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import time
+import urllib.error
+import urllib.parse
+import urllib.request
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[2]
+SUBSTANCES = ROOT / "assets" / "reactions" / "substances.json"
+RAW = ROOT / "references" / "substance_safety_raw"
+UA = "chemsim-substance-data/1.0"
+PUG = "https://pubchem.ncbi.nlm.nih.gov/rest/pug"
+VIEW = "https://pubchem.ncbi.nlm.nih.gov/rest/pug_view/data/compound"
+HEADINGS = {"ghs.json": "GHS Classification", "bp.json": "Boiling Point", "viscosity.json": "Viscosity",
+            "storage.json": "Storage Conditions"}
+NEW_HEADINGS = {"density.json": "Density", "physdesc.json": "Physical Description", "mp.json": "Melting Point"}
+
+# CAS numbers missing from substances.json but needed to look the substance up (source: PubChem compound pages).
+CAS_OVERRIDES = {"sodium_acetate": "127-09-3"}
+
+
+def get(url: str, retries: int = 4):
+    for attempt in range(retries):
+        try:
+            req = urllib.request.Request(url, headers={"User-Agent": UA})
+            with urllib.request.urlopen(req, timeout=40) as r:
+                return json.loads(r.read().decode("utf-8"))
+        except urllib.error.HTTPError as e:
+            if e.code == 404:
+                return {"_not_found": True, "url": url}
+            if e.code in (429, 503, 500):
+                time.sleep(2.0 * (attempt + 1))
+                continue
+            return {"_error": f"HTTP {e.code}", "url": url}
+        except Exception as e:  # network hiccup
+            time.sleep(2.0 * (attempt + 1))
+            last = str(e)
+    return {"_error": f"failed after {retries} tries: {last if 'last' in dir() else 'unknown'}", "url": url}
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--only", nargs="*")
+    ap.add_argument("--new", action="store_true", help="fetch the new substances of new_substances.py (+ properties, density, description)")
+    a = ap.parse_args()
+    subs = json.loads(SUBSTANCES.read_text(encoding="utf-8"))["substances"]
+    headings = dict(HEADINGS)
+    if a.new:
+        sys.path.insert(0, str(Path(__file__).resolve().parent))
+        from new_substances import NEW_PURE
+        subs = {k: {"cas": v[0]} for k, v in NEW_PURE.items()}
+        headings.update(NEW_HEADINGS)
+    RAW.mkdir(parents=True, exist_ok=True)
+    n_ok = 0
+    for sid, rec in subs.items():
+        if a.only and sid not in a.only:
+            continue
+        cas = rec.get("cas") or CAS_OVERRIDES.get(sid)
+        d = RAW / sid
+        d.mkdir(exist_ok=True)
+        if not cas:
+            (d / "cid.json").write_text(json.dumps({"_no_cas": True}), encoding="utf-8")
+            print(f"[skip] {sid}: no CAS", flush=True)
+            continue
+        cid_file = d / "cid.json"
+        if not cid_file.exists():
+            js = get(f"{PUG}/compound/name/{urllib.parse.quote(cas)}/cids/JSON")
+            js["_cas"] = cas
+            cid_file.write_text(json.dumps(js, indent=1), encoding="utf-8")
+            time.sleep(0.34)
+        js = json.loads(cid_file.read_text(encoding="utf-8"))
+        cids = (js.get("IdentifierList") or {}).get("CID") or []
+        if not cids:
+            print(f"[nocid] {sid} {cas}: {js.get('_error') or js.get('_not_found')}", flush=True)
+            continue
+        cid = cids[0]
+        if a.new and not (d / "props.json").exists():
+            pr = get(f"{PUG}/compound/cid/{cid}/property/MolecularFormula,MolecularWeight,IUPACName,Title/JSON")
+            (d / "props.json").write_text(json.dumps(pr, ensure_ascii=False), encoding="utf-8")
+            time.sleep(0.34)
+        for fn, heading in headings.items():
+            f = d / fn
+            if f.exists():
+                continue
+            out = get(f"{VIEW}/{cid}/JSON?heading={urllib.parse.quote(heading)}")
+            out["_cid"] = cid
+            out["_heading"] = heading
+            out["_fetched"] = time.strftime("%Y-%m-%d")
+            f.write_text(json.dumps(out, ensure_ascii=False), encoding="utf-8")
+            time.sleep(0.34)
+        n_ok += 1
+        print(f"[ok] {sid} cas={cas} cid={cid}", flush=True)
+    print(f"done: {n_ok} substances with a CID", flush=True)
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scripts/substances/new_substances.py b/scripts/substances/new_substances.py
new file mode 100644
index 0000000000000000000000000000000000000000..28b6b35f6bb565c170c07cafe3afaee3cc4706cc
--- /dev/null
+++ b/scripts/substances/new_substances.py
@@ -0,0 +1,66 @@
+"""Substances the default-lab inventory needs that were not in substances.json (chemlab default-lab inventory,
+2026-10-22).  Pure substances get PubChem-sourced molar mass / formula / density / phase (fetched by fetch_pubchem_safety.py --new
+into references/substance_safety_raw/<id>/); mixtures (latex, bead standards, ladders, buffer concentrates) have no molar mass and
+are marked kind = "mixture" with their composition from the product description.
+"""
+
+NEW_PURE = {
+    # id: (CAS, name_zh, phase at 20-25 C, fid_visible, note)
+    "argon": ("7440-37-1", "氩气", "gas", False, "carrier / purge gas (cylinder)"),
+    "helium": ("7440-59-7", "氦气", "gas", False, "GC carrier gas (cylinder)"),
+    "silicon": ("7440-21-3", "硅", "solid", False, "XRD line-position standard (NIST SRM 640-series powder)"),
+    "aluminium_oxide": ("1344-28-1", "氧化铝（刚玉）", "solid", False, "XRD intensity standard (NIST SRM 676-series corundum)"),
+    "indium": ("7440-74-6", "铟", "solid", False, "DSC temperature / enthalpy calibration metal"),
+    "potassium_hydrogen_phthalate": ("877-24-7", "邻苯二甲酸氢钾", "solid", False, "primary acidimetric standard; pH 4.01 buffer"),
+    "sodium_dihydrogen_phosphate": ("7558-80-7", "磷酸二氢钠", "solid", False, "phosphate buffer component (pH 7.00 buffers)"),
+    # 2026-10-23: the pH 6.86 primary standard of DIN 19266 / NIST is KH2PO4 0.025 mol/kg + Na2HPO4 0.025 mol/kg
+    "potassium_dihydrogen_phosphate": ("7778-77-0", "磷酸二氢钾", "solid", False,
+                                       "pH 6.86 phosphate standard buffer component (DIN 19266 / NIST: 0.025 mol/kg with Na2HPO4)"),
+    "disodium_hydrogen_phosphate": ("7558-79-4", "磷酸氢二钠", "solid", False,
+                                    "pH 6.86 phosphate standard buffer component (DIN 19266 / NIST: 0.025 mol/kg with KH2PO4)"),
+    "sodium_tetraborate_decahydrate": ("1303-96-4", "十水合四硼酸钠（硼砂）", "solid", False, "pH 9.18 buffer"),
+    "lithium_chloride": ("7447-41-8", "氯化锂", "solid", False, "water-activity standard salt (saturated LiCl, aw 0.113)"),
+    "formazin": ("9004-77-7", "福尔马肼（浊度标准聚合物）", "aqueous", False, "turbidity primary standard (4000 NTU suspension)"),
+    "sulfanilic_acid": ("121-57-3", "对氨基苯磺酸", "solid", False, "nitrite (Griess) reagent component"),
+    "ferrocene": ("102-54-5", "二茂铁", "solid", True, "electrochemistry internal reference (Fc+/Fc)"),
+    # 2026-10-23 (inventory consistency: ids the default-lab inventory used from the spectral compound table, so
+    # that substances.json stays the single vocabulary)
+    "acetonitrile": ("75-05-8", "乙腈", "liquid", True, "HPLC mobile-phase solvent (stock bottle)"),
+    "benzene": ("71-43-2", "苯", "liquid", True, "component of an instrument's default check sample"),
+    "caffeine": ("58-08-2", "咖啡因", "solid", True, "HPLC check standard (100 mg/L in water)"),
+    "decane": ("124-18-5", "正癸烷", "liquid", True, "GC n-alkane check mix component"),
+    "hexane": ("110-54-3", "正己烷", "liquid", True, "solvent (stock bottle, GC dilutions)"),
+    "oxalic_acid": ("144-62-7", "草酸", "solid", False, "silicate-channel reagent of the segmented-flow analyser"),
+    "propan_2_ol": ("67-63-0", "异丙醇", "liquid", True, "solvent (stock bottle, cleaning)"),
+    "tetrahydrofuran": ("109-99-9", "四氢呋喃", "liquid", True, "solvent of the solvent purification system"),
+    # 2026-10-23: the C8-C20 n-alkanes of the GC retention-index standard (Supelco 04070, ~40 mg/L each in hexane);
+    # ids as in the crosswalk / spectral library (IUPAC names; C20 = icosane, also called eicosane); phase at 20-25 C from the
+    # melting points (C17 22 C, C18 28 C, C19 32 C, C20 37 C)
+    "octane": ("111-65-9", "正辛烷", "liquid", True, "n-alkane retention-index standard component (C8)"),
+    "nonane": ("111-84-2", "正壬烷", "liquid", True, "n-alkane retention-index standard component (C9)"),
+    "undecane": ("1120-21-4", "正十一烷", "liquid", True, "n-alkane retention-index standard component (C11)"),
+    "dodecane": ("112-40-3", "正十二烷", "liquid", True, "n-alkane retention-index standard component (C12)"),
+    "tridecane": ("629-50-5", "正十三烷", "liquid", True, "n-alkane retention-index standard component (C13)"),
+    "tetradecane": ("629-59-4", "正十四烷", "liquid", True, "n-alkane retention-index standard component (C14)"),
+    "pentadecane": ("629-62-9", "正十五烷", "liquid", True, "n-alkane retention-index standard component (C15)"),
+    "hexadecane": ("544-76-3", "正十六烷", "liquid", True, "n-alkane retention-index standard component (C16)"),
+    "heptadecane": ("629-78-7", "正十七烷", "liquid", True, "n-alkane retention-index standard component (C17; mp about 22 C)"),
+    "octadecane": ("593-45-3", "正十八烷", "solid", True, "n-alkane retention-index standard component (C18)"),
+    "nonadecane": ("629-92-5", "正十九烷", "solid", True, "n-alkane retention-index standard component (C19)"),
+    "icosane": ("112-95-8", "正二十烷", "solid", True, "n-alkane retention-index standard component (C20, eicosane)"),
+}
+
+NEW_MIXTURES = {
+    "polystyrene_latex": {"name_zh": "聚苯乙烯乳胶标准粒子悬液", "formula": "(C8H8)n dispersion in water", "phase": "aqueous",
+                          "composition": "monodisperse polystyrene spheres (e.g. 100 nm, 1 % w/v) in water with surfactant",
+                          "density_kg_m3": 1050.0, "note": "particle-size check standard (DLS / laser diffraction); polymer density 1050 kg/m3 (polystyrene)"},
+    "calibration_beads_fluorescent": {"name_zh": "荧光校准微球（流式细胞仪）", "formula": "polystyrene microspheres with dyes, aqueous", "phase": "aqueous",
+                                      "composition": "CS&T-type fluorescent polystyrene beads in buffer with azide",
+                                      "density_kg_m3": 1050.0, "note": "cytometer set-up standard; supplied cold (2-8 C)"},
+    "protein_ladder_prestained": {"name_zh": "预染蛋白分子量标准", "formula": "protein mixture in loading buffer", "phase": "aqueous",
+                                  "composition": "recombinant prestained proteins 10-250 kDa in Tris / glycerol loading buffer",
+                                  "density_kg_m3": 1100.0, "note": "SDS-PAGE marker; supplied frozen (-20 C)"},
+    "hbs_ep_plus_10x": {"name_zh": "HBS-EP+ 缓冲液（10×）", "formula": "HEPES / NaCl / EDTA / polysorbate 20 in water", "phase": "aqueous",
+                        "composition": "0.1 M HEPES, 1.5 M NaCl, 30 mM EDTA, 0.5 % v/v surfactant P20, pH 7.4 (10x concentrate)",
+                        "density_kg_m3": 1060.0, "note": "SPR running buffer concentrate (Biacore); store 2-8 C"},
+}
diff --git a/tests/test_asset_antonpaar_abbematadvanced.py b/tests/test_asset_antonpaar_abbematadvanced.py
index c2c644c19382eda7cfa9be4c8e6f9723d6e5b8d9..76ff2f21c7f36ddbb2149a1d5948840fb77b25ef 100644
--- a/tests/test_asset_antonpaar_abbematadvanced.py
+++ b/tests/test_asset_antonpaar_abbematadvanced.py
@@ -110,4 +110,19 @@ class AntonpaarAbbematadvancedTests(unittest.TestCase):
         self.assertGreaterEqual(sum(t['runtime_eligible'] for t in self.h.templates.values()),50)
         for t in self.h.templates.values():
             self.assertEqual(t['evidence'],'measured_literature'); self.assertEqual(t['wavelength_m'],589.3e-9); self.assertIsNone(t['dn_dt_per_k']); self.assertTrue(t['source'].startswith('https://pubchem.ncbi.nlm.nih.gov/'))
+    def test_fix_round_b_refusals_name_the_cause(self):
+        """PRECONDITION_FAILED keeps its code (no finer code is declared); the message names the cause."""
+        n=[0]
+        def why(cap='acquisition.start',**args):
+            n[0]+=1; r=self.agent.invoke(instance_id=self.h.instance_id,capability_id=cap,arguments=args,request_id='pm5_%d'%n[0])
+            self.assertEqual(r['error']['code'],'PRECONDITION_FAILED',r); return r['error']['message']
+        self.assertIn('switched off',why())
+        self.h.invoke('power.set',enabled=True)
+        self.assertIn('no sample is on the prism',why()); self.assertIn('lid is not open',why('cleaning.start',volume_m3=1e-6))
+        self.ready(); self.h.invoke('lid.set_angle',angle_rad=0.1); self.assertIn('lid is not closed',why())
+        self.h.invoke('lid.set_angle',angle_rad=0.); self.h.invoke('thermal.set_temperature',temperature_k=303.15)
+        self.assertIn('has not reached the set point',why())
+        self.h.invoke('thermal.set_temperature',temperature_k=293.15); self.h.step(600); self.h.invoke('method.configure',mode='calibrated_concentration')
+        self.assertIn('no concentration calibration',why())
+        self.assertEqual(rt.ASSET_VERSION,'1.1.3')
 if __name__=='__main__': unittest.main()
diff --git a/tests/test_asset_antonpaar_autosorb6100.py b/tests/test_asset_antonpaar_autosorb6100.py
index 7256b545cf4213b7064107c8c3262905c9c99fc1..834daaa8701d77a0ed4f65f662d935688d3a6a60 100644
--- a/tests/test_asset_antonpaar_autosorb6100.py
+++ b/tests/test_asset_antonpaar_autosorb6100.py
@@ -107,4 +107,24 @@ class AutosorbTests(unittest.TestCase):
   h=configured();call(h,'acquisition.start',stations=[0]);h.step(400.);call(h,'acquisition.stop')
   with self.assertRaises(r.ActionRejected):h.invoke('dewar.set',lift_m=0.)
   h.step(600.);call(h,'dewar.set',lift_m=0.);balances(h)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): after a run cancelled at a high loading the backfill stuck at ~105-110 kPa (the warming sample
+ kept releasing N2), the station stayed BUSY and the tube could not be released."""
+ def test_backfill_after_a_cancelled_run_finishes(self):
+  h=configured();call(h,'acquisition.start',stations=[0])
+  for _ in range(1200):
+   h.step(1.)
+   if len(h.stations[0]['points'])>=12:break
+  self.assertGreaterEqual(len(h.stations[0]['points']),12)
+  call(h,'acquisition.stop');h.step(5.);call(h,'dewar.set',lift_m=0.);h.step(5.)
+  call(h,'sample.backfill',station=0);peak=0.
+  for _ in range(3600):
+   h.step(1.);peak=max(peak,h.pressure(0))
+   if h.stations[0]['stage']!='backfill':break
+  self.assertEqual(h.stations[0]['stage'],'idle')
+  self.assertGreater(peak,101325.+10.)                                  # the desorbing sample did push above ambient on the way
+  self.assertAlmostEqual(h.pressure(0),101325.,delta=10.)
+  h.step(600.);self.assertAlmostEqual(h.pressure(0),101325.,delta=30.)   # what was left adsorbed stays inside the access window
+  call(h,'guard.set',angle_rad=1.5);call(h,'sample0.set',drop_m=.18);call(h,'sample.unload',station=0)   # the tube is released
+  balances(h)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_antonpaar_dma5002.py b/tests/test_asset_antonpaar_dma5002.py
index 2866e33471c262ba21c8898dc96e0adc851279cd..3e66ee2416e6ecc23af894fe59374f86e5bb1d8c 100644
--- a/tests/test_asset_antonpaar_dma5002.py
+++ b/tests/test_asset_antonpaar_dma5002.py
@@ -123,4 +123,16 @@ class AntonpaarDma5002Tests(unittest.TestCase):
         for cap,args in cases:
             result=self.h.invoke(cap,**args); self.assertEqual(validate_value(result,meta['capabilities'][cap]['output_schema']),[])
         for key,value in self.h.read('evaluator').items(): self.assertEqual(validate_value(value,meta['state_slots'][key]['value_schema']),[])
+    def test_fix_round_b_refusals_name_the_cause(self):
+        """PRECONDITION_FAILED keeps its code (no finer code is declared); the message names the cause."""
+        n=[0]
+        def why(cap='acquisition.start',**args):
+            n[0]+=1; r=self.agent.invoke(instance_id=self.h.instance_id,capability_id=cap,arguments=args,request_id='pm5_%d'%n[0])
+            self.assertEqual(r['error']['code'],'PRECONDITION_FAILED',r); return r['error']['message']
+        self.assertIn('switched off',why()); self.assertIn('switched off',why('cleaning.start',volume_m3=1e-5))
+        self.h.invoke('power.set',enabled=True)
+        self.assertIn('not filled',why()); self.assertIn('no measurement result',why('calibration.check',reference_density_kg_m3=789.3,reference_temperature_k=293.15))
+        self.ready(); self.h.invoke('thermal.set_temperature',temperature_k=303.15)
+        self.assertIn('has not reached the set point',why())
+        self.assertEqual(rt.ASSET_VERSION,'1.2.1')
 if __name__=='__main__': unittest.main()
diff --git a/tests/test_asset_aqualab_4te.py b/tests/test_asset_aqualab_4te.py
index 16bc28d45d1f5d876bfccc43a5e453d3e35ced1f..64ffb7f123fea6dc42794d92cc993432136c142e 100644
--- a/tests/test_asset_aqualab_4te.py
+++ b/tests/test_asset_aqualab_4te.py
@@ -79,4 +79,19 @@ class Test4TE(unittest.TestCase):
         self.assertEqual(seen,set(CAPS))
         for k,v in h.read('evaluator').items():self.assertEqual(asset_tool.validate_value(v,SLOTS[k][0]),[],k)
         for c in export_aqualab_4te_contract_metadata()['capabilities'].values():self.assertEqual(asset_tool.lint_schema(c['input_schema']),[]);self.assertEqual(asset_tool.lint_schema(c['output_schema']),[])
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22)."""
+    def test_sample_example_reads_the_cited_template_value(self):
+        h=Aqualab4teRuntime();ex=CAPS['sample.configure'][6];row=h.templates[ex['substance_id']]
+        rec=row['records'][ex['record_index']]
+        self.assertEqual((rec['value'],rec['composition']['value']),(row['value'],row['composition']['value']))   # the template's headline point (0.9002)
+        h.invoke('power.set',enabled=True);h.invoke('lid.set_angle',angle_rad=math.pi/2);h.invoke('sample.configure',**ex)
+        h.invoke('thermal.set_temperature',temperature_k=298.15);h.invoke('lid.set_angle',angle_rad=0.);h.invoke('latch.set_angle',angle_rad=math.pi/2)
+        h.invoke('acquisition.start');h.step(600)
+        self.assertAlmostEqual(h.invoke('water_activity.measure')['water_activity'],row['value'],delta=.003)
+    def test_start_refusal_names_the_cause(self):
+        h=Aqualab4teRuntime()
+        h.invoke('power.set',enabled=True)
+        with self.assertRaises(ActionRejected) as e:h.invoke('acquisition.start')
+        self.assertEqual(str(e.exception),'PRECONDITION_FAILED');self.assertIn('no sample cup',e.exception.detail)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_biolin_sigma700.py b/tests/test_asset_biolin_sigma700.py
index 4d753d27915463015cd3e6e9c0005787d5470e7f..570bccefc18e3ac89bd07bbc0a6b9bd31fdca5de 100644
--- a/tests/test_asset_biolin_sigma700.py
+++ b/tests/test_asset_biolin_sigma700.py
@@ -115,4 +115,17 @@ class Tests(unittest.TestCase):
    h=self.h();h.invoke('balance.calibrate',reference_forces_n=[0.,.1],observed_raw_forces_n=[0.,.1]);h.invoke('balance.tare');h.invoke('stage.move',position_m=.005);h.invoke('sim.step',dt_s=1.);h.invoke('stage.move',position_m=0.);h.invoke('sim.step',dt_s=1.);h.invoke('stirrer.set_speed',speed_rad_s=20.);h.invoke('thermal.set_temperature',temperature_k=295.15);h.invoke('acquisition.start');h.invoke('sim.step',dt_s=30.);h.invoke('door.set',angle_rad=2.35);h.invoke('probe.select',probe='ring');h.invoke('sample.remove');h.invoke('power.set',enabled=False);h.invoke('service.set',distance_m=.1)
    d=self.h(sid='apg_fig1_2',plant={'ambient_k':298.15},temp=298.15);d.invoke('stock.load',volume_m3=2e-5,concentration_kg_m3=1.);d.invoke('dose.start',volume_m3=1e-6,flow_m3_s=1e-7);d.invoke('sim.step',dt_s=3.);d.invoke('acquisition.stop');d.invoke('door.set',angle_rad=2.35);d.invoke('sample.remove')
   self.assertTrue(set(rt.IMMEDIATE_EFFECTS)<=observed)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): a tare right after switching on took the unsettled zero (ethanol read 522 mN/m)."""
+ def test_tare_waits_for_a_settled_force_reading(self):
+  h=rt.BiolinSigma700Runtime();p=dict(rt.PLANT_EXAMPLE);h.invoke('plant.configure',**p);h.step(5.)
+  h.invoke('power.set',enabled=True);before=copy.deepcopy(h.__dict__)
+  with self.assertRaisesRegex(rt.ActionRejected,'FORCE_NOT_SETTLED'):h.invoke('balance.tare')
+  self.assertEqual(before,h.__dict__)
+  h.step(.3)
+  with self.assertRaisesRegex(rt.ActionRejected,'FORCE_NOT_SETTLED'):h.invoke('balance.tare')
+  h.step(1.5);h.invoke('balance.tare');h.step(.5);self.assertLess(abs(h.force),2e-7)
+  self.assertIn('FORCE_NOT_SETTLED',[e['code'] for e in rt.export_biolin_sigma700_contract_metadata()['capabilities']['balance.tare']['errors']])
+ def test_plate_tension_after_a_settled_tare(self):
+  h=ex.build();ex.call(h,'acquisition.start');h.step(30);r=ex.call(h,'acquisition.result');self.assertAlmostEqual(r['tension_n_m'],.022454,delta=3e-6)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_biolin_thetaflex.py b/tests/test_asset_biolin_thetaflex.py
index 6c4185e261867c935806e3bd21065a059ffe8194..55ebbd1a1722a48d2c808844ec3cf4888ec265b9 100644
--- a/tests/test_asset_biolin_thetaflex.py
+++ b/tests/test_asset_biolin_thetaflex.py
@@ -177,4 +177,12 @@ class TestThetaFlex(unittest.TestCase):
   with mock.patch.object(rt.BiolinThetaFlexRuntime,'invoke',invoke),mock.patch.object(rt.BiolinThetaFlexRuntime,'step',step):
    h,r=ex.static_example();h.invoke('power.set',enabled=False);h.invoke('power.set',enabled=True);h.invoke('method.configure',**dict(h.method,field_width_m=.005));h.invoke('drop.clean');h.invoke('stock.unload');h.invoke('sample.remove');h.invoke('stage.move',x_m=0.,y_m=0.,z_m=0.);h.invoke('sim.step',dt_s=.1);h.invoke('acquisition.stop');h.invoke('power.set',enabled=False);h.invoke('service.set',distance_m=.09);d,a,b,c=ex.dynamic_example();d.invoke('drop.clean')
   self.assertTrue(set(rt.IMMEDIATE_EFFECTS)<=observed);self.assertTrue(set(rt.STEP_EFFECTS)<=stepped)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): the dispenser.move example (0.010 m) was below liquid.transfer's 0.014 m minimum."""
+ def test_dispenser_example_allows_the_transfer_example(self):
+  caps=rt.export_biolin_thetaflex_contract_metadata()['capabilities']
+  ex_move=caps['dispenser.move']['example_arguments'];ex_move=ex_move[0] if isinstance(ex_move,list) else ex_move
+  ex_tr=caps['liquid.transfer']['example_arguments'];ex_tr=ex_tr[0] if isinstance(ex_tr,list) else ex_tr
+  self.assertGreaterEqual(ex_move['position_m'],.014)
+  h=ex.setup();h.invoke('dispenser.move',**ex_move);ex.finish(h);h.invoke('liquid.transfer',**ex_tr);ex.finish(h)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_biorad_miniprotean.py b/tests/test_asset_biorad_miniprotean.py
index 2138d4f7ac09b54eec38158dceb770c942dc33bb..3e1053ea13366eb3d6d71562636f1916918eb0e2 100644
--- a/tests/test_asset_biorad_miniprotean.py
+++ b/tests/test_asset_biorad_miniprotean.py
@@ -333,6 +333,29 @@ class Electrophoresis(unittest.TestCase):
         check('observe', dye_front_m=ob['dye_front_m'])
 
 
+class FixRoundB(unittest.TestCase):
+    """chemlab findings (2026-10-22)."""
+    def test_inspect_names_the_sample_loaded_in_each_lane(self):
+        # C1: gel.inspect returned sample_id null for every lane although the bands of the loaded sample were there
+        h = assembled(samples=False)
+        h.invoke('leads.disconnect')
+        h.invoke('lid.remove')
+        for sid in ('s_a', 's_b'):
+            h.invoke('sample.prepare', sample_id=sid, proteins_kg=dict(ovalbumin=2e-09), marker=None, marker_volume_m3=0.0,
+                     sample_buffer='laemmli_2x_reducing', heat='95C_5min', volume_m3=60e-9)
+        h.invoke('sample.load', sample_id='s_a', position=1, lane=2, volume_m3=10e-9)
+        h.invoke('sample.load', sample_id='s_b', position=1, lane=4, volume_m3=5e-9)
+        h.invoke('sample.load', sample_id='s_a', position=1, lane=4, volume_m3=5e-9)
+        h.invoke('sample.load', sample_id='s_b', position=1, lane=6, volume_m3=40e-9)   # 30 uL well: 10 uL runs over into lanes 5 and 7
+        lanes = {x['lane']: x for x in h.invoke('gel.inspect', gel_id='g1')['lanes']}
+        self.assertEqual(lanes[2]['sample_id'], 's_a')
+        self.assertEqual(lanes[4]['sample_id'], 's_b+s_a')                       # two samples in one well: load order
+        self.assertEqual(lanes[6]['sample_id'], 's_b')
+        self.assertTrue(lanes[5]['bands'])                                       # spill-over bands, but nothing was pipetted there
+        self.assertIsNone(lanes[5]['sample_id'])
+        self.assertIsNone(lanes[1]['sample_id'])
+
+
 class PowerSupplyAndCell(unittest.TestCase):
     def test_regulation_cv_cc_and_power_limit(self):
         h = assembled()
diff --git a/tests/test_asset_ch_chi440c.py b/tests/test_asset_ch_chi440c.py
index 18c75ecafddafbf39312f68430df09635a02a343..33c9b84450e6c9a082b229e15e76ffc246c11581 100644
--- a/tests/test_asset_ch_chi440c.py
+++ b/tests/test_asset_ch_chi440c.py
@@ -68,4 +68,12 @@ class EQCM(unittest.TestCase):
   r.step(.5);self.assertEqual(other.__dict__,before);saved=copy.deepcopy(r.__dict__);r.describe();r.read();call(r,'process.measure');call(r,'ledger.read');self.assertEqual(r.__dict__,saved)
   for k in UNSUPPORTED:
    with self.assertRaisesRegex(ActionRejected,'UNSUPPORTED'):r.invoke(k)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): positive current is cathodic in this twin (CHI convention); the contract now says so."""
+ def test_positive_current_is_cathodic_and_stated(self):
+  m=export_ch_chi440c_contract_metadata()
+  self.assertIn('阴极（还原）电流为正',m['state_slots']['current.a']['meaning_zh']);self.assertIn('正值为阴极',m['capabilities']['method.configure']['function_zh'])
+  r=prepared(method=dict(METHOD_EXAMPLE,steps=[dict(duration_s=1.,potential_v=0.,current_a=1e-5)]));call(r,'acquisition.start');r.step(1.)
+  self.assertGreater(r.film,0.)                                            # +10 uA deposits copper: a reduction
+  self.assertLess(r.points[-1]['potential_v'],0.)                           # and drives the electrode below E0
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_fujifilm_dmp2850.py b/tests/test_asset_fujifilm_dmp2850.py
index de13d6e0d06a106d1eefb1b974c568fd54052116..a91f515e0abb71eb21d405dbc1286491c5a04d41 100644
--- a/tests/test_asset_fujifilm_dmp2850.py
+++ b/tests/test_asset_fujifilm_dmp2850.py
@@ -187,4 +187,21 @@ class SolventLibraryTests(unittest.TestCase):
         with self.assertRaises(ActionRejected):h.invoke('ink.printability',substance_id='water',characteristic_length_m=0.,drop_velocity_m_s=5.)
         self.assertEqual(before,h.debug_snapshot())
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): older finished operations stay pollable (poll used to accept only the latest operation)."""
+    def test_older_operation_stays_pollable(self):
+        import sys as _sys
+        h=ready();s=h.session();h.register_principal('fixb_other');other=h.session('fixb_other')
+        Rejected=_sys.modules[type(h).__module__].ActionRejected
+        start=lambda rid: s.invoke(instance_id=h.instance_id,capability_id='acquisition.start',arguments={},request_id=rid)['operation_id']   # noqa: E731
+        op1=start('fixb_1');s.cancel(op1,'fixb_c1');h.step(5)
+        final=s.poll(op1);self.assertEqual(final['status'],'cancelled')
+        op2=start('fixb_2');self.assertNotEqual(op1,op2);h.step(0.5)
+        self.assertEqual(s.poll(op1),final)                                   # the frozen final record of op1
+        self.assertEqual(s.cancel(op1,'fixb_c2'),final)                        # nothing to cancel: op2 keeps running
+        self.assertEqual(s.poll(op2)['status'],'running')
+        with self.assertRaises(Rejected):other.poll(op1)
+        with self.assertRaises(Rejected):s.poll(h.instance_id+':no_such_operation')
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_inficon_ul1000fab.py b/tests/test_asset_inficon_ul1000fab.py
index 72924475368062c497309cbda963c968bd5b678a..8a5a29ad4824d3e3edcebbb599da9cf8863239df 100644
--- a/tests/test_asset_inficon_ul1000fab.py
+++ b/tests/test_asset_inficon_ul1000fab.py
@@ -685,6 +685,22 @@ class ReviewR3(unittest.TestCase):
         self.assertIn('CAL_ABORTED', [e['code'] for e in g.call(g.E, 'events.read', since_s=0.0)['events']])
 
 
+class FixRoundB(unittest.TestCase):
+    """chemlab findings (2026-10-22)."""
+    def test_read_after_evacuating_an_empty_inlet(self):
+        # W1: with nothing on the inlet p1 decays towards 0 Pa (5e-324 after 90 s); read() crashed on log10(0) in the recorder output
+        g = Rig()
+        g.ready()
+        g.call(g.A, 'measure.start')
+        g.step(90.0)
+        out = g.read()
+        self.assertLess(g.h.p1, rt.TPR265_CHART_MIN_PA)
+        self.assertEqual(g.read('menu.settings')['recorder_2'], 'p1')
+        self.assertEqual(out['recorder.output_v'][1], 1.5)                       # TPR265 chart end: 1e-4 mbar = 1.5 V
+        g.h.menu['recorder_1'] = 'p2'                                           # foreline gauge: still on its chart
+        self.assertGreater(g.read('recorder.output_v')[0], 1.5)
+
+
 class ZCoverage(unittest.TestCase):
     def test_all_capabilities_exercised(self):
         implemented = {k for k in rt.CAPS if k not in rt.UNSUPPORTED}
diff --git a/tests/test_asset_jasco_j1500.py b/tests/test_asset_jasco_j1500.py
index ab25301516e4ede3df7291400757dd69619bb159..eb64f6b659dfde08a2941d5aadb24e657b67ae2e 100644
--- a/tests/test_asset_jasco_j1500.py
+++ b/tests/test_asset_jasco_j1500.py
@@ -173,5 +173,12 @@ class TestJ1500(unittest.TestCase):
   h=ready();a=copy.deepcopy(SAMPLE_EXAMPLE);a['sample_id']='new';h.invoke('solution.register',**a);a['mean_epsilon_m2_mol'][0]=999.;self.assertEqual(h.samples['new']['mean_epsilon_m2_mol'][0],600.)
  def test_same_solvent_id_cannot_have_conflicting_definition(self):
   h=ready();self.unchanged_reject(h,'solution.register',**dict(SAMPLE_EXAMPLE,sample_id='bad_buffer',solvent_alpha_m_inv=[100.]*66))
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): method.configure accepts the hardware range while the twin simulates only 175-240 nm; the
+ contract now states where TEMPLATE_RANGE comes."""
+ def test_template_range_is_stated(self):
+  caps=export_jasco_j1500_contract_metadata()['capabilities']
+  self.assertIn('175–240 nm',caps['method.configure']['function_zh']);self.assertIn('TEMPLATE_RANGE',caps['method.configure']['function_zh'])
+  self.assertIn('TEMPLATE_RANGE',[e['code'] for e in caps['acquisition.start']['errors']])
 if __name__=='__main__':unittest.main()
 
diff --git a/tests/test_asset_jena_contraa800.py b/tests/test_asset_jena_contraa800.py
index 9cdb816bc930665df21705c9a5cb8cff7fa2fbef..981d095e7259ee718a62079e48c24677f761f73a 100644
--- a/tests/test_asset_jena_contraa800.py
+++ b/tests/test_asset_jena_contraa800.py
@@ -311,5 +311,12 @@ class CrmTemplateTests(unittest.TestCase):
   h.invoke('sample.load',**dict(rt.SAMPLE_EXAMPLE,template_id='crm_nist_srm_1633c__hg',dilution_factor=2.));self.assertAlmostEqual(h.sample['concentration'],before['concentration_kg_m3']/2,places=18);self.assertEqual(h.templates['crm_nist_srm_1633c__hg'],before)
  def balance_ok(self,h):
   l=h.invoke('product.read');self.assertAlmostEqual(l['element_mass_kg']['residual'],0.,delta=1e-18);self.assertAlmostEqual(l['liquid_volume_m3']['residual'],0.,delta=1e-15)
+class FixRoundB(unittest.TestCase):
+ def test_records_list_names_the_curves(self):
+  """records.list gave only curve_count; it now also lists curve_ids (as the other analytical members)."""
+  h=make();self.assertEqual(h.invoke('records.list')['curve_ids'],[]);blank(h);calibrate(h)
+  r=h.invoke('records.list');self.assertEqual(r['curve_ids'],['observed_cu']);self.assertEqual(r['curve_count'],1);rt.validate(rt.CAPS['records.list'][1],r)
+  self.assertEqual(json.loads(h.invoke('calibration.read',curve_id=r['curve_ids'][0])['curve_json'])['key'],h._curves['observed_cu']['key']);self.assertEqual(rt.ASSET_VERSION,'1.1.1')
+
 
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_jena_multix.py b/tests/test_asset_jena_multix.py
index e1686b24c1f13f5d18f32aefd10f3a3f4f79bfa7..af36310e29da20b6135cb2f5ac63915afc0f3f94 100644
--- a/tests/test_asset_jena_multix.py
+++ b/tests/test_asset_jena_multix.py
@@ -303,4 +303,22 @@ class ThinLibraryRound20261015(unittest.TestCase):
   new=[r for r in self.C.values() if r['source'] in ('din38409_59','kinani2017','customs1985')];self.assertEqual(len({r['substance_identity'] for r in new if r['source']=='kinani2017'}),44)
   for r in new:self.assertIn(r['license_flag'],['public_download_no_licence_stated_numbers_only','hal_authorisation_v1_no_open_licence_numbers_only','japan_customs_site_terms_reuse_with_attribution']);self.assertEqual(r['accessed'],'2026-10-15');self.assertEqual(r['evidence']['value_evidence'],'measured_literature')
 def _load_actual_library():return json.loads((ROOT/TEMPLATE_REL).read_text())
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): with the contract example integration of 12 s the AOX endpoint of the library standards was not
+ resolved (INVALID_STANDARD_OBSERVATION at calibration.fit); the example is 60 s now."""
+ def fit(self,integration):
+  r=JenaMultixRuntime('u');r.invoke('plant.configure',**(PLANT_EXAMPLE|dict(optional_pox_installed=True)))
+  r.invoke('method.configure',**dict(METHOD_CONTRACT_EXAMPLE,integration_s=integration))
+  r.invoke('cover.set',door='chlorine',opened=True);r.invoke('cell.prepare',cell_type='sensitive');r.invoke('cover.set',door='chlorine',opened=False);r.invoke('power.set',enabled=True);r.invoke('gas.set',enabled=True);r.step(.6)
+  def meas(kind,fr):
+   if r.sample:r.invoke('sample.unload',recipient_id='returned')
+   r.invoke('product.drain',recipient_id='waste');r.invoke('sample.load',**(SAMPLE_EXAMPLE|dict(template_id='' if kind=='blank' else SAMPLE_EXAMPLE['template_id'],kind=kind,reference_fraction=fr)))
+   r.invoke('measurement.start');r.step(r.method['integration_s']);return r.invoke('result.read')
+  meas('blank',1.);ids=[meas('standard',f)['record_id'] for f in (.25,.5,1.)]
+  return r.invoke('calibration.fit',curve_id='observed',record_ids=ids)
+ def test_contract_example_integration_resolves_the_standards(self):
+  self.assertEqual(METHOD_CONTRACT_EXAMPLE['integration_s'],60.)
+  self.assertEqual(export_jena_multix_contract_metadata()['capabilities']['method.configure']['example_arguments'],METHOD_CONTRACT_EXAMPLE)
+  self.assertGreater(self.fit(60.)['r_squared'],.999)
+  with self.assertRaisesRegex(ActionRejected,'INVALID_STANDARD_OBSERVATION'):self.fit(12.)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_laboao_cvdltf12p50.py b/tests/test_asset_laboao_cvdltf12p50.py
index 2c4e35b431905fb08e8a8d5a323420ba8e00b7c7..0f11636e78b937e13992af317c02479785014119 100644
--- a/tests/test_asset_laboao_cvdltf12p50.py
+++ b/tests/test_asset_laboao_cvdltf12p50.py
@@ -204,5 +204,21 @@ class FrontPanelCommands(unittest.TestCase):
         h.invoke('vacuum.set',enabled=True,mode='manual',pressure_pa=30.,manual_valve_fraction=1.);h.invoke('acquisition.start',mode='purge');h.step(40)
         self.assertEqual(h.read()['gas.channel_modes'],['purge','close','control']);self.assertEqual(h.flow[1],0.)
         self.assertAlmostEqual(h.flow[0],h.gases['full_scale_std_m3_s'][0]*h.gases['actual_gas_factor'][0],places=12)
+class FixRoundC(unittest.TestCase):
+    def test_full_cylinder_cap_per_gas(self):
+        # A channel may hold one full 50 L / 200 bar(g) cylinder of its gas (NIST SRD 69 densities, 15 C); was 100 mol.
+        # (a comment, not a docstring: verify_runtime.py reads the verbose unittest lines)
+        self.assertEqual(CYLINDER_MOL,{'N2':400.1,'AR':447.7,'CH4':525.1,'H2':372.2});self.assertEqual(GASES['properties']['initial_mol']['items']['maximum'],525.1)
+        full=dict(GASES_EXAMPLE,initial_mol=[400.1,447.7,525.1]);h=ready(gas=full);self.assertEqual(h.remaining,[400.1,447.7,525.1])
+        h.invoke('vacuum.set',enabled=True,mode='manual',pressure_pa=30.,manual_valve_fraction=1.);h.invoke('acquisition.start',mode='purge');h.step(60)
+        self.assertLess(h.remaining[0],400.1)                                   # the purge draws from the full cylinder
+        for bad in ([400.2,1.,1.],[1.,447.8,1.],[1.,1.,525.2]):                 # over one cylinder of that gas: refused, nothing installed
+            r=LaboaoCvdltf12p50Runtime();r.invoke('plant.configure',**PLANT_EXAMPLE);before=copy.deepcopy(r.__dict__)
+            with self.assertRaises(ActionRejected) as x:r.invoke('gas.install',**dict(GASES_EXAMPLE,initial_mol=bad))
+            self.assertEqual(str(x.exception),'INVALID_ARGUMENT');self.assertEqual(before,r.__dict__)
+            if bad[2]<=525.1:self.assertIn('full 50 L / 200 bar cylinder',x.exception.detail)   # CH4 above 525.1 mol is already the schema maximum
+        r=LaboaoCvdltf12p50Runtime();r.invoke('plant.configure',**PLANT_EXAMPLE)
+        with self.assertRaises(ActionRejected):r.invoke('gas.install',**dict(GASES_EXAMPLE,species=['N2','H2','CH4'],initial_mol=[1.,372.3,1.]))
+        self.assertEqual(ASSET_VERSION,'1.1.3')
 if __name__=='__main__':unittest.main()
 
diff --git a/tests/test_asset_lakeshore_8604vsm.py b/tests/test_asset_lakeshore_8604vsm.py
index 01b8c32b75b23abb2f66c7f50e5ca08b7267d4f9..8b33347d2603c19db903abb9d8e29025491b45ca 100644
--- a/tests/test_asset_lakeshore_8604vsm.py
+++ b/tests/test_asset_lakeshore_8604vsm.py
@@ -177,4 +177,19 @@ class VsmTests(unittest.TestCase):
             sample=dict(m.SAMPLE_EXAMPLE,reference_id=record['id'],magnetic_model='linear_susceptibility',initial_temperature_k=299.);r=self.make(sample=sample,plant=dict(m.PLANT_EXAMPLE,ambient_k=299.),lower=False);expected=sample['mass_kg']/record['molar_mass_kg_mol']*record['molar_susceptibility_m3_mol']*.01/m.MU0;self.assertAlmostEqual(r._moment(.01),expected,14);count+=1
         self.assertGreaterEqual(count,50)
 
+class FixRoundB(unittest.TestCase):
+    make,call,session=VsmTests.make,VsmTests.call,VsmTests.session
+    def test_calibration_refusals_name_the_cause(self):
+        """calibration.start with the vibration off kept NOT_CONFIGURED without a reason; power off is now the
+        declared POWER_OFF and every refusal names its cause; the state is unchanged."""
+        r=self.make(standard=True,lower=False);ag=self.session(r,'operator','agent');args=dict(reference_moment_a_m2=.00347,field_t=.5,averaging_time_s=1.)
+        def refused(code):
+            before=json.dumps(r.read('evaluator'),sort_keys=True);e=self.call(ag,'calibration.start',args,rid='ta8_%d'%r.revision)['error']
+            self.assertEqual(e['code'],code,e);self.assertEqual(before,json.dumps(r.read('evaluator'),sort_keys=True));return e['message']
+        r.invoke('power.set',enabled=False);self.assertEqual(refused('POWER_OFF'),'the instrument is switched off')
+        r.invoke('power.set',enabled=True);r.invoke('sample.set_lift',lift_m=0.);r.step(3.5)
+        self.assertIn('vibration is off',refused('NOT_CONFIGURED'))
+        r.invoke('vibration.configure',**m.VIBRATION_EXAMPLE);self.assertEqual(self.call(ag,'calibration.start',args,rid='ta8_ok')['status'],'accepted')
+        self.assertEqual(m.ASSET_VERSION,'1.0.1')
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_metrohm_909uv.py b/tests/test_asset_metrohm_909uv.py
index 62ae3142242af38889d2eee173fbeeb82133cf3c..2e8227c0aaf906b1229d388a8fda99d7634455c4 100644
--- a/tests/test_asset_metrohm_909uv.py
+++ b/tests/test_asset_metrohm_909uv.py
@@ -82,4 +82,16 @@ class Tests(unittest.TestCase):
   r=prepared();self.assertEqual(len(r.templates),50)
  def test_zero_oh(self):
   r=prepared(plant=dict(oh_concentration_mol_m3=0));r.invoke('acquisition.start');r.step(120);self.assertEqual(r.parent[5],1e-7)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): the whole-degree / whole-minute grids the runtime enforces are in the schemas now."""
+ def test_grids_in_schemas_match_the_runtime(self):
+  sys.path.insert(0,str(Path(__file__).resolve().parents[1]/'skills/chemistry-lab-assets/scripts'));from asset_tool import validate_value
+  caps=export_metrohm_909uv_contract_metadata()['capabilities'];sch=caps['method.configure']['input_schema']
+  self.assertEqual(sch['properties']['duration_s']['multipleOf'],60);self.assertIn('whole degrees',sch['properties']['temperature_K']['description'])
+  self.assertIn('whole degrees',caps['thermal.set_temperature']['input_schema']['properties']['temperature_K']['description'])
+  self.assertTrue(validate_value(dict(METHOD_EXAMPLE,duration_s=90.),sch));self.assertEqual(validate_value(dict(METHOD_EXAMPLE,duration_s=120.),sch),[])
+  r=Metrohm909uvRuntime();r.invoke('plant.configure',**PLANT_EXAMPLE)
+  for bad in (dict(METHOD_EXAMPLE,duration_s=90.),dict(METHOD_EXAMPLE,temperature_K=363.65)):
+   with self.assertRaises(ActionRejected):r.invoke('method.configure',**bad)
+  r.invoke('method.configure',**dict(METHOD_EXAMPLE,duration_s=120.,temperature_K=364.15))
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_mt_mp70.py b/tests/test_asset_mt_mp70.py
index 00eedb8bd21f31c0b06364471cb4700c885d29f2..a0fa23e593baa72bfbc7e22fae06452a43e5fe49 100644
--- a/tests/test_asset_mt_mp70.py
+++ b/tests/test_asset_mt_mp70.py
@@ -77,4 +77,19 @@ class TestMP70(unittest.TestCase):
         for cap in ['power.set','thermal.set_temperature','method.configure','method.select','sample.configure','melting.measure','melting.curve','sample.unload']:
             r=h.invoke(cap,**CAPS[cap][6]); self.assertEqual(asset_tool.validate_value(r,CAPS[cap][1]),[],cap)
         configure(h); r=h.invoke('acquisition.start'); self.assertEqual(asset_tool.validate_value(r,CAPS['acquisition.start'][1]),[]); r=h.invoke('acquisition.stop'); self.assertEqual(asset_tool.validate_value(r,CAPS['acquisition.stop'][1]),[])
+class FixRoundB(unittest.TestCase):
+    def test_refusals_name_the_cause(self):
+        """PRECONDITION_FAILED keeps its code (no finer code is declared); the message names the cause."""
+        h=MtMp70Runtime(); h.register_principal('evaluator',visibility='evaluator'); ag,ev=h.session(),h.session('evaluator'); n=[0]
+        def why(cap='acquisition.start',sess=None,**args):
+            n[0]+=1; r=(sess or ag).invoke(instance_id=h.instance_id,capability_id=cap,arguments=args,request_id='pm5_%d'%n[0])
+            self.assertEqual(r['error']['code'],'PRECONDITION_FAILED',r); return r['error']['message']
+        self.assertIn('switched off',why()); h.invoke('power.set',enabled=True)
+        self.assertIn('no method is selected',why()); self.assertIn("no stored method 'x'",why('method.select',method_id='x'))
+        h.invoke('method.configure',method_id='m',start_k=400.,end_k=430.,ramp_k_s=1/60,criterion='transmission'); h.invoke('method.select',method_id='m')   # benzoic acid melts near 395 K
+        self.assertIn('no capillary',why())
+        configure(h,0,'benzoic_acid'); self.assertIn('not at least 1 K below',why())
+        self.assertIn('channel 0 is occupied',why('sample.configure',sess=ev,**dict(CAPS['sample.configure'][6],channel=0)))
+        self.assertIn('channel 1 is empty',why('sample.unload',sess=ev,channel=1))
+        self.assertEqual(h.describe()['asset_version'],'1.2.2')
 if __name__=='__main__': unittest.main()
diff --git a/tests/test_asset_mt_rc1mxhfcal.py b/tests/test_asset_mt_rc1mxhfcal.py
index decbe646876060e3e93d04816be00d6f4ad5e47b..1e9b99e2450cce5407aea7ca13ef5938479bf08f 100644
--- a/tests/test_asset_mt_rc1mxhfcal.py
+++ b/tests/test_asset_mt_rc1mxhfcal.py
@@ -1069,5 +1069,21 @@ class Rc1mxRuntimeTests(unittest.TestCase):
             rt.MAX_POINTS = saved
 
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): experiment.end cleared experiment.id, which experiment.data needs."""
+    def test_last_experiment_id_stays_readable(self):
+        h = with_water(**QUIET)
+        self.assertIsNone(state(h)['experiment.id'])                            # never started
+        e = call(h, 'experiment.start', name='x')['experiment_id']
+        h.step(30.0)
+        call(h, 'experiment.end', end_mode='keep', end_temperature_k=None)
+        st = state(h)
+        self.assertEqual((st['experiment.id'], st['experiment.running']), (e, False))
+        data = call(h, 'experiment.data', experiment_id=st['experiment.id'])
+        self.assertEqual((data['experiment_id'], data['running']), (e, False))
+        e2 = call(h, 'experiment.start', name='y')['experiment_id']
+        self.assertEqual((state(h)['experiment.id'], state(h)['experiment.running']), (e2, True))
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/tests/test_asset_netzsch_lfa467.py b/tests/test_asset_netzsch_lfa467.py
index 442322b6ef6c423beaf2de54932407eb9ac1b503..34b3eaeb9498d98e32bff86f2464485bd889fe2d 100644
--- a/tests/test_asset_netzsch_lfa467.py
+++ b/tests/test_asset_netzsch_lfa467.py
@@ -183,4 +183,80 @@ class LfaTests(unittest.TestCase):
   self.assertAlmostEqual(r.source_alpha(lib['element_mo'],650.),(lib['element_mo']['values']['thermal_diffusivity_m2_s'][4]+lib['element_mo']['values']['thermal_diffusivity_m2_s'][5])/2,places=15)
   h=make(plant={'ambient_k':303.84053708439893},sample={'reference_id':'native_lfa467_an048','density_kg_m3':2600.,'heat_capacity_j_kg_k':800.,'thickness_m':.001},method={'temperature_k':303.84053708439893,'equilibrium_dwell_s':0.})
   out=run(h);self.assertEqual(out['phase'],'succeeded');self.assertIn('(plot-digitized)',out['evidence'])
+class LfaClockCostTests(unittest.TestCase):
+ """1.1.1 (2026-10-22): idle intervals (thermal control off) are one exact interval per step call and held set-points jump whole 10 ms control
+ periods (binary powers of the one-period closed loop).  Same results as 10 ms stepping (step(0.01) never takes either shortcut) within the
+ model's tolerances: nodes atol 1e-10 K + rtol 1e-9 (test_07), ledger rtol 1e-9 / budget residuals 2e-8 + 1e-9 x flow; in far fewer physics calls."""
+ def pair(self,thermal=None,settle=0.):
+  out=[]
+  for _ in range(2):
+   h=make();h.invoke('pulse.charge',energy_j=.5,accept_optical_budget=True)
+   if thermal:h.invoke('thermal.set_temperature',**thermal);h.step(settle)
+   out.append(h)
+  return out
+ def same(self,a,b):
+  np.testing.assert_allclose(a.theta,b.theta,atol=1e-10,rtol=1e-9);self.assertAlmostEqual(a.sensor_delta,b.sensor_delta,delta=1e-10+1e-9*abs(b.sensor_delta))
+  la,lb=a.invoke('ledger.read'),b.invoke('ledger.read');scale=max(abs(v) for v in lb.values())
+  for k in lb:self.assertLessEqual(abs(la[k]-lb[k]),(2e-8 if 'error' in k else 0.)+1e-9*(scale if 'error' in k else abs(lb[k]))+1e-15,k)
+  ra,rb=a.read(),b.read()
+  for k in rb:
+   if isinstance(rb[k],float) and k!='detector.indicated_k':self.assertAlmostEqual(ra[k],rb[k],delta=1e-10+1e-9*abs(rb[k]),msg=k)
+   elif k=='detector.indicated_k' and rb[k] is not None:self.assertLessEqual(abs(ra[k]-rb[k]),1e-7*1.000001,k)
+   else:self.assertEqual(ra[k],rb[k],k)
+  self.assertEqual(a.time_ns,b.time_ns)
+ def counted(self,h,dt):
+  calls=[0];physics=h._physics
+  def wrapped(ns,power):calls[0]+=1;return physics(ns,power)
+  h._physics=wrapped;h.step(dt);del h._physics;return calls[0]
+ def test_idle_interval_is_one_exact_step(self):
+  a,b=self.pair();n=self.counted(a,30.)
+  for _ in range(3000):b.step(.01)
+  self.same(a,b);self.assertLessEqual(n,3)
+ def test_held_set_point_jumps_control_periods(self):
+  for target in (298.15,310.15):
+   with self.subTest(target_k=target):
+    a,b=self.pair(dict(temperature_k=target,rate_k_s=50/60),settle=20.);n=self.counted(a,30.)
+    for _ in range(3000):b.step(.01)
+    self.same(a,b);self.assertLessEqual(n,3)
+ def test_ramp_and_acquisition_keep_the_control_grid(self):
+  a,b=self.pair(dict(temperature_k=310.15,rate_k_s=50/60));n=self.counted(a,1.)   # ramping: every 10 ms period stepped
+  for _ in range(100):b.step(.01)
+  self.same(a,b);self.assertGreaterEqual(n,100)
+
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): the proportional controller settled about 0.083 K below a 50 C set point (feed-forward of the
+ ambient loss now); the equilibration inside an acquisition was stepped per 10 ms period (now whole-period jumps, same results)."""
+ pair,same,counted=LfaClockCostTests.pair,LfaClockCostTests.same,LfaClockCostTests.counted
+ def test_held_set_point_has_no_offset(self):
+  h=make();h.invoke('thermal.set_temperature',temperature_k=323.15,rate_k_s=50/60);h.step(60.)
+  for _ in range(6):h.step(600.)
+  self.assertLess(abs(h._furnace()-323.15),1e-6);self.assertLess(abs(h._mean()-323.15),1e-3)
+ def test_held_set_point_jumps_with_feed_forward(self):
+  a,b=self.pair(dict(temperature_k=323.15,rate_k_s=50/60),settle=40.);n=self.counted(a,30.)
+  for _ in range(3000):b.step(.01)
+  self.same(a,b);self.assertLessEqual(n,3)
+ def acquisition(self,dt):
+  h=make(sample=dict(front_loss_w_m2_k=150.,rear_loss_w_m2_k=150.),method=dict(temperature_k=300.15,equilibrium_tolerance_k=.05,equilibrium_dwell_s=.25))
+  h.invoke('acquisition.start');calls=[0];physics=h._physics
+  def wrapped(ns,power):calls[0]+=1;return physics(ns,power)
+  h._physics=wrapped;eq_end=None
+  for _ in range(int(400/dt)):
+   h.step(dt)
+   if eq_end is None and h.stage!='equilibrating':eq_end=h.planned_pulse_ns;eq_calls=calls[0]   # the baseline begins one pretrigger before the pulse
+   if h.phase!='running':break
+  del h._physics
+  return h,eq_end,eq_calls
+ def test_acquisition_equilibration_jumps_with_the_same_result(self):
+  a,ta,na=self.acquisition(1.);b,tb,nb=self.acquisition(.01)
+  self.assertEqual((a.phase,b.phase),('succeeded','succeeded'))
+  self.assertEqual(ta,tb)                                                   # the equilibrium dwell ends at the same nanosecond
+  self.assertLess(na,nb/5)                                                  # whole-period jumps instead of every 10 ms period (the ramp and ~4 s after it stay stepped)
+  ra,rb=a.invoke('acquisition.result'),b.invoke('acquisition.result')
+  self.assertEqual(len(ra['rows']),len(rb['rows']))
+  for x,y in zip(ra['rows'],rb['rows']):
+   self.assertEqual(x['time_s'],y['time_s']);self.assertLessEqual(abs(x['temperature_k']-y['temperature_k']),1e-7*1.000001)
+  T=(max(a.time_ns,b.time_ns)//10000000+100)*10000000                       # both on to the same time after the shot
+  for h in (a,b):h.step((T-h.time_ns)/1e9)
+  self.same(a,b)
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_ossila_dipcoater.py b/tests/test_asset_ossila_dipcoater.py
index c1c2181d66a4354451451968de9c7091f7f9d173..72f597d12d14a2a180a4625ea6432872d9067835 100644
--- a/tests/test_asset_ossila_dipcoater.py
+++ b/tests/test_asset_ossila_dipcoater.py
@@ -173,4 +173,21 @@ class SolventLibraryTests(unittest.TestCase):
             h=OssilaDipcoaterRuntime(sid);h.invoke('plant.configure',**PLANT_EXAMPLE);h.invoke('bath.configure_from_reference',**dict(BATH_REF_EXAMPLE,solvent_id=sid));res[sid]=h._lld(.002)
         self.assertGreater(res['ethylene_glycol'],res['ethanol']);self.assertGreater(res['ethanol'],res['water'])
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): older finished operations stay pollable (poll used to accept only the latest operation)."""
+    def test_older_operation_stays_pollable(self):
+        import sys as _sys
+        h=configured();s=h.session();h.register_principal('fixb_other');other=h.session('fixb_other')
+        Rejected=_sys.modules[type(h).__module__].ActionRejected
+        start=lambda rid: s.invoke(instance_id=h.instance_id,capability_id='acquisition.start',arguments={},request_id=rid)['operation_id']   # noqa: E731
+        op1=start('fixb_1');s.cancel(op1,'fixb_c1');h.step(5)
+        final=s.poll(op1);self.assertEqual(final['status'],'cancelled')
+        op2=start('fixb_2');self.assertNotEqual(op1,op2);h.step(0.5)
+        self.assertEqual(s.poll(op1),final)                                   # the frozen final record of op1
+        self.assertEqual(s.cancel(op1,'fixb_c2'),final)                        # nothing to cancel: op2 keeps running
+        self.assertEqual(s.poll(op2)['status'],'running')
+        with self.assertRaises(Rejected):other.poll(op1)
+        with self.assertRaises(Rejected):s.poll(h.instance_id+':no_such_operation')
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_ossila_doctorblade.py b/tests/test_asset_ossila_doctorblade.py
index 7799d65d7f615696b22ac9641cd1e9ad5def1a9c..6caee54d6fd4e12e827e264019d162950a51813b 100644
--- a/tests/test_asset_ossila_doctorblade.py
+++ b/tests/test_asset_ossila_doctorblade.py
@@ -175,6 +175,41 @@ class SolventLibraryTests(unittest.TestCase):
         with self.assertRaisesRegex(ActionRejected,'REFERENCE_INCOMPLETE'):g.invoke('charge.configure_from_reference',**dict(CHARGE_REF_EXAMPLE,solvent_id='menthol'))
         r=g.session().invoke(instance_id=g.instance_id,capability_id='charge.configure_from_reference',arguments=CHARGE_REF_EXAMPLE,request_id='a');self.assertEqual(r['error']['code'],'ACCESS_DENIED')
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): older finished operations stay pollable (poll used to accept only the latest operation)."""
+    def test_older_operation_stays_pollable(self):
+        import sys as _sys
+        h=configured();s=h.session();h.register_principal('fixb_other');other=h.session('fixb_other')
+        Rejected=_sys.modules[type(h).__module__].ActionRejected
+        start=lambda rid: s.invoke(instance_id=h.instance_id,capability_id='acquisition.start',arguments={},request_id=rid)['operation_id']   # noqa: E731
+        op1=start('fixb_1');s.cancel(op1,'fixb_c1');h.step(5)
+        final=s.poll(op1);self.assertEqual(final['status'],'cancelled')
+        op2=start('fixb_2');self.assertNotEqual(op1,op2);h.step(0.5)
+        self.assertEqual(s.poll(op1),final)                                   # the frozen final record of op1
+        self.assertEqual(s.cancel(op1,'fixb_c2'),final)                        # nothing to cancel: op2 keeps running
+        self.assertEqual(s.poll(op2)['status'],'running')
+        with self.assertRaises(Rejected):other.poll(op1)
+        with self.assertRaises(Rejected):s.poll(h.instance_id+':no_such_operation')
+
+    def test_schema_grids_match_the_runtime(self):
+        # D6: the grids the runtime enforces are declared in the input schemas (multipleOf)
+        import sys as _sys
+        _sys.path.insert(0, str(Path(__file__).resolve().parents[1] / 'skills/chemistry-lab-assets/scripts'))
+        from asset_tool import validate_value
+        caps=export_ossila_doctorblade_contract_metadata()['capabilities']
+        grids={('gap.set','left_m'):1e-6,('gap.set','right_m'):1e-6,('method.configure','speed_m_s'):1e-5,('stage.move_to','speed_m_s'):1e-5,
+               ('settings.configure','manual_speed_m_s'):1e-6,('settings.configure','brightness_pct'):5,('program.set_step','length_m'):1e-5,
+               ('program.set_step','speed_m_s'):1e-5,('program.set_step','delay_s'):.01}
+        for (cap,field),q in grids.items():
+            self.assertEqual(caps[cap]['input_schema']['properties'][field]['multipleOf'],q,(cap,field))
+        h=configured();s=h.session()
+        gap=lambda l,rid:s.invoke(instance_id=h.instance_id,capability_id='gap.set',arguments={'left_m':l,'right_m':1e-4},request_id=rid)   # noqa: E731
+        self.assertEqual(gap(123e-6,'g1')['status'],'succeeded')
+        self.assertEqual(validate_value({'left_m':123e-6,'right_m':1e-4},caps['gap.set']['input_schema']),[])
+        self.assertEqual(gap(123.5e-6,'g2')['error']['code'],'INVALID_ARGUMENT')
+        self.assertTrue(validate_value({'left_m':123.5e-6,'right_m':1e-4},caps['gap.set']['input_schema']))
+
 if __name__=='__main__':unittest.main()
 
 
diff --git a/tests/test_asset_ossila_slotdie.py b/tests/test_asset_ossila_slotdie.py
index 6855d5e9e7bb83e3b78636bff68a1ee64822bfcd..8deb64c68abdd918b88a1b9ec5419b3f6c69f314 100644
--- a/tests/test_asset_ossila_slotdie.py
+++ b/tests/test_asset_ossila_slotdie.py
@@ -189,6 +189,23 @@ class SolventLibraryTests(unittest.TestCase):
         with self.assertRaisesRegex(ActionRejected,'REFERENCE_INCOMPLETE'):g.invoke('ink.configure_from_reference',**dict(INK_REF_EXAMPLE,solvent_id='menthol'))
         r=g.session().invoke(instance_id=g.instance_id,capability_id='ink.configure_from_reference',arguments=INK_REF_EXAMPLE,request_id='a');self.assertEqual(r['error']['code'],'ACCESS_DENIED')
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): older finished operations stay pollable (poll used to accept only the latest operation)."""
+    def test_older_operation_stays_pollable(self):
+        import sys as _sys
+        h=configured();s=h.session();h.register_principal('fixb_other');other=h.session('fixb_other')
+        Rejected=_sys.modules[type(h).__module__].ActionRejected
+        start=lambda rid: s.invoke(instance_id=h.instance_id,capability_id='acquisition.start',arguments={},request_id=rid)['operation_id']   # noqa: E731
+        op1=start('fixb_1');s.cancel(op1,'fixb_c1');h.step(5)
+        final=s.poll(op1);self.assertEqual(final['status'],'cancelled')
+        op2=start('fixb_2');self.assertNotEqual(op1,op2);h.step(0.5)
+        self.assertEqual(s.poll(op1),final)                                   # the frozen final record of op1
+        self.assertEqual(s.cancel(op1,'fixb_c2'),final)                        # nothing to cancel: op2 keeps running
+        self.assertEqual(s.poll(op2)['status'],'running')
+        with self.assertRaises(Rejected):other.poll(op1)
+        with self.assertRaises(Rejected):s.poll(h.instance_id+':no_such_operation')
+
 if __name__=='__main__':unittest.main()
 
 
diff --git a/tests/test_asset_ossila_spincoater.py b/tests/test_asset_ossila_spincoater.py
index 5c5bd804390b1326cbb11a85defbdc980ae16c08..3b986b3c917faa153f2fc9e4546982c9e0444272 100644
--- a/tests/test_asset_ossila_spincoater.py
+++ b/tests/test_asset_ossila_spincoater.py
@@ -219,4 +219,21 @@ class SolventLibraryTests(unittest.TestCase):
             res[sid]=(h._product()['wet_thickness_m'],h.evaporated[0])
         self.assertGreater(res['ethylene_glycol'][0],res['acetone'][0]);self.assertGreater(res['acetone'][1],res['ethylene_glycol'][1])
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): older finished operations stay pollable (poll used to accept only the latest operation)."""
+    def test_older_operation_stays_pollable(self):
+        import sys as _sys
+        h=configured();s=h.session();h.register_principal('fixb_other');other=h.session('fixb_other')
+        Rejected=_sys.modules[type(h).__module__].ActionRejected
+        start=lambda rid: s.invoke(instance_id=h.instance_id,capability_id='acquisition.start',arguments={},request_id=rid)['operation_id']   # noqa: E731
+        op1=start('fixb_1');s.cancel(op1,'fixb_c1');h.step(5)
+        final=s.poll(op1);self.assertEqual(final['status'],'cancelled')
+        op2=start('fixb_2');self.assertNotEqual(op1,op2);h.step(0.5)
+        self.assertEqual(s.poll(op1),final)                                   # the frozen final record of op1
+        self.assertEqual(s.cancel(op1,'fixb_c2'),final)                        # nothing to cancel: op2 keeps running
+        self.assertEqual(s.poll(op2)['status'],'running')
+        with self.assertRaises(Rejected):other.poll(op1)
+        with self.assertRaises(Rejected):s.poll(h.instance_id+':no_such_operation')
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_pilodist_pilodist104.py b/tests/test_asset_pilodist_pilodist104.py
index d41ba6776369539be32722ab358b7fcaa2bb6d06..897ffa0c7cae23ad8791dbb527da3543f747de85 100644
--- a/tests/test_asset_pilodist_pilodist104.py
+++ b/tests/test_asset_pilodist_pilodist104.py
@@ -80,4 +80,12 @@ class PilodistTests(unittest.TestCase):
   a.step(10.)
   for _ in range(100):b.step(.1)
   np.testing.assert_allclose(a.inventory,b.inventory,rtol=0,atol=1e-12)
+class FixRoundB(unittest.TestCase):
+ def test_fraction_select_without_charge_is_a_precondition(self):
+  """fraction.select before a charge was RECEIVER_FULL (misleading); it is PRECONDITION_FAILED with a message."""
+  r=PilodistPilodist104Runtime('p')
+  for cap,arg in [('plant.configure',PLANT_EXAMPLE),('column.configure',COLUMN_EXAMPLE),('method.configure',METHOD_EXAMPLE)]:r.invoke(cap,**arg)
+  before=r.debug_snapshot();x=r.session().invoke(instance_id='p',capability_id='fraction.select',arguments={'index':1},request_id='ev4')
+  self.assertEqual(x['error']['code'],'PRECONDITION_FAILED');self.assertIn('no charge',x['error']['message']);self.assertEqual(before,r.debug_snapshot())
+  r=prepared();self.assertEqual(r.invoke('fraction.select',index=1),{'index':1});self.assertEqual(ASSET_VERSION,'1.0.1')
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_scp_digiprepms.py b/tests/test_asset_scp_digiprepms.py
index 75a1bca50894f71376e1f5a620eae6587457d26b..bf6112f6a3c2d578678164921156518908ff9544 100644
--- a/tests/test_asset_scp_digiprepms.py
+++ b/tests/test_asset_scp_digiprepms.py
@@ -94,4 +94,44 @@ class Tests(unittest.TestCase):
   for x in [-1.,True,float('inf')]:
    with self.assertRaises(ActionRejected):r.step(x)
    self.assertEqual(b,r.debug_snapshot())
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22)."""
+ def run_cycle(self,r,limit=7200.):
+  t=0.
+  r.invoke('acquisition.start')
+  while r.phase=='running' and t<limit:r.step(10.);t+=10.
+  return r.phase
+ def test_new_method_and_cycle_after_a_finished_cycle(self):
+  r=ready();self.assertEqual(self.run_cycle(r),'succeeded');t_end=r.time_s
+  r.invoke('method.configure',knots=[dict(time_s=0.,temperature_k=363.15),dict(time_s=300.,temperature_k=373.15)],hold_s=60.,timeout_s=7200.)
+  self.assertEqual((r.phase,r.elapsed_s,r.hold_s),('idle',0.,0.))
+  self.assertEqual(self.run_cycle(r),'succeeded');self.assertGreater(r.time_s,t_end);self.assertGreaterEqual(r.hold_s,60.)
+  self.assertEqual(self.run_cycle(r),'succeeded')                              # START again: a new cycle of the same programme
+  self.assertLess(r.elapsed_s,2*(300.+60.)+600.)
+ def test_cancelled_cycle_resumes_unless_a_new_programme_is_set(self):
+  r=ready();r.invoke('acquisition.start');r.step(20.);r.invoke('acquisition.stop');e=r.elapsed_s
+  r.invoke('acquisition.start');self.assertEqual(r.elapsed_s,e);r.step(5.);r.invoke('acquisition.stop')
+  r.invoke('thermal.set_temperature',temperature_k=358.15);self.assertEqual((r.phase,r.elapsed_s),('idle',0.))
+ def test_set_temperature_refuses_a_ramp_programme(self):
+  r=ready();ramp=dict(knots=[dict(time_s=0.,temperature_k=298.15),dict(time_s=600.,temperature_k=368.15)],hold_s=120.,timeout_s=7200.)
+  r.invoke('method.configure',**ramp);b=r.debug_snapshot()
+  with self.assertRaises(ActionRejected) as e:r.invoke('thermal.set_temperature',temperature_k=358.15)
+  self.assertEqual(str(e.exception),'RAMP_PROGRAM');self.assertEqual(b,r.debug_snapshot())
+  self.assertIn('RAMP_PROGRAM',[x['code'] for x in export_scp_digiprepms_contract_metadata()['capabilities']['thermal.set_temperature']['errors']])
+ def test_tubes_without_a_method_and_reloading_a_cool_block(self):
+  r=ScpDigiprepmsRuntime();r.invoke('plant.configure',**PLANT_EXAMPLE);r.invoke('sample.configure',**example_sample())   # no method needed
+  r.invoke('method.configure',**METHOD_EXAMPLE);r.invoke('power.set',enabled=True)
+  self.assertEqual(self.run_cycle(r),'succeeded')
+  with self.assertRaises(ActionRejected):r.invoke('sample.configure',**example_sample())   # still hot (95 C)
+  r.invoke('power.set',enabled=False)
+  t=0.
+  while max([r.block_t]+[x['temperature_k'] for x in r.tubes])>323.15 and t<86400.:r.step(60.);t+=60.
+  v=r.read('evaluator');stored=v['truth.sensible_energy_j'];inp,loss=v['truth.input_energy_j'],v['truth.loss_energy_j']
+  s=example_sample();s['tubes'][0]=dict(s['tubes'][0],position=5);r.invoke('sample.configure',**s)
+  self.assertEqual([x['position'] for x in r.tubes],[5])
+  v=r.read('evaluator')
+  self.assertAlmostEqual(v['truth.input_energy_j']-v['truth.loss_energy_j']-v['truth.sensible_energy_j'],inp-loss-stored,delta=1e-6*max(1.,inp))
+  r.invoke('power.set',enabled=True);self.assertEqual(self.run_cycle(r),'succeeded')
+
+
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_seal_aa500.py b/tests/test_asset_seal_aa500.py
index d6e85d850c7d24ea6fbbbe925d06e6ed4212e716..d2a914ab19f108ee47637033b9f15e9654ab838b 100644
--- a/tests/test_asset_seal_aa500.py
+++ b/tests/test_asset_seal_aa500.py
@@ -885,6 +885,47 @@ class ReviewRound2(unittest.TestCase):
         self.assertIsNone(row['concentration_kg_m3'])
 
 
+class FixRoundC(unittest.TestCase):
+    def test_setup_loaded_cups_released_to_the_lab(self):
+        # A lab set-up run through an agent-level operator session (chemlab_operator) owns its standards and cups, so
+        # the agent got ACCESS_DENIED on run.start.  release_to_lab() makes them the lab's; the owner rule still holds for later loads.
+        g = Rig()
+        g.h.register_principal('operator', 'agent')
+        O = g.h.session('operator')
+        g.kits()
+        cups = []
+        for i, f in enumerate((0.0, 0.5, 1.0)):                                  # the set-up prepares and loads three calibrants
+            comps = [dict(source_id='nitrate_stock', volume_m3=1e-4 * TOPS['nitrate_stock'] / rt.STOCK_NOMINAL['nitrate_stock'] * f)] if f else []
+            comps.append(dict(source_id='wash_water', volume_m3=1e-4 - sum(x['volume_m3'] for x in comps)))
+            g.call(O, 'standard.prepare', standard_id=f'lab_std{i}', volume_m3=1e-4, components=comps)
+            g.call(O, 'sampler.load', rack='S', position=1 + i, item_id=f'lab_std{i}', volume_m3=1e-5)
+            cups.append(dict(rack='S', position=1 + i, type='calibrant'))
+        args = dict(cups=cups, sample_s=60.0, wash_s=30.0)
+        self.assertEqual(g.call(g.A, 'run.start', expect='ACCESS_DENIED', **args)['error']['code'], 'ACCESS_DENIED')   # before: cups of another caller
+        self.assertNotIn('lab_std0', g.read('samples.available', who=g.A))
+        with self.assertRaises(rt.ActionRejected):
+            g.h.release_to_lab('nobody')
+        released = g.h.release_to_lab('operator')
+        self.assertEqual(released, sorted(['item:lab_std0', 'item:lab_std1', 'item:lab_std2', 'tube:S1', 'tube:S2', 'tube:S3']))
+        self.assertIn('lab_std0', g.read('samples.available', who=g.A))
+        g.reagents()
+        g.call(g.A, 'power.set', on=True)
+        g.call(g.A, 'system.startup')
+        for _ in range(90):
+            g.step(60.0)
+            if g.read('system.state') == 'ready':
+                break
+        g.wash_cup()
+        g.call(g.A, 'run.start', **args)                                         # the agent runs the lab's calibrants
+        g.call(g.A, 'standard.prepare', standard_id='agent_std', volume_m3=1e-4, components=[dict(source_id='wash_water', volume_m3=1e-4)])
+        B = g.h.session('operator')                                              # what an agent loads afterwards stays its own
+        r = B.invoke(instance_id=INST, capability_id='sampler.load', arguments=dict(rack='S', position=10, item_id='agent_std', volume_m3=1e-5),
+                     request_id='op_after')
+        self.assertEqual(r['error']['code'], 'ACCESS_DENIED')
+        self.assertNotIn('truth.streams', g.read(who=g.A))                       # nothing evaluator-only opened
+        self.assertEqual(g.A.describe(instance_id=INST)['asset_version'], '1.0.1')
+
+
 class ZCoverage(unittest.TestCase):
     def test_all_capabilities_exercised(self):
         implemented = {k for k in rt.CAPS if k not in rt.UNSUPPORTED}
diff --git a/tests/test_asset_sft_sft110.py b/tests/test_asset_sft_sft110.py
index 0f7ce9150e5f2f9a04c67b4092f3ecfa77a69481..c6af4d1b25fbeb259d58834b578f5410af079007 100644
--- a/tests/test_asset_sft_sft110.py
+++ b/tests/test_asset_sft_sft110.py
@@ -71,4 +71,28 @@ class TestSft110(unittest.TestCase):
   h=configured();h.invoke('acquisition.start');until(h,'static');h.invoke('acquisition.stop');h.invoke('pressure.vent');h.step(300);self.assertEqual(h.phase,'succeeded');self.ledger(h)
  def test_17_method_only_sets_target(self):
   h=configured();self.assertEqual(h.temperature,EXAMPLE['ambient_k']);self.assertEqual(h.pressure,EXAMPLE['ambient_pa']);self.assertEqual(h.elapsed_s,0)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): a vent before the first run (warm-up overpressure) ended the cycle (succeeded / depressurized)
+ and acquisition.start was refused for good."""
+ def test_vent_before_the_first_run_keeps_the_cycle_open(self):
+  h=configured();h.invoke('power.set',enabled=True)
+  for _ in range(2400):
+   if h.pressure>h._ambient()+1:break
+   h.step(.5)
+  self.assertGreater(h.pressure,h._ambient()+1)                          # warming the sealed vessel builds a small overpressure
+  s=h.session();op=s.invoke(instance_id=h.instance_id,capability_id='pressure.vent',arguments={},request_id='fixb_vent')['operation_id']
+  for _ in range(2400):
+   if h.phase!='running':break
+   h.step(.5)
+  self.assertEqual((h.phase,h.stage),('idle','standby'))
+  self.assertEqual(h.elapsed_s,0.)
+  self.assertEqual(s.poll(op)['status'],'succeeded')                      # the vent operation itself succeeded
+  h.invoke('acquisition.start');self.assertEqual((h.phase,h.stage),('running','conditioning'))
+  for _ in range(6000):
+   if h.phase!='running':break
+   h.step(.5)
+  self.assertEqual(h.phase,'succeeded')
+ def test_vent_after_a_stopped_extraction_still_ends_the_cycle(self):
+  h=configured();h.invoke('acquisition.start');until(h,'static');h.invoke('acquisition.stop');h.invoke('pressure.vent');h.step(300)
+  self.assertEqual((h.phase,h.stage),('succeeded','depressurized'))
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_shimadzu_tocl.py b/tests/test_asset_shimadzu_tocl.py
index 398870fd540dbe637bd4cc3e9737250acdbf58b7..03d829039c4447bd92a3dd96b7ce942f1533a392 100644
--- a/tests/test_asset_shimadzu_tocl.py
+++ b/tests/test_asset_shimadzu_tocl.py
@@ -167,6 +167,14 @@ class ToclTests(unittest.TestCase):
   h.describe();self.assertEqual(before,repr(h.debug_snapshot()));self.assertEqual(json.loads(h.invoke('result.export',format='json')['content']),h._result());self.assertIn('peak_json',h.invoke('result.export',format='csv')['content'])
  def test_public_agent_cannot_read_source_identity_or_warehouse(self):
   h=ready();load(h);s=h.session();d=s.describe(instance_id=h.instance_id);self.assertNotIn('sample.load',d['capabilities']);self.assertNotIn('truth.ledger',d['state_slots']);q=s.invoke(instance_id=h.instance_id,capability_id='product.read',arguments={},request_id='deny');self.assertEqual(q['error']['code'],'ACCESS_DENIED');self.assertNotIn('shimadzu_pfos_1',json.dumps(s.read(instance_id=h.instance_id)))
+ def test_agent_read_contains_only_contract_agent_slots(self):
+  # 1.3.1: the agent read returned the evaluator slot fault.injected (it tells the agent which faults were injected)
+  c=json.loads((ROOT/'assets/expansion_batch03/t3_analytical/shimadzu_tocl/asset.contract.json').read_text());agent={k for k,v in c['state_slots'].items() if v['visibility']=='agent'};hidden=set(c['state_slots'])-agent
+  self.assertIn('fault.injected',hidden);self.assertIn('truth.ledger',hidden)
+  h=ready();load(h);h.invoke('fault.inject',code='main_fan_stop');s=h.session()
+  for obs in [set(h.read('agent')),set(s.read(instance_id=h.instance_id)['observations']),set(s.describe(instance_id=h.instance_id)['state_slots'])]:self.assertLessEqual(obs,agent);self.assertFalse(obs&hidden)
+  with self.assertRaisesRegex(r.ActionRejected,'ACCESS_DENIED'):s.read(instance_id=h.instance_id,state_ids=['fault.injected'])
+  h.register_principal('judge','evaluator');e=h.session('judge').read(instance_id=h.instance_id)['observations'];self.assertEqual(e['fault.injected']['value'],['main_fan_stop']);self.assertIn('truth.ledger',e)
  def test_trusted_session_write_uses_power_interlock(self):
   h=r.ShimadzuToclRuntime(library=LIB);h.register_principal('host','evaluator');s=h.session('host');self.assertEqual(s.invoke(instance_id=h.instance_id,capability_id='plant.configure',arguments=r.PLANT_EXAMPLE,request_id='plant')['status'],'succeeded');self.assertIn('truth.ledger',s.read(instance_id=h.instance_id)['observations']);self.assertEqual(s.write(instance_id=h.instance_id,state_id='power.enabled',value=True,request_id='power')['status'],'succeeded')
  def test_request_replay_and_conflict_do_not_toggle_twice(self):
diff --git a/tests/test_asset_signatone_quadpro2.py b/tests/test_asset_signatone_quadpro2.py
index 8b9208102c0f8f9b86be7ad06ff1d539f6876d21..12be019e92c86dd1a3ba91c2b2569d74c620a889 100644
--- a/tests/test_asset_signatone_quadpro2.py
+++ b/tests/test_asset_signatone_quadpro2.py
@@ -176,4 +176,10 @@ class QuadproTests(unittest.TestCase):
         for row in a['observations']:row['current_a']=0.
         self.reject(h,'analysis.sheet_resistance',**a)
 
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): stage.move schema allowed +-150 mm while the runtime travel is +-130 mm."""
+ def test_stage_move_schema_matches_the_travel(self):
+  caps=r.export_signatone_quadpro2_contract_metadata()['capabilities']
+  props=caps['stage.move']['input_schema']['properties']
+  self.assertEqual((props['x_m']['minimum'],props['x_m']['maximum'],props['y_m']['minimum'],props['y_m']['maximum']),(-.13,.13,-.13,.13))
 if __name__=='__main__':unittest.main(verbosity=2)
diff --git a/tests/test_asset_specac_atlasmanual.py b/tests/test_asset_specac_atlasmanual.py
index d48a7468f17612c8a921d30ca98151d83aed4bb0..1a8dc4655777dc244308a1ed0e3bb8dc8ec28a8a 100644
--- a/tests/test_asset_specac_atlasmanual.py
+++ b/tests/test_asset_specac_atlasmanual.py
@@ -81,4 +81,17 @@ class AtlasTests(unittest.TestCase):
   a=configured();b=configured();a.invoke('pump.stroke');a.step(.8);self.assertEqual(b.oil,0)
  def test_schema_rejects_extra(self):
   with self.assertRaises(ActionRejected):configured().invoke('pump.stroke',unexpected=True)
+class FixRoundB(unittest.TestCase):
+ def test_press_refusals_name_the_cause(self):
+  """PRECONDITION_FAILED keeps its code (no finer code is declared); the message names the unmet press condition."""
+  r=configured();ag=r.session();n=[0]
+  def why(cap='acquisition.start',**args):
+   n[0]+=1;old=r.debug_snapshot();x=ag.invoke(instance_id=r.instance_id,capability_id=cap,arguments=args,request_id='p2_%d'%n[0])
+   self.assertEqual(x['error']['code'],'PRECONDITION_FAILED',x);self.assertEqual(old,r.debug_snapshot());return x['error']['message']
+  self.assertIn('no pressing is in progress',why('acquisition.stop'))
+  r.invoke('valve.set_open',open=True);self.assertIn('release valve',why());self.assertIn('release valve',why('pump.stroke'));r.invoke('valve.set_open',open=False);r.step(5)
+  r.invoke('guard.set_raised',side='rear',raised=True);self.assertIn('safety guards',why());r.invoke('guard.set_raised',side='rear',raised=False);r.step(5)
+  r.invoke('relief.set_limit',load_N=5*TF);m=why();self.assertIn('target load 68647 N exceeds the relief-valve limit 49033 N',m)
+  r=configured();ag=r.session();run_manual(r);self.assertEqual(r.phase,'succeeded')
+  self.assertIn('pressing has ended',why('pump.stroke'));self.assertEqual(ASSET_VERSION,'1.0.1')
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_stanford_rga100.py b/tests/test_asset_stanford_rga100.py
index fb72c27a803717a64862c603630b99af8d3333bf..ce14f9f0f62d0487aed25be6242141b836e3fc5d 100644
--- a/tests/test_asset_stanford_rga100.py
+++ b/tests/test_asset_stanford_rga100.py
@@ -234,4 +234,17 @@ class RgaTests(unittest.TestCase):
   for row,pressure in zip(o['species'],[1e-4,2e-4]):self.assertAlmostEqual(row['partial_pressure_pa'],pressure,12)
   values,profile,groups,raw=r._observation_space(o,['test_peak_a','test_peak_b']);coeff=np.array([r._gain('test_peak_a')*1e-4,r._gain('test_peak_b')*2e-4]);self.assertGreater((profile@coeff)[0]-np.max(raw[groups[0]]@coeff),1e-11)
 
+class FixRoundB(unittest.TestCase):
+ def test_species_without_value_say_why(self):
+  """candidates without a calibration curve used to come back with null values and empty quality lists."""
+  r=ready(method=dict(candidates=['nitrogen','argon']));scan(r,BLANK_EXAMPLE);res=scan(r,SAMPLE_EXAMPLE)
+  self.assertEqual(res['matrix_rank'],0);self.assertIn('calibration_missing_or_signature',res['quality'])
+  for row in res['species']:self.assertIsNone(row['partial_pressure_pa']);self.assertEqual(row['quality'],['calibration_missing_or_signature'])
+  r=calibrated();r.invoke('filament.set',enabled=False);r.invoke('sample.load',**copy.deepcopy(SAMPLE_EXAMPLE));r.invoke('scan.start')   # a dark scan
+  while r.phase=='running':r.step(.02)
+  res=r.invoke('result.read');self.assertIn('filament_off_dark_scan',res['quality'])
+  for row in res['species']:self.assertIsNone(row['partial_pressure_pa']);self.assertIn('record_quality:filament_off_dark_scan',row['quality'])
+  self.assertEqual(ASSET_VERSION,'1.0.1')
+ def test_calibrated_rows_unchanged(self):
+  r=calibrated();res=scan(r,SAMPLE_EXAMPLE);self.assertEqual(res['quality'],[]);self.assertTrue(all(x['quality']==[] and x['partial_pressure_pa'] is not None for x in res['species']))
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_surface_dvsresolution.py b/tests/test_asset_surface_dvsresolution.py
index dda0eba480b6180aeab888fac956c915236e609c..aa6430355ec0aa4edaa842fff7a0c2b685d1c376 100644
--- a/tests/test_asset_surface_dvsresolution.py
+++ b/tests/test_asset_surface_dvsresolution.py
@@ -161,4 +161,12 @@ class TestDVSResolution(unittest.TestCase):
   for k in sa:self.assertTrue(lib[k]['source']['licence_flag'])
   for k,v in lib.items():
    if v['source']['source_id']=='nist_isodb_water' and not k.startswith('uio'):self.assertIsInstance(v['evidence']['digitized'],bool);self.assertTrue(all(0<=x<=1 for x in v['values']['relative_humidity']))
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): a tare with the sample on the pan is accepted by design (the zero and the reference of the
+ mass change); the contract now says so."""
+ def test_tare_with_the_sample_on_the_pan_is_documented(self):
+  h=setup();h.step(5.);call(h,'balance.tare');self.assertEqual(h._indicated_mass(),0.)
+  self.assertAlmostEqual(h.change_reference,h._mass(),places=15)
+  text=rt.export_surface_dvsresolution_contract_metadata()['capabilities']['balance.tare']['function_zh']
+  self.assertIn('含样品',text);self.assertIn('空盘去皮',text)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_ta_dma850.py b/tests/test_asset_ta_dma850.py
index 91eed6f8982269a96329880efe547a0a48db1779..0d4f54a4db6a976a55548760f7ca896a4f5f7615 100644
--- a/tests/test_asset_ta_dma850.py
+++ b/tests/test_asset_ta_dma850.py
@@ -166,6 +166,16 @@ class TestDMA850(unittest.TestCase):
    for g in ['air','N2']:call(h,'gas.load',**dict(rt.GAS_EXAMPLE,gas=g,amount_mol=100.))
    call(h,'gas.set_open',opened=True);call(h,'sensor.calibrate',**dict(rt.CALIBRATION_EXAMPLE,**cal));call(h,'drive.move',position_m=.005);wait(h,lambda:not h.read()['drive.moving']);step(h,.1)
    p=h.panel_read();self.assertAlmostEqual(h.drive,true,places=12);self.assertAlmostEqual(p['host.position_m'],.005,places=9);self.assertAlmostEqual(p['host.position_set_m'],.005,places=12)
+class FixRoundB(unittest.TestCase):
+ def test_clamp_refusals_use_the_right_code(self):
+  """clamp.set with the furnace not fully open was CLAMP_UNDER_LOAD; it is NOT_READY (declared) with the cause."""
+  h=rt.TaDma850Runtime('ta5');call(h,'plant.configure',**rt.PLANT_EXAMPLE);ag=h.session();n=[0]
+  def refused(**a):
+   n[0]+=1;before=state(h);x=ag.invoke(instance_id='ta5',capability_id='clamp.set',arguments=a,request_id='ta5_%d'%n[0]);self.assertEqual(before,state(h));return x['error']
+  e=refused(locked=False);self.assertEqual((e['code'],e['message']),('NOT_READY','the instrument is switched off'))
+  call(h,'power.set',enabled=True);call(h,'furnace.set',opened=False);wait(h,lambda:not h._moving())
+  e=refused(locked=True);self.assertEqual(e['code'],'NOT_READY');self.assertIn('open the furnace fully',e['message'])
+  call(h,'furnace.set',opened=True);wait(h,lambda:not h._moving());self.assertEqual(call(h,'clamp.set',locked=True),{'locked':True});self.assertEqual(rt.ASSET_VERSION,'1.2.2')
 # ---- 2026-10-15 real-data library: every runtime-usable record must drive an actual observed run ----
 def source_rows(ref,f):
  v=ref['values'];return sorted((T,E,D) for T,F,E,D in zip(v['temperature_k'],v['frequency_hz'],v['storage_modulus_pa'],v['loss_modulus_pa']) if math.isclose(F,f,rel_tol=1e-7,abs_tol=1e-9))
diff --git a/tests/test_asset_ta_dsc2500.py b/tests/test_asset_ta_dsc2500.py
index 1211c5376842d143afa40dbfdb4bd4b9b67df402..5d1886473f4954b487a3fd0669a19e9968c2a6dd 100644
--- a/tests/test_asset_ta_dsc2500.py
+++ b/tests/test_asset_ta_dsc2500.py
@@ -228,4 +228,12 @@ class TestDSC2500(unittest.TestCase):
    self.assertEqual(set(state_values),set(meta['state_slots']))
    for k,v in state_values.items():self.assertEqual(tool.validate_value(v,meta['state_slots'][k]['value_schema'],path=k),[]);checked+=1
   SCHEMA_REPORT.update(actual_capability_calls=len(OBSERVED),state_snapshots=len(STATES),schema_checks=checked,capability_counts=counts)
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): the cell settled about 0.2 K below the set point (proportional droop G(T-Ta)/K)."""
+ def test_cell_settles_on_the_set_point(self):
+  for T in (400.,500.,320.):
+   h=setup(warm=False,method=quick());call(h,'thermal.set_temperature',temperature_k=T,rate_k_s=.5)
+   step(h,(T-298.15)/.5+600.)
+   self.assertLess(abs(h.furnace-T),1e-6,(T,h.furnace))
+   self.assertLess(abs(h.read()['furnace.indicated_k']-T),1e-3)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_ta_tga5500.py b/tests/test_asset_ta_tga5500.py
index 80da1e750f6fd6255066219e0875662707bb1cb2..0eff1315e0cf7ee7cceb55ac1372ac3f342fe827 100644
--- a/tests/test_asset_ta_tga5500.py
+++ b/tests/test_asset_ta_tga5500.py
@@ -229,4 +229,17 @@ class TestTGA5500ExtendedLibrary(unittest.TestCase):
    q=call(h,'reference.query',reference_id=rid);self.assertEqual(json.loads(q['template_source'])['source_id'],rt.library()['substances'][rid]['source']['source_id'])
    with self.assertRaisesRegex(rt.ActionRejected,'INVALID_REFERENCE'):h.invoke('sample.load',**dict(rt.SAMPLE_EXAMPLE,reference_id=rid))
   self.assertIs(rt.library(),rt.library())
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22)."""
+ def test_tray_place_example_uses_a_real_reference(self):
+  ex=rt.export_ta_tga5500_contract_metadata()['capabilities']['tray.place']['example_arguments']
+  ex=ex[0] if isinstance(ex,list) else ex
+  self.assertEqual(ex['sample']['reference_id'],'fsri_abs_n2_10k_r1')
+  h=rt.TaTga5500Runtime('fixb');call(h,'plant.configure',**rt.PLANT_EXAMPLE);call(h,'tray.place',**ex)   # placeholder reference: INVALID_REFERENCE before
+ def test_gas_open_refusal_names_the_cause(self):
+  h=rt.TaTga5500Runtime('fixb');call(h,'plant.configure',**rt.PLANT_EXAMPLE);call(h,'power.set',enabled=True)
+  call(h,'gas.load',**rt.GAS_EXAMPLE);h.register_principal('fixb_a','agent');s=h.session('fixb_a')
+  call(h,'gas.set_flow',sample_flow_m3_s=1e-6,balance_flow_m3_s=0.)
+  r=s.invoke(instance_id=h.instance_id,capability_id='gas.set_open',arguments={'opened':True},request_id='fixb1')
+  self.assertEqual(r['error']['code'],'NO_GAS');self.assertIn('balance purge flow is 0',r['error']['message'])
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_thermo_ibrightfl1500.py b/tests/test_asset_thermo_ibrightfl1500.py
index ccf59b629fae229c3ed2de28fcaab24b754bd647..526a495e7aef79d205f2bb809cc3b04c08daa4ef 100644
--- a/tests/test_asset_thermo_ibrightfl1500.py
+++ b/tests/test_asset_thermo_ibrightfl1500.py
@@ -14,6 +14,7 @@ import copy
 import json
 import math
 import sys
+import re
 import unittest
 from pathlib import Path
 
@@ -1312,6 +1313,21 @@ class SyncAuditFixes(unittest.TestCase):
         check('sync_pixel_mapping')
 
 
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): the agent describe named the evaluator capability sensor.configure_error (in the
+    service.pixel_mapping limitation); no id of a hidden capability or state slot may appear in what an agent session describes."""
+    def test_agent_describe_names_no_hidden_capability_or_slot(self):
+        h = powered(cool=False)
+        h.register_principal('fixb_agent', 'agent')
+        d = h.session('fixb_agent').describe(instance_id=INST)
+        meta = rt.export_thermo_ibrightfl1500_contract_metadata()
+        hidden = {k for k, v in meta['capabilities'].items() if v['visibility'] != 'agent'} | {k for k, v in meta['state_slots'].items() if v['visibility'] != 'agent'}
+        text = json.dumps(d, ensure_ascii=False)
+        leaked = sorted(x for x in hidden if re.search(re.escape(x) + r'(?![a-z0-9_])', text))
+        self.assertEqual(leaked, [])
+        self.assertIn('service.pixel_mapping', d['capabilities'])
+
+
 class ZDeclaredEffects(unittest.TestCase):
     def test_immediate_and_on_step_effects_are_declared(self):
         missing_imm, missing_step = {}, {}
diff --git a/tests/test_asset_thermo_process11.py b/tests/test_asset_thermo_process11.py
index 267bcc4ae6b8ae0a4f13a52417d6afb02576f2fa..b8bf19ccb9da0d8a0a15063725fda4838ecf5be4 100644
--- a/tests/test_asset_thermo_process11.py
+++ b/tests/test_asset_thermo_process11.py
@@ -326,4 +326,11 @@ class LibraryTests(Process11Tests.__mro__[1]):
         self.rejected(h,'drive.set_enabled',{'enabled':True})
         self.assertEqual(h.invoke('fault.clear',code='ME004'),{'latched':[]});h.invoke('drive.set_enabled',enabled=True);self.assertTrue(h.drive)
         s=h.session();self.assertEqual(s.invoke(instance_id=h.instance_id,capability_id='fault.inject',arguments={'code':'HE001'},request_id='f')['error']['code'],'ACCESS_DENIED')
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): method.configure answers BUSY while the screws turn; the contract text says so now."""
+    def test_method_configure_busy_while_screws_turn_is_stated(self):
+        self.assertIn('BUSY',r.export_thermo_process11_contract_metadata()['capabilities']['method.configure']['function_zh'])
+        h=configured(hot=True);h.invoke('drive.set_enabled',enabled=True)
+        with self.assertRaisesRegex(r.ActionRejected,'BUSY'):h.invoke('method.configure',**r.METHOD_EXAMPLE)
+        h.invoke('drive.set_enabled',enabled=False);h.invoke('method.configure',**r.METHOD_EXAMPLE)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_thinky_are310s.py b/tests/test_asset_thinky_are310s.py
index 67fbedf6534dd0bd6990f0151e67a38bbedf2d8c..9f62f793e70c04fad3c0b6e774262bec75246ed1 100644
--- a/tests/test_asset_thinky_are310s.py
+++ b/tests/test_asset_thinky_are310s.py
@@ -98,4 +98,18 @@ class ThinkyTest(unittest.TestCase):
   a.step(9)
   for _ in range(90):b.step(.1)
   for k in ['temperature','mixed','gas','heat','angle','cup_angle']:self.assertAlmostEqual(getattr(a,k),getattr(b,k),7)
+class FixRoundB(unittest.TestCase):
+ def test_wrong_counterbalance_names_the_cause(self):
+  """no IMBALANCE code is declared, so a start with a wrong rotation balance keeps PRECONDITION_FAILED but says why."""
+  r=prepared(closed=False);ag=r.session();n=[0]
+  def why(cap='acquisition.start',**args):
+   n[0]+=1;old=r.debug_snapshot();x=ag.invoke(instance_id=r.instance_id,capability_id=cap,arguments=args,request_id='ag2_%d'%n[0])
+   self.assertEqual(x['error']['code'],'PRECONDITION_FAILED',x);self.assertEqual(old['phase'],r.phase);return x['error']['message']
+  self.assertIn('lid is not closed',why());r.invoke('balance.set',gross_mass_kg=r.gross()+.01)
+  r.invoke('lid.set_open',open=False);r.step(1.1)
+  m=why();self.assertIn('rotation balance does not match',m);self.assertNotIn(repr(r.gross())[:6],m)   # the message gives no masses
+  self.assertIn('open the lid fully',why('balance.set',gross_mass_kg=r.gross()));self.assertIn('no run is in progress',why('acquisition.stop'))
+  r.invoke('lid.set_open',open=True);r.step(1.6);r.invoke('balance.set',gross_mass_kg=r.gross());r.invoke('lid.set_open',open=False);r.step(1.6)
+  self.assertEqual(ag.invoke(instance_id=r.instance_id,capability_id='acquisition.start',arguments={},request_id='ag2_ok')['status'],'accepted')
+  r.invoke('power.set',enabled=False);self.assertIn('switched off',why());self.assertEqual(ASSET_VERSION,'1.2.1')
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_tuttnauer_3870elvd.py b/tests/test_asset_tuttnauer_3870elvd.py
index f608f574c80f0c7b9a73fe8426151e91b8ee2a8c..4ab9dc92baa66747080d6a7d754bcc4a2d816510 100644
--- a/tests/test_asset_tuttnauer_3870elvd.py
+++ b/tests/test_asset_tuttnauer_3870elvd.py
@@ -685,6 +685,35 @@ class ElvdController(unittest.TestCase):
         g.call(g.A, 'usb.export', expect='POWER_OFF', content='history')
 
 
+class FixRoundB(unittest.TestCase):
+    """chemlab findings (2026-10-22)."""
+    def test_lid_stays_locked_down_to_an_end_temperature_below_100_c(self):
+        # W2: a liquids cycle with end temperature 80 C completed and unlocked the lid with the chamber at about 111 C (dry stage) and the
+        # load near 100 C; manual p.42 sec. 9.1 point 4: the door opens only when both sensors are at or below the preset end temperature
+        g = Rig()
+        g.on()
+        g.open_lid()
+        g.bottles(1, bi=False)
+        g.close_lid()
+        g.call(g.A, 'program.configure', program='custom_1', temperature_k=394.15, time_s=600.0, exhaust='slow_liquids', end_temperature_k=353.15)
+        marks = g.run('custom_1', limit=6 * 3600.0, every=30.0)
+        self.assertIn('complete', marks)
+        hot = lambda: max(g.h._t1_true_reading(), g.h._reference_temperature()) > 353.15 + 0.5   # noqa: E731
+        self.assertTrue(hot())
+        self.assertTrue(g.read('lid.locked'))
+        g.call(g.A, 'lid.set', expect='LID_LOCKED', open=True)
+        self.assertIn('DOOR_LOCKED_HOT', g.read('alarms.active'))
+        t = 0.0
+        while hot() and t < 8 * 3600.0:
+            self.assertTrue(g.read('lid.locked'))
+            g.step(60.0)
+            t += 60.0
+        self.assertFalse(hot())
+        self.assertFalse(g.read('lid.locked'))
+        g.open_lid()
+        self.assertGreater(g.read('lid.angle_rad'), 0.5)
+
+
 class ZCoverage(unittest.TestCase):
     def test_all_capabilities_exercised(self):
         implemented = {k for k in rt.CAPS if k not in rt.UNSUPPORTED}
diff --git a/tests/test_asset_ultrafast_helios.py b/tests/test_asset_ultrafast_helios.py
index 95d8cf9b9dfee9986cc3810bb74486279031217a..db42f32f6b77edc9ef05026aa7293cda2de8a435 100644
--- a/tests/test_asset_ultrafast_helios.py
+++ b/tests/test_asset_ultrafast_helios.py
@@ -100,7 +100,7 @@ class HeliosTests(unittest.TestCase):
   for _ in range(5):h.invoke('result.read');h.invoke('process.measure');h.invoke('raw.read')
   self.assertEqual(snap(h),before)
  def test_exposure_and_volume(self):
-  h=collect();r=h.invoke('product.read');self.assertEqual(r['pump_pulses'],120);self.assertEqual(r['probe_pulses'],240);self.assertAlmostEqual(r['pump_exposure_J'],6e-6,17);self.assertAlmostEqual(r['energy_residual_J'],0,17);self.assertEqual(r['volume_residual_m3'],0)
+  n=20*len(METHOD_EXAMPLE['delay_sequence_s']);h=collect();r=h.invoke('product.read');self.assertEqual(r['pump_pulses'],n);self.assertEqual(r['probe_pulses'],2*n);self.assertAlmostEqual(r['pump_exposure_J'],n*5e-8,17);   # 1.0.2: example with 14 delaysself.assertAlmostEqual(r['energy_residual_J'],0,17);self.assertEqual(r['volume_residual_m3'],0)
  def test_partial_pair_cancel(self):
   h=ready(method=short_method());h.invoke('acquisition.start');h.step_clock(h._next+1.0001/h.plant['laser_repetition_hz']);self.assertEqual(h._probe_pulses,1);self.assertEqual(h._pump_pulses,0);h.invoke('acquisition.stop');self.assertEqual(h.phase,'cancelled');self.assertEqual(h._energy,0);self.assertIsNotNone(h.invoke('result.read')['active_point'])
  def test_partial_data_cancel(self):
@@ -108,7 +108,7 @@ class HeliosTests(unittest.TestCase):
  def test_interlock_retains_exposure(self):
   h=ready(method=short_method());h.invoke('acquisition.start');h.step_clock(h._next+.0021);energy=h._energy;h.invoke('power.set',enabled=False);h.step_clock(10);self.assertEqual(h._energy,energy);self.assertEqual(h.phase,'cancelled')
  def test_scan_axis_and_shape(self):
-  h=collect(method=dict(METHOD_EXAMPLE,scans=2));r=h.invoke('result.read');self.assertEqual(len(r['points']),12);self.assertEqual([p['scan_index'] for p in r['points']],[0]*6+[1]*6);self.assertEqual(len(r['points'][0]['delta_absorbance']),len(r['wavelength_m']))
+  d=len(METHOD_EXAMPLE['delay_sequence_s']);h=collect(method=dict(METHOD_EXAMPLE,scans=2));r=h.invoke('result.read');self.assertEqual(len(r['points']),2*d);self.assertEqual([p['scan_index'] for p in r['points']],[0]*d+[1]*d);self.assertEqual(len(r['points'][0]['delta_absorbance']),len(r['wavelength_m']))
  def test_frozen_run_settings(self):
   h=collect(method=short_method());old=h.invoke('result.read')['settings_json'];h.invoke('method.configure',**METHOD_EXAMPLE);self.assertEqual(h.invoke('result.read')['settings_json'],old)
  def test_saturation_null_not_fake_zero(self):
@@ -185,4 +185,11 @@ class HeliosTests(unittest.TestCase):
   self.assertLessEqual({key for key in before if before[key]!=started[key]},immediate);self.assertNotIn('delay.optical_s',immediate);self.assertNotIn('scan.pump_exposure_j',immediate);h.step(.001);moved_state=h.read('evaluator');self.assertLessEqual({key for key in started if started[key]!=moved_state[key]},later);self.assertFalse(moved_state['laser.emitting']);self.assertEqual(moved_state['scan.pump_exposure_j'],0.)
   self.assertEqual(caps['kinetics.fit']['observes'],[]);self.assertEqual(caps['raw.read']['observes'],[]);self.assertEqual(m['state_slots']['scan.delta_absorbance_center']['sampling']['mode'],'interval_mean')
 def _templates_for_test():return UltrafastHeliosRuntime().templates
+class FixRoundB(unittest.TestCase):
+ """chemlab finding (2026-10-22): the method example had 6 delays but kinetics.fit needs at least 12."""
+ def test_example_method_feeds_kinetics_fit(self):
+  h=collect();r=h.invoke('result.read');d=[p['requested_delay_s'] for p in r['points']];self.assertGreaterEqual(len(d),12)
+  w=len(r['wavelength_m'])//2;da=[p['delta_absorbance'][w] for p in r['points']]
+  fit=h.invoke('kinetics.fit',delay_s=d,delta_absorbance=da,irf_fwhm_s=PLANT_EXAMPLE.get('pump_fwhm_s',80e-15),time_zero_s=0.,initial_lifetimes_s=[100e-12])
+  self.assertTrue(fit)
 if __name__=='__main__':unittest.main()
diff --git a/tests/test_asset_zwick_mflow.py b/tests/test_asset_zwick_mflow.py
index 28aa85df17be81dcf35305f11ac230c2f885aed2..21234f40b20a32b78a66f03dee2a9adb73d58f20 100644
--- a/tests/test_asset_zwick_mflow.py
+++ b/tests/test_asset_zwick_mflow.py
@@ -92,6 +92,36 @@ def reference_mvr():
     return next(m['mvr_m3_s'] for m in ref['measurements'] if m['mvr_m3_s'] is not None and abs(m['reference_temperature_K'] - 523.15) < 1e-9)
 
 
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22)."""
+    def test_test_weight_goes_on_after_the_preheat(self):
+        # the weight used to act from the moment the piston went in, so the charge extruded under the full test load during the preheat
+        a, b = heated(), heated()
+        for h in (a, b):
+            call(h, 'sample.load', **SAMPLE_EXAMPLE)
+            call(h, 'piston.insert')
+            h.step(8.0)                                                          # the piston settles on the charge
+        call(a, 'weight.configure', total_load_kg=2.16)                         # the host has the weight ready at once
+        pre = METHOD_EXAMPLE['preheat_time_s']
+        for h in (a, b):
+            h.step(pre - 9.0)
+        self.assertEqual(a.applied_kg, PISTON_LOAD_KG)
+        self.assertEqual(a.strand_kg, b.strand_kg)                              # preheat: both only under the piston
+        self.assertEqual(a.read('debug')['weight.total_load_kg'], 2.16)
+        for h in (a, b):
+            h.step(2.0)
+        self.assertEqual(a.applied_kg, 2.16)
+        self.assertEqual(b.applied_kg, PISTON_LOAD_KG)
+        s0a, s0b = a.strand_kg, b.strand_kg
+        for h in (a, b):
+            h.step(20.0)
+        self.assertGreater(a.strand_kg - s0a, 5.0 * (b.strand_kg - s0b))          # the test load drives the flow after the preheat
+        for h in (a, b):
+            self.assertLess(abs(h.ledger()['energy_residual_j']), 1e-6 * max(1.0, h.ledger()['heater_input_j']))
+        call(a, 'acquisition.start')                                            # ready right after the preheat (no LOAD_MISMATCH)
+        self.assertEqual(a.phase, 'running')
+
+
 class MflowTest(unittest.TestCase):
     def check(self, condition, key, **data):
         self.assertTrue(condition, key)
@@ -727,7 +757,7 @@ class MflowTest(unittest.TestCase):
         self.check(True, 'manual_lift_and_weights_host_work')
 
     def test49_evaluator_started_operation_is_protected(self):
-        # lead decision 2026-10-19: an operation started by an evaluator session belongs to it like any owned run (Matterix now sends gestures
+        # 2026-10-19: an operation started by an evaluator session belongs to it like any owned run (Matterix now sends gestures
         # as the agent session); agents cannot read or stop it, the evaluator can
         h = charged()
         h.register_principal('panel', 'evaluator')
diff --git a/tests/test_basic40_analytical.py b/tests/test_basic40_analytical.py
index e6c976e9bfeaf5225d93ebcb8b0b49fdfaa0b157..e30c8119ed277bfb946bbd526dc53cf163f6e31c 100644
--- a/tests/test_basic40_analytical.py
+++ b/tests/test_basic40_analytical.py
@@ -997,6 +997,28 @@ class TestJascoFTIR4700Runtime(_ftir_test_unittest.TestCase):
         self.assertEqual(parameters["scan_count_limit"]["evidence"], "assumption")
         self.assertEqual(parameters["synthetic_gaussian_peaks"]["evidence"], "assumption")
 
+    def test_fix_round_b_precondition_refusals_name_the_cause(self):
+        # the code stays PRECONDITION_FAILED, the message says which precondition failed.
+        def why(capability, **arguments):
+            return self.assert_unchanged(capability, arguments, code="PRECONDITION_FAILED")["error"]["message"]
+        self.assertIn("switched off", why("background.acquire"))
+        self.ok("power.set", enabled=True)
+        self.assertIn("lid", why("accessory.install", mode="atr"))
+        self.ok("lid.set_angle", angle_rad=JASCO_FTIR4700_LID_MAX_RAD)
+        self.assertIn("No sampling accessory", why("sample.load", sample_id="synthetic_sample"))
+        self.assertIn("Close the sample-compartment lid", why("background.acquire"))
+        self.ok("accessory.install", mode="atr")
+        self.assertIn("transmission", why("sample.load", sample_id="synthetic_gas"))
+        self.assertIn("Unknown sample_id", why("sample.load", sample_id="not_here"))
+        self.assertIn("No sample is loaded", why("sample.unload"))
+        self.ok("sample.load", sample_id="synthetic_sample")
+        self.assertIn("already loaded", why("sample.load", sample_id="synthetic_liquid"))
+        self.assertIn("Unload the sample", why("accessory.install", mode="transmission"))
+        self.ok("lid.set_angle", angle_rad=0.0)
+        self.assertIn("No valid background", why("measure"))
+        self.assertIn("no sample loaded", why("background.acquire"))
+        self.assertGreaterEqual(tuple(map(int, export_jasco_ftir4700_contract_metadata()["asset_version"].split("."))), (1, 1, 1))
+
 # CHEM-108 Agilent 8697: append-only verification of synthetic runtime.
 import copy as _hs8697_test_copy
 import json as _hs8697_test_json
@@ -2048,6 +2070,33 @@ class TestEppendorf5910RiRuntime(_dr6000_test_unittest.TestCase):
             self.host.register_sample("sample_a", mass_kg=0.1)
         self.assertEqual(before, self.host.debug_snapshot())
 
+    def test_fix_round_b_refusals_name_the_cause_and_the_rotor_speed_limit(self):
+        # PRECONDITION_FAILED keeps its code (centrifuge.measure declares no finer one); the message names the cause.
+        def why(capability, arguments=None):
+            return self.rejected_unchanged(capability, arguments or {}, "PRECONDITION_FAILED")["error"]["message"]
+        self.assertIn("switched off", why("centrifuge.set_method", self.method()))
+        self.boot()
+        self.assertIn("No run is in progress", why("centrifuge.stop"))
+        self.assertIn("No run curve", why("centrifuge.get_curve"))
+        self.assertIn("Open the lid", why("rotor.select", {"configuration": "fixed_angle"}))
+        self.success("lid.set_angle", angle_rad=EPPENDORF_5910RI_LID_MAX_RAD)
+        self.assertIn("No rotor is installed", why("sample.load", {"slot_id": "slot_1", "sample_id": "sample_a"}))
+        self.success("rotor.select", configuration="fixed_angle")
+        self.assertIn("Unknown sample_id", why("sample.load", {"slot_id": "slot_1", "sample_id": "nope"}))
+        self.success("sample.load", slot_id="slot_1", sample_id="sample_a")
+        self.assertIn("Slot 'slot_1' is occupied", why("sample.load", {"slot_id": "slot_1", "sample_id": "sample_b"}))
+        self.assertIn("already loaded", why("sample.load", {"slot_id": "slot_2", "sample_id": "sample_a"}))
+        self.assertIn("Slot 'slot_3' is empty", why("sample.unload", {"slot_id": "slot_3"}))
+        self.assertIn("Unload every tube", why("rotor.select", {"configuration": "large_capacity"}))
+        self.assertIn("Close the lid", why("centrifuge.measure"))
+        self.success("sample.load", slot_id="slot_2", sample_id="sample_b")
+        self.success("lid.set_angle", angle_rad=0.0)
+        self.assertIn("No method is set", why("centrifuge.measure"))
+        self.success("centrifuge.set_method", self.method(speed_rad_s=75))
+        message = why("centrifuge.measure")
+        self.assertIn("75.0 rad/s exceeds the operating speed limit of the fixed_angle rotor, 50.0 rad/s (477 rpm)", message)
+        self.assertEqual(self.metadata["asset_version"], "1.2.3")
+
 
 class TestEppendorf5910RiTerminalPrecision(_dr6000_test_unittest.TestCase):
     def test_terminal_event_zero_speed_exactly_for_nonbinary_synthetic_rates(self):
diff --git a/tests/test_basic40_automation.py b/tests/test_basic40_automation.py
index 951d31ff72a32de231d0ff08782fc3cecae62822..b6d7e456d551fadaad52513a2c6be8943682fdc3 100644
--- a/tests/test_basic40_automation.py
+++ b/tests/test_basic40_automation.py
@@ -62,10 +62,10 @@ class TestAlicatMCRuntime(_amc_test_unittest.TestCase):
     def test_catalog_default_scale_and_unknown_parameters(self):
         metadata = export_alicat_mc_contract_metadata()["asset_types"][ALICAT_MC_TYPE]
         self.assertEqual(ALICAT_MC_FS_M3_S, 1e-3/60)
-        self.assertEqual(self.value("gas.reference_temperature_K"), 298.15)
-        self.assertEqual(self.value("gas.reference_pressure_Pa"), 101325.0)
+        self.assertEqual(self.value("gas.reference_temperature_k"), 298.15)
+        self.assertEqual(self.value("gas.reference_pressure_pa"), 101325.0)
         self.assertIsNone(self.value("gas.selected_id"))
-        for sid in ("measurement.standard_flow_m3_s", "measurement.mass_flow_kg_s", "measurement.actual_flow_m3_s", "measurement.total_standard_volume_m3", "measurement.pressure_Pa", "measurement.temperature_K"):
+        for sid in ("measurement.standard_flow_m3_s", "measurement.mass_flow_kg_s", "measurement.actual_flow_m3_s", "measurement.total_standard_volume_m3", "measurement.pressure_pa", "measurement.temperature_k"):
             response = self.agent.read(instance_id="mfc_a", state_ids=[sid])["observations"][sid]
             self.assertIsNone(response["value"])
             self.assertEqual(response["quality"], "unavailable")
@@ -228,7 +228,7 @@ class TestAlicatMCRuntime(_amc_test_unittest.TestCase):
         q = self.value("measurement.standard_flow_m3_s")
         self.assertAlmostEqual(self.value("measurement.actual_flow_m3_s"), q*310/298.15*101325/150000, delta=1e-17)
         self.assertAlmostEqual(self.value("measurement.mass_flow_kg_s"), q*101325*.028/(ALICAT_MC_R*298.15), delta=1e-17)
-        observation = self.agent.read(instance_id="mfc_a", state_ids=["measurement.pressure_Pa"])["observations"]["measurement.pressure_Pa"]
+        observation = self.agent.read(instance_id="mfc_a", state_ids=["measurement.pressure_pa"])["observations"]["measurement.pressure_pa"]
         self.assertEqual(observation["value"], 150000)
         self.assertEqual(observation["quality"], "estimated")
 
@@ -236,7 +236,7 @@ class TestAlicatMCRuntime(_amc_test_unittest.TestCase):
         self.configure()
         self.assertEqual(self.value("measurement.total_standard_volume_m3"), 0)
         self.ok("gas.set_reference_conditions", temperature_K=273.15, pressure_Pa=100000)
-        self.assertEqual(self.value("gas.reference_temperature_K"), 273.15)
+        self.assertEqual(self.value("gas.reference_temperature_k"), 273.15)
         self.assertFalse(self.value("flow.zeroed"))
         self.assertIsNone(self.value("measurement.standard_flow_m3_s"))
         self.assertIsNone(self.value("measurement.total_standard_volume_m3"))
@@ -302,7 +302,7 @@ class TestAlicatMCRuntime(_amc_test_unittest.TestCase):
         self.assertEqual(response["status"], "succeeded")
         self.assertEqual(response, self.agent.invoke(instance_id="mfc_a", capability_id="power.set", arguments={"enabled": True}, request_id="write_power"))
         before = self.host.debug_snapshot()
-        for sid in ("truth.standard_flow_m3_s", "measurement.standard_flow_m3_s", "gas.reference_temperature_K", "nonexistent"):
+        for sid in ("truth.standard_flow_m3_s", "measurement.standard_flow_m3_s", "gas.reference_temperature_k", "nonexistent"):
             self.assertEqual(self.agent.write(instance_id="mfc_a", state_id=sid, value=1, request_id=sid)["error"]["code"], "ACCESS_DENIED")
         self.assertEqual(self.invoke("control.set_pid")["status"], "unsupported")
         self.assertEqual(self.invoke("sim.step", dt_s=1)["error"]["code"], "UNKNOWN_CAPABILITY")
@@ -380,12 +380,12 @@ class TestAlicatMCRuntime(_amc_test_unittest.TestCase):
     def test_reconnecting_ports_clears_old_boundaries_and_zero_assertions(self):
         self.configure()
         self.host.host_connect_ports("mfc_a", upstream_node_id="new_supply", downstream_node_id="new_receiver")
-        for sid in ("truth.upstream_pressure_Pa", "truth.downstream_pressure_Pa", "truth.temperature_K"):
+        for sid in ("truth.upstream_pressure_pa", "truth.downstream_pressure_pa", "truth.temperature_k"):
             self.assertIsNone(self.value(sid, debug=True))
         self.assertFalse(self.value("truth.no_flow", debug=True))
         self.assertFalse(self.value("truth.equilibrium", debug=True))
         self.assertFalse(self.value("flow.zeroed"))
-        self.assertIsNone(self.value("measurement.pressure_Pa"))
+        self.assertIsNone(self.value("measurement.pressure_pa"))
         before = self.host.debug_snapshot()
         self.assertEqual(self.invoke("flow.zero")["error"]["code"], "PRECONDITION_FAILED")
         self.assertEqual(self.host.debug_snapshot(), before)
@@ -1416,6 +1416,25 @@ def _dp5_test_historical_operation_results(self):
     self.assertIsNone(self.value('results.data'))
 TestZiathDP5Runtime.test_historical_operation_result_availability = _dp5_test_historical_operation_results
 
+
+def _dp5_test_fix_round_b_refusals_name_the_cause(self):
+    """PRECONDITION_FAILED keeps its code; the message names the cause (format mismatch included)."""
+    def why(cid, **args):
+        r = self.invoke(cid, **args)
+        self.assertEqual(r['error']['code'], 'PRECONDITION_FAILED', r)
+        return r['error']['message']
+    self.assertIn('switched off', why('acquisition.start'))
+    self.assertIn('No rack is on the reader', why('scene.set_rack_lift', lift_m=0.05))
+    self.assertIn('no scan results', why('results.export', format='json'))
+    self.load(24)
+    self.assertIn('loaded rack has 24 positions; rack_format 96', why('configuration.set', rack_format=96, identity_matching=True, export_format='csv'))
+    self.ok('scene.set_rack_lift', lift_m=0.05)
+    self.assertIn('not seated', why('acquisition.start'))
+    self.assertEqual(_dp5_metadata()['asset_version'], '1.0.2')
+
+
+TestZiathDP5Runtime.test_fix_round_b_refusals_name_the_cause = _dp5_test_fix_round_b_refusals_name_the_cause
+
 # BEGIN CHEM-177 INTELLIXCAP S1 APPEND-ONLY TESTS
 """Synthetic geometry fixtures are assumptions, never manufacturer parameters."""
 import copy as _ixs_test_copy
@@ -1823,7 +1842,7 @@ class TestAzentaHeatSealerRuntime(_ahs_test_unittest.TestCase):
             self.assertEqual(cap['implementation']['hardware'], 'absent')
         for sid, obs in self.judge.read(instance_id='ahs_a')['observations'].items():
             self.assertEqual(_ahs_test_validate(obs['value'], m['state_slots'][sid]['value_schema']), [], sid)
-        for sid in ('truth.temperature_K', 'truth.thermal_rate_K_s', 'film.remaining_seals', 'configuration.press_time_s'):
+        for sid in ('truth.temperature_k', 'truth.thermal_rate_k_s', 'film.remaining_seals', 'configuration.press_time_s'):
             self.assertIsNone(self.value(sid, debug=True))
         self.assertEqual(self.invoke('sealing.set_pressure')['status'], 'unsupported')
 
@@ -1831,26 +1850,26 @@ class TestAzentaHeatSealerRuntime(_ahs_test_unittest.TestCase):
         self.ok('power.set', enabled=True)
         self.ok('thermal.set_temperature', temperature_K=373.15)
         self.step(2)
-        self.assertIsNone(self.value('measurement.temperature_K'))
+        self.assertIsNone(self.value('measurement.temperature_k'))
         self.host.host_set_temperature('ahs_a', temperature_K=293.15, evidence='synthetic explicit initial temperature')
         self.step(2)
-        self.assertEqual(self.value('measurement.temperature_K'), 293.15)
+        self.assertEqual(self.value('measurement.temperature_k'), 293.15)
         self.host.host_configure_thermal_rate('ahs_a', thermal_rate_K_s=10, evidence='synthetic linear 10 K/s assumption, not vendor value')
         self.step(3)
-        self.assertEqual(self.value('measurement.temperature_K'), 323.15)
+        self.assertEqual(self.value('measurement.temperature_k'), 323.15)
         before = self.host.debug_snapshot()
         self.agent.read(instance_id='ahs_a')
         self.ok('sealing.read')
         self.assertEqual(self.host.debug_snapshot(), before)
         self.step(5)
-        self.assertEqual(self.value('measurement.temperature_K'), 373.15)
+        self.assertEqual(self.value('measurement.temperature_k'), 373.15)
         self.assertTrue(self.value('thermal.target_reached'))
         self.ok('thermal.set_temperature', temperature_K=468.15)
-        self.assertEqual(self.value('measurement.temperature_K'), 373.15)
+        self.assertEqual(self.value('measurement.temperature_k'), 373.15)
         self.assertFalse(self.value('thermal.target_reached'))
         self.step(9.5)
-        self.assertEqual(self.value('measurement.temperature_K'), 468.15)
-        obs = self.agent.read(instance_id='ahs_a', state_ids=['measurement.temperature_K'])['observations']['measurement.temperature_K']
+        self.assertEqual(self.value('measurement.temperature_k'), 468.15)
+        obs = self.agent.read(instance_id='ahs_a', state_ids=['measurement.temperature_k'])['observations']['measurement.temperature_k']
         self.assertEqual(obs['quality'], 'estimated')
 
     def test_temperature_uniformity_not_used_as_readiness_tolerance(self):
@@ -1898,7 +1917,7 @@ class TestAzentaHeatSealerRuntime(_ahs_test_unittest.TestCase):
         self.assertEqual(self.value('sealing.status'), 'cancelled')
         self.assertEqual(self.value('sealing.elapsed_s'), 1)
         self.assertEqual(self.value('film.remaining_seals'), 0)
-        self.assertIsNone(self.value('measurement.temperature_K'))
+        self.assertIsNone(self.value('measurement.temperature_k'))
         self.assertFalse(self.value('thermal.target_reached'))
 
     def test_temperature_loss_fails_preserving_partial_effects(self):
@@ -2004,14 +2023,14 @@ class TestAzentaHeatSealerRuntime(_ahs_test_unittest.TestCase):
             text = _ahs_test_json.dumps(answer)
             self.assertNotIn('SYNTHETIC_PRIVATE', text)
             self.assertNotIn('truth.', text)
-        self.assertEqual(self.agent.read(instance_id='ahs_a', state_ids=['truth.temperature_K'])['error']['code'], 'ACCESS_DENIED')
-        self.assertIn('truth.temperature_K', self.judge.read(instance_id='ahs_a')['observations'])
+        self.assertEqual(self.agent.read(instance_id='ahs_a', state_ids=['truth.temperature_k'])['error']['code'], 'ACCESS_DENIED')
+        self.assertIn('truth.temperature_k', self.judge.read(instance_id='ahs_a')['observations'])
         self.assertEqual(self.other.read(instance_id='ahs_b')['error']['code'], 'UNKNOWN_INSTANCE')
         self.assertEqual(self.other.poll(instance_id='ahs_a', operation_id=op)['error']['code'], 'UNKNOWN_OPERATION')
         self.assertEqual(self.other.cancel(instance_id='ahs_a', operation_id=op, request_id='other')['error']['code'], 'UNKNOWN_OPERATION')
         self.assertEqual(self.agent.poll(instance_id='ahs_b', operation_id=op)['error']['code'], 'UNKNOWN_OPERATION')
         before = self.host.debug_snapshot()
-        self.assertEqual(self.judge.write(instance_id='ahs_a', state_id='truth.temperature_K', value=1, request_id='write_truth')['error']['code'], 'ACCESS_DENIED')
+        self.assertEqual(self.judge.write(instance_id='ahs_a', state_id='truth.temperature_k', value=1, request_id='write_truth')['error']['code'], 'ACCESS_DENIED')
         self.assertEqual(self.host.debug_snapshot(), before)
         r = self.agent.write(instance_id='ahs_b', state_id='power.enabled', value=True, request_id='write_power')
         self.assertEqual(r['status'], 'succeeded')
@@ -2048,8 +2067,8 @@ class TestAzentaHeatSealerRuntime(_ahs_test_unittest.TestCase):
         self.assertEqual(self.value('sealing.progress', 'ahs_b'), .25)
         self.assertEqual(self.value('film.remaining_seals', 'ahs_a'), 0)
         self.assertEqual(self.value('film.remaining_seals', 'ahs_b'), 9)
-        self.assertEqual(self.value('measurement.temperature_K', 'ahs_a'), 373.15)
-        self.assertEqual(self.value('measurement.temperature_K', 'ahs_b'), 468.15)
+        self.assertEqual(self.value('measurement.temperature_k', 'ahs_a'), 373.15)
+        self.assertEqual(self.value('measurement.temperature_k', 'ahs_b'), 468.15)
         self.assertEqual(self.agent.read(instance_id='ahs_a')['clock'], self.agent.read(instance_id='ahs_b')['clock'])
         isolated = _AHSRuntime()
         isolated.create_instance('ahs_a')
@@ -2195,6 +2214,34 @@ class TestQuantosQ2Runtime(_qt_test_unittest.TestCase):
             self.assertEqual(cap['implementation']['robot'],'absent')
             self.assertEqual(cap['implementation']['hardware'],'absent')
 
+    def test_dose_sum_residue_below_resolution_finishes_and_keeps_the_clock(self):
+        # chemlab finding (2026-10-22): 20 mg at 5e-7 kg/s in 1 s steps summed to 1.999999999999999e-05 kg, 1e-20 kg short; the
+        # next step's transfer was below the resolution of the masses, host_step raised and dropped the step, every later step failed on the
+        # clock and dosing.status stayed running
+        for target in (1e-6, 7e-6, 1e-5, 1.2e-5, 1.7e-5, 2e-5, 2.3e-5, 3e-5, 4.9e-5, 1e-4, 1.234567e-4):
+            self.setUp()
+            self.prepare(source=.002, contents=0, target=target, rate=5e-7)
+            self.ok('dosing.start')
+            n = 0
+            while self.val('dosing.status') == 'running' and n < 1000:
+                self.step(1.0)
+                n += 1
+            self.assertEqual(self.val('dosing.status'), 'succeeded', target)
+            self.assertAlmostEqual(self.val('truth.actual_dosed_kg', debug=True), target, delta=1e-12 * target)
+            self.assertEqual(n, _amc_test_math.ceil(target / 5e-7 - 1e-9), target)
+            for _ in range(3):                                                    # the clock keeps going with the lab clock
+                t = self.host.time_s
+                self.step(1.0)
+                self.assertEqual(self.host.time_s, t + 1.0)
+        # a transfer step below the resolution of the masses moves nothing and still advances the clock
+        self.setUp()
+        self.prepare(source=.002, contents=0, target=2e-5, rate=5e-7)
+        self.ok('dosing.start')
+        t = self.host.time_s
+        self.step(1e-30)
+        self.assertEqual(self.host.time_s, t + 1e-30)
+        self.assertEqual(self.val('dosing.status'), 'running')
+
     def test_no_reads_queries_or_describe_advance_time_or_state(self):
         self.prepare()
         op = self.ok('dosing.start')['operation_id']
@@ -2453,18 +2500,55 @@ class TestQuantosQ2Runtime(_qt_test_unittest.TestCase):
             self.assertEqual(_qt_test_validate(obs['value'],_qt_test_metadata()['state_slots'][sid]['value_schema']),[],sid)
 
     def test_scene_bridge_target_and_authority_guards(self):
-        class Location: y=0
-        class Door: location=Location(); animation_data=None; constraints=[]
-        class Scene: objects={'quantos__door_slide':Door()}
+        # 2026-10-23: the front door is a lever (revolute) with the door panel as its mimic; the side doors slide +Y
+        from basic40_runtime_automation import QUANTOS_FRONT_DOOR as fd, QUANTOS_SIDE_DOOR as sd
+        class Vec:
+            def __init__(self): self.x=self.y=self.z=0.0
+        class Obj:
+            def __init__(self): self.location=Vec(); self.rotation_euler=Vec(); self.animation_data=None; self.constraints=[]
+        names=('quantos__front_door_lever','quantos__front_door_hinge','quantos__side_door_left_slide','quantos__side_door_right_slide')
+        class Scene: objects={n:Obj() for n in names}
         scene=Scene()
         self.assertTrue(_qt_test_scene(scene,{'scene.door_opening_m':.11}))
-        self.assertEqual(scene.objects['quantos__door_slide'].location.y,.11)
+        lever,hinge=scene.objects[names[0]],scene.objects[names[1]]
+        self.assertAlmostEqual(lever.rotation_euler.x,-.11/fd['lever_length_m'],12)
+        self.assertAlmostEqual(hinge.rotation_euler.x,fd['mimic']*.11/fd['lever_length_m']*-1,12)
+        self.assertTrue(_qt_test_scene(scene,{'scene.door_opening_m':fd['travel_m']}))
+        self.assertAlmostEqual(-lever.rotation_euler.x,fd['lever_max_rad'],9)
+        with self.assertRaises(ValueError): _qt_test_scene(scene,{'scene.door_opening_m':fd['travel_m']+.01})
+        self.assertTrue(_qt_test_scene(scene,{'door.side_opening_fraction':.5}))
+        self.assertEqual([scene.objects[n].location.y for n in names[2:]],[.5*sd['travel_m']]*2)
+        with self.assertRaises(ValueError): _qt_test_scene(scene,{'door.side_opening_fraction':1.5})
         with self.assertRaises(ValueError): _qt_test_scene(scene,{'wrong':.1})
+        with self.assertRaises(ValueError): _qt_test_scene(scene,{})
         with self.assertRaises(ValueError): _qt_test_scene(scene,{'scene.door_opening_m':True})
-        scene.objects['quantos__door_slide'].constraints=['override']
+        lever.constraints=['override']
         with self.assertRaises(ValueError): _qt_test_scene(scene,{'scene.door_opening_m':.05})
         scene.objects={}
         with self.assertRaises(ValueError): _qt_test_scene(scene,{'scene.door_opening_m':0})
+
+    def test_doors_and_head_support_geometry(self):
+        # 2026-10-23: front door (lever + mimic door), side doors with travel, open dosing head support (manual p.21, p.25; brochure p.10)
+        import json, subprocess, sys, xml.etree.ElementTree as ET
+        from pathlib import Path
+        from basic40_runtime_automation import QUANTOS_FRONT_DOOR as fd, QUANTOS_SIDE_DOOR as sd, QUANTOS_Q2_ASSET_DIR as adir
+        joints={j.get('name'):j for j in ET.parse(adir/'model.urdf').getroot().findall('joint')}
+        lever,door=joints['front_door_lever_joint'],joints['front_door_joint']
+        self.assertEqual((lever.get('type'),door.get('type'),door.find('parent').get('link')),('revolute','revolute','draft_door_lever'))
+        self.assertAlmostEqual(float(lever.find('limit').get('upper')),fd['lever_max_rad'],6)
+        self.assertEqual(door.find('mimic').get('joint'),'front_door_lever_joint')
+        self.assertAlmostEqual(float(door.find('mimic').get('multiplier')),fd['mimic'],9)
+        for side in ('left','right'):
+            j=joints['side_door_%s_joint'%side]
+            self.assertEqual((j.get('type'),j.find('axis').get('xyz')),('prismatic','0 1 0'))
+            self.assertAlmostEqual(float(j.find('limit').get('upper')),sd['travel_m'],9)
+        self.assertNotIn('door_slide',joints)
+        names=json.loads((adir/'geometry_manifest.json').read_text())['components']['head_slot']['objects']
+        self.assertFalse([n for n in names if 'slot_receiver' in n])
+        self.assertEqual(len([n for n in names if 'holding_pin' in n]),4)
+        out=adir.parents[3]/'outputs/basic40_batch02/t5_automation/mt_quantos_q2'
+        r=subprocess.run([sys.executable,str(out/'verify_doors_head_support.py'),'--no-write'],capture_output=True,text=True)
+        self.assertEqual(r.returncode,0,r.stdout+r.stderr)
 # END CHEM-174 QUANTOS Q2 XPE206DR APPEND-ONLY TESTS
 
 # BEGIN CHEM-175 OPENTRONS FLEX APPEND-ONLY TESTS
@@ -3465,3 +3549,39 @@ class TestPreciseFlex400Runtime(_pf400_test_unittest.TestCase):
                         self.assertLessEqual(_pf400_test_math.hypot(p['x_m'],p['y_m']), .579+1e-12)
                         self.assertAlmostEqual(p['z_m'], .2+z)
 # END CHEM-178 PRECISEFLEX 400 APPEND-ONLY TESTS
+
+# BEGIN 2026-10-22 SLOT-ID FIX REGRESSION (alicat_mc 1.4.1, azenta_heat_sealer 1.2.2)
+# The runtimes used SI-suffix slot ids (gas.reference_pressure_Pa, thermal.setpoint_K, ...) while the contracts, whose schema allows only
+# lower-case ids, list gas.reference_pressure_pa, thermal.setpoint_k, ...; the heat sealer's describe showed the contract ids but its read
+# returned the old ones.  Now describe, a full read and the contract name the same slots.
+import json as _ids_test_json
+from pathlib import Path as _ids_test_Path
+
+_IDS_TEST_ROOT = _ids_test_Path(__file__).resolve().parents[1]
+
+
+def _ids_test_slots_equal_contract(test, contract_rel, iid):
+    contract = _ids_test_json.loads((_IDS_TEST_ROOT / contract_rel).read_text())
+    every = set(contract['state_slots'])
+    agent = {k for k, v in contract['state_slots'].items() if v['visibility'] == 'agent'}
+    test.assertEqual(set(test.agent.describe(instance_id=iid)['state_slots']), agent)
+    test.assertEqual(set(test.agent.read(instance_id=iid)['observations']), agent)
+    test.assertEqual(set(test.judge.describe(instance_id=iid)['state_slots']), every)
+    test.assertEqual(set(test.judge.read(instance_id=iid)['observations']), every)
+    for cid, cap in test.judge.describe(instance_id=iid)['capabilities'].items():
+        test.assertLessEqual({e['state_id'] for e in cap.get('state_effects', [])} | set(cap.get('observes', [])), every, cid)
+
+
+def _amc_test_slot_ids_equal_contract(self):
+    _ids_test_slots_equal_contract(self, 'assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json', 'mfc_a')
+    self.assertEqual(self.agent.read(instance_id='mfc_a', state_ids=['gas.reference_pressure_pa'])['observations']['gas.reference_pressure_pa']['value'], 101325.0)
+
+
+def _ahs_test_slot_ids_equal_contract(self):
+    _ids_test_slots_equal_contract(self, 'assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json', 'ahs_a')
+    self.assertNotIn('thermal.setpoint_K', self.agent.read(instance_id='ahs_a')['observations'])
+
+
+TestAlicatMCRuntime.test_slot_ids_equal_contract = _amc_test_slot_ids_equal_contract
+TestAzentaHeatSealerRuntime.test_slot_ids_equal_contract = _ahs_test_slot_ids_equal_contract
+# END 2026-10-22 SLOT-ID FIX REGRESSION
diff --git a/tests/test_basic40_measure.py b/tests/test_basic40_measure.py
index 3cefd9fec45de07f3d9ae98adbd735452ebd6da1..a229f8eda2e2ff4f2d02191ea88443500bcdd757 100644
--- a/tests/test_basic40_measure.py
+++ b/tests/test_basic40_measure.py
@@ -46,6 +46,19 @@ class FilteredAnalyticalBalanceTests(unittest.TestCase):
         balance.update(0.1 * 9.80665, 0.01)
         self.assertTrue(balance.stable)
 
+    def test_stable_only_once_the_reading_has_settled(self):
+        # 1.3.1 (2026-10-22): the N-division window alone let STABLE rise while the low-pass reading still approached the load
+        for level in XPR204E_FILTERS:
+            with self.subTest(level=level):
+                balance = FilteredAnalyticalBalance(filter_level=level)
+                balance.set_power(True)
+                self.settled(balance, 0.0, 30)
+                seen = [balance.update(0.0007531 * balance.g_cal, 0.01) for _ in range(9000)]
+                self.assertTrue(seen[-1]["stable"])
+                for r in seen:
+                    if r["stable"]:
+                        self.assertLessEqual(abs(r["net_kg"] - seen[-1]["net_kg"]), balance.readability_kg + 1e-12)
+
     def test_window_rejects_slow_drift_with_small_adjacent_changes(self):
         balance = FilteredAnalyticalBalance(filter_level="Low")
         balance.set_power(True)
@@ -510,6 +523,14 @@ class GamryReference620RuntimeTests(unittest.TestCase):
     def value(self, sid, instance_id="gamry_a"):
         return self.judge.read(instance_id=instance_id, state_ids=[sid])["observations"][sid]["value"]
 
+    def test_template_read_examples_resolve(self):
+        # 1.1.1 (2026-10-22): the example was redox_fe3_fe2, which the library does not have (INVALID_ARGUMENT on every state)
+        contract = json.loads((ROOT / "assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json").read_text(encoding="utf-8"))
+        example = contract["capabilities"]["template.read"]["example_arguments"]
+        described = self.agent.describe(instance_id="gamry_a")["capabilities"]["template.read"]["example_arguments"]
+        for arguments in (example if isinstance(example, list) else [example]) + described:
+            self.assertEqual(self.ok("template.read", arguments)["result"]["record"]["substance_id"], arguments["substance_id"])
+
     def ready(self, mode="potential", values=None, interval=0.1):
         self.ok("power.set", {"enabled": True})
         for port in GAMRY_REFERENCE620_PORTS:
@@ -991,6 +1012,23 @@ class Metrohm914RuntimeTests(_m914_unittest.TestCase):
             self.assertEqual(self.invoke(cap, **args)["error"]["code"], code)
             self.assertEqual(before, self.host.debug_snapshot())
 
+    def test_calibration_standard_matches_within_buffer_recognition_tolerance(self):
+        # chemlab finding (2026-10-22): float equality with the standard in the cell was required (6.864 vs 6.865 refused)
+        self.prepare()
+        r = self.invoke("electrochemistry.calibrate", slot="ph", standard_value=6.865)
+        self.assertEqual(r["error"]["code"], "PRECONDITION_FAILED")
+        self.assertIn("No ph calibration standard", r["error"]["message"])
+        self.settle(self.sample(value=6.8, standard_slot="ph", standard_value=6.865))
+        before = self.host.debug_snapshot()
+        r = self.invoke("electrochemistry.calibrate", slot="ph", standard_value=6.80)       # another buffer: refused, nothing changed
+        self.assertEqual(r["error"]["code"], "PRECONDITION_FAILED")
+        self.assertIn("does not match", r["error"]["message"])
+        self.assertEqual(before, self.host.debug_snapshot())
+        self.ok("electrochemistry.calibrate", slot="ph", standard_value=6.864)             # the same buffer (table rounding)
+        self.assertTrue(self.value("probe.ph.calibrated"))
+        self.step(self.sample(value=6.8))
+        self.assertAlmostEqual(self.value("measurement.ph"), 6.864, places=6)
+
     def test_optional_conductance_temperature_compensation_no_cell_constant(self):
         self.prepare("conductance")
         self.step(self.sample("conductance", 0.02, temperature_k=308.15))
@@ -2316,6 +2354,30 @@ def _sp80_test_decimal_scan_boundary_and_host_effects(self):
 MagritekSpinsolve80RuntimeTests.test_every_api_input_output_state_schema_and_declared_effects = _sp80_test_every_api_input_output_state_schema_and_declared_effects
 MagritekSpinsolve80RuntimeTests.test_decimal_scan_boundary_and_host_effects = _sp80_test_decimal_scan_boundary_and_host_effects
 
+
+# 2026-10-22: PRECONDITION_FAILED keeps its code; the message names the cause; the state is unchanged.
+def _sp80_test_fix_round_b_precondition_refusals_name_the_cause(self):
+    def why(cap, **args):
+        before = self.state()
+        result = self.invoke(cap, **args)
+        self.assertEqual(result["error"]["code"], "PRECONDITION_FAILED", result)
+        self.assertEqual(self.state(), before)
+        return result["error"]["message"]
+    self.assertIn("switched off", why("acquisition.start"))
+    self.ok("power.set", enabled=True)
+    self.assertIn("No sample tube", why("acquisition.start"))
+    self.assertIn("No sample 'tube_99'", why("sample.insert", sample_id="tube_99"))
+    self.ok("sample.insert", sample_id="tube_01")
+    self.assertIn("already in the magnet", why("sample.insert", sample_id="tube_01"))
+    self.assertIn("No acquisition is configured", why("acquisition.start"))
+    self.assertIn("no spectrum yet", why("nmr.integrate", frequency_min_hz=-10, frequency_max_hz=10))
+    self.ok("acquisition.configure", **self.method(points=32, acquisition_time_s=2.0))  # window +-8 Hz, the proton signal sits at 8 Hz
+    self.assertIn("spectral window", why("acquisition.start"))
+    self.assertEqual(export_magritek_spinsolve80_contract_metadata()["asset_types"][SPINSOLVE80_TYPE]["asset_version"], "1.1.1")
+
+
+MagritekSpinsolve80RuntimeTests.test_fix_round_b_precondition_refusals_name_the_cause = _sp80_test_fix_round_b_precondition_refusals_name_the_cause
+
 # BEGIN CHEM-160 RIGAKU MINIFLEX600 APPEND-ONLY TESTS
 from basic40_runtime_measure import (RigakuMiniFlex600Runtime, RIGAKU_MINIFLEX600_TYPE,
     RIGAKU_MINIFLEX600_MIN_RAD, RIGAKU_MINIFLEX600_MAX_RAD, RIGAKU_MINIFLEX600_STEP_RAD,
diff --git a/tests/test_basic40_templates_analytical.py b/tests/test_basic40_templates_analytical.py
index 6d29385f5b7ae5874d65c7d69dd51e525be2a740..53d3fc1f586d17214b5e99e6bfa42aed05d7d374 100644
--- a/tests/test_basic40_templates_analytical.py
+++ b/tests/test_basic40_templates_analytical.py
@@ -437,6 +437,31 @@ class TestFTIR4700Templates(unittest.TestCase):
         self.ir, self.call = other, Caller(self, other, self.meta)
         self.assertTrue(self.measure("fixture")["result"]["spectrum"]["synthetic"])
 
+    def test_fix_round_c_polystyrene_film_standard(self):
+        # The polystyrene film wavenumber standard (brochure p.4) is a loadable template sample; its reference is the
+        # public-domain NIST WebBook / PNNL spectrum on a 1 cm^-1 grid, template.read lists the NIST SRM 1921b certified bands.
+        read = self.call("template.read", substance_id="polystyrene")["result"]
+        self.assertEqual((read["cas"], read["name"]), ("9003-53-6", "Polystyrene (film wavenumber standard)"))
+        minima = dict((round(nu), (nu, u)) for nu, u in read["certified_bands"]["band_minimum_m_inv"])
+        self.assertEqual(minima[160129], (160129.0, 10.0))                       # 1601.29 +- 0.10 cm^-1 (SRM 1921b Table 4)
+        self.assertEqual(len(read["certified_bands"]["centroid_m_inv"]), 13)
+        self.assertIsNone(self.call("template.read", substance_id="ethyl_acetate")["result"]["certified_bands"])
+        self.ir.register_template_sample("ps_film", substance_id="polystyrene", phase="solid")
+        spectrum = self.measure("ps_film", accessory="transmission", resolution=100.0, start=158000.0, stop=162000.0)["result"]["spectrum"]
+        assert_provenance(self, spectrum, "assets/reactions/ir_reference_standards.json")
+        self.assertTrue(spectrum["phase_matched"])
+        self.assertEqual((spectrum["effective_resolution_m_inv"], spectrum["point_spacing_m_inv"]), (100.0, 100.0))
+        t, x = spectrum["absorbance"], spectrum["wavenumber_m_inv"]
+        i = max(range(1, len(t) - 1), key=t.__getitem__)
+        a, b, c = t[i - 1], t[i], t[i + 1]
+        band = (x[i] + 0.5 * (a - c) / (a - 2 * b + c) * (x[1] - x[0])) / 100
+        self.assertLess(abs(band - 1601.29), 0.5, band)                           # certified band minimum, U = 0.10 cm^-1
+        self.call("lid.set_angle", angle_rad=HALF_PI)
+        self.call("sample.unload")
+        full = self.measure("ps_film", accessory="transmission", resolution=40.0)["result"]["spectrum"]
+        self.assertLessEqual(len(full["wavenumber_m_inv"]), 901)                  # 1 cm^-1 grid, at most 901 output points
+        self.assertEqual(self.meta["asset_version"], "1.1.2")
+
 
 class TestEppendorf5910RiTemplates(unittest.TestCase):
     def setUp(self):
diff --git a/tests/test_basic40_templates_thermal.py b/tests/test_basic40_templates_thermal.py
index 88978a5f9173e3ece693074259cad34e65cdd313..232b6db74ac001b271c982a6a7512fe0dc7bf33b 100644
--- a/tests/test_basic40_templates_thermal.py
+++ b/tests/test_basic40_templates_thermal.py
@@ -32,7 +32,7 @@ TIER = ROOT / "assets/basic40_batch02/t1_thermal"
 REACTION_INSTRUMENTS = {"nabertherm_l9": "instrument.nabertherm_l9", "carbolite_tf1": "instrument.carbolite_tf1_12_60_300",
                         "binder_vd56": "instrument.binder_vd56", "parr_4591": "instrument.parr_4591", "radleys_mya4": "instrument.radleys_mya4"}
 R = 8.314462618
-PANEL_VERSIONS = {"binder_vd56": "1.3.0", "carbolite_tf1": "1.3.0", "parr_4591": "1.3.0", "radleys_mya4": "1.2.1", "nabertherm_l9": "1.3.0"}            # assets that gained the front-panel layer (2026-10-18); parr / nabertherm 1.3.0: 3D panel parts (2026-10-20)
+PANEL_VERSIONS = {"binder_vd56": "1.3.0", "carbolite_tf1": "1.3.0", "parr_4591": "1.3.0", "radleys_mya4": "1.2.3", "nabertherm_l9": "1.3.0"}            # assets that gained the front-panel layer (2026-10-18); parr / nabertherm 1.3.0: 3D panel parts (2026-10-20)
 
 
 def load(path):
@@ -292,7 +292,7 @@ class Multiwave7101TemplateTests(unittest.TestCase):
         self.assertEqual(self.spec["declared_capabilities"]["chemistry.digest"]["availability"], "unsupported")
         for cap in ("power.set", "thermal.set_temperature", "microwave.set_enabled", "microwave.set_power", "door.open", "door.close", "rack.set_slot"):
             self.assertIn(cap, self.spec["capabilities"])
-        self.assertEqual(self.spec["asset_version"], "1.3.0")   # templates 1.1.0, + front panel (minor), + users / fan / pressure (minor)
+        self.assertEqual(self.spec["asset_version"], "1.3.1")   # templates 1.1.0, + front panel (minor), + users / fan / pressure (minor), run set point fix 1.3.1
 
     def test_template_read_is_public_and_side_effect_free(self):
         before = self.host.debug_snapshot()
@@ -370,6 +370,27 @@ class Multiwave7101TemplateTests(unittest.TestCase):
         self.assertTrue(res["program"]["left_window_after_entry"])
         self.assertFalse(res["program"]["program_complete"])
 
+    def test_evaluate_judges_the_runs_setpoint_not_the_post_run_one(self):
+        # chemlab finding (2026-10-22): after the run the set point is back at ambient (safety cooling / operator); the
+        # evaluation judged that one, so every completed vessel showed "setpoint ... outside method window"
+        self.load_slot()
+        self.assertEqual(self.ok("digestion.evaluate", slot_index=0)["program"]["setpoint_K"], 298.15)   # before heating: the current set point
+        self.run_program()
+        self.ok("microwave.set_enabled", enabled=False)
+        self.ok("thermal.set_temperature", temperature_K=298.15)
+        self.host.step(600.0)
+        res = self.ok("digestion.evaluate", slot_index=0)
+        self.assertEqual(res["program"]["setpoint_K"], 448.15)
+        self.assertTrue(res["program"]["setpoint_in_window"])
+        self.assertFalse([d for d in res["method_deviations"] if d.startswith("setpoint")])
+        self.load_slot(slot=1)                                                        # a set point outside the window while heating stays flagged
+        self.run_program(target=573.15, power=1500.0, steps=(30.0,))
+        self.ok("thermal.set_temperature", temperature_K=448.15)
+        self.host.step(60.0)
+        p = self.ok("digestion.evaluate", slot_index=1)["program"]
+        self.assertEqual(p["setpoint_K"], 573.15)
+        self.assertFalse(p["setpoint_in_window"])
+
     def test_epa_3051a_measured_recovery_used_for_table_materials(self):
         self.load_slot(material="nist_srm_2704", method="epa_3051a_hno3")
         self.load_slot(slot=1, material="nist_srm_2704", method="epa_3051a_hno3_hcl")
@@ -466,7 +487,7 @@ class Multiwave7101TemplateTests(unittest.TestCase):
 
     def test_contract_registration(self):
         c = load(TIER / "multiwave_7101/asset.contract.json")
-        self.assertEqual(c["asset_version"], "1.3.0")   # templates 1.1.0, + front panel (minor), + users / fan / pressure (minor)
+        self.assertEqual(c["asset_version"], "1.3.1")   # templates 1.1.0, + front panel (minor), + users / fan / pressure (minor), run set point fix 1.3.1
         ext = c["extensions"]["chemistry_lab.output_templates"]
         self.assertEqual(ext["status"], "implemented")
         self.assertEqual(ext["library"], mw.TEMPLATE_REL)
@@ -488,7 +509,7 @@ class NotApplicableRegistrationTests(unittest.TestCase):
             self.assertEqual(set(ext), {"status", "reason_zh"})
             self.assertEqual(ext["status"], "not_applicable")
             self.assertTrue(ext["reason_zh"])
-            self.assertEqual(c["asset_version"], {"julabo_corio_cd200f": "1.2.0", "miele_plw6111": "1.3.0"}[slug])   # both: + front panel (minor); miele 1.3.0: 3D panel parts (2026-10-20)
+            self.assertEqual(c["asset_version"], {"julabo_corio_cd200f": "1.2.0", "miele_plw6111": "1.3.1"}[slug])   # both: + front panel (minor); miele 1.3.0: 3D panel parts (2026-10-20), 1.3.1: door precondition / BUSY (2026-10-22)
 
 
 if __name__ == "__main__":
diff --git a/tests/test_basic40_vacuum.py b/tests/test_basic40_vacuum.py
index 06daa10e4cc0e9a12d5a26e48e29cfd0b2c37ef5..3391285df059aec2449c6dd00a578c0200e54e4a 100644
--- a/tests/test_basic40_vacuum.py
+++ b/tests/test_basic40_vacuum.py
@@ -818,7 +818,7 @@ class Basic40RV10Tests(unittest.TestCase):
             self.assertEqual(validate_value(args, info["input_schema"]), [], cap)
             before = self.host.debug_snapshot()
             result = self.invoke(cap, **args)
-            if info["availability"] == "declared":
+            if info["availability"] in ("declared", "unsupported"):                  # 1.3.1: vacuum.set_pressure is unsupported (was declared)
                 self.assertEqual(result["status"], "unsupported", cap)
                 self.assertEqual(before, self.host.debug_snapshot())
             else:
diff --git a/tests/test_flex_runtime_fixes.py b/tests/test_flex_runtime_fixes.py
new file mode 100644
index 0000000000000000000000000000000000000000..82a2aa94b47bb54cfb2a151adf00949d06198770
--- /dev/null
+++ b/tests/test_flex_runtime_fixes.py
@@ -0,0 +1,86 @@
+"""Opentrons Flex runtime fixes of 2026-10-22 (found by the chemlab pilot), on scripts/basic40_runtime_automation.py:
+python3 -m pytest tests/test_flex_runtime_fixes.py -q
+
+(a) a protocol volume given as {'param': ..., 'unit': 'uL'} is converted to m^3; bad references are refused when the protocol is stored,
+    an undefined parameter when the run starts; (b) one long host clock jump runs every command due in it; (c) read() says why a slot is empty."""
+import sys
+import unittest
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+from test_panel_ui_opentrons_flex_single_5_1000ul import INST, PROTOCOL, Rig  # noqa: E402
+
+
+def protocol(pid, commands, parameters=PROTOCOL['parameters']):
+    return dict(PROTOCOL, protocol_id=pid, name='Fix ' + pid, parameters=parameters, commands=commands)
+
+
+def start(r, pid):
+    r.call('run.setup', protocol_id=pid)
+    r.call('run.confirm_parameters')
+    return r.call('run.play', expect=('succeeded', 'accepted', 'rejected'))
+
+
+class ParameterUnits(unittest.TestCase):
+    def test_volume_in_ul_is_converted(self):
+        r = Rig()
+        r.h.host_store_protocol(INST, protocol('ul', [
+            {'cmd': 'pick_up_tip', 'tip_id': 'tip_1'}, {'cmd': 'aspirate', 'container_id': 'src_1', 'volume_m3': {'param': 'volume_ul', 'unit': 'uL'}},
+            {'cmd': 'dispense', 'container_id': 'dst_1', 'volume_m3': {'param': 'volume_ul', 'unit': 'uL'}}, {'cmd': 'drop_tip', 'slot_id': 'A1'}]))
+        start(r, 'ul')
+        r.serve(8)
+        self.assertEqual(r.state('run.history')[-1]['status'], 'succeeded')
+        self.assertAlmostEqual(r.volume('dst_1'), 100e-9)                              # default 100 uL
+
+    def test_bad_references_are_refused_when_stored(self):
+        r = Rig()
+        for ref, key in (({'param': 'volume_ul', 'unit': 'gal'}, 'volume_m3'), ({'param': 'volume_ul', 'unit': 'uL'}, 'container_id'),
+                         ({'param': 'volume_ul', 'scale': '1e-9'}, 'volume_m3'), ({'param': 'volume_ul', 'unit': 'uL', 'scale': 1e-9}, 'volume_m3')):
+            cmd = {'cmd': 'aspirate', 'container_id': 'src_1', 'volume_m3': 1e-7}
+            cmd[key] = ref
+            with self.assertRaises(ValueError, msg=ref):
+                r.h.host_store_protocol(INST, protocol('bad', [cmd]))
+
+    def test_undefined_parameter_refuses_the_start(self):
+        r = Rig()
+        r.h.host_store_protocol(INST, protocol('undef', [{'cmd': 'aspirate', 'container_id': 'src_1', 'volume_m3': {'param': 'volume_ul', 'scale': 1e-9}}],
+                                               parameters=[]))
+        out = start(r, 'undef')
+        self.assertEqual((out['status'], out['error']['code']), ('rejected', 'INVALID_ARGUMENT'))
+        self.assertEqual(r.run('status'), 'setup')
+
+
+class ClockJump(unittest.TestCase):
+    def test_one_long_jump_runs_every_due_command(self):
+        r = Rig()
+        r.h.host_store_protocol(INST, protocol('jump', [{'cmd': 'comment', 'text': 'start'}, {'cmd': 'delay', 's': 30.0}]
+                                               + [{'cmd': 'comment', 'text': 'step %d' % i} for i in range(5)]))
+        start(r, 'jump')
+        r.wait(20.0)                                                                   # inside the 30 s delay
+        self.assertEqual((r.run('status'), r.run('index')), ('running', 2))
+        r.wait(100.0)
+        rec = r.state('run.history')[-1]
+        self.assertEqual((rec['status'], rec['steps_done'], rec['n_steps']), ('succeeded', 7, 7))
+
+    def test_jump_matches_small_steps(self):
+        a, b = Rig(), Rig()
+        for r in (a, b):
+            r.h.host_store_protocol(INST, protocol('jump', [{'cmd': 'delay', 's': 3.0}] + [{'cmd': 'comment', 'text': 'step %d' % i} for i in range(4)]))
+            start(r, 'jump')
+        a.wait(5.0)
+        for _ in range(10):
+            b.wait(0.5)
+        self.assertEqual(a.run('index'), b.run('index'))
+
+
+class EmptySlotReasons(unittest.TestCase):
+    def test_reason_names_the_missing_thing(self):
+        r = Rig()
+        o = r.A.read(instance_id=INST, state_ids=['tip.attached_id', 'run.state', 'usb.drive'])['observations']
+        self.assertEqual({k: (v['quality'], v['reason']) for k, v in o.items()},
+                         {'tip.attached_id': ('unavailable', 'No tip is attached.'), 'run.state': ('unavailable', 'No protocol run is set up.'),
+                          'usb.drive': ('unavailable', 'No USB drive is inserted.')})
+
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/tests/test_gc_alkane_standard.py b/tests/test_gc_alkane_standard.py
new file mode 100644
index 0000000000000000000000000000000000000000..2888470119eb44209ceb089d56cbcedce581ad0b
--- /dev/null
+++ b/tests/test_gc_alkane_standard.py
@@ -0,0 +1,202 @@
+"""The C8-C20 n-alkane retention-index standard (Supelco 04070: about 40 mg/L of each n-alkane in hexane) on the GCs
+(2026-10-23).
+
+* spectral_library/gc_retention.json holds all 13 n-alkanes: I = 100 n (Kovats definition, every column class), ECN = n, and (D-2)
+  the homologous-series fit of all NIST enthalpies of vaporization for every C8-C20 alkane (gc_model.alkane_delta_vap_series);
+* substances.json carries the derived 7890B fingerprints (gc_7890b_fid) of the 13 alkanes and of the hexane solvent;
+* 8890B template path, isothermal method (still valid): the neat alkane mix gives 13 peaks in carbon-number order at 190 C and (D-2:
+  no C11/C12 merge any more) at 210 C;
+* 8890B template path with the oven program (1.6.0, chromatography.set_oven_program; same program semantics as the touch terminal);
+* 7890B and 8890B (oven program 40 C 1 min, 10 C/min to 300 C, 5 min): the standard in hexane gives the solvent peak and 13 alkane
+  peaks in carbon-number order (7890B species from the substances.json fingerprints, as the Matterix bridge gives them; 8890B through
+  the instrument API: chromatography.set_oven_program, then chromatography.measure and the run at Start).
+
+    python -m unittest tests/test_gc_alkane_standard.py
+"""
+import dataclasses
+import json
+import re
+import sys
+import unittest
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+sys.path[:0] = [str(ROOT / "scripts"), str(ROOT)]
+import gc_runtime as legacy  # noqa: E402
+from asset_runtime import agilent_7890b_ssl_fid as rt7890  # noqa: E402
+from scripts.basic40_templates import agilent_gc8890b as gc8890b  # noqa: E402
+import basic40_runtime_analytical as rt8890  # noqa: E402
+
+ALKANES = ["octane", "nonane", "decane", "undecane", "dodecane", "tridecane", "tetradecane", "pentadecane", "hexadecane", "heptadecane",
+           "octadecane", "nonadecane", "icosane"]
+LIB = json.loads((ROOT / "assets/reactions/spectral_library/gc_retention.json").read_text(encoding="utf-8"))
+COMPOUNDS = json.loads((ROOT / "assets/reactions/spectral_library/compounds.json").read_text(encoding="utf-8"))["compounds"]
+SUBS = json.loads((ROOT / "assets/reactions/substances.json").read_text(encoding="utf-8"))["substances"]
+
+
+class Library(unittest.TestCase):
+    def test_all_thirteen_alkanes_with_definition_indices_and_ecn(self):
+        k_prev, dh_prev = 0.0, 0.0
+        for n, sid in enumerate(ALKANES, start=8):
+            with self.subTest(sid=sid):
+                self.assertEqual(COMPOUNDS[sid]["smiles"], "C" * n)
+                rec = LIB["compounds"][sid]
+                for cls, ri in rec["retention_index"].items():
+                    self.assertEqual((ri["median"], ri["evidence"]), (100.0 * n, "definition"), cls)
+                self.assertEqual(rec["fid"]["ecn"]["ecn"], float(n))
+                fp = rec["model_fingerprint"]["nonpolar"]
+                self.assertGreater(fp["k_ref"], k_prev)
+                self.assertLessEqual(fp["delta_h_J_mol"], dh_prev)             # |dvapH| grows along the series (no outlier)
+                k_prev, dh_prev = fp["k_ref"], fp["delta_h_J_mol"]
+                self.assertTrue(rec["delta_vap_H_source"].startswith("NIST WebBook"))
+        series = LIB["gc_model"]["alkane_delta_vap_series"]
+        self.assertEqual(series["range_n"], [8, 20])
+        a, b = series["coefficients_kJ_mol"][:2]
+        for n, sid in enumerate(ALKANES, start=8):                    # D-2: every C8-C20 alkane uses the series value at 373 K
+            with self.subTest(sid=sid):
+                rec = LIB["compounds"][sid]
+                self.assertIn("homologous-series fit", rec["delta_vap_H_source"])
+                self.assertIn("own NIST value", rec["delta_vap_H_source"])          # the compound's own value stays quoted
+                self.assertAlmostEqual(rec["delta_vap_H_J_mol"], 1000 * (a + b * n), delta=50)
+        self.assertTrue(any(x.startswith("2026-10-23 D-2") for x in series["changes"]))
+
+    def test_7890b_fingerprints_in_substances(self):
+        for sid in ALKANES + ["hexane"]:
+            with self.subTest(sid=sid):
+                fp, lib = SUBS[sid]["gc_7890b_fid"], LIB["compounds"][sid]["model_fingerprint"]["nonpolar"]
+                self.assertEqual(fp["evidence"], "derived")
+                self.assertEqual((fp["k_ref"], fp["delta_h_J_mol"], fp["response_C_kg"]), (lib["k_ref"], lib["delta_h_J_mol"], lib["response_C_kg"]))
+
+
+class Injections(unittest.TestCase):
+    def test_8890b_template_neat_alkanes_isothermal(self):
+        template = gc8890b.validate_sample({sid: 4e-8 for sid in ALKANES})
+        for oven_K in (463.15, 483.15):                               # 210 C: C11 and C12 merged with their own NIST dvapH (before D-2)
+            with self.subTest(oven_K=oven_K):
+                r = gc8890b.simulate(template, oven_K=oven_K, inlet_K=523.15, fid_K=573.15)
+                apex = [r["species"][sid]["apex_time_s"] for sid in ALKANES]
+                self.assertTrue(all(a is not None for a in apex))
+                self.assertEqual(apex, sorted(apex))
+                self.assertEqual(len(r["public"]["peaks"]), 13)
+                self.assertIsNone(r["public"]["oven_program"])
+
+    def test_8890b_template_isothermal_program_is_the_old_isothermal_run(self):
+        template = gc8890b.validate_sample({"octane": 1e-7, "decane": 1e-7})
+        old = gc8890b.simulate(template, oven_K=393.15, inlet_K=523.15, fid_K=573.15)
+        flat = gc8890b.simulate(template, oven_K=0.0, inlet_K=523.15, fid_K=573.15,
+                                oven_program={"initial_temperature_K": 393.15, "initial_hold_s": 300.0, "ramps": []})
+        self.assertEqual(flat["public"]["retention_time_s"], old["public"]["retention_time_s"])
+        self.assertEqual(flat["public"]["peak_area_C"], old["public"]["peak_area_C"])
+
+    def test_8890b_program_semantics_are_the_terminal_ones(self):
+        prog = {"initial_temperature_K": 313.15, "initial_hold_s": 60.0,
+                "ramps": [{"rate_K_s": 10 / 60, "final_temperature_K": 573.15, "final_hold_s": 300.0},
+                          {"rate_K_s": 0.5, "final_temperature_K": 473.15, "final_hold_s": 30.0}]}       # a cooling ramp too
+        ramps = [(r["rate_K_s"], r["final_temperature_K"], r["final_hold_s"]) for r in prog["ramps"]]
+        for t in (0.0, 30.0, 60.0, 61.0, 900.0, 1620.0, 1700.0, 2000.0, 2120.0, 2200.0, 5000.0):
+            with self.subTest(t=t):
+                self.assertAlmostEqual(gc8890b.program_setpoint_K(prog, t), rt8890._g8_program(313.15, 60.0, ramps, t)[0], places=9)
+        self.assertAlmostEqual(gc8890b.program_length_s(prog), rt8890._g8_program_length(313.15, 60.0, ramps), places=9)
+        for bad in ({**prog, "ramps": [{"rate_K_s": 2.5, "final_temperature_K": 573.15, "final_hold_s": 0.0}]},     # > 120 C/min (p.91)
+                    {**prog, "ramps": prog["ramps"] * 17},                                                         # > 32 ramps (p.90)
+                    {**prog, "initial_temperature_K": 800.0}):
+            with self.assertRaises(ValueError):
+                gc8890b.validate_oven_program(bad)
+
+    def test_8890b_programmed_run_of_the_standard_in_hexane(self):
+        g = rt8890.AgilentGC8890B("gc", scene_adapter=lambda i, u: None)
+        g.register_template_sample("std", composition_kg=dict({sid: 4e-8 for sid in ALKANES}, hexane=6.55e-4))
+        n = [0]
+
+        def call(cap, expect="succeeded", **args):
+            n[0] += 1
+            r = g.invoke(capability_id=cap, arguments=args, request_id="r%d" % n[0])
+            self.assertEqual(r["status"], expect, (cap, r.get("error")))
+            return r["result"] if expect == "succeeded" else r["error"]
+        call("power.set", enabled=True)
+        g.host_step(200.0)
+        self.assertEqual(call("chromatography.set_oven_program", expect="rejected", initial_temperature_K=313.15, initial_hold_s=60.0,
+                              ramps=[{"rate_K_s": 3.0, "final_temperature_K": 573.15, "final_hold_s": 0.0}])["code"], "INVALID_ARGUMENT")
+        out = call("chromatography.set_oven_program", initial_temperature_K=313.15, initial_hold_s=60.0,
+                   ramps=[{"rate_K_s": 10 / 60, "final_temperature_K": 573.15, "final_hold_s": 300.0}])
+        self.assertEqual(out, {"initial_temperature_K": 313.15, "ramps": 1, "run_length_s": 1920.0})
+        oven = g._device["method"]["oven"]                                     # the Active Method that the touchscreen shows
+        self.assertEqual((oven["initial_K"], oven["initial_time_s"], oven["ramp_1_final_K"], oven["ramp_2_rate_K_s"]), (313.15, 60.0, 573.15, 0.0))
+        call("lid.set_angle", angle_rad=1.4)
+        call("sample.load", sample_id="std")
+        call("lid.set_angle", angle_rad=0.0)
+        ch = call("chromatography.measure")["chromatogram"]
+        self.assertEqual(ch["run_duration_s"], 1920.0)
+        self.assertAlmostEqual(ch["oven_final_setpoint_K"], 573.15)
+        self.assertEqual(len(ch["peaks"]), 14)                                  # the solvent + 13 alkanes
+        rt_s = ch["retention_time_s"]
+        self.assertEqual(rt_s, sorted(rt_s))
+        template = g.debug_snapshot()["registered_samples"]["std"]["template"]
+        r = gc8890b.simulate(template, oven_K=0.0, inlet_K=g.debug_snapshot()["state"]["thermal.inlet.setpoint_k"],
+                             fid_K=g.debug_snapshot()["state"]["thermal.fid.setpoint_k"], oven_program=ch["oven_program"])
+        apex = [r["species"][sid]["apex_time_s"] for sid in ALKANES]
+        self.assertEqual(apex, sorted(apex))                                    # carbon-number order
+        self.assertLess(r["species"]["hexane"]["apex_time_s"], apex[0])         # the solvent first
+        for i, sid in enumerate(["hexane"] + ALKANES):                          # each peak is that compound's apex
+            self.assertAlmostEqual(rt_s[i], r["species"][sid]["apex_time_s"], delta=2 * gc8890b.SAMPLE_INTERVAL_S)
+        self.assertIsNone(rt8890._g8_active_oven_program({"method": {"oven": dict(oven, ramp_1_rate_K_s=0.0)}}))   # Rate 1 = 0: isothermal
+
+    def test_7890b_programmed_run_of_the_standard_in_hexane(self):
+        ids = ALKANES + ["hexane"]
+        species = [legacy.Species(s, f["k_ref"], f["delta_h_J_mol"], f["response_C_kg"], f["reference_temperature_K"])
+                   for s in ids for f in [SUBS[s]["gc_7890b_fid"]]]
+        h = rt7890.GC7890BRuntime("gc7890b")
+        g = rt7890.FirmwareGC.__new__(rt7890.FirmwareGC)                   # the process with the substances.json species (bridge-style)
+        g.fw = h
+        legacy.GC.__init__(g, species=species, vial_masses_kg=dict({s: 4e-8 for s in ALKANES}, hexane=6.55e-4))
+        for name, z in list(g.zones.items()):
+            g.zones[name] = rt7890.SwitchableZone(**dataclasses.asdict(z))
+        h.gc = g
+        h.register_principal("agent", "agent")
+        a = h.session("agent")
+        n = [0]
+
+        def call(cap, **args):
+            n[0] += 1
+            r = a.invoke(instance_id="gc7890b", capability_id=cap, arguments=args, request_id="r%d" % n[0])
+            self.assertEqual(r["status"], "succeeded", (cap, r["error"]))
+        call("power.connect_mains", connected=True)
+        for gas in ("carrier", "hydrogen", "air", "makeup"):
+            call("gas.connect", gas=gas, connected=True)
+        call("power.set", on=True)
+        call("thermal.set_temperature", zone="oven", temperature_k=313.15)
+        call("oven.set_initial_time", time_s=60.0)
+        call("oven.set_ramp", index=1, rate_k_s=10 / 60.0, final_k=573.15, final_time_s=300.0)
+        h.step(1800.0)
+        call("detector.set_flame", on=True)
+        h.step(600.0)
+        call("run.prep")
+        h.step(60.0)
+        call("sample.aspirate", fraction=1e-3)
+        call("syringe.insert")
+        call("run.start")
+        call("syringe.depress")
+        call("syringe.retract")
+        t, trace, prev, apex = [], [], {s: 0.0 for s in ids}, {s: (0.0, None) for s in ids}
+        for _ in range(2100):
+            h.step(1.0)
+            t.append(h.gc.run_time_s)
+            trace.append(h.gc.fid_current_A)
+            mb = h.gc.mass_balance()
+            for s in ids:
+                inc = mb[s]["eluted_kg"] - prev[s]
+                prev[s] = mb[s]["eluted_kg"]
+                if inc > apex[s][0]:
+                    apex[s] = (inc, t[-1])
+        times = [apex[s][1] for s in ALKANES]
+        self.assertTrue(all(x is not None for x in times))
+        self.assertEqual(times, sorted(times))                               # carbon-number order
+        self.assertLess(apex["hexane"][1], times[0])                         # the solvent first
+        base = min(trace)
+        smallest = min(trace[t.index(x)] for x in times) - base
+        peaks = [i for i in range(1, len(trace) - 1) if trace[i] - base > 0.01 * smallest and trace[i] > trace[i - 1] and trace[i] >= trace[i + 1]]
+        self.assertEqual(len(peaks), 14)                                     # solvent + 13 alkanes on the FID trace
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tests/test_labware_assets.py b/tests/test_labware_assets.py
new file mode 100644
index 0000000000000000000000000000000000000000..0c3b41f7166e8704d10380f8dc2ec2d845ce3b8d
--- /dev/null
+++ b/tests/test_labware_assets.py
@@ -0,0 +1,207 @@
+"""Labware, consumable and storage-furniture assets (assets/labware/, built by scripts/labware/build_labware.py).
+
+Per asset (offline, no Isaac): files and URDF meshes exist, every link has collision (visual meshes watertight where they are
+closed shells), URDF forward kinematics stays above the floor at every joint limit, frames lie inside the asset, the Franka
+grasp-width flag is consistent and the hand clears the top, interior volume >= nominal capacity, screw caps detach and reseat
+(collision check + closure rule), lids lift off, every door has hinge / limits / handle / mass, storage slots lie inside the
+furniture with the declared pitch and headroom, and the contract validates with --check-files.
+Catalog: every type / furniture entry points at existing files, the inventory's provisional types map to catalog types, the
+storage places map to furniture slots with the inventory's position names, reused LabUtopia types point at existing USDs.
+"""
+import json
+import sys
+import unittest
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+sys.path.insert(0, str(ROOT / "scripts" / "labware"))
+
+import verify_labware as V  # noqa: E402
+from closure import Closure, HingedClosure  # noqa: E402
+
+LABWARE = ROOT / "assets" / "labware"
+CATALOG = json.loads((LABWARE / "catalog.json").read_text(encoding="utf-8"))
+MATTERIX_DATA = ROOT.parent / "Matterix" / "source" / "matterix_assets" / "data"
+
+
+class TestEachAsset(unittest.TestCase):
+    def test_all_assets_pass_offline_checks(self):
+        dirs = list(V.asset_dirs())
+        self.assertGreaterEqual(len(dirs), 35)
+        for d in dirs:
+            with self.subTest(asset=d.name):
+                r = V.verify_asset(d.resolve())
+                failed = {c["id"]: c["data"] for c in r["checks"] if c["status"] != "passed"}
+                self.assertEqual(failed, {}, f"{d.name}: {failed}")
+
+
+class TestClosureRule(unittest.TestCase):
+    def test_screw_cap_sequence(self):
+        c = Closure(detach_after_rad=7.854)
+        self.assertEqual(c.twist(3.0, cap_grasped=False), "closed")      # touching without a grasp does nothing
+        self.assertEqual(c.twist(3.0, cap_grasped=True), "loosened")
+        self.assertEqual(c.twist(-3.0, cap_grasped=True), "closed")       # turning back re-tightens
+        self.assertEqual(c.twist(8.0, cap_grasped=True), "detached")
+        self.assertTrue(c.is_open)
+        self.assertEqual(c.twist(-8.0, cap_grasped=True), "detached")     # not seated: a free cap stays free
+        c.seat(True)
+        self.assertEqual(c.twist(-4.0, cap_grasped=True), "loosened")
+        self.assertEqual(c.twist(-4.0, cap_grasped=True), "closed")
+
+    def test_hinged(self):
+        h = HingedClosure(open_rad=1.5708)
+        self.assertEqual(h.state, "closed")
+        self.assertEqual(h.set_angle(1.0), "open")
+        self.assertEqual(h.set_angle(0.2), "closed")
+
+
+class TestCatalog(unittest.TestCase):
+    def test_built_entries_point_at_files(self):
+        for section in ("types", "furniture"):
+            for tid, e in CATALOG[section].items():
+                if e.get("source") != "chemistry_sim":
+                    continue
+                with self.subTest(type=tid):
+                    for key in ("contract", "manifest", "model_urdf", "model_glb"):
+                        self.assertTrue((ROOT / e[key]).exists(), f"{tid}: {key} {e[key]}")
+                    self.assertIn("frames", e)
+
+    def test_containers_have_liquid_interior_and_cap_frames(self):
+        for tid, e in CATALOG["types"].items():
+            if e.get("source") != "chemistry_sim" or (e.get("closure") or {}).get("type") != "screw_cap":
+                continue
+            with self.subTest(type=tid):
+                fr = e["frames"]
+                for k in ("grasp", "pre_grasp", "place", "cap_grasp", "cap_seat"):
+                    self.assertIn(k, fr)
+                it = e["interior"]
+                self.assertGreater(it["radius_m"], 0)
+                self.assertLess(it["floor_m"], it["height_m"])
+                self.assertGreaterEqual(e["brim_capacity_m3"], e["nominal_capacity_m3"])
+                self.assertTrue(e["maker"] and e["catalogue_no"], "real model required")
+
+    def test_every_new_type_cites_a_real_model_or_says_why_not(self):
+        for section in ("types", "furniture"):
+            for tid, e in CATALOG[section].items():
+                if e.get("source") != "chemistry_sim":
+                    continue
+                with self.subTest(type=tid):
+                    self.assertTrue(e.get("maker"), f"{tid}: maker missing")
+                    self.assertTrue(e["sources"], f"{tid}: no sources")
+
+    def test_doors_for_mat_b(self):
+        doors = {tid: e["doors"] for tid, e in CATALOG["furniture"].items() if e.get("doors")}
+        self.assertIn("furniture.belart_secador_2_vertical", doors)
+        for tid, dd in doors.items():
+            for name, d in dd.items():
+                with self.subTest(door=f"{tid}.{name}"):
+                    self.assertEqual(len(d["hinge_axis"]), 3)
+                    self.assertEqual(len(d["hinge_origin_m"]), 3)
+                    self.assertLess(d["limits"][0], d["limits"][1])
+                    self.assertGreater(d["mass_kg"], 0)
+                    self.assertEqual(d["handle"]["approach_axis"], [0.0, 1.0, 0.0])
+
+    def test_bench_shelf_meets_robot_access(self):
+        e = CATALOG["furniture"]["furniture.trippnt_step_shelf_2tier"]
+        slots = {s["name"]: s for s in e["slots"]}
+        self.assertEqual(sorted(slots), [f"T{t}-{k:02d}" for t in (1, 2) for k in range(1, 6)])
+        for t in (1, 2):
+            xs = sorted(slots[f"T{t}-{k:02d}"]["position_m"][0] for k in range(1, 6))
+            self.assertTrue(all(b - a >= 0.11 - 1e-9 for a, b in zip(xs, xs[1:])))
+        # upper tier behind (larger y) and higher than the lower tier; nothing above the slots
+        self.assertGreater(slots["T2-01"]["position_m"][1], slots["T1-01"]["position_m"][1] + 0.1)
+        self.assertGreater(slots["T2-01"]["position_m"][2], slots["T1-01"]["position_m"][2])
+        self.assertTrue(all(s["headroom_m"] >= 0.48 for s in slots.values()))
+
+    def test_places_map_to_furniture_slots(self):
+        for place, m in CATALOG["places"].items():
+            with self.subTest(place=place):
+                f = CATALOG["furniture"][m["furniture"]]
+                names = [s["name"] for s in f["slots"] if s.get("place_id") == place]
+                self.assertTrue(names, f"{place}: no slots")
+                self.assertTrue(all(n.startswith(m["slot_prefix"]) for n in names))
+
+    def test_inventory_types_resolve(self):
+        km = CATALOG["inventory_type_map"]
+        for k, v in km.items():
+            with self.subTest(inventory_type=k):
+                self.assertIn(v["status"], ("exact", "packaging_of", "substitute", "not_built", "not_applicable"))
+                if v["type"]:
+                    self.assertIn(v["type"], CATALOG["types"])
+                else:
+                    self.assertIn(v["status"], ("not_built", "not_applicable"))
+                    self.assertTrue(v.get("note"))
+                for rec, u in (v.get("per_record_units") or {}).items():
+                    self.assertIn(u["type"], CATALOG["types"], f"{k}/{rec}")
+        self.assertEqual([k for k, v in km.items() if v["status"] == "not_built"], [])
+
+    def test_reused_types_point_at_existing_usd(self):
+        reused = {k: v for k, v in CATALOG["types"].items() if v.get("reused")}
+        self.assertGreaterEqual(len(reused), 18)
+        if not all(e.get("usd") for e in reused.values()):           # the public catalog names the external source instead
+            self.assertTrue(all(e.get("external") and e.get("files_included") is False for e in reused.values()))
+            self.skipTest("reused types are external (their 3D files are not in this tree)")
+        if not MATTERIX_DATA.exists():
+            self.skipTest("Matterix checkout not next to Chemistry-Sim")
+        for tid, e in reused.items():
+            with self.subTest(type=tid):
+                rel = e["usd"].split("Matterix:source/matterix_assets/data/")[1]
+                self.assertTrue((MATTERIX_DATA / rel).exists(), e["usd"])
+
+    def test_quantos_head_and_vial_fit(self):
+        head = CATALOG["types"]["labware.mt_quantos_qh016_bnmw"]
+        fit = head["instrument_fit"]["instrument.mt_quantos_q2_xpe206dr"]
+        self.assertTrue(fit["ok"] and fit["head_slot_port_inside_head"] and fit["outlet_above_container_seat_xy"])
+        self.assertTrue(fit["collision_free_against_instrument_proxies"] and fit["insertion_path_clear"])   # open support (instrument 1.2.2)
+        self.assertEqual(head["catalogue_no"], "11141503")
+        self.assertAlmostEqual(head["nominal_capacity_m3"], 1.6e-5)
+        self.assertTrue(head["frames"]["grasp"]["franka_ok"])
+        vial = CATALOG["types"]["labware.agilent_hs_vial_20ml"]["instrument_fit"]["instrument.mt_quantos_q2_xpe206dr"]
+        self.assertTrue(vial["ok"])
+        self.assertGreaterEqual(vial["vial_opening_m"], vial["limits"]["min_opening_m"])
+        holder = CATALOG["types"]["labware.mt_quantos_head_container"]
+        self.assertEqual([p["name"] for p in holder["slots"]], ["head"])
+        self.assertEqual(CATALOG["inventory_type_map"]["quantos_dosing_head"]["type"], "labware.mt_quantos_qh016_bnmw")
+
+    def test_vial_rack_20ml(self):
+        # MN 702503 bench rack for the 20 mL headspace vials (2026-10-23): real model, robot slots, finger clearance
+        rack = CATALOG["types"]["labware.mn_702503_vial_rack_23mm"]
+        self.assertEqual(CATALOG["inventory_type_map"]["vial_rack_20ml"]["type"], "labware.mn_702503_vial_rack_23mm")
+        self.assertEqual((rack["catalogue_no"], rack["positions_total"]), ("702503", 36))
+        self.assertEqual([round(v, 4) for v in rack["size_m"]], [0.323, 0.091, 0.03])
+        names = [s["name"] for s in rack["slots"]]
+        self.assertEqual(names, [f"{r}{i:02d}" for r in "AC" for i in range(1, 13)])
+        vial = CATALOG["types"]["labware.agilent_hs_vial_20ml"]["outer"]
+        ra = rack["robot_access"]
+        self.assertLess(vial["diameter_m"], rack["grid"]["hole_diameter_m"])
+        self.assertLessEqual(ra["approach_open_width_m"], ra["max_grasp_width_m"])
+        self.assertGreater(ra["approach_open_width_m"], vial["diameter_m"])
+        self.assertGreaterEqual(ra["min_finger_gap_rows_A_C_m"], 0.002)          # fingers clear every occupied neighbour
+        self.assertLess(ra["min_finger_gap_if_row_B_filled_m"], 0.0)             # why row B stays empty
+        self.assertGreater(ra["hand_bottom_above_vial_tops_m"], 0.0)
+        self.assertGreater(ra["fingertip_end_above_deck_m"], 0.005)
+        for s in rack["slots"]:
+            with self.subTest(slot=s["name"]):
+                self.assertEqual(s["kind"], "storage")
+                self.assertGreaterEqual(s["required_free_above_vial_top_m"], 0.25)
+                self.assertAlmostEqual(s["vial_grasp_tcp_m"][2] - s["position_m"][2], 0.0445, places=4)
+                self.assertIn(f"slot_{s['name']}", rack["frames"])
+
+    def test_sbs_wells_match_opentrons_definitions(self):
+        for tid, name in (("labware.corning_96_wellplate_360ul_flat", "corning_96_wellplate_360ul_flat"),
+                          ("labware.opentrons_flex_tiprack_1000ul", "opentrons_flex_96_tiprack_1000ul"),
+                          ("labware.nest_12_reservoir_15ml", "nest_12_reservoir_15ml")):
+            d = json.loads((ROOT / "references" / "labware" / "opentrons" / f"{name}.json").read_text(encoding="utf-8"))
+            e = CATALOG["types"][tid]
+            X, Y = d["dimensions"]["xDimension"] / 1000, d["dimensions"]["yDimension"] / 1000
+            for w, wd in d["wells"].items():
+                with self.subTest(type=tid, well=w):
+                    p = e["wells"][w]["pos_m"]
+                    self.assertAlmostEqual(p[0], wd["x"] / 1000 - X / 2, places=5)
+                    self.assertAlmostEqual(p[1], wd["y"] / 1000 - Y / 2, places=5)
+                    self.assertAlmostEqual(e["wells"][w]["volume_m3"], wd["totalLiquidVolume"] * 1e-9, places=12)
+            self.assertFalse(e["frames"]["sbs_grasp"]["franka_ok"])
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tests/test_panel_ui_agilent_gc8890b.py b/tests/test_panel_ui_agilent_gc8890b.py
index 4a7ba3a71c475d41dd5fc0cd01f5466e5452cf76..823532cce2a1ee7d885b5ce1f67dadaa20e65e9c 100644
--- a/tests/test_panel_ui_agilent_gc8890b.py
+++ b/tests/test_panel_ui_agilent_gc8890b.py
@@ -1037,7 +1037,7 @@ class Equivalence(unittest.TestCase):
         order = ['sensor.configure_error', 'settings.configure', 'clock.set', 'status.configure', 'plot.configure', 'method.configure',
                  'method.event_save', 'method.event_delete', 'scheduler.clock_add', 'scheduler.clock_delete', 'calibration.zero', 'display.preview',
                  'emf.configure', 'emf.reset', 'run.prep', 'run.stop', 'diagnostics.start_test', 'diagnostics.cancel_test', 'maintenance.start',
-                 'maintenance.abort', 'tools.column_compensation', 'run.stop', 'run.start', 'run.stop', 'system.restart']
+                 'maintenance.abort', 'tools.column_compensation', 'run.stop', 'chromatography.set_oven_program', 'run.start', 'run.stop', 'system.restart']
         done = set()
         for cap in order:
             m = meta['capabilities'][cap]
@@ -1131,5 +1131,51 @@ class ContractEntries(unittest.TestCase):
         self.assertEqual(c['asset_version'], rt.GC8890B_ASSET_VERSION)
 
 
+
+class FixRoundD2(unittest.TestCase):
+    """2026-10-23, 1.6.0: chromatography.set_oven_program writes the Active Method oven program that the touchscreen
+    shows and edits (manual p.90-91), and the run at Start follows it."""
+
+    def test_set_oven_program_shows_on_the_method_screen(self):
+        r = Rig()
+        out = r.call(r.A, 'chromatography.set_oven_program', initial_temperature_K=313.15, initial_hold_s=60.0,
+                     ramps=[{'rate_K_s': 10 / 60, 'final_temperature_K': 573.15, 'final_hold_s': 300.0}])
+        self.assertEqual(out, {'initial_temperature_K': 313.15, 'ramps': 1, 'run_length_s': 1920.0})
+        r.tab('method')
+        r.tap('side_method_oven')
+        c = r.cells('method_oven_form')
+        self.assertEqual((c['Oven temperature'], c['Initial time'], c['Rate 1'], c['Final temperature 1'], c['Final time 1'], c['Rate 2'],
+                          c['Run time']), ('40.00 °C', '1.00 min', '10.00 °C/min', '300.00 °C', '5.00 min', '0.00 °C/min', '32.00 min'))
+        self.assertNotIn('Final temperature 2', c)                                 # the program ends at the first zero rate (p.91)
+        r.tab('home')
+        self.assertEqual(r.text('fp_oven_t'), '40.00 °C')
+        r.tab('method')                                                            # the touchscreen edits the same program
+        r.tap('side_method_oven')
+        r.enter('method_oven_form', 'Rate 1', '20')
+        self.assertEqual(r.cells('method_oven_form')['Run time'], '19.00 min')     # 1 + 260 / 20 + 5
+        self.assertAlmostEqual(rt._g8_active_oven_program(r.h._device)['ramps'][0]['rate_K_s'], 20 / 60, places=9)
+        r.ready()
+        r.tap('start')
+        r.step(60 + 60)
+        self.assertAlmostEqual(r.val('thermal.oven.setpoint_k'), 313.15 + 20 / 60 * 60, delta=0.6)   # ramping at 20 C/min after 1 min
+        self.assertAlmostEqual(r.val('gc.run')['length_s'], 1140.0, places=3)
+        refused = r.call(r.A, 'chromatography.set_oven_program', expect='rejected', initial_temperature_K=313.15, initial_hold_s=0.0,
+                         ramps=[{'rate_K_s': 2.5, 'final_temperature_K': 573.15, 'final_hold_s': 0.0}])          # > 120 C/min (p.91)
+        self.assertEqual(refused['error']['code'], 'INVALID_ARGUMENT')
+        self.assertAlmostEqual(rt._g8_active_oven_program(r.h._device)['ramps'][0]['rate_K_s'], 20 / 60, places=9)              # nothing committed
+
+    def test_isothermal_method_stays_isothermal(self):
+        r = Rig()
+        self.assertIsNone(rt._g8_active_oven_program(r.h._device))                # default method: Rate 1 = 0
+        out = r.call(r.A, 'chromatography.set_oven_program', initial_temperature_K=373.15, initial_hold_s=600.0, ramps=[])
+        self.assertEqual(out['run_length_s'], 600.0)
+        self.assertIsNone(rt._g8_active_oven_program(r.h._device))
+        r.tab('method')
+        r.tap('side_method_oven')
+        c = r.cells('method_oven_form')
+        self.assertEqual((c['Oven temperature'], c['Initial time'], c['Rate 1'], c['Run time']), ('100.00 °C', '10.00 min', '0.00 °C/min', '10.00 min'))
+        self.assertNotIn('Final temperature 1', c)
+
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/tests/test_panel_ui_agilent_hs8697.py b/tests/test_panel_ui_agilent_hs8697.py
index 93296bf5b116153419dac7cbd745fe812f1b5839..853639fd777bac6d7862459308ea2e2d1541be24 100644
--- a/tests/test_panel_ui_agilent_hs8697.py
+++ b/tests/test_panel_ui_agilent_hs8697.py
@@ -306,6 +306,19 @@ class SequenceEngine(unittest.TestCase):
         self.assertEqual(r.val('hs.emf')['run_count']['value'], 2)
         self.assertIn('Sequence completed', [e['text'] for e in r.val('hs.logs')['event']])
 
+    def test_sequence_start_declares_its_measurement_effects(self):
+        # chemlab finding (2026-10-22): a sequence injects through measure, so measurement.count / chromatogram and injection.log
+        # change while it runs; sequence.start did not list them
+        c = json.loads(CONTRACT.read_text())
+        fx = {e['state_id']: e['timing'] for e in c['capabilities']['sequence.start']['state_effects']}
+        for sid in ('measurement.count', 'measurement.chromatogram', 'injection.log'):
+            self.assertEqual(fx.get(sid), 'on_step', sid)
+        r = Rig()
+        r.call(r.A, 'sequence.start', vials=[1])
+        r.step(900)
+        self.assertEqual(r.val('measurement.count'), 1)
+        self.assertIsNotNone(r.val('measurement.chromatogram'))
+
     def test_sequence_actions_missing_wrong_size_leak_and_park(self):
         r = Rig(vials=2)
         r.call(r.A, 'lid.set_angle', angle_rad=rt.AGILENT_HS8697_LID_MAX_RAD)
diff --git a/tests/test_panel_ui_alicat_mc_1slpm_rev6.py b/tests/test_panel_ui_alicat_mc_1slpm_rev6.py
index a3a9e14d8623a8868cb941ea38cd55b4cc2e7a5e..ec15946cd2a46f6b76e82b9a9e4b5a183997c27b 100644
--- a/tests/test_panel_ui_alicat_mc_1slpm_rev6.py
+++ b/tests/test_panel_ui_alicat_mc_1slpm_rev6.py
@@ -394,7 +394,7 @@ class KeyProcedures(unittest.TestCase):
         g.press(BR)
         self.assertEqual(g.lcd()[2], 'Standard Temperature')
         g.enter_digits(20.0, 2)
-        self.assertAlmostEqual(g.state('gas.reference_temperature_K'), 293.15, delta=1e-9)
+        self.assertAlmostEqual(g.state('gas.reference_temperature_k'), 293.15, delta=1e-9)
         self.assertFalse(g.state('flow.zeroed'))                                      # a new reference invalidates the tare (runtime rule)
         g.select('stan_p_atm')
         g.enter_digits(1.0, 3)
@@ -996,11 +996,11 @@ class DeviceFunctions(unittest.TestCase):
         g.call(g.A, 'menu.configure', pressure_averaging_ms=255)
         g.step(0.1)
         g.boundary(upstream=150000.0)
-        self.assertEqual(g.state('measurement.pressure_Pa'), 130000.0)                 # no time has passed: the average is unchanged
+        self.assertEqual(g.state('measurement.pressure_pa'), 130000.0)                 # no time has passed: the average is unchanged
         g.step(0.255)
-        self.assertAlmostEqual(g.state('measurement.pressure_Pa'), 150000.0 - 20000.0 * math.exp(-1.0), delta=1e-6)
+        self.assertAlmostEqual(g.state('measurement.pressure_pa'), 150000.0 - 20000.0 * math.exp(-1.0), delta=1e-6)
         g.step(10.0)
-        self.assertAlmostEqual(g.state('measurement.pressure_Pa'), 150000.0, delta=1e-6)
+        self.assertAlmostEqual(g.state('measurement.pressure_pa'), 150000.0, delta=1e-6)
 
     def test_timer_freezes_and_totalizer_rolls_over(self):
         g = Rig()
@@ -1042,7 +1042,7 @@ class StatusMessages(unittest.TestCase):
         g.boundary(upstream=170 * rt.ALICAT_MC_PSI_PA)                                    # inlet above the 160 PSIA range
         self.assertEqual(g.state('device.alarms'), ['POV'])
         self.assertIn('POV', g.text())
-        self.assertIsNone(g.state('measurement.pressure_Pa'))                            # out of range: no valid reading
+        self.assertIsNone(g.state('measurement.pressure_pa'))                            # out of range: no valid reading
         g.boundary(temperature=343.15)                                                   # 70 C gas
         self.assertEqual(g.state('device.alarms'), ['TOV'])
         self.assertIn('TOV', g.text())
diff --git a/tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py b/tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py
index 2e6725e2c423342c586e474240c59ce088d3c9c9..71cf337f97b6fb663cd268e4c12a9a6ca415457c 100644
--- a/tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py
+++ b/tests/test_panel_ui_azenta_automated_roll_heat_sealer_a4s.py
@@ -176,7 +176,7 @@ class KeyProcedures(unittest.TestCase):
     def test_set_sealing_temperature(self):
         g = Rig()
         g.set_temperature(172)
-        self.assertEqual(g.state('thermal.setpoint_K'), 445.15)
+        self.assertEqual(g.state('thermal.setpoint_k'), 445.15)
         self.assertEqual(g.widgets()['temp']['text'], '172°C')
         self.assertEqual(g.widgets()['status']['text'], 'Status:Heating')
         self.assertEqual(g.widgets()['status']['color'], 'red')
@@ -232,7 +232,7 @@ class KeyProcedures(unittest.TestCase):
         p = g.state('protocol.list')[-1]
         self.assertEqual(p, {'name': 'PCR96', 'temperature_K': 441.15, 'press_time_s': 2.5, 'information': 'Clear', 'security': 'none'})
         g.tap('select')
-        self.assertEqual((g.page(), g.state('protocol.current'), g.state('thermal.setpoint_K'), g.state('configuration.press_time_s')), ('main', 'PCR96', 441.15, 2.5))
+        self.assertEqual((g.page(), g.state('protocol.current'), g.state('thermal.setpoint_k'), g.state('configuration.press_time_s')), ('main', 'PCR96', 441.15, 2.5))
         self.assertEqual(g.widgets()['current']['text'], 'Current Protocol:\nPCR96')
         DONE_TASKS.add('Create a protocol')
 
@@ -241,7 +241,7 @@ class KeyProcedures(unittest.TestCase):
         g.tap('protocol')
         g.row('list', '4ti-0573')
         g.tap('select')
-        self.assertEqual((g.state('protocol.current'), g.state('thermal.setpoint_K'), g.state('configuration.press_time_s')), ('4ti-0573', 443.15, 3.0))
+        self.assertEqual((g.state('protocol.current'), g.state('thermal.setpoint_k'), g.state('configuration.press_time_s')), ('4ti-0573', 443.15, 3.0))
         self.assertEqual((g.widgets()['temp']['text'], g.widgets()['time']['text']), ('170°C', '3.0sec'))
         DONE_TASKS.add('Select a stored protocol')
 
@@ -285,8 +285,8 @@ class KeyProcedures(unittest.TestCase):
             g.ov('Hr. +')
         g.ov('°C -')
         g.ov('Yes')
-        self.assertEqual(g.state('power_saving.idle_time_s', 'power_saving.hold_temperature_K'),
-                         {'power_saving.idle_time_s': 9000.0, 'power_saving.hold_temperature_K': 323.15})
+        self.assertEqual(g.state('power_saving.idle_time_s', 'power_saving.hold_temperature_k'),
+                         {'power_saving.idle_time_s': 9000.0, 'power_saving.hold_temperature_k': 323.15})
         g.tap('psave')                                                                    # a tap turns it off
         self.assertFalse(g.state('power_saving.enabled'))
         self.assertEqual(g.widgets()['psave']['text'], 'Power saving OFF')
@@ -330,7 +330,7 @@ class OtherScreenFunctions(unittest.TestCase):
         g.type('1234')
         g.ov('Enter')
         self.assertEqual((g.page(), g.state('protocol.current')), ('main', 'RUN1'))
-        before = g.state('thermal.setpoint_K')
+        before = g.state('thermal.setpoint_k')
         g.tap('temp')                                                                     # red lock: password before any change
         self.assertEqual(g.overlay()['title'], 'Password?')
         g.ov('Esc')
@@ -342,7 +342,7 @@ class OtherScreenFunctions(unittest.TestCase):
         g.ov('Enter')
         self.assertTrue(g.state('protocol.unlocked'))
         g.set_temperature(180)
-        self.assertNotEqual(g.state('thermal.setpoint_K'), before)
+        self.assertNotEqual(g.state('thermal.setpoint_k'), before)
         g.tap('protocol')
         g.row('list', 'RUN1')
         g.tap('delete')
@@ -481,13 +481,13 @@ class OtherScreenFunctions(unittest.TestCase):
         self.assertTrue(g.state('power_saving.active'))
         self.assertEqual(g.widgets()['status']['text'], 'Status:Power saving')
         g.step(60.0)
-        self.assertLess(g.state('measurement.temperature_K'), 448.15)                       # heater off: cooling toward the room
-        self.assertEqual(g.state('thermal.setpoint_K'), 448.15)
+        self.assertLess(g.state('measurement.temperature_k'), 448.15)                       # heater off: cooling toward the room
+        self.assertEqual(g.state('thermal.setpoint_k'), 448.15)
         self.assertTrue(g.tap('temp'))                                                        # the first touch only wakes it
         self.assertIsNone(g.overlay())
         self.assertFalse(g.state('power_saving.active'))
         g.step(60.0)
-        self.assertEqual(g.state('measurement.temperature_K'), 448.15)
+        self.assertEqual(g.state('measurement.temperature_k'), 448.15)
 
     def test_software_version_for_three_seconds(self):
         g = Rig()
@@ -613,7 +613,7 @@ class Callers(unittest.TestCase):
         r = g.A.invoke(**mine)
         self.assertEqual(r['status'], 'succeeded')
         g.set_temperature(175)                                                            # the panel's own ids skip the caller's '__panel_2'
-        self.assertAlmostEqual(g.state('thermal.setpoint_K'), 175 + C0)
+        self.assertAlmostEqual(g.state('thermal.setpoint_k'), 175 + C0)
         self.assertEqual(g.A.invoke(**mine), r)                                           # the caller's replay is still its own
 
 
diff --git a/tests/test_panel_ui_biotage_extrahera.py b/tests/test_panel_ui_biotage_extrahera.py
index 4211baffc3319249f400bf2b7f3bd9a597dbeeb6..39c00f299844ab42c43f99e93b83700b2a2772ce 100644
--- a/tests/test_panel_ui_biotage_extrahera.py
+++ b/tests/test_panel_ui_biotage_extrahera.py
@@ -1208,5 +1208,20 @@ class Sweep20261019(unittest.TestCase):
         self.assertEqual(r.val('reports.list')[-1]['abort_comment'], 'Aborted (power off)')
         self.assertNotEqual(r.h._instances[INST].operations[op]['status'], 'running')
 
+
+class FixRoundB(unittest.TestCase):
+    def test_prime_without_an_assigned_bottle_is_a_state_refusal(self):
+        # run.prime on an inlet with no solvent bottle assigned was INVALID_ARGUMENT (a schema-style code for a state
+        # problem); it is now PRECONDITION_FAILED with a message naming the cause; the state is unchanged.
+        r = Rig()
+        before = copy.deepcopy(r.h._instances[INST].state)
+        e = r.call(r.A, 'run.prime', expect='rejected', inlet='S1', volume_m3=15e-6)['error']
+        self.assertEqual(e['code'], 'PRECONDITION_FAILED')
+        self.assertIn('No solvent bottle is assigned to inlet S1', e['message'])
+        self.assertEqual(r.h._instances[INST].state, before)
+        self.assertEqual(r.call(r.A, 'run.prime', expect='rejected', inlet='S1', volume_m3=30e-6)['error']['code'], 'INVALID_ARGUMENT')  # schema
+        self.assertEqual(rt.EXTRAHERA_ASSET_VERSION, '1.3.1')
+
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/tests/test_panel_ui_hach_dr6000.py b/tests/test_panel_ui_hach_dr6000.py
index bc2421933f6e2e0b0cac139b49f4bebbc423a8dd..6fce99b672499639744c64217f94359d50af2760 100644
--- a/tests/test_panel_ui_hach_dr6000.py
+++ b/tests/test_panel_ui_hach_dr6000.py
@@ -1353,6 +1353,29 @@ class RenderEvidence(unittest.TestCase):
                                                       for k, v in shots.items()}, indent=1) + '\n')
 
 
+class FixRoundB(unittest.TestCase):
+    def test_precondition_refusals_name_the_cause(self):
+        # the code stays PRECONDITION_FAILED, the message says which precondition failed.
+        r = Rig()
+
+        def why(cap, **args):
+            e = r.call(r.A, cap, expect='rejected', **args)['error']
+            self.assertEqual(e['code'], 'PRECONDITION_FAILED')
+            return e['message']
+        self.assertIn('cover to at least 60 degrees', why('sample.load', sample_id='syn'))
+        r.call(r.A, 'lid.set_angle', angle_rad=rt.HACH_DR6000_LID_MAX_RAD)
+        self.assertIn('No cuvette is loaded', why('sample.unload'))
+        self.assertIn('Unknown sample_id', why('sample.load', sample_id='not_here'))
+        r.call(r.A, 'sample.load', sample_id='syn')
+        self.assertIn('already in the cell compartment', why('sample.load', sample_id='blank'))
+        self.assertIn('Close the cell-compartment cover', why('spectroscopy.measure'))
+        r.call(r.A, 'sample.unload')
+        r.call(r.A, 'lid.set_angle', angle_rad=0.0)
+        self.assertIn('No cuvette is loaded', why('spectroscopy.measure'))
+        r.switch('off')
+        self.assertIn('switched off', why('spectroscopy.set_wavelength', wavelength_m=5.2e-7))
+
+
 class ContractEntries(unittest.TestCase):
     def test_contract_has_the_panel(self):
         c = json.loads(CONTRACT.read_text())
diff --git a/tests/test_panel_ui_ika_rv10.py b/tests/test_panel_ui_ika_rv10.py
index a6a35f3cb02abde31a035cbcc2d2764d731637be..80dd35787bdae73176598bf53e7e2ac64c967452 100644
--- a/tests/test_panel_ui_ika_rv10.py
+++ b/tests/test_panel_ui_ika_rv10.py
@@ -458,5 +458,18 @@ class Sweep20261019(unittest.TestCase):
         self.assertNotIn('run_owners', r.h._instances[INST].g03)
 
 
+
+class FixRoundB(unittest.TestCase):
+    """chemlab finding (2026-10-22): vacuum.set_pressure was agent-visible and 'declared' (planned) but this instrument has no
+    pressure controller; it is 'unsupported' now, in the runtime metadata and the contract."""
+    def test_set_pressure_is_unsupported(self):
+        meta = rt.export_rv10_contract_metadata()['asset_types'][rt.RV10_ASSET_TYPE_ID]['capabilities']['vacuum.set_pressure']
+        self.assertEqual(meta['availability'], 'unsupported')
+        c = json.loads((ROOT / 'assets/basic40_batch02/t2_vacuum/ika_rv10/asset.contract.json').read_text())
+        self.assertEqual(c['capabilities']['vacuum.set_pressure']['availability'], 'unsupported')
+        g = Rig()
+        r = g.A.invoke(instance_id=INST, capability_id='vacuum.set_pressure', arguments={'pressure_pa': 5000.0}, request_id='fixb_vp')
+        self.assertEqual((r['status'], r['error']['code']), ('unsupported', 'UNSUPPORTED'))
+
 if __name__ == '__main__':
     unittest.main()
diff --git a/tests/test_panel_ui_miele_plw6111.py b/tests/test_panel_ui_miele_plw6111.py
index d3d9431839b5febf0d0466e94b20c51c1fa48d3d..7a00d0ffcd799c525610bcff46f85f71c1381d2e 100644
--- a/tests/test_panel_ui_miele_plw6111.py
+++ b/tests/test_panel_ui_miele_plw6111.py
@@ -696,6 +696,21 @@ class DeviceFunctions(Base):
         g.call(g.A, 'washing.stop')                                                     # the direct stop cancels a panel programme
         self.assertEqual((g.state('programme.status'), g.state('history.records')[-1]['result']), ('cancelled', 'NO DISINFECTION'))
 
+    def test_door_refused_busy_while_interrupted_and_busy_declared(self):
+        # chemlab finding (2026-10-22): the contract's door.open precondition named only program.running (false while interrupted)
+        # while the runtime answers BUSY when interrupted; BUSY was not in the error tables
+        g = self.rig()
+        g.call(g.A, 'door.close')
+        g.call(g.A, 'programme.start')
+        g.call(g.A, 'programme.interrupt')
+        self.assertEqual((g.state('program.running'), g.state('programme.status')), (False, 'interrupted'))
+        self.assertEqual(g.call(g.A, 'door.open', expect='rejected')['error']['code'], 'BUSY')
+        c = json.loads((ASSET / 'asset.contract.json').read_text())
+        pre = c['capabilities']['door.open']['preconditions']
+        self.assertTrue(any('programme.status' in x['state_ids'] and 'interrupted' in x['description_zh'] for x in pre))
+        for cap in ('door.open', 'door.close', 'basket.set_position', 'washing.start', 'programme.start'):
+            self.assertIn('BUSY', [e['code'] for e in c['capabilities'][cap]['errors']], cap)
+
     def test_history_keeps_200_and_host_timed_programmes_show(self):
         g = self.rig()
         g.call(g.A, 'programme.select', programme_id='drain')
diff --git a/tests/test_panel_ui_mt_xpr204e.py b/tests/test_panel_ui_mt_xpr204e.py
index 1d350aaa89631c0138350658c6901782736840f7..c4bf8927245234c88b46f26e3af408693cfdd762 100644
--- a/tests/test_panel_ui_mt_xpr204e.py
+++ b/tests/test_panel_ui_mt_xpr204e.py
@@ -1236,6 +1236,31 @@ class DeviceModel(unittest.TestCase):
             self.assertEqual({x['weight_g'] for x in p['readings'] if x['label'] == 'Tare'}, {10.0})
 
 
+class StableMeansSettled(unittest.TestCase):
+    """1.3.1 (2026-10-22): balance.stable rose about 1.5-13 s after a load change while the low-pass reading was still short of the settled value
+    (Standard: 0.7463 g shown for 0.7531 g).  Whenever the twin reports stable, the reading is within one readability step of the settled value."""
+
+    def test_stable_reading_is_within_readability_of_settled_value(self):
+        for env in rt.XPR_ENVIRONMENTS:
+            for mode in ('Universal', 'Sensor mode'):
+                with self.subTest(environment=env, weighing_mode=mode):
+                    r = Rig()
+                    pid = r.call(r.A, 'profile.save', profile_id=None, settings={'name': 'P', 'environment': env, 'weighing_mode': mode,
+                                                                                    'zero_drift': False})['profile_id']
+                    r.call(r.A, 'profile.set_default', profile_id=pid)
+                    r.step(30, 0.0)
+                    seen = []
+                    for _ in range(900):                                         # 0.7531 g placed, read every 0.1 s for 90 s
+                        r.step(0.1, 0.0007531)
+                        seen.append((r.val('balance.stable'), r.val('balance.net_kg')))
+                    final = seen[-1][1]
+                    self.assertTrue(seen[-1][0])
+                    self.assertAlmostEqual(final, 0.0007531, delta=1e-7)
+                    for stable, net in seen:
+                        if stable:
+                            self.assertLessEqual(abs(net - final), rt.XPR204E_READABILITY_KG + 1e-12, (env, mode, net, final))
+
+
 class SyncAudit(unittest.TestCase):
     """Sync audit 2026-10-19: Start after temperature change, the time zone, panel commands as the gesturing session."""
 
diff --git a/tests/test_panel_ui_ossila_doctorblade.py b/tests/test_panel_ui_ossila_doctorblade.py
index bb162b721823f96cfe611dcf388d3c77bcb6a7c9..fdea8f225ee5f4b8725180cfb9076372119de34f 100644
--- a/tests/test_panel_ui_ossila_doctorblade.py
+++ b/tests/test_panel_ui_ossila_doctorblade.py
@@ -582,7 +582,8 @@ class PanelRules(unittest.TestCase):
             self.assertIn(sid, c['state_slots'])
         for k in rt.FAULT_CAPS:
             self.assertEqual(c['capabilities'][k]['visibility'], 'evaluator')
-        self.assertEqual(sorted(f['id'] for f in c['extensions']['chemistry_lab.fixes']), ['crash_warning_fault', 'panel_caller_rules', 'sweep_hard_power_switch'])
+        self.assertEqual(sorted(f['id'] for f in c['extensions']['chemistry_lab.fixes']), ['crash_warning_fault', 'older_operations_pollable', 'panel_caller_rules',
+                                                                                             'schema_grids', 'sweep_hard_power_switch'])
         for cid in ('led_coating', 'gauge_keys_left', 'gauge_keys_right'):
             self.assertEqual(c['components'][cid]['geometry_status'], 'absent')
         self.assertIsNone(c['artifacts']['panel_engine']['sha256'])
diff --git a/tests/test_panel_ui_ossila_slotdie.py b/tests/test_panel_ui_ossila_slotdie.py
index 30eba701b5cf93b60dd6c2c8d4371d03162899d1..fe034039221808907a6cdf80240cee1adbecee2d 100644
--- a/tests/test_panel_ui_ossila_slotdie.py
+++ b/tests/test_panel_ui_ossila_slotdie.py
@@ -654,7 +654,8 @@ class PanelRules(unittest.TestCase):
         for k in rt.SIM_CAPS:
             self.assertEqual(c['capabilities'][k]['visibility'], 'evaluator')
         self.assertNotIn('理想显示偏置', c['capabilities']['thermal.set_offset']['function_zh'])
-        self.assertEqual(sorted(f['id'] for f in c['extensions']['chemistry_lab.fixes']), ['crash_warning_fault', 'hotplate_offset_controls', 'panel_caller_rules',
+        self.assertEqual(sorted(f['id'] for f in c['extensions']['chemistry_lab.fixes']), ['crash_warning_fault', 'hotplate_offset_controls',
+                                                                                             'older_operations_pollable', 'panel_caller_rules',
                                                                                              'sweep_hard_power_switch'])
         for cid in ('led_coating', 'led_heater', 'gauge_keys_left', 'gauge_keys_right'):
             self.assertEqual(c['components'][cid]['geometry_status'], 'absent')
diff --git a/tests/test_panel_ui_radleys_mya4.py b/tests/test_panel_ui_radleys_mya4.py
index 8350371257bed15047ac07ff6d77f4ee114e1643..64d14d5fbd634e3f669d750c3ffba1c4886f6940 100644
--- a/tests/test_panel_ui_radleys_mya4.py
+++ b/tests/test_panel_ui_radleys_mya4.py
@@ -446,6 +446,39 @@ class DeviceFunctions(unittest.TestCase):
         g.h.step(10.0)
         self.assertEqual((g.exp(1)['status'], g.exp(1)['result']), ('finished', 'error Z17'))
 
+    def test_set_limits_contract_example_from_factory_limits(self):
+        # 1.2.2: the example only lowered Max Tb to 120 C, below the factory Max Tr of 175 C (OM p.105: Max Tr cannot exceed Max Tb) - always refused
+        g = Rig()
+        example = json.loads((ASSET / 'asset.contract.json').read_text())['capabilities']['pad.set_limits']['example_arguments']
+        before = state_dump(g.h)
+        self.assertEqual(g.call(g.A, 'pad.set_limits', expect='rejected', zone_index=0, max_tb_C=120)['error']['code'], 'INVALID_ARGUMENT')
+        self.assertEqual(state_dump(g.h), before)
+        g.call(g.A, 'pad.set_limits', **example)
+        self.assertEqual((g.exp(1)['limits']['max_tb_C'], g.exp(1)['limits']['max_tr_C']), (120, 115))
+
+    def test_pad_safety_limits_bound_the_direct_setpoints(self):
+        # chemlab finding (2026-10-22): thermal.set_temperature ignored the zone's safety limits (OM p.101: once safety limits are
+        # set for a zone, values outside them cannot be entered)
+        g = Rig()
+        g.call(g.A, 'thermal.set_temperature', zone_index=0, temperature_K=273.15 + 150)       # factory limits: the full range
+        g.call(g.A, 'pad.set_limits', zone_index=0, max_tb_C=120, max_tr_C=115)
+        before = state_dump(g.h)
+        r = g.call(g.A, 'thermal.set_temperature', expect='rejected', zone_index=0, temperature_K=273.15 + 121)
+        self.assertEqual(r['error']['code'], 'PRECONDITION_FAILED')
+        self.assertIn('safety limits', r['error']['message'])
+        r = g.call(g.A, 'thermal.configure_program', expect='rejected', zone_index=0, segments=[{'temperature_K': 273.15 + 60, 'hold_s': 60}, {'temperature_K': 273.15 + 130, 'hold_s': 60}])
+        self.assertEqual(r['error']['code'], 'PRECONDITION_FAILED')
+        r = g.call(g.A, 'thermal.set_enabled', expect='rejected', zone_index=0, enabled=True)       # the 150 C target set before the limits
+        self.assertEqual(r['error']['code'], 'PRECONDITION_FAILED')
+        self.assertEqual(state_dump(g.h), before)
+        g.call(g.A, 'thermal.set_temperature', zone_index=0, temperature_K=273.15 + 118)
+        r = g.call(g.A, 'thermal.set_probe_mode', expect='rejected', zone_index=0, mode='liquid')    # Max Tr 115 C
+        self.assertEqual(r['error']['code'], 'PRECONDITION_FAILED')
+        g.call(g.A, 'thermal.set_temperature', zone_index=0, temperature_K=273.15 + 110)
+        g.call(g.A, 'thermal.set_probe_mode', zone_index=0, mode='liquid')
+        g.call(g.A, 'thermal.set_enabled', zone_index=0, enabled=True)
+        g.call(g.A, 'thermal.set_temperature', zone_index=1, temperature_K=273.15 + 150)       # another zone keeps its own (factory) limits
+
     def test_refusals_leave_state_unchanged(self):
         g = Rig()
         before = state_dump(g.h)
diff --git a/tests/test_substances_storage.py b/tests/test_substances_storage.py
new file mode 100644
index 0000000000000000000000000000000000000000..4f54b6d6714bdf4e9261bac66680c0aa3e6526b3
--- /dev/null
+++ b/tests/test_substances_storage.py
@@ -0,0 +1,146 @@
+"""substances.json schema 1.1.0: storage class, GHS hazard data and liquid boiling point / viscosity (with PubChem sources),
+plus the substances added for the default-lab inventory.  The file must equal what scripts/substances/apply_storage_hazard.py
+derives from the cached PubChem records (references/substance_safety_raw/), and the 1.0.0 fields must be untouched in form.
+"""
+import copy
+import json
+import sys
+import unittest
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+sys.path.insert(0, str(ROOT / "scripts" / "substances"))
+
+import apply_storage_hazard as A  # noqa: E402
+from new_substances import NEW_MIXTURES, NEW_PURE  # noqa: E402
+
+DATA = json.loads((ROOT / "assets" / "reactions" / "substances.json").read_text(encoding="utf-8"))
+SUBS = DATA["substances"]
+CLASSES = {"flammable", "acid", "base", "oxidizer", "toxic", "cold", "compressed_gas", "general"}
+
+
+class TestSchema(unittest.TestCase):
+    def test_version_and_classes(self):
+        self.assertEqual(DATA["schema_version"], "1.1.0")
+        self.assertEqual(set(DATA["storage_classes"]), CLASSES)
+
+    def test_legacy_fields_kept(self):
+        for sid, r in SUBS.items():
+            with self.subTest(sid=sid):
+                for k in ("name_zh", "formula", "molar_mass_kg_mol", "phase", "density_kg_m3", "fid_visible", "evidence", "source"):
+                    self.assertIn(k, r)
+                if r.get("kind") != "mixture":
+                    self.assertIsInstance(r["molar_mass_kg_mol"], float)
+
+    def test_every_substance_has_storage_and_ghs(self):
+        for sid, r in SUBS.items():
+            with self.subTest(sid=sid):
+                self.assertIn(r["storage_class"], CLASSES)
+                self.assertEqual(r["storage"]["class"], r["storage_class"])
+                self.assertTrue(r["storage"]["rule"])
+                g = r["ghs"]
+                if g["hazard_codes"]:
+                    self.assertIn(g["basis"], ("eu_harmonised_clp_annex_vi", "echa_cl_notifications_ge10pct", "other_authority"))
+                    self.assertTrue(g["source"]["cid"] and g["source"]["url"].startswith("https://pubchem.ncbi.nlm.nih.gov/compound/"))
+                else:
+                    self.assertTrue(g.get("note") or g.get("not_classified") or g.get("basis"))
+
+    def test_liquids_have_bp_and_viscosity_or_a_reason(self):
+        liquids = [s for s, r in SUBS.items() if r["phase"] == "liquid"]
+        self.assertGreaterEqual(len(liquids), 50)
+        for sid in liquids:
+            r = SUBS[sid]
+            with self.subTest(sid=sid):
+                if r.get("boiling_point_K") is not None:
+                    self.assertTrue(200 < r["boiling_point_K"] < 800)
+                    self.assertTrue(r["boiling_point_source"]["cid"])
+                else:
+                    self.assertTrue(r.get("boiling_point_note"))
+                if r.get("viscosity_Pa_s") is not None:
+                    self.assertTrue(1e-4 < r["viscosity_Pa_s"] < 10)
+                    self.assertTrue(r["viscosity_source"]["cid"])
+                else:
+                    self.assertTrue(r.get("viscosity_note"))
+        n_bp = sum(1 for s in liquids if SUBS[s].get("boiling_point_K"))
+        self.assertGreaterEqual(n_bp, 45)
+
+    def test_known_values(self):
+        e = SUBS["ethanol"]
+        self.assertEqual(e["storage_class"], "flammable")
+        self.assertIn("H225", e["ghs"]["hazard_codes"])
+        self.assertAlmostEqual(e["boiling_point_K"], 351.4, delta=0.3)          # CRC 78.24 C
+        self.assertAlmostEqual(e["viscosity_Pa_s"], 1.074e-3, delta=2e-5)      # CRC 1.074 mPa s at 25 C
+        self.assertAlmostEqual(SUBS["water"]["boiling_point_K"], 373.1, delta=0.2)
+        self.assertEqual(SUBS["sulfuric_acid"]["storage_class"], "acid")
+        self.assertEqual(SUBS["hydrochloric_acid"]["storage_class"], "acid")
+        self.assertNotIn("H280", SUBS["hydrochloric_acid"]["ghs"]["hazard_codes"])   # gas-only code dropped for the aqueous stock
+        self.assertEqual(SUBS["sodium_hydroxide"]["storage_class"], "base")
+        self.assertEqual(SUBS["hydrogen_peroxide"]["storage_class"], "oxidizer")
+        self.assertEqual(SUBS["potassium_chlorate"]["storage_class"], "oxidizer")
+        self.assertEqual(SUBS["nitrogen"]["storage_class"], "compressed_gas")
+        self.assertEqual(SUBS["triethylamine"]["storage_class"], "flammable")
+        self.assertIn("corrosive_base", SUBS["triethylamine"]["storage"]["flags"])
+        self.assertEqual(SUBS["nitric_acid"]["storage_class"], "acid")
+        self.assertIn("oxidizer", SUBS["nitric_acid"]["storage"]["flags"])
+        self.assertEqual(SUBS["formaldehyde_aqueous"]["storage_class"], "toxic")
+        self.assertEqual(SUBS["sodium_chloride"]["storage_class"], "general")
+        self.assertEqual(SUBS["ethanol_vapor"]["storage_class"], "general")      # ledger-only vapour species
+
+    def test_new_inventory_substances(self):
+        for sid, (cas, *_rest) in NEW_PURE.items():
+            with self.subTest(sid=sid):
+                self.assertIn(sid, SUBS)
+                self.assertEqual(SUBS[sid]["cas"], cas)
+        for sid in NEW_MIXTURES:
+            with self.subTest(sid=sid):
+                self.assertEqual(SUBS[sid]["kind"], "mixture")
+                self.assertIsNone(SUBS[sid]["molar_mass_kg_mol"])
+        self.assertEqual(SUBS["argon"]["storage_class"], "compressed_gas")
+        self.assertAlmostEqual(SUBS["potassium_hydrogen_phthalate"]["molar_mass_kg_mol"], 0.20422, places=4)
+        self.assertEqual(SUBS["protein_ladder_prestained"]["storage"]["temperature_c"], [-20, -20])
+
+
+class TestReproducible(unittest.TestCase):
+    def test_file_equals_derivation_from_cached_pubchem(self):
+        """Re-deriving every added field from the cached records gives exactly the file's values."""
+        if not A.RAW.is_dir():
+            self.skipTest("needs the cached PubChem records (references/substance_safety_raw/), which are not distributed")
+        for sid, r in SUBS.items():
+            if r.get("kind") == "mixture" or r.get("cas") is None:
+                continue
+            with self.subTest(sid=sid):
+                ghs = A.parse_ghs(sid, r["phase"], r.get("name_zh", ""))
+                st = A.storage_for(sid, r, ghs, A.cold_hint(sid))
+                self.assertEqual(ghs, r["ghs"])
+                self.assertEqual(st, r["storage"])
+
+
+
+class TestPh686Standard(unittest.TestCase):
+    """The pH 6.86 primary standard (DIN 19266 / NIST) is KH2PO4 + Na2HPO4, 0.025 mol/kg each."""
+
+    def test_phosphate_standard_salts(self):
+        for sid, cas, formula, mass in (("potassium_dihydrogen_phosphate", "7778-77-0", "H2KO4P", 0.136086),
+                                        ("disodium_hydrogen_phosphate", "7558-79-4", "HNa2O4P", 0.141959)):
+            with self.subTest(sid=sid):
+                r = SUBS[sid]
+                self.assertEqual((r["cas"], r["formula"], r["phase"], r["storage_class"]), (cas, formula, "solid", "general"))
+                self.assertAlmostEqual(r["molar_mass_kg_mol"], mass, places=6)
+                self.assertTrue(r["source"].startswith("PubChem CID"))
+                self.assertGreater(r["density_kg_m3"], 1000.0)               # HSDB: 2340 (KH2PO4), approx 1700 (Na2HPO4)
+
+    def test_inventory_buffer_is_the_equimolal_standard(self):
+        sys.path.insert(0, str(ROOT / "chemlab"))
+        from chemlab import inventory
+        rec = next(r for r in inventory.STOCK if r["id"] == "buffer_ph6_86")
+        got = {c["substance"]: c["amount"] for c in rec["contents"]}
+        self.assertEqual(set(got), {"potassium_dihydrogen_phosphate", "disodium_hydrogen_phosphate", "water"})
+        kg_water = got["water"]["value"] * 1.0                              # 0.5 L of a dilute solution ~ 0.5 kg water
+        for sid in ("potassium_dihydrogen_phosphate", "disodium_hydrogen_phosphate"):
+            molality = got[sid]["value"] / 1000.0 / SUBS[sid]["molar_mass_kg_mol"] / kg_water
+            self.assertAlmostEqual(molality, 0.025, places=4, msg=sid)
+        self.assertNotIn("sodium_dihydrogen_phosphate", got)
+
+
+if __name__ == "__main__":
+    unittest.main()